Merge pull request #869 from dimforge/dev

Release v0.26.0

.github/workflows/nalgebra-ci-build.yml

@@ -34,6 +34,8 @@ jobs:
       run: cargo build --no-default-features;
     - name: Build (default features)
       run: cargo build;
+    - name: Build --features serde-serialize
+      run: cargo build --features serde-serialize
     - name: Build --all-features
       run: cargo build --all-features;
     - name: Build nalgebra-glm
@@ -55,7 +57,7 @@ jobs:
     steps:
       - uses: actions/checkout@v2
       - name: test nalgebra-glm
-        run: cargo test -p nalgebra-glm --features arbitrary,rand,serde-serialize,abomonation-serialize,sparse,debug,io,compare,libm,proptest-support,slow-tests;
+        run: cargo test -p nalgebra-glm --features arbitrary,serde-serialize,abomonation-serialize;
   test-nalgebra-sparse:
     runs-on: ubuntu-latest
     steps:

CHANGELOG.md

@@ -4,6 +4,50 @@ documented here.
 
 This project adheres to [Semantic Versioning](https://semver.org/).
 
+## [0.26.0]
+This releases integrates `min-const-generics` to nalgebra. See
+[our blog post](https://dimforge.com/blog/2021/04/12/nalgebra-const-generics)
+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.
+
+## [0.25.4]
+### Fixed
+- Fix a compilation error when only the `serde-serialize` feature is enabled.
+
+## [0.25.3]
+### Added
+- The `Vector::simd_cap_magnitude` method to cap the magnitude of the a vector with
+  SIMD components.
+
 ## [0.25.2]
 ### Added
 - A `convert-glam` cargo feature to enable implementations of `From` traits to convert

Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name    = "nalgebra"
-version = "0.25.2"
+version = "0.26.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
 
 description = "General-purpose linear algebra library with transformations and statically-sized or dynamically-sized matrices."
@@ -22,28 +22,35 @@ name = "nalgebra"
 path = "src/lib.rs"
 
 [features]
-default         = [ "std" ]
+default = [ "std" ]
-std             = [ "matrixmultiply", "simba/std" ]
+std     = [ "matrixmultiply", "simba/std" ]
-sparse = [ ]
+sparse  = [ ]
-debug = [ "approx/num-complex", "rand" ]
+debug   = [ "approx/num-complex", "rand" ]
-alloc = [ ]
+alloc   = [ ]
-io = [ "pest", "pest_derive" ]
+io      = [ "pest", "pest_derive" ]
 compare = [ "matrixcompare-core" ]
-libm = [ "simba/libm" ]
+libm    = [ "simba/libm" ]
 libm-force = [ "simba/libm_force" ]
 no_unsound_assume_init = [ ]
 
 # Conversion
 convert-mint = [ "mint" ]
 convert-glam = [ "glam" ]
-convert-glam-unchecked = [ "convert-glam" ] # Unable edgy conversions like Mat4 -> Isometry3
+convert-glam-unchecked = [ "convert-glam" ] # Enable edgy conversions like Mat4 -> Isometry3
 convert-bytemuck = [ "bytemuck" ]
 
 # Serialization
-serde-serialize = [ "serde", "num-complex/serde" ]
+## To use serde in a #[no-std] environment, enable the
-abomonation-serialize = [ "abomonation" ]
+## `serde-serialize-no-std` feature instead of `serde-serialize`.
+## Serialization of dynamically-sized matrices/vectors require
+## `serde-serialize`.
+serde-serialize-no-std = [ "serde", "num-complex/serde" ]
+serde-serialize        = [ "serde-serialize-no-std", "serde/std" ]
+abomonation-serialize  = [ "abomonation" ]
 
 # Randomness
+## To use rand in a #[no-std] environment, enable the
+## `rand-no-std` feature instead of `rand`.
 rand-no-std = [ "rand-package" ]
 rand        = [ "rand-no-std", "rand-package/std", "rand-package/std_rng", "rand_distr" ]
 
@@ -54,7 +61,6 @@ slow-tests       = []
 
 [dependencies]
 typenum        = "1.12"
-generic-array  = "0.14"
 rand-package   = { package = "rand", version = "0.8", optional = true, default-features = false }
 num-traits     = { version = "0.2", default-features = false }
 num-complex    = { version = "0.3", default-features = false }
@@ -79,11 +85,7 @@ proptest = { version = "1", optional = true, default-features = false, features
 serde_json = "1.0"
 rand_xorshift = "0.3"
 rand_isaac = "0.3"
-### Uncomment this line before running benchmarks.
+criterion = "0.2.10"
-### We can't just let this uncommented because that would break
-### compilation for #[no-std] because of the terrible Cargo bug
-### https://github.com/rust-lang/cargo/issues/4866
-#criterion = "0.2.10"
 
 # For matrix comparison macro
 matrixcompare = "0.2.0"
@@ -91,6 +93,11 @@ itertools = "0.10"
 
 [workspace]
 members = [ "nalgebra-lapack", "nalgebra-glm", "nalgebra-sparse" ]
+resolver = "2"
+
+[[example]]
+name = "matrixcompare"
+required-features = ["compare"]
 
 [[bench]]
 name = "nalgebra_bench"

README.md

@@ -30,10 +30,10 @@
 
 -----
 
-## Gold sponsors
+## Platinum sponsors
 Rapier is supported by:
 <p>
   <a href="https://embark-studios.com">
-    <img src="https://www.embark.dev/img/logo_black.png" width="301px">
+    <img src="https://www.embark.dev/img/logo_black.png" width="401px">
   </a>
 </p>

benches/common/macros.rs

@@ -60,7 +60,7 @@ macro_rules! bench_unop_na(
                 i = (i + 1) & (LEN - 1);
 
                 unsafe {
-                    test::black_box(na::$unop(elems.get_unchecked(i)))
+                    std::hint::black_box(na::$unop(elems.get_unchecked(i)))
                 }
             }));
         }
@@ -82,7 +82,7 @@ macro_rules! bench_unop(
                 i = (i + 1) & (LEN - 1);
 
                 unsafe {
-                    test::black_box(elems.get_unchecked_mut(i).$unop())
+                    std::hint::black_box(elems.get_unchecked_mut(i).$unop())
                 }
             }));
         }
@@ -105,7 +105,7 @@ macro_rules! bench_construction(
 
                 unsafe {
                     let res = $constructor($(*$args.get_unchecked(i),)*);
-                    test::black_box(res)
+                    std::hint::black_box(res)
                 }
             }));
         }

benches/core/matrix.rs

@@ -1,4 +1,4 @@
-use na::{DMatrix, DVector, Matrix2, Matrix3, Matrix4, MatrixN, Vector2, Vector3, Vector4, U10};
+use na::{DMatrix, DVector, Matrix2, Matrix3, Matrix4, OMatrix, Vector2, Vector3, Vector4, U10};
 use rand::Rng;
 use rand_isaac::IsaacRng;
 use std::ops::{Add, Div, Mul, Sub};
@@ -116,8 +116,8 @@ fn mat10_mul_mat10(bench: &mut criterion::Criterion) {
 }
 
 fn mat10_mul_mat10_static(bench: &mut criterion::Criterion) {
-    let a = MatrixN::<f64, U10>::new_random();
+    let a = OMatrix::<f64, U10, U10>::new_random();
-    let b = MatrixN::<f64, U10>::new_random();
+    let b = OMatrix::<f64, U10, U10>::new_random();
 
     bench.bench_function("mat10_mul_mat10_static", move |bh| bh.iter(|| &a * &b));
 }
@@ -198,7 +198,7 @@ fn mat_mul_mat(bench: &mut criterion::Criterion) {
 
     bench.bench_function("mat_mul_mat", move |bh| {
         bh.iter(|| {
-            test::black_box(a.mul_to(&b, &mut ab));
+            std::hint::black_box(a.mul_to(&b, &mut ab));
         })
     });
 }

benches/core/vector.rs

@@ -1,8 +1,7 @@
-use na::{DVector, Vector2, Vector3, Vector4, VectorN};
+use na::{DVector, SVector, Vector2, Vector3, Vector4};
 use rand::Rng;
 use rand_isaac::IsaacRng;
 use std::ops::{Add, Div, Mul, Sub};
-use typenum::U10000;
 
 #[path = "../common/macros.rs"]
 mod macros;
@@ -45,8 +44,8 @@ bench_unop!(vec2_normalize, Vector2<f32>, normalize);
 bench_unop!(vec3_normalize, Vector3<f32>, normalize);
 bench_unop!(vec4_normalize, Vector4<f32>, normalize);
 
-bench_binop_ref!(vec10000_dot_f64, VectorN<f64, U10000>, VectorN<f64, U10000>, dot);
+bench_binop_ref!(vec10000_dot_f64, SVector<f64, 10000>, SVector<f64, 10000>, dot);
-bench_binop_ref!(vec10000_dot_f32, VectorN<f32, U10000>, VectorN<f32, U10000>, dot);
+bench_binop_ref!(vec10000_dot_f32, SVector<f32, 10000>, SVector<f32, 10000>, dot);
 
 fn vec10000_axpy_f64(bh: &mut criterion::Criterion) {
     use rand::SeedableRng;
@@ -82,8 +81,8 @@ fn vec10000_axpy_f64_slice(bh: &mut criterion::Criterion) {
 
     bh.bench_function("vec10000_axpy_f64_slice", move |bh| {
         bh.iter(|| {
-            let mut a = a.fixed_rows_mut::<U10000>(0);
+            let mut a = a.fixed_rows_mut::<10000>(0);
-            let b = b.fixed_rows::<U10000>(0);
+            let b = b.fixed_rows::<10000>(0);
 
             a.axpy(n, &b, 1.0)
         })
@@ -93,11 +92,11 @@ fn vec10000_axpy_f64_slice(bh: &mut criterion::Criterion) {
 fn vec10000_axpy_f64_static(bh: &mut criterion::Criterion) {
     use rand::SeedableRng;
     let mut rng = IsaacRng::seed_from_u64(0);
-    let mut a = VectorN::<f64, U10000>::new_random();
+    let mut a = SVector::<f64, 10000>::new_random();
-    let b = VectorN::<f64, U10000>::new_random();
+    let b = SVector::<f64, 10000>::new_random();
     let n = rng.gen::<f64>();
 
-    // NOTE: for some reasons, it is much faster if the arument are boxed (Box::new(VectorN...)).
+    // NOTE: for some reasons, it is much faster if the arument are boxed (Box::new(OVector...)).
     bh.bench_function("vec10000_axpy_f64_static", move |bh| {
         bh.iter(|| a.axpy(n, &b, 1.0))
     });

benches/lib.rs

@@ -2,10 +2,7 @@
 #![allow(unused_macros)]
 
 extern crate nalgebra as na;
-extern crate rand;
+extern crate rand_package as rand;
-extern crate rand_isaac;
-extern crate test;
-extern crate typenum;
 
 #[macro_use]
 extern crate criterion;

benches/linalg/bidiagonal.rs

@@ -7,35 +7,35 @@ mod macros;
 fn bidiagonalize_100x100(bh: &mut criterion::Criterion) {
     let m = DMatrix::<f64>::new_random(100, 100);
     bh.bench_function("bidiagonalize_100x100", move |bh| {
-        bh.iter(|| test::black_box(Bidiagonal::new(m.clone())))
+        bh.iter(|| std::hint::black_box(Bidiagonal::new(m.clone())))
     });
 }
 
 fn bidiagonalize_100x500(bh: &mut criterion::Criterion) {
     let m = DMatrix::<f64>::new_random(100, 500);
     bh.bench_function("bidiagonalize_100x500", move |bh| {
-        bh.iter(|| test::black_box(Bidiagonal::new(m.clone())))
+        bh.iter(|| std::hint::black_box(Bidiagonal::new(m.clone())))
     });
 }
 
 fn bidiagonalize_4x4(bh: &mut criterion::Criterion) {
     let m = Matrix4::<f64>::new_random();
     bh.bench_function("bidiagonalize_4x4", move |bh| {
-        bh.iter(|| test::black_box(Bidiagonal::new(m.clone())))
+        bh.iter(|| std::hint::black_box(Bidiagonal::new(m.clone())))
     });
 }
 
 fn bidiagonalize_500x100(bh: &mut criterion::Criterion) {
     let m = DMatrix::<f64>::new_random(500, 100);
     bh.bench_function("bidiagonalize_500x100", move |bh| {
-        bh.iter(|| test::black_box(Bidiagonal::new(m.clone())))
+        bh.iter(|| std::hint::black_box(Bidiagonal::new(m.clone())))
     });
 }
 
 fn bidiagonalize_500x500(bh: &mut criterion::Criterion) {
     let m = DMatrix::<f64>::new_random(500, 500);
     bh.bench_function("bidiagonalize_500x500", move |bh| {
-        bh.iter(|| test::black_box(Bidiagonal::new(m.clone())))
+        bh.iter(|| std::hint::black_box(Bidiagonal::new(m.clone())))
     });
 }
 

benches/linalg/cholesky.rs

@@ -5,7 +5,7 @@ fn cholesky_100x100(bh: &mut criterion::Criterion) {
     let m = &m * m.transpose();
 
     bh.bench_function("cholesky_100x100", move |bh| {
-        bh.iter(|| test::black_box(Cholesky::new(m.clone())))
+        bh.iter(|| std::hint::black_box(Cholesky::new(m.clone())))
     });
 }
 
@@ -14,7 +14,7 @@ fn cholesky_500x500(bh: &mut criterion::Criterion) {
     let m = &m * m.transpose();
 
     bh.bench_function("cholesky_500x500", move |bh| {
-        bh.iter(|| test::black_box(Cholesky::new(m.clone())))
+        bh.iter(|| std::hint::black_box(Cholesky::new(m.clone())))
     });
 }
 

benches/linalg/full_piv_lu.rs

@@ -4,21 +4,21 @@ use na::{DMatrix, DVector, FullPivLU};
 fn full_piv_lu_decompose_10x10(bh: &mut criterion::Criterion) {
     let m = DMatrix::<f64>::new_random(10, 10);
     bh.bench_function("full_piv_lu_decompose_10x10", move |bh| {
-        bh.iter(|| test::black_box(FullPivLU::new(m.clone())))
+        bh.iter(|| std::hint::black_box(FullPivLU::new(m.clone())))
     });
 }
 
 fn full_piv_lu_decompose_100x100(bh: &mut criterion::Criterion) {
     let m = DMatrix::<f64>::new_random(100, 100);
     bh.bench_function("full_piv_lu_decompose_100x100", move |bh| {
-        bh.iter(|| test::black_box(FullPivLU::new(m.clone())))
+        bh.iter(|| std::hint::black_box(FullPivLU::new(m.clone())))
     });
 }
 
 fn full_piv_lu_decompose_500x500(bh: &mut criterion::Criterion) {
     let m = DMatrix::<f64>::new_random(500, 500);
     bh.bench_function("full_piv_lu_decompose_500x500", move |bh| {
-        bh.iter(|| test::black_box(FullPivLU::new(m.clone())))
+        bh.iter(|| std::hint::black_box(FullPivLU::new(m.clone())))
     });
 }
 
@@ -63,7 +63,7 @@ fn full_piv_lu_inverse_10x10(bh: &mut criterion::Criterion) {
     let lu = FullPivLU::new(m.clone());
 
     bh.bench_function("full_piv_lu_inverse_10x10", move |bh| {
-        bh.iter(|| test::black_box(lu.try_inverse()))
+        bh.iter(|| std::hint::black_box(lu.try_inverse()))
     });
 }
 
@@ -72,7 +72,7 @@ fn full_piv_lu_inverse_100x100(bh: &mut criterion::Criterion) {
     let lu = FullPivLU::new(m.clone());
 
     bh.bench_function("full_piv_lu_inverse_100x100", move |bh| {
-        bh.iter(|| test::black_box(lu.try_inverse()))
+        bh.iter(|| std::hint::black_box(lu.try_inverse()))
     });
 }
 
@@ -81,7 +81,7 @@ fn full_piv_lu_inverse_500x500(bh: &mut criterion::Criterion) {
     let lu = FullPivLU::new(m.clone());
 
     bh.bench_function("full_piv_lu_inverse_500x500", move |bh| {
-        bh.iter(|| test::black_box(lu.try_inverse()))
+        bh.iter(|| std::hint::black_box(lu.try_inverse()))
     });
 }
 
@@ -90,7 +90,7 @@ fn full_piv_lu_determinant_10x10(bh: &mut criterion::Criterion) {
     let lu = FullPivLU::new(m.clone());
 
     bh.bench_function("full_piv_lu_determinant_10x10", move |bh| {
-        bh.iter(|| test::black_box(lu.determinant()))
+        bh.iter(|| std::hint::black_box(lu.determinant()))
     });
 }
 
@@ -99,7 +99,7 @@ fn full_piv_lu_determinant_100x100(bh: &mut criterion::Criterion) {
     let lu = FullPivLU::new(m.clone());
 
     bh.bench_function("full_piv_lu_determinant_100x100", move |bh| {
-        bh.iter(|| test::black_box(lu.determinant()))
+        bh.iter(|| std::hint::black_box(lu.determinant()))
     });
 }
 
@@ -108,7 +108,7 @@ fn full_piv_lu_determinant_500x500(bh: &mut criterion::Criterion) {
     let lu = FullPivLU::new(m.clone());
 
     bh.bench_function("full_piv_lu_determinant_500x500", move |bh| {
-        bh.iter(|| test::black_box(lu.determinant()))
+        bh.iter(|| std::hint::black_box(lu.determinant()))
     });
 }
 

benches/linalg/hessenberg.rs

@@ -7,28 +7,28 @@ mod macros;
 fn hessenberg_decompose_4x4(bh: &mut criterion::Criterion) {
     let m = Matrix4::<f64>::new_random();
     bh.bench_function("hessenberg_decompose_4x4", move |bh| {
-        bh.iter(|| test::black_box(Hessenberg::new(m.clone())))
+        bh.iter(|| std::hint::black_box(Hessenberg::new(m.clone())))
     });
 }
 
 fn hessenberg_decompose_100x100(bh: &mut criterion::Criterion) {
     let m = DMatrix::<f64>::new_random(100, 100);
     bh.bench_function("hessenberg_decompose_100x100", move |bh| {
-        bh.iter(|| test::black_box(Hessenberg::new(m.clone())))
+        bh.iter(|| std::hint::black_box(Hessenberg::new(m.clone())))
     });
 }
 
 fn hessenberg_decompose_200x200(bh: &mut criterion::Criterion) {
     let m = DMatrix::<f64>::new_random(200, 200);
     bh.bench_function("hessenberg_decompose_200x200", move |bh| {
-        bh.iter(|| test::black_box(Hessenberg::new(m.clone())))
+        bh.iter(|| std::hint::black_box(Hessenberg::new(m.clone())))
     });
 }
 
 fn hessenberg_decompose_500x500(bh: &mut criterion::Criterion) {
     let m = DMatrix::<f64>::new_random(500, 500);
     bh.bench_function("hessenberg_decompose_500x500", move |bh| {
-        bh.iter(|| test::black_box(Hessenberg::new(m.clone())))
+        bh.iter(|| std::hint::black_box(Hessenberg::new(m.clone())))
     });
 }
 

benches/linalg/lu.rs

@@ -4,21 +4,21 @@ use na::{DMatrix, DVector, LU};
 fn lu_decompose_10x10(bh: &mut criterion::Criterion) {
     let m = DMatrix::<f64>::new_random(10, 10);
     bh.bench_function("lu_decompose_10x10", move |bh| {
-        bh.iter(|| test::black_box(LU::new(m.clone())))
+        bh.iter(|| std::hint::black_box(LU::new(m.clone())))
     });
 }
 
 fn lu_decompose_100x100(bh: &mut criterion::Criterion) {
     let m = DMatrix::<f64>::new_random(100, 100);
     bh.bench_function("lu_decompose_100x100", move |bh| {
-        bh.iter(|| test::black_box(LU::new(m.clone())))
+        bh.iter(|| std::hint::black_box(LU::new(m.clone())))
     });
 }
 
 fn lu_decompose_500x500(bh: &mut criterion::Criterion) {
     let m = DMatrix::<f64>::new_random(500, 500);
     bh.bench_function("lu_decompose_500x500", move |bh| {
-        bh.iter(|| test::black_box(LU::new(m.clone())))
+        bh.iter(|| std::hint::black_box(LU::new(m.clone())))
     });
 }
 
@@ -63,7 +63,7 @@ fn lu_inverse_10x10(bh: &mut criterion::Criterion) {
     let lu = LU::new(m.clone());
 
     bh.bench_function("lu_inverse_10x10", move |bh| {
-        bh.iter(|| test::black_box(lu.try_inverse()))
+        bh.iter(|| std::hint::black_box(lu.try_inverse()))
     });
 }
 
@@ -72,7 +72,7 @@ fn lu_inverse_100x100(bh: &mut criterion::Criterion) {
     let lu = LU::new(m.clone());
 
     bh.bench_function("lu_inverse_100x100", move |bh| {
-        bh.iter(|| test::black_box(lu.try_inverse()))
+        bh.iter(|| std::hint::black_box(lu.try_inverse()))
     });
 }
 
@@ -81,7 +81,7 @@ fn lu_inverse_500x500(bh: &mut criterion::Criterion) {
     let lu = LU::new(m.clone());
 
     bh.bench_function("lu_inverse_500x500", move |bh| {
-        bh.iter(|| test::black_box(lu.try_inverse()))
+        bh.iter(|| std::hint::black_box(lu.try_inverse()))
     });
 }
 
@@ -90,7 +90,7 @@ fn lu_determinant_10x10(bh: &mut criterion::Criterion) {
     let lu = LU::new(m.clone());
 
     bh.bench_function("lu_determinant_10x10", move |bh| {
-        bh.iter(|| test::black_box(lu.determinant()))
+        bh.iter(|| std::hint::black_box(lu.determinant()))
     });
 }
 
@@ -99,7 +99,7 @@ fn lu_determinant_100x100(bh: &mut criterion::Criterion) {
     let lu = LU::new(m.clone());
 
     bh.bench_function("lu_determinant_100x100", move |bh| {
-        bh.iter(|| test::black_box(lu.determinant()))
+        bh.iter(|| std::hint::black_box(lu.determinant()))
     });
 }
 
@@ -107,7 +107,9 @@ fn lu_determinant_500x500(bh: &mut criterion::Criterion) {
     let m = DMatrix::<f64>::new_random(500, 500);
     let lu = LU::new(m.clone());
 
-    bh.bench_function("", move |bh| bh.iter(|| test::black_box(lu.determinant())));
+    bh.bench_function("", move |bh| {
+        bh.iter(|| std::hint::black_box(lu.determinant()))
+    });
 }
 
 criterion_group!(

benches/linalg/qr.rs

@@ -7,35 +7,35 @@ mod macros;
 fn qr_decompose_100x100(bh: &mut criterion::Criterion) {
     let m = DMatrix::<f64>::new_random(100, 100);
     bh.bench_function("qr_decompose_100x100", move |bh| {
-        bh.iter(|| test::black_box(QR::new(m.clone())))
+        bh.iter(|| std::hint::black_box(QR::new(m.clone())))
     });
 }
 
 fn qr_decompose_100x500(bh: &mut criterion::Criterion) {
     let m = DMatrix::<f64>::new_random(100, 500);
     bh.bench_function("qr_decompose_100x500", move |bh| {
-        bh.iter(|| test::black_box(QR::new(m.clone())))
+        bh.iter(|| std::hint::black_box(QR::new(m.clone())))
     });
 }
 
 fn qr_decompose_4x4(bh: &mut criterion::Criterion) {
     let m = Matrix4::<f64>::new_random();
     bh.bench_function("qr_decompose_4x4", move |bh| {
-        bh.iter(|| test::black_box(QR::new(m.clone())))
+        bh.iter(|| std::hint::black_box(QR::new(m.clone())))
     });
 }
 
 fn qr_decompose_500x100(bh: &mut criterion::Criterion) {
     let m = DMatrix::<f64>::new_random(500, 100);
     bh.bench_function("qr_decompose_500x100", move |bh| {
-        bh.iter(|| test::black_box(QR::new(m.clone())))
+        bh.iter(|| std::hint::black_box(QR::new(m.clone())))
     });
 }
 
 fn qr_decompose_500x500(bh: &mut criterion::Criterion) {
     let m = DMatrix::<f64>::new_random(500, 500);
     bh.bench_function("qr_decompose_500x500", move |bh| {
-        bh.iter(|| test::black_box(QR::new(m.clone())))
+        bh.iter(|| std::hint::black_box(QR::new(m.clone())))
     });
 }
 
@@ -121,7 +121,7 @@ fn qr_inverse_10x10(bh: &mut criterion::Criterion) {
     let qr = QR::new(m.clone());
 
     bh.bench_function("qr_inverse_10x10", move |bh| {
-        bh.iter(|| test::black_box(qr.try_inverse()))
+        bh.iter(|| std::hint::black_box(qr.try_inverse()))
     });
 }
 
@@ -130,7 +130,7 @@ fn qr_inverse_100x100(bh: &mut criterion::Criterion) {
     let qr = QR::new(m.clone());
 
     bh.bench_function("qr_inverse_100x100", move |bh| {
-        bh.iter(|| test::black_box(qr.try_inverse()))
+        bh.iter(|| std::hint::black_box(qr.try_inverse()))
     });
 }
 
