Create README.md

Author: isucan

README.md

@@ -0,0 +1,14 @@
+geometric_shapes
+================
+
+This package contains generic definitions of geometric shapes and bodies. Shapes represent only the form of an object.
+Bodies are shapes at a particular pose. Routines such as point containment and ray intersections are provided.
+
+Supported shapes:
+- sphere
+- box
+- cone
+- cylinder
+- mesh
+
+Note: Bodies for meshes compute the convex hull of those meshes in order to provide the point containment / ray intersection routines.