diff --git a/Cargo.lock b/Cargo.lock
index aa38e67..2b70f1e 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -719,6 +719,19 @@ version = "0.11.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "15702dff420fac72c2ab92428a8600e079ae89c5845401c4e39b843665a3d2d0"
 
+[[package]]
+name = "bevy_rapier3d"
+version = "0.22.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "12402872b857ba490f1040ab6212915bd9bf25f8584b31f2c43cef41b33f3be4"
+dependencies = [
+ "bevy",
+ "bitflags 1.3.2",
+ "log",
+ "nalgebra",
+ "rapier3d",
+]
+
 [[package]]
 name = "bevy_reflect"
 version = "0.11.2"
@@ -1358,6 +1371,20 @@ dependencies = [
  "cfg-if",
 ]
 
+[[package]]
+name = "crossbeam"
+version = "0.8.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2801af0d36612ae591caa9568261fddce32ce6e08a7275ea334a06a4ad021a2c"
+dependencies = [
+ "cfg-if",
+ "crossbeam-channel",
+ "crossbeam-deque",
+ "crossbeam-epoch",
+ "crossbeam-queue",
+ "crossbeam-utils",
+]
+
 [[package]]
 name = "crossbeam-channel"
 version = "0.5.8"
@@ -1368,6 +1395,40 @@ dependencies = [
  "crossbeam-utils",
 ]
 
+[[package]]
+name = "crossbeam-deque"
+version = "0.8.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ce6fd6f855243022dcecf8702fef0c297d4338e226845fe067f6341ad9fa0cef"
+dependencies = [
+ "cfg-if",
+ "crossbeam-epoch",
+ "crossbeam-utils",
+]
+
+[[package]]
+name = "crossbeam-epoch"
+version = "0.9.15"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ae211234986c545741a7dc064309f67ee1e5ad243d0e48335adc0484d960bcc7"
+dependencies = [
+ "autocfg",
+ "cfg-if",
+ "crossbeam-utils",
+ "memoffset",
+ "scopeguard",
+]
+
+[[package]]
+name = "crossbeam-queue"
+version = "0.3.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d1cfb3ea8a53f37c40dea2c7bedcbd88bdfae54f5e2175d6ecaff1c988353add"
+dependencies = [
+ "cfg-if",
+ "crossbeam-utils",
+]
+
 [[package]]
 name = "crossbeam-utils"
 version = "0.8.16"
@@ -1412,6 +1473,12 @@ version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9ea835d29036a4087793836fa931b08837ad5e957da9e23886b29586fb9b6650"
 
+[[package]]
+name = "either"
+version = "1.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a26ae43d7bcc3b814de94796a5e736d4029efb0ee900c12e2d54c993ad1a1e07"
+
 [[package]]
 name = "encase"
 version = "0.6.1"
@@ -2051,6 +2118,12 @@ dependencies = [
  "windows-sys 0.48.0",
 ]
 
+[[package]]
+name = "libm"
+version = "0.2.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f7012b1bbb0719e1097c47611d3898568c546d597c2e74d66f6087edd5233ff4"
+
 [[package]]
 name = "libudev-sys"
 version = "0.1.4"
@@ -2104,12 +2177,31 @@ dependencies = [
  "regex-automata 0.1.10",
 ]
 
+[[package]]
+name = "matrixmultiply"
+version = "0.3.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "090126dc04f95dc0d1c1c91f61bdd474b3930ca064c1edc8a849da2c6cbe1e77"
+dependencies = [
+ "autocfg",
+ "rawpointer",
+]
+
 [[package]]
 name = "memchr"
 version = "2.6.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8f232d6ef707e1956a43342693d2a31e72989554d58299d7a88738cc95b0d35c"
 
+[[package]]
+name = "memoffset"
+version = "0.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5a634b1c61a95585bd15607c6ab0c4e5b226e695ff2800ba0cdccddf208c406c"
+dependencies = [
+ "autocfg",
+]
+
 [[package]]
 name = "metal"
 version = "0.24.0"
@@ -2193,6 +2285,34 @@ dependencies = [
  "unicode-ident",
 ]
 