@@ -139,7 +139,7 @@ fn qr_inverse_500x500(bh: &mut criterion::Criterion) {
     let qr = QR::new(m.clone());
 
     bh.bench_function("qr_inverse_500x500", move |bh| {
-        bh.iter(|| test::black_box(qr.try_inverse()))
+        bh.iter(|| std::hint::black_box(qr.try_inverse()))
     });
 }
 

benches/linalg/schur.rs

@@ -3,56 +3,56 @@ use na::{Matrix4, Schur};
 fn schur_decompose_4x4(bh: &mut criterion::Criterion) {
     let m = Matrix4::<f64>::new_random();
     bh.bench_function("schur_decompose_4x4", move |bh| {
-        bh.iter(|| test::black_box(Schur::new(m.clone())))
+        bh.iter(|| std::hint::black_box(Schur::new(m.clone())))
     });
 }
 
 fn schur_decompose_10x10(bh: &mut criterion::Criterion) {
     let m = crate::reproductible_dmatrix(10, 10);
     bh.bench_function("schur_decompose_10x10", move |bh| {
-        bh.iter(|| test::black_box(Schur::new(m.clone())))
+        bh.iter(|| std::hint::black_box(Schur::new(m.clone())))
     });
 }
 
 fn schur_decompose_100x100(bh: &mut criterion::Criterion) {
     let m = crate::reproductible_dmatrix(100, 100);
     bh.bench_function("schur_decompose_100x100", move |bh| {
-        bh.iter(|| test::black_box(Schur::new(m.clone())))
+        bh.iter(|| std::hint::black_box(Schur::new(m.clone())))
     });
 }
 
 fn schur_decompose_200x200(bh: &mut criterion::Criterion) {
     let m = crate::reproductible_dmatrix(200, 200);
     bh.bench_function("schur_decompose_200x200", move |bh| {
-        bh.iter(|| test::black_box(Schur::new(m.clone())))
+        bh.iter(|| std::hint::black_box(Schur::new(m.clone())))
     });
 }
 
 fn eigenvalues_4x4(bh: &mut criterion::Criterion) {
     let m = Matrix4::<f64>::new_random();
     bh.bench_function("eigenvalues_4x4", move |bh| {
-        bh.iter(|| test::black_box(m.complex_eigenvalues()))
+        bh.iter(|| std::hint::black_box(m.complex_eigenvalues()))
     });
 }
 
 fn eigenvalues_10x10(bh: &mut criterion::Criterion) {
     let m = crate::reproductible_dmatrix(10, 10);
     bh.bench_function("eigenvalues_10x10", move |bh| {
-        bh.iter(|| test::black_box(m.complex_eigenvalues()))
+        bh.iter(|| std::hint::black_box(m.complex_eigenvalues()))
     });
 }
 
 fn eigenvalues_100x100(bh: &mut criterion::Criterion) {
     let m = crate::reproductible_dmatrix(100, 100);
     bh.bench_function("eigenvalues_100x100", move |bh| {
-        bh.iter(|| test::black_box(m.complex_eigenvalues()))
+        bh.iter(|| std::hint::black_box(m.complex_eigenvalues()))
     });
 }
 
 fn eigenvalues_200x200(bh: &mut criterion::Criterion) {
     let m = crate::reproductible_dmatrix(200, 200);
     bh.bench_function("eigenvalues_200x200", move |bh| {
-        bh.iter(|| test::black_box(m.complex_eigenvalues()))
+        bh.iter(|| std::hint::black_box(m.complex_eigenvalues()))
     });
 }
 

benches/linalg/svd.rs

@@ -3,112 +3,112 @@ use na::{Matrix4, SVD};
 fn svd_decompose_4x4(bh: &mut criterion::Criterion) {
     let m = Matrix4::<f64>::new_random();
     bh.bench_function("svd_decompose_4x4", move |bh| {
-        bh.iter(|| test::black_box(SVD::new(m.clone(), true, true)))
+        bh.iter(|| std::hint::black_box(SVD::new(m.clone(), true, true)))
     });
 }
 
 fn svd_decompose_10x10(bh: &mut criterion::Criterion) {
     let m = crate::reproductible_dmatrix(10, 10);
     bh.bench_function("svd_decompose_10x10", move |bh| {
-        bh.iter(|| test::black_box(SVD::new(m.clone(), true, true)))
+        bh.iter(|| std::hint::black_box(SVD::new(m.clone(), true, true)))
     });
 }
 
 fn svd_decompose_100x100(bh: &mut criterion::Criterion) {
     let m = crate::reproductible_dmatrix(100, 100);
     bh.bench_function("svd_decompose_100x100", move |bh| {
-        bh.iter(|| test::black_box(SVD::new(m.clone(), true, true)))
+        bh.iter(|| std::hint::black_box(SVD::new(m.clone(), true, true)))
     });
 }
 
 fn svd_decompose_200x200(bh: &mut criterion::Criterion) {
     let m = crate::reproductible_dmatrix(200, 200);
     bh.bench_function("svd_decompose_200x200", move |bh| {
-        bh.iter(|| test::black_box(SVD::new(m.clone(), true, true)))
+        bh.iter(|| std::hint::black_box(SVD::new(m.clone(), true, true)))
     });
 }
 
 fn rank_4x4(bh: &mut criterion::Criterion) {
     let m = Matrix4::<f64>::new_random();
     bh.bench_function("rank_4x4", move |bh| {
-        bh.iter(|| test::black_box(m.rank(1.0e-10)))
+        bh.iter(|| std::hint::black_box(m.rank(1.0e-10)))
     });
 }
 
 fn rank_10x10(bh: &mut criterion::Criterion) {
     let m = crate::reproductible_dmatrix(10, 10);
     bh.bench_function("rank_10x10", move |bh| {
-        bh.iter(|| test::black_box(m.rank(1.0e-10)))
+        bh.iter(|| std::hint::black_box(m.rank(1.0e-10)))
     });
 }
 
 fn rank_100x100(bh: &mut criterion::Criterion) {
     let m = crate::reproductible_dmatrix(100, 100);
     bh.bench_function("rank_100x100", move |bh| {
-        bh.iter(|| test::black_box(m.rank(1.0e-10)))
+        bh.iter(|| std::hint::black_box(m.rank(1.0e-10)))
     });
 }
 
 fn rank_200x200(bh: &mut criterion::Criterion) {
     let m = crate::reproductible_dmatrix(200, 200);
     bh.bench_function("rank_200x200", move |bh| {
-        bh.iter(|| test::black_box(m.rank(1.0e-10)))
+        bh.iter(|| std::hint::black_box(m.rank(1.0e-10)))
     });
 }
 
 fn singular_values_4x4(bh: &mut criterion::Criterion) {
     let m = Matrix4::<f64>::new_random();
     bh.bench_function("singular_values_4x4", move |bh| {
-        bh.iter(|| test::black_box(m.singular_values()))
+        bh.iter(|| std::hint::black_box(m.singular_values()))
     });
 }
 
 fn singular_values_10x10(bh: &mut criterion::Criterion) {
     let m = crate::reproductible_dmatrix(10, 10);
     bh.bench_function("singular_values_10x10", move |bh| {
-        bh.iter(|| test::black_box(m.singular_values()))
+        bh.iter(|| std::hint::black_box(m.singular_values()))
     });
 }
 
 fn singular_values_100x100(bh: &mut criterion::Criterion) {
     let m = crate::reproductible_dmatrix(100, 100);
     bh.bench_function("singular_values_100x100", move |bh| {
-        bh.iter(|| test::black_box(m.singular_values()))
+        bh.iter(|| std::hint::black_box(m.singular_values()))
     });
 }
 
 fn singular_values_200x200(bh: &mut criterion::Criterion) {
     let m = crate::reproductible_dmatrix(200, 200);
     bh.bench_function("singular_values_200x200", move |bh| {
-        bh.iter(|| test::black_box(m.singular_values()))
+        bh.iter(|| std::hint::black_box(m.singular_values()))
     });
 }
 
 fn pseudo_inverse_4x4(bh: &mut criterion::Criterion) {
     let m = Matrix4::<f64>::new_random();
     bh.bench_function("pseudo_inverse_4x4", move |bh| {
-        bh.iter(|| test::black_box(m.clone().pseudo_inverse(1.0e-10)))
+        bh.iter(|| std::hint::black_box(m.clone().pseudo_inverse(1.0e-10)))
     });
 }
 
 fn pseudo_inverse_10x10(bh: &mut criterion::Criterion) {
     let m = crate::reproductible_dmatrix(10, 10);
     bh.bench_function("pseudo_inverse_10x10", move |bh| {
-        bh.iter(|| test::black_box(m.clone().pseudo_inverse(1.0e-10)))
+        bh.iter(|| std::hint::black_box(m.clone().pseudo_inverse(1.0e-10)))
     });
 }
 
 fn pseudo_inverse_100x100(bh: &mut criterion::Criterion) {
     let m = crate::reproductible_dmatrix(100, 100);
     bh.bench_function("pseudo_inverse_100x100", move |bh| {
-        bh.iter(|| test::black_box(m.clone().pseudo_inverse(1.0e-10)))
+        bh.iter(|| std::hint::black_box(m.clone().pseudo_inverse(1.0e-10)))
     });
 }
 
 fn pseudo_inverse_200x200(bh: &mut criterion::Criterion) {
     let m = crate::reproductible_dmatrix(200, 200);
     bh.bench_function("pseudo_inverse_200x200", move |bh| {
-        bh.iter(|| test::black_box(m.clone().pseudo_inverse(1.0e-10)))
+        bh.iter(|| std::hint::black_box(m.clone().pseudo_inverse(1.0e-10)))
     });
 }
 

benches/linalg/symmetric_eigen.rs

@@ -3,28 +3,28 @@ use na::{Matrix4, SymmetricEigen};
 fn symmetric_eigen_decompose_4x4(bh: &mut criterion::Criterion) {
     let m = Matrix4::<f64>::new_random();
     bh.bench_function("symmetric_eigen_decompose_4x4", move |bh| {
-        bh.iter(|| test::black_box(SymmetricEigen::new(m.clone())))
+        bh.iter(|| std::hint::black_box(SymmetricEigen::new(m.clone())))
     });
 }
 
 fn symmetric_eigen_decompose_10x10(bh: &mut criterion::Criterion) {
     let m = crate::reproductible_dmatrix(10, 10);
     bh.bench_function("symmetric_eigen_decompose_10x10", move |bh| {
-        bh.iter(|| test::black_box(SymmetricEigen::new(m.clone())))
+        bh.iter(|| std::hint::black_box(SymmetricEigen::new(m.clone())))
     });
 }
 
 fn symmetric_eigen_decompose_100x100(bh: &mut criterion::Criterion) {
     let m = crate::reproductible_dmatrix(100, 100);
     bh.bench_function("symmetric_eigen_decompose_100x100", move |bh| {
-        bh.iter(|| test::black_box(SymmetricEigen::new(m.clone())))
+        bh.iter(|| std::hint::black_box(SymmetricEigen::new(m.clone())))
     });
 }
 
 fn symmetric_eigen_decompose_200x200(bh: &mut criterion::Criterion) {
     let m = crate::reproductible_dmatrix(200, 200);
     bh.bench_function("symmetric_eigen_decompose_200x200", move |bh| {
-        bh.iter(|| test::black_box(SymmetricEigen::new(m.clone())))
+        bh.iter(|| std::hint::black_box(SymmetricEigen::new(m.clone())))
     });
 }
 

examples/cargo/Cargo.toml

@@ -4,7 +4,7 @@ version = "0.0.0"
 authors = [ "You" ]
 
 [dependencies]
-nalgebra = "0.21.0"
+nalgebra = "0.26.0"
 
 [[bin]]
 name = "example"

examples/dimensional_genericity.rs

@@ -2,26 +2,26 @@ extern crate nalgebra as na;
 
 use na::allocator::Allocator;
 use na::dimension::Dim;
-use na::{DefaultAllocator, RealField, Unit, Vector2, Vector3, VectorN};
+use na::{DefaultAllocator, OVector, RealField, Unit, Vector2, Vector3};
 
 /// Reflects a vector wrt. the hyperplane with normal `plane_normal`.
-fn reflect_wrt_hyperplane_with_dimensional_genericity<N: RealField, D: Dim>(
+fn reflect_wrt_hyperplane_with_dimensional_genericity<T: RealField, D: Dim>(
-    plane_normal: &Unit<VectorN<N, D>>,
+    plane_normal: &Unit<OVector<T, D>>,
-    vector: &VectorN<N, D>,
+    vector: &OVector<T, D>,
-) -> VectorN<N, D>
+) -> OVector<T, D>
 where
-    N: RealField,
+    T: RealField,
     D: Dim,
-    DefaultAllocator: Allocator<N, D>,
+    DefaultAllocator: Allocator<T, D>,
 {
     let n = plane_normal.as_ref(); // Get the underlying V.
     vector - n * (n.dot(vector) * na::convert(2.0))
 }
 
 /// Reflects a 2D vector wrt. the 2D line with normal `plane_normal`.
-fn reflect_wrt_hyperplane2<N>(plane_normal: &Unit<Vector2<N>>, vector: &Vector2<N>) -> Vector2<N>
+fn reflect_wrt_hyperplane2<T>(plane_normal: &Unit<Vector2<T>>, vector: &Vector2<T>) -> Vector2<T>
 where
-    N: RealField,
+    T: RealField,
 {
     let n = plane_normal.as_ref(); // Get the underlying Vector2
     vector - n * (n.dot(vector) * na::convert(2.0))
@@ -29,9 +29,9 @@ where
 
 /// Reflects a 3D vector wrt. the 3D plane with normal `plane_normal`.
 /// /!\ This is an exact replicate of `reflect_wrt_hyperplane2, but for 3D.
-fn reflect_wrt_hyperplane3<N>(plane_normal: &Unit<Vector3<N>>, vector: &Vector3<N>) -> Vector3<N>
+fn reflect_wrt_hyperplane3<T>(plane_normal: &Unit<Vector3<T>>, vector: &Vector3<T>) -> Vector3<T>
 where
-    N: RealField,
+    T: RealField,
 {
     let n = plane_normal.as_ref(); // Get the underlying Vector3
     vector - n * (n.dot(vector) * na::convert(2.0))

examples/matrixcompare.rs

@@ -2,20 +2,20 @@ extern crate nalgebra as na;
 
 use matrixcompare::comparators::{AbsoluteElementwiseComparator, ExactElementwiseComparator};
 use matrixcompare::compare_matrices;
-use na::{MatrixMN, U3, U4};
+use na::{OMatrix, U3, U4};
 
 fn compare_integers_fail() {
     println!("Comparing two integer matrices.");
 
     #[rustfmt::skip]
-    let a = MatrixMN::<_, U3, U4>::from_row_slice(&[
+    let a = OMatrix::<_, U3, U4>::from_row_slice(&[
         0, 1,  2,  3,
         4, 5,  6,  7,
         8, 9, -2, 11
     ]);
 
     #[rustfmt::skip]
-    let b = MatrixMN::<_, U3, U4>::from_row_slice(&[
+    let b = OMatrix::<_, U3, U4>::from_row_slice(&[
         0, 1,  2,  3,
         4, 5,  6,  7,
         8, 9, 10, 11
@@ -29,14 +29,14 @@ fn compare_integers_fail() {
 fn compare_different_size() {
     println!("Comparing matrices of different size.");
     #[rustfmt::skip]
-    let a = MatrixMN::<_, U3, U3>::from_row_slice(&[
+    let a = OMatrix::<_, U3, U3>::from_row_slice(&[
         0, 1,  2,
         4, 5,  6,
         8, 9, 10,
     ]);
 
     #[rustfmt::skip]
-    let b = MatrixMN::<_, U3, U4>::from_row_slice(&[
+    let b = OMatrix::<_, U3, U4>::from_row_slice(&[
         0, 1,  2,  3,
         4, 5,  6,  7,
         8, 9, 10, 11
@@ -51,14 +51,14 @@ fn compare_f64_abs_tol_fail() {
     println!("Comparing two f64 matrices.");
 
     #[rustfmt::skip]
-    let a = MatrixMN::<f64, U3, U3>::from_row_slice(&[
+    let a = OMatrix::<f64, U3, U3>::from_row_slice(&[
         0.0, 1.0,  2.0 + 1e-10,
         4.0, 5.0,  6.0,
         8.0, 9.0, 10.0,
     ]);
 
     #[rustfmt::skip]
-    let b = MatrixMN::<_, U3, U3>::from_row_slice(&[
+    let b = OMatrix::<_, U3, U3>::from_row_slice(&[
         0.0, 1.0,  2.0,
         4.0, 5.0,  6.0,
         8.0, 9.0, 10.0

examples/reshaping.rs

@@ -2,7 +2,7 @@
 
 extern crate nalgebra as na;
 
-use na::{DMatrix, Dynamic, Matrix2x3, Matrix3x2, U2, U3};
+use na::{DMatrix, Dynamic, Matrix2x3, Matrix3x2, Const};
 
 fn main() {
     // Matrices can be reshaped in-place without moving or copying values.
@@ -16,7 +16,7 @@ fn main() {
         1.2, 2.3
     );
 
-    let m3 = m1.reshape_generic(U3, U2);
+    let m3 = m1.reshape_generic(Const::<3>, Const::<2>);
     assert_eq!(m3, m2);
 
     // Note that, for statically sized matrices, invalid reshapes will not compile:

examples/scalar_genericity.rs

@@ -3,15 +3,15 @@ extern crate nalgebra as na;
 use na::{Scalar, Vector3};
 use simba::scalar::RealField;
 
-fn print_vector<N: Scalar>(m: &Vector3<N>) {
+fn print_vector<T: Scalar>(m: &Vector3<T>) {
     println!("{:?}", m)
 }
 
-fn print_norm<N: RealField>(v: &Vector3<N>) {
+fn print_norm<T: RealField>(v: &Vector3<T>) {
     // NOTE: alternatively, nalgebra already defines `v.norm()`.
     let norm = v.dot(v).sqrt();
 
-    // The RealField bound implies that N is Display so we can
+    // The RealField bound implies that T is Display so we can
     // use "{}" instead of "{:?}" for the format string.
     println!("{}", norm)
 }

nalgebra-glm/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "nalgebra-glm"
-version = "0.11.0"
+version = "0.12.0"
 authors = ["sebcrozet <developer@crozet.re>"]
 
 description = "A computer-graphics oriented API for nalgebra, inspired by the C++ GLM library."
@@ -17,14 +17,14 @@ edition = "2018"
 maintenance = { status = "actively-developed" }
 
 [features]
-default         = [ "std" ]
+default               = [ "std" ]
-std             = [ "nalgebra/std", "simba/std" ]
+std                   = [ "nalgebra/std", "simba/std" ]
-arbitrary       = [ "nalgebra/arbitrary" ]
+arbitrary             = [ "nalgebra/arbitrary" ]
-serde-serialize = [ "nalgebra/serde-serialize" ]
+serde-serialize       = [ "nalgebra/serde-serialize-no-std" ]
 abomonation-serialize = [ "nalgebra/abomonation-serialize" ]
 
 [dependencies]
 num-traits = { version = "0.2", default-features = false }
 approx = { version = "0.4", default-features = false }
 simba = { version = "0.4", default-features = false }
-nalgebra = { path =  "..", version = "0.25", default-features = false }
+nalgebra = { path =  "..", version = "0.26", default-features = false }

nalgebra-glm/src/aliases.rs

@@ -1,9 +1,9 @@
 use na::{
     Matrix2, Matrix2x3, Matrix2x4, Matrix3, Matrix3x2, Matrix3x4, Matrix4, Matrix4x2, Matrix4x3,
-    MatrixMN, Quaternion, VectorN, U1, U2, U3, U4,
+    Quaternion, SMatrix, SVector,
 };
 
-/// A matrix with components of type `N`. It has `R` rows, and `C` columns.
+/// A matrix with components of type `T`. It has `R` rows, and `C` columns.
 ///
 /// In this library, vectors, represented as [`TVec`](type.TVec.html) and
 /// friends, are also matrices. Operations that operate on a matrix will
@@ -24,8 +24,8 @@ use na::{
 /// * [`TMat4x3`](type.TMat4x3.html)
 /// * [`TMat4x4`](type.TMat4x4.html)
 /// * [`TVec`](type.TVec.html)
-pub type TMat<N, R, C> = MatrixMN<N, R, C>;
+pub type TMat<T, const R: usize, const C: usize> = SMatrix<T, R, C>;
-/// A column vector with components of type `N`. It has `D` rows (and one column).
+/// A column vector with components of type `T`. It has `D` rows (and one column).
 ///
 /// In this library, vectors are represented as a single column matrix, so
 /// operations on [`TMat`](type.TMat.html) are also valid on vectors.
@@ -37,11 +37,11 @@ pub type TMat<N, R, C> = MatrixMN<N, R, C>;
 /// * [`TVec2`](type.TVec2.html)
 /// * [`TVec3`](type.TVec3.html)
 /// * [`TVec4`](type.TVec4.html)
-pub type TVec<N, R> = VectorN<N, R>;
+pub type TVec<T, const R: usize> = SVector<T, R>;
-/// A quaternion with components of type `N`.
+/// A quaternion with components of type `T`.
-pub type Qua<N> = Quaternion<N>;
+pub type Qua<T> = Quaternion<T>;
 
-/// A 1D vector with components of type `N`.
+/// A 1D vector with components of type `T`.
 ///
 /// # See also:
 ///
@@ -69,8 +69,8 @@ pub type Qua<N> = Quaternion<N>;
 /// * [`U64Vec1`](type.U64Vec1.html)
 /// * [`U8Vec1`](type.U8Vec1.html)
 /// * [`Vec1`](type.Vec1.html)
-pub type TVec1<N> = TVec<N, U1>;
+pub type TVec1<T> = TVec<T, 1>;
-/// A 2D vector with components of type `N`.
+/// A 2D vector with components of type `T`.
 ///
 /// # See also:
 ///
@@ -99,8 +99,8 @@ pub type TVec1<N> = TVec<N, U1>;
 /// * [`U64Vec2`](type.U64Vec2.html)
 /// * [`U8Vec2`](type.U8Vec2.html)
 /// * [`Vec2`](type.Vec2.html)
-pub type TVec2<N> = TVec<N, U2>;
+pub type TVec2<T> = TVec<T, 2>;
-/// A 3D vector with components of type `N`.
+/// A 3D vector with components of type `T`.
 ///
 /// # See also:
 ///
@@ -129,8 +129,8 @@ pub type TVec2<N> = TVec<N, U2>;
 /// * [`U64Vec3`](type.U64Vec3.html)
 /// * [`U8Vec3`](type.U8Vec3.html)
 /// * [`Vec3`](type.Vec3.html)
-pub type TVec3<N> = TVec<N, U3>;
+pub type TVec3<T> = TVec<T, 3>;
-/// A 4D vector with components of type `N`.
+/// A 4D vector with components of type `T`.
 ///
 /// # See also:
 ///
@@ -158,7 +158,7 @@ pub type TVec3<N> = TVec<N, U3>;
 /// * [`U64Vec4`](type.U64Vec4.html)
 /// * [`U8Vec4`](type.U8Vec4.html)
 /// * [`Vec4`](type.Vec4.html)
-pub type TVec4<N> = TVec<N, U4>;
+pub type TVec4<T> = TVec<T, 4>;
 /// A 1D vector with boolean components.
 pub type BVec1 = TVec1<bool>;
 /// A 2D vector with boolean components.
@@ -268,31 +268,31 @@ pub type I8Vec3 = TVec3<i8>;
 /// A 4D vector with `i8` components.
 pub type I8Vec4 = TVec4<i8>;
 
-/// A 2x2 matrix with components of type `N`.
+/// A 2x2 matrix with components of type `T`.
-pub type TMat2<N> = Matrix2<N>;
+pub type TMat2<T> = Matrix2<T>;
-/// A 2x2 matrix with components of type `N`.
+/// A 2x2 matrix with components of type `T`.
-pub type TMat2x2<N> = Matrix2<N>;
+pub type TMat2x2<T> = Matrix2<T>;
-/// A 2x3 matrix with components of type `N`.
+/// A 2x3 matrix with components of type `T`.
-pub type TMat2x3<N> = Matrix2x3<N>;
+pub type TMat2x3<T> = Matrix2x3<T>;
-/// A 2x4 matrix with components of type `N`.
+/// A 2x4 matrix with components of type `T`.
-pub type TMat2x4<N> = Matrix2x4<N>;
+pub type TMat2x4<T> = Matrix2x4<T>;
-/// A 3x3 matrix with components of type `N`.
+/// A 3x3 matrix with components of type `T`.
-pub type TMat3<N> = Matrix3<N>;
+pub type TMat3<T> = Matrix3<T>;
-/// A 3x2 matrix with components of type `N`.
+/// A 3x2 matrix with components of type `T`.
-pub type TMat3x2<N> = Matrix3x2<N>;
+pub type TMat3x2<T> = Matrix3x2<T>;
-/// A 3x3 matrix with components of type `N`.
+/// A 3x3 matrix with components of type `T`.
-pub type TMat3x3<N> = Matrix3<N>;
+pub type TMat3x3<T> = Matrix3<T>;
-/// A 3x4 matrix with components of type `N`.
+/// A 3x4 matrix with components of type `T`.
-pub type TMat3x4<N> = Matrix3x4<N>;
+pub type TMat3x4<T> = Matrix3x4<T>;
-/// A 4x4 matrix with components of type `N`.
+/// A 4x4 matrix with components of type `T`.
-pub type TMat4<N> = Matrix4<N>;
+pub type TMat4<T> = Matrix4<T>;
-/// A 4x2 matrix with components of type `N`.
+/// A 4x2 matrix with components of type `T`.
-pub type TMat4x2<N> = Matrix4x2<N>;
+pub type TMat4x2<T> = Matrix4x2<T>;
-/// A 4x3 matrix with components of type `N`.
+/// A 4x3 matrix with components of type `T`.
-pub type TMat4x3<N> = Matrix4x3<N>;
+pub type TMat4x3<T> = Matrix4x3<T>;
-/// A 4x4 matrix with components of type `N`.
+/// A 4x4 matrix with components of type `T`.
-pub type TMat4x4<N> = Matrix4<N>;
+pub type TMat4x4<T> = Matrix4<T>;
-/// A 2x2 matrix with components of type `N`.
+/// A 2x2 matrix with components of type `T`.
 pub type DMat2 = Matrix2<f64>;
 /// A 2x2 matrix with `f64` components.
 pub type DMat2x2 = Matrix2<f64>;

nalgebra-glm/src/common.rs

@@ -1,9 +1,9 @@
 use core::mem;
-use na::{self, DefaultAllocator, RealField};
+use na::{self, RealField};
 use num::FromPrimitive;
 
 use crate::aliases::{TMat, TVec};
-use crate::traits::{Alloc, Dimension, Number};
+use crate::traits::Number;
 
 /// For each matrix or vector component `x` if `x >= 0`; otherwise, it returns `-x`.
 ///
@@ -21,10 +21,7 @@ use crate::traits::{Alloc, Dimension, Number};
 /// # See also:
 ///
 /// * [`sign`](fn.sign.html)
-pub fn abs<N: Number, R: Dimension, C: Dimension>(x: &TMat<N, R, C>) -> TMat<N, R, C>
+pub fn abs<T: Number, const R: usize, const C: usize>(x: &TMat<T, R, C>) -> TMat<T, R, C> {
-where
-    DefaultAllocator: Alloc<N, R, C>,
-{
     x.abs()
 }
 
@@ -45,10 +42,7 @@ where
 /// * [`fract`](fn.fract.html)
 /// * [`round`](fn.round.html)
 /// * [`trunc`](fn.trunc.html)
-pub fn ceil<N: RealField, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
+pub fn ceil<T: RealField, const D: usize>(x: &TVec<T, D>) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     x.map(|x| x.ceil())
 }
 
@@ -73,7 +67,7 @@ where
 ///
 /// * [`clamp`](fn.clamp.html)
 /// * [`clamp_vec`](fn.clamp_vec.html)
-pub fn clamp_scalar<N: Number>(x: N, min_val: N, max_val: N) -> N {
+pub fn clamp_scalar<T: Number>(x: T, min_val: T, max_val: T) -> T {
     na::clamp(x, min_val, max_val)
 }
 
@@ -97,10 +91,7 @@ pub fn clamp_scalar<N: Number>(x: N, min_val: N, max_val: N) -> N {
 ///
 /// * [`clamp_scalar`](fn.clamp_scalar.html)
 /// * [`clamp_vec`](fn.clamp_vec.html)
-pub fn clamp<N: Number, D: Dimension>(x: &TVec<N, D>, min_val: N, max_val: N) -> TVec<N, D>
+pub fn clamp<T: Number, const D: usize>(x: &TVec<T, D>, min_val: T, max_val: T) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     x.map(|x| na::clamp(x, min_val, max_val))
 }
 
@@ -131,14 +122,11 @@ where
 ///
 /// * [`clamp_scalar`](fn.clamp_scalar.html)
 /// * [`clamp`](fn.clamp.html)
-pub fn clamp_vec<N: Number, D: Dimension>(
+pub fn clamp_vec<T: Number, const D: usize>(
-    x: &TVec<N, D>,
+    x: &TVec<T, D>,
-    min_val: &TVec<N, D>,
+    min_val: &TVec<T, D>,
-    max_val: &TVec<N, D>,
+    max_val: &TVec<T, D>,
-) -> TVec<N, D>
+) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     x.zip_zip_map(min_val, max_val, |a, min, max| na::clamp(a, min, max))
 }
 
@@ -172,10 +160,7 @@ pub fn float_bits_to_int(v: f32) -> i32 {
 /// * [`int_bits_to_float_vec`](fn.int_bits_to_float_vec.html)
 /// * [`uint_bits_to_float`](fn.uint_bits_to_float.html)
 /// * [`uint_bits_to_float_scalar`](fn.uint_bits_to_float_scalar.html)
-pub fn float_bits_to_int_vec<D: Dimension>(v: &TVec<f32, D>) -> TVec<i32, D>
+pub fn float_bits_to_int_vec<const D: usize>(v: &TVec<f32, D>) -> TVec<i32, D> {
-where
-    DefaultAllocator: Alloc<f32, D>,
-{
     v.map(float_bits_to_int)
 }
 
@@ -209,10 +194,7 @@ pub fn float_bits_to_uint(v: f32) -> u32 {
 /// * [`int_bits_to_float_vec`](fn.int_bits_to_float_vec.html)
 /// * [`uint_bits_to_float`](fn.uint_bits_to_float.html)
 /// * [`uint_bits_to_float_scalar`](fn.uint_bits_to_float_scalar.html)
-pub fn float_bits_to_uint_vec<D: Dimension>(v: &TVec<f32, D>) -> TVec<u32, D>
+pub fn float_bits_to_uint_vec<const D: usize>(v: &TVec<f32, D>) -> TVec<u32, D> {
-where
-    DefaultAllocator: Alloc<f32, D>,
-{
     v.map(float_bits_to_uint)
 }
 
@@ -232,15 +214,12 @@ where
 /// * [`fract`](fn.fract.html)
 /// * [`round`](fn.round.html)
 /// * [`trunc`](fn.trunc.html)
-pub fn floor<N: RealField, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
+pub fn floor<T: RealField, const D: usize>(x: &TVec<T, D>) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     x.map(|x| x.floor())
 }
 
 //// TODO: should be implemented for TVec/TMat?
-//pub fn fma<N: Number>(a: N, b: N, c: N) -> N {
+//pub fn fma<T: Number>(a: T, b: T, c: T) -> T {
 //    // TODO: use an actual FMA
 //    a * b + c
 //}
@@ -261,16 +240,13 @@ where
 /// * [`floor`](fn.floor.html)
 /// * [`round`](fn.round.html)
 /// * [`trunc`](fn.trunc.html)
-pub fn fract<N: RealField, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
+pub fn fract<T: RealField, const D: usize>(x: &TVec<T, D>) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     x.map(|x| x.fract())
 }
 
