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 53b531f5..3ae4208d 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(
-                -0.6748626,
-                -0.21109083,
-                -0.21109423,
-                0.6748632,
+                -0.00016248651,
+                -0.04171383,
+                0.00018044861,
+                0.9991296,
             ),
             scale: Vec3(
                 1.0,
@@ -860,15 +860,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -1.9942989,
-                2.4997768,
-                -4.127104,
+                -2.2256882,
+                4.499635,
+                -2.15674,
             ),
             rotation: Quat(
-                -0.7070685,
-                -0.011345126,
-                -0.011363063,
-                0.70696276,
+                1.6705788e-5,
+                -0.026514797,
+                7.257547e-6,
+                0.9996484,
             ),
             scale: Vec3(
                 1.0,
@@ -883,15 +883,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -2.4975805,
-                4.4997125,
-                0.0650188,
+                -2.3874211,
+                4.499609,
+                0.07365528,
             ),
             rotation: Quat(
-                5.400572e-5,
-                -0.035251696,
-                -1.1071046e-5,
-                0.99937844,
+                -1.194691e-5,
+                0.0037788856,
+                -3.14291e-5,
+                0.99999285,
             ),
             scale: Vec3(
                 1.0,
@@ -906,15 +906,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -2.734841,
-                4.4995475,
-                2.596534,
+                -2.5631702,
+                4.4991107,
+                2.296562,
             ),
             rotation: Quat(
-                1.6605532e-5,
-                -0.07100289,
-                -3.328125e-5,
-                0.9974761,
+                0.0002573887,
+                0.0011914646,
+                -3.442954e-5,
+                0.9999993,
             ),
             scale: Vec3(
                 1.0,
@@ -929,15 +929,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -0.13911,
-                0.49997413,
-                -11.233632,
+                2.410794,
+                4.4989686,
+                -5.4617033,
             ),
             rotation: Quat(
-                -0.7045634,
-                0.05990648,
-                0.059910644,
-                0.70456535,
+                -0.00032732144,
+                0.1383523,
+                -4.109261e-5,
+                0.990383,
             ),
             scale: Vec3(
                 1.0,
@@ -952,15 +952,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                0.80650884,
-                4.49954,
-                -2.1179333,
+                0.26225993,
+                4.4995036,
+                -2.110422,
             ),
             rotation: Quat(
-                -3.152784e-5,
-                0.088109314,
-                -7.021435e-5,
-                0.9961108,
+                -9.350747e-5,
+                0.033721026,
+                6.520454e-5,
+                0.99943125,
             ),
             scale: Vec3(
                 1.0,
@@ -975,15 +975,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -0.021189805,
-                4.4996448,
-                0.0980292,
+                -0.3186675,
+                4.499629,
+                0.0963318,
             ),
             rotation: Quat(
-                3.8537484e-5,
-                0.035240203,
-                3.141011e-5,
-                0.99937886,
+                -1.4555179e-5,
+                0.022730097,
+                4.3712032e-5,
+                0.9997416,
             ),
             scale: Vec3(
                 1.0,
@@ -998,15 +998,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                0.39334828,
-                4.499295,
-                2.5914605,
+                1.660552,
+                4.499688,
+                2.6138442,
             ),
             rotation: Quat(
-                3.1565494e-5,
-                -0.03311778,
-                -1.3205492e-5,
-                0.99945146,
+                5.7584428e-5,
+                0.177509,
+                -2.7266731e-5,
+                0.9841192,
             ),
             scale: Vec3(
                 1.0,
@@ -1021,15 +1021,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                2.9196174,
-                4.498402,
-                -5.0181313,
+                6.5616693,
+                0.49995765,
+                -4.681283,
             ),
             rotation: Quat(
-                -0.00010783016,
-                -0.09249844,
-                -0.00039367206,
-                0.99571276,
+                0.11759628,
+                -0.117593996,
+                -0.6972648,
+                0.6972551,
             ),
             scale: Vec3(
                 1.0,
@@ -1044,15 +1044,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                8.9486065,
-                0.49997792,
-                -4.5367913,
+                2.6076624,
+                4.499192,
+                -2.3946123,
             ),
             rotation: Quat(
-                0.37209338,
-                -0.37209192,
-                -0.6012873,
-                0.6012883,
