diff --git a/bevy_rapier3d/examples/ray_casting3.rs b/bevy_rapier3d/examples/ray_casting3.rs
index 19acc10d..89d22377 100644
--- a/bevy_rapier3d/examples/ray_casting3.rs
+++ b/bevy_rapier3d/examples/ray_casting3.rs
@@ -76,7 +76,7 @@ pub fn setup_physics(mut commands: Commands) {
 pub fn cast_ray(
     mut commands: Commands,
     windows: Query<&Window, With<PrimaryWindow>>,
-    rapier_context: DefaultRapierContextAccessMut,
+    rapier_context: DefaultRapierContextAccess,
     cameras: Query<(&Camera, &GlobalTransform)>,
 ) {
     let window = windows.single();
diff --git a/src/plugin/context/mod.rs b/src/plugin/context/mod.rs
index ec867c74..5d280ae2 100644
--- a/src/plugin/context/mod.rs
+++ b/src/plugin/context/mod.rs
@@ -375,16 +375,13 @@ impl RapierContext {
         collision_event_writer: &mut EventWriter<CollisionEvent>,
         contact_force_event_writer: &mut EventWriter<ContactForceEvent>,
     ) {
-        for collision_event in self.collision_events_to_send.iter() {
-            collision_event_writer.send(*collision_event);
+        for collision_event in self.collision_events_to_send.drain(..) {
+            collision_event_writer.send(collision_event);
         }
-        self.collision_events_to_send.clear();
 
-        for contact_force_event in self.contact_force_events_to_send.iter() {
-            contact_force_event_writer.send(*contact_force_event);
+        for contact_force_event in self.contact_force_events_to_send.drain(..) {
+            contact_force_event_writer.send(contact_force_event);
         }
-
-        self.contact_force_events_to_send.clear();
     }
 
     /// This method makes sure that the rigid-body positions have been propagated to
diff --git a/src/plugin/context/systemparams/rapier_context_access.rs b/src/plugin/context/systemparams/rapier_context_access.rs
index 7ea7958f..04f5cf06 100644
--- a/src/plugin/context/systemparams/rapier_context_access.rs
+++ b/src/plugin/context/systemparams/rapier_context_access.rs
@@ -3,14 +3,20 @@ use bevy::prelude::*;
 use std::ops::{Deref, DerefMut};
 
 use super::super::{DefaultRapierContext, RapierContext, RapierContextEntityLink};
-/// Utility [`SystemParam`] to easily access the default world [`RapierContext`] immutably
+/// Utility [`SystemParam`] to easily access the single default [`RapierContext`] immutably.
+///
+/// SAFETY: Dereferencing this struct will panic if its underlying query fails.
+/// See [`RapierContextAccess`] for a safer alternative.
 #[derive(SystemParam)]
 pub struct DefaultRapierContextAccess<'w, 's, T: Component = DefaultRapierContext> {
     rapier_context: Query<'w, 's, &'static RapierContext, With<T>>,
 }
 
 impl<'w, 's, T: Component> DefaultRapierContextAccess<'w, 's, T> {
-    /// Use this method if you only have one world.
+    /// Use this method if you only have one [`RapierContext`].
+    ///
+    /// SAFETY: This method will panic if its underlying query fails.
+    /// See [`RapierContextAccess`] for a safe alternative.
     pub fn single(&'_ self) -> &RapierContext {
         self.rapier_context.single()
     }
@@ -19,12 +25,19 @@ impl<'w, 's, T: Component> DefaultRapierContextAccess<'w, 's, T> {
 impl<'w, 's> Deref for DefaultRapierContextAccess<'w, 's> {
     type Target = RapierContext;
 
+    /// Use this method if you only have one [`RapierContext`].
+    ///
+    /// SAFETY: This method will panic if its underlying query fails.
+    /// See [`RapierContextAccess`] for a safe alternative.
     fn deref(&self) -> &Self::Target {
         self.rapier_context.single()
     }
 }
 
-/// Utility [`SystemParam`] to easily access the default world [`RapierContext`] mutably
+/// Utility [`SystemParam`] to easily access the single default [`RapierContext`] mutably.
+///
+/// SAFETY: Dereferencing this struct will panic if its underlying query fails.
+/// See [`RapierContextAccess`] for a safer alternative.
 #[derive(SystemParam)]
 pub struct DefaultRapierContextAccessMut<'w, 's, T: Component = DefaultRapierContext> {
     rapier_context: Query<'w, 's, &'static mut RapierContext, With<T>>,
@@ -33,12 +46,20 @@ pub struct DefaultRapierContextAccessMut<'w, 's, T: Component = DefaultRapierCon
 impl<'w, 's, T: Component> Deref for DefaultRapierContextAccessMut<'w, 's, T> {
     type Target = RapierContext;
 
