diff --git a/bevy_rapier2d/examples/despawn2.rs b/bevy_rapier2d/examples/despawn2.rs
index 3024fcb91fcd9..79b04073ed40b 100644
--- a/bevy_rapier2d/examples/despawn2.rs
+++ b/bevy_rapier2d/examples/despawn2.rs
@@ -17,6 +17,11 @@ pub struct DespawnResource {
     pub entities: Vec<Entity>,
 }
 
+#[derive(Default)]
+pub struct ResizeResource {
+    pub entities: Vec<Entity>,
+}
+
 fn main() {
     App::build()
         .add_resource(ClearColor(Color::rgb(
@@ -26,6 +31,7 @@ fn main() {
         )))
         .add_resource(Msaa::default())
         .add_resource(DespawnResource::default())
+        .add_resource(ResizeResource::default())
         .add_plugins(DefaultPlugins)
         .add_plugin(bevy_winit::WinitPlugin::default())
         .add_plugin(bevy_wgpu::WgpuPlugin::default())
@@ -36,6 +42,7 @@ fn main() {
         .add_startup_system(setup_physics.system())
         .add_startup_system(enable_physics_profiling.system())
         .add_system(despawn.system())
+        .add_system(resize.system())
         .run();
 }
 
@@ -57,7 +64,11 @@ fn setup_graphics(commands: &mut Commands, mut configuration: ResMut<RapierConfi
         });
 }
 
-pub fn setup_physics(commands: &mut Commands, mut despawn: ResMut<DespawnResource>) {
+pub fn setup_physics(
+    commands: &mut Commands,
+    mut despawn: ResMut<DespawnResource>,
+    mut resize: ResMut<ResizeResource>,
+) {
     /*
      * Ground
      */
@@ -107,6 +118,9 @@ pub fn setup_physics(commands: &mut Commands, mut despawn: ResMut<DespawnResourc
             let body = RigidBodyBuilder::new_dynamic().translation(x, y);
             let collider = ColliderBuilder::cuboid(rad, rad).density(1.0);
             commands.spawn((body, collider));
+            if (i + j * num) % 100 == 0 {
+                resize.entities.push(commands.current_entity().unwrap());
+            }
         }
     }
 }
@@ -120,3 +134,14 @@ pub fn despawn(commands: &mut Commands, time: Res<Time>, mut despawn: ResMut<Des
         despawn.entities.clear();
     }
 }
+
+pub fn resize(commands: &mut Commands, time: Res<Time>, mut resize: ResMut<ResizeResource>) {
+    if time.seconds_since_startup() > 6.0 {
+        for entity in &resize.entities {
+            println!("Resizing a block");
+            let collider = ColliderBuilder::cuboid(4.0, 4.0).density(1.0);
+            commands.insert_one(*entity, collider);
+        }
+        resize.entities.clear();
+    }
+}
diff --git a/src/physics/plugins.rs b/src/physics/plugins.rs
index de6b110697d5b..89b0f5920a852 100644
--- a/src/physics/plugins.rs
+++ b/src/physics/plugins.rs
@@ -47,6 +47,7 @@ impl Plugin for RapierPhysicsPlugin {
                 stage::PRE_UPDATE,
                 physics::create_body_and_collider_system.system(),
             )
+            .add_system_to_stage(stage::PRE_UPDATE, physics::update_collider_system.system())
             .add_system_to_stage(stage::PRE_UPDATE, physics::create_joints_system.system())
             .add_system_to_stage(stage::UPDATE, physics::step_world_system.system())
             .add_stage_before(
diff --git a/src/physics/systems.rs b/src/physics/systems.rs
index c573417eeca55..09805c6734753 100644
--- a/src/physics/systems.rs
+++ b/src/physics/systems.rs
@@ -51,6 +51,45 @@ pub fn create_body_and_collider_system(
     }
 }
 
+/// System responsible for replacing colliders on existing bodies when a new
+/// builder is added.
+///
+/// NOTE: This only adds new colliders, the old collider is actually removed
+/// by `destroy_body_and_collider_system`
+pub fn update_collider_system(
+    commands: &mut Commands,
+    mut bodies: ResMut<RigidBodySet>,
+    mut colliders: ResMut<ColliderSet>,
+    mut entity_maps: ResMut<EntityMaps>,
+    with_body_query: Query<
+        (Entity, &RigidBodyHandleComponent, &ColliderBuilder),
+        With<ColliderHandleComponent>,
+    >,
+    without_body_query: Query<
+        (Entity, &Parent, &ColliderBuilder),
+        (
+            Without<RigidBodyHandleComponent>,
+            With<ColliderHandleComponent>,
+        ),
+    >,
+) {
+    for (entity, body_handle, collider_builder) in with_body_query.iter() {
+        let handle = colliders.insert(collider_builder.build(), body_handle.handle(), &mut bodies);
+        commands.insert_one(entity, ColliderHandleComponent::from(handle));
+        commands.remove_one::<ColliderBuilder>(entity);
+        entity_maps.colliders.insert(entity, handle);
+    }
+
+    for (entity, parent, collider_builder) in without_body_query.iter() {
+        if let Some(body_handle) = entity_maps.bodies.get(&parent.0) {
+            let handle = colliders.insert(collider_builder.build(), *body_handle, &mut bodies);
+            commands.insert_one(entity, ColliderHandleComponent::from(handle));
+            commands.remove_one::<ColliderBuilder>(entity);
+            entity_maps.colliders.insert(entity, handle);
+        }
+    }
+}
+
 #[test]
 fn test_create_body_and_collider_system() {
     use bevy::ecs::Schedule;
diff --git a/src/render/systems.rs b/src/render/systems.rs
index 0052287c99972..8b7589326cf7d 100644
--- a/src/render/systems.rs
+++ b/src/render/systems.rs
@@ -16,7 +16,7 @@ pub fn create_collider_renders_system(
     colliders: ResMut<ColliderSet>,
     query: Query<
         (Entity, &ColliderHandleComponent, Option<&RapierRenderColor>),
-        Without<Handle<Mesh>>,
+        Or<(Without<Handle<Mesh>>, Changed<ColliderHandleComponent>)>,
     >,
 ) {
     let ground_color = Color::rgb(