diff --git a/CHANGELOG.md b/CHANGELOG.md
index e2e4f1df..15111455 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,3 +1,16 @@
+### 0.18.0 (24 July 2025)
+
+### Added
+
+- Add `World.timing*` functions to access the internal performances measurements if the internal
+  profiler is enabled with `World.profilerEnabled = true`.
+- Add `World.maxCcdSubsteps` to get/set the max number of CCD substeps run by the engine.
+
+### Fix
+
+- Fixed crash that would happen when removing colliders in a particular order (e.g. in the same order
+  as their insertion).
+
 ### 0.18.0-beta.0 (12 July 2025)
 
 #### Modified
diff --git a/Cargo.lock b/Cargo.lock
index b2595e35..fb5c36d4 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -34,9 +34,9 @@ dependencies = [
 
 [[package]]
 name = "anstream"
-version = "0.6.18"
+version = "0.6.19"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8acc5369981196006228e28809f761875c0327210a891e941f4c683b3a99529b"
+checksum = "301af1932e46185686725e0fad2f8f2aa7da69dd70bf6ecc44d6b703844a3933"
 dependencies = [
  "anstyle",
  "anstyle-parse",
@@ -49,36 +49,36 @@ dependencies = [
 
 [[package]]
 name = "anstyle"
-version = "1.0.10"
+version = "1.0.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "55cc3b69f167a1ef2e161439aa98aed94e6028e5f9a59be9a6ffb47aef1651f9"
+checksum = "862ed96ca487e809f1c8e5a8447f6ee2cf102f846893800b20cebdf541fc6bbd"
 
 [[package]]
 name = "anstyle-parse"
-version = "0.2.6"
+version = "0.2.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3b2d16507662817a6a20a9ea92df6652ee4f94f914589377d69f3b21bc5798a9"
+checksum = "4e7644824f0aa2c7b9384579234ef10eb7efb6a0deb83f9630a49594dd9c15c2"
 dependencies = [
  "utf8parse",
 ]
 
 [[package]]
 name = "anstyle-query"
-version = "1.1.2"
+version = "1.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "79947af37f4177cfead1110013d678905c37501914fba0efea834c3fe9a8d60c"
+checksum = "6c8bdeb6047d8983be085bab0ba1472e6dc604e7041dbf6fcd5e71523014fae9"
 dependencies = [
  "windows-sys",
 ]
 
 [[package]]
 name = "anstyle-wincon"
-version = "3.0.7"
+version = "3.0.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ca3534e77181a9cc07539ad51f2141fe32f6c3ffd4df76db8ad92346b003ae4e"
+checksum = "403f75924867bb1033c59fbf0797484329750cfbe3c4325cd33127941fabc882"
 dependencies = [
  "anstyle",
- "once_cell",
+ "once_cell_polyfill",
  "windows-sys",
 ]
 
@@ -102,9 +102,9 @@ dependencies = [
 
 [[package]]
 name = "autocfg"
-version = "1.4.0"
+version = "1.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ace50bade8e6234aa140d9a2f552bbee1db4d353f69b8217bc503490fc1a9f26"
+checksum = "c08606f8c3cbf4ce6ec8e28fb0014a2c086708fe954eaa885384a6165172e7e8"
 
 [[package]]
 name = "bincode"
@@ -126,9 +126,9 @@ dependencies = [
 
 [[package]]
 name = "bitflags"
-version = "2.9.0"
+version = "2.9.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5c8214115b7bf84099f1309324e63141d4c5d7cc26862f97a0a857dbefe165bd"
+checksum = "1b8e56985ec62d17e9c1001dc89c88ecd7dc08e47eba5ec7c29c7b5eeecde967"
 dependencies = [
  "serde",
 ]
@@ -154,9 +154,9 @@ dependencies = [
 
 [[package]]
 name = "bumpalo"
-version = "3.17.0"
+version = "3.19.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1628fb46dfa0b37568d12e5edd512553eccf6a22a78e8bde00bb4aed84d5bdbf"
+checksum = "46c5e41b57b8bba42a04676d81cb89e9ee8e859a1a66f80a5a72e1cb76b34d43"
 
 [[package]]
 name = "by_address"
@@ -166,9 +166,9 @@ checksum = "64fa3c856b712db6612c019f14756e64e4bcea13337a6b33b696333a9eaa2d06"
 
 [[package]]
 name = "bytemuck"
-version = "1.23.0"
+version = "1.23.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9134a6ef01ce4b366b50689c94f82c14bc72bc5d0386829828a2e2752ef7958c"
+checksum = "5c76a5792e44e4abe34d3abf15636779261d45a7450612059293d1d2cfc63422"
 
 [[package]]
 name = "byteorder"
@@ -178,18 +178,18 @@ checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
 
 [[package]]
 name = "cc"
-version = "1.2.21"
+version = "1.2.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8691782945451c1c383942c4874dbe63814f61cb57ef773cda2972682b7bb3c0"
+checksum = "deec109607ca693028562ed836a5f1c4b8bd77755c4e132fc5ce11b0b6211ae7"
 dependencies = [
  "shlex",
 ]
 
 [[package]]
 name = "cfg-if"
-version = "1.0.0"
+version = "1.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
+checksum = "9555578bc9e57714c812a1f84e4fc5b4d21fcb063490c624de019f7464c91268"
 
 [[package]]
 name = "chrono"
@@ -227,18 +227,18 @@ dependencies = [
 
 [[package]]
 name = "clap"
-version = "4.5.37"
+version = "4.5.41"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "eccb054f56cbd38340b380d4a8e69ef1f02f1af43db2f0cc817a4774d80ae071"
+checksum = "be92d32e80243a54711e5d7ce823c35c41c9d929dc4ab58e1276f625841aadf9"
 dependencies = [
  "clap_builder",
 ]
 
