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How to prevent 2 seperate meshes that have soft-body modifiers from clipping into each other and glitching, even if collision is turned on?

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What I want to achieve : 2-5 meshes all of which have soft-body modifier. I needed them to bounce onto each other, flop off each other, etc.

What I have done so far : Created 2 meshes. Have a plane right below them acting as a surface to bounce on. All 3 of them have a collision modifier. The initial 2 meshes have a soft-body modifier in addition. Soft-Body self-collision has not been enabled, as this itself took an hour to bake. I'm planning to apply this to 5 meshes, rather than just 2, so bake times are crucial for me

Problem : Even when I delete every bake in the scene, re-add a collision modifier + soft-body to the 2 meshes in the scene, the sim starts off with the 2 meshes wrapping around each other, intersecting and clipping into each other, all whilst remaining in the same place, not falling to the ground.

Here is a link to my file : the file

Here is a video of my issue, apologies for bad video trimming and quality :

enter image description here


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