Outsource the Shape trait, wquadtree, and shape types.

9 files changed, 285 insertions, 287 deletions

diff --git a/src/dynamics/solver/joint_constraint/ball_position_constraint_wide.rs b/src/dynamics/solver/joint_constraint/ball_position_constraint_wide.rs
index c552d57..f1ca4b6 100644
--- a/src/dynamics/solver/joint_constraint/ball_position_constraint_wide.rs
+++ b/src/dynamics/solver/joint_constraint/ball_position_constraint_wide.rs
@@ -1,7 +1,7 @@
 use crate::dynamics::{BallJoint, IntegrationParameters, RigidBody};
 #[cfg(feature = "dim2")]
 use crate::math::SdpMatrix;
-use crate::math::{AngularInertia, Isometry, Point, Rotation, SimdFloat, SIMD_WIDTH};
+use crate::math::{AngularInertia, Isometry, Point, Rotation, SimdReal, SIMD_WIDTH};
 use crate::utils::{WAngularInertia, WCross, WCrossMatrix};
 use simba::simd::SimdValue;
 
@@ -10,17 +10,17 @@ pub(crate) struct WBallPositionConstraint {
     position1: [usize; SIMD_WIDTH],
     position2: [usize; SIMD_WIDTH],
 
-    local_com1: Point<SimdFloat>,
-    local_com2: Point<SimdFloat>,
+    local_com1: Point<SimdReal>,
+    local_com2: Point<SimdReal>,
 
-    im1: SimdFloat,
-    im2: SimdFloat,
+    im1: SimdReal,
+    im2: SimdReal,
 
-    ii1: AngularInertia<SimdFloat>,
-    ii2: AngularInertia<SimdFloat>,
+    ii1: AngularInertia<SimdReal>,
+    ii2: AngularInertia<SimdReal>,
 
-    local_anchor1: Point<SimdFloat>,
-    local_anchor2: Point<SimdFloat>,
+    local_anchor1: Point<SimdReal>,
+    local_anchor2: Point<SimdReal>,
 }
 
 impl WBallPositionConstraint {
@@ -31,13 +31,13 @@ impl WBallPositionConstraint {
     ) -> Self {
         let local_com1 = Point::from(array![|ii| rbs1[ii].mass_properties.local_com; SIMD_WIDTH]);
         let local_com2 = Point::from(array![|ii| rbs2[ii].mass_properties.local_com; SIMD_WIDTH]);
-        let im1 = SimdFloat::from(array![|ii| rbs1[ii].mass_properties.inv_mass; SIMD_WIDTH]);
-        let im2 = SimdFloat::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
-        let ii1 = AngularInertia::<SimdFloat>::from(
+        let im1 = SimdReal::from(array![|ii| rbs1[ii].mass_properties.inv_mass; SIMD_WIDTH]);
+        let im2 = SimdReal::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
+        let ii1 = AngularInertia::<SimdReal>::from(
             array![|ii| rbs1[ii].world_inv_inertia_sqrt; SIMD_WIDTH],
         )
         .squared();
-        let ii2 = AngularInertia::<SimdFloat>::from(
+        let ii2 = AngularInertia::<SimdReal>::from(
             array![|ii| rbs2[ii].world_inv_inertia_sqrt; SIMD_WIDTH],
         )
         .squared();
@@ -97,7 +97,7 @@ impl WBallPositionConstraint {
         };
 
         let inv_lhs = lhs.inverse_unchecked();
-        let impulse = inv_lhs * -(err * SimdFloat::splat(params.joint_erp));
+        let impulse = inv_lhs * -(err * SimdReal::splat(params.joint_erp));
 
         position1.translation.vector += impulse * self.im1;
         position2.translation.vector -= impulse * self.im2;
@@ -120,11 +120,11 @@ impl WBallPositionConstraint {
 #[derive(Debug)]
 pub(crate) struct WBallPositionGroundConstraint {
     position2: [usize; SIMD_WIDTH],
-    anchor1: Point<SimdFloat>,
-    im2: SimdFloat,
-    ii2: AngularInertia<SimdFloat>,
-    local_anchor2: Point<SimdFloat>,
-    local_com2: Point<SimdFloat>,
+    anchor1: Point<SimdReal>,
+    im2: SimdReal,
+    ii2: AngularInertia<SimdReal>,
+    local_anchor2: Point<SimdReal>,
+    local_com2: Point<SimdReal>,
 }
 
 impl WBallPositionGroundConstraint {
@@ -141,8 +141,8 @@ impl WBallPositionGroundConstraint {
             } else {
                 cparams[ii].local_anchor1
             }; SIMD_WIDTH]);
-        let im2 = SimdFloat::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
-        let ii2 = AngularInertia::<SimdFloat>::from(
+        let im2 = SimdReal::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
+        let ii2 = AngularInertia::<SimdReal>::from(
             array![|ii| rbs2[ii].world_inv_inertia_sqrt; SIMD_WIDTH],
         )
         .squared();
@@ -186,7 +186,7 @@ impl WBallPositionGroundConstraint {
         };
 
         let inv_lhs = lhs.inverse_unchecked();
-        let impulse = inv_lhs * -(err * SimdFloat::splat(params.joint_erp));
+        let impulse = inv_lhs * -(err * SimdReal::splat(params.joint_erp));
         position2.translation.vector -= impulse * self.im2;
 