 [[package]]
 name = "clap_builder"
-version = "4.5.37"
+version = "4.5.41"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "efd9466fac8543255d3b1fcad4762c5e116ffe808c8a3043d4263cd4fd4862a2"
+checksum = "707eab41e9622f9139419d573eca0900137718000c517d47da73045f54331c3d"
 dependencies = [
  "anstream",
  "anstyle",
@@ -248,9 +248,9 @@ dependencies = [
 
 [[package]]
 name = "clap_derive"
-version = "4.5.32"
+version = "4.5.41"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "09176aae279615badda0765c0c0b3f6ed53f4709118af73cf4655d85d1530cd7"
+checksum = "ef4f52386a59ca4c860f7393bcf8abd8dfd91ecccc0f774635ff68e92eeef491"
 dependencies = [
  "heck",
  "proc-macro2",
@@ -260,15 +260,15 @@ dependencies = [
 
 [[package]]
 name = "clap_lex"
-version = "0.7.4"
+version = "0.7.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f46ad14479a25103f283c0f10005961cf086d8dc42205bb44c46ac563475dca6"
+checksum = "b94f61472cee1439c0b966b47e3aca9ae07e45d070759512cd390ea2bebc6675"
 
 [[package]]
 name = "colorchoice"
-version = "1.0.3"
+version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5b63caa9aa9397e2d9480a9b13673856c78d8ac123288526c37d7839f2a86990"
+checksum = "b05b61dc5112cbb17e4b6cd61790d9845d13888356391624cbe7e41efeac1e75"
 
 [[package]]
 name = "core-foundation-sys"
@@ -285,28 +285,6 @@ dependencies = [
  "libc",
 ]
 
-[[package]]
-name = "crossbeam"
-version = "0.8.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1137cd7e7fc0fb5d3c5a8678be38ec56e819125d8d7907411fe24ccb943faca8"
-dependencies = [
- "crossbeam-channel",
- "crossbeam-deque",
- "crossbeam-epoch",
- "crossbeam-queue",
- "crossbeam-utils",
-]
-
-[[package]]
-name = "crossbeam-channel"
-version = "0.5.15"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "82b8f8f868b36967f9606790d1903570de9ceaf870a7bf9fbbd3016d636a2cb2"
-dependencies = [
- "crossbeam-utils",
-]
-
 [[package]]
 name = "crossbeam-deque"
 version = "0.8.6"
@@ -326,15 +304,6 @@ dependencies = [
  "crossbeam-utils",
 ]
 
-[[package]]
-name = "crossbeam-queue"
-version = "0.3.12"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0f58bbc28f91df819d0aa2a2c00cd19754769c2fad90579b3592b1c9ba7a3115"
-dependencies = [
- "crossbeam-utils",
-]
-
 [[package]]
 name = "crossbeam-utils"
 version = "0.8.21"
@@ -369,7 +338,7 @@ dependencies = [
 
 [[package]]
 name = "dimforge_rapier2d"
-version = "0.18.0-beta.0"
+version = "0.18.0"
 dependencies = [
  "bincode",
  "js-sys",
@@ -383,7 +352,7 @@ dependencies = [
 
 [[package]]
 name = "dimforge_rapier2d-deterministic"
-version = "0.18.0-beta.0"
+version = "0.18.0"
 dependencies = [
  "bincode",
  "js-sys",
@@ -397,7 +366,7 @@ dependencies = [
 
 [[package]]
 name = "dimforge_rapier2d-simd"
-version = "0.18.0-beta.0"
+version = "0.18.0"
 dependencies = [
  "bincode",
  "js-sys",
@@ -411,7 +380,7 @@ dependencies = [
 
 [[package]]
 name = "dimforge_rapier3d"
-version = "0.18.0-beta.0"
+version = "0.18.0"
 dependencies = [
  "bincode",
  "js-sys",
@@ -425,7 +394,7 @@ dependencies = [
 
 [[package]]
 name = "dimforge_rapier3d-deterministic"
-version = "0.18.0-beta.0"
+version = "0.18.0"
 dependencies = [
  "bincode",
  "js-sys",
@@ -439,7 +408,7 @@ dependencies = [
 
 [[package]]
 name = "dimforge_rapier3d-simd"
-version = "0.18.0-beta.0"
+version = "0.18.0"
 dependencies = [
  "bincode",
  "js-sys",
@@ -558,9 +527,9 @@ dependencies = [
 
 [[package]]
 name = "hashbrown"
-version = "0.15.3"
+version = "0.15.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "84b26c544d002229e640969970a2e74021aadf6e2f96372b9c58eff97de08eb3"
+checksum = "5971ac85611da7067dbfcabef3c70ebb5606018acd9e2a3903a0da507521e0d5"
 dependencies = [
  "allocator-api2",
  "equivalent",
@@ -635,9 +604,9 @@ dependencies = [
 
 [[package]]
 name = "indexmap"
-version = "2.9.0"
+version = "2.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cea70ddb795996207ad57735b50c5982d8844f38ba9ee5f1aedcfb708a2aa11e"
+checksum = "fe4cd85333e22411419a0bcae1297d25e58c9443848b11dc6a86fefe8c78a661"
 dependencies = [
  "equivalent",
  "hashbrown",
@@ -674,15 +643,15 @@ checksum = "bbd2bcb4c963f2ddae06a2efc7e9f3591312473c50c6685e1f298068316e66fe"
 