+                -8.149893e-5,
+                -0.13977607,
+                -0.00016805792,
+                0.9901831,
             ),
             scale: Vec3(
                 1.0,
@@ -1067,15 +1067,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                10.860054,
-                0.49997455,
-                0.33711982,
+                2.7510502,
+                4.4994597,
+                -0.11339602,
             ),
             rotation: Quat(
-                0.539376,
-                0.45724833,
-                -0.45724505,
-                0.5393741,
+                1.7198529e-6,
+                -0.025809804,
+                -0.00010880344,
+                0.99966687,
             ),
             scale: Vec3(
                 1.0,
@@ -1090,15 +1090,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                1.7973658,
-                0.49997544,
-                7.6060634,
+                10.469548,
+                0.4999776,
+                1.3612407,
             ),
             rotation: Quat(
-                0.6361565,
-                -0.30871332,
-                0.3087156,
-                0.6361569,
+                -0.5211823,
+                0.5211832,
+                -0.4778806,
+                0.4778779,
             ),
             scale: Vec3(
                 1.0,
@@ -1113,15 +1113,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -4.769561,
-                6.4986734,
-                -4.464631,
+                -4.9279284,
+                0.49997404,
+                -11.524672,
             ),
             rotation: Quat(
-                -5.1275645e-5,
-                0.04602603,
-                0.00013058743,
-                0.9989402,
+                -0.7058846,
+                0.041562825,
+                0.041558053,
+                0.70588416,
             ),
             scale: Vec3(
                 1.0,
@@ -1136,15 +1136,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -5.208853,
-                6.4987497,
-                -2.2389634,
+                -4.447393,
+                6.498999,
+                -2.2909615,
             ),
             rotation: Quat(
-                -8.055547e-6,
-                0.021011695,
-                0.00027942174,
-                0.99977916,
+                -8.9638736e-5,
+                -0.0734362,
+                0.00016005662,
+                0.9972999,
             ),
             scale: Vec3(
                 1.0,
@@ -1159,15 +1159,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -4.677629,
-                6.4989843,
-                0.36477792,
+                -4.9871564,
+                6.4994545,
+                0.7354106,
             ),
             rotation: Quat(
-                -0.00023052825,
-                -0.07554992,
-                0.00013078307,
-                0.99714196,
+                2.413892e-5,
+                -0.34084716,
+                5.7699748e-5,
+                0.94011873,
             ),
             scale: Vec3(
                 1.0,
@@ -1182,15 +1182,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -6.2685947,
-                0.4999749,
-                9.447185,
+                -11.189314,
+                0.49997368,
+                2.969288,
             ),
             rotation: Quat(
-                0.7002883,
-                -0.097953685,
-                0.09795478,
-                0.70029014,
+                0.40561,
+                -2.8614409e-6,
+                0.9140462,
+                2.6912608e-6,
             ),
             scale: Vec3(
                 1.0,
@@ -1205,15 +1205,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -3.2613604,
-                0.49997345,
-                -14.447802,
+                -3.1166217,
+                6.498797,
+                -4.673969,
             ),
             rotation: Quat(
-                -0.7053601,
-                0.049655087,
-                0.049652148,
-                0.70536244,
+                -0.00015008492,
+                0.022614641,
+                0.00021529867,
+                0.99974424,
             ),
             scale: Vec3(
                 1.0,
@@ -1228,15 +1228,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -1.4933374,
-                2.4998949,
-                -7.4620485,
+                -2.2219517,
+                6.4995317,
+                -1.6324775,
             ),
             rotation: Quat(
-                -0.69231987,
-                -0.1438652,
-                -0.14384842,
-                0.69231755,
+                -9.831658e-6,
+                -0.012949602,
+                -1.5674532e-5,
+                0.99991614,
             ),
             scale: Vec3(
                 1.0,
@@ -1251,15 +1251,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -2.598814,
-                6.4995704,
-                1.0894675,
+                -2.3359718,
+                6.4995947,
+                0.6213731,
             ),
             rotation: Quat(
-                2.7027687e-5,
-                -0.11454783,
-                -1.9854979e-5,
-                0.99341774,
+                -1.4475261e-5,
+                -0.14079188,
+                -3.3769644e-5,
+                0.9900392,
             ),
             scale: Vec3(
                 1.0,
@@ -1274,15 +1274,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -1.027358,