         let angle2 = self.ii2.transform_vector(centered_anchor2.gcross(-impulse));
diff --git a/src/dynamics/solver/joint_constraint/ball_velocity_constraint_wide.rs b/src/dynamics/solver/joint_constraint/ball_velocity_constraint_wide.rs
index b96f3b8..bbb709e 100644
--- a/src/dynamics/solver/joint_constraint/ball_velocity_constraint_wide.rs
+++ b/src/dynamics/solver/joint_constraint/ball_velocity_constraint_wide.rs
@@ -3,7 +3,7 @@ use crate::dynamics::{
     BallJoint, IntegrationParameters, JointGraphEdge, JointIndex, JointParams, RigidBody,
 };
 use crate::math::{
-    AngVector, AngularInertia, Isometry, Point, SdpMatrix, SimdFloat, Vector, SIMD_WIDTH,
+    AngVector, AngularInertia, Isometry, Point, SdpMatrix, SimdReal, Vector, SIMD_WIDTH,
 };
 use crate::utils::{WAngularInertia, WCross, WCrossMatrix};
 use simba::simd::SimdValue;
@@ -15,16 +15,16 @@ pub(crate) struct WBallVelocityConstraint {
 
     joint_id: [JointIndex; SIMD_WIDTH],
 
-    rhs: Vector<SimdFloat>,
-    pub(crate) impulse: Vector<SimdFloat>,
+    rhs: Vector<SimdReal>,
+    pub(crate) impulse: Vector<SimdReal>,
 
-    gcross1: Vector<SimdFloat>,
-    gcross2: Vector<SimdFloat>,
+    gcross1: Vector<SimdReal>,
+    gcross2: Vector<SimdReal>,
 
-    inv_lhs: SdpMatrix<SimdFloat>,
+    inv_lhs: SdpMatrix<SimdReal>,
 
-    im1: SimdFloat,
-    im2: SimdFloat,
+    im1: SimdReal,
+    im2: SimdReal,
 }
 
 impl WBallVelocityConstraint {
@@ -37,20 +37,20 @@ impl WBallVelocityConstraint {
     ) -> Self {
         let position1 = Isometry::from(array![|ii| rbs1[ii].position; SIMD_WIDTH]);
         let linvel1 = Vector::from(array![|ii| rbs1[ii].linvel; SIMD_WIDTH]);
-        let angvel1 = AngVector::<SimdFloat>::from(array![|ii| rbs1[ii].angvel; SIMD_WIDTH]);
+        let angvel1 = AngVector::<SimdReal>::from(array![|ii| rbs1[ii].angvel; SIMD_WIDTH]);
         let world_com1 = Point::from(array![|ii| rbs1[ii].world_com; SIMD_WIDTH]);
-        let im1 = SimdFloat::from(array![|ii| rbs1[ii].mass_properties.inv_mass; SIMD_WIDTH]);
-        let ii1_sqrt = AngularInertia::<SimdFloat>::from(
+        let im1 = SimdReal::from(array![|ii| rbs1[ii].mass_properties.inv_mass; SIMD_WIDTH]);
+        let ii1_sqrt = AngularInertia::<SimdReal>::from(
             array![|ii| rbs1[ii].world_inv_inertia_sqrt; SIMD_WIDTH],
         );
         let mj_lambda1 = array![|ii| rbs1[ii].active_set_offset; SIMD_WIDTH];
 
         let position2 = Isometry::from(array![|ii| rbs2[ii].position; SIMD_WIDTH]);
         let linvel2 = Vector::from(array![|ii| rbs2[ii].linvel; SIMD_WIDTH]);
-        let angvel2 = AngVector::<SimdFloat>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]);
+        let angvel2 = AngVector::<SimdReal>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]);
         let world_com2 = Point::from(array![|ii| rbs2[ii].world_com; SIMD_WIDTH]);
-        let im2 = SimdFloat::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
-        let ii2_sqrt = AngularInertia::<SimdFloat>::from(
+        let im2 = SimdReal::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
+        let ii2_sqrt = AngularInertia::<SimdReal>::from(
             array![|ii| rbs2[ii].world_inv_inertia_sqrt; SIMD_WIDTH],
         );
         let mj_lambda2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
@@ -62,8 +62,8 @@ impl WBallVelocityConstraint {
         let anchor1 = position1 * local_anchor1 - world_com1;
         let anchor2 = position2 * local_anchor2 - world_com2;
 
-        let vel1: Vector<SimdFloat> = linvel1 + angvel1.gcross(anchor1);
-        let vel2: Vector<SimdFloat> = linvel2 + angvel2.gcross(anchor2);
+        let vel1: Vector<SimdReal> = linvel1 + angvel1.gcross(anchor1);
+        let vel2: Vector<SimdReal> = linvel2 + angvel2.gcross(anchor2);
         let rhs = -(vel1 - vel2);
         let lhs;
 
