diff --git a/Cargo.lock b/Cargo.lock
index 4674b5e..47b0c98 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -83,9 +83,9 @@ dependencies = [
 
 [[package]]
 name = "autocfg"
-version = "1.2.0"
+version = "1.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f1fdabc7756949593fe60f30ec81974b613357de856987752631dea1e3394c80"
+checksum = "0c4b4d0bd25bd0b74681c0ad21497610ce1b7c91b1022cd21c80c6fbdd9476b0"
 
 [[package]]
 name = "bit-vec"
@@ -99,6 +99,12 @@ version = "1.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
 
+[[package]]
+name = "bitflags"
+version = "2.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cf4b9d6a944f767f8e5e0db018570623c85f3d925ac718db4e06d0187adb21c1"
+
 [[package]]
 name = "block"
 version = "0.1.6"
@@ -128,7 +134,7 @@ checksum = "4da9a32f3fed317401fa3c862968128267c3106685286e15d5aaa3d7389c2f60"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.59",
+ "syn 2.0.61",
 ]
 
 [[package]]
@@ -356,9 +362,9 @@ dependencies = [
 
 [[package]]
 name = "flate2"
-version = "1.0.28"
+version = "1.0.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "46303f565772937ffe1d394a4fac6f411c6013172fadde9dcdb1e147a086940e"
+checksum = "5f54427cfd1c7829e2a139fcefea601bf088ebca651d2bf53ebc600eac295dae"
 dependencies = [
  "crc32fast",
  "miniz_oxide",
@@ -386,9 +392,9 @@ dependencies = [
 
 [[package]]
 name = "getrandom"
-version = "0.2.14"
+version = "0.2.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "94b22e06ecb0110981051723910cbf0b5f5e09a2062dd7663334ee79a9d1286c"
+checksum = "c4567c8db10ae91089c99af84c68c38da3ec2f087c3f82960bcdbf3656b6f4d7"
 dependencies = [
  "cfg-if",
  "libc",
@@ -412,9 +418,9 @@ dependencies = [
 
 [[package]]
 name = "hashbrown"
-version = "0.14.3"
+version = "0.14.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "290f1a1d9242c78d09ce40a5e87e7554ee637af1351968159f4952f028f75604"
+checksum = "e5274423e17b7c9fc20b6e7e208532f9b19825d82dfd615708b70edd83df41f1"
 dependencies = [
  "ahash",
  "allocator-api2",
@@ -473,9 +479,9 @@ dependencies = [
 
 [[package]]
 name = "libc"
-version = "0.2.153"
+version = "0.2.154"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9c198f91728a82281a64e1f4f9eeb25d82cb32a5de251c6bd1b5154d63a8e7bd"
+checksum = "ae743338b92ff9146ce83992f766a31066a91a8c84a45e0e9f21e7cf6de6d346"
 
 [[package]]
 name = "libloading"
@@ -484,7 +490,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0c2a198fb6b0eada2a8df47933734e6d35d350665a33a3593d7164fa52c75c19"
 dependencies = [
  "cfg-if",
- "windows-targets 0.52.5",
+ "windows-targets",
 ]
 
 [[package]]
@@ -495,9 +501,9 @@ checksum = "4ec2a862134d2a7d32d7983ddcdd1c4923530833c9f2ea1a44fc5fa473989058"
 
 [[package]]
 name = "lock_api"
-version = "0.4.11"
+version = "0.4.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3c168f8615b12bc01f9c17e2eb0cc07dcae1940121185446edc3744920e8ef45"
+checksum = "07af8b9cdd281b7915f413fa73f29ebd5d55d0d3f0155584dade1ff18cea1b17"
 dependencies = [
  "autocfg",
  "scopeguard",
@@ -635,7 +641,7 @@ version = "0.24.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "fa52e972a9a719cecb6864fb88568781eb706bac2cd1d4f04a648542dbf78069"
 dependencies = [
- "bitflags",
+ "bitflags 1.3.2",
  "cfg-if",
  "libc",
  "memoffset",
@@ -649,9 +655,9 @@ checksum = "2bf50223579dc7cdcfb3bfcacf7069ff68243f8c363f62ffa99cf000a6b9c451"
 
