Various collision problems

[Silverlan]

I'm having a lot of problems with collisions between objects, and I'm kind of lost on what I can do to combat these issues.
I've recorded a video which should make it more clear what I mean: https://youtu.be/XhdhyUH6Nf4
• The player (Kinematic Capsule Controller) pushes dynamic objects away at full force. This is especially problematic, because objects can be pushed out of the world this way. I'd like to know if I can either 1) disable being able to push objects completely, so I can write my own implementation, or 2) decrease the force by which objects are being pushed if possible.
• Dynamic physics objects can push other objects out of the world, as demonstrated in the video. All of the objects are of type btRigidBody (Including the ragdoll body parts). The mass of the box is 80.
• Small objects are sometimes very jittery when on the ground due to gravity (Noticable with the ragdoll). However, without applying gravity on the ground, objects wouldn't slide down slopes, so I'm not sure what to do against the jittering.
• Constraints are too lenient. As you can see in the video, when the player walks into the ragdoll, the ragdoll parts sort of 'stretch'. This is because the ragdoll parts are moving apart even though they shouldn't be able to, and then return to the correct position. All of the ragdoll constraints are conetwist constraints with softness = 1, bias factor = 0.3 and relaxation factor = 1.

My simulation rate is 60 ticks per second. CCD is enabled for all objects.
Some of these problems might be related, but I'm out of ideas at this point.

[Typhontaur]

I currently use to save a safety position.
at each cycle for each entity save its position if this is inside the world.
otherwise restoring the last valid position.
This prevents the entities go out completely from the world.
Sorry for language, I'm italian ^_^

https://www.youtube.com/watch?v=W092O4Xi9_c
https://www.youtube.com/watch?v=IZLLt9XWr0I

[StabInTheDark]

My first question is are you using any scaling?

http://www.bulletphysics.org/mediawiki- ... _The_World

[Silverlan]

My first question is are you using any scaling?

I wasn't, but I am now. The player is 72 units high, so I've scaled everything down by a factor of 40 (1/0.025). (Player = 1.8 meters)
It did help with stability somewhat. Small objects seem to be less twitchy now and I can't push physics out of the world anymore as easily, but they can still be pushed out by other objects:
https://youtu.be/mcVFA6uRdgs

The other problems also still remain.
Increasing the ccd swept sphere radius / decreasing the motion threshold doesn't prevent it either.

I currently use to save a safety position.
at each cycle for each entity save its position if this is inside the world.
otherwise restoring the last valid position.
This prevents the entities go out completely from the world.
Sorry for language, I'm italian ^_^

Thanks, but I'd rather do that as a measure of last resort. It'd be more of a workaround than an actual fix.