Merge branch 'master' into collider-builder-debug

8 files changed, 209 insertions, 201 deletions

diff --git a/crates/rapier2d-f64/Cargo.toml b/crates/rapier2d-f64/Cargo.toml
index 90ee6b5..f80aa03 100644
--- a/crates/rapier2d-f64/Cargo.toml
+++ b/crates/rapier2d-f64/Cargo.toml
@@ -1,14 +1,14 @@
 [package]
-name    = "rapier2d-f64"
-version = "0.18.0"
-authors = [ "Sébastien Crozet <developer@crozet.re>" ]
+name = "rapier2d-f64"
+version = "0.19.0"
+authors = ["Sébastien Crozet <developer@crozet.re>"]
 description = "2-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier2d"
 homepage = "https://rapier.rs"
 repository = "https://github.com/dimforge/rapier"
 readme = "README.md"
-categories = [ "science", "game-development", "mathematics", "simulation", "wasm"]
-keywords = [ "physics", "dynamics", "rigid", "real-time", "impulse_joints" ]
+categories = ["science", "game-development", "mathematics", "simulation", "wasm"]
+keywords = ["physics", "dynamics", "rigid", "real-time", "impulse_joints"]
 license = "Apache-2.0"
 edition = "2021"
 
@@ -16,23 +16,23 @@ edition = "2021"
 maintenance = { status = "actively-developed" }
 
 [features]
-default = [ "dim2", "f64" ]
-dim2    = [ ]
-f64     = [ ]
-parallel = [ "rayon" ]
-simd-stable = [ "simba/wide", "simd-is-enabled" ]
-simd-nightly = [ "simba/packed_simd", "simd-is-enabled" ]
+default = ["dim2", "f64"]
+dim2 = []
+f64 = []
+parallel = ["rayon"]
+simd-stable = ["simba/wide", "simd-is-enabled"]
+simd-nightly = ["simba/packed_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" ]
-wasm-bindgen = [ "instant/wasm-bindgen" ]
-serde-serialize = [ "nalgebra/serde-serialize", "parry2d-f64/serde-serialize", "serde", "bit-vec/serde", "arrayvec/serde" ]
-enhanced-determinism = [ "simba/libm_force", "parry2d-f64/enhanced-determinism" ]
-debug-render = [ ]
-profiler = [ "instant" ] # Enables the internal profiler.
+simd-is-enabled = ["vec_map"]
+wasm-bindgen = ["instant/wasm-bindgen"]
+serde-serialize = ["nalgebra/serde-serialize", "parry2d-f64/serde-serialize", "serde", "bit-vec/serde", "arrayvec/serde"]
+enhanced-determinism = ["simba/libm_force", "parry2d-f64/enhanced-determinism"]
+debug-render = []
+profiler = ["instant"] # Enables the internal profiler.
 
 # Feature used for debugging only.
-debug-disable-legitimate-fe-exceptions = [ ]
+debug-disable-legitimate-fe-exceptions = []
 
 # Feature used for development and debugging only.
 # Do not enable this unless you are working on the engine internals.
@@ -44,15 +44,15 @@ features = ["parallel", "simd-stable", "serde-serialize", "debug-render"]
 [lib]
 name = "rapier2d_f64"
 path = "../../src/lib.rs"
-required-features = [ "dim2", "f64" ]
+required-features = ["dim2", "f64"]
 
 
 [dependencies]
 vec_map = { version = "0.8", optional = true }
-instant = { version = "0.1", features = [ "now" ], optional = true }
+instant = { version = "0.1", features = ["now"], optional = true }
 num-traits = "0.2"
 nalgebra = "0.32"
-parry2d-f64 = "0.13.1"
+parry2d-f64 = "0.15.0"
 simba = "0.8"
 approx = "0.5"
 rayon = { version = "1", optional = true }
@@ -60,11 +60,13 @@ crossbeam = "0.8"
 arrayvec = "0.7"
 bit-vec = "0.6"
 rustc-hash = "1"
-serde = { version = "1", features = [ "derive" ], optional = true }
+serde = { version = "1", features = ["derive"], optional = true }
 downcast-rs = "1.2"
 num-derive = "0.4"
 bitflags = "1"
+log = "0.4"
+ordered-float = "4"
 
