GCC Code Coverage Report

Directory:	./
File:	test/contact_patch.cpp
Date:	2025-04-01 09:23:31

	Exec	Total	Coverage
Lines:	649	675	96.1%
Branches:	1902	3794	50.1%

Line	Branch	Exec	Source
1			/*
2			* Software License Agreement (BSD License)
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21			* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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34
35			/** \author Louis Montaut */
36
37			#define BOOST_TEST_MODULE COAL_CONTACT_PATCH
38			#include <boost/test/included/unit_test.hpp>
39
40			#include "coal/contact_patch.h"
41
42			#include "utility.h"
43
44			using namespace coal;
45
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47		2	const Scalar halfside = Scalar(0.5);
48	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Box box1(2 * halfside, 2 * halfside, 2 * halfside);
49	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Box box2(2 * halfside, 2 * halfside, 2 * halfside);
50
51	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Transform3s tf1;
52	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2;
53			// set translation to separate the shapes
54		2	const Scalar offset = Scalar(0.001);
55	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2.setTranslation(Vec3s(0, 0, 2 * halfside + offset));
56
57		2	const size_t num_max_contact = 1;
58			const CollisionRequest col_req(CollisionRequestFlag::CONTACT,
59	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	num_max_contact);
60	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult col_res;
61
62	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::collide(&box1, tf1, &box2, tf2, col_req, col_res);
63
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65
66	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const ContactPatchRequest patch_req;
67	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatchResult patch_res(patch_req);
68	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::computeContactPatch(&box1, tf1, &box2, tf2, col_res, patch_req,
69			patch_res);
70	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(patch_res.numContactPatches() == 0);
71		2	}
72
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74		2	const Scalar halfside = Scalar(0.5);
75	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Box box(2 * halfside, 2 * halfside, 2 * halfside);
76	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Sphere sphere(halfside);
77
78	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Transform3s tf1;
79	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2;
80			// set translation to have a collision
81		2	const Scalar offset = Scalar(0.001);
82	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2.setTranslation(Vec3s(0, 0, 2 * halfside - offset));
83
84		2	const size_t num_max_contact = 1;
85			const CollisionRequest col_req(CollisionRequestFlag::CONTACT,
86	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	num_max_contact);
87	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult col_res;
88
89	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::collide(&box, tf1, &sphere, tf2, col_req, col_res);
90
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92
93	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const ContactPatchRequest patch_req;
94	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatchResult patch_res(patch_req);
95	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::computeContactPatch(&box, tf1, &sphere, tf2, col_res, patch_req,
96			patch_res);
97	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(patch_res.numContactPatches() == 1);
98	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	if (patch_res.numContactPatches() > 0 && col_res.isCollision()) {
99	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Contact &contact = col_res.getContact(0);
100	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const ContactPatch &contact_patch = patch_res.getContactPatch(0);
101	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(contact_patch.size() == 1);
102		2	const Scalar tol = Scalar(1e-8);
103	18/36 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 1 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 1 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 1 times. ✗ Branch 50 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✗ Branch 63 not taken. ✓ Branch 64 taken 1 times.	2	EIGEN_VECTOR_IS_APPROX(contact_patch.getPoint(0), contact.pos, tol);
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105	18/36 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 1 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 1 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 1 times. ✗ Branch 50 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✗ Branch 63 not taken. ✓ Branch 64 taken 1 times.	2	EIGEN_VECTOR_IS_APPROX(contact_patch.getNormal(), contact.normal, tol);
106	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(std::abs(contact_patch.penetration_depth -
107			contact.penetration_depth) < tol);
108			}
109		2	}
110
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112		2	const Scalar halfside = 0.5;
113	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Box box1(2 * halfside, 2 * halfside, 2 * halfside);
114	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Box box2(2 * halfside, 2 * halfside, 2 * halfside);
115
116	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Transform3s tf1;
117	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2;
118			// set translation to have a collision
119		2	const Scalar offset = Scalar(0.001);
120	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2.setTranslation(Vec3s(0, 0, 2 * halfside - offset));
121
122		2	const size_t num_max_contact = 1;
123			const CollisionRequest col_req(CollisionRequestFlag::CONTACT,
124	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	num_max_contact);
125	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult col_res;
126
127	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::collide(&box1, tf1, &box2, tf2, col_req, col_res);
128
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130
131	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const ContactPatchRequest patch_req;
132	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatchResult patch_res1(patch_req);
133	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatchResult patch_res2(patch_req);
134	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::computeContactPatch(&box1, tf1, &box2, tf2, col_res, patch_req,
135			patch_res1);
136	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::computeContactPatch(&box1, tf1, &box2, tf2, col_res, patch_req,
137			patch_res2);
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140
141	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	if (patch_res1.numContactPatches() > 0 &&
142	3/6 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	patch_res2.numContactPatches() > 0 && col_res.isCollision()) {
143	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Contact &contact = col_res.getContact(0);
144		2	const Scalar tol = Scalar(1e-6);
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146
147		2	const size_t expected_size = 4;
148	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatch expected(expected_size);
149		2	expected.tf.rotation() =
150	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	constructOrthonormalBasisFromVector(contact.normal);
151	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	expected.tf.translation() = contact.pos;
152		2	expected.penetration_depth = contact.penetration_depth;
153			const std::array<Vec3s, 4> corners = {
154			Vec3s(halfside, halfside, halfside),
155		✗	Vec3s(halfside, -halfside, halfside),
156		✗	Vec3s(-halfside, -halfside, halfside),
157		✗	Vec3s(-halfside, halfside, halfside),
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159	2/2 ✓ Branch 0 taken 4 times. ✓ Branch 1 taken 1 times.	10	for (size_t i = 0; i < expected_size; ++i) {
160	3/6 ✓ Branch 2 taken 4 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 4 times. ✗ Branch 9 not taken.	8	expected.addPoint(corners[i] +
161	2/4 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4 times. ✗ Branch 5 not taken.	16	(contact.penetration_depth * contact.normal) / 2);
162			}
163
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166		2	}
167		2	}
168
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170	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Halfspace hspace(0, 0, 1, 0);
171		2	const Scalar halfside = Scalar(0.5);
172	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Box box(2 * halfside, 2 * halfside, 2 * halfside);
173
174	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Transform3s tf1;
175	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2;
176			// set translation to have a collision
177		2	const Scalar offset = Scalar(0.001);
178	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2.setTranslation(Vec3s(0, 0, halfside - offset));
179
180		2	const size_t num_max_contact = 1;
181			const CollisionRequest col_req(CollisionRequestFlag::CONTACT,
182	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	num_max_contact);
183	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult col_res;
184
185	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::collide(&hspace, tf1, &box, tf2, col_req, col_res);
186
187	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(col_res.isCollision());
