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

benchmarks3d/Cargo.toml

@@ -2,7 +2,7 @@
 name = "rapier-benchmarks-3d"
 version = "0.1.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
-edition = "2021"
+edition = "2024"
 
 [features]
 parallel = ["rapier3d/parallel", "rapier_testbed3d/parallel"]
@@ -14,6 +14,7 @@ enhanced-determinism = ["rapier3d/enhanced-determinism"]
 [dependencies]
 rand = "0.8"
 Inflector = "0.11"
+oorandom = "11"
 
 [dependencies.rapier_testbed3d]
 path = "../crates/rapier_testbed3d"