* feat: initial implementation of contact manifold reduction
* feat: try bepu-like manifold reduction
* feat: simplification of the constraints counting and indexing logic
* feat: add concept of incremental islands with a single awake island
More islands manager fixes
* feat: start adding support for multiple awake islands
* feat: add more timings
* feat: implement incremental island split & merge
* chore: refactor islands manager into multiple files
* chore: refactor manifold reduction to its own file + add naive reduction method
* feat: add islands manager validation checks
* fix various bugs in the new islands system
* chore: remove redundant active_set_offset field
* 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: 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
