diff --git a/CHANGELOG.md b/CHANGELOG.md
index 42c72011..324f85e5 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -26,8 +26,8 @@ which was its hardcoded behaviour.
 - `RapierContext`, `RapierConfiguration` and `RenderToSimulationTime` are now a `Component` instead of resources.
   - Rapier now supports multiple independent physics worlds, see example `multi_world3` for usage details.
   - Migration guide:
-    - `ResMut<mut RapierContext>` -> `DefaultRapierContextAccessMut`
-    - `Res<RapierContext>` -> `DefaultRapierContextAccess`
+    - `ResMut<mut RapierContext>` -> `WriteDefaultRapierContext`
+    - `Res<RapierContext>` -> `ReadDefaultRapierContext`
     - Access to `RapierConfiguration` and `RenderToSimulationTime` should query for it
 on the responsible entity owning the `RenderContext`.
   - If you are building a library on top of `bevy_rapier` and would want to support multiple independent physics worlds too,
diff --git a/bevy_rapier2d/examples/testbed2.rs b/bevy_rapier2d/examples/testbed2.rs
index f0317c6b..8a433e22 100644
--- a/bevy_rapier2d/examples/testbed2.rs
+++ b/bevy_rapier2d/examples/testbed2.rs
@@ -205,7 +205,7 @@ fn main() {
             (
                 cleanup,
                 |mut rapier_config: Query<&mut RapierConfiguration>,
-                 ctxt: DefaultRapierContextAccess| {
+                 ctxt: ReadDefaultRapierContext| {
                     let mut rapier_config = rapier_config.single_mut();
                     rapier_config.gravity =
                         RapierConfiguration::new(ctxt.integration_parameters.length_unit).gravity;
diff --git a/bevy_rapier3d/examples/joints3.rs b/bevy_rapier3d/examples/joints3.rs
index d49dd716..2864d33b 100644
--- a/bevy_rapier3d/examples/joints3.rs
+++ b/bevy_rapier3d/examples/joints3.rs
@@ -284,7 +284,7 @@ pub fn setup_physics(mut commands: Commands) {
 }
 
 pub fn print_impulse_revolute_joints(
-    context: DefaultRapierContextAccess,
+    context: ReadDefaultRapierContext,
     joints: Query<(Entity, &ImpulseJoint)>,
 ) {
     for (entity, impulse_joint) in joints.iter() {
diff --git a/bevy_rapier3d/examples/ray_casting3.rs b/bevy_rapier3d/examples/ray_casting3.rs
index 89d22377..d5e45d9e 100644
--- a/bevy_rapier3d/examples/ray_casting3.rs
+++ b/bevy_rapier3d/examples/ray_casting3.rs
@@ -76,7 +76,7 @@ pub fn setup_physics(mut commands: Commands) {
 pub fn cast_ray(
     mut commands: Commands,
     windows: Query<&Window, With<PrimaryWindow>>,
-    rapier_context: DefaultRapierContextAccess,
+    rapier_context: ReadDefaultRapierContext,
     cameras: Query<(&Camera, &GlobalTransform)>,
 ) {
     let window = windows.single();
diff --git a/src/plugin/context/mod.rs b/src/plugin/context/mod.rs
index bf3541c7..f3c7ad13 100644
--- a/src/plugin/context/mod.rs
+++ b/src/plugin/context/mod.rs
@@ -29,7 +29,7 @@ use crate::prelude::{ImpulseJoint, MultibodyJoint, RevoluteJoint, TypedJoint};
 
 /// Marker component for to access the default [`RapierContext`].
 ///
-/// This is used by [`systemparams::DefaultRapierContextAccess`] and other default accesses
+/// This is used by [`systemparams::ReadDefaultRapierContext`] and other default accesses
 /// to help with getting a reference to the correct RapierContext.
 ///
 /// If you're making a library, you might be interested in [`RapierContextEntityLink`]
diff --git a/src/plugin/context/systemparams/mod.rs b/src/plugin/context/systemparams/mod.rs
index 910ad2cf..93a630e6 100644
--- a/src/plugin/context/systemparams/mod.rs
+++ b/src/plugin/context/systemparams/mod.rs
@@ -1,7 +1,7 @@
-mod rapier_context_access;
+mod rapier_context_systemparam;
 
