ing the shapes attached to the rigid body. If you want to compute the mass properties based on a total mass specify a total mass and set density to zero. Alternativly specify a density and set total mass to zero. If a density is supplied the mass is calculated based on the total mass of the shapes multiplied by the supplied density. The mass of each shape is either the shape"s local density (default 1.0) multiplied by the shape"s volume or a directly specified shape mass. The inertia tensor, mass frame and 