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A good collision detection tutorial and article

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hi, i´m a relative beginner in 3D math and are working on my first engine ever. this engine is intended to become a 3D shooter - like engine for doom and quake like games. now i´m at the point to add collision detection, but the articles i have read at this point were to heavy to understand for me and some things were not explained enugh. can anyone give me some hints to get started or suggest some link? i want to understand this feature, i´m not interested in source code that i can easily be included in my project because then i would never understand it! thanks

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I go to

http://www.ams.sunysb.edu/~jklosow/quickcd/QCD_resources.html

for collision detection resources: it has links to a range of packages/systems, most of which include source or comprehensive documentation.

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