def __init__(self, object_to_world, world_to_object, reverse_orientation): """Constructs a Shape.""" self.object_to_world = Transform.from_transform(object_to_world) self.world_to_object = Transform.from_transform(world_to_object) self.reverse_orientation = reverse_orientation self.transform_swap_handedness = object_to_world.swap_handedness() self.shape_id = Shape._get_shape_id()