This version uses 120 Hz physics stepping, pairwise magnetic forces, local critical damping for repelling magnet gaps, momentum-conserving collision impulses, and unilateral rigid contact constraints. The contact normal force can push but cannot pull, so a payload remains supported without jitter but separates when the required normal force would become negative.
The magnetic force coefficients remain qualitative until calibrated against measured force-versus-gap data for the actual ring magnets.