Frictional properties between a cloth and a rigid object are still not completely implemented in cloth simulation systems. Resistance force from the rigid object to a cloth can be divided into two components, namely normal force and frictional force. Though the normal force is an essential part of resistance farce, the frictional force of secondary importance must be considered to achieve more accurate cloth simulation. In order to complete the investigation, some working steps are needed. As the first step of the investigation, we have tried to make a physically based friction model by which the following two phenomena occur in the simulation. The first phenomenon is, as a matter of course, that the simulated shape varies according to the value of frictional coefficient. The second one is hysteresis i.e. the shape depends not only on the final location of a rigid object, but also on the history of changing locations.
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