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

crates/rapier3d-meshloader/Cargo.toml

@@ -16,7 +16,7 @@ categories = [
 ]
 keywords = ["physics", "joints", "multibody", "robotics", "urdf"]
 license = "Apache-2.0"
-edition = "2021"
+edition = "2024"
 
 [features]
 default = ["stl", "collada", "wavefront"]