Tools for creating, moving, and discretizing rigid bodies

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The purpose of this package is to provide tools for rigid bodies with point-discretized surfaces. It currently includes methods for

• a library of 2D surface shape definitions and associated point discretizations
• calculation of geometric properties
• collections of multiple rigid bodies
• prescribed kinematics of single or linked systems of rigid and deforming bodies, with a library of joints

These tools support a variety of classes of problems, including those that involve bodies interacting with fluids, in which we would immerse these point-discretized representations into a computational grid.