Merge pull request #535 from erwincoumans/master

add collision and inverse dynamics unit tests to cmake, .travis.yml a…
2015-11-24 18:06:18 -08:00
parent a14a695bc7 0e247264ff
commit 346308120a
10 changed files with 106 additions and 11 deletions
--- a/.travis.yml
+++ b/.travis.yml
@@ -10,10 +10,13 @@ script:
  - echo "CC="$CC
  - cmake . -G "Unix Makefiles" #-DCMAKE_CXX_FLAGS=-Werror
  - make -j8
-  # Test again with double precision
+  - ctest -j8 --output-on-failure
+  # Build again with double precision
  - cmake . -G "Unix Makefiles" -DUSE_DOUBLE_PRECISION=ON #-DCMAKE_CXX_FLAGS=-Werror
  - make -j8
-  # Test again with shared libraries
+  - ctest -j8 --output-on-failure
+  # Build again with shared libraries
  - cmake . -G "Unix Makefiles" -DBUILD_SHARED_LIBS=ON
  - make -j8
+  - ctest -j8 --output-on-failure
  - sudo make install
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -80,12 +80,12 @@ IF(MSVC)
 	ELSE()
 	  OPTION(USE_MSVC_SSE "Use MSVC /arch:sse option"	ON)
 	  IF (USE_MSVC_SSE)
-		ADD_DEFINITIONS(/arch:SSE)
+		  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:SSE")
 	  ENDIF()
 	ENDIF()
 	OPTION(USE_MSVC_FAST_FLOATINGPOINT "Use MSVC /fp:fast option"	ON)
 	IF (USE_MSVC_FAST_FLOATINGPOINT)
-		ADD_DEFINITIONS(/fp:fast)
+		  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /fp:fast")
  ENDIF()
 ENDIF(MSVC)

@@ -273,6 +273,7 @@ ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
 OPTION(BUILD_UNIT_TESTS "Build Unit Tests"	ON)

 IF (BUILD_UNIT_TESTS)
+	ENABLE_TESTING()
 	SUBDIRS(test)
 ENDIF()

--- a/Extras/InverseDynamics/DillCreator.cpp
+++ b/Extras/InverseDynamics/DillCreator.cpp
@@ -79,7 +79,7 @@ int DillCreator::recurseDill(const int level, const int parent, const idScalar d
        return -1;
    }

-    idScalar size = std::max(level, 1);
+    idScalar size = BT_ID_MAX(level, 1);
    const int body = m_current_body;
    //  length = 0.1 * size;
    //  with = 2 * 0.01 * size;
--- a/appveyor.yml
+++ b/appveyor.yml
@@ -1,9 +1,19 @@
 build:
  project: build3/vs2010/0_Bullet3Solution.sln

+build_script:
+  - mkdir cmake
+  - cd cmake
+  - cmake .. -G"Visual Studio 14 2015 Win64"
+  - cmake --build . --target ALL_BUILD --config Release -- /maxcpucount:4 /verbosity:quiet
+
+test_script:
+  - ctest --parallel 4 --build-config Release --output-on-failure
+
 before_build:
  - echo %CD%
  - ps: cd build3
  - echo %CD%
  - premake4  vs2010
  - ps: cd ..
+
--- a/src/BulletInverseDynamics/IDConfig.hpp
+++ b/src/BulletInverseDynamics/IDConfig.hpp
@@ -28,12 +28,20 @@
 #ifndef btInverseDynamics 
 #error "custom inverse dynamics config, but no custom namespace defined"
 #endif
+
+#define BT_ID_MAX(a,b) std::max(a,b)
+#define BT_ID_MIN(a,b) std::min(a,b)
+
 #else
 #define btInverseDynamics btInverseDynamicsBullet3
 // Use default configuration with bullet's types
 // Use the same scalar type as rest of bullet library
 #include "LinearMath/btScalar.h"
 typedef btScalar idScalar;
+#include "LinearMath/btMinMax.h"
+#define BT_ID_MAX(a,b) btMax(a,b)
+#define BT_ID_MIN(a,b) btMin(a,b)
+
 #ifdef BT_USE_DOUBLE_PRECISION
 #define BT_ID_USE_DOUBLE_PRECISION
 #endif
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -1,3 +1,3 @@
 #SUBDIRS(  gtest-1.7.0  TestBullet3OpenCL)
-SUBDIRS(  gtest-1.7.0  )
+SUBDIRS(  gtest-1.7.0  collision InverseDynamics)

