Merge pull request #2 from sherm1/master

Fixed Optimizer doxygen to make clear that setDifferentiatorMethod() must be called before useNumericalGradient()
Merge pull request #14 from sherm1/master

Typo in comment.
Merge pull request #16 from sherm1/master

Two small fixes: FindSimbody now works for 64 bit Windows; MobilizedBody::isSameMobilizedBody() fixed.
Rename test case to better match the Gazebo one.
Add option to use mesh for bricks as well as cylinders.