Just test an animation, and cannot get these "poke through" off completely.
the smoothing and interaction iteration is a bit long. I have uncheck all live update and base shape.
For still image it's OK. But for animation I notice that the plugin get the info too early, (the collision iteration process is not finished on the DS viewport (progress bar do not get to 100%), and then some "poke through" get visible.
@linvanchene, could you just do a simple animation with your figure to confirme my issue ? thanks