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

src/pipeline/debug_render_pipeline/debug_render_pipeline.rs

@@ -16,6 +16,7 @@ use std::collections::HashMap;
 bitflags::bitflags! {
     /// Flags indicating what part of the physics engine should be rendered
     /// by the debug-renderer.
+    #[derive(Copy, Clone, PartialEq, Eq, Debug)]
     pub struct DebugRenderMode: u32 {
         /// If this flag is set, the collider shapes will be rendered.
         const COLLIDER_SHAPES = 1 << 0;
@@ -26,7 +27,7 @@ bitflags::bitflags! {
         /// If this flag is set, the impulse joints will be rendered.
         const IMPULSE_JOINTS = 1 << 3;
         /// If this flag is set, all the joints will be rendered.
-        const JOINTS = Self::MULTIBODY_JOINTS.bits | Self::IMPULSE_JOINTS.bits;
+        const JOINTS = Self::MULTIBODY_JOINTS.bits() | Self::IMPULSE_JOINTS.bits();
         /// If this flag is set, the solver contacts will be rendered.
         const SOLVER_CONTACTS = 1 << 4;
         /// If this flag is set, the geometric contacts will be rendered.

src/pipeline/event_handler.rs

@@ -5,6 +5,7 @@ use crossbeam::channel::Sender;
 
 bitflags::bitflags! {
     #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+    #[derive(Copy, Clone, PartialEq, Eq, Debug, Hash)]
     /// Flags affecting the events generated for this collider.
     pub struct ActiveEvents: u32 {
         /// If set, Rapier will call `EventHandler::handle_collision_event`

src/pipeline/physics_hooks.rs

@@ -118,6 +118,7 @@ impl<'a> ContactModificationContext<'a> {
 
 bitflags::bitflags! {
     #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+    #[derive(Copy, Clone, PartialEq, Eq, Debug, Hash)]
     /// Flags affecting the behavior of the constraints solver for a given contact manifold.
     pub struct ActiveHooks: u32 {
         /// If set, Rapier will call `PhysicsHooks::filter_contact_pair` whenever relevant.

src/pipeline/query_pipeline/mod.rs

@@ -43,7 +43,7 @@ struct QueryPipelineAsCompositeShape<'a> {
 }
 
 bitflags::bitflags! {
-    #[derive(Default)]
+    #[derive(Copy, Clone, PartialEq, Eq, Debug, Default)]
     /// Flags for excluding whole sets of colliders from a scene query.
     pub struct QueryFilterFlags: u32 {
         /// Exclude from the query any collider attached to a fixed rigid-body and colliders with no rigid-body attached.
@@ -57,12 +57,12 @@ bitflags::bitflags! {
         /// Exclude from the query any collider that is not a sensor.
         const EXCLUDE_SOLIDS = 1 << 5;
         /// Excludes all colliders not attached to a dynamic rigid-body.
-        const ONLY_DYNAMIC = Self::EXCLUDE_FIXED.bits | Self::EXCLUDE_KINEMATIC.bits;
+        const ONLY_DYNAMIC = Self::EXCLUDE_FIXED.bits() | Self::EXCLUDE_KINEMATIC.bits();
         /// Excludes all colliders not attached to a kinematic rigid-body.
-        const ONLY_KINEMATIC = Self::EXCLUDE_DYNAMIC.bits | Self::EXCLUDE_FIXED.bits;
+        const ONLY_KINEMATIC = Self::EXCLUDE_DYNAMIC.bits() | Self::EXCLUDE_FIXED.bits();
         /// Exclude all colliders attached to a non-fixed rigid-body
         /// (this will not exclude colliders not attached to any rigid-body).
-        const ONLY_FIXED = Self::EXCLUDE_DYNAMIC.bits | Self::EXCLUDE_KINEMATIC.bits;
+        const ONLY_FIXED = Self::EXCLUDE_DYNAMIC.bits() | Self::EXCLUDE_KINEMATIC.bits();
     }
 }