 [[package]]
 name = "libc"
-version = "0.2.172"
+version = "0.2.174"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d750af042f7ef4f724306de029d18836c26c1765a54a6a3f094cbd23a7267ffa"
+checksum = "1171693293099992e19cddea4e8b849964e9846f4acee11b3948bcc337be8776"
 
 [[package]]
 name = "libm"
-version = "0.2.14"
+version = "0.2.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a25169bd5913a4b437588a7e3d127cd6e90127b60e0ffbd834a38f1599e016b8"
+checksum = "f9fbbcab51052fe104eb5e5d351cf728d30a5be1fe14d9be8a3b097481fb97de"
 
 [[package]]
 name = "log"
@@ -692,9 +661,9 @@ checksum = "13dc2df351e3202783a1fe0d44375f7295ffb4049267b0f3018346dc122a1d94"
 
 [[package]]
 name = "matrixmultiply"
-version = "0.3.9"
+version = "0.3.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9380b911e3e96d10c1f415da0876389aaf1b56759054eeb0de7df940c456ba1a"
+checksum = "a06de3016e9fae57a36fd14dba131fccf49f74b40b7fbdb472f96e361ec71a08"
 dependencies = [
  "autocfg",
  "rawpointer",
@@ -702,9 +671,9 @@ dependencies = [
 
 [[package]]
 name = "memchr"
-version = "2.7.4"
+version = "2.7.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "78ca9ab1a0babb1e7d5695e3530886289c18cf2f87ec19a575a0abdce112e3a3"
+checksum = "32a282da65faaf38286cf3be983213fcf1d2e2a58700e808f83f4ea9a4804bc0"
 
 [[package]]
 name = "nalgebra"
@@ -801,6 +770,12 @@ version = "1.21.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "42f5e15c9953c5e4ccceeb2e7382a716482c34515315f7b03532b8b4e8393d2d"
 
+[[package]]
+name = "once_cell_polyfill"
+version = "1.70.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a4895175b425cb1f87721b59f0f286c2092bd4af812243672510e1ac53e2e0ad"
+
 [[package]]
 name = "ordered-float"
 version = "5.0.0"
@@ -836,9 +811,9 @@ dependencies = [
 
 [[package]]
 name = "parry2d"
-version = "0.22.0-beta.1"
+version = "0.22.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6826172689f7365694e8c3123b57065709869c13f1b686e8294a2a0f9a8e4bec"
+checksum = "5d40099b76410e5e8ff51c0cda21e1ecb877fa07070d2d72eb089f58671a30a3"
 dependencies = [
  "approx",
  "arrayvec",
@@ -863,9 +838,9 @@ dependencies = [
 
 [[package]]
 name = "parry3d"
-version = "0.22.0-beta.1"
+version = "0.22.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f1d866b7e9e63a05780111b13f275e1a398a60f34b6749392b53369fe4eb5520"
+checksum = "7a9be495902125240bc361a233a3d3e0fe279f87b91f0fb34942be9eefced64e"
 dependencies = [
  "approx",
  "arrayvec",
@@ -914,9 +889,9 @@ checksum = "e3148f5046208a5d56bcfc03053e3ca6334e51da8dfb19b6cdc8b306fae3283e"
 
 [[package]]
 name = "pest"
-version = "2.8.0"
+version = "2.8.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "198db74531d58c70a361c42201efde7e2591e976d518caf7662a47dc5720e7b6"
+checksum = "1db05f56d34358a8b1066f67cbb203ee3e7ed2ba674a6263a1d5ec6db2204323"
 dependencies = [
  "memchr",
  "thiserror",
@@ -925,9 +900,9 @@ dependencies = [
 
 [[package]]
 name = "pest_derive"
-version = "2.8.0"
+version = "2.8.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d725d9cfd79e87dccc9341a2ef39d1b6f6353d68c4b33c177febbe1a402c97c5"
+checksum = "bb056d9e8ea77922845ec74a1c4e8fb17e7c218cc4fc11a15c5d25e189aa40bc"
 dependencies = [
  "pest",
  "pest_generator",
@@ -935,9 +910,9 @@ dependencies = [
 
 [[package]]
 name = "pest_generator"
-version = "2.8.0"
+version = "2.8.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "db7d01726be8ab66ab32f9df467ae8b1148906685bbe75c82d1e65d7f5b3f841"
+checksum = "87e404e638f781eb3202dc82db6760c8ae8a1eeef7fb3fa8264b2ef280504966"
 dependencies = [
  "pest",
  "pest_meta",
@@ -948,11 +923,10 @@ dependencies = [
 
 [[package]]
 name = "pest_meta"
-version = "2.8.0"
+version = "2.8.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7f9f832470494906d1fca5329f8ab5791cc60beb230c74815dff541cbd2b5ca0"
+checksum = "edd1101f170f5903fde0914f899bb503d9ff5271d7ba76bbb70bea63690cc0d5"
 dependencies = [
- "once_cell",
  "pest",
  "sha2",
 ]
@@ -1050,18 +1024,18 @@ dependencies = [
 
 [[package]]
 name = "profiling"
-version = "1.0.16"
+version = "1.0.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "afbdc74edc00b6f6a218ca6a5364d6226a259d4b8ea1af4a0ea063f27e179f4d"
+checksum = "3eb8486b569e12e2c32ad3e204dbaba5e4b5b216e9367044f25f1dba42341773"
 dependencies = [
  "profiling-procmacros",
 ]
 
 [[package]]
 name = "profiling-procmacros"
-version = "1.0.16"
+version = "1.0.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a65f2e60fbf1063868558d69c6beacf412dc755f9fc020f514b7955fc914fe30"
+checksum = "52717f9a02b6965224f95ca2a81e2e0c5c43baacd28ca057577988930b6c3d5b"
 dependencies = [
  "quote",
  "syn",
@@ -1108,15 +1082,14 @@ dependencies = [
 
