GCC Code Coverage Report

Directory: ./
File: test/gjk_asserts.cpp
Date: 2025-04-13 14:25:19
Exec Total Coverage
Lines: 53 53 100.0%
Branches: 109 186 58.6%
Line Branch Exec Source
1 #define BOOST_TEST_MODULE COAL_GJK_ASSERTS
2
3 #include <boost/test/included/unit_test.hpp>
4 #include <boost/math/constants/constants.hpp>
5 #include "coal/BVH/BVH_model.h"
6 #include "coal/collision.h"
7
8 using namespace coal;
9
10 constexpr Scalar pi = boost::math::constants::pi<Scalar>();
11
12 16 Scalar DegToRad(const Scalar& deg) {
13 static Scalar degToRad = pi / Scalar(180);
14 16 return deg * degToRad;
15 }
16 std::vector<Vec3s> dirs{Vec3s::UnitZ(), -Vec3s::UnitZ(), Vec3s::UnitY(),
17 -Vec3s::UnitY(), Vec3s::UnitX(), -Vec3s::UnitX()};
18
19 2 void CreateSphereMesh(BVHModel<OBBRSS>& model, const Scalar& radius) {
20 2 size_t polarSteps{32};
21 2 size_t azimuthSteps{32};
22
23 2 const float PI = static_cast<float>(pi);
24
25 2 const float polarStep = PI / (float)(polarSteps - 1);
26 2 const float azimuthStep = 2.0f * PI / (float)(azimuthSteps - 1);
27 2 std::vector<Vec3s> vertices;
28 2 std::vector<Triangle> triangles;
29
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 66 for (size_t p = 0; p < polarSteps; ++p) {
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 2112 for (size_t a = 0; a < azimuthSteps; ++a) {
32 const float x =
33 2048 std::sin((float)p * polarStep) * std::cos((float)a * azimuthStep);
34 const float y =
35 2048 std::sin((float)p * polarStep) * std::sin((float)a * azimuthStep);
36 2048 const float z = std::cos((float)p * polarStep);
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 2048 vertices.emplace_back(radius * x, radius * y, radius * z);
38 }
39 }
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 64 for (size_t p = 0; p < polarSteps - 1; ++p) {
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 1984 for (size_t a = 0; a < azimuthSteps - 1; ++a) {
43 1922 size_t p0 = p * azimuthSteps + a;
44 1922 size_t p1 = p * azimuthSteps + (a + 1);
45 1922 size_t p2 = (p + 1) * azimuthSteps + (a + 1);
46 1922 size_t p3 = (p + 1) * azimuthSteps + a;
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 1922 triangles.emplace_back(p0, p2, p1);
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 1922 triangles.emplace_back(p0, p3, p2);
49 }
50 }
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 2 model.beginModel();
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 2 model.addSubModel(vertices, triangles);
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 2 model.endModel();
54 2 }
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 4 BOOST_AUTO_TEST_CASE(TestSpheres) {
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 2 BVHModel<OBBRSS> sphere1{};
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 2 BVHModel<OBBRSS> sphere2{};
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 2 CreateSphereMesh(sphere1, 1.);
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 2 CreateSphereMesh(sphere2, 2.);
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 2 CollisionRequest request(CONTACT | DISTANCE_LOWER_BOUND, 1);
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 2 ComputeCollision compute(&sphere2, &sphere1);
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 2 Transform3s sphere1Tf = Transform3s::Identity();
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 2 Transform3s sphere2Tf = Transform3s::Identity();
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 722 for (int i = 0; i < 360; ++i) {
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 129600 if (
73 /// assertion: src/narrowphase/gjk.cpp:331
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 129600 (i == 5 && j == 48) || (i == 64 && j == 151) ||
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76 /// assertion: src/narrowphase/gjk.cpp:1263
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 129592 (i == 86 && j == 52) || (i == 89 && j == 17) ||
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 129588 (i == 89 && j == 58) || (i == 89 && j == 145)) {
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 16 sphere2Tf.setQuatRotation(
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 16 Eigen::AngleAxis<Scalar>(DegToRad(Scalar(i)), Vec3s::UnitZ()) *
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 16 Eigen::AngleAxis<Scalar>(DegToRad(Scalar(j)), Vec3s::UnitY()));
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 112 for (const Vec3s& dir : dirs) {
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 96 sphere2Tf.setTranslation(dir);
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 96 CollisionResult result;
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 96 BOOST_CHECK_NO_THROW(compute(sphere2Tf, sphere1Tf, request, result));
87 96 }
88 }
89 }
90 }
91 2 }
92