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Added test for btKinematicCharacterController.

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For now just a simple instantiation unit test.
This commit is contained in:
Erik Ogenvik
2017-03-14 22:07:06 +01:00
parent b0aef44668
commit f159998220
3 changed files with 52 additions and 1 deletions
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24
test/BulletDynamics/CMakeLists.txt Normal file
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@@ -0,0 +1,24 @@
SUBDIRS(pendulum )
INCLUDE_DIRECTORIES(
"${PROJECT_SOURCE_DIR}/src"
"${PROJECT_SOURCE_DIR}/test/gtest-1.7.0/include")
ADD_DEFINITIONS(-DUSE_GTEST)
ADD_DEFINITIONS(-D_VARIADIC_MAX=10)
LINK_LIBRARIES(BulletDynamics BulletCollision LinearMath gtest)
IF (NOT WIN32)
LINK_LIBRARIES(pthread)
ENDIF()
ADD_EXECUTABLE(Test_btKinematicCharacterController test_btKinematicCharacterController.cpp)
ADD_TEST(Test_btKinematicCharacterController_PASS Test_btKinematicCharacterController)
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
SET_TARGET_PROPERTIES(Test_btKinematicCharacterController PROPERTIES DEBUG_POSTFIX "_Debug")
SET_TARGET_PROPERTIES(Test_btKinematicCharacterController PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
SET_TARGET_PROPERTIES(Test_btKinematicCharacterController PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

27
test/BulletDynamics/test_btKinematicCharacterController.cpp Normal file
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@@ -0,0 +1,27 @@
#include <btBulletDynamicsCommon.h>
#include <BulletDynamics/Character/btKinematicCharacterController.h>
#include <gtest/gtest.h>
#include <BulletCollision/CollisionDispatch/btGhostObject.h>
GTEST_TEST(BulletDynamics, KinematicCharacterController) {
btPairCachingGhostObject* ghostObject = new btPairCachingGhostObject();
btBoxShape* convexShape = new btBoxShape(btVector3(1, 1, 1));
//For now only a simple test that it initializes correctly.
btKinematicCharacterController* tested = new btKinematicCharacterController(ghostObject, convexShape, 1);
EXPECT_TRUE(tested);
EXPECT_FLOAT_EQ(-9.8 * 3.0, tested->getGravity().x());
EXPECT_FLOAT_EQ(0, tested->getGravity().y());
EXPECT_FLOAT_EQ(0, tested->getGravity().z());
}
int main(int argc, char **argv) {
::testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}

2
test/CMakeLists.txt
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@@ -3,5 +3,5 @@ IF(BUILD_BULLET3)
SUBDIRS( InverseDynamics SharedMemory )
ENDIF(BUILD_BULLET3)
SUBDIRS( gtest-1.7.0 collision RobotLogging BulletDynamics/pendulum )
SUBDIRS( gtest-1.7.0 collision RobotLogging BulletDynamics )