Switch to constraint based collision solving

[fallenatlas]

Replace basic collision solving to proper XPBD constraint based collision solving.

TIP: For anyone who may try to run the new sample, compile it on release... otherwise your pc might blow up (or change the number of cubes in the sample)

Checklist

• [x] Self-review changes.
• [x] Evaluate impact on the documentation.
• [x] Add entry to the changelog's unreleased section.

[github-actions[bot]]

PR Preview Action v1.4.7 :---: :rocket: Deployed preview to https://GameDevTecnico.github.io/cubos/docs-preview/pr-1128/ on branch gh-pages at 2024-05-07 17:49 UTC

[codecov[bot]]

Codecov Report

Attention: Patch coverage is 0% with 130 lines in your changes are missing coverage. Please review.

Project coverage is 39.29%. Comparing base (2022b0a) to head (3c7a27d).

Files	Patch %	Lines
...c/physics/solver/penetration_constraint/plugin.cpp	0.00%	63 Missing :warning:
engine/src/collisions/narrow_phase/plugin.cpp	0.00%	15 Missing :warning:
engine/src/physics/fixed_substep/plugin.cpp	0.00%	14 Missing :warning:
...src/physics/constraints/penetration_constraint.cpp	0.00%	11 Missing :warning:
engine/src/physics/solver/utils.cpp	0.00%	8 Missing :warning:
engine/src/physics/solver/plugin.cpp	0.00%	7 Missing :warning:
engine/src/collisions/broad_phase/plugin.cpp	0.00%	6 Missing :warning:
engine/src/physics/plugin.cpp	0.00%	3 Missing :warning:
engine/src/physics/fixed_substep/substeps.cpp	0.00%	2 Missing :warning:
engine/src/physics/gravity.cpp	0.00%	1 Missing :warning:

Additional details and impacted files

```diff @@ Coverage Diff @@ ## main #1128 +/- ## ========================================== - Coverage 39.41% 39.29% -0.12% ========================================== Files 353 358 +5 Lines 26442 26519 +77 ========================================== Hits 10421 10421 - Misses 16021 16098 +77 ```

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