KinematicCharacterControllerOutput not working on KinematicVelocityBased entities

[AntoineRR]

I've been trying to detect collisions using the KinematicCharacterControllerOutput Component for an entity I control through its Velocity (i.e. having a Rigibbody::KinematicVelocityBased Component. However the output component does not seem to be added automatically. When adding it manually, it is not updated when I move the entity. Here is a simple example reproducing the issue with bevy 0.13.1 and bevy_rapier3d 0.25.0 :

use bevy::prelude::*;
use bevy_rapier3d::prelude::*;

#[derive(Component, Default)]
struct MyCube;

fn spawn(mut commands: Commands) {
    commands.spawn((
        RigidBody::Fixed,
        Collider::cuboid(10.0, 1.0, 10.0),
        TransformBundle::default(),
    ));

    commands.spawn((
        RigidBody::KinematicVelocityBased,
        KinematicCharacterController::default(),
        KinematicCharacterControllerOutput::default(),
        TransformBundle {
            local: Transform::from_translation(Vec3::new(0.0, 10.0, 0.0)),
            ..default()
        },
        Velocity {
            linvel: Vec3::new(0.0, -10.0, 0.0),
            ..default()
        },
        Collider::cuboid(1.0, 1.0, 1.0),
        ActiveEvents::all(),
        ActiveCollisionTypes::all(),
        MyCube::default(),
    ));
}

fn handle_collisions(cube_query: Query<&KinematicCharacterControllerOutput, With<MyCube>>) {
    let Ok(output) = cube_query.get_single() else {
        return;
    };
    info!("{:?}", output);
    for collision in &output.collisions {
        info!(
            "Ball collided with floor with normal {:?}",
            collision.toi.details.unwrap().normal1,
        );
    }
}

pub struct TestPlugin;

impl Plugin for TestPlugin {
    fn build(&self, app: &mut App) {
        app.add_systems(Startup, spawn)
            .add_systems(Update, handle_collisions);
    }
}

When using KinematicPositionBased and this snippet to move the cube everything works as expected :

fn move_cube(time: Res<Time>, mut query: Query<&mut KinematicCharacterController>) {
    for mut controller in query.iter_mut() {
        controller.translation = Some(-Vec3::Y * time.delta_seconds() * 10.0);
    }
}

I would expect the KinematicCharacterControllerOutput component to be added and updated for kinematic objects moved using their velocity too, or maybe I am doing something wrong?