Penetration bias

Hi there,

I’d like to ask the community if it is possible, or has already been done.

I would like to be able to give an object a penetration bias. In other words, when 2 objects collide, lets say a ball with the ground, the physics engine will solve the collision and depenetrate the object quickly. What i would like to be able to do is allow an object to penetrate to a specific depth with a more eased depenetration, but once it reaches max depth then it will do it’s best to remove it. I know this could be done using raycasting methods, but ideally it needs to be with full physics support.

I have attached an image to give an idea what I am looking to do.

Thanks in advance for any suggestons/help.