diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index a0b69042..9b24635c 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -52,10 +52,10 @@ jobs:
         run: cargo clippy --verbose -p bevy_rapier2d --examples
       - name: Clippy for bevy_rapier3d
         run: cargo clippy --verbose -p bevy_rapier3d --examples
-      - name: Clippy for bevy_rapier2d (debug-render, simd, serde)
-        run: cargo clippy --verbose -p bevy_rapier2d --features debug-render-2d,simd-stable,serde-serialize,picking-backend
-      - name: Clippy for bevy_rapier3d (debug-render, simd, serde)
-        run: cargo clippy --verbose -p bevy_rapier3d --features debug-render-3d,simd-stable,serde-serialize,picking-backend
+      - name: Clippy for bevy_rapier2d (debug-render, simd8, serde)
+        run: cargo clippy --verbose -p bevy_rapier2d --features debug-render-2d,simd8,serde-serialize,picking-backend
+      - name: Clippy for bevy_rapier3d (debug-render, simd8, serde)
+        run: cargo clippy --verbose -p bevy_rapier3d --features debug-render-3d,simd8,serde-serialize,picking-backend
       - name: Test for bevy_rapier2d
         run: cargo test --verbose -p bevy_rapier2d
       - name: Test for bevy_rapier3d
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 33cdcb36..bf4b8937 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,22 @@
 # Changelog
 
+## Unreleased
+
+### Modified
+
+- Update to bevy `0.20` (currently tracking bevy’s `main` branch).
+- Update from rapier `0.34` to rapier `0.35`.
+  See [rapier's changelog](https://github.com/dimforge/rapier/blob/master/CHANGELOG.md) for details.
+  - Removed the `simd-stable` and `simd-nightly` features: SIMD is now always enabled in rapier.
+    The new `simd8` feature widens the solver’s SIMD from 4 to 8 lanes (f32 only, needs an AVX2-capable
+    target). Just drop `simd-stable`/`simd-nightly` from your `Cargo.toml`.
+  - `SolverContactView::point` is now derived from the contact’s per-body anchors, and
+    `SolverContactView::{friction, restitution}` report the value of the contact’s manifold, since
+    rapier made both coefficients per-manifold instead of per-contact.
+  - The `enhanced-determinism` and `serde-serialize` features can’t currently be enabled together:
+    `enhanced-determinism` turns on `glam/scalar-math`, for which glam doesn’t implement `serde` on
+    `BVec3A`/`BVec4A`, which `bevy_reflect` requires when bevy’s `serialize` feature is on.
+
 ## v0.35.0 (12 July 2026)
 
 ### Modified
diff --git a/Cargo.toml b/Cargo.toml
index ffde69f8..3f2c891c 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -3,8 +3,8 @@ members = ["bevy_rapier2d", "bevy_rapier3d", "bevy_rapier_benches3d", "ci"]
 resolver = "2"
 
 [workspace.dependencies]
-rapier2d = "=0.33.0-alpha"
-rapier3d = "=0.33.0-alpha"
+rapier2d = "0.35.0"
+rapier3d = "0.35.0"
 
 [profile.dev]
 # Use slightly better optimization by default, as examples otherwise seem laggy.
@@ -14,13 +14,6 @@ opt-level = 1
 codegen-units = 1
 
 [patch.crates-io]
-#nalgebra = { path = "../nalgebra" }
-#parry2d = { path = "../parry/crates/parry2d" }
-#parry3d = { path = "../parry/crates/parry3d" }
 #rapier2d = { path = "../rapier/crates/rapier2d" }
 #rapier3d = { path = "../rapier/crates/rapier3d" }
-#nalgebra = { git = "https://github.com/dimforge/nalgebra", branch = "dev" }
-#parry2d = { git = "https://github.com/dimforge/parry", branch = "master" }
-#parry3d = { git = "https://github.com/dimforge/parry", branch = "master" }
-#rapier2d = { git = "https://github.com/dimforge/rapier", branch = "character-controller" }
-#rapier3d = { git = "https://github.com/dimforge/rapier", branch = "character-controller" }
+bevy = { git = "https://github.com/bevyengine/bevy", rev = "87a24bf95af15ed707fe634969994852155a2eac" }
diff --git a/bevy_rapier2d/Cargo.toml b/bevy_rapier2d/Cargo.toml
index 16f18aa6..6e12a7e6 100644
--- a/bevy_rapier2d/Cargo.toml
+++ b/bevy_rapier2d/Cargo.toml
@@ -49,11 +49,12 @@ debug-render-3d = [
 rapier-debug-render = ["rapier2d/debug-render"]
 
