Release v0.19.0

[sebcrozet]

0.19.0 (05 Sept. 2025)

Modified

• Update to Rapier 0.29.0 which includes performance improvements for scenes involving a lot of contact constraints.
  See feat: solver improvements + release v0.29.0 rapier#876 for details.
• Renamed the RigidBody.invPrincipalInertiaSqrt and .effectiveWorldInvInertiaSqrt methods to
  RigidBody.invPrincipalInertia and .effectiveWorldInvInertia (removed the Sqrt suffix). These methods will now
  return the actual inverse angular inertia matrix rather than its square root.
• Removed methods related to the legacy PGS solver: World.numAdditionalFrictionIterations,
  switchToStandardPgsSolver, switchToSmallStepsPgsSolver, switchToSmallStepsPgsSolverWithoutWarmstart.