How to detect collision with a rigidbody?

I’m trying to figure out how to detect the collision of a rigidbody (a bullet) with another object, such as a player, a target (not necessarily a rigidbody, unless it needs to be). How would I do this?

Update:
I tried using this code:

function OnCollisionEnter(collision : Collision) 
{
	Destroy (gameObject);
}

It was meant to destroy the bullet (where the script is contained), but it didn’t work. I’m not sure if this matters but, the bullet is a rigid body with collision detection set to continous. What it’s colliding with isn’t a rigidbody, and it has a mesh collider on it. But the thing is that what I’m trying to make the bullet detect the collision on is imported, and has a mesh collider on it, not a box collider. So what would I do about that?

There’s a basic example in the documentation: http://unity3d.com/support/documentation/ScriptReference/Rigidbody.OnCollisionEnter.html

Basically, you implement your behavior in the OnCollisionEnter() method for your bullet rigid body.

http://unity3d.com/support/documentation/ScriptReference/Collider.OnCollisionEnter.html

Use OnTrigger instead of onCollision…
It would be much better to used in arcade game collision…

http://unity3d.com/support/documentation/ScriptReference/MonoBehaviour.OnTriggerEnter.html