 parallel = ["rapier2d/parallel"]
-simd-stable = ["rapier2d/simd-stable"]
-simd-nightly = ["rapier2d/simd-nightly"]
+simd8 = ["rapier2d/simd8"]
 serde-serialize = ["rapier2d/serde-serialize", "bevy/serialize", "serde"]
 enhanced-determinism = ["rapier2d/enhanced-determinism"]
 headless = []
+# Depends on bevy_egui / bevy-inspector-egui / bevy_mod_debugdump which don't support bevy main yet.
+egui-examples = []
 picking-backend = ["bevy/bevy_picking", "bevy/bevy_render"]
 async-collider = [
     "bevy/bevy_asset",
@@ -64,15 +65,15 @@ async-collider = [
 to-bevy-mesh = ["bevy/bevy_render", "bevy/bevy_asset"]
 
 [dependencies]
-bevy = { version = "0.19.0", default-features = false, features = ["std"] }
-nalgebra = { version = "0.34.2", features = ["convert-glam032"] }
+bevy = { version = "0.20.0-dev", default-features = false, features = ["std"] }
+nalgebra = { version = "0.35", features = ["convert-glam033"] }
 rapier2d = { workspace = true }
 bitflags = "2.10.0"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
 
 [dev-dependencies]
-bevy = { version = "0.19.0", default-features = false, features = [
+bevy = { version = "0.20.0-dev", default-features = false, features = [
     "x11",
     "bevy_state",
     "bevy_window",
@@ -92,10 +93,10 @@ bevy = { version = "0.19.0", default-features = false, features = [
 ] }
 oorandom = "11"
 approx = "0.5.1"
-glam = { version = "0.32.1", features = ["approx"] }
-bevy-inspector-egui = "0.37.0"
-bevy_egui = "0.40.0"
-bevy_mod_debugdump = "0.16.0"
+glam = { version = "0.33", features = ["approx"] }
+#bevy-inspector-egui = "0.37.0" # FIXME: re-enable once it supports bevy main
+#bevy_egui = "0.40.0" # FIXME: re-enable once it supports bevy main
+#bevy_mod_debugdump = "0.16.0" # FIXME: re-enable once it supports bevy main
 serde_json = "1.0"
 
 [package.metadata.docs.rs]
@@ -104,10 +105,14 @@ features = ["debug-render-2d", "serde-serialize"]
 
 [package.metadata.cargo-all-features]
 
-denylist = ["simd-nightly"]
-
-# Features "dim2" and "dim3" are incompatible, so skip permutations including them
-skip_feature_sets = [["enhanced-determinism", "simd-stable"]]
+# Features "dim2" and "dim3" are incompatible, so skip permutations including them.
+# `enhanced-determinism` + `serde-serialize` is skipped because the former enables
+# `glam/scalar-math`, for which glam doesn’t implement `serde` on `BVec3A`/`BVec4A`,
+# which `bevy_reflect` needs when bevy’s `serialize` feature is on.
+skip_feature_sets = [
+    ["enhanced-determinism", "simd8"],
+    ["enhanced-determinism", "serde-serialize"],
+]
 
 always_include_features = ["dim2"]
 
@@ -115,3 +120,11 @@ always_include_features = ["dim2"]
 # This is useful for reducing the number of combinations run for a crate with a large amount of features,
 # since in most cases a bug just needs a small set of 2-3 features to reproduce.
 max_combination_size = 1
+
+[[example]]
+name = "testbed2"
+required-features = ["egui-examples"]
+
+[[example]]
+name = "debugdump2"
+required-features = ["egui-examples"]
diff --git a/bevy_rapier3d/Cargo.toml b/bevy_rapier3d/Cargo.toml
index 39bbe7e7..a76eddec 100644
--- a/bevy_rapier3d/Cargo.toml
+++ b/bevy_rapier3d/Cargo.toml
@@ -50,11 +50,12 @@ debug-render-3d = [
 rapier-debug-render = ["rapier3d/debug-render"]
 