 //// TODO: should be implemented for TVec/TMat?
 ///// Returns the (significant, exponent) of this float number.
-//pub fn frexp<N: RealField>(x: N, exp: N) -> (N, N) {
+//pub fn frexp<T: RealField>(x: T, exp: T) -> (T, T) {
 //    // TODO: is there a better approach?
 //    let e = x.log2().ceil();
 //    (x * (-e).exp2(), e)
@@ -306,27 +282,22 @@ pub fn int_bits_to_float(v: i32) -> f32 {
 /// * [`int_bits_to_float`](fn.int_bits_to_float.html)
 /// * [`uint_bits_to_float`](fn.uint_bits_to_float.html)
 /// * [`uint_bits_to_float_scalar`](fn.uint_bits_to_float_scalar.html)
-pub fn int_bits_to_float_vec<D: Dimension>(v: &TVec<i32, D>) -> TVec<f32, D>
+pub fn int_bits_to_float_vec<const D: usize>(v: &TVec<i32, D>) -> TVec<f32, D> {
-where
-    DefaultAllocator: Alloc<f32, D>,
-{
     v.map(int_bits_to_float)
 }
 
-//pub fn isinf<N: Scalar, D: Dimension>(x: &TVec<N, D>) -> TVec<bool, D>
+//pub fn isinf<T: Scalar, const D: usize>(x: &TVec<T, D>) -> TVec<bool, D> {
-//    where DefaultAllocator: Alloc<N, D> {
 //        unimplemented!()
 //
 //}
 //
-//pub fn isnan<N: Scalar, D: Dimension>(x: &TVec<N, D>) -> TVec<bool, D>
+//pub fn isnan<T: Scalar, const D: usize>(x: &TVec<T, D>) -> TVec<bool, D> {
-//    where DefaultAllocator: Alloc<N, D> {
 //        unimplemented!()
 //
 //}
 
 ///// Returns the (significant, exponent) of this float number.
-//pub fn ldexp<N: RealField>(x: N, exp: N) -> N {
+//pub fn ldexp<T: RealField>(x: T, exp: T) -> T {
 //    // TODO: is there a better approach?
 //    x * (exp).exp2()
 //}
@@ -346,8 +317,8 @@ where
 ///
 /// * [`mix`](fn.mix.html)
 /// * [`mix_vec`](fn.mix_vec.html)
-pub fn mix_scalar<N: Number>(x: N, y: N, a: N) -> N {
+pub fn mix_scalar<T: Number>(x: T, y: T, a: T) -> T {
-    x * (N::one() - a) + y * a
+    x * (T::one() - a) + y * a
 }
 
 /// Returns `x * (1.0 - a) + y * a`, i.e., the linear blend of the vectors x and y using the scalar value a.
@@ -367,11 +338,8 @@ pub fn mix_scalar<N: Number>(x: N, y: N, a: N) -> N {
 ///
 /// * [`mix_scalar`](fn.mix_scalar.html)
 /// * [`mix_vec`](fn.mix_vec.html)
-pub fn mix<N: Number, D: Dimension>(x: &TVec<N, D>, y: &TVec<N, D>, a: N) -> TVec<N, D>
+pub fn mix<T: Number, const D: usize>(x: &TVec<T, D>, y: &TVec<T, D>, a: T) -> TVec<T, D> {
-where
+    x * (T::one() - a) + y * a
-    DefaultAllocator: Alloc<N, D>,
-{
-    x * (N::one() - a) + y * a
 }
 
 /// Returns `x * (1.0 - a) + y * a`, i.e., the component-wise linear blend of `x` and `y` using the components of
@@ -393,15 +361,12 @@ where
 ///
 /// * [`mix_scalar`](fn.mix_scalar.html)
 /// * [`mix`](fn.mix.html)
-pub fn mix_vec<N: Number, D: Dimension>(
+pub fn mix_vec<T: Number, const D: usize>(
-    x: &TVec<N, D>,
+    x: &TVec<T, D>,
-    y: &TVec<N, D>,
+    y: &TVec<T, D>,
-    a: &TVec<N, D>,
+    a: &TVec<T, D>,
-) -> TVec<N, D>
+) -> TVec<T, D> {
-where
+    x.component_mul(&(TVec::<T, D>::repeat(T::one()) - a)) + y.component_mul(&a)
-    DefaultAllocator: Alloc<N, D>,
-{
-    x.component_mul(&(TVec::<N, D>::repeat(N::one()) - a)) + y.component_mul(&a)
 }
 
 /// Returns `x * (1.0 - a) + y * a`, i.e., the linear blend of the scalars x and y using the scalar value a.
@@ -420,7 +385,7 @@ where
 ///
 /// * [`lerp`](fn.lerp.html)
 /// * [`lerp_vec`](fn.lerp_vec.html)
-pub fn lerp_scalar<N: Number>(x: N, y: N, a: N) -> N {
+pub fn lerp_scalar<T: Number>(x: T, y: T, a: T) -> T {
     mix_scalar(x, y, a)
 }
 
@@ -442,10 +407,7 @@ pub fn lerp_scalar<N: Number>(x: N, y: N, a: N) -> N {
 ///
 /// * [`lerp_scalar`](fn.lerp_scalar.html)
 /// * [`lerp_vec`](fn.lerp_vec.html)
-pub fn lerp<N: Number, D: Dimension>(x: &TVec<N, D>, y: &TVec<N, D>, a: N) -> TVec<N, D>
+pub fn lerp<T: Number, const D: usize>(x: &TVec<T, D>, y: &TVec<T, D>, a: T) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     mix(x, y, a)
 }
 
@@ -469,14 +431,11 @@ where
 ///
 /// * [`lerp_scalar`](fn.lerp_scalar.html)
 /// * [`lerp`](fn.lerp.html)
-pub fn lerp_vec<N: Number, D: Dimension>(
+pub fn lerp_vec<T: Number, const D: usize>(
-    x: &TVec<N, D>,
+    x: &TVec<T, D>,
-    y: &TVec<N, D>,
+    y: &TVec<T, D>,
-    a: &TVec<N, D>,
+    a: &TVec<T, D>,
-) -> TVec<N, D>
+) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     mix_vec(x, y, a)
 }
 
@@ -487,10 +446,7 @@ where
 /// # See also:
 ///
 /// * [`modf`](fn.modf.html)
-pub fn modf_vec<N: Number, D: Dimension>(x: &TVec<N, D>, y: &TVec<N, D>) -> TVec<N, D>
+pub fn modf_vec<T: Number, const D: usize>(x: &TVec<T, D>, y: &TVec<T, D>) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     x.zip_map(y, |x, y| x % y)
 }
 
@@ -499,7 +455,7 @@ where
 /// # See also:
 ///
 /// * [`modf_vec`](fn.modf_vec.html)
-pub fn modf<N: Number>(x: N, i: N) -> N {
+pub fn modf<T: Number>(x: T, i: T) -> T {
     x % i
 }
 
@@ -521,15 +477,11 @@ pub fn modf<N: Number>(x: N, i: N) -> N {
 /// * [`floor`](fn.floor.html)
 /// * [`fract`](fn.fract.html)
 /// * [`trunc`](fn.trunc.html)
-pub fn round<N: RealField, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
+pub fn round<T: RealField, const D: usize>(x: &TVec<T, D>) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     x.map(|x| x.round())
 }
 
-//pub fn roundEven<N: Scalar, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
+//pub fn roundEven<T: Scalar, const D: usize>(x: &TVec<T, D>) -> TVec<T, D> {
-//    where DefaultAllocator: Alloc<N, D> {
 //        unimplemented!()
 //}
 
@@ -547,46 +499,37 @@ where
 ///
 /// * [`abs`](fn.abs.html)
 ///
-pub fn sign<N: Number, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
+pub fn sign<T: Number, const D: usize>(x: &TVec<T, D>) -> TVec<T, D> {
-where
+    x.map(|x| if x.is_zero() { T::zero() } else { x.signum() })
-    DefaultAllocator: Alloc<N, D>,
-{
-    x.map(|x| if x.is_zero() { N::zero() } else { x.signum() })
 }
 
 /// Returns 0.0 if `x <= edge0` and `1.0 if x >= edge1` and performs smooth Hermite interpolation between 0 and 1 when `edge0 < x < edge1`.
 ///
 /// This is useful in cases where you would want a threshold function with a smooth transition.
 /// This is equivalent to: `let result = clamp((x - edge0) / (edge1 - edge0), 0, 1); return t * t * (3 - 2 * t);` Results are undefined if `edge0 >= edge1`.
-pub fn smoothstep<N: Number>(edge0: N, edge1: N, x: N) -> N {
+pub fn smoothstep<T: Number>(edge0: T, edge1: T, x: T) -> T {
-    let _3: N = FromPrimitive::from_f64(3.0).unwrap();
+    let _3: T = FromPrimitive::from_f64(3.0).unwrap();
-    let _2: N = FromPrimitive::from_f64(2.0).unwrap();
+    let _2: T = FromPrimitive::from_f64(2.0).unwrap();
-    let t = na::clamp((x - edge0) / (edge1 - edge0), N::zero(), N::one());
+    let t = na::clamp((x - edge0) / (edge1 - edge0), T::zero(), T::one());
     t * t * (_3 - t * _2)
 }
 
 /// Returns 0.0 if `x < edge`, otherwise it returns 1.0.
-pub fn step_scalar<N: Number>(edge: N, x: N) -> N {
+pub fn step_scalar<T: Number>(edge: T, x: T) -> T {
     if edge > x {
-        N::zero()
+        T::zero()
     } else {
-        N::one()
+        T::one()
     }
 }
 
 /// Returns 0.0 if `x[i] < edge`, otherwise it returns 1.0.
-pub fn step<N: Number, D: Dimension>(edge: N, x: &TVec<N, D>) -> TVec<N, D>
+pub fn step<T: Number, const D: usize>(edge: T, x: &TVec<T, D>) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     x.map(|x| step_scalar(edge, x))
 }
 
 /// Returns 0.0 if `x[i] < edge[i]`, otherwise it returns 1.0.
-pub fn step_vec<N: Number, D: Dimension>(edge: &TVec<N, D>, x: &TVec<N, D>) -> TVec<N, D>
+pub fn step_vec<T: Number, const D: usize>(edge: &TVec<T, D>, x: &TVec<T, D>) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     edge.zip_map(x, step_scalar)
 }
 
@@ -606,10 +549,7 @@ where
 /// * [`floor`](fn.floor.html)
 /// * [`fract`](fn.fract.html)
 /// * [`round`](fn.round.html)
-pub fn trunc<N: RealField, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
+pub fn trunc<T: RealField, const D: usize>(x: &TVec<T, D>) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     x.map(|x| x.trunc())
 }
 
@@ -643,9 +583,6 @@ pub fn uint_bits_to_float_scalar(v: u32) -> f32 {
 /// * [`int_bits_to_float`](fn.int_bits_to_float.html)
 /// * [`int_bits_to_float_vec`](fn.int_bits_to_float_vec.html)
 /// * [`uint_bits_to_float_scalar`](fn.uint_bits_to_float_scalar.html)
-pub fn uint_bits_to_float<D: Dimension>(v: &TVec<u32, D>) -> TVec<f32, D>
+pub fn uint_bits_to_float<const D: usize>(v: &TVec<u32, D>) -> TVec<f32, D> {
-where
-    DefaultAllocator: Alloc<f32, D>,
-{
     v.map(uint_bits_to_float_scalar)
 }

nalgebra-glm/src/constructors.rs

@@ -2,7 +2,7 @@ use crate::aliases::{
     Qua, TMat, TMat2, TMat2x3, TMat2x4, TMat3, TMat3x2, TMat3x4, TMat4, TMat4x2, TMat4x3, TVec1,
     TVec2, TVec3, TVec4,
 };
-use na::{RealField, Scalar, U2, U3, U4};
+use na::{RealField, Scalar};
 
 /// Creates a new 1D vector.
 ///
@@ -14,30 +14,30 @@ use na::{RealField, Scalar, U2, U3, U4};
 /// # use nalgebra_glm as glm;
 /// let v = glm::vec1(true);
 /// ```
-pub fn vec1<N: Scalar>(x: N) -> TVec1<N> {
+pub fn vec1<T: Scalar>(x: T) -> TVec1<T> {
     TVec1::new(x)
 }
 
 /// Creates a new 2D vector.
-pub fn vec2<N: Scalar>(x: N, y: N) -> TVec2<N> {
+pub fn vec2<T: Scalar>(x: T, y: T) -> TVec2<T> {
     TVec2::new(x, y)
 }
 
 /// Creates a new 3D vector.
-pub fn vec3<N: Scalar>(x: N, y: N, z: N) -> TVec3<N> {
+pub fn vec3<T: Scalar>(x: T, y: T, z: T) -> TVec3<T> {
     TVec3::new(x, y, z)
 }
 
 /// Creates a new 4D vector.
-pub fn vec4<N: Scalar>(x: N, y: N, z: N, w: N) -> TVec4<N> {
+pub fn vec4<T: Scalar>(x: T, y: T, z: T, w: T) -> TVec4<T> {
     TVec4::new(x, y, z, w)
 }
 
 /// Create a new 2x2 matrix.
 #[rustfmt::skip]
-pub fn mat2<N: Scalar>(m11: N, m12: N,
+pub fn mat2<T: Scalar>(m11: T, m12: T,
-                       m21: N, m22: N) -> TMat2<N> {
+                       m21: T, m22: T) -> TMat2<T> {
-    TMat::<N, U2, U2>::new(
+    TMat::<T, 2, 2>::new(
         m11, m12,
         m21, m22,
     )
@@ -45,9 +45,9 @@ pub fn mat2<N: Scalar>(m11: N, m12: N,
 
 /// Create a new 2x2 matrix.
 #[rustfmt::skip]
-pub fn mat2x2<N: Scalar>(m11: N, m12: N,
+pub fn mat2x2<T: Scalar>(m11: T, m12: T,
-                         m21: N, m22: N) -> TMat2<N> {
+                         m21: T, m22: T) -> TMat2<T> {
-    TMat::<N, U2, U2>::new(
+    TMat::<T, 2, 2>::new(
         m11, m12,
         m21, m22,
     )
@@ -55,9 +55,9 @@ pub fn mat2x2<N: Scalar>(m11: N, m12: N,
 
 /// Create a new 2x3 matrix.
 #[rustfmt::skip]
-pub fn mat2x3<N: Scalar>(m11: N, m12: N, m13: N,
+pub fn mat2x3<T: Scalar>(m11: T, m12: T, m13: T,
-                         m21: N, m22: N, m23: N) -> TMat2x3<N> {
+                         m21: T, m22: T, m23: T) -> TMat2x3<T> {
-    TMat::<N, U2, U3>::new(
+    TMat::<T, 2, 3>::new(
         m11, m12, m13,
         m21, m22, m23,
     )
@@ -65,9 +65,9 @@ pub fn mat2x3<N: Scalar>(m11: N, m12: N, m13: N,
 
 /// Create a new 2x4 matrix.
 #[rustfmt::skip]
-pub fn mat2x4<N: Scalar>(m11: N, m12: N, m13: N, m14: N,
+pub fn mat2x4<T: Scalar>(m11: T, m12: T, m13: T, m14: T,
-                         m21: N, m22: N, m23: N, m24: N) -> TMat2x4<N> {
+                         m21: T, m22: T, m23: T, m24: T) -> TMat2x4<T> {
-    TMat::<N, U2, U4>::new(
+    TMat::<T, 2, 4>::new(
         m11, m12, m13, m14,
         m21, m22, m23, m24,
     )
@@ -75,10 +75,10 @@ pub fn mat2x4<N: Scalar>(m11: N, m12: N, m13: N, m14: N,
 
 /// Create a new 3x3 matrix.
 #[rustfmt::skip]
-pub fn mat3<N: Scalar>(m11: N, m12: N, m13: N,
+pub fn mat3<T: Scalar>(m11: T, m12: T, m13: T,
-                       m21: N, m22: N, m23: N,
+                       m21: T, m22: T, m23: T,
-                       m31: N, m32: N, m33: N) -> TMat3<N> {
+                       m31: T, m32: T, m33: T) -> TMat3<T> {
-    TMat::<N, U3, U3>::new(
+    TMat::<T, 3, 3>::new(
         m11, m12, m13,
         m21, m22, m23,
         m31, m32, m33,
@@ -87,10 +87,10 @@ pub fn mat3<N: Scalar>(m11: N, m12: N, m13: N,
 
 /// Create a new 3x2 matrix.
 #[rustfmt::skip]
-pub fn mat3x2<N: Scalar>(m11: N, m12: N,
+pub fn mat3x2<T: Scalar>(m11: T, m12: T,
-                         m21: N, m22: N,
+                         m21: T, m22: T,
-                         m31: N, m32: N) -> TMat3x2<N> {
+                         m31: T, m32: T) -> TMat3x2<T> {
-    TMat::<N, U3, U2>::new(
+    TMat::<T, 3, 2>::new(
         m11, m12,
         m21, m22,
         m31, m32,
@@ -99,10 +99,10 @@ pub fn mat3x2<N: Scalar>(m11: N, m12: N,
 
 /// Create a new 3x3 matrix.
 #[rustfmt::skip]
-pub fn mat3x3<N: Scalar>(m11: N, m12: N, m13: N,
+pub fn mat3x3<T: Scalar>(m11: T, m12: T, m13: T,
-                         m21: N, m22: N, m23: N,
+                         m21: T, m22: T, m23: T,
-                         m31: N, m32: N, m33: N) -> TMat3<N> {
+                         m31: T, m32: T, m33: T) -> TMat3<T> {
-    TMat::<N, U3, U3>::new(
+    TMat::<T, 3, 3>::new(
         m11, m12, m13,
         m31, m32, m33,
         m21, m22, m23,
@@ -111,10 +111,10 @@ pub fn mat3x3<N: Scalar>(m11: N, m12: N, m13: N,
 
 /// Create a new 3x4 matrix.
 #[rustfmt::skip]
-pub fn mat3x4<N: Scalar>(m11: N, m12: N, m13: N, m14: N,
+pub fn mat3x4<T: Scalar>(m11: T, m12: T, m13: T, m14: T,
-                         m21: N, m22: N, m23: N, m24: N,
+                         m21: T, m22: T, m23: T, m24: T,
-                         m31: N, m32: N, m33: N, m34: N) -> TMat3x4<N> {
+                         m31: T, m32: T, m33: T, m34: T) -> TMat3x4<T> {
-    TMat::<N, U3, U4>::new(
+    TMat::<T, 3, 4>::new(
         m11, m12, m13, m14,
         m21, m22, m23, m24,
         m31, m32, m33, m34,
@@ -123,11 +123,11 @@ pub fn mat3x4<N: Scalar>(m11: N, m12: N, m13: N, m14: N,
 
 /// Create a new 4x2 matrix.
 #[rustfmt::skip]
-pub fn mat4x2<N: Scalar>(m11: N, m12: N,
+pub fn mat4x2<T: Scalar>(m11: T, m12: T,
-                         m21: N, m22: N,
+                         m21: T, m22: T,
-                         m31: N, m32: N,
+                         m31: T, m32: T,
-                         m41: N, m42: N) -> TMat4x2<N> {
+                         m41: T, m42: T) -> TMat4x2<T> {
-    TMat::<N, U4, U2>::new(
+    TMat::<T, 4, 2>::new(
         m11, m12,
         m21, m22,
         m31, m32,
@@ -137,11 +137,11 @@ pub fn mat4x2<N: Scalar>(m11: N, m12: N,
 
 /// Create a new 4x3 matrix.
 #[rustfmt::skip]
-pub fn mat4x3<N: Scalar>(m11: N, m12: N, m13: N,
+pub fn mat4x3<T: Scalar>(m11: T, m12: T, m13: T,
-                         m21: N, m22: N, m23: N,
+                         m21: T, m22: T, m23: T,
-                         m31: N, m32: N, m33: N,
+                         m31: T, m32: T, m33: T,
-                         m41: N, m42: N, m43: N) -> TMat4x3<N> {
+                         m41: T, m42: T, m43: T) -> TMat4x3<T> {
-    TMat::<N, U4, U3>::new(
+    TMat::<T, 4, 3>::new(
         m11, m12, m13,
         m21, m22, m23,
         m31, m32, m33,
@@ -151,11 +151,11 @@ pub fn mat4x3<N: Scalar>(m11: N, m12: N, m13: N,
 
 /// Create a new 4x4 matrix.
 #[rustfmt::skip]
-pub fn mat4x4<N: Scalar>(m11: N, m12: N, m13: N, m14: N,
+pub fn mat4x4<T: Scalar>(m11: T, m12: T, m13: T, m14: T,
-                         m21: N, m22: N, m23: N, m24: N,
+                         m21: T, m22: T, m23: T, m24: T,
-                         m31: N, m32: N, m33: N, m34: N,
+                         m31: T, m32: T, m33: T, m34: T,
-                         m41: N, m42: N, m43: N, m44: N) -> TMat4<N> {
+                         m41: T, m42: T, m43: T, m44: T) -> TMat4<T> {
-    TMat::<N, U4, U4>::new(
+    TMat::<T, 4, 4>::new(
         m11, m12, m13, m14,
         m21, m22, m23, m24,
         m31, m32, m33, m34,
@@ -165,11 +165,11 @@ pub fn mat4x4<N: Scalar>(m11: N, m12: N, m13: N, m14: N,
 
 /// Create a new 4x4 matrix.
 #[rustfmt::skip]
-pub fn mat4<N: Scalar>(m11: N, m12: N, m13: N, m14: N,
+pub fn mat4<T: Scalar>(m11: T, m12: T, m13: T, m14: T,
-                       m21: N, m22: N, m23: N, m24: N,
+                       m21: T, m22: T, m23: T, m24: T,
-                       m31: N, m32: N, m33: N, m34: N,
+                       m31: T, m32: T, m33: T, m34: T,
-                       m41: N, m42: N, m43: N, m44: N) -> TMat4<N> {
+                       m41: T, m42: T, m43: T, m44: T) -> TMat4<T> {
-    TMat::<N, U4, U4>::new(
+    TMat::<T, 4, 4>::new(
         m11, m12, m13, m14,
         m21, m22, m23, m24,
         m31, m32, m33, m34,
@@ -178,6 +178,6 @@ pub fn mat4<N: Scalar>(m11: N, m12: N, m13: N, m14: N,
 }
 
 /// Creates a new quaternion.
-pub fn quat<N: RealField>(x: N, y: N, z: N, w: N) -> Qua<N> {
+pub fn quat<T: RealField>(x: T, y: T, z: T, w: T) -> Qua<T> {
     Qua::new(w, x, y, z)
 }

nalgebra-glm/src/exponential.rs

@@ -1,16 +1,12 @@
 use crate::aliases::TVec;
-use crate::traits::{Alloc, Dimension};
+use na::RealField;
-use na::{DefaultAllocator, RealField};
 
 /// Component-wise exponential.
 ///
 /// # See also:
 ///
 /// * [`exp2`](fn.exp2.html)
-pub fn exp<N: RealField, D: Dimension>(v: &TVec<N, D>) -> TVec<N, D>
+pub fn exp<T: RealField, const D: usize>(v: &TVec<T, D>) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     v.map(|x| x.exp())
 }
 
@@ -19,10 +15,7 @@ where
 /// # See also:
 ///
 /// * [`exp`](fn.exp.html)
-pub fn exp2<N: RealField, D: Dimension>(v: &TVec<N, D>) -> TVec<N, D>
+pub fn exp2<T: RealField, const D: usize>(v: &TVec<T, D>) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     v.map(|x| x.exp2())
 }
 
@@ -31,11 +24,8 @@ where
 /// # See also:
 ///
 /// * [`sqrt`](fn.sqrt.html)
-pub fn inversesqrt<N: RealField, D: Dimension>(v: &TVec<N, D>) -> TVec<N, D>
+pub fn inversesqrt<T: RealField, const D: usize>(v: &TVec<T, D>) -> TVec<T, D> {
-where
+    v.map(|x| T::one() / x.sqrt())
-    DefaultAllocator: Alloc<N, D>,
-{
-    v.map(|x| N::one() / x.sqrt())
 }
 
 /// Component-wise logarithm.
@@ -43,10 +33,7 @@ where
 /// # See also:
 ///
 /// * [`log2`](fn.log2.html)
-pub fn log<N: RealField, D: Dimension>(v: &TVec<N, D>) -> TVec<N, D>
+pub fn log<T: RealField, const D: usize>(v: &TVec<T, D>) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     v.map(|x| x.ln())
 }
 
@@ -55,18 +42,12 @@ where
 /// # See also:
 ///
 /// * [`log`](fn.log.html)
-pub fn log2<N: RealField, D: Dimension>(v: &TVec<N, D>) -> TVec<N, D>
+pub fn log2<T: RealField, const D: usize>(v: &TVec<T, D>) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     v.map(|x| x.log2())
 }
 
 /// Component-wise power.
-pub fn pow<N: RealField, D: Dimension>(base: &TVec<N, D>, exponent: &TVec<N, D>) -> TVec<N, D>
+pub fn pow<T: RealField, const D: usize>(base: &TVec<T, D>, exponent: &TVec<T, D>) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     base.zip_map(exponent, |b, e| b.powf(e))
 }
 
@@ -78,9 +59,6 @@ where
 /// * [`exp2`](fn.exp2.html)
 /// * [`inversesqrt`](fn.inversesqrt.html)
 /// * [`pow`](fn.pow.html)
-pub fn sqrt<N: RealField, D: Dimension>(v: &TVec<N, D>) -> TVec<N, D>
+pub fn sqrt<T: RealField, const D: usize>(v: &TVec<T, D>) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     v.map(|x| x.sqrt())
 }

nalgebra-glm/src/ext/matrix_clip_space.rs

@@ -1,51 +1,51 @@
 use crate::aliases::TMat4;
 use na::RealField;
 
-//pub fn frustum<N: RealField>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> TMat4<N> {
+//pub fn frustum<T: RealField>(left: T, right: T, bottom: T, top: T, near: T, far: T) -> TMat4<T> {
 //    unimplemented!()
 //}
 
-//pub fn frustum_lh<N: RealField>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> TMat4<N> {
+//pub fn frustum_lh<T: RealField>(left: T, right: T, bottom: T, top: T, near: T, far: T) -> TMat4<T> {
 //    unimplemented!()
 //}
 //
-//pub fn frustum_lr_no<N: RealField>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> TMat4<N> {
+//pub fn frustum_lr_no<T: RealField>(left: T, right: T, bottom: T, top: T, near: T, far: T) -> TMat4<T> {
 //    unimplemented!()
 //}
 //
-//pub fn frustum_lh_zo<N: RealField>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> TMat4<N> {
+//pub fn frustum_lh_zo<T: RealField>(left: T, right: T, bottom: T, top: T, near: T, far: T) -> TMat4<T> {
 //    unimplemented!()
 //}
 //
-//pub fn frustum_no<N: RealField>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> TMat4<N> {
+//pub fn frustum_no<T: RealField>(left: T, right: T, bottom: T, top: T, near: T, far: T) -> TMat4<T> {
 //    unimplemented!()
 //}
 //
-//pub fn frustum_rh<N: RealField>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> TMat4<N> {
+//pub fn frustum_rh<T: RealField>(left: T, right: T, bottom: T, top: T, near: T, far: T) -> TMat4<T> {
 //    unimplemented!()
 //}
 //
-//pub fn frustum_rh_no<N: RealField>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> TMat4<N> {
+//pub fn frustum_rh_no<T: RealField>(left: T, right: T, bottom: T, top: T, near: T, far: T) -> TMat4<T> {
 //    unimplemented!()
 //}
 //
-//pub fn frustum_rh_zo<N: RealField>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> TMat4<N> {
+//pub fn frustum_rh_zo<T: RealField>(left: T, right: T, bottom: T, top: T, near: T, far: T) -> TMat4<T> {
 //    unimplemented!()
 //}
 //
-//pub fn frustum_zo<N: RealField>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> TMat4<N> {
+//pub fn frustum_zo<T: RealField>(left: T, right: T, bottom: T, top: T, near: T, far: T) -> TMat4<T> {
 //    unimplemented!()
 //}
 
-//pub fn infinite_perspective<N: RealField>(fovy: N, aspect: N, near: N) -> TMat4<N> {
+//pub fn infinite_perspective<T: RealField>(fovy: T, aspect: T, near: T) -> TMat4<T> {
 //    unimplemented!()
 //}
 //
-//pub fn infinite_perspective_lh<N: RealField>(fovy: N, aspect: N, near: N) -> TMat4<N> {
+//pub fn infinite_perspective_lh<T: RealField>(fovy: T, aspect: T, near: T) -> TMat4<T> {
 //    unimplemented!()
 //}
 //
-//pub fn infinite_ortho<N: RealField>(left: N, right: N, bottom: N, top: N) -> TMat4<N> {
+//pub fn infinite_ortho<T: RealField>(left: T, right: T, bottom: T, top: T) -> TMat4<T> {
 //    unimplemented!()
 //}
 
