* feat: solver improvements
* feat: add function to get/set whether gyroscopic forces are enabled on a rigid-body
* chore: switch to released versions of parry and wide instead of local patches
* fix cargo doc
* chore: typo fixes
* chore: clippy fix
* Release v0.29.0
* chore: more clippy fixes
* feat: reduce the amount of duplicate work the broad-phase is doing for user changes and CCD
* Release v0.28.0
* chore: fix warnings
* chore: clippy fixes
* chore: more clippy fixes
* 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
* feat(rapier_testbed): autosave testbed configuration + add support for per-example parameters
* feat(rapier_testbed): also save the camera position
* feat(rapier_testbed): improve ergonomics of example-specific settings
* chore: cargo fmt
* chore(rapier_testbed): small UI ergonomics improvement
* chore(rapier_testbed): clippy fixes