+    /// Use this method if you only have one [`RapierContext`].
+    ///
+    /// SAFETY: This method will panic if its underlying query fails.
+    /// See [`RapierContextAccess`] for a safe alternative.
     fn deref(&self) -> &Self::Target {
         self.rapier_context.single()
     }
 }
 
 impl<'w, 's> DerefMut for DefaultRapierContextAccessMut<'w, 's> {
+    /// Use this method if you only have one [`RapierContext`].
+    ///
+    /// SAFETY: This method will panic if its underlying query fails.
+    /// See [`RapierContextAccess`] for a safe alternative.
     fn deref_mut(&mut self) -> &mut Self::Target {
         // TODO: should we cache the result ?
         self.rapier_context.single_mut().into_inner()
@@ -58,11 +79,18 @@ pub struct RapierContextAccess<'w, 's> {
 
 impl<'w, 's> RapierContextAccess<'w, 's> {
     /// Retrieves the rapier context responsible for the entity owning the given [`RapierContextEntityLink`].
-    pub fn context(&self, link: RapierContextEntityLink) -> &'_ RapierContext {
-        self.rapier_context
-            .get(link.0)
+    ///
+    /// SAFETY: This method will panic if its underlying query fails.
+    /// See [`Self::try_context`] for a safe alternative.
+    pub fn context(&self, link: &RapierContextEntityLink) -> &'_ RapierContext {
+        self.try_context(link)
             .expect("RapierContextEntityLink.0 refers to an entity without RapierContext.")
     }
+
+    /// Retrieves the rapier context responsible for the entity owning the given [`RapierContextEntityLink`].
+    pub fn try_context(&self, link: &RapierContextEntityLink) -> Option<&'_ RapierContext> {
+        self.rapier_context.get(link.0).ok()
+    }
 }
 
 impl<'w, 's> Deref for RapierContextAccess<'w, 's> {
@@ -86,40 +114,54 @@ pub struct RapierContextAccessMut<'w, 's> {
 
 impl<'w, 's> RapierContextAccessMut<'w, 's> {
     /// Retrieves the rapier context responsible for the entity owning the given [`RapierContextEntityLink`].
-    pub fn context(&mut self, link: RapierContextEntityLink) -> &'_ mut RapierContext {
-        self.rapier_context
-            .get_mut(link.0)
+    ///
+    /// SAFETY: This method will panic if its underlying query fails.
+    /// See [`Self::try_context`] for a safe alternative.
+    pub fn context(&mut self, link: &RapierContextEntityLink) -> Mut<RapierContext> {
+        self.try_context(link)
             .expect("RapierContextEntityLink.0 refers to an entity without RapierContext.")
-            .into_inner()
+    }
+
+    /// Retrieves the rapier context responsible for the entity owning the given [`RapierContextEntityLink`].
+    pub fn try_context(&mut self, link: &RapierContextEntityLink) -> Option<Mut<RapierContext>> {
+        self.rapier_context.get_mut(link.0).ok()
     }
 
     /// Retrieves the rapier context component on this [`Entity`].
     ///
-    /// Do not call this on a rapier managed entity. given entity should have a [`RapierContext`].
+    /// Calling this method on a rapier managed entity (rigid body, collider, joints...) will fail.
+    /// Given entity should have a [`RapierContext`].
+    ///
+    /// SAFETY: This method will panic if its underlying query fails.
     pub(crate) fn context_from_entity(
         &mut self,
         rapier_context_entity: Entity,
-    ) -> &'_ mut RapierContext {
-        self.rapier_context
-            .get_mut(rapier_context_entity)
-            .unwrap_or_else(|_| panic!("entity {rapier_context_entity} has no RapierContext."))
-            .into_inner()
+    ) -> Mut<RapierContext> {
+        self.try_context_from_entity(rapier_context_entity)
+            .unwrap_or_else(|| panic!("entity {rapier_context_entity} has no RapierContext."))
+    }
+
+    /// Retrieves the rapier context component on this [`Entity`].
+    ///
+    /// Calling this method on a rapier managed entity (rigid body, collider, joints...) will fail.
+    /// Given entity should have a [`RapierContext`].
+    pub fn try_context_from_entity(
+        &mut self,
+        rapier_context_entity: Entity,
+    ) -> Option<Mut<RapierContext>> {
+        self.rapier_context.get_mut(rapier_context_entity).ok()
     }
 }
 
