nalgebra/CHANGELOG.md

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# Change Log
All notable changes to `nalgebra`, starting with the version 0.6.0 will be
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documented here.
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This project adheres to [Semantic Versioning](https://semver.org/).
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## [0.32.1] (14 Jan. 2023)
### Modified
- Updated `nalgebra-macros` to use the new `Dyn`, avoiding macro-generated deprecation warnings.
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## [0.32.0] (14 Jan. 2023)
### Modified
- Renamed all `MatrixSlice` types to `MatrixView`. In general all occurrences of the world `Slice` or `slice` have been
replaced by `View` or `view`.
- Deprecated all the types involving `Slice` in its name, in favor of the word `View`.
- Make it so that most `nalgebra` objects archive as themselves (when using `rkyv` for serialization).
- Renamed `Dynamic` to `Dyn` and make `Dyn` a tuple struct.
### Added
- Add `Cholesky::ln_determinant` to compute the natural logarithm of the determinant of a matrix decomposed
with Cholesky. This can be more numerically stable than computing the determinant itself when very small and/or
large values are involved.
- Added new methods `Matrix::as_view` and `Matrix::as_view_mut`, which are very useful when working with view-based APIs.
- Added parallel column iterator using `rayon`: `Matrix::par_column_iter` and `Matrix::par_column_iter_mut`. The `rayon`
feature must be enabled to access these methods.
- Implement `ReshapableStorage` for matrix slices (only for unit strides at the moment).
- Add `U0, U1, …` constants alongside the `U0, U1, …` types. This lets us write `U4` instead of `U4::name()` or
`Const::<4>` when we need const dimensions.
### Fixed
- Fixed the implementation of `Rotation3::euler_angles` to return the angles in the documented order (roll, pitch, yaw).
2022-10-31 00:41:21 +08:00
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## [0.31.4] (13 Nov. 2022)
### Added
- Add a `convert-glam022` feature to enable conversion between `nalgebra` and `glam v0.22`.
2022-10-31 00:41:21 +08:00
## [0.31.3] (30 Oct. 2022)
### Added
- Add `Matrix::try_cast` to attempt casting the inner scalar types when that cast may fail.
### Fixed
- Fixed the usage of `CheckBytes` with `rkyv`.
2022-10-10 04:03:03 +08:00
## [0.31.2] (09 Oct. 2022)
### Modified
- Use `#[inline]` on the `Dim` implementation for `Const` to improve opt-level 1 performance.
- Make the `Point::new` constructions const-fn.
### Added
- Add `UnitVector::cast` to change the underlying scalar type.
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## [0.31.1] (31 July 2022)
### Modified
- Improve performances of multiplication of two sparse matrices.
### Added
- Add `Matrix::from_row_iterator` to build a matrix from an iterator yielding components in row-major order.
- Add support for conversion from/to types of `glam` 0.21.
- `nalgebra-sparse`: add support for the matrix-market export of sparse matrices.
- `nalgebra-lapack`: add a `GE` for solving the generalized eigenvalues problem.
### Fixed
- Fix `Rotation3::from_matrix` and `UnitQuaternion::from_matrix` when the input matrix is already a valid
rotation matrix.
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## [0.31.0] (30 Apr. 2022)
### Breaking changes
- Switch to `cust` 0.3 (for CUDA support).
- Switch to `rkyv` 0.7
- Remove support for serialization based on `abomonation`.
- Remove support for conversions between `nalgebra` types and `glam` 0.13.
### Modified
- The aliases for `Const` types have been simplified to help `rust-analyzer`.
### Added
- Add `TryFrom` conversion between `UnitVector2/3/4` and `glam`s `Vec2/3/4`.
- `nalgebra-sparse`: added support for serialization of sparse matrices with `serde`.
- `nalgebra-sparse`: add a CSC matrix constructor from unsorted (but valid) data.
- `nalgebra-lapack`: add generalized eigenvalues/eigenvectors calculation + QZ decomposition.
### Fixed
- Improve stability of SVD.
- Fix slerp for `UnitComplex`.
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## [0.30.1] (09 Jan. 2022)
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### Added
- Add conversion from/to types of `glam` 0.19 and 0.20.
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## [0.30.0] (02 Jan. 2022)
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### Breaking changes
- The `Dim` trait is now marked as unsafe.
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- The `Matrix::pow` and `Matrix::pow_mut` methods only allow positive integer exponents now. To compute negative
exponents, the user is free to invert the matrix before calling `pow` with the exponents absolute value.
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- Remove the `Bounded` requirement from `RealField`. Replace it by methods returning `Option<Self>` so that they can
still be implemented by unbounded types (by returning `None`).
- The `ComplexField` trait derives from `FromPrimitive` again. We can actually keep this because all its methods
return `Option<Self>`, meaning that it could be implemented by any type.
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### Modified
- Use more concise debug impls for matrices and geometric transformation types.
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- The singular values computed by the SVD are now sorted in increasing order by default. Use `SVD::new_unordered`
instead to reproduce the older behavior without the sorting overhead.
- The `UnitDualQuaternion::sclerp` method will no longer panic when given two equal rotations.
- The `Matrix::select_rows` and `Matrix::select_columns` methods no longer require the matrix components to implement
the trait `Zero`.
- The `Matrix::pow` and `Matrix::pow_mut` methods will now also work with integer matrices.
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### Added
- Added the conversion trait `From<Vec<T>>` and method `from_vec_storage` for `RowDVector`.
