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Fix #535, #542, #541, #540

Comment on lines +3 to 13
## Unreleased

**This is an update from rapier 0.19 to Rapier 0.21 which includes several stability improvements
and new features. Please have a look at the
[0.20 and 0.21 changelogs](https://github.com/dimforge/rapier/blob/master/CHANGELOG.md) of Rapier.**

- Update to rapier `0.21`.
- Update to nalgebra `0.33`.

## v0.27.0-rc.1 (18 June 2024)

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I think this should be merged into 1 as we havn't made a final release.

Mentionning both release candidates and final releases in changelog will only lead to misunderstandings

(&scaled_shape).into(),
shape_mass,
collisions.iter().copied(),
collisions.iter(),
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@ThierryBerger ThierryBerger Jun 28, 2024

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an alternative is to pass &*collisions, to "reborrow" it immutably. I'm not sure if that needs a migration guide (it has to be compared with bevy_rapier 0.26, not master)

@ThierryBerger ThierryBerger requested a review from sebcrozet July 1, 2024 15:17
@ThierryBerger ThierryBerger merged commit 09d6f9d into dimforge:master Jul 3, 2024
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joints example not properly working

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