Rigid Bodies in 1.7.2

I've been playing with the physics system for a while now. I've found that the rigid body simulations for something simple like a box simply doesn't work. I've posted in the physics forums but haven't received any responses. I'm learning the kinematics and dynamics (all the math) behind rigid body simulations but I've been unsuccessful in writing something in the source that works or deciphering what is going on in the physics code.
Everything looks right until the impulse is calculated and the angular velocity is calculated. The angular velocities go absolutely nuts but the object is still until it makes edge to edge contact then the box goes flying.

I'm suspicious of the collision system but that could be acting up be because the forces being applied are forcing the object into the collision.

I've also tried rendering some vectors to visualize the forces but any openGL calls I make in the physics code don't seem to render. I've asked in the GG IRC channel and not many people there use TGB.

If anyone could share any information or if anyone from GG could help me out, that would be awesome. Thanks.

Here's some video of what I'm talking about: ca.youtube.com/watch?v=Erby6Nven78