Abstract: In order to quickly deal with the collision detection for the cloth and obtain the real contact friction simulation effect, a collision/contact solution based on the penalty function is proposed. Firstly, the mass-spring model is used to simulate the cloth, and an improved damping force is added in the direction of the spring deformation to reduce the oscillation between particles to ensure the system stability. Secondly, the algebraic non-penetrating filter is used to simplify the CCD algorithm, quickly determine the existence of the root of the equation, and improve the simulation efficiency in each frame for the cloth. Finally, the Coulomb constraint and the contact constraint are used to constrain each collision/contact pair, and combined with the improved penalty function method to effectively respond to all collision/contact pairs. The experimental results show that the method can quickly and effectively deal with the collision and contact friction of the cloth in the CPU simulation environment, simulate the complex physical behavior of the cloth, and is suitable for real-time interactive applications.