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

21 files changed, 82 insertions, 65 deletions

diff --git a/Cargo.toml b/Cargo.toml
index 971dff9..fd16059 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -5,6 +5,7 @@ resolver = "2"
 
 [patch.crates-io]
 #wrapped2d = { git = "https://github.com/Bastacyclop/rust_box2d.git" }
+#xurdf = { path = "../xurdf/xurdf" }
 
 #simba = { path = "../simba" }
 #kiss3d = { path = "../kiss3d" }
@@ -12,7 +13,7 @@ resolver = "2"
 #parry3d = { path = "../parry/crates/parry3d" }
 #parry2d-f64 = { path = "../parry/crates/parry2d-f64" }
 #parry3d-f64 = { path = "../parry/crates/parry3d-f64" }
-# nalgebra = { path = "../nalgebra" }
+#nalgebra = { path = "../nalgebra" }
 
 
 #kiss3d = { git = "https://github.com/sebcrozet/kiss3d" }
diff --git a/crates/rapier2d-f64/Cargo.toml b/crates/rapier2d-f64/Cargo.toml
index a6b4671..23bc4d1 100644
--- a/crates/rapier2d-f64/Cargo.toml
+++ b/crates/rapier2d-f64/Cargo.toml
@@ -21,7 +21,7 @@ dim2 = []
 f64 = []
 parallel = ["rayon"]
 simd-stable = ["simba/wide", "simd-is-enabled"]
-simd-nightly = ["simba/packed_simd", "simd-is-enabled"]
+simd-nightly = ["simba/portable_simd", "simd-is-enabled"]
 # Do not enable this feature directly. It is automatically
 # enabled with the "simd-stable" or "simd-nightly" feature.
 simd-is-enabled = ["vec_map"]
@@ -51,19 +51,19 @@ required-features = ["dim2", "f64"]
 vec_map = { version = "0.8", optional = true }
 instant = { version = "0.1", features = ["now"], optional = true }
 num-traits = "0.2"
-nalgebra = "0.32"
-parry2d-f64 = "0.15.0"
-simba = "0.8"
+nalgebra = "0.33"
+parry2d-f64 = "0.16.0"
+simba = "0.9"
 approx = "0.5"
 rayon = { version = "1", optional = true }
 crossbeam = "0.8"
 arrayvec = "0.7"
 bit-vec = "0.6"
-rustc-hash = "1"
+rustc-hash = "2"
 serde = { version = "1", features = ["derive"], optional = true }
 downcast-rs = "1.2"
 num-derive = "0.4"
-bitflags = "1"
+bitflags = "2"
 log = "0.4"
 ordered-float = "4"
 thiserror = "1"
diff --git a/crates/rapier2d/Cargo.toml b/crates/rapier2d/Cargo.toml
index cdd9310..94ecd28 100644
--- a/crates/rapier2d/Cargo.toml
+++ b/crates/rapier2d/Cargo.toml
@@ -21,7 +21,7 @@ dim2 = []
 f32 = []
 parallel = ["rayon"]
 simd-stable = ["simba/wide", "simd-is-enabled"]
-simd-nightly = ["simba/packed_simd", "simd-is-enabled"]
+simd-nightly = ["simba/portable_simd", "simd-is-enabled"]
 # Do not enable this feature directly. It is automatically
 # enabled with the "simd-stable" or "simd-nightly" feature.
 simd-is-enabled = ["vec_map"]
@@ -51,19 +51,19 @@ required-features = ["dim2", "f32"]
 vec_map = { version = "0.8", optional = true }
 instant = { version = "0.1", features = ["now"], optional = true }
 num-traits = "0.2"
-nalgebra = "0.32"
-parry2d = "0.15.0"
-simba = "0.8"
+nalgebra = "0.33"
+parry2d = "0.16.0"
+simba = "0.9"
 approx = "0.5"
 rayon = { version = "1", optional = true }
 crossbeam = "0.8"
 arrayvec = "0.7"
 bit-vec = "0.6"
-rustc-hash = "1"
+rustc-hash = "2"