@@ -99,7 +99,7 @@ impl WBallVelocityConstraint {
             mj_lambda2,
             im1,
             im2,
-            impulse: impulse * SimdFloat::splat(params.warmstart_coeff),
+            impulse: impulse * SimdReal::splat(params.warmstart_coeff),
             gcross1,
             gcross2,
             rhs,
@@ -141,7 +141,7 @@ impl WBallVelocityConstraint {
     }
 
     pub fn solve(&mut self, mj_lambdas: &mut [DeltaVel<f32>]) {
-        let mut mj_lambda1: DeltaVel<SimdFloat> = DeltaVel {
+        let mut mj_lambda1: DeltaVel<SimdReal> = DeltaVel {
             linear: Vector::from(
                 array![|ii| mj_lambdas[self.mj_lambda1[ii] as usize].linear; SIMD_WIDTH],
             ),
@@ -149,7 +149,7 @@ impl WBallVelocityConstraint {
                 array![|ii| mj_lambdas[self.mj_lambda1[ii] as usize].angular; SIMD_WIDTH],
             ),
         };
-        let mut mj_lambda2: DeltaVel<SimdFloat> = DeltaVel {
+        let mut mj_lambda2: DeltaVel<SimdReal> = DeltaVel {
             linear: Vector::from(
                 array![|ii| mj_lambdas[self.mj_lambda2[ii] as usize].linear; SIMD_WIDTH],
             ),
@@ -195,11 +195,11 @@ impl WBallVelocityConstraint {
 pub(crate) struct WBallVelocityGroundConstraint {
     mj_lambda2: [usize; SIMD_WIDTH],
     joint_id: [JointIndex; SIMD_WIDTH],
-    rhs: Vector<SimdFloat>,
-    pub(crate) impulse: Vector<SimdFloat>,
-    gcross2: Vector<SimdFloat>,
-    inv_lhs: SdpMatrix<SimdFloat>,
-    im2: SimdFloat,
+    rhs: Vector<SimdReal>,
+    pub(crate) impulse: Vector<SimdReal>,
+    gcross2: Vector<SimdReal>,
+    inv_lhs: SdpMatrix<SimdReal>,
+    im2: SimdReal,
 }
 
 impl WBallVelocityGroundConstraint {
@@ -213,7 +213,7 @@ impl WBallVelocityGroundConstraint {
     ) -> Self {
         let position1 = Isometry::from(array![|ii| rbs1[ii].position; SIMD_WIDTH]);
         let linvel1 = Vector::from(array![|ii| rbs1[ii].linvel; SIMD_WIDTH]);
-        let angvel1 = AngVector::<SimdFloat>::from(array![|ii| rbs1[ii].angvel; SIMD_WIDTH]);
+        let angvel1 = AngVector::<SimdReal>::from(array![|ii| rbs1[ii].angvel; SIMD_WIDTH]);
         let world_com1 = Point::from(array![|ii| rbs1[ii].world_com; SIMD_WIDTH]);
         let local_anchor1 = Point::from(
             array![|ii| if flipped[ii] { cparams[ii].local_anchor2 } else { cparams[ii].local_anchor1 }; SIMD_WIDTH],
@@ -221,10 +221,10 @@ impl WBallVelocityGroundConstraint {
 
         let position2 = Isometry::from(array![|ii| rbs2[ii].position; SIMD_WIDTH]);
         let linvel2 = Vector::from(array![|ii| rbs2[ii].linvel; SIMD_WIDTH]);
-        let angvel2 = AngVector::<SimdFloat>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]);
+        let angvel2 = AngVector::<SimdReal>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]);
         let world_com2 = Point::from(array![|ii| rbs2[ii].world_com; SIMD_WIDTH]);
-        let im2 = SimdFloat::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
-        let ii2_sqrt = AngularInertia::<SimdFloat>::from(
+        let im2 = SimdReal::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
+        let ii2_sqrt = AngularInertia::<SimdReal>::from(
             array![|ii| rbs2[ii].world_inv_inertia_sqrt; SIMD_WIDTH],
         );
         let mj_lambda2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
@@ -237,8 +237,8 @@ impl WBallVelocityGroundConstraint {
         let anchor1 = position1 * local_anchor1 - world_com1;
         let anchor2 = position2 * local_anchor2 - world_com2;
 
-        let vel1: Vector<SimdFloat> = linvel1 + angvel1.gcross(anchor1);
-        let vel2: Vector<SimdFloat> = linvel2 + angvel2.gcross(anchor2);
+        let vel1: Vector<SimdReal> = linvel1 + angvel1.gcross(anchor1);
+        let vel2: Vector<SimdReal> = linvel2 + angvel2.gcross(anchor2);
         let rhs = vel2 - vel1;
         let lhs;
 
@@ -267,7 +267,7 @@ impl WBallVelocityGroundConstraint {
             joint_id,
             mj_lambda2,
             im2,
-            impulse: impulse * SimdFloat::splat(params.warmstart_coeff),
+            impulse: impulse * SimdReal::splat(params.warmstart_coeff),
             gcross2,
             rhs,
             inv_lhs,
@@ -294,7 +294,7 @@ impl WBallVelocityGroundConstraint {
     }
 
     pub fn solve(&mut self, mj_lambdas: &mut [DeltaVel<f32>]) {
-        let mut mj_lambda2: DeltaVel<SimdFloat> = DeltaVel {
+        let mut mj_lambda2: DeltaVel<SimdReal> = DeltaVel {
             linear: Vector::from(
                 array![|ii| mj_lambdas[self.mj_lambda2[ii] as usize].linear; SIMD_WIDTH],
             ),
diff --git a/src/dynamics/solver/joint_constraint/fixed_velocity_constraint_wide.rs b/src/dynamics/solver/joint_constraint/fixed_velocity_constraint_wide.rs
index 7c87b2c..79c69c6 100644
--- a/src/dynamics/solver/joint_constraint/fixed_velocity_constraint_wide.rs
+++ b/src/dynamics/solver/joint_constraint/fixed_velocity_constraint_wide.rs
@@ -5,7 +5,7 @@ use crate::dynamics::{
     FixedJoint, IntegrationParameters, JointGraphEdge, JointIndex, JointParams, RigidBody,
 };
 use crate::math::{
-    AngVector, AngularInertia, CrossMatrix, Dim, Isometry, Point, SimdFloat, SpacialVector, Vector,
+    AngVector, AngularInertia, CrossMatrix, Dim, Isometry, Point, SimdReal, SpacialVector, Vector,
     SIMD_WIDTH,
 };
 use crate::utils::{WAngularInertia, WCross, WCrossMatrix};
@@ -24,29 +24,29 @@ pub(crate) struct WFixedVelocityConstraint {
 
