GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	3047	3094	98.5%
Branches:	6139	12454	49.3%

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			* Copyright (c) 2024, INRIA
7			* All rights reserved.
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15			* * Redistributions in binary form must reproduce the above
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20			* contributors may be used to endorse or promote products derived
21			* from this software without specific prior written permission.
22			*
23			* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24			* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25			* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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31			* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32			* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33			* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34			* POSSIBILITY OF SUCH DAMAGE.
35			*/
36
37			/** \author Jia Pan */
38
39			#define BOOST_TEST_MODULE COAL_GEOMETRIC_SHAPES
40			#include <boost/test/included/unit_test.hpp>
41
42			#include "coal/narrowphase/narrowphase.h"
43			#include "coal/collision.h"
44			#include "coal/distance.h"
45			#include "utility.h"
46			#include <iostream>
47			#include "coal/internal/tools.h"
48			#include "coal/shape/geometric_shape_to_BVH_model.h"
49			#include "coal/internal/shape_shape_func.h"
50
51			using namespace coal;
52
53			Scalar extents[6] = {0, 0, 0, 10, 10, 10};
54
55			Scalar tol_gjk = Scalar(0.01);
56			GJKSolver solver1;
57			GJKSolver solver2;
58
59			int line;
60			#define SET_LINE line = __LINE__
61			#define FCL_CHECK(cond) \
62			BOOST_CHECK_MESSAGE(cond, "from line " << line << ": " #cond)
63			#define FCL_CHECK_EQUAL(a, b) \
64			BOOST_CHECK_MESSAGE((a) == (b), "from line " << line << ": " #a "[" << (a) \
65			<< "] != " #b "[" << (b) \
66			<< "].")
67			#define BOOST_CHECK_FALSE(p) BOOST_CHECK(!(p))
68
69			namespace coal {
70		✗	std::ostream& operator<<(std::ostream& os, const ShapeBase&) {
71		✗	return os << "a_shape";
72			}
73
74		✗	std::ostream& operator<<(std::ostream& os, const Box& b) {
75		✗	return os << "Box(" << 2 * b.halfSide.transpose() << ')';
76			}
77			} // namespace coal
78
79			template <typename S1, typename S2>
80		✗	void printComparisonError(const std::string& comparison_type, const S1& s1,
81			const Transform3s& tf1, const S2& s2,
82			const Transform3s& tf2,
83			const Vec3s& contact_or_normal,
84			const Vec3s& expected_contact_or_normal,
85			bool check_opposite_normal, Scalar tol) {
86			std::cout << "Disagreement between " << comparison_type << " and expected_"
87		✗	<< comparison_type << " for " << getNodeTypeName(s1.getNodeType())
88		✗	<< " and " << getNodeTypeName(s2.getNodeType()) << ".\n"
89		✗	<< "tf1.quaternion: " << tf1.getQuatRotation() << std::endl
90		✗	<< "tf1.translation: " << tf1.getTranslation().transpose()
91		✗	<< std::endl
92		✗	<< "tf2.quaternion: " << tf2.getQuatRotation() << std::endl
93		✗	<< "tf2.translation: " << tf2.getTranslation().transpose()
94		✗	<< std::endl
95		✗	<< comparison_type << ": " << contact_or_normal.transpose()
96		✗	<< std::endl
97		✗	<< "expected_" << comparison_type << ": "
98		✗	<< expected_contact_or_normal.transpose();
99
100		✗	if (check_opposite_normal)
101		✗	std::cout << " or " << -expected_contact_or_normal.transpose();
102
103		✗	std::cout << std::endl
104		✗	<< "difference: "
105		✗	<< (contact_or_normal - expected_contact_or_normal).norm()
106		✗	<< std::endl
107		✗	<< "tolerance: " << tol << std::endl;
108			}
109
110			template <typename S1, typename S2>
111		✗	void printComparisonError(const std::string& comparison_type, const S1& s1,
112			const Transform3s& tf1, const S2& s2,
113			const Transform3s& tf2, Scalar depth,
114			Scalar expected_depth, Scalar tol) {
115			std::cout << "Disagreement between " << comparison_type << " and expected_"
116		✗	<< comparison_type << " for " << getNodeTypeName(s1.getNodeType())
117		✗	<< " and " << getNodeTypeName(s2.getNodeType()) << ".\n"
118		✗	<< "tf1.quaternion: " << tf1.getQuatRotation() << std::endl
119		✗	<< "tf1.translation: " << tf1.getTranslation() << std::endl
120		✗	<< "tf2.quaternion: " << tf2.getQuatRotation() << std::endl
121		✗	<< "tf2.translation: " << tf2.getTranslation() << std::endl
122		✗	<< "depth: " << depth << std::endl
123		✗	<< "expected_depth: " << expected_depth << std::endl
124		✗	<< "difference: " << std::fabs(depth - expected_depth) << std::endl
125		✗	<< "tolerance: " << tol << std::endl;
126			}
127
128			template <typename S1, typename S2>
129		550	void compareContact(const S1& s1, const Transform3s& tf1, const S2& s2,
130			const Transform3s& tf2, const Vec3s& contact,
131			Vec3s* expected_point, Scalar depth, Scalar* expected_depth,
132			const Vec3s& normal, Vec3s* expected_normal,
133			bool check_opposite_normal, Scalar tol) {
134	2/2 ✓ Branch 0 taken 153 times. ✓ Branch 1 taken 122 times.	550	if (expected_point) {
135		306	bool contact_equal = isEqual(contact, *expected_point, tol);
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137	1/2 ✗ Branch 0 not taken. ✓ Branch 1 taken 153 times.	306	if (!contact_equal)
138		✗	printComparisonError("contact", s1, tf1, s2, tf2, contact,
139			*expected_point, false, tol);
140			}
141
142	2/2 ✓ Branch 0 taken 173 times. ✓ Branch 1 taken 102 times.	550	if (expected_depth) {
143		346	bool depth_equal = std::fabs(depth - *expected_depth) < tol;
144	7/14 ✓ Branch 3 taken 173 times. ✗ Branch 4 not taken. ✓ Branch 8 taken 173 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 173 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 173 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 173 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 173 times. ✗ Branch 21 not taken. ✗ Branch 27 not taken. ✓ Branch 28 taken 173 times.	346	FCL_CHECK(depth_equal);
145	1/2 ✗ Branch 0 not taken. ✓ Branch 1 taken 173 times.	346	if (!depth_equal)
146		✗	printComparisonError("depth", s1, tf1, s2, tf2, depth, *expected_depth,
147			tol);
148			}
149
150	2/2 ✓ Branch 0 taken 246 times. ✓ Branch 1 taken 29 times.	550	if (expected_normal) {
151		492	bool normal_equal = isEqual(normal, *expected_normal, tol);
152
153	3/4 ✓ Branch 0 taken 13 times. ✓ Branch 1 taken 233 times. ✓ Branch 2 taken 13 times. ✗ Branch 3 not taken.	492	if (!normal_equal && check_opposite_normal)
154	1/2 ✓ Branch 2 taken 13 times. ✗ Branch 3 not taken.	26	normal_equal = isEqual(normal, -(*expected_normal), tol);
155
156	7/14 ✓ Branch 3 taken 246 times. ✗ Branch 4 not taken. ✓ Branch 8 taken 246 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 246 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 246 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 246 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 246 times. ✗ Branch 21 not taken. ✗ Branch 27 not taken. ✓ Branch 28 taken 246 times.	492	FCL_CHECK(normal_equal);
157	1/2 ✗ Branch 0 not taken. ✓ Branch 1 taken 246 times.	492	if (!normal_equal)
158		✗	printComparisonError("normal", s1, tf1, s2, tf2, normal, *expected_normal,
159			check_opposite_normal, tol);
160			}
161		550	}
162
163			template <typename S1, typename S2>
164		822	void testShapeCollide(const S1& s1, const Transform3s& tf1, const S2& s2,
165			const Transform3s& tf2, bool expect_collision,
166			Vec3s* expected_point = NULL,
167			Scalar* expected_depth = NULL,
168			Vec3s* expected_normal = NULL,
169			bool check_opposite_normal = false,
170			Scalar tol = Scalar(1e-9)) {
171	1/2 ✓ Branch 1 taken 411 times. ✗ Branch 2 not taken.	822	CollisionRequest request;
172	1/2 ✓ Branch 1 taken 411 times. ✗ Branch 2 not taken.	822	CollisionResult result;
173
174	1/2 ✓ Branch 1 taken 411 times. ✗ Branch 2 not taken.	822	Vec3s contact;
175	1/2 ✓ Branch 1 taken 411 times. ✗ Branch 2 not taken.	822	Vec3s normal; // normal direction should be from object 1 to object 2
176			bool collision;
177		822	bool check_failed = false;
178
179		822	request.enable_contact = false;
180	1/2 ✓ Branch 1 taken 411 times. ✗ Branch 2 not taken.	822	result.clear();
181	1/2 ✓ Branch 1 taken 411 times. ✗ Branch 2 not taken.	822	collision = (collide(&s1, tf1, &s2, tf2, request, result) > 0);
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183	2/4 ✓ Branch 0 taken 411 times. ✗ Branch 1 not taken. ✗ Branch 2 not taken. ✓ Branch 3 taken 411 times.	822	check_failed = check_failed \|\| (collision != expect_collision);
184
185		822	request.enable_contact = true;
186	1/2 ✓ Branch 1 taken 411 times. ✗ Branch 2 not taken.	822	result.clear();
187	1/2 ✓ Branch 1 taken 411 times. ✗ Branch 2 not taken.	822	collision = (collide(&s1, tf1, &s2, tf2, request, result) > 0);
188	12/24 ✓ Branch 1 taken 411 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 411 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 411 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 411 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 411 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 411 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 411 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 411 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 411 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 411 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 411 times. ✗ Branch 35 not taken. ✗ Branch 45 not taken. ✓ Branch 46 taken 411 times.	822	FCL_CHECK_EQUAL(collision, expect_collision);
189	2/4 ✓ Branch 0 taken 411 times. ✗ Branch 1 not taken. ✗ Branch 2 not taken. ✓ Branch 3 taken 411 times.	822	check_failed = check_failed \|\| (collision != expect_collision);
190
191	1/2 ✗ Branch 0 not taken. ✓ Branch 1 taken 411 times.	822	if (check_failed) {
192		✗	BOOST_TEST_MESSAGE("Failure occured between " << s1 << " and " << s2
193			<< " at transformations\n"
194			<< tf1 << '\n'
195			<< tf2);
196			}
197
198	2/2 ✓ Branch 0 taken 275 times. ✓ Branch 1 taken 136 times.	822	if (expect_collision) {
199	12/24 ✓ Branch 1 taken 275 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 275 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 275 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 275 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 275 times. ✗ Branch 17 not taken. ✓ Branch 20 taken 275 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 275 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 275 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 275 times. ✗ Branch 30 not taken. ✓ Branch 33 taken 275 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 275 times. ✗ Branch 37 not taken. ✗ Branch 47 not taken. ✓ Branch 48 taken 275 times.	550	FCL_CHECK_EQUAL(result.numContacts(), 1);
200	1/2 ✓ Branch 1 taken 275 times. ✗ Branch 2 not taken.	550	if (result.numContacts() == 1) {
201	2/4 ✓ Branch 1 taken 275 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 275 times. ✗ Branch 5 not taken.	550	Contact contact = result.getContact(0);
202	1/2 ✓ Branch 1 taken 275 times. ✗ Branch 2 not taken.	550	compareContact(s1, tf1, s2, tf2, contact.pos, expected_point,
203			contact.penetration_depth, expected_depth, contact.normal,
204			expected_normal, check_opposite_normal, tol);
205			}
206			}
207		822	}
208
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210	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Box shape(1, 1, 1);
211	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	BVHModel<OBB> bvh;
212	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	generateBVHModel(bvh, shape, Transform3s());
213		2	}
214
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216	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Sphere shape(1);
217	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	BVHModel<OBB> bvh;
218	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	generateBVHModel(bvh, shape, Transform3s(), 10, 10);
219	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	generateBVHModel(bvh, shape, Transform3s(), 50);
220		2	}
221
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223	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Cylinder shape(1, 1);
224	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	BVHModel<OBB> bvh;
225	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	generateBVHModel(bvh, shape, Transform3s(), 10, 10);
226	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	generateBVHModel(bvh, shape, Transform3s(), 50);
227		2	}
228
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230	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Cone shape(1, 1);
231	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	BVHModel<OBB> bvh;
232	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	generateBVHModel(bvh, shape, Transform3s(), 10, 10);
233	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	generateBVHModel(bvh, shape, Transform3s(), 50);
234		2	}
235
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237	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Sphere s1(20);
238	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Sphere s2(10);
239
240	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf1;
241	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2;
242
243	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s transform;
244	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	generateRandomTransform(extents, transform);
245
246			// Vec3s point;
247			// Scalar depth;
248	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s normal;
249
250	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
251	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	tf2 = Transform3s(Vec3s(40, 0, 0));
252		2	SET_LINE;
253	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, false);
254
255	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
256	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	tf2 = transform * Transform3s(Vec3s(40, 0, 0));
257		2	SET_LINE;
258	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, false);
259
260	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
261	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	tf2 = Transform3s(Vec3s(30, 0, 0));
262	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	normal << 1, 0, 0;
263		2	SET_LINE;
264	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, &normal);
265
266	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
267	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	tf2 = Transform3s(Vec3s(Scalar(30.01), 0, 0));
268		2	SET_LINE;
269	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, false);
270
271	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
272	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	tf2 = transform * Transform3s(Vec3s(Scalar(30.01), 0, 0));
273	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(1, 0, 0);
274		2	SET_LINE;
275	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, false);
276
277	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
278	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	tf2 = Transform3s(Vec3s(Scalar(29.9), 0, 0));
279	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	normal << 1, 0, 0;
280		2	SET_LINE;
281	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, &normal);
282
283	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
284	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	tf2 = transform * Transform3s(Vec3s(Scalar(29.9), 0, 0));
285	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(1, 0, 0);
286		2	SET_LINE;
287	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, &normal);
288
289	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
290	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
291	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	normal << 1, 0, 0; // If the centers of two sphere are at the same position,
292			// the normal is (1, 0, 0)
293		2	SET_LINE;
294	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, &normal);
295
296	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
297	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
298	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	normal << 1, 0, 0; // If the centers of two sphere are at the same position,
299			// the normal is (1, 0, 0)
300		2	SET_LINE;
301	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, &normal);
302
303	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
304	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	tf2 = Transform3s(Vec3s(Scalar(-29.9), 0, 0));
305	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	normal << -1, 0, 0;
306		2	SET_LINE;
307	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, &normal);
308
309	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
310	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	tf2 = transform * Transform3s(Vec3s(Scalar(-29.9), 0, 0));
311	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(-1, 0, 0);
312		2	SET_LINE;
313	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, &normal);
314
315	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
316	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	tf2 = Transform3s(Vec3s(-30.0, 0, 0));
317	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	normal << -1, 0, 0;
318		2	SET_LINE;
319	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, &normal);
320
321	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
322	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	tf2 = Transform3s(Vec3s(Scalar(-30.01), 0, 0));
323	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	normal << -1, 0, 0;
324		2	SET_LINE;
325	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, false);
326
327	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
328	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	tf2 = transform * Transform3s(Vec3s(Scalar(-30.01), 0, 0));
329		2	SET_LINE;
330	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, false);
331		2	}
332
333		2075	bool compareContactPoints(const Vec3s& c1, const Vec3s& c2) {
334		2075	return c1[2] < c2[2];
335			} // Ascending order
336
337		100	void testBoxBoxContactPoints(const Matrix3s& R) {
338	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	100	Box s1(100, 100, 100);
339	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	100	Box s2(10, 20, 30);
340
341			// Vertices of s2
342	1/2 ✓ Branch 2 taken 100 times. ✗ Branch 3 not taken.	100	std::vector<Vec3s> vertices(8);
343	3/6 ✓ Branch 2 taken 100 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 100 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 100 times. ✗ Branch 9 not taken.	100	vertices[0] << 1, 1, 1;
344	3/6 ✓ Branch 2 taken 100 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 100 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 100 times. ✗ Branch 9 not taken.	100	vertices[1] << 1, 1, -1;
345	3/6 ✓ Branch 2 taken 100 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 100 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 100 times. ✗ Branch 9 not taken.	100	vertices[2] << 1, -1, 1;
346	3/6 ✓ Branch 2 taken 100 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 100 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 100 times. ✗ Branch 9 not taken.	100	vertices[3] << 1, -1, -1;
347	3/6 ✓ Branch 2 taken 100 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 100 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 100 times. ✗ Branch 9 not taken.	100	vertices[4] << -1, 1, 1;
348	3/6 ✓ Branch 2 taken 100 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 100 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 100 times. ✗ Branch 9 not taken.	100	vertices[5] << -1, 1, -1;
349	3/6 ✓ Branch 2 taken 100 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 100 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 100 times. ✗ Branch 9 not taken.	100	vertices[6] << -1, -1, 1;
350	3/6 ✓ Branch 2 taken 100 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 100 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 100 times. ✗ Branch 9 not taken.	100	vertices[7] << -1, -1, -1;
351
352	2/2 ✓ Branch 0 taken 800 times. ✓ Branch 1 taken 100 times.	900	for (std::size_t i = 0; i < 8; ++i) {
353	3/6 ✓ Branch 1 taken 800 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 800 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 800 times. ✗ Branch 9 not taken.	800	vertices[i].array() *= s2.halfSide.array();
354			}
355
356	2/4 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 100 times. ✗ Branch 5 not taken.	100	Transform3s tf1 = Transform3s(Vec3s(0, 0, -50));
357	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	100	Transform3s tf2 = Transform3s(R);
358
359	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	100	Vec3s normal;
360	2/4 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 100 times. ✗ Branch 5 not taken.	100	Vec3s p1, p2;
361
362			// Make sure the two boxes are colliding
363		100	solver1.gjk_tolerance = Scalar(1e-5);
364		100	solver1.epa_tolerance = Scalar(1e-5);
365		100	const bool compute_penetration = true;
366	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	100	Scalar distance = solver1.shapeDistance(s1, tf1, s2, tf2, compute_penetration,
367			p1, p2, normal);
368	8/16 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 100 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 100 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 100 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 100 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 100 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 100 times. ✗ Branch 23 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 100 times.	100	FCL_CHECK(distance <= 0);
369
370			// Compute global vertices
371	3/4 ✓ Branch 2 taken 800 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 800 times. ✓ Branch 7 taken 100 times.	900	for (std::size_t i = 0; i < 8; ++i) vertices[i] = tf2.transform(vertices[i]);
372
373			// Sort the vertices so that the lowest vertex along z-axis comes first
374	1/2 ✓ Branch 3 taken 100 times. ✗ Branch 4 not taken.	100	std::sort(vertices.begin(), vertices.end(), compareContactPoints);
375
376			// The lowest vertex along z-axis should be the contact point
377	10/20 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 100 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 100 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 100 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 100 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 100 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 100 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 100 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 100 times. ✗ Branch 29 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 100 times.	100	FCL_CHECK(normal.isApprox(Vec3s(0, 0, 1), Scalar(1e-6)));
378	3/6 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 100 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 100 times. ✗ Branch 8 not taken.	100	Vec3s point = Scalar(0.5) * (p1 + p2);
379	11/22 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 100 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 100 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 100 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 100 times. ✗ Branch 17 not taken. ✓ Branch 20 taken 100 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 100 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 100 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 100 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 100 times. ✗ Branch 33 not taken. ✗ Branch 39 not taken. ✓ Branch 40 taken 100 times.	100	FCL_CHECK(vertices[0].head<2>().isApprox(point.head<2>(), Scalar(1e-6)));
380	13/26 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 100 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 100 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 100 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 100 times. ✗ Branch 17 not taken. ✓ Branch 20 taken 100 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 100 times. ✗ Branch 24 not taken. ✓ Branch 25 taken 100 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 100 times. ✗ Branch 29 not taken. ✓ Branch 30 taken 100 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 100 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 100 times. ✗ Branch 37 not taken. ✗ Branch 43 not taken. ✓ Branch 44 taken 100 times.	100	FCL_CHECK(vertices[0][2] <= point[2] && point[2] < 0);
381		100	}
382
383	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(collide_boxbox) {
384	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Box s1(20, 40, 50);
385	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Box s2(10, 10, 10);
386
387	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf1;
388	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2;
389
390	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s transform;
391	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	generateRandomTransform(extents, transform);
392
393			// Vec3s point;
394			// Scalar depth;
395	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s normal;
396
397	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Quats q;
398	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	q = AngleAxis((Scalar)3.140 / 6, UnitZ);
399
400	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
401	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
402			// TODO: Need convention for normal when the centers of two objects are at
403			// same position. The current result is (1, 0, 0).
