diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index ec064eb4b..a0b690428 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -31,7 +31,7 @@ jobs:
       - uses: Swatinem/rust-cache@v2
         with:
           prefix-key: ${{ env.RUST_CACHE_KEY }}
-      - run: sudo apt update && sudo apt-get install pkg-config libx11-dev libasound2-dev libudev-dev
+      - run: sudo apt update && sudo apt-get install pkg-config libx11-dev libasound2-dev libudev-dev libwayland-dev libxkbcommon-dev
       - name: Cargo doc
         run: cargo doc --no-deps
   test:
@@ -46,7 +46,7 @@ jobs:
       - uses: Swatinem/rust-cache@v2
         with:
           prefix-key: ${{ env.RUST_CACHE_KEY }}
-      - run: sudo apt update && sudo apt-get install pkg-config libx11-dev libasound2-dev libudev-dev
+      - run: sudo apt update && sudo apt-get install pkg-config libx11-dev libasound2-dev libudev-dev libwayland-dev libxkbcommon-dev
       - run: cargo install cargo-all-features
       - name: Clippy for bevy_rapier2d
         run: cargo clippy --verbose -p bevy_rapier2d --examples
diff --git a/bevy_rapier2d/Cargo.toml b/bevy_rapier2d/Cargo.toml
index 702ad705e..8d3668606 100644
--- a/bevy_rapier2d/Cargo.toml
+++ b/bevy_rapier2d/Cargo.toml
@@ -64,15 +64,15 @@ async-collider = [
 to-bevy-mesh = ["bevy/bevy_render", "bevy/bevy_asset"]
 
 [dependencies]
-bevy = { version = "0.16.0", default-features = false, features = ["std"] }
-nalgebra = { version = "0.33", features = ["convert-glam029"] }
-rapier2d = "0.27.0-beta.0"
+bevy = { version = "0.17.0", default-features = false, features = ["std"] }
+nalgebra = { version = "0.34.1", features = ["convert-glam030"] }
+rapier2d = "0.29.0"
 bitflags = "2.4"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
 
 [dev-dependencies]
-bevy = { version = "0.16.0", default-features = false, features = [
+bevy = { version = "0.17.0", default-features = false, features = [
     "x11",
     "bevy_state",
     "bevy_window",
@@ -81,10 +81,10 @@ bevy = { version = "0.16.0", default-features = false, features = [
 ] }
 oorandom = "11"
 approx = "0.5.1"
-glam = { version = "0.29", features = ["approx"] }
-bevy-inspector-egui = "0.31"
-bevy_egui = "0.34"
-bevy_mod_debugdump = "0.13"
+glam = { version = "0.30.8", features = ["approx"] }
+bevy-inspector-egui = "0.34"
+bevy_egui = "0.37.0"
+bevy_mod_debugdump = "0.14.0"
 serde_json = "1.0"
 
 [package.metadata.docs.rs]
diff --git a/bevy_rapier2d/examples/custom_system_setup2.rs b/bevy_rapier2d/examples/custom_system_setup2.rs
index 2fefc7b46..c07d9cda8 100644
--- a/bevy_rapier2d/examples/custom_system_setup2.rs
+++ b/bevy_rapier2d/examples/custom_system_setup2.rs
@@ -1,4 +1,4 @@
-use bevy::{diagnostic::FrameCount, prelude::*, transform::TransformSystem};
+use bevy::{diagnostic::FrameCount, prelude::*, transform::TransformSystems};
 use bevy_rapier2d::prelude::*;
 
 fn main() {
@@ -24,7 +24,7 @@ fn main() {
             PhysicsSet::Writeback,
         )
             .chain()
-            .before(TransformSystem::TransformPropagate),
+            .before(TransformSystems::Propagate),
     );
 
     app.add_systems(
diff --git a/bevy_rapier2d/examples/events2.rs b/bevy_rapier2d/examples/events2.rs
index bb93c2494..95e1d42d0 100644
--- a/bevy_rapier2d/examples/events2.rs
+++ b/bevy_rapier2d/examples/events2.rs
@@ -23,8 +23,8 @@ pub fn setup_graphics(mut commands: Commands) {
 }
 
 pub fn display_events(
-    mut collision_events: EventReader<CollisionEvent>,
-    mut contact_force_events: EventReader<ContactForceEvent>,
+    mut collision_events: MessageReader<CollisionMessage>,
+    mut contact_force_events: MessageReader<ContactForceMessage>,
 ) {
     for collision_event in collision_events.read() {
         println!("Received collision event: {collision_event:?}");
diff --git a/bevy_rapier2d/examples/player_movement2.rs b/bevy_rapier2d/examples/player_movement2.rs
index f122310a0..1c10bc8ff 100644
--- a/bevy_rapier2d/examples/player_movement2.rs
+++ b/bevy_rapier2d/examples/player_movement2.rs
@@ -6,7 +6,7 @@ fn main() {
         .add_plugins((
             DefaultPlugins.set(WindowPlugin {
                 primary_window: Some(Window {
-                    resolution: WindowResolution::new(1000., 1000.),
+                    resolution: WindowResolution::new(1000, 1000),
                     title: "Player Movement Example".to_string(),
                     ..default()
                 }),
diff --git a/bevy_rapier2d/examples/serialization2.rs b/bevy_rapier2d/examples/serialization2.rs
index 73accb7cc..47997b357 100644
--- a/bevy_rapier2d/examples/serialization2.rs
+++ b/bevy_rapier2d/examples/serialization2.rs
@@ -35,6 +35,6 @@ pub fn print_physics(_context: ReadRapierContext) {
     panic!("Example 'serialization' should be run with '--features serde-serialize'.");
 }
 
-fn quit(mut exit_event: EventWriter<AppExit>) {
+fn quit(mut exit_event: MessageWriter<AppExit>) {
     exit_event.write(AppExit::Success);
 }
diff --git a/bevy_rapier2d/examples/testbed2.rs b/bevy_rapier2d/examples/testbed2.rs
index af9088b35..770ff4297 100644
--- a/bevy_rapier2d/examples/testbed2.rs
+++ b/bevy_rapier2d/examples/testbed2.rs
@@ -14,10 +14,11 @@ mod rope_joint2;
 mod voxels2;
 
 use bevy::{
+    camera::visibility::RenderLayers,
     ecs::world::error::{EntityDespawnError, EntityMutableFetchError},
     prelude::*,
 };
-use bevy_egui::{egui, EguiContexts, EguiPlugin};
+use bevy_egui::{egui, EguiContexts, EguiPlugin, EguiPrimaryContextPass};
 use bevy_inspector_egui::quick::WorldInspectorPlugin;
 use bevy_rapier2d::prelude::*;
 
@@ -67,9 +68,7 @@ fn main() {
     app.init_resource::<ExamplesRes>()
         .add_plugins((
             DefaultPlugins,
-            EguiPlugin {
-                enable_multipass_for_primary_context: false,
-            },
+            EguiPlugin::default(),
             RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(10.0),
             RapierDebugRenderPlugin::default(),
             WorldInspectorPlugin::new(),
@@ -92,6 +91,17 @@ fn main() {
             (Examples::PlayerMovement2, "PlayerMovement2").into(),
         ]))
         .init_resource::<ExampleSelected>()
+        .add_systems(PreStartup, |mut commands: Commands| {
+            commands.spawn((
+                Camera2d,
+                bevy_egui::PrimaryEguiContext,
+                Camera {
+                    order: 999,
+                    ..Default::default()
+                },
+                RenderLayers::none(),
+            ));
+        })
         //
         //boxes2
         .add_systems(
@@ -242,7 +252,7 @@ fn main() {
         )
         .add_systems(OnExit(Examples::None), init)
         .add_systems(
-            Update,
+            EguiPrimaryContextPass,
             (
                 ui_example_system,
                 change_example.run_if(resource_changed::<ExampleSelected>),
@@ -256,15 +266,19 @@ fn main() {
 fn init(world: &mut World) {
     //save all entities that are in the world before setting up any example
     // to be able to always return to this state when switching from one example to the other
-    world.resource_mut::<ExamplesRes>().entities_before =
-        world.iter_entities().map(|e| e.id()).collect::<Vec<_>>();
+    world.resource_mut::<ExamplesRes>().entities_before = world
+        .query::<EntityRef>()
+        .iter(world)
+        .map(|e| e.id())
+        .collect::<Vec<_>>();
 }
 
 fn cleanup(world: &mut World) {
     let keep_alive = world.resource::<ExamplesRes>().entities_before.clone();
 
     let remove = world
-        .iter_entities()
+        .query::<EntityRef>()
+        .iter(world)
         .filter_map(|e| (!keep_alive.contains(&e.id())).then_some(e.id()))
         .collect::<Vec<_>>();
 
