Added Simulation features common test (#362)

Signed-off-by: ahcorde <ahcorde@gmail.com>
gazebosim · Jul 8, 2022 · 0d18a15 · 0d18a15
1 parent 0a7d9ea
commit 0d18a15
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Showing 5 changed files with 915 additions and 5 deletions.
diff --git a/dartsim/src/ShapeFeatures.cc b/dartsim/src/ShapeFeatures.cc
@@ -241,11 +241,11 @@ Vector3d ShapeFeatures::GetEllipsoidShapeRadii(
 {
   const auto *shapeInfo = this->ReferenceInterface<ShapeInfo>(_ellipsoidID);
 
-  dart::dynamics::EllipsoidShape *ellipsoid =
-      static_cast<dart::dynamics::EllipsoidShape *>(
+  dart::dynamics::MeshShape *ellipsoid =
+      static_cast<dart::dynamics::MeshShape *>(
           shapeInfo->node->getShape().get());
 
-  return ellipsoid->getRadii();
+  return ellipsoid->getBoundingBox().getMax();
 }
 
 /////////////////////////////////////////////////

diff --git a/test/common_test/CMakeLists.txt b/test/common_test/CMakeLists.txt
@@ -3,10 +3,9 @@ set(TEST_TYPE "COMMON_TEST")
 set(tests
   basic_test
   construct_empty_world
+  simulation_features
 )
 
-link_directories(${PROJECT_BINARY_DIR}/test)
-
 function(configure_common_test PHYSICS_ENGINE_NAME test_name)
   add_test(NAME ${test_name}_${PHYSICS_ENGINE_NAME}
     COMMAND
@@ -23,11 +22,16 @@ foreach(test ${tests})
       gz-plugin${GZ_PLUGIN_VER}::loader
       gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
       ${PROJECT_LIBRARY_TARGET_NAME}
+      ${PROJECT_LIBRARY_TARGET_NAME}-sdf
       gtest
       gtest_main
       ${PROJECT_NAME}_test_lib_loader
   )
 
+  target_compile_definitions(${TEST_TYPE}_${test} PRIVATE
+    "TEST_WORLD_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/worlds/\""
+  )
+
   if (${BULLET_FOUND})
     configure_common_test("bullet" ${TEST_TYPE}_${test})
   endif()