diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index b56be125..f00b84cf 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -54,6 +54,6 @@ jobs:
           targets: wasm32-unknown-unknown
       - uses: Swatinem/rust-cache@v2
       - name: Clippy bevy_rapier2d
-        run: cd bevy_rapier2d && cargo clippy --verbose --features wasm-bindgen --target wasm32-unknown-unknown
+        run: cd bevy_rapier2d && cargo clippy --verbose --features wasm-bindgen,bevy/webgl2 --target wasm32-unknown-unknown
       - name: Clippy bevy_rapier3d
-        run: cd bevy_rapier3d && cargo clippy --verbose --features wasm-bindgen --target wasm32-unknown-unknown
+        run: cd bevy_rapier3d && cargo clippy --verbose --features wasm-bindgen,bevy/webgl2 --target wasm32-unknown-unknown
diff --git a/bevy_rapier2d/Cargo.toml b/bevy_rapier2d/Cargo.toml
index eaae5aa8..76cc1b42 100644
--- a/bevy_rapier2d/Cargo.toml
+++ b/bevy_rapier2d/Cargo.toml
@@ -20,8 +20,8 @@ required-features = [ "dim2" ]
 [features]
 default = [ "dim2", "async-collider", "debug-render-2d" ]
 dim2 = []
-debug-render-2d = [ "bevy/bevy_core_pipeline", "bevy/bevy_sprite", "bevy/bevy_render", "rapier2d/debug-render", "bevy/bevy_asset" ]
-debug-render-3d = [ "bevy/bevy_core_pipeline", "bevy/bevy_pbr", "bevy/bevy_render", "rapier2d/debug-render", "bevy/bevy_asset" ]
+debug-render-2d = [ "bevy/bevy_core_pipeline", "bevy/bevy_sprite", "bevy/bevy_gizmos", "rapier2d/debug-render", "bevy/bevy_asset" ]
+debug-render-3d = [ "bevy/bevy_core_pipeline", "bevy/bevy_pbr", "bevy/bevy_gizmos", "rapier2d/debug-render", "bevy/bevy_asset" ]
 parallel = [ "rapier2d/parallel" ]
 simd-stable = [ "rapier2d/simd-stable" ]
 simd-nightly = [ "rapier2d/simd-nightly" ]
@@ -32,8 +32,8 @@ headless = []
 async-collider = [ "bevy/bevy_asset", "bevy/bevy_scene" ]
 
 [dependencies]
-bevy = { version = "0.10", default-features = false }
-nalgebra = { version = "0.32.2", features = [ "convert-glam023" ] }
+bevy = { version = "0.11", default-features = false }
+nalgebra = { version = "0.32.3", features = [ "convert-glam024" ] }
 # Don't enable the default features because we don't need the ColliderSet/RigidBodySet
 rapier2d = "0.17.0"
 bitflags = "1"
@@ -42,10 +42,10 @@ log = "0.4"
 serde = { version = "1", features = [ "derive" ], optional = true}
 
 [dev-dependencies]
-bevy = { version = "0.10", default-features = false, features = ["x11"]}
+bevy = { version = "0.11", default-features = false, features = ["x11"]}
 oorandom = "11"
 approx = "0.5.1"
-glam = { version = "0.23", features = [ "approx" ] }
+glam = { version = "0.24", features = [ "approx" ] }
 
 [package.metadata.docs.rs]
 # Enable all the features when building the docs on docs.rs
diff --git a/bevy_rapier2d/examples/boxes2.rs b/bevy_rapier2d/examples/boxes2.rs
index 2ea9a1d0..a942c5a5 100644
--- a/bevy_rapier2d/examples/boxes2.rs
+++ b/bevy_rapier2d/examples/boxes2.rs
@@ -8,11 +8,12 @@ fn main() {
             0xF9 as f32 / 255.0,
             0xFF as f32 / 255.0,
         )))
-        .add_plugins(DefaultPlugins)
-        .add_plugin(RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(100.0))
-        .add_plugin(RapierDebugRenderPlugin::default())
-        .add_startup_system(setup_graphics)
-        .add_startup_system(setup_physics)
+        .add_plugins((
+            DefaultPlugins,
+            RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(100.0),
+            RapierDebugRenderPlugin::default(),
+        ))
+        .add_systems(Startup, (setup_graphics, setup_physics))
         .run();
 }
 
diff --git a/bevy_rapier2d/examples/contact_filter2.rs b/bevy_rapier2d/examples/contact_filter2.rs
index 37dc0d08..ac4f6410 100644
--- a/bevy_rapier2d/examples/contact_filter2.rs
+++ b/bevy_rapier2d/examples/contact_filter2.rs
@@ -35,13 +35,12 @@ fn main() {
             0xF9 as f32 / 255.0,
             0xFF as f32 / 255.0,
         )))
-        .add_plugins(DefaultPlugins)
-        .add_plugin(RapierPhysicsPlugin::<SameUserDataFilter>::pixels_per_meter(
-            100.0,
+        .add_plugins((
+            DefaultPlugins,
+            RapierPhysicsPlugin::<SameUserDataFilter>::pixels_per_meter(100.0),
+            RapierDebugRenderPlugin::default(),
         ))
-        .add_plugin(RapierDebugRenderPlugin::default())
-        .add_startup_system(setup_graphics)
-        .add_startup_system(setup_physics)
+        .add_systems(Startup, (setup_graphics, setup_physics))
         .run();
 }
 
diff --git a/bevy_rapier2d/examples/custom_system_setup2.rs b/bevy_rapier2d/examples/custom_system_setup2.rs
index 7518acef..3e9c810e 100644
--- a/bevy_rapier2d/examples/custom_system_setup2.rs
+++ b/bevy_rapier2d/examples/custom_system_setup2.rs
@@ -1,13 +1,6 @@
-use bevy::{
-    core::FrameCount,
-    ecs::schedule::{LogLevel, ScheduleBuildSettings, ScheduleLabel},
-    prelude::*,
-};
+use bevy::{core::FrameCount, prelude::*, transform::TransformSystem};
 use bevy_rapier2d::prelude::*;
 
-#[derive(ScheduleLabel, Hash, Debug, PartialEq, Eq, Clone)]
-struct SpecialSchedule;
-
 fn main() {
     let mut app = App::new();
 
@@ -16,64 +9,43 @@ fn main() {
         0xF9 as f32 / 255.0,
         0xFF as f32 / 255.0,
     )))
-    .add_plugins(DefaultPlugins)
-    .add_plugin(RapierDebugRenderPlugin::default())
-    .add_startup_system(setup_graphics)
-    .add_startup_system(setup_physics)
-    .add_system(
-        (|world: &mut World| {
-            world.run_schedule(SpecialSchedule);
-        })
-        .in_base_set(CoreSet::PostUpdate),
-    );
-
-    // Do the setup however we want, maybe in its very own schedule
-    let mut schedule = Schedule::new();
-
-    // Show errors in ambiguous systems
-    schedule.set_build_settings(ScheduleBuildSettings {
-        ambiguity_detection: LogLevel::Error,
-        ..default()
-    });
-
-    schedule.configure_sets(
+    .add_plugins((
+        DefaultPlugins,
+        RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(100.0).with_default_system_setup(false),
+        RapierDebugRenderPlugin::default(),
+    ))
+    .add_systems(Startup, (setup_graphics, setup_physics));
+
+    app.configure_sets(
+        PostUpdate,
         (
             PhysicsSet::SyncBackend,
             PhysicsSet::SyncBackendFlush,
             PhysicsSet::StepSimulation,
             PhysicsSet::Writeback,
         )
-            .chain(),
+            .chain()
+            .before(TransformSystem::TransformPropagate),
     );
 
-    schedule.add_systems(
-        RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::SyncBackend)
-            .in_base_set(PhysicsSet::SyncBackend),
-    );
-
-    schedule.add_systems(
-        RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::SyncBackendFlush)
-            .in_base_set(PhysicsSet::SyncBackendFlush),
-    );
-
-    schedule.add_systems(
-        RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::StepSimulation)
-            .in_base_set(PhysicsSet::StepSimulation),
-    );
-    schedule.add_system(despawn_one_box.in_base_set(PhysicsSet::StepSimulation));
-
-    schedule.add_systems(
-        RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::Writeback)
-            .in_base_set(PhysicsSet::Writeback),
+    app.add_systems(
+        PostUpdate,
+        (
+            RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::SyncBackend)
+                .in_set(PhysicsSet::SyncBackend),
+            RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::SyncBackendFlush)
+                .in_set(PhysicsSet::SyncBackendFlush),
+            (
+                RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::StepSimulation),
+                despawn_one_box,
+            )
+                .in_set(PhysicsSet::StepSimulation),
+            RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::Writeback)
+                .in_set(PhysicsSet::Writeback),
+        ),
     );
 
-    app.add_schedule(SpecialSchedule, schedule)
-        .add_plugin(
-            RapierPhysicsPlugin::<NoUserData>::default()
-                .with_physics_scale(100.)
-                .with_default_system_setup(false),
-        )
-        .run();
+    app.run();
 }
 
 fn despawn_one_box(
diff --git a/bevy_rapier2d/examples/debug_despawn2.rs b/bevy_rapier2d/examples/debug_despawn2.rs
index 92cdd924..e420a495 100644
--- a/bevy_rapier2d/examples/debug_despawn2.rs
+++ b/bevy_rapier2d/examples/debug_despawn2.rs
@@ -9,11 +9,13 @@ fn main() {
     App::new()
         .init_resource::<Game>()
         .insert_resource(ClearColor(Color::rgb(0.0, 0.0, 0.0)))
-        .add_plugins(DefaultPlugins)
-        .add_startup_system(setup_game)
-        .add_system(cube_sleep_detection)
-        .add_plugin(RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(100.0))
-        .add_plugin(RapierDebugRenderPlugin::default())
+        .add_plugins((
+            DefaultPlugins,
+            RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(100.0),
+            RapierDebugRenderPlugin::default(),
+        ))
+        .add_systems(Startup, setup_game)
+        .add_systems(Update, cube_sleep_detection)
         .run();
 }
 
diff --git a/bevy_rapier2d/examples/despawn2.rs b/bevy_rapier2d/examples/despawn2.rs
index 8a2db871..2cf19a24 100644
--- a/bevy_rapier2d/examples/despawn2.rs
+++ b/bevy_rapier2d/examples/despawn2.rs
@@ -20,13 +20,13 @@ fn main() {
         )))
         .insert_resource(DespawnResource::default())
         .insert_resource(ResizeResource::default())
-        .add_plugins(DefaultPlugins)
-        .add_plugin(RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(100.0))
-        .add_plugin(RapierDebugRenderPlugin::default())
-        .add_startup_system(setup_graphics)
-        .add_startup_system(setup_physics)
-        .add_system(despawn)
-        .add_system(resize)
+        .add_plugins((
+            DefaultPlugins,
+            RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(100.0),
+            RapierDebugRenderPlugin::default(),
+        ))
+        .add_systems(Startup, (setup_graphics, setup_physics))
+        .add_systems(Update, (despawn, resize))
         .run();
 }
 
diff --git a/bevy_rapier2d/examples/events2.rs b/bevy_rapier2d/examples/events2.rs
index 15b416a5..fa47816d 100644
--- a/bevy_rapier2d/examples/events2.rs
+++ b/bevy_rapier2d/examples/events2.rs
@@ -8,12 +8,13 @@ fn main() {
             0xF9 as f32 / 255.0,
             0xFF as f32 / 255.0,
         )))
-        .add_plugins(DefaultPlugins)
-        .add_plugin(RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(100.0))
-        .add_plugin(RapierDebugRenderPlugin::default())
-        .add_startup_system(setup_graphics)
-        .add_startup_system(setup_physics)
-        .add_system(display_events.in_base_set(CoreSet::PostUpdate))
+        .add_plugins((
+            DefaultPlugins,
+            RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(100.0),
+            RapierDebugRenderPlugin::default(),
+        ))
+        .add_systems(Startup, (setup_graphics, setup_physics))
+        .add_systems(PostUpdate, display_events)
         .run();
 }
 