@@ -290,7 +304,7 @@ fn ui_example_system(
     mut current_example: ResMut<ExampleSelected>,
     examples_available: Res<ExampleSet>,
 ) {
-    egui::Window::new("Testbed").show(contexts.ctx_mut(), |ui| {
+    egui::Window::new("Testbed").show(contexts.ctx_mut().unwrap(), |ui| {
         let mut changed = false;
         egui::ComboBox::from_label("example")
             .width(150.0)
diff --git a/bevy_rapier3d/Cargo.toml b/bevy_rapier3d/Cargo.toml
index 93a16cfd2..d46edad78 100644
--- a/bevy_rapier3d/Cargo.toml
+++ b/bevy_rapier3d/Cargo.toml
@@ -65,15 +65,15 @@ async-collider = [
 to-bevy-mesh = ["bevy/bevy_render", "bevy/bevy_asset"]
 
 [dependencies]
-bevy = { version = "0.16.0", default-features = false, features = ["std"] }
-nalgebra = { version = "0.33", features = ["convert-glam029"] }
-rapier3d = "0.27.0-beta.0"
+bevy = { version = "0.17.0", default-features = false, features = ["std"] }
+nalgebra = { version = "0.34.1", features = ["convert-glam030"] }
+rapier3d = "0.29.0"
 bitflags = "2.4"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
 
 [dev-dependencies]
-bevy = { version = "0.16.0", default-features = false, features = [
+bevy = { version = "0.17.0", default-features = false, features = [
     "bevy_window",
     "x11",
     "tonemapping_luts",
@@ -85,10 +85,10 @@ bevy = { version = "0.16.0", default-features = false, features = [
     "bevy_log",
 ] }
 approx = "0.5.1"
-glam = { version = "0.29", features = ["approx"] }
-bevy-inspector-egui = "0.31"
-bevy_egui = "0.34"
-bevy_mod_debugdump = "0.13"
+glam = { version = "0.30.7", features = ["approx"] }
+bevy-inspector-egui = "0.34"
+bevy_egui = "0.37.0"
+bevy_mod_debugdump = "0.14.0"
 
 [package.metadata.docs.rs]
 # Enable all the features when building the docs on docs.rs
diff --git a/bevy_rapier3d/examples/character_controller3.rs b/bevy_rapier3d/examples/character_controller3.rs
index 03c842c56..f1eed0680 100644
--- a/bevy_rapier3d/examples/character_controller3.rs
+++ b/bevy_rapier3d/examples/character_controller3.rs
@@ -1,5 +1,5 @@
 use bevy::{
-    input::{mouse::MouseMotion, InputSystem},
+    input::{mouse::MouseMotion, InputSystems},
     prelude::*,
 };
 use bevy_rapier3d::{control::KinematicCharacterController, prelude::*};
@@ -25,7 +25,7 @@ fn main() {
             RapierDebugRenderPlugin::default(),
         ))
         .add_systems(Startup, (setup_player, setup_map))
-        .add_systems(PreUpdate, handle_input.after(InputSystem))
+        .add_systems(PreUpdate, handle_input.after(InputSystems))
         .add_systems(Update, player_look)
         .add_systems(FixedUpdate, player_movement)
         .run();
@@ -112,7 +112,7 @@ fn handle_input(
     keyboard: Res<ButtonInput<KeyCode>>,
     mut movement: ResMut<MovementInput>,
     mut look: ResMut<LookInput>,
-    mut mouse_events: EventReader<MouseMotion>,
+    mut mouse_events: MessageReader<MouseMotion>,
 ) {
     if keyboard.pressed(KeyCode::KeyW) {
         movement.z -= 1.0;
diff --git a/bevy_rapier3d/examples/custom_system_setup3.rs b/bevy_rapier3d/examples/custom_system_setup3.rs
index 8d7eaba5c..ea1725c64 100644
--- a/bevy_rapier3d/examples/custom_system_setup3.rs
+++ b/bevy_rapier3d/examples/custom_system_setup3.rs
@@ -1,4 +1,4 @@
-use bevy::{diagnostic::FrameCount, prelude::*, transform::TransformSystem};
+use bevy::{diagnostic::FrameCount, prelude::*, transform::TransformSystems};
 use bevy_rapier3d::prelude::*;
 
 fn main() {
@@ -24,7 +24,7 @@ fn main() {
             PhysicsSet::Writeback,
         )
             .chain()
-            .before(TransformSystem::TransformPropagate),
+            .before(TransformSystems::Propagate),
     );
 
     app.add_systems(
diff --git a/bevy_rapier3d/examples/despawn3.rs b/bevy_rapier3d/examples/despawn3.rs
index e6eb717e5..b841e9737 100644
--- a/bevy_rapier3d/examples/despawn3.rs
+++ b/bevy_rapier3d/examples/despawn3.rs
@@ -95,7 +95,7 @@ pub fn despawn(
     mut despawn: ResMut<DespawnResource>,
     query: Query<Entity, With<Despawn>>,
 ) {
-    if despawn.timer.tick(time.delta()).finished() {
+    if despawn.timer.tick(time.delta()).is_finished() {
         for entity in &query {
             println!("Despawning ground entity");
             commands.entity(entity).despawn();
diff --git a/bevy_rapier3d/examples/events3.rs b/bevy_rapier3d/examples/events3.rs
index 9f1a23e84..bd56214d2 100644
--- a/bevy_rapier3d/examples/events3.rs
+++ b/bevy_rapier3d/examples/events3.rs
@@ -26,8 +26,8 @@ pub fn setup_graphics(mut commands: Commands) {
 }
 
 pub fn display_events(
-    mut collision_events: EventReader<CollisionEvent>,
-    mut contact_force_events: EventReader<ContactForceEvent>,
+    mut collision_events: MessageReader<CollisionEvent>,
+    mut contact_force_events: MessageReader<ContactForceEvent>,
 ) {
     for collision_event in collision_events.read() {
         println!("Received collision event: {collision_event:?}");
diff --git a/bevy_rapier3d/examples/joints_despawn3.rs b/bevy_rapier3d/examples/joints_despawn3.rs
index cb858428a..573f4a362 100644
--- a/bevy_rapier3d/examples/joints_despawn3.rs
+++ b/bevy_rapier3d/examples/joints_despawn3.rs
@@ -273,7 +273,7 @@ pub fn despawn(
     mut despawn: ResMut<DespawnResource>,
     query: Query<Entity, With<Despawn>>,
 ) {
-    if despawn.timer.tick(time.delta()).finished() {
+    if despawn.timer.tick(time.delta()).is_finished() {
         for entity in &query {
             println!("Despawning joint entity");
             commands.entity(entity).despawn();
diff --git a/bevy_rapier3d/examples/picking3.rs b/bevy_rapier3d/examples/picking3.rs
index 13a462e19..8c003526d 100644
--- a/bevy_rapier3d/examples/picking3.rs
+++ b/bevy_rapier3d/examples/picking3.rs
@@ -45,15 +45,13 @@ pub fn setup_physics(mut commands: Commands) {
             },
         ))
         .observe(on_click_spawn_cube)
+        .observe(|out: On<Pointer<Out>>, mut texts: Query<&mut TextColor>| {
+            let mut text_color = texts.get_mut(out.event().entity).unwrap();
+            text_color.0 = Color::WHITE;
+        })
         .observe(
-            |out: Trigger<Pointer<Out>>, mut texts: Query<&mut TextColor>| {
-                let mut text_color = texts.get_mut(out.target()).unwrap();
-                text_color.0 = Color::WHITE;
-            },
-        )
-        .observe(
-            |over: Trigger<Pointer<Over>>, mut texts: Query<&mut TextColor>| {
-                let mut color = texts.get_mut(over.target()).unwrap();
+            |over: On<Pointer<Over>>, mut texts: Query<&mut TextColor>| {
+                let mut color = texts.get_mut(over.event().entity).unwrap();
                 color.0 = bevy::color::palettes::tailwind::CYAN_400.into();
             },
         );
@@ -67,11 +65,7 @@ pub fn setup_physics(mut commands: Commands) {
     ));
 }
 
-fn on_click_spawn_cube(
-    _click: Trigger<Pointer<Click>>,
-    mut commands: Commands,
-    mut num: Local<usize>,
-) {
+fn on_click_spawn_cube(_click: On<Pointer<Click>>, mut commands: Commands, mut num: Local<usize>) {
     let rad = 0.25;
     let colors = [
         Hsla::hsl(220.0, 1.0, 0.3),
@@ -92,8 +86,8 @@ fn on_click_spawn_cube(
     *num += 1;
 }
 
