So what I want to do is make two objects not clip when touching each other, instead "following" the shape of the mesh.
Basically I want the cylinder shown in this example to go over the pipe when moving it on the Y axis, in this example I actually animated the cylinder going over the pipe but I don't want to do that because it'd cause clearly unwanted clipping (as you may see from this animation) and would also take extra pointless time when animating.
I've tried the Floor constraint, which only works as a plane and doesn't understand the mesh's geometry (+ it sticks and flips weirdly which isn't exactly what I want for this, but that might be just of the way used it :P). I've also tried the ShrinkWrap contstraint which just sticks weirdly to the mesh and flips on the other sides of the mesh (which is pretty much how it's supposed to work, not what I need for my animation though).
So anyone got an idea on how I can achieve this collision effect? I've been looking through Blender constraints and such for more than an hour and couldn't find a single one which does this effect.