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/portability/CppUnitDeque.h

@@ -0,0 +1,25 @@
+#ifndef CPPUNIT_PORTABILITY_CPPUNITDEQUE_H
+#define CPPUNIT_PORTABILITY_CPPUNITDEQUE_H
+
+// The technic used is similar to the wrapper of STLPort.
+ 
+#include <cppunit/Portability.h>
+#include <deque>
+
+
+#if CPPUNIT_STD_NEED_ALLOCATOR
+
+template<class T>
+class CppUnitDeque : public std::deque<T,CPPUNIT_STD_ALLOCATOR>
+{
+public:
+};
+
+#else // CPPUNIT_STD_NEED_ALLOCATOR
+
+#define CppUnitDeque std::deque
+
+#endif
+
+#endif // CPPUNIT_PORTABILITY_CPPUNITDEQUE_H
+

UnitTests/cppunit/include/cppunit/portability/CppUnitMap.h

@@ -0,0 +1,29 @@
+#ifndef CPPUNIT_PORTABILITY_CPPUNITMAP_H
+#define CPPUNIT_PORTABILITY_CPPUNITMAP_H
+
+// The technic used is similar to the wrapper of STLPort.
+ 
+#include <cppunit/Portability.h>
+#include <functional>
+#include <map>
+
+
+#if CPPUNIT_STD_NEED_ALLOCATOR
+
+template<class Key, class T>
+class CppUnitMap : public std::map<Key
+                                  ,T
+                                  ,std::less<Key>
+                                  ,CPPUNIT_STD_ALLOCATOR>
+{
+public:
+};
+
+#else // CPPUNIT_STD_NEED_ALLOCATOR
+
+#define CppUnitMap std::map
+
+#endif
+
+#endif // CPPUNIT_PORTABILITY_CPPUNITMAP_H
+

UnitTests/cppunit/include/cppunit/portability/CppUnitSet.h

@@ -0,0 +1,28 @@
+#ifndef CPPUNIT_PORTABILITY_CPPUNITSET_H
+#define CPPUNIT_PORTABILITY_CPPUNITSET_H
+
+// The technic used is similar to the wrapper of STLPort.
+ 
+#include <cppunit/Portability.h>
+#include <functional>
+#include <set>
+
+
+#if CPPUNIT_STD_NEED_ALLOCATOR
+
+template<class T>
+class CppUnitSet : public std::set<T
+                                  ,std::less<T>
+                                  ,CPPUNIT_STD_ALLOCATOR>
+{
+public:
+};
+
+#else // CPPUNIT_STD_NEED_ALLOCATOR
+
+#define CppUnitSet std::set
+
+#endif
+
+#endif // CPPUNIT_PORTABILITY_CPPUNITSET_H
+

UnitTests/cppunit/include/cppunit/portability/CppUnitStack.h

@@ -0,0 +1,26 @@
+#ifndef CPPUNIT_PORTABILITY_CPPUNITSTACK_H
+#define CPPUNIT_PORTABILITY_CPPUNITSTACK_H
+
+// The technic used is similar to the wrapper of STLPort.
+ 
+#include <cppunit/Portability.h>
+#include <deque>
+#include <stack>
+
+
+#if CPPUNIT_STD_NEED_ALLOCATOR
+
+template<class T>
+class CppUnitStack : public std::stack<T
+                                      ,std::deque<T,CPPUNIT_STD_ALLOCATOR> >
+{
+public:
+};
+
+#else // CPPUNIT_STD_NEED_ALLOCATOR
+
+#define CppUnitStack std::stack
+
+#endif
+
+#endif // CPPUNIT_PORTABILITY_CPPUNITSTACK_H

UnitTests/cppunit/include/cppunit/portability/CppUnitVector.h

@@ -0,0 +1,25 @@
+#ifndef CPPUNIT_PORTABILITY_CPPUNITVECTOR_H
+#define CPPUNIT_PORTABILITY_CPPUNITVECTOR_H
+
+// The technic used is similar to the wrapper of STLPort.
+ 
+#include <cppunit/Portability.h>
+#include <vector>
+
+
+#if CPPUNIT_STD_NEED_ALLOCATOR
+
+template<class T>
+class CppUnitVector : public std::vector<T,CPPUNIT_STD_ALLOCATOR>
+{
+public:
+};
+
+#else // CPPUNIT_STD_NEED_ALLOCATOR
+
+#define CppUnitVector std::vector
+
+#endif
+
+#endif // CPPUNIT_PORTABILITY_CPPUNITVECTOR_H
+

