Provides a default implementation for the function used by the collision
detection engine to notify an object when it has collided with another object.
Returns a DenseMatrix in homogenous coordinates to rotate and translate
a 2 dimensional rigid body given the angle theta (in radians) and a translation vector
Set the shape of the object which determines how it is displayed,
when it is colliding with another object, and how its mass moment of
inertia is calculated