GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	237	257	92.2%
Branches:	720	1962	36.7%

Line	Branch	Exec	Source
1			/*
2			* Software License Agreement (BSD License)
3			*
4			* Copyright (c) 2011-2014, Willow Garage, Inc.
5			* Copyright (c) 2014-2015, Open Source Robotics Foundation
6			* All rights reserved.
7			*
8			* Redistribution and use in source and binary forms, with or without
9			* modification, are permitted provided that the following conditions
10			* are met:
11			*
12			* * Redistributions of source code must retain the above copyright
13			* notice, this list of conditions and the following disclaimer.
14			* * Redistributions in binary form must reproduce the above
15			* copyright notice, this list of conditions and the following
16			* disclaimer in the documentation and/or other materials provided
17			* with the distribution.
18			* * Neither the name of Open Source Robotics Foundation nor the names of its
19			* contributors may be used to endorse or promote products derived
20			* from this software without specific prior written permission.
21			*
22			* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23			* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24			* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25			* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26			* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27			* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28			* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29			* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30			* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31			* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32			* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33			* POSSIBILITY OF SUCH DAMAGE.
34			*/
35
36			/** \author Jia Pan */
37
38			#define BOOST_TEST_MODULE COAL_DISTANCE
39			#include <chrono>
40
41			#include <boost/test/included/unit_test.hpp>
42			#include <boost/filesystem.hpp>
43
44			#include "coal/internal/traversal_node_bvhs.h"
45			#include "coal/internal/traversal_node_setup.h"
46			#include "../src/collision_node.h"
47			#include "coal/internal/BV_splitter.h"
48
49			#include "utility.h"
50			#include "fcl_resources/config.h"
51
52			using namespace coal;
53			namespace utf = boost::unit_test::framework;
54
55			bool verbose = false;
56			Scalar DELTA = Scalar(0.001);
57
58			template <typename BV>
59			void distance_Test(const Transform3s& tf, const std::vector<Vec3s>& vertices1,
60			const std::vector<Triangle>& triangles1,
61			const std::vector<Vec3s>& vertices2,
62			const std::vector<Triangle>& triangles2,
63			SplitMethodType split_method, unsigned int qsize,
64			DistanceRes& distance_result, bool verbose = true);
65
66			bool collide_Test_OBB(const Transform3s& tf,
67			const std::vector<Vec3s>& vertices1,
68			const std::vector<Triangle>& triangles1,
69			const std::vector<Vec3s>& vertices2,
70			const std::vector<Triangle>& triangles2,
71			SplitMethodType split_method, bool verbose);
72
73			template <typename BV, typename TraversalNode>
74			void distance_Test_Oriented(const Transform3s& tf,
75			const std::vector<Vec3s>& vertices1,
76			const std::vector<Triangle>& triangles1,
77			const std::vector<Vec3s>& vertices2,
78			const std::vector<Triangle>& triangles2,
79			SplitMethodType split_method, unsigned int qsize,
80			DistanceRes& distance_result, bool verbose = true);
81
82		✗	inline bool nearlyEqual(const Vec3s& a, const Vec3s& b) {
83		✗	if (fabs(a[0] - b[0]) > DELTA) return false;
84		✗	if (fabs(a[1] - b[1]) > DELTA) return false;
85		✗	if (fabs(a[2] - b[2]) > DELTA) return false;
86		✗	return true;
87			}
88
89	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(mesh_distance) {
90		2	std::vector<Vec3s> p1, p2;
91		2	std::vector<Triangle> t1, t2;
92	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	boost::filesystem::path path(TEST_RESOURCES_DIR);
93	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	loadOBJFile((path / "env.obj").string().c_str(), p1, t1);
94	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	loadOBJFile((path / "rob.obj").string().c_str(), p2, t2);
95
96		2	std::vector<Transform3s> transforms; // t0
97		2	Scalar extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
98			#ifndef NDEBUG // if debug mode
99		2	std::size_t n = 1;
100			#else
101			std::size_t n = 10;
102			#endif
103	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	n = getNbRun(utf::master_test_suite().argc, utf::master_test_suite().argv, n);
104
105	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	generateRandomTransforms(extents, transforms, n);
106
107		2	double dis_time = 0;
108		2	double col_time = 0;
109
110	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	DistanceRes res, res_now;
111	2/2 ✓ Branch 1 taken 1 times. ✓ Branch 2 taken 1 times.	4	for (std::size_t i = 0; i < transforms.size(); ++i) {
112		2	auto timer_col = std::chrono::high_resolution_clock::now();
113	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	collide_Test_OBB(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
114	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	col_time += std::chrono::duration_cast<std::chrono::duration<double>>(
115	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::chrono::high_resolution_clock::now() - timer_col)
116		2	.count();
117
118		2	auto timer_dist = std::chrono::high_resolution_clock::now();
119	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	distance_Test_Oriented<RSS, MeshDistanceTraversalNodeRSS>(
120		2	transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 2, res, verbose);
121	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dis_time += std::chrono::duration_cast<std::chrono::duration<double>>(