 [dev-dependencies]
 bincode = "1"
-serde = { version = "1", features = [ "derive" ] }
+serde = { version = "1", features = ["derive"] }
diff --git a/crates/rapier2d/Cargo.toml b/crates/rapier2d/Cargo.toml
index 0d8bc24..0b4882f 100644
--- a/crates/rapier2d/Cargo.toml
+++ b/crates/rapier2d/Cargo.toml
@@ -1,14 +1,14 @@
 [package]
-name    = "rapier2d"
-version = "0.18.0"
-authors = [ "Sébastien Crozet <developer@crozet.re>" ]
+name = "rapier2d"
+version = "0.19.0"
+authors = ["Sébastien Crozet <developer@crozet.re>"]
 description = "2-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier2d"
 homepage = "https://rapier.rs"
 repository = "https://github.com/dimforge/rapier"
 readme = "README.md"
-categories = [ "science", "game-development", "mathematics", "simulation", "wasm"]
-keywords = [ "physics", "dynamics", "rigid", "real-time", "impulse_joints" ]
+categories = ["science", "game-development", "mathematics", "simulation", "wasm"]
+keywords = ["physics", "dynamics", "rigid", "real-time", "impulse_joints"]
 license = "Apache-2.0"
 edition = "2021"
 
@@ -16,23 +16,23 @@ edition = "2021"
 maintenance = { status = "actively-developed" }
 
 [features]
-default = [ "dim2", "f32" ]
-dim2    = [ ]
-f32     = [ ]
-parallel = [ "rayon" ]
-simd-stable = [ "simba/wide", "simd-is-enabled" ]
-simd-nightly = [ "simba/packed_simd", "simd-is-enabled" ]
+default = ["dim2", "f32"]
+dim2 = []
+f32 = []
+parallel = ["rayon"]
+simd-stable = ["simba/wide", "simd-is-enabled"]
+simd-nightly = ["simba/packed_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" ]
-wasm-bindgen = [ "instant/wasm-bindgen" ]
-serde-serialize = [ "nalgebra/serde-serialize", "parry2d/serde-serialize", "serde", "bit-vec/serde", "arrayvec/serde" ]
-enhanced-determinism = [ "simba/libm_force", "parry2d/enhanced-determinism" ]
-debug-render = [ ]
-profiler = [ "instant" ] # Enables the internal profiler.
+simd-is-enabled = ["vec_map"]
+wasm-bindgen = ["instant/wasm-bindgen"]
+serde-serialize = ["nalgebra/serde-serialize", "parry2d/serde-serialize", "serde", "bit-vec/serde", "arrayvec/serde"]
+enhanced-determinism = ["simba/libm_force", "parry2d/enhanced-determinism"]
+debug-render = []
+profiler = ["instant"] # Enables the internal profiler.
 
 # Feature used for debugging only.
-debug-disable-legitimate-fe-exceptions = [ ]
+debug-disable-legitimate-fe-exceptions = []
 
 # Feature used for development and debugging only.
 # Do not enable this unless you are working on the engine internals.
@@ -44,15 +44,15 @@ features = ["parallel", "simd-stable", "serde-serialize", "debug-render"]
 [lib]
 name = "rapier2d"
 path = "../../src/lib.rs"
-required-features = [ "dim2", "f32" ]
+required-features = ["dim2", "f32"]
 
 
 [dependencies]
 vec_map = { version = "0.8", optional = true }
-instant = { version = "0.1", features = [ "now" ], optional = true }
+instant = { version = "0.1", features = ["now"], optional = true }
 num-traits = "0.2"
 nalgebra = "0.32"
-parry2d = "0.13.1"
+parry2d = "0.15.0"
 simba = "0.8"
 approx = "0.5"
 rayon = { version = "1", optional = true }
@@ -60,11 +60,13 @@ crossbeam = "0.8"
 arrayvec = "0.7"
 bit-vec = "0.6"
 rustc-hash = "1"
-serde = { version = "1", features = [ "derive" ], optional = true }
+serde = { version = "1", features = ["derive"], optional = true }
 downcast-rs = "1.2"
 num-derive = "0.4"
 bitflags = "1"
+log = "0.4"
+ordered-float = "4"
 
