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commit the ABA comparison test between the RBDL and Bullet, and use the option BULLET_BUILD_RBDL_COMPARE_TEST to control if build it.

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This commit is contained in:
Steven
2019-07-02 15:35:33 +08:00
parent 2db6d2f594
commit de16c23209
4 changed files with 490 additions and 2 deletions
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67
test/InverseDynamics/CMakeLists.txt
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@@ -1,5 +1,70 @@
IF (BULLET_BUILD_RBDL_COMPARE_TEST)
INCLUDE_DIRECTORIES(
.
../../src
../gtest-1.7.0/include
../../examples/ThirdPartyLibs
${BULLET_RBDL_SOURCE_DIR}/include/
${BULLET_RBDL_SOURCE_DIR}/addons/urdfreader/
${BULLET_RBDL_BINARY_DIR}/include
)
ADD_DEFINITIONS(-D_VARIADIC_MAX=10)
ADD_DEFINITIONS(-DRBDL_USE_SIMPLE_MATH)
IF (MSVC)
LINK_LIBRARIES( BulletDynamics BulletCollision Bullet3Common LinearMath gtest rbdl_urdfreader-static rbdl-static)
ELSE (MSVC)
LINK_LIBRARIES( BulletDynamics BulletCollision Bullet3Common LinearMath gtest rbdl_urdfreader rbdl)
ENDIF (MSVC)
IF (NOT WIN32)
LINK_LIBRARIES( pthread )
ENDIF()
ADD_EXECUTABLE(Test_DynamicsABA_bulletVSrbdl
test_dynABA_bulletVSrbdl.cpp
../../examples/Utils/b3ResourcePath.cpp
../../examples/Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h
../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h
../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
../../examples/Importers/ImportURDFDemo/UrdfParser.h
../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
../../examples/Importers/ImportURDFDemo/URDF2Bullet.h
../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
../../examples/Utils/b3Clock.cpp
../../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
../../Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp
../../Extras/Serialize/BulletFileLoader/bChunk.cpp
../../Extras/Serialize/BulletFileLoader/bFile.cpp
../../Extras/Serialize/BulletFileLoader/bDNA.cpp
../../Extras/Serialize/BulletFileLoader/btBulletFile.cpp
../../examples/Importers/ImportURDFDemo/URDFImporterInterface.h
../../examples/Importers/ImportURDFDemo/URDFJointTypes.h
../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
../../examples/Importers/ImportSTLDemo/ImportSTLSetup.h
../../examples/Importers/ImportSTLDemo/LoadMeshFromSTL.h
../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
../../examples/Importers/ImportColladaDemo/ColladaGraphicsInstance.h
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp
)
ADD_TEST(Test_DynamicsABA_bulletVSrbdl_PASS Test_DynamicsABA_bulletVSrbdl)
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
SET_TARGET_PROPERTIES(Test_DynamicsABA_bulletVSrbdl PROPERTIES DEBUG_POSTFIX "_Debug")
SET_TARGET_PROPERTIES(Test_DynamicsABA_bulletVSrbdl PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
SET_TARGET_PROPERTIES(Test_DynamicsABA_bulletVSrbdl PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
ENDIF (BULLET_BUILD_RBDL_COMPARE_TEST)
INCLUDE_DIRECTORIES(
.