BEPUutilities.Toolbox.IsPointWithinFaceExtrusion C# (CSharp) Method

        public static bool IsPointWithinFaceExtrusion(Vector3 point, List<Plane> planes, Vector3 centroid)
        {
            foreach (Plane plane in planes)
            {
                float centroidPlaneDot;
                plane.DotCoordinate(ref centroid, out centroidPlaneDot);
                float pointPlaneDot;
                plane.DotCoordinate(ref point, out pointPlaneDot);
                if (!((centroidPlaneDot <= Epsilon && pointPlaneDot <= Epsilon) || (centroidPlaneDot >= -Epsilon && pointPlaneDot >= -Epsilon)))
                {
                    //Point's NOT the same side of the centroid, so it's 'outside.'
                    return false;
                }
            }
            return true;
        }