Bump/stuck when walking on aligned colliders

[SakiiCode]

I am prototyping a voxel game and walking on perfectly aligned cube colliders does not work properly

The capsule collider has a bump and the cylinder collider can't even go between blocks

Video (capsule collider)

You can reproduce it with the stock dynamic_character_3d.rs by adding 3 static cubes

Code

```rust commands.spawn(( RigidBody::Static, Collider::cuboid(1.0, 1.0, 1.0), PbrBundle { mesh: meshes.add(Cuboid::default()), material: materials.add(Color::srgb(0.8, 0.7, 0.6)), transform: Transform::from_xyz(3.0, 0.0, 3.0), ..default() }, )); commands.spawn(( RigidBody::Static, Collider::cuboid(1.0, 1.0, 1.0), PbrBundle { mesh: meshes.add(Cuboid::default()), material: materials.add(Color::srgb(0.8, 0.7, 0.6)), transform: Transform::from_xyz(3.0, 0.0, 4.0), ..default() }, )); commands.spawn(( RigidBody::Static, Collider::cuboid(1.0, 1.0, 1.0), PbrBundle { mesh: meshes.add(Cuboid::default()), material: materials.add(Color::srgb(0.8, 0.7, 0.6)), transform: Transform::from_xyz(3.0, 0.0, 5.0), ..default() }, )); ```

Setting the NarrowPhaseConfig values to 0.0 seems to solve it but then I fall into or through the ground if I have high vertical velocity. (I guess that's expected)

.insert_resource(NarrowPhaseConfig {
    contact_tolerance: 0.0,
    default_speculative_margin: 0.0,
    ..Default::default()
})

[SakiiCode]

If I set my collider height to 1.7 then the top of the capsule is at 2.6999664, so I'm actually in the cube. Similar things happen horizontally.

Is this intentional or can it be changed to touch the collider instead of going into it?