diff --git a/Cargo.lock b/Cargo.lock
index 0a8ca44..d06552e 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -177,11 +177,23 @@ dependencies = [
  "libc",
 ]
 
+[[package]]
+name = "anes"
+version = "0.1.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4b46cbb362ab8752921c97e041f5e366ee6297bd428a31275b9fcf1e380f7299"
+
+[[package]]
+name = "anstyle"
+version = "1.0.13"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5192cca8006f1fd4f7237516f40fa183bb07f8fbdfedaa0036de5ea9b0b45e78"
+
 [[package]]
 name = "anyhow"
-version = "1.0.100"
+version = "1.0.101"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a23eb6b1614318a8071c9b2521f36b424b2c83db5eb3a0fead4a6c0809af6e61"
+checksum = "5f0e0fee31ef5ed1ba1316088939cea399010ed7731dba877ed44aeb407a75ea"
 
 [[package]]
 name = "approx"
@@ -214,6 +226,12 @@ dependencies = [
  "num-traits",
 ]
 
+[[package]]
+name = "arbitrary-chunks"
+version = "0.4.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2ad8689a486416c401ea15715a4694de30054248ec627edbf31f49cb64ee4086"
+
 [[package]]
 name = "arboard"
 version = "3.6.1"
@@ -474,8 +492,9 @@ checksum = "c08606f8c3cbf4ce6ec8e28fb0014a2c086708fe954eaa885384a6165172e7e8"
 
 [[package]]
 name = "avian3d"
-version = "0.6.0-dev"
-source = "git+https://github.com/avianphysics/avian#cbc9a2144ba75da3169fbc8a48e5283fe7f805a2"
+version = "0.6.0-rc.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "59554a1f936b55ade114a5f6b68bf718060133296a170c5107ffe73abfa65ea9"
 dependencies = [
  "approx",
  "avian_derive",
@@ -486,19 +505,21 @@ dependencies = [
  "bitflags 2.10.0",
  "derive_more",
  "disqualified",
+ "glam 0.31.0",
  "glam_matrix_extras",
- "itertools 0.13.0",
- "nalgebra",
+ "itertools 0.14.0",
+ "obvhs",
  "parry3d",
- "slab",
  "smallvec",
  "thiserror 2.0.18",
+ "thread_local",
 ]
 
 [[package]]
 name = "avian_derive"
 version = "0.2.2"
-source = "git+https://github.com/avianphysics/avian#cbc9a2144ba75da3169fbc8a48e5283fe7f805a2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "12b257f601a1535e0d4a7a7796f535e3a13de62fd422b16dff7c14d27f0d4048"
 dependencies = [
  "proc-macro-error2",
  "proc-macro2",
@@ -508,7 +529,7 @@ dependencies = [
 
 [[package]]
 name = "avian_rerecast"
-version = "0.5.0-dev"
+version = "0.5.0-rc.1"
 dependencies = [
  "avian3d",
  "bevy_app",
@@ -1835,7 +1856,7 @@ dependencies = [
 [[package]]
 name = "bevy_trenchbroom"
 version = "0.12.0"
-source = "git+https://github.com/janhohenheim/bevy_trenchbroom?branch=avian-0.6#dd52cf42f8b02800605f6c08ab0ea635b46103c8"
+source = "git+https://github.com/janhohenheim/bevy_trenchbroom?branch=avian-0.6#91136c292d25567a7ab7bed5a12a66f1c1675258"
 dependencies = [
  "anyhow",
  "atomicow",
@@ -1851,7 +1872,7 @@ dependencies = [
  "float-ord",
  "image",
  "itertools 0.14.0",
- "json",
+ "jzon",
  "ndshape",
  "nil",
  "quake-util",
@@ -1864,8 +1885,8 @@ dependencies = [
 
