diff --git a/Cargo.toml b/Cargo.toml
index 1a356c3d..f1d65128 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -76,7 +76,7 @@ rand_distr     = { version = "0.4", default-features = false, optional = true }
 matrixmultiply = { version = "0.3", optional = true }
 serde          = { version = "1.0", default-features = false, features = [ "derive" ], optional = true }
 abomonation    = { version = "0.7", optional = true }
-rkyv           = { version = "~0.6.3", default-features = false, features = ["const_generics"], optional = true }
+rkyv           = { version = "~0.6.4", default-features = false, features = ["const_generics"], optional = true }
 mint           = { version = "0.5", optional = true }
 glam           = { version = "0.13", optional = true }
 quickcheck     = { version = "1", optional = true }
diff --git a/src/base/array_storage.rs b/src/base/array_storage.rs
index e575229c..350240cd 100644
--- a/src/base/array_storage.rs
+++ b/src/base/array_storage.rs
@@ -37,7 +37,6 @@ use crate::base::Scalar;
 /// A array-based statically sized matrix data storage.
 #[repr(C)]
 #[derive(Copy, Clone, PartialEq, Eq, Hash)]
-#[cfg_attr(feature = "rkyv-serialize-no-std", derive(Archive, Deserialize, Serialize))]
 pub struct ArrayStorage<T, const R: usize, const C: usize>(pub [[T; R]; C]);
 
 // TODO: remove this once the stdlib implements Default for arrays.
@@ -303,3 +302,34 @@ where
         self.as_slice().iter().fold(0, |acc, e| acc + e.extent())
     }
 }
+
+#[cfg(feature = "rkyv-serialize-no-std")]
+impl<T: Archive, const R: usize, const C: usize> Archive for ArrayStorage<T, R, C> {
+    type Archived = ArrayStorage<T::Archived, R, C>;
+    type Resolver = <[[T; R]; C] as Archive>::Resolver;
+
+    fn resolve(&self, pos: usize, resolver: Self::Resolver, out: &mut core::mem::MaybeUninit<Self::Archived>) {
+        self.0.resolve(
+            pos + rkyv::offset_of!(Self::Archived, 0),
+            resolver,
+            rkyv::project_struct!(out: Self::Archived => 0)
+        );
+    }
+}
+
+#[cfg(feature = "rkyv-serialize-no-std")]
+impl<T: Serialize<S>, S: rkyv::Fallible + ?Sized, const R: usize, const C: usize> Serialize<S> for ArrayStorage<T, R, C> {
+    fn serialize(&self, serializer: &mut S) -> Result<Self::Resolver, S::Error> {
+        Ok(self.0.serialize(serializer)?)
+    }
+}
+
+#[cfg(feature = "rkyv-serialize-no-std")]
+impl<T: Archive, D: rkyv::Fallible + ?Sized, const R: usize, const C: usize> Deserialize<ArrayStorage<T, R, C>, D> for ArrayStorage<T::Archived, R, C>
+where
+    T::Archived: Deserialize<T, D>,
+{
+    fn deserialize(&self, deserializer: &mut D) -> Result<ArrayStorage<T, R, C>, D::Error> {
+        Ok(ArrayStorage(self.0.deserialize(deserializer)?))
+    }
+}
diff --git a/src/base/dimension.rs b/src/base/dimension.rs
index 2c51b2f4..3ee762f1 100644
--- a/src/base/dimension.rs
+++ b/src/base/dimension.rs
@@ -200,7 +200,6 @@ dim_ops!(
 );
 
 #[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
-#[cfg_attr(feature = "rkyv-serialize-no-std", derive(Archive, Deserialize, Serialize))]
 pub struct Const<const R: usize>;
 
 /// Trait implemented exclusively by type-level integers.
@@ -235,6 +234,29 @@ impl<'de, const D: usize> Deserialize<'de> for Const<D> {
     }
 }
 
