GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	277	277	100.0%
Branches:	792	1584	50.0%

Line	Branch	Exec	Source
1			/*
2			* Software License Agreement (BSD License)
3			*
4			* Copyright (c) 2022, INRIA.
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6			*
7			* Redistribution and use in source and binary forms, with or without
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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
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32			* POSSIBILITY OF SUCH DAMAGE.
33			*/
34
35			#define BOOST_TEST_MODULE COAL_SECURITY_MARGIN
36			#include <boost/test/included/unit_test.hpp>
37
38			#include <cmath>
39			#include <iostream>
40			#include "coal/distance.h"
41			#include "coal/math/transform.h"
42			#include "coal/collision.h"
43			#include "coal/collision_object.h"
44			#include "coal/shape/geometric_shapes.h"
45			#include "coal/shape/geometric_shapes_utility.h"
46			#include "coal/shape/geometric_shape_to_BVH_model.h"
47
48			#include "utility.h"
49
50			using namespace coal;
51			using coal::CollisionGeometryPtr_t;
52			using coal::CollisionRequest;
53			using coal::CollisionResult;
54			using coal::Transform3s;
55			using coal::Vec3s;
56
57			#define MATH_SQUARED(x) (x * x)
58
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60	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	CollisionGeometryPtr_t b1(new coal::Box(1, 1, 1));
61	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	CollisionGeometryPtr_t b2(new coal::Box(1, 1, 1));
62
63	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Transform3s tf1;
64	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	const Transform3s tf2_collision(Vec3s(0, 1, 1));
65	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::Box s1(1, 1, 1);
66	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::Box s2(1, 1, 1);
67		2	const Scalar tol = Scalar(1e-8);
68
69	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	AABB bv1, bv2;
70	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	computeBV(s1, Transform3s(), bv1);
71	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	computeBV(s2, Transform3s(), bv2);
72
73			// No security margin - collision
74			{
75	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest collisionRequest(CONTACT, 1);
76	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	AABB bv2_transformed;
77	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeBV(s2, tf2_collision, bv2_transformed);
78			Scalar sqrDistLowerBound;
79			bool res =
80	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bv1.overlap(bv2_transformed, collisionRequest, sqrDistLowerBound);
81	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(res);
82	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_CLOSE(sqrDistLowerBound, 0, tol);
83			}
84
85			// No security margin - no collision
86			{
87	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest collisionRequest(CONTACT, 1);
88		2	const Scalar distance = Scalar(0.01);
89			Transform3s tf2_no_collision(
90	4/8 ✓ 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.	2	Vec3s(tf2_collision.getTranslation() + Vec3s(0, 0, distance)));
91	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	AABB bv2_transformed;
92	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeBV(s2, tf2_no_collision, bv2_transformed);
93			Scalar sqrDistLowerBound;
94			bool res =
95	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bv1.overlap(bv2_transformed, collisionRequest, sqrDistLowerBound);
96	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(!res);
97	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_CLOSE(sqrDistLowerBound, MATH_SQUARED(distance), tol);
98			}
99
100			// Security margin - collision
101			{
102	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest collisionRequest(CONTACT, 1);
103		2	const Scalar distance = Scalar(0.01);
104		2	collisionRequest.security_margin = distance;
105			Transform3s tf2_no_collision(
106	4/8 ✓ 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.	2	Vec3s(tf2_collision.getTranslation() + Vec3s(0, 0, distance)));
107	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	AABB bv2_transformed;
108	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeBV(s2, tf2_no_collision, bv2_transformed);
109			Scalar sqrDistLowerBound;
110			bool res =
111	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bv1.overlap(bv2_transformed, collisionRequest, sqrDistLowerBound);
112	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(res);
113	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 1 times.	2	BOOST_CHECK_SMALL(sqrDistLowerBound, tol);
114			}
115
116			// Negative security margin - collion because the two boxes are in contact
117			{
118	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest collisionRequest(CONTACT, 1);
119		2	const Scalar distance = Scalar(-0.01);
120		2	collisionRequest.security_margin = distance;
121			const Transform3s tf2(
122	4/8 ✓ 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.	2	Vec3s(tf2_collision.getTranslation() + Vec3s(0, distance, distance)));
123	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	AABB bv2_transformed;
124	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeBV(s2, tf2, bv2_transformed);
125			Scalar sqrDistLowerBound;
126			bool res =
127	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bv1.overlap(bv2_transformed, collisionRequest, sqrDistLowerBound);
128	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(res);
129	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 1 times.	2	BOOST_CHECK_SMALL(sqrDistLowerBound, tol);
130			}
131
132			// Negative security margin - no collision
133			{
134	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest collisionRequest(CONTACT, 1);
135		2	const Scalar distance = Scalar(-0.01);
136		2	collisionRequest.security_margin = distance;
137	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	AABB bv2_transformed;
