diff --git a/CHANGELOG.md b/CHANGELOG.md
index 24c9e61d..a5ef5c80 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -4,8 +4,31 @@
 
 ### Modified
 
+- `RapierContext` has been split in multiple `Component`s:
+    - `RapierContextColliders`
+    - `RapierContextJoints`
+    - `RapierContextSimulation`
+    - `RapierRigidBodySet`
+
+## v0.28.0 (09 December 2024)
+
+### Modified
+
 - Update from rapier `0.21` to rapier `0.22`,
   see [rapier's changelog](https://github.com/dimforge/rapier/blob/master/CHANGELOG.md).
+- Update bevy to 0.15.
+- `RapierContext`, `RapierConfiguration` and `RenderToSimulationTime` are now a `Component` instead of resources.
+  - Rapier now supports multiple independent physics worlds, see example `multi_world3` for usage details.
+  - Migration guide:
+    - `ResMut<mut RapierContext>` -> `WriteDefaultRapierContext`
+    - `Res<RapierContext>` -> `ReadDefaultRapierContext`
+    - Access to `RapierConfiguration` and `RenderToSimulationTime` should query for it
+on the responsible entity owning the `RenderContext`.
+  - If you are building a library on top of `bevy_rapier` and would want to support multiple independent physics worlds too,
+you can check out the details of [#545](https://github.com/dimforge/bevy_rapier/pull/545)
+to get more context and information.
+- `colliders_with_aabb_intersecting_aabb` now takes `bevy::math::bounding::Aabb3d` (or `[..]::Aabb2d` in 2D) as parameter.
+  - it is now accessible with `headless` feature enabled.
 
 ### Fix
 
@@ -21,39 +44,6 @@ which was its hardcoded behaviour.
   `RapierDebugColliderPlugin` and `DebugRenderContext`, as well as individual collider setup via
   a `ColliderDebug` component.
 
-### Modified
-
-- Rapier now supports multiple independent physics contexts, see example `multi_contexts3` for usage details.
-  - Each entity managed by bevy_rapier has a `RapierContextEntityLink` pointing to the entity containing the components above.
-    - If you are building a library on top of `bevy_rapier` and would want to support multiple independent physics contexts too,
-  you can check out the details of [#545](https://github.com/dimforge/bevy_rapier/pull/545)
-  to find more information.
-  - Rapier now supports multiple independent physics contexts, see example `multi_contexts3` for usage details.
-  - Migration guide:
-    - `ResMut<mut RapierContext>` -> `WriteDefaultRapierContext`
-    - `Res<RapierContext>` -> `ReadDefaultRapierContext`
-    - Access to `RapierConfiguration` and `RenderToSimulationTime` should query for it
-on the responsible entity owning the `RenderContext`.
-  - If you are building a library on top of `bevy_rapier` and would want to support multiple independent physics contexts too,
-you can check out the details of [#545](https://github.com/dimforge/bevy_rapier/pull/545)
-to get more context and information.
-- `colliders_with_aabb_intersecting_aabb` now takes `bevy::math::bounding::Aabb3d` (or `[..]::Aabb2d` in 2D) as parameter.
-  - it is now accessible with `headless` feature enabled.
-- `RapierContext`, `RapierConfiguration` and `SimulationToRenderTime` are no longer `Resource`s.
-  - They have been split in multiple `Component`s:
-    - `RapierContextColliders`
-    - `RapierContextJoints`
-    - `RapierContextSimulation`
-    - `RapierRigidBodySet`
-    - `SimulationToRenderTime`
-    - `RapierConfiguration`
-  - Migration guide:
-    - `ResMut<mut RapierContext>` -> `WriteRapierContext`
-    - `Res<RapierContext>` -> `ReadRapierContext`
-    - Access to `RapierConfiguration` and `SimulationToRenderTime` should query for it
-  on the responsible entity owning the `RenderContext`.
-  - See [`ray_casting`](bevy_rapier3d/examples/ray_casting3.rs) example for a usage example.
-
 ## v0.27.0 (07 July 2024)
 
 **This is an update from rapier 0.19 to Rapier 0.21 which includes several stability improvements
diff --git a/Cargo.toml b/Cargo.toml
index 684265ff..a297a9b5 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -2,11 +2,6 @@
 members = ["bevy_rapier2d", "bevy_rapier3d", "bevy_rapier_benches3d"]
 resolver = "2"
 
-[workspace.lints]
-rust.unexpected_cfgs = { level = "warn", check-cfg = [
-    'cfg(feature, values("dim2", "dim3"))',
-] }
-
 [profile.dev]
 # Use slightly better optimization by default, as examples otherwise seem laggy.
 opt-level = 1
@@ -20,7 +15,6 @@ codegen-units = 1
 #parry3d = { path = "../parry/crates/parry3d" }
 #rapier2d = { path = "../rapier/crates/rapier2d" }
 #rapier3d = { path = "../rapier/crates/rapier3d" }
-
 #nalgebra = { git = "https://github.com/dimforge/nalgebra", branch = "dev" }
 #parry2d = { git = "https://github.com/dimforge/parry", branch = "master" }
 #parry3d = { git = "https://github.com/dimforge/parry", branch = "master" }
diff --git a/bevy_rapier2d/Cargo.toml b/bevy_rapier2d/Cargo.toml
index d1d1d6ca..4a626709 100644
--- a/bevy_rapier2d/Cargo.toml
+++ b/bevy_rapier2d/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "bevy_rapier2d"
-version = "0.27.0"
+version = "0.28.0"
 authors = ["Sébastien Crozet <developer@crozet.re>"]
 description = "2-dimensional physics engine in Rust, official Bevy plugin."
 documentation = "http://docs.rs/bevy_rapier2d"
@@ -18,7 +18,10 @@ path = "../src/lib.rs"
 required-features = ["dim2"]
 
 [lints]
-workspace = true
+rust.unexpected_cfgs = { level = "warn", check-cfg = [
+    'cfg(feature, values("dim3"))',
+] }
+clippy = { needless_lifetimes = "allow" }
 
 [features]
 default = ["dim2", "async-collider", "debug-render-2d"]
@@ -46,28 +49,29 @@ wasm-bindgen = ["rapier2d/wasm-bindgen"]
 serde-serialize = ["rapier2d/serde-serialize", "bevy/serialize", "serde"]
 enhanced-determinism = ["rapier2d/enhanced-determinism"]
 headless = []
-async-collider = ["bevy/bevy_asset", "bevy/bevy_scene"]
+async-collider = ["bevy/bevy_asset", "bevy/bevy_scene", "bevy/bevy_render"]
 
 [dependencies]
-bevy = { version = "0.14", default-features = false }
-nalgebra = { version = "0.33", features = ["convert-glam027"] }
+bevy = { version = "0.15", default-features = false }
+nalgebra = { version = "0.33", features = ["convert-glam029"] }
 rapier2d = "0.22"
 bitflags = "2.4"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
 
 [dev-dependencies]
-bevy = { version = "0.14", default-features = false, features = [
+bevy = { version = "0.15", default-features = false, features = [
     "x11",
     "bevy_state",
+    "bevy_window",
     "bevy_debug_stepping",
 ] }
 oorandom = "11"
 approx = "0.5.1"
-glam = { version = "0.27", features = ["approx"] }
-bevy-inspector-egui = "0.25.1"
-bevy_egui = "0.28.0"
-bevy_mod_debugdump = "0.11"
+glam = { version = "0.29", features = ["approx"] }
+bevy-inspector-egui = "0.28.0"
+bevy_egui = "0.31"
+bevy_mod_debugdump = "0.12"
 
 [package.metadata.docs.rs]
 # Enable all the features when building the docs on docs.rs
diff --git a/bevy_rapier2d/examples/boxes2.rs b/bevy_rapier2d/examples/boxes2.rs
index a653575e..b63f7f56 100644
--- a/bevy_rapier2d/examples/boxes2.rs
+++ b/bevy_rapier2d/examples/boxes2.rs
@@ -18,10 +18,7 @@ fn main() {
 }
 
 pub fn setup_graphics(mut commands: Commands) {
-    commands.spawn(Camera2dBundle {
-        transform: Transform::from_xyz(0.0, 20.0, 0.0),
-        ..default()
-    });
+    commands.spawn((Camera2d::default(), Transform::from_xyz(0.0, 20.0, 0.0)));
 }
 
 pub fn setup_physics(mut commands: Commands) {
@@ -32,7 +29,7 @@ pub fn setup_physics(mut commands: Commands) {
     let ground_height = 10.0;
 
     commands.spawn((
-        TransformBundle::from(Transform::from_xyz(0.0, 0.0 * -ground_height, 0.0)),
+        Transform::from_xyz(0.0, 0.0 * -ground_height, 0.0),
         Collider::cuboid(ground_size, ground_height),
     ));
 
@@ -54,7 +51,7 @@ pub fn setup_physics(mut commands: Commands) {
             let y = j as f32 * shift + centery + 30.0;
 
             commands.spawn((
-                TransformBundle::from(Transform::from_xyz(x, y, 0.0)),
+                Transform::from_xyz(x, y, 0.0),
                 RigidBody::Dynamic,
                 Collider::cuboid(rad, rad),
             ));
diff --git a/bevy_rapier2d/examples/contact_filter2.rs b/bevy_rapier2d/examples/contact_filter2.rs
index d286151d..7e3538c2 100644
--- a/bevy_rapier2d/examples/contact_filter2.rs
+++ b/bevy_rapier2d/examples/contact_filter2.rs
@@ -45,10 +45,7 @@ fn main() {
 }
 
 fn setup_graphics(mut commands: Commands) {
-    commands.spawn(Camera2dBundle {
-        transform: Transform::from_xyz(0.0, 20.0, 0.0),
-        ..default()
-    });
+    commands.spawn((Camera2d::default(), Transform::from_xyz(0.0, 20.0, 0.0)));
 }
 
 pub fn setup_physics(mut commands: Commands) {
@@ -58,13 +55,13 @@ pub fn setup_physics(mut commands: Commands) {
     let ground_size = 100.0;
 
     commands.spawn((
-        TransformBundle::from(Transform::from_xyz(0.0, -100.0, 0.0)),
+        Transform::from_xyz(0.0, -100.0, 0.0),
         Collider::cuboid(ground_size, 12.0),
         CustomFilterTag::GroupA,
     ));
 
     commands.spawn((
-        TransformBundle::from(Transform::from_xyz(0.0, 0.0, 0.0)),
+        Transform::from_xyz(0.0, 0.0, 0.0),
         Collider::cuboid(ground_size, 12.0),
         CustomFilterTag::GroupB,
     ));
@@ -89,7 +86,7 @@ pub fn setup_physics(mut commands: Commands) {
             group_id += 1;
 
             commands.spawn((
-                TransformBundle::from(Transform::from_xyz(x, y, 0.0)),
+                Transform::from_xyz(x, y, 0.0),
                 RigidBody::Dynamic,
                 Collider::cuboid(rad, rad),
                 ActiveHooks::FILTER_CONTACT_PAIRS,
diff --git a/bevy_rapier2d/examples/custom_system_setup2.rs b/bevy_rapier2d/examples/custom_system_setup2.rs
index 31232e9f..71b5ac56 100644
--- a/bevy_rapier2d/examples/custom_system_setup2.rs
+++ b/bevy_rapier2d/examples/custom_system_setup2.rs
@@ -61,10 +61,7 @@ fn despawn_one_box(
 }
 
 fn setup_graphics(mut commands: Commands) {
-    commands.spawn(Camera2dBundle {
-        transform: Transform::from_xyz(0.0, 20.0, 0.0),
-        ..default()
-    });
+    commands.spawn((Camera2d::default(), Transform::from_xyz(0.0, 20.0, 0.0)));
 }
 
 pub fn setup_physics(mut commands: Commands) {
@@ -75,7 +72,7 @@ pub fn setup_physics(mut commands: Commands) {
     let ground_height = 10.0;
 
     commands.spawn((
-        TransformBundle::from(Transform::from_xyz(0.0, 0.0 * -ground_height, 0.0)),
+        Transform::from_xyz(0.0, 0.0 * -ground_height, 0.0),
         Collider::cuboid(ground_size, ground_height),
     ));
 
@@ -97,7 +94,7 @@ pub fn setup_physics(mut commands: Commands) {
             let y = j as f32 * shift + centery + 30.0;
 
             commands.spawn((
-                TransformBundle::from(Transform::from_xyz(x, y, 0.0)),
+                Transform::from_xyz(x, y, 0.0),
                 RigidBody::Dynamic,
                 Collider::cuboid(rad, rad),
             ));
diff --git a/bevy_rapier2d/examples/debug_despawn2.rs b/bevy_rapier2d/examples/debug_despawn2.rs
index 3eeab482..4fdf28b5 100644
--- a/bevy_rapier2d/examples/debug_despawn2.rs
+++ b/bevy_rapier2d/examples/debug_despawn2.rs
@@ -92,7 +92,7 @@ pub fn setup_game(mut commands: Commands, mut game: ResMut<Game>) {
         byte_rgb(255, 0, 0),
     ];
 
-    commands.spawn(Camera2dBundle::default());
+    commands.spawn(Camera2d::default());
 
     setup_board(&mut commands, &game);
 
