diff --git a/.github/dependabot.yml b/.github/dependabot.yml
new file mode 100644
index 0000000..6faeb4f
--- /dev/null
+++ b/.github/dependabot.yml
@@ -0,0 +1,45 @@
+
+version: 2
+updates:
+  # bump major and minor updates as soon as available
+  - package-ecosystem: cargo
+    target-branch: main # see https://github.com/dependabot/dependabot-core/issues/1778#issuecomment-1988140219
+    directory: /
+    schedule:
+      interval: daily
+    commit-message:
+      prefix: chore
+      include: scope
+    ignore:
+      - dependency-name: "*"
+        update-types:
+          - "version-update:semver-patch"
+
+  # bundle patch updates together on a monthly basis
+  - package-ecosystem: cargo
+    directory: /
+    schedule:
+      interval: monthly
+    commit-message:
+      prefix: chore
+      include: scope
+    groups:
+      patch-updates:
+        update-types:
+          - patch
+    ignore:
+      - dependency-name: "*"
+        update-types:
+          - "version-update:semver-minor"
+          - "version-update:semver-major"
+
+  # bump actions as soon as available
+  - package-ecosystem: github-actions
+    directory: /
+    schedule:
+      interval: daily
+    commit-message:
+      prefix: chore
+      include: scope
+    ignore:
+      - dependency-name: dtolnay/rust-toolchain
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
new file mode 100644
index 0000000..6a0bf89
--- /dev/null
+++ b/.github/workflows/ci.yml
@@ -0,0 +1,55 @@
+on:
+  push:
+    branches: [master]
+  pull_request:
+
+name: Continuous integration
+
+jobs:
+  test:
+    name: test
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-latest, macos-latest, windows-latest]
+        features: ["--features glam", ""]
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@nightly
+      - run: cargo test ${{ matrix.features }}
+
+  fmt:
+    name: format
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@nightly
+        with:
+          components: rustfmt
+      - run: cargo fmt --all --check
+
+  clippy:
+    name: lint
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@nightly
+        with:
+          components: clippy
+      - uses: actions-rs-plus/clippy-check@v2
+        with:
+          args: --all --all-features --all-targets
+
+  msrv:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@master
+      - name: Get MSRV from Cargo.toml
+        run: |
+          MSRV=$(grep 'rust-version' Cargo.toml | sed 's/.*= *"\(.*\)".*/\1/')
+          echo "MSRV=$MSRV" >> $GITHUB_ENV
+      - uses: dtolnay/rust-toolchain@master
+        with:
+          toolchain: ${{ env.MSRV }}
+      - uses: taiki-e/install-action@cargo-no-dev-deps
+      - run: cargo no-dev-deps check --all --all-features
diff --git a/.gitignore b/.gitignore
index 126aea3..9b31305 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,5 +1,4 @@
 /target
 /.vscode
-Cargo.lock
 *.svg
 *.data*
diff --git a/Cargo.lock b/Cargo.lock
new file mode 100644
index 0000000..0ed5e69
--- /dev/null
+++ b/Cargo.lock
@@ -0,0 +1,147 @@
+# This file is automatically @generated by Cargo.
+# It is not intended for manual editing.
+version = 3
+
+[[package]]
+name = "byteorder"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
+
+[[package]]
+name = "cfg-if"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
+
+[[package]]
+name = "dubins_paths"
+version = "2.4.1"
+dependencies = [
+ "glam",
+ "rand",
+]
+
+[[package]]
+name = "getrandom"
+version = "0.2.15"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c4567c8db10ae91089c99af84c68c38da3ec2f087c3f82960bcdbf3656b6f4d7"
+dependencies = [
+ "cfg-if",
+ "libc",
+ "wasi",
+]
+
+[[package]]
+name = "glam"
+version = "0.29.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c28091a37a5d09b555cb6628fd954da299b536433834f5b8e59eba78e0cbbf8a"
+
+[[package]]
+name = "libc"
+version = "0.2.161"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8e9489c2807c139ffd9c1794f4af0ebe86a828db53ecdc7fea2111d0fed085d1"
+
+[[package]]
+name = "ppv-lite86"
+version = "0.2.20"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "77957b295656769bb8ad2b6a6b09d897d94f05c41b069aede1fcdaa675eaea04"
+dependencies = [
+ "zerocopy",
+]
+
+[[package]]
+name = "proc-macro2"
+version = "1.0.88"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7c3a7fc5db1e57d5a779a352c8cdb57b29aa4c40cc69c3a68a7fedc815fbf2f9"
+dependencies = [
+ "unicode-ident",
+]
+
+[[package]]
+name = "quote"
+version = "1.0.37"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b5b9d34b8991d19d98081b46eacdd8eb58c6f2b201139f7c5f643cc155a633af"
+dependencies = [
+ "proc-macro2",
+]
+
+[[package]]
+name = "rand"
+version = "0.8.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "34af8d1a0e25924bc5b7c43c079c942339d8f0a8b57c39049bef581b46327404"
+dependencies = [
+ "libc",
+ "rand_chacha",
+ "rand_core",
+]
+
+[[package]]
+name = "rand_chacha"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e6c10a63a0fa32252be49d21e7709d4d4baf8d231c2dbce1eaa8141b9b127d88"
+dependencies = [
+ "ppv-lite86",
+ "rand_core",
+]
+
+[[package]]
+name = "rand_core"
+version = "0.6.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ec0be4795e2f6a28069bec0b5ff3e2ac9bafc99e6a9a7dc3547996c5c816922c"
+dependencies = [
+ "getrandom",
+]
+
+[[package]]
+name = "syn"
+version = "2.0.80"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e6e185e337f816bc8da115b8afcb3324006ccc82eeaddf35113888d3bd8e44ac"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "unicode-ident",
+]
+
+[[package]]
+name = "unicode-ident"
+version = "1.0.13"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e91b56cd4cadaeb79bbf1a5645f6b4f8dc5bde8834ad5894a8db35fda9efa1fe"
+
+[[package]]
+name = "wasi"
+version = "0.11.0+wasi-snapshot-preview1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9c8d87e72b64a3b4db28d11ce29237c246188f4f51057d65a7eab63b7987e423"
+
+[[package]]
+name = "zerocopy"
+version = "0.7.35"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1b9b4fd18abc82b8136838da5d50bae7bdea537c574d8dc1a34ed098d6c166f0"
+dependencies = [
+ "byteorder",
+ "zerocopy-derive",
+]
+
+[[package]]
+name = "zerocopy-derive"
+version = "0.7.35"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fa4f8080344d4671fb4e831a13ad1e68092748387dfc4f55e356242fae12ce3e"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
diff --git a/Cargo.toml b/Cargo.toml
index 6f2b4ba..0c72be7 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -9,7 +9,7 @@ repository = "https://github.com/VirxEC/dubins_paths"
 license = "MIT"
 keywords = ["rocket-league", "rlbot", "physics", "simulation", "dubin"]
 categories = ["science", "simulation", "algorithms"]
-rust-version = "1.62.1"
+rust-version = "1.68.2"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
@@ -20,9 +20,6 @@ rand = "0.8.5"
 [dependencies]
 glam = { version = "0.29.0", optional = true }
 
-[features]
-glam = ["dep:glam"]
-
 [profile.release]
 codegen-units = 1
 lto = true