diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
index e206845..0fc0980 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -13,7 +13,7 @@ jobs:
   build:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: dtolnay/rust-toolchain@stable
       - name: build
         run: cargo build --verbose
@@ -21,7 +21,7 @@ jobs:
   build_features:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: dtolnay/rust-toolchain@stable
       - name: all features
         run: cargo build --verbose --all-features
@@ -31,7 +31,7 @@ jobs:
   build_examples:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: dtolnay/rust-toolchain@stable
       - name: build baloon example
         run: cargo clippy --example balloon
@@ -39,6 +39,8 @@ jobs:
         run: cargo clippy --example flag
       - name: build moving example
         run: cargo clippy --example moving
+      - name: build rapier example
+        run: cargo clippy --features xpbd_collisions --example xpbd_collision
       - name: build rapier example
         run: cargo clippy --features rapier_collisions --example rapier_collision
       - name: build anchors example
@@ -47,7 +49,7 @@ jobs:
   test:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: dtolnay/rust-toolchain@stable
       - name: tests
         run: cargo test --tests
@@ -57,7 +59,7 @@ jobs:
   fmt:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: dtolnay/rust-toolchain@nightly
         with:
           components: "rustfmt"
@@ -67,17 +69,21 @@ jobs:
   clippy:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: dtolnay/rust-toolchain@stable
       - name: Cargo clippy installation
         run: rustup component add clippy
-      - name: Cargo clippy check
+      - name: Default clippy check
+        run: cargo clippy --all --tests -- -D warnings
+      - name: Full clippy check
         run: cargo clippy --all-features --all --tests -- -D warnings
+      - name: Minimal clippy check
+        run: cargo clippy --no-default-features --all --tests -- -D warnings
 
   rustdoc:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: dtolnay/rust-toolchain@stable
       - name: rustdoc
         run: cargo rustdoc --all-features -- -D warnings
diff --git a/Cargo.toml b/Cargo.toml
index 419836f..315f638 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -22,29 +22,30 @@ xpbd_collisions = ["bevy_xpbd_3d"]
 thiserror = "1.0"
 
 [dependencies.bevy]
-version = "0.12"
+version = "0.13"
 default-features = false
 features = ["bevy_render", "bevy_asset"]
 
 [dependencies.bevy_rapier3d]
-version = "0.23"
+version = "0.25"
 optional = true
 default-features = false
 features = ["dim3", "async-collider"]
 
 [dependencies.bevy_xpbd_3d]
-version = "0.3"
+version = "0.4"
 optional = true
 default-features = false
-features = ["3d", "f32", "async-collider"]
+features = ["3d", "f32", "async-collider", "default-collider", "parry-f32"]
 
 [dev-dependencies]
-bevy-inspector-egui = "0.21"
-bevy_rapier3d = "0.23"
+bevy-inspector-egui = "0.23"
 rand = "0.8"
+bevy_xpbd_3d = "0.4"
+bevy_rapier3d = "0.25"
 
 [dev-dependencies.bevy]
-version = "0.12"
+version = "0.13"
 features = [
   "bevy_asset",
   "bevy_winit",
@@ -54,9 +55,6 @@ features = [
   "bevy_sprite",
   "png",
   "x11",
-  # The following features are required because of https://github.com/bevyengine/bevy/discussions/9100
-  "ktx2",
-  "zstd",
   "tonemapping_luts",
 ]
 default-features = false
diff --git a/examples/anchors_example.rs b/examples/anchors_example.rs
index 6b151a8..395990e 100644
--- a/examples/anchors_example.rs
+++ b/examples/anchors_example.rs
@@ -8,7 +8,7 @@ fn main() {
     App::new()
         .insert_resource(AmbientLight {
             color: Color::WHITE,
-            brightness: 1.0,
+            brightness: 500.0,
         })
         .add_plugins(DefaultPlugins)
         .add_plugins(ResourceInspectorPlugin::<ClothConfig>::new())
@@ -28,7 +28,7 @@ fn setup(
         transform: Transform::from_rotation(Quat::from_rotation_y(5.0)),
         ..Default::default()
     });
-    let mesh_handle = meshes.add(shape::Cube::new(1.0).into());
+    let mesh_handle = meshes.add(Cuboid::default());
     [
         (Color::BLUE, [-10.0, 0.0]),
         (Color::GREEN, [10.0, 0.0]),
@@ -39,11 +39,7 @@ fn setup(
         commands.spawn(PbrBundle {
             mesh: mesh_handle.clone(),
             transform: Transform::from_xyz(x, 1.0, z),
-            material: materials.add(StandardMaterial {
-                base_color: color,
-                double_sided: true,
-                ..Default::default()
-            }),
+            material: materials.add(color),
             ..Default::default()
         });
     });
@@ -58,12 +54,12 @@ fn spawn_cloth(
     let flag_texture = asset_server.load("Bevy.png");
     let (size_x, size_y) = (60, 40);
 
