How to handle Z clipping

How would I handle Z clipping for Rigidbodys in unity?
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The best solution for z-fighting is simply to not have two overlapping polygons in the exact same plane. Move the triangles or the grass plane a little bit up or down.

There is something called depth-bias but that’s usually a measure of last resort.

These objects are rigidbodys and can often end up on the same plane/terrain due to gravity.

Colliders don’t have to be identical to the rendered mesh. It’s actually a good practice to use a simpler mesh for colliders for performance reasons. Often it’s even sufficient to use a simple box, sphere or capsule collider instead of a mesh collider.

Even with a mesh collider you can probably give it a different transform that the rendered mesh (but haven’t checked).

Adding 0.01 to all angles of the collider stops the Z fighting when the rigidbody is not moving.

For HDRP what other methods can be used for fighting Z clipping?

Why do you need a different solution for HDRP?

to solve z clipping when snapping objects to eachother.