-fn on_drag_rotate(drag: Trigger<Pointer<Drag>>, mut transforms: Query<&mut Transform>) {
-    if let Ok(mut transform) = transforms.get_mut(drag.target()) {
+fn on_drag_rotate(drag: On<Pointer<Drag>>, mut transforms: Query<&mut Transform>) {
+    if let Ok(mut transform) = transforms.get_mut(drag.event().entity) {
         transform.rotate_y(drag.delta.x * 0.02);
         transform.rotate_x(drag.delta.y * 0.02);
     }
diff --git a/bevy_rapier3d/examples/rapier_context_component.rs b/bevy_rapier3d/examples/rapier_context_component.rs
index 3f4056f0a..452632167 100644
--- a/bevy_rapier3d/examples/rapier_context_component.rs
+++ b/bevy_rapier3d/examples/rapier_context_component.rs
@@ -19,7 +19,7 @@ fn main() {
 /// Demonstrates how to access a more specific component of [`RapierContext`]
 fn display_nb_colliders(
     query_context: Query<&RapierContextColliders, With<DefaultRapierContext>>,
-    mut exit: EventWriter<AppExit>,
+    mut exit: MessageWriter<AppExit>,
 ) -> Result<()> {
     let nb_colliders = query_context.single()?.colliders.len();
     println!("There are {nb_colliders} colliders.");
diff --git a/bevy_rapier3d/examples/static_trimesh3.rs b/bevy_rapier3d/examples/static_trimesh3.rs
index 5bc41382a..fdff1780c 100644
--- a/bevy_rapier3d/examples/static_trimesh3.rs
+++ b/bevy_rapier3d/examples/static_trimesh3.rs
@@ -123,7 +123,7 @@ pub fn ball_spawner(mut commands: Commands, time: Res<Time>, mut ball_state: Res
         return;
     }
 
-    if ball_state.timer.tick(time.delta()).finished() {
+    if ball_state.timer.tick(time.delta()).is_finished() {
         // Spawn a ball near the top of the ramp.
         let ramp_size = ramp_size();
         let rad = 0.3;
diff --git a/bevy_rapier3d/examples/testbed3.rs b/bevy_rapier3d/examples/testbed3.rs
index 495e52491..8a4871d40 100644
--- a/bevy_rapier3d/examples/testbed3.rs
+++ b/bevy_rapier3d/examples/testbed3.rs
@@ -14,10 +14,11 @@ mod static_trimesh3;
 mod voxels3;
 
 use bevy::{
+    camera::visibility::RenderLayers,
     ecs::world::error::{EntityDespawnError, EntityMutableFetchError},
     prelude::*,
 };
-use bevy_egui::{egui, EguiContexts, EguiPlugin};
+use bevy_egui::{egui, EguiContexts, EguiPlugin, EguiPrimaryContextPass};
 use bevy_inspector_egui::quick::WorldInspectorPlugin;
 use bevy_rapier3d::prelude::*;
 
@@ -67,9 +68,7 @@ fn main() {
     app.init_resource::<ExamplesRes>()
         .add_plugins((
             DefaultPlugins,
-            EguiPlugin {
-                enable_multipass_for_primary_context: false,
-            },
+            EguiPlugin::default(),
             RapierPhysicsPlugin::<NoUserData>::default(),
             RapierDebugRenderPlugin::default(),
             WorldInspectorPlugin::new(),
@@ -94,6 +93,17 @@ fn main() {
             (Examples::StaticTrimesh3, "StaticTrimesh3").into(),
         ]))
         .init_resource::<ExampleSelected>()
+        .add_systems(PreStartup, |mut commands: Commands| {
+            commands.spawn((
+                Camera2d,
+                bevy_egui::PrimaryEguiContext,
+                Camera {
+                    order: 999,
+                    ..Default::default()
+                },
+                RenderLayers::none(),
+            ));
+        })
         //
         // boxes3
         .add_systems(
@@ -234,7 +244,7 @@ fn main() {
         )
         .add_systems(OnExit(Examples::None), init)
         .add_systems(
-            Update,
+            EguiPrimaryContextPass,
             (
                 ui_example_system,
                 change_example.run_if(resource_changed::<ExampleSelected>),
@@ -248,15 +258,19 @@ fn main() {
 fn init(world: &mut World) {
     //save all entities that are in the world before setting up any example
     // to be able to always return to this state when switching from one example to the other
-    world.resource_mut::<ExamplesRes>().entities_before =
-        world.iter_entities().map(|e| e.id()).collect::<Vec<_>>();
+    world.resource_mut::<ExamplesRes>().entities_before = world
+        .query::<EntityRef>()
+        .iter(world)
+        .map(|e| e.id())
+        .collect::<Vec<_>>();
 }
 
 fn cleanup(world: &mut World) {
     let keep_alive = world.resource::<ExamplesRes>().entities_before.clone();
 
     let remove = world
-        .iter_entities()
+        .query::<EntityRef>()
+        .iter(world)
         .filter_map(|e| (!keep_alive.contains(&e.id())).then_some(e.id()))
         .collect::<Vec<_>>();
     for r in remove {
@@ -281,7 +295,7 @@ fn ui_example_system(
     mut current_example: ResMut<ExampleSelected>,
     examples_available: Res<ExampleSet>,
 ) {
-    egui::Window::new("Testbed").show(contexts.ctx_mut(), |ui| {
+    egui::Window::new("Testbed").show(contexts.ctx_mut().unwrap(), |ui| {
         let mut changed = false;
         egui::ComboBox::from_label("example")
             .width(150.0)
diff --git a/bevy_rapier_benches3d/Cargo.toml b/bevy_rapier_benches3d/Cargo.toml
index b2d3c997e..5a2db2abf 100644
--- a/bevy_rapier_benches3d/Cargo.toml
+++ b/bevy_rapier_benches3d/Cargo.toml
@@ -9,9 +9,9 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-rapier3d = { features = ["profiler"], version = "0.27.0-beta.0" }
+rapier3d = { features = ["profiler"], version = "0.29.0" }
 bevy_rapier3d = { version = "0.31", path = "../bevy_rapier3d" }
-bevy = { version = "0.16.0", default-features = false }
+bevy = { version = "0.17.0", default-features = false }
 
 [dev-dependencies]
 divan = "0.1"
diff --git a/ci/Cargo.toml b/ci/Cargo.toml
index 520fa95aa..ee7d070fa 100644
--- a/ci/Cargo.toml
+++ b/ci/Cargo.toml
@@ -4,7 +4,7 @@ version = "0.1.0"
 edition = "2021"
 
 [dependencies]
-bevy = "0.16.0"
+bevy = "0.17.0"
 bevy_rapier3d = { version = "0.31", path = "../bevy_rapier3d" }
 bevy_rapier2d = { version = "0.31", path = "../bevy_rapier2d" }
 
diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs
index eefd0f3ef..87ff4f4be 100644
--- a/src/dynamics/rigid_body.rs
+++ b/src/dynamics/rigid_body.rs
@@ -202,15 +202,21 @@ impl std::ops::Deref for ReadMassProperties {
 }
 
 /// Entity that likely had their mass properties changed this frame.
-#[derive(Deref, Copy, Clone, Debug, PartialEq, Event)]
-pub struct MassModifiedEvent(pub Entity);
+#[derive(Deref, Copy, Clone, Debug, PartialEq, Message)]
+pub struct MassModifiedMessage(pub Entity);
 
-impl From<Entity> for MassModifiedEvent {
+impl From<Entity> for MassModifiedMessage {
     fn from(entity: Entity) -> Self {
         Self(entity)
     }
 }
 
+#[deprecated(
+    since = "0.32.0",
+    note = "MassModifiedMessage has been renamed to MassModifiedEvent for consistency with Bevy 0.17 naming conventions. "
+)]
+pub use MassModifiedMessage as MassModifiedEvent;
+
 /// Center-of-mass, mass, and angular inertia.
 ///
 /// This cannot be used as a component. Use the components `ReadMassProperties` to read a [`RigidBody`]’s
diff --git a/src/geometry/collider_impl.rs b/src/geometry/collider_impl.rs
index 7055194b3..c3ef018ad 100644
--- a/src/geometry/collider_impl.rs
+++ b/src/geometry/collider_impl.rs
@@ -2,8 +2,8 @@
 use na::DVector;
 #[cfg(all(feature = "dim3", feature = "async-collider"))]
 use {
+    bevy::mesh::{Indices, VertexAttributeValues},
     bevy::prelude::*,
-    bevy::render::mesh::{Indices, VertexAttributeValues},
 };
 
 use rapier::{
diff --git a/src/geometry/to_bevy_mesh.rs b/src/geometry/to_bevy_mesh.rs
index a5ac8815f..e90089530 100644
--- a/src/geometry/to_bevy_mesh.rs
+++ b/src/geometry/to_bevy_mesh.rs
@@ -5,15 +5,15 @@ use crate::rapier::prelude::Ball;
 #[cfg(feature = "dim3")]
 use crate::rapier::prelude::{Cone, Cylinder};
 #[cfg(feature = "dim2")]
-use bevy::render::mesh::{Capsule2dMeshBuilder, CircleMeshBuilder};
+use bevy::mesh::{Capsule2dMeshBuilder, CircleMeshBuilder};
 #[cfg(feature = "dim3")]
-use bevy::render::mesh::{
+use bevy::mesh::{
     Capsule3dMeshBuilder, ConeMeshBuilder, CylinderMeshBuilder, PlaneMeshBuilder, SphereMeshBuilder,
 };
 use bevy::{
     asset::RenderAssetUsages,
+    mesh::Indices,
     prelude::{Mesh, MeshBuilder},
-    render::mesh::Indices,
 };
 
 use rapier::prelude::{Capsule, TypedShape};
@@ -65,7 +65,7 @@ pub fn typed_shape_to_mesh(typed_shape: &TypedShape) -> Option<Mesh> {
                 let (vtx, idx) = _voxels.to_outline();
 
