Yeah, that's a fun problem to solve. The only way I know of to do it is to hand-tweak the vertex-bone assignments on the clothes so that they match as closely as possible to the vertex-bone assignments on the underlying mesh. Providing they are assigned correctly, they will be transformed together with the underlying mesh and no clipping will occur, but it's not an easy thing to get right.
Clothing a character in Blitz 3d SDK?
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