diff --git a/CHANGELOG.md b/CHANGELOG.md
index 7120c013..036892ce 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,6 +1,6 @@
 ### Unreleased
 
--   Update to rapier 0.20 ([#281](https://github.com/dimforge/rapier.js/pull/281)), see [rapier's changelog](https://github.com/dimforge/rapier/blob/master/CHANGELOG.md#v0200-9-june-2024) for more context.
+-   Update from rapier 0.19 to 0.21 ([#281](https://github.com/dimforge/rapier.js/pull/281)), see [rapier's changelog](https://github.com/dimforge/rapier/blob/master/CHANGELOG.md#v0210-23-june-2024) for more context.
 
 ### 0.13.1 (2024-05-08)
 
diff --git a/Cargo.lock b/Cargo.lock
index 7264a90d..31e62ccb 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -50,12 +50,27 @@ version = "1.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
 
+[[package]]
+name = "bitflags"
+version = "2.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b048fb63fd8b5923fc5aa7b340d8e156aec7ec02f0c78fa8a6ddc2613f6f71de"
+dependencies = [
+ "serde",
+]
+
 [[package]]
 name = "bumpalo"
 version = "3.14.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7f30e7476521f6f8af1a1c4c0b8cc94f0bee37d91763d0ca2665f299b6cd8aec"
 
+[[package]]
+name = "by_address"
+version = "1.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "64fa3c856b712db6612c019f14756e64e4bcea13337a6b33b696333a9eaa2d06"
+
 [[package]]
 name = "bytemuck"
 version = "1.14.0"
@@ -143,9 +158,9 @@ dependencies = [
  "crossbeam-channel",
  "js-sys",
  "libm",
- "nalgebra",
+ "nalgebra 0.33.0",
  "palette",
- "parry2d",
+ "parry2d 0.16.1",
  "rapier2d",
  "ref-cast",
  "serde",
@@ -159,9 +174,9 @@ dependencies = [
  "bincode",
  "crossbeam-channel",
  "js-sys",
- "nalgebra",
+ "nalgebra 0.33.0",
  "palette",
- "parry2d",
+ "parry2d 0.15.1",
  "rapier3d",
  "ref-cast",
  "serde",
@@ -181,27 +196,30 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a26ae43d7bcc3b814de94796a5e736d4029efb0ee900c12e2d54c993ad1a1e07"
 
 [[package]]
-name = "find-crate"
-version = "0.6.3"
+name = "equivalent"
+version = "1.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "59a98bbaacea1c0eb6a0876280051b892eb73594fd90cf3b20e9c817029c57d2"
-dependencies = [
- "toml",
-]
+checksum = "5443807d6dff69373d433ab9ef5378ad8df50ca6298caf15de6e52e24aaf54d5"
+
+[[package]]
+name = "fast-srgb8"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dd2e7510819d6fbf51a5545c8f922716ecfb14df168a3242f7d33e0239efe6a1"
 
 [[package]]
 name = "hashbrown"
-version = "0.12.3"
+version = "0.14.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8a9ee70c43aaf417c914396645a0fa852624801b24ebb7ae78fe8272889ac888"
+checksum = "e5274423e17b7c9fc20b6e7e208532f9b19825d82dfd615708b70edd83df41f1"
 
 [[package]]
 name = "indexmap"
-version = "1.9.3"
+version = "2.2.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bd070e393353796e801d209ad339e89596eb4c8d430d18ede6a1cced8fafbd99"
+checksum = "168fb715dda47215e360912c096649d23d58bf392ac62f73919e831745e40f26"
 dependencies = [
- "autocfg",
+ "equivalent",
  "hashbrown",
  "serde",
 ]
@@ -263,6 +281,21 @@ name = "nalgebra"
 version = "0.32.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "307ed9b18cc2423f29e83f84fd23a8e73628727990181f18641a8b5dc2ab1caa"
+dependencies = [
+ "approx",
+ "matrixmultiply",
+ "num-complex",
+ "num-rational",
+ "num-traits",
+ "simba 0.8.1",
+ "typenum",
+]
+
+[[package]]
+name = "nalgebra"
+version = "0.33.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3c4b5f057b303842cf3262c27e465f4c303572e7f6b0648f60e16248ac3397f4"
 dependencies = [
  "approx",
  "matrixmultiply",
@@ -271,19 +304,19 @@ dependencies = [
  "num-rational",
  "num-traits",
  "serde",
- "simba",
+ "simba 0.9.0",
  "typenum",
 ]
 