- Added implementation of `From` and `Into` for converting between `nalgebra` types and types from
`glam 0.18`. These can be enabled by enabling the `convert-glam018` cargo features.
- Added the methods `Matrix::product`, `::row_product`, `::row_product_tr`, and `::column_product` to compute the
product of the components, rows, or columns, of a single matrix or vector.
- The `Default` trait is now implemented for most geometric types: `Point`, `Isometry`, `Rotation`, `Similarity`,
`Transform`, `UnitComplex`, and `UnitQuaternion`.
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- Added the `Scale` geometric type for representing non-uniform scaling.
- Added `Cholesky::new_with_substitute` that will replace diagonal elements by a given constant whenever `Cholesky`
meets a non-definite-positiveness.
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- Re-added the conversion from a vector/matrix slice to a static array.
- Added the `cuda` feature that enables the support of [rust-cuda](https://github.com/Rust-GPU/Rust-CUDA) for using
`nalgebra` features with CUDA kernels written in Rust.
- Added special-cases implementations for the 2x2 and 3x3 SVDs for better accuracy and performances.
- Added the methods `Matrix::polar`, `Matrix::try_polar`, and `SVD::to_polar` to compute the polar decomposition of
a matrix, based on its SVD.
- `nalgebra-sparse`: provide constructors for unsorted but otherwise valid data using the CSR format.
- `nalgebra-sparse`: added reading MatrixMarked data files to a sparse `CooMatrix`.
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### Fixed
- Fixed a potential unsoundness with `matrix.get(i)` and `matrix.get_mut(i)` where `i` is an `usize`, and `matrix`
is a matrix slice with non-default strides.
- Fixed potential unsoundness with `vector.perp` where `vector` isnt actually a 2D vector as expected.
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- Fixed linkage issue with `nalgebra-lapack`: the user of `nalgebra-lapack` no longer have to add
`extern crate lapack-src` to their `main.rs`.
- Fixed the `no-std` build of `nalgebra-glm`.
- Fix the `pow` and `pow_mut` functions (the result was incorrect for some exponent values).
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## [0.29.0]
### Breaking changes
- We updated to the version 0.6 of `simba`. This means that the trait bounds `T: na::RealField`, `na::ComplexField`,
`na::SimdRealField`, `na:SimdComplexField` no imply that `T: Copy` (they only imply that `T: Clone`). This may affect
generic code.
- The closure given to `apply`, `zip_apply`, `zip_zip_apply` must now modify the
first argument inplace, instead of returning a new value. This makes these
methods more versatile, and avoid useless clones when using non-Copy scalar
types.
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- The `Allocator` trait signature has been significantly modified in order to handle uninitialized matrices in a sound
way.
### Modified
- `Orthographic3::from_matrix_unchecked` is now `const fn`.
- `Perspective3::from_matrix_unchecked` is now `const fn`.
- `Rotation::from_matrix_unchecked` is now `const fn`.
- The `Scalar` is now automatically implemented for most `'static + Clone` types. Type that implement `Clone` but not
`Copy` are now much safer to work with thanks to the refactoring of the `Allocator` system.
### Added
- The conversion traits form the `bytemuck` crates are now implemented for the geometric types too.
- Added operator overloading for `Transform * UnitComplex`, `UnitComplex * Transform`, `Transform ×= UnitComplex`,
`Transform ÷= UnitComplex`.
- Added `Reflection::bias()` to retrieve the bias of the reflection.
- Added `Reflection1..Reflection6` aliases for 1D to 6D reflections.
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- Added implementation of `From` and `Into` for converting between `nalgebra` types and types from
`glam 0.16` and `glam 0.17`. These can be enabled by enabling the `convert-glam016`, and/or `convert-glam017`
cargo features.
## [0.28.0]
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### Added
- Implement `Hash` for `Transform`.
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- Implement `Borrow` and `BorrowMut` for contiguous slices.
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### Modified
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- The `OPoint<T, D>` type has been added. It takes the dimension number as a type-level integer (e.g. `Const<3>`) instead
of a const-generic. The type `Point<T, const D: usize>` is now an alias for `OPoint`. This changes doesn't affect any
of the existing code using `Point`. However, it will allow the use `OPoint` in a generic context where the dimension
cannot be easily expressed as a const-generic (because of the current limitation of const-generics in Rust).
- Several clippy warnings were fixed. This results in some method signature changes (e.g. taking `self` instead of `&self`)
but this should not have any practical infulances on existing codebase.
- The `Point::new` constructors are no longer const-fn. This is due to some limitations in const-fn
not allowing custom trait-bounds. Use the `point!` macro instead to build points in const environments.
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- `Dynamic::new` and `Unit::new_unchecked` are now const-fn.
- Methods returning `Result<(), ()>` now return `bool` instead.
### Fixed
- Fixed a potential unsoundess issue when converting a mutable slice to a `&mut[T]`.
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## [0.27.1]
### Fixed
- Fixed a bug in the conversion from `glam::Vec2` or `glam::DVec2` to `Isometry2`.
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## [0.27.0]
This removes the `convert-glam` and `convert-glam-unchecked` optional features.
Instead, this adds the `convert-glam013`, `convert-glam014`, and `convert-glam015` optional features for
conversions targeting the versions 0.13, 0.14, and 0.15 of `glam`.