138	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeBV(s2, tf2_collision, bv2_transformed);
139			Scalar sqrDistLowerBound;
140			bool res =
141	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bv1.overlap(bv2_transformed, collisionRequest, sqrDistLowerBound);
142	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(!res);
143	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK_CLOSE(
144			sqrDistLowerBound,
145			MATH_SQUARED((std::sqrt(2) * collisionRequest.security_margin)), tol);
146			}
147		2	}
148
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150	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	CollisionGeometryPtr_t b1(new coal::Box(1, 1, 1));
151	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	CollisionGeometryPtr_t b2(new coal::Box(1, 1, 1));
152
153	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Transform3s tf1;
154	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	const Transform3s tf2_collision(Vec3s(0, 0, 0));
155	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::Box s1(1, 1, 1);
156	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::Box s2(1, 1, 1);
157
158	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	AABB bv1, bv2;
159	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	computeBV(s1, Transform3s(), bv1);
160	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	computeBV(s2, Transform3s(), bv2);
161
162			// The two AABB are collocated
163			{
164	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest collisionRequest(CONTACT, 1);
165		2	const Scalar distance = -2.;
166		2	collisionRequest.security_margin = distance;
167	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	AABB bv2_transformed;
168	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeBV(s2, tf2_collision, bv2_transformed);
169			Scalar sqrDistLowerBound;
170			bool res =
171	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bv1.overlap(bv2_transformed, collisionRequest, sqrDistLowerBound);
172	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(!res);
173			}
174
175	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const AABB bv3;
176	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(!bv1.overlap(bv3));
177		2	}
178
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180	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	CollisionGeometryPtr_t s1(new coal::Sphere(1));
181	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	CollisionGeometryPtr_t s2(new coal::Sphere(2));
182
183	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Transform3s tf1;
184	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	const Transform3s tf2_collision(Vec3s(0, 0, 3));
185
186			// NOTE: when comparing a result to zero, do not use BOOST_CHECK_CLOSE!
187			// Zero is not close to any other number, so the test will always fail.
188			// Instead, use BOOST_CHECK_SMALL.
189
190			// No security margin - collision
191			{
192	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest collisionRequest(CONTACT, 1);
193	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult collisionResult;
194	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	collide(s1.get(), tf1, s2.get(), tf2_collision, collisionRequest,
195			collisionResult);
196	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(collisionResult.isCollision());
197	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 1 times.	2	BOOST_CHECK_SMALL(collisionResult.distance_lower_bound, Scalar(1e-8));
198	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_SMALL(collisionResult.getContact(0).penetration_depth,
199			Scalar(1e-8));
200		2	}
201
202			// No security margin - no collision
203			{
204	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest collisionRequest(CONTACT, 1);
205	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult collisionResult;
206		2	const Scalar distance = Scalar(0.01);
207			Transform3s tf2_no_collision(
208	4/8 ✓ 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.	2	Vec3s(tf2_collision.getTranslation() + Vec3s(0, 0, distance)));
209	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	collide(s1.get(), tf1, s2.get(), tf2_no_collision, collisionRequest,
210			collisionResult);
211	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(!collisionResult.isCollision());
212	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_CLOSE(collisionResult.distance_lower_bound, distance,
213			Scalar(1e-8));
214		2	}
215
216			// Positive security margin - collision
217			{
218	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest collisionRequest(CONTACT, 1);
219	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult collisionResult;
220		2	const Scalar distance = Scalar(0.01);
221		2	collisionRequest.security_margin = distance;
222			Transform3s tf2(
223	4/8 ✓ 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.	2	Vec3s(tf2_collision.getTranslation() + Vec3s(0, 0, distance)));
224	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	collide(s1.get(), tf1, s2.get(), tf2, collisionRequest, collisionResult);
225	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(collisionResult.isCollision());
226	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 1 times.	2	BOOST_CHECK_SMALL(collisionResult.distance_lower_bound, Scalar(1e-8));
227	7/14 ✓ 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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK_CLOSE(collisionResult.getContact(0).penetration_depth, distance,
228			1e-8);
229		2	}
230
231			// Negative security margin - collion because the two spheres are in contact
232			{
233	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest collisionRequest(CONTACT, 1);
234	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult collisionResult;
235		2	const Scalar distance = Scalar(-0.01);
236		2	collisionRequest.security_margin = distance;
237			Transform3s tf2(
