Update dependencies to rapier 0.21

.github/workflows/main.yml

@@ -8,7 +8,7 @@ on:
 
 env:
   CARGO_TERM_COLOR: always
-  RUST_CACHE_KEY: rust-cache-20240617
+  RUST_CACHE_KEY: rust-cache-20240701
 
 jobs:
   check-fmt:

CHANGELOG.md

@@ -1,5 +1,14 @@
 # Changelog
 
+## Unreleased
+
+**This is an update from rapier 0.19 to Rapier 0.21 which includes several stability improvements
+and new features. Please have a look at the
+[0.20 and 0.21 changelogs](https://github.com/dimforge/rapier/blob/master/CHANGELOG.md) of Rapier.**
+
+- Update to rapier `0.21`.
+- Update to nalgebra `0.33`.
+
 ## v0.27.0-rc.1 (18 June 2024)
 
 **This is an update to Rapier 0.20 which includes several stability improvements

bevy_rapier2d/Cargo.toml

@@ -45,8 +45,8 @@ async-collider = ["bevy/bevy_asset", "bevy/bevy_scene"]
 
 [dependencies]
 bevy = { version = "0.14.0-rc.3", default-features = false }
-nalgebra = { version = "0.32.6", features = ["convert-glam027"] }
-rapier2d = "0.20"
+nalgebra = { version = "0.33", features = ["convert-glam027"] }
+rapier2d = "0.21"
 bitflags = "2.4"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }

bevy_rapier3d/Cargo.toml

@@ -46,8 +46,8 @@ async-collider = ["bevy/bevy_asset", "bevy/bevy_scene"]
 
 [dependencies]
 bevy = { version = "0.14.0-rc.3", default-features = false }
-nalgebra = { version = "0.32.6", features = ["convert-glam027"] }
-rapier3d = "0.20"
+nalgebra = { version = "0.33", features = ["convert-glam027"] }
+rapier3d = "0.21"
 bitflags = "2.4"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }

src/plugin/context.rs

@@ -454,7 +454,7 @@ impl RapierContext {
                         query_pipeline,
                         (&scaled_shape).into(),
                         shape_mass,
-                        collisions.iter().copied(),
+                        collisions.iter(),
                         filter,
                     )
                 }

src/plugin/systems/character_controller.rs

@@ -122,7 +122,7 @@ pub fn update_character_controls(
                     &context.query_pipeline,
                     character_shape,
                     character_mass,
-                    collisions.iter().copied(),
+                    collisions.iter(),
                     filter,
                 )
             }