Add support of 64-bits reals.

55 files changed, 657 insertions, 519 deletions

diff --git a/Cargo.toml b/Cargo.toml
index 0cde558..e38800b 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,19 +1,24 @@
 [workspace]
-members = [ "build/rapier2d", "build/rapier_testbed2d", "examples2d", "benchmarks2d",
-            "build/rapier3d", "build/rapier_testbed3d", "examples3d", "benchmarks3d" ]
+members = [ "build/rapier2d", "build/rapier2d-f64", "build/rapier_testbed2d", "examples2d", "benchmarks2d",
+            "build/rapier3d", "build/rapier3d-f64", "build/rapier_testbed3d", "examples3d", "benchmarks3d" ]
 
 [patch.crates-io]
 #wrapped2d = { git = "https://github.com/Bastacyclop/rust_box2d.git" }
 #simba = { path = "../simba" }
-#ncollide2d = { path = "../ncollide/build/ncollide2d" }
-#ncollide3d = { path = "../ncollide/build/ncollide3d" }
-#nphysics2d = { path = "../nphysics/build/nphysics2d" }
-#nphysics3d = { path = "../nphysics/build/nphysics3d" }
-#kiss3d = { path = "../kiss3d" }
-#cdl2d = { path = "../cdl/build/cdl2d" }
-#cdl3d = { path = "../cdl/build/cdl3d" }
-cdl2d = { git = "https://github.com/sebcrozet/cdl.git" }
-cdl3d = { git = "https://github.com/sebcrozet/cdl.git" }
+ncollide2d = { path = "../ncollide/build/ncollide2d" }
+ncollide3d = { path = "../ncollide/build/ncollide3d" }
+nphysics2d = { path = "../nphysics/build/nphysics2d" }
+nphysics3d = { path = "../nphysics/build/nphysics3d" }
+kiss3d = { path = "../kiss3d" }
+cdl2d = { path = "../cdl/build/cdl2d" }
+cdl3d = { path = "../cdl/build/cdl3d" }
+cdl2d-f64 = { path = "../cdl/build/cdl2d-f64" }
+cdl3d-f64 = { path = "../cdl/build/cdl3d-f64" }
+#cdl2d = { git = "https://github.com/sebcrozet/cdl.git" }
+#cdl3d = { git = "https://github.com/sebcrozet/cdl.git" }
+#cdl2d-f64 = { git = "https://github.com/sebcrozet/cdl.git" }
+#cdl3d-f64 = { git = "https://github.com/sebcrozet/cdl.git" }
+#nalgebra = { path = "../nalgebra" }
 
 [profile.release]
 #debug = true
diff --git a/benchmarks2d/Cargo.toml b/benchmarks2d/Cargo.toml
index 90a6326..21169bb 100644
--- a/benchmarks2d/Cargo.toml
+++ b/benchmarks2d/Cargo.toml
@@ -14,7 +14,7 @@ enhanced-determinism = [ "rapier2d/enhanced-determinism" ]
 [dependencies]
 rand       = "0.7"
 Inflector  = "0.11"
-nalgebra = "0.23"
+nalgebra   = "0.24"
 
 [dependencies.rapier_testbed2d]
 path = "../build/rapier_testbed2d"
diff --git a/benchmarks3d/Cargo.toml b/benchmarks3d/Cargo.toml
index 03194df..16399c9 100644
--- a/benchmarks3d/Cargo.toml
+++ b/benchmarks3d/Cargo.toml
@@ -14,7 +14,7 @@ enhanced-determinism = [ "rapier3d/enhanced-determinism" ]
 [dependencies]
 rand       = "0.7"
 Inflector  = "0.11"
-nalgebra = "0.23"
+nalgebra   = "0.24"
 
