A three-dimensional computational model for acoustic scattering with complex geometries is presented, which employs the immersed boundary technique to deal with the effect of both hard and soft wall boundary conditions on the acoustic fields. In this numerical model, the acoustic field is solved on uniform Cartesian grids, together with simple triangle meshes to partition the immersed body surface. A direct force at the Lagrangian points is calculated from an influence matrix system, and then spreads to the neighboring Cartesian grid points to make the acoustic field satisfy the required boundary condition. This method applies a uniform stencil on the whole domain except at the computational boundary, which has the benefit of low dispersion and dissipation errors of the used scheme. The method has been used to simulate two benchmark problems to validate its effectiveness and good agreements with the analytical solutions are achieved. No matter how complex the geometries are, single body or multibodies, complex geometries do not pose any difficulty in this model. Furthermore, a simple implementation of time-domain impedance boundary condition is reported and demonstrates the versatility of the computational model.