bool static extentSignedTest(const Vector4f& p, const Vector3f& center, const Vector3f& extent)
{
        return (dot(Vector3(p), center) + dot(abs(Vector3(p)), extent) < -p.w);
}

bool static isAABBInFrustumReference (const AABB& box, const Matrix44& frustumMatrix)
{
        const Vector4f  rowX                    = frustumMatrix.getRow(0);
        const Vector4f  rowY                    = frustumMatrix.getRow(1);
        const Vector4f  rowZ                    = frustumMatrix.getRow(2);
        const Vector4f  rowW                    = frustumMatrix.getRow(3);

        const Vector3f& center =  box.getCenter();
        const Vector3f& extent =  box.getExtents();

        // Left and right planes
        if (extentSignedTest(rowW + rowX, center, extent))
                return false;

        if (extentSignedTest(rowW - rowX, center, extent))
                return false;

        // Bottom and top planes
        if (extentSignedTest(rowW + rowY, center, extent))
                return false;

        if (extentSignedTest(rowW - rowY, center, extent))
                return false;

        // Near and far planes
        if (extentSignedTest(rowW + rowZ, center, extent))
                return false;

        if (extentSignedTest(rowW - rowZ, center, extent))
                return false;

        return true;
}