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

crates/rapier3d-urdf/Cargo.toml

@@ -16,7 +16,7 @@ categories = [
 ]
 keywords = ["physics", "joints", "multibody", "robotics", "urdf"]
 license = "Apache-2.0"
-edition = "2021"
+edition = "2024"
 
 [features]
 stl = ["dep:rapier3d-meshloader", "rapier3d-meshloader/stl", "__meshloader_is_enabled"]

crates/rapier3d-urdf/src/lib.rs

@@ -497,7 +497,9 @@ fn urdf_to_colliders(
         }
         #[cfg(not(feature = "__meshloader_is_enabled"))]
         Geometry::Mesh { .. } => {
-            log::error!("Mesh loading is disabled by default. Enable one of the format features (`stl`, `collada`, `wavefront`) of `rapier3d-urdf` for mesh support.");
+            log::error!(
+                "Mesh loading is disabled by default. Enable one of the format features (`stl`, `collada`, `wavefront`) of `rapier3d-urdf` for mesh support."
+            );
         }
         #[cfg(feature = "__meshloader_is_enabled")]
         Geometry::Mesh { filename, scale } => {