Character controller contact point calculation for impulse

[victoryaskevich]

Character controller uses the rigid body position to transform the shape-local contact point into world space. If the collider has a non-zero offset from the rigid body (position wrt parent), the impulse is applied at an incorrect point.

https://github.com/dimforge/rapier/blob/626512911bdc493a6c0c1ae2d18616419045bc25/src/control/character_controller.rs#L853C21-L853C71