diff --git a/3rdparty/googletest/CONTRIBUTING.md b/3rdparty/googletest/CONTRIBUTING.md
index 8bed14b266..ab5a47bf55 100644
--- a/3rdparty/googletest/CONTRIBUTING.md
+++ b/3rdparty/googletest/CONTRIBUTING.md
@@ -47,11 +47,11 @@ PR is acceptable as an alternative.
 ## The Google Test and Google Mock Communities
 
 The Google Test community exists primarily through the
-[discussion group](http://groups.google.com/group/googletestframework) and the
+[discussion group](https://groups.google.com/group/googletestframework) and the
 GitHub repository. Likewise, the Google Mock community exists primarily through
-their own [discussion group](http://groups.google.com/group/googlemock). You are
-definitely encouraged to contribute to the discussion and you can also help us
-to keep the effectiveness of the group high by following and promoting the
+their own [discussion group](https://groups.google.com/group/googlemock). You
+are definitely encouraged to contribute to the discussion and you can also help
+us to keep the effectiveness of the group high by following and promoting the
 guidelines listed here.
 
 ### Please Be Friendly
diff --git a/3rdparty/googletest/README.md b/3rdparty/googletest/README.md
index 151b3263b6..598cf31242 100644
--- a/3rdparty/googletest/README.md
+++ b/3rdparty/googletest/README.md
@@ -2,27 +2,18 @@
 
 ### Announcements
 
-#### Live at Head
-
-GoogleTest now follows the
-[Abseil Live at Head philosophy](https://abseil.io/about/philosophy#upgrade-support).
-We recommend
-[updating to the latest commit in the `main` branch as often as possible](https://github.com/abseil/abseil-cpp/blob/master/FAQ.md#what-is-live-at-head-and-how-do-i-do-it).
-We do publish occasional semantic versions, tagged with
-`v${major}.${minor}.${patch}` (e.g. `v1.16.0`).
-
 #### Documentation Updates
 
 Our documentation is now live on GitHub Pages at
 https://google.github.io/googletest/. We recommend browsing the documentation on
 GitHub Pages rather than directly in the repository.
 
-#### Release 1.16.0
+#### Release 1.17.0
 
-[Release 1.16.0](https://github.com/google/googletest/releases/tag/v1.16.0) is
+[Release 1.17.0](https://github.com/google/googletest/releases/tag/v1.17.0) is
 now available.
 
-The 1.16.x branch requires at least C++14.
+The 1.17.x branch [requires at least C++17]((https://opensource.google/documentation/policies/cplusplus-support#c_language_standard).
 
 #### Continuous Integration
 
diff --git a/3rdparty/googletest/googlemock/include/gmock/gmock-actions.h b/3rdparty/googletest/googlemock/include/gmock/gmock-actions.h
index aa47079948..5fe50e3d8e 100644
--- a/3rdparty/googletest/googlemock/include/gmock/gmock-actions.h
+++ b/3rdparty/googletest/googlemock/include/gmock/gmock-actions.h
@@ -835,6 +835,10 @@ class Action<R(Args...)> {
     Result operator()(const InArgs&...) const {
       return function_impl();
     }
+    template <typename... InArgs>
+    Result operator()(const InArgs&...) {
+      return function_impl();
+    }
 
     FunctionImpl function_impl;
   };
@@ -1451,6 +1455,30 @@ struct WithArgsAction {
     return OA{std::move(inner_action)};
   }
 
+  // As above, but in the case where we want to create a OnceAction from a const
+  // WithArgsAction. This is fine as long as the inner action doesn't need to
+  // move any of its state to create a OnceAction.
+  template <
+      typename R, typename... Args,
+      typename std::enable_if<
+          std::is_convertible<const InnerAction&,
+                              OnceAction<R(internal::TupleElement<
+                                           I, std::tuple<Args...>>...)>>::value,
+          int>::type = 0>
+  operator OnceAction<R(Args...)>() const& {  // NOLINT
+    struct OA {
+      OnceAction<InnerSignature<R, Args...>> inner_action;
+
+      R operator()(Args&&... args) && {
+        return std::move(inner_action)
+            .Call(std::get<I>(
+                std::forward_as_tuple(std::forward<Args>(args)...))...);
+      }
+    };
+
+    return OA{inner_action};
+  }
+
   template <
       typename R, typename... Args,
       typename std::enable_if<
@@ -1703,9 +1731,8 @@ template <size_t k>
 struct ReturnArgAction {
   template <typename... Args,
             typename = typename std::enable_if<(k < sizeof...(Args))>::type>
-  auto operator()(Args&&... args) const
-      -> decltype(std::get<k>(
-          std::forward_as_tuple(std::forward<Args>(args)...))) {
+  auto operator()(Args&&... args) const -> decltype(std::get<k>(
+      std::forward_as_tuple(std::forward<Args>(args)...))) {
     return std::get<k>(std::forward_as_tuple(std::forward<Args>(args)...));
   }
 };
@@ -1720,6 +1747,16 @@ struct SaveArgAction {
   }
 };
 
+template <size_t k, typename Ptr>
+struct SaveArgByMoveAction {
+  Ptr pointer;
+
+  template <typename... Args>
+  void operator()(Args&&... args) const {
+    *pointer = std::move(std::get<k>(std::tie(args...)));
+  }
+};
+
 template <size_t k, typename Ptr>
 struct SaveArgPointeeAction {
   Ptr pointer;
@@ -2070,6 +2107,13 @@ internal::SaveArgAction<k, Ptr> SaveArg(Ptr pointer) {
   return {pointer};
 }
 
+// Action SaveArgByMove<k>(pointer) moves the k-th (0-based) argument of the
+// mock function into *pointer.
+template <size_t k, typename Ptr>
+internal::SaveArgByMoveAction<k, Ptr> SaveArgByMove(Ptr pointer) {
+  return {pointer};
+}
+
 // Action SaveArgPointee<k>(pointer) saves the value pointed to
 // by the k-th (0-based) argument of the mock function to *pointer.
 template <size_t k, typename Ptr>
@@ -2213,9 +2257,9 @@ template <typename F, typename Impl>
 }
 
 #define GMOCK_INTERNAL_ARG_UNUSED(i, data, el) \
-  , GTEST_INTERNAL_ATTRIBUTE_MAYBE_UNUSED const arg##i##_type& arg##i
-#define GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_                               \
-  GTEST_INTERNAL_ATTRIBUTE_MAYBE_UNUSED const args_type& args GMOCK_PP_REPEAT( \
+  , [[maybe_unused]] const arg##i##_type& arg##i
+#define GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_          \
+  [[maybe_unused]] const args_type& args GMOCK_PP_REPEAT( \
       GMOCK_INTERNAL_ARG_UNUSED, , 10)
 
 #define GMOCK_INTERNAL_ARG(i, data, el) , const arg##i##_type& arg##i
@@ -2280,8 +2324,8 @@ template <typename F, typename Impl>
     std::shared_ptr<const gmock_Impl> impl_;                                   \
   };                                                                           \
   template <GMOCK_ACTION_TYPENAME_PARAMS_(params)>                             \
-  inline full_name<GMOCK_ACTION_TYPE_PARAMS_(params)> name(                    \
-      GMOCK_ACTION_TYPE_GVALUE_PARAMS_(params)) GTEST_MUST_USE_RESULT_;        \
+  [[nodiscard]] inline full_name<GMOCK_ACTION_TYPE_PARAMS_(params)> name(      \
+      GMOCK_ACTION_TYPE_GVALUE_PARAMS_(params));                               \
   template <GMOCK_ACTION_TYPENAME_PARAMS_(params)>                             \
   inline full_name<GMOCK_ACTION_TYPE_PARAMS_(params)> name(                    \
       GMOCK_ACTION_TYPE_GVALUE_PARAMS_(params)) {                              \
@@ -2316,7 +2360,7 @@ template <typename F, typename Impl>
       return_type gmock_PerformImpl(GMOCK_ACTION_ARG_TYPES_AND_NAMES_) const; \
     };                                                                        \
   };                                                                          \
-  inline name##Action name() GTEST_MUST_USE_RESULT_;                          \
+  [[nodiscard]] inline name##Action name();                                   \
   inline name##Action name() { return name##Action(); }                       \
   template <typename function_type, typename return_type, typename args_type, \
             GMOCK_ACTION_TEMPLATE_ARGS_NAMES_>                                \
diff --git a/3rdparty/googletest/googlemock/include/gmock/gmock-matchers.h b/3rdparty/googletest/googlemock/include/gmock/gmock-matchers.h
index e979544c72..aa3a5eb16f 100644
--- a/3rdparty/googletest/googlemock/include/gmock/gmock-matchers.h
+++ b/3rdparty/googletest/googlemock/include/gmock/gmock-matchers.h
@@ -257,6 +257,7 @@
 
 #include <algorithm>
 #include <cmath>
+#include <cstddef>
 #include <exception>
 #include <functional>
 #include <initializer_list>
@@ -1311,6 +1312,15 @@ class AllOfMatcherImpl : public MatcherInterface<const T&> {
 
   bool MatchAndExplain(const T& x,
                        MatchResultListener* listener) const override {
+    if (!listener->IsInterested()) {
+      // Fast path to avoid unnecessary formatting.
+      for (const Matcher<T>& matcher : matchers_) {
+        if (!matcher.Matches(x)) {
+          return false;
+        }
+      }
+      return true;
+    }
     // This method uses matcher's explanation when explaining the result.
     // However, if matcher doesn't provide one, this method uses matcher's
     // description.
@@ -1430,6 +1440,15 @@ class AnyOfMatcherImpl : public MatcherInterface<const T&> {
 
   bool MatchAndExplain(const T& x,
                        MatchResultListener* listener) const override {
+    if (!listener->IsInterested()) {
+      // Fast path to avoid unnecessary formatting of match explanations.
+      for (const Matcher<T>& matcher : matchers_) {
+        if (matcher.Matches(x)) {
+          return true;
+        }
+      }
+      return false;
+    }
     // This method uses matcher's explanation when explaining the result.
     // However, if matcher doesn't provide one, this method uses matcher's
     // description.
@@ -2097,11 +2116,11 @@ class WhenDynamicCastToMatcher<To&> : public WhenDynamicCastToMatcherBase<To&> {
 template <typename Class, typename FieldType>
 class FieldMatcher {
  public:
-  FieldMatcher(FieldType Class::*field,
+  FieldMatcher(FieldType Class::* field,
                const Matcher<const FieldType&>& matcher)
       : field_(field), matcher_(matcher), whose_field_("whose given field ") {}
 
