Hi prompt-height
Yes, that is why the Bullet engine is in Cinema 4D as well. It is not replaced.
Please have a look here: Quick Tip
https://www.youtube.com/watch?v=JwjDc8zIlN0
More about the new Simulation engine is here:
https://www.youtube.com/live/3O22A-hRP0c?feature=share
https://www.youtube.com/live/3O22A-hRP0c?feature=share
So, to a certain degree, you can set up a stiffer object. Look also at the other tips in the Ask the Trainer video.
All the best