### Added
- Add macros `matrix!`, `dmatrix!`, `vector!`, `dvector!`, `point!` for constructing matrices/vectors/points in a
more convenient way. See [#886](https://github.com/dimforge/nalgebra/pull/886) and [#899](https://github.com/dimforge/nalgebra/pull/899).
- Add `CooMatrix::reserve` to `nalgebra-sparse`.
- Add basic support for serialization using `rkyv`. Can be enabled with the features `rkyv-serialize` or
`rkyv-serialize-no-std`.
### Fixed
- Fixed a potential unsoundness issue after deserializing an invalid `DVector` using `serde`.
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## [0.26.2]
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### Added
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- Conversion from an array `[T; D]` to an isometry `Isometry<T, _, D>` (as a translation).
- Conversion from a static vector `SVector<T; D>` to an isometry `Isometry<T, _, D>` (as a translation).
- Conversion from a point `Point<T; D>` to an isometry `Isometry<T, _, D>` (as a translation).
- Conversion of an array `[T; D]` from/to a translation `Translation<T, D>`.
- Conversion of a point `Point<T, D>` to a translation `Translation<T, D>`.
- Conversion of the tuple of glam types `(Vec3, Quat)` from/to an `Isometry2` or `Isometry3`.
- Conversion of a glam type `Vec2/3/4` from/to a `Translation2/3/4`.
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## [0.26.1]
Fix a regression introduced in 0.26.0 preventing `DVector` from being serialized with `serde`.
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## [0.26.0]
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This release integrates `min-const-generics` to nalgebra. See
[our blog post](https://www.dimforge.com/blog/2021/04/12/integrating-const-generics-to-nalgebra)
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for details about this release.
### Added
- Add type aliases for unit vector, e.g., `UnitVector3`.
- Add a `pow` and `pow_mut` function to square matrices.
- Add `Cholesky::determinant` to compute the determinant of a matrix decomposed
with Cholesky.
- Add the `serde-serialize-no-std` feature to enable serialization of static matrices/vectors
with serde, but without requiring `std`.
### Modified
- The `serde` crate isn't enabled by default now. Enable the `serde-serialize` or the
`serde-serialize-no-std` features instead.
- The `Const<const D: usize>` type has been introduced to represent dimensions known
at compile-time. This replaces the type-level integers from `typenum` as well as
the `U1, U2, ..., U127` types from `nalgebra`. These `U1, U2, ..., U127` are now
just aliases for `Const<D>`, e.g., `type U2 = Const<2>`.
- The `ArrayStorage` now uses a standard array `[[T; R]; C]` instead of a `GenericArray`.
- Many trait bounds were changed to accommodate const-generics. Most of these changes
should be transparent wrt. non-generic code.
- The `MatrixMN` alias has been deprecated. Use `OMatrix` or `SMatrix` instead.
- The `MatrixN<T, D>` alias has been deprecated. Use `OMatrix<T, D, D>` or `SMatrix` instead.
- The `VectorN<T, D>` alias has been deprecated. Use `OVector` or `SVector` instead.
- The `Point`, `Translation`, `Isometry`, `Similarity`, and `Transformation` types now take an
integer for their dimension (instead of a type-level integer).
- The type parameter order of `Isometry`, `Similarity`, `Transformation` changed to put
the integer dimensions in the last position (this is required by the compiler).
- The `::new` constructors of translations, points, matrices, and vectors of dimensions `<= 6`
are now `const fn`, making them usable to define constant globals. The `Quaternion::new`
constructor is also a `const fn` now.
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## [0.25.4]
### Fixed
- Fix a compilation error when only the `serde-serialize` feature is enabled.
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## [0.25.3]
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### Added
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- The `Vector::simd_cap_magnitude` method to cap the magnitude of the vector with
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SIMD components.
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## [0.25.2]
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### Added
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- A `convert-glam` cargo feature to enable implementations of `From` traits to convert
between `glam` types and `nalgebra` types.
- A `convert-glam-unchecked` cargo feature to enable some extra `glam`/`nalgebra` conversions that may
lead to unexpected results if used improperly. For example, this enables the conversion from a
`glam::Mat4` to a `na::Isometry3`. This conversion will be cheap (without any check) but willlead to
unexpected results if the glam matrix contains non-isometric components (like scaling for example).
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- A `cast` method has been added to most types. This can be used to change the
type of the components of a given entity. Example: `vector.cast::<f32>()`.
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## [0.25.1]
This release replaces the version 0.25.0 which has been yanked. The 0.25.0 version
added significant complication to build `nalgebra` targeting a `#[no-std]` platform
not supported by `rand`.
The `rand` dependency is now optional (and disabled by default). You may enable it with:
- The `rand-no-std` cargo feature when targeting a `#[no-std]` environment.
- The `rand` cargo feature when targeting a `std` environment.
## [0.25.0] - Yanked
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This updates all the dependencies of nalgebra to their latest version, including:
- rand 0.8
- proptest 1.0
- simba 0.4
### New crate: nalgebra-sparse
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Alongside this release of `nalgebra`, we are releasing `nalgebra-sparse`: a crate dedicated to sparse matrix
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computation with `nalgebra`. The `sparse` module of `nalgebra`itself still exists for backward compatibility,
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but it will be deprecated soon in favor of the `nalgebra-sparse` crate.
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### Added
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* Add `UnitDualQuaternion`, a dual-quaternion with unit magnitude which can be used as an isometry transformation.
* Add `UDU::new()` and `matrix.udu()` to compute the UDU factorization of a matrix.
