Use real_t in physics code

7 files changed, 65 insertions, 57 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);