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/tools/Algorithm.h

@@ -0,0 +1,23 @@
+#ifndef CPPUNIT_TOOLS_ALGORITHM_H_INCLUDED
+#define CPPUNIT_TOOLS_ALGORITHM_H_INCLUDED
+
+#include <cppunit/Portability.h>
+
+CPPUNIT_NS_BEGIN
+
+template<class SequenceType, class ValueType>
+void
+removeFromSequence( SequenceType &sequence, 
+                    const ValueType &valueToRemove )
+{
+   for ( unsigned int index =0; index < sequence.size(); ++index )
+   {
+      if ( sequence[ index ] == valueToRemove )
+         sequence.erase( sequence.begin() + index );
+   }
+}
+
+CPPUNIT_NS_END
+
+
+#endif // CPPUNIT_TOOLS_ALGORITHM_H_INCLUDED

UnitTests/cppunit/include/cppunit/tools/StringTools.h

@@ -0,0 +1,34 @@
+#ifndef CPPUNIT_TOOLS_STRINGTOOLS_H
+#define CPPUNIT_TOOLS_STRINGTOOLS_H
+
+#include <cppunit/Portability.h>
+#include <string>
+#include <cppunit/portability/CppUnitVector.h>
+
+
+CPPUNIT_NS_BEGIN
+
+
+/*! \brief Tool functions to manipulate string.
+ */
+struct StringTools
+{
+
+  typedef CppUnitVector<std::string> Strings;
+
+  static std::string CPPUNIT_API toString( int value );
+
+  static std::string CPPUNIT_API toString( double value );
+
+  static Strings CPPUNIT_API split( const std::string &text, 
+                                    char separator );
+
+  static std::string CPPUNIT_API wrap( const std::string &text,
+                                       int wrapColumn = CPPUNIT_WRAP_COLUMN );
+
+};
+
+
+CPPUNIT_NS_END
+
+#endif  // CPPUNIT_TOOLS_STRINGTOOLS_H

UnitTests/cppunit/include/cppunit/tools/XmlDocument.h

@@ -0,0 +1,86 @@
+#ifndef CPPUNIT_TOOLS_XMLDOCUMENT_H
+#define CPPUNIT_TOOLS_XMLDOCUMENT_H
+
+#include <cppunit/Portability.h>
+
+#if CPPUNIT_NEED_DLL_DECL
+#pragma warning( push )
+#pragma warning( disable: 4251 )  // X needs to have dll-interface to be used by clients of class Z
+#endif
+
+#include <string>
+
+
+CPPUNIT_NS_BEGIN
+
+
+class XmlElement;
+
+
+/*! \brief A XML Document.
+ *
+ * A XmlDocument represents a XML file. It holds a pointer on the root XmlElement
+ * of the document. It also holds the encoding and style sheet used.
+ *
+ * By default, the XML document is stand-alone and tagged with enconding "ISO-8859-1".
+ */
+class CPPUNIT_API XmlDocument
+{
+public:
+  /*! \brief Constructs a XmlDocument object.
+   * \param encoding Encoding used in the XML file (default is Latin-1, ISO-8859-1 ). 
+   * \param styleSheet Name of the XSL style sheet file used. If empty then no
+   *                   style sheet will be specified in the output.
+   */
+  XmlDocument( const std::string &encoding = "",
+               const std::string &styleSheet = "" );
+
+  /// Destructor.
+  virtual ~XmlDocument();
+
+  std::string encoding() const;
+  void setEncoding( const std::string &encoding = "" );
+  
+  std::string styleSheet() const;
+  void setStyleSheet( const std::string &styleSheet = "" );
+
+  bool standalone() const;
+
+  /*! \brief set the output document as standalone or not.
+   *
+   *  For the output document, specify wether it's a standalone XML
+   *  document, or not.
+   *
+   *  \param standalone if true, the output will be specified as standalone.
+   *         if false, it will be not.
+   */
+  void setStandalone( bool standalone );
+ 
+  void setRootElement( XmlElement *rootElement );
+  XmlElement &rootElement() const;
+
+  std::string toString() const;
+
+private:
+  /// Prevents the use of the copy constructor.
+  XmlDocument( const XmlDocument &copy );
+
+  /// Prevents the use of the copy operator.
+  void operator =( const XmlDocument &copy );
+
+protected:
+  std::string m_encoding;
+  std::string m_styleSheet;
+  XmlElement *m_rootElement;
+  bool m_standalone;
+};
+
+
+#if CPPUNIT_NEED_DLL_DECL
+#pragma warning( pop )
+#endif
+
+
+CPPUNIT_NS_END
+
+#endif  // CPPUNIT_TOOLS_XMLDOCUMENT_H

