nalgebra 0.11.3

Linear algebra library with transformations and satically-sized or dynamically-sized matrices.
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220

# Change Log
All notable changes to `nalgebra`, starting with the version 0.6.0 will be
documented here.

This project adheres to [Semantic Versioning](http://semver.org/).

## [0.12.0] - WIP

### Added
 * `.trace()` that computes the trace of a matrix (i.e., the sum of its
   diagonal elements.)

## [0.11.0]
The [website](http://nalgebra.org) has been fully rewritten and gives a good
overview of all the added/modified features.

This version is a major rewrite of the library. Major changes are:
  * Algebraic traits are now defined by the [alga](https://crates.io/crates/alga) crate.
  All other mathematical traits, except `Axpy` have been removed from
  **nalgebra**.
  * Methods are now preferred to free functions because they do not require any
    trait to be used any more.
  * Most algebraic entities can be parametrized by type-level integers
    to specify their dimensions. Using `Dynamic` instead of a type-level
    integer indicates that the dimension known at run-time only.
  * Statically-sized **rectangular** matrices.
  * More transformation types have been added: unit-sized complex numbers (for
    2D rotations), affine/projective/general transformations with `Affine2/3`,
    `Projective2/3`, and `Transform2/3`.
  * Serde serialization is now supported instead of `rustc_serialize`. Enable
    it with the `serde-serialize` feature.
  * Matrix **slices** are now implemented.

### Added
Lots of features including rectangular matrices, slices, and Serde
serialization. Refer to the brand new [website](http://nalgebra.org) for more
details. The following free-functions have been added as well:
  * `::id()` that returns the universal [identity element](http://nalgebra.org/performance_tricks/#the-id-type)
    of type `Id`.
  * `::inf_sup()` that returns both the infimum and supremum of a value at the
    same time.
  * `::partial_sort2()` that attempts to sort two values in increasing order.
  * `::wrap()` that moves a value to the given interval by adding or removing
    the interval width to it.

### Modified
  * `::cast`            -> `::convert`
  * `point.as_vector()` -> `point.coords`
  * `na::origin`        -> `P::origin()`
  * `na::is_zero`       -> `.is_zero()` (from num::Zero)
  * `.transform`        -> `.transform_point`/`.transform_vector`
  * `.translate`        -> `.translate_point`
  * `::dimension::<P>`  -> `::dimension::<P::Vector>`
  * `::angle_between`   -> `::angle`

Componentwise multiplication and division has been replaced by methods: 
  * multiplication -> `.componentwise_mul`, `.componentwise_mul_mut`.
  * division       -> `.componentwise_div`, `.componentwise_div_mut`.

The following free-functions are now replaced by methods (with the same names)
only:
`::cross`, `::cholesky`, `::determinant`, `::diagonal`, `::eigen_qr` (becomes
`.eig`), `::hessenberg`, `::qr`, `::to_homogeneous`, `::to_rotation_matrix`,
`::transpose`, `::shape`.


The following free-functions are now replaced by static methods only:
  * `::householder_matrix` under the name `::new_householder_generic`
  * `::identity`
  * `::new_identity` under the name `::identity`
  * `::from_homogeneous`
  * `::repeat` under the name `::from_element`

The following free-function are now replaced methods accessible through traits
only:
  * `::transform` -> methods `.transform_point` and `.transform_vector` of the `alga::linear::Transformation` trait.
  * `::inverse_transform` -> methods `.inverse_transform_point` and
    `.inverse_transform_vector` of the `alga::linear::ProjectiveTransformation`
    trait.
  * `::translate`, `::inverse_translate`, `::rotate`, `::inverse_rotate` ->
    methods from the `alga::linear::Similarity` trait instead. Those have the
    same names but end with `_point` or `_vector`, e.g., `.translate_point` and
    `.translate_vector`.
  * `::orthonormal_subspace_basis` -> method with the same name from
    `alga::linear::FiniteDimInnerSpace`.
  * `::canonical_basis_element` and `::canonical_basis` -> methods with the
    same names from `alga::linear::FiniteDimVectorSpace`.
  * `::rotation_between` -> method with the same name from the
    `alga::linear::Rotation` trait.
  * `::is_zero` -> method with the same name from `num::Zero`.



### Removed
  * The free functions `::prepend_rotation`, `::append_rotation`,
    `::append_rotation_wrt_center`, `::append_rotation_wrt_point`,
    `::append_transformation`, and `::append_translation ` have been removed.
    Instead create the rotation or translation object explicitly and use
    multiplication to compose it with anything else.

  * The free function `::outer` has been removed. Use column-vector ×
    row-vector multiplication instead.

  * `::approx_eq`, `::approx_eq_eps` have been removed. Use the `relative_eq!`
    macro from the [approx](https://crates.io/crates/approx) crate instead.

  * `::covariance` has been removed. There is no replacement for now.
  * `::mean` has been removed. There is no replacement for now.
  * `::sample_sphere` has been removed. There is no replacement for now.
  * `::cross_matrix` has been removed. There is no replacement for now.
  * `::absolute_rotate` has been removed. There is no replacement for now.
  * `::rotation`, `::transformation`, `::translation`, `::inverse_rotation`,
    `::inverse_transformation`, `::inverse_translation` have been removed. Use
    the appropriate methods/field of each transformation type, e.g.,
    `rotation.angle()` and `rotation.axis()`.

