GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	189	190	99.5%
Branches:	552	1092	50.5%

Line	Branch	Exec	Source
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			* 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 Karsten Knese <Karsten.Knese@googlemail.com> */
37
38			#define BOOST_TEST_MODULE COAL_CAPSULE_CAPSULE
39			#include <boost/test/included/unit_test.hpp>
40
41			#define CHECK_CLOSE_TO_0(x, eps) BOOST_CHECK_CLOSE((x + 1.0), (1.0), (eps))
42
43			#include <cmath>
44			#include <iostream>
45			#include "coal/distance.h"
46			#include "coal/collision.h"
47			#include "coal/math/transform.h"
48			#include "coal/collision.h"
49			#include "coal/collision_object.h"
50			#include "coal/shape/geometric_shapes.h"
51
52			#include "utility.h"
53
54			using namespace coal;
55			using Quat = Eigen::Quaternion<Scalar>;
56			using Vec4s = Eigen::Matrix<Scalar, 4, 1>;
57
58	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(collision_capsule_capsule_trivial) {
59		2	const Scalar radius = 1.;
60
61	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 c1(new Capsule(radius, 0.));
62	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 c2(new Capsule(radius, 0.));
63
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 Sphere(radius));
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 Sphere(radius));
66
67			#ifndef NDEBUG
68		2	int num_tests = 1e3;
69			#else
70			int num_tests = 1e6;
71			#endif
72
73	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf1;
74	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2;
75
76	2/2 ✓ Branch 0 taken 1000 times. ✓ Branch 1 taken 1 times.	2002	for (int i = 0; i < num_tests; ++i) {
77	3/6 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1000 times. ✗ Branch 8 not taken.	2000	Vec3s p1 = Vec3s::Random() * (2. * radius);
78	3/6 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1000 times. ✗ Branch 8 not taken.	2000	Vec3s p2 = Vec3s::Random() * (2. * radius);
79
80	4/8 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1000 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1000 times. ✗ Branch 11 not taken.	2000	Matrix3s rot1 = Quat(Vec4s::Random().normalized()).toRotationMatrix();
81	4/8 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1000 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1000 times. ✗ Branch 11 not taken.	2000	Matrix3s rot2 = Quat(Vec4s::Random().normalized()).toRotationMatrix();
82
83	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	tf1.setTranslation(p1);
84	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	tf1.setRotation(rot1);
85	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	tf2.setTranslation(p2);
86	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	tf2.setRotation(rot2);
87
88	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	CollisionObject capsule_o1(c1, tf1);
89	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	CollisionObject capsule_o2(c2, tf2);
90
91	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	CollisionObject sphere_o1(s1, tf1);
92	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	CollisionObject sphere_o2(s2, tf2);
93
94			// Enable computation of nearest points
95	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	CollisionRequest collisionRequest;
96	2/4 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken.	2000	CollisionResult capsule_collisionResult, sphere_collisionResult;
97
98	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	size_t sphere_num_collisions = collide(
99		2000	&sphere_o1, &sphere_o2, collisionRequest, sphere_collisionResult);
100	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	size_t capsule_num_collisions = collide(
101		2000	&capsule_o1, &capsule_o2, collisionRequest, capsule_collisionResult);
102
103	5/10 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1000 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1000 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 1000 times.	2000	BOOST_CHECK_EQUAL(sphere_num_collisions, capsule_num_collisions);
104	3/4 ✓ Branch 0 taken 733 times. ✓ Branch 1 taken 267 times. ✓ Branch 2 taken 733 times. ✗ Branch 3 not taken.	2000	if (sphere_num_collisions == 0 && capsule_num_collisions == 0)
105	6/12 ✓ Branch 1 taken 733 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 733 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 733 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 733 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 733 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 733 times.	1466	BOOST_CHECK_CLOSE(sphere_collisionResult.distance_lower_bound,
106			capsule_collisionResult.distance_lower_bound, 1e-6);
107		2000	}
108		2	}
109
110	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(collision_capsule_capsule_aligned) {
111		2	const Scalar radius = Scalar(0.01);
112		2	const Scalar length = Scalar(0.2);
113
114	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 c1(new Capsule(radius, length));
115	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 c2(new Capsule(radius, length));
116			#ifndef NDEBUG
117		2	int num_tests = 1e3;
118			#else
119			int num_tests = 1e6;
120			#endif
121
122	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf1;
123	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2;
124
125	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Vec3s p1 = Vec3s::Zero();
126			Vec3s p2_no_collision =
127			Vec3s(0, 0,
128		✗	Scalar(2 * (length / 2. + radius) +
129	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	1e-3)); // because capsule are along the Z axis
130
131	2/2 ✓ Branch 0 taken 1000 times. ✓ Branch 1 taken 1 times.	2002	for (int i = 0; i < num_tests; ++i) {
132	4/8 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1000 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1000 times. ✗ Branch 11 not taken.	2000	Matrix3s rot = Quat(Vec4s::Random().normalized()).toRotationMatrix();
133
134	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	tf1.setTranslation(p1);
135	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	tf1.setRotation(rot);
136	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	tf2.setTranslation(p2_no_collision);
137	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	tf2.setRotation(rot);
138
139	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	CollisionObject capsule_o1(c1, tf1);
140	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	CollisionObject capsule_o2(c2, tf2);
141
142			// Enable computation of nearest points
143	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	CollisionRequest collisionRequest;
144	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	CollisionResult capsule_collisionResult;
145
146	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	size_t capsule_num_collisions = collide(
