Automated g4 rollback of changelist 489207765.

*** Reason for rollback ***

Corrected logic in CMake

*** Original change description ***

Automated g4 rollback of changelist 489183597.

*** Reason for rollback ***

GitHub path is different

*** Original change description ***

Activate plugin tests on Windows.

***

***

PiperOrigin-RevId: 489228199
Change-Id: Ic0ee9114e9680fc0aef9f668fc172c73fe74cd38

test/plugin/elasticity/CMakeLists.txt

@@ -12,6 +12,10 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-mujoco_test(elasticity_test)
-target_link_libraries(elasticity_test fixture gmock elasticity)
-
+mujoco_test(
+  elasticity_test
+  PROPERTIES
+  ENVIRONMENT
+  "MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:elasticity>"
+)
+target_link_libraries(elasticity_test fixture gmock)

test/plugin/elasticity/elasticity_test.cc

@@ -27,8 +27,28 @@
 
 namespace mujoco {
 namespace {
-using PluginTest = MujocoTest;
 
+class PluginTest : public MujocoTest {
+ public:
+  // load plugin library
+  PluginTest() : MujocoTest() {
+    #if defined(_WIN32) || defined(__CYGWIN__)
+      mj_loadPluginLibrary((
+        std::string(std::getenv("MUJOCO_PLUGIN_DIR")) +
+        std::string("\\elasticity.dll")).c_str());
+    #else
+      #if defined(__APPLE__)
+        mj_loadPluginLibrary((
+          std::string(std::getenv("MUJOCO_PLUGIN_DIR")) +
+          std::string("/libelasticity.dylib")).c_str());
+      #else
+        mj_loadPluginLibrary((
+          std::string(std::getenv("MUJOCO_PLUGIN_DIR")) +
+          std::string("/libelasticity.so")).c_str());
+      #endif
+    #endif
+  }
+};
 
 // -------------------------------- cable -----------------------------------