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

src/dynamics/integration_parameters.rs

@@ -111,11 +111,7 @@ impl IntegrationParameters {
     /// This is zero if `self.dt` is zero.
     #[inline(always)]
     pub fn inv_dt(&self) -> Real {
-        if self.dt == 0.0 {
-            0.0
-        } else {
-            1.0 / self.dt
-        }
+        if self.dt == 0.0 { 0.0 } else { 1.0 / self.dt }
     }
 
     /// Sets the time-stepping length.