 [dependencies.rapier_testbed3d]
 path = "../build/rapier_testbed3d"
diff --git a/build/rapier2d-f64/Cargo.toml b/build/rapier2d-f64/Cargo.toml
new file mode 100644
index 0000000..a1a4b54
--- /dev/null
+++ b/build/rapier2d-f64/Cargo.toml
@@ -0,0 +1,57 @@
+[package]
+name    = "rapier2d-f64"
+version = "0.4.2"
+authors = [ "Sébastien Crozet <developer@crozet.re>" ]
+description = "2-dimensional physics engine in Rust."
+documentation = "http://docs.rs/rapier2d"
+homepage = "http://rapier.rs"
+repository = "https://github.com/dimforge/rapier"
+readme = "README.md"
+keywords = [ "physics", "dynamics", "rigid", "real-time", "joints" ]
+license = "Apache-2.0"
+edition = "2018"
+
+[features]
+default = [ "dim2", "f64" ]
+dim2    = [ ]
+f64     = [ ]
+parallel = [ "rayon" ]
+simd-stable = [ "simba/wide", "simd-is-enabled" ]
+simd-nightly = [ "simba/packed_simd", "simd-is-enabled" ]
+# Do not enable this feature directly. It is automatically
+# enabled with the "simd-stable" or "simd-nightly" feature.
+simd-is-enabled = [ ]
+wasm-bindgen = [ "instant/wasm-bindgen" ]
+serde-serialize = [ "erased-serde", "nalgebra/serde-serialize", "cdl2d-f64/serde-serialize", "serde", "generational-arena/serde", "bit-vec/serde", "arrayvec/serde" ]
+enhanced-determinism = [ "simba/libm_force", "cdl2d-f64/enhanced-determinism", "indexmap" ]
+
+[lib]
+name = "rapier2d_f64"
+path = "../../src/lib.rs"
+required-features = [ "dim2", "f64" ]
+
+
+[dependencies]
+vec_map = "0.8"
+instant = { version = "0.1", features = [ "now" ]}
+num-traits = "0.2"
+nalgebra = "0.24"
+cdl2d-f64 = "0.1"
+simba = "0.3"
+approx = "0.4"
+rayon = { version = "1", optional = true }
+crossbeam = "0.8"
+generational-arena = "0.2"
+arrayvec = "0.5"
+bit-vec = "0.6"
+rustc-hash = "1"
+serde = { version = "1", features = [ "derive" ], optional = true }
+erased-serde = { version = "0.3", optional = true }
+indexmap = { version = "1", features = [ "serde-1" ], optional = true }
+downcast-rs = "1.2"
+num-derive = "0.3"
+bitflags = "1"
+
+[dev-dependencies]
+bincode = "1"
+serde = { version = "1", features = [ "derive" ] }
diff --git a/build/rapier2d/Cargo.toml b/build/rapier2d/Cargo.toml
index 3bbb8f0..1729e6a 100644
--- a/build/rapier2d/Cargo.toml
+++ b/build/rapier2d/Cargo.toml
@@ -12,8 +12,9 @@ license = "Apache-2.0"
 edition = "2018"
 
 [features]
-default = [ "dim2" ]
+default = [ "dim2", "f32" ]
 dim2    = [ ]
+f32     = [ ]
 parallel = [ "rayon" ]
 simd-stable = [ "simba/wide", "simd-is-enabled" ]
 simd-nightly = [ "simba/packed_simd", "simd-is-enabled" ]
@@ -27,14 +28,14 @@ enhanced-determinism = [ "simba/libm_force", "cdl2d/enhanced-determinism", "inde
 [lib]
 name = "rapier2d"
 path = "../../src/lib.rs"
-required-features = [ "dim2" ]
+required-features = [ "dim2", "f32" ]
 
