diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 8d5ce9c..af24066 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -24,9 +24,9 @@ jobs:
       - uses: actions/checkout@v4
       - run: sudo apt-get install -y cmake libxcb-composite0-dev
       - name: Check
-        run: cargo check
+        run: cargo check --examples
       - name: Clippy
-        run: cargo clippy
+        run: cargo clippy --examples
       - name: cargo doc
         run: cargo doc --document-private-items --no-deps
   # If this fails, consider changing your text or adding something to .typos.toml
diff --git a/Cargo.lock b/Cargo.lock
index 84fa162..2b0363b 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -97,7 +97,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ef6978589202a00cd7e118380c448a08b6ed394c3a8df3a430d0898e3a42d046"
 dependencies = [
  "android-properties",
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
  "cc",
  "cesu8",
  "jni",
@@ -231,7 +231,7 @@ version = "3.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ff6e472cdea888a4bd64f342f09b3f50e1886d32afe8df3d663c01140b811b18"
 dependencies = [
- "event-listener 5.3.1",
+ "event-listener 5.4.0",
  "event-listener-strategy",
  "pin-project-lite",
 ]
@@ -324,7 +324,7 @@ dependencies = [
  "bevy_tasks",
  "bevy_utils",
  "bevy_window",
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
  "blake3",
  "crossbeam-channel",
  "derive_more",
@@ -404,7 +404,7 @@ dependencies = [
  "bevy_transform",
  "bevy_utils",
  "bevy_window",
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
  "derive_more",
  "nonmax",
  "radsort",
@@ -423,6 +423,34 @@ dependencies = [
  "syn",
 ]
 
+[[package]]
+name = "bevy_dev_tools"
+version = "0.15.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "72b8f0aa5827d2e1e29f8ae3fe5ae92aae1976497c8ed8e7cd4dfdefc34daf8b"
+dependencies = [
+ "bevy_app",
+ "bevy_asset",
+ "bevy_color",
+ "bevy_core",
+ "bevy_core_pipeline",
+ "bevy_diagnostic",
+ "bevy_ecs",
+ "bevy_gizmos",
+ "bevy_hierarchy",
+ "bevy_input",
+ "bevy_math",
+ "bevy_reflect",
+ "bevy_render",
+ "bevy_state",
+ "bevy_text",
+ "bevy_time",
+ "bevy_transform",
+ "bevy_ui",
+ "bevy_utils",
+ "bevy_window",
+]
+
 [[package]]
 name = "bevy_diagnostic"
 version = "0.15.1"
@@ -450,7 +478,7 @@ dependencies = [
  "bevy_reflect",
  "bevy_tasks",
  "bevy_utils",
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
  "concurrent-queue",
  "derive_more",
  "disqualified",
@@ -488,6 +516,7 @@ name = "bevy_fixed_update_task"
 version = "0.1.2"
 dependencies = [
  "bevy",
+ "bevy_rapier2d",
  "bevy_transform_interpolation",
  "crossbeam-channel",
  "profiling",
@@ -555,7 +584,7 @@ dependencies = [
  "bevy_math",
  "bevy_reflect",
  "bevy_utils",
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
  "bytemuck",
  "derive_more",
  "futures-lite",
@@ -593,6 +622,7 @@ dependencies = [
  "bevy_core",
  "bevy_core_pipeline",
  "bevy_derive",
+ "bevy_dev_tools",
  "bevy_diagnostic",
  "bevy_ecs",
  "bevy_gizmos",
@@ -676,7 +706,7 @@ dependencies = [
  "bevy_reflect",
  "bevy_transform",
  "bevy_utils",
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
  "bytemuck",
  "derive_more",
  "hexasphere",
@@ -721,6 +751,18 @@ version = "0.15.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "aa65df6a190b7dfc84d79f09cf02d47ae046fa86a613e202c31559e06d8d3710"
 
+[[package]]
+name = "bevy_rapier2d"
+version = "0.28.0"
+source = "git+https://github.com/Vrixyz/bevy_rapier.git?branch=opt-out-physics_set#ec99e64e84b1c74a708596a1096e53655621ad1c"
+dependencies = [
+ "bevy",
+ "bitflags 2.8.0",
+ "log",
+ "nalgebra",
+ "rapier2d",
+]
+
 [[package]]
 name = "bevy_reflect"
 version = "0.15.1"
@@ -853,7 +895,7 @@ dependencies = [
  "bevy_transform",
  "bevy_utils",
  "bevy_window",
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
  "bytemuck",
  "derive_more",
  "fixedbitset 0.5.7",
@@ -863,6 +905,32 @@ dependencies = [
  "rectangle-pack",
 ]
 
+[[package]]
+name = "bevy_state"
+version = "0.15.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fd10c8b01a982642596406fc4486fcd52239aa9c4aa47fed27abab93a69fba59"
+dependencies = [
+ "bevy_app",
+ "bevy_ecs",
+ "bevy_hierarchy",
+ "bevy_reflect",
+ "bevy_state_macros",
+ "bevy_utils",
+]
+
+[[package]]
+name = "bevy_state_macros"
+version = "0.15.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "23773797bf8077a6ad9299f10b063b6947f22dad311d855c4b3523102ab4381b"
+dependencies = [
+ "bevy_macro_utils",
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
 [[package]]
 name = "bevy_tasks"
 version = "0.15.1"
@@ -936,13 +1004,9 @@ dependencies = [
 [[package]]
 name = "bevy_transform_interpolation"
 version = "0.1.0"
-source = "git+https://github.com/Vrixyz/bevy_transform_interpolation.git?branch=background_task#8effd484e323fe4bf99a259887aab9e1d5e82f39"
+source = "git+https://github.com/Vrixyz/bevy_transform_interpolation.git?branch=background_task#eff8cfd5900b19a80e60a3c3165be438490332fc"
 dependencies = [
  "bevy",
- "crossbeam-channel",
- "dyn-clone",
- "profiling",
- "rand",
 ]
 
 [[package]]
@@ -1057,7 +1121,7 @@ version = "0.70.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f49d8fed880d473ea71efb9bf597651e77201bdd4893efe54c9e5d65ae04ce6f"
 dependencies = [
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
  "cexpr",
  "clang-sys",
  "itertools",
@@ -1066,7 +1130,7 @@ dependencies = [
  "proc-macro2",
  "quote",
  "regex",
- "rustc-hash",
+ "rustc-hash 1.1.0",
  "shlex",
  "syn",
 ]
@@ -1095,6 +1159,12 @@ version = "0.6.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "349f9b6a179ed607305526ca489b34ad0a41aed5f7980fa90eb03160b69598fb"
 
+[[package]]
+name = "bit-vec"
+version = "0.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d2c54ff287cfc0a34f38a6b832ea1bd8e448a330b3e40a50859e6488bee07f22"
+
 [[package]]
 name = "bit-vec"
 version = "0.8.0"
@@ -1109,9 +1179,9 @@ checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
 
 [[package]]
 name = "bitflags"
-version = "2.6.0"
+version = "2.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b048fb63fd8b5923fc5aa7b340d8e156aec7ec02f0c78fa8a6ddc2613f6f71de"
+checksum = "8f68f53c83ab957f72c32642f3868eec03eb974d1fb82e453128456482613d36"
 dependencies = [
  "serde",
 ]
@@ -1159,9 +1229,9 @@ dependencies = [
 
 [[package]]
 name = "bumpalo"
-version = "3.16.0"
+version = "3.17.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "79296716171880943b8470b5f8d03aa55eb2e645a4874bdbb28adb49162e012c"
+checksum = "1628fb46dfa0b37568d12e5edd512553eccf6a22a78e8bde00bb4aed84d5bdbf"
 
 [[package]]
 name = "bytemuck"
@@ -1207,7 +1277,7 @@ version = "0.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b99da2f8558ca23c71f4fd15dc57c906239752dd27ff3c00a1d56b685b7cbfec"
 dependencies = [
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
  "log",
  "polling",
  "rustix",
@@ -1217,9 +1287,9 @@ dependencies = [
 
 [[package]]
 name = "cc"
-version = "1.2.7"
+version = "1.2.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a012a0df96dd6d06ba9a1b29d6402d1a5d77c6befd2566afdc26e10603dc93d7"
+checksum = "e4730490333d58093109dc02c23174c3f4d490998c3fed3cc8e82d57afedb9cf"
 dependencies = [
  "jobserver",
  "libc",
@@ -1337,9 +1407,9 @@ dependencies = [
 
 [[package]]
 name = "const_panic"
-version = "0.2.11"
+version = "0.2.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "53857514f72ee4a2b583de67401e3ff63a5472ca4acf289d09a9ea7636dfec17"
+checksum = "2459fc9262a1aa204eb4b5764ad4f189caec88aea9634389c0a25f8be7f6265e"
 
