physics test cleanup

tests/physics/src/BulletTestUtils.h

@@ -0,0 +1,87 @@
+//
+//  BulletTestUtils.h
+//  hifi
+//
+//  Created by Seiji Emery on 6/22/15.
+//
+//
+
+#ifndef hifi_BulletTestUtils_h
+#define hifi_BulletTestUtils_h
+
+#include <BulletUtil.h>
+
+// Implements functionality in QTestExtensions.hpp for glm types
+// There are 3 functions in here (which need to be defined for all types that use them):
+//
+// - fuzzyCompare (const T &, const T &) -> V                   (used by QFUZZY_COMPARE)
+// - operator <<  (QTextStream &, const T &) -> QTextStream &   (used by all (additional) test macros)
+// - errorTest (const T &, const T &, V) -> std::function<bool()>
+//      (used by QCOMPARE_WITH_RELATIVE_ERROR via QCOMPARE_WITH_LAMBDA)
+//      (this is only used by btMatrix3x3 in MeshMassPropertiesTests.cpp, so it's only defined for the Mat3 type)
+
+//
+// fuzzy compare (this is a distance function, basically)
+//
+
+inline btScalar fuzzyCompare(const btScalar & a, const btScalar & b) {
+    return fabs(a - b);
+}
+inline btScalar fuzzyCompare(const btVector3 & a, const btVector3 & b)
+{
+    return (a - b).length();
+}
+// Matrices are compared element-wise -- if the error value for any element > epsilon, then fail
+inline btScalar fuzzyCompare (const btMatrix3x3 & a, const btMatrix3x3 & b) {
+    btScalar maxDiff   = 0;
+    for (int i = 0; i < 3; ++i) {
+        for (int j = 0; j < 3; ++j) {
+            btScalar diff = fabs(a[i][j] - b[i][j]);
+            maxDiff    = qMax(diff, maxDiff);
+        }
+    }
+    return maxDiff;
+}
+
+//
+// Printing (operator <<)
+//
+
+// btMatrix3x3 stream printing (not advised to use this outside of the test macros, due to formatting)
+inline QTextStream & operator << (QTextStream & stream, const btMatrix3x3 & matrix) {
+    stream << "[\n\t\t";
+    for (int i = 0; i < 3; ++i) {
+        for (int j = 0; j < 3; ++j) {
+            stream << "    " << matrix[i][j];
+        }
+        stream << "\n\t\t";
+    }
+    stream << "]\n\t";   // hacky as hell, but this should work...
+    return stream;
+}
+inline QTextStream & operator << (QTextStream & stream, const btVector3 & v) {
+    return stream << "btVector3 { " << v.x() << ", " << v.y() << ", " << v.z() << " }";
+}
+// btScalar operator<< is already implemented (as it's just a typedef-ed float/double)
+
+//
+// errorTest (actual, expected, acceptableRelativeError) -> callback closure
+//
+
+// Produces a relative error test for btMatrix3x3 usable with QCOMPARE_WITH_LAMBDA
+inline auto errorTest (const btMatrix3x3 & actual, const btMatrix3x3 & expected, const btScalar acceptableRelativeError)
+-> std::function<bool ()>
+{
+    return [&actual, &expected, acceptableRelativeError] () {
+        for (int i = 0; i < 3; ++i) {
+            for (int j = 0; j < 3; ++j) {
+                auto err = (actual[i][j] - expected[i][j]) / expected[i][j];
+                if (fabsf(err) > acceptableRelativeError)
+                    return false;
+            }
+        }
+        return true;
+    };
+}
+
+#endif

tests/physics/src/BulletUtilTests.h

@@ -13,8 +13,10 @@
 #define hifi_BulletUtilTests_h
 
 #include <QtTest/QtTest>
-#include <glm/glm.hpp>
-#include <glm/gtx/quaternion.hpp>
+
+// Add additional qtest functionality (the include order is important!)
+#include "GlmTestUtils.h"
+#include "../QTestExtensions.hpp"
 
 class BulletUtilTests : public QObject {
     Q_OBJECT
@@ -25,16 +27,4 @@ private slots:
 //    void fooTest ();
 };
 
