intersectsPlane( plane ) {

			this.rotation.extractBasis( xAxis, yAxis, zAxis ); // compute the projection interval radius of this OBB onto L(t) = this->center + t * p.normal;

			const r = this.halfSize.x * Math.abs( plane.normal.dot( xAxis ) ) + this.halfSize.y * Math.abs( plane.normal.dot( yAxis ) ) + this.halfSize.z * Math.abs( plane.normal.dot( zAxis ) ); // compute distance of the OBB's center from the plane

			const d = plane.normal.dot( this.center ) - plane.constant; // Intersection occurs when distance d falls within [-r,+r] interval

			return Math.abs( d ) <= r;

		}
Reference: Testing Box Against Plane in Real-Time Collision Detection
by Christer Ericson (chapter 5.2.3)