GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	490	490	100.0%
Branches:	1289	2560	50.4%

Line	Branch	Exec	Source
1			/*
2			* Software License Agreement (BSD License)
3			*
4			* Copyright (c) 2021, INRIA
5			* All rights reserved.
6			*
7			* Redistribution and use in source and binary forms, with or without
8			* modification, are permitted provided that the following conditions
9			* are met:
10			*
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13			* * Redistributions in binary form must reproduce the above
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15			* disclaimer in the documentation and/or other materials provided
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18			* contributors may be used to endorse or promote products derived
19			* from this software without specific prior written permission.
20			*
21			* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22			* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23			* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24			* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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30			* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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32			* POSSIBILITY OF SUCH DAMAGE.
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34
35			/** \author Justin Carpentier */
36
37			#define BOOST_TEST_MODULE COAL_HEIGHT_FIELDS
38			#include <boost/test/included/unit_test.hpp>
39			#include <boost/filesystem.hpp>
40
41			#include "fcl_resources/config.h"
42
43			#include "coal/collision.h"
44			#include "coal/hfield.h"
45			#include "coal/math/transform.h"
46			#include "coal/shape/geometric_shapes.h"
47			#include "coal/mesh_loader/assimp.h"
48			#include "coal/mesh_loader/loader.h"
49
50			#include "coal/collision.h"
51			#include "coal/internal/traversal_node_hfield_shape.h"
52
53			#include "utility.h"
54			#include <iostream>
55
56			using namespace coal;
57			using RowVector = Eigen::RowVector<Scalar, Eigen::Dynamic>;
58
59			template <typename BV>
60		12	void test_constant_hfields(const Eigen::DenseIndex nx,
61			const Eigen::DenseIndex ny,
62			const Scalar min_altitude,
63			const Scalar max_altitude) {
64		12	const Scalar x_dim = 1., y_dim = 2.;
65	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	const MatrixXs heights = MatrixXs::Constant(ny, nx, max_altitude);
66
67	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	HeightField<BV> hfield(x_dim, y_dim, heights, min_altitude);
68
69	6/12 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 6 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 6 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 6 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 6 times.	12	BOOST_CHECK(hfield.getXDim() == x_dim);
70	6/12 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 6 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 6 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 6 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 6 times.	12	BOOST_CHECK(hfield.getYDim() == y_dim);
71
72		12	const VecXs& x_grid = hfield.getXGrid();
73	7/14 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 6 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 6 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 6 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 6 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 6 times.	12	BOOST_CHECK(x_grid[0] == -x_dim / 2.);
74	7/14 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 6 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 6 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 6 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 6 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 6 times.	12	BOOST_CHECK(x_grid[nx - 1] == x_dim / 2.);
75
76		12	const VecXs& y_grid = hfield.getYGrid();
77	7/14 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 6 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 6 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 6 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 6 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 6 times.	12	BOOST_CHECK(y_grid[0] == y_dim / 2.);
78	7/14 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 6 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 6 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 6 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 6 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 6 times.	12	BOOST_CHECK(y_grid[ny - 1] == -y_dim / 2.);
79
80			// Test local AABB
81	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	hfield.computeLocalAABB();
82
83	2/2 ✓ Branch 0 taken 244 times. ✓ Branch 1 taken 6 times.	500	for (Eigen::DenseIndex i = 0; i < nx; ++i) {
84	2/2 ✓ Branch 0 taken 20088 times. ✓ Branch 1 taken 244 times.	40664	for (Eigen::DenseIndex j = 0; j < ny; ++j) {
85	4/8 ✓ Branch 1 taken 20088 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20088 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 20088 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 20088 times. ✗ Branch 11 not taken.	40176	Vec3s point(x_grid[i], y_grid[j], heights(j, i));
86	7/14 ✓ Branch 1 taken 20088 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20088 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 20088 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 20088 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 20088 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 20088 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 20088 times.	40176	BOOST_CHECK(hfield.aabb_local.contain(point));
87			}
88			}
89
90			// Test clone
91			{
92	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	HeightField<BV>* hfield_clone = hfield.clone();
93	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	hfield_clone->computeLocalAABB();
94	7/14 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 6 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 6 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 6 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 6 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 6 times.	12	BOOST_CHECK(*hfield_clone == hfield);
95
96	1/2 ✓ Branch 0 taken 6 times. ✗ Branch 1 not taken.	12	delete hfield_clone;
97			}
98
99			// Build equivalent object
100	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	const Box equivalent_box(x_dim, y_dim, max_altitude - min_altitude);
101	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	const Transform3s box_placement(
102			Matrix3s::Identity(),
103	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	Vec3s(0., 0., (max_altitude + min_altitude) / Scalar(2)));
104
105			// Test collision
106	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	const Sphere sphere(1.);
107	4/8 ✓ Branch 0 taken 2 times. ✓ Branch 1 taken 4 times. ✓ Branch 3 taken 2 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 2 times. ✗ Branch 7 not taken. ✗ Branch 9 not taken. ✗ Branch 10 not taken.	12	static const Transform3s IdTransform;
108
109	3/6 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 6 times. ✗ Branch 8 not taken.	12	const Box box(Vec3s::Ones());
110
111	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	Transform3s M_sphere, M_box;
112
113			// No collision case
114			{
115		12	const Scalar eps_no_collision =
116		12	+Scalar(0.1) * (max_altitude - min_altitude);
117	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	M_sphere.setTranslation(
118	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	Vec3s(0., 0., max_altitude + sphere.radius + eps_no_collision));
119	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	M_box.setTranslation(
