GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	435	438	99.3%
Branches:	1750	3480	50.3%

Line	Branch	Exec	Source
1			/*
2			* Software License Agreement (BSD License)
3			*
4			* Copyright (c) 2022-2024, INRIA
5			* All rights reserved.
6			*
7			* Redistribution and use in source and binary forms, with or without
8			* modification, are permitted provided that the following conditions
9			* are met:
10			*
11			* * Redistributions of source code must retain the above copyright
12			* notice, this list of conditions and the following disclaimer.
13			* * Redistributions in binary form must reproduce the above
14			* copyright notice, this list of conditions and the following
15			* disclaimer in the documentation and/or other materials provided
16			* with the distribution.
17			* * Neither the name of Willow Garage, Inc. nor the names of its
18			* contributors may be used to endorse or promote products derived
19			* from this software without specific prior written permission.
20			*
21			* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22			* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23			* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24			* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25			* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26			* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27			* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28			* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29			* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30			* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31			* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32			* POSSIBILITY OF SUCH DAMAGE.
33			*/
34
35			/** \author Louis Montaut */
36
37			#define BOOST_TEST_MODULE COAL_NORMAL_AND_NEAREST_POINTS
38			#include <boost/test/included/unit_test.hpp>
39
40			#include "coal/fwd.hh"
41			#include "coal/shape/geometric_shapes.h"
42			#include "coal/collision_data.h"
43			#include "coal/BV/OBBRSS.h"
44			#include "coal/BVH/BVH_model.h"
45			#include "coal/shape/geometric_shape_to_BVH_model.h"
46
47			#include "utility.h"
48
49			using namespace coal;
50			typedef Eigen::Vector2d Vec2d;
51
52			// This test suite is designed to operate on any pair of primitive shapes:
53			// spheres, capsules, boxes, ellipsoids, cones, cylinders, planes, halfspaces,
54			// convex meshes. Do not use this file for BVH, octree etc. It would not make
55			// sense.
56
57			// This test is designed to check if the normal and the nearest points
58			// are properly handled as defined in DistanceResult::normal.
59			// Regardless of wether or not the two shapes are in intersection, regardless of
60			// whether `collide` or `distance` is called:
61			// --> we denote `dist` the (signed) distance that separates the two shapes
62			// --> we denote `p1` and `p2` their nearest_points (witness points)
63			// --> the `normal` should always point from shape 1 to shape 2, i.e we should
64			// always have: \| normal = sign(dist) * (p2 - p1).normalized()
65			// \| p2 = p1 + dist * normal
66			// Thus:
67			// --> if o1 and o2 are not in collision, translating o2 by vector
68			// `-(dist + eps) * normal` should bring them in collision (eps > 0).
69			// --> if o1 and o2 are in collision, translating o2 by vector
70			// `-(dist - eps)) * normal` should separate them (eps > 0).
71			// --> finally, if abs(dist) > 0, we should have:
72			// normal = sign(dist) * (p2 - p1).normalized()
73			// p2 = p1 + dist * normal
74			template <typename ShapeType1, typename ShapeType2>
75		864	void test_normal_and_nearest_points(
76			const ShapeType1& o1, const ShapeType2& o2,
77			size_t gjk_max_iterations = GJK_DEFAULT_MAX_ITERATIONS,
78			Scalar gjk_tolerance = GJK_DEFAULT_TOLERANCE,
79			size_t epa_max_iterations = EPA_DEFAULT_MAX_ITERATIONS,
80			Scalar epa_tolerance = EPA_DEFAULT_TOLERANCE) {
81			// Generate random poses for o2
82			#ifndef NDEBUG // if debug mode
83		864	std::size_t n = 10;
84			#else
85			size_t n = 1000;
86			#endif
87			// We want to make sure we generate poses that are in collision
88			// so we take a relatively small extent for the random poses
89		864	Scalar extents[] = {-1.5, -1.5, -1.5, 1.5, 1.5, 1.5};
90		864	std::vector<Transform3s> transforms;
91	1/2 ✓ Branch 1 taken 432 times. ✗ Branch 2 not taken.	864	generateRandomTransforms(extents, transforms, n);
92	1/2 ✓ Branch 1 taken 432 times. ✗ Branch 2 not taken.	864	Transform3s tf1 = Transform3s::Identity();
93
94	1/2 ✓ Branch 1 taken 432 times. ✗ Branch 2 not taken.	864	CollisionRequest colreq;
95		864	colreq.distance_upper_bound = std::numeric_limits<Scalar>::max();
96			// For strictly convex shapes, the default tolerance of EPA is way too low.
97			// Because EPA is basically trying to fit a polytope to a strictly convex
98			// surface, it might take it a lot of iterations to converge to a low
99			// tolerance. A solution is to increase the number of iterations and the
100			// tolerance (and/or increase the number of faces and vertices EPA is allowed
101			// to work with).
102		864	colreq.gjk_max_iterations = gjk_max_iterations;
103		864	colreq.gjk_tolerance = gjk_tolerance;
104		864	colreq.epa_max_iterations = epa_max_iterations;
105		864	colreq.epa_tolerance = epa_tolerance;
106	1/2 ✓ Branch 1 taken 432 times. ✗ Branch 2 not taken.	864	DistanceRequest distreq;
107		864	distreq.gjk_max_iterations = gjk_max_iterations;
108		864	distreq.gjk_tolerance = gjk_tolerance;
109		864	distreq.epa_max_iterations = epa_max_iterations;
110		864	distreq.epa_tolerance = epa_tolerance;
111
112	2/2 ✓ Branch 1 taken 4320 times. ✓ Branch 2 taken 432 times.	9504	for (size_t i = 0; i < n; i++) {
113			// Run both `distance` and `collide`.
114			// Since CollisionRequest::distance_lower_bound is set to infinity,
115			// these functions should agree on the results regardless of collision or
116			// not.
