Move resources and add constants

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

CMakeLists.txt

@@ -92,8 +92,6 @@ gz_find_package(GzBullet
 
 message(STATUS "-------------------------------------------\n")
 
-set(GZ_PHYSICS_RESOURCE_DIR "${CMAKE_SOURCE_DIR}/resources")
-
 # Plugin install dirs
 set(GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR
   ${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/engine-plugins

dartsim/CMakeLists.txt

@@ -91,12 +91,14 @@ gz_build_tests(
     ${PROJECT_LIBRARY_TARGET_NAME}-mesh
   TEST_LIST tests
   ENVIRONMENT
-    GZ_PHYSICS_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX})
+    GZ_PHYSICS_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+  INCLUDE_DIRS
+    ${CMAKE_CURRENT_SOURCE_DIR}/src
+)
 
 foreach(test ${tests})
   target_compile_definitions(${test} PRIVATE
-    "dartsim_plugin_LIB=\"$<TARGET_FILE:${dartsim_plugin}>\""
-    "GZ_PHYSICS_RESOURCE_DIR=\"${GZ_PHYSICS_RESOURCE_DIR}\"")
+    "dartsim_plugin_LIB=\"$<TARGET_FILE:${dartsim_plugin}>\"")
 
   if (DART_HAS_CONTACT_SURFACE_HEADER)
     target_compile_definitions(${test} PRIVATE DART_HAS_CONTACT_SURFACE)

dartsim/src/AddedMassFeatures_TEST.cc

@@ -19,7 +19,6 @@
 #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>
@@ -41,6 +40,7 @@
 #include <sdf/World.hh>
 
 #include <test/Utils.hh>
+#include "Worlds.hh"
 
 struct TestFeatureList : gz::physics::FeatureList<
     gz::physics::GetEntities,
@@ -123,9 +123,7 @@ TEST(AddedMassFeatures, AddedMass)
     0, 0, 0, 0, 1, 0,
     0, 0, 0, 0, 0, 1;
 
-  const auto worldPath =
-    gz::common::testing::SourceFile("dartsim", "worlds", "added_mass.sdf");
-  const auto world = LoadWorld(worldPath);
+  const auto world = LoadWorld(dartsim::worlds::kAddedMassSdf);
   ASSERT_NE(nullptr, world);
 
   auto dartWorld = world->GetDartsimWorld();

dartsim/src/Base_TEST.cc

@@ -38,8 +38,9 @@
 #include "EntityManagementFeatures.hh"
 #include "SDFFeatures.hh"
 
-using namespace gz::physics;
+#include "test/Resources.hh"
 
+using namespace gz::physics;
 
 
 TEST(BaseClass, RemoveModel)
@@ -166,7 +167,7 @@ TEST(BaseClass, SdfConstructionBookkeeping)
 
   ::sdf::Root root;
 
-  auto errors = root.Load(GZ_PHYSICS_RESOURCE_DIR "/rrbot.xml");
+  auto errors = root.Load(gz::physics::test::resources::kRrbotXml);
   ASSERT_TRUE(errors.empty());
   const ::sdf::Model *sdfModel = root.Model();
   ASSERT_NE(nullptr, sdfModel);

dartsim/src/EntityManagement_TEST.cc

@@ -35,6 +35,8 @@
 #include "KinematicsFeatures.hh"
 #include "ShapeFeatures.hh"
 
+#include "test/Resources.hh"
+
 using namespace gz;
 
 struct TestFeatureList : physics::FeatureList<
@@ -172,8 +174,7 @@ TEST(EntityManagement_TEST, ConstructEmptyWorld)
   auto meshLink = model->ConstructEmptyLink("mesh_link");
   meshLink->AttachFixedJoint(child, "fixed");
 
