GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	244	247	98.8%
Branches:	672	1344	50.0%

Line	Branch	Exec	Source
1			/*
2			* Software License Agreement (BSD License)
3			*
4			* Copyright (c) 2015, Open Source Robotics Foundation
5			* Copyright (c) 2020, INRIA
6			* All rights reserved.
7			*
8			* Redistribution and use in source and binary forms, with or without
9			* modification, are permitted provided that the following conditions
10			* are met:
11			*
12			* * Redistributions of source code must retain the above copyright
13			* notice, this list of conditions and the following disclaimer.
14			* * Redistributions in binary form must reproduce the above
15			* copyright notice, this list of conditions and the following
16			* disclaimer in the documentation and/or other materials provided
17			* with the distribution.
18			* * Neither the name of Open Source Robotics Foundation nor the names of its
19			* contributors may be used to endorse or promote products derived
20			* from this software without specific prior written permission.
21			*
22			* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23			* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24			* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25			* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26			* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27			* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28			* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29			* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30			* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31			* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32			* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33			* POSSIBILITY OF SUCH DAMAGE.
34			*/
35
36			/** \author Jeongseok Lee */
37
38			#define BOOST_TEST_MODULE COAL_BVH_MODELS
39			#include <boost/test/included/unit_test.hpp>
40			#include <boost/filesystem.hpp>
41
42			#include "fcl_resources/config.h"
43
44			#include "coal/collision.h"
45			#include "coal/BVH/BVH_model.h"
46			#include "coal/BVH/BVH_utility.h"
47			#include "coal/math/transform.h"
48			#include "coal/shape/geometric_shapes.h"
49			#include "coal/shape/geometric_shape_to_BVH_model.h"
50			#include "coal/mesh_loader/assimp.h"
51			#include "coal/mesh_loader/loader.h"
52			#include "utility.h"
53			#include <iostream>
54
55			using namespace coal;
56
57			template <typename BV>
58		16	void testBVHModelPointCloud() {
59	3/6 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 8 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 8 times. ✗ Branch 8 not taken.	16	Box box(Vec3s::Ones());
60	1/2 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken.	16	Scalar a = box.halfSide[0];
61	1/2 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken.	16	Scalar b = box.halfSide[1];
62	1/2 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken.	16	Scalar c = box.halfSide[2];
63	1/2 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken.	16	std::vector<Vec3s> points(8);
64	3/6 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 8 times. ✗ Branch 9 not taken.	16	points[0] << a, -b, c;
65	3/6 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 8 times. ✗ Branch 9 not taken.	16	points[1] << a, b, c;
66	3/6 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 8 times. ✗ Branch 9 not taken.	16	points[2] << -a, b, c;
67	3/6 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 8 times. ✗ Branch 9 not taken.	16	points[3] << -a, -b, c;
68	3/6 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 8 times. ✗ Branch 9 not taken.	16	points[4] << a, -b, -c;
69	3/6 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 8 times. ✗ Branch 9 not taken.	16	points[5] << a, b, -c;
70	3/6 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 8 times. ✗ Branch 9 not taken.	16	points[6] << -a, b, -c;
71	3/6 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 8 times. ✗ Branch 9 not taken.	16	points[7] << -a, -b, -c;
72
73			{
74	3/6 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 8 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 8 times. ✗ Branch 8 not taken.	16	shared_ptr<BVHModel<BV> > model(new BVHModel<BV>);
75
76	4/6 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 7 times. ✗ Branch 7 not taken. ✓ Branch 8 taken 6 times. ✓ Branch 9 taken 1 times.	30	if (model->getNodeType() != BV_AABB && model->getNodeType() != BV_KDOP16 &&
77	7/8 ✓ Branch 0 taken 7 times. ✓ Branch 1 taken 1 times. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken. ✓ Branch 6 taken 5 times. ✓ Branch 7 taken 1 times. ✓ Branch 8 taken 4 times. ✓ Branch 9 taken 4 times.	40	model->getNodeType() != BV_KDOP18 &&
78	3/4 ✓ Branch 2 taken 5 times. ✗ Branch 3 not taken. ✓ Branch 4 taken 4 times. ✓ Branch 5 taken 1 times.	10	model->getNodeType() != BV_KDOP24) {
79		16	std::cout << "Abort test since '" << getNodeTypeName(model->getNodeType())
80			<< "' does not support point cloud model. "
81	7/14 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 4 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 4 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 4 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 4 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 4 times. ✗ Branch 21 not taken.	8	<< "Please see issue #67." << std::endl;