-    let anchor_mesh = meshes.add(shape::Cube::new(1.0).into());
+    let anchor_mesh = meshes.add(Cuboid::default());
     let entity_a = commands
         .spawn((
             PbrBundle {
                 mesh: anchor_mesh.clone(),
-                material: materials.add(Color::RED.into()),
+                material: materials.add(Color::RED),
                 transform: Transform::from_xyz(-15.0, 15.0, 15.0),
                 ..Default::default()
             },
@@ -74,7 +70,7 @@ fn spawn_cloth(
         .spawn((
             PbrBundle {
                 mesh: anchor_mesh,
-                material: materials.add(Color::GREEN.into()),
+                material: materials.add(Color::GREEN),
                 transform: Transform::from_xyz(15.0, 15.0, 15.0),
                 ..Default::default()
             },
diff --git a/examples/balloon_example.rs b/examples/balloon_example.rs
index 9f29e3b..23605fb 100644
--- a/examples/balloon_example.rs
+++ b/examples/balloon_example.rs
@@ -8,7 +8,7 @@ fn main() {
     App::new()
         .insert_resource(AmbientLight {
             color: Color::WHITE,
-            brightness: 1.0,
+            brightness: 100.0,
         })
         .add_plugins(DefaultPlugins)
         .add_plugins(WorldInspectorPlugin::default())
@@ -29,7 +29,7 @@ fn setup(
     mut meshes: ResMut<Assets<Mesh>>,
 ) {
     commands.spawn(DirectionalLightBundle::default());
-    let mesh_handle = meshes.add(shape::Cube::new(1.0).into());
+    let mesh_handle = meshes.add(Cuboid::default());
     [
         (Color::BLUE, [-10.0, 0.0]),
         (Color::GREEN, [10.0, 0.0]),
@@ -57,15 +57,8 @@ fn spawn_cloth(
 ) {
     commands.spawn((
         PbrBundle {
-            mesh: meshes.add(
-                shape::Icosphere {
-                    radius: 5.0,
-                    subdivisions: 10,
-                }
-                .try_into()
-                .unwrap(),
-            ),
-            material: materials.add(Color::YELLOW.into()),
+            mesh: meshes.add(Sphere::new(5.).mesh().ico(10).unwrap()),
+            material: materials.add(Color::YELLOW),
             transform: Transform::from_xyz(0.0, 2.0, 0.0),
             ..Default::default()
         },
diff --git a/examples/camera_plugin.rs b/examples/camera_plugin.rs
index 21c21e8..52186e4 100644
--- a/examples/camera_plugin.rs
+++ b/examples/camera_plugin.rs
@@ -6,57 +6,63 @@ use bevy::{
 
 pub struct CameraPlugin;
 
+#[derive(Debug, Component)]
+pub struct OrbitController;
+
 #[derive(Debug, Component)]
 pub struct CameraController;
 
 impl Plugin for CameraPlugin {
     fn build(&self, app: &mut App) {
         app.add_systems(Startup, setup)
-            .add_systems(PostUpdate, handle_camera);
+            .add_systems(PostUpdate, (handle_rotation, handle_zoom));
         log::info!("Camera Plugin loaded");
     }
 }
 
 pub fn setup(mut commands: Commands) {
-    commands.spawn((
-        Camera3dBundle {
-            transform: Transform::from_xyz(-30.0, 30.0, -30.0).looking_at(Vec3::ZERO, Vec3::Y),
-            ..default()
-        },
-        CameraController,
-    ));
+    commands
+        .spawn((
+            TransformBundle::from_transform(Transform::from_rotation(Quat::from_rotation_z(-1.0))),
+            OrbitController,
+        ))
+        .with_children(|b| {
+            b.spawn((
+                Camera3dBundle {
+                    transform: Transform::from_xyz(0.0, 30.0, 0.0).looking_at(Vec3::ZERO, Vec3::Y),
+                    ..default()
+                },
+                CameraController,
+            ));
+        });
 }
 