 parallel = ["rapier3d/parallel"]
-simd-stable = ["rapier3d/simd-stable"]
-simd-nightly = ["rapier3d/simd-nightly"]
+simd8 = ["rapier3d/simd8"]
 serde-serialize = ["rapier3d/serde-serialize", "bevy/serialize", "serde"]
 enhanced-determinism = ["rapier3d/enhanced-determinism"]
 headless = []
+# Depends on bevy_egui / bevy-inspector-egui / bevy_mod_debugdump which don't support bevy main yet.
+egui-examples = []
 picking-backend = ["bevy/bevy_picking", "bevy/bevy_render"]
 async-collider = [
     "bevy/bevy_asset",
@@ -65,18 +66,19 @@ async-collider = [
 to-bevy-mesh = ["bevy/bevy_render", "bevy/bevy_asset"]
 
 [dependencies]
-bevy = { version = "0.19.0", default-features = false, features = ["std"] }
-nalgebra = { version = "0.34.2", features = ["convert-glam032"] }
+bevy = { version = "0.20.0-dev", default-features = false, features = ["std"] }
+nalgebra = { version = "0.35", features = ["convert-glam033"] }
 rapier3d = { workspace = true }
 bitflags = "2.10.0"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
 
 [dev-dependencies]
-bevy = { version = "0.19.0", default-features = false, features = [
+bevy = { version = "0.20.0-dev", default-features = false, features = [
     "bevy_window",
     "x11",
     "tonemapping_luts",
+    "zstd_rust",
     "bevy_state",
     "bevy_debug_stepping",
     "bevy_text",
@@ -86,10 +88,10 @@ bevy = { version = "0.19.0", default-features = false, features = [
     "bevy_gizmos_render",
 ] }
 approx = "0.5.1"
-glam = { version = "0.32.1", features = ["approx"] }
-bevy-inspector-egui = "0.37.0"
-bevy_egui = "0.40.0"
-bevy_mod_debugdump = "0.16.0"
+glam = { version = "0.33", features = ["approx"] }
+#bevy-inspector-egui = "0.37.0" # FIXME: re-enable once it supports bevy main
+#bevy_egui = "0.40.0" # FIXME: re-enable once it supports bevy main
+#bevy_mod_debugdump = "0.16.0" # FIXME: re-enable once it supports bevy main
 
 [package.metadata.docs.rs]
 # Enable all the features when building the docs on docs.rs
@@ -97,10 +99,14 @@ features = ["debug-render-3d", "serde-serialize", "async-collider"]
 
 [package.metadata.cargo-all-features]
 
-denylist = ["simd-nightly"]
-
-# Features "dim2" and "dim3" are incompatible, so skip permutations including them
-skip_feature_sets = [["enhanced-determinism", "simd-stable"]]
+# Features "dim2" and "dim3" are incompatible, so skip permutations including them.
+# `enhanced-determinism` + `serde-serialize` is skipped because the former enables
+# `glam/scalar-math`, for which glam doesn’t implement `serde` on `BVec3A`/`BVec4A`,
+# which `bevy_reflect` needs when bevy’s `serialize` feature is on.
+skip_feature_sets = [
+    ["enhanced-determinism", "simd8"],
+    ["enhanced-determinism", "serde-serialize"],
+]
 
 always_include_features = ["dim3"]
 
@@ -115,4 +121,8 @@ required-features = ["picking-backend"]
 
 [[example]]
 name = "testbed3"
-required-features = ["picking-backend"]
+required-features = ["picking-backend", "egui-examples"]
+
+[[example]]
+name = "debugdump3"
+required-features = ["egui-examples"]
diff --git a/bevy_rapier_benches3d/Cargo.toml b/bevy_rapier_benches3d/Cargo.toml
index a6e8661b..0c33e203 100644
--- a/bevy_rapier_benches3d/Cargo.toml
+++ b/bevy_rapier_benches3d/Cargo.toml
@@ -5,13 +5,14 @@ description = "Custom benchmarks for bevy_rapier."
 readme = "./README.md"
 license = "Apache-2.0"
 edition = "2021"
+publish = false
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-rapier3d = { workspace = true }
+rapier3d = { workspace = true, features = ["profiler"] }
 bevy_rapier3d = { version = "0.35", path = "../bevy_rapier3d" }
-bevy = { version = "0.19.0", default-features = false }
+bevy = { version = "0.20.0-dev", default-features = false }
 
