diff --git a/Cargo.toml b/Cargo.toml
index 69f7b7de..01b43b09 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,5 +1,5 @@
 [workspace]
-members = ["bevy_rapier2d", "bevy_rapier3d"]
+members = ["bevy_rapier2d", "bevy_rapier3d", "bevy_rapier_benches3d"]
 resolver = "2"
 
 [profile.dev]
diff --git a/bevy_rapier3d/Cargo.toml b/bevy_rapier3d/Cargo.toml
index b0b5a495..58690f76 100644
--- a/bevy_rapier3d/Cargo.toml
+++ b/bevy_rapier3d/Cargo.toml
@@ -60,7 +60,17 @@ bevy = { version = "0.14", default-features = false, features = [
 ] }
 approx = "0.5.1"
 glam = { version = "0.27", features = ["approx"] }
+divan = "0.1"
+bevy_rapier_benches3d = { version = "0.1", path = "../bevy_rapier_benches3d" }
 
 [package.metadata.docs.rs]
 # Enable all the features when building the docs on docs.rs
 features = ["debug-render-3d", "serde-serialize"]
+
+[[bench]]
+name = "cubes"
+harness = false
+
+[[bench]]
+name = "many_pyramids3"
+harness = false
diff --git a/bevy_rapier3d/benches/common.rs b/bevy_rapier3d/benches/common.rs
new file mode 100644
index 00000000..86229fc4
--- /dev/null
+++ b/bevy_rapier3d/benches/common.rs
@@ -0,0 +1,12 @@
+use bevy::app::App;
+use bevy_rapier_benches3d::common::{default_app, wait_app_start};
+
+pub fn bench_app_updates(bencher: divan::Bencher, setup: impl Fn(&mut App)) {
+    let mut app = default_app();
+    setup(&mut app);
+    wait_app_start(&mut app);
+
+    bencher.bench_local(|| {
+        app.update();
+    });
+}
diff --git a/bevy_rapier3d/benches/cubes.rs b/bevy_rapier3d/benches/cubes.rs
new file mode 100644
index 00000000..6095783f
--- /dev/null
+++ b/bevy_rapier3d/benches/cubes.rs
@@ -0,0 +1,52 @@
+//! Translated from avian benchmark.
+//!
+//! <https://github.com/Jondolf/avian/blob/81290423e146264120cf9711af716f6faf669717/crates/avian3d/benches/cubes.rs>
+
+mod common;
+
+use common::bench_app_updates;
+
+use bevy::prelude::*;
+use bevy_rapier3d::math::*;
+use bevy_rapier3d::prelude::*;
+
+fn setup_cubes(app: &mut App, size: u32) {
+    app.add_systems(Startup, move |mut commands: Commands| {
+        commands.spawn((
+            RigidBody::Fixed,
+            Transform::from_translation(-2.0 * Vect::Z),
+            Collider::cuboid(100.0, 1.0, 100.0),
+        ));
+        for x in 0..size {
+            for z in 0..size {
+                commands.spawn((
+                    RigidBody::Dynamic,
+                    Transform::from_translation(Vec3::new(x as f32, 2.0, z as f32)),
+                    Collider::cuboid(1.0, 1.0, 1.0),
+                ));
+            }
+        }
+    });
+}
+
+#[divan::bench(sample_count = 60, sample_size = 1)]
+fn cubes_3x3(bencher: divan::Bencher) {
+    bench_app_updates(bencher, |app| setup_cubes(app, 3))
+}
+#[divan::bench(sample_count = 60, sample_size = 1)]
+fn cubes_5x5(bencher: divan::Bencher) {
+    bench_app_updates(bencher, |app| setup_cubes(app, 5))
+}
+#[divan::bench(sample_count = 60, sample_size = 1)]
+fn cubes_10x10(bencher: divan::Bencher) {
+    bench_app_updates(bencher, |app| setup_cubes(app, 10))
+}
+#[divan::bench(sample_count = 60, sample_size = 1)]
+fn cubes_20x20(bencher: divan::Bencher) {
+    bench_app_updates(bencher, |app| setup_cubes(app, 20))
+}
+
+fn main() {
+    // Run registered benchmarks.
+    divan::main();
+}
diff --git a/bevy_rapier3d/benches/many_pyramids3.rs b/bevy_rapier3d/benches/many_pyramids3.rs
new file mode 100644
index 00000000..e4ca49a4
--- /dev/null
+++ b/bevy_rapier3d/benches/many_pyramids3.rs
@@ -0,0 +1,28 @@
+//! Translated from rapier benchmark.
