From a9781d9beafd5b078538d41548065bebda6f99aa Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Thu, 17 Nov 2022 05:05:18 -0800
Subject: [PATCH] Activate plugin tests on Windows.

PiperOrigin-RevId: 489183597
Change-Id: I1e5212777514fbc5a246f02a4446a9dbb8a0dbd3
---
 test/CMakeLists.txt                       | 16 ++++++++++++----
 test/plugin/elasticity/CMakeLists.txt     |  2 +-
 test/plugin/elasticity/elasticity_test.cc | 22 +++++++++++++++++++++-
 3 files changed, 34 insertions(+), 6 deletions(-)

diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 860b079d..1e4c1c49 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -33,6 +33,17 @@ macro(mujoco_test name)
     set_tests_properties(
       ${testList} PROPERTIES ENVIRONMENT "PATH=$<TARGET_FILE_DIR:mujoco>;$ENV{PATH}"
     )
+    set_tests_properties(
+      ${testList} PROPERTIES ENVIRONMENT "MUJOCO_PLUGIN_DIR=${CMAKE_BINARY_DIR}/bin"
+    )
+  elseif(APPLE)
+    set_tests_properties(
+      ${testList} PROPERTIES ENVIRONMENT "MUJOCO_PLUGIN_DIR=${CMAKE_BINARY_DIR}/lib"
+    )
+  else()
+    set_tests_properties(
+      ${testList} PROPERTIES ENVIRONMENT "MUJOCO_PLUGIN_DIR=${CMAKE_BINARY_DIR}/lib"
+    )
   endif()
 endmacro()
 
@@ -65,7 +76,4 @@ add_subdirectory(engine)
 add_subdirectory(sample)
 add_subdirectory(user)
 add_subdirectory(xml)
-
-if(NOT WIN32)
-  add_subdirectory(plugin/elasticity)
-endif()
+add_subdirectory(plugin/elasticity)
diff --git a/test/plugin/elasticity/CMakeLists.txt b/test/plugin/elasticity/CMakeLists.txt
index e62dae06..20671245 100644
--- a/test/plugin/elasticity/CMakeLists.txt
+++ b/test/plugin/elasticity/CMakeLists.txt
@@ -13,5 +13,5 @@
 # limitations under the License.
 
 mujoco_test(elasticity_test)
-target_link_libraries(elasticity_test fixture gmock elasticity)
+target_link_libraries(elasticity_test fixture gmock)
 
diff --git a/test/plugin/elasticity/elasticity_test.cc b/test/plugin/elasticity/elasticity_test.cc
index c5e70674..b94c74a9 100644
--- a/test/plugin/elasticity/elasticity_test.cc
+++ b/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 -----------------------------------