diff --git a/Cargo.lock b/Cargo.lock
index 48436ee..10bc1ca 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -1059,6 +1059,34 @@ dependencies = [
  "winit",
 ]
 
+[[package]]
+name = "bevy_xpbd_3d"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0425ea7361b9b27c2a382e0663deb42f41147eee60fb2b3d5fa7e42d363ea848"
+dependencies = [
+ "bevy",
+ "bevy_math",
+ "bevy_xpbd_derive",
+ "derive_more",
+ "fxhash",
+ "indexmap",
+ "itertools",
+ "nalgebra",
+ "parry3d",
+ "parry3d-f64",
+]
+
+[[package]]
+name = "bevy_xpbd_derive"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3e1ef1d5e328abe1b76df974245f78e17fd17867583883d5e77444c6a8223a64"
+dependencies = [
+ "quote",
+ "syn 2.0.52",
+]
+
 [[package]]
 name = "bindgen"
 version = "0.69.4"
@@ -1397,6 +1425,12 @@ dependencies = [
  "const_soft_float",
 ]
 
+[[package]]
+name = "convert_case"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6245d59a3e82a7fc217c5828a6692dbc6dfb63a0c8c90495621f7b9d79704a0e"
+
 [[package]]
 name = "core-foundation"
 version = "0.9.4"
@@ -1498,6 +1532,25 @@ dependencies = [
  "crossbeam-utils",
 ]
 
+[[package]]
+name = "crossbeam-deque"
+version = "0.8.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "613f8cc01fe9cf1a3eb3d7f488fd2fa8388403e97039e2f73692932e291a770d"
+dependencies = [
+ "crossbeam-epoch",
+ "crossbeam-utils",
+]
+
+[[package]]
+name = "crossbeam-epoch"
+version = "0.9.18"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5b82ac4a3c2ca9c3460964f020e1402edd5753411d7737aa39c3714ad1b5420e"
+dependencies = [
+ "crossbeam-utils",
+]
+
 [[package]]
 name = "crossbeam-utils"
 version = "0.8.19"
@@ -1539,8 +1592,10 @@ version = "0.99.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "4fb810d30a7c1953f91334de7244731fc3f3c10d7fe163338a35b9f640960321"
 dependencies = [
+ "convert_case",
  "proc-macro2",
  "quote",
+ "rustc_version",
  "syn 1.0.109",
 ]
 
@@ -1774,6 +1829,15 @@ dependencies = [
  "pin-project-lite",
 ]
 
+[[package]]
+name = "fxhash"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c31b6d751ae2c7f11320402d34e41349dd1016f8d5d45e48c4312bc8625af50c"
+dependencies = [
+ "byteorder",
+]
+
 [[package]]
 name = "gethostname"
 version = "0.4.3"
@@ -2243,6 +2307,12 @@ dependencies = [
  "windows-targets 0.52.4",
 ]
 
+[[package]]
+name = "libm"
+version = "0.2.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4ec2a862134d2a7d32d7983ddcdd1c4923530833c9f2ea1a44fc5fa473989058"
+
 [[package]]
 name = "libredox"
 version = "0.0.2"
@@ -2313,6 +2383,16 @@ dependencies = [
  "regex-automata 0.1.10",
 ]
 
+[[package]]
+name = "matrixmultiply"
+version = "0.3.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7574c1cf36da4798ab73da5b215bbf444f50718207754cb522201d78d1cd0ff2"
+dependencies = [
+ "autocfg",
+ "rawpointer",
+]
+
 [[package]]
 name = "memchr"
 version = "2.7.1"
@@ -2411,6 +2491,34 @@ dependencies = [
  "unicode-ident",
 ]
 
