Remaining test refactor

Signed-off-by: Michael Carroll <[email protected]>

dartsim/CMakeLists.txt

@@ -87,6 +87,7 @@ gz_build_tests(
     gz-plugin${GZ_PLUGIN_VER}::loader
     gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
     gz-common${GZ_COMMON_VER}::geospatial
+    gz-common${GZ_COMMON_VER}::testing
     ${PROJECT_LIBRARY_TARGET_NAME}-sdf
     ${PROJECT_LIBRARY_TARGET_NAME}-heightmap
     ${PROJECT_LIBRARY_TARGET_NAME}-mesh
@@ -95,10 +96,8 @@ gz_build_tests(
     GZ_PHYSICS_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX})
 
 foreach(test ${tests})
-
   target_compile_definitions(${test} PRIVATE
     "dartsim_plugin_LIB=\"$<TARGET_FILE:${dartsim_plugin}>\""
-    "TEST_WORLD_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/worlds/\""
     "GZ_PHYSICS_RESOURCE_DIR=\"${GZ_PHYSICS_RESOURCE_DIR}\"")
 
   if (DART_HAS_CONTACT_SURFACE_HEADER)
@@ -108,10 +107,3 @@ foreach(test ${tests})
   # Helps when we want to build a single test after making changes to dartsim_plugin
   add_dependencies(${test} ${dartsim_plugin})
 endforeach()
-
-foreach(test UNIT_FindFeatures_TEST UNIT_RequestFeatures_TEST)
-  if(TARGET ${test})
-    target_compile_definitions(${test} PRIVATE
-      "dartsim_plugin_LIB=\"$<TARGET_FILE:${dartsim_plugin}>\"")
-  endif()
-endforeach()

dartsim/src/AddedMassFeatures_TEST.cc

@@ -19,6 +19,8 @@
 #include <dart/dynamics/BodyNode.hpp>
 
 #include <gz/common/Console.hh>
+#include <gz/common/testing/TestPaths.hh>
+
 #include <gz/math/eigen3.hh>
 #include <gz/plugin/Loader.hh>
 
@@ -121,7 +123,9 @@ TEST(AddedMassFeatures, AddedMass)
     0, 0, 0, 0, 1, 0,
     0, 0, 0, 0, 0, 1;
 
-  auto world = LoadWorld(TEST_WORLD_DIR"/added_mass.sdf");
+  const auto worldPath =
+    gz::common::testing::SourceFile("dartsim", "worlds", "added_mass.sdf");
+  const auto world = LoadWorld(worldPath);
   ASSERT_NE(nullptr, world);
 
   auto dartWorld = world->GetDartsimWorld();

dartsim/src/SDFFeatures_TEST.cc

@@ -15,6 +15,7 @@
  *
 */
 
+#include <tuple>
 #include <type_traits>
 
 #include <dart/dynamics/BodyNode.hpp>
@@ -26,7 +27,7 @@
 
 #include <gtest/gtest.h>
 
-#include <tuple>
+#include <gz/common/testing/TestPaths.hh>
 
 #include <gz/plugin/Loader.hh>
 
@@ -313,7 +314,9 @@ INSTANTIATE_TEST_SUITE_P(LoadWorld, SDFFeatures_TEST,
 // Test that the dartsim plugin loaded all the relevant information correctly.
 TEST_P(SDFFeatures_TEST, CheckDartsimData)
 {
-  WorldPtr world = this->LoadWorld(TEST_WORLD_DIR"/test.world");
+  const auto worldPath =
+    gz::common::testing::SourceFile("dartsim", "worlds", "test.world");
+  WorldPtr world = this->LoadWorld(worldPath);
   ASSERT_NE(nullptr, world);
 
