is any windows software that can perform RAID on different type of drive
technology in a single computer?
Yes, there is. It is called Microsoft windows (as in the OS itself).
E.g. see this screenshot in Windows 10 preview (though it works the same in windows 7. But I have no mixed drives there to test it with).

From my understanding, a hardware RAID card is needed to perform RAID on
the same type of drive technology in a single computer.
(Do correct me if I have misunderstand).
I am not sure it if it needed. There is no technical reason why a RAID card could not create an array on a mix of e.g. SAS and SATA disks.
Therefore, if a SCSI drive is used in RAID, the second and so forth drive is
usually SCSI.
Usually yes.
- Mixing technologies gives you the worst of both. (E.g. you are mixing usually more expansive SCSI and SAS drives with the reliability of cheap PATA/SATA disks).
- Mising technologies also means that the RAID cards get more complex (it must understand/posses both interfaces)