Check if an axis aligned bounding box intersects the triangle [ABC]. Box extents are half the size of the box

aabox-trianle-3d-intersection.py

def aabox_triangle_3d_intersecting(box_center, box_extents, ABC):
    # Algorithm described in "Fast 3D Triangle-Box Overlap Testing" by Tomas Akenine-Moller 
    ABC = ABC - box_center
    UVW = numpy.roll(ABC, -1, axis = 0) - ABC

    # Check along triangle edges
    for K in UVW:
        P = numpy.dot(ABC, numpy.array([0, -K[2], K[1]]))
        if max(-numpy.amax(P), numpy.amin(P)) > box_extents[1] * numpy.fabs(K[2]) + box_extents[2] * numpy.fabs(K[1]):
            return False

    for K in UVW:
        P = numpy.dot(ABC, numpy.array([K[2], 0, -K[0]]))
        if max(-numpy.amax(P), numpy.amin(P)) > box_extents[0] * numpy.fabs(K[2]) + box_extents[2] * numpy.fabs(K[0]):
            return False

    for K in UVW:
        P = numpy.dot(ABC, numpy.array([-K[1], K[0], 0]))
        if max(-numpy.amax(P), numpy.amin(P)) > box_extents[1] * numpy.fabs(K[0]) + box_extents[0] * numpy.fabs(K[1]):
            return False

    # Check along cube faces
    if numpy.any(numpy.amin(ABC, axis = 0) > box_extents):
        return False

    if numpy.any(numpy.amax(ABC, axis = 0) < -box_extents):
        return False
            
    # Check distance to the A, B, C plane
    N = numpy.cross(UVW[0], UVW[1])
    if numpy.fabs(numpy.dot(N, ABC[0])) > numpy.dot(box_extents, numpy.fabs(N)):
        return False
        
    # Job done
    return True