120	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	Vec3s(0., 0., max_altitude + box.halfSide[2] + eps_no_collision));
121	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	CollisionRequest request;
122
123	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	CollisionResult result;
124	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	collide(&hfield, IdTransform, &sphere, M_sphere, request, result);
125
126	6/12 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 6 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 6 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 6 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 6 times.	12	BOOST_CHECK(!result.isCollision());
127
128	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	CollisionResult result_check_sphere;
129	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	collide(&equivalent_box, IdTransform * box_placement, &sphere, M_sphere,
130			request, result_check_sphere);
131
132	6/12 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 6 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 6 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 6 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 6 times.	12	BOOST_CHECK(!result_check_sphere.isCollision());
133
134	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	CollisionResult result_check_box;
135	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	collide(&equivalent_box, IdTransform * box_placement, &box, M_box, request,
136			result_check_box);
137
138	6/12 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 6 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 6 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 6 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 6 times.	12	BOOST_CHECK(!result_check_box.isCollision());
139		12	}
140
141			// Collision case
142			{
143		12	const Scalar eps_collision = -Scalar(0.1) * (max_altitude - min_altitude);
144	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	M_sphere.setTranslation(
145	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	Vec3s(0., 0., max_altitude + sphere.radius + eps_collision));
146	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	M_box.setTranslation(
147	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	Vec3s(0., 0., max_altitude + box.halfSide[2] + eps_collision));
148			CollisionRequest
149	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	request; //(CONTACT \| DISTANCE_LOWER_BOUND, (size_t)((nx-1)*(ny-1)));
150
151	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	CollisionResult result;
152	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	collide(&hfield, IdTransform, &sphere, M_sphere, request, result);
153
154	6/12 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 6 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 6 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 6 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 6 times.	12	BOOST_CHECK(result.isCollision());
155
156	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	CollisionResult result_check;
157	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	collide(&equivalent_box, IdTransform * box_placement, &sphere, M_sphere,
158			request, result_check);
159
160	6/12 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 6 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 6 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 6 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 6 times.	12	BOOST_CHECK(result_check.isCollision());
161
162	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	CollisionResult result_check_box;
163	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	collide(&equivalent_box, IdTransform * box_placement, &box, M_box, request,
164			result_check_box);
165
166	6/12 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 6 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 6 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 6 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 6 times.	12	BOOST_CHECK(result_check_box.isCollision());
167		12	}
168
169			// Update height
170	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	hfield.updateHeights(
171	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	MatrixXs::Constant(ny, nx, max_altitude / 2)); // We change nothing
172
173			// No collision case
174			{
175		12	const Scalar eps_no_collision =
176		12	+Scalar(0.1) * (max_altitude - min_altitude);
177	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	M_sphere.setTranslation(
178	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	Vec3s(0., 0., max_altitude + sphere.radius + eps_no_collision));
179	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	M_box.setTranslation(
180	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	Vec3s(0., 0., max_altitude + box.halfSide[2] + eps_no_collision));
181	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	CollisionRequest request;
182
183	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	CollisionResult result;
184	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	collide(&hfield, IdTransform, &sphere, M_sphere, request, result);
185
186	6/12 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 6 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 6 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 6 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 6 times.	12	BOOST_CHECK(!result.isCollision());
187
188	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	CollisionResult result_check_sphere;
189	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	collide(&equivalent_box, IdTransform * box_placement, &sphere, M_sphere,
190			request, result_check_sphere);
191
192	6/12 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 6 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 6 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 6 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 6 times.	12	BOOST_CHECK(!result_check_sphere.isCollision());
193
194	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	CollisionResult result_check_box;
195	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	collide(&equivalent_box, IdTransform * box_placement, &box, M_box, request,
196			result_check_box);
197
198	6/12 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 6 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 6 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 6 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 6 times.	12	BOOST_CHECK(!result_check_box.isCollision());
199		12	}
200
201			// Collision case
202			{
203		12	const Scalar eps_collision = -Scalar(0.1) * (max_altitude - min_altitude);
204	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	M_sphere.setTranslation(
205	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	Vec3s(0., 0., max_altitude + sphere.radius + eps_collision));
206	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	M_box.setTranslation(
207	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	Vec3s(0., 0., max_altitude + box.halfSide[2] + eps_collision));
208			CollisionRequest
209	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	request; //(CONTACT \| DISTANCE_LOWER_BOUND, (size_t)((nx-1)*(ny-1)));
210
211	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	CollisionResult result;
212	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	collide(&hfield, IdTransform, &sphere, M_sphere, request, result);
213
214	6/12 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 6 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 6 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 6 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 6 times.	12	BOOST_CHECK(!result.isCollision());