 [[package]]
 name = "bevy_trenchbroom_avian"
-version = "0.13.0-dev"
-source = "git+https://github.com/janhohenheim/bevy_trenchbroom?branch=avian-0.6#dd52cf42f8b02800605f6c08ab0ea635b46103c8"
+version = "0.13.0-rc.1"
+source = "git+https://github.com/janhohenheim/bevy_trenchbroom?branch=avian-0.6#91136c292d25567a7ab7bed5a12a66f1c1675258"
 dependencies = [
  "avian3d",
  "bevy",
@@ -1875,7 +1896,7 @@ dependencies = [
 [[package]]
 name = "bevy_trenchbroom_macros"
 version = "0.12.0"
-source = "git+https://github.com/janhohenheim/bevy_trenchbroom?branch=avian-0.6#dd52cf42f8b02800605f6c08ab0ea635b46103c8"
+source = "git+https://github.com/janhohenheim/bevy_trenchbroom?branch=avian-0.6#91136c292d25567a7ab7bed5a12a66f1c1675258"
 dependencies = [
  "deluxe",
  "heck 0.5.0",
@@ -2130,6 +2151,16 @@ version = "0.1.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0d8c1fef690941d3e7788d328517591fecc684c084084702d6ff1641e993699a"
 
+[[package]]
+name = "block-pseudorand"
+version = "0.1.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2097358495d244a0643746f4d13eedba4608137008cf9dec54e53a3b700115a6"
+dependencies = [
+ "chiapos-chacha8",
+ "nanorand",
+]
+
 [[package]]
 name = "block2"
 version = "0.5.1"
@@ -2169,9 +2200,9 @@ checksum = "5dd9dc738b7a8311c7ade152424974d8115f2cdad61e8dab8dac9f2362298510"
 
 [[package]]
 name = "bytemuck"
-version = "1.24.0"
+version = "1.25.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1fbdf580320f38b612e485521afda1ee26d10cc9884efaaa750d383e13e3c5f4"
+checksum = "c8efb64bd706a16a1bdde310ae86b351e4d21550d98d056f22f8a7f7a2183fec"
 dependencies = [
  "bytemuck_derive",
 ]
@@ -2201,9 +2232,9 @@ checksum = "8f1fe948ff07f4bd06c30984e69f5b4899c516a3ef74f34df92a2df2ab535495"
 
 [[package]]
 name = "bytes"
-version = "1.11.0"
+version = "1.11.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b35204fbdc0b3f4446b89fc1ac2cf84a8a68971995d0bf2e925ec7cd960f9cb3"
+checksum = "1e748733b7cbc798e1434b6ac524f0c1ff2ab456fe201501e6497c8417a4fc33"
 
 [[package]]
 name = "calloop"
@@ -2231,11 +2262,17 @@ dependencies = [
  "wayland-client",
 ]
 
+[[package]]
+name = "cast"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "37b2a672a2cb129a2e41c10b1224bb368f9f37a2b16b612598138befd7b37eb5"
+
 [[package]]
 name = "cc"
-version = "1.2.54"
+version = "1.2.55"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6354c81bbfd62d9cfa9cb3c773c2b7b2a3a482d569de977fd0e961f6e7c00583"
+checksum = "47b26a0954ae34af09b50f0de26458fa95369a0d478d8236d3f93082b219bd29"
 dependencies = [
  "find-msvc-tools",
  "jobserver",
@@ -2270,6 +2307,42 @@ version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "613afe47fcd5fac7ccf1db93babcb082c5994d996f20b8b159f2ad1658eb5724"
 
+[[package]]
+name = "chiapos-chacha8"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "33f8be573a85f6c2bc1b8e43834c07e32f95e489b914bf856c0549c3c269cd0a"
+dependencies = [
+ "rayon",
+]
+
+[[package]]
+name = "ciborium"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "42e69ffd6f0917f5c029256a24d0161db17cea3997d185db0d35926308770f0e"
+dependencies = [
+ "ciborium-io",
+ "ciborium-ll",
+ "serde",
+]
+
+[[package]]
+name = "ciborium-io"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "05afea1e0a06c9be33d539b876f1ce3692f4afea2cb41f740e7743225ed1c757"
+
+[[package]]
+name = "ciborium-ll"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "57663b653d948a338bfb3eeba9bb2fd5fcfaecb9e199e87e1eda4d9e8b240fd9"
+dependencies = [
+ "ciborium-io",
+ "half",
+]
+
 [[package]]
 name = "clang-sys"
 version = "1.8.1"
@@ -2281,6 +2354,31 @@ dependencies = [
  "libloading",
 ]
 