-pub fn try_get_default_context(
+/// Gets the default RapierContext.
+///
+/// SAFETY: Panics if no entity with [`DefaultRapierContext`] exist.
+pub fn get_single_context(
     default_context_access: &Query<Entity, With<DefaultRapierContext>>,
-) -> Option<Entity> {
-    let context_entity = match default_context_access.iter().next() {
-        Some(it) => it,
-        None => {
-            log::error!(
-                "No entity with `DefaultRapierContext` found.\
+) -> Entity {
+    default_context_access.get_single().expect(
+        "No entity with `DefaultRapierContext` found.\
                         Please add a default `RapierContext` or a `RapierContextEntityLink`\
-                        on the new rapier-managed entity."
-            );
-            return None;
-        }
-    };
-    Some(context_entity)
+                        on the new rapier-managed entity.",
+    )
 }
diff --git a/src/plugin/plugin.rs b/src/plugin/plugin.rs
index b58ab001..ce9be990 100644
--- a/src/plugin/plugin.rs
+++ b/src/plugin/plugin.rs
@@ -109,7 +109,6 @@ where
                     .in_set(RapierTransformPropagateSet),
                 systems::on_add_entity_with_parent,
                 systems::on_change_world,
-                //
                 systems::sync_removals,
                 #[cfg(all(feature = "dim3", feature = "async-collider"))]
                 systems::init_async_scene_colliders,
@@ -118,8 +117,6 @@ where
                 systems::init_rigid_bodies,
                 systems::init_colliders,
                 systems::init_joints,
-                //systems::sync_removals,
-                // Run this here so the following systems do not have a 1 frame delay.
                 systems::apply_scale,
                 systems::apply_collider_user_changes,
                 systems::apply_rigid_body_user_changes,
@@ -246,20 +243,6 @@ where
                     .before(TransformSystem::TransformPropagate),
             );
 
-            // These *must* be in the main schedule currently so that they do not miss events.
-            /*app.add_systems(
-                PostUpdate,
-                (
-                    // Change any worlds needed before doing any calculations
-                    systems::on_add_entity_with_parent,
-                    systems::on_change_world,
-                    // Make sure to remove any dead bodies after changing_worlds but before everything else
-                    // to avoid it deleting something right after adding it
-                    //systems::sync_removals,
-                )
-                    .chain(),
-            );*/
-
             app.add_systems(
                 self.schedule,
                 (
@@ -287,12 +270,15 @@ where
 
 /// Specifies a default configuration for the default `RapierContext`
 ///
-/// If [`None`], no world will be initialized, you are responsible of creating and maintaining
-/// a [`RapierContext`] before creating any rapier entities (rigidbodies, colliders, joints),
-/// and as long as any [`RapierContextEntityLink`] has a reference to its [`RapierContext`].
+/// If [`NoAutomaticRapierContext`],
 #[derive(Resource, Debug, Reflect, Clone)]
 pub enum RapierContextInitialization {
     /// [`RapierPhysicsPlugin`] will not spawn any entity containing [`RapierContext`] automatically.
+    ///
+    /// You are responsible for creating a [`RapierContext`],
+    /// before spawning any rapier entities (rigidbodies, colliders, joints).
+    ///
+    /// You might be interested in adding [`DefaultRapierContext`] to the created world.
     NoAutomaticRapierContext,
     /// [`RapierPhysicsPlugin`] will spawn an entity containing a [`RapierContext`]
     /// automatically during [`PreStartup`], with the [`DefaultRapierContext`] marker component.
diff --git a/src/plugin/systems/character_controller.rs b/src/plugin/systems/character_controller.rs
index f46c4dc1..de67606b 100644
--- a/src/plugin/systems/character_controller.rs
+++ b/src/plugin/systems/character_controller.rs
@@ -39,11 +39,13 @@ pub fn update_character_controls(
         glob_transform,
     ) in character_controllers.iter_mut()
     {
-        let context = context_access.context(*rapier_context_link);
-        let config = config.get(rapier_context_link.0).unwrap();
         if let (Some(raw_controller), Some(translation)) =
             (controller.to_raw(), controller.translation)
         {
+            let config = config
+                .get(rapier_context_link.0)
+                .expect("Could not get [`RapierConfiguration`]");
+            let context = context_access.context(rapier_context_link).into_inner();
             let scaled_custom_shape =
                 controller
                     .custom_shape
diff --git a/src/plugin/systems/collider.rs b/src/plugin/systems/collider.rs
index 3bc44e8b..d6061e3b 100644
--- a/src/plugin/systems/collider.rs
+++ b/src/plugin/systems/collider.rs
@@ -1,6 +1,6 @@
 use crate::dynamics::ReadMassProperties;
 use crate::geometry::Collider;
-use crate::plugin::context::systemparams::{try_get_default_context, RapierEntity};
+use crate::plugin::context::systemparams::{get_single_context, RapierEntity};
 use crate::plugin::context::RapierContextEntityLink;
 use crate::plugin::{
     DefaultRapierContext, RapierConfiguration, RapierContext, RapierContextAccessMut,
@@ -143,7 +143,9 @@ pub fn apply_collider_user_changes(
     mut mass_modified: EventWriter<MassModifiedEvent>,
 ) {
     for (rapier_entity, handle, transform) in changed_collider_transforms.iter() {
-        let context = context.context(*rapier_entity.rapier_context_link);
+        let context = context
+            .context(rapier_entity.rapier_context_link)
+            .into_inner();
         if context.collider_parent(rapier_entity.entity).is_some() {
             let (_, collider_position) = collider_offset(
                 rapier_entity.entity,
@@ -161,7 +163,9 @@ pub fn apply_collider_user_changes(
     }
 
