double rSin15=radius*Math.sin(Math.PI/12);
double rCos15=radius*Math.cos(Math.PI/12);
double hw=(radius*0.8+rSin15)/2;
FixtureDef triFixD=new FixtureDef();
FixtureDef recFixD=new FixtureDef();
PolygonShape triShape=new PolygonShape();
PolygonShape recShape=new PolygonShape();
Vector[] verticesP=new Vector[]{new Vector(rSin15,rCos15),new Vector(radius,0),new Vector(rSin15,-rCos15)};
Vec2[] verticesW=new Vec2[3];