     joint_id: [JointIndex; SIMD_WIDTH],
 
-    impulse: SpacialVector<SimdFloat>,
+    impulse: SpacialVector<SimdReal>,
 
     #[cfg(feature = "dim3")]
-    inv_lhs: Matrix6<SimdFloat>, // FIXME: replace by Cholesky.
+    inv_lhs: Matrix6<SimdReal>, // FIXME: replace by Cholesky.
     #[cfg(feature = "dim3")]
-    rhs: Vector6<SimdFloat>,
+    rhs: Vector6<SimdReal>,
 
     #[cfg(feature = "dim2")]
-    inv_lhs: Matrix3<SimdFloat>,
+    inv_lhs: Matrix3<SimdReal>,
     #[cfg(feature = "dim2")]
-    rhs: Vector3<SimdFloat>,
+    rhs: Vector3<SimdReal>,
 
-    im1: SimdFloat,
-    im2: SimdFloat,
+    im1: SimdReal,
+    im2: SimdReal,
 
-    ii1: AngularInertia<SimdFloat>,
-    ii2: AngularInertia<SimdFloat>,
+    ii1: AngularInertia<SimdReal>,
+    ii2: AngularInertia<SimdReal>,
 
-    ii1_sqrt: AngularInertia<SimdFloat>,
-    ii2_sqrt: AngularInertia<SimdFloat>,
+    ii1_sqrt: AngularInertia<SimdReal>,
+    ii2_sqrt: AngularInertia<SimdReal>,
 
-    r1: Vector<SimdFloat>,
-    r2: Vector<SimdFloat>,
+    r1: Vector<SimdReal>,
+    r2: Vector<SimdReal>,
 }
 
 impl WFixedVelocityConstraint {
@@ -59,20 +59,20 @@ impl WFixedVelocityConstraint {
     ) -> Self {
         let position1 = Isometry::from(array![|ii| rbs1[ii].position; SIMD_WIDTH]);
         let linvel1 = Vector::from(array![|ii| rbs1[ii].linvel; SIMD_WIDTH]);
-        let angvel1 = AngVector::<SimdFloat>::from(array![|ii| rbs1[ii].angvel; SIMD_WIDTH]);
+        let angvel1 = AngVector::<SimdReal>::from(array![|ii| rbs1[ii].angvel; SIMD_WIDTH]);
         let world_com1 = Point::from(array![|ii| rbs1[ii].world_com; SIMD_WIDTH]);
-        let im1 = SimdFloat::from(array![|ii| rbs1[ii].mass_properties.inv_mass; SIMD_WIDTH]);
-        let ii1_sqrt = AngularInertia::<SimdFloat>::from(
+        let im1 = SimdReal::from(array![|ii| rbs1[ii].mass_properties.inv_mass; SIMD_WIDTH]);
+        let ii1_sqrt = AngularInertia::<SimdReal>::from(
             array![|ii| rbs1[ii].world_inv_inertia_sqrt; SIMD_WIDTH],
         );
         let mj_lambda1 = array![|ii| rbs1[ii].active_set_offset; SIMD_WIDTH];
 
         let position2 = Isometry::from(array![|ii| rbs2[ii].position; SIMD_WIDTH]);
         let linvel2 = Vector::from(array![|ii| rbs2[ii].linvel; SIMD_WIDTH]);
-        let angvel2 = AngVector::<SimdFloat>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]);
+        let angvel2 = AngVector::<SimdReal>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]);
         let world_com2 = Point::from(array![|ii| rbs2[ii].world_com; SIMD_WIDTH]);
-        let im2 = SimdFloat::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
-        let ii2_sqrt = AngularInertia::<SimdFloat>::from(
+        let im2 = SimdReal::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
+        let ii2_sqrt = AngularInertia::<SimdReal>::from(
             array![|ii| rbs2[ii].world_inv_inertia_sqrt; SIMD_WIDTH],
         );
         let mj_lambda2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
@@ -150,7 +150,7 @@ impl WFixedVelocityConstraint {
             ii2,
             ii1_sqrt,
             ii2_sqrt,
-            impulse: impulse * SimdFloat::splat(params.warmstart_coeff),
+            impulse: impulse * SimdReal::splat(params.warmstart_coeff),
             inv_lhs,
             r1,
             r2,
@@ -203,7 +203,7 @@ impl WFixedVelocityConstraint {
     }
 
     pub fn solve(&mut self, mj_lambdas: &mut [DeltaVel<f32>]) {
-        let mut mj_lambda1: DeltaVel<SimdFloat> = DeltaVel {
+        let mut mj_lambda1: DeltaVel<SimdReal> = DeltaVel {
             linear: Vector::from(
                 array![|ii| mj_lambdas[self.mj_lambda1[ii] as usize].linear; SIMD_WIDTH],
             ),
@@ -211,7 +211,7 @@ impl WFixedVelocityConstraint {
                 array![|ii| mj_lambdas[self.mj_lambda1[ii] as usize].angular; SIMD_WIDTH],
             ),
         };
-        let mut mj_lambda2: DeltaVel<SimdFloat> = DeltaVel {
+        let mut mj_lambda2: DeltaVel<SimdReal> = DeltaVel {
             linear: Vector::from(
                 array![|ii| mj_lambdas[self.mj_lambda2[ii] as usize].linear; SIMD_WIDTH],
             ),
@@ -279,22 +279,22 @@ pub(crate) struct WFixedVelocityGroundConstraint {
 