215
216	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	CollisionResult result_check;
217	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	collide(&equivalent_box, IdTransform * box_placement, &sphere, M_sphere,
218			request, result_check);
219
220	6/12 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 6 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 6 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 6 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 6 times.	12	BOOST_CHECK(result_check.isCollision());
221
222	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	CollisionResult result_check_box;
223	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	collide(&equivalent_box, IdTransform * box_placement, &box, M_box, request,
224			result_check_box);
225
226	6/12 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 6 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 6 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 6 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 6 times.	12	BOOST_CHECK(result_check_box.isCollision());
227		12	}
228
229			// Restore height
230	3/6 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 6 times. ✗ Branch 8 not taken.	12	hfield.updateHeights(
231			MatrixXs::Constant(ny, nx, max_altitude)); // We change nothing
232
233			// Collision case
234			{
235		12	const Scalar eps_collision = -Scalar(0.1) * (max_altitude - min_altitude);
236	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	M_sphere.setTranslation(
237	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	Vec3s(0., 0., max_altitude + sphere.radius + eps_collision));
238	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	M_box.setTranslation(
239	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	Vec3s(0., 0., max_altitude + box.halfSide[2] + eps_collision));
240			CollisionRequest
241	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	request; //(CONTACT \| DISTANCE_LOWER_BOUND, (size_t)((nx-1)*(ny-1)));
242
243	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	CollisionResult result;
244	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	collide(&hfield, IdTransform, &sphere, M_sphere, request, result);
245
246	6/12 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 6 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 6 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 6 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 6 times.	12	BOOST_CHECK(result.isCollision());
247
248	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	CollisionResult result_check;
249	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	collide(&equivalent_box, IdTransform * box_placement, &sphere, M_sphere,
250			request, result_check);
251
252	6/12 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 6 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 6 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 6 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 6 times.	12	BOOST_CHECK(result_check.isCollision());
253
254	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	CollisionResult result_check_box;
255	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	collide(&equivalent_box, IdTransform * box_placement, &box, M_box, request,
256			result_check_box);
257
258	6/12 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 6 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 6 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 6 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 6 times.	12	BOOST_CHECK(result_check_box.isCollision());
259		12	}
260		12	}
261
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263		2	const Scalar max_altitude = 1., min_altitude = 0.;
264
265		2	test_constant_hfields<OBBRSS>(2, 2, min_altitude,
266			max_altitude); // Simple case
267		2	test_constant_hfields<OBBRSS>(20, 2, min_altitude, max_altitude);
268		2	test_constant_hfields<OBBRSS>(100, 100, min_altitude, max_altitude);
269			// test_constant_hfields<OBBRSS>(1000,1000,min_altitude,max_altitude);
270
271		2	test_constant_hfields<AABB>(2, 2, min_altitude, max_altitude); // Simple case
272		2	test_constant_hfields<AABB>(20, 2, min_altitude, max_altitude);
273		2	test_constant_hfields<AABB>(100, 100, min_altitude, max_altitude);
274		2	}
275
276			template <typename BV>
277		1	void test_negative_security_margin(const Eigen::DenseIndex nx,
278			const Eigen::DenseIndex ny,
279			const Scalar min_altitude,
280			const Scalar max_altitude) {
281		1	const Scalar x_dim = 1., y_dim = 2.;
282	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	const MatrixXs heights = MatrixXs::Constant(ny, nx, max_altitude);
283
284	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	HeightField<BV> hfield(x_dim, y_dim, heights, min_altitude);
285
286			// Build equivalent object
287	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	const Box equivalent_box(x_dim, y_dim, max_altitude - min_altitude);
288	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	const Transform3s box_placement(
289			Matrix3s::Identity(),
290	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Vec3s(0, 0, (max_altitude + min_altitude) / Scalar(2)));
291
292			// Test collision
293	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	const Sphere sphere(1.);
294	3/8 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken. ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✗ Branch 9 not taken. ✗ Branch 10 not taken.	1	static const Transform3s IdTransform;
295
296	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	1	const Box box(Vec3s::Ones());
297
298	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	Transform3s M_sphere, M_box;
299
300			// No collision case
301			{
302		1	const Scalar eps_no_collision =
303		1	+Scalar(0.1) * (max_altitude - min_altitude);
304	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	M_sphere.setTranslation(
305	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Vec3s(0., 0., max_altitude + sphere.radius + eps_no_collision));
306	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	M_box.setTranslation(
307	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	Vec3s(0., 0., max_altitude + box.halfSide[2] + eps_no_collision));
308	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	CollisionRequest request;
309
310	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	CollisionResult result;
311	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	collide(&hfield, IdTransform, &sphere, M_sphere, request, result);
312
313	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	1	BOOST_CHECK(!result.isCollision());
314
315	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	CollisionResult result_check_sphere;
316	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	collide(&equivalent_box, IdTransform * box_placement, &sphere, M_sphere,
317			request, result_check_sphere);
318
319	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	1	BOOST_CHECK(!result_check_sphere.isCollision());
320
321	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	CollisionResult result_check_box;
322	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	collide(&equivalent_box, IdTransform * box_placement, &box, M_box, request,
323			result_check_box);
324
325	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	1	BOOST_CHECK(!result_check_box.isCollision());
326		1	}
327
328			// Collision case - positive security_margin
329			{
330		1	const Scalar eps_no_collision =
331		1	+Scalar(0.1) * (max_altitude - min_altitude);
332	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	M_sphere.setTranslation(
