feat: Implement Collision Sub-Stepping

eonarheim commented 2 months ago

===:clipboard: PR Checklist :clipboard:===

[x] :pushpin: issue exists in github for these changes
[x] :microscope: existing tests still pass
[x] :see_no_evil: code conforms to the style guide
[x] :triangular_ruler: new tests written and passing / old tests updated with new scenario(s)
[x] :page_facing_up: changelog entry added (or not needed)

==================

Related to #3135

Changes:

Adds collision sub-stepping to discretize each frame further to help with fast moving objects
Improves integration accuracy

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eonarheim commented 2 months ago

@kfalicov I've found that 4-5 substeps does a pretty good job in your example.

I'll be trying out speculative contacts CCD in another PR