diff --git a/bevy_rapier3d/examples/multi_world3.rs b/bevy_rapier3d/examples/multi_world3.rs
index 04f6b29c..65e448cb 100644
--- a/bevy_rapier3d/examples/multi_world3.rs
+++ b/bevy_rapier3d/examples/multi_world3.rs
@@ -1,18 +1,19 @@
-use bevy::prelude::*;
+use bevy::{input::common_conditions::input_just_pressed, prelude::*};
 use bevy_rapier3d::prelude::*;
 
 const N_WORLDS: usize = 2;
 
 fn main() {
     App::new()
-        .insert_resource(ClearColor(Color::rgb(
+        .insert_resource(ClearColor(Color::srgb(
             0xF9 as f32 / 255.0,
             0xF9 as f32 / 255.0,
             0xFF as f32 / 255.0,
         )))
         .add_plugins((
             DefaultPlugins,
-            RapierPhysicsPlugin::<NoUserData>::default().with_default_world(None),
+            RapierPhysicsPlugin::<NoUserData>::default()
+                .with_default_world(RapierContextInitialization::NoAutomaticRapierContext),
             RapierDebugRenderPlugin::default(),
         ))
         .add_systems(
@@ -20,14 +21,19 @@ fn main() {
             ((create_worlds, setup_physics).chain(), setup_graphics),
         )
         .add_systems(Update, move_platforms)
-        // .add_systems(Update, change_world)
-        // .add_systems(Update, despawn_last)
+        .add_systems(
+            Update,
+            change_world.run_if(input_just_pressed(KeyCode::KeyC)),
+        )
         .run();
 }
 
 fn create_worlds(mut commands: Commands) {
     for i in 0..N_WORLDS {
-        commands.spawn((RapierContext::default(), WorldId(i)));
+        let mut world = commands.spawn((RapierContext::default(), WorldId(i)));
+        if i == 0 {
+            world.insert(DefaultRapierContext);
+        }
     }
 }
 
@@ -53,23 +59,20 @@ fn move_platforms(time: Res<Time>, mut query: Query<(&mut Transform, &Platform)>
     }
 }
 
-/// Demonstrates despawning an entity removing it from its world
-// fn despawn_last(query: Query<(&PhysicsWorld, Entity)>, mut commands: Commands) {
-//     for (bw, entity) in query.iter() {
-//         if bw.world_id == N_WORLDS - 1 {
-//             commands.entity(entity).despawn_recursive();
-//         }
-//     }
-// }
-
 /// Demonstrates how easy it is to move one entity to another world.
-// fn change_world(mut query: Query<&mut PhysicsWorld>) {
-//     for mut bw in query.iter_mut() {
-//         if bw.world_id == 1 {
-//             bw.world_id = 0;
-//         }
-//     }
-// }
+fn change_world(
+    query_context: Query<Entity, With<DefaultRapierContext>>,
+    mut query_links: Query<(Entity, &mut RapierContextEntityLink)>,
+) {
+    let default_context = query_context.single();
+    for (e, mut link) in query_links.iter_mut() {
+        if link.0 == default_context {
+            continue;
+        }
+        link.0 = default_context;
+        println!("changing world of {} for world {}", e, link.0);
+    }
+}
 
 pub fn setup_physics(
     context: Query<(Entity, &WorldId), With<RapierContext>>,
diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs
index 93f74629..bffb844f 100644
--- a/src/geometry/collider.rs
+++ b/src/geometry/collider.rs
@@ -3,7 +3,7 @@ use std::fmt;
 #[cfg(all(feature = "dim3", feature = "async-collider"))]
 use {crate::geometry::VHACDParameters, bevy::utils::HashMap};
 