     joint_id: [JointIndex; SIMD_WIDTH],
 
-    impulse: SpacialVector<SimdFloat>,
+    impulse: SpacialVector<SimdReal>,
 
     #[cfg(feature = "dim3")]
-    inv_lhs: Matrix6<SimdFloat>, // FIXME: replace by Cholesky.
+    inv_lhs: Matrix6<SimdReal>, // FIXME: replace by Cholesky.
     #[cfg(feature = "dim3")]
-    rhs: Vector6<SimdFloat>,
+    rhs: Vector6<SimdReal>,
 
     #[cfg(feature = "dim2")]
-    inv_lhs: Matrix3<SimdFloat>,
+    inv_lhs: Matrix3<SimdReal>,
     #[cfg(feature = "dim2")]
-    rhs: Vector3<SimdFloat>,
+    rhs: Vector3<SimdReal>,
 
-    im2: SimdFloat,
-    ii2: AngularInertia<SimdFloat>,
-    ii2_sqrt: AngularInertia<SimdFloat>,
-    r2: Vector<SimdFloat>,
+    im2: SimdReal,
+    ii2: AngularInertia<SimdReal>,
+    ii2_sqrt: AngularInertia<SimdReal>,
+    r2: Vector<SimdReal>,
 }
 
 impl WFixedVelocityGroundConstraint {
@@ -308,15 +308,15 @@ impl WFixedVelocityGroundConstraint {
     ) -> Self {
         let position1 = Isometry::from(array![|ii| rbs1[ii].position; SIMD_WIDTH]);
         let linvel1 = Vector::from(array![|ii| rbs1[ii].linvel; SIMD_WIDTH]);
-        let angvel1 = AngVector::<SimdFloat>::from(array![|ii| rbs1[ii].angvel; SIMD_WIDTH]);
+        let angvel1 = AngVector::<SimdReal>::from(array![|ii| rbs1[ii].angvel; SIMD_WIDTH]);
         let world_com1 = Point::from(array![|ii| rbs1[ii].world_com; SIMD_WIDTH]);
 
         let position2 = Isometry::from(array![|ii| rbs2[ii].position; SIMD_WIDTH]);
         let linvel2 = Vector::from(array![|ii| rbs2[ii].linvel; SIMD_WIDTH]);
-        let angvel2 = AngVector::<SimdFloat>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]);
+        let angvel2 = AngVector::<SimdReal>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]);
         let world_com2 = Point::from(array![|ii| rbs2[ii].world_com; SIMD_WIDTH]);
-        let im2 = SimdFloat::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
-        let ii2_sqrt = AngularInertia::<SimdFloat>::from(
+        let im2 = SimdReal::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
+        let ii2_sqrt = AngularInertia::<SimdReal>::from(
             array![|ii| rbs2[ii].world_inv_inertia_sqrt; SIMD_WIDTH],
         );
         let mj_lambda2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
@@ -386,7 +386,7 @@ impl WFixedVelocityGroundConstraint {
             im2,
             ii2,
             ii2_sqrt,
-            impulse: impulse * SimdFloat::splat(params.warmstart_coeff),
+            impulse: impulse * SimdReal::splat(params.warmstart_coeff),
             inv_lhs,
             r2,
             rhs,
@@ -421,7 +421,7 @@ impl WFixedVelocityGroundConstraint {
     }
 
     pub fn solve(&mut self, mj_lambdas: &mut [DeltaVel<f32>]) {
-        let mut mj_lambda2: DeltaVel<SimdFloat> = DeltaVel {
+        let mut mj_lambda2: DeltaVel<SimdReal> = DeltaVel {
             linear: Vector::from(
                 array![|ii| mj_lambdas[self.mj_lambda2[ii] as usize].linear; SIMD_WIDTH],
             ),
diff --git a/src/dynamics/solver/joint_constraint/prismatic_velocity_constraint_wide.rs b/src/dynamics/solver/joint_constraint/prismatic_velocity_constraint_wide.rs
index bb81f23..c05c08e 100644
--- a/src/dynamics/solver/joint_constraint/prismatic_velocity_constraint_wide.rs
+++ b/src/dynamics/solver/joint_constraint/prismatic_velocity_constraint_wide.rs
@@ -5,7 +5,7 @@ use crate::dynamics::{
     IntegrationParameters, JointGraphEdge, JointIndex, JointParams, PrismaticJoint, RigidBody,
 };
 use crate::math::{
-    AngVector, AngularInertia, Isometry, Point, SimdBool, SimdFloat, Vector, SIMD_WIDTH,
+    AngVector, AngularInertia, Isometry, Point, SimdBool, SimdReal, Vector, SIMD_WIDTH,
 };
 use crate::utils::{WAngularInertia, WCross, WCrossMatrix};
 #[cfg(feature = "dim3")]
@@ -28,37 +28,37 @@ pub(crate) struct WPrismaticVelocityConstraint {
 
     joint_id: [JointIndex; SIMD_WIDTH],
 
-    r1: Vector<SimdFloat>,
-    r2: Vector<SimdFloat>,
+    r1: Vector<SimdReal>,
+    r2: Vector<SimdReal>,
 
