add a Pendulum example that is also used as unit test.

Gold data is created by numerically solving a second-order non-linear differential equation.
(see examples/MultiBody/pendulum_gold.h)

test/BulletDynamics/pendulum/CMakeLists.txt

@@ -0,0 +1,30 @@
+
+INCLUDE_DIRECTORIES(
+	.
+	../../../src
+	../../gtest-1.7.0/include
+)
+
+
+ADD_DEFINITIONS(-DUSE_GTEST)
+ADD_DEFINITIONS(-D_VARIADIC_MAX=10)
+
+LINK_LIBRARIES(
+ BulletDynamics BulletCollision LinearMath gtest
+)
+
+IF (NOT WIN32)
+	LINK_LIBRARIES(		pthread	)
+ENDIF()
+
+	ADD_EXECUTABLE(Test_BulletDynamics
+		 ../../../examples/MultiBody/Pendulum.cpp
+	)
+
+ADD_TEST(Test_BulletDynamics_PASS Test_BulletDynamics)
+
+IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
+			SET_TARGET_PROPERTIES(Test_BulletDynamics PROPERTIES  DEBUG_POSTFIX "_Debug")
+			SET_TARGET_PROPERTIES(Test_BulletDynamics PROPERTIES  MINSIZEREL_POSTFIX "_MinsizeRel")
+			SET_TARGET_PROPERTIES(Test_BulletDynamics PROPERTIES  RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
+ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

test/BulletDynamics/pendulum/premake4.lua

@@ -0,0 +1,34 @@
+
+	project "Test_BulletDynamics"
+		
+	kind "ConsoleApp"
+	
+	defines {"USE_GTEST"}
+	
+
+	
+	includedirs 
+	{
+		".",
+		"../../../src",
+		"../../gtest-1.7.0/include"
+	
+	}
+
+
+	if os.is("Windows") then
+		--see http://stackoverflow.com/questions/12558327/google-test-in-visual-studio-2012
+		defines {"_VARIADIC_MAX=10"}
+	end
+	
+	links {"BulletDynamics", "BulletCollision","LinearMath", "gtest"}
+	
+	files {
+		"../../../examples/MultiBody/Pendulum.cpp",
+		"../../../examples/MultiBody/pendulum_gold.h",
+	}
+
+	if os.is("Linux") then
+                links {"pthread"}
+        end
+