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contact velocity
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Renames `contacts_with` to`contact_pairs_with`; and `intersections_with` to `intersection_pairs_with`.
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Fix #330
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change
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flags
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- When `NarrowPhase` adds a collision pair, it checks to make sure that they don't have the same parent
- In the case where the colliders have no parents (eg. they are not attached to a `RigidBody`) this yields a false positive.
- The fix is to ensure that colliders have a parent before ignoring the pair.
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non-static rigid-body.
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CCD contacts result in very strong, instantaneous, impulses. So it is preferable to attenuate their contribution to subsequent timesteps to avoid overshooting.
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modification.
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impulse writeback location.
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This makes it easy to write custom filters based on the handles.
For instance, a user can add pairs of `ColliderHandle`s into a `HashSet` and
do a lookup in a `ContactPairFilter` to easily (if maybe not efficiently)
disable collisions between pairs of colliders.
The same could be accomplished by using the `user_data: u128` field of the
`Collider`, but it would be less ergonomic, and also with this PR that
`user_data` space can be saved for more important things.
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