+[[package]]
+name = "clap"
+version = "4.5.57"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6899ea499e3fb9305a65d5ebf6e3d2248c5fab291f300ad0a704fbe142eae31a"
+dependencies = [
+ "clap_builder",
+]
+
+[[package]]
+name = "clap_builder"
+version = "4.5.57"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7b12c8b680195a62a8364d16b8447b01b6c2c8f9aaf68bee653be34d4245e238"
+dependencies = [
+ "anstyle",
+ "clap_lex",
+]
+
+[[package]]
+name = "clap_lex"
+version = "0.7.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c3e64b0cc0439b12df2fa678eae89a1c56a529fd067a9115f7827f1fffd22b32"
+
 [[package]]
 name = "clipboard-win"
 version = "5.4.1"
@@ -2565,6 +2663,42 @@ dependencies = [
  "cfg-if",
 ]
 
+[[package]]
+name = "criterion"
+version = "0.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f2b12d017a929603d80db1831cd3a24082f8137ce19c69e6447f54f5fc8d692f"
+dependencies = [
+ "anes",
+ "cast",
+ "ciborium",
+ "clap",
+ "criterion-plot",
+ "is-terminal",
+ "itertools 0.10.5",
+ "num-traits",
+ "once_cell",
+ "oorandom",
+ "plotters",
+ "rayon",
+ "regex",
+ "serde",
+ "serde_derive",
+ "serde_json",
+ "tinytemplate",
+ "walkdir",
+]
+
+[[package]]
+name = "criterion-plot"
+version = "0.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6b50826342786a51a89e2da3a28f1c32b06e387201bc2d19791f622c673706b1"
+dependencies = [
+ "cast",
+ "itertools 0.10.5",
+]
+
 [[package]]
 name = "critical-section"
 version = "1.2.0"
@@ -2580,6 +2714,25 @@ dependencies = [
  "crossbeam-utils",
 ]
 
+[[package]]
+name = "crossbeam-deque"
+version = "0.8.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9dd111b7b7f7d55b72c0a6ae361660ee5853c9af73f70c3c2ef6858b950e2e51"
+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-queue"
 version = "0.3.12"
@@ -3010,9 +3163,9 @@ dependencies = [
 
 [[package]]
 name = "find-msvc-tools"
-version = "0.1.8"
+version = "0.1.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8591b0bcc8a98a64310a2fae1bb3e9b8564dd10e381e6e28010fde8e8e8568db"
+checksum = "5baebc0774151f905a1a2cc41989300b1e6fbb29aff0ceffa1064fdd3088d582"
 
 [[package]]
 name = "fixedbitset"
@@ -3022,9 +3175,9 @@ checksum = "1d674e81391d1e1ab681a28d99df07927c6d4aa5b027d7da16ba32d1d21ecd99"
 
 [[package]]
 name = "flate2"
-version = "1.1.8"
+version = "1.1.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b375d6465b98090a5f25b1c7703f3859783755aa9a80433b36e0379a3ec2f369"
+checksum = "843fba2746e448b37e26a819579957415c8cef339bf08564fe8b7ddbd959573c"
 dependencies = [
  "crc32fast",
  "miniz_oxide",
@@ -3280,96 +3433,6 @@ dependencies = [
  "xml-rs",
 ]
 