117	1/2 ✓ Branch 2 taken 4320 times. ✗ Branch 3 not taken.	8640	Transform3s tf2 = transforms[i];
118	1/2 ✓ Branch 1 taken 4320 times. ✗ Branch 2 not taken.	8640	CollisionResult colres;
119	1/2 ✓ Branch 2 taken 4320 times. ✗ Branch 3 not taken.	8640	DistanceResult distres;
120	1/2 ✓ Branch 1 taken 4320 times. ✗ Branch 2 not taken.	8640	size_t col = collide(&o1, tf1, &o2, tf2, colreq, colres);
121	1/2 ✓ Branch 1 taken 4320 times. ✗ Branch 2 not taken.	8640	Scalar dist = distance(&o1, tf1, &o2, tf2, distreq, distres);
122
123		8640	const Scalar dummy_precision(100 * std::numeric_limits<Scalar>::epsilon());
124	2/2 ✓ Branch 0 taken 1884 times. ✓ Branch 1 taken 2436 times.	8640	if (col) {
125	6/12 ✓ Branch 1 taken 1884 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1884 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1884 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1884 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1884 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1884 times.	3768	BOOST_CHECK(dist <= 0.);
126	6/12 ✓ Branch 1 taken 1884 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1884 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1884 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1884 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1884 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1884 times.	3768	BOOST_CHECK_CLOSE(dist, distres.min_distance, dummy_precision);
127	2/4 ✓ Branch 1 taken 1884 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1884 times. ✗ Branch 5 not taken.	3768	Contact contact = colres.getContact(0);
128	6/12 ✓ Branch 1 taken 1884 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1884 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1884 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1884 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1884 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1884 times.	3768	BOOST_CHECK_CLOSE(dist, contact.penetration_depth, dummy_precision);
129
130	1/2 ✓ Branch 2 taken 1884 times. ✗ Branch 3 not taken.	3768	Vec3s cp1 = contact.nearest_points[0];
131	16/32 ✓ Branch 1 taken 1884 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1884 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1884 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1884 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1884 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1884 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1884 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1884 times. ✗ Branch 26 not taken. ✓ Branch 29 taken 1884 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 1884 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 1884 times. ✗ Branch 36 not taken. ✓ Branch 39 taken 1884 times. ✗ Branch 40 not taken. ✓ Branch 42 taken 1884 times. ✗ Branch 43 not taken. ✓ Branch 45 taken 1884 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1884 times. ✗ Branch 49 not taken. ✗ Branch 59 not taken. ✓ Branch 60 taken 1884 times.	3768	EIGEN_VECTOR_IS_APPROX(cp1, distres.nearest_points[0], dummy_precision);
132
133	1/2 ✓ Branch 2 taken 1884 times. ✗ Branch 3 not taken.	3768	Vec3s cp2 = contact.nearest_points[1];
134	16/32 ✓ Branch 1 taken 1884 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1884 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1884 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1884 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1884 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1884 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1884 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1884 times. ✗ Branch 26 not taken. ✓ Branch 29 taken 1884 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 1884 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 1884 times. ✗ Branch 36 not taken. ✓ Branch 39 taken 1884 times. ✗ Branch 40 not taken. ✓ Branch 42 taken 1884 times. ✗ Branch 43 not taken. ✓ Branch 45 taken 1884 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1884 times. ✗ Branch 49 not taken. ✗ Branch 59 not taken. ✓ Branch 60 taken 1884 times.	3768	EIGEN_VECTOR_IS_APPROX(cp2, distres.nearest_points[1], dummy_precision);
135	8/16 ✓ Branch 1 taken 1884 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1884 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1884 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1884 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1884 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1884 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1884 times. ✗ Branch 23 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1884 times.	3768	BOOST_CHECK_CLOSE(contact.penetration_depth, -(cp2 - cp1).norm(),
136			epa_tolerance);
137	20/40 ✓ Branch 1 taken 1884 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1884 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1884 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1884 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1884 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1884 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1884 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1884 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1884 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1884 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1884 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1884 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 1884 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 1884 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 1884 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 1884 times. ✗ Branch 50 not taken. ✓ Branch 52 taken 1884 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1884 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1884 times. ✗ Branch 59 not taken. ✗ Branch 69 not taken. ✓ Branch 70 taken 1884 times.	3768	EIGEN_VECTOR_IS_APPROX(cp1, cp2 - dist * distres.normal, epa_tolerance);
138
139	2/4 ✓ Branch 1 taken 1884 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1884 times. ✗ Branch 5 not taken.	3768	Vec3s separation_vector = contact.penetration_depth * contact.normal;
140	18/36 ✓ Branch 1 taken 1884 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1884 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1884 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1884 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1884 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1884 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1884 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1884 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1884 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1884 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1884 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1884 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 1884 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 1884 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 1884 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 1884 times. ✗ Branch 50 not taken. ✓ Branch 52 taken 1884 times. ✗ Branch 53 not taken. ✗ Branch 63 not taken. ✓ Branch 64 taken 1884 times.	3768	EIGEN_VECTOR_IS_APPROX(separation_vector, cp2 - cp1, epa_tolerance);
141
142	1/2 ✓ Branch 0 taken 1884 times. ✗ Branch 1 not taken.	3768	if (dist < 0) {
143	22/44 ✓ Branch 1 taken 1884 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1884 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1884 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1884 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1884 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1884 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1884 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1884 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1884 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1884 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1884 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1884 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 1884 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 1884 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 1884 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 1884 times. ✗ Branch 50 not taken. ✓ Branch 52 taken 1884 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1884 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1884 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1884 times. ✗ Branch 62 not taken. ✓ Branch 64 taken 1884 times. ✗ Branch 65 not taken. ✗ Branch 75 not taken. ✓ Branch 76 taken 1884 times.	3768	EIGEN_VECTOR_IS_APPROX(contact.normal, -(cp2 - cp1).normalized(),
144			epa_tolerance);
145			}
146
147			// Separate the shapes
148	1/2 ✓ Branch 1 taken 1884 times. ✗ Branch 2 not taken.	3768	Transform3s new_tf1 = tf1;
149		3768	Scalar eps = Scalar(1e-2);
150	4/8 ✓ Branch 1 taken 1884 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1884 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1884 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1884 times. ✗ Branch 12 not taken.	3768	new_tf1.setTranslation(tf1.getTranslation() + separation_vector -
151			eps * contact.normal);
152	1/2 ✓ Branch 1 taken 1884 times. ✗ Branch 2 not taken.	3768	CollisionResult new_colres;
153	1/2 ✓ Branch 2 taken 1884 times. ✗ Branch 3 not taken.	3768	DistanceResult new_distres;
154	1/2 ✓ Branch 1 taken 1884 times. ✗ Branch 2 not taken.	3768	size_t new_col = collide(&o1, new_tf1, &o2, tf2, colreq, new_colres);
155	1/2 ✓ Branch 1 taken 1884 times. ✗ Branch 2 not taken.	3768	Scalar new_dist = distance(&o1, new_tf1, &o2, tf2, distreq, new_distres);
156	6/12 ✓ Branch 1 taken 1884 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1884 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1884 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1884 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1884 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1884 times.	3768	BOOST_CHECK(new_dist > 0);
157	6/12 ✓ Branch 1 taken 1884 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1884 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1884 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1884 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1884 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1884 times.	3768	BOOST_CHECK(!new_col);
158	6/12 ✓ Branch 1 taken 1884 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1884 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1884 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1884 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1884 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1884 times.	3768	BOOST_CHECK(!new_colres.isCollision());
159	6/12 ✓ Branch 1 taken 1884 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1884 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1884 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1884 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1884 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1884 times.	3768	BOOST_CHECK_CLOSE(new_colres.distance_lower_bound, new_dist,
