Add support of 64-bits reals.

src/geometry/broad_phase_multi_sap.rs

@@ -1,7 +1,7 @@
 use crate::data::pubsub::Subscription;
 use crate::dynamics::RigidBodySet;
 use crate::geometry::{ColliderHandle, ColliderSet, RemovedCollider};
-use crate::math::{Point, Vector, DIM};
+use crate::math::{Point, Real, Vector, DIM};
 use bit_vec::BitVec;
 use cdl::bounding_volume::{BoundingVolume, AABB};
 use cdl::utils::hashmap::HashMap;
@@ -10,8 +10,8 @@ use std::ops::{Index, IndexMut};
 
 const NUM_SENTINELS: usize = 1;
 const NEXT_FREE_SENTINEL: u32 = u32::MAX;
-const SENTINEL_VALUE: f32 = f32::MAX;
-const CELL_WIDTH: f32 = 20.0;
+const SENTINEL_VALUE: Real = Real::MAX;
+const CELL_WIDTH: Real = 20.0;
 
 #[derive(Copy, Clone, Debug, PartialEq, Eq, Hash)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
@@ -63,12 +63,12 @@ fn sort2(a: u32, b: u32) -> (u32, u32) {
     }
 }
 
-fn point_key(point: Point<f32>) -> Point<i32> {
+fn point_key(point: Point<Real>) -> Point<i32> {
     (point / CELL_WIDTH).coords.map(|e| e.floor() as i32).into()
 }
 
 fn region_aabb(index: Point<i32>) -> AABB {
-    let mins = index.coords.map(|i| i as f32 * CELL_WIDTH).into();
+    let mins = index.coords.map(|i| i as Real * CELL_WIDTH).into();
     let maxs = mins + Vector::repeat(CELL_WIDTH);
     AABB::new(mins, maxs)
 }
@@ -76,7 +76,7 @@ fn region_aabb(index: Point<i32>) -> AABB {
 #[derive(Copy, Clone, Debug, PartialEq)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 struct Endpoint {
-    value: f32,
+    value: Real,
     packed_flag_proxy: u32,
 }
 
@@ -86,14 +86,14 @@ const START_SENTINEL_TAG: u32 = u32::MAX;
 const END_SENTINEL_TAG: u32 = u32::MAX ^ START_FLAG_MASK;
 
 impl Endpoint {
-    pub fn start_endpoint(value: f32, proxy: u32) -> Self {
+    pub fn start_endpoint(value: Real, proxy: u32) -> Self {
         Self {
             value,
             packed_flag_proxy: proxy | START_FLAG_MASK,
         }
     }
 
-    pub fn end_endpoint(value: f32, proxy: u32) -> Self {
+    pub fn end_endpoint(value: Real, proxy: u32) -> Self {
         Self {
             value,
             packed_flag_proxy: proxy & PROXY_MASK,
@@ -134,15 +134,15 @@ impl Endpoint {
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[derive(Clone)]
 struct SAPAxis {
-    min_bound: f32,
-    max_bound: f32,
+    min_bound: Real,
+    max_bound: Real,
     endpoints: Vec<Endpoint>,
     #[cfg_attr(feature = "serde-serialize", serde(skip))]
     new_endpoints: Vec<(Endpoint, usize)>, // Workspace
 }
 
 impl SAPAxis {
-    fn new(min_bound: f32, max_bound: f32) -> Self {
+    fn new(min_bound: Real, max_bound: Real) -> Self {
         assert!(min_bound <= max_bound);
 
         Self {
@@ -620,7 +620,7 @@ impl BroadPhase {
 
     pub(crate) fn update_aabbs(
         &mut self,
-        prediction_distance: f32,
+        prediction_distance: Real,
         bodies: &RigidBodySet,
         colliders: &mut ColliderSet,
     ) {

src/geometry/contact_pair.rs

@@ -20,25 +20,25 @@ pub struct ContactData {
     /// The impulse, along the contact normal, applied by this contact to the first collider's rigid-body.
     ///
     /// The impulse applied to the second collider's rigid-body is given by `-impulse`.
-    pub impulse: f32,
+    pub impulse: Real,
     /// The friction impulse along the vector orthonormal to the contact normal, applied to the first
     /// collider's rigid-body.
     #[cfg(feature = "dim2")]
-    pub tangent_impulse: f32,
+    pub tangent_impulse: Real,
     /// The friction impulses along the basis orthonormal to the contact normal, applied to the first
     /// collider's rigid-body.
     #[cfg(feature = "dim3")]
-    pub tangent_impulse: [f32; 2],
+    pub tangent_impulse: [Real; 2],
 }
 
 impl ContactData {
     #[cfg(feature = "dim2")]
-    pub(crate) fn zero_tangent_impulse() -> f32 {
+    pub(crate) fn zero_tangent_impulse() -> Real {
         0.0
     }
 
     #[cfg(feature = "dim3")]
-    pub(crate) fn zero_tangent_impulse() -> [f32; 2] {
+    pub(crate) fn zero_tangent_impulse() -> [Real; 2] {
         [0.0, 0.0]
     }
 }
@@ -87,7 +87,7 @@ pub struct ContactManifoldData {
     // The following are set by the narrow-phase.
     /// The pair of body involved in this contact manifold.
     pub body_pair: BodyPair,
-    pub(crate) warmstart_multiplier: f32,
+    pub(crate) warmstart_multiplier: Real,
     // The two following are set by the constraints solver.
     pub(crate) constraint_index: usize,
     pub(crate) position_constraint_index: usize,
@@ -140,7 +140,7 @@ impl ContactManifoldData {
         self.solver_contacts.len()
     }
 
-    pub(crate) fn min_warmstart_multiplier() -> f32 {
+    pub(crate) fn min_warmstart_multiplier() -> Real {
         // Multiplier used to reduce the amount of warm-starting.
         // This coefficient increases exponentially over time, until it reaches 1.0.
         // This will reduce significant overshoot at the timesteps that

src/geometry/narrow_phase.rs

@@ -10,7 +10,7 @@ use crate::geometry::{
     ProximityPairFilter, RemovedCollider, SolverContact, SolverFlags,
 };
 use crate::geometry::{ColliderSet, ContactManifold, ContactPair, InteractionGraph};
-use crate::math::Vector;
+use crate::math::{Real, Vector};
 use crate::pipeline::EventHandler;
 use cdl::query::{DefaultQueryDispatcher, PersistentQueryDispatcher};
 use std::collections::HashMap;
@@ -452,7 +452,7 @@ impl NarrowPhase {
 
     pub(crate) fn compute_contacts(
         &mut self,
-        prediction_distance: f32,
+        prediction_distance: Real,
         bodies: &RigidBodySet,
         colliders: &ColliderSet,
         pair_filter: Option<&dyn ContactPairFilter>,