* Add `ColPivQR::new()` and `matrix.col_piv_qr()` to compute the QR decomposition with column pivoting of a matrix.
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* Add `from_basis_unchecked` to all the rotation types. This builds a rotation from a set of basis vectors (representing the columns of the corresponding rotation matrix).
* Add `Matrix::cap_magnitude` to cap the magnitude of a vector.
* Add `UnitQuaternion::append_axisangle_linearized` to approximately append a rotation represented as an axis-angle to a rotation represented as an unit quaternion.
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* Mark the iterators on matrix components as `DoubleEndedIter`.
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* Re-export `simba::simd::SimdValue` at the root of the `nalgebra` crate.
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## [0.24.0]
### Added
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* The `DualQuaternion` type. It is still work-in-progress, but the basics are here:
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creation from its real and dual part, multiplication of two dual quaternions,
and normalization.
### Removed
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* There is no blanket `impl<T> PartialEq for Unit<T>` anymore. Instead, it is
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implemented specifically for `UnitComplex`, `UnitQuaternion` and `Unit<Vector>`.
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## [0.23.2]
In this release, we improved the documentation of some of the geometric types
by applying changes similar to what we did in the version 0.23.1 for matrices.
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### Added
* The `Isometry::inv_mul` method which is a more efficient way of doing
`isometry1.inverse() * isometry2`.
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## [0.23.1]
In this release we improved the documentation of the matrix and vector types by:
- Grouping `impl` bocks logically, adding a title comment to these impl blocks.
- Reference these impl blocks docs at the top of the documentation page for `Matrix`.
- Reduce the depth of type aliasing. Now all vector and matrix types are aliases of `Matrix`
directly (instead of being aliases for other aliases).
## [0.23.0]
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### Added
* The `.inverse_transform_unit_vector(v)` was added to `Rotation2/3`, `Isometry2/3`, `UnitQuaternion`, and `UnitComplex`.
It applies the corresponding rotation to a unit vector `Unit<Vector2/3>`.
* The `Point.map(f)` and `Point.apply(f)` to apply a function to each component of the point, similarly to `Vector.map(f)`
and `Vector.apply(f)`.
* The `Quaternion::from([N; 4])` conversion to build a quaternion from an array of four elements.
* The `Isometry::from(Translation)` conversion to build an isometry from a translation.
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* The `Vector::ith_axis(i)` which build a unit vector, e.g., `Unit<Vector3<f32>>` with its i-th component set to 1.0, and the
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others set to zero.
* The `Isometry.lerp_slerp` and `Isometry.try_lerp_slerp` methods to interpolate between two isometries using linear
interpolation for the translational part, and spherical interpolation for the rotational part.
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* The `Rotation2.slerp`, `Rotation3.slerp`, and `UnitQuaternion.slerp` method for
spherical interpolation.
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## [0.22.0]
In this release, we are using the new version 0.2 of simba. One major change of that version is that the
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use of `libm` is now opt-in when building targeting `no-std` environment. If you are using floating-point
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operations with nalgebra in a `no-std` environment, you will need to enable the new `libm` feature
of nalgebra for your code to compile again.
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### Added
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* The `libm` feature that enables `libm` when building for `no-std` environment.
* The `libm-force` feature that enables `libm` even when building for a not `no-std` environment.
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* `Cholesky::new_unchecked` which build a Cholesky decomposition without checking that its input is
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positive-definite. It can be used with SIMD types.
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* The `Default` trait is now implemented for matrices, and quaternions. They are all filled with zeros,
except for `UnitQuaternion` which is initialized with the identity.
* Matrix exponential `matrix.exp()`.
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* The `Vector::ith(i, x)` that builds a vector filled with zeros except for the `i`-th component set to `x`.
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## [0.21.0]
In this release, we are no longer relying on traits from the __alga__ crate for our generic code.
Instead, we use traits from the new [simba](https://crates.io/crates/simba) crate which are both
simpler, and allow for significant optimizations like AoSoA SIMD.
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Refer to the [monthly dimforge blogpost](https://www.dimforge.org/blog/2020/04/01/this-month-in-dimforge/)
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for details about this switch and its benefits.
### Added
* It is now possible to use SIMD types like `simba::f32x4` as scalar types for nalgebra's matrices and
geometric types.
### Modified
* Use of traits like `alga::general::{RealField, ComplexField}` have now been replaced by
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`simba::scalar::{RealField, ComplexField}`.
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* The implementation of traits from the __alga__ crate (and well as the dependency to _alga__) are now
omitted unless the `alga` cargo feature is activated.
### Removed
* The `Neg` unary operator is no longer implemented for `UnitComplex` and `UnitQuaternion`. This caused
hard-to-track errors when we mistakenly write, e.g., `-q * v` instead of `-(q * v)`.
* The `na::convert_unchecked` is no longer marked as unsafe.
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## [0.20.0]
### Added
* `cholesky.rank_one_update(...)` which performs a rank-one update on the cholesky decomposition of a matrix.
* `From<&Matrix>` is now implemented for matrix slices.
* `.try_set_magnitude(...)` which sets the magnitude of a vector, while keeping its direction.
* Implementations of `From` and `Into` for the conversion between matrix slices and standard (`&[N]` `&mut [N]`) slices.
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### Modified
* We started some major changes in order to allow non-Copy types to be used as scalar types inside of matrices/vectors.
## [0.19.0]
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### Added
* `.remove_rows_at` and `remove_columns_at` which removes a set of rows or columns (specified by indices) from a matrix.