-  FieldMatcher(const std::string& field_name, FieldType Class::*field,
+  FieldMatcher(const std::string& field_name, FieldType Class::* field,
                const Matcher<const FieldType&>& matcher)
       : field_(field),
         matcher_(matcher),
@@ -2145,7 +2164,7 @@ class FieldMatcher {
     return MatchAndExplainImpl(std::false_type(), *p, listener);
   }
 
-  const FieldType Class::*field_;
+  const FieldType Class::* field_;
   const Matcher<const FieldType&> matcher_;
 
   // Contains either "whose given field " if the name of the field is unknown
@@ -2855,6 +2874,54 @@ class ContainsMatcherImpl : public QuantifierMatcherImpl<Container> {
   }
 };
 
+// Implements DistanceFrom(target, get_distance, distance_matcher) for the given
+// argument types:
+//   * V is the type of the value to be matched.
+//   * T is the type of the target value.
+//   * Distance is the type of the distance between V and T.
+//   * GetDistance is the type of the functor for computing the distance between
+//     V and T.
+template <typename V, typename T, typename Distance, typename GetDistance>
+class DistanceFromMatcherImpl : public MatcherInterface<V> {
+ public:
+  // Arguments:
+  //   * target: the target value.
+  //   * get_distance: the functor for computing the distance between the value
+  //   being matched and target.
+  //   * distance_matcher: the matcher for checking the distance.
+  DistanceFromMatcherImpl(T target, GetDistance get_distance,
+                          Matcher<const Distance&> distance_matcher)
+      : target_(std::move(target)),
+        get_distance_(std::move(get_distance)),
+        distance_matcher_(std::move(distance_matcher)) {}
+
+  // Describes what this matcher does.
+  void DescribeTo(::std::ostream* os) const override {
+    distance_matcher_.DescribeTo(os);
+    *os << " away from " << PrintToString(target_);
+  }
+
+  void DescribeNegationTo(::std::ostream* os) const override {
+    distance_matcher_.DescribeNegationTo(os);
+    *os << " away from " << PrintToString(target_);
+  }
+
+  bool MatchAndExplain(V value, MatchResultListener* listener) const override {
+    const auto distance = get_distance_(value, target_);
+    const bool match = distance_matcher_.Matches(distance);
+    if (!match && listener->IsInterested()) {
+      *listener << "which is " << PrintToString(distance) << " away from "
+                << PrintToString(target_);
+    }
+    return match;
+  }
+
+ private:
+  const T target_;
+  const GetDistance get_distance_;
+  const Matcher<const Distance&> distance_matcher_;
+};
+
 // Implements Each(element_matcher) for the given argument type Container.
 // Symmetric to ContainsMatcherImpl.
 template <typename Container>
@@ -2990,6 +3057,52 @@ auto Second(T& x, Rank1) -> decltype((x.second)) {  // NOLINT
 }
 }  // namespace pair_getters
 
+// Default functor for computing the distance between two values.
+struct DefaultGetDistance {
+  template <typename T, typename U>
+  auto operator()(const T& lhs, const U& rhs) const {
+    using std::abs;
+    // Allow finding abs() in the type's namespace via ADL.
+    return abs(lhs - rhs);
+  }
+};
+
+// Implements polymorphic DistanceFrom(target, get_distance, distance_matcher)
+// matcher. Template arguments:
+//   * T is the type of the target value.
+//   * GetDistance is the type of the functor for computing the distance between
+//     the value being matched and the target.
+//   * DistanceMatcher is the type of the matcher for checking the distance.
+template <typename T, typename GetDistance, typename DistanceMatcher>
+class DistanceFromMatcher {
+ public:
+  // Arguments:
+  //   * target: the target value.
+  //   * get_distance: the functor for computing the distance between the value
+  //     being matched and target.
+  //   * distance_matcher: the matcher for checking the distance.
+  DistanceFromMatcher(T target, GetDistance get_distance,
+                      DistanceMatcher distance_matcher)
+      : target_(std::move(target)),
+        get_distance_(std::move(get_distance)),
+        distance_matcher_(std::move(distance_matcher)) {}
+
+  DistanceFromMatcher(const DistanceFromMatcher& other) = default;
+
+  // Implicitly converts to a monomorphic matcher of the given type.
+  template <typename V>
+  operator Matcher<V>() const {  // NOLINT
+    using Distance = decltype(get_distance_(std::declval<V>(), target_));
+    return Matcher<V>(new DistanceFromMatcherImpl<V, T, Distance, GetDistance>(
+        target_, get_distance_, distance_matcher_));
+  }
+
+ private:
+  const T target_;
+  const GetDistance get_distance_;
+  const DistanceMatcher distance_matcher_;
+};
+
 // Implements Key(inner_matcher) for the given argument pair type.
 // Key(inner_matcher) matches an std::pair whose 'first' field matches
 // inner_matcher.  For example, Contains(Key(Ge(5))) can be used to match an
@@ -3197,8 +3310,8 @@ class PairMatcher {
 };
 
 template <typename T, size_t... I>
-auto UnpackStructImpl(const T& t, std::index_sequence<I...>,
-                      int) -> decltype(std::tie(get<I>(t)...)) {
+auto UnpackStructImpl(const T& t, std::index_sequence<I...>, int)
+    -> decltype(std::tie(get<I>(t)...)) {
   static_assert(std::tuple_size<T>::value == sizeof...(I),
                 "Number of arguments doesn't match the number of fields.");
   return std::tie(get<I>(t)...);
@@ -3305,6 +3418,21 @@ auto UnpackStructImpl(const T& u, std::make_index_sequence<20>, char) {
   const auto& [a, b, c, d, e, f, g, h, i, j, k, l, m, n, o, p, q, r, s, t] = u;
   return std::tie(a, b, c, d, e, f, g, h, i, j, k, l, m, n, o, p, q, r, s, t);
 }
+template <typename T>
+auto UnpackStructImpl(const T& in, std::make_index_sequence<21>, char) {
+  const auto& [a, b, c, d, e, f, g, h, i, j, k, l, m, n, o, p, q, r, s, t, u] =
+      in;
+  return std::tie(a, b, c, d, e, f, g, h, i, j, k, l, m, n, o, p, q, r, s, t,
+                  u);
+}
+
+template <typename T>
+auto UnpackStructImpl(const T& in, std::make_index_sequence<22>, char) {
+  const auto& [a, b, c, d, e, f, g, h, i, j, k, l, m, n, o, p, q, r, s, t, u,
+               v] = in;
+  return std::tie(a, b, c, d, e, f, g, h, i, j, k, l, m, n, o, p, q, r, s, t, u,
+                  v);
+}
 #endif  // defined(__cpp_structured_bindings)
 
 template <size_t I, typename T>
@@ -3480,7 +3608,7 @@ class ElementsAreMatcherImpl : public MatcherInterface<Container> {
     StlContainerReference stl_container = View::ConstReference(container);
     auto it = stl_container.begin();
     size_t exam_pos = 0;
-    bool mismatch_found = false;  // Have we found a mismatched element yet?
+    bool unmatched_found = false;
 
     // Go through the elements and matchers in pairs, until we reach
     // the end of either the elements or the matchers, or until we find a
@@ -3496,11 +3624,23 @@ class ElementsAreMatcherImpl : public MatcherInterface<Container> {
       }
 
       if (!match) {
-        mismatch_found = true;
+        unmatched_found = true;
+        // We cannot store the iterator for the unmatched element to be used
+        // later, as some users use ElementsAre() with a "container" whose
+        // iterator is not copy-constructible or copy-assignable.
+        //
+        // We cannot store a pointer to the element either, as some container's
+        // iterators return a temporary.
+        //
+        // We cannot store the element itself either, as the element may not be
+        // copyable.
+        //
+        // Therefore, we just remember the index of the unmatched element,
+        // and use it later to print the unmatched element.
         break;
       }
     }
-    // If mismatch_found is true, 'exam_pos' is the index of the mismatch.
+    // If unmatched_found is true, exam_pos is the index of the mismatch.
 
     // Find how many elements the actual container has.  We avoid
     // calling size() s.t. this code works for stream-like "containers"
@@ -3521,10 +3661,27 @@ class ElementsAreMatcherImpl : public MatcherInterface<Container> {
       return false;
     }
 
-    if (mismatch_found) {
+    if (unmatched_found) {
       // The element count matches, but the exam_pos-th element doesn't match.
       if (listener_interested) {
-        *listener << "whose element #" << exam_pos << " doesn't match";
+        // Find the unmatched element.
+        auto unmatched_it = stl_container.begin();
+        // We cannot call std::advance() on the iterator, as some users use
+        // ElementsAre() with a "container" whose iterator is incompatible with
+        // std::advance() (e.g. it may not have the difference_type member
+        // type).
+        for (size_t i = 0; i != exam_pos; ++i) {
+          ++unmatched_it;
+        }
+
+        // If the array is long or the elements' print-out is large, it may be
+        // hard for the user to find the mismatched element and its
+        // corresponding matcher description. Therefore we print the index, the
+        // value of the mismatched element, and the corresponding matcher
+        // description to ease debugging.
+        *listener << "whose element #" << exam_pos << " ("
+                  << PrintToString(*unmatched_it) << ") ";
+        matchers_[exam_pos].DescribeNegationTo(listener->stream());
         PrintIfNotEmpty(explanations[exam_pos], listener->stream());
       }
       return false;
@@ -3930,15 +4087,15 @@ GTEST_API_ std::string FormatMatcherDescription(
 // Overloads to support `OptionalMatcher` being used with a type that either
 // supports implicit conversion to bool or a `has_value()` method.
 template <typename Optional>
-auto IsOptionalEngaged(const Optional& optional,
-                       Rank1) -> decltype(!!optional) {
+auto IsOptionalEngaged(const Optional& optional, Rank1)
+    -> decltype(!!optional) {
   // The use of double-negation here is to preserve historical behavior where
   // the matcher used `operator!` rather than directly using `operator bool`.
   return !static_cast<bool>(!optional);
 }
 template <typename Optional>
-auto IsOptionalEngaged(const Optional& optional,
-                       Rank0) -> decltype(!optional.has_value()) {
+auto IsOptionalEngaged(const Optional& optional, Rank0)
+    -> decltype(!optional.has_value()) {
   return optional.has_value();
 }
 
