Fix `non_snake_case` related warnings.
Add convex MinkwskiSum implementation for Polyline and TriMesh.
Completely remove the concept of `margin`.

This is an optimization for physics simulation that is hard to explain at the geometric level.
Those margin can still be emulated by the user using a greater `prediction` threshold, and
adjusting the penetration depth informations after their collection.
Make the `ConcaveGeom` vs. `Geom` detectors aware of the prediction system.