160			epa_tolerance);
161	1/2 ✓ Branch 2 taken 1884 times. ✗ Branch 3 not taken.	3768	Vec3s new_cp1 = new_distres.nearest_points[0];
162	1/2 ✓ Branch 2 taken 1884 times. ✗ Branch 3 not taken.	3768	Vec3s new_cp2 = new_distres.nearest_points[1];
163	8/16 ✓ Branch 1 taken 1884 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1884 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1884 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1884 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1884 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1884 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1884 times. ✗ Branch 23 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1884 times.	3768	BOOST_CHECK_CLOSE(new_dist, (new_cp1 - new_cp2).norm(), epa_tolerance);
164	20/40 ✓ Branch 1 taken 1884 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1884 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1884 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1884 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1884 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1884 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1884 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1884 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1884 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1884 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1884 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1884 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 1884 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 1884 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 1884 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 1884 times. ✗ Branch 50 not taken. ✓ Branch 52 taken 1884 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1884 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1884 times. ✗ Branch 59 not taken. ✗ Branch 69 not taken. ✓ Branch 70 taken 1884 times.	3768	EIGEN_VECTOR_IS_APPROX(new_cp1, new_cp2 - new_dist * new_distres.normal,
165			epa_tolerance);
166
167	2/4 ✓ Branch 1 taken 1884 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1884 times. ✗ Branch 5 not taken.	3768	Vec3s new_separation_vector = new_dist * new_distres.normal;
168	18/36 ✓ Branch 1 taken 1884 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1884 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1884 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1884 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1884 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1884 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1884 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1884 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1884 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1884 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1884 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1884 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 1884 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 1884 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 1884 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 1884 times. ✗ Branch 50 not taken. ✓ Branch 52 taken 1884 times. ✗ Branch 53 not taken. ✗ Branch 63 not taken. ✓ Branch 64 taken 1884 times.	3768	EIGEN_VECTOR_IS_APPROX(new_separation_vector, new_cp2 - new_cp1,
169			epa_tolerance);
170
171	1/2 ✓ Branch 0 taken 1884 times. ✗ Branch 1 not taken.	3768	if (new_dist > 0) {
172	20/40 ✓ Branch 1 taken 1884 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1884 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1884 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1884 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1884 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1884 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1884 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1884 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1884 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1884 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1884 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1884 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 1884 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 1884 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 1884 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 1884 times. ✗ Branch 50 not taken. ✓ Branch 52 taken 1884 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1884 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1884 times. ✗ Branch 59 not taken. ✗ Branch 69 not taken. ✓ Branch 70 taken 1884 times.	3768	EIGEN_VECTOR_IS_APPROX(new_distres.normal,
173			(new_cp2 - new_cp1).normalized(), gjk_tolerance);
174			}
175		3768	} else {
176	6/12 ✓ Branch 1 taken 2436 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2436 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2436 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 2436 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 2436 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 2436 times.	4872	BOOST_CHECK(dist >= 0.);
177	6/12 ✓ Branch 1 taken 2436 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2436 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 2436 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 2436 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 2436 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 2436 times.	4872	BOOST_CHECK_CLOSE(distres.min_distance, dist, dummy_precision);
178	6/12 ✓ Branch 1 taken 2436 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2436 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 2436 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 2436 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 2436 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 2436 times.	4872	BOOST_CHECK_CLOSE(dist, colres.distance_lower_bound, dummy_precision);
179
180	1/2 ✓ Branch 2 taken 2436 times. ✗ Branch 3 not taken.	4872	Vec3s cp1 = distres.nearest_points[0];
181	1/2 ✓ Branch 2 taken 2436 times. ✗ Branch 3 not taken.	4872	Vec3s cp2 = distres.nearest_points[1];
182	8/16 ✓ Branch 1 taken 2436 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2436 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 2436 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 2436 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 2436 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 2436 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 2436 times. ✗ Branch 23 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 2436 times.	4872	BOOST_CHECK_CLOSE(dist, (cp1 - cp2).norm(), gjk_tolerance);
183	20/40 ✓ Branch 1 taken 2436 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2436 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 2436 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 2436 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 2436 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 2436 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 2436 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 2436 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 2436 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 2436 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 2436 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 2436 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 2436 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 2436 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 2436 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 2436 times. ✗ Branch 50 not taken. ✓ Branch 52 taken 2436 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 2436 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 2436 times. ✗ Branch 59 not taken. ✗ Branch 69 not taken. ✓ Branch 70 taken 2436 times.	4872	EIGEN_VECTOR_IS_APPROX(cp1, cp2 - dist * distres.normal, gjk_tolerance);
184
185	2/4 ✓ Branch 1 taken 2436 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2436 times. ✗ Branch 5 not taken.	4872	Vec3s separation_vector = dist * distres.normal;
186	18/36 ✓ Branch 1 taken 2436 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2436 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 2436 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 2436 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 2436 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 2436 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 2436 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 2436 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 2436 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 2436 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 2436 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 2436 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 2436 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 2436 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 2436 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 2436 times. ✗ Branch 50 not taken. ✓ Branch 52 taken 2436 times. ✗ Branch 53 not taken. ✗ Branch 63 not taken. ✓ Branch 64 taken 2436 times.	4872	EIGEN_VECTOR_IS_APPROX(separation_vector, cp2 - cp1, gjk_tolerance);
187
188	1/2 ✓ Branch 0 taken 2436 times. ✗ Branch 1 not taken.	4872	if (dist > 0) {
189	20/40 ✓ Branch 1 taken 2436 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2436 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 2436 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 2436 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 2436 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 2436 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 2436 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 2436 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 2436 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 2436 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 2436 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 2436 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 2436 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 2436 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 2436 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 2436 times. ✗ Branch 50 not taken. ✓ Branch 52 taken 2436 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 2436 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 2436 times. ✗ Branch 59 not taken. ✗ Branch 69 not taken. ✓ Branch 70 taken 2436 times.	4872	EIGEN_VECTOR_IS_APPROX(distres.normal, (cp2 - cp1).normalized(),
190			gjk_tolerance);
191			}
192
193			// Bring the shapes in collision
194			// We actually can't guarantee that the shapes will be in collision.
195			// Suppose you have two disjoing cones, which witness points are the tips
196			// of the cones.
197			// If you translate one of the cones by the separation vector and it
198			// happens to be parallel to the axis of the cone, the two shapes will
199			// still be disjoint.
