From 9cae03e3ac29be333609d80abee6fd8e54f413af Mon Sep 17 00:00:00 2001
From: Denis Avvakumov <denisavvakumov@gmail.com>
Date: Sun, 2 Nov 2025 14:59:16 +0200
Subject: [PATCH 1/2] Update to Bevy 0.17

---
 .github/workflows/main.yml                    |   4 +-
 .vscode/tasks.json                            |   2 +-
 bevy_rapier2d/Cargo.toml                      |  28 ++--
 .../examples/custom_system_setup2.rs          |   4 +-
 bevy_rapier2d/examples/events2.rs             |   4 +-
 bevy_rapier2d/examples/player_movement2.rs    |   2 +-
 bevy_rapier2d/examples/serialization2.rs      |   2 +-
 bevy_rapier2d/examples/testbed2.rs            |  30 ++--
 bevy_rapier2d/examples/voxels2_no_collider.rs | 119 ++++++++++++++++
 bevy_rapier3d/Cargo.toml                      |  18 +--
 .../examples/character_controller3.rs         |   6 +-
 .../examples/custom_system_setup3.rs          |   4 +-
 bevy_rapier3d/examples/despawn3.rs            |   2 +-
 bevy_rapier3d/examples/events3.rs             |   4 +-
 bevy_rapier3d/examples/joints_despawn3.rs     |   2 +-
 bevy_rapier3d/examples/picking3.rs            |  24 ++--
 .../examples/rapier_context_component.rs      |   2 +-
 bevy_rapier3d/examples/static_trimesh3.rs     |   2 +-
 bevy_rapier3d/examples/testbed3.rs            |  30 ++--
 bevy_rapier_benches3d/Cargo.toml              |   4 +-
 ci/Cargo.toml                                 |   2 +-
 src/dynamics/rigid_body.rs                    |  12 +-
 src/geometry/collider_impl.rs                 |   2 +-
 src/geometry/shape_views/voxels.rs            |  87 +++++++++---
 src/geometry/to_bevy_mesh.rs                  |  33 ++---
 src/picking_backend/mod.rs                    |  19 ++-
 src/pipeline/events.rs                        |  15 +-
 src/plugin/context/mod.rs                     |  12 +-
 .../rapier_context_systemparam.rs             |   4 +-
 src/plugin/narrow_phase.rs                    |   4 +-
 src/plugin/plugin.rs                          |  52 +++----
 src/plugin/systems/collider.rs                |   8 +-
 src/plugin/systems/mod.rs                     |  16 +--
 src/plugin/systems/remove.rs                  |   8 +-
 src/plugin/systems/rigid_body.rs              |   4 +-
 src/plugin/systems/writeback.rs               |   2 +-
 src/reflect/mod.rs                            | 130 +++++++++++++++++-
 src/render/mod.rs                             |   4 +-
 38 files changed, 508 insertions(+), 199 deletions(-)
 create mode 100644 bevy_rapier2d/examples/voxels2_no_collider.rs

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index ec064eb4..a0b69042 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -31,7 +31,7 @@ jobs:
       - uses: Swatinem/rust-cache@v2
         with:
           prefix-key: ${{ env.RUST_CACHE_KEY }}
-      - run: sudo apt update && sudo apt-get install pkg-config libx11-dev libasound2-dev libudev-dev
+      - run: sudo apt update && sudo apt-get install pkg-config libx11-dev libasound2-dev libudev-dev libwayland-dev libxkbcommon-dev
       - name: Cargo doc
         run: cargo doc --no-deps
   test:
@@ -46,7 +46,7 @@ jobs:
       - uses: Swatinem/rust-cache@v2
         with:
           prefix-key: ${{ env.RUST_CACHE_KEY }}
-      - run: sudo apt update && sudo apt-get install pkg-config libx11-dev libasound2-dev libudev-dev
+      - run: sudo apt update && sudo apt-get install pkg-config libx11-dev libasound2-dev libudev-dev libwayland-dev libxkbcommon-dev
       - run: cargo install cargo-all-features
       - name: Clippy for bevy_rapier2d
         run: cargo clippy --verbose -p bevy_rapier2d --examples
diff --git a/.vscode/tasks.json b/.vscode/tasks.json
index 353fdeeb..faf5ff73 100644
--- a/.vscode/tasks.json
+++ b/.vscode/tasks.json
@@ -48,4 +48,4 @@
 			}
 		}
 	]
-}
\ No newline at end of file
+}
diff --git a/bevy_rapier2d/Cargo.toml b/bevy_rapier2d/Cargo.toml
index 702ad705..62c0b894 100644
--- a/bevy_rapier2d/Cargo.toml
+++ b/bevy_rapier2d/Cargo.toml
@@ -64,27 +64,37 @@ async-collider = [
 to-bevy-mesh = ["bevy/bevy_render", "bevy/bevy_asset"]
 
 [dependencies]
-bevy = { version = "0.16.0", default-features = false, features = ["std"] }
-nalgebra = { version = "0.33", features = ["convert-glam029"] }
-rapier2d = "0.27.0-beta.0"
-bitflags = "2.4"
+bevy = { version = "0.17.2", default-features = false, features = ["std"] }
+nalgebra = { version = "0.34.1", features = ["convert-glam030"] }
+rapier2d = "0.30.1"
+bitflags = "2.10.0"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
 
 [dev-dependencies]
-bevy = { version = "0.16.0", default-features = false, features = [
+bevy = { version = "0.17.2", default-features = false, features = [
     "x11",
     "bevy_state",
     "bevy_window",
     "bevy_debug_stepping",
     "bevy_log",
+    "bevy_text",
+    "default_font",
+    "bevy_winit",
+    "bevy_render",
+    "bevy_core_pipeline",
+    "bevy_sprite",
+    "bevy_sprite_render",
+    "bevy_gizmos",
+    "bevy_color",
+    "bevy_camera",
 ] }
 oorandom = "11"
 approx = "0.5.1"
-glam = { version = "0.29", features = ["approx"] }
-bevy-inspector-egui = "0.31"
-bevy_egui = "0.34"
-bevy_mod_debugdump = "0.13"
+glam = { version = "0.30.9", features = ["approx"] }
+bevy-inspector-egui = "0.35.0"
+bevy_egui = "0.38.0"
+bevy_mod_debugdump = "0.14.0"
 serde_json = "1.0"
 
 [package.metadata.docs.rs]
diff --git a/bevy_rapier2d/examples/custom_system_setup2.rs b/bevy_rapier2d/examples/custom_system_setup2.rs
index 2fefc7b4..26a8e0ab 100644
--- a/bevy_rapier2d/examples/custom_system_setup2.rs
+++ b/bevy_rapier2d/examples/custom_system_setup2.rs
@@ -1,4 +1,4 @@
-use bevy::{diagnostic::FrameCount, prelude::*, transform::TransformSystem};
+use bevy::{diagnostic::FrameCount, prelude::*};
 use bevy_rapier2d::prelude::*;
 
 fn main() {
@@ -24,7 +24,7 @@ fn main() {
             PhysicsSet::Writeback,
         )
             .chain()
-            .before(TransformSystem::TransformPropagate),
+            .before(TransformSystems::Propagate),
     );
 
     app.add_systems(
diff --git a/bevy_rapier2d/examples/events2.rs b/bevy_rapier2d/examples/events2.rs
index bb93c249..195e06bf 100644
--- a/bevy_rapier2d/examples/events2.rs
+++ b/bevy_rapier2d/examples/events2.rs
@@ -23,8 +23,8 @@ pub fn setup_graphics(mut commands: Commands) {
 }
 
 pub fn display_events(
-    mut collision_events: EventReader<CollisionEvent>,
-    mut contact_force_events: EventReader<ContactForceEvent>,
+    mut collision_events: MessageReader<CollisionEvent>,
+    mut contact_force_events: MessageReader<ContactForceEvent>,
 ) {
     for collision_event in collision_events.read() {
         println!("Received collision event: {collision_event:?}");
diff --git a/bevy_rapier2d/examples/player_movement2.rs b/bevy_rapier2d/examples/player_movement2.rs
index f122310a..1c10bc8f 100644
--- a/bevy_rapier2d/examples/player_movement2.rs
+++ b/bevy_rapier2d/examples/player_movement2.rs
@@ -6,7 +6,7 @@ fn main() {
         .add_plugins((
             DefaultPlugins.set(WindowPlugin {
                 primary_window: Some(Window {
-                    resolution: WindowResolution::new(1000., 1000.),
+                    resolution: WindowResolution::new(1000, 1000),
                     title: "Player Movement Example".to_string(),
                     ..default()
                 }),
diff --git a/bevy_rapier2d/examples/serialization2.rs b/bevy_rapier2d/examples/serialization2.rs
index 73accb7c..47997b35 100644
--- a/bevy_rapier2d/examples/serialization2.rs
+++ b/bevy_rapier2d/examples/serialization2.rs
@@ -35,6 +35,6 @@ pub fn print_physics(_context: ReadRapierContext) {
     panic!("Example 'serialization' should be run with '--features serde-serialize'.");
 }
 
-fn quit(mut exit_event: EventWriter<AppExit>) {
+fn quit(mut exit_event: MessageWriter<AppExit>) {
     exit_event.write(AppExit::Success);
 }
diff --git a/bevy_rapier2d/examples/testbed2.rs b/bevy_rapier2d/examples/testbed2.rs
index af9088b3..29373938 100644
--- a/bevy_rapier2d/examples/testbed2.rs
+++ b/bevy_rapier2d/examples/testbed2.rs
@@ -14,6 +14,7 @@ mod rope_joint2;
 mod voxels2;
 
 use bevy::{
+    camera::visibility::RenderLayers,
     ecs::world::error::{EntityDespawnError, EntityMutableFetchError},
     prelude::*,
 };
@@ -67,9 +68,7 @@ fn main() {
     app.init_resource::<ExamplesRes>()
         .add_plugins((
             DefaultPlugins,
-            EguiPlugin {
-                enable_multipass_for_primary_context: false,
-            },
+            EguiPlugin::default(),
             RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(10.0),
             RapierDebugRenderPlugin::default(),
             WorldInspectorPlugin::new(),
@@ -92,6 +91,17 @@ fn main() {
             (Examples::PlayerMovement2, "PlayerMovement2").into(),
         ]))
         .init_resource::<ExampleSelected>()
+        .add_systems(PreStartup, |mut commands: Commands| {
+            commands.spawn((
+                Camera2d,
+                bevy_egui::PrimaryEguiContext,
+                Camera {
+                    order: 999,
+                    ..Default::default()
+                },
+                RenderLayers::none(),
+            ));
+        })
         //
         //boxes2
         .add_systems(
@@ -254,17 +264,21 @@ fn main() {
 }
 
 fn init(world: &mut World) {
-    //save all entities that are in the world before setting up any example
+    // save all entities that are in the world before setting up any example
     // to be able to always return to this state when switching from one example to the other
-    world.resource_mut::<ExamplesRes>().entities_before =
-        world.iter_entities().map(|e| e.id()).collect::<Vec<_>>();
+    world.resource_mut::<ExamplesRes>().entities_before = world
+        .query::<EntityRef>()
+        .iter(world)
+        .map(|e| e.id())
+        .collect::<Vec<_>>();
 }
 
 fn cleanup(world: &mut World) {
     let keep_alive = world.resource::<ExamplesRes>().entities_before.clone();
 
     let remove = world
-        .iter_entities()
+        .query::<EntityRef>()
+        .iter(world)
         .filter_map(|e| (!keep_alive.contains(&e.id())).then_some(e.id()))
         .collect::<Vec<_>>();
 