@@ -131,15 +131,12 @@ fn setup_board(commands: &mut Commands, game: &Game) {
 
     // Add floor
     commands.spawn((
-        SpriteBundle {
-            sprite: Sprite {
-                color: Color::srgb(0.5, 0.5, 0.5),
-                custom_size: Some(Vec2::new(game.n_lanes as f32 * 30.0, 60.0)),
-                ..Default::default()
-            },
-            transform: Transform::from_xyz(0.0, floor_y - 30.0 * 0.5, 0.0),
+        Sprite {
+            color: Color::srgb(0.5, 0.5, 0.5),
+            custom_size: Some(Vec2::new(game.n_lanes as f32 * 30.0, 60.0)),
             ..Default::default()
         },
+        Transform::from_xyz(0.0, floor_y - 30.0 * 0.5, 0.0),
         RigidBody::Fixed,
         Collider::cuboid(game.n_lanes as f32 * 30.0 / 2.0, 60.0 / 2.0),
     ));
@@ -200,15 +197,12 @@ fn spawn_block(
 
     commands
         .spawn((
-            SpriteBundle {
-                sprite: Sprite {
-                    color: game.cube_colors[kind as usize],
-                    custom_size: Some(Vec2::new(30.0, 30.0)),
-                    ..Default::default()
-                },
-                transform: Transform::from_xyz(x, y, 0.0),
+            Sprite {
+                color: game.cube_colors[kind as usize],
+                custom_size: Some(Vec2::new(30.0, 30.0)),
                 ..Default::default()
             },
+            Transform::from_xyz(x, y, 0.0),
             RigidBody::Dynamic,
             Damping {
                 linear_damping,
diff --git a/bevy_rapier2d/examples/debug_toggle2.rs b/bevy_rapier2d/examples/debug_toggle2.rs
index da161f1b..a5b1e1e0 100644
--- a/bevy_rapier2d/examples/debug_toggle2.rs
+++ b/bevy_rapier2d/examples/debug_toggle2.rs
@@ -31,11 +31,10 @@ fn main() {
 }
 
 pub fn setup_graphics(mut commands: Commands) {
-    commands.spawn(Camera3dBundle {
-        transform: Transform::from_xyz(-30.0, 30.0, 100.0)
-            .looking_at(Vec3::new(0.0, 10.0, 0.0), Vec3::Y),
-        ..Default::default()
-    });
+    commands.spawn((
+        Camera3d::default(),
+        Transform::from_xyz(-30.0, 30.0, 100.0).looking_at(Vec3::new(0.0, 10.0, 0.0), Vec3::Y),
+    ));
 }
 
 #[derive(Component)]
@@ -49,7 +48,7 @@ pub fn setup_physics(mut commands: Commands) {
     let ground_height = 0.1;
 
     commands.spawn((
-        TransformBundle::from(Transform::from_xyz(0.0, -ground_height, 0.0)),
+        Transform::from_xyz(0.0, -ground_height, 0.0),
         Collider::cuboid(ground_size, ground_height),
     ));
 
@@ -81,12 +80,10 @@ pub fn setup_physics(mut commands: Commands) {
                 color += 1;
 
                 commands
-                    .spawn(TransformBundle::from(Transform::from_rotation(
-                        Quat::from_rotation_x(0.2),
-                    )))
+                    .spawn(Transform::from_rotation(Quat::from_rotation_x(0.2)))
                     .with_children(|child| {
                         child.spawn((
-                            TransformBundle::from(Transform::from_xyz(x, y, z)),
+                            Transform::from_xyz(x, y, z),
                             RigidBody::Dynamic,
                             Collider::cuboid(rad, rad),
                             ColliderDebugColor(colors[color % 3]),
diff --git a/bevy_rapier2d/examples/despawn2.rs b/bevy_rapier2d/examples/despawn2.rs
index a2b5288d..ed20bc80 100644
--- a/bevy_rapier2d/examples/despawn2.rs
+++ b/bevy_rapier2d/examples/despawn2.rs
@@ -43,10 +43,7 @@ pub fn setup_graphics(
     resize.timer = Timer::from_seconds(6.0, TimerMode::Once);
     despawn.timer = Timer::from_seconds(5.0, TimerMode::Once);
 
-    commands.spawn(Camera2dBundle {
-        transform: Transform::from_xyz(0.0, 20.0, 0.0),
-        ..default()
-    });
+    commands.spawn((Camera2d::default(), Transform::from_xyz(0.0, 20.0, 0.0)));
 }
 
 pub fn setup_physics(mut commands: Commands) {
@@ -58,12 +55,12 @@ pub fn setup_physics(mut commands: Commands) {
     commands.spawn((Collider::cuboid(ground_size, 12.0), Despawn));
 
     commands.spawn((
-        TransformBundle::from(Transform::from_xyz(ground_size, ground_size * 2.0, 0.0)),
+        Transform::from_xyz(ground_size, ground_size * 2.0, 0.0),
         Collider::cuboid(12.0, ground_size * 2.0),
     ));
 
     commands.spawn((
-        TransformBundle::from(Transform::from_xyz(-ground_size, ground_size * 2.0, 0.0)),
+        Transform::from_xyz(-ground_size, ground_size * 2.0, 0.0),
         Collider::cuboid(12.0, ground_size * 2.0),
     ));
 
@@ -83,7 +80,7 @@ pub fn setup_physics(mut commands: Commands) {
             let y = j as f32 * shift + centery + 2.0;
 
             let mut entity = commands.spawn((
-                TransformBundle::from(Transform::from_xyz(x, y, 0.0)),
+                Transform::from_xyz(x, y, 0.0),
                 RigidBody::Dynamic,
                 Collider::cuboid(rad, rad),
             ));
diff --git a/bevy_rapier2d/examples/events2.rs b/bevy_rapier2d/examples/events2.rs
index d772d3f8..0b49e486 100644
--- a/bevy_rapier2d/examples/events2.rs
+++ b/bevy_rapier2d/examples/events2.rs
@@ -19,7 +19,7 @@ fn main() {
 }
 
 pub fn setup_graphics(mut commands: Commands) {
-    commands.spawn(Camera2dBundle::default());
+    commands.spawn(Camera2d::default());
 }
 
 pub fn display_events(
@@ -40,18 +40,18 @@ pub fn setup_physics(mut commands: Commands) {
      * Ground
      */
     commands.spawn((
-        TransformBundle::from(Transform::from_xyz(0.0, -24.0, 0.0)),
+        Transform::from_xyz(0.0, -24.0, 0.0),
         Collider::cuboid(80.0, 20.0),
     ));
 
     commands.spawn((
-        TransformBundle::from(Transform::from_xyz(0.0, 100.0, 0.0)),
+        Transform::from_xyz(0.0, 100.0, 0.0),
         Collider::cuboid(80.0, 30.0),
         Sensor,
     ));
 
     commands.spawn((
-        TransformBundle::from(Transform::from_xyz(0.0, 260.0, 0.0)),
+        Transform::from_xyz(0.0, 260.0, 0.0),
         RigidBody::Dynamic,
         Collider::cuboid(10.0, 10.0),
         ActiveEvents::COLLISION_EVENTS,
diff --git a/bevy_rapier2d/examples/joints2.rs b/bevy_rapier2d/examples/joints2.rs
index e30352ca..a7c16cee 100644
--- a/bevy_rapier2d/examples/joints2.rs
+++ b/bevy_rapier2d/examples/joints2.rs
@@ -18,10 +18,7 @@ fn main() {
 }
 
 pub fn setup_graphics(mut commands: Commands) {
-    commands.spawn(Camera2dBundle {
-        transform: Transform::from_xyz(0.0, -200.0, 0.0),
-        ..default()
-    });
+    commands.spawn((Camera2d::default(), Transform::from_xyz(0.0, -200.0, 0.0)));
 }
 
 pub fn setup_physics(mut commands: Commands) {
@@ -46,7 +43,7 @@ pub fn setup_physics(mut commands: Commands) {
 
             let child_entity = commands
                 .spawn((
-                    TransformBundle::from(Transform::from_xyz(fk * shift, -fi * shift, 0.0)),
+                    Transform::from_xyz(fk * shift, -fi * shift, 0.0),
                     rigid_body,
                     Collider::cuboid(rad, rad),
                 ))
diff --git a/bevy_rapier2d/examples/joints_despawn2.rs b/bevy_rapier2d/examples/joints_despawn2.rs
index 736d868b..f5fa1977 100644
--- a/bevy_rapier2d/examples/joints_despawn2.rs
+++ b/bevy_rapier2d/examples/joints_despawn2.rs
@@ -28,10 +28,7 @@ fn main() {
 }
 
 pub fn setup_graphics(mut commands: Commands) {
-    commands.spawn(Camera2dBundle {
-        transform: Transform::from_xyz(0.0, -200.0, 0.0),
-        ..default()
-    });
+    commands.spawn((Camera2d::default(), Transform::from_xyz(0.0, -200.0, 0.0)));
 }
 
 pub fn setup_physics(mut commands: Commands, mut despawn: ResMut<DespawnResource>) {
@@ -58,7 +55,7 @@ pub fn setup_physics(mut commands: Commands, mut despawn: ResMut<DespawnResource
 
             let child_entity = commands
                 .spawn((
-                    TransformBundle::from(Transform::from_xyz(fk * shift, -fi * shift, 0.0)),
+                    Transform::from_xyz(fk * shift, -fi * shift, 0.0),
                     rigid_body,
                     Collider::cuboid(rad, rad),
                 ))
diff --git a/bevy_rapier2d/examples/locked_rotations2.rs b/bevy_rapier2d/examples/locked_rotations2.rs
index 2046bb8f..a6b23b30 100644
--- a/bevy_rapier2d/examples/locked_rotations2.rs
+++ b/bevy_rapier2d/examples/locked_rotations2.rs
@@ -18,10 +18,7 @@ fn main() {
 }
 
 pub fn setup_graphics(mut commands: Commands) {
-    commands.spawn(Camera2dBundle {
-        transform: Transform::from_xyz(0.0, 200.0, 0.0),
-        ..default()
-    });
+    commands.spawn((Camera2d::default(), Transform::from_xyz(0.0, 200.0, 0.0)));
 }
 
 pub fn setup_physics(mut commands: Commands) {
@@ -32,7 +29,7 @@ pub fn setup_physics(mut commands: Commands) {
     let ground_height = 10.0;
 
     commands.spawn((
-        TransformBundle::from(Transform::from_xyz(0.0, -ground_height, 0.0)),
+        Transform::from_xyz(0.0, -ground_height, 0.0),
         Collider::cuboid(ground_size, ground_height),
     ));
 
@@ -40,7 +37,7 @@ pub fn setup_physics(mut commands: Commands) {
      * A rectangle that only rotate.
      */
     commands.spawn((
-        TransformBundle::from(Transform::from_xyz(0.0, 300.0, 0.0)),
+        Transform::from_xyz(0.0, 300.0, 0.0),
         RigidBody::Dynamic,
         LockedAxes::TRANSLATION_LOCKED,
         Collider::cuboid(200.0, 60.0),
@@ -50,9 +47,7 @@ pub fn setup_physics(mut commands: Commands) {
      * A tilted cuboid that cannot rotate.
      */
     commands.spawn((
-        TransformBundle::from(
-            Transform::from_xyz(50.0, 500.0, 0.0).with_rotation(Quat::from_rotation_z(1.0)),
-        ),
+        Transform::from_xyz(50.0, 500.0, 0.0).with_rotation(Quat::from_rotation_z(1.0)),
         RigidBody::Dynamic,
         LockedAxes::ROTATION_LOCKED,
         Collider::cuboid(60.0, 40.0),
diff --git a/bevy_rapier2d/examples/multiple_colliders2.rs b/bevy_rapier2d/examples/multiple_colliders2.rs
index a2cb1f85..dc41ecf2 100644
--- a/bevy_rapier2d/examples/multiple_colliders2.rs
+++ b/bevy_rapier2d/examples/multiple_colliders2.rs
@@ -18,7 +18,7 @@ fn main() {
 }
 
 pub fn setup_graphics(mut commands: Commands) {
-    commands.spawn(Camera2dBundle::default());
+    commands.spawn(Camera2d::default());
 }
 
 pub fn setup_physics(mut commands: Commands) {
@@ -29,7 +29,7 @@ pub fn setup_physics(mut commands: Commands) {
     let ground_height = 1.0;
 
     commands.spawn((
-        TransformBundle::from(Transform::from_xyz(0.0, -ground_height, 0.0)),
+        Transform::from_xyz(0.0, -ground_height, 0.0),
         Collider::cuboid(ground_size, ground_height),
     ));
 
@@ -51,18 +51,15 @@ pub fn setup_physics(mut commands: Commands) {
             let y = j as f32 * (shift * 5.0) + centery + 3.0;
 
             commands
-                .spawn((
-                    TransformBundle::from(Transform::from_xyz(x, y, 0.0)),
-                    RigidBody::Dynamic,
-                ))
+                .spawn((Transform::from_xyz(x, y, 0.0), RigidBody::Dynamic))
                 .with_children(|children| {
                     children.spawn(Collider::cuboid(rad * 10.0, rad));
                     children.spawn((
-                        TransformBundle::from(Transform::from_xyz(rad * 10.0, rad * 10.0, 0.0)),
+                        Transform::from_xyz(rad * 10.0, rad * 10.0, 0.0),
                         Collider::cuboid(rad, rad * 10.0),
                     ));
                     children.spawn((
-                        TransformBundle::from(Transform::from_xyz(-rad * 10.0, rad * 10.0, 0.0)),
+                        Transform::from_xyz(-rad * 10.0, rad * 10.0, 0.0),
                         Collider::cuboid(rad, rad * 10.0),
                     ));
                 });
diff --git a/bevy_rapier2d/examples/player_movement2.rs b/bevy_rapier2d/examples/player_movement2.rs
index 7cc1cab5..cded0855 100644
--- a/bevy_rapier2d/examples/player_movement2.rs
+++ b/bevy_rapier2d/examples/player_movement2.rs
@@ -28,18 +28,15 @@ pub fn spawn_player(mut commands: Commands, mut rapier_config: Query<&mut Rapier
     let mut rapier_config = rapier_config.single_mut();
     // Set gravity to 0.0 and spawn camera.
     rapier_config.gravity = Vec2::ZERO;
-    commands.spawn(Camera2dBundle::default());
+    commands.spawn(Camera2d::default());
 
     let sprite_size = 100.0;
 
