diff --git a/Cargo.toml b/Cargo.toml
index 4d7fb08..c949e5c 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -18,7 +18,6 @@ default = []
 rapier = ["bevy_rapier3d"]
 xpbd = ["bevy_xpbd_3d"]
 debug_draw = ["bevy/bevy_gizmos"]
-trace = []
 
 [[example]]
 name = "rapier3d"
@@ -68,3 +67,8 @@ bevy = { version = "0.11", default-features = false, features = [
     "zstd",
 ] }
 futures-lite = "1.13"
+criterion = { version = "0.5" }
+
+[[bench]]
+name = "simple_geometry"
+harness = false
\ No newline at end of file
diff --git a/benches/simple_geometry.rs b/benches/simple_geometry.rs
new file mode 100644
index 0000000..91d1441
--- /dev/null
+++ b/benches/simple_geometry.rs
@@ -0,0 +1,97 @@
+use bevy::prelude::{UVec2, Transform, Vec3};
+use criterion::{Criterion, criterion_group, criterion_main, black_box};
+use oxidized_navigation::{build_tile_sync, NavMeshSettings, conversion::{GeometryToConvert, GeometryCollection, ColliderType}};
+use parry3d::shape::Cuboid;
+
+
+fn generate_single_primitive_geometry() {
+    let tile_coord = UVec2::new(0, 0);
+    let heightfields = vec![];
+    
+
+    let geometry_collections = vec![
+        GeometryCollection {
+            transform: Transform::from_xyz(0.0, 0.0, 0.0),
+            geometry_to_convert: GeometryToConvert::Collider(ColliderType::Cuboid(Cuboid::new(Vec3::new(10.0, 0.2, 10.0).into()))),
+            area: None
+        }
+    ];
+    let nav_mesh_settings = NavMeshSettings {
+        cell_width: 0.25,
+        cell_height: 0.1,
+        tile_width: 100,
+        world_half_extents: 12.5,
+        world_bottom_bound: -100.0,
+        max_traversable_slope_radians: (40.0_f32 - 0.1).to_radians(),
+        walkable_height: 20,
+        walkable_radius: 1,
+        step_height: 3,
+        min_region_area: 100,
+        merge_region_area: 500,
+        max_contour_simplification_error: 1.1,
+        max_edge_length: 80,
+        max_tile_generation_tasks: Some(1),
+    };
+
+    black_box(build_tile_sync(geometry_collections, tile_coord, heightfields, &nav_mesh_settings));
+}
+
+fn generate_many_primitive_geometry() {
+    let tile_coord = UVec2::new(0, 0);
+    let heightfields = vec![];
+    
+
+    let geometry_collections = vec![
+        GeometryCollection {
+            transform: Transform::from_xyz(0.0, 0.0, 0.0),
+            geometry_to_convert: GeometryToConvert::Collider(ColliderType::Cuboid(Cuboid::new(Vec3::new(10.0, 0.2, 10.0).into()))),
+            area: None
+        },
+        GeometryCollection {
+            transform: Transform::from_xyz(5.0, 1.0, 0.0),
+            geometry_to_convert: GeometryToConvert::Collider(ColliderType::Cuboid(Cuboid::new(Vec3::new(1.0, 1.0, 1.0).into()))),
+            area: None
+        },
+        GeometryCollection {
+            transform: Transform::from_xyz(-5.0, 1.0, 2.0),
+            geometry_to_convert: GeometryToConvert::Collider(ColliderType::Cuboid(Cuboid::new(Vec3::new(4.0, 1.0, 1.0).into()))),
+            area: None
+        },
+        GeometryCollection {
+            transform: Transform::from_xyz(-2.5, 2.0, 2.0),
+            geometry_to_convert: GeometryToConvert::Collider(ColliderType::Cuboid(Cuboid::new(Vec3::new(1.0, 2.0, 1.0).into()))),
+            area: None
+        },
+        GeometryCollection {
+            transform: Transform::from_xyz(-2.5, 2.0, -2.0),
+            geometry_to_convert: GeometryToConvert::Collider(ColliderType::Cuboid(Cuboid::new(Vec3::new(1.0, 2.0, 1.0).into()))),
+            area: None
+        }
+    ];
+    let nav_mesh_settings = NavMeshSettings {
+        cell_width: 0.25,
+        cell_height: 0.1,
+        tile_width: 100,
+        world_half_extents: 12.5,
+        world_bottom_bound: -100.0,
+        max_traversable_slope_radians: (40.0_f32 - 0.1).to_radians(),
+        walkable_height: 20,
+        walkable_radius: 1,
+        step_height: 3,
+        min_region_area: 100,
+        merge_region_area: 500,
+        max_contour_simplification_error: 1.1,
+        max_edge_length: 80,
+        max_tile_generation_tasks: Some(1),
+    };
+
+    black_box(build_tile_sync(geometry_collections, tile_coord, heightfields, &nav_mesh_settings));
+}
+
+fn criterion_benchmark(c: &mut Criterion) {
+    c.bench_function("Generate Single Primitive Geometry", |b| b.iter(generate_single_primitive_geometry));
+    c.bench_function("Generate Many Primitive Geometry", |b| b.iter(generate_many_primitive_geometry));
+}
+
+criterion_group!(benches, criterion_benchmark);
+criterion_main!(benches);
\ No newline at end of file
diff --git a/src/conversion.rs b/src/conversion.rs
index a9d3009..cc0ebcb 100644
--- a/src/conversion.rs
+++ b/src/conversion.rs
@@ -7,13 +7,13 @@ use parry3d::{
 
