A chink in your armor-clad idea: I think the difficulty, except for noncompressible/nondeformable objects like tables, is that compression is variable upon force, pressure, or tension - think of a spring. When a person sits down, it's not only the compression rating of the two contacting surfaces, but also the resistance in potential and regular force. Still, your idea has merit for a simple sort of soft-body dynamics (in collision, obviously). Let's see what others can bring to the table (eh hem, sorry) as I just cursorily thought about this.

C makes it easy to shoot yourself in the foot. C++ makes it harder, but when you do, you blow your whole leg off.

 -- Bjarne Stroustrup

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