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/mesh_converter.rs

@@ -75,7 +75,8 @@ impl MeshConverter {
                 SharedShape::new(cuboid)
             }
             MeshConverter::Aabb => {
-                let aabb = bounding_volume::details::local_point_cloud_aabb(&vertices);
+                let aabb =
+                    bounding_volume::details::local_point_cloud_aabb(vertices.iter().copied());
                 let cuboid = Cuboid::new(aabb.half_extents());
                 transform = Isometry::from(aabb.center().coords);
                 SharedShape::new(cuboid)