UnitTests/cppunit/include/cppunit/portability/FloatingPoint.h

@@ -0,0 +1,54 @@
+#ifndef CPPUNIT_PORTABILITY_FLOATINGPOINT_H_INCLUDED
+#define CPPUNIT_PORTABILITY_FLOATINGPOINT_H_INCLUDED
+
+#include <cppunit/Portability.h>
+#include <math.h>
+
+CPPUNIT_NS_BEGIN
+
+/// \brief Tests if a floating-point is a NaN.
+// According to IEEE-754 floating point standard, 
+// (see e.g. page 8 of
+// http://www.cs.berkeley.edu/~wkahan/ieee754status/ieee754.ps) 
+// all comparisons with NaN are false except "x != x", which is true.
+//
+// At least Microsoft Visual Studio 6 is known not to implement this test correctly.
+// It emits the following code to test equality:
+//  fcomp       qword ptr [nan]
+//  fnstsw      ax                        // copie fp (floating-point) status register to ax
+//  test        ah,40h                    // test bit 14 of ax (0x4000) => C3 of fp status register
+// According to the following documentation on the x86 floating point status register,
+// the C2 bit should be tested to test for NaN value. 
+// http://webster.cs.ucr.edu/AoA/Windows/HTML/RealArithmetic.html#1000117
+// In Microsoft Visual Studio 2003 & 2005, the test is implemented with:
+//  test        ah,44h         // Visual Studio 2005 test both C2 & C3...
+//
+// To work around this, a NaN is assumed to be detected if no strict ordering is found.
+inline bool floatingPointIsUnordered( double x )
+{
+   // x != x will detect a NaN on conformant platform
+   // (2.0 < x  &&  x < 1.0) will detect a NaN on non conformant platform:
+   // => no ordering can be found for x.
+   return  (x != x) ||  (2.0 < x  &&  x < 1.0);
+}
+
+
+/// \brief Tests if a floating-point is finite.
+/// @return \c true if x is neither a NaN, nor +inf, nor -inf, \c false otherwise.
+inline int floatingPointIsFinite( double x )
+{
+#if defined(CPPUNIT_HAVE_ISFINITE)
+   return isfinite( x );
+#elif defined(CPPUNIT_HAVE_FINITE)
+   return finite( x );
+#elif defined(CPPUNIT_HAVE__FINITE)
+   return _finite(x);
+#else
+   double testInf = x * 0.0;  // Produce 0.0 if x is finite, a NaN otherwise.
+   return testInf == 0.0  &&  !floatingPointIsUnordered(testInf);
+#endif
+}
+
+CPPUNIT_NS_END
+
+#endif // CPPUNIT_PORTABILITY_FLOATINGPOINT_H_INCLUDED