 [[package]]
 name = "num-complex"
-version = "0.4.5"
+version = "0.4.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "23c6602fda94a57c990fe0df199a035d83576b496aa29f4e634a8ac6004e68a6"
+checksum = "73f88a1307638156682bada9d7604135552957b7818057dcef22705b4d509495"
 dependencies = [
  "num-traits",
 ]
@@ -664,7 +670,7 @@ checksum = "ed3955f1a9c7c0c15e092f9c887db08b1fc683305fdf6eb6684f22555355e202"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.59",
+ "syn 2.0.61",
 ]
 
 [[package]]
@@ -678,20 +684,19 @@ dependencies = [
 
 [[package]]
 name = "num-rational"
-version = "0.4.1"
+version = "0.4.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0638a1c9d0a3c0914158145bc76cff373a75a627e6ecbfb71cbe6f453a5a19b0"
+checksum = "f83d14da390562dca69fc84082e73e548e1ad308d24accdedd2720017cb37824"
 dependencies = [
- "autocfg",
  "num-integer",
  "num-traits",
 ]
 
 [[package]]
 name = "num-traits"
-version = "0.2.18"
+version = "0.2.19"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "da0df0e5185db44f69b44f26786fe401b6c293d1907744beaa7fa62b2e5a517a"
+checksum = "071dfc062690e90b734c0b2273ce72ad0ffa95f0c74596bc250dcfd960262841"
 dependencies = [
  "autocfg",
  "libm",
@@ -741,6 +746,15 @@ version = "1.19.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "3fdb12b2476b595f9358c5161aa467c2438859caa136dec86c26fdd2efe17b92"
 
+[[package]]
+name = "ordered-float"
+version = "4.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a76df7075c7d4d01fdcb46c912dd17fba5b60c78ea480b475f2b6ab6f666584e"
+dependencies = [
+ "num-traits",
+]
+
 [[package]]
 name = "owned_ttf_parser"
 version = "0.20.0"
@@ -752,9 +766,9 @@ dependencies = [
 
 [[package]]
 name = "parking_lot"
-version = "0.12.1"
+version = "0.12.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3742b2c103b9f06bc9fff0a37ff4912935851bee6d36f3c02bcc755bcfec228f"
+checksum = "7e4af0ca4f6caed20e900d564c242b8e5d4903fdacf31d3daf527b66fe6f42fb"
 dependencies = [
  "lock_api",
  "parking_lot_core",
@@ -762,28 +776,29 @@ dependencies = [
 
 [[package]]
 name = "parking_lot_core"
-version = "0.9.9"
+version = "0.9.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4c42a9226546d68acdd9c0a280d17ce19bfe27a46bf68784e4066115788d008e"
+checksum = "1e401f977ab385c9e4e3ab30627d6f26d00e2c73eef317493c4ec6d468726cf8"
 dependencies = [
  "cfg-if",
  "libc",
  "redox_syscall",
  "smallvec 1.13.2",
- "windows-targets 0.48.5",
+ "windows-targets",
 ]
 
 [[package]]
 name = "parry2d"
-version = "0.13.7"
+version = "0.15.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a996b83a7a12522b395c54f4ba59593b782e8004794c0212a2f487ed7ac6e419"
+checksum = "0c8c4e8d99a24597e473b83c1c425d6567132e537c9d160e1fa1cc816fdf7637"
 dependencies = [
  "approx",
  "arrayvec",
- "bitflags",
+ "bitflags 1.3.2",
  "downcast-rs",
  "either",
+ "log",
  "nalgebra",
  "num-derive",
  "num-traits",
@@ -796,9 +811,9 @@ dependencies = [
 
 [[package]]
 name = "paste"
-version = "1.0.14"
+version = "1.0.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "de3145af08024dea9fa9914f381a17b8fc6034dfb00f3a84013f7ff43f29ed4c"
+checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"
 
