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/config/CppUnitApi.h

@@ -0,0 +1,33 @@
+#ifndef CPPUNIT_CONFIG_CPPUNITAPI
+#define CPPUNIT_CONFIG_CPPUNITAPI
+
+#undef CPPUNIT_API
+
+#ifdef WIN32
+
+// define CPPUNIT_DLL_BUILD when building CppUnit dll.
+#ifdef CPPUNIT_BUILD_DLL
+#define CPPUNIT_API __declspec(dllexport)
+#endif
+
+// define CPPUNIT_DLL when linking to CppUnit dll.
+#ifdef CPPUNIT_DLL
+#define CPPUNIT_API __declspec(dllimport)
+#endif
+
+#ifdef CPPUNIT_API
+#undef CPPUNIT_NEED_DLL_DECL
+#define CPPUNIT_NEED_DLL_DECL 1
+#endif
+
+#endif
+
+
+#ifndef CPPUNIT_API
+#define CPPUNIT_API
+#undef CPPUNIT_NEED_DLL_DECL
+#define CPPUNIT_NEED_DLL_DECL 0
+#endif
+
+ 
+#endif  // CPPUNIT_CONFIG_CPPUNITAPI

UnitTests/cppunit/include/cppunit/config/SelectDllLoader.h

@@ -0,0 +1,76 @@
+#ifndef CPPUNIT_CONFIG_SELECTDLLLOADER_H
+#define CPPUNIT_CONFIG_SELECTDLLLOADER_H
+
+/*! \file
+ * Selects DynamicLibraryManager implementation.
+ *
+ * Don't include this file directly. Include Portability.h instead.
+ */
+
+/*!
+ * \def CPPUNIT_NO_TESTPLUGIN
+ * \brief If defined, then plug-in related classes and functions will not be compiled.
+ * 
+ * \internal
+ * CPPUNIT_HAVE_WIN32_DLL_LOADER
+ * If defined, Win32 implementation of DynamicLibraryManager will be used.
+ * 
+ * CPPUNIT_HAVE_BEOS_DLL_LOADER
+ * If defined, BeOs implementation of DynamicLibraryManager will be used.
+ * 
+ * CPPUNIT_HAVE_UNIX_DLL_LOADER
+ * If defined, Unix implementation (dlfcn.h) of DynamicLibraryManager will be used.
+ */
+
+/*!
+ * \def CPPUNIT_PLUGIN_EXPORT
+ * \ingroup WritingTestPlugIn
+ * \brief A macro to export a function from a dynamic library
+ *
+ * This macro export the C function following it from a dynamic library. 
+ * Exporting the function makes it accessible to the DynamicLibraryManager.
+ *
+ * Example of usage:
+ * \code
+ * #include <cppunit/include/plugin/TestPlugIn.h>
+ *
+ * CPPUNIT_PLUGIN_EXPORT CppUnitTestPlugIn *CPPUNIT_PLUGIN_EXPORTED_NAME(void)
+ * {
+ *   ...
+ *   return &myPlugInInterface;
+ * }
+ * \endcode
+ */
+
+#if !defined(CPPUNIT_NO_TESTPLUGIN)
+
+// Is WIN32 platform ?
+#if defined(WIN32)
+#define CPPUNIT_HAVE_WIN32_DLL_LOADER 1
+#undef CPPUNIT_PLUGIN_EXPORT
+#define CPPUNIT_PLUGIN_EXPORT extern "C" __declspec(dllexport)
+
+// Is BeOS platform ?
+#elif defined(__BEOS__)
+#define CPPUNIT_HAVE_BEOS_DLL_LOADER 1
+
+// Is Unix platform and have shl_load() (hp-ux)
+#elif defined(CPPUNIT_HAVE_SHL_LOAD)
+#define CPPUNIT_HAVE_UNIX_SHL_LOADER 1
+
+// Is Unix platform and have include <dlfcn.h>
+#elif defined(CPPUNIT_HAVE_LIBDL)
+#define CPPUNIT_HAVE_UNIX_DLL_LOADER 1
+
+// Otherwise, disable support for DllLoader
+#else
+#define CPPUNIT_NO_TESTPLUGIN 1
+#endif
+
+#if !defined(CPPUNIT_PLUGIN_EXPORT)
+#define CPPUNIT_PLUGIN_EXPORT extern "C"
+#endif // !defined(CPPUNIT_PLUGIN_EXPORT)
+
+#endif // !defined(CPPUNIT_NO_TESTPLUGIN)
+
+#endif // CPPUNIT_CONFIG_SELECTDLLLOADER_H