122	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::chrono::high_resolution_clock::now() - timer_dist)
123		2	.count();
124
125	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	distance_Test_Oriented<RSS, MeshDistanceTraversalNodeRSS>(
126		2	transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 2, res_now,
127			verbose);
128
129	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
130	7/24 ✓ 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 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(fabs(res.distance) < DELTA \|\|
131			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
132			nearlyEqual(res.p2, res_now.p2)));
133
134	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	distance_Test_Oriented<RSS, MeshDistanceTraversalNodeRSS>(
135		2	transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 2, res_now,
136			verbose);
137
138	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
139	7/24 ✓ 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 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(fabs(res.distance) < DELTA \|\|
140			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
141			nearlyEqual(res.p2, res_now.p2)));
142
143	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	distance_Test_Oriented<RSS, MeshDistanceTraversalNodeRSS>(
144		2	transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 20, res_now, verbose);
145
146	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
147	7/24 ✓ 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 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(fabs(res.distance) < DELTA \|\|
148			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
149			nearlyEqual(res.p2, res_now.p2)));
150
151	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	distance_Test_Oriented<RSS, MeshDistanceTraversalNodeRSS>(
152		2	transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 20, res_now,
153			verbose);
154
155	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
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157			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
158			nearlyEqual(res.p2, res_now.p2)));
159
160	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	distance_Test_Oriented<RSS, MeshDistanceTraversalNodeRSS>(
161		2	transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 20, res_now,
162			verbose);
163
164	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
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166			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
167			nearlyEqual(res.p2, res_now.p2)));
168
169	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	distance_Test_Oriented<kIOS, MeshDistanceTraversalNodekIOS>(
170		2	transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 2, res_now, verbose);
171
172	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
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174			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
175			nearlyEqual(res.p2, res_now.p2)));
176
177	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	distance_Test_Oriented<kIOS, MeshDistanceTraversalNodekIOS>(
178		2	transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 2, res_now,
179			verbose);
180
181	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
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183			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
184			nearlyEqual(res.p2, res_now.p2)));
185
186	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	distance_Test_Oriented<kIOS, MeshDistanceTraversalNodekIOS>(
187		2	transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 2, res_now,
188			verbose);
189
190	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
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192			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
193			nearlyEqual(res.p2, res_now.p2)));
194
195	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	distance_Test_Oriented<kIOS, MeshDistanceTraversalNodekIOS>(
196		2	transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 20, res_now, verbose);
197
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200			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
201			nearlyEqual(res.p2, res_now.p2)));
202
203	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	distance_Test_Oriented<kIOS, MeshDistanceTraversalNodekIOS>(
204		2	transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 20, res_now,
205			verbose);
206
207	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
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209			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
210			nearlyEqual(res.p2, res_now.p2)));
211
212	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	distance_Test_Oriented<kIOS, MeshDistanceTraversalNodekIOS>(
213		2	transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 20, res_now,
214			verbose);
215
216	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
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218			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
219			nearlyEqual(res.p2, res_now.p2)));
220
221	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	distance_Test_Oriented<OBBRSS, MeshDistanceTraversalNodeOBBRSS>(
222		2	transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 2, res_now, verbose);
223
224	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
225	7/24 ✓ 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 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(fabs(res.distance) < DELTA \|\|
226			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
227			nearlyEqual(res.p2, res_now.p2)));
228