 serde = { version = "1", features = ["derive"], optional = true }
 downcast-rs = "1.2"
 num-derive = "0.4"
-bitflags = "1"
+bitflags = "2"
 log = "0.4"
 ordered-float = "4"
 thiserror = "1"
diff --git a/crates/rapier3d-f64/Cargo.toml b/crates/rapier3d-f64/Cargo.toml
index 95a3ab7..538456d 100644
--- a/crates/rapier3d-f64/Cargo.toml
+++ b/crates/rapier3d-f64/Cargo.toml
@@ -21,7 +21,7 @@ dim3 = []
 f64 = []
 parallel = ["rayon"]
 simd-stable = ["parry3d-f64/simd-stable", "simba/wide", "simd-is-enabled"]
-simd-nightly = ["parry3d-f64/simd-nightly", "simba/packed_simd", "simd-is-enabled"]
+simd-nightly = ["parry3d-f64/simd-nightly", "simba/portable_simd", "simd-is-enabled"]
 # Do not enable this feature directly. It is automatically
 # enabled with the "simd-stable" or "simd-nightly" feature.
 simd-is-enabled = ["vec_map"]
@@ -51,19 +51,19 @@ required-features = ["dim3", "f64"]
 vec_map = { version = "0.8", optional = true }
 instant = { version = "0.1", features = ["now"], optional = true }
 num-traits = "0.2"
-nalgebra = "0.32"
-parry3d-f64 = "0.15.0"
-simba = "0.8"
+nalgebra = "0.33"
+parry3d-f64 = "0.16.0"
+simba = "0.9"
 approx = "0.5"
 rayon = { version = "1", optional = true }
 crossbeam = "0.8"
 arrayvec = "0.7"
 bit-vec = "0.6"
-rustc-hash = "1"
+rustc-hash = "2"
 serde = { version = "1", features = ["derive"], optional = true }
 downcast-rs = "1.2"
 num-derive = "0.4"
-bitflags = "1"
+bitflags = "2"
 log = "0.4"
 ordered-float = "4"
 thiserror = "1"
diff --git a/crates/rapier3d/Cargo.toml b/crates/rapier3d/Cargo.toml
index 2142e82..db40c57 100644
--- a/crates/rapier3d/Cargo.toml
+++ b/crates/rapier3d/Cargo.toml
@@ -21,7 +21,7 @@ dim3 = []
 f32 = []
 parallel = ["rayon"]
 simd-stable = ["parry3d/simd-stable", "simba/wide", "simd-is-enabled"]
-simd-nightly = ["parry3d/simd-nightly", "simba/packed_simd", "simd-is-enabled"]
+simd-nightly = ["parry3d/simd-nightly", "simba/portable_simd", "simd-is-enabled"]
 # Do not enable this feature directly. It is automatically
 # enabled with the "simd-stable" or "simd-nightly" feature.
 simd-is-enabled = ["vec_map"]
@@ -51,19 +51,19 @@ required-features = ["dim3", "f32"]
 vec_map = { version = "0.8", optional = true }
 instant = { version = "0.1", features = ["now"], optional = true }
 num-traits = "0.2"
-nalgebra = "0.32"
-parry3d = "0.15.0"
-simba = "0.8"
+nalgebra = "0.33"
+parry3d = "0.16.0"
+simba = "0.9"
 approx = "0.5"
 rayon = { version = "1", optional = true }
 crossbeam = "0.8"
 arrayvec = "0.7"
 bit-vec = "0.6"
-rustc-hash = "1"
+rustc-hash = "2"
 serde = { version = "1", features = ["derive"], optional = true }
 downcast-rs = "1.2"
 num-derive = "0.4"
-bitflags = "1"
+bitflags = "2"
 log = "0.4"
 ordered-float = "4"
 thiserror = "1"
diff --git a/crates/rapier_testbed2d-f64/Cargo.toml b/crates/rapier_testbed2d-f64/Cargo.toml
index 55d1c18..8b236ff 100644
--- a/crates/rapier_testbed2d-f64/Cargo.toml
+++ b/crates/rapier_testbed2d-f64/Cargo.toml
@@ -28,11 +28,11 @@ other-backends = ["wrapped2d"]
 features = ["parallel", "other-backends"]
 
