Use centralized library and constants

Signed-off-by: Michael Carroll <[email protected]>
gazebosim · Jan 9, 2024 · 96c86a4 · 96c86a4
1 parent d1091f7
commit 96c86a4
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Showing 36 changed files with 172 additions and 184 deletions.
diff --git a/dartsim/CMakeLists.txt b/dartsim/CMakeLists.txt
@@ -84,6 +84,7 @@ gz_build_tests(
   LIB_DEPS
     ${features}
     ${dartsim_plugin}
+    gz-physics-test
     gz-plugin${GZ_PLUGIN_VER}::loader
     gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
     gz-common${GZ_COMMON_VER}::geospatial

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -25,6 +25,8 @@ endif()
 gz_build_tests(
   TYPE UNIT
   SOURCES ${gtest_sources}
+  LIB_DEPS
+      gz-physics-test
   ENVIRONMENT
     GZ_PHYSICS_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
   INCLUDE_DIRS

diff --git a/src/Cloneable_TEST.cc b/src/Cloneable_TEST.cc
@@ -18,7 +18,7 @@
 #include <gtest/gtest.h>
 
 #include "gz/physics/Cloneable.hh"
-#include "TestDataTypes.hh"
+#include "test/TestDataTypes.hh"
 
 using namespace gz;
 using physics::Cloneable;

diff --git a/src/CompositeData_TEST.cc b/src/CompositeData_TEST.cc
@@ -18,7 +18,7 @@
 #include <gtest/gtest.h>
 
 #include "gz/physics/CompositeData.hh"
-#include "TestDataTypes.hh"
+#include "test/TestDataTypes.hh"
 
 using namespace gz;
 

diff --git a/src/FindFeatures_TEST.cc b/src/FindFeatures_TEST.cc
@@ -24,7 +24,7 @@
 
 #include <gz/plugin/Loader.hh>
 
-#include "TestUtilities.hh"
+#include "test/Utils.hh"
 
 using namespace gz;
 
@@ -59,7 +59,7 @@ TEST(FindFeatures_TEST, ForwardStep)
 TEST(FindFeatures_TEST, Unimplemented)
 {
   using TestFeatures =
-    physics::FeatureList<test::UnimplementedFeature>;
+    physics::FeatureList<physics::test::UnimplementedFeature>;
 
   plugin::Loader loader;
   PrimeTheLoader(loader);

diff --git a/src/SpecifyData_TEST.cc b/src/SpecifyData_TEST.cc
@@ -19,7 +19,7 @@
 
 #define GZ_UNITTEST_EXPECTDATA_ACCESS
 
-#include "TestDataTypes.hh"
+#include "test/TestDataTypes.hh"
 #include "gz/physics/SpecifyData.hh"
 #include "gz/math/Vector3.hh"
 

diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
@@ -19,6 +19,19 @@ ExternalProject_Add(
     "-DCMAKE_INSTALL_PREFIX=${FAKE_INSTALL_PREFIX}"
 )
 
+set(GZ_PHYSICS_RESOURCE_DIR "${CMAKE_SOURCE_DIR}/resources")
+add_library(gz-physics-test INTERFACE)
+target_include_directories(gz-physics-test INTERFACE ${CMAKE_CURRENT_SOURCE_DIR}/include)
+target_compile_definitions(gz-physics-test INTERFACE
+    "GZ_PHYSICS_RESOURCE_DIR=\"${GZ_PHYSICS_RESOURCE_DIR}\""
+    "TESTING_PROJECT_SOURCE_DIR=\"${PROJECT_SOURCE_DIR}\""
+)
+target_link_libraries(gz-physics-test INTERFACE
+      gz-plugin${GZ_PLUGIN_VER}::loader
+      gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
+      gz-common${GZ_COMMON_VER}::testing
+)
+
 add_subdirectory(gtest_vendor)
 add_subdirectory(benchmark)
 add_subdirectory(common_test)

diff --git a/test/benchmark/CMakeLists.txt b/test/benchmark/CMakeLists.txt
@@ -4,5 +4,4 @@ set(tests
   ExpectData.cc
 )
 
-gz_add_benchmarks(SOURCES ${tests}
-  INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/test)
+gz_add_benchmarks(SOURCES ${tests} LIB_DEPS gz-physics-test)
diff --git a/test/benchmark/ExpectData.cc b/test/benchmark/ExpectData.cc
@@ -1,6 +1,6 @@
 #include <benchmark/benchmark.h>
 
