Implement dominance groups #122
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This PR adds the support for dominance groups. Each rigid-body is part of a dominance group in
[-127; 127](the default is 0). If two rigid-body are in contact, the one with the highest dominance will act as if it has an infinite mass, making it immune to the forces the other body would apply on it.For example, if a dynamic body A is in the dominance group 10, and a dynamic body B in the dominance group -20, then a contact between A and B will result in A remaining immobile and B being pushed by A.
If both bodies are part of the same dominance group, then their contacts will work in the usual way (both are affected by opposite forces with the same magnitude).
A non-dynamic rigid-body is always considered as being part of a dominance group greater than any dynamic rigid-body. This means that dynamic/static and dynamic/kinematic contacts will continue to work normally, independently from the dominance group they were given by the user.
Dominance is a completely non-realistic feature. But it can be used to simulate specific effects in games. For example, a player represented as a dynamic rigid-body that cannot be "pushed back" by any, or some, other dynamic rigid-bodies part of the environment.