diff --git a/crates/avian3d/snapshots/avian3d__tests__cubes_simulation_is_deterministic_across_machines.snap b/crates/avian3d/snapshots/avian3d__tests__cubes_simulation_is_deterministic_across_machines.snap
index 3ae4208d..c92868a0 100644
--- a/crates/avian3d/snapshots/avian3d__tests__cubes_simulation_is_deterministic_across_machines.snap
+++ b/crates/avian3d/snapshots/avian3d__tests__cubes_simulation_is_deterministic_across_machines.snap
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             rotation: Quat(
-                -0.00016248651,
-                -0.04171383,
-                0.00018044861,
-                0.9991296,
+                -7.023918e-5,
+                0.07935354,
+                -3.0031459e-5,
+                0.99684656,
             ),
             scale: Vec3(
                 1.0,
@@ -860,15 +860,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -2.2256882,
-                4.499635,
-                -2.15674,
+                -2.2354882,
+                4.499636,
+                -2.4831307,
             ),
             rotation: Quat(
-                1.6705788e-5,
-                -0.026514797,
-                7.257547e-6,
-                0.9996484,
+                1.5427466e-5,
+                0.024701215,
+                5.270279e-7,
+                0.9996949,
             ),
             scale: Vec3(
                 1.0,
@@ -883,15 +883,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -2.3874211,
-                4.499609,
-                0.07365528,
+                -2.3337624,
+                4.4996247,
+                -0.30983275,
             ),
             rotation: Quat(
-                -1.194691e-5,
-                0.0037788856,
-                -3.14291e-5,
-                0.99999285,
+                1.48931895e-5,
+                0.043700416,
+                -1.387997e-5,
+                0.99904466,
             ),
             scale: Vec3(
                 1.0,
@@ -906,15 +906,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -2.5631702,
-                4.4991107,
-                2.296562,
+                -2.2943144,
+                4.499116,
+                2.3013654,
             ),
             rotation: Quat(
-                0.0002573887,
-                0.0011914646,
-                -3.442954e-5,
-                0.9999993,
+                8.590152e-5,
+                -0.065169744,
+                -3.7103877e-5,
+                0.9978742,
             ),
             scale: Vec3(
                 1.0,
@@ -929,15 +929,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                2.410794,
-                4.4989686,
-                -5.4617033,
+                0.82121176,
+                4.499163,
+                -4.707244,
             ),
             rotation: Quat(
-                -0.00032732144,
-                0.1383523,
-                -4.109261e-5,
-                0.990383,
+                -6.240986e-5,
+                0.09233464,
+                -0.00016790433,
+                0.995728,
             ),
             scale: Vec3(
                 1.0,
@@ -952,15 +952,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                0.26225993,
-                4.4995036,
-                -2.110422,
+                -0.019605312,
+                4.4995275,
+                -1.8954474,
             ),
             rotation: Quat(
-                -9.350747e-5,
-                0.033721026,
-                6.520454e-5,
-                0.99943125,
+                -9.695722e-6,
+                -0.027745536,
+                -6.428169e-5,
+                0.999615,
             ),
             scale: Vec3(
                 1.0,
@@ -975,15 +975,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -0.3186675,
-                4.499629,
-                0.0963318,
+                0.3675758,
+                4.4994783,
+                0.5742598,
             ),
             rotation: Quat(
-                -1.4555179e-5,
-                0.022730097,
-                4.3712032e-5,
-                0.9997416,
+                -2.5495856e-5,
+                -0.08530305,
+                5.8762038e-5,
+                0.99635506,
             ),
             scale: Vec3(
                 1.0,
@@ -998,15 +998,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                1.660552,
-                4.499688,
-                2.6138442,
+                0.5175026,
+                4.498979,
+                3.16442,
             ),
             rotation: Quat(
-                5.7584428e-5,
-                0.177509,
-                -2.7266731e-5,
-                0.9841192,
+                0.00026501337,
+                0.032471776,
+                0.00012322664,
+                0.9994726,
             ),
             scale: Vec3(
                 1.0,
@@ -1021,15 +1021,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                6.5616693,
-                0.49995765,
-                -4.681283,
+                12.741775,
+                0.49997452,
+                -2.6795921,
             ),
             rotation: Quat(