404	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	normal << 1, 0, 0;
405		2	SET_LINE;
406	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, 0x0);
407
408	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
409	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
410			// TODO: Need convention for normal when the centers of two objects are at
411			// same position. The current result is (1, 0, 0).
412	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(1, 0, 0);
413		2	SET_LINE;
414	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, 0x0);
415
416	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
417	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	tf2 = Transform3s(Vec3s(15, 0, 0));
418	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	normal << 1, 0, 0;
419		2	SET_LINE;
420	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, &normal, false,
421			Scalar(1e-8));
422
423	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
424	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	tf2 = Transform3s(Vec3s(Scalar(15.01), 0, 0));
425		2	SET_LINE;
426	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, false);
427
428	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
429	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	tf2 = transform * Transform3s(Vec3s(Scalar(15.01), 0, 0));
430		2	SET_LINE;
431	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, false);
432
433	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
434	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s(q);
435	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	normal << 1, 0, 0;
436		2	SET_LINE;
437	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, 0x0);
438
439	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
440	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	tf2 = transform * Transform3s(q);
441	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(1, 0, 0);
442		2	SET_LINE;
443	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, 0x0);
444
445		2	int numTests = 100;
446	2/2 ✓ Branch 0 taken 100 times. ✓ Branch 1 taken 1 times.	202	for (int i = 0; i < numTests; ++i) {
447	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	200	Transform3s tf;
448	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	200	generateRandomTransform(extents, tf);
449		200	SET_LINE;
450	1/2 ✓ Branch 2 taken 100 times. ✗ Branch 3 not taken.	200	testBoxBoxContactPoints(tf.getRotation());
451			}
452		2	}
453
454	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(collide_spherebox) {
455	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Sphere s1(20);
456	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Box s2(5, 5, 5);
457
458	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf1;
459	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2;
460
461	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s transform;
462	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	generateRandomTransform(extents, transform);
463
464			// Vec3s point;
465			// Scalar depth;
466	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s normal;
467
468	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
469	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
470			// TODO: Need convention for normal when the centers of two objects are at
471			// same position. The current result is (-1, 0, 0).
472	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	normal << -1, 0, 0;
473		2	SET_LINE;
474	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, NULL);
475
476	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
477	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
478			// TODO: Need convention for normal when the centers of two objects are at
479			// same position.
480		2	SET_LINE;
481	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, NULL);
482
483	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
484	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	tf2 = Transform3s(Vec3s(Scalar(22.50001), 0, 0));
485		2	SET_LINE;
486	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, false);
487
488	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
489	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	tf2 = transform * Transform3s(Vec3s(Scalar(22.501), 0, 0));
490		2	SET_LINE;
491	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, false);
492
493	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
494	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	tf2 = Transform3s(Vec3s(Scalar(22.4), 0, 0));
495	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	normal << 1, 0, 0;
496		2	SET_LINE;
497	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, &normal, false, tol_gjk);
498
499	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
500	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	tf2 = transform * Transform3s(Vec3s(Scalar(22.4), 0, 0));
501	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(1, 0, 0);
502		2	SET_LINE;
503	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, &normal, false, tol_gjk);
504		2	}
505
506	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(distance_spherebox) {
507	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::Matrix3s rotSphere;
508	9/18 ✓ 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 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.	2	rotSphere << 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0;
509	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::Vec3s trSphere(0.0, 0.0, 0.0);
510
511	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::Matrix3s rotBox;
512	9/18 ✓ 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 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.	2	rotBox << 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0;
513	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::Vec3s trBox(0.0, 5.0, 3.0);
514
515	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::Sphere sphere(1);
516	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::Box box(10, 2, 10);
517
518	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	coal::DistanceResult result;
519	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	distance(&sphere, Transform3s(rotSphere, trSphere), &box,
520	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Transform3s(rotBox, trBox), DistanceRequest(true), result);
521
522		2	Scalar eps = Eigen::NumTraits<Scalar>::epsilon();
523	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_CLOSE(result.min_distance, 3., eps);
524	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 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 38 taken 1 times. ✗ Branch 39 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 51 taken 1 times. ✗ Branch 52 not taken. ✓ Branch 54 taken 1 times. ✗ Branch 55 not taken. ✗ Branch 65 not taken. ✓ Branch 66 taken 1 times.	2	EIGEN_VECTOR_IS_APPROX(result.nearest_points[0], Vec3s(0, 1, 0), eps);
525	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 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 38 taken 1 times. ✗ Branch 39 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 51 taken 1 times. ✗ Branch 52 not taken. ✓ Branch 54 taken 1 times. ✗ Branch 55 not taken. ✗ Branch 65 not taken. ✓ Branch 66 taken 1 times.	2	EIGEN_VECTOR_IS_APPROX(result.nearest_points[1], Vec3s(0, 4, 0), eps);
526	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(result.normal, Vec3s(0, 1, 0), eps);
527		2	}
528
529	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(collide_spherecapsule) {
530	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Sphere s1(20);
531	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Capsule s2(5, 10);
532
533	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf1;
534	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2;
535
536	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s transform;
537	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	generateRandomTransform(extents, transform);
538
539			// Vec3s point;
540			// Scalar depth;
541	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s normal;
542
543	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
544	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
545			// TODO: Need convention for normal when the centers of two objects are at
546			// same position.
547		2	SET_LINE;
548	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, NULL);
549
550	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
551	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
552			// TODO: Need convention for normal when the centers of two objects are at
553			// same position.
554		2	SET_LINE;
555	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, NULL);
556
557	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
558	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	tf2 = Transform3s(Vec3s(Scalar(24.9), 0, 0));
559	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	normal << 1, 0, 0;
560		2	SET_LINE;
561	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, &normal);
562
563	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
564	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	tf2 = transform * Transform3s(Vec3s(Scalar(24.9), 0, 0));
565	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(1, 0, 0);
566		2	SET_LINE;
567	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, &normal);
568
569	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
570	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	tf2 = Transform3s(Vec3s(25, 0, 0));
571	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	normal << 1, 0, 0;
572		2	SET_LINE;
573	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, &normal);
574
575	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
576	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	tf2 = transform * Transform3s(Vec3s(Scalar(24.999999), 0, 0));
577	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(1, 0, 0);
578		2	SET_LINE;
579	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, &normal);
580
581	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
582	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	tf2 = Transform3s(Vec3s(Scalar(25.1), 0, 0));
583	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	normal << 1, 0, 0;
584		2	SET_LINE;
585	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, false);
586
587	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
588	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	tf2 = transform * Transform3s(Vec3s(Scalar(25.1), 0, 0));
589	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(1, 0, 0);
590		2	SET_LINE;
591	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, false);
592		2	}
593
594	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(collide_cylindercylinder) {
595	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Cylinder s1(5, 15);
596	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Cylinder s2(5, 15);
597
598	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf1;
599	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2;
600
601	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s transform;
602	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	generateRandomTransform(extents, transform);
603
604			// Vec3s point;
605			// Scalar depth;
606	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s normal;
607
608	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
609	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
610			// TODO: Need convention for normal when the centers of two objects are at
611			// same position.
612		2	SET_LINE;
613	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, NULL);
614
615	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
616	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
617			// TODO: Need convention for normal when the centers of two objects are at
618			// same position.
619		2	SET_LINE;
620	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, NULL);
621
622	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
623	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	tf2 = Transform3s(Vec3s(Scalar(9.9), 0, 0));
624	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	normal << 1, 0, 0;
625		2	SET_LINE;
626	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, &normal, false, tol_gjk);
627
628	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
629	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	tf2 = Transform3s(Vec3s(0, Scalar(9.9), 0));
630	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	normal << 0, 1, 0;
631		2	SET_LINE;
632	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, &normal, false, tol_gjk);
633
634	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
635	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	tf2 = Transform3s(Vec3s(Scalar(9.9), 0, 0));
636	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	normal << 1, 0, 0;
637		2	SET_LINE;
638	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, &normal, false, tol_gjk);
639
640	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
641	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	tf2 = transform * Transform3s(Vec3s(Scalar(9.9), 0, 0));
642	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(1, 0, 0);
643		2	SET_LINE;
644	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, &normal, false, tol_gjk);
645
646	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
647	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	tf2 = Transform3s(Vec3s(Scalar(10.01), 0, 0));
648		2	SET_LINE;
649	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, false);
650
651	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
652	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	tf2 = transform * Transform3s(Vec3s(Scalar(10.01), 0, 0));
653		2	SET_LINE;
654	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, false);
655		2	}
656
657	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(collide_conecone) {
658	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Cone s1(5, 10);
659	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Cone s2(5, 10);
660
661	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf1;
662	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2;
663
664	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s transform;
665	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	generateRandomTransform(extents, transform);
666
667			// Vec3s point;
668			// Scalar depth;
669	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s normal;
670
671	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
672	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
673			// TODO: Need convention for normal when the centers of two objects are at
674			// same position.
675		2	SET_LINE;
676	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, NULL);
677
678	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
679	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
680			// TODO: Need convention for normal when the centers of two objects are at
681			// same position.
682		2	SET_LINE;
683	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, NULL);
684
685	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
686			// z=0 is a singular points. Two normals could be returned.
687	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	tf2 = Transform3s(Vec3s(Scalar(9.9), 0, Scalar(0.00001)));
688	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	normal = Vec3s(2 * (s1.halfLength + s2.halfLength), 0, s1.radius + s2.radius)
689	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	.normalized();
690		2	SET_LINE;
691	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, &normal, false, tol_gjk);
692
693	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = transform * tf1;
694	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = transform * tf2;
695	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	normal = transform.getRotation() * normal;
696		2	SET_LINE;
697	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, &normal, false, tol_gjk);
698
699	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
700	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	tf2 = transform * Transform3s(Vec3s(Scalar(9.9), 0, Scalar(0.00001)));
701	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	normal = Vec3s(2 * (s1.halfLength + s2.halfLength), 0, s1.radius + s2.radius)
702	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	.normalized();
703	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	normal = transform.getRotation() * normal;
704		2	SET_LINE;
705	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, &normal, true, tol_gjk);
706
707	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
708	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	tf2 = Transform3s(Vec3s(Scalar(10.1), 0, 0));
709		2	SET_LINE;
710	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, false);
711
712	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
713	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	tf2 = Transform3s(Vec3s(Scalar(10.001), 0, 0));
714		2	SET_LINE;
715	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, false);
716
717	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
718	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	tf2 = transform * Transform3s(Vec3s(Scalar(10.001), 0, 0));
719		2	SET_LINE;
720	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, false);
721
722	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
723	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	tf2 = Transform3s(Vec3s(0, 0, Scalar(9.9)));
724	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	normal << 0, 0, 1;
725		2	SET_LINE;
726	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, &normal);
727
728	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
729	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	tf2 = transform * Transform3s(Vec3s(0, 0, Scalar(9.9)));
730	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, 0, 1);
731		2	SET_LINE;
732	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, &normal);
733		2	}
734
735	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(collide_conecylinder) {
736	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Cylinder s1(5, 10);
737	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Cone s2(5, 10);
738
739	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf1;
740	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2;
741
742	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s transform;
743	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	generateRandomTransform(extents, transform);
744
745			// Vec3s point;
746			// Scalar depth;
747	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s normal;
748
749	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
750	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
751			// TODO: Need convention for normal when the centers of two objects are at
752			// same position.
753		2	SET_LINE;
754	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, NULL);
755
756	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
757	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
758			// TODO: Need convention for normal when the centers of two objects are at
759			// same position.
760		2	SET_LINE;
761	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, NULL);
762
763	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
764	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	tf2 = Transform3s(Vec3s(Scalar(9.9), 0, 0));
765			normal =
766	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s(2 * (s1.halfLength + s2.halfLength), 0, -(s1.radius + s2.radius))
767	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	.normalized();
768		2	SET_LINE;
769	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, &normal, false, tol_gjk);
770
771	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
772	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	tf2 = transform * Transform3s(Vec3s(Scalar(9.9), 0, 0));
773	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	normal = transform.getRotation() * normal;
774		2	SET_LINE;
775	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, &normal, false, tol_gjk);
776
777	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
778	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	tf2 = Transform3s(Vec3s(Scalar(9.9), 0, Scalar(0.1)));
779	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	normal << 1, 0, 0;
780		2	SET_LINE;
781	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, &normal, false, tol_gjk);
782
783	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
784	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	tf2 = transform * Transform3s(Vec3s(Scalar(9.9), 0, Scalar(0.1)));
785	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	normal = transform.getRotation() * normal;
786		2	SET_LINE;
787	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, &normal, false, tol_gjk);
788
789	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
790	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	tf2 = Transform3s(Vec3s(Scalar(10.01), 0, 0));
791		2	SET_LINE;
792	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, false);
793
794	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
795	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	tf2 = transform * Transform3s(Vec3s(Scalar(10.01), 0, 0));
796		2	SET_LINE;
797	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, false);
798
799	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
800	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	tf2 = Transform3s(Vec3s(10, 0, 0));
801		2	SET_LINE;
802	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, NULL);
803
804	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
805	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	tf2 = transform * Transform3s(Vec3s(10, 0, 0));
806		2	SET_LINE;
807	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, NULL);
808
809	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
810	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	tf2 = Transform3s(Vec3s(0, 0, Scalar(9.9)));
811	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	normal << 0, 0, 1;
812		2	SET_LINE;
813	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, &normal);
814
815	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
816	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	tf2 = transform * Transform3s(Vec3s(0, 0, Scalar(9.9)));
817	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, 0, 1);
818		2	SET_LINE;
819	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, &normal);
820
821	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
822	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	tf2 = Transform3s(Vec3s(0, 0, Scalar(10.01)));
823		2	SET_LINE;
824	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, false);
825
826	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
827	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	tf2 = transform * Transform3s(Vec3s(0, 0, Scalar(10.01)));
828		2	SET_LINE;
829	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, false);
830
831	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
832	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	tf2 = Transform3s(Vec3s(0, 0, 10));
833	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	normal << 0, 0, 1;
834		2	SET_LINE;
835	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, true, NULL, NULL, &normal, false, tol_gjk);
836
837	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
838	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	tf2 = transform * Transform3s(Vec3s(0, 0, Scalar(10.1)));
839		2	SET_LINE;
840	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s1, tf1, s2, tf2, false);
841		2	}
842
843	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(collide_spheretriangle) {
844	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Sphere s(10);
845
846	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s transform;
847	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	generateRandomTransform(extents, transform);
848
849	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s normal;
850
851			//
852			// Testing collision x, y, z
853			//
854			{
855	3/4 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 3 taken 3 times. ✓ Branch 4 taken 1 times.	8	Vec3s t[3];
856	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	t[0] << 20, 0, 0;
857	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	t[1] << -20, 0, 0;
858	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	t[2] << 0, 20, 0;
859	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	TriangleP tri(t[0], t[1], t[2]);
860	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf_tri = Transform3s(); // identity
861
862	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(0, 0, Scalar(0.001)));
863	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	normal << 0, 0, 1;
864		2	SET_LINE;
865	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(s, Transform3s(), tri, tf_tri, true, NULL, NULL, &normal);
866	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	normal = transform.getRotation() * normal;
867		2	SET_LINE;
868	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(s, transform, tri, transform * tf_tri, true, NULL, NULL,
869			&normal);
870
871	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(0, 0, Scalar(-0.001)));
872	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	normal << 0, 0, -1;
873		2	SET_LINE;
874	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(s, Transform3s(), tri, tf_tri, true, NULL, NULL, &normal);
875	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	normal = transform.getRotation() * normal;
876		2	SET_LINE;
877	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(s, transform, tri, transform * tf_tri, true, NULL, NULL,
878			&normal);
879		2	}
880
881			{
882	3/4 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 3 taken 3 times. ✓ Branch 4 taken 1 times.	8	Vec3s t[3];
883	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	t[0] << 30, 0, 0;
884	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	t[1] << Scalar(9.9), -20, 0;
885	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	t[2] << Scalar(9.9), 20, 0;
886	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	TriangleP tri(t[0], t[1], t[2]);
887	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf_tri = Transform3s();
888
889	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(0, 0, Scalar(0.001)));
890	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	normal << Scalar(9.9), 0, Scalar(0.001);
891	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	normal.normalize();
892		2	SET_LINE;
893	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(s, Transform3s(), tri, tf_tri, true, NULL, NULL, &normal);
894	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	normal = transform.getRotation() * normal;
895		2	SET_LINE;
896	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(s, transform, tri, transform * tf_tri, true, NULL, NULL,
897			&normal);
898
899	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(0, 0, Scalar(-0.001)));
900	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	normal << Scalar(9.9), 0, Scalar(-0.001);
901	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	normal.normalize();
902		2	SET_LINE;
903	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(s, Transform3s(), tri, tf_tri, true, NULL, NULL, &normal);
904	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	normal = transform.getRotation() * normal;
905		2	SET_LINE;
906	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(s, transform, tri, transform * tf_tri, true, NULL, NULL,
907			&normal);
908		2	}
909
910			{
911	3/4 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 3 taken 3 times. ✓ Branch 4 taken 1 times.	8	Vec3s t[3];
912	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	t[0] << 30, 0, 0;
913	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	t[1] << -20, 0, 0;
914	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	t[2] << 0, 0, 20;
915	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	TriangleP tri(t[0], t[1], t[2]);
916	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf_tri = Transform3s();
917
918	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(0, Scalar(0.001), 0));
919	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	normal << 0, 1, 0;
920		2	SET_LINE;
921	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(s, Transform3s(), tri, tf_tri, true, NULL, NULL, &normal);
922	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	normal = transform.getRotation() * normal;
923		2	SET_LINE;
924	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(s, transform, tri, transform * tf_tri, true, NULL, NULL,
925			&normal);
926
927	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(0, Scalar(-0.001), 0));
928	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	normal << 0, -1, 0;
929		2	SET_LINE;
930	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(s, Transform3s(), tri, tf_tri, true, NULL, NULL, &normal);
931	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	normal = transform.getRotation() * normal;
932		2	SET_LINE;
933	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(s, transform, tri, transform * tf_tri, true, NULL, NULL,
934			&normal);
935		2	}
936
937			{
938	3/4 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 3 taken 3 times. ✓ Branch 4 taken 1 times.	8	Vec3s t[3];
939	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	t[0] << 0, 30, 0;
940	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	t[1] << 0, -10, 0;
941	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	t[2] << 0, 0, 20;
942	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	TriangleP tri(t[0], t[1], t[2]);
943	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf_tri = Transform3s();
944
945	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(Scalar(0.001), 0, 0));
946	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	normal << 1, 0, 0;
947		2	SET_LINE;
948	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(s, Transform3s(), tri, tf_tri, true, NULL, NULL, &normal);
949	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	normal = transform.getRotation() * normal;
950		2	SET_LINE;
951	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(s, transform, tri, transform * tf_tri, true, NULL, NULL,
952			&normal);
953
954	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(Scalar(-0.001), 0, 0));
955	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	normal << -1, 0, 0;
956	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(s, Transform3s(), tri, tf_tri, true, NULL, NULL, &normal);
957		2	SET_LINE;
958	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	normal = transform.getRotation() * normal;
959		2	SET_LINE;
960	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(s, transform, tri, transform * tf_tri, true, NULL, NULL,
961			&normal);
962		2	}
963
964			//
965			// Testing no collision x, y, z
966			//
967			{
968	3/4 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 3 taken 3 times. ✓ Branch 4 taken 1 times.	8	Vec3s t[3];
969	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	t[0] << 20, 0, 0;
970	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	t[1] << -20, 0, 0;
971	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	t[2] << 0, 20, 0;
972	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	TriangleP tri(t[0], t[1], t[2]);
973	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf_tri = Transform3s();
974
975	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(0, 0, Scalar(10.1)));
976		2	SET_LINE;
977	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(s, Transform3s(), tri, tf_tri, false);
978		2	SET_LINE;
979	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(s, transform, tri, transform * tf_tri, false);
980
981	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(0, 0, Scalar(-10.1)));
982		2	SET_LINE;
983	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(s, Transform3s(), tri, tf_tri, false);
984		2	SET_LINE;
985	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(s, transform, tri, transform * tf_tri, false);
986		2	}
987
988			{
989	3/4 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 3 taken 3 times. ✓ Branch 4 taken 1 times.	8	Vec3s t[3];
990	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	t[0] << 20, 0, 0;
991	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	t[1] << -20, 0, 0;
992	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	t[2] << 0, 0, 20;
993	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	TriangleP tri(t[0], t[1], t[2]);
994
995	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf_tri = Transform3s();
996	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(0, Scalar(10.1), 0));
997		2	SET_LINE;
998	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(s, Transform3s(), tri, tf_tri, false);
999		2	SET_LINE;
1000	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(s, transform, tri, transform * tf_tri, false);
1001
1002	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(0, Scalar(-10.1), 0));
1003		2	SET_LINE;
1004	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(s, Transform3s(), tri, tf_tri, false);
1005		2	SET_LINE;
1006	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(s, transform, tri, transform * tf_tri, false);
1007		2	}
1008
1009			{
1010	3/4 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 3 taken 3 times. ✓ Branch 4 taken 1 times.	8	Vec3s t[3];
1011	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	t[0] << 0, 20, 0;
1012	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	t[1] << 0, -20, 0;
1013	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	t[2] << 0, 0, 20;
1014	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	TriangleP tri(t[0], t[1], t[2]);
1015	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf_tri = Transform3s();
1016
1017	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(Scalar(10.1), 0, 0));
1018		2	SET_LINE;
1019	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(s, Transform3s(), tri, tf_tri, false);
1020		2	SET_LINE;
1021	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(s, transform, tri, transform * tf_tri, false);
1022
1023	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(Scalar(-10.1), 0, 0));
1024		2	SET_LINE;
1025	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(s, Transform3s(), tri, tf_tri, false);
1026		2	SET_LINE;
1027	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(s, transform, tri, transform * tf_tri, false);
1028		2	}
1029		2	}
1030
1031	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(collide_halfspacetriangle) {
1032	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Halfspace hs(Vec3s(0, 0, 1), 0);
1033
1034	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s transform;
1035	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	generateRandomTransform(extents, transform);
1036
1037	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s normal;
1038	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	normal = hs.n; // with halfspaces, it's simple: normal is always
1039			// the normal of the halfspace.
