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test(physics): build physics_dyn_bike_plant_test without FP contraction #837

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Merged
transfix merged 1 commit into from
Oct 27, 2026
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test(physics): build physics_dyn_bike_plant_test without FP contraction #837

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9 changes: 9 additions & 0 deletions src/cvc/tests/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -145,6 +145,15 @@ cvc_setup_physics_replay(physics_replay_test)
add_executable(physics_pose_tracker_test physics_pose_tracker_test.cpp)
add_executable(physics_plant_host_test physics_plant_host_test.cpp)
add_executable(physics_dyn_bike_plant_test physics_dyn_bike_plant_test.cpp)
# StepsAsTheDynamicPlantDoes holds dyn_bike_plant (built with -ffp-contract=off) to dyn_plant called
# inline here, bit for bit: build it the same way, or clang contracts this copy into FMAs on aarch64
# (the macOS arm64 lanes) and the last bits differ.
if(NOT MSVC)
set_source_files_properties(physics_dyn_bike_plant_test.cpp
PROPERTIES COMPILE_OPTIONS "-ffp-contract=off")
else()
set_source_files_properties(physics_dyn_bike_plant_test.cpp PROPERTIES COMPILE_OPTIONS "/fp:precise")
endif()
# det_math is internal to libcvc, so its test compiles it in, with the same no-contraction flag.
add_executable(physics_det_math_test physics_det_math_test.cpp
${PROJECT_SOURCE_DIR}/src/cvc/physics/det_math.cpp)
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