Add Bullet header files and use them in CMakeLists

CMakeLists.txt

@@ -52,11 +52,8 @@ else()
   target_link_libraries(${CMAKE_PROJECT_NAME} ${GLEW_DIR}/lib/libGLEW.a)
 endif()
 
-set(BULLET "$ENV{BULLET}")
-if(NOT BULLET)
-    message(FATAL_ERROR "Please point the environment variable BULLET to the root directory of your Bullet installation.")
-endif()
-include_directories(${BULLET}/src)
+# Set up Bullet
+include_directories(${CMAKE_SOURCE_DIR}/include)
 target_link_libraries(${CMAKE_PROJECT_NAME} ${CMAKE_SOURCE_DIR}/lib/libBulletDynamics.a)
 target_link_libraries(${CMAKE_PROJECT_NAME} ${CMAKE_SOURCE_DIR}/lib/libBulletCollision.a)
 target_link_libraries(${CMAKE_PROJECT_NAME} ${CMAKE_SOURCE_DIR}/lib/libLinearMath.a)

include/Bullet3Collision/BroadPhaseCollision/b3BroadphaseCallback.h

@@ -0,0 +1,40 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B3_BROADPHASE_CALLBACK_H
+#define B3_BROADPHASE_CALLBACK_H
+
+#include "Bullet3Common/b3Vector3.h"
+struct b3BroadphaseProxy;
+
+
+struct	b3BroadphaseAabbCallback
+{
+	virtual ~b3BroadphaseAabbCallback() {}
+	virtual bool	process(const b3BroadphaseProxy* proxy) = 0;
+};
+
+
+struct	b3BroadphaseRayCallback : public b3BroadphaseAabbCallback
+{
+	///added some cached data to accelerate ray-AABB tests
+	b3Vector3		m_rayDirectionInverse;
+	unsigned int	m_signs[3];
+	b3Scalar		m_lambda_max;
+
+	virtual ~b3BroadphaseRayCallback() {}
+};
+
+#endif //B3_BROADPHASE_CALLBACK_H