     for (rapier_entity, handle, shape) in changed_shapes.iter() {
-        let context = context.context(*rapier_entity.rapier_context_link);
+        let context = context
+            .context(rapier_entity.rapier_context_link)
+            .into_inner();
         let config = config.get(rapier_entity.rapier_context_link.0).unwrap();
         if let Some(co) = context.colliders.get_mut(handle.0) {
             let mut scaled_shape = shape.clone();
@@ -177,28 +181,36 @@ pub fn apply_collider_user_changes(
     }
 
     for (rapier_entity, handle, active_events) in changed_active_events.iter() {
-        let context = context.context(*rapier_entity.rapier_context_link);
+        let context = context
+            .context(rapier_entity.rapier_context_link)
+            .into_inner();
         if let Some(co) = context.colliders.get_mut(handle.0) {
             co.set_active_events((*active_events).into())
         }
     }
 
     for (rapier_entity, handle, active_hooks) in changed_active_hooks.iter() {
-        let context = context.context(*rapier_entity.rapier_context_link);
+        let context = context
+            .context(rapier_entity.rapier_context_link)
+            .into_inner();
         if let Some(co) = context.colliders.get_mut(handle.0) {
             co.set_active_hooks((*active_hooks).into())
         }
     }
 
     for (rapier_entity, handle, active_collision_types) in changed_active_collision_types.iter() {
-        let context = context.context(*rapier_entity.rapier_context_link);
+        let context = context
+            .context(rapier_entity.rapier_context_link)
+            .into_inner();
         if let Some(co) = context.colliders.get_mut(handle.0) {
             co.set_active_collision_types((*active_collision_types).into())
         }
     }
 
     for (rapier_entity, handle, friction) in changed_friction.iter() {
-        let context = context.context(*rapier_entity.rapier_context_link);
+        let context = context
+            .context(rapier_entity.rapier_context_link)
+            .into_inner();
         if let Some(co) = context.colliders.get_mut(handle.0) {
             co.set_friction(friction.coefficient);
             co.set_friction_combine_rule(friction.combine_rule.into());
@@ -206,7 +218,9 @@ pub fn apply_collider_user_changes(
     }
 
     for (rapier_entity, handle, restitution) in changed_restitution.iter() {
-        let context = context.context(*rapier_entity.rapier_context_link);
+        let context = context
+            .context(rapier_entity.rapier_context_link)
+            .into_inner();
         if let Some(co) = context.colliders.get_mut(handle.0) {
             co.set_restitution(restitution.coefficient);
             co.set_restitution_combine_rule(restitution.combine_rule.into());
@@ -214,49 +228,63 @@ pub fn apply_collider_user_changes(
     }
 
     for (rapier_entity, handle, contact_skin) in changed_contact_skin.iter() {
-        let context = context.context(*rapier_entity.rapier_context_link);
+        let context = context
+            .context(rapier_entity.rapier_context_link)
+            .into_inner();
         if let Some(co) = context.colliders.get_mut(handle.0) {
             co.set_contact_skin(contact_skin.0);
         }
     }
 