     #[cfg(feature = "dim3")]
-    inv_lhs: Matrix5<SimdFloat>,
+    inv_lhs: Matrix5<SimdReal>,
     #[cfg(feature = "dim3")]
-    rhs: Vector5<SimdFloat>,
+    rhs: Vector5<SimdReal>,
     #[cfg(feature = "dim3")]
-    impulse: Vector5<SimdFloat>,
+    impulse: Vector5<SimdReal>,
 
     #[cfg(feature = "dim2")]
-    inv_lhs: Matrix2<SimdFloat>,
+    inv_lhs: Matrix2<SimdReal>,
     #[cfg(feature = "dim2")]
-    rhs: Vector2<SimdFloat>,
+    rhs: Vector2<SimdReal>,
     #[cfg(feature = "dim2")]
-    impulse: Vector2<SimdFloat>,
+    impulse: Vector2<SimdReal>,
 
-    limits_impulse: SimdFloat,
-    limits_forcedirs: Option<(Vector<SimdFloat>, Vector<SimdFloat>)>,
-    limits_rhs: SimdFloat,
+    limits_impulse: SimdReal,
+    limits_forcedirs: Option<(Vector<SimdReal>, Vector<SimdReal>)>,
+    limits_rhs: SimdReal,
 
     #[cfg(feature = "dim2")]
-    basis1: Vector2<SimdFloat>,
+    basis1: Vector2<SimdReal>,
     #[cfg(feature = "dim3")]
-    basis1: Matrix3x2<SimdFloat>,
+    basis1: Matrix3x2<SimdReal>,
 
-    im1: SimdFloat,
-    im2: SimdFloat,
+    im1: SimdReal,
+    im2: SimdReal,
 
-    ii1_sqrt: AngularInertia<SimdFloat>,
-    ii2_sqrt: AngularInertia<SimdFloat>,
+    ii1_sqrt: AngularInertia<SimdReal>,
+    ii2_sqrt: AngularInertia<SimdReal>,
 }
 
 impl WPrismaticVelocityConstraint {
@@ -71,20 +71,20 @@ impl WPrismaticVelocityConstraint {
     ) -> Self {
         let position1 = Isometry::from(array![|ii| rbs1[ii].position; SIMD_WIDTH]);
         let linvel1 = Vector::from(array![|ii| rbs1[ii].linvel; SIMD_WIDTH]);
-        let angvel1 = AngVector::<SimdFloat>::from(array![|ii| rbs1[ii].angvel; SIMD_WIDTH]);
+        let angvel1 = AngVector::<SimdReal>::from(array![|ii| rbs1[ii].angvel; SIMD_WIDTH]);
         let world_com1 = Point::from(array![|ii| rbs1[ii].world_com; SIMD_WIDTH]);
-        let im1 = SimdFloat::from(array![|ii| rbs1[ii].mass_properties.inv_mass; SIMD_WIDTH]);
-        let ii1_sqrt = AngularInertia::<SimdFloat>::from(
+        let im1 = SimdReal::from(array![|ii| rbs1[ii].mass_properties.inv_mass; SIMD_WIDTH]);
+        let ii1_sqrt = AngularInertia::<SimdReal>::from(
             array![|ii| rbs1[ii].world_inv_inertia_sqrt; SIMD_WIDTH],
         );
         let mj_lambda1 = array![|ii| rbs1[ii].active_set_offset; SIMD_WIDTH];
 
         let position2 = Isometry::from(array![|ii| rbs2[ii].position; SIMD_WIDTH]);
         let linvel2 = Vector::from(array![|ii| rbs2[ii].linvel; SIMD_WIDTH]);
-        let angvel2 = AngVector::<SimdFloat>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]);
+        let angvel2 = AngVector::<SimdReal>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]);
         let world_com2 = Point::from(array![|ii| rbs2[ii].world_com; SIMD_WIDTH]);
-        let im2 = SimdFloat::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
-        let ii2_sqrt = AngularInertia::<SimdFloat>::from(
+        let im2 = SimdReal::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
+        let ii2_sqrt = AngularInertia::<SimdReal>::from(
             array![|ii| rbs2[ii].world_inv_inertia_sqrt; SIMD_WIDTH],
         );
         let mj_lambda2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
@@ -199,14 +199,14 @@ impl WPrismaticVelocityConstraint {
 
             // FIXME: we should allow both limits to be active at
             // the same time + allow predictive constraint activation.
-            let min_limit = SimdFloat::from(array![|ii| cparams[ii].limits[0]; SIMD_WIDTH]);
-            let max_limit = SimdFloat::from(array![|ii| cparams[ii].limits[1]; SIMD_WIDTH]);
-            let lim_impulse = SimdFloat::from(array![|ii| cparams[ii].limits_impulse; SIMD_WIDTH]);
+            let min_limit = SimdReal::from(array![|ii| cparams[ii].limits[0]; SIMD_WIDTH]);
+            let max_limit = SimdReal::from(array![|ii| cparams[ii].limits[1]; SIMD_WIDTH]);
+            let lim_impulse = SimdReal::from(array![|ii| cparams[ii].limits_impulse; SIMD_WIDTH]);
 
