public boolean SPETestTriangleAABB(PVector v0, PVector v1, PVector v2, PVector bmin, PVector bmax) {
    float p0, p1, p2, r;

    PVector  c = PVector.add(bmin , bmax); c.mult(  0.5 );
    float e0 = (bmax.x -bmin.x) *  0.5 ;
    float e1 = (bmax.y -bmin.y) *  0.5 ;
    float e2 = (bmax.z -bmin.z) *  0.5 ;

    v0 = PVector.sub(v0 , c);
    v1 = PVector.sub(v1 , c);
    v2 = PVector.sub(v2 , c);

    PVector f0 = PVector.sub(v1 , v0);
    PVector f1 = PVector.sub(v2 , v1);
    PVector f2 = PVector.sub(v0 , v2);

    //a00
    p0 = -v0.y * (v1.z - v0.z) + v0.z * (v1.y - v0.y);
    p1 = -v1.y * (v1.z - v0.z) + v1.z * (v1.y - v0.y);
    p2 = -v2.y * (v1.z - v0.z) + v2.z * (v1.y - v0.y);
    r = e1 * abs(f0.z) + e2 * abs(f0.y);
    if(max(-max(max(p0, p1), p2), min(min(p0, p1), p2)) > r)
    {
        return false;
    }
    //a01
    p0 = -v0.y * (v2.z - v1.z) + v0.z * (v2.y - v1.y);
    p1 = -v1.y * (v2.z - v1.z) + v1.z * (v2.y - v1.y);
    p2 = -v2.y * (v2.z - v1.z) + v2.z * (v2.y - v1.y);
    r = e1 * abs(f1.z) + e2 * abs(f1.y);
    if(max(-max(max(p0, p1), p2), min(min(p0, p1), p2)) > r)
    {
        return false;
    }
    //a02
    p0 = -v0.y * (v0.z - v2.z) + v0.z * (v0.y - v2.y);
    p1 = -v1.y * (v0.z - v2.z) + v1.z * (v0.y - v2.y);
    p2 = -v2.y * (v0.z - v2.z) + v2.z * (v0.y - v2.y);
    r = e1 * abs(f2.z) + e2 * abs(f2.y);
    if(max(-max(max(p0, p1), p2), min(min(p0, p1), p2)) > r)
    {
        return false;
    }
    //a10
    p0 = v0.x * (v1.z - v0.z) + -v0.z * (v1.x - v0.x);
    p1 = v1.x * (v1.z - v0.z) + -v1.z * (v1.x - v0.x);
    p2 = v2.x * (v1.z - v0.z) + -v2.z * (v1.x - v0.x);
    r = e0 * abs(f0.z) + e2 * abs(f0.x);
    if(max(-max(max(p0, p1), p2), min(min(p0, p1), p2)) > r)
    {
        return false;
    }
    //a11
    p0 = v0.x * (v2.z - v1.z) + -v0.z * (v2.x - v1.x);
    p1 = v1.x * (v2.z - v1.z) + -v1.z * (v2.x - v1.x);
    p2 = v2.x * (v2.z - v1.z) + -v2.z * (v2.x - v1.x);
    r = e0 * abs(f1.z) + e2 * abs(f1.x);
    if(max(-max(max(p0, p1), p2), min(min(p0, p1), p2)) > r)
    {
        return false;
    }
    //a12
    p0 = v0.x * (v0.z - v2.z) + -v0.z * (v0.x - v2.x);
    p1 = v1.x * (v0.z - v2.z) + -v1.z * (v0.x - v2.x);
    p2 = v2.x * (v0.z - v2.z) + -v2.z * (v0.x - v2.x);
    r = e0 * abs(f2.z) + e2 * abs(f2.x);
    if(max(-max(max(p0, p1), p2), min(min(p0, p1), p2)) > r)
    {
        return false;
    }
    //a20
    p0 = -v0.x * (v1.y - v0.y) + v0.y * (v1.x - v0.x);
    p1 = -v1.x * (v1.y - v0.y) + v1.y * (v1.x - v0.x);
    p2 = -v2.x * (v1.y - v0.y) + v2.y * (v1.x - v0.x);
    r = e0 * abs(f0.y) + e1 * abs(f0.x);
    if(max(-max(max(p0, p1), p2), min(min(p0, p1), p2)) > r)
    {
        return false;
    }
    //a21
    p0 = -v0.x * (v2.y - v1.y) + v0.y * (v2.x - v1.x);
    p1 = -v1.x * (v2.y - v1.y) + v1.y * (v2.x - v1.x);
    p2 = -v2.x * (v2.y - v1.y) + v2.y * (v2.x - v1.x);
    r = e0 * abs(f1.y) + e1 * abs(f1.x);
    if(max(-max(max(p0, p1), p2), min(min(p0, p1), p2)) > r)
    {
        return false;
    }
    //a22
    p0 = -v0.x * (v0.y - v2.y) + v0.y * (v0.x - v2.x);
    p1 = -v1.x * (v0.y - v2.y) + v1.y * (v0.x - v2.x);
    p2 = -v2.x * (v0.y - v2.y) + v2.y * (v0.x - v2.x);
    r = e0 * abs(f2.y) + e1 * abs(f2.x);
    if(max(-max(max(p0, p1), p2), min(min(p0, p1), p2)) > r)
    {
        return false;
    }

    if(max(max(v0.x, v1.x), v2.x) < -e0 || min(min(v0.x, v1.x), v2.x) > e0)
    {
        return false;
    }
    if(max(max(v0.y, v1.y), v2.y) < -e1 || min(min(v0.y, v1.y), v2.y) > e1)
    {
        return false;
    }
    if(max(max(v0.z, v1.z), v2.z) < -e2 || min(min(v0.z, v1.z), v2.z) > e2)
    {
        return false;
    }

    
    PVector pn = f0.cross(f1);
    float pd = pn.dot(v0);
    PVector b2min, b2max;
    b2min = PVector.sub(bmin , c);
    b2max = PVector.sub(bmax , c);
    return SPETestAABBPlane(b2min, b2max, pn, pd);
}

public boolean SPETestAABBPlane(PVector b2min, PVector b2max, PVector pn, float pd)
{
    // These two lines not necessary with a (center, extents) AABB representation
    PVector  c = PVector.add(b2max , b2min); c.mult ( 0.5 ) ; // Compute AABB center
    PVector  e = PVector.sub(b2max , c); // Compute positive extents

    // Compute the projection interval radius of b onto L(t) = b.c + t * p.n
    float r = e.x*abs(pn.x) + e.y*abs(pn.y) + e.z*abs(pn.z);
    // Compute distance of box center from plane
    float s = pn.dot(c) - pd;
    // Intersection occurs when distance s falls within [-r,+r] interval
    if (abs(s) <= r) {
    return(true); } else { return(false); }
}