1040
1041			{
1042	3/4 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 3 taken 3 times. ✓ Branch 4 taken 1 times.	8	Vec3s t[3];
1043	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	t[0] << 20, 0, 0;
1044	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	t[1] << -20, 0, 0;
1045	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	t[2] << 0, 20, 0;
1046	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	TriangleP tri(t[0], t[1], t[2]);
1047	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf_tri = Transform3s(); // identity
1048
1049	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(0, 0, Scalar(-0.001)));
1050	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	normal = hs.n;
1051		2	SET_LINE;
1052	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(hs, Transform3s(), tri, tf_tri, true, NULL, NULL, &normal);
1053	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	normal = transform.getRotation() * normal;
1054		2	SET_LINE;
1055	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(hs, transform, tri, transform * tf_tri, true, NULL, NULL,
1056			&normal);
1057
1058	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(0, 0, Scalar(0.001)));
1059		2	SET_LINE;
1060	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(hs, Transform3s(), tri, tf_tri, false);
1061		2	SET_LINE;
1062	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(hs, transform, tri, transform * tf_tri, false);
1063
1064	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(1, 1, Scalar(0.001)));
1065		2	SET_LINE;
1066	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(hs, Transform3s(), tri, tf_tri, false);
1067		2	SET_LINE;
1068	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(hs, transform, tri, transform * tf_tri, false);
1069
1070	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(-1, -1, Scalar(0.001)));
1071		2	SET_LINE;
1072	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(hs, Transform3s(), tri, tf_tri, false);
1073		2	SET_LINE;
1074	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(hs, transform, tri, transform * tf_tri, false);
1075		2	}
1076
1077			{
1078	3/4 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 3 taken 3 times. ✓ Branch 4 taken 1 times.	8	Vec3s t[3];
1079	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	t[0] << 30, 0, 0;
1080	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	t[1] << -20, 0, 0;
1081	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	t[2] << 0, 0, 20;
1082	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	TriangleP tri(t[0], t[1], t[2]);
1083	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf_tri = Transform3s();
1084
1085	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(0, 0, Scalar(-0.001)));
1086	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	normal = hs.n;
1087		2	SET_LINE;
1088	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(hs, Transform3s(), tri, tf_tri, true, NULL, NULL, &normal);
1089	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	normal = transform.getRotation() * normal;
1090		2	SET_LINE;
1091	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(hs, transform, tri, transform * tf_tri, true, NULL, NULL,
1092			&normal);
1093
1094	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(0, 0, Scalar(0.001)));
1095		2	SET_LINE;
1096	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(hs, Transform3s(), tri, tf_tri, false);
1097		2	SET_LINE;
1098	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(hs, transform, tri, transform * tf_tri, false);
1099
1100	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(1, 1, Scalar(0.001)));
1101		2	SET_LINE;
1102	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(hs, Transform3s(), tri, tf_tri, false);
1103		2	SET_LINE;
1104	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(hs, transform, tri, transform * tf_tri, false);
1105
1106	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(-1, -1, Scalar(0.001)));
1107		2	SET_LINE;
1108	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(hs, Transform3s(), tri, tf_tri, false);
1109		2	SET_LINE;
1110	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(hs, transform, tri, transform * tf_tri, false);
1111		2	}
1112
1113			{
1114	3/4 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 3 taken 3 times. ✓ Branch 4 taken 1 times.	8	Vec3s t[3];
1115	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	t[0] << 0, 30, 0;
1116	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	t[1] << 0, -10, 0;
1117	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	t[2] << 0, 0, 20;
1118	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	TriangleP tri(t[0], t[1], t[2]);
1119	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf_tri = Transform3s();
1120
1121	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(0, 0, Scalar(-0.001)));
1122	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	normal = hs.n;
1123		2	SET_LINE;
1124	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(hs, Transform3s(), tri, tf_tri, true, NULL, NULL, &normal);
1125	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	normal = transform.getRotation() * normal;
1126		2	SET_LINE;
1127	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(hs, transform, tri, transform * tf_tri, true, NULL, NULL,
1128			&normal);
1129
1130	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(0, 0, Scalar(0.001)));
1131		2	SET_LINE;
1132	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(hs, Transform3s(), tri, tf_tri, false);
1133		2	SET_LINE;
1134	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(hs, transform, tri, transform * tf_tri, false);
1135
1136	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(1, 1, Scalar(0.001)));
1137		2	SET_LINE;
1138	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(hs, Transform3s(), tri, tf_tri, false);
1139		2	SET_LINE;
1140	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(hs, transform, tri, transform * tf_tri, false);
1141
1142	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(-1, -1, Scalar(0.001)));
1143		2	SET_LINE;
1144	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(hs, Transform3s(), tri, tf_tri, false);
1145		2	SET_LINE;
1146	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(hs, transform, tri, transform * tf_tri, false);
1147		2	}
1148		2	}
1149
1150	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(collide_planetriangle) {
1151	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s transform;
1152	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	generateRandomTransform(extents, transform);
1153
1154	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s normal;
1155
1156			{
1157	3/4 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 3 taken 3 times. ✓ Branch 4 taken 1 times.	8	Vec3s t[3];
1158	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	t[0] << 20, 0, Scalar(0.05);
1159	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	t[1] << -20, 0, Scalar(0.05);
1160	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	t[2] << 0, 20, Scalar(-0.1);
1161	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Plane pl(Vec3s(0, 0, 1), 0);
1162
1163	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	TriangleP tri(t[0], t[1], t[2]);
1164	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf_tri = Transform3s(); // identity
1165	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	normal = -pl.n;
1166		2	SET_LINE;
1167	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(pl, Transform3s(), tri, tf_tri, true, NULL, NULL, &normal);
1168	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	normal = transform.getRotation() * normal;
1169		2	SET_LINE;
1170	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(pl, transform, tri, transform * tf_tri, true, NULL, NULL,
1171			&normal);
1172
1173	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(0, 0, Scalar(0.05)));
1174	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	normal = pl.n;
1175		2	SET_LINE;
1176	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(pl, Transform3s(), tri, tf_tri, true, NULL, NULL, &normal);
1177	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	normal = transform.getRotation() * normal;
1178		2	SET_LINE;
1179	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(pl, transform, tri, transform * tf_tri, true, NULL, NULL,
1180			&normal);
1181
1182	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(0, 0, Scalar(-0.06)));
1183		2	SET_LINE;
1184	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(pl, Transform3s(), tri, tf_tri, false);
1185		2	SET_LINE;
1186	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(pl, transform, tri, transform * tf_tri, false);
1187
1188	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(0, 0, Scalar(0.11)));
1189		2	SET_LINE;
1190	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(pl, Transform3s(), tri, tf_tri, false);
1191		2	SET_LINE;
1192	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(pl, transform, tri, transform * tf_tri, false);
1193		2	}
1194
1195			{
1196	3/4 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 3 taken 3 times. ✓ Branch 4 taken 1 times.	8	Vec3s t[3];
1197	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	t[0] << 30, Scalar(0.05), 0;
1198	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	t[1] << -20, Scalar(0.05), 0;
1199	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	t[2] << 0, Scalar(-0.1), 20;
1200	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Plane pl(Vec3s(0, 1, 0), 0);
1201
1202	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	TriangleP tri(t[0], t[1], t[2]);
1203	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf_tri = Transform3s(); // identity
1204	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	normal = -pl.n;
1205		2	SET_LINE;
1206	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(pl, Transform3s(), tri, tf_tri, true, NULL, NULL, &normal);
1207	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	normal = transform.getRotation() * normal;
1208		2	SET_LINE;
1209	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(pl, transform, tri, transform * tf_tri, true, NULL, NULL,
1210			&normal);
1211
1212	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(0, Scalar(0.05), 0));
1213	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	normal = pl.n;
1214		2	SET_LINE;
1215	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(pl, Transform3s(), tri, tf_tri, true, NULL, NULL, &normal);
1216	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	normal = transform.getRotation() * normal;
1217		2	SET_LINE;
1218	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(pl, transform, tri, transform * tf_tri, true, NULL, NULL,
1219			&normal);
1220
1221	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(0, Scalar(-0.06), 0));
1222		2	SET_LINE;
1223	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(pl, Transform3s(), tri, tf_tri, false);
1224		2	SET_LINE;
1225	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(pl, transform, tri, transform * tf_tri, false);
1226
1227	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(0, Scalar(0.11), 0));
1228		2	SET_LINE;
1229	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(pl, Transform3s(), tri, tf_tri, false);
1230		2	SET_LINE;
1231	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(pl, transform, tri, transform * tf_tri, false);
1232		2	}
1233
1234			{
1235	3/4 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 3 taken 3 times. ✓ Branch 4 taken 1 times.	8	Vec3s t[3];
1236	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	t[0] << Scalar(0.05), 30, 0;
1237	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	t[1] << Scalar(0.05), -10, 0;
1238	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	t[2] << Scalar(-0.1), 0, 20;
1239	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Plane pl(Vec3s(1, 0, 0), 0);
1240
1241	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	TriangleP tri(t[0], t[1], t[2]);
1242	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf_tri = Transform3s(); // identity
1243	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	normal = -pl.n;
1244		2	SET_LINE;
1245	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(pl, Transform3s(), tri, tf_tri, true, NULL, NULL, &normal);
1246	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	normal = transform.getRotation() * normal;
1247		2	SET_LINE;
1248	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(pl, transform, tri, transform * tf_tri, true, NULL, NULL,
1249			&normal);
1250
1251	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(Scalar(0.05), 0, 0));
1252	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	normal = pl.n;
1253		2	SET_LINE;
1254	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(pl, Transform3s(), tri, tf_tri, true, NULL, NULL, &normal);
1255	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	normal = transform.getRotation() * normal;
1256		2	SET_LINE;
1257	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(pl, transform, tri, transform * tf_tri, true, NULL, NULL,
1258			&normal);
1259
1260	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(Scalar(-0.06), 0, 0));
1261		2	SET_LINE;
1262	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(pl, Transform3s(), tri, tf_tri, false);
1263		2	SET_LINE;
1264	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(pl, transform, tri, transform * tf_tri, false);
1265
1266	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf_tri.setTranslation(Vec3s(Scalar(0.11), 0, 0));
1267		2	SET_LINE;
1268	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(pl, Transform3s(), tri, tf_tri, false);
1269		2	SET_LINE;
1270	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	testShapeCollide(pl, transform, tri, transform * tf_tri, false);
1271		2	}
1272		2	}
1273
1274	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(collide_halfspacesphere) {
1275	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Sphere s(10);
1276	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Halfspace hs(Vec3s(1, 0, 0), 0);
1277
1278	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf1;
1279	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2;
1280
1281	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s transform;
1282	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	generateRandomTransform(extents, transform);
1283
1284	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s contact;
1285			Scalar depth;
1286	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s normal;
1287
1288	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1289	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
1290	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	contact << -5, 0, 0;
1291		2	depth = -10;
1292	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	normal << -1, 0, 0;
1293		2	SET_LINE;
1294	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1295
1296	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1297	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
1298	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(-5, 0, 0));
1299		2	depth = -10;
1300	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(-1, 0, 0);
1301		2	SET_LINE;
1302	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1303
1304	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1305	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	tf2 = Transform3s(Vec3s(5, 0, 0));
1306	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	contact << -2.5, 0, 0;
1307		2	depth = -15;
1308	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	normal << -1, 0, 0;
1309		2	SET_LINE;
1310	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1311
1312	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1313	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	tf2 = transform * Transform3s(Vec3s(5, 0, 0));
1314	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(-2.5, 0, 0));
1315		2	depth = -15;
1316	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(-1, 0, 0);
1317		2	SET_LINE;
1318	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1319
1320	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1321	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	tf2 = Transform3s(Vec3s(-5, 0, 0));
1322	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	contact << -7.5, 0, 0;
1323		2	depth = -5;
1324	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	normal << -1, 0, 0;
1325		2	SET_LINE;
1326	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1327
1328	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1329	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	tf2 = transform * Transform3s(Vec3s(-5, 0, 0));
1330	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(-7.5, 0, 0));
1331		2	depth = -5;
1332	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(-1, 0, 0);
1333		2	SET_LINE;
1334	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1335
1336	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1337	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	tf2 = Transform3s(Vec3s(Scalar(-10.1), 0, 0));
1338		2	SET_LINE;
1339	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
1340
1341	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1342	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	tf2 = transform * Transform3s(Vec3s(Scalar(-10.1), 0, 0));
1343		2	SET_LINE;
1344	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
1345
1346	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1347	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	tf2 = Transform3s(Vec3s(Scalar(10.1), 0, 0));
1348	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	contact << Scalar(0.05), 0, 0;
1349		2	depth = Scalar(-20.1);
1350	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	normal << -1, 0, 0;
1351		2	SET_LINE;
1352	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1353
1354	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1355	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	tf2 = transform * Transform3s(Vec3s(Scalar(10.1), 0, 0));
1356	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(Scalar(0.05), 0, 0));
1357		2	depth = Scalar(-20.1);
1358	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(-1, 0, 0);
1359		2	SET_LINE;
1360	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1361		2	}
1362
1363	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(collide_planesphere) {
1364	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Sphere s(10);
1365	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Plane hs(Vec3s(1, 0, 0), 0);
1366
1367	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf1;
1368	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2;
1369
1370	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s transform;
1371	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	generateRandomTransform(extents, transform);
1372
1373	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s contact;
1374			Scalar depth;
1375	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s normal;
1376	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Vec3s p1, p2;
1377
1378		2	Scalar eps = Scalar(1e-6);
1379	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	tf1 = Transform3s(Vec3s(eps, 0, 0));
1380	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
1381		2	depth = -10 + eps;
1382	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	p1 << -10 + eps, 0, 0;
1383	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	p2 << 0, 0, 0;
1384	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	contact << (p1 + p2) / 2;
1385	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	normal << -1, 0, 0; // (1, 0, 0) or (-1, 0, 0)
1386		2	SET_LINE;
1387	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1388
1389	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = transform * tf1;
1390	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
1391	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	contact = transform.transform((p1 + p2) / 2);
1392			normal =
1393	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	transform.getRotation() * Vec3s(-1, 0, 0); // (1, 0, 0) or (-1, 0, 0)
1394		2	SET_LINE;
1395	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal, true);
1396
1397		2	eps = Scalar(-1e-6);
1398	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	tf1 = Transform3s(Vec3s(eps, 0, 0));
1399	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
1400		2	depth = -10 - eps;
1401	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	p1 << 10 + eps, 0, 0;
1402	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	p2 << 0, 0, 0;
1403	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	contact << (p1 + p2) / 2;
1404	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	normal << 1, 0, 0; // (1, 0, 0) or (-1, 0, 0)
1405		2	SET_LINE;
1406	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1407
1408	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = transform * tf1;
1409	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
1410	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	contact = transform.transform((p1 + p2) / 2);
1411	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(1, 0, 0); // (1, 0, 0) or (-1, 0, 0)
1412		2	SET_LINE;
1413	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal, true);
1414
1415	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1416	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	tf2 = Transform3s(Vec3s(5, 0, 0));
1417	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	p1 << 10, 0, 0;
1418	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	p2 << 5, 0, 0;
1419	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	contact << (p1 + p2) / 2;
1420		2	depth = -5;
1421	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	normal << 1, 0, 0;
1422		2	SET_LINE;
1423	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1424
1425	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1426	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	tf2 = transform * Transform3s(Vec3s(5, 0, 0));
1427	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	contact = transform.transform((p1 + p2) / 2);
1428		2	depth = -5;
1429	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(1, 0, 0);
1430		2	SET_LINE;
1431	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1432
1433	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1434	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	tf2 = Transform3s(Vec3s(-5, 0, 0));
1435	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	p1 << -10, 0, 0;
1436	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	p2 << -5, 0, 0;
1437	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	contact << (p1 + p2) / 2;
1438		2	depth = -5;
1439	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	normal << -1, 0, 0;
1440		2	SET_LINE;
1441	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1442
1443	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1444	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	tf2 = transform * Transform3s(Vec3s(-5, 0, 0));
1445	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	contact = transform.transform((p1 + p2) / 2);
1446		2	depth = -5;
1447	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(-1, 0, 0);
1448		2	SET_LINE;
1449	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1450
1451	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1452	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	tf2 = Transform3s(Vec3s(Scalar(-10.1), 0, 0));
1453		2	SET_LINE;
1454	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
1455
1456	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1457	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	tf2 = transform * Transform3s(Vec3s(Scalar(-10.1), 0, 0));
1458		2	SET_LINE;
1459	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
1460
1461	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1462	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	tf2 = Transform3s(Vec3s(Scalar(10.1), 0, 0));
1463		2	SET_LINE;
1464	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
1465
1466	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1467	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	tf2 = transform * Transform3s(Vec3s(Scalar(10.1), 0, 0));
1468		2	SET_LINE;
1469	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
1470		2	}
1471
1472	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(collide_halfspacebox) {
1473	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Box s(5, 10, 20);
1474	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Halfspace hs(Vec3s(1, 0, 0), 0);
1475
1476	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf1;
1477	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2;
1478
1479	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s transform;
1480	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	generateRandomTransform(extents, transform);
1481
1482	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s contact;
1483			Scalar depth;
1484	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s normal;
1485
1486	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1487	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
1488	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	contact << -1.25, 0, 0;
1489		2	depth = -2.5;
1490	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	normal << -1, 0, 0;
1491		2	SET_LINE;
1492	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1493
1494	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1495	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
1496	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(-1.25, 0, 0));
1497		2	depth = -2.5;
1498	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(-1, 0, 0);
1499		2	SET_LINE;
1500	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1501
1502	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1503	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	tf2 = Transform3s(Vec3s(1.25, 0, 0));
1504	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	contact << -0.625, 0, 0;
1505		2	depth = -3.75;
1506	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	normal << -1, 0, 0;
1507		2	SET_LINE;
1508	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1509
1510	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1511	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	tf2 = transform * Transform3s(Vec3s(1.25, 0, 0));
1512	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(-0.625, 0, 0));
1513		2	depth = -3.75;
1514	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(-1, 0, 0);
1515		2	SET_LINE;
1516	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1517
1518	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1519	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	tf2 = Transform3s(Vec3s(-1.25, 0, 0));
1520	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	contact << -1.875, 0, 0;
1521		2	depth = -1.25;
1522	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	normal << -1, 0, 0;
1523		2	SET_LINE;
1524	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1525
1526	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1527	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	tf2 = transform * Transform3s(Vec3s(-1.25, 0, 0));
1528	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(-1.875, 0, 0));
1529		2	depth = -1.25;
1530	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(-1, 0, 0);
1531		2	SET_LINE;
1532	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1533
1534	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1535	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	tf2 = Transform3s(Vec3s(Scalar(2.51), 0, 0));
1536	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	contact << Scalar(0.005), 0, 0;
1537		2	depth = Scalar(-5.01);
1538	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	normal << -1, 0, 0;
1539		2	SET_LINE;
1540	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1541
1542	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1543	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	tf2 = transform * Transform3s(Vec3s(Scalar(2.51), 0, 0));
1544	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(Scalar(0.005), 0, 0));
1545		2	depth = Scalar(-5.01);
1546	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(-1, 0, 0);
1547		2	SET_LINE;
1548	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1549
1550	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1551	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	tf2 = Transform3s(Vec3s(Scalar(-2.51), 0, 0));
1552		2	SET_LINE;
1553	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
1554
1555	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1556	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	tf2 = transform * Transform3s(Vec3s(Scalar(-2.51), 0, 0));
1557		2	SET_LINE;
1558	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
1559
1560	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	tf1 = Transform3s(transform.getRotation());
