test: merge Issue1899 check into existing collision test

Author: jslee02

tests/integration/CMakeLists.txt

@@ -135,15 +135,6 @@ if(TARGET dart-utils)
     target_link_libraries(test_Collision dart-collision-ode)
   endif()
 
-  dart_add_test("integration" test_Issue1899)
-  target_link_libraries(test_Issue1899 dart-utils)
-  if(TARGET dart-collision-bullet)
-    target_link_libraries(test_Issue1899 dart-collision-bullet)
-  endif()
-  if(TARGET dart-collision-ode)
-    target_link_libraries(test_Issue1899 dart-collision-ode)
-  endif()
-
   dart_add_test("integration" test_Dynamics)
   target_link_libraries(test_Dynamics dart-utils)
 

tests/integration/test_Collision.cpp

@@ -1586,6 +1586,9 @@ TEST_F(Collision, CollisionOfPrescribedJoints)
     EXPECT_TRUE(joint5->isKinematic());
     EXPECT_NEAR(joint5->getVelocity(0), joint5->getCommand(0), tol);
 
+    // The PASSIVE joint's command should have been cleared (Issue 1899).
+    EXPECT_EQ(joint2->getCommand(0), 0.0);
+
     // The velocity and acceleration of locked joint always must be zero.
     EXPECT_TRUE(joint6->isKinematic());
     EXPECT_NEAR(joint6->getVelocity(0), 0.0, tol);