 [[package]]
 name = "const_soft_float"
@@ -1408,12 +1478,12 @@ version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "59fd57d82eb4bfe7ffa9b1cec0c05e2fd378155b47f255a67983cb4afe0e80c2"
 dependencies = [
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
  "fontdb",
  "log",
  "rangemap",
  "rayon",
- "rustc-hash",
+ "rustc-hash 1.1.0",
  "rustybuzz",
  "self_cell",
  "swash",
@@ -1425,6 +1495,19 @@ dependencies = [
  "unicode-segmentation",
 ]
 
+[[package]]
+name = "crossbeam"
+version = "0.8.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1137cd7e7fc0fb5d3c5a8678be38ec56e819125d8d7907411fe24ccb943faca8"
+dependencies = [
+ "crossbeam-channel",
+ "crossbeam-deque",
+ "crossbeam-epoch",
+ "crossbeam-queue",
+ "crossbeam-utils",
+]
+
 [[package]]
 name = "crossbeam-channel"
 version = "0.5.14"
@@ -1453,6 +1536,15 @@ dependencies = [
  "crossbeam-utils",
 ]
 
+[[package]]
+name = "crossbeam-queue"
+version = "0.3.12"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0f58bbc28f91df819d0aa2a2c00cd19754769c2fad90579b3592b1c9ba7a3115"
+dependencies = [
+ "crossbeam-utils",
+]
+
 [[package]]
 name = "crossbeam-utils"
 version = "0.8.21"
@@ -1461,9 +1553,9 @@ checksum = "d0a5c400df2834b80a4c3327b3aad3a4c4cd4de0629063962b03235697506a28"
 
 [[package]]
 name = "crunchy"
-version = "0.2.2"
+version = "0.2.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7a81dae078cea95a014a339291cec439d2f232ebe854a9d672b796c6afafa9b7"
+checksum = "43da5946c66ffcc7745f48db692ffbb10a83bfe0afd96235c5c2a4fb23994929"
 
 [[package]]
 name = "ctrlc"
@@ -1483,9 +1575,9 @@ checksum = "96a6ac251f4a2aca6b3f91340350eab87ae57c3f127ffeb585e92bd336717991"
 
 [[package]]
 name = "data-encoding"
-version = "2.6.0"
+version = "2.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e8566979429cf69b49a5c740c60791108e86440e8be149bbea4fe54d2c32d6e2"
+checksum = "0e60eed09d8c01d3cee5b7d30acb059b76614c918fa0f992e0dd6eeb10daad6f"
 
 [[package]]
 name = "derive_more"
@@ -1550,18 +1642,21 @@ version = "0.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f25c0e292a7ca6d6498557ff1df68f32c99850012b6ea401cf8daf771f22ff53"
 
-[[package]]
-name = "dyn-clone"
-version = "1.0.17"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0d6ef0072f8a535281e4876be788938b528e9a1d43900b82c2569af7da799125"
-
 [[package]]
 name = "either"
 version = "1.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "60b1af1c220855b6ceac025d3f6ecdd2b7c4894bfe9cd9bda4fbb4bc7c0d4cf0"
 
+[[package]]
+name = "ena"
+version = "0.14.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3d248bdd43ce613d87415282f69b9bb99d947d290b10962dd6c56233312c2ad5"
+dependencies = [
+ "log",
+]
+
 [[package]]
 name = "encase"
 version = "0.10.0"
@@ -1637,9 +1732,9 @@ checksum = "0206175f82b8d6bf6652ff7d71a1e27fd2e4efde587fd368662814d6ec1d9ce0"
 
 [[package]]
 name = "event-listener"
-version = "5.3.1"
+version = "5.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6032be9bd27023a771701cc49f9f053c751055f71efb2e0ae5c15809093675ba"
+checksum = "3492acde4c3fc54c845eaab3eed8bd00c7a7d881f78bfc801e43a93dec1331ae"
 dependencies = [
  "concurrent-queue",
  "parking",
@@ -1652,7 +1747,7 @@ version = "0.5.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "3c3e4e0dd3673c1139bf041f3008816d9cf2946bbfac2945c09e523b8d7b05b2"
 dependencies = [
- "event-listener 5.3.1",
+ "event-listener 5.4.0",
  "pin-project-lite",
 ]
 
@@ -1762,9 +1857,9 @@ checksum = "9e5c1b78ca4aae1ac06c48a526a655760685149f0d465d21f37abfe57ce075c6"
 
 [[package]]
 name = "futures-lite"
-version = "2.5.0"
+version = "2.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cef40d21ae2c515b51041df9ed313ed21e572df340ea58a922a0aefe7e8891a1"
+checksum = "f5edaec856126859abb19ed65f39e90fea3a9574b9707f13539acf4abf7eb532"
 dependencies = [
  "fastrand",
  "futures-core",
@@ -1838,9 +1933,9 @@ dependencies = [
 
 [[package]]
 name = "glutin_wgl_sys"
-version = "0.6.0"
+version = "0.6.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0a4e1951bbd9434a81aa496fe59ccc2235af3820d27b85f9314e279609211e2c"
+checksum = "2c4ee00b289aba7a9e5306d57c2d05499b2e5dc427f84ac708bd2c090212cf3e"
 dependencies = [
  "gl_generator",
 ]
@@ -1851,7 +1946,7 @@ version = "0.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "fbcd2dba93594b227a1f57ee09b8b9da8892c34d55aa332e034a228d0fe6a171"
 dependencies = [
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
  "gpu-alloc-types",
 ]
 
@@ -1861,7 +1956,7 @@ version = "0.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "98ff03b468aa837d70984d55f5d3f846f6ec31fe34bbb97c4f85219caeee1ca4"
 dependencies = [
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
 ]
 
 [[package]]
@@ -1882,7 +1977,7 @@ version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "dcf29e94d6d243368b7a56caa16bc213e4f9f8ed38c4d9557069527b5d5281ca"
 dependencies = [
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
  "gpu-descriptor-types",
  "hashbrown 0.15.2",
 ]
@@ -1893,7 +1988,7 @@ version = "0.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "fdf242682df893b86f33a73828fb09ca4b2d3bb6cc95249707fc684d27484b91"
 dependencies = [
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
 ]
 
 [[package]]
@@ -1977,9 +2072,9 @@ dependencies = [
 
 [[package]]
 name = "indexmap"
-version = "2.7.0"
+version = "2.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "62f822373a4fe84d4bb149bf54e584a7f4abec90e072ed49cda0edea5b95471f"
+checksum = "8c9c992b02b5b4c94ea26e32fe5bccb7aa7d9f390ab5c1221ff895bc7ea8b652"
 dependencies = [
  "equivalent",
  "hashbrown 0.15.2",
@@ -2027,9 +2122,9 @@ dependencies = [
 
 [[package]]
 name = "js-sys"
-version = "0.3.76"
+version = "0.3.77"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6717b6b5b077764fb5966237269cb3c64edddde4b14ce42647430a78ced9e7b7"
+checksum = "1cfaf33c695fc6e08064efbc1f72ec937429614f25eef83af942d0e227c3a28f"
 dependencies = [
  "once_cell",
  "wasm-bindgen",
@@ -2086,16 +2181,16 @@ version = "0.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "c0ff37bd590ca25063e35af745c343cb7a0271906fb7b37e4813e8f79f00268d"
 dependencies = [
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
  "libc",
  "redox_syscall 0.5.8",
 ]
 
 [[package]]
 name = "linux-raw-sys"
-version = "0.4.14"
+version = "0.4.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "78b3ae25bc7c8c38cec158d1f2757ee79e9b3740fbc7ccf0e59e4b08d793fa89"
+checksum = "d26c52dbd32dccf2d10cac7725f8eae5296885fb5703b261f7d0a0739ec807ab"
 
 [[package]]
 name = "litrs"
@@ -2115,9 +2210,9 @@ dependencies = [
 
 [[package]]
 name = "log"
-version = "0.4.22"
+version = "0.4.25"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a7a70ba024b9dc04c27ea2f0c0548feb474ec5c54bba33a7f72f873a39d07b24"
+checksum = "04cbf5b083de1c7e0222a7a51dbfdba1cbe1c6ab0b15e29fff3f6c077fd9cd9f"
 
 [[package]]
 name = "malloc_buf"
@@ -2137,6 +2232,16 @@ dependencies = [
  "regex-automata 0.1.10",
 ]
 
