added LICENSE.txt and AUTHORS.txt file

add MultiBody Custom Creation example, to show how to import data from a URDF file and fill up your own data structures.
add btMultiBody::setBaseWorldTransform method
todo: fix cmake build, this patch is premake only

examples/MultiBody/premake4.lua

@@ -0,0 +1,40 @@
+
+project "App_CustomMultiBodyCreation"
+
+if _OPTIONS["ios"] then
+	kind "WindowedApp"
+else	
+	kind "ConsoleApp"
+end
+
+includedirs {".", "../../src",  "../ThirdPartyLibs"}
+
+links {
+	"Bullet3Common", "BulletDynamics","BulletCollision", "LinearMath"
+}
+
+language "C++"
+
+files {
+	"MultiBodyCustomURDFDemo.cpp",
+	"main.cpp",
+	"../Importers/ImportURDFDemo/URDF2Bullet.cpp",
+	"../Importers/ImportURDFDemo/MyURDFImporter.cpp",
+	"../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
+	"../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
+	"../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
+	"../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
+	"../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
+	"../ThirdPartyLibs/tinyxml/tinystr.cpp",
+	"../ThirdPartyLibs/tinyxml/tinyxml.cpp",
+	"../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
+	"../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
+	"../ThirdPartyLibs/urdf/boost_replacement/printf_console.cpp",
+	"../ThirdPartyLibs/urdf/boost_replacement/string_split.cpp",
+	"../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/pose.cpp",
+	"../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/model.cpp",
+	"../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/link.cpp",
+	"../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/joint.cpp",
+	
+}
+