-pub fn handle_camera(
-    mut cam_controls: Query<&mut Transform, With<CameraController>>,
+pub fn handle_rotation(
+    mut cam_controls: Query<&mut Transform, With<OrbitController>>,
     mut motion_evr: EventReader<MouseMotion>,
-    mut scroll_evr: EventReader<MouseWheel>,
-    buttons: Res<Input<MouseButton>>,
+    buttons: Res<ButtonInput<MouseButton>>,
     time: Res<Time>,
 ) {
     let delta_time = time.delta_seconds();
     let mut transform = cam_controls.single_mut();
-    let forward = transform.local_z();
-    let right = transform.local_x();
-    let up = transform.local_y();
-    // Rotate
     if buttons.pressed(MouseButton::Left) {
         for ev in motion_evr.read() {
-            let delta = -ev.delta * delta_time * 0.1;
-            transform.rotate_y(delta.x);
-            transform.rotate_local_x(delta.y);
+            let delta = ev.delta * delta_time * 0.1;
+            transform.rotate_y(-delta.x);
+            transform.rotate_local_z(delta.y);
         }
     }
-    // Pan
-    if buttons.pressed(MouseButton::Right) {
-        for ev in motion_evr.read() {
-            let delta = ev.delta * delta_time;
-            transform.translation += -right * delta.x;
-            transform.translation += up * delta.y;
-        }
-    }
-    // Zoom
+}
+
+pub fn handle_zoom(
+    mut cam_controls: Query<&mut Transform, With<CameraController>>,
+    mut scroll_evr: EventReader<MouseWheel>,
+    time: Res<Time>,
+) {
+    let delta_time = time.delta_seconds();
+    let mut transform = cam_controls.single_mut();
+    let forward = transform.forward();
     for ev in scroll_evr.read() {
-        transform.translation += ev.y * delta_time * forward * 10.0;
+        transform.translation += forward * ev.y * delta_time * 10.0;
     }
 }
diff --git a/examples/flag_example.rs b/examples/flag_example.rs
index 3c85e23..c116523 100644
--- a/examples/flag_example.rs
+++ b/examples/flag_example.rs
@@ -8,7 +8,7 @@ fn main() {
     App::new()
         .insert_resource(AmbientLight {
             color: Color::WHITE,
-            brightness: 1.0,
+            brightness: 100.0,
         })
         .add_plugins(DefaultPlugins)
         .add_plugins(WorldInspectorPlugin::default())
@@ -43,7 +43,7 @@ fn setup(
         transform: Transform::from_rotation(Quat::from_rotation_y(5.0)),
         ..Default::default()
     });
-    let mesh_handle = meshes.add(shape::Cube::new(1.0).into());
+    let mesh_handle = meshes.add(Cuboid::default());
     [
         (Color::BLUE, [-10.0, 0.0]),
         (Color::GREEN, [10.0, 0.0]),
diff --git a/examples/moving_example.rs b/examples/moving_example.rs
index 2c071b2..fb360b9 100644
--- a/examples/moving_example.rs
+++ b/examples/moving_example.rs
@@ -24,7 +24,7 @@ fn main() {
         .register_type::<MovingAnimation>()
         .insert_resource(AmbientLight {
             color: Color::WHITE,
-            brightness: 1.0,
+            brightness: 500.0,
         })
         .add_plugins(DefaultPlugins)
         .add_plugins(WorldInspectorPlugin::default())
@@ -42,7 +42,7 @@ fn setup(
     mut materials: ResMut<Assets<StandardMaterial>>,
     mut meshes: ResMut<Assets<Mesh>>,
 ) {
-    let mesh_handle = meshes.add(shape::Cube::new(1.0).into());
+    let mesh_handle = meshes.add(Cuboid::default());
     [
         (Color::BLUE, [-10.0, 0.0]),
         (Color::GREEN, [10.0, 0.0]),
@@ -85,8 +85,8 @@ fn spawn_cloth(
             .with_children(|b| {
                 b.spawn((
                     PbrBundle {
-                        mesh: meshes.add(shape::Cube::new(2.0).into()),
-                        material: materials.add(Color::WHITE.into()),
+                        mesh: meshes.add(Cuboid::new(2.0, 2.0, 2.0)),
+                        material: materials.add(Color::WHITE),
                         transform: Transform::from_xyz(10.0, 0.0, 0.0),
                         ..Default::default()
                     },
diff --git a/examples/rapier_collision_example.rs b/examples/rapier_collision_example.rs
index a5adacc..2d9b033 100644
--- a/examples/rapier_collision_example.rs
+++ b/examples/rapier_collision_example.rs
@@ -18,7 +18,7 @@ fn main() {
     App::new()
         .insert_resource(AmbientLight {
             color: Color::WHITE,
-            brightness: 1.0,
+            brightness: 100.0,
         })
         .add_plugins(DefaultPlugins)
         .add_plugins(RapierPhysicsPlugin::<NoUserData>::default())
@@ -47,7 +47,7 @@ fn setup(
         transform: Transform::from_rotation(Quat::from_rotation_y(5.0)),
         ..Default::default()
     });
-    let mesh_handle = meshes.add(shape::Cube::new(2.0).into());
+    let mesh_handle = meshes.add(Cuboid::new(2.0, 2.0, 2.0));
     [
         (Color::BLUE, [-10.0, 0.0]),
         (Color::GREEN, [10.0, 0.0]),
@@ -71,8 +71,8 @@ fn setup(
     });
     commands.spawn((
         PbrBundle {
-            mesh: meshes.add(shape::Cube { size: 24.0 }.into()),
-            material: materials.add(Color::WHITE.into()),
+            mesh: meshes.add(Cuboid::new(24.0, 24.0, 24.0)),
+            material: materials.add(Color::WHITE),
             transform: Transform::from_xyz(0.0, -12.0, 0.0),
             ..Default::default()
         },
