What is the best way to do collision detection in 3D? I thought of one way to do it by having boxes, like the RECT structure but with an extra dimension, then it would just be the same as 2D(sort of). For none rectangular 3D shapes I could use more than one box and the more boxes used the more precise it would be.

Is this the best way or is there another way, maybe one that will use the vertices?

Thanx for any help