 [dependencies]
-nalgebra = { version = "0.32", features = ["rand", "glam025"] }
+nalgebra = { version = "0.33", features = ["rand", "glam025"] }
 rand = "0.8"
 rand_pcg = "0.3"
 instant = { version = "0.1", features = ["web-sys", "now"] }
-bitflags = "1"
+bitflags = "2"
 num_cpus = { version = "1", optional = true }
 wrapped2d = { version = "0.4", optional = true }
 crossbeam = "0.8"
diff --git a/crates/rapier_testbed2d/Cargo.toml b/crates/rapier_testbed2d/Cargo.toml
index d8abcb6..26fe127 100644
--- a/crates/rapier_testbed2d/Cargo.toml
+++ b/crates/rapier_testbed2d/Cargo.toml
@@ -28,11 +28,11 @@ other-backends = ["wrapped2d"]
 features = ["parallel", "other-backends"]
 
 [dependencies]
-nalgebra = { version = "0.32", features = ["rand", "glam025"] }
+nalgebra = { version = "0.33", features = ["rand", "glam025"] }
 rand = "0.8"
 rand_pcg = "0.3"
 instant = { version = "0.1", features = ["web-sys", "now"] }
-bitflags = "1"
+bitflags = "2"
 num_cpus = { version = "1", optional = true }
 wrapped2d = { version = "0.4", optional = true }
 crossbeam = "0.8"
diff --git a/crates/rapier_testbed3d-f64/Cargo.toml b/crates/rapier_testbed3d-f64/Cargo.toml
index 5baefa2..fb813bf 100644
--- a/crates/rapier_testbed3d-f64/Cargo.toml
+++ b/crates/rapier_testbed3d-f64/Cargo.toml
@@ -27,11 +27,11 @@ parallel = ["rapier/parallel", "num_cpus"]
 features = ["parallel"]
 
 [dependencies]
-nalgebra = { version = "0.32", features = ["rand", "glam025"] }
+nalgebra = { version = "0.33", features = ["rand", "glam025"] }
 rand = "0.8"
 rand_pcg = "0.3"
 instant = { version = "0.1", features = ["web-sys", "now"] }
-bitflags = "1"
+bitflags = "2"
 num_cpus = { version = "1", optional = true }
 crossbeam = "0.8"
 bincode = "1"
diff --git a/crates/rapier_testbed3d/Cargo.toml b/crates/rapier_testbed3d/Cargo.toml
index 7633e64..7e66de4 100644
--- a/crates/rapier_testbed3d/Cargo.toml
+++ b/crates/rapier_testbed3d/Cargo.toml
@@ -28,11 +28,11 @@ other-backends = ["physx", "physx-sys", "glam"]
 features = ["parallel", "other-backends"]
 
