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/cppunit/include/cppunit/TestFixture.h

@@ -0,0 +1,99 @@
+#ifndef CPPUNIT_TESTFIXTURE_H    // -*- C++ -*-
+#define CPPUNIT_TESTFIXTURE_H
+
+#include <cppunit/Portability.h>
+
+CPPUNIT_NS_BEGIN
+
+
+/*! \brief Wraps a test case with setUp and tearDown methods.
+ * \ingroup WritingTestFixture
+ *
+ * A TestFixture is used to provide a common environment for a set
+ * of test cases.
+ *
+ * To define a test fixture, do the following:
+ * - implement a subclass of TestCase 
+ * - the fixture is defined by instance variables 
+ * - initialize the fixture state by overriding setUp
+ *   (i.e. construct the instance variables of the fixture)
+ * - clean-up after a test by overriding tearDown.
+ *
+ * Each test runs in its own fixture so there
+ * can be no side effects among test runs.
+ * Here is an example:
+ * 
+ * \code
+ * class MathTest : public CppUnit::TestFixture {
+ * protected:
+ *   int m_value1, m_value2;
+ *
+ * public:
+ *   MathTest() {}
+ *
+ *   void setUp () {
+ *     m_value1 = 2;
+ *     m_value2 = 3;
+ *   }
+ * }
+ * \endcode
+ *
+ * For each test implement a method which interacts
+ * with the fixture. Verify the expected results with assertions specified
+ * by calling CPPUNIT_ASSERT on the expression you want to test:
+ * 
+ * \code
+ * public: 
+ *   void testAdd () {
+ *     int result = m_value1 + m_value2;
+ *     CPPUNIT_ASSERT( result == 5 );
+ *   }
+ * \endcode
+ * 
+ * Once the methods are defined you can run them. To do this, use
+ * a TestCaller.
+ *
+ * \code
+ * CppUnit::Test *test = new CppUnit::TestCaller<MathTest>( "testAdd", 
+ *                                                          &MathTest::testAdd );
+ * test->run();
+ * \endcode
+ *
+ *
+ * The tests to be run can be collected into a TestSuite. 
+ * 
+ * \code
+ * public: 
+ *   static CppUnit::TestSuite *MathTest::suite () {
+ *      CppUnit::TestSuite *suiteOfTests = new CppUnit::TestSuite;
+ *      suiteOfTests->addTest(new CppUnit::TestCaller<MathTest>(
+ *                              "testAdd", &MathTest::testAdd));
+ *      suiteOfTests->addTest(new CppUnit::TestCaller<MathTest>(
+ *                              "testDivideByZero", &MathTest::testDivideByZero));
+ *      return suiteOfTests;
+ *  }
+ * \endcode
+ * 
+ * A set of macros have been created for convenience. They are located in HelperMacros.h.
+ *
+ * \see TestResult, TestSuite, TestCaller,
+ * \see CPPUNIT_TEST_SUB_SUITE, CPPUNIT_TEST, CPPUNIT_TEST_SUITE_END, 
+ * \see CPPUNIT_TEST_SUITE_REGISTRATION, CPPUNIT_TEST_EXCEPTION, CPPUNIT_TEST_FAIL.
+ */
+class CPPUNIT_API TestFixture
+{
+public:
+  virtual ~TestFixture() {};
+
+  //! \brief Set up context before running a test.
+  virtual void setUp() {};
+
+  //! Clean up after the test run.
+  virtual void tearDown() {};
+};
+
+
+CPPUNIT_NS_END
+
+
+#endif