             let min_enabled = dist.simd_lt(min_limit);
             let max_enabled = dist.simd_gt(max_limit);
-            let _0: SimdFloat = na::zero();
-            let _1: SimdFloat = na::one();
+            let _0: SimdReal = na::zero();
+            let _1: SimdReal = na::one();
             let sign = _1.select(min_enabled, (-_1).select(max_enabled, _0));
 
             if sign != _0 {
@@ -224,8 +224,8 @@ impl WPrismaticVelocityConstraint {
             ii1_sqrt,
             im2,
             ii2_sqrt,
-            impulse: impulse * SimdFloat::splat(params.warmstart_coeff),
-            limits_impulse: limits_impulse * SimdFloat::splat(params.warmstart_coeff),
+            impulse: impulse * SimdReal::splat(params.warmstart_coeff),
+            limits_impulse: limits_impulse * SimdReal::splat(params.warmstart_coeff),
             limits_forcedirs,
             limits_rhs,
             basis1,
@@ -383,34 +383,34 @@ pub(crate) struct WPrismaticVelocityGroundConstraint {
 
     joint_id: [JointIndex; SIMD_WIDTH],
 
-    r2: Vector<SimdFloat>,
+    r2: Vector<SimdReal>,
 
     #[cfg(feature = "dim2")]
-    inv_lhs: Matrix2<SimdFloat>,
+    inv_lhs: Matrix2<SimdReal>,
     #[cfg(feature = "dim2")]
-    rhs: Vector2<SimdFloat>,
+    rhs: Vector2<SimdReal>,
     #[cfg(feature = "dim2")]
-    impulse: Vector2<SimdFloat>,
+    impulse: Vector2<SimdReal>,
 
     #[cfg(feature = "dim3")]
-    inv_lhs: Matrix5<SimdFloat>,
+    inv_lhs: Matrix5<SimdReal>,
     #[cfg(feature = "dim3")]
-    rhs: Vector5<SimdFloat>,
+    rhs: Vector5<SimdReal>,
     #[cfg(feature = "dim3")]
-    impulse: Vector5<SimdFloat>,
+    impulse: Vector5<SimdReal>,
 
-    limits_impulse: SimdFloat,
-    limits_rhs: SimdFloat,
+    limits_impulse: SimdReal,
+    limits_rhs: SimdReal,
 
-    axis2: Vector<SimdFloat>,
+    axis2: Vector<SimdReal>,
     #[cfg(feature = "dim2")]
-    basis1: Vector2<SimdFloat>,
+    basis1: Vector2<SimdReal>,
     #[cfg(feature = "dim3")]
-    basis1: Matrix3x2<SimdFloat>,
-    limits_forcedir2: Option<Vector<SimdFloat>>,
+    basis1: Matrix3x2<SimdReal>,
+    limits_forcedir2: Option<Vector<SimdReal>>,
 
-    im2: SimdFloat,
-    ii2_sqrt: AngularInertia<SimdFloat>,
+    im2: SimdReal,
+    ii2_sqrt: AngularInertia<SimdReal>,
 }
 
 impl WPrismaticVelocityGroundConstraint {
@@ -424,15 +424,15 @@ impl WPrismaticVelocityGroundConstraint {
     ) -> Self {
         let position1 = Isometry::from(array![|ii| rbs1[ii].position; SIMD_WIDTH]);
         let linvel1 = Vector::from(array![|ii| rbs1[ii].linvel; SIMD_WIDTH]);
-        let angvel1 = AngVector::<SimdFloat>::from(array![|ii| rbs1[ii].angvel; SIMD_WIDTH]);
+        let angvel1 = AngVector::<SimdReal>::from(array![|ii| rbs1[ii].angvel; SIMD_WIDTH]);
         let world_com1 = Point::from(array![|ii| rbs1[ii].world_com; SIMD_WIDTH]);
 
         let position2 = Isometry::from(array![|ii| rbs2[ii].position; SIMD_WIDTH]);
         let linvel2 = Vector::from(array![|ii| rbs2[ii].linvel; SIMD_WIDTH]);
-        let angvel2 = AngVector::<SimdFloat>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]);
+        let angvel2 = AngVector::<SimdReal>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]);
         let world_com2 = Point::from(array![|ii| rbs2[ii].world_com; SIMD_WIDTH]);
-        let im2 = SimdFloat::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
-        let ii2_sqrt = AngularInertia::<SimdFloat>::from(
+        let im2 = SimdReal::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
+        let ii2_sqrt = AngularInertia::<SimdReal>::from(
             array![|ii| rbs2[ii].world_inv_inertia_sqrt; SIMD_WIDTH],
         );
         let mj_lambda2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
@@ -551,14 +551,14 @@ impl WPrismaticVelocityGroundConstraint {
 
