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[sega <sj2001@xxxxxxxxx>]

> Does this means that edges can have a radius too, like a cylinder 
> between the two nodes?

No.
on fig below O is a sphere, --- is a facet's surface, * is a edge
if shrinkFactor=0 we have doubled contact on a edge like this:
   O
    ||
----*----

if shrinkFactor>0 we have a gap between facets and two contacts like this:
     O
     /\
----*  *----
when a gap size is 2*R*shrinkFactor.

ps.  I think this can be even removed, but let until...

-- 
Best regards, Sergei D.