82		8	return;
83			}
84
85			int result;
86
87	1/2 ✓ Branch 2 taken 4 times. ✗ Branch 3 not taken.	8	result = model->beginModel();
88	5/10 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 4 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 4 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 4 times.	8	BOOST_CHECK_EQUAL(result, BVH_OK);
89
90	2/2 ✓ Branch 1 taken 32 times. ✓ Branch 2 taken 4 times.	72	for (std::size_t i = 0; i < points.size(); ++i) {
91	1/2 ✓ Branch 3 taken 32 times. ✗ Branch 4 not taken.	64	result = model->addVertex(points[i]);
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93			}
94
95	1/2 ✓ Branch 2 taken 4 times. ✗ Branch 3 not taken.	8	result = model->endModel();
96	5/10 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 4 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 4 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 4 times.	8	BOOST_CHECK_EQUAL(result, BVH_OK);
97
98	1/2 ✓ Branch 2 taken 4 times. ✗ Branch 3 not taken.	8	model->computeLocalAABB();
99
100	5/10 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 4 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 4 times. ✗ Branch 15 not taken. ✗ Branch 18 not taken. ✓ Branch 19 taken 4 times.	8	BOOST_CHECK_EQUAL(model->num_vertices, 8);
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104
105			{
106	3/6 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 4 times. ✗ Branch 8 not taken.	8	shared_ptr<BVHModel<BV> > model(new BVHModel<BV>);
107
108	4/6 ✓ Branch 2 taken 4 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 3 times. ✗ Branch 7 not taken. ✓ Branch 8 taken 2 times. ✓ Branch 9 taken 1 times.	14	if (model->getNodeType() != BV_AABB && model->getNodeType() != BV_KDOP16 &&
109	6/8 ✓ Branch 0 taken 3 times. ✓ Branch 1 taken 1 times. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 6 taken 1 times. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 9 taken 4 times.	16	model->getNodeType() != BV_KDOP18 &&
110	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✗ Branch 4 not taken. ✓ Branch 5 taken 1 times.	2	model->getNodeType() != BV_KDOP24) {
111		✗	std::cout << "Abort test since '" << getNodeTypeName(model->getNodeType())
112			<< "' does not support point cloud model. "
113		✗	<< "Please see issue #67." << std::endl;
114		✗	return;
115			}
116
117	1/2 ✓ Branch 2 taken 4 times. ✗ Branch 3 not taken.	8	MatrixX3s all_points((Eigen::DenseIndex)points.size(), 3);
118	2/2 ✓ Branch 1 taken 32 times. ✓ Branch 2 taken 4 times.	72	for (size_t k = 0; k < points.size(); ++k)
119	3/6 ✓ Branch 2 taken 32 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 32 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 32 times. ✗ Branch 9 not taken.	64	all_points.row((Eigen::DenseIndex)k) = points[k].transpose();
120
121			int result;
122
123	1/2 ✓ Branch 2 taken 4 times. ✗ Branch 3 not taken.	8	result = model->beginModel();
124	5/10 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 4 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 4 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 4 times.	8	BOOST_CHECK_EQUAL(result, BVH_OK);
125
126	1/2 ✓ Branch 2 taken 4 times. ✗ Branch 3 not taken.	8	result = model->addVertices(all_points);
127
128	1/2 ✓ Branch 2 taken 4 times. ✗ Branch 3 not taken.	8	result = model->endModel();
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130
131	1/2 ✓ Branch 2 taken 4 times. ✗ Branch 3 not taken.	8	model->computeLocalAABB();
132
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136			}
137	4/4 ✓ Branch 1 taken 4 times. ✓ Branch 2 taken 4 times. ✓ Branch 4 taken 4 times. ✓ Branch 5 taken 4 times.	24	}
138
139			template <typename BV>
140		16	void testBVHModelTriangles() {
141	3/6 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 8 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 8 times. ✗ Branch 8 not taken.	16	shared_ptr<BVHModel<BV> > model(new BVHModel<BV>);
142	3/6 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 8 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 8 times. ✗ Branch 8 not taken.	16	Box box(Vec3s::Ones());
143	3/6 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 8 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 8 times. ✗ Branch 8 not taken.	16	AABB aabb(Vec3s(-1, 0, -1), Vec3s(1, 1, 1));
144
145	1/2 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken.	16	Scalar a = box.halfSide[0];
146	1/2 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken.	16	Scalar b = box.halfSide[1];
147	1/2 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken.	16	Scalar c = box.halfSide[2];
148	1/2 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken.	16	std::vector<Vec3s> points(8);
149	1/2 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken.	16	std::vector<Triangle> tri_indices(12);
150	3/6 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 8 times. ✗ Branch 9 not taken.	16	points[0] << a, -b, c;
151	3/6 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 8 times. ✗ Branch 9 not taken.	16	points[1] << a, b, c;
