This PR addresses the internal edges problem for 3D meshes and 3D heightfields by removing contacts that are detected as invalid because they happen at internal edges or internal vertices on a flat surface.
The solution isn’t perfect as some edge contacts may still happen if the flat surface has many small triangles (but, in this case, it is strongly recommended to simplify the mesh anyway for better performances).
This PR addresses the internal edges problem for 3D meshes and 3D heightfields by removing contacts that are detected as invalid because they happen at internal edges or internal vertices on a flat surface. The solution isn’t perfect as some edge contacts may still happen if the flat surface has many small triangles (but, in this case, it is strongly recommended to simplify the mesh anyway for better performances).