GCC Code Coverage Report

Directory:	./
File:	test/box_box_distance.cpp
Date:	2025-04-13 14:25:19

	Exec	Total	Coverage
Lines:	146	147	99.3%
Branches:	527	1054	50.0%

Line	Branch	Exec	Source
1			/*
2			* Software License Agreement (BSD License)
3			*
4			* Copyright (c) 2014-2016, CNRS-LAAS.
5			* All rights reserved.
6			*
7			* Redistribution and use in source and binary forms, with or without
8			* modification, are permitted provided that the following conditions
9			* are met:
10			*
11			* * Redistributions of source code must retain the above copyright
12			* notice, this list of conditions and the following disclaimer.
13			* * Redistributions in binary form must reproduce the above
14			* copyright notice, this list of conditions and the following
15			* disclaimer in the documentation and/or other materials provided
16			* with the distribution.
17			* * Neither the name of Willow Garage, Inc. nor the names of its
18			* contributors may be used to endorse or promote products derived
19			* from this software without specific prior written permission.
20			*
21			* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22			* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23			* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24			* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25			* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26			* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27			* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28			* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29			* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30			* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31			* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32			* POSSIBILITY OF SUCH DAMAGE.
33			*/
34
35			/** \author Florent Lamiraux <florent@laas.fr> */
36
37			#define _USE_MATH_DEFINES
38			#include <cmath>
39
40			#define BOOST_TEST_MODULE COAL_BOX_BOX
41			#include <boost/test/included/unit_test.hpp>
42
43			#define CHECK_CLOSE_TO_0(x, eps) BOOST_CHECK_CLOSE((x + 1.0), (1.0), (eps))
44
45			#include <cmath>
46			#include <iostream>
47			#include "coal/distance.h"
48			#include "coal/math/transform.h"
49			#include "coal/collision.h"
50			#include "coal/collision_object.h"
51			#include "coal/shape/geometric_shapes.h"
52
53			#include "utility.h"
54
55			using coal::CollisionGeometryPtr_t;
56			using coal::CollisionObject;
57			using coal::DistanceRequest;
58			using coal::DistanceResult;
59			using coal::Scalar;
60			using coal::Transform3s;
61			using coal::Vec3s;
62
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64	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	CollisionGeometryPtr_t s1(new coal::Box(6, 10, 2));
65	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	CollisionGeometryPtr_t s2(new coal::Box(2, 2, 2));
66
67	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf1;
68	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Transform3s tf2(Vec3s(25, 20, 5));
69
70	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionObject o1(s1, tf1);
71	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionObject o2(s2, tf2);
72
73			// Enable computation of nearest points
74	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	DistanceRequest distanceRequest(true, true, 0, 0);
75	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	DistanceResult distanceResult;
76
77	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::distance(&o1, &o2, distanceRequest, distanceResult);
78
79	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	std::cerr << "Applied transformations on two boxes" << std::endl;
80	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	std::cerr << " T1 = " << tf1.getTranslation() << std::endl
81	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	<< " R1 = " << tf1.getRotation() << std::endl
82	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	<< " T2 = " << tf2.getTranslation() << std::endl
83	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	<< " R2 = " << tf2.getRotation() << std::endl;
84	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	std::cerr << "Closest points: p1 = " << distanceResult.nearest_points[0]
85	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	<< ", p2 = " << distanceResult.nearest_points[1]
86	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	<< ", distance = " << distanceResult.min_distance << std::endl;
87		2	Scalar dx = 25 - 3 - 1;
88		2	Scalar dy = 20 - 5 - 1;
89		2	Scalar dz = 5 - 1 - 1;
90
91		2	const Vec3s& p1 = distanceResult.nearest_points[0];
92		2	const Vec3s& p2 = distanceResult.nearest_points[1];
93	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_CLOSE(distanceResult.min_distance,
94			sqrt(dx * dx + dy * dy + dz * dz), 1e-4);
95
96	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK_CLOSE(p1[0], 3, 1e-6);
97	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK_CLOSE(p1[1], 5, 1e-6);
98	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK_CLOSE(p1[2], 1, 1e-6);
99	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK_CLOSE(p2[0], 24, 1e-6);
100	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK_CLOSE(p2[1], 19, 1e-6);
101	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK_CLOSE(p2[2], 4, 1e-6);
102		2	}
103
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105	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	CollisionGeometryPtr_t s1(new coal::Box(6, 10, 2));