     for (rapier_entity, handle, collision_groups) in changed_collision_groups.iter() {
-        let context = context.context(*rapier_entity.rapier_context_link);
+        let context = context
+            .context(rapier_entity.rapier_context_link)
+            .into_inner();
         if let Some(co) = context.colliders.get_mut(handle.0) {
             co.set_collision_groups((*collision_groups).into());
         }
     }
 
     for (rapier_entity, handle, solver_groups) in changed_solver_groups.iter() {
-        let context = context.context(*rapier_entity.rapier_context_link);
+        let context = context
+            .context(rapier_entity.rapier_context_link)
+            .into_inner();
         if let Some(co) = context.colliders.get_mut(handle.0) {
             co.set_solver_groups((*solver_groups).into());
         }
     }
 
     for (rapier_entity, handle, _) in changed_sensors.iter() {
-        let context = context.context(*rapier_entity.rapier_context_link);
+        let context = context
+            .context(rapier_entity.rapier_context_link)
+            .into_inner();
         if let Some(co) = context.colliders.get_mut(handle.0) {
             co.set_sensor(true);
         }
     }
 
     for (rapier_entity, handle, _) in changed_disabled.iter() {
-        let context = context.context(*rapier_entity.rapier_context_link);
+        let context = context
+            .context(rapier_entity.rapier_context_link)
+            .into_inner();
         if let Some(co) = context.colliders.get_mut(handle.0) {
             co.set_enabled(false);
         }
     }
 
     for (rapier_entity, handle, threshold) in changed_contact_force_threshold.iter() {
-        let context = context.context(*rapier_entity.rapier_context_link);
+        let context = context
+            .context(rapier_entity.rapier_context_link)
+            .into_inner();
         if let Some(co) = context.colliders.get_mut(handle.0) {
             co.set_contact_force_event_threshold(threshold.0);
         }
     }
 
     for (rapier_entity, handle, mprops) in changed_collider_mass_props.iter() {
-        let context = context.context(*rapier_entity.rapier_context_link);
+        let context = context
+            .context(rapier_entity.rapier_context_link)
+            .into_inner();
         if let Some(co) = context.colliders.get_mut(handle.0) {
             match mprops {
                 ColliderMassProperties::Density(density) => co.set_density(*density),
@@ -344,7 +372,7 @@ pub fn init_colliders(
     {
         let context_entity = context_link.map_or_else(
             || {
-                let context_entity = try_get_default_context(&default_context).unwrap();
+                let context_entity = get_single_context(&default_context);
                 commands
                     .entity(entity)
                     .insert(RapierContextEntityLink(context_entity));
@@ -352,8 +380,12 @@ pub fn init_colliders(
             },
             |link| link.0,
         );
-        let context = context_access.context_from_entity(context_entity);
-        let config = config.get(context_entity).unwrap();
+        let context = context_access
+            .context_from_entity(context_entity)
+            .into_inner();
+        let config = config.get(context_entity).unwrap_or_else(|_| {
+            panic!("Failed to retrieve `RapierConfiguration` on entity {context_entity}.")
+        });
         let mut scaled_shape = shape.clone();
         scaled_shape.set_scale(shape.scale, config.scaled_shape_subdivision);
         let mut builder = ColliderBuilder::new(scaled_shape.raw.clone());
diff --git a/src/plugin/systems/joint.rs b/src/plugin/systems/joint.rs
index e50bf211..e8fc8cb1 100644
--- a/src/plugin/systems/joint.rs
+++ b/src/plugin/systems/joint.rs
@@ -2,7 +2,7 @@ use crate::dynamics::ImpulseJoint;
 use crate::dynamics::MultibodyJoint;
 use crate::dynamics::RapierImpulseJointHandle;
 use crate::dynamics::RapierMultibodyJointHandle;
-use crate::plugin::context::systemparams::try_get_default_context;
+use crate::plugin::context::systemparams::get_single_context;
 use crate::plugin::context::RapierContextEntityLink;
 use crate::plugin::DefaultRapierContext;
 use crate::plugin::RapierContextAccessMut;
@@ -26,7 +26,7 @@ pub fn init_joints(
     for (entity, entity_context_link, joint) in impulse_joints.iter() {
         let context_entity = entity_context_link.map_or_else(
             || {
-                let context_entity = try_get_default_context(&default_context).unwrap();
+                let context_entity = get_single_context(&default_context);
                 commands
                     .entity(entity)
                     .insert(RapierContextEntityLink(context_entity));
@@ -34,7 +34,9 @@ pub fn init_joints(
             },
             |link| link.0,
         );
-        let context = context_access.context_from_entity(context_entity);
+        let context = context_access
+            .context_from_entity(context_entity)
+            .into_inner();
         let mut target = None;
         let mut body_entity = entity;
         while target.is_none() {
@@ -61,7 +63,7 @@ pub fn init_joints(
     for (entity, entity_context_link, joint) in multibody_joints.iter() {
         let context_entity = entity_context_link.map_or_else(
             || {
-                let context_entity = try_get_default_context(&default_context).unwrap();
+                let context_entity = get_single_context(&default_context);
                 commands
                     .entity(entity)
                     .insert(RapierContextEntityLink(context_entity));
@@ -69,7 +71,9 @@ pub fn init_joints(
             },
             |link| link.0,
         );
-        let context = context_access.context_from_entity(context_entity);
+        let context = context_access
+            .context_from_entity(context_entity)
+            .into_inner();
         let target = context.entity2body.get(&entity);
 