 [[package]]
 name = "rapier2d"
-version = "0.27.0-beta.0"
+version = "0.27.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e89e01890c583fe4258cd12f03664ad5dbc0cf4cda37aac790681e2b4f627778"
+checksum = "7a9d86e53d2e6d33d3e4f1f28e72ec819cfabb8a1cc276391a6e43e3b002ab9c"
 dependencies = [
  "approx",
  "arrayvec",
  "bit-vec",
  "bitflags",
- "crossbeam",
  "downcast-rs",
  "log",
  "nalgebra",
@@ -1130,19 +1103,19 @@ dependencies = [
  "simba",
  "thiserror",
  "vec_map",
+ "web-time",
 ]
 
 [[package]]
 name = "rapier3d"
-version = "0.27.0-beta.0"
+version = "0.27.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1ab3ba62d1788a880b297e5c56612c68cfa18db3ad0413e80704729820378577"
+checksum = "b274764d058e242961750c11aff7433255321f621bb98220bb0a82beff1f9897"
 dependencies = [
  "approx",
  "arrayvec",
  "bit-vec",
  "bitflags",
- "crossbeam",
  "downcast-rs",
  "log",
  "nalgebra",
@@ -1158,6 +1131,7 @@ dependencies = [
  "smallvec",
  "thiserror",
  "vec_map",
+ "web-time",
  "wide",
 ]
 
@@ -1218,9 +1192,9 @@ checksum = "2b15c43186be67a4fd63bee50d0303afffcef381492ebe2c5d87f324e1b8815c"
 
 [[package]]
 name = "robust"
-version = "1.1.0"
+version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cbf4a6aa5f6d6888f39e980649f3ad6b666acdce1d78e95b8a2cb076e687ae30"
+checksum = "4e27ee8bb91ca0adcf0ecb116293afa12d393f9c2b9b9cd54d33e8078fe19839"
 
 [[package]]
 name = "rstar"
@@ -1241,9 +1215,9 @@ checksum = "357703d41365b4b27c590e3ed91eabb1b663f07c4c084095e60cbed4362dff0d"
 
 [[package]]
 name = "rustversion"
-version = "1.0.20"
+version = "1.0.21"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "eded382c5f5f786b989652c49544c4877d9f015cc22e145a5ea8ea66c2921cd2"
+checksum = "8a0d197bd2c9dc6e53b84da9556a69ba4cdfab8619eb41a8bd1cc2027a0f6b1d"
 
 [[package]]
 name = "ryu"
@@ -1291,9 +1265,9 @@ dependencies = [
 
 [[package]]
 name = "serde_json"
-version = "1.0.140"
+version = "1.0.141"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "20068b6e96dc6c9bd23e01df8827e6c7e1f2fddd43c21810382803c136b99373"
+checksum = "30b9eff21ebe718216c6ec64e1d9ac57087aad11efc64e32002bce4a0d4c03d3"
 dependencies = [
  "itoa",
  "memchr",
@@ -1340,12 +1314,9 @@ checksum = "56199f7ddabf13fe5074ce809e7d3f42b42ae711800501b5b16ea82ad029c39d"
 
 [[package]]
 name = "slab"
-version = "0.4.9"
+version = "0.4.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8f92a496fb766b417c996b9c5e57daf2f7ad3b0bebe1ccfca4856390e3d3bb67"
-dependencies = [
- "autocfg",
-]
+checksum = "04dc19736151f35336d325007ac991178d504a119863a2fcb3758cdb5e52c50d"
 
 [[package]]
 name = "slug"
@@ -1359,15 +1330,15 @@ dependencies = [
 
 [[package]]
 name = "smallvec"
-version = "1.15.0"
+version = "1.15.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8917285742e9f3e1683f0a9c4e6b57960b7314d0b08d30d1ecd426713ee2eee9"
+checksum = "67b1b7a3b5fe4f1376887184045fcf45c69e92af734b7aaddc05fb777b6fbd03"
 
 [[package]]
 name = "spade"
-version = "2.13.1"
+version = "2.14.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1ece03ff43cd2a9b57ebf776ea5e78bd30b3b4185a619f041079f4109f385034"
+checksum = "a14e31a007e9f85c32784b04f89e6e194bb252a4d41b4a8ccd9e77245d901c8c"
 dependencies = [
  "hashbrown",
  "num-traits",
@@ -1396,9 +1367,9 @@ checksum = "7da8b5736845d9f2fcb837ea5d9e2628564b3b043a70948a3f0b778838c5fb4f"
 
 [[package]]
 name = "syn"
-version = "2.0.101"
+version = "2.0.104"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8ce2b7fc941b3a24138a0a7cf8e858bfc6a992e7978a068a5c760deb0ed43caf"
+checksum = "17b6f705963418cdb9927482fa304bc562ece2fdd4f616084c50b7023b435a40"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1545,9 +1516,9 @@ dependencies = [
 
 [[package]]
 name = "wasi"
-version = "0.11.0+wasi-snapshot-preview1"
+version = "0.11.1+wasi-snapshot-preview1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9c8d87e72b64a3b4db28d11ce29237c246188f4f51057d65a7eab63b7987e423"
+checksum = "ccf3ec651a847eb01de73ccad15eb7d99f80485de043efb2f370cd654f4ea44b"
 
 [[package]]
 name = "wasm-bindgen"
@@ -1607,11 +1578,21 @@ dependencies = [
  "unicode-ident",
 ]
 
