Added test for btKinematicCharacterController.

For now just a simple instantiation unit test.

test/BulletDynamics/CMakeLists.txt

@@ -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)

test/BulletDynamics/test_btKinematicCharacterController.cpp

@@ -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();
+}

test/CMakeLists.txt

@@ -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 )