add collision and inverse dynamics unit tests to cmake, .travis.yml and appveyor.yml

(more unit tests will follow, once this setup works)

CMakeLists.txt

@@ -80,12 +80,12 @@ IF(MSVC)
 	ELSE()
 	  OPTION(USE_MSVC_SSE "Use MSVC /arch:sse option"	ON)
 	  IF (USE_MSVC_SSE)
-		ADD_DEFINITIONS(/arch:SSE)
+		  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:SSE")
 	  ENDIF()
 	ENDIF()
 	OPTION(USE_MSVC_FAST_FLOATINGPOINT "Use MSVC /fp:fast option"	ON)
 	IF (USE_MSVC_FAST_FLOATINGPOINT)
-		ADD_DEFINITIONS(/fp:fast)
+		  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /fp:fast")
   ENDIF()
 ENDIF(MSVC)
 
@@ -273,6 +273,7 @@ ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
 OPTION(BUILD_UNIT_TESTS "Build Unit Tests"	ON)
 
 IF (BUILD_UNIT_TESTS)
+	ENABLE_TESTING()
 	SUBDIRS(test)
 ENDIF()