chore(deps): update rapier to 0.16.1 (minor)

[renovate]

This PR contains the following updates:

Package	Type	Update	Change
rapier2d (source)	dependencies	minor	0.13.0 -> 0.16.1
rapier3d (source)	dependencies	minor	0.13.0 -> 0.16.1

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Release Notes

dimforge/rapier

v0.16.1

Compare Source

Fix

• Fixed docs build on docs.rs.

v0.16.0

Compare Source

Added

• Implement Copy for CharacterCollision.
• Implement conversion (From trait) between Group and u32.
• Add ColliderBuilder::trimesh_with_flags to build a triangle mesh with specific flags controlling
  its initialization.

Modified

• Rename AABB to Aabb to comply with Rust’s style guide.
• Switch to parry 0.11.

Fix

• Fix internal edges of 3D triangle meshes or 3D heightfields generating invalid contacts preventing
  balls from moving straight.

v0.15.0

Added

• Add a kinematic character controller implementation. See the control module. The character controller currently
  supports the following features:
  • Slide on uneven terrains
  • Interaction with dynamic bodies.
  • Climb stairs automatically.
  • Automatically snap the body to the floor when going downstairs.
  • Prevent sliding up slopes that are too steep
  • Prevent sliding down slopes that are not steep enough
  • Interactions with moving platforms.
  • Report information on the obstacles it hit on its path.
• Implement serde serialization/deserialization for CollisionEvents when the serde-serialize feature is enabled

Modified

• The methods Collider::set_rotation, RigidBody::set_rotation, and RigidBody::set_next_kinematic_rotation now
  take a rotation (UnitQuaternion or UnitComplex) instead of a vector/angle.
• The method QueryFilter::exclude_dynamic is now a static method (the self argument was removed).
• The QueryPipeline::cast_shape method has a new argument stop_at_penertation. If set to false, the linear
  shape-cast won’t immediately stop if the shape is penetrating another shape at its starting point and its
  trajectory is such that it’s on a path to exist that penetration state.
• The InteractionGroups is now a set of explicit bit flags instead of a raw u32.
• The world-space mass properties of rigid-bodies are now updated automatically whenever the user changes their
  position.

v0.14.0

Fixed

• Fix unpredictable broad-phase panic when using small colliders in the simulation.
• Fix collision events being incorrectly generated for any shape that produces multiple
  contact manifolds (like triangle meshes).
• Fix panic in the CollisionPipeline if a collider is both added and removed before a call
  to CollisionPipeline::step.

Modified

• The RigidBodyBuilder::additional_mass method will now result in the additional angular inertia
  being automatically computed based on the shapes of the colliders attached to the rigid-body.
• Remove the deprecated methods RigidBodyBuilder::mass, ::principal_angular_inertia, ::principal_inertia.
• Remove the methods RigidBodyBuilder::additional_principal_angular_inertia. Use
  RigidBodyBuilder::additional_mass_properties instead.
• The Collider::density method now always returns a Real (instead of an Option<Real>).
• Rename RigidBody::restrict_rotations and RigidBody::restrict_translations to
  RigidBody::set_enabled_rotations and RigidBody::set_enabled_translations.
• Rename RigidBodyBuilder::restrict_rotations and RigidBodyBuilder::restrict_translations to
  RigidBodyBuilder::enabled_rotations and RigidBodyBuilder::enabled_translations.

Added

• Add RigidBody::recompute_mass_properties_from_colliders to force the immediate computation
  of a rigid-body’s mass properties (instead of waiting for them to be recomputed during the next
  timestep). This is useful to be able to read immediately the result of a change of a rigid-body
  additional mass-properties or a change of one of its collider’s mass-properties.
• Add RigidBody::set_additional_mass to set the additional mass for the collider. The additional
  angular inertia is automatically computed based on the attached colliders shapes.
• Add Collider::set_density, ::set_mass, set_mass_properties, to alter a collider’s mass
  properties. Note that ::set_mass will result in the collider’s angular inertia being automatically
  computed based on this mass and on its shape.
• Add ColliderBuilder::mass to set the mass of the collider instead of its density. Its angular
  inertia tensor will be automatically computed based on this mass and its shape.
• Add Collider::mass and Collider::volume to retrieve the mass or volume of a collider.
• Add the QueryFilter that is now used by all the scene queries instead of the CollisionGroups and Fn(ColliderHandle) -> bool
  closure. This QueryFilter provides easy access to most common filtering strategies (e.g. dynamic bodies only,
  excluding one particular collider, etc.) for scene queries.
• Add force reporting based on contact force events. The EventHandler trait has been modified to include
  the method EventHandler::handle_contact_force_event. Contact force events are generated whenever the sum of the
  magnitudes of all the forces between two colliders is greater than any of their
  Collider::contact_force_event_threshold values (only the colliders wit the ActiveEvents::CONTACT_FORCE_EVENT flag
  set are taken into account for this threshold).
• Add the ContactForceEvent struct that is generated by the ChannelEventCollector to report
  contact force events.

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