diff --git a/SHADE_Engine/src/Physics/Collision/CollisionShapes/SHConvexPolyhedronCollisionShape.h b/SHADE_Engine/src/Physics/Collision/CollisionShapes/SHConvexPolyhedronCollisionShape.h
index 6748793c..f459e87e 100644
--- a/SHADE_Engine/src/Physics/Collision/CollisionShapes/SHConvexPolyhedronCollisionShape.h
+++ b/SHADE_Engine/src/Physics/Collision/CollisionShapes/SHConvexPolyhedronCollisionShape.h
@@ -36,12 +36,6 @@ namespace SHADE
     friend class SHCollisionShapeLibrary;
 
   public:
-    /*---------------------------------------------------------------------------------*/
-    /* Data Members                                                                    */
-    /*---------------------------------------------------------------------------------*/
-
-    static constexpr float RADIUS = 0.1f;
-
     /*---------------------------------------------------------------------------------*/
     /* Constructors & Destructor                                                       */
     /*---------------------------------------------------------------------------------*/
diff --git a/SHADE_Engine/src/Physics/Collision/Narrowphase/SHSphereVsConvex.cpp b/SHADE_Engine/src/Physics/Collision/Narrowphase/SHSphereVsConvex.cpp
index 152c9460..d7813d85 100644
--- a/SHADE_Engine/src/Physics/Collision/Narrowphase/SHSphereVsConvex.cpp
+++ b/SHADE_Engine/src/Physics/Collision/Narrowphase/SHSphereVsConvex.cpp
@@ -52,8 +52,8 @@ namespace SHADE
     const SHSphereCollisionShape&           SPHERE  = dynamic_cast<const SHSphereCollisionShape&>(A);
     const SHConvexPolyhedronCollisionShape& CONVEX  = dynamic_cast<const SHConvexPolyhedronCollisionShape&>(B);
 
-    const SHVec3 CENTER       = SPHERE.GetCenter();
-    const float TOTAL_RADIUS  = SPHERE.GetWorldRadius() + SHConvexPolyhedronCollisionShape::RADIUS;
+    const SHVec3  CENTER  = SPHERE.GetCenter();
+    const float   RADIUS  = SPHERE.GetWorldRadius();
 
     // Find closest face of polygon to circle
 
@@ -86,7 +86,7 @@ namespace SHADE
       // Early out:
       // If face is facing away from center, signed dist is negative.
       // Therefore signed distance is only positive when sphere is in front of the face.
-      if (SIGNED_DIST > TOTAL_RADIUS)
+      if (SIGNED_DIST > RADIUS)
         return false;
 
       if (SIGNED_DIST > bestDistance)
@@ -97,7 +97,7 @@ namespace SHADE
     }
 
     uint32_t    numContacts   = 0;
-    const float PENETRATION   = TOTAL_RADIUS - bestDistance;
+    const float PENETRATION   = RADIUS - bestDistance;
 
     // Check if center is inside polyhedron (below the face)
     if (bestDistance < SHMath::EPSILON)
@@ -182,7 +182,7 @@ namespace SHADE
           manifold.normal = CP_TO_CENTER;
 
           SHContact newContact;
-          newContact.penetration      = TOTAL_RADIUS - projection;
+          newContact.penetration      = RADIUS - projection;
           newContact.position         = CP;
           newContact.featurePair.key  = 0;
 
@@ -196,7 +196,7 @@ namespace SHADE
 
     // Check region C (closest point)
     {
-      if (C_TO_CENTER.LengthSquared() < TOTAL_RADIUS * TOTAL_RADIUS)
+      if (C_TO_CENTER.LengthSquared() < RADIUS * RADIUS)
       {
         manifold.normal = -SHVec3::Normalise(C_TO_CENTER);
 
@@ -213,13 +213,13 @@ namespace SHADE
     }
 
     // Region D
-    if (PENETRATION <= TOTAL_RADIUS)
+    if (PENETRATION <= RADIUS)
     {
       manifold.normal = -NORMAL;
 
       SHContact newContact;
       newContact.penetration      = PENETRATION;
-      newContact.position         = SPHERE.GetCenter() - NORMAL * TOTAL_RADIUS;
+      newContact.position         = SPHERE.GetCenter() - NORMAL * RADIUS;
       newContact.featurePair.key  = 0;
 
       manifold.contacts[numContacts++] = newContact;
diff --git a/SHADE_Engine/src/Physics/Dynamics/SHPhysicsWorld.cpp b/SHADE_Engine/src/Physics/Dynamics/SHPhysicsWorld.cpp
index 4e6e8165..d5c9b029 100644
--- a/SHADE_Engine/src/Physics/Dynamics/SHPhysicsWorld.cpp
+++ b/SHADE_Engine/src/Physics/Dynamics/SHPhysicsWorld.cpp
@@ -108,7 +108,6 @@ namespace SHADE
 
 
     /*
-     * TODO: A lot of this needs to be cleaned up.
      * Resolve Contacts
      */