[build] Enable tests with MSVC

Author: jslee02

.github/workflows/ci_windows.yml

@@ -37,7 +37,8 @@ jobs:
 
       - uses: johnwason/vcpkg-action@v6
         with:
-          pkgs: assimp ccd eigen3 fcl fmt spdlog bullet3 coin-or-ipopt freeglut glfw3 nlopt ode opengl osg pagmo2 tinyxml2 urdfdom
+          # TODO: Add ode and coin-or-ipopt
+          pkgs: assimp ccd eigen3 fcl fmt spdlog bullet3 freeglut glfw3 nlopt opengl osg pagmo2 tinyxml2 urdfdom
           triplet: x64-windows
           revision: "2024.02.14"
           github-binarycache: true

dart/collision/bullet/BulletCollisionDetector.hpp

@@ -127,7 +127,7 @@ class BulletCollisionDetector : public CollisionDetector
   std::unique_ptr<BulletCollisionShape> createBulletCollisionShape(
       const dynamics::ConstShapePtr& shape);
 
-  /// This deleter is responsible for deleting BulletCollsionShape objects and
+  /// This deleter is responsible for deleting BulletCollisionShape objects and
   /// removing them from mShapeMap when they are not shared by any
   /// CollisionObjects.
   class BulletCollisionShapeDeleter final

tests/CMakeLists.txt

@@ -92,11 +92,8 @@ include_directories(${CMAKE_CURRENT_SOURCE_DIR})
 #   fixed even after further changes are made
 # - "unit": low level tests for one or few classes and functions to verify that
 #   they performs correctly as expected
-if(NOT MSVC)
-  # Disabled due to limitied disk space in CI image
-  add_subdirectory(integration)
-  add_subdirectory(regression)
-endif()
+add_subdirectory(integration)
+add_subdirectory(regression)
 add_subdirectory(unit)
 
 # Print tests

tests/integration/test_Collision.cpp

@@ -424,32 +424,30 @@ void testSphereSphere(
 
   collision::CollisionResult result;
 
-  simpleFrame1->setTranslation(Eigen::Vector3d::Zero());
-  simpleFrame2->setTranslation(Eigen::Vector3d(2.0, 0.0, 0.0));
-
   //----------------------------------------------------------------------------
   // Test 1: No contact
   //----------------------------------------------------------------------------
 
+  simpleFrame1->setTranslation(Eigen::Vector3d::Zero());
+  simpleFrame2->setTranslation(Eigen::Vector3d(2.0, 0.0, 0.0));
   result.clear();
   EXPECT_FALSE(group->collide(option, &result));
   EXPECT_TRUE(result.getNumContacts() == 0u);
 
-  simpleFrame1->setTranslation(Eigen::Vector3d::Zero());
-  simpleFrame2->setTranslation(Eigen::Vector3d(1.5, 0.0, 0.0));
-
   //----------------------------------------------------------------------------
   // Test 2: Point contact
   //----------------------------------------------------------------------------
 
+  simpleFrame1->setTranslation(Eigen::Vector3d::Zero());
+  simpleFrame2->setTranslation(Eigen::Vector3d(1.5 - tol, 0.0, 0.0));
   result.clear();
   EXPECT_TRUE(group->collide(option, &result));
   EXPECT_TRUE(result.getNumContacts() == 1u);
 
   const auto& contact = result.getContact(0);
 
   // Test contact location
-  EXPECT_TRUE(contact.point.isApprox(Eigen::Vector3d::UnitX(), tol));
+  EXPECT_TRUE(contact.point.isApprox(Eigen::Vector3d::UnitX(), 2.0 * tol));
 
   // Test normal
   Eigen::Vector3d expectedNormal;
@@ -479,10 +477,10 @@ void testSphereSphere(
   if (cd->getType() == FCLCollisionDetector::getStaticType()) {
     EXPECT_FALSE(group->collide(option, &result));
     // FCL is not able to detect collisions when an object completely (strictly)
-    // contanins the other object (no collisions between the hulls)
+    // contains the other object (no collisions between the hulls)
   } else {
     EXPECT_TRUE(group->collide(option, &result));
-    // TODO(JS): BulletCollsionDetector includes a bug related to this.
+    // TODO(JS): BulletCollisionDetector includes a bug related to this.
     // (see #876)
 #if HAVE_BULLET
     if (cd->getType() != BulletCollisionDetector::getStaticType())
@@ -502,10 +500,13 @@ void testSphereSphere(
 //==============================================================================
 TEST_F(Collision, SphereSphere)
 {
-  auto fcl_mesh_dart = FCLCollisionDetector::create();
-  fcl_mesh_dart->setPrimitiveShapeType(FCLCollisionDetector::MESH);
-  fcl_mesh_dart->setContactPointComputationMethod(FCLCollisionDetector::DART);
-  testSphereSphere(fcl_mesh_dart);
+  {
+    SCOPED_TRACE("FCLCollisionDetector");
+    auto fcl_mesh_dart = FCLCollisionDetector::create();
+    fcl_mesh_dart->setPrimitiveShapeType(FCLCollisionDetector::MESH);
+    fcl_mesh_dart->setContactPointComputationMethod(FCLCollisionDetector::DART);
+    testSphereSphere(fcl_mesh_dart);
+  }
 
   // auto fcl_prim_fcl = FCLCollisionDetector::create();
   // fcl_prim_fcl->setPrimitiveShapeType(FCLCollisionDetector::MESH);
@@ -523,17 +524,26 @@ TEST_F(Collision, SphereSphere)
   // testSphereSphere(fcl_mesh_fcl);
 
 #if HAVE_ODE
-  auto ode = OdeCollisionDetector::create();
-  testSphereSphere(ode);
+  {
+    SCOPED_TRACE("OdeCollisionDetector");
+    auto ode = OdeCollisionDetector::create();
+    testSphereSphere(ode);
+  }
 #endif
 
 #if HAVE_BULLET
-  auto bullet = BulletCollisionDetector::create();
-  testSphereSphere(bullet);
+  {
+    SCOPED_TRACE("BulletCollisionDetector");
+    auto bullet = BulletCollisionDetector::create();
+    testSphereSphere(bullet);
+  }
 #endif
 
-  auto dart = DARTCollisionDetector::create();
-  testSphereSphere(dart);
+  {
+    SCOPED_TRACE("BulletCollisionDetector");
+    auto dart = DARTCollisionDetector::create();
+    testSphereSphere(dart);
+  }
 }
 
 //==============================================================================