 [dependencies]
-nalgebra = { version = "0.32", features = ["rand", "glam025"] }
+nalgebra = { version = "0.33", features = ["rand", "glam025"] }
 rand = "0.8"
 rand_pcg = "0.3"
 instant = { version = "0.1", features = ["web-sys", "now"] }
-bitflags = "1"
+bitflags = "2"
 glam = { version = "0.24", optional = true } # For Physx
 num_cpus = { version = "1", optional = true }
 physx = { version = "0.19", features = ["glam"], optional = true }
diff --git a/src/dynamics/joint/generic_joint.rs b/src/dynamics/joint/generic_joint.rs
index 154c439..8d4066d 100644
--- a/src/dynamics/joint/generic_joint.rs
+++ b/src/dynamics/joint/generic_joint.rs
@@ -12,6 +12,7 @@ use crate::dynamics::SphericalJoint;
 bitflags::bitflags! {
     /// A bit mask identifying multiple degrees of freedom of a joint.
     #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+    #[derive(Copy, Clone, PartialEq, Eq, Debug)]
     pub struct JointAxesMask: u8 {
         /// The linear (translational) degree of freedom along the local X axis of a joint.
         const LIN_X = 1 << 0;
@@ -26,21 +27,21 @@ bitflags::bitflags! {
         /// The angular degree of freedom along the local Z axis of a joint.
         const ANG_Z = 1 << 5;
         /// The set of degrees of freedom locked by a revolute joint.
-        const LOCKED_REVOLUTE_AXES = Self::LIN_X.bits | Self::LIN_Y.bits | Self::LIN_Z.bits | Self::ANG_Y.bits | Self::ANG_Z.bits;
+        const LOCKED_REVOLUTE_AXES = Self::LIN_X.bits() | Self::LIN_Y.bits() | Self::LIN_Z.bits() | Self::ANG_Y.bits() | Self::ANG_Z.bits();
         /// The set of degrees of freedom locked by a prismatic joint.
-        const LOCKED_PRISMATIC_AXES = Self::LIN_Y.bits | Self::LIN_Z.bits | Self::ANG_X.bits | Self::ANG_Y.bits | Self::ANG_Z.bits;
+        const LOCKED_PRISMATIC_AXES = Self::LIN_Y.bits() | Self::LIN_Z.bits() | Self::ANG_X.bits() | Self::ANG_Y.bits() | Self::ANG_Z.bits();
         /// The set of degrees of freedom locked by a fixed joint.
-        const LOCKED_FIXED_AXES = Self::LIN_X.bits | Self::LIN_Y.bits | Self::LIN_Z.bits | Self::ANG_X.bits | Self::ANG_Y.bits | Self::ANG_Z.bits;
+        const LOCKED_FIXED_AXES = Self::LIN_X.bits() | Self::LIN_Y.bits() | Self::LIN_Z.bits() | Self::ANG_X.bits() | Self::ANG_Y.bits() | Self::ANG_Z.bits();
         /// The set of degrees of freedom locked by a spherical joint.
-        const LOCKED_SPHERICAL_AXES = Self::LIN_X.bits | Self::LIN_Y.bits | Self::LIN_Z.bits;
+        const LOCKED_SPHERICAL_AXES = Self::LIN_X.bits() | Self::LIN_Y.bits() | Self::LIN_Z.bits();
         /// The set of degrees of freedom left free by a revolute joint.
-        const FREE_REVOLUTE_AXES = Self::ANG_X.bits;
+        const FREE_REVOLUTE_AXES = Self::ANG_X.bits();
         /// The set of degrees of freedom left free by a prismatic joint.
-        const FREE_PRISMATIC_AXES = Self::LIN_X.bits;
+        const FREE_PRISMATIC_AXES = Self::LIN_X.bits();
         /// The set of degrees of freedom left free by a fixed joint.
         const FREE_FIXED_AXES = 0;
         /// The set of degrees of freedom left free by a spherical joint.
-        const FREE_SPHERICAL_AXES = Self::ANG_X.bits | Self::ANG_Y.bits | Self::ANG_Z.bits;
+        const FREE_SPHERICAL_AXES = Self::ANG_X.bits() | Self::ANG_Y.bits() | Self::ANG_Z.bits();
         /// The set of all translational degrees of freedom.
         const LIN_AXES = Self::LIN_X.bits() | Self::LIN_Y.bits() | Self::LIN_Z.bits();
         /// The set of all angular degrees of freedom.
@@ -52,6 +53,7 @@ bitflags::bitflags! {
 bitflags::bitflags! {
     /// A bit mask identifying multiple degrees of freedom of a joint.
     #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+    #[derive(Copy, Clone, PartialEq, Eq, Debug)]
     pub struct JointAxesMask: u8 {
         /// The linear (translational) degree of freedom along the local X axis of a joint.
         const LIN_X = 1 << 0;
@@ -60,15 +62,15 @@ bitflags::bitflags! {
         /// The angular degree of freedom of a joint.
         const ANG_X = 1 << 2;
         /// The set of degrees of freedom locked by a revolute joint.
-        const LOCKED_REVOLUTE_AXES = Self::LIN_X.bits | Self::LIN_Y.bits;
+        const LOCKED_REVOLUTE_AXES = Self::LIN_X.bits() | Self::LIN_Y.bits();
         /// The set of degrees of freedom locked by a prismatic joint.
-        const LOCKED_PRISMATIC_AXES = Self::LIN_Y.bits | Self::ANG_X.bits;
+        const LOCKED_PRISMATIC_AXES = Self::LIN_Y.bits() | Self::ANG_X.bits();
         /// The set of degrees of freedom locked by a fixed joint.
-        const LOCKED_FIXED_AXES = Self::LIN_X.bits | Self::LIN_Y.bits | Self::ANG_X.bits;
+        const LOCKED_FIXED_AXES = Self::LIN_X.bits() | Self::LIN_Y.bits() | Self::ANG_X.bits();
         /// The set of degrees of freedom left free by a revolute joint.
-        const FREE_REVOLUTE_AXES = Self::ANG_X.bits;
+        const FREE_REVOLUTE_AXES = Self::ANG_X.bits();
         /// The set of degrees of freedom left free by a prismatic joint.
-        const FREE_PRISMATIC_AXES = Self::LIN_X.bits;
+        const FREE_PRISMATIC_AXES = Self::LIN_X.bits();
         /// The set of degrees of freedom left free by a fixed joint.
         const FREE_FIXED_AXES = 0;
         /// The set of all translational degrees of freedom.
diff --git a/src/dynamics/rigid_body_components.rs b/src/dynamics/rigid_body_components.rs
index a391feb..641434c 100644
--- a/src/dynamics/rigid_body_components.rs
+++ b/src/dynamics/rigid_body_components.rs
@@ -96,6 +96,7 @@ impl RigidBodyType {
 
