Adjust the defaults for the debug-renderer + add a JOINTS compound bitflag

src/pipeline/debug_render_pipeline/debug_render_pipeline.rs

@@ -24,6 +24,8 @@ bitflags::bitflags! {
         const MULTIBODY_JOINTS = 1 << 2;
         /// 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;
         /// 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.
@@ -33,6 +35,12 @@ bitflags::bitflags! {
     }
 }
 
+impl Default for DebugRenderMode {
+    fn default() -> Self {
+        Self::COLLIDER_SHAPES | Self::JOINTS | Self::RIGID_BODY_AXES
+    }
+}
+
 /// Pipeline responsible for rendering the state of the physics engine for debugging purpose.
 pub struct DebugRenderPipeline {
     #[cfg(feature = "dim2")]
@@ -49,7 +57,7 @@ pub struct DebugRenderPipeline {
 
 impl Default for DebugRenderPipeline {
     fn default() -> Self {
-        Self::render_all(DebugRenderStyle::default())
+        Self::new(DebugRenderStyle::default(), DebugRenderMode::default())
     }
 }