   dart::simulation::WorldPtr dartWorld = world->GetDartsimWorld();
@@ -421,7 +424,9 @@ TEST_P(SDFFeatures_TEST, CheckDartsimData)
 // Test that joint limits are working by running the simulation
 TEST_P(SDFFeatures_TEST, CheckJointLimitEnforcement)
 {
-  WorldPtr world = this->LoadWorld(TEST_WORLD_DIR"/test.world");
+  const auto worldPath =
+    gz::common::testing::SourceFile("dartsim", "worlds", "test.world");
+  WorldPtr world = this->LoadWorld(worldPath);
   ASSERT_NE(nullptr, world);
 
   dart::simulation::WorldPtr dartWorld = world->GetDartsimWorld();
@@ -580,8 +585,10 @@ TEST_P(SDFFeatures_TEST, WorldIsParentOrChild)
 //
 TEST_P(SDFFeatures_TEST, WorldWithNestedModel)
 {
-  WorldPtr world =
-      this->LoadWorld(TEST_WORLD_DIR "/world_with_nested_model.sdf");
+  const auto worldPath =
+    gz::common::testing::SourceFile(
+      "dartsim", "worlds", "world_with_nested_model.sdf");
+  WorldPtr world = this->LoadWorld(worldPath);
   ASSERT_NE(nullptr, world);
   EXPECT_EQ(2u, world->GetModelCount());
 
@@ -645,8 +652,10 @@ TEST_P(SDFFeatures_TEST, WorldWithNestedModel)
 /////////////////////////////////////////////////
 TEST_P(SDFFeatures_TEST, WorldWithNestedModelJointToWorld)
 {
-  WorldPtr world = this->LoadWorld(
-      TEST_WORLD_DIR "/world_with_nested_model_joint_to_world.sdf");
+  const auto worldPath =
+    gz::common::testing::SourceFile(
+      "dartsim", "worlds", "world_with_nested_model_joint_to_world.sdf");
+  WorldPtr world = this->LoadWorld(worldPath);
   ASSERT_NE(nullptr, world);
   EXPECT_EQ(1u, world->GetModelCount());
 
@@ -690,7 +699,10 @@ TEST_P(SDFFeatures_TEST, WorldWithNestedModelJointToWorld)
 // Test that joint type falls back to fixed if the type is not supported
 TEST_P(SDFFeatures_TEST, FallbackToFixedJoint)
 {
-  WorldPtr world = this->LoadWorld(TEST_WORLD_DIR"/test.world");
+  const auto worldPath =
+    gz::common::testing::SourceFile(
+      "dartsim", "worlds", "test.world");
+  WorldPtr world = this->LoadWorld(worldPath);
   ASSERT_NE(nullptr, world);
 
   dart::simulation::WorldPtr dartWorld = world->GetDartsimWorld();
@@ -716,8 +728,10 @@ TEST_P(SDFFeatures_TEST, FallbackToFixedJoint)
 // Check that joints between links in different models work as expected
 TEST_P(SDFFeatures_TEST, JointsAcrossNestedModels)
 {
-  WorldPtr world = this->LoadWorld(
-      TEST_WORLD_DIR "/joint_across_nested_models.sdf");
+  const auto worldPath =
+    gz::common::testing::SourceFile(
+      "dartsim", "worlds", "joint_across_nested_models.sdf");
+  WorldPtr world = this->LoadWorld(worldPath);
   ASSERT_NE(nullptr, world);
 
   dart::simulation::WorldPtr dartWorld = world->GetDartsimWorld();
@@ -775,7 +789,10 @@ INSTANTIATE_TEST_SUITE_P(LoadWorld, SDFFeatures_FrameSemantics,
 /////////////////////////////////////////////////
 TEST_P(SDFFeatures_FrameSemantics, LinkRelativeTo)
 {
-  WorldPtr world = this->LoadWorld(TEST_WORLD_DIR"/model_frames.sdf");
+  const auto worldPath =
+    gz::common::testing::SourceFile(
+      "dartsim", "worlds", "model_frames.sdf");
+  WorldPtr world = this->LoadWorld(worldPath);
   ASSERT_NE(nullptr, world);
   const std::string modelName = "link_relative_to";
 