+[[package]]
+name = "matrixmultiply"
+version = "0.3.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9380b911e3e96d10c1f415da0876389aaf1b56759054eeb0de7df940c456ba1a"
+dependencies = [
+ "autocfg",
+ "rawpointer",
+]
+
 [[package]]
 name = "memchr"
 version = "2.7.4"
@@ -2158,7 +2263,7 @@ version = "0.29.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7ecfd3296f8c56b7c1f6fbac3c71cefa9d78ce009850c45000015f206dc7fa21"
 dependencies = [
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
  "block",
  "core-graphics-types",
  "foreign-types",
@@ -2181,14 +2286,14 @@ checksum = "364f94bc34f61332abebe8cad6f6cd82a5b65cff22c828d05d0968911462ca4f"
 dependencies = [
  "arrayvec",
  "bit-set 0.8.0",
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
  "cfg_aliases 0.1.1",
  "codespan-reporting",
  "hexf-parse",
  "indexmap",
  "log",
  "pp-rs",
- "rustc-hash",
+ "rustc-hash 1.1.0",
  "spirv",
  "termcolor",
  "thiserror",
@@ -2209,19 +2314,47 @@ dependencies = [
  "once_cell",
  "regex",
  "regex-syntax 0.8.5",
- "rustc-hash",
+ "rustc-hash 1.1.0",
  "thiserror",
  "tracing",
  "unicode-ident",
 ]
 
+[[package]]
+name = "nalgebra"
+version = "0.33.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "26aecdf64b707efd1310e3544d709c5c0ac61c13756046aaaba41be5c4f66a3b"
+dependencies = [
+ "approx",
+ "glam",
+ "matrixmultiply",
+ "nalgebra-macros",
+ "num-complex",
+ "num-rational",
+ "num-traits",
+ "simba",
+ "typenum",
+]
+
+[[package]]
+name = "nalgebra-macros"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "254a5372af8fc138e36684761d3c0cdb758a4410e938babcff1c860ce14ddbfc"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
 [[package]]
 name = "ndk"
 version = "0.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "c3f42e7bbe13d351b6bead8286a43aac9534b82bd3cc43e47037f012ebfd62d4"
 dependencies = [
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
  "jni-sys",
  "log",
  "ndk-sys 0.6.0+11769913",
@@ -2260,7 +2393,7 @@ version = "0.29.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "71e2746dc3a24dd78b3cfcb7be93368c6de9963d30f43a6a73998a9cf4b17b46"
 dependencies = [
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
  "cfg-if",
  "cfg_aliases 0.2.1",
  "libc",
@@ -2292,6 +2425,56 @@ dependencies = [
  "winapi",
 ]
 
+[[package]]
+name = "num-bigint"
+version = "0.4.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a5e44f723f1133c9deac646763579fdb3ac745e418f2a7af9cd0c431da1f20b9"
+dependencies = [
+ "num-integer",
+ "num-traits",
+]
+
+[[package]]
+name = "num-complex"
+version = "0.4.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "73f88a1307638156682bada9d7604135552957b7818057dcef22705b4d509495"
+dependencies = [
+ "num-traits",
+]
+
+[[package]]
+name = "num-derive"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ed3955f1a9c7c0c15e092f9c887db08b1fc683305fdf6eb6684f22555355e202"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "num-integer"
+version = "0.1.46"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7969661fd2958a5cb096e56c8e1ad0444ac2bbcd0061bd28660485a44879858f"
+dependencies = [
+ "num-traits",
+]
+
+[[package]]
+name = "num-rational"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f83d14da390562dca69fc84082e73e548e1ad308d24accdedd2720017cb37824"
+dependencies = [
+ "num-bigint",
+ "num-integer",
+ "num-traits",
+]
+
 [[package]]
 name = "num-traits"
 version = "0.2.19"
@@ -2354,7 +2537,7 @@ version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e4e89ad9e3d7d297152b17d39ed92cd50ca8063a89a9fa569046d41568891eff"
 dependencies = [
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
  "block2",
  "libc",
  "objc2",
@@ -2370,7 +2553,7 @@ version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "74dd3b56391c7a0596a295029734d3c1c5e7e510a4cb30245f8221ccea96b009"
 dependencies = [
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
  "block2",
  "objc2",
  "objc2-core-location",
@@ -2394,7 +2577,7 @@ version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "617fbf49e071c178c0b24c080767db52958f716d9eabdf0890523aeae54773ef"
 dependencies = [
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
  "block2",
  "objc2",
  "objc2-foundation",
@@ -2426,9 +2609,9 @@ dependencies = [
 
 [[package]]
 name = "objc2-encode"
-version = "4.0.3"
+version = "4.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7891e71393cd1f227313c9379a26a584ff3d7e6e7159e988851f0934c993f0f8"
+checksum = "ef25abbcd74fb2609453eb695bd2f860d389e457f67dc17cafc8b8cbc89d0c33"
 
 [[package]]
 name = "objc2-foundation"
@@ -2436,7 +2619,7 @@ version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0ee638a5da3799329310ad4cfa62fbf045d5f56e3ef5ba4149e7452dcf89d5a8"
 dependencies = [
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
  "block2",
  "dispatch",
  "libc",
@@ -2461,7 +2644,7 @@ version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "dd0cba1276f6023976a406a14ffa85e1fdd19df6b0f737b063b95f6c8c7aadd6"
 dependencies = [
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
  "block2",
  "objc2",
  "objc2-foundation",
@@ -2473,7 +2656,7 @@ version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e42bee7bff906b14b167da2bac5efe6b6a07e6f7c0a21a7308d40c960242dc7a"
 dependencies = [
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
  "block2",
  "objc2",
  "objc2-foundation",
@@ -2496,7 +2679,7 @@ version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b8bb46798b20cd6b91cbd113524c490f1686f4c4e8f49502431415f3512e2b6f"
 dependencies = [
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
  "block2",
  "objc2",
  "objc2-cloud-kit",
@@ -2528,7 +2711,7 @@ version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "76cfcbf642358e8689af64cee815d139339f3ed8ad05103ed5eaf73db8d84cb3"
 dependencies = [
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
  "block2",
  "objc2",
  "objc2-core-location",
@@ -2560,6 +2743,15 @@ dependencies = [
  "libredox",
 ]
 
+[[package]]
+name = "ordered-float"
+version = "4.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7bb71e1b3fa6ca1c61f383464aaf2bb0e2f8e772a1f01d486832464de363b951"
+dependencies = [
+ "num-traits",
+]
+
 [[package]]
 name = "overload"
 version = "0.1.1"
@@ -2595,6 +2787,31 @@ dependencies = [
  "windows-targets 0.52.6",
 ]
 
+[[package]]
+name = "parry2d"
+version = "0.18.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "efd0ac62e76d6143e008a4988d795550d47aba40a50929d6b7b85e4230784403"
+dependencies = [
+ "approx",
+ "arrayvec",
+ "bitflags 2.8.0",
+ "downcast-rs",
+ "either",
+ "ena",
+ "log",
+ "nalgebra",
+ "num-derive",
+ "num-traits",
+ "ordered-float",
+ "rustc-hash 2.1.0",
+ "simba",
+ "slab",
+ "smallvec",
+ "spade",
+ "thiserror",
+]
+
 [[package]]
 name = "paste"
 version = "1.0.15"
@@ -2619,18 +2836,18 @@ dependencies = [
 
 [[package]]
 name = "pin-project"
-version = "1.1.8"
+version = "1.1.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1e2ec53ad785f4d35dac0adea7f7dc6f1bb277ad84a680c7afefeae05d1f5916"
+checksum = "dfe2e71e1471fe07709406bf725f710b02927c9c54b2b5b2ec0e8087d97c327d"
 dependencies = [
  "pin-project-internal",
 ]
 
 [[package]]
 name = "pin-project-internal"
-version = "1.1.8"
+version = "1.1.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d56a66c0c55993aa927429d0f8a0abfd74f084e4d9c192cffed01e418d83eefb"
+checksum = "f6e859e6e5bd50440ab63c47e3ebabc90f26251f7c73c3d3e837b74a1cc3fa67"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -2701,9 +2918,9 @@ checksum = "e8cf8e6a8aa66ce33f63993ffc4ea4271eb5b0530a9002db8455ea6050c77bfa"
 
 [[package]]
 name = "prettyplease"
-version = "0.2.27"
+version = "0.2.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "483f8c21f64f3ea09fe0f30f5d48c3e8eefe5dac9129f0075f76593b4c1da705"
+checksum = "6924ced06e1f7dfe3fa48d57b9f74f55d8915f5036121bef647ef4b204895fac"
 dependencies = [
  "proc-macro2",
  "syn",
@@ -2720,9 +2937,9 @@ dependencies = [
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.92"
+version = "1.0.93"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "37d3544b3f2748c54e147655edb5025752e2303145b5aefb3c3ea2c78b973bb0"
+checksum = "60946a68e5f9d28b0dc1c21bb8a97ee7d018a8b322fa57838ba31cc878e22d99"
 dependencies = [
  "unicode-ident",
 ]
@@ -2803,9 +3020,9 @@ dependencies = [
 
