Collision Avoidance

Hello dear community,
I wanted to ask some questions on collision API existent in Visual Components.
1 - Does collision detection implementation use the IGeometrySet.BoundBox to detect collisions? If not, is it possible to know the intuitive idea?
2 - Is there a way to accurately know if a point (x, y, z) is inside a volume of an ISimComponent ?
3- I plan to create a collision avoiding robot without Collision Detectors. As such, I wanted to know if it’s less time consuming to use bounding boxes than collision detectors.