feat: add soft (solver-based) ccd implementation

src/dynamics/rigid_body_components.rs

@@ -821,6 +821,8 @@ pub struct RigidBodyCcd {
     pub ccd_active: bool,
     /// Is CCD enabled for this rigid-body?
     pub ccd_enabled: bool,
+    /// Is soft-CCD enabled for this rigid-body?
+    pub soft_ccd_enabled: bool,
 }
 
 impl Default for RigidBodyCcd {
@@ -830,6 +832,7 @@ impl Default for RigidBodyCcd {
             ccd_max_dist: 0.0,
             ccd_active: false,
             ccd_enabled: false,
+            soft_ccd_enabled: false,
         }
     }
 }