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NOTE: the Physics refactoring of 4.21.x is now preventing the cloth from interacting with the Environment and the Characters. I am looking for alternative solutions.
Step-by-step tutorial on how to create an NvCloth based cloth and set it up to properly collide with the world (environment) and the character. The latter requires a trick to make it work properly.
Based on Unreal Engine 4.20.3 and integrated NvCloth 1.0.0.