bevy_rapier3d 0.35.0

3-dimensional physics engine in Rust, official Bevy plugin.
Documentation 
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use bevy::{diagnostic::FrameCount, prelude::*};
use bevy_rapier3d::prelude::*;

fn main() {
    let mut app = App::new();

    app.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_system_setup(false),
        RapierDebugRenderPlugin::default(),
    ))
    .add_systems(Startup, (setup_graphics, setup_physics));

    app.configure_sets(
        PostUpdate,
        (
            PhysicsSet::SyncBackend,
            PhysicsSet::StepSimulation,
            PhysicsSet::Writeback,
        )
            .chain()
            .before(TransformSystems::Propagate),
    );

    app.add_systems(
        PostUpdate,
        (
            RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::SyncBackend)
                .in_set(PhysicsSet::SyncBackend),
            (
                RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::StepSimulation),
                despawn_one_box,
            )
                .in_set(PhysicsSet::StepSimulation),
            RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::Writeback)
                .in_set(PhysicsSet::Writeback),
        ),
    );

    app.run();
}

fn despawn_one_box(
    mut commands: Commands,
    frame_count: ResMut<FrameCount>,
    query: Query<Entity, (With<Collider>, With<RigidBody>)>,
) {
    // Delete a box every 5 frames
    if frame_count.0.is_multiple_of(5) && !query.is_empty() {
        let len = query.iter().len();
        // Get a "random" box to make sim interesting
        if let Some(entity) = query.iter().nth(frame_count.0 as usize % len) {
            commands.entity(entity).despawn();
        }
    }
}

fn setup_graphics(mut commands: Commands) {
    commands.spawn((
        Camera3d::default(),
        Transform::from_xyz(-30.0, 30.0, 100.0).looking_at(Vec3::new(0.0, 10.0, 0.0), Vec3::Y),
    ));
}

pub fn setup_physics(mut commands: Commands) {
    /*
     * Ground
     */
    let ground_size = 200.1;
    let ground_height = 0.1;

    commands.spawn((
        Transform::from_xyz(0.0, -ground_height, 0.0),
        Collider::cuboid(ground_size, ground_height, ground_size),
    ));

    /*
     * Create the cubes
     */
    let num = 8;
    let rad = 1.0;

    let shift = rad * 2.0 + rad;
    let centerx = shift * (num / 2) as f32;
    let centery = shift / 2.0;
    let centerz = shift * (num / 2) as f32;

    let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
    let mut color = 0;
    let colors = [
        Hsla::hsl(220.0, 1.0, 0.3),
        Hsla::hsl(180.0, 1.0, 0.3),
        Hsla::hsl(260.0, 1.0, 0.7),
    ];

    for j in 0usize..20 {
        for i in 0..num {
            for k in 0usize..num {
                let x = i as f32 * shift - centerx + offset;
                let y = j as f32 * shift + centery + 3.0;
                let z = k as f32 * shift - centerz + offset;
                color += 1;

                commands.spawn((
                    Transform::from_xyz(x, y, z),
                    RigidBody::Dynamic,
                    Collider::cuboid(rad, rad, rad),
                    ColliderDebugColor(colors[color % 3]),
                ));
            }
        }

        offset -= 0.05 * rad * (num as f32 - 1.0);
    }
}