diff --git a/bevy_rapier2d/examples/joints2.rs b/bevy_rapier2d/examples/joints2.rs
index f4688f68..586a42c5 100644
--- a/bevy_rapier2d/examples/joints2.rs
+++ b/bevy_rapier2d/examples/joints2.rs
@@ -8,11 +8,12 @@ fn main() {
             0xF9 as f32 / 255.0,
             0xFF as f32 / 255.0,
         )))
-        .add_plugins(DefaultPlugins)
-        .add_plugin(RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(100.0))
-        .add_plugin(RapierDebugRenderPlugin::default())
-        .add_startup_system(setup_graphics)
-        .add_startup_system(setup_physics)
+        .add_plugins((
+            DefaultPlugins,
+            RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(100.0),
+            RapierDebugRenderPlugin::default(),
+        ))
+        .add_systems(Startup, (setup_graphics, setup_physics))
         .run();
 }
 
diff --git a/bevy_rapier2d/examples/joints_despawn2.rs b/bevy_rapier2d/examples/joints_despawn2.rs
index a3599a01..6e16999d 100644
--- a/bevy_rapier2d/examples/joints_despawn2.rs
+++ b/bevy_rapier2d/examples/joints_despawn2.rs
@@ -14,12 +14,13 @@ fn main() {
             0xFF as f32 / 255.0,
         )))
         .insert_resource(DespawnResource::default())
-        .add_plugins(DefaultPlugins)
-        .add_plugin(RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(100.0))
-        .add_plugin(RapierDebugRenderPlugin::default())
-        .add_startup_system(setup_graphics)
-        .add_startup_system(setup_physics)
-        .add_system(despawn)
+        .add_plugins((
+            DefaultPlugins,
+            RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(100.0),
+            RapierDebugRenderPlugin::default(),
+        ))
+        .add_systems(Startup, (setup_graphics, setup_physics))
+        .add_systems(Update, despawn)
         .run();
 }
 
diff --git a/bevy_rapier2d/examples/locked_rotations2.rs b/bevy_rapier2d/examples/locked_rotations2.rs
index 43aa7045..4bd16106 100644
--- a/bevy_rapier2d/examples/locked_rotations2.rs
+++ b/bevy_rapier2d/examples/locked_rotations2.rs
@@ -8,11 +8,12 @@ fn main() {
             0xF9 as f32 / 255.0,
             0xFF as f32 / 255.0,
         )))
-        .add_plugins(DefaultPlugins)
-        .add_plugin(RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(100.0))
-        .add_plugin(RapierDebugRenderPlugin::default())
-        .add_startup_system(setup_graphics)
-        .add_startup_system(setup_physics)
+        .add_plugins((
+            DefaultPlugins,
+            RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(100.0),
+            RapierDebugRenderPlugin::default(),
+        ))
+        .add_systems(Startup, (setup_graphics, setup_physics))
         .run();
 }
 
diff --git a/bevy_rapier2d/examples/multiple_colliders2.rs b/bevy_rapier2d/examples/multiple_colliders2.rs
index 6e473fab..93710ecb 100644
--- a/bevy_rapier2d/examples/multiple_colliders2.rs
+++ b/bevy_rapier2d/examples/multiple_colliders2.rs
@@ -8,11 +8,12 @@ fn main() {
             0xF9 as f32 / 255.0,
             0xFF as f32 / 255.0,
         )))
-        .add_plugins(DefaultPlugins)
-        .add_plugin(RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(100.0))
-        .add_plugin(RapierDebugRenderPlugin::default())
-        .add_startup_system(setup_graphics)
-        .add_startup_system(setup_physics)
+        .add_plugins((
+            DefaultPlugins,
+            RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(100.0),
+            RapierDebugRenderPlugin::default(),
+        ))
+        .add_systems(Startup, (setup_graphics, setup_physics))
         .run();
 }
 
diff --git a/bevy_rapier2d/examples/player_movement2.rs b/bevy_rapier2d/examples/player_movement2.rs
index bf273bd7..2a903eda 100644
--- a/bevy_rapier2d/examples/player_movement2.rs
+++ b/bevy_rapier2d/examples/player_movement2.rs
@@ -3,18 +3,20 @@ use bevy_rapier2d::prelude::*;
 
 fn main() {
     App::new()
-        .add_plugins(DefaultPlugins.set(WindowPlugin {
-            primary_window: Some(Window {
-                resolution: WindowResolution::new(1000., 1000.),
-                title: "Player Movement Example".to_string(),
+        .add_plugins((
+            DefaultPlugins.set(WindowPlugin {
+                primary_window: Some(Window {
+                    resolution: WindowResolution::new(1000., 1000.),
+                    title: "Player Movement Example".to_string(),
+                    ..default()
+                }),
                 ..default()
             }),
-            ..default()
-        }))
-        .add_startup_system(spawn_player)
-        .add_system(player_movement)
-        .add_plugin(RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(100.0))
-        .add_plugin(RapierDebugRenderPlugin::default())
+            RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(100.0),
+            RapierDebugRenderPlugin::default(),
+        ))
+        .add_systems(Startup, spawn_player)
+        .add_systems(Update, player_movement)
         .run();
 }
 
diff --git a/bevy_rapier2d/examples/rope_joint2.rs b/bevy_rapier2d/examples/rope_joint2.rs
index ebe0400d..f00d1939 100644
--- a/bevy_rapier2d/examples/rope_joint2.rs
+++ b/bevy_rapier2d/examples/rope_joint2.rs
@@ -8,11 +8,12 @@ fn main() {
             0xF9 as f32 / 255.0,
             0xFF as f32 / 255.0,
         )))
-        .add_plugins(DefaultPlugins)
-        .add_plugin(RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(100.0))
-        .add_plugin(RapierDebugRenderPlugin::default())
-        .add_startup_system(setup_graphics)
-        .add_startup_system(setup_physics)
+        .add_plugins((
+            DefaultPlugins,
+            RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(100.0),
+            RapierDebugRenderPlugin::default(),
+        ))
+        .add_systems(Startup, (setup_graphics, setup_physics))
         .run();
 }
 
diff --git a/bevy_rapier3d/Cargo.toml b/bevy_rapier3d/Cargo.toml
index d801f768..c69a42a2 100644
--- a/bevy_rapier3d/Cargo.toml
+++ b/bevy_rapier3d/Cargo.toml
@@ -21,8 +21,8 @@ required-features = [ "dim3" ]
 default = [ "dim3", "async-collider", "debug-render-3d" ]
 dim3 = []
 debug-render = [ "debug-render-3d" ]
-debug-render-2d = [ "bevy/bevy_core_pipeline", "bevy/bevy_sprite", "bevy/bevy_render", "rapier3d/debug-render", "bevy/bevy_asset" ]
-debug-render-3d = [ "bevy/bevy_core_pipeline", "bevy/bevy_pbr", "bevy/bevy_render", "rapier3d/debug-render", "bevy/bevy_asset" ]
+debug-render-2d = [ "bevy/bevy_core_pipeline", "bevy/bevy_sprite", "bevy/bevy_gizmos", "rapier3d/debug-render", "bevy/bevy_asset" ]
+debug-render-3d = [ "bevy/bevy_core_pipeline", "bevy/bevy_pbr", "bevy/bevy_gizmos", "rapier3d/debug-render", "bevy/bevy_asset" ]
 parallel = [ "rapier3d/parallel" ]
 simd-stable = [ "rapier3d/simd-stable" ]
 simd-nightly = [ "rapier3d/simd-nightly" ]
@@ -33,8 +33,8 @@ headless = [ ]
 async-collider = [ "bevy/bevy_asset", "bevy/bevy_scene" ]
 
 [dependencies]
-bevy = { version = "0.10", default-features = false }
-nalgebra = { version = "0.32.2", features = [ "convert-glam023" ] }
+bevy = { version = "0.11", default-features = false }
+nalgebra = { version = "0.32.3", features = [ "convert-glam024" ] }
 # Don't enable the default features because we don't need the ColliderSet/RigidBodySet
 rapier3d = "0.17.0"
 bitflags = "1"
@@ -43,9 +43,9 @@ log = "0.4"
 serde = { version = "1", features = [ "derive" ], optional = true}
 
 [dev-dependencies]
-bevy = { version = "0.10", default-features = false, features = ["x11"]}
+bevy = { version = "0.11", default-features = false, features = ["x11"]}
 approx = "0.5.1"
-glam = { version = "0.23", features = [ "approx" ] }
+glam = { version = "0.24", features = [ "approx" ] }
 
 [package.metadata.docs.rs]
 # Enable all the features when building the docs on docs.rs
diff --git a/bevy_rapier3d/examples/boxes3.rs b/bevy_rapier3d/examples/boxes3.rs
index 075110b7..3d510720 100644
--- a/bevy_rapier3d/examples/boxes3.rs
+++ b/bevy_rapier3d/examples/boxes3.rs
@@ -8,11 +8,12 @@ fn main() {
             0xF9 as f32 / 255.0,
             0xFF as f32 / 255.0,
         )))
-        .add_plugins(DefaultPlugins)
-        .add_plugin(RapierPhysicsPlugin::<NoUserData>::default())
-        .add_plugin(RapierDebugRenderPlugin::default())
-        .add_startup_system(setup_graphics)
-        .add_startup_system(setup_physics)
+        .add_plugins((
+            DefaultPlugins,
+            RapierPhysicsPlugin::<NoUserData>::default(),
+            RapierDebugRenderPlugin::default(),
+        ))
+        .add_systems(Startup, (setup_graphics, setup_physics))
         .run();
 }
 
diff --git a/bevy_rapier3d/examples/contact_filter3.rs b/bevy_rapier3d/examples/contact_filter3.rs
index 7a5ebfaa..5d6595e3 100644
--- a/bevy_rapier3d/examples/contact_filter3.rs
+++ b/bevy_rapier3d/examples/contact_filter3.rs
@@ -35,11 +35,12 @@ fn main() {
             0xF9 as f32 / 255.0,
             0xFF as f32 / 255.0,
         )))
-        .add_plugins(DefaultPlugins)
-        .add_plugin(RapierPhysicsPlugin::<SameUserDataFilter>::default())
-        .add_plugin(RapierDebugRenderPlugin::default())
-        .add_startup_system(setup_graphics)
-        .add_startup_system(setup_physics)
+        .add_plugins((
+            DefaultPlugins,
+            RapierPhysicsPlugin::<SameUserDataFilter>::default(),
+            RapierDebugRenderPlugin::default(),
+        ))
+        .add_systems(Startup, (setup_graphics, setup_physics))
         .run();
 }
 
diff --git a/bevy_rapier3d/examples/custom_system_setup3.rs b/bevy_rapier3d/examples/custom_system_setup3.rs
index 87fb9feb..ea422422 100644
--- a/bevy_rapier3d/examples/custom_system_setup3.rs
+++ b/bevy_rapier3d/examples/custom_system_setup3.rs
@@ -1,13 +1,6 @@
-use bevy::{
-    core::FrameCount,
-    ecs::schedule::{LogLevel, ScheduleBuildSettings, ScheduleLabel},
-    prelude::*,
-};
+use bevy::{core::FrameCount, prelude::*, transform::TransformSystem};
 use bevy_rapier3d::prelude::*;
 
-#[derive(ScheduleLabel, Hash, Debug, PartialEq, Eq, Clone)]
-struct SpecialSchedule;
-
 fn main() {
     let mut app = App::new();
 
@@ -16,60 +9,43 @@ fn main() {
         0xF9 as f32 / 255.0,
         0xFF as f32 / 255.0,
     )))
-    .add_plugins(DefaultPlugins)
-    .add_plugin(RapierDebugRenderPlugin::default())
-    .add_startup_system(setup_graphics)
-    .add_startup_system(setup_physics)
-    .add_system(
-        (|world: &mut World| {
-            world.run_schedule(SpecialSchedule);
-        })
-        .in_base_set(CoreSet::PostUpdate),
-    );
-
-    // Do the setup however we want, maybe in its very own schedule
-    let mut schedule = Schedule::new();
-
-    // Show errors in ambiguous systems
-    schedule.set_build_settings(ScheduleBuildSettings {
-        ambiguity_detection: LogLevel::Error,
-        ..default()
-    });
-
-    schedule.configure_sets(
+    .add_plugins((
+        DefaultPlugins,
+        RapierPhysicsPlugin::<NoUserData>::default().with_default_system_setup(false),
+        RapierDebugRenderPlugin::default(),
+    ))
+    .add_systems(Startup, (setup_graphics, setup_physics));
+
+    app.configure_sets(
+        PostUpdate,
         (
             PhysicsSet::SyncBackend,
             PhysicsSet::SyncBackendFlush,
             PhysicsSet::StepSimulation,
             PhysicsSet::Writeback,
         )
-            .chain(),
+            .chain()
+            .before(TransformSystem::TransformPropagate),
     );
 
