kdop bbox test

template < std::size_t uMax >
class capped_kdop
...

bool isBBoxIn(const bounding_box3d& bbox, const matrix& world) const
    {

        float3 c    = bbox.getCenter();
        float sizex = bbox.maxEdge.x - bbox.minEdge.x;
        float sizey = bbox.maxEdge.y - bbox.minEdge.y;
        float sizez = bbox.maxEdge.z - bbox.minEdge.z;

        float3 corners[8] =
        {
            float3((c.x - sizex * 0.5f), (c.y - sizey * 0.5f), (c.z - sizez * 0.5f)),
            float3((c.x + sizex * 0.5f), (c.y - sizey * 0.5f), (c.z - sizez * 0.5f)),
            float3((c.x - sizex * 0.5f), (c.y + sizey * 0.5f), (c.z - sizez * 0.5f)),
            float3((c.x + sizex * 0.5f), (c.y + sizey * 0.5f), (c.z - sizez * 0.5f)),
            float3((c.x - sizex * 0.5f), (c.y - sizey * 0.5f), (c.z + sizez * 0.5f)),
            float3((c.x + sizex * 0.5f), (c.y - sizey * 0.5f), (c.z + sizez * 0.5f)),
            float3((c.x - sizex * 0.5f), (c.y + sizey * 0.5f), (c.z + sizez * 0.5f)),
            float3((c.x + sizex * 0.5f), (c.y + sizey * 0.5f), (c.z + sizez * 0.5f))
        };

        for(unsigned int i = 0; i < 8; ++i)
        {
            world.transformVector(corners[i]);
        }

        for(unsigned short i = 0; i < total; ++i)
        {
            if(planes[i].getRelationWith(corners[0]) > 0.0f)
            {
                continue;
            }

            if(planes[i].getRelationWith(corners[1]) > 0.0f)
            {
                continue;
            }

            if(planes[i].getRelationWith(corners[2]) > 0.0f)
            {
                continue;
            }

            if(planes[i].getRelationWith(corners[3]) > 0.0f)
            {
                continue;
            }

            if(planes[i].getRelationWith(corners[4]) > 0.0f)
            {
                continue;
            }

            if(planes[i].getRelationWith(corners[5]) > 0.0f)
            {
                continue;
            }

            if(planes[i].getRelationWith(corners[6]) > 0.0f)
            {
                continue;
            }

            if(planes[i].getRelationWith(corners[7]) > 0.0f)
            {
                continue;
            }
            return false;
        }
        return true;
    }