333	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Vec3s(0., 0., max_altitude + sphere.radius + eps_no_collision));
334	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	M_box.setTranslation(
335	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	Vec3s(0., 0., max_altitude + box.halfSide[2] + eps_no_collision));
336	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	CollisionRequest request;
337		1	request.security_margin = eps_no_collision + Scalar(1e-6);
338
339	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	CollisionResult result;
340	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	collide(&hfield, IdTransform, &sphere, M_sphere, request, result);
341
342	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	1	BOOST_CHECK(result.isCollision());
343
344	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	CollisionResult result_check_sphere;
345	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	collide(&equivalent_box, IdTransform * box_placement, &sphere, M_sphere,
346			request, result_check_sphere);
347
348	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	1	BOOST_CHECK(result_check_sphere.isCollision());
349
350	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	CollisionResult result_check_box;
351	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	collide(&equivalent_box, IdTransform * box_placement, &box, M_box, request,
352			result_check_box);
353
354	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	1	BOOST_CHECK(result_check_box.isCollision());
355		1	}
356
357			// Collision case
358			{
359		1	const Scalar eps_no_collision =
360		1	-Scalar(0.1) * (max_altitude - min_altitude);
361	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	M_sphere.setTranslation(
362	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Vec3s(0., 0., max_altitude + sphere.radius + eps_no_collision));
363	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	M_box.setTranslation(
364	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	Vec3s(0., 0., max_altitude + box.halfSide[2] + eps_no_collision));
365	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	CollisionRequest request;
366
367	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	CollisionResult result;
368	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	collide(&hfield, IdTransform, &sphere, M_sphere, request, result);
369
370	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	1	BOOST_CHECK(result.isCollision());
371
372	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	CollisionResult result_check_sphere;
373	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	collide(&equivalent_box, IdTransform * box_placement, &sphere, M_sphere,
374			request, result_check_sphere);
375
376	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	1	BOOST_CHECK(result_check_sphere.isCollision());
377
378	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	CollisionResult result_check_box;
379	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	collide(&equivalent_box, IdTransform * box_placement, &box, M_box, request,
380			result_check_box);
381
382	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	1	BOOST_CHECK(result_check_box.isCollision());
383		1	}
384
385			// No collision case - negative security_margin
386			{
387		1	const Scalar eps_no_collision =
388		1	-Scalar(0.1) * (max_altitude - min_altitude);
389	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	M_sphere.setTranslation(
390	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Vec3s(0., 0., max_altitude + sphere.radius + eps_no_collision));
391	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	M_box.setTranslation(
392	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	Vec3s(0., 0., max_altitude + box.halfSide[2] + eps_no_collision));
393	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	CollisionRequest request;
394		1	request.security_margin = eps_no_collision - Scalar(1e-4);
395
396	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	CollisionResult result;
397	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	collide(&hfield, IdTransform, &sphere, M_sphere, request, result);
398
399	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	1	BOOST_CHECK(!result.isCollision());
400
401	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	CollisionResult result_check_sphere;
402	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	collide(&equivalent_box, IdTransform * box_placement, &sphere, M_sphere,
403			request, result_check_sphere);
404
405	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	1	BOOST_CHECK(!result_check_sphere.isCollision());
406
407	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	CollisionResult result_check_box;
408	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	collide(&equivalent_box, IdTransform * box_placement, &box, M_box, request,
409			result_check_box);
410
411	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	1	BOOST_CHECK(!result_check_box.isCollision());
412		1	}
413		1	}
414
415	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(negative_security_margin) {
416		2	const Scalar max_altitude = 1., min_altitude = 0.;
417
418			// test_negative_security_margin<OBBRSS>(100, 100, min_altitude,
419			// max_altitude);
420		2	test_negative_security_margin<AABB>(100, 100, min_altitude, max_altitude);
421		2	}
422
423	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(hfield_with_square_hole) {
424		2	const Eigen::DenseIndex nx = 100, ny = 100;
425
426			typedef AABB BV;
427	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	const MatrixXs X = RowVector::LinSpaced(nx, -1., 1.).replicate(ny, 1);
428	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	const MatrixXs Y = VecXs::LinSpaced(ny, 1., -1.).replicate(1, nx);
429
430		2	const Scalar dim_square = 0.5;
431
432			const Eigen::Array<bool, Eigen::Dynamic, Eigen::Dynamic> hole =
433	8/16 ✓ Branch 1 taken 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.	2	(X.array().abs() < dim_square) && (Y.array().abs() < dim_square);
434
435			const MatrixXs heights =
436	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	MatrixXs::Ones(ny, nx) - hole.cast<Scalar>().matrix();
437
438	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const HeightField<BV> hfield(2., 2., heights, -10.);
439
440	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Sphere sphere(Scalar(0.48));
441	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	const Transform3s sphere_pos(Vec3s(0, 0, Scalar(0.5)));
442	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Transform3s hfield_pos;
443
444	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const CollisionRequest request;
445
446	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult result;
447			{
448	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	collide(&hfield, hfield_pos, &sphere, sphere_pos, request, result);
449
450	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(!result.isCollision());
451			}
452
453		2	sphere.radius = Scalar(0.51);
454
455			{
456	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult result;
457	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Sphere sphere2(Scalar(0.51));
458	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	collide(&hfield, hfield_pos, &sphere2, sphere_pos, request, result);
459
460	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(result.isCollision());
461		2	}
462		2	}
463
464	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(hfield_with_circular_hole) {
465		2	const Eigen::DenseIndex nx = 100, ny = 100;
466
467			// typedef OBBRSS BV; TODO(jcarpent): OBBRSS does not work (compile in Debug
468			// mode), as the overlap of OBBRSS is not satisfactory yet.