-use bevy::prelude::*;
+use bevy::{prelude::*, reflect::impl_reflect};
 
 use bevy::utils::HashSet;
 use rapier::geometry::Shape;
diff --git a/src/plugin/configuration.rs b/src/plugin/configuration.rs
index f5179331..b9e0e2e6 100644
--- a/src/plugin/configuration.rs
+++ b/src/plugin/configuration.rs
@@ -1,4 +1,7 @@
-use bevy::prelude::{Component, Resource};
+use bevy::{
+    prelude::{Component, Resource},
+    reflect::Reflect,
+};
 
 use crate::math::{Real, Vect};
 
@@ -43,7 +46,7 @@ pub enum TimestepMode {
 }
 
 /// Difference between simulation and rendering time
-#[derive(Component, Default)]
+#[derive(Component, Default, Reflect)]
 pub struct SimulationToRenderTime {
     /// Difference between simulation and rendering time
     pub diff: f32,
@@ -59,7 +62,7 @@ impl Default for TimestepMode {
     }
 }
 
-#[derive(Component, Copy, Clone, Debug)]
+#[derive(Component, Copy, Clone, Debug, Reflect)]
 /// A resource for specifying configuration information for the physics simulation
 pub struct RapierConfiguration {
     /// Specifying the gravity of the physics simulation.
diff --git a/src/plugin/context/mod.rs b/src/plugin/context/mod.rs
index df745a6c..62b7b1ed 100644
--- a/src/plugin/context/mod.rs
+++ b/src/plugin/context/mod.rs
@@ -24,6 +24,13 @@ use crate::prelude::{CollisionGroups, RapierRigidBodyHandle};
 use rapier::control::CharacterAutostep;
 use rapier::geometry::DefaultBroadPhase;
 
+/// Marker component for to access the default [`RapierContext`].
+///
+/// This is used by [`systemparams::DefaultRapierContextAccess`] 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`]
+/// and leverage a [`Query<&RapierContext>`] to find the correct [`RapierContext`] of an entity.
 #[derive(Component, Reflect, Debug, Clone, Copy)]
 pub struct DefaultRapierContext;
 
@@ -40,6 +47,7 @@ pub struct RapierContext {
     /// The island manager, which detects what object is sleeping
     /// (not moving much) to reduce computations.
     pub islands: IslandManager,
+    // FIXME: This should be serialized but a bug prevents it
     /// The broad-phase, which detects potential contact pairs.
     pub broad_phase: DefaultBroadPhase,
     /// The narrow-phase, which computes contact points, tests intersections,
@@ -81,6 +89,7 @@ pub struct RapierContext {
     #[cfg_attr(feature = "serde-serialize", serde(skip))]
     pub(crate) deleted_colliders: HashMap<ColliderHandle, Entity>,
 
+    #[cfg_attr(feature = "serde-serialize", serde(skip))]
     pub(crate) collision_events_to_send: Vec<CollisionEvent>,
     #[cfg_attr(feature = "serde-serialize", serde(skip))]
     pub(crate) contact_force_events_to_send: Vec<ContactForceEvent>,
diff --git a/src/plugin/mod.rs b/src/plugin/mod.rs
index 5a4da77d..d82e9326 100644
--- a/src/plugin/mod.rs
+++ b/src/plugin/mod.rs
@@ -4,9 +4,12 @@ pub use self::context::{
         DefaultRapierContextAccess, DefaultRapierContextAccessMut, RapierContextAccess,
         RapierContextAccessMut,
     },
-    RapierContext, RapierContextEntityLink,
+    DefaultRapierContext, RapierContext, RapierContextEntityLink,
+};
+pub use self::plugin::{
+    NoUserData, PhysicsSet, RapierContextInitialization, RapierPhysicsPlugin,
+    RapierTransformPropagateSet,
 };
-pub use self::plugin::{NoUserData, PhysicsSet, RapierPhysicsPlugin, RapierTransformPropagateSet};
 
