How to determine the collision of two three-dimensional shapes in space? The language or the way the object is represented is not as important as the algorithm and the corresponding code (of course, better using csharp and the XNA libraries).

Please do not suggest type algorithms: to inscribe both objects in the sphere and to check the collisions of the spheres is the simplest solution, which in my situation does not take into account the specifics of three-dimensional objects.