## [0.10.0]
### Added
Binary operations are now allowed between references as well. For example
`Vector3<f32> + &Vector3<f32>` is now possible.

### Modified
Removed unused parameters to methods from the `ApproxEq` trait. Those were
required before rust 1.0 to help type inference. The are not needed any more
since it now allowed to write for a type `T` that implements `ApproxEq`:
`<T as ApproxEq>::approx_epsilon()`. This replaces the old form:
`ApproxEq::approx_epsilon(None::<T>)`.

## [0.9.0]
### Modified
  * Renamed:
    - `::from_col_vector` -> `::from_column_vector`
    - `::from_col_iter` -> `::from_column_iter`
    - `.col_slice` -> `.column_slice`
    - `.set_col` -> `.set_column`
    - `::canonical_basis_with_dim` -> `::canonical_basis_with_dimension`
    - `::from_elem` -> `::from_element`
    - `DiagMut` -> `DiagonalMut`
    - `UnitQuaternion::new` becomes `UnitQuaternion::from_scaled_axis` or
      `UnitQuaternion::from_axisangle`. The new `::new` method now requires a
      not-normalized quaternion.

Methods names starting with `new_with_` now start with `from_`. This is more
idiomatic in Rust.

The `Norm` trait now uses an associated type instead of a type parameter.
Other similar trait changes are to be expected in the future, e.g., for the
`Diagonal` trait.

Methods marked `unsafe` for reasons unrelated to memory safety are no
longer unsafe. Instead, their name end with `_unchecked`. In particular:
* `Rotation3::new_with_matrix` -> `Rotation3::from_matrix_unchecked`
* `PerspectiveMatrix3::new_with_matrix` -> `PerspectiveMatrix3::from_matrix_unchecked`
* `OrthographicMatrix3::new_with_matrix` -> `OrthographicMatrix3::from_matrix_unchecked`

### Added
- A `Unit<T>` type that wraps normalized values. In particular,
  `UnitQuaternion<N>` is now an alias for `Unit<Quaternion<N>>`.
- `.ln()`, `.exp()` and `.powf(..)` for quaternions and unit quaternions.
- `::from_parts(...)` to build a quaternion from its scalar and vector
  parts.
- The `Norm` trait now has a `try_normalize()` that returns `None` if the
norm is too small.
- The `BaseFloat` and `FloatVector` traits now inherit from `ApproxEq` as
  well. It is clear that performing computations with floats requires
  approximate equality.

Still WIP: add implementations of abstract algebra traits from the `algebra`
crate for vectors, rotations and points. To enable them, activate the
`abstract_algebra` feature.

## [0.8.0]
### Modified
  * Almost everything (types, methods, and traits) now use full names instead
    of abbreviations (e.g. `Vec3` becomes `Vector3`). Most changes are abvious.
    Note however that:
    - `::sqnorm` becomes `::norm_squared`.
    - `::sqdist` becomes `::distance_squared`.
    - `::abs`, `::min`, etc. did not change as this is a common name for
      absolute values on, e.g., the libc.
    - Dynamically sized structures keep the `D` prefix, e.g., `DMat` becomes
      `DMatrix`.
  * All files with abbreviated names have been renamed to their full version,
    e.g., `vec.rs` becomes `vector.rs`.

## [0.7.0]
### Added
  * Added implementation of assignement operators (+=, -=, etc.) for
    everything.
### Modified
  * Points and vectors are now linked to each other with associated types
    (on the PointAsVector trait).


## [0.6.0]
**Announcement:** a users forum has been created for `nalgebra`, `ncollide`, and `nphysics`. See
you [there](http://users.nphysics.org)!

### Added
  * Added a dependency to [generic-array](https://crates.io/crates/generic-array). Feature-gated:
    requires `features="generic_sizes"`.
  * Added statically sized vectors with user-defined sizes: `VectorN`. Feature-gated: requires
    `features="generic_sizes"`.
  * Added similarity transformations (an uniform scale followed by a rotation followed by a
    translation): `Similarity2`, `Similarity3`.

### Removed
  * Removed zero-sized elements `Vector0`, `Point0`.
  * Removed 4-dimensional transformations `Rotation4` and `Isometry4` (which had an implementation to incomplete to be useful).

### Modified
  * Vectors are now multipliable with isometries. This will result into a pure rotation (this is how
  vectors differ from point semantically: they design directions so they are not translatable).
  * `{Isometry3, Rotation3}::look_at` reimplemented and renamed to `::look_at_rh` and `::look_at_lh` to agree
  with the computer graphics community (in particular, the GLM library). Use the `::look_at_rh`
  variant to build a view matrix that
  may be successfully used with `Persp` and `Ortho`.
  * The old `{Isometry3, Rotation3}::look_at` implementations are now called `::new_observer_frame`.
  * Rename every `fov` on `Persp` to `fovy`.
  * Fixed the perspective and orthographic projection matrices.