I believe only 3rd party plugins allow for limb collision which again is another example of DBP odd design choices which should of been native.
If your using Sparky’s Collision plugin (it's a must for collision):
Um... one way would be to turn each limb into an object then check for collision. Then position and rotate the object you want to place on the surface based on collision position and face normals.
In my editor I usually keep everything as singular objects till I think it's done then convert them all to limbs to finalise the object. Easier because you don't have to go back and forth between limbs and objects.
"Get in the Van!" - Van B
