chore: update changelog

Author: sebcrozet

CHANGELOG.md

@@ -13,6 +13,7 @@
 - Rename `RigidBodyChanges::CHANGED` to `::IN_CHANGED_SET` to make its meaning more precise.
 - Fix colliders ignoring user-changes after the first simulation step.
 - Fix broad-phase incorrectly taking into account disabled colliders attached to an enabled dynamic rigid-body.
+- Make `SolverContact::contact_id` public so that user code knows what geometric contact it originates from (#888).
 
 ## v0.30.1 (17 Oct. 2025)