-[[package]]
-name = "glam"
-version = "0.14.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "333928d5eb103c5d4050533cec0384302db6be8ef7d3cebd30ec6a35350353da"
-
-[[package]]
-name = "glam"
-version = "0.15.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3abb554f8ee44336b72d522e0a7fe86a29e09f839a36022fa869a7dfe941a54b"
-
-[[package]]
-name = "glam"
-version = "0.16.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4126c0479ccf7e8664c36a2d719f5f2c140fbb4f9090008098d2c291fa5b3f16"
-
-[[package]]
-name = "glam"
-version = "0.17.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e01732b97afd8508eee3333a541b9f7610f454bb818669e66e90f5f57c93a776"
-
-[[package]]
-name = "glam"
-version = "0.18.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "525a3e490ba77b8e326fb67d4b44b4bd2f920f44d4cc73ccec50adc68e3bee34"
-
-[[package]]
-name = "glam"
-version = "0.19.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2b8509e6791516e81c1a630d0bd7fbac36d2fa8712a9da8662e716b52d5051ca"
-
-[[package]]
-name = "glam"
-version = "0.20.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f43e957e744be03f5801a55472f593d43fabdebf25a4585db250f04d86b1675f"
-
-[[package]]
-name = "glam"
-version = "0.21.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "518faa5064866338b013ff9b2350dc318e14cc4fcd6cb8206d7e7c9886c98815"
-
-[[package]]
-name = "glam"
-version = "0.22.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "12f597d56c1bd55a811a1be189459e8fad2bbc272616375602443bdfb37fa774"
-
-[[package]]
-name = "glam"
-version = "0.23.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8e4afd9ad95555081e109fe1d21f2a30c691b5f0919c67dfa690a2e1eb6bd51c"
-
-[[package]]
-name = "glam"
-version = "0.24.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b5418c17512bdf42730f9032c74e1ae39afc408745ebb2acf72fbc4691c17945"
-
-[[package]]
-name = "glam"
-version = "0.25.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "151665d9be52f9bb40fc7966565d39666f2d1e69233571b71b87791c7e0528b3"
-
-[[package]]
-name = "glam"
-version = "0.27.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9e05e7e6723e3455f4818c7b26e855439f7546cf617ef669d1adedb8669e5cb9"
-
-[[package]]
-name = "glam"
-version = "0.28.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "779ae4bf7e8421cf91c0b3b64e7e8b40b862fba4d393f59150042de7c4965a94"
-
-[[package]]
-name = "glam"
-version = "0.29.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8babf46d4c1c9d92deac9f7be466f76dfc4482b6452fc5024b5e8daf6ffeb3ee"
-
 [[package]]
 name = "glam"
 version = "0.30.10"
@@ -3384,6 +3447,15 @@ dependencies = [
  "serde_core",
 ]
 
+[[package]]
+name = "glam"
+version = "0.31.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "74a4d85559e2637d3d839438b5b3d75c31e655276f9544d72475c36b92fabbed"
+dependencies = [
+ "bytemuck",
+]
+
 [[package]]
 name = "glam_matrix_extras"
 version = "0.2.0"
@@ -3394,6 +3466,18 @@ dependencies = [
  "glam 0.30.10",
 ]
 
+[[package]]
+name = "glamx"
+version = "0.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "375b4fa374a343fef990a18a6e0413d54bd990c6d7b8c7ada2d3c884275edea3"
+dependencies = [
+ "approx",
+ "glam 0.30.10",
+ "num-traits",
+ "simba",
+]
+
 [[package]]
 name = "glob"
 version = "0.3.3"
@@ -3883,6 +3967,26 @@ dependencies = [
  "rustversion",
 ]
 
+[[package]]
+name = "is-terminal"
+version = "0.4.17"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3640c1c38b8e4e43584d8df18be5fc6b0aa314ce6ebf51b53313d4306cca8e46"
+dependencies = [
+ "hermit-abi",
+ "libc",
+ "windows-sys 0.61.2",
+]
+
+[[package]]
+name = "itertools"
+version = "0.10.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b0fd2260e829bddf4cb6ea802289de2f86d6a7a690192fbe91b3f46e0f2c8473"
+dependencies = [
+ "either",
+]
+
 [[package]]
 name = "itertools"
 version = "0.13.0"
@@ -3950,10 +4054,10 @@ dependencies = [
 ]
 
 [[package]]
-name = "json"
-version = "0.12.4"
+name = "jzon"
+version = "0.12.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "078e285eafdfb6c4b434e0d31e8cfcb5115b651496faca5749b88fafd4f23bfd"
+checksum = "17ab85f84ca42c5ec520e6f3c9966ba1fd62909ce260f8837e248857d2560509"
 
 [[package]]
 name = "khronos-egl"
@@ -4113,21 +4217,11 @@ dependencies = [
  "regex-automata",
 ]
 
-[[package]]
-name = "matrixmultiply"
-version = "0.3.10"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a06de3016e9fae57a36fd14dba131fccf49f74b40b7fbdb472f96e361ec71a08"
-dependencies = [
- "autocfg",
- "rawpointer",
-]
-
 [[package]]
 name = "memchr"
-version = "2.7.6"
+version = "2.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f52b00d39961fc5b2736ea853c9cc86238e165017a493d1d5c8eac6bdc4cc273"
+checksum = "f8ca58f447f06ed17d5fc4043ce1b10dd205e060fb3ce5b979b8ed8e59ff3f79"
 
