Release v0.31.0

[sebcrozet]

v0.31.0 (21 Nov. 2025)

• InteractionGroups struct now contains InteractionTestMode.
  Continues rapier/pull/170
  for rapier/issues/622
• InteractionGroups constructor now requires an InteractionTestMode parameter. If you want same behaviour as before,
  use InteractionTestMode::And (eg.
  InteractionGroups::new(Group::GROUP_1, Group::GROUP_1, InteractionTestMode::And))
• CoefficientCombineRule::Min - now makes sure it uses a non zero value as result by using coeff1.min(coeff2).abs()
• InteractionTestMode: Specifies which method should be used to test interactions. Supports AND and OR.
• CoefficientCombineRule::ClampedSum - Adds the two coefficients and does a clamp to have at most 1.
• Rename ColliderChanges::CHANGED to ::IN_CHANGED_SET to make its meaning more precise.
• Rename RigidBodyChanges::CHANGED to ::IN_CHANGED_SET to make its meaning more precise.
• Fix colliders ignoring user-changes after the first simulation step.
• Fix broad-phase incorrectly taking into account disabled colliders attached to an enabled dynamic rigid-body.
• Grouped IntegrationParameters::contact_natural_frequency and IntegrationParameters::contact_damping_ratio behind
  a single IntegrationParameters::contact_softness (Add joint_natural_frequency and joint_damping_ratio to GenericJoint. #789).
• Removed the Integration_parameters methods related to erp and cfm. They are now methods of the
  IntegrationParameters::softness and GenericJoint::softness fields (Add joint_natural_frequency and joint_damping_ratio to GenericJoint. #789).
• Removed IntegrationParameters::joint_natural_frequency and IntegrationParameters::joint_damping_ratio in favor of
  per-joint softness coefficients GenericJoint::softness (Add joint_natural_frequency and joint_damping_ratio to GenericJoint. #789).
• Make SolverContact::contact_id public so that user code knows what geometric contact it originates from (Making SolverGenericContact's contact_id public. #888).