intersectsOBB( obb, epsilon = Number.EPSILON ) {

			// prepare data structures (the code uses the same nomenclature like the reference)
			a.c = this.center;
			a.e[ 0 ] = this.halfSize.x;
			a.e[ 1 ] = this.halfSize.y;
			a.e[ 2 ] = this.halfSize.z;
			this.rotation.extractBasis( a.u[ 0 ], a.u[ 1 ], a.u[ 2 ] );
			b.c = obb.center;
			b.e[ 0 ] = obb.halfSize.x;
			b.e[ 1 ] = obb.halfSize.y;
			b.e[ 2 ] = obb.halfSize.z;
			obb.rotation.extractBasis( b.u[ 0 ], b.u[ 1 ], b.u[ 2 ] ); // compute rotation matrix expressing b in a's coordinate frame

			for ( let i = 0; i < 3; i ++ ) {

				for ( let j = 0; j < 3; j ++ ) {

					R[ i ][ j ] = a.u[ i ].dot( b.u[ j ] );

				}

			} // compute translation vector


			v1.subVectors( b.c, a.c ); // bring translation into a's coordinate frame

			t[ 0 ] = v1.dot( a.u[ 0 ] );
			t[ 1 ] = v1.dot( a.u[ 1 ] );
			t[ 2 ] = v1.dot( a.u[ 2 ] ); // compute common subexpressions. Add in an epsilon term to
			// counteract arithmetic errors when two edges are parallel and
			// their cross product is (near) null

			for ( let i = 0; i < 3; i ++ ) {

				for ( let j = 0; j < 3; j ++ ) {

					AbsR[ i ][ j ] = Math.abs( R[ i ][ j ] ) + epsilon;

				}

			}

			let ra, rb; // test axes L = A0, L = A1, L = A2

			for ( let i = 0; i < 3; i ++ ) {

				ra = a.e[ i ];
				rb = b.e[ 0 ] * AbsR[ i ][ 0 ] + b.e[ 1 ] * AbsR[ i ][ 1 ] + b.e[ 2 ] * AbsR[ i ][ 2 ];
				if ( Math.abs( t[ i ] ) > ra + rb ) return false;

			} // test axes L = B0, L = B1, L = B2


			for ( let i = 0; i < 3; i ++ ) {

				ra = a.e[ 0 ] * AbsR[ 0 ][ i ] + a.e[ 1 ] * AbsR[ 1 ][ i ] + a.e[ 2 ] * AbsR[ 2 ][ i ];
				rb = b.e[ i ];
				if ( Math.abs( t[ 0 ] * R[ 0 ][ i ] + t[ 1 ] * R[ 1 ][ i ] + t[ 2 ] * R[ 2 ][ i ] ) > ra + rb ) return false;

			} // test axis L = A0 x B0


			ra = a.e[ 1 ] * AbsR[ 2 ][ 0 ] + a.e[ 2 ] * AbsR[ 1 ][ 0 ];
			rb = b.e[ 1 ] * AbsR[ 0 ][ 2 ] + b.e[ 2 ] * AbsR[ 0 ][ 1 ];
			if ( Math.abs( t[ 2 ] * R[ 1 ][ 0 ] - t[ 1 ] * R[ 2 ][ 0 ] ) > ra + rb ) return false; // test axis L = A0 x B1

			ra = a.e[ 1 ] * AbsR[ 2 ][ 1 ] + a.e[ 2 ] * AbsR[ 1 ][ 1 ];
			rb = b.e[ 0 ] * AbsR[ 0 ][ 2 ] + b.e[ 2 ] * AbsR[ 0 ][ 0 ];
			if ( Math.abs( t[ 2 ] * R[ 1 ][ 1 ] - t[ 1 ] * R[ 2 ][ 1 ] ) > ra + rb ) return false; // test axis L = A0 x B2

			ra = a.e[ 1 ] * AbsR[ 2 ][ 2 ] + a.e[ 2 ] * AbsR[ 1 ][ 2 ];
			rb = b.e[ 0 ] * AbsR[ 0 ][ 1 ] + b.e[ 1 ] * AbsR[ 0 ][ 0 ];
			if ( Math.abs( t[ 2 ] * R[ 1 ][ 2 ] - t[ 1 ] * R[ 2 ][ 2 ] ) > ra + rb ) return false; // test axis L = A1 x B0

			ra = a.e[ 0 ] * AbsR[ 2 ][ 0 ] + a.e[ 2 ] * AbsR[ 0 ][ 0 ];
			rb = b.e[ 1 ] * AbsR[ 1 ][ 2 ] + b.e[ 2 ] * AbsR[ 1 ][ 1 ];
			if ( Math.abs( t[ 0 ] * R[ 2 ][ 0 ] - t[ 2 ] * R[ 0 ][ 0 ] ) > ra + rb ) return false; // test axis L = A1 x B1

			ra = a.e[ 0 ] * AbsR[ 2 ][ 1 ] + a.e[ 2 ] * AbsR[ 0 ][ 1 ];
			rb = b.e[ 0 ] * AbsR[ 1 ][ 2 ] + b.e[ 2 ] * AbsR[ 1 ][ 0 ];
			if ( Math.abs( t[ 0 ] * R[ 2 ][ 1 ] - t[ 2 ] * R[ 0 ][ 1 ] ) > ra + rb ) return false; // test axis L = A1 x B2

			ra = a.e[ 0 ] * AbsR[ 2 ][ 2 ] + a.e[ 2 ] * AbsR[ 0 ][ 2 ];
			rb = b.e[ 0 ] * AbsR[ 1 ][ 1 ] + b.e[ 1 ] * AbsR[ 1 ][ 0 ];
			if ( Math.abs( t[ 0 ] * R[ 2 ][ 2 ] - t[ 2 ] * R[ 0 ][ 2 ] ) > ra + rb ) return false; // test axis L = A2 x B0

			ra = a.e[ 0 ] * AbsR[ 1 ][ 0 ] + a.e[ 1 ] * AbsR[ 0 ][ 0 ];
			rb = b.e[ 1 ] * AbsR[ 2 ][ 2 ] + b.e[ 2 ] * AbsR[ 2 ][ 1 ];
			if ( Math.abs( t[ 1 ] * R[ 0 ][ 0 ] - t[ 0 ] * R[ 1 ][ 0 ] ) > ra + rb ) return false; // test axis L = A2 x B1

			ra = a.e[ 0 ] * AbsR[ 1 ][ 1 ] + a.e[ 1 ] * AbsR[ 0 ][ 1 ];
			rb = b.e[ 0 ] * AbsR[ 2 ][ 2 ] + b.e[ 2 ] * AbsR[ 2 ][ 0 ];
			if ( Math.abs( t[ 1 ] * R[ 0 ][ 1 ] - t[ 0 ] * R[ 1 ][ 1 ] ) > ra + rb ) return false; // test axis L = A2 x B2

			ra = a.e[ 0 ] * AbsR[ 1 ][ 2 ] + a.e[ 1 ] * AbsR[ 0 ][ 2 ];
			rb = b.e[ 0 ] * AbsR[ 2 ][ 1 ] + b.e[ 1 ] * AbsR[ 2 ][ 0 ];
			if ( Math.abs( t[ 1 ] * R[ 0 ][ 2 ] - t[ 0 ] * R[ 1 ][ 2 ] ) > ra + rb ) return false; // since no separating axis is found, the OBBs must be intersecting

			return true;

		}
Reference: OBB-OBB Intersection in Real-Time Collision Detection
by Christer Ericson (chapter 4.4.1)