 use crate::{heightfields::TriangleCollection, Area};
 
-pub(super) struct GeometryCollection {
-    pub(super) transform: Transform,
-    pub(super) geometry_to_convert: GeometryToConvert,
-    pub(super) area: Option<Area>,
+pub struct GeometryCollection {
+    pub transform: Transform,
+    pub geometry_to_convert: GeometryToConvert,
+    pub area: Option<Area>,
 }
 
-pub(super) enum ColliderType {
+pub enum ColliderType {
     Cuboid(Cuboid),
     Ball(Ball),
     Capsule(Capsule),
@@ -22,7 +22,7 @@ pub(super) enum ColliderType {
     Triangle(Triangle),
 }
 
-pub(super) enum GeometryToConvert {
+pub enum GeometryToConvert {
     Collider(ColliderType),
     ParryTriMesh(Vec<Point3<Real>>, Vec<[u32; 3]>),
 }
diff --git a/src/heightfields.rs b/src/heightfields.rs
index 50773a7..c9c5d43 100644
--- a/src/heightfields.rs
+++ b/src/heightfields.rs
@@ -58,10 +58,10 @@ pub(super) struct TriangleCollection {
     pub(super) area: Option<Area>,
 }
 
-pub(super) struct HeightFieldCollection {
-    pub(super) transform: Transform,
-    pub(super) heightfield: Arc<HeightField>,
-    pub(super) area: Option<Area>,
+pub struct HeightFieldCollection {
+    pub transform: Transform,
+    pub heightfield: Arc<HeightField>,
+    pub area: Option<Area>,
 }
 
 pub(super) fn build_heightfield_tile(
diff --git a/src/lib.rs b/src/lib.rs
index 6f49c06..8bb3dbc 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -49,11 +49,11 @@ use parry3d::na::Vector3;
 use parry3d::shape::{HeightField, TypedShape};
 use regions::build_regions;
 use smallvec::SmallVec;
-use tiles::{create_nav_mesh_tile_from_poly_mesh, NavMeshTiles};
+use tiles::{create_nav_mesh_tile_from_poly_mesh, NavMeshTiles, NavMeshTile};
 
 pub mod colliders;
 mod contour;
-mod conversion;
+pub mod conversion;
 #[cfg(feature = "debug_draw")]
 pub mod debug_draw;
 mod heightfields;
@@ -614,8 +614,23 @@ async fn build_tile(
     nav_mesh: Arc<RwLock<NavMeshTiles>>,
 ) {
     #[cfg(feature = "trace")]
-    let _span = info_span!("Build Tile").entered();
+    let _span = info_span!("Async build Tile").entered();
 