-    schedule.add_systems(
-        RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::SyncBackend)
-            .in_base_set(PhysicsSet::SyncBackend),
-    );
-
-    schedule.add_systems(
-        RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::SyncBackendFlush)
-            .in_base_set(PhysicsSet::SyncBackendFlush),
-    );
-
-    schedule.add_systems(
-        RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::StepSimulation)
-            .in_base_set(PhysicsSet::StepSimulation),
-    );
-    schedule.add_system(despawn_one_box.in_base_set(PhysicsSet::StepSimulation));
-
-    schedule.add_systems(
-        RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::Writeback)
-            .in_base_set(PhysicsSet::Writeback),
+    app.add_systems(
+        PostUpdate,
+        (
+            RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::SyncBackend)
+                .in_set(PhysicsSet::SyncBackend),
+            RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::SyncBackendFlush)
+                .in_set(PhysicsSet::SyncBackendFlush),
+            (
+                RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::StepSimulation),
+                despawn_one_box,
+            )
+                .in_set(PhysicsSet::StepSimulation),
+            RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::Writeback)
+                .in_set(PhysicsSet::Writeback),
+        ),
     );
 
-    app.add_schedule(SpecialSchedule, schedule)
-        .add_plugin(RapierPhysicsPlugin::<NoUserData>::default().with_default_system_setup(false))
-        .run();
+    app.run();
 }
 
 fn despawn_one_box(
diff --git a/bevy_rapier3d/examples/despawn3.rs b/bevy_rapier3d/examples/despawn3.rs
index ae78a7ad..f78cdcb5 100644
--- a/bevy_rapier3d/examples/despawn3.rs
+++ b/bevy_rapier3d/examples/despawn3.rs
@@ -14,12 +14,13 @@ fn main() {
             0xFF as f32 / 255.0,
         )))
         .insert_resource(DespawnResource::default())
-        .add_plugins(DefaultPlugins)
-        .add_plugin(RapierPhysicsPlugin::<NoUserData>::default())
-        .add_plugin(RapierDebugRenderPlugin::default())
-        .add_startup_system(setup_graphics)
-        .add_startup_system(setup_physics)
-        .add_system(despawn)
+        .add_plugins((
+            DefaultPlugins,
+            RapierPhysicsPlugin::<NoUserData>::default(),
+            RapierDebugRenderPlugin::default(),
+        ))
+        .add_systems(Startup, (setup_graphics, setup_physics))
+        .add_systems(Update, despawn)
         .run();
 }
 
diff --git a/bevy_rapier3d/examples/events3.rs b/bevy_rapier3d/examples/events3.rs
index 15d65f57..d7574dc0 100644
--- a/bevy_rapier3d/examples/events3.rs
+++ b/bevy_rapier3d/examples/events3.rs
@@ -8,12 +8,13 @@ fn main() {
             0xF9 as f32 / 255.0,
             0xFF as f32 / 255.0,
         )))
-        .add_plugins(DefaultPlugins)
-        .add_plugin(RapierPhysicsPlugin::<NoUserData>::default())
-        .add_plugin(RapierDebugRenderPlugin::default())
-        .add_startup_system(setup_graphics)
-        .add_startup_system(setup_physics)
-        .add_system(display_events.in_base_set(CoreSet::PostUpdate))
+        .add_plugins((
+            DefaultPlugins,
+            RapierPhysicsPlugin::<NoUserData>::default(),
+            RapierDebugRenderPlugin::default(),
+        ))
+        .add_systems(Startup, (setup_graphics, setup_physics))
+        .add_systems(PostUpdate, display_events)
         .run();
 }
 
diff --git a/bevy_rapier3d/examples/joints3.rs b/bevy_rapier3d/examples/joints3.rs
index 4f1fd058..a7cb84f9 100644
--- a/bevy_rapier3d/examples/joints3.rs
+++ b/bevy_rapier3d/examples/joints3.rs
@@ -8,11 +8,12 @@ fn main() {
             0xF9 as f32 / 255.0,
             0xFF as f32 / 255.0,
         )))
-        .add_plugins(DefaultPlugins)
-        .add_plugin(RapierPhysicsPlugin::<NoUserData>::default())
-        .add_plugin(RapierDebugRenderPlugin::default())
-        .add_startup_system(setup_graphics)
-        .add_startup_system(setup_physics)
+        .add_plugins((
+            DefaultPlugins,
+            RapierPhysicsPlugin::<NoUserData>::default(),
+            RapierDebugRenderPlugin::default(),
+        ))
+        .add_systems(Startup, (setup_graphics, setup_physics))
         .run();
 }
 
diff --git a/bevy_rapier3d/examples/joints_despawn3.rs b/bevy_rapier3d/examples/joints_despawn3.rs
index a04cc3b6..177d4ea9 100644
--- a/bevy_rapier3d/examples/joints_despawn3.rs
+++ b/bevy_rapier3d/examples/joints_despawn3.rs
@@ -14,12 +14,13 @@ fn main() {
             0xFF as f32 / 255.0,
         )))
         .insert_resource(DespawnResource::default())
-        .add_plugins(DefaultPlugins)
-        .add_plugin(RapierPhysicsPlugin::<NoUserData>::default())
-        .add_plugin(RapierDebugRenderPlugin::default())
-        .add_startup_system(setup_graphics)
-        .add_startup_system(setup_physics)
-        .add_system(despawn)
+        .add_plugins((
+            DefaultPlugins,
+            RapierPhysicsPlugin::<NoUserData>::default(),
+            RapierDebugRenderPlugin::default(),
+        ))
+        .add_systems(Startup, (setup_graphics, setup_physics))
+        .add_systems(Update, despawn)
         .run();
 }
 
diff --git a/bevy_rapier3d/examples/locked_rotations3.rs b/bevy_rapier3d/examples/locked_rotations3.rs
index c5ce9e73..89ba26e4 100644
--- a/bevy_rapier3d/examples/locked_rotations3.rs
+++ b/bevy_rapier3d/examples/locked_rotations3.rs
@@ -8,11 +8,12 @@ fn main() {
             0xF9 as f32 / 255.0,
             0xFF as f32 / 255.0,
         )))
-        .add_plugins(DefaultPlugins)
-        .add_plugin(RapierPhysicsPlugin::<NoUserData>::default())
-        .add_plugin(RapierDebugRenderPlugin::default())
-        .add_startup_system(setup_graphics)
-        .add_startup_system(setup_physics)
+        .add_plugins((
+            DefaultPlugins,
+            RapierPhysicsPlugin::<NoUserData>::default(),
+            RapierDebugRenderPlugin::default(),
+        ))
+        .add_systems(Startup, (setup_graphics, setup_physics))
         .run();
 }
 
diff --git a/bevy_rapier3d/examples/multiple_colliders3.rs b/bevy_rapier3d/examples/multiple_colliders3.rs
index 6d13f3ba..45d372d4 100644
--- a/bevy_rapier3d/examples/multiple_colliders3.rs
+++ b/bevy_rapier3d/examples/multiple_colliders3.rs
@@ -8,11 +8,12 @@ fn main() {
             0xF9 as f32 / 255.0,
             0xFF as f32 / 255.0,
         )))
-        .add_plugins(DefaultPlugins)
-        .add_plugin(RapierPhysicsPlugin::<NoUserData>::default())
-        .add_plugin(RapierDebugRenderPlugin::default())
-        .add_startup_system(setup_graphics)
-        .add_startup_system(setup_physics)
+        .add_plugins((
+            DefaultPlugins,
+            RapierPhysicsPlugin::<NoUserData>::default(),
+            RapierDebugRenderPlugin::default(),
+        ))
+        .add_systems(Startup, (setup_graphics, setup_physics))
         .run();
 }
 
diff --git a/bevy_rapier3d/examples/ray_casting3.rs b/bevy_rapier3d/examples/ray_casting3.rs
index 5ecc5cce..50a27a4c 100644
--- a/bevy_rapier3d/examples/ray_casting3.rs
+++ b/bevy_rapier3d/examples/ray_casting3.rs
@@ -9,12 +9,13 @@ fn main() {
             0xF9 as f32 / 255.0,
             0xFF as f32 / 255.0,
         )))
-        .add_plugins(DefaultPlugins)
-        .add_plugin(RapierPhysicsPlugin::<NoUserData>::default())
-        .add_plugin(RapierDebugRenderPlugin::default())
-        .add_startup_system(setup_graphics)
-        .add_startup_system(setup_physics)
-        .add_system(cast_ray)
+        .add_plugins((
+            DefaultPlugins,
+            RapierPhysicsPlugin::<NoUserData>::default(),
+            RapierDebugRenderPlugin::default(),
+        ))
+        .add_systems(Startup, (setup_graphics, setup_physics))
+        .add_systems(Update, cast_ray)
         .run();
 }
 
diff --git a/bevy_rapier3d/examples/static_trimesh3.rs b/bevy_rapier3d/examples/static_trimesh3.rs
index 4b926bfd..09c6e4bb 100644
--- a/bevy_rapier3d/examples/static_trimesh3.rs
+++ b/bevy_rapier3d/examples/static_trimesh3.rs
@@ -10,13 +10,14 @@ fn main() {
             0xF9 as f32 / 255.0,
             0xFF as f32 / 255.0,
         )))
-        .add_plugins(DefaultPlugins)
-        .add_plugin(RapierPhysicsPlugin::<NoUserData>::default())
-        .add_plugin(RapierDebugRenderPlugin::default())
-        .add_startup_system(setup_graphics)
-        .add_startup_system(setup_physics)
+        .add_plugins((
+            DefaultPlugins,
+            RapierPhysicsPlugin::<NoUserData>::default(),
+            RapierDebugRenderPlugin::default(),
+        ))
+        .add_systems(Startup, (setup_graphics, setup_physics))
         .insert_resource(BallState::default())
-        .add_system(ball_spawner)
+        .add_systems(Update, ball_spawner)
         .run();
 }
 
diff --git a/src/dynamics/mod.rs b/src/dynamics/mod.rs
index ee886bed..1e112d96 100644
--- a/src/dynamics/mod.rs
+++ b/src/dynamics/mod.rs
@@ -7,7 +7,7 @@ pub use self::prismatic_joint::*;
 pub use self::revolute_joint::*;
 pub use self::rope_joint::*;
 
-use bevy::reflect::{FromReflect, Reflect};
+use bevy::reflect::Reflect;
 use rapier::dynamics::CoefficientCombineRule as RapierCoefficientCombineRule;
 
 #[cfg(feature = "dim3")]
@@ -32,7 +32,7 @@ mod spherical_joint;
 /// Each collider has its combination rule of type
 /// `CoefficientCombineRule`. And the rule
 /// actually used is given by `max(first_combine_rule as usize, second_combine_rule as usize)`.
-#[derive(Copy, Clone, Debug, PartialEq, Eq, Reflect, FromReflect, Default)]
+#[derive(Copy, Clone, Debug, PartialEq, Eq, Reflect, Default)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 pub enum CoefficientCombineRule {
     #[default]
diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs
index e8e7f185..52ac1f86 100644
--- a/src/dynamics/rigid_body.rs
+++ b/src/dynamics/rigid_body.rs
@@ -1,5 +1,5 @@
 use crate::math::Vect;
-use bevy::{prelude::*, reflect::FromReflect};
+use bevy::prelude::*;
 use rapier::prelude::{
     Isometry, LockedAxes as RapierLockedAxes, RigidBodyActivation, RigidBodyHandle, RigidBodyType,
 };
@@ -10,7 +10,7 @@ use std::ops::{Add, AddAssign, Sub, SubAssign};
 pub struct RapierRigidBodyHandle(pub RigidBodyHandle);
 
 /// A rigid-body.
-#[derive(Copy, Clone, Debug, PartialEq, Eq, Component, Reflect, FromReflect, Default)]
+#[derive(Copy, Clone, Debug, PartialEq, Eq, Component, Reflect, Default)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[reflect(Component, PartialEq)]
 pub enum RigidBody {
@@ -62,7 +62,7 @@ impl From<RigidBodyType> for RigidBody {
 /// Use this component to control and/or read the velocity of a dynamic or kinematic rigid-body.
 /// If this component isn’t present, a dynamic rigid-body will still be able to move (you will just
 /// not be able to read/modify its velocity).
-#[derive(Copy, Clone, Debug, Default, PartialEq, Component, Reflect, FromReflect)]
+#[derive(Copy, Clone, Debug, Default, PartialEq, Component, Reflect)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[reflect(Component, PartialEq)]
 pub struct Velocity {
@@ -132,7 +132,7 @@ impl Velocity {
 }
 
