Use real_t in physics code

23 files changed, 170 insertions, 154 deletions

diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp
index 632682a15d..9144a781a0 100644
--- a/modules/bullet/bullet_physics_server.cpp
+++ b/modules/bullet/bullet_physics_server.cpp
@@ -625,14 +625,14 @@ uint32_t BulletPhysicsServer3D::body_get_user_flags(RID p_body) const {
 	return 0;
 }
 
-void BulletPhysicsServer3D::body_set_param(RID p_body, BodyParameter p_param, float p_value) {
+void BulletPhysicsServer3D::body_set_param(RID p_body, BodyParameter p_param, real_t p_value) {
 	RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
 	ERR_FAIL_COND(!body);
 
 	body->set_param(p_param, p_value);
 }
 
-float BulletPhysicsServer3D::body_get_param(RID p_body, BodyParameter p_param) const {
+real_t BulletPhysicsServer3D::body_get_param(RID p_body, BodyParameter p_param) const {
 	RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
 	ERR_FAIL_COND_V(!body, 0);
 
@@ -807,11 +807,11 @@ int BulletPhysicsServer3D::body_get_max_contacts_reported(RID p_body) const {
 	return body->get_max_collisions_detection();
 }
 
-void BulletPhysicsServer3D::body_set_contacts_reported_depth_threshold(RID p_body, float p_threshold) {
+void BulletPhysicsServer3D::body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) {
 	// Not supported by bullet and even Godot
 }
 
-float BulletPhysicsServer3D::body_get_contacts_reported_depth_threshold(RID p_body) const {
+real_t BulletPhysicsServer3D::body_get_contacts_reported_depth_threshold(RID p_body) const {
 	// Not supported by bullet and even Godot
 	return 0.;
 }
@@ -862,7 +862,7 @@ bool BulletPhysicsServer3D::body_test_motion(RID p_body, const Transform &p_from
 	return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, r_result, p_exclude_raycast_shapes);
 }
 
-int BulletPhysicsServer3D::body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin) {
+int BulletPhysicsServer3D::body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin) {
 	RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
 	ERR_FAIL_COND_V(!body, 0);
 	ERR_FAIL_COND_V(!body->get_space(), 0);
@@ -1221,7 +1221,7 @@ RID BulletPhysicsServer3D::joint_create_pin(RID p_body_A, const Vector3 &p_local
 	CreateThenReturnRID(joint_owner, joint);
 }
 
-void BulletPhysicsServer3D::pin_joint_set_param(RID p_joint, PinJointParam p_param, float p_value) {
+void BulletPhysicsServer3D::pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) {
 	JointBullet *joint = joint_owner.getornull(p_joint);
 	ERR_FAIL_COND(!joint);
 	ERR_FAIL_COND(joint->get_type() != JOINT_PIN);
@@ -1229,7 +1229,7 @@ void BulletPhysicsServer3D::pin_joint_set_param(RID p_joint, PinJointParam p_par
 	pin_joint->set_param(p_param, p_value);
 }
 
-float BulletPhysicsServer3D::pin_joint_get_param(RID p_joint, PinJointParam p_param) const {
+real_t BulletPhysicsServer3D::pin_joint_get_param(RID p_joint, PinJointParam p_param) const {
 	JointBullet *joint = joint_owner.getornull(p_joint);
 	ERR_FAIL_COND_V(!joint, 0);
 	ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, 0);
@@ -1309,7 +1309,7 @@ RID BulletPhysicsServer3D::joint_create_hinge_simple(RID p_body_A, const Vector3
 	CreateThenReturnRID(joint_owner, joint);
 }
 
-void BulletPhysicsServer3D::hinge_joint_set_param(RID p_joint, HingeJointParam p_param, float p_value) {
+void BulletPhysicsServer3D::hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value) {
 	JointBullet *joint = joint_owner.getornull(p_joint);
 	ERR_FAIL_COND(!joint);
 	ERR_FAIL_COND(joint->get_type() != JOINT_HINGE);
@@ -1317,7 +1317,7 @@ void BulletPhysicsServer3D::hinge_joint_set_param(RID p_joint, HingeJointParam p
 	hinge_joint->set_param(p_param, p_value);
 }
 
-float BulletPhysicsServer3D::hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const {
+real_t BulletPhysicsServer3D::hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const {
 	JointBullet *joint = joint_owner.getornull(p_joint);
 	ERR_FAIL_COND_V(!joint, 0);
 	ERR_FAIL_COND_V(joint->get_type() != JOINT_HINGE, 0);
@@ -1361,7 +1361,7 @@ RID BulletPhysicsServer3D::joint_create_slider(RID p_body_A, const Transform &p_
 	CreateThenReturnRID(joint_owner, joint);
 }
 
-void BulletPhysicsServer3D::slider_joint_set_param(RID p_joint, SliderJointParam p_param, float p_value) {
+void BulletPhysicsServer3D::slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value) {
 	JointBullet *joint = joint_owner.getornull(p_joint);
 	ERR_FAIL_COND(!joint);
 	ERR_FAIL_COND(joint->get_type() != JOINT_SLIDER);
@@ -1369,7 +1369,7 @@ void BulletPhysicsServer3D::slider_joint_set_param(RID p_joint, SliderJointParam
 	slider_joint->set_param(p_param, p_value);
 }
 
-float BulletPhysicsServer3D::slider_joint_get_param(RID p_joint, SliderJointParam p_param) const {
+real_t BulletPhysicsServer3D::slider_joint_get_param(RID p_joint, SliderJointParam p_param) const {
 	JointBullet *joint = joint_owner.getornull(p_joint);
 	ERR_FAIL_COND_V(!joint, 0);
 	ERR_FAIL_COND_V(joint->get_type() != JOINT_SLIDER, 0);
@@ -1395,7 +1395,7 @@ RID BulletPhysicsServer3D::joint_create_cone_twist(RID p_body_A, const Transform
 	CreateThenReturnRID(joint_owner, joint);
 }
 
-void BulletPhysicsServer3D::cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, float p_value) {
+void BulletPhysicsServer3D::cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value) {
 	JointBullet *joint = joint_owner.getornull(p_joint);
 	ERR_FAIL_COND(!joint);
 	ERR_FAIL_COND(joint->get_type() != JOINT_CONE_TWIST);
@@ -1403,7 +1403,7 @@ void BulletPhysicsServer3D::cone_twist_joint_set_param(RID p_joint, ConeTwistJoi
 	coneTwist_joint->set_param(p_param, p_value);
 }
 
-float BulletPhysicsServer3D::cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const {
+real_t BulletPhysicsServer3D::cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const {
 	JointBullet *joint = joint_owner.getornull(p_joint);
 	ERR_FAIL_COND_V(!joint, 0.);
 	ERR_FAIL_COND_V(joint->get_type() != JOINT_CONE_TWIST, 0.);
@@ -1431,7 +1431,7 @@ RID BulletPhysicsServer3D::joint_create_generic_6dof(RID p_body_A, const Transfo
 	CreateThenReturnRID(joint_owner, joint);
 }
 
-void BulletPhysicsServer3D::generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, float p_value) {
+void BulletPhysicsServer3D::generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, real_t p_value) {
 	JointBullet *joint = joint_owner.getornull(p_joint);
 	ERR_FAIL_COND(!joint);
 	ERR_FAIL_COND(joint->get_type() != JOINT_6DOF);
@@ -1439,7 +1439,7 @@ void BulletPhysicsServer3D::generic_6dof_joint_set_param(RID p_joint, Vector3::A
 	generic_6dof_joint->set_param(p_axis, p_param, p_value);
 }
 
