Just a very basic collision detection custom operator for Softimage written in Python. I've heard animators( or other departments after them ) complain so much aboout feet not making contact with the ground because they don't have time to check due to super tight deadlines. Anyway, it was a great exercise in trying to learn how custom operators work and in the process I got a better understanding on Quaternion rotations. Just copy to your workgroup or user "\Application\Plugins" folder and restart Softimage.

Get it here: cghub.com/scripts/view/255/

UPDATE: Ported this to C++ ( Thanks for the suggestion Simon! ). Get this here:
si-community.com/community/viewtopic.php?f=29&t=2657

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