-#include "TestDataTypes.hh"
+#include "test/TestDataTypes.hh"
 
 std::size_t gNumTests = 100000;
 

diff --git a/test/common_test/CMakeLists.txt b/test/common_test/CMakeLists.txt
@@ -44,35 +44,24 @@ function(configure_common_test PHYSICS_ENGINE_NAME test_name)
   endif()
 endfunction()
 
-set(GZ_PHYSICS_RESOURCE_DIR "${CMAKE_SOURCE_DIR}/resources")
 
 foreach(test ${tests})
   set(test_executable "${TEST_TYPE}_${test}")
   add_executable(${test_executable} ${test}.cc)
 
   target_link_libraries(${test_executable}
     PUBLIC
-      gz-plugin${GZ_PLUGIN_VER}::loader
-      gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
-      gz-common${GZ_COMMON_VER}::testing
+      gz-physics-test
       ${PROJECT_LIBRARY_TARGET_NAME}
       ${PROJECT_LIBRARY_TARGET_NAME}-sdf
       ${PROJECT_LIBRARY_TARGET_NAME}-mesh
       gtest
       gtest_main
   )
 
-  target_include_directories(${test_executable}
-    PUBLIC
-    ${PROJECT_SOURCE_DIR}/test)
-
-  target_compile_definitions(${test_executable} PRIVATE
-    "GZ_PHYSICS_RESOURCE_DIR=\"${GZ_PHYSICS_RESOURCE_DIR}\""
-    "TESTING_PROJECT_SOURCE_DIR=\"${PROJECT_SOURCE_DIR}\""
-  )
+  target_include_directories(${test_executable} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
   install(TARGETS ${test_executable} DESTINATION ${TEST_INSTALL_DIR})
-
   configure_common_test("bullet" ${test_executable})
   configure_common_test("bullet-featherstone" ${test_executable})
   configure_common_test("dartsim" ${test_executable})

diff --git a/test/common_test/added_mass.cc b/test/common_test/added_mass.cc
@@ -17,12 +17,12 @@
 #include <gtest/gtest.h>
 
 #include <gz/common/Console.hh>
-#include <gz/common/testing/TestPaths.hh>
 
 #include <gz/plugin/Loader.hh>
 
-#include "TestLibLoader.hh"
-#include "../Utils.hh"
+#include "test/TestLibLoader.hh"
+#include "test/Utils.hh"
+#include "worlds/Worlds.hh"
 
 #include <gz/physics/AddedMass.hh>
 #include <gz/physics/FindFeatures.hh>
@@ -87,10 +87,8 @@ TEST_F(AddedMassFeaturesTest, Gravity)
     EXPECT_TRUE(engine->GetName().find(this->PhysicsEngineName(name)) !=
                 std::string::npos);
 
-    const auto worldPath =
-      gz::common::testing::TestFile("common_test", "worlds", "falling_added_mass.world");
     sdf::Root root;
-    const sdf::Errors errors = root.Load(worldPath);
+    const sdf::Errors errors = root.Load(worlds::kFallingAddedMassWorld);
     EXPECT_TRUE(errors.empty()) << errors;
     const sdf::World *sdfWorld = root.WorldByIndex(0);
     EXPECT_NE(nullptr, sdfWorld);

diff --git a/test/common_test/addexternalforcetorque.cc b/test/common_test/addexternalforcetorque.cc
@@ -24,8 +24,9 @@
 #include <gz/math/Vector3.hh>
 #include <gz/math/eigen3/Conversions.hh>
 
-#include "TestLibLoader.hh"
-#include "Utils.hh"
+#include "test/TestLibLoader.hh"
+#include "test/Utils.hh"
+#include "worlds/Worlds.hh"
 
 #include <gz/physics/FindFeatures.hh>
 #include <gz/physics/GetEntities.hh>
@@ -45,8 +46,6 @@
 #include <sdf/Root.hh>
 #include <sdf/Sphere.hh>
 
-#include <gz/common/testing/TestPaths.hh>
-
 template <class T>
 class LinkFeaturesTest:
   public testing::Test, public gz::physics::TestLibLoader
@@ -110,10 +109,7 @@ TYPED_TEST(LinkFeaturesTest, JointSetCommand)
     ASSERT_NE(nullptr, engine);
 
     sdf::Root root;
-
-    const auto worldPath =
-      gz::common::testing::TestFile("common_test", "worlds", "sphere.sdf");
-    const sdf::Errors errors = root.Load(worldPath);
+    const sdf::Errors errors = root.Load(worlds::kSphereSdf);
     ASSERT_TRUE(errors.empty()) << errors.front();
 
     const std::string modelName{"sphere"};

diff --git a/test/common_test/basic_test.cc b/test/common_test/basic_test.cc
@@ -19,7 +19,7 @@
 #include <gz/common/Console.hh>
 #include <gz/plugin/Loader.hh>
 