-float BulletPhysicsServer3D::generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) {
+real_t BulletPhysicsServer3D::generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) {
 	JointBullet *joint = joint_owner.getornull(p_joint);
 	ERR_FAIL_COND_V(!joint, 0);
 	ERR_FAIL_COND_V(joint->get_type() != JOINT_6DOF, 0);
@@ -1525,7 +1525,7 @@ void BulletPhysicsServer3D::init() {
 	BulletPhysicsDirectBodyState3D::initSingleton();
 }
 
-void BulletPhysicsServer3D::step(float p_deltaTime) {
+void BulletPhysicsServer3D::step(real_t p_deltaTime) {
 	if (!active) {
 		return;
 	}
diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h
index b5dc84c8f5..f2740c9c75 100644
--- a/modules/bullet/bullet_physics_server.h
+++ b/modules/bullet/bullet_physics_server.h
@@ -207,8 +207,8 @@ public:
 	/// This is not supported by physics server
 	virtual uint32_t body_get_user_flags(RID p_body) const override;
 
-	virtual void body_set_param(RID p_body, BodyParameter p_param, float p_value) override;
-	virtual float body_get_param(RID p_body, BodyParameter p_param) const override;
+	virtual void body_set_param(RID p_body, BodyParameter p_param, real_t p_value) override;
+	virtual real_t body_get_param(RID p_body, BodyParameter p_param) const override;
 
 	virtual void body_set_kinematic_safe_margin(RID p_body, real_t p_margin) override;
 	virtual real_t body_get_kinematic_safe_margin(RID p_body) const override;
@@ -241,8 +241,8 @@ public:
 	virtual void body_set_max_contacts_reported(RID p_body, int p_contacts) override;
 	virtual int body_get_max_contacts_reported(RID p_body) const override;
 
-	virtual void body_set_contacts_reported_depth_threshold(RID p_body, float p_threshold) override;
-	virtual float body_get_contacts_reported_depth_threshold(RID p_body) const override;
+	virtual void body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) override;
+	virtual real_t body_get_contacts_reported_depth_threshold(RID p_body) const override;
 
 	virtual void body_set_omit_force_integration(RID p_body, bool p_omit) override;
 	virtual bool body_is_omitting_force_integration(RID p_body) const override;
@@ -256,7 +256,7 @@ public:
 	virtual PhysicsDirectBodyState3D *body_get_direct_state(RID p_body) override;
 
 	virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) override;
-	virtual int body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin = 0.001) override;
+	virtual int body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) override;
 
 	/* SOFT BODY API */
 
@@ -337,8 +337,8 @@ public:
 
 	virtual RID joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) override;
 
-	virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, float p_value) override;
-	virtual float pin_joint_get_param(RID p_joint, PinJointParam p_param) const override;
+	virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) override;
+	virtual real_t pin_joint_get_param(RID p_joint, PinJointParam p_param) const override;
 
 	virtual void pin_joint_set_local_a(RID p_joint, const Vector3 &p_A) override;
 	virtual Vector3 pin_joint_get_local_a(RID p_joint) const override;
@@ -349,8 +349,8 @@ public:
 	virtual RID joint_create_hinge(RID p_body_A, const Transform &p_hinge_A, RID p_body_B, const Transform &p_hinge_B) override;
 	virtual RID joint_create_hinge_simple(RID p_body_A, const Vector3 &p_pivot_A, const Vector3 &p_axis_A, RID p_body_B, const Vector3 &p_pivot_B, const Vector3 &p_axis_B) override;
 
-	virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, float p_value) override;
-	virtual float hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const override;
+	virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value) override;
+	virtual real_t hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const override;
 
 	virtual void hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value) override;
 	virtual bool hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const override;
@@ -358,20 +358,20 @@ public:
 	/// Reference frame is A
 	virtual RID joint_create_slider(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) override;
 
-	virtual void slider_joint_set_param(RID p_joint, SliderJointParam p_param, float p_value) override;
-	virtual float slider_joint_get_param(RID p_joint, SliderJointParam p_param) const override;
+	virtual void slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value) override;
+	virtual real_t slider_joint_get_param(RID p_joint, SliderJointParam p_param) const override;
 
 	/// Reference frame is A
 	virtual RID joint_create_cone_twist(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) override;
 
-	virtual void cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, float p_value) override;
-	virtual float cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const override;
+	virtual void cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value) override;
+	virtual real_t cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const override;
 
 	/// Reference frame is A
 	virtual RID joint_create_generic_6dof(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) override;
 
-	virtual void generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, float p_value) override;
-	virtual float generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) override;
+	virtual void generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, real_t p_value) override;
+	virtual real_t generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) override;
 
 	virtual void generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag, bool p_enable) override;
 	virtual bool generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag) override;
@@ -393,7 +393,7 @@ public:
 	}
 
 	virtual void init() override;
-	virtual void step(float p_deltaTime) override;
+	virtual void step(real_t p_deltaTime) override;
 	virtual void flush_queries() override;
 	virtual void finish() override;
 
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index 4763098584..a5093afe9d 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -56,11 +56,11 @@ Vector3 BulletPhysicsDirectBodyState3D::get_total_gravity() const {
 	return gVec;
 }
 
-float BulletPhysicsDirectBodyState3D::get_total_angular_damp() const {
+real_t BulletPhysicsDirectBodyState3D::get_total_angular_damp() const {
 	return body->btBody->getAngularDamping();
 }
 
-float BulletPhysicsDirectBodyState3D::get_total_linear_damp() const {
+real_t BulletPhysicsDirectBodyState3D::get_total_linear_damp() const {
 	return body->btBody->getLinearDamping();
 }
 
@@ -74,7 +74,7 @@ Basis BulletPhysicsDirectBodyState3D::get_principal_inertia_axes() const {
 	return Basis();
 }
 
-float BulletPhysicsDirectBodyState3D::get_inverse_mass() const {
+real_t BulletPhysicsDirectBodyState3D::get_inverse_mass() const {
 	return body->btBody->getInvMass();
 }
 
@@ -158,7 +158,7 @@ Vector3 BulletPhysicsDirectBodyState3D::get_contact_local_normal(int p_contact_i
 	return body->collisions[p_contact_idx].hitNormal;
 }
 
-float BulletPhysicsDirectBodyState3D::get_contact_impulse(int p_contact_idx) const {
+real_t BulletPhysicsDirectBodyState3D::get_contact_impulse(int p_contact_idx) const {
 	return body->collisions[p_contact_idx].appliedImpulse;
 }
 
@@ -412,7 +412,7 @@ void RigidBodyBullet::on_collision_checker_end() {
 	isTransformChanged = btBody->isActive() && !btBody->isStaticOrKinematicObject();
 }
 
-bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const float &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index) {
+bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const real_t &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index) {
 	if (collisionsCount >= maxCollisionsDetection) {
 		return false;
 	}
@@ -710,12 +710,12 @@ bool RigidBodyBullet::is_axis_locked(PhysicsServer3D::BodyAxis p_axis) const {
 }
 
 void RigidBodyBullet::reload_axis_lock() {
-	btBody->setLinearFactor(btVector3(float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_X)), float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_Y)), float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_Z))));
+	btBody->setLinearFactor(btVector3(btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_X)), btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_Y)), btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_Z))));
 	if (PhysicsServer3D::BODY_MODE_CHARACTER == mode) {
 		/// When character angular is always locked
 		btBody->setAngularFactor(btVector3(0., 0., 0.));
 	} else {
-		btBody->setAngularFactor(btVector3(float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_X)), float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_Y)), float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_Z))));
+		btBody->setAngularFactor(btVector3(btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_X)), btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_Y)), btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_Z))));
 	}
 }
 
diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h
index fc3f2db796..57b80cf50c 100644
--- a/modules/bullet/rigid_body_bullet.h
+++ b/modules/bullet/rigid_body_bullet.h
@@ -89,13 +89,13 @@ private:
 
 public:
 	virtual Vector3 get_total_gravity() const override;
-	virtual float get_total_angular_damp() const override;
-	virtual float get_total_linear_damp() const override;
+	virtual real_t get_total_angular_damp() const override;
+	virtual real_t get_total_linear_damp() const override;
 
 	virtual Vector3 get_center_of_mass() const override;
 	virtual Basis get_principal_inertia_axes() const override;
 	// get the mass
-	virtual float get_inverse_mass() const override;
+	virtual real_t get_inverse_mass() const override;
 	// get density of this body space
 	virtual Vector3 get_inverse_inertia() const override;
 	// get density of this body space
@@ -124,7 +124,7 @@ public:
 
 	virtual Vector3 get_contact_local_position(int p_contact_idx) const override;
 	virtual Vector3 get_contact_local_normal(int p_contact_idx) const override;
-	virtual float get_contact_impulse(int p_contact_idx) const override;
+	virtual real_t get_contact_impulse(int p_contact_idx) const override;
 	virtual int get_contact_local_shape(int p_contact_idx) const override;
 
 	virtual RID get_contact_collider(int p_contact_idx) const override;
@@ -150,7 +150,7 @@ public:
 		Vector3 hitLocalLocation;
 		Vector3 hitWorldLocation;
 		Vector3 hitNormal;
-		float appliedImpulse;
+		real_t appliedImpulse;
 	};
 
 	struct ForceIntegrationCallback {
@@ -264,7 +264,7 @@ public:
 	}
 
 	bool can_add_collision() { return collisionsCount < maxCollisionsDetection; }
-	bool add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const float &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index);
+	bool add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const real_t &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index);
 	bool was_colliding(RigidBodyBullet *p_other_object);
 
 	void set_activation_state(bool p_active);
diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp
index cc2ec28a9e..82876ab77c 100644
--- a/modules/bullet/shape_bullet.cpp
+++ b/modules/bullet/shape_bullet.cpp
@@ -480,7 +480,11 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) {
 	Vector<real_t> l_heights;
 	Variant l_heights_v = d["heights"];
 
+#ifdef REAL_T_IS_DOUBLE
+	if (l_heights_v.get_type() == Variant::PACKED_FLOAT64_ARRAY) {
+#else
 	if (l_heights_v.get_type() == Variant::PACKED_FLOAT32_ARRAY) {
+#endif
 		// Ready-to-use heights can be passed
 
 		l_heights = l_heights_v;
@@ -503,7 +507,7 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) {
 
 		real_t *w = l_heights.ptrw();
 		const uint8_t *r = im_data.ptr();
-		float *rp = (float *)r;
+		real_t *rp = (real_t *)r;
 		// At this point, `rp` could be used directly for Bullet, but I don't know how safe it would be.
 
 		for (int i = 0; i < l_heights.size(); ++i) {
@@ -511,7 +515,11 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) {
 		}
 
 	} else {
+#ifdef REAL_T_IS_DOUBLE
+		ERR_FAIL_MSG("Expected PackedFloat64Array or float Image.");
+#else
 		ERR_FAIL_MSG("Expected PackedFloat32Array or float Image.");
+#endif
 	}
 
 	ERR_FAIL_COND(l_width <= 0);
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index d7dd11d2a5..79a5fdb3d2 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -117,7 +117,7 @@ bool BulletPhysicsDirectSpaceState::intersect_ray(const Vector3 &p_from, const V
 	}
 }
 
-int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
+int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Transform &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
 	if (p_result_max <= 0) {
 		return 0;
 	}
@@ -152,7 +152,7 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra
 	return btQuery.m_count;
 }
 
-bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &r_closest_safe, float &r_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) {
+bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &r_closest_safe, real_t &r_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) {
 	r_closest_safe = 0.0f;
 	r_closest_unsafe = 0.0f;
 	btVector3 bt_motion;
@@ -214,7 +214,7 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
 }
 
 /// Returns the list of contacts pairs in this order: Local contact, other body contact
-bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &p_shape_xform, float p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
+bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
 	if (p_result_max <= 0) {
 		return false;
 	}
@@ -250,7 +250,7 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &
 	return btQuery.m_count;
 }
 
-bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
+bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
 	ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->getornull(p_shape);
 	ERR_FAIL_COND_V(!shape, false);
 
@@ -841,7 +841,7 @@ void SpaceBullet::check_body_collision() {
 					Vector3 collisionWorldPosition;
 					Vector3 collisionLocalPosition;
 					Vector3 normalOnB;
-					float appliedImpulse = pt.m_appliedImpulse;
+					real_t appliedImpulse = pt.m_appliedImpulse;
 					B_TO_G(pt.m_normalWorldOnB, normalOnB);
 
 					// The pt.m_index only contains the shape index when more than one collision shape is used
@@ -1062,7 +1062,7 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
 	return has_penetration;
 }
 
-int SpaceBullet::test_ray_separation(RigidBodyBullet *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, float p_margin) {
+int SpaceBullet::test_ray_separation(RigidBodyBullet *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, real_t p_margin) {
 	btTransform body_transform;
 	G_TO_B(p_transform, body_transform);
 	UNSCALE_BT_BASIS(body_transform);
diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h
index 0f2482e551..1caa3c2a0c 100644
--- a/modules/bullet/space_bullet.h
+++ b/modules/bullet/space_bullet.h
@@ -78,11 +78,11 @@ public:
 
 	virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
 	virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_ray = false) override;
-	virtual int intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
-	virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &r_closest_safe, float &r_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = nullptr) override;
+	virtual int intersect_shape(const RID &p_shape, const Transform &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
+	virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &r_closest_safe, real_t &r_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = nullptr) override;
 	/// Returns the list of contacts pairs in this order: Local contact, other body contact
-	virtual bool collide_shape(RID p_shape, const Transform &p_shape_xform, float p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
-	virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
+	virtual bool collide_shape(RID p_shape, const Transform &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
+	virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
 	virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const override;
 };
 
@@ -189,7 +189,7 @@ public:
 	real_t get_angular_damp() const { return angular_damp; }
 
 	bool test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes);
-	int test_ray_separation(RigidBodyBullet *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, float p_margin);
+	int test_ray_separation(RigidBodyBullet *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, real_t p_margin);
 
 private:
 	void create_empty_world(bool p_create_soft_world);
diff --git a/servers/physics_2d/collision_object_2d_sw.h b/servers/physics_2d/collision_object_2d_sw.h
index 2939b4b99f..2db3961f41 100644
--- a/servers/physics_2d/collision_object_2d_sw.h
+++ b/servers/physics_2d/collision_object_2d_sw.h
@@ -61,7 +61,7 @@ private:
 		Variant metadata;
 		bool disabled;
 		bool one_way_collision;
-		float one_way_collision_margin;
+		real_t one_way_collision_margin;
 		Shape() {
 			disabled = false;
 			one_way_collision = false;
@@ -153,7 +153,7 @@ public:
 		return shapes[p_idx].disabled;
 	}
 
-	_FORCE_INLINE_ void set_shape_as_one_way_collision(int p_idx, bool p_one_way_collision, float p_margin) {
+	_FORCE_INLINE_ void set_shape_as_one_way_collision(int p_idx, bool p_one_way_collision, real_t p_margin) {
 		CRASH_BAD_INDEX(p_idx, shapes.size());
 		shapes.write[p_idx].one_way_collision = p_one_way_collision;
 		shapes.write[p_idx].one_way_collision_margin = p_margin;
@@ -163,7 +163,7 @@ public:
 		return shapes[p_idx].one_way_collision;
 	}
 