 #[allow(clippy::type_complexity)]
 #[allow(clippy::too_many_arguments)]
diff --git a/src/plugin/plugin.rs b/src/plugin/plugin.rs
index c078e7ae..349ef644 100644
--- a/src/plugin/plugin.rs
+++ b/src/plugin/plugin.rs
@@ -8,6 +8,7 @@ use bevy::ecs::{
     system::SystemParamItem,
 };
 use bevy::{prelude::*, transform::TransformSystem};
+use rapier::dynamics::IntegrationParameters;
 use std::marker::PhantomData;
 
 use super::context::DefaultRapierContext;
@@ -22,8 +23,10 @@ pub type NoUserData = ();
 pub struct RapierPhysicsPlugin<PhysicsHooks = ()> {
     schedule: Interned<dyn ScheduleLabel>,
     default_system_setup: bool,
-    /// Read in PreStartup, this will create a default world.
-    pub default_world_setup: Option<RapierContextInitialization>,
+    /// Read during [`RapierPhysicsPlugin::build()`],
+    /// to help initializing [`RapierContextInitialization`] resource.
+    /// This will be ignored if that resource already exists.
+    default_world_setup: RapierContextInitialization,
     _phantom: PhantomData<PhysicsHooks>,
 }
 
@@ -39,19 +42,14 @@ where
     /// likely always be 1.0 in 3D. In 2D, this is useful to specify a "pixels-per-meter"
     /// conversion ratio.
     pub fn with_length_unit(mut self, length_unit: f32) -> Self {
-        self.default_world_setup = Some(RapierContextInitialization {
+        self.default_world_setup = RapierContextInitialization::InitializeDefaultRapierContext {
             length_unit: length_unit,
-        });
+        };
         self
     }
-    /// Specifies a default configuration for the default `RapierContext`
-    ///
-    /// If [`None`], no world will be initialized, you are responsible of creating and maintaining
-    /// a [`RapierContext`] before creating any rapier entities (rigidbodies, colliders, joints),
-    /// and as long as any [`RapierContextEntityLink`] has a reference to its [`RapierContext`].
     pub fn with_default_world(
         mut self,
-        default_world_initialization: Option<RapierContextInitialization>,
+        default_world_initialization: RapierContextInitialization,
     ) -> Self {
         self.default_world_setup = default_world_initialization;
         self
@@ -73,9 +71,9 @@ where
     pub fn pixels_per_meter(pixels_per_meter: f32) -> Self {
         Self {
             default_system_setup: true,
-            default_world_setup: Some(RapierContextInitialization {
+            default_world_setup: RapierContextInitialization::InitializeDefaultRapierContext {
                 length_unit: pixels_per_meter,
-            }),
+            },
             ..default()
         }
     }
@@ -106,6 +104,11 @@ where
                 )
                     .chain()
                     .in_set(RapierTransformPropagateSet),
+                systems::on_add_entity_with_parent,
+                systems::on_change_world,
+                apply_deferred,
+                systems::sync_removals,
+                apply_deferred,
                 #[cfg(all(feature = "dim3", feature = "async-collider"))]
                 systems::init_async_scene_colliders,
                 #[cfg(all(feature = "dim3", feature = "async-collider"))]
@@ -113,7 +116,8 @@ where
                 systems::init_rigid_bodies,
                 systems::init_colliders,
                 systems::init_joints,
-                systems::sync_removals,
+                apply_deferred,
+                //systems::sync_removals,
                 // Run this here so the following systems do not have a 1 frame delay.
                 apply_deferred,
                 systems::apply_scale,
@@ -146,7 +150,7 @@ impl<PhysicsHooksSystemParam> Default for RapierPhysicsPlugin<PhysicsHooksSystem
         Self {
             schedule: PostUpdate.intern(),
             default_system_setup: true,
-            default_world_setup: Some(RapierContextInitialization { length_unit: 1f32 }),
+            default_world_setup: default(),
             _phantom: PhantomData,
         }
     }
@@ -199,11 +203,25 @@ where
             .register_type::<SolverGroups>()
             .register_type::<ContactForceEventThreshold>()
             .register_type::<ContactSkin>()
-            .register_type::<Group>();
+            .register_type::<Group>()
+            .register_type::<RapierContextEntityLink>()
+            .register_type::<ColliderDebugColor>()
+            .register_type::<RapierConfiguration>()
+            .register_type::<SimulationToRenderTime>()
+            .register_type::<DefaultRapierContext>()
+            .register_type::<RapierContextInitialization>()
+            .register_type::<ColliderDebugColor>();
 