@@ -290,7 +304,7 @@ fn ui_example_system(
     mut current_example: ResMut<ExampleSelected>,
     examples_available: Res<ExampleSet>,
 ) {
-    egui::Window::new("Testbed").show(contexts.ctx_mut(), |ui| {
+    egui::Window::new("Testbed").show(contexts.ctx_mut().unwrap(), |ui| {
         let mut changed = false;
         egui::ComboBox::from_label("example")
             .width(150.0)
diff --git a/bevy_rapier2d/examples/voxels2_no_collider.rs b/bevy_rapier2d/examples/voxels2_no_collider.rs
new file mode 100644
index 00000000..67e8b9bf
--- /dev/null
+++ b/bevy_rapier2d/examples/voxels2_no_collider.rs
@@ -0,0 +1,119 @@
+use bevy::prelude::*;
+use bevy_rapier2d::geometry::RapierColliderHandle;
+use bevy_rapier2d::prelude::*;
+
+fn main() {
+    App::new()
+        .insert_resource(ClearColor(Color::srgb(
+            0xF9 as f32 / 255.0,
+            0xF9 as f32 / 255.0,
+            0xFF as f32 / 255.0,
+        )))
+        .add_plugins((
+            DefaultPlugins,
+            RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(10.0),
+            RapierDebugRenderPlugin::default(),
+        ))
+        .add_systems(Startup, setup)
+        .add_systems(Update, (check_collisions, check_collider_enabled))
+        .run();
+}
+
+fn setup(mut commands: Commands) {
+    // 2D camera
+    commands.spawn((Camera2d, Transform::from_xyz(0.0, 20.0, 0.0)));
+
+    let scale = 15f32;
+
+    let nx = 50;
+    for i in 0..nx {
+        for j in 0..10 {
+            let falling_objects = (j + i) % 3;
+            let ball_radius = 0.5 * scale;
+
+            let collider = match falling_objects {
+                0 => Collider::ball(ball_radius),
+                1 => Collider::cuboid(ball_radius, ball_radius),
+                2 => Collider::capsule_y(ball_radius, ball_radius),
+                _ => unreachable!(),
+            };
+
+            commands
+                .spawn((
+                    Transform::from_xyz(
+                        (i as f32 * 2.0 - nx as f32 / 2.0) * scale,
+                        (20.0 + j as f32 * 2.0) * scale,
+                        0.0,
+                    ),
+                    RigidBody::Dynamic,
+                    AdditionalMassProperties::Mass(1.0),
+                ))
+                .with_children(|parent| {
+                    parent.spawn((collider, ColliderDisabled));
+                });
+        }
+    }
+
+    let polyline = [
+        Vec2::new(0.0, 0.0),
+        Vec2::new(0.0, 10.0),
+        Vec2::new(7.0, 4.0),
+        Vec2::new(14.0, 10.0),
+        Vec2::new(14.0, 0.0),
+        Vec2::new(13.0, 7.0),
+        Vec2::new(7.0, 2.0),
+        Vec2::new(1.0, 7.0),
+    ]
+    .iter()
+    .map(|p| p * scale)
+    .collect::<Vec<_>>();
+    let indices: Vec<_> = (0..polyline.len() as u32)
+        .map(|i| [i, (i + 1) % polyline.len() as u32])
+        .collect();
+
+    commands.spawn((
+        Transform::from_xyz(-20.0 * scale, -10.0 * scale, 0.0),
+        Collider::voxelized_mesh(&polyline, &indices, 0.2 * scale, FillMode::default()),
+        ColliderDisabled,
+    ));
+
+    let voxel_size = Vec2::new(scale, scale);
+    let voxels: Vec<_> = (0..300)
+        .map(|i| {
+            let y = (i as f32 / 20.0).sin().clamp(-0.5, 0.5) * 20.0;
+            Vec2::new((i as f32 - 125.0) * voxel_size.x / 2.0, y * voxel_size.y)
+        })
+        .collect();
+    commands.spawn((
+        Transform::from_xyz(0.0, 0.0, 0.0),
+        Collider::voxels_from_points(voxel_size, &voxels),
+    ));
+}
+
+fn check_collisions(mut collision_events: MessageReader<CollisionEvent>) {
+    for event in collision_events.read() {
+        info!("Collision event: {:?}", event);
+    }
+}
+
+fn check_collider_enabled(
+    rapier_context: ReadRapierContext,
+    query: Query<&RapierColliderHandle, With<ColliderDisabled>>,
+) {
+    let context = match rapier_context.single() {
+        Ok(c) => c,
+        Err(_) => return,
+    };
+
+    for rapier_handle in &query {
+        let handle = rapier_handle.0;
+        if let Some(col) = context.colliders.colliders.get(handle) {
+            if col.is_enabled() {
+                info!(
+                    "FIX ME: Voxel collider should NOT be enabled: {}",
+                    col.is_enabled()
+                );
+            }
+        }
+    }
+}
diff --git a/bevy_rapier3d/Cargo.toml b/bevy_rapier3d/Cargo.toml
index 93a16cfd..12b4db41 100644
--- a/bevy_rapier3d/Cargo.toml
+++ b/bevy_rapier3d/Cargo.toml
@@ -65,15 +65,15 @@ async-collider = [
 to-bevy-mesh = ["bevy/bevy_render", "bevy/bevy_asset"]
 
 [dependencies]
-bevy = { version = "0.16.0", default-features = false, features = ["std"] }
-nalgebra = { version = "0.33", features = ["convert-glam029"] }
-rapier3d = "0.27.0-beta.0"
-bitflags = "2.4"
+bevy = { version = "0.17.2", default-features = false, features = ["std"] }
+nalgebra = { version = "0.34.1", features = ["convert-glam030"] }
+rapier3d = "0.30.1"
+bitflags = "2.10.0"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
 
 [dev-dependencies]
-bevy = { version = "0.16.0", default-features = false, features = [
+bevy = { version = "0.17.2", default-features = false, features = [
     "bevy_window",
     "x11",
     "tonemapping_luts",
@@ -85,10 +85,10 @@ bevy = { version = "0.16.0", default-features = false, features = [
     "bevy_log",
 ] }
 approx = "0.5.1"
-glam = { version = "0.29", features = ["approx"] }
-bevy-inspector-egui = "0.31"
-bevy_egui = "0.34"
-bevy_mod_debugdump = "0.13"
+glam = { version = "0.30.9", features = ["approx"] }
+bevy-inspector-egui = "0.35.0"
+bevy_egui = "0.38.0"
+bevy_mod_debugdump = "0.14.0"
 
 [package.metadata.docs.rs]
 # Enable all the features when building the docs on docs.rs
diff --git a/bevy_rapier3d/examples/character_controller3.rs b/bevy_rapier3d/examples/character_controller3.rs
index 03c842c5..f1eed068 100644
--- a/bevy_rapier3d/examples/character_controller3.rs
+++ b/bevy_rapier3d/examples/character_controller3.rs
@@ -1,5 +1,5 @@
 use bevy::{
-    input::{mouse::MouseMotion, InputSystem},
+    input::{mouse::MouseMotion, InputSystems},
     prelude::*,
 };
 use bevy_rapier3d::{control::KinematicCharacterController, prelude::*};
@@ -25,7 +25,7 @@ fn main() {
             RapierDebugRenderPlugin::default(),
         ))
         .add_systems(Startup, (setup_player, setup_map))
-        .add_systems(PreUpdate, handle_input.after(InputSystem))
+        .add_systems(PreUpdate, handle_input.after(InputSystems))
         .add_systems(Update, player_look)
         .add_systems(FixedUpdate, player_movement)
         .run();
@@ -112,7 +112,7 @@ fn handle_input(
     keyboard: Res<ButtonInput<KeyCode>>,
     mut movement: ResMut<MovementInput>,
     mut look: ResMut<LookInput>,
-    mut mouse_events: EventReader<MouseMotion>,
+    mut mouse_events: MessageReader<MouseMotion>,
 ) {
     if keyboard.pressed(KeyCode::KeyW) {
         movement.z -= 1.0;
diff --git a/bevy_rapier3d/examples/custom_system_setup3.rs b/bevy_rapier3d/examples/custom_system_setup3.rs
index 8d7eaba5..2fb61bd4 100644
--- a/bevy_rapier3d/examples/custom_system_setup3.rs
+++ b/bevy_rapier3d/examples/custom_system_setup3.rs
@@ -1,4 +1,4 @@
-use bevy::{diagnostic::FrameCount, prelude::*, transform::TransformSystem};
+use bevy::{diagnostic::FrameCount, prelude::*};
 use bevy_rapier3d::prelude::*;
 
 fn main() {
@@ -24,7 +24,7 @@ fn main() {
             PhysicsSet::Writeback,
         )
             .chain()
-            .before(TransformSystem::TransformPropagate),
+            .before(TransformSystems::Propagate),
     );
 
     app.add_systems(
diff --git a/bevy_rapier3d/examples/despawn3.rs b/bevy_rapier3d/examples/despawn3.rs
index e6eb717e..b841e973 100644
--- a/bevy_rapier3d/examples/despawn3.rs
+++ b/bevy_rapier3d/examples/despawn3.rs
@@ -95,7 +95,7 @@ pub fn despawn(
     mut despawn: ResMut<DespawnResource>,
     query: Query<Entity, With<Despawn>>,
 ) {
-    if despawn.timer.tick(time.delta()).finished() {
+    if despawn.timer.tick(time.delta()).is_finished() {
         for entity in &query {
             println!("Despawning ground entity");
             commands.entity(entity).despawn();
diff --git a/bevy_rapier3d/examples/events3.rs b/bevy_rapier3d/examples/events3.rs
index 9f1a23e8..bd56214d 100644
--- a/bevy_rapier3d/examples/events3.rs
+++ b/bevy_rapier3d/examples/events3.rs
@@ -26,8 +26,8 @@ pub fn setup_graphics(mut commands: Commands) {
 }
 
 pub fn display_events(
-    mut collision_events: EventReader<CollisionEvent>,
-    mut contact_force_events: EventReader<ContactForceEvent>,
+    mut collision_events: MessageReader<CollisionEvent>,
+    mut contact_force_events: MessageReader<ContactForceEvent>,
 ) {
     for collision_event in collision_events.read() {
         println!("Received collision event: {collision_event:?}");
diff --git a/bevy_rapier3d/examples/joints_despawn3.rs b/bevy_rapier3d/examples/joints_despawn3.rs
index cb858428..573f4a36 100644
--- a/bevy_rapier3d/examples/joints_despawn3.rs
+++ b/bevy_rapier3d/examples/joints_despawn3.rs
@@ -273,7 +273,7 @@ pub fn despawn(
     mut despawn: ResMut<DespawnResource>,
     query: Query<Entity, With<Despawn>>,
 ) {
-    if despawn.timer.tick(time.delta()).finished() {
+    if despawn.timer.tick(time.delta()).is_finished() {
         for entity in &query {
             println!("Despawning joint entity");
             commands.entity(entity).despawn();
diff --git a/bevy_rapier3d/examples/picking3.rs b/bevy_rapier3d/examples/picking3.rs
index 13a462e1..8c003526 100644
--- a/bevy_rapier3d/examples/picking3.rs
+++ b/bevy_rapier3d/examples/picking3.rs
@@ -45,15 +45,13 @@ pub fn setup_physics(mut commands: Commands) {
             },
         ))
         .observe(on_click_spawn_cube)
+        .observe(|out: On<Pointer<Out>>, mut texts: Query<&mut TextColor>| {
+            let mut text_color = texts.get_mut(out.event().entity).unwrap();
+            text_color.0 = Color::WHITE;
+        })
         .observe(
-            |out: Trigger<Pointer<Out>>, mut texts: Query<&mut TextColor>| {
-                let mut text_color = texts.get_mut(out.target()).unwrap();
-                text_color.0 = Color::WHITE;
-            },
-        )
-        .observe(
-            |over: Trigger<Pointer<Over>>, mut texts: Query<&mut TextColor>| {
-                let mut color = texts.get_mut(over.target()).unwrap();
+            |over: On<Pointer<Over>>, mut texts: Query<&mut TextColor>| {
+                let mut color = texts.get_mut(over.event().entity).unwrap();
                 color.0 = bevy::color::palettes::tailwind::CYAN_400.into();
             },
         );
@@ -67,11 +65,7 @@ pub fn setup_physics(mut commands: Commands) {
     ));
 }
 
