diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 68cedd9a..beada0ad 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -33,14 +33,14 @@ jobs:
         with:
           prefix-key: ${{ env.RUST_CACHE_KEY }}
       - run: sudo apt update && sudo apt-get install pkg-config libx11-dev libasound2-dev libudev-dev
-      - name: Clippy for bevy_rapier2d
-        run: cargo clippy --verbose -p bevy_rapier2d
-      - name: Clippy for bevy_rapier3d
-        run: cargo clippy --verbose -p bevy_rapier3d
       - name: Clippy for bevy_rapier2d (debug-render, simd, serde)
         run: cargo clippy --verbose -p bevy_rapier2d --features debug-render-2d,simd-stable,serde-serialize
       - name: Clippy for bevy_rapier3d (debug-render, simd, serde)
         run: cargo clippy --verbose -p bevy_rapier3d --features debug-render-3d,simd-stable,serde-serialize
+      - name: Clippy for bevy_rapier2d
+        run: cargo clippy --verbose -p bevy_rapier2d
+      - name: Clippy for bevy_rapier3d
+        run: cargo clippy --verbose -p bevy_rapier3d
       - name: Test for bevy_rapier2d
         run: cargo test --verbose -p bevy_rapier2d
       - name: Test for bevy_rapier3d
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 0e18bd28..1721d743 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,14 @@
 # Changelog
 
+## 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)
 
 **This is an update to Rapier 0.20 which includes several stability improvements
diff --git a/bevy_rapier2d/Cargo.toml b/bevy_rapier2d/Cargo.toml
index 88fdc92b..374b4925 100644
--- a/bevy_rapier2d/Cargo.toml
+++ b/bevy_rapier2d/Cargo.toml
@@ -45,8 +45,8 @@ async-collider = ["bevy/bevy_asset", "bevy/bevy_scene"]
 
 [dependencies]
 bevy = { version = "0.14.0-rc.3", default-features = false }
-nalgebra = { version = "0.32.6", features = ["convert-glam027"] }
-rapier2d = "0.20"
+nalgebra = { version = "0.33", features = ["convert-glam027"] }
+rapier2d = "0.21"
 bitflags = "2.4"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
diff --git a/bevy_rapier3d/Cargo.toml b/bevy_rapier3d/Cargo.toml
index 000b6c03..004d4a8d 100644
--- a/bevy_rapier3d/Cargo.toml
+++ b/bevy_rapier3d/Cargo.toml
@@ -46,8 +46,8 @@ async-collider = ["bevy/bevy_asset", "bevy/bevy_scene"]
 
 [dependencies]
 bevy = { version = "0.14.0-rc.3", default-features = false }
-nalgebra = { version = "0.32.6", features = ["convert-glam027"] }
-rapier3d = "0.20"
+nalgebra = { version = "0.33", features = ["convert-glam027"] }
+rapier3d = "0.21"
 bitflags = "2.4"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
diff --git a/src/plugin/context.rs b/src/plugin/context.rs
index 4d39149b..2032c8f8 100644
--- a/src/plugin/context.rs
+++ b/src/plugin/context.rs
@@ -454,7 +454,7 @@ impl RapierContext {
                         query_pipeline,
                         (&scaled_shape).into(),
                         shape_mass,
-                        collisions.iter().copied(),
+                        collisions.iter(),
                         filter,
                     )
                 }
diff --git a/src/plugin/systems/character_controller.rs b/src/plugin/systems/character_controller.rs
index 57e05da0..c9e2cb58 100644
--- a/src/plugin/systems/character_controller.rs
+++ b/src/plugin/systems/character_controller.rs
@@ -122,7 +122,7 @@ pub fn update_character_controls(
                     &context.query_pipeline,
                     character_shape,
                     character_mass,
-                    collisions.iter().copied(),
+                    collisions.iter(),
                     filter,
                 )
             }