I'm currently trying to find collisions in 3D between a tighter volume than an AABB and a tree of AABB volumes. I just need to know whether they are intersecting, no closest distance or collision response. An OBB, Cylinder or Capsule would all roughly fit these purposes but Cylinder and Capsule were the first thing I thought of, which I have found little information about detecting intersections online. Am I right in thinking that they would always be more complex to perform Separating Axis Tests on even though they might seem like simpler shapes? I figure by the time I get my head around SAT for curved shapes I could have done the thing with OBBs but I wanted to find out for sure.