147			&capsule_o1, &capsule_o2, collisionRequest, capsule_collisionResult);
148
149	6/12 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1000 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1000 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1000 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1000 times.	2000	BOOST_CHECK(capsule_num_collisions == 0);
150		2000	}
151
152			Vec3s p2_with_collision =
153	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	Vec3s(0, 0, Scalar(std::min(length / 2, radius) * (1. - 1e-2)));
154	2/2 ✓ Branch 0 taken 1000 times. ✓ Branch 1 taken 1 times.	2002	for (int i = 0; i < num_tests; ++i) {
155	4/8 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1000 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1000 times. ✗ Branch 11 not taken.	2000	Matrix3s rot = Quat(Vec4s::Random().normalized()).toRotationMatrix();
156
157	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	tf1.setTranslation(p1);
158	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	tf1.setRotation(rot);
159	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	tf2.setTranslation(p2_with_collision);
160	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	tf2.setRotation(rot);
161
162	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	CollisionObject capsule_o1(c1, tf1);
163	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	CollisionObject capsule_o2(c2, tf2);
164
165			// Enable computation of nearest points
166	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	CollisionRequest collisionRequest;
167	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	CollisionResult capsule_collisionResult;
168
169	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	size_t capsule_num_collisions = collide(
170			&capsule_o1, &capsule_o2, collisionRequest, capsule_collisionResult);
171
172	6/12 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1000 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1000 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1000 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1000 times.	2000	BOOST_CHECK(capsule_num_collisions > 0);
173		2000	}
174
175	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	p2_no_collision = Vec3s(0, 0, Scalar(2 * (length / 2. + radius) + 1e-3));
176
177	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	Transform3s geom1_placement(Matrix3s::Identity(), Vec3s::Zero());
178	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Transform3s geom2_placement(Matrix3s::Identity(), p2_no_collision);
179
180	2/2 ✓ Branch 0 taken 1000 times. ✓ Branch 1 taken 1 times.	2002	for (int i = 0; i < num_tests; ++i) {
181	4/8 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1000 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1000 times. ✗ Branch 11 not taken.	2000	Matrix3s rot = Quat(Vec4s::Random().normalized()).toRotationMatrix();
182	2/4 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken.	2000	Vec3s trans = Vec3s::Random();
183
184	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	Transform3s displacement(rot, trans);
185	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	Transform3s tf1 = displacement * geom1_placement;
186	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	Transform3s tf2 = displacement * geom2_placement;
187
188	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	CollisionObject capsule_o1(c1, tf1);
189	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	CollisionObject capsule_o2(c2, tf2);
190
191			// Enable computation of nearest points
192	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	CollisionRequest collisionRequest;
193	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	CollisionResult capsule_collisionResult;
194
195	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	size_t capsule_num_collisions = collide(
196			&capsule_o1, &capsule_o2, collisionRequest, capsule_collisionResult);
197
198	6/12 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1000 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1000 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1000 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1000 times.	2000	BOOST_CHECK(capsule_num_collisions == 0);
199		2000	}
200
201			// p2_with_collision =
202			// Vec3s(0.,0.,std::min(length/2.,radius)*(1.-1e-2));
203	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	p2_with_collision = Vec3s(0, 0, Scalar(0.01));
204	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	geom2_placement.setTranslation(p2_with_collision);
205
206	2/2 ✓ Branch 0 taken 1000 times. ✓ Branch 1 taken 1 times.	2002	for (int i = 0; i < num_tests; ++i) {
207	4/8 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1000 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1000 times. ✗ Branch 11 not taken.	2000	Matrix3s rot = Quat(Vec4s::Random().normalized()).toRotationMatrix();
208	2/4 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken.	2000	Vec3s trans = Vec3s::Random();
209
210	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	Transform3s displacement(rot, trans);
211	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	Transform3s tf1 = displacement * geom1_placement;
212	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	Transform3s tf2 = displacement * geom2_placement;
213
214	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	CollisionObject capsule_o1(c1, tf1);
215	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	CollisionObject capsule_o2(c2, tf2);
216
217			// Enable computation of nearest points
218	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	CollisionRequest collisionRequest;
219	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	CollisionResult capsule_collisionResult;
220
221	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	size_t capsule_num_collisions = collide(
222			&capsule_o1, &capsule_o2, collisionRequest, capsule_collisionResult);
223
224	6/12 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1000 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1000 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1000 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1000 times.	2000	BOOST_CHECK(capsule_num_collisions > 0);
225		2000	}
226		2	}
227
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229	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 Capsule(5, 10));
230	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 Capsule(5, 10));
231
232	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf1;
233	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Transform3s tf2(Vec3s(Scalar(20.1), 0, 0));
234
235	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionObject o1(s1, tf1);
