From 6e6131839b10229c59950fef827a64a9722fbbea Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Tue, 2 Jul 2024 18:02:28 +0200
Subject: [PATCH 01/16] added initial benchmarks, similar to bevy_xpbd

---
 benches_common/Cargo.toml      |  9 +++++
 benches_common/src/lib.rs      | 63 ++++++++++++++++++++++++++++++++++
 bevy_rapier3d/Cargo.toml       |  6 ++++
 bevy_rapier3d/benches/cubes.rs | 47 +++++++++++++++++++++++++
 4 files changed, 125 insertions(+)
 create mode 100644 benches_common/Cargo.toml
 create mode 100644 benches_common/src/lib.rs
 create mode 100644 bevy_rapier3d/benches/cubes.rs

diff --git a/benches_common/Cargo.toml b/benches_common/Cargo.toml
new file mode 100644
index 00000000..e3068d18
--- /dev/null
+++ b/benches_common/Cargo.toml
@@ -0,0 +1,9 @@
+[package]
+name = "benches_common"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+bevy = { version = "0.14.0-rc.3", default-features = false }
+bevy_rapier3d = { path = "../bevy_rapier3d", default-features = false }
+criterion = "0.5"
diff --git a/benches_common/src/lib.rs b/benches_common/src/lib.rs
new file mode 100644
index 00000000..70aa35bf
--- /dev/null
+++ b/benches_common/src/lib.rs
@@ -0,0 +1,63 @@
+use bevy::{
+    app::PluginsState,
+    prelude::*,
+    render::{
+        settings::{RenderCreation, WgpuSettings},
+        RenderPlugin,
+    },
+    scene::ScenePlugin,
+    time::TimeUpdateStrategy,
+};
+use bevy_rapier3d::prelude::*;
+use criterion::{measurement::Measurement, BatchSize, Bencher};
+
+pub fn bench_app<M: Measurement>(
+    bencher: &mut Bencher<'_, M>,
+    steps: u32,
+    setup: impl Fn(&mut App),
+) {
+    bencher.iter_batched_ref(
+        move || {
+            let mut app = App::new();
+
+            app.add_plugins((
+                WindowPlugin::default(),
+                MinimalPlugins,
+                AssetPlugin::default(),
+                ScenePlugin,
+                RenderPlugin {
+                    render_creation: RenderCreation::Automatic(WgpuSettings {
+                        backends: None,
+                        ..Default::default()
+                    }),
+                    ..Default::default()
+                },
+                ImagePlugin::default(),
+                HierarchyPlugin,
+                TransformPlugin,
+                RapierPhysicsPlugin::<()>::default(),
+            ));
+
+            // 60 physics
+            app.insert_resource(TimeUpdateStrategy::ManualDuration(
+                std::time::Duration::from_secs_f32(1f32 / 60f32),
+            ));
+
+            setup(&mut app);
+
+            while app.plugins_state() != PluginsState::Ready {
+                bevy::tasks::tick_global_task_pools_on_main_thread();
+            }
+
+            app.finish();
+            app.cleanup();
+            app
+        },
+        move |app| {
+            for _ in 0..steps {
+                app.update();
+            }
+        },
+        BatchSize::PerIteration,
+    );
+}
diff --git a/bevy_rapier3d/Cargo.toml b/bevy_rapier3d/Cargo.toml
index 000b6c03..c817f66c 100644
--- a/bevy_rapier3d/Cargo.toml
+++ b/bevy_rapier3d/Cargo.toml
@@ -53,6 +53,7 @@ log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
 
 [dev-dependencies]
+benches_common = { path = "../benches_common" }
 bevy = { version = "0.14.0-rc.3", default-features = false, features = [
     "x11",
     "tonemapping_luts",
@@ -60,7 +61,12 @@ bevy = { version = "0.14.0-rc.3", default-features = false, features = [
 ] }
 approx = "0.5.1"
 glam = { version = "0.27", features = ["approx"] }
+criterion = { version = "0.5", features = ["html_reports"] }
 
 [package.metadata.docs.rs]
 # Enable all the features when building the docs on docs.rs
 features = ["debug-render-3d", "serde-serialize"]
+
+[[bench]]
+name = "cubes"
+harness = false
diff --git a/bevy_rapier3d/benches/cubes.rs b/bevy_rapier3d/benches/cubes.rs
new file mode 100644
index 00000000..0377f21d
--- /dev/null
+++ b/bevy_rapier3d/benches/cubes.rs
@@ -0,0 +1,47 @@
+use std::time::Duration;
+
+use benches_common::bench_app;
+use bevy::prelude::*;
+use bevy_rapier3d::math::*;
+use bevy_rapier3d::prelude::*;
+use criterion::{criterion_group, criterion_main, Criterion};
+
+fn setup_cubes(app: &mut App, size: u32) {
+    app.add_systems(Startup, move |mut commands: Commands| {
+        commands.spawn((
+            RigidBody::Fixed,
+            Transform::from_translation(-2.0 * Vect::Z),
+            Collider::cuboid(100.0, 1.0, 100.0),
+        ));
+        for x in 0..size {
+            for z in 0..size {
+                commands.spawn((
+                    RigidBody::Dynamic,
+                    Transform::from_translation(Vec3::new(x as f32, 2.0, z as f32)),
+                    Collider::cuboid(1.0, 1.0, 1.0),
+                ));
+            }
+        }
+    });
+}
+
+fn criterion_benchmark(c: &mut Criterion) {
+    c.bench_function("cubes 3x3, 30 steps", |b| {
+        bench_app(b, 30, |app| setup_cubes(app, 3))
+    });
+
+    c.bench_function("cubes 5x5, 30 steps", |b| {
+        bench_app(b, 30, |app| setup_cubes(app, 5))
+    });
+
+    c.bench_function("cubes 10x10, 30 steps", |b| {
+        bench_app(b, 30, |app| setup_cubes(app, 10))
+    });
+}
+
+criterion_group!(
+    name = benches;
+    config = Criterion::default().measurement_time(Duration::from_secs(20));
+    targets = criterion_benchmark
+);
+criterion_main!(benches);

From 89186b686736c95aa643b94328e0fef8e2994af0 Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Wed, 3 Jul 2024 08:28:27 +0200
Subject: [PATCH 02/16] fix ci ?

---
 .github/workflows/main.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 68cedd9a..1af7497e 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -9,6 +9,7 @@ on:
 env:
   CARGO_TERM_COLOR: always
   RUST_CACHE_KEY: rust-cache-20240617
+  CARGO_PROFILE_DEV_DEBUG: none
 
 jobs:
   check-fmt:

From 35c6630060f9d99745069570fdfb98e931bfbc5a Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Wed, 3 Jul 2024 12:35:22 +0200
Subject: [PATCH 03/16] use divan + try a custom bench strategy

---
 benches_common/Cargo.toml                     |  2 +-
 benches_common/src/lib.rs                     | 82 +++++++++---------
 bevy_rapier3d/Cargo.toml                      | 14 ++-
 bevy_rapier3d/benches/cubes.rs                | 36 ++++----
 bevy_rapier3d/benches/many_pyramids3.rs       | 86 +++++++++++++++++++
 .../benches/many_pyramids3_custom.rs          | 53 ++++++++++++
 6 files changed, 210 insertions(+), 63 deletions(-)
 create mode 100644 bevy_rapier3d/benches/many_pyramids3.rs
 create mode 100644 bevy_rapier3d/benches/many_pyramids3_custom.rs

diff --git a/benches_common/Cargo.toml b/benches_common/Cargo.toml
index e3068d18..4b2c1377 100644
--- a/benches_common/Cargo.toml
+++ b/benches_common/Cargo.toml
@@ -6,4 +6,4 @@ edition = "2021"
 [dependencies]
 bevy = { version = "0.14.0-rc.3", default-features = false }
 bevy_rapier3d = { path = "../bevy_rapier3d", default-features = false }
-criterion = "0.5"
+divan = "0.1"
diff --git a/benches_common/src/lib.rs b/benches_common/src/lib.rs
index 70aa35bf..9b79d6f3 100644
--- a/benches_common/src/lib.rs
+++ b/benches_common/src/lib.rs
@@ -9,55 +9,55 @@ use bevy::{
     time::TimeUpdateStrategy,
 };
 use bevy_rapier3d::prelude::*;
-use criterion::{measurement::Measurement, BatchSize, Bencher};
 
-pub fn bench_app<M: Measurement>(
-    bencher: &mut Bencher<'_, M>,
-    steps: u32,
-    setup: impl Fn(&mut App),
-) {
-    bencher.iter_batched_ref(
-        move || {
-            let mut app = App::new();
+pub fn default_app() -> App {
+    let mut app = App::new();
 
-            app.add_plugins((
-                WindowPlugin::default(),
-                MinimalPlugins,
-                AssetPlugin::default(),
-                ScenePlugin,
-                RenderPlugin {
-                    render_creation: RenderCreation::Automatic(WgpuSettings {
-                        backends: None,
-                        ..Default::default()
-                    }),
-                    ..Default::default()
-                },
-                ImagePlugin::default(),
-                HierarchyPlugin,
-                TransformPlugin,
-                RapierPhysicsPlugin::<()>::default(),
-            ));
+    app.add_plugins((
+        WindowPlugin::default(),
+        MinimalPlugins,
+        AssetPlugin::default(),
+        ScenePlugin,
+        RenderPlugin {
+            render_creation: RenderCreation::Automatic(WgpuSettings {
+                backends: None,
+                ..Default::default()
+            }),
+            ..Default::default()
+        },
+        ImagePlugin::default(),
+        HierarchyPlugin,
+        TransformPlugin,
+        RapierPhysicsPlugin::<()>::default(),
+    ));
 
-            // 60 physics
-            app.insert_resource(TimeUpdateStrategy::ManualDuration(
-                std::time::Duration::from_secs_f32(1f32 / 60f32),
-            ));
+    // 60 physics
+    app.insert_resource(TimeUpdateStrategy::ManualDuration(
+        std::time::Duration::from_secs_f32(1f32 / 60f32),
+    ));
+    app
+}
 
-            setup(&mut app);
+pub fn wait_app_start(app: &mut App) {
+    while app.plugins_state() != PluginsState::Ready {
+        bevy::tasks::tick_global_task_pools_on_main_thread();
+    }
 