@@ -807,7 +824,10 @@ TEST_P(SDFFeatures_FrameSemantics, LinkRelativeTo)
 /////////////////////////////////////////////////
 TEST_P(SDFFeatures_FrameSemantics, CollisionRelativeTo)
 {
-  WorldPtr world = this->LoadWorld(TEST_WORLD_DIR"/model_frames.sdf");
+  const auto worldPath =
+    gz::common::testing::SourceFile(
+      "dartsim", "worlds", "model_frames.sdf");
+  WorldPtr world = this->LoadWorld(worldPath);
   ASSERT_NE(nullptr, world);
   const std::string modelName = "collision_relative_to";
 
@@ -844,7 +864,10 @@ TEST_P(SDFFeatures_FrameSemantics, CollisionRelativeTo)
 /////////////////////////////////////////////////
 TEST_P(SDFFeatures_FrameSemantics, ExplicitFramesWithLinks)
 {
-  WorldPtr world = this->LoadWorld(TEST_WORLD_DIR"/model_frames.sdf");
+  const auto worldPath =
+    gz::common::testing::SourceFile(
+      "dartsim", "worlds", "model_frames.sdf");
+  WorldPtr world = this->LoadWorld(worldPath);
   ASSERT_NE(nullptr, world);
   const std::string modelName = "explicit_frames_with_links";
 
@@ -891,7 +914,10 @@ TEST_P(SDFFeatures_FrameSemantics, ExplicitFramesWithLinks)
 /////////////////////////////////////////////////
 TEST_P(SDFFeatures_FrameSemantics, ExplicitFramesWithCollision)
 {
-  WorldPtr world = this->LoadWorld(TEST_WORLD_DIR"/model_frames.sdf");
+  const auto worldPath =
+    gz::common::testing::SourceFile(
+      "dartsim", "worlds", "model_frames.sdf");
+  WorldPtr world = this->LoadWorld(worldPath);
   ASSERT_NE(nullptr, world);
   const std::string modelName = "explicit_frames_with_collisions";
 
@@ -928,7 +954,10 @@ TEST_P(SDFFeatures_FrameSemantics, ExplicitFramesWithCollision)
 /////////////////////////////////////////////////
 TEST_P(SDFFeatures_FrameSemantics, ExplicitWorldFrames)
 {
-  WorldPtr world = this->LoadWorld(TEST_WORLD_DIR"/world_frames.sdf");
+  const auto worldPath =
+    gz::common::testing::SourceFile(
+      "dartsim", "worlds", "world_frames.sdf");
+  WorldPtr world = this->LoadWorld(worldPath);
   ASSERT_NE(nullptr, world);
   const std::string modelName = "M";
 
@@ -938,7 +967,6 @@ TEST_P(SDFFeatures_FrameSemantics, ExplicitWorldFrames)
   const dart::dynamics::SkeletonPtr skeleton =
       dartWorld->getSkeleton(modelName);
 
-
   ASSERT_NE(nullptr, skeleton);
   ASSERT_EQ(1u, skeleton->getNumBodyNodes());
 
@@ -965,7 +993,10 @@ TEST_P(SDFFeatures_FrameSemantics, ExplicitWorldFrames)
 /////////////////////////////////////////////////
 TEST_P(SDFFeatures_TEST, Shapes)
 {
-  auto world = this->LoadWorld(TEST_WORLD_DIR"/shapes.sdf");
+  const auto worldPath =
+    gz::common::testing::SourceFile(
+      "dartsim", "worlds", "shapes.sdf");
+  WorldPtr world = this->LoadWorld(worldPath);
   ASSERT_NE(nullptr, world);
 
   auto dartWorld = world->GetDartsimWorld();