469			typedef AABB BV;
470	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	const MatrixXs X = RowVector::LinSpaced(nx, -1., 1.).replicate(ny, 1);
471	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	const MatrixXs Y = VecXs::LinSpaced(ny, 1., -1.).replicate(1, nx);
472
473		2	const Scalar dim_hole = 1;
474
475			const Eigen::Array<bool, Eigen::Dynamic, Eigen::Dynamic> hole =
476	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 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.	2	(X.array().square() + Y.array().square() <= dim_hole);
477
478			const MatrixXs heights =
479	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	MatrixXs::Ones(ny, nx) - hole.cast<Scalar>().matrix();
480
481	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const HeightField<BV> hfield(2., 2., heights, -10.);
482
483	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(hfield.getXGrid()[0] == -1.);
484	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(hfield.getXGrid()[nx - 1] == +1.);
485
486	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(hfield.getYGrid()[0] == +1.);
487	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(hfield.getYGrid()[ny - 1] == -1.);
488
489	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Sphere sphere(Scalar(0.975));
490	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	const Transform3s sphere_pos(Vec3s(0, 0, 1));
491	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Transform3s hfield_pos;
492
493		2	const Scalar thresholds[3] = {0, Scalar(0.01), Scalar(-0.005)};
494
495	2/2 ✓ Branch 0 taken 3 times. ✓ Branch 1 taken 1 times.	8	for (int i = 0; i < 3; ++i) {
496	1/2 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken.	6	CollisionResult result;
497	1/2 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken.	6	CollisionRequest request;
498		6	request.security_margin = thresholds[i];
499	1/2 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken.	6	collide(&hfield, hfield_pos, &sphere, sphere_pos, request, result);
500
501	6/12 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 3 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 3 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 3 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 3 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 3 times.	6	BOOST_CHECK(!result.isCollision());
502		6	}
503
504			// Increase the size of the sphere to force the collision
505		2	sphere.radius = Scalar(1.01);
506	2/2 ✓ Branch 0 taken 3 times. ✓ Branch 1 taken 1 times.	8	for (int i = 0; i < 3; ++i) {
507	1/2 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken.	6	CollisionResult result;
508	1/2 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken.	6	CollisionRequest request;
509		6	request.security_margin = thresholds[i];
510	1/2 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken.	6	collide(&hfield, hfield_pos, &sphere, sphere_pos, request, result);
511
512	6/12 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 3 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 3 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 3 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 3 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 3 times.	6	BOOST_CHECK(result.isCollision());
513		6	}
514
515			{
516	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult result;
517	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest request;
518		2	request.security_margin = Scalar(-0.02);
519	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	collide(&hfield, hfield_pos, &sphere, sphere_pos, request, result);
520
521	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(!result.isCollision());
522		2	}
523		2	}
524
525		7	bool isApprox(const Scalar v1, const Scalar v2,
526			const Scalar tol = Scalar(1e-6)) {
527		7	return std::fabs(v1 - v2) <= tol;
528			}
529
530		17	Vec3s computeFaceNormal(const Triangle& triangle,
531			const std::vector<Vec3s>& points) {
532	1/2 ✓ Branch 3 taken 17 times. ✗ Branch 4 not taken.	17	const Vec3s pointA = points[triangle[0]];
533	1/2 ✓ Branch 3 taken 17 times. ✗ Branch 4 not taken.	17	const Vec3s pointB = points[triangle[1]];
534	1/2 ✓ Branch 3 taken 17 times. ✗ Branch 4 not taken.	17	const Vec3s pointC = points[triangle[2]];
535
536	4/8 ✓ Branch 1 taken 17 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 17 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 17 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 17 times. ✗ Branch 11 not taken.	34	return (pointB - pointA).cross(pointC - pointA).normalized();
537			}
538
539	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(test_hfield_bin_face_normal_orientation) {
540		2	const Scalar sphere_radius = 1.;
541	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Sphere sphere(sphere_radius);
542	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXs altitutes(2, 2);
543		2	Scalar altitude_value = 1.;
544	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	altitutes.fill(altitude_value);
545
546			typedef AABB BV;
547	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	HeightField<BV> hfield(1., 1., altitutes, 0.);
548
549		2	const HeightField<BV>::BVS& nodes = hfield.getNodes();
550	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(nodes.size() == 1);
551		2	const HeightField<BV>::Node& node = nodes[0];
552
553			typedef HFNodeBase::FaceOrientation FaceOrientation;
