Added basic architecture for common tests

bullet/src/EntityManagementFeatures.cc

@@ -167,7 +167,207 @@ bool EntityManagementFeatures::RemoveModelByName(
 
   return false;
 }
+const std::string &EntityManagementFeatures::GetEngineName(
+  const Identity &) const
+{
+  static const std::string engineName = "bullet";
+  return engineName;
+}
+
+std::size_t EntityManagementFeatures::GetEngineIndex(const Identity &) const
+{
+  return 0;
+}
+
+std::size_t EntityManagementFeatures::GetWorldCount(const Identity &) const
+{
+  return worlds.size();
+}
+
+Identity EntityManagementFeatures::GetWorld(
+    const Identity &, std::size_t) const
+{
+    return this->GenerateIdentity(0);
+}
+
+Identity EntityManagementFeatures::GetWorld(
+    const Identity &, const std::string &) const
+{
+  return this->GenerateIdentity(0);
+}
+
+const std::string &EntityManagementFeatures::GetWorldName(
+    const Identity &) const
+{
+  static const std::string worldName = "bullet";
+  return worldName;
+}
+
+std::size_t EntityManagementFeatures::GetWorldIndex(const Identity &) const
+{
+  return 0;
+}
+
+Identity EntityManagementFeatures::GetEngineOfWorld(const Identity &) const
+{
+  return this->GenerateIdentity(0);
+}
+
+std::size_t EntityManagementFeatures::GetModelCount(
+    const Identity &) const
+{
+  return 0;
+}
+
+Identity EntityManagementFeatures::GetModel(
+    const Identity &, std::size_t) const
+{
+  return this->GenerateIdentity(0);
+}
+
+Identity EntityManagementFeatures::GetModel(
+    const Identity &, const std::string &) const
+{
+  return this->GenerateIdentity(0);
+}
+
+const std::string &EntityManagementFeatures::GetModelName(
+    const Identity &) const
+{
+  static const std::string modelName = "bulletModel";
+  return modelName;
+}
+
+std::size_t EntityManagementFeatures::GetModelIndex(const Identity &) const
+{
+  return 0;
+}
+
+Identity EntityManagementFeatures::GetWorldOfModel(const Identity &) const
+{
+  return this->GenerateIdentity(0);
+}
+
+std::size_t EntityManagementFeatures::GetNestedModelCount(
+  const Identity &) const
+{
+  return 0;
+}
+
+Identity EntityManagementFeatures::GetNestedModel(
+  const Identity &, std::size_t ) const
+{
+  return this->GenerateIdentity(0);
+}
+
+Identity EntityManagementFeatures::GetNestedModel(
+  const Identity &, const std::string &) const
+{
+  return this->GenerateIdentity(0);
+}
+
+std::size_t EntityManagementFeatures::GetLinkCount(const Identity &) const
+{
+  return 0;
+}
+
+Identity EntityManagementFeatures::GetLink(
+    const Identity &, std::size_t) const
+{
+  return this->GenerateIdentity(0);
+}
+
+Identity EntityManagementFeatures::GetLink(
+    const Identity &, const std::string &) const
+
+{
+  return this->GenerateIdentity(0);
+}
+
+std::size_t EntityManagementFeatures::GetJointCount(const Identity &) const
+{
+  return 0;
+}
+
+Identity EntityManagementFeatures::GetJoint(
+    const Identity &, std::size_t ) const
+{
+  return this->GenerateIdentity(0);
+}
+
+Identity EntityManagementFeatures::GetJoint(
+    const Identity &, const std::string &) const
+{
+  return this->GenerateIdentity(0);
+}
+
+const std::string &EntityManagementFeatures::GetLinkName(
+    const Identity &) const
+{
+  static const std::string linkName = "bulletLink";
+  return linkName;
+}
+
+std::size_t EntityManagementFeatures::GetLinkIndex(const Identity &) const
+{
+  return 0;
+}
+
+Identity EntityManagementFeatures::GetModelOfLink(const Identity &) const
+{
+  return this->GenerateIdentity(0);
+}
 
+std::size_t EntityManagementFeatures::GetShapeCount(const Identity &) const
+{
+  return 0;
+}
+
+Identity EntityManagementFeatures::GetShape(
+    const Identity &, std::size_t) const
+{
+  return this->GenerateIdentity(0);
+}
+
+Identity EntityManagementFeatures::GetShape(
+    const Identity &, const std::string &) const
+{
+  return this->GenerateIdentity(0);
+}
+
+const std::string &EntityManagementFeatures::GetJointName(
+    const Identity &) const
+{
+  static const std::string jointName = "bulletJoint";
+  return jointName;
+}
+
+std::size_t EntityManagementFeatures::GetJointIndex(const Identity &) const
+{
+  return 0;
+}
+
+Identity EntityManagementFeatures::GetModelOfJoint(const Identity &) const
+{
+  return this->GenerateIdentity(0);
+}
+
+const std::string &EntityManagementFeatures::GetShapeName(
+    const Identity &) const
+{
+  static const std::string shapeName = "bulletShape";
+  return shapeName;
+}
+
+std::size_t EntityManagementFeatures::GetShapeIndex(const Identity &) const
+{
+  return 0;
+}
+
+Identity EntityManagementFeatures::GetLinkOfShape(const Identity &) const
+{
+  return this->GenerateIdentity(0);
+}
 }  // namespace bullet
 }  // namespace physics
 }  // namespace gz