-                0.11759628,
-                -0.117593996,
-                -0.6972648,
-                0.6972551,
+                4.563578e-6,
+                -0.73042923,
+                1.6262841e-6,
+                0.68298835,
             ),
             scale: Vec3(
                 1.0,
@@ -1044,15 +1044,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                2.6076624,
-                4.499192,
-                -2.3946123,
+                6.832665,
+                0.49997413,
+                -2.2504506,
             ),
             rotation: Quat(
-                -8.149893e-5,
-                -0.13977607,
-                -0.00016805792,
-                0.9901831,
+                -0.49702427,
+                0.4970268,
+                -0.50295997,
+                0.5029538,
             ),
             scale: Vec3(
                 1.0,
@@ -1067,15 +1067,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                2.7510502,
-                4.4994597,
-                -0.11339602,
+                3.0461473,
+                4.499225,
+                0.22920866,
             ),
             rotation: Quat(
-                1.7198529e-6,
-                -0.025809804,
-                -0.00010880344,
-                0.99966687,
+                5.1866413e-5,
+                0.021056283,
+                -0.00019408693,
+                0.9997783,
             ),
             scale: Vec3(
                 1.0,
@@ -1090,15 +1090,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                10.469548,
-                0.4999776,
-                1.3612407,
+                2.9246209,
+                4.499297,
+                2.4780617,
             ),
             rotation: Quat(
-                -0.5211823,
-                0.5211832,
-                -0.4778806,
-                0.4778779,
+                6.594242e-5,
+                0.01213917,
+                -0.00013579946,
+                0.9999263,
             ),
             scale: Vec3(
                 1.0,
@@ -1113,15 +1113,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -4.9279284,
-                0.49997404,
-                -11.524672,
+                -2.9110677,
+                0.49997646,
+                -8.981629,
             ),
             rotation: Quat(
-                -0.7058846,
-                0.041562825,
-                0.041558053,
-                0.70588416,
+                -0.5661933,
+                -0.42358997,
+                -0.42358074,
+                0.56619436,
             ),
             scale: Vec3(
                 1.0,
@@ -1136,15 +1136,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -4.447393,
-                6.498999,
-                -2.2909615,
+                -4.3699694,
+                6.4985104,
+                -2.557968,
             ),
             rotation: Quat(
-                -8.9638736e-5,
-                -0.0734362,
-                0.00016005662,
-                0.9972999,
+                -0.0001549909,
+                0.011418832,
+                0.00012667709,
+                0.9999348,
             ),
             scale: Vec3(
                 1.0,
@@ -1159,15 +1159,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -4.9871564,
-                6.4994545,
-                0.7354106,
+                -8.460897,
+                0.49997526,
+                0.87348664,
             ),
             rotation: Quat(
-                2.413892e-5,
-                -0.34084716,
-                5.7699748e-5,
-                0.94011873,
+                0.5511459,
+                0.55113834,
+                0.44299087,
+                0.44299415,
             ),
             scale: Vec3(
                 1.0,
@@ -1182,15 +1182,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -11.189314,
-                0.49997368,
-                2.969288,
+                -8.091601,
+                0.49997482,
+                8.084826,
             ),
             rotation: Quat(
-                0.40561,
-                -2.8614409e-6,
-                0.9140462,
-                2.6912608e-6,
+                0.6486452,
+                0.2815346,
+                0.28153172,
+                -0.64864284,
             ),
             scale: Vec3(
                 1.0,
@@ -1205,15 +1205,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -3.1166217,
-                6.498797,
-                -4.673969,
+                -1.8391439,
+                6.4995074,
+                -4.282115,
             ),
             rotation: Quat(
-                -0.00015008492,
-                0.022614641,
-                0.00021529867,
-                0.99974424,
+                -7.8104196e-5,
+                0.0742278,
+                -6.827869e-6,
+                0.9972413,
             ),
             scale: Vec3(
                 1.0,
@@ -1228,15 +1228,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -2.2219517,
-                6.4995317,
-                -1.6324775,
+                -1.8901376,
+                6.499587,
+                -1.9380401,
             ),