                 let mesh = Mesh::new(
-                    bevy::render::mesh::PrimitiveTopology::TriangleList,
+                    bevy::mesh::PrimitiveTopology::TriangleList,
                     RenderAssetUsages::default(),
                 )
                 .with_inserted_indices(Indices::U32(idx.into_iter().flatten().collect()));
@@ -94,7 +94,7 @@ pub fn typed_shape_to_mesh(typed_shape: &TypedShape) -> Option<Mesh> {
             let vertices: Vec<_> = vertices.iter().map(|pos| [pos.x, pos.y, pos.z]).collect();
             let indices = tri_mesh.indices();
             let mesh = Mesh::new(
-                bevy::render::mesh::PrimitiveTopology::TriangleList,
+                bevy::mesh::PrimitiveTopology::TriangleList,
                 RenderAssetUsages::default(),
             )
             .with_inserted_indices(Indices::U32(indices.iter().cloned().flatten().collect()));
@@ -126,7 +126,7 @@ pub fn typed_shape_to_mesh(typed_shape: &TypedShape) -> Option<Mesh> {
                 let (vtx, idx) = _height_field.to_trimesh();
 
                 let mesh = Mesh::new(
-                    bevy::render::mesh::PrimitiveTopology::TriangleList,
+                    bevy::mesh::PrimitiveTopology::TriangleList,
                     RenderAssetUsages::default(),
                 )
                 .with_inserted_indices(Indices::U32(idx.into_iter().flatten().collect()));
@@ -164,7 +164,7 @@ pub fn typed_shape_to_mesh(typed_shape: &TypedShape) -> Option<Mesh> {
                 .flat_map(|i| vec![0, i, i + 1])
                 .collect::<Vec<u32>>();
             let mesh = Mesh::new(
-                bevy::render::mesh::PrimitiveTopology::TriangleList,
+                bevy::mesh::PrimitiveTopology::TriangleList,
                 RenderAssetUsages::default(),
             )
             .with_inserted_indices(Indices::U32(indices));
@@ -179,7 +179,7 @@ pub fn typed_shape_to_mesh(typed_shape: &TypedShape) -> Option<Mesh> {
                 .flat_map(|i| vec![0, i, i + 1])
                 .collect::<Vec<u32>>();
             let mesh = Mesh::new(
-                bevy::render::mesh::PrimitiveTopology::TriangleList,
+                bevy::mesh::PrimitiveTopology::TriangleList,
                 RenderAssetUsages::default(),
             )
             .with_inserted_indices(Indices::U32(indices));
@@ -243,7 +243,7 @@ impl TryFrom<&Collider> for Mesh {
 /// Trait to convert a parry shape to a [`MeshBuilder`].
 pub trait ToMeshBuilder {
     /// Specific [`MeshBuilder`] being returned.
-    type MeshBuilder: bevy::render::prelude::MeshBuilder;
+    type MeshBuilder: bevy::mesh::prelude::MeshBuilder;
     /// Returns a dedicated [`MeshBuilder`].
     fn mesh_builder(&self) -> Self::MeshBuilder;
 }
@@ -262,10 +262,7 @@ impl ToMeshBuilder for &Ball {
     type MeshBuilder = SphereMeshBuilder;
 
     fn mesh_builder(&self) -> Self::MeshBuilder {
-        SphereMeshBuilder::new(
-            self.radius,
-            bevy::render::mesh::SphereKind::Ico { subdivisions: 1 },
-        )
+        SphereMeshBuilder::new(self.radius, bevy::mesh::SphereKind::Ico { subdivisions: 1 })
     }
 }
 
@@ -286,7 +283,7 @@ impl ToMeshBuilder for &Capsule {
     type MeshBuilder = Capsule2dMeshBuilder;
 
     fn mesh_builder(&self) -> Self::MeshBuilder {
-        bevy::render::mesh::Capsule2dMeshBuilder::new(self.radius, self.height(), 10)
+        bevy::mesh::Capsule2dMeshBuilder::new(self.radius, self.height(), 10)
     }
 }
 
@@ -295,7 +292,7 @@ impl ToMeshBuilder for &Capsule {
     type MeshBuilder = Capsule3dMeshBuilder;
 
     fn mesh_builder(&self) -> Self::MeshBuilder {
-        bevy::render::mesh::Capsule3dMeshBuilder::new(self.radius, self.height(), 10, 10)
+        bevy::mesh::Capsule3dMeshBuilder::new(self.radius, self.height(), 10, 10)
     }
 }
 #[cfg(feature = "dim3")]
@@ -303,7 +300,7 @@ impl ToMeshBuilder for &Cone {
     type MeshBuilder = ConeMeshBuilder;
 
     fn mesh_builder(&self) -> Self::MeshBuilder {
-        bevy::render::mesh::ConeMeshBuilder::new(self.radius, self.half_height * 2.0, 16)
+        bevy::mesh::ConeMeshBuilder::new(self.radius, self.half_height * 2.0, 16)
     }
 }
 
@@ -312,6 +309,6 @@ impl ToMeshBuilder for &Cylinder {
     type MeshBuilder = CylinderMeshBuilder;
 
     fn mesh_builder(&self) -> Self::MeshBuilder {
-        bevy::render::mesh::CylinderMeshBuilder::new(self.radius, self.half_height * 2.0, 16)
+        bevy::mesh::CylinderMeshBuilder::new(self.radius, self.half_height * 2.0, 16)
     }
 }
diff --git a/src/picking_backend/mod.rs b/src/picking_backend/mod.rs
index 0b251077e..0dc06333f 100644
--- a/src/picking_backend/mod.rs
+++ b/src/picking_backend/mod.rs
@@ -7,14 +7,13 @@
 //! to `true` and add a [`RapierPickable`] component to the desired camera and target entities.
 
 use bevy::app::prelude::*;
+use bevy::camera::visibility::RenderLayers;
+use bevy::camera::Camera;
 use bevy::ecs::prelude::*;
-use bevy::picking::{
-    backend::{ray::RayMap, HitData, PointerHits},
-    PickSet,
-};
-use bevy::prelude::PickingPlugin;
+use bevy::picking::backend::{ray::RayMap, HitData, PointerHits};
+use bevy::picking::{PickingPlugin, PickingSystems};
+use bevy::prelude::{InheritedVisibility, ViewVisibility};
 use bevy::reflect::prelude::*;
-use bevy::render::{prelude::*, view::RenderLayers};
 use rapier::parry::query::DefaultQueryDispatcher;
 
 /// How a ray cast should handle [`Visibility`].
@@ -67,9 +66,9 @@ impl Plugin for RapierPickingPlugin {
     fn build(&self, app: &mut App) {
         app.register_type::<(RapierPickable, RapierPickingSettings)>()
             .init_resource::<RapierPickingSettings>()
-            .add_systems(PreUpdate, update_hits.in_set(PickSet::Backend));
+            .add_systems(PreUpdate, update_hits.in_set(PickingSystems::Backend));
         if !app.is_plugin_added::<PickingPlugin>() {
-            app.add_plugins(PickingPlugin::default());
+            app.add_plugins(PickingPlugin);
         }
     }
 }
@@ -88,7 +87,7 @@ pub fn update_hits(
         &crate::prelude::RapierRigidBodySet,
         &crate::prelude::RapierContextSimulation,
     )>,
-    mut output: EventWriter<PointerHits>,
+    mut output: MessageWriter<PointerHits>,
 ) {
     for (&ray_id, &ray) in ray_map.map.iter() {
         let Ok((camera, cam_pickable, cam_layers)) = picking_cameras.get(ray_id.camera) else {
diff --git a/src/pipeline/events.rs b/src/pipeline/events.rs
index 1eae4dcaa..7b66f563f 100644
--- a/src/pipeline/events.rs
+++ b/src/pipeline/events.rs
@@ -1,5 +1,6 @@
 use crate::math::{Real, Vect};
-use bevy::prelude::{Entity, Event};
+use bevy::ecs::message::Message;
+use bevy::prelude::Entity;
 use rapier::dynamics::RigidBodySet;
 use rapier::geometry::{
     ColliderHandle, ColliderSet, CollisionEvent as RapierCollisionEvent, CollisionEventFlags,
@@ -12,25 +13,25 @@ use std::sync::RwLock;
 #[cfg(doc)]
 use crate::prelude::{ActiveEvents, ContactForceEventThreshold};
 
-/// Events occurring when two colliders start or stop colliding
+/// Message sent when two colliders start or stop colliding
 ///
 /// This will only get triggered if the entity has the
 /// [`ActiveEvents::COLLISION_EVENTS`] flag enabled.
-#[derive(Event, Copy, Clone, Debug, PartialEq, Eq)]
-pub enum CollisionEvent {
+#[derive(Copy, Clone, Debug, PartialEq, Eq, Message)]
+pub enum CollisionMessage {
     /// Event occurring when two colliders start colliding
     Started(Entity, Entity, CollisionEventFlags),
     /// Event occurring when two colliders stop colliding
     Stopped(Entity, Entity, CollisionEventFlags),
 }
 
