GCC Code Coverage Report

Directory:	./
File:	test/box_box_collision.cpp
Date:	2025-04-01 09:23:31

	Exec	Total	Coverage
Lines:	21	21	100.0%
Branches:	76	152	50.0%

Line	Branch	Exec	Source
1			#define BOOST_TEST_MODULE COAL_BOX_BOX_COLLISION
2			#include <boost/test/included/unit_test.hpp>
3
4			#include <Eigen/Geometry>
5			#include "coal/narrowphase/narrowphase.h"
6			#include "coal/shape/geometric_shapes.h"
7			#include "coal/internal/tools.h"
8
9			#include "utility.h"
10
11			using coal::Box;
12			using coal::collide;
13			using coal::CollisionRequest;
14			using coal::CollisionResult;
15			using coal::ComputeCollision;
16			using coal::Scalar;
17			using coal::Transform3s;
18			using coal::Vec3s;
19
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21			// Define boxes
22	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Box shape1(1, 1, 1);
23	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Box shape2(1, 1, 1);
24
25			// Define transforms
26	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s T1 = Transform3s::Identity();
27	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s T2 = Transform3s::Identity();
28
29			// Compute collision
30	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest req;
31		2	req.enable_cached_gjk_guess = true;
32		2	req.distance_upper_bound = Scalar(1e-6);
33	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult res;
34	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ComputeCollision collide_functor(&shape1, &shape2);
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36	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	T1.setTranslation(Vec3s(0, 0, 0));
37	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	res.clear();
38	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(collide(&shape1, T1, &shape2, T2, req, res) == true);
39	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	res.clear();
40	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(collide_functor(T1, T2, req, res) == true);
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42	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	T1.setTranslation(Vec3s(2, 0, 0));
43	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	res.clear();
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45	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	res.clear();
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47		2	}
48