bevy-inspector-egui-rapier

[dependencies]
bevy-inspector-egui = "0.11"
bevy-inspector-egui-rapier = { version = "0.3", features = ["rapier3d"] }

use bevy::prelude::*;
use bevy_inspector_egui::WorldInspectorPlugin;
use bevy_inspector_egui_rapier::InspectableRapierPlugin;
use bevy_rapier3d::prelude::*;

fn main() {
    App::new()
        .add_plugins(DefaultPlugins)
        .add_plugin(RapierDebugRenderPlugin)
        .add_plugin(RapierPhysicsPlugin::<NoUserData>::default())
        .add_plugin(InspectableRapierPlugin) // <--- register the inspectable UI functions for rapier types
        .add_plugin(WorldInspectorPlugin)
        .run();
}

Bevy support table