Update rapier3d requirement from 0.23.0 to 0.30.1 in /crates/engine

[dependabot]

Updates the requirements on rapier3d to permit the latest version.

Changelog

Sourced from rapier3d's changelog.

v0.30.1 (17 Oct. 2025)

• Kinematic rigid-bodies will no longer fall asleep if they have a nonzero velocity, even if that velocity is very small. The rationale is that, since that velocity is chosen by the user, they really want the platform to move even if the speed is low.
• Fix bug where kinematic bodies would ignore the wake_up flag passed to set_linear_velocity and set_angular_velocity.
• Add serde derives to PdController, PidController and DynamicRaycastVehicle controllers.

v0.30.0 (03 Oct. 2025)

• Update to parry 0.25 (which involves breaking changes in the Voxels API but improves its internal storage to support large voxel maps).

v0.29.0 (05 Sept. 2025)

This version contains a significant rework of the internal velocity constraints solver. This makes it both simpler and more optimized (making the whole simulation up to 25% faster). For details on all the changes, see #876.

Notable changes include:

• Update to parry 0.24 (includes a breaking change where all the *angular_inertia_sqrt fields and functions have been replaced by their non-square-root equivalent.
• Fixed bug where friction on kinematic bodies would affect dynamic bodies much more weakly than it should.
• In 3D, added a new friction model that is more efficient than the traditional Coulomb friction. This new simplified model is enabled by default and can be changed with IntegrationParameters::friction_model.
• Removed support for the legacy PGS solver. Removed IntegrationParameters::pgs_legacy and ::tgs_soft_without_warmstart.

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.

... (truncated)

Commits

• 36f91a6 Release v0.30.1 (#886)
• c1be3e8 feat: documentation improvements (#884)
• 27b11b9 fix regressions with sleeping behavior of kinematic bodies (#885)
• ae1d479 Add serde derives to Pd, Pid and DynamicRaycastVehicle controllers (#883)
• 3ac5ed4 Release v0.30.0 (#880)
• 134f433 feat: solver improvements + release v0.29.0 (#876)
• 317322b feat: reduce the amount of duplicate work the broad-phase is doing for user c...
• 038eb34 Remove accidental new dependencies (#871)
• efa7e76 Release v0.27.0 (#865)
• f9c9864 revert character controller gravity being gravity dependent (from 822) (#857)
• Additional commits viewable in compare view

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[dependabot]

Superseded by #28.