Release v0.22.0

[sebcrozet]

v0.22.0 (20 July 2024)

Fix

• Fix crash when removing a multibody joint, or a rigid-body with a multipody-joint attached to it.
• Fix crash when inserting multibody joints in an arbitrary order (instead of incrementally from root to leaf).
• Fix BroadphaseMultiSap not being able to serialize correctly with serde_json.

Added

• Implement rotation gizmo for Ball 2D shape (as radius line) in Debug renderer if DebugRenderMode::COLLIDER_SHAPES
  enabled
• Implement Debug for ColliderSet, InteractionGraph,
  MultibodyLink, MultibodyJointSet, Multibody, ImpulseJointSet

Modified

• Update parry to v0.17. Refer to its changelog for
  further details.
• Divided by two the value of each QueryFilterFlags variant so that
  the smallest one is 1 instead of 2 (fixes a bug in rapier.js).
• BroadphaseMultiSap now serializes its colliders_proxy_ids as Vec[(ColliderHandle, BroadPhaseProxyIndex)].