200		4872	Scalar eps = Scalar(1e-2);
201	1/2 ✓ Branch 1 taken 2436 times. ✗ Branch 2 not taken.	4872	Transform3s new_tf1 = tf1;
202	4/8 ✓ Branch 1 taken 2436 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2436 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 2436 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 2436 times. ✗ Branch 12 not taken.	4872	new_tf1.setTranslation(tf1.getTranslation() + separation_vector +
203			eps * distres.normal);
204	1/2 ✓ Branch 1 taken 2436 times. ✗ Branch 2 not taken.	4872	CollisionResult new_colres;
205	1/2 ✓ Branch 2 taken 2436 times. ✗ Branch 3 not taken.	4872	DistanceResult new_distres;
206	1/2 ✓ Branch 1 taken 2436 times. ✗ Branch 2 not taken.	4872	collide(&o1, new_tf1, &o2, tf2, colreq, new_colres);
207	1/2 ✓ Branch 1 taken 2436 times. ✗ Branch 2 not taken.	4872	Scalar new_dist = distance(&o1, new_tf1, &o2, tf2, distreq, new_distres);
208	6/12 ✓ Branch 1 taken 2436 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2436 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2436 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 2436 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 2436 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 2436 times.	4872	BOOST_CHECK(new_dist < dist);
209	6/12 ✓ Branch 1 taken 2436 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2436 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 2436 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 2436 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 2436 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 2436 times.	4872	BOOST_CHECK_CLOSE(new_colres.distance_lower_bound, new_dist,
210			dummy_precision);
211			// tolerance
212	2/2 ✓ Branch 1 taken 2435 times. ✓ Branch 2 taken 1 times.	4872	if (new_colres.isCollision()) {
213	2/4 ✓ Branch 1 taken 2435 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2435 times. ✗ Branch 5 not taken.	4870	Contact contact = new_colres.getContact(0);
214	1/2 ✓ Branch 2 taken 2435 times. ✗ Branch 3 not taken.	4870	Vec3s new_cp1 = contact.nearest_points[0];
215	16/32 ✓ Branch 1 taken 2435 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2435 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 2435 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 2435 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 2435 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 2435 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 2435 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 2435 times. ✗ Branch 26 not taken. ✓ Branch 29 taken 2435 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 2435 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 2435 times. ✗ Branch 36 not taken. ✓ Branch 39 taken 2435 times. ✗ Branch 40 not taken. ✓ Branch 42 taken 2435 times. ✗ Branch 43 not taken. ✓ Branch 45 taken 2435 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 2435 times. ✗ Branch 49 not taken. ✗ Branch 59 not taken. ✓ Branch 60 taken 2435 times.	4870	EIGEN_VECTOR_IS_APPROX(new_cp1, new_distres.nearest_points[0],
216			dummy_precision);
217
218	1/2 ✓ Branch 2 taken 2435 times. ✗ Branch 3 not taken.	4870	Vec3s new_cp2 = contact.nearest_points[1];
219	16/32 ✓ Branch 1 taken 2435 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2435 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 2435 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 2435 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 2435 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 2435 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 2435 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 2435 times. ✗ Branch 26 not taken. ✓ Branch 29 taken 2435 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 2435 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 2435 times. ✗ Branch 36 not taken. ✓ Branch 39 taken 2435 times. ✗ Branch 40 not taken. ✓ Branch 42 taken 2435 times. ✗ Branch 43 not taken. ✓ Branch 45 taken 2435 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 2435 times. ✗ Branch 49 not taken. ✗ Branch 59 not taken. ✓ Branch 60 taken 2435 times.	4870	EIGEN_VECTOR_IS_APPROX(new_cp2, new_distres.nearest_points[1],
220			dummy_precision);
221	8/16 ✓ Branch 1 taken 2435 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2435 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 2435 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 2435 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 2435 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 2435 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 2435 times. ✗ Branch 23 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 2435 times.	4870	BOOST_CHECK_CLOSE(contact.penetration_depth,
222			-(new_cp2 - new_cp1).norm(), epa_tolerance);
223	20/40 ✓ Branch 1 taken 2435 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2435 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 2435 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 2435 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 2435 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 2435 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 2435 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 2435 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 2435 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 2435 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 2435 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 2435 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 2435 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 2435 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 2435 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 2435 times. ✗ Branch 50 not taken. ✓ Branch 52 taken 2435 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 2435 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 2435 times. ✗ Branch 59 not taken. ✗ Branch 69 not taken. ✓ Branch 70 taken 2435 times.	4870	EIGEN_VECTOR_IS_APPROX(new_cp1, new_cp2 - new_dist * new_distres.normal,
224			epa_tolerance);
225
226	2/4 ✓ Branch 1 taken 2435 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2435 times. ✗ Branch 5 not taken.	4870	Vec3s new_separation_vector =
227			contact.penetration_depth * contact.normal;
228	18/36 ✓ Branch 1 taken 2435 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2435 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 2435 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 2435 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 2435 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 2435 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 2435 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 2435 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 2435 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 2435 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 2435 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 2435 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 2435 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 2435 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 2435 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 2435 times. ✗ Branch 50 not taken. ✓ Branch 52 taken 2435 times. ✗ Branch 53 not taken. ✗ Branch 63 not taken. ✓ Branch 64 taken 2435 times.	4870	EIGEN_VECTOR_IS_APPROX(new_separation_vector, new_cp2 - new_cp1,
229			epa_tolerance);
230
231	1/2 ✓ Branch 0 taken 2435 times. ✗ Branch 1 not taken.	4870	if (new_dist < 0) {
232	22/44 ✓ Branch 1 taken 2435 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2435 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 2435 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 2435 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 2435 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 2435 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 2435 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 2435 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 2435 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 2435 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 2435 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 2435 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 2435 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 2435 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 2435 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 2435 times. ✗ Branch 50 not taken. ✓ Branch 52 taken 2435 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 2435 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 2435 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 2435 times. ✗ Branch 62 not taken. ✓ Branch 64 taken 2435 times. ✗ Branch 65 not taken. ✗ Branch 75 not taken. ✓ Branch 76 taken 2435 times.	4870	EIGEN_VECTOR_IS_APPROX(
233			contact.normal, -(new_cp2 - new_cp1).normalized(), epa_tolerance);
234			}
235			}