 [[package]]
 name = "pkg-config"
@@ -812,7 +827,7 @@ version = "0.17.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "06e4b0d3d1312775e782c86c91a111aa1f910cbb65e1337f9975b5f9a554b5e1"
 dependencies = [
- "bitflags",
+ "bitflags 1.3.2",
  "crc32fast",
  "fdeflate",
  "flate2",
@@ -827,9 +842,9 @@ checksum = "5b40af805b3121feab8a3c29f04d8ad262fa8e0561883e7653e024ae4479e6de"
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.80"
+version = "1.0.82"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a56dea16b0a29e94408b9aa5e2940a4eedbd128a1ba20e8f7ae60fd3d465af0e"
+checksum = "8ad3d49ab951a01fbaafe34f2ec74122942fe18a3f9814c3268f1bb72042131b"
 dependencies = [
  "unicode-ident",
 ]
@@ -936,19 +951,21 @@ dependencies = [
 
 [[package]]
 name = "rapier2d"
-version = "0.18.0"
+version = "0.19.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "48a3ec4ae89e0837c0ff6f29af32a8e5d78dfabe2273dcd945cfaf3f5d2b1501"
+checksum = "535b70552dc42dab9054d3d5a80e8430ced502e20acb0bf6118c344ff356f62a"
 dependencies = [
  "approx",
  "arrayvec",
  "bit-vec",
- "bitflags",
+ "bitflags 1.3.2",
  "crossbeam",
  "downcast-rs",
+ "log",
  "nalgebra",
  "num-derive",
  "num-traits",
+ "ordered-float",
  "parry2d",
  "rustc-hash",
  "simba",
@@ -963,11 +980,11 @@ checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3"
 
 [[package]]
 name = "redox_syscall"
-version = "0.4.1"
+version = "0.5.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4722d768eff46b75989dd134e5c353f0d6296e5aaa3132e776cbdb56be7731aa"
+checksum = "469052894dcb553421e483e4209ee581a45100d31b4018de03e5a7ad86374a7e"
 dependencies = [
- "bitflags",
+ "bitflags 2.5.0",
 ]
 
 [[package]]
@@ -1058,7 +1075,7 @@ version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "870427e30b8f2cbe64bf43ec4b86e88fe39b0a84b3f15efd9c9c2d020bc86eb9"
 dependencies = [
- "bitflags",
+ "bitflags 1.3.2",
  "dlib",
  "lazy_static",
  "log",
@@ -1086,7 +1103,7 @@ version = "2.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "61addf9117b11d1f5b4bf6fe94242ba25f59d2d4b2080544b771bd647024fd00"
 dependencies = [
- "hashbrown 0.14.3",
+ "hashbrown 0.14.5",
  "num-traits",
  "robust",
  "smallvec 1.13.2",
@@ -1105,9 +1122,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.59"
+version = "2.0.61"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4a6531ffc7b071655e4ce2e04bd464c4830bb585a61cabb96cf808f05172615a"
+checksum = "c993ed8ccba56ae856363b1845da7266a7cb78e1d146c8a32d54b45a8b831fc9"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1177,7 +1194,7 @@ dependencies = [
  "once_cell",
  "proc-macro2",
  "quote",
- "syn 2.0.59",
+ "syn 2.0.61",
  "wasm-bindgen-shared",
 ]
 
@@ -1199,7 +1216,7 @@ checksum = "e94f17b526d0a461a191c78ea52bbce64071ed5c04c9ffe424dcb38f74171bb7"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.59",
+ "syn 2.0.61",
  "wasm-bindgen-backend",
  "wasm-bindgen-shared",
 ]
@@ -1216,7 +1233,7 @@ version = "0.29.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "3f3b068c05a039c9f755f881dc50f01732214f5685e379829759088967c46715"
 dependencies = [
- "bitflags",
+ "bitflags 1.3.2",
  "downcast-rs",
  "libc",
  "nix",
@@ -1255,7 +1272,7 @@ version = "0.29.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b950621f9354b322ee817a23474e479b34be96c2e909c14f7bc0100e9a970bc6"
 dependencies = [
- "bitflags",
+ "bitflags 1.3.2",
  "wayland-client",
  "wayland-commons",
  "wayland-scanner",
@@ -1306,9 +1323,9 @@ dependencies = [
 
 [[package]]
 name = "wide"
-version = "0.7.15"
+version = "0.7.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "89beec544f246e679fc25490e3f8e08003bc4bf612068f325120dad4cea02c1c"
+checksum = "0f0e39d2c603fdc0504b12b458cf1f34e0b937ed2f4f2dc20796e3e86f34e11f"
 dependencies = [
  "bytemuck",
  "safe_arch",
@@ -1351,67 +1368,34 @@ version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
 
