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

src/geometry/collider_components.rs

@@ -1,7 +1,6 @@
 use crate::dynamics::{CoefficientCombineRule, MassProperties, RigidBodyHandle, RigidBodyType};
-use crate::geometry::{BroadPhaseProxyIndex, InteractionGroups, Shape, SharedShape};
+use crate::geometry::{InteractionGroups, Shape, SharedShape};
 use crate::math::{Isometry, Real};
-use crate::parry::partitioning::IndexedData;
 use crate::pipeline::{ActiveEvents, ActiveHooks};
 use std::ops::{Deref, DerefMut};
 
@@ -31,16 +30,6 @@ impl ColliderHandle {
     }
 }
 
-impl IndexedData for ColliderHandle {
-    fn default() -> Self {
-        Self(IndexedData::default())
-    }
-
-    fn index(&self) -> usize {
-        self.0.index()
-    }
-}
-
 bitflags::bitflags! {
     #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
     #[derive(Copy, Clone, PartialEq, Eq, Debug)]
@@ -115,21 +104,6 @@ impl ColliderType {
     }
 }
 
-#[derive(Copy, Clone, Debug, PartialEq, Eq, Hash)]
-#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
-/// Data associated to a collider that takes part to a broad-phase algorithm.
-pub struct ColliderBroadPhaseData {
-    pub(crate) proxy_index: BroadPhaseProxyIndex,
-}
-
-impl Default for ColliderBroadPhaseData {
-    fn default() -> Self {
-        ColliderBroadPhaseData {
-            proxy_index: crate::INVALID_U32,
-        }
-    }
-}
-
 /// The shape of a collider.
 pub type ColliderShape = SharedShape;