Update rapier3d requirement from 0.23.0 to 0.31.0 in /crates/engine

[dependabot]

Updates the requirements on rapier3d to permit the latest version.

Changelog

Sourced from rapier3d's changelog.

v0.31.0 (21 Nov. 2025)

• InteractionGroups struct now contains InteractionTestMode. Continues rapier/pull/170 for rapier/issues/622
• InteractionGroups constructor now requires an InteractionTestMode parameter. If you want same behaviour as before, use InteractionTestMode::And (eg. InteractionGroups::new(Group::GROUP_1, Group::GROUP_1, InteractionTestMode::And))
• CoefficientCombineRule::Min - now makes sure it uses a non zero value as result by using coeff1.min(coeff2).abs()
• InteractionTestMode: Specifies which method should be used to test interactions. Supports AND and OR.
• CoefficientCombineRule::ClampedSum - Adds the two coefficients and does a clamp to have at most 1.
• Rename ColliderChanges::CHANGED to ::IN_CHANGED_SET to make its meaning more precise.
• Rename RigidBodyChanges::CHANGED to ::IN_CHANGED_SET to make its meaning more precise.
• Fix colliders ignoring user-changes after the first simulation step.
• Fix broad-phase incorrectly taking into account disabled colliders attached to an enabled dynamic rigid-body.
• Grouped IntegrationParameters::contact_natural_frequency and IntegrationParameters::contact_damping_ratio behind a single IntegrationParameters::contact_softness (#789).
• Removed the Integration_parameters methods related to erp and cfm. They are now methods of the IntegrationParameters::softness and GenericJoint::softness fields (#789).
• Removed IntegrationParameters::joint_natural_frequency and IntegrationParameters::joint_damping_ratio in favor of per-joint softness coefficients GenericJoint::softness (#789).
• Make SolverContact::contact_id public so that user code knows what geometric contact it originates from (#888).

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.

... (truncated)

Commits

• See full diff in compare view

Dependabot will resolve any conflicts with this PR as long as you don't alter it yourself. You can also trigger a rebase manually by commenting @dependabot rebase.

---

Dependabot commands and options

You can trigger Dependabot actions by commenting on this PR:

• @dependabot rebase will rebase this PR
• @dependabot recreate will recreate this PR, overwriting any edits that have been made to it
• @dependabot merge will merge this PR after your CI passes on it
• @dependabot squash and merge will squash and merge this PR after your CI passes on it
• @dependabot cancel merge will cancel a previously requested merge and block automerging
• @dependabot reopen will reopen this PR if it is closed
• @dependabot close will close this PR and stop Dependabot recreating it. You can achieve the same result by closing it manually
• @dependabot show <dependency name> ignore conditions will show all of the ignore conditions of the specified dependency
• @dependabot ignore this major version will close this PR and stop Dependabot creating any more for this major version (unless you reopen the PR or upgrade to it yourself)
• @dependabot ignore this minor version will close this PR and stop Dependabot creating any more for this minor version (unless you reopen the PR or upgrade to it yourself)
• @dependabot ignore this dependency will close this PR and stop Dependabot creating any more for this dependency (unless you reopen the PR or upgrade to it yourself)

[dependabot]

Superseded by #32.