Mesh to influence other parts of the mesh

Is there a way to have the mesh of my object not pass through other parts of the mesh? For example, say i want my character to grasp their foot or something. Is there a way to have the mesh collide rather than pass through?

I’d prefer a method that doesn’t require animation to create the deformation [like soft-bodies] But i’ll take whatever you guys can think of.

Much thanks.

I have the same problem so I’d be glad if you get an answer. I’m currently fighting with an armature-animated model and the Game Engine, without much result…
My aim is to grasp and lift objects.

Actually this topic is discussed on another thread (sorry for double-posting)

http://blenderartists.org/forum/showthread.php?p=1617663#post1617663