-fn on_click_spawn_cube(
-    _click: Trigger<Pointer<Click>>,
-    mut commands: Commands,
-    mut num: Local<usize>,
-) {
+fn on_click_spawn_cube(_click: On<Pointer<Click>>, mut commands: Commands, mut num: Local<usize>) {
     let rad = 0.25;
     let colors = [
         Hsla::hsl(220.0, 1.0, 0.3),
@@ -92,8 +86,8 @@ fn on_click_spawn_cube(
     *num += 1;
 }
 
-fn on_drag_rotate(drag: Trigger<Pointer<Drag>>, mut transforms: Query<&mut Transform>) {
-    if let Ok(mut transform) = transforms.get_mut(drag.target()) {
+fn on_drag_rotate(drag: On<Pointer<Drag>>, mut transforms: Query<&mut Transform>) {
+    if let Ok(mut transform) = transforms.get_mut(drag.event().entity) {
         transform.rotate_y(drag.delta.x * 0.02);
         transform.rotate_x(drag.delta.y * 0.02);
     }
diff --git a/bevy_rapier3d/examples/rapier_context_component.rs b/bevy_rapier3d/examples/rapier_context_component.rs
index 3f4056f0..45263216 100644
--- a/bevy_rapier3d/examples/rapier_context_component.rs
+++ b/bevy_rapier3d/examples/rapier_context_component.rs
@@ -19,7 +19,7 @@ fn main() {
 /// Demonstrates how to access a more specific component of [`RapierContext`]
 fn display_nb_colliders(
     query_context: Query<&RapierContextColliders, With<DefaultRapierContext>>,
-    mut exit: EventWriter<AppExit>,
+    mut exit: MessageWriter<AppExit>,
 ) -> Result<()> {
     let nb_colliders = query_context.single()?.colliders.len();
     println!("There are {nb_colliders} colliders.");
diff --git a/bevy_rapier3d/examples/static_trimesh3.rs b/bevy_rapier3d/examples/static_trimesh3.rs
index 5bc41382..fdff1780 100644
--- a/bevy_rapier3d/examples/static_trimesh3.rs
+++ b/bevy_rapier3d/examples/static_trimesh3.rs
@@ -123,7 +123,7 @@ pub fn ball_spawner(mut commands: Commands, time: Res<Time>, mut ball_state: Res
         return;
     }
 
-    if ball_state.timer.tick(time.delta()).finished() {
+    if ball_state.timer.tick(time.delta()).is_finished() {
         // Spawn a ball near the top of the ramp.
         let ramp_size = ramp_size();
         let rad = 0.3;
diff --git a/bevy_rapier3d/examples/testbed3.rs b/bevy_rapier3d/examples/testbed3.rs
index 495e5249..14c97a04 100644
--- a/bevy_rapier3d/examples/testbed3.rs
+++ b/bevy_rapier3d/examples/testbed3.rs
@@ -14,6 +14,7 @@ mod static_trimesh3;
 mod voxels3;
 
 use bevy::{
+    camera::visibility::RenderLayers,
     ecs::world::error::{EntityDespawnError, EntityMutableFetchError},
     prelude::*,
 };
@@ -67,9 +68,7 @@ fn main() {
     app.init_resource::<ExamplesRes>()
         .add_plugins((
             DefaultPlugins,
-            EguiPlugin {
-                enable_multipass_for_primary_context: false,
-            },
+            EguiPlugin::default(),
             RapierPhysicsPlugin::<NoUserData>::default(),
             RapierDebugRenderPlugin::default(),
             WorldInspectorPlugin::new(),
@@ -129,6 +128,17 @@ fn main() {
         //
         // despawn
         .init_resource::<despawn3::DespawnResource>()
+        .add_systems(PreStartup, |mut commands: Commands| {
+            commands.spawn((
+                Camera2d,
+                bevy_egui::PrimaryEguiContext,
+                Camera {
+                    order: 999,
+                    ..Default::default()
+                },
+                RenderLayers::none(),
+            ));
+        })
         .add_systems(
             OnEnter(Examples::Despawn3),
             (despawn3::setup_graphics, despawn3::setup_physics),
@@ -246,17 +256,21 @@ fn main() {
 }
 
 fn init(world: &mut World) {
-    //save all entities that are in the world before setting up any example
+    // save all entities that are in the world before setting up any example
     // to be able to always return to this state when switching from one example to the other
-    world.resource_mut::<ExamplesRes>().entities_before =
-        world.iter_entities().map(|e| e.id()).collect::<Vec<_>>();
+    world.resource_mut::<ExamplesRes>().entities_before = world
+        .query::<EntityRef>()
+        .iter(world)
+        .map(|e| e.id())
+        .collect::<Vec<_>>();
 }
 
 fn cleanup(world: &mut World) {
     let keep_alive = world.resource::<ExamplesRes>().entities_before.clone();
 
     let remove = world
-        .iter_entities()
+        .query::<EntityRef>()
+        .iter(world)
         .filter_map(|e| (!keep_alive.contains(&e.id())).then_some(e.id()))
         .collect::<Vec<_>>();
     for r in remove {
@@ -281,7 +295,7 @@ fn ui_example_system(
     mut current_example: ResMut<ExampleSelected>,
     examples_available: Res<ExampleSet>,
 ) {
-    egui::Window::new("Testbed").show(contexts.ctx_mut(), |ui| {
+    egui::Window::new("Testbed").show(contexts.ctx_mut().unwrap(), |ui| {
         let mut changed = false;
         egui::ComboBox::from_label("example")
             .width(150.0)
diff --git a/bevy_rapier_benches3d/Cargo.toml b/bevy_rapier_benches3d/Cargo.toml
index b2d3c997..9597ea3f 100644
--- a/bevy_rapier_benches3d/Cargo.toml
+++ b/bevy_rapier_benches3d/Cargo.toml
@@ -9,9 +9,9 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-rapier3d = { features = ["profiler"], version = "0.27.0-beta.0" }
+rapier3d = { features = ["profiler"], version = "0.30.1" }
 bevy_rapier3d = { version = "0.31", path = "../bevy_rapier3d" }
-bevy = { version = "0.16.0", default-features = false }
+bevy = { version = "0.17.2", default-features = false }
 
 [dev-dependencies]
 divan = "0.1"
diff --git a/ci/Cargo.toml b/ci/Cargo.toml
index 520fa95a..22109eb3 100644
--- a/ci/Cargo.toml
+++ b/ci/Cargo.toml
@@ -4,7 +4,7 @@ version = "0.1.0"
 edition = "2021"
 
 [dependencies]
-bevy = "0.16.0"
+bevy = "0.17.2"
 bevy_rapier3d = { version = "0.31", path = "../bevy_rapier3d" }
 bevy_rapier2d = { version = "0.31", path = "../bevy_rapier2d" }
 
diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs
index eefd0f3e..87ff4f4b 100644
--- a/src/dynamics/rigid_body.rs
+++ b/src/dynamics/rigid_body.rs
@@ -202,15 +202,21 @@ impl std::ops::Deref for ReadMassProperties {
 }
 
 /// Entity that likely had their mass properties changed this frame.
-#[derive(Deref, Copy, Clone, Debug, PartialEq, Event)]
-pub struct MassModifiedEvent(pub Entity);
+#[derive(Deref, Copy, Clone, Debug, PartialEq, Message)]
+pub struct MassModifiedMessage(pub Entity);
 
-impl From<Entity> for MassModifiedEvent {
+impl From<Entity> for MassModifiedMessage {
     fn from(entity: Entity) -> Self {
         Self(entity)
     }
 }
 
+#[deprecated(
+    since = "0.32.0",
+    note = "MassModifiedMessage has been renamed to MassModifiedEvent for consistency with Bevy 0.17 naming conventions. "
+)]
+pub use MassModifiedMessage as MassModifiedEvent;
+
 /// Center-of-mass, mass, and angular inertia.
 ///
 /// This cannot be used as a component. Use the components `ReadMassProperties` to read a [`RigidBody`]’s
diff --git a/src/geometry/collider_impl.rs b/src/geometry/collider_impl.rs
index 7055194b..c3ef018a 100644
--- a/src/geometry/collider_impl.rs
+++ b/src/geometry/collider_impl.rs
@@ -2,8 +2,8 @@
 use na::DVector;
 #[cfg(all(feature = "dim3", feature = "async-collider"))]
 use {
+    bevy::mesh::{Indices, VertexAttributeValues},
     bevy::prelude::*,
-    bevy::render::mesh::{Indices, VertexAttributeValues},
 };
 
 use rapier::{
diff --git a/src/geometry/shape_views/voxels.rs b/src/geometry/shape_views/voxels.rs
index a6437edb..e12d0342 100644
--- a/src/geometry/shape_views/voxels.rs
+++ b/src/geometry/shape_views/voxels.rs
@@ -39,19 +39,32 @@ macro_rules! impl_ref_methods(
                 self.raw.heap_memory_size()
             }
 
-            /// Shortcut to [`Voxels::extents`].
+            /// Shortcut to [`Voxels::local_aabb`].
             pub fn extents(&self) -> Vect {
-                self.raw.extents().into()
+                self.raw.local_aabb().extents().into()
             }
 
-            /// Shortcut to [`Voxels::domain_center`].
+            /// Shortcut to [`Voxels::local_aabb`].
             pub fn domain_center(&self) -> Vect {
-                self.raw.domain_center().into()
+                self.raw.local_aabb().center().coords.into()
             }
 
