Blender has never been great for making real time games, physic simulation is not real time optimized games.
Continous collision detection does not seem complicated to use
Enable CCD
bodyNP.node().setCcdMotionThreshold(1e-7)
bodyNP.node().setCcdSweptSphereRadius(0.50)
From this example :
https://www.panda3d.org/manual/index.php/Bullet_Continuous_Collision_Detection
This could fix physic objects passing through others physic objects.
Armory needs to include those options to physic dynamic objects.