-            while app.plugins_state() != PluginsState::Ready {
-                bevy::tasks::tick_global_task_pools_on_main_thread();
-            }
+    app.finish();
+    app.cleanup();
+}
 
-            app.finish();
-            app.cleanup();
+pub fn bench_app(bencher: divan::Bencher, steps: u32, setup: impl Fn(&mut App)) {
+    bencher
+        .with_inputs(|| {
+            let mut app = default_app();
+            setup(&mut app);
+            wait_app_start(&mut app);
             app
-        },
-        move |app| {
+        })
+        .bench_local_values(|mut app| {
             for _ in 0..steps {
                 app.update();
             }
-        },
-        BatchSize::PerIteration,
-    );
+        });
 }
diff --git a/bevy_rapier3d/Cargo.toml b/bevy_rapier3d/Cargo.toml
index c817f66c..d503afac 100644
--- a/bevy_rapier3d/Cargo.toml
+++ b/bevy_rapier3d/Cargo.toml
@@ -61,7 +61,11 @@ bevy = { version = "0.14.0-rc.3", default-features = false, features = [
 ] }
 approx = "0.5.1"
 glam = { version = "0.27", features = ["approx"] }
-criterion = { version = "0.5", features = ["html_reports"] }
+divan = "0.1"
+
+[dev-dependencies.rapier3d]
+features = ["profiler"]
+version = "0.20"
 
 [package.metadata.docs.rs]
 # Enable all the features when building the docs on docs.rs
@@ -70,3 +74,11 @@ features = ["debug-render-3d", "serde-serialize"]
 [[bench]]
 name = "cubes"
 harness = false
+
+[[bench]]
+name = "many_pyramids3"
+harness = false
+
+[[bench]]
+name = "many_pyramids3_custom"
+harness = false
diff --git a/bevy_rapier3d/benches/cubes.rs b/bevy_rapier3d/benches/cubes.rs
index 0377f21d..014976a8 100644
--- a/bevy_rapier3d/benches/cubes.rs
+++ b/bevy_rapier3d/benches/cubes.rs
@@ -1,10 +1,9 @@
-use std::time::Duration;
+//! Translated from avian benchmark.
 
 use benches_common::bench_app;
 use bevy::prelude::*;
 use bevy_rapier3d::math::*;
 use bevy_rapier3d::prelude::*;
-use criterion::{criterion_group, criterion_main, Criterion};
 
 fn setup_cubes(app: &mut App, size: u32) {
     app.add_systems(Startup, move |mut commands: Commands| {
@@ -25,23 +24,20 @@ fn setup_cubes(app: &mut App, size: u32) {
     });
 }
 
-fn criterion_benchmark(c: &mut Criterion) {
-    c.bench_function("cubes 3x3, 30 steps", |b| {
-        bench_app(b, 30, |app| setup_cubes(app, 3))
-    });
-
-    c.bench_function("cubes 5x5, 30 steps", |b| {
-        bench_app(b, 30, |app| setup_cubes(app, 5))
-    });
-
-    c.bench_function("cubes 10x10, 30 steps", |b| {
-        bench_app(b, 30, |app| setup_cubes(app, 10))
-    });
+#[divan::bench]
+fn cubes_3x3_30_steps(bencher: divan::Bencher) {
+    bench_app(bencher, 30, |app| setup_cubes(app, 3))
+}
+#[divan::bench]
+fn cubes_5x5_30_steps(bencher: divan::Bencher) {
+    bench_app(bencher, 30, |app| setup_cubes(app, 5))
+}
+#[divan::bench]
+fn cubes_10x10__30_steps(bencher: divan::Bencher) {
+    bench_app(bencher, 30, |app| setup_cubes(app, 10))
 }
 
-criterion_group!(
-    name = benches;
-    config = Criterion::default().measurement_time(Duration::from_secs(20));
-    targets = criterion_benchmark
-);
-criterion_main!(benches);
+fn main() {
+    // Run registered benchmarks.
+    divan::main();
+}
diff --git a/bevy_rapier3d/benches/many_pyramids3.rs b/bevy_rapier3d/benches/many_pyramids3.rs
new file mode 100644
index 00000000..7e0b1191
--- /dev/null
+++ b/bevy_rapier3d/benches/many_pyramids3.rs
@@ -0,0 +1,86 @@
+//! Translated from rapier benchmark.
+
+use benches_common::bench_app;
+use bevy::prelude::*;
+use bevy_rapier3d::math::*;
+use bevy_rapier3d::prelude::*;
+
+pub fn create_pyramid(commands: &mut Commands, offset: Vect, stack_height: usize, rad: f32) {
+    let shift = rad * 2.0;
+
+    for i in 0usize..stack_height {
+        for j in i..stack_height {
+            let fj = j as f32;
+            let fi = i as f32;
+            let x = (fi * shift / 2.0) + (fj - fi) * shift;
+            let y = fi * shift;
+
+            // Build the rigid body.
+            commands.spawn((
+                RigidBody::Dynamic,
+                Transform::from_translation(Vec3::new(x, y, 0.0) + offset),
+                Collider::cuboid(1.0, 1.0, 1.0),
+            ));
+        }
+    }
+}
+
+pub fn setup_cubes(app: &mut App, pyramid_count: usize, stack_height: usize) {
+    app.add_systems(Startup, move |mut commands: Commands| {
+        let rad = 0.5;
+        let spacing = 4.0;
+
+        /*
+         * Ground
+         */
+        let ground_size = 50.0;
+        let ground_height = 0.1;
+
+        commands.spawn((
+            RigidBody::Fixed,
+            Transform::from_translation(Vect::new(0.0, -ground_height, 0.0)),
+            Collider::cuboid(
+                ground_size,
+                ground_height,
+                pyramid_count as f32 * spacing / 2.0 + ground_size,
+            ),
+        ));
+
+        /*
+         * Create the cubes
+         */
+        for pyramid_index in 0..pyramid_count {
+            let bottomy = rad;
+            create_pyramid(
+                &mut commands,
+                Vect::new(
+                    0.0,
+                    bottomy,
+                    (pyramid_index as f32 - pyramid_count as f32 / 2.0) * spacing,
+                ),
+                stack_height,
+                rad,
+            );
+        }
+    });
+}
+
+#[divan::bench(sample_count = 5, sample_size = 5)]
+fn pyramid_1_with_height_2(bencher: divan::Bencher) {
+    bench_app(bencher, 1000, |app| setup_cubes(app, 1, 2));
+}
+
+#[divan::bench(sample_count = 2, sample_size = 2)]
+fn pyramid_1_with_height_20(bencher: divan::Bencher) {
+    bench_app(bencher, 100, |app| setup_cubes(app, 1, 20));
+}
+
+#[divan::bench(sample_count = 1, sample_size = 1)]
+fn pyramid_2_with_height_20(bencher: divan::Bencher) {
+    bench_app(bencher, 100, |app| setup_cubes(app, 2, 20));
+}
+
+fn main() {
+    // Run registered benchmarks.
+    divan::main();
+}
diff --git a/bevy_rapier3d/benches/many_pyramids3_custom.rs b/bevy_rapier3d/benches/many_pyramids3_custom.rs
new file mode 100644
index 00000000..3ad20298
--- /dev/null
+++ b/bevy_rapier3d/benches/many_pyramids3_custom.rs
@@ -0,0 +1,53 @@
+//! Translated from rapier benchmark.
+
+use benches_common::default_app;
+use benches_common::wait_app_start;
+use bevy::prelude::*;
+use bevy_rapier3d::plugin::RapierContext;
+use bevy_rapier3d::plugin::SimulationToRenderTime;
+use many_pyramids3::setup_cubes;
+mod many_pyramids3;
+
+pub fn custom_bencher(steps: usize, setup: impl Fn(&mut App)) {
+    let mut app = default_app();
+    setup(&mut app);
+    wait_app_start(&mut app);
+
+    let mut timer_total = rapier3d::counters::Timer::new();
+    let mut timer_full_update = rapier3d::counters::Timer::new();
+    let mut bevy_overheads = vec![];
+    let mut rapier_step_times = vec![];
+    let mut total_update_times = vec![];
+    timer_total.start();
+    for _ in 0..steps {
+        timer_full_update.start();
+        app.update();
+        timer_full_update.pause();
+        let elapsed_time = timer_full_update.time() as f32;
+        let rc = app.world().resource::<RapierContext>();
+        let bevy_overhead = app.world().resource::<SimulationToRenderTime>();
+        bevy_overheads.push(bevy_overhead.diff);
+        rapier_step_times.push(rc.pipeline.counters.step_time.time() as f32);
+        total_update_times.push(elapsed_time);
+    }
+    timer_total.pause();
+    let average = bevy_overheads.iter().sum::<f32>() / bevy_overheads.len() as f32;
+    println!("average bevy overhead: {}", average);
+    let average = total_update_times.iter().sum::<f32>() / total_update_times.len() as f32;
+    println!("average total time: {}", average);
+    let average = rapier_step_times.iter().sum::<f32>() / rapier_step_times.len() as f32;
+    println!("average rapier step time: {}", average);
+    println!("total time: {}", timer_total.time());
+}
+fn pyramid_1_with_height_2() {
+    custom_bencher(1000, |app| setup_cubes(app, 1, 2));
+}
+
+fn pyramid_2_with_height_20() {
+    custom_bencher(100, |app| setup_cubes(app, 2, 20));
+}
+
+fn main() {
+    pyramid_1_with_height_2();
+    pyramid_2_with_height_20();
+}

From f3a3d79d6314e98e2b6c39523de9f1d0983494e0 Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Wed, 3 Jul 2024 12:48:13 +0200
Subject: [PATCH 04/16] bigger test for pyramid to have comparable performances
 to rapier manypyramid

---
 bevy_rapier3d/benches/many_pyramids3_custom.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/bevy_rapier3d/benches/many_pyramids3_custom.rs b/bevy_rapier3d/benches/many_pyramids3_custom.rs
index 3ad20298..6fb17ac4 100644
--- a/bevy_rapier3d/benches/many_pyramids3_custom.rs
+++ b/bevy_rapier3d/benches/many_pyramids3_custom.rs
@@ -44,7 +44,7 @@ fn pyramid_1_with_height_2() {
 }
 
 fn pyramid_2_with_height_20() {
-    custom_bencher(100, |app| setup_cubes(app, 2, 20));
+    custom_bencher(100, |app| setup_cubes(app, 3, 20));
 }
 
 fn main() {

From c0be019763771c8426eb956786219842d2b9d48e Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Thu, 4 Jul 2024 09:59:22 +0200
Subject: [PATCH 05/16] custom benches