-            /// Shortcut to [`Voxels::is_voxel_in_bounds`].
+            /// Shortcut to [`Voxels::domain`].
             pub fn is_voxel_in_bounds(&self, key: IVect) -> bool {
-                self.raw.is_voxel_in_bounds(key.into())
+                let [mins, maxs] = self.raw.domain();
+                #[cfg(feature = "dim2")]
+                {
+                    key.x >= mins.x && key.y >= mins.y && key.x < maxs.x && key.y < maxs.y
+                }
+                #[cfg(feature = "dim3")]
+                {
+                    key.x >= mins.x
+                        && key.y >= mins.y
+                        && key.z >= mins.z
+                        && key.x < maxs.x
+                        && key.y < maxs.y
+                        && key.z < maxs.z
+                }
             }
 
             /// Shortcut to [`Voxels::voxel_aabb`].
@@ -60,23 +73,51 @@ macro_rules! impl_ref_methods(
             }
 
             /// Shortcut to [`Voxels::voxel_state`].
-            pub fn voxel_state(&self, key: IVect) -> VoxelState {
+            pub fn voxel_state(&self, key: IVect) -> Option<VoxelState> {
                 self.raw.voxel_state(key.into())
             }
 
-            /// Shortcut to [`Voxels::voxel_at_point_unchecked`].
+            /// Shortcut to [`Voxels::voxel_at_point`].
             pub fn voxel_at_point_unchecked(&self, point: Vect) -> IVect {
-                self.raw.voxel_at_point_unchecked(point.into()).into()
+                let p = self.raw.voxel_at_point(point.into());
+                #[cfg(feature = "dim2")]
+                {
+                    IVect::new(p.x, p.y)
+                }
+                #[cfg(feature = "dim3")]
+                {
+                    IVect::new(p.x, p.y, p.z)
+                }
             }
 
             /// Shortcut to [`Voxels::voxel_at_point`].
             pub fn voxel_at_point(&self, pt: Vect) -> Option<IVect> {
-                self.raw.voxel_at_point(pt.into()).map(IVect::from)
+                let voxel = self.voxel_at_point_unchecked(pt);
+                if self.is_voxel_in_bounds(voxel) {
+                    Some(voxel)
+                } else {
+                    None
+                }
             }
 
-            /// Shortcut to [`Voxels::clamp_voxel`].
+            /// Shortcut to [`Voxels::domain`].
             pub fn clamp_voxel(&self, key: IVect) -> IVect {
-                self.raw.clamp_voxel(key.into()).into()
+                let [mins, maxs] = self.raw.domain();
+                #[cfg(feature = "dim2")]
+                {
+                    IVect::new(
+                        key.x.clamp(mins.x, maxs.x - 1),
+                        key.y.clamp(mins.y, maxs.y - 1),
+                    )
+                }
+                #[cfg(feature = "dim3")]
+                {
+                    IVect::new(
+                        key.x.clamp(mins.x, maxs.x - 1),
+                        key.y.clamp(mins.y, maxs.y - 1),
+                        key.z.clamp(mins.z, maxs.z - 1),
+                    )
+                }
             }
 
             /// Shortcut to [`Voxels::voxel_range_intersecting_local_aabb`].
@@ -94,8 +135,7 @@ macro_rules! impl_ref_methods(
 
             /// Shortcut to [`Voxels::align_aabb_to_grid`].
             pub fn align_aabb_to_grid(&self, aabb: &BevyAabb) -> BevyAabb {
-                aabb_bevy_from_na(&self.raw
-                    .align_aabb_to_grid(&aabb_na_from_bevy(aabb)))
+                aabb_bevy_from_na(&self.raw.align_aabb_to_grid(&aabb_na_from_bevy(aabb)))
             }
 
             /// Shortcut to [`Voxels::voxels_intersecting_local_aabb`].
@@ -141,19 +181,22 @@ pub struct VoxelsViewMut<'a> {
 impl_ref_methods!(VoxelsViewMut);
 
 impl<'a> VoxelsViewMut<'a> {
-    /// Shortcut to [`Voxels::try_set_voxel`].
+    /// Shortcut to set voxel state with bounds checking.
     pub fn try_set_voxel(&mut self, key: IVect, is_filled: bool) -> Option<VoxelState> {
-        self.raw.try_set_voxel(key.into(), is_filled)
+        if self.is_voxel_in_bounds(key) {
+            Some(self.raw.set_voxel(key.into(), is_filled))
+        } else {
+            None
+        }
     }
 
-    /// Shortcut to [`Voxels::set_voxel`].
-    pub fn set_voxel(&mut self, key: IVect, is_filled: bool) -> Option<VoxelState> {
+    /// Shortcut to to [`Voxels::set_voxel`].
+    pub fn set_voxel(&mut self, key: IVect, is_filled: bool) -> VoxelState {
         self.raw.set_voxel(key.into(), is_filled)
     }
 
-    /// Shortcut to [`Voxels::resize_domain`].
-    pub fn resize_domain(&mut self, domain_mins: IVect, domain_maxs: IVect) {
-        self.raw
-            .resize_domain(domain_mins.into(), domain_maxs.into());
+    /// Shortcut to [`Voxels::crop`].
+    pub fn crop(&mut self, domain_mins: IVect, domain_maxs: IVect) {
+        self.raw.crop(domain_mins.into(), domain_maxs.into());
     }
 }
diff --git a/src/geometry/to_bevy_mesh.rs b/src/geometry/to_bevy_mesh.rs
index a5ac8815..5ad2ec6e 100644
--- a/src/geometry/to_bevy_mesh.rs
+++ b/src/geometry/to_bevy_mesh.rs
@@ -5,22 +5,22 @@ use crate::rapier::prelude::Ball;
 #[cfg(feature = "dim3")]
 use crate::rapier::prelude::{Cone, Cylinder};
 #[cfg(feature = "dim2")]
-use bevy::render::mesh::{Capsule2dMeshBuilder, CircleMeshBuilder};
+use bevy::mesh::{Capsule2dMeshBuilder, CircleMeshBuilder};
 #[cfg(feature = "dim3")]
-use bevy::render::mesh::{
+use bevy::mesh::{
     Capsule3dMeshBuilder, ConeMeshBuilder, CylinderMeshBuilder, PlaneMeshBuilder, SphereMeshBuilder,
 };
 use bevy::{
     asset::RenderAssetUsages,
+    mesh::Indices,
     prelude::{Mesh, MeshBuilder},
-    render::mesh::Indices,
 };
 
 use rapier::prelude::{Capsule, TypedShape};
 /// Converts a [`TypedShape`] to a [`Mesh`].
 ///
 /// This expects a [`TypedShape`] to be a convertible to a bavy builtin [`bevy::prelude::Meshable`],
-/// Or builds a new Mesh with [`PrimitiveTopology::TriangleList`](bevy::render::mesh::PrimitiveTopology::TriangleList).
+/// Or builds a new Mesh with [`PrimitiveTopology::TriangleList`](bevy::mesh::PrimitiveTopology::TriangleList).
 pub fn typed_shape_to_mesh(typed_shape: &TypedShape) -> Option<Mesh> {
     Some(match typed_shape {
         TypedShape::Ball(ball) => ball.mesh_builder().build(),
@@ -65,7 +65,7 @@ pub fn typed_shape_to_mesh(typed_shape: &TypedShape) -> Option<Mesh> {
                 let (vtx, idx) = _voxels.to_outline();
 
                 let mesh = Mesh::new(
-                    bevy::render::mesh::PrimitiveTopology::TriangleList,
+                    bevy::mesh::PrimitiveTopology::TriangleList,
                     RenderAssetUsages::default(),
                 )
                 .with_inserted_indices(Indices::U32(idx.into_iter().flatten().collect()));
@@ -94,7 +94,7 @@ pub fn typed_shape_to_mesh(typed_shape: &TypedShape) -> Option<Mesh> {
             let vertices: Vec<_> = vertices.iter().map(|pos| [pos.x, pos.y, pos.z]).collect();
             let indices = tri_mesh.indices();
             let mesh = Mesh::new(
-                bevy::render::mesh::PrimitiveTopology::TriangleList,
+                bevy::mesh::PrimitiveTopology::TriangleList,
                 RenderAssetUsages::default(),
             )
             .with_inserted_indices(Indices::U32(indices.iter().cloned().flatten().collect()));
@@ -126,7 +126,7 @@ pub fn typed_shape_to_mesh(typed_shape: &TypedShape) -> Option<Mesh> {
                 let (vtx, idx) = _height_field.to_trimesh();
 
                 let mesh = Mesh::new(
-                    bevy::render::mesh::PrimitiveTopology::TriangleList,
+                    bevy::mesh::PrimitiveTopology::TriangleList,
                     RenderAssetUsages::default(),
                 )
                 .with_inserted_indices(Indices::U32(idx.into_iter().flatten().collect()));
@@ -164,7 +164,7 @@ pub fn typed_shape_to_mesh(typed_shape: &TypedShape) -> Option<Mesh> {
                 .flat_map(|i| vec![0, i, i + 1])
                 .collect::<Vec<u32>>();
             let mesh = Mesh::new(
-                bevy::render::mesh::PrimitiveTopology::TriangleList,
+                bevy::mesh::PrimitiveTopology::TriangleList,
                 RenderAssetUsages::default(),
             )
             .with_inserted_indices(Indices::U32(indices));
@@ -179,7 +179,7 @@ pub fn typed_shape_to_mesh(typed_shape: &TypedShape) -> Option<Mesh> {
                 .flat_map(|i| vec![0, i, i + 1])
                 .collect::<Vec<u32>>();
             let mesh = Mesh::new(
-                bevy::render::mesh::PrimitiveTopology::TriangleList,
+                bevy::mesh::PrimitiveTopology::TriangleList,
                 RenderAssetUsages::default(),
             )
             .with_inserted_indices(Indices::U32(indices));
@@ -243,7 +243,7 @@ impl TryFrom<&Collider> for Mesh {
 /// Trait to convert a parry shape to a [`MeshBuilder`].
 pub trait ToMeshBuilder {
     /// Specific [`MeshBuilder`] being returned.
-    type MeshBuilder: bevy::render::prelude::MeshBuilder;
+    type MeshBuilder: bevy::mesh::prelude::MeshBuilder;
     /// Returns a dedicated [`MeshBuilder`].
     fn mesh_builder(&self) -> Self::MeshBuilder;
 }
@@ -262,10 +262,7 @@ impl ToMeshBuilder for &Ball {
     type MeshBuilder = SphereMeshBuilder;
 
     fn mesh_builder(&self) -> Self::MeshBuilder {
-        SphereMeshBuilder::new(
-            self.radius,
-            bevy::render::mesh::SphereKind::Ico { subdivisions: 1 },
-        )
+        SphereMeshBuilder::new(self.radius, bevy::mesh::SphereKind::Ico { subdivisions: 1 })
     }
 }
 
@@ -286,7 +283,7 @@ impl ToMeshBuilder for &Capsule {
     type MeshBuilder = Capsule2dMeshBuilder;
 
     fn mesh_builder(&self) -> Self::MeshBuilder {
-        bevy::render::mesh::Capsule2dMeshBuilder::new(self.radius, self.height(), 10)
+        bevy::mesh::Capsule2dMeshBuilder::new(self.radius, self.height(), 10)
     }
 }
 