-#include "TestLibLoader.hh"
+#include "test/TestLibLoader.hh"
 
 #include <gz/physics/FindFeatures.hh>
 #include <gz/physics/GetEntities.hh>

diff --git a/test/common_test/collisions.cc b/test/common_test/collisions.cc
@@ -19,7 +19,7 @@
 #include <gz/common/Console.hh>
 #include <gz/plugin/Loader.hh>
 
-#include "TestLibLoader.hh"
+#include "test/TestLibLoader.hh"
 
 #include <gz/physics/FindFeatures.hh>
 #include <gz/physics/RequestEngine.hh>

diff --git a/test/common_test/construct_empty_world.cc b/test/common_test/construct_empty_world.cc
@@ -19,7 +19,7 @@
 #include <gz/common/Console.hh>
 #include <gz/plugin/Loader.hh>
 
-#include "TestLibLoader.hh"
+#include "test/TestLibLoader.hh"
 
 #include <gz/physics/ConstructEmpty.hh>
 #include <gz/physics/FindFeatures.hh>

diff --git a/test/common_test/detachable_joint.cc b/test/common_test/detachable_joint.cc
@@ -25,8 +25,9 @@
 #include <gz/math/Helpers.hh>
 #include <gz/math/eigen3/Conversions.hh>
 
-#include "TestLibLoader.hh"
-#include "../Utils.hh"
+#include "test/TestLibLoader.hh"
+#include "test/Utils.hh"
+#include "worlds/Worlds.hh"
 
 #include "gz/physics/FrameSemantics.hh"
 #include <gz/physics/FindFeatures.hh>
@@ -110,10 +111,8 @@ TYPED_TEST(DetachableJointTest, CorrectAttachmentPoints)
       gz::physics::RequestEngine3d<DetachableJointFeatureList>::From(plugin);
     ASSERT_NE(nullptr, engine);
 
-    const auto worldPath =
-      gz::common::testing::TestFile("common_test", "worlds", "detachable_joint.world");
     sdf::Root root;
-    const sdf::Errors errors = root.Load(worldPath);
+    const sdf::Errors errors = root.Load(worlds::kDetachableJointWorld);
     ASSERT_TRUE(errors.empty()) << errors.front();
 
     auto world = engine->ConstructWorld(*root.WorldByIndex(0));

diff --git a/test/common_test/free_joint_features.cc b/test/common_test/free_joint_features.cc
@@ -18,7 +18,8 @@
 
 #include <tuple>
 
-#include "TestLibLoader.hh"
+#include "worlds/Worlds.hh"
+#include "test/TestLibLoader.hh"
 
 #include <gz/common/Console.hh>
 #include <gz/common/Util.hh>
@@ -37,8 +38,6 @@
 #include "gz/physics/sdf/ConstructNestedModel.hh"
 #include "gz/physics/sdf/ConstructWorld.hh"
 
-#include <gz/common/testing/TestPaths.hh>
-
 struct TestFeatureList : gz::physics::FeatureList<
     gz::physics::GetEngineInfo,
     gz::physics::sdf::ConstructSdfWorld,
@@ -113,9 +112,7 @@ TEST_F(FreeGroupFeaturesTest, NestedFreeGroup)
     ASSERT_NE(nullptr, engine);
 
     sdf::Root root;
-    const auto worldPath =
-      gz::common::testing::TestFile("common_test", "worlds", "world_with_nested_model.sdf");
-    const sdf::Errors &errors = root.Load(worldPath);
+    const sdf::Errors &errors = root.Load(worlds::kWorldWithNestedModelSdf);
     EXPECT_EQ(0u, errors.size()) << errors;
 
     EXPECT_EQ(1u, root.WorldCount());
@@ -166,9 +163,7 @@ TEST_F(FreeGroupFeaturesTest, NestedFreeGroupSetWorldPose)
     ASSERT_NE(nullptr, engine);
 
     sdf::Root root;
-    const auto worldPath =
-      gz::common::testing::TestFile("common_test", "worlds", "world_with_nested_model.sdf");
-    const sdf::Errors &errors = root.Load(worldPath);
+    const sdf::Errors &errors = root.Load(worlds::kWorldWithNestedModelSdf);
     EXPECT_EQ(0u, errors.size()) << errors;
 
     EXPECT_EQ(1u, root.WorldCount());