Directly driving 5V source MOSFET H-Bridge with 3.3V logic
You must drive this kind of bridge with at least 5V (or close to- 4.7V will guarantee less than 1mA of conduction according to the datasheet).



As you have it, when an input to the bridge is at 3.3V, the N-channel MOSFET is 'on', but the P-channel is also pretty much on with 1.7V nominal drive, and it will typically conduct several amperes of current, which will fry it or the N-channel or both, depending. 

You can use a voltage translator or a MOSFET driver. The latter will be capable of much more drive current and will result in less heating, but will cost more.