---
 Cargo.toml                                    |   2 +-
 .../benches/many_pyramids3_custom.rs          |  65 +++++++++-
 custom_benches/Cargo.toml                     |  58 +++++++++
 custom_benches/src/main.rs                    | 115 ++++++++++++++++++
 4 files changed, 237 insertions(+), 3 deletions(-)
 create mode 100644 custom_benches/Cargo.toml
 create mode 100644 custom_benches/src/main.rs

diff --git a/Cargo.toml b/Cargo.toml
index 69f7b7de..e231382e 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,5 +1,5 @@
 [workspace]
-members = ["bevy_rapier2d", "bevy_rapier3d"]
+members = ["bevy_rapier2d", "bevy_rapier3d", "custom_benches"]
 resolver = "2"
 
 [profile.dev]
diff --git a/bevy_rapier3d/benches/many_pyramids3_custom.rs b/bevy_rapier3d/benches/many_pyramids3_custom.rs
index 6fb17ac4..b1f42b5f 100644
--- a/bevy_rapier3d/benches/many_pyramids3_custom.rs
+++ b/bevy_rapier3d/benches/many_pyramids3_custom.rs
@@ -3,10 +3,71 @@
 use benches_common::default_app;
 use benches_common::wait_app_start;
 use bevy::prelude::*;
+use bevy_rapier3d::dynamics::RigidBody;
+use bevy_rapier3d::geometry::Collider;
+use bevy_rapier3d::math::Vect;
 use bevy_rapier3d::plugin::RapierContext;
 use bevy_rapier3d::plugin::SimulationToRenderTime;
-use many_pyramids3::setup_cubes;
-mod many_pyramids3;
+
+pub fn create_pyramid(commands: &mut Commands, offset: Vect, stack_height: usize, rad: f32) {
+    let shift = rad * 2.0;
+
+    for i in 0usize..stack_height {
+        for j in i..stack_height {
+            let fj = j as f32;
+            let fi = i as f32;
+            let x = (fi * shift / 2.0) + (fj - fi) * shift;
+            let y = fi * shift;
+
+            // Build the rigid body.
+            commands.spawn((
+                RigidBody::Dynamic,
+                Transform::from_translation(Vec3::new(x, y, 0.0) + offset),
+                Collider::cuboid(1.0, 1.0, 1.0),
+            ));
+        }
+    }
+}
+
+pub fn setup_cubes(app: &mut App, pyramid_count: usize, stack_height: usize) {
+    app.add_systems(Startup, move |mut commands: Commands| {
+        let rad = 0.5;
+        let spacing = 4.0;
+
+        /*
+         * Ground
+         */
+        let ground_size = 50.0;
+        let ground_height = 0.1;
+
+        commands.spawn((
+            RigidBody::Fixed,
+            Transform::from_translation(Vect::new(0.0, -ground_height, 0.0)),
+            Collider::cuboid(
+                ground_size,
+                ground_height,
+                pyramid_count as f32 * spacing / 2.0 + ground_size,
+            ),
+        ));
+
+        /*
+         * Create the cubes
+         */
+        for pyramid_index in 0..pyramid_count {
+            let bottomy = rad;
+            create_pyramid(
+                &mut commands,
+                Vect::new(
+                    0.0,
+                    bottomy,
+                    (pyramid_index as f32 - pyramid_count as f32 / 2.0) * spacing,
+                ),
+                stack_height,
+                rad,
+            );
+        }
+    });
+}
 
 pub fn custom_bencher(steps: usize, setup: impl Fn(&mut App)) {
     let mut app = default_app();
diff --git a/custom_benches/Cargo.toml b/custom_benches/Cargo.toml
new file mode 100644
index 00000000..a715fc0f
--- /dev/null
+++ b/custom_benches/Cargo.toml
@@ -0,0 +1,58 @@
+[package]
+name = "custom_benches"
+version = "0.27.0-rc.1"
+authors = ["Sébastien Crozet <developer@crozet.re>"]
+description = "3-dimensional physics engine in Rust, official Bevy plugin."
+documentation = "http://docs.rs/bevy_rapier3d"
+homepage = "http://rapier.rs"
+repository = "https://github.com/dimforge/bevy_rapier"
+readme = "../README.md"
+keywords = ["physics", "dynamics", "rigid", "real-time", "joints"]
+license = "Apache-2.0"
+edition = "2021"
+
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+[lib]
+path = "../src/lib.rs"
+required-features = ["dim3"]
+
+[features]
+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_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"]
+wasm-bindgen = ["rapier3d/wasm-bindgen"]
+serde-serialize = ["rapier3d/serde-serialize", "bevy/serialize", "serde"]
+enhanced-determinism = ["rapier3d/enhanced-determinism"]
+headless = []
+async-collider = ["bevy/bevy_asset", "bevy/bevy_scene"]
+
+[dependencies]
+rapier3d = { features = ["profiler"], version = "0.20" }
+bevy_rapier3d = { path = "../bevy_rapier3d" }
+bevy = { version = "0.14.0-rc.3", default-features = false }
+nalgebra = { version = "0.32.6", features = ["convert-glam027"] }
+bitflags = "2.4"
+log = "0.4"
+serde = { version = "1", features = ["derive"], optional = true }
+benches_common = { path = "../benches_common" }
+
+[profile.release]
+debug = true
diff --git a/custom_benches/src/main.rs b/custom_benches/src/main.rs
new file mode 100644
index 00000000..ee151de3
--- /dev/null
+++ b/custom_benches/src/main.rs
@@ -0,0 +1,115 @@
+//! Translated from rapier benchmark.
+//!
+use benches_common::default_app;
+use benches_common::wait_app_start;
+use bevy::prelude::*;
+use bevy_rapier3d::dynamics::RigidBody;
+use bevy_rapier3d::geometry::Collider;
+use bevy_rapier3d::math::Vect;
+use bevy_rapier3d::plugin::RapierContext;
+use bevy_rapier3d::plugin::SimulationToRenderTime;
+
+pub fn create_pyramid(commands: &mut Commands, offset: Vect, stack_height: usize, rad: f32) {
+    let shift = rad * 2.0;
+
+    for i in 0usize..stack_height {
+        for j in i..stack_height {
+            let fj = j as f32;
+            let fi = i as f32;
+            let x = (fi * shift / 2.0) + (fj - fi) * shift;
+            let y = fi * shift;
+
+            // Build the rigid body.
+            commands.spawn((
+                RigidBody::Dynamic,
+                Transform::from_translation(Vec3::new(x, y, 0.0) + offset),
+                Collider::cuboid(1.0, 1.0, 1.0),
+            ));
+        }
+    }
+}
+
+pub fn setup_cubes(app: &mut App, pyramid_count: usize, stack_height: usize) {
+    app.add_systems(Startup, move |mut commands: Commands| {
+        let rad = 0.5;
+        let spacing = 4.0;
+
+        /*
+         * Ground
+         */
+        let ground_size = 50.0;
+        let ground_height = 0.1;
+
+        commands.spawn((
+            RigidBody::Fixed,
+            Transform::from_translation(Vect::new(0.0, -ground_height, 0.0)),
+            Collider::cuboid(
+                ground_size,
+                ground_height,
+                pyramid_count as f32 * spacing / 2.0 + ground_size,
+            ),
+        ));
+
+        /*
+         * Create the cubes
+         */
+        for pyramid_index in 0..pyramid_count {
+            let bottomy = rad;
+            create_pyramid(
+                &mut commands,
+                Vect::new(
+                    0.0,
+                    bottomy,
+                    (pyramid_index as f32 - pyramid_count as f32 / 2.0) * spacing,
+                ),
+                stack_height,
+                rad,
+            );
+        }
+    });
+}
+
+pub fn custom_bencher(steps: usize, setup: impl Fn(&mut App)) {
+    let mut app = default_app();
+    setup(&mut app);
+    wait_app_start(&mut app);
+
+    let mut timer_total = rapier3d::counters::Timer::new();
+    let mut timer_full_update = rapier3d::counters::Timer::new();
+    let mut bevy_overheads = vec![];
+    let mut rapier_step_times = vec![];
+    let mut total_update_times = vec![];
+    timer_total.start();
+    for _ in 0..steps {
+        timer_full_update.start();
+        app.update();
+        timer_full_update.pause();
+        let elapsed_time = timer_full_update.time() as f32;
+        let rc = app.world().resource::<RapierContext>();
+        let bevy_overhead = app.world().resource::<SimulationToRenderTime>();
+        bevy_overheads.push(bevy_overhead.diff);
+        rapier_step_times.push(rc.pipeline.counters.step_time.time() as f32);
+        total_update_times.push(elapsed_time);
+    }
+    timer_total.pause();
+    let average = bevy_overheads.iter().sum::<f32>() / bevy_overheads.len() as f32;
+    println!("average bevy overhead: {}", average);
+    let average = total_update_times.iter().sum::<f32>() / total_update_times.len() as f32;
+    println!("average total time: {}", average);
+    let average = rapier_step_times.iter().sum::<f32>() / rapier_step_times.len() as f32;
+    println!("average rapier step time: {}", average);
+    println!("total time: {}", timer_total.time());
+}
+
+fn pyramid_1_with_height_2() {
+    custom_bencher(1000, |app| setup_cubes(app, 1, 2));
+}
+
+fn pyramid_2_with_height_20() {
+    custom_bencher(100, |app| setup_cubes(app, 3, 20));
+}
+
+fn main() {
+    pyramid_1_with_height_2();
+    pyramid_2_with_height_20();
+}

From 64e2e1e11e842e1e38a36e6df17314d53ecc725d Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Thu, 4 Jul 2024 11:06:02 +0200
Subject: [PATCH 06/16] cleanup duplicate test; add a readme for benches

