[test] Fix cone-cone collision tests

(cherry picked from commit de7eaef5384d7a8cbe29b75abeb564b845ed697a)
dartsim · Mar 30, 2024 · ce1d335 · ce1d335
1 parent 211dcca
commit ce1d335
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Showing 4 changed files with 47 additions and 26 deletions.
diff --git a/.github/workflows/ci_windows.yml b/.github/workflows/ci_windows.yml
@@ -55,7 +55,7 @@ jobs:
             tracy
             urdfdom
           triplet: x64-windows
-          revision: "2024.02.14"
+          revision: "2024.03.25"
           github-binarycache: true
           token: ${{ github.token }}
 

diff --git a/.github/workflows/publish_dartpy.yml b/.github/workflows/publish_dartpy.yml
@@ -119,7 +119,7 @@ jobs:
             tinyxml2
             urdfdom
           triplet: x64-windows
-          revision: "2024.02.14"
+          revision: "2024.03.25"
           github-binarycache: true
           token: ${{ github.token }}
 

diff --git a/scripts/install_osx.sh b/scripts/install_osx.sh
@@ -1,7 +1,7 @@
 #!/usr/bin/env bash
 set -ex
 
-brew update > /dev/null
+brew update >/dev/null
 brew bundle || brew bundle
 
 # OpenSceneGraph
@@ -14,5 +14,5 @@ fi
 
 # Use pip for the default Python3 version
 py_version=$(python3 -c "import sys; print('{}.{}'.format(sys.version_info[0], sys.version_info[1]))")
-py_version_major=`echo $py_version | cut -d. -f1`
+py_version_major=$(echo $py_version | cut -d. -f1)
 pip$py_version_major install -U numpy pytest
diff --git a/tests/integration/test_Collision.cpp b/tests/integration/test_Collision.cpp
@@ -823,38 +823,59 @@ void testConeCone(const std::shared_ptr<CollisionDetector>& cd)
 //==============================================================================
 TEST_F(Collision, testConeCone)
 {
-  auto fcl_mesh_dart = FCLCollisionDetector::create();
-  fcl_mesh_dart->setPrimitiveShapeType(FCLCollisionDetector::MESH);
-  fcl_mesh_dart->setContactPointComputationMethod(FCLCollisionDetector::DART);
-  testCylinderCylinder(fcl_mesh_dart);
+  {
+    SCOPED_TRACE("FCLCollisionDetector (MESH, DART)");
+    auto fcl_mesh_dart = FCLCollisionDetector::create();
+    fcl_mesh_dart->setPrimitiveShapeType(FCLCollisionDetector::MESH);
+    fcl_mesh_dart->setContactPointComputationMethod(FCLCollisionDetector::DART);
+    testConeCone(fcl_mesh_dart);
+  }
 
-  auto fcl_mesh_fcl = FCLCollisionDetector::create();
-  fcl_mesh_fcl->setPrimitiveShapeType(FCLCollisionDetector::MESH);
-  fcl_mesh_fcl->setContactPointComputationMethod(FCLCollisionDetector::FCL);
-  testCylinderCylinder(fcl_mesh_fcl);
+  {
+    SCOPED_TRACE("FCLCollisionDetector (MESH, FCL)");
+    auto fcl_mesh_fcl = FCLCollisionDetector::create();
+    fcl_mesh_fcl->setPrimitiveShapeType(FCLCollisionDetector::MESH);
+    fcl_mesh_fcl->setContactPointComputationMethod(FCLCollisionDetector::FCL);
+    testConeCone(fcl_mesh_fcl);
+  }
 
-  auto fcl_prim_dart = FCLCollisionDetector::create();
-  fcl_prim_dart->setPrimitiveShapeType(FCLCollisionDetector::PRIMITIVE);
-  fcl_prim_dart->setContactPointComputationMethod(FCLCollisionDetector::DART);
-  testCylinderCylinder(fcl_prim_dart);
+  {
+    SCOPED_TRACE("FCLCollisionDetector (PRIMITIVE, DART)");
+    auto fcl_prim_dart = FCLCollisionDetector::create();
+    fcl_prim_dart->setPrimitiveShapeType(FCLCollisionDetector::PRIMITIVE);
+    fcl_prim_dart->setContactPointComputationMethod(FCLCollisionDetector::DART);
+    testConeCone(fcl_prim_dart);
+  }
 
-  auto fcl_prim_fcl = FCLCollisionDetector::create();
-  fcl_prim_fcl->setPrimitiveShapeType(FCLCollisionDetector::PRIMITIVE);
-  fcl_prim_fcl->setContactPointComputationMethod(FCLCollisionDetector::FCL);
-  testCylinderCylinder(fcl_prim_fcl);
+  {
+    SCOPED_TRACE("FCLCollisionDetector (PRIMITIVE, FCL)");
+    auto fcl_prim_fcl = FCLCollisionDetector::create();
+    fcl_prim_fcl->setPrimitiveShapeType(FCLCollisionDetector::PRIMITIVE);
+    fcl_prim_fcl->setContactPointComputationMethod(FCLCollisionDetector::FCL);
+    testConeCone(fcl_prim_fcl);
+  }
 
 #if HAVE_ODE
-  auto ode = OdeCollisionDetector::create();
-  testCylinderCylinder(ode);
+  {
+    // SCOPED_TRACE("OdeCollisionDetector");
+    // auto ode = OdeCollisionDetector::create();
+    // testConeCone(ode);
+  }
 #endif
 
 #if HAVE_BULLET
-  auto bullet = BulletCollisionDetector::create();
-  testCylinderCylinder(bullet);
+  {
+    SCOPED_TRACE("BulletCollisionDetector");
+    auto bullet = BulletCollisionDetector::create();
+    testConeCone(bullet);
+  }
 #endif
 
-  // auto dart = DARTCollisionDetector::create();
-  // testCylinderCylinder(dart);
+  {
+    // SCOPED_TRACE("DARTCollisionDetector");
+    // auto dart = DARTCollisionDetector::create();
+    // testConeCone(dart);
+  }
 }
 
 //==============================================================================