UnitTests/cppunit/include/cppunit/config/SourcePrefix.h

@@ -0,0 +1,14 @@
+#ifndef CPPUNIT_CONFIG_H_INCLUDED
+#define CPPUNIT_CONFIG_H_INCLUDED
+
+#include <cppunit/Portability.h>
+
+#ifdef _MSC_VER
+#pragma warning(disable: 4018 4284 4146)
+#if _MSC_VER >= 1400
+#pragma warning(disable: 4996)		// sprintf is deprecated
+#endif
+#endif
+
+
+#endif // CPPUNIT_CONFIG_H_INCLUDED

UnitTests/cppunit/include/cppunit/config/config-bcb5.h

@@ -0,0 +1,47 @@
+#ifndef _INCLUDE_CPPUNIT_CONFIG_BCB5_H
+#define _INCLUDE_CPPUNIT_CONFIG_BCB5_H 1
+
+#define HAVE_CMATH 1
+ 
+/* include/cppunit/config-bcb5.h. Manually adapted from 
+   include/cppunit/config-auto.h */
+
+/* define to 1 if the compiler implements namespaces */
+#ifndef CPPUNIT_HAVE_NAMESPACES 
+#define CPPUNIT_HAVE_NAMESPACES  1 
+#endif
+
+/* define if library uses std::string::compare(string,pos,n) */
+#ifndef CPPUNIT_FUNC_STRING_COMPARE_STRING_FIRST 
+#define CPPUNIT_FUNC_STRING_COMPARE_STRING_FIRST  0
+#endif
+
+/* Define if you have the <dlfcn.h> header file. */
+#ifdef CPPUNIT_HAVE_DLFCN_H 
+#undef CPPUNIT_HAVE_DLFCN_H 
+#endif
+
+/* define to 1 if the compiler implements namespaces */
+#ifndef CPPUNIT_HAVE_NAMESPACES 
+#define CPPUNIT_HAVE_NAMESPACES  1 
+#endif
+
+/* define if the compiler supports Run-Time Type Identification */
+#ifndef CPPUNIT_HAVE_RTTI 
+#define CPPUNIT_HAVE_RTTI  1 
+#endif
+
+/* Define to 1 to use type_info::name() for class names */
+#ifndef CPPUNIT_USE_TYPEINFO_NAME 
+#define CPPUNIT_USE_TYPEINFO_NAME  CPPUNIT_HAVE_RTTI 
+#endif
+
+#define CPPUNIT_HAVE_SSTREAM 1
+
+/* Name of package */
+#ifndef CPPUNIT_PACKAGE 
+#define CPPUNIT_PACKAGE  "cppunit" 
+#endif
+ 
+/* _INCLUDE_CPPUNIT_CONFIG_BCB5_H */
+#endif

