Sparky's collision DLL (search in the DLL Talk forum for 'sparky collision') has a DBC version. It's essentially a really fast intersectObjectDBC() function, that allows you to shoot a 'ray'. It'll then return what objects the ray passes through.
The examples included in the archive are more than enough to get you started; they'll serve as a nice introduction at least. The idea is you fake your own get ground height() function by shooting a ray from the player's feet downwards a little bit. If there's nothing there, move the player object down (i.e. gravity). If there is, cement the player's feet to the object.
Not easy, but models/objects can be used to make faster-rendering landscapes than matrices. intersectObjectDBC() is extremely versatile, once you get a feel for it...
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