Thin collider shape passes through HeightfieldColliderShape

Release Type: GitHub

Version: master (4.0.0.1-beta03)

Platform(s): Windows

Describe the bug
Thin collider shape passes through HeightfieldColliderShape sometimes.
Even CCD can't seem to fix it.

To Reproduce

1. Create new project from TopDownRPG sample.

2. Remove the Platform folder in the MainScene.

3. Add new entity as Ground.

4. Add StaticColliderComponent to the Ground entity.
   Colliderion group: CustomFilter1

5. Add Heightfield to the Collider Shapes.
   Source: Float

6. Add CountScript to the Ground entity.

    public class CountScript : AsyncScript
    {
        public class TriggerScript : AsyncScript
        {
            public int Count = 0;
            public override async Task Execute()
            {
                var trigger = new StaticColliderComponent
                {
                    ProcessCollisions = true,
                    IsTrigger = true,
                    CollisionGroup = CollisionFilterGroups.DefaultFilter,
                };

                trigger.ColliderShapes.Add(new BoxColliderShapeDesc
                {
                    Size = new Vector3(64, 10, 64),
                    LocalOffset = new Vector3(0, -8, 0),
                });

                Entity.Add(trigger);

                while (Game.IsRunning)
                {
                    await trigger.NewCollision();
                    Count++;
                }
            }
        }

        public override async Task Execute()
        {
            var triggerScript = new TriggerScript();
            Entity.Add(triggerScript);

            while(Game.IsRunning)
            {
                await Script.NextFrame();

                DebugText.Print($"Count : { triggerScript.Count }", new Int2(10));
            }
        }
    }

7. Remove Trigger, Rigidbody and LootCoinScript from CoinGold entity of LootGoldCoin prefab asset.

8. Set Transform.Position.Z of Camera entity to 20.

9. Run the game and punch LootBoxes.

Some coins pass through the Heightfield.

Expected behavior
All coins don't pass through the Heightfield.

Screenshots

Log and callstacks

Additional context
#494(Additional context)

Reproduce the issue in the TopDownRPG sample using the MainScene changes, CountScript, LootGoldCoin prefab, and HeightfieldColliderShape described in the report. Start by isolating the collision behavior between the thin coin collider and the heightfield, including with CCD enabled. Done means repeated runs show that no coins pass through the HeightfieldColliderShape.