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* Several formatting traits have been implemented for all matrices/vectors: `LowerExp`, `UpperExp`, `Octal`, `LowerHex`,
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`UpperHex`, `Binary`, `Pointer`.
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* `UnitQuaternion::quaternions_mean(...)` which computes the mean rotation of a set of unit quaternions. This implements
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the algorithm from _Oshman, Yaakov, and Avishy Carmi, "Attitude estimation from vector observations using a genetic-algorithm-embedded quaternion particle filter."
2020-03-03 19:34:47 +08:00
### Modified
* It is now possible to get the `min/max` element of unsigned integer matrices.
### Added to nalgebra-glm
* Some infinite and reversed perspectives: `::infinite_perspective_rh_no`, `::infinite_perspective_rh_zo`,
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`::reversed_perspective_rh_zo`, and `::reversed_infinite_perspective_rh_zo`.
2019-08-28 02:53:54 +08:00
2019-03-31 23:05:24 +08:00
## [0.18.0]
2019-03-31 21:25:54 +08:00
This release adds full complex number support to nalgebra. This includes all common vector/matrix operations as well
as matrix decomposition. This excludes geometric type (like `Isometry`, `Rotation`, `Translation`, etc.) from the
`geometry` module.
### Added
2019-03-31 23:05:24 +08:00
#### Quaternion and geometric operations
* Add trigonometric functions for quaternions: `.cos, .sin, .tan, .acos, .asin, .atan, .cosh, .sinh, .tanh, .acosh, .asinh, .atanh`.
* Add geometric algebra operations for quaternions: `.inner, .outer, .project, .rejection`
* Add `.left_div, .right_div` for quaternions.
* Add `.renormalize` to `Unit<...>` and `Rotation3` to correct potential drift due to repeated operations.
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Those drifts could cause them not to be pure rotations anymore.
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2019-03-31 23:05:24 +08:00
#### Convolution
* `.convolve_full(kernel)` returns the convolution of `self` by `kernel`.
* `.convolve_valid(kernel)` returns the convolution of `self` by `kernel` after removal of all the elements relying on zero-padding.
* `.convolve_same(kernel)` returns the convolution of `self` by `kernel` with a result of the same size as `self`.
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2019-03-31 23:05:24 +08:00
#### Complex number support
* Add the `::from_matrix` constructor too all rotation types to extract a rotation from a raw matrix.
* Add the `::from_matrix_eps` constructor too all rotation types to extract a rotation from a raw matrix. This takes
more argument than `::from_matrix` to control the convergence of the underlying optimization algorithm.
2019-03-31 23:05:24 +08:00
* Add `.camax()` which returns the matrix component with the greatest L1-norm.
* Add `.camin()` which returns the matrix component with the smallest L1-norm.
* Add `.ad_mul(b)` for matrix-multiplication of `self.adjoint() * b`.
* Add `.ad_mul_to(b)` which is the same as `.ad_mul` but with a provided matrix to be filled with the result of the multiplication.
* Add BLAS operations involving complex conjugation (following similar names as the original BLAS spec):
* `.dotc(rhs)` equal to `self.adjoint() * rhs`.
* `.gerc(alpha, x, y, beta)` equivalent to `self = alpha * x * y.adjoint() + beta * self`
* `.hegerc` which is like `gerc` but for Hermitian matrices.
* `.syger` which is the new name of `.ger_symm` which is equivalent to `self = alpha * x * y.transpose() + beta * self`.
* `.sygemv` which is the new name of `.gemv_symm` which is equivalent to `self = alpha * a * x + beta * self` with `a` symmetric.
* `.hegemv(alpha, a, x, beta)` which is like `.sygemv` but with `a` Hermitian.
* `.gemv_ad(alpha, a, x, beta)` which is equivalent to `self = alpha * a.adjoint() * x + beta * self`.
* `.gemm_ad(alpha, a, b, beta)` which is equivalent to `self = alpha * a.adjoint() * b + beta * self`.
* `.icamax()` which returns the index of the complex vector component with the greatest L1-norm.
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Note that all the other BLAS operation will continue to work for all fields, including floats and complex numbers.
2019-03-31 23:05:24 +08:00
### Renamed
* `RealSchur` has been renamed `Schur` because it can now work with complex matrices.
## [0.17.0]
### Added
2018-11-23 14:01:45 +08:00
* Add swizzling up to dimension 3 for vectors. For example, you can do `v.zxy()` as an equivalent to `Vector3::new(v.z, v.x, v.y)`.
* Add swizzling up to dimension 3 for points. For example, you can do `p.zxy()` as an equivalent to `Point3::new(p.z, p.x, p.y)`.
* Add `.copy_from_slice` to copy matrix components from a slice in column-major order.
2018-09-22 21:41:04 +08:00
* Add `.dot` to quaternions.
* Add `.zip_zip_map` for iterating on three matrices simultaneously, and applying a closure to them.
* Add `.slerp` and `.try_slerp` to unit vectors.
2018-10-27 22:39:50 +08:00
* Add `.lerp` to vectors.
2018-09-22 22:04:16 +08:00
* Add `.to_projective` and `.as_projective` to `Perspective3` and `Orthographic3` in order to
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use them as `Projective3` structures.
2018-10-13 16:45:42 +08:00
* Add `From/Into` impls to allow the conversion of any transformation type to a matrix.
* Add `Into` impls to convert a matrix slice into an owned matrix.
