feat: switch to the new Bvh from parry for the broad-phase (#853)

* feat: switch to the new Bvh from parry for the broad-phase

* chore: cargo fmt + update testbed

* chore: remove the multi-grid SAP broad-phase

* fix soft-ccd handling in broad-phase

* Fix contact cleanup in broad-phase after collider removal

* chore: clippy fixes

* fix CCD regression

* chore: update changelog

* fix build with the parallel feature enabled

* chore: remove the now useless broad-phase proxy index from colliders

* fix tests

CHANGELOG.md

@@ -1,3 +1,15 @@
+## Unreleased
+
+### Modified
+
+- Replace the hierarchical SAP broad-phase by a broad-phase based on parry’s new BVH structure.
+- The `QueryPipeline` is now and ephemeral object obtained from the broad-phase with `broad_phase.as_query_pipeline()`.
+  It no longer needs to be updated separately from the broad-phase.
+
+### Fixed
+
+- Fix NaN resulting from non-clamped input to simd_asin in angular motor solver.
+
 ## v0.26.1 (23 May 2025)
 
 ### Added