- added torsion for analytical cylinder 
- added torsion for analytical cylinder 

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