-  const std::string meshFilename = common::joinPaths(
-      GZ_PHYSICS_RESOURCE_DIR, "chassis.dae");
+  const std::string meshFilename = gz::physics::test::resources::kChassisDae;
   auto &meshManager = *common::MeshManager::Instance();
   auto *mesh = meshManager.Load(meshFilename);
 
@@ -212,8 +213,7 @@ TEST(EntityManagement_TEST, ConstructEmptyWorld)
   auto heightmapLink = model->ConstructEmptyLink("heightmap_link");
   heightmapLink->AttachFixedJoint(child, "heightmap_joint");
 
-  auto heightmapFilename = common::joinPaths(
-      GZ_PHYSICS_RESOURCE_DIR, "heightmap_bowl.png");
+  auto heightmapFilename = gz::physics::test::resources::kHeightmapBowlPng;
   common::ImageHeightmap data;
   EXPECT_EQ(0, data.Load(heightmapFilename));
 
@@ -239,8 +239,7 @@ TEST(EntityManagement_TEST, ConstructEmptyWorld)
   auto demLink = model->ConstructEmptyLink("dem_link");
   demLink->AttachFixedJoint(child, "dem_joint");
 
-  auto demFilename = common::joinPaths(
-      GZ_PHYSICS_RESOURCE_DIR, "volcano.tif");
+  auto demFilename = gz::physics::test::resources::kVolcanoTif;
   common::Dem dem;
   EXPECT_EQ(0, dem.Load(demFilename));
 

dartsim/src/SDFFeatures_TEST.cc

@@ -54,6 +54,7 @@
 #include <sdf/World.hh>
 
 #include <test/Utils.hh>
+#include "dartsim/src/Worlds.hh"
 
 using namespace gz;
 
@@ -314,9 +315,7 @@ INSTANTIATE_TEST_SUITE_P(LoadWorld, SDFFeatures_TEST,
 // Test that the dartsim plugin loaded all the relevant information correctly.
 TEST_P(SDFFeatures_TEST, CheckDartsimData)
 {
-  const auto worldPath =
-    gz::common::testing::SourceFile("dartsim", "worlds", "test.world");
-  WorldPtr world = this->LoadWorld(worldPath);
+  WorldPtr world = this->LoadWorld(dartsim::worlds::kTestWorld);
   ASSERT_NE(nullptr, world);
 
   dart::simulation::WorldPtr dartWorld = world->GetDartsimWorld();
@@ -424,9 +423,7 @@ TEST_P(SDFFeatures_TEST, CheckDartsimData)
 // Test that joint limits are working by running the simulation
 TEST_P(SDFFeatures_TEST, CheckJointLimitEnforcement)
 {
-  const auto worldPath =
-    gz::common::testing::SourceFile("dartsim", "worlds", "test.world");
-  WorldPtr world = this->LoadWorld(worldPath);
+  WorldPtr world = this->LoadWorld(dartsim::worlds::kTestWorld);
   ASSERT_NE(nullptr, world);
 
   dart::simulation::WorldPtr dartWorld = world->GetDartsimWorld();
@@ -585,10 +582,7 @@ TEST_P(SDFFeatures_TEST, WorldIsParentOrChild)
 //
 TEST_P(SDFFeatures_TEST, WorldWithNestedModel)
 {
-  const auto worldPath =
-    gz::common::testing::SourceFile(
-      "dartsim", "worlds", "world_with_nested_model.sdf");
-  WorldPtr world = this->LoadWorld(worldPath);
+  WorldPtr world = this->LoadWorld(dartsim::worlds::kWorldWithNestedModelSdf);
   ASSERT_NE(nullptr, world);
   EXPECT_EQ(2u, world->GetModelCount());
 
