Add friction and restitution on penetration constraint solving

[fallenatlas]

Description

• Adds friction impulse calculation, for now friction is the same for all particles.
• Adds restitutions to be able to customize the amount of energy lost/conserved on collision, changing the perceived bounciness of objects. For now the restitution coefficient is the same for all particles.

Note: I couldn't find how to apply restitution using accumulated impulses anywhere, which is ridiculous, so the implementation I have is based only on how Erin Catto does it in Box2D v3.0, which he says it's not the most accurate but it seems to work pretty well.

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/preview/pr-1277/ on branch gh-pages at 2024-07-22 23:05 UTC

[codecov[bot]]

Codecov Report

Attention: Patch coverage is 0% with 94 lines in your changes missing coverage. Please review.

Project coverage is 36.19%. Comparing base (071ab63) to head (9fb7ea3).

Files	Patch %	Lines
...c/physics/solver/penetration_constraint/plugin.cpp	0.00%	87 Missing :warning:
...src/physics/constraints/penetration_constraint.cpp	0.00%	7 Missing :warning:

Additional details and impacted files

```diff @@ Coverage Diff @@ ## main #1277 +/- ## ========================================== - Coverage 36.27% 36.19% -0.08% ========================================== Files 376 376 Lines 30851 30916 +65 ========================================== Hits 11191 11191 - Misses 19660 19725 +65 ```

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[luishfonseca]

@fallenatlas please share your resources for the physics engine to ease reviewing. The math looks right, but i don't know if I'd catch errors without a reference