Convert monolithic RecompileCompare and WriteReadCompare tests into test suites, one test per file.

PiperOrigin-RevId: 890149850
Change-Id: Ib3e8c032a7b43b4a3f85e7a922e25987050cd77c

test/CMakeLists.txt

@@ -54,20 +54,36 @@ macro(mujoco_test name)
   endif()
   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}"
+  # gtest_discover_tests is recommended over gtest_add_tests, but has issues on Windows.
+  # It also requires a GoogleTest binary, so we fall back for custom MAIN_TARGET (e.g. benchmarks).
+  if(WIN32 OR _ARGS_MAIN_TARGET)
+    gtest_add_tests(
+      TARGET ${name}
+      SOURCES ${name}.cc
+      WORKING_DIRECTORY ${MUJOCO_TEST_WORKING_DIR}
+      TEST_LIST testList
     )
-  endif()
-  if(_ARGS_PROPERTIES)
-    set_tests_properties(${testList} PROPERTIES ${_ARGS_PROPERTIES})
+    if(WIN32)
+      set_tests_properties(
+        ${testList} PROPERTIES ENVIRONMENT "PATH=$<TARGET_FILE_DIR:mujoco>;$ENV{PATH}"
+      )
+    endif()
+    if(_ARGS_PROPERTIES)
+      set_tests_properties(${testList} PROPERTIES ${_ARGS_PROPERTIES})
+    endif()
+  else()
+    if(_ARGS_PROPERTIES)
+      gtest_discover_tests(
+        ${name}
+        WORKING_DIRECTORY ${MUJOCO_TEST_WORKING_DIR}
+        PROPERTIES ${_ARGS_PROPERTIES}
+      )
+    else()
+      gtest_discover_tests(
+        ${name}
+        WORKING_DIRECTORY ${MUJOCO_TEST_WORKING_DIR}
+      )
+    endif()
   endif()
 
 endmacro()
@@ -102,3 +118,4 @@ add_subdirectory(xml)
 add_subdirectory(plugin/elasticity)
 add_subdirectory(plugin/actuator)
 add_subdirectory(experimental)
+