 /// Mass-properties of a rigid-body, added to the contributions of its attached colliders.
-#[derive(Copy, Clone, Debug, PartialEq, Component, Reflect, FromReflect)]
+#[derive(Copy, Clone, Debug, PartialEq, Component, Reflect)]
 #[reflect(Component, PartialEq)]
 pub enum AdditionalMassProperties {
     /// This mass will be added to the rigid-body. The rigid-body’s total
@@ -155,7 +155,7 @@ impl Default for AdditionalMassProperties {
 /// a rigid-body (including the colliders contribution). Modifying this component won’t
 /// affect the mass-properties of the rigid-body (the attached colliders’ `ColliderMassProperties`
 /// and the `AdditionalMassProperties` should be modified instead).
-#[derive(Copy, Clone, Debug, Default, PartialEq, Component, Reflect, FromReflect)]
+#[derive(Copy, Clone, Debug, Default, PartialEq, Component, Reflect)]
 #[reflect(Component, PartialEq)]
 pub struct ReadMassProperties(pub MassProperties);
 
@@ -163,7 +163,7 @@ pub struct ReadMassProperties(pub MassProperties);
 ///
 /// This cannot be used as a component. Use the components `ReadMassProperties` to read a rigid-body’s
 /// mass-properties or `AdditionalMassProperties` to set its additional mass-properties.
-#[derive(Copy, Clone, Debug, Default, PartialEq, Reflect, FromReflect)]
+#[derive(Copy, Clone, Debug, Default, PartialEq, Reflect)]
 #[reflect(PartialEq)]
 pub struct MassProperties {
     /// The center of mass of a rigid-body expressed in its local-space.
@@ -219,7 +219,7 @@ impl MassProperties {
 }
 
 bitflags::bitflags! {
-    #[derive(Default, Component, Reflect, FromReflect)]
+    #[derive(Default, Component, Reflect)]
     #[reflect(Component, PartialEq)]
     /// Flags affecting the behavior of the constraints solver for a given contact manifold.
     pub struct LockedAxes: u8 {
@@ -251,7 +251,7 @@ impl From<LockedAxes> for RapierLockedAxes {
 /// Constant external forces applied continuously to a rigid-body.
 ///
 /// This force is applied at each timestep.
-#[derive(Copy, Clone, Debug, Default, PartialEq, Component, Reflect, FromReflect)]
+#[derive(Copy, Clone, Debug, Default, PartialEq, Component, Reflect)]
 #[reflect(Component, PartialEq)]
 pub struct ExternalForce {
     /// The linear force applied to the rigid-body.
@@ -323,7 +323,7 @@ impl SubAssign for ExternalForce {
 ///
 /// The impulse is only applied once, and whenever it it modified (based
 /// on Bevy’s change detection).
-#[derive(Copy, Clone, Debug, Default, PartialEq, Component, Reflect, FromReflect)]
+#[derive(Copy, Clone, Debug, Default, PartialEq, Component, Reflect)]
 #[reflect(Component, PartialEq)]
 pub struct ExternalImpulse {
     /// The linear impulse applied to the rigid-body.
@@ -398,7 +398,7 @@ impl SubAssign for ExternalImpulse {
 
 /// Gravity is multiplied by this scaling factor before it's
 /// applied to this rigid-body.
-#[derive(Copy, Clone, Debug, PartialEq, Component, Reflect, FromReflect)]
+#[derive(Copy, Clone, Debug, PartialEq, Component, Reflect)]
 #[reflect(Component, PartialEq)]
 pub struct GravityScale(pub f32);
 
@@ -409,7 +409,7 @@ impl Default for GravityScale {
 }
 
 /// Information used for Continuous-Collision-Detection.
-#[derive(Copy, Clone, Debug, Default, PartialEq, Eq, Component, Reflect, FromReflect)]
+#[derive(Copy, Clone, Debug, Default, PartialEq, Eq, Component, Reflect)]
 #[reflect(Component, PartialEq)]
 pub struct Ccd {
     /// Is CCD enabled for this rigid-body?
@@ -432,7 +432,7 @@ impl Ccd {
 }
 
 /// The dominance groups of a rigid-body.
-#[derive(Copy, Clone, Debug, Default, PartialEq, Eq, Component, Reflect, FromReflect)]
+#[derive(Copy, Clone, Debug, Default, PartialEq, Eq, Component, Reflect)]
 #[reflect(Component, PartialEq)]
 pub struct Dominance {
     // FIXME: rename this to `group` (no `s`).
@@ -451,7 +451,7 @@ impl Dominance {
 ///
 /// This controls whether a body is sleeping or not.
 /// If the threshold is negative, the body never sleeps.
-#[derive(Copy, Clone, Debug, PartialEq, Component, Reflect, FromReflect)]
+#[derive(Copy, Clone, Debug, PartialEq, Component, Reflect)]
 #[reflect(Component, PartialEq)]
 pub struct Sleeping {
     /// The linear velocity below which the body can fall asleep.
@@ -484,7 +484,7 @@ impl Default for Sleeping {
 }
 
 /// Damping factors to gradually slow down a rigid-body.
-#[derive(Copy, Clone, Debug, PartialEq, Component, Reflect, FromReflect)]
+#[derive(Copy, Clone, Debug, PartialEq, Component, Reflect)]
 #[reflect(Component, PartialEq)]
 pub struct Damping {
     // TODO: rename these to "linear" and "angular"?
@@ -526,6 +526,6 @@ impl TransformInterpolation {
 }
 
 /// Indicates whether or not the rigid-body is disabled explicitly by the user.
-#[derive(Copy, Clone, Default, Debug, PartialEq, Eq, Component, Reflect, FromReflect)]
+#[derive(Copy, Clone, Default, Debug, PartialEq, Eq, Component, Reflect)]
 #[reflect(Component, PartialEq)]
 pub struct RigidBodyDisabled;
diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs
index 4d416e89..364a4564 100644
--- a/src/geometry/collider.rs
+++ b/src/geometry/collider.rs
@@ -4,7 +4,6 @@ use std::fmt;
 use {crate::geometry::VHACDParameters, bevy::utils::HashMap};
 
 use bevy::prelude::*;
-use bevy::reflect::FromReflect;
 
 use bevy::utils::HashSet;
 use rapier::geometry::Shape;
@@ -91,7 +90,7 @@ impl fmt::Debug for Collider {
 }
 
 /// Overwrites the default application of [`GlobalTransform::scale`] to collider shapes.
-#[derive(Copy, Clone, Debug, PartialEq, Component, Reflect, FromReflect)]
+#[derive(Copy, Clone, Debug, PartialEq, Component, Reflect)]
 pub enum ColliderScale {
     /// This scale will be multiplied with the scale in the [`GlobalTransform`] component
     /// before being applied to the collider.
@@ -101,12 +100,12 @@ pub enum ColliderScale {
 }
 
 /// Indicates whether or not the collider is a sensor.
-#[derive(Copy, Clone, Default, Debug, PartialEq, Eq, Component, Reflect, FromReflect)]
+#[derive(Copy, Clone, Default, Debug, PartialEq, Eq, Component, Reflect)]
 #[reflect(Component, PartialEq)]
 pub struct Sensor;
 
 /// Custom mass-properties of a collider.
-#[derive(Copy, Clone, Debug, PartialEq, Component, Reflect, FromReflect)]
+#[derive(Copy, Clone, Debug, PartialEq, Component, Reflect)]
 #[reflect(Component, PartialEq)]
 pub enum ColliderMassProperties {
     /// The mass-properties are computed automatically from the collider’s shape and this density.
@@ -124,7 +123,7 @@ impl Default for ColliderMassProperties {
 }
 
 /// The friction affecting a collider.
-#[derive(Copy, Clone, Debug, PartialEq, Component, Reflect, FromReflect)]
+#[derive(Copy, Clone, Debug, PartialEq, Component, Reflect)]
 #[reflect(Component, PartialEq)]
 pub struct Friction {
     /// The friction coefficient of a collider.
@@ -166,7 +165,7 @@ impl Friction {
 }
 
 /// The restitution affecting a collider.
-#[derive(Copy, Clone, Debug, PartialEq, Component, Reflect, FromReflect)]
+#[derive(Copy, Clone, Debug, PartialEq, Component, Reflect)]
 #[reflect(Component, PartialEq)]
 pub struct Restitution {
     /// The restitution coefficient of a collider.
@@ -208,7 +207,7 @@ impl Default for Restitution {
 }
 
 bitflags::bitflags! {
-    #[derive(Component, Reflect, FromReflect)]
+    #[derive(Component, Reflect)]
     #[reflect(Component, Hash, PartialEq)]
     #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
     /// Flags affecting whether or not collision-detection happens between two colliders
@@ -253,7 +252,7 @@ impl From<ActiveCollisionTypes> for rapier::geometry::ActiveCollisionTypes {
 
 bitflags::bitflags! {
     /// A bit mask identifying groups for interaction.
-    #[derive(Component, Reflect, FromReflect)]
+    #[derive(Component, Reflect)]
     #[reflect(Component, Hash, PartialEq)]
     #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
     pub struct Group: u32 {
@@ -350,7 +349,7 @@ impl Default for Group {
 /// ```ignore
 /// (self.memberships & rhs.filter) != 0 && (rhs.memberships & self.filter) != 0
 /// ```
-#[derive(Copy, Clone, Debug, Default, PartialEq, Eq, Hash, Component, Reflect, FromReflect)]
+#[derive(Copy, Clone, Debug, Default, PartialEq, Eq, Hash, Component, Reflect)]
 #[reflect(Component, Hash, PartialEq)]
 pub struct CollisionGroups {
     /// Groups memberships.
@@ -382,7 +381,7 @@ impl From<CollisionGroups> for InteractionGroups {
 /// Pairwise constraints resolution filtering using bit masks.
 ///
 /// This follows the same rules as the `CollisionGroups`.
-#[derive(Copy, Clone, Default, Debug, PartialEq, Eq, Hash, Component, Reflect, FromReflect)]
+#[derive(Copy, Clone, Default, Debug, PartialEq, Eq, Hash, Component, Reflect)]
 #[reflect(Component, Hash, PartialEq)]
 pub struct SolverGroups {
     /// Groups memberships.
@@ -412,7 +411,7 @@ impl From<SolverGroups> for InteractionGroups {
 }
 
 bitflags::bitflags! {
-    #[derive(Default, Component, Reflect, FromReflect)]
+    #[derive(Default, Component, Reflect)]
     #[reflect(Component)]
     #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
     /// Flags affecting the behavior of the constraints solver for a given contact manifold.
@@ -434,7 +433,7 @@ impl From<ActiveHooks> for rapier::pipeline::ActiveHooks {
 }
 
 bitflags::bitflags! {
-    #[derive(Default, Component, Reflect, FromReflect)]
+    #[derive(Default, Component, Reflect)]
     #[reflect(Component)]
     #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
     /// Flags affecting the events generated for this collider.
@@ -456,7 +455,7 @@ impl From<ActiveEvents> for rapier::pipeline::ActiveEvents {
 }
 
 /// The total force magnitude beyond which a contact force event can be emitted.
-#[derive(Copy, Clone, PartialEq, Component, Reflect, FromReflect)]
+#[derive(Copy, Clone, PartialEq, Component, Reflect)]
 #[reflect(Component)]
 pub struct ContactForceEventThreshold(pub f32);
 
@@ -468,7 +467,7 @@ impl Default for ContactForceEventThreshold {
 
 /// Component which will be filled (if present) with a list of entities with which the current
 /// entity is currently in contact.
-#[derive(Component, Default, Reflect, FromReflect)]
+#[derive(Component, Default, Reflect)]
 #[reflect(Component)]
 pub struct CollidingEntities(pub(crate) HashSet<Entity>);
 
@@ -498,7 +497,7 @@ impl CollidingEntities {
 }
 
 /// Indicates whether or not the collider is disabled explicitly by the user.
-#[derive(Copy, Clone, Default, Debug, PartialEq, Eq, Component, Reflect, FromReflect)]
+#[derive(Copy, Clone, Default, Debug, PartialEq, Eq, Component, Reflect)]
 #[reflect(Component, PartialEq)]
 pub struct ColliderDisabled;
 
diff --git a/src/pipeline/events.rs b/src/pipeline/events.rs
index 9293a13c..7e15a819 100644
--- a/src/pipeline/events.rs
+++ b/src/pipeline/events.rs
@@ -1,5 +1,5 @@
 use crate::math::{Real, Vect};
-use bevy::prelude::{Entity, EventWriter};
+use bevy::prelude::{Entity, Event, EventWriter};
 use rapier::dynamics::RigidBodySet;
 use rapier::geometry::{
     ColliderHandle, ColliderSet, CollisionEvent as RapierCollisionEvent, CollisionEventFlags,
@@ -10,7 +10,7 @@ use std::collections::HashMap;
 use std::sync::RwLock;
 
