feat: solver improvements + release v0.29.0 (#876)

* 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

crates/rapier3d-f64/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rapier3d-f64"
-version = "0.28.0"
+version = "0.29.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "3-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier3d"
@@ -72,8 +72,8 @@ vec_map = { version = "0.8", optional = true }
 web-time = { version = "1.1", optional = true }
 num-traits = "0.2"
 nalgebra = "0.34"
-parry3d-f64 = "0.23.0"
-simba = "0.9"
+parry3d-f64 = "0.24.0"
+simba = "0.9.1"
 approx = "0.5"
 rayon = { version = "1", optional = true }
 arrayvec = "0.7"
@@ -87,6 +87,7 @@ log = "0.4"
 ordered-float = "5"
 thiserror = "2"
 profiling = "1.0"
+static_assertions = "1"
 
 [dev-dependencies]
 bincode = "1"