The way to think about the time stepping scheme that is used currently is that it is like an explicit mechanics solver, and so if you have a very stiff material, you must take very small time steps.
We are working on implicit solvers that could allow for larger time step sizes, but currently we do not yet have an implicit solver that is actually faster than an implicit solver that uses very small time steps.
If the material is stiff enough so that it makes sense to treat it as a rigid body, you also might be able to improve performance by using a rigid body dynamics structural model instead of an elastic model.
— Boyce