 
 [dependencies]
 vec_map = "0.8"
 instant = { version = "0.1", features = [ "now" ]}
 num-traits = "0.2"
-nalgebra = "0.23"
+nalgebra = "0.24"
 cdl2d = "0.1"
 simba = "0.3"
 approx = "0.4"
diff --git a/build/rapier3d-f64/Cargo.toml b/build/rapier3d-f64/Cargo.toml
new file mode 100644
index 0000000..6c46557
--- /dev/null
+++ b/build/rapier3d-f64/Cargo.toml
@@ -0,0 +1,56 @@
+[package]
+name    = "rapier3d-f64"
+version = "0.4.2"
+authors = [ "Sébastien Crozet <developer@crozet.re>" ]
+description = "3-dimensional physics engine in Rust."
+documentation = "http://docs.rs/rapier3d"
+homepage = "http://rapier.rs"
+repository = "https://github.com/dimforge/rapier"
+readme = "README.md"
+keywords = [ "physics", "dynamics", "rigid", "real-time", "joints" ]
+license = "Apache-2.0"
+edition = "2018"
+
+[features]
+default = [ "dim3", "f64" ]
+dim3    = [ ]
+f64     = [ ]
+parallel = [ "rayon" ]
+simd-stable = [ "cdl3d-f64/simd-stable", "simba/wide", "simd-is-enabled" ]
+simd-nightly = [ "cdl3d-f64/simd-nightly", "simba/packed_simd", "simd-is-enabled" ]
+# Do not enable this feature directly. It is automatically
+# enabled with the "simd-stable" or "simd-nightly" feature.
+simd-is-enabled = [ ]
+wasm-bindgen = [ "instant/wasm-bindgen" ]
+serde-serialize = [ "erased-serde", "nalgebra/serde-serialize", "cdl3d-f64/serde-serialize", "serde", "generational-arena/serde", "bit-vec/serde" ]
+enhanced-determinism = [ "simba/libm_force", "cdl3d-f64/enhanced-determinism" ]
+
+[lib]
+name = "rapier3d_f64"
+path = "../../src/lib.rs"
+required-features = [ "dim3", "f64" ]
+
+
+[dependencies]
+vec_map = "0.8"
+instant = { version = "0.1", features = [ "now" ]}
+num-traits = "0.2"
+nalgebra = "0.24"
+cdl3d-f64 = "0.1"
+simba = "0.3"
+approx = "0.4"
+rayon = { version = "1", optional = true }
+crossbeam = "0.8"
+generational-arena = "0.2"
+arrayvec = "0.5"
+bit-vec = "0.6"
+rustc-hash = "1"
+serde = { version = "1", features = [ "derive" ], optional = true }
+erased-serde = { version = "0.3", optional = true }
+downcast-rs = "1.2"
+num-derive = "0.3"
+bitflags = "1"
+
+[dev-dependencies]
+bincode = "1"
+serde = { version = "1", features = [ "derive" ] }
diff --git a/build/rapier3d/Cargo.toml b/build/rapier3d/Cargo.toml
index d2a1fae..6c8e4d1 100644
--- a/build/rapier3d/Cargo.toml
+++ b/build/rapier3d/Cargo.toml
@@ -12,8 +12,9 @@ license = "Apache-2.0"
 edition = "2018"
 
 [features]
-default = [ "dim3" ]
+default = [ "dim3", "f32" ]
 dim3    = [ ]
+f32     = [ ]
 parallel = [ "rayon" ]
 simd-stable = [ "cdl3d/simd-stable", "simba/wide", "simd-is-enabled" ]
 simd-nightly = [ "cdl3d/simd-nightly", "simba/packed_simd", "simd-is-enabled" ]
@@ -27,14 +28,14 @@ enhanced-determinism = [ "simba/libm_force", "cdl3d/enhanced-determinism" ]
 [lib]
 name = "rapier3d"
 path = "../../src/lib.rs"
-required-features = [ "dim3" ]
+required-features = [ "dim3", "f32" ]
 
 
 [dependencies]
 vec_map = "0.8"
 instant = { version = "0.1", features = [ "now" ]}
 num-traits = "0.2"
-nalgebra = "0.23"
+nalgebra = "0.24"
 cdl3d = "0.1"
 simba = "0.3"
 approx = "0.4"
diff --git a/build/rapier_testbed2d/Cargo.toml b/build/rapier_testbed2d/Cargo.toml
index 63d1136..c1ac651 100644
--- a/build/rapier_testbed2d/Cargo.toml
+++ b/build/rapier_testbed2d/Cargo.toml
@@ -23,7 +23,7 @@ other-backends = [ "wrapped2d", "nphysics2d" ]
 