         app.insert_resource(Events::<CollisionEvent>::default())
             .insert_resource(Events::<ContactForceEvent>::default())
             .insert_resource(Events::<MassModifiedEvent>::default());
+        let default_world_init = app.world().get_resource::<RapierContextInitialization>();
+        if let Some(world_init) = default_world_init {
+            warn!("RapierPhysicsPlugin added with a default rapier context initialization but a `RapierContextInitialization` was already existing.\
+                the following resource will be used in priority: {:?}", world_init);
+        } else {
+            app.insert_resource(self.default_world_setup.clone());
+        }
 
         app.add_systems(
             self.schedule,
@@ -229,7 +247,18 @@ where
             );
 
             // These *must* be in the main schedule currently so that they do not miss events.
-            app.add_systems(PostUpdate, (systems::sync_removals,));
+            /*app.add_systems(
+                PostUpdate,
+                (
+                    // Change any worlds needed before doing any calculations
+                    systems::on_add_entity_with_parent,
+                    systems::on_change_world,
+                    // Make sure to remove any dead bodies after changing_worlds but before everything else
+                    // to avoid it deleting something right after adding it
+                    //systems::sync_removals,
+                )
+                    .chain(),
+            );*/
 
             app.add_systems(
                 self.schedule,
@@ -256,13 +285,42 @@ where
     }
 }
 
-#[derive(Resource)]
-pub struct RapierContextInitialization {
-    pub length_unit: f32,
+/// Specifies a default configuration for the default `RapierContext`
+///
+/// If [`None`], no world will be initialized, you are responsible of creating and maintaining
+/// a [`RapierContext`] before creating any rapier entities (rigidbodies, colliders, joints),
+/// and as long as any [`RapierContextEntityLink`] has a reference to its [`RapierContext`].
+#[derive(Resource, Debug, Reflect, Clone)]
+pub enum RapierContextInitialization {
+    NoAutomaticRapierContext,
+    InitializeDefaultRapierContext { length_unit: f32 },
+}
+
+impl Default for RapierContextInitialization {
+    fn default() -> Self {
+        RapierContextInitialization::InitializeDefaultRapierContext { length_unit: 1f32 }
+    }
 }
 
-pub fn insert_default_world(mut commands: Commands) {
-    commands.spawn((RapierContext::default(), DefaultRapierContext));
+pub fn insert_default_world(
+    mut commands: Commands,
+    initialization_data: Res<RapierContextInitialization>,
+) {
+    match initialization_data.as_ref() {
+        RapierContextInitialization::NoAutomaticRapierContext => {}
+        RapierContextInitialization::InitializeDefaultRapierContext { length_unit } => {
+            commands.spawn((
+                RapierContext {
+                    integration_parameters: IntegrationParameters {
+                        length_unit: *length_unit,
+                        ..default()
+                    },
+                    ..RapierContext::default()
+                },
+                DefaultRapierContext,
+            ));
+        }
+    }
 }
 
