I'm not sure that the word exists for the feeling per se, but such an event would be described as sickening:
extremely unpleasant; causing you to experience unpleasant feelings.
The word can also mean "causing sickness", but it's arguably more common in the sense of "causing dreadful, horrible feelings." It's a milder term in British English than in American English.
There was a sickening thud when the child fell from the tree and hit the ground.
He managed just three games for his new club before his career was thrown into jeopardy by a sickening injury.
The ground gave way under her foot, and with a sickening lurch of her heart, she plunged downward.
The world witnessed the sickening consequences of modern warfare.