236		4872	}
237			}
238		864	}
239
240			template <int VecSize>
241		444	Eigen::Matrix<Scalar, VecSize, 1> generateRandomVector(Scalar min, Scalar max) {
242			typedef Eigen::Matrix<Scalar, VecSize, 1> VecType;
243			// Generate a random vector in the [min, max] range
244	7/14 ✓ Branch 1 taken 222 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 222 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 222 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 222 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 222 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 222 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 222 times. ✗ Branch 20 not taken.	444	VecType v = VecType::Random() * (max - min) * 0.5 +
245	1/2 ✓ Branch 1 taken 222 times. ✗ Branch 2 not taken.	444	VecType::Ones() * (max + min) * 0.5;
246		444	return v;
247			}
248
249		290	Scalar generateRandomNumber(Scalar min, Scalar max) {
250		290	Scalar r = static_cast<Scalar>(rand()) / static_cast<Scalar>(RAND_MAX);
251		290	r = 2 * r - 1;
252		290	const Scalar half(0.5);
253		290	return r * (max - min) * half + (max + min) * half;
254			}
255
256	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_normal_and_nearest_points_sphere_sphere) {
257	2/2 ✓ Branch 0 taken 10 times. ✓ Branch 1 taken 1 times.	22	for (size_t i = 0; i < 10; ++i) {
258	1/2 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken.	20	Vec2s radii = generateRandomVector<2>(Scalar(0.05), 1);
259	4/8 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 10 times. ✗ Branch 11 not taken.	20	shared_ptr<Sphere> o1(new Sphere(radii(0)));
260	4/8 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 10 times. ✗ Branch 11 not taken.	20	shared_ptr<Sphere> o2(new Sphere(radii(1)));
261
262	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o1.get(), o2.get());
263		20	}
264		2	}
265
266	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_normal_and_nearest_points_sphere_capsule) {
267	2/2 ✓ Branch 0 taken 10 times. ✓ Branch 1 taken 1 times.	22	for (size_t i = 0; i < 10; ++i) {
268	1/2 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken.	20	Vec2s radii = generateRandomVector<2>(Scalar(0.05), 1);
269		20	Scalar h = generateRandomNumber(Scalar(0.15), 1);
270	4/8 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 10 times. ✗ Branch 11 not taken.	20	shared_ptr<Sphere> o1(new Sphere(radii(0)));
271	4/8 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 10 times. ✗ Branch 11 not taken.	20	shared_ptr<Capsule> o2(new Capsule(radii(1), h));
272
273	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o1.get(), o2.get());
274	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o2.get(), o1.get());
275		20	}
276		2	}
277
278	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_normal_and_nearest_points_sphere_box) {
279	2/2 ✓ Branch 0 taken 10 times. ✓ Branch 1 taken 1 times.	22	for (size_t i = 0; i < 10; ++i) {
280	4/8 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 10 times. ✗ Branch 11 not taken.	20	shared_ptr<Box> o1(new Box(generateRandomVector<3>(Scalar(0.05), 1)));
281	3/6 ✓ Branch 2 taken 10 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 10 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 10 times. ✗ Branch 9 not taken.	20	shared_ptr<Sphere> o2(new Sphere(generateRandomNumber(Scalar(0.05), 1)));
282
283	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o1.get(), o2.get());
284	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o2.get(), o1.get());
285		20	}
286		2	}
287
288	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_normal_and_nearest_points_mesh_mesh) {
289	2/2 ✓ Branch 0 taken 10 times. ✓ Branch 1 taken 1 times.	22	for (size_t i = 0; i < 10; ++i) {
290			Convex<Triangle> o1_ = constructPolytopeFromEllipsoid(
291	3/6 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken.	20	Ellipsoid(generateRandomVector<3>(Scalar(0.05), 1)));
292			shared_ptr<Convex<Triangle>> o1(new Convex<Triangle>(
293	3/6 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 10 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 10 times. ✗ Branch 10 not taken.	40	o1_.points, o1_.num_points, o1_.polygons, o1_.num_polygons));
294			Convex<Triangle> o2_ = constructPolytopeFromEllipsoid(
295	3/6 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken.	20	Ellipsoid(generateRandomVector<3>(Scalar(0.05), 1)));
296			shared_ptr<Convex<Triangle>> o2(new Convex<Triangle>(
297	3/6 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 10 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 10 times. ✗ Branch 10 not taken.	40	o2_.points, o2_.num_points, o2_.polygons, o2_.num_polygons));
298
299		20	size_t gjk_max_iterations = GJK_DEFAULT_MAX_ITERATIONS;
300		20	Scalar gjk_tolerance = GJK_DEFAULT_TOLERANCE;
301		20	size_t epa_max_iterations = EPA_DEFAULT_MAX_ITERATIONS;
302		20	Scalar epa_tolerance = EPA_DEFAULT_TOLERANCE;
303	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o1.get(), o2.get(), gjk_max_iterations,
304			gjk_tolerance, epa_max_iterations,
305			epa_tolerance);
306		20	}
307		2	}
308
309	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_normal_and_nearest_points_mesh_box) {
310			Convex<Triangle> o1_ = constructPolytopeFromEllipsoid(
311	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	Ellipsoid(generateRandomVector<3>(Scalar(0.05), 1)));
312			shared_ptr<Convex<Triangle>> o1(new Convex<Triangle>(
313	3/6 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	4	o1_.points, o1_.num_points, o1_.polygons, o1_.num_polygons));
314	4/8 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	2	shared_ptr<Box> o2(new Box(generateRandomVector<3>(Scalar(0.05), 1)));
315
316	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	test_normal_and_nearest_points(o1.get(), o2.get());
317	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	test_normal_and_nearest_points(o2.get(), o1.get());
318		2	}
319
320	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_normal_and_nearest_points_mesh_ellipsoid) {
321	2/2 ✓ Branch 0 taken 10 times. ✓ Branch 1 taken 1 times.	22	for (size_t i = 0; i < 10; ++i) {
322			Convex<Triangle> o1_ = constructPolytopeFromEllipsoid(
323	3/6 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken.	20	Ellipsoid(generateRandomVector<3>(Scalar(0.05), 1)));
324			shared_ptr<Convex<Triangle>> o1(new Convex<Triangle>(
325	3/6 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 10 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 10 times. ✗ Branch 10 not taken.	40	o1_.points, o1_.num_points, o1_.polygons, o1_.num_polygons));
326			shared_ptr<Ellipsoid> o2(
327	4/8 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 10 times. ✗ Branch 11 not taken.	20	new Ellipsoid(generateRandomVector<3>(Scalar(0.05), 1)));
328
329		20	Scalar gjk_tolerance = Scalar(1e-6);
330			// With EPA's tolerance set at 1e-3, the precision on the normal, contact
331			// points and penetration depth is on the order of the milimeter. However,
332			// EPA (currently) cannot converge to lower tolerances on strictly convex
333			// shapes in a reasonable amount of iterations.
334		20	Scalar epa_tolerance = Scalar(1e-3);
335	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o1.get(), o2.get(),
336			GJK_DEFAULT_MAX_ITERATIONS, gjk_tolerance,
337			EPA_DEFAULT_MAX_ITERATIONS, epa_tolerance);
338	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o2.get(), o1.get(),
339			GJK_DEFAULT_MAX_ITERATIONS, gjk_tolerance,
340			EPA_DEFAULT_MAX_ITERATIONS, epa_tolerance);
341		20	}
342		2	}
343
344	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_normal_and_nearest_points_ellipsoid_ellipsoid) {
345	2/2 ✓ Branch 0 taken 10 times. ✓ Branch 1 taken 1 times.	22	for (size_t i = 0; i < 10; ++i) {
346			shared_ptr<Ellipsoid> o1(
347	4/8 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 10 times. ✗ Branch 11 not taken.	20	new Ellipsoid(generateRandomVector<3>(Scalar(0.05), 1.0)));
348			shared_ptr<Ellipsoid> o2(
349	4/8 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 10 times. ✗ Branch 11 not taken.	20	new Ellipsoid(generateRandomVector<3>(Scalar(0.05), 1.0)));
350
351		20	size_t gjk_max_iterations = GJK_DEFAULT_MAX_ITERATIONS;
352		20	Scalar gjk_tolerance = Scalar(1e-6);
353			// With EPA's tolerance set at 1e-3, the precision on the normal, contact
354			// points and penetration depth is on the order of the milimeter. However,
355			// EPA (currently) cannot converge to lower tolerances on strictly convex
356			// shapes in a reasonable amount of iterations.
357		20	size_t epa_max_iterations = 250;
358		20	Scalar epa_tolerance = Scalar(1e-3);
359			// For EPA on ellipsoids, we need to increase the number of iterations in
360			// this test. This is simply because this test checks a lot of cases and
361			// it can generate some of the worst cases for EPA. We don't want to
362			// increase the tolerance too much because otherwise the test would not
363			// work.