     // Spawn entity with `Player` struct as a component for access in movement query.
     commands.spawn((
-        SpriteBundle {
-            sprite: Sprite {
-                color: Color::srgb(0.0, 0.0, 0.0),
-                custom_size: Some(Vec2::new(sprite_size, sprite_size)),
-                ..Default::default()
-            },
+        Sprite {
+            color: Color::srgb(0.0, 0.0, 0.0),
+            custom_size: Some(Vec2::new(sprite_size, sprite_size)),
             ..Default::default()
         },
         RigidBody::Dynamic,
diff --git a/bevy_rapier2d/examples/rope_joint2.rs b/bevy_rapier2d/examples/rope_joint2.rs
index 60d3ac50..922578f8 100644
--- a/bevy_rapier2d/examples/rope_joint2.rs
+++ b/bevy_rapier2d/examples/rope_joint2.rs
@@ -18,10 +18,7 @@ fn main() {
 }
 
 pub fn setup_graphics(mut commands: Commands) {
-    commands.spawn(Camera2dBundle {
-        transform: Transform::from_xyz(0.0, -200.0, 0.0),
-        ..default()
-    });
+    commands.spawn((Camera2d::default(), Transform::from_xyz(0.0, -200.0, 0.0)));
 }
 
 pub fn setup_physics(mut commands: Commands) {
@@ -30,7 +27,7 @@ pub fn setup_physics(mut commands: Commands) {
 
     let parent = commands
         .spawn((
-            TransformBundle::from(Transform::from_xyz(0.0, 0.0, 0.0)),
+            Transform::from_xyz(0.0, 0.0, 0.0),
             RigidBody::Fixed,
             Collider::cuboid(rad, rad),
         ))
@@ -40,7 +37,7 @@ pub fn setup_physics(mut commands: Commands) {
 
     commands
         .spawn((
-            TransformBundle::from(Transform::from_xyz(-rad * 2.0, 0.0, 0.0)),
+            Transform::from_xyz(-rad * 2.0, 0.0, 0.0),
             RigidBody::Dynamic,
             Collider::cuboid(rad, rad),
         ))
diff --git a/bevy_rapier2d/examples/testbed2.rs b/bevy_rapier2d/examples/testbed2.rs
index f415fb1f..c1bcc9d0 100644
--- a/bevy_rapier2d/examples/testbed2.rs
+++ b/bevy_rapier2d/examples/testbed2.rs
@@ -108,6 +108,7 @@ fn main() {
             )
                 .run_if(in_state(Examples::DebugToggle2)),
         )
+        .add_systems(OnExit(Examples::DebugToggle2), cleanup)
         //
         // rope joint
         .add_systems(
diff --git a/bevy_rapier3d/Cargo.toml b/bevy_rapier3d/Cargo.toml
index 3ab3cfcb..b5d18c47 100644
--- a/bevy_rapier3d/Cargo.toml
+++ b/bevy_rapier3d/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "bevy_rapier3d"
-version = "0.27.0"
+version = "0.28.0"
 authors = ["Sébastien Crozet <developer@crozet.re>"]
 description = "3-dimensional physics engine in Rust, official Bevy plugin."
 documentation = "http://docs.rs/bevy_rapier3d"
@@ -18,7 +18,10 @@ path = "../src/lib.rs"
 required-features = ["dim3"]
 
 [lints]
-workspace = true
+rust.unexpected_cfgs = { level = "warn", check-cfg = [
+    'cfg(feature, values("dim2"))',
+] }
+clippy = { needless_lifetimes = "allow" }
 
 [features]
 default = ["dim3", "async-collider", "debug-render-3d"]
@@ -47,38 +50,29 @@ wasm-bindgen = ["rapier3d/wasm-bindgen"]
 serde-serialize = ["rapier3d/serde-serialize", "bevy/serialize", "serde"]
 enhanced-determinism = ["rapier3d/enhanced-determinism"]
 headless = []
-async-collider = ["bevy/bevy_asset", "bevy/bevy_scene"]
+async-collider = ["bevy/bevy_asset", "bevy/bevy_scene", "bevy/bevy_render"]
 
 [dependencies]
-bevy = { version = "0.14", default-features = false }
-nalgebra = { version = "0.33", features = ["convert-glam027"] }
+bevy = { version = "0.15", default-features = false }
+nalgebra = { version = "0.33", features = ["convert-glam029"] }
 rapier3d = "0.22"
 bitflags = "2.4"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
 
 [dev-dependencies]
-bevy = { version = "0.14", default-features = false, features = [
+bevy = { version = "0.15", default-features = false, features = [
+    "bevy_window",
     "x11",
     "tonemapping_luts",
     "bevy_state",
     "bevy_debug_stepping",
 ] }
 approx = "0.5.1"
-glam = { version = "0.27", features = ["approx"] }
-bevy-inspector-egui = "0.25.1"
-bevy_egui = "0.28.0"
-divan = "0.1"
-bevy_rapier_benches3d = { version = "0.1", path = "../bevy_rapier_benches3d" }
+glam = { version = "0.29", features = ["approx"] }
+bevy-inspector-egui = "0.28"
+bevy_egui = "0.31"
 
 [package.metadata.docs.rs]
 # Enable all the features when building the docs on docs.rs
 features = ["debug-render-3d", "serde-serialize"]
-
-[[bench]]
-name = "cubes"
-harness = false
-
-[[bench]]
-name = "many_pyramids3"
-harness = false
diff --git a/bevy_rapier3d/examples/boxes3.rs b/bevy_rapier3d/examples/boxes3.rs
index e1078f40..9f862212 100644
--- a/bevy_rapier3d/examples/boxes3.rs
+++ b/bevy_rapier3d/examples/boxes3.rs
@@ -18,11 +18,10 @@ fn main() {
 }
 
 pub fn setup_graphics(mut commands: Commands) {
-    commands.spawn(Camera3dBundle {
-        transform: Transform::from_xyz(-30.0, 30.0, 100.0)
-            .looking_at(Vec3::new(0.0, 10.0, 0.0), Vec3::Y),
-        ..Default::default()
-    });
+    commands.spawn((
+        Camera3d::default(),
+        Transform::from_xyz(-30.0, 30.0, 100.0).looking_at(Vec3::new(0.0, 10.0, 0.0), Vec3::Y),
+    ));
 }
 
 pub fn setup_physics(mut commands: Commands) {
@@ -33,7 +32,7 @@ pub fn setup_physics(mut commands: Commands) {
     let ground_height = 0.1;
 
     commands.spawn((
-        TransformBundle::from(Transform::from_xyz(0.0, -ground_height, 0.0)),
+        Transform::from_xyz(0.0, -ground_height, 0.0),
         Collider::cuboid(ground_size, ground_height, ground_size),
     ));
 
@@ -65,12 +64,10 @@ pub fn setup_physics(mut commands: Commands) {
                 color += 1;
 
                 commands
-                    .spawn(TransformBundle::from(Transform::from_rotation(
-                        Quat::from_rotation_x(0.2),
-                    )))
+                    .spawn(Transform::from_rotation(Quat::from_rotation_x(0.2)))
                     .with_children(|child| {
                         child.spawn((
-                            TransformBundle::from(Transform::from_xyz(x, y, z)),
+                            Transform::from_xyz(x, y, z),
                             RigidBody::Dynamic,
                             Collider::cuboid(rad, rad, rad),
                             ColliderDebugColor(colors[color % 3]),
diff --git a/bevy_rapier3d/examples/character_controller3.rs b/bevy_rapier3d/examples/character_controller3.rs
index 7670da54..f99e3701 100644
--- a/bevy_rapier3d/examples/character_controller3.rs
+++ b/bevy_rapier3d/examples/character_controller3.rs
@@ -34,10 +34,8 @@ fn main() {
 pub fn setup_player(mut commands: Commands) {
     commands
         .spawn((
-            SpatialBundle {
-                transform: Transform::from_xyz(0.0, 5.0, 0.0),
-                ..default()
-            },
+            Transform::from_xyz(0.0, 5.0, 0.0),
+            Visibility::default(),
             Collider::round_cylinder(0.9, 0.3, 0.2),
             KinematicCharacterController {
                 custom_mass: Some(5.0),
@@ -60,10 +58,7 @@ pub fn setup_player(mut commands: Commands) {
         ))
         .with_children(|b| {
             // FPS Camera
-            b.spawn(Camera3dBundle {
-                transform: Transform::from_xyz(0.0, 0.2, -0.1),
-                ..Default::default()
-            });
+            b.spawn((Camera3d::default(), Transform::from_xyz(0.0, 0.2, -0.1)));
         });
 }
 
@@ -75,7 +70,7 @@ fn setup_map(mut commands: Commands) {
     let ground_height = 0.1;
 
     commands.spawn((
-        TransformBundle::from(Transform::from_xyz(0.0, -ground_height, 0.0)),
+        Transform::from_xyz(0.0, -ground_height, 0.0),
         Collider::cuboid(ground_size, ground_height, ground_size),
     ));
     /*
@@ -87,35 +82,19 @@ fn setup_map(mut commands: Commands) {
         let step = i as f32;
         let collider = Collider::cuboid(1.0, step * stair_step, 1.0);
         commands.spawn((
-            TransformBundle::from(Transform::from_xyz(
-                40.0,
-                step * stair_step,
-                step * 2.0 - 20.0,
-            )),
+            Transform::from_xyz(40.0, step * stair_step, step * 2.0 - 20.0),
             collider.clone(),
         ));
         commands.spawn((
-            TransformBundle::from(Transform::from_xyz(
-                -40.0,
-                step * stair_step,
-                step * -2.0 + 20.0,
-            )),
+            Transform::from_xyz(-40.0, step * stair_step, step * -2.0 + 20.0),
             collider.clone(),
         ));
         commands.spawn((
-            TransformBundle::from(Transform::from_xyz(
-                step * 2.0 - 20.0,
-                step * stair_step,
-                40.0,
-            )),
+            Transform::from_xyz(step * 2.0 - 20.0, step * stair_step, 40.0),
             collider.clone(),
         ));
         commands.spawn((
-            TransformBundle::from(Transform::from_xyz(
-                step * -2.0 + 20.0,
-                step * stair_step,
-                -40.0,
-            )),
+            Transform::from_xyz(step * -2.0 + 20.0, step * stair_step, -40.0),
             collider.clone(),
         ));
     }
@@ -176,7 +155,7 @@ fn player_movement(
     let Ok((transform, mut controller, output)) = player.get_single_mut() else {
         return;
     };
-    let delta_time = time.delta_seconds();
+    let delta_time = time.delta_secs();
     // Retrieve input
     let mut movement = Vec3::new(input.x, 0.0, input.z) * MOVEMENT_SPEED;
     let jump_speed = input.y * JUMP_SPEED;
diff --git a/bevy_rapier3d/examples/contact_filter3.rs b/bevy_rapier3d/examples/contact_filter3.rs
index de9f0b9d..7aca1316 100644
--- a/bevy_rapier3d/examples/contact_filter3.rs
+++ b/bevy_rapier3d/examples/contact_filter3.rs
@@ -45,11 +45,10 @@ fn main() {
 }
 
 fn setup_graphics(mut commands: Commands) {
-    commands.spawn(Camera3dBundle {
-        transform: Transform::from_xyz(-30.0, 30.0, 100.0)
-            .looking_at(Vec3::new(0.0, 10.0, 0.0), Vec3::Y),
-        ..Default::default()
-    });
+    commands.spawn((
+        Camera3d::default(),
+        Transform::from_xyz(-30.0, 30.0, 100.0).looking_at(Vec3::new(0.0, 10.0, 0.0), Vec3::Y),
+    ));
 }
 
 pub fn setup_physics(mut commands: Commands) {
@@ -59,13 +58,13 @@ pub fn setup_physics(mut commands: Commands) {
     let ground_size = 10.0;
 
     commands.spawn((
-        TransformBundle::from(Transform::from_xyz(0.0, -10.0, 0.0)),
+        Transform::from_xyz(0.0, -10.0, 0.0),
         Collider::cuboid(ground_size, 1.2, ground_size),
         CustomFilterTag::GroupA,
     ));
 
     commands.spawn((
-        TransformBundle::from(Transform::from_xyz(0.0, 0.0, 0.0)),
+        Transform::from_xyz(0.0, 0.0, 0.0),
         Collider::cuboid(ground_size, 1.2, ground_size),
         CustomFilterTag::GroupB,
     ));
@@ -90,7 +89,7 @@ pub fn setup_physics(mut commands: Commands) {
             group_id += 1;
 
             commands.spawn((
-                TransformBundle::from(Transform::from_xyz(x, y, 0.0)),
+                Transform::from_xyz(x, y, 0.0),
                 RigidBody::Dynamic,
                 Collider::cuboid(rad, rad, rad),
                 ActiveHooks::FILTER_CONTACT_PAIRS,
diff --git a/bevy_rapier3d/examples/custom_system_setup3.rs b/bevy_rapier3d/examples/custom_system_setup3.rs
index 77b14b45..cfb88bae 100644
--- a/bevy_rapier3d/examples/custom_system_setup3.rs
+++ b/bevy_rapier3d/examples/custom_system_setup3.rs
@@ -61,11 +61,10 @@ fn despawn_one_box(
 }
 
 fn setup_graphics(mut commands: Commands) {
-    commands.spawn(Camera3dBundle {
-        transform: Transform::from_xyz(-30.0, 30.0, 100.0)
-            .looking_at(Vec3::new(0.0, 10.0, 0.0), Vec3::Y),
-        ..Default::default()
-    });
+    commands.spawn((
+        Camera3d::default(),
+        Transform::from_xyz(-30.0, 30.0, 100.0).looking_at(Vec3::new(0.0, 10.0, 0.0), Vec3::Y),
+    ));
 }
 
 pub fn setup_physics(mut commands: Commands) {
@@ -76,7 +75,7 @@ pub fn setup_physics(mut commands: Commands) {
     let ground_height = 0.1;
 
     commands.spawn((
-        TransformBundle::from(Transform::from_xyz(0.0, -ground_height, 0.0)),
+        Transform::from_xyz(0.0, -ground_height, 0.0),
         Collider::cuboid(ground_size, ground_height, ground_size),
     ));
 
