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_testbed/graphics.rs

@@ -1,6 +1,6 @@
 use bevy::prelude::*;
 
-use na::{point, Point3, Point4};
+use na::{Point3, Point4, point};
 
 use crate::objects::node::EntityWithGraphics;
 use rapier::dynamics::{RigidBodyHandle, RigidBodySet};
@@ -140,11 +140,11 @@ impl GraphicsManager {
         let body = body.unwrap_or(RigidBodyHandle::invalid());
         if let Some(sns) = self.b2sn.get_mut(&body) {
             sns.retain(|sn| {
-                if let Some(sn_c) = sn.collider {
-                    if sn_c == collider {
-                        commands.entity(sn.entity).despawn();
-                        return false;
-                    }
+                if let Some(sn_c) = sn.collider
+                    && sn_c == collider
+                {
+                    commands.entity(sn.entity).despawn();
+                    return false;
                 }
 
                 true
@@ -236,7 +236,7 @@ impl GraphicsManager {
     }
 
     fn gen_color(rng: &mut Pcg32) -> Point3<f32> {
-        let mut color: Point3<f32> = rng.gen();
+        let mut color: Point3<f32> = rng.r#gen();
 
         // Quantize the colors a bit to get some amount of auto-instancing from bevy.
         color.x = (color.x * 5.0).round() / 5.0;