bullet/src/EntityManagementFeatures.hh

@@ -32,6 +32,7 @@ namespace physics {
 namespace bullet {
 
 struct EntityManagementFeatureList : gz::physics::FeatureList<
+  GetEntities,
   RemoveModelFromWorld,
   ConstructEmptyWorldFeature
 > { };
@@ -56,6 +57,95 @@ class EntityManagementFeatures :
   // ----- Construct empty entities -----
   public: Identity ConstructEmptyWorld(
       const Identity &_engineID, const std::string & _name) override;
+
+  // ----- Get entities -----
+  public: const std::string &GetEngineName(const Identity &) const override;
+  public: std::size_t GetEngineIndex(const Identity &) const override;
+
+  public: std::size_t GetWorldCount(const Identity &) const override;
+
+  public: Identity GetWorld(
+      const Identity &, std::size_t _worldIndex) const override;
+
+  public: Identity GetWorld(
+      const Identity &, const std::string &_worldName) const override;
+
+  public: const std::string &GetWorldName(
+      const Identity &_worldID) const override;
+
+  public: std::size_t GetWorldIndex(const Identity &_worldID) const override;
+
+  public: Identity GetEngineOfWorld(const Identity &_worldID) const override;
+
+  public: std::size_t GetModelCount(
+      const Identity &_worldID) const override;
+
+  public: Identity GetModel(
+      const Identity &_worldID, std::size_t _modelIndex) const override;
+
+  public: Identity GetModel(
+      const Identity &_worldID, const std::string &_modelName) const override;
+
+  public: const std::string &GetModelName(
+      const Identity &_modelID) const override;
+
+  public: std::size_t GetModelIndex(const Identity &_modelID) const override;
+
+  public: Identity GetWorldOfModel(const Identity &_modelID) const override;
+
+  public: std::size_t GetNestedModelCount(
+    const Identity &_modelID) const override;
+
+  public: Identity GetNestedModel(
+    const Identity &_modelID, std::size_t _modelIndex) const override;
+
+  public: Identity GetNestedModel(
+    const Identity &_modelID, const std::string &_modelName) const override;
+
+  public: std::size_t GetLinkCount(const Identity &_modelID) const override;
+
+  public: Identity GetLink(
+      const Identity &_modelID, std::size_t _linkIndex) const override;
+
+  public: Identity GetLink(
+      const Identity &_modelID, const std::string &_linkName) const override;
+
+  public: std::size_t GetJointCount(const Identity &_modelID) const override;
+
+  public: Identity GetJoint(
+      const Identity &_modelID, std::size_t _jointIndex) const override;
+
+  public: Identity GetJoint(
+      const Identity &_modelID, const std::string &_jointName) const override;
+
+  public: const std::string &GetLinkName(
+      const Identity &_linkID) const override;
+
+  public: std::size_t GetLinkIndex(const Identity &_linkID) const override;
+
+  public: Identity GetModelOfLink(const Identity &_linkID) const override;
+
+  public: std::size_t GetShapeCount(const Identity &_linkID) const override;
+
+  public: Identity GetShape(
+      const Identity &_linkID, std::size_t _shapeIndex) const override;
+
+  public: Identity GetShape(
+      const Identity &_linkID, const std::string &_shapeName) const override;
+
+  public: const std::string &GetJointName(
+      const Identity &_jointID) const override;
+
+  public: std::size_t GetJointIndex(const Identity &_jointID) const override;
+
+  public: Identity GetModelOfJoint(const Identity &_jointID) const override;
+
+  public: const std::string &GetShapeName(
+      const Identity &_shapeID) const override;
+
+  public: std::size_t GetShapeIndex(const Identity &_shapeID) const override;
+
+  public: Identity GetLinkOfShape(const Identity &_shapeID) const override;
 };
 
 }  // namespace bullet

test/CMakeLists.txt

@@ -45,6 +45,7 @@ ExternalProject_Add(
 )
 
 add_subdirectory(benchmark)
+add_subdirectory(common_test)
 add_subdirectory(plugins)
 add_subdirectory(integration)
 add_subdirectory(performance)

test/common_test/CMakeLists.txt

@@ -0,0 +1,37 @@
+set(TEST_TYPE "COMMON_TEST")
+
+set(tests
+  basic_test
+)
+
+link_directories(${PROJECT_BINARY_DIR}/test)
+
+function(configure_common_test PHYSICS_ENGINE_NAME test_name)
+  set(_env_vars)
+  add_test(NAME ${test_name}_${PHYSICS_ENGINE_NAME} COMMAND ${test_name})
+  list(APPEND _env_vars "LIB_TO_TEST=${CMAKE_BINARY_DIR}/lib/${CMAKE_SHARED_LIBRARY_PREFIX}${PROJECT_LIBRARY_TARGET_NAME}-${PHYSICS_ENGINE_NAME}-plugin${CMAKE_SHARED_LIBRARY_SUFFIX}")
+  set_tests_properties(${test_name}_${PHYSICS_ENGINE_NAME}
+    PROPERTIES
+      ENVIRONMENT "${_env_vars}")
+endfunction()
+
+foreach(test ${tests})
+  add_executable(${TEST_TYPE}_${test} ${test}.cc)
+
+  target_link_libraries(${TEST_TYPE}_${test}
+    PUBLIC
+      ignition-plugin${IGN_PLUGIN_VER}::loader
+      ignition-common5::ignition-common5
+      ${PROJECT_LIBRARY_TARGET_NAME}
+      gtest
+      gtest_main
+  )
+
+  if (${BULLET_FOUND})
+    configure_common_test("bullet" ${TEST_TYPE}_${test})
+  endif()
+  if (${DART_FOUND})
+    configure_common_test("dartsim" ${TEST_TYPE}_${test})
+  endif()
+  configure_common_test("tpe" ${TEST_TYPE}_${test})
+endforeach()