+[[package]]
+name = "web-time"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5a6580f308b1fad9207618087a65c04e7a10bc77e02c8e84e9b00dd4b12fa0bb"
+dependencies = [
+ "js-sys",
+ "wasm-bindgen",
+]
+
 [[package]]
 name = "wide"
-version = "0.7.32"
+version = "0.7.33"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "41b5576b9a81633f3e8df296ce0063042a73507636cbe956c61133dd7034ab22"
+checksum = "0ce5da8ecb62bcd8ec8b7ea19f69a51275e91299be594ea5cc6ef7819e16cd03"
 dependencies = [
  "bytemuck",
  "safe_arch",
@@ -1628,9 +1609,9 @@ dependencies = [
 
 [[package]]
 name = "windows-core"
-version = "0.61.0"
+version = "0.61.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4763c1de310c86d75a878046489e2e5ba02c649d185f21c67d4cf8a56d098980"
+checksum = "c0fdd3ddb90610c7638aa2b3a3ab2904fb9e5cdbecc643ddb3647212781c4ae3"
 dependencies = [
  "windows-implement",
  "windows-interface",
@@ -1663,24 +1644,24 @@ dependencies = [
 
 [[package]]
 name = "windows-link"
-version = "0.1.1"
+version = "0.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "76840935b766e1b0a05c0066835fb9ec80071d4c09a16f6bd5f7e655e3c14c38"
+checksum = "5e6ad25900d524eaabdbbb96d20b4311e1e7ae1699af4fb28c17ae66c80d798a"
 
 [[package]]
 name = "windows-result"
-version = "0.3.2"
+version = "0.3.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c64fd11a4fd95df68efcfee5f44a294fe71b8bc6a91993e2791938abcc712252"
+checksum = "56f42bd332cc6c8eac5af113fc0c1fd6a8fd2aa08a0119358686e5160d0586c6"
 dependencies = [
  "windows-link",
 ]
 
 [[package]]
 name = "windows-strings"
-version = "0.4.0"
+version = "0.4.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7a2ba9642430ee452d5a7aa78d72907ebe8cfda358e8cb7918a2050581322f97"
+checksum = "56e6c93f3a0c3b36176cb1327a4958a0353d5d166c2a35cb268ace15e91d3b57"
 dependencies = [
  "windows-link",
 ]
@@ -1760,18 +1741,18 @@ checksum = "589f6da84c646204747d1270a2a5661ea66ed1cced2631d546fdfb155959f9ec"
 
 [[package]]
 name = "zerocopy"
-version = "0.8.25"
+version = "0.8.26"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a1702d9583232ddb9174e01bb7c15a2ab8fb1bc6f227aa1233858c351a3ba0cb"
+checksum = "1039dd0d3c310cf05de012d8a39ff557cb0d23087fd44cad61df08fc31907a2f"
 dependencies = [
  "zerocopy-derive",
 ]
 
 [[package]]
 name = "zerocopy-derive"
-version = "0.8.25"
+version = "0.8.26"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "28a6e20d751156648aa063f3800b706ee209a32c0b4d9f24be3d980b01be55ef"
+checksum = "9ecf5b4cc5364572d7f4c329661bcc82724222973f2cab6f050a4e5c22f75181"
 dependencies = [
  "proc-macro2",
  "quote",
diff --git a/builds/prepare_builds/templates/Cargo.toml.tera b/builds/prepare_builds/templates/Cargo.toml.tera
index af35c195..2e7f1410 100644
--- a/builds/prepare_builds/templates/Cargo.toml.tera
+++ b/builds/prepare_builds/templates/Cargo.toml.tera
@@ -1,6 +1,6 @@
 [package]
 name = "dimforge_{{ js_package_name }}" # Can't be named rapier{{ dimension }}d which conflicts with the dependency.
-version = "0.18.0-beta.0"
+version = "0.18.0"
 authors = ["Sébastien Crozet <developer@crozet.re>"]
 description = "{{ dimension }}-dimensional physics engine in Rust - official JS bindings."
 documentation = "https://rapier.rs/rustdoc/rapier{{ dimension }}d/index.html"
@@ -27,9 +27,10 @@ rust.unexpected_cfgs = { level = "warn", check-cfg = [
 ] }
 
 [dependencies]
-rapier{{ dimension }}d = { version = "0.27.0-beta.0", features = [
+rapier{{ dimension }}d = { version = "0.27.0", features = [
     "serde-serialize",
     "debug-render",
+    "profiler",
     {%- for feature in additional_features %}
     "{{ feature }}",
     {%- endfor %}
diff --git a/src.ts/pipeline/world.ts b/src.ts/pipeline/world.ts
index fc5c9644..b8f7b030 100644
--- a/src.ts/pipeline/world.ts
+++ b/src.ts/pipeline/world.ts
@@ -414,6 +414,27 @@ export class World {
         this.integrationParameters.numInternalPgsIterations = niter;
     }
 