554	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK((node.contact_active_faces & FaceOrientation::BOTTOM) ==
555			int(FaceOrientation::BOTTOM));
556	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK((node.contact_active_faces & FaceOrientation::TOP) ==
557			int(FaceOrientation::TOP));
558	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK((node.contact_active_faces & FaceOrientation::NORTH) ==
559			int(FaceOrientation::NORTH));
560	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK((node.contact_active_faces & FaceOrientation::SOUTH) ==
561			int(FaceOrientation::SOUTH));
562	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK((node.contact_active_faces & FaceOrientation::EAST) ==
563			int(FaceOrientation::EAST));
564	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK((node.contact_active_faces & FaceOrientation::WEST) ==
565			int(FaceOrientation::WEST));
566
567	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Convex<Triangle> convex1, convex2;
568			int convex1_active_faces, convex2_active_faces;
569	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	details::buildConvexTriangles(node, hfield, convex1, convex1_active_faces,
570			convex2, convex2_active_faces);
571
572			// Check face normals for convex1
573			{
574		2	const std::vector<Vec3s>& points = *(convex1.points);
575			// BOTTOM
576			{
577		2	const Triangle& triangle = (*(convex1.polygons))[0];
578
579	10/20 ✓ 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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 1 times.	2	BOOST_CHECK(
580			computeFaceNormal(triangle, points).isApprox(-Vec3s::UnitZ()));
581			}
582
583			// TOP
584			{
585		2	const Triangle& triangle = (*(convex1.polygons))[1];
586
587	9/18 ✓ 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 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK(computeFaceNormal(triangle, points).isApprox(Vec3s::UnitZ()));
588			}
589
590			// WEST sides
591			{
592		2	const Triangle& triangle1 = (*(convex1.polygons))[2];
593		2	const Triangle& triangle2 = (*(convex1.polygons))[3];
594
595	10/20 ✓ 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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 1 times.	2	BOOST_CHECK(
596			computeFaceNormal(triangle1, points).isApprox(-Vec3s::UnitX()));
597	10/20 ✓ 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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 1 times.	2	BOOST_CHECK(
598			computeFaceNormal(triangle2, points).isApprox(-Vec3s::UnitX()));
599			}
600
601			// SOUTH-EAST sides
602			{
603	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	const Vec3s south_east_normal = Vec3s(1., -1., 0).normalized();
604
605		2	const Triangle& triangle1 = (*(convex1.polygons))[4];
606		2	const Triangle& triangle2 = (*(convex1.polygons))[5];
607
608	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(
609			computeFaceNormal(triangle1, points).isApprox(south_east_normal));
610	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(
611			computeFaceNormal(triangle2, points).isApprox(south_east_normal));
612			}
613
614			// NORTH sides
615			{
616		2	const Triangle& triangle1 = (*(convex1.polygons))[6];
617		2	const Triangle& triangle2 = (*(convex1.polygons))[7];
618
619	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::cout << "computeFaceNormal(triangle1,points): "
620	3/6 ✓ Branch 1 taken 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	<< computeFaceNormal(triangle1, points).transpose()
621	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	<< std::endl;
622	9/18 ✓ 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 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK(
623			computeFaceNormal(triangle1, points).isApprox(Vec3s::UnitY()));
624	9/18 ✓ 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 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK(
625			computeFaceNormal(triangle2, points).isApprox(Vec3s::UnitY()));
626			}
627			}
628
629			// Check face normals for convex2
630			{
631		2	const std::vector<Vec3s>& points = *(convex2.points);
632
633			// BOTTOM
634			{
635		2	const Triangle& triangle = (*(convex2.polygons))[0];
636
637	10/20 ✓ 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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 1 times.	2	BOOST_CHECK(
638			computeFaceNormal(triangle, points).isApprox(-Vec3s::UnitZ()));
639			}
640
641			// TOP
642			{
643		2	const Triangle& triangle = (*(convex2.polygons))[1];
644
645	9/18 ✓ 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 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK(computeFaceNormal(triangle, points).isApprox(Vec3s::UnitZ()));
646			}
647
648			// SOUTH sides
649			{
650		2	const Triangle& triangle1 = (*(convex2.polygons))[2];
651		2	const Triangle& triangle2 = (*(convex2.polygons))[3];
652
653	10/20 ✓ 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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 1 times.	2	BOOST_CHECK(
654			computeFaceNormal(triangle1, points).isApprox(-Vec3s::UnitY()));
655	10/20 ✓ 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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 1 times.	2	BOOST_CHECK(
656			computeFaceNormal(triangle2, points).isApprox(-Vec3s::UnitY()));
657			}
658
659			// NORTH-WEST sides
660			{
661	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	const Vec3s north_west_normal = Vec3s(-1., 1., 0).normalized();
662
