So, I think that before we look too much further into the physics, we should have a set of test maps we can use to see in practice what happens. Looking at the code is of course very valuable, but this doesn't really let us see how things work in practice, nor is it optimal at all for visualising a situation and asking how it should work.
As such, I'd like to suggest a project of making a set of test maps. I'm making a graphic set specifically for this, that focuses completely on functionality and not at all on any visuals beyond what is needed to understand how things work (or in some cases, simplify it, such as having pieces designed to help with judging distances).
I'm starting by converting the existing Climber test maps. I'll probably end up doing most of this myself, but if anyone would like to help - whether by actually making levels or just by putting forward suggestions - feel free to do so. It doesn't really matter if some things get duplicated; what's important is that they produce useful information.
The current contents can be found here, as can the graphic set:
https://www.dropbox.com/sh/u3tqe18rcwqarvu/AABlpM1PCn0kSIW5V6JRhkUra