 use bevy::{ecs::query::QueryData, prelude::Entity};
-pub use rapier_context_access::*;
+pub use rapier_context_systemparam::*;
 
 use super::RapierContextEntityLink;
 
diff --git a/src/plugin/context/systemparams/rapier_context_access.rs b/src/plugin/context/systemparams/rapier_context_systemparam.rs
similarity index 90%
rename from src/plugin/context/systemparams/rapier_context_access.rs
rename to src/plugin/context/systemparams/rapier_context_systemparam.rs
index 501dceb4..0bc5be72 100644
--- a/src/plugin/context/systemparams/rapier_context_access.rs
+++ b/src/plugin/context/systemparams/rapier_context_systemparam.rs
@@ -8,11 +8,11 @@ use super::super::{DefaultRapierContext, RapierContext, RapierContextEntityLink}
 /// SAFETY: Dereferencing this struct will panic if its underlying query fails.
 /// See [`RapierContextAccess`] for a safer alternative.
 #[derive(SystemParam)]
-pub struct DefaultRapierContextAccess<'w, 's, T: Component = DefaultRapierContext> {
+pub struct ReadDefaultRapierContext<'w, 's, T: Component = DefaultRapierContext> {
     rapier_context: Query<'w, 's, &'static RapierContext, With<T>>,
 }
 
-impl<'w, 's, T: Component> DefaultRapierContextAccess<'w, 's, T> {
+impl<'w, 's, T: Component> ReadDefaultRapierContext<'w, 's, T> {
     /// Use this method if you only have one [`RapierContext`].
     ///
     /// SAFETY: This method will panic if its underlying query fails.
@@ -22,7 +22,7 @@ impl<'w, 's, T: Component> DefaultRapierContextAccess<'w, 's, T> {
     }
 }
 
-impl<'w, 's> Deref for DefaultRapierContextAccess<'w, 's> {
+impl<'w, 's> Deref for ReadDefaultRapierContext<'w, 's> {
     type Target = RapierContext;
 
     /// Use this method if you only have one [`RapierContext`].
@@ -39,11 +39,11 @@ impl<'w, 's> Deref for DefaultRapierContextAccess<'w, 's> {
 /// SAFETY: Dereferencing this struct will panic if its underlying query fails.
 /// See [`RapierContextAccess`] for a safer alternative.
 #[derive(SystemParam)]
-pub struct DefaultRapierContextAccessMut<'w, 's, T: Component = DefaultRapierContext> {
+pub struct WriteDefaultRapierContext<'w, 's, T: Component = DefaultRapierContext> {
     rapier_context: Query<'w, 's, &'static mut RapierContext, With<T>>,
 }
 
-impl<'w, 's, T: Component> Deref for DefaultRapierContextAccessMut<'w, 's, T> {
+impl<'w, 's, T: Component> Deref for WriteDefaultRapierContext<'w, 's, T> {
     type Target = RapierContext;
 
     /// Use this method if you only have one [`RapierContext`].
@@ -55,7 +55,7 @@ impl<'w, 's, T: Component> Deref for DefaultRapierContextAccessMut<'w, 's, T> {
     }
 }
 
-impl<'w, 's> DerefMut for DefaultRapierContextAccessMut<'w, 's> {
+impl<'w, 's> DerefMut for WriteDefaultRapierContext<'w, 's> {
     /// Use this method if you only have one [`RapierContext`].
     ///
     /// SAFETY: This method will panic if its underlying query fails.
@@ -103,7 +103,7 @@ impl<'w, 's> Deref for RapierContextAccess<'w, 's> {
 
 /// Utility [`SystemParam`] to easily access any [`RapierContext`] mutably
 #[derive(SystemParam)]
-pub struct RapierContextAccessMut<'w, 's> {
+pub struct WriteRapierContext<'w, 's> {
     /// Query used to retrieve a [`RapierContext`].
     /// It's helpful to iterate over every rapier contexts,
     /// or get a handle over a specific context, for example through:
@@ -112,7 +112,7 @@ pub struct RapierContextAccessMut<'w, 's> {
     pub rapier_context: Query<'w, 's, &'static mut RapierContext>,
 }
 
