Step 1: Setup the scene as shown.
Step 2: Select the plane and add a reactor cloth modifier to it..
Step 3: Add a RBCollection and a CLCollection helper to the scene....
Step 4: Select the RBCollection and the box and sphere to it
Step 5:Select the CLCollection and the plane
Step 6: Give mass to the sphere and box
Step 7:Fix the corner vertices of the plane to the environment.(See fig below)
Step 8: Create Simulation
Step 9:Add materials and lights to the scene and render out...
1)Soft body simulation can be done in the same way. Instead of adding reactorCloth to the cloth object add reactorSoftBody and use SBCollection instead of CLCollection.
2)Rope Simulation will also be done the some way. Use reactorRope and RPCollection. For rope use a spline as that is the only thing that works.