@@ -3979,6 +4136,10 @@ class OptionalMatcher {
         return false;
       }
       const ValueType& value = *optional;
+      if (!listener->IsInterested()) {
+        // Fast path to avoid unnecessary generation of match explanation.
+        return value_matcher_.Matches(value);
+      }
       StringMatchResultListener value_listener;
       const bool match = value_matcher_.MatchAndExplain(value, &value_listener);
       *listener << "whose value " << PrintToString(value)
@@ -4365,6 +4526,42 @@ inline internal::FloatingEqMatcher<double> DoubleNear(double rhs,
   return internal::FloatingEqMatcher<double>(rhs, false, max_abs_error);
 }
 
+// The DistanceFrom(target, get_distance, m) and DistanceFrom(target, m)
+// matchers work on arbitrary types that have the "distance" concept. What they
+// do:
+//
+// 1. compute the distance between the value and the target using
+//    get_distance(value, target) if get_distance is provided; otherwise compute
+//    the distance as abs(value - target).
+// 2. match the distance against the user-provided matcher m; if the match
+//    succeeds, the DistanceFrom() match succeeds.
+//
+// Examples:
+//
+//   // 0.5's distance from 0.6 should be <= 0.2.
+//   EXPECT_THAT(0.5, DistanceFrom(0.6, Le(0.2)));
+//
+//   Vector2D v1(3.0, 4.0), v2(3.2, 6.0);
+//   // v1's distance from v2, as computed by EuclideanDistance(v1, v2),
+//   // should be >= 1.0.
+//   EXPECT_THAT(v1, DistanceFrom(v2, EuclideanDistance, Ge(1.0)));
+
+template <typename T, typename GetDistance, typename DistanceMatcher>
+inline internal::DistanceFromMatcher<T, GetDistance, DistanceMatcher>
+DistanceFrom(T target, GetDistance get_distance,
+             DistanceMatcher distance_matcher) {
+  return internal::DistanceFromMatcher<T, GetDistance, DistanceMatcher>(
+      std::move(target), std::move(get_distance), std::move(distance_matcher));
+}
+
+template <typename T, typename DistanceMatcher>
+inline internal::DistanceFromMatcher<T, internal::DefaultGetDistance,
+                                     DistanceMatcher>
+DistanceFrom(T target, DistanceMatcher distance_matcher) {
+  return DistanceFrom(std::move(target), internal::DefaultGetDistance(),
+                      std::move(distance_matcher));
+}
+
 // Creates a matcher that matches any double argument approximately equal to
 // rhs, up to the specified max absolute error bound, including NaN values when
 // rhs is NaN.  The max absolute error bound must be non-negative.
@@ -4430,7 +4627,7 @@ WhenDynamicCastTo(const Matcher<To>& inner_matcher) {
 // matches a Foo object x if and only if x.number >= 5.
 template <typename Class, typename FieldType, typename FieldMatcher>
 inline PolymorphicMatcher<internal::FieldMatcher<Class, FieldType>> Field(
-    FieldType Class::*field, const FieldMatcher& matcher) {
+    FieldType Class::* field, const FieldMatcher& matcher) {
   return MakePolymorphicMatcher(internal::FieldMatcher<Class, FieldType>(
       field, MatcherCast<const FieldType&>(matcher)));
   // The call to MatcherCast() is required for supporting inner
@@ -4443,7 +4640,7 @@ inline PolymorphicMatcher<internal::FieldMatcher<Class, FieldType>> Field(
 // messages.
 template <typename Class, typename FieldType, typename FieldMatcher>
 inline PolymorphicMatcher<internal::FieldMatcher<Class, FieldType>> Field(
-    const std::string& field_name, FieldType Class::*field,
+    const std::string& field_name, FieldType Class::* field,
     const FieldMatcher& matcher) {
   return MakePolymorphicMatcher(internal::FieldMatcher<Class, FieldType>(
       field_name, field, MatcherCast<const FieldType&>(matcher)));
@@ -4453,6 +4650,10 @@ inline PolymorphicMatcher<internal::FieldMatcher<Class, FieldType>> Field(
 // matches 'matcher'.  For example,
 //   Property(&Foo::str, StartsWith("hi"))
 // matches a Foo object x if and only if x.str() starts with "hi".
+//
+// Warning: Don't use `Property()` against member functions that you do not
+// own, because taking addresses of functions is fragile and generally not part
+// of the contract of the function.
 template <typename Class, typename PropertyType, typename PropertyMatcher>
 inline PolymorphicMatcher<internal::PropertyMatcher<
     Class, PropertyType, PropertyType (Class::*)() const>>
@@ -5551,8 +5752,7 @@ PolymorphicMatcher<internal::ExceptionMatcherImpl<Err>> ThrowsMessage(
   template <typename arg_type>                                                \
   bool name##Matcher::gmock_Impl<arg_type>::MatchAndExplain(                  \
       const arg_type& arg,                                                    \
-      GTEST_INTERNAL_ATTRIBUTE_MAYBE_UNUSED ::testing::MatchResultListener*   \
-          result_listener) const
+      [[maybe_unused]] ::testing::MatchResultListener* result_listener) const
 
 #define MATCHER_P(name, p0, description) \
   GMOCK_INTERNAL_MATCHER(name, name##MatcherP, description, (#p0), (p0))
@@ -5637,8 +5837,8 @@ PolymorphicMatcher<internal::ExceptionMatcherImpl<Err>> ThrowsMessage(
   bool full_name<GMOCK_INTERNAL_MATCHER_TYPE_PARAMS(args)>::                   \
       gmock_Impl<arg_type>::MatchAndExplain(                                   \
           const arg_type& arg,                                                 \
-          GTEST_INTERNAL_ATTRIBUTE_MAYBE_UNUSED ::testing::                    \
-              MatchResultListener* result_listener) const
+          [[maybe_unused]] ::testing::MatchResultListener* result_listener)    \
+          const
 
 #define GMOCK_INTERNAL_MATCHER_TEMPLATE_PARAMS(args) \
   GMOCK_PP_TAIL(                                     \
diff --git a/3rdparty/googletest/googlemock/include/gmock/gmock-more-actions.h b/3rdparty/googletest/googlemock/include/gmock/gmock-more-actions.h
index 55294dbdbd..eacfdcd9e7 100644
--- a/3rdparty/googletest/googlemock/include/gmock/gmock-more-actions.h
+++ b/3rdparty/googletest/googlemock/include/gmock/gmock-more-actions.h
@@ -521,9 +521,8 @@
         GMOCK_INTERNAL_DECL_##value_params)                                    \
         GMOCK_PP_IF(GMOCK_PP_IS_EMPTY(GMOCK_INTERNAL_COUNT_##value_params),    \
                     = default;                                                 \
-                    ,                                                          \
-                    : impl_(std::make_shared<gmock_Impl>(                      \
-                        GMOCK_INTERNAL_LIST_##value_params)){})                \
+                    , : impl_(std::make_shared<gmock_Impl>(                    \
+                          GMOCK_INTERNAL_LIST_##value_params)){})              \
             GMOCK_ACTION_CLASS_(name, value_params)(const GMOCK_ACTION_CLASS_( \
                 name, value_params) &) noexcept GMOCK_INTERNAL_DEFN_COPY_      \
         ##value_params                                                         \
@@ -551,10 +550,10 @@
   };                                                                           \
   template <GMOCK_INTERNAL_DECL_##template_params                              \
                 GMOCK_INTERNAL_DECL_TYPE_##value_params>                       \
-  GMOCK_ACTION_CLASS_(                                                         \
+  [[nodiscard]] GMOCK_ACTION_CLASS_(                                           \
       name, value_params)<GMOCK_INTERNAL_LIST_##template_params                \
                               GMOCK_INTERNAL_LIST_TYPE_##value_params>         \
-      name(GMOCK_INTERNAL_DECL_##value_params) GTEST_MUST_USE_RESULT_;         \
+      name(GMOCK_INTERNAL_DECL_##value_params);                                \
   template <GMOCK_INTERNAL_DECL_##template_params                              \
                 GMOCK_INTERNAL_DECL_TYPE_##value_params>                       \
   inline GMOCK_ACTION_CLASS_(                                                  \
diff --git a/3rdparty/googletest/googlemock/include/gmock/internal/gmock-internal-utils.h b/3rdparty/googletest/googlemock/include/gmock/internal/gmock-internal-utils.h
index b7685f5730..8fc1ddc7ab 100644
--- a/3rdparty/googletest/googlemock/include/gmock/internal/gmock-internal-utils.h
+++ b/3rdparty/googletest/googlemock/include/gmock/internal/gmock-internal-utils.h
@@ -467,11 +467,6 @@ struct Function<R(Args...)> {
   using MakeResultIgnoredValue = IgnoredValue(Args...);
 };
 