 [[package]]
 name = "range-alloc"
-version = "0.1.3"
+version = "0.1.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9c8a99fddc9f0ba0a85884b8d14e3592853e787d581ca1816c91349b10e4eeab"
+checksum = "c3d6831663a5098ea164f89cff59c6284e95f4e3c76ce9848d4529f5ccca9bde"
 
 [[package]]
 name = "rangemap"
@@ -2813,12 +3030,42 @@ version = "1.5.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f60fcc7d6849342eff22c4350c8b9a989ee8ceabc4b481253e8946b9fe83d684"
 
+[[package]]
+name = "rapier2d"
+version = "0.23.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d7c828d48e674b5821cc0af3f577d3cbf8daa2eb567e2ac266f61b61c57f9acc"
+dependencies = [
+ "approx",
+ "arrayvec",
+ "bit-vec 0.7.0",
+ "bitflags 2.8.0",
+ "crossbeam",
+ "downcast-rs",
+ "log",
+ "nalgebra",
+ "num-derive",
+ "num-traits",
+ "ordered-float",
+ "parry2d",
+ "profiling",
+ "rustc-hash 2.1.0",
+ "simba",
+ "thiserror",
+]
+
 [[package]]
 name = "raw-window-handle"
 version = "0.6.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "20675572f6f24e9e76ef639bc5552774ed45f1c30e2951e1e99c59888861c539"
 
+[[package]]
+name = "rawpointer"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3"
+
 [[package]]
 name = "rayon"
 version = "1.10.0"
@@ -2870,7 +3117,7 @@ version = "0.5.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "03a862b389f93e68874fbf580b9de08dd02facb9a788ebadaf4a3fd33cf58834"
 dependencies = [
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
 ]
 
 [[package]]
@@ -2923,6 +3170,12 @@ version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "19b30a45b0cd0bcca8037f3d0dc3421eaf95327a17cad11964fb8179b4fc4832"
 
+[[package]]
+name = "robust"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cbf4a6aa5f6d6888f39e980649f3ad6b666acdce1d78e95b8a2cb076e687ae30"
+
 [[package]]
 name = "ron"
 version = "0.8.1"
@@ -2930,7 +3183,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b91f7eff05f748767f183df4320a63d6936e9c6107d97c9e6bdd9784f4289c94"
 dependencies = [
  "base64",
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
  "serde",
  "serde_derive",
 ]
@@ -2947,26 +3200,38 @@ version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "08d43f7aa6b08d49f382cde6a7982047c3426db949b1424bc4b7ec9ae12c6ce2"
 
+[[package]]
+name = "rustc-hash"
+version = "2.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c7fb8039b3032c191086b10f11f319a6e99e1e82889c5cc6046f515c9db1d497"
+
 [[package]]
 name = "rustix"
-version = "0.38.42"
+version = "0.38.44"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f93dc38ecbab2eb790ff964bb77fa94faf256fd3e73285fd7ba0903b76bedb85"
+checksum = "fdb5bc1ae2baa591800df16c9ca78619bf65c0488b41b96ccec5d11220d8c154"
 dependencies = [
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
  "errno",
  "libc",
  "linux-raw-sys",
  "windows-sys 0.59.0",
 ]
 
+[[package]]
+name = "rustversion"
+version = "1.0.19"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f7c45b9784283f1b2e7fb61b42047c2fd678ef0960d4f6f1eba131594cc369d4"
+
 [[package]]
 name = "rustybuzz"
 version = "0.14.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "cfb9cf8877777222e4a3bc7eb247e398b56baba500c38c1c46842431adc8b55c"
 dependencies = [
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
  "bytemuck",
  "libm",
  "smallvec",
@@ -2977,6 +3242,15 @@ dependencies = [
  "unicode-script",
 ]
 
+[[package]]
+name = "safe_arch"
+version = "0.7.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "96b02de82ddbe1b636e6170c21be622223aea188ef2e139be0a5b219ec215323"
+dependencies = [
+ "bytemuck",
+]
+
 [[package]]
 name = "same-file"
 version = "1.0.6"
@@ -3039,6 +3313,19 @@ version = "1.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0fda2ff0d084019ba4d7c6f371c95d8fd75ce3524c3cb8fb653a3023f6323e64"
 
+[[package]]
+name = "simba"
+version = "0.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b3a386a501cd104797982c15ae17aafe8b9261315b5d07e3ec803f2ea26be0fa"
+dependencies = [
+ "approx",
+ "num-complex",
+ "num-traits",
+ "paste",
+ "wide",
+]
+
 [[package]]
 name = "skrifa"
 version = "0.22.3"
@@ -3082,13 +3369,25 @@ dependencies = [
  "serde",
 ]
 
+[[package]]
+name = "spade"
+version = "2.12.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "93f5ef1f863aca7d1d7dda7ccfc36a0a4279bd6d3c375176e5e0712e25cb4889"
+dependencies = [
+ "hashbrown 0.14.5",
+ "num-traits",
+ "robust",
+ "smallvec",
+]
+
 [[package]]
 name = "spirv"
 version = "0.3.0+sdk-1.3.268.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "eda41003dc44290527a59b13432d4a0379379fa074b70174882adfbdfd917844"
 dependencies = [
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
 ]
 
 [[package]]
@@ -3122,9 +3421,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.95"
+version = "2.0.98"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "46f71c0377baf4ef1cc3e3402ded576dccc315800fbc62dfc7fe04b009773b4a"
+checksum = "36147f1a48ae0ec2b5b3bc5b537d267457555a10dc06f3dbc8cb11ba3006d3b1"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -3224,9 +3523,9 @@ checksum = "0dd7358ecb8fc2f8d014bf86f6f638ce72ba252a2c3a2572f2a795f1d23efb41"
 
 [[package]]
 name = "toml_edit"
-version = "0.22.22"
+version = "0.22.23"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4ae48d6208a266e853d946088ed816055e556cc6028c5e8e2b84d9fa5dd7c7f5"
+checksum = "02a8b472d1a3d7c18e2d61a489aee3453fd9031c33e4f55bd533f4a7adca1bee"
 dependencies = [
  "indexmap",
  "toml_datetime",
@@ -3338,6 +3637,12 @@ version = "1.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0e13db2e0ccd5e14a544e8a246ba2312cd25223f616442d7f2cb0e3db614236e"
 
+[[package]]
+name = "typenum"
+version = "1.17.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "42ff0bf0c66b8238c6f3b578df37d0b7848e55df8577b3f74f92a69acceeb825"
+
 [[package]]
 name = "unicode-bidi"
 version = "0.3.18"
@@ -3358,9 +3663,9 @@ checksum = "1df77b101bcc4ea3d78dafc5ad7e4f58ceffe0b2b16bf446aeb50b6cb4157656"
 
 [[package]]
 name = "unicode-ident"
-version = "1.0.14"
+version = "1.0.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "adb9e6ca4f869e1180728b7950e35922a7fc6397f7b641499e8f3ef06e50dc83"
+checksum = "a210d160f08b701c8721ba1c726c11662f877ea6b7094007e1ca9a1041945034"
 
 [[package]]
 name = "unicode-linebreak"
@@ -3400,9 +3705,9 @@ checksum = "ebc1c04c71510c7f702b52b7c350734c9ff1295c464a03335b00bb84fc54f853"
 
 [[package]]
 name = "uuid"
-version = "1.11.0"
+version = "1.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f8c5f0a0af699448548ad1a2fbf920fb4bee257eae39953ba95cb84891a0446a"
+checksum = "b3758f5e68192bb96cc8f9b7e2c2cfdabb435499a28499a42f8f984092adad4b"
 dependencies = [
  "getrandom",
  "serde",
@@ -3410,9 +3715,9 @@ dependencies = [
 
 [[package]]
 name = "valuable"
-version = "0.1.0"
+version = "0.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "830b7e5d4d90034032940e4ace0d9a9a057e7a45cd94e6c007832e39edb82f6d"
+checksum = "ba73ea9cf16a25df0c8caa16c51acb937d5712a8429db78a3ee29d5dcacd3a65"
 
 [[package]]
 name = "version_check"
@@ -3438,20 +3743,21 @@ checksum = "9c8d87e72b64a3b4db28d11ce29237c246188f4f51057d65a7eab63b7987e423"
 
 [[package]]
 name = "wasm-bindgen"
-version = "0.2.99"
+version = "0.2.100"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a474f6281d1d70c17ae7aa6a613c87fce69a127e2624002df63dcb39d6cf6396"
+checksum = "1edc8929d7499fc4e8f0be2262a241556cfc54a0bea223790e71446f2aab1ef5"
 dependencies = [
  "cfg-if",
  "once_cell",
+ "rustversion",
  "wasm-bindgen-macro",
 ]
 
