Thank you for confirming!
In my Physics Debug code showing CONTINUED contact impulses in yellow, is there value in showing the aggregate imparted delta linear velocity? I would expect dV*dT to be greater than the height of the object when the object falls through the ground. In fact, any time that any component of the aggregate dV*dT is greater than the bounding box of that object, there is a chance that the object would go through a nearby plane.
If all this is true, code could detect this by tracking the effective delta position on each physics step and flag when any axis component exceeds the bounding box’s corresponding axis. The amount of excess would be the recommended thickness of all objects that it collides with. This would be a straightforward addition to my Physics Debug class.