---
 bevy_rapier3d/Cargo.toml                      |   8 --
 .../benches/many_pyramids3_custom.rs          | 114 ------------------
 custom_benches/Cargo.toml                     |   8 +-
 custom_benches/README.md                      |  20 +++
 custom_benches/src/main.rs                    |  17 ++-
 5 files changed, 31 insertions(+), 136 deletions(-)
 delete mode 100644 bevy_rapier3d/benches/many_pyramids3_custom.rs
 create mode 100644 custom_benches/README.md

diff --git a/bevy_rapier3d/Cargo.toml b/bevy_rapier3d/Cargo.toml
index 14d3d7a3..ac314c8d 100644
--- a/bevy_rapier3d/Cargo.toml
+++ b/bevy_rapier3d/Cargo.toml
@@ -63,10 +63,6 @@ approx = "0.5.1"
 glam = { version = "0.27", features = ["approx"] }
 divan = "0.1"
 
-[dev-dependencies.rapier3d]
-features = ["profiler"]
-version = "0.20"
-
 [package.metadata.docs.rs]
 # Enable all the features when building the docs on docs.rs
 features = ["debug-render-3d", "serde-serialize"]
@@ -78,7 +74,3 @@ harness = false
 [[bench]]
 name = "many_pyramids3"
 harness = false
-
-[[bench]]
-name = "many_pyramids3_custom"
-harness = false
diff --git a/bevy_rapier3d/benches/many_pyramids3_custom.rs b/bevy_rapier3d/benches/many_pyramids3_custom.rs
deleted file mode 100644
index b1f42b5f..00000000
--- a/bevy_rapier3d/benches/many_pyramids3_custom.rs
+++ /dev/null
@@ -1,114 +0,0 @@
-//! Translated from rapier benchmark.
-
-use benches_common::default_app;
-use benches_common::wait_app_start;
-use bevy::prelude::*;
-use bevy_rapier3d::dynamics::RigidBody;
-use bevy_rapier3d::geometry::Collider;
-use bevy_rapier3d::math::Vect;
-use bevy_rapier3d::plugin::RapierContext;
-use bevy_rapier3d::plugin::SimulationToRenderTime;
-
-pub fn create_pyramid(commands: &mut Commands, offset: Vect, stack_height: usize, rad: f32) {
-    let shift = rad * 2.0;
-
-    for i in 0usize..stack_height {
-        for j in i..stack_height {
-            let fj = j as f32;
-            let fi = i as f32;
-            let x = (fi * shift / 2.0) + (fj - fi) * shift;
-            let y = fi * shift;
-
-            // Build the rigid body.
-            commands.spawn((
-                RigidBody::Dynamic,
-                Transform::from_translation(Vec3::new(x, y, 0.0) + offset),
-                Collider::cuboid(1.0, 1.0, 1.0),
-            ));
-        }
-    }
-}
-
-pub fn setup_cubes(app: &mut App, pyramid_count: usize, stack_height: usize) {
-    app.add_systems(Startup, move |mut commands: Commands| {
-        let rad = 0.5;
-        let spacing = 4.0;
-
-        /*
-         * Ground
-         */
-        let ground_size = 50.0;
-        let ground_height = 0.1;
-
-        commands.spawn((
-            RigidBody::Fixed,
-            Transform::from_translation(Vect::new(0.0, -ground_height, 0.0)),
-            Collider::cuboid(
-                ground_size,
-                ground_height,
-                pyramid_count as f32 * spacing / 2.0 + ground_size,
-            ),
-        ));
-
-        /*
-         * Create the cubes
-         */
-        for pyramid_index in 0..pyramid_count {
-            let bottomy = rad;
-            create_pyramid(
-                &mut commands,
-                Vect::new(
-                    0.0,
-                    bottomy,
-                    (pyramid_index as f32 - pyramid_count as f32 / 2.0) * spacing,
-                ),
-                stack_height,
-                rad,
-            );
-        }
-    });
-}
-
-pub fn custom_bencher(steps: usize, setup: impl Fn(&mut App)) {
-    let mut app = default_app();
-    setup(&mut app);
-    wait_app_start(&mut app);
-
-    let mut timer_total = rapier3d::counters::Timer::new();
-    let mut timer_full_update = rapier3d::counters::Timer::new();
-    let mut bevy_overheads = vec![];
-    let mut rapier_step_times = vec![];
-    let mut total_update_times = vec![];
-    timer_total.start();
-    for _ in 0..steps {
-        timer_full_update.start();
-        app.update();
-        timer_full_update.pause();
-        let elapsed_time = timer_full_update.time() as f32;
-        let rc = app.world().resource::<RapierContext>();
-        let bevy_overhead = app.world().resource::<SimulationToRenderTime>();
-        bevy_overheads.push(bevy_overhead.diff);
-        rapier_step_times.push(rc.pipeline.counters.step_time.time() as f32);
-        total_update_times.push(elapsed_time);
-    }
-    timer_total.pause();
-    let average = bevy_overheads.iter().sum::<f32>() / bevy_overheads.len() as f32;
-    println!("average bevy overhead: {}", average);
-    let average = total_update_times.iter().sum::<f32>() / total_update_times.len() as f32;
-    println!("average total time: {}", average);
-    let average = rapier_step_times.iter().sum::<f32>() / rapier_step_times.len() as f32;
-    println!("average rapier step time: {}", average);
-    println!("total time: {}", timer_total.time());
-}
-fn pyramid_1_with_height_2() {
-    custom_bencher(1000, |app| setup_cubes(app, 1, 2));
-}
-
-fn pyramid_2_with_height_20() {
-    custom_bencher(100, |app| setup_cubes(app, 3, 20));
-}
-
-fn main() {
-    pyramid_1_with_height_2();
-    pyramid_2_with_height_20();
-}
diff --git a/custom_benches/Cargo.toml b/custom_benches/Cargo.toml
index a715fc0f..1a4c6974 100644
--- a/custom_benches/Cargo.toml
+++ b/custom_benches/Cargo.toml
@@ -45,14 +45,14 @@ headless = []
 async-collider = ["bevy/bevy_asset", "bevy/bevy_scene"]
 
 [dependencies]
-rapier3d = { features = ["profiler"], version = "0.20" }
+rapier3d = { features = ["profiler"], version = "0.21" }
 bevy_rapier3d = { path = "../bevy_rapier3d" }
 bevy = { version = "0.14.0-rc.3", default-features = false }
-nalgebra = { version = "0.32.6", features = ["convert-glam027"] }
+nalgebra = { version = "0.33", features = ["convert-glam027"] }
 bitflags = "2.4"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
 benches_common = { path = "../benches_common" }
 
-[profile.release]
-debug = true
+[dev-dependencies]
+approx = "0.5.1"
diff --git a/custom_benches/README.md b/custom_benches/README.md
new file mode 100644
index 00000000..91f62bd0
--- /dev/null
+++ b/custom_benches/README.md
@@ -0,0 +1,20 @@
+
+## cargo bench
+
+within `bevy_rapier3d`:
+
+```sh
+cargo bench
+```
+
+## Custom benches
+
+```sh
+cargo run --release -p custom_benches
+```
+
+## Flamegraph
+
+```sh
+CARGO_PROFILE_RELEASE_DEBUG=true cargo flamegraph
+```
diff --git a/custom_benches/src/main.rs b/custom_benches/src/main.rs
index ee151de3..641d80cc 100644
--- a/custom_benches/src/main.rs
+++ b/custom_benches/src/main.rs
@@ -7,7 +7,6 @@ use bevy_rapier3d::dynamics::RigidBody;
 use bevy_rapier3d::geometry::Collider;
 use bevy_rapier3d::math::Vect;
 use bevy_rapier3d::plugin::RapierContext;
-use bevy_rapier3d::plugin::SimulationToRenderTime;
 
 pub fn create_pyramid(commands: &mut Commands, offset: Vect, stack_height: usize, rad: f32) {
     let shift = rad * 2.0;
@@ -76,7 +75,6 @@ pub fn custom_bencher(steps: usize, setup: impl Fn(&mut App)) {
 
     let mut timer_total = rapier3d::counters::Timer::new();
     let mut timer_full_update = rapier3d::counters::Timer::new();
-    let mut bevy_overheads = vec![];
     let mut rapier_step_times = vec![];
     let mut total_update_times = vec![];
     timer_total.start();
@@ -86,18 +84,17 @@ pub fn custom_bencher(steps: usize, setup: impl Fn(&mut App)) {
         timer_full_update.pause();
         let elapsed_time = timer_full_update.time() as f32;
         let rc = app.world().resource::<RapierContext>();
-        let bevy_overhead = app.world().resource::<SimulationToRenderTime>();
-        bevy_overheads.push(bevy_overhead.diff);
         rapier_step_times.push(rc.pipeline.counters.step_time.time() as f32);
         total_update_times.push(elapsed_time);
     }
     timer_total.pause();
-    let average = bevy_overheads.iter().sum::<f32>() / bevy_overheads.len() as f32;
-    println!("average bevy overhead: {}", average);
-    let average = total_update_times.iter().sum::<f32>() / total_update_times.len() as f32;
-    println!("average total time: {}", average);
-    let average = rapier_step_times.iter().sum::<f32>() / rapier_step_times.len() as f32;
-    println!("average rapier step time: {}", average);
+    let average_total = total_update_times.iter().sum::<f32>() / total_update_times.len() as f32;
+    println!("average total time: {}", average_total);
+    let average_rapier_step =
+        rapier_step_times.iter().sum::<f32>() / rapier_step_times.len() as f32;
+    println!("average rapier step time: {}", average_rapier_step);
+    let average_rapier_overhead = average_total - average_rapier_step;
+    println!("average bevy overhead: {}", average_rapier_overhead);
     println!("total time: {}", timer_total.time());
 }
 

From 52b3a35fd19321b4c91ce943c05649304d7ea4fc Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Thu, 4 Jul 2024 11:12:56 +0200
Subject: [PATCH 07/16] simpler cargo.toml for custom_benches

---
 custom_benches/Cargo.toml | 48 ++-------------------------------------
 1 file changed, 2 insertions(+), 46 deletions(-)

diff --git a/custom_benches/Cargo.toml b/custom_benches/Cargo.toml
index 1a4c6974..6613f9f8 100644
--- a/custom_benches/Cargo.toml
+++ b/custom_benches/Cargo.toml
@@ -1,58 +1,14 @@
 [package]
 name = "custom_benches"
-version = "0.27.0-rc.1"
-authors = ["Sébastien Crozet <developer@crozet.re>"]
-description = "3-dimensional physics engine in Rust, official Bevy plugin."
-documentation = "http://docs.rs/bevy_rapier3d"
-homepage = "http://rapier.rs"
-repository = "https://github.com/dimforge/bevy_rapier"
-readme = "../README.md"
-keywords = ["physics", "dynamics", "rigid", "real-time", "joints"]
+description = "Custom benchmarks for bevy_rapier."
+readme = "./README.md"
 license = "Apache-2.0"
 edition = "2021"
 