@@ -60,7 +60,7 @@ use na::RealField;
 /// * `znear` - Distance from the viewer to the near clipping plane
 /// * `zfar` - Distance from the viewer to the far clipping plane
 ///
-pub fn ortho<N: RealField>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
+pub fn ortho<T: RealField>(left: T, right: T, bottom: T, top: T, znear: T, zfar: T) -> TMat4<T> {
     ortho_rh_no(left, right, bottom, top, znear, zfar)
 }
 
@@ -75,7 +75,7 @@ pub fn ortho<N: RealField>(left: N, right: N, bottom: N, top: N, znear: N, zfar:
 /// * `znear` - Distance from the viewer to the near clipping plane
 /// * `zfar` - Distance from the viewer to the far clipping plane
 ///
-pub fn ortho_lh<N: RealField>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
+pub fn ortho_lh<T: RealField>(left: T, right: T, bottom: T, top: T, znear: T, zfar: T) -> TMat4<T> {
     ortho_lh_no(left, right, bottom, top, znear, zfar)
 }
 
@@ -90,16 +90,16 @@ pub fn ortho_lh<N: RealField>(left: N, right: N, bottom: N, top: N, znear: N, zf
 /// * `znear` - Distance from the viewer to the near clipping plane
 /// * `zfar` - Distance from the viewer to the far clipping plane
 ///
-pub fn ortho_lh_no<N: RealField>(
+pub fn ortho_lh_no<T: RealField>(
-    left: N,
+    left: T,
-    right: N,
+    right: T,
-    bottom: N,
+    bottom: T,
-    top: N,
+    top: T,
-    znear: N,
+    znear: T,
-    zfar: N,
+    zfar: T,
-) -> TMat4<N> {
+) -> TMat4<T> {
-    let two: N = crate::convert(2.0);
+    let two: T = crate::convert(2.0);
-    let mut mat: TMat4<N> = TMat4::<N>::identity();
+    let mut mat: TMat4<T> = TMat4::<T>::identity();
 
     mat[(0, 0)] = two / (right - left);
     mat[(0, 3)] = -(right + left) / (right - left);
@@ -122,17 +122,17 @@ pub fn ortho_lh_no<N: RealField>(
 /// * `znear` - Distance from the viewer to the near clipping plane
 /// * `zfar` - Distance from the viewer to the far clipping plane
 ///
-pub fn ortho_lh_zo<N: RealField>(
+pub fn ortho_lh_zo<T: RealField>(
-    left: N,
+    left: T,
-    right: N,
+    right: T,
-    bottom: N,
+    bottom: T,
-    top: N,
+    top: T,
-    znear: N,
+    znear: T,
-    zfar: N,
+    zfar: T,
-) -> TMat4<N> {
+) -> TMat4<T> {
-    let one: N = N::one();
+    let one: T = T::one();
-    let two: N = crate::convert(2.0);
+    let two: T = crate::convert(2.0);
-    let mut mat: TMat4<N> = TMat4::<N>::identity();
+    let mut mat: TMat4<T> = TMat4::<T>::identity();
 
     mat[(0, 0)] = two / (right - left);
     mat[(0, 3)] = -(right + left) / (right - left);
@@ -155,7 +155,7 @@ pub fn ortho_lh_zo<N: RealField>(
 /// * `znear` - Distance from the viewer to the near clipping plane
 /// * `zfar` - Distance from the viewer to the far clipping plane
 ///
-pub fn ortho_no<N: RealField>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
+pub fn ortho_no<T: RealField>(left: T, right: T, bottom: T, top: T, znear: T, zfar: T) -> TMat4<T> {
     ortho_rh_no(left, right, bottom, top, znear, zfar)
 }
 
@@ -170,7 +170,7 @@ pub fn ortho_no<N: RealField>(left: N, right: N, bottom: N, top: N, znear: N, zf
 /// * `znear` - Distance from the viewer to the near clipping plane
 /// * `zfar` - Distance from the viewer to the far clipping plane
 ///
-pub fn ortho_rh<N: RealField>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
+pub fn ortho_rh<T: RealField>(left: T, right: T, bottom: T, top: T, znear: T, zfar: T) -> TMat4<T> {
     ortho_rh_no(left, right, bottom, top, znear, zfar)
 }
 
@@ -185,16 +185,16 @@ pub fn ortho_rh<N: RealField>(left: N, right: N, bottom: N, top: N, znear: N, zf
 /// * `znear` - Distance from the viewer to the near clipping plane
 /// * `zfar` - Distance from the viewer to the far clipping plane
 ///
-pub fn ortho_rh_no<N: RealField>(
+pub fn ortho_rh_no<T: RealField>(
-    left: N,
+    left: T,
-    right: N,
+    right: T,
-    bottom: N,
+    bottom: T,
-    top: N,
+    top: T,
-    znear: N,
+    znear: T,
-    zfar: N,
+    zfar: T,
-) -> TMat4<N> {
+) -> TMat4<T> {
-    let two: N = crate::convert(2.0);
+    let two: T = crate::convert(2.0);
-    let mut mat: TMat4<N> = TMat4::<N>::identity();
+    let mut mat: TMat4<T> = TMat4::<T>::identity();
 
     mat[(0, 0)] = two / (right - left);
     mat[(0, 3)] = -(right + left) / (right - left);
@@ -217,17 +217,17 @@ pub fn ortho_rh_no<N: RealField>(
 /// * `znear` - Distance from the viewer to the near clipping plane
 /// * `zfar` - Distance from the viewer to the far clipping plane
 ///
-pub fn ortho_rh_zo<N: RealField>(
+pub fn ortho_rh_zo<T: RealField>(
-    left: N,
+    left: T,
-    right: N,
+    right: T,
-    bottom: N,
+    bottom: T,
-    top: N,
+    top: T,
-    znear: N,
+    znear: T,
-    zfar: N,
+    zfar: T,
-) -> TMat4<N> {
+) -> TMat4<T> {
-    let one: N = N::one();
+    let one: T = T::one();
-    let two: N = crate::convert(2.0);
+    let two: T = crate::convert(2.0);
-    let mut mat: TMat4<N> = TMat4::<N>::identity();
+    let mut mat: TMat4<T> = TMat4::<T>::identity();
 
     mat[(0, 0)] = two / (right - left);
     mat[(0, 3)] = -(right + left) / (right - left);
@@ -250,7 +250,7 @@ pub fn ortho_rh_zo<N: RealField>(
 /// * `znear` - Distance from the viewer to the near clipping plane
 /// * `zfar` - Distance from the viewer to the far clipping plane
 ///
-pub fn ortho_zo<N: RealField>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
+pub fn ortho_zo<T: RealField>(left: T, right: T, bottom: T, top: T, znear: T, zfar: T) -> TMat4<T> {
     ortho_rh_zo(left, right, bottom, top, znear, zfar)
 }
 
@@ -264,7 +264,7 @@ pub fn ortho_zo<N: RealField>(left: N, right: N, bottom: N, top: N, znear: N, zf
 /// * `near` - Distance from the viewer to the near clipping plane
 /// * `far` - Distance from the viewer to the far clipping plane
 ///
-pub fn perspective_fov<N: RealField>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
+pub fn perspective_fov<T: RealField>(fov: T, width: T, height: T, near: T, far: T) -> TMat4<T> {
     perspective_fov_rh_no(fov, width, height, near, far)
 }
 
@@ -278,7 +278,7 @@ pub fn perspective_fov<N: RealField>(fov: N, width: N, height: N, near: N, far:
 /// * `near` - Distance from the viewer to the near clipping plane
 /// * `far` - Distance from the viewer to the far clipping plane
 ///
-pub fn perspective_fov_lh<N: RealField>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
+pub fn perspective_fov_lh<T: RealField>(fov: T, width: T, height: T, near: T, far: T) -> TMat4<T> {
     perspective_fov_lh_no(fov, width, height, near, far)
 }
 
@@ -292,16 +292,16 @@ pub fn perspective_fov_lh<N: RealField>(fov: N, width: N, height: N, near: N, fa
 /// * `near` - Distance from the viewer to the near clipping plane
 /// * `far` - Distance from the viewer to the far clipping plane
 ///
-pub fn perspective_fov_lh_no<N: RealField>(
+pub fn perspective_fov_lh_no<T: RealField>(
-    fov: N,
+    fov: T,
-    width: N,
+    width: T,
-    height: N,
+    height: T,
-    near: N,
+    near: T,
-    far: N,
+    far: T,
-) -> TMat4<N> {
+) -> TMat4<T> {
-    assert!(width > N::zero(), "The width must be greater than zero");
+    assert!(width > T::zero(), "The width must be greater than zero");
-    assert!(height > N::zero(), "The height must be greater than zero.");
+    assert!(height > T::zero(), "The height must be greater than zero.");
-    assert!(fov > N::zero(), "The fov must be greater than zero");
+    assert!(fov > T::zero(), "The fov must be greater than zero");
 
     let mut mat = TMat4::zeros();
 
@@ -313,7 +313,7 @@ pub fn perspective_fov_lh_no<N: RealField>(
     mat[(1, 1)] = h;
     mat[(2, 2)] = (far + near) / (far - near);
     mat[(2, 3)] = -(far * near * crate::convert(2.0)) / (far - near);
-    mat[(3, 2)] = N::one();
+    mat[(3, 2)] = T::one();
 
     mat
 }
@@ -328,16 +328,16 @@ pub fn perspective_fov_lh_no<N: RealField>(
 /// * `near` - Distance from the viewer to the near clipping plane
 /// * `far` - Distance from the viewer to the far clipping plane
 ///
-pub fn perspective_fov_lh_zo<N: RealField>(
+pub fn perspective_fov_lh_zo<T: RealField>(
-    fov: N,
+    fov: T,
-    width: N,
+    width: T,
-    height: N,
+    height: T,
-    near: N,
+    near: T,
-    far: N,
+    far: T,
-) -> TMat4<N> {
+) -> TMat4<T> {
-    assert!(width > N::zero(), "The width must be greater than zero");
+    assert!(width > T::zero(), "The width must be greater than zero");
-    assert!(height > N::zero(), "The height must be greater than zero.");
+    assert!(height > T::zero(), "The height must be greater than zero.");
-    assert!(fov > N::zero(), "The fov must be greater than zero");
+    assert!(fov > T::zero(), "The fov must be greater than zero");
 
     let mut mat = TMat4::zeros();
 
@@ -349,7 +349,7 @@ pub fn perspective_fov_lh_zo<N: RealField>(
     mat[(1, 1)] = h;
     mat[(2, 2)] = far / (far - near);
     mat[(2, 3)] = -(far * near) / (far - near);
-    mat[(3, 2)] = N::one();
+    mat[(3, 2)] = T::one();
 
     mat
 }
@@ -364,7 +364,7 @@ pub fn perspective_fov_lh_zo<N: RealField>(
 /// * `near` - Distance from the viewer to the near clipping plane
 /// * `far` - Distance from the viewer to the far clipping plane
 ///
-pub fn perspective_fov_no<N: RealField>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
+pub fn perspective_fov_no<T: RealField>(fov: T, width: T, height: T, near: T, far: T) -> TMat4<T> {
     perspective_fov_rh_no(fov, width, height, near, far)
 }
 
@@ -378,7 +378,7 @@ pub fn perspective_fov_no<N: RealField>(fov: N, width: N, height: N, near: N, fa
 /// * `near` - Distance from the viewer to the near clipping plane
 /// * `far` - Distance from the viewer to the far clipping plane
 ///
-pub fn perspective_fov_rh<N: RealField>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
+pub fn perspective_fov_rh<T: RealField>(fov: T, width: T, height: T, near: T, far: T) -> TMat4<T> {
     perspective_fov_rh_no(fov, width, height, near, far)
 }
 
@@ -392,16 +392,16 @@ pub fn perspective_fov_rh<N: RealField>(fov: N, width: N, height: N, near: N, fa
 /// * `near` - Distance from the viewer to the near clipping plane
 /// * `far` - Distance from the viewer to the far clipping plane
 ///
-pub fn perspective_fov_rh_no<N: RealField>(
+pub fn perspective_fov_rh_no<T: RealField>(
-    fov: N,
+    fov: T,
-    width: N,
+    width: T,
-    height: N,
+    height: T,
-    near: N,
+    near: T,
-    far: N,
+    far: T,
-) -> TMat4<N> {
+) -> TMat4<T> {
-    assert!(width > N::zero(), "The width must be greater than zero");
+    assert!(width > T::zero(), "The width must be greater than zero");
-    assert!(height > N::zero(), "The height must be greater than zero.");
+    assert!(height > T::zero(), "The height must be greater than zero.");
-    assert!(fov > N::zero(), "The fov must be greater than zero");
+    assert!(fov > T::zero(), "The fov must be greater than zero");
 
     let mut mat = TMat4::zeros();
 
@@ -413,7 +413,7 @@ pub fn perspective_fov_rh_no<N: RealField>(
     mat[(1, 1)] = h;
     mat[(2, 2)] = -(far + near) / (far - near);
     mat[(2, 3)] = -(far * near * crate::convert(2.0)) / (far - near);
-    mat[(3, 2)] = -N::one();
+    mat[(3, 2)] = -T::one();
 
     mat
 }
@@ -428,16 +428,16 @@ pub fn perspective_fov_rh_no<N: RealField>(
 /// * `near` - Distance from the viewer to the near clipping plane
 /// * `far` - Distance from the viewer to the far clipping plane
 ///
-pub fn perspective_fov_rh_zo<N: RealField>(
+pub fn perspective_fov_rh_zo<T: RealField>(
-    fov: N,
+    fov: T,
-    width: N,
+    width: T,
-    height: N,
+    height: T,
-    near: N,
+    near: T,
-    far: N,
+    far: T,
-) -> TMat4<N> {
+) -> TMat4<T> {
-    assert!(width > N::zero(), "The width must be greater than zero");
+    assert!(width > T::zero(), "The width must be greater than zero");
-    assert!(height > N::zero(), "The height must be greater than zero.");
+    assert!(height > T::zero(), "The height must be greater than zero.");
-    assert!(fov > N::zero(), "The fov must be greater than zero");
+    assert!(fov > T::zero(), "The fov must be greater than zero");
 
     let mut mat = TMat4::zeros();
 
@@ -449,7 +449,7 @@ pub fn perspective_fov_rh_zo<N: RealField>(
     mat[(1, 1)] = h;
     mat[(2, 2)] = far / (near - far);
     mat[(2, 3)] = -(far * near) / (far - near);
-    mat[(3, 2)] = -N::one();
+    mat[(3, 2)] = -T::one();
 
     mat
 }
@@ -464,7 +464,7 @@ pub fn perspective_fov_rh_zo<N: RealField>(
 /// * `near` - Distance from the viewer to the near clipping plane
 /// * `far` - Distance from the viewer to the far clipping plane
 ///
-pub fn perspective_fov_zo<N: RealField>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
+pub fn perspective_fov_zo<T: RealField>(fov: T, width: T, height: T, near: T, far: T) -> TMat4<T> {
     perspective_fov_rh_zo(fov, width, height, near, far)
 }
 
@@ -479,7 +479,7 @@ pub fn perspective_fov_zo<N: RealField>(fov: N, width: N, height: N, near: N, fa
 ///
 /// # Important note
 /// The `aspect` and `fovy` argument are interchanged compared to the original GLM API.
-pub fn perspective<N: RealField>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
+pub fn perspective<T: RealField>(aspect: T, fovy: T, near: T, far: T) -> TMat4<T> {
     // TODO: Breaking change - revert back to proper glm conventions?
     //
     //       Prior to changes to support configuring the behaviour of this function it was simply
@@ -508,7 +508,7 @@ pub fn perspective<N: RealField>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N
 ///
 /// # Important note
 /// The `aspect` and `fovy` argument are interchanged compared to the original GLM API.
-pub fn perspective_lh<N: RealField>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
+pub fn perspective_lh<T: RealField>(aspect: T, fovy: T, near: T, far: T) -> TMat4<T> {
     perspective_lh_no(aspect, fovy, near, far)
 }
 
@@ -523,19 +523,19 @@ pub fn perspective_lh<N: RealField>(aspect: N, fovy: N, near: N, far: N) -> TMat
 ///
 /// # Important note
 /// The `aspect` and `fovy` argument are interchanged compared to the original GLM API.
-pub fn perspective_lh_no<N: RealField>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
+pub fn perspective_lh_no<T: RealField>(aspect: T, fovy: T, near: T, far: T) -> TMat4<T> {
     assert!(
-        !relative_eq!(far - near, N::zero()),
+        !relative_eq!(far - near, T::zero()),
         "The near-plane and far-plane must not be superimposed."
     );
     assert!(
-        !relative_eq!(aspect, N::zero()),
+        !relative_eq!(aspect, T::zero()),
         "The aspect ratio must not be zero."
     );
 
-    let one = N::one();
+    let one = T::one();
-    let two: N = crate::convert(2.0);
+    let two: T = crate::convert(2.0);
-    let mut mat: TMat4<N> = TMat4::zeros();
+    let mut mat: TMat4<T> = TMat4::zeros();
 
     let tan_half_fovy = (fovy / two).tan();
 
@@ -559,19 +559,19 @@ pub fn perspective_lh_no<N: RealField>(aspect: N, fovy: N, near: N, far: N) -> T
 ///
 /// # Important note
 /// The `aspect` and `fovy` argument are interchanged compared to the original GLM API.
-pub fn perspective_lh_zo<N: RealField>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
+pub fn perspective_lh_zo<T: RealField>(aspect: T, fovy: T, near: T, far: T) -> TMat4<T> {
     assert!(
-        !relative_eq!(far - near, N::zero()),
+        !relative_eq!(far - near, T::zero()),
         "The near-plane and far-plane must not be superimposed."
     );
     assert!(
-        !relative_eq!(aspect, N::zero()),
+        !relative_eq!(aspect, T::zero()),
         "The aspect ratio must not be zero."
     );
 
-    let one = N::one();
+    let one = T::one();
-    let two: N = crate::convert(2.0);
+    let two: T = crate::convert(2.0);
-    let mut mat: TMat4<N> = TMat4::zeros();
+    let mut mat: TMat4<T> = TMat4::zeros();
 
     let tan_half_fovy = (fovy / two).tan();
 
@@ -595,7 +595,7 @@ pub fn perspective_lh_zo<N: RealField>(aspect: N, fovy: N, near: N, far: N) -> T
 ///
 /// # Important note
 /// The `aspect` and `fovy` argument are interchanged compared to the original GLM API.
-pub fn perspective_no<N: RealField>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
+pub fn perspective_no<T: RealField>(aspect: T, fovy: T, near: T, far: T) -> TMat4<T> {
     perspective_rh_no(aspect, fovy, near, far)
 }
 
@@ -610,7 +610,7 @@ pub fn perspective_no<N: RealField>(aspect: N, fovy: N, near: N, far: N) -> TMat
 ///
 /// # Important note
 /// The `aspect` and `fovy` argument are interchanged compared to the original GLM API.
-pub fn perspective_rh<N: RealField>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
+pub fn perspective_rh<T: RealField>(aspect: T, fovy: T, near: T, far: T) -> TMat4<T> {
     perspective_rh_no(aspect, fovy, near, far)
 }
 
@@ -625,19 +625,19 @@ pub fn perspective_rh<N: RealField>(aspect: N, fovy: N, near: N, far: N) -> TMat
 ///
 /// # Important note
 /// The `aspect` and `fovy` argument are interchanged compared to the original GLM API.
-pub fn perspective_rh_no<N: RealField>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
+pub fn perspective_rh_no<T: RealField>(aspect: T, fovy: T, near: T, far: T) -> TMat4<T> {
     assert!(
-        !relative_eq!(far - near, N::zero()),
+        !relative_eq!(far - near, T::zero()),
         "The near-plane and far-plane must not be superimposed."
     );
     assert!(
-        !relative_eq!(aspect, N::zero()),
+        !relative_eq!(aspect, T::zero()),
         "The aspect ratio must not be zero."
     );
 
-    let negone = -N::one();
+    let negone = -T::one();
-    let one = N::one();
+    let one = T::one();
-    let two: N = crate::convert(2.0);
+    let two: T = crate::convert(2.0);
     let mut mat = TMat4::zeros();
 
     let tan_half_fovy = (fovy / two).tan();
@@ -662,18 +662,18 @@ pub fn perspective_rh_no<N: RealField>(aspect: N, fovy: N, near: N, far: N) -> T
 ///
 /// # Important note
 /// The `aspect` and `fovy` argument are interchanged compared to the original GLM API.
-pub fn perspective_rh_zo<N: RealField>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
+pub fn perspective_rh_zo<T: RealField>(aspect: T, fovy: T, near: T, far: T) -> TMat4<T> {
     assert!(
-        !relative_eq!(far - near, N::zero()),
+        !relative_eq!(far - near, T::zero()),
         "The near-plane and far-plane must not be superimposed."
     );
     assert!(
-        !relative_eq!(aspect, N::zero()),
+        !relative_eq!(aspect, T::zero()),
         "The aspect ratio must not be zero."
     );
 
-    let negone = -N::one();
+    let negone = -T::one();
-    let one = N::one();
+    let one = T::one();
     let two = crate::convert(2.0);
     let mut mat = TMat4::zeros();
 
@@ -699,7 +699,7 @@ pub fn perspective_rh_zo<N: RealField>(aspect: N, fovy: N, near: N, far: N) -> T
 ///
 /// # Important note
 /// The `aspect` and `fovy` argument are interchanged compared to the original GLM API.
-pub fn perspective_zo<N: RealField>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
+pub fn perspective_zo<T: RealField>(aspect: T, fovy: T, near: T, far: T) -> TMat4<T> {
     perspective_rh_zo(aspect, fovy, near, far)
 }
 
@@ -713,15 +713,15 @@ pub fn perspective_zo<N: RealField>(aspect: N, fovy: N, near: N, far: N) -> TMat
 ///
 /// # Important note
 /// The `aspect` and `fovy` argument are interchanged compared to the original GLM API.
-pub fn infinite_perspective_rh_no<N: RealField>(aspect: N, fovy: N, near: N) -> TMat4<N> {
+pub fn infinite_perspective_rh_no<T: RealField>(aspect: T, fovy: T, near: T) -> TMat4<T> {
-    let f = N::one() / (fovy * na::convert(0.5)).tan();
+    let f = T::one() / (fovy * na::convert(0.5)).tan();
     let mut mat = TMat4::zeros();
 
     mat[(0, 0)] = f / aspect;
     mat[(1, 1)] = f;
-    mat[(2, 2)] = -N::one();
+    mat[(2, 2)] = -T::one();
     mat[(2, 3)] = -near * na::convert(2.0);
-    mat[(3, 2)] = -N::one();
+    mat[(3, 2)] = -T::one();
 
     mat
 }
@@ -738,15 +738,15 @@ pub fn infinite_perspective_rh_no<N: RealField>(aspect: N, fovy: N, near: N) ->
 /// The `aspect` and `fovy` argument are interchanged compared to the original GLM API.
 ///
 // https://discourse.nphysics.org/t/reversed-z-and-infinite-zfar-in-projections/341/2
-pub fn infinite_perspective_rh_zo<N: RealField>(aspect: N, fovy: N, near: N) -> TMat4<N> {
+pub fn infinite_perspective_rh_zo<T: RealField>(aspect: T, fovy: T, near: T) -> TMat4<T> {
-    let f = N::one() / (fovy * na::convert(0.5)).tan();
+    let f = T::one() / (fovy * na::convert(0.5)).tan();
     let mut mat = TMat4::zeros();
 
     mat[(0, 0)] = f / aspect;
     mat[(1, 1)] = f;
-    mat[(2, 2)] = -N::one();
+    mat[(2, 2)] = -T::one();
     mat[(2, 3)] = -near;
-    mat[(3, 2)] = -N::one();
+    mat[(3, 2)] = -T::one();
 
     mat
 }
@@ -763,8 +763,8 @@ pub fn infinite_perspective_rh_zo<N: RealField>(aspect: N, fovy: N, near: N) ->
 /// # Important note
 /// The `aspect` and `fovy` argument are interchanged compared to the original GLM API.
 // NOTE: The variants `_no` of reversed perspective are not useful.
-pub fn reversed_perspective_rh_zo<N: RealField>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
+pub fn reversed_perspective_rh_zo<T: RealField>(aspect: T, fovy: T, near: T, far: T) -> TMat4<T> {
-    let one = N::one();
+    let one = T::one();
     let two = crate::convert(2.0);
     let mut mat = TMat4::zeros();
 
@@ -791,22 +791,22 @@ pub fn reversed_perspective_rh_zo<N: RealField>(aspect: N, fovy: N, near: N, far
 /// The `aspect` and `fovy` argument are interchanged compared to the original GLM API.
 // Credit: https://discourse.nphysics.org/t/reversed-z-and-infinite-zfar-in-projections/341/2
 // NOTE: The variants `_no` of reversed perspective are not useful.
-pub fn reversed_infinite_perspective_rh_zo<N: RealField>(aspect: N, fovy: N, near: N) -> TMat4<N> {
+pub fn reversed_infinite_perspective_rh_zo<T: RealField>(aspect: T, fovy: T, near: T) -> TMat4<T> {
-    let f = N::one() / (fovy * na::convert(0.5)).tan();
+    let f = T::one() / (fovy * na::convert(0.5)).tan();
     let mut mat = TMat4::zeros();
 
     mat[(0, 0)] = f / aspect;
     mat[(1, 1)] = f;
     mat[(2, 3)] = near;
-    mat[(3, 2)] = -N::one();
+    mat[(3, 2)] = -T::one();
 
     mat
 }
 
-//pub fn tweaked_infinite_perspective<N: RealField>(fovy: N, aspect: N, near: N) -> TMat4<N> {
+//pub fn tweaked_infinite_perspective<T: RealField>(fovy: T, aspect: T, near: T) -> TMat4<T> {
 //    unimplemented!()
 //}
 //
-//pub fn tweaked_infinite_perspective_ep<N: RealField>(fovy: N, aspect: N, near: N, ep: N) -> TMat4<N> {
+//pub fn tweaked_infinite_perspective_ep<T: RealField>(fovy: T, aspect: T, near: T, ep: T) -> TMat4<T> {
 //    unimplemented!()
 //}

nalgebra-glm/src/ext/matrix_projection.rs

@@ -1,4 +1,4 @@
-use na::{self, RealField, U3};
+use na::{self, RealField};
 
 use crate::aliases::{TMat4, TVec2, TVec3, TVec4};
 
@@ -9,22 +9,22 @@ use crate::aliases::{TMat4, TVec2, TVec3, TVec4};
 /// * `center` - Specify the center of a picking region in window coordinates.
 /// * `delta` - Specify the width and height, respectively, of the picking region in window coordinates.
 /// * `viewport` - Rendering viewport.
-pub fn pick_matrix<N: RealField>(
+pub fn pick_matrix<T: RealField>(
-    center: &TVec2<N>,
+    center: &TVec2<T>,
-    delta: &TVec2<N>,
+    delta: &TVec2<T>,
-    viewport: &TVec4<N>,
+    viewport: &TVec4<T>,
-) -> TMat4<N> {
+) -> TMat4<T> {
     let shift = TVec3::new(
         (viewport.z - (center.x - viewport.x) * na::convert(2.0)) / delta.x,
         (viewport.w - (center.y - viewport.y) * na::convert(2.0)) / delta.y,
-        N::zero(),
+        T::zero(),
     );
 
     let result = TMat4::new_translation(&shift);
     result.prepend_nonuniform_scaling(&TVec3::new(
         viewport.z / delta.x,
         viewport.w / delta.y,
-        N::one(),
+        T::one(),
     ))
 }
 
@@ -45,12 +45,12 @@ pub fn pick_matrix<N: RealField>(
 /// * [`unproject`](fn.unproject.html)
 /// * [`unproject_no`](fn.unproject_no.html)
 /// * [`unproject_zo`](fn.unproject_zo.html)
-pub fn project<N: RealField>(
+pub fn project<T: RealField>(
-    obj: &TVec3<N>,
+    obj: &TVec3<T>,
-    model: &TMat4<N>,
+    model: &TMat4<T>,
-    proj: &TMat4<N>,
+    proj: &TMat4<T>,
-    viewport: TVec4<N>,
+    viewport: TVec4<T>,
-) -> TVec3<N> {
+) -> TVec3<T> {
     project_no(obj, model, proj, viewport)
 }
 