@@ -652,10 +646,8 @@ TEST_P(SDFFeatures_TEST, WorldWithNestedModel)
 /////////////////////////////////////////////////
 TEST_P(SDFFeatures_TEST, WorldWithNestedModelJointToWorld)
 {
-  const auto worldPath =
-    gz::common::testing::SourceFile(
-      "dartsim", "worlds", "world_with_nested_model_joint_to_world.sdf");
-  WorldPtr world = this->LoadWorld(worldPath);
+  WorldPtr world = this->LoadWorld(
+    dartsim::worlds::kWorldWithNestedModelJointToWorldSdf);
   ASSERT_NE(nullptr, world);
   EXPECT_EQ(1u, world->GetModelCount());
 
@@ -699,10 +691,7 @@ TEST_P(SDFFeatures_TEST, WorldWithNestedModelJointToWorld)
 // Test that joint type falls back to fixed if the type is not supported
 TEST_P(SDFFeatures_TEST, FallbackToFixedJoint)
 {
-  const auto worldPath =
-    gz::common::testing::SourceFile(
-      "dartsim", "worlds", "test.world");
-  WorldPtr world = this->LoadWorld(worldPath);
+  WorldPtr world = this->LoadWorld(dartsim::worlds::kTestWorld);
   ASSERT_NE(nullptr, world);
 
   dart::simulation::WorldPtr dartWorld = world->GetDartsimWorld();
@@ -728,10 +717,8 @@ TEST_P(SDFFeatures_TEST, FallbackToFixedJoint)
 // Check that joints between links in different models work as expected
 TEST_P(SDFFeatures_TEST, JointsAcrossNestedModels)
 {
-  const auto worldPath =
-    gz::common::testing::SourceFile(
-      "dartsim", "worlds", "joint_across_nested_models.sdf");
-  WorldPtr world = this->LoadWorld(worldPath);
+  WorldPtr world = this->LoadWorld(
+    dartsim::worlds::kJointAcrossNestedModelsSdf);
   ASSERT_NE(nullptr, world);
 
   dart::simulation::WorldPtr dartWorld = world->GetDartsimWorld();
@@ -789,10 +776,7 @@ INSTANTIATE_TEST_SUITE_P(LoadWorld, SDFFeatures_FrameSemantics,
 /////////////////////////////////////////////////
 TEST_P(SDFFeatures_FrameSemantics, LinkRelativeTo)
 {
-  const auto worldPath =
-    gz::common::testing::SourceFile(
-      "dartsim", "worlds", "model_frames.sdf");
-  WorldPtr world = this->LoadWorld(worldPath);
+  WorldPtr world = this->LoadWorld(dartsim::worlds::kModelFramesSdf);
   ASSERT_NE(nullptr, world);
   const std::string modelName = "link_relative_to";
 
@@ -824,10 +808,7 @@ TEST_P(SDFFeatures_FrameSemantics, LinkRelativeTo)
 /////////////////////////////////////////////////
 TEST_P(SDFFeatures_FrameSemantics, CollisionRelativeTo)
 {
-  const auto worldPath =
-    gz::common::testing::SourceFile(
-      "dartsim", "worlds", "model_frames.sdf");
-  WorldPtr world = this->LoadWorld(worldPath);
+  WorldPtr world = this->LoadWorld(dartsim::worlds::kModelFramesSdf);
   ASSERT_NE(nullptr, world);
   const std::string modelName = "collision_relative_to";
 
@@ -864,10 +845,7 @@ TEST_P(SDFFeatures_FrameSemantics, CollisionRelativeTo)
 /////////////////////////////////////////////////
 TEST_P(SDFFeatures_FrameSemantics, ExplicitFramesWithLinks)
 {
-  const auto worldPath =
-    gz::common::testing::SourceFile(
-      "dartsim", "worlds", "model_frames.sdf");
-  WorldPtr world = this->LoadWorld(worldPath);
+  WorldPtr world = this->LoadWorld(dartsim::worlds::kModelFramesSdf);
   ASSERT_NE(nullptr, world);
   const std::string modelName = "explicit_frames_with_links";
 