188
189	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const ContactPatchRequest patch_req;
190	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatchResult patch_res1(patch_req);
191	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatchResult patch_res2(patch_req);
192	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::computeContactPatch(&hspace, tf1, &box, tf2, col_res, patch_req,
193			patch_res1);
194	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::computeContactPatch(&hspace, tf1, &box, tf2, col_res, patch_req,
195			patch_res2);
196	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(patch_res1.numContactPatches() == 1);
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198
199	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	if (patch_res1.numContactPatches() > 0 &&
200	3/6 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	patch_res2.numContactPatches() > 0 && col_res.isCollision()) {
201	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Contact &contact = col_res.getContact(0);
202		2	const Scalar tol = Scalar(1e-6);
203	16/32 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 1 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 1 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✗ Branch 57 not taken. ✓ Branch 58 taken 1 times.	2	EIGEN_VECTOR_IS_APPROX(contact.normal, hspace.n, tol);
204	18/36 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 1 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 1 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 1 times. ✗ Branch 50 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✗ Branch 63 not taken. ✓ Branch 64 taken 1 times.	2	EIGEN_VECTOR_IS_APPROX(hspace.n, Vec3s(0, 0, 1), tol);
205
206		2	const size_t expected_size = 4;
207	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatch expected(expected_size);
208		2	expected.tf.rotation() =
209	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	constructOrthonormalBasisFromVector(contact.normal);
210	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	expected.tf.translation() = contact.pos;
211		2	expected.penetration_depth = contact.penetration_depth;
212			const std::array<Vec3s, 4> corners = {
213	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2.transform(Vec3s(halfside, halfside, -halfside)),
214	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2.transform(Vec3s(halfside, -halfside, -halfside)),
215	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2.transform(Vec3s(-halfside, -halfside, -halfside)),
216	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2.transform(Vec3s(-halfside, halfside, -halfside)),
217	4/8 ✓ 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. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	8	};
218	2/2 ✓ Branch 0 taken 4 times. ✓ Branch 1 taken 1 times.	10	for (size_t i = 0; i < expected_size; ++i) {
219	3/6 ✓ Branch 2 taken 4 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 4 times. ✗ Branch 9 not taken.	8	expected.addPoint(corners[i] -
220	2/4 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4 times. ✗ Branch 5 not taken.	16	(contact.penetration_depth * contact.normal) / 2);
221			}
222
223	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(patch_res1.getContactPatch(0).isSame(expected, tol));
224	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(patch_res2.getContactPatch(0).isSame(expected, tol));
225		2	}
226		2	}
227
228	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(halfspace_capsule) {
229	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Halfspace hspace(0, 0, 1, 0);
230		2	const Scalar radius = Scalar(0.25);
231		2	const Scalar height = 1.;
232	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Capsule capsule(radius, height);
233
234	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Transform3s tf1;
235	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2;
236			// set translation to have a collision
237		2	const Scalar offset = Scalar(0.001);
238	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2.setTranslation(Vec3s(0, 0, height / 2 - offset));
239
240		2	const size_t num_max_contact = 1;
241			const CollisionRequest col_req(CollisionRequestFlag::CONTACT,
242	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	num_max_contact);
243	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult col_res;
244	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::collide(&hspace, tf1, &capsule, tf2, col_req, col_res);
245	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(col_res.isCollision());
246
247	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const ContactPatchRequest patch_req;
248	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(patch_req.getNumSamplesCurvedShapes() ==
249			ContactPatch::default_preallocated_size);
250	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatchResult patch_res(patch_req);
251	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::computeContactPatch(&hspace, tf1, &capsule, tf2, col_res, patch_req,
252			patch_res);
253	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(patch_res.numContactPatches() == 1);
254
255	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	if (patch_res.numContactPatches() > 0 && col_res.isCollision()) {
256	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Contact &contact = col_res.getContact(0);
257		2	const Scalar tol = Scalar(1e-6);
258	16/32 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 1 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 1 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✗ Branch 57 not taken. ✓ Branch 58 taken 1 times.	2	EIGEN_VECTOR_IS_APPROX(contact.normal, hspace.n, tol);
259
260		2	const size_t expected_size = 1;
261	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatch expected(expected_size);
262		2	expected.tf.rotation() =
263	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	constructOrthonormalBasisFromVector(contact.normal);
264	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	expected.tf.translation() = contact.pos;
265		2	expected.penetration_depth = contact.penetration_depth;
266	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Vec3s capsule_end(0, 0, -capsule.halfLength);
267	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	expected.addPoint(tf2.transform(capsule_end));
268
269	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const ContactPatch &contact_patch = patch_res.getContactPatch(0);
270	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(expected.tf == contact_patch.tf);
271	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(expected.isSame(contact_patch, tol));
272		2	}
273
274			// Rotate capsule 180 degrees around y-axis
275			// Should only have one contact.
276	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 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	tf2.rotation().col(0) << -1, 0, 0;
277	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 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	tf2.rotation().col(1) << 0, 1, 0;
278	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 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	tf2.rotation().col(2) << 0, 0, -1;
279	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	col_res.clear();
280	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::collide(&hspace, tf1, &capsule, tf2, col_req, col_res);
281	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(col_res.isCollision());
282	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	patch_res.clear();
283	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::computeContactPatch(&hspace, tf1, &capsule, tf2, col_res, patch_req,
284			patch_res);
285	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(patch_res.numContactPatches() == 1);
286	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	if (patch_res.numContactPatches() > 0 && col_res.isCollision()) {
287	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Contact &contact = col_res.getContact(0);
288		2	const Scalar tol = Scalar(1e-6);
289	16/32 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 1 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 1 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✗ Branch 57 not taken. ✓ Branch 58 taken 1 times.	2	EIGEN_VECTOR_IS_APPROX(contact.normal, hspace.n, tol);
290
291		2	const size_t expected_size = 1;
292	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatch expected(expected_size);
293		2	expected.tf.rotation() =
294	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	constructOrthonormalBasisFromVector(contact.normal);
295	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	expected.tf.translation() = contact.pos;
296		2	expected.penetration_depth = contact.penetration_depth;
297	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Vec3s capsule_end(0, 0, capsule.halfLength);
298	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	expected.addPoint(tf2.transform(capsule_end));
299
300	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const ContactPatch &contact_patch = patch_res.getContactPatch(0);
301	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(expected.tf == contact_patch.tf);
302	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(expected.isSame(contact_patch, tol));
303		2	}
304
305			// Rotate cone 90 degrees around y-axis
306			// Should only have two contacts.