         if let (Some(target), Some(source)) = (target, context.entity2body.get(&joint.parent)) {
@@ -112,14 +116,14 @@ pub fn apply_joint_user_changes(
     // TODO: right now, we only support propagating changes made to the joint data.
     //       Re-parenting the joint isn’t supported yet.
     for (link, handle, changed_joint) in changed_impulse_joints.iter() {
-        let context = context.context(*link);
+        let context = context.context(link).into_inner();
         if let Some(joint) = context.impulse_joints.get_mut(handle.0) {
             joint.data = changed_joint.data.into_rapier();
         }
     }
 
     for (link, handle, changed_joint) in changed_multibody_joints.iter() {
-        let context = context.context(*link);
+        let context = context.context(link).into_inner();
         // TODO: not sure this will always work properly, e.g., if the number of Dofs is changed.
         if let Some((mb, link_id)) = context.multibody_joints.get_mut(handle.0) {
             if let Some(link) = mb.link_mut(link_id) {
diff --git a/src/plugin/systems/rigid_body.rs b/src/plugin/systems/rigid_body.rs
index c8662824..f4b4154c 100644
--- a/src/plugin/systems/rigid_body.rs
+++ b/src/plugin/systems/rigid_body.rs
@@ -1,5 +1,4 @@
 use crate::dynamics::RapierRigidBodyHandle;
-use crate::plugin::context::systemparams::try_get_default_context;
 use crate::plugin::context::RapierContextEntityLink;
 use crate::plugin::{configuration::TimestepMode, RapierConfiguration, RapierContext};
 use crate::{dynamics::RigidBody, plugin::configuration::SimulationToRenderTime};
@@ -40,7 +39,7 @@ pub type RigidBodyComponents<'a> = (
 
 /// System responsible for applying changes the user made to a rigid-body-related component.
 pub fn apply_rigid_body_user_changes(
-    mut context: Query<&mut RapierContext>,
+    mut context: RapierContextAccessMut,
     config: Query<&RapierConfiguration>,
     changed_rb_types: Query<
         (&RapierRigidBodyHandle, &RapierContextEntityLink, &RigidBody),
@@ -139,7 +138,7 @@ pub fn apply_rigid_body_user_changes(
     // Deal with sleeping first, because other changes may then wake-up the
     // rigid-body again.
     for (handle, link, sleeping) in changed_sleeping.iter() {
-        let mut context = context.get_mut(link.0).unwrap();
+        let context = context.context(link).into_inner();
 
         if let Some(rb) = context.bodies.get_mut(handle.0) {
             let activation = rb.activation_mut();
@@ -161,7 +160,7 @@ pub fn apply_rigid_body_user_changes(
     //       changed to anything else, a transform change would modify the next
     //       position instead of the current one.
     for (handle, link, rb_type) in changed_rb_types.iter() {
-        let mut context = context.get_mut(link.0).unwrap();
+        let context = context.context(link).into_inner();
         if let Some(rb) = context.bodies.get_mut(handle.0) {
             rb.set_body_type((*rb_type).into(), true);
         }
@@ -186,8 +185,10 @@ pub fn apply_rigid_body_user_changes(
         };
 
     for (handle, link, global_transform, mut interpolation) in changed_transforms.iter_mut() {
-        let context = &mut *context.get_mut(link.0).unwrap();
-        let config = config.get(link.0).unwrap();
+        let context = context.context(link).into_inner();
+        let config = config
+            .get(link.0)
+            .expect("Could not get `RapierConfiguration`");
         // Use an Option<bool> to avoid running the check twice.
         let mut transform_changed = None;
 
