diff --git a/Cargo.lock b/Cargo.lock
index 272b7c2..e852da3 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -270,7 +270,7 @@ dependencies = [
  "bevy_reflect",
  "bevy_tasks",
  "bevy_utils",
- "crossbeam-channel",
+ "crossbeam-channel 0.4.4",
  "downcast-rs",
  "js-sys",
  "ndk-glue",
@@ -363,7 +363,7 @@ dependencies = [
  "bevy_utils",
  "bitflags",
  "downcast-rs",
- "fixedbitset",
+ "fixedbitset 0.3.1",
  "lazy_static",
  "parking_lot",
  "rand",
@@ -507,6 +507,18 @@ dependencies = [
  "bevy_window",
 ]
 
+[[package]]
+name = "bevy_rapier3d"
+version = "0.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c11b4b13050eb907f824c92b598e418e75f710c50a3c35a2cd3f97f6f5afc0e1"
+dependencies = [
+ "bevy",
+ "concurrent-queue",
+ "nalgebra",
+ "rapier3d",
+]
+
 [[package]]
 name = "bevy_reflect"
 version = "0.4.0"
@@ -714,8 +726,8 @@ dependencies = [
  "bevy_utils",
  "bevy_window",
  "bevy_winit",
- "crossbeam-channel",
- "crossbeam-utils",
+ "crossbeam-channel 0.4.4",
+ "crossbeam-utils 0.7.2",
  "futures-lite",
  "parking_lot",
  "wgpu",
@@ -1171,16 +1183,75 @@ dependencies = [
  "cfg-if 1.0.0",
 ]
 
+[[package]]
+name = "crossbeam"
+version = "0.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fd01a6eb3daaafa260f6fc94c3a6c36390abc2080e38e3e34ced87393fb77d80"
+dependencies = [
+ "cfg-if 1.0.0",
+ "crossbeam-channel 0.5.0",
+ "crossbeam-deque",
+ "crossbeam-epoch",
+ "crossbeam-queue",
+ "crossbeam-utils 0.8.1",
+]
+
 [[package]]
 name = "crossbeam-channel"
 version = "0.4.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b153fe7cbef478c567df0f972e02e6d736db11affe43dfc9c56a9374d1adfb87"
 dependencies = [
- "crossbeam-utils",
+ "crossbeam-utils 0.7.2",
  "maybe-uninit",
 ]
 
+[[package]]
+name = "crossbeam-channel"
+version = "0.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dca26ee1f8d361640700bde38b2c37d8c22b3ce2d360e1fc1c74ea4b0aa7d775"
+dependencies = [
+ "cfg-if 1.0.0",
+ "crossbeam-utils 0.8.1",
+]
+
+[[package]]
+name = "crossbeam-deque"
+version = "0.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "94af6efb46fef72616855b036a624cf27ba656ffc9be1b9a3c931cfc7749a9a9"
+dependencies = [
+ "cfg-if 1.0.0",
+ "crossbeam-epoch",
+ "crossbeam-utils 0.8.1",
+]
+
+[[package]]
+name = "crossbeam-epoch"
+version = "0.9.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a1aaa739f95311c2c7887a76863f500026092fb1dce0161dab577e559ef3569d"
+dependencies = [
+ "cfg-if 1.0.0",
+ "const_fn",
+ "crossbeam-utils 0.8.1",
+ "lazy_static",
+ "memoffset",
+ "scopeguard",
+]
+
+[[package]]
+name = "crossbeam-queue"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0f6cb3c7f5b8e51bc3ebb73a2327ad4abdbd119dc13223f14f961d2f38486756"
+dependencies = [
+ "cfg-if 1.0.0",
+ "crossbeam-utils 0.8.1",
+]
+
 [[package]]
 name = "crossbeam-utils"
 version = "0.7.2"
@@ -1192,6 +1263,17 @@ dependencies = [
  "lazy_static",
 ]
 
+[[package]]
+name = "crossbeam-utils"
+version = "0.8.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "02d96d1e189ef58269ebe5b97953da3274d83a93af647c2ddd6f9dab28cedb8d"
+dependencies = [
+ "autocfg",
+ "cfg-if 1.0.0",
+ "lazy_static",
+]
+
 [[package]]
 name = "d3d12"
 version = "0.3.2"
@@ -1361,13 +1443,19 @@ dependencies = [
 
