diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index f966b503..d9b2364f 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -32,7 +32,7 @@ jobs:
         with:
           prefix-key: ${{ env.RUST_CACHE_KEY }}
       - name: Cargo doc
-        run: cargo doc
+        run: cargo doc --no-deps
   test:
     runs-on: ubuntu-latest
     env:
@@ -72,6 +72,6 @@ jobs:
         with:
           prefix-key: ${{ env.RUST_CACHE_KEY }}
       - name: Clippy bevy_rapier2d
-        run: cd bevy_rapier2d && cargo clippy --verbose --features wasm-bindgen,bevy/webgl2 --target wasm32-unknown-unknown
+        run: cd bevy_rapier2d && cargo clippy --verbose --features bevy/webgl2 --target wasm32-unknown-unknown
       - name: Clippy bevy_rapier3d
-        run: cd bevy_rapier3d && cargo clippy --verbose --features wasm-bindgen,bevy/webgl2 --target wasm32-unknown-unknown
+        run: cd bevy_rapier3d && cargo clippy --verbose --features bevy/webgl2 --target wasm32-unknown-unknown
diff --git a/Cargo.toml b/Cargo.toml
index a297a9b5..7bc0dd1b 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -20,3 +20,6 @@ codegen-units = 1
 #parry3d = { git = "https://github.com/dimforge/parry", branch = "master" }
 #rapier2d = { git = "https://github.com/dimforge/rapier", branch = "character-controller" }
 #rapier3d = { git = "https://github.com/dimforge/rapier", branch = "character-controller" }
+
+# Fix for exammple issue_rapier_748
+parry3d = { git = "https://github.com/Vrixyz/parry", branch = "incorrect-shapecast" }
diff --git a/bevy_rapier2d/Cargo.toml b/bevy_rapier2d/Cargo.toml
index 4a626709..b4d1610e 100644
--- a/bevy_rapier2d/Cargo.toml
+++ b/bevy_rapier2d/Cargo.toml
@@ -45,16 +45,20 @@ rapier-debug-render = ["rapier2d/debug-render"]
 parallel = ["rapier2d/parallel"]
 simd-stable = ["rapier2d/simd-stable"]
 simd-nightly = ["rapier2d/simd-nightly"]
-wasm-bindgen = ["rapier2d/wasm-bindgen"]
 serde-serialize = ["rapier2d/serde-serialize", "bevy/serialize", "serde"]
 enhanced-determinism = ["rapier2d/enhanced-determinism"]
 headless = []
-async-collider = ["bevy/bevy_asset", "bevy/bevy_scene", "bevy/bevy_render"]
+async-collider = [
+    "bevy/bevy_asset",
+    "bevy/bevy_scene",
+    "bevy/bevy_render",
+    "bevy/bevy_image",
+]
 
 [dependencies]
 bevy = { version = "0.15", default-features = false }
 nalgebra = { version = "0.33", features = ["convert-glam029"] }
-rapier2d = "0.22"
+rapier2d = "0.23"
 bitflags = "2.4"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
diff --git a/bevy_rapier3d/Cargo.toml b/bevy_rapier3d/Cargo.toml
index b5d18c47..874666c6 100644
--- a/bevy_rapier3d/Cargo.toml
+++ b/bevy_rapier3d/Cargo.toml
@@ -46,16 +46,20 @@ rapier-debug-render = ["rapier3d/debug-render"]
 parallel = ["rapier3d/parallel"]
 simd-stable = ["rapier3d/simd-stable"]
 simd-nightly = ["rapier3d/simd-nightly"]
-wasm-bindgen = ["rapier3d/wasm-bindgen"]
 serde-serialize = ["rapier3d/serde-serialize", "bevy/serialize", "serde"]
 enhanced-determinism = ["rapier3d/enhanced-determinism"]
 headless = []
-async-collider = ["bevy/bevy_asset", "bevy/bevy_scene", "bevy/bevy_render"]
+async-collider = [
+    "bevy/bevy_asset",
+    "bevy/bevy_scene",
+    "bevy/bevy_render",
+    "bevy/bevy_image",
+]
 
 [dependencies]
 bevy = { version = "0.15", default-features = false }
 nalgebra = { version = "0.33", features = ["convert-glam029"] }
-rapier3d = "0.22"
+rapier3d = "0.23"
 bitflags = "2.4"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
@@ -72,6 +76,8 @@ approx = "0.5.1"
 glam = { version = "0.29", features = ["approx"] }
 bevy-inspector-egui = "0.28"
 bevy_egui = "0.31"
+# Used for example issue_rapier_748
+fastrand = "2.3"
 
