Question I need to Switch from transform.Translate to rb.AddForce, but I don't know how to make it work.

At the moment I use transform.Translate to move my character, and for clipping/tunneling reasons I need to switch to using physics-based movement.

The problem is That I have a bunch of things in the game already applying force to the Rigidbody, and I need the force to be snappy and precise (the way it is using Translate).

The game is based around manipulating gravity, so there are a lot of forces applied to the player. I trimmed the code as much as practical, so a lot of stuff is missing. let me know if you need something it doesn't show. Rest assured that everything works except for the moving through walls while running.

Code (CSharp):

1. public class FallMotor : MonoBehaviour
2. {
3.     [Header("Movement")]
4.     public float moveSpeed = 10f;
5.     public float runSpeed = 10f;
6.     public bool isSprinting = false;
7.     public float sprintSpeed = 15f;
8.     public Vector2 move = Vector2.zero;
9.  
10.     [Header("Jump")]
11.     public bool isJumping = false;
12.     public float jumpCost = .4f;
13.  
14.     void FixedUpdate()
15.     {
16.         Vector2 moveInput = controls.GravPlayer.Move.ReadValue<Vector2>();
17.         Vector2 mouseInput = controls.GravPlayer.Look.ReadValue<Vector2>();
18.  
19.         Vector3 moveCharacter = new Vector3(moveInput.x, 0, moveInput.y);
20.         if (moveCharacter != Vector3.zero)
21.         {
22.             rb.transform.Translate(moveCharacter * moveSpeed * Time.fixedDeltaTime);
23.         }
24.         rb.AddForce(downDirection * gravitation);
25.  
26.         if (energy < 100 && !isJumping && !isBoosting)
27.         {
28.             energy += energyRestoreRate;
29.         }
30.  
31.         if (isLashing && anchorPoint != null && energy > 0)
32.         {
33.             Vector3 lashDirection = (anchorPoint.position - transform.position).normalized;
34.  
35.             if (energy > 0)
36.             {
37.                 rb.AddForce(lashDirection * lashPower);
38.                 energy -= lashCost;
39.             }
40.         }
41.  
42.         if (isJumping && energy > 0)
43.         {
44.             rb.AddForce(-downDirection * gravitation * 2f);
45.             energy -= jumpCost;
46.         }
47.  
48.         if (!isChangingGravity)
49.         {
50.             Vector3 rotateCharacterLR = new Vector3(0, mouseInput.x * lookSensitivity, 0);
51.             newRotation = rb.rotation * Quaternion.Euler(rotateCharacterLR);
52.  
53.             if (rotateCharacterLR != Vector3.zero)
54.             {
55.                 rb.MoveRotation(newRotation);
56.             }
57.         }
58.     }
59. }
60.  

I have determined that the best way is to use ForceMode.VelocityChange, but I need the Velocity to be clamped by a public float. I can't get this to work with the other physics in my Player Controller as well as the new input system. Any help would be greatly appreciated!!