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

benchmarks3d/all_benchmarks3.rs

@@ -20,10 +20,12 @@ mod joint_fixed3;
 mod joint_prismatic3;
 mod joint_revolute3;
 mod keva3;
+mod many_kinematics3;
 mod many_pyramids3;
 mod many_sleep3;
 mod many_static3;
 mod pyramid3;
+mod ray_cast3;
 mod stacks3;
 mod trimesh3;
 
@@ -47,9 +49,8 @@ fn parse_command_line() -> Command {
     Command::RunAll
 }
 
-pub fn main() {
-    let command = parse_command_line();
-
+#[allow(clippy::type_complexity)]
+pub fn demo_builders() -> Vec<(&'static str, fn(&mut Testbed))> {
     let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
         ("Balls", balls3::init_world),
         ("Boxes", boxes3::init_world),
@@ -57,6 +58,7 @@ pub fn main() {
         ("CCD", ccd3::init_world),
         ("Compound", compound3::init_world),
         ("Convex polyhedron", convex_polyhedron3::init_world),
+        ("Many kinematics", many_kinematics3::init_world),
         ("Many static", many_static3::init_world),
         ("Many sleep", many_sleep3::init_world),
         ("Heightfield", heightfield3::init_world),
@@ -69,6 +71,7 @@ pub fn main() {
         ("ImpulseJoint prismatic", joint_prismatic3::init_world),
         ("Many pyramids", many_pyramids3::init_world),
         ("Keva tower", keva3::init_world),
+        ("Ray cast", ray_cast3::init_world),
     ];
 
     // Lexicographic sort, with stress tests moved at the end of the list.
@@ -77,6 +80,12 @@ pub fn main() {
         (true, false) => Ordering::Greater,
         (false, true) => Ordering::Less,
     });
+    builders
+}
+
+pub fn main() {
+    let command = parse_command_line();
+    let builders = demo_builders();
 
     match command {
         Command::Run(demo) => {
@@ -86,7 +95,7 @@ pub fn main() {
             {
                 TestbedApp::from_builders(vec![builders[i]]).run()
             } else {
-                eprintln!("Invalid example to run provided: '{}'", demo);
+                eprintln!("Invalid example to run provided: '{demo}'");
             }
         }
         Command::RunAll => TestbedApp::from_builders(builders).run(),