+//!
+//! <https://github.com/dimforge/rapier/blob/87ada34008f4a1a313ccf8c3040040bab4f10e69/benchmarks3d/many_pyramids3.rs>
+
+mod common;
+
+use bevy_rapier_benches3d::pyramids::setup_pyramids;
+use common::bench_app_updates;
+
+#[divan::bench(sample_count = 60, sample_size = 1)]
+fn pyramid_1_with_height_2(bencher: divan::Bencher) {
+    bench_app_updates(bencher, |app| setup_pyramids(app, 1, 2));
+}
+
+#[divan::bench(sample_count = 60, sample_size = 1)]
+fn pyramid_1_with_height_20(bencher: divan::Bencher) {
+    bench_app_updates(bencher, |app| setup_pyramids(app, 1, 20));
+}
+
+#[divan::bench(sample_count = 60, sample_size = 1)]
+fn pyramid_2_with_height_20(bencher: divan::Bencher) {
+    bench_app_updates(bencher, |app| setup_pyramids(app, 2, 20));
+}
+
+fn main() {
+    // Run registered benchmarks.
+    divan::main();
+}
diff --git a/bevy_rapier_benches3d/Cargo.toml b/bevy_rapier_benches3d/Cargo.toml
new file mode 100644
index 00000000..2bb0caba
--- /dev/null
+++ b/bevy_rapier_benches3d/Cargo.toml
@@ -0,0 +1,14 @@
+[package]
+name = "bevy_rapier_benches3d"
+version = "0.1.0"
+description = "Custom benchmarks for bevy_rapier."
+readme = "./README.md"
+license = "Apache-2.0"
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+rapier3d = { features = ["profiler"], version = "0.21" }
+bevy_rapier3d = { version = "0.27.0-rc.1", path = "../bevy_rapier3d" }
+bevy = { version = "0.14.0-rc.3", default-features = false }
diff --git a/bevy_rapier_benches3d/README.md b/bevy_rapier_benches3d/README.md
new file mode 100644
index 00000000..7079cd61
--- /dev/null
+++ b/bevy_rapier_benches3d/README.md
@@ -0,0 +1,24 @@
+# bevy_rapier custom benches
+
+`bevy_rapier_benches3d` 's objective is to measure timings with detailed information
+without spending too much time running multiple times expensive benchmarks.
+
+It is implemented as a standalone binary, running different scenes setup, gathering information
+and outputs them at the end.
+
+```sh
+cargo run --release --bin bench
+```
+
+## cargo bench
+
+For short-lived benchmarks based on statistical analysis,
+benchmarks can be run through the [divan](https://github.com/nvzqz/divan) bench harness.
+
+```sh
+cargo bench -p bevy_rapier3d
+```
+
+## Other resources
+
+- [Bevy profiling](https://github.com/bevyengine/bevy/blob/main/docs/profiling.md)
diff --git a/bevy_rapier_benches3d/src/bin/bench.rs b/bevy_rapier_benches3d/src/bin/bench.rs
new file mode 100644
index 00000000..e864541b
--- /dev/null
+++ b/bevy_rapier_benches3d/src/bin/bench.rs
@@ -0,0 +1,14 @@
+use bevy_rapier_benches3d::{custom_bencher, pyramids::setup_pyramids};
+
+fn pyramid_1_with_height_2() {
+    custom_bencher(1000, |app| setup_pyramids(app, 1, 2));
+}
+
+fn pyramid_2_with_height_20() {
+    custom_bencher(100, |app| setup_pyramids(app, 3, 20));
+}
+
+fn main() {
+    pyramid_1_with_height_2();
+    pyramid_2_with_height_20();
+}
diff --git a/bevy_rapier_benches3d/src/common.rs b/bevy_rapier_benches3d/src/common.rs
new file mode 100644
index 00000000..9a2f5f6f
--- /dev/null
+++ b/bevy_rapier_benches3d/src/common.rs
@@ -0,0 +1,48 @@
+use bevy::{
+    app::PluginsState,
+    prelude::*,
+    render::{
+        settings::{RenderCreation, WgpuSettings},
+        RenderPlugin,
+    },
+    scene::ScenePlugin,
+    time::TimeUpdateStrategy,
+};
+use bevy_rapier3d::prelude::*;
+
+pub fn default_app() -> App {
+    let mut app = App::new();
+
+    app.add_plugins((
+        WindowPlugin::default(),
+        MinimalPlugins,
+        AssetPlugin::default(),
+        ScenePlugin,
+        RenderPlugin {
+            render_creation: RenderCreation::Automatic(WgpuSettings {
+                backends: None,
+                ..Default::default()
+            }),
+            ..Default::default()
+        },
+        ImagePlugin::default(),
+        HierarchyPlugin,
+        TransformPlugin,
+        RapierPhysicsPlugin::<()>::default(),
+    ));
+
+    // 60 physics
+    app.insert_resource(TimeUpdateStrategy::ManualDuration(
+        std::time::Duration::from_secs_f32(1f32 / 60f32),
+    ));
+    app
+}
+
+pub fn wait_app_start(app: &mut App) {
+    while app.plugins_state() != PluginsState::Ready {
+        bevy::tasks::tick_global_task_pools_on_main_thread();
+    }
+
+    app.finish();
+    app.cleanup();
+}
diff --git a/bevy_rapier_benches3d/src/lib.rs b/bevy_rapier_benches3d/src/lib.rs
new file mode 100644
index 00000000..3e3220aa
--- /dev/null
+++ b/bevy_rapier_benches3d/src/lib.rs
@@ -0,0 +1,42 @@
+//! Translated from rapier benchmark.
