Install examples to doc dir and lib (#82)

Install most of the example files to the doc folder, except on
UNIX, when the executable examples go to a subfolder of lib
with a symbolic link installed to the doc folder.
Provide access to normalizeQuaternions() method, previously internal only.
Merge branch 'issue_82' of https://github.com/scpeters/simbody into scpeters-issue_82

Conflicts:
	Simbody/examples/CMakeLists.txt