-
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
-[lib]
-path = "../src/lib.rs"
-required-features = ["dim3"]
-
-[features]
-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_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"]
-wasm-bindgen = ["rapier3d/wasm-bindgen"]
-serde-serialize = ["rapier3d/serde-serialize", "bevy/serialize", "serde"]
-enhanced-determinism = ["rapier3d/enhanced-determinism"]
-headless = []
-async-collider = ["bevy/bevy_asset", "bevy/bevy_scene"]
 
 [dependencies]
 rapier3d = { features = ["profiler"], version = "0.21" }
 bevy_rapier3d = { path = "../bevy_rapier3d" }
 bevy = { version = "0.14.0-rc.3", default-features = false }
-nalgebra = { version = "0.33", features = ["convert-glam027"] }
-bitflags = "2.4"
-log = "0.4"
-serde = { version = "1", features = ["derive"], optional = true }
 benches_common = { path = "../benches_common" }
-
-[dev-dependencies]
-approx = "0.5.1"

From 82aed44e52d4681a84729ddb37f7f4aeff7ec795 Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Thu, 4 Jul 2024 11:14:39 +0200
Subject: [PATCH 08/16] licence for benches_common

---
 benches_common/Cargo.toml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/benches_common/Cargo.toml b/benches_common/Cargo.toml
index 4b2c1377..08ad24ab 100644
--- a/benches_common/Cargo.toml
+++ b/benches_common/Cargo.toml
@@ -1,6 +1,7 @@
 [package]
 name = "benches_common"
 version = "0.1.0"
+license = "Apache-2.0"
 edition = "2021"
 
 [dependencies]

From aecf7eaa6a01b4c5e06035b69954c2aaaefde45f Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Thu, 4 Jul 2024 11:15:42 +0200
Subject: [PATCH 09/16] custom bench version

---
 custom_benches/Cargo.toml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/custom_benches/Cargo.toml b/custom_benches/Cargo.toml
index 6613f9f8..95917ba2 100644
--- a/custom_benches/Cargo.toml
+++ b/custom_benches/Cargo.toml
@@ -1,5 +1,6 @@
 [package]
 name = "custom_benches"
+version = "0.1.0"
 description = "Custom benchmarks for bevy_rapier."
 readme = "./README.md"
 license = "Apache-2.0"

From dd19b7e7b6f615d2641941b1680e326b0d05d081 Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Thu, 4 Jul 2024 11:37:28 +0200
Subject: [PATCH 10/16] minor fixes

---
 bevy_rapier3d/benches/cubes.rs | 2 +-
 custom_benches/README.md       | 4 +---
 2 files changed, 2 insertions(+), 4 deletions(-)

diff --git a/bevy_rapier3d/benches/cubes.rs b/bevy_rapier3d/benches/cubes.rs
index 014976a8..5aea15b3 100644
--- a/bevy_rapier3d/benches/cubes.rs
+++ b/bevy_rapier3d/benches/cubes.rs
@@ -33,7 +33,7 @@ fn cubes_5x5_30_steps(bencher: divan::Bencher) {
     bench_app(bencher, 30, |app| setup_cubes(app, 5))
 }
 #[divan::bench]
-fn cubes_10x10__30_steps(bencher: divan::Bencher) {
+fn cubes_10x10_30_steps(bencher: divan::Bencher) {
     bench_app(bencher, 30, |app| setup_cubes(app, 10))
 }
 
diff --git a/custom_benches/README.md b/custom_benches/README.md
index 91f62bd0..ee1996ed 100644
--- a/custom_benches/README.md
+++ b/custom_benches/README.md
@@ -1,10 +1,8 @@
 
 ## cargo bench
 
-within `bevy_rapier3d`:
-
 ```sh
-cargo bench
+cargo bench -p bevy_rapier3d
 ```
 
 ## Custom benches

From 775ab1f1463ddad4f0dafe22becaadc35b78fe7d Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Thu, 4 Jul 2024 12:27:46 +0200
Subject: [PATCH 11/16] please cargo deny

---
 benches_common/Cargo.toml | 2 +-
 bevy_rapier3d/Cargo.toml  | 2 +-
 custom_benches/Cargo.toml | 4 ++--
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/benches_common/Cargo.toml b/benches_common/Cargo.toml
index 08ad24ab..91be3fc9 100644
--- a/benches_common/Cargo.toml
+++ b/benches_common/Cargo.toml
@@ -6,5 +6,5 @@ edition = "2021"
 
 [dependencies]
 bevy = { version = "0.14.0-rc.3", default-features = false }
-bevy_rapier3d = { path = "../bevy_rapier3d", default-features = false }
+bevy_rapier3d = { version = "0.27.0-rc.1", path = "../bevy_rapier3d", default-features = false }
 divan = "0.1"
diff --git a/bevy_rapier3d/Cargo.toml b/bevy_rapier3d/Cargo.toml
index ac314c8d..50456fe6 100644
--- a/bevy_rapier3d/Cargo.toml
+++ b/bevy_rapier3d/Cargo.toml
@@ -53,7 +53,7 @@ log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
 
 [dev-dependencies]
-benches_common = { path = "../benches_common" }
+benches_common = { version = "0.1", path = "../benches_common" }
 bevy = { version = "0.14.0-rc.3", default-features = false, features = [
     "x11",
     "tonemapping_luts",
diff --git a/custom_benches/Cargo.toml b/custom_benches/Cargo.toml
index 95917ba2..e511f4fa 100644
--- a/custom_benches/Cargo.toml
+++ b/custom_benches/Cargo.toml
@@ -10,6 +10,6 @@ edition = "2021"
 
 [dependencies]
 rapier3d = { features = ["profiler"], version = "0.21" }
-bevy_rapier3d = { path = "../bevy_rapier3d" }
+bevy_rapier3d = { version = "0.27.0-rc.1", path = "../bevy_rapier3d" }
 bevy = { version = "0.14.0-rc.3", default-features = false }
-benches_common = { path = "../benches_common" }
+benches_common = { version = "0.1", path = "../benches_common" }

From 4e6b7535cefd4aad9b6fe81ddf218601cf27fdbc Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Wed, 10 Jul 2024 09:18:18 +0200
Subject: [PATCH 12/16] added permalinks to benches

---
 bevy_rapier3d/benches/cubes.rs          | 2 ++
 bevy_rapier3d/benches/many_pyramids3.rs | 2 ++
 custom_benches/src/main.rs              | 2 ++
 3 files changed, 6 insertions(+)

diff --git a/bevy_rapier3d/benches/cubes.rs b/bevy_rapier3d/benches/cubes.rs
index 5aea15b3..49008f9f 100644
--- a/bevy_rapier3d/benches/cubes.rs
+++ b/bevy_rapier3d/benches/cubes.rs
@@ -1,4 +1,6 @@
 //! Translated from avian benchmark.
+//!
+//! https://github.com/Jondolf/avian/blob/81290423e146264120cf9711af716f6faf669717/crates/avian3d/benches/cubes.rs.
 
 use benches_common::bench_app;
 use bevy::prelude::*;
diff --git a/bevy_rapier3d/benches/many_pyramids3.rs b/bevy_rapier3d/benches/many_pyramids3.rs
index 7e0b1191..51994aad 100644
--- a/bevy_rapier3d/benches/many_pyramids3.rs
+++ b/bevy_rapier3d/benches/many_pyramids3.rs
@@ -1,4 +1,6 @@
 //! Translated from rapier benchmark.
+//!
+//! https://github.com/dimforge/rapier/blob/87ada34008f4a1a313ccf8c3040040bab4f10e69/benchmarks3d/many_pyramids3.rs
 
 use benches_common::bench_app;
 use bevy::prelude::*;
diff --git a/custom_benches/src/main.rs b/custom_benches/src/main.rs
index 641d80cc..4ee06b16 100644
--- a/custom_benches/src/main.rs
+++ b/custom_benches/src/main.rs
@@ -1,5 +1,7 @@
 //! Translated from rapier benchmark.
 //!
+//! https://github.com/dimforge/rapier/blob/87ada34008f4a1a313ccf8c3040040bab4f10e69/benchmarks3d/many_pyramids3.rs
+
 use benches_common::default_app;
 use benches_common::wait_app_start;
 use bevy::prelude::*;

From 2cda62241a016c419e74537e9f60a9ccb66d7af7 Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Wed, 10 Jul 2024 11:24:33 +0200
Subject: [PATCH 13/16] divan benchmarks update timings independently

---
 benches_common/src/lib.rs               | 21 ++++++++-------------
 bevy_rapier3d/benches/cubes.rs          | 24 ++++++++++++++----------
 bevy_rapier3d/benches/many_pyramids3.rs | 14 +++++++-------
 3 files changed, 29 insertions(+), 30 deletions(-)

diff --git a/benches_common/src/lib.rs b/benches_common/src/lib.rs
index 9b79d6f3..02471a39 100644
--- a/benches_common/src/lib.rs
+++ b/benches_common/src/lib.rs
@@ -47,17 +47,12 @@ pub fn wait_app_start(app: &mut App) {
     app.cleanup();
 }
 
-pub fn bench_app(bencher: divan::Bencher, steps: u32, setup: impl Fn(&mut App)) {
-    bencher
-        .with_inputs(|| {
-            let mut app = default_app();
-            setup(&mut app);
-            wait_app_start(&mut app);
-            app
-        })
-        .bench_local_values(|mut app| {
-            for _ in 0..steps {
-                app.update();
-            }
-        });
+pub fn bench_app_updates(bencher: divan::Bencher, setup: impl Fn(&mut App)) {
+    let mut app = default_app();
+    setup(&mut app);
+    wait_app_start(&mut app);
+
+    bencher.bench_local(|| {
+        app.update();
+    });
 }
diff --git a/bevy_rapier3d/benches/cubes.rs b/bevy_rapier3d/benches/cubes.rs
index 49008f9f..77f46282 100644
--- a/bevy_rapier3d/benches/cubes.rs
+++ b/bevy_rapier3d/benches/cubes.rs
@@ -2,7 +2,7 @@
 //!
 //! https://github.com/Jondolf/avian/blob/81290423e146264120cf9711af716f6faf669717/crates/avian3d/benches/cubes.rs.
 