@@ -72,12 +72,12 @@ pub fn project<N: RealField>(
 /// * [`unproject`](fn.unproject.html)
 /// * [`unproject_no`](fn.unproject_no.html)
 /// * [`unproject_zo`](fn.unproject_zo.html)
-pub fn project_no<N: RealField>(
+pub fn project_no<T: RealField>(
-    obj: &TVec3<N>,
+    obj: &TVec3<T>,
-    model: &TMat4<N>,
+    model: &TMat4<T>,
-    proj: &TMat4<N>,
+    proj: &TMat4<T>,
-    viewport: TVec4<N>,
+    viewport: TVec4<T>,
-) -> TVec3<N> {
+) -> TVec3<T> {
     let proj = project_zo(obj, model, proj, viewport);
     TVec3::new(proj.x, proj.y, proj.z * na::convert(0.5) + na::convert(0.5))
 }
@@ -100,18 +100,18 @@ pub fn project_no<N: RealField>(
 /// * [`unproject`](fn.unproject.html)
 /// * [`unproject_no`](fn.unproject_no.html)
 /// * [`unproject_zo`](fn.unproject_zo.html)
-pub fn project_zo<N: RealField>(
+pub fn project_zo<T: RealField>(
-    obj: &TVec3<N>,
+    obj: &TVec3<T>,
-    model: &TMat4<N>,
+    model: &TMat4<T>,
-    proj: &TMat4<N>,
+    proj: &TMat4<T>,
-    viewport: TVec4<N>,
+    viewport: TVec4<T>,
-) -> TVec3<N> {
+) -> TVec3<T> {
-    let normalized = proj * model * TVec4::new(obj.x, obj.y, obj.z, N::one());
+    let normalized = proj * model * TVec4::new(obj.x, obj.y, obj.z, T::one());
-    let scale = N::one() / normalized.w;
+    let scale = T::one() / normalized.w;
 
     TVec3::new(
-        viewport.x + (viewport.z * (normalized.x * scale + N::one()) * na::convert(0.5)),
+        viewport.x + (viewport.z * (normalized.x * scale + T::one()) * na::convert(0.5)),
-        viewport.y + (viewport.w * (normalized.y * scale + N::one()) * na::convert(0.5)),
+        viewport.y + (viewport.w * (normalized.y * scale + T::one()) * na::convert(0.5)),
         normalized.z * scale,
     )
 }
@@ -133,12 +133,12 @@ pub fn project_zo<N: RealField>(
 /// * [`project_zo`](fn.project_zo.html)
 /// * [`unproject_no`](fn.unproject_no.html)
 /// * [`unproject_zo`](fn.unproject_zo.html)
-pub fn unproject<N: RealField>(
+pub fn unproject<T: RealField>(
-    win: &TVec3<N>,
+    win: &TVec3<T>,
-    model: &TMat4<N>,
+    model: &TMat4<T>,
-    proj: &TMat4<N>,
+    proj: &TMat4<T>,
-    viewport: TVec4<N>,
+    viewport: TVec4<T>,
-) -> TVec3<N> {
+) -> TVec3<T> {
     unproject_no(win, model, proj, viewport)
 }
 
@@ -160,23 +160,23 @@ pub fn unproject<N: RealField>(
 /// * [`project_zo`](fn.project_zo.html)
 /// * [`unproject`](fn.unproject.html)
 /// * [`unproject_zo`](fn.unproject_zo.html)
-pub fn unproject_no<N: RealField>(
+pub fn unproject_no<T: RealField>(
-    win: &TVec3<N>,
+    win: &TVec3<T>,
-    model: &TMat4<N>,
+    model: &TMat4<T>,
-    proj: &TMat4<N>,
+    proj: &TMat4<T>,
-    viewport: TVec4<N>,
+    viewport: TVec4<T>,
-) -> TVec3<N> {
+) -> TVec3<T> {
-    let _2: N = na::convert(2.0);
+    let _2: T = na::convert(2.0);
     let transform = (proj * model).try_inverse().unwrap_or_else(TMat4::zeros);
     let pt = TVec4::new(
-        _2 * (win.x - viewport.x) / viewport.z - N::one(),
+        _2 * (win.x - viewport.x) / viewport.z - T::one(),
-        _2 * (win.y - viewport.y) / viewport.w - N::one(),
+        _2 * (win.y - viewport.y) / viewport.w - T::one(),
-        _2 * win.z - N::one(),
+        _2 * win.z - T::one(),
-        N::one(),
+        T::one(),
     );
 
     let result = transform * pt;
-    result.fixed_rows::<U3>(0) / result.w
+    result.fixed_rows::<3>(0) / result.w
 }
 
 /// Map the specified window coordinates (win.x, win.y, win.z) into object coordinates.
@@ -197,21 +197,21 @@ pub fn unproject_no<N: RealField>(
 /// * [`project_zo`](fn.project_zo.html)
 /// * [`unproject`](fn.unproject.html)
 /// * [`unproject_no`](fn.unproject_no.html)
-pub fn unproject_zo<N: RealField>(
+pub fn unproject_zo<T: RealField>(
-    win: &TVec3<N>,
+    win: &TVec3<T>,
-    model: &TMat4<N>,
+    model: &TMat4<T>,
-    proj: &TMat4<N>,
+    proj: &TMat4<T>,
-    viewport: TVec4<N>,
+    viewport: TVec4<T>,
-) -> TVec3<N> {
+) -> TVec3<T> {
-    let _2: N = na::convert(2.0);
+    let _2: T = na::convert(2.0);
     let transform = (proj * model).try_inverse().unwrap_or_else(TMat4::zeros);
     let pt = TVec4::new(
-        _2 * (win.x - viewport.x) / viewport.z - N::one(),
+        _2 * (win.x - viewport.x) / viewport.z - T::one(),
-        _2 * (win.y - viewport.y) / viewport.w - N::one(),
+        _2 * (win.y - viewport.y) / viewport.w - T::one(),
         win.z,
-        N::one(),
+        T::one(),
     );
 
     let result = transform * pt;
-    result.fixed_rows::<U3>(0) / result.w
+    result.fixed_rows::<3>(0) / result.w
 }

nalgebra-glm/src/ext/matrix_relationnal.rs

@@ -1,21 +1,16 @@
-use na::DefaultAllocator;
-
 use crate::aliases::{TMat, TVec};
-use crate::traits::{Alloc, Dimension, Number};
+use crate::traits::Number;
 
 /// Perform a component-wise equal-to comparison of two matrices.
 ///
 /// Return a boolean vector which components value is True if this expression is satisfied per column of the matrices.
-pub fn equal_columns<N: Number, R: Dimension, C: Dimension>(
+pub fn equal_columns<T: Number, const R: usize, const C: usize>(
-    x: &TMat<N, R, C>,
+    x: &TMat<T, R, C>,
-    y: &TMat<N, R, C>,
+    y: &TMat<T, R, C>,
-) -> TVec<bool, C>
+) -> TVec<bool, C> {
-where
-    DefaultAllocator: Alloc<N, R, C>,
-{
     let mut res = TVec::<_, C>::repeat(false);
 
-    for i in 0..C::dim() {
+    for i in 0..C {
         res[i] = x.column(i) == y.column(i)
     }
 
@@ -25,31 +20,25 @@ where
 /// Returns the component-wise comparison of `|x - y| < epsilon`.
 ///
 /// True if this expression is satisfied.
-pub fn equal_columns_eps<N: Number, R: Dimension, C: Dimension>(
+pub fn equal_columns_eps<T: Number, const R: usize, const C: usize>(
-    x: &TMat<N, R, C>,
+    x: &TMat<T, R, C>,
-    y: &TMat<N, R, C>,
+    y: &TMat<T, R, C>,
-    epsilon: N,
+    epsilon: T,
-) -> TVec<bool, C>
+) -> TVec<bool, C> {
-where
-    DefaultAllocator: Alloc<N, R, C>,
-{
     equal_columns_eps_vec(x, y, &TVec::<_, C>::repeat(epsilon))
 }
 
 /// Returns the component-wise comparison on each matrix column `|x - y| < epsilon`.
 ///
 /// True if this expression is satisfied.
-pub fn equal_columns_eps_vec<N: Number, R: Dimension, C: Dimension>(
+pub fn equal_columns_eps_vec<T: Number, const R: usize, const C: usize>(
-    x: &TMat<N, R, C>,
+    x: &TMat<T, R, C>,
-    y: &TMat<N, R, C>,
+    y: &TMat<T, R, C>,
-    epsilon: &TVec<N, C>,
+    epsilon: &TVec<T, C>,
-) -> TVec<bool, C>
+) -> TVec<bool, C> {
-where
-    DefaultAllocator: Alloc<N, R, C>,
-{
     let mut res = TVec::<_, C>::repeat(false);
 
-    for i in 0..C::dim() {
+    for i in 0..C {
         res[i] = (x.column(i) - y.column(i)).abs() < TVec::<_, R>::repeat(epsilon[i])
     }
 
@@ -59,16 +48,13 @@ where
 /// Perform a component-wise not-equal-to comparison of two matrices.
 ///
 /// Return a boolean vector which components value is True if this expression is satisfied per column of the matrices.
-pub fn not_equal_columns<N: Number, R: Dimension, C: Dimension>(
+pub fn not_equal_columns<T: Number, const R: usize, const C: usize>(
-    x: &TMat<N, R, C>,
+    x: &TMat<T, R, C>,
-    y: &TMat<N, R, C>,
+    y: &TMat<T, R, C>,
-) -> TVec<bool, C>
+) -> TVec<bool, C> {
-where
-    DefaultAllocator: Alloc<N, R, C>,
-{
     let mut res = TVec::<_, C>::repeat(false);
 
-    for i in 0..C::dim() {
+    for i in 0..C {
         res[i] = x.column(i) != y.column(i)
     }
 
@@ -78,31 +64,25 @@ where
 /// Returns the component-wise comparison of `|x - y| < epsilon`.
 ///
 /// True if this expression is not satisfied.
-pub fn not_equal_columns_eps<N: Number, R: Dimension, C: Dimension>(
+pub fn not_equal_columns_eps<T: Number, const R: usize, const C: usize>(
-    x: &TMat<N, R, C>,
+    x: &TMat<T, R, C>,
-    y: &TMat<N, R, C>,
+    y: &TMat<T, R, C>,
-    epsilon: N,
+    epsilon: T,
-) -> TVec<bool, C>
+) -> TVec<bool, C> {
-where
-    DefaultAllocator: Alloc<N, R, C>,
-{
     not_equal_columns_eps_vec(x, y, &TVec::<_, C>::repeat(epsilon))
 }
 
 /// Returns the component-wise comparison of `|x - y| >= epsilon`.
 ///
 /// True if this expression is not satisfied.
-pub fn not_equal_columns_eps_vec<N: Number, R: Dimension, C: Dimension>(
+pub fn not_equal_columns_eps_vec<T: Number, const R: usize, const C: usize>(
-    x: &TMat<N, R, C>,
+    x: &TMat<T, R, C>,
-    y: &TMat<N, R, C>,
+    y: &TMat<T, R, C>,
-    epsilon: &TVec<N, C>,
+    epsilon: &TVec<T, C>,
-) -> TVec<bool, C>
+) -> TVec<bool, C> {
-where
-    DefaultAllocator: Alloc<N, R, C>,
-{
     let mut res = TVec::<_, C>::repeat(false);
 
-    for i in 0..C::dim() {
+    for i in 0..C {
         res[i] = (x.column(i) - y.column(i)).abs() >= TVec::<_, R>::repeat(epsilon[i])
     }
 

nalgebra-glm/src/ext/matrix_transform.rs

@@ -1,14 +1,11 @@
-use na::{DefaultAllocator, Point3, RealField, Rotation3, Unit};
+use na::{Point3, RealField, Rotation3, Unit};
 
 use crate::aliases::{TMat, TMat4, TVec, TVec3};
-use crate::traits::{Alloc, Dimension, Number};
+use crate::traits::Number;
 
 /// The identity matrix.
-pub fn identity<N: Number, D: Dimension>() -> TMat<N, D, D>
+pub fn identity<T: Number, const D: usize>() -> TMat<T, D, D> {
-where
+    TMat::<T, D, D>::identity()
-    DefaultAllocator: Alloc<N, D, D>,
-{
-    TMat::<N, D, D>::identity()
 }
 
 /// Build a look at view matrix based on the right handedness.
@@ -23,7 +20,7 @@ where
 ///
 /// * [`look_at_lh`](fn.look_at_lh.html)
 /// * [`look_at_rh`](fn.look_at_rh.html)
-pub fn look_at<N: RealField>(eye: &TVec3<N>, center: &TVec3<N>, up: &TVec3<N>) -> TMat4<N> {
+pub fn look_at<T: RealField>(eye: &TVec3<T>, center: &TVec3<T>, up: &TVec3<T>) -> TMat4<T> {
     look_at_rh(eye, center, up)
 }
 
@@ -39,7 +36,7 @@ pub fn look_at<N: RealField>(eye: &TVec3<N>, center: &TVec3<N>, up: &TVec3<N>) -
 ///
 /// * [`look_at`](fn.look_at.html)
 /// * [`look_at_rh`](fn.look_at_rh.html)
-pub fn look_at_lh<N: RealField>(eye: &TVec3<N>, center: &TVec3<N>, up: &TVec3<N>) -> TMat4<N> {
+pub fn look_at_lh<T: RealField>(eye: &TVec3<T>, center: &TVec3<T>, up: &TVec3<T>) -> TMat4<T> {
     TMat::look_at_lh(&Point3::from(*eye), &Point3::from(*center), up)
 }
 
@@ -55,7 +52,7 @@ pub fn look_at_lh<N: RealField>(eye: &TVec3<N>, center: &TVec3<N>, up: &TVec3<N>
 ///
 /// * [`look_at`](fn.look_at.html)
 /// * [`look_at_lh`](fn.look_at_lh.html)
-pub fn look_at_rh<N: RealField>(eye: &TVec3<N>, center: &TVec3<N>, up: &TVec3<N>) -> TMat4<N> {
+pub fn look_at_rh<T: RealField>(eye: &TVec3<T>, center: &TVec3<T>, up: &TVec3<T>) -> TMat4<T> {
     TMat::look_at_rh(&Point3::from(*eye), &Point3::from(*center), up)
 }
 
@@ -74,7 +71,7 @@ pub fn look_at_rh<N: RealField>(eye: &TVec3<N>, center: &TVec3<N>, up: &TVec3<N>
 /// * [`rotate_z`](fn.rotate_z.html)
 /// * [`scale`](fn.scale.html)
 /// * [`translate`](fn.translate.html)
-pub fn rotate<N: RealField>(m: &TMat4<N>, angle: N, axis: &TVec3<N>) -> TMat4<N> {
+pub fn rotate<T: RealField>(m: &TMat4<T>, angle: T, axis: &TVec3<T>) -> TMat4<T> {
     m * Rotation3::from_axis_angle(&Unit::new_normalize(*axis), angle).to_homogeneous()
 }
 
@@ -92,7 +89,7 @@ pub fn rotate<N: RealField>(m: &TMat4<N>, angle: N, axis: &TVec3<N>) -> TMat4<N>
 /// * [`rotate_z`](fn.rotate_z.html)
 /// * [`scale`](fn.scale.html)
 /// * [`translate`](fn.translate.html)
-pub fn rotate_x<N: RealField>(m: &TMat4<N>, angle: N) -> TMat4<N> {
+pub fn rotate_x<T: RealField>(m: &TMat4<T>, angle: T) -> TMat4<T> {
     rotate(m, angle, &TVec::x())
 }
 
@@ -110,7 +107,7 @@ pub fn rotate_x<N: RealField>(m: &TMat4<N>, angle: N) -> TMat4<N> {
 /// * [`rotate_z`](fn.rotate_z.html)
 /// * [`scale`](fn.scale.html)
 /// * [`translate`](fn.translate.html)
-pub fn rotate_y<N: RealField>(m: &TMat4<N>, angle: N) -> TMat4<N> {
+pub fn rotate_y<T: RealField>(m: &TMat4<T>, angle: T) -> TMat4<T> {
     rotate(m, angle, &TVec::y())
 }
 
@@ -128,7 +125,7 @@ pub fn rotate_y<N: RealField>(m: &TMat4<N>, angle: N) -> TMat4<N> {
 /// * [`rotate_y`](fn.rotate_y.html)
 /// * [`scale`](fn.scale.html)
 /// * [`translate`](fn.translate.html)
-pub fn rotate_z<N: RealField>(m: &TMat4<N>, angle: N) -> TMat4<N> {
+pub fn rotate_z<T: RealField>(m: &TMat4<T>, angle: T) -> TMat4<T> {
     rotate(m, angle, &TVec::z())
 }
 
@@ -146,7 +143,7 @@ pub fn rotate_z<N: RealField>(m: &TMat4<N>, angle: N) -> TMat4<N> {
 /// * [`rotate_y`](fn.rotate_y.html)
 /// * [`rotate_z`](fn.rotate_z.html)
 /// * [`translate`](fn.translate.html)
-pub fn scale<N: Number>(m: &TMat4<N>, v: &TVec3<N>) -> TMat4<N> {
+pub fn scale<T: Number>(m: &TMat4<T>, v: &TVec3<T>) -> TMat4<T> {
     m.prepend_nonuniform_scaling(v)
 }
 
@@ -164,6 +161,6 @@ pub fn scale<N: Number>(m: &TMat4<N>, v: &TVec3<N>) -> TMat4<N> {
 /// * [`rotate_y`](fn.rotate_y.html)
 /// * [`rotate_z`](fn.rotate_z.html)
 /// * [`scale`](fn.scale.html)
-pub fn translate<N: Number>(m: &TMat4<N>, v: &TVec3<N>) -> TMat4<N> {
+pub fn translate<T: Number>(m: &TMat4<T>, v: &TVec3<T>) -> TMat4<T> {
     m.prepend_translation(v)
 }

nalgebra-glm/src/ext/quaternion_common.rs

@@ -3,34 +3,34 @@ use na::{self, RealField, Unit};
 use crate::aliases::Qua;
 
 /// The conjugate of `q`.
-pub fn quat_conjugate<N: RealField>(q: &Qua<N>) -> Qua<N> {
+pub fn quat_conjugate<T: RealField>(q: &Qua<T>) -> Qua<T> {
     q.conjugate()
 }
 
 /// The inverse of `q`.
-pub fn quat_inverse<N: RealField>(q: &Qua<N>) -> Qua<N> {
+pub fn quat_inverse<T: RealField>(q: &Qua<T>) -> Qua<T> {
     q.try_inverse().unwrap_or_else(na::zero)
 }
 
-//pub fn quat_isinf<N: RealField>(x: &Qua<N>) -> TVec<bool, U4> {
+//pub fn quat_isinf<T: RealField>(x: &Qua<T>) -> TVec<bool, U4> {
 //    x.coords.map(|e| e.is_inf())
 //}
 
-//pub fn quat_isnan<N: RealField>(x: &Qua<N>) -> TVec<bool, U4> {
+//pub fn quat_isnan<T: RealField>(x: &Qua<T>) -> TVec<bool, U4> {
 //    x.coords.map(|e| e.is_nan())
 //}
 
 /// Interpolate linearly between `x` and `y`.
-pub fn quat_lerp<N: RealField>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
+pub fn quat_lerp<T: RealField>(x: &Qua<T>, y: &Qua<T>, a: T) -> Qua<T> {
     x.lerp(y, a)
 }
 
-//pub fn quat_mix<N: RealField>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
+//pub fn quat_mix<T: RealField>(x: &Qua<T>, y: &Qua<T>, a: T) -> Qua<T> {
-//    x * (N::one() - a) + y * a
+//    x * (T::one() - a) + y * a
 //}
 
 /// Interpolate spherically between `x` and `y`.
-pub fn quat_slerp<N: RealField>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
+pub fn quat_slerp<T: RealField>(x: &Qua<T>, y: &Qua<T>, a: T) -> Qua<T> {
     Unit::new_normalize(*x)
         .slerp(&Unit::new_normalize(*y), a)
         .into_inner()

nalgebra-glm/src/ext/quaternion_geometric.rs

@@ -3,26 +3,26 @@ use na::RealField;
 use crate::aliases::Qua;
 
 /// Multiplies two quaternions.
-pub fn quat_cross<N: RealField>(q1: &Qua<N>, q2: &Qua<N>) -> Qua<N> {
+pub fn quat_cross<T: RealField>(q1: &Qua<T>, q2: &Qua<T>) -> Qua<T> {
     q1 * q2
 }
 
 /// The scalar product of two quaternions.
-pub fn quat_dot<N: RealField>(x: &Qua<N>, y: &Qua<N>) -> N {
+pub fn quat_dot<T: RealField>(x: &Qua<T>, y: &Qua<T>) -> T {
     x.dot(y)
 }
 
 /// The magnitude of the quaternion `q`.
-pub fn quat_length<N: RealField>(q: &Qua<N>) -> N {
+pub fn quat_length<T: RealField>(q: &Qua<T>) -> T {
     q.norm()
 }
 
 /// The magnitude of the quaternion `q`.
-pub fn quat_magnitude<N: RealField>(q: &Qua<N>) -> N {
+pub fn quat_magnitude<T: RealField>(q: &Qua<T>) -> T {
     q.norm()
 }
 
 /// Normalizes the quaternion `q`.
-pub fn quat_normalize<N: RealField>(q: &Qua<N>) -> Qua<N> {
+pub fn quat_normalize<T: RealField>(q: &Qua<T>) -> Qua<T> {
     q.normalize()
 }

nalgebra-glm/src/ext/quaternion_relational.rs

@@ -1,23 +1,23 @@
-use na::{RealField, U4};
+use na::RealField;
 
 use crate::aliases::{Qua, TVec};
 
 /// Component-wise equality comparison between two quaternions.
-pub fn quat_equal<N: RealField>(x: &Qua<N>, y: &Qua<N>) -> TVec<bool, U4> {
+pub fn quat_equal<T: RealField>(x: &Qua<T>, y: &Qua<T>) -> TVec<bool, 4> {
     crate::equal(&x.coords, &y.coords)
 }
 
 /// Component-wise approximate equality comparison between two quaternions.
-pub fn quat_equal_eps<N: RealField>(x: &Qua<N>, y: &Qua<N>, epsilon: N) -> TVec<bool, U4> {
+pub fn quat_equal_eps<T: RealField>(x: &Qua<T>, y: &Qua<T>, epsilon: T) -> TVec<bool, 4> {
     crate::equal_eps(&x.coords, &y.coords, epsilon)
 }
 
 /// Component-wise non-equality comparison between two quaternions.
-pub fn quat_not_equal<N: RealField>(x: &Qua<N>, y: &Qua<N>) -> TVec<bool, U4> {
+pub fn quat_not_equal<T: RealField>(x: &Qua<T>, y: &Qua<T>) -> TVec<bool, 4> {
     crate::not_equal(&x.coords, &y.coords)
 }
 
 /// Component-wise approximate non-equality comparison between two quaternions.
-pub fn quat_not_equal_eps<N: RealField>(x: &Qua<N>, y: &Qua<N>, epsilon: N) -> TVec<bool, U4> {
+pub fn quat_not_equal_eps<T: RealField>(x: &Qua<T>, y: &Qua<T>, epsilon: T) -> TVec<bool, 4> {
     crate::not_equal_eps(&x.coords, &y.coords, epsilon)
 }

nalgebra-glm/src/ext/quaternion_transform.rs

@@ -3,25 +3,25 @@ use na::{RealField, Unit, UnitQuaternion};
 use crate::aliases::{Qua, TVec3};
 
 /// Computes the quaternion exponential.
-pub fn quat_exp<N: RealField>(q: &Qua<N>) -> Qua<N> {
+pub fn quat_exp<T: RealField>(q: &Qua<T>) -> Qua<T> {
     q.exp()
 }
 
 /// Computes the quaternion logarithm.
-pub fn quat_log<N: RealField>(q: &Qua<N>) -> Qua<N> {
+pub fn quat_log<T: RealField>(q: &Qua<T>) -> Qua<T> {
     q.ln()
 }
 
 /// Raises the quaternion `q` to the power `y`.
-pub fn quat_pow<N: RealField>(q: &Qua<N>, y: N) -> Qua<N> {
+pub fn quat_pow<T: RealField>(q: &Qua<T>, y: T) -> Qua<T> {
     q.powf(y)
 }
 
 /// Builds a quaternion from an axis and an angle, and right-multiply it to the quaternion `q`.
-pub fn quat_rotate<N: RealField>(q: &Qua<N>, angle: N, axis: &TVec3<N>) -> Qua<N> {
+pub fn quat_rotate<T: RealField>(q: &Qua<T>, angle: T, axis: &TVec3<T>) -> Qua<T> {
     q * UnitQuaternion::from_axis_angle(&Unit::new_normalize(*axis), angle).into_inner()
 }
 
-//pub fn quat_sqrt<N: RealField>(q: &Qua<N>) -> Qua<N> {
+//pub fn quat_sqrt<T: RealField>(q: &Qua<T>) -> Qua<T> {
 //    unimplemented!()
 //}

nalgebra-glm/src/ext/quaternion_trigonometric.rs

@@ -3,17 +3,17 @@ use na::{RealField, Unit, UnitQuaternion};
 use crate::aliases::{Qua, TVec3};
 
 /// The rotation angle of this quaternion assumed to be normalized.
-pub fn quat_angle<N: RealField>(x: &Qua<N>) -> N {
+pub fn quat_angle<T: RealField>(x: &Qua<T>) -> T {
     UnitQuaternion::from_quaternion(*x).angle()
 }
 
 /// Creates a quaternion from an axis and an angle.
-pub fn quat_angle_axis<N: RealField>(angle: N, axis: &TVec3<N>) -> Qua<N> {
+pub fn quat_angle_axis<T: RealField>(angle: T, axis: &TVec3<T>) -> Qua<T> {
     UnitQuaternion::from_axis_angle(&Unit::new_normalize(*axis), angle).into_inner()
 }
 
 /// The rotation axis of a quaternion assumed to be normalized.
-pub fn quat_axis<N: RealField>(x: &Qua<N>) -> TVec3<N> {
+pub fn quat_axis<T: RealField>(x: &Qua<T>) -> TVec3<T> {
     if let Some(a) = UnitQuaternion::from_quaternion(*x).axis() {
         a.into_inner()
     } else {

nalgebra-glm/src/ext/scalar_common.rs

@@ -15,7 +15,7 @@ use crate::traits::Number;
 /// * [`max4_scalar`](fn.max4_scalar.html)
 /// * [`min3_scalar`](fn.min3_scalar.html)
 /// * [`min4_scalar`](fn.min4_scalar.html)
-pub fn max2_scalar<N: Number>(a: N, b: N) -> N {
+pub fn max2_scalar<T: Number>(a: T, b: T) -> T {
     if a >= b {
         a
     } else {
@@ -38,7 +38,7 @@ pub fn max2_scalar<N: Number>(a: N, b: N) -> N {
 /// * [`max4_scalar`](fn.max4_scalar.html)
 /// * [`min3_scalar`](fn.min3_scalar.html)
 /// * [`min4_scalar`](fn.min4_scalar.html)
-pub fn min2_scalar<N: Number>(a: N, b: N) -> N {
+pub fn min2_scalar<T: Number>(a: T, b: T) -> T {
     if a <= b {
         a
     } else {
@@ -61,7 +61,7 @@ pub fn min2_scalar<N: Number>(a: N, b: N) -> N {
 /// * [`max4_scalar`](fn.max4_scalar.html)
 /// * [`min3_scalar`](fn.min3_scalar.html)
 /// * [`min4_scalar`](fn.min4_scalar.html)
-pub fn max3_scalar<N: Number>(a: N, b: N, c: N) -> N {
+pub fn max3_scalar<T: Number>(a: T, b: T, c: T) -> T {
     max2_scalar(max2_scalar(a, b), c)
 }
 
@@ -80,7 +80,7 @@ pub fn max3_scalar<N: Number>(a: N, b: N, c: N) -> N {
 /// * [`max3_scalar`](fn.max3_scalar.html)
 /// * [`min3_scalar`](fn.min3_scalar.html)
 /// * [`min4_scalar`](fn.min4_scalar.html)
-pub fn max4_scalar<N: Number>(a: N, b: N, c: N, d: N) -> N {
+pub fn max4_scalar<T: Number>(a: T, b: T, c: T, d: T) -> T {
     max2_scalar(max2_scalar(a, b), max2_scalar(c, d))
 }
 
@@ -99,7 +99,7 @@ pub fn max4_scalar<N: Number>(a: N, b: N, c: N, d: N) -> N {
 /// * [`max3_scalar`](fn.max3_scalar.html)
 /// * [`max4_scalar`](fn.max4_scalar.html)
 /// * [`min4_scalar`](fn.min4_scalar.html)
-pub fn min3_scalar<N: Number>(a: N, b: N, c: N) -> N {
+pub fn min3_scalar<T: Number>(a: T, b: T, c: T) -> T {
     min2_scalar(min2_scalar(a, b), c)
 }
 