307	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 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	tf2.rotation().col(0) << 0, 0, 1;
308	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 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	tf2.rotation().col(1) << 0, 1, 0;
309	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 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	tf2.rotation().col(2) << -1, 0, 0;
310	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	tf2.translation() << 0, 0, capsule.radius - offset;
311	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	col_res.clear();
312	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::collide(&hspace, tf1, &capsule, tf2, col_req, col_res);
313	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(col_res.isCollision());
314	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	patch_res.clear();
315	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::computeContactPatch(&hspace, tf1, &capsule, tf2, col_res, patch_req,
316			patch_res);
317	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(patch_res.numContactPatches() == 1);
318	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	if (patch_res.numContactPatches() > 0 && col_res.isCollision()) {
319	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Contact &contact = col_res.getContact(0);
320		2	const Scalar tol = Scalar(1e-6);
321	16/32 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 1 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 1 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✗ Branch 57 not taken. ✓ Branch 58 taken 1 times.	2	EIGEN_VECTOR_IS_APPROX(contact.normal, hspace.n, tol);
322
323		2	const size_t expected_size = 2;
324	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatch expected(expected_size);
325		2	expected.tf.rotation() =
326	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	constructOrthonormalBasisFromVector(contact.normal);
327	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	expected.tf.translation() = contact.pos;
328		2	expected.penetration_depth = contact.penetration_depth;
329	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Vec3s p1(-capsule.radius, 0, capsule.halfLength);
330	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Vec3s p2(-capsule.radius, 0, -capsule.halfLength);
331	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	expected.addPoint(tf2.transform(p1));
332	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	expected.addPoint(tf2.transform(p2));
333
334	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const ContactPatch &contact_patch = patch_res.getContactPatch(0);
335	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(expected.tf == contact_patch.tf);
336	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(expected.isSame(contact_patch, tol));
337		2	}
338		2	}
339
340	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(halfspace_cone) {
341	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Halfspace hspace(0, 0, 1, 0);
342		2	const Scalar radius = 0.25;
343		2	const Scalar height = 1.;
344	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Cone cone(radius, height);
345
346	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Transform3s tf1;
347	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2;
348			// set translation to have a collision
349		2	const Scalar offset = Scalar(0.001);
350	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2.setTranslation(Vec3s(0, 0, height / 2 - offset));
351
352		2	const size_t num_max_contact = 1;
353			const CollisionRequest col_req(CollisionRequestFlag::CONTACT,
354	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	num_max_contact);
355	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult col_res;
356	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::collide(&hspace, tf1, &cone, tf2, col_req, col_res);
357	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(col_res.isCollision());
358
359	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const ContactPatchRequest patch_req;
360	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(patch_req.getNumSamplesCurvedShapes() ==
361			ContactPatch::default_preallocated_size);
362	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatchResult patch_res(patch_req);
363	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::computeContactPatch(&hspace, tf1, &cone, tf2, col_res, patch_req,
364			patch_res);
365	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(patch_res.numContactPatches() == 1);
366
367	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	if (patch_res.numContactPatches() > 0 && col_res.isCollision()) {
368	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Contact &contact = col_res.getContact(0);
369		2	const Scalar tol = Scalar(1e-6);
370	16/32 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 1 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 1 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✗ Branch 57 not taken. ✓ Branch 58 taken 1 times.	2	EIGEN_VECTOR_IS_APPROX(contact.normal, hspace.n, tol);
371
372		2	const size_t expected_size = ContactPatch::default_preallocated_size;
373	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatch expected(expected_size);
374		2	expected.tf.rotation() =
375	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	constructOrthonormalBasisFromVector(contact.normal);
376	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	expected.tf.translation() = contact.pos;
377		2	expected.penetration_depth = contact.penetration_depth;
378	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::array<Vec3s, ContactPatch::default_preallocated_size> points;
379		2	const Scalar angle_increment = 2.0 * (Scalar)(EIGEN_PI) / ((Scalar)(6));
380	2/2 ✓ Branch 0 taken 12 times. ✓ Branch 1 taken 1 times.	26	for (size_t i = 0; i < ContactPatch::default_preallocated_size; ++i) {
381		24	const Scalar theta = (Scalar)(i)*angle_increment;
382		✗	Vec3s point_on_cone_base(std::cos(theta) * cone.radius,
383	1/2 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken.	24	std::sin(theta) * cone.radius, -cone.halfLength);
384	2/4 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 12 times. ✗ Branch 5 not taken.	24	expected.addPoint(tf2.transform(point_on_cone_base));
385			}
386
387	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const ContactPatch &contact_patch = patch_res.getContactPatch(0);
388	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(expected.tf == contact_patch.tf);
389	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(expected.isSame(contact_patch, tol));
390		2	}
391
392			// Rotate cone 180 degrees around y-axis
393			// Should only have one contact, due to cone-tip/halfspace collision.
394	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 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	tf2.rotation().col(0) << -1, 0, 0;
395	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 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	tf2.rotation().col(1) << 0, 1, 0;
396	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 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	tf2.rotation().col(2) << 0, 0, -1;
397	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	col_res.clear();
398	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::collide(&hspace, tf1, &cone, tf2, col_req, col_res);
399	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(col_res.isCollision());
400	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	patch_res.clear();
401	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::computeContactPatch(&hspace, tf1, &cone, tf2, col_res, patch_req,
402			patch_res);
403	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(patch_res.numContactPatches() == 1);
404	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	if (patch_res.numContactPatches() > 0 && col_res.isCollision()) {
405	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Contact &contact = col_res.getContact(0);
406	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const ContactPatch &contact_patch = patch_res.getContactPatch(0);
407	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(contact_patch.size() == 1);
408		2	const Scalar tol = Scalar(1e-8);
409	18/36 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 1 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 1 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 1 times. ✗ Branch 50 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✗ Branch 63 not taken. ✓ Branch 64 taken 1 times.	2	EIGEN_VECTOR_IS_APPROX(contact_patch.getPoint(0), contact.pos, tol);
410	16/32 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 1 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 1 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 36 not taken. ✓ Branch 39 taken 1 times. ✗ Branch 40 not taken. ✓ Branch 42 taken 1 times. ✗ Branch 43 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✗ Branch 59 not taken. ✓ Branch 60 taken 1 times.	2	EIGEN_VECTOR_IS_APPROX(contact_patch.tf.translation(), contact.pos, tol);
411	18/36 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 1 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 1 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 1 times. ✗ Branch 50 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✗ Branch 63 not taken. ✓ Branch 64 taken 1 times.	2	EIGEN_VECTOR_IS_APPROX(contact_patch.getNormal(), contact.normal, tol);
412	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(std::abs(contact_patch.penetration_depth -
413			contact.penetration_depth) < tol);
414
415		2	const size_t expected_size = 1;
416	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatch expected(expected_size);
417		2	expected.tf.rotation() =
418	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	constructOrthonormalBasisFromVector(contact.normal);
419	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	expected.tf.translation() = contact.pos;
420		2	expected.penetration_depth = contact.penetration_depth;
421	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Vec3s cone_tip(0, 0, cone.halfLength);
422	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	expected.addPoint(tf2.transform(cone_tip));
423
424	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(contact_patch.isSame(expected, tol));
425		2	}
426
427			// Rotate cone 90 degrees around y-axis
428			// Should only have one contact, on cone circle basis.
