diff --git a/Cargo.lock b/Cargo.lock
index 956fbb1..39995e7 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -351,9 +351,9 @@ dependencies = [
 
 [[package]]
 name = "hashbrown"
-version = "0.9.1"
+version = "0.11.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d7afe4a420e3fe79967a00898cc1f4db7c8a49a9333a29f8a4bd76a253d5cd04"
+checksum = "ab5ef0d4909ef3724cc8cce6ccc8572c5c817592e9285f5464f8e86f8bd3726e"
 
 [[package]]
 name = "heck"
@@ -366,9 +366,9 @@ dependencies = [
 
 [[package]]
 name = "indexmap"
-version = "1.6.2"
+version = "1.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "824845a0bf897a9042383849b02c1bc219c2383772efcd5c6f9766fa4b81aef3"
+checksum = "bc633605454125dec4b66843673f01c7df2b89479b32e0ed634e43a91cff62a5"
 dependencies = [
  "autocfg",
  "hashbrown",
@@ -376,9 +376,9 @@ dependencies = [
 
 [[package]]
 name = "instant"
-version = "0.1.9"
+version = "0.1.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "61124eeebbd69b8190558df225adf7e4caafce0d743919e5d6b19652314ec5ec"
+checksum = "bee0328b1209d157ef001c94dd85b4f8f64139adb0eac2659f4b08382b2f474d"
 dependencies = [
  "cfg-if 1.0.0",
  "time",
@@ -410,9 +410,9 @@ checksum = "830d08ce1d1d941e6b30645f1a0eb5643013d835ce3779a5fc208261dbe10f55"
 
 [[package]]
 name = "libc"
-version = "0.2.97"
+version = "0.2.98"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "12b8adadd720df158f4d70dfe7ccc6adb0472d7c55ca83445f6a5ab3e36f8fb6"
+checksum = "320cfe77175da3a483efed4bc0adc1968ca050b098ce4f2f1c13a56626128790"
 
 [[package]]
 name = "libloading"
@@ -496,9 +496,9 @@ dependencies = [
 
 [[package]]
 name = "nalgebra"
-version = "0.27.1"
+version = "0.28.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "462fffe4002f4f2e1f6a9dcf12cc1a6fc0e15989014efc02a941d3e0f5dc2120"
+checksum = "39fe9195887b501f296ac918ecbff4650b6935da164d4902ef73e140c46a0dce"
 dependencies = [
  "approx 0.5.0",
  "matrixmultiply",
@@ -624,9 +624,9 @@ dependencies = [
 
 [[package]]
 name = "parry3d"
-version = "0.5.1"
+version = "0.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "70409213da33840548c12f25c6eb31e2d5af8156eae94472c105b5c4d09bd1e1"
+checksum = "7a7e0712f29e99bcce34c63d0e5548967dcebc7ea5f7c184a57233213f2e219b"
 dependencies = [
  "approx 0.5.0",
  "bitflags",
@@ -679,8 +679,8 @@ dependencies = [
 
 [[package]]
 name = "rapier3d"
-version = "0.9.2"
-source = "git+https://github.com/Demindiro/rapier?branch=godot-0.9#a9485e13346620d73511f84deae8a5a65624c055"
+version = "0.10.1"
+source = "git+https://github.com/Demindiro/rapier?branch=godot-0.10#c615750814feb239fab035acd8e905a8dd537b05"
 dependencies = [
  "approx 0.5.0",
  "arrayvec",
@@ -959,9 +959,9 @@ checksum = "879f6906492a7cd215bfa4cf595b600146ccfac0c79bcbd1f3000162af5e8b06"
 
 [[package]]
 name = "unicode-segmentation"
-version = "1.7.1"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bb0d2e7be6ae3a5fa87eed5fb451aff96f2573d2694942e40543ae0bbe19c796"
+checksum = "8895849a949e7845e06bd6dc1aa51731a103c42707010a5b591c0038fb73385b"
 
 [[package]]
 name = "unicode-xid"
diff --git a/rapier3d/Cargo.toml b/rapier3d/Cargo.toml
index 35d8242..51441d5 100644
--- a/rapier3d/Cargo.toml
+++ b/rapier3d/Cargo.toml
@@ -8,7 +8,7 @@ edition = "2018"
 name = "godot_rapier3d"
 
 [dependencies]
-rapier3d = { git = "https://github.com/Demindiro/rapier", branch = "godot-0.9", version = "*", features = ["simd-nightly"] }
+rapier3d = { git = "https://github.com/Demindiro/rapier", branch = "godot-0.10", version = "*", features = ["simd-nightly"] }
 gdnative = "*"
 lazy_static = "*"
 wchar = "*"
diff --git a/rapier3d/src/space.rs b/rapier3d/src/space.rs
index 9ffc038..ffc1280 100644
--- a/rapier3d/src/space.rs
+++ b/rapier3d/src/space.rs
@@ -361,7 +361,7 @@ impl Space {
 		body_a: RigidBodyHandle,
 		body_b: RigidBodyHandle,
 	) -> JointHandle {
-		self.joints.insert(&mut self.bodies, body_a, body_b, joint)
+		self.joints.insert(body_a, body_b, joint)
 	}
 
 	/// Removes the joint with the given handle. Returns the joint if it existed