feat: reduce the amount of duplicate work the broad-phase is doing for user changes and CCD + release v0.28.0 (#872)

* 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

benchmarks3d/Cargo.toml

@@ -12,7 +12,7 @@ other-backends = ["rapier_testbed3d/other-backends"]
 enhanced-determinism = ["rapier3d/enhanced-determinism"]
 
 [dependencies]
-rand = "0.8"
+rand = "0.9"
 Inflector = "0.11"
 oorandom = "11"
 

benchmarks3d/convex_polyhedron3.rs

@@ -1,4 +1,4 @@
-use rand::distributions::{Distribution, Standard};
+use rand::distr::{Distribution, StandardUniform};
 use rand::{SeedableRng, rngs::StdRng};
 use rapier_testbed3d::Testbed;
 use rapier3d::prelude::*;
@@ -39,7 +39,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let mut offset = -(num as f32) * shift * 0.5;
 
     let mut rng = StdRng::seed_from_u64(0);
-    let distribution = Standard;
+    let distribution = StandardUniform;
 
     for j in 0usize..47 {
         for i in 0..num {

benchmarks3d/ray_cast3.rs

@@ -51,10 +51,7 @@ pub fn init_world(testbed: &mut Testbed) {
         let t1 = std::time::Instant::now();
         let max_toi = ray_ball_radius - 1.0;
 
-        let Some(broad_phase) = physics.broad_phase.downcast_ref::<BroadPhaseBvh>() else {
-            return;
-        };
-        let query_pipeline = broad_phase.as_query_pipeline(
+        let query_pipeline = physics.broad_phase.as_query_pipeline(
             physics.narrow_phase.query_dispatcher(),
             &physics.bodies,
             &physics.colliders,