 
 [dependencies]
-nalgebra   = "0.23"
+nalgebra   = "0.24"
 kiss3d     = { version = "0.28", features = [ "conrod" ] }
 rand       = "0.7"
 rand_pcg   = "0.2"
diff --git a/build/rapier_testbed3d/Cargo.toml b/build/rapier_testbed3d/Cargo.toml
index f307211..af2311c 100644
--- a/build/rapier_testbed3d/Cargo.toml
+++ b/build/rapier_testbed3d/Cargo.toml
@@ -22,7 +22,7 @@ parallel = [ "rapier3d/parallel", "num_cpus" ]
 other-backends = [ "physx", "physx-sys", "glam", "nphysics3d" ]
 
 [dependencies]
-nalgebra   = "0.23"
+nalgebra   = "0.24"
 kiss3d     = { version = "0.28", features = [ "conrod" ] }
 rand       = "0.7"
 rand_pcg   = "0.2"
diff --git a/examples2d/Cargo.toml b/examples2d/Cargo.toml
index f1ed728..6580923 100644
--- a/examples2d/Cargo.toml
+++ b/examples2d/Cargo.toml
@@ -14,7 +14,7 @@ enhanced-determinism = [ "rapier2d/enhanced-determinism" ]
 [dependencies]
 rand       = "0.7"
 Inflector  = "0.11"
-nalgebra = "0.23"
+nalgebra   = "0.24"
 
 [dependencies.rapier_testbed2d]
 path = "../build/rapier_testbed2d"
diff --git a/examples3d/Cargo.toml b/examples3d/Cargo.toml
index 46fbca6..1f9cba3 100644
--- a/examples3d/Cargo.toml
+++ b/examples3d/Cargo.toml
@@ -14,7 +14,7 @@ enhanced-determinism = [ "rapier3d/enhanced-determinism" ]
 [dependencies]
 rand       = "0.7"
 Inflector  = "0.11"
-nalgebra = "0.23"
+nalgebra   = "0.24"
 
 [dependencies.rapier_testbed3d]
 path = "../build/rapier_testbed3d"
diff --git a/src/dynamics/integration_parameters.rs b/src/dynamics/integration_parameters.rs
index b31c3f6..706fb3f 100644
--- a/src/dynamics/integration_parameters.rs
+++ b/src/dynamics/integration_parameters.rs
@@ -1,11 +1,13 @@
+use crate::math::Real;
+
 /// Parameters for a time-step of the physics engine.
 #[derive(Clone)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 pub struct IntegrationParameters {
     /// The timestep length (default: `1.0 / 60.0`)
-    dt: f32,
+    dt: Real,
     /// The inverse of `dt`.
-    inv_dt: f32,
+    inv_dt: Real,
     //    /// If `true` and if rapier is compiled with the `parallel` feature, this will enable rayon-based multithreading (default: `true`).
     //    ///
     //    /// This parameter is ignored if rapier is not compiled with is `parallel` feature.
@@ -19,31 +21,31 @@ pub struct IntegrationParameters {
     pub return_after_ccd_substep: bool,
     /// The Error Reduction Parameter in `[0, 1]` is the proportion of
     /// the positional error to be corrected at each time step (default: `0.2`).
-    pub erp: f32,
+    pub erp: Real,
     /// The Error Reduction Parameter for joints in `[0, 1]` is the proportion of
     /// the positional error to be corrected at each time step (default: `0.2`).
-    pub joint_erp: f32,
+    pub joint_erp: Real,
     /// Each cached impulse are multiplied by this coefficient in `[0, 1]`
     /// when they are re-used to initialize the solver (default `1.0`).
-    pub warmstart_coeff: f32,
+    pub warmstart_coeff: Real,
     /// Contacts at points where the involved bodies have a relative
     /// velocity smaller than this threshold wont be affected by the restitution force (default: `1.0`).
-    pub restitution_velocity_threshold: f32,
+    pub restitution_velocity_threshold: Real,
     /// Amount of penetration the engine wont attempt to correct (default: `0.001m`).
-    pub allowed_linear_error: f32,
+    pub allowed_linear_error: Real,
     /// The maximal distance separating two objects that will generate predictive contacts (default: `0.002`).
-    pub prediction_distance: f32,
+    pub prediction_distance: Real,
     /// Amount of angular drift of joint limits the engine wont
     /// attempt to correct (default: `0.001rad`).
-    pub allowed_angular_error: f32,
+    pub allowed_angular_error: Real,
     /// Maximum linear correction during one step of the non-linear position solver (default: `0.2`).
-    pub max_linear_correction: f32,
+    pub max_linear_correction: Real,
     /// Maximum angular correction during one step of the non-linear position solver (default: `0.2`).
-    pub max_angular_correction: f32,
+    pub max_angular_correction: Real,
     /// Maximum nonlinear SOR-prox scaling parameter when the constraint
     /// correction direction is close to the kernel of the involved multibody's
     /// jacobian (default: `0.2`).
-    pub max_stabilization_multiplier: f32,
+    pub max_stabilization_multiplier: Real,
     /// Maximum number of iterations performed by the velocity constraints solver (default: `4`).
     pub max_velocity_iterations: usize,
     /// Maximum number of iterations performed by the position-based constraints solver (default: `1`).
@@ -88,18 +90,18 @@ pub struct IntegrationParameters {
 impl IntegrationParameters {
     /// Creates a set of integration parameters with the given values.
     pub fn new(
-        dt: f32,
+        dt: Real,
         //        multithreading_enabled: bool,
-        erp: f32,
-        joint_erp: f32,
-        warmstart_coeff: f32,
-        restitution_velocity_threshold: f32,
-        allowed_linear_error: f32,
-        allowed_angular_error: f32,
-        max_linear_correction: f32,
-        max_angular_correction: f32,
-        prediction_distance: f32,
-        max_stabilization_multiplier: f32,
+        erp: Real,
+        joint_erp: Real,
+        warmstart_coeff: Real,
+        restitution_velocity_threshold: Real,
+        allowed_linear_error: Real,
+        allowed_angular_error: Real,
+        max_linear_correction: Real,
+        max_angular_correction: Real,
+        prediction_distance: Real,
+        max_stabilization_multiplier: Real,
         max_velocity_iterations: usize,
         max_position_iterations: usize,
         max_ccd_position_iterations: usize,
@@ -140,7 +142,7 @@ impl IntegrationParameters {
 
