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

aabox-segment-3d-intersection.py

def aabox_segment_3d_intersecting(box_center, box_extents, A, B):
    M = (A + B) / 2 - box_center
    AB = B - A

    if numpy.any(numpy.fabs(M) > box_extents + .5 * numpy.fabs(AB)):
        return False

    U = AB / numpy.sqrt(numpy.sum(AB ** 2))
    abs_U = numpy.fabs(U)
    abs_W = numpy.fabs(numpy.cross(U, M))

    if abs_W[0] > box_extents[1] * abs_U[2] + box_extents[2] * abs_U[1]:
        return False
    
    if abs_W[1] > box_extents[2] * abs_U[0] + box_extents[0] * abs_U[2]:
        return False
    
    if abs_W[2] > box_extents[0] * abs_U[1] + box_extents[1] * abs_U[0]:
        return False
    
    return True