+[[package]]
+name = "nalgebra"
+version = "0.32.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3ea4908d4f23254adda3daa60ffef0f1ac7b8c3e9a864cf3cc154b251908a2ef"
+dependencies = [
+ "approx",
+ "glam",
+ "matrixmultiply",
+ "nalgebra-macros",
+ "num-complex",
+ "num-rational",
+ "num-traits",
+ "simba",
+ "typenum",
+]
+
+[[package]]
+name = "nalgebra-macros"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "91761aed67d03ad966ef783ae962ef9bbaca728d2dd7ceb7939ec110fffad998"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
+]
+
 [[package]]
 name = "ndk"
 version = "0.8.0"
@@ -2488,6 +2596,15 @@ dependencies = [
  "winapi",
 ]
 
+[[package]]
+name = "num-complex"
+version = "0.4.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "23c6602fda94a57c990fe0df199a035d83576b496aa29f4e634a8ac6004e68a6"
+dependencies = [
+ "num-traits",
+]
+
 [[package]]
 name = "num-derive"
 version = "0.3.3"
@@ -2510,6 +2627,26 @@ dependencies = [
  "syn 2.0.52",
 ]
 
+[[package]]
+name = "num-integer"
+version = "0.1.46"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7969661fd2958a5cb096e56c8e1ad0444ac2bbcd0061bd28660485a44879858f"
+dependencies = [
+ "num-traits",
+]
+
+[[package]]
+name = "num-rational"
+version = "0.4.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0638a1c9d0a3c0914158145bc76cff373a75a627e6ecbfb71cbe6f453a5a19b0"
+dependencies = [
+ "autocfg",
+ "num-integer",
+ "num-traits",
+]
+
 [[package]]
 name = "num-traits"
 version = "0.2.18"
@@ -2517,6 +2654,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "da0df0e5185db44f69b44f26786fe401b6c293d1907744beaa7fa62b2e5a517a"
 dependencies = [
  "autocfg",
+ "libm",
 ]
 
 [[package]]
@@ -2680,6 +2818,7 @@ version = "0.3.0"
 dependencies = [
  "bevy",
  "bevy_embedded_assets",
+ "bevy_xpbd_3d",
  "regex",
 ]
 
@@ -2727,6 +2866,50 @@ dependencies = [
  "windows-targets 0.48.5",
 ]
 
+[[package]]
+name = "parry3d"
+version = "0.13.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6ccba18a65dba56c08dadfa936e0c9efbc883b3a26dc77d2685f78be10f7667c"
+dependencies = [
+ "approx",
+ "arrayvec",
+ "bitflags 1.3.2",
+ "downcast-rs",
+ "either",
+ "nalgebra",
+ "num-derive 0.4.2",
+ "num-traits",
+ "rayon",
+ "rustc-hash",
+ "simba",
+ "slab",
+ "smallvec",
+ "spade",
+]
+
+[[package]]
+name = "parry3d-f64"
+version = "0.13.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d259245abcc09379798e4d373d9019e0df4dc6f7f128ecd68700a5927dc32034"
+dependencies = [
+ "approx",
+ "arrayvec",
+ "bitflags 1.3.2",
+ "downcast-rs",
+ "either",
+ "nalgebra",
+ "num-derive 0.4.2",
+ "num-traits",
+ "rayon",
+ "rustc-hash",
+ "simba",
+ "slab",
+ "smallvec",
+ "spade",
+]
+
 [[package]]
 name = "paste"
 version = "1.0.14"
@@ -2865,6 +3048,32 @@ version = "0.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "42a9830a0e1b9fb145ebb365b8bc4ccd75f290f98c0247deafbbe2c75cefb544"
 
+[[package]]
+name = "rawpointer"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3"
+
+[[package]]
+name = "rayon"
+version = "1.10.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b418a60154510ca1a002a752ca9714984e21e4241e804d32555251faf8b78ffa"
+dependencies = [
+ "either",
+ "rayon-core",
+]
+
+[[package]]
+name = "rayon-core"
+version = "1.12.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1465873a3dfdaa8ae7cb14b4383657caab0b3e8a0aa9ae8e04b044854c8dfce2"
+dependencies = [
+ "crossbeam-deque",
+ "crossbeam-utils",
+]
+
 [[package]]
 name = "rectangle-pack"
 version = "0.4.2"
@@ -2939,6 +3148,12 @@ version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "19b30a45b0cd0bcca8037f3d0dc3421eaf95327a17cad11964fb8179b4fc4832"
 
