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

examples3d/gyroscopic3.rs

@@ -0,0 +1,30 @@
+use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
+
+// Simulate the the Dzhanibekov effect:
+// https://en.wikipedia.org/wiki/Tennis_racket_theorem
+pub fn init_world(testbed: &mut Testbed) {
+    let mut colliders = ColliderSet::new();
+    let mut bodies = RigidBodySet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    let shapes = vec![
+        (Isometry::identity(), SharedShape::cuboid(2.0, 0.2, 0.2)),
+        (
+            Isometry::translation(0.0, 0.8, 0.0),
+            SharedShape::cuboid(0.2, 0.4, 0.2),
+        ),
+    ];
+
+    let body = RigidBodyBuilder::dynamic()
+        .gravity_scale(0.0)
+        .angvel(vector![0.0, 20.0, 0.1])
+        .gyroscopic_forces_enabled(true);
+    let body_handle = bodies.insert(body);
+    let collider = ColliderBuilder::compound(shapes);
+    colliders.insert_with_parent(collider, body_handle, &mut bodies);
+
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(point![8.0, 0.0, 8.0], point![0.0, 0.0, 0.0]);
+}