 [dev-dependencies]
 bincode = "1"
-serde = { version = "1", features = [ "derive" ] }
+serde = { version = "1", features = ["derive"] }
diff --git a/crates/rapier3d-f64/Cargo.toml b/crates/rapier3d-f64/Cargo.toml
index 12c71b7..28f282c 100644
--- a/crates/rapier3d-f64/Cargo.toml
+++ b/crates/rapier3d-f64/Cargo.toml
@@ -1,14 +1,14 @@
 [package]
-name    = "rapier3d-f64"
-version = "0.18.0"
-authors = [ "Sébastien Crozet <developer@crozet.re>" ]
+name = "rapier3d-f64"
+version = "0.19.0"
+authors = ["Sébastien Crozet <developer@crozet.re>"]
 description = "3-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier3d"
 homepage = "https://rapier.rs"
 repository = "https://github.com/dimforge/rapier"
 readme = "README.md"
-categories = [ "science", "game-development", "mathematics", "simulation", "wasm"]
-keywords = [ "physics", "dynamics", "rigid", "real-time", "impulse_joints" ]
+categories = ["science", "game-development", "mathematics", "simulation", "wasm"]
+keywords = ["physics", "dynamics", "rigid", "real-time", "impulse_joints"]
 license = "Apache-2.0"
 edition = "2021"
 
@@ -16,23 +16,23 @@ edition = "2021"
 maintenance = { status = "actively-developed" }
 
 [features]
-default = [ "dim3", "f64" ]
-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" ]
+default = ["dim3", "f64"]
+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"]
 # Do not enable this feature directly. It is automatically
 # enabled with the "simd-stable" or "simd-nightly" feature.
-simd-is-enabled = [ "vec_map" ]
-wasm-bindgen = [ "instant/wasm-bindgen" ]
-serde-serialize = [ "nalgebra/serde-serialize", "parry3d-f64/serde-serialize", "serde", "bit-vec/serde" ]
-enhanced-determinism = [ "simba/libm_force", "parry3d-f64/enhanced-determinism" ]
+simd-is-enabled = ["vec_map"]
+wasm-bindgen = ["instant/wasm-bindgen"]
+serde-serialize = ["nalgebra/serde-serialize", "parry3d-f64/serde-serialize", "serde", "bit-vec/serde"]
+enhanced-determinism = ["simba/libm_force", "parry3d-f64/enhanced-determinism"]
 debug-render = []
-profiler = [ "instant" ] # Enables the internal profiler.
+profiler = ["instant"] # Enables the internal profiler.
 
 # Feature used for debugging only.
-debug-disable-legitimate-fe-exceptions = [ ]
+debug-disable-legitimate-fe-exceptions = []
 
 # Feature used for development and debugging only.
 # Do not enable this unless you are working on the engine internals.
@@ -44,15 +44,15 @@ features = ["parallel", "simd-stable", "serde-serialize", "debug-render"]
 [lib]
 name = "rapier3d_f64"
 path = "../../src/lib.rs"
-required-features = [ "dim3", "f64" ]
+required-features = ["dim3", "f64"]
 
 
 [dependencies]
 vec_map = { version = "0.8", optional = true }
-instant = { version = "0.1", features = [ "now" ], optional = true }
+instant = { version = "0.1", features = ["now"], optional = true }
 num-traits = "0.2"
 nalgebra = "0.32"
-parry3d-f64 = "0.13.1"
+parry3d-f64 = "0.15.0"
 simba = "0.8"
 approx = "0.5"
 rayon = { version = "1", optional = true }
@@ -60,11 +60,13 @@ crossbeam = "0.8"
 arrayvec = "0.7"
 bit-vec = "0.6"
 rustc-hash = "1"
-serde = { version = "1", features = [ "derive" ], optional = true }
+serde = { version = "1", features = ["derive"], optional = true }
 downcast-rs = "1.2"
 num-derive = "0.4"
 bitflags = "1"
+log = "0.4"
+ordered-float = "4"
 
