diff --git a/CHANGELOG.md b/CHANGELOG.md
index edb1c46..dad997c 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -9,6 +9,7 @@
   * Added `xpbd_collisions` feature
   * Added `xpbd_collision` example
   * Split `collisions` into `rapier` and `xpbd` sub-modules
+* Collisions happen on fixed update schedule (#20)
 * Fixed clippy warnings for rust 1.72.0 (#19)
 * Added rustfmt config (#19)
 * Added vertex colors in flag example (#19)
@@ -31,7 +32,8 @@
 
 ### Fixes
 
-* Fixed visibility issues with cloths. Now the `Aabb` is directly handled by the cloth engine.
+* Fixed visibility issues with cloths. Now the `Aabb` is directly handled by
+the cloth engine.
 
 ### bevy_inspector_egui
 
diff --git a/Cargo.toml b/Cargo.toml
index da769e1..bc26f05 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -96,6 +96,3 @@ crate-type = ["staticlib"]
 [profile.dev]
 opt-level = 1
 
-# Enable high optimizations for dependencies (incl. Bevy), but not for our code:
-[profile.dev.package."*"]
-opt-level = 3
diff --git a/README.md b/README.md
index 57480b5..14806f9 100644
--- a/README.md
+++ b/README.md
@@ -325,27 +325,27 @@ in `ClothConfig::acceleration_smoothing`.
 
 1. Flag example
 
-run `cargo run --example flag`
+    run `cargo run --example flag`
 
 2. Balloon example
 
-run `cargo run --example balloon`
+    run `cargo run --example balloon`
 
 3. Moving example
 
-run `cargo run --example moving`
+    run `cargo run --example moving`
 
 4. [`bevy_rapier`] collision example
 
-run `cargo run --example rapier_collision --features rapier_collisions`
+    run `cargo run --example rapier_collision --features rapier_collisions`
 
 5. [`bevy_xpbd`] collision example
 
-run `cargo run --example xpbd_collision --features xpbd_collisions`
+    run `cargo run --example xpbd_collision --features xpbd_collisions`
 
 6. Anchors example
 
-run `cargo run --example anchors`
+    run `cargo run --example anchors`
 
 [`bevy_rapier`]: https://github.com/dimforge/bevy_rapier
 [`bevy_xpbd`]: https://github.com/Jondolf/bevy_xpbd
diff --git a/src/lib.rs b/src/lib.rs
index e8a69f5..b7102dc 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -372,22 +372,13 @@ impl Plugin for ClothPlugin {
         );
 
         #[cfg(feature = "rapier_collisions")]
-        app.register_type::<ClothCollider>().add_systems(
-            Update,
-            (
-                systems::collisions::rapier::init_cloth_collider,
-                systems::collisions::rapier::handle_collisions.before(systems::cloth::render),
-            ),
-        );
+        app.register_type::<ClothCollider>()
+            .add_systems(Update, systems::collisions::rapier::init_cloth_collider)
+            .add_systems(FixedUpdate, systems::collisions::rapier::handle_collisions);
         #[cfg(feature = "xpbd_collisions")]
-        app.register_type::<ClothCollider>().add_systems(
-            Update,
-            (
-                systems::collisions::xpbd::init_cloth_collider,
-                systems::collisions::xpbd::handle_collisions.before(systems::cloth::render),
-            ),
-        );
-
+        app.register_type::<ClothCollider>()
+            .add_systems(Update, systems::collisions::xpbd::init_cloth_collider)
+            .add_systems(FixedUpdate, systems::collisions::xpbd::handle_collisions);
         bevy::log::info!("Loaded Cloth Plugin");
     }
 }
diff --git a/src/systems/cloth.rs b/src/systems/cloth.rs
index 92a3224..dde0d5d 100644
--- a/src/systems/cloth.rs
+++ b/src/systems/cloth.rs
@@ -51,6 +51,7 @@ pub fn render(
         if let Some(mesh) = meshes.get_mut(handle) {
             rendering.update_positions(cloth.compute_vertex_positions(transform));
             rendering.apply(mesh);
+            // TODO set_if_neq
             *aabb = rendering.compute_aabb();
         } else {
             log::warn!("A Cloth has a `ClothRendering` component without a loaded mesh handle");