-	_FORCE_INLINE_ float get_shape_one_way_collision_margin(int p_idx) const {
+	_FORCE_INLINE_ real_t get_shape_one_way_collision_margin(int p_idx) const {
 		CRASH_BAD_INDEX(p_idx, shapes.size());
 		return shapes[p_idx].one_way_collision_margin;
 	}
diff --git a/servers/physics_2d/physics_server_2d_sw.cpp b/servers/physics_2d/physics_server_2d_sw.cpp
index c4e2489bef..14fcf1520a 100644
--- a/servers/physics_2d/physics_server_2d_sw.cpp
+++ b/servers/physics_2d/physics_server_2d_sw.cpp
@@ -667,7 +667,7 @@ void PhysicsServer2DSW::body_set_shape_disabled(RID p_body, int p_shape_idx, boo
 	body->set_shape_as_disabled(p_shape_idx, p_disabled);
 }
 
-void PhysicsServer2DSW::body_set_shape_as_one_way_collision(RID p_body, int p_shape_idx, bool p_enable, float p_margin) {
+void PhysicsServer2DSW::body_set_shape_as_one_way_collision(RID p_body, int p_shape_idx, bool p_enable, real_t p_margin) {
 	Body2DSW *body = body_owner.getornull(p_body);
 	ERR_FAIL_COND(!body);
 	ERR_FAIL_INDEX(p_shape_idx, body->get_shape_count());
@@ -958,7 +958,7 @@ bool PhysicsServer2DSW::body_test_motion(RID p_body, const Transform2D &p_from,
 	return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, p_margin, r_result, p_exclude_raycast_shapes);
 }
 
-int PhysicsServer2DSW::body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin) {
+int PhysicsServer2DSW::body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin) {
 	Body2DSW *body = body_owner.getornull(p_body);
 	ERR_FAIL_COND_V(!body, false);
 	ERR_FAIL_COND_V(!body->get_space(), false);
diff --git a/servers/physics_2d/physics_server_2d_sw.h b/servers/physics_2d/physics_server_2d_sw.h
index 3305c0bd3d..62ea30b3f6 100644
--- a/servers/physics_2d/physics_server_2d_sw.h
+++ b/servers/physics_2d/physics_server_2d_sw.h
@@ -191,7 +191,7 @@ public:
 	virtual void body_clear_shapes(RID p_body) override;
 
 	virtual void body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) override;
-	virtual void body_set_shape_as_one_way_collision(RID p_body, int p_shape_idx, bool p_enable, float p_margin) override;
+	virtual void body_set_shape_as_one_way_collision(RID p_body, int p_shape_idx, bool p_enable, real_t p_margin) override;
 
 	virtual void body_attach_object_instance_id(RID p_body, ObjectID p_id) override;
 	virtual ObjectID body_get_object_instance_id(RID p_body) const override;
@@ -248,7 +248,7 @@ public:
 	virtual void body_set_pickable(RID p_body, bool p_pickable) override;
 
 	virtual bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.001, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) override;
-	virtual int body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin = 0.001) override;
+	virtual int body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) override;
 
 	// this function only works on physics process, errors and returns null otherwise
 	virtual PhysicsDirectBodyState2D *body_get_direct_state(RID p_body) override;
diff --git a/servers/physics_2d/physics_server_2d_wrap_mt.h b/servers/physics_2d/physics_server_2d_wrap_mt.h
index 9207081a51..3c6ec877e0 100644
--- a/servers/physics_2d/physics_server_2d_wrap_mt.h
+++ b/servers/physics_2d/physics_server_2d_wrap_mt.h
@@ -189,7 +189,7 @@ public:
 	FUNC2RC(RID, body_get_shape, RID, int);
 
 	FUNC3(body_set_shape_disabled, RID, int, bool);
-	FUNC4(body_set_shape_as_one_way_collision, RID, int, bool, float);
+	FUNC4(body_set_shape_as_one_way_collision, RID, int, bool, real_t);
 
 	FUNC2(body_remove_shape, RID, int);
 	FUNC1(body_clear_shapes, RID);
@@ -255,7 +255,7 @@ public:
 		return physics_2d_server->body_test_motion(p_body, p_from, p_motion, p_infinite_inertia, p_margin, r_result, p_exclude_raycast_shapes);
 	}
 
-	int body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin = 0.001) {
+	int body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) {
 		ERR_FAIL_COND_V(main_thread != Thread::get_caller_id(), false);
 		return physics_2d_server->body_test_ray_separation(p_body, p_transform, p_infinite_inertia, r_recover_motion, r_results, p_result_max, p_margin);
 	}
diff --git a/servers/physics_2d/shape_2d_sw.cpp b/servers/physics_2d/shape_2d_sw.cpp
index 24c73314d8..6e7e802a8b 100644
--- a/servers/physics_2d/shape_2d_sw.cpp
+++ b/servers/physics_2d/shape_2d_sw.cpp
@@ -339,10 +339,10 @@ void RectangleShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_suppor
 }
 
 bool RectangleShape2DSW::contains_point(const Vector2 &p_point) const {
-	float x = p_point.x;
-	float y = p_point.y;
-	float edge_x = half_extents.x;
-	float edge_y = half_extents.y;
+	real_t x = p_point.x;
+	real_t y = p_point.y;
+	real_t edge_x = half_extents.x;
+	real_t edge_y = half_extents.y;
 	return (x >= -edge_x) && (x < edge_x) && (y >= -edge_y) && (y < edge_y);
 }
 
@@ -590,7 +590,11 @@ real_t ConvexPolygonShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2
 }
 
 void ConvexPolygonShape2DSW::set_data(const Variant &p_data) {
+#ifdef REAL_T_IS_DOUBLE
+	ERR_FAIL_COND(p_data.get_type() != Variant::PACKED_VECTOR2_ARRAY && p_data.get_type() != Variant::PACKED_FLOAT64_ARRAY);
+#else
 	ERR_FAIL_COND(p_data.get_type() != Variant::PACKED_VECTOR2_ARRAY && p_data.get_type() != Variant::PACKED_FLOAT32_ARRAY);
+#endif
 
 	if (points) {
 		memdelete_arr(points);
@@ -829,7 +833,11 @@ int ConcavePolygonShape2DSW::_generate_bvh(BVH *p_bvh, int p_len, int p_depth) {
 }
 
 void ConcavePolygonShape2DSW::set_data(const Variant &p_data) {
+#ifdef REAL_T_IS_DOUBLE
+	ERR_FAIL_COND(p_data.get_type() != Variant::PACKED_VECTOR2_ARRAY && p_data.get_type() != Variant::PACKED_FLOAT64_ARRAY);
+#else
 	ERR_FAIL_COND(p_data.get_type() != Variant::PACKED_VECTOR2_ARRAY && p_data.get_type() != Variant::PACKED_FLOAT32_ARRAY);
+#endif
 
 	Rect2 aabb;
 
diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp
index 068bc7fc0a..41537f7170 100644
--- a/servers/physics_2d/space_2d_sw.cpp
+++ b/servers/physics_2d/space_2d_sw.cpp
@@ -644,7 +644,7 @@ int Space2DSW::test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_t
 
 								recover_motion += (b - a) / cbk.amount;
 
