Represents the collision part of the RigidBody. A shape is mainly definied through it's supportmap. Shapes represent convex objects. Inherited classes have to overwrite the supportmap function. To implement you own shape: derive a class from Shape, implement the support map function and call 'UpdateShape' within the constructor. GeometricCenter, Mass, BoundingBox and Inertia is calculated numerically based on your SupportMap implementation.