@@ -295,7 +292,7 @@ impl ToMeshBuilder for &Capsule {
     type MeshBuilder = Capsule3dMeshBuilder;
 
     fn mesh_builder(&self) -> Self::MeshBuilder {
-        bevy::render::mesh::Capsule3dMeshBuilder::new(self.radius, self.height(), 10, 10)
+        bevy::mesh::Capsule3dMeshBuilder::new(self.radius, self.height(), 10, 10)
     }
 }
 #[cfg(feature = "dim3")]
@@ -303,7 +300,7 @@ impl ToMeshBuilder for &Cone {
     type MeshBuilder = ConeMeshBuilder;
 
     fn mesh_builder(&self) -> Self::MeshBuilder {
-        bevy::render::mesh::ConeMeshBuilder::new(self.radius, self.half_height * 2.0, 16)
+        bevy::mesh::ConeMeshBuilder::new(self.radius, self.half_height * 2.0, 16)
     }
 }
 
@@ -312,6 +309,6 @@ impl ToMeshBuilder for &Cylinder {
     type MeshBuilder = CylinderMeshBuilder;
 
     fn mesh_builder(&self) -> Self::MeshBuilder {
-        bevy::render::mesh::CylinderMeshBuilder::new(self.radius, self.half_height * 2.0, 16)
+        bevy::mesh::CylinderMeshBuilder::new(self.radius, self.half_height * 2.0, 16)
     }
 }
diff --git a/src/picking_backend/mod.rs b/src/picking_backend/mod.rs
index 0b251077..fbf70956 100644
--- a/src/picking_backend/mod.rs
+++ b/src/picking_backend/mod.rs
@@ -7,14 +7,13 @@
 //! to `true` and add a [`RapierPickable`] component to the desired camera and target entities.
 
 use bevy::app::prelude::*;
+use bevy::camera::visibility::{InheritedVisibility, RenderLayers};
 use bevy::ecs::prelude::*;
-use bevy::picking::{
-    backend::{ray::RayMap, HitData, PointerHits},
-    PickSet,
-};
-use bevy::prelude::PickingPlugin;
-use bevy::reflect::prelude::*;
-use bevy::render::{prelude::*, view::RenderLayers};
+use bevy::picking::backend::ray::RayMap;
+use bevy::picking::backend::HitData;
+use bevy::picking::backend::PointerHits;
+use bevy::picking::{PickingPlugin, PickingSystems};
+use bevy::prelude::*;
 use rapier::parry::query::DefaultQueryDispatcher;
 
 /// How a ray cast should handle [`Visibility`].
@@ -67,9 +66,9 @@ impl Plugin for RapierPickingPlugin {
     fn build(&self, app: &mut App) {
         app.register_type::<(RapierPickable, RapierPickingSettings)>()
             .init_resource::<RapierPickingSettings>()
-            .add_systems(PreUpdate, update_hits.in_set(PickSet::Backend));
+            .add_systems(PreUpdate, update_hits.in_set(PickingSystems::Backend));
         if !app.is_plugin_added::<PickingPlugin>() {
-            app.add_plugins(PickingPlugin::default());
+            app.add_plugins(PickingPlugin);
         }
     }
 }
@@ -88,7 +87,7 @@ pub fn update_hits(
         &crate::prelude::RapierRigidBodySet,
         &crate::prelude::RapierContextSimulation,
     )>,
-    mut output: EventWriter<PointerHits>,
+    mut output: MessageWriter<PointerHits>,
 ) {
     for (&ray_id, &ray) in ray_map.map.iter() {
         let Ok((camera, cam_pickable, cam_layers)) = picking_cameras.get(ray_id.camera) else {
diff --git a/src/pipeline/events.rs b/src/pipeline/events.rs
index 1eae4dca..e587a6c9 100644
--- a/src/pipeline/events.rs
+++ b/src/pipeline/events.rs
@@ -1,5 +1,6 @@
 use crate::math::{Real, Vect};
-use bevy::prelude::{Entity, Event};
+use bevy::ecs::message::Message;
+use bevy::prelude::Entity;
 use rapier::dynamics::RigidBodySet;
 use rapier::geometry::{
     ColliderHandle, ColliderSet, CollisionEvent as RapierCollisionEvent, CollisionEventFlags,
@@ -16,7 +17,7 @@ use crate::prelude::{ActiveEvents, ContactForceEventThreshold};
 ///
 /// This will only get triggered if the entity has the
 /// [`ActiveEvents::COLLISION_EVENTS`] flag enabled.
-#[derive(Event, Copy, Clone, Debug, PartialEq, Eq)]
+#[derive(Message, Copy, Clone, Debug, PartialEq, Eq)]
 pub enum CollisionEvent {
     /// Event occurring when two colliders start colliding
     Started(Entity, Entity, CollisionEventFlags),
@@ -29,7 +30,7 @@ pub enum CollisionEvent {
 ///
 /// This will only get triggered if the entity has the
 /// [`ActiveEvents::CONTACT_FORCE_EVENTS`] flag enabled.
-#[derive(Event, Copy, Clone, Debug, PartialEq)]
+#[derive(Message, Copy, Clone, Debug, PartialEq)]
 pub struct ContactForceEvent {
     /// The first collider involved in the contact.
     pub collider1: Entity,
@@ -151,18 +152,18 @@ mod test {
         use bevy::prelude::*;
 
         #[derive(Resource, Reflect)]
-        pub struct EventsSaver<E: Event> {
+        pub struct EventsSaver<E: Message> {
             pub events: Vec<E>,
         }
-        impl<E: Event> Default for EventsSaver<E> {
+        impl<E: Message> Default for EventsSaver<E> {
             fn default() -> Self {
                 Self {
                     events: Default::default(),
                 }
             }
         }
-        pub fn save_events<E: Event + Clone>(
-            mut events: EventReader<E>,
+        pub fn save_events<E: Message + Clone>(
+            mut events: MessageReader<E>,
             mut saver: ResMut<EventsSaver<E>>,
         ) {
             for event in events.read() {
diff --git a/src/plugin/context/mod.rs b/src/plugin/context/mod.rs
index 7bc86b18..aadd35e1 100644
--- a/src/plugin/context/mod.rs
+++ b/src/plugin/context/mod.rs
@@ -17,7 +17,7 @@ use rapier::prelude::{
 use crate::geometry::{PointProjection, RayIntersection, ShapeCastHit};
 use crate::math::{Rot, Vect};
 use crate::pipeline::{CollisionEvent, ContactForceEvent, EventQueue};
-use bevy::prelude::{Entity, EventWriter, GlobalTransform, Query};
+use bevy::prelude::{Entity, GlobalTransform, Query};
 
 use crate::control::{CharacterCollision, MoveShapeOptions, MoveShapeOutput};
 use crate::dynamics::TransformInterpolation;
@@ -223,7 +223,7 @@ impl<'a> RapierQueryPipelineMut<'a> {
     }
 
     /// Downgrades the mutable reference to an immutable reference.
-    pub fn as_ref(&self) -> RapierQueryPipeline {
+    pub fn as_ref(&self) -> RapierQueryPipeline<'_> {
         RapierQueryPipeline {
             query_pipeline: self.query_pipeline.as_ref(),
         }
@@ -700,8 +700,8 @@ impl RapierContextSimulation {
         gravity: Vect,
         timestep_mode: TimestepMode,
         events: Option<(
-            &EventWriter<CollisionEvent>,
-            &EventWriter<ContactForceEvent>,
+            &MessageWriter<CollisionEvent>,
+            &MessageWriter<ContactForceEvent>,
         )>,
         hooks: &dyn PhysicsHooks,
         time: &Time,
@@ -848,8 +848,8 @@ impl RapierContextSimulation {
     /// that are stored in the events list
     pub fn send_bevy_events(
         &mut self,
-        collision_event_writer: &mut EventWriter<CollisionEvent>,
-        contact_force_event_writer: &mut EventWriter<ContactForceEvent>,
+        collision_event_writer: &mut MessageWriter<CollisionEvent>,
+        contact_force_event_writer: &mut MessageWriter<ContactForceEvent>,
     ) {
         for collision_event in self.collision_events_to_send.drain(..) {
             collision_event_writer.write(collision_event);
diff --git a/src/plugin/context/systemparams/rapier_context_systemparam.rs b/src/plugin/context/systemparams/rapier_context_systemparam.rs
index eebb2639..f9e8a4d3 100644
--- a/src/plugin/context/systemparams/rapier_context_systemparam.rs
+++ b/src/plugin/context/systemparams/rapier_context_systemparam.rs
@@ -195,8 +195,8 @@ mod simulation {
             gravity: Vect,
             timestep_mode: TimestepMode,
             events: Option<(
-                &EventWriter<CollisionEvent>,
-                &EventWriter<ContactForceEvent>,
+                &MessageWriter<CollisionEvent>,
+                &MessageWriter<ContactForceEvent>,
             )>,
             hooks: &dyn PhysicsHooks,
             time: &Time,
diff --git a/src/plugin/narrow_phase.rs b/src/plugin/narrow_phase.rs
index b1f5d3a5..f37ea577 100644
--- a/src/plugin/narrow_phase.rs
+++ b/src/plugin/narrow_phase.rs
@@ -31,7 +31,7 @@ impl RapierContextSimulation {
     }
 
     /// All the intersection pairs involving the collider attached to the given entity, where at least one collider
-    /// involved in the intersection is a sensor.    
+    /// involved in the intersection is a sensor.
     ///
     /// The returned contact pairs identify pairs of colliders (where at least one is a sensor) with
     /// intersecting bounding-volumes. To check if any geometric overlap happened between the collider shapes, check
@@ -333,7 +333,7 @@ impl SolverContactView<'_> {
     }
     /// Whether or not this contact existed during the last timestep.
     pub fn is_new(&self) -> bool {
-        self.raw.is_new
+        self.raw.is_new == 1.0
     }
 }
 
diff --git a/src/plugin/plugin.rs b/src/plugin/plugin.rs
index 8877e324..1ab2e1c8 100644
--- a/src/plugin/plugin.rs
+++ b/src/plugin/plugin.rs
@@ -1,13 +1,14 @@
 use crate::pipeline::{CollisionEvent, ContactForceEvent};
 use crate::prelude::*;
 use crate::reflect::IntegrationParametersWrapper;
+use bevy::app::DynEq;
 use bevy::ecs::{
     intern::Interned,
     schedule::{IntoScheduleConfigs, ScheduleConfigs, ScheduleLabel},
     system::{ScheduleSystem, SystemParamItem},
 };
 use bevy::platform::collections::HashSet;
-use bevy::{prelude::*, transform::TransformSystem};
+use bevy::{prelude::*, transform::TransformSystems};
 use rapier::dynamics::IntegrationParameters;
 use std::marker::PhantomData;
 
@@ -193,7 +194,7 @@ pub struct RapierBevyComponentApply;
 
 /// A set for rapier's copy of Bevy's transform propagation systems.
 ///
-/// See [`TransformSystem`](bevy::transform::TransformSystem::TransformPropagate).
+/// See [`TransformSystems`](bevy::transform::TransformSystems::Propagate).
 #[derive(Debug, Hash, PartialEq, Eq, Clone, SystemSet)]
 pub struct RapierTransformPropagateSet;
 