238	4/8 ✓ 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.	2	Vec3s(tf2_collision.getTranslation() + Vec3s(0, 0, distance)));
239	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	collide(s1.get(), tf1, s2.get(), tf2, collisionRequest, collisionResult);
240	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(collisionResult.isCollision());
241	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 1 times.	2	BOOST_CHECK_SMALL(collisionResult.distance_lower_bound, Scalar(1e-8));
242	7/14 ✓ 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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK_CLOSE(collisionResult.getContact(0).penetration_depth, distance,
243			Scalar(1e-8));
244		2	}
245
246			// Negative security margin - no collision
247			{
248	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest collisionRequest(CONTACT, 1);
249	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult collisionResult;
250		2	collisionRequest.security_margin = Scalar(-0.01);
251	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	collide(s1.get(), tf1, s2.get(), tf2_collision, collisionRequest,
252			collisionResult);
253	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(!collisionResult.isCollision());
254	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_CLOSE(collisionResult.distance_lower_bound,
255			-collisionRequest.security_margin, Scalar(1e-8));
256		2	}
257		2	}
258
259	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(capsule_capsule) {
260	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	CollisionGeometryPtr_t c1(new coal::Capsule(0.5, 1.));
261	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	CollisionGeometryPtr_t c2(new coal::Capsule(0.5, 1.));
262
263	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Transform3s tf1;
264	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	const Transform3s tf2_collision(Vec3s(0, 1., 0));
265
266			// No security margin - collision
267			{
268	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest collisionRequest(CONTACT, 1);
269	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult collisionResult;
270	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	collide(c1.get(), tf1, c2.get(), tf2_collision, collisionRequest,
271			collisionResult);
272	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(collisionResult.isCollision());
273	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 1 times.	2	BOOST_CHECK_SMALL(collisionResult.distance_lower_bound, Scalar(1e-8));
274	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_SMALL(collisionResult.getContact(0).penetration_depth,
275			Scalar(1e-8));
276		2	}
277
278			// No security margin - no collision
279			{
280	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest collisionRequest(CONTACT, 1);
281	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult collisionResult;
282		2	const Scalar distance = Scalar(0.01);
283			Transform3s tf2_no_collision(
284	4/8 ✓ 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.	2	Vec3s(tf2_collision.getTranslation() + Vec3s(0, distance, 0)));
285	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	collide(c1.get(), tf1, c2.get(), tf2_no_collision, collisionRequest,
286			collisionResult);
287	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(!collisionResult.isCollision());
288	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_CLOSE(collisionResult.distance_lower_bound, distance,
289			Scalar(1e-8));
290		2	}
291
292			// Positive security margin - collision
293			{
294	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest collisionRequest(CONTACT, 1);
295	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult collisionResult;
296		2	const Scalar distance = Scalar(0.01);
297		2	collisionRequest.security_margin = distance;
298			Transform3s tf2_no_collision(
299	4/8 ✓ 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.	2	Vec3s(tf2_collision.getTranslation() + Vec3s(0, distance, 0)));
300	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	collide(c1.get(), tf1, c2.get(), tf2_no_collision, collisionRequest,
301			collisionResult);
302	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(collisionResult.isCollision());
303	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 1 times.	2	BOOST_CHECK_SMALL(collisionResult.distance_lower_bound, Scalar(1e-8));
304	7/14 ✓ 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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK_CLOSE(collisionResult.getContact(0).penetration_depth, distance,
305			Scalar(1e-8));
306		2	}
307
308			// Negative security margin - collion because the two capsules are in contact
309			{
310	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest collisionRequest(CONTACT, 1);
311	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult collisionResult;
312		2	const Scalar distance = Scalar(-0.01);
313		2	collisionRequest.security_margin = distance;
314			Transform3s tf2(
315	4/8 ✓ 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.	2	Vec3s(tf2_collision.getTranslation() + Vec3s(0, distance, 0)));
316	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	collide(c1.get(), tf1, c2.get(), tf2, collisionRequest, collisionResult);
317	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(collisionResult.isCollision());
318	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 1 times.	2	BOOST_CHECK_SMALL(collisionResult.distance_lower_bound, Scalar(1e-8));
319	7/14 ✓ 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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK_CLOSE(collisionResult.getContact(0).penetration_depth, distance,
320			Scalar(1e-8));
321		2	}
322
323			// Negative security margin - no collision
324			{
325	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest collisionRequest(CONTACT, 1);
326	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult collisionResult;
327		2	collisionRequest.security_margin = Scalar(-0.01);
