Open to adding new collision shapes

[sir-earl]

Just a quick check-in to see if the maintainers are open to PRs for adding new collision shapes (in particular, triangular prism, maybe pyramid, etc)?

[sebcrozet]

Hey! Adding new collision shapes should be motivated by some practical use-cases since that increases the API surface of rapier/parry. For example, for triangular prism and pyramids, the questions is whether a dedicated shape has any sizeable benefit compared to just using the more general convex polyhedron shape.