 [package.metadata.docs.rs]
 # Enable all the features when building the docs on docs.rs
diff --git a/bevy_rapier3d/examples/issue_rapier_748.rs b/bevy_rapier3d/examples/issue_rapier_748.rs
new file mode 100644
index 00000000..bedee2b1
--- /dev/null
+++ b/bevy_rapier3d/examples/issue_rapier_748.rs
@@ -0,0 +1,142 @@
+use bevy::prelude::*;
+use bevy_rapier3d::prelude::*;
+
+const START_POSITION: Vec3 = Vec3::new(0., 1.5, 0.);
+
+fn main() {
+    let mut app = App::new();
+    app.add_plugins((
+        DefaultPlugins,
+        RapierPhysicsPlugin::<NoUserData>::default(),
+        RapierDebugRenderPlugin::default(),
+    ))
+    .insert_resource(ClearColor(Color::srgb(0.2, 0.2, 0.2)))
+    .add_systems(Startup, (spawn_basic_scene, spawn_shapes))
+    .add_systems(FixedUpdate, update_cubes)
+    .run();
+}
+
+#[derive(Component)]
+struct Velocity(Vec3);
+impl Velocity {
+    pub fn random() -> Self {
+        Velocity(
+            // truly random velocity -> i found no matching vel that way
+            // Vec3::new(
+            //     fastrand::f32() * 2. - 1.,
+            //     -fastrand::f32(),
+            //     fastrand::f32() * 2. - 1.,
+            // )
+            // .normalize(),
+
+            // this velocity always works
+            //Vec3::new(1.0, -5.0, -1.0).normalize(),
+            // integer velocities
+            Vec3::new(
+                fastrand::i32(-6..=6) as f32,
+                fastrand::i32(-6..0) as f32,
+                fastrand::i32(-6..=6) as f32,
+            )
+            .normalize(),
+            // even a slight deviation from an integer velocity makes it very unlikely
+            // (Vec3::new(
+            //     fastrand::i32(-6..=6) as f32,
+            //     fastrand::i32(-6..0) as f32,
+            //     fastrand::i32(-6..=6) as f32,
+            // )
+            // .normalize()
+            //     + Vec3::new(
+            //         fastrand::f32() * 2. - 1.,
+            //         -fastrand::f32(),
+            //         fastrand::f32() * 2. - 1.,
+            //     )
+            //     .normalize()
+            //         * 0.00001)
+            //     .normalize(),
+        )
+    }
+}
+
+fn spawn_shapes(mut commands: Commands) {
+    let group = CollisionGroups::new(Group::GROUP_1, Group::ALL ^ Group::GROUP_1);
+
+    // every shape except cuboid works
+    for shape in [
+        Collider::cuboid(0.5, 0.5, 0.5),
+        Collider::ball(0.5),
+        Collider::capsule_y(0.5, 0.2),
+        Collider::cylinder(0.5, 0.5),
+    ] {
+        // i spawned many shapes to get a better random sampling, but it also works with just one
+        for _ in 0..100 {
+            commands.spawn((
+                group,
+                Velocity::random(),
+                RigidBody::KinematicPositionBased,
+                shape.clone(),
+                Transform::from_translation(START_POSITION),
+                KinematicCharacterController {
+                    filter_groups: Some(group),
+                    slide: true, // sliding seems to make no difference
+                    ..KinematicCharacterController::default()
+                },
+            ));
+        }
+    }
+}
+
+fn spawn_basic_scene(
+    mut commands: Commands,
+    mut meshes: ResMut<Assets<Mesh>>,
+    mut materials: ResMut<Assets<StandardMaterial>>,
+) {
+    // spawn light
+    commands.spawn((PointLight::default(), Transform::from_xyz(0., 5., 0.)));
+
+    // spawn ground plane
+    commands.spawn((
+        // the size of the cuboid seems very important
+        Collider::cuboid(10., 0.1, 10.),
+        Mesh3d(meshes.add(Plane3d::new(Vec3::Y, Vec2::splat(10.)).mesh())),
+        MeshMaterial3d(materials.add(StandardMaterial {
+            base_color: Color::srgb(0.2, 0.9, 0.2),
+            ..default()
+        })),
+    ));
+
+    // add camera
+    commands.spawn((
+        Camera3d::default(),
+        Transform::from_xyz(10., 1.8, 0.).looking_at(Vec3::ZERO, Vec3::Y),
+    ));
+}
+
+fn update_cubes(
+    time: Res<Time>,
+    mut cubes: Query<(
+        &mut KinematicCharacterController,
+        &mut Velocity,
+        &mut Transform,
+        &Collider,
+    )>,
+) {
+    for (mut controller, mut velocity, mut transform, collider) in &mut cubes {
+        let penetrated = transform.translation.y < -0.5;
+        if penetrated || transform.translation.distance_squared(Vec3::ZERO) > 9. {
+            if penetrated {
+                println!(
+                    " -> {:?}: {:?}, speed = {:?}",
+                    collider,
+                    velocity.0,
+                    velocity.0.length()
+                );
+            }
+
+            *transform = Transform::from_translation(START_POSITION);
+            *velocity = Velocity::random();
+            continue;
+        }
+
+        controller.translation = Some(velocity.0 * time.delta_secs());
+    }
+}
diff --git a/bevy_rapier3d/examples/static_trimesh3.rs b/bevy_rapier3d/examples/static_trimesh3.rs
index 27fae6b5..5bc41382 100644
--- a/bevy_rapier3d/examples/static_trimesh3.rs
+++ b/bevy_rapier3d/examples/static_trimesh3.rs
@@ -55,7 +55,7 @@ pub fn setup_physics(mut commands: Commands, mut ball_state: ResMut<BallState>)
         indices.push([2 * i + 2, 2 * i + 1, 2 * i + 3]);
     }
 