-								float depth = a.distance_to(b);
+								real_t depth = a.distance_to(b);
 								if (depth > result.collision_depth) {
 									result.collision_depth = depth;
 									result.collision_point = b;
@@ -739,7 +739,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 	ExcludedShapeSW excluded_shape_pairs[max_excluded_shape_pairs];
 	int excluded_shape_pair_count = 0;
 
-	float separation_margin = MIN(p_margin, MAX(0.0, p_motion.length() - CMP_EPSILON)); //don't separate by more than the intended motion
+	real_t separation_margin = MIN(p_margin, MAX(0.0, p_motion.length() - CMP_EPSILON)); //don't separate by more than the intended motion
 
 	Transform2D body_transform = p_from;
 
@@ -793,7 +793,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 					if (col_obj->is_shape_set_as_one_way_collision(shape_idx)) {
 						cbk.valid_dir = col_obj_shape_xform.get_axis(1).normalized();
 
-						float owc_margin = col_obj->get_shape_one_way_collision_margin(shape_idx);
+						real_t owc_margin = col_obj->get_shape_one_way_collision_margin(shape_idx);
 						cbk.valid_depth = MAX(owc_margin, p_margin); //user specified, but never less than actual margin or it won't work
 						cbk.invalid_by_dir = 0;
 
@@ -804,7 +804,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 								Vector2 lv = b->get_linear_velocity();
 								//compute displacement from linear velocity
 								Vector2 motion = lv * PhysicsDirectBodyState2DSW::singleton->step;
-								float motion_len = motion.length();
+								real_t motion_len = motion.length();
 								motion.normalize();
 								cbk.valid_depth += motion_len * MAX(motion.dot(-cbk.valid_dir), 0.0);
 							}
diff --git a/servers/physics_3d/body_3d_sw.h b/servers/physics_3d/body_3d_sw.h
index 41578778f6..8e21003a5f 100644
--- a/servers/physics_3d/body_3d_sw.h
+++ b/servers/physics_3d/body_3d_sw.h
@@ -426,7 +426,7 @@ public:
 		ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3());
 		return body->contacts[p_contact_idx].local_normal;
 	}
-	virtual float get_contact_impulse(int p_contact_idx) const override {
+	virtual real_t get_contact_impulse(int p_contact_idx) const override {
 		return 0.0f; // Only implemented for bullet
 	}
 	virtual int get_contact_local_shape(int p_contact_idx) const override {
diff --git a/servers/physics_3d/physics_server_3d_sw.cpp b/servers/physics_3d/physics_server_3d_sw.cpp
index 274de8411c..b554a23bf2 100644
--- a/servers/physics_3d/physics_server_3d_sw.cpp
+++ b/servers/physics_3d/physics_server_3d_sw.cpp
@@ -874,7 +874,7 @@ bool PhysicsServer3DSW::body_test_motion(RID p_body, const Transform &p_from, co
 	return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, body->get_kinematic_margin(), r_result, p_exclude_raycast_shapes);
 }
 
-int PhysicsServer3DSW::body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin) {
+int PhysicsServer3DSW::body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin) {
 	Body3DSW *body = body_owner.getornull(p_body);
 	ERR_FAIL_COND_V(!body, false);
 	ERR_FAIL_COND_V(!body->get_space(), false);
diff --git a/servers/physics_3d/physics_server_3d_sw.h b/servers/physics_3d/physics_server_3d_sw.h
index 9b6b113677..c48db81d97 100644
--- a/servers/physics_3d/physics_server_3d_sw.h
+++ b/servers/physics_3d/physics_server_3d_sw.h
@@ -235,7 +235,7 @@ public:
 	virtual bool body_is_ray_pickable(RID p_body) const override;
 
 	virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) override;
-	virtual int body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin = 0.001) override;
+	virtual int body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) override;
 
 	// this function only works on physics process, errors and returns null otherwise
 	virtual PhysicsDirectBodyState3D *body_get_direct_state(RID p_body) override;
diff --git a/servers/physics_3d/shape_3d_sw.cpp b/servers/physics_3d/shape_3d_sw.cpp
index f2adcc1072..9c37060bea 100644
--- a/servers/physics_3d/shape_3d_sw.cpp
+++ b/servers/physics_3d/shape_3d_sw.cpp
@@ -261,7 +261,7 @@ bool SphereShape3DSW::intersect_point(const Vector3 &p_point) const {
 
 Vector3 SphereShape3DSW::get_closest_point_to(const Vector3 &p_point) const {
 	Vector3 p = p_point;
-	float l = p.length();
+	real_t l = p.length();
 	if (l < radius) {
 		return p_point;
 	}
@@ -429,7 +429,7 @@ Vector3 BoxShape3DSW::get_closest_point_to(const Vector3 &p_point) const {
 	}
 
 	//check segments
-	float min_distance = 1e20;
+	real_t min_distance = 1e20;
 	Vector3 closest_vertex = half_extents * p_point.sign();
 	Vector3 s[2] = {
 		closest_vertex,
@@ -442,7 +442,7 @@ Vector3 BoxShape3DSW::get_closest_point_to(const Vector3 &p_point) const {
 
 		Vector3 closest_edge = Geometry3D::get_closest_point_to_segment(p_point, s);
 
-		float d = p_point.distance_to(closest_edge);
+		real_t d = p_point.distance_to(closest_edge);
 		if (d < min_distance) {
 			min_point = closest_edge;
 			min_distance = d;
@@ -839,7 +839,7 @@ Vector3 ConvexPolygonShape3DSW::get_closest_point_to(const Vector3 &p_point) con
 		return p_point;
 	}
 
-	float min_distance = 1e20;
+	real_t min_distance = 1e20;
 	Vector3 min_point;
 
 	//check edges
@@ -852,7 +852,7 @@ Vector3 ConvexPolygonShape3DSW::get_closest_point_to(const Vector3 &p_point) con
 		};
 
 		Vector3 closest = Geometry3D::get_closest_point_to_segment(p_point, s);
-		float d = closest.distance_to(p_point);
+		real_t d = closest.distance_to(p_point);
 		if (d < min_distance) {
 			min_distance = d;
 			min_point = closest;
diff --git a/servers/physics_3d/space_3d_sw.cpp b/servers/physics_3d/space_3d_sw.cpp
index 6cc7ad2676..547717c73c 100644
--- a/servers/physics_3d/space_3d_sw.cpp
+++ b/servers/physics_3d/space_3d_sw.cpp
@@ -476,7 +476,7 @@ Vector3 PhysicsDirectSpaceState3DSW::get_closest_point_to_object_volume(RID p_ob
 
 	ERR_FAIL_COND_V(obj->get_space() != space, Vector3());
 
-	float min_distance = 1e20;
+	real_t min_distance = 1e20;
 	Vector3 min_point;
 
 	bool shapes_found = false;
@@ -492,7 +492,7 @@ Vector3 PhysicsDirectSpaceState3DSW::get_closest_point_to_object_volume(RID p_ob
 		Vector3 point = shape->get_closest_point_to(shape_xform.affine_inverse().xform(p_point));
 		point = shape_xform.xform(point);
 
-		float dist = point.distance_to(p_point);
+		real_t dist = point.distance_to(p_point);
 		if (dist < min_distance) {
 			min_distance = dist;
 			min_point = point;
@@ -651,7 +651,7 @@ int Space3DSW::test_body_ray_separation(Body3DSW *p_body, const Transform &p_tra
 
 								recover_motion += (b - a) / cbk.amount;
 
