feat: Allow Kinematic-Kinematic Contact generation to use as trigger in bepu

[Nicogo1705]

feat: Allow Kinematic-Kinematic contact generation to be used as trigger using Bepu

Previously, AllowContactGeneration only returned true when at least one of the two collidables was Dynamic. This meant that two Kinematic bodies would never generate contacts, making it impossible to use them as triggers against each other.

This fix adds the bothKinematic case so that contact generation is also allowed when both bodies are Kinematic, enabling Kinematic-Kinematic trigger detection.

Also includes a minor #if DEBUG indentation cleanup in ConfigureContactManifold.

Related Issue

Types of changes

• Docs change / refactoring / dependency upgrade
• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)

Checklist

• My change requires a change to the documentation.
• I have added tests to cover my changes.
• All new and existing tests passed.
• I have built and run the editor to try this change out.

[Eideren]

Afaik this is WIP given your last message on discord, I'll mark it as such, feel free to change it back when it's ready :)