added cppunit unit testing framework, using cmake, stripped out the original build systems.

added starting point for Bullet unit tests, with one example unit test
Enable the option BUILD_UNIT_TESTS in cmake to build the test. Note that the test doesn't automatically run.

UnitTests/BulletUnitTests/CMakeLists.txt

@@ -0,0 +1,17 @@
+
+INCLUDE_DIRECTORIES(
+	${BULLET_PHYSICS_SOURCE_DIR}/src
+	${BULLET_PHYSICS_SOURCE_DIR}/UnitTests/cppunit/include
+	
+	
+	${VECTOR_MATH_INCLUDE}
+)
+
+LINK_LIBRARIES(
+	cppunit BulletMultiThreaded BulletDynamics  BulletCollision LinearMath
+)
+	
+ADD_EXECUTABLE(AppBulletUnitTests
+			Main.cpp
+		  TestBulletOnly.h
+)

UnitTests/BulletUnitTests/Main.cpp

@@ -0,0 +1,38 @@
+#include <cppunit/BriefTestProgressListener.h>
+#include <cppunit/CompilerOutputter.h>
+#include <cppunit/extensions/TestFactoryRegistry.h>
+#include <cppunit/TestResult.h>
+#include <cppunit/TestResultCollector.h>
+#include <cppunit/TestRunner.h>
+
+#include "TestBulletOnly.h"
+
+CPPUNIT_TEST_SUITE_REGISTRATION( TestBulletOnly );
+
+int main(int argc, char* argv[])
+{
+  // Create the event manager and test controller
+  CPPUNIT_NS::TestResult controller;
+
+  // Add a listener that colllects test result
+  CPPUNIT_NS::TestResultCollector result;
+  controller.addListener( &result );        
+
+  // Add a listener that print dots as test run.
+  CPPUNIT_NS::BriefTestProgressListener progress;
+  controller.addListener( &progress );      
+
+  // Add the top suite to the test runner
+  CPPUNIT_NS::TestRunner runner;
+  runner.addTest( CPPUNIT_NS::TestFactoryRegistry::getRegistry().makeTest() );
+  runner.run( controller );
+
+  // Print test in a compiler compatible format.
+  CPPUNIT_NS::CompilerOutputter outputter( &result, CPPUNIT_NS::stdCOut() );
+  outputter.write(); 
+
+  getchar();
+
+  return result.wasSuccessful() ? 0 : 1;
+}
+

UnitTests/BulletUnitTests/TestBulletOnly.h

@@ -0,0 +1,122 @@
+#ifndef TESTBULLETONLY_HAS_BEEN_INCLUDED
+#define TESTBULLETONLY_HAS_BEEN_INCLUDED
+
+#include "cppunit/TestFixture.h"
+#include "cppunit/extensions/HelperMacros.h"
+
+#include "btBulletDynamicsCommon.h"
+#include "BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h"
+
+// ---------------------------------------------------------------------------
+
+class TestBulletOnly : public CppUnit::TestFixture
+{
+public:
+
+    void setUp() 
+    {
+        // empty
+    }
+
+    void tearDown() 
+    {
+        // empty
+    }
+
+    btRigidBody::btRigidBodyConstructionInfo buildConstructionInfo( btScalar mass, btScalar friction, btScalar restitution, btScalar linearDamping,
+                                                                    btScalar angularDamping, btDefaultMotionState & state, btCollisionShape * shape )
+    {
+        btVector3 inertia;
+        shape->calculateLocalInertia( mass, inertia );
+        btRigidBody::btRigidBodyConstructionInfo info( mass, &state, shape, inertia );
+
+        info.m_friction = friction;
+        info.m_restitution = restitution;
+        info.m_linearDamping = linearDamping;
+        info.m_angularDamping = angularDamping;
+        
+        return info;
+    }
+    
+    void testKinematicVelocity0()
+    {
+        // Setup the world --
+        
+        btCollisionConfiguration *          mCollisionConfig;
+        btCollisionDispatcher *             mCollisionDispatch;
+        btBroadphaseInterface *             mBroadphase;
+        btConstraintSolver *                mConstraintSolver;
+        btDiscreteDynamicsWorld *           mWorld;
+
+        mCollisionConfig = new btDefaultCollisionConfiguration;
+        mCollisionDispatch = new btCollisionDispatcher( mCollisionConfig );
+        mBroadphase = new btDbvtBroadphase();
+        mConstraintSolver = new btSequentialImpulseConstraintSolver();
+        mWorld = new btDiscreteDynamicsWorld( mCollisionDispatch, mBroadphase, mConstraintSolver, mCollisionConfig );
+        
+        mWorld->setGravity( btVector3( 0, -9.81, 0 ));
+        
+        // -- .
+
+        // Set up the rigid body --
+      
+        btCollisionShape * bodyShape = new btBoxShape( btVector3( 1, 1, 1 ) );
+
+        btTransform             bodyInitial;
+        btDefaultMotionState    mMotionState;
+        
+        bodyInitial.setIdentity();
+        bodyInitial.setOrigin( btVector3( 0, 0, 0 ) );
+        
+        btRigidBody mRigidBody( buildConstructionInfo( 1, 0.5, 0.5, 0, 0, mMotionState, bodyShape ) );
+       
+        mWorld->addRigidBody( &mRigidBody );
+            
+        mRigidBody.setMassProps( 1, btVector3( 1, 1, 1 ) );
+        mRigidBody.updateInertiaTensor();
+        mRigidBody.setCollisionFlags( btCollisionObject::CF_KINEMATIC_OBJECT );
+        
+        // -- .
+
+        // Interpolate the velocity -- 
+        
+        //btVector3 velocity( 1., 2., 3. ), spin( 0.1, 0.2, 0.3 );
+		btVector3 velocity( 1., 2., 3. ), spin( 0.1, 0.2, .3 );
+        btTransform interpolated;
+
+        // TODO: This is inaccurate for small spins.
+        btTransformUtil::integrateTransform( mRigidBody.getCenterOfMassTransform(), velocity, spin, 1.0f/60.f, interpolated );
+
+        mRigidBody.setInterpolationWorldTransform( interpolated );
+        
+        // -- .
+      
+        mWorld->stepSimulation( 1.f/60.f, 60, 1.0f/60.f );
+  
+		btScalar a = 0.f;
+
+		btScalar f = 1.f/a;
+        CPPUNIT_ASSERT_DOUBLES_EQUAL( mRigidBody.getLinearVelocity().length2(), velocity.length2(), 1e-8 );
+#ifdef BT_USE_DOUBLE_PRECISION
+		CPPUNIT_ASSERT_DOUBLES_EQUAL( mRigidBody.getAngularVelocity().length2(), spin.length2(), 1e-4 );
+#else
+		CPPUNIT_ASSERT_DOUBLES_EQUAL( mRigidBody.getAngularVelocity().length2(), spin.length2(), 5e-3 );
+#endif //CPPUNIT_ASSERT_DOUBLES_EQUAL
+           
+        delete mWorld;
+        delete mConstraintSolver;
+        delete mBroadphase;
+        delete mCollisionDispatch;
+        delete mCollisionConfig;
+        delete bodyShape;
+    }
+     
+    CPPUNIT_TEST_SUITE(TestBulletOnly);
+    CPPUNIT_TEST(testKinematicVelocity0);
+    CPPUNIT_TEST_SUITE_END();
+
+private:
+    
+};
+
+#endif