1561	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
1562		2	SET_LINE;
1563	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true);
1564		2	}
1565
1566	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(collide_planebox) {
1567	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Box s(5, 10, 20);
1568	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Plane hs(Vec3s(1, 0, 0), 0);
1569
1570	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf1;
1571	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2;
1572
1573	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s transform;
1574	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	generateRandomTransform(extents, transform);
1575
1576	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s contact;
1577			Scalar depth;
1578	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s normal;
1579
1580	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1581	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
1582	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s p1(2.5, 0, 0);
1583	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s p2(0, 0, 0);
1584	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	contact << (p1 + p2) / 2;
1585		2	depth = -2.5;
1586	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	normal << 1, 0, 0; // (1, 0, 0) or (-1, 0, 0)
1587		2	SET_LINE;
1588	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1589
1590	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1591	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
1592	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	contact = transform.transform((p1 + p2) / 2);
1593		2	depth = -2.5;
1594	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(1, 0, 0); // (1, 0, 0) or (-1, 0, 0)
1595		2	SET_LINE;
1596	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1597
1598	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1599	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	tf2 = Transform3s(Vec3s(1.25, 0, 0));
1600	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	p2 << 1.25, 0, 0;
1601	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	contact << (p1 + p2) / 2;
1602		2	depth = -1.25;
1603	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	normal << 1, 0, 0;
1604		2	SET_LINE;
1605	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1606
1607	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1608	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	tf2 = transform * Transform3s(Vec3s(1.25, 0, 0));
1609	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	contact = transform.transform((p1 + p2) / 2);
1610		2	depth = -1.25;
1611	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(1, 0, 0);
1612		2	SET_LINE;
1613	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1614
1615	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1616	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	tf2 = Transform3s(Vec3s(-1.25, 0, 0));
1617	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	p1 << -2.5, 0, 0;
1618	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	p2 << -1.25, 0, 0;
1619	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	contact << (p1 + p2) / 2;
1620		2	depth = -1.25;
1621	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	normal << -1, 0, 0;
1622		2	SET_LINE;
1623	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1624
1625	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1626	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	tf2 = transform * Transform3s(Vec3s(-1.25, 0, 0));
1627	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	contact = transform.transform((p1 + p2) / 2);
1628		2	depth = -1.25;
1629	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(-1, 0, 0);
1630		2	SET_LINE;
1631	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1632
1633	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1634	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	tf2 = Transform3s(Vec3s(Scalar(2.51), 0, 0));
1635		2	SET_LINE;
1636	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
1637
1638	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1639	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	tf2 = transform * Transform3s(Vec3s(Scalar(2.51), 0, 0));
1640		2	SET_LINE;
1641	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
1642
1643	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1644	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	tf2 = Transform3s(Vec3s(Scalar(-2.51), 0, 0));
1645		2	SET_LINE;
1646	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
1647
1648	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1649	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	tf2 = transform * Transform3s(Vec3s(Scalar(-2.51), 0, 0));
1650		2	SET_LINE;
1651	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
1652
1653	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	tf1 = Transform3s(transform.getRotation());
1654	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
1655		2	SET_LINE;
1656	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true);
1657		2	}
1658
1659	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(collide_halfspacecapsule) {
1660	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Capsule s(5, 10);
1661	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Halfspace hs(Vec3s(1, 0, 0), 0);
1662
1663	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf1;
1664	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2;
1665
1666	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s transform;
1667	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	generateRandomTransform(extents, transform);
1668
1669	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s contact;
1670			Scalar depth;
1671	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s normal;
1672
1673	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1674	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
1675	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	contact << -2.5, 0, 0;
1676		2	depth = -5;
1677	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	normal << -1, 0, 0;
1678		2	SET_LINE;
1679	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1680
1681	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1682	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
1683	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(-2.5, 0, 0));
1684		2	depth = -5;
1685	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(-1, 0, 0);
1686		2	SET_LINE;
1687	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1688
1689	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1690	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	tf2 = Transform3s(Vec3s(2.5, 0, 0));
1691	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	contact << -1.25, 0, 0;
1692		2	depth = -7.5;
1693	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	normal << -1, 0, 0;
1694		2	SET_LINE;
1695	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1696
1697	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1698	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	tf2 = transform * Transform3s(Vec3s(2.5, 0, 0));
1699	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(-1.25, 0, 0));
1700		2	depth = -7.5;
1701	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(-1, 0, 0);
1702		2	SET_LINE;
1703	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1704
1705	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1706	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	tf2 = Transform3s(Vec3s(-2.5, 0, 0));
1707	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	contact << -3.75, 0, 0;
1708		2	depth = -2.5;
1709	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	normal << -1, 0, 0;
1710		2	SET_LINE;
1711	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1712
1713	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1714	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	tf2 = transform * Transform3s(Vec3s(-2.5, 0, 0));
1715	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(-3.75, 0, 0));
1716		2	depth = -2.5;
1717	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(-1, 0, 0);
1718		2	SET_LINE;
1719	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1720
1721	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1722	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	tf2 = Transform3s(Vec3s(Scalar(5.1), 0, 0));
1723	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	contact << Scalar(0.05), 0, 0;
1724		2	depth = Scalar(-10.1);
1725	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	normal << -1, 0, 0;
1726		2	SET_LINE;
1727	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1728
1729	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1730	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	tf2 = transform * Transform3s(Vec3s(Scalar(5.1), 0, 0));
1731	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(Scalar(0.05), 0, 0));
1732		2	depth = Scalar(-10.1);
1733	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(-1, 0, 0);
1734		2	SET_LINE;
1735	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1736
1737	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1738	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	tf2 = Transform3s(Vec3s(Scalar(-5.1), 0, 0));
1739		2	SET_LINE;
1740	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
1741
1742	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1743	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	tf2 = transform * Transform3s(Vec3s(Scalar(-5.1), 0, 0));
1744		2	SET_LINE;
1745	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
1746
1747	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	hs = Halfspace(Vec3s(0, 1, 0), 0);
1748
1749	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1750	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
1751	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	contact << 0, -2.5, 0;
1752		2	depth = -5;
1753	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	normal << 0, -1, 0;
1754		2	SET_LINE;
1755	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1756
1757	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1758	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
1759	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(0, -2.5, 0));
1760		2	depth = -5;
1761	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, -1, 0);
1762		2	SET_LINE;
1763	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1764
1765	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1766	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	tf2 = Transform3s(Vec3s(0, 2.5, 0));
1767	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	contact << 0, -1.25, 0;
1768		2	depth = -7.5;
1769	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	normal << 0, -1, 0;
1770		2	SET_LINE;
1771	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1772
1773	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1774	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	tf2 = transform * Transform3s(Vec3s(0, 2.5, 0));
1775	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(0, -1.25, 0));
1776		2	depth = -7.5;
1777	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, -1, 0);
1778		2	SET_LINE;
1779	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1780
1781	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1782	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	tf2 = Transform3s(Vec3s(0, -2.5, 0));
1783	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	contact << 0, -3.75, 0;
1784		2	depth = -2.5;
1785	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	normal << 0, -1, 0;
1786		2	SET_LINE;
1787	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1788
1789	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1790	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	tf2 = transform * Transform3s(Vec3s(0, -2.5, 0));
1791	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(0, -3.75, 0));
1792		2	depth = -2.5;
1793	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, -1, 0);
1794		2	SET_LINE;
1795	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1796
1797	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1798	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	tf2 = Transform3s(Vec3s(0, Scalar(5.1), 0));
1799	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	contact << 0, Scalar(0.05), 0;
1800		2	depth = Scalar(-10.1);
1801	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	normal << 0, -1, 0;
1802		2	SET_LINE;
1803	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1804
1805	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1806	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	tf2 = transform * Transform3s(Vec3s(0, Scalar(5.1), 0));
1807	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(0, Scalar(0.05), 0));
1808		2	depth = Scalar(-10.1);
1809	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, -1, 0);
1810		2	SET_LINE;
1811	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1812
1813	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1814	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	tf2 = Transform3s(Vec3s(0, Scalar(-5.1), 0));
1815		2	SET_LINE;
1816	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
1817
1818	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1819	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	tf2 = transform * Transform3s(Vec3s(0, Scalar(-5.1), 0));
1820		2	SET_LINE;
1821	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
1822
1823	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	hs = Halfspace(Vec3s(0, 0, 1), 0);
1824
1825	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1826	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
1827	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	contact << 0, 0, -5;
1828		2	depth = -10;
1829	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	normal << 0, 0, -1;
1830		2	SET_LINE;
1831	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1832
1833	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1834	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
1835	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(0, 0, -5));
1836		2	depth = -10;
1837	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, 0, -1);
1838		2	SET_LINE;
1839	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1840
1841	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1842	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	tf2 = Transform3s(Vec3s(0, 0, 2.5));
1843	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	contact << 0, 0, -3.75;
1844		2	depth = -12.5;
1845	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	normal << 0, 0, -1;
1846		2	SET_LINE;
1847	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1848
1849	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1850	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	tf2 = transform * Transform3s(Vec3s(0, 0, 2.5));
1851	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(0, 0, -3.75));
1852		2	depth = -12.5;
1853	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, 0, -1);
1854		2	SET_LINE;
1855	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1856
1857	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1858	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	tf2 = Transform3s(Vec3s(0, 0, -2.5));
1859	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	contact << 0, 0, -6.25;
1860		2	depth = -7.5;
1861	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	normal << 0, 0, -1;
1862		2	SET_LINE;
1863	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1864
1865	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1866	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	tf2 = transform * Transform3s(Vec3s(0, 0, -2.5));
1867	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(0, 0, -6.25));
1868		2	depth = -7.5;
1869	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, 0, -1);
1870		2	SET_LINE;
1871	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1872
1873	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1874	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	tf2 = Transform3s(Vec3s(0, 0, Scalar(10.1)));
1875	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	contact << 0, 0, Scalar(0.05);
1876		2	depth = Scalar(-20.1);
1877	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	normal << 0, 0, -1;
1878		2	SET_LINE;
1879	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1880
1881	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1882	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	tf2 = transform * Transform3s(Vec3s(0, 0, Scalar(10.1)));
1883	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(0, 0, Scalar(0.05)));
1884		2	depth = Scalar(-20.1);
1885	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, 0, -1);
1886		2	SET_LINE;
1887	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
1888
1889	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1890	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	tf2 = Transform3s(Vec3s(0, 0, Scalar(-10.1)));
1891		2	SET_LINE;
1892	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
1893
1894	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1895	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	tf2 = transform * Transform3s(Vec3s(0, 0, Scalar(-10.1)));
1896		2	SET_LINE;
1897	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
1898		2	}
1899
1900	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(collide_planecapsule) {
1901	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Capsule s(5, 10);
1902	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Plane hs(Vec3s(1, 0, 0), 0);
1903
1904	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf1;
1905	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2;
1906
1907	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s transform;
1908	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	generateRandomTransform(extents, transform);
1909
1910	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s contact;
1911			Scalar depth;
1912	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s normal;
1913
1914	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1915	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
1916	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	contact << 0, 0, 0;
1917		2	depth = -5;
1918	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	normal << 1, 0, 0; // (1, 0, 0) or (-1, 0, 0)
1919		2	SET_LINE;
1920	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, 0x0, 0x0, 0x0, true);
1921
1922	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1923	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
1924	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(0, 0, 0));
1925		2	depth = -5;
1926	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(1, 0, 0); // (1, 0, 0) or (-1, 0, 0)
1927		2	SET_LINE;
1928	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, 0x0, 0x0, 0x0, true);
1929
1930	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1931	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	tf2 = Transform3s(Vec3s(2.5, 0, 0));
1932	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	contact << 2.5, 0, 0;
1933		2	depth = -2.5;
1934	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	normal << 1, 0, 0;
1935		2	SET_LINE;
1936	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, 0x0, &depth, &normal);
1937
1938	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1939	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	tf2 = transform * Transform3s(Vec3s(2.5, 0, 0));
1940	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(2.5, 0, 0));
1941		2	depth = -2.5;
1942	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(1, 0, 0);
1943		2	SET_LINE;
1944	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, 0x0, &depth, &normal);
1945
1946	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1947	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	tf2 = Transform3s(Vec3s(-2.5, 0, 0));
1948	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	contact << -2.5, 0, 0;
1949		2	depth = -2.5;
1950	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	normal << -1, 0, 0;
1951		2	SET_LINE;
1952	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, 0x0, &depth, &normal);
1953
1954	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1955	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	tf2 = transform * Transform3s(Vec3s(-2.5, 0, 0));
1956	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(-2.5, 0, 0));
1957		2	depth = -2.5;
1958	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(-1, 0, 0);
1959		2	SET_LINE;
1960	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, 0x0, &depth, &normal);
1961
1962	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1963	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	tf2 = Transform3s(Vec3s(Scalar(5.1), 0, 0));
1964		2	SET_LINE;
1965	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
1966
1967	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1968	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	tf2 = transform * Transform3s(Vec3s(Scalar(5.1), 0, 0));
1969		2	SET_LINE;
1970	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
1971
1972	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1973	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	tf2 = Transform3s(Vec3s(Scalar(-5.1), 0, 0));
1974		2	SET_LINE;
1975	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
1976
1977	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1978	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	tf2 = transform * Transform3s(Vec3s(Scalar(-5.1), 0, 0));
1979		2	SET_LINE;
1980	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
1981
1982	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	hs = Plane(Vec3s(0, 1, 0), 0);
1983
1984	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
1985	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
1986	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	contact << 0, 0, 0;
1987		2	depth = -5;
1988	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	normal << 0, 1, 0; // (0, 1, 0) or (0, -1, 0)
1989		2	SET_LINE;
1990	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, 0x0, &depth, 0x0, true);
1991
1992	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
1993	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
1994	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(0, 0, 0));
1995		2	depth = -5;
1996	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, 1, 0); // (0, 1, 0) or (0, -1, 0)
1997		2	SET_LINE;
1998	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, 0x0, &depth, &normal, true);
1999
2000	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2001	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	tf2 = Transform3s(Vec3s(0, 2.5, 0));
2002	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	contact << 0, 2.5, 0;
2003		2	depth = -2.5;
2004	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	normal << 0, 1, 0;
2005		2	SET_LINE;
2006	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, 0x0, &depth, 0x0);
2007
2008	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2009	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	tf2 = transform * Transform3s(Vec3s(0, 2.5, 0));
2010	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(0, 2.5, 0));
2011		2	depth = -2.5;
2012	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, 1, 0);
2013		2	SET_LINE;
2014	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, 0x0, &depth, 0x0);
2015
2016	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2017	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	tf2 = Transform3s(Vec3s(0, -2.5, 0));
2018	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	contact << 0, -2.5, 0;
2019		2	depth = -2.5;
2020	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	normal << 0, -1, 0;
2021		2	SET_LINE;
2022	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, 0x0, &depth, &normal);
2023
2024	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2025	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	tf2 = transform * Transform3s(Vec3s(0, -2.5, 0));
2026	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(0, -2.5, 0));
2027		2	depth = -2.5;
2028	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, -1, 0);
2029		2	SET_LINE;
2030	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, 0x0, &depth, &normal);
2031
2032	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2033	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	tf2 = Transform3s(Vec3s(0, Scalar(5.1), 0));
2034		2	SET_LINE;
2035	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
2036
2037	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2038	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	tf2 = transform * Transform3s(Vec3s(0, Scalar(5.1), 0));
2039		2	SET_LINE;
2040	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
2041
2042	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2043	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	tf2 = Transform3s(Vec3s(0, Scalar(-5.1), 0));
2044		2	SET_LINE;
2045	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
2046
2047	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2048	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	tf2 = transform * Transform3s(Vec3s(0, Scalar(-5.1), 0));
2049		2	SET_LINE;
2050	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
2051
2052	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	hs = Plane(Vec3s(0, 0, 1), 0);
2053
2054	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2055	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
2056	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	contact << 0, 0, 0;
2057		2	depth = -10;
2058	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	normal << 0, 0, 1; // (0, 0, 1) or (0, 0, -1)
2059		2	SET_LINE;
2060	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, 0x0, 0x0, 0x0, true);
2061
2062	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2063	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
2064	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(0, 0, 0));
2065		2	depth = -10;
2066	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, 0, 1); // (0, 0, 1) or (0, 0, -1)
2067		2	SET_LINE;
2068	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, 0x0, &depth, 0x0, true);
2069
2070	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2071	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	tf2 = Transform3s(Vec3s(0, 0, 2.5));
2072	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	contact << 0, 0, 2.5;
2073		2	depth = -7.5;
2074	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	normal << 0, 0, 1;
2075		2	SET_LINE;
2076	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, 0x0, &depth, 0x0);
2077
2078	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2079	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	tf2 = transform * Transform3s(Vec3s(0, 0, 2.5));
2080	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(0, 0, 2.5));
2081		2	depth = -7.5;
2082	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, 0, 1);
2083		2	SET_LINE;
2084	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, 0x0, &depth, 0x0);
2085
2086	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2087	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	tf2 = Transform3s(Vec3s(0, 0, -2.5));
2088	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	contact << 0, 0, -2.5;
2089		2	depth = -7.5;
2090	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	normal << 0, 0, -1;
2091		2	SET_LINE;
2092	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, 0x0, &depth, 0x0);
2093
2094	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2095	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	tf2 = transform * Transform3s(Vec3s(0, 0, -2.5));
2096	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(0, 0, -2.5));
2097		2	depth = -7.5;
2098	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, 0, -1);
2099		2	SET_LINE;
2100	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, 0x0, &depth, 0x0);
2101
2102	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2103	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	tf2 = Transform3s(Vec3s(0, 0, Scalar(10.1)));
2104		2	SET_LINE;
2105	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
2106
2107	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2108	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	tf2 = transform * Transform3s(Vec3s(0, 0, Scalar(10.1)));
2109		2	SET_LINE;
2110	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
2111
2112	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2113	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	tf2 = Transform3s(Vec3s(0, 0, Scalar(-10.1)));
2114		2	SET_LINE;
2115	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
2116
2117	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2118	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	tf2 = transform * Transform3s(Vec3s(0, 0, Scalar(-10.1)));