-// Define comparison + printing functions for the data types we need
-
-inline float fuzzyCompare (const glm::vec3 & a, const glm::vec3 & b) {
-    return glm::distance(a, b);
-}
-inline QTextStream & operator << (QTextStream & stream, const glm::vec3 & v) {
-    return stream << "glm::vec3 { " << v.x << ", " << v.y << ", " << v.z << " }";
-}
-
-// These hook into this (and must be defined first...)
-#include "../QTestExtensions.hpp"
-
 #endif // hifi_BulletUtilTests_h

tests/physics/src/CollisionInfoTests.h

@@ -12,10 +12,12 @@
 #ifndef hifi_CollisionInfoTests_h
 #define hifi_CollisionInfoTests_h
 
-#include <glm/glm.hpp>
-#include <glm/gtx/quaternion.hpp>
 #include <QtTest/QtTest>
 
+// Add additional qtest functionality (the include order is important!)
+#include "GlmTestUtils.h"
+#include "../QTestExtensions.hpp"
+
 class CollisionInfoTests : public QObject {
     Q_OBJECT
 
@@ -24,16 +26,4 @@ private slots:
 //    void translateThenRotate();
 };
 
-
-// Define comparison + printing functions for the data types we need
-inline float fuzzyCompare (const glm::vec3 & a, const glm::vec3 & b) {
-    return glm::distance(a, b);
-}
-inline QTextStream & operator << (QTextStream & stream, const glm::vec3 & v) {
-    return stream << "glm::vec3 { " << v.x << ", " << v.y << ", " << v.z << " }";
-}
-
-// These hook into this (and must be defined first...)
-#include "../QTestExtensions.hpp"
-
 #endif // hifi_CollisionInfoTests_h

tests/physics/src/GlmTestUtils.h

@@ -0,0 +1,24 @@
+//
+//  GlmTestUtils.h
+//  hifi
+//
+//  Created by Seiji Emery on 6/22/15.
+//
+//
+
+#ifndef hifi_GlmTestUtils_h
+#define hifi_GlmTestUtils_h
+
+#include <glm/glm.hpp>
+#include <glm/gtx/quaternion.hpp>
+
+// Implements functionality in QTestExtensions.hpp for glm types
+
+inline float fuzzyCompare(const glm::vec3 & a, const glm::vec3 & b) {
+    return glm::distance(a, b);
+}
+inline QTextStream & operator << (QTextStream & stream, const glm::vec3 & v) {
+    return stream << "glm::vec3 { " << v.x << ", " << v.y << ", " << v.z << " }";
+}
+
+#endif

tests/physics/src/MeshMassPropertiesTests.h

@@ -12,13 +12,20 @@
 #ifndef hifi_MeshMassPropertiesTests_h
 #define hifi_MeshMassPropertiesTests_h
 
-#include <glm/glm.hpp>
-#include <glm/gtx/quaternion.hpp>
-#include <BulletUtil.h>
-
 #include <QtTest/QtTest>
 #include <QtGlobal>
 
+// Add additional qtest functionality (the include order is important!)
+#include "BulletTestUtils.h"
+#include "GlmTestUtils.h"
+#include "../QTestExtensions.hpp"
+
+// Relative error macro (see errorTest in BulletTestUtils.h)
+#define QCOMPARE_WITH_RELATIVE_ERROR(actual, expected, relativeError) \
+    QCOMPARE_WITH_LAMBDA(actual, expected, errorTest(actual, expected, relativeError))
+
+
+// Testcase class
 class MeshMassPropertiesTests : public QObject {
     Q_OBJECT
     
@@ -30,75 +37,4 @@ private slots:
     void testBoxAsMesh();
 };
 
