Collision Animation
 

Hi!
New to the forums, and somewhat new to Maya scripts and other complex effects like clothes and fluids.

I'm animating a suit, though stiffly by contraining the limbs to bones, and I'm making this suit grab something. But a problem I've had with physics and collision is that sometimes the shape of the poly is too complex or wrong in some way and it results with the 2 colliding objects intersecting each other. And I'm having this problem now.

Question being, anyway I can make this hand (poly) grab an object (poly) and have the object not slip or intersect the hand? Will I have to resort to scripting a Constraint Switch? And how?

/Edward
PS. If this is the wrong place to put this question, then forgive me.