229	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	distance_Test_Oriented<OBBRSS, MeshDistanceTraversalNodeOBBRSS>(
230		2	transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 2, res_now,
231			verbose);
232
233	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
234	7/24 ✓ 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 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(fabs(res.distance) < DELTA \|\|
235			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
236			nearlyEqual(res.p2, res_now.p2)));
237
238	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	distance_Test_Oriented<OBBRSS, MeshDistanceTraversalNodeOBBRSS>(
239		2	transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 2, res_now,
240			verbose);
241
242	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
243	7/24 ✓ 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 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(fabs(res.distance) < DELTA \|\|
244			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
245			nearlyEqual(res.p2, res_now.p2)));
246
247	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	distance_Test_Oriented<OBBRSS, MeshDistanceTraversalNodeOBBRSS>(
248		2	transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 20, res_now, verbose);
249
250	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
251	7/24 ✓ 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 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(fabs(res.distance) < DELTA \|\|
252			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
253			nearlyEqual(res.p2, res_now.p2)));
254
255	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	distance_Test_Oriented<OBBRSS, MeshDistanceTraversalNodeOBBRSS>(
256		2	transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 20, res_now,
257			verbose);
258
259	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
260	7/24 ✓ 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 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(fabs(res.distance) < DELTA \|\|
261			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
262			nearlyEqual(res.p2, res_now.p2)));
263
264	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	distance_Test_Oriented<OBBRSS, MeshDistanceTraversalNodeOBBRSS>(
265		2	transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 20, res_now,
266			verbose);
267
268	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
269	7/24 ✓ 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 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(fabs(res.distance) < DELTA \|\|
270			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
271			nearlyEqual(res.p2, res_now.p2)));
272
273	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	distance_Test<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 2,
274			res_now, verbose);
275
276	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
277	7/24 ✓ 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 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(fabs(res.distance) < DELTA \|\|
278			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
279			nearlyEqual(res.p2, res_now.p2)));
280
281	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	distance_Test<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 2,
282			res_now, verbose);
283
284	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
285	7/24 ✓ 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 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(fabs(res.distance) < DELTA \|\|
286			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
287			nearlyEqual(res.p2, res_now.p2)));
288
289	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	distance_Test<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 2,
290			res_now, verbose);
291
292	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
293	7/24 ✓ 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 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(fabs(res.distance) < DELTA \|\|
294			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
295			nearlyEqual(res.p2, res_now.p2)));
296
297	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	distance_Test<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 20,
298			res_now, verbose);
299
300	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
301	7/24 ✓ 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 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(fabs(res.distance) < DELTA \|\|
302			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
303			nearlyEqual(res.p2, res_now.p2)));
304
305	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	distance_Test<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER,
306			20, res_now, verbose);
307
308	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
309	7/24 ✓ 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 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(fabs(res.distance) < DELTA \|\|
310			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
311			nearlyEqual(res.p2, res_now.p2)));
312
313	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	distance_Test<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 20,
314			res_now, verbose);
315
316	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
317	7/24 ✓ 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 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(fabs(res.distance) < DELTA \|\|
318			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
319			nearlyEqual(res.p2, res_now.p2)));
320
321	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	distance_Test<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 2,
322			res_now, verbose);
323
324	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