328	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	collide(c1.get(), tf1, c2.get(), tf2_collision, collisionRequest,
329			collisionResult);
330	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(!collisionResult.isCollision());
331	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_CLOSE(collisionResult.distance_lower_bound, Scalar(0.01),
332			Scalar(1e-8));
333		2	}
334		2	}
335
336	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(box_box) {
337	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	CollisionGeometryPtr_t b1(new coal::Box(1, 1, 1));
338	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	CollisionGeometryPtr_t b2(new coal::Box(1, 1, 1));
339
340	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Transform3s tf1;
341	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	const Transform3s tf2_collision(Vec3s(0, 1, 1));
342
343		2	const Scalar tol = Scalar(1e-3);
344
345			// No security margin - collision
346			{
347	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest collisionRequest(CONTACT, 1);
348	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult collisionResult;
349	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	collide(b1.get(), tf1, b2.get(), tf2_collision, collisionRequest,
350			collisionResult);
351	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(collisionResult.isCollision());
352	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 1 times.	2	BOOST_CHECK_SMALL(collisionResult.distance_lower_bound, tol);
353	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_SMALL(collisionResult.getContact(0).penetration_depth,
354			Scalar(1e-8));
355		2	}
356
357			// No security margin - no collision
358			{
359	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest collisionRequest(CONTACT, 1);
360		2	const Scalar distance = Scalar(0.01);
361			const Transform3s tf2_no_collision(
362	4/8 ✓ 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.	2	(tf2_collision.getTranslation() + Vec3s(0, 0, distance)).eval());
363
364	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult collisionResult;
365	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	collide(b1.get(), tf1, b2.get(), tf2_no_collision, collisionRequest,
366			collisionResult);
367	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(!collisionResult.isCollision());
368	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_CLOSE(collisionResult.distance_lower_bound, distance, tol);
369		2	}
370
371			// Positive security margin - collision
372			{
373	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest collisionRequest(CONTACT, 1);
374		2	const Scalar distance = Scalar(0.01);
375		2	collisionRequest.security_margin = distance;
376	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult collisionResult;
377	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	collide(b1.get(), tf1, b2.get(), tf2_collision, collisionRequest,
378			collisionResult);
379	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(collisionResult.isCollision());
380	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_CLOSE(collisionResult.distance_lower_bound,
381			-collisionRequest.security_margin, tol);
382	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_SMALL(collisionResult.getContact(0).penetration_depth,
383			Scalar(1e-8));
384		2	}
385
386			// Negative security margin - no collision
387			{
388	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest collisionRequest(CONTACT, 1);
389		2	collisionRequest.security_margin = Scalar(-0.01);
390	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult collisionResult;
391	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	collide(b1.get(), tf1, b2.get(), tf2_collision, collisionRequest,
392			collisionResult);
393	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(!collisionResult.isCollision());
394	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_CLOSE(collisionResult.distance_lower_bound,
395			-collisionRequest.security_margin, tol);
396		2	}
397
398			// Negative security margin - collision
399			{
400	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionRequest collisionRequest(CONTACT, 1);
401		2	const Scalar distance = Scalar(-0.01);
402		2	collisionRequest.security_margin = distance;
403	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionResult collisionResult;
404
405	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const Transform3s tf2((tf2_collision.getTranslation() +
406	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s(0, collisionRequest.security_margin,
407			collisionRequest.security_margin))
408	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	.eval());
409	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	collide(b1.get(), tf1, b2.get(), tf2, collisionRequest, collisionResult);
410	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(collisionResult.isCollision());
411	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 1 times.	2	BOOST_CHECK_SMALL(collisionResult.distance_lower_bound, tol);
412	7/14 ✓ 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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK_CLOSE(collisionResult.getContact(0).penetration_depth, distance,
413			tol);
414		2	}
415		2	}
416
417			template <typename ShapeType1, typename ShapeType2>
418		4	void test_shape_shape(const ShapeType1& shape1, const Transform3s& tf1,
419			const ShapeType2& shape2,
420			const Transform3s& tf2_collision, const Scalar tol) {
421			// No security margin - collision
422			{
423	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	CollisionRequest collisionRequest(CONTACT, 1);
424	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	CollisionResult collisionResult;
425	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	collide(&shape1, tf1, &shape2, tf2_collision, collisionRequest,
426			collisionResult);