-use benches_common::bench_app;
+use benches_common::bench_app_updates;
 use bevy::prelude::*;
 use bevy_rapier3d::math::*;
 use bevy_rapier3d::prelude::*;
@@ -26,17 +26,21 @@ fn setup_cubes(app: &mut App, size: u32) {
     });
 }
 
-#[divan::bench]
-fn cubes_3x3_30_steps(bencher: divan::Bencher) {
-    bench_app(bencher, 30, |app| setup_cubes(app, 3))
+#[divan::bench(sample_count = 60, sample_size = 1)]
+fn cubes_3x3(bencher: divan::Bencher) {
+    bench_app_updates(bencher, |app| setup_cubes(app, 3))
 }
-#[divan::bench]
-fn cubes_5x5_30_steps(bencher: divan::Bencher) {
-    bench_app(bencher, 30, |app| setup_cubes(app, 5))
+#[divan::bench(sample_count = 60, sample_size = 1)]
+fn cubes_5x5(bencher: divan::Bencher) {
+    bench_app_updates(bencher, |app| setup_cubes(app, 5))
 }
-#[divan::bench]
-fn cubes_10x10_30_steps(bencher: divan::Bencher) {
-    bench_app(bencher, 30, |app| setup_cubes(app, 10))
+#[divan::bench(sample_count = 60, sample_size = 1)]
+fn cubes_10x10(bencher: divan::Bencher) {
+    bench_app_updates(bencher, |app| setup_cubes(app, 10))
+}
+#[divan::bench(sample_count = 60, sample_size = 1)]
+fn cubes_20x20(bencher: divan::Bencher) {
+    bench_app_updates(bencher, |app| setup_cubes(app, 20))
 }
 
 fn main() {
diff --git a/bevy_rapier3d/benches/many_pyramids3.rs b/bevy_rapier3d/benches/many_pyramids3.rs
index 51994aad..ff9199c9 100644
--- a/bevy_rapier3d/benches/many_pyramids3.rs
+++ b/bevy_rapier3d/benches/many_pyramids3.rs
@@ -2,7 +2,7 @@
 //!
 //! https://github.com/dimforge/rapier/blob/87ada34008f4a1a313ccf8c3040040bab4f10e69/benchmarks3d/many_pyramids3.rs
 
-use benches_common::bench_app;
+use benches_common::bench_app_updates;
 use bevy::prelude::*;
 use bevy_rapier3d::math::*;
 use bevy_rapier3d::prelude::*;
@@ -67,19 +67,19 @@ pub fn setup_cubes(app: &mut App, pyramid_count: usize, stack_height: usize) {
     });
 }
 
-#[divan::bench(sample_count = 5, sample_size = 5)]
+#[divan::bench(sample_count = 60, sample_size = 1)]
 fn pyramid_1_with_height_2(bencher: divan::Bencher) {
-    bench_app(bencher, 1000, |app| setup_cubes(app, 1, 2));
+    bench_app_updates(bencher, |app| setup_cubes(app, 1, 2));
 }
 
-#[divan::bench(sample_count = 2, sample_size = 2)]
+#[divan::bench(sample_count = 60, sample_size = 1)]
 fn pyramid_1_with_height_20(bencher: divan::Bencher) {
-    bench_app(bencher, 100, |app| setup_cubes(app, 1, 20));
+    bench_app_updates(bencher, |app| setup_cubes(app, 1, 20));
 }
 
-#[divan::bench(sample_count = 1, sample_size = 1)]
+#[divan::bench(sample_count = 60, sample_size = 1)]
 fn pyramid_2_with_height_20(bencher: divan::Bencher) {
-    bench_app(bencher, 100, |app| setup_cubes(app, 2, 20));
+    bench_app_updates(bencher, |app| setup_cubes(app, 2, 20));
 }
 
 fn main() {

From 74315eb485b6c74b99c46895d2f511477e4f2e5c Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Wed, 10 Jul 2024 15:29:59 +0200
Subject: [PATCH 14/16] fix cargo doc

---
 bevy_rapier3d/benches/cubes.rs          | 2 +-
 bevy_rapier3d/benches/many_pyramids3.rs | 2 +-
 custom_benches/src/main.rs              | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/bevy_rapier3d/benches/cubes.rs b/bevy_rapier3d/benches/cubes.rs
index 77f46282..99b91ca0 100644
--- a/bevy_rapier3d/benches/cubes.rs
+++ b/bevy_rapier3d/benches/cubes.rs
@@ -1,6 +1,6 @@
 //! Translated from avian benchmark.
 //!
-//! https://github.com/Jondolf/avian/blob/81290423e146264120cf9711af716f6faf669717/crates/avian3d/benches/cubes.rs.
+//! <https://github.com/Jondolf/avian/blob/81290423e146264120cf9711af716f6faf669717/crates/avian3d/benches/cubes.rs>
 
 use benches_common::bench_app_updates;
 use bevy::prelude::*;
diff --git a/bevy_rapier3d/benches/many_pyramids3.rs b/bevy_rapier3d/benches/many_pyramids3.rs
index ff9199c9..405af32e 100644
--- a/bevy_rapier3d/benches/many_pyramids3.rs
+++ b/bevy_rapier3d/benches/many_pyramids3.rs
@@ -1,6 +1,6 @@
 //! Translated from rapier benchmark.
 //!
-//! https://github.com/dimforge/rapier/blob/87ada34008f4a1a313ccf8c3040040bab4f10e69/benchmarks3d/many_pyramids3.rs
+//! <https://github.com/dimforge/rapier/blob/87ada34008f4a1a313ccf8c3040040bab4f10e69/benchmarks3d/many_pyramids3.rs>
 
 use benches_common::bench_app_updates;
 use bevy::prelude::*;
diff --git a/custom_benches/src/main.rs b/custom_benches/src/main.rs
index 4ee06b16..cbe141d1 100644
--- a/custom_benches/src/main.rs
+++ b/custom_benches/src/main.rs
@@ -1,6 +1,6 @@
 //! Translated from rapier benchmark.
 //!
-//! https://github.com/dimforge/rapier/blob/87ada34008f4a1a313ccf8c3040040bab4f10e69/benchmarks3d/many_pyramids3.rs
+//! <https://github.com/dimforge/rapier/blob/87ada34008f4a1a313ccf8c3040040bab4f10e69/benchmarks3d/many_pyramids3.rs>
 
 use benches_common::default_app;
 use benches_common::wait_app_start;

From 3bb2b1a154c69a9619b70f63ca157fd80731020e Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Thu, 11 Jul 2024 12:03:32 +0200
Subject: [PATCH 15/16] rearrange hierarchy and readme

---
 Cargo.toml                                    |  2 +-
 benches_common/Cargo.toml                     | 10 --------
 bevy_rapier3d/Cargo.toml                      |  1 -
 .../benches/common/mod.rs                     |  0
 bevy_rapier3d/benches/cubes.rs                |  5 +++-
 bevy_rapier3d/benches/many_pyramids3.rs       |  4 ++++
 .../Cargo.toml                                |  2 +-
 bevy_rapier_benches3d/README.md               | 24 +++++++++++++++++++
 .../src/main.rs                               |  0
 custom_benches/README.md                      | 18 --------------
 10 files changed, 34 insertions(+), 32 deletions(-)
 delete mode 100644 benches_common/Cargo.toml
 rename benches_common/src/lib.rs => bevy_rapier3d/benches/common/mod.rs (100%)
 rename {custom_benches => bevy_rapier_benches3d}/Cargo.toml (94%)
 create mode 100644 bevy_rapier_benches3d/README.md
 rename {custom_benches => bevy_rapier_benches3d}/src/main.rs (100%)
 delete mode 100644 custom_benches/README.md

diff --git a/Cargo.toml b/Cargo.toml
index e231382e..69f7b7de 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,5 +1,5 @@
 [workspace]
-members = ["bevy_rapier2d", "bevy_rapier3d", "custom_benches"]
+members = ["bevy_rapier2d", "bevy_rapier3d"]
 resolver = "2"
 
 [profile.dev]
diff --git a/benches_common/Cargo.toml b/benches_common/Cargo.toml
deleted file mode 100644
index 91be3fc9..00000000
--- a/benches_common/Cargo.toml
+++ /dev/null
@@ -1,10 +0,0 @@
-[package]
-name = "benches_common"
-version = "0.1.0"
-license = "Apache-2.0"
-edition = "2021"
-
-[dependencies]
-bevy = { version = "0.14.0-rc.3", default-features = false }
-bevy_rapier3d = { version = "0.27.0-rc.1", path = "../bevy_rapier3d", default-features = false }
-divan = "0.1"
diff --git a/bevy_rapier3d/Cargo.toml b/bevy_rapier3d/Cargo.toml
index 6703766d..77faff1c 100644
--- a/bevy_rapier3d/Cargo.toml
+++ b/bevy_rapier3d/Cargo.toml
@@ -53,7 +53,6 @@ log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
 
 [dev-dependencies]
-benches_common = { version = "0.1", path = "../benches_common" }
 bevy = { version = "0.14", default-features = false, features = [
     "x11",
     "tonemapping_luts",
diff --git a/benches_common/src/lib.rs b/bevy_rapier3d/benches/common/mod.rs
similarity index 100%
rename from benches_common/src/lib.rs
rename to bevy_rapier3d/benches/common/mod.rs
diff --git a/bevy_rapier3d/benches/cubes.rs b/bevy_rapier3d/benches/cubes.rs
index 99b91ca0..6095783f 100644
--- a/bevy_rapier3d/benches/cubes.rs
+++ b/bevy_rapier3d/benches/cubes.rs
@@ -2,7 +2,10 @@
 //!
 //! <https://github.com/Jondolf/avian/blob/81290423e146264120cf9711af716f6faf669717/crates/avian3d/benches/cubes.rs>
 
-use benches_common::bench_app_updates;
+mod common;
+
+use common::bench_app_updates;
+
 use bevy::prelude::*;
 use bevy_rapier3d::math::*;
 use bevy_rapier3d::prelude::*;
diff --git a/bevy_rapier3d/benches/many_pyramids3.rs b/bevy_rapier3d/benches/many_pyramids3.rs
index 405af32e..ed001d6e 100644
--- a/bevy_rapier3d/benches/many_pyramids3.rs
+++ b/bevy_rapier3d/benches/many_pyramids3.rs
@@ -2,6 +2,10 @@
 //!
 //! <https://github.com/dimforge/rapier/blob/87ada34008f4a1a313ccf8c3040040bab4f10e69/benchmarks3d/many_pyramids3.rs>
 
