Flipping cloth? ScaleX == -1?

[josemendez]

Could you please just tell me where should I instert my flipping-back code so that I can make my test properly? Which method should I insert the code into, instead of SimmulateStep()?

As I already told you, set your solver update mode to FixedUpdate, then write your code after WaitForFixedUpdate:
https://docs.unity3d.com/ScriptReference...pdate.html

Your code should be executed after all physics steps in the frame, which is precisely what WaitForFixedUpdate accomplishes. See:
https://docs.unity3d.com/Manual/ExecutionOrder.html

You can also insert it in Update, or even LateUpdate.

This is exactly what I am doing. The cloth is going inside colliders even though everything is flipped: the cloth', the colliders', the solver's GameObjects. There is something wrong with your reasoning. My colliders are capsule colliders and sphere colliders - that is all, no mesh collider shenanigans.

As I said, colliders (capsule, box and sphere colliders in particular) do not support negative scale. Are you 100% positive you're flipping them after the simulation?