427	6/12 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 2 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 2 times.	4	BOOST_CHECK(collisionResult.isCollision());
428	5/10 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 2 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 2 times.	4	BOOST_CHECK_SMALL(collisionResult.distance_lower_bound, tol);
429	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.	4	BOOST_CHECK_SMALL(collisionResult.getContact(0).penetration_depth,
430			Scalar(1e-8));
431		4	}
432
433			// No security margin - no collision
434			{
435	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	CollisionRequest collisionRequest(CONTACT, 1);
436		4	const Scalar distance = Scalar(0.01);
437	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	4	const Transform3s tf2_no_collision(
438	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	(tf2_collision.getTranslation() + Vec3s(0, 0, distance)).eval());
439
440	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	CollisionResult collisionResult;
441	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	collide(&shape1, tf1, &shape2, tf2_no_collision, collisionRequest,
442			collisionResult);
443	6/12 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 2 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 2 times.	4	BOOST_CHECK(!collisionResult.isCollision());
444	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.	4	BOOST_CHECK_CLOSE(collisionResult.distance_lower_bound, distance, tol);
445		4	}
446
447			// Positive security margin - collision
448			{
449	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	CollisionRequest collisionRequest(CONTACT, 1);
450		4	const Scalar distance = Scalar(0.01);
451		4	collisionRequest.security_margin = distance;
452	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	CollisionResult collisionResult;
453	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	collide(&shape1, tf1, &shape2, tf2_collision, collisionRequest,
454			collisionResult);
455	6/12 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 2 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 2 times.	4	BOOST_CHECK(collisionResult.isCollision());
456	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.	4	BOOST_CHECK_CLOSE(collisionResult.distance_lower_bound,
457			-collisionRequest.security_margin, tol);
458	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.	4	BOOST_CHECK_SMALL(collisionResult.getContact(0).penetration_depth,
459			Scalar(1e-8));
460		4	}
461
462			// Negative security margin - no collision
463			{
464	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	CollisionRequest collisionRequest(CONTACT, 1);
465		4	collisionRequest.security_margin = Scalar(-0.01);
466	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	CollisionResult collisionResult;
467	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	collide(&shape1, tf1, &shape2, tf2_collision, collisionRequest,
468			collisionResult);
469	6/12 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 2 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 2 times.	4	BOOST_CHECK(!collisionResult.isCollision());
470	8/16 ✓ 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 12 taken 2 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 2 times. ✗ Branch 24 not taken. ✗ Branch 27 not taken. ✓ Branch 28 taken 2 times.	4	BOOST_CHECK_CLOSE(
471			collisionResult.distance_lower_bound,
472			(collisionRequest.security_margin * tf2_collision.getTranslation())
473			.norm(),
474			tol);
475		4	}
476
477			// Negative security margin - collision
478			{
479	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	CollisionRequest collisionRequest(CONTACT, 1);
480		4	const Scalar distance = Scalar(-0.01);
481		4	collisionRequest.security_margin = distance;
482	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	CollisionResult collisionResult;
483
484	3/6 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 2 times. ✗ Branch 9 not taken.	4	const Transform3s tf2((tf2_collision.getTranslation() +
485	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	Vec3s(0, collisionRequest.security_margin,
486			collisionRequest.security_margin))
487			.eval());
488	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	collide(&shape1, tf1, &shape2, tf2, collisionRequest, collisionResult);
489	6/12 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 2 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 2 times.	4	BOOST_CHECK(collisionResult.isCollision());
490	5/10 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 2 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 2 times.	4	BOOST_CHECK_SMALL(collisionResult.distance_lower_bound, tol);
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492			tol);
493		4	}
494		4	}
495
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497	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);
498	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionGeometryPtr_t b1(box_ptr);
499	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	BVHModel<OBBRSS> box_bvh_model = BVHModel<OBBRSS>();
500	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	generateBVHModel(box_bvh_model, *box_ptr, Transform3s());
501	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	box_bvh_model.buildConvexRepresentation(false);
502		2	ConvexBase& box_convex = *box_bvh_model.convex.get();
503	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	CollisionGeometryPtr_t s2(new coal::Sphere(0.5));
504
505	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Transform3s tf1;
506	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	const Transform3s tf2_collision(Vec3s(0, 0, 1));
507
508		2	const Scalar tol = Scalar(1e-6);
509
510	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	test_shape_shape(b1.get(), tf1, s2.get(), tf2_collision, tol);
511	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	test_shape_shape(box_convex, tf1, *s2.get(), tf2_collision, tol);
512		2	}
513