429	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 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	tf2.rotation().col(0) << 0, 0, 1;
430	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 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	tf2.rotation().col(1) << 0, 1, 0;
431	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 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	tf2.rotation().col(2) << -1, 0, 0;
432	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	tf2.translation() << 0, 0, cone.radius - offset;
433	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	col_res.clear();
434	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::collide(&hspace, tf1, &cone, tf2, col_req, col_res);
435	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(col_res.isCollision());
436	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	patch_res.clear();
437	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::computeContactPatch(&hspace, tf1, &cone, tf2, col_res, patch_req,
438			patch_res);
439	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(patch_res.numContactPatches() == 1);
440	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	if (patch_res.numContactPatches() > 0 && col_res.isCollision()) {
441	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Contact &contact = col_res.getContact(0);
442	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const ContactPatch &contact_patch = patch_res.getContactPatch(0);
443	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(contact_patch.size() == 1);
444		2	const Scalar tol = Scalar(1e-8);
445	18/36 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 1 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 1 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 1 times. ✗ Branch 50 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✗ Branch 63 not taken. ✓ Branch 64 taken 1 times.	2	EIGEN_VECTOR_IS_APPROX(contact_patch.getPoint(0), contact.pos, tol);
446	16/32 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 1 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 1 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 36 not taken. ✓ Branch 39 taken 1 times. ✗ Branch 40 not taken. ✓ Branch 42 taken 1 times. ✗ Branch 43 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✗ Branch 59 not taken. ✓ Branch 60 taken 1 times.	2	EIGEN_VECTOR_IS_APPROX(contact_patch.tf.translation(), contact.pos, tol);
447	18/36 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 1 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 1 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 1 times. ✗ Branch 50 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✗ Branch 63 not taken. ✓ Branch 64 taken 1 times.	2	EIGEN_VECTOR_IS_APPROX(contact_patch.getNormal(), contact.normal, tol);
448	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(std::abs(contact_patch.penetration_depth -
449			contact.penetration_depth) < tol);
450
451		2	const size_t expected_size = 1;
452	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatch expected(expected_size);
453		2	expected.tf.rotation() =
454	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	constructOrthonormalBasisFromVector(contact.normal);
455	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	expected.tf.translation() = contact.pos;
456		2	expected.penetration_depth = contact.penetration_depth;
457	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Vec3s point_on_circle_basis(-cone.radius, 0, -cone.halfLength);
458	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	expected.addPoint(tf2.transform(point_on_circle_basis));
459
460	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(contact_patch.isSame(expected, tol));
461		2	}
462		2	}
463
464	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(halfspace_cylinder) {
465	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Halfspace hspace(0, 0, 1, 0);
466		2	const Scalar radius = Scalar(0.25);
467		2	const Scalar height = 1;
468	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Cylinder cylinder(radius, height);
469
470	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Transform3s tf1;
471	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2;
472			// set translation to have a collision
473		2	const Scalar offset = Scalar(0.001);
474	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2.setTranslation(Vec3s(0, 0, height / 2 - offset));
475
476		2	const size_t num_max_contact = 1;
477			const CollisionRequest col_req(CollisionRequestFlag::CONTACT,
478	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	num_max_contact);
479	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult col_res;
480	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::collide(&hspace, tf1, &cylinder, tf2, col_req, col_res);
481	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(col_res.isCollision());
482
483	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	if (col_res.isCollision()) {
484	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Contact &contact = col_res.getContact(0);
485		2	const size_t expected_size = ContactPatch::default_preallocated_size;
486		2	const Scalar tol = Scalar(1e-6);
487	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatch expected(expected_size);
488		2	expected.tf.rotation() =
489	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	constructOrthonormalBasisFromVector(contact.normal);
490	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	expected.tf.translation() = contact.pos;
491		2	expected.penetration_depth = contact.penetration_depth;
492	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::array<Vec3s, ContactPatch::default_preallocated_size> points;
493		2	const Scalar angle_increment = 2.0 * (Scalar)(EIGEN_PI) / ((Scalar)(6));
494	2/2 ✓ Branch 0 taken 12 times. ✓ Branch 1 taken 1 times.	26	for (size_t i = 0; i < ContactPatch::default_preallocated_size; ++i) {
495		24	const Scalar theta = (Scalar)(i)*angle_increment;
496		✗	Vec3s point_on_cone_base(std::cos(theta) * cylinder.radius,
497		✗	std::sin(theta) * cylinder.radius,
498	1/2 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken.	24	-cylinder.halfLength);
499	2/4 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 12 times. ✗ Branch 5 not taken.	24	expected.addPoint(tf2.transform(point_on_cone_base));
500			}
501
502	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const ContactPatchRequest patch_req;
503	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(patch_req.getNumSamplesCurvedShapes() ==
504			ContactPatch::default_preallocated_size);
505	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatchResult patch_res(patch_req);
506	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::computeContactPatch(&hspace, tf1, &cylinder, tf2, col_res, patch_req,
507			patch_res);
508	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(patch_res.numContactPatches() == 1);
509
510	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	if (patch_res.numContactPatches() > 0) {
511	16/32 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 1 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 1 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✗ Branch 57 not taken. ✓ Branch 58 taken 1 times.	2	EIGEN_VECTOR_IS_APPROX(contact.normal, hspace.n, tol);
512	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const ContactPatch &contact_patch = patch_res.getContactPatch(0);
513	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(expected.tf == contact_patch.tf);
514	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(expected.isSame(contact_patch, tol));
515			}
516
517			// Rotate cylinder 180 degrees around y-axis.
