Replaces setSubMatrix with Matrix.block in VirtualToolCoupler. Also a bugfix in which block dTorqueDposition and dTorqueDvelocity belong.  The equation for the springJacobian is: [dForce ] = J * [dPosition   ] [dTorque]       [dOrientation] So dTorqueDposition goes in the bottom left block.
Replaces setSubMatrix with Matrix.block in VirtualToolCoupler.
Also a bugfix in which block dTorqueDposition and dTorqueDvelocity
belong.  The equation for the springJacobian is:
[dForce ] = J * [dPosition   ]
[dTorque]       [dOrientation]
So dTorqueDposition goes in the bottom left block.

simquest/opensurgsim,simquest/opensurgsim,simquest/opensurgsim,simquest/opensurgsim