 [[package]]
 name = "memmap2"
@@ -4233,47 +4327,10 @@ dependencies = [
 ]
 
 [[package]]
-name = "nalgebra"
-version = "0.34.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c4d5b3eff5cd580f93da45e64715e8c20a3996342f1e466599cf7a267a0c2f5f"
-dependencies = [
- "approx",
- "glam 0.14.0",
- "glam 0.15.2",
- "glam 0.16.0",
- "glam 0.17.3",
- "glam 0.18.0",
- "glam 0.19.0",
- "glam 0.20.5",
- "glam 0.21.3",
- "glam 0.22.0",
- "glam 0.23.0",
- "glam 0.24.2",
- "glam 0.25.0",
- "glam 0.27.0",
- "glam 0.28.0",
- "glam 0.29.3",
- "glam 0.30.10",
- "matrixmultiply",
- "nalgebra-macros",
- "num-complex",
- "num-rational",
- "num-traits",
- "simba",
- "typenum",
-]
-
-[[package]]
-name = "nalgebra-macros"
-version = "0.3.0"
+name = "nanorand"
+version = "0.6.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "973e7178a678cfd059ccec50887658d482ce16b0aa9da3888ddeab5cd5eb4889"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn 2.0.114",
-]
+checksum = "729eb334247daa1803e0a094d0a5c55711b85571179f5ec6e53eccfdf7008958"
 
 [[package]]
 name = "ndk"
@@ -4394,16 +4451,6 @@ dependencies = [
  "windows-sys 0.61.2",
 ]
 
-[[package]]
-name = "num-bigint"
-version = "0.4.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a5e44f723f1133c9deac646763579fdb3ac745e418f2a7af9cd0c431da1f20b9"
-dependencies = [
- "num-integer",
- "num-traits",
-]
-
 [[package]]
 name = "num-complex"
 version = "0.4.6"
@@ -4424,26 +4471,6 @@ dependencies = [
  "syn 2.0.114",
 ]
 
-[[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 = "0.4.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f83d14da390562dca69fc84082e73e548e1ad308d24accdedd2720017cb37824"
-dependencies = [
- "num-bigint",
- "num-integer",
- "num-traits",
-]
-
 [[package]]
 name = "num-traits"
 version = "0.2.19"
@@ -4790,6 +4817,20 @@ dependencies = [
  "cc",
 ]
 
+[[package]]
+name = "obvhs"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f317a1c29744b0e63bdf1733443fad6805a86ab6db403671f945456041cc84b3"
+dependencies = [
+ "bytemuck",
+ "glam 0.31.0",
+ "half",
+ "log",
+ "rdst",
+ "static_assertions",
+]
+
 [[package]]
 name = "offset-allocator"
 version = "0.2.0"
@@ -4815,6 +4856,12 @@ version = "1.21.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "42f5e15c9953c5e4ccceeb2e7382a716482c34515315f7b03532b8b4e8393d2d"
 
+[[package]]
+name = "oorandom"
+version = "11.1.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d6790f58c7ff633d8771f42965289203411a5e5c68388703c06e14f24770b41e"
+
 [[package]]
 name = "orbclient"
 version = "0.3.50"
@@ -4884,9 +4931,9 @@ dependencies = [
 
 [[package]]
 name = "parry3d"
-version = "0.25.3"
+version = "0.26.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e99471b7b6870f7fe406d5611dd4b4c9b07aa3e5436b1d27e1515f9832bb0c6b"
+checksum = "2e04d21bda5249438b5695e7f08f1655524a6025bcdb186c324b7a66562f2d61"
 dependencies = [
  "approx",
  "arrayvec",
@@ -4895,9 +4942,9 @@ dependencies = [
  "either",
  "ena",
  "foldhash 0.2.0",
+ "glamx",
  "hashbrown 0.16.1",
  "log",
- "nalgebra",
  "num-derive",
  "num-traits",
  "ordered-float",
@@ -4910,6 +4957,12 @@ dependencies = [
  "thiserror 2.0.18",
 ]
 