518			// Should only have the same contact-patch, due to cylinder symmetry.
519	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 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	tf2.rotation().col(0) << -1, 0, 0;
520	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 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	tf2.rotation().col(1) << 0, 1, 0;
521	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 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	tf2.rotation().col(2) << 0, 0, -1;
522	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	col_res.clear();
523	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::collide(&hspace, tf1, &cylinder, tf2, col_req, col_res);
524	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(col_res.isCollision());
525	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	patch_res.clear();
526	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::computeContactPatch(&hspace, tf1, &cylinder, tf2, col_res, patch_req,
527			patch_res);
528	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(patch_res.numContactPatches() == 1);
529	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	if (patch_res.numContactPatches() > 0 && col_res.isCollision()) {
530	16/32 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 1 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 1 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✗ Branch 57 not taken. ✓ Branch 58 taken 1 times.	2	EIGEN_VECTOR_IS_APPROX(contact.normal, hspace.n, tol);
531	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const ContactPatch &contact_patch = patch_res.getContactPatch(0);
532	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(expected.tf == contact_patch.tf);
533	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(expected.isSame(contact_patch, tol));
534			}
535		2	}
536
537			// Rotate cylinder 90 degrees around y-axis.
538			// Should have 2 contact points.
539	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 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	tf2.rotation().col(0) << 0, 0, 1;
540	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 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	tf2.rotation().col(1) << 0, 1, 0;
541	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 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	tf2.rotation().col(2) << -1, 0, 0;
542	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	tf2.translation() << 0, 0, cylinder.radius - offset;
543
544	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	col_res.clear();
545	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::collide(&hspace, tf1, &cylinder, tf2, col_req, col_res);
546	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(col_res.isCollision());
547
548	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const ContactPatchRequest patch_req;
549	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatchResult patch_res(patch_req);
550	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::computeContactPatch(&hspace, tf1, &cylinder, tf2, col_res, patch_req,
551			patch_res);
552	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(patch_res.numContactPatches() == 1);
553	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	if (col_res.isCollision() && patch_res.numContactPatches() > 0) {
554	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Contact &contact = col_res.getContact(0);
555		2	const Scalar tol = Scalar(1e-6);
556
557		2	const size_t expected_size = 2;
558	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatch expected(expected_size);
559		2	expected.tf.rotation() =
560	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	constructOrthonormalBasisFromVector(contact.normal);
561	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	expected.tf.translation() = contact.pos;
562		2	expected.penetration_depth = contact.penetration_depth;
563	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	expected.addPoint(
564	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2.transform(Vec3s(cylinder.radius, 0, cylinder.halfLength)));
565	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	expected.addPoint(
566	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2.transform(Vec3s(cylinder.radius, 0, -cylinder.halfLength)));
567
568	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const ContactPatch &contact_patch = patch_res.getContactPatch(0);
569	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(expected.isSame(contact_patch, tol));
570		2	}
571		2	}
572
573	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(convex_convex) {
574		2	const Scalar halfside = 0.5;
575	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Convex<Quadrilateral> box1(buildBox(halfside, halfside, halfside));
576	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Convex<Quadrilateral> box2(buildBox(halfside, halfside, halfside));
577
578	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Transform3s tf1;
579	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2;
580			// set translation to have a collision
581		2	const Scalar offset = Scalar(0.001);
582	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2.setTranslation(Vec3s(0, 0, 2 * halfside - offset));
583
584		2	const size_t num_max_contact = 1;
585			const CollisionRequest col_req(CollisionRequestFlag::CONTACT,
586	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	num_max_contact);
587	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult col_res;
588
589	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::collide(&box1, tf1, &box2, tf2, col_req, col_res);
590
591	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(col_res.isCollision());
592
593	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const ContactPatchRequest patch_req;
594	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatchResult patch_res1(patch_req);
595	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatchResult patch_res2(patch_req);
596	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::computeContactPatch(&box1, tf1, &box2, tf2, col_res, patch_req,
597			patch_res1);
598	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::computeContactPatch(&box1, tf1, &box2, tf2, col_res, patch_req,
599			patch_res2);
600	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(patch_res1.numContactPatches() == 1);
601	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(patch_res2.numContactPatches() == 1);
602
603	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	if (patch_res1.numContactPatches() > 0 &&
604	3/6 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	patch_res2.numContactPatches() > 0 && col_res.isCollision()) {
605	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Contact &contact = col_res.getContact(0);
606		2	const Scalar tol = Scalar(1e-6);
607	18/36 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 1 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 1 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 1 times. ✗ Branch 50 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✗ Branch 63 not taken. ✓ Branch 64 taken 1 times.	2	EIGEN_VECTOR_IS_APPROX(contact.normal, Vec3s(0, 0, 1), tol);
608
609		2	const size_t expected_size = 4;
610	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatch expected(expected_size);
611		2	expected.tf.rotation() =
612	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	constructOrthonormalBasisFromVector(contact.normal);
613	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	expected.tf.translation() = contact.pos;
614		2	expected.penetration_depth = contact.penetration_depth;
615			const std::array<Vec3s, 4> corners = {
616			Vec3s(halfside, halfside, halfside),
617		✗	Vec3s(halfside, -halfside, halfside),
618		✗	Vec3s(-halfside, -halfside, halfside),
619		✗	Vec3s(-halfside, halfside, halfside),
620	4/8 ✓ 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. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	2	};
621	2/2 ✓ Branch 0 taken 4 times. ✓ Branch 1 taken 1 times.	10	for (size_t i = 0; i < expected_size; ++i) {
622	3/6 ✓ Branch 2 taken 4 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 4 times. ✗ Branch 9 not taken.	8	expected.addPoint(corners[i] +
623	2/4 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4 times. ✗ Branch 5 not taken.	16	(contact.penetration_depth * contact.normal) / 2);
624			}
625
626	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(patch_res1.getContactPatch(0).isSame(expected, tol));
627	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(patch_res2.getContactPatch(0).isSame(expected, tol));
628		2	}
629		2	}
630
631	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(edge_case_segment_segment) {
632			// This case covers the segment-segment edge case of contact patches.
633			// Two tetrahedrons make contact on one of their edge.
