feat(engine): allow multiple contacts between two entities

[joaomanita]

Description

Remove everything from CollidingWith except entity, add a vector of manifolds.
ContactManifold is no longer a relation.
Same thing for PenetrationConstraint, add a PenetrationtConstraints relation that holds a vector of PenetrationConstraint.

Change narrow phase systems to buildup the vector of manifolds in a collidingWith relation.
Change peneration constraint plugin to create the vector of PenetrationConstraint for each manifold.
Change penetraton constraint solver to buildup the effects of all constraints in PenetrationConstraints

Checklist

• Self-review changes.
• Evaluate impact on the documentation.
• Ensure test coverage.
• Write new samples.
• Add entry to the changelog's unreleased section.

[github-actions]

PR Preview Action v1.6.0
🚀 View preview at https://GameDevTecnico.github.io/cubos/preview/pr-1457/
Built to branch gh-pages at 2025-02-09 14:40 UTC. Preview will be ready when the GitHub Pages deployment is complete.

[codecov]

Codecov Report

Attention: Patch coverage is 2.07715% with 330 lines in your changes missing coverage. Please review.

Project coverage is 53.04%. Comparing base (05ae333) to head (ed6e846).
Report is 2 commits behind head on main.

Files with missing lines	Patch %	Lines
...c/physics/solver/penetration_constraint/plugin.cpp	0.00%	189 Missing ⚠️
engine/src/collisions/narrow_phase/plugin.cpp	2.98%	130 Missing ⚠️
...src/physics/constraints/penetration_constraint.cpp	0.00%	6 Missing ⚠️
engine/src/collisions/plugin.cpp	0.00%	3 Missing ⚠️
...e/include/cubos/engine/collisions/shapes/voxel.hpp	0.00%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1457      +/-   ##
==========================================
- Coverage   53.13%   53.04%   -0.09%     
==========================================
  Files         466      466              
  Lines       25980    25996      +16     
  Branches     2405     2413       +8     
==========================================
- Hits        13804    13790      -14     
- Misses      12176    12206      +30     

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[github-actions]

⚠️ Clang-Tidy found issue(s) with the introduced code (1/1)

[fallenatlas]

Thank you for working on this 🙏 Overall, looks pretty good to me, I just have a few comments, mostly regarding contact caching in this new way of doing things, and a few optimizations.

[RiscadoA]

Other than what I pointed out, LGTM! Ty for working on this, will be really nice to have this working 👀

[fallenatlas]

Just a couple more things to point out. Also, since I already merged the warm-starting PR, you can rebase and the convert the new things to work with these, it should be just a couple changes in the penetration constraint plugin.

[github-actions]

⚠️ Clang-Tidy found issue(s) with the introduced code (1/1)

[fallenatlas]

Alright, LGTM! Good work 👍

[GCeSilva]

LGTM!