bool extentSignedTest(const Vector4f& p, const Vector3f& center, const Vector3f& extent) const
{
    return (dot(center, toVector3(p)) + extent.x * abs(p.x) + extent.y * Util::abs(p.y) + extent.z *
        abs(p.z) < -p.w);
}

bool isAABBInObjectSpaceFrustum (const AABB& box, const Matrix44& modelToWorld) const
{
    const Matrix44  objectToProj    = m_worldToProj * modelToWorld;

    const Vector4f  rowX        = projToObject.getRow(0);
    const Vector4f  rowY        = projToObject.getRow(1);
    const Vector4f  rowZ        = projToObject.getRow(2);
    const Vector4f  rowW        = projToObject.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;
}