title: In Blender, how to detect limb collision of a rigged character
body: <p>I am currently working on blender and rigged a character. 
  I random set the pose and sometimes the limb will penetrate to other limbs. Ex. if you rotate the arm inwards too much it will penetrate into the body which is not proper. </p>
  
  <p>Is there a way to detect such collision in blender? 
  Thanks. </p>