Merge pull request #296 from olitheolix/unit-test-example

Proof-of-Concept for Test Automation

.github/workflows/build.yml

@@ -32,6 +32,11 @@ jobs:
         cmake --build build -j2
         cmake --install build --strip
 
+    - name: Run Tests
+      shell: bash
+      run: |
+        newton-4.00/build/tests/newton_tests
+
     - name: Build And Run Hello World Apps
       shell: bash
       run: |

newton-4.00/CMakeLists.txt

@@ -199,3 +199,4 @@ endif()
 add_subdirectory(sdk)
 add_subdirectory(thirdParty)
 add_subdirectory(applications)
+add_subdirectory(tests)

newton-4.00/tests/CMakeLists.txt

@@ -0,0 +1,55 @@
+cmake_minimum_required(VERSION 3.18)
+project(newton_tests)
+
+# ----------------------------------------------------------------------
+# Newton Settings.
+# ----------------------------------------------------------------------
+
+include_directories(../sdk/dCore)
+include_directories(../sdk/dNewton)
+include_directories(../sdk/dTinyxml)
+include_directories(../sdk/dCollision)
+include_directories(../sdk/dNewton/dJoints)
+include_directories(../sdk/dNewton/dModels)
+include_directories(../sdk/dNewton/dIkSolver)
+include_directories(../sdk/dNewton/dParticles)
+include_directories(../sdk/dNewton/dModels/dVehicle)
+include_directories(../sdk/dNewton/dModels/dCharacter)
+
+# ----------------------------------------------------------------------
+# Google Test Settings.
+# Adopted from https://google.github.io/googletest/quickstart-cmake.html
+# ----------------------------------------------------------------------
+
+# GoogleTest requires at least C++14
+set(CMAKE_CXX_STANDARD 14)
+
+include(FetchContent)
+FetchContent_Declare(
+  googletest
+  GIT_REPOSITORY https://github.com/google/googletest.git
+  GIT_TAG release-1.12.1
+)
+
+# For Windows: Prevent overriding the parent project's compiler/linker settings
+set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
+FetchContent_MakeAvailable(googletest)
+
+enable_testing()
+include(GoogleTest)
+
+# ----------------------------------------------------------------------
+# Compile the test cases into a single binary.
+# ----------------------------------------------------------------------
+add_executable(
+  ${PROJECT_NAME}
+  world_test.cpp
+  rigidBody_test.cpp
+)
+target_link_libraries(
+  ${PROJECT_NAME}
+  GTest::gtest_main
+)
+target_link_libraries (${PROJECT_NAME} ndNewton ndSolverAvx2 pthread)
+target_compile_options(${PROJECT_NAME} PRIVATE -Wall)
+gtest_discover_tests(${PROJECT_NAME})

newton-4.00/tests/rigidBody_test.cpp

@@ -0,0 +1,95 @@
+/* Copyright (c) <2003-2019> <Newton Game Dynamics>
+*
+* This software is provided 'as-is', without any express or implied
+* warranty. In no event will the authors be held liable for any damages
+* arising from the use of this software.
+*
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely
+*/
+
+#include <cstdio>
+#include "ndNewton.h"
+#include <gtest/gtest.h>
+
+/* Return pointer to dynamic unit sphere. */
+ndBodyDynamic *BuildSphere(const ndVector pos, const ndVector gravity={0.f}) {
+  // Create the rigid body and configure gravity for it.
+  ndBodyDynamic *const body = new ndBodyDynamic();
+  body->SetNotifyCallback(new ndBodyNotify(gravity));
+
+  // Set the position of the sphere in the world.
+  ndMatrix matrix(ndGetIdentityMatrix());
+  matrix.m_posit = pos;
+  body->SetMatrix(matrix);
+
+  // Attach the collision shape and use a convenience function to automatically
+  // compute the inertia matrix for the body.
+  ndShapeInstance sphere(new ndShapeSphere(1.0f));
+  body->SetCollisionShape(sphere);
+  body->SetMassMatrix(1.0f, sphere);
+
+  // Disable damping for the tests to better compare the Newton
+  // results with the analytical ones.
+  body->SetAngularDamping(ndVector(0.f));
+  body->SetLinearDamping(0.f);
+
+  return body;
+}
+
+
+/* Rigid body must not move in the absence of forces. */
+TEST(RigidBody, NoMoveWithoutForce) {
+  ndWorld world;
+  world.SetSubSteps(2);
+
+  // Create a sphere at the origin. No gravity will act on it by default.
+  ndVector spherePos = ndVector(0.f);
+  ndBodyDynamic *sphere = BuildSphere(spherePos);
+  world.AddBody(sphere);
+
+  // Sanity check: sphere must be at the origin.
+  ndVector errVec = sphere->GetMatrix().m_posit - spherePos;
+  ndFloat32 err = errVec.DotProduct(errVec).GetScalar();
+  EXPECT_NEAR(err, 0, 1E-6);
+
+  // Simulate one second.
+  for (int i = 0; i < 60; i++) {
+    world.Update(1.0f / 60.0f);
+    world.Sync();
+  }
+
+  // Since no forces acted on the sphere it must not have moved.
+  EXPECT_NEAR(err, 0, 1E-6);
+}
+
+
+/* Apply a force of 1N for 1 second to a body with 1kg of mass
+   and verify that it moved 0.5 meters. */
+TEST(RigidBody, MoveWithUnitForce) {
+  ndWorld world;
+  world.SetSubSteps(2);
+
+  // Create a sphere at the origin and apply a gravity force of 1N.
+  ndVector spherePos = ndVector(0.f, 0.f, 0.f, 1.f);
+  ndVector gravity = ndVector(1.f, 0.f, 0.f, 1.f);
+  ndBodyDynamic *sphere = BuildSphere(spherePos, gravity);
+  world.AddBody(sphere);
+
+  // Sanity check: the distance to the origin must be zero.
+  ndVector errVec = sphere->GetMatrix().m_posit - spherePos;
+  ndFloat32 err = errVec.DotProduct(errVec).GetScalar();
+  EXPECT_NEAR(err, 0, 1E-6);
+
+  // Simulate one second.
+  for (int i = 0; i < 60; i++) {
+    world.Update(1.0f / 60.0f);
+    world.Sync();
+  }
+
+  // Verify that the sphere moved 0.5 meters in the X-direction.
+  errVec = sphere->GetMatrix().m_posit - ndVector(0.5f, 0.f, 0.f, 1.f);
+  err = errVec.DotProduct(errVec).GetScalar();
+  EXPECT_NEAR(err, 0, 1E-4);
+}

newton-4.00/tests/world_test.cpp

@@ -0,0 +1,21 @@
+/* Copyright (c) <2003-2019> <Newton Game Dynamics>
+ *
+ * This software is provided 'as-is', without any express or implied
+ * warranty. In no event will the authors be held liable for any damages
+ * arising from the use of this software.
+ *
+ * Permission is granted to anyone to use this software for any purpose,
+ * including commercial applications, and to alter it and redistribute it
+ * freely
+ */
+
+#include "ndNewton.h"
+#include <gtest/gtest.h>
+
+/* Baseline test: create and destroy an empty Newton world. */
+TEST(HelloNewton, CreateWorld) {
+  ndWorld world;
+  world.SetSubSteps(2);
+  world.Update(1.0f / 60.0f);
+  world.Sync();
+}