@@ -914,10 +892,7 @@ TEST_P(SDFFeatures_FrameSemantics, ExplicitFramesWithLinks)
 /////////////////////////////////////////////////
 TEST_P(SDFFeatures_FrameSemantics, ExplicitFramesWithCollision)
 {
-  const auto worldPath =
-    gz::common::testing::SourceFile(
-      "dartsim", "worlds", "model_frames.sdf");
-  WorldPtr world = this->LoadWorld(worldPath);
+  WorldPtr world = this->LoadWorld(dartsim::worlds::kModelFramesSdf);
   ASSERT_NE(nullptr, world);
   const std::string modelName = "explicit_frames_with_collisions";
 
@@ -954,10 +929,7 @@ TEST_P(SDFFeatures_FrameSemantics, ExplicitFramesWithCollision)
 /////////////////////////////////////////////////
 TEST_P(SDFFeatures_FrameSemantics, ExplicitWorldFrames)
 {
-  const auto worldPath =
-    gz::common::testing::SourceFile(
-      "dartsim", "worlds", "world_frames.sdf");
-  WorldPtr world = this->LoadWorld(worldPath);
+  WorldPtr world = this->LoadWorld(dartsim::worlds::kWorldFramesSdf);
   ASSERT_NE(nullptr, world);
   const std::string modelName = "M";
 
@@ -993,10 +965,7 @@ TEST_P(SDFFeatures_FrameSemantics, ExplicitWorldFrames)
 /////////////////////////////////////////////////
 TEST_P(SDFFeatures_TEST, Shapes)
 {
-  const auto worldPath =
-    gz::common::testing::SourceFile(
-      "dartsim", "worlds", "shapes.sdf");
-  WorldPtr world = this->LoadWorld(worldPath);
+  WorldPtr world = this->LoadWorld(dartsim::worlds::kShapesWorld);
   ASSERT_NE(nullptr, world);
 
   auto dartWorld = world->GetDartsimWorld();

dartsim/src/WorldFeatures_TEST.cc

@@ -18,7 +18,6 @@
 #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>
@@ -34,6 +33,7 @@
 #include <sdf/World.hh>
 
 #include "test/Utils.hh"
+#include "Worlds.hh"
 
 struct TestFeatureList : gz::physics::FeatureList<
     gz::physics::CollisionDetector,
@@ -84,9 +84,7 @@ TestWorldPtr LoadWorld(
 //////////////////////////////////////////////////
 TEST_F(WorldFeaturesFixture, CollisionDetector)
 {
-  const auto worldPath =
-    gz::common::testing::SourceFile("dartsim", "worlds", "empty.sdf");
-  const auto world = LoadWorld(this->engine, worldPath);
+  const auto world = LoadWorld(this->engine, dartsim::worlds::kEmptySdf);
   EXPECT_EQ("ode", world->GetCollisionDetector());
 
   world->SetCollisionDetector("banana");
@@ -108,9 +106,7 @@ TEST_F(WorldFeaturesFixture, CollisionDetector)
 //////////////////////////////////////////////////
 TEST_F(WorldFeaturesFixture, Solver)
 {
-  const auto worldPath =
-    gz::common::testing::SourceFile("dartsim", "worlds", "empty.sdf");
-  const auto world = LoadWorld(this->engine, worldPath);
+  const auto world = LoadWorld(this->engine, dartsim::worlds::kEmptySdf);
 