* Add `Point*::from_slice` to create a point from a slice.
2018-10-30 14:56:47 +08:00
* Add `.map_with_location` to matrices to apply a map which passes the component indices to the user-defined closure alongside
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the component itself.
2018-10-28 14:34:42 +08:00
* Add impl `From<Vector>` for `Point`.
* Add impl `From<Vector4>` for `Quaternion`.
* Add impl `From<Vector>` for `Translation`.
2018-11-08 13:47:17 +08:00
* Add the `::from_vec` constructor to construct a matrix from a `Vec` (a `DMatrix` will reuse the original `Vec`
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as-is for its storage).
2018-11-23 14:01:45 +08:00
* Add `.to_homogeneous` to square matrices (and with dimensions higher than 1x1). This will increase their number of row
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and columns by 1. The new column and row are filled with 0, except for the diagonal element which is set to 1.
2018-11-23 14:01:45 +08:00
* Implement `Extend<Vec>` for matrices with a dynamic storage. The provided `Vec` is assumed to represent a column-major
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matrix with the same number of rows as the one being extended. This will effectively append new columns on the right of
the matrix being extended.
2018-11-23 14:01:45 +08:00
* Implement `Extend<Vec>` for vectors with a dynamic storage. This will concatenate the vector with the given `Vec`.
* Implement `Extend<Matrix<...>>` for matrices with dynamic storage. This will concatenate the columns of both matrices.
* Implement `Into<Vec>` for the `MatrixVec` storage.
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* Implement `Hash` for all matrices.
* Add a `.len()` method to retrieve the size of a `MatrixVec`.
2018-10-24 02:47:42 +08:00
### Modified
2018-11-10 20:53:31 +08:00
* The orthographic projection no longer require that `bottom < top`, that `left < right`, and that `znear < zfar`. The
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only restriction now ith that they must not be equal (in which case the projection would be singular).
2018-10-24 02:47:42 +08:00
* The `Point::from_coordinates` methods is deprecated. Use `Point::from` instead.
2018-10-30 14:58:19 +08:00
* The `.transform_point` and `.transform_vector` methods are now inherent methods for matrices so that the user does not have to
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explicitly import the `Transform` trait from the alga crate.
2018-12-29 20:28:40 +08:00
* Renamed the matrix storage types: `MatrixArray` -> `ArrayStorage` and `MatrixVec` -> `VecStorage`.
* Renamed `.unwrap()` to `.into_inner()` for geometric types that wrap another type.
This is for the case of `Unit`, `Transform`, `Orthographic3`, `Perspective3`, `Rotation`.
* Deprecate several functions at the root of the crate (replaced by methods).
### Removed
* Remove the `Deref` impl for `MatrixVec` as it could cause hard-to-understand compilation errors.
2018-12-29 20:28:40 +08:00
### nalgebra-glm
* Add several alternative projection computations, e.g., `ortho_lh`, `ortho_lh_no`, `perspective_lh`, etc.
* Add features matching those of nalgebra, in particular: `serde-serialize`, `abmonation-serialize`, std` (enabled by default).
2018-07-20 22:35:57 +08:00
## [0.16.0]
All dependencies have been updated to their latest versions.
## Modified
2018-07-20 22:35:57 +08:00
* Adjust `UnitQuaternion`s, `Rotation3`s, and `Rotation2`s generated from the `Standard` distribution to be uniformly distributed.
2018-05-27 18:25:58 +08:00
### Added
2018-07-20 22:35:57 +08:00
* Add a feature `stdweb` to activate the dependency feature `rand/stdweb`.
* Add blas-like methods `.imin()` and `.imax()` that return the index of the minimum and maximum entry of a vector.
2018-05-27 18:25:58 +08:00
* Add construction of a `Point` from an array by implementing the `From` trait.
* Add support for generating uniformly distributed random unit column vectors using the `Standard` distribution.
2018-05-27 18:25:58 +08:00
2018-05-27 04:24:27 +08:00
## [0.15.0]
The most notable change of this release is the support for using part of the library without the rust standard
library (i.e. it supports `#![no_std]`). See the corresponding [documentation](https://nalgebra.org/wasm_and_embedded_programming/).
### Modified
* Rename the `core` module to `base` to avoid conflicts with the `core` crate implicitly imported when
`#![no_std]` is enabled.
2018-04-27 13:55:06 +08:00
* Constructors of the `MatrixSlice*` types have been renamed from `new_*` to `from_slice_*`. This was
necessary to avoid the `incoherent_fundamental_impls` lint that is going to become a hard error.
### Added
* Add `UnitQuaternion` constructor `::new_eps(...)` and `::from_scaled_axis_eps(...)` that return the
identity if the magnitude of the input axisangle is smaller than the epsilon provided.
* Add methods `.rotation_between_axis(...)` and `.scaled_rotation_between_axis(...)` to `UnitComplex`
to compute the rotation matrix between two 2D **unit** vectors.
* Add methods `.axis_angle()` to `UnitComplex` and `UnitQuaternion` in order to retrieve both the
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unit rotation axis, and the rotation angle simultaneously.
* Add functions to construct a random matrix with a user-defined distribution: `::from_distribution(...)`.
2018-02-03 19:12:20 +08:00
## [0.14.0]
2018-02-02 19:26:27 +08:00
### Modified
2018-02-03 19:12:20 +08:00
* Allow the `Isometry * Unit<Vector>` multiplication.
