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Objective
Right now, the broad phase queries trees using the tight-fitting AABB. The narrow phase also removes contact pairs when
ColliderAabbs no longer overlap. However, the actual trees use enlarged AABBs. You can thus get a situation where a contact pair is created because the collider overlaps an enlarged AABB, and then immediately removed by the narrow phase. Not good!There's also some inconsistent usage of margins and tolerances for AABB updates that need to be fixed.
Solution
Use enlarged AABBs in broad phase tree queries and the narrow phase. This also matches what Box2D does.
This also lets us get rid of
ColliderTreeProxy::aabb, making proxies much more lightweight.I also fixed and cleaned up some AABB update margins.
Testing
Ran some examples. Also ran a user-provided reproduction of an issue caused by this; it now works like expected.