 pub fn setup_rapier_configuration(
diff --git a/src/plugin/systems/collider.rs b/src/plugin/systems/collider.rs
index f5765867..38c2022a 100644
--- a/src/plugin/systems/collider.rs
+++ b/src/plugin/systems/collider.rs
@@ -342,6 +342,7 @@ pub fn init_colliders(
     {
         let context_entity = context_link.map_or_else(
             || {
+                dbg!("unknown rapierContext for object, setting to default");
                 let context_entity = context.iter().next().unwrap().0;
                 commands
                     .entity(entity)
diff --git a/src/plugin/systems/mod.rs b/src/plugin/systems/mod.rs
index d542b319..f22423b2 100644
--- a/src/plugin/systems/mod.rs
+++ b/src/plugin/systems/mod.rs
@@ -3,6 +3,7 @@
 mod character_controller;
 mod collider;
 mod joint;
+mod multiple_rapier_contexts;
 mod remove;
 mod rigid_body;
 mod writeback;
@@ -10,6 +11,7 @@ mod writeback;
 pub use character_controller::*;
 pub use collider::*;
 pub use joint::*;
+pub use multiple_rapier_contexts::*;
 pub use remove::*;
 pub use rigid_body::*;
 pub use writeback::*;
diff --git a/src/plugin/systems/multiple_rapier_contexts.rs b/src/plugin/systems/multiple_rapier_contexts.rs
new file mode 100644
index 00000000..aaa29a3c
--- /dev/null
+++ b/src/plugin/systems/multiple_rapier_contexts.rs
@@ -0,0 +1,116 @@
+//! systems to support multiple worlds, and changes between them.
+
+use crate::dynamics::{
+    RapierImpulseJointHandle, RapierMultibodyJointHandle, RapierRigidBodyHandle,
+};
+use crate::geometry::RapierColliderHandle;
+use crate::plugin::{RapierContext, RapierContextEntityLink};
+use bevy::prelude::*;
+
+/// If an entity is turned into the child of something with a physics world, the child should become a part of that physics world
+///
+/// If this fails to happen, weirdness will ensue.
+pub fn on_add_entity_with_parent(
+    q_add_entity_without_parent: Query<(Entity, &Parent), Changed<Parent>>,
+    q_parent: Query<&Parent>,
+    q_physics_world: Query<&RapierContextEntityLink>,
+    mut commands: Commands,
+) {
+    for (ent, parent) in &q_add_entity_without_parent {
+        let mut parent = Some(parent.get());
+        while let Some(parent_entity) = parent {
+            if let Ok(pw) = q_physics_world.get(parent_entity) {
+                commands.entity(ent).insert(*pw);
+                remove_old_physics(ent, &mut commands);
+                break;
+            }
+
+            parent = q_parent.get(parent_entity).ok().map(|x| x.get());
+        }
+    }
+}
+
+/// Flags the entity to have its old physics removed
+fn remove_old_physics(entity: Entity, commands: &mut Commands) {
+    commands
+        .entity(entity)
+        .remove::<RapierColliderHandle>()
+        .remove::<RapierRigidBodyHandle>()
+        .remove::<RapierMultibodyJointHandle>()
+        .remove::<RapierImpulseJointHandle>();
+}
+
+/// Flags the entity to have its physics updated to reflect new world
+///
+/// Also recursively bubbles down world changes to children & flags them to apply any needed physics changes
+pub fn on_change_world(
+    q_changed_worlds: Query<
+        (Entity, Ref<RapierContextEntityLink>),
+        Changed<RapierContextEntityLink>,
+    >,
+    q_children: Query<&Children>,
+    q_physics_world: Query<&RapierContextEntityLink>,
+    q_context: Query<&RapierContext>,
+    mut commands: Commands,
+) {
+    for (entity, new_physics_world) in &q_changed_worlds {
+        let context = q_context.get(new_physics_world.0);
+        if new_physics_world.is_added() {
+            continue;
+        }
+        // Ensure the world actually changed before removing them from the world
+        if !context
+            .map(|x| {
+                // They are already apart of this world if any of these are true