+//!
+//! <https://github.com/dimforge/rapier/blob/87ada34008f4a1a313ccf8c3040040bab4f10e69/benchmarks3d/many_pyramids3.rs>
+
+pub mod common;
+pub mod pyramids;
+
+use common::default_app;
+use common::wait_app_start;
+
+use bevy::prelude::*;
+use bevy_rapier3d::plugin::RapierContext;
+
+pub fn custom_bencher(steps: usize, setup: impl Fn(&mut App)) {
+    let mut app = default_app();
+    setup(&mut app);
+    wait_app_start(&mut app);
+
+    let mut timer_total = rapier3d::counters::Timer::new();
+    let mut timer_full_update = rapier3d::counters::Timer::new();
+    let mut rapier_step_times = vec![];
+    let mut total_update_times = vec![];
+    timer_total.start();
+    for _ in 0..steps {
+        timer_full_update.start();
+        app.update();
+        timer_full_update.pause();
+        let elapsed_time = timer_full_update.time() as f32;
+        let rc = app.world().resource::<RapierContext>();
+        rapier_step_times.push(rc.pipeline.counters.step_time.time() 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;
+    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());
+}
diff --git a/bevy_rapier_benches3d/src/pyramids.rs b/bevy_rapier_benches3d/src/pyramids.rs
new file mode 100644
index 00000000..363538a9
--- /dev/null
+++ b/bevy_rapier_benches3d/src/pyramids.rs
@@ -0,0 +1,64 @@
+use bevy::prelude::*;
+use bevy_rapier3d::dynamics::RigidBody;
+use bevy_rapier3d::geometry::Collider;
+use bevy_rapier3d::math::Vect;
+
+pub fn create_pyramid(commands: &mut Commands, offset: Vect, stack_height: usize, rad: f32) {
+    let shift = rad * 2.0;
+
+    for i in 0usize..stack_height {
+        for j in i..stack_height {
+            let fj = j as f32;
+            let fi = i as f32;
+            let x = (fi * shift / 2.0) + (fj - fi) * shift;
+            let y = fi * shift;
+
+            // Build the rigid body.
+            commands.spawn((
+                RigidBody::Dynamic,
+                Transform::from_translation(Vec3::new(x, y, 0.0) + offset),
+                Collider::cuboid(1.0, 1.0, 1.0),
+            ));
+        }
+    }
+}
+
+pub fn setup_pyramids(app: &mut App, pyramid_count: usize, stack_height: usize) {
+    app.add_systems(Startup, move |mut commands: Commands| {
+        let rad = 0.5;
+        let spacing = 4.0;
+
+        /*
+         * Ground
+         */
+        let ground_size = 50.0;
+        let ground_height = 0.1;
+
+        commands.spawn((
+            RigidBody::Fixed,
+            Transform::from_translation(Vect::new(0.0, -ground_height, 0.0)),
+            Collider::cuboid(
+                ground_size,
+                ground_height,
+                pyramid_count as f32 * spacing / 2.0 + ground_size,
+            ),
+        ));
+
+        /*
+         * Create the pyramids
+         */
+        for pyramid_index in 0..pyramid_count {
+            let bottomy = rad;
+            create_pyramid(
+                &mut commands,
+                Vect::new(
+                    0.0,
+                    bottomy,
+                    (pyramid_index as f32 - pyramid_count as f32 / 2.0) * spacing,
+                ),
+                stack_height,
+                rad,
+            );
+        }
+    });
+}