2119		2	SET_LINE;
2120	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
2121		2	}
2122
2123	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(collide_halfspacecylinder) {
2124	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Cylinder s(5, 10);
2125	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Halfspace hs(Vec3s(1, 0, 0), 0);
2126
2127	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf1;
2128	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2;
2129
2130	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s transform;
2131	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	generateRandomTransform(extents, transform);
2132
2133	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s contact;
2134			Scalar depth;
2135	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s normal;
2136
2137	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2138	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
2139	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	contact << -2.5, 0, 0;
2140		2	depth = -5;
2141	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	normal << -1, 0, 0;
2142		2	SET_LINE;
2143	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2144
2145	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2146	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
2147	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(-2.5, 0, 0));
2148		2	depth = -5;
2149	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(-1, 0, 0);
2150		2	SET_LINE;
2151	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2152
2153	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2154	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	tf2 = Transform3s(Vec3s(2.5, 0, 0));
2155	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	contact << -1.25, 0, 0;
2156		2	depth = -7.5;
2157	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	normal << -1, 0, 0;
2158		2	SET_LINE;
2159	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2160
2161	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2162	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	tf2 = transform * Transform3s(Vec3s(2.5, 0, 0));
2163	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(-1.25, 0, 0));
2164		2	depth = -7.5;
2165	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(-1, 0, 0);
2166		2	SET_LINE;
2167	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2168
2169	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2170	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	tf2 = Transform3s(Vec3s(-2.5, 0, 0));
2171	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	contact << -3.75, 0, 0;
2172		2	depth = -2.5;
2173	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	normal << -1, 0, 0;
2174		2	SET_LINE;
2175	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2176
2177	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2178	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	tf2 = transform * Transform3s(Vec3s(-2.5, 0, 0));
2179	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(-3.75, 0, 0));
2180		2	depth = -2.5;
2181	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(-1, 0, 0);
2182		2	SET_LINE;
2183	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2184
2185	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2186	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	tf2 = Transform3s(Vec3s(Scalar(5.1), 0, 0));
2187	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	contact << Scalar(0.05), 0, 0;
2188		2	depth = Scalar(-10.1);
2189	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	normal << -1, 0, 0;
2190		2	SET_LINE;
2191	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2192
2193	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2194	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	tf2 = transform * Transform3s(Vec3s(Scalar(5.1), 0, 0));
2195	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(Scalar(0.05), 0, 0));
2196		2	depth = Scalar(-10.1);
2197	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(-1, 0, 0);
2198		2	SET_LINE;
2199	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2200
2201	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2202	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	tf2 = Transform3s(Vec3s(Scalar(-5.1), 0, 0));
2203		2	SET_LINE;
2204	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
2205
2206	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2207	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	tf2 = transform * Transform3s(Vec3s(Scalar(-5.1), 0, 0));
2208		2	SET_LINE;
2209	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
2210
2211	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	hs = Halfspace(Vec3s(0, 1, 0), 0);
2212
2213	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2214	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
2215	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	contact << 0, -2.5, 0;
2216		2	depth = -5;
2217	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	normal << 0, -1, 0;
2218		2	SET_LINE;
2219	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2220
2221	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2222	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
2223	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(0, -2.5, 0));
2224		2	depth = -5;
2225	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, -1, 0);
2226		2	SET_LINE;
2227	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2228
2229	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2230	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	tf2 = Transform3s(Vec3s(0, 2.5, 0));
2231	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	contact << 0, -1.25, 0;
2232		2	depth = -7.5;
2233	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	normal << 0, -1, 0;
2234		2	SET_LINE;
2235	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2236
2237	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2238	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	tf2 = transform * Transform3s(Vec3s(0, 2.5, 0));
2239	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(0, -1.25, 0));
2240		2	depth = -7.5;
2241	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, -1, 0);
2242		2	SET_LINE;
2243	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2244
2245	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2246	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	tf2 = Transform3s(Vec3s(0, -2.5, 0));
2247	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	contact << 0, -3.75, 0;
2248		2	depth = -2.5;
2249	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	normal << 0, -1, 0;
2250		2	SET_LINE;
2251	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2252
2253	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2254	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	tf2 = transform * Transform3s(Vec3s(0, -2.5, 0));
2255	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(0, -3.75, 0));
2256		2	depth = -2.5;
2257	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, -1, 0);
2258		2	SET_LINE;
2259	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2260
2261	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2262	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	tf2 = Transform3s(Vec3s(0, Scalar(5.1), 0));
2263	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	contact << 0, Scalar(0.05), 0;
2264		2	depth = Scalar(-10.1);
2265	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	normal << 0, -1, 0;
2266		2	SET_LINE;
2267	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2268
2269	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2270	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	tf2 = transform * Transform3s(Vec3s(0, Scalar(5.1), 0));
2271	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(0, Scalar(0.05), 0));
2272		2	depth = Scalar(-10.1);
2273	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, -1, 0);
2274		2	SET_LINE;
2275	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2276
2277	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2278	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	tf2 = Transform3s(Vec3s(0, Scalar(-5.1), 0));
2279		2	SET_LINE;
2280	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
2281
2282	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2283	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	tf2 = transform * Transform3s(Vec3s(0, Scalar(-5.1), 0));
2284		2	SET_LINE;
2285	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
2286
2287	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	hs = Halfspace(Vec3s(0, 0, 1), 0);
2288
2289	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2290	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
2291	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	contact << 0, 0, -2.5;
2292		2	depth = -5;
2293	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	normal << 0, 0, -1;
2294		2	SET_LINE;
2295	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2296
2297	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2298	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
2299	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(0, 0, -2.5));
2300		2	depth = -5;
2301	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, 0, -1);
2302		2	SET_LINE;
2303	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2304
2305	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2306	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	tf2 = Transform3s(Vec3s(0, 0, 2.5));
2307	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	contact << 0, 0, -1.25;
2308		2	depth = -7.5;
2309	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	normal << 0, 0, -1;
2310		2	SET_LINE;
2311	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2312
2313	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2314	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	tf2 = transform * Transform3s(Vec3s(0, 0, 2.5));
2315	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(0, 0, -1.25));
2316		2	depth = -7.5;
2317	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, 0, -1);
2318		2	SET_LINE;
2319	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2320
2321	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2322	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	tf2 = Transform3s(Vec3s(0, 0, -2.5));
2323	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	contact << 0, 0, -3.75;
2324		2	depth = -2.5;
2325	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	normal << 0, 0, -1;
2326		2	SET_LINE;
2327	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2328
2329	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2330	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	tf2 = transform * Transform3s(Vec3s(0, 0, -2.5));
2331	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(0, 0, -3.75));
2332		2	depth = -2.5;
2333	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, 0, -1);
2334		2	SET_LINE;
2335	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2336
2337	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2338	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	tf2 = Transform3s(Vec3s(0, 0, Scalar(5.1)));
2339	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	contact << 0, 0, Scalar(0.05);
2340		2	depth = Scalar(-10.1);
2341	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	normal << 0, 0, -1;
2342		2	SET_LINE;
2343	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2344
2345	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2346	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	tf2 = transform * Transform3s(Vec3s(0, 0, Scalar(5.1)));
2347	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(0, 0, Scalar(0.05)));
2348		2	depth = Scalar(-10.1);
2349	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, 0, -1);
2350		2	SET_LINE;
2351	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2352
2353	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2354	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	tf2 = Transform3s(Vec3s(0, 0, Scalar(-5.1)));
2355		2	SET_LINE;
2356	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
2357
2358	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2359	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	tf2 = transform * Transform3s(Vec3s(0, 0, Scalar(-5.1)));
2360		2	SET_LINE;
2361	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
2362		2	}
2363
2364	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(collide_planecylinder) {
2365	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Cylinder s(5, 10);
2366	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Plane hs(Vec3s(1, 0, 0), 0);
2367
2368	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf1;
2369	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2;
2370
2371	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s transform;
2372	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	generateRandomTransform(extents, transform);
2373
2374	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s contact;
2375			Scalar depth;
2376	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s normal;
2377	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Vec3s p1, p2;
2378
2379		2	Scalar eps = Scalar(1e-6);
2380	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	tf1 = Transform3s(Vec3s(eps, 0, 0));
2381	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
2382	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	p1 << -5 + eps, 0, 0;
2383	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	p2 << 0, 0, 0;
2384	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	contact << (p1 + p2) / 2;
2385		2	depth = -5 + eps;
2386	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	normal << -1, 0, 0; // (1, 0, 0) or (-1, 0, 0)
2387		2	SET_LINE;
2388	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal, true);
2389
2390	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = transform * tf1;
2391	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
2392	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	contact = transform.transform((p1 + p2) / 2);
2393		2	depth = -5 + eps;
2394			normal =
2395	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	transform.getRotation() * Vec3s(-1, 0, 0); // (1, 0, 0) or (-1, 0, 0)
2396		2	SET_LINE;
2397	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal, true);
2398
2399		2	eps = Scalar(-1e-6);
2400	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	tf1 = Transform3s(Vec3s(eps, 0, 0));
2401	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
2402	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	p1 << 5 + eps, 0, 0;
2403	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	p2 << 0, 0, 0;
2404	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	contact << (p1 + p2) / 2;
2405		2	depth = -5 - eps;
2406	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	normal << -1, 0, 0; // (1, 0, 0) or (-1, 0, 0)
2407		2	SET_LINE;
2408	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal, true);
2409
2410	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = transform * tf1;
2411	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
2412	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	contact = transform.transform((p1 + p2) / 2);
2413		2	depth = -5 - eps;
2414			normal =
2415	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	transform.getRotation() * Vec3s(-1, 0, 0); // (1, 0, 0) or (-1, 0, 0)
2416		2	SET_LINE;
2417	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal, true);
2418
2419	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2420	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	tf2 = Transform3s(Vec3s(2.5, 0, 0));
2421	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	p1 << 5, 0, 0;
2422	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	p2 << 2.5, 0, 0;
2423	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	contact << (p1 + p2) / 2;
2424		2	depth = -2.5;
2425	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	normal << 1, 0, 0;
2426		2	SET_LINE;
2427	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2428
2429	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2430	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	tf2 = transform * Transform3s(Vec3s(2.5, 0, 0));
2431	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	contact = transform.transform((p1 + p2) / 2);
2432		2	depth = -2.5;
2433	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(1, 0, 0);
2434		2	SET_LINE;
2435	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2436
2437	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2438	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	tf2 = Transform3s(Vec3s(-2.5, 0, 0));
2439	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	p1 << -5, 0, 0;
2440	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	p2 << -2.5, 0, 0;
2441	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	contact << (p1 + p2) / 2;
2442		2	depth = -2.5;
2443	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	normal << -1, 0, 0;
2444		2	SET_LINE;
2445	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2446
2447	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2448	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	tf2 = transform * Transform3s(Vec3s(-2.5, 0, 0));
2449	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	contact = transform.transform((p1 + p2) / 2);
2450		2	depth = -2.5;
2451	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(-1, 0, 0);
2452		2	SET_LINE;
2453	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2454
2455	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2456	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	tf2 = Transform3s(Vec3s(Scalar(5.1), 0, 0));
2457		2	SET_LINE;
2458	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
2459
2460	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2461	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	tf2 = transform * Transform3s(Vec3s(Scalar(5.1), 0, 0));
2462		2	SET_LINE;
2463	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
2464
2465	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2466	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	tf2 = Transform3s(Vec3s(Scalar(-5.1), 0, 0));
2467		2	SET_LINE;
2468	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
2469
2470	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2471	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	tf2 = transform * Transform3s(Vec3s(Scalar(-5.1), 0, 0));
2472		2	SET_LINE;
2473	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
2474
2475	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	hs = Plane(Vec3s(0, 1, 0), 0);
2476
2477		2	eps = Scalar(1e-6);
2478	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	tf1 = Transform3s(Vec3s(0, eps, 0));
2479	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
2480	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	p1 << 0, -5 + eps, 0;
2481	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	p2 << 0, 0, 0;
2482	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	contact << (p1 + p2) / 2;
2483		2	depth = -5 + eps;
2484	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	normal << 0, 1, 0; // (1, 0, 0) or (-1, 0, 0)
2485		2	SET_LINE;
2486	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal, true);
2487
2488	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = transform * tf1;
2489	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
2490	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	contact = transform.transform((p1 + p2) / 2);
2491		2	depth = -5 + eps;
2492	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, 1, 0); // (1, 0, 0) or (-1, 0, 0)
2493		2	SET_LINE;
2494	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal, true);
2495
2496		2	eps = Scalar(-1e-6);
2497	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	tf1 = Transform3s(Vec3s(0, eps, 0));
2498	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
2499	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	p1 << 0, 5 + eps, 0;
2500	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	p2 << 0, 0, 0;
2501	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	contact << (p1 + p2) / 2;
2502		2	depth = -5 - eps;
2503	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	normal << 0, 1, 0; // (1, 0, 0) or (-1, 0, 0)
2504		2	SET_LINE;
2505	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal, true);
2506
2507	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = transform * tf1;
2508	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
2509	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	contact = transform.transform((p1 + p2) / 2);
2510		2	depth = -5 - eps;
2511	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, 1, 0); // (1, 0, 0) or (-1, 0, 0)
2512		2	SET_LINE;
2513	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal, true);
2514
2515	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2516	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	tf2 = Transform3s(Vec3s(0, 2.5, 0));
2517	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	p1 << 0, 5, 0;
2518	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	p2 << 0, 2.5, 0;
2519	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	contact << (p1 + p2) / 2;
2520		2	depth = -2.5;
2521	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	normal << 0, 1, 0;
2522		2	SET_LINE;
2523	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2524
2525	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2526	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	tf2 = transform * Transform3s(Vec3s(0, 2.5, 0));
2527	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	contact = transform.transform((p1 + p2) / 2);
2528		2	depth = -2.5;
2529	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, 1, 0);
2530		2	SET_LINE;
2531	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2532
2533	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2534	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	tf2 = Transform3s(Vec3s(0, -2.5, 0));
2535	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	p1 << 0, -5, 0;
2536	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	p2 << 0, -2.5, 0;
2537	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	contact << (p1 + p2) / 2;
2538		2	depth = -2.5;
2539	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	normal << 0, -1, 0;
2540		2	SET_LINE;
2541	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2542
2543	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2544	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	tf2 = transform * Transform3s(Vec3s(0, -2.5, 0));
2545	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	contact = transform.transform((p1 + p2) / 2);
2546		2	depth = -2.5;
2547	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, -1, 0);
2548		2	SET_LINE;
2549	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2550
2551	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2552	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	tf2 = Transform3s(Vec3s(0, Scalar(5.1), 0));
2553		2	SET_LINE;
2554	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
2555
2556	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2557	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	tf2 = transform * Transform3s(Vec3s(0, Scalar(5.1), 0));
2558		2	SET_LINE;
2559	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
2560
2561	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2562	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	tf2 = Transform3s(Vec3s(0, Scalar(-5.1), 0));
2563		2	SET_LINE;
2564	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
2565
2566	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2567	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	tf2 = transform * Transform3s(Vec3s(0, Scalar(-5.1), 0));
2568		2	SET_LINE;
2569	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
2570
2571	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	hs = Plane(Vec3s(0, 0, 1), 0);
2572
2573		2	eps = Scalar(1e-6);
2574	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	tf1 = Transform3s(Vec3s(0, 0, eps));
2575	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
2576	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	p1 << 0, 0, -5 + eps;
2577	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	p2 << 0, 0, 0;
2578	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	contact << (p1 + p2) / 2;
2579		2	depth = -5 + eps;
2580	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	normal << 0, 0, 1; // (1, 0, 0) or (-1, 0, 0)
2581		2	SET_LINE;
2582	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal, true);
2583
2584	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = transform * tf1;
2585	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
2586	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	contact = transform.transform((p1 + p2) / 2);
2587		2	depth = -5 + eps;
2588	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, 0, 1); // (1, 0, 0) or (-1, 0, 0)
2589		2	SET_LINE;
2590	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal, true);
2591
2592		2	eps = Scalar(-1e-6);
2593	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	tf1 = Transform3s(Vec3s(0, 0, eps));
2594	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
2595	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	p1 << 0, 0, 5 + eps;
2596	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	p2 << 0, 0, 0;
2597	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	contact << (p1 + p2) / 2;
2598		2	depth = -5 - eps;
2599	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	normal << 0, 0, 1; // (1, 0, 0) or (-1, 0, 0)
2600		2	SET_LINE;
2601	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal, true);
2602
2603	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = transform * tf1;
2604	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
2605	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	contact = transform.transform((p1 + p2) / 2);
2606		2	depth = -5 - eps;
2607	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, 0, 1); // (1, 0, 0) or (-1, 0, 0)
2608		2	SET_LINE;
2609	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal, true);
2610
2611	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2612	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	tf2 = Transform3s(Vec3s(0, 0, 2.5));
2613	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	p1 << 0, 0, 5;
2614	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	p2 << 0, 0, 2.5;
2615	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	contact << (p1 + p2) / 2;
2616		2	depth = -2.5;
2617	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	normal << 0, 0, 1;
2618		2	SET_LINE;
2619	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2620
2621	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2622	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	tf2 = transform * Transform3s(Vec3s(0, 0, 2.5));
2623	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	contact = transform.transform((p1 + p2) / 2);
2624		2	depth = -2.5;
2625	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, 0, 1);
2626		2	SET_LINE;
2627	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2628
2629	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2630	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	tf2 = Transform3s(Vec3s(0, 0, -2.5));
2631	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	p1 << 0, 0, -5.;
2632	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	p2 << 0, 0, -2.5;
2633	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	contact << (p1 + p2) / 2;
2634		2	depth = -2.5;
2635	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	normal << 0, 0, -1;
2636		2	SET_LINE;
2637	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2638
2639	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2640	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	tf2 = transform * Transform3s(Vec3s(0, 0, -2.5));
2641	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	contact = transform.transform((p1 + p2) / 2);
2642		2	depth = -2.5;
2643	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, 0, -1);
2644		2	SET_LINE;
2645	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2646
2647	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2648	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	tf2 = Transform3s(Vec3s(0, 0, Scalar(10.1)));
2649		2	SET_LINE;
2650	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
2651
2652	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2653	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	tf2 = transform * Transform3s(Vec3s(0, 0, Scalar(10.1)));
2654		2	SET_LINE;
2655	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
2656
2657	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2658	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	tf2 = Transform3s(Vec3s(0, 0, Scalar(-10.1)));
2659		2	SET_LINE;
2660	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
2661