 /// Events occurring when two colliders start or stop colliding
-#[derive(Copy, Clone, Debug, PartialEq, Eq)]
+#[derive(Event, Copy, Clone, Debug, PartialEq, Eq)]
 pub enum CollisionEvent {
     /// Event occurring when two colliders start colliding
     Started(Entity, Entity, CollisionEventFlags),
@@ -20,7 +20,7 @@ pub enum CollisionEvent {
 
 /// Event occurring when the sum of the magnitudes of the contact forces
 /// between two colliders exceed a threshold.
-#[derive(Copy, Clone, Debug, PartialEq)]
+#[derive(Event, Copy, Clone, Debug, PartialEq)]
 pub struct ContactForceEvent {
     /// The first collider involved in the contact.
     pub collider1: Entity,
diff --git a/src/plugin/plugin.rs b/src/plugin/plugin.rs
index a76810d5..2b808a95 100644
--- a/src/plugin/plugin.rs
+++ b/src/plugin/plugin.rs
@@ -3,7 +3,7 @@ use crate::plugin::configuration::SimulationToRenderTime;
 use crate::plugin::{systems, RapierConfiguration, RapierContext};
 use crate::prelude::*;
 use bevy::ecs::{event::Events, schedule::SystemConfigs, system::SystemParamItem};
-use bevy::prelude::*;
+use bevy::{prelude::*, transform::TransformSystem};
 use std::marker::PhantomData;
 
 /// No specific user-data is associated to the hooks.
@@ -60,23 +60,17 @@ where
     /// [`with_system_setup(false)`](Self::with_system_setup).
     /// See [`PhysicsSet`] for a description of these systems.
     pub fn get_systems(set: PhysicsSet) -> SystemConfigs {
-        // A set for `propagate_transforms` to mark it as ambiguous with `sync_simple_transforms`.
-        // Used instead of the `SystemTypeSet` as that would not allow multiple instances of the system.
-        #[derive(Debug, Hash, PartialEq, Eq, Clone, SystemSet)]
-        struct PropagateTransformsSet;
-
         match set {
             PhysicsSet::SyncBackend => (
                 // Run the character controller before the manual transform propagation.
                 systems::update_character_controls,
                 // Run Bevy transform propagation additionally to sync [`GlobalTransform`]
-                bevy::transform::systems::sync_simple_transforms
-                    .after(systems::update_character_controls)
-                    .ambiguous_with(PropagateTransformsSet)
-                    .in_set(RapierTransformPropagateSet),
-                bevy::transform::systems::propagate_transforms
+                (
+                    bevy::transform::systems::sync_simple_transforms,
+                    bevy::transform::systems::propagate_transforms,
+                )
+                    .chain()
                     .after(systems::update_character_controls)
-                    .in_set(PropagateTransformsSet)
                     .in_set(RapierTransformPropagateSet),
                 systems::init_async_colliders.after(RapierTransformPropagateSet),
                 systems::apply_scale.after(systems::init_async_colliders),
@@ -100,7 +94,7 @@ where
                     .before(systems::init_async_colliders),
             )
                 .into_configs(),
-            PhysicsSet::SyncBackendFlush => (apply_system_buffers,).into_configs(),
+            PhysicsSet::SyncBackendFlush => (apply_deferred,).into_configs(),
             PhysicsSet::StepSimulation => (
                 systems::step_simulation::<PhysicsHooks>,
                 Events::<CollisionEvent>::update_system
@@ -135,8 +129,7 @@ impl<PhysicsHooksSystemParam> Default for RapierPhysicsPlugin<PhysicsHooksSystem
 }
 
 /// [`StageLabel`] for each phase of the plugin.
-#[derive(Debug, Hash, PartialEq, Eq, Clone, SystemSet)]
-#[system_set(base)]
+#[derive(SystemSet, Debug, Hash, PartialEq, Eq, Clone)]
 pub enum PhysicsSet {
     /// This set runs the systems responsible for synchronizing (and
     /// initializing) backend data structures with current component state.
@@ -199,6 +192,7 @@ where
         // Add each set as necessary
         if self.default_system_setup {
             app.configure_sets(
+                PostUpdate,
                 (
                     PhysicsSet::SyncBackend,
                     PhysicsSet::SyncBackendFlush,
@@ -206,23 +200,19 @@ where
                     PhysicsSet::Writeback,
                 )
                     .chain()
-                    .after(CoreSet::UpdateFlush)
-                    .before(CoreSet::PostUpdate),
+                    .before(TransformSystem::TransformPropagate),
             );
 
             app.add_systems(
-                Self::get_systems(PhysicsSet::SyncBackend).in_base_set(PhysicsSet::SyncBackend),
-            );
-            app.add_systems(
-                Self::get_systems(PhysicsSet::SyncBackendFlush)
-                    .in_base_set(PhysicsSet::SyncBackendFlush),
-            );
-            app.add_systems(
-                Self::get_systems(PhysicsSet::StepSimulation)
-                    .in_base_set(PhysicsSet::StepSimulation),
-            );
-            app.add_systems(
-                Self::get_systems(PhysicsSet::Writeback).in_base_set(PhysicsSet::Writeback),
+                PostUpdate,
+                (
+                    Self::get_systems(PhysicsSet::SyncBackend).in_set(PhysicsSet::SyncBackend),
+                    Self::get_systems(PhysicsSet::SyncBackendFlush)
+                        .in_set(PhysicsSet::SyncBackendFlush),
+                    Self::get_systems(PhysicsSet::StepSimulation)
+                        .in_set(PhysicsSet::StepSimulation),
+                    Self::get_systems(PhysicsSet::Writeback).in_set(PhysicsSet::Writeback),
+                ),
             );
         }
     }
diff --git a/src/plugin/systems.rs b/src/plugin/systems.rs
index 30742057..acd9ec04 100644
--- a/src/plugin/systems.rs
+++ b/src/plugin/systems.rs
@@ -1446,7 +1446,7 @@ mod tests {
     fn colliding_entities_updates() {
         let mut app = App::new();
         app.add_event::<CollisionEvent>()
-            .add_system(update_colliding_entities);
+            .add_systems(Update, update_colliding_entities);
 
         let entity1 = app.world.spawn(CollidingEntities::default()).id();
         let entity2 = app.world.spawn(CollidingEntities::default()).id();
@@ -1532,8 +1532,8 @@ mod tests {
     #[cfg(all(feature = "dim3", feature = "async-collider"))]
     fn async_collider_initializes() {
         let mut app = App::new();
-        app.add_plugin(HeadlessRenderPlugin)
-            .add_system(init_async_colliders);
+        app.add_plugins(HeadlessRenderPlugin)
+            .add_systems(Update, init_async_colliders);
 
         let mut meshes = app.world.resource_mut::<Assets<Mesh>>();
         let cube = meshes.add(Cube::default().into());
@@ -1559,8 +1559,10 @@ mod tests {
         use bevy::scene::scene_spawner_system;
 
         let mut app = App::new();
-        app.add_plugin(HeadlessRenderPlugin)
-            .add_system(init_async_scene_colliders.after(scene_spawner_system));
+        app.add_plugins(HeadlessRenderPlugin).add_systems(
+            Update,
+            init_async_scene_colliders.after(scene_spawner_system),
+        );
 
         let mut meshes = app.world.resource_mut::<Assets<Mesh>>();
         let cube_handle = meshes.add(Cube::default().into());
@@ -1604,10 +1606,12 @@ mod tests {
     #[test]
     fn transform_propagation() {
         let mut app = App::new();
-        app.add_plugin(HeadlessRenderPlugin)
-            .add_plugin(TransformPlugin)
-            .add_plugin(TimePlugin)
-            .add_plugin(RapierPhysicsPlugin::<NoUserData>::default());
+        app.add_plugins((
+            HeadlessRenderPlugin,
+            TransformPlugin,
+            TimePlugin,
+            RapierPhysicsPlugin::<NoUserData>::default(),
+        ));
 
         let zero = (Transform::default(), Transform::default());
 
@@ -1659,10 +1663,12 @@ mod tests {
     #[test]
     fn transform_propagation2() {
         let mut app = App::new();
-        app.add_plugin(HeadlessRenderPlugin)
-            .add_plugin(TransformPlugin)
-            .add_plugin(TimePlugin)
-            .add_plugin(RapierPhysicsPlugin::<NoUserData>::default());
+        app.add_plugins((
+            HeadlessRenderPlugin,
+            TransformPlugin,
+            TimePlugin,
+            RapierPhysicsPlugin::<NoUserData>::default(),
+        ));
 
         let zero = (Transform::default(), Transform::default());
 
