[test] Enable cone and cylinder tests with ODE

.github/workflows/ci_macos.yml

@@ -67,4 +67,4 @@ jobs:
 
       - name: Test DART and dartpy
         run: |
-          pixi run build
+          pixi run test

.github/workflows/ci_ubuntu.yml

@@ -99,4 +99,4 @@ jobs:
 
       - name: Test DART and dartpy
         run: |
-          pixi run build
+          pixi run test

.github/workflows/ci_windows.yml

@@ -93,4 +93,4 @@ jobs:
 
       - name: Test DART and dartpy
         run: |
-          pixi run build
+          pixi run test

docker/dev/v6.14/Dockerfile.archlinux

@@ -20,7 +20,6 @@ RUN yay -Syu --needed --noconfirm \
     spdlog \
     tinyxml2 \
     urdfdom
-# TODO: ode is removed because the collision test with ODE on arch is failing
 
 # ==============================================================================
 # Python binding dependencies
@@ -35,3 +34,16 @@ RUN yay -Syu --needed --noconfirm \
     python-setuptools
 
 USER root
+
+# ode
+RUN git clone https://bitbucket.org/odedevs/ode.git -b '0.16.4' \
+    && mkdir -p ode/build \
+    && cmake ode \
+    -B ode/build \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DODE_WITH_TESTS=OFF \
+    -DODE_WITH_DEMOS=OFF \
+    -DODE_WITH_LIBCCD=ON \
+    -DODE_DOUBLE_PRECISION=ON \
+    && cmake --build ode/build --target install -j${NUM_CORES} \
+    && rm -rf ode

pixi.toml

@@ -9,8 +9,8 @@ platforms = ["linux-64", "osx-64", "osx-arm64", "win-64"]
 [tasks]
 clean = "rm -rf build"
 build-v7 = { cmd= "cmake --build build --target v7 --parallel", depends_on = ["configure"] }
-configure_local = { cmd= "cmake -G Ninja -S . -B build -DDART_VERBOSE=ON -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX" }
-install_local = { cmd= "cmake --install build --prefix $CONDA_PREFIX", depends_on = ["configure_local", "build"] }
+configure-local = { cmd= "cmake -G Ninja -S . -B build -DDART_VERBOSE=ON -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX" }
+install-local = { cmd= "cmake --install build --prefix $CONDA_PREFIX", depends_on = ["configure_local", "build"] }
 
 [dependencies]
 assimp = ">=5.3.1,<5.4"
@@ -54,17 +54,22 @@ lint = { cmd = "cmake --build build --target format && black . && isort .", depe
 check-lint = { cmd = "cmake --build build --target check-format && black . --check && isort . --check", depends_on = [
     "configure",
 ] }
-build = { cmd = "cmake --build build -j", depends_on = ["configure"] }
-build_dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [
+build = { cmd = "cmake --build build -j --target all", depends_on = [
+    "configure",
+] }
+build-tests = { cmd = "cmake --build build -j --target tests", depends_on = [
+    "configure",
+] }
+build-dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [
     "configure",
 ] }
 test = { cmd = "ctest --test-dir build --rerun-failed --output-on-failure", depends_on = [
-    "build",
+    "build-tests",
 ] }
-test_dartpy = { cmd = "cmake --build build -j --target pytest", depends_on = [
+test-dartpy = { cmd = "cmake --build build -j --target pytest", depends_on = [
     "configure",
 ] }
-test_all = { cmd = "cmake --build build -j --target ALL", depends_on = [
+test-all = { cmd = "cmake --build build -j --target ALL", depends_on = [
     "configure",
 ] }
 
@@ -79,17 +84,22 @@ lint = { cmd = "cmake --build build --target format && black . && isort .", depe
 check-lint = { cmd = "cmake --build build --target check-format && black . --check && isort . --check", depends_on = [
     "configure",
 ] }
-build = { cmd = "cmake --build build -j", depends_on = ["configure"] }
-build_dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [
+build = { cmd = "cmake --build build -j --target all", depends_on = [
+    "configure",
+] }
+build-tests = { cmd = "cmake --build build -j --target tests", depends_on = [
+    "configure",
+] }
+build-dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [
     "configure",
 ] }
 test = { cmd = "ctest --test-dir build --rerun-failed --output-on-failure", depends_on = [
-    "build",
+    "build-tests",
 ] }
-test_dartpy = { cmd = "cmake --build build -j --target pytest", depends_on = [
+test-dartpy = { cmd = "cmake --build build -j --target pytest", depends_on = [
     "configure",
 ] }
-test_all = { cmd = "cmake --build build -j --target ALL", depends_on = [
+test-all = { cmd = "cmake --build build -j --target ALL", depends_on = [
     "configure",
 ] }
 
@@ -105,16 +115,19 @@ check-lint = { cmd = "cmake --build build --target check-format && black . --che
     "configure",
 ] }
 build = { cmd = "cmake --build build -j", depends_on = ["configure"] }
-build_dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [
+build-tests = { cmd = "cmake --build build -j --target tests", depends_on = [
+    "configure",
+] }
+build-dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [
     "configure",
 ] }
 test = { cmd = "ctest --test-dir build --rerun-failed --output-on-failure", depends_on = [
-    "build",
+    "build-tests",
 ] }
-test_dartpy = { cmd = "cmake --build build -j --target pytest", depends_on = [
+test-dartpy = { cmd = "cmake --build build -j --target pytest", depends_on = [
     "configure",
 ] }
-test_all = { cmd = "cmake --build build -j --target ALL", depends_on = [
+test-all = { cmd = "cmake --build build -j --target ALL", depends_on = [
     "configure",
 ] }
 
@@ -133,16 +146,19 @@ check-lint = { cmd = "black . --check && isort . --check", depends_on = [
 build = { cmd = "cmake --build build --config Release -j", depends_on = [
     "configure",
 ] }
-build_dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [
+build-tests = { cmd = "cmake --build build --config Release -j --target tests", depends_on = [
+    "configure",
+] }
+build-dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [
     "configure",
 ] }
 test = { cmd = "ctest --test-dir build --build-config Release --rerun-failed --output-on-failure", depends_on = [
-    "build",
+    "build-tests",
 ] }
-test_dartpy = { cmd = "cmake --build build --config Release -j --target pytest", depends_on = [
+test-dartpy = { cmd = "cmake --build build --config Release -j --target pytest", depends_on = [
     "configure",
 ] }
-test_all = { cmd = "cmake --build build --config Release -j --target ALL", depends_on = [
+test-all = { cmd = "cmake --build build --config Release -j --target ALL", depends_on = [
     "configure",
 ] }
 

tests/integration/test_Collision.cpp

@@ -740,7 +740,7 @@ void testCylinderCylinder(const std::shared_ptr<CollisionDetector>& cd)
 }
 
 //==============================================================================
-TEST_F(Collision, DISABLED_testCylinderCylinder)
+TEST_F(Collision, testCylinderCylinder)
 {
   auto fcl_mesh_dart = FCLCollisionDetector::create();
   fcl_mesh_dart->setPrimitiveShapeType(FCLCollisionDetector::MESH);
@@ -811,7 +811,7 @@ void testConeCone(const std::shared_ptr<CollisionDetector>& cd)
 }
 
 //==============================================================================
-TEST_F(Collision, DISABLED_testConeCone)
+TEST_F(Collision, testConeCone)
 {
   auto fcl_mesh_dart = FCLCollisionDetector::create();
   fcl_mesh_dart->setPrimitiveShapeType(FCLCollisionDetector::MESH);