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See #q199854 about the self collide.

A visual is a tag describing the visualized mesh. This is really only visualization and not used for collision computations.

A collision tag describes the collision mesh.

This seperation allows to have a "high-resolution" mesh for visualization and a "low-resolution" mesh for collision checks, resulting in a faster execution. (Collision checking is expensive, it scales with the amounts of triangles in your mesh, visualization is comparably cheap)