diff --git a/CHANGELOG.md b/CHANGELOG.md
index 028c3a0c..3147d7bd 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,6 +1,6 @@
 # Changelog
 
-## Unreleased
+## v0.27.0 (07 July 2024)
 
 **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
@@ -8,35 +8,22 @@ and new features. Please have a look at the
 
 ### Modified
 
-- Update to rapier `0.21`.
+- Update from rapier `0.19` to rapier `0.21`.
 - Update to nalgebra `0.33`.
-- `ImpulseJoint::data` and `MultibodyJoint::data` are now a more detailed enum `TypedJoint` instead of a `GenericJoint`.
-You can still access its inner `GenericJoint` with `.as_ref()` or `as_mut()`.
-- `data` fields from all joints (`FixedJoint`, …) are now public, and their getters removed.
-
-### Added
-
-- Added `RapierContext::context.impulse_revolute_joint_angle` to compute the angle along a revolute joint’s principal axis.
-
-## v0.27.0-rc.1 (18 June 2024)
-
-**This is an update to Rapier 0.20 which includes several stability improvements
-and new features. Please have a look at the
-[0.20 changelog](https://github.com/dimforge/rapier/blob/master/CHANGELOG.md) of Rapier.**
-
-### Modified
-
-- Update to rapier `0.20`.
 - Update to bevy `0.14`.
 - Renamed `has_any_active_contacts` to `has_any_active_contact` for better consistency with rapier.
 - `ColliderDebugColor`'s property is now a `bevy::color::Hsla`.
-- Added serialization support for `CollisionGroups`, `SolverGroups`, `ContactForceEventThreshold`, `ContactSkin`.
+- `ImpulseJoint::data` and `MultibodyJoint::data` are now a more detailed enum `TypedJoint` instead of a `GenericJoint`.
+You can still access its inner `GenericJoint` with `.as_ref()` or `as_mut()`.
+- `data` fields from all joints (`FixedJoint`, …) are now public, and their getters removed.
 
 ### Added
 
 - Derive `Debug` for `LockedAxes`.
 - Expose `is_sliding_down_slope` to both `MoveShapeOutput` and `KinematicCharacterControllerOutput`.
 - Added a First Person Shooter `character_controller` example for `bevy_rapier3d`.
+- Added serialization support for `CollisionGroups`, `SolverGroups`, `ContactForceEventThreshold`, `ContactSkin`.
+- Added `RapierContext::context.impulse_revolute_joint_angle` to compute the angle along a revolute joint’s principal axis.
 
 ### Fix
 
diff --git a/bevy_rapier2d/Cargo.toml b/bevy_rapier2d/Cargo.toml
index da07ded3..ddce9481 100644
--- a/bevy_rapier2d/Cargo.toml
+++ b/bevy_rapier2d/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "bevy_rapier2d"
-version = "0.27.0-rc.1"
+version = "0.27.0"
 authors = ["Sébastien Crozet <developer@crozet.re>"]
 description = "2-dimensional physics engine in Rust, official Bevy plugin."
 documentation = "http://docs.rs/bevy_rapier2d"
diff --git a/bevy_rapier3d/Cargo.toml b/bevy_rapier3d/Cargo.toml
index a45d5cd8..b0b5a495 100644
--- a/bevy_rapier3d/Cargo.toml
+++ b/bevy_rapier3d/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "bevy_rapier3d"
-version = "0.27.0-rc.1"
+version = "0.27.0"
 authors = ["Sébastien Crozet <developer@crozet.re>"]
 description = "3-dimensional physics engine in Rust, official Bevy plugin."
 documentation = "http://docs.rs/bevy_rapier3d"
diff --git a/src/dynamics/revolute_joint.rs b/src/dynamics/revolute_joint.rs
index 0481d145..8d2bb33d 100644
--- a/src/dynamics/revolute_joint.rs
+++ b/src/dynamics/revolute_joint.rs
@@ -167,7 +167,7 @@ impl RevoluteJoint {
     /// The angle along the free degree of freedom of this revolute joint in `[-π, π]`.
     ///
     /// # Parameters
-    /// - `bodies` : the rigid body set from [`super::super::RapierContext`]
+    /// - `bodies` : the rigid body set from [`RapierContext`]
     /// - `body1`: the first rigid-body attached to this revolute joint.
     /// - `body2`: the second rigid-body attached to this revolute joint.
     pub fn angle(&self, context: &RapierContext, body1: Entity, body2: Entity) -> f32 {