 [dev-dependencies]
 bincode = "1"
-serde = { version = "1", features = [ "derive" ] }
+serde = { version = "1", features = ["derive"] }
diff --git a/crates/rapier3d/Cargo.toml b/crates/rapier3d/Cargo.toml
index 1d3605b..10c5fe1 100644
--- a/crates/rapier3d/Cargo.toml
+++ b/crates/rapier3d/Cargo.toml
@@ -1,14 +1,14 @@
 [package]
-name    = "rapier3d"
-version = "0.18.0"
-authors = [ "Sébastien Crozet <developer@crozet.re>" ]
+name = "rapier3d"
+version = "0.19.0"
+authors = ["Sébastien Crozet <developer@crozet.re>"]
 description = "3-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier3d"
 homepage = "https://rapier.rs"
 repository = "https://github.com/dimforge/rapier"
 readme = "README.md"
-categories = [ "science", "game-development", "mathematics", "simulation", "wasm"]
-keywords = [ "physics", "dynamics", "rigid", "real-time", "impulse_joints" ]
+categories = ["science", "game-development", "mathematics", "simulation", "wasm"]
+keywords = ["physics", "dynamics", "rigid", "real-time", "impulse_joints"]
 license = "Apache-2.0"
 edition = "2021"
 
@@ -16,23 +16,23 @@ edition = "2021"
 maintenance = { status = "actively-developed" }
 
 [features]
-default = [ "dim3", "f32" ]
-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" ]
+default = ["dim3", "f32"]
+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"]
 # Do not enable this feature directly. It is automatically
 # enabled with the "simd-stable" or "simd-nightly" feature.
-simd-is-enabled = [ "vec_map" ]
-wasm-bindgen = [ "instant/wasm-bindgen" ]
-serde-serialize = [ "nalgebra/serde-serialize", "parry3d/serde-serialize", "serde", "bit-vec/serde" ]
-enhanced-determinism = [ "simba/libm_force", "parry3d/enhanced-determinism" ]
-debug-render = [ ]
-profiler = [ "instant" ] # Enables the internal profiler.
+simd-is-enabled = ["vec_map"]
+wasm-bindgen = ["instant/wasm-bindgen"]
+serde-serialize = ["nalgebra/serde-serialize", "parry3d/serde-serialize", "serde", "bit-vec/serde"]
+enhanced-determinism = ["simba/libm_force", "parry3d/enhanced-determinism"]
+debug-render = []
+profiler = ["instant"] # Enables the internal profiler.
 
 # Feature used for debugging only.
-debug-disable-legitimate-fe-exceptions = [ ]
+debug-disable-legitimate-fe-exceptions = []
 
 # Feature used for development and debugging only.
 # Do not enable this unless you are working on the engine internals.
@@ -44,15 +44,15 @@ features = ["parallel", "simd-stable", "serde-serialize", "debug-render"]
 [lib]
 name = "rapier3d"
 path = "../../src/lib.rs"
-required-features = [ "dim3", "f32" ]
+required-features = ["dim3", "f32"]
 
 
 [dependencies]
 vec_map = { version = "0.8", optional = true }
-instant = { version = "0.1", features = [ "now" ], optional = true }
+instant = { version = "0.1", features = ["now"], optional = true }
 num-traits = "0.2"
 nalgebra = "0.32"
-parry3d = "0.13.1"
+parry3d = "0.15.0"
 simba = "0.8"
 approx = "0.5"
 rayon = { version = "1", optional = true }
@@ -60,11 +60,13 @@ crossbeam = "0.8"
 arrayvec = "0.7"
 bit-vec = "0.6"
 rustc-hash = "1"
-serde = { version = "1", features = [ "derive" ], optional = true }
+serde = { version = "1", features = ["derive"], optional = true }
 downcast-rs = "1.2"
 num-derive = "0.4"
 bitflags = "1"
+log = "0.4"
+ordered-float = "4"
 