+    /**
+     * The number of substeps continuous collision-detection can run (default: `1`).
+     */
+    get maxCcdSubsteps(): number {
+        return this.integrationParameters.maxCcdSubsteps;
+    }
+
+    /**
+     * Sets the number of substeps continuous collision-detection can run (default: `1`).
+     *
+     * CCD operates using a "motion clamping" mechanism where all fast-moving object trajectories will
+     * be truncated to their first impact on their path. The number of CCD substeps beyond 1 indicate how
+     * many times that trajectory will be updated and continued after a hit. This can results in smoother
+     * paths, but at a significant computational cost.
+     *
+     * @param niter - The new maximum number of CCD substeps. Setting to `0` disables CCD entirely.
+     */
+    set maxCcdSubsteps(substeps: number) {
+        this.integrationParameters.maxCcdSubsteps = substeps;
+    }
+
     /// Configures the integration parameters to match the old PGS solver
     /// from Rapier JS version <= 0.11.
     ///
@@ -1171,4 +1192,181 @@ export class World {
             collider2.handle,
         );
     }
+
+    /**
+     * Sets whether internal performance profiling is enabled (default: false).
+     *
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    set profilerEnabled(enabled: boolean) {
+        this.physicsPipeline.raw.set_profiler_enabled(enabled);
+    }
+
+    /**
+     * Indicates if the internal performance profiling is enabled.
+     *
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    get profilerEnabled(): boolean {
+        return this.physicsPipeline.raw.is_profiler_enabled();
+    }
+
+    /**
+     * The time spent in milliseconds by the last step to run the entire simulation step.
+     *
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    public timingStep(): number {
+        return this.physicsPipeline.raw.timing_step();
+    }
+
+    /**
+     * The time spent in milliseconds by the last step to run the collision-detection
+     * (broad-phase + narrow-phase).
+     *
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    public timingCollisionDetection(): number {
+        return this.physicsPipeline.raw.timing_collision_detection();
+    }
+
+    /**
+     * The time spent in milliseconds by the last step to run the broad-phase.
+     *
+     * This timing is included in `timingCollisionDetection`.
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    public timingBroadPhase(): number {
+        return this.physicsPipeline.raw.timing_broad_phase();
+    }
+
+    /**
+     * The time spent in milliseconds by the last step to run the narrow-phase.
+     *
+     * This timing is included in `timingCollisionDetection`.
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    public timingNarrowPhase(): number {
+        return this.physicsPipeline.raw.timing_narrow_phase();
+    }
+
+    /**
+     * The time spent in milliseconds by the last step to run the constraint solver.
+     *
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    public timingSolver(): number {
+        return this.physicsPipeline.raw.timing_solver();
+    }
+
+    /**
+     * The time spent in milliseconds by the last step to run the constraint
+     * initialization.
+     *
+     * This timing is included in `timingSolver`.
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    public timingVelocityAssembly(): number {
+        return this.physicsPipeline.raw.timing_velocity_assembly();
+    }
+
+    /**
+     * The time spent in milliseconds by the last step to run the constraint
+     * resolution.
+     *
+     * This timing is included in `timingSolver`.
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    public timingVelocityResolution(): number {
+        return this.physicsPipeline.raw.timing_velocity_resolution();
+    }
+
+    /**
+     * The time spent in milliseconds by the last step to run the rigid-body
+     * velocity update.
+     *
+     * This timing is included in `timingSolver`.
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    public timingVelocityUpdate(): number {
+        return this.physicsPipeline.raw.timing_velocity_update();
+    }
+
+    /**
+     * The time spent in milliseconds by writing rigid-body velocities
+     * calculated by the solver back into the rigid-bodies.
+     *
+     * This timing is included in `timingSolver`.
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    public timingVelocityWriteback(): number {
+        return this.physicsPipeline.raw.timing_velocity_writeback();
+    }
+
+    /**
+     * The total time spent in CCD detection and resolution.
+     *
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    public timingCcd(): number {
+        return this.physicsPipeline.raw.timing_ccd();
+    }
+
+    /**
+     * The total time spent searching for the continuous hits during CCD.
+     *
+     * This timing is included in `timingCcd`.
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    public timingCcdToiComputation(): number {
+        return this.physicsPipeline.raw.timing_ccd_toi_computation();
+    }
+
+    /**
+     * The total time spent in the broad-phase during CCD.
+     *
+     * This timing is included in `timingCcd`.
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    public timingCcdBroadPhase(): number {
+        return this.physicsPipeline.raw.timing_ccd_broad_phase();
+    }
+
+    /**
+     * The total time spent in the narrow-phase during CCD.
+     *
+     * This timing is included in `timingCcd`.
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    public timingCcdNarrowPhase(): number {
+        return this.physicsPipeline.raw.timing_ccd_narrow_phase();
+    }
+
+    /**
+     * The total time spent in the constraints resolution during CCD.
+     *
+     * This timing is included in `timingCcd`.
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    public timingCcdSolver(): number {
+        return this.physicsPipeline.raw.timing_ccd_solver();
+    }
+
+    /**
+     * The total time spent in the islands calculation during CCD.
+     *
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    public timingIslandConstruction(): number {
+        return this.physicsPipeline.raw.timing_island_construction();
+    }
+
+    /**
+     * The total time spent propagating detected user changes.
+     *
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    public timingUserChanges(): number {
+        return this.physicsPipeline.raw.timing_user_changes();
+    }
 }
diff --git a/src/control/character_controller.rs b/src/control/character_controller.rs
index 9ced7db8..03cbdc5d 100644
--- a/src/control/character_controller.rs
+++ b/src/control/character_controller.rs
@@ -179,7 +179,7 @@ impl RawKinematicCharacterController {
                     })
                     .unwrap_or(0.0);
 
-                let query_pipeline = broad_phase.0.as_query_pipeline_mut(
+                let mut query_pipeline = broad_phase.0.as_query_pipeline_mut(
                     narrow_phase.0.query_dispatcher(),
                     &mut bodies.0,
                     &mut colliders.0,
@@ -200,7 +200,7 @@ impl RawKinematicCharacterController {
                 if apply_impulses_to_dynamic_bodies {
                     self.controller.solve_character_collision_impulses(
                         dt,
-                        query_pipeline,
+                        &mut query_pipeline,
                         &*collider_shape,
                         character_mass,
                         self.events.iter(),
diff --git a/src/geometry/broad_phase.rs b/src/geometry/broad_phase.rs
index 218a1cde..6f81a862 100644
--- a/src/geometry/broad_phase.rs
+++ b/src/geometry/broad_phase.rs
@@ -147,7 +147,7 @@ impl RawBroadPhase {
                 query_filter,
             );
 