 [dev-dependencies]
 divan = "0.1"
diff --git a/ci/Cargo.toml b/ci/Cargo.toml
index 41a600c5..64951bbf 100644
--- a/ci/Cargo.toml
+++ b/ci/Cargo.toml
@@ -2,9 +2,10 @@
 name = "ci"
 version = "0.1.0"
 edition = "2021"
+publish = false
 
 [dependencies]
-bevy = "0.19.0"
+bevy = { version = "0.20.0-dev" }
 bevy_rapier3d = { version = "0.35", path = "../bevy_rapier3d" }
 bevy_rapier2d = { version = "0.35", path = "../bevy_rapier2d" }
 
diff --git a/publish.sh b/publish.sh
index c9413ca8..b1422508 100755
--- a/publish.sh
+++ b/publish.sh
@@ -1,25 +1,87 @@
-#!/bin/sh
-set -e
+#! /bin/bash
+#
+# Publishes both bevy_rapier crates to crates.io with a single
+# `cargo publish --workspace` invocation:
+#
+#   - bevy_rapier2d / bevy_rapier3d
+#
+# Cargo computes the dependency order itself and waits for each crate to become
+# available on the registry before publishing the ones that depend on it. The
+# `bevy_rapier_benches3d` and `ci` crates are marked `publish = false`, so
+# `--workspace` skips them.
+#
+# Why this script exists
+# ----------------------
+# Both crates share a single source tree at `<repo>/src`, referenced from each
+# manifest as `path = "../src/lib.rs"`. That path points outside the crate
+# directory, which `cargo publish` refuses to package.
+#
+# To work around it *only during publishing*, this script temporarily, for each
+# affected crate:
+#   1. rewrites the `[lib] path` to a crate-local one (i.e. `src/lib.rs`), and
+#   2. creates a symlink inside the crate pointing at the shared source tree.
+#
+# Cargo follows the symlink and bundles the real source into each `.crate`. A
+# trap restores the manifests and removes the symlinks on exit (including on
+# error or Ctrl-C), leaving the tree exactly as it was.
+#
+# Extra arguments are forwarded to `cargo publish`, e.g.:
+#   ./publish.sh --dry-run
+#   ./publish.sh --token "$CARGO_TOKEN"
+#
+# Requires cargo >= 1.90 (for `cargo publish --workspace`).
 
-tmp=$(mktemp -d)
+set -euo pipefail
 
-echo "$tmp"
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+cd "$ROOT"
 
-cp -r src "$tmp"/.
-cp -r LICENSE README.md "$tmp"/.
+# Crates sharing `src/lib.rs`.
+SRC_CRATES=(bevy_rapier2d bevy_rapier3d)
 
-### Publish the 2D version.
-sed 's#\.\./src#src#g' bevy_rapier2d/Cargo.toml > "$tmp"/Cargo.toml
-gawk -i inplace '{ gsub("../README.md", "README.md") }; { print }' "$tmp"/Cargo.toml
-currdir=$(pwd)
-cd "$tmp" && cargo publish
-cd "$currdir" || exit
+# Refuse to run on a dirty tree: the only diff during publishing must be our own
+# temporary edits, so the restore at the end is guaranteed to be correct.
+if [ -n "$(git status --porcelain)" ]; then
+    echo "error: working tree is not clean. Commit or stash changes before publishing." >&2
+    exit 1
+fi
 
+backup_dir="$(mktemp -d)"
 