-    commands.spawn(Collider::trimesh(vertices, indices));
+    commands.spawn(Collider::trimesh(vertices, indices).unwrap());
 
     // Create a bowl with a cosine cross-section,
     // so that we can join the end of the ramp smoothly
@@ -97,7 +97,7 @@ pub fn setup_physics(mut commands: Commands, mut ball_state: ResMut<BallState>)
             -bowl_size.y / 2.0,
             bowl_size.z / 2.0 - ramp_size.z / 2.0,
         ),
-        Collider::trimesh(vertices, indices),
+        Collider::trimesh(vertices, indices).unwrap(),
     ));
 }
 
diff --git a/bevy_rapier_benches3d/Cargo.toml b/bevy_rapier_benches3d/Cargo.toml
index 80c325df..6b4689b4 100644
--- a/bevy_rapier_benches3d/Cargo.toml
+++ b/bevy_rapier_benches3d/Cargo.toml
@@ -9,7 +9,7 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-rapier3d = { features = ["profiler"], version = "0.22" }
+rapier3d = { features = ["profiler"], version = "0.23" }
 bevy_rapier3d = { version = "0.28", path = "../bevy_rapier3d" }
 bevy = { version = "0.15", default-features = false }
 
diff --git a/bevy_rapier_benches3d/src/lib.rs b/bevy_rapier_benches3d/src/lib.rs
index bd6b16b8..ba24b105 100644
--- a/bevy_rapier_benches3d/src/lib.rs
+++ b/bevy_rapier_benches3d/src/lib.rs
@@ -25,21 +25,25 @@ pub fn custom_bencher(steps: usize, setup: impl Fn(&mut App)) {
         timer_full_update.start();
         app.update();
         timer_full_update.pause();
-        let elapsed_time = timer_full_update.time() as f32;
+        let elapsed_time = timer_full_update.time().as_millis();
         let rc = app
             .world_mut()
             .query::<&RapierContextSimulation>()
             .single(app.world());
-        rapier_step_times.push(rc.pipeline.counters.step_time.time() as f32);
+        rapier_step_times.push(rc.pipeline.counters.step_time.time().as_millis() as f32);
         total_update_times.push(elapsed_time);
     }
     timer_total.pause();
-    let average_total = total_update_times.iter().sum::<f32>() / total_update_times.len() as f32;
+    let average_total = total_update_times
+        .iter()
+        .map(|time| *time as f32)
+        .sum::<f32>()
+        / total_update_times.len() as f32;
     println!("average total time: {} ms", average_total);
     let average_rapier_step =
         rapier_step_times.iter().sum::<f32>() / rapier_step_times.len() as f32;
     println!("average rapier step time: {} ms", average_rapier_step);
     let average_rapier_overhead = average_total - average_rapier_step;
     println!("average bevy overhead: {} ms", average_rapier_overhead);
-    println!("total time: {} ms", timer_total.time());
+    println!("total time: {} ms", timer_total.time().as_millis());
 }
diff --git a/src/geometry/collider_impl.rs b/src/geometry/collider_impl.rs
index 88ead96e..c8892249 100644
--- a/src/geometry/collider_impl.rs
+++ b/src/geometry/collider_impl.rs
@@ -151,9 +151,12 @@ impl Collider {
     }
 
