I need some help with mecanum wheel colliders- Might you be able to point me in the right direction.

Is there a set of equations for calculating motion when only two mecanum wheels are touching, i.e. when the robot moves over a bump and gets lifted up a bit.

Then we can use the wheel colliders to determine grounded-ness and change the force vectors based on how many wheels are touching

Note It is computationally intensive to accurately simulate true mecanum wheel friction / torque. Instead we calculate the motion and apply the force to the whole robot.