-/// Event occurring when the sum of the magnitudes of the contact forces
+/// Message sent when the sum of the magnitudes of the contact forces
 /// between two colliders exceed a threshold ([`ContactForceEventThreshold`]).
 ///
 /// This will only get triggered if the entity has the
 /// [`ActiveEvents::CONTACT_FORCE_EVENTS`] flag enabled.
-#[derive(Event, Copy, Clone, Debug, PartialEq)]
-pub struct ContactForceEvent {
+#[derive(Copy, Clone, Debug, PartialEq, Message)]
+pub struct ContactForceMessage {
     /// The first collider involved in the contact.
     pub collider1: Entity,
     /// The second collider involved in the contact.
@@ -58,8 +59,8 @@ pub(crate) struct EventQueue<'a> {
     // Used to retrieve the entity of colliders that have been removed from the simulation
     // since the last physics step.
     pub deleted_colliders: &'a HashMap<ColliderHandle, Entity>,
-    pub collision_events: RwLock<Vec<CollisionEvent>>,
-    pub contact_force_events: RwLock<Vec<ContactForceEvent>>,
+    pub collision_events: RwLock<Vec<CollisionMessage>>,
+    pub contact_force_events: RwLock<Vec<ContactForceMessage>>,
 }
 
 impl EventQueue<'_> {
@@ -84,12 +85,12 @@ impl EventHandler for EventQueue<'_> {
             RapierCollisionEvent::Started(h1, h2, flags) => {
                 let e1 = self.collider2entity(colliders, h1);
                 let e2 = self.collider2entity(colliders, h2);
-                CollisionEvent::Started(e1, e2, flags)
+                CollisionMessage::Started(e1, e2, flags)
             }
             RapierCollisionEvent::Stopped(h1, h2, flags) => {
                 let e1 = self.collider2entity(colliders, h1);
                 let e2 = self.collider2entity(colliders, h2);
-                CollisionEvent::Stopped(e1, e2, flags)
+                CollisionMessage::Stopped(e1, e2, flags)
             }
         };
 
@@ -108,7 +109,7 @@ impl EventHandler for EventQueue<'_> {
     ) {
         let rapier_event =
             RapierContactForceEvent::from_contact_pair(dt, contact_pair, total_force_magnitude);
-        let event = ContactForceEvent {
+        let event = ContactForceMessage {
             collider1: self.collider2entity(colliders, rapier_event.collider1),
             collider2: self.collider2entity(colliders, rapier_event.collider2),
             total_force: rapier_event.total_force.into(),
@@ -151,18 +152,18 @@ mod test {
         use bevy::prelude::*;
 
         #[derive(Resource, Reflect)]
-        pub struct EventsSaver<E: Event> {
+        pub struct EventsSaver<E: Message> {
             pub events: Vec<E>,
         }
-        impl<E: Event> Default for EventsSaver<E> {
+        impl<E: Message> Default for EventsSaver<E> {
             fn default() -> Self {
                 Self {
                     events: Default::default(),
                 }
             }
         }
-        pub fn save_events<E: Event + Clone>(
-            mut events: EventReader<E>,
+        pub fn save_events<E: Message + Clone>(
+            mut events: MessageReader<E>,
             mut saver: ResMut<EventsSaver<E>>,
         ) {
             for event in events.read() {
@@ -170,10 +171,10 @@ mod test {
             }
         }
         fn run_test(app: &mut App) {
-            app.add_systems(PostUpdate, save_events::<CollisionEvent>)
-                .add_systems(PostUpdate, save_events::<ContactForceEvent>)
-                .init_resource::<EventsSaver<CollisionEvent>>()
-                .init_resource::<EventsSaver<ContactForceEvent>>();
+            app.add_systems(PostUpdate, save_events::<CollisionMessage>)
+                .add_systems(PostUpdate, save_events::<ContactForceMessage>)
+                .init_resource::<EventsSaver<CollisionMessage>>()
+                .init_resource::<EventsSaver<ContactForceMessage>>();
 
             // Simulates 60 updates per seconds
             app.insert_resource(TimeUpdateStrategy::ManualDuration(
@@ -187,12 +188,12 @@ mod test {
             }
             let saved_collisions = app
                 .world()
-                .get_resource::<EventsSaver<CollisionEvent>>()
+                .get_resource::<EventsSaver<CollisionMessage>>()
                 .unwrap();
             assert!(!saved_collisions.events.is_empty());
             let saved_contact_forces = app
                 .world()
-                .get_resource::<EventsSaver<CollisionEvent>>()
+                .get_resource::<EventsSaver<CollisionMessage>>()
                 .unwrap();
             assert!(!saved_contact_forces.events.is_empty());
         }
diff --git a/src/pipeline/mod.rs b/src/pipeline/mod.rs
index f857e1f90..5e65e324a 100644
--- a/src/pipeline/mod.rs
+++ b/src/pipeline/mod.rs
@@ -1,5 +1,18 @@
 pub(crate) use self::events::EventQueue;
-pub use self::events::{CollisionEvent, ContactForceEvent};
+pub use self::events::{CollisionMessage, ContactForceMessage};
+
+#[deprecated(
+    since = "0.32.0",
+    note = "CollisionEvent has been renamed to CollisionMessage for consistency with Bevy 0.17 naming conventions. "
+)]
+pub use CollisionMessage as CollisionEvent;
+
+#[deprecated(
+    since = "0.32.0",
+    note = "ContactForceEvent has been renamed to ContactForceMessage for consistency with Bevy 0.17 naming conventions. "
+)]
+pub use ContactForceMessage as ContactForceEvent;
+
 pub(crate) use self::physics_hooks::BevyPhysicsHooksAdapter;
 pub use self::physics_hooks::{
     BevyPhysicsHooks, ContactModificationContextView, PairFilterContextView,
diff --git a/src/plugin/context/mod.rs b/src/plugin/context/mod.rs
index 7bc86b181..428004eef 100644
--- a/src/plugin/context/mod.rs
+++ b/src/plugin/context/mod.rs
@@ -16,8 +16,8 @@ use rapier::prelude::{
 
 use crate::geometry::{PointProjection, RayIntersection, ShapeCastHit};
 use crate::math::{Rot, Vect};
-use crate::pipeline::{CollisionEvent, ContactForceEvent, EventQueue};
-use bevy::prelude::{Entity, EventWriter, GlobalTransform, Query};
+use crate::pipeline::{CollisionMessage, ContactForceMessage, EventQueue};
+use bevy::prelude::{Entity, GlobalTransform, Query};
 
 use crate::control::{CharacterCollision, MoveShapeOptions, MoveShapeOutput};
 use crate::dynamics::TransformInterpolation;
@@ -223,7 +223,7 @@ impl<'a> RapierQueryPipelineMut<'a> {
     }
 
     /// Downgrades the mutable reference to an immutable reference.
-    pub fn as_ref(&self) -> RapierQueryPipeline {
+    pub fn as_ref(&self) -> RapierQueryPipeline<'_> {
         RapierQueryPipeline {
             query_pipeline: self.query_pipeline.as_ref(),
         }
@@ -664,9 +664,9 @@ pub struct RapierContextSimulation {
     pub(crate) deleted_colliders: HashMap<ColliderHandle, Entity>,
 
     #[cfg_attr(feature = "serde-serialize", serde(skip))]
-    pub(crate) collision_events_to_send: Vec<CollisionEvent>,
+    pub(crate) collision_events_to_send: Vec<CollisionMessage>,
     #[cfg_attr(feature = "serde-serialize", serde(skip))]
-    pub(crate) contact_force_events_to_send: Vec<ContactForceEvent>,
+    pub(crate) contact_force_events_to_send: Vec<ContactForceMessage>,
     #[cfg_attr(feature = "serde-serialize", serde(skip))]
     pub(crate) character_collisions_collector: Vec<rapier::control::CharacterCollision>,
 }
@@ -700,8 +700,8 @@ impl RapierContextSimulation {
         gravity: Vect,
         timestep_mode: TimestepMode,
         events: Option<(
-            &EventWriter<CollisionEvent>,
-            &EventWriter<ContactForceEvent>,
+            &MessageWriter<CollisionMessage>,
+            &MessageWriter<ContactForceMessage>,
         )>,
         hooks: &dyn PhysicsHooks,
         time: &Time,
@@ -848,8 +848,8 @@ impl RapierContextSimulation {
     /// that are stored in the events list
     pub fn send_bevy_events(
         &mut self,
-        collision_event_writer: &mut EventWriter<CollisionEvent>,
-        contact_force_event_writer: &mut EventWriter<ContactForceEvent>,
+        collision_event_writer: &mut MessageWriter<CollisionMessage>,
+        contact_force_event_writer: &mut MessageWriter<ContactForceMessage>,
     ) {
         for collision_event in self.collision_events_to_send.drain(..) {
             collision_event_writer.write(collision_event);
diff --git a/src/plugin/context/systemparams/rapier_context_systemparam.rs b/src/plugin/context/systemparams/rapier_context_systemparam.rs
index eebb2639b..f86099584 100644
--- a/src/plugin/context/systemparams/rapier_context_systemparam.rs
+++ b/src/plugin/context/systemparams/rapier_context_systemparam.rs
@@ -139,8 +139,8 @@ mod simulation {
     use crate::plugin::context::SimulationToRenderTime;
     use crate::plugin::ContactPairView;
     use crate::plugin::TimestepMode;
-    use crate::prelude::CollisionEvent;
-    use crate::prelude::ContactForceEvent;
+    use crate::prelude::CollisionMessage;
+    use crate::prelude::ContactForceMessage;
     use crate::prelude::RapierQueryPipelineMut;
     use crate::prelude::RapierRigidBodyHandle;
     use crate::prelude::TransformInterpolation;
@@ -195,8 +195,8 @@ mod simulation {
             gravity: Vect,
             timestep_mode: TimestepMode,
             events: Option<(
-                &EventWriter<CollisionEvent>,
-                &EventWriter<ContactForceEvent>,
+                &MessageWriter<CollisionMessage>,
+                &MessageWriter<ContactForceMessage>,
             )>,
             hooks: &dyn PhysicsHooks,
             time: &Time,
diff --git a/src/plugin/narrow_phase.rs b/src/plugin/narrow_phase.rs
index b1f5d3a5a..aad854eb4 100644
--- a/src/plugin/narrow_phase.rs
+++ b/src/plugin/narrow_phase.rs
@@ -333,7 +333,7 @@ impl SolverContactView<'_> {
     }
     /// Whether or not this contact existed during the last timestep.
     pub fn is_new(&self) -> bool {
-        self.raw.is_new
+        self.raw.is_new == 1.0
     }
 }
 
