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/joints3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 fn create_coupled_joints(
     bodies: &mut RigidBodySet,