325	7/24 ✓ 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 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(fabs(res.distance) < DELTA \|\|
326			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
327			nearlyEqual(res.p2, res_now.p2)));
328
329	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	distance_Test<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 2,
330			res_now, verbose);
331
332	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
333	7/24 ✓ 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 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(fabs(res.distance) < DELTA \|\|
334			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
335			nearlyEqual(res.p2, res_now.p2)));
336
337	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	distance_Test<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 2,
338			res_now, verbose);
339
340	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
341	7/24 ✓ 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 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(fabs(res.distance) < DELTA \|\|
342			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
343			nearlyEqual(res.p2, res_now.p2)));
344
345	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	distance_Test<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 20,
346			res_now, verbose);
347
348	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
349	7/24 ✓ 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 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(fabs(res.distance) < DELTA \|\|
350			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
351			nearlyEqual(res.p2, res_now.p2)));
352
353	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	distance_Test<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER,
354			20, res_now, verbose);
355
356	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
357	7/24 ✓ 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 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(fabs(res.distance) < DELTA \|\|
358			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
359			nearlyEqual(res.p2, res_now.p2)));
360
361	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	distance_Test<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 20,
362			res_now, verbose);
363
364	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
365	7/24 ✓ 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 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(fabs(res.distance) < DELTA \|\|
366			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
367			nearlyEqual(res.p2, res_now.p2)));
368
369	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	distance_Test<kIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 2,
370			res_now, verbose);
371
372	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
373	7/24 ✓ 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 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(fabs(res.distance) < DELTA \|\|
374			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
375			nearlyEqual(res.p2, res_now.p2)));
376
377	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	distance_Test<kIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 2,
378			res_now, verbose);
379
380	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
381	7/24 ✓ 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 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(fabs(res.distance) < DELTA \|\|
382			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
383			nearlyEqual(res.p2, res_now.p2)));
384
385	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	distance_Test<kIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER,
386			2, res_now, verbose);
387
388	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
389	7/24 ✓ 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 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(fabs(res.distance) < DELTA \|\|
390			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
391			nearlyEqual(res.p2, res_now.p2)));
392
393	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	distance_Test<kIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 20,
394			res_now, verbose);
395
396	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
397	7/24 ✓ 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 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(fabs(res.distance) < DELTA \|\|
398			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
399			nearlyEqual(res.p2, res_now.p2)));
400
401	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	distance_Test<kIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 20,
402			res_now, verbose);
403
404	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
405	7/24 ✓ 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 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(fabs(res.distance) < DELTA \|\|
406			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
407			nearlyEqual(res.p2, res_now.p2)));
408
409	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	distance_Test<kIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER,
410			20, res_now, verbose);
411
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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
413	7/24 ✓ 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 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(fabs(res.distance) < DELTA \|\|
414			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
415			nearlyEqual(res.p2, res_now.p2)));
416
417	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	distance_Test<OBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 2,
418			res_now, verbose);
419
