Add the ability to disable contacts between two rigid-bodies attached by joints

src/pipeline/physics_pipeline.rs

@@ -85,6 +85,8 @@ impl PhysicsPipeline {
         narrow_phase: &mut NarrowPhase,
         bodies: &mut RigidBodySet,
         colliders: &mut ColliderSet,
+        impulse_joints: &ImpulseJointSet,
+        multibody_joints: &MultibodyJointSet,
         modified_colliders: &[ColliderHandle],
         removed_colliders: &[ColliderHandle],
         hooks: &dyn PhysicsHooks,
@@ -130,6 +132,8 @@ impl PhysicsPipeline {
             integration_parameters.prediction_distance,
             bodies,
             colliders,
+            impulse_joints,
+            multibody_joints,
             modified_colliders,
             hooks,
             events,
@@ -449,6 +453,8 @@ impl PhysicsPipeline {
             narrow_phase,
             bodies,
             colliders,
+            impulse_joints,
+            multibody_joints,
             &modified_colliders[..],
             &mut removed_colliders,
             hooks,
@@ -574,6 +580,8 @@ impl PhysicsPipeline {
                 narrow_phase,
                 bodies,
                 colliders,
+                impulse_joints,
+                multibody_joints,
                 &mut modified_colliders,
                 &mut removed_colliders,
                 hooks,