Jimmy is absolutely right! Zheng, you are getting the notorious “PhysX Explosion”. The engine tries to “repair” the scene and quickly separate the geometry. In order to avoid it you want to have non-intersecting geometry. Pretty much every RBD engine out there would complain about that, not just PhysX/MassFX. Another thing that is important with PhysX (unfortunately) si that you want to have preferably convex geoemtry. Concave geometry will be “shelled” with a convex hull for simulation as PhysX creates it’s own simulation geometry on the fly (the bounding boxes you see in the viewport from the physx modifier).
Hope that explains it a little. Sorry if you have to re-arrange some of your geo 
Anselm



