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/physics/mod.rs

@@ -4,10 +4,10 @@ use rapier::dynamics::{
     RigidBodySet,
 };
 use rapier::geometry::{
-    ColliderSet, CollisionEvent, ContactForceEvent, DefaultBroadPhase, NarrowPhase,
+    BroadPhase, ColliderSet, CollisionEvent, ContactForceEvent, DefaultBroadPhase, NarrowPhase,
 };
 use rapier::math::{Real, Vector};
-use rapier::pipeline::{PhysicsHooks, PhysicsPipeline, QueryPipeline};
+use rapier::pipeline::{PhysicsHooks, PhysicsPipeline};
 
 pub struct PhysicsSnapshot {
     timestep_id: usize,
@@ -76,7 +76,7 @@ impl PhysicsSnapshot {
             + self.colliders.len()
             + self.impulse_joints.len()
             + self.multibody_joints.len();
-        println!("Snapshot length: {}B", total);
+        println!("Snapshot length: {total}B");
         println!("|_ broad_phase: {}B", self.broad_phase.len());
         println!("|_ narrow_phase: {}B", self.narrow_phase.len());
         println!("|_ island_manager: {}B", self.island_manager.len());
@@ -89,7 +89,7 @@ impl PhysicsSnapshot {
 
 pub struct PhysicsState {
     pub islands: IslandManager,
-    pub broad_phase: DefaultBroadPhase,
+    pub broad_phase: Box<dyn BroadPhase>,
     pub narrow_phase: NarrowPhase,
     pub bodies: RigidBodySet,
     pub colliders: ColliderSet,
@@ -97,7 +97,6 @@ pub struct PhysicsState {
     pub multibody_joints: MultibodyJointSet,
     pub ccd_solver: CCDSolver,
     pub pipeline: PhysicsPipeline,
-    pub query_pipeline: QueryPipeline,
     pub integration_parameters: IntegrationParameters,
     pub gravity: Vector<Real>,
     pub hooks: Box<dyn PhysicsHooks>,
@@ -113,7 +112,7 @@ impl PhysicsState {
     pub fn new() -> Self {
         Self {
             islands: IslandManager::new(),
-            broad_phase: DefaultBroadPhase::default(),
+            broad_phase: Box::new(DefaultBroadPhase::default()),
             narrow_phase: NarrowPhase::new(),
             bodies: RigidBodySet::new(),
             colliders: ColliderSet::new(),
@@ -121,7 +120,6 @@ impl PhysicsState {
             multibody_joints: MultibodyJointSet::new(),
             ccd_solver: CCDSolver::new(),
             pipeline: PhysicsPipeline::new(),
-            query_pipeline: QueryPipeline::new(),
             integration_parameters: IntegrationParameters::default(),
             gravity: Vector::y() * -9.81,
             hooks: Box::new(()),