@@ -108,7 +107,7 @@ pub fn setup_physics(mut commands: Commands) {
                 color += 1;
 
                 commands.spawn((
-                    TransformBundle::from(Transform::from_xyz(x, y, z)),
+                    Transform::from_xyz(x, y, z),
                     RigidBody::Dynamic,
                     Collider::cuboid(rad, rad, rad),
                     ColliderDebugColor(colors[color % 3]),
diff --git a/bevy_rapier3d/examples/debug_toggle3.rs b/bevy_rapier3d/examples/debug_toggle3.rs
index cf1a240a..78468750 100644
--- a/bevy_rapier3d/examples/debug_toggle3.rs
+++ b/bevy_rapier3d/examples/debug_toggle3.rs
@@ -31,11 +31,10 @@ fn main() {
 }
 
 pub fn setup_graphics(mut commands: Commands) {
-    commands.spawn(Camera3dBundle {
-        transform: Transform::from_xyz(-30.0, 30.0, 100.0)
-            .looking_at(Vec3::new(0.0, 10.0, 0.0), Vec3::Y),
-        ..Default::default()
-    });
+    commands.spawn((
+        Camera3d::default(),
+        Transform::from_xyz(-30.0, 30.0, 100.0).looking_at(Vec3::new(0.0, 10.0, 0.0), Vec3::Y),
+    ));
 }
 
 #[derive(Component)]
@@ -49,7 +48,7 @@ pub fn setup_physics(mut commands: Commands) {
     let ground_height = 0.1;
 
     commands.spawn((
-        TransformBundle::from(Transform::from_xyz(0.0, -ground_height, 0.0)),
+        Transform::from_xyz(0.0, -ground_height, 0.0),
         Collider::cuboid(ground_size, ground_height, ground_size),
     ));
 
@@ -81,12 +80,10 @@ pub fn setup_physics(mut commands: Commands) {
                 color += 1;
 
                 commands
-                    .spawn(TransformBundle::from(Transform::from_rotation(
-                        Quat::from_rotation_x(0.2),
-                    )))
+                    .spawn(Transform::from_rotation(Quat::from_rotation_x(0.2)))
                     .with_children(|child| {
                         child.spawn((
-                            TransformBundle::from(Transform::from_xyz(x, y, z)),
+                            Transform::from_xyz(x, y, z),
                             RigidBody::Dynamic,
                             Collider::cuboid(rad, rad, rad),
                             ColliderDebugColor(colors[color % 3]),
diff --git a/bevy_rapier3d/examples/despawn3.rs b/bevy_rapier3d/examples/despawn3.rs
index cf747c95..e6eb717e 100644
--- a/bevy_rapier3d/examples/despawn3.rs
+++ b/bevy_rapier3d/examples/despawn3.rs
@@ -30,11 +30,10 @@ fn main() {
 pub fn setup_graphics(mut commands: Commands, mut res: ResMut<DespawnResource>) {
     res.timer = Timer::from_seconds(5.0, TimerMode::Once);
 
-    commands.spawn(Camera3dBundle {
-        transform: Transform::from_xyz(-30.0, 30.0, 100.0)
-            .looking_at(Vec3::new(0.0, 10.0, 0.0), Vec3::Y),
-        ..Default::default()
-    });
+    commands.spawn((
+        Camera3d::default(),
+        Transform::from_xyz(-30.0, 30.0, 100.0).looking_at(Vec3::new(0.0, 10.0, 0.0), Vec3::Y),
+    ));
 }
 
 pub fn setup_physics(mut commands: Commands) {
@@ -45,7 +44,7 @@ pub fn setup_physics(mut commands: Commands) {
     let ground_height = 0.1;
 
     commands.spawn((
-        TransformBundle::from(Transform::from_xyz(0.0, -ground_height, 0.0)),
+        Transform::from_xyz(0.0, -ground_height, 0.0),
         Collider::cuboid(ground_size, ground_height, ground_size),
         Despawn,
     ));
@@ -78,7 +77,7 @@ pub fn setup_physics(mut commands: Commands) {
                 color += 1;
 
                 commands.spawn((
-                    TransformBundle::from(Transform::from_xyz(x, y, z)),
+                    Transform::from_xyz(x, y, z),
                     RigidBody::Dynamic,
                     Collider::cuboid(rad, rad, rad),
                     ColliderDebugColor(colors[color % 3]),
diff --git a/bevy_rapier3d/examples/events3.rs b/bevy_rapier3d/examples/events3.rs
index 3f8791d7..9f1a23e8 100644
--- a/bevy_rapier3d/examples/events3.rs
+++ b/bevy_rapier3d/examples/events3.rs
@@ -19,10 +19,10 @@ fn main() {
 }
 
 pub fn setup_graphics(mut commands: Commands) {
-    commands.spawn(Camera3dBundle {
-        transform: Transform::from_xyz(0.0, 0.0, 25.0).looking_at(Vec3::ZERO, Vec3::Y),
-        ..Default::default()
-    });
+    commands.spawn((
+        Camera3d::default(),
+        Transform::from_xyz(0.0, 0.0, 25.0).looking_at(Vec3::ZERO, Vec3::Y),
+    ));
 }
 
 pub fn display_events(
@@ -43,18 +43,18 @@ pub fn setup_physics(mut commands: Commands) {
      * Ground
      */
     commands.spawn((
-        TransformBundle::from(Transform::from_xyz(0.0, -1.2, 0.0)),
+        Transform::from_xyz(0.0, -1.2, 0.0),
         Collider::cuboid(4.0, 1.0, 1.0),
     ));
 
     commands.spawn((
-        TransformBundle::from(Transform::from_xyz(0.0, 5.0, 0.0)),
+        Transform::from_xyz(0.0, 5.0, 0.0),
         Collider::cuboid(4.0, 1.5, 1.0),
         Sensor,
     ));
 
     commands.spawn((
-        TransformBundle::from(Transform::from_xyz(0.0, 13.0, 0.0)),
+        Transform::from_xyz(0.0, 13.0, 0.0),
         RigidBody::Dynamic,
         Collider::cuboid(0.5, 0.5, 0.5),
         ActiveEvents::COLLISION_EVENTS,
diff --git a/bevy_rapier3d/examples/joints3.rs b/bevy_rapier3d/examples/joints3.rs
index 4a229177..3ded4ade 100644
--- a/bevy_rapier3d/examples/joints3.rs
+++ b/bevy_rapier3d/examples/joints3.rs
@@ -25,11 +25,10 @@ fn main() {
 }
 
 pub fn setup_graphics(mut commands: Commands) {
-    commands.spawn(Camera3dBundle {
-        transform: Transform::from_xyz(15.0, 5.0, 42.0)
-            .looking_at(Vec3::new(13.0, 1.0, 1.0), Vec3::Y),
-        ..Default::default()
-    });
+    commands.spawn((
+        Camera3d::default(),
+        Transform::from_xyz(15.0, 5.0, 42.0).looking_at(Vec3::new(13.0, 1.0, 1.0), Vec3::Y),
+    ));
 }
 
 fn create_prismatic_joints(commands: &mut Commands, origin: Vect, num: usize) {
@@ -38,7 +37,7 @@ fn create_prismatic_joints(commands: &mut Commands, origin: Vect, num: usize) {
 
     let mut curr_parent = commands
         .spawn((
-            TransformBundle::from(Transform::from_xyz(origin.x, origin.y, origin.z)),
+            Transform::from_xyz(origin.x, origin.y, origin.z),
             RigidBody::Fixed,
             Collider::cuboid(rad, rad, rad),
         ))
@@ -60,7 +59,7 @@ fn create_prismatic_joints(commands: &mut Commands, origin: Vect, num: usize) {
 
         curr_parent = commands
             .spawn((
-                TransformBundle::from(Transform::from_xyz(origin.x, origin.y, origin.z + dz)),
+                Transform::from_xyz(origin.x, origin.y, origin.z + dz),
                 RigidBody::Dynamic,
                 Collider::cuboid(rad, rad, rad),
                 joint,
@@ -75,7 +74,7 @@ fn create_rope_joints(commands: &mut Commands, origin: Vect, num: usize) {
 
     let mut curr_parent = commands
         .spawn((
-            TransformBundle::from(Transform::from_xyz(origin.x, origin.y, origin.z)),
+            Transform::from_xyz(origin.x, origin.y, origin.z),
             RigidBody::Fixed,
             Collider::cuboid(rad, rad, rad),
         ))
@@ -89,7 +88,7 @@ fn create_rope_joints(commands: &mut Commands, origin: Vect, num: usize) {
 
         curr_parent = commands
             .spawn((
-                TransformBundle::from(Transform::from_xyz(origin.x, origin.y, origin.z + dz)),
+                Transform::from_xyz(origin.x, origin.y, origin.z + dz),
                 RigidBody::Dynamic,
                 Collider::cuboid(rad, rad, rad),
                 joint,
@@ -104,7 +103,7 @@ fn create_revolute_joints(commands: &mut Commands, origin: Vec3, num: usize) {
 
     let mut curr_parent = commands
         .spawn((
-            TransformBundle::from(Transform::from_xyz(origin.x, origin.y, 0.0)),
+            Transform::from_xyz(origin.x, origin.y, 0.0),
             RigidBody::Fixed,
             Collider::cuboid(rad, rad, rad),
         ))
@@ -124,7 +123,7 @@ fn create_revolute_joints(commands: &mut Commands, origin: Vec3, num: usize) {
         for k in 0..4 {
             handles[k] = commands
                 .spawn((
-                    TransformBundle::from(Transform::from_translation(positions[k])),
+                    Transform::from_translation(positions[k]),
                     RigidBody::Dynamic,
                     Collider::cuboid(rad, rad, rad),
                 ))
@@ -180,11 +179,7 @@ fn create_fixed_joints(commands: &mut Commands, origin: Vec3, num: usize) {
 
             let child_entity = commands
                 .spawn((
-                    TransformBundle::from(Transform::from_xyz(
-                        origin.x + fk * shift,
-                        origin.y,
-                        origin.z + fi * shift,
-                    )),
+                    Transform::from_xyz(origin.x + fk * shift, origin.y, origin.z + fi * shift),
                     rigid_body,
                     Collider::ball(rad),
                 ))
@@ -239,7 +234,7 @@ fn create_ball_joints(commands: &mut Commands, num: usize) {
 
             let child_entity = commands
                 .spawn((
-                    TransformBundle::from(Transform::from_xyz(fk * shift, 0.0, fi * shift)),
+                    Transform::from_xyz(fk * shift, 0.0, fi * shift),
                     rigid_body,
                     Collider::ball(rad),
                 ))
diff --git a/bevy_rapier3d/examples/joints_despawn3.rs b/bevy_rapier3d/examples/joints_despawn3.rs
index 17d1608f..fe1795c7 100644
--- a/bevy_rapier3d/examples/joints_despawn3.rs
+++ b/bevy_rapier3d/examples/joints_despawn3.rs
@@ -30,11 +30,10 @@ fn main() {
 pub fn setup_graphics(mut commands: Commands, mut res: ResMut<DespawnResource>) {
     res.timer = Timer::from_seconds(5.0, TimerMode::Once);
 
-    commands.spawn(Camera3dBundle {
-        transform: Transform::from_xyz(15.0, 5.0, 42.0)
-            .looking_at(Vec3::new(13.0, 1.0, 1.0), Vec3::Y),
-        ..Default::default()
-    });
+    commands.spawn((
+        Camera3d::default(),
+        Transform::from_xyz(15.0, 5.0, 42.0).looking_at(Vec3::new(13.0, 1.0, 1.0), Vec3::Y),
+    ));
 }
 
 fn create_prismatic_joints(commands: &mut Commands, origin: Vect, num: usize) {
@@ -43,7 +42,7 @@ fn create_prismatic_joints(commands: &mut Commands, origin: Vect, num: usize) {
 
     let mut curr_parent = commands
         .spawn((
-            TransformBundle::from(Transform::from_xyz(origin.x, origin.y, origin.z)),
+            Transform::from_xyz(origin.x, origin.y, origin.z),
             RigidBody::Fixed,
             Collider::cuboid(rad, rad, rad),
         ))
@@ -64,7 +63,7 @@ fn create_prismatic_joints(commands: &mut Commands, origin: Vect, num: usize) {
         let joint = ImpulseJoint::new(curr_parent, prism);
 
         let mut entity = commands.spawn((
-            TransformBundle::from(Transform::from_xyz(origin.x, origin.y, origin.z + dz)),
+            Transform::from_xyz(origin.x, origin.y, origin.z + dz),
             RigidBody::Dynamic,
             Collider::cuboid(rad, rad, rad),
             joint,
@@ -84,7 +83,7 @@ fn create_revolute_joints(commands: &mut Commands, origin: Vec3, num: usize) {
 
     let mut curr_parent = commands
         .spawn((
-            TransformBundle::from(Transform::from_xyz(origin.x, origin.y, 0.0)),
+            Transform::from_xyz(origin.x, origin.y, 0.0),
             RigidBody::Fixed,
             Collider::cuboid(rad, rad, rad),
         ))
@@ -104,7 +103,7 @@ fn create_revolute_joints(commands: &mut Commands, origin: Vec3, num: usize) {
         for k in 0..4 {
             handles[k] = commands
                 .spawn((
-                    TransformBundle::from(Transform::from_translation(positions[k])),
+                    Transform::from_translation(positions[k]),
                     RigidBody::Dynamic,
                     Collider::cuboid(rad, rad, rad),
                 ))
@@ -167,11 +166,7 @@ fn create_fixed_joints(commands: &mut Commands, origin: Vec3, num: usize) {
 
