Cloth gets stuck in walls.

I noticed that if a cloth gets sandwiched between two actors that slightly penetrate into each other, one of them is animated and the other one is a kinematic actor, then the cloth will get stuck inside the kinematic actor. Is there anyway to prevent this with cloth? Will it always get attached to an actor which the cloth goes into?

I managed to solve the problem by using the contact filtering feature of PhysX. It is possible to assign shapegroup filters to cloth and explicitly define the interaction rules on the main scene.