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

(more unit tests will follow, once this setup works)

.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

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()
 

appveyor.yml

@@ -1,5 +1,12 @@
 build:
   project: build3/vs2010/0_Bullet3Solution.sln
+	- 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%
@@ -7,3 +14,4 @@ before_build:
   - echo %CD%
   - premake4  vs2010
   - ps: cd ..
+

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)
 

test/InverseDynamics/CMakeLists.txt

@@ -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)

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) {

test/collision/CMakeLists.txt

@@ -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)

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 rb=1;rb<5;rb++)
-        for (int z=-20;z<20;z++)
+        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)
                     {