First, get comfortable using the collision engine normally (without using a matrix object).
Once you understand how that works, move to using matrices alone. This is a matter of simply keepiung your object above the matrix with DBP's built-in commands (like GetGroundHeight(), etc...)
Then, you could put both of those bits together and you would have your collision solution
For the NGC collision part of it I can provide all of the tech. support needed
For the matrix part of it, refer to the DB docs, provided examples, and other members who are familiar with the matrix commands.