Remaked with plugin-node of collision detection part (expression node) of maya_expressionCollision.
A slight improvement in processing speed can be expected.

Warning
Internal Use ID (0x7c001, 0x7c002) is used.

There are two types of nodes of: input as vectors (colDetectionNode) or input as matrices (colDetectionMtxNode). These outputs are the same.

On its own, colDetectionNode is faster, but colDetectionMtxNode may be faster as a result because it does not require decomposeMatrix, etc. 　

use colDetectionNode	use colDetectionMtxNode

The following is the processing time for a single node when one each of sphere, capsule, and infinitePlane Collider is used, Iterations : 3, GroundCol : On.

• Windows 11
• Intel(R) Core(TM) i7-10700 CPU @ 2.90GHz
• 16GB RAM
• NVIDIA GeForce RTX 3060

• Windows 11
• Maya 2022.3

• Processing order of collider type cannot be changed.
• Too many colliders reduce accuracy.
• Scale is not supported.