             let child_entity = commands
                 .spawn((
-                    TransformBundle::from(Transform::from_xyz(
-                        origin.x + fk * shift,
-                        origin.y,
-                        origin.z + fi * shift,
-                    )),
+                    Transform::from_xyz(origin.x + fk * shift, origin.y, origin.z + fi * shift),
                     rigid_body,
                     Collider::ball(rad),
                 ))
@@ -226,7 +221,7 @@ fn create_ball_joints(commands: &mut Commands, num: usize) {
 
             let child_entity = commands
                 .spawn((
-                    TransformBundle::from(Transform::from_xyz(fk * shift, 0.0, fi * shift)),
+                    Transform::from_xyz(fk * shift, 0.0, fi * shift),
                     rigid_body,
                     Collider::ball(rad),
                 ))
diff --git a/bevy_rapier3d/examples/locked_rotations3.rs b/bevy_rapier3d/examples/locked_rotations3.rs
index 0288db5f..a4feab94 100644
--- a/bevy_rapier3d/examples/locked_rotations3.rs
+++ b/bevy_rapier3d/examples/locked_rotations3.rs
@@ -18,11 +18,10 @@ fn main() {
 }
 
 pub fn setup_graphics(mut commands: Commands) {
-    commands.spawn(Camera3dBundle {
-        transform: Transform::from_xyz(10.0, 3.0, 0.0)
-            .looking_at(Vec3::new(0.0, 3.0, 0.0), Vec3::Y),
-        ..Default::default()
-    });
+    commands.spawn((
+        Camera3d::default(),
+        Transform::from_xyz(10.0, 3.0, 0.0).looking_at(Vec3::new(0.0, 3.0, 0.0), Vec3::Y),
+    ));
 }
 
 pub fn setup_physics(mut commands: Commands) {
@@ -33,7 +32,7 @@ pub fn setup_physics(mut commands: Commands) {
     let ground_height = 0.1;
 
     commands.spawn((
-        TransformBundle::from(Transform::from_xyz(0.0, -ground_height, 0.0)),
+        Transform::from_xyz(0.0, -ground_height, 0.0),
         Collider::cuboid(ground_size, ground_height, ground_size),
     ));
 
@@ -41,7 +40,7 @@ pub fn setup_physics(mut commands: Commands) {
      * A rectangle that only rotates along the `x` axis.
      */
     commands.spawn((
-        TransformBundle::from(Transform::from_xyz(0.0, 3.0, 0.0)),
+        Transform::from_xyz(0.0, 3.0, 0.0),
         RigidBody::Dynamic,
         LockedAxes::TRANSLATION_LOCKED
             | LockedAxes::ROTATION_LOCKED_Y
@@ -53,9 +52,7 @@ pub fn setup_physics(mut commands: Commands) {
      * A tilted cuboid that cannot rotate.
      */
     commands.spawn((
-        TransformBundle::from(
-            Transform::from_xyz(0.0, 5.0, 0.0).with_rotation(Quat::from_rotation_x(1.0)),
-        ),
+        Transform::from_xyz(0.0, 5.0, 0.0).with_rotation(Quat::from_rotation_x(1.0)),
         RigidBody::Dynamic,
         LockedAxes::ROTATION_LOCKED,
         Collider::cuboid(0.6, 0.4, 0.4),
diff --git a/bevy_rapier3d/examples/multi_contexts3.rs b/bevy_rapier3d/examples/multi_contexts3.rs
index 33baaf39..8a378020 100644
--- a/bevy_rapier3d/examples/multi_contexts3.rs
+++ b/bevy_rapier3d/examples/multi_contexts3.rs
@@ -38,11 +38,10 @@ fn create_contexts(mut commands: Commands) {
 }
 
 fn setup_graphics(mut commands: Commands) {
-    commands.spawn(Camera3dBundle {
-        transform: Transform::from_xyz(0.0, 3.0, -10.0)
-            .looking_at(Vec3::new(0.0, 0.0, 0.0), Vec3::Y),
-        ..Default::default()
-    });
+    commands.spawn((
+        Camera3d::default(),
+        Transform::from_xyz(0.0, 3.0, -10.0).looking_at(Vec3::new(0.0, 0.0, 0.0), Vec3::Y),
+    ));
 }
 
 #[derive(Component)]
@@ -55,7 +54,7 @@ struct Platform {
 
 fn move_platforms(time: Res<Time>, mut query: Query<(&mut Transform, &Platform)>) {
     for (mut transform, platform) in query.iter_mut() {
-        transform.translation.y = platform.starting_y + -time.elapsed_seconds().sin();
+        transform.translation.y = platform.starting_y + -time.elapsed_secs().sin();
     }
 }
 
@@ -96,7 +95,7 @@ pub fn setup_physics(
         let starting_y = (id as f32) * -0.5 - ground_height;
 
         let mut platforms = commands.spawn((
-            TransformBundle::from(Transform::from_xyz(0.0, starting_y, 0.0)),
+            Transform::from_xyz(0.0, starting_y, 0.0),
             Collider::cuboid(ground_size, ground_height, ground_size),
             ColliderDebugColor(color),
             RapierContextEntityLink(context_entity),
@@ -110,7 +109,7 @@ pub fn setup_physics(
          */
 
         commands.spawn((
-            TransformBundle::from(Transform::from_xyz(0.0, 1.0 + id as f32 * 5.0, 0.0)),
+            Transform::from_xyz(0.0, 1.0 + id as f32 * 5.0, 0.0),
             RigidBody::Dynamic,
             Collider::cuboid(0.5, 0.5, 0.5),
             ColliderDebugColor(color),
diff --git a/bevy_rapier3d/examples/multiple_colliders3.rs b/bevy_rapier3d/examples/multiple_colliders3.rs
index 50451796..7ef45c72 100644
--- a/bevy_rapier3d/examples/multiple_colliders3.rs
+++ b/bevy_rapier3d/examples/multiple_colliders3.rs
@@ -18,11 +18,10 @@ fn main() {
 }
 
 pub fn setup_graphics(mut commands: Commands) {
-    commands.spawn(Camera3dBundle {
-        transform: Transform::from_xyz(-30.0, 30.0, 100.0)
-            .looking_at(Vec3::new(0.0, 10.0, 0.0), Vec3::Y),
-        ..Default::default()
-    });
+    commands.spawn((
+        Camera3d::default(),
+        Transform::from_xyz(-30.0, 30.0, 100.0).looking_at(Vec3::new(0.0, 10.0, 0.0), Vec3::Y),
+    ));
 }
 
 pub fn setup_physics(mut commands: Commands) {
@@ -33,7 +32,7 @@ pub fn setup_physics(mut commands: Commands) {
     let ground_height = 0.1;
 
     commands.spawn((
-        TransformBundle::from(Transform::from_xyz(0.0, -ground_height, 0.0)),
+        Transform::from_xyz(0.0, -ground_height, 0.0),
         Collider::cuboid(ground_size, ground_height, ground_size),
     ));
 
@@ -66,26 +65,19 @@ pub fn setup_physics(mut commands: Commands) {
 
                 // Crate a rigid-body with multiple colliders attached, using Bevy hierarchy.
                 commands
-                    .spawn((
-                        TransformBundle::from(Transform::from_xyz(x, y, z)),
-                        RigidBody::Dynamic,
-                    ))
+                    .spawn((Transform::from_xyz(x, y, z), RigidBody::Dynamic))
                     .with_children(|children| {
                         children.spawn((
                             Collider::cuboid(rad * 10.0, rad, rad),
                             ColliderDebugColor(colors[color % 3]),
                         ));
                         children.spawn((
-                            TransformBundle::from(Transform::from_xyz(rad * 10.0, rad * 10.0, 0.0)),
+                            Transform::from_xyz(rad * 10.0, rad * 10.0, 0.0),
                             Collider::cuboid(rad, rad * 10.0, rad),
                             ColliderDebugColor(colors[color % 3]),
                         ));
                         children.spawn((
-                            TransformBundle::from(Transform::from_xyz(
-                                -rad * 10.0,
-                                rad * 10.0,
-                                0.0,
-                            )),
+                            Transform::from_xyz(-rad * 10.0, rad * 10.0, 0.0),
                             Collider::cuboid(rad, rad * 10.0, rad),
                             ColliderDebugColor(colors[color % 3]),
                         ));
diff --git a/bevy_rapier3d/examples/ray_casting3.rs b/bevy_rapier3d/examples/ray_casting3.rs
index ae392025..f9b372c5 100644
--- a/bevy_rapier3d/examples/ray_casting3.rs
+++ b/bevy_rapier3d/examples/ray_casting3.rs
@@ -21,11 +21,10 @@ fn main() {
 }
 
 pub fn setup_graphics(mut commands: Commands) {
-    commands.spawn(Camera3dBundle {
-        transform: Transform::from_xyz(-30.0, 30.0, 100.0)
-            .looking_at(Vec3::new(0.0, 10.0, 0.0), Vec3::Y),
-        ..Default::default()
-    });
+    commands.spawn((
+        Camera3d::default(),
+        Transform::from_xyz(-30.0, 30.0, 100.0).looking_at(Vec3::new(0.0, 10.0, 0.0), Vec3::Y),
+    ));
 }
 
 pub fn setup_physics(mut commands: Commands) {
@@ -36,7 +35,7 @@ pub fn setup_physics(mut commands: Commands) {
     let ground_height = 0.1;
 
     commands.spawn((
-        TransformBundle::from(Transform::from_xyz(0.0, -ground_height, 0.0)),
+        Transform::from_xyz(0.0, -ground_height, 0.0),
         Collider::cuboid(ground_size, ground_height, ground_size),
     ));
 
@@ -62,7 +61,7 @@ pub fn setup_physics(mut commands: Commands) {
 
                 // Build the rigid body.
                 commands.spawn((
-                    TransformBundle::from(Transform::from_xyz(x, y, z)),
+                    Transform::from_xyz(x, y, z),
                     RigidBody::Dynamic,
                     Collider::cuboid(rad, rad, rad),
                 ));
@@ -88,7 +87,7 @@ pub fn cast_ray(
     // We will color in read the colliders hovered by the mouse.
     for (camera, camera_transform) in &cameras {
         // First, compute a ray from the mouse position.
-        let Some(ray) = camera.viewport_to_world(camera_transform, cursor_position) else {
+        let Ok(ray) = camera.viewport_to_world(camera_transform, cursor_position) else {
             return;
         };
         let context = rapier_context.single();
diff --git a/bevy_rapier3d/examples/static_trimesh3.rs b/bevy_rapier3d/examples/static_trimesh3.rs
index 4b01ea08..27fae6b5 100644
--- a/bevy_rapier3d/examples/static_trimesh3.rs
+++ b/bevy_rapier3d/examples/static_trimesh3.rs
@@ -22,11 +22,10 @@ fn main() {
 }
 
 pub fn setup_graphics(mut commands: Commands) {
-    commands.spawn(Camera3dBundle {
-        transform: Transform::from_xyz(-15.0, 8.0, 15.0)
-            .looking_at(Vec3::new(-5.0, 0.0, 5.0), Vec3::Y),
-        ..Default::default()
-    });
+    commands.spawn((
+        Camera3d::default(),
+        Transform::from_xyz(-15.0, 8.0, 15.0).looking_at(Vec3::new(-5.0, 0.0, 5.0), Vec3::Y),
+    ));
 }
 
 fn ramp_size() -> Vec3 {
@@ -93,11 +92,11 @@ pub fn setup_physics(mut commands: Commands, mut ball_state: ResMut<BallState>)
     // Position so ramp connects smoothly
     // to one edge of the lip of the bowl.
     commands.spawn((
-        TransformBundle::from(Transform::from_xyz(
+        Transform::from_xyz(
             -bowl_size.x / 2.0,
             -bowl_size.y / 2.0,
             bowl_size.z / 2.0 - ramp_size.z / 2.0,
-        )),
+        ),
         Collider::trimesh(vertices, indices),
     ));
 }
@@ -130,11 +129,7 @@ pub fn ball_spawner(mut commands: Commands, time: Res<Time>, mut ball_state: Res
         let rad = 0.3;
 
         commands.spawn((
-            TransformBundle::from(Transform::from_xyz(
-                ramp_size.x * 0.9,
-                ramp_size.y / 2.0 + rad * 3.0,
-                0.0,
-            )),
+            Transform::from_xyz(ramp_size.x * 0.9, ramp_size.y / 2.0 + rad * 3.0, 0.0),
             RigidBody::Dynamic,
             Collider::ball(rad),
             Restitution::new(0.5),
diff --git a/bevy_rapier3d/examples/testbed3.rs b/bevy_rapier3d/examples/testbed3.rs
index 9ef38786..316d713e 100644
--- a/bevy_rapier3d/examples/testbed3.rs
+++ b/bevy_rapier3d/examples/testbed3.rs
@@ -106,6 +106,7 @@ fn main() {
             )
                 .run_if(in_state(Examples::DebugToggle3)),
         )
+        .add_systems(OnExit(Examples::DebugToggle3), cleanup)
         //
         // despawn
         .init_resource::<despawn3::DespawnResource>()
diff --git a/bevy_rapier_benches3d/Cargo.toml b/bevy_rapier_benches3d/Cargo.toml
index a7529bfb..80c325df 100644
--- a/bevy_rapier_benches3d/Cargo.toml
+++ b/bevy_rapier_benches3d/Cargo.toml
@@ -10,5 +10,16 @@ edition = "2021"
 