106	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	CollisionGeometryPtr_t s2(new coal::Box(2, 2, 2));
107			static Scalar pi = Scalar(M_PI);
108	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf1;
109			Transform3s tf2(
110		✗	coal::makeQuat(cos(Scalar(pi / 8)), sin(Scalar(pi / 8)) / sqrt(Scalar(3)),
111		2	sin(Scalar(pi / 8)) / sqrt(Scalar(3)),
112	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	sin(Scalar(pi / 8)) / sqrt(Scalar(3))),
113	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	4	Vec3s(0, 0, 10));
114
115	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionObject o1(s1, tf1);
116	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionObject o2(s2, tf2);
117
118			// Enable computation of nearest points
119	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	DistanceRequest distanceRequest(true, true, 0, 0);
120	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	DistanceResult distanceResult;
121
122	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::distance(&o1, &o2, distanceRequest, distanceResult);
123
124	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	std::cerr << "Applied transformations on two boxes" << std::endl;
125	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	std::cerr << " T1 = " << tf1.getTranslation() << std::endl
126	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	<< " R1 = " << tf1.getRotation() << std::endl
127	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	<< " T2 = " << tf2.getTranslation() << std::endl
128	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	<< " R2 = " << tf2.getRotation() << std::endl;
129	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	std::cerr << "Closest points: p1 = " << distanceResult.nearest_points[0]
130	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	<< ", p2 = " << distanceResult.nearest_points[1]
131	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	<< ", distance = " << distanceResult.min_distance << std::endl;
132
133		2	const Vec3s& p1 = distanceResult.nearest_points[0];
134		2	const Vec3s& p2 = distanceResult.nearest_points[1];
135		2	Scalar distance = Scalar(-1.62123444 + 10 - 1);
136	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_CLOSE(distanceResult.min_distance, distance, 1e-4);
137
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141	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK_CLOSE(p2[0], 0.60947571, 1e-4);
142	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK_CLOSE(p2[1], 0.01175873, 1e-4);
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144		2	}
145
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147	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	CollisionGeometryPtr_t s1(new coal::Box(1, 1, 1));
148	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	CollisionGeometryPtr_t s2(new coal::Box(1, 1, 1));
149			static Scalar pi = Scalar(M_PI);
150	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf1(coal::makeQuat(cos(pi / 8), 0, 0, sin(pi / 8)),
151	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	4	Vec3s(-2, 1, .5));
152	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2(coal::makeQuat(cos(pi / 8), 0, sin(pi / 8), 0),
153	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	4	Vec3s(2, .5, .5));
154
155	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionObject o1(s1, tf1);
156	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionObject o2(s2, tf2);
157
158			// Enable computation of nearest points
159	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	DistanceRequest distanceRequest(true, 0, 0);
160	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	DistanceResult distanceResult;
161
162	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::distance(&o1, &o2, distanceRequest, distanceResult);
163
164	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	std::cerr << "Applied transformations on two boxes" << std::endl;
165	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	std::cerr << " T1 = " << tf1.getTranslation() << std::endl
166	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	<< " R1 = " << tf1.getRotation() << std::endl
167	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	<< " T2 = " << tf2.getTranslation() << std::endl
168	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	<< " R2 = " << tf2.getRotation() << std::endl;
169	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	std::cerr << "Closest points: p1 = " << distanceResult.nearest_points[0]
170	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	<< ", p2 = " << distanceResult.nearest_points[1]
171	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	<< ", distance = " << distanceResult.min_distance << std::endl;
172
173		2	const Vec3s& p1 = distanceResult.nearest_points[0];
174		2	const Vec3s& p2 = distanceResult.nearest_points[1];
175		2	Scalar distance = Scalar(4 - sqrt(2));
176	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_CLOSE(distanceResult.min_distance, distance, 1e-4);
177
178	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Vec3s p1Ref(sqrt(Scalar(2)) / 2 - 2, 1, .5);
179	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Vec3s p2Ref(2 - sqrt(Scalar(2)) / 2, 1, .5);
180	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK_CLOSE(p1[0], p1Ref[0], 1e-4);
