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If you need to think about it try to do it on the outside

  • Specified by pminand pmax.
  • Center c = (pmin+pmax)/2.
  • Size s = pmax - pmin.
Closest point to AABB
  • The point is p and the closest point will be q.
  • For each axis in p check if value is below min then set that axis in q it to min and if above max set it to max. This will push p along each axis towards the box. 
  • If any axis position is inside the box it will remain in the box.
Intersect two AABB.
  • Check each axis. If no overlap in axis then boxes to not intersect.
  • If all axis overlap then they intersect.
Intersect AABB and plane.
Intersec Sphere vs AABB