How do I make one mesh bounce off another, rather than passing through it?

Blender file:

I have a rigged tentacle that is parented to an animated plane. I have the plane rotate and move down to cause the tentacle to flail about (using the wiggle addon). When the tentacle reaches the blue mesh that I’m using as the ground, I would like it to interact with the ground rather than just passing through it.

If I go the rigid body route then the tentacle won’t follow the animation path I want it to.

Is it possible to still have object interactions without using rigid bodies?

Or is there a way to use rigid bodies and still have it follow the path I want and keep the effect of the wiggle add-on working (some kind of pin maybe)?

Any thoughts?

There is a “floor” bone constraint, maybe it will prevent the last bone from crossing the floor object.
EDIT: It does not work with the bones. Applying floor modifier to the cylinder with offset 0.17 kind of works, applying to the armature with offset 5 messes up the cylinder position.

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Thanks for your responses.

Floor constraint with offset is a good idea, but unfortunately it doesn’t really work as it just leaves the tentacle floating in the air with the tip of it pressing agains the floor. Whereas I want the whole thing to press against it, or even preferably bound off it a little as it gesticulates.

Do you think there maybe is a way to do it using a physics simulation and still getting the wiggling effect I’m after?

Maybe some kind of a hair particle system?

EIDT: See I ultimately actually want to have a bunch of tentacles gesticulating out from the cylinder.

I do not really know much about 3d and since rigid body is off the table maybe use the limit distance constraint (or copy location somehow from another rigid object).