Consolidate duplicated worlds

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

dartsim/src/SDFFeatures_TEST.cc

@@ -53,7 +53,8 @@
 #include <sdf/World.hh>
 
 #include <test/Utils.hh>
-#include "dartsim/src/Worlds.hh"
+#include <test/common_test/Worlds.hh>
+#include "Worlds.hh"
 
 using namespace gz;
 
@@ -314,7 +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)
 {
-  WorldPtr world = this->LoadWorld(dartsim::worlds::kTestWorld);
+  WorldPtr world = this->LoadWorld(common_test::worlds::kTestWorld);
   ASSERT_NE(nullptr, world);
 
   dart::simulation::WorldPtr dartWorld = world->GetDartsimWorld();
@@ -422,7 +423,7 @@ TEST_P(SDFFeatures_TEST, CheckDartsimData)
 // Test that joint limits are working by running the simulation
 TEST_P(SDFFeatures_TEST, CheckJointLimitEnforcement)
 {
-  WorldPtr world = this->LoadWorld(dartsim::worlds::kTestWorld);
+  WorldPtr world = this->LoadWorld(common_test::worlds::kTestWorld);
   ASSERT_NE(nullptr, world);
 
   dart::simulation::WorldPtr dartWorld = world->GetDartsimWorld();
@@ -581,7 +582,7 @@ TEST_P(SDFFeatures_TEST, WorldIsParentOrChild)
 //
 TEST_P(SDFFeatures_TEST, WorldWithNestedModel)
 {
-  WorldPtr world = this->LoadWorld(dartsim::worlds::kWorldWithNestedModelSdf);
+  WorldPtr world = this->LoadWorld(common_test::worlds::kWorldWithNestedModelSdf);
   ASSERT_NE(nullptr, world);
   EXPECT_EQ(2u, world->GetModelCount());
 
@@ -690,7 +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)
 {
-  WorldPtr world = this->LoadWorld(dartsim::worlds::kTestWorld);
+  WorldPtr world = this->LoadWorld(common_test::worlds::kTestWorld);
   ASSERT_NE(nullptr, world);
 
   dart::simulation::WorldPtr dartWorld = world->GetDartsimWorld();
@@ -964,7 +965,7 @@ TEST_P(SDFFeatures_FrameSemantics, ExplicitWorldFrames)
 /////////////////////////////////////////////////
 TEST_P(SDFFeatures_TEST, Shapes)
 {
-  WorldPtr world = this->LoadWorld(dartsim::worlds::kShapesSdf);
+  WorldPtr world = this->LoadWorld(common_test::worlds::kShapesWorld);
   ASSERT_NE(nullptr, world);
 
   auto dartWorld = world->GetDartsimWorld();
@@ -973,7 +974,7 @@ TEST_P(SDFFeatures_TEST, Shapes)
   ASSERT_EQ(5u, dartWorld->getNumSkeletons());
 
   int count{0};
-  for (auto name : {"box", "cylinder", "sphere", "capsule", "ellipsoid"})
+  for (auto name : {"sphere", "box", "cylinder", "capsule", "ellipsoid"})
   {
     const auto skeleton = dartWorld->getSkeleton(count++);
     ASSERT_NE(nullptr, skeleton);

dartsim/src/WorldFeatures_TEST.cc

@@ -32,7 +32,7 @@
 #include <sdf/World.hh>
 
 #include "test/Utils.hh"
-#include "Worlds.hh"
+#include "test/common_test/Worlds.hh"
 
 struct TestFeatureList : gz::physics::FeatureList<
     gz::physics::CollisionDetector,
@@ -83,7 +83,7 @@ TestWorldPtr LoadWorld(
 //////////////////////////////////////////////////
 TEST_F(WorldFeaturesFixture, CollisionDetector)
 {
-  const auto world = LoadWorld(this->engine, dartsim::worlds::kEmptySdf);
+  const auto world = LoadWorld(this->engine, common_test::worlds::kEmptySdf);
   EXPECT_EQ("ode", world->GetCollisionDetector());
 
   world->SetCollisionDetector("banana");
@@ -105,7 +105,7 @@ TEST_F(WorldFeaturesFixture, CollisionDetector)
 //////////////////////////////////////////////////
 TEST_F(WorldFeaturesFixture, Solver)
 {
-  const auto world = LoadWorld(this->engine, dartsim::worlds::kEmptySdf);
+  const auto world = LoadWorld(this->engine, common_test::worlds::kEmptySdf);
 
   EXPECT_EQ("DantzigBoxedLcpSolver", world->GetSolver());
 

dartsim/src/Worlds.hh

@@ -33,17 +33,10 @@ inline std::string DartsimTestWorld(const std::string &_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("model_frames.sdf");
-const auto kShapesSdf = DartsimTestWorld("shapes.sdf");
-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