 [dependencies]
 rapier3d = { features = ["profiler"], version = "0.22" }
-bevy_rapier3d = { version = "0.27", path = "../bevy_rapier3d" }
-bevy = { version = "0.14", default-features = false }
+bevy_rapier3d = { version = "0.28", path = "../bevy_rapier3d" }
+bevy = { version = "0.15", default-features = false }
+
+[dev-dependencies]
+divan = "0.1"
+
+[[bench]]
+name = "cubes"
+harness = false
+
+[[bench]]
+name = "many_pyramids3"
+harness = false
diff --git a/bevy_rapier3d/benches/common.rs b/bevy_rapier_benches3d/benches/common.rs
similarity index 100%
rename from bevy_rapier3d/benches/common.rs
rename to bevy_rapier_benches3d/benches/common.rs
diff --git a/bevy_rapier3d/benches/cubes.rs b/bevy_rapier_benches3d/benches/cubes.rs
similarity index 100%
rename from bevy_rapier3d/benches/cubes.rs
rename to bevy_rapier_benches3d/benches/cubes.rs
diff --git a/bevy_rapier3d/benches/many_pyramids3.rs b/bevy_rapier_benches3d/benches/many_pyramids3.rs
similarity index 100%
rename from bevy_rapier3d/benches/many_pyramids3.rs
rename to bevy_rapier_benches3d/benches/many_pyramids3.rs
diff --git a/bevy_rapier_benches3d/src/common.rs b/bevy_rapier_benches3d/src/common.rs
index 9a2f5f6f..a5cb805c 100644
--- a/bevy_rapier_benches3d/src/common.rs
+++ b/bevy_rapier_benches3d/src/common.rs
@@ -1,31 +1,11 @@
-use bevy::{
-    app::PluginsState,
-    prelude::*,
-    render::{
-        settings::{RenderCreation, WgpuSettings},
-        RenderPlugin,
-    },
-    scene::ScenePlugin,
-    time::TimeUpdateStrategy,
-};
+use bevy::{app::PluginsState, prelude::*, time::TimeUpdateStrategy};
 use bevy_rapier3d::prelude::*;
 
 pub fn default_app() -> App {
     let mut app = App::new();
 
     app.add_plugins((
-        WindowPlugin::default(),
         MinimalPlugins,
-        AssetPlugin::default(),
-        ScenePlugin,
-        RenderPlugin {
-            render_creation: RenderCreation::Automatic(WgpuSettings {
-                backends: None,
-                ..Default::default()
-            }),
-            ..Default::default()
-        },
-        ImagePlugin::default(),
         HierarchyPlugin,
         TransformPlugin,
         RapierPhysicsPlugin::<()>::default(),
diff --git a/deny.toml b/deny.toml
index 0a3e2530..e62e53ae 100644
--- a/deny.toml
+++ b/deny.toml
@@ -1,11 +1,22 @@
 [advisories]
-unmaintained = "deny"
 yanked = "deny"
-notice = "deny"
+ignore = [
+    { id = "RUSTSEC-2024-0384", reason = "this is about instant crate, which is only used for benchmarks + an upstream fix is in the works." },
+]
 
 [licenses]
-copyleft = "deny"
-allow-osi-fsf-free = "either"
+allow = [
+    "MIT-0",
+    "MIT",
+    "Apache-2.0",
+    "Unicode-DFS-2016",
+    "Zlib",
+    "CC0-1.0",
+    "BSD-2-Clause",
+    "BSD-3-Clause",
+    "ISC",
+    "Unicode-3.0",
+]
 
 [[licenses.clarify]]
 name = "stretch"
diff --git a/src/geometry/shape_views/ball.rs b/src/geometry/shape_views/ball.rs
index 7964cb28..f318c4af 100644
--- a/src/geometry/shape_views/ball.rs
+++ b/src/geometry/shape_views/ball.rs
@@ -29,7 +29,7 @@ pub struct BallViewMut<'a> {
 
 impl_ref_methods!(BallViewMut);
 
-impl<'a> BallViewMut<'a> {
+impl BallViewMut<'_> {
     /// Set the radius of the ball.
     pub fn set_radius(&mut self, radius: Real) {
         self.raw.radius = radius;
diff --git a/src/geometry/shape_views/capsule.rs b/src/geometry/shape_views/capsule.rs
index 8db6f210..1da1e6d1 100644
--- a/src/geometry/shape_views/capsule.rs
+++ b/src/geometry/shape_views/capsule.rs
@@ -75,7 +75,7 @@ pub struct CapsuleViewMut<'a> {
 
 impl_ref_methods!(CapsuleViewMut);
 
-impl<'a> CapsuleViewMut<'a> {
+impl CapsuleViewMut<'_> {
     /// Set the segment of this capsule.
     pub fn set_segment(&mut self, start: Vect, end: Vect) {
         self.raw.segment.a = start.into();
diff --git a/src/geometry/shape_views/collider_view.rs b/src/geometry/shape_views/collider_view.rs
index adba8027..5d2f01fc 100644
--- a/src/geometry/shape_views/collider_view.rs
+++ b/src/geometry/shape_views/collider_view.rs
@@ -65,7 +65,7 @@ pub enum ColliderView<'a> {
     #[cfg(feature = "dim2")]
     RoundConvexPolygon(RoundConvexPolygonView<'a>),
 }
-impl<'a> fmt::Debug for ColliderView<'a> {
+impl fmt::Debug for ColliderView<'_> {
     fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
         match self {
             ColliderView::Ball(view) => write!(f, "{:?}", view.raw),
diff --git a/src/geometry/shape_views/compound.rs b/src/geometry/shape_views/compound.rs
index 860628eb..04d48c8b 100644
--- a/src/geometry/shape_views/compound.rs
+++ b/src/geometry/shape_views/compound.rs
@@ -9,7 +9,7 @@ pub struct CompoundView<'a> {
     pub raw: &'a Compound,
 }
 
-impl<'a> CompoundView<'a> {
+impl CompoundView<'_> {
     /// The shapes of this compound shape.
     #[inline]
     pub fn shapes(&self) -> impl ExactSizeIterator<Item = (Vect, Rot, ColliderView)> {
diff --git a/src/geometry/shape_views/cone.rs b/src/geometry/shape_views/cone.rs
index 3c3b1965..3dc5798e 100644
--- a/src/geometry/shape_views/cone.rs
+++ b/src/geometry/shape_views/cone.rs
@@ -34,7 +34,7 @@ pub struct ConeViewMut<'a> {
 
 impl_ref_methods!(ConeViewMut);
 
-impl<'a> ConeViewMut<'a> {
+impl ConeViewMut<'_> {
     /// Set the half-height of the cone.
     pub fn set_half_height(&mut self, half_height: Real) {
         self.raw.half_height = half_height;
diff --git a/src/geometry/shape_views/convex_polygon.rs b/src/geometry/shape_views/convex_polygon.rs
index 5cccc800..06c084ca 100644
--- a/src/geometry/shape_views/convex_polygon.rs
+++ b/src/geometry/shape_views/convex_polygon.rs
@@ -8,7 +8,7 @@ pub struct ConvexPolygonView<'a> {
     pub raw: &'a ConvexPolygon,
 }
 
-impl<'a> ConvexPolygonView<'a> {
+impl ConvexPolygonView<'_> {
     /// The vertices of this convex polygon.
     pub fn points(&self) -> impl ExactSizeIterator<Item = Vect> + '_ {
         self.raw.points().iter().map(|pt| (*pt).into())
@@ -26,7 +26,7 @@ pub struct ConvexPolygonViewMut<'a> {
     pub raw: &'a mut ConvexPolygon,
 }
 
-impl<'a> ConvexPolygonViewMut<'a> {
+impl ConvexPolygonViewMut<'_> {
     /// The vertices of this convex polygon.
     pub fn points(&self) -> impl ExactSizeIterator<Item = Vect> + '_ {
         self.raw.points().iter().map(|pt| (*pt).into())
diff --git a/src/geometry/shape_views/convex_polyhedron.rs b/src/geometry/shape_views/convex_polyhedron.rs
index 2ea6a751..48a39ad9 100644
--- a/src/geometry/shape_views/convex_polyhedron.rs
+++ b/src/geometry/shape_views/convex_polyhedron.rs
@@ -8,7 +8,7 @@ pub struct ConvexPolyhedronView<'a> {
     pub raw: &'a ConvexPolyhedron,
 }
 
-impl<'a> ConvexPolyhedronView<'a> {
+impl ConvexPolyhedronView<'_> {
     /// The vertices of this convex polygon.
     pub fn points(&self) -> impl ExactSizeIterator<Item = Vect> + '_ {
         self.raw.points().iter().map(|pt| (*pt).into())
@@ -23,7 +23,7 @@ pub struct ConvexPolyhedronViewMut<'a> {
     pub raw: &'a mut ConvexPolyhedron,
 }
 
-impl<'a> ConvexPolyhedronViewMut<'a> {
+impl ConvexPolyhedronViewMut<'_> {
     /// The vertices of this convex polygon.
     pub fn points(&self) -> impl ExactSizeIterator<Item = Vect> + '_ {
         self.raw.points().iter().map(|pt| (*pt).into())
diff --git a/src/geometry/shape_views/cuboid.rs b/src/geometry/shape_views/cuboid.rs
index 443afee6..058b03d8 100644
--- a/src/geometry/shape_views/cuboid.rs
+++ b/src/geometry/shape_views/cuboid.rs
@@ -29,7 +29,7 @@ pub struct CuboidViewMut<'a> {
 
 impl_ref_methods!(CuboidViewMut);
 
-impl<'a> CuboidViewMut<'a> {
+impl CuboidViewMut<'_> {
     /// Set the half-extents of the cuboid.
     pub fn set_half_extents(&mut self, half_extents: Vect) {
         self.raw.half_extents = half_extents.into();
diff --git a/src/geometry/shape_views/cylinder.rs b/src/geometry/shape_views/cylinder.rs
index f7e59ea6..2c2810a1 100644
--- a/src/geometry/shape_views/cylinder.rs
+++ b/src/geometry/shape_views/cylinder.rs
@@ -34,7 +34,7 @@ pub struct CylinderViewMut<'a> {
 
 impl_ref_methods!(CylinderViewMut);
 
-impl<'a> CylinderViewMut<'a> {
+impl CylinderViewMut<'_> {
     /// Set the half-height of the cylinder.
     pub fn set_half_height(&mut self, half_height: Real) {
         self.raw.half_height = half_height;
diff --git a/src/geometry/shape_views/halfspace.rs b/src/geometry/shape_views/halfspace.rs
index 59974b05..864e61da 100644
--- a/src/geometry/shape_views/halfspace.rs
+++ b/src/geometry/shape_views/halfspace.rs
@@ -29,7 +29,7 @@ pub struct HalfSpaceViewMut<'a> {
 
 impl_ref_methods!(HalfSpaceViewMut);
 
-impl<'a> HalfSpaceViewMut<'a> {
+impl HalfSpaceViewMut<'_> {
     /// Set the normal of the half-space.
     pub fn set_normal(&mut self, normal: Vect) {
         let normal: rapier::math::Vector<_> = normal.into();
diff --git a/src/geometry/shape_views/heightfield.rs b/src/geometry/shape_views/heightfield.rs
index 8efa4d05..4f9a4fe7 100644
--- a/src/geometry/shape_views/heightfield.rs
+++ b/src/geometry/shape_views/heightfield.rs
@@ -155,7 +155,7 @@ pub struct HeightFieldViewMut<'a> {
 impl_ref_methods!(HeightFieldViewMut);
 
 #[cfg(feature = "dim2")]
-impl<'a> HeightFieldViewMut<'a> {
+impl HeightFieldViewMut<'_> {
     /// Sets whether or not the given cell of the heightfield is deleted.
     pub fn set_segment_removed(&mut self, i: usize, removed: bool) {
         self.raw.set_segment_removed(i, removed)
@@ -163,7 +163,7 @@ impl<'a> HeightFieldViewMut<'a> {
 }
 
 #[cfg(feature = "dim3")]
-impl<'a> HeightFieldViewMut<'a> {
+impl HeightFieldViewMut<'_> {
     /// Set the status of the `(i, j)`-th cell.
     pub fn set_cell_status(&mut self, i: usize, j: usize, status: HeightFieldCellStatus) {
         self.raw.set_cell_status(i, j, status)
diff --git a/src/geometry/shape_views/polyline.rs b/src/geometry/shape_views/polyline.rs
index eb811d77..83f6ccb3 100644
--- a/src/geometry/shape_views/polyline.rs
+++ b/src/geometry/shape_views/polyline.rs
@@ -50,7 +50,7 @@ pub struct PolylineViewMut<'a> {
 
 impl_ref_methods!(PolylineViewMut);
 
-impl<'a> PolylineViewMut<'a> {
+impl PolylineViewMut<'_> {
     /// Reverse the orientation of this polyline by swapping the indices of all
     /// its segments and reverting its index buffer.
     pub fn reverse(&mut self) {
diff --git a/src/geometry/shape_views/segment.rs b/src/geometry/shape_views/segment.rs
index e3acf3b7..338990af 100644
--- a/src/geometry/shape_views/segment.rs
+++ b/src/geometry/shape_views/segment.rs
@@ -86,7 +86,7 @@ pub struct SegmentViewMut<'a> {
 
 impl_ref_methods!(SegmentViewMut);
 
-impl<'a> SegmentViewMut<'a> {
+impl SegmentViewMut<'_> {
     /// Set the first point of the segment.
     pub fn set_a(&mut self, a: Vect) {
         self.raw.a = a.into();
diff --git a/src/geometry/shape_views/triangle.rs b/src/geometry/shape_views/triangle.rs
index 8891cfcc..242a3c82 100644
--- a/src/geometry/shape_views/triangle.rs
+++ b/src/geometry/shape_views/triangle.rs
@@ -90,7 +90,7 @@ pub struct TriangleViewMut<'a> {
 
 impl_ref_methods!(TriangleViewMut);
 
