I believe that at least the initial version of ISAAC from Nvidia was based on an ECS. I don't think it is a determinism killer, this is often a well ordered pipeline within a game loop.

In terms of architecture though, it looks like it makes a ton of sense inside something like a tracker (ie the entity is basically a track) but for other parts like a vision pipeline, sensor fusion etc... I don't see how it helps.

Tell me if I am missing something.

Talking about Bevy, fitting Copper within Bevy to build this little simulation example happened super naturally: Copper is a System querying the Entities within the virtual world after each simulation tick.