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Born on 4 October 1531 in Sarnano, March of Ancona, he entered the Order of Friars Minor Conventual when he was ten years old; he changed his baptismal name, Gasparo, to Costanzo. He studied philosophy and theology and obtained the title of Magister when he was twenty-eight years old.
He taught philosophy and theology at the Universities of Perugia, Padua and Rome. At the same time, he was also a noted and popular preacher. He was a friend of Fr. Felice Peretti, also a Franciscan, who later became Pope Sixtus V. He wrote several works in theology and Aristotelian philosophy; his Summa theologica was published by the Vatican Press in 1592.
Torri was created cardinal priest in the Papal consistory of 16 November 1586 and received the red hat and the title of San Vitale on 14 January 1587. He opted for the title of San Pietro in Montorio on 20 April 1587. Torri was charged by the pope with the critical edition of the works of Bonaventure.