@@ -267,9 +268,9 @@ where
             .register_type::<DefaultRapierContext>()
             .register_type::<RapierContextInitialization>();
 
-        app.insert_resource(Events::<CollisionEvent>::default())
-            .insert_resource(Events::<ContactForceEvent>::default())
-            .insert_resource(Events::<MassModifiedEvent>::default());
+        app.insert_resource(Messages::<CollisionEvent>::default())
+            .insert_resource(Messages::<ContactForceEvent>::default())
+            .insert_resource(Messages::<MassModifiedEvent>::default());
         let default_world_init = app.world().get_resource::<RapierContextInitialization>();
         if let Some(world_init) = default_world_init {
             log::warn!("RapierPhysicsPlugin added but a `RapierContextInitialization` resource was already existing.\
@@ -290,7 +291,7 @@ where
         if self.schedule != PostUpdate.intern() {
             app.add_systems(
                 PostUpdate,
-                (systems::sync_removals,).before(TransformSystem::TransformPropagate),
+                (systems::sync_removals,).before(TransformSystems::Propagate),
             );
         }
 
@@ -304,7 +305,7 @@ where
                     PhysicsSet::Writeback,
                 )
                     .chain()
-                    .before(TransformSystem::TransformPropagate),
+                    .before(TransformSystems::Propagate),
             );
             app.configure_sets(
                 self.schedule,
@@ -326,7 +327,7 @@ where
             app.init_resource::<TimestepMode>();
 
             // Warn user if the timestep mode isn't in Fixed
-            if self.schedule.as_dyn_eq().dyn_eq(FixedUpdate.as_dyn_eq()) {
+            if self.schedule.dyn_eq(&FixedUpdate as &dyn DynEq) {
                 let config = app.world_mut().resource::<TimestepMode>();
                 match config {
                     TimestepMode::Fixed { .. } => {}
@@ -341,7 +342,7 @@ where
     fn finish(&self, _app: &mut App) {
         #[cfg(all(feature = "dim3", feature = "async-collider"))]
         {
-            use bevy::{asset::AssetPlugin, render::mesh::MeshPlugin, scene::ScenePlugin};
+            use bevy::{asset::AssetPlugin, mesh::MeshPlugin, scene::ScenePlugin};
             if !_app.is_plugin_added::<AssetPlugin>() {
                 _app.add_plugins(AssetPlugin::default());
             }
@@ -442,7 +443,7 @@ pub fn setup_rapier_configuration(
 mod test {
 
     use bevy::{
-        ecs::schedule::Stepping,
+        ecs::schedule::{NodeId, Stepping},
         prelude::Component,
         time::{TimePlugin, TimeUpdateStrategy},
     };
@@ -509,7 +510,7 @@ mod test {
                         .unwrap()
                         .systems()
                         .unwrap()
-                        .find(|s| s.0 == cursor.1)
+                        .find(|s| NodeId::System(s.0) == cursor.1)
                         .unwrap();
                     println!(
                         "next system: {}",
@@ -609,22 +610,16 @@ mod test {
             // render + physics
             app.update();
 
-            let context = app
-                .world_mut()
-                .query::<RapierContext>()
-                .single(app.world())
-                .unwrap();
+            let mut context_query = app.world_mut().query::<RapierContext>();
+            let context = context_query.single(app.world()).unwrap();
             assert_eq!(context.rigidbody_set.entity2body.len(), 1);
 
             // render only + remove entities
             app.update();
             // Fixed Update hasn´t run yet, so it's a risk of not having caught the bevy removed event, which will be cleaned next frame.
 
-            let context = app
-                .world_mut()
-                .query::<RapierContext>()
-                .single(app.world())
-                .unwrap();
+            let mut context_query = app.world_mut().query::<RapierContext>();
+            let context = context_query.single(app.world()).unwrap();
 
             println!("{:?}", &context.rigidbody_set.entity2body);
             assert_eq!(context.rigidbody_set.entity2body.len(), 0);
@@ -692,11 +687,9 @@ mod test {
             for _ in 0..100 {
                 app.update();
             }
-            let context = app
-                .world_mut()
-                .query::<RapierContext>()
-                .single(app.world())
-                .unwrap();
+
+            let mut context_query = app.world_mut().query::<RapierContext>();
+            let context = context_query.single(app.world()).unwrap();
 
             println!("{:#?}", &context.rigidbody_set.bodies);
         }
@@ -760,11 +753,8 @@ mod test {
                 .unwrap();
             approx::assert_relative_eq!(collider.scale, Vect::splat(0.1), epsilon = 1.0e-5);
 
-            let context = app
-                .world_mut()
-                .query::<RapierContext>()
-                .single(app.world())
-                .unwrap();
+            let mut context_query = app.world_mut().query::<RapierContext>();
+            let context = context_query.single(app.world()).unwrap();
             let physics_ball_radius = context
                 .colliders
                 .colliders
diff --git a/src/plugin/systems/collider.rs b/src/plugin/systems/collider.rs
index 2eaa5499..423f3071 100644
--- a/src/plugin/systems/collider.rs
+++ b/src/plugin/systems/collider.rs
@@ -141,7 +141,7 @@ pub fn apply_collider_user_changes(
         Changed<ColliderMassProperties>,
     >,
 
-    mut mass_modified: EventWriter<MassModifiedEvent>,
+    mut mass_modified: MessageWriter<MassModifiedEvent>,
 ) {
     for (rapier_entity, handle, transform) in changed_collider_transforms.iter() {
         let (rigidbody_set, mut context_colliders) = context
@@ -568,7 +568,7 @@ pub fn init_async_scene_colliders(
 /// Adds entity to [`CollidingEntities`] on starting collision and removes from it when the
 /// collision ends.
 pub fn update_colliding_entities(
-    mut collision_events: EventReader<CollisionEvent>,
+    mut collision_events: MessageReader<CollisionEvent>,
     mut colliding_entities: Query<&mut CollidingEntities>,
 ) {
     for event in collision_events.read() {
@@ -600,7 +600,7 @@ pub mod test {
     #[cfg(all(feature = "dim3", feature = "async-collider"))]
     fn async_collider_initializes() {
         use super::*;
-        use bevy::{render::mesh::MeshPlugin, scene::ScenePlugin};
+        use bevy::{mesh::MeshPlugin, scene::ScenePlugin};
 
         let mut app = App::new();
         app.add_plugins((AssetPlugin::default(), MeshPlugin, ScenePlugin));
@@ -633,7 +633,7 @@ pub mod test {
     #[cfg(all(feature = "dim3", feature = "async-collider"))]
     fn async_scene_collider_initializes() {
         use super::*;
-        use bevy::{render::mesh::MeshPlugin, scene::ScenePlugin};
+        use bevy::{mesh::MeshPlugin, scene::ScenePlugin};
 
         let mut app = App::new();
         app.add_plugins((AssetPlugin::default(), MeshPlugin, ScenePlugin));
diff --git a/src/plugin/systems/mod.rs b/src/plugin/systems/mod.rs
index fe5fd027..e04384c3 100644
--- a/src/plugin/systems/mod.rs
+++ b/src/plugin/systems/mod.rs
@@ -42,8 +42,8 @@ pub fn step_simulation<Hooks>(
     timestep_mode: Res<TimestepMode>,
     hooks: StaticSystemParam<Hooks>,
     time: Res<Time>,
-    mut collision_events: EventWriter<CollisionEvent>,
-    mut contact_force_events: EventWriter<ContactForceEvent>,
+    mut collision_events: MessageWriter<CollisionEvent>,
+    mut contact_force_events: MessageWriter<ContactForceEvent>,
     mut interpolation_query: Query<(&RapierRigidBodyHandle, &mut TransformInterpolation)>,
 ) where
     Hooks: 'static + BevyPhysicsHooks,
@@ -86,7 +86,7 @@ pub fn step_simulation<Hooks>(
 #[cfg(test)]
 #[allow(missing_docs)]
 pub mod tests {
-    use bevy::{ecs::event::Events, time::TimePlugin};
+    use bevy::time::TimePlugin;
     use rapier::geometry::CollisionEventFlags;
     use std::f32::consts::PI;
 
@@ -100,7 +100,7 @@ pub mod tests {
     #[test]
     fn colliding_entities_updates() {
         let mut app = App::new();
-        app.add_event::<CollisionEvent>()
+        app.add_message::<CollisionEvent>()
             .add_systems(Update, update_colliding_entities);
 
         let entity1 = app.world_mut().spawn(CollidingEntities::default()).id();
@@ -108,9 +108,9 @@ pub mod tests {
 
         let mut collision_events = app
             .world_mut()
-            .get_resource_mut::<Events<CollisionEvent>>()
+            .get_resource_mut::<Messages<CollisionEvent>>()
             .unwrap();
-        collision_events.send(CollisionEvent::Started(
+        collision_events.write(CollisionEvent::Started(
             entity1,
             entity2,
             CollisionEventFlags::SENSOR,
@@ -152,9 +152,9 @@ pub mod tests {
 
         let mut collision_events = app
             .world_mut()
-            .get_resource_mut::<Events<CollisionEvent>>()
+            .get_resource_mut::<Messages<CollisionEvent>>()
             .unwrap();
-        collision_events.send(CollisionEvent::Stopped(
+        collision_events.write(CollisionEvent::Stopped(
             entity1,
             entity2,
             CollisionEventFlags::SENSOR,
diff --git a/src/plugin/systems/remove.rs b/src/plugin/systems/remove.rs
index f007b0ee..b0dda53f 100644
--- a/src/plugin/systems/remove.rs
+++ b/src/plugin/systems/remove.rs
@@ -43,7 +43,7 @@ pub fn sync_removals(
     mut removed_rigid_body_disabled: RemovedComponents<RigidBodyDisabled>,
     mut removed_colliders_disabled: RemovedComponents<ColliderDisabled>,
 
-    mut mass_modified: EventWriter<MassModifiedEvent>,
+    mut mass_modified: MessageWriter<MassModifiedEvent>,
 ) {
     /*
      * Rigid-bodies removal detection.
@@ -219,9 +219,9 @@ pub fn sync_removals(
 
 fn find_context<'a, TReturn, TQueryParams: QueryData>(
     context_writer: &'a mut Query<TQueryParams>,
-    item_finder: impl Fn(&mut TQueryParams::Item<'_>) -> Option<TReturn>,
-) -> Option<(TQueryParams::Item<'a>, TReturn)> {
-    let ret: Option<(TQueryParams::Item<'_>, TReturn)> = context_writer
+    item_finder: impl Fn(&mut TQueryParams::Item<'_, '_>) -> Option<TReturn>,
+) -> Option<(TQueryParams::Item<'a, 'a>, TReturn)> {
+    let ret: Option<(TQueryParams::Item<'_, '_>, TReturn)> = context_writer
         .iter_mut()
         .find_map(|mut context| item_finder(&mut context).map(|handle| (context, handle)));
     ret
diff --git a/src/plugin/systems/rigid_body.rs b/src/plugin/systems/rigid_body.rs
index 7ad14ccb..e5401d8b 100644
--- a/src/plugin/systems/rigid_body.rs
+++ b/src/plugin/systems/rigid_body.rs
@@ -136,7 +136,7 @@ pub fn apply_rigid_body_user_changes(
             Changed<AdditionalSolverIterations>,
         >,
     ),
-    mut mass_modified: EventWriter<MassModifiedEvent>,
+    mut mass_modified: MessageWriter<MassModifiedEvent>,
 ) {
     // Deal with sleeping first, because other changes may then wake-up the
     // rigid-body again.
@@ -588,7 +588,7 @@ pub fn init_rigid_bodies(
         builder = builder.enabled(disabled.is_none());
 
         if let Some(transform) = transform {
-            builder = builder.position(utils::transform_to_iso(&transform.compute_transform()));
+            builder = builder.pose(utils::transform_to_iso(&transform.compute_transform()));
         }
 
