minor bullet related updates, fixed xml example

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@456 042f3d55-54a8-47e9-b7fb-15903f145c44

SimDynamics/CMakeModules/FindBullet.cmake

@@ -21,7 +21,7 @@ SET( BULLET_ROOT "" CACHE PATH "Bullet install dir, parent of both header files
 SET( BULLET_BUILD_DIR "" CACHE PATH "Parent directory of Bullet binary file directories such as src/BulletCollision." )
 SET( BULLET_SOURCE_DIR "" CACHE PATH "Parent directory of Bullet header file directories such as src or include." )
 
-UNSET( BULLET_INCLUDE_DIR CACHE )
+#UNSET( BULLET_INCLUDE_DIR CACHE )
 MARK_AS_ADVANCED( BULLET_INCLUDE_DIR )
 FIND_PATH( BULLET_INCLUDE_DIR btBulletCollisionCommon.h
     PATHS
@@ -31,9 +31,13 @@ FIND_PATH( BULLET_INCLUDE_DIR btBulletCollisionCommon.h
         $ENV{BULLET_SOURCE_DIR}
         "C:/Program Files/BULLET_PHYSICS"
     PATH_SUFFIXES
+        /BulletCollision
         /src
         /include
         /include/bullet
+        /src/BulletCollision
+        /include/BulletCollision
+        /include/bullet/BulletCollision
     )
 IF( BULLET_INCLUDE_DIR )
     #SET( BULLET_DEMOS_INCLUDE_DIR ${BULLET_INCLUDE_DIR}/../Demos/OpenGL )

VirtualRobot/data/robots/examples/loadRobot/RobotExample.xml

@@ -19,6 +19,7 @@
 		</Transform>
 		<Joint type="revolute" offset="0">
 			<Limits unit="degree" lo="-90" hi="45"/>
+			<axis x="0" y="0" z="1"/>
 			<!--DH a="0" d="100" theta="-30" alpha="15" units="degree"/-->
 		</Joint>
 		<Visualization enable="true">

config.cmake

@@ -14,7 +14,7 @@ IF (NOT Simox_CONFIGURED)
 	############################# VERSION #################################
 	set(Simox_MAJOR_VERSION 2)
 	set(Simox_MINOR_VERSION 2)
-	set(Simox_PATCH_VERSION 0)
+	set(Simox_PATCH_VERSION 1)
 	set(Simox_VERSION
     ${Simox_MAJOR_VERSION}.${Simox_MINOR_VERSION}.${Simox_PATCH_VERSION})