+[[package]]
+name = "partition"
+version = "0.1.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "947f833aaa585cf12b8ec7c0476c98784c49f33b861376ffc84ed92adebf2aba"
+
 [[package]]
 name = "paste"
 version = "1.0.15"
@@ -4984,6 +5037,34 @@ version = "0.3.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7edddbd0b52d732b21ad9a5fab5c704c14cd949e5e9a1ec5929a24fded1b904c"
 
+[[package]]
+name = "plotters"
+version = "0.3.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5aeb6f403d7a4911efb1e33402027fc44f29b5bf6def3effcc22d7bb75f2b747"
+dependencies = [
+ "num-traits",
+ "plotters-backend",
+ "plotters-svg",
+ "wasm-bindgen",
+ "web-sys",
+]
+
+[[package]]
+name = "plotters-backend"
+version = "0.3.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "df42e13c12958a16b3f7f4386b9ab1f3e7933914ecea48da7139435263a4172a"
+
+[[package]]
+name = "plotters-svg"
+version = "0.3.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "51bae2ac328883f7acdfea3d66a7c35751187f870bc81f94563733a154d7a670"
+dependencies = [
+ "plotters-backend",
+]
+
 [[package]]
 name = "png"
 version = "0.18.0"
@@ -5019,18 +5100,18 @@ checksum = "2f3a9f18d041e6d0e102a0a46750538147e5e8992d3b4873aaafee2520b00ce3"
 
 [[package]]
 name = "portable-atomic"
-version = "1.13.0"
+version = "1.13.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f89776e4d69bb58bc6993e99ffa1d11f228b839984854c7daeb5d37f87cbe950"
+checksum = "c33a9471896f1c69cecef8d20cbe2f7accd12527ce60845ff44c153bb2a21b49"
 dependencies = [
  "critical-section",
 ]
 
 [[package]]
 name = "portable-atomic-util"
-version = "0.2.4"
+version = "0.2.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d8a2f0d8d040d7848a709caf78912debcc3f33ee4b3cac47d73d1e1069e83507"
+checksum = "7a9db96d7fa8782dd8c15ce32ffe8680bbd1e978a43bf51a34d39483540495f5"
 dependencies = [
  "portable-atomic",
 ]
@@ -5227,10 +5308,38 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "20675572f6f24e9e76ef639bc5552774ed45f1c30e2951e1e99c59888861c539"
 
 [[package]]
-name = "rawpointer"
-version = "0.2.1"
+name = "rayon"
+version = "1.11.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "368f01d005bf8fd9b1206fb6fa653e6c4a81ceb1466406b81792d87c5677a58f"
+dependencies = [
+ "either",
+ "rayon-core",
+]
+
+[[package]]
+name = "rayon-core"
+version = "1.13.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "22e18b0f0062d30d4230b2e85ff77fdfe4326feb054b9783a3460d8435c8ab91"
+dependencies = [
+ "crossbeam-deque",
+ "crossbeam-utils",
+]
+
+[[package]]
+name = "rdst"
+version = "0.20.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3"
+checksum = "6e7970b4e577b76a96d5e56b5f6662b66d1a4e1f5bb026ee118fc31b373c2752"
+dependencies = [
+ "arbitrary-chunks",
+ "block-pseudorand",
+ "criterion",
+ "partition",
+ "tikv-jemallocator",
+ "voracious_radix_sort",
+]
 
 [[package]]
 name = "read-fonts"
@@ -5288,9 +5397,9 @@ dependencies = [
 
 [[package]]
 name = "regex"
-version = "1.12.2"
+version = "1.12.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "843bc0191f75f3e22651ae5f1e72939ab2f72a4bc30fa80a066bd66edefc24d4"
+checksum = "e10754a14b9137dd7b1e3e5b0493cc9171fdd105e0ab477f51b72e7f3ac0e276"
 dependencies = [
  "aho-corasick",
  "memchr",
@@ -5300,9 +5409,9 @@ dependencies = [
 
 [[package]]
 name = "regex-automata"
-version = "0.4.13"
+version = "0.4.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5276caf25ac86c8d810222b3dbb938e512c55c6831a10f3e6ed1c93b84041f1c"
+checksum = "6e1dd4122fc1595e8162618945476892eefca7b88c52820e74af6262213cae8f"
 dependencies = [
  "aho-corasick",
  "memchr",
@@ -5311,9 +5420,9 @@ dependencies = [
 