+#[cfg(feature = "rkyv-serialize-no-std")]
+impl<const R: usize> Archive for Const<R> {
+    type Archived = Self;
+    type Resolver = ();
+
+    fn resolve(&self, _: usize, _: Self::Resolver, _: &mut core::mem::MaybeUninit<Self::Archived>) {
+    }
+}
+
+#[cfg(feature = "rkyv-serialize-no-std")]
+impl<S: rkyv::Fallible + ?Sized, const R: usize> Serialize<S> for Const<R> {
+    fn serialize(&self, _: &mut S) -> Result<Self::Resolver, S::Error> {
+        Ok(())
+    }
+}
+
+#[cfg(feature = "rkyv-serialize-no-std")]
+impl<D: rkyv::Fallible + ?Sized, const R: usize> Deserialize<Self, D> for Const<R> {
+    fn deserialize(&self, _: &mut D) -> Result<Self, D::Error> {
+        Ok(Const)
+    }
+}
+
 pub trait ToConst {
     type Const: DimName;
 }
diff --git a/src/base/matrix.rs b/src/base/matrix.rs
index c7e02e22..939e78b3 100644
--- a/src/base/matrix.rs
+++ b/src/base/matrix.rs
@@ -156,7 +156,6 @@ pub type MatrixCross<T, R1, C1, R2, C2> =
 /// some concrete types for `T` and a compatible data storage type `S`).
 #[repr(C)]
 #[derive(Clone, Copy)]
-#[cfg_attr(feature = "rkyv-serialize-no-std", derive(Archive, Deserialize, Serialize))]
 pub struct Matrix<T, R, C, S> {
     /// The data storage that contains all the matrix components. Disappointed?
     ///
@@ -312,6 +311,40 @@ where
 {
 }
 
+#[cfg(feature = "rkyv-serialize-no-std")]
+impl<T: Archive, R: Archive, C: Archive, S: Archive> Archive for Matrix<T, R, C, S> {
+    type Archived = Matrix<T::Archived, R::Archived, C::Archived, S::Archived>;
+    type Resolver = S::Resolver;
+
+    fn resolve(&self, pos: usize, resolver: Self::Resolver, out: &mut core::mem::MaybeUninit<Self::Archived>) {
+        self.data.resolve(
+            pos + rkyv::offset_of!(Self::Archived, data),
+            resolver,
+            rkyv::project_struct!(out: Self::Archived => data)
+        );
+    }
+}
+
+#[cfg(feature = "rkyv-serialize-no-std")]
+impl<T: Archive, R: Archive, C: Archive, S: Serialize<_S>, _S: rkyv::Fallible + ?Sized> Serialize<_S> for Matrix<T, R, C, S> {
+    fn serialize(&self, serializer: &mut _S) -> Result<Self::Resolver, _S::Error> {
+        Ok(self.data.serialize(serializer)?)
+    }
+}
+
+#[cfg(feature = "rkyv-serialize-no-std")]
+impl<T: Archive, R: Archive, C: Archive, S: Archive, D: rkyv::Fallible + ?Sized> Deserialize<Matrix<T, R, C, S>, D> for Matrix<T::Archived, R::Archived, C::Archived, S::Archived>
+where
+    S::Archived: Deserialize<S, D>,
+{
+    fn deserialize(&self, deserializer: &mut D) -> Result<Matrix<T, R, C, S>, D::Error> {
+        Ok(Matrix {
+            data: self.data.deserialize(deserializer)?,
+            _phantoms: PhantomData,
+        })
+    }
+}
+
 impl<T, R, C, S> Matrix<T, R, C, S> {
     /// Creates a new matrix with the given data without statically checking that the matrix
     /// dimension matches the storage dimension.
diff --git a/src/base/unit.rs b/src/base/unit.rs
index 4b1d1948..0c30f961 100644
--- a/src/base/unit.rs
+++ b/src/base/unit.rs
@@ -29,7 +29,6 @@ use crate::{Dim, Matrix, OMatrix, RealField, Scalar, SimdComplexField, SimdRealF
 /// in their documentation, read their dedicated pages directly.
 #[repr(transparent)]
 #[derive(Clone, Hash, Debug, Copy)]
-#[cfg_attr(feature = "rkyv-serialize-no-std", derive(Archive, Deserialize, Serialize))]
 pub struct Unit<T> {
     pub(crate) value: T,
 }
@@ -75,6 +74,39 @@ impl<T: Abomonation> Abomonation for Unit<T> {
     }
 }
 
