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add collision and inverse dynamics unit tests to cmake, .travis.yml and appveyor.yml

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(more unit tests will follow, once this setup works)
This commit is contained in:
erwincoumans
2015-11-24 16:13:21 -08:00
parent 4205e976f6
commit e387baf213
8 changed files with 89 additions and 10 deletions
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2
test/CMakeLists.txt
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@@ -1,3 +1,3 @@
#SUBDIRS( gtest-1.7.0 TestBullet3OpenCL)
SUBDIRS( gtest-1.7.0 )
SUBDIRS( gtest-1.7.0 collision InverseDynamics)

30
test/InverseDynamics/CMakeLists.txt Normal file
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@@ -0,0 +1,30 @@
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
)
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)

3
test/InverseDynamics/test_invdyn_kinematics.cpp
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@@ -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) {

36
test/collision/CMakeLists.txt Normal file
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@@ -0,0 +1,36 @@
INCLUDE_DIRECTORIES(
.
../../src
../gtest-1.7.0/include
)
#ADD_DEFINITIONS(-DGTEST_HAS_PTHREAD=1)
ADD_DEFINITIONS(-D_VARIADIC_MAX=10)
LINK_LIBRARIES(
LinearMath gtest
)
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)

8
test/collision/main.cpp
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@@ -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)
{