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For a glass that moves around you have a couple options. The first of which is to increase the thickness of the collision volume so maybe your glass looks like 

 |   |
 |__|

but the collision volume is 
|  |     |  |
|  |___|  |
|_______|

The other option is a little more complicated. If the glass is moving really quickly, you can up the substeps to a silly amount but if it still doesnt work...  You basically have to invert the animation. Sim the non-animated glass at 0,0,0 with the animation actually being applied inversely to your gravity force. 

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I am assuming you are using the default volume based collision of the rbd object. In which case you would have a very thin volume representing the glass. Select your rbd object and turn off the display geometry. Then in the collision tab you can check the little checkbox that says show collision geometry. You'll see a thin blue object. This is your collision primitive - which is easy to escape from because its so thin. if you continue to scroll down in the collision tab you'll see a dialog box for collision proxy volume. You can point this to another node in your network outside of dops. This is where you would plug in a volume representation of your class with a much thicker wall. 

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