 [[package]]
 name = "wasm-bindgen-backend"
-version = "0.2.99"
+version = "0.2.100"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5f89bb38646b4f81674e8f5c3fb81b562be1fd936d84320f3264486418519c79"
+checksum = "2f0a0651a5c2bc21487bde11ee802ccaf4c51935d0d3d42a6101f98161700bc6"
 dependencies = [
  "bumpalo",
  "log",
@@ -3463,9 +3769,9 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-futures"
-version = "0.4.49"
+version = "0.4.50"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "38176d9b44ea84e9184eff0bc34cc167ed044f816accfe5922e54d84cf48eca2"
+checksum = "555d470ec0bc3bb57890405e5d4322cc9ea83cebb085523ced7be4144dac1e61"
 dependencies = [
  "cfg-if",
  "js-sys",
@@ -3476,9 +3782,9 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-macro"
-version = "0.2.99"
+version = "0.2.100"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2cc6181fd9a7492eef6fef1f33961e3695e4579b9872a6f7c83aee556666d4fe"
+checksum = "7fe63fc6d09ed3792bd0897b314f53de8e16568c2b3f7982f468c0bf9bd0b407"
 dependencies = [
  "quote",
  "wasm-bindgen-macro-support",
@@ -3486,9 +3792,9 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-macro-support"
-version = "0.2.99"
+version = "0.2.100"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "30d7a95b763d3c45903ed6c81f156801839e5ee968bb07e534c44df0fcd330c2"
+checksum = "8ae87ea40c9f689fc23f209965b6fb8a99ad69aeeb0231408be24920604395de"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -3499,15 +3805,18 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-shared"
-version = "0.2.99"
+version = "0.2.100"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "943aab3fdaaa029a6e0271b35ea10b72b943135afe9bffca82384098ad0e06a6"
+checksum = "1a05d73b933a847d6cccdda8f838a22ff101ad9bf93e33684f39c1f5f0eece3d"
+dependencies = [
+ "unicode-ident",
+]
 
 [[package]]
 name = "web-sys"
-version = "0.3.76"
+version = "0.3.77"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "04dd7223427d52553d3702c004d3b2fe07c148165faa56313cb00211e31c12bc"
+checksum = "33b6dd2ef9186f1f2072e409e99cd22a975331a6b3591b12c764e0e55c60d5d2"
 dependencies = [
  "js-sys",
  "wasm-bindgen",
@@ -3556,7 +3865,7 @@ checksum = "d63c3c478de8e7e01786479919c8769f62a22eec16788d8c2ac77ce2c132778a"
 dependencies = [
  "arrayvec",
  "bit-vec 0.8.0",
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
  "cfg_aliases 0.1.1",
  "document-features",
  "indexmap",
@@ -3566,7 +3875,7 @@ dependencies = [
  "parking_lot",
  "profiling",
  "raw-window-handle",
- "rustc-hash",
+ "rustc-hash 1.1.0",
  "smallvec",
  "thiserror",
  "wgpu-hal",
@@ -3583,7 +3892,7 @@ dependencies = [
  "arrayvec",
  "ash",
  "bit-set 0.8.0",
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
  "block",
  "bytemuck",
  "cfg_aliases 0.1.1",
@@ -3608,7 +3917,7 @@ dependencies = [
  "range-alloc",
  "raw-window-handle",
  "renderdoc-sys",
- "rustc-hash",
+ "rustc-hash 1.1.0",
  "smallvec",
  "thiserror",
  "wasm-bindgen",
@@ -3624,11 +3933,21 @@ version = "23.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "610f6ff27778148c31093f3b03abc4840f9636d58d597ca2f5977433acfe0068"
 dependencies = [
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
  "js-sys",
  "web-sys",
 ]
 
+[[package]]
+name = "wide"
+version = "0.7.32"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "41b5576b9a81633f3e8df296ce0063042a73507636cbe956c61133dd7034ab22"
+dependencies = [
+ "bytemuck",
+ "safe_arch",
+]
+
 [[package]]
 name = "winapi"
 version = "0.3.9"
@@ -3937,7 +4256,7 @@ checksum = "f5d74280aabb958072864bff6cfbcf9025cf8bfacdde5e32b5e12920ef703b0f"
 dependencies = [
  "android-activity",
  "atomic-waker",
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
  "block2",
  "bytemuck",
  "calloop",
@@ -3975,9 +4294,9 @@ dependencies = [
 
 [[package]]
 name = "winnow"
-version = "0.6.22"
+version = "0.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "39281189af81c07ec09db316b302a3e67bf9bd7cbf6c820b50e35fee9c2fa980"
+checksum = "7e49d2d35d3fad69b39b94139037ecfb4f359f08958b9c11e7315ce770462419"
 dependencies = [
  "memchr",
 ]
@@ -4020,7 +4339,7 @@ version = "0.4.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d039de8032a9a8856a6be89cea3e5d12fdd82306ab7c94d74e6deab2460651c5"
 dependencies = [
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
  "dlib",
  "log",
  "once_cell",
@@ -4035,9 +4354,9 @@ checksum = "b9cc00251562a284751c9973bace760d86c0276c471b4be569fe6b068ee97a56"
 
 [[package]]
 name = "xml-rs"
-version = "0.8.24"
+version = "0.8.25"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ea8b391c9a790b496184c29f7f93b9ed5b16abb306c05415b68bcc16e4d06432"
+checksum = "c5b940ebc25896e71dd073bad2dbaa2abfe97b0a391415e22ad1326d9c54e3c4"
 
 [[package]]
 name = "yazi"
diff --git a/Cargo.toml b/Cargo.toml
index fa18730..5bcaa0c 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -5,11 +5,16 @@ description = "A fixed update for bevy, unthrottled from bevy's default update l
 edition = "2021"
 license = "MIT OR Apache-2.0"
 keywords = ["bevy", "task", "performance", "update", "simulation"]
+repository = "https://github.com/Vrixyz/bevy_fixed_update_task"
 
 [features]
 default = ["x11"]
 x11 = ["bevy/x11"]
 
+[profile.dev]
+# Use slightly better optimization by default, as examples otherwise seem laggy.
+opt-level = 1
+
 [dependencies]
 bevy = { version = "0.15", default-features = false }
 crossbeam-channel = "0.5"
@@ -25,8 +30,11 @@ bevy = { version = "0.15", default-features = false, features = [
     "bevy_winit",
     "default_font",
     "bevy_gizmos",
+    "bevy_dev_tools",
     # Without multi threading, this crate adds a frame delay on the fixed update.
     "multi_threaded",
 ] }
 rand = "0.8"
 bevy_transform_interpolation = { version = "0.1", git = "https://github.com/Vrixyz/bevy_transform_interpolation.git", branch = "background_task" }
+# bevy_rapier2d = { version = "0.28", git = "https://github.com/dimforge/bevy_rapier.git", branch = "master" }
+bevy_rapier2d = { version = "0.28", git = "https://github.com/Vrixyz/bevy_rapier.git", branch = "opt-out-physics_set" }
diff --git a/README.md b/README.md
index f3c55c2..54d90d4 100644
--- a/README.md
+++ b/README.md
@@ -7,11 +7,29 @@ so you can improve your time budget.
 
 [Read more about it.](docs/physics_timestep_loop.md)
 
+## Practical advantage
+
+Regain control over your frame per seconds: know when your expensive tasks are making you fall behind, and be able to adapt accordingly.
+
+### Practical example
+
+Using [rapier](https://rapier.rs/), simulation step can be expensive, leading to lags, like this example:
+
+<video src="https://github.com/user-attachments/assets/f9c0ab20-3726-43cc-ac1e-b34860483857" height="350"></video>
+
+Using this crate, you can simulate the expensive task in background, allowing to keep a steady visual frame per second.
+
+<video src="https://github.com/user-attachments/assets/9215f0d6-a6d5-4a35-ab1a-45d300a607f4" height="350"></video>
+
+Both these recordings are simulating 80 000 bodies targeting a fixed update of 30 frames per second.
+
+Pair this technique with interpolation or other visual feedbacks to obtain a very responsive feeling.
+
 ## How it works
 
-:warning: this crate makes most sense when using bevy's `multi_threaded` feature. Otherwise, this just adds unnecessary overhead.
+:warning: This crate makes most sense when using bevy's `multi_threaded` feature. Otherwise, this just adds unnecessary overhead.
 
-It's quite similar to how bevy's fixed update works, but eagerly extracts ECS data into a background task, to synchronize it only when `Time<Virtual>` catches back to the "simulated time".
+This crate adds a custom scheduling comparable to bevy's fixed update, but eagerly extracts ECS data into a background task, to synchronize it only when `Time<Virtual>` catches back to the "simulated time".
 