@@ -246,7 +247,7 @@ pub fn apply_rigid_body_user_changes(
     }
 
     for (handle, link, velocity) in changed_velocities.iter() {
-        let mut context = context.get_mut(link.0).unwrap();
+        let context = context.context(link).into_inner();
         if let Some(rb) = context.bodies.get_mut(handle.0) {
             rb.set_linvel(velocity.linvel.into(), true);
             #[allow(clippy::useless_conversion)] // Need to convert if dim3 enabled
@@ -255,7 +256,7 @@ pub fn apply_rigid_body_user_changes(
     }
 
     for (entity, link, handle, mprops) in changed_additional_mass_props.iter() {
-        let mut context = context.get_mut(link.0).unwrap();
+        let context = context.context(link).into_inner();
         if let Some(rb) = context.bodies.get_mut(handle.0) {
             match mprops {
                 AdditionalMassProperties::MassProperties(mprops) => {
@@ -271,21 +272,21 @@ pub fn apply_rigid_body_user_changes(
     }
 
     for (handle, link, additional_solver_iters) in changed_additional_solver_iterations.iter() {
-        let mut context = context.get_mut(link.0).unwrap();
+        let context = context.context(link).into_inner();
         if let Some(rb) = context.bodies.get_mut(handle.0) {
             rb.set_additional_solver_iterations(additional_solver_iters.0);
         }
     }
 
     for (handle, link, locked_axes) in changed_locked_axes.iter() {
-        let mut context = context.get_mut(link.0).unwrap();
+        let context = context.context(link).into_inner();
         if let Some(rb) = context.bodies.get_mut(handle.0) {
             rb.set_locked_axes((*locked_axes).into(), true);
         }
     }
 
     for (handle, link, forces) in changed_forces.iter() {
-        let mut context = context.get_mut(link.0).unwrap();
+        let context = context.context(link).into_inner();
         if let Some(rb) = context.bodies.get_mut(handle.0) {
             rb.reset_forces(true);
             rb.reset_torques(true);
@@ -296,7 +297,7 @@ pub fn apply_rigid_body_user_changes(
     }
 
     for (handle, link, mut impulses) in changed_impulses.iter_mut() {
-        let mut context = context.get_mut(link.0).unwrap();
+        let context = context.context(link).into_inner();
         if let Some(rb) = context.bodies.get_mut(handle.0) {
             rb.apply_impulse(impulses.impulse.into(), true);
             #[allow(clippy::useless_conversion)] // Need to convert if dim3 enabled
@@ -306,35 +307,35 @@ pub fn apply_rigid_body_user_changes(
     }
 
     for (handle, link, gravity_scale) in changed_gravity_scale.iter() {
-        let mut context = context.get_mut(link.0).unwrap();
+        let context = context.context(link).into_inner();
         if let Some(rb) = context.bodies.get_mut(handle.0) {
             rb.set_gravity_scale(gravity_scale.0, true);
         }
     }
 
     for (handle, link, ccd) in changed_ccd.iter() {
-        let mut context = context.get_mut(link.0).unwrap();
+        let context = context.context(link).into_inner();
         if let Some(rb) = context.bodies.get_mut(handle.0) {
             rb.enable_ccd(ccd.enabled);
         }
     }
 
     for (handle, link, soft_ccd) in changed_soft_ccd.iter() {
-        let mut context = context.get_mut(link.0).unwrap();
+        let context = context.context(link).into_inner();
         if let Some(rb) = context.bodies.get_mut(handle.0) {
             rb.set_soft_ccd_prediction(soft_ccd.prediction);
         }
     }
 
     for (handle, link, dominance) in changed_dominance.iter() {
-        let mut context = context.get_mut(link.0).unwrap();
+        let context = context.context(link).into_inner();
         if let Some(rb) = context.bodies.get_mut(handle.0) {
             rb.set_dominance_group(dominance.groups);
         }
     }
 
     for (handle, link, damping) in changed_damping.iter() {
-        let mut context = context.get_mut(link.0).unwrap();
+        let context = context.context(link).into_inner();
         if let Some(rb) = context.bodies.get_mut(handle.0) {
             rb.set_linear_damping(damping.linear_damping);
             rb.set_angular_damping(damping.angular_damping);
@@ -342,7 +343,7 @@ pub fn apply_rigid_body_user_changes(
     }
 