-                0.4999708,
-                13.038362,
+                -3.2923048,
+                6.498702,
+                2.6605368,
             ),
             rotation: Quat(
-                0.61228055,
-                0.35370472,
-                -0.35370508,
-                0.6122893,
+                0.00031247907,
+                -0.032806676,
+                7.217066e-5,
+                0.99946165,
             ),
             scale: Vec3(
                 1.0,
@@ -1297,15 +1297,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -0.7097831,
-                0.49997377,
-                -14.894028,
+                -0.036978077,
+                5.15025,
+                -4.5430636,
             ),
             rotation: Quat(
-                -0.67818254,
-                0.20018506,
-                0.2001762,
-                0.6781769,
+                0.14573015,
+                -0.050092924,
+                0.3867345,
+                0.90922487,
             ),
             scale: Vec3(
                 1.0,
@@ -1320,15 +1320,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                0.07846992,
-                6.4994574,
-                -2.276928,
+                0.09961634,
+                6.4994335,
+                -1.8124114,
             ),
             rotation: Quat(
-                -4.896268e-5,
-                -0.018394945,
-                -1.5834506e-5,
-                0.9998308,
+                -9.371393e-5,
+                -0.028939188,
+                5.6513025e-5,
+                0.99958116,
             ),
             scale: Vec3(
                 1.0,
@@ -1343,15 +1343,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -0.34891623,
-                6.4994407,
-                1.0149225,
+                0.40858662,
+                6.4996233,
+                0.5594393,
             ),
             rotation: Quat(
-                4.3123695e-5,
-                -0.06607756,
-                1.23120435e-5,
-                0.9978145,
+                -2.1253027e-5,
+                -0.08784573,
+                4.792721e-5,
+                0.9961341,
             ),
             scale: Vec3(
                 1.0,
@@ -1366,15 +1366,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -0.4301395,
-                0.4999747,
-                6.790393,
+                -1.844904,
+                0.4999791,
+                4.966705,
             ),
             rotation: Quat(
-                0.63092864,
-                0.31926596,
-                -0.3192641,
-                0.63092685,
+                -0.58803606,
+                -0.58803576,
+                0.3927007,
+                0.39270052,
             ),
             scale: Vec3(
                 1.0,
@@ -1389,15 +1389,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                2.3003325,
-                6.4987993,
-                -4.480083,
+                7.232593,
+                2.4998035,
+                -4.444068,
             ),
             rotation: Quat(
-                -3.0372501e-5,
-                0.079241425,
-                -0.00031923188,
-                0.9968554,
+                1.3062127e-5,
+                -0.16993561,
+                -7.430008e-5,
+                0.98545516,
             ),
             scale: Vec3(
                 1.0,
@@ -1412,15 +1412,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                3.959462,
-                4.4994497,
-                -0.8488095,
+                3.2513006,
+                6.4988227,
+                -2.2973287,
             ),
             rotation: Quat(
-                0.18084154,
-                -0.1810612,
-                -0.68348867,
-                0.6836347,
+                -6.8110654e-5,
+                -0.09295494,
+                -0.00023127707,
+                0.99567026,
             ),
             scale: Vec3(
                 1.0,
@@ -1435,15 +1435,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                4.0047736,
-                2.4997685,
-                0.0033400285,
+                2.899124,
+                6.499335,
+                -0.016431106,
             ),
             rotation: Quat(
-                0.0011647202,
-                0.0013140906,
-                0.7071359,
-                0.7070754,
+                1.5358692e-5,
+                0.05692746,
+                -9.1249414e-5,
+                0.99837834,
             ),
             scale: Vec3(
                 1.0,
@@ -1458,15 +1458,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                1.8501573,
-                0.49997666,
-                11.836599,
+                5.00174,
+                2.49973,
+                2.6626215,
             ),
             rotation: Quat(
-                0.7022902,
-                -0.08240583,
-                0.08240115,
-                0.70228755,
+                -0.16455474,
+                0.16442548,
+                -0.68768793,
+                0.68772906,
             ),
             scale: Vec3(
                 1.0,
diff --git a/src/collision/broad_phase.rs b/src/collision/broad_phase.rs
index c034d2bf..4949435d 100644
--- a/src/collision/broad_phase.rs
+++ b/src/collision/broad_phase.rs
@@ -237,11 +237,7 @@ fn sweep_and_prune(
                 continue;
             }
 
