So a custom cylinder is simulated differently the a convex approximation. There are situations where the cylinder behavior is better because its not just approximated.
To illustrate the different behavior I would recommend you to check our Custom Cylinder demo, see Window->Simulation->demos then custom cylinder demo.
The custom cylinder contacts are computed based on a combination of capsule and box collisions and produce expected behavior on the edges, it rolls nicely. But its a CPU only feature for now and seems like to still have some side effects. I did created internal ticket for the PhysX SDK team to investigate further.
Regards,
Ales
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