-### Publish the 3D version.
-sed 's#\.\./src#src#g' bevy_rapier3d/Cargo.toml > "$tmp"/Cargo.toml
-gawk -i inplace '{ gsub("../README.md", "README.md") }; { print }' "$tmp"/Cargo.toml
-cp -r LICENSE README.md "$tmp"/.
-cd "$tmp" && cargo publish
+cleanup() {
+    for crate in "${SRC_CRATES[@]}"; do
+        # Remove the symlink we created (only if it is in fact a symlink).
+        [ -L "$crate/src" ] && rm -f "$crate/src"
+        # Restore the original manifest.
+        if [ -f "$backup_dir/$crate.Cargo.toml" ]; then
+            cp "$backup_dir/$crate.Cargo.toml" "$crate/Cargo.toml"
+        fi
+    done
+    rm -rf "$backup_dir"
+}
+trap cleanup EXIT INT TERM
 
-rm -rf "$tmp"
+# Apply the temporary symlink layout: the shared `src` dir lives at the repo
+# root and is linked into each crate, while the manifest's `[lib] path` is made
+# crate-local.
+link_shared() {
+    local crate="$1"
+    local manifest="$crate/Cargo.toml"
+
+    cp "$manifest" "$backup_dir/$crate.Cargo.toml"
+
+    local tmp
+    tmp="$(mktemp)"
+    sed 's#path = "\.\./src/lib.rs"#path = "src/lib.rs"#' "$manifest" > "$tmp"
+    mv "$tmp" "$manifest"
+
+    ln -s ../src "$crate/src"
+}
+
+for crate in "${SRC_CRATES[@]}"; do
+    link_shared "$crate"
+done
+
+# Publish the whole workspace. `--allow-dirty` is required because our temporary
+# edits make the tree dirty; the clean-tree check above keeps that safe.
+cargo publish --workspace --allow-dirty "$@"
diff --git a/src/plugin/context/mod.rs b/src/plugin/context/mod.rs
index 69dc4949..a9c625fe 100644
--- a/src/plugin/context/mod.rs
+++ b/src/plugin/context/mod.rs
@@ -432,16 +432,16 @@ impl<'a> RapierQueryPipeline<'a> {
     ///
     /// # Parameters
     /// * `point` - The point to project.
-    /// * `solid` - If this is set to `true` then the collider shapes are considered to
-    ///   be plain (if the point is located inside of a plain shape, its projection is the point
-    ///   itself). If it is set to `false` the collider shapes are considered to be hollow
-    ///   (if the point is located inside of an hollow shape, it is projected on the shape's
-    ///   boundary).
+    /// * `max_dist` - Colliders further away than this distance from the point are ignored.
+    ///   Pass `Real::MAX` to search among all the colliders.
     pub fn project_point_and_get_feature(
         &self,
         point: Vect,
+        max_dist: Real,
     ) -> Option<(Entity, PointProjection, FeatureId)> {
-        let (h, proj, fid) = self.query_pipeline.project_point_and_get_feature(point)?;
+        let (h, proj, fid) = self
+            .query_pipeline
+            .project_point_and_get_feature(point, max_dist)?;
 
         Some((
             self.collider_entity(h),
@@ -622,8 +622,8 @@ impl RapierRigidBodySet {
         let impulse_joint = joints.impulse_joints.get(*joint_handle)?;
         let revolute_joint = impulse_joint.data.as_revolute()?;
 
-        let rb1 = &self.bodies[impulse_joint.body1];
-        let rb2 = &self.bodies[impulse_joint.body2];
+        let rb1 = &self.bodies[impulse_joint.body1()];
+        let rb2 = &self.bodies[impulse_joint.body2()];
         Some(revolute_joint.angle(rb1.rotation(), rb2.rotation()))
     }
 }
@@ -658,7 +658,8 @@ pub struct RapierContextSimulation {
     /// The integration parameters, controlling various low-level coefficient of the simulation.
     pub integration_parameters: IntegrationParameters,
     #[cfg_attr(feature = "serde-serialize", serde(skip))]
-    pub(crate) event_handler: Option<Box<dyn EventHandler>>,
+    // NOTE: rapier only requires `EventHandler: Sync`, but bevy components must be `Send` too.
+    pub(crate) event_handler: Option<Box<dyn EventHandler + Send>>,
     // This maps the handles of colliders that have been deleted since the last
     // physics update, to the entity they was attached to.
     /// NOTE: this map is needed to handle despawning.
@@ -725,6 +726,7 @@ impl RapierContextSimulation {
         let event_handler = self
             .event_handler
             .as_deref()
+            .map(|handler| handler as &dyn EventHandler)
             .or_else(|| event_queue.as_ref().map(|q| q as &dyn EventHandler))
             .unwrap_or(&() as &dyn EventHandler);
 