 [[package]]
 name = "nalgebra-macros"
-version = "0.2.1"
+version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "91761aed67d03ad966ef783ae962ef9bbaca728d2dd7ceb7939ec110fffad998"
+checksum = "254a5372af8fc138e36684761d3c0cdb758a4410e938babcff1c860ce14ddbfc"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 1.0.109",
+ "syn",
 ]
 
 [[package]]
@@ -304,7 +337,7 @@ checksum = "cfb77679af88f8b125209d354a202862602672222e7f2313fdd6dc349bad4712"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn",
 ]
 
 [[package]]
@@ -361,26 +394,26 @@ dependencies = [
 
 [[package]]
 name = "palette"
-version = "0.6.1"
+version = "0.7.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8f9cd68f7112581033f157e56c77ac4a5538ec5836a2e39284e65bd7d7275e49"
+checksum = "4cbf71184cc5ecc2e4e1baccdb21026c20e5fc3dcf63028a086131b3ab00b6e6"
 dependencies = [
  "approx",
- "num-traits",
+ "fast-srgb8",
  "palette_derive",
  "phf",
 ]
 
 [[package]]
 name = "palette_derive"
-version = "0.6.1"
+version = "0.7.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "05eedf46a8e7c27f74af0c9cfcdb004ceca158cb1b918c6f68f8d7a549b3e427"
+checksum = "f5030daf005bface118c096f510ffb781fc28f9ab6a32ab224d8631be6851d30"
 dependencies = [
- "find-crate",
+ "by_address",
  "proc-macro2",
  "quote",
- "syn 1.0.109",
+ "syn",
 ]
 
 [[package]]
@@ -391,44 +424,70 @@ checksum = "41c56bf3b44b08f18a6ed01e5c6bf1a41a12efc7e8b806ce0cf50831c88f9fc8"
 dependencies = [
  "approx",
  "arrayvec",
- "bitflags",
+ "bitflags 1.3.2",
+ "downcast-rs",
+ "either",
+ "log",
+ "nalgebra 0.32.3",
+ "num-derive",
+ "num-traits",
+ "rustc-hash 1.1.0",
+ "simba 0.8.1",
+ "slab",
+ "smallvec",
+ "spade",
+]
+
+[[package]]
+name = "parry2d"
+version = "0.16.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9c8aa1c304489b71ab35ad4080c5a333a5fc24b2a5f244f197dedb93276c9a05"
+dependencies = [
+ "approx",
+ "arrayvec",
+ "bitflags 2.6.0",
  "downcast-rs",
  "either",
  "indexmap",
  "log",
- "nalgebra",
+ "nalgebra 0.33.0",
  "num-derive",
  "num-traits",
- "rustc-hash",
+ "ordered-float",
+ "rustc-hash 2.0.0",
  "serde",
- "simba",
+ "simba 0.9.0",
  "slab",
  "smallvec",
  "spade",
+ "thiserror",
 ]
 
 [[package]]
 name = "parry3d"
-version = "0.15.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a6d517731f25a94ef70aa067b9f063d41e2b1c9277d49d33d92f40fab7b6c09a"
+checksum = "ec1d9cc5a359352e2be7e47270cef9f9e175794c03302553353804a436228e7f"
 dependencies = [
  "approx",
  "arrayvec",
- "bitflags",
+ "bitflags 2.6.0",
  "downcast-rs",
  "either",
  "indexmap",
  "log",
- "nalgebra",
+ "nalgebra 0.33.0",
  "num-derive",
  "num-traits",
- "rustc-hash",
+ "ordered-float",
+ "rustc-hash 2.0.0",
  "serde",
- "simba",
+ "simba 0.9.0",
  "slab",
  "smallvec",
  "spade",
+ "thiserror",
 ]
 
