Rigid Body Collision

Aparajith has started with rigid body collisions. He has been able to find out which vertices will collide with the rigid body mesh in the next time instant. The current position of each vertex, the projected position at the next time instant and the ray along the direction of velocity is considered while determining collision with the rigid body mesh. Two terms are of importance here:

Continuous Collision: In this case, the current position of the vertex is outside the mesh, while the next projected position is inside the mesh. In this case the point where the vertex intersects the mesh and the normal at that face is considered to generate a constraint.

Static Collision:In this case, the current position as well as projected positions are inside the rigid body (can occur due to failure in the continuous collision case). The point on the rigid bosy cloest to the projected point and the normal at that point are considered while creating the constraint for this type of collision.

Aparajith is currently figuring out how to solve the constraint. He has temporarily solved it using a scaling factor, but he is still investigating the issue. Below is the video generated using a scaling factor. You can see how the cloth collides with the rigid body and repels out.