-// Define comparison + printing functions for the data types we need
-
-inline float fuzzyCompare(const glm::vec3 & a, const glm::vec3 & b) {
-    return glm::distance(a, b);
-}
-inline QTextStream & operator << (QTextStream & stream, const glm::vec3 & v) {
-    return stream << "glm::vec3 { " << v.x << ", " << v.y << ", " << v.z << " }";
-}
-inline btScalar fuzzyCompare(const btScalar & a, const btScalar & b) {
-    return fabs(a - b);
-}
-
-// Matrices are compared element-wise -- if the error value for any element > epsilon, then fail
-inline btScalar fuzzyCompare (const btMatrix3x3 & a, const btMatrix3x3 & b) {
-    btScalar totalDiff = 0;
-    btScalar maxDiff   = 0;
-    for (int i = 0; i < 3; ++i) {
-        for (int j = 0; j < 3; ++j) {
-            btScalar diff = fabs(a[i][j] - b[i][j]);
-            totalDiff += diff;
-            maxDiff    = qMax(diff, maxDiff);
-        }
-    }
-//    return totalDiff;
-    return maxDiff;
-}
-
-inline QTextStream & operator << (QTextStream & stream, const btMatrix3x3 & matrix) {
-    stream << "[\n\t\t";
-    for (int i = 0; i < 3; ++i) {
-        for (int j = 0; j < 3; ++j) {
-            stream << "    " << matrix[i][j];
-        }
-        stream << "\n\t\t";
-    }
-    stream << "]\n\t";   // hacky as hell, but this should work...
-    return stream;
-}
-
-inline btScalar fuzzyCompare(const btVector3 & a, const btVector3 & b)
-{
-    return (a - b).length();
-}
-inline QTextStream & operator << (QTextStream & stream, const btVector3 & v) {
-    return stream << "btVector3 { " << v.x() << ", " << v.y() << ", " << v.z() << " }";
-}
-
-// Produces a relative error test for btMatrix3x3 usable with QCOMPARE_WITH_LAMBDA
-inline auto errorTest (const btMatrix3x3 & actual, const btMatrix3x3 & expected, const btScalar acceptableRelativeError)
--> std::function<bool ()>
-{
-    return [&actual, &expected, acceptableRelativeError] () {
-        for (int i = 0; i < 3; ++i) {
-            for (int j = 0; j < 3; ++j) {
-                auto err = (actual[i][j] - expected[i][j]) / expected[i][j];
-                if (fabsf(err) > acceptableRelativeError)
-                    return false;
-            }
-        }
-        return true;
-    };
-}
-
-#define QCOMPARE_WITH_RELATIVE_ERROR(actual, expected, relativeError) \
-    QCOMPARE_WITH_LAMBDA(actual, expected, errorTest(actual, expected, relativeError))
-
-
-// These hook into this (and must be defined first...)
-#include "../QTestExtensions.hpp"
-
-
 #endif // hifi_MeshMassPropertiesTests_h

tests/physics/src/ShapeColliderTests.cpp

@@ -10,7 +10,6 @@
 //
 
 //#include <stdio.h>
-#include "PhysicsTestUtil.h"
 #include <iostream>
 #include <math.h>
 
@@ -29,10 +28,10 @@
 #include "ShapeColliderTests.h"
 
 
-//const glm::vec3 origin(0.0f);
-//static const glm::vec3 xAxis(1.0f, 0.0f, 0.0f);
-//static const glm::vec3 yAxis(0.0f, 1.0f, 0.0f);
-//static const glm::vec3 zAxis(0.0f, 0.0f, 1.0f);
+const glm::vec3 origin(0.0f);
+static const glm::vec3 xAxis(1.0f, 0.0f, 0.0f);
+static const glm::vec3 yAxis(0.0f, 1.0f, 0.0f);
+static const glm::vec3 zAxis(0.0f, 0.0f, 1.0f);
 
 QTEST_MAIN(ShapeColliderTests)
 

tests/physics/src/ShapeColliderTests.h

@@ -13,6 +13,13 @@
 #define hifi_ShapeColliderTests_h
 
 #include <QtTest/QtTest>
+#include <QtGlobal>
+
+// Add additional qtest functionality (the include order is important!)
+#include "BulletTestUtils.h"
+#include "GlmTestUtils.h"
+#include "../QTestExtensions.hpp"
+
 
 class ShapeColliderTests : public QObject {
     Q_OBJECT

tests/physics/src/ShapeInfoTests.h

@@ -14,6 +14,10 @@
 
 #include <QtTest/QtTest>
 
+// Add additional qtest functionality (the include order is important!)
+#include "BulletTestUtils.h"
+#include "../QTestExtensions.hpp"
+
 class ShapeInfoTests : public QObject {
     Q_OBJECT
 private slots:
@@ -22,7 +26,8 @@ private slots:
     void testSphereShape();
     void testCylinderShape();
     void testCapsuleShape();
-//    void runAllTests(); 
 };
 
+#include "../QTestExtensions.hpp"
+
 #endif // hifi_ShapeInfoTests_h