-[[package]]
-name = "windows-targets"
-version = "0.48.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9a2fa6e2155d7247be68c096456083145c183cbbbc2764150dda45a87197940c"
-dependencies = [
- "windows_aarch64_gnullvm 0.48.5",
- "windows_aarch64_msvc 0.48.5",
- "windows_i686_gnu 0.48.5",
- "windows_i686_msvc 0.48.5",
- "windows_x86_64_gnu 0.48.5",
- "windows_x86_64_gnullvm 0.48.5",
- "windows_x86_64_msvc 0.48.5",
-]
-
 [[package]]
 name = "windows-targets"
 version = "0.52.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6f0713a46559409d202e70e28227288446bf7841d3211583a4b53e3f6d96e7eb"
 dependencies = [
- "windows_aarch64_gnullvm 0.52.5",
- "windows_aarch64_msvc 0.52.5",
- "windows_i686_gnu 0.52.5",
+ "windows_aarch64_gnullvm",
+ "windows_aarch64_msvc",
+ "windows_i686_gnu",
  "windows_i686_gnullvm",
- "windows_i686_msvc 0.52.5",
- "windows_x86_64_gnu 0.52.5",
- "windows_x86_64_gnullvm 0.52.5",
- "windows_x86_64_msvc 0.52.5",
+ "windows_i686_msvc",
+ "windows_x86_64_gnu",
+ "windows_x86_64_gnullvm",
+ "windows_x86_64_msvc",
 ]
 
-[[package]]
-name = "windows_aarch64_gnullvm"
-version = "0.48.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2b38e32f0abccf9987a4e3079dfb67dcd799fb61361e53e2882c3cbaf0d905d8"
-
 [[package]]
 name = "windows_aarch64_gnullvm"
 version = "0.52.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7088eed71e8b8dda258ecc8bac5fb1153c5cffaf2578fc8ff5d61e23578d3263"
 
-[[package]]
-name = "windows_aarch64_msvc"
-version = "0.48.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dc35310971f3b2dbbf3f0690a219f40e2d9afcf64f9ab7cc1be722937c26b4bc"
-
 [[package]]
 name = "windows_aarch64_msvc"
 version = "0.52.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9985fd1504e250c615ca5f281c3f7a6da76213ebd5ccc9561496568a2752afb6"
 
-[[package]]
-name = "windows_i686_gnu"
-version = "0.48.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a75915e7def60c94dcef72200b9a8e58e5091744960da64ec734a6c6e9b3743e"
-
 [[package]]
 name = "windows_i686_gnu"
 version = "0.52.5"
@@ -1424,48 +1408,24 @@ version = "0.52.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "87f4261229030a858f36b459e748ae97545d6f1ec60e5e0d6a3d32e0dc232ee9"
 
-[[package]]
-name = "windows_i686_msvc"
-version = "0.48.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8f55c233f70c4b27f66c523580f78f1004e8b5a8b659e05a4eb49d4166cca406"
-
 [[package]]
 name = "windows_i686_msvc"
 version = "0.52.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "db3c2bf3d13d5b658be73463284eaf12830ac9a26a90c717b7f771dfe97487bf"
 
-[[package]]
-name = "windows_x86_64_gnu"
-version = "0.48.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "53d40abd2583d23e4718fddf1ebec84dbff8381c07cae67ff7768bbf19c6718e"
-
 [[package]]
 name = "windows_x86_64_gnu"
 version = "0.52.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "4e4246f76bdeff09eb48875a0fd3e2af6aada79d409d33011886d3e1581517d9"
 
-[[package]]
-name = "windows_x86_64_gnullvm"
-version = "0.48.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0b7b52767868a23d5bab768e390dc5f5c55825b6d30b86c844ff2dc7414044cc"
-
 [[package]]
 name = "windows_x86_64_gnullvm"
 version = "0.52.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "852298e482cd67c356ddd9570386e2862b5673c85bd5f88df9ab6802b334c596"
 