181	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK_CLOSE(p1[1], p1Ref[1], 1e-4);
182	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK_CLOSE(p1[2], p1Ref[2], 1e-4);
183	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK_CLOSE(p2[0], p2Ref[0], 1e-4);
184	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK_CLOSE(p2[1], p2Ref[1], 1e-4);
185	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK_CLOSE(p2[2], p2Ref[2], 1e-4);
186
187			// Apply the same global transform to both objects and recompute
188			Transform3s tf3(
189	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::makeQuat(Scalar(0.435952844074), Scalar(-0.718287018243),
190			Scalar(0.310622451066), Scalar(0.444435113443)),
191	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	4	Vec3s(4, 5, 6));
192	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = tf3 * tf1;
193	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = tf3 * tf2;
194	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	o1 = CollisionObject(s1, tf1);
195	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	o2 = CollisionObject(s2, tf2);
196
197	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	distanceResult.clear();
198	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::distance(&o1, &o2, distanceRequest, distanceResult);
199
200	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	std::cerr << "Applied transformations on two boxes" << std::endl;
201	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	std::cerr << " T1 = " << tf1.getTranslation() << std::endl
202	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	<< " R1 = " << tf1.getRotation() << std::endl
203	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	<< " T2 = " << tf2.getTranslation() << std::endl
204	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	<< " R2 = " << tf2.getRotation() << std::endl;
205	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	std::cerr << "Closest points: p1 = " << distanceResult.nearest_points[0]
206	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	<< ", p2 = " << distanceResult.nearest_points[1]
207	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	<< ", distance = " << distanceResult.min_distance << std::endl;
208
209	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_CLOSE(distanceResult.min_distance, distance, 1e-4);
210
211	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Vec3s p1Moved = tf3.transform(p1Ref);
212	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Vec3s p2Moved = tf3.transform(p2Ref);
213	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK_CLOSE(p1[0], p1Moved[0], 1e-4);
214	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK_CLOSE(p1[1], p1Moved[1], 1e-4);
215	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK_CLOSE(p1[2], p1Moved[2], 1e-4);
216	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK_CLOSE(p2[0], p2Moved[0], 1e-4);
217	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK_CLOSE(p2[1], p2Moved[1], 1e-4);
218	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK_CLOSE(p2[2], p2Moved[2], 1e-4);
219		2	}
220
221	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(distance_box_box_4) {
222	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::Box s1(1, 1, 1);
223	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::Box s2(1, 1, 1);
224
225			// Enable computation of nearest points
226	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	DistanceRequest distanceRequest(true, true, 0, 0);
227	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	DistanceResult distanceResult;
228			Scalar distance;
229
230	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Transform3s tf1(Vec3s(2, 0, 0));
231	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2;
232	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::distance(&s1, tf1, &s2, tf2, distanceRequest, distanceResult);
233
234		2	distance = 1.;
235	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_CLOSE(distanceResult.min_distance, distance, 1e-4);
236
237	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1.setTranslation(Vec3s(Scalar(1.01), 0, 0));
238	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	distanceResult.clear();
239	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::distance(&s1, tf1, &s2, tf2, distanceRequest, distanceResult);
240
241		2	distance = Scalar(0.01);
242	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_CLOSE(distanceResult.min_distance, distance, 2e-3);
243
244	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1.setTranslation(Vec3s(Scalar(0.99), 0, 0));
245	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	distanceResult.clear();
246	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::distance(&s1, tf1, &s2, tf2, distanceRequest, distanceResult);
247
248		2	distance = Scalar(-0.01);
249	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_CLOSE(distanceResult.min_distance, distance, 2e-3);
250
251	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1.setTranslation(Vec3s(0, 0, 0));
252	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	distanceResult.clear();
253	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::distance(&s1, tf1, &s2, tf2, distanceRequest, distanceResult);
254
255		2	distance = -1;
256	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_CLOSE(distanceResult.min_distance, distance, 2e-3);
257		2	}
258