--- a/test/InverseDynamics/CMakeLists.txt
+++ b/test/InverseDynamics/CMakeLists.txt
@@ -0,0 +1,33 @@
+
+ 
+ 
+INCLUDE_DIRECTORIES(
+	.
+	../../src
+	../gtest-1.7.0/include
+	../../Extras/InverseDynamics
+)
+
+
+#ADD_DEFINITIONS(-DGTEST_HAS_PTHREAD=1)
+ADD_DEFINITIONS(-D_VARIADIC_MAX=10)
+
+LINK_LIBRARIES(
+ BulletInverseDynamicsUtils BulletInverseDynamics Bullet3Common LinearMath gtest
+)
+IF (NOT WIN32)	
+	LINK_LIBRARIES(		pthread	) 
+ENDIF()
+
+
+	ADD_EXECUTABLE(Test_BulletInverseDynamics
+		test_invdyn_kinematics.cpp
+	)
+
+ADD_TEST(Test_BulletInverseDynamics_PASS Test_BulletInverseDynamics)
+
+IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
+			SET_TARGET_PROPERTIES(Test_Collision PROPERTIES  DEBUG_POSTFIX "_Debug")
+			SET_TARGET_PROPERTIES(Test_Collision PROPERTIES  MINSIZEREL_POSTFIX "_MinsizeRel")
+			SET_TARGET_PROPERTIES(Test_Collision PROPERTIES  RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
+ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
--- a/test/InverseDynamics/test_invdyn_kinematics.cpp
+++ b/test/InverseDynamics/test_invdyn_kinematics.cpp
@@ -349,7 +349,7 @@ TEST(InvDynKinematicsDifferentiation, errorOrder) {
    const idScalar expected_angular_acceleration_error_1 =
        max_angular_acceleration_error[0] * pow(kDeltaTs[1] / kDeltaTs[0], 2);

-    printf("linear vel error: %e %e  %e\n", max_linear_velocity_error[1],
+/*    printf("linear vel error: %e %e  %e\n", max_linear_velocity_error[1],
           expected_linear_velocity_error_1,
           max_linear_velocity_error[1] - expected_linear_velocity_error_1);
    printf("angular vel error: %e %e  %e\n", max_angular_velocity_error[1],
@@ -361,6 +361,7 @@ TEST(InvDynKinematicsDifferentiation, errorOrder) {
    printf("angular acc error: %e %e  %e\n", max_angular_acceleration_error[1],
           expected_angular_acceleration_error_1,
           max_angular_acceleration_error[1] - expected_angular_acceleration_error_1);
+*/
 }

 int main(int argc, char** argv) {
--- a/test/collision/CMakeLists.txt
+++ b/test/collision/CMakeLists.txt
@@ -0,0 +1,39 @@
+ 
+INCLUDE_DIRECTORIES(
+	.
+	../../src
+	../gtest-1.7.0/include
+)
+
+
+#ADD_DEFINITIONS(-DGTEST_HAS_PTHREAD=1)
+ADD_DEFINITIONS(-D_VARIADIC_MAX=10)
+
+LINK_LIBRARIES(
+ LinearMath gtest
+)
+
+IF (NOT WIN32)	
+	LINK_LIBRARIES(		pthread	) 
+ENDIF()
+
+	ADD_EXECUTABLE(Test_Collision
+		main.cpp
+		../../src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
+		../../src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
+		../../src/BulletCollision/CollisionShapes/btSphereShape.cpp
+		../../src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
+		../../src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
+		../../src/BulletCollision/CollisionShapes/btConvexShape.cpp
+		../../src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp
+		../../src/BulletCollision/CollisionShapes/btCollisionShape.cpp
+		../../src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp
+	)
+
+ADD_TEST(Test_Collision_PASS Test_Collision)
+
+IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
+			SET_TARGET_PROPERTIES(Test_Collision PROPERTIES  DEBUG_POSTFIX "_Debug")
+			SET_TARGET_PROPERTIES(Test_Collision PROPERTIES  MINSIZEREL_POSTFIX "_MinsizeRel")
+			SET_TARGET_PROPERTIES(Test_Collision PROPERTIES  RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
+ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
--- a/test/collision/main.cpp
+++ b/test/collision/main.cpp
@@ -179,12 +179,12 @@ void testSphereSphereDistance(SphereSphereTestMethod method, btScalar abs_error)
        ASSERT_EQ(btScalar(0), distInfo.m_distance);
    }
    
-    for (int rb=1;rb<10;rb++)
-        for (int z=-20;z<20;z++)
+    for (int rb=1;rb<5;rb++)
+        for (int z=-5;z<5;z++)
        {
-            for (int j=1;j<10;j++)
+            for (int j=1;j<5;j++)
            {
-                for (int i=-20;i<20;i++)
+                for (int i=-5;i<5;i++)
                {
                    if (i!=z)//skip co-centric spheres for now (todo(erwincoumans) fix this)
                    {