 [[package]]
@@ -467,7 +526,7 @@ dependencies = [
  "phf_shared",
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn",
 ]
 
 [[package]]
@@ -514,51 +573,51 @@ checksum = "ec0be4795e2f6a28069bec0b5ff3e2ac9bafc99e6a9a7dc3547996c5c816922c"
 
 [[package]]
 name = "rapier2d"
-version = "0.20.0"
+version = "0.21.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b406e79fca8206343d4e362d5bd6b7eb4c366e34c0ffcc3eb6469aabc3705503"
+checksum = "7a9a115cec2cd9533e376e23c87a7869508691a7b38ab078cc8a8e1cd24d9d1b"
 dependencies = [
  "approx",
  "arrayvec",
  "bit-vec",
- "bitflags",
+ "bitflags 2.6.0",
  "crossbeam",
  "downcast-rs",
  "instant",
  "log",
- "nalgebra",
+ "nalgebra 0.33.0",
  "num-derive",
  "num-traits",
  "ordered-float",
- "parry2d",
- "rustc-hash",
+ "parry2d 0.16.1",
+ "rustc-hash 2.0.0",
  "serde",
- "simba",
+ "simba 0.9.0",
  "thiserror",
 ]
 
 [[package]]
 name = "rapier3d"
-version = "0.20.0"
+version = "0.21.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b05f54a624b439d53ef9126cc4b6832cc5a5e33c137a493e15c197885c00d741"
+checksum = "bdfa17fa28a7a4cfaebf669f57ca34dce0e758b295bd8a2aa1fbac4e054fb836"
 dependencies = [
  "approx",
  "arrayvec",
  "bit-vec",
- "bitflags",
+ "bitflags 2.6.0",
  "crossbeam",
  "downcast-rs",
  "instant",
  "log",
- "nalgebra",
+ "nalgebra 0.33.0",
  "num-derive",
  "num-traits",
  "ordered-float",
  "parry3d",
- "rustc-hash",
+ "rustc-hash 2.0.0",
  "serde",
- "simba",
+ "simba 0.9.0",
  "thiserror",
 ]
 
@@ -585,7 +644,7 @@ checksum = "7f7473c2cfcf90008193dd0e3e16599455cb601a9fce322b5bb55de799664925"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn",
 ]
 
 [[package]]
@@ -600,6 +659,12 @@ version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "08d43f7aa6b08d49f382cde6a7982047c3426db949b1424bc4b7ec9ae12c6ce2"
 
+[[package]]
+name = "rustc-hash"
+version = "2.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "583034fd73374156e66797ed8e5b0d5690409c9226b22d87cb7f19821c05d152"
+
 [[package]]
 name = "safe_arch"
 version = "0.7.1"
@@ -632,7 +697,7 @@ checksum = "4eca7ac642d82aa35b60049a6eccb4be6be75e599bd2e9adb5f875a737654af2"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn",
 ]
 
 [[package]]
@@ -640,6 +705,19 @@ name = "simba"
 version = "0.8.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "061507c94fc6ab4ba1c9a0305018408e312e17c041eb63bef8aa726fa33aceae"
+dependencies = [
+ "approx",
+ "num-complex",
+ "num-traits",
+ "paste",
+ "wide",
+]
+
+[[package]]
+name = "simba"
+version = "0.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b3a386a501cd104797982c15ae17aafe8b9261315b5d07e3ec803f2ea26be0fa"
 dependencies = [
  "approx",
  "libm",
@@ -682,17 +760,6 @@ dependencies = [
  "smallvec",
 ]
 
-[[package]]
-name = "syn"
-version = "1.0.109"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "72b64191b275b66ffe2469e8af2c1cfe3bafa67b529ead792a6d0160888b4237"
-dependencies = [
- "proc-macro2",
- "quote",
- "unicode-ident",
-]
-
 [[package]]
 name = "syn"
 version = "2.0.37"
@@ -721,16 +788,7 @@ checksum = "268026685b2be38d7103e9e507c938a1fcb3d7e6eb15e87870b617bf37b6d581"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.37",
-]
-
-[[package]]
-name = "toml"
-version = "0.5.11"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f4f7f0dd8d50a853a531c426359045b1998f04219d88799810762cd4ad314234"
-dependencies = [
- "serde",
+ "syn",
 ]
 
