Yes, randomly falling through the floor is an expected occurance in Sonic Heroes. Though not quite as common as Knuckle's punch attack clipping harmlessly through enemies which then kill you or the homing attack either throwing you off the stage or just randomly failing when you need it most, it is a defining feature of the engine.
When Shadow the Hedgehog was made, they managed to reduce the frequency at which these glitches would occur with the possible exception of the homing attack, which still killed me countless times.
In fact, I'd bet that were the glitches and bad physics corrected, Shadow's game would have been the easiest in the series, because I can count on one hand how many times I died to some element that was actually intended to harm the player.
When Shadow the Hedgehog was made, they managed to reduce the frequency at which these glitches would occur with the possible exception of the homing attack, which still killed me countless times.
In fact, I'd bet that were the glitches and bad physics corrected, Shadow's game would have been the easiest in the series, because I can count on one hand how many times I died to some element that was actually intended to harm the player.