Add support of 64-bits reals.

src/dynamics/joint/revolute_joint.rs

@@ -1,4 +1,4 @@
-use crate::math::{Point, Vector};
+use crate::math::{Point, Real, Vector};
 use crate::utils::WBasis;
 use na::{Unit, Vector5};
 
@@ -7,31 +7,31 @@ use na::{Unit, Vector5};
 /// A joint that removes all relative motion between two bodies, except for the rotations along one axis.
 pub struct RevoluteJoint {
     /// Where the revolute 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>,
     /// Where the revolute joint is attached on the second body, expressed in the local space of the second attached body.
-    pub local_anchor2: Point<f32>,
+    pub local_anchor2: Point<Real>,
     /// The rotation axis of this revolute joint expressed in the local space of the first attached body.
-    pub local_axis1: Unit<Vector<f32>>,
+    pub local_axis1: Unit<Vector<Real>>,
     /// The rotation axis of this revolute joint expressed in the local space of the second attached body.
-    pub local_axis2: Unit<Vector<f32>>,
+    pub local_axis2: Unit<Vector<Real>>,
     /// The basis orthonormal to `local_axis1`, expressed in the local space of the first attached body.
-    pub basis1: [Vector<f32>; 2],
+    pub basis1: [Vector<Real>; 2],
     /// The basis orthonormal to `local_axis2`, expressed in the local space of the second attached body.
-    pub basis2: [Vector<f32>; 2],
+    pub basis2: [Vector<Real>; 2],
     /// The impulse applied by this joint on the first body.
     ///
     /// The impulse applied to the second body is given by `-impulse`.
-    pub impulse: Vector5<f32>,
+    pub impulse: Vector5<Real>,
 }
 
 impl RevoluteJoint {
     /// Creates a new revolute joint with the given point of applications and axis, all expressed
     /// in the local-space of the affected bodies.
     pub fn new(
-        local_anchor1: Point<f32>,
-        local_axis1: Unit<Vector<f32>>,
-        local_anchor2: Point<f32>,
-        local_axis2: Unit<Vector<f32>>,
+        local_anchor1: Point<Real>,
+        local_axis1: Unit<Vector<Real>>,
+        local_anchor2: Point<Real>,
+        local_axis2: Unit<Vector<Real>>,
     ) -> Self {
         Self {
             local_anchor1,