-            for (handle, _, inter) in query_pipeline.intersect_ray(&ray, maxToi, solid) {
+            for (handle, _, inter) in query_pipeline.intersect_ray(ray, maxToi, solid) {
                 if !rcallback(handle, inter) {
                     break;
                 }
@@ -189,7 +189,7 @@ impl RawBroadPhase {
             let pos = Isometry::from_parts(shapePos.0.into(), shapeRot.0);
 
             // TODO: take a callback as argument so we can yield all the intersecting shapes?
-            for (handle, _) in query_pipeline.intersect_shape(&pos, &*shape.0) {
+            for (handle, _) in query_pipeline.intersect_shape(pos, &*shape.0) {
                 // Return the first intersection we find.
                 return Some(utils::flat_handle(handle.0));
             }
@@ -316,7 +316,7 @@ impl RawBroadPhase {
                 Ok(val) => val.as_bool().unwrap_or(true),
             };
 
-            for (handle, _) in query_pipeline.intersect_point(&point.0.into()) {
+            for (handle, _) in query_pipeline.intersect_point(point.0.into()) {
                 if !rcallback(handle) {
                     break;
                 }
@@ -418,7 +418,7 @@ impl RawBroadPhase {
             };
 
             let pos = Isometry::from_parts(shapePos.0.into(), shapeRot.0);
-            for (handle, _) in query_pipeline.intersect_shape(&pos, &*shape.0) {
+            for (handle, _) in query_pipeline.intersect_shape(pos, &*shape.0) {
                 if !rcallback(handle) {
                     break;
                 }
@@ -453,7 +453,7 @@ impl RawBroadPhase {
         let center = Point::from(aabbCenter.0);
         let aabb = Aabb::new(center - aabbHalfExtents.0, center + aabbHalfExtents.0);
 
-        for (handle, _) in query_pipeline.intersect_aabb_conservative(&aabb) {
+        for (handle, _) in query_pipeline.intersect_aabb_conservative(aabb) {
             if !rcallback(&handle) {
                 break;
             }
diff --git a/src/pipeline/event_queue.rs b/src/pipeline/event_queue.rs
index 5f647cc9..fb6034d9 100644
--- a/src/pipeline/event_queue.rs
+++ b/src/pipeline/event_queue.rs
@@ -1,9 +1,9 @@
 use crate::math::RawVector;
 use crate::utils;
 use crate::utils::FlatHandle;
-use rapier::crossbeam::channel::Receiver;
 use rapier::geometry::{CollisionEvent, ContactForceEvent};
 use rapier::pipeline::ChannelEventCollector;
+use std::sync::mpsc::Receiver;
 use wasm_bindgen::prelude::*;
 
 /// A structure responsible for collecting events generated
@@ -78,8 +78,8 @@ impl RawEventQueue {
     /// RAM if no drain is performed.
     #[wasm_bindgen(constructor)]
     pub fn new(autoDrain: bool) -> Self {
-        let collision_channel = rapier::crossbeam::channel::unbounded();
-        let contact_force_channel = rapier::crossbeam::channel::unbounded();
+        let collision_channel = std::sync::mpsc::channel();
+        let contact_force_channel = std::sync::mpsc::channel();
         let collector = ChannelEventCollector::new(collision_channel.0, contact_force_channel.0);
 
         Self {
diff --git a/src/pipeline/physics_pipeline.rs b/src/pipeline/physics_pipeline.rs
index 81b492f4..287cfeea 100644
--- a/src/pipeline/physics_pipeline.rs
+++ b/src/pipeline/physics_pipeline.rs
@@ -15,7 +15,85 @@ pub struct RawPhysicsPipeline(pub(crate) PhysicsPipeline);
 impl RawPhysicsPipeline {
     #[wasm_bindgen(constructor)]
     pub fn new() -> Self {
-        RawPhysicsPipeline(PhysicsPipeline::new())
+        let mut pipeline = PhysicsPipeline::new();
+        pipeline.counters.disable(); // Disable perf counters by default.
+        RawPhysicsPipeline(pipeline)
+    }
+
+    pub fn set_profiler_enabled(&mut self, enabled: bool) {
+        if enabled {
+            self.0.counters.enable();
+        } else {
+            self.0.counters.disable();
+        }
+    }
+
+    pub fn is_profiler_enabled(&self) -> bool {
+        self.0.counters.enabled()
+    }
+
+    pub fn timing_step(&self) -> f64 {
+        self.0.counters.step_time_ms()
+    }
+
+    pub fn timing_collision_detection(&self) -> f64 {
+        self.0.counters.collision_detection_time_ms()
+    }
+
+    pub fn timing_broad_phase(&self) -> f64 {
+        self.0.counters.broad_phase_time_ms()
+    }
+
+    pub fn timing_narrow_phase(&self) -> f64 {
+        self.0.counters.narrow_phase_time_ms()
+    }
+
+    pub fn timing_solver(&self) -> f64 {
+        self.0.counters.solver_time_ms()
+    }
+
+    pub fn timing_velocity_assembly(&self) -> f64 {
+        self.0.counters.solver.velocity_assembly_time.time_ms()
+    }
+
+    pub fn timing_velocity_resolution(&self) -> f64 {
+        self.0.counters.velocity_resolution_time_ms()
+    }
+
+    pub fn timing_velocity_update(&self) -> f64 {
+        self.0.counters.velocity_update_time_ms()
+    }
+
+    pub fn timing_velocity_writeback(&self) -> f64 {
+        self.0.counters.solver.velocity_writeback_time.time_ms()
+    }
+
+    pub fn timing_ccd(&self) -> f64 {
+        self.0.counters.ccd_time_ms()
+    }
+
+    pub fn timing_ccd_toi_computation(&self) -> f64 {
+        self.0.counters.ccd.toi_computation_time.time_ms()
+    }
+
+    pub fn timing_ccd_broad_phase(&self) -> f64 {
+        self.0.counters.ccd.broad_phase_time.time_ms()
+    }
+
+    pub fn timing_ccd_narrow_phase(&self) -> f64 {
+        self.0.counters.ccd.narrow_phase_time.time_ms()
+    }
+
+    pub fn timing_ccd_solver(&self) -> f64 {
+        self.0.counters.ccd.solver_time.time_ms()
+    }
+
+    pub fn timing_island_construction(&self) -> f64 {
+        self.0.counters.island_construction_time_ms()
+    }
+
+    pub fn timing_user_changes(&self) -> f64 {
+        self.0.counters.stages.user_changes.time_ms()
     }
 