 [[package]]
 name = "regex-syntax"
-version = "0.8.8"
+version = "0.8.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7a2d987857b319362043e95f5353c0535c1f58eec5336fdfcf626430af7def58"
+checksum = "a96887878f22d7bad8a3b6dc5b7440e0ada9a245242924394987b21cf2210a4c"
 
 [[package]]
 name = "renderdoc-sys"
@@ -5763,9 +5872,9 @@ dependencies = [
 
 [[package]]
 name = "slab"
-version = "0.4.11"
+version = "0.4.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7a2ae44ef20feb57a68b23d846850f861394c2e02dc425a50098ae8c90267589"
+checksum = "0c790de23124f9ab44544d7ac05d60440adc586479ce501c1d6d7da3cd8c9cf5"
 
 [[package]]
 name = "slotmap"
@@ -6107,6 +6216,26 @@ dependencies = [
  "cfg-if",
 ]
 
+[[package]]
+name = "tikv-jemalloc-sys"
+version = "0.5.4+5.3.0-patched"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9402443cb8fd499b6f327e40565234ff34dbda27460c5b47db0db77443dd85d1"
+dependencies = [
+ "cc",
+ "libc",
+]
+
+[[package]]
+name = "tikv-jemallocator"
+version = "0.5.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "965fe0c26be5c56c94e38ba547249074803efd52adfb66de62107d95aab3eaca"
+dependencies = [
+ "libc",
+ "tikv-jemalloc-sys",
+]
+
 [[package]]
 name = "tiny-skia"
 version = "0.11.4"
@@ -6142,6 +6271,16 @@ dependencies = [
  "zerovec",
 ]
 
+[[package]]
+name = "tinytemplate"
+version = "1.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "be4d6b5f19ff7664e8c98d03e2139cb510db9b0a60b55f8e8709b689d939b6bc"
+dependencies = [
+ "serde",
+ "serde_json",
+]
+
 [[package]]
 name = "tinyvec"
 version = "1.10.0"
@@ -6351,12 +6490,6 @@ version = "1.0.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bc7d623258602320d5c55d1bc22793b57daff0ec7efc270ea7d55ce1d5f5471c"
 
-[[package]]
-name = "typenum"
-version = "1.19.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "562d481066bde0658276a35467c4af00bdc6ee726305698a55b86e61d7ad82bb"
-
 [[package]]
 name = "typewit"
 version = "1.14.2"
@@ -6528,6 +6661,15 @@ version = "0.9.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0b928f33d975fc6ad9f86c8f283853ad26bdd5b10b7f1542aa2fa15e2289105a"
 
+[[package]]
+name = "voracious_radix_sort"
+version = "1.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "446e7ffcb6c27a71d05af7e51ef2ee5b71c48424b122a832f2439651e1914899"
+dependencies = [
+ "rayon",
+]
+
 [[package]]
 name = "walkdir"
 version = "2.5.0"
@@ -6746,14 +6888,14 @@ version = "0.26.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "521bc38abb08001b01866da9f51eb7c5d647a19260e00054a8c7fd5f9e57f7a9"
 dependencies = [
- "webpki-roots 1.0.5",
+ "webpki-roots 1.0.6",
 ]
 
 [[package]]
 name = "webpki-roots"
-version = "1.0.5"
+version = "1.0.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "12bed680863276c63889429bfd6cab3b99943659923822de1c8a39c49e4d722c"
+checksum = "22cfaf3c063993ff62e73cb4311efde4db1efb31ab78a3e5c457939ad5cc0bed"
 dependencies = [
  "rustls-pki-types",
 ]
@@ -7715,18 +7857,18 @@ checksum = "6df3dc4292935e51816d896edcd52aa30bc297907c26167fec31e2b0c6a32524"
 
 [[package]]
 name = "zerocopy"
-version = "0.8.35"
+version = "0.8.39"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fdea86ddd5568519879b8187e1cf04e24fce28f7fe046ceecbce472ff19a2572"
+checksum = "db6d35d663eadb6c932438e763b262fe1a70987f9ae936e60158176d710cae4a"
 dependencies = [
  "zerocopy-derive",
 ]
 