             rotation: Quat(
-                -9.831658e-6,
-                -0.012949602,
-                -1.5674532e-5,
-                0.99991614,
+                -8.921055e-6,
+                -0.028636256,
+                -2.7397505e-6,
+                0.9995899,
             ),
             scale: Vec3(
                 1.0,
@@ -1251,15 +1251,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -2.3359718,
-                6.4995947,
-                0.6213731,
+                -2.262749,
+                6.499529,
+                0.16420417,
             ),
             rotation: Quat(
-                -1.4475261e-5,
-                -0.14079188,
-                -3.3769644e-5,
-                0.9900392,
+                1.9269424e-5,
+                -0.034101903,
+                -1.681844e-5,
+                0.9994184,
             ),
             scale: Vec3(
                 1.0,
@@ -1274,15 +1274,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -3.2923048,
-                6.498702,
-                2.6605368,
+                -2.7352326,
+                6.499188,
+                2.4458265,
             ),
             rotation: Quat(
-                0.00031247907,
-                -0.032806676,
-                7.217066e-5,
-                0.99946165,
+                0.000100062134,
+                0.08199773,
+                -8.9980815e-5,
+                0.9966325,
             ),
             scale: Vec3(
                 1.0,
@@ -1297,15 +1297,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -0.036978077,
-                5.15025,
-                -4.5430636,
+                0.18015957,
+                6.4992023,
+                -5.020193,
             ),
             rotation: Quat(
-                0.14573015,
-                -0.050092924,
-                0.3867345,
-                0.90922487,
+                -6.0591687e-5,
+                0.112215094,
+                -0.00015659908,
+                0.99368393,
             ),
             scale: Vec3(
                 1.0,
@@ -1320,15 +1320,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                0.09961634,
-                6.4994335,
-                -1.8124114,
+                0.97756267,
+                6.4992156,
+                -2.7049718,
             ),
             rotation: Quat(
-                -9.371393e-5,
-                -0.028939188,
-                5.6513025e-5,
-                0.99958116,
+                -4.579273e-5,
+                -0.10631892,
+                -0.00020800346,
+                0.9943321,
             ),
             scale: Vec3(
                 1.0,
@@ -1343,15 +1343,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                0.40858662,
-                6.4996233,
-                0.5594393,
+                0.41251925,
+                6.4994116,
+                0.1899738,
             ),
             rotation: Quat(
-                -2.1253027e-5,
-                -0.08784573,
-                4.792721e-5,
-                0.9961341,
+                5.4433436e-5,
+                -0.10809349,
+                4.1983985e-5,
+                0.99414074,
             ),
             scale: Vec3(
                 1.0,
@@ -1366,15 +1366,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -1.844904,
-                0.4999791,
-                4.966705,
+                -0.1697666,
+                6.4988413,
+                2.7628212,
             ),
             rotation: Quat(
-                -0.58803606,
-                -0.58803576,
-                0.3927007,
-                0.39270052,
+                0.0002654026,
+                0.03127186,
+                0.00012196695,
+                0.9995109,
             ),
             scale: Vec3(
                 1.0,
@@ -1389,15 +1389,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                7.232593,
-                2.4998035,
-                -4.444068,
+                5.0161757,
+                0.49997386,
+                -10.729977,
             ),
             rotation: Quat(
-                1.3062127e-5,
-                -0.16993561,
-                -7.430008e-5,
-                0.98545516,
+                -0.6961508,
+                0.12400561,
+                0.123997934,
+                0.69614744,
             ),
             scale: Vec3(
                 1.0,
@@ -1412,15 +1412,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                3.2513006,
-                6.4988227,
-                -2.2973287,
+                9.1778345,
+                0.49997634,
+                -4.3737416,
             ),
             rotation: Quat(
-                -6.8110654e-5,
-                -0.09295494,
-                -0.00023127707,
-                0.99567026,
+                0.19280694,
+                0.1928094,
+                -0.6803134,
+                -0.6803115,
             ),
             scale: Vec3(
                 1.0,
@@ -1435,15 +1435,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                2.899124,
-                6.499335,
-                -0.016431106,
