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Hi vanilla lovers !
The orchid module for drupal 6.x and 7.x now support the JSconnect plugin made by @Todd to provides cross-domains SSO.
The orchid module also provide tools to easily embed the vanilla forum within a drupal block or a panel content, and integrate with image cache / image style to sync your avatar between drupal and vanilla without risking to break your layout.
more details here : http://drupal.org/project/orchid.