This report treats the implementation of collision detection algorithms for Boundary representations (BREPs) consisting of connected trimmed surfaces, mainly Non Uniform Rational Basis Spline (NURBS) surfaces. Using the OpenNurbs software package, complicated geometries created in CAD program Space Claim were imported to the physics engine AgX, where dynamic simulations were carried out. Collision detection algorithms for the geometry pairs BREP-line, BREP-plane and BREP-sphere have been developed and investigated. In the case of BREP-sphere collision detection, experiments have been carried out which show that BREP-shape representation exceeds trimesh-shape representation both in computational performance and in collision accuracy. The conclusion is that BREP representation has the potential to replace trimesh representation for some complex geometries with higher computational performance and more accurate simulations as a result.