     /// The current time-stepping length.
     #[inline(always)]
-    pub fn dt(&self) -> f32 {
+    pub fn dt(&self) -> Real {
         self.dt
     }
 
@@ -148,7 +150,7 @@ impl IntegrationParameters {
     ///
     /// This is zero if `self.dt` is zero.
     #[inline(always)]
-    pub fn inv_dt(&self) -> f32 {
+    pub fn inv_dt(&self) -> Real {
         self.inv_dt
     }
 
@@ -156,7 +158,7 @@ impl IntegrationParameters {
     ///
     /// This automatically recompute `self.inv_dt`.
     #[inline]
-    pub fn set_dt(&mut self, dt: f32) {
+    pub fn set_dt(&mut self, dt: Real) {
         assert!(dt >= 0.0, "The time-stepping length cannot be negative.");
         self.dt = dt;
         if dt == 0.0 {
@@ -170,7 +172,7 @@ impl IntegrationParameters {
     ///
     /// This automatically recompute `self.dt`.
     #[inline]
-    pub fn set_inv_dt(&mut self, inv_dt: f32) {
+    pub fn set_inv_dt(&mut self, inv_dt: Real) {
         self.inv_dt = inv_dt;
         if inv_dt == 0.0 {
             self.dt = 0.0
diff --git a/src/dynamics/joint/ball_joint.rs b/src/dynamics/joint/ball_joint.rs
index ec255d4..82e2a10 100644
--- a/src/dynamics/joint/ball_joint.rs
+++ b/src/dynamics/joint/ball_joint.rs
@@ -1,29 +1,29 @@
-use crate::math::{Point, Vector};
+use crate::math::{Point, Real, Vector};
 
