Colliders going through walls

Hi!

I'm having problems with colliders going through walls on some occasions. I have NPC that I can push, so they go in some ragdoll mode, I enable colliders, add rigidbodies on the fly(because I found that it's better for performance than having some constantly that don't really sleep), do the connections with joints and add some force to the hips. But sometimes if the NPC is close to a wall when it is pushed, it's going through it. I tried to set the detection mode to continuous dynamic or continuous with no success. I may have more success with an higher physic framerate but I fear that less than 0.02 for my project would generate spikes (developping a 3d game for mobile). Beside it only happens on the creation, after some frames, bodies never go trough walls.

Here is the code that generate the hips rigidbody and add force:

  public void Enable(Vector3 direction, float velocity)
     {
         Rigidbody rigid = gameObject.AddComponent<Rigidbody>();
         rigid.mass = mass;
         rigid.angularDrag=0;
         rigid.collisionDetectionMode=CollisionDetectionMode.ContinuousDynamic;
         rigid.AddForce(direction*Mathf.Max(velocity*15f, 35f), ForceMode.Impulse);
     }

And for the rest of the body:

  public void Enable(Vector3 direction, float velocity)
     {
         Rigidbody rigid = gameObject.AddComponent<Rigidbody>();
         rigid.mass = mass;
         rigid.angularDrag=0;
         rigid.collisionDetectionMode=CollisionDetectionMode.ContinuousDynamic;
         CharacterJoint joint = gameObject.AddComponent<CharacterJoint>();
         joint.connectedBody=boneParent.GetComponent<Rigidbody>();
         joint.lowTwistLimit=lowTwistLimit;
         joint.highTwistLimit=highTwistlimit;
         joint.swing1Limit=swing1Limit;
     }
 

They are all called at the same frame, hips first and the others in a for loop after.