2662	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2663	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	tf2 = transform * Transform3s(Vec3s(0, 0, Scalar(-10.1)));
2664		2	SET_LINE;
2665	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
2666		2	}
2667
2668	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(collide_halfspacecone) {
2669	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Cone s(5, 10);
2670	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Halfspace hs(Vec3s(1, 0, 0), 0);
2671
2672	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf1;
2673	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2;
2674
2675	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s transform;
2676	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	generateRandomTransform(extents, transform);
2677
2678	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s contact;
2679			Scalar depth;
2680	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s normal;
2681
2682	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2683	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
2684	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	contact << -2.5, 0, -5;
2685		2	depth = -5;
2686	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	normal << -1, 0, 0;
2687		2	SET_LINE;
2688	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2689
2690	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2691	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
2692	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(-2.5, 0, -5));
2693		2	depth = -5;
2694	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(-1, 0, 0);
2695		2	SET_LINE;
2696	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2697
2698	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2699	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	tf2 = Transform3s(Vec3s(2.5, 0, 0));
2700	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	contact << -1.25, 0, -5;
2701		2	depth = -7.5;
2702	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	normal << -1, 0, 0;
2703		2	SET_LINE;
2704	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2705
2706	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2707	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	tf2 = transform * Transform3s(Vec3s(2.5, 0, 0));
2708	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(-1.25, 0, -5));
2709		2	depth = -7.5;
2710	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(-1, 0, 0);
2711		2	SET_LINE;
2712	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2713
2714	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2715	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	tf2 = Transform3s(Vec3s(-2.5, 0, 0));
2716	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	contact << -3.75, 0, -5;
2717		2	depth = -2.5;
2718	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	normal << -1, 0, 0;
2719		2	SET_LINE;
2720	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2721
2722	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2723	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	tf2 = transform * Transform3s(Vec3s(-2.5, 0, 0));
2724	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(-3.75, 0, -5));
2725		2	depth = -2.5;
2726	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(-1, 0, 0);
2727		2	SET_LINE;
2728	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2729
2730	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2731	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	tf2 = Transform3s(Vec3s(Scalar(5.1), 0, 0));
2732	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	contact << Scalar(0.05), 0, -5;
2733		2	depth = Scalar(-10.1);
2734	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	normal << -1, 0, 0;
2735		2	SET_LINE;
2736	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2737
2738	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2739	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	tf2 = transform * Transform3s(Vec3s(Scalar(5.1), 0, 0));
2740	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(Scalar(0.05), 0, -5));
2741		2	depth = Scalar(-10.1);
2742	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(-1, 0, 0);
2743		2	SET_LINE;
2744	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2745
2746	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2747	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	tf2 = Transform3s(Vec3s(Scalar(-5.1), 0, 0));
2748		2	SET_LINE;
2749	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
2750
2751	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2752	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	tf2 = transform * Transform3s(Vec3s(Scalar(-5.1), 0, 0));
2753		2	SET_LINE;
2754	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
2755
2756	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	hs = Halfspace(Vec3s(0, 1, 0), 0);
2757
2758	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2759	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
2760	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	contact << 0, -2.5, -5;
2761		2	depth = -5;
2762	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	normal << 0, -1, 0;
2763		2	SET_LINE;
2764	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2765
2766	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2767	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
2768	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(0, -2.5, -5));
2769		2	depth = -5;
2770	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, -1, 0);
2771		2	SET_LINE;
2772	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2773
2774	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2775	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	tf2 = Transform3s(Vec3s(0, 2.5, 0));
2776	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	contact << 0, -1.25, -5;
2777		2	depth = -7.5;
2778	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	normal << 0, -1, 0;
2779		2	SET_LINE;
2780	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2781
2782	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2783	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	tf2 = transform * Transform3s(Vec3s(0, 2.5, 0));
2784	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(0, -1.25, -5));
2785		2	depth = -7.5;
2786	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, -1, 0);
2787		2	SET_LINE;
2788	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2789
2790	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2791	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	tf2 = Transform3s(Vec3s(0, -2.5, 0));
2792	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	contact << 0, -3.75, -5;
2793		2	depth = -2.5;
2794	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	normal << 0, -1, 0;
2795		2	SET_LINE;
2796	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2797
2798	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2799	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	tf2 = transform * Transform3s(Vec3s(0, -2.5, 0));
2800	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(0, -3.75, -5));
2801		2	depth = -2.5;
2802	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, -1, 0);
2803		2	SET_LINE;
2804	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2805
2806	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2807	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	tf2 = Transform3s(Vec3s(0, Scalar(5.1), 0));
2808	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	contact << 0, Scalar(0.05), -5;
2809		2	depth = Scalar(-10.1);
2810	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	normal << 0, -1, 0;
2811		2	SET_LINE;
2812	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2813
2814	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2815	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	tf2 = transform * Transform3s(Vec3s(0, Scalar(5.1), 0));
2816	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(0, Scalar(0.05), -5));
2817		2	depth = Scalar(-10.1);
2818	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, -1, 0);
2819		2	SET_LINE;
2820	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2821
2822	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2823	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	tf2 = Transform3s(Vec3s(0, Scalar(-5.1), 0));
2824		2	SET_LINE;
2825	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
2826
2827	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2828	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	tf2 = transform * Transform3s(Vec3s(0, Scalar(-5.1), 0));
2829		2	SET_LINE;
2830	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
2831
2832	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	hs = Halfspace(Vec3s(0, 0, 1), 0);
2833
2834	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2835	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
2836	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	contact << 0, 0, -2.5;
2837		2	depth = -5;
2838	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	normal << 0, 0, -1;
2839		2	SET_LINE;
2840	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2841
2842	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2843	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
2844	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(0, 0, -2.5));
2845		2	depth = -5;
2846	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, 0, -1);
2847		2	SET_LINE;
2848	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2849
2850	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2851	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	tf2 = Transform3s(Vec3s(0, 0, 2.5));
2852	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	contact << 0, 0, -1.25;
2853		2	depth = -7.5;
2854	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	normal << 0, 0, -1;
2855		2	SET_LINE;
2856	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2857
2858	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2859	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	tf2 = transform * Transform3s(Vec3s(0, 0, 2.5));
2860	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(0, 0, -1.25));
2861		2	depth = -7.5;
2862	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, 0, -1);
2863		2	SET_LINE;
2864	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2865
2866	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2867	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	tf2 = Transform3s(Vec3s(0, 0, -2.5));
2868	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	contact << 0, 0, -3.75;
2869		2	depth = -2.5;
2870	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	normal << 0, 0, -1;
2871		2	SET_LINE;
2872	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2873
2874	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2875	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	tf2 = transform * Transform3s(Vec3s(0, 0, -2.5));
2876	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(0, 0, -3.75));
2877		2	depth = -2.5;
2878	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, 0, -1);
2879		2	SET_LINE;
2880	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2881
2882	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2883	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	tf2 = Transform3s(Vec3s(0, 0, Scalar(5.1)));
2884	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	contact << 0, 0, Scalar(0.05);
2885		2	depth = Scalar(-10.1);
2886	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	normal << 0, 0, -1;
2887		2	SET_LINE;
2888	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2889
2890	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2891	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	tf2 = transform * Transform3s(Vec3s(0, 0, Scalar(5.1)));
2892	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = transform.transform(Vec3s(0, 0, Scalar(0.05)));
2893		2	depth = Scalar(-10.1);
2894	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, 0, -1);
2895		2	SET_LINE;
2896	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2897
2898	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2899	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	tf2 = Transform3s(Vec3s(0, 0, Scalar(-5.1)));
2900		2	SET_LINE;
2901	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
2902
2903	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2904	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	tf2 = transform * Transform3s(Vec3s(0, 0, Scalar(-5.1)));
2905		2	SET_LINE;
2906	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
2907		2	}
2908
2909	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(collide_planecone) {
2910	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Cone s(5, 10);
2911	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Plane hs(Vec3s(1, 0, 0), 0);
2912
2913	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf1;
2914	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2;
2915
2916	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s transform;
2917	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	generateRandomTransform(extents, transform);
2918
2919	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s contact;
2920			Scalar depth;
2921	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s normal;
2922	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Vec3s p1, p2;
2923
2924		2	Scalar eps = Scalar(1e-6);
2925	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	tf1 = Transform3s(Vec3s(eps, 0, 0));
2926	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
2927	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	p1 << -5 + eps, 0, -5;
2928	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	p2 << 0, 0, -5;
2929	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	contact << (p1 + p2) / 2;
2930		2	depth = -5 + eps;
2931	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	normal << 1, 0, 0; // (1, 0, 0) or (-1, 0, 0)
2932		2	SET_LINE;
2933	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal, true);
2934
2935	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = transform * tf1;
2936	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
2937	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	contact = transform.transform((p1 + p2) / 2);
2938		2	depth = -5 + eps;
2939			normal =
2940	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	transform.getRotation() * Vec3s(-1, 0, 0); // (1, 0, 0) or (-1, 0, 0)
2941		2	SET_LINE;
2942	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal, true);
2943
2944		2	eps = Scalar(-1e-6);
2945	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	tf1 = Transform3s(Vec3s(eps, 0, 0));
2946	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
2947	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	p1 << 5 + eps, 0, -5;
2948	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	p2 << 0, 0, -5;
2949	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	contact << (p1 + p2) / 2;
2950		2	depth = -5 - eps;
2951	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	normal << 1, 0, 0; // (1, 0, 0) or (-1, 0, 0)
2952		2	SET_LINE;
2953	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal, true);
2954
2955	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = transform * tf1;
2956	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
2957	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	contact = transform.transform((p1 + p2) / 2);
2958		2	depth = -5 - eps;
2959			normal =
2960	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	transform.getRotation() * Vec3s(-1, 0, 0); // (1, 0, 0) or (-1, 0, 0)
2961		2	SET_LINE;
2962	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal, true);
2963
2964	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2965	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	tf2 = Transform3s(Vec3s(2.5, 0, 0));
2966	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	p1 << 5, 0, -5;
2967	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	p2 << 2.5, 0, -5;
2968	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	contact << (p1 + p2) / 2;
2969		2	depth = -2.5;
2970	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	normal << 1, 0, 0;
2971		2	SET_LINE;
2972	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2973
2974	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2975	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	tf2 = transform * Transform3s(Vec3s(2.5, 0, 0));
2976	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	contact = transform.transform((p1 + p2) / 2);
2977		2	depth = -2.5;
2978	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(1, 0, 0);
2979		2	SET_LINE;
2980	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2981
2982	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
2983	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	tf2 = Transform3s(Vec3s(-2.5, 0, 0));
2984	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	p1 << -5, 0, -5;
2985	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	p2 << -2.5, 0, -5;
2986	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	contact << (p1 + p2) / 2;
2987		2	depth = -2.5;
2988	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	normal << -1, 0, 0;
2989		2	SET_LINE;
2990	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2991
2992	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
2993	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	tf2 = transform * Transform3s(Vec3s(-2.5, 0, 0));
2994	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	contact = transform.transform((p1 + p2) / 2);
2995		2	depth = -2.5;
2996	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(-1, 0, 0);
2997		2	SET_LINE;
2998	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
2999
3000	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
3001	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	tf2 = Transform3s(Vec3s(Scalar(5.1), 0, 0));
3002		2	SET_LINE;
3003	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
3004
3005	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
3006	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	tf2 = transform * Transform3s(Vec3s(Scalar(5.1), 0, 0));
3007		2	SET_LINE;
3008	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
3009
3010	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
3011	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	tf2 = Transform3s(Vec3s(Scalar(-5.1), 0, 0));
3012		2	SET_LINE;
3013	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
3014
3015	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
3016	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	tf2 = transform * Transform3s(Vec3s(Scalar(-5.1), 0, 0));
3017		2	SET_LINE;
3018	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
3019
3020	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	hs = Plane(Vec3s(0, 1, 0), 0);
3021
3022		2	eps = Scalar(1e-6);
3023	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	tf1 = Transform3s(Vec3s(0, eps, 0));
3024	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
3025	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	p1 << 0, -5 + eps, -5;
3026	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	p2 << 0, 0, -5;
3027	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	contact << (p1 + p2) / 2;
3028		2	depth = -5 + eps;
3029	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	normal << 0, 1, 0; // (1, 0, 0) or (-1, 0, 0)
3030		2	SET_LINE;
3031	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal, true);
3032
3033	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = transform * tf1;
3034	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
3035	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	contact = transform.transform((p1 + p2) / 2);
3036		2	depth = -5 + eps;
3037	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, 1, 0); // (1, 0, 0) or (-1, 0, 0)
3038		2	SET_LINE;
3039	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal, true);
3040
3041		2	eps = Scalar(-1e-6);
3042	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	tf1 = Transform3s(Vec3s(0, eps, 0));
3043	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
3044	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	p1 << 0, 5 + eps, -5;
3045	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	p2 << 0, 0, -5;
3046	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	contact << (p1 + p2) / 2;
3047		2	depth = -5 - eps;
3048	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	normal << 0, 1, 0; // (1, 0, 0) or (-1, 0, 0)
3049		2	SET_LINE;
3050	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal, true);
3051
3052	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = transform * tf1;
3053	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
3054	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	contact = transform.transform((p1 + p2) / 2);
3055		2	depth = -5 - eps;
3056	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, 1, 0); // (1, 0, 0) or (-1, 0, 0)
3057		2	SET_LINE;
3058	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal, true);
3059
3060	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
3061	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	tf2 = Transform3s(Vec3s(0, 2.5, 0));
3062	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	p1 << 0, 5, -5;
3063	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	p2 << 0, 2.5, -5;
3064	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	contact << (p1 + p2) / 2;
3065		2	depth = -2.5;
3066	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	normal << 0, 1, 0;
3067		2	SET_LINE;
3068	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
3069
3070	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
3071	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	tf2 = transform * Transform3s(Vec3s(0, 2.5, 0));
3072	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	contact = transform.transform((p1 + p2) / 2);
3073		2	depth = -2.5;
3074	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, 1, 0);
3075		2	SET_LINE;
3076	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
3077
3078	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
3079	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	tf2 = Transform3s(Vec3s(0, -2.5, 0));
3080	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	p1 << 0, -5, -5;
3081	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	p2 << 0, -2.5, -5;
3082	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	contact << (p1 + p2) / 2;
3083		2	depth = -2.5;
3084	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	normal << 0, -1, 0;
3085		2	SET_LINE;
3086	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
3087
3088	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
3089	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	tf2 = transform * Transform3s(Vec3s(0, -2.5, 0));
3090	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	contact = transform.transform((p1 + p2) / 2);
3091		2	depth = -2.5;
3092	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, -1, 0);
3093		2	SET_LINE;
3094	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
3095
3096	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
3097	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	tf2 = Transform3s(Vec3s(0, Scalar(5.1), 0));
3098		2	SET_LINE;
3099	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
3100
3101	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
3102	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	tf2 = transform * Transform3s(Vec3s(0, Scalar(5.1), 0));
3103		2	SET_LINE;
3104	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
3105
3106	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
3107	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	tf2 = Transform3s(Vec3s(0, Scalar(-5.1), 0));
3108		2	SET_LINE;
3109	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
3110
3111	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
3112	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	tf2 = transform * Transform3s(Vec3s(0, Scalar(-5.1), 0));
3113		2	SET_LINE;
3114	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
3115
3116	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	hs = Plane(Vec3s(0, 0, 1), 0);
3117
3118		2	eps = Scalar(1e-6);
3119	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	tf1 = Transform3s(Vec3s(0, 0, eps));
3120	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
3121	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	p1 << 0, 0, -5 + eps;
3122	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	p2 << 0, 0, 0;
3123	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	contact << (p1 + p2) / 2;
3124		2	depth = -5 + eps;
3125	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	normal << 0, 0, 1; // (1, 0, 0) or (-1, 0, 0)
3126		2	SET_LINE;
3127	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal, true);
3128
3129	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = transform * tf1;
3130	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
3131	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	contact = transform.transform((p1 + p2) / 2);
3132		2	depth = -5 + eps;
3133	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, 0, 1); // (1, 0, 0) or (-1, 0, 0)
3134		2	SET_LINE;
3135	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal, true);
3136
3137		2	eps = Scalar(-1e-6);
3138	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	tf1 = Transform3s(Vec3s(0, 0, eps));
3139	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf2 = Transform3s();
3140	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	p1 << 0, 0, 5 + eps;
3141	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	p2 << 0, 0, 0;
3142	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	contact << (p1 + p2) / 2;
3143		2	depth = -5 - eps;
3144	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	normal << 0, 0, 1; // (1, 0, 0) or (-1, 0, 0)
3145		2	SET_LINE;
3146	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal, true);
3147
3148	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = transform * tf1;
3149	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
3150	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	contact = transform.transform((p1 + p2) / 2);
3151		2	depth = -5 - eps;
3152	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, 0, 1); // (1, 0, 0) or (-1, 0, 0)
3153		2	SET_LINE;
3154	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal, true);
3155
3156	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
3157	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	tf2 = Transform3s(Vec3s(0, 0, 2.5));
3158	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	p1 << 0, 0, 5;
3159	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	p2 << 0, 0, 2.5;
3160	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	contact << (p1 + p2) / 2;
3161		2	depth = -2.5;
3162	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	normal << 0, 0, 1;
3163		2	SET_LINE;
3164	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
3165
3166	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
3167	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	tf2 = transform * Transform3s(Vec3s(0, 0, 2.5));
3168	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	contact = transform.transform((p1 + p2) / 2);
3169		2	depth = -2.5;
3170	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, 0, 1);
3171		2	SET_LINE;
3172	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
3173
3174	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
3175	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	tf2 = Transform3s(Vec3s(0, 0, -2.5));
3176	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	p1 << 0, 0, -5;
3177	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	p2 << 0, 0, -2.5;
3178	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	contact << (p1 + p2) / 2;
3179		2	depth = -2.5;
3180	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	normal << 0, 0, -1;
3181		2	SET_LINE;
3182	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
3183
3184	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
3185	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	tf2 = transform * Transform3s(Vec3s(0, 0, -2.5));
3186	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	contact = transform.transform((p1 + p2) / 2);
3187		2	depth = -2.5;
3188	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	normal = transform.getRotation() * Vec3s(0, 0, -1);
3189		2	SET_LINE;
3190	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, true, &contact, &depth, &normal);
3191
3192	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
3193	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	tf2 = Transform3s(Vec3s(0, 0, Scalar(10.1)));
3194		2	SET_LINE;
3195	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
3196
3197	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
3198	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	tf2 = transform * Transform3s(Vec3s(0, 0, Scalar(10.1)));
3199		2	SET_LINE;
3200	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