-								float depth = a.distance_to(b);
+								real_t depth = a.distance_to(b);
 								if (depth > result.collision_depth) {
 									result.collision_depth = depth;
 									result.collision_point = b;
diff --git a/servers/physics_server_2d.cpp b/servers/physics_server_2d.cpp
index a6f64f5848..7c36229e9f 100644
--- a/servers/physics_server_2d.cpp
+++ b/servers/physics_server_2d.cpp
@@ -42,7 +42,7 @@ void PhysicsDirectBodyState2D::integrate_forces() {
 
 	real_t av = get_angular_velocity();
 
-	float damp = 1.0 - step * get_total_linear_damp();
+	real_t damp = 1.0 - step * get_total_linear_damp();
 
 	if (damp < 0) { // reached zero in the given time
 		damp = 0;
@@ -168,11 +168,11 @@ Vector2 PhysicsShapeQueryParameters2D::get_motion() const {
 	return motion;
 }
 
-void PhysicsShapeQueryParameters2D::set_margin(float p_margin) {
+void PhysicsShapeQueryParameters2D::set_margin(real_t p_margin) {
 	margin = p_margin;
 }
 
-float PhysicsShapeQueryParameters2D::get_margin() const {
+real_t PhysicsShapeQueryParameters2D::get_margin() const {
 	return margin;
 }
 
@@ -311,7 +311,7 @@ Array PhysicsDirectSpaceState2D::_intersect_shape(const Ref<PhysicsShapeQueryPar
 Array PhysicsDirectSpaceState2D::_cast_motion(const Ref<PhysicsShapeQueryParameters2D> &p_shape_query) {
 	ERR_FAIL_COND_V(!p_shape_query.is_valid(), Array());
 
-	float closest_safe, closest_unsafe;
+	real_t closest_safe, closest_unsafe;
 	bool res = cast_motion(p_shape_query->shape, p_shape_query->transform, p_shape_query->motion, p_shape_query->margin, closest_safe, closest_unsafe, p_shape_query->exclude, p_shape_query->collision_mask, p_shape_query->collide_with_bodies, p_shape_query->collide_with_areas);
 	if (!res) {
 		return Array();
@@ -517,7 +517,7 @@ PhysicsTestMotionResult2D::PhysicsTestMotionResult2D() {
 
 ///////////////////////////////////////
 
-bool PhysicsServer2D::_body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, float p_margin, const Ref<PhysicsTestMotionResult2D> &p_result) {
+bool PhysicsServer2D::_body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin, const Ref<PhysicsTestMotionResult2D> &p_result) {
 	MotionResult *r = nullptr;
 	if (p_result.is_valid()) {
 		r = p_result->get_result_ptr();
diff --git a/servers/physics_server_2d.h b/servers/physics_server_2d.h
index dd38855199..710eecfdec 100644
--- a/servers/physics_server_2d.h
+++ b/servers/physics_server_2d.h
@@ -45,10 +45,10 @@ protected:
 
 public:
 	virtual Vector2 get_total_gravity() const = 0; // get gravity vector working on this body space/area
-	virtual float get_total_linear_damp() const = 0; // get density of this body space/area
-	virtual float get_total_angular_damp() const = 0; // get density of this body space/area
+	virtual real_t get_total_linear_damp() const = 0; // get density of this body space/area
+	virtual real_t get_total_angular_damp() const = 0; // get density of this body space/area
 
-	virtual float get_inverse_mass() const = 0; // get the mass
+	virtual real_t get_inverse_mass() const = 0; // get the mass
 	virtual real_t get_inverse_inertia() const = 0; // get density of this body space
 
 	virtual void set_linear_velocity(const Vector2 &p_velocity) = 0;
@@ -103,7 +103,7 @@ class PhysicsShapeQueryParameters2D : public Reference {
 	RID shape;
 	Transform2D transform;
 	Vector2 motion;
-	float margin;
+	real_t margin;
 	Set<RID> exclude;
 	uint32_t collision_mask;
 
@@ -125,8 +125,8 @@ public:
 	void set_motion(const Vector2 &p_motion);
 	Vector2 get_motion() const;
 
-	void set_margin(float p_margin);
-	float get_margin() const;
+	void set_margin(real_t p_margin);
+	real_t get_margin() const;
 
 	void set_collision_mask(int p_collision_mask);
 	int get_collision_mask() const;
@@ -182,11 +182,11 @@ public:
 	virtual int intersect_point(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_point = false) = 0;
 	virtual int intersect_point_on_canvas(const Vector2 &p_point, ObjectID p_canvas_instance_id, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_point = false) = 0;
 
-	virtual int intersect_shape(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, float p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0;
+	virtual int intersect_shape(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0;
 
-	virtual bool cast_motion(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, float p_margin, float &p_closest_safe, float &p_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0;
+	virtual bool cast_motion(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0;
 
-	virtual bool collide_shape(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, float p_margin, Vector2 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0;
+	virtual bool collide_shape(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, Vector2 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0;
 
 	struct ShapeRestInfo {
 		Vector2 point;
@@ -198,7 +198,7 @@ public:
 		Variant metadata;
 	};
 
-	virtual bool rest_info(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0;
+	virtual bool rest_info(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0;
 
 	PhysicsDirectSpaceState2D();
 };
@@ -230,7 +230,7 @@ class PhysicsServer2D : public Object {
 
 	static PhysicsServer2D *singleton;
 
-	virtual bool _body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, float p_margin = 0.08, const Ref<PhysicsTestMotionResult2D> &p_result = Ref<PhysicsTestMotionResult2D>());
+	virtual bool _body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.08, const Ref<PhysicsTestMotionResult2D> &p_result = Ref<PhysicsTestMotionResult2D>());
 
 protected:
 	static void _bind_methods();
@@ -393,7 +393,7 @@ public:
 	virtual Variant body_get_shape_metadata(RID p_body, int p_shape_idx) const = 0;
 
 	virtual void body_set_shape_disabled(RID p_body, int p_shape, bool p_disabled) = 0;
-	virtual void body_set_shape_as_one_way_collision(RID p_body, int p_shape, bool p_enabled, float p_margin = 0) = 0;
+	virtual void body_set_shape_as_one_way_collision(RID p_body, int p_shape, bool p_enabled, real_t p_margin = 0) = 0;
 
 	virtual void body_remove_shape(RID p_body, int p_shape_idx) = 0;
 	virtual void body_clear_shapes(RID p_body) = 0;
@@ -431,8 +431,8 @@ public:
 		BODY_PARAM_MAX,
 	};
 
-	virtual void body_set_param(RID p_body, BodyParameter p_param, float p_value) = 0;
-	virtual float body_get_param(RID p_body, BodyParameter p_param) const = 0;
+	virtual void body_set_param(RID p_body, BodyParameter p_param, real_t p_value) = 0;
+	virtual real_t body_get_param(RID p_body, BodyParameter p_param) const = 0;
 
 	//state
 	enum BodyState {
@@ -450,15 +450,15 @@ public:
 	virtual void body_set_applied_force(RID p_body, const Vector2 &p_force) = 0;
 	virtual Vector2 body_get_applied_force(RID p_body) const = 0;
 
-	virtual void body_set_applied_torque(RID p_body, float p_torque) = 0;
-	virtual float body_get_applied_torque(RID p_body) const = 0;
+	virtual void body_set_applied_torque(RID p_body, real_t p_torque) = 0;
+	virtual real_t body_get_applied_torque(RID p_body) const = 0;
 
 	virtual void body_add_central_force(RID p_body, const Vector2 &p_force) = 0;
 	virtual void body_add_force(RID p_body, const Vector2 &p_force, const Vector2 &p_position = Vector2()) = 0;
-	virtual void body_add_torque(RID p_body, float p_torque) = 0;
+	virtual void body_add_torque(RID p_body, real_t p_torque) = 0;
 
 	virtual void body_apply_central_impulse(RID p_body, const Vector2 &p_impulse) = 0;
-	virtual void body_apply_torque_impulse(RID p_body, float p_torque) = 0;
+	virtual void body_apply_torque_impulse(RID p_body, real_t p_torque) = 0;
 	virtual void body_apply_impulse(RID p_body, const Vector2 &p_impulse, const Vector2 &p_position = Vector2()) = 0;
 	virtual void body_set_axis_velocity(RID p_body, const Vector2 &p_axis_velocity) = 0;
 
