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

examples3d/harness_capsules3.rs

@@ -1,5 +1,5 @@
+use rapier_testbed3d::harness::{Harness, RapierBroadPhaseType};
 use rapier3d::prelude::*;
-use rapier_testbed3d::harness::Harness;
 
 pub fn init_world(harness: &mut Harness) {
     /*
@@ -56,7 +56,13 @@ pub fn init_world(harness: &mut Harness) {
     /*
      * Set up the harness.
      */
-    harness.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    harness.set_world(
+        bodies,
+        colliders,
+        impulse_joints,
+        multibody_joints,
+        RapierBroadPhaseType::default(),
+    );
 }
 
 fn main() {