3201
3202	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tf1 = Transform3s();
3203	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	tf2 = Transform3s(Vec3s(0, 0, Scalar(-10.1)));
3204		2	SET_LINE;
3205	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
3206
3207	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
3208	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	tf2 = transform * Transform3s(Vec3s(0, 0, Scalar(-10.1)));
3209		2	SET_LINE;
3210	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(s, tf1, hs, tf2, false);
3211		2	}
3212
3213	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(collide_planeplane) {
3214	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf1;
3215	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2;
3216
3217	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s normal;
3218	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s contact;
3219			Scalar distance;
3220
3221	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s transform;
3222	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	generateRandomTransform(extents, transform);
3223
3224			{
3225	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Vec3s n = Vec3s::Random().normalized();
3226		2	Scalar offset = Scalar(3.14);
3227	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Plane plane1(n, offset);
3228	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Plane plane2(n, offset);
3229
3230	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1.setIdentity();
3231	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2.setIdentity();
3232	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	normal = n;
3233	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	contact = plane1.n * plane1.d;
3234		2	distance = 0.;
3235		2	SET_LINE;
3236	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(plane1, tf1, plane2, tf2, true, &contact, &distance,
3237			&normal);
3238
3239	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
3240	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
3241	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	normal = transform.getRotation() * normal;
3242			contact =
3243	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	transform.getRotation() * plane1.n *
3244		✗	(plane1.d +
3245	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	4	(transform.getRotation() * plane1.n).dot(transform.getTranslation()));
3246		2	SET_LINE;
3247	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(plane1, tf1, plane2, tf2, true, &contact, &distance,
3248			&normal);
3249		2	}
3250
3251			{
3252	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Vec3s n = Vec3s::Random().normalized();
3253		2	Scalar offset1 = Scalar(3.14);
3254		2	Scalar offset2 = offset1 + Scalar(1.19841);
3255	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Plane plane1(n, offset1);
3256	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Plane plane2(n, offset2);
3257
3258	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1.setIdentity();
3259	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2.setIdentity();
3260		2	SET_LINE;
3261	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(plane1, tf1, plane2, tf2, false);
3262
3263	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
3264	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
3265		2	SET_LINE;
3266	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(plane1, tf1, plane2, tf2, false);
3267		2	}
3268
3269			{
3270	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Vec3s n = Vec3s::Random().normalized();
3271		2	Scalar offset1 = Scalar(3.14);
3272		2	Scalar offset2 = offset1 - Scalar(1.19841);
3273	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Plane plane1(n, offset1);
3274	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Plane plane2(n, offset2);
3275
3276	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1.setIdentity();
3277	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2.setIdentity();
3278		2	SET_LINE;
3279	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(plane1, tf1, plane2, tf2, false);
3280
3281	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
3282	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
3283		2	SET_LINE;
3284	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(plane1, tf1, plane2, tf2, false);
3285		2	}
3286
3287			{
3288	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s n1(1, 0, 0);
3289		2	Scalar offset1 = Scalar(3.14);
3290	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Plane plane1(n1, offset1);
3291	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s n2(0, 0, 1);
3292		2	Scalar offset2 = Scalar(-2.13);
3293	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Plane plane2(n2, offset2);
3294
3295	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1.setIdentity();
3296	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2.setIdentity();
3297	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	normal << 0, -1, 0;
3298	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	contact << offset1, 0, offset2;
3299		2	SET_LINE;
3300	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(plane1, tf1, plane2, tf2, true, &contact, NULL, &normal);
3301
3302	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
3303	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
3304	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	normal = transform.getRotation() * normal;
3305		2	SET_LINE;
3306	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(plane1, tf1, plane2, tf2, true, NULL, NULL, &normal);
3307		2	}
3308
3309			{
3310	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s n1(1, 0, 0);
3311		2	Scalar offset1 = Scalar(3.14);
3312	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Plane plane1(n1, offset1);
3313	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s n2(1, 1, 1);
3314		2	Scalar offset2 = Scalar(-2.13);
3315	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Plane plane2(n2, offset2);
3316
3317	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1.setIdentity();
3318	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2.setIdentity();
3319	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	normal << 0, Scalar(-0.5774), Scalar(0.5774);
3320		2	SET_LINE;
3321	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(plane1, tf1, plane2, tf2, true, NULL, NULL, &normal, false,
3322			Scalar(1e-3));
3323
3324	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
3325	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
3326	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	normal = transform.getRotation() * normal;
3327		2	SET_LINE;
3328	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(plane1, tf1, plane2, tf2, true, NULL, NULL, &normal, false,
3329			Scalar(1e-3));
3330		2	}
3331		2	}
3332
3333	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(collide_halfspacehalfspace) {
3334	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf1;
3335	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2;
3336
3337	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s normal;
3338	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s contact;
3339			Scalar distance;
3340
3341	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s transform;
3342	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	generateRandomTransform(extents, transform);
3343
3344			{
3345	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Vec3s n = Vec3s::Random().normalized();
3346		2	Scalar offset = Scalar(3.14);
3347	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Halfspace hf1(n, offset);
3348	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Halfspace hf2(n, offset);
3349
3350	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1.setIdentity();
3351	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2.setIdentity();
3352	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	normal = n;
3353		2	SET_LINE;
3354	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(hf1, tf1, hf2, tf2, true, NULL, NULL, &normal);
3355
3356	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
3357	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
3358	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	normal = transform.getRotation() * normal;
3359		2	SET_LINE;
3360	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(hf1, tf1, hf2, tf2, true, NULL, NULL, &normal);
3361		2	}
3362
3363			{
3364	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Vec3s n = Vec3s::Random().normalized();
3365		2	Scalar offset1 = Scalar(3.14);
3366		2	Scalar offset2 = offset1 + Scalar(1.19841);
3367	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Halfspace hf1(n, offset1);
3368	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Halfspace hf2(n, offset2);
3369
3370	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1.setIdentity();
3371	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2.setIdentity();
3372	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	normal = n;
3373		2	SET_LINE;
3374	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(hf1, tf1, hf2, tf2, true, NULL, NULL, &normal);
3375
3376	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
3377	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
3378	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	normal = transform.getRotation() * normal;
3379		2	SET_LINE;
3380	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(hf1, tf1, hf2, tf2, true, NULL, NULL, &normal);
3381		2	}
3382
3383			{
3384	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Vec3s n = Vec3s::Random().normalized();
3385		2	Scalar offset1 = Scalar(3.14);
3386		2	Scalar offset2 = offset1 - Scalar(1.19841);
3387	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Halfspace hf1(n, offset1);
3388	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	Halfspace hf2(-n, -offset2);
3389
3390	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1.setIdentity();
3391	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2.setIdentity();
3392	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	normal = n;
3393		2	distance = offset2 - offset1;
3394		2	SET_LINE;
3395	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(hf1, tf1, hf2, tf2, true, NULL, &distance, &normal);
3396
3397	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
3398	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
3399	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	normal = transform.getRotation() * normal;
3400		2	SET_LINE;
3401	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(hf1, tf1, hf2, tf2, true, NULL, &distance, &normal);
3402		2	}
3403
3404			{
3405	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s n1(1, 0, 0);
3406		2	Scalar offset1 = Scalar(3.14);
3407	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Halfspace hf1(n1, offset1);
3408	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s n2(0, 0, 1);
3409		2	Scalar offset2 = Scalar(-2.13);
3410	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Halfspace hf2(n2, offset2);
3411
3412	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1.setIdentity();
3413	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2.setIdentity();
3414	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	normal << 0, -1, 0;
3415		2	SET_LINE;
3416	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(hf1, tf1, hf2, tf2, true, NULL, NULL, &normal);
3417
3418	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
3419	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
3420	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	normal = transform.getRotation() * normal;
3421		2	SET_LINE;
3422	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(hf1, tf1, hf2, tf2, true, NULL, NULL, &normal);
3423		2	}
3424
3425			{
3426	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s n1(1, 0, 0);
3427		2	Scalar offset1 = Scalar(3.14);
3428	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Halfspace hf1(n1, offset1);
3429	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s n2(1, 1, 1);
3430		2	Scalar offset2 = Scalar(-2.13);
3431	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Halfspace hf2(n2, offset2);
3432
3433	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1.setIdentity();
3434	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2.setIdentity();
3435	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	normal << 0, Scalar(-0.5774), Scalar(0.5774);
3436		2	SET_LINE;
3437	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(hf1, tf1, hf2, tf2, true, NULL, NULL, &normal, false,
3438			Scalar(1e-3));
3439
3440	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
3441	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
3442	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	normal = transform.getRotation() * normal;
3443		2	SET_LINE;
3444	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(hf1, tf1, hf2, tf2, true, NULL, NULL, &normal, false,
3445			Scalar(1e-3));
3446		2	}
3447		2	}
3448
3449	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(collide_halfspaceplane) {
3450	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf1;
3451	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2;
3452
3453	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s normal;
3454	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s contact;
3455			Scalar distance;
3456
3457	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s transform;
3458	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	generateRandomTransform(extents, transform);
3459
3460			{
3461	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Vec3s n = Vec3s::Random().normalized();
3462		2	Scalar offset = Scalar(3.14);
3463	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Halfspace hf(n, offset);
3464	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Plane plane(n, offset);
3465
3466	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1.setIdentity();
3467	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2.setIdentity();
3468	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	normal = n;
3469		2	distance = 0;
3470		2	SET_LINE;
3471	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(hf, tf1, plane, tf2, true, NULL, &distance, &normal);
3472
3473	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
3474	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
3475	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	normal = transform.getRotation() * normal;
3476		2	SET_LINE;
3477	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(hf, tf1, plane, tf2, true, NULL, &distance, &normal);
3478		2	}
3479
3480			{
3481	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Vec3s n = Vec3s::Random().normalized();
3482		2	Scalar offset1 = Scalar(3.14);
3483		2	Scalar offset2 = offset1 + Scalar(1.19841);
3484	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Halfspace hf(n, offset1);
3485	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Plane plane(n, offset2);
3486
3487	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1.setIdentity();
3488	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2.setIdentity();
3489	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	normal = n;
3490		2	distance = offset2 - offset1;
3491		2	SET_LINE;
3492	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(hf, tf1, plane, tf2, false);
3493
3494	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
3495	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
3496	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	normal = transform.getRotation() * normal;
3497		2	SET_LINE;
3498	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(hf, tf1, plane, tf2, false);
3499		2	}
3500
3501			{
3502	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Vec3s n = Vec3s::Random().normalized();
3503		2	Scalar offset1 = Scalar(3.14);
3504		2	Scalar offset2 = offset1 - Scalar(1.19841);
3505	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Halfspace hf(n, offset1);
3506	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Plane plane(n, offset2);
3507
3508	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1.setIdentity();
3509	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2.setIdentity();
3510	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	normal = n;
3511		2	distance = offset2 - offset1;
3512		2	SET_LINE;
3513	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(hf, tf1, plane, tf2, true, NULL, &distance, &normal);
3514
3515	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
3516	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
3517	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	normal = transform.getRotation() * normal;
3518		2	SET_LINE;
3519	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(hf, tf1, plane, tf2, true, NULL, &distance, &normal);
3520		2	}
3521
3522			{
3523	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s n1(1, 0, 0);
3524		2	Scalar offset1 = Scalar(3.14);
3525	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Halfspace hf(n1, offset1);
3526	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s n2(0, 0, 1);
3527		2	Scalar offset2 = Scalar(-2.13);
3528	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Plane plane(n2, offset2);
3529
3530	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1.setIdentity();
3531	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2.setIdentity();
3532	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	normal << 0, -1, 0;
3533		2	SET_LINE;
3534	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(hf, tf1, plane, tf2, true, NULL, NULL, &normal);
3535
3536	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
3537	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
3538	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	normal = transform.getRotation() * normal;
3539		2	SET_LINE;
3540	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(hf, tf1, plane, tf2, true, NULL, NULL, &normal);
3541		2	}
3542
3543			{
3544	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s n1(1, 0, 0);
3545		2	Scalar offset1 = Scalar(3.14);
3546	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Halfspace hf(n1, offset1);
3547	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s n2(1, 1, 1);
3548		2	Scalar offset2 = Scalar(-2.13);
3549	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Plane plane(n2, offset2);
3550
3551	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1.setIdentity();
3552	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2.setIdentity();
3553	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	normal << 0, Scalar(-0.5774), Scalar(0.5774);
3554		2	SET_LINE;
3555	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(hf, tf1, plane, tf2, true, NULL, NULL, &normal, false,
3556			Scalar(1e-3));
3557
3558	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1 = transform;
3559	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2 = transform;
3560	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	normal = transform.getRotation() * normal;
3561		2	SET_LINE;
3562	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testShapeCollide(hf, tf1, plane, tf2, true, NULL, NULL, &normal, false,
3563			Scalar(1e-3));
3564		2	}
3565		2	}
3566
3567	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(GJKSolver_shapeDistance_spheresphere) {
3568	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Sphere s1(20);
3569	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Sphere s2(10);
3570	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	Vec3s closest_p1, closest_p2, normal;
3571		2	bool compute_penetration = true;
3572
3573	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s transform;
3574	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	generateRandomTransform(extents, transform);
3575
3576		2	Scalar dist = -1;
3577
3578	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver1.shapeDistance(
3579	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.	4	s1, Transform3s(), s2, Transform3s(Vec3s(40, 0, 0)), compute_penetration,
3580			closest_p1, closest_p2, normal);
3581	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(dist - 10) < 0.001);
3582
3583	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver1.shapeDistance(
3584	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.	4	s1, Transform3s(), s2, Transform3s(Vec3s(Scalar(30.1), 0, 0)),
3585			compute_penetration, closest_p1, closest_p2, normal);
3586	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(dist - 0.1) < 0.001);
3587
3588	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver1.shapeDistance(
3589	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.	4	s1, Transform3s(), s2, Transform3s(Vec3s(Scalar(29.9), 0, 0)),
3590			compute_penetration, closest_p1, closest_p2, normal);
3591	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(dist <= 0);
3592
3593	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	dist = solver1.shapeDistance(s1, Transform3s(Vec3s(40, 0, 0)), s2,
3594	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	Transform3s(), compute_penetration, closest_p1,
3595			closest_p2, normal);
3596	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(dist - 10) < 0.001);
3597
3598	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	dist = solver1.shapeDistance(s1, Transform3s(Vec3s(Scalar(30.1), 0, 0)), s2,
3599	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	Transform3s(), compute_penetration, closest_p1,
3600			closest_p2, normal);
3601	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(dist - 0.1) < 0.001);
3602
3603	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	dist = solver1.shapeDistance(s1, Transform3s(Vec3s(Scalar(29.9), 0, 0)), s2,
3604	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	Transform3s(), compute_penetration, closest_p1,
3605			closest_p2, normal);
3606	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(dist < 0);
3607
3608	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver1.shapeDistance(
3609	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.	4	s1, transform, s2, transform * Transform3s(Vec3s(40, 0, 0)),
3610			compute_penetration, closest_p1, closest_p2, normal);
3611	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(dist - 10) < 0.001);
3612
3613	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver1.shapeDistance(
3614	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.	4	s1, transform, s2, transform * Transform3s(Vec3s(Scalar(30.1), 0, 0)),
3615			compute_penetration, closest_p1, closest_p2, normal);
3616	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(dist - 0.1) < 0.001);
3617
3618	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver1.shapeDistance(
3619	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.	4	s1, transform, s2, transform * Transform3s(Vec3s(Scalar(29.9), 0, 0)),
3620			compute_penetration, closest_p1, closest_p2, normal);
3621	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(dist < 0);
3622
3623	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	dist = solver1.shapeDistance(s1, transform * Transform3s(Vec3s(40, 0, 0)), s2,
3624			transform, compute_penetration, closest_p1,
3625			closest_p2, normal);
3626	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(dist - 10) < 0.001);
3627
3628	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver1.shapeDistance(
3629	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.	4	s1, transform * Transform3s(Vec3s(Scalar(30.1), 0, 0)), s2, transform,
3630			compute_penetration, closest_p1, closest_p2, normal);
3631	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(dist - 0.1) < 0.001);
3632
3633	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver1.shapeDistance(
3634	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.	4	s1, transform * Transform3s(Vec3s(Scalar(29.9), 0, 0)), s2, transform,
3635			compute_penetration, closest_p1, closest_p2, normal);
3636	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(dist < 0);
3637		2	}
3638
3639	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(GJKSolver_shapeDistance_boxbox) {
3640	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Box s1(20, 40, 50);
3641	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Box s2(10, 10, 10);
3642	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	Vec3s closest_p1, closest_p2, normal;
3643		2	bool compute_penetration = true;
3644
3645	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s transform;
3646	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	generateRandomTransform(extents, transform);
3647
3648			Scalar dist;
3649
3650	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	dist = solver1.shapeDistance(s1, Transform3s(), s2, Transform3s(),
3651			compute_penetration, closest_p1, closest_p2,
3652			normal);
3653	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(dist <= 0);
3654
3655			dist =
3656	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solver1.shapeDistance(s1, transform, s2, transform, compute_penetration,
3657			closest_p1, closest_p2, normal);
3658	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(dist <= 0);
3659
3660	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver1.shapeDistance(
3661	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.	4	s2, Transform3s(), s2, Transform3s(Vec3s(Scalar(10.1), 0, 0)),
3662			compute_penetration, closest_p1, closest_p2, normal);
3663	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(dist - 0.1) < 0.001);
3664
3665	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver1.shapeDistance(
3666	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.	4	s2, Transform3s(), s2, Transform3s(Vec3s(Scalar(20.1), 0, 0)),
3667			compute_penetration, closest_p1, closest_p2, normal);
3668	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(dist - 10.1) < 0.001);
3669
3670	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver1.shapeDistance(
3671	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.	4	s2, Transform3s(), s2, Transform3s(Vec3s(0, Scalar(20.2), 0)),
3672			compute_penetration, closest_p1, closest_p2, normal);
3673	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(dist - 10.2) < 0.001);
3674
3675	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver1.shapeDistance(
3676	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.	4	s2, Transform3s(), s2, Transform3s(Vec3s(Scalar(10.1), Scalar(10.1), 0)),
3677			compute_penetration, closest_p1, closest_p2, normal);
3678	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(dist - 0.1 * 1.414) < 0.001);
3679
3680	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver2.shapeDistance(
3681	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.	4	s2, Transform3s(), s2, Transform3s(Vec3s(Scalar(10.1), 0, 0)),
3682			compute_penetration, closest_p1, closest_p2, normal);
3683	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(dist - 0.1) < 0.001);
3684
3685	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver2.shapeDistance(
3686	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.	4	s2, Transform3s(), s2, Transform3s(Vec3s(Scalar(20.1), 0, 0)),
3687			compute_penetration, closest_p1, closest_p2, normal);
3688	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(dist - 10.1) < 0.001);
3689
3690	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver2.shapeDistance(
3691	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.	4	s2, Transform3s(), s2, Transform3s(Vec3s(0, Scalar(20.1), 0)),
3692			compute_penetration, closest_p1, closest_p2, normal);
3693	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(dist - 10.1) < 0.001);
3694
3695	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver2.shapeDistance(
3696	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.	4	s2, Transform3s(), s2, Transform3s(Vec3s(Scalar(10.1), Scalar(10.1), 0)),
3697			compute_penetration, closest_p1, closest_p2, normal);
3698	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(dist - 0.1 * 1.414) < 0.001);
3699
3700	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver1.shapeDistance(
3701	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.	4	s1, transform, s2, transform * Transform3s(Vec3s(Scalar(15.1), 0, 0)),
3702			compute_penetration, closest_p1, closest_p2, normal);
3703	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(dist - 0.1) < 0.001);
3704
3705	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver1.shapeDistance(
3706	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.	4	s1, Transform3s(), s2, Transform3s(Vec3s(20, 0, 0)), compute_penetration,
3707			closest_p1, closest_p2, normal);
3708	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(dist - 5) < 0.001);
3709
3710	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver1.shapeDistance(
3711	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.	4	s1, transform, s2, transform * Transform3s(Vec3s(20, 0, 0)),
3712			compute_penetration, closest_p1, closest_p2, normal);
3713	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(dist - 5) < 0.001);