152	3/6 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 8 times. ✗ Branch 9 not taken.	16	points[2] << -a, b, c;
153	3/6 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 8 times. ✗ Branch 9 not taken.	16	points[3] << -a, -b, c;
154	3/6 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 8 times. ✗ Branch 9 not taken.	16	points[4] << a, -b, -c;
155	3/6 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 8 times. ✗ Branch 9 not taken.	16	points[5] << a, b, -c;
156	3/6 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 8 times. ✗ Branch 9 not taken.	16	points[6] << -a, b, -c;
157	3/6 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 8 times. ✗ Branch 9 not taken.	16	points[7] << -a, -b, -c;
158
159		16	tri_indices[0].set(0, 4, 1);
160		16	tri_indices[1].set(1, 4, 5);
161		16	tri_indices[2].set(2, 6, 3);
162		16	tri_indices[3].set(3, 6, 7);
163		16	tri_indices[4].set(3, 0, 2);
164		16	tri_indices[5].set(2, 0, 1);
165		16	tri_indices[6].set(6, 5, 7);
166		16	tri_indices[7].set(7, 5, 4);
167		16	tri_indices[8].set(1, 5, 2);
168		16	tri_indices[9].set(2, 5, 6);
169		16	tri_indices[10].set(3, 7, 0);
170		16	tri_indices[11].set(0, 7, 4);
171
172			int result;
173
174	1/2 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken.	16	result = model->beginModel();
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176
177	2/2 ✓ Branch 1 taken 96 times. ✓ Branch 2 taken 8 times.	208	for (std::size_t i = 0; i < tri_indices.size(); ++i) {
178		192	result =
179	1/2 ✓ Branch 11 taken 96 times. ✗ Branch 12 not taken.	192	model->addTriangle(points[tri_indices[i][0]], points[tri_indices[i][1]],
180			points[tri_indices[i][2]]);
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182			}
183
184	1/2 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken.	16	result = model->endModel();
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186
187	1/2 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken.	16	model->computeLocalAABB();
188
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192
193	1/2 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken.	16	Transform3s pose;
194	2/4 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken.	16	shared_ptr<BVHModel<BV> > cropped(BVHExtract(*model, pose, aabb));
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199
200	2/4 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 8 times. ✗ Branch 5 not taken.	16	pose.setTranslation(Vec3s(0, 1, 0));
201	2/4 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken.	16	cropped.reset(BVHExtract(*model, pose, aabb));
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206
207	2/4 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 8 times. ✗ Branch 5 not taken.	16	pose.setTranslation(Vec3s(0, 0, 0));
208		16	Scalar sqrt2_2 = std::sqrt(Scalar(2)) / 2;
209	2/4 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 8 times. ✗ Branch 5 not taken.	16	pose.setQuatRotation(Quats(sqrt2_2, sqrt2_2, 0, 0));
210	2/4 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken.	16	cropped.reset(BVHExtract(*model, pose, aabb));
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215
216	3/6 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 8 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 8 times. ✗ Branch 8 not taken.	16	pose.setTranslation(-Vec3s(1, 1, 1));
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218	2/4 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken.	16	cropped.reset(BVHExtract(*model, pose, aabb));
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220
221	3/6 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 8 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 8 times. ✗ Branch 8 not taken.	16	aabb = AABB(Vec3s(Scalar(-0.1), Scalar(-0.1), Scalar(-0.1)),
222	1/2 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken.	16	Vec3s(Scalar(0.1), Scalar(0.1), Scalar(0.1)));
223	2/4 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 8 times. ✗ Branch 5 not taken.	16	pose.setTranslation(Vec3s(-0.5, -0.5, 0));
224	2/4 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken.	16	cropped.reset(BVHExtract(*model, pose, aabb));
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228		16	}
229
230			template <typename BV>
231		16	void testBVHModelSubModel() {
232	3/6 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 8 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 8 times. ✗ Branch 8 not taken.	16	shared_ptr<BVHModel<BV> > model(new BVHModel<BV>);
233	3/6 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 8 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 8 times. ✗ Branch 8 not taken.	16	Box box(Vec3s::Ones());
234
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236	1/2 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken.	16	Scalar b = box.halfSide[1];
237	1/2 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken.	16	Scalar c = box.halfSide[2];
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240	3/6 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 8 times. ✗ Branch 9 not taken.	16	points[0] << a, -b, c;
241	3/6 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 8 times. ✗ Branch 9 not taken.	16	points[1] << a, b, c;
