About articulation bodies quick question.

Heyo

Just a quick question - Im guessing articulation bodies become very unstable if they interact with rigidbodies that have collision detection mode set to anyhting else then discrete?

I think I fixed a problem but just want to make sure my deduction is correct. I have random generated terrain and I thought perhaps that caused it - but on deeper debugging I found it might be my "ball trainer" shooting balls at articulate body rig.

 

I got the same impression; whenever I use different mode, the articulation body explodes very often. BTW I guess this question should go into physics forum, as articulation bodies are not experimental anymore.