diff --git a/src/plugin/narrow_phase.rs b/src/plugin/narrow_phase.rs
index 4870360c..d84d5210 100644
--- a/src/plugin/narrow_phase.rs
+++ b/src/plugin/narrow_phase.rs
@@ -1,7 +1,9 @@
 use crate::math::{Real, Vect};
 use crate::plugin::context::{RapierContextColliders, RapierContextSimulation, RapierRigidBodySet};
 use bevy::prelude::*;
-use rapier::geometry::{Contact, ContactManifold, ContactPair, SolverContact, SolverFlags};
+use rapier::geometry::{
+    Contact, ContactManifold, ContactPair, SolverContact, SolverFlags, NEW_CONTACT_BIT,
+};
 
 impl RapierContextSimulation {
     /// All the contact pairs involving the non-sensor collider attached to the given entity.
@@ -214,7 +216,11 @@ impl ContactManifoldView<'_> {
             .data
             .solver_contacts
             .get(i)
-            .map(|raw| SolverContactView { raw })
+            .map(|raw| SolverContactView {
+                raw,
+                manifold: self.raw,
+                rigidbody_set: self.rigidbody_set,
+            })
     }
 
     /// The contacts that will be seen by the constraints solver for computing forces.
@@ -223,7 +229,11 @@ impl ContactManifoldView<'_> {
             .data
             .solver_contacts
             .iter()
-            .map(|raw| SolverContactView { raw })
+            .map(|raw| SolverContactView {
+                raw,
+                manifold: self.raw,
+                rigidbody_set: self.rigidbody_set,
+            })
     }
 
     /// The relative dominance of the bodies involved in this contact manifold.
@@ -304,25 +314,32 @@ impl ContactView<'_> {
 pub struct SolverContactView<'a> {
     /// The raw solver contact from Rapier.
     pub raw: &'a SolverContact,
+    /// The contact manifold this solver contact is part of.
+    pub manifold: &'a ContactManifold,
+    rigidbody_set: &'a RapierRigidBodySet,
 }
 
 impl SolverContactView<'_> {
     /// The world-space contact point.
     pub fn point(&self) -> Vect {
-        self.raw.point
+        let (p1, p2) = self
+            .manifold
+            .data
+            .solver_contact_world_points(self.raw, &self.rigidbody_set.bodies);
+        (p1 + p2) / 2.0
     }
     /// The distance between the two original contacts points along the contact normal.
     /// If negative, this is measures the penetration depth.
     pub fn dist(&self) -> Real {
         self.raw.dist
     }
-    /// The effective friction coefficient at this contact point.
+    /// The effective friction coefficient of this contact's manifold.
     pub fn friction(&self) -> Real {
-        self.raw.friction
+        self.manifold.data.friction
     }
-    /// The effective restitution coefficient at this contact point.
+    /// The effective restitution coefficient of this contact's manifold.
     pub fn restitution(&self) -> Real {
-        self.raw.restitution
+        self.manifold.data.restitution
     }
     /// The desired tangent relative velocity at the contact point.
     ///
@@ -333,7 +350,7 @@ impl SolverContactView<'_> {
     }
     /// Whether or not this contact existed during the last timestep.
     pub fn is_new(&self) -> bool {
-        self.raw.is_new == 1.0
+        self.raw.contact_id[0] & NEW_CONTACT_BIT != 0
     }
 }
 
diff --git a/src/plugin/plugin.rs b/src/plugin/plugin.rs
index 3c19cc75..1c616148 100644
--- a/src/plugin/plugin.rs
+++ b/src/plugin/plugin.rs
@@ -538,7 +538,7 @@ mod test {
                     .single(app.world())
                     .unwrap();
 
-                println!("{:?}", &rigidbody_set.entity2body);
+                println!("{:?}", rigidbody_set.entity2body);
             }
             let rigidbody_set = app
                 .world_mut()
@@ -624,7 +624,7 @@ mod test {
             let mut context_query = app.world_mut().query::<RapierContext>();
             let context = context_query.single(app.world()).unwrap();
 
