[−][src]Crate nalgebra

nalgebra

nalgebra is a linear algebra library written for Rust targeting:

General-purpose linear algebra (still lacks a lot of features…)
Real-time computer graphics.
Real-time computer physics.

Using nalgebra

You will need the last stable build of the rust compiler and the official package manager: cargo.

Simply add the following to your Cargo.toml file:

[dependencies]
nalgebra = "0.23"

Most useful functionalities of nalgebra are grouped in the root module nalgebra::.

However, the recommended way to use nalgebra is to import types and traits explicitly, and call free-functions using the na:: prefix:

#[macro_use]
extern crate approx; // For the macro relative_eq!
extern crate nalgebra as na;
use na::{Vector3, Rotation3};

fn main() {
    let axis  = Vector3::x_axis();
    let angle = 1.57;
    let b     = Rotation3::from_axis_angle(&axis, angle);

    relative_eq!(b.axis().unwrap(), axis);
    relative_eq!(b.angle(), angle);
}

Features

nalgebra is meant to be a general-purpose, low-dimensional, linear algebra library, with an optimized set of tools for computer graphics and physics. Those features include:

A single parametrizable type Matrix for vectors, (square or rectangular) matrices, and slices with dimensions known either at compile-time (using type-level integers) or at runtime.
Matrices and vectors with compile-time sizes are statically allocated while dynamic ones are allocated on the heap.
Convenient aliases for low-dimensional matrices and vectors: Vector1 to Vector6 and Matrix1x1 to Matrix6x6, including rectangular matrices like Matrix2x5.
Points sizes known at compile time, and convenience aliases: Point1 to Point6.
Translation (seen as a transformation that composes by multiplication): Translation2, Translation3.
Rotation matrices: Rotation2, Rotation3.
Quaternions: Quaternion, UnitQuaternion (for 3D rotation).
Unit complex numbers can be used for 2D rotation: UnitComplex.
Algebraic entities with a norm equal to one: Unit<T>, e.g., Unit<Vector3<f32>>.
Isometries (translation ⨯ rotation): Isometry2, Isometry3
Similarity transformations (translation ⨯ rotation ⨯ uniform scale): Similarity2, Similarity3.
Affine transformations stored as a homogeneous matrix: Affine2, Affine3.
Projective (i.e. invertible) transformations stored as a homogeneous matrix: Projective2, Projective3.
General transformations that does not have to be invertible, stored as a homogeneous matrix: Transform2, Transform3.
3D projections for computer graphics: Perspective3, Orthographic3.
Matrix factorizations: Cholesky, QR, LU, FullPivLU, SVD, Schur, Hessenberg, SymmetricEigen.
Insertion and removal of rows of columns of a matrix.

Re-exports

pub use crate::base::*;

pub use crate::geometry::*;

pub use crate::linalg::*;

pub use base as core;

Modules

base	[Reexported at the root of this crate.] Data structures for vector and matrix computations.
geometry	[Reexported at the root of this crate.] Data structures for points and usual transformations (rotations, isometries, etc.)
linalg	[Reexported at the root of this crate.] Factorization of real matrices.

Structs

Complex

A complex number in Cartesian form.

Traits

ClosedAdd	Trait alias for `Add` and `AddAssign` with result of type `Self`.
ClosedDiv	Trait alias for `Div` and `DivAssign` with result of type `Self`.
ClosedMul	Trait alias for `Mul` and `MulAssign` with result of type `Self`.
ClosedSub	Trait alias for `Sub` and `SubAssign` with result of type `Self`.
ComplexField	Trait shared by all complex fields and its subfields (like real numbers).
Field	Trait implemented by fields, i.e., complex numbers and floats.
RealField	Trait shared by all reals.
SimdBool	Lane-wise generalization of `bool` for SIMD booleans.
SimdComplexField	Lane-wise generalisation of `ComplexField` for SIMD complex fields.
SimdPartialOrd	Lane-wise generalization of the standard `PartialOrd` for SIMD values.
SimdRealField	Lanewise generalization of `RealField` for SIMD reals.

Functions

abs	Deprecated The absolute value of `a`.
center	The center of two points.
clamp	Returns a reference to the input value clamped to the interval `[min, max]`.
convert	Converts an object from one type to an equivalent or more general one.
convert_ref	Converts an object from one type to an equivalent or more general one.
convert_ref_unchecked	Use with care! Same as `try_convert` but without any property checks.
convert_unchecked	Use with care! Same as `try_convert` but without any property checks.
distance	The distance between two points.
distance_squared	The squared distance between two points.
inf	Deprecated Returns the infimum of `a` and `b`.
inf_sup	Deprecated Returns simultaneously the infimum and supremum of `a` and `b`.
is_convertible	Indicates if `try_convert` will succeed without actually performing the conversion.
max	Same as `cmp::max`.
min	Same as `cmp::min`.
one	Gets the multiplicative identity element.
partial_clamp	Clamp `value` between `min` and `max`. Returns `None` if `value` is not comparable to `min` or `max`.
partial_cmp	Compare `a` and `b` using a partial ordering relation.
partial_ge	Returns `true` iff `a` and `b` are comparable and `a >= b`.
partial_gt	Returns `true` iff `a` and `b` are comparable and `a > b`.
partial_le	Returns `true` iff `a` and `b` are comparable and `a <= b`.
partial_lt	Returns `true` iff `a` and `b` are comparable and `a < b`.
partial_max	Return the maximum of `a` and `b` if they are comparable.
partial_min	Return the minimum of `a` and `b` if they are comparable.
partial_sort2	Sorts two values in increasing order using a partial ordering.
sup	Deprecated Returns the supremum of `a` and `b`.
try_convert	Attempts to convert an object to a more specific one.
try_convert_ref	Attempts to convert an object to a more specific one.
wrap	Wraps `val` into the range `[min, max]` using modular arithmetics.
zero	Gets the additive identity element.