236	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionObject o2(s2, tf2);
237
238			// Enable computation of nearest points
239	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	DistanceRequest distanceRequest(true);
240	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	DistanceResult distanceResult;
241
242	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	distance(&o1, &o2, distanceRequest, distanceResult);
243
244	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::cerr << "Applied translation on two capsules";
245	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	std::cerr << " T1 = " << tf1.getTranslation()
246	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;
247	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]
248	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]
249	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;
250
251	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, 10.1, 1e-6);
252		2	}
253
254	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_capsulecapsule_transformXY) {
255	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 Capsule(5, 10));
256	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 Capsule(5, 10));
257
258	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf1;
259	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Transform3s tf2(Vec3s(20, 20, 0));
260
261	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionObject o1(s1, tf1);
262	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionObject o2(s2, tf2);
263
264			// Enable computation of nearest points
265	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	DistanceRequest distanceRequest(true);
266	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	DistanceResult distanceResult;
267
268	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	distance(&o1, &o2, distanceRequest, distanceResult);
269
270	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::cerr << "Applied translation on two capsules";
271	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	std::cerr << " T1 = " << tf1.getTranslation()
272	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;
273	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]
274	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]
275	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;
276
277		2	Scalar expected = sqrt(Scalar(800)) - 10;
278	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, expected, 1e-6);
279		2	}
280
281	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_capsulecapsule_transformZ) {
282	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 Capsule(5, 10));
283	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 Capsule(5, 10));
284
285	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf1;
286	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Transform3s tf2(Vec3s(0, 0, Scalar(20.1)));
287
288	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionObject o1(s1, tf1);
289	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionObject o2(s2, tf2);
290
291			// Enable computation of nearest points
292	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	DistanceRequest distanceRequest(true);
293	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	DistanceResult distanceResult;
294
295	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	distance(&o1, &o2, distanceRequest, distanceResult);
296
297	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::cerr << "Applied translation on two capsules";
298	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	std::cerr << " T1 = " << tf1.getTranslation()
299	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;
300	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]
301	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]
302	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;
303
304	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, 0.1, 1e-6);
305		2	}
306
307	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_capsulecapsule_transformZ2) {
308	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 Capsule(5, 10));
309	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 Capsule(5, 10));
310
311	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf1;
312	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2(makeQuat(sqrt(Scalar(2)) / 2, 0, sqrt(Scalar(2)) / 2, 0),
313	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	4	Vec3s(0, 0, Scalar(25.1)));
314
315	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionObject o1(s1, tf1);
316	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionObject o2(s2, tf2);
317
318			// Enable computation of nearest points
319	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	DistanceRequest distanceRequest(true);
320	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	DistanceResult distanceResult;
321
322	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	distance(&o1, &o2, distanceRequest, distanceResult);
323
324	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	std::cerr << "Applied rotation and translation on two capsules" << std::endl;
325	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 << "R1 = " << tf1.getRotation() << std::endl
326	4/8 ✓ 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.	2	<< "T1 = " << tf1.getTranslation().transpose() << std::endl
327	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
328	4/8 ✓ 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.	2	<< "T2 = " << tf2.getTranslation().transpose() << std::endl;
329	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	std::cerr << "Closest points:" << std::endl
330	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	<< "p1 = " << distanceResult.nearest_points[0].transpose()
331	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	<< std::endl
332	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	<< "p2 = " << distanceResult.nearest_points[1].transpose()
333	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	<< std::endl
334	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;
335
336		2	const Vec3s& p1 = distanceResult.nearest_points[0];
337		2	const Vec3s& p2 = distanceResult.nearest_points[1];
338
339	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, 10.1, 1e-6);
340	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	CHECK_CLOSE_TO_0(p1[0], 1e-4);
341	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	CHECK_CLOSE_TO_0(p1[1], 1e-4);
342	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], 10, 1e-4);
343	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	CHECK_CLOSE_TO_0(p2[0], 1e-4);
344	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	CHECK_CLOSE_TO_0(p2[1], 1e-4);
345	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], 20.1, 1e-4);
346		2	}
347