-impl<'w, 's> RapierContextAccessMut<'w, 's> {
+impl<'w, 's> WriteRapierContext<'w, 's> {
     /// Retrieves the rapier context responsible for the entity owning the given [`RapierContextEntityLink`].
     ///
     /// SAFETY: This method will panic if its underlying query fails.
diff --git a/src/plugin/mod.rs b/src/plugin/mod.rs
index 16ad310e..195bcc2b 100644
--- a/src/plugin/mod.rs
+++ b/src/plugin/mod.rs
@@ -1,6 +1,6 @@
 pub use self::configuration::{RapierConfiguration, SimulationToRenderTime, TimestepMode};
 pub use self::context::{
-    systemparams::{DefaultRapierContextAccess, RapierContextAccess, RapierContextAccessMut},
+    systemparams::{RapierContextAccess, ReadDefaultRapierContext, WriteRapierContext},
     DefaultRapierContext, RapierContext, RapierContextEntityLink,
 };
 pub use self::plugin::{
diff --git a/src/plugin/systems/character_controller.rs b/src/plugin/systems/character_controller.rs
index de67606b..e349db78 100644
--- a/src/plugin/systems/character_controller.rs
+++ b/src/plugin/systems/character_controller.rs
@@ -3,7 +3,7 @@ use crate::dynamics::RapierRigidBodyHandle;
 use crate::geometry::RapierColliderHandle;
 use crate::plugin::context::RapierContextEntityLink;
 use crate::plugin::RapierConfiguration;
-use crate::plugin::RapierContextAccessMut;
+use crate::plugin::WriteRapierContext;
 use crate::prelude::KinematicCharacterController;
 use crate::prelude::KinematicCharacterControllerOutput;
 use crate::utils;
@@ -17,7 +17,7 @@ use rapier::pipeline::QueryFilter;
 pub fn update_character_controls(
     mut commands: Commands,
     config: Query<&RapierConfiguration>,
-    mut context_access: RapierContextAccessMut,
+    mut context_access: WriteRapierContext,
     mut character_controllers: Query<(
         Entity,
         &RapierContextEntityLink,
diff --git a/src/plugin/systems/collider.rs b/src/plugin/systems/collider.rs
index be3aa755..273d561b 100644
--- a/src/plugin/systems/collider.rs
+++ b/src/plugin/systems/collider.rs
@@ -3,7 +3,7 @@ use crate::geometry::Collider;
 use crate::plugin::context::systemparams::RapierEntity;
 use crate::plugin::context::RapierContextEntityLink;
 use crate::plugin::{
-    DefaultRapierContext, RapierConfiguration, RapierContext, RapierContextAccessMut,
+    DefaultRapierContext, RapierConfiguration, RapierContext, WriteRapierContext,
 };
 use crate::prelude::{
     ActiveCollisionTypes, ActiveEvents, ActiveHooks, ColliderDisabled, ColliderMassProperties,
@@ -85,7 +85,7 @@ pub fn apply_scale(
 
 /// System responsible for applying changes the user made to a collider-related component.
 pub fn apply_collider_user_changes(
-    mut context: RapierContextAccessMut,
+    mut context: WriteRapierContext,
     config: Query<&RapierConfiguration>,
     (changed_collider_transforms, parent_query, transform_query): (
         Query<
@@ -343,7 +343,7 @@ pub(crate) fn collider_offset(
 pub fn init_colliders(
     mut commands: Commands,
     config: Query<&RapierConfiguration>,
-    mut context_access: RapierContextAccessMut,
+    mut context_access: WriteRapierContext,
     default_context_access: Query<Entity, With<DefaultRapierContext>>,
     colliders: Query<(ColliderComponents, Option<&GlobalTransform>), Without<RapierColliderHandle>>,
     mut rigid_body_mprops: Query<&mut ReadMassProperties>,
diff --git a/src/plugin/systems/joint.rs b/src/plugin/systems/joint.rs
index 626bdf07..f162a0ef 100644
--- a/src/plugin/systems/joint.rs
+++ b/src/plugin/systems/joint.rs
@@ -4,13 +4,13 @@ use crate::dynamics::RapierImpulseJointHandle;
 use crate::dynamics::RapierMultibodyJointHandle;
 use crate::plugin::context::RapierContextEntityLink;
 use crate::plugin::DefaultRapierContext;
-use crate::plugin::RapierContextAccessMut;
+use crate::plugin::WriteRapierContext;
 use bevy::prelude::*;
 