 [dev-dependencies]
 bincode = "1"
-serde = { version = "1", features = [ "derive" ] }
+serde = { version = "1", features = ["derive"] }
diff --git a/crates/rapier_testbed2d-f64/Cargo.toml b/crates/rapier_testbed2d-f64/Cargo.toml
index 2212a03..800ac49 100644
--- a/crates/rapier_testbed2d-f64/Cargo.toml
+++ b/crates/rapier_testbed2d-f64/Cargo.toml
@@ -1,12 +1,12 @@
 [package]
-name    = "rapier_testbed2d-f64"
-version = "0.18.0"
-authors = [ "Sébastien Crozet <developer@crozet.re>" ]
+name = "rapier_testbed2d-f64"
+version = "0.19.0"
+authors = ["Sébastien Crozet <developer@crozet.re>"]
 description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
 homepage = "http://rapier.org"
 repository = "https://github.com/dimforge/rapier"
-categories = [ "science", "game-development", "mathematics", "simulation", "wasm"]
-keywords = [ "physics", "dynamics", "rigid", "real-time", "impulse_joints" ]
+categories = ["science", "game-development", "mathematics", "simulation", "wasm"]
+keywords = ["physics", "dynamics", "rigid", "real-time", "impulse_joints"]
 license = "Apache-2.0"
 edition = "2021"
 
@@ -16,48 +16,48 @@ maintenance = { status = "actively-developed" }
 [lib]
 name = "rapier_testbed2d"
 path = "../../src_testbed/lib.rs"
-required-features = [ "dim2" ]
+required-features = ["dim2"]
 
 [features]
-default = [ "dim2" ]
-dim2 = [ ]
-parallel = [ "rapier/parallel", "num_cpus" ]
-other-backends = [ "wrapped2d" ]
+default = ["dim2"]
+dim2 = []
+parallel = ["rapier/parallel", "num_cpus"]
+other-backends = ["wrapped2d"]
 
 [package.metadata.docs.rs]
 features = ["parallel", "other-backends"]
 
 [dependencies]
-nalgebra   = { version = "0.32", features = [ "rand" ] }
-rand       = "0.8"
-rand_pcg   = "0.3"
-instant    = { version = "0.1", features = [ "web-sys", "now" ]}
-bitflags   = "1"
-num_cpus   = { version = "1", optional = true }
-wrapped2d  = { version = "0.4", optional = true }
+nalgebra = { version = "0.32", features = ["rand", "glam025"] }
+rand = "0.8"
+rand_pcg = "0.3"
+instant = { version = "0.1", features = ["web-sys", "now"] }
+bitflags = "1"
+num_cpus = { version = "1", optional = true }
+wrapped2d = { version = "0.4", optional = true }
 crossbeam = "0.8"
 bincode = "1"
-Inflector  = "0.11"
+Inflector = "0.11"
 md5 = "0.7"
 
-bevy_egui = "0.23"
-bevy_ecs = "0.12"
-bevy_core_pipeline = "0.12"
-bevy_pbr = "0.12"
-bevy_sprite = "0.12"
+bevy_egui = "0.26"
+bevy_ecs = "0.13"
+bevy_core_pipeline = "0.13"
+bevy_pbr = "0.13"
+bevy_sprite = "0.13"
 #bevy_prototype_debug_lines = "0.7"
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
-bevy = {version = "0.12", default-features = false, features = ["bevy_asset", "bevy_winit", "x11", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"]}
+bevy = { version = "0.13", default-features = false, features = ["bevy_asset", "bevy_winit", "x11", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"] }
 
 # Dependencies for WASM only.
 [target.'cfg(target_arch = "wasm32")'.dependencies]
-bevy = {version = "0.12", default-features = false, features = ["bevy_asset", "bevy_winit", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"]}
+bevy = { version = "0.13", default-features = false, features = ["bevy_asset", "bevy_winit", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"] }
 #bevy_webgl2 = "0.5"
 
