How to model 3 dim structures (no graphical stuff)

Hi all,
I am in search for an API that allows to model simple 3d structures like cubes, balls etc.
I need to model the structures and ask questions like "what object is at point (x, y, z)?" or "what objects are intersected by a line y=mx+c?".
I have no need to visualize them.
So here is my question: Does anyone kow about a library that deals with operations like those?
Or does anyone know how I call this functinoality? Any search for 3 dimensional modeling leads to graphical libraries - what I do not need. If there is no such library, can anyone lead me to some information to the theoretical basics for this operations?
Thanks a lot,
Clemens

Sounds like you want a scene graph. Scene graphs are usually used in 3d graphics, but you should have no problem using such a library without any graphics.

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