2017-10-11 04:12:07 +08:00
### Added
2018-02-03 19:21:32 +08:00
* Add blas-like operations: `.quadform(...)` and `.quadform_tr(...)` to compute respectively
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the quadratic forms `self = alpha * A.transpose() * B * A + beta * self` and
`alpha * A * B * A.transpose() + beta * self`. Here, `A, B` are matrices with
`B` square, and `alpha, beta` are reals.
2018-02-03 19:21:32 +08:00
* Add blas-like operations: `.gemv_tr(...)` that behaves like `.gemv` except that the
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provided matrix is assumed to be transposed.
* Add blas-like operations: `cmpy, cdpy` for component-wise multiplications and
division with scalar factors:
- `self <- alpha * self + beta * a * b`
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- `self <- alpha * self + beta * a / b`
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* `.cross_matrix()` returns the cross-product matrix of a given 3D vector, i.e.,
the matrix `M` such that for all vector `v` we have
`M * v == self.cross(&v)`.
* `.iamin()` that returns the index of the vector entry with
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the smallest absolute value.
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* The `mint` feature that can be enabled in order to allow conversions from
and to types of the [mint](https://crates.io/crates/mint) crate.
2018-02-03 19:12:20 +08:00
* Aliases for matrix and vector slices. Their are named by adding `Slice`
before the dimension numbers, i.e., a 3x5 matrix slice with dimensions known
at compile-time is called `MatrixSlice3x5`. A vector slice with dimensions
unknown at compile-time is called `DVectorSlice`.
2018-02-03 19:21:32 +08:00
* Add functions for constructing matrix slices from a slice `&[N]`, e.g.,
`MatrixSlice2::new(...)` and `MatrixSlice2::new_with_strides(...)`.
2018-02-02 19:26:16 +08:00
* The `::repeat(...)` constructor that is an alternative name to
`::from_element(...)`.
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* `UnitQuaternion::scaled_rotation_between_axis(...)` and
`UnitQuaternion::rotation_between_axis(...)` that take Unit vectors instead of
Vector as arguments.
2017-10-11 04:12:07 +08:00
## [0.13.0]
The **nalgebra-lapack** crate has been updated. This now includes a broad range
matrix decompositions using LAPACK bindings.
2017-08-16 01:49:39 +08:00
This adds support for serialization using the
[abomonation](https://crates.io/crates/abomonation) crate.
### Breaking semantic change
* The implementation of slicing with steps now matches the documentation.
Before, step identified the number to add to pass from one column/row index
to the next one. This made 0 step invalid. Now (and on the documentation so
far), the step is the number of ignored row/columns between each
row/column. Thus, a step of 0 means that no row/column is ignored. For
example, a step of, say, 3 on previous versions should now bet set to 2.
### Modified
2018-09-26 17:40:04 +08:00
* The trait `Axpy` has been replaced by a method `.axpy`.
* The alias `MatrixNM` is now deprecated. Use `MatrixMN` instead (we
reordered M and N to be in alphabetical order).
* In-place componentwise multiplication and division
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`.component_mul_mut(...)` and `.component_div_mut(...)` have been deprecated
for a future renaming. Use `.component_mul_assign(...)` and
`.component_div_assign(...)` instead.
2017-05-04 04:27:05 +08:00
### Added
* `alga::general::Real` is now re-exported by nalgebra.
elements.)
* `::zeros(...)` that creates a matrix filled with zeroes.
* `::from_partial_diagonal(...)` that creates a matrix from diagonal elements.
The matrix can be rectangular. If not enough elements are provided, the rest
of the diagonal is set to 0.
* `.conjugate_transpose()` computes the transposed conjugate of a
complex matrix.
* `.conjugate_transpose_to(...)` computes the transposed conjugate of a
complex matrix. The result written into a user-provided matrix.
* `.transpose_to(...)` is the same as `.transpose()` but stores the result in
the provided matrix.
* `.conjugate_transpose_to(...)` is the same as `.conjugate_transpose()` but
stores the result in the provided matrix.
* Implements `IntoIterator` for `&Matrix`, `&mut Matrix` and `Matrix`.
* `.mul_to(...)` multiplies two matrices and stores the result to the given buffer.
* `.tr_mul_to(...)` left-multiplies `self.transpose()` to another matrix and stores the result to the given buffer.
* `.add_scalar(...)` that adds a scalar to each component of a matrix.
* `.add_scalar_mut(...)` that adds in-place a scalar to each component of a matrix.
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* `.kronecker(a, b)` computes the kronecker product (i.e. matrix tensor
product) of two matrices.
* `.apply(f)` replaces each component of a matrix with the results of the
closure `f` called on each of them.
2017-08-15 22:56:24 +08:00
Pure Rust implementation of some Blas operations:
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* `.iamax()` returns the index of the maximum value of a vector.
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* `.axpy(...)` computes `self = a * x + b * self`.
* `.gemv(...)` computes `self = alpha * a * x + beta * self` with a matrix and vector `a` and `x`.
* `.ger(...)` computes `self = alpha * x^t * y + beta * self` where `x` and `y` are vectors.
* `.gemm(...)` computes `self = alpha * a * b + beta * self` where `a` and `b` are matrices.
* `.gemv_symm(...)` is the same as `.gemv` except that `self` is assumed symmetric.
* `.ger_symm(...)` is the same as `.ger` except that `self` is assumed symmetric.
New slicing methods:
* `.rows_range(...)` that retrieves a reference to a range of rows.