 [dependencies.rapier]
 package = "rapier2d-f64"
 path = "../rapier2d-f64"
-version = "0.18.0"
-features = [ "serde-serialize", "debug-render", "profiler" ]
+version = "0.19.0"
+features = ["serde-serialize", "debug-render", "profiler"]
diff --git a/crates/rapier_testbed2d/Cargo.toml b/crates/rapier_testbed2d/Cargo.toml
index 06c32e3..3935fcb 100644
--- a/crates/rapier_testbed2d/Cargo.toml
+++ b/crates/rapier_testbed2d/Cargo.toml
@@ -1,12 +1,12 @@
 [package]
-name    = "rapier_testbed2d"
-version = "0.18.0"
-authors = [ "Sébastien Crozet <developer@crozet.re>" ]
+name = "rapier_testbed2d"
+version = "0.19.0"
+authors = ["Sébastien Crozet <developer@crozet.re>"]
 description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
 homepage = "http://rapier.org"
 repository = "https://github.com/dimforge/rapier"
-categories = [ "science", "game-development", "mathematics", "simulation", "wasm"]
-keywords = [ "physics", "dynamics", "rigid", "real-time", "impulse_joints" ]
+categories = ["science", "game-development", "mathematics", "simulation", "wasm"]
+keywords = ["physics", "dynamics", "rigid", "real-time", "impulse_joints"]
 license = "Apache-2.0"
 edition = "2021"
 
@@ -16,48 +16,48 @@ maintenance = { status = "actively-developed" }
 [lib]
 name = "rapier_testbed2d"
 path = "../../src_testbed/lib.rs"
-required-features = [ "dim2" ]
+required-features = ["dim2"]
 
 [features]
-default = [ "dim2" ]
-dim2 = [ ]
-parallel = [ "rapier/parallel", "num_cpus" ]
-other-backends = [ "wrapped2d" ]
+default = ["dim2"]
+dim2 = []
+parallel = ["rapier/parallel", "num_cpus"]
+other-backends = ["wrapped2d"]
 
 [package.metadata.docs.rs]
 features = ["parallel", "other-backends"]
 
 [dependencies]
-nalgebra   = { version = "0.32", features = [ "rand" ] }
-rand       = "0.8"
-rand_pcg   = "0.3"
-instant    = { version = "0.1", features = [ "web-sys", "now" ]}
-bitflags   = "1"
-num_cpus   = { version = "1", optional = true }
-wrapped2d  = { version = "0.4", optional = true }
+nalgebra = { version = "0.32", features = ["rand", "glam025"] }
+rand = "0.8"
+rand_pcg = "0.3"
+instant = { version = "0.1", features = ["web-sys", "now"] }
+bitflags = "1"
+num_cpus = { version = "1", optional = true }
+wrapped2d = { version = "0.4", optional = true }
 crossbeam = "0.8"
 bincode = "1"
-Inflector  = "0.11"
+Inflector = "0.11"
 md5 = "0.7"
 
-bevy_egui = "0.23"
-bevy_ecs = "0.12"
-bevy_core_pipeline = "0.12"
-bevy_pbr = "0.12"
-bevy_sprite = "0.12"
+bevy_egui = "0.26"
+bevy_ecs = "0.13"
+bevy_core_pipeline = "0.13"
+bevy_pbr = "0.13"
+bevy_sprite = "0.13"
 #bevy_prototype_debug_lines = "0.7"
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
-bevy = {version = "0.12", default-features = false, features = ["bevy_sprite", "bevy_winit", "x11", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"]}
+bevy = { version = "0.13", default-features = false, features = ["bevy_sprite", "bevy_winit", "x11", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"] }
 
 # Dependencies for WASM only.
 [target.'cfg(target_arch = "wasm32")'.dependencies]
-bevy = {version = "0.12", default-features = false, features = ["bevy_sprite", "bevy_winit", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"]}
+bevy = { version = "0.13", default-features = false, features = ["bevy_sprite", "bevy_winit", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"] }
 #bevy_webgl2 = "0.5"
 
