Rename test case to better match the Gazebo one.
Add option to use mesh for bricks as well as cylinders.
Added new regression test based on Gazebo's ForceTorque test by John Hsu (checks joint reactions against analytic results for a simple mechanism).
Fix some comments.
Merge pull request #19 from sherm1/master

added new Simbody regression test to max Gazebo's ForceTorque test