 The implementation doesn't use `Time<Fixed>` but a component approach `TimeStep`, `SubstepCount`, `TaskToRender`.
 
diff --git a/examples/interpolate_custom_schedule.rs b/examples/interpolate_custom_schedule.rs
index 5238005..f99e98e 100644
--- a/examples/interpolate_custom_schedule.rs
+++ b/examples/interpolate_custom_schedule.rs
@@ -179,9 +179,7 @@ fn change_timestep(mut time: Query<&mut Timestep>, keyboard_input: Res<ButtonInp
         time.timestep = Duration::from_secs_f64(new_timestep);
     }
     if keyboard_input.pressed(KeyCode::ArrowDown) {
-        let new_timestep = (time.timestep.as_secs_f64() * 1.1)
-            .min(1.0)
-            .max(1.0 / 255.0);
+        let new_timestep = (time.timestep.as_secs_f64() * 1.1).clamp(1.0 / 255.0, 1.0);
         time.timestep = Duration::from_secs_f64(new_timestep);
     }
 }
@@ -196,7 +194,7 @@ fn change_sleep_time(
         sleep_time.0 = Duration::from_secs_f64(new_sleep_time);
     }
     if keyboard_input.pressed(KeyCode::ArrowLeft) {
-        let new_sleep_time = (sleep_time.0.as_secs_f64() * 1.1).min(1.0).max(1.0 / 255.0);
+        let new_sleep_time = (sleep_time.0.as_secs_f64() * 1.1).clamp(1.0 / 255.0, 1.0);
         sleep_time.0 = Duration::from_secs_f64(new_sleep_time);
     }
 }
@@ -397,7 +395,7 @@ pub mod task_user {
                 query
                     .iter(world)
                     .map(|(entity, transform, lin_vel, ang_vel)| {
-                        (entity, transform.clone(), lin_vel.clone(), ang_vel.clone())
+                        (entity, *transform, lin_vel.clone(), ang_vel.clone())
                     })
                     .collect();
             let sleep_time = world.get_resource::<TaskSleepTime>().unwrap().0;
@@ -411,13 +409,12 @@ pub mod task_user {
             &self,
             _worker_entity: Entity,
             result: bevy_fixed_update_task::TaskResult<Self>,
-            mut world: &mut World,
+            world: &mut World,
         ) {
             let mut q_transforms =
                 world.query_filtered::<(&mut Transform, &mut LinearVelocity), With<ToMove>>();
             for (entity, new_transform, new_lin_vel, _) in result.result_raw.result.iter() {
-                if let Ok((mut transform, mut lin_vel)) = q_transforms.get_mut(&mut world, *entity)
-                {
+                if let Ok((mut transform, mut lin_vel)) = q_transforms.get_mut(world, *entity) {
                     *transform = *new_transform;
                     *lin_vel = new_lin_vel.clone();
                 }
diff --git a/examples/minimal.rs b/examples/minimal.rs
index 1d246e3..c57323c 100644
--- a/examples/minimal.rs
+++ b/examples/minimal.rs
@@ -2,7 +2,8 @@
 
 use bevy::prelude::*;
 use bevy_fixed_update_task::{
-    BackgroundFixedUpdatePlugin, TaskResults, TaskWorker, TaskWorkerTrait, Timestep,
+    BackgroundFixedUpdatePlugin, TaskResults, TaskToRenderTime, TaskWorker, TaskWorkerTrait,
+    Timestep,
 };
 
 use std::time::Duration;
@@ -34,11 +35,16 @@ fn setup_worker(mut commands: Commands) {
     ));
 }
 
-fn print_simulation_time(simulation_time: Res<SimulationTime>, time: Res<Time>) {
+fn print_simulation_time(
+    simulation_time: Res<SimulationTime>,
+    time: Res<Time>,
+    task_to_render_time: Query<&TaskToRenderTime>,
+) {
     println!(
-        "Simulation time: {:?} ; time: {:?}",
+        "Simulation time: {:?} ; time: {:?} ; task to render time: {:?}s",
         simulation_time.time,
-        time.elapsed()
+        time.elapsed(),
+        task_to_render_time.single().diff
     );
 }
 
@@ -61,8 +67,7 @@ impl TaskWorkerTrait for TaskWorkerTraitImpl {
         timestep: Duration,
         _substep_count: u32,
     ) -> Self::TaskResultPure {
-        std::thread::sleep(Duration::from_secs_f32(0.1));
-        input.time += timestep;
+        input.time += timestep * _substep_count;
         input.time
     }
 
