GCC Code Coverage Report


Directory: ./
File: src/distance/box_sphere.cpp
Date: 2025-04-01 09:23:31
Exec Total Coverage
Lines: 10 10 100.0%
Branches: 1 2 50.0%

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1 /*
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2011-2014, Willow Garage, Inc.
5 * Copyright (c) 2014-2015, Open Source Robotics Foundation
6 * Copyright (c) 2018-2019, Center National de la Recherche Scientifique
7 * All rights reserved.
8 *
9 * Redistribution and use in source and binary forms, with or without
10 * modification, are permitted provided that the following conditions
11 * are met:
12 *
13 * * Redistributions of source code must retain the above copyright
14 * notice, this list of conditions and the following disclaimer.
15 * * Redistributions in binary form must reproduce the above
16 * copyright notice, this list of conditions and the following
17 * disclaimer in the documentation and/or other materials provided
18 * with the distribution.
19 * * Neither the name of Open Source Robotics Foundation nor the names of its
20 * contributors may be used to endorse or promote products derived
21 * from this software without specific prior written permission.
22 *
23 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34 * POSSIBILITY OF SUCH DAMAGE.
35 */
36
37 /** \author Florent Lamiraux */
38
39 #include "coal/math/transform.h"
40 #include "coal/shape/geometric_shapes.h"
41
42 #include "coal/internal/shape_shape_func.h"
43 #include "../narrowphase/details.h"
44
45 #include "coal/tracy.hh"
46
47 namespace coal {
48 struct GJKSolver;
49
50 namespace internal {
51 template <>
52 145884 Scalar ShapeShapeDistance<Box, Sphere>(const CollisionGeometry* o1,
53 const Transform3s& tf1,
54 const CollisionGeometry* o2,
55 const Transform3s& tf2, const GJKSolver*,
56 const bool, Vec3s& p1, Vec3s& p2,
57 Vec3s& normal) {
58 COAL_TRACY_ZONE_SCOPED_N("coal::internal::ShapeShapeDistance<Box, Sphere>");
59 145884 const Box& s1 = static_cast<const Box&>(*o1);
60 145884 const Sphere& s2 = static_cast<const Sphere&>(*o2);
61 145884 return details::boxSphereDistance(s1, tf1, s2, tf2, p1, p2, normal);
62 }
63
64 template <>
65 157658 Scalar ShapeShapeDistance<Sphere, Box>(const CollisionGeometry* o1,
66 const Transform3s& tf1,
67 const CollisionGeometry* o2,
68 const Transform3s& tf2, const GJKSolver*,
69 const bool, Vec3s& p1, Vec3s& p2,
70 Vec3s& normal) {
71 COAL_TRACY_ZONE_SCOPED_N("coal::internal::ShapeShapeDistance<Sphere, Box>");
72 157658 const Sphere& s1 = static_cast<const Sphere&>(*o1);
73 157658 const Box& s2 = static_cast<const Box&>(*o2);
74 const Scalar distance =
75 157658 details::boxSphereDistance(s2, tf2, s1, tf1, p2, p1, normal);
76
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157658 normal = -normal;
77 157658 return distance;
78 }
79 } // namespace internal
80
81 } // namespace coal
82