feat: switch to the new Bvh from parry for the broad-phase (#853)

* 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

benchmarks2d/Cargo.toml

@@ -2,7 +2,7 @@
 name = "rapier-benchmarks-2d"
 version = "0.1.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
-edition = "2021"
+edition = "2024"
 
 [features]
 parallel = ["rapier2d/parallel", "rapier_testbed2d/parallel"]

benchmarks2d/balls2.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks2d/boxes2.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks2d/capsules2.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks2d/convex_polygons2.rs

@@ -1,7 +1,7 @@
 use rand::distributions::{Distribution, Standard};
-use rand::{rngs::StdRng, SeedableRng};
-use rapier2d::prelude::*;
+use rand::{SeedableRng, rngs::StdRng};
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks2d/heightfield2.rs

@@ -1,6 +1,6 @@
+use rapier_testbed2d::Testbed;
 use rapier2d::na::DVector;
 use rapier2d::prelude::*;
-use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks2d/joint_ball2.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks2d/joint_fixed2.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks2d/joint_prismatic2.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks2d/pyramid2.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks2d/vertical_stacks2.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*