-            println!("{:?}", &context.rigidbody_set.entity2body);
+            println!("{:?}", context.rigidbody_set.entity2body);
             assert_eq!(context.rigidbody_set.entity2body.len(), 0);
         }
 
@@ -694,7 +694,7 @@ mod test {
             let mut context_query = app.world_mut().query::<RapierContext>();
             let context = context_query.single(app.world()).unwrap();
 
-            println!("{:#?}", &context.rigidbody_set.bodies);
+            println!("{:#?}", context.rigidbody_set.bodies);
         }
 
         pub fn init_rapier_configuration(
diff --git a/src/reflect/mod.rs b/src/reflect/mod.rs
index 1db98e64..52eb9cbd 100644
--- a/src/reflect/mod.rs
+++ b/src/reflect/mod.rs
@@ -66,6 +66,14 @@ pub struct IntegrationParametersWrapper {
     #[reflect(remote = SpringCoefficientsWrapper)]
     pub contact_softness: SpringCoefficients<Real>,
 
+    /// Softness coefficients for contact constraints where one side is a fixed body.
+    ///
+    /// Stiffer than [`IntegrationParameters::contact_softness`] by default so bodies are
+    /// held firmly against static walls/floors; set equal to
+    /// [`IntegrationParameters::contact_softness`] to disable.
+    #[reflect(remote = SpringCoefficientsWrapper)]
+    pub static_contact_softness: SpringCoefficients<Real>,
+
     /// The coefficient in `[0, 1]` applied to warmstart impulses, i.e., impulses that are used as the
     /// initial solution (instead of 0) at the next simulation step.
     ///
@@ -101,16 +109,44 @@ pub struct IntegrationParametersWrapper {
     ///
     /// This value is implicitly scaled by [`IntegrationParameters::length_unit`].
     pub normalized_prediction_distance: Real,
+    /// Maximum linear velocity a body may have after each solver substep (default: `400.0` m/s).
+    ///
+    /// Bounding per-step travel keeps CCD and speculative contacts reliable (a body cannot be
+    /// flung or crushed to an arbitrary speed); set to `Real::MAX` to disable.
+    ///
+    /// This value is implicitly scaled by [`IntegrationParameters::length_unit`].
+    pub normalized_max_linear_velocity: Real,
     /// The number of solver iterations run by the constraints solver for calculating forces (default: `4`).
     pub num_solver_iterations: usize,
     /// Number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration (default: `1`).
     pub num_internal_pgs_iterations: usize,
     /// The number of stabilization iterations run at each solver iterations (default: `1`).
     pub num_internal_stabilization_iterations: usize,
-    /// Minimum number of dynamic bodies in each active island (default: `128`).
-    pub min_island_size: usize,
     /// Maximum number of substeps performed by the  solver (default: `1`).
     pub max_ccd_substeps: usize,
+    /// If enabled, contact manifolds of a collider pair sharing (nearly) the same normal are merged
+    /// into one "cluster" manifold before constraint generation (default: `true`, 3D only), so at
+    /// most 4 contact points are solved per contact plane — a large solver win on composite shapes
+    /// (meshes, heightfields, compounds, voxels) that emit one manifold per subshape.
+    pub contact_clustering: bool,
+    /// If enabled, a contact pair whose relative pose moved less than
+    /// [`IntegrationParameters::normalized_contact_recycle_distance`] since its last full
+    /// narrow-phase update skips contact determination and keeps its existing points
+    /// (default: `true`) — a large speed-up for quasi-static scenes.
+    pub contact_recycling: bool,
+    /// Maximum relative-pose drift (translation plus rotation-arc) below which a contact pair may
+    /// be recycled instead of fully updated (default: `0.05`, multiplied by
+    /// [`IntegrationParameters::length_unit`]). Only used when
+    /// [`IntegrationParameters::contact_recycling`] is enabled.
+    pub normalized_contact_recycle_distance: Real,
+    /// If `false`, friction is only solved during the unbiased (relax) pass of each substep instead
+    /// of both passes (default: `false`, the "no friction when applying bias" rule).
+    pub friction_in_bias_pass: bool,
+    /// If enabled, impulse-joint constraints are warm-started like contacts: impulses accumulated
+    /// by the previous step are re-applied (scaled by
+    /// [`IntegrationParameters::warmstart_coefficient`]) at the start of each substep instead of
+    /// restarting from zero (default: `false`). Multibody joints are unaffected.
+    pub warmstart_joints: bool,
 }
 