 [[package]]
 name = "find-crate"
-version = "0.6.1"
+version = "0.6.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "057a1d48e8ff33649ee2d7c510b79ecf1f8a52b684d446a72de600ad7e2823b6"
+checksum = "e82d9a3770cc1839f610f61f90bb1167c37581e97ed3400cfb6cf66fbd69a639"
 dependencies = [
  "toml",
 ]
 
+[[package]]
+name = "fixedbitset"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "37ab347416e802de484e4d03c7316c48f1ecb56574dfd4a46a80f173ce1de04d"
+
 [[package]]
 name = "fixedbitset"
 version = "0.3.1"
@@ -1559,6 +1647,15 @@ dependencies = [
  "byteorder",
 ]
 
+[[package]]
+name = "generational-arena"
+version = "0.2.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8e1d3b771574f62d0548cee0ad9057857e9fc25d7a3335f140c84f6acd0bf601"
+dependencies = [
+ "cfg-if 0.1.10",
+]
+
 [[package]]
 name = "generator"
 version = "0.6.23"
@@ -1572,6 +1669,16 @@ dependencies = [
  "winapi 0.3.9",
 ]
 
+[[package]]
+name = "generic-array"
+version = "0.14.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "501466ecc8a30d1d3b7fc9229b122b2ce8ed6e9d9223f1138d4babb253e51817"
+dependencies = [
+ "typenum",
+ "version_check",
+]
+
 [[package]]
 name = "getrandom"
 version = "0.1.15"
@@ -1854,6 +1961,12 @@ dependencies = [
  "svg_fmt",
 ]
 
+[[package]]
+name = "hashbrown"
+version = "0.9.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d7afe4a420e3fe79967a00898cc1f4db7c8a49a9333a29f8a4bd76a253d5cd04"
+
 [[package]]
 name = "hermit-abi"
 version = "0.1.17"
@@ -1912,6 +2025,16 @@ dependencies = [
  "scoped_threadpool",
 ]
 
+[[package]]
+name = "indexmap"
+version = "1.6.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4fb1fa934250de4de8aef298d81c729a7d33d8c239daa3a7575e6b92bfc7313b"
+dependencies = [
+ "autocfg",
+ "hashbrown",
+]
+
 [[package]]
 name = "inflections"
 version = "1.1.1"
@@ -1952,6 +2075,7 @@ checksum = "61124eeebbd69b8190558df225adf7e4caafce0d743919e5d6b19652314ec5ec"
 dependencies = [
  "cfg-if 1.0.0",
  "js-sys",
+ "time 0.2.23",
  "wasm-bindgen",
  "web-sys",
 ]
@@ -2095,6 +2219,12 @@ version = "0.1.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7fc7aa29613bd6a620df431842069224d8bc9011086b1db4c0e0cd47fa03ec9a"
 
+[[package]]
+name = "libm"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c7d73b3f436185384286bd8098d17ec07c9a7d2388a6599f824d8502b529702a"
+
 [[package]]
 name = "libudev-sys"
 version = "0.1.4"
@@ -2178,6 +2308,15 @@ version = "0.1.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7ffc5c5338469d4d3ea17d269fa8ea3512ad247247c30bd2df69e68309ed0a08"
 
+[[package]]
+name = "matrixmultiply"
+version = "0.2.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "916806ba0031cd542105d916a97c8572e1fa6dd79c9c51e7eb43a09ec2dd84c1"
+dependencies = [
+ "rawpointer",
+]
+
 [[package]]
 name = "maybe-uninit"
 version = "2.0.0"
@@ -2190,6 +2329,15 @@ version = "2.3.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0ee1c47aaa256ecabcaea351eae4a9b01ef39ed810004e298d2511ed284b1525"
 
+[[package]]
+name = "memoffset"
+version = "0.6.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "157b4208e3059a8f9e78d559edc658e13df41410cb3ae03979c83130067fdd87"
+dependencies = [
+ "autocfg",
+]
+
 [[package]]
 name = "metal"
 version = "0.20.0"
@@ -2299,6 +2447,43 @@ dependencies = [
  "thiserror",
 ]
 