420	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
421	7/24 ✓ 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 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(fabs(res.distance) < DELTA \|\|
422			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
423			nearlyEqual(res.p2, res_now.p2)));
424
425	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	distance_Test<OBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 2,
426			res_now, verbose);
427
428	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
429	7/24 ✓ 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 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(fabs(res.distance) < DELTA \|\|
430			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
431			nearlyEqual(res.p2, res_now.p2)));
432
433	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	distance_Test<OBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER,
434			2, res_now, verbose);
435
436	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
437	7/24 ✓ 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 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(fabs(res.distance) < DELTA \|\|
438			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
439			nearlyEqual(res.p2, res_now.p2)));
440
441	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	distance_Test<OBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 20,
442			res_now, verbose);
443
444	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
445	7/24 ✓ 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 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(fabs(res.distance) < DELTA \|\|
446			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
447			nearlyEqual(res.p2, res_now.p2)));
448
449	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	distance_Test<OBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN,
450			20, res_now, verbose);
451
452	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
453	7/24 ✓ 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 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(fabs(res.distance) < DELTA \|\|
454			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
455			nearlyEqual(res.p2, res_now.p2)));
456
457	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	distance_Test<OBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER,
458			20, res_now, verbose);
459
460	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
461	7/24 ✓ 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 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(fabs(res.distance) < DELTA \|\|
462			(res.distance > 0 && nearlyEqual(res.p1, res_now.p1) &&
463			nearlyEqual(res.p2, res_now.p2)));
464			}
465
466	7/14 ✓ 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 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken.	2	BOOST_TEST_MESSAGE("distance timing: " << dis_time << " sec");
467	7/14 ✓ 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 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken.	2	BOOST_TEST_MESSAGE("collision timing: " << col_time << " sec");
468		2	}
469
470			template <typename BV, typename TraversalNode>
471		36	void distance_Test_Oriented(const Transform3s& tf,
472			const std::vector<Vec3s>& vertices1,
473			const std::vector<Triangle>& triangles1,
474			const std::vector<Vec3s>& vertices2,
475			const std::vector<Triangle>& triangles2,
476			SplitMethodType split_method, unsigned int qsize,
477			DistanceRes& distance_result, bool verbose) {
478	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	BVHModel<BV> m1;
479	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	BVHModel<BV> m2;
480	3/6 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 18 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 18 times. ✗ Branch 8 not taken.	36	m1.bv_splitter.reset(new BVSplitter<BV>(split_method));
481	3/6 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 18 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 18 times. ✗ Branch 8 not taken.	36	m2.bv_splitter.reset(new BVSplitter<BV>(split_method));
482
483	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	m1.beginModel();
484	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	m1.addSubModel(vertices1, triangles1);
485	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	m1.endModel();
486
487	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	m2.beginModel();
488	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	m2.addSubModel(vertices2, triangles2);
489	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	m2.endModel();
490
491	1/2 ✓ Branch 2 taken 18 times. ✗ Branch 3 not taken.	36	DistanceResult local_result;
492	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	TraversalNode node;
493	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	if (!initialize(node, (const BVHModel<BV>&)m1, tf, (const BVHModel<BV>&)m2,
494	3/6 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 18 times. ✗ Branch 5 not taken. ✗ Branch 6 not taken. ✓ Branch 7 taken 18 times.	72	Transform3s(), DistanceRequest(true), local_result))
495		✗	std::cout << "initialize error" << std::endl;
496
497		36	node.enable_statistics = verbose;
498
499	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	distance(&node, NULL, qsize);
500
501			// points are in local coordinate, to global coordinate
502	1/2 ✓ Branch 2 taken 18 times. ✗ Branch 3 not taken.	36	Vec3s p1 = local_result.nearest_points[0];
503	1/2 ✓ Branch 2 taken 18 times. ✗ Branch 3 not taken.	36	Vec3s p2 = local_result.nearest_points[1];
504
505		36	distance_result.distance = local_result.min_distance;
506	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	distance_result.p1 = p1;
507	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	distance_result.p2 = p2;