diff --git a/examples/rapier_integration.rs b/examples/rapier_integration.rs
new file mode 100644
index 0000000..d2ef5ff
--- /dev/null
+++ b/examples/rapier_integration.rs
@@ -0,0 +1,286 @@
+//! This is a minimal example to show how synchronized fixed update works.
+
+use bevy::dev_tools::fps_overlay::FpsOverlayPlugin;
+use bevy::prelude::*;
+use bevy_fixed_update_task::{
+    BackgroundFixedUpdatePlugin, SpawnTaskSet, TaskResults, TaskToRenderTime, TaskWorker,
+    TaskWorkerTrait, Timestep,
+};
+use bevy_rapier2d::prelude::*;
+
+use std::{mem, time::Duration};
+
+fn main() {
+    let mut app = App::new();
+
+    app.add_plugins((
+        DefaultPlugins,
+        FpsOverlayPlugin::default(),
+        BackgroundFixedUpdatePlugin::<TaskWorkerTraitImpl>::default(),
+        RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(100.0)
+            .with_custom_initialization(RapierContextInitialization::NoAutomaticRapierContext)
+            .in_schedule(bevy_fixed_update_task::FixedMain)
+            .with_physics_sets_systems([].into()),
+        RapierDebugRenderPlugin::default(),
+    ));
+    app.add_systems(Startup, (setup_worker, (setup_info, setup_physics)).chain());
+    app.add_systems(Update, update_info);
+    // TODO: SyncBackend before [`SpawnTask`].
+    app.add_systems(
+        bevy_fixed_update_task::SpawnTask,
+        RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::SyncBackend)
+            .in_set(SpawnTaskSet::PreSpawn),
+    );
+    // TODO: StepSimulation removed, that's our spawn task + handle task.
+    // TODO: Writeback before [`PostWriteBack`].
+    app.add_systems(
+        bevy_fixed_update_task::PostWriteBack,
+        RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::Writeback),
+    );
+
+    // Run the app.
+    app.run();
+}
+
+fn setup_worker(mut commands: Commands) {
+    commands.spawn((
+        Timestep {
+            timestep: Duration::from_secs_f32(1.0 / 25.0),
+        },
+        TaskResults::<TaskWorkerTraitImpl>::default(),
+        TaskWorker {
+            worker: TaskWorkerTraitImpl {},
+        },
+        RapierContextSimulation::default(),
+        DefaultRapierContext,
+        RapierConfiguration {
+            gravity: Vect::Y * -9.81 * 100.0,
+            physics_pipeline_active: true,
+            query_pipeline_active: true,
+            scaled_shape_subdivision: 10,
+            force_update_from_transform_changes: false,
+        },
+    ));
+}
+
+#[derive(Component)]
+pub struct SimToRenderText;
+
+pub fn setup_info(mut commands: Commands) {
+    // Simulation to render time
+    commands
+        .spawn((
+            Text::new("simulation to render time: "),
+            Node {
+                position_type: PositionType::Absolute,
+                top: Val::Px(50.0),
+                left: Val::Px(15.0),
+                ..default()
+            },
+        ))
+        .with_child((TextSpan::default(), SimToRenderText));
+}
+pub fn update_info(
+    task_to_render_time: Query<&TaskToRenderTime>,
+    mut query: Query<&mut TextSpan, With<SimToRenderText>>,
+) {
+    for mut span in query.iter_mut() {
+        **span = format!("{:.2}s", task_to_render_time.single().diff);
+    }
+}
+
+pub fn setup_physics(mut commands: Commands) {
+    let num = 80;
+    let rad = 10.0;
+
+    let shift = rad * 2.0 + rad;
+    let centerx = shift * (num / 2) as f32;
+    let centery = shift / 2.0;
+    /*
+     * Camera
+     */
+    commands.spawn((
+        Camera2d,
+        OrthographicProjection {
+            scale: 6f32,
+            ..OrthographicProjection::default_2d()
+        },
+        Transform::from_xyz(-2500.0, 2080.0, 0.0),
+    ));
+    /*
+     * Ground
+     */
+    let ground_size = 13500.0;
+    let ground_height = 100.0;
+
+    commands.spawn((
+        Transform::from_xyz(-centerx, 0.0 * -ground_height - 100.0, 0.0),
+        Collider::cuboid(ground_size, ground_height),
+    ));
+
+    /*
+     * Create the cubes
+     */
+    let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
+
+    for j in 0usize..100 {
+        for i in 0..num {
+            let x = i as f32 * shift - centerx + offset;
+            let y = j as f32 * shift + centery + 30.0;
+
+            commands.spawn((
+                // Mesh2d(mesh.clone()),
+                //MeshMaterial2d(material.clone()),
+                Transform::from_xyz(x, y, 0.0),
+                RigidBody::Dynamic,
+                Collider::cuboid(rad, rad),
+            ));
+        }
+
+        offset -= 0.05 * rad * ((num as f32 * 1.0) - 1.0);
+    }
+}
+
+#[derive(Debug, Clone, Default)]
+pub struct TaskWorkerTraitImpl;
+
+impl TaskWorkerTrait for TaskWorkerTraitImpl {
+    type TaskExtractedData = TaskExtractedData;
+    type TaskResultPure = TaskResult;
+
+    fn work(
+        &self,
+        _worker: Entity,
+        mut input: TaskExtractedData,
+        timestep: Duration,
+        substep_count: u32,
+    ) -> Self::TaskResultPure {
+        input.rapier_context.step_simulation(
+            &mut input.colliders,
+            &mut input.joints,
+            &mut input.bodies,
+            input.configuration.gravity,
+            TimestepMode::Fixed {
+                dt: timestep.as_secs_f32(),
+                substeps: substep_count as usize,
+            },
+            None, // FIXME: change `None` to `true` (see bevy's integration from Thierry)
+            &(),  // FIXME: &hooks_adapter,
+            &input.time,
+            &mut input.sim_to_render_time,
+            None,
+        );
+        TaskResult {
+            rapier_context: input.rapier_context,
+            colliders: input.colliders,
+            bodies: input.bodies,
+            joints: input.joints,
+            query_pipeline: input.query_pipeline,
+            sim_to_render_time: input.sim_to_render_time,
+        }
+    }
+
+    fn extract(&self, worker_entity: Entity, world: &mut World) -> TaskExtractedData {
+        // Time is not actually used as we're only using `TimestepMode::Fixed`,
+        // but rapier API requires it.
+        let time = world.get_resource::<Time>().unwrap();
+
+        let time = *time;
+        let mut rapier_context_query = world.query::<(
+            &mut RapierContextSimulation,
+            &RapierContextColliders,
+            &RapierRigidBodySet,
+            &RapierContextJoints,
+            &RapierQueryPipeline,
+            &RapierConfiguration,
+            &mut SimulationToRenderTime,
+        )>();
+        let (
+            mut context_ecs,
+            colliders,
+            bodies,
+            joints,
+            query_pipeline,
+            config,
+            sim_to_render_time,
+        ) = rapier_context_query.get_mut(world, worker_entity).unwrap();
+
+        // FIXME: Clone this properly?
+        let mut rapier_context = RapierContextSimulation::default();
+        mem::swap(&mut rapier_context, &mut *context_ecs);
+        // TODO: use a double buffering system to avoid this more expensive (to verify) cloning.
+        let colliders = colliders.clone();
+        let bodies = bodies.clone();
+        let joints = joints.clone();
+        let query_pipeline = query_pipeline.clone();
+        // let mut context: RapierContext =
+        //    unsafe { mem::transmute_copy::<RapierContext, RapierContext>(&*context_ecs) };
+        let configuration = *config;
+
+        let sim_to_render_time = sim_to_render_time.clone();
+
+        TaskExtractedData {
+            time,
+            rapier_context,
+            colliders,
+            bodies,
+            joints,
+            query_pipeline,
+            configuration,
+            sim_to_render_time,
+        }
+    }
+
+    fn write_back(
+        &self,
+        worker_entity: Entity,
+        result: bevy_fixed_update_task::TaskResult<Self>,
+        world: &mut World,
+    ) {
+        let mut rapier_context_query = world.query::<(
+            &mut RapierContextSimulation,
+            &mut RapierContextColliders,
+            &mut RapierRigidBodySet,
+            &mut RapierContextJoints,
+            &mut RapierQueryPipeline,
+            &mut SimulationToRenderTime,
+        )>();
+        let (
+            mut context_ecs,
+            mut colliders,
+            mut bodies,
+            mut joints,
+            mut query_pipeline,
+            mut sim_to_render_time,
+        ) = rapier_context_query.get_mut(world, worker_entity).unwrap();
+
+        *context_ecs = result.result_raw.result.rapier_context;
+        *colliders = result.result_raw.result.colliders;
+        *bodies = result.result_raw.result.bodies;
+        *joints = result.result_raw.result.joints;
+        *query_pipeline = result.result_raw.result.query_pipeline;
+        *sim_to_render_time = result.result_raw.result.sim_to_render_time;
+    }
+}
+
+#[derive(Component)]
+pub struct TaskExtractedData {
+    pub time: Time,
+    pub rapier_context: RapierContextSimulation,
+    pub colliders: RapierContextColliders,
+    pub bodies: RapierRigidBodySet,
+    pub joints: RapierContextJoints,
+    pub query_pipeline: RapierQueryPipeline,
+    pub configuration: RapierConfiguration,
+    pub sim_to_render_time: SimulationToRenderTime,
+}
+
+#[derive(Component)]
+pub struct TaskResult {
+    pub rapier_context: RapierContextSimulation,
+    pub colliders: RapierContextColliders,
+    pub bodies: RapierRigidBodySet,
+    pub joints: RapierContextJoints,
+    pub query_pipeline: RapierQueryPipeline,
+    pub sim_to_render_time: SimulationToRenderTime,
+}
diff --git a/src/lib.rs b/src/lib.rs
index a568d44..483f875 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -1,3 +1,6 @@
+#![warn(missing_docs)]
+#![doc = include_str!("../README.md")]
+
 use bevy::ecs::schedule::{LogLevel, ScheduleBuildSettings, ScheduleLabel};
 use bevy::prelude::*;
 use bevy::tasks::AsyncComputeTaskPool;
@@ -6,13 +9,30 @@ use crossbeam_channel::Receiver;
 use std::default;
 use std::{collections::VecDeque, time::Duration};
 
+/// Struct to temporarily store the extracted data.
+/// It is only filled in between the [`extract`] and [`spawn_task`] systems.
+///
+/// It is NOT expected to be used by end user.
+#[derive(Component, Reflect)]
+pub struct TaskExtractedDataHolder<T: TaskWorkerTrait> {
+    pub(crate) extracted_data: Option<T::TaskExtractedData>,
+}
+
+impl<T: TaskWorkerTrait> Default for TaskExtractedDataHolder<T> {
+    fn default() -> Self {
+        Self {
+            extracted_data: None,
+        }
+    }
+}
+
 ///
 /// The task inside this component is polled before [`FixedMain`].
 ///
 /// Any changes to [`Transform`]s being modified by the task will be overridden when the task finishes.
 ///
 /// This component is removed when the task is done
-#[derive(Component, Debug)]
+#[derive(Component, Debug, Reflect)]
 pub struct WorkTask<T: TaskWorkerTrait + Send + Sync> {
     /// The time in seconds at which we started the simulation, as reported by the used render time [`Time::elapsed`].
     pub started_at_render_time: Duration,
@@ -23,9 +43,9 @@ pub struct WorkTask<T: TaskWorkerTrait + Send + Sync> {
 }
 
 /// The result of a task to be handled.
-#[derive(Debug, Default)]
+#[derive(Debug, Default, Reflect)]
 pub struct TaskResultRaw<T: TaskWorkerTrait + Send + Sync> {
-    /// Result of the task.
+    /// Result of the task, belonging to user-side.
     pub result: T::TaskResultPure,
     /// The duration in seconds **simulated** by the simulation.
     ///
@@ -37,7 +57,11 @@ pub struct TaskResultRaw<T: TaskWorkerTrait + Send + Sync> {
 
 /// The result of a task to be handled.
 pub struct TaskResult<T: TaskWorkerTrait + Send + Sync> {
+    /// The result of the task, as received by the worker.
     pub result_raw: TaskResultRaw<T>,
+    /// The time elapsed while waiting for the task.
+    ///
+    /// This includes any waiting time needed for the [`Time<Virtual>`] to catch up with the simulation.
     pub render_time_elapsed_during_the_simulation: Duration,
     /// The time at which we started the simulation, as reported by the used render time [`Time::elapsed`].
     pub started_at_render_time: Duration,
@@ -46,7 +70,7 @@ pub struct TaskResult<T: TaskWorkerTrait + Send + Sync> {
 }
 
 /// The result of a task to be handled.
-#[derive(Component)]
+#[derive(Component, Reflect)]
 pub struct TaskResults<T: TaskWorkerTrait + Send + Sync> {
     /// The results of the tasks.
     ///
@@ -64,13 +88,24 @@ impl<T: TaskWorkerTrait + Send + Sync> Default for TaskResults<T> {
     }
 }
 