663		2	const Triangle& triangle1 = (*(convex2.polygons))[4];
664		2	const Triangle& triangle2 = (*(convex2.polygons))[5];
665
666	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(
667			computeFaceNormal(triangle1, points).isApprox(north_west_normal));
668	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(
669			computeFaceNormal(triangle2, points).isApprox(north_west_normal));
670			}
671
672			// EAST sides
673			{
674		2	const Triangle& triangle1 = (*(convex2.polygons))[6];
675		2	const Triangle& triangle2 = (*(convex2.polygons))[7];
676
677	9/18 ✓ 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 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK(
678			computeFaceNormal(triangle1, points).isApprox(Vec3s::UnitX()));
679	9/18 ✓ 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 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK(
680			computeFaceNormal(triangle2, points).isApprox(Vec3s::UnitX()));
681			}
682			}
683		2	}
684
685	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(test_hfield_bin_active_faces) {
686			typedef HFNodeBase::FaceOrientation FaceOrientation;
687		2	const Scalar sphere_radius = 1.;
688	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Sphere sphere(sphere_radius);
689	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXs altitutes(3, 3);
690		2	Scalar altitude_value = 1.;
691	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	altitutes.fill(altitude_value);
692
693			typedef AABB BV;
694	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	HeightField<BV> hfield(1., 1., altitutes, 0.);
695
696		2	const HeightField<BV>::BVS& nodes = hfield.getNodes();
697	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(nodes.size() == 7);
698
699	2/2 ✓ Branch 5 taken 7 times. ✓ Branch 6 taken 1 times.	16	for (const auto& node : nodes) {
700	2/2 ✓ Branch 1 taken 4 times. ✓ Branch 2 taken 3 times.	14	if (node.isLeaf()) {
701	6/12 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 4 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 4 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 4 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 4 times.	8	BOOST_CHECK((node.contact_active_faces & FaceOrientation::BOTTOM) ==
702			int(FaceOrientation::BOTTOM));
703	6/12 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 4 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 4 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 4 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 4 times.	8	BOOST_CHECK((node.contact_active_faces & FaceOrientation::TOP) ==
704			int(FaceOrientation::TOP));
705
706	2/2 ✓ Branch 0 taken 2 times. ✓ Branch 1 taken 2 times.	8	if (node.x_id == 0)
707	6/12 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 2 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 2 times.	4	BOOST_CHECK((node.contact_active_faces & FaceOrientation::WEST) ==
708			int(FaceOrientation::WEST));
709	2/2 ✓ Branch 0 taken 2 times. ✓ Branch 1 taken 2 times.	8	if (node.y_id == 0)
710	6/12 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 2 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 2 times.	4	BOOST_CHECK((node.contact_active_faces & FaceOrientation::NORTH) ==
711			int(FaceOrientation::NORTH));
712
713	2/2 ✓ Branch 0 taken 2 times. ✓ Branch 1 taken 2 times.	8	if (node.x_id == 1)
714	6/12 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 2 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 2 times.	4	BOOST_CHECK((node.contact_active_faces & FaceOrientation::EAST) ==
715			int(FaceOrientation::EAST));
716	2/2 ✓ Branch 0 taken 2 times. ✓ Branch 1 taken 2 times.	8	if (node.y_id == 1)
717	6/12 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 2 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 2 times.	4	BOOST_CHECK((node.contact_active_faces & FaceOrientation::SOUTH) ==
718			int(FaceOrientation::SOUTH));
719			}
720			}
721		2	}
722
723	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(test_hfield_single_bin) {
724		2	const Scalar sphere_radius = 1.;
725	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Sphere sphere(sphere_radius);
726	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXs altitutes(2, 2);
727		2	Scalar altitude_value = 1.;
728	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	altitutes.fill(altitude_value);
729
730			typedef AABB BV;
731	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	HeightField<BV> hfield(1., 1., altitutes, 0.);
732
733		2	const HeightField<BV>::BVS& nodes = hfield.getNodes();
734	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(nodes.size() == 1);
735
736			// Collision from the TOP
737			{
738	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	const Transform3s sphere_pos(Vec3s(0., 0., 2.));
739	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Transform3s hfield_pos;
740
741	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult result;
742	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest request;
743		2	request.security_margin = -Scalar(0.005);
744	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	collide(&hfield, hfield_pos, &sphere, sphere_pos, request, result);
745
746	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(!result.isCollision());
747	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(
748			isApprox(result.distance_lower_bound, -request.security_margin));
749		2	}
750
751			// Same, but with a positive margin.