242	3/6 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 8 times. ✗ Branch 9 not taken.	16	points[2] << -a, b, c;
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246	3/6 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 8 times. ✗ Branch 9 not taken.	16	points[6] << -a, b, -c;
247	3/6 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 8 times. ✗ Branch 9 not taken.	16	points[7] << -a, -b, -c;
248
249		16	tri_indices[0].set(0, 4, 1);
250		16	tri_indices[1].set(1, 4, 5);
251		16	tri_indices[2].set(2, 6, 3);
252		16	tri_indices[3].set(3, 6, 7);
253		16	tri_indices[4].set(3, 0, 2);
254		16	tri_indices[5].set(2, 0, 1);
255		16	tri_indices[6].set(6, 5, 7);
256		16	tri_indices[7].set(7, 5, 4);
257		16	tri_indices[8].set(1, 5, 2);
258		16	tri_indices[9].set(2, 5, 6);
259		16	tri_indices[10].set(3, 7, 0);
260		16	tri_indices[11].set(0, 7, 4);
261
262			int result;
263
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266
267	1/2 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken.	16	result = model->addSubModel(points, tri_indices);
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269
270	1/2 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken.	16	result = model->endModel();
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272
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274
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278		16	}
279
280			template <typename BV>
281		16	void testBVHModel() {
282		16	testBVHModelTriangles<BV>();
283		16	testBVHModelPointCloud<BV>();
284		16	testBVHModelSubModel<BV>();
285		16	}
286
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288		2	testBVHModel<AABB>();
289		2	testBVHModel<OBB>();
290		2	testBVHModel<RSS>();
291		2	testBVHModel<kIOS>();
292		2	testBVHModel<OBBRSS>();
293		2	testBVHModel<KDOP<16> >();
294		2	testBVHModel<KDOP<18> >();
295		2	testBVHModel<KDOP<24> >();
296		2	}
297
298			template <class BoundingVolume>
299		16	void testLoadPolyhedron() {
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301	3/6 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 8 times. ✗ Branch 5 not taken. ✓ Branch 8 taken 8 times. ✗ Branch 9 not taken.	32	std::string env = (path / "env.obj").string(),
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303
304			typedef BVHModel<BoundingVolume> Polyhedron_t;
305			typedef shared_ptr<Polyhedron_t> PolyhedronPtr_t;
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307
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311
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315		16	P2 = dynamic_pointer_cast<Polyhedron_t>(geom);
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317
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321
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324		16	}
325
326			template <class BoundingVolume>
327		8	void testLoadGerardBauzil() {
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329	3/6 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4 times. ✗ Branch 5 not taken. ✓ Branch 8 taken 4 times. ✗ Branch 9 not taken.	16	std::string env = (path / "staircases_koroibot_hr.dae").string();
330
331			typedef BVHModel<BoundingVolume> Polyhedron_t;
332			typedef shared_ptr<Polyhedron_t> PolyhedronPtr_t;
333	3/6 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 4 times. ✗ Branch 8 not taken.	8	PolyhedronPtr_t P1(new Polyhedron_t), P2;
334
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342
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345
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348		8	}
349
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351		2	testLoadPolyhedron<AABB>();
352		2	testLoadPolyhedron<OBB>();
353		2	testLoadPolyhedron<RSS>();
354		2	testLoadPolyhedron<kIOS>();
355		2	testLoadPolyhedron<OBBRSS>();
356		2	testLoadPolyhedron<KDOP<16> >();
357		2	testLoadPolyhedron<KDOP<18> >();
358		2	testLoadPolyhedron<KDOP<24> >();
359		2	}
360
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362		2	testLoadGerardBauzil<OBB>();
363		2	testLoadGerardBauzil<RSS>();
364		2	testLoadGerardBauzil<kIOS>();
365		2	testLoadGerardBauzil<OBBRSS>();
366		2	}
367
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371
372		2	MeshLoader loader;
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374		2	}
375
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377	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Box* box_ptr = new coal::Box(1, 1, 1);
378	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionGeometryPtr_t b1(box_ptr);
379	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	BVHModel<OBBRSS> box_bvh_model = BVHModel<OBBRSS>();
380	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	generateBVHModel(box_bvh_model, *box_ptr, Transform3s());
381	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	box_bvh_model.buildConvexRepresentation(false);
382
383	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	box_bvh_model.convex->computeLocalAABB();
384	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	std::shared_ptr<ConvexBase> convex_copy(box_bvh_model.convex->clone());
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386		2	}
387