@@ -118,6 +118,6 @@ pub fn min3_scalar<N: Number>(a: N, b: N, c: N) -> N {
 /// * [`max3_scalar`](fn.max3_scalar.html)
 /// * [`max4_scalar`](fn.max4_scalar.html)
 /// * [`min3_scalar`](fn.min3_scalar.html)
-pub fn min4_scalar<N: Number>(a: N, b: N, c: N, d: N) -> N {
+pub fn min4_scalar<T: Number>(a: T, b: T, c: T, d: T) -> T {
     min2_scalar(min2_scalar(a, b), min2_scalar(c, d))
 }

nalgebra-glm/src/ext/scalar_constants.rs

@@ -2,8 +2,8 @@ use approx::AbsDiffEq;
 use na::RealField;
 
 /// Default epsilon value used for approximate comparison.
-pub fn epsilon<N: AbsDiffEq<Epsilon = N>>() -> N {
+pub fn epsilon<T: AbsDiffEq<Epsilon = T>>() -> T {
-    N::default_epsilon()
+    T::default_epsilon()
 }
 
 /// The value of PI.
@@ -22,6 +22,6 @@ pub fn epsilon<N: AbsDiffEq<Epsilon = N>>() -> N {
 /// * [`two_over_pi`](fn.two_over_pi.html)
 /// * [`two_over_root_pi`](fn.two_over_root_pi.html)
 /// * [`two_pi`](fn.two_pi.html)
-pub fn pi<N: RealField>() -> N {
+pub fn pi<T: RealField>() -> T {
-    N::pi()
+    T::pi()
 }

nalgebra-glm/src/ext/vector_common.rs

@@ -1,7 +1,5 @@
-use na::{self, DefaultAllocator};
-
 use crate::aliases::TVec;
-use crate::traits::{Alloc, Dimension, Number};
+use crate::traits::Number;
 
 /// Component-wise maximum between a vector and a scalar.
 ///
@@ -16,10 +14,7 @@ use crate::traits::{Alloc, Dimension, Number};
 /// * [`min2`](fn.min2.html)
 /// * [`min3`](fn.min3.html)
 /// * [`min4`](fn.min4.html)
-pub fn max<N: Number, D: Dimension>(a: &TVec<N, D>, b: N) -> TVec<N, D>
+pub fn max<T: Number, const D: usize>(a: &TVec<T, D>, b: T) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     a.map(|a| crate::max2_scalar(a, b))
 }
 
@@ -36,10 +31,7 @@ where
 /// * [`min2`](fn.min2.html)
 /// * [`min3`](fn.min3.html)
 /// * [`min4`](fn.min4.html)
-pub fn max2<N: Number, D: Dimension>(a: &TVec<N, D>, b: &TVec<N, D>) -> TVec<N, D>
+pub fn max2<T: Number, const D: usize>(a: &TVec<T, D>, b: &TVec<T, D>) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     a.zip_map(b, |a, b| crate::max2_scalar(a, b))
 }
 
@@ -56,10 +48,11 @@ where
 /// * [`min2`](fn.min2.html)
 /// * [`min3`](fn.min3.html)
 /// * [`min4`](fn.min4.html)
-pub fn max3<N: Number, D: Dimension>(a: &TVec<N, D>, b: &TVec<N, D>, c: &TVec<N, D>) -> TVec<N, D>
+pub fn max3<T: Number, const D: usize>(
-where
+    a: &TVec<T, D>,
-    DefaultAllocator: Alloc<N, D>,
+    b: &TVec<T, D>,
-{
+    c: &TVec<T, D>,
+) -> TVec<T, D> {
     max2(&max2(a, b), c)
 }
 
@@ -76,15 +69,12 @@ where
 /// * [`min2`](fn.min2.html)
 /// * [`min3`](fn.min3.html)
 /// * [`min4`](fn.min4.html)
-pub fn max4<N: Number, D: Dimension>(
+pub fn max4<T: Number, const D: usize>(
-    a: &TVec<N, D>,
+    a: &TVec<T, D>,
-    b: &TVec<N, D>,
+    b: &TVec<T, D>,
-    c: &TVec<N, D>,
+    c: &TVec<T, D>,
-    d: &TVec<N, D>,
+    d: &TVec<T, D>,
-) -> TVec<N, D>
+) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     max2(&max2(a, b), &max2(c, d))
 }
 
@@ -101,10 +91,7 @@ where
 /// * [`min2`](fn.min2.html)
 /// * [`min3`](fn.min3.html)
 /// * [`min4`](fn.min4.html)
-pub fn min<N: Number, D: Dimension>(x: &TVec<N, D>, y: N) -> TVec<N, D>
+pub fn min<T: Number, const D: usize>(x: &TVec<T, D>, y: T) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     x.map(|x| crate::min2_scalar(x, y))
 }
 
@@ -121,10 +108,7 @@ where
 /// * [`min`](fn.min.html)
 /// * [`min3`](fn.min3.html)
 /// * [`min4`](fn.min4.html)
-pub fn min2<N: Number, D: Dimension>(x: &TVec<N, D>, y: &TVec<N, D>) -> TVec<N, D>
+pub fn min2<T: Number, const D: usize>(x: &TVec<T, D>, y: &TVec<T, D>) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     x.zip_map(y, |a, b| crate::min2_scalar(a, b))
 }
 
@@ -141,10 +125,11 @@ where
 /// * [`min`](fn.min.html)
 /// * [`min2`](fn.min2.html)
 /// * [`min4`](fn.min4.html)
-pub fn min3<N: Number, D: Dimension>(a: &TVec<N, D>, b: &TVec<N, D>, c: &TVec<N, D>) -> TVec<N, D>
+pub fn min3<T: Number, const D: usize>(
-where
+    a: &TVec<T, D>,
-    DefaultAllocator: Alloc<N, D>,
+    b: &TVec<T, D>,
-{
+    c: &TVec<T, D>,
+) -> TVec<T, D> {
     min2(&min2(a, b), c)
 }
 
@@ -161,14 +146,11 @@ where
 /// * [`min`](fn.min.html)
 /// * [`min2`](fn.min2.html)
 /// * [`min3`](fn.min3.html)
-pub fn min4<N: Number, D: Dimension>(
+pub fn min4<T: Number, const D: usize>(
-    a: &TVec<N, D>,
+    a: &TVec<T, D>,
-    b: &TVec<N, D>,
+    b: &TVec<T, D>,
-    c: &TVec<N, D>,
+    c: &TVec<T, D>,
-    d: &TVec<N, D>,
+    d: &TVec<T, D>,
-) -> TVec<N, D>
+) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     min2(&min2(a, b), &min2(c, d))
 }

nalgebra-glm/src/ext/vector_relational.rs

@@ -1,7 +1,5 @@
-use na::DefaultAllocator;
-
 use crate::aliases::TVec;
-use crate::traits::{Alloc, Dimension, Number};
+use crate::traits::Number;
 
 /// Component-wise approximate equality of two vectors, using a scalar epsilon.
 ///
@@ -10,14 +8,11 @@ use crate::traits::{Alloc, Dimension, Number};
 /// * [`equal_eps_vec`](fn.equal_eps_vec.html)
 /// * [`not_equal_eps`](fn.not_equal_eps.html)
 /// * [`not_equal_eps_vec`](fn.not_equal_eps_vec.html)
-pub fn equal_eps<N: Number, D: Dimension>(
+pub fn equal_eps<T: Number, const D: usize>(
-    x: &TVec<N, D>,
+    x: &TVec<T, D>,
-    y: &TVec<N, D>,
+    y: &TVec<T, D>,
-    epsilon: N,
+    epsilon: T,
-) -> TVec<bool, D>
+) -> TVec<bool, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     x.zip_map(y, |x, y| abs_diff_eq!(x, y, epsilon = epsilon))
 }
 
@@ -28,14 +23,11 @@ where
 /// * [`equal_eps`](fn.equal_eps.html)
 /// * [`not_equal_eps`](fn.not_equal_eps.html)
 /// * [`not_equal_eps_vec`](fn.not_equal_eps_vec.html)
-pub fn equal_eps_vec<N: Number, D: Dimension>(
+pub fn equal_eps_vec<T: Number, const D: usize>(
-    x: &TVec<N, D>,
+    x: &TVec<T, D>,
-    y: &TVec<N, D>,
+    y: &TVec<T, D>,
-    epsilon: &TVec<N, D>,
+    epsilon: &TVec<T, D>,
-) -> TVec<bool, D>
+) -> TVec<bool, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     x.zip_zip_map(y, epsilon, |x, y, eps| abs_diff_eq!(x, y, epsilon = eps))
 }
 
@@ -46,14 +38,11 @@ where
 /// * [`equal_eps`](fn.equal_eps.html)
 /// * [`equal_eps_vec`](fn.equal_eps_vec.html)
 /// * [`not_equal_eps_vec`](fn.not_equal_eps_vec.html)
-pub fn not_equal_eps<N: Number, D: Dimension>(
+pub fn not_equal_eps<T: Number, const D: usize>(
-    x: &TVec<N, D>,
+    x: &TVec<T, D>,
-    y: &TVec<N, D>,
+    y: &TVec<T, D>,
-    epsilon: N,
+    epsilon: T,
-) -> TVec<bool, D>
+) -> TVec<bool, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     x.zip_map(y, |x, y| abs_diff_ne!(x, y, epsilon = epsilon))
 }
 
@@ -64,13 +53,10 @@ where
 /// * [`equal_eps`](fn.equal_eps.html)
 /// * [`equal_eps_vec`](fn.equal_eps_vec.html)
 /// * [`not_equal_eps`](fn.not_equal_eps.html)
-pub fn not_equal_eps_vec<N: Number, D: Dimension>(
+pub fn not_equal_eps_vec<T: Number, const D: usize>(
-    x: &TVec<N, D>,
+    x: &TVec<T, D>,
-    y: &TVec<N, D>,
+    y: &TVec<T, D>,
-    epsilon: &TVec<N, D>,
+    epsilon: &TVec<T, D>,
-) -> TVec<bool, D>
+) -> TVec<bool, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     x.zip_zip_map(y, epsilon, |x, y, eps| abs_diff_ne!(x, y, epsilon = eps))
 }

nalgebra-glm/src/geometric.rs

@@ -1,10 +1,10 @@
-use na::{DefaultAllocator, RealField};
+use na::RealField;
 
 use crate::aliases::{TVec, TVec3};
-use crate::traits::{Alloc, Dimension, Number};
+use crate::traits::Number;
 
 /// The cross product of two vectors.
-pub fn cross<N: Number>(x: &TVec3<N>, y: &TVec3<N>) -> TVec3<N> {
+pub fn cross<T: Number>(x: &TVec3<T>, y: &TVec3<T>) -> TVec3<T> {
     x.cross(y)
 }
 
@@ -13,31 +13,22 @@ pub fn cross<N: Number>(x: &TVec3<N>, y: &TVec3<N>) -> TVec3<N> {
 /// # See also:
 ///
 /// * [`distance2`](fn.distance2.html)
-pub fn distance<N: RealField, D: Dimension>(p0: &TVec<N, D>, p1: &TVec<N, D>) -> N
+pub fn distance<T: RealField, const D: usize>(p0: &TVec<T, D>, p1: &TVec<T, D>) -> T {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     (p1 - p0).norm()
 }
 
 /// The dot product of two vectors.
-pub fn dot<N: Number, D: Dimension>(x: &TVec<N, D>, y: &TVec<N, D>) -> N
+pub fn dot<T: Number, const D: usize>(x: &TVec<T, D>, y: &TVec<T, D>) -> T {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     x.dot(y)
 }
 
 /// If `dot(nref, i) < 0.0`, return `n`, otherwise, return `-n`.
-pub fn faceforward<N: Number, D: Dimension>(
+pub fn faceforward<T: Number, const D: usize>(
-    n: &TVec<N, D>,
+    n: &TVec<T, D>,
-    i: &TVec<N, D>,
+    i: &TVec<T, D>,
-    nref: &TVec<N, D>,
+    nref: &TVec<T, D>,
-) -> TVec<N, D>
+) -> TVec<T, D> {
-where
+    if nref.dot(i) < T::zero() {
-    DefaultAllocator: Alloc<N, D>,
-{
-    if nref.dot(i) < N::zero() {
         n.clone()
     } else {
         -n.clone()
@@ -53,10 +44,7 @@ where
 /// * [`length2`](fn.length2.html)
 /// * [`magnitude`](fn.magnitude.html)
 /// * [`magnitude2`](fn.magnitude2.html)
-pub fn length<N: RealField, D: Dimension>(x: &TVec<N, D>) -> N
+pub fn length<T: RealField, const D: usize>(x: &TVec<T, D>) -> T {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     x.norm()
 }
 
@@ -69,39 +57,31 @@ where
 /// * [`length`](fn.length.html)
 /// * [`magnitude2`](fn.magnitude2.html)
 /// * [`nalgebra::norm`](../nalgebra/fn.norm.html)
-pub fn magnitude<N: RealField, D: Dimension>(x: &TVec<N, D>) -> N
+pub fn magnitude<T: RealField, const D: usize>(x: &TVec<T, D>) -> T {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     x.norm()
 }
 
 /// Normalizes a vector.
-pub fn normalize<N: RealField, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
+pub fn normalize<T: RealField, const D: usize>(x: &TVec<T, D>) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     x.normalize()
 }
 
 /// For the incident vector `i` and surface orientation `n`, returns the reflection direction : `result = i - 2.0 * dot(n, i) * n`.
-pub fn reflect_vec<N: Number, D: Dimension>(i: &TVec<N, D>, n: &TVec<N, D>) -> TVec<N, D>
+pub fn reflect_vec<T: Number, const D: usize>(i: &TVec<T, D>, n: &TVec<T, D>) -> TVec<T, D> {
-where
+    let _2 = T::one() + T::one();
-    DefaultAllocator: Alloc<N, D>,
-{
-    let _2 = N::one() + N::one();
     i - n * (n.dot(i) * _2)
 }
 
 /// For the incident vector `i` and surface normal `n`, and the ratio of indices of refraction `eta`, return the refraction vector.
-pub fn refract_vec<N: RealField, D: Dimension>(i: &TVec<N, D>, n: &TVec<N, D>, eta: N) -> TVec<N, D>
+pub fn refract_vec<T: RealField, const D: usize>(
-where
+    i: &TVec<T, D>,
-    DefaultAllocator: Alloc<N, D>,
+    n: &TVec<T, D>,
-{
+    eta: T,
+) -> TVec<T, D> {
     let ni = n.dot(i);
-    let k = N::one() - eta * eta * (N::one() - ni * ni);
+    let k = T::one() - eta * eta * (T::one() - ni * ni);
 
-    if k < N::zero() {
+    if k < T::zero() {
         TVec::<_, D>::zeros()
     } else {
         i * eta - n * (eta * dot(n, i) + k.sqrt())

nalgebra-glm/src/gtc/bitfield.rs

@@ -1,6 +1,5 @@
-use na::{Scalar, DefaultAllocator};
+use na::{DefaultAllocator, Scalar};
 
-use crate::traits::{Alloc, Dimension};
 use crate::aliases::*;
 
 pub fn bitfieldDeinterleave(x: u16) -> U8Vec2 {
@@ -19,8 +18,11 @@ pub fn bitfieldFillOne<IU>(Value: IU, FirstBit: i32, BitCount: i32) -> IU {
     unimplemented!()
 }
 
-pub fn bitfieldFillOne2<N: Scalar, D: Dimension>(Value: &TVec<N, D>, FirstBit: i32, BitCount: i32) -> TVec<N, D>
+pub fn bitfieldFillOne2<T: Scalar, const D: usize>(
-    where DefaultAllocator: Alloc<N, D> {
+    Value: &TVec<T, D>,
+    FirstBit: i32,
+    BitCount: i32,
+) -> TVec<T, D> {
     unimplemented!()
 }
 
@@ -28,8 +30,11 @@ pub fn bitfieldFillZero<IU>(Value: IU, FirstBit: i32, BitCount: i32) -> IU {
     unimplemented!()
 }
 
-pub fn bitfieldFillZero2<N: Scalar, D: Dimension>(Value: &TVec<N, D>, FirstBit: i32, BitCount: i32) -> TVec<N, D>
+pub fn bitfieldFillZero2<T: Scalar, const D: usize>(
-    where DefaultAllocator: Alloc<N, D> {
+    Value: &TVec<T, D>,
+    FirstBit: i32,
+    BitCount: i32,
+) -> TVec<T, D> {
     unimplemented!()
 }
 
@@ -113,8 +118,7 @@ pub fn bitfieldRotateLeft<IU>(In: IU, Shift: i32) -> IU {
     unimplemented!()
 }
 
-pub fn bitfieldRotateLeft2<N: Scalar, D: Dimension>(In: &TVec<N, D>, Shift: i32) -> TVec<N, D>
+pub fn bitfieldRotateLeft2<T: Scalar, const D: usize>(In: &TVec<T, D>, Shift: i32) -> TVec<T, D> {
-    where DefaultAllocator: Alloc<N, D> {
     unimplemented!()
 }
 
@@ -122,8 +126,7 @@ pub fn bitfieldRotateRight<IU>(In: IU, Shift: i32) -> IU {
     unimplemented!()
 }
 
-pub fn bitfieldRotateRight2<N: Scalar, D: Dimension>(In: &TVec<N, D>, Shift: i32) -> TVec<N, D>
+pub fn bitfieldRotateRight2<T: Scalar, const D: usize>(In: &TVec<T, D>, Shift: i32) -> TVec<T, D> {
-    where DefaultAllocator: Alloc<N, D> {
     unimplemented!()
 }
 
@@ -131,7 +134,6 @@ pub fn mask<IU>(Bits: IU) -> IU {
     unimplemented!()
 }
 
-pub fn mask2<N: Scalar, D: Dimension>(v: &TVec<N, D>) -> TVec<N, D>
+pub fn mask2<T: Scalar, const D: usize>(v: &TVec<T, D>) -> TVec<T, D> {
-    where DefaultAllocator: Alloc<N, D> {
     unimplemented!()
 }

nalgebra-glm/src/gtc/constants.rs

@@ -3,13 +3,13 @@ use na::{self, RealField};
 /// The Euler constant.
 ///
 /// This is a shorthand alias for [`euler`](fn.euler.html).
-pub fn e<N: RealField>() -> N {
+pub fn e<T: RealField>() -> T {
-    N::e()
+    T::e()
 }
 
 /// The Euler constant.
-pub fn euler<N: RealField>() -> N {
+pub fn euler<T: RealField>() -> T {
-    N::e()
+    T::e()
 }
 
 /// Returns `4 / pi`.
@@ -28,13 +28,13 @@ pub fn euler<N: RealField>() -> N {
 /// * [`two_over_pi`](fn.two_over_pi.html)
 /// * [`two_over_root_pi`](fn.two_over_root_pi.html)
 /// * [`two_pi`](fn.two_pi.html)
-pub fn four_over_pi<N: RealField>() -> N {
+pub fn four_over_pi<T: RealField>() -> T {
-    na::convert::<_, N>(4.0) / N::pi()
+    na::convert::<_, T>(4.0) / T::pi()
 }
 
 /// Returns the golden ratio.
-pub fn golden_ratio<N: RealField>() -> N {
+pub fn golden_ratio<T: RealField>() -> T {
-    (N::one() + root_five()) / na::convert(2.0)
+    (T::one() + root_five()) / na::convert(2.0)
 }
 
 /// Returns `pi / 2`.
@@ -53,8 +53,8 @@ pub fn golden_ratio<N: RealField>() -> N {
 /// * [`two_over_pi`](fn.two_over_pi.html)
 /// * [`two_over_root_pi`](fn.two_over_root_pi.html)
 /// * [`two_pi`](fn.two_pi.html)
-pub fn half_pi<N: RealField>() -> N {
+pub fn half_pi<T: RealField>() -> T {
-    N::frac_pi_2()
+    T::frac_pi_2()
 }
 
 /// Returns `ln(ln(2))`.
@@ -63,8 +63,8 @@ pub fn half_pi<N: RealField>() -> N {
 ///
 /// * [`ln_ten`](fn.ln_ten.html)
 /// * [`ln_two`](fn.ln_two.html)
-pub fn ln_ln_two<N: RealField>() -> N {
+pub fn ln_ln_two<T: RealField>() -> T {
-    N::ln_2().ln()
+    T::ln_2().ln()
 }
 
 /// Returns `ln(10)`.
@@ -73,8 +73,8 @@ pub fn ln_ln_two<N: RealField>() -> N {
 ///
 /// * [`ln_ln_two`](fn.ln_ln_two.html)
 /// * [`ln_two`](fn.ln_two.html)
-pub fn ln_ten<N: RealField>() -> N {
+pub fn ln_ten<T: RealField>() -> T {
-    N::ln_10()
+    T::ln_10()
 }
 
 /// Returns `ln(2)`.
@@ -83,8 +83,8 @@ pub fn ln_ten<N: RealField>() -> N {
 ///
 /// * [`ln_ln_two`](fn.ln_ln_two.html)
 /// * [`ln_ten`](fn.ln_ten.html)
-pub fn ln_two<N: RealField>() -> N {
+pub fn ln_two<T: RealField>() -> T {
-    N::ln_2()
+    T::ln_2()
 }
 
 /// Returns `1`.
@@ -106,13 +106,13 @@ pub use na::one;
 /// * [`two_over_pi`](fn.two_over_pi.html)
 /// * [`two_over_root_pi`](fn.two_over_root_pi.html)
 /// * [`two_pi`](fn.two_pi.html)
-pub fn one_over_pi<N: RealField>() -> N {
+pub fn one_over_pi<T: RealField>() -> T {
-    N::frac_1_pi()
+    T::frac_1_pi()
 }
 
 /// Returns `1 / sqrt(2)`.
-pub fn one_over_root_two<N: RealField>() -> N {
+pub fn one_over_root_two<T: RealField>() -> T {
-    N::one() / root_two()
+    T::one() / root_two()
 }
 
 /// Returns `1 / (2pi)`.
@@ -131,8 +131,8 @@ pub fn one_over_root_two<N: RealField>() -> N {
 /// * [`two_over_pi`](fn.two_over_pi.html)
 /// * [`two_over_root_pi`](fn.two_over_root_pi.html)
 /// * [`two_pi`](fn.two_pi.html)
-pub fn one_over_two_pi<N: RealField>() -> N {
+pub fn one_over_two_pi<T: RealField>() -> T {
-    N::frac_1_pi() * na::convert(0.5)
+    T::frac_1_pi() * na::convert(0.5)
 }
 
 /// Returns `pi / 4`.
@@ -151,8 +151,8 @@ pub fn one_over_two_pi<N: RealField>() -> N {
 /// * [`two_over_pi`](fn.two_over_pi.html)
 /// * [`two_over_root_pi`](fn.two_over_root_pi.html)
 /// * [`two_pi`](fn.two_pi.html)
-pub fn quarter_pi<N: RealField>() -> N {
+pub fn quarter_pi<T: RealField>() -> T {
-    N::frac_pi_4()
+    T::frac_pi_4()
 }
 
 /// Returns `sqrt(5)`.
@@ -161,8 +161,8 @@ pub fn quarter_pi<N: RealField>() -> N {
 ///
 /// * [`root_three`](fn.root_three.html)
 /// * [`root_two`](fn.root_two.html)
-pub fn root_five<N: RealField>() -> N {
+pub fn root_five<T: RealField>() -> T {
-    na::convert::<_, N>(5.0).sqrt()
+    na::convert::<_, T>(5.0).sqrt()
 }
 
 /// Returns `sqrt(pi / 2)`.
@@ -181,13 +181,13 @@ pub fn root_five<N: RealField>() -> N {
 /// * [`two_over_pi`](fn.two_over_pi.html)
 /// * [`two_over_root_pi`](fn.two_over_root_pi.html)
 /// * [`two_pi`](fn.two_pi.html)
-pub fn root_half_pi<N: RealField>() -> N {
+pub fn root_half_pi<T: RealField>() -> T {
-    (N::pi() / na::convert(2.0)).sqrt()
+    (T::pi() / na::convert(2.0)).sqrt()
 }
 
 /// Returns `sqrt(ln(4))`.
-pub fn root_ln_four<N: RealField>() -> N {
+pub fn root_ln_four<T: RealField>() -> T {
-    na::convert::<_, N>(4.0).ln().sqrt()
+    na::convert::<_, T>(4.0).ln().sqrt()
 }
 
 /// Returns the square root of pi.
@@ -206,8 +206,8 @@ pub fn root_ln_four<N: RealField>() -> N {
 /// * [`two_over_pi`](fn.two_over_pi.html)
 /// * [`two_over_root_pi`](fn.two_over_root_pi.html)
 /// * [`two_pi`](fn.two_pi.html)
-pub fn root_pi<N: RealField>() -> N {
+pub fn root_pi<T: RealField>() -> T {
-    N::pi().sqrt()
+    T::pi().sqrt()
 }
 
 /// Returns the square root of 3.
@@ -216,8 +216,8 @@ pub fn root_pi<N: RealField>() -> N {
 ///
 /// * [`root_five`](fn.root_five.html)
 /// * [`root_two`](fn.root_two.html)
-pub fn root_three<N: RealField>() -> N {
+pub fn root_three<T: RealField>() -> T {
-    na::convert::<_, N>(3.0).sqrt()
+    na::convert::<_, T>(3.0).sqrt()
 }
 
 /// Returns the square root of 2.
@@ -226,9 +226,9 @@ pub fn root_three<N: RealField>() -> N {
 ///
 /// * [`root_five`](fn.root_five.html)
 /// * [`root_three`](fn.root_three.html)
-pub fn root_two<N: RealField>() -> N {
+pub fn root_two<T: RealField>() -> T {
     // TODO: there should be a crate::sqrt_2() on the RealField trait.
-    na::convert::<_, N>(2.0).sqrt()
+    na::convert::<_, T>(2.0).sqrt()
 }
 
 /// Returns the square root of 2pi.
@@ -247,8 +247,8 @@ pub fn root_two<N: RealField>() -> N {
 /// * [`two_over_pi`](fn.two_over_pi.html)
 /// * [`two_over_root_pi`](fn.two_over_root_pi.html)
 /// * [`two_pi`](fn.two_pi.html)
-pub fn root_two_pi<N: RealField>() -> N {
+pub fn root_two_pi<T: RealField>() -> T {
-    N::two_pi().sqrt()
+    T::two_pi().sqrt()
 }
 
 /// Returns `1 / 3`.
@@ -256,7 +256,7 @@ pub fn root_two_pi<N: RealField>() -> N {
 /// # See also:
 ///
 /// * [`two_thirds`](fn.two_thirds.html)
-pub fn third<N: RealField>() -> N {
+pub fn third<T: RealField>() -> T {
     na::convert(1.0 / 3.0)
 }
 
@@ -276,8 +276,8 @@ pub fn third<N: RealField>() -> N {
 /// * [`two_over_pi`](fn.two_over_pi.html)
 /// * [`two_over_root_pi`](fn.two_over_root_pi.html)
 /// * [`two_pi`](fn.two_pi.html)
-pub fn three_over_two_pi<N: RealField>() -> N {
+pub fn three_over_two_pi<T: RealField>() -> T {
-    na::convert::<_, N>(3.0) / N::two_pi()
+    na::convert::<_, T>(3.0) / T::two_pi()
 }
 
 /// Returns `2 / pi`.
@@ -295,8 +295,8 @@ pub fn three_over_two_pi<N: RealField>() -> N {
 /// * [`three_over_two_pi`](fn.three_over_two_pi.html)
 /// * [`two_over_root_pi`](fn.two_over_root_pi.html)
 /// * [`two_pi`](fn.two_pi.html)
-pub fn two_over_pi<N: RealField>() -> N {
+pub fn two_over_pi<T: RealField>() -> T {
-    N::frac_2_pi()
+    T::frac_2_pi()
 }
 
 /// Returns `2 / sqrt(pi)`.
@@ -315,8 +315,8 @@ pub fn two_over_pi<N: RealField>() -> N {
 /// * [`three_over_two_pi`](fn.three_over_two_pi.html)
 /// * [`two_over_pi`](fn.two_over_pi.html)
 /// * [`two_pi`](fn.two_pi.html)
-pub fn two_over_root_pi<N: RealField>() -> N {
+pub fn two_over_root_pi<T: RealField>() -> T {
-    N::frac_2_sqrt_pi()
+    T::frac_2_sqrt_pi()
 }
 