752			{
753	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	const Transform3s sphere_pos(Vec3s(0., 0., 2.));
754	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Transform3s hfield_pos;
755
756	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult result;
757	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest request;
758		2	request.security_margin = +Scalar(0.005);
759	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	collide(&hfield, hfield_pos, &sphere, sphere_pos, request, result);
760
761	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(result.isCollision());
762	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	if (result.isCollision()) {
763	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Contact& contact = result.getContact(0);
764	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(contact.normal.isApprox(Vec3s::UnitZ()));
765	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	std::cout << "contact.penetration_depth: " << contact.penetration_depth
766	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	<< std::endl;
767	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(isApprox(contact.penetration_depth, 0.));
768			}
769		2	}
770
771			// Collision from the BOTTOM
772			{
773	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	const Transform3s sphere_pos(Vec3s(0., 0., -1.));
774	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Transform3s hfield_pos;
775
776	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult result;
777	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest request;
778		2	request.security_margin = -Scalar(0.005);
779	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	collide(&hfield, hfield_pos, &sphere, sphere_pos, request, result);
780
781	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(!result.isCollision());
782		2	}
783
784			{
785	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	const Transform3s sphere_pos(Vec3s(0., 0., -1.));
786	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Transform3s hfield_pos;
787
788	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult result;
789	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest request;
790		2	request.security_margin = +Scalar(0.005);
791	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	collide(&hfield, hfield_pos, &sphere, sphere_pos, request, result);
792
793	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(result.isCollision());
794			{
795	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Contact& contact = result.getContact(0);
796	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK(contact.normal.isApprox(-Vec3s::UnitZ()));
797	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	std::cout << "contact.penetration_depth: " << contact.penetration_depth
798	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	<< std::endl;
799	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(isApprox(contact.penetration_depth, 0.));
800			}
801		2	}
802
803			// Collision from the WEST
804			{
805			const Transform3s sphere_pos(
806	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	Vec3s(hfield.getXGrid()[0] - sphere_radius, 0., 0.5));
807	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Transform3s hfield_pos;
808
809	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult result;
810	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest request;
811		2	request.security_margin = -Scalar(0.005);
812	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	collide(&hfield, hfield_pos, &sphere, sphere_pos, request, result);
813
814	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(!result.isCollision());
815		2	}
816
817			{
818			const Transform3s sphere_pos(
819	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	Vec3s(hfield.getXGrid()[0] - sphere_radius, 0., 0.5));
820	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Transform3s hfield_pos;
821
822	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult result;
823	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest request;
824		2	request.security_margin = +Scalar(0.005);
825	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	collide(&hfield, hfield_pos, &sphere, sphere_pos, request, result);
826
827	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(result.isCollision());
828	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	if (result.isCollision()) {
829	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Contact& contact = result.getContact(0);
830	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK(contact.normal.isApprox(-Vec3s::UnitX()));
831	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(isApprox(contact.penetration_depth, 0.));
832			}
833		2	}
834
835			// Collision from the EAST
836			{
837			const Transform3s sphere_pos(
838	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	Vec3s(hfield.getXGrid()[1] + sphere_radius, 0., 0.5));
839	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Transform3s hfield_pos;
840
841	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult result;
842	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest request;
843		2	request.security_margin = -Scalar(0.005);
844	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	collide(&hfield, hfield_pos, &sphere, sphere_pos, request, result);
845
846	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(!result.isCollision());
847		2	}
848
849			{
850			const Transform3s sphere_pos(
851	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	Vec3s(hfield.getXGrid()[1] + sphere_radius, 0., 0.5));
852	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Transform3s hfield_pos;
853
854	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult result;
855	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest request;
856		2	request.security_margin = +Scalar(0.005);
857	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	collide(&hfield, hfield_pos, &sphere, sphere_pos, request, result);
858
859	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(result.isCollision());
860
861	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	if (result.isCollision()) {
862	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Contact& contact = result.getContact(0);
863	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(contact.normal.isApprox(Vec3s::UnitX()));
864	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(isApprox(contact.penetration_depth, 0.));
865			}
866		2	}
867
868			// Collision from the NORTH
869			{
870			const Transform3s sphere_pos(
871	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	Vec3s(0., hfield.getYGrid()[0] + sphere_radius, 0.5));
872	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Transform3s hfield_pos;
873
874	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult result;
875	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest request;
876		2	request.security_margin = -Scalar(0.005);
877	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	collide(&hfield, hfield_pos, &sphere, sphere_pos, request, result);
878
879	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(!result.isCollision());
880		2	}
881
882			{
883			const Transform3s sphere_pos(
884	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	Vec3s(0, hfield.getYGrid()[0] + sphere_radius, Scalar(0.5)));
885	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Transform3s hfield_pos;
886
887	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult result;
888	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest request;
889		2	request.security_margin = +Scalar(0.005);
890	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	collide(&hfield, hfield_pos, &sphere, sphere_pos, request, result);
891
892	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(result.isCollision());
893
894	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	if (result.isCollision()) {
895	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Contact& contact = result.getContact(0);
896	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(contact.normal.isApprox(Vec3s::UnitY()));
897	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(isApprox(contact.penetration_depth, 0.));
898			}
899		2	}
900
901			// Collision from the SOUTH
902			{
903			const Transform3s sphere_pos(
904	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	Vec3s(0., hfield.getYGrid()[1] - sphere_radius, 0.5));
905	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Transform3s hfield_pos;
906
907	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult result;
908	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest request;
909		2	request.security_margin = -Scalar(0.005);
910	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	collide(&hfield, hfield_pos, &sphere, sphere_pos, request, result);
911
912	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(!result.isCollision());
913		2	}
914
915			{
916			const Transform3s sphere_pos(
917	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	Vec3s(0., hfield.getYGrid()[1] - sphere_radius, Scalar(0.5)));
918	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Transform3s hfield_pos;
919
920	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult result;
921	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest request;
922		2	request.security_margin = +Scalar(0.005);
923	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	collide(&hfield, hfield_pos, &sphere, sphere_pos, request, result);
924
925	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(result.isCollision());
926
927	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	if (result.isCollision()) {
928	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Contact& contact = result.getContact(0);
929	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK(contact.normal.isApprox(-Vec3s::UnitY()));
930	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(isApprox(contact.penetration_depth, 0.));
931			}
932		2	}
933		2	}
934