Help cloth passthrough

[josemendez]

Forceps is 0.2, each particle is 0.01

That's quite a large mass ratio. Most physics engines will work ok up until ratios of 1:10, this is also recommended in Unity's docs. Try increasing the cloth mass to 0.05-ish.

On using the LateFixedUpdater, the unusual behaviour has ceased. The cloth deforms without the weird wave effect.
BUT, the forceps now passes through the cloth very easily, the cloth barely even stretches before the forceps slips through.

I've tried increasing the distance and bend compliances (by 100x), helps a bit.

Compliance is expressed in m/N, a value of 100 will make the cloth extremely stretchy which I believe is the exact opposite of what you want in this case.Compliances should be left to zero unless you're aiming for very elastic materials.

Using ObiLateFixedUpdater will cause the simulation to execute once after every other script has called its FixedUpdate(). Another option is using ObiFixedUpdater, but forcing XRInteractable to update before the cloth simulation manually. You can do this in Unity's script execution order window, by setting ObiFixedUpdater to update after XRInteractable.