+                x.entity2impulse_joint.contains_key(&entity)
+                    || x.entity2multibody_joint.contains_key(&entity)
+                    || x.entity2collider.contains_key(&entity)
+                    || x.entity2body.contains_key(&entity)
+            })
+            .unwrap_or(false)
+        {
+            remove_old_physics(entity, &mut commands);
+
+            bubble_down_world_change(
+                &mut commands,
+                entity,
+                &q_children,
+                *new_physics_world,
+                &q_physics_world,
+            );
+        }
+    }
+}
+
+fn bubble_down_world_change(
+    commands: &mut Commands,
+    entity: Entity,
+    q_children: &Query<&Children>,
+    new_physics_world: RapierContextEntityLink,
+    q_physics_world: &Query<&RapierContextEntityLink>,
+) {
+    let Ok(children) = q_children.get(entity) else {
+        return;
+    };
+
+    children.iter().for_each(|&child| {
+        if q_physics_world
+            .get(child)
+            .map(|x| *x == new_physics_world)
+            .unwrap_or(false)
+        {
+            return;
+        }
+
+        remove_old_physics(child, commands);
+        commands.entity(child).insert(new_physics_world);
+
+        bubble_down_world_change(
+            commands,
+            child,
+            q_children,
+            new_physics_world,
+            q_physics_world,
+        );
+    });
+}
diff --git a/src/plugin/systems/remove.rs b/src/plugin/systems/remove.rs
index 8450c087..b1c4d0a2 100644
--- a/src/plugin/systems/remove.rs
+++ b/src/plugin/systems/remove.rs
@@ -9,6 +9,7 @@ use crate::geometry::ColliderDisabled;
 use crate::geometry::RapierColliderHandle;
 use crate::plugin::context::systemparams::RapierContextAccessMut;
 use crate::plugin::context::RapierContextEntityLink;
+use crate::plugin::RapierContext;
 use crate::prelude::MassModifiedEvent;
 use crate::prelude::RigidBodyDisabled;
 use crate::prelude::Sensor;
@@ -24,7 +25,6 @@ pub fn sync_removals(
     mut removed_colliders: RemovedComponents<RapierColliderHandle>,
     mut removed_impulse_joints: RemovedComponents<RapierImpulseJointHandle>,
     mut removed_multibody_joints: RemovedComponents<RapierMultibodyJointHandle>,
-    link: Query<&RapierContextEntityLink>,
     orphan_bodies: Query<Entity, (With<RapierRigidBodyHandle>, Without<RigidBody>)>,
     orphan_colliders: Query<Entity, (With<RapierColliderHandle>, Without<Collider>)>,
     orphan_impulse_joints: Query<Entity, (With<RapierImpulseJointHandle>, Without<ImpulseJoint>)>,
@@ -43,23 +43,29 @@ pub fn sync_removals(
      * Rigid-bodies removal detection.
      */
     for entity in removed_bodies.read() {
-        let context = context.context(*link.get(entity).unwrap());
-        if let Some(handle) = context.entity2body.remove(&entity) {
-            let _ = context.last_body_transform_set.remove(&handle);
-            context.bodies.remove(
-                handle,
-                &mut context.islands,
-                &mut context.colliders,
-                &mut context.impulse_joints,
-                &mut context.multibody_joints,
-                false,
-            );
-        }
+        let Some((mut context, handle)) =
+            find_context(&mut context, |context| context.entity2body.remove(&entity))
+        else {
+            continue;
+        };
+        let context = &mut *context;
+
+        let _ = context.last_body_transform_set.remove(&handle);
+        context.bodies.remove(
+            handle,
+            &mut context.islands,
+            &mut context.colliders,
+            &mut context.impulse_joints,
+            &mut context.multibody_joints,
+            false,
+        );
     }
 