-[[package]]
-name = "windows_x86_64_msvc"
-version = "0.48.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ed94fce61571a4006852b7389a063ab983c02eb1bb37b47f8272ce92d06d9538"
-
 [[package]]
 name = "windows_x86_64_msvc"
 version = "0.52.5"
@@ -1517,20 +1477,20 @@ checksum = "791978798f0597cfc70478424c2b4fdc2b7a8024aaff78497ef00f24ef674193"
 
 [[package]]
 name = "zerocopy"
-version = "0.7.32"
+version = "0.7.34"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "74d4d3961e53fa4c9a25a8637fc2bfaf2595b3d3ae34875568a5cf64787716be"
+checksum = "ae87e3fcd617500e5d106f0380cf7b77f3c6092aae37191433159dda23cfb087"
 dependencies = [
  "zerocopy-derive",
 ]
 
 [[package]]
 name = "zerocopy-derive"
-version = "0.7.32"
+version = "0.7.34"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9ce1b18ccd8e73a9321186f97e46f9f04b778851177567b1975109d26a08d2a6"
+checksum = "15e934569e47891f7d9411f1a451d947a60e000ab3bd24fbb970f000387d1b3b"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.59",
+ "syn 2.0.61",
 ]
diff --git a/Cargo.toml b/Cargo.toml
index 88f46a1..4e17c63 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -15,4 +15,4 @@ egui-macroquad = "0.15"
 macroquad = { version = "0.3.26", default-features = false }
 rand = "0.8.5"
 rand_distr = "0.4.3"
-rapier2d = { version = "0.18.0", features = ["simd-stable"] }
+rapier2d = { version = "0.19.0", features = ["simd-stable"] }
diff --git a/examples/bubbles.rs b/examples/bubbles.rs
index 38c490c..5f3a6f9 100644
--- a/examples/bubbles.rs
+++ b/examples/bubbles.rs
@@ -16,7 +16,8 @@ use rapier2d::{
         RigidBodyBuilder, RigidBodyHandle, RigidBodySet,
     },
     geometry::{
-        BroadPhase, ColliderBuilder, ColliderSet, CollisionEvent, CollisionEventFlags, NarrowPhase,
+        BroadPhaseMultiSap, ColliderBuilder, ColliderSet, CollisionEvent, CollisionEventFlags,
+        NarrowPhase,
     },
     math::Isometry,
     na::{vector, DVector, Vector2},
@@ -272,7 +273,7 @@ async fn main() {
     let integration_parameters = IntegrationParameters::default();
     let mut physics_pipeline = PhysicsPipeline::new();
     let mut island_manager = IslandManager::new();
-    let mut broad_phase = BroadPhase::new();
+    let mut broad_phase = BroadPhaseMultiSap::new();
     let mut narrow_phase = NarrowPhase::new();
     let mut impulse_joint_set = ImpulseJointSet::new();
     let mut multibody_joint_set = MultibodyJointSet::new();
diff --git a/examples/hello_world.rs b/examples/hello_world.rs
index 4bb1a3b..3321372 100644
--- a/examples/hello_world.rs
+++ b/examples/hello_world.rs
@@ -9,7 +9,7 @@ use rapier2d::{
         CCDSolver, ImpulseJointSet, IntegrationParameters, IslandManager, MultibodyJointSet,
         RigidBodyBuilder, RigidBodySet,
     },
-    geometry::{BroadPhase, ColliderBuilder, ColliderSet, NarrowPhase},
+    geometry::{BroadPhaseMultiSap, ColliderBuilder, ColliderSet, NarrowPhase},
     na::{vector, Vector2},
     pipeline::{PhysicsPipeline, QueryPipeline},
     prelude::nalgebra,
@@ -96,7 +96,7 @@ async fn main() {
     let integration_parameters = IntegrationParameters::default();
     let mut physics_pipeline = PhysicsPipeline::new();
     let mut island_manager = IslandManager::new();
-    let mut broad_phase = BroadPhase::new();
+    let mut broad_phase = BroadPhaseMultiSap::new();
     let mut narrow_phase = NarrowPhase::new();
     let mut impulse_joint_set = ImpulseJointSet::new();
     let mut multibody_joint_set = MultibodyJointSet::new();