Using the "Mesh" option in Properties > Physics > Rigid Body > Rigid Body collisions as the collision shape often makes the simulation unstable (objects jittering, falling through other objects, flying out of the scene, etc.)
This still can happen even after cranking up the Step Per Second value in Properties > Rigid Body World.

What are some methods for getting stable simulations while colliding objects with holes in them that other objects need to fall through? (for example a torus)