         #[allow(clippy::useless_conversion)] // Need to convert if dim3 enabled
diff --git a/src/plugin/systems/writeback.rs b/src/plugin/systems/writeback.rs
index 42f4b345..d7b15cd4 100644
--- a/src/plugin/systems/writeback.rs
+++ b/src/plugin/systems/writeback.rs
@@ -12,7 +12,7 @@ pub fn writeback_mass_properties(
     config: Query<&RapierConfiguration>,
 
     mut mass_props: Query<&mut ReadMassProperties>,
-    mut mass_modified: EventReader<MassModifiedEvent>,
+    mut mass_modified: MessageReader<MassModifiedEvent>,
 ) {
     for entity in mass_modified.read() {
         let link = link
diff --git a/src/reflect/mod.rs b/src/reflect/mod.rs
index 6da8c7c2..208b9a6f 100644
--- a/src/reflect/mod.rs
+++ b/src/reflect/mod.rs
@@ -1,8 +1,129 @@
 use crate::math::Real;
 use bevy::reflect::reflect_remote;
+#[cfg(feature = "dim3")]
+use rapier::dynamics::FrictionModel;
 use rapier::dynamics::IntegrationParameters;
-use std::num::NonZeroUsize;
 
+/// Friction models used for all contact constraints between two rigid-bodies.
+///
+/// This selection does not apply to multibodies that always rely on the [`FrictionModel::Coulomb`].
+#[cfg(feature = "dim3")]
+#[reflect_remote(FrictionModel)]
+#[derive(Default, Copy, Clone, Debug, PartialEq, Eq)]
+#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+pub enum FrictionModelWrapper {
+    /// A simplified friction model significantly faster to solve than [`Self::Coulomb`]
+    /// but less accurate.
+    ///
+    /// Instead of solving one Coulomb friction constraint per contact in a contact manifold,
+    /// this approximation only solves one Coulomb friction constraint per group of 4 contacts
+    /// in a contact manifold, plus one "twist" constraint. The "twist" constraint is purely
+    /// rotational and aims to eliminate angular movement in the manifold’s tangent plane.
+    #[default]
+    Simplified,
+    /// The coulomb friction model.
+    ///
+    /// This results in one Coulomb friction constraint per contact point.
+    Coulomb,
+}
+
+#[cfg(not(feature = "dim3"))]
+#[reflect_remote(IntegrationParameters)]
+#[derive(Copy, Clone, Debug, PartialEq)]
+/// Parameters for a time-step of the physics engine.
+pub struct IntegrationParametersWrapper {
+    /// The timestep length (default: `1.0 / 60.0`).
+    pub dt: Real,
+    /// Minimum timestep size when using CCD with multiple substeps (default: `1.0 / 60.0 / 100.0`).
+    ///
+    /// When CCD with multiple substeps is enabled, the timestep is subdivided
+    /// into smaller pieces. This timestep subdivision won't generate timestep
+    /// lengths smaller than `min_ccd_dt`.
+    ///
+    /// Setting this to a large value will reduce the opportunity to performing
+    /// CCD substepping, resulting in potentially more time dropped by the
+    /// motion-clamping mechanism. Setting this to an very small value may lead
+    /// to numerical instabilities.
+    pub min_ccd_dt: Real,
+
+    /// > 0: the damping ratio used by the springs for contact constraint stabilization.
+    ///
+    /// Larger values make the constraints more compliant (allowing more visible
+    /// penetrations before stabilization).
+    /// (default `5.0`).
+    pub contact_damping_ratio: Real,
+
+    /// > 0: the natural frequency used by the springs for contact constraint regularization.
+    ///
+    /// Increasing this value will make it so that penetrations get fixed more quickly at the
+    /// expense of potential jitter effects due to overshooting. In order to make the simulation
+    /// look stiffer, it is recommended to increase the [`Self::contact_damping_ratio`] instead of this
+    /// value.
+    /// (default: `30.0`).
+    pub contact_natural_frequency: Real,
+
+    /// > 0: the natural frequency used by the springs for joint constraint regularization.
+    ///
+    /// Increasing this value will make it so that penetrations get fixed more quickly.
+    /// (default: `1.0e6`).
+    pub joint_natural_frequency: Real,
+
+    /// The fraction of critical damping applied to the joint for constraints regularization.
+    ///
+    /// Larger values make the constraints more compliant (allowing more joint
+    /// drift before stabilization).
+    /// (default `1.0`).
+    pub joint_damping_ratio: Real,
+
+    /// The coefficient in `[0, 1]` applied to warmstart impulses, i.e., impulses that are used as the
+    /// initial solution (instead of 0) at the next simulation step.
+    ///
+    /// This should generally be set to 1.
+    ///
+    /// (default `1.0`).
+    pub warmstart_coefficient: Real,
+
+    /// The approximate size of most dynamic objects in the scene.
+    ///
+    /// This value is used internally to estimate some length-based tolerance. In particular, the
+    /// values [`IntegrationParameters::allowed_linear_error`],
+    /// [`IntegrationParameters::max_corrective_velocity`],
+    /// [`IntegrationParameters::prediction_distance`], [`RigidBodyActivation::normalized_linear_threshold`]
+    /// are scaled by this value implicitly.
+    ///
+    /// This value can be understood as the number of units-per-meter in your physical world compared
+    /// to a human-sized world in meter. For example, in a 2d game, if your typical object size is 100
+    /// pixels, set the [`Self::length_unit`] parameter to 100.0. The physics engine will interpret
+    /// it as if 100 pixels is equivalent to 1 meter in its various internal threshold.
+    /// (default `1.0`).
+    pub length_unit: Real,
+
+    /// Amount of penetration the engine won’t attempt to correct (default: `0.001m`).
+    ///
+    /// This value is implicitly scaled by [`IntegrationParameters::length_unit`].
+    pub normalized_allowed_linear_error: Real,
+    /// Maximum amount of penetration the solver will attempt to resolve in one timestep (default: `10.0`).
+    ///
+    /// This value is implicitly scaled by [`IntegrationParameters::length_unit`].
+    pub normalized_max_corrective_velocity: Real,
+    /// The maximal distance separating two objects that will generate predictive contacts (default: `0.002m`).
+    ///
+    /// This value is implicitly scaled by [`IntegrationParameters::length_unit`].
+    pub normalized_prediction_distance: Real,
+    /// The number of solver iterations run by the constraints solver for calculating forces (default: `4`).
+    pub num_solver_iterations: usize,
+    /// Number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration (default: `1`).
+    pub num_internal_pgs_iterations: usize,
+    /// The number of stabilization iterations run at each solver iterations (default: `2`).
+    pub num_internal_stabilization_iterations: usize,
+    /// Minimum number of dynamic bodies in each active island (default: `128`).
+    pub min_island_size: usize,
+    /// Maximum number of substeps performed by the  solver (default: `1`).
+    pub max_ccd_substeps: usize,
+}
+
+// These structs are duplicated in their entirety due to [`FrictionModel`] not being available in 2D, and `bevy::reflect_remote` not supporting conditional fields.
+#[cfg(feature = "dim3")]
 #[reflect_remote(IntegrationParameters)]
 #[derive(Copy, Clone, Debug, PartialEq)]
 /// Parameters for a time-step of the physics engine.
@@ -86,9 +207,7 @@ pub struct IntegrationParametersWrapper {
     /// This value is implicitly scaled by [`IntegrationParameters::length_unit`].
     pub normalized_prediction_distance: Real,
     /// The number of solver iterations run by the constraints solver for calculating forces (default: `4`).
-    pub num_solver_iterations: NonZeroUsize,
-    /// Number of addition friction resolution iteration run during the last solver sub-step (default: `0`).
-    pub num_additional_friction_iterations: usize,
+    pub num_solver_iterations: usize,
     /// Number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration (default: `1`).
     pub num_internal_pgs_iterations: usize,
     /// The number of stabilization iterations run at each solver iterations (default: `2`).
@@ -97,4 +216,7 @@ pub struct IntegrationParametersWrapper {
     pub min_island_size: usize,
     /// Maximum number of substeps performed by the  solver (default: `1`).
     pub max_ccd_substeps: usize,
+    /// Friction models used for all contact constraints between two rigid-bodies.
+    #[reflect(remote = FrictionModelWrapper)]
+    pub friction_model: FrictionModel,
 }
diff --git a/src/render/mod.rs b/src/render/mod.rs
index 18cf10c3..1b2fdce5 100644
--- a/src/render/mod.rs
+++ b/src/render/mod.rs
@@ -2,7 +2,7 @@ use crate::plugin::context::{
     RapierContextColliders, RapierContextJoints, RapierContextSimulation, RapierRigidBodySet,
 };
 use bevy::prelude::*;
-use bevy::transform::TransformSystem;
+use bevy::transform::TransformSystems;
 use rapier::math::{Point, Real};
 use rapier::pipeline::{DebugRenderBackend, DebugRenderObject, DebugRenderPipeline};
 pub use rapier::pipeline::{DebugRenderMode, DebugRenderStyle};
@@ -118,7 +118,7 @@ impl Plugin for RapierDebugRenderPlugin {
         })
         .add_systems(
             PostUpdate,
-            debug_render_scene.after(TransformSystem::TransformPropagate),
+            debug_render_scene.after(TransformSystems::Propagate),
         );
     }
 }

From 0c4cfc91fd1411ecf5b3c221d52a7381a1281c91 Mon Sep 17 00:00:00 2001
From: Denis Avvakumov <denisavvakumov@gmail.com>
Date: Sat, 15 Nov 2025 08:35:30 +0200
Subject: [PATCH 2/2] Update to rapier 0.31.0 and bevy to 0.17.3

---
 bevy_rapier2d/Cargo.toml         |  6 +--
 bevy_rapier3d/Cargo.toml         |  6 +--
 bevy_rapier_benches3d/Cargo.toml |  4 +-
 ci/Cargo.toml                    |  2 +-
 src/geometry/collider.rs         |  4 +-
 src/plugin/plugin.rs             |  5 +-
 src/reflect/mod.rs               | 84 ++++++++++----------------------
 7 files changed, 40 insertions(+), 71 deletions(-)

diff --git a/bevy_rapier2d/Cargo.toml b/bevy_rapier2d/Cargo.toml
index 62c0b894..010cfe08 100644
--- a/bevy_rapier2d/Cargo.toml
+++ b/bevy_rapier2d/Cargo.toml
@@ -64,15 +64,15 @@ async-collider = [
 to-bevy-mesh = ["bevy/bevy_render", "bevy/bevy_asset"]
 