 bitflags::bitflags! {
     #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+    #[derive(Copy, Clone, PartialEq, Eq, Debug)]
     /// Flags describing how the rigid-body has been modified by the user.
     pub struct RigidBodyChanges: u32 {
         /// Flag indicating that any component of this rigid-body has been modified.
@@ -204,6 +205,7 @@ where
 
 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.
     // FIXME: rename this to LockedAxes
     pub struct LockedAxes: u8 {
@@ -214,7 +216,7 @@ bitflags::bitflags! {
         /// Flag indicating that the rigid-body cannot translate along the `Z` axis.
         const TRANSLATION_LOCKED_Z = 1 << 2;
         /// Flag indicating that the rigid-body cannot translate along any direction.
-        const TRANSLATION_LOCKED = Self::TRANSLATION_LOCKED_X.bits | Self::TRANSLATION_LOCKED_Y.bits | Self::TRANSLATION_LOCKED_Z.bits;
+        const TRANSLATION_LOCKED = Self::TRANSLATION_LOCKED_X.bits() | Self::TRANSLATION_LOCKED_Y.bits() | Self::TRANSLATION_LOCKED_Z.bits();
         /// Flag indicating that the rigid-body cannot rotate along the `X` axis.
         const ROTATION_LOCKED_X = 1 << 3;
         /// Flag indicating that the rigid-body cannot rotate along the `Y` axis.
@@ -222,7 +224,7 @@ bitflags::bitflags! {
         /// Flag indicating that the rigid-body cannot rotate along the `Z` axis.
         const ROTATION_LOCKED_Z = 1 << 5;
         /// Combination of flags indicating that the rigid-body cannot rotate along any axis.
-        const ROTATION_LOCKED = Self::ROTATION_LOCKED_X.bits | Self::ROTATION_LOCKED_Y.bits | Self::ROTATION_LOCKED_Z.bits;
+        const ROTATION_LOCKED = Self::ROTATION_LOCKED_X.bits() | Self::ROTATION_LOCKED_Y.bits() | Self::ROTATION_LOCKED_Z.bits();
     }
 }
 
diff --git a/src/geometry/collider_components.rs b/src/geometry/collider_components.rs
index 123e32c..efaccd0 100644
--- a/src/geometry/collider_components.rs
+++ b/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
     }
 }
 
diff --git a/src/geometry/contact_pair.rs b/src/geometry/contact_pair.rs
index c57f98a..8ff5dd6 100644
--- a/src/geometry/contact_pair.rs
+++ b/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
diff --git a/src/geometry/interaction_groups.rs b/src/geometry/interaction_groups.rs
index b07389c..f61de1a 100644
--- a/src/geometry/interaction_groups.rs
+++ b/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)
     }
 }
 
diff --git a/src/geometry/mod.rs b/src/geometry/mod.rs
index e7f0da7..ea0c7fb 100644
--- a/src/geometry/mod.rs
+++ b/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.
diff --git a/src/pipeline/debug_render_pipeline/debug_render_pipeline.rs b/src/pipeline/debug_render_pipeline/debug_render_pipeline.rs
index 041862c..831f815 100644
--- a/src/pipeline/debug_render_pipeline/debug_render_pipeline.rs
+++ b/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.
diff --git a/src/pipeline/event_handler.rs b/src/pipeline/event_handler.rs
index 7957ccf..ab98434 100644
--- a/src/pipeline/event_handler.rs
+++ b/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`
diff --git a/src/pipeline/physics_hooks.rs b/src/pipeline/physics_hooks.rs
index 11166b5..558962d 100644
--- a/src/pipeline/physics_hooks.rs
+++ b/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.
diff --git a/src/pipeline/query_pipeline/mod.rs b/src/pipeline/query_pipeline/mod.rs
index cd8ae4c..18d7948 100644
--- a/src/pipeline/query_pipeline/mod.rs
+++ b/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();
     }
 }
 
diff --git a/src_testbed/physx_backend.rs b/src_testbed/physx_backend.rs
index 7070c81..71f8f9d 100644
--- a/src_testbed/physx_backend.rs
+++ b/src_testbed/physx_backend.rs
@@ -441,23 +441,23 @@ impl PhysxWorld {
                     px_frame2.as_ptr(),
                 );
 