508
509	1/2 ✗ Branch 0 not taken. ✓ Branch 1 taken 18 times.	36	if (verbose) {
510		✗	std::cout << "distance " << local_result.min_distance << std::endl;
511
512		✗	std::cout << p1[0] << " " << p1[1] << " " << p1[2] << std::endl;
513		✗	std::cout << p2[0] << " " << p2[1] << " " << p2[2] << std::endl;
514		✗	std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
515			}
516		36	}
517
518			template <typename BV>
519		48	void distance_Test(const Transform3s& tf, const std::vector<Vec3s>& vertices1,
520			const std::vector<Triangle>& triangles1,
521			const std::vector<Vec3s>& vertices2,
522			const std::vector<Triangle>& triangles2,
523			SplitMethodType split_method, unsigned int qsize,
524			DistanceRes& distance_result, bool verbose) {
525	1/2 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken.	48	BVHModel<BV> m1;
526	1/2 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken.	48	BVHModel<BV> m2;
527	3/6 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 24 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 24 times. ✗ Branch 8 not taken.	48	m1.bv_splitter.reset(new BVSplitter<BV>(split_method));
528	3/6 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 24 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 24 times. ✗ Branch 8 not taken.	48	m2.bv_splitter.reset(new BVSplitter<BV>(split_method));
529
530	1/2 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken.	48	m1.beginModel();
531	1/2 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken.	48	m1.addSubModel(vertices1, triangles1);
532	1/2 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken.	48	m1.endModel();
533
534	1/2 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken.	48	m2.beginModel();
535	1/2 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken.	48	m2.addSubModel(vertices2, triangles2);
536	1/2 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken.	48	m2.endModel();
537
538	2/4 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 24 times. ✗ Branch 5 not taken.	48	Transform3s pose1(tf), pose2;
539
540	1/2 ✓ Branch 2 taken 24 times. ✗ Branch 3 not taken.	48	DistanceResult local_result;
541	1/2 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken.	48	MeshDistanceTraversalNode<BV> node;
542
543	3/6 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 24 times. ✗ Branch 5 not taken. ✗ Branch 6 not taken. ✓ Branch 7 taken 24 times.	48	if (!initialize<BV>(node, m1, pose1, m2, pose2, DistanceRequest(true),
544			local_result))
545		✗	std::cout << "initialize error" << std::endl;
546
547		48	node.enable_statistics = verbose;
548
549	1/2 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken.	48	distance(&node, NULL, qsize);
550
551		48	distance_result.distance = local_result.min_distance;
552	1/2 ✓ Branch 2 taken 24 times. ✗ Branch 3 not taken.	48	distance_result.p1 = local_result.nearest_points[0];
553	1/2 ✓ Branch 2 taken 24 times. ✗ Branch 3 not taken.	48	distance_result.p2 = local_result.nearest_points[1];
554
555	1/2 ✗ Branch 0 not taken. ✓ Branch 1 taken 24 times.	48	if (verbose) {
556		✗	std::cout << "distance " << local_result.min_distance << std::endl;
557
558		✗	std::cout << local_result.nearest_points[0][0] << " "
559		✗	<< local_result.nearest_points[0][1] << " "
560		✗	<< local_result.nearest_points[0][2] << std::endl;
561		✗	std::cout << local_result.nearest_points[1][0] << " "
562		✗	<< local_result.nearest_points[1][1] << " "
563		✗	<< local_result.nearest_points[1][2] << std::endl;
564		✗	std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
565			}
566		48	}
567
568		1	bool collide_Test_OBB(const Transform3s& tf,
569			const std::vector<Vec3s>& vertices1,
570			const std::vector<Triangle>& triangles1,
571			const std::vector<Vec3s>& vertices2,
572			const std::vector<Triangle>& triangles2,
573			SplitMethodType split_method, bool verbose) {
574	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	BVHModel<OBB> m1;
575	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	BVHModel<OBB> m2;
576	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	1	m1.bv_splitter.reset(new BVSplitter<OBB>(split_method));
577	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	1	m2.bv_splitter.reset(new BVSplitter<OBB>(split_method));
578
579	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	m1.beginModel();
580	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	m1.addSubModel(vertices1, triangles1);
581	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	m1.endModel();
582
583	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	m2.beginModel();
584	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	m2.addSubModel(vertices2, triangles2);
585	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	m2.endModel();
586
587	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	CollisionResult local_result;
588	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	1	CollisionRequest request(CONTACT \| DISTANCE_LOWER_BOUND, 1);
589	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	MeshCollisionTraversalNodeOBB node(request);
590	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	bool success(initialize(node, (const BVHModel<OBB>&)m1, tf,
591	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	(const BVHModel<OBB>&)m2, Transform3s(),
592			local_result));
593	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	1	BOOST_REQUIRE(success);
594
595		1	node.enable_statistics = verbose;
596
597	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	collide(&node, request, local_result);
598
599	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	if (local_result.numContacts() > 0)
600		1	return true;
601			else
602		✗	return false;
603		1	}
604