@@ -471,8 +471,8 @@ public:
 	virtual int body_get_max_contacts_reported(RID p_body) const = 0;
 
 	//missing remove
-	virtual void body_set_contacts_reported_depth_threshold(RID p_body, float p_threshold) = 0;
-	virtual float body_get_contacts_reported_depth_threshold(RID p_body) const = 0;
+	virtual void body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) = 0;
+	virtual real_t body_get_contacts_reported_depth_threshold(RID p_body) const = 0;
 
 	virtual void body_set_omit_force_integration(RID p_body, bool p_omit) = 0;
 	virtual bool body_is_omitting_force_integration(RID p_body) const = 0;
@@ -506,10 +506,10 @@ public:
 		}
 	};
 
-	virtual bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, float p_margin = 0.001, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) = 0;
+	virtual bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.001, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) = 0;
 
 	struct SeparationResult {
-		float collision_depth;
+		real_t collision_depth;
 		Vector2 collision_point;
 		Vector2 collision_normal;
 		Vector2 collider_velocity;
@@ -520,7 +520,7 @@ public:
 		Variant collider_metadata;
 	};
 
-	virtual int body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin = 0.001) = 0;
+	virtual int body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) = 0;
 
 	/* JOINT API */
 
@@ -576,7 +576,7 @@ public:
 
 	virtual void set_active(bool p_active) = 0;
 	virtual void init() = 0;
-	virtual void step(float p_step) = 0;
+	virtual void step(real_t p_step) = 0;
 	virtual void sync() = 0;
 	virtual void flush_queries() = 0;
 	virtual void end_sync() = 0;
diff --git a/servers/physics_server_3d.cpp b/servers/physics_server_3d.cpp
index 702b35f8d1..a4dc80b0a6 100644
--- a/servers/physics_server_3d.cpp
+++ b/servers/physics_server_3d.cpp
@@ -42,13 +42,13 @@ void PhysicsDirectBodyState3D::integrate_forces() {
 
 	Vector3 av = get_angular_velocity();
 
-	float linear_damp = 1.0 - step * get_total_linear_damp();
+	real_t linear_damp = 1.0 - step * get_total_linear_damp();
 
 	if (linear_damp < 0) { // reached zero in the given time
 		linear_damp = 0;
 	}
 
-	float angular_damp = 1.0 - step * get_total_angular_damp();
+	real_t angular_damp = 1.0 - step * get_total_angular_damp();
 
 	if (angular_damp < 0) { // reached zero in the given time
 		angular_damp = 0;
@@ -164,11 +164,11 @@ Transform PhysicsShapeQueryParameters3D::get_transform() const {
 	return transform;
 }
 
-void PhysicsShapeQueryParameters3D::set_margin(float p_margin) {
+void PhysicsShapeQueryParameters3D::set_margin(real_t p_margin) {
 	margin = p_margin;
 }
 
-float PhysicsShapeQueryParameters3D::get_margin() const {
+real_t PhysicsShapeQueryParameters3D::get_margin() const {
 	return margin;
 }
 
@@ -303,7 +303,7 @@ Array PhysicsDirectSpaceState3D::_intersect_shape(const Ref<PhysicsShapeQueryPar
 Array PhysicsDirectSpaceState3D::_cast_motion(const Ref<PhysicsShapeQueryParameters3D> &p_shape_query, const Vector3 &p_motion) {
 	ERR_FAIL_COND_V(!p_shape_query.is_valid(), Array());
 
-	float closest_safe = 1.0f, closest_unsafe = 1.0f;
+	real_t closest_safe = 1.0f, closest_unsafe = 1.0f;
 	bool res = cast_motion(p_shape_query->shape, p_shape_query->transform, p_motion, p_shape_query->margin, closest_safe, closest_unsafe, p_shape_query->exclude, p_shape_query->collision_mask, p_shape_query->collide_with_bodies, p_shape_query->collide_with_areas);
 	if (!res) {
 		return Array();
diff --git a/servers/physics_server_3d.h b/servers/physics_server_3d.h
index 303825f37c..1349e0e033 100644
--- a/servers/physics_server_3d.h
+++ b/servers/physics_server_3d.h
@@ -44,12 +44,12 @@ protected:
 
 public:
 	virtual Vector3 get_total_gravity() const = 0;
-	virtual float get_total_angular_damp() const = 0;
-	virtual float get_total_linear_damp() const = 0;
+	virtual real_t get_total_angular_damp() const = 0;
+	virtual real_t get_total_linear_damp() const = 0;
 
 	virtual Vector3 get_center_of_mass() const = 0;
 	virtual Basis get_principal_inertia_axes() const = 0;
-	virtual float get_inverse_mass() const = 0; // get the mass
+	virtual real_t get_inverse_mass() const = 0; // get the mass
 	virtual Vector3 get_inverse_inertia() const = 0; // get density of this body space
 	virtual Basis get_inverse_inertia_tensor() const = 0; // get density of this body space
 
@@ -76,7 +76,7 @@ public:
 
 	virtual Vector3 get_contact_local_position(int p_contact_idx) const = 0;
 	virtual Vector3 get_contact_local_normal(int p_contact_idx) const = 0;
-	virtual float get_contact_impulse(int p_contact_idx) const = 0;
+	virtual real_t get_contact_impulse(int p_contact_idx) const = 0;
 	virtual int get_contact_local_shape(int p_contact_idx) const = 0;
 
 	virtual RID get_contact_collider(int p_contact_idx) const = 0;
@@ -103,7 +103,7 @@ class PhysicsShapeQueryParameters3D : public Reference {
 	RES shape_ref;
 	RID shape;
 	Transform transform;
-	float margin;
+	real_t margin;
 	Set<RID> exclude;
 	uint32_t collision_mask;
 
@@ -122,8 +122,8 @@ public:
 	void set_transform(const Transform &p_transform);
 	Transform get_transform() const;
 
-	void set_margin(float p_margin);
-	float get_margin() const;
+	void set_margin(real_t p_margin);
+	real_t get_margin() const;
 
 	void set_collision_mask(int p_collision_mask);
 	int get_collision_mask() const;
@@ -174,7 +174,7 @@ public:
 
 	virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_ray = false) = 0;
 
-	virtual int intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0;
+	virtual int intersect_shape(const RID &p_shape, const Transform &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0;
 
 	struct ShapeRestInfo {
 		Vector3 point;
@@ -185,11 +185,11 @@ public:
 		Vector3 linear_velocity; //velocity at contact point
 	};
 
-	virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &p_closest_safe, float &p_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = nullptr) = 0;
+	virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = nullptr) = 0;
 
-	virtual bool collide_shape(RID p_shape, const Transform &p_shape_xform, float p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0;
+	virtual bool collide_shape(RID p_shape, const Transform &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0;
 
-	virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0;
+	virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0;
 
 	virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const = 0;
 
@@ -404,8 +404,8 @@ public:
 		BODY_PARAM_MAX,
 	};
 