-#ifdef GTEST_INTERNAL_NEED_REDUNDANT_CONSTEXPR_DECL
-template <typename R, typename... Args>
-constexpr size_t Function<R(Args...)>::ArgumentCount;
-#endif
-
 // Workaround for MSVC error C2039: 'type': is not a member of 'std'
 // when std::tuple_element is used.
 // See: https://github.com/google/googletest/issues/3931
diff --git a/3rdparty/googletest/googletest/README.md b/3rdparty/googletest/googletest/README.md
index 5de23c5ed2..a760759eb0 100644
--- a/3rdparty/googletest/googletest/README.md
+++ b/3rdparty/googletest/googletest/README.md
@@ -25,7 +25,7 @@ When building GoogleTest as a standalone project, the typical workflow starts
 with
 
 ```
-git clone https://github.com/google/googletest.git -b v1.16.0
+git clone https://github.com/google/googletest.git -b v1.17.0
 cd googletest        # Main directory of the cloned repository.
 mkdir build          # Create a directory to hold the build output.
 cd build
@@ -124,9 +124,9 @@ match the project in which it is included.
 
 #### C++ Standard Version
 
-An environment that supports C++14 is required in order to successfully build
+An environment that supports C++17 is required in order to successfully build
 GoogleTest. One way to ensure this is to specify the standard in the top-level
-project, for example by using the `set(CMAKE_CXX_STANDARD 14)` command along
+project, for example by using the `set(CMAKE_CXX_STANDARD 17)` command along
 with `set(CMAKE_CXX_STANDARD_REQUIRED ON)`. If this is not feasible, for example
 in a C project using GoogleTest for validation, then it can be specified by
 adding it to the options for cmake via the`-DCMAKE_CXX_FLAGS` option.
diff --git a/3rdparty/googletest/googletest/include/gtest/gtest-assertion-result.h b/3rdparty/googletest/googletest/include/gtest/gtest-assertion-result.h
index 74eb2b1f3c..954e7c40f3 100644
--- a/3rdparty/googletest/googletest/include/gtest/gtest-assertion-result.h
+++ b/3rdparty/googletest/googletest/include/gtest/gtest-assertion-result.h
@@ -129,6 +129,13 @@ namespace testing {
 //
 //   Expected: Foo() is even
 //     Actual: it's 5
+//
+
+// Returned AssertionResult objects may not be ignored.
+// Note: Disabled for SWIG as it doesn't parse attributes correctly.
+#if !defined(SWIG)
+class [[nodiscard]] AssertionResult;
+#endif  // !SWIG
 
 class GTEST_API_ AssertionResult {
  public:
diff --git a/3rdparty/googletest/googletest/include/gtest/gtest-param-test.h b/3rdparty/googletest/googletest/include/gtest/gtest-param-test.h
index 55ee088b93..9e023f96dc 100644
--- a/3rdparty/googletest/googletest/include/gtest/gtest-param-test.h
+++ b/3rdparty/googletest/googletest/include/gtest/gtest-param-test.h
@@ -174,6 +174,7 @@ TEST_P(DerivedTest, DoesBlah) {
 
 #endif  // 0
 
+#include <functional>
 #include <iterator>
 #include <utility>
 
@@ -413,7 +414,8 @@ internal::CartesianProductHolder<Generator...> Combine(const Generator&... g) {
 // Synopsis:
 // ConvertGenerator<T>(gen)
 //   - returns a generator producing the same elements as generated by gen, but
-//     each element is static_cast to type T before being returned
+//     each T-typed element is static_cast to a type deduced from the interface
+//     that accepts this generator, and then returned
 //
 // It is useful when using the Combine() function to get the generated
 // parameters in a custom type instead of std::tuple
@@ -441,10 +443,65 @@ internal::CartesianProductHolder<Generator...> Combine(const Generator&... g) {
 //                              Combine(Values("cat", "dog"),
 //                                      Values(BLACK, WHITE))));
 //
-template <typename T>
-internal::ParamConverterGenerator<T> ConvertGenerator(
-    internal::ParamGenerator<T> gen) {
-  return internal::ParamConverterGenerator<T>(gen);
+template <typename RequestedT>
+internal::ParamConverterGenerator<RequestedT> ConvertGenerator(
+    internal::ParamGenerator<RequestedT> gen) {
+  return internal::ParamConverterGenerator<RequestedT>(std::move(gen));
+}
+
+// As above, but takes a callable as a second argument. The callable converts
+// the generated parameter to the test fixture's parameter type. This allows you
+// to use a parameter type that does not have a converting constructor from the
+// generated type.
+//
+// Example:
+//
+// This will instantiate tests in test suite AnimalTest each one with
+// the parameter values tuple("cat", BLACK), tuple("cat", WHITE),
+// tuple("dog", BLACK), and tuple("dog", WHITE):
+//
+// enum Color { BLACK, GRAY, WHITE };
+// struct ParamType {
+//   std::string animal;
+//   Color color;
+// };
+// class AnimalTest
+//     : public testing::TestWithParam<ParamType> {...};
+//
+// TEST_P(AnimalTest, AnimalLooksNice) {...}
+//
+// INSTANTIATE_TEST_SUITE_P(
+//     AnimalVariations, AnimalTest,
+//     ConvertGenerator(Combine(Values("cat", "dog"), Values(BLACK, WHITE)),
+//                      [](std::tuple<std::string, Color> t) {
+//                        return ParamType{.animal = std::get<0>(t),
+//                                         .color = std::get<1>(t)};
+//                      }));
+//
+template <typename T, int&... ExplicitArgumentBarrier, typename Gen,
+          typename Func,
+          typename StdFunction = decltype(std::function(std::declval<Func>()))>
+internal::ParamConverterGenerator<T, StdFunction> ConvertGenerator(Gen&& gen,
+                                                                   Func&& f) {
+  return internal::ParamConverterGenerator<T, StdFunction>(
+      std::forward<Gen>(gen), std::forward<Func>(f));
+}
+
+// As above, but infers the T from the supplied std::function instead of
+// having the caller specify it.
+template <int&... ExplicitArgumentBarrier, typename Gen, typename Func,
+          typename StdFunction = decltype(std::function(std::declval<Func>()))>
+auto ConvertGenerator(Gen&& gen, Func&& f) {
+  constexpr bool is_single_arg_std_function =
+      internal::IsSingleArgStdFunction<StdFunction>::value;
+  if constexpr (is_single_arg_std_function) {
+    return ConvertGenerator<
+        typename internal::FuncSingleParamType<StdFunction>::type>(
+        std::forward<Gen>(gen), std::forward<Func>(f));
+  } else {
+    static_assert(is_single_arg_std_function,
+                  "The call signature must contain a single argument.");
+  }
 }
 
 #define TEST_P(test_suite_name, test_name)                                     \
@@ -469,7 +526,7 @@ internal::ParamConverterGenerator<T> ConvertGenerator(
               ::testing::internal::CodeLocation(__FILE__, __LINE__));          \
       return 0;                                                                \
     }                                                                          \
-    GTEST_INTERNAL_ATTRIBUTE_MAYBE_UNUSED static int gtest_registering_dummy_; \
+    [[maybe_unused]] static int gtest_registering_dummy_;                      \
   };                                                                           \
   int GTEST_TEST_CLASS_NAME_(test_suite_name,                                  \
                              test_name)::gtest_registering_dummy_ =            \
@@ -493,39 +550,38 @@ internal::ParamConverterGenerator<T> ConvertGenerator(
 #define GTEST_GET_FIRST_(first, ...) first
 #define GTEST_GET_SECOND_(first, second, ...) second
 
-#define INSTANTIATE_TEST_SUITE_P(prefix, test_suite_name, ...)               \
-  static ::testing::internal::ParamGenerator<test_suite_name::ParamType>     \
-      gtest_##prefix##test_suite_name##_EvalGenerator_() {                   \
-    return GTEST_EXPAND_(GTEST_GET_FIRST_(__VA_ARGS__, DUMMY_PARAM_));       \
-  }                                                                          \
-  static ::std::string gtest_##prefix##test_suite_name##_EvalGenerateName_(  \
-      const ::testing::TestParamInfo<test_suite_name::ParamType>& info) {    \
-    if (::testing::internal::AlwaysFalse()) {                                \
-      ::testing::internal::TestNotEmpty(GTEST_EXPAND_(GTEST_GET_SECOND_(     \
-          __VA_ARGS__,                                                       \
-          ::testing::internal::DefaultParamName<test_suite_name::ParamType>, \
-          DUMMY_PARAM_)));                                                   \
-      auto t = std::make_tuple(__VA_ARGS__);                                 \
-      static_assert(std::tuple_size<decltype(t)>::value <= 2,                \
-                    "Too Many Args!");                                       \
-    }                                                                        \
-    return ((GTEST_EXPAND_(GTEST_GET_SECOND_(                                \
-        __VA_ARGS__,                                                         \
-        ::testing::internal::DefaultParamName<test_suite_name::ParamType>,   \
-        DUMMY_PARAM_))))(info);                                              \
-  }                                                                          \
-  GTEST_INTERNAL_ATTRIBUTE_MAYBE_UNUSED static int                           \
-      gtest_##prefix##test_suite_name##_dummy_ =                             \
-          ::testing::UnitTest::GetInstance()                                 \
-              ->parameterized_test_registry()                                \
-              .GetTestSuitePatternHolder<test_suite_name>(                   \
-                  GTEST_STRINGIFY_(test_suite_name),                         \
-                  ::testing::internal::CodeLocation(__FILE__, __LINE__))     \
-              ->AddTestSuiteInstantiation(                                   \
-                  GTEST_STRINGIFY_(prefix),                                  \
-                  &gtest_##prefix##test_suite_name##_EvalGenerator_,         \
-                  &gtest_##prefix##test_suite_name##_EvalGenerateName_,      \
-                  __FILE__, __LINE__)
+#define INSTANTIATE_TEST_SUITE_P(prefix, test_suite_name, ...)                \
+  static ::testing::internal::ParamGenerator<test_suite_name::ParamType>      \
+      gtest_##prefix##test_suite_name##_EvalGenerator_() {                    \
