Updated release notes and API changes

Docs/APIChanges.md

@@ -6,6 +6,8 @@ Changes that make some state saved through SaveBinaryState from a prior version
 
 ## Changes between v5.1.0 and latest
 
+* 20240922 - SoftBodyManifold now has a separate interface to return collisions with sensors (GetNumSensorContacts/GetSensorContactBodyID), this means they can no longer be retrieved through GetContactBodyID. (4058e6a72edc6e11630b3ec6b67d97e2b9324473)
+* 20240922 - The interface of Shape::CollideSoftBodyVertices changed. It no longer takes a list of SoftBodyVertex but instead uses CollideSoftBodyVertexIterator. Also the delta time and displacement due to gravity parameters have been removed. If you have custom shapes, you need to update the signature. (4058e6a72edc6e11630b3ec6b67d97e2b9324473)
 * 20240825 - RayCastSettings::mBackFaceMode was split into mBackFaceModeTriangles and mBackFaceModeConvex. Replace `mBackFaceMode = ...` with `SetBackFaceMode(...)` (b3cd9f4846c52a84064b7e5e9a9a9fcbfdf286de)
 * 20240823 - Added virtual function Shape::GetLeafShape. If you have custom shapes, you may need to override this function and provide an implementation. (d7f08b83670ea6d0842e231f50ad2a175f56f949)
 

Docs/ReleaseNotes.md

@@ -13,6 +13,7 @@ For breaking API changes see [this document](https://github.com/jrouwe/JoltPhysi
 * Added Shape::GetLeafShape function to be able to get a leaf shape given a sub shape ID
 * Added HeightFieldShape::GetSubShapeCoordinates to get the triangle coordinates of a particular sub shape ID
 * Split back face mode between convex/triangles for ray casts. This allows you to e.g. have meshes that do give back face hits while convex shapes don't.
+* SoftBodyManifold now returns sensor contacts separately. Before this change, there was a limit of a single colliding body per soft body vertex. If the closest body happened to be a sensor this effectively disabled the collision with the world and caused artifacts. We can now also detect multiple sensor contacts per soft body and they are returned through a new interface SoftBodyManifold::GetSensorContactBodyID.
 
 ### Bug fixes