364	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o1.get(), o2.get(), gjk_max_iterations,
365			gjk_tolerance, epa_max_iterations,
366			epa_tolerance);
367		20	}
368		2	}
369
370	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_normal_and_nearest_points_box_plane) {
371	2/2 ✓ Branch 0 taken 10 times. ✓ Branch 1 taken 1 times.	22	for (size_t i = 0; i < 10; ++i) {
372	4/8 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 10 times. ✗ Branch 11 not taken.	20	shared_ptr<Box> o1(new Box(generateRandomVector<3>(Scalar(0.05), 1)));
373		20	const Scalar half(0.5);
374		20	Scalar offset = generateRandomNumber(-half, half);
375	2/4 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken.	20	Vec3s n = Vec3s::Random();
376	1/2 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken.	20	n.normalize();
377	3/6 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken.	20	shared_ptr<Plane> o2(new Plane(n, offset));
378
379	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o1.get(), o2.get());
380	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o2.get(), o1.get());
381		20	}
382		2	}
383
384	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_normal_and_nearest_points_box_halfspace) {
385	2/2 ✓ Branch 0 taken 10 times. ✓ Branch 1 taken 1 times.	22	for (size_t i = 0; i < 10; ++i) {
386	4/8 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 10 times. ✗ Branch 11 not taken.	20	shared_ptr<Box> o1(new Box(generateRandomVector<3>(Scalar(0.05), 1)));
387		20	Scalar offset = Scalar(0.1);
388	2/4 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken.	20	Vec3s n = Vec3s::Random();
389	1/2 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken.	20	n.normalize();
390	3/6 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken.	20	shared_ptr<Halfspace> o2(new Halfspace(n, offset));
391
392	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o1.get(), o2.get());
393	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o2.get(), o1.get());
394		20	}
395		2	}
396
397	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_normal_and_nearest_points_capsule_halfspace) {
398	2/2 ✓ Branch 0 taken 10 times. ✓ Branch 1 taken 1 times.	22	for (size_t i = 0; i < 10; ++i) {
399		20	Scalar r = generateRandomNumber(Scalar(0.05), 1);
400		20	Scalar h = generateRandomNumber(Scalar(0.15), 1);
401	3/6 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken.	20	shared_ptr<Capsule> o1(new Capsule(r, h));
402		20	const Scalar half(0.5);
403		20	Scalar offset = generateRandomNumber(-half, half);
404	2/4 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken.	20	Vec3s n = Vec3s::Random();
405	1/2 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken.	20	n.normalize();
406	3/6 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken.	20	shared_ptr<Halfspace> o2(new Halfspace(n, offset));
407
408	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o1.get(), o2.get());
409	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o2.get(), o1.get());
410		20	}
411		2	}
412
413	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_normal_and_nearest_points_sphere_halfspace) {
414	2/2 ✓ Branch 0 taken 10 times. ✓ Branch 1 taken 1 times.	22	for (size_t i = 0; i < 10; ++i) {
415	3/6 ✓ Branch 2 taken 10 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 10 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 10 times. ✗ Branch 9 not taken.	20	shared_ptr<Sphere> o1(new Sphere(generateRandomNumber(Scalar(0.05), 1)));
416		20	const Scalar half(0.5);
417		20	Scalar offset = generateRandomNumber(-half, half);
418	2/4 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken.	20	Vec3s n = Vec3s::Random();
419	1/2 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken.	20	n.normalize();
420	3/6 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken.	20	shared_ptr<Halfspace> o2(new Halfspace(n, offset));
421
422	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o1.get(), o2.get());
423	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o2.get(), o1.get());
424		20	}
425		2	}
426
427	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_normal_and_nearest_points_sphere_plane) {
428	2/2 ✓ Branch 0 taken 10 times. ✓ Branch 1 taken 1 times.	22	for (size_t i = 0; i < 10; ++i) {
429	3/6 ✓ Branch 2 taken 10 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 10 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 10 times. ✗ Branch 9 not taken.	20	shared_ptr<Sphere> o1(new Sphere(generateRandomNumber(Scalar(0.05), 1)));
430		20	const Scalar half(0.5);
431		20	Scalar offset = generateRandomNumber(-half, half);
432	2/4 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken.	20	Vec3s n = Vec3s::Random();
433	1/2 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken.	20	n.normalize();
434	3/6 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken.	20	shared_ptr<Plane> o2(new Plane(n, offset));
435
436	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o1.get(), o2.get());
437	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o2.get(), o1.get());
438		20	}
439		2	}
440
441	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_normal_and_nearest_points_mesh_halfspace) {
442	2/2 ✓ Branch 0 taken 10 times. ✓ Branch 1 taken 1 times.	22	for (size_t i = 0; i < 10; ++i) {
443			Convex<Triangle> o1_ = constructPolytopeFromEllipsoid(
444	3/6 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken.	20	Ellipsoid(generateRandomVector<3>(Scalar(0.05), 1)));
445			shared_ptr<Convex<Triangle>> o1(new Convex<Triangle>(
446	3/6 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 10 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 10 times. ✗ Branch 10 not taken.	40	o1_.points, o1_.num_points, o1_.polygons, o1_.num_polygons));
447		20	const Scalar half(0.5);
448		20	Scalar offset = generateRandomNumber(-half, half);
449	2/4 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken.	20	Vec3s n = Vec3s::Random();
450	1/2 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken.	20	n.normalize();
451	3/6 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken.	20	shared_ptr<Halfspace> o2(new Halfspace(n, offset));
452
453	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o1.get(), o2.get());
454	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o2.get(), o1.get());
455		20	}
456		2	}
457
458	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_normal_and_nearest_points_cone_cylinder) {
459	2/2 ✓ Branch 0 taken 10 times. ✓ Branch 1 taken 1 times.	22	for (size_t i = 0; i < 10; ++i) {
460	1/2 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken.	20	Vec2s r = generateRandomVector<2>(Scalar(0.05), 1);
461	1/2 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken.	20	Vec2s h = generateRandomVector<2>(Scalar(0.15), 1);
462	5/10 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 10 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 10 times. ✗ Branch 14 not taken.	20	shared_ptr<Cone> o1(new Cone(r(0), h(0)));
463	5/10 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 10 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 10 times. ✗ Branch 14 not taken.	20	shared_ptr<Cylinder> o2(new Cylinder(r(1), h(1)));
464
465		20	size_t gjk_max_iterations = GJK_DEFAULT_MAX_ITERATIONS;
466		20	Scalar gjk_tolerance = Scalar(1e-6);
467		20	size_t epa_max_iterations = 250;
468		20	Scalar epa_tolerance = Scalar(1e-3);
469	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o1.get(), o2.get(), gjk_max_iterations,
470			gjk_tolerance, epa_max_iterations,
471			epa_tolerance);
472	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o2.get(), o1.get(), gjk_max_iterations,
473			gjk_tolerance, epa_max_iterations,
474			epa_tolerance);
475		20	}
476		2	}
477
478	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_normal_and_nearest_points_cylinder_ellipsoid) {
479	2/2 ✓ Branch 0 taken 10 times. ✓ Branch 1 taken 1 times.	22	for (size_t i = 0; i < 10; ++i) {
480			shared_ptr<Ellipsoid> o1(
481	4/8 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 10 times. ✗ Branch 11 not taken.	20	new Ellipsoid(generateRandomVector<3>(Scalar(0.05), 1)));
482	1/2 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken.	20	Vec2s r = generateRandomVector<2>(Scalar(0.05), 1);
483	1/2 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken.	20	Vec2s h = generateRandomVector<2>(Scalar(0.15), 1);
484	5/10 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 10 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 10 times. ✗ Branch 14 not taken.	20	shared_ptr<Cylinder> o2(new Cylinder(r(1), h(1)));
485
486		20	size_t gjk_max_iterations = GJK_DEFAULT_MAX_ITERATIONS;
487		20	Scalar gjk_tolerance = Scalar(1e-6);
488		20	size_t epa_max_iterations = 250;
489		20	Scalar epa_tolerance = Scalar(1e-3);
490	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o1.get(), o2.get(), gjk_max_iterations,
491			gjk_tolerance, epa_max_iterations,
492			epa_tolerance);
493	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o2.get(), o1.get(), gjk_max_iterations,
494			gjk_tolerance, epa_max_iterations,
495			epa_tolerance);
496		20	}
497		2	}
498
