diff --git a/bevy_rapier_benches3d/Cargo.toml b/bevy_rapier_benches3d/Cargo.toml
index f0e54c6b3..90d066cb9 100644
--- a/bevy_rapier_benches3d/Cargo.toml
+++ b/bevy_rapier_benches3d/Cargo.toml
@@ -8,9 +8,23 @@ edition = "2021"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
+[features]
+visual = [
+    "bevy/x11",
+    "bevy/tonemapping_luts",
+    "bevy/bevy_core_pipeline",
+    "bevy/bevy_pbr",
+    "bevy/bevy_gizmos",
+    "rapier3d/debug-render",
+    "bevy_rapier3d/debug-render-3d",
+]
+
 [dependencies]
 rapier3d = { features = ["profiler"], version = "0.25" }
-bevy_rapier3d = { version = "0.30", path = "../bevy_rapier3d" }
+bevy_rapier3d = { version = "0.30", path = "../bevy_rapier3d", default-features = false, features = [
+    "dim3",
+    "headless",
+] }
 bevy = { version = "0.16.0", default-features = false }
 
 [dev-dependencies]
diff --git a/bevy_rapier_benches3d/README.md b/bevy_rapier_benches3d/README.md
index 170918ce4..0765c0ba5 100644
--- a/bevy_rapier_benches3d/README.md
+++ b/bevy_rapier_benches3d/README.md
@@ -10,6 +10,13 @@ and outputs them at the end.
 cargo run --release --bin bench
 ```
 
+To visually make sure your benchmarks setup is correct, you can use the feature `visual`,
+and edit `bench.rs` to test only the scene you want.
+
+```sh
+cargo run --release --bin bench --features visual
+```
+
 ## cargo bench
 
 For short-lived benchmarks based on statistical analysis,
diff --git a/bevy_rapier_benches3d/src/bin/bench.rs b/bevy_rapier_benches3d/src/bin/bench.rs
index e864541b7..018358f19 100644
--- a/bevy_rapier_benches3d/src/bin/bench.rs
+++ b/bevy_rapier_benches3d/src/bin/bench.rs
@@ -5,7 +5,7 @@ fn pyramid_1_with_height_2() {
 }
 
 fn pyramid_2_with_height_20() {
-    custom_bencher(100, |app| setup_pyramids(app, 3, 20));
+    custom_bencher(100, |app| setup_pyramids(app, 40, 20));
 }
 
 fn main() {
diff --git a/bevy_rapier_benches3d/src/common.rs b/bevy_rapier_benches3d/src/common.rs
index e4775a4cd..99b9120ed 100644
--- a/bevy_rapier_benches3d/src/common.rs
+++ b/bevy_rapier_benches3d/src/common.rs
@@ -1,7 +1,9 @@
-use bevy::{app::PluginsState, prelude::*, time::TimeUpdateStrategy};
+use bevy::{app::PluginsState, prelude::*};
 use bevy_rapier3d::prelude::*;
 
+#[cfg(not(feature = "visual"))]
 pub fn default_app() -> App {
+    use bevy::time::TimeUpdateStrategy;
     let mut app = App::new();
 
     app.add_plugins((
@@ -17,6 +19,33 @@ pub fn default_app() -> App {
     app
 }
 
+#[cfg(feature = "visual")]
+pub fn default_app() -> App {
+    use bevy::diagnostic::{FrameTimeDiagnosticsPlugin, LogDiagnosticsPlugin};
+
+    let mut app = App::new();
+    println!("visual mode!");
+    app.insert_resource(ClearColor(Color::srgb(
+        0xF9 as f32 / 255.0,
+        0xF9 as f32 / 255.0,
+        0xFF as f32 / 255.0,
+    )));
+    app.add_plugins((
+        DefaultPlugins,
+        RapierPhysicsPlugin::<()>::default(),
+        RapierDebugRenderPlugin::default(),
+        FrameTimeDiagnosticsPlugin::default(),
+        LogDiagnosticsPlugin::default(),
+    ));
+    app.add_systems(Startup, |mut commands: Commands| {
+        commands.spawn((
+            Camera3d::default(),
+            Transform::from_xyz(-30.0, 30.0, 100.0).looking_at(Vec3::new(0.0, 0.0, 0.0), Vec3::Y),
+        ));
+    });
+    app
+}
+
 pub fn wait_app_start(app: &mut App) {
     while app.plugins_state() != PluginsState::Ready {
         bevy::tasks::tick_global_task_pools_on_main_thread();
diff --git a/bevy_rapier_benches3d/src/lib.rs b/bevy_rapier_benches3d/src/lib.rs
index f12479604..e69f4d150 100644
--- a/bevy_rapier_benches3d/src/lib.rs
+++ b/bevy_rapier_benches3d/src/lib.rs
@@ -11,9 +11,14 @@ use common::wait_app_start;
 use bevy::prelude::*;
 use bevy_rapier3d::plugin::context::RapierContextSimulation;
 
-pub fn custom_bencher(steps: usize, setup: impl Fn(&mut App)) {
+pub fn custom_bencher(_steps: usize, setup: impl Fn(&mut App)) {
     let mut app = default_app();
     setup(&mut app);
+    #[cfg(feature = "visual")]
+    {
+        app.run();
+        return;
+    }
     wait_app_start(&mut app);
 
     let mut timer_total = rapier3d::counters::Timer::new();
@@ -21,7 +26,7 @@ pub fn custom_bencher(steps: usize, setup: impl Fn(&mut App)) {
     let mut rapier_step_times = vec![];
     let mut total_update_times = vec![];
     timer_total.start();
-    for _ in 0..steps {
+    for _ in 0.._steps {
         timer_full_update.start();
         app.update();
         timer_full_update.pause();
diff --git a/bevy_rapier_benches3d/src/pyramids.rs b/bevy_rapier_benches3d/src/pyramids.rs
index 363538a9e..63fe648a0 100644
--- a/bevy_rapier_benches3d/src/pyramids.rs
+++ b/bevy_rapier_benches3d/src/pyramids.rs
@@ -17,7 +17,7 @@ pub fn create_pyramid(commands: &mut Commands, offset: Vect, stack_height: usize
             commands.spawn((
                 RigidBody::Dynamic,
                 Transform::from_translation(Vec3::new(x, y, 0.0) + offset),
-                Collider::cuboid(1.0, 1.0, 1.0),
+                Collider::cuboid(rad, rad, rad),
             ));
         }
     }
@@ -47,6 +47,7 @@ pub fn setup_pyramids(app: &mut App, pyramid_count: usize, stack_height: usize)
         /*
          * Create the pyramids
          */
+
         for pyramid_index in 0..pyramid_count {
             let bottomy = rad;
             create_pyramid(