Real-Time Physics Simulation Forum

I am looking to detect the collision points (and hopefully normal force) between a soft body cloth and a rigid object (like a multibody box).

Is this possible in either pybullet or c++?

I have tried in pybullet, but it returns an empty list with no contact points, even when the cloth and rigid body are in contact.

This issue on GitHub looks related.
https://github.com/bulletphysics/bullet3/issues/115

Has there been an implementation for contact callbacks between soft and rigid bodies yet?