GCC Code Coverage Report

Directory: ./
File: test/collision_node_asserts.cpp
Date: 2025-04-01 09:23:31
Exec Total Coverage
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Branches: 78 164 47.6%
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1 #define BOOST_TEST_MODULE COAL_COLLISION_NODE_ASSERT
2
3 #include <boost/test/included/unit_test.hpp>
4 #include <boost/math/constants/constants.hpp>
5 #include "coal/BVH/BVH_model.h"
6 #include "coal/collision.h"
7
8 using namespace coal;
9
10 constexpr Scalar pi = boost::math::constants::pi<Scalar>();
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12 1296 Scalar DegToRad(const Scalar& deg) {
13 static Scalar degToRad = pi / Scalar(180);
14 1296 return deg * degToRad;
15 }
16 std::vector<Vec3s> dirs{Vec3s::UnitZ(), -Vec3s::UnitZ(), Vec3s::UnitY(),
17 -Vec3s::UnitY(), Vec3s::UnitX(), -Vec3s::UnitX()};
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 4 BOOST_AUTO_TEST_CASE(TestTriangles) {
20 std::vector<Vec3s> triVertices{Vec3s(1, 0, 0), Vec3s(1, 1, 0),
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 2 Vec3s(0, 1, 0)};
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 2 std::vector<Triangle> triangle{{0, 1, 2}};
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 2 BVHModel<OBBRSS> tri1{};
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 2 BVHModel<OBBRSS> tri2{};
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 2 tri1.beginModel();
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 2 tri1.addSubModel(triVertices, triangle);
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 2 tri1.endModel();
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 2 tri2.beginModel();
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 2 tri2.addSubModel(triVertices, triangle);
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 2 tri2.endModel();
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 2 CollisionRequest request(CONTACT | DISTANCE_LOWER_BOUND, 1);
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 2 ComputeCollision compute(&tri1, &tri2);
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 2 Transform3s tri1Tf{};
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 2 Transform3s tri2Tf{};
41
42 /// check some angles for two triangles
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 26 for (int i = 0; i < 360; i += 30) {
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 168 for (int j = 0; j < 180; j += 30) {
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 1008 for (int k = 0; k < 180; k += 30) {
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 864 tri1Tf.setQuatRotation(
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 864 Eigen::AngleAxis<Scalar>(0., Vec3s::UnitZ()) *
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 864 Eigen::AngleAxis<Scalar>(DegToRad(Scalar(k)), Vec3s::UnitY()));
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 864 tri2Tf.setQuatRotation(
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 864 Eigen::AngleAxis<Scalar>(DegToRad(Scalar(i)), Vec3s::UnitZ()) *
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 864 Eigen::AngleAxis<Scalar>(DegToRad(Scalar(j)), Vec3s::UnitY()));
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 864 CollisionResult result;
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54 /// assertion: src/collision_node.cpp:58
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 864 BOOST_CHECK_NO_THROW(compute(tri2Tf, tri1Tf, request, result));
56 864 }
57 }
58 }
59 2 }
60