diff --git a/src/plugin/plugin.rs b/src/plugin/plugin.rs
index 8877e3242..6454fc484 100644
--- a/src/plugin/plugin.rs
+++ b/src/plugin/plugin.rs
@@ -1,13 +1,14 @@
-use crate::pipeline::{CollisionEvent, ContactForceEvent};
+use crate::pipeline::{CollisionMessage, ContactForceMessage};
 use crate::prelude::*;
 use crate::reflect::IntegrationParametersWrapper;
+use bevy::app::DynEq;
 use bevy::ecs::{
     intern::Interned,
     schedule::{IntoScheduleConfigs, ScheduleConfigs, ScheduleLabel},
     system::{ScheduleSystem, SystemParamItem},
 };
 use bevy::platform::collections::HashSet;
-use bevy::{prelude::*, transform::TransformSystem};
+use bevy::{prelude::*, transform::TransformSystems};
 use rapier::dynamics::IntegrationParameters;
 use std::marker::PhantomData;
 
@@ -193,7 +194,7 @@ pub struct RapierBevyComponentApply;
 
 /// A set for rapier's copy of Bevy's transform propagation systems.
 ///
-/// See [`TransformSystem`](bevy::transform::TransformSystem::TransformPropagate).
+/// See [`TransformSystems`](bevy::transform::TransformSystems::Propagate).
 #[derive(Debug, Hash, PartialEq, Eq, Clone, SystemSet)]
 pub struct RapierTransformPropagateSet;
 
@@ -267,9 +268,9 @@ where
             .register_type::<DefaultRapierContext>()
             .register_type::<RapierContextInitialization>();
 
-        app.insert_resource(Events::<CollisionEvent>::default())
-            .insert_resource(Events::<ContactForceEvent>::default())
-            .insert_resource(Events::<MassModifiedEvent>::default());
+        app.insert_resource(Messages::<CollisionMessage>::default())
+            .insert_resource(Messages::<ContactForceMessage>::default())
+            .insert_resource(Messages::<MassModifiedMessage>::default());
         let default_world_init = app.world().get_resource::<RapierContextInitialization>();
         if let Some(world_init) = default_world_init {
             log::warn!("RapierPhysicsPlugin added but a `RapierContextInitialization` resource was already existing.\
@@ -290,7 +291,7 @@ where
         if self.schedule != PostUpdate.intern() {
             app.add_systems(
                 PostUpdate,
-                (systems::sync_removals,).before(TransformSystem::TransformPropagate),
+                (systems::sync_removals,).before(TransformSystems::Propagate),
             );
         }
 
@@ -304,7 +305,7 @@ where
                     PhysicsSet::Writeback,
                 )
                     .chain()
-                    .before(TransformSystem::TransformPropagate),
+                    .before(TransformSystems::Propagate),
             );
             app.configure_sets(
                 self.schedule,
@@ -326,7 +327,7 @@ where
             app.init_resource::<TimestepMode>();
 
             // Warn user if the timestep mode isn't in Fixed
-            if self.schedule.as_dyn_eq().dyn_eq(FixedUpdate.as_dyn_eq()) {
+            if self.schedule.dyn_eq(&FixedUpdate as &dyn DynEq) {
                 let config = app.world_mut().resource::<TimestepMode>();
                 match config {
                     TimestepMode::Fixed { .. } => {}
@@ -341,7 +342,7 @@ where
     fn finish(&self, _app: &mut App) {
         #[cfg(all(feature = "dim3", feature = "async-collider"))]
         {
-            use bevy::{asset::AssetPlugin, render::mesh::MeshPlugin, scene::ScenePlugin};
+            use bevy::{asset::AssetPlugin, mesh::MeshPlugin, scene::ScenePlugin};
             if !_app.is_plugin_added::<AssetPlugin>() {
                 _app.add_plugins(AssetPlugin::default());
             }
@@ -442,7 +443,7 @@ pub fn setup_rapier_configuration(
 mod test {
 
     use bevy::{
-        ecs::schedule::Stepping,
+        ecs::schedule::{NodeId, Stepping},
         prelude::Component,
         time::{TimePlugin, TimeUpdateStrategy},
     };
@@ -509,7 +510,7 @@ mod test {
                         .unwrap()
                         .systems()
                         .unwrap()
-                        .find(|s| s.0 == cursor.1)
+                        .find(|s| NodeId::System(s.0) == cursor.1)
                         .unwrap();
                     println!(
                         "next system: {}",
@@ -609,22 +610,16 @@ mod test {
             // render + physics
             app.update();
 
-            let context = app
-                .world_mut()
-                .query::<RapierContext>()
-                .single(app.world())
-                .unwrap();
+            let mut context_query = app.world_mut().query::<RapierContext>();
+            let context = context_query.single(app.world()).unwrap();
             assert_eq!(context.rigidbody_set.entity2body.len(), 1);
 
             // render only + remove entities
             app.update();
             // Fixed Update hasn´t run yet, so it's a risk of not having caught the bevy removed event, which will be cleaned next frame.
 
-            let context = app
-                .world_mut()
-                .query::<RapierContext>()
-                .single(app.world())
-                .unwrap();
+            let mut context_query = app.world_mut().query::<RapierContext>();
+            let context = context_query.single(app.world()).unwrap();
 
             println!("{:?}", &context.rigidbody_set.entity2body);
             assert_eq!(context.rigidbody_set.entity2body.len(), 0);
@@ -692,11 +687,8 @@ mod test {
             for _ in 0..100 {
                 app.update();
             }
-            let context = app
-                .world_mut()
-                .query::<RapierContext>()
-                .single(app.world())
-                .unwrap();
+            let mut context_query = app.world_mut().query::<RapierContext>();
+            let context = context_query.single(app.world()).unwrap();
 
             println!("{:#?}", &context.rigidbody_set.bodies);
         }
@@ -760,11 +752,8 @@ mod test {
                 .unwrap();
             approx::assert_relative_eq!(collider.scale, Vect::splat(0.1), epsilon = 1.0e-5);
 
-            let context = app
-                .world_mut()
-                .query::<RapierContext>()
-                .single(app.world())
-                .unwrap();
+            let mut context_query = app.world_mut().query::<RapierContext>();
+            let context = context_query.single(app.world()).unwrap();
             let physics_ball_radius = context
                 .colliders
                 .colliders
diff --git a/src/plugin/systems/collider.rs b/src/plugin/systems/collider.rs
index 2eaa5499b..c48dc6b1d 100644
--- a/src/plugin/systems/collider.rs
+++ b/src/plugin/systems/collider.rs
@@ -8,9 +8,9 @@ use crate::plugin::{
 };
 use crate::prelude::{
     ActiveCollisionTypes, ActiveEvents, ActiveHooks, ColliderDisabled, ColliderMassProperties,
-    ColliderScale, CollidingEntities, CollisionEvent, CollisionGroups, ContactForceEventThreshold,
-    ContactSkin, Friction, MassModifiedEvent, MassProperties, RapierColliderHandle,
-    RapierRigidBodyHandle, Restitution, Sensor, SolverGroups,
+    ColliderScale, CollidingEntities, CollisionGroups, CollisionMessage,
+    ContactForceEventThreshold, ContactSkin, Friction, MassModifiedMessage, MassProperties,
+    RapierColliderHandle, RapierRigidBodyHandle, Restitution, Sensor, SolverGroups,
 };
 use crate::utils;
 use bevy::prelude::*;
@@ -141,7 +141,7 @@ pub fn apply_collider_user_changes(
         Changed<ColliderMassProperties>,
     >,
 
