RigidBody
RigidBody.getSurfaceMesh()
CollisionBehavior.setDrawColorMap(artisynth.core.mechmodels.CollisionBehavior.ColorMapType)
setColorMapCollidable
RigidBody.setSurfaceMesh(PolygonalMesh)
RigidBody.setSurfaceMesh(PolygonalMesh,String)
RigidBody.setSurfaceMesh(PolygonalMesh,String,AffineTransform3dBase)