added analytical findNearestPoint for Torus
added analytical findNearestPoint for Torus

Gjacquenot/simbody,elkingtonmcb/simbody,scamille/simbody,scamille/simbody,scamille/simbody,chrisdembia/simbody,simbody/simbody,elen4/simbody,Gjacquenot/simbody,Gjacquenot/simbody,robojukie/simbody,elkingtonmcb/simbody,chrisdembia/simbody,simbody/simbody,chrisdembia/simbody,elen4/simbody,robojukie/simbody,elkingtonmcb/simbody,robojukie/simbody