Update code documentation and fix warnings

src/collision/shapes/BoxShape.cpp

@@ -35,7 +35,6 @@ using namespace reactphysics3d;
 // Constructor
 /**
  * @param extent The vector with the three extents of the box (in meters)
- * @param margin The collision margin (in meters) around the collision shape
  */
 BoxShape::BoxShape(const Vector3& extent)
          : ConvexPolyhedronShape(CollisionShapeName::BOX), mExtent(extent) {

src/collision/shapes/BoxShape.h

@@ -41,14 +41,7 @@ namespace reactphysics3d {
  * This class represents a 3D box shape. Those axis are unit length.
  * The three extents are half-widths of the box along the three
  * axis x, y, z local axis. The "transform" of the corresponding
- * rigid body will give an orientation and a position to the box. This
+ * body will give an orientation and a position to the box.
- * collision shape uses an extra margin distance around it for collision
- * detection purpose. The default margin is 4cm (if your units are meters,
- * which is recommended). In case, you want to simulate small objects
- * (smaller than the margin distance), you might want to reduce the margin by
- * specifying your own margin distance using the "margin" parameter in the
- * constructor of the box shape. Otherwise, it is recommended to use the
- * default margin distance by not using the "margin" parameter in the constructor.
  */
 class BoxShape : public ConvexPolyhedronShape {
 
@@ -171,9 +164,9 @@ inline size_t BoxShape::getSizeInBytes() const {
 // Return a local support point in a given direction without the objec margin
 inline Vector3 BoxShape::getLocalSupportPointWithoutMargin(const Vector3& direction) const {
 
-    return Vector3(direction.x < 0.0 ? -mExtent.x : mExtent.x,
+    return Vector3(direction.x < decimal(0.0) ? -mExtent.x : mExtent.x,
-                   direction.y < 0.0 ? -mExtent.y : mExtent.y,
+                   direction.y < decimal(0.0) ? -mExtent.y : mExtent.y,
-                   direction.z < 0.0 ? -mExtent.z : mExtent.z);
+                   direction.z < decimal(0.0) ? -mExtent.z : mExtent.z);
 }
 
 // Return true if a point is inside the collision shape

src/collision/shapes/ConcaveMeshShape.h

@@ -103,7 +103,7 @@ class ConcaveMeshRaycastCallback : public DynamicAABBTreeRaycastCallback {
 // Class ConcaveMeshShape
 /**
  * This class represents a static concave mesh shape. Note that collision detection
- * with a concave mesh shape can be very expensive. You should use only use
+ * with a concave mesh shape can be very expensive. You should only use
  * this shape for a static mesh.
  */
 class ConcaveMeshShape : public ConcaveShape {

src/mathematics/Matrix3x3.h

@@ -233,9 +233,9 @@ inline Matrix3x3 Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(const Vect
 
 // Return the matrix with absolute values
 inline Matrix3x3 Matrix3x3::getAbsoluteMatrix() const {
-    return Matrix3x3(fabs(mRows[0][0]), fabs(mRows[0][1]), fabs(mRows[0][2]),
+    return Matrix3x3(std::fabs(mRows[0][0]), std::fabs(mRows[0][1]), std::fabs(mRows[0][2]),
-                     fabs(mRows[1][0]), fabs(mRows[1][1]), fabs(mRows[1][2]),
+                     std::fabs(mRows[1][0]), std::fabs(mRows[1][1]), std::fabs(mRows[1][2]),
-                     fabs(mRows[2][0]), fabs(mRows[2][1]), fabs(mRows[2][2]));
+                     std::fabs(mRows[2][0]), std::fabs(mRows[2][1]), std::fabs(mRows[2][2]));
 }
 
 // Overloaded operator for addition