@@ -138,15 +138,8 @@ fn shoot_balls(
     let radius = rng.gen_range(1.0..3.0);
     commands.spawn((
         PbrBundle {
-            mesh: meshes.add(
-                shape::Icosphere {
-                    radius,
-                    subdivisions: 5,
-                }
-                .try_into()
-                .unwrap(),
-            ),
-            material: materials.add(Color::WHITE.into()),
+            mesh: meshes.add(Sphere::new(radius).mesh().ico(5).unwrap()),
+            material: materials.add(Color::WHITE),
             transform: Transform::from_xyz(0.0, 0.0, -20.0),
             ..Default::default()
         },
diff --git a/examples/xpbd_collision_example.rs b/examples/xpbd_collision_example.rs
index 8dba330..6f5c8b4 100644
--- a/examples/xpbd_collision_example.rs
+++ b/examples/xpbd_collision_example.rs
@@ -18,7 +18,7 @@ fn main() {
     App::new()
         .insert_resource(AmbientLight {
             color: Color::WHITE,
-            brightness: 1.0,
+            brightness: 100.0,
         })
         .add_plugins(DefaultPlugins)
         .add_plugins(PhysicsPlugins::default())
@@ -47,7 +47,7 @@ fn setup(
         transform: Transform::from_rotation(Quat::from_rotation_y(5.0)),
         ..Default::default()
     });
-    let mesh_handle = meshes.add(shape::Cube::new(2.0).into());
+    let mesh_handle = meshes.add(Cuboid::new(2.0, 2.0, 2.0));
     [
         (Color::BLUE, [-10.0, 0.0]),
         (Color::GREEN, [10.0, 0.0]),
@@ -72,8 +72,8 @@ fn setup(
     });
     commands.spawn((
         PbrBundle {
-            mesh: meshes.add(shape::Cube { size: 24.0 }.into()),
-            material: materials.add(Color::WHITE.into()),
+            mesh: meshes.add(Cuboid::new(24.0, 24.0, 24.0)),
+            material: materials.add(Color::WHITE),
             transform: Transform::from_xyz(0.0, -12.0, 0.0),
             ..Default::default()
         },
@@ -140,15 +140,8 @@ fn shoot_balls(
     let radius = rng.gen_range(1.0..3.0);
     commands.spawn((
         PbrBundle {
-            mesh: meshes.add(
-                shape::Icosphere {
-                    radius,
-                    subdivisions: 5,
-                }
-                .try_into()
-                .unwrap(),
-            ),
-            material: materials.add(Color::WHITE.into()),
+            mesh: meshes.add(Sphere::new(radius).mesh().ico(5).unwrap()),
+            material: materials.add(Color::WHITE),
             transform: Transform::from_xyz(0.0, 0.0, -20.0),
             ..Default::default()
         },
@@ -158,7 +151,7 @@ fn shoot_balls(
             rng.gen_range(20.0..30.0),
         )),
         RigidBody::Dynamic,
-        Collider::ball(radius),
+        Collider::sphere(radius),
         Name::new("Ball"),
     ));
 }
diff --git a/src/components/cloth_builder.rs b/src/components/cloth_builder.rs
index 028129a..f76a668 100644
--- a/src/components/cloth_builder.rs
+++ b/src/components/cloth_builder.rs
@@ -19,6 +19,13 @@ type PinnedPosCondition = dyn Fn(Vec3) -> bool + Send + Sync;
 ///
 /// Add this component to an entity with at least a `GlobalTransform` and a
 /// `Handle<Mesh>`
+///
+/// ## Note
+///
+/// The associated `Mesh` must have its [`RenderAssetUsages`] set to
+/// `MAIN_WORLD` for the cloth engine to access it
+///
+/// [`RenderAssetUsages`]: bevy::render::render_asset::RenderAssetUsages
 #[derive(Clone, Reflect, Default, Component)]
 #[must_use]
 pub struct ClothBuilder {
@@ -324,14 +331,15 @@ impl ClothBuilder {
                 mesh.attribute(Mesh::ATTRIBUTE_COLOR)
                     .and_then(|attr| match attr {
                         VertexAttributeValues::Float32x3(v) => {
-                            Some(v.iter().copied().map(Color::from).collect())
+                            Some(v.iter().copied().map(Color::rgb_from_array).collect())
                         }
                         VertexAttributeValues::Float32x4(v) => {
-                            Some(v.iter().copied().map(Color::from).collect())
+                            Some(v.iter().copied().map(Color::rgba_from_array).collect())
                         }
                         VertexAttributeValues::Uint8x4(v) => Some(
                             v.iter()
-                                .map(|c| Color::rgba_u8(c[0], c[1], c[2], c[3]))
+                                .copied()
+                                .map(|[r, g, b, a]| Color::rgba_u8(r, g, b, a))
                                 .collect(),
                         ),
                         _ => None,
diff --git a/src/components/cloth_rendering.rs b/src/components/cloth_rendering.rs
index 3672432..c7a3a08 100644
--- a/src/components/cloth_rendering.rs
+++ b/src/components/cloth_rendering.rs
@@ -265,7 +265,7 @@ impl ClothRendering {
                     Mesh::ATTRIBUTE_NORMAL,
                     Self::vec3_vertex_attr(&vertex_normals),
                 );
-                mesh.set_indices(Some(Indices::U32(new_self.indices)));
+                mesh.insert_indices(Indices::U32(new_self.indices));
             }
         }
     }
diff --git a/src/mesh.rs b/src/mesh.rs
index 13829d2..0e2a23c 100644
--- a/src/mesh.rs
+++ b/src/mesh.rs
@@ -2,7 +2,10 @@
 