     for (handle, link, _) in changed_disabled.iter() {
-        let mut context = context.get_mut(link.0).unwrap();
+        let context = context.context(link).into_inner();
         if let Some(co) = context.bodies.get_mut(handle.0) {
             co.set_enabled(false);
         }
@@ -352,7 +353,7 @@ pub fn apply_rigid_body_user_changes(
 /// System responsible for writing the result of the last simulation step into our `bevy_rapier`
 /// components and the [`GlobalTransform`] component.
 pub fn writeback_rigid_bodies(
-    mut context: Query<&mut RapierContext>,
+    mut context: RapierContextAccessMut,
     timestep_mode: Res<TimestepMode>,
     config: Query<&RapierConfiguration>,
     sim_to_render_time: Query<&SimulationToRenderTime>,
@@ -365,14 +366,18 @@ pub fn writeback_rigid_bodies(
     for (handle, link, parent, transform, mut interpolation, mut velocity, mut sleeping) in
         writeback.iter_mut()
     {
-        let config = config.get(link.0).unwrap();
+        let config = config
+            .get(link.0)
+            .expect("Could not get `RapierConfiguration`");
         if !config.physics_pipeline_active {
             continue;
         }
         let handle = handle.0;
 
-        let context = &mut *context.get_mut(link.0).unwrap();
-        let sim_to_render_time = sim_to_render_time.get(link.0).unwrap();
+        let context = context.context(link).into_inner();
+        let sim_to_render_time = sim_to_render_time
+            .get(link.0)
+            .expect("Could not get `SimulationToRenderTime`");
         // TODO: do this the other way round: iterate through Rapier’s RigidBodySet on the active bodies,
         // and update the components accordingly. That way, we don’t have to iterate through the entities that weren’t changed
         // by physics (for example because they are sleeping).
@@ -604,7 +609,7 @@ pub fn init_rigid_bodies(
         // Get rapier context from RapierContextEntityLink or insert its default value.
         let context_entity = entity_context_link.map_or_else(
             || {
-                let context_entity = try_get_default_context(&default_context_access)?;
+                let context_entity = default_context_access.get_single().ok()?;
                 commands
                     .entity(entity)
                     .insert(RapierContextEntityLink(context_entity));
@@ -647,7 +652,7 @@ pub fn apply_initial_rigid_body_impulses(
     >,
 ) {
     for (entity, link, mut impulse) in init_impulses.iter_mut() {
-        let context = context.context(*link);
+        let context = context.context(link).into_inner();
         let bodies = &mut context.bodies;
         if let Some(rb) = context
             .entity2body
diff --git a/src/plugin/systems/writeback.rs b/src/plugin/systems/writeback.rs
index a14c5b66..f4eead69 100644
--- a/src/plugin/systems/writeback.rs
+++ b/src/plugin/systems/writeback.rs
@@ -2,24 +2,28 @@ use crate::dynamics::MassProperties;
 use crate::dynamics::ReadMassProperties;
 use crate::plugin::context::RapierContextEntityLink;
 use crate::plugin::RapierConfiguration;
-use crate::plugin::RapierContext;
+use crate::plugin::RapierContextAccess;
 use crate::prelude::MassModifiedEvent;
 use bevy::prelude::*;
 
 /// System responsible for writing updated mass properties back into the [`ReadMassProperties`] component.
 pub fn writeback_mass_properties(
     link: Query<&RapierContextEntityLink>,
-    context: Query<&RapierContext>,
+    context: RapierContextAccess,
     config: Query<&RapierConfiguration>,
 
     mut mass_props: Query<&mut ReadMassProperties>,
     mut mass_modified: EventReader<MassModifiedEvent>,
 ) {
     for entity in mass_modified.read() {
-        let link = link.get(entity.0).unwrap();
-        let config = config.get(link.0).unwrap();
+        let link = link
+            .get(entity.0)
+            .expect("Could not find `RapierContextEntityLink`");
+        let config = config
+            .get(link.0)
+            .expect("Could not find `RapierConfiguration`");
         if config.physics_pipeline_active {
-            let context = context.get(link.0).unwrap();
+            let context = context.context(link);
 
             if let Some(handle) = context.entity2body.get(entity).copied() {
                 if let Some(rb) = context.bodies.get(handle) {