Color Wheel for Shape fill

When you click on either the Fill or the Stroke's color in the Options bar, Appearance section of the Properties panel, or in the Contextual Task Bar, you 'll see options at the top where you can click at the top to set no color or access Swatches, Gradients, Patterns, or the Color Picker.

If you want to use the Color Wheel, an option available in the Color panel menu for the Color panel (Window > Color), then you could create the color in the Color Wheel, add it to Swatches by clicking the + button in the lower right of the Color panel, and then select that swatch for the shape's fill color.