It means sunken in. If the top of a stone is concave, it can hold rainwater.
'Convex' means swollen out. If the top of a stone is convex, water rolls off.
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That's a point where the curve of a graph changes from "concave upward" to "concave downward", or vice versa.
bent or curved inwards
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Concave, because you can connect the corners from the outside.