feat: reduce the amount of duplicate work the broad-phase is doing for user changes and CCD + release v0.28.0

[sebcrozet]

v0.28.0 (08 August 2025)

Modified

• Update to nalgebra 0.34 and parry 0.23.
• Only run the broad-phase once at the beginning of the physics step.
• Don’t rebuild a BVH from scratch for CCD. Instead, reuse the broad-phase bvh with localized changes.
• The public methods of IslandSolver has changed slightly to take the broad-phase as input.
• Removed the BroadPhase trait and use the BVH broad-phase directly instead of a trait-object.

Added

• Add Collider::compute_broad_phase_aabb to compute the AABB to be used by the broad-phase, taking
  into account its contact skin, prediction, and soft-ccd.

Fix

• Fix issue where some solver contacts would disappear from the contact graph before the user
  had a chance to read them.

[sebcrozet]

Publish dry-run failure is expected.