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/keva3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn build_block(
     testbed: &mut Testbed,
@@ -99,7 +99,6 @@ pub fn init_world(testbed: &mut Testbed) {
     // These should only be set to odd values otherwise
     // the blocks won't align in the nicest way.
     let numy = [0, 9, 13, 17, 21, 41];
-    let mut num_blocks_built = 0;
 
     for i in (1..=5).rev() {
         let numx = i;
@@ -115,11 +114,8 @@ pub fn init_world(testbed: &mut Testbed) {
             (numx, numy, numz),
         );
         block_height += numy as f32 * half_extents.y * 2.0 + half_extents.x * 2.0;
-        num_blocks_built += numx * numy * numz;
     }
 
-    println!("Num keva blocks: {}", num_blocks_built);
-
     /*
      * Set up the testbed.
      */