Fix minimal feature configurations (#811)

# Objective

Minimal feature configs are broken again...

## Solution

Fix 'em!

Author: Jondolf

.github/workflows/ci.yml

@@ -53,13 +53,10 @@ jobs:
             - uses: actions/checkout@v4
             - uses: dtolnay/rust-toolchain@nightly
               with:
-                toolchain: nightly-2025-08-07
                 components: llvm-tools-preview
-            - uses: cargo-bins/cargo-binstall@main
-            - name: Install nextest
-              run: cargo binstall cargo-nextest --force
-            - name: Install LLD
-              run: cargo binstall cargo-binutils --force
+            - uses: taiki-e/install-action@v2
+              with:
+                tool: cargo-nextest,cargo-binutils
             - name: Activate CI cargo config
               run: mv .cargo/config_ci.toml .cargo/config.toml
             - name: set LD_LIBRARY_PATH on unix

src/dynamics/joints/distance.rs

@@ -196,6 +196,7 @@ fn update_local_anchors(
     }
 }
 
+#[cfg(feature = "debug-plugin")]
 impl DebugRenderConstraint<2> for DistanceJoint {
     type Context = ();
 

src/dynamics/joints/fixed.rs

@@ -277,6 +277,7 @@ fn update_local_frames(
     }
 }
 
+#[cfg(feature = "debug-plugin")]
 impl DebugRenderConstraint<2> for FixedJoint {
     type Context = ();
 

src/dynamics/joints/prismatic.rs

@@ -347,6 +347,7 @@ fn update_local_frames(
     }
 }
 
+#[cfg(feature = "debug-plugin")]
 impl DebugRenderConstraint<2> for PrismaticJoint {
     type Context = ();
 

src/dynamics/joints/revolute.rs

@@ -378,6 +378,7 @@ fn update_local_frames(
     }
 }
 
+#[cfg(feature = "debug-plugin")]
 impl DebugRenderConstraint<2> for RevoluteJoint {
     type Context = ();
 

src/dynamics/joints/spherical.rs

@@ -358,6 +358,7 @@ fn update_local_frames(
     }
 }
 
+#[cfg(feature = "debug-plugin")]
 impl DebugRenderConstraint<2> for SphericalJoint {
     type Context = ();
 

src/math/mod.rs

@@ -82,7 +82,7 @@ pub(crate) type SymmetricTensor = SymmetricMatrix;
 
 /// The rotation type chosen based on the dimension.
 #[cfg(feature = "2d")]
-pub(crate) type Rot = Rotation;
+pub(crate) type Rot = crate::physics_transform::Rotation;
 
 /// The rotation type chosen based on the dimension.
 #[cfg(feature = "3d")]
@@ -660,7 +660,7 @@ pub fn orthonormal_basis(axes: [Vector; DIM]) -> Rot {
     #[cfg(feature = "2d")]
     {
         let mat = Matrix2::from_cols(axes[0], axes[1]);
-        Rotation::from(mat)
+        crate::physics_transform::Rotation::from(mat)
     }
     #[cfg(feature = "3d")]
     {