634
635		2	const size_t expected_size = 2;
636	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Vec3s expected_cp1(0, 0.5, 0);
637	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Vec3s expected_cp2(0, 1, 0);
638
639	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Transform3s tf1; // identity
640	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Transform3s tf2; // identity
641
642		2	const size_t num_max_contact = 1;
643			const CollisionRequest col_req(CollisionRequestFlag::CONTACT,
644	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	num_max_contact);
645	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult col_res;
646	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const ContactPatchRequest patch_req;
647	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatchResult patch_res(patch_req);
648
649			{
650			// Case 1 - Face-Face contact
651			std::shared_ptr<std::vector<Vec3s>> pts1(new std::vector<Vec3s>({
652			Vec3s(-1, 0, 0),
653			Vec3s(0, 0, 0),
654			Vec3s(0, 1, 0),
655			Vec3s(-1, -1, -1),
656	7/14 ✓ 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. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken.	2	}));
657			std::shared_ptr<std::vector<Triangle>> tris1(
658			new std::vector<Triangle>({Triangle(0, 1, 2), Triangle(0, 2, 3),
659	7/14 ✓ 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. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken.	2	Triangle(0, 3, 1), Triangle(2, 1, 3)}));
660	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	4	Convex<Triangle> tetra1(pts1, 4, tris1, 4);
661
662			std::shared_ptr<std::vector<Vec3s>> pts2(new std::vector<Vec3s>({
663		✗	Vec3s(0, 0.5, 0),
664		✗	Vec3s(0, 1.5, 0),
665		✗	Vec3s(1, 0.5, 0),
666			Vec3s(1, 1, 1),
667	7/14 ✓ 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. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken.	2	}));
668			std::shared_ptr<std::vector<Triangle>> tris2(
669			new std::vector<Triangle>({Triangle(0, 1, 2), Triangle(0, 2, 3),
670	7/14 ✓ 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. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken.	2	Triangle(0, 3, 1), Triangle(2, 1, 3)}));
671	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	4	Convex<Triangle> tetra2(pts2, 4, tris2, 4);
672
673	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	col_res.clear();
674	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::collide(&tetra1, tf1, &tetra2, tf2, col_req, col_res);
675	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(col_res.isCollision());
676	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	patch_res.clear();
677	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::computeContactPatch(&tetra1, tf1, &tetra2, tf2, col_res, patch_req,
678			patch_res);
679	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(patch_res.numContactPatches() == 1);
680
681	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	if (patch_res.numContactPatches() > 0) {
682	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Contact &contact = col_res.getContact(0);
683		2	const Scalar tol = Scalar(1e-6);
684
685	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatch expected(expected_size);
686			// GJK/EPA can return any normal which is in the dual cone
687			// of the cone {(-1, 0, 0)}.
688		2	expected.tf.rotation() =
689	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	constructOrthonormalBasisFromVector(contact.normal);
690	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	expected.tf.translation() = contact.pos;
691		2	expected.penetration_depth = contact.penetration_depth;
692	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	expected.addPoint(expected_cp1);
693	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	expected.addPoint(expected_cp2);
694
695	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const ContactPatch &contact_patch = patch_res.getContactPatch(0);
696	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(expected.isSame(contact_patch, tol));
697		2	}
698		2	}
699
700			{
701			// Case 2 - Face-Segment contact
702			std::shared_ptr<std::vector<Vec3s>> pts1(new std::vector<Vec3s>({
703		✗	Vec3s(-1, 0, Scalar(-0.2)),
704			Vec3s(0, 0, 0),
705			Vec3s(0, 1, 0),
706			Vec3s(-1, -1, -1),
707	7/14 ✓ 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. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken.	2	}));
708			std::shared_ptr<std::vector<Triangle>> tris1(
709			new std::vector<Triangle>({Triangle(0, 1, 2), Triangle(0, 2, 3),
710	7/14 ✓ 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. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken.	2	Triangle(0, 3, 1), Triangle(2, 1, 3)}));
711	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	4	Convex<Triangle> tetra1(pts1, 4, tris1, 4);
712
713			std::shared_ptr<std::vector<Vec3s>> pts2(new std::vector<Vec3s>({
714		✗	Vec3s(0, 0.5, 0),
715		✗	Vec3s(0, 1.5, 0),
716		✗	Vec3s(1, 0.5, 0),
717			Vec3s(1, 1, 1),
718	7/14 ✓ 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. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken.	2	}));
719			std::shared_ptr<std::vector<Triangle>> tris2(
720			new std::vector<Triangle>({Triangle(0, 1, 2), Triangle(0, 2, 3),
721	7/14 ✓ 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. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken.	2	Triangle(0, 3, 1), Triangle(2, 1, 3)}));
722	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	4	Convex<Triangle> tetra2(pts2, 4, tris2, 4);
723
724	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	col_res.clear();
725	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::collide(&tetra1, tf1, &tetra2, tf2, col_req, col_res);
726	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(col_res.isCollision());
727	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	patch_res.clear();
728	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::computeContactPatch(&tetra1, tf1, &tetra2, tf2, col_res, patch_req,
729			patch_res);
730	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(patch_res.numContactPatches() == 1);
731
732	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	if (patch_res.numContactPatches() > 0) {
733	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Contact &contact = col_res.getContact(0);
734		2	const Scalar tol = Scalar(1e-6);
735
736	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatch expected(expected_size);
737		2	expected.tf.rotation() =
738	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	constructOrthonormalBasisFromVector(contact.normal);
739	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	expected.tf.translation() = contact.pos;
740		2	expected.penetration_depth = contact.penetration_depth;
741	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	expected.addPoint(expected_cp1);
742	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	expected.addPoint(expected_cp2);
743
744	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const ContactPatch &contact_patch = patch_res.getContactPatch(0);
745	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(expected.isSame(contact_patch, tol));
746		2	}
747		2	}
748
749			{
750			// Case 3 - Segment-Segment contact
751			std::shared_ptr<std::vector<Vec3s>> pts1(new std::vector<Vec3s>({
752		✗	Vec3s(-1, 0, Scalar(-0.2)),
753			Vec3s(0, 0, 0),
754			Vec3s(0, 1, 0),
755			Vec3s(-1, -1, -1),
756	7/14 ✓ 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. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken.	2	}));
757			std::shared_ptr<std::vector<Triangle>> tris1(
758			new std::vector<Triangle>({Triangle(0, 1, 2), Triangle(0, 2, 3),
759	7/14 ✓ 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. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken.	2	Triangle(0, 3, 1), Triangle(2, 1, 3)}));
760	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	4	Convex<Triangle> tetra1(pts1, 4, tris1, 4);
761
762			std::shared_ptr<std::vector<Vec3s>> pts2(new std::vector<Vec3s>({
763		✗	Vec3s(0, 0.5, 0),
764		✗	Vec3s(0, 1.5, 0),
765		✗	Vec3s(1, 0.5, 0.5),
766			Vec3s(1, 1, 1),
767	7/14 ✓ 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. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken.	2	}));
768			std::shared_ptr<std::vector<Triangle>> tris2(
769			new std::vector<Triangle>({Triangle(0, 1, 2), Triangle(0, 2, 3),
770	7/14 ✓ 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. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken.	2	Triangle(0, 3, 1), Triangle(2, 1, 3)}));
771	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	4	Convex<Triangle> tetra2(pts2, 4, tris2, 4);
772
773	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	col_res.clear();
774	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::collide(&tetra1, tf1, &tetra2, tf2, col_req, col_res);
775	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(col_res.isCollision());
776	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	patch_res.clear();
777	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::computeContactPatch(&tetra1, tf1, &tetra2, tf2, col_res, patch_req,
778			patch_res);
779	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(patch_res.numContactPatches() == 1);
780
781	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	if (patch_res.numContactPatches() > 0) {
782	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Contact &contact = col_res.getContact(0);
783		2	const Scalar tol = Scalar(1e-6);
784
785	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatch expected(expected_size);
786		2	expected.tf.rotation() =
787	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	constructOrthonormalBasisFromVector(contact.normal);
788	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	expected.tf.translation() = contact.pos;
789		2	expected.penetration_depth = contact.penetration_depth;
790	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	expected.addPoint(expected_cp1);
791	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	expected.addPoint(expected_cp2);
792
793	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const ContactPatch &contact_patch = patch_res.getContactPatch(0);
794	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(expected.isSame(contact_patch, tol));
795		2	}
796		2	}
797		2	}
798
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800			// This case covers the vertex-vertex edge case of contact patches.