 /// Returns `2pi`.
@@ -335,8 +335,8 @@ pub fn two_over_root_pi<N: RealField>() -> N {
 /// * [`three_over_two_pi`](fn.three_over_two_pi.html)
 /// * [`two_over_pi`](fn.two_over_pi.html)
 /// * [`two_over_root_pi`](fn.two_over_root_pi.html)
-pub fn two_pi<N: RealField>() -> N {
+pub fn two_pi<T: RealField>() -> T {
-    N::two_pi()
+    T::two_pi()
 }
 
 /// Returns `2 / 3`.
@@ -344,7 +344,7 @@ pub fn two_pi<N: RealField>() -> N {
 /// # See also:
 ///
 /// * [`third`](fn.third.html)
-pub fn two_thirds<N: RealField>() -> N {
+pub fn two_thirds<T: RealField>() -> T {
     na::convert(2.0 / 3.0)
 }
 

nalgebra-glm/src/gtc/epsilon.rs

@@ -8,24 +8,24 @@ use crate::traits::{Alloc, Number, Dimension};
 use crate::aliases::TVec;
 
 /// Component-wise approximate equality beween two vectors.
-pub fn epsilon_equal<N: Number, D: Dimension>(x: &TVec<N, D>, y: &TVec<N, D>, epsilon: N) -> TVec<bool, D>
+pub fn epsilon_equal<T: Number, const D: usize>(x: &TVec<T, D>, y: &TVec<T, D>, epsilon: T) -> TVec<bool, D>
-    where DefaultAllocator: Alloc<N, D> {
+    where DefaultAllocator: Alloc<T, D> {
     x.zip_map(y, |x, y| abs_diff_eq!(x, y, epsilon = epsilon))
 }
 
 /// Component-wise approximate equality beween two scalars.
-pub fn epsilon_equal2<N: AbsDiffEq<Epsilon = N>>(x: N, y: N, epsilon: N) -> bool {
+pub fn epsilon_equal2<T: AbsDiffEq<Epsilon = T>>(x: T, y: T, epsilon: T) -> bool {
     abs_diff_eq!(x, y, epsilon = epsilon)
 }
 
 /// Component-wise approximate non-equality beween two vectors.
-pub fn epsilon_not_equal<N: Number, D: Dimension>(x: &TVec<N, D>, y: &TVec<N, D>, epsilon: N) -> TVec<bool, D>
+pub fn epsilon_not_equal<T: Number, const D: usize>(x: &TVec<T, D>, y: &TVec<T, D>, epsilon: T) -> TVec<bool, D>
-    where DefaultAllocator: Alloc<N, D> {
+    where DefaultAllocator: Alloc<T, D> {
     x.zip_map(y, |x, y| abs_diff_ne!(x, y, epsilon = epsilon))
 }
 
 /// Component-wise approximate non-equality beween two scalars.
-pub fn epsilon_not_equal2<N: AbsDiffEq<Epsilon = N>>(x: N, y: N, epsilon: N) -> bool {
+pub fn epsilon_not_equal2<T: AbsDiffEq<Epsilon = T>>(x: T, y: T, epsilon: T) -> bool {
     abs_diff_ne!(x, y, epsilon = epsilon)
 }
 */

nalgebra-glm/src/gtc/integer.rs

@@ -1,10 +1,9 @@
-//use na::{Scalar, DefaultAllocator};
+//use na::Scalar;
+//
 //
-//use crate::traits::{Alloc, Dimension};
 //use crate::aliases::TVec;
 
-//pub fn iround<N: Scalar, D: Dimension>(x: &TVec<N, D>) -> TVec<i32, D>
+//pub fn iround<T: Scalar, const D: usize>(x: &TVec<T, D>) -> TVec<i32, D> {
-//    where DefaultAllocator: Alloc<N, D> {
 //    x.map(|x| x.round())
 //}
 //
@@ -12,7 +11,6 @@
 //    unimplemented!()
 //}
 //
-//pub fn uround<N: Scalar, D: Dimension>(x: &TVec<N, D>) -> TVec<u32, D>
+//pub fn uround<T: Scalar, const D: usize>(x: &TVec<T, D>) -> TVec<u32, D>  {
-//    where DefaultAllocator: Alloc<N, D> {
 //    unimplemented!()
 //}

nalgebra-glm/src/gtc/matrix_access.rs

@@ -1,7 +1,6 @@
-use na::{DefaultAllocator, Scalar};
+use na::Scalar;
 
 use crate::aliases::{TMat, TVec};
-use crate::traits::{Alloc, Dimension};
 
 /// The `index`-th column of the matrix `m`.
 ///
@@ -10,10 +9,10 @@ use crate::traits::{Alloc, Dimension};
 /// * [`row`](fn.row.html)
 /// * [`set_column`](fn.set_column.html)
 /// * [`set_row`](fn.set_row.html)
-pub fn column<N: Scalar, R: Dimension, C: Dimension>(m: &TMat<N, R, C>, index: usize) -> TVec<N, R>
+pub fn column<T: Scalar, const R: usize, const C: usize>(
-where
+    m: &TMat<T, R, C>,
-    DefaultAllocator: Alloc<N, R, C>,
+    index: usize,
-{
+) -> TVec<T, R> {
     m.column(index).into_owned()
 }
 
@@ -24,14 +23,11 @@ where
 /// * [`column`](fn.column.html)
 /// * [`row`](fn.row.html)
 /// * [`set_row`](fn.set_row.html)
-pub fn set_column<N: Scalar, R: Dimension, C: Dimension>(
+pub fn set_column<T: Scalar, const R: usize, const C: usize>(
-    m: &TMat<N, R, C>,
+    m: &TMat<T, R, C>,
     index: usize,
-    x: &TVec<N, R>,
+    x: &TVec<T, R>,
-) -> TMat<N, R, C>
+) -> TMat<T, R, C> {
-where
-    DefaultAllocator: Alloc<N, R, C>,
-{
     let mut res = m.clone();
     res.set_column(index, x);
     res
@@ -44,10 +40,10 @@ where
 /// * [`column`](fn.column.html)
 /// * [`set_column`](fn.set_column.html)
 /// * [`set_row`](fn.set_row.html)
-pub fn row<N: Scalar, R: Dimension, C: Dimension>(m: &TMat<N, R, C>, index: usize) -> TVec<N, C>
+pub fn row<T: Scalar, const R: usize, const C: usize>(
-where
+    m: &TMat<T, R, C>,
-    DefaultAllocator: Alloc<N, R, C>,
+    index: usize,
-{
+) -> TVec<T, C> {
     m.row(index).into_owned().transpose()
 }
 
@@ -58,14 +54,11 @@ where
 /// * [`column`](fn.column.html)
 /// * [`row`](fn.row.html)
 /// * [`set_column`](fn.set_column.html)
-pub fn set_row<N: Scalar, R: Dimension, C: Dimension>(
+pub fn set_row<T: Scalar, const R: usize, const C: usize>(
-    m: &TMat<N, R, C>,
+    m: &TMat<T, R, C>,
     index: usize,
-    x: &TVec<N, C>,
+    x: &TVec<T, C>,
-) -> TMat<N, R, C>
+) -> TMat<T, R, C> {
-where
-    DefaultAllocator: Alloc<N, R, C>,
-{
     let mut res = m.clone();
     res.set_row(index, &x.transpose());
     res

nalgebra-glm/src/gtc/matrix_inverse.rs

@@ -1,22 +1,15 @@
-use na::{DefaultAllocator, RealField};
+use na::RealField;
 
 use crate::aliases::TMat;
-use crate::traits::{Alloc, Dimension};
 
 /// Fast matrix inverse for affine matrix.
-pub fn affine_inverse<N: RealField, D: Dimension>(m: TMat<N, D, D>) -> TMat<N, D, D>
+pub fn affine_inverse<T: RealField, const D: usize>(m: TMat<T, D, D>) -> TMat<T, D, D> {
-where
-    DefaultAllocator: Alloc<N, D, D>,
-{
     // TODO: this should be optimized.
     m.try_inverse().unwrap_or_else(TMat::<_, D, D>::zeros)
 }
 
 /// Compute the transpose of the inverse of a matrix.
-pub fn inverse_transpose<N: RealField, D: Dimension>(m: TMat<N, D, D>) -> TMat<N, D, D>
+pub fn inverse_transpose<T: RealField, const D: usize>(m: TMat<T, D, D>) -> TMat<T, D, D> {
-where
-    DefaultAllocator: Alloc<N, D, D>,
-{
     m.try_inverse()
         .unwrap_or_else(TMat::<_, D, D>::zeros)
         .transpose()

nalgebra-glm/src/gtc/packing.rs

@@ -1,9 +1,7 @@
-use na::{Scalar, RealField, DefaultAllocator, U3, U4};
+use na::{DefaultAllocator, RealField, Scalar, U3, U4};
 
-use crate::traits::{Alloc, Dimension};
 use crate::aliases::*;
 
-
 pub fn packF2x11_1x10(v: &Vec3) -> i32 {
     unimplemented!()
 }
@@ -12,8 +10,10 @@ pub fn packF3x9_E1x5(v: &Vec3) -> i32 {
     unimplemented!()
 }
 
-pub fn packHalf<D: Dimension>(v: &TVec<f32, D>) -> TVec<u16, D>
+pub fn packHalf<const D: usize>(v: &TVec<f32, D>) -> TVec<u16, D>
-    where DefaultAllocator: Alloc<u16, D> {
+where
+    DefaultAllocator: Alloc<u16, D>,
+{
     unimplemented!()
 }
 
@@ -49,12 +49,14 @@ pub fn packInt4x8(v: &I8Vec4) -> i32 {
     unimplemented!()
 }
 
-pub fn packRGBM<N: Scalar>(rgb: &TVec3<N>) -> TVec4<N> {
+pub fn packRGBM<T: Scalar>(rgb: &TVec3<T>) -> TVec4<T> {
     unimplemented!()
 }
 
-pub fn packSnorm<I: Scalar, N: RealField, D: Dimension>(v: TVec<N, D>) -> TVec<I, D>
+pub fn packSnorm<I: Scalar, T: RealField, const D: usize>(v: TVec<T, D>) -> TVec<I, D>
-    where DefaultAllocator: Alloc<N, D> + Alloc<I, D> {
+where
+    DefaultAllocator: Alloc<T, D> + Alloc<I, D>,
+{
     unimplemented!()
 }
 
@@ -102,8 +104,10 @@ pub fn packUint4x8(v: &U8Vec4) -> i32 {
     unimplemented!()
 }
 
-pub fn packUnorm<UI: Scalar, N: RealField, D: Dimension>(v: &TVec<N, D>) -> TVec<UI, D>
+pub fn packUnorm<UI: Scalar, T: RealField, const D: usize>(v: &TVec<T, D>) -> TVec<UI, D>
-    where DefaultAllocator: Alloc<N, D> + Alloc<UI, D> {
+where
+    DefaultAllocator: Alloc<T, D> + Alloc<UI, D>,
+{
     unimplemented!()
 }
 
@@ -155,8 +159,7 @@ pub fn unpackF3x9_E1x5(p: i32) -> Vec3 {
     unimplemented!()
 }
 
-pub fn unpackHalf<N: Scalar, D: Dimension>(p: TVec<i16, D>) -> TVec<N, D>
+pub fn unpackHalf<T: Scalar, const D: usize>(p: TVec<i16, D>) -> TVec<T, D> {
-    where DefaultAllocator: Alloc<N, D> {
     unimplemented!()
 }
 
@@ -192,12 +195,14 @@ pub fn unpackInt4x8(p: i32) -> I8Vec4 {
     unimplemented!()
 }
 
-pub fn unpackRGBM<N: Scalar>(rgbm: &TVec4<N>) -> TVec3<N> {
+pub fn unpackRGBM<T: Scalar>(rgbm: &TVec4<T>) -> TVec3<T> {
     unimplemented!()
 }
 
-pub fn unpackSnorm<I: Scalar, N: RealField, D: Dimension>(v: &TVec<I, D>) -> TVec<N, D>
+pub fn unpackSnorm<I: Scalar, T: RealField, const D: usize>(v: &TVec<I, D>) -> TVec<T, D>
-    where DefaultAllocator: Alloc<N, D> + Alloc<I, D> {
+where
+    DefaultAllocator: Alloc<T, D> + Alloc<I, D>,
+{
     unimplemented!()
 }
 
@@ -245,8 +250,10 @@ pub fn unpackUint4x8(p: i32) -> U8Vec4 {
     unimplemented!()
 }
 
-pub fn unpackUnorm<UI: Scalar, N: RealField, D: Dimension>(v: &TVec<UI, D>) -> TVec<N, D>
+pub fn unpackUnorm<UI: Scalar, T: RealField, const D: usize>(v: &TVec<UI, D>) -> TVec<T, D>
-    where DefaultAllocator: Alloc<N, D> + Alloc<UI, D> {
+where
+    DefaultAllocator: Alloc<T, D> + Alloc<UI, D>,
+{
     unimplemented!()
 }
 

nalgebra-glm/src/gtc/quaternion.rs

@@ -1,36 +1,36 @@
-use na::{RealField, UnitQuaternion, U4};
+use na::{RealField, UnitQuaternion};
 
 use crate::aliases::{Qua, TMat4, TVec, TVec3};
 
 /// Euler angles of the quaternion `q` as (pitch, yaw, roll).
-pub fn quat_euler_angles<N: RealField>(x: &Qua<N>) -> TVec3<N> {
+pub fn quat_euler_angles<T: RealField>(x: &Qua<T>) -> TVec3<T> {
     let q = UnitQuaternion::new_unchecked(*x);
     let a = q.euler_angles();
     TVec3::new(a.2, a.1, a.0)
 }
 
 /// Component-wise `>` comparison between two quaternions.
-pub fn quat_greater_than<N: RealField>(x: &Qua<N>, y: &Qua<N>) -> TVec<bool, U4> {
+pub fn quat_greater_than<T: RealField>(x: &Qua<T>, y: &Qua<T>) -> TVec<bool, 4> {
     crate::greater_than(&x.coords, &y.coords)
 }
 
 /// Component-wise `>=` comparison between two quaternions.
-pub fn quat_greater_than_equal<N: RealField>(x: &Qua<N>, y: &Qua<N>) -> TVec<bool, U4> {
+pub fn quat_greater_than_equal<T: RealField>(x: &Qua<T>, y: &Qua<T>) -> TVec<bool, 4> {
     crate::greater_than_equal(&x.coords, &y.coords)
 }
 
 /// Component-wise `<` comparison between two quaternions.
-pub fn quat_less_than<N: RealField>(x: &Qua<N>, y: &Qua<N>) -> TVec<bool, U4> {
+pub fn quat_less_than<T: RealField>(x: &Qua<T>, y: &Qua<T>) -> TVec<bool, 4> {
     crate::less_than(&x.coords, &y.coords)
 }
 
 /// Component-wise `<=` comparison between two quaternions.
-pub fn quat_less_than_equal<N: RealField>(x: &Qua<N>, y: &Qua<N>) -> TVec<bool, U4> {
+pub fn quat_less_than_equal<T: RealField>(x: &Qua<T>, y: &Qua<T>) -> TVec<bool, 4> {
     crate::less_than_equal(&x.coords, &y.coords)
 }
 
 /// Convert a quaternion to a rotation matrix in homogeneous coordinates.
-pub fn quat_cast<N: RealField>(x: &Qua<N>) -> TMat4<N> {
+pub fn quat_cast<T: RealField>(x: &Qua<T>) -> TMat4<T> {
     crate::quat_to_mat4(x)
 }
 
@@ -41,34 +41,34 @@ pub fn quat_cast<N: RealField>(x: &Qua<N>) -> TMat4<N> {
 /// * `direction` - Direction vector point at where to look
 /// * `up` - Object up vector
 ///
-pub fn quat_look_at<N: RealField>(direction: &TVec3<N>, up: &TVec3<N>) -> Qua<N> {
+pub fn quat_look_at<T: RealField>(direction: &TVec3<T>, up: &TVec3<T>) -> Qua<T> {
     quat_look_at_rh(direction, up)
 }
 
 /// Computes a left-handed look-at quaternion (equivalent to a left-handed look-at matrix).
-pub fn quat_look_at_lh<N: RealField>(direction: &TVec3<N>, up: &TVec3<N>) -> Qua<N> {
+pub fn quat_look_at_lh<T: RealField>(direction: &TVec3<T>, up: &TVec3<T>) -> Qua<T> {
     UnitQuaternion::look_at_lh(direction, up).into_inner()
 }
 
 /// Computes a right-handed look-at quaternion (equivalent to a right-handed look-at matrix).
-pub fn quat_look_at_rh<N: RealField>(direction: &TVec3<N>, up: &TVec3<N>) -> Qua<N> {
+pub fn quat_look_at_rh<T: RealField>(direction: &TVec3<T>, up: &TVec3<T>) -> Qua<T> {
     UnitQuaternion::look_at_rh(direction, up).into_inner()
 }
 
 /// The "roll" Euler angle of the quaternion `x` assumed to be normalized.
-pub fn quat_roll<N: RealField>(x: &Qua<N>) -> N {
+pub fn quat_roll<T: RealField>(x: &Qua<T>) -> T {
     // TODO: optimize this.
     quat_euler_angles(x).z
 }
 
 /// The "yaw" Euler angle of the quaternion `x` assumed to be normalized.
-pub fn quat_yaw<N: RealField>(x: &Qua<N>) -> N {
+pub fn quat_yaw<T: RealField>(x: &Qua<T>) -> T {
     // TODO: optimize this.
     quat_euler_angles(x).y
 }
 
 /// The "pitch" Euler angle of the quaternion `x` assumed to be normalized.
-pub fn quat_pitch<N: RealField>(x: &Qua<N>) -> N {
+pub fn quat_pitch<T: RealField>(x: &Qua<T>) -> T {
     // TODO: optimize this.
     quat_euler_angles(x).x
 }

nalgebra-glm/src/gtc/round.rs

@@ -1,15 +1,16 @@
-use na::{Scalar, RealField, U3, DefaultAllocator};
+use na::{DefaultAllocator, RealField, Scalar, U3};
 
-use crate::traits::{Number, Alloc, Dimension};
 use crate::aliases::TVec;
-
+use crate::traits::{Alloc, Dimension, Number};
 
 pub fn ceilMultiple<T>(v: T, Multiple: T) -> T {
     unimplemented!()
 }
 
-pub fn ceilMultiple2<N: Scalar, D: Dimension>(v: &TVec<N, D>, Multiple: &TVec<N, D>) -> TVec<N, D>
+pub fn ceilMultiple2<T: Scalar, const D: usize>(v: &TVec<T, D>, Multiple: &TVec<T, D>) -> TVec<T, D>
-    where DefaultAllocator: Alloc<N, D> {
+where
+    DefaultAllocator: Alloc<T, D>,
+{
     unimplemented!()
 }
 
@@ -17,8 +18,10 @@ pub fn ceilPowerOfTwo<IU>(v: IU) -> IU {
     unimplemented!()
 }
 
-pub fn ceilPowerOfTwo2<N: Scalar, D: Dimension>(v: &TVec<N, D>) -> TVec<N, D>
+pub fn ceilPowerOfTwo2<T: Scalar, const D: usize>(v: &TVec<T, D>) -> TVec<T, D>
-    where DefaultAllocator: Alloc<N, D> {
+where
+    DefaultAllocator: Alloc<T, D>,
+{
     unimplemented!()
 }
 
@@ -26,8 +29,13 @@ pub fn floorMultiple<T>(v: T, Multiple: T) -> T {
     unimplemented!()
 }
 
-pub fn floorMultiple2<N: Scalar, D: Dimension>(v: &TVec<N, D>, Multiple: &TVec<N, D>) -> TVec<N, D>
+pub fn floorMultiple2<T: Scalar, const D: usize>(
-    where DefaultAllocator: Alloc<N, D> {
+    v: &TVec<T, D>,
+    Multiple: &TVec<T, D>,
+) -> TVec<T, D>
+where
+    DefaultAllocator: Alloc<T, D>,
+{
     unimplemented!()
 }
 
@@ -35,8 +43,10 @@ pub fn floorPowerOfTwo<IU>(v: IU) -> IU {
     unimplemented!()
 }
 
-pub fn floorPowerOfTwo2<N: Scalar, D: Dimension>(v: &TVec<N, D>) -> TVec<N, D>
+pub fn floorPowerOfTwo2<T: Scalar, const D: usize>(v: &TVec<T, D>) -> TVec<T, D>
-    where DefaultAllocator: Alloc<N, D> {
+where
+    DefaultAllocator: Alloc<T, D>,
+{
     unimplemented!()
 }
 
@@ -44,13 +54,20 @@ pub fn isMultiple<IU>(v: IU, Multiple: IU) -> bool {
     unimplemented!()
 }
 
-pub fn isMultiple2<N: Scalar, D: Dimension>(v: &TVec<N, D>,Multiple: N) -> TVec<bool, D>
+pub fn isMultiple2<T: Scalar, const D: usize>(v: &TVec<T, D>, Multiple: T) -> TVec<bool, D>
-    where DefaultAllocator: Alloc<N, D> {
+where
+    DefaultAllocator: Alloc<T, D>,
+{
     unimplemented!()
 }
 
-pub fn isMultiple3<N: Scalar, D: Dimension>(v: &TVec<N, D>, Multiple: &TVec<N, D>) -> TVec<bool, D>
+pub fn isMultiple3<T: Scalar, const D: usize>(
-    where DefaultAllocator: Alloc<N, D> {
+    v: &TVec<T, D>,
+    Multiple: &TVec<T, D>,
+) -> TVec<bool, D>
+where
+    DefaultAllocator: Alloc<T, D>,
+{
     unimplemented!()
 }
 
@@ -58,8 +75,10 @@ pub fn isPowerOfTwo2<IU>(v: IU) -> bool {
     unimplemented!()
 }
 
-pub fn isPowerOfTwo<N: Scalar, D: Dimension>(v: &TVec<N, D>) -> TVec<bool, D>
+pub fn isPowerOfTwo<T: Scalar, const D: usize>(v: &TVec<T, D>) -> TVec<bool, D>
-    where DefaultAllocator: Alloc<N, D> {
+where
+    DefaultAllocator: Alloc<T, D>,
+{
     unimplemented!()
 }
 
@@ -67,8 +86,13 @@ pub fn roundMultiple<T>(v: T, Multiple: T) -> T {
     unimplemented!()
 }
 
-pub fn roundMultiple2<N: Scalar, D: Dimension>(v: &TVec<N, D>, Multiple: &TVec<N, D>) -> TVec<N, D>
+pub fn roundMultiple2<T: Scalar, const D: usize>(
-    where DefaultAllocator: Alloc<N, D> {
+    v: &TVec<T, D>,
+    Multiple: &TVec<T, D>,
+) -> TVec<T, D>
+where
+    DefaultAllocator: Alloc<T, D>,
+{
     unimplemented!()
 }
 
@@ -76,7 +100,9 @@ pub fn roundPowerOfTwo<IU>(v: IU) -> IU {
     unimplemented!()
 }
 
-pub fn roundPowerOfTwo2<N: Scalar, D: Dimension>(v: &TVec<N, D>) -> TVec<N, D>
+pub fn roundPowerOfTwo2<T: Scalar, const D: usize>(v: &TVec<T, D>) -> TVec<T, D>
-    where DefaultAllocator: Alloc<N, D> {
+where
+    DefaultAllocator: Alloc<T, D>,
+{
     unimplemented!()
 }

nalgebra-glm/src/gtc/type_ptr.rs

@@ -1,81 +1,81 @@
-use na::{DefaultAllocator, Quaternion, RealField, Scalar};
+use na::{Quaternion, RealField, Scalar};
 
 use crate::aliases::{
     Qua, TMat, TMat2, TMat2x3, TMat2x4, TMat3, TMat3x2, TMat3x4, TMat4, TMat4x2, TMat4x3, TVec1,
     TVec2, TVec3, TVec4,
 };
-use crate::traits::{Alloc, Dimension, Number};
+use crate::traits::Number;
 
 /// Creates a 2x2 matrix from a slice arranged in column-major order.
-pub fn make_mat2<N: Scalar>(ptr: &[N]) -> TMat2<N> {
+pub fn make_mat2<T: Scalar>(ptr: &[T]) -> TMat2<T> {
     TMat2::from_column_slice(ptr)
 }
 
 /// Creates a 2x2 matrix from a slice arranged in column-major order.
-pub fn make_mat2x2<N: Scalar>(ptr: &[N]) -> TMat2<N> {
+pub fn make_mat2x2<T: Scalar>(ptr: &[T]) -> TMat2<T> {
     TMat2::from_column_slice(ptr)
 }
 
 /// Creates a 2x3 matrix from a slice arranged in column-major order.
-pub fn make_mat2x3<N: Scalar>(ptr: &[N]) -> TMat2x3<N> {
+pub fn make_mat2x3<T: Scalar>(ptr: &[T]) -> TMat2x3<T> {
     TMat2x3::from_column_slice(ptr)
 }
 
 /// Creates a 2x4 matrix from a slice arranged in column-major order.
-pub fn make_mat2x4<N: Scalar>(ptr: &[N]) -> TMat2x4<N> {
+pub fn make_mat2x4<T: Scalar>(ptr: &[T]) -> TMat2x4<T> {
     TMat2x4::from_column_slice(ptr)
 }
 
 /// Creates a 3 matrix from a slice arranged in column-major order.
-pub fn make_mat3<N: Scalar>(ptr: &[N]) -> TMat3<N> {
+pub fn make_mat3<T: Scalar>(ptr: &[T]) -> TMat3<T> {
     TMat3::from_column_slice(ptr)
 }
 
 /// Creates a 3x2 matrix from a slice arranged in column-major order.
-pub fn make_mat3x2<N: Scalar>(ptr: &[N]) -> TMat3x2<N> {
+pub fn make_mat3x2<T: Scalar>(ptr: &[T]) -> TMat3x2<T> {
     TMat3x2::from_column_slice(ptr)
 }
 
 /// Creates a 3x3 matrix from a slice arranged in column-major order.
-pub fn make_mat3x3<N: Scalar>(ptr: &[N]) -> TMat3<N> {
+pub fn make_mat3x3<T: Scalar>(ptr: &[T]) -> TMat3<T> {
     TMat3::from_column_slice(ptr)
 }
 
 /// Creates a 3x4 matrix from a slice arranged in column-major order.
-pub fn make_mat3x4<N: Scalar>(ptr: &[N]) -> TMat3x4<N> {
+pub fn make_mat3x4<T: Scalar>(ptr: &[T]) -> TMat3x4<T> {
     TMat3x4::from_column_slice(ptr)
 }
 
 /// Creates a 4x4 matrix from a slice arranged in column-major order.
-pub fn make_mat4<N: Scalar>(ptr: &[N]) -> TMat4<N> {
+pub fn make_mat4<T: Scalar>(ptr: &[T]) -> TMat4<T> {
     TMat4::from_column_slice(ptr)
 }
 
 /// Creates a 4x2 matrix from a slice arranged in column-major order.
-pub fn make_mat4x2<N: Scalar>(ptr: &[N]) -> TMat4x2<N> {
+pub fn make_mat4x2<T: Scalar>(ptr: &[T]) -> TMat4x2<T> {
     TMat4x2::from_column_slice(ptr)
 }
 
 /// Creates a 4x3 matrix from a slice arranged in column-major order.
-pub fn make_mat4x3<N: Scalar>(ptr: &[N]) -> TMat4x3<N> {
+pub fn make_mat4x3<T: Scalar>(ptr: &[T]) -> TMat4x3<T> {
     TMat4x3::from_column_slice(ptr)
 }
 
 /// Creates a 4x4 matrix from a slice arranged in column-major order.
-pub fn make_mat4x4<N: Scalar>(ptr: &[N]) -> TMat4<N> {
+pub fn make_mat4x4<T: Scalar>(ptr: &[T]) -> TMat4<T> {
     TMat4::from_column_slice(ptr)
 }
 
 /// Converts a 2x2 matrix to a 3x3 matrix.
-pub fn mat2_to_mat3<N: Number>(m: &TMat2<N>) -> TMat3<N> {
+pub fn mat2_to_mat3<T: Number>(m: &TMat2<T>) -> TMat3<T> {
-    let _0 = N::zero();
+    let _0 = T::zero();
-    let _1 = N::one();
+    let _1 = T::one();
 
     TMat3::new(m.m11, m.m12, _0, m.m21, m.m22, _0, _0, _0, _1)
 }
 
 /// Converts a 3x3 matrix to a 2x2 matrix.
-pub fn mat3_to_mat2<N: Scalar>(m: &TMat3<N>) -> TMat2<N> {
+pub fn mat3_to_mat2<T: Scalar>(m: &TMat3<T>) -> TMat2<T> {
     TMat2::new(
         m.m11.inlined_clone(),
         m.m12.inlined_clone(),
@@ -85,9 +85,9 @@ pub fn mat3_to_mat2<N: Scalar>(m: &TMat3<N>) -> TMat2<N> {
 }
 