+[[package]]
+name = "nalgebra"
+version = "0.23.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c9bd52e9c9922d5702d5c2a105ceacc3c1206e781d3d130f4d2b7ad5f43c144b"
+dependencies = [
+ "approx",
+ "generic-array",
+ "matrixmultiply",
+ "num-complex",
+ "num-rational",
+ "num-traits",
+ "rand",
+ "rand_distr",
+ "simba",
+ "typenum",
+]
+
+[[package]]
+name = "ncollide3d"
+version = "0.26.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7fa86028ca1d3ac2ff5946c64e3f82fc6e9cdfaef2bef716f9fbf7e1559298ec"
+dependencies = [
+ "approx",
+ "bitflags",
+ "downcast-rs",
+ "either",
+ "nalgebra",
+ "num-traits",
+ "petgraph",
+ "simba",
+ "slab",
+ "slotmap",
+ "smallvec",
+]
+
 [[package]]
 name = "ndk"
 version = "0.2.1"
@@ -2399,7 +2584,7 @@ checksum = "a8b946889dfdad884379cd56367d93b6d0ce8889cc027d26a69a3a31c0a03bb5"
 dependencies = [
  "anymap",
  "bitflags",
- "crossbeam-channel",
+ "crossbeam-channel 0.4.4",
  "filetime",
  "fsevent",
  "fsevent-sys",
@@ -2411,6 +2596,15 @@ dependencies = [
  "winapi 0.3.9",
 ]
 
+[[package]]
+name = "num-complex"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "747d632c0c558b87dbabbe6a82f3b4ae03720d0646ac5b7b4dae89394be5f2c5"
+dependencies = [
+ "num-traits",
+]
+
 [[package]]
 name = "num-derive"
 version = "0.3.3"
@@ -2461,6 +2655,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9a64b1ec5cda2586e284722486d802acf1f7dbdc623e2bfc57e65ca1cd099290"
 dependencies = [
  "autocfg",
+ "libm 0.2.1",
 ]
 
 [[package]]
@@ -2589,6 +2784,12 @@ dependencies = [
  "winapi 0.3.9",
 ]
 
+[[package]]
+name = "paste"
+version = "1.0.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c5d65c4d95931acda4498f675e332fcbdc9a06705cd07086c510e9b6009cd1c1"
+
 [[package]]
 name = "peeking_take_while"
 version = "0.1.2"
@@ -2601,6 +2802,16 @@ version = "2.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d4fd5641d01c8f18a23da7b6fe29298ff4b55afcccdf78973b24cf3175fee32e"
 
+[[package]]
+name = "petgraph"
+version = "0.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "467d164a6de56270bd7c4d070df81d07beace25012d5103ced4e9ff08d6afdb7"
+dependencies = [
+ "fixedbitset 0.2.0",
+ "indexmap",
+]
+
 [[package]]
 name = "pin-project"
 version = "1.0.2"
@@ -2723,6 +2934,7 @@ name = "rake"
 version = "0.1.0"
 dependencies = [
  "bevy",
+ "bevy_rapier3d",
 ]
 
 [[package]]
@@ -2757,6 +2969,16 @@ dependencies = [
  "getrandom 0.1.15",
 ]
 
+[[package]]
+name = "rand_distr"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c9e9532ada3929fb8b2e9dbe28d1e06c9b2cc65813f074fcb6bd5fbefeff9d56"
+dependencies = [
+ "num-traits",
+ "rand",
+]
+
 [[package]]
 name = "rand_hc"
 version = "0.2.0"
@@ -2772,6 +2994,29 @@ version = "0.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a871f1e45a3a3f0c73fb60343c811238bb5143a81642e27c2ac7aac27ff01a63"
 
+[[package]]
+name = "rapier3d"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c7f175c71f3c2b140f17fd4683097d1b166cd253b1d8dc4cdf3467bd6281b9ef"
+dependencies = [
+ "approx",
+ "arrayvec",
+ "bit-vec",
+ "bitflags",
+ "crossbeam",
+ "downcast-rs",
+ "generational-arena",
+ "instant",
+ "nalgebra",
+ "ncollide3d",
+ "num-derive",
+ "num-traits",
+ "rustc-hash",
+ "simba",
+ "vec_map",
+]
+
 [[package]]
 name = "raw-window-handle"
 version = "0.3.3"
@@ -2781,6 +3026,12 @@ dependencies = [
  "libc",
 ]
 