UnitTests/cppunit/include/cppunit/config/config-evc4.h

@@ -0,0 +1,78 @@
+#ifndef _INCLUDE_CPPUNIT_CONFIG_EVC4_H
+#define _INCLUDE_CPPUNIT_CONFIG_EVC4_H 1
+
+#if _MSC_VER > 1000     // VC++
+#pragma warning( disable : 4786 )   // disable warning debug symbol > 255...
+#endif // _MSC_VER > 1000
+
+#define HAVE_CMATH 1
+ 
+/* include/cppunit/config-msvc6.h. Manually adapted from 
+   include/cppunit/config-auto.h */
+
+/* define to 1 if the compiler implements namespaces */
+#ifndef CPPUNIT_HAVE_NAMESPACES 
+#define CPPUNIT_HAVE_NAMESPACES  1 
+#endif
+
+/* define if library uses std::string::compare(string,pos,n) */
+#ifdef CPPUNIT_FUNC_STRING_COMPARE_STRING_FIRST 
+#undef CPPUNIT_FUNC_STRING_COMPARE_STRING_FIRST
+#endif
+
+/* Define if you have the <dlfcn.h> header file. */
+#ifdef CPPUNIT_HAVE_DLFCN_H 
+#undef CPPUNIT_HAVE_DLFCN_H 
+#endif
+
+/* define to 1 if the compiler implements namespaces */
+#ifndef CPPUNIT_HAVE_NAMESPACES 
+#define CPPUNIT_HAVE_NAMESPACES  1 
+#endif
+
+/* define if the compiler supports Run-Time Type Identification */
+#ifndef CPPUNIT_HAVE_RTTI 
+#define CPPUNIT_HAVE_RTTI  0
+#endif
+
+/* Define to 1 to use type_info::name() for class names */
+#ifndef CPPUNIT_USE_TYPEINFO_NAME 
+#define CPPUNIT_USE_TYPEINFO_NAME  CPPUNIT_HAVE_RTTI 
+#endif
+
+#define CPPUNIT_NO_STREAM 1
+#define CPPUNIT_NO_ASSERT 1
+
+#define CPPUNIT_HAVE_SSTREAM 0
+
+/* Name of package */
+#ifndef CPPUNIT_PACKAGE 
+#define CPPUNIT_PACKAGE  "cppunit" 
+#endif
+
+
+// Compiler error location format for CompilerOutputter
+// See class CompilerOutputter for format.
+#undef CPPUNIT_COMPILER_LOCATION_FORMAT
+#if _MSC_VER >= 1300    // VS 7.0
+# define CPPUNIT_COMPILER_LOCATION_FORMAT "%p(%l) : error : "
+#else
+# define CPPUNIT_COMPILER_LOCATION_FORMAT "%p(%l):"
+#endif
+
+/* define to 1 if the compiler has _finite() */
+#ifndef CPPUNIT_HAVE__FINITE
+#define CPPUNIT_HAVE__FINITE 1 
+#endif
+
+// Uncomment to turn on STL wrapping => use this to test compilation. 
+// This will make CppUnit subclass std::vector & co to provide default
+// parameter.
+/*#define CPPUNIT_STD_NEED_ALLOCATOR 1
+#define CPPUNIT_STD_ALLOCATOR std::allocator<T>
+//#define CPPUNIT_NO_NAMESPACE 1
+*/
+
+
+/* _INCLUDE_CPPUNIT_CONFIG_EVC4_H */
+#endif

UnitTests/cppunit/include/cppunit/config/config-mac.h

@@ -0,0 +1,58 @@
+#ifndef _INCLUDE_CPPUNIT_CONFIG_MAC_H
+#define _INCLUDE_CPPUNIT_CONFIG_MAC_H 1
+
+/* MacOS X should be installed using the configure script.
+   This file is for other macs.
+
+   It is not integrated into <cppunit/Portability.h> because we don't
+   know a suitable preprocessor symbol that will distinguish MacOS X
+   from other MacOS versions.  Email us if you know the answer.
+*/
+ 
+/* define if library uses std::string::compare(string,pos,n) */
+#ifdef CPPUNIT_FUNC_STRING_COMPARE_STRING_FIRST 
+#undef CPPUNIT_FUNC_STRING_COMPARE_STRING_FIRST
+#endif
+
+/* define if the library defines strstream */
+#ifndef CPPUNIT_HAVE_CLASS_STRSTREAM 
+#define CPPUNIT_HAVE_CLASS_STRSTREAM  1 
+#endif
+
+/* Define if you have the <cmath> header file. */
+#ifdef CPPUNIT_HAVE_CMATH 
+#undef CPPUNIT_HAVE_CMATH
+#endif
+
+/* Define if you have the <dlfcn.h> header file. */
+#ifdef CPPUNIT_HAVE_DLFCN_H 
+#undef CPPUNIT_HAVE_DLFCN_H
+#endif
+
+/* define to 1 if the compiler implements namespaces */
+#ifndef CPPUNIT_HAVE_NAMESPACES 
+#define CPPUNIT_HAVE_NAMESPACES  1 
+#endif
+
+/* define if the compiler supports Run-Time Type Identification */
+#ifndef CPPUNIT_HAVE_RTTI 
+#define CPPUNIT_HAVE_RTTI  1 
+#endif
+
+/* define if the compiler has stringstream */
+#ifndef CPPUNIT_HAVE_SSTREAM 
+#define CPPUNIT_HAVE_SSTREAM  1 
+#endif
+
+/* Define if you have the <strstream> header file. */
+#ifndef CPPUNIT_HAVE_STRSTREAM 
+#define CPPUNIT_HAVE_STRSTREAM  1 
+#endif
+
+/* Define to 1 to use type_info::name() for class names */
+#ifndef CPPUNIT_USE_TYPEINFO_NAME 
+#define CPPUNIT_USE_TYPEINFO_NAME  CPPUNIT_HAVE_RTTI 
+#endif
+
+/* _INCLUDE_CPPUNIT_CONFIG_MAC_H */
+#endif

