Issues with physics collisions, very "off" and sloppy

[Shabadage]

So the attached mfa has 3 objects, each a different Tetrad. These things do not work as they should. The collisions seem VERY off. All are set to shape of first image, I've turned up the iterations on the physics engine, done everything I could think of. Are collisions just this sloppy in the physics engine?

[chrilley]

Someone will have to correct me on this but I think the problem is that you cannot have concave shapes with this physics engine(a common limitation actually). So it will only approximate the shape instead of being exact.

Made a quick little image to explain better what I mean:

[edit: I checked the Help file and that is exactly what happens. Go to "Help" and "Contents" then search for "Shapes and collisions" for more detailed information.]