 [dependencies.rapier]
 package = "rapier2d"
 path = "../rapier2d"
-version = "0.18.0"
-features = [ "serde-serialize", "debug-render", "profiler" ]
+version = "0.19.0"
+features = ["serde-serialize", "debug-render", "profiler"]
diff --git a/crates/rapier_testbed3d-f64/Cargo.toml b/crates/rapier_testbed3d-f64/Cargo.toml
index ca3c95c..8fd5628 100644
--- a/crates/rapier_testbed3d-f64/Cargo.toml
+++ b/crates/rapier_testbed3d-f64/Cargo.toml
@@ -1,12 +1,12 @@
 [package]
-name    = "rapier_testbed3d-f64"
-version = "0.18.0"
-authors = [ "Sébastien Crozet <developer@crozet.re>" ]
+name = "rapier_testbed3d-f64"
+version = "0.19.0"
+authors = ["Sébastien Crozet <developer@crozet.re>"]
 description = "Testbed for the Rapier 3-dimensional physics engine in Rust."
 homepage = "http://rapier.org"
 repository = "https://github.com/dimforge/rapier"
-categories = [ "science", "game-development", "mathematics", "simulation", "wasm"]
-keywords = [ "physics", "dynamics", "rigid", "real-time", "impulse_joints" ]
+categories = ["science", "game-development", "mathematics", "simulation", "wasm"]
+keywords = ["physics", "dynamics", "rigid", "real-time", "impulse_joints"]
 license = "Apache-2.0"
 edition = "2021"
 
@@ -16,47 +16,47 @@ maintenance = { status = "actively-developed" }
 [lib]
 name = "rapier_testbed3d"
 path = "../../src_testbed/lib.rs"
-required-features = [ "dim3" ]
+required-features = ["dim3"]
 
 [features]
-default = [ "dim3" ]
-dim3 = [ ]
-parallel = [ "rapier/parallel", "num_cpus" ]
+default = ["dim3"]
+dim3 = []
+parallel = ["rapier/parallel", "num_cpus"]
 
 [package.metadata.docs.rs]
 features = ["parallel"]
 
 [dependencies]
-nalgebra   = { version = "0.32", features = [ "rand" ] }
-rand       = "0.8"
-rand_pcg   = "0.3"
-instant    = { version = "0.1", features = [ "web-sys", "now" ]}
-bitflags   = "1"
-num_cpus   = { version = "1", optional = true }
+nalgebra = { version = "0.32", features = ["rand", "glam025"] }
+rand = "0.8"
+rand_pcg = "0.3"
+instant = { version = "0.1", features = ["web-sys", "now"] }
+bitflags = "1"
+num_cpus = { version = "1", optional = true }
 crossbeam = "0.8"
 bincode = "1"
 md5 = "0.7"
-Inflector  = "0.11"
-serde = { version = "1", features = [ "derive" ] }
-
-bevy_egui = "0.23"
-bevy_ecs = "0.12"
-bevy_core_pipeline = "0.12"
-bevy_pbr = "0.12"
-bevy_sprite = "0.12"
+Inflector = "0.11"
+serde = { version = "1", features = ["derive"] }
+
+bevy_egui = "0.26"
+bevy_ecs = "0.13"
+bevy_core_pipeline = "0.13"
+bevy_pbr = "0.13"
+bevy_sprite = "0.13"
 #bevy_prototype_debug_lines = { version = "0.7", features = [ "3d" ] }
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
-bevy = {version = "0.12", default-features = false, features = ["bevy_winit", "x11", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"]}
+bevy = { version = "0.13", default-features = false, features = ["bevy_winit", "x11", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"] }
 
 # Dependencies for WASM only.
 [target.'cfg(target_arch = "wasm32")'.dependencies]
-bevy = {version = "0.12", default-features = false, features = ["bevy_winit", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"]}
+bevy = { version = "0.13", default-features = false, features = ["bevy_winit", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"] }
 #bevy_webgl2 = "0.5"
 
