feat: add moving platform support + fix jolt

tests/destrum_tests.cpp

@@ -540,6 +540,48 @@ namespace {
               "a frustum entirely behind the camera must not overlap");
     }
 
+    void testKinematicBodiesMoveWithVelocity()
+    {
+        constexpr float fixedDt = 1.0f / 60.0f;
+        Scene& scene = SceneManager::GetInstance().CreateScene("kinematic-velocity");
+
+        GameObject* platform = scene.CreateGameObject("platform");
+        platform->AddComponent<BoxCollider>(glm::vec3{2.0f, 0.25f, 2.0f});
+        auto* platformBody = platform->AddComponent<Rigidbody>();
+        platformBody->SetType(RigidbodyType::Kinematic);
+
+        GameObject* crate = scene.CreateGameObject("crate");
+        crate->GetTransform().SetWorldPosition({0.0f, 0.76f, 0.0f});
+        crate->AddComponent<BoxCollider>(glm::vec3{0.5f});
+        auto* crateBody = crate->AddComponent<Rigidbody>();
+        crateBody->SetFriction(1.0f);
+        crateBody->SetAllowSleep(false);
+
+        scene.CommitPendingAdditions();
+        scene.GetPhysics().RefreshGameObject(*platform);
+        scene.GetPhysics().RefreshGameObject(*crate);
+
+        for (int step = 0; step < 30; ++step) {
+            scene.FixedUpdate(fixedDt);
+        }
+        check(glm::length(platformBody->GetLinearVelocity()) < 0.001f,
+              "a kinematic body that is not moved must have no velocity");
+
+        constexpr float platformSpeed = 2.0f;
+        for (int step = 0; step < 60; ++step) {
+            platform->GetTransform().SetWorldPosition(
+                platform->GetTransform().GetWorldPosition() + glm::vec3{platformSpeed * fixedDt, 0.0f, 0.0f});
+            scene.FixedUpdate(fixedDt);
+        }
+
+        check(close(platformBody->GetLinearVelocity().x, platformSpeed),
+              "a kinematic body moved through its transform must get the matching velocity");
+        check(crate->GetTransform().GetWorldPosition().x > 1.5f,
+              "a dynamic body resting on a moving kinematic platform must be carried along");
+
+        SceneManager::GetInstance().Destroy();
+    }
+
     void testRenderer2DShapes()
     {
         auto& r2d = Renderer2D::GetInstance();
@@ -1335,6 +1377,7 @@ int main()
     testColliderCenterOffset();
     testCapsuleColliderDebugLines();
     testFrustumFromViewProj();
+    testKinematicBodiesMoveWithVelocity();
     testRenderer2DShapes();
     testFontAtlasAndLayout();
     std::cout << "destrum tests passed\n";