+[[package]]
+name = "rawpointer"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3"
+
 [[package]]
 name = "rectangle-pack"
 version = "0.2.0"
@@ -3039,6 +3290,18 @@ version = "0.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7fdf1b9db47230893d76faad238fd6097fd6d6a9245cd7a4d90dbd639536bbd2"
 
+[[package]]
+name = "simba"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "17bfe642b1728a6e89137ad428ef5d4738eca4efaba9590f9e110b8944028621"
+dependencies = [
+ "approx",
+ "num-complex",
+ "num-traits",
+ "paste",
+]
+
 [[package]]
 name = "slab"
 version = "0.4.2"
@@ -3056,6 +3319,12 @@ dependencies = [
  "winapi 0.3.9",
 ]
 
+[[package]]
+name = "slotmap"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c46a3482db8f247956e464d783693ece164ca056e6e67563ee5505bdb86452cd"
+
 [[package]]
 name = "smallvec"
 version = "1.5.1"
@@ -3188,7 +3457,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7b0dc6d20ce137f302edf90f9cd3d278866fd7fb139efca6f246161222ad6d87"
 dependencies = [
  "lazy_static",
- "libm",
+ "libm 0.1.4",
 ]
 
 [[package]]
@@ -3432,6 +3701,12 @@ version = "2.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0685c84d5d54d1c26f7d3eb96cd41550adb97baed141a761cf335d3d33bcd0ae"
 
+[[package]]
+name = "typenum"
+version = "1.12.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "373c8a200f9e67a0c95e62a4f52fbf80c23b4381c05a17845531982fa99e6b33"
+
 [[package]]
 name = "unicode-bidi"
 version = "0.3.4"
diff --git a/Cargo.toml b/Cargo.toml
index e14b7e3..8457bc3 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -5,3 +5,4 @@ edition = "2018"
 
 [dependencies]
 bevy = "0.4"
+bevy_rapier3d = "0.7.0"
diff --git a/src/main.rs b/src/main.rs
index 107a603..8161a04 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -1,5 +1,9 @@
 use bevy::prelude::*;
 use rake::player::{Player, PlayerPlugin};
+use bevy_rapier3d::rapier::dynamics::RigidBodyBuilder;
+use bevy_rapier3d::rapier::geometry::ColliderBuilder;
+use bevy_rapier3d::physics::RapierPhysicsPlugin;
+use bevy::input::system::exit_on_esc_system;
 
 fn main() {
   App::build()
@@ -11,11 +15,12 @@ fn main() {
       ..Default::default()
     })
     .add_plugins(DefaultPlugins)
+    .add_plugin(RapierPhysicsPlugin)
     // note: debug renderer doesnt work for cylinder
     //.add_plugin(RapierRenderPlugin)
     .add_plugin(PlayerPlugin)
     .add_startup_system(init.system())
-    .add_system(exit_game_system.system())
+    .add_system(exit_on_esc_system.system())
     .run();
 }
 
@@ -34,7 +39,9 @@ fn init(
       transform: Transform::from_translation(Vec3::new(0.0, 3.0, 3.0)),
       ..Default::default()
     })
-    .with(player);
+    .with(player)
+    .with(RigidBodyBuilder::new_dynamic().translation(0.0, 3.0, 0.0))
+    .with(ColliderBuilder::cylinder(1.0, 0.5).friction(0.0));
 
   let box_mesh = meshes.add(Mesh::from(shape::Cube { size: 0.25 }));
   let box_material = materials.add(Color::rgb(1.0, 0.2, 0.3).into());
@@ -54,6 +61,9 @@ fn init(
   }
 
