Let's say I created a plane as the floor
And then I created a cube.
Instead of detecting the center of the cube against the floor, can blender use the surface of the cube.So whenever the surface of both object met, the cube can't cross.
Added Info: Well actually I'm searching for the solution of my rig problem. Often time when I make an animation, the tip of the foot often times went through the ground. So I was thinking, maybe if there's a way to prevent this by using mesh collision detection. Rigid body seems for simulation only