UnitTests/cppunit/include/cppunit/config/config-msvc6.h

@@ -0,0 +1,86 @@
+#ifndef _INCLUDE_CPPUNIT_CONFIG_MSVC6_H
+#define _INCLUDE_CPPUNIT_CONFIG_MSVC6_H 1
+
+#if _MSC_VER > 1000     // VC++
+#pragma warning( disable : 4786 )   // disable warning debug symbol > 255...
+#endif // _MSC_VER > 1000
+
+#define HAVE_CMATH 1
+ 
+/* include/cppunit/config-msvc6.h. Manually adapted from 
+   include/cppunit/config-auto.h */
+
+/* define to 1 if the compiler implements namespaces */
+#ifndef CPPUNIT_HAVE_NAMESPACES 
+#define CPPUNIT_HAVE_NAMESPACES  1 
+#endif
+
+/* define if library uses std::string::compare(string,pos,n) */
+#ifdef CPPUNIT_FUNC_STRING_COMPARE_STRING_FIRST 
+#undef CPPUNIT_FUNC_STRING_COMPARE_STRING_FIRST
+#endif
+
+/* Define if you have the <dlfcn.h> header file. */
+#ifdef CPPUNIT_HAVE_DLFCN_H 
+#undef CPPUNIT_HAVE_DLFCN_H 
+#endif
+
+/* define to 1 if the compiler implements namespaces */
+#ifndef CPPUNIT_HAVE_NAMESPACES 
+#define CPPUNIT_HAVE_NAMESPACES  1 
+#endif
+
+/* define if the compiler supports Run-Time Type Identification */
+#ifndef CPPUNIT_HAVE_RTTI
+# ifdef _CPPRTTI // Defined by the compiler option /GR
+#  define CPPUNIT_HAVE_RTTI 1
+# else
+#  define CPPUNIT_HAVE_RTTI 0
+# endif
+#endif
+
+/* Define to 1 to use type_info::name() for class names */
+#ifndef CPPUNIT_USE_TYPEINFO_NAME 
+#define CPPUNIT_USE_TYPEINFO_NAME  CPPUNIT_HAVE_RTTI 
+#endif
+
+#define CPPUNIT_HAVE_SSTREAM 1
+
+/* Name of package */
+#ifndef CPPUNIT_PACKAGE 
+#define CPPUNIT_PACKAGE  "cppunit" 
+#endif
+
+
+// Compiler error location format for CompilerOutputter
+// See class CompilerOutputter for format.
+#undef CPPUNIT_COMPILER_LOCATION_FORMAT
+#if _MSC_VER >= 1300    // VS 7.0
+# define CPPUNIT_COMPILER_LOCATION_FORMAT "%p(%l) : error : "
+#else
+# define CPPUNIT_COMPILER_LOCATION_FORMAT "%p(%l):"
+#endif
+
+// Define to 1 if the compiler support C++ style cast.
+#define CPPUNIT_HAVE_CPP_CAST 1
+
+/* define to 1 if the compiler has _finite() */
+#ifndef CPPUNIT_HAVE__FINITE
+#define CPPUNIT_HAVE__FINITE 1 
+#endif
+
+
+// Uncomment to turn on STL wrapping => use this to test compilation. 
+// This will make CppUnit subclass std::vector & co to provide default
+// parameter.
+/*#define CPPUNIT_STD_NEED_ALLOCATOR 1
+#define CPPUNIT_STD_ALLOCATOR std::allocator<T>
+//#define CPPUNIT_NO_NAMESPACE 1
+*/
+
+#if _MSC_VER >= 1300    // VS 7.0
+#define CPPUNIT_UNIQUE_COUNTER __COUNTER__
+#endif // if _MSC_VER >= 1300    // VS 7.0
+
+/* _INCLUDE_CPPUNIT_CONFIG_MSVC6_H */
+#endif