     for entity in orphan_bodies.iter() {
-        let context = context.context(*link.get(entity).unwrap());
-        if let Some(handle) = context.entity2body.remove(&entity) {
+        if let Some((mut context, handle)) =
+            find_context(&mut context, |context| context.entity2body.remove(&entity))
+        {
+            let context = &mut *context;
             let _ = context.last_body_transform_set.remove(&handle);
             context.bodies.remove(
                 handle,
@@ -77,26 +83,31 @@ pub fn sync_removals(
      * Collider removal detection.
      */
     for entity in removed_colliders.read() {
-        let context = context.context(*link.get(entity).unwrap());
+        let Some((mut context, handle)) = find_context(&mut context, |context| {
+            context.entity2collider.remove(&entity)
+        }) else {
+            continue;
+        };
+        let context = &mut *context;
         if let Some(parent) = context.collider_parent(entity) {
             mass_modified.send(parent.into());
         }
 
-        if let Some(handle) = context.entity2collider.remove(&entity) {
-            context
-                .colliders
-                .remove(handle, &mut context.islands, &mut context.bodies, true);
-            context.deleted_colliders.insert(handle, entity);
-        }
+        context
+            .colliders
+            .remove(handle, &mut context.islands, &mut context.bodies, true);
+        context.deleted_colliders.insert(handle, entity);
     }
 
     for entity in orphan_colliders.iter() {
-        let context = context.context(*link.get(entity).unwrap());
-        if let Some(parent) = context.collider_parent(entity) {
-            mass_modified.send(parent.into());
-        }
+        if let Some((mut context, handle)) = find_context(&mut context, |context| {
+            context.entity2collider.remove(&entity)
+        }) {
+            let context = &mut *context;
+            if let Some(parent) = context.collider_parent(entity) {
+                mass_modified.send(parent.into());
+            }
 
-        if let Some(handle) = context.entity2collider.remove(&entity) {
             context
                 .colliders
                 .remove(handle, &mut context.islands, &mut context.bodies, true);
@@ -109,15 +120,20 @@ pub fn sync_removals(
      * Impulse joint removal detection.
      */
     for entity in removed_impulse_joints.read() {
-        let context = context.context(*link.get(entity).unwrap());
-        if let Some(handle) = context.entity2impulse_joint.remove(&entity) {
-            context.impulse_joints.remove(handle, true);
-        }
+        let Some((mut context, handle)) = find_context(&mut context, |context| {
+            context.entity2impulse_joint.remove(&entity)
+        }) else {
+            continue;
+        };
+        let context = &mut *context;
+        context.impulse_joints.remove(handle, true);
     }
 
     for entity in orphan_impulse_joints.iter() {
-        let context = context.context(*link.get(entity).unwrap());
-        if let Some(handle) = context.entity2impulse_joint.remove(&entity) {
+        if let Some((mut context, handle)) = find_context(&mut context, |context| {
+            context.entity2impulse_joint.remove(&entity)
+        }) {
+            let context = &mut *context;
             context.impulse_joints.remove(handle, true);
         }
         commands.entity(entity).remove::<RapierImpulseJointHandle>();
@@ -127,15 +143,20 @@ pub fn sync_removals(
      * Multibody joint removal detection.
      */
     for entity in removed_multibody_joints.read() {
-        let context = context.context(*link.get(entity).unwrap());
-        if let Some(handle) = context.entity2multibody_joint.remove(&entity) {
-            context.multibody_joints.remove(handle, true);
-        }
+        let Some((mut context, handle)) = find_context(&mut context, |context| {
+            context.entity2multibody_joint.remove(&entity)
+        }) else {
+            continue;
+        };
+        let context = &mut *context;
+        context.multibody_joints.remove(handle, true);
     }
 
     for entity in orphan_multibody_joints.iter() {
-        let context = context.context(*link.get(entity).unwrap());
-        if let Some(handle) = context.entity2multibody_joint.remove(&entity) {
+        if let Some((mut context, handle)) = find_context(&mut context, |context| {
+            context.entity2multibody_joint.remove(&entity)
+        }) {
+            let context = &mut *context;
             context.multibody_joints.remove(handle, true);
         }
         commands
@@ -147,27 +168,30 @@ pub fn sync_removals(
      * Marker components removal detection.
      */
     for entity in removed_sensors.read() {
-        let context = context.context(*link.get(entity).unwrap());
-        if let Some(handle) = context.entity2collider.get(&entity) {
-            if let Some(co) = context.colliders.get_mut(*handle) {
+        if let Some((mut context, handle)) = find_context(&mut context, |context| {
+            context.entity2collider.get(&entity).copied()
+        }) {
+            if let Some(co) = context.colliders.get_mut(handle) {
                 co.set_sensor(false);
             }
         }
     }
 