801			// Two tetrahedrons make contact on one of their vertex.
802		2	const size_t expected_size = 1;
803	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Vec3s expected_cp(0, 0, 0);
804
805	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Transform3s tf1; // identity
806	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Transform3s tf2; // identity
807
808		2	const size_t num_max_contact = 1;
809			const CollisionRequest col_req(CollisionRequestFlag::CONTACT,
810	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	num_max_contact);
811	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult col_res;
812	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const ContactPatchRequest patch_req;
813	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatchResult patch_res(patch_req);
814
815			{
816			// Case 1 - Face-Face contact
817			std::shared_ptr<std::vector<Vec3s>> pts1(new std::vector<Vec3s>({
818			Vec3s(-1, 0, 0),
819			Vec3s(0, 0, 0),
820			Vec3s(0, 1, 0),
821			Vec3s(-1, -1, -1),
822	7/14 ✓ 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. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken.	2	}));
823			std::shared_ptr<std::vector<Triangle>> tris1(
824			new std::vector<Triangle>({Triangle(0, 1, 2), Triangle(0, 2, 3),
825	7/14 ✓ 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. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken.	2	Triangle(0, 3, 1), Triangle(2, 1, 3)}));
826	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	4	Convex<Triangle> tetra1(pts1, 4, tris1, 4);
827
828			std::shared_ptr<std::vector<Vec3s>> pts2(new std::vector<Vec3s>({
829			Vec3s(1, 0, 0),
830			Vec3s(0, 0, 0),
831			Vec3s(0, -1, 0),
832			Vec3s(1, 1, 1),
833	7/14 ✓ 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. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken.	2	}));
834			std::shared_ptr<std::vector<Triangle>> tris2(
835			new std::vector<Triangle>({Triangle(0, 1, 2), Triangle(0, 2, 3),
836	7/14 ✓ 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. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken.	2	Triangle(0, 3, 1), Triangle(2, 1, 3)}));
837	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	4	Convex<Triangle> tetra2(pts2, 4, tris2, 4);
838
839	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	col_res.clear();
840	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::collide(&tetra1, tf1, &tetra2, tf2, col_req, col_res);
841	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(col_res.isCollision());
842	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	patch_res.clear();
843	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::computeContactPatch(&tetra1, tf1, &tetra2, tf2, col_res, patch_req,
844			patch_res);
845	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(patch_res.numContactPatches() == 1);
846
847	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	if (patch_res.numContactPatches() > 0) {
848	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Contact &contact = col_res.getContact(0);
849		2	const Scalar tol = Scalar(1e-6);
850
851	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatch expected(expected_size);
852		2	expected.tf.rotation() =
853	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	constructOrthonormalBasisFromVector(contact.normal);
854	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	expected.tf.translation() = contact.pos;
855		2	expected.penetration_depth = contact.penetration_depth;
856	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	expected.addPoint(expected_cp);
857
858	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const ContactPatch &contact_patch = patch_res.getContactPatch(0);
859	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(expected.isSame(contact_patch, tol));
860		2	}
861		2	}
862
863			{
864			// Case 2 - Segment-Face contact
865			std::shared_ptr<std::vector<Vec3s>> pts1(new std::vector<Vec3s>({
866		✗	Vec3s(-1, 0, -0.5),
867			Vec3s(0, 0, 0),
868			Vec3s(0, 1, 0),
869			Vec3s(-1, -1, -1),
870	7/14 ✓ 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. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken.	2	}));
871			std::shared_ptr<std::vector<Triangle>> tris1(
872			new std::vector<Triangle>({Triangle(0, 1, 2), Triangle(0, 2, 3),
873	7/14 ✓ 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. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken.	2	Triangle(0, 3, 1), Triangle(2, 1, 3)}));
874	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	4	Convex<Triangle> tetra1(pts1, 4, tris1, 4);
875
876			std::shared_ptr<std::vector<Vec3s>> pts2(new std::vector<Vec3s>({
877			Vec3s(1, 0, 0),
878			Vec3s(0, 0, 0),
879			Vec3s(0, -1, 0),
880			Vec3s(1, 1, 1),
881	7/14 ✓ 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. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken.	2	}));
882			std::shared_ptr<std::vector<Triangle>> tris2(
883			new std::vector<Triangle>({Triangle(0, 1, 2), Triangle(0, 2, 3),
884	7/14 ✓ 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. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken.	2	Triangle(0, 3, 1), Triangle(2, 1, 3)}));
885	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	4	Convex<Triangle> tetra2(pts2, 4, tris2, 4);
886
887	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	col_res.clear();
888	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::collide(&tetra1, tf1, &tetra2, tf2, col_req, col_res);
889	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(col_res.isCollision());
890	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	patch_res.clear();
891	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::computeContactPatch(&tetra1, tf1, &tetra2, tf2, col_res, patch_req,
892			patch_res);
893	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(patch_res.numContactPatches() == 1);
894
895	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	if (patch_res.numContactPatches() > 0) {
896	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Contact &contact = col_res.getContact(0);
897		2	const Scalar tol = Scalar(1e-6);
898
899	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatch expected(expected_size);
900		2	expected.tf.rotation() =
901	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	constructOrthonormalBasisFromVector(contact.normal);
902	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	expected.tf.translation() = contact.pos;
903		2	expected.penetration_depth = contact.penetration_depth;
904	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	expected.addPoint(expected_cp);
905
906	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const ContactPatch &contact_patch = patch_res.getContactPatch(0);
907	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(expected.isSame(contact_patch, tol));
908		2	}
909		2	}
910
911			{
912			// Case 2 - Segment-Segment contact
913			std::shared_ptr<std::vector<Vec3s>> pts1(new std::vector<Vec3s>({
914		✗	Vec3s(-1, 0, Scalar(-0.2)),
915			Vec3s(0, 0, 0),
916			Vec3s(0, 1, 0),