 [dependencies.rapier]
 package = "rapier3d-f64"
 path = "../rapier3d-f64"
-version = "0.18.0"
-features = [ "serde-serialize", "debug-render", "profiler" ]
+version = "0.19.0"
+features = ["serde-serialize", "debug-render", "profiler"]
diff --git a/crates/rapier_testbed3d/Cargo.toml b/crates/rapier_testbed3d/Cargo.toml
index 3b3bdeb..a3f3c5d 100644
--- a/crates/rapier_testbed3d/Cargo.toml
+++ b/crates/rapier_testbed3d/Cargo.toml
@@ -1,12 +1,12 @@
 [package]
-name    = "rapier_testbed3d"
-version = "0.18.0"
-authors = [ "Sébastien Crozet <developer@crozet.re>" ]
+name = "rapier_testbed3d"
+version = "0.19.0"
+authors = ["Sébastien Crozet <developer@crozet.re>"]
 description = "Testbed for the Rapier 3-dimensional physics engine in Rust."
 homepage = "http://rapier.org"
 repository = "https://github.com/dimforge/rapier"
-categories = [ "science", "game-development", "mathematics", "simulation", "wasm"]
-keywords = [ "physics", "dynamics", "rigid", "real-time", "impulse_joints" ]
+categories = ["science", "game-development", "mathematics", "simulation", "wasm"]
+keywords = ["physics", "dynamics", "rigid", "real-time", "impulse_joints"]
 license = "Apache-2.0"
 edition = "2021"
 
@@ -16,51 +16,51 @@ maintenance = { status = "actively-developed" }
 [lib]
 name = "rapier_testbed3d"
 path = "../../src_testbed/lib.rs"
-required-features = [ "dim3" ]
+required-features = ["dim3"]
 
 [features]
-default = [ "dim3" ]
-dim3 = [ ]
-parallel = [ "rapier/parallel", "num_cpus" ]
-other-backends = [ "physx", "physx-sys", "glam" ]
+default = ["dim3"]
+dim3 = []
+parallel = ["rapier/parallel", "num_cpus"]
+other-backends = ["physx", "physx-sys", "glam"]
 
 [package.metadata.docs.rs]
 features = ["parallel", "other-backends"]
 
 [dependencies]
-nalgebra   = { version = "0.32", features = [ "rand" ] }
-rand       = "0.8"
-rand_pcg   = "0.3"
-instant    = { version = "0.1", features = [ "web-sys", "now" ]}
-bitflags   = "1"
-glam       = { version = "0.24", optional = true } # For Physx
-num_cpus   = { version = "1", optional = true }
-physx      = { version = "0.19", features = [ "glam" ], optional = true }
+nalgebra = { version = "0.32", features = ["rand", "glam025"] }
+rand = "0.8"
+rand_pcg = "0.3"
+instant = { version = "0.1", features = ["web-sys", "now"] }
+bitflags = "1"
+glam = { version = "0.24", optional = true } # For Physx
+num_cpus = { version = "1", optional = true }
+physx = { version = "0.19", features = ["glam"], optional = true }
 physx-sys = { version = "0.11", optional = true }
 crossbeam = "0.8"
 bincode = "1"
 md5 = "0.7"
-Inflector  = "0.11"
-serde = { version = "1", features = [ "derive" ] }
+Inflector = "0.11"
+serde = { version = "1", features = ["derive"] }
 
-bevy_egui = "0.23"
-bevy_ecs = "0.12"
-bevy_core_pipeline = "0.12"
-bevy_pbr = "0.12"
-bevy_sprite = "0.12"
+bevy_egui = "0.26"
+bevy_ecs = "0.13"
+bevy_core_pipeline = "0.13"
+bevy_pbr = "0.13"
+bevy_sprite = "0.13"
 #bevy_prototype_debug_lines = { version = "0.7", features = [ "3d" ] }
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
-bevy = {version = "0.12", default-features = false, features = ["bevy_winit", "x11", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"]}
+bevy = { version = "0.13", default-features = false, features = ["bevy_winit", "x11", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"] }
 
 # Dependencies for WASM only.
 [target.'cfg(target_arch = "wasm32")'.dependencies]
-bevy = {version = "0.12", default-features = false, features = ["bevy_winit", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"]}
+bevy = { version = "0.13", default-features = false, features = ["bevy_winit", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"] }
 #bevy_webgl2 = "0.5"
 
 [dependencies.rapier]
 package = "rapier3d"
 path = "../rapier3d"
-version = "0.18.0"
-features = [ "serde-serialize", "debug-render", "profiler" ]
+version = "0.19.0"
+features = ["serde-serialize", "debug-render", "profiler"]