     for entity in removed_colliders_disabled.read() {
-        let context = context.context(*link.get(entity).unwrap());
-        if let Some(handle) = context.entity2collider.get(&entity) {
-            if let Some(co) = context.colliders.get_mut(*handle) {
+        if let Some((mut context, handle)) = find_context(&mut context, |context| {
+            context.entity2collider.get(&entity).copied()
+        }) {
+            if let Some(co) = context.colliders.get_mut(handle) {
                 co.set_enabled(true);
             }
         }
     }
 
     for entity in removed_rigid_body_disabled.read() {
-        let context = context.context(*link.get(entity).unwrap());
-        if let Some(handle) = context.entity2body.get(&entity) {
-            if let Some(rb) = context.bodies.get_mut(*handle) {
+        if let Some((mut context, handle)) = find_context(&mut context, |context| {
+            context.entity2body.get(&entity).copied()
+        }) {
+            if let Some(rb) = context.bodies.get_mut(handle) {
                 rb.set_enabled(true);
             }
         }
@@ -175,3 +199,21 @@ pub fn sync_removals(
 
     // TODO: what about removing forces?
 }
+
+fn find_context<'a, T>(
+    context: &'a mut RapierContextAccessMut,
+    item_finder: impl Fn(&mut RapierContext) -> Option<T>,
+) -> Option<(Mut<'a, RapierContext>, T)> {
+    let finder = item_finder;
+    let context = {
+        let mut result = None;
+        for mut context in context.rapier_context.iter_mut() {
+            if let Some(handle) = finder(&mut *context) {
+                result = Some((context, handle));
+                break;
+            }
+        }
+        result
+    };
+    context
+}
diff --git a/src/plugin/systems/rigid_body.rs b/src/plugin/systems/rigid_body.rs
index 38a589b8..0bd2fc5a 100644
--- a/src/plugin/systems/rigid_body.rs
+++ b/src/plugin/systems/rigid_body.rs
@@ -1,5 +1,4 @@
 use crate::dynamics::RapierRigidBodyHandle;
-use crate::plugin::context::systemparams::try_retrieve_context;
 use crate::plugin::context::RapierContextEntityLink;
 use crate::plugin::{configuration::TimestepMode, RapierConfiguration, RapierContext};
 use crate::{dynamics::RigidBody, plugin::configuration::SimulationToRenderTime};
@@ -7,7 +6,6 @@ use crate::{prelude::*, utils};
 use bevy::prelude::*;
 use rapier::dynamics::{RigidBodyBuilder, RigidBodyHandle, RigidBodyType};
 use std::collections::HashMap;
-use std::ops::DerefMut;
 
 /// Components that will be updated after a physics step.
 pub type RigidBodyWritebackComponents<'a> = (
diff --git a/src/render/mod.rs b/src/render/mod.rs
index 8f44b689..79b9fb67 100644
--- a/src/render/mod.rs
+++ b/src/render/mod.rs
@@ -11,7 +11,7 @@ use std::fmt::Debug;
 /// Insert this component alongside the collider component to
 /// force to a specific value the color used to render the
 /// collider.
-#[derive(Copy, Clone, Component, PartialEq, Debug)]
+#[derive(Copy, Clone, Component, PartialEq, Debug, Reflect)]
 pub struct ColliderDebugColor(pub Hsla);
 
 /// Plugin rensponsible for rendering (using lines) what Rapier "sees" when performing