No because cost.
A sphere uses simple calcs. A box though it seems like more uses less (because easier math without pi amd in parallel on any engine). A sphiel is 3rd because of Pie plus dimensions (as opposed to sphere).
A taurus would be 2 Pi and … well im not sure the math to figure out the collision is easy at all. Its not super hard, but its 2x more than sphiel already.
I could see it being useful, but if you split the math and do it of a box collision you get the same end result plus, you have to anyway.
If you were to write your own physics engine you would firstly set up to check that the box containing the tourus was hit.
Then you would check if the circle containing the taurus was hit.
Then you would check if the circle of the taurus was hit at the location where the circle was hit.
Thats 3 calcs. When the idea behins the primitives is that you just do the math and get a straight up result.
Cant the math give one result just for the taurus? Maybe you could write a formula. But because of PI i bet it would cost (tame more time) than the exclusion checking above.
Hence why its not a common shape in any engine i know of…
Re the rest.
Mind you that even Motocross Madness used the equivalent of a car to power motorcycles. Its common place and produces really good results when done right.