+[[package]]
+name = "robust"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cbf4a6aa5f6d6888f39e980649f3ad6b666acdce1d78e95b8a2cb076e687ae30"
+
 [[package]]
 name = "rodio"
 version = "0.17.3"
@@ -2968,6 +3183,15 @@ version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "08d43f7aa6b08d49f382cde6a7982047c3426db949b1424bc4b7ec9ae12c6ce2"
 
+[[package]]
+name = "rustc_version"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
+dependencies = [
+ "semver",
+]
+
 [[package]]
 name = "rustix"
 version = "0.38.31"
@@ -2998,6 +3222,15 @@ version = "1.0.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e86697c916019a8588c99b5fac3cead74ec0b4b819707a682fd4d23fa0ce1ba1"
 
+[[package]]
+name = "safe_arch"
+version = "0.7.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f398075ce1e6a179b46f51bd88d0598b92b00d3551f1a2d4ac49e771b56ac354"
+dependencies = [
+ "bytemuck",
+]
+
 [[package]]
 name = "same-file"
 version = "1.0.6"
@@ -3013,6 +3246,12 @@ version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49"
 
+[[package]]
+name = "semver"
+version = "1.0.22"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "92d43fe69e652f3df9bdc2b85b2854a0825b86e4fb76bc44d945137d053639ca"
+
 [[package]]
 name = "serde"
 version = "1.0.197"
@@ -3059,6 +3298,19 @@ version = "1.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0fda2ff0d084019ba4d7c6f371c95d8fd75ce3524c3cb8fb653a3023f6323e64"
 
+[[package]]
+name = "simba"
+version = "0.8.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "061507c94fc6ab4ba1c9a0305018408e312e17c041eb63bef8aa726fa33aceae"
+dependencies = [
+ "approx",
+ "num-complex",
+ "num-traits",
+ "paste",
+ "wide",
+]
+
 [[package]]
 name = "simd-adler32"
 version = "0.3.7"
@@ -3112,6 +3364,18 @@ dependencies = [
  "serde",
 ]
 
+[[package]]
+name = "spade"
+version = "2.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "61addf9117b11d1f5b4bf6fe94242ba25f59d2d4b2080544b771bd647024fd00"
+dependencies = [
+ "hashbrown",
+ "num-traits",
+ "robust",
+ "smallvec",
+]
+
 [[package]]
 name = "spirv"
 version = "0.3.0+sdk-1.3.268.0"
@@ -3351,6 +3615,12 @@ dependencies = [
  "static_assertions",
 ]
 
+[[package]]
+name = "typenum"
+version = "1.17.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "42ff0bf0c66b8238c6f3b578df37d0b7848e55df8577b3f74f92a69acceeb825"
+
 [[package]]
 name = "unicode-ident"
 version = "1.0.12"
@@ -3612,6 +3882,16 @@ dependencies = [
  "web-sys",
 ]
 
+[[package]]
+name = "wide"
+version = "0.7.15"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "89beec544f246e679fc25490e3f8e08003bc4bf612068f325120dad4cea02c1c"
+dependencies = [
+ "bytemuck",
+ "safe_arch",
+]
+
 [[package]]
 name = "widestring"
 version = "1.0.2"
diff --git a/Cargo.toml b/Cargo.toml
index 1b63932..26eb291 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -12,6 +12,7 @@ rust-version = "1.76.0"
 [dependencies]
 regex = "1"
 bevy_embedded_assets = "0.10.2"
+bevy_xpbd_3d = "0.4"
 
 [dependencies."bevy"]
 version = "0.13.0"
diff --git a/src/main.rs b/src/main.rs
index 0a3b8b8..b59b972 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -32,6 +32,7 @@ fn main() {
             OutFlyPlugin,
         )).run();
     } else {
+        // In release builds, embed assets into the binary
         App::new().add_plugins((
             EmbeddedAssetPlugin { mode: PluginMode::ReplaceDefault },
             OutFlyPlugin,