             // FIXME: we should allow both limits to be active at
             // the same time + allow predictive constraint activation.
-            let min_limit = SimdFloat::from(array![|ii| cparams[ii].limits[0]; SIMD_WIDTH]);
-            let max_limit = SimdFloat::from(array![|ii| cparams[ii].limits[1]; SIMD_WIDTH]);
-            let lim_impulse = SimdFloat::from(array![|ii| cparams[ii].limits_impulse; SIMD_WIDTH]);
+            let min_limit = SimdReal::from(array![|ii| cparams[ii].limits[0]; SIMD_WIDTH]);
+            let max_limit = SimdReal::from(array![|ii| cparams[ii].limits[1]; SIMD_WIDTH]);
+            let lim_impulse = SimdReal::from(array![|ii| cparams[ii].limits_impulse; SIMD_WIDTH]);
 
             let use_min = dist.simd_lt(min_limit);
             let use_max = dist.simd_gt(max_limit);
-            let _0: SimdFloat = na::zero();
-            let _1: SimdFloat = na::one();
+            let _0: SimdReal = na::zero();
+            let _1: SimdReal = na::one();
             let sign = _1.select(use_min, (-_1).select(use_max, _0));
 
             if sign != _0 {
@@ -573,8 +573,8 @@ impl WPrismaticVelocityGroundConstraint {
             mj_lambda2,
             im2,
             ii2_sqrt,
-            impulse: impulse * SimdFloat::splat(params.warmstart_coeff),
-            limits_impulse: limits_impulse * SimdFloat::splat(params.warmstart_coeff),
+            impulse: impulse * SimdReal::splat(params.warmstart_coeff),
+            limits_impulse: limits_impulse * SimdReal::splat(params.warmstart_coeff),
             basis1,
             inv_lhs,
             rhs,
diff --git a/src/dynamics/solver/joint_constraint/revolute_velocity_constraint_wide.rs b/src/dynamics/solver/joint_constraint/revolute_velocity_constraint_wide.rs
index 5eeac18..61122a4 100644
--- a/src/dynamics/solver/joint_constraint/revolute_velocity_constraint_wide.rs
+++ b/src/dynamics/solver/joint_constraint/revolute_velocity_constraint_wide.rs
@@ -4,7 +4,7 @@ use crate::dynamics::solver::DeltaVel;
 use crate::dynamics::{
     IntegrationParameters, JointGraphEdge, JointIndex, JointParams, RevoluteJoint, RigidBody,
 };
-use crate::math::{AngVector, AngularInertia, Isometry, Point, SimdFloat, Vector, SIMD_WIDTH};
+use crate::math::{AngVector, AngularInertia, Isometry, Point, SimdReal, Vector, SIMD_WIDTH};
 use crate::utils::{WAngularInertia, WCross, WCrossMatrix};
 use na::{Cholesky, Matrix3x2, Matrix5, Vector5, U2, U3};
 
@@ -15,20 +15,20 @@ pub(crate) struct WRevoluteVelocityConstraint {
 
     joint_id: [JointIndex; SIMD_WIDTH],
 
-    r1: Vector<SimdFloat>,
-    r2: Vector<SimdFloat>,
+    r1: Vector<SimdReal>,
+    r2: Vector<SimdReal>,
 
-    inv_lhs: Matrix5<SimdFloat>,
-    rhs: Vector5<SimdFloat>,
-    impulse: Vector5<SimdFloat>,
+    inv_lhs: Matrix5<SimdReal>,
+    rhs: Vector5<SimdReal>,
+    impulse: Vector5<SimdReal>,
 
-    basis1: Matrix3x2<SimdFloat>,
+    basis1: Matrix3x2<SimdReal>,
 
-    im1: SimdFloat,
-    im2: SimdFloat,
+    im1: SimdReal,
+    im2: SimdReal,
 
-    ii1_sqrt: AngularInertia<SimdFloat>,
-    ii2_sqrt: AngularInertia<SimdFloat>,
+    ii1_sqrt: AngularInertia<SimdReal>,
+    ii2_sqrt: AngularInertia<SimdReal>,
 }
 
 impl WRevoluteVelocityConstraint {
@@ -41,20 +41,20 @@ impl WRevoluteVelocityConstraint {
     ) -> Self {
         let position1 = Isometry::from(array![|ii| rbs1[ii].position; SIMD_WIDTH]);
         let linvel1 = Vector::from(array![|ii| rbs1[ii].linvel; SIMD_WIDTH]);
-        let angvel1 = AngVector::<SimdFloat>::from(array![|ii| rbs1[ii].angvel; SIMD_WIDTH]);
+        let angvel1 = AngVector::<SimdReal>::from(array![|ii| rbs1[ii].angvel; SIMD_WIDTH]);
         let world_com1 = Point::from(array![|ii| rbs1[ii].world_com; SIMD_WIDTH]);
-        let im1 = SimdFloat::from(array![|ii| rbs1[ii].mass_properties.inv_mass; SIMD_WIDTH]);
-        let ii1_sqrt = AngularInertia::<SimdFloat>::from(
+        let im1 = SimdReal::from(array![|ii| rbs1[ii].mass_properties.inv_mass; SIMD_WIDTH]);
+        let ii1_sqrt = AngularInertia::<SimdReal>::from(
             array![|ii| rbs1[ii].world_inv_inertia_sqrt; SIMD_WIDTH],
         );
         let mj_lambda1 = array![|ii| rbs1[ii].active_set_offset; SIMD_WIDTH];
 
         let position2 = Isometry::from(array![|ii| rbs2[ii].position; SIMD_WIDTH]);
         let linvel2 = Vector::from(array![|ii| rbs2[ii].linvel; SIMD_WIDTH]);
-        let angvel2 = AngVector::<SimdFloat>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]);
+        let angvel2 = AngVector::<SimdReal>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]);
         let world_com2 = Point::from(array![|ii| rbs2[ii].world_com; SIMD_WIDTH]);
-        let im2 = SimdFloat::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
-        let ii2_sqrt = AngularInertia::<SimdFloat>::from(
+        let im2 = SimdReal::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
+        let ii2_sqrt = AngularInertia::<SimdReal>::from(
             array![|ii| rbs2[ii].world_inv_inertia_sqrt; SIMD_WIDTH],