@@ -1739,16 +1745,18 @@ mod tests {
 
     impl Plugin for HeadlessRenderPlugin {
         fn build(&self, app: &mut App) {
-            app.add_plugin(WindowPlugin::default())
-                .add_plugin(AssetPlugin::default())
-                .add_plugin(ScenePlugin::default())
-                .add_plugin(RenderPlugin {
+            app.add_plugins((
+                WindowPlugin::default(),
+                AssetPlugin::default(),
+                ScenePlugin::default(),
+                RenderPlugin {
                     wgpu_settings: WgpuSettings {
                         backends: None,
                         ..Default::default()
                     },
-                })
-                .add_plugin(ImagePlugin::default());
+                },
+                ImagePlugin::default(),
+            ));
         }
     }
 }
diff --git a/src/render/lines/debuglines.wgsl b/src/render/lines/debuglines.wgsl
deleted file mode 100644
index 4f5a373e..00000000
--- a/src/render/lines/debuglines.wgsl
+++ /dev/null
@@ -1,50 +0,0 @@
-#ifdef LINES_3D
-    #import bevy_pbr::mesh_view_bindings
-#else
-    #import bevy_sprite::mesh2d_view_bindings
-#endif
-
-struct Vertex {
-    @location(0) pos: vec3<f32>,
-    @location(1) color: vec4<f32>,
-}
-
-struct VertexOutput {
-    @builtin(position) clip_position: vec4<f32>,
-    @location(0) color: vec4<f32>,
-}
-
-struct FragmentOutput {
-#ifdef LINES_3D // We don’t need frag_depth 2D.
-    @builtin(frag_depth) depth: f32,
-#endif
-    @location(0) color: vec4<f32>,
-}
-
-@vertex
-fn vertex(vertex: Vertex) -> VertexOutput {
-    var out: VertexOutput;
-
-    out.clip_position = view.view_proj * vec4<f32>(vertex.pos, 1.0);
-    out.color = vertex.color;
-
-    return out;
-}
-
-@fragment
-fn fragment(in: VertexOutput) -> FragmentOutput {
-    var out: FragmentOutput;
-
-// This should be #ifdef DEPTH_TEST_ENABLED && LINES_3D, but the
-// preprocessor doesn't support that yet.
-// Luckily, DEPTH_TEST_ENABLED isn't set in 2d anyway.
-#ifdef LINES_3D
-    #ifdef DEPTH_TEST_ENABLED
-        out.depth = in.clip_position.z;
-    #else
-        out.depth = 1.0;
-    #endif
-#endif
-    out.color = in.color;
-    return out;
-}
diff --git a/src/render/lines/mod.rs b/src/render/lines/mod.rs
deleted file mode 100644
index 2274b268..00000000
--- a/src/render/lines/mod.rs
+++ /dev/null
@@ -1,409 +0,0 @@
-#![allow(warnings)]
-
-/**
- *
- * NOTE: this module and its submodules are only temporary. It is a copy-paste of the bevy-debug-lines
- *       crate: https://github.com/Toqozz/bevy_debug_lines (MIT license)
- * It has been partially updated to work with bevy 0.7, but hasn’t been released yet.
- * So, in the mean time, we are keeping a version here that we will replace by the
- * upstream dependency once:
- * 1. The version compatible with bevy 0.7 is released to crates.io.
- * 2. We find a way to make the 2D version work with our examples. The problem
- *    only happens when running our own examples because cargo’s unification of
- *    features will enable the `3d` feature of `bevy_debug_lines` when running
- *    a `2d` example.
- *
- */
-use bevy::{
-    asset::{load_internal_asset, Assets, HandleUntyped},
-    prelude::*,
-    reflect::TypeUuid,
-    render::{
-        mesh::{/*Indices,*/ Mesh, VertexAttributeValues},
-        render_phase::AddRenderCommand,
-        render_resource::PrimitiveTopology,
-        render_resource::Shader,
-        view::NoFrustumCulling,
-        Extract,
-    },
-};
-use std::sync::{Arc, RwLock};
-
-mod render_dim;
-
-// This module exists to "isolate" the `#[cfg]` attributes to this part of the
-// code. Otherwise, we would pollute the code with a lot of feature
-// gates-specific code.
-#[cfg(feature = "debug-render-3d")]
-mod dim3 {
-    pub(crate) use super::render_dim::r3d::{queue, DebugLinePipeline, DrawDebugLines};
-    pub(crate) use bevy::core_pipeline::core_3d::Opaque3d as Phase;
-}
-#[cfg(feature = "debug-render-2d")]
-mod dim2 {
-    pub(crate) use super::render_dim::r2d::{queue, DebugLinePipeline, DrawDebugLines};
-    pub(crate) use bevy::core_pipeline::core_2d::Transparent2d as Phase;
-}
-
-pub(crate) const SHADER_FILE: &str = include_str!("debuglines.wgsl");
-pub(crate) const DEBUG_LINES_SHADER_HANDLE: HandleUntyped =
-    HandleUntyped::weak_from_u64(Shader::TYPE_UUID, 17477439189930443325);
-
-#[derive(Resource, Clone)]
-pub(crate) struct DebugLinesConfig {
-    pub always_on_top: Arc<RwLock<bool>>, // Don’t know how to do this properly since this resource lives in a sub-app.
-}
-
-impl DebugLinesConfig {
-    fn always_on_top(on_top: bool) -> Self {
-        Self {
-            always_on_top: Arc::new(RwLock::new(on_top)),
-        }
-    }
-}
-
-/// Bevy plugin, for initializing stuff.
-///
-/// # Usage
-///
-/// ```.ignore
-/// use bevy::prelude::*;
-/// use bevy_prototype_debug_lines::*;
-///
-/// App::new()
-///     .add_plugins(DefaultPlugins)
-///     .add_plugin(DebugLinesPlugin::default())
-///     .run();
-/// ```
-///
-/// Alternatively, you can initialize the plugin with depth testing, so that
-/// debug lines cut through geometry. To do this, use [`DebugLinesPlugin::with_depth_test(true)`].
-/// ```.ignore
-/// use bevy::prelude::*;
-/// use bevy_prototype_debug_lines::*;
-///
-/// App::new()
-///     .add_plugins(DefaultPlugins)
-///     .add_plugin(DebugLinesPlugin::with_depth_test(true))
-///     .run();
-/// ```
-#[derive(Debug, Default, Clone)]
-pub struct DebugLinesPlugin {
-    always_on_top: bool,
-}
-
-impl DebugLinesPlugin {
-    /// Controls whether debug lines should be drawn with depth testing enabled
-    /// or disabled.
-    ///
-    /// # Arguments
-    ///
-    /// * `val` - True if lines should intersect with other geometry, or false
-    ///   if lines should always draw on top be drawn on top (the default).
-    pub fn always_on_top(val: bool) -> Self {
-        Self { always_on_top: val }
-    }
-}
-
-#[derive(SystemSet, Hash, Debug, PartialEq, Eq, Clone)]
-pub struct DrawLinesLabel;
-
-impl Plugin for DebugLinesPlugin {
-    fn build(&self, app: &mut App) {
-        use bevy::render::{render_resource::SpecializedMeshPipelines, RenderApp, RenderSet};
-        let mut shaders = app.world.get_resource_mut::<Assets<Shader>>().unwrap();
-        shaders.set_untracked(DEBUG_LINES_SHADER_HANDLE, Shader::from_wgsl(SHADER_FILE));
-
-        let lines_config = DebugLinesConfig::always_on_top(self.always_on_top);
-        app.init_resource::<DebugLines>()
-            .add_startup_system(setup)
-            .add_system(
-                update
-                    .in_base_set(CoreSet::PostUpdate)
-                    .in_set(DrawLinesLabel),
-            )
-            .insert_resource(lines_config.clone());
-
-        #[cfg(feature = "debug-render-3d")]
-        app.sub_app_mut(RenderApp)
-            .add_render_command::<dim3::Phase, dim3::DrawDebugLines>()
-            .init_resource::<dim3::DebugLinePipeline>()
-            .init_resource::<SpecializedMeshPipelines<dim3::DebugLinePipeline>>()
-            .add_system(dim3::queue.in_set(RenderSet::Queue));
-
-        #[cfg(feature = "debug-render-2d")]
-        app.sub_app_mut(RenderApp)
-            .add_render_command::<dim2::Phase, dim2::DrawDebugLines>()
-            .init_resource::<dim2::DebugLinePipeline>()
-            .init_resource::<SpecializedMeshPipelines<dim2::DebugLinePipeline>>()
-            .add_system(dim2::queue.in_set(RenderSet::Queue));
-
-        app.sub_app_mut(RenderApp)
-            .insert_resource(lines_config)
-            .add_system(extract.in_schedule(ExtractSchedule));
-
-        #[cfg(feature = "debug-render-3d")]
-        info!("Loaded 3d debug lines plugin.");
-        #[cfg(feature = "debug-render-2d")]
-        info!("Loaded 2d debug lines plugin.");
-    }
-}
-
-// Number of meshes to separate line buffers into.
-// We don't really do culling currently but this is a gateway to that.
-const MESH_COUNT: usize = 4;
-// Maximum number of points for each individual mesh.
-const MAX_POINTS_PER_MESH: usize = 2_usize.pow(16);
-const _MAX_LINES_PER_MESH: usize = MAX_POINTS_PER_MESH / 2;
-/// Maximum number of points.
-pub const MAX_POINTS: usize = MAX_POINTS_PER_MESH * MESH_COUNT;
-/// Maximum number of unique lines to draw at once.
-pub const MAX_LINES: usize = MAX_POINTS / 2;
-
-fn setup(mut cmds: Commands, mut meshes: ResMut<Assets<Mesh>>) {
-    cmds.spawn((
-        Name::new("Rapier Debug"),
-        TransformBundle::default(),
-        VisibilityBundle::default(),
-    ))
-    .with_children(|parent| {
-        // Spawn a bunch of meshes to use for lines.
-        for i in 0..MESH_COUNT {
-            // Create a new mesh with the number of vertices we need.
-            let mut mesh = Mesh::new(PrimitiveTopology::LineList);
-            mesh.insert_attribute(
-                Mesh::ATTRIBUTE_POSITION,
-                VertexAttributeValues::Float32x3(Vec::with_capacity(MAX_POINTS_PER_MESH)),
-            );
-            mesh.insert_attribute(
-                Mesh::ATTRIBUTE_COLOR,
-                VertexAttributeValues::Float32x4(Vec::with_capacity(MAX_POINTS_PER_MESH)),
-            );
-            // https://github.com/Toqozz/bevy_debug_lines/issues/16
-            //mesh.set_indices(Some(Indices::U16(Vec::with_capacity(MAX_POINTS_PER_MESH))));
-
-            let mesh_handle = meshes.add(mesh);
-
-            parent.spawn((
-                Name::new(format!("Debug Mesh {i}")),
-                SpatialBundle::INHERITED_IDENTITY,
-                NoFrustumCulling,
-                DebugLinesMesh(i),
-                #[cfg(feature = "debug-render-3d")]
-                (
-                    mesh_handle.clone(),
-                    bevy::pbr::NotShadowCaster,
-                    bevy::pbr::NotShadowReceiver,
-                ),
-                #[cfg(feature = "debug-render-2d")]
-                bevy::sprite::Mesh2dHandle(mesh_handle),
-            ));
-        }
-    });
-}
-
-fn update(
-    #[cfg(feature = "debug-render-3d")] debug_line_meshes_3d: Query<(
-        &Handle<Mesh>,
-        &DebugLinesMesh,
-    )>,
-    #[cfg(feature = "debug-render-2d")] debug_line_meshes_2d: Query<(
-        &bevy::sprite::Mesh2dHandle,
-        &DebugLinesMesh,
-    )>,
-    time: Res<Time>,
-    mut meshes: ResMut<Assets<Mesh>>,
-    mut lines: ResMut<DebugLines>,
-) {
-    // For each debug line mesh, fill its buffers with the relevant positions/colors chunks.
-    let update = |mesh: &mut Mesh, debug_lines_idx: &DebugLinesMesh| {
-        use VertexAttributeValues::{Float32x3, Float32x4};
-        if let Some(Float32x3(vbuffer)) = mesh.attribute_mut(Mesh::ATTRIBUTE_POSITION) {
-            vbuffer.clear();
-            if let Some(new_content) = lines
-                .positions
-                .chunks(MAX_POINTS_PER_MESH)
-                .nth(debug_lines_idx.0)
-            {
-                vbuffer.extend(new_content);
-            }
-        }
-
-        if let Some(Float32x4(cbuffer)) = mesh.attribute_mut(Mesh::ATTRIBUTE_COLOR) {
-            cbuffer.clear();
-            if let Some(new_content) = lines
-                .colors
-                .chunks(MAX_POINTS_PER_MESH)
-                .nth(debug_lines_idx.0)
-            {
-                cbuffer.extend(new_content);
-            }
-        }
-
-        /*
-        // https://github.com/Toqozz/bevy_debug_lines/issues/16
-        if let Some(Indices::U16(indices)) = mesh.indices_mut() {
-            indices.clear();
-            if let Some(new_content) = lines.durations.chunks(_MAX_LINES_PER_MESH).nth(debug_lines_idx.0) {
-                indices.extend(
-                    new_content.iter().enumerate().map(|(i, _)| i as u16).flat_map(|i| [i * 2, i*2 + 1])
-                );
-            }
-        }
-        */
-    };
-
-    #[cfg(feature = "debug-render-3d")]
-    for (mesh_handle, debug_lines_idx) in &debug_line_meshes_3d {
-        let mesh = meshes.get_mut(mesh_handle).unwrap();
-        update(mesh, debug_lines_idx);
-    }
-
-    #[cfg(feature = "debug-render-2d")]
-    for (mesh2d_handle, debug_lines_idx) in &debug_line_meshes_2d {
-        let mesh = meshes.get_mut(&mesh2d_handle.0).unwrap();
-        update(mesh, debug_lines_idx);
-    }
-
-    // Processes stuff like getting rid of expired lines and stuff.
-    lines.update(time.delta_seconds());
-}
-
-/// Move the DebugLinesMesh marker Component to the render context.
-fn extract(mut commands: Commands, query: Extract<Query<Entity, With<DebugLinesMesh>>>) {
-    for entity in query.iter() {
-        commands.get_or_spawn(entity).insert(RenderDebugLinesMesh);
-    }
-}
-
-#[derive(Component)]
-pub(crate) struct DebugLinesMesh(usize);
-
-#[derive(Component)]
-pub(crate) struct RenderDebugLinesMesh;
-
-/// Bevy resource providing facilities to draw lines.
-///
-/// # Usage
-/// ```.ignore
-/// use bevy::prelude::*;
-/// use bevy_prototype_debug_lines::*;
-///
-/// // Draws 3 horizontal lines, which disappear after 1 frame.
-/// fn some_system(mut lines: ResMut<DebugLines>) {
-///     lines.line(Vec3::new(-1.0, 1.0, 0.0), Vec3::new(1.0, 1.0, 0.0), 0.0);
-///     lines.line_colored(
-///         Vec3::new(-1.0, 0.0, 0.0),
-///         Vec3::new(1.0, 0.0, 0.0),
-///         0.0,
-///         Color::WHITE
-///     );
-///     lines.line_gradient(
-///         Vec3::new(-1.0, -1.0, 0.0),
-///         Vec3::new(1.0, -1.0, 0.0),
-///         0.0,
-///         Color::WHITE, Color::PINK
-///     );
-/// }
-/// ```
-#[derive(Resource, Default)]
-pub struct DebugLines {
-    pub positions: Vec<[f32; 3]>,
-    pub colors: Vec<[f32; 4]>,
-    pub durations: Vec<f32>,
-}
-
-impl DebugLines {
-    /// Draw a line in world space, or update an existing line
-    ///
-    /// # Arguments
-    ///
-    /// * `start` - The start of the line in world space
-    /// * `end` - The end of the line in world space
-    /// * `duration` - Duration (in seconds) that the line should show for -- a value of
-    ///   zero will show the line for 1 frame.
-    pub fn line(&mut self, start: Vec3, end: Vec3, duration: f32) {
-        self.line_colored(start, end, duration, Color::WHITE);
-    }
-
-    /// Draw a line in world space with a specified color, or update an existing line
-    ///
-    /// # Arguments
-    ///
-    /// * `start` - The start of the line in world space
-    /// * `end` - The end of the line in world space
-    /// * `duration` - Duration (in seconds) that the line should show for -- a value of
-    ///   zero will show the line for 1 frame.
-    /// * `color` - Line color
-    pub fn line_colored(&mut self, start: Vec3, end: Vec3, duration: f32, color: Color) {
-        self.line_gradient(start, end, duration, color, color);
-    }
-
-    /// Draw a line in world space with a specified gradient color, or update an existing line
-    ///
-    /// # Arguments
-    ///
-    /// * `start` - The start of the line in world space
-    /// * `end` - The end of the line in world space
-    /// * `duration` - Duration (in seconds) that the line should show for -- a value of
-    ///   zero will show the line for 1 frame.
-    /// * `start_color` - Line color
-    /// * `end_color` - Line color
-    pub fn line_gradient(
-        &mut self,
-        start: Vec3,
-        end: Vec3,
-        duration: f32,
-        start_color: Color,
-        end_color: Color,
-    ) {
-        if self.positions.len() >= MAX_POINTS {
-            warn!("Tried to add a new line when existing number of lines was already at maximum, ignoring.");
-            return;
-        }
-
-        self.positions.push(start.into());
-        self.positions.push(end.into());
-        self.colors.push(start_color.into());
-        self.colors.push(end_color.into());
-        self.durations.push(duration);
-    }
-
-    // Returns the indices of the start and end positions of the nth line.
-    // The indices can also be used to access color data.
-    fn nth(&self, idx: usize) -> (usize, usize) {
-        let i = idx * 2;
