add test

Signed-off-by: Ian Chen <[email protected]>
gazebosim · Apr 1, 2024 · ad3353c · ad3353c
1 parent d2a93c2
commit ad3353c
Show file tree

Hide file tree

Showing 3 changed files with 24 additions and 5 deletions.
diff --git a/src/Server.cc b/src/Server.cc
@@ -145,7 +145,6 @@ Server::Server(const ServerConfig &_config)
 
       sdf::Root sdfRoot;
       sdf::ParserConfig sdfParserConfig = sdf::ParserConfig::GlobalConfig();
-      sdfParserConfig.SetStoreResolvedURIs(true);
       sdfParserConfig.SetCalculateInertialConfiguration(
         sdf::ConfigureResolveAutoInertials::SKIP_CALCULATION_IN_LOAD);
 

diff --git a/test/integration/physics_system.cc b/test/integration/physics_system.cc
@@ -1834,12 +1834,13 @@ TEST_F(PhysicsSystemFixture, PhysicsOptions)
   serverConfig.SetSdfFile(common::joinPaths(std::string(PROJECT_SOURCE_PATH),
     "test", "worlds", "physics_options.sdf"));
 
-  bool checked{false};
+  bool checkedDart{false};
+  bool checkedBullet{false};
 
   // Create a system to check components
   test::Relay testSystem;
   testSystem.OnPostUpdate(
-    [&checked](const sim::UpdateInfo &,
+    [&checkedDart, &checkedBullet](const sim::UpdateInfo &,
     const sim::EntityComponentManager &_ecm)
     {
       _ecm.Each<components::World, components::PhysicsCollisionDetector,
@@ -1858,16 +1859,30 @@ TEST_F(PhysicsSystemFixture, PhysicsOptions)
           {
             EXPECT_EQ("pgs", _solver->Data());
           }
-          checked = true;
+          checkedDart = true;
           return true;
         });
+      _ecm.Each<components::World, components::PhysicsSolverIterations>(
+        [&](const gz::sim::Entity &, const components::World *,
+            const components::PhysicsSolverIterations *_solverIters)->bool
+        {
+          EXPECT_NE(nullptr, _solverIters);
+          if (_solverIters)
+          {
+            EXPECT_EQ(100, _solverIters->Data());
+          }
+          checkedBullet = true;
+          return true;
+        });
+
     });
 
   sim::Server server(serverConfig);
   server.AddSystem(testSystem.systemPtr);
   server.Run(true, 1, false);
 
-  EXPECT_TRUE(checked);
+  EXPECT_TRUE(checkedDart);
+  EXPECT_TRUE(checkedBullet);
 }
 
 /////////////////////////////////////////////////

diff --git a/test/worlds/physics_options.sdf b/test/worlds/physics_options.sdf
@@ -8,6 +8,11 @@
           <solver_type>pgs</solver_type>
         </solver>
       </dart>
+      <bullet>
+        <solver>
+          <iters>100</iters>
+        </solver>
+      </bullet>
       <real_time_factor>0</real_time_factor>
     </physics>
     <plugin