dartsim/src/WorldFeatures_TEST.cc

@@ -18,6 +18,8 @@
 #include <gtest/gtest.h>
 
 #include <gz/common/Console.hh>
+#include <gz/common/testing/TestPaths.hh>
+
 #include <gz/physics/FindFeatures.hh>
 #include <gz/plugin/Loader.hh>
 #include <gz/physics/RequestEngine.hh>
@@ -82,8 +84,9 @@ TestWorldPtr LoadWorld(
 //////////////////////////////////////////////////
 TEST_F(WorldFeaturesFixture, CollisionDetector)
 {
-  auto world = LoadWorld(this->engine,
-    gz::common::joinPaths(TEST_WORLD_DIR, "empty.sdf"));
+  const auto worldPath =
+    gz::common::testing::SourceFile("dartsim", "worlds", "empty.sdf");
+  const auto world = LoadWorld(this->engine, worldPath);
   EXPECT_EQ("ode", world->GetCollisionDetector());
 
   world->SetCollisionDetector("banana");
@@ -105,8 +108,9 @@ TEST_F(WorldFeaturesFixture, CollisionDetector)
 //////////////////////////////////////////////////
 TEST_F(WorldFeaturesFixture, Solver)
 {
-  auto world = LoadWorld(this->engine,
-    gz::common::joinPaths(TEST_WORLD_DIR, "empty.sdf"));
+  const auto worldPath =
+    gz::common::testing::SourceFile("dartsim", "worlds", "empty.sdf");
+  const auto world = LoadWorld(this->engine, worldPath);
 
   EXPECT_EQ("DantzigBoxedLcpSolver", world->GetSolver());
 

src/CMakeLists.txt

@@ -26,7 +26,7 @@ gz_build_tests(
   TYPE UNIT
   SOURCES ${gtest_sources}
   INCLUDE_DIRS
-    ${PROJECT_SOURCE_DIR}/test)
+    ${PROJECT_SOURCE_DIR}/test
   ENVIRONMENT
     GZ_PHYSICS_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX})
 

test/common_test/CMakeLists.txt

@@ -67,8 +67,8 @@ foreach(test ${tests})
     ${PROJECT_SOURCE_DIR}/test)
 
   target_compile_definitions(${test_executable} PRIVATE
-    "TEST_WORLD_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/worlds/\""
     "GZ_PHYSICS_RESOURCE_DIR=\"${GZ_PHYSICS_RESOURCE_DIR}\""
+    "TESTING_PROJECT_SOURCE_DIR=\"${PROJECT_SOURCE_DIR}\""
   )
 
   install(TARGETS ${test_executable} DESTINATION ${TEST_INSTALL_DIR})

test/common_test/added_mass.cc

@@ -17,6 +17,8 @@
 #include <gtest/gtest.h>
 
 #include <gz/common/Console.hh>
+#include <gz/common/testing/TestPaths.hh>
+
 #include <gz/plugin/Loader.hh>
 
 #include "TestLibLoader.hh"
@@ -85,9 +87,10 @@ 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(
-      gz::common::joinPaths(TEST_WORLD_DIR, "falling_added_mass.world"));
+    const sdf::Errors errors = root.Load(worldPath);
     EXPECT_TRUE(errors.empty()) << errors;
     const sdf::World *sdfWorld = root.WorldByIndex(0);
     EXPECT_NE(nullptr, sdfWorld);

test/common_test/detachable_joint.cc

@@ -19,6 +19,7 @@
 #include <chrono>
 
 #include <gz/common/Console.hh>
+#include <gz/common/testing/TestPaths.hh>
 #include <gz/plugin/Loader.hh>
 
 #include <gz/math/Helpers.hh>
@@ -109,9 +110,10 @@ 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(
-      gz::common::joinPaths(TEST_WORLD_DIR, "detachable_joint.world"));
+    const sdf::Errors errors = root.Load(worldPath);
     ASSERT_TRUE(errors.empty()) << errors.front();
 
     auto world = engine->ConstructWorld(*root.WorldByIndex(0));

test/common_test/joint_transmitted_wrench_features.cc

@@ -20,6 +20,7 @@
 #include <LinearMath/btScalar.h>
 
 #include <gz/common/Console.hh>
+#include <gz/common/testing/TestPaths.hh>
 #include <gz/plugin/Loader.hh>
 