-        (i, i + 1)
-    }
-
-    // Prepare [`ImmediateLinesStorage`] and [`RetainedLinesStorage`] for next
-    // frame.
-    // This clears the immediate mod buffers and tells the retained mode
-    // buffers to recompute expired lines list.
-    fn update(&mut self, dt: f32) {
-        // TODO: an actual line counter wouldn't hurt.
-        let mut i = 0;
-        let mut len = self.durations.len();
-        while i != len {
-            self.durations[i] -= dt;
-            // <= instead of < is fine here because this is always called AFTER sending the
-            // data to the mesh, so we're guaranteed at least a frame here.
-            if self.durations[i] <= 0.0 {
-                let (cur_s, cur_e) = self.nth(i);
-                let (last_s, last_e) = self.nth(len - 1);
-                self.positions.swap(cur_s, last_s);
-                self.positions.swap(cur_e, last_e);
-                self.colors.swap(cur_s, last_s);
-                self.colors.swap(cur_e, last_e);
-                self.durations.swap(i, len - 1);
-                len -= 1;
-            } else {
-                i += 1;
-            }
-        }
-
-        self.positions.truncate(len * 2);
-        self.colors.truncate(len * 2);
-        self.durations.truncate(len);
-    }
-}
diff --git a/src/render/lines/render_dim.rs b/src/render/lines/render_dim.rs
deleted file mode 100644
index 1c5f1a1b..00000000
--- a/src/render/lines/render_dim.rs
+++ /dev/null
@@ -1,345 +0,0 @@
-#[cfg(feature = "debug-render-3d")]
-pub mod r3d {
-    use bevy::{
-        core_pipeline::core_3d::Opaque3d,
-        pbr::{
-            DrawMesh, MeshPipeline, MeshPipelineKey, MeshUniform, SetMeshBindGroup,
-            SetMeshViewBindGroup, MAX_CASCADES_PER_LIGHT, MAX_DIRECTIONAL_LIGHTS,
-        },
-        prelude::*,
-        render::{
-            mesh::MeshVertexBufferLayout,
-            render_asset::RenderAssets,
-            render_phase::{DrawFunctions, RenderPhase, SetItemPipeline},
-            render_resource::{
-                BlendComponent, BlendFactor, BlendOperation, BlendState, ColorTargetState,
-                ColorWrites, CompareFunction, DepthBiasState, DepthStencilState, FragmentState,
-                FrontFace, MultisampleState, PipelineCache, PolygonMode, PrimitiveState,
-                PrimitiveTopology, RenderPipelineDescriptor, ShaderDefVal, SpecializedMeshPipeline,
-                SpecializedMeshPipelineError, SpecializedMeshPipelines, StencilFaceState,
-                StencilState, TextureFormat, VertexState,
-            },
-            texture::BevyDefault,
-            view::{ExtractedView, Msaa, ViewTarget},
-        },
-    };
-
-    use super::super::{DebugLinesConfig, RenderDebugLinesMesh, DEBUG_LINES_SHADER_HANDLE};
-
-    #[derive(Resource)]
-    pub(crate) struct DebugLinePipeline {
-        mesh_pipeline: MeshPipeline,
-        shader: Handle<Shader>,
-    }
-    impl FromWorld for DebugLinePipeline {
-        fn from_world(render_world: &mut World) -> Self {
-            DebugLinePipeline {
-                mesh_pipeline: render_world.resource::<MeshPipeline>().clone(),
-                shader: DEBUG_LINES_SHADER_HANDLE.typed(),
-            }
-        }
-    }
-
-    impl SpecializedMeshPipeline for DebugLinePipeline {
-        type Key = (bool, MeshPipelineKey);
-
-        fn specialize(
-            &self,
-            (depth_test, key): Self::Key,
-            layout: &MeshVertexBufferLayout,
-        ) -> Result<RenderPipelineDescriptor, SpecializedMeshPipelineError> {
-            let mut shader_defs = Vec::new();
-            shader_defs.push("LINES_3D".into());
-            if depth_test {
-                shader_defs.push("DEPTH_TEST_ENABLED".into());
-            }
-
-            shader_defs.push(ShaderDefVal::UInt(
-                "MAX_CASCADES_PER_LIGHT".to_string(),
-                MAX_CASCADES_PER_LIGHT as u32,
-            ));
-            shader_defs.push(ShaderDefVal::UInt(
-                "MAX_DIRECTIONAL_LIGHTS".to_string(),
-                MAX_DIRECTIONAL_LIGHTS as u32,
-            ));
-
-            let vertex_buffer_layout = layout.get_layout(&[
-                Mesh::ATTRIBUTE_POSITION.at_shader_location(0),
-                Mesh::ATTRIBUTE_COLOR.at_shader_location(1),
-            ])?;
-
-            let format = if key.contains(MeshPipelineKey::HDR) {
-                ViewTarget::TEXTURE_FORMAT_HDR
-            } else {
-                TextureFormat::bevy_default()
-            };
-
-            let bind_group_layout = match key.msaa_samples() {
-                1 => vec![self.mesh_pipeline.view_layout.clone()],
-                _ => {
-                    shader_defs.push("MULTISAMPLED".into());
-                    vec![self.mesh_pipeline.view_layout_multisampled.clone()]
-                }
-            };
-
-            Ok(RenderPipelineDescriptor {
-                vertex: VertexState {
-                    shader: self.shader.clone_weak(),
-                    entry_point: "vertex".into(),
-                    shader_defs: shader_defs.clone(),
-                    buffers: vec![vertex_buffer_layout],
-                },
-                fragment: Some(FragmentState {
-                    shader: self.shader.clone_weak(),
-                    shader_defs,
-                    entry_point: "fragment".into(),
-                    targets: vec![Some(ColorTargetState {
-                        format,
-                        blend: Some(BlendState::ALPHA_BLENDING),
-                        write_mask: ColorWrites::ALL,
-                    })],
-                }),
-                layout: bind_group_layout,
-                primitive: PrimitiveState {
-                    topology: PrimitiveTopology::LineList,
-                    ..default()
-                },
-                depth_stencil: Some(DepthStencilState {
-                    format: TextureFormat::Depth32Float,
-                    depth_write_enabled: true,
-                    depth_compare: CompareFunction::Greater,
-                    stencil: default(),
-                    bias: default(),
-                }),
-                multisample: MultisampleState {
-                    count: key.msaa_samples(),
-                    mask: !0,
-                    alpha_to_coverage_enabled: false,
-                },
-                label: Some("debug_line_pipeline_3d".into()),
-                push_constant_ranges: default(),
-            })
-        }
-    }
-
-    pub(crate) fn queue(
-        opaque_3d_draw_functions: Res<DrawFunctions<Opaque3d>>,
-        debug_line_pipeline: Res<DebugLinePipeline>,
-        mut pipelines: ResMut<SpecializedMeshPipelines<DebugLinePipeline>>,
-        mut pipeline_cache: ResMut<PipelineCache>,
-        render_meshes: Res<RenderAssets<Mesh>>,
-        msaa: Res<Msaa>,
-        material_meshes: Query<(Entity, &MeshUniform, &Handle<Mesh>), With<RenderDebugLinesMesh>>,
-        config: Res<DebugLinesConfig>,
-        mut views: Query<(&ExtractedView, &mut RenderPhase<Opaque3d>)>,
-    ) {
-        let always_on_top = *config.always_on_top.read().unwrap();
-        let draw_custom = opaque_3d_draw_functions
-            .read()
-            .get_id::<DrawDebugLines>()
-            .unwrap();
-        let msaa_key = MeshPipelineKey::from_msaa_samples(msaa.samples());
-        for (view, mut transparent_phase) in views.iter_mut() {
-            let view_matrix = view.transform.compute_matrix();
-            let view_row_2 = view_matrix.row(2);
-
-            let view_key = msaa_key | MeshPipelineKey::from_hdr(view.hdr);
-
-            for (entity, mesh_uniform, mesh_handle) in material_meshes.iter() {
-                if let Some(mesh) = render_meshes.get(mesh_handle) {
-                    let key = view_key
-                        | MeshPipelineKey::from_primitive_topology(mesh.primitive_topology);
-
-                    let pipeline = pipelines
-                        .specialize(
-                            &mut pipeline_cache,
-                            &debug_line_pipeline,
-                            (!always_on_top, key),
-                            &mesh.layout,
-                        )
-                        .unwrap();
-                    transparent_phase.add(Opaque3d {
-                        entity,
-                        pipeline,
-                        draw_function: draw_custom,
-                        distance: view_row_2.dot(mesh_uniform.transform.col(3)),
-                    });
-                }
-            }
-        }
-    }
-
-    pub(crate) type DrawDebugLines = (
-        SetItemPipeline,
-        SetMeshViewBindGroup<0>,
-        SetMeshBindGroup<1>,
-        DrawMesh,
-    );
-}
-
-#[cfg(feature = "debug-render-2d")]
-pub mod r2d {
-    use crate::render::lines::DebugLinesConfig;
-    use bevy::{
-        asset::Handle,
-        core_pipeline::core_2d::Transparent2d,
-        prelude::*,
-        render::{
-            mesh::MeshVertexBufferLayout,
-            render_asset::RenderAssets,
-            render_phase::{DrawFunctions, RenderPhase, SetItemPipeline},
-            render_resource::{
-                BlendState, ColorTargetState, ColorWrites, FragmentState, FrontFace,
-                MultisampleState, PipelineCache, PolygonMode, PrimitiveState, PrimitiveTopology,
-                RenderPipelineDescriptor, Shader, SpecializedMeshPipeline,
-                SpecializedMeshPipelineError, SpecializedMeshPipelines, TextureFormat, VertexState,
-            },
-            texture::BevyDefault,
-            view::{ExtractedView, Msaa, ViewTarget, VisibleEntities},
-        },
-        sprite::{
-            DrawMesh2d, Mesh2dHandle, Mesh2dPipeline, Mesh2dPipelineKey, Mesh2dUniform,
-            SetMesh2dBindGroup, SetMesh2dViewBindGroup,
-        },
-        utils::FloatOrd,
-    };
-
-    use super::super::{RenderDebugLinesMesh, DEBUG_LINES_SHADER_HANDLE};
-
-    #[derive(Resource)]
-    pub(crate) struct DebugLinePipeline {
-        mesh_pipeline: Mesh2dPipeline,
-        shader: Handle<Shader>,
-    }
-    impl FromWorld for DebugLinePipeline {
-        fn from_world(render_world: &mut World) -> Self {
-            DebugLinePipeline {
-                mesh_pipeline: render_world
-                    .get_resource::<Mesh2dPipeline>()
-                    .unwrap()
-                    .clone(),
-                shader: DEBUG_LINES_SHADER_HANDLE.typed(),
-            }
-        }
-    }
-
-    impl SpecializedMeshPipeline for DebugLinePipeline {
-        type Key = Mesh2dPipelineKey;
-
-        fn specialize(
-            &self,
-            key: Self::Key,
-            layout: &MeshVertexBufferLayout,
-        ) -> Result<RenderPipelineDescriptor, SpecializedMeshPipelineError> {
-            let vertex_buffer_layout = layout.get_layout(&[
-                Mesh::ATTRIBUTE_POSITION.at_shader_location(0),
-                Mesh::ATTRIBUTE_COLOR.at_shader_location(1),
-            ])?;
-
-            let format = if key.contains(Mesh2dPipelineKey::HDR) {
-                ViewTarget::TEXTURE_FORMAT_HDR
-            } else {
-                TextureFormat::bevy_default()
-            };
-
-            Ok(RenderPipelineDescriptor {
-                vertex: VertexState {
-                    shader: self.shader.clone_weak(),
-                    entry_point: "vertex".into(),
-                    shader_defs: vec![],
-                    buffers: vec![vertex_buffer_layout],
-                },
-                fragment: Some(FragmentState {
-                    shader: self.shader.clone_weak(),
-                    shader_defs: vec![],
-                    entry_point: "fragment".into(),
-                    targets: vec![Some(ColorTargetState {
-                        format,
-                        blend: Some(BlendState::ALPHA_BLENDING),
-                        write_mask: ColorWrites::ALL,
-                    })],
-                }),
-                layout: vec![self.mesh_pipeline.view_layout.clone()],
-                primitive: PrimitiveState {
-                    front_face: FrontFace::Ccw,
-                    cull_mode: None,
-                    unclipped_depth: false,
-                    polygon_mode: PolygonMode::Fill,
-                    conservative: false,
-                    topology: PrimitiveTopology::LineList,
-                    strip_index_format: None,
-                },
-                depth_stencil: None,
-                multisample: MultisampleState {
-                    count: key.msaa_samples(),
-                    mask: !0,
-                    alpha_to_coverage_enabled: false,
-                },
-                label: Some("debug_line_pipeline_2d".into()),
-                push_constant_ranges: default(),
-            })
-        }
-    }
-
-    pub(crate) fn queue(
-        config: Res<DebugLinesConfig>,
-        draw2d_functions: Res<DrawFunctions<Transparent2d>>,
-        debug_line_pipeline: Res<DebugLinePipeline>,
-        mut pipeline_cache: ResMut<PipelineCache>,
-        mut specialized_pipelines: ResMut<SpecializedMeshPipelines<DebugLinePipeline>>,
-        render_meshes: Res<RenderAssets<Mesh>>,
-        msaa: Res<Msaa>,
-        material_meshes: Query<(&Mesh2dUniform, &Mesh2dHandle), With<RenderDebugLinesMesh>>,
-        mut views: Query<(
-            &VisibleEntities,
-            &mut RenderPhase<Transparent2d>,
-            &ExtractedView,
-        )>,
-    ) {
-        let always_on_top = *config.always_on_top.read().unwrap();
-        for (visible_entities, mut phase, view) in views.iter_mut() {
-            let draw_mesh2d = draw2d_functions.read().get_id::<DrawDebugLines>().unwrap();
-            let msaa_key = Mesh2dPipelineKey::from_msaa_samples(msaa.samples());
-
-            for visible_entity in &visible_entities.entities {
-                if let Ok((uniform, mesh_handle)) = material_meshes.get(*visible_entity) {
-                    if let Some(mesh) = render_meshes.get(&mesh_handle.0) {
-                        let mesh_key = msaa_key
-                            | Mesh2dPipelineKey::from_primitive_topology(
-                                PrimitiveTopology::LineList,
-                            )
-                            | Mesh2dPipelineKey::from_hdr(view.hdr);
-
-                        let mesh_z = if always_on_top {
-                            f32::MAX
-                        } else {
-                            uniform.transform.w_axis.z
-                        };
-                        let pipeline = specialized_pipelines
-                            .specialize(
-                                &mut pipeline_cache,
-                                &debug_line_pipeline,
-                                mesh_key,
-                                &mesh.layout,
-                            )
-                            .unwrap();
-                        phase.add(Transparent2d {
-                            entity: *visible_entity,
-                            draw_function: draw_mesh2d,
-                            pipeline,
-                            sort_key: FloatOrd(mesh_z),
-                            batch_range: None,
-                        });
-                    }
-                }
-            }
-        }
-    }
-
-    pub(crate) type DrawDebugLines = (
-        SetItemPipeline,
-        SetMesh2dViewBindGroup<0>,
-        SetMesh2dBindGroup<1>,
-        DrawMesh2d,
-    );
-}
diff --git a/src/render/mod.rs b/src/render/mod.rs
index 07ea2751..87c33868 100644
--- a/src/render/mod.rs
+++ b/src/render/mod.rs
@@ -1,14 +1,10 @@
-use crate::render::lines::DebugLinesConfig;
-use crate::{plugin::RapierContext, render::lines::DrawLinesLabel};
+use crate::plugin::RapierContext;
 use bevy::prelude::*;
-use lines::DebugLines;
 use rapier::math::{Point, Real};
 use rapier::pipeline::{DebugRenderBackend, DebugRenderObject, DebugRenderPipeline};
 pub use rapier::pipeline::{DebugRenderMode, DebugRenderStyle};
 use std::fmt::Debug;
 