+mod common;
+
+use common::bench_app_updates;
+
 use benches_common::bench_app_updates;
 use bevy::prelude::*;
 use bevy_rapier3d::math::*;
diff --git a/custom_benches/Cargo.toml b/bevy_rapier_benches3d/Cargo.toml
similarity index 94%
rename from custom_benches/Cargo.toml
rename to bevy_rapier_benches3d/Cargo.toml
index e511f4fa..b40e2ed2 100644
--- a/custom_benches/Cargo.toml
+++ b/bevy_rapier_benches3d/Cargo.toml
@@ -1,5 +1,5 @@
 [package]
-name = "custom_benches"
+name = "bevy_rapier_benches3d"
 version = "0.1.0"
 description = "Custom benchmarks for bevy_rapier."
 readme = "./README.md"
diff --git a/bevy_rapier_benches3d/README.md b/bevy_rapier_benches3d/README.md
new file mode 100644
index 00000000..96271738
--- /dev/null
+++ b/bevy_rapier_benches3d/README.md
@@ -0,0 +1,24 @@
+# bevy_rapier custom benches
+
+`bevy_rapier_benches3d` 's objective is to measure timings with detailed information
+without spending too much time running multiple times expensive benchmarks.
+
+It is implemented as a standalone binary, running different scenes setup, gathering information
+and outputs them at the end.
+
+```sh
+cargo run --release -p bevy_rapier_benches3d
+```
+
+## cargo bench
+
+For short-lived benchmarks based on statistical analysis,
+benchmarks can be run through the [divan](https://github.com/nvzqz/divan) bench harness.
+
+```sh
+cargo bench -p bevy_rapier3d
+```
+
+## Other resources
+
+- [Bevy profiling](https://github.com/bevyengine/bevy/blob/main/docs/profiling.md)
diff --git a/custom_benches/src/main.rs b/bevy_rapier_benches3d/src/main.rs
similarity index 100%
rename from custom_benches/src/main.rs
rename to bevy_rapier_benches3d/src/main.rs
diff --git a/custom_benches/README.md b/custom_benches/README.md
deleted file mode 100644
index ee1996ed..00000000
--- a/custom_benches/README.md
+++ /dev/null
@@ -1,18 +0,0 @@
-
-## cargo bench
-
-```sh
-cargo bench -p bevy_rapier3d
-```
-
-## Custom benches
-
-```sh
-cargo run --release -p custom_benches
-```
-
-## Flamegraph
-
-```sh
-CARGO_PROFILE_RELEASE_DEBUG=true cargo flamegraph
-```

From 7bf425ba557e7a6d0a739e9ecd70e7309e37903a Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Fri, 12 Jul 2024 12:09:56 +0200
Subject: [PATCH 16/16] fix compilation ; removed some duplicate code

---
 Cargo.toml                                    |   2 +-
 bevy_rapier3d/Cargo.toml                      |   1 +
 bevy_rapier3d/benches/common.rs               |  12 ++
 bevy_rapier3d/benches/many_pyramids3.rs       |  72 +----------
 bevy_rapier_benches3d/Cargo.toml              |   1 -
 bevy_rapier_benches3d/README.md               |   2 +-
 bevy_rapier_benches3d/src/bin/bench.rs        |  14 +++
 .../src/common.rs                             |  10 --
 bevy_rapier_benches3d/src/lib.rs              |  42 +++++++
 bevy_rapier_benches3d/src/main.rs             | 114 ------------------
 bevy_rapier_benches3d/src/pyramids.rs         |  64 ++++++++++
 11 files changed, 139 insertions(+), 195 deletions(-)
 create mode 100644 bevy_rapier3d/benches/common.rs
 create mode 100644 bevy_rapier_benches3d/src/bin/bench.rs
 rename bevy_rapier3d/benches/common/mod.rs => bevy_rapier_benches3d/src/common.rs (83%)
 create mode 100644 bevy_rapier_benches3d/src/lib.rs
 delete mode 100644 bevy_rapier_benches3d/src/main.rs
 create mode 100644 bevy_rapier_benches3d/src/pyramids.rs

diff --git a/Cargo.toml b/Cargo.toml
index 69f7b7de..01b43b09 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,5 +1,5 @@
 [workspace]
-members = ["bevy_rapier2d", "bevy_rapier3d"]
+members = ["bevy_rapier2d", "bevy_rapier3d", "bevy_rapier_benches3d"]
 resolver = "2"
 
 [profile.dev]
diff --git a/bevy_rapier3d/Cargo.toml b/bevy_rapier3d/Cargo.toml
index 77faff1c..58690f76 100644
--- a/bevy_rapier3d/Cargo.toml
+++ b/bevy_rapier3d/Cargo.toml
@@ -61,6 +61,7 @@ bevy = { version = "0.14", default-features = false, features = [
 approx = "0.5.1"
 glam = { version = "0.27", features = ["approx"] }
 divan = "0.1"
+bevy_rapier_benches3d = { version = "0.1", path = "../bevy_rapier_benches3d" }
 
 [package.metadata.docs.rs]
 # Enable all the features when building the docs on docs.rs
diff --git a/bevy_rapier3d/benches/common.rs b/bevy_rapier3d/benches/common.rs
new file mode 100644
index 00000000..86229fc4
--- /dev/null
+++ b/bevy_rapier3d/benches/common.rs
@@ -0,0 +1,12 @@
+use bevy::app::App;
+use bevy_rapier_benches3d::common::{default_app, wait_app_start};
+
+pub fn bench_app_updates(bencher: divan::Bencher, setup: impl Fn(&mut App)) {
+    let mut app = default_app();
+    setup(&mut app);
+    wait_app_start(&mut app);
+
+    bencher.bench_local(|| {
+        app.update();
+    });
+}
diff --git a/bevy_rapier3d/benches/many_pyramids3.rs b/bevy_rapier3d/benches/many_pyramids3.rs
index ed001d6e..e4ca49a4 100644
--- a/bevy_rapier3d/benches/many_pyramids3.rs
+++ b/bevy_rapier3d/benches/many_pyramids3.rs
@@ -4,86 +4,22 @@
 
 mod common;
 
+use bevy_rapier_benches3d::pyramids::setup_pyramids;
 use common::bench_app_updates;
 
-use benches_common::bench_app_updates;
-use bevy::prelude::*;
-use bevy_rapier3d::math::*;
-use bevy_rapier3d::prelude::*;
-
-pub fn create_pyramid(commands: &mut Commands, offset: Vect, stack_height: usize, rad: f32) {
-    let shift = rad * 2.0;
-
-    for i in 0usize..stack_height {
-        for j in i..stack_height {
-            let fj = j as f32;
-            let fi = i as f32;
-            let x = (fi * shift / 2.0) + (fj - fi) * shift;
-            let y = fi * shift;
-
-            // Build the rigid body.
-            commands.spawn((
-                RigidBody::Dynamic,
-                Transform::from_translation(Vec3::new(x, y, 0.0) + offset),
-                Collider::cuboid(1.0, 1.0, 1.0),
-            ));
-        }
-    }
-}
-
-pub fn setup_cubes(app: &mut App, pyramid_count: usize, stack_height: usize) {
-    app.add_systems(Startup, move |mut commands: Commands| {
-        let rad = 0.5;
-        let spacing = 4.0;
-
-        /*
-         * Ground
-         */
-        let ground_size = 50.0;
-        let ground_height = 0.1;
-
-        commands.spawn((
-            RigidBody::Fixed,
-            Transform::from_translation(Vect::new(0.0, -ground_height, 0.0)),
-            Collider::cuboid(
-                ground_size,
-                ground_height,
-                pyramid_count as f32 * spacing / 2.0 + ground_size,
-            ),
-        ));
-
-        /*
-         * Create the cubes
-         */
-        for pyramid_index in 0..pyramid_count {
-            let bottomy = rad;
-            create_pyramid(
-                &mut commands,
-                Vect::new(
-                    0.0,
-                    bottomy,
-                    (pyramid_index as f32 - pyramid_count as f32 / 2.0) * spacing,
-                ),
-                stack_height,
-                rad,
-            );
-        }
-    });
-}
-
 #[divan::bench(sample_count = 60, sample_size = 1)]
 fn pyramid_1_with_height_2(bencher: divan::Bencher) {
-    bench_app_updates(bencher, |app| setup_cubes(app, 1, 2));
+    bench_app_updates(bencher, |app| setup_pyramids(app, 1, 2));
 }
 
 #[divan::bench(sample_count = 60, sample_size = 1)]
 fn pyramid_1_with_height_20(bencher: divan::Bencher) {
-    bench_app_updates(bencher, |app| setup_cubes(app, 1, 20));
+    bench_app_updates(bencher, |app| setup_pyramids(app, 1, 20));
 }
 
 #[divan::bench(sample_count = 60, sample_size = 1)]
 fn pyramid_2_with_height_20(bencher: divan::Bencher) {
-    bench_app_updates(bencher, |app| setup_cubes(app, 2, 20));
+    bench_app_updates(bencher, |app| setup_pyramids(app, 2, 20));
 }
 
 fn main() {
diff --git a/bevy_rapier_benches3d/Cargo.toml b/bevy_rapier_benches3d/Cargo.toml
index b40e2ed2..2bb0caba 100644
--- a/bevy_rapier_benches3d/Cargo.toml
+++ b/bevy_rapier_benches3d/Cargo.toml
@@ -12,4 +12,3 @@ edition = "2021"
 rapier3d = { features = ["profiler"], version = "0.21" }
 bevy_rapier3d = { version = "0.27.0-rc.1", path = "../bevy_rapier3d" }
 bevy = { version = "0.14.0-rc.3", default-features = false }
-benches_common = { version = "0.1", path = "../benches_common" }
diff --git a/bevy_rapier_benches3d/README.md b/bevy_rapier_benches3d/README.md
index 96271738..7079cd61 100644
--- a/bevy_rapier_benches3d/README.md
+++ b/bevy_rapier_benches3d/README.md
@@ -7,7 +7,7 @@ It is implemented as a standalone binary, running different scenes setup, gather
 and outputs them at the end.
 
 ```sh
-cargo run --release -p bevy_rapier_benches3d
+cargo run --release --bin bench
 ```
 