499	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_normal_and_nearest_points_cone_halfspace) {
500	2/2 ✓ Branch 0 taken 10 times. ✓ Branch 1 taken 1 times.	22	for (size_t i = 0; i < 10; ++i) {
501		20	Scalar r = generateRandomNumber(Scalar(0.05), 1);
502		20	Scalar h = generateRandomNumber(Scalar(0.15), 1);
503	3/6 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken.	20	shared_ptr<Cone> o1(new Cone(r, h));
504		20	const Scalar half(0.5);
505		20	Scalar offset = generateRandomNumber(-half, half);
506	2/4 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken.	20	Vec3s n = Vec3s::Random();
507	1/2 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken.	20	n.normalize();
508	3/6 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken.	20	shared_ptr<Halfspace> o2(new Halfspace(n, offset));
509
510	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o1.get(), o2.get());
511	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o2.get(), o1.get());
512		20	}
513		2	}
514
515	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_normal_and_nearest_points_cylinder_halfspace) {
516	2/2 ✓ Branch 0 taken 10 times. ✓ Branch 1 taken 1 times.	22	for (size_t i = 0; i < 10; ++i) {
517		20	Scalar r = generateRandomNumber(Scalar(0.05), 1);
518		20	Scalar h = generateRandomNumber(Scalar(0.15), 1);
519	3/6 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken.	20	shared_ptr<Cylinder> o1(new Cylinder(r, h));
520		20	const Scalar half(0.5);
521		20	Scalar offset = generateRandomNumber(-half, half);
522	2/4 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken.	20	Vec3s n = Vec3s::Random();
523	1/2 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken.	20	n.normalize();
524	3/6 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken.	20	shared_ptr<Halfspace> o2(new Halfspace(n, offset));
525
526	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o1.get(), o2.get());
527	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o2.get(), o1.get());
528		20	}
529		2	}
530
531	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_normal_and_nearest_points_cone_plane) {
532	2/2 ✓ Branch 0 taken 10 times. ✓ Branch 1 taken 1 times.	22	for (size_t i = 0; i < 10; ++i) {
533		20	Scalar r = generateRandomNumber(Scalar(0.05), 1);
534		20	Scalar h = generateRandomNumber(Scalar(0.15), 1);
535	3/6 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken.	20	shared_ptr<Cone> o1(new Cone(r, h));
536		20	const Scalar half(0.5);
537		20	Scalar offset = generateRandomNumber(-half, half);
538	2/4 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken.	20	Vec3s n = Vec3s::Random();
539	1/2 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken.	20	n.normalize();
540	3/6 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken.	20	shared_ptr<Plane> o2(new Plane(n, offset));
541
542	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o1.get(), o2.get());
543	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o2.get(), o1.get());
544		20	}
545		2	}
546
547	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_normal_and_nearest_points_cylinder_plane) {
548	2/2 ✓ Branch 0 taken 10 times. ✓ Branch 1 taken 1 times.	22	for (size_t i = 0; i < 10; ++i) {
549		20	Scalar r = generateRandomNumber(Scalar(0.05), 1);
550		20	Scalar h = generateRandomNumber(Scalar(0.15), 1);
551	3/6 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken.	20	shared_ptr<Cylinder> o1(new Cylinder(r, h));
552		20	const Scalar half(0.5);
553		20	Scalar offset = generateRandomNumber(-half, half);
554	2/4 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken.	20	Vec3s n = Vec3s::Random();
555	1/2 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken.	20	n.normalize();
556	3/6 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken.	20	shared_ptr<Plane> o2(new Plane(n, offset));
557
558	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o1.get(), o2.get());
559	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o2.get(), o1.get());
560		20	}
561		2	}
562
563	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_normal_and_nearest_points_capsule_plane) {
564	2/2 ✓ Branch 0 taken 10 times. ✓ Branch 1 taken 1 times.	22	for (size_t i = 0; i < 10; ++i) {
565		20	Scalar r = generateRandomNumber(Scalar(0.05), 1);
566		20	Scalar h = generateRandomNumber(Scalar(0.15), 1);
567	3/6 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken.	20	shared_ptr<Capsule> o1(new Capsule(r, h));
568		20	const Scalar half(0.5);
569		20	Scalar offset = generateRandomNumber(-half, half);
570	2/4 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken.	20	Vec3s n = Vec3s::Random();
571	1/2 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken.	20	n.normalize();
572	3/6 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken.	20	shared_ptr<Plane> o2(new Plane(n, offset));
573
574	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o1.get(), o2.get());
575	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o2.get(), o1.get());
576		20	}
577		2	}
578
579	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_normal_and_nearest_points_capsule_capsule) {
580	2/2 ✓ Branch 0 taken 10 times. ✓ Branch 1 taken 1 times.	22	for (size_t i = 0; i < 10; ++i) {
581	1/2 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken.	20	Vec2s r = generateRandomVector<2>(Scalar(0.05), 1);
582	1/2 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken.	20	Vec2s h = generateRandomVector<2>(Scalar(0.15), 1);
583	5/10 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 10 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 10 times. ✗ Branch 14 not taken.	20	shared_ptr<Capsule> o1(new Capsule(r(0), h(0)));
584	5/10 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 10 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 10 times. ✗ Branch 14 not taken.	20	shared_ptr<Capsule> o2(new Capsule(r(1), h(1)));
585
586	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o1.get(), o2.get());
587	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o2.get(), o1.get());
588		20	}
589		2	}
590
591	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_normal_and_nearest_points_sphere_cylinder) {
592	2/2 ✓ Branch 0 taken 10 times. ✓ Branch 1 taken 1 times.	22	for (size_t i = 0; i < 10; ++i) {
593	1/2 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken.	20	Vec2s r = generateRandomVector<2>(Scalar(0.05), 1);
594		20	Scalar h = generateRandomNumber(Scalar(0.15), 1);
595	4/8 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 10 times. ✗ Branch 11 not taken.	20	shared_ptr<Sphere> o1(new Sphere(r(0)));
596	4/8 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 10 times. ✗ Branch 11 not taken.	20	shared_ptr<Cylinder> o2(new Cylinder(r(1), h));
597
598	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o1.get(), o2.get());
599	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o2.get(), o1.get());
600		20	}
601		2	}
602
603	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_normal_and_nearest_points_ellipsoid_halfspace) {
604	2/2 ✓ Branch 0 taken 10 times. ✓ Branch 1 taken 1 times.	22	for (size_t i = 0; i < 10; ++i) {
605		20	Scalar offset = generateRandomNumber(Scalar(0.15), 1);
606	2/4 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken.	20	Vec3s n = Vec3s::Random();
607	1/2 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken.	20	n.normalize();
608			shared_ptr<Ellipsoid> o1(
609	4/8 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 10 times. ✗ Branch 11 not taken.	20	new Ellipsoid(generateRandomVector<3>(Scalar(0.05), 1)));
610	3/6 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken.	20	shared_ptr<Halfspace> o2(new Halfspace(n, offset));
611
612	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o1.get(), o2.get());
613	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o2.get(), o1.get());
614		20	}
615		2	}
616
617	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_normal_and_nearest_points_ellipsoid_plane) {
618	2/2 ✓ Branch 0 taken 10 times. ✓ Branch 1 taken 1 times.	22	for (size_t i = 0; i < 10; ++i) {
619		20	Scalar offset = generateRandomNumber(Scalar(0.15), 1);
620	2/4 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken.	20	Vec3s n = Vec3s::Random();
621	1/2 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken.	20	n.normalize();
622			shared_ptr<Ellipsoid> o1(
623	4/8 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 10 times. ✗ Branch 11 not taken.	20	new Ellipsoid(generateRandomVector<3>(Scalar(0.05), 1)));
624	3/6 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 10 times. ✗ Branch 8 not taken.	20	shared_ptr<Plane> o2(new Plane(n, offset));
625
626	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o1.get(), o2.get());
627	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	20	test_normal_and_nearest_points(o2.get(), o1.get());
628		20	}
629		2	}
630
631		2	void test_normal_and_nearest_points(const BVHModel<OBBRSS>& o1,
632			const Halfspace& o2) {
633			// Generate random poses for o2
634			#ifndef NDEBUG // if debug mode
635		2	std::size_t n = 1;
636			#else
637			size_t n = 10000;
638			#endif
639		2	Scalar extents[] = {-2., -2., -2., 2., 2., 2.};