 use bevy::{
     math::Vec3,
-    render::mesh::{Indices, Mesh, PrimitiveTopology},
+    render::{
+        mesh::{Indices, Mesh, PrimitiveTopology},
+        render_asset::RenderAssetUsages,
+    },
 };
 
 #[allow(clippy::cast_precision_loss, clippy::cast_possible_truncation)]
@@ -58,12 +61,14 @@ pub fn rectangle_mesh(
         })
         .collect();
 
-    let mut mesh = Mesh::new(PrimitiveTopology::TriangleList);
-    mesh.insert_attribute(Mesh::ATTRIBUTE_POSITION, points);
-    mesh.insert_attribute(Mesh::ATTRIBUTE_NORMAL, normals);
-    mesh.insert_attribute(Mesh::ATTRIBUTE_UV_0, uvs);
-    mesh.set_indices(Some(Indices::U32(indices)));
-    mesh
+    Mesh::new(
+        PrimitiveTopology::TriangleList,
+        RenderAssetUsages::MAIN_WORLD | RenderAssetUsages::RENDER_WORLD,
+    )
+    .with_inserted_attribute(Mesh::ATTRIBUTE_POSITION, points)
+    .with_inserted_attribute(Mesh::ATTRIBUTE_NORMAL, normals)
+    .with_inserted_attribute(Mesh::ATTRIBUTE_UV_0, uvs)
+    .with_inserted_indices(Indices::U32(indices))
 }
 
 #[cfg(test)]
diff --git a/src/systems/collisions/rapier.rs b/src/systems/collisions/rapier.rs
index 32cdaae..d9c7aae 100644
--- a/src/systems/collisions/rapier.rs
+++ b/src/systems/collisions/rapier.rs
@@ -28,7 +28,7 @@ pub fn handle_collisions(
 ) {
     let delta_time = time.delta_seconds();
     for (entity, mut cloth, aabb, collider, mut rapier_collider) in &mut cloth_query {
-        for contact_pair in rapier_context.contacts_with(entity) {
+        for contact_pair in rapier_context.contact_pairs_with(entity) {
             let other_entity = if contact_pair.collider1() == entity {
                 contact_pair.collider2()
             } else {