3714		2	}
3715
3716	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(GJKSolver_shapeDistance_cylinderbox) {
3717	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Cylinder s1(Scalar(0.029), Scalar(0.1));
3718	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Box s2(Scalar(1.6), Scalar(0.6), Scalar(0.025));
3719
3720			using Quat = Eigen::Quaternion<Scalar>;
3721			Transform3s tf1(
3722		✗	Quat(Scalar(0.5279170511703305), Scalar(-0.50981118132505521),
3723	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Scalar(-0.67596178682051911), Scalar(0.0668715876735793)),
3724		✗	Vec3s(Scalar(0.041218354748013122), Scalar(1.2022554710435607),
3725	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	4	Scalar(0.77338855025700015)));
3726
3727			Transform3s tf2(
3728	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Quat(Scalar(0.70738826916719977), 0, 0, Scalar(0.70682518110536596)),
3729		✗	Vec3s(Scalar(-0.29936284351096382), Scalar(0.80023864435868775),
3730	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	4	Scalar(0.71750000000000003)));
3731
3732	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GJKSolver solver;
3733	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	Vec3s p1, p2, normal;
3734		2	bool compute_penetration = true;
3735	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solver.shapeDistance(s1, tf1, s2, tf2, compute_penetration, p1, p2, normal);
3736			// If objects are not colliding, p2 should be outside the cylinder and
3737			// p1 should be outside the box
3738	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Vec3s p2Loc(tf1.inverse().transform(p2));
3739	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✗ Branch 3 not taken. ✓ Branch 4 taken 1 times.	2	bool p2_in_cylinder((fabs(p2Loc[2]) <= s1.halfLength) &&
3740		✗	(p2Loc[0] * p2Loc[0] + p2Loc[1] * p2Loc[1] <= s1.radius));
3741	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Vec3s p1Loc(tf2.inverse().transform(p1));
3742	5/10 ✓ 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 13 taken 1 times. ✗ Branch 14 not taken.	2	bool p1_in_box = (p1Loc.array().abs() <= s2.halfSide.array()).all();
3743	5/10 ✓ 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 13 taken 1 times. ✗ Branch 14 not taken.	2	std::cout << "p2 in cylinder = (" << p2Loc.transpose() << ")" << std::endl;
3744	5/10 ✓ 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 13 taken 1 times. ✗ Branch 14 not taken.	2	std::cout << "p1 in box = (" << p1Loc.transpose() << ")" << std::endl;
3745
3746	8/20 ✓ 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 taken 1 times. ✗ Branch 14 not taken. ✗ Branch 15 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK((!p2_in_cylinder && !p1_in_box) \|\| (p2_in_cylinder && p1_in_box));
3747
3748	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solver.shapeDistance(s2, tf2, s1, tf1, compute_penetration, p2, p1, normal);
3749			// If objects are not colliding, p2 should be outside the cylinder and
3750			// p1 should be outside the box
3751
3752	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	p2Loc = tf1.inverse().transform(p2);
3753	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✗ Branch 3 not taken. ✓ Branch 4 taken 1 times.	2	p2_in_cylinder = (fabs(p2Loc[2]) <= s1.halfLength) &&
3754		✗	(p2Loc[0] * p2Loc[0] + p2Loc[1] * p2Loc[1] <= s1.radius);
3755	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	p1Loc = tf2.inverse().transform(p1);
3756	5/10 ✓ 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 13 taken 1 times. ✗ Branch 14 not taken.	2	p1_in_box = (p1Loc.array().abs() <= s2.halfSide.array()).all();
3757
3758	5/10 ✓ 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 13 taken 1 times. ✗ Branch 14 not taken.	2	std::cout << "p2 in cylinder = (" << p2Loc.transpose() << ")" << std::endl;
3759	5/10 ✓ 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 13 taken 1 times. ✗ Branch 14 not taken.	2	std::cout << "p1 in box = (" << p1.transpose() << ")" << std::endl;
3760
3761	8/20 ✓ 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 taken 1 times. ✗ Branch 14 not taken. ✗ Branch 15 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK((!p2_in_cylinder && !p1_in_box) \|\| (p2_in_cylinder && p1_in_box));
3762
3763	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	s1 = Cylinder(Scalar(0.06), Scalar(0.1));
3764	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1.setTranslation(Vec3s(Scalar(-0.66734052046473924),
3765		✗	Scalar(0.22219183277457269),
3766	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Scalar(0.76825248755616293)));
3767			using Quat = Eigen::Quaternion<Scalar>;
3768	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf1.setQuatRotation(
3769		✗	Quat(Scalar(0.52613359459338371), Scalar(0.32189408354839893),
3770	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Scalar(0.70415587451837913), Scalar(-0.35175580165512249)));
3771	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solver.shapeDistance(s1, tf1, s2, tf2, compute_penetration, p1, p2, normal);
3772		2	}
3773
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3775	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Sphere s1(20);
3776	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Box s2(5, 5, 5);
3777	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	Vec3s closest_p1, closest_p2, normal;
3778		2	bool compute_penetration = true;
3779
3780	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s transform;
3781	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	generateRandomTransform(extents, transform);
3782
3783			Scalar dist;
3784
3785		2	int N = 10;
3786	2/2 ✓ Branch 0 taken 11 times. ✓ Branch 1 taken 1 times.	24	for (int i = 0; i < N + 1; ++i) {
3787	1/2 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken.	22	Scalar dbox = Scalar(0.0001) + (s1.radius + s2.halfSide(0)) * Scalar(i) *
3788		22	4 / (3 * Scalar(N));
3789	3/6 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 11 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 11 times. ✗ Branch 8 not taken.	22	dist = solver1.shapeDistance(s1, Transform3s(Vec3s(dbox, 0., 0.)), s2,
3790	1/2 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken.	44	Transform3s(), compute_penetration, closest_p1,
3791			closest_p2, normal);
3792	7/14 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 11 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 11 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 11 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 11 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 11 times. ✗ Branch 20 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 11 times.	22	BOOST_CHECK_CLOSE(dist, (dbox - s1.radius - s2.halfSide(0)), Scalar(1e-6));
3793	20/40 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 11 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 11 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 11 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 11 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 11 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 11 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 11 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 11 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 11 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 11 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 11 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 11 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 11 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 11 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 11 times. ✗ Branch 50 not taken. ✓ Branch 52 taken 11 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 11 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 11 times. ✗ Branch 59 not taken. ✗ Branch 69 not taken. ✓ Branch 70 taken 11 times.	22	EIGEN_VECTOR_IS_APPROX(normal, -Vec3s(1, 0, 0), Scalar(1e-6));
3794
3795		22	dist =
3796	1/2 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken.	22	solver1.shapeDistance(s1, transform, s2, transform, compute_penetration,
3797			closest_p1, closest_p2, normal);
3798	1/2 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken.	22	dist = solver1.shapeDistance(
3799	3/6 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 11 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 11 times. ✗ Branch 8 not taken.	44	s1, transform * Transform3s(Vec3s(dbox, 0., 0.)), s2, transform,
3800			compute_penetration, closest_p1, closest_p2, normal);
3801	7/14 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 11 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 11 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 11 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 11 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 11 times. ✗ Branch 20 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 11 times.	22	BOOST_CHECK_CLOSE(dist, (dbox - s1.radius - s2.halfSide(0)), Scalar(1e-6));
3802	20/40 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 11 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 11 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 11 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 11 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 11 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 11 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 11 times. ✗ Branch 26 not taken. ✓ Branch 29 taken 11 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 11 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 11 times. ✗ Branch 36 not taken. ✓ Branch 38 taken 11 times. ✗ Branch 39 not taken. ✓ Branch 41 taken 11 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 11 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 11 times. ✗ Branch 49 not taken. ✓ Branch 51 taken 11 times. ✗ Branch 52 not taken. ✓ Branch 54 taken 11 times. ✗ Branch 55 not taken. ✓ Branch 57 taken 11 times. ✗ Branch 58 not taken. ✓ Branch 60 taken 11 times. ✗ Branch 61 not taken. ✗ Branch 71 not taken. ✓ Branch 72 taken 11 times.	22	EIGEN_VECTOR_IS_APPROX(normal, -transform.getRotation().col(0),
3803			Scalar(1e-6));
3804			}
3805
3806	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	dist = solver1.shapeDistance(s1, Transform3s(), s2, Transform3s(),
3807			compute_penetration, closest_p1, closest_p2,
3808			normal);
3809	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(dist <= 0);
3810
3811		2	dist =
3812	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solver1.shapeDistance(s1, transform, s2, transform, compute_penetration,
3813			closest_p1, closest_p2, normal);
3814	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(dist <= 0);
3815
3816	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver1.shapeDistance(
3817	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.	4	s1, Transform3s(), s2, Transform3s(Vec3s(Scalar(22.6), 0, 0)),
3818			compute_penetration, closest_p1, closest_p2, normal);
3819	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(dist - 0.1) < 0.001);
3820
3821	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver1.shapeDistance(
3822	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.	4	s1, transform, s2, transform * Transform3s(Vec3s(Scalar(22.6), 0, 0)),
3823			compute_penetration, closest_p1, closest_p2, normal);
3824	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(dist - 0.1) < 0.01);
3825
3826	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver1.shapeDistance(
3827	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.	4	s1, Transform3s(), s2, Transform3s(Vec3s(40, 0, 0)), compute_penetration,
3828			closest_p1, closest_p2, normal);
3829	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(dist - 17.5) < 0.001);
3830
3831	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver1.shapeDistance(
3832	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.	4	s1, transform, s2, transform * Transform3s(Vec3s(40, 0, 0)),
3833			compute_penetration, closest_p1, closest_p2, normal);
3834	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(dist - 17.5) < 0.001);
3835		2	}
3836
3837	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(GJKSolver_shapeDistance_cylindercylinder) {
3838	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Cylinder s1(5, 10);
3839	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Cylinder s2(5, 10);
3840	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	Vec3s closest_p1, closest_p2, normal;
3841		2	bool compute_penetration = true;
3842
3843	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s transform;
3844	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	generateRandomTransform(extents, transform);
3845
3846			Scalar dist;
3847
3848			{
3849			// The following situations corresponds to the case where the two cylinders
3850			// are exactly superposed. This is the worst case for EPA which will take
3851			// forever to converge with default parameters.
3852	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	dist = solver1.shapeDistance(s1, Transform3s(), s2, Transform3s(),
3853			compute_penetration, closest_p1, closest_p2,
3854			normal);
3855	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(dist <= 0);
3856
3857			dist =
3858	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solver1.shapeDistance(s1, transform, s2, transform, compute_penetration,
3859			closest_p1, closest_p2, normal);
3860	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(dist <= 0);
3861
3862			// To handle the superposing case, we have to decrease the tolerance of EPA
3863			// and allow it to work with more vertices and faces.
3864		2	Scalar epa_tolerance_backup = solver1.epa_tolerance;
3865		2	size_t epa_max_iterations_backup = solver1.epa_max_iterations;
3866		2	solver1.epa_tolerance = Scalar(1e-2);
3867		2	solver1.epa_max_iterations = 1000;
3868
3869	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	dist = solver1.shapeDistance(s1, Transform3s(), s2, Transform3s(),
3870			compute_penetration, closest_p1, closest_p2,
3871			normal);
3872	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(dist <= 0);
3873
3874			dist =
3875	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solver1.shapeDistance(s1, transform, s2, transform, compute_penetration,
3876			closest_p1, closest_p2, normal);
3877	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(dist <= 0);
3878
3879			// We restore the original values of the EPA parameters
3880		2	solver1.epa_tolerance = epa_tolerance_backup;
3881		2	solver1.epa_max_iterations = epa_max_iterations_backup;
3882			}
3883
3884	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver1.shapeDistance(
3885	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.	4	s1, Transform3s(), s2, Transform3s(Vec3s(Scalar(10.1), 0, 0)),
3886			compute_penetration, closest_p1, closest_p2, normal);
3887	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(dist - 0.1) < 0.001);
3888
3889	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver1.shapeDistance(
3890	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.	4	s1, transform, s2, transform * Transform3s(Vec3s(Scalar(10.1), 0, 0)),
3891			compute_penetration, closest_p1, closest_p2, normal);
3892	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(dist - 0.1) < 0.001);
3893
3894	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver1.shapeDistance(
3895	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.	4	s1, Transform3s(), s2, Transform3s(Vec3s(40, 0, 0)), compute_penetration,
3896			closest_p1, closest_p2, normal);
3897	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(dist - 30) < 0.001);
3898
3899	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver1.shapeDistance(
3900	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.	4	s1, transform, s2, transform * Transform3s(Vec3s(40, 0, 0)),
3901			compute_penetration, closest_p1, closest_p2, normal);
3902	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(dist - 30) < 0.001);
3903		2	}
3904
3905	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(GJKSolver_shapeDistance_conecone) {
3906	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Cone s1(5, 10);
3907	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Cone s2(5, 10);
3908	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	Vec3s closest_p1, closest_p2, normal;
3909		2	bool compute_penetration = true;
3910
3911	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s transform;
3912	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	generateRandomTransform(extents, transform);
3913
3914			Scalar dist;
3915
3916			{
3917			// The following situations corresponds to the case where the two cones
3918			// are exactly superposed. This is the worst case for EPA which will take
3919			// forever to converge with default parameters.
3920	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	dist = solver1.shapeDistance(s1, Transform3s(), s2, Transform3s(),
3921			compute_penetration, closest_p1, closest_p2,
3922			normal);
3923	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(dist <= 0);
3924
3925			dist =
3926	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solver1.shapeDistance(s1, transform, s2, transform, compute_penetration,
3927			closest_p1, closest_p2, normal);
3928	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(dist <= 0);
3929
3930			// To handle the superposing case, we have to decrease the tolerance of EPA
3931			// and allow it to work with more vertices and faces.
3932		2	Scalar epa_tolerance_backup = solver1.epa_tolerance;
3933		2	size_t epa_max_iterations_backup = solver1.epa_max_iterations;
3934		2	solver1.epa_tolerance = Scalar(1e-2);
3935		2	solver1.epa_max_iterations = 1000;
3936
3937	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	dist = solver1.shapeDistance(s1, Transform3s(), s2, Transform3s(),
3938			compute_penetration, closest_p1, closest_p2,
3939			normal);
3940	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(dist <= 0);
3941
3942			dist =
3943	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solver1.shapeDistance(s1, transform, s2, transform, compute_penetration,
3944			closest_p1, closest_p2, normal);
3945	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(dist <= 0);
3946
3947			// We restore the original values of the EPA parameters
3948		2	solver1.epa_tolerance = epa_tolerance_backup;
3949		2	solver1.epa_max_iterations = epa_max_iterations_backup;
3950			}
3951
3952	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver1.shapeDistance(
3953	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.	4	s1, Transform3s(), s2, Transform3s(Vec3s(Scalar(10.1), 0, 0)),
3954			compute_penetration, closest_p1, closest_p2, normal);
3955	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(dist - 0.1) < 0.001);
3956
3957	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver1.shapeDistance(
3958	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.	4	s1, transform, s2, transform * Transform3s(Vec3s(Scalar(10.1), 0, 0)),
3959			compute_penetration, closest_p1, closest_p2, normal);
3960	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(dist - 0.1) < 0.001);
3961
3962	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver1.shapeDistance(
3963	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.	4	s1, Transform3s(), s2, Transform3s(Vec3s(0, 0, 40)), compute_penetration,
3964			closest_p1, closest_p2, normal);
3965	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(dist - 30) < 1);
3966
3967	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver1.shapeDistance(
3968	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.	4	s1, transform, s2, transform * Transform3s(Vec3s(0, 0, 40)),
3969			compute_penetration, closest_p1, closest_p2, normal);
3970	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(dist - 30) < 1);
3971		2	}
3972
3973	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(GJKSolver_shapeDistance_conecylinder) {
3974	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Cylinder s1(5, 10);
3975	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Cone s2(5, 10);
3976	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	Vec3s closest_p1, closest_p2, normal;
3977		2	bool compute_penetration = true;
3978
3979	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s transform;
3980	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	generateRandomTransform(extents, transform);
3981
3982			Scalar dist;
3983
3984			{
3985			// The following situations corresponds to the case where the two cones
3986			// are exactly superposed. This is the worst case for EPA which will take
3987			// forever to converge with default parameters.
3988	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	dist = solver1.shapeDistance(s1, Transform3s(), s2, Transform3s(),
3989			compute_penetration, closest_p1, closest_p2,
3990			normal);
3991	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(dist <= 0);
3992
3993			dist =
3994	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solver1.shapeDistance(s1, transform, s2, transform, compute_penetration,
3995			closest_p1, closest_p2, normal);
3996	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(dist <= 0);
3997
3998			// To handle the superposing case, we have to decrease the tolerance of EPA
3999			// and allow it to work with more vertices and faces.
4000		2	Scalar epa_tolerance_backup = solver1.epa_tolerance;
4001		2	size_t epa_max_iterations_backup = solver1.epa_max_iterations;
4002		2	solver1.epa_tolerance = Scalar(1e-2);
4003		2	solver1.epa_max_iterations = 1000;
4004
4005	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	dist = solver1.shapeDistance(s1, Transform3s(), s2, Transform3s(),
4006			compute_penetration, closest_p1, closest_p2,
4007			normal);
4008	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(dist <= 0);
4009
4010			dist =
4011	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solver1.shapeDistance(s1, transform, s2, transform, compute_penetration,
4012			closest_p1, closest_p2, normal);
4013	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(dist <= 0);
4014
4015			// We restore the original values of the EPA parameters
4016		2	solver1.epa_tolerance = epa_tolerance_backup;
4017		2	solver1.epa_max_iterations = epa_max_iterations_backup;
4018			}
4019
4020	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver1.shapeDistance(
4021	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.	4	s1, Transform3s(), s2, Transform3s(Vec3s(Scalar(10.1), 0, 0)),
4022			compute_penetration, closest_p1, closest_p2, normal);
4023	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(dist - 0.1) < 0.01);
4024
4025	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver1.shapeDistance(
4026	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.	4	s1, transform, s2, transform * Transform3s(Vec3s(Scalar(10.1), 0, 0)),
4027			compute_penetration, closest_p1, closest_p2, normal);
4028	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(dist - 0.1) < 0.02);
4029
4030	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver1.shapeDistance(
4031	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.	4	s1, Transform3s(), s2, Transform3s(Vec3s(40, 0, 0)), compute_penetration,
4032			closest_p1, closest_p2, normal);
4033	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(dist - 30) < 0.01);
4034
4035	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dist = solver1.shapeDistance(
4036	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.	4	s1, transform, s2, transform * Transform3s(Vec3s(40, 0, 0)),
4037			compute_penetration, closest_p1, closest_p2, normal);
4038	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(dist - 30) < 0.1);
4039		2	}
4040
4041			template <typename S1, typename S2>
4042		1	void testReversibleShapeDistance(const S1& s1, const S2& s2, Scalar distance) {
4043		1	const Scalar half = Scalar(0.5);
4044	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	Transform3s tf1(Vec3s(-half * distance, 0.0, 0.0));
4045	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	Transform3s tf2(Vec3s(+half * distance, 0.0, 0.0));
4046
4047			Scalar distA;
4048			Scalar distB;
4049	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Vec3s p1A;
4050	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Vec3s p1B;
4051	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Vec3s p2A;
4052	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Vec3s p2B;
4053	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	Vec3s normalA, normalB;
4054		1	bool compute_penetration = true;
4055
4056		1	const Scalar tol = Scalar(1e-6);
4057
4058	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	distA = solver1.shapeDistance(s1, tf1, s2, tf2, compute_penetration, p1A, p2A,
4059			normalA);
4060	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	distB = solver1.shapeDistance(s2, tf2, s1, tf1, compute_penetration, p1B, p2B,
4061			normalB);
4062
4063	3/8 ✗ Branch 0 not taken. ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✗ Branch 3 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	1	assert((distA <= 0 && distB <= 0) \|\| (distA > 0 && distB > 0));
4064	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	1	BOOST_CHECK_CLOSE(distA, distB, tol); // distances should be same
4065	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.	1	BOOST_CHECK(
4066			isEqual(p1A, p2B, tol)); // closest points should in reverse order
4067	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.	1	BOOST_CHECK(isEqual(p2A, p1B, tol));
4068
4069	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	distA = solver2.shapeDistance(s1, tf1, s2, tf2, compute_penetration, p1A, p2A,
4070			normalA);
4071	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	distB = solver2.shapeDistance(s2, tf2, s1, tf1, compute_penetration, p1B, p2B,
4072			normalB);
4073
4074	3/8 ✗ Branch 0 not taken. ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✗ Branch 3 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	1	assert((distA <= 0 && distB <= 0) \|\| (distA > 0 && distB > 0));
4075	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_CHECK(solver1.gjk.status == solver2.gjk.status);
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4080		1	}
4081
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4083			// This test check whether a shape distance algorithm is called for the
4084			// reverse case as well. For example, if FCL has sphere-capsule distance
4085			// algorithm, then this algorithm should be called for capsule-sphere case.
4086
4087			// Prepare all kinds of primitive shapes (7) -- box, sphere, capsule, cone,
4088			// cylinder, plane, halfspace
4089	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Box box(10, 10, 10);
4090	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Sphere sphere(5);
4091	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Capsule capsule(5, 10);
4092	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Cone cone(5, 10);
4093	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Cylinder cylinder(5, 10);
4094	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Plane plane(Vec3s(0, 0, 0), 0.0);
4095	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Halfspace halfspace(Vec3s(0, 0, 0), 0.0);
4096
4097			// Use sufficiently long distance so that all the primitive shapes CANNOT
4098			// intersect
4099		2	Scalar distance = 15.0;
4100
4101			// If new shape distance algorithm is added for two distinct primitive
4102			// shapes, uncomment associated lines. For example, box-sphere intersection
4103			// algorithm is added, then uncomment box-sphere.
4104
4105			// testReversibleShapeDistance(box, sphere, distance);
4106			// testReversibleShapeDistance(box, capsule, distance);
4107			// testReversibleShapeDistance(box, cone, distance);
4108			// testReversibleShapeDistance(box, cylinder, distance);
4109			// testReversibleShapeDistance(box, plane, distance);
4110			// testReversibleShapeDistance(box, halfspace, distance);
4111
4112		2	SET_LINE;
4113	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	testReversibleShapeDistance(sphere, capsule, distance);
4114			// testReversibleShapeDistance(sphere, cone, distance);
4115			// testReversibleShapeDistance(sphere, cylinder, distance);
4116			// testReversibleShapeDistance(sphere, plane, distance);
4117			// testReversibleShapeDistance(sphere, halfspace, distance);
4118
4119			// testReversibleShapeDistance(capsule, cone, distance);
4120			// testReversibleShapeDistance(capsule, cylinder, distance);
4121			// testReversibleShapeDistance(capsule, plane, distance);
4122			// testReversibleShapeDistance(capsule, halfspace, distance);
4123
4124			// testReversibleShapeDistance(cone, cylinder, distance);
4125			// testReversibleShapeDistance(cone, plane, distance);
4126			// testReversibleShapeDistance(cone, halfspace, distance);
4127
4128			// testReversibleShapeDistance(cylinder, plane, distance);
4129			// testReversibleShapeDistance(cylinder, halfspace, distance);
4130
4131			// testReversibleShapeDistance(plane, halfspace, distance);
4132		2	}
4133