Dynamic rigidbody clipping through static geometry/unstable resolve in corners

[DevLewa]

I'm currently having issues that dynamic rigidbodies have an unstable collision resolve if pushed into corner/edges with a force/impulse.
(they start to violently jitter as if the depenetration attempt cannot bring the object to rest.)

Here are 2 videos to illustrate this issue.
https://www.youtube.com/watch?v=I1uXzwJBoIg
https://www.youtube.com/watch?v=CGZjR8uxIvY

The jittering always happens if apply a force (via addForce() ) to the dynamic rigidbody towards the static geometry. (and during the phase of depenetration until the body comes to rest. )
I know that this artifact/behaviour can occur if a rigidbody gets sandwiched between too object which run almost in pararell to each other. It's just weird that the collision resolve is so unstable between 2 walls which are at an angle of 90 degrees to each other.

Another thing that i also noticed is that the rigidbody can often clip into the ground at even moderate velocity (note that i don't even apply constant force here. I simply applied an impulse once, let it slide on the ground and it still clipped through.)
https://www.youtube.com/watch?v=qsiKbVPPLNM

My question is if this is standard behavior? (I assume not?) If so what could be the root cause of this / what should i look out for?

A couple of infos to the demo shown in the video:

• simulation tickrate is 100 fps
• Mass of the rigidbody is 1000
• gravity at 9.81
• Dimensions of the cube are around 1.7x4.5x1.35
• the static geometry is a triangle mesh
• no CCD is used (enabling CCD didn't seem to fix it.)
• tried to increase solver iterations with setSolverIterationCounts without any success.
• havent touched any offsets/thresholds (as far as i know) so everything should be set to the default values.

Any kind of advice / direction is appreciated.

/Edit: Solved.
For anyone who stumbles upon this in the future: It was caused by the scenes contactModifyCallback: (was leftover debug/testing code on my part)
sceneDesc.contactModifyCallback = mContactModificationCallback;
(the implementation of said callback was empty.)
Removing this callback fixed it.