+/// Plugin to handle background tasks.
 #[derive(Default)]
 pub struct BackgroundFixedUpdatePlugin<T: TaskWorkerTrait> {
-    pub phantom: std::marker::PhantomData<T>,
+    phantom: std::marker::PhantomData<T>,
 }
 
 impl<T: TaskWorkerTrait> Plugin for BackgroundFixedUpdatePlugin<T> {
     fn build(&self, app: &mut App) {
+        app.register_type::<TaskToRenderTime>();
+        app.register_type::<Timestep>();
+        app.register_type::<SubstepCount>();
+        /*
+        // TODO: register types used
+        app.register_type::<TaskExtractedDataHolder<T>>();
+        app.register_type::<WorkTask<T>>();
+        app.register_type::<TaskResultRaw<T>>();
+        app.register_type::<TaskResults<T>>();
+        */
         app.add_systems(
             bevy::app::prelude::RunFixedMainLoop,
             FixedMain::run_schedule::<T>,
@@ -97,8 +132,20 @@ impl<T: TaskWorkerTrait> Plugin for BackgroundFixedUpdatePlugin<T> {
                 });
         });
         app.edit_schedule(SpawnTask, |schedule| {
+            schedule.configure_sets(
+                (
+                    SpawnTaskSet::PreSpawn,
+                    SpawnTaskSet::Spawn,
+                    SpawnTaskSet::PostSpawn,
+                )
+                    .chain(),
+            );
             schedule
-                .add_systems((extract::<T>, spawn_task::<T>).chain())
+                .add_systems(
+                    (extract::<T>, spawn_task::<T>)
+                        .chain()
+                        .in_set(SpawnTaskSet::Spawn),
+                )
                 .set_build_settings(ScheduleBuildSettings {
                     ambiguity_detection: LogLevel::Error,
                     ..default()
@@ -130,6 +177,7 @@ pub struct TaskToRenderTime {
 #[derive(Component, Reflect, Clone)]
 #[require(SubstepCount)]
 pub struct Timestep {
+    /// Duration of [`Time<Virtual>`] which should be elapsed between each fixed update.
     pub timestep: Duration,
 }
 
@@ -158,17 +206,29 @@ impl default::Default for SubstepCount {
 /// Struct to be able to configure what the task should do.
 // but their type parameter not enforcing `Default`  makes the require macro fail. This should be a bevy issue.
 #[derive(Clone, Component)]
-#[require(TaskToRenderTime, Timestep)]
+#[require(TaskToRenderTime, Timestep, TaskExtractedDataHolder::<T>)]
 pub struct TaskWorker<T: TaskWorkerTrait> {
+    /// The worker that will handle the task.
+    /// The type is driven by user-side, so the user can add any data they need.
     pub worker: T,
 }
 
+/// Trait to be implemented by the user to support the background task system.
+///
+/// While user's implementation is not mandatory to use the ECS (it could fetch data from and to a database for example).
+/// The documentation wording assumes that user is interacting with the ECS for clarity.
 pub trait TaskWorkerTrait: Clone + Send + Sync + 'static {
-    type TaskExtractedData: Clone + Send + Sync + 'static + Component;
-    type TaskResultPure: Clone + Send + Sync + 'static;
+    /// The type of the data extracted to be used by the task.
+    type TaskExtractedData: Send + Sync + 'static;
+    /// The type of the result of the task.
+    type TaskResultPure: Send + Sync + 'static;
 
+    /// Extracts the data to be used by the task from the ECS.
+    ///
+    /// That data will be passed to [`work`].
     fn extract(&self, worker_entity: Entity, world: &mut World) -> Self::TaskExtractedData;
 
+    /// Execute the task. Called from a bevy [`AsyncComputeTaskPool`] (on a separate thread if supported).
     fn work(
         &self,
         worker_entity: Entity,
@@ -177,17 +237,11 @@ pub trait TaskWorkerTrait: Clone + Send + Sync + 'static {
         substep_count: u32,
     ) -> Self::TaskResultPure;
 
+    /// Writes back the result of the task to the ECS.
     fn write_back(&self, worker_entity: Entity, result: TaskResult<Self>, world: &mut World);
 }
 
-#[derive(SystemSet, Clone, Copy, Debug, PartialEq, Eq, Hash)]
-pub enum FixedMainLoop {
-    Before,
-    During,
-    After,
-}
-
-/// Executes before the task result is propagated to the ECS.
+/// Executes before the task result is propagated to the ECS (by calling [`TaskWorkerTrait::write_back`]).
 #[derive(ScheduleLabel, Clone, Copy, Debug, PartialEq, Eq, Hash)]
 pub struct PreWriteBack;
 
@@ -199,6 +253,17 @@ pub struct WriteBack;
 #[derive(ScheduleLabel, Clone, Copy, Debug, PartialEq, Eq, Hash)]
 pub struct SpawnTask;
 
+/// Spawn a new background task.
+#[derive(SystemSet, Clone, Copy, Debug, PartialEq, Eq, Hash)]
+pub enum SpawnTaskSet {
+    /// Called before spawning the task.
+    PreSpawn,
+    /// Spawns the task.
+    Spawn,
+    /// Called after spawning the task.
+    PostSpawn,
+}
+
 /// Called after the propagation of the task result to the ECS.
 #[derive(ScheduleLabel, Clone, Copy, Debug, PartialEq, Eq, Hash)]
 pub struct PostWriteBack;
@@ -268,6 +333,7 @@ impl FixedMain {
 pub struct HandleTask;
 
 impl HandleTask {
+    /// Runs in order the [`PreWriteBack`], [`WriteBack`],[`PostWriteBack`], [`SpawnTask`] schedules.
     pub fn run_schedule(world: &mut World) {
         let _ = world.try_schedule_scope(PreWriteBack, |world, schedule| {
             schedule.run(world);
@@ -275,15 +341,16 @@ impl HandleTask {
         let _ = world.try_schedule_scope(WriteBack, |world, schedule| {
             schedule.run(world);
         });
-        let _ = world.try_schedule_scope(SpawnTask, |world, schedule| {
+        let _ = world.try_schedule_scope(PostWriteBack, |world, schedule| {
             schedule.run(world);
         });
-        let _ = world.try_schedule_scope(PostWriteBack, |world, schedule| {
+        let _ = world.try_schedule_scope(SpawnTask, |world, schedule| {
             schedule.run(world);
         });
     }
 }
 
+/// Calls [`TaskWorkerTrait::extract`].
 pub fn extract<T: TaskWorkerTrait>(world: &mut World) {
     let Ok((entity_ctx, worker)) = world
         .query_filtered::<(Entity, &TaskWorker<T>), With<Timestep>>()
@@ -295,7 +362,11 @@ pub fn extract<T: TaskWorkerTrait>(world: &mut World) {
 
     let extractor = worker.worker.clone();
     let extracted_data = extractor.extract(entity_ctx, world);
-    world.entity_mut(entity_ctx).insert(extracted_data.clone());
+    world
+        .entity_mut(entity_ctx)
+        .insert(TaskExtractedDataHolder::<T> {
+            extracted_data: Some(extracted_data),
+        });
 }
 
 /// This system spawns a [`WorkTask`] is none are ongoing.
@@ -306,19 +377,23 @@ pub fn extract<T: TaskWorkerTrait>(world: &mut World) {
 #[expect(clippy::type_complexity)]
 pub fn spawn_task<T: TaskWorkerTrait>(
     mut commands: Commands,
-    q_context: Query<(
+    mut q_context: Query<(
         Entity,
         &TaskWorker<T>,
         &Timestep,
         &SubstepCount,
-        &T::TaskExtractedData,
+        &mut TaskExtractedDataHolder<T>,
     )>,
     virtual_time: Res<Time<Virtual>>,
 ) {
-    let Ok((entity_ctx, worker, timestep, substep_count, extracted_data)) = q_context.get_single()
+    let Ok((entity_ctx, worker, timestep, substep_count, mut extracted_data)) =
+        q_context.get_single_mut()
     else {
         return;
     };
+    let Some(extracted_data) = extracted_data.extracted_data.take() else {
+        return;
+    };
     let timestep = timestep.timestep;
 
     // From user side, to allow the simulation to catch up with the render time.
@@ -326,7 +401,6 @@ pub fn spawn_task<T: TaskWorkerTrait>(
 
     let (sender, recv) = crossbeam_channel::unbounded();
 
-    let extracted_data = extracted_data.clone();
     let worker = worker.clone();
     let thread_pool = AsyncComputeTaskPool::get();
     thread_pool
@@ -385,12 +459,13 @@ pub fn finish_task_and_store_result<T: TaskWorkerTrait>(
         }
     };
     // TODO: configure this somehow.
-    if task.update_frames_elapsed > 60 {
+    /*if task.update_frames_elapsed > 60 {
         // Do not tolerate more delay over the rendering: block on the result of the simulation.
         if let Ok(result) = task.recv.recv() {
             handle_result(result);
         }
-    } else if let Ok(result) = task.recv.try_recv() {
+    } else */
+    if let Ok(result) = task.recv.try_recv() {
         handle_result(result);
     }
 }