 [[package]]
 name = "zerocopy-derive"
-version = "0.8.35"
+version = "0.8.39"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0c15e1b46eff7c6c91195752e0eeed8ef040e391cdece7c25376957d5f15df22"
+checksum = "4122cd3169e94605190e77839c9a40d40ed048d305bfdc146e7df40ab0f3e517"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -7795,9 +7937,9 @@ dependencies = [
 
 [[package]]
 name = "zmij"
-version = "1.0.17"
+version = "1.0.19"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "02aae0f83f69aafc94776e879363e9771d7ecbffe2c7fbb6c14c5e00dfe88439"
+checksum = "3ff05f8caa9038894637571ae6b9e29466c1f4f829d26c9b28f869a29cbe3445"
 
 [[package]]
 name = "zvariant"
diff --git a/Cargo.toml b/Cargo.toml
index 36d6c06..5be4bb4 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -13,7 +13,7 @@ categories = ["game-development"]
 readme = "readme.md"
 
 [workspace.dependencies]
-avian3d = { version = "0.6.0-dev", default-features = false, git = "https://github.com/avianphysics/avian" }
+avian3d = { version = "0.6.0-rc.1", default-features = false }
 serde = { version = "1", default-features = false, features = ["alloc"] }
 serde_json = { version = "1", default-features = false, features = [
     "alloc",
@@ -74,7 +74,7 @@ flate2 = { version = "1", default-features = false, features = [
 ] }
 bincode = { version = "2", features = ["serde"], default-features = false }
 bevy_trenchbroom = { version = "0.12", git = "https://github.com/janhohenheim/bevy_trenchbroom", branch = "avian-0.6" }
-bevy_trenchbroom_avian = { version = "0.13.0-dev", git = "https://github.com/janhohenheim/bevy_trenchbroom", branch = "avian-0.6" }
+bevy_trenchbroom_avian = { version = "0.13.0-rc.1", git = "https://github.com/janhohenheim/bevy_trenchbroom", branch = "avian-0.6" }
 approxim = "0.6"
 
 [workspace.lints.rust]
diff --git a/crates/avian_rerecast/Cargo.toml b/crates/avian_rerecast/Cargo.toml
index 0d090a1..3c58fe8 100644
--- a/crates/avian_rerecast/Cargo.toml
+++ b/crates/avian_rerecast/Cargo.toml
@@ -1,7 +1,7 @@
 [package]
 name = "avian_rerecast"
 description = "Avian backend for bevy_rerecast"
-version = "0.5.0-dev"
+version = "0.5.0-rc.1"
 authors = { workspace = true }
 edition = { workspace = true }
 license = { workspace = true }
diff --git a/crates/avian_rerecast/src/collider_to_trimesh.rs b/crates/avian_rerecast/src/collider_to_trimesh.rs
index 8e29fbd..6b10f24 100644
--- a/crates/avian_rerecast/src/collider_to_trimesh.rs
+++ b/crates/avian_rerecast/src/collider_to_trimesh.rs
@@ -108,7 +108,7 @@ fn shape_to_trimesh(
     Some(TriMesh {
         vertices: vertices
             .into_iter()
-            .map(|v| pos + Vec3A::from((rot * Vec3::from(v)).f32()))
+            .map(|v| pos + Vec3A::from((rot * v).f32()))
             .collect(),
         indices: indices.into_iter().map(|i| i.into()).collect(),
         area_types: vec![AreaType::NOT_WALKABLE; indices_len],
@@ -124,8 +124,8 @@ fn compound_trimesh(
     compound.shapes().iter().fold(
         TriMesh::default(),
         |mut compound_trimesh, (sub_pos, shape)| {
-            let pos = Position(pos.0 + rot * Vec3::from(sub_pos.translation));
-            let rot = Rotation((rot.mul_quat(sub_pos.rotation.into())).normalize());
+            let pos = Position(pos.0 + rot * sub_pos.translation);
+            let rot = Rotation((rot.mul_quat(sub_pos.rotation)).normalize());
             let Some(trimesh) =
                 // No need to track recursive compounds because parry panics on nested compounds anyways lol
                 shape_to_trimesh(&shape.as_typed_shape(), pos, rot,  subdivisions)