Detect Object Collisions with IndexedFaceSet Transforms

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In this link collision of line and walls are shown.
My problem is checking collision between lines and other non-simple objects.
As MATLAB says in the above link,
GEOMETRY – The sensor collides with union of individual bounding boxes of all objects defined in the pickTarget field. In general, this setting produces more exact results.
However, I need sensor flag is on when it hits the object in real not just bounding boxes.
A person ask this question, and it is very much like that I ask.
Any support will be appreciated.

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