+                2.6800532,
+                6.4992833,
+                0.25805184,
             ),
             rotation: Quat(
-                1.5358692e-5,
-                0.05692746,
-                -9.1249414e-5,
-                0.99837834,
+                4.5212557e-5,
+                -0.017432408,
+                -0.00019411273,
+                0.999848,
             ),
             scale: Vec3(
                 1.0,
@@ -1458,15 +1458,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                5.00174,
-                2.49973,
-                2.6626215,
+                2.6016824,
+                6.499269,
+                2.5533757,
             ),
             rotation: Quat(
-                -0.16455474,
-                0.16442548,
-                -0.68768793,
-                0.68772906,
+                4.4812055e-5,
+                -0.12714767,
+                -0.00013879384,
+                0.9918838,
             ),
             scale: Vec3(
                 1.0,
diff --git a/src/dynamics/rigid_body/mass_properties.rs b/src/dynamics/rigid_body/mass_properties.rs
index c6e5e962..4b48cbb9 100644
--- a/src/dynamics/rigid_body/mass_properties.rs
+++ b/src/dynamics/rigid_body/mass_properties.rs
@@ -641,7 +641,7 @@ impl From<Scalar> for ColliderDensity {
 ///
 /// fn print_collider_masses(query: Query<&ColliderMassProperties>) {
 ///     for mass_props in &query {
-///         println!("{}", mass_props.mass.0);
+///         println!("{}", mass_props.mass.value());
 ///     }
 /// }
 /// ```
diff --git a/src/dynamics/rigid_body/mod.rs b/src/dynamics/rigid_body/mod.rs
index 7d5b0928..6b764ca0 100644
--- a/src/dynamics/rigid_body/mod.rs
+++ b/src/dynamics/rigid_body/mod.rs
@@ -207,7 +207,7 @@ use derive_more::From;
 #[cfg_attr(feature = "2d", doc = "    Collider::circle(0.5),")]
 #[cfg_attr(feature = "3d", doc = "    Collider::sphere(0.5),")]
 ///     ColliderDensity(0.0),
-///     Mass(5.0),
+///     Mass::new(5.0),
 ///     // ...the rest of the mass properties
 /// ));
 /// # }
diff --git a/src/dynamics/rigid_body/world_query.rs b/src/dynamics/rigid_body/world_query.rs
index d8812652..ac4101f4 100644
--- a/src/dynamics/rigid_body/world_query.rs
+++ b/src/dynamics/rigid_body/world_query.rs
@@ -289,15 +289,23 @@ mod tests {
         // Spawn an entity with mass properties
         app.world_mut().spawn(MassPropertiesBundle {
             mass: Mass::new(1.6),
+            #[cfg(feature = "2d")]
+            angular_inertia: AngularInertia::new(1.6),
+            #[cfg(feature = "3d")]
+            angular_inertia: AngularInertia::new(Matrix::from_diagonal(Vector::new(1.6, 2.4, 3.2))),
             center_of_mass: CenterOfMass(Vector::NEG_X * 3.8),
-            ..default()
         });
 
         // Create collider mass properties that will be added to the existing mass properties
         let collider_mass_props = ColliderMassProperties {
             mass: Mass::new(8.1),
+            #[cfg(feature = "2d")]
+            angular_inertia: AngularInertia::new(56.2),
+            #[cfg(feature = "3d")]
+            angular_inertia: AngularInertia::new(Matrix::from_diagonal(Vector::new(
+                56.2, 62.7, 71.4,
+            ))),
             center_of_mass: CenterOfMass(Vector::X * 1.2 + Vector::Y),
-            ..default()
         };
 
         // Get the mass properties and add the collider mass properties
@@ -326,15 +334,23 @@ mod tests {
         // Spawn an entity with mass properties
         app.world_mut().spawn(MassPropertiesBundle {
             mass: Mass::new(8.1),
+            #[cfg(feature = "2d")]
+            angular_inertia: AngularInertia::new(56.2),
+            #[cfg(feature = "3d")]
+            angular_inertia: AngularInertia::new(Matrix::from_diagonal(Vector::new(
+                56.2, 62.7, 71.4,
+            ))),
             center_of_mass: CenterOfMass(Vector::NEG_X * 3.8),
-            ..default()
         });
 
         // Create collider mass properties that will be subtracted from the existing mass properties
         let collider_mass_props = ColliderMassProperties {
             mass: Mass::new(1.6),
+            #[cfg(feature = "2d")]
+            angular_inertia: AngularInertia::new(1.6),
+            #[cfg(feature = "3d")]
+            angular_inertia: AngularInertia::new(Matrix::from_diagonal(Vector::new(1.6, 2.4, 3.2))),
             center_of_mass: CenterOfMass(Vector::X * 1.2 + Vector::Y),
-            ..default()
         };
 
         // Get the mass properties and subtract the collider mass properties
diff --git a/src/prepare.rs b/src/prepare.rs
index b967992c..4382d88b 100644
--- a/src/prepare.rs
+++ b/src/prepare.rs
@@ -161,9 +161,9 @@ impl Plugin for PreparePlugin {
         .add_systems(
             self.schedule,
             (
+                warn_missing_mass,
                 #[cfg(feature = "3d")]
                 update_global_angular_inertia::<Added<RigidBody>>,
-                warn_missing_mass,
                 clamp_collider_density,
                 clamp_restitution,
                 // All the components we added above must exist before we can simulate the bodies.