I am trying do a simulation with a similar concept where I am simulating a surgical staple being inserted into a block of bone. I used a lot of the techniques you mentioned above and I was able to simulate most of it except it seems like the staple does not cut into the bone but instead just deflects off of it. I had to create a new material on my own to simulate bone. The values I had were the tensile strength, yield strength, young's modulus, shear, poisson ratio, mass density, and compressive strength. Is there anything else I need to model failure?