   // create a floor
+  let rigid_body1 = RigidBodyBuilder::new_static();
+  let collider1 = ColliderBuilder::cuboid(10.0, 1.0, 10.0);
+  commands.spawn((rigid_body1, collider1));
   commands.spawn(PbrBundle {
     mesh: meshes.add(Mesh::from(shape::Plane { size: 10. })),
     material: materials.add(Color::rgb(0.5, 0.9, 0.9).into()),
@@ -61,12 +71,3 @@ fn init(
     ..Default::default()
   });
 }
-
-fn exit_game_system(
-  keyboard_input: Res<Input<KeyCode>>,
-  mut app_exit_events: ResMut<Events<bevy::app::AppExit>>,
-) {
-  if keyboard_input.pressed(KeyCode::Escape) {
-    app_exit_events.send(bevy::app::AppExit);
-  }
-}
diff --git a/src/player.rs b/src/player.rs
index 3c42699..03d6d67 100644
--- a/src/player.rs
+++ b/src/player.rs
@@ -1,4 +1,7 @@
 use bevy::{input::mouse::MouseMotion, math::clamp, prelude::*};
+use bevy_rapier3d::rapier::dynamics::{RigidBody, RigidBodySet};
+use bevy_rapier3d::physics::RigidBodyHandleComponent;
+use bevy_rapier3d::na::{Matrix3x1};
 
 pub struct Player {
   /// The speed the FlyCamera moves at. Defaults to `1.0`
@@ -18,7 +21,7 @@ pub struct Player {
 impl Player {
   pub fn create() -> Self {
     Self {
-      speed: 1.5,
+      speed: 15.,
       sensitivity: 6.0,
       friction: 1.0,
       pitch: 0.0,
@@ -54,10 +57,12 @@ fn movement_axis(input: &Res<Input<KeyCode>>, plus: KeyCode, minus: KeyCode) ->
 
 fn camera_movement_system(
   time: Res<Time>,
+  mut bodies: ResMut<RigidBodySet>,
   keyboard_input: Res<Input<KeyCode>>,
-  mut query: Query<(&mut Player, &mut Transform)>,
+  mut query: Query<(&mut Player, &mut Transform, &RigidBodyHandleComponent)>,
 ) {
-  for (mut player, mut transform) in query.iter_mut() {
+  for (mut player, transform, handle) in query.iter_mut() {
+    let body: &mut RigidBody = bodies.get_mut(handle.handle()).unwrap();
     let (axis_h, axis_v, axis_float) = (
       movement_axis(&keyboard_input, KeyCode::D, KeyCode::A),
       movement_axis(&keyboard_input, KeyCode::S, KeyCode::W),
@@ -82,6 +87,9 @@ fn camera_movement_system(
 
     player.velocity += accel * time.delta_seconds();
 
+    let vel = Matrix3x1::new(player.velocity.x, body.linvel().y, player.velocity.z);
+    body.set_linvel(vel, true);
+
     let delta_friction = friction * time.delta_seconds();
 
     player.velocity = if (player.velocity + delta_friction).signum() != player.velocity.signum() {
@@ -89,8 +97,6 @@ fn camera_movement_system(
     } else {
       player.velocity + delta_friction
     };
-
-    transform.translation += player.velocity;
   }
 }
 
@@ -102,8 +108,9 @@ struct State {
 fn mouse_motion_system(
   time: Res<Time>,
   mut state: ResMut<State>,
+  mut bodies: ResMut<RigidBodySet>,
   mouse_motion_events: Res<Events<MouseMotion>>,
-  mut query: Query<(&mut Player, &mut Transform)>,
+  mut query: Query<(&mut Player, &mut Transform, &RigidBodyHandleComponent)>,
 ) {
   let mut delta: Vec2 = Vec2::zero();
   for event in state.mouse_motion_event_reader.iter(&mouse_motion_events) {
@@ -113,7 +120,8 @@ fn mouse_motion_system(
     return;
   }
 
-  for (mut options, mut transform) in query.iter_mut() {
+  for (mut options, mut transform, handle) in query.iter_mut() {
+    let body: &mut RigidBody = bodies.get_mut(handle.handle()).unwrap();
     options.yaw -= delta.x * options.sensitivity * time.delta_seconds();
     options.pitch += delta.y * options.sensitivity * time.delta_seconds();
 
@@ -124,7 +132,9 @@ fn mouse_motion_system(
     let pitch_radians = options.pitch.to_radians();
 
     transform.rotation = Quat::from_axis_angle(Vec3::unit_y(), yaw_radians)
-      * Quat::from_axis_angle(-Vec3::unit_x(), pitch_radians);
+      * Quat::from_axis_angle(-Vec3::unit_x(), pitch_radians) * 10.;
+
+    body.set_angvel(Matrix3x1::new(pitch_radians, yaw_radians, 0.), true);
   }
 }