Mesh faces not intersecting - kangaroo

Hello!

I was wondering if it's somehow possible to prevent mesh faces from intersecting with each other (preferably with kangaroo)?

I made a sort of origami based structure that can fold by using the kangaroo plugin.
I now want it to fold by moving 2 points closer to each other (green to orange, picture 1) so that the structure in between has to fold and move upwards.
So I got the algoritm that makes all the triangle faces be able to fold but the structure won't go up (as inteded in picture 1). They would just collide (like in picture 2).

So I was thinking that a way how to do this is by preventing the meshes from colliding. In that case the structure is forces to move up in the Z direction, but I can't figure out how or if it would be possible to make it.

Thanks for Any help!