Release v0.13.0

[sebcrozet]

Fixed

• Fix incorrect sensor events being generated after collider removal.
• Fix bug where the CCD thickness wasn’t initialized properly.
• Fix bug where the contact compliance would result in undesired tunneling, despite CCD being enabled.

Modified

• Add a wake_up: bool argument to the ImpulseJointSet::insert and MultibodyJointSet::insert to
  automatically wake-up the rigid-bodies attached to the inserted joint.
• The methods ImpulseJointSet::remove/remove_joints_attached_to_rigid_body,
  MultibodyJointSet::remove/remove_joints_attached_to_rigid_body and
  MultibodyjointSet::remove_multibody_articulations no longer require the bodies
  and islands arguments.
• Make the instant dependency optional, behind a profiler cargo feature.
• Rename STATIC to FIXED in the ActiveCollisionTypes flags.
• Rename ImpulseJointSet::joints_with to ::attached_joints. Add the joint’s handle to the closure arguments.
• Make the default debug-render less noisy out-of-the-box by only rendering joints, rigid-bodies, and colliders
  by default.

Added

• Debug-renderer: add rendering of contacts, solver contacts, and collider AABBs
• Add MultibodyJointSet::attached_joints to return all the multibody joints attached to a given rigid-body.