GCC Code Coverage Report


Directory: ./
File: src/distance/ellipsoid_halfspace.cpp
Date: 2025-04-01 09:23:31
Exec Total Coverage
Lines: 10 10 100.0%
Branches: 1 2 50.0%

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1 /*
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2021-2022, INRIA
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of Open Source Robotics Foundation nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 */
34
35 /** \author Louis Montaut */
36
37 #include "coal/math/transform.h"
38 #include "coal/shape/geometric_shapes.h"
39
40 #include "coal/internal/shape_shape_func.h"
41 #include "../narrowphase/details.h"
42
43 #include "coal/tracy.hh"
44
45 namespace coal {
46 struct GJKSolver;
47
48 namespace internal {
49 template <>
50 432 Scalar ShapeShapeDistance<Ellipsoid, Halfspace>(
51 const CollisionGeometry* o1, const Transform3s& tf1,
52 const CollisionGeometry* o2, const Transform3s& tf2, const GJKSolver*,
53 const bool, Vec3s& p1, Vec3s& p2, Vec3s& normal) {
54 COAL_TRACY_ZONE_SCOPED_N(
55 "coal::internal::ShapeShapeDistance<Ellipsoid, Halfspace>");
56 432 const Ellipsoid& s1 = static_cast<const Ellipsoid&>(*o1);
57 432 const Halfspace& s2 = static_cast<const Halfspace&>(*o2);
58 const Scalar distance =
59 432 details::halfspaceDistance(s2, tf2, s1, tf1, p2, p1, normal);
60
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432 normal = -normal;
61 432 return distance;
62 }
63
64 template <>
65 432 Scalar ShapeShapeDistance<Halfspace, Ellipsoid>(
66 const CollisionGeometry* o1, const Transform3s& tf1,
67 const CollisionGeometry* o2, const Transform3s& tf2, const GJKSolver*,
68 const bool, Vec3s& p1, Vec3s& p2, Vec3s& normal) {
69 COAL_TRACY_ZONE_SCOPED_N(
70 "coal::internal::ShapeShapeDistance<Halfspace, Ellipsoid>");
71 432 const Halfspace& s1 = static_cast<const Halfspace&>(*o1);
72 432 const Ellipsoid& s2 = static_cast<const Ellipsoid&>(*o2);
73 432 return details::halfspaceDistance(s1, tf1, s2, tf2, p1, p2, normal);
74 }
75 } // namespace internal
76
77 } // namespace coal
78