+#[cfg(feature = "rkyv-serialize-no-std")]
+impl<T: Archive> Archive for Unit<T> {
+    type Archived = Unit<T::Archived>;
+    type Resolver = T::Resolver;
+
+    fn resolve(&self, pos: usize, resolver: Self::Resolver, out: &mut ::core::mem::MaybeUninit<Self::Archived>) {
+        self.value.resolve(
+            pos + rkyv::offset_of!(Self::Archived, value),
+            resolver,
+            rkyv::project_struct!(out: Self::Archived => value),
+        );
+    }
+}
+
+#[cfg(feature = "rkyv-serialize-no-std")]
+impl<T: Serialize<S>, S: rkyv::Fallible + ?Sized> Serialize<S> for Unit<T> {
+    fn serialize(&self, serializer: &mut S) -> Result<Self::Resolver, S::Error> {
+        Ok(self.value.serialize(serializer)?)
+    }
+}
+
+#[cfg(feature = "rkyv-serialize-no-std")]
+impl<T: Archive, D: rkyv::Fallible + ?Sized> Deserialize<Unit<T>, D> for Unit<T::Archived>
+where
+    T::Archived: Deserialize<T, D>,
+{
+    fn deserialize(&self, deserializer: &mut D) -> Result<Unit<T>, D::Error> {
+        Ok(Unit {
+            value: self.value.deserialize(deserializer)?,
+        })
+    }
+}
+
 impl<T, R, C, S> PartialEq for Unit<Matrix<T, R, C, S>>
 where
     T: Scalar + PartialEq,
diff --git a/src/geometry/isometry.rs b/src/geometry/isometry.rs
index 7c8686c0..dea1b1be 100755
--- a/src/geometry/isometry.rs
+++ b/src/geometry/isometry.rs
@@ -71,7 +71,6 @@ use crate::geometry::{AbstractRotation, Point, Translation};
                        DefaultAllocator: Allocator<T, Const<D>>,
                        Owned<T, Const<D>>: Deserialize<'de>"))
 )]
-#[cfg_attr(feature = "rkyv-serialize-no-std", derive(Archive, Serialize, Deserialize))]
 pub struct Isometry<T: Scalar, R, const D: usize> {
     /// The pure rotational part of this isometry.
     pub rotation: R,
@@ -102,6 +101,55 @@ where
     }
 }
 
+#[cfg(feature = "rkyv-serialize-no-std")]
+impl<T: Scalar + Archive, R: Archive, const D: usize> Archive for Isometry<T, R, D>
+where
+    T::Archived: Scalar,
+{
+    type Archived = Isometry<T::Archived, R::Archived, D>;
+    type Resolver = (R::Resolver, <Translation<T, D> as Archive>::Resolver);
+
+    fn resolve(&self, pos: usize, resolver: Self::Resolver, out: &mut core::mem::MaybeUninit<Self::Archived>) {
+        self.rotation.resolve(
+            pos + rkyv::offset_of!(Self::Archived, rotation),
+            resolver.0,
+            rkyv::project_struct!(out: Self::Archived => rotation)
+        );
+        self.translation.resolve(
+            pos + rkyv::offset_of!(Self::Archived, translation),
+            resolver.1,
+            rkyv::project_struct!(out: Self::Archived => translation)
+        );
+    }
+}
+
+#[cfg(feature = "rkyv-serialize-no-std")]
+impl<T: Scalar + Serialize<S>, R: Serialize<S>, S: rkyv::Fallible + ?Sized, const D: usize> Serialize<S> for Isometry<T, R, D>
+where
+    T::Archived: Scalar,
+{
+    fn serialize(&self, serializer: &mut S) -> Result<Self::Resolver, S::Error> {
+        Ok((
+            self.rotation.serialize(serializer)?,
+            self.translation.serialize(serializer)?,
+        ))
+    }
+}
+
+#[cfg(feature = "rkyv-serialize-no-std")]
+impl<T: Scalar + Archive, R: Archive, _D: rkyv::Fallible + ?Sized, const D: usize> Deserialize<Isometry<T, R, D>, _D> for Isometry<T::Archived, R::Archived, D>
+where
+    T::Archived: Scalar + Deserialize<T, _D>,
+    R::Archived: Scalar + Deserialize<R, _D>,
+{
+    fn deserialize(&self, deserializer: &mut _D) -> Result<Isometry<T, R, D>, _D::Error> {
+        Ok(Isometry {
+            rotation: self.rotation.deserialize(deserializer)?,
+            translation: self.translation.deserialize(deserializer)?,
+        })
+    }
+}
+
 impl<T: Scalar + hash::Hash, R: hash::Hash, const D: usize> hash::Hash for Isometry<T, R, D>
 where
     Owned<T, Const<D>>: hash::Hash,
diff --git a/src/geometry/quaternion.rs b/src/geometry/quaternion.rs
index 9a920a8a..7c6a70ae 100755
--- a/src/geometry/quaternion.rs
+++ b/src/geometry/quaternion.rs
@@ -31,7 +31,6 @@ use crate::geometry::{Point3, Rotation};
 /// that may be used as a rotation.
 #[repr(C)]
 #[derive(Debug, Copy, Clone)]
-#[cfg_attr(feature = "rkyv-serialize-no-std", derive(Archive, Deserialize, Serialize))]
 pub struct Quaternion<T> {
     /// This quaternion as a 4D vector of coordinates in the `[ x, y, z, w ]` storage order.
     pub coords: Vector4<T>,
@@ -117,6 +116,39 @@ where
     }
 }
 
