From 1f8648c23b7f3338d02e0c10fc30e39de60ad624 Mon Sep 17 00:00:00 2001
From: Jeongseok Lee <jslee02@gmail.com>
Date: Thu, 28 Mar 2024 21:40:56 -0700
Subject: [PATCH] w2

---
 tests/integration/test_Collision.cpp | 67 ++++++++++++++++++----------
 1 file changed, 44 insertions(+), 23 deletions(-)

diff --git a/tests/integration/test_Collision.cpp b/tests/integration/test_Collision.cpp
index e7524c73c83a9..b5733784d8260 100644
--- a/tests/integration/test_Collision.cpp
+++ b/tests/integration/test_Collision.cpp
@@ -823,38 +823,59 @@ void testConeCone(const std::shared_ptr<CollisionDetector>& cd)
 //==============================================================================
 TEST_F(Collision, testConeCone)
 {
-  auto fcl_mesh_dart = FCLCollisionDetector::create();
-  fcl_mesh_dart->setPrimitiveShapeType(FCLCollisionDetector::MESH);
-  fcl_mesh_dart->setContactPointComputationMethod(FCLCollisionDetector::DART);
-  testConeCone(fcl_mesh_dart);
+  {
+    SCOPED_TRACE("FCLCollisionDetector (MESH, DART)");
+    auto fcl_mesh_dart = FCLCollisionDetector::create();
+    fcl_mesh_dart->setPrimitiveShapeType(FCLCollisionDetector::MESH);
+    fcl_mesh_dart->setContactPointComputationMethod(FCLCollisionDetector::DART);
+    testConeCone(fcl_mesh_dart);
+  }
 
-  auto fcl_mesh_fcl = FCLCollisionDetector::create();
-  fcl_mesh_fcl->setPrimitiveShapeType(FCLCollisionDetector::MESH);
-  fcl_mesh_fcl->setContactPointComputationMethod(FCLCollisionDetector::FCL);
-  testConeCone(fcl_mesh_fcl);
+  {
+    SCOPED_TRACE("FCLCollisionDetector (MESH, FCL)");
+    auto fcl_mesh_fcl = FCLCollisionDetector::create();
+    fcl_mesh_fcl->setPrimitiveShapeType(FCLCollisionDetector::MESH);
+    fcl_mesh_fcl->setContactPointComputationMethod(FCLCollisionDetector::FCL);
+    testConeCone(fcl_mesh_fcl);
+  }
 
-  auto fcl_prim_dart = FCLCollisionDetector::create();
-  fcl_prim_dart->setPrimitiveShapeType(FCLCollisionDetector::PRIMITIVE);
-  fcl_prim_dart->setContactPointComputationMethod(FCLCollisionDetector::DART);
-  testConeCone(fcl_prim_dart);
+  {
+    SCOPED_TRACE("FCLCollisionDetector (PRIMITIVE, DART)");
+    auto fcl_prim_dart = FCLCollisionDetector::create();
+    fcl_prim_dart->setPrimitiveShapeType(FCLCollisionDetector::PRIMITIVE);
+    fcl_prim_dart->setContactPointComputationMethod(FCLCollisionDetector::DART);
+    testConeCone(fcl_prim_dart);
+  }
 
-  auto fcl_prim_fcl = FCLCollisionDetector::create();
-  fcl_prim_fcl->setPrimitiveShapeType(FCLCollisionDetector::PRIMITIVE);
-  fcl_prim_fcl->setContactPointComputationMethod(FCLCollisionDetector::FCL);
-  testConeCone(fcl_prim_fcl);
+  {
+    SCOPED_TRACE("FCLCollisionDetector (PRIMITIVE, FCL)");
+    auto fcl_prim_fcl = FCLCollisionDetector::create();
+    fcl_prim_fcl->setPrimitiveShapeType(FCLCollisionDetector::PRIMITIVE);
+    fcl_prim_fcl->setContactPointComputationMethod(FCLCollisionDetector::FCL);
+    testConeCone(fcl_prim_fcl);
+  }
 
-#if HAVE_ODE && !defined(ODE_WITH_LIBCCD_BOX_CYL)
-  auto ode = OdeCollisionDetector::create();
-  testConeCone(ode);
+#if HAVE_ODE
+  {
+      // SCOPED_TRACE("OdeCollisionDetector");
+      // auto ode = OdeCollisionDetector::create();
+      // testConeCone(ode);
+  }
 #endif
 
 #if HAVE_BULLET
-  auto bullet = BulletCollisionDetector::create();
-  testConeCone(bullet);
+  {
+    SCOPED_TRACE("BulletCollisionDetector");
+    auto bullet = BulletCollisionDetector::create();
+    testConeCone(bullet);
+  }
 #endif
 
-  // auto dart = DARTCollisionDetector::create();
-  // testConeCone(dart);
+  {
+    // SCOPED_TRACE("DARTCollisionDetector");
+    // auto dart = DARTCollisionDetector::create();
+    // testConeCone(dart);
+  }
 }
 
 //==============================================================================