update bullet ver target def

Signed-off-by: Ian Chen <[email protected]>
gazebosim · Dec 4, 2023 · b963af1 · b963af1
1 parent a283778
commit b963af1
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Showing 3 changed files with 19 additions and 7 deletions.
diff --git a/test/common_test/CMakeLists.txt b/test/common_test/CMakeLists.txt
@@ -49,9 +49,6 @@ set(GZ_PHYSICS_RESOURCE_DIR "${CMAKE_SOURCE_DIR}/resources")
 # Get bullet version using pkg_check_modules as it is not available
 # through the cmake module
 gz_pkg_check_modules_quiet(bullet_version_check "bullet")
-if (bullet_version_check_FOUND)
-  string(REPLACE "." ""  GzBullet_VERSION ${bullet_version_check_VERSION})
-endif()
 
 foreach(test ${tests})
   set(test_executable "${TEST_TYPE}_${test}")
@@ -71,9 +68,20 @@ foreach(test ${tests})
   target_compile_definitions(${test_executable} PRIVATE
     "TEST_WORLD_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/worlds/\""
     "GZ_PHYSICS_RESOURCE_DIR=\"${GZ_PHYSICS_RESOURCE_DIR}\""
-    "BT_BULLET_VERSION=${GzBullet_VERSION}"
   )
 
+  if (bullet_version_check_VERSION VERSION_GREATER_EQUAL 2.89)
+    target_compile_definitions(${test_executable} PRIVATE
+      "BT_BULLET_VERSION_GE_289"
+    )
+  endif()
+  if (bullet_version_check_VERSION VERSION_LESS_EQUAL 3.25)
+    target_compile_definitions(${test_executable} PRIVATE
+      "BT_BULLET_VERSION_LE_325"
+    )
+  endif()
+
+
   install(TARGETS ${test_executable} DESTINATION ${TEST_INSTALL_DIR})
 
   configure_common_test("bullet" ${test_executable})

diff --git a/test/common_test/joint_transmitted_wrench_features.cc b/test/common_test/joint_transmitted_wrench_features.cc
@@ -224,7 +224,7 @@ TYPED_TEST(JointTransmittedWrenchFixture, PendulumAtZeroAngle)
 TYPED_TEST(JointTransmittedWrenchFixture, PendulumInMotion)
 {
   // This test requires https://github.com/bulletphysics/bullet3/pull/4462
-#if BT_BULLET_VERSION <= 325
+#ifdef BT_BULLET_VERSION_LE_325
   if (this->engineName == "bullet-featherstone")
     GTEST_SKIP();
 #endif
@@ -415,7 +415,7 @@ TYPED_TEST(JointTransmittedWrenchFixture, JointLosses)
 TYPED_TEST(JointTransmittedWrenchFixture, ContactForces)
 {
   // This test requires https://github.com/bulletphysics/bullet3/pull/4462
-#if BT_BULLET_VERSION <= 325
+#if BT_BULLET_VERSION_LE_325
   if (this->engineName == "bullet-featherstone")
     GTEST_SKIP();
 #endif

diff --git a/test/common_test/world_features.cc b/test/common_test/world_features.cc
@@ -419,11 +419,15 @@ TEST_F(WorldNestedModelTest, WorldConstructNestedModel)
     EXPECT_FALSE(worldModel->ConstructJoint(joint));
     joint.SetChildName("parent_model::link1");
     if (PhysicsEngineName(name) != "bullet-featherstone")
+    {
       EXPECT_TRUE(worldModel->ConstructJoint(joint));
+    }
     else
-#if BT_BULLET_VERSION >= 289
+    {
+#ifdef BT_BULLET_VERSION_GE_289
       EXPECT_TRUE(worldModel->ConstructJoint(joint));
 #endif
+    }
 
     gz::physics::ForwardStep::Input input;
     gz::physics::ForwardStep::State state;