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detecting collisions

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Hi , i have two questions.

i'm planning to write a script that can help avoid poking through something when posing a character  (a kind of basic physics engine) 

is there a method to detect collision on and between characters ,  how the smoothing modifier knows what part of the body it should morph ?  

is there a callback (signal?)  that fires while or after you change the position of an object or a character on the scene?

if you have some advices and some examples , it will be helpful , thanks


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