   EXPECT_EQ("DantzigBoxedLcpSolver", world->GetSolver());
 

dartsim/src/Worlds.hh

@@ -0,0 +1,48 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#ifndef DARTSIM_WORLDS_HH_
+#define DARTSIM_WORLDS_HH_
+
+#include <gz/common/testing/TestPaths.hh>
+
+#include <string>
+
+inline std::string DartsimTestWorld(const std::string &_world)
+{
+  return gz::common::testing::TestFile("dartsim", "worlds", _world);
+}
+
+namespace dartsim::worlds
+{
+const auto kAddedMassSdf = DartsimTestWorld("added_mass.sdf");
+const auto kEmptySdf = DartsimTestWorld("empty.sdf");
+const auto kFallingWorld = DartsimTestWorld("falling.world");
+const auto kJointAcrossNestedModelsSdf =
+  DartsimTestWorld("joint_across_nested_models.sdf");
+const auto kModelFramesSdf = DartsimTestWorld("kModelFrames.sdf");
+const auto kShapesWorld = DartsimTestWorld("shapes.world");
+const auto kShapesBitmaskWorld = DartsimTestWorld("shapes_bitmask.sdf");
+const auto kTestWorld = DartsimTestWorld("test.world");
+const auto kWorldFramesSdf = DartsimTestWorld("world_frames.sdf");
+const auto kWorldWithNestedModelSdf =
+  DartsimTestWorld("world_with_nested_model.sdf");
+const auto kWorldWithNestedModelJointToWorldSdf =
+  DartsimTestWorld("world_with_nested_model_joint_to_world.sdf");
+
+}  // namespace dartsim::worlds
+#endif  // DARTSIM_WORLDS_HH_

test/CMakeLists.txt

@@ -19,11 +19,9 @@ ExternalProject_Add(
     "-DCMAKE_INSTALL_PREFIX=${FAKE_INSTALL_PREFIX}"
 )
 
-set(GZ_PHYSICS_RESOURCE_DIR "${CMAKE_SOURCE_DIR}/resources")
 add_library(gz-physics-test INTERFACE)
 target_include_directories(gz-physics-test INTERFACE ${CMAKE_CURRENT_SOURCE_DIR}/include)
 target_compile_definitions(gz-physics-test INTERFACE
-    "GZ_PHYSICS_RESOURCE_DIR=\"${GZ_PHYSICS_RESOURCE_DIR}\""
     "TESTING_PROJECT_SOURCE_DIR=\"${PROJECT_SOURCE_DIR}\""
 )
 target_link_libraries(gz-physics-test INTERFACE

test/common_test/worlds/Worlds.hh → test/common_test/Worlds.hh

@@ -27,7 +27,7 @@ inline std::string CommonTestWorld(const std::string &_world)
   return gz::common::testing::TestFile("common_test", "worlds", _world);
 }
 
-namespace worlds
+namespace common_test::worlds
 {
 const auto kContactSdf = CommonTestWorld("contact.sdf");
 const auto kDetachableJointWorld = CommonTestWorld("detachable_joint.world");
@@ -50,5 +50,5 @@ const auto kWorldJointTestSdf = CommonTestWorld("world_joint_test.sdf");
 const auto kWorldUnsortedLinksSdf = CommonTestWorld("world_unsorted_links.sdf");
 const auto kWorldWithNestedModelSdf =
   CommonTestWorld("world_with_nested_model.sdf");
-}  // namespace worlds
+}  // namespace common_test::worlds
 #endif  // COMMON_TEST_WORLDS_WORLDS_HH_

test/common_test/added_mass.cc

@@ -22,7 +22,7 @@
 
 #include "test/TestLibLoader.hh"
 #include "test/Utils.hh"
-#include "worlds/Worlds.hh"
+#include "Worlds.hh"
 
 #include <gz/physics/AddedMass.hh>
 #include <gz/physics/FindFeatures.hh>
@@ -88,7 +88,8 @@ TEST_F(AddedMassFeaturesTest, Gravity)
                 std::string::npos);
 
     sdf::Root root;
-    const sdf::Errors errors = root.Load(worlds::kFallingAddedMassWorld);
+    const sdf::Errors errors = root.Load(
+      common_test::worlds::kFallingAddedMassWorld);
     EXPECT_TRUE(errors.empty()) << errors;
     const sdf::World *sdfWorld = root.WorldByIndex(0);
     EXPECT_NE(nullptr, sdfWorld);