+[[package]]
+name = "nalgebra"
+version = "0.32.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "307ed9b18cc2423f29e83f84fd23a8e73628727990181f18641a8b5dc2ab1caa"
+dependencies = [
+ "approx",
+ "glam",
+ "matrixmultiply",
+ "nalgebra-macros",
+ "num-complex",
+ "num-rational",
+ "num-traits",
+ "simba",
+ "typenum",
+]
+
+[[package]]
+name = "nalgebra-macros"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "91761aed67d03ad966ef783ae962ef9bbaca728d2dd7ceb7939ec110fffad998"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
+]
+
 [[package]]
 name = "ndk"
 version = "0.7.0"
@@ -2292,6 +2412,15 @@ dependencies = [
  "winapi",
 ]
 
+[[package]]
+name = "num-complex"
+version = "0.4.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1ba157ca0885411de85d6ca030ba7e2a83a28636056c7c699b07c8b6f7383214"
+dependencies = [
+ "num-traits",
+]
+
 [[package]]
 name = "num-derive"
 version = "0.3.3"
@@ -2331,6 +2460,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f30b0abd723be7e2ffca1272140fac1a2f084c77ec3e123c192b66af1ee9e6c2"
 dependencies = [
  "autocfg",
+ "libm",
 ]
 
 [[package]]
@@ -2467,6 +2597,12 @@ version = "1.18.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "dd8b5dd2ae5ed71462c540258bedcb51965123ad7e7ccf4b9a8cafaa4a63576d"
 
+[[package]]
+name = "optional"
+version = "0.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "978aa494585d3ca4ad74929863093e87cac9790d81fe7aba2b3dc2890643a0fc"
+
 [[package]]
 name = "orbclient"
 version = "0.3.46"
@@ -2520,6 +2656,27 @@ dependencies = [
  "windows-targets 0.48.5",
 ]
 
+[[package]]
+name = "parry3d"
+version = "0.13.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b55dc0e6db79bddbc5fd583569f7356cdcc63e1e9b2b93a9ab70dd8e717160e0"
+dependencies = [
+ "approx",
+ "arrayvec",
+ "bitflags 1.3.2",
+ "downcast-rs",
+ "either",
+ "nalgebra",
+ "num-derive",
+ "num-traits",
+ "rustc-hash",
+ "simba",
+ "slab",
+ "smallvec",
+ "spade",
+]
+
 [[package]]
 name = "paste"
 version = "1.0.14"
@@ -2628,12 +2785,39 @@ version = "0.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9c8a99fddc9f0ba0a85884b8d14e3592853e787d581ca1816c91349b10e4eeab"
 
+[[package]]
+name = "rapier3d"
+version = "0.17.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "62a8a0bd9d3135f7b4eb45d0796540e7bab47b6b7c974f90567ccc5a0454f42b"
+dependencies = [
+ "approx",
+ "arrayvec",
+ "bit-vec",
+ "bitflags 1.3.2",
+ "crossbeam",
+ "downcast-rs",
+ "nalgebra",
+ "num-derive",
+ "num-traits",
+ "parry3d",
+ "rustc-hash",
+ "simba",
+ "vec_map",
+]
+
 [[package]]
 name = "raw-window-handle"
 version = "0.5.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f2ff9a1f06a88b01621b7ae906ef0211290d1c8a168a15542486a8f61c0833b9"
 
+[[package]]
+name = "rawpointer"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3"
+
 [[package]]
 name = "rectangle-pack"
 version = "0.4.2"
@@ -2699,6 +2883,12 @@ version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "216080ab382b992234dda86873c18d4c48358f5cfcb70fd693d7f6f2131b628b"
 
+[[package]]
+name = "robust"
+version = "0.2.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e5864e7ef1a6b7bcf1d6ca3f655e65e724ed3b52546a0d0a663c991522f552ea"
+
 [[package]]
 name = "rodio"
 version = "0.17.1"
@@ -2750,6 +2940,15 @@ version = "1.0.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1ad4cc8da4ef723ed60bced201181d83791ad433213d8c24efffda1eec85d741"
 