* `.rows_range_mut(...)` that retrieves a mutable reference to a range of rows.
* `.columns_range(...)` that retrieves a reference to a range of columns.
* `.columns_range_mut(...)` that retrieves a mutable reference to a range of columns.
2017-05-04 04:27:05 +08:00
Matrix decompositions implemented in pure Rust:
* Cholesky, SVD, LU, QR, Hessenberg, Schur, Symmetric eigendecompositions,
Bidiagonal, Symmetric tridiagonal
* Computation of householder reflectors and givens rotations.
Matrix edition:
* `.upper_triangle()` extracts the upper triangle of a matrix, including the diagonal.
* `.lower_triangle()` extracts the lower triangle of a matrix, including the diagonal.
* `.fill(...)` fills the matrix with a single value.
* `.fill_with_identity(...)` fills the matrix with the identity.
* `.fill_diagonal(...)` fills the matrix diagonal with a single value.
* `.fill_row(...)` fills a selected matrix row with a single value.
* `.fill_column(...)` fills a selected matrix column with a single value.
* `.set_diagonal(...)` sets the matrix diagonal.
* `.set_row(...)` sets a selected row.
* `.set_column(...)` sets a selected column.
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* `.fill_lower_triangle(...)` fills some sub-diagonals below the main diagonal with a value.
* `.fill_upper_triangle(...)` fills some sub-diagonals above the main diagonal with a value.
* `.swap_rows(...)` swaps two rows.
* `.swap_columns(...)` swaps two columns.
Column removal:
* `.remove_column(...)` removes one column.
* `.remove_fixed_columns<D>(...)` removes `D` columns.
* `.remove_columns(...)` removes a number of columns known at run-time.
Row removal:
* `.remove_row(...)` removes one row.
* `.remove_fixed_rows<D>(...)` removes `D` rows.
* `.remove_rows(...)` removes a number of rows known at run-time.
Column insertion:
* `.insert_column(...)` adds one column at the given position.
* `.insert_fixed_columns<D>(...)` adds `D` columns at the given position.
* `.insert_columns(...)` adds at the given position a number of columns known at run-time.
Row insertion:
* `.insert_row(...)` adds one row at the given position.
* `.insert_fixed_rows<D>(...)` adds `D` rows at the given position.
* `.insert_rows(...)` adds at the given position a number of rows known at run-time.
2017-05-04 04:27:05 +08:00
2017-04-26 01:24:50 +08:00
## [0.12.0]
The main change of this release is the update of the dependency serde to 1.0.
### Added
* `.trace()` that computes the trace of a matrix (the sum of its diagonal
elements.)
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## [0.11.0]
The [website](https://nalgebra.org) has been fully rewritten and gives a good
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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.
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All other mathematical traits, except `Axpy` have been removed from
**nalgebra**.
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* Methods are now preferred to free functions because they do not require any
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trait to be used anymore.
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* 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.
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* Matrix **slices** are now implemented.
### Added
Lots of features including rectangular matrices, slices, and Serde
serialization. Refer to the brand new [website](https://nalgebra.org) for more
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details. The following free-functions have been added as well:
* `::id()` that returns the universal [identity element](https://nalgebra.org/performance_tricks/#the-id-type)
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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`
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Componentwise multiplication and division has been replaced by methods:
* multiplication -> `.componentwise_mul`, `.componentwise_mul_mut`.
* division -> `.componentwise_div`, `.componentwise_div_mut`.
2017-02-15 01:49:25 +08:00
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.
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Instead, create the rotation or translation object explicitly and use
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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()`.
2016-08-30 03:16:50 +08:00
## [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
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required before rust 1.0 to help type inference. They are not needed any more
2016-08-30 03:16:50 +08:00
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>)`.
2016-08-22 03:43:26 +08:00
## [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`
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- `::from_elem` -> `::from_element`
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- `DiagMut` -> `DiagonalMut`
- `UnitQuaternion::new` becomes `UnitQuaternion::from_scaled_axis` or
`UnitQuaternion::from_axisangle`. The new `::new` method now requires a
not-normalized quaternion.
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Method 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:
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* `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
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- 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.
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## [0.8.0]
### Modified
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* Almost everything (types, methods, and traits) now use fulls names instead
of abbreviations (e.g. `Vec3` becomes `Vector3`). Most changes are obvious.
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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
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* Added implementation of assignment operators (+=, -=, etc.) for
everything.
### Modified
* Points and vectors are now linked to each other with associated types
(on the PointAsVector trait).
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## [0.6.0]
**Announcement:** a users forum has been created for `nalgebra`, `ncollide`, and `nphysics`. See
you [there](https://users.nphysics.org)!
2016-04-01 03:31:01 +08:00
2016-03-25 02:03:52 +08:00
### Added
2016-04-01 03:46:01 +08:00
* 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
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`features="generic_sizes"`.
* Added similarity transformations (an uniform scale followed by a rotation followed by a
translation): `Similarity2`, `Similarity3`.
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### Removed
* Removed zero-sized elements `Vector0`, `Point0`.
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* Removed 4-dimensional transformations `Rotation4` and `Isometry4` (which had an implementation too incomplete to be useful).
2016-03-25 02:09:32 +08:00
### Modified
2016-04-01 03:46:01 +08:00
* Vectors are now multipliable with isometries. This will result into a pure rotation (this is how
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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
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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`.
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* Rename every `fov` on `Persp` to `fovy`.
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* Fixed the perspective and orthographic projection matrices.