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Activate Packed Object when inside other mesh


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I am making a rigid body simulation.I am doing a guided simulation,and the parts will follow the guide sim until they are active.

The problem is that I can activate these parts when the center point(packed point)gets inside other mesh,

But I cant find out how to activate when the piece gets inside even a little bit inside the other mesh like the picture I attached.


For example,I want the blue parts and yellow parts(brown and maybe pink)to get activated if they get inside even a little bit inside each other.


I hope someone could help.




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