+[[package]]
+name = "safe_arch"
+version = "0.7.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f398075ce1e6a179b46f51bd88d0598b92b00d3551f1a2d4ac49e771b56ac354"
+dependencies = [
+ "bytemuck",
+]
+
 [[package]]
 name = "same-file"
 version = "1.0.6"
@@ -2811,6 +3010,19 @@ version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a7cee0529a6d40f580e7a5e6c495c8fbfe21b7b52795ed4bb5e62cdf92bc6380"
 
+[[package]]
+name = "simba"
+version = "0.8.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "061507c94fc6ab4ba1c9a0305018408e312e17c041eb63bef8aa726fa33aceae"
+dependencies = [
+ "approx",
+ "num-complex",
+ "num-traits",
+ "paste",
+ "wide",
+]
+
 [[package]]
 name = "simd-adler32"
 version = "0.3.7"
@@ -2858,6 +3070,19 @@ name = "spaceflight"
 version = "0.1.0"
 dependencies = [
  "bevy",
+ "bevy_rapier3d",
+]
+
+[[package]]
+name = "spade"
+version = "2.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "88e65803986868d2372c582007c39ba89936a36ea5f236bf7a7728dc258f04f9"
+dependencies = [
+ "num-traits",
+ "optional",
+ "robust",
+ "smallvec",
 ]
 
 [[package]]
@@ -3110,6 +3335,12 @@ dependencies = [
  "static_assertions",
 ]
 
+[[package]]
+name = "typenum"
+version = "1.17.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "42ff0bf0c66b8238c6f3b578df37d0b7848e55df8577b3f74f92a69acceeb825"
+
 [[package]]
 name = "unicode-ident"
 version = "1.0.12"
@@ -3365,6 +3596,16 @@ dependencies = [
  "web-sys",
 ]
 
+[[package]]
+name = "wide"
+version = "0.7.11"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "aa469ffa65ef7e0ba0f164183697b89b854253fd31aeb92358b7b6155177d62f"
+dependencies = [
+ "bytemuck",
+ "safe_arch",
+]
+
 [[package]]
 name = "widestring"
 version = "1.0.2"
diff --git a/Cargo.toml b/Cargo.toml
index 8bb1cc0..a00fab0 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -12,4 +12,8 @@ opt-level = 1
 opt-level = 3
 
 [dependencies]
-bevy = { version = "0.11.2", features = ["dynamic_linking"]}
+bevy = { version = "0.11.2", features = ["dynamic_linking"] }
+bevy_rapier3d = { version = "0.22.0", features = [
+    "simd-stable",
+    "debug-render-3d",
+] }
diff --git a/src/main.rs b/src/main.rs
index 5b23f93..37cb0e9 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -1,14 +1,68 @@
 //! A simple 3D scene with light shining over a cube sitting on a plane.
 
 use bevy::prelude::*;
+use bevy_rapier3d::prelude::*;
 
 fn main() {
     App::new()
         .add_plugins(DefaultPlugins)
+        .add_plugins(RapierPhysicsPlugin::<NoUserData>::default())
+        .add_plugins(RapierDebugRenderPlugin::default())
         .add_systems(Startup, setup)
+        .add_systems(
+            FixedUpdate,
+            (
+                apply_velocity,
+                fire_thrusters.after(apply_velocity),
+            ),
+        )
         .run();
 }
 
