chore: update to nalgebra 0.33 and parry 0.16 (#664)

src/geometry/collider_components.rs

@@ -43,6 +43,7 @@ impl IndexedData for ColliderHandle {
 
 bitflags::bitflags! {
     #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+    #[derive(Copy, Clone, PartialEq, Eq, Debug)]
     /// Flags describing how the collider has been modified by the user.
     pub struct ColliderChanges: u32 {
         /// Flag indicating that any component of the collider has been modified.
@@ -301,6 +302,7 @@ impl Default for ColliderMaterial {
 
 bitflags::bitflags! {
     #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+    #[derive(Copy, Clone, PartialEq, Eq, Debug, Hash)]
     /// Flags affecting whether or not collision-detection happens between two colliders
     /// depending on the type of rigid-bodies they are attached to.
     pub struct ActiveCollisionTypes: u16 {
@@ -364,8 +366,8 @@ impl ActiveCollisionTypes {
         //
         //       Because that test must be symmetric, we perform two similar tests by swapping
         //       rb_type1 and rb_type2.
-        ((self.bits >> (rb_type1 as u32 * 4)) & 0b0000_1111) & (1 << rb_type2 as u32) != 0
-            || ((self.bits >> (rb_type2 as u32 * 4)) & 0b0000_1111) & (1 << rb_type1 as u32) != 0
+        ((self.bits() >> (rb_type1 as u32 * 4)) & 0b0000_1111) & (1 << rb_type2 as u32) != 0
+            || ((self.bits() >> (rb_type2 as u32 * 4)) & 0b0000_1111) & (1 << rb_type1 as u32) != 0
     }
 }
 

src/geometry/contact_pair.rs

@@ -9,6 +9,7 @@ use super::CollisionEvent;
 
 bitflags::bitflags! {
     #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+    #[derive(Copy, Clone, PartialEq, Eq, Debug)]
     /// Flags affecting the behavior of the constraints solver for a given contact manifold.
     pub struct SolverFlags: u32 {
         /// The constraint solver will take this contact manifold into

src/geometry/interaction_groups.rs

@@ -80,6 +80,7 @@ use bitflags::bitflags;
 bitflags! {
     /// A bit mask identifying groups for interaction.
     #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+    #[derive(Copy, Clone, PartialEq, Eq, Debug, Hash)]
     pub struct Group: u32 {
         /// The group n°1.
         const GROUP_1 = 1 << 0;
@@ -156,7 +157,7 @@ bitflags! {
 impl From<u32> for Group {
     #[inline]
     fn from(val: u32) -> Self {
-        unsafe { Self::from_bits_unchecked(val) }
+        Self::from_bits_retain(val)
     }
 }
 

src/geometry/mod.rs

@@ -59,6 +59,7 @@ pub type DefaultBroadPhase = BroadPhaseMultiSap;
 bitflags::bitflags! {
     /// Flags providing more information regarding a collision event.
     #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+    #[derive(Copy, Clone, PartialEq, Eq, Debug, Hash)]
     pub struct CollisionEventFlags: u32 {
         /// Flag set if at least one of the colliders involved in the
         /// collision was a sensor when the event was fired.