 #[derive(Copy, Clone)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 /// A joint that removes all relative linear motion between a pair of points on two bodies.
 pub struct BallJoint {
     /// Where the ball joint is attached on the first body, expressed in the first body local frame.
-    pub local_anchor1: Point<f32>,
+    pub local_anchor1: Point<Real>,
     /// Where the ball joint is attached on the first body, expressed in the first body local frame.
-    pub local_anchor2: Point<f32>,
+    pub local_anchor2: Point<Real>,
     /// The impulse applied by this joint on the first body.
     ///
     /// The impulse applied to the second body is given by `-impulse`.
-    pub impulse: Vector<f32>,
+    pub impulse: Vector<Real>,
 }
 
 impl BallJoint {
     /// Creates a new Ball joint from two anchors given on the local spaces of the respective bodies.
-    pub fn new(local_anchor1: Point<f32>, local_anchor2: Point<f32>) -> Self {
+    pub fn new(local_anchor1: Point<Real>, local_anchor2: Point<Real>) -> Self {
         Self::with_impulse(local_anchor1, local_anchor2, Vector::zeros())
     }
 
     pub(crate) fn with_impulse(
-        local_anchor1: Point<f32>,
-        local_anchor2: Point<f32>,
-        impulse: Vector<f32>,
+        local_anchor1: Point<Real>,
+        local_anchor2: Point<Real>,
+        impulse: Vector<Real>,
     ) -> Self {
         Self {
             local_anchor1,
diff --git a/src/dynamics/joint/fixed_joint.rs b/src/dynamics/joint/fixed_joint.rs
index 0731cfb..359e14a 100644
--- a/src/dynamics/joint/fixed_joint.rs
+++ b/src/dynamics/joint/fixed_joint.rs
@@ -1,4 +1,4 @@
-use crate::math::{Isometry, SpacialVector};
+use crate::math::{Isometry, Real, SpacialVector};
 
 #[derive(Copy, Clone)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
@@ -8,22 +8,22 @@ use crate::math::{Isometry, SpacialVector};
 pub struct FixedJoint {
     /// The frame of reference for the first body affected by this joint, expressed in the local frame
     /// of the first body.
-    pub local_anchor1: Isometry<f32>,
+    pub local_anchor1: Isometry<Real>,
     /// The frame of reference for the second body affected by this joint, expressed in the local frame
     /// of the first body.
-    pub local_anchor2: Isometry<f32>,
+    pub local_anchor2: Isometry<Real>,
     /// The impulse applied to the first body affected by this joint.
     ///
     /// The impulse applied to the second body affected by this joint is given by `-impulse`.
     /// This combines both linear and angular impulses:
     /// - In 2D, `impulse.xy()` gives the linear impulse, and `impulse.z` the angular impulse.
     /// - In 3D, `impulse.xyz()` gives the linear impulse, and `(impulse[3], impulse[4], impulse[5])` the angular impulse.
-    pub impulse: SpacialVector<f32>,
+    pub impulse: SpacialVector<Real>,
 }
 
 impl FixedJoint {
     /// Creates a new fixed joint from the frames of reference of both bodies.
-    pub fn new(local_anchor1: Isometry<f32>, local_anchor2: Isometry<f32>) -> Self {
+    pub fn new(local_anchor1: Isometry<Real>, local_anchor2: Isometry<Real>) -> Self {
         Self {
             local_anchor1,
             local_anchor2,
diff --git a/src/dynamics/joint/prismatic_joint.rs b/src/dynamics/joint/prismatic_joint.rs
index a6fd558..174ce79 100644
--- a/src/dynamics/joint/prismatic_joint.rs
+++ b/src/dynamics/joint/prismatic_joint.rs
@@ -1,4 +1,4 @@
-use crate::math::{Isometry, Point, Vector, DIM};
+use crate::math::{Isometry, Point, Real, Vector, DIM};
 use crate::utils::WBasis;
 use na::Unit;
 #[cfg(feature = "dim2")]
@@ -11,35 +11,35 @@ use na::Vector5;
 /// A joint that removes all relative motion between two bodies, except for the translations along one axis.
 pub struct PrismaticJoint {
     /// Where the prismatic joint is attached on the first body, expressed in the local space of the first attached body.
-    pub local_anchor1: Point<f32>,
+    pub local_anchor1: Point<Real>