 /// System responsible for creating new Rapier joints from the related `bevy_rapier` components.
 pub fn init_joints(
     mut commands: Commands,
-    mut context_access: RapierContextAccessMut,
+    mut context_access: WriteRapierContext,
     default_context_access: Query<Entity, With<DefaultRapierContext>>,
     impulse_joints: Query<
         (Entity, Option<&RapierContextEntityLink>, &ImpulseJoint),
@@ -111,7 +111,7 @@ pub fn init_joints(
 
 /// System responsible for applying changes the user made to a joint component.
 pub fn apply_joint_user_changes(
-    mut context: RapierContextAccessMut,
+    mut context: WriteRapierContext,
     changed_impulse_joints: Query<
         (
             &RapierContextEntityLink,
diff --git a/src/plugin/systems/remove.rs b/src/plugin/systems/remove.rs
index f1ca65b0..0342a1b9 100644
--- a/src/plugin/systems/remove.rs
+++ b/src/plugin/systems/remove.rs
@@ -7,7 +7,7 @@ use crate::dynamics::RigidBody;
 use crate::geometry::Collider;
 use crate::geometry::ColliderDisabled;
 use crate::geometry::RapierColliderHandle;
-use crate::plugin::context::systemparams::RapierContextAccessMut;
+use crate::plugin::context::systemparams::WriteRapierContext;
 use crate::plugin::RapierContext;
 use crate::prelude::MassModifiedEvent;
 use crate::prelude::RigidBodyDisabled;
@@ -19,7 +19,7 @@ use bevy::prelude::*;
 /// despawn).
 pub fn sync_removals(
     mut commands: Commands,
-    mut context_accessor: RapierContextAccessMut,
+    mut context_writer: WriteRapierContext,
     mut removed_bodies: RemovedComponents<RapierRigidBodyHandle>,
     mut removed_colliders: RemovedComponents<RapierColliderHandle>,
     mut removed_impulse_joints: RemovedComponents<RapierImpulseJointHandle>,
@@ -42,7 +42,7 @@ pub fn sync_removals(
      * Rigid-bodies removal detection.
      */
     for entity in removed_bodies.read() {
-        let Some((mut context, handle)) = find_context(&mut context_accessor, |context| {
+        let Some((mut context, handle)) = find_context(&mut context_writer, |context| {
             context.entity2body.remove(&entity)
         }) else {
             continue;
@@ -61,7 +61,7 @@ pub fn sync_removals(
     }
 
     for entity in orphan_bodies.iter() {
-        if let Some((mut context, handle)) = find_context(&mut context_accessor, |context| {
+        if let Some((mut context, handle)) = find_context(&mut context_writer, |context| {
             context.entity2body.remove(&entity)
         }) {
             let context = &mut *context;
@@ -82,7 +82,7 @@ pub fn sync_removals(
      * Collider removal detection.
      */
     for entity in removed_colliders.read() {
-        let Some((mut context, handle)) = find_context(&mut context_accessor, |context| {
+        let Some((mut context, handle)) = find_context(&mut context_writer, |context| {
             context.entity2collider.remove(&entity)
         }) else {
             continue;
@@ -99,7 +99,7 @@ pub fn sync_removals(
     }
 
     for entity in orphan_colliders.iter() {
-        if let Some((mut context, handle)) = find_context(&mut context_accessor, |context| {
+        if let Some((mut context, handle)) = find_context(&mut context_writer, |context| {
             context.entity2collider.remove(&entity)
         }) {
             let context = &mut *context;
@@ -119,7 +119,7 @@ pub fn sync_removals(
      * Impulse joint removal detection.
      */
     for entity in removed_impulse_joints.read() {
-        let Some((mut context, handle)) = find_context(&mut context_accessor, |context| {
+        let Some((mut context, handle)) = find_context(&mut context_writer, |context| {
             context.entity2impulse_joint.remove(&entity)
         }) else {
             continue;
@@ -129,7 +129,7 @@ pub fn sync_removals(
     }
 