-    mut mass_modified: EventWriter<MassModifiedEvent>,
+    mut mass_modified: MessageWriter<MassModifiedMessage>,
 ) {
     for (rapier_entity, handle, transform) in changed_collider_transforms.iter() {
         let (rigidbody_set, mut context_colliders) = context
@@ -568,12 +568,12 @@ pub fn init_async_scene_colliders(
 /// Adds entity to [`CollidingEntities`] on starting collision and removes from it when the
 /// collision ends.
 pub fn update_colliding_entities(
-    mut collision_events: EventReader<CollisionEvent>,
+    mut collision_events: MessageReader<CollisionMessage>,
     mut colliding_entities: Query<&mut CollidingEntities>,
 ) {
     for event in collision_events.read() {
         match event.to_owned() {
-            CollisionEvent::Started(entity1, entity2, _) => {
+            CollisionMessage::Started(entity1, entity2, _) => {
                 if let Ok(mut entities) = colliding_entities.get_mut(entity1) {
                     entities.0.insert(entity2);
                 }
@@ -581,7 +581,7 @@ pub fn update_colliding_entities(
                     entities.0.insert(entity1);
                 }
             }
-            CollisionEvent::Stopped(entity1, entity2, _) => {
+            CollisionMessage::Stopped(entity1, entity2, _) => {
                 if let Ok(mut entities) = colliding_entities.get_mut(entity1) {
                     entities.0.remove(&entity2);
                 }
@@ -600,7 +600,7 @@ pub mod test {
     #[cfg(all(feature = "dim3", feature = "async-collider"))]
     fn async_collider_initializes() {
         use super::*;
-        use bevy::{render::mesh::MeshPlugin, scene::ScenePlugin};
+        use bevy::{mesh::MeshPlugin, scene::ScenePlugin};
 
         let mut app = App::new();
         app.add_plugins((AssetPlugin::default(), MeshPlugin, ScenePlugin));
@@ -633,7 +633,7 @@ pub mod test {
     #[cfg(all(feature = "dim3", feature = "async-collider"))]
     fn async_scene_collider_initializes() {
         use super::*;
-        use bevy::{render::mesh::MeshPlugin, scene::ScenePlugin};
+        use bevy::{mesh::MeshPlugin, scene::ScenePlugin};
 
         let mut app = App::new();
         app.add_plugins((AssetPlugin::default(), MeshPlugin, ScenePlugin));
diff --git a/src/plugin/systems/mod.rs b/src/plugin/systems/mod.rs
index fe5fd0279..79230bd25 100644
--- a/src/plugin/systems/mod.rs
+++ b/src/plugin/systems/mod.rs
@@ -17,7 +17,7 @@ pub use rigid_body::*;
 pub use writeback::*;
 
 use crate::dynamics::{RapierRigidBodyHandle, TransformInterpolation};
-use crate::pipeline::{CollisionEvent, ContactForceEvent};
+use crate::pipeline::{CollisionMessage, ContactForceMessage};
 use crate::plugin::context::SimulationToRenderTime;
 use crate::plugin::{RapierConfiguration, TimestepMode};
 use crate::prelude::{BevyPhysicsHooks, BevyPhysicsHooksAdapter};
@@ -42,8 +42,8 @@ pub fn step_simulation<Hooks>(
     timestep_mode: Res<TimestepMode>,
     hooks: StaticSystemParam<Hooks>,
     time: Res<Time>,
-    mut collision_events: EventWriter<CollisionEvent>,
-    mut contact_force_events: EventWriter<ContactForceEvent>,
+    mut collision_events: MessageWriter<CollisionMessage>,
+    mut contact_force_events: MessageWriter<ContactForceMessage>,
     mut interpolation_query: Query<(&RapierRigidBodyHandle, &mut TransformInterpolation)>,
 ) where
     Hooks: 'static + BevyPhysicsHooks,
@@ -86,7 +86,7 @@ pub fn step_simulation<Hooks>(
 #[cfg(test)]
 #[allow(missing_docs)]
 pub mod tests {
-    use bevy::{ecs::event::Events, time::TimePlugin};
+    use bevy::time::TimePlugin;
     use rapier::geometry::CollisionEventFlags;
     use std::f32::consts::PI;
 
@@ -100,7 +100,7 @@ pub mod tests {
     #[test]
     fn colliding_entities_updates() {
         let mut app = App::new();
-        app.add_event::<CollisionEvent>()
+        app.add_message::<CollisionMessage>()
             .add_systems(Update, update_colliding_entities);
 
         let entity1 = app.world_mut().spawn(CollidingEntities::default()).id();
@@ -108,9 +108,9 @@ pub mod tests {
 
         let mut collision_events = app
             .world_mut()
-            .get_resource_mut::<Events<CollisionEvent>>()
+            .get_resource_mut::<Messages<CollisionMessage>>()
             .unwrap();
-        collision_events.send(CollisionEvent::Started(
+        collision_events.write(CollisionMessage::Started(
             entity1,
             entity2,
             CollisionEventFlags::SENSOR,
@@ -152,9 +152,9 @@ pub mod tests {
 
         let mut collision_events = app
             .world_mut()
-            .get_resource_mut::<Events<CollisionEvent>>()
+            .get_resource_mut::<Messages<CollisionMessage>>()
             .unwrap();
-        collision_events.send(CollisionEvent::Stopped(
+        collision_events.write(CollisionMessage::Stopped(
             entity1,
             entity2,
             CollisionEventFlags::SENSOR,
diff --git a/src/plugin/systems/remove.rs b/src/plugin/systems/remove.rs
index f007b0ee1..ae248f875 100644
--- a/src/plugin/systems/remove.rs
+++ b/src/plugin/systems/remove.rs
@@ -10,7 +10,7 @@ use crate::geometry::RapierColliderHandle;
 use crate::plugin::context::{
     RapierContextColliders, RapierContextJoints, RapierContextSimulation, RapierRigidBodySet,
 };
-use crate::prelude::MassModifiedEvent;
+use crate::prelude::MassModifiedMessage;
 use crate::prelude::RigidBodyDisabled;
 use crate::prelude::Sensor;
 use bevy::ecs::query::QueryData;
@@ -43,7 +43,7 @@ pub fn sync_removals(
     mut removed_rigid_body_disabled: RemovedComponents<RigidBodyDisabled>,
     mut removed_colliders_disabled: RemovedComponents<ColliderDisabled>,
 
-    mut mass_modified: EventWriter<MassModifiedEvent>,
+    mut mass_modified: MessageWriter<MassModifiedMessage>,
 ) {
     /*
      * Rigid-bodies removal detection.
@@ -219,9 +219,9 @@ pub fn sync_removals(
 
 fn find_context<'a, TReturn, TQueryParams: QueryData>(
     context_writer: &'a mut Query<TQueryParams>,
-    item_finder: impl Fn(&mut TQueryParams::Item<'_>) -> Option<TReturn>,
-) -> Option<(TQueryParams::Item<'a>, TReturn)> {
-    let ret: Option<(TQueryParams::Item<'_>, TReturn)> = context_writer
+    item_finder: impl Fn(&mut TQueryParams::Item<'_, '_>) -> Option<TReturn>,
+) -> Option<(TQueryParams::Item<'a, 'a>, TReturn)> {
+    let ret: Option<(TQueryParams::Item<'_, '_>, TReturn)> = context_writer
         .iter_mut()
         .find_map(|mut context| item_finder(&mut context).map(|handle| (context, handle)));
     ret
diff --git a/src/plugin/systems/rigid_body.rs b/src/plugin/systems/rigid_body.rs
index 7ad14ccb3..6591cff28 100644
--- a/src/plugin/systems/rigid_body.rs
+++ b/src/plugin/systems/rigid_body.rs
@@ -136,7 +136,7 @@ pub fn apply_rigid_body_user_changes(
             Changed<AdditionalSolverIterations>,
         >,
     ),
-    mut mass_modified: EventWriter<MassModifiedEvent>,
+    mut mass_modified: MessageWriter<MassModifiedMessage>,
 ) {
     // Deal with sleeping first, because other changes may then wake-up the
     // rigid-body again.
@@ -588,7 +588,7 @@ pub fn init_rigid_bodies(
         builder = builder.enabled(disabled.is_none());
 
         if let Some(transform) = transform {
-            builder = builder.position(utils::transform_to_iso(&transform.compute_transform()));
+            builder = builder.pose(utils::transform_to_iso(&transform.compute_transform()));
         }
 
         #[allow(clippy::useless_conversion)] // Need to convert if dim3 enabled
diff --git a/src/plugin/systems/writeback.rs b/src/plugin/systems/writeback.rs
index 42f4b3450..125c60935 100644
--- a/src/plugin/systems/writeback.rs
+++ b/src/plugin/systems/writeback.rs
@@ -2,7 +2,7 @@ use crate::dynamics::MassProperties;
 use crate::dynamics::ReadMassProperties;
 use crate::plugin::context::{RapierContextEntityLink, RapierRigidBodySet};
 use crate::plugin::RapierConfiguration;
-use crate::prelude::MassModifiedEvent;
+use crate::prelude::MassModifiedMessage;
 use bevy::prelude::*;
 