-	virtual void body_set_param(RID p_body, BodyParameter p_param, float p_value) = 0;
-	virtual float body_get_param(RID p_body, BodyParameter p_param) const = 0;
+	virtual void body_set_param(RID p_body, BodyParameter p_param, real_t p_value) = 0;
+	virtual real_t body_get_param(RID p_body, BodyParameter p_param) const = 0;
 
 	virtual void body_set_kinematic_safe_margin(RID p_body, real_t p_margin) = 0;
 	virtual real_t body_get_kinematic_safe_margin(RID p_body) const = 0;
@@ -459,8 +459,8 @@ public:
 	virtual int body_get_max_contacts_reported(RID p_body) const = 0;
 
 	//missing remove
-	virtual void body_set_contacts_reported_depth_threshold(RID p_body, float p_threshold) = 0;
-	virtual float body_get_contacts_reported_depth_threshold(RID p_body) const = 0;
+	virtual void body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) = 0;
+	virtual real_t body_get_contacts_reported_depth_threshold(RID p_body) const = 0;
 
 	virtual void body_set_omit_force_integration(RID p_body, bool p_omit) = 0;
 	virtual bool body_is_omitting_force_integration(RID p_body) const = 0;
@@ -495,7 +495,7 @@ public:
 	virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) = 0;
 
 	struct SeparationResult {
-		float collision_depth;
+		real_t collision_depth;
 		Vector3 collision_point;
 		Vector3 collision_normal;
 		Vector3 collider_velocity;
@@ -506,7 +506,7 @@ public:
 		Variant collider_metadata;
 	};
 
-	virtual int body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin = 0.001) = 0;
+	virtual int body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) = 0;
 
 	/* SOFT BODY */
 
@@ -601,8 +601,8 @@ public:
 		PIN_JOINT_IMPULSE_CLAMP
 	};
 
-	virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, float p_value) = 0;
-	virtual float pin_joint_get_param(RID p_joint, PinJointParam p_param) const = 0;
+	virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) = 0;
+	virtual real_t pin_joint_get_param(RID p_joint, PinJointParam p_param) const = 0;
 
 	virtual void pin_joint_set_local_a(RID p_joint, const Vector3 &p_A) = 0;
 	virtual Vector3 pin_joint_get_local_a(RID p_joint) const = 0;
@@ -631,8 +631,8 @@ public:
 	virtual RID joint_create_hinge(RID p_body_A, const Transform &p_hinge_A, RID p_body_B, const Transform &p_hinge_B) = 0;
 	virtual RID joint_create_hinge_simple(RID p_body_A, const Vector3 &p_pivot_A, const Vector3 &p_axis_A, RID p_body_B, const Vector3 &p_pivot_B, const Vector3 &p_axis_B) = 0;
 
-	virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, float p_value) = 0;
-	virtual float hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const = 0;
+	virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value) = 0;
+	virtual real_t hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const = 0;
 
 	virtual void hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value) = 0;
 	virtual bool hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const = 0;
@@ -667,8 +667,8 @@ public:
 
 	virtual RID joint_create_slider(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) = 0; //reference frame is A
 
-	virtual void slider_joint_set_param(RID p_joint, SliderJointParam p_param, float p_value) = 0;
-	virtual float slider_joint_get_param(RID p_joint, SliderJointParam p_param) const = 0;
+	virtual void slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value) = 0;
+	virtual real_t slider_joint_get_param(RID p_joint, SliderJointParam p_param) const = 0;
 
 	enum ConeTwistJointParam {
 		CONE_TWIST_JOINT_SWING_SPAN,
@@ -681,8 +681,8 @@ public:
 
 	virtual RID joint_create_cone_twist(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) = 0; //reference frame is A
 
-	virtual void cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, float p_value) = 0;
-	virtual float cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const = 0;
+	virtual void cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value) = 0;
+	virtual real_t cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const = 0;
 
 	enum G6DOFJointAxisParam {
 		G6DOF_JOINT_LINEAR_LOWER_LIMIT,
@@ -722,8 +722,8 @@ public:
 
 	virtual RID joint_create_generic_6dof(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) = 0; //reference frame is A
 
-	virtual void generic_6dof_joint_set_param(RID p_joint, Vector3::Axis, G6DOFJointAxisParam p_param, float p_value) = 0;
-	virtual float generic_6dof_joint_get_param(RID p_joint, Vector3::Axis, G6DOFJointAxisParam p_param) = 0;
+	virtual void generic_6dof_joint_set_param(RID p_joint, Vector3::Axis, G6DOFJointAxisParam p_param, real_t p_value) = 0;
+	virtual real_t generic_6dof_joint_get_param(RID p_joint, Vector3::Axis, G6DOFJointAxisParam p_param) = 0;
 
 	virtual void generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis, G6DOFJointAxisFlag p_flag, bool p_enable) = 0;
 	virtual bool generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis, G6DOFJointAxisFlag p_flag) = 0;
@@ -741,7 +741,7 @@ public:
 
 	virtual void set_active(bool p_active) = 0;
 	virtual void init() = 0;
-	virtual void step(float p_step) = 0;
+	virtual void step(real_t p_step) = 0;
 	virtual void flush_queries() = 0;
 	virtual void finish() = 0;
 
diff --git a/tests/test_physics_3d.cpp b/tests/test_physics_3d.cpp
index a11140cfc3..f991fd7c86 100644
--- a/tests/test_physics_3d.cpp
+++ b/tests/test_physics_3d.cpp
@@ -59,7 +59,7 @@ class TestPhysics3DMainLoop : public MainLoop {
 
 	RID character;
 
-	float ofs_x, ofs_y;
+	real_t ofs_x, ofs_y;
 
 	Point2 joy_direction;
 
@@ -115,7 +115,7 @@ protected:
 		return b;
 	}
 
-	void configure_body(RID p_body, float p_mass, float p_friction, float p_bounce) {
+	void configure_body(RID p_body, real_t p_mass, real_t p_friction, real_t p_bounce) {
 		PhysicsServer3D *ps = PhysicsServer3D::get_singleton();
 		ps->body_set_param(p_body, PhysicsServer3D::BODY_PARAM_MASS, p_mass);
 		ps->body_set_param(p_body, PhysicsServer3D::BODY_PARAM_FRICTION, p_friction);
@@ -211,8 +211,8 @@ protected:
 		vs->instance_set_transform(triins, tritrans);
 	}
 
-	void make_grid(int p_width, int p_height, float p_cellsize, float p_cellheight, const Transform &p_xform = Transform()) {
-		Vector<Vector<float>> grid;
+	void make_grid(int p_width, int p_height, real_t p_cellsize, real_t p_cellheight, const Transform &p_xform = Transform()) {
+		Vector<Vector<real_t>> grid;
 
 		grid.resize(p_width);
 
@@ -253,8 +253,8 @@ public:
 		}
 
 		if (mm.is_valid() && mm->get_button_mask() & 1) {
-			float y = -mm->get_relative().y / 20.0;
-			float x = mm->get_relative().x / 20.0;
+			real_t y = -mm->get_relative().y / 20.0;
+			real_t x = mm->get_relative().x / 20.0;
 
 			if (mover.is_valid()) {
 				PhysicsServer3D *ps = PhysicsServer3D::get_singleton();
@@ -312,7 +312,7 @@ public:
 	}
 	virtual bool physics_process(float p_time) override {
 		if (mover.is_valid()) {
-			static float joy_speed = 10;
+			static real_t joy_speed = 10;
 			PhysicsServer3D *ps = PhysicsServer3D::get_singleton();
 			Transform t = ps->body_get_state(mover, PhysicsServer3D::BODY_STATE_TRANSFORM);
 			t.origin += Vector3(joy_speed * joy_direction.x * p_time, -joy_speed * joy_direction.y * p_time, 0);