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()