UnitTests/cppunit/include/cppunit/tools/XmlElement.h

@@ -0,0 +1,149 @@
+#ifndef CPPUNIT_TOOLS_XMLELEMENT_H
+#define CPPUNIT_TOOLS_XMLELEMENT_H
+
+#include <cppunit/Portability.h>
+
+#if CPPUNIT_NEED_DLL_DECL
+#pragma warning( push )
+#pragma warning( disable: 4251 )  // X needs to have dll-interface to be used by clients of class Z
+#endif
+
+#include <cppunit/portability/CppUnitDeque.h>
+#include <string>
+
+
+CPPUNIT_NS_BEGIN
+
+
+class XmlElement;
+
+#if CPPUNIT_NEED_DLL_DECL
+//  template class CPPUNIT_API std::deque<XmlElement *>;
+#endif
+
+
+/*! \brief A XML Element.
+ * 
+ * A XML element has:
+ * - a name, specified on construction,
+ * - a content, specified on construction (may be empty),
+ * - zero or more attributes, added with addAttribute(),
+ * - zero or more child elements, added with addElement().
+ */
+class CPPUNIT_API XmlElement
+{
+public:
+  /*! \brief Constructs an element with the specified name and string content.
+   * \param elementName Name of the element. Must not be empty.
+   * \param content Content of the element.
+   */
+  XmlElement( std::string elementName,
+              std::string content ="" );
+
+  /*! \brief Constructs an element with the specified name and numeric content.
+   * \param elementName Name of the element. Must not be empty.
+   * \param numericContent Content of the element.
+   */
+  XmlElement( std::string elementName,
+              int numericContent );
+
+  /*! \brief Destructs the element and its child elements.
+   */
+  virtual ~XmlElement();
+
+  /*! \brief Returns the name of the element.
+   * \return Name of the element.
+   */
+  std::string name() const;
+
+  /*! \brief Returns the content of the element.
+   * \return Content of the element.
+   */
+  std::string content() const;
+
+  /*! \brief Sets the name of the element.
+   * \param name New name for the element.
+   */
+  void setName( const std::string &name );
+
+  /*! \brief Sets the content of the element.
+   * \param content New content for the element.
+   */
+  void setContent( const std::string &content );
+
+  /*! \overload void setContent( const std::string &content )
+   */
+  void setContent( int numericContent );
+
+  /*! \brief Adds an attribute with the specified string value.
+   * \param attributeName Name of the attribute. Must not be an empty.
+   * \param value Value of the attribute.
+   */
+  void addAttribute( std::string attributeName,
+                     std::string value );
+
+  /*! \brief Adds an attribute with the specified numeric value.
+   * \param attributeName Name of the attribute. Must not be empty.
+   * \param numericValue Numeric value of the attribute.
+   */
+  void addAttribute( std::string attributeName,
+                     int numericValue );
+
+  /*! \brief Adds a child element to the element.
+   * \param element Child element to add. Must not be \c NULL.
+   */
+  void addElement( XmlElement *element );
+
+  /*! \brief Returns the number of child elements.
+   * \return Number of child elements (element added with addElement()).
+   */
+  int elementCount() const;
+
+  /*! \brief Returns the child element at the specified index.
+   * \param index Zero based index of the element to return.
+   * \returns Element at the specified index. Never \c NULL.
+   * \exception std::invalid_argument if \a index < 0 or index >= elementCount().
+   */
+  XmlElement *elementAt( int index ) const;
+
+  /*! \brief Returns the first child element with the specified name.
+   * \param name Name of the child element to return.
+   * \return First child element found which is named \a name.
+   * \exception std::invalid_argument if there is no child element with the specified
+   *            name.
+   */
+  XmlElement *elementFor( const std::string &name ) const;
+
+  /*! \brief Returns a XML string that represents the element.
+   * \param indent String of spaces representing the amount of 'indent'.
+   * \return XML string that represents the element, its attributes and its
+   *         child elements.
+   */
+  std::string toString( const std::string &indent = "" ) const;
+
+private:
+  typedef std::pair<std::string,std::string> Attribute;
+
+  std::string attributesAsString() const;
+  std::string escape( std::string value ) const;
+
+private:
+  std::string m_name;
+  std::string m_content;
+
+  typedef CppUnitDeque<Attribute> Attributes;
+  Attributes m_attributes;
+
+  typedef CppUnitDeque<XmlElement *> Elements;
+  Elements m_elements;
+};
+
+
+CPPUNIT_NS_END
+
+#if CPPUNIT_NEED_DLL_DECL
+#pragma warning( pop )
+#endif
+
+
+#endif  // CPPUNIT_TOOLS_XMLELEMENT_H