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# Copyright 2021 DeepMind Technologies Limited
#
# 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
#
# https://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.
set(MUJOCO_TEST_INCLUDE ${CMAKE_CURRENT_SOURCE_DIR}/.. ${CMAKE_CURRENT_SOURCE_DIR}/../src)
set(MUJOCO_TEST_WORKING_DIR ${CMAKE_CURRENT_SOURCE_DIR})
include(GoogleTest)
macro(mujoco_test name)
add_executable(${name} ${name}.cc)
target_link_libraries(${name} gtest_main mujoco)
target_include_directories(${name} PRIVATE ${MUJOCO_TEST_INCLUDE})
set_target_properties(${name} PROPERTIES BUILD_RPATH ${CMAKE_LIBRARY_OUTPUT_DIRECTORY})
# gtest_discover_tests is recommended over gtest_add_tests, but has some issues in Windows.
gtest_add_tests(
TARGET ${name}
SOURCES ${name}.cc
WORKING_DIRECTORY ${MUJOCO_TEST_WORKING_DIR}
TEST_LIST testList
)
if(WIN32)
set_tests_properties(
${testList} PROPERTIES ENVIRONMENT "PATH=$<TARGET_FILE_DIR:mujoco>;$ENV{PATH}"
)
endif()
endmacro()
add_library(fixture STATIC fixture.h fixture.cc)
target_include_directories(fixture PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/..)
target_compile_definitions(fixture PUBLIC MJSTATIC)
target_link_libraries(
fixture
PUBLIC absl::core_headers
absl::strings
absl::synchronization
gtest
gmock
mujoco::mujoco
)
target_include_directories(fixture PRIVATE ${mujoco_SOURCE_DIR}/include gmock)
mujoco_test(fixture_test)
target_link_libraries(fixture_test fixture gmock)
mujoco_test(header_test)
target_link_libraries(header_test fixture gmock)
mujoco_test(pipeline_test)
target_link_libraries(pipeline_test fixture gmock)
add_subdirectory(benchmark)
add_subdirectory(engine)
add_subdirectory(sample)
add_subdirectory(user)
add_subdirectory(xml)
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