+#[derive(Bundle)]
+struct SpaceshipBundle {
+    ship_marker: Spaceship,
+    model: PbrBundle,
+    vel: Velocity,
+    gravity: Gravity,
+    body: RigidBody,
+    collider: Collider,
+    restitution: Restitution,
+}
+
+#[derive(Component, Deref, DerefMut)]
+struct Velocity(Vec3);
+
+#[derive(Component)]
+struct Spaceship;
+
+#[derive(Component)]
+struct Gravity;
+
+#[derive(Component)]
+struct Ground;
+
+fn fire_thrusters(
+    keyboard_input: Res<Input<KeyCode>>,
+    mut query: Query<&mut Velocity, With<Spaceship>>,
+    time_step: Res<FixedTime>,
+) {
+    let mut transform = query.single_mut();
+
+    if keyboard_input.pressed(KeyCode::Space) {
+        transform.y += 10.0 * time_step.period.as_secs_f32();
+    }
+}
+
+// TODO: DELETE
+fn apply_velocity(mut query: Query<(&mut Transform, &Velocity)>, time_step: Res<FixedTime>) {
+    for (mut trans, vel) in &mut query {
+        trans.translation.x += vel.x * time_step.period.as_secs_f32();
+        trans.translation.y += vel.y * time_step.period.as_secs_f32();
+        trans.translation.z += vel.z * time_step.period.as_secs_f32();
+    }
+}
+
 /// set up a simple 3D scene
 fn setup(
     mut commands: Commands,
@@ -16,18 +70,22 @@ fn setup(
     mut materials: ResMut<Assets<StandardMaterial>>,
 ) {
     // plane
-    commands.spawn(PbrBundle {
-        mesh: meshes.add(shape::Plane::from_size(5.0).into()),
-        material: materials.add(Color::rgb(0.3, 0.5, 0.3).into()),
-        ..default()
-    });
-    // cube
-    commands.spawn(PbrBundle {
-        mesh: meshes.add(Mesh::from(shape::Cube { size: 1.0 })),
-        material: materials.add(Color::rgb(0.8, 0.7, 0.6).into()),
-        transform: Transform::from_xyz(0.0, 0.5, 0.0),
-        ..default()
-    });
+    commands.spawn((
+        PbrBundle {
+            mesh: meshes.add(shape::Plane::from_size(5.0).into()),
+            material: materials.add(Color::rgb(0.3, 0.5, 0.3).into()),
+            transform: Transform::from_scale(Vec3 {
+                x: 5.0,
+                y: 1.0,
+                z: 5.0,
+            }),
+            ..default()
+        },
+        Ground,
+        Collider::cuboid(5.0, 0.1, 5.0),
+    ));
+
+    commands.spawn(SpaceshipBundle::new(&mut meshes, &mut materials));
     // light
     commands.spawn(PointLightBundle {
         point_light: PointLight {
@@ -43,4 +101,39 @@ fn setup(
         transform: Transform::from_xyz(-2.0, 2.5, 5.0).looking_at(Vec3::ZERO, Vec3::Y),
         ..default()
     });
-}
\ No newline at end of file
+}
+
+impl SpaceshipBundle {
+    fn new(meshes: &mut Assets<Mesh>, materials: &mut Assets<StandardMaterial>) -> Self {
+        Self {
+            ship_marker: Spaceship,
+            model: PbrBundle {
+                mesh: meshes.add(Mesh::from(shape::Cube { size: 1.0 })),
+                material: materials.add(Color::rgb(0.8, 0.7, 0.6).into()),
+                transform: Transform::from_xyz(0.0, 0.5, 0.0).with_scale(Vec3 {
+                    x: 1.0,
+                    y: 1.0,
+                    z: 1.0,
+                }),
+                ..default()
+            },
+            vel: Velocity(Vec3::default()),
+            gravity: Gravity,
+            body: RigidBody::Dynamic,
+            collider: Collider::ball(0.5),
+            restitution: Restitution::coefficient(0.1),
+        }
+    }
+}
+
+fn collides(a_pos: Vec3, a_size: Vec3, b_pos: Vec3, b_size: Vec3) -> bool {
+    let a_min = a_pos - a_size / 2.0;
+    let a_max = a_pos + a_size * 2.0;
+    let b_min = b_pos - b_size / 2.0;
+    let b_max = b_pos + b_size / 2.0;
+
+    let axis_collides =
+        |axis: fn(Vec3) -> f32| axis(a_min) < axis(b_max) && axis(a_max) > axis(b_min);
+
+    axis_collides(|v| v.x) && axis_collides(|v| v.y) && axis_collides(|v| v.z)
+}