Release v0.30.0

[sebcrozet]

0.30.0

Breaking changes

• The simd-stable and simd-nightly features were removed. 4-lane SIMD is now always enabled
  (it falls back to scalar code on targets without SIMD support). The new opt-in simd8 feature
  widens SIMD to 8 lanes for f32 builds; it requires an AVX-enabled target to actually emit
  256-bit instructions, and is incompatible with enhanced-determinism.
• ContactManifold::subshape_pos1/subshape_pos2 are no longer public fields. They are replaced by
  a single boxed subshape_poses: Option<Box<SubshapePoses>> field (to shrink ContactManifold),
  accessed through the new subshape_pos1()/subshape_pos2() getters and
  set_subshape_pos1/set_subshape_pos2 setters.

Added

• query::sweep_toi: sweep-based time-of-impact queries. A timestep is modeled as a Sweep between
  two endpoint poses (linear translation + rotation nlerp), and sweep_time_of_impact (plus
  sweep_time_of_impact_composite for composite shapes) computes the earliest time the swept shapes
  reach a slop-based target separation, using conservative advancement. Also exports ToiProxy,
  SimplexCache, SweepToiOutput, SweepToiStatus, and SweepCompositeFastShape.
• Bvh gains incremental and parallel update APIs: refit_partial, flag-preserving
  refit_without_resolve variants, refit_parallel, parallel BVTT traversal, and batched
  parallel leaf updates (insert_or_update_batch_partially_parallel,
  reinsert_or_update_with_change_detection, reinsert_or_update_if_present,
  update_partially_if_present, and the BvhLeafUpdateStatus enum).

Modified

• Cuboid support-face feature ids are now computed with bit operations instead of lookup tables.