+    let nav_mesh_tile = build_tile_sync(geometry_collections, tile_coord, heightfields, &nav_mesh_settings);
+
+    let Ok(mut nav_mesh) = nav_mesh.write() else {
+        error!("Nav-Mesh lock has been poisoned. Generation can no longer be continued.");
+        return;
+    };
+
+    if nav_mesh.tile_generations.get(&tile_coord).unwrap_or(&0) < &generation {
+        nav_mesh.tile_generations.insert(tile_coord, generation);
+
+        nav_mesh.add_tile(tile_coord, nav_mesh_tile, &nav_mesh_settings);
+    }
+}
+
+pub fn build_tile_sync(geometry_collections: Vec<GeometryCollection>, tile_coord: UVec2, heightfields: Vec<HeightFieldCollection>, nav_mesh_settings: &NavMeshSettings) -> NavMeshTile {
     let triangle_collection = {
         #[cfg(feature = "trace")]
         let _span = info_span!("Convert Geometry Collections").entered();
@@ -629,61 +644,51 @@ async fn build_tile(
             tile_coord,
             triangle_collection,
             heightfields,
-            &nav_mesh_settings,
+            nav_mesh_settings,
         )
     };
 
     let mut open_tile = {
         #[cfg(feature = "trace")]
         let _span = info_span!("Build Open Heightfield Tile").entered();
-        build_open_heightfield_tile(voxelized_tile, &nav_mesh_settings)
+        build_open_heightfield_tile(voxelized_tile, nav_mesh_settings)
     };
 
     // Remove areas that are too close to a wall.
     {
         #[cfg(feature = "trace")]
         let _span = info_span!("Erode walkable area").entered();
-        erode_walkable_area(&mut open_tile, &nav_mesh_settings);
+        erode_walkable_area(&mut open_tile, nav_mesh_settings);
     }
 
     {
         #[cfg(feature = "trace")]
         let _span = info_span!("Calculate distance field").entered();
-        calculate_distance_field(&mut open_tile, &nav_mesh_settings);
+        calculate_distance_field(&mut open_tile, nav_mesh_settings);
     }
     {
         #[cfg(feature = "trace")]
         let _span = info_span!("Build regions").entered();
-        build_regions(&mut open_tile, &nav_mesh_settings);
+        build_regions(&mut open_tile, nav_mesh_settings);
     }
 
     let contour_set = {
         #[cfg(feature = "trace")]
         let _span = info_span!("Build contours").entered();
-        build_contours(open_tile, &nav_mesh_settings)
+        build_contours(open_tile, nav_mesh_settings)
     };
 
     let poly_mesh = {
         #[cfg(feature = "trace")]
         let _span = info_span!("Build poly mesh").entered();
-        build_poly_mesh(contour_set, &nav_mesh_settings)
+        build_poly_mesh(contour_set, nav_mesh_settings)
     };
-    let nav_mesh_tile = {
+    
+    {
         #[cfg(feature = "trace")]
         let _span = info_span!("Create nav-mesh tile from poly mesh").entered();
 
-        create_nav_mesh_tile_from_poly_mesh(poly_mesh, tile_coord, &nav_mesh_settings)
-    };
-
-    let Ok(mut nav_mesh) = nav_mesh.write() else {
-        error!("Nav-Mesh lock has been poisoned. Generation can no longer be continued.");
-        return;
-    };
-
-    if nav_mesh.tile_generations.get(&tile_coord).unwrap_or(&0) < &generation {
-        nav_mesh.tile_generations.insert(tile_coord, generation);
-
-        nav_mesh.add_tile(tile_coord, nav_mesh_tile, &nav_mesh_settings);
+        create_nav_mesh_tile_from_poly_mesh(poly_mesh, tile_coord, nav_mesh_settings)
     }
 }