     /// Initializes a collider with a triangle mesh shape defined by its vertex and index buffers.
-    pub fn trimesh(vertices: Vec<Vect>, indices: Vec<[u32; 3]>) -> Self {
+    pub fn trimesh(
+        vertices: Vec<Vect>,
+        indices: Vec<[u32; 3]>,
+    ) -> Result<Self, crate::rapier::prelude::TriMeshBuilderError> {
         let vertices = vertices.into_iter().map(|v| v.into()).collect();
-        SharedShape::trimesh(vertices, indices).into()
+        Ok(SharedShape::trimesh(vertices, indices)?.into())
     }
 
     /// Initializes a collider with a triangle mesh shape defined by its vertex and index buffers, and flags
@@ -162,9 +165,9 @@ impl Collider {
         vertices: Vec<Vect>,
         indices: Vec<[u32; 3]>,
         flags: TriMeshFlags,
-    ) -> Self {
+    ) -> Result<Self, crate::rapier::prelude::TriMeshBuilderError> {
         let vertices = vertices.into_iter().map(|v| v.into()).collect();
-        SharedShape::trimesh_with_flags(vertices, indices, flags).into()
+        Ok(SharedShape::trimesh_with_flags(vertices, indices, flags)?.into())
     }
 
     /// Initializes a collider with a Bevy Mesh.
@@ -175,9 +178,11 @@ impl Collider {
         let (vtx, idx) = extract_mesh_vertices_indices(mesh)?;
 
         match collider_shape {
-            ComputedColliderShape::TriMesh(flags) => {
-                Some(SharedShape::trimesh_with_flags(vtx, idx, *flags).into())
-            }
+            ComputedColliderShape::TriMesh(flags) => Some(
+                SharedShape::trimesh_with_flags(vtx, idx, *flags)
+                    .ok()?
+                    .into(),
+            ),
             ComputedColliderShape::ConvexHull => {
                 SharedShape::convex_hull(&vtx).map(|shape| shape.into())
             }
diff --git a/src/plugin/systems/joint.rs b/src/plugin/systems/joint.rs
index c62b7774..9bd364b5 100644
--- a/src/plugin/systems/joint.rs
+++ b/src/plugin/systems/joint.rs
@@ -138,7 +138,7 @@ pub fn apply_joint_user_changes(
     //       Re-parenting the joint isn’t supported yet.
     for (link, handle, changed_joint) in changed_impulse_joints.iter() {
         let mut context = context.get_mut(link.0).expect(RAPIER_CONTEXT_EXPECT_ERROR);
-        if let Some(joint) = context.impulse_joints.get_mut(handle.0) {
+        if let Some(joint) = context.impulse_joints.get_mut(handle.0, false) {
             joint.data = changed_joint.data.as_ref().into_rapier();
         }
     }
diff --git a/src/plugin/systems/mod.rs b/src/plugin/systems/mod.rs
index 420876f4..4b5c7d7c 100644
--- a/src/plugin/systems/mod.rs
+++ b/src/plugin/systems/mod.rs
@@ -93,16 +93,7 @@ pub fn step_simulation<Hooks>(
 #[cfg(test)]
 #[allow(missing_docs)]
 pub mod tests {
-    use bevy::{
-        asset::AssetPlugin,
-        ecs::event::Events,
-        render::{
-            settings::{RenderCreation, WgpuSettings},
-            RenderPlugin,
-        },
-        scene::ScenePlugin,
-        time::TimePlugin,
-    };
+    use bevy::{ecs::event::Events, time::TimePlugin};
     use rapier::geometry::CollisionEventFlags;
     use std::f32::consts::PI;
 
@@ -347,19 +338,13 @@ pub mod tests {
     pub struct HeadlessRenderPlugin;
 
     impl Plugin for HeadlessRenderPlugin {
-        fn build(&self, app: &mut App) {
-            app.add_plugins((
-                AssetPlugin::default(),
-                ScenePlugin,
-                RenderPlugin {
-                    render_creation: RenderCreation::Automatic(WgpuSettings {
-                        backends: None,
-                        ..Default::default()
-                    }),
-                    ..Default::default()
-                },
-                ImagePlugin::default(),
-            ));
+        fn build(&self, _app: &mut App) {
+            #[cfg(feature = "async-collider")]
+            {
+                use bevy::{asset::AssetPlugin, render::mesh::MeshPlugin, scene::ScenePlugin};
+
+                _app.add_plugins((AssetPlugin::default(), MeshPlugin, ScenePlugin));
+            }
         }
     }
 }