917			Vec3s(-1, -1, -1),
918	7/14 ✓ 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. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken.	2	}));
919			std::shared_ptr<std::vector<Triangle>> tris1(
920			new std::vector<Triangle>({Triangle(0, 1, 2), Triangle(0, 2, 3),
921	7/14 ✓ 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. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken.	2	Triangle(0, 3, 1), Triangle(2, 1, 3)}));
922	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	4	Convex<Triangle> tetra1(pts1, 4, tris1, 4);
923
924			std::shared_ptr<std::vector<Vec3s>> pts2(new std::vector<Vec3s>({
925			Vec3s(1, 0, 0),
926			Vec3s(0, 0, 0),
927		✗	Vec3s(0, -1, 0.5),
928			Vec3s(1, 1, 1),
929	7/14 ✓ 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. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken.	2	}));
930			std::shared_ptr<std::vector<Triangle>> tris2(
931			new std::vector<Triangle>({Triangle(0, 1, 2), Triangle(0, 2, 3),
932	7/14 ✓ 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. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken.	2	Triangle(0, 3, 1), Triangle(2, 1, 3)}));
933	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	4	Convex<Triangle> tetra2(pts2, 4, tris2, 4);
934
935	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	col_res.clear();
936	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::collide(&tetra1, tf1, &tetra2, tf2, col_req, col_res);
937	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(col_res.isCollision());
938	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	patch_res.clear();
939	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::computeContactPatch(&tetra1, tf1, &tetra2, tf2, col_res, patch_req,
940			patch_res);
941	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(patch_res.numContactPatches() == 1);
942
943	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	if (patch_res.numContactPatches() > 0) {
944	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Contact &contact = col_res.getContact(0);
945		2	const Scalar tol = Scalar(1e-6);
946
947	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatch expected(expected_size);
948		2	expected.tf.rotation() =
949	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	constructOrthonormalBasisFromVector(contact.normal);
950	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	expected.tf.translation() = contact.pos;
951		2	expected.penetration_depth = contact.penetration_depth;
952	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	expected.addPoint(expected_cp);
953
954	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const ContactPatch &contact_patch = patch_res.getContactPatch(0);
955	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(expected.isSame(contact_patch, tol));
956		2	}
957		2	}
958		2	}
959
960	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(edge_case_segment_face) {
961			// This case covers the segment-face edge case of contact patches.
962			// Two tetrahedrons make contact on one of their segment/face respectively.
963		2	const size_t expected_size = 2;
964	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Vec3s expected_cp1(0, 0, 0);
965	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Vec3s expected_cp2(-0.5, 0.5, 0);
966
967	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Transform3s tf1; // identity
968	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Transform3s tf2; // identity
969
970		2	const size_t num_max_contact = 1;
971			const CollisionRequest col_req(CollisionRequestFlag::CONTACT,
972	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	num_max_contact);
973	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult col_res;
974	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const ContactPatchRequest patch_req;
975	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatchResult patch_res(patch_req);
976
977			{
978			std::shared_ptr<std::vector<Vec3s>> pts1(new std::vector<Vec3s>({
979			Vec3s(-1, 0, -0),
980			Vec3s(0, 0, 0),
981			Vec3s(0, 1, 0),
982			Vec3s(-1, -1, -1),
983	7/14 ✓ 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. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken.	2	}));
984			std::shared_ptr<std::vector<Triangle>> tris1(
985			new std::vector<Triangle>({Triangle(0, 1, 2), Triangle(0, 2, 3),
986	7/14 ✓ 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. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken.	2	Triangle(0, 3, 1), Triangle(2, 1, 3)}));
987	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	4	Convex<Triangle> tetra1(pts1, 4, tris1, 4);
988
989			std::shared_ptr<std::vector<Vec3s>> pts2(new std::vector<Vec3s>({
990		✗	Vec3s(-0.5, 0.5, 0),
991		✗	Vec3s(0.5, -0.5, 0),
992		✗	Vec3s(1, 0.5, 0.5),
993			Vec3s(1, 1, 1),
994	7/14 ✓ 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. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken.	2	}));
995			std::shared_ptr<std::vector<Triangle>> tris2(
996			new std::vector<Triangle>({Triangle(0, 1, 2), Triangle(0, 2, 3),
997	7/14 ✓ 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. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken.	2	Triangle(0, 3, 1), Triangle(2, 1, 3)}));
998	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	4	Convex<Triangle> tetra2(pts2, 4, tris2, 4);
999
1000	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	col_res.clear();
1001	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::collide(&tetra1, tf1, &tetra2, tf2, col_req, col_res);
1002	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(col_res.isCollision());
1003	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	patch_res.clear();
1004	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::computeContactPatch(&tetra1, tf1, &tetra2, tf2, col_res, patch_req,
1005			patch_res);
1006	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(patch_res.numContactPatches() == 1);
1007
1008	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	if (patch_res.numContactPatches() > 0) {
1009	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Contact &contact = col_res.getContact(0);
1010		2	const Scalar tol = Scalar(1e-6);
1011
1012	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatch expected(expected_size);
1013		2	expected.tf.rotation() =
1014	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	constructOrthonormalBasisFromVector(contact.normal);
1015	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	expected.tf.translation() = contact.pos;
1016		2	expected.penetration_depth = contact.penetration_depth;
1017	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	expected.addPoint(expected_cp1);
1018	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	expected.addPoint(expected_cp2);
1019
1020	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const ContactPatch &contact_patch = patch_res.getContactPatch(0);
1021	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(expected.isSame(contact_patch, tol));
1022		2	}
1023		2	}
1024		2	}
1025