-                let motion_x = if joint.1.data.limit_axes.contains(JointAxesMask::X) {
+                let motion_x = if joint.1.data.limit_axes.contains(JointAxesMask::LIN_X) {
                     physx_sys::PxD6Motion::Limited
-                } else if !joint.1.data.locked_axes.contains(JointAxesMask::X) {
+                } else if !joint.1.data.locked_axes.contains(JointAxesMask::LIN_X) {
                     physx_sys::PxD6Motion::Free
                 } else {
                     physx_sys::PxD6Motion::Locked
                 };
-                let motion_y = if joint.1.data.limit_axes.contains(JointAxesMask::Y) {
+                let motion_y = if joint.1.data.limit_axes.contains(JointAxesMask::LIN_Y) {
                     physx_sys::PxD6Motion::Limited
-                } else if !joint.1.data.locked_axes.contains(JointAxesMask::Y) {
+                } else if !joint.1.data.locked_axes.contains(JointAxesMask::LIN_Y) {
                     physx_sys::PxD6Motion::Free
                 } else {
                     physx_sys::PxD6Motion::Locked
                 };
-                let motion_z = if joint.1.data.limit_axes.contains(JointAxesMask::Z) {
+                let motion_z = if joint.1.data.limit_axes.contains(JointAxesMask::LIN_Z) {
                     physx_sys::PxD6Motion::Limited
-                } else if !joint.1.data.locked_axes.contains(JointAxesMask::Z) {
+                } else if !joint.1.data.locked_axes.contains(JointAxesMask::LIN_Z) {
                     physx_sys::PxD6Motion::Free
                 } else {
                     physx_sys::PxD6Motion::Locked
diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs
index dc747ed..26d8d9d 100644
--- a/src_testbed/testbed.rs
+++ b/src_testbed/testbed.rs
@@ -75,7 +75,7 @@ fn usage(exe_name: &str) {
 }
 
 bitflags! {
-    #[derive(Default)]
+    #[derive(Copy, Clone, PartialEq, Eq, Debug, Default)]
     pub struct TestbedStateFlags: u32 {
         const NONE = 0;
         const SLEEP = 1 << 0;
@@ -92,6 +92,7 @@ bitflags! {
 }
 
 bitflags! {
+    #[derive(Copy, Clone, PartialEq, Eq, Debug)]
     pub struct TestbedActionFlags: u32 {
         const RESET_WORLD_GRAPHICS = 1 << 0;
         const EXAMPLE_CHANGED = 1 << 1;
@@ -1106,6 +1107,7 @@ fn egui_focus(mut ui_context: EguiContexts, mut cameras: Query<&mut OrbitCamera>
 use crate::mouse::{track_mouse_state, MainCamera, SceneMouse};
 use bevy::window::PrimaryWindow;
 
+#[allow(clippy::type_complexity)]
 fn update_testbed(
     mut commands: Commands,
     windows: Query<&Window, With<PrimaryWindow>>,
@@ -1121,9 +1123,11 @@ fn update_testbed(
     #[cfg(feature = "other-backends")] mut other_backends: NonSendMut<OtherBackends>,
     mut plugins: NonSendMut<Plugins>,
     mut ui_context: EguiContexts,
-    mut gfx_components: Query<&mut Transform>,
-    mut cameras: Query<(&Camera, &GlobalTransform, &mut OrbitCamera)>,
-    mut material_handles: Query<&mut Handle<BevyMaterial>>,
+    (mut gfx_components, mut cameras, mut material_handles): (
+        Query<&mut Transform>,
+        Query<(&Camera, &GlobalTransform, &mut OrbitCamera)>,
+        Query<&mut Handle<BevyMaterial>>,
+    ),
     keys: Res<ButtonInput<KeyCode>>,
 ) {
     let meshes = &mut *meshes;