+    return GTEST_EXPAND_(GTEST_GET_FIRST_(__VA_ARGS__, DUMMY_PARAM_));        \
+  }                                                                           \
+  static ::std::string gtest_##prefix##test_suite_name##_EvalGenerateName_(   \
+      const ::testing::TestParamInfo<test_suite_name::ParamType>& info) {     \
+    if (::testing::internal::AlwaysFalse()) {                                 \
+      ::testing::internal::TestNotEmpty(GTEST_EXPAND_(GTEST_GET_SECOND_(      \
+          __VA_ARGS__,                                                        \
+          ::testing::internal::DefaultParamName<test_suite_name::ParamType>,  \
+          DUMMY_PARAM_)));                                                    \
+      auto t = std::make_tuple(__VA_ARGS__);                                  \
+      static_assert(std::tuple_size<decltype(t)>::value <= 2,                 \
+                    "Too Many Args!");                                        \
+    }                                                                         \
+    return ((GTEST_EXPAND_(GTEST_GET_SECOND_(                                 \
+        __VA_ARGS__,                                                          \
+        ::testing::internal::DefaultParamName<test_suite_name::ParamType>,    \
+        DUMMY_PARAM_))))(info);                                               \
+  }                                                                           \
+  [[maybe_unused]] static int gtest_##prefix##test_suite_name##_dummy_ =      \
+      ::testing::UnitTest::GetInstance()                                      \
+          ->parameterized_test_registry()                                     \
+          .GetTestSuitePatternHolder<test_suite_name>(                        \
+              GTEST_STRINGIFY_(test_suite_name),                              \
+              ::testing::internal::CodeLocation(__FILE__, __LINE__))          \
+          ->AddTestSuiteInstantiation(                                        \
+              GTEST_STRINGIFY_(prefix),                                       \
+              &gtest_##prefix##test_suite_name##_EvalGenerator_,              \
+              &gtest_##prefix##test_suite_name##_EvalGenerateName_, __FILE__, \
+              __LINE__)
 
 // Allow Marking a Parameterized test class as not needing to be instantiated.
 #define GTEST_ALLOW_UNINSTANTIATED_PARAMETERIZED_TEST(T)                  \
diff --git a/3rdparty/googletest/googletest/include/gtest/gtest-typed-test.h b/3rdparty/googletest/googletest/include/gtest/gtest-typed-test.h
index 305b0b50dd..442e00bd34 100644
--- a/3rdparty/googletest/googletest/include/gtest/gtest-typed-test.h
+++ b/3rdparty/googletest/googletest/include/gtest/gtest-typed-test.h
@@ -194,34 +194,33 @@ INSTANTIATE_TYPED_TEST_SUITE_P(My, FooTest, MyTypes);
   typedef ::testing::internal::NameGeneratorSelector<__VA_ARGS__>::type \
   GTEST_NAME_GENERATOR_(CaseName)
 
-#define TYPED_TEST(CaseName, TestName)                                       \
-  static_assert(sizeof(GTEST_STRINGIFY_(TestName)) > 1,                      \
-                "test-name must not be empty");                              \
-  template <typename gtest_TypeParam_>                                       \
-  class GTEST_TEST_CLASS_NAME_(CaseName, TestName)                           \
-      : public CaseName<gtest_TypeParam_> {                                  \
-   private:                                                                  \
-    typedef CaseName<gtest_TypeParam_> TestFixture;                          \
-    typedef gtest_TypeParam_ TypeParam;                                      \
-    void TestBody() override;                                                \
-  };                                                                         \
-  GTEST_INTERNAL_ATTRIBUTE_MAYBE_UNUSED static bool                          \
-      gtest_##CaseName##_##TestName##_registered_ =                          \
-          ::testing::internal::TypeParameterizedTest<                        \
-              CaseName,                                                      \
-              ::testing::internal::TemplateSel<GTEST_TEST_CLASS_NAME_(       \
-                  CaseName, TestName)>,                                      \
-              GTEST_TYPE_PARAMS_(                                            \
-                  CaseName)>::Register("",                                   \
-                                       ::testing::internal::CodeLocation(    \
-                                           __FILE__, __LINE__),              \
-                                       GTEST_STRINGIFY_(CaseName),           \
-                                       GTEST_STRINGIFY_(TestName), 0,        \
-                                       ::testing::internal::GenerateNames<   \
-                                           GTEST_NAME_GENERATOR_(CaseName),  \
-                                           GTEST_TYPE_PARAMS_(CaseName)>()); \
-  template <typename gtest_TypeParam_>                                       \
-  void GTEST_TEST_CLASS_NAME_(CaseName,                                      \
+#define TYPED_TEST(CaseName, TestName)                                        \
+  static_assert(sizeof(GTEST_STRINGIFY_(TestName)) > 1,                       \
+                "test-name must not be empty");                               \
+  template <typename gtest_TypeParam_>                                        \
+  class GTEST_TEST_CLASS_NAME_(CaseName, TestName)                            \
+      : public CaseName<gtest_TypeParam_> {                                   \
+   private:                                                                   \
+    typedef CaseName<gtest_TypeParam_> TestFixture;                           \
+    typedef gtest_TypeParam_ TypeParam;                                       \
+    void TestBody() override;                                                 \
+  };                                                                          \
+  [[maybe_unused]] static bool gtest_##CaseName##_##TestName##_registered_ =  \
+      ::testing::internal::TypeParameterizedTest<                             \
+          CaseName,                                                           \
+          ::testing::internal::TemplateSel<GTEST_TEST_CLASS_NAME_(CaseName,   \
+                                                                  TestName)>, \
+          GTEST_TYPE_PARAMS_(                                                 \
+              CaseName)>::Register("",                                        \
+                                   ::testing::internal::CodeLocation(         \
+                                       __FILE__, __LINE__),                   \
+                                   GTEST_STRINGIFY_(CaseName),                \
+                                   GTEST_STRINGIFY_(TestName), 0,             \
+                                   ::testing::internal::GenerateNames<        \
+                                       GTEST_NAME_GENERATOR_(CaseName),       \
+                                       GTEST_TYPE_PARAMS_(CaseName)>());      \
+  template <typename gtest_TypeParam_>                                        \
+  void GTEST_TEST_CLASS_NAME_(CaseName,                                       \
                               TestName)<gtest_TypeParam_>::TestBody()
 
 // Legacy API is deprecated but still available
@@ -268,23 +267,22 @@ INSTANTIATE_TYPED_TEST_SUITE_P(My, FooTest, MyTypes);
   TYPED_TEST_SUITE_P
 #endif  // GTEST_REMOVE_LEGACY_TEST_CASEAPI_
 
-#define TYPED_TEST_P(SuiteName, TestName)                         \
-  namespace GTEST_SUITE_NAMESPACE_(SuiteName) {                   \
-  template <typename gtest_TypeParam_>                            \
-  class TestName : public SuiteName<gtest_TypeParam_> {           \
-   private:                                                       \
-    typedef SuiteName<gtest_TypeParam_> TestFixture;              \
-    typedef gtest_TypeParam_ TypeParam;                           \
-    void TestBody() override;                                     \
-  };                                                              \
-  GTEST_INTERNAL_ATTRIBUTE_MAYBE_UNUSED static bool               \
-      gtest_##TestName##_defined_ =                               \
-          GTEST_TYPED_TEST_SUITE_P_STATE_(SuiteName).AddTestName( \
-              __FILE__, __LINE__, GTEST_STRINGIFY_(SuiteName),    \
-              GTEST_STRINGIFY_(TestName));                        \
-  }                                                               \
-  template <typename gtest_TypeParam_>                            \
-  void GTEST_SUITE_NAMESPACE_(                                    \
+#define TYPED_TEST_P(SuiteName, TestName)                     \
+  namespace GTEST_SUITE_NAMESPACE_(SuiteName) {               \
+  template <typename gtest_TypeParam_>                        \
+  class TestName : public SuiteName<gtest_TypeParam_> {       \
+   private:                                                   \
+    typedef SuiteName<gtest_TypeParam_> TestFixture;          \
+    typedef gtest_TypeParam_ TypeParam;                       \
+    void TestBody() override;                                 \
+  };                                                          \
+  [[maybe_unused]] static bool gtest_##TestName##_defined_ =  \
+      GTEST_TYPED_TEST_SUITE_P_STATE_(SuiteName).AddTestName( \
+          __FILE__, __LINE__, GTEST_STRINGIFY_(SuiteName),    \
+          GTEST_STRINGIFY_(TestName));                        \
+  }                                                           \
+  template <typename gtest_TypeParam_>                        \
+  void GTEST_SUITE_NAMESPACE_(                                \
       SuiteName)::TestName<gtest_TypeParam_>::TestBody()
 
 // Note: this won't work correctly if the trailing arguments are macros.
@@ -292,8 +290,8 @@ INSTANTIATE_TYPED_TEST_SUITE_P(My, FooTest, MyTypes);
   namespace GTEST_SUITE_NAMESPACE_(SuiteName) {                             \
