More fixes for rigid bodies

[svchb]

The changes to compact_support and apply_state_equation are only needed if we want to reuse the wall boundaries for pure rigid interactions. Alternatively we can throw an error which might be the better solution?

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 89.53%. Comparing base (a0871ca) to head (3aaecfa).
⚠️ Report is 1 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1110      +/-   ##
==========================================
+ Coverage   89.46%   89.53%   +0.06%     
==========================================
  Files         126      126              
  Lines        9657     9663       +6     
==========================================
+ Hits         8640     8652      +12     
+ Misses       1017     1011       -6     

Flag	Coverage Δ
total	89.53% <100.00%> (+0.06%)	⬆️
unit	67.51% <100.00%> (+0.19%)	⬆️

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[svchb]

/run-gpu-tests

[svchb]

/run-gpu-tests