UnitTests/cppunit/include/cppunit/portability/Stream.h

@@ -0,0 +1,347 @@
+#ifndef CPPUNIT_PORTABILITY_STREAM_H_INCLUDED
+#define CPPUNIT_PORTABILITY_STREAM_H_INCLUDED
+
+// This module define:
+// Type CppUT::Stream (either std::stream or a custom type)
+// Type CppUT::OStringStream (eitjer std::ostringstream, older alternate or a custom type)
+// Functions stdCOut() & stdCErr() which returns a reference on cout & cerr stream (or our
+// custom stream).
+
+#include <cppunit/Portability.h>
+
+
+#if defined( CPPUNIT_NO_STREAM )
+
+#include <string>
+#include <stdio.h>
+#include <string.h>
+
+CPPUNIT_NS_BEGIN
+
+class StreamBuffer
+{
+public:
+   virtual ~StreamBuffer() {}
+
+   virtual void write( const char *text, unsigned int length ) = 0;
+
+   virtual void flush() {}
+};
+
+
+class StringStreamBuffer : public StreamBuffer
+{
+public:
+   std::string str() const
+   {
+      return str_;
+   }
+
+public: // overridden from StreamBuffer
+   void write( const char *text, unsigned int length )
+   {
+      str_.append( text, length );
+   }
+
+private:
+   std::string str_;
+};
+
+
+class FileStreamBuffer : public StreamBuffer
+{
+public:
+   FileStreamBuffer( FILE *file )
+      : file_( file )
+   {
+   }
+
+   FILE *file() const
+   {
+      return file_;
+   }
+
+public: // overridden from StreamBuffer
+   void write( const char *text, unsigned int length )
+   {
+      if ( file_ )
+         fwrite( text, sizeof(char), length, file_ );
+   }
+
+   void flush() 
+   {
+      if ( file_ )
+         fflush( file_ );
+   }
+
+private:
+   FILE *file_;
+};
+
+
+class OStream
+{
+public:
+   OStream()
+      : buffer_( 0 )
+   {
+   }
+
+   OStream( StreamBuffer *buffer )
+      : buffer_( buffer )
+   {
+   }
+
+   virtual ~OStream()
+   {
+     flush();
+   }
+
+   OStream &flush()
+   {
+	   if ( buffer_ )
+		    buffer_->flush();
+	   return *this;
+   }
+
+   void setBuffer( StreamBuffer *buffer )
+   {
+      buffer_ = buffer;
+   }
+
+   OStream &write( const char *text, unsigned int length )
+   {
+      if ( buffer_ )
+         buffer_->write( text, length );
+      return *this;
+   }
+
+   OStream &write( const char *text )
+   {
+      return write( text, strlen(text) );
+   }
+
+   OStream &operator <<( bool v )
+   {
+      const char *out = v ? "true" : "false";
+      return write( out );
+   }
+
+   OStream &operator <<( short v )
+   {
+      char buffer[64];
+      sprintf( buffer, "%hd", v );
+      return write( buffer );
+   }
+
+   OStream &operator <<( unsigned short v )
+   {
+      char buffer[64];
+      sprintf( buffer, "%hu", v );
+      return write( buffer );
+   }
+
+   OStream &operator <<( int v )
+   {
+      char buffer[64];
+      sprintf( buffer, "%d", v );
+      return write( buffer );
+   }
+
+   OStream &operator <<( unsigned int v )
+   {
+      char buffer[64];
+      sprintf( buffer, "%u", v );
+      return write( buffer );
+   }
+
+   OStream &operator <<( long v )
+   {
+      char buffer[64];
+      sprintf( buffer, "%ld", v );
+      return write( buffer );
+   }
+
+   OStream &operator <<( unsigned long v )
+   {
+      char buffer[64];
+      sprintf( buffer, "%lu", v );
+      return write( buffer );
+   }
+
+   OStream &operator <<( float v )
+   {
+      char buffer[128];
+      sprintf( buffer, "%.16g", double(v) );
+      return write( buffer );
+   }
+
+   OStream &operator <<( double v )
+   {
+      char buffer[128];
+      sprintf( buffer, "%.16g", v );
+      return write( buffer );
+   }
+
+   OStream &operator <<( long double v )
+   {
+      char buffer[128];
+      sprintf( buffer, "%.16g", double(v) );
+      return write( buffer );
+   }
+
+   OStream &operator <<( const void *v )
+   {
+      char buffer[64];
+      sprintf( buffer, "%p", v );
+      return write( buffer );
+   }
+
+   OStream &operator <<( const char *v )
+   {
+      return write( v ? v : "NULL" );
+   }
+
+   OStream &operator <<( char c )
+   {
+      char buffer[16];
+      sprintf( buffer, "%c", c );
+      return write( buffer );
+   }
+
+   OStream &operator <<( const std::string &s )
+   {
+      return write( s.c_str(), s.length() );
+   }
+
+private:
+   StreamBuffer *buffer_;
+};
+
+
+class OStringStream : public OStream
+{
+public:
+	OStringStream()
+		: OStream( &buffer_ )
+	{
+	}
+
+	std::string str() const
+	{
+		return buffer_.str();
+	}
+
+private:
+	StringStreamBuffer buffer_;
+};
+
+
+class OFileStream : public OStream
+{
+public:
+   OFileStream( FILE *file )
+      : OStream( &buffer_ )
+      , buffer_( file )
+      , ownFile_( false )
+   {
+   }
+
+   OFileStream( const char *path )
+      : OStream( &buffer_ )
+      , buffer_( fopen( path, "wt" ) )
+      , ownFile_( true )
+   {
+   }
+
+   virtual ~OFileStream()
+   {
+      if ( ownFile_  &&  buffer_.file() )
+         fclose( buffer_.file() );
+   }
+
+private:
+   FileStreamBuffer buffer_;
+   bool ownFile_;
+};
+
+inline OStream &stdCOut() 
+{
+   static OFileStream stream( stdout );
+   return stream;
+}
+
+inline OStream &stdCErr() 
+{
+   static OFileStream stream( stderr );
+   return stream;
+}
+
+CPPUNIT_NS_END
+
+#elif CPPUNIT_HAVE_SSTREAM // #if defined( CPPUNIT_NO_STREAM )
+# include <sstream>
+# include <fstream>
+
+    CPPUNIT_NS_BEGIN
+    typedef std::ostringstream OStringStream;      // The standard C++ way
+    typedef std::ofstream OFileStream;
+    CPPUNIT_NS_END
+
+
+#elif CPPUNIT_HAVE_CLASS_STRSTREAM
+# include <string>
+# if CPPUNIT_HAVE_STRSTREAM
+#   include <strstream>
+# else // CPPUNIT_HAVE_STRSTREAM
+#  include <strstream.h>
+# endif // CPPUNIT_HAVE_CLASS_STRSTREAM
+
+    CPPUNIT_NS_BEGIN
+
+    class OStringStream : public std::ostrstream 
+    {
+    public:
+        std::string str()
+        {
+//            (*this) << '\0';
+//            std::string msg(std::ostrstream::str());
+//            std::ostrstream::freeze(false);
+//            return msg;
+// Alternative implementation that don't rely on freeze which is not
+// available on some platforms:
+            return std::string( std::ostrstream::str(), pcount() );
+        }
+    };
+
+    CPPUNIT_NS_END
+#else // CPPUNIT_HAVE_CLASS_STRSTREAM
+#   error Cannot define CppUnit::OStringStream.
+#endif // #if defined( CPPUNIT_NO_STREAM )
+
+
+
+#if !defined( CPPUNIT_NO_STREAM )
+
+#include <iostream>
+
+    CPPUNIT_NS_BEGIN
+
+    typedef std::ostream OStream;
+
+    inline OStream &stdCOut() 
+    {
+        return std::cout;
+    }
+
+    inline OStream &stdCErr() 
+    {
+       return std::cerr;
+    }
+
+    CPPUNIT_NS_END
+   
+#endif // #if !defined( CPPUNIT_NO_STREAM )
+
+#endif // CPPUNIT_PORTABILITY_STREAM_H_INCLUDED
+