Rigid Body falling objects intersects with floor?


I’m just trying the Rigid Body stuff in 2.66 and can’t seem to get simple falling objects on ground to not partially intersect with the ground before they stabilize themselves.
I’ve tried changing both the ground and objects from Mesh, Convex Hull and Box without a clean landing.

Is this just a fact or how can i avoid such?

Hit play and then check frame 28-31

falling.blend (493 KB)

There are several things you can do.
Change the shape of the falling boxes to box, enabling collisision marging of the convex hulls (and lowering it if needed), using bigger objects, and increasing the steps per second for the rigid body world.