640		2	std::vector<Transform3s> transforms;
641	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	2	generateRandomTransforms(extents, transforms, n);
642	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	2	Transform3s tf1 = Transform3s::Identity();
643	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken.	2	transforms[0] = Transform3s::Identity();
644
645	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	2	CollisionRequest colreq;
646		2	colreq.distance_upper_bound = std::numeric_limits<Scalar>::max();
647		2	colreq.num_max_contacts = 100;
648	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	2	CollisionResult colres;
649	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	2	DistanceRequest distreq;
650	1/2 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken.	2	DistanceResult distres;
651
652	2/2 ✓ Branch 0 taken 2 times. ✓ Branch 1 taken 2 times.	4	for (size_t i = 0; i < n; i++) {
653	1/2 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken.	2	Transform3s tf2 = transforms[i];
654	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	2	colres.clear();
655	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	2	distres.clear();
656	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	2	size_t col = collide(&o1, tf1, &o2, tf2, colreq, colres);
657	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	2	Scalar dist = distance(&o1, tf1, &o2, tf2, distreq, distres);
658
659	1/2 ✓ Branch 0 taken 2 times. ✗ Branch 1 not taken.	2	if (col) {
660	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 14 taken 2 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 2 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 2 times.	2	BOOST_CHECK(dist <= 0.);
661	6/12 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 2 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 2 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 2 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 2 times.	2	BOOST_CHECK_CLOSE(dist, distres.min_distance, 1e-6);
662	2/2 ✓ Branch 1 taken 22 times. ✓ Branch 2 taken 2 times.	24	for (size_t c = 0; c < colres.numContacts(); c++) {
663	2/4 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 22 times. ✗ Branch 5 not taken.	22	Contact contact = colres.getContact(c);
664	6/12 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 22 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 22 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 22 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 22 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 22 times.	22	BOOST_CHECK(contact.penetration_depth <= 0);
665	6/12 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 22 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 22 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 22 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 22 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 22 times.	22	BOOST_CHECK(contact.penetration_depth >= colres.distance_lower_bound);
666
667	1/2 ✓ Branch 2 taken 22 times. ✗ Branch 3 not taken.	22	Vec3s cp1 = contact.nearest_points[0];
668	1/2 ✓ Branch 2 taken 22 times. ✗ Branch 3 not taken.	22	Vec3s cp2 = contact.nearest_points[1];
669	8/16 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 22 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 22 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 22 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 22 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 22 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 22 times. ✗ Branch 23 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 22 times.	22	BOOST_CHECK_CLOSE(contact.penetration_depth, -(cp2 - cp1).norm(), 1e-6);
670	20/40 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 22 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 22 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 22 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 22 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 22 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 22 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 22 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 22 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 22 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 22 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 22 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 22 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 22 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 22 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 22 times. ✗ Branch 50 not taken. ✓ Branch 52 taken 22 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 22 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 22 times. ✗ Branch 59 not taken. ✗ Branch 69 not taken. ✓ Branch 70 taken 22 times.	22	EIGEN_VECTOR_IS_APPROX(cp1,
671			cp2 - contact.penetration_depth * contact.normal,
672			Scalar(1e-6));
673
674	2/4 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 22 times. ✗ Branch 5 not taken.	22	Vec3s separation_vector = contact.penetration_depth * contact.normal;
675	18/36 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 22 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 22 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 22 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 22 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 22 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 22 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 22 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 22 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 22 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 22 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 22 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 22 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 22 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 22 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 22 times. ✗ Branch 50 not taken. ✓ Branch 52 taken 22 times. ✗ Branch 53 not taken. ✗ Branch 63 not taken. ✓ Branch 64 taken 22 times.	22	EIGEN_VECTOR_IS_APPROX(separation_vector, cp2 - cp1, Scalar(1e-6));
676
677	1/2 ✓ Branch 0 taken 22 times. ✗ Branch 1 not taken.	22	if (dist < 0) {
678	22/44 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 22 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 22 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 22 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 22 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 22 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 22 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 22 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 22 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 22 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 22 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 22 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 22 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 22 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 22 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 22 times. ✗ Branch 50 not taken. ✓ Branch 52 taken 22 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 22 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 22 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 22 times. ✗ Branch 62 not taken. ✓ Branch 64 taken 22 times. ✗ Branch 65 not taken. ✗ Branch 75 not taken. ✓ Branch 76 taken 22 times.	22	EIGEN_VECTOR_IS_APPROX(contact.normal, -(cp2 - cp1).normalized(),
679			Scalar(1e-6));
680			}
681			}
682			} else {
683		✗	BOOST_CHECK(dist >= 0.);
684		✗	BOOST_CHECK_CLOSE(distres.min_distance, dist, 1e-6);
685		✗	BOOST_CHECK_CLOSE(dist, colres.distance_lower_bound, 1e-6);
686			}
687			}
688		2	}
689
690		1	void test_normal_and_nearest_points(const Halfspace& o1,
691			const BVHModel<OBBRSS>& o2) {
692		1	test_normal_and_nearest_points(o2, o1);
693		1	}
694
695	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_normal_and_nearest_points_bvh_halfspace) {
696	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Box* box_ptr = new coal::Box(1, 1, 1);
697	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::CollisionGeometryPtr_t b1(box_ptr);
698	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	BVHModel<coal::OBBRSS> o1 = BVHModel<OBBRSS>();
699	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	generateBVHModel(o1, *box_ptr, Transform3s());
700	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	o1.buildConvexRepresentation(false);
701
702		2	Scalar offset = Scalar(0.1);
703	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Vec3s n = Vec3s::Random();
704	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	n.normalize();
705	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	shared_ptr<Halfspace> o2(new Halfspace(n, offset));
706
707	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	test_normal_and_nearest_points(o1, *o2.get());
708	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	test_normal_and_nearest_points(*o2.get(), o1);
709		2	}
710