   typedef ::testing::internal::Templates<__VA_ARGS__> gtest_AllTests_;      \
   }                                                                         \
-  GTEST_INTERNAL_ATTRIBUTE_MAYBE_UNUSED static const char* const            \
-  GTEST_REGISTERED_TEST_NAMES_(SuiteName) =                                 \
+  [[maybe_unused]] static const char* const GTEST_REGISTERED_TEST_NAMES_(   \
+      SuiteName) =                                                          \
       GTEST_TYPED_TEST_SUITE_P_STATE_(SuiteName).VerifyRegisteredTestNames( \
           GTEST_STRINGIFY_(SuiteName), __FILE__, __LINE__, #__VA_ARGS__)
 
@@ -305,24 +303,22 @@ INSTANTIATE_TYPED_TEST_SUITE_P(My, FooTest, MyTypes);
   REGISTER_TYPED_TEST_SUITE_P
 #endif  // GTEST_REMOVE_LEGACY_TEST_CASEAPI_
 
-#define INSTANTIATE_TYPED_TEST_SUITE_P(Prefix, SuiteName, Types, ...)        \
-  static_assert(sizeof(GTEST_STRINGIFY_(Prefix)) > 1,                        \
-                "test-suit-prefix must not be empty");                       \
-  GTEST_INTERNAL_ATTRIBUTE_MAYBE_UNUSED static bool                          \
-      gtest_##Prefix##_##SuiteName =                                         \
-          ::testing::internal::TypeParameterizedTestSuite<                   \
-              SuiteName, GTEST_SUITE_NAMESPACE_(SuiteName)::gtest_AllTests_, \
-              ::testing::internal::GenerateTypeList<Types>::type>::          \
-              Register(                                                      \
-                  GTEST_STRINGIFY_(Prefix),                                  \
-                  ::testing::internal::CodeLocation(__FILE__, __LINE__),     \
-                  &GTEST_TYPED_TEST_SUITE_P_STATE_(SuiteName),               \
-                  GTEST_STRINGIFY_(SuiteName),                               \
-                  GTEST_REGISTERED_TEST_NAMES_(SuiteName),                   \
-                  ::testing::internal::GenerateNames<                        \
-                      ::testing::internal::NameGeneratorSelector<            \
-                          __VA_ARGS__>::type,                                \
-                      ::testing::internal::GenerateTypeList<Types>::type>())
+#define INSTANTIATE_TYPED_TEST_SUITE_P(Prefix, SuiteName, Types, ...)     \
+  static_assert(sizeof(GTEST_STRINGIFY_(Prefix)) > 1,                     \
+                "test-suit-prefix must not be empty");                    \
+  [[maybe_unused]] static bool gtest_##Prefix##_##SuiteName =             \
+      ::testing::internal::TypeParameterizedTestSuite<                    \
+          SuiteName, GTEST_SUITE_NAMESPACE_(SuiteName)::gtest_AllTests_,  \
+          ::testing::internal::GenerateTypeList<Types>::type>::           \
+          Register(GTEST_STRINGIFY_(Prefix),                              \
+                   ::testing::internal::CodeLocation(__FILE__, __LINE__), \
+                   &GTEST_TYPED_TEST_SUITE_P_STATE_(SuiteName),           \
+                   GTEST_STRINGIFY_(SuiteName),                           \
+                   GTEST_REGISTERED_TEST_NAMES_(SuiteName),               \
+                   ::testing::internal::GenerateNames<                    \
+                       ::testing::internal::NameGeneratorSelector<        \
+                           __VA_ARGS__>::type,                            \
+                       ::testing::internal::GenerateTypeList<Types>::type>())
 
 // Legacy API is deprecated but still available
 #ifndef GTEST_REMOVE_LEGACY_TEST_CASEAPI_
diff --git a/3rdparty/googletest/googletest/include/gtest/gtest.h b/3rdparty/googletest/googletest/include/gtest/gtest.h
index c899669520..7be0caaf51 100644
--- a/3rdparty/googletest/googletest/include/gtest/gtest.h
+++ b/3rdparty/googletest/googletest/include/gtest/gtest.h
@@ -1123,7 +1123,7 @@ class GTEST_API_ UnitTest {
   // This method can only be called from the main thread.
   //
   // INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
-  int Run() GTEST_MUST_USE_RESULT_;
+  [[nodiscard]] int Run();
 
   // Returns the working directory when the first TEST() or TEST_F()
   // was executed.  The UnitTest object owns the string.
@@ -2329,7 +2329,7 @@ TestInfo* RegisterTest(const char* test_suite_name, const char* test_name,
 //
 // This function was formerly a macro; thus, it is in the global
 // namespace and has an all-caps name.
-int RUN_ALL_TESTS() GTEST_MUST_USE_RESULT_;
+[[nodiscard]] int RUN_ALL_TESTS();
 
 inline int RUN_ALL_TESTS() { return ::testing::UnitTest::GetInstance()->Run(); }
 
diff --git a/3rdparty/googletest/googletest/include/gtest/internal/gtest-internal.h b/3rdparty/googletest/googletest/include/gtest/internal/gtest-internal.h
index 7e55dc605c..808d89be91 100644
--- a/3rdparty/googletest/googletest/include/gtest/internal/gtest-internal.h
+++ b/3rdparty/googletest/googletest/include/gtest/internal/gtest-internal.h
@@ -290,17 +290,17 @@ class FloatingPoint {
   // around may change its bits, although the new value is guaranteed
   // to be also a NAN.  Therefore, don't expect this constructor to
   // preserve the bits in x when x is a NAN.
-  explicit FloatingPoint(const RawType& x) { u_.value_ = x; }
+  explicit FloatingPoint(RawType x) { memcpy(&bits_, &x, sizeof(x)); }
 
   // Static methods
 
   // Reinterprets a bit pattern as a floating-point number.
   //
   // This function is needed to test the AlmostEquals() method.
-  static RawType ReinterpretBits(const Bits bits) {
-    FloatingPoint fp(0);
-    fp.u_.bits_ = bits;
-    return fp.u_.value_;
+  static RawType ReinterpretBits(Bits bits) {
+    RawType fp;
+    memcpy(&fp, &bits, sizeof(fp));
+    return fp;
   }
 
   // Returns the floating-point number that represent positive infinity.
@@ -309,16 +309,16 @@ class FloatingPoint {
   // Non-static methods
 
   // Returns the bits that represents this number.
-  const Bits& bits() const { return u_.bits_; }
+  const Bits& bits() const { return bits_; }
 
   // Returns the exponent bits of this number.
-  Bits exponent_bits() const { return kExponentBitMask & u_.bits_; }
+  Bits exponent_bits() const { return kExponentBitMask & bits_; }
 
   // Returns the fraction bits of this number.
-  Bits fraction_bits() const { return kFractionBitMask & u_.bits_; }
+  Bits fraction_bits() const { return kFractionBitMask & bits_; }
 
   // Returns the sign bit of this number.
-  Bits sign_bit() const { return kSignBitMask & u_.bits_; }
+  Bits sign_bit() const { return kSignBitMask & bits_; }
 
   // Returns true if and only if this is NAN (not a number).
   bool is_nan() const {
@@ -332,23 +332,16 @@ class FloatingPoint {
   //
   //   - returns false if either number is (or both are) NAN.
   //   - treats really large numbers as almost equal to infinity.
-  //   - thinks +0.0 and -0.0 are 0 DLP's apart.
+  //   - thinks +0.0 and -0.0 are 0 ULP's apart.
   bool AlmostEquals(const FloatingPoint& rhs) const {
     // The IEEE standard says that any comparison operation involving
     // a NAN must return false.
     if (is_nan() || rhs.is_nan()) return false;
 
-    return DistanceBetweenSignAndMagnitudeNumbers(u_.bits_, rhs.u_.bits_) <=
-           kMaxUlps;
+    return DistanceBetweenSignAndMagnitudeNumbers(bits_, rhs.bits_) <= kMaxUlps;
   }
 
  private:
-  // The data type used to store the actual floating-point number.
-  union FloatingPointUnion {
-    RawType value_;  // The raw floating-point number.
-    Bits bits_;      // The bits that represent the number.
-  };
-
   // Converts an integer from the sign-and-magnitude representation to
   // the biased representation.  More precisely, let N be 2 to the
   // power of (kBitCount - 1), an integer x is represented by the
@@ -364,7 +357,7 @@ class FloatingPoint {
   //
   // Read https://en.wikipedia.org/wiki/Signed_number_representations
   // for more details on signed number representations.
-  static Bits SignAndMagnitudeToBiased(const Bits& sam) {
+  static Bits SignAndMagnitudeToBiased(Bits sam) {
     if (kSignBitMask & sam) {
       // sam represents a negative number.
       return ~sam + 1;
@@ -376,14 +369,13 @@ class FloatingPoint {
 
   // Given two numbers in the sign-and-magnitude representation,
   // returns the distance between them as an unsigned number.
-  static Bits DistanceBetweenSignAndMagnitudeNumbers(const Bits& sam1,
-                                                     const Bits& sam2) {
+  static Bits DistanceBetweenSignAndMagnitudeNumbers(Bits sam1, Bits sam2) {
     const Bits biased1 = SignAndMagnitudeToBiased(sam1);
     const Bits biased2 = SignAndMagnitudeToBiased(sam2);
     return (biased1 >= biased2) ? (biased1 - biased2) : (biased2 - biased1);
   }
 
-  FloatingPointUnion u_;
+  Bits bits_;  // The bits that represent the number.
 };
 
 // Typedefs the instances of the FloatingPoint template class that we
@@ -894,11 +886,6 @@ class HasDebugStringAndShortDebugString {
       HasDebugStringType::value && HasShortDebugStringType::value;
 };
 
-#ifdef GTEST_INTERNAL_NEED_REDUNDANT_CONSTEXPR_DECL
-template <typename T>
-constexpr bool HasDebugStringAndShortDebugString<T>::value;
-#endif
-
 // When the compiler sees expression IsContainerTest<C>(0), if C is an
 // STL-style container class, the first overload of IsContainerTest
 // will be viable (since both C::iterator* and C::const_iterator* are
@@ -1241,30 +1228,40 @@ class FlatTuple
 
 // Utility functions to be called with static_assert to induce deprecation
 // warnings.
-GTEST_INTERNAL_DEPRECATED(
+[[deprecated(
     "INSTANTIATE_TEST_CASE_P is deprecated, please use "
-    "INSTANTIATE_TEST_SUITE_P")
-constexpr bool InstantiateTestCase_P_IsDeprecated() { return true; }
+    "INSTANTIATE_TEST_SUITE_P")]]
+constexpr bool InstantiateTestCase_P_IsDeprecated() {
+  return true;
+}
 
-GTEST_INTERNAL_DEPRECATED(
+[[deprecated(
     "TYPED_TEST_CASE_P is deprecated, please use "
-    "TYPED_TEST_SUITE_P")
-constexpr bool TypedTestCase_P_IsDeprecated() { return true; }
+    "TYPED_TEST_SUITE_P")]]
+constexpr bool TypedTestCase_P_IsDeprecated() {
+  return true;
+}
 
-GTEST_INTERNAL_DEPRECATED(
