physics – 3D collision response advice for complex meshes

I am trying to use my own collision detection system in Unity to speed up my game. My problem is that when rigid bodies sit on top of static bodies, they will balance unrealistically on one edge or a corner. I really just need a better way of fixing this issue, but I will explain further.

I have tried adding a force to the point of collision to try and “settle” the rigid body into place, and this sort of works, it’s just that once it has settled, it vibrates wildly just sitting on top of a static mesh… I can get it to either slowly float down into a settled position or it does it fast but vibrates wildly after settling on a static mesh.

I would appreciate any ideas at all, even if they are bad ones. Thank you.