 /// System responsible for writing updated mass properties back into the [`ReadMassProperties`] component.
@@ -12,7 +12,7 @@ pub fn writeback_mass_properties(
     config: Query<&RapierConfiguration>,
 
     mut mass_props: Query<&mut ReadMassProperties>,
-    mut mass_modified: EventReader<MassModifiedEvent>,
+    mut mass_modified: MessageReader<MassModifiedMessage>,
 ) {
     for entity in mass_modified.read() {
         let link = link
diff --git a/src/reflect/mod.rs b/src/reflect/mod.rs
index 6da8c7c20..208b9a6f6 100644
--- a/src/reflect/mod.rs
+++ b/src/reflect/mod.rs
@@ -1,8 +1,129 @@
 use crate::math::Real;
 use bevy::reflect::reflect_remote;
+#[cfg(feature = "dim3")]
+use rapier::dynamics::FrictionModel;
 use rapier::dynamics::IntegrationParameters;
-use std::num::NonZeroUsize;
 
+/// Friction models used for all contact constraints between two rigid-bodies.
+///
+/// This selection does not apply to multibodies that always rely on the [`FrictionModel::Coulomb`].
+#[cfg(feature = "dim3")]
+#[reflect_remote(FrictionModel)]
+#[derive(Default, Copy, Clone, Debug, PartialEq, Eq)]
+#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+pub enum FrictionModelWrapper {
+    /// A simplified friction model significantly faster to solve than [`Self::Coulomb`]
+    /// but less accurate.
+    ///
+    /// Instead of solving one Coulomb friction constraint per contact in a contact manifold,
+    /// this approximation only solves one Coulomb friction constraint per group of 4 contacts
+    /// in a contact manifold, plus one "twist" constraint. The "twist" constraint is purely
+    /// rotational and aims to eliminate angular movement in the manifold’s tangent plane.
+    #[default]
+    Simplified,
+    /// The coulomb friction model.
+    ///
+    /// This results in one Coulomb friction constraint per contact point.
+    Coulomb,
+}
+
+#[cfg(not(feature = "dim3"))]
+#[reflect_remote(IntegrationParameters)]
+#[derive(Copy, Clone, Debug, PartialEq)]
+/// Parameters for a time-step of the physics engine.
+pub struct IntegrationParametersWrapper {
+    /// The timestep length (default: `1.0 / 60.0`).
+    pub dt: Real,
+    /// Minimum timestep size when using CCD with multiple substeps (default: `1.0 / 60.0 / 100.0`).
+    ///
+    /// When CCD with multiple substeps is enabled, the timestep is subdivided
+    /// into smaller pieces. This timestep subdivision won't generate timestep
+    /// lengths smaller than `min_ccd_dt`.
+    ///
+    /// Setting this to a large value will reduce the opportunity to performing
+    /// CCD substepping, resulting in potentially more time dropped by the
+    /// motion-clamping mechanism. Setting this to an very small value may lead
+    /// to numerical instabilities.
+    pub min_ccd_dt: Real,
+
+    /// > 0: the damping ratio used by the springs for contact constraint stabilization.
+    ///
+    /// Larger values make the constraints more compliant (allowing more visible
+    /// penetrations before stabilization).
+    /// (default `5.0`).
+    pub contact_damping_ratio: Real,
+
+    /// > 0: the natural frequency used by the springs for contact constraint regularization.
+    ///
+    /// Increasing this value will make it so that penetrations get fixed more quickly at the
+    /// expense of potential jitter effects due to overshooting. In order to make the simulation
+    /// look stiffer, it is recommended to increase the [`Self::contact_damping_ratio`] instead of this
+    /// value.
+    /// (default: `30.0`).
+    pub contact_natural_frequency: Real,
+
+    /// > 0: the natural frequency used by the springs for joint constraint regularization.
+    ///
+    /// Increasing this value will make it so that penetrations get fixed more quickly.
+    /// (default: `1.0e6`).
+    pub joint_natural_frequency: Real,
+
+    /// The fraction of critical damping applied to the joint for constraints regularization.
+    ///
+    /// Larger values make the constraints more compliant (allowing more joint
+    /// drift before stabilization).
+    /// (default `1.0`).
+    pub joint_damping_ratio: Real,
+
+    /// The coefficient in `[0, 1]` applied to warmstart impulses, i.e., impulses that are used as the
+    /// initial solution (instead of 0) at the next simulation step.
+    ///
+    /// This should generally be set to 1.
+    ///
+    /// (default `1.0`).
+    pub warmstart_coefficient: Real,
+
+    /// The approximate size of most dynamic objects in the scene.
+    ///
+    /// This value is used internally to estimate some length-based tolerance. In particular, the
+    /// values [`IntegrationParameters::allowed_linear_error`],
+    /// [`IntegrationParameters::max_corrective_velocity`],
+    /// [`IntegrationParameters::prediction_distance`], [`RigidBodyActivation::normalized_linear_threshold`]
+    /// are scaled by this value implicitly.
+    ///
+    /// This value can be understood as the number of units-per-meter in your physical world compared
+    /// to a human-sized world in meter. For example, in a 2d game, if your typical object size is 100
+    /// pixels, set the [`Self::length_unit`] parameter to 100.0. The physics engine will interpret
+    /// it as if 100 pixels is equivalent to 1 meter in its various internal threshold.
+    /// (default `1.0`).
+    pub length_unit: Real,
+
+    /// Amount of penetration the engine won’t attempt to correct (default: `0.001m`).
+    ///
+    /// This value is implicitly scaled by [`IntegrationParameters::length_unit`].
+    pub normalized_allowed_linear_error: Real,
+    /// Maximum amount of penetration the solver will attempt to resolve in one timestep (default: `10.0`).
+    ///
+    /// This value is implicitly scaled by [`IntegrationParameters::length_unit`].
+    pub normalized_max_corrective_velocity: Real,
+    /// The maximal distance separating two objects that will generate predictive contacts (default: `0.002m`).
+    ///
+    /// This value is implicitly scaled by [`IntegrationParameters::length_unit`].
+    pub normalized_prediction_distance: Real,
+    /// The number of solver iterations run by the constraints solver for calculating forces (default: `4`).
+    pub num_solver_iterations: usize,
+    /// Number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration (default: `1`).
+    pub num_internal_pgs_iterations: usize,
+    /// The number of stabilization iterations run at each solver iterations (default: `2`).
+    pub num_internal_stabilization_iterations: usize,
+    /// Minimum number of dynamic bodies in each active island (default: `128`).
+    pub min_island_size: usize,
+    /// Maximum number of substeps performed by the  solver (default: `1`).
+    pub max_ccd_substeps: usize,
+}
+
+// These structs are duplicated in their entirety due to [`FrictionModel`] not being available in 2D, and `bevy::reflect_remote` not supporting conditional fields.
+#[cfg(feature = "dim3")]
 #[reflect_remote(IntegrationParameters)]
 #[derive(Copy, Clone, Debug, PartialEq)]
 /// Parameters for a time-step of the physics engine.
@@ -86,9 +207,7 @@ pub struct IntegrationParametersWrapper {
     /// This value is implicitly scaled by [`IntegrationParameters::length_unit`].
     pub normalized_prediction_distance: Real,
     /// The number of solver iterations run by the constraints solver for calculating forces (default: `4`).
-    pub num_solver_iterations: NonZeroUsize,
-    /// Number of addition friction resolution iteration run during the last solver sub-step (default: `0`).
-    pub num_additional_friction_iterations: usize,
+    pub num_solver_iterations: usize,
     /// Number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration (default: `1`).
     pub num_internal_pgs_iterations: usize,
     /// The number of stabilization iterations run at each solver iterations (default: `2`).
@@ -97,4 +216,7 @@ pub struct IntegrationParametersWrapper {
     pub min_island_size: usize,
     /// Maximum number of substeps performed by the  solver (default: `1`).
     pub max_ccd_substeps: usize,
+    /// Friction models used for all contact constraints between two rigid-bodies.
+    #[reflect(remote = FrictionModelWrapper)]
+    pub friction_model: FrictionModel,
 }
diff --git a/src/render/mod.rs b/src/render/mod.rs
index 18cf10c3a..1b2fdce5c 100644
--- a/src/render/mod.rs
+++ b/src/render/mod.rs
@@ -2,7 +2,7 @@ use crate::plugin::context::{
     RapierContextColliders, RapierContextJoints, RapierContextSimulation, RapierRigidBodySet,
 };
 use bevy::prelude::*;
-use bevy::transform::TransformSystem;
+use bevy::transform::TransformSystems;
 use rapier::math::{Point, Real};
 use rapier::pipeline::{DebugRenderBackend, DebugRenderObject, DebugRenderPipeline};
 pub use rapier::pipeline::{DebugRenderMode, DebugRenderStyle};
@@ -118,7 +118,7 @@ impl Plugin for RapierDebugRenderPlugin {
         })
         .add_systems(
             PostUpdate,
-            debug_render_scene.after(TransformSystem::TransformPropagate),
+            debug_render_scene.after(TransformSystems::Propagate),
         );
     }
 }