 ## cargo bench
diff --git a/bevy_rapier_benches3d/src/bin/bench.rs b/bevy_rapier_benches3d/src/bin/bench.rs
new file mode 100644
index 00000000..e864541b
--- /dev/null
+++ b/bevy_rapier_benches3d/src/bin/bench.rs
@@ -0,0 +1,14 @@
+use bevy_rapier_benches3d::{custom_bencher, pyramids::setup_pyramids};
+
+fn pyramid_1_with_height_2() {
+    custom_bencher(1000, |app| setup_pyramids(app, 1, 2));
+}
+
+fn pyramid_2_with_height_20() {
+    custom_bencher(100, |app| setup_pyramids(app, 3, 20));
+}
+
+fn main() {
+    pyramid_1_with_height_2();
+    pyramid_2_with_height_20();
+}
diff --git a/bevy_rapier3d/benches/common/mod.rs b/bevy_rapier_benches3d/src/common.rs
similarity index 83%
rename from bevy_rapier3d/benches/common/mod.rs
rename to bevy_rapier_benches3d/src/common.rs
index 02471a39..9a2f5f6f 100644
--- a/bevy_rapier3d/benches/common/mod.rs
+++ b/bevy_rapier_benches3d/src/common.rs
@@ -46,13 +46,3 @@ pub fn wait_app_start(app: &mut App) {
     app.finish();
     app.cleanup();
 }
-
-pub fn bench_app_updates(bencher: divan::Bencher, setup: impl Fn(&mut App)) {
-    let mut app = default_app();
-    setup(&mut app);
-    wait_app_start(&mut app);
-
-    bencher.bench_local(|| {
-        app.update();
-    });
-}
diff --git a/bevy_rapier_benches3d/src/lib.rs b/bevy_rapier_benches3d/src/lib.rs
new file mode 100644
index 00000000..3e3220aa
--- /dev/null
+++ b/bevy_rapier_benches3d/src/lib.rs
@@ -0,0 +1,42 @@
+//! Translated from rapier benchmark.
+//!
+//! <https://github.com/dimforge/rapier/blob/87ada34008f4a1a313ccf8c3040040bab4f10e69/benchmarks3d/many_pyramids3.rs>
+
+pub mod common;
+pub mod pyramids;
+
+use common::default_app;
+use common::wait_app_start;
+
+use bevy::prelude::*;
+use bevy_rapier3d::plugin::RapierContext;
+
+pub fn custom_bencher(steps: usize, setup: impl Fn(&mut App)) {
+    let mut app = default_app();
+    setup(&mut app);
+    wait_app_start(&mut app);
+
+    let mut timer_total = rapier3d::counters::Timer::new();
+    let mut timer_full_update = rapier3d::counters::Timer::new();
+    let mut rapier_step_times = vec![];
+    let mut total_update_times = vec![];
+    timer_total.start();
+    for _ in 0..steps {
+        timer_full_update.start();
+        app.update();
+        timer_full_update.pause();
+        let elapsed_time = timer_full_update.time() as f32;
+        let rc = app.world().resource::<RapierContext>();
+        rapier_step_times.push(rc.pipeline.counters.step_time.time() as f32);
+        total_update_times.push(elapsed_time);
+    }
+    timer_total.pause();
+    let average_total = total_update_times.iter().sum::<f32>() / total_update_times.len() as f32;
+    println!("average total time: {} ms", average_total);
+    let average_rapier_step =
+        rapier_step_times.iter().sum::<f32>() / rapier_step_times.len() as f32;
+    println!("average rapier step time: {} ms", average_rapier_step);
+    let average_rapier_overhead = average_total - average_rapier_step;
+    println!("average bevy overhead: {} ms", average_rapier_overhead);
+    println!("total time: {} ms", timer_total.time());
+}
diff --git a/bevy_rapier_benches3d/src/main.rs b/bevy_rapier_benches3d/src/main.rs
deleted file mode 100644
index cbe141d1..00000000
--- a/bevy_rapier_benches3d/src/main.rs
+++ /dev/null
@@ -1,114 +0,0 @@
-//! Translated from rapier benchmark.
-//!
-//! <https://github.com/dimforge/rapier/blob/87ada34008f4a1a313ccf8c3040040bab4f10e69/benchmarks3d/many_pyramids3.rs>
-
-use benches_common::default_app;
-use benches_common::wait_app_start;
-use bevy::prelude::*;
-use bevy_rapier3d::dynamics::RigidBody;
-use bevy_rapier3d::geometry::Collider;
-use bevy_rapier3d::math::Vect;
-use bevy_rapier3d::plugin::RapierContext;
-
-pub fn create_pyramid(commands: &mut Commands, offset: Vect, stack_height: usize, rad: f32) {
-    let shift = rad * 2.0;
-
-    for i in 0usize..stack_height {
-        for j in i..stack_height {
-            let fj = j as f32;
-            let fi = i as f32;
-            let x = (fi * shift / 2.0) + (fj - fi) * shift;
-            let y = fi * shift;
-
-            // Build the rigid body.
-            commands.spawn((
-                RigidBody::Dynamic,
-                Transform::from_translation(Vec3::new(x, y, 0.0) + offset),
-                Collider::cuboid(1.0, 1.0, 1.0),
-            ));
-        }
-    }
-}
-
-pub fn setup_cubes(app: &mut App, pyramid_count: usize, stack_height: usize) {
-    app.add_systems(Startup, move |mut commands: Commands| {
-        let rad = 0.5;
-        let spacing = 4.0;
-
-        /*
-         * Ground
-         */
-        let ground_size = 50.0;
-        let ground_height = 0.1;
-
-        commands.spawn((
-            RigidBody::Fixed,
-            Transform::from_translation(Vect::new(0.0, -ground_height, 0.0)),
-            Collider::cuboid(
-                ground_size,
-                ground_height,
-                pyramid_count as f32 * spacing / 2.0 + ground_size,
-            ),
-        ));
-
-        /*
-         * Create the cubes
-         */
-        for pyramid_index in 0..pyramid_count {
-            let bottomy = rad;
-            create_pyramid(
-                &mut commands,
-                Vect::new(
-                    0.0,
-                    bottomy,
-                    (pyramid_index as f32 - pyramid_count as f32 / 2.0) * spacing,
-                ),
-                stack_height,
-                rad,
-            );
-        }
-    });
-}
-
-pub fn custom_bencher(steps: usize, setup: impl Fn(&mut App)) {
-    let mut app = default_app();
-    setup(&mut app);
-    wait_app_start(&mut app);
-
-    let mut timer_total = rapier3d::counters::Timer::new();
-    let mut timer_full_update = rapier3d::counters::Timer::new();
-    let mut rapier_step_times = vec![];
-    let mut total_update_times = vec![];
-    timer_total.start();
-    for _ in 0..steps {
-        timer_full_update.start();
-        app.update();
-        timer_full_update.pause();
-        let elapsed_time = timer_full_update.time() as f32;
-        let rc = app.world().resource::<RapierContext>();
-        rapier_step_times.push(rc.pipeline.counters.step_time.time() as f32);
-        total_update_times.push(elapsed_time);
-    }
-    timer_total.pause();
-    let average_total = total_update_times.iter().sum::<f32>() / total_update_times.len() as f32;
-    println!("average total time: {}", average_total);
-    let average_rapier_step =
-        rapier_step_times.iter().sum::<f32>() / rapier_step_times.len() as f32;
-    println!("average rapier step time: {}", average_rapier_step);
-    let average_rapier_overhead = average_total - average_rapier_step;
-    println!("average bevy overhead: {}", average_rapier_overhead);
-    println!("total time: {}", timer_total.time());
-}
-
-fn pyramid_1_with_height_2() {
-    custom_bencher(1000, |app| setup_cubes(app, 1, 2));
-}
-
-fn pyramid_2_with_height_20() {
-    custom_bencher(100, |app| setup_cubes(app, 3, 20));
-}
-
-fn main() {
-    pyramid_1_with_height_2();
-    pyramid_2_with_height_20();
-}
diff --git a/bevy_rapier_benches3d/src/pyramids.rs b/bevy_rapier_benches3d/src/pyramids.rs
new file mode 100644
index 00000000..363538a9
--- /dev/null
+++ b/bevy_rapier_benches3d/src/pyramids.rs
@@ -0,0 +1,64 @@
+use bevy::prelude::*;
+use bevy_rapier3d::dynamics::RigidBody;
+use bevy_rapier3d::geometry::Collider;
+use bevy_rapier3d::math::Vect;
+
+pub fn create_pyramid(commands: &mut Commands, offset: Vect, stack_height: usize, rad: f32) {
+    let shift = rad * 2.0;
+
+    for i in 0usize..stack_height {
+        for j in i..stack_height {
+            let fj = j as f32;
+            let fi = i as f32;
+            let x = (fi * shift / 2.0) + (fj - fi) * shift;
+            let y = fi * shift;
+
+            // Build the rigid body.
+            commands.spawn((
+                RigidBody::Dynamic,
+                Transform::from_translation(Vec3::new(x, y, 0.0) + offset),
+                Collider::cuboid(1.0, 1.0, 1.0),
+            ));
+        }
+    }
+}
+
+pub fn setup_pyramids(app: &mut App, pyramid_count: usize, stack_height: usize) {
+    app.add_systems(Startup, move |mut commands: Commands| {
+        let rad = 0.5;
+        let spacing = 4.0;
+
+        /*
+         * Ground
+         */
+        let ground_size = 50.0;
+        let ground_height = 0.1;
+
+        commands.spawn((
+            RigidBody::Fixed,
+            Transform::from_translation(Vect::new(0.0, -ground_height, 0.0)),
+            Collider::cuboid(
+                ground_size,
+                ground_height,
+                pyramid_count as f32 * spacing / 2.0 + ground_size,
+            ),
+        ));
+
+        /*
+         * Create the pyramids
+         */
+        for pyramid_index in 0..pyramid_count {
+            let bottomy = rad;
+            create_pyramid(
+                &mut commands,
+                Vect::new(
+                    0.0,
+                    bottomy,
+                    (pyramid_index as f32 - pyramid_count as f32 / 2.0) * spacing,
+                ),
+                stack_height,
+                rad,
+            );
+        }
+    });
+}