-mod lines;
-
 /// The color of a collider when using the debug-renderer.
 ///
 /// Insert this component alongside the collider component to
@@ -21,10 +17,6 @@ pub struct ColliderDebugColor(pub Color);
 /// its physics simulation. This is typically useful to check proper
 /// alignment between colliders and your own visual assets.
 pub struct RapierDebugRenderPlugin {
-    /// If set to `true`, depth-testing will be disabled when rendering,
-    /// meaning that the debug-render lines will always appear on top
-    /// of (won’t be occluded by) your own visual assets.
-    pub always_on_top: bool,
     /// Is the debug-rendering enabled?
     pub enabled: bool,
     /// Control some aspects of the render coloring.
@@ -40,7 +32,6 @@ impl Default for RapierDebugRenderPlugin {
     fn default() -> Self {
         Self {
             enabled: true,
-            always_on_top: true,
             style: DebugRenderStyle {
                 rigid_body_axes_length: 20.0,
                 ..Default::default()
@@ -52,7 +43,6 @@ impl Default for RapierDebugRenderPlugin {
     fn default() -> Self {
         Self {
             enabled: true,
-            always_on_top: false,
             style: DebugRenderStyle::default(),
             mode: DebugRenderMode::default(),
         }
@@ -60,12 +50,6 @@ impl Default for RapierDebugRenderPlugin {
 }
 
 impl RapierDebugRenderPlugin {
-    /// Initialize the render plugin such that its lines are always rendered on top of other objects.
-    pub fn always_on_top(mut self) -> Self {
-        self.always_on_top = true;
-        self
-    }
-
     /// Initialize the render plugin such that it is initially disabled.
     pub fn disabled(mut self) -> Self {
         self.enabled = false;
@@ -74,7 +58,7 @@ impl RapierDebugRenderPlugin {
 }
 
 /// Context to control some aspect of the debug-renderer after initialization.
-#[derive(Resource, Reflect, FromReflect)]
+#[derive(Resource, Reflect)]
 #[reflect(Resource)]
 pub struct DebugRenderContext {
     /// Is the debug-rendering currently enabled?
@@ -83,8 +67,6 @@ pub struct DebugRenderContext {
     /// to modify the set of rendered elements, and modify the default coloring rules.
     #[reflect(ignore)]
     pub pipeline: DebugRenderPipeline,
-    /// Are the debug-lines always rendered on top of other primitives?
-    pub always_on_top: bool,
 }
 
 impl Default for DebugRenderContext {
@@ -92,7 +74,6 @@ impl Default for DebugRenderContext {
         Self {
             enabled: true,
             pipeline: DebugRenderPipeline::default(),
-            always_on_top: true,
         }
     }
 }
@@ -101,28 +82,22 @@ impl Plugin for RapierDebugRenderPlugin {
     fn build(&self, app: &mut App) {
         app.register_type::<DebugRenderContext>();
 
-        app.add_plugin(lines::DebugLinesPlugin::always_on_top(self.always_on_top))
-            .insert_resource(DebugRenderContext {
-                enabled: self.enabled,
-                pipeline: DebugRenderPipeline::new(self.style, self.mode),
-                always_on_top: self.always_on_top,
-            })
-            .add_system(
-                debug_render_scene
-                    .in_base_set(CoreSet::PostUpdate)
-                    .before(DrawLinesLabel),
-            );
+        app.insert_resource(DebugRenderContext {
+            enabled: self.enabled,
+            pipeline: DebugRenderPipeline::new(self.style, self.mode),
+        })
+        .add_systems(PostUpdate, debug_render_scene);
     }
 }
 
-struct BevyLinesRenderBackend<'world, 'state, 'a, 'b, 'c> {
+struct BevyLinesRenderBackend<'world, 'state, 'a, 'b> {
     physics_scale: f32,
     custom_colors: Query<'world, 'state, &'a ColliderDebugColor>,
     context: &'b RapierContext,
-    lines: &'c mut DebugLines,
+    gizmos: Gizmos<'state>,
 }
 
-impl<'world, 'state, 'a, 'b, 'c> BevyLinesRenderBackend<'world, 'state, 'a, 'b, 'c> {
+impl<'world, 'state, 'a, 'b> BevyLinesRenderBackend<'world, 'state, 'a, 'b> {
     fn object_color(&self, object: DebugRenderObject, default: [f32; 4]) -> [f32; 4] {
         let color = match object {
             DebugRenderObject::Collider(h, ..) => self.context.colliders.get(h).and_then(|co| {
@@ -138,9 +113,7 @@ impl<'world, 'state, 'a, 'b, 'c> BevyLinesRenderBackend<'world, 'state, 'a, 'b,
     }
 }
 
-impl<'world, 'state, 'a, 'b, 'c> DebugRenderBackend
-    for BevyLinesRenderBackend<'world, 'state, 'a, 'b, 'c>
-{
+impl<'world, 'state, 'a, 'b> DebugRenderBackend for BevyLinesRenderBackend<'world, 'state, 'a, 'b> {
     #[cfg(feature = "dim2")]
     fn draw_line(
         &mut self,
@@ -151,10 +124,9 @@ impl<'world, 'state, 'a, 'b, 'c> DebugRenderBackend
     ) {
         let scale = self.physics_scale;
         let color = self.object_color(object, color);
-        self.lines.line_colored(
+        self.gizmos.line(
             [a.x * scale, a.y * scale, 0.0].into(),
             [b.x * scale, b.y * scale, 0.0].into(),
-            0.0,
             Color::hsla(color[0], color[1], color[2], color[3]),
         )
     }
@@ -169,10 +141,9 @@ impl<'world, 'state, 'a, 'b, 'c> DebugRenderBackend
     ) {
         let scale = self.physics_scale;
         let color = self.object_color(object, color);
-        self.lines.line_colored(
+        self.gizmos.line(
             [a.x * scale, a.y * scale, a.z * scale].into(),
             [b.x * scale, b.y * scale, b.z * scale].into(),
-            0.0,
             Color::hsla(color[0], color[1], color[2], color[3]),
         )
     }
@@ -181,20 +152,18 @@ impl<'world, 'state, 'a, 'b, 'c> DebugRenderBackend
 fn debug_render_scene(
     rapier_context: Res<RapierContext>,
     mut render_context: ResMut<DebugRenderContext>,
-    lines_config: ResMut<DebugLinesConfig>,
-    mut lines: ResMut<DebugLines>,
+    gizmos: Gizmos,
     custom_colors: Query<&ColliderDebugColor>,
 ) {
     if !render_context.enabled {
         return;
     }
 
-    *lines_config.always_on_top.write().unwrap() = render_context.always_on_top;
     let mut backend = BevyLinesRenderBackend {
         physics_scale: rapier_context.physics_scale,
         custom_colors,
         context: &rapier_context,
-        lines: &mut lines,
+        gizmos,
     };
 
     let unscaled_style = render_context.pipeline.style;