Add .contains_aabb for Frustum

[Soulghost]

Objective

• Fixes: #15663

Solution

• Add an is_forward_plane method to Aabb, and a contains_aabb method to Frustum.

Test

• I have created a frustum with an offset along with three unit tests to evaluate the contains_aabb algorithm.

Explanation for the Test Cases

• To facilitate the code review, I will explain how the frustum is created. Initially, we create a frustum without any offset and then create a cuboid that is just contained within it.

• Secondly, we move the cuboid by 2 units along both the x-axis and the y-axis to make it more general.

Reference

• Frustum Culling
• AABB Plane intersection

[Soulghost]

Hi @alice-i-cecile , this pull request is ready for review. Could you please remove the "Waiting on Author" label and assign some reviewers. Thank you.

[IQuick143]

I'll review later today, I have some comments to the math.

[Soulghost]

Hi @IQuick143 , sorry for the late response. I have resolved all the issues and added some cases involving rotation, please take another look and review them. Thank you!