+#[cfg(feature = "rkyv-serialize-no-std")]
+impl<T: Archive> Archive for Quaternion<T> {
+    type Archived = Quaternion<T::Archived>;
+    type Resolver = <Vector4<T> as Archive>::Resolver;
+
+    fn resolve(&self, pos: usize, resolver: Self::Resolver, out: &mut core::mem::MaybeUninit<Self::Archived>) {
+        self.coords.resolve(
+            pos + rkyv::offset_of!(Self::Archived, coords),
+            resolver,
+            rkyv::project_struct!(out: Self::Archived => coords)
+        );
+    }
+}
+
+#[cfg(feature = "rkyv-serialize-no-std")]
+impl<T: Serialize<S>, S: rkyv::Fallible + ?Sized> Serialize<S> for Quaternion<T> {
+    fn serialize(&self, serializer: &mut S) -> Result<Self::Resolver, S::Error> {
+        Ok(self.coords.serialize(serializer)?)
+    }
+}
+
+#[cfg(feature = "rkyv-serialize-no-std")]
+impl<T: Archive, D: rkyv::Fallible + ?Sized> Deserialize<Quaternion<T>, D> for Quaternion<T::Archived>
+where
+    T::Archived: Deserialize<T, D>,
+{
+    fn deserialize(&self, deserializer: &mut D) -> Result<Quaternion<T>, D::Error> {
+        Ok(Quaternion {
+            coords: self.coords.deserialize(deserializer)?,
+        })
+    }
+}
+
 impl<T: SimdRealField> Quaternion<T>
 where
     T::Element: SimdRealField,
diff --git a/src/geometry/translation.rs b/src/geometry/translation.rs
index 92747dab..7f3665ae 100755
--- a/src/geometry/translation.rs
+++ b/src/geometry/translation.rs
@@ -26,7 +26,6 @@ use crate::geometry::Point;
 /// A translation.
 #[repr(C)]
 #[derive(Debug)]
-#[cfg_attr(feature = "rkyv-serialize-no-std", derive(Archive, Deserialize, Serialize))]
 pub struct Translation<T, const D: usize> {
     /// The translation coordinates, i.e., how much is added to a point's coordinates when it is
     /// translated.
@@ -101,6 +100,39 @@ where
     }
 }
 
+#[cfg(feature = "rkyv-serialize-no-std")]
+impl<T: Archive, const D: usize> Archive for Translation<T, D> {
+    type Archived = Translation<T::Archived, D>;
+    type Resolver = <SVector<T, D> as Archive>::Resolver;
+
+    fn resolve(&self, pos: usize, resolver: Self::Resolver, out: &mut core::mem::MaybeUninit<Self::Archived>) {
+        self.vector.resolve(
+            pos + rkyv::offset_of!(Self::Archived, vector),
+            resolver,
+            rkyv::project_struct!(out: Self::Archived => vector)
+        );
+    }
+}
+
+#[cfg(feature = "rkyv-serialize-no-std")]
+impl<T: Serialize<S>, S: rkyv::Fallible + ?Sized, const D: usize> Serialize<S> for Translation<T, D> {
+    fn serialize(&self, serializer: &mut S) -> Result<Self::Resolver, S::Error> {
+        Ok(self.vector.serialize(serializer)?)
+    }
+}
+
+#[cfg(feature = "rkyv-serialize-no-std")]
+impl<T: Archive, _D: rkyv::Fallible + ?Sized, const D: usize> Deserialize<Translation<T, D>, _D> for Translation<T::Archived, D>
+where
+    T::Archived: Deserialize<T, _D>,
+{
+    fn deserialize(&self, deserializer: &mut _D) -> Result<Translation<T, D>, _D::Error> {
+        Ok(Translation {
+            vector: self.vector.deserialize(deserializer)?,
+        })
+    }
+}
+
 impl<T: Scalar, const D: usize> Translation<T, D> {
     /// Creates a new translation from the given vector.
     #[inline]