Contact point refactor #71
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…hase-narrowphase-solve-integrate instead of solve-integrate-broadphase-narrowphase so that contact created events will have the collision impulse available.
…ause collision detection is now performed before constraint resolution in the physics step.
xissburg
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…r PR #71 (Contact point refactor), contact constraints are also graph edges like every other constraints.
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Store contact points in the manifold component and remove edyn::contact_point as a component.
Contact constraints now handle multiple points per constraints, creating all the necessary rows in the preparation function.
Contact constraints are now edges in the entity graph like every other constraint.
Contact manifold and contact constraint are assigned to a single entity.
The advantages are that contact manifolds and contact points become easier to manage and to serialize, especially considering now the challenges associated with synchronizing a simulation across the network. The code which handled contact constraints as a special case is now gone.
Contact events are handled differently now since the EnTT on_construct/on_destroy signals cannot be used because contact points are not entities anymore. Instead, Edyn now offers contact signals.