-impl<'a> TriangleViewMut<'a> {
+impl TriangleViewMut<'_> {
     /// Set the first point of the segment.
     pub fn set_a(&mut self, a: Vect) {
         self.raw.a = a.into();
diff --git a/src/geometry/shape_views/trimesh.rs b/src/geometry/shape_views/trimesh.rs
index 9a94146e..8f2cdf1e 100644
--- a/src/geometry/shape_views/trimesh.rs
+++ b/src/geometry/shape_views/trimesh.rs
@@ -57,7 +57,7 @@ pub struct TriMeshViewMut<'a> {
 
 impl_ref_methods!(TriMeshViewMut);
 
-impl<'a> TriMeshViewMut<'a> {
+impl TriMeshViewMut<'_> {
     /// Sets the flags of this triangle mesh, controlling its optional associated data.
     pub fn set_flags(&mut self, flags: TriMeshFlags) -> Result<(), TopologyError> {
         self.raw.set_flags(flags)
diff --git a/src/pipeline/events.rs b/src/pipeline/events.rs
index 857846b5..6f5cb51d 100644
--- a/src/pipeline/events.rs
+++ b/src/pipeline/events.rs
@@ -62,7 +62,7 @@ pub(crate) struct EventQueue<'a> {
     pub contact_force_events: RwLock<Vec<ContactForceEvent>>,
 }
 
-impl<'a> EventQueue<'a> {
+impl EventQueue<'_> {
     fn collider2entity(&self, colliders: &ColliderSet, handle: ColliderHandle) -> Entity {
         colliders
             .get(handle)
@@ -72,7 +72,7 @@ impl<'a> EventQueue<'a> {
     }
 }
 
-impl<'a> EventHandler for EventQueue<'a> {
+impl EventHandler for EventQueue<'_> {
     fn handle_collision_event(
         &self,
         _bodies: &RigidBodySet,
@@ -129,7 +129,7 @@ mod test {
         app::{App, Startup, Update},
         prelude::{Commands, Component, Entity, Query, With},
         time::{TimePlugin, TimeUpdateStrategy},
-        transform::{bundles::TransformBundle, components::Transform, TransformPlugin},
+        transform::{components::Transform, TransformPlugin},
         MinimalPlugins,
     };
     use systems::tests::HeadlessRenderPlugin;
@@ -214,19 +214,16 @@ mod test {
             /*
              * Ground
              */
-            commands.spawn((
-                TransformBundle::from(Transform::from_xyz(0.0, -1.2, 0.0)),
-                cuboid(4.0, 1.0, 1.0),
-            ));
+            commands.spawn((Transform::from_xyz(0.0, -1.2, 0.0), cuboid(4.0, 1.0, 1.0)));
 
             commands.spawn((
-                TransformBundle::from(Transform::from_xyz(0.0, 5.0, 0.0)),
+                Transform::from_xyz(0.0, 5.0, 0.0),
                 cuboid(4.0, 1.5, 1.0),
                 Sensor,
             ));
 
             commands.spawn((
-                TransformBundle::from(Transform::from_xyz(0.0, 13.0, 0.0)),
+                Transform::from_xyz(0.0, 13.0, 0.0),
                 RigidBody::Dynamic,
                 cuboid(0.5, 0.5, 0.5),
                 ActiveEvents::COLLISION_EVENTS,
@@ -275,7 +272,7 @@ mod test {
         pub fn setup_physics(mut commands: Commands) {
             for _i in 0..100 {
                 commands.spawn((
-                    TransformBundle::from(Transform::from_xyz(0.0, 0.0, 0.0)),
+                    Transform::from_xyz(0.0, 0.0, 0.0),
                     RigidBody::Dynamic,
                     cuboid(0.5, 0.5, 0.5),
                     ActiveEvents::all(),
@@ -290,7 +287,7 @@ mod test {
             let starting_y = -0.5 - ground_height;
 
             commands.spawn((
-                TransformBundle::from(Transform::from_xyz(0.0, starting_y, 0.0)),
+                Transform::from_xyz(0.0, starting_y, 0.0),
                 cuboid(ground_size, ground_height, ground_size),
             ));
         }
diff --git a/src/pipeline/physics_hooks.rs b/src/pipeline/physics_hooks.rs
index 89ae0327..516252b4 100644
--- a/src/pipeline/physics_hooks.rs
+++ b/src/pipeline/physics_hooks.rs
@@ -10,7 +10,7 @@ pub struct PairFilterContextView<'a> {
     pub raw: &'a PairFilterContext<'a>,
 }
 
-impl<'a> PairFilterContextView<'a> {
+impl PairFilterContextView<'_> {
     /// The entity of the first collider involved in the potential collision.
     pub fn collider1(&self) -> Entity {
         let co1 = &self.raw.colliders[self.raw.collider1];
@@ -48,7 +48,7 @@ pub struct ContactModificationContextView<'a, 'b> {
     pub raw: &'a mut ContactModificationContext<'b>,
 }
 
-impl<'a, 'b> ContactModificationContextView<'a, 'b> {
+impl ContactModificationContextView<'_, '_> {
     /// The entity of the first collider involved in the potential collision.
     pub fn collider1(&self) -> Entity {
         let co1 = &self.raw.colliders[self.raw.collider1];
diff --git a/src/pipeline/query_filter.rs b/src/pipeline/query_filter.rs
index 2d4b5cd3..17bddc91 100644
--- a/src/pipeline/query_filter.rs
+++ b/src/pipeline/query_filter.rs
@@ -26,7 +26,7 @@ pub struct QueryFilter<'a> {
     pub predicate: Option<&'a dyn Fn(Entity) -> bool>,
 }
 
-impl<'a> From<QueryFilterFlags> for QueryFilter<'a> {
+impl From<QueryFilterFlags> for QueryFilter<'_> {
     fn from(flags: QueryFilterFlags) -> Self {
         Self {
             flags,
@@ -35,7 +35,7 @@ impl<'a> From<QueryFilterFlags> for QueryFilter<'a> {
     }
 }
 
-impl<'a> From<CollisionGroups> for QueryFilter<'a> {
+impl From<CollisionGroups> for QueryFilter<'_> {
     fn from(groups: CollisionGroups) -> Self {
         Self {
             groups: Some(groups),
diff --git a/src/plugin/context/mod.rs b/src/plugin/context/mod.rs
index fddbae60..20bb27ed 100644
--- a/src/plugin/context/mod.rs
+++ b/src/plugin/context/mod.rs
@@ -108,7 +108,7 @@ impl RapierContextColliders {
         &'a self,
         entity: Entity,
         rigidbody_set: &'b RapierRigidBodySet,
-    ) -> impl Iterator<Item = Entity> + '_ {
+    ) -> impl Iterator<Item = Entity> + 'a {
         rigidbody_set
             .entity2body()
             .get(&entity)
@@ -845,7 +845,7 @@ impl RapierContextSimulation {
             } => {
                 self.integration_parameters.dt = dt;
 
-                sim_to_render_time.diff += time.delta_seconds();
+                sim_to_render_time.diff += time.delta_secs();
 
                 while sim_to_render_time.diff > 0.0 {
                     // NOTE: in this comparison we do the same computations we
@@ -894,7 +894,7 @@ impl RapierContextSimulation {
                 time_scale,
                 substeps,
             } => {
-                self.integration_parameters.dt = (time.delta_seconds() * time_scale).min(max_dt);
+                self.integration_parameters.dt = (time.delta_secs() * time_scale).min(max_dt);
 
                 let mut substep_integration_parameters = self.integration_parameters;
                 substep_integration_parameters.dt /= substeps as Real;
diff --git a/src/plugin/context/systemparams/rapier_context_systemparam.rs b/src/plugin/context/systemparams/rapier_context_systemparam.rs
index f9b93b5b..b9d5cbe1 100644
--- a/src/plugin/context/systemparams/rapier_context_systemparam.rs
+++ b/src/plugin/context/systemparams/rapier_context_systemparam.rs
@@ -159,7 +159,7 @@ mod simulation {
     use super::*;
 
     /// [`RapierContextSimulation`] functions for immutable accesses
-    impl<'a> RapierContext<'a> {
+    impl RapierContext<'_> {
         /// Shortcut to [`RapierContextSimulation::contact_pair`].
         pub fn contact_pair(
             &self,
@@ -196,7 +196,7 @@ mod simulation {
     }
 
     /// [`RapierContextSimulation`] functions for mutable accesses
-    impl<'a> RapierContextMut<'a> {
+    impl RapierContextMut<'_> {
         /// Shortcut to [`RapierContextSimulation::step_simulation`].
         #[expect(clippy::too_many_arguments)]
         pub fn step_simulation(
@@ -299,7 +299,7 @@ mod query_pipeline {
 
     use super::*;
 
-    impl<'a> RapierContext<'a> {
+    impl RapierContext<'_> {
         /// Shortcut to [`RapierQueryPipeline::cast_ray`].
         pub fn cast_ray(
             &self,
@@ -466,7 +466,7 @@ mod query_pipeline {
         }
     }
 
-    impl<'a> RapierContextMut<'a> {
+    impl RapierContextMut<'_> {
         /// Shortcut to [`RapierQueryPipeline::cast_ray`].
         pub fn cast_ray(
             &self,
@@ -640,7 +640,7 @@ mod rigidbody_set {
     use super::*;
     pub use rapier::prelude::RigidBodyHandle;
 
-    impl<'a> RapierContext<'a> {
+    impl RapierContext<'_> {
         /// Shortcut to [`RapierRigidBodySet::entity2body`].
         pub fn entity2body(&self) -> &HashMap<Entity, RigidBodyHandle> {
             self.rigidbody_set.entity2body()
@@ -658,7 +658,7 @@ mod rigidbody_set {
         }
     }
 
-    impl<'a> RapierContextMut<'a> {
+    impl RapierContextMut<'_> {
         /// Shortcut to [`RapierRigidBodySet::propagate_modified_body_positions_to_colliders`].
         pub fn propagate_modified_body_positions_to_colliders(&mut self) {
             self.rigidbody_set
diff --git a/src/plugin/mod.rs b/src/plugin/mod.rs
index a7e3e4a8..4214f943 100644
--- a/src/plugin/mod.rs
+++ b/src/plugin/mod.rs
@@ -1,4 +1,8 @@
 pub use self::configuration::{RapierConfiguration, TimestepMode};
+pub use self::context::{
+    systemparams::{RapierContext, RapierContextMut, ReadRapierContext, WriteRapierContext},
+    DefaultRapierContext, RapierContextEntityLink, SimulationToRenderTime,
+};
 pub use self::plugin::{
     NoUserData, PhysicsSet, RapierContextInitialization, RapierPhysicsPlugin,
     RapierTransformPropagateSet,
diff --git a/src/plugin/narrow_phase.rs b/src/plugin/narrow_phase.rs
index cdd0729e..5befae41 100644
--- a/src/plugin/narrow_phase.rs
+++ b/src/plugin/narrow_phase.rs
@@ -14,7 +14,7 @@ impl RapierContextSimulation {
         context_colliders: &'b RapierContextColliders,
         rigidbody_set: &'b RapierRigidBodySet,
         collider: Entity,
-    ) -> impl Iterator<Item = ContactPairView> {
+    ) -> impl Iterator<Item = ContactPairView<'a>> {
         context_colliders
             .entity2collider
             .get(&collider)
@@ -40,7 +40,7 @@ impl RapierContextSimulation {
         &'a self,
         rapier_colliders: &'b RapierContextColliders,
         collider: Entity,
-    ) -> impl Iterator<Item = (Entity, Entity, bool)> + '_ {
+    ) -> impl Iterator<Item = (Entity, Entity, bool)> + 'a {
         rapier_colliders
             .entity2collider
             .get(&collider)
@@ -70,7 +70,7 @@ impl RapierContextSimulation {
         rigidbody_set: &'b RapierRigidBodySet,
         collider1: Entity,
         collider2: Entity,
-    ) -> Option<ContactPairView> {
+    ) -> Option<ContactPairView<'a>> {
         let h1 = context_colliders.entity2collider.get(&collider1)?;
         let h2 = context_colliders.entity2collider.get(&collider2)?;
         self.narrow_phase
@@ -102,7 +102,7 @@ impl RapierContextSimulation {
         &'a self,
         context_colliders: &'b RapierContextColliders,
         rigidbody_set: &'b RapierRigidBodySet,
-    ) -> impl Iterator<Item = ContactPairView> {
+    ) -> impl Iterator<Item = ContactPairView<'a>> {
         self.narrow_phase
             .contact_pairs()
             .map(|raw| ContactPairView {
@@ -116,7 +116,7 @@ impl RapierContextSimulation {
     pub fn intersection_pairs<'a, 'b: 'a>(
         &'a self,
         rapier_colliders: &'b RapierContextColliders,
-    ) -> impl Iterator<Item = (Entity, Entity, bool)> + '_ {
+    ) -> impl Iterator<Item = (Entity, Entity, bool)> + 'a {
         self.narrow_phase
             .intersection_pairs()
             .filter_map(|(h1, h2, inter)| {
@@ -137,7 +137,7 @@ pub struct ContactManifoldView<'a> {
     pub raw: &'a ContactManifold,
 }
 
-impl<'a> ContactManifoldView<'a> {
+impl ContactManifoldView<'_> {
     /// The number of points on this contact manifold.
     pub fn num_points(&self) -> usize {
         self.raw.points.len()
@@ -237,7 +237,7 @@ impl<'a> ContactManifoldView<'a> {
     }
 }
 