-            if *ent1 < *ent2 {
-                broad_collision_pairs.push((*ent1, *ent2));
-            } else {
-                broad_collision_pairs.push((*ent2, *ent1));
-            }
+            broad_collision_pairs.push((*ent1, *ent2));
 
             if *store_intersections1 {
                 if let Ok(mut intersections) = aabb_intersection_query.get_mut(*ent1) {
diff --git a/src/collision/mod.rs b/src/collision/mod.rs
index 0726f7d4..d26b1081 100644
--- a/src/collision/mod.rs
+++ b/src/collision/mod.rs
@@ -117,13 +117,13 @@ impl Collisions {
     ///
     /// The order of the entities does not matter.
     pub fn get(&self, entity1: Entity, entity2: Entity) -> Option<&Contacts> {
+        // the keys are always sorted in order of `Entity`
+        if entity2 < entity1 {
+            return self.get(entity2, entity1);
+        }
         self.0
             .get(&(entity1, entity2))
             .filter(|contacts| contacts.during_current_frame)
-            .or(self
-                .0
-                .get(&(entity2, entity1))
-                .filter(|contacts| contacts.during_current_frame))
     }
 
     /// Returns a mutable reference to the [contacts](Contacts) stored for the given entity pair if they are colliding,
@@ -131,17 +131,13 @@ impl Collisions {
     ///
     /// The order of the entities does not matter.
     pub fn get_mut(&mut self, entity1: Entity, entity2: Entity) -> Option<&mut Contacts> {
-        // For lifetime reasons, the mutable borrows can't be in the same scope,
-        // so we check if the key exists first (there's probably a better way though)
-        if self.0.contains_key(&(entity1, entity2)) {
-            self.0
-                .get_mut(&(entity1, entity2))
-                .filter(|contacts| contacts.during_current_frame)
-        } else {
-            self.0
-                .get_mut(&(entity2, entity1))
-                .filter(|contacts| contacts.during_current_frame)
+        // the keys are always sorted in entity order
+        if entity2 < entity1 {
+            return self.get_mut(entity2, entity1);
         }
+        self.0
+            .get_mut(&(entity1, entity2))
+            .filter(|contacts| contacts.during_current_frame)
     }
 
     /// Returns `true` if the given entities have been in contact during this frame.
@@ -205,10 +201,15 @@ impl Collisions {
     /// If you simply want to modify existing collisions, consider using methods like [`get_mut`](Self::get_mut)
     /// or [`iter_mut`](Self::iter_mut).
     pub fn insert_collision_pair(&mut self, contacts: Contacts) -> Option<Contacts> {
-        // TODO: We might want to order the data by Entity ID so that entity1, point1 etc. are for the "smaller"
-        // entity ID. This requires changes elsewhere as well though.
-        self.0
-            .insert((contacts.entity1, contacts.entity2), contacts)
+        // order the keys by entity ID so that we don't get duplicate contacts
+        // between two entities
+        if contacts.entity1 < contacts.entity2 {
+            self.0
+                .insert((contacts.entity1, contacts.entity2), contacts)
+        } else {
+            self.0
+                .insert((contacts.entity2, contacts.entity1), contacts)
+        }
     }
 
     /// Extends [`Collisions`] with all collision pairs in the given iterable.
@@ -375,8 +376,12 @@ impl ContactManifold {
         for contact in self.contacts.iter_mut() {
             for previous_contact in previous_contacts.iter() {
                 // If the feature IDs match, copy the contact impulses over for warm starting.
-                if contact.feature_id1 == previous_contact.feature_id1
-                    && contact.feature_id2 == previous_contact.feature_id2
+                if (contact.feature_id1 == previous_contact.feature_id1
+                    && contact.feature_id2 == previous_contact.feature_id2) ||
+                    // we have to check both directions because the entities are sorted in order
+                    // of aabb.min.x, which could have changed even the two objects in contact are the same
+                    (contact.feature_id2 == previous_contact.feature_id1
+                    && contact.feature_id1 == previous_contact.feature_id2)
                 {
                     contact.normal_impulse = previous_contact.normal_impulse;
                     contact.tangent_impulse = previous_contact.tangent_impulse;
@@ -389,10 +394,14 @@ impl ContactManifold {
                 // If the feature IDs are unknown and the contact positions match closely enough,
                 // copy the contact impulses over for warm starting.
                 if unknown_features
-                    && contact.point1.distance_squared(previous_contact.point1)
+                    && (contact.point1.distance_squared(previous_contact.point1)
                         < distance_threshold_squared
-                    && contact.point2.distance_squared(previous_contact.point2)
+                        && contact.point2.distance_squared(previous_contact.point2)
+                            < distance_threshold_squared)
+                    || (contact.point1.distance_squared(previous_contact.point2)
                         < distance_threshold_squared
+                        && contact.point2.distance_squared(previous_contact.point1)
+                            < distance_threshold_squared)
                 {
                     contact.normal_impulse = previous_contact.normal_impulse;
                     contact.tangent_impulse = previous_contact.tangent_impulse;
diff --git a/src/collision/narrow_phase.rs b/src/collision/narrow_phase.rs
index 1b11e278..2e4b4c5d 100644
--- a/src/collision/narrow_phase.rs
+++ b/src/collision/narrow_phase.rs
@@ -546,14 +546,15 @@ impl<'w, 's, C: AnyCollider> NarrowPhase<'w, 's, C> {
         );
 
         // Get the previous contacts if there are any.
-        let previous_contacts = self
-            .collisions
-            .get_internal()
-            .get(&(collider1.entity, collider2.entity))
-            .or(self
-                .collisions
+        let previous_contacts = if collider1.entity < collider2.entity {
+            self.collisions
                 .get_internal()
-                .get(&(collider2.entity, collider1.entity)));
+                .get(&(collider1.entity, collider2.entity))
+        } else {
+            self.collisions
+                .get_internal()
+                .get(&(collider2.entity, collider1.entity))
+        };
 
         let mut total_normal_impulse = 0.0;
         let mut total_tangent_impulse = default();