 [[package]]
@@ -766,7 +824,7 @@ dependencies = [
  "once_cell",
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn",
  "wasm-bindgen-shared",
 ]
 
@@ -788,7 +846,7 @@ checksum = "bae1abb6806dc1ad9e560ed242107c0f6c84335f1749dd4e8ddb012ebd5e25a7"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn",
  "wasm-bindgen-backend",
  "wasm-bindgen-shared",
 ]
diff --git a/rapier2d/Cargo.toml b/rapier2d/Cargo.toml
index 7678346b..f7c3d0d8 100644
--- a/rapier2d/Cargo.toml
+++ b/rapier2d/Cargo.toml
@@ -23,7 +23,7 @@ required-features = ["dim2"]
 
 
 [dependencies]
-rapier2d = { version = "0.20.0", features = [
+rapier2d = { version = "0.21.0", features = [
     "wasm-bindgen",
     "serde-serialize",
     "enhanced-determinism",
@@ -32,13 +32,13 @@ rapier2d = { version = "0.20.0", features = [
 ref-cast = "1"
 wasm-bindgen = "0.2.90"
 js-sys = "0.3"
-nalgebra = "0.32"
+nalgebra = "0.33"
 serde = { version = "1", features = ["derive", "rc"] }
 bincode = "1"
 crossbeam-channel = "0.5"
-palette = "0.6"
+palette = "0.7"
 libm = "0.2"
-parry2d = "^0.15.1" # Use at least this version to fix a regression in 0.15.0
+parry2d = "^0.16.1" # Use at least this version to fix a regression in 0.15.0
 
 [package.metadata.wasm-pack.profile.release]
 # add -g to keep debug symbols
diff --git a/rapier3d/Cargo.toml b/rapier3d/Cargo.toml
index 056f1d94..69badcf7 100644
--- a/rapier3d/Cargo.toml
+++ b/rapier3d/Cargo.toml
@@ -23,7 +23,7 @@ required-features = ["dim3"]
 
 
 [dependencies]
-rapier3d = { version = "0.20.0", features = [
+rapier3d = { version = "0.21.0", features = [
     "wasm-bindgen",
     "serde-serialize",
     "enhanced-determinism",
@@ -32,11 +32,11 @@ rapier3d = { version = "0.20.0", features = [
 ref-cast = "1"
 wasm-bindgen = "^0.2.90"
 js-sys = "0.3"
-nalgebra = "0.32"
+nalgebra = "0.33"
 serde = { version = "1", features = ["derive", "rc"] }
 bincode = "1"
 crossbeam-channel = "0.5"
-palette = "0.6"
+palette = "0.7"
 parry2d = "^0.15.1" # Use at least this version to fix a regression in 0.15.0
 
 [package.metadata.wasm-pack.profile.release]
diff --git a/src/control/character_controller.rs b/src/control/character_controller.rs
index ebf4b8f5..bf0ee943 100644
--- a/src/control/character_controller.rs
+++ b/src/control/character_controller.rs
@@ -197,7 +197,7 @@ impl RawKinematicCharacterController {
                         &queries.0,
                         collider.shape(),
                         character_mass,
-                        self.events.iter().copied(),
+                        self.events.iter(),
                         query_filter,
                     );
                 }
diff --git a/src/geometry/mod.rs b/src/geometry/mod.rs
index f9fe78f6..08918b88 100644
--- a/src/geometry/mod.rs
+++ b/src/geometry/mod.rs
@@ -27,8 +27,8 @@ use rapier::prelude::Group;
 
 pub const fn unpack_interaction_groups(memberships_filter: u32) -> InteractionGroups {
     InteractionGroups::new(
-        unsafe { Group::from_bits_unchecked((memberships_filter >> 16) as u32) },
-        unsafe { Group::from_bits_unchecked((memberships_filter & 0x0000_ffff) as u32) },
+        Group::from_bits_retain((memberships_filter >> 16) as u32),
+        Group::from_bits_retain((memberships_filter & 0x0000_ffff) as u32),
     )
 }