 [dependencies]
-bevy = { version = "0.17.2", default-features = false, features = ["std"] }
+bevy = { version = "0.17.3", default-features = false, features = ["std"] }
 nalgebra = { version = "0.34.1", features = ["convert-glam030"] }
-rapier2d = "0.30.1"
+rapier2d = "0.31.0"
 bitflags = "2.10.0"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
 
 [dev-dependencies]
-bevy = { version = "0.17.2", default-features = false, features = [
+bevy = { version = "0.17.3", default-features = false, features = [
     "x11",
     "bevy_state",
     "bevy_window",
diff --git a/bevy_rapier3d/Cargo.toml b/bevy_rapier3d/Cargo.toml
index 12b4db41..5a1805fe 100644
--- a/bevy_rapier3d/Cargo.toml
+++ b/bevy_rapier3d/Cargo.toml
@@ -65,15 +65,15 @@ async-collider = [
 to-bevy-mesh = ["bevy/bevy_render", "bevy/bevy_asset"]
 
 [dependencies]
-bevy = { version = "0.17.2", default-features = false, features = ["std"] }
+bevy = { version = "0.17.3", default-features = false, features = ["std"] }
 nalgebra = { version = "0.34.1", features = ["convert-glam030"] }
-rapier3d = "0.30.1"
+rapier3d = "0.31.0"
 bitflags = "2.10.0"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
 
 [dev-dependencies]
-bevy = { version = "0.17.2", default-features = false, features = [
+bevy = { version = "0.17.3", default-features = false, features = [
     "bevy_window",
     "x11",
     "tonemapping_luts",
diff --git a/bevy_rapier_benches3d/Cargo.toml b/bevy_rapier_benches3d/Cargo.toml
index 9597ea3f..1f8f3fcd 100644
--- a/bevy_rapier_benches3d/Cargo.toml
+++ b/bevy_rapier_benches3d/Cargo.toml
@@ -9,9 +9,9 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-rapier3d = { features = ["profiler"], version = "0.30.1" }
+rapier3d = "0.31.0"
 bevy_rapier3d = { version = "0.31", path = "../bevy_rapier3d" }
-bevy = { version = "0.17.2", default-features = false }
+bevy = { version = "0.17.3", default-features = false }
 
 [dev-dependencies]
 divan = "0.1"
diff --git a/ci/Cargo.toml b/ci/Cargo.toml
index 22109eb3..d497be04 100644
--- a/ci/Cargo.toml
+++ b/ci/Cargo.toml
@@ -4,7 +4,7 @@ version = "0.1.0"
 edition = "2021"
 
 [dependencies]
-bevy = "0.17.2"
+bevy = "0.17.3"
 bevy_rapier3d = { version = "0.31", path = "../bevy_rapier3d" }
 bevy_rapier2d = { version = "0.31", path = "../bevy_rapier2d" }
 
diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs
index 8ed5dc92..b1dcf8b4 100644
--- a/src/geometry/collider.rs
+++ b/src/geometry/collider.rs
@@ -10,7 +10,7 @@ use bevy::prelude::*;
 
 use bevy::platform::collections::HashSet;
 use rapier::geometry::Shape;
-use rapier::prelude::{ColliderHandle, InteractionGroups, SharedShape};
+use rapier::prelude::{ColliderHandle, InteractionGroups, InteractionTestMode, SharedShape};
 
 use crate::dynamics::{CoefficientCombineRule, MassProperties};
 use crate::math::Vect;
@@ -405,6 +405,7 @@ impl From<CollisionGroups> for InteractionGroups {
             memberships: rapier::geometry::Group::from_bits(collision_groups.memberships.bits())
                 .unwrap(),
             filter: rapier::geometry::Group::from_bits(collision_groups.filters.bits()).unwrap(),
+            test_mode: InteractionTestMode::And,
         }
     }
 }
@@ -438,6 +439,7 @@ impl From<SolverGroups> for InteractionGroups {
             memberships: rapier::geometry::Group::from_bits(solver_groups.memberships.bits())
                 .unwrap(),
             filter: rapier::geometry::Group::from_bits(solver_groups.filters.bits()).unwrap(),
+            test_mode: InteractionTestMode::And,
         }
     }
 }
diff --git a/src/plugin/plugin.rs b/src/plugin/plugin.rs
index 1ab2e1c8..f533ff96 100644
--- a/src/plugin/plugin.rs
+++ b/src/plugin/plugin.rs
@@ -1,6 +1,6 @@
 use crate::pipeline::{CollisionEvent, ContactForceEvent};
 use crate::prelude::*;
-use crate::reflect::IntegrationParametersWrapper;
+use crate::reflect::{IntegrationParametersWrapper, SpringCoefficientsWrapper};
 use bevy::app::DynEq;
 use bevy::ecs::{
     intern::Interned,
@@ -266,7 +266,8 @@ where
             .register_type::<RapierConfiguration>()
             .register_type::<SimulationToRenderTime>()
             .register_type::<DefaultRapierContext>()
-            .register_type::<RapierContextInitialization>();
+            .register_type::<RapierContextInitialization>()
+            .register_type::<SpringCoefficientsWrapper>();
 
         app.insert_resource(Messages::<CollisionEvent>::default())
             .insert_resource(Messages::<ContactForceEvent>::default())
diff --git a/src/reflect/mod.rs b/src/reflect/mod.rs
index 208b9a6f..1db98e64 100644
--- a/src/reflect/mod.rs
+++ b/src/reflect/mod.rs
@@ -1,8 +1,9 @@
 use crate::math::Real;
 use bevy::reflect::reflect_remote;
+use rapier::{dynamics::IntegrationParameters, prelude::SpringCoefficients};
+
 #[cfg(feature = "dim3")]
 use rapier::dynamics::FrictionModel;
-use rapier::dynamics::IntegrationParameters;
 
 /// Friction models used for all contact constraints between two rigid-bodies.
 ///
@@ -27,6 +28,21 @@ pub enum FrictionModelWrapper {
     Coulomb,
 }
 
+#[reflect_remote(SpringCoefficients<Real>)]
+#[derive(Copy, Clone, Debug, PartialEq)]
+/// Coefficients for a spring, typically used for configuring constraint softness for contacts and
+/// joints.
+pub struct SpringCoefficientsWrapper {
+    /// Sets the natural frequency (Hz) of the spring-like constraint.
+    ///
+    /// Higher values make the constraint stiffer and resolve constraint violations more quickly.
+    pub natural_frequency: Real,
+    /// Sets the damping ratio for the spring-like constraint.
+    ///
+    /// Larger values make the joint more compliant (allowing more drift before stabilization).
+    pub damping_ratio: Real,
+}
+
 #[cfg(not(feature = "dim3"))]
 #[reflect_remote(IntegrationParameters)]
 #[derive(Copy, Clone, Debug, PartialEq)]
@@ -46,34 +62,9 @@ pub struct IntegrationParametersWrapper {
     /// to numerical instabilities.
     pub min_ccd_dt: Real,
 
-    /// > 0: the damping ratio used by the springs for contact constraint stabilization.
-    ///
-    /// Larger values make the constraints more compliant (allowing more visible
-    /// penetrations before stabilization).
-    /// (default `5.0`).
-    pub contact_damping_ratio: Real,
-
-    /// > 0: the natural frequency used by the springs for contact constraint regularization.
-    ///
-    /// Increasing this value will make it so that penetrations get fixed more quickly at the
-    /// expense of potential jitter effects due to overshooting. In order to make the simulation
-    /// look stiffer, it is recommended to increase the [`Self::contact_damping_ratio`] instead of this
-    /// value.
-    /// (default: `30.0`).
-    pub contact_natural_frequency: Real,
-
-    /// > 0: the natural frequency used by the springs for joint constraint regularization.
-    ///
-    /// Increasing this value will make it so that penetrations get fixed more quickly.
-    /// (default: `1.0e6`).
-    pub joint_natural_frequency: Real,
-
-    /// The fraction of critical damping applied to the joint for constraints regularization.
-    ///
-    /// Larger values make the constraints more compliant (allowing more joint
-    /// drift before stabilization).
-    /// (default `1.0`).
-    pub joint_damping_ratio: Real,
+    /// Softness coefficients for contact constraints.
+    #[reflect(remote = SpringCoefficientsWrapper)]
+    pub contact_softness: SpringCoefficients<Real>,
 
     /// The coefficient in `[0, 1]` applied to warmstart impulses, i.e., impulses that are used as the
     /// initial solution (instead of 0) at the next simulation step.
@@ -114,7 +105,7 @@ pub struct IntegrationParametersWrapper {
     pub num_solver_iterations: usize,
     /// Number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration (default: `1`).
     pub num_internal_pgs_iterations: usize,
-    /// The number of stabilization iterations run at each solver iterations (default: `2`).
+    /// The number of stabilization iterations run at each solver iterations (default: `1`).
     pub num_internal_stabilization_iterations: usize,
     /// Minimum number of dynamic bodies in each active island (default: `128`).
     pub min_island_size: usize,
@@ -142,34 +133,9 @@ pub struct IntegrationParametersWrapper {
     /// to numerical instabilities.
     pub min_ccd_dt: Real,
 
-    /// > 0: the damping ratio used by the springs for contact constraint stabilization.
-    ///
-    /// Larger values make the constraints more compliant (allowing more visible
-    /// penetrations before stabilization).
-    /// (default `5.0`).
-    pub contact_damping_ratio: Real,
-
-    /// > 0: the natural frequency used by the springs for contact constraint regularization.
-    ///
-    /// Increasing this value will make it so that penetrations get fixed more quickly at the
-    /// expense of potential jitter effects due to overshooting. In order to make the simulation
-    /// look stiffer, it is recommended to increase the [`Self::contact_damping_ratio`] instead of this
-    /// value.
-    /// (default: `30.0`).
-    pub contact_natural_frequency: Real,
-
-    /// > 0: the natural frequency used by the springs for joint constraint regularization.
-    ///
-    /// Increasing this value will make it so that penetrations get fixed more quickly.
-    /// (default: `1.0e6`).
-    pub joint_natural_frequency: Real,
-
-    /// The fraction of critical damping applied to the joint for constraints regularization.
-    ///
-    /// Larger values make the constraints more compliant (allowing more joint
-    /// drift before stabilization).
-    /// (default `1.0`).
-    pub joint_damping_ratio: Real,
+    /// Softness coefficients for contact constraints.
+    #[reflect(remote = SpringCoefficientsWrapper)]
+    pub contact_softness: SpringCoefficients<Real>,
 
     /// The coefficient in `[0, 1]` applied to warmstart impulses, i.e., impulses that are used as the
     /// initial solution (instead of 0) at the next simulation step.
@@ -210,7 +176,7 @@ pub struct IntegrationParametersWrapper {
     pub num_solver_iterations: usize,
     /// Number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration (default: `1`).
     pub num_internal_pgs_iterations: usize,
-    /// The number of stabilization iterations run at each solver iterations (default: `2`).
+    /// The number of stabilization iterations run at each solver iterations (default: `1`).
     pub num_internal_stabilization_iterations: usize,
     /// Minimum number of dynamic bodies in each active island (default: `128`).
     pub min_island_size: usize,