Think of the spatial contact as a spring.
Imagine having two flat plates attached to each end of a spring that is compressed together such that the plates surfaces slightly overlap by some distance z say .1 in or 2.5mm
The weight of the top plate is 5 pounds or 22 N The stiffness k can be calculated using hooks law K=F/z=22/0.0025=8800
Now…without damping if you were to t let the spring go the plates would bounce up and down
You can control this motion or velocity with the damping coefficient
D=F/v. Let’s say you really did not want the plates to move when the spring is released so make the velocity very small. D=22/0.005m/s=4400.
The above example would basically represent the contact force between the two plates and how they move in relation to each other
Hope this helps. You can literally model the scenario I described with two solid block cubes and a prismatic joint to control the distance between the blocks and let gravity act on the top block/plate as an experiment to get a feel for the spatial contact block
