This is due to the jitter created by collisions, more pronounced with static objects, that can build up and eventually get the god object moving so quickly that it passes through a mesh without triggering a collision.
One idea to fix it for collisions with static objects would be to only apply enough force along the god object -> haptic tip ray to keep the god object static, ie equalize the forces.
Or we could set the god object's mass to zero when there is a static object between it and the haptic tip.
This is due to the jitter created by collisions, more pronounced with static objects, that can build up and eventually get the god object moving so quickly that it passes through a mesh without triggering a collision.
One idea to fix it for collisions with static objects would be to only apply enough force along the god object -> haptic tip ray to keep the god object static, ie equalize the forces.
Or we could set the god object's mass to zero when there is a static object between it and the haptic tip.