 #include <gz/math/Helpers.hh>
@@ -102,8 +103,11 @@ class JointTransmittedWrenchFixture :
       auto engine = gz::physics::RequestEngine3d<T>::From(plugin);
       ASSERT_NE(nullptr, engine);
 
+      const auto worldPath =
+        gz::common::testing::TestFile(
+            "common_test", "worlds", "pendulum_joint_wrench.sdf");
       sdf::Root root;
-      const sdf::Errors errors = root.Load(gz::common::joinPaths(TEST_WORLD_DIR, "pendulum_joint_wrench.sdf"));
+      const sdf::Errors errors = root.Load(worldPath);
       ASSERT_TRUE(errors.empty()) << errors.front();
 
       this->world = engine->ConstructWorld(*root.WorldByIndex(0));

test/integration/CMakeLists.txt

@@ -14,6 +14,7 @@ gz_build_tests(
     gz-plugin${GZ_PLUGIN_VER}::loader
   INCLUDE_DIRS
     ${PROJECT_SOURCE_DIR}/src
+    ${PROJECT_SOURCE_DIR}/test
   TEST_LIST list
   ENVIRONMENT
     GZ_PHYSICS_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX})

test/performance/CMakeLists.txt

@@ -12,6 +12,7 @@ gz_build_tests(
   SOURCES ${tests}
   INCLUDE_DIRS
     ${PROJECT_SOURCE_DIR}/src
+    ${PROJECT_SOURCE_DIR}/test
   ENVIRONMENT
     GZ_PHYSICS_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
 )

tpe/plugin/CMakeLists.txt

@@ -57,6 +57,7 @@ gz_build_tests(
     ${features}
     gz-plugin${GZ_PLUGIN_VER}::loader
     gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
+    gz-common${GZ_COMMON_VER}::testing
     ${PROJECT_LIBRARY_TARGET_NAME}-sdf
     ${PROJECT_LIBRARY_TARGET_NAME}-mesh
   TEST_LIST tests
@@ -68,7 +69,6 @@ foreach(test ${tests})
   target_include_directories(${test} PRIVATE ${tpelib_dir})
   target_compile_definitions(${test} PRIVATE
     "tpe_plugin_LIB=\"$<TARGET_FILE:${tpe_plugin}>\""
-    "TEST_WORLD_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/worlds/\""
     "GZ_PHYSICS_RESOURCE_DIR=\"${GZ_PHYSICS_RESOURCE_DIR}\"")
 
 endforeach()

tpe/plugin/src/SDFFeatures_TEST.cc

@@ -19,6 +19,8 @@
 
 #include <tuple>
 
+#include <gz/common/testing/TestPaths.hh>
+
 #include <sdf/Root.hh>
 #include <sdf/World.hh>
 
@@ -90,7 +92,9 @@ World LoadWorld(const std::string &_world)
 // Test that the tpe plugin loaded all the relevant information correctly.
 TEST(SDFFeatures_TEST, CheckTpeData)
 {
-  World world = LoadWorld(TEST_WORLD_DIR"/test.world");
+  const auto worldPath =
+    gz::common::testing::SourceFile("tpe", "plugin", "worlds", "test.world");
+  auto world = LoadWorld(worldPath);
   auto tpeWorld = world.GetTpeLibWorld();
   ASSERT_NE(nullptr, tpeWorld);
 
@@ -363,7 +367,9 @@ TEST(SDFFeatures_TEST, CheckTpeData)
 // Test that the tpe plugin loaded nested models correctly.
 TEST(SDFFeatures_TEST, NestedModel)
 {
-  World world = LoadWorld(TEST_WORLD_DIR"/nested_model.world");
+  const auto worldPath =
+    gz::common::testing::SourceFile("tpe", "plugin", "worlds", "nested_model.world");
+  auto world = LoadWorld(worldPath);
   auto tpeWorld = world.GetTpeLibWorld();
   ASSERT_NE(nullptr, tpeWorld);