Cloth push-back and pass-through

[danazoid]

The basic formula is your typical PBD constraint:

Code:

lambda = constraint * (massA + massB);
deltaA = lambda * gradient / massA;
deltaB = lambda * gradient / massB;

Did you mean lambda = constraint * ( invMassA + invMassB)?

which is consistent with PBD paper/slides and Obi code:
BurstContact.SolveAdhesion {
...
     float dlambda = -constraint / TotalNormalInvMass;
...
}

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Then velocity of the rigidbody is calculated here?

BurstMath.ApplyImpulse {
...
    linearDeltas[rigidbodyIndex]  += rigidbodies[rigidbodyIndex].inverseMass * impulseWS;
...
}
=====
Then somehow Unity calculates something that interacts with the joint force.