Get axes for triangle and AABB.

gistfile1.java

 public static Vector3d[] getAABBAxes( Vector3d[] vertices ) {
        Vector3d[] axes = new Vector3d[ 6 ];

        // get vertices
        Vector3d p0 = vertices[ 0 ];
        Vector3d p1 = vertices[ 1 ];
        Vector3d p2 = vertices[ 2 ];
        Vector3d p3 = vertices[ 3 ];
        Vector3d p4 = vertices[ 4 ];
        Vector3d p5 = vertices[ 5 ];
        Vector3d p6 = vertices[ 6 ];
        Vector3d p7 = vertices[ 7 ];
        
        Vector3d edge0 = new Vector3d();
        Vector3d edge1 = new Vector3d();
        Vector3d edge2 = new Vector3d();
        Vector3d edge3 = new Vector3d();
        Vector3d edge4 = new Vector3d();
        Vector3d edge5 = new Vector3d();
        // subtract the two different vertices to get the edge vector
        edge0.sub( p1, p0 );
        edge1.sub( p2, p0 );
        edge2.sub( p4, p0 );
        edge3.sub( p7, p5 );
        edge4.sub( p7, p3 );
        edge5.sub( p7, p6 );
        // get perpendicular vector/normal
        // cross-product of two edges that are perpendicular to each other
        // once for all faces.
        Vector3d normal0 = new Vector3d();
        Vector3d normal1 = new Vector3d();
        Vector3d normal2 = new Vector3d();
        Vector3d normal3 = new Vector3d();
        Vector3d normal4 = new Vector3d();
        Vector3d normal5 = new Vector3d();
        normal0.cross( edge0, edge2 );
        normal0.normalize();
        axes[ 0 ] = normal0;
        
        normal1.cross( edge2, edge1 );
        normal1.normalize();
        axes[ 1 ] = normal1;
        
        normal2.cross( edge1, edge0 );
        normal2.normalize();
        axes[ 2 ] = normal2;
        
        normal3.cross( edge4, edge5 );
        normal3.normalize();
        axes[ 3 ] = normal3;
        
        normal4.cross( edge4, edge3 );
        normal4.normalize();
        axes[ 4 ] = normal4;
        
        normal5.cross( edge5, edge3 );
        normal5.normalize();
        axes[ 5 ] = normal5;

        return axes;
    }
    
    public static Vector3d[] getTriangleAxes( Vector3d[] vertices ) {
        Vector3d[] axes = new Vector3d[ 4 ];
        // get the current vertex
        Vector3d p0 = vertices[ 0 ];
        // get the next vertex
        Vector3d p1 = vertices[ 1 ];
        Vector3d p2 = vertices[ 2 ];
        Vector3d edge1 = new Vector3d();
        Vector3d edge2 = new Vector3d();
        Vector3d edge3 = new Vector3d();
        // subtract the two to get the edge vector
        edge1.sub( p1, p0 );
        edge2.sub( p2, p0 );
        edge3.sub( p2, p1 );
        
        // 1 Surface normal
        Vector3d normal = new Vector3d();
        normal.cross( p0, p1 );
        normal.normalize();
        axes[ 0 ] = normal;
        
        // 3 Edge normals
        Vector3d normal1 = new Vector3d();
        normal1.cross( edge1, edge2 );
        normal1.normalize();
        axes[ 1 ] = normal1;
        
        Vector3d normal2 = new Vector3d();
        normal2.cross( edge1, edge3 );
        normal2.normalize();
        axes[ 2 ] = normal2;
        
        Vector3d normal3 = new Vector3d();
        normal3.cross( edge3, edge2 );
        normal3.normalize();
        axes[ 3 ] = normal3;
        
        return axes;
    }

I have replaced the getAABBAxes method with a constant variable:

private static final Vector3d[] AABB_AXES = {
new Vector3d( -1.0, 0.0, 0.0 ),
new Vector3d( 0.0, 0.0, -1.0 ),
new Vector3d( 0.0, -1.0, 0.0 ) };