-impl<'a> ContactManifoldView<'a> {
+impl ContactManifoldView<'_> {
     /// Returns the contact with the smallest distance (i.e. the largest penetration depth).
     pub fn find_deepest_contact(&self) -> Option<ContactView> {
         self.raw
@@ -252,7 +252,7 @@ pub struct ContactView<'a> {
     pub raw: &'a Contact,
 }
 
-impl<'a> ContactView<'a> {
+impl ContactView<'_> {
     /// The contact point in the local-space of the first shape.
     pub fn local_p1(&self) -> Vect {
         self.raw.local_p1.into()
@@ -306,7 +306,7 @@ pub struct SolverContactView<'a> {
     pub raw: &'a SolverContact,
 }
 
-impl<'a> SolverContactView<'a> {
+impl SolverContactView<'_> {
     /// The world-space contact point.
     pub fn point(&self) -> Vect {
         self.raw.point.into()
@@ -345,7 +345,7 @@ pub struct ContactPairView<'a> {
     pub raw: &'a ContactPair,
 }
 
-impl<'a> ContactPairView<'a> {
+impl ContactPairView<'_> {
     /// The first collider involved in this contact pair.
     pub fn collider1(&self) -> Entity {
         self.context_colliders
diff --git a/src/plugin/plugin.rs b/src/plugin/plugin.rs
index 514f1adf..61579ef4 100644
--- a/src/plugin/plugin.rs
+++ b/src/plugin/plugin.rs
@@ -224,12 +224,10 @@ where
             .register_type::<ContactSkin>()
             .register_type::<Group>()
             .register_type::<RapierContextEntityLink>()
-            .register_type::<ColliderDebugColor>()
             .register_type::<RapierConfiguration>()
             .register_type::<SimulationToRenderTime>()
             .register_type::<DefaultRapierContext>()
-            .register_type::<RapierContextInitialization>()
-            .register_type::<ColliderDebugColor>();
+            .register_type::<RapierContextInitialization>();
 
         app.insert_resource(Events::<CollisionEvent>::default())
             .insert_resource(Events::<ContactForceEvent>::default())
@@ -244,6 +242,7 @@ where
             app.insert_resource(self.default_world_setup.clone());
         }
 
+        // FIXME: Those are great candidates for RequiredComponents with bevy 0.15
         app.add_systems(
             self.schedule,
             (
@@ -252,7 +251,25 @@ where
             )
                 .before(PhysicsSet::SyncBackend),
         );
-        app.add_systems(PreStartup, insert_default_context);
+
+        app.add_systems(
+            PreStartup,
+            (
+                insert_default_context,
+                setup_rapier_configuration,
+                setup_rapier_simulation_to_render_time,
+            )
+                .chain(),
+        );
+
+        // These *must* be in the main schedule currently so that they do not miss events.
+        // See test `test_sync_removal` for an example of this.
+        if self.schedule != PostUpdate.intern() {
+            app.add_systems(
+                PostUpdate,
+                (systems::sync_removals,).before(TransformSystem::TransformPropagate),
+            );
+        }
 
         // Add each set as necessary
         if self.default_system_setup {
@@ -516,11 +533,93 @@ mod test {
             }
 
             commands.spawn((
-                TransformBundle::from(Transform::from_xyz(0.0, 13.0, 0.0)),
+                Transform::from_xyz(0.0, 13.0, 0.0),
                 RigidBody::Dynamic,
                 cuboid(0.5, 0.5, 0.5),
                 TestMarker,
             ));
         }
     }
+
+    #[test]
+    pub fn test_sync_removal() {
+        return main();
+
+        use bevy::prelude::*;
+
+        fn run_test(app: &mut App) {
+            app.insert_resource(TimeUpdateStrategy::ManualDuration(
+                std::time::Duration::from_secs_f32(1f32 / 60f32),
+            ));
+            app.insert_resource(Time::<Fixed>::from_hz(20.0));
+
+            app.add_systems(Startup, setup_physics);
+            app.add_systems(Update, remove_rapier_entity);
+            app.add_systems(FixedUpdate, || println!("Fixed Update"));
+            app.add_systems(Update, || println!("Update"));
+            // startup
+            app.update();
+            // normal updates starting
+            // render only
+            app.update();
+            app.update();
+            // render + physics
+            app.update();
+
+            let context = app
+                .world_mut()
+                .query::<RapierContext>()
+                .get_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>()
+                .get_single(&app.world())
+                .unwrap();
+
+            println!("{:?}", &context.rigidbody_set.entity2body);
+            assert_eq!(context.rigidbody_set.entity2body.len(), 0);
+        }
+
+        fn main() {
+            let mut app = App::new();
+            app.add_plugins((
+                HeadlessRenderPlugin,
+                TransformPlugin,
+                TimePlugin,
+                RapierPhysicsPlugin::<NoUserData>::default().in_fixed_schedule(),
+            ));
+            run_test(&mut app);
+        }
+
+        pub fn setup_physics(mut commands: Commands) {
+            commands.spawn((
+                Transform::from_xyz(0.0, 13.0, 0.0),
+                RigidBody::Dynamic,
+                cuboid(0.5, 0.5, 0.5),
+                TestMarker,
+            ));
+            println!("spawned rapier entity");
+        }
+        pub fn remove_rapier_entity(
+            mut commands: Commands,
+            to_remove: Query<Entity, With<TestMarker>>,
+            mut counter: Local<i32>,
+        ) {
+            *counter += 1;
+            if *counter != 5 {
+                return;
+            }
+            println!("removing rapier entity");
+            for e in &to_remove {
+                commands.entity(e).despawn();
+            }
+        }
+    }
 }
diff --git a/src/plugin/systems/collider.rs b/src/plugin/systems/collider.rs
index 7c3d672d..c371b556 100644
--- a/src/plugin/systems/collider.rs
+++ b/src/plugin/systems/collider.rs
@@ -498,7 +498,7 @@ pub fn init_colliders(
 pub fn init_async_colliders(
     mut commands: Commands,
     meshes: Res<Assets<Mesh>>,
-    async_colliders: Query<(Entity, &Handle<Mesh>, &AsyncCollider)>,
+    async_colliders: Query<(Entity, &Mesh3d, &AsyncCollider)>,
 ) {
     for (entity, mesh_handle, async_collider) in async_colliders.iter() {
         if let Some(mesh) = meshes.get(mesh_handle) {
@@ -524,7 +524,7 @@ pub fn init_async_scene_colliders(
     scene_spawner: Res<SceneSpawner>,
     async_colliders: Query<(Entity, &SceneInstance, &AsyncSceneCollider)>,
     children: Query<&Children>,
-    mesh_handles: Query<(&Name, &Handle<Mesh>)>,
+    mesh_handles: Query<(&Name, &Mesh3d)>,
 ) {
     for (scene_entity, scene_instance, async_collider) in async_colliders.iter() {
         if scene_spawner.instance_is_ready(**scene_instance) {
@@ -583,6 +583,7 @@ pub fn update_colliding_entities(
 }
 
 #[cfg(test)]
+#[allow(missing_docs)]
 pub mod test {
     #[test]
     #[cfg(all(feature = "dim3", feature = "async-collider"))]
@@ -597,7 +598,10 @@ pub mod test {
         let mut meshes = app.world_mut().resource_mut::<Assets<Mesh>>();
         let cube = meshes.add(Cuboid::default());
 
-        let entity = app.world_mut().spawn((cube, AsyncCollider::default())).id();
+        let entity = app
+            .world_mut()
+            .spawn((Mesh3d(cube), AsyncCollider::default()))
+            .id();
 
         app.update();
 
@@ -625,10 +629,13 @@ pub mod test {
         let mut meshes = app.world_mut().resource_mut::<Assets<Mesh>>();
         let cube_handle = meshes.add(Cuboid::default());
         let capsule_handle = meshes.add(Capsule3d::default());
-        let cube = app.world_mut().spawn((Name::new("Cube"), cube_handle)).id();
+        let cube = app
+            .world_mut()
+            .spawn((Name::new("Cube"), Mesh3d(cube_handle)))
+            .id();
         let capsule = app
             .world_mut()
-            .spawn((Name::new("Capsule"), capsule_handle))
+            .spawn((Name::new("Capsule"), Mesh3d(capsule_handle)))
             .id();
 
         let mut scenes = app.world_mut().resource_mut::<Assets<Scene>>();
@@ -639,13 +646,13 @@ pub mod test {
         let parent = app
             .world_mut()
             .spawn((
-                scene,
+                SceneRoot(scene),
                 AsyncSceneCollider {
                     named_shapes,
                     ..Default::default()
                 },
             ))
-            .push_children(&[cube, capsule])
+            .add_children(&[cube, capsule])
             .id();
 
         app.update();
diff --git a/src/plugin/systems/mod.rs b/src/plugin/systems/mod.rs
index c21e5eda..420876f4 100644
--- a/src/plugin/systems/mod.rs
+++ b/src/plugin/systems/mod.rs
@@ -91,6 +91,7 @@ pub fn step_simulation<Hooks>(
 }
 
 #[cfg(test)]
+#[allow(missing_docs)]
 pub mod tests {
     use bevy::{
         asset::AssetPlugin,
@@ -101,7 +102,6 @@ pub mod tests {
         },
         scene::ScenePlugin,
         time::TimePlugin,
-        window::WindowPlugin,
     };
     use rapier::geometry::CollisionEventFlags;
     use std::f32::consts::PI;
@@ -229,16 +229,12 @@ pub mod tests {
         for (child_transform, parent_transform) in [zero, same, different] {
             let child = app
                 .world_mut()
-                .spawn((
-                    TransformBundle::from(child_transform),
-                    RigidBody::Fixed,
-                    Collider::ball(1.0),
-                ))
+                .spawn((child_transform, RigidBody::Fixed, Collider::ball(1.0)))
                 .id();
 
             app.world_mut()
-                .spawn(TransformBundle::from(parent_transform))
-                .push_children(&[child]);
+                .spawn(parent_transform)
+                .add_children(&[child]);
 
             app.update();
 
@@ -293,13 +289,13 @@ pub mod tests {
         for (child_transform, parent_transform) in [zero, same, different] {
             let child = app
                 .world_mut()
-                .spawn((TransformBundle::from(child_transform), Collider::ball(1.0)))
+                .spawn((child_transform, Collider::ball(1.0)))
                 .id();
 
             let parent = app
                 .world_mut()
-                .spawn((TransformBundle::from(parent_transform), RigidBody::Fixed))
-                .push_children(&[child])
+                .spawn((parent_transform, RigidBody::Fixed))
+                .add_children(&[child])
                 .id();
 
             app.update();
@@ -353,7 +349,6 @@ pub mod tests {
     impl Plugin for HeadlessRenderPlugin {
         fn build(&self, app: &mut App) {
             app.add_plugins((
-                WindowPlugin::default(),
                 AssetPlugin::default(),
                 ScenePlugin,
                 RenderPlugin {
diff --git a/src/plugin/systems/multiple_rapier_contexts.rs b/src/plugin/systems/multiple_rapier_contexts.rs
index 88047ba0..deb63f7f 100644
--- a/src/plugin/systems/multiple_rapier_contexts.rs
+++ b/src/plugin/systems/multiple_rapier_contexts.rs
@@ -52,7 +52,8 @@ fn remove_old_physics(entity: Entity, commands: &mut Commands) {
         .remove::<RapierImpulseJointHandle>();
 }
 
-/// Flags the entity to have its physics updated to reflect new context
+/// Reacts to modifications to [`RapierContextEntityLink`]
+/// to move an entity's physics data from a context to another.
 ///
 /// Also recursively bubbles down context changes to children & flags them to apply any needed physics changes
 pub fn on_change_context(
@@ -155,7 +156,7 @@ mod test {
         .add_systems(
             PostUpdate,
             setup_physics
-                .run_if(run_once())
+                .run_if(run_once)
                 .before(PhysicsSet::SyncBackend),
         );
         // Simulates 60 updates per seconds
@@ -208,13 +209,13 @@ mod test {
         }
         pub fn setup_physics(mut commands: Commands) {
             commands.spawn((
-                TransformBundle::from(Transform::from_xyz(0.0, -1.2, 0.0)),
+                Transform::from_xyz(0.0, -1.2, 0.0),
                 cuboid(4.0, 1.0, 1.0),
                 Marker::<'R'>,
             ));
 
             commands.spawn((
-                TransformBundle::from(Transform::from_xyz(0.0, 5.0, 0.0)),
+                Transform::from_xyz(0.0, 5.0, 0.0),
                 cuboid(4.0, 1.5, 1.0),
                 Sensor,
                 Marker::<'R'>,
@@ -222,7 +223,7 @@ mod test {
 
             commands
                 .spawn((
-                    TransformBundle::from(Transform::from_xyz(0.0, 13.0, 0.0)),
+                    Transform::from_xyz(0.0, 13.0, 0.0),
                     RigidBody::Dynamic,
                     cuboid(0.5, 0.5, 0.5),
                     ActiveEvents::COLLISION_EVENTS,
@@ -232,7 +233,7 @@ mod test {
                 ))
                 .with_children(|child_builder| {
                     child_builder.spawn((
-                        TransformBundle::from(Transform::from_xyz(0.0, -1.2, 0.0)),
+                        Transform::from_xyz(0.0, -1.2, 0.0),
                         cuboid(4.0, 1.0, 1.0),
                         Marker::<'C'>,
                         Marker::<'R'>,
diff --git a/src/render/mod.rs b/src/render/mod.rs
index 1e6228e3..18cf10c3 100644
--- a/src/render/mod.rs
+++ b/src/render/mod.rs
@@ -109,6 +109,7 @@ impl Plugin for RapierDebugRenderPlugin {
     fn build(&self, app: &mut App) {
         app.register_type::<DebugRenderContext>();
         app.register_type::<ColliderDebug>();
+        app.register_type::<ColliderDebugColor>();
 
         app.insert_resource(DebugRenderContext {
             enabled: self.enabled,