OK, then. Thanks for all the answers.
However, it would be great to get a "pressure-like" value in those cases. When I have lots of body moving just because of overlap resolutions (no gravity, just new bodies that appeared on top of others) I need to be able to picture the pressure field of the world (i.e. impulses/forces applied to bodies). The overlap distance is not directly proportional. It keeps a proportionality somehow, but not direct.
If you could tell me a workaround, it would be very helpful.
Many thanks and congrats for all the job done!