That makes it so nothing explodes, and then there is a second solver that does a small raw position correction after. So it's not lifelike realism, but it works

That makes it so nothing explodes, and then there is a second solver that does a small raw position correction after. So it's not lifelike realism, but it works to stop objects sinking into each other too much. There is still a small error though, I'd have to look into more iterations and all that.