From 332017ff23008b11c31604f6ff094396b501ceb3 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Wed, 2 Dec 2015 17:49:25 -0800
Subject: [PATCH] remove dependency on gflags, C++11 from
 test_invdyn_bullet.cpp add support for premake for test_invdyn_bullet

---
 test/InverseDynamics/premake4.lua           | 73 +++++++++++++++++++++
 test/InverseDynamics/test_invdyn_bullet.cpp | 19 +++---
 2 files changed, 82 insertions(+), 10 deletions(-)

diff --git a/test/InverseDynamics/premake4.lua b/test/InverseDynamics/premake4.lua
index 73730b0ab..b16efbaae 100644
--- a/test/InverseDynamics/premake4.lua
+++ b/test/InverseDynamics/premake4.lua
@@ -32,3 +32,76 @@
 	if os.is("Linux") then
                 links {"pthread"}
         end
+
+
+
+
+
+        project "Test_InverseForwardDynamics"
+
+        kind "ConsoleApp"
+
+--      defines {  }
+
+
+
+        includedirs
+        {
+                ".",
+                "../../src",
+                "../../examples/InverseDynamics",
+                "../../examples/ThirdPartyLibs",
+                "../../Extras/InverseDynamics",
+                "../gtest-1.7.0/include"
+
+        }
+
+
+        if os.is("Windows") then
+                --see http://stackoverflow.com/questions/12558327/google-test-in-visual-studio-2012
+                defines {"_VARIADIC_MAX=10"}
+        end
+
+        links {"BulletDynamics", "BulletCollision","BulletInverseDynamicsUtils", "BulletInverseDynamics","Bullet3Common","LinearMath", "gtest"}
+
+        files {
+                "test_invdyn_bullet.cpp",
+       		"../../examples/Utils/b3ResourcePath.cpp",
+			 "../../examples/Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h",
+        "../../examples/Importers/ImportURDFDemo/MultiBodyCreationInterface.h",
+        "../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
+        "../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h",
+        "../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
+        "../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.h",
+        "../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
+        "../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
+        "../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.h",
+        "../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp",
+        "../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
+        "../../examples/Importers/ImportURDFDemo/UrdfParser.h",
+        "../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp",
+        "../../examples/Importers/ImportURDFDemo/URDF2Bullet.h",
+        "../../examples/Utils/b3Clock.cpp",
+        "../../Extras/Serialize/BulletWorldImporter/*",
+        "../../Extras/Serialize/BulletFileLoader/*",
+        "../../examples/Importers/ImportURDFDemo/URDFImporterInterface.h",
+        "../../examples/Importers/ImportURDFDemo/URDFJointTypes.h",
+        "../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
+        "../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
+        "../../examples/Importers/ImportSTLDemo/ImportSTLSetup.h",
+        "../../examples/Importers/ImportSTLDemo/LoadMeshFromSTL.h",
+        "../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
+        "../../examples/Importers/ImportColladaDemo/ColladaGraphicsInstance.h",
+        "../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
+   "../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp",
+    "../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
+    "../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
+    "../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
+    "../../examples/ThirdPartyLibs/urdf/boost_replacement/lexical_cast.h",
+  
+	}
+
+        if os.is("Linux") then
+                links {"pthread"}
+        end
+        
diff --git a/test/InverseDynamics/test_invdyn_bullet.cpp b/test/InverseDynamics/test_invdyn_bullet.cpp
index ab7578a48..328a2c239 100644
--- a/test/InverseDynamics/test_invdyn_bullet.cpp
+++ b/test/InverseDynamics/test_invdyn_bullet.cpp
@@ -18,7 +18,6 @@
 #include <BulletDynamics/Featherstone/btMultiBodyPoint2Point.h>
 #include <BulletDynamics/Featherstone/btMultiBodyLinkCollider.h>
 #include <../CommonInterfaces/CommonGUIHelperInterface.h>
-#include <gflags/gflags.h>
 #include <gtest/gtest.h>
 #include <../Importers/ImportURDFDemo/BulletUrdfImporter.h>
 #include <../Importers/ImportURDFDemo/URDF2Bullet.h>
@@ -29,10 +28,12 @@
 #include <btMultiBodyFromURDF.hpp>
 #include <MultiBodyTreeCreator.hpp>
 #include <MultiBodyTreeDebugGraph.hpp>
+#include "Bullet3Common/b3CommandLineArgs.h"
+#include "Bullet3Common/b3Random.h"
 
 using namespace btInverseDynamics;
 
-DEFINE_bool(verbose, false, "print extra info");
+bool FLAGS_verbose=false;
 
 static btVector3 gravity(0, 0, -10);
 static const bool kBaseFixed = false;
@@ -67,15 +68,13 @@ TEST(InvDynCompare, bulletUrdfR2D2) {
     double max_pos_error = 0;
     double max_acc_error = 0;
 
-    std::default_random_engine generator;
-    std::uniform_real_distribution<double> distribution(-M_PI, M_PI);
-    auto rnd = std::bind(distribution, generator);
+    b3Srand(0);
 
     for (int loop = 0; loop < kNLoops; loop++) {
         for (int i = 0; i < q.size(); i++) {
-            q(i) = rnd();
-            u(i) = rnd();
-            dot_u(i) = rnd();
+            q(i) = b3RandRange(-B3_PI, B3_PI);
+            u(i) = b3RandRange(-B3_PI, B3_PI);
+            dot_u(i) = b3RandRange(-B3_PI, B3_PI);
         }
 
         double pos_error;
@@ -108,8 +107,8 @@ TEST(InvDynCompare, bulletUrdfR2D2) {
 }
 
 int main(int argc, char **argv) {
-    gflags::SetUsageMessage("Usage: invdyn_from_btmultibody -verbose = true/false");
-    gflags::ParseCommandLineFlags(&argc, &argv, false);
+    b3CommandLineArgs myArgs(argc,argv);
+    FLAGS_verbose = myArgs.CheckCmdLineFlag("verbose");
     ::testing::InitGoogleTest(&argc, argv);
     return RUN_ALL_TESTS();
 }