+[[deprecated(
     "TYPED_TEST_CASE is deprecated, please use "
-    "TYPED_TEST_SUITE")
-constexpr bool TypedTestCaseIsDeprecated() { return true; }
+    "TYPED_TEST_SUITE")]]
+constexpr bool TypedTestCaseIsDeprecated() {
+  return true;
+}
 
-GTEST_INTERNAL_DEPRECATED(
+[[deprecated(
     "REGISTER_TYPED_TEST_CASE_P is deprecated, please use "
-    "REGISTER_TYPED_TEST_SUITE_P")
-constexpr bool RegisterTypedTestCase_P_IsDeprecated() { return true; }
+    "REGISTER_TYPED_TEST_SUITE_P")]]
+constexpr bool RegisterTypedTestCase_P_IsDeprecated() {
+  return true;
+}
 
-GTEST_INTERNAL_DEPRECATED(
+[[deprecated(
     "INSTANTIATE_TYPED_TEST_CASE_P is deprecated, please use "
-    "INSTANTIATE_TYPED_TEST_SUITE_P")
-constexpr bool InstantiateTypedTestCase_P_IsDeprecated() { return true; }
+    "INSTANTIATE_TYPED_TEST_SUITE_P")]]
+constexpr bool InstantiateTypedTestCase_P_IsDeprecated() {
+  return true;
+}
 
 }  // namespace internal
 }  // namespace testing
@@ -1501,8 +1498,7 @@ class NeverThrown {
                                                                                \
    private:                                                                    \
     void TestBody() override;                                                  \
-    GTEST_INTERNAL_ATTRIBUTE_MAYBE_UNUSED static ::testing::TestInfo* const    \
-        test_info_;                                                            \
+    [[maybe_unused]] static ::testing::TestInfo* const test_info_;             \
   };                                                                           \
                                                                                \
   ::testing::TestInfo* const GTEST_TEST_CLASS_NAME_(test_suite_name,           \
diff --git a/3rdparty/googletest/googletest/include/gtest/internal/gtest-param-util.h b/3rdparty/googletest/googletest/include/gtest/internal/gtest-param-util.h
index cc7ea53173..a092a86ada 100644
--- a/3rdparty/googletest/googletest/include/gtest/internal/gtest-param-util.h
+++ b/3rdparty/googletest/googletest/include/gtest/internal/gtest-param-util.h
@@ -39,6 +39,7 @@
 #include <ctype.h>
 
 #include <cassert>
+#include <functional>
 #include <iterator>
 #include <map>
 #include <memory>
@@ -529,8 +530,7 @@ class ParameterizedTestSuiteInfo : public ParameterizedTestSuiteInfoBase {
   // prefix). test_base_name is the name of an individual test without
   // parameter index. For the test SequenceA/FooTest.DoBar/1 FooTest is
   // test suite base name and DoBar is test base name.
-  void AddTestPattern(const char*,
-                      const char* test_base_name,
+  void AddTestPattern(const char*, const char* test_base_name,
                       TestMetaFactoryBase<ParamType>* meta_factory,
                       CodeLocation code_location) {
     tests_.emplace_back(
@@ -952,11 +952,11 @@ class CartesianProductHolder {
   std::tuple<Gen...> generators_;
 };
 
-template <typename From, typename To>
+template <typename From, typename To, typename Func>
 class ParamGeneratorConverter : public ParamGeneratorInterface<To> {
  public:
-  ParamGeneratorConverter(ParamGenerator<From> gen)  // NOLINT
-      : generator_(std::move(gen)) {}
+  ParamGeneratorConverter(ParamGenerator<From> gen, Func converter)  // NOLINT
+      : generator_(std::move(gen)), converter_(std::move(converter)) {}
 
   ParamIteratorInterface<To>* Begin() const override {
     return new Iterator(this, generator_.begin(), generator_.end());
@@ -965,13 +965,21 @@ class ParamGeneratorConverter : public ParamGeneratorInterface<To> {
     return new Iterator(this, generator_.end(), generator_.end());
   }
 
+  // Returns the std::function wrapping the user-supplied converter callable. It
+  // is used by the iterator (see class Iterator below) to convert the object
+  // (of type FROM) returned by the ParamGenerator to an object of a type that
+  // can be static_cast to type TO.
+  const Func& TypeConverter() const { return converter_; }
+
  private:
   class Iterator : public ParamIteratorInterface<To> {
    public:
-    Iterator(const ParamGeneratorInterface<To>* base, ParamIterator<From> it,
+    Iterator(const ParamGeneratorConverter* base, ParamIterator<From> it,
              ParamIterator<From> end)
         : base_(base), it_(it), end_(end) {
-      if (it_ != end_) value_ = std::make_shared<To>(static_cast<To>(*it_));
+      if (it_ != end_)
+        value_ =
+            std::make_shared<To>(static_cast<To>(base->TypeConverter()(*it_)));
     }
     ~Iterator() override = default;
 
@@ -980,7 +988,9 @@ class ParamGeneratorConverter : public ParamGeneratorInterface<To> {
     }
     void Advance() override {
       ++it_;
-      if (it_ != end_) value_ = std::make_shared<To>(static_cast<To>(*it_));
+      if (it_ != end_)
+        value_ =
+            std::make_shared<To>(static_cast<To>(base_->TypeConverter()(*it_)));
     }
     ParamIteratorInterface<To>* Clone() const override {
       return new Iterator(*this);
@@ -1000,30 +1010,54 @@ class ParamGeneratorConverter : public ParamGeneratorInterface<To> {
    private:
     Iterator(const Iterator& other) = default;
 
-    const ParamGeneratorInterface<To>* const base_;
+    const ParamGeneratorConverter* const base_;
     ParamIterator<From> it_;
     ParamIterator<From> end_;
     std::shared_ptr<To> value_;
   };  // class ParamGeneratorConverter::Iterator
 
   ParamGenerator<From> generator_;
+  Func converter_;
 };  // class ParamGeneratorConverter
 
-template <class Gen>
+template <class GeneratedT,
+          typename StdFunction =
+              std::function<const GeneratedT&(const GeneratedT&)>>
 class ParamConverterGenerator {
  public:
-  ParamConverterGenerator(ParamGenerator<Gen> g)  // NOLINT
-      : generator_(std::move(g)) {}
+  ParamConverterGenerator(ParamGenerator<GeneratedT> g)  // NOLINT
+      : generator_(std::move(g)), converter_(Identity) {}
+
+  ParamConverterGenerator(ParamGenerator<GeneratedT> g, StdFunction converter)
+      : generator_(std::move(g)), converter_(std::move(converter)) {}
 
   template <typename T>
   operator ParamGenerator<T>() const {  // NOLINT
-    return ParamGenerator<T>(new ParamGeneratorConverter<Gen, T>(generator_));
+    return ParamGenerator<T>(
+        new ParamGeneratorConverter<GeneratedT, T, StdFunction>(generator_,
+                                                                converter_));
   }
 
  private:
-  ParamGenerator<Gen> generator_;
+  static const GeneratedT& Identity(const GeneratedT& v) { return v; }
+
+  ParamGenerator<GeneratedT> generator_;
+  StdFunction converter_;
 };
 
+// Template to determine the param type of a single-param std::function.
+template <typename T>
+struct FuncSingleParamType;
+template <typename R, typename P>
+struct FuncSingleParamType<std::function<R(P)>> {
+  using type = std::remove_cv_t<std::remove_reference_t<P>>;
+};
+
+template <typename T>
+struct IsSingleArgStdFunction : public std::false_type {};
+template <typename R, typename P>
+struct IsSingleArgStdFunction<std::function<R(P)>> : public std::true_type {};
+
 }  // namespace internal
 }  // namespace testing
 
diff --git a/3rdparty/googletest/googletest/include/gtest/internal/gtest-port.h b/3rdparty/googletest/googletest/include/gtest/internal/gtest-port.h
index ca18513e77..25b7d194db 100644
--- a/3rdparty/googletest/googletest/include/gtest/internal/gtest-port.h
+++ b/3rdparty/googletest/googletest/include/gtest/internal/gtest-port.h
@@ -194,7 +194,6 @@
 //
 // Macros for basic C++ coding:
 //   GTEST_AMBIGUOUS_ELSE_BLOCKER_ - for disabling a gcc warning.
-//   GTEST_MUST_USE_RESULT_   - declares that a function's result must be used.
 //   GTEST_INTENTIONAL_CONST_COND_PUSH_ - start code section where MSVC C4127 is
 //                                        suppressed (constant conditional).
 //   GTEST_INTENTIONAL_CONST_COND_POP_  - finish code section where MSVC C4127
@@ -260,11 +259,6 @@
 //   BoolFromGTestEnv()   - parses a bool environment variable.
 //   Int32FromGTestEnv()  - parses an int32_t environment variable.
 //   StringFromGTestEnv() - parses a string environment variable.
-//
-// Deprecation warnings:
-//   GTEST_INTERNAL_DEPRECATED(message) - attribute marking a function as
-//                                        deprecated; calling a marked function
-//                                        should generate a compiler warning
 
 // The definition of GTEST_INTERNAL_CPLUSPLUS_LANG comes first because it can
 // potentially be used as an #include guard.
@@ -275,8 +269,8 @@
 #endif
 
 #if !defined(GTEST_INTERNAL_CPLUSPLUS_LANG) || \
-    GTEST_INTERNAL_CPLUSPLUS_LANG < 201402L
-#error C++ versions less than C++14 are not supported.
+    GTEST_INTERNAL_CPLUSPLUS_LANG < 201703L
+#error C++ versions less than C++17 are not supported.
 #endif
 
 // MSVC >= 19.11 (VS 2017 Update 3) supports __has_include.
@@ -288,10 +282,14 @@
 
 // Detect C++ feature test macros as gracefully as possible.
 // MSVC >= 19.15, Clang >= 3.4.1, and GCC >= 4.1.2 support feature test macros.
-#if GTEST_INTERNAL_CPLUSPLUS_LANG >= 202002L && \
-    (!defined(__has_include) || GTEST_INTERNAL_HAS_INCLUDE(<version>))
-#include <version>  // C++20 and later
-#elif (!defined(__has_include) || GTEST_INTERNAL_HAS_INCLUDE(<ciso646>))
+//
+// GCC15 warns that <ciso646> is deprecated in C++17 and suggests using
+// <version> instead, even though <version> is not available in C++17 mode prior
+// to GCC9.
+#if GTEST_INTERNAL_CPLUSPLUS_LANG >= 202002L || \
+    GTEST_INTERNAL_HAS_INCLUDE(<version>)
+#include <version>  // C++20 or <version> support.
+#else
 #include <ciso646>  // Pre-C++20
 #endif
 
@@ -772,25 +770,6 @@ typedef struct _RTL_CRITICAL_SECTION GTEST_CRITICAL_SECTION;
 #define GTEST_HAVE_FEATURE_(x) 0
 #endif
 
-// Use this annotation after a variable or parameter declaration to tell the
-// compiler the variable/parameter may be used.
-// Example:
-//
-//   GTEST_INTERNAL_ATTRIBUTE_MAYBE_UNUSED int foo = bar();
-//
-// This can be removed once we only support only C++17 or newer and
-// [[maybe_unused]] is available on all supported platforms.
