There are three major problems in modeling the natural motion of virtual clothing in a 3D environment: (1) a large number of contact points, (2) the computations of collision information in the presence of numerical errors, and (3) interactions with objects having sharp features. We proposes new techniques that successfully address the three problems. The experimental results show that the proposed techniques can be applied on virtual garments with complex geometry and on unique interactions between continuous and non-smooth surfaces. Our techniques are classified into four categories: (1)...