Report Kamino contact buffer overflow

[rubengrandia]

Description

Add graph-capturable, one-time wp.printf warnings when Kamino truncates contacts because either per-world or model contact capacity is exhausted. Apply the diagnostic to primitive narrow-phase contact generation and Newton-to-Kamino contact conversion, with regression coverage for both paths.

Closes #115.

A user-facing overflow API is out of scope: Newton does not yet have an established API for this diagnostic. This PR therefore limits behavior to a single warning, following the precedent introduced for DVI in #3613.

Checklist

• New or existing tests cover these changes
• The documentation is up to date with these changes
• CHANGELOG.md has been updated (if user-facing change)

Test plan

uv run --extra dev -m unittest newton._src.solvers.kamino.tests.test_geometry_contacts newton._src.solvers.kamino.tests.test_geometry_primitive