-#if GTEST_INTERNAL_HAVE_CPP_ATTRIBUTE(maybe_unused)
-#define GTEST_INTERNAL_ATTRIBUTE_MAYBE_UNUSED [[maybe_unused]]
-#elif GTEST_HAVE_ATTRIBUTE_(unused)
-// This is inferior to [[maybe_unused]] as it can produce a
-// -Wused-but-marked-unused warning on optionally used symbols, but it is all we
-// have.
-#define GTEST_INTERNAL_ATTRIBUTE_MAYBE_UNUSED __attribute__((__unused__))
-#else
-#define GTEST_INTERNAL_ATTRIBUTE_MAYBE_UNUSED
-#endif
-
 // Use this annotation before a function that takes a printf format string.
 #if GTEST_HAVE_ATTRIBUTE_(format) && defined(__MINGW_PRINTF_FORMAT)
 // MinGW has two different printf implementations. Ensure the format macro
@@ -805,17 +784,6 @@ typedef struct _RTL_CRITICAL_SECTION GTEST_CRITICAL_SECTION;
 #define GTEST_ATTRIBUTE_PRINTF_(string_index, first_to_check)
 #endif
 
-// Tell the compiler to warn about unused return values for functions declared
-// with this macro.  The macro should be used on function declarations
-// following the argument list:
-//
-//   Sprocket* AllocateSprocket() GTEST_MUST_USE_RESULT_;
-#if GTEST_HAVE_ATTRIBUTE_(warn_unused_result)
-#define GTEST_MUST_USE_RESULT_ __attribute__((warn_unused_result))
-#else
-#define GTEST_MUST_USE_RESULT_
-#endif
-
 // MS C++ compiler emits warning when a conditional expression is compile time
 // constant. In some contexts this warning is false positive and needs to be
 // suppressed. Use the following two macros in such cases:
@@ -2367,26 +2335,6 @@ const char* StringFromGTestEnv(const char* flag, const char* default_val);
 }  // namespace internal
 }  // namespace testing
 
-#if !defined(GTEST_INTERNAL_DEPRECATED)
-
-// Internal Macro to mark an API deprecated, for googletest usage only
-// Usage: class GTEST_INTERNAL_DEPRECATED(message) MyClass or
-// GTEST_INTERNAL_DEPRECATED(message) <return_type> myFunction(); Every usage of
-// a deprecated entity will trigger a warning when compiled with
-// `-Wdeprecated-declarations` option (clang, gcc, any __GNUC__ compiler).
-// For msvc /W3 option will need to be used
-// Note that for 'other' compilers this macro evaluates to nothing to prevent
-// compilations errors.
-#if defined(_MSC_VER)
-#define GTEST_INTERNAL_DEPRECATED(message) __declspec(deprecated(message))
-#elif defined(__GNUC__)
-#define GTEST_INTERNAL_DEPRECATED(message) __attribute__((deprecated(message)))
-#else
-#define GTEST_INTERNAL_DEPRECATED(message)
-#endif
-
-#endif  // !defined(GTEST_INTERNAL_DEPRECATED)
-
 #ifdef GTEST_HAS_ABSL
 // Always use absl::any for UniversalPrinter<> specializations if googletest
 // is built with absl support.
@@ -2527,12 +2475,6 @@ using Variant = ::std::variant<T...>;
 #define GTEST_INTERNAL_HAS_VARIANT 0
 #endif
 
-#if (defined(__cpp_constexpr) && !defined(__cpp_inline_variables)) || \
-    (defined(GTEST_INTERNAL_CPLUSPLUS_LANG) &&                        \
-     GTEST_INTERNAL_CPLUSPLUS_LANG < 201703L)
-#define GTEST_INTERNAL_NEED_REDUNDANT_CONSTEXPR_DECL 1
-#endif
-
 #if (defined(__cpp_lib_three_way_comparison) || \
      (GTEST_INTERNAL_HAS_INCLUDE(<compare>) &&  \
       GTEST_INTERNAL_CPLUSPLUS_LANG >= 201907L))
diff --git a/3rdparty/googletest/googletest/src/gtest-internal-inl.h b/3rdparty/googletest/googletest/src/gtest-internal-inl.h
index cc6f00488f..6a39b93be1 100644
--- a/3rdparty/googletest/googletest/src/gtest-internal-inl.h
+++ b/3rdparty/googletest/googletest/src/gtest-internal-inl.h
@@ -826,6 +826,10 @@ class GTEST_API_ UnitTestImpl {
   bool catch_exceptions() const { return catch_exceptions_; }
 
  private:
+  // Returns true if a warning should be issued if no tests match the test
+  // filter flag.
+  bool ShouldWarnIfNoTestsMatchFilter() const;
+
   struct CompareTestSuitesByPointer {
     bool operator()(const TestSuite* lhs, const TestSuite* rhs) const {
       return lhs->name_ < rhs->name_;
diff --git a/3rdparty/googletest/googletest/src/gtest.cc b/3rdparty/googletest/googletest/src/gtest.cc
index 7ff825468c..09af15179f 100644
--- a/3rdparty/googletest/googletest/src/gtest.cc
+++ b/3rdparty/googletest/googletest/src/gtest.cc
@@ -192,12 +192,17 @@ static const char kDefaultOutputFormat[] = "xml";
 // The default output file.
 static const char kDefaultOutputFile[] = "test_detail";
 
+// These environment variables are set by Bazel.
+// https://bazel.build/reference/test-encyclopedia#initial-conditions
+//
 // The environment variable name for the test shard index.
 static const char kTestShardIndex[] = "GTEST_SHARD_INDEX";
 // The environment variable name for the total number of test shards.
 static const char kTestTotalShards[] = "GTEST_TOTAL_SHARDS";
 // The environment variable name for the test shard status file.
 static const char kTestShardStatusFile[] = "GTEST_SHARD_STATUS_FILE";
+// The environment variable name for the test output warnings file.
+static const char kTestWarningsOutputFile[] = "TEST_WARNINGS_OUTPUT_FILE";
 
 namespace internal {
 
@@ -258,6 +263,12 @@ GTEST_DEFINE_bool_(
                                         testing::GetDefaultFailFast()),
     "True if and only if a test failure should stop further test execution.");
 
+GTEST_DEFINE_bool_(
+    fail_if_no_test_linked,
+    testing::internal::BoolFromGTestEnv("fail_if_no_test_linked", false),
+    "True if and only if the test should fail if no test case (including "
+    "disabled test cases) is linked.");
+
 GTEST_DEFINE_bool_(
     also_run_disabled_tests,
     testing::internal::BoolFromGTestEnv("also_run_disabled_tests", false),
@@ -5869,6 +5880,23 @@ TestSuite* UnitTestImpl::GetTestSuite(
 static void SetUpEnvironment(Environment* env) { env->SetUp(); }
 static void TearDownEnvironment(Environment* env) { env->TearDown(); }
 
+// If the environment variable TEST_WARNINGS_OUTPUT_FILE was provided, appends
+// `str` to the file, creating the file if necessary.
+#if GTEST_HAS_FILE_SYSTEM
+static void AppendToTestWarningsOutputFile(const std::string& str) {
+  const char* const filename = posix::GetEnv(kTestWarningsOutputFile);
+  if (filename == nullptr) {
+    return;
+  }
+  auto* const file = posix::FOpen(filename, "a");
+  if (file == nullptr) {
+    return;
+  }
+  GTEST_CHECK_(fwrite(str.data(), 1, str.size(), file) == str.size());
+  GTEST_CHECK_(posix::FClose(file) == 0);
+}
+#endif  // GTEST_HAS_FILE_SYSTEM
+
 // Runs all tests in this UnitTest object, prints the result, and
 // returns true if all tests are successful.  If any exception is
 // thrown during a test, the test is considered to be failed, but the
@@ -5890,6 +5918,28 @@ bool UnitTestImpl::RunAllTests() {
   // user didn't call InitGoogleTest.
   PostFlagParsingInit();
 
+  // Handle the case where the program has no tests linked.
+  // Sometimes this is a programmer mistake, but sometimes it is intended.
+  if (total_test_count() == 0) {
+    constexpr char kNoTestLinkedMessage[] =
+        "This test program does NOT link in any test case.";
+    constexpr char kNoTestLinkedFatal[] =
+        "This is INVALID. Please make sure to link in at least one test case.";
+    constexpr char kNoTestLinkedWarning[] =
+        "Please make sure this is intended.";
+    const bool fail_if_no_test_linked = GTEST_FLAG_GET(fail_if_no_test_linked);
+    ColoredPrintf(
+        GTestColor::kRed, "%s %s\n", kNoTestLinkedMessage,
+        fail_if_no_test_linked ? kNoTestLinkedFatal : kNoTestLinkedWarning);
+    if (fail_if_no_test_linked) {
+      return false;
+    }
+#if GTEST_HAS_FILE_SYSTEM
+    AppendToTestWarningsOutputFile(std::string(kNoTestLinkedMessage) + ' ' +
+                                   kNoTestLinkedWarning + '\n');
+#endif  // GTEST_HAS_FILE_SYSTEM
+  }
+
 #if GTEST_HAS_FILE_SYSTEM
   // Even if sharding is not on, test runners may want to use the
   // GTEST_SHARD_STATUS_FILE to query whether the test supports the sharding
@@ -6063,6 +6113,17 @@ bool UnitTestImpl::RunAllTests() {
     environments_.clear();
   }
 
+  // Try to warn the user if no tests matched the test filter.
+  if (ShouldWarnIfNoTestsMatchFilter()) {
+    const std::string filter_warning =
+        std::string("filter \"") + GTEST_FLAG_GET(filter) +
+        "\" did not match any test; no tests were run\n";
+    ColoredPrintf(GTestColor::kRed, "WARNING: %s", filter_warning.c_str());
+#if GTEST_HAS_FILE_SYSTEM
+    AppendToTestWarningsOutputFile(filter_warning);
+#endif  // GTEST_HAS_FILE_SYSTEM
+  }
+
   if (!gtest_is_initialized_before_run_all_tests) {
     ColoredPrintf(
         GTestColor::kRed,
@@ -6231,6 +6292,30 @@ int UnitTestImpl::FilterTests(ReactionToSharding shard_tests) {
   return num_selected_tests;
 }
 
+// Returns true if a warning should be issued if no tests match the test filter
+// flag. We can't simply count the number of tests that ran because, for
+// instance, test sharding and death tests might mean no tests are expected to
+// run in this process, but will run in another process.
+bool UnitTestImpl::ShouldWarnIfNoTestsMatchFilter() const {
+  if (total_test_count() == 0) {
+    // No tests were linked in to program.
+    // This case is handled by a different warning.
+    return false;
+  }
+  const PositiveAndNegativeUnitTestFilter gtest_flag_filter(
+      GTEST_FLAG_GET(filter));
+  for (auto* test_suite : test_suites_) {
+    const std::string& test_suite_name = test_suite->name_;
+    for (TestInfo* test_info : test_suite->test_info_list()) {
+      const std::string& test_name = test_info->name_;
+      if (gtest_flag_filter.MatchesTest(test_suite_name, test_name)) {
+        return false;
+      }
+    }
+  }
+  return true;
+}
+
 // Prints the given C-string on a single line by replacing all '\n'
 // characters with string "\\n".  If the output takes more than
 // max_length characters, only prints the first max_length characters
@@ -6677,6 +6762,7 @@ static bool ParseGoogleTestFlag(const char* const arg) {
   GTEST_INTERNAL_PARSE_FLAG(death_test_style);
   GTEST_INTERNAL_PARSE_FLAG(death_test_use_fork);
   GTEST_INTERNAL_PARSE_FLAG(fail_fast);
+  GTEST_INTERNAL_PARSE_FLAG(fail_if_no_test_linked);
   GTEST_INTERNAL_PARSE_FLAG(filter);
   GTEST_INTERNAL_PARSE_FLAG(internal_run_death_test);
   GTEST_INTERNAL_PARSE_FLAG(list_tests);