     for entity in orphan_impulse_joints.iter() {
-        if let Some((mut context, handle)) = find_context(&mut context_accessor, |context| {
+        if let Some((mut context, handle)) = find_context(&mut context_writer, |context| {
             context.entity2impulse_joint.remove(&entity)
         }) {
             let context = &mut *context;
@@ -142,7 +142,7 @@ pub fn sync_removals(
      * Multibody joint removal detection.
      */
     for entity in removed_multibody_joints.read() {
-        let Some((mut context, handle)) = find_context(&mut context_accessor, |context| {
+        let Some((mut context, handle)) = find_context(&mut context_writer, |context| {
             context.entity2multibody_joint.remove(&entity)
         }) else {
             continue;
@@ -152,7 +152,7 @@ pub fn sync_removals(
     }
 
     for entity in orphan_multibody_joints.iter() {
-        if let Some((mut context, handle)) = find_context(&mut context_accessor, |context| {
+        if let Some((mut context, handle)) = find_context(&mut context_writer, |context| {
             context.entity2multibody_joint.remove(&entity)
         }) {
             let context = &mut *context;
@@ -167,7 +167,7 @@ pub fn sync_removals(
      * Marker components removal detection.
      */
     for entity in removed_sensors.read() {
-        if let Some((mut context, handle)) = find_context(&mut context_accessor, |context| {
+        if let Some((mut context, handle)) = find_context(&mut context_writer, |context| {
             context.entity2collider.get(&entity).copied()
         }) {
             if let Some(co) = context.colliders.get_mut(handle) {
@@ -177,7 +177,7 @@ pub fn sync_removals(
     }
 
     for entity in removed_colliders_disabled.read() {
-        if let Some((mut context, handle)) = find_context(&mut context_accessor, |context| {
+        if let Some((mut context, handle)) = find_context(&mut context_writer, |context| {
             context.entity2collider.get(&entity).copied()
         }) {
             if let Some(co) = context.colliders.get_mut(handle) {
@@ -187,7 +187,7 @@ pub fn sync_removals(
     }
 
     for entity in removed_rigid_body_disabled.read() {
-        if let Some((mut context, handle)) = find_context(&mut context_accessor, |context| {
+        if let Some((mut context, handle)) = find_context(&mut context_writer, |context| {
             context.entity2body.get(&entity).copied()
         }) {
             if let Some(rb) = context.bodies.get_mut(handle) {
@@ -200,10 +200,10 @@ pub fn sync_removals(
 }
 
 fn find_context<'a, T>(
-    context_accessor: &'a mut RapierContextAccessMut,
+    context_writer: &'a mut WriteRapierContext,
     item_finder: impl Fn(&mut RapierContext) -> Option<T>,
 ) -> Option<(Mut<'a, RapierContext>, T)> {
-    context_accessor
+    context_writer
         .rapier_context
         .iter_mut()
         .find_map(|mut context| item_finder(&mut context).map(|handle| (context, handle)))
diff --git a/src/plugin/systems/rigid_body.rs b/src/plugin/systems/rigid_body.rs
index 571235b5..67a91886 100644
--- a/src/plugin/systems/rigid_body.rs
+++ b/src/plugin/systems/rigid_body.rs
@@ -39,7 +39,7 @@ pub type RigidBodyComponents<'a> = (
 
 /// System responsible for applying changes the user made to a rigid-body-related component.
 pub fn apply_rigid_body_user_changes(
-    mut context: RapierContextAccessMut,
+    mut context: WriteRapierContext,
     config: Query<&RapierConfiguration>,
     changed_rb_types: Query<
         (&RapierRigidBodyHandle, &RapierContextEntityLink, &RigidBody),
@@ -353,7 +353,7 @@ pub fn apply_rigid_body_user_changes(
 /// System responsible for writing the result of the last simulation step into our `bevy_rapier`
 /// components and the [`GlobalTransform`] component.
 pub fn writeback_rigid_bodies(
-    mut context: RapierContextAccessMut,
+    mut context: WriteRapierContext,
     timestep_mode: Res<TimestepMode>,
     config: Query<&RapierConfiguration>,
     sim_to_render_time: Query<&SimulationToRenderTime>,
@@ -643,7 +643,7 @@ pub fn init_rigid_bodies(
 /// mass to be available, which it was not because colliders were not created yet. As a
 /// result, we run this system after the collider creation.
 pub fn apply_initial_rigid_body_impulses(
-    mut context: RapierContextAccessMut,
+    mut context: WriteRapierContext,
     // We can’t use RapierRigidBodyHandle yet because its creation command hasn’t been
     // executed yet.
     mut init_impulses: Query<