     pub fn step(
diff --git a/testbed3d/src/Gui.ts b/testbed3d/src/Gui.ts
index a410607e..e89b2f47 100644
--- a/testbed3d/src/Gui.ts
+++ b/testbed3d/src/Gui.ts
@@ -8,6 +8,23 @@ export interface DebugInfos {
     worldHash: string;
     worldHashTime: number;
     snapshotTime: number;
+
+    timingStep: number;
+    timingCollisionDetection: number;
+    timingBroadPhase: number;
+    timingNarrowPhase: number;
+    timingSolver: number;
+    timingVelocityAssembly: number;
+    timingVelocityResolution: number;
+    timingVelocityUpdate: number;
+    timingVelocityWriteback: number;
+    timingCcd: number;
+    timingCcdToiComputation: number;
+    timingCcdBroadPhase: number;
+    timingCcdNarrowPhase: number;
+    timingCcdSolver: number;
+    timingIslandConstruction: number;
+    timingUserChanges: number;
 }
 
 export class Gui {
@@ -96,6 +113,43 @@ export class Gui {
                 "ms";
             text += "<br/>Snapshot time: " + infos.snapshotTime + "ms";
         }
+
+        text += "<br/>timingStep: " + infos.timingStep + "ms";
+        text +=
+            "<br/>timingCollisionDetection: " +
+            infos.timingCollisionDetection +
+            "ms";
+        text += "<br/>timingBroadPhase: " + infos.timingBroadPhase + "ms";
+        text += "<br/>timingNarrowPhase: " + infos.timingNarrowPhase + "ms";
+        text += "<br/>timingSolver: " + infos.timingSolver + "ms";
+        text +=
+            "<br/>timingVelocityAssembly: " +
+            infos.timingVelocityAssembly +
+            "ms";
+        text +=
+            "<br/>timingVelocityResolution: " +
+            infos.timingVelocityResolution +
+            "ms";
+        text +=
+            "<br/>timingVelocityUpdate: " + infos.timingVelocityUpdate + "ms";
+        text +=
+            "<br/>timingVelocityWriteback: " +
+            infos.timingVelocityWriteback +
+            "ms";
+        text += "<br/>timingCcd: " + infos.timingCcd + "ms";
+        text +=
+            "<br/>timingCcdToiComputation: " +
+            infos.timingCcdToiComputation +
+            "ms";
+        text += "<br/>timingCcdBroadPhase: " + infos.timingCcdBroadPhase + "ms";
+        text +=
+            "<br/>timingCcdNarrowPhase: " + infos.timingCcdNarrowPhase + "ms";
+        text += "<br/>timingCcdSolver: " + infos.timingCcdSolver + "ms";
+        text +=
+            "<br/>timingIslandConstruction: " +
+            infos.timingIslandConstruction +
+            "ms";
+        text += "<br/>timingUserChanges: " + infos.timingUserChanges + "ms";
         this.debugText.innerHTML = text;
     }
 
diff --git a/testbed3d/src/Testbed.ts b/testbed3d/src/Testbed.ts
index 7e7f40f6..5d3afd88 100644
--- a/testbed3d/src/Testbed.ts
+++ b/testbed3d/src/Testbed.ts
@@ -163,6 +163,27 @@ export class Testbed {
                     worldHash: "",
                     worldHashTime: 0,
                     snapshotTime: 0,
+                    timingStep: this.world.timingStep(),
+                    timingCollisionDetection:
+                        this.world.timingCollisionDetection(),
+                    timingBroadPhase: this.world.timingBroadPhase(),
+                    timingNarrowPhase: this.world.timingNarrowPhase(),
+                    timingSolver: this.world.timingSolver(),
+                    timingVelocityAssembly: this.world.timingVelocityAssembly(),
+                    timingVelocityResolution:
+                        this.world.timingVelocityResolution(),
+                    timingVelocityUpdate: this.world.timingVelocityUpdate(),
+                    timingVelocityWriteback:
+                        this.world.timingVelocityWriteback(),
+                    timingCcd: this.world.timingCcd(),
+                    timingCcdToiComputation:
+                        this.world.timingCcdToiComputation(),
+                    timingCcdBroadPhase: this.world.timingCcdBroadPhase(),
+                    timingCcdNarrowPhase: this.world.timingCcdNarrowPhase(),
+                    timingCcdSolver: this.world.timingCcdSolver(),
+                    timingIslandConstruction:
+                        this.world.timingIslandConstruction(),
+                    timingUserChanges: this.world.timingUserChanges(),
                 };
                 t0 = performance.now();
                 xxhash128(snapshot).then((hash) => {