 // These structs are duplicated in their entirety due to [`FrictionModel`] not being available in 2D, and `bevy::reflect_remote` not supporting conditional fields.
@@ -137,6 +173,14 @@ pub struct IntegrationParametersWrapper {
     #[reflect(remote = SpringCoefficientsWrapper)]
     pub contact_softness: SpringCoefficients<Real>,
 
+    /// Softness coefficients for contact constraints where one side is a fixed body.
+    ///
+    /// Stiffer than [`IntegrationParameters::contact_softness`] by default so bodies are
+    /// held firmly against static walls/floors; set equal to
+    /// [`IntegrationParameters::contact_softness`] to disable.
+    #[reflect(remote = SpringCoefficientsWrapper)]
+    pub static_contact_softness: SpringCoefficients<Real>,
+
     /// The coefficient in `[0, 1]` applied to warmstart impulses, i.e., impulses that are used as the
     /// initial solution (instead of 0) at the next simulation step.
     ///
@@ -172,16 +216,44 @@ pub struct IntegrationParametersWrapper {
     ///
     /// This value is implicitly scaled by [`IntegrationParameters::length_unit`].
     pub normalized_prediction_distance: Real,
+    /// Maximum linear velocity a body may have after each solver substep (default: `400.0` m/s).
+    ///
+    /// Bounding per-step travel keeps CCD and speculative contacts reliable (a body cannot be
+    /// flung or crushed to an arbitrary speed); set to `Real::MAX` to disable.
+    ///
+    /// This value is implicitly scaled by [`IntegrationParameters::length_unit`].
+    pub normalized_max_linear_velocity: Real,
     /// The number of solver iterations run by the constraints solver for calculating forces (default: `4`).
     pub num_solver_iterations: usize,
     /// Number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration (default: `1`).
     pub num_internal_pgs_iterations: usize,
     /// The number of stabilization iterations run at each solver iterations (default: `1`).
     pub num_internal_stabilization_iterations: usize,
-    /// Minimum number of dynamic bodies in each active island (default: `128`).
-    pub min_island_size: usize,
     /// Maximum number of substeps performed by the  solver (default: `1`).
     pub max_ccd_substeps: usize,
+    /// If enabled, contact manifolds of a collider pair sharing (nearly) the same normal are merged
+    /// into one "cluster" manifold before constraint generation (default: `true`, 3D only), so at
+    /// most 4 contact points are solved per contact plane — a large solver win on composite shapes
+    /// (meshes, heightfields, compounds, voxels) that emit one manifold per subshape.
+    pub contact_clustering: bool,
+    /// If enabled, a contact pair whose relative pose moved less than
+    /// [`IntegrationParameters::normalized_contact_recycle_distance`] since its last full
+    /// narrow-phase update skips contact determination and keeps its existing points
+    /// (default: `true`) — a large speed-up for quasi-static scenes.
+    pub contact_recycling: bool,
+    /// Maximum relative-pose drift (translation plus rotation-arc) below which a contact pair may
+    /// be recycled instead of fully updated (default: `0.05`, multiplied by
+    /// [`IntegrationParameters::length_unit`]). Only used when
+    /// [`IntegrationParameters::contact_recycling`] is enabled.
+    pub normalized_contact_recycle_distance: Real,
+    /// If `false`, friction is only solved during the unbiased (relax) pass of each substep instead
+    /// of both passes (default: `false`, the "no friction when applying bias" rule).
+    pub friction_in_bias_pass: bool,
+    /// If enabled, impulse-joint constraints are warm-started like contacts: impulses accumulated
+    /// by the previous step are re-applied (scaled by
+    /// [`IntegrationParameters::warmstart_coefficient`]) at the start of each substep instead of
+    /// restarting from zero (default: `false`). Multibody joints are unaffected.
+    pub warmstart_joints: bool,
     /// Friction models used for all contact constraints between two rigid-bodies.
     #[reflect(remote = FrictionModelWrapper)]
     pub friction_model: FrictionModel,