 /// Converts a 3x3 matrix to a 4x4 matrix.
-pub fn mat3_to_mat4<N: Number>(m: &TMat3<N>) -> TMat4<N> {
+pub fn mat3_to_mat4<T: Number>(m: &TMat3<T>) -> TMat4<T> {
-    let _0 = N::zero();
+    let _0 = T::zero();
-    let _1 = N::one();
+    let _1 = T::one();
 
     TMat4::new(
         m.m11, m.m12, m.m13, _0, m.m21, m.m22, m.m23, _0, m.m31, m.m32, m.m33, _0, _0, _0, _0, _1,
@@ -95,7 +95,7 @@ pub fn mat3_to_mat4<N: Number>(m: &TMat3<N>) -> TMat4<N> {
 }
 
 /// Converts a 4x4 matrix to a 3x3 matrix.
-pub fn mat4_to_mat3<N: Scalar>(m: &TMat4<N>) -> TMat3<N> {
+pub fn mat4_to_mat3<T: Scalar>(m: &TMat4<T>) -> TMat3<T> {
     TMat3::new(
         m.m11.inlined_clone(),
         m.m12.inlined_clone(),
@@ -110,9 +110,9 @@ pub fn mat4_to_mat3<N: Scalar>(m: &TMat4<N>) -> TMat3<N> {
 }
 
 /// Converts a 2x2 matrix to a 4x4 matrix.
-pub fn mat2_to_mat4<N: Number>(m: &TMat2<N>) -> TMat4<N> {
+pub fn mat2_to_mat4<T: Number>(m: &TMat2<T>) -> TMat4<T> {
-    let _0 = N::zero();
+    let _0 = T::zero();
-    let _1 = N::one();
+    let _1 = T::one();
 
     TMat4::new(
         m.m11, m.m12, _0, _0, m.m21, m.m22, _0, _0, _0, _0, _1, _0, _0, _0, _0, _1,
@@ -120,7 +120,7 @@ pub fn mat2_to_mat4<N: Number>(m: &TMat2<N>) -> TMat4<N> {
 }
 
 /// Converts a 4x4 matrix to a 2x2 matrix.
-pub fn mat4_to_mat2<N: Scalar>(m: &TMat4<N>) -> TMat2<N> {
+pub fn mat4_to_mat2<T: Scalar>(m: &TMat4<T>) -> TMat2<T> {
     TMat2::new(
         m.m11.inlined_clone(),
         m.m12.inlined_clone(),
@@ -130,7 +130,7 @@ pub fn mat4_to_mat2<N: Scalar>(m: &TMat4<N>) -> TMat2<N> {
 }
 
 /// Creates a quaternion from a slice arranged as `[x, y, z, w]`.
-pub fn make_quat<N: RealField>(ptr: &[N]) -> Qua<N> {
+pub fn make_quat<T: RealField>(ptr: &[T]) -> Qua<T> {
     Quaternion::from(TVec4::from_column_slice(ptr))
 }
 
@@ -141,7 +141,7 @@ pub fn make_quat<N: RealField>(ptr: &[N]) -> Qua<N> {
 /// * [`make_vec2`](fn.make_vec2.html)
 /// * [`make_vec3`](fn.make_vec3.html)
 /// * [`make_vec4`](fn.make_vec4.html)
-pub fn make_vec1<N: Scalar>(v: &TVec1<N>) -> TVec1<N> {
+pub fn make_vec1<T: Scalar>(v: &TVec1<T>) -> TVec1<T> {
     v.clone()
 }
 
@@ -155,7 +155,7 @@ pub fn make_vec1<N: Scalar>(v: &TVec1<N>) -> TVec1<N> {
 /// * [`vec1_to_vec2`](fn.vec1_to_vec2.html)
 /// * [`vec1_to_vec3`](fn.vec1_to_vec3.html)
 /// * [`vec1_to_vec4`](fn.vec1_to_vec4.html)
-pub fn vec2_to_vec1<N: Scalar>(v: &TVec2<N>) -> TVec1<N> {
+pub fn vec2_to_vec1<T: Scalar>(v: &TVec2<T>) -> TVec1<T> {
     TVec1::new(v.x.inlined_clone())
 }
 
@@ -169,7 +169,7 @@ pub fn vec2_to_vec1<N: Scalar>(v: &TVec2<N>) -> TVec1<N> {
 /// * [`vec1_to_vec2`](fn.vec1_to_vec2.html)
 /// * [`vec1_to_vec3`](fn.vec1_to_vec3.html)
 /// * [`vec1_to_vec4`](fn.vec1_to_vec4.html)
-pub fn vec3_to_vec1<N: Scalar>(v: &TVec3<N>) -> TVec1<N> {
+pub fn vec3_to_vec1<T: Scalar>(v: &TVec3<T>) -> TVec1<T> {
     TVec1::new(v.x.inlined_clone())
 }
 
@@ -183,7 +183,7 @@ pub fn vec3_to_vec1<N: Scalar>(v: &TVec3<N>) -> TVec1<N> {
 /// * [`vec1_to_vec2`](fn.vec1_to_vec2.html)
 /// * [`vec1_to_vec3`](fn.vec1_to_vec3.html)
 /// * [`vec1_to_vec4`](fn.vec1_to_vec4.html)
-pub fn vec4_to_vec1<N: Scalar>(v: &TVec4<N>) -> TVec1<N> {
+pub fn vec4_to_vec1<T: Scalar>(v: &TVec4<T>) -> TVec1<T> {
     TVec1::new(v.x.inlined_clone())
 }
 
@@ -199,8 +199,8 @@ pub fn vec4_to_vec1<N: Scalar>(v: &TVec4<N>) -> TVec1<N> {
 /// * [`vec2_to_vec2`](fn.vec2_to_vec2.html)
 /// * [`vec2_to_vec3`](fn.vec2_to_vec3.html)
 /// * [`vec2_to_vec4`](fn.vec2_to_vec4.html)
-pub fn vec1_to_vec2<N: Number>(v: &TVec1<N>) -> TVec2<N> {
+pub fn vec1_to_vec2<T: Number>(v: &TVec1<T>) -> TVec2<T> {
-    TVec2::new(v.x.inlined_clone(), N::zero())
+    TVec2::new(v.x.inlined_clone(), T::zero())
 }
 
 /// Creates a 2D vector from another vector.
@@ -214,7 +214,7 @@ pub fn vec1_to_vec2<N: Number>(v: &TVec1<N>) -> TVec2<N> {
 /// * [`vec2_to_vec2`](fn.vec2_to_vec2.html)
 /// * [`vec2_to_vec3`](fn.vec2_to_vec3.html)
 /// * [`vec2_to_vec4`](fn.vec2_to_vec4.html)
-pub fn vec2_to_vec2<N: Scalar>(v: &TVec2<N>) -> TVec2<N> {
+pub fn vec2_to_vec2<T: Scalar>(v: &TVec2<T>) -> TVec2<T> {
     v.clone()
 }
 
@@ -228,7 +228,7 @@ pub fn vec2_to_vec2<N: Scalar>(v: &TVec2<N>) -> TVec2<N> {
 /// * [`vec2_to_vec2`](fn.vec2_to_vec2.html)
 /// * [`vec2_to_vec3`](fn.vec2_to_vec3.html)
 /// * [`vec2_to_vec4`](fn.vec2_to_vec4.html)
-pub fn vec3_to_vec2<N: Scalar>(v: &TVec3<N>) -> TVec2<N> {
+pub fn vec3_to_vec2<T: Scalar>(v: &TVec3<T>) -> TVec2<T> {
     TVec2::new(v.x.inlined_clone(), v.y.inlined_clone())
 }
 
@@ -242,7 +242,7 @@ pub fn vec3_to_vec2<N: Scalar>(v: &TVec3<N>) -> TVec2<N> {
 /// * [`vec2_to_vec2`](fn.vec2_to_vec2.html)
 /// * [`vec2_to_vec3`](fn.vec2_to_vec3.html)
 /// * [`vec2_to_vec4`](fn.vec2_to_vec4.html)
-pub fn vec4_to_vec2<N: Scalar>(v: &TVec4<N>) -> TVec2<N> {
+pub fn vec4_to_vec2<T: Scalar>(v: &TVec4<T>) -> TVec2<T> {
     TVec2::new(v.x.inlined_clone(), v.y.inlined_clone())
 }
 
@@ -253,7 +253,7 @@ pub fn vec4_to_vec2<N: Scalar>(v: &TVec4<N>) -> TVec2<N> {
 /// * [`make_vec1`](fn.make_vec1.html)
 /// * [`make_vec3`](fn.make_vec3.html)
 /// * [`make_vec4`](fn.make_vec4.html)
-pub fn make_vec2<N: Scalar>(ptr: &[N]) -> TVec2<N> {
+pub fn make_vec2<T: Scalar>(ptr: &[T]) -> TVec2<T> {
     TVec2::from_column_slice(ptr)
 }
 
@@ -268,8 +268,8 @@ pub fn make_vec2<N: Scalar>(ptr: &[N]) -> TVec2<N> {
 /// * [`vec4_to_vec3`](fn.vec4_to_vec3.html)
 /// * [`vec1_to_vec2`](fn.vec1_to_vec2.html)
 /// * [`vec1_to_vec4`](fn.vec1_to_vec4.html)
-pub fn vec1_to_vec3<N: Number>(v: &TVec1<N>) -> TVec3<N> {
+pub fn vec1_to_vec3<T: Number>(v: &TVec1<T>) -> TVec3<T> {
-    TVec3::new(v.x.inlined_clone(), N::zero(), N::zero())
+    TVec3::new(v.x.inlined_clone(), T::zero(), T::zero())
 }
 
 /// Creates a 3D vector from another vector.
@@ -284,8 +284,8 @@ pub fn vec1_to_vec3<N: Number>(v: &TVec1<N>) -> TVec3<N> {
 /// * [`vec3_to_vec1`](fn.vec3_to_vec1.html)
 /// * [`vec3_to_vec2`](fn.vec3_to_vec2.html)
 /// * [`vec3_to_vec4`](fn.vec3_to_vec4.html)
-pub fn vec2_to_vec3<N: Number>(v: &TVec2<N>) -> TVec3<N> {
+pub fn vec2_to_vec3<T: Number>(v: &TVec2<T>) -> TVec3<T> {
-    TVec3::new(v.x.inlined_clone(), v.y.inlined_clone(), N::zero())
+    TVec3::new(v.x.inlined_clone(), v.y.inlined_clone(), T::zero())
 }
 
 /// Creates a 3D vector from another vector.
@@ -298,7 +298,7 @@ pub fn vec2_to_vec3<N: Number>(v: &TVec2<N>) -> TVec3<N> {
 /// * [`vec3_to_vec1`](fn.vec3_to_vec1.html)
 /// * [`vec3_to_vec2`](fn.vec3_to_vec2.html)
 /// * [`vec3_to_vec4`](fn.vec3_to_vec4.html)
-pub fn vec3_to_vec3<N: Scalar>(v: &TVec3<N>) -> TVec3<N> {
+pub fn vec3_to_vec3<T: Scalar>(v: &TVec3<T>) -> TVec3<T> {
     v.clone()
 }
 
@@ -312,7 +312,7 @@ pub fn vec3_to_vec3<N: Scalar>(v: &TVec3<N>) -> TVec3<N> {
 /// * [`vec3_to_vec1`](fn.vec3_to_vec1.html)
 /// * [`vec3_to_vec2`](fn.vec3_to_vec2.html)
 /// * [`vec3_to_vec4`](fn.vec3_to_vec4.html)
-pub fn vec4_to_vec3<N: Scalar>(v: &TVec4<N>) -> TVec3<N> {
+pub fn vec4_to_vec3<T: Scalar>(v: &TVec4<T>) -> TVec3<T> {
     TVec3::new(
         v.x.inlined_clone(),
         v.y.inlined_clone(),
@@ -327,7 +327,7 @@ pub fn vec4_to_vec3<N: Scalar>(v: &TVec4<N>) -> TVec3<N> {
 /// * [`make_vec1`](fn.make_vec1.html)
 /// * [`make_vec2`](fn.make_vec2.html)
 /// * [`make_vec4`](fn.make_vec4.html)
-pub fn make_vec3<N: Scalar>(ptr: &[N]) -> TVec3<N> {
+pub fn make_vec3<T: Scalar>(ptr: &[T]) -> TVec3<T> {
     TVec3::from_column_slice(ptr)
 }
 
@@ -343,8 +343,8 @@ pub fn make_vec3<N: Scalar>(ptr: &[N]) -> TVec3<N> {
 /// * [`vec1_to_vec2`](fn.vec1_to_vec2.html)
 /// * [`vec1_to_vec3`](fn.vec1_to_vec3.html)
 /// * [`vec1_to_vec4`](fn.vec1_to_vec4.html)
-pub fn vec1_to_vec4<N: Number>(v: &TVec1<N>) -> TVec4<N> {
+pub fn vec1_to_vec4<T: Number>(v: &TVec1<T>) -> TVec4<T> {
-    TVec4::new(v.x, N::zero(), N::zero(), N::zero())
+    TVec4::new(v.x, T::zero(), T::zero(), T::zero())
 }
 
 /// Creates a 4D vector from another vector.
@@ -359,8 +359,8 @@ pub fn vec1_to_vec4<N: Number>(v: &TVec1<N>) -> TVec4<N> {
 /// * [`vec2_to_vec1`](fn.vec2_to_vec1.html)
 /// * [`vec2_to_vec2`](fn.vec2_to_vec2.html)
 /// * [`vec2_to_vec3`](fn.vec2_to_vec3.html)
-pub fn vec2_to_vec4<N: Number>(v: &TVec2<N>) -> TVec4<N> {
+pub fn vec2_to_vec4<T: Number>(v: &TVec2<T>) -> TVec4<T> {
-    TVec4::new(v.x, v.y, N::zero(), N::zero())
+    TVec4::new(v.x, v.y, T::zero(), T::zero())
 }
 
 /// Creates a 4D vector from another vector.
@@ -375,8 +375,8 @@ pub fn vec2_to_vec4<N: Number>(v: &TVec2<N>) -> TVec4<N> {
 /// * [`vec3_to_vec1`](fn.vec3_to_vec1.html)
 /// * [`vec3_to_vec2`](fn.vec3_to_vec2.html)
 /// * [`vec3_to_vec3`](fn.vec3_to_vec3.html)
-pub fn vec3_to_vec4<N: Number>(v: &TVec3<N>) -> TVec4<N> {
+pub fn vec3_to_vec4<T: Number>(v: &TVec3<T>) -> TVec4<T> {
-    TVec4::new(v.x, v.y, v.z, N::zero())
+    TVec4::new(v.x, v.y, v.z, T::zero())
 }
 
 /// Creates a 4D vector from another vector.
@@ -389,7 +389,7 @@ pub fn vec3_to_vec4<N: Number>(v: &TVec3<N>) -> TVec4<N> {
 /// * [`vec4_to_vec1`](fn.vec4_to_vec1.html)
 /// * [`vec4_to_vec2`](fn.vec4_to_vec2.html)
 /// * [`vec4_to_vec3`](fn.vec4_to_vec3.html)
-pub fn vec4_to_vec4<N: Scalar>(v: &TVec4<N>) -> TVec4<N> {
+pub fn vec4_to_vec4<T: Scalar>(v: &TVec4<T>) -> TVec4<T> {
     v.clone()
 }
 
@@ -400,22 +400,16 @@ pub fn vec4_to_vec4<N: Scalar>(v: &TVec4<N>) -> TVec4<N> {
 /// * [`make_vec1`](fn.make_vec1.html)
 /// * [`make_vec2`](fn.make_vec2.html)
 /// * [`make_vec3`](fn.make_vec3.html)
-pub fn make_vec4<N: Scalar>(ptr: &[N]) -> TVec4<N> {
+pub fn make_vec4<T: Scalar>(ptr: &[T]) -> TVec4<T> {
     TVec4::from_column_slice(ptr)
 }
 
 /// Converts a matrix or vector to a slice arranged in column-major order.
-pub fn value_ptr<N: Scalar, R: Dimension, C: Dimension>(x: &TMat<N, R, C>) -> &[N]
+pub fn value_ptr<T: Scalar, const R: usize, const C: usize>(x: &TMat<T, R, C>) -> &[T] {
-where
-    DefaultAllocator: Alloc<N, R, C>,
-{
     x.as_slice()
 }
 
 /// Converts a matrix or vector to a mutable slice arranged in column-major order.
-pub fn value_ptr_mut<N: Scalar, R: Dimension, C: Dimension>(x: &mut TMat<N, R, C>) -> &mut [N]
+pub fn value_ptr_mut<T: Scalar, const R: usize, const C: usize>(x: &mut TMat<T, R, C>) -> &mut [T] {
-where
-    DefaultAllocator: Alloc<N, R, C>,
-{
     x.as_mut_slice()
 }

nalgebra-glm/src/gtc/ulp.rs

@@ -2,12 +2,11 @@ use na::{Scalar, U2};
 
 use crate::aliases::TVec;
 
-
 pub fn float_distance<T>(x: T, y: T) -> u64 {
     unimplemented!()
 }
 
-pub fn float_distance2<N: Scalar>(x: &TVec2<N>, y: &TVec2<N>) -> TVec<u64, U2> {
+pub fn float_distance2<T: Scalar>(x: &TVec2<T>, y: &TVec2<T>) -> TVec<u64, U2> {
     unimplemented!()
 }
 

nalgebra-glm/src/gtx/component_wise.rs

@@ -1,7 +1,5 @@
-use na::{self, DefaultAllocator};
-
 use crate::aliases::TMat;
-use crate::traits::{Alloc, Dimension, Number};
+use crate::traits::Number;
 
 /// The sum of every component of the given matrix or vector.
 ///
@@ -21,11 +19,8 @@ use crate::traits::{Alloc, Dimension, Number};
 /// * [`comp_max`](fn.comp_max.html)
 /// * [`comp_min`](fn.comp_min.html)
 /// * [`comp_mul`](fn.comp_mul.html)
-pub fn comp_add<N: Number, R: Dimension, C: Dimension>(m: &TMat<N, R, C>) -> N
+pub fn comp_add<T: Number, const R: usize, const C: usize>(m: &TMat<T, R, C>) -> T {
-where
+    m.iter().fold(T::zero(), |x, y| x + *y)
-    DefaultAllocator: Alloc<N, R, C>,
-{
-    m.iter().fold(N::zero(), |x, y| x + *y)
 }
 
 /// The maximum of every component of the given matrix or vector.
@@ -50,12 +45,9 @@ where
 /// * [`max2`](fn.max2.html)
 /// * [`max3`](fn.max3.html)
 /// * [`max4`](fn.max4.html)
-pub fn comp_max<N: Number, R: Dimension, C: Dimension>(m: &TMat<N, R, C>) -> N
+pub fn comp_max<T: Number, const R: usize, const C: usize>(m: &TMat<T, R, C>) -> T {
-where
-    DefaultAllocator: Alloc<N, R, C>,
-{
     m.iter()
-        .fold(N::min_value(), |x, y| crate::max2_scalar(x, *y))
+        .fold(T::min_value(), |x, y| crate::max2_scalar(x, *y))
 }
 
 /// The minimum of every component of the given matrix or vector.
@@ -80,12 +72,9 @@ where
 /// * [`min2`](fn.min2.html)
 /// * [`min3`](fn.min3.html)
 /// * [`min4`](fn.min4.html)
-pub fn comp_min<N: Number, R: Dimension, C: Dimension>(m: &TMat<N, R, C>) -> N
+pub fn comp_min<T: Number, const R: usize, const C: usize>(m: &TMat<T, R, C>) -> T {
-where
-    DefaultAllocator: Alloc<N, R, C>,
-{
     m.iter()
-        .fold(N::max_value(), |x, y| crate::min2_scalar(x, *y))
+        .fold(T::max_value(), |x, y| crate::min2_scalar(x, *y))
 }
 
 /// The product of every component of the given matrix or vector.
@@ -106,11 +95,8 @@ where
 /// * [`comp_add`](fn.comp_add.html)
 /// * [`comp_max`](fn.comp_max.html)
 /// * [`comp_min`](fn.comp_min.html)
-pub fn comp_mul<N: Number, R: Dimension, C: Dimension>(m: &TMat<N, R, C>) -> N
+pub fn comp_mul<T: Number, const R: usize, const C: usize>(m: &TMat<T, R, C>) -> T {
-where
+    m.iter().fold(T::one(), |x, y| x * *y)
-    DefaultAllocator: Alloc<N, R, C>,
-{
-    m.iter().fold(N::one(), |x, y| x * *y)
 }
 
 //pub fn vec< L, floatType, Q > compNormalize (vec< L, T, Q > const &v)

nalgebra-glm/src/gtx/euler_angles.rs

@@ -1,163 +1,163 @@
 use na::{RealField, U3, U4};
 
-use crate::aliases::{TVec, TMat};
+use crate::aliases::{TMat, TVec};
 
-pub fn derivedEulerAngleX<N: RealField>(angleX: N, angularVelocityX: N) -> TMat4<N> {
+pub fn derivedEulerAngleX<T: RealField>(angleX: T, angularVelocityX: T) -> TMat4<T> {
     unimplemented!()
 }
 
-pub fn derivedEulerAngleY<N: RealField>(angleY: N, angularVelocityY: N) -> TMat4<N> {
+pub fn derivedEulerAngleY<T: RealField>(angleY: T, angularVelocityY: T) -> TMat4<T> {
     unimplemented!()
 }
 
-pub fn derivedEulerAngleZ<N: RealField>(angleZ: N, angularVelocityZ: N) -> TMat4<N> {
+pub fn derivedEulerAngleZ<T: RealField>(angleZ: T, angularVelocityZ: T) -> TMat4<T> {
     unimplemented!()
 }
 
-pub fn eulerAngleX<N: RealField>(angleX: N) -> TMat4<N> {
+pub fn eulerAngleX<T: RealField>(angleX: T) -> TMat4<T> {
     unimplemented!()
 }
 
-pub fn eulerAngleXY<N: RealField>(angleX: N, angleY: N) -> TMat4<N> {
+pub fn eulerAngleXY<T: RealField>(angleX: T, angleY: T) -> TMat4<T> {
     unimplemented!()
 }
 
-pub fn eulerAngleXYX<N: RealField>(t1: N, t2: N, t3: N) -> TMat4<N> {
+pub fn eulerAngleXYX<T: RealField>(t1: T, t2: T, t3: T) -> TMat4<T> {
     unimplemented!()
 }
 
-pub fn eulerAngleXYZ<N: RealField>(t1: N, t2: N, t3: N) -> TMat4<N> {
+pub fn eulerAngleXYZ<T: RealField>(t1: T, t2: T, t3: T) -> TMat4<T> {
     unimplemented!()
 }
 
-pub fn eulerAngleXZ<N: RealField>(angleX: N, angleZ: N) -> TMat4<N> {
+pub fn eulerAngleXZ<T: RealField>(angleX: T, angleZ: T) -> TMat4<T> {
     unimplemented!()
 }
 
-pub fn eulerAngleXZX<N: RealField>(t1: N, t2: N, t3: N) -> TMat4<N> {
+pub fn eulerAngleXZX<T: RealField>(t1: T, t2: T, t3: T) -> TMat4<T> {
     unimplemented!()
 }
 
-pub fn eulerAngleXZY<N: RealField>(t1: N, t2: N, t3: N) -> TMat4<N> {
+pub fn eulerAngleXZY<T: RealField>(t1: T, t2: T, t3: T) -> TMat4<T> {
     unimplemented!()
 }
 
-pub fn eulerAngleY<N: RealField>(angleY: N) -> TMat4<N> {
+pub fn eulerAngleY<T: RealField>(angleY: T) -> TMat4<T> {
     unimplemented!()
 }
 
-pub fn eulerAngleYX<N: RealField>(angleY: N, angleX: N) -> TMat4<N> {
+pub fn eulerAngleYX<T: RealField>(angleY: T, angleX: T) -> TMat4<T> {
     unimplemented!()
 }
 
-pub fn eulerAngleYXY<N: RealField>(t1: N, t2: N, t3: N) -> TMat4<N> {
+pub fn eulerAngleYXY<T: RealField>(t1: T, t2: T, t3: T) -> TMat4<T> {
     unimplemented!()
 }
 
-pub fn eulerAngleYXZ<N: RealField>(yaw: N, pitch: N, roll: N) -> TMat4<N> {
+pub fn eulerAngleYXZ<T: RealField>(yaw: T, pitch: T, roll: T) -> TMat4<T> {
     unimplemented!()
 }
 
-pub fn eulerAngleYZ<N: RealField>(angleY: N, angleZ: N) -> TMat4<N> {
+pub fn eulerAngleYZ<T: RealField>(angleY: T, angleZ: T) -> TMat4<T> {
     unimplemented!()
 }
 
-pub fn eulerAngleYZX<N: RealField>(t1: N, t2: N, t3: N) -> TMat4<N> {
+pub fn eulerAngleYZX<T: RealField>(t1: T, t2: T, t3: T) -> TMat4<T> {
     unimplemented!()
 }
 
-pub fn eulerAngleYZY<N: RealField>(t1: N, t2: N, t3: N) -> TMat4<N> {
+pub fn eulerAngleYZY<T: RealField>(t1: T, t2: T, t3: T) -> TMat4<T> {
     unimplemented!()
 }
 
-pub fn eulerAngleZ<N: RealField>(angleZ: N) -> TMat4<N> {
+pub fn eulerAngleZ<T: RealField>(angleZ: T) -> TMat4<T> {
     unimplemented!()
 }
 
-pub fn eulerAngleZX<N: RealField>(angle: N, angleX: N) -> TMat4<N> {
+pub fn eulerAngleZX<T: RealField>(angle: T, angleX: T) -> TMat4<T> {
     unimplemented!()
 }
 
-pub fn eulerAngleZXY<N: RealField>(t1: N, t2: N, t3: N) -> TMat4<N> {
+pub fn eulerAngleZXY<T: RealField>(t1: T, t2: T, t3: T) -> TMat4<T> {
     unimplemented!()
 }
 
-pub fn eulerAngleZXZ<N: RealField>(t1: N, t2: N, t3: N) -> TMat4<N> {
+pub fn eulerAngleZXZ<T: RealField>(t1: T, t2: T, t3: T) -> TMat4<T> {
     unimplemented!()
 }
 
-pub fn eulerAngleZY<N: RealField>(angleZ: N, angleY: N) -> TMat4<N> {
+pub fn eulerAngleZY<T: RealField>(angleZ: T, angleY: T) -> TMat4<T> {
     unimplemented!()
 }
 
-pub fn eulerAngleZYX<N: RealField>(t1: N, t2: N, t3: N) -> TMat4<N> {
+pub fn eulerAngleZYX<T: RealField>(t1: T, t2: T, t3: T) -> TMat4<T> {
     unimplemented!()
 }
 
-pub fn eulerAngleZYZ<N: RealField>(t1: N, t2: N, t3: N) -> TMat4<N> {
+pub fn eulerAngleZYZ<T: RealField>(t1: T, t2: T, t3: T) -> TMat4<T> {
     unimplemented!()
 }
 
-pub fn extractEulerAngleXYX<N: RealField>(M: &TMat4<N>) -> (N, N, N) {
+pub fn extractEulerAngleXYX<T: RealField>(M: &TMat4<T>) -> (T, T, T) {
     unimplemented!()
 }
 
-pub fn extractEulerAngleXYZ<N: RealField>(M: &TMat4<N>) -> (N, N, N) {
+pub fn extractEulerAngleXYZ<T: RealField>(M: &TMat4<T>) -> (T, T, T) {
     unimplemented!()
 }
 
-pub fn extractEulerAngleXZX<N: RealField>(M: &TMat4<N>) -> (N, N, N) {
+pub fn extractEulerAngleXZX<T: RealField>(M: &TMat4<T>) -> (T, T, T) {
     unimplemented!()
 }
 
-pub fn extractEulerAngleXZY<N: RealField>(M: &TMat4<N>) -> (N, N, N) {
+pub fn extractEulerAngleXZY<T: RealField>(M: &TMat4<T>) -> (T, T, T) {
     unimplemented!()
 }
 
-pub fn extractEulerAngleYXY<N: RealField>(M: &TMat4<N>) -> (N, N, N) {
+pub fn extractEulerAngleYXY<T: RealField>(M: &TMat4<T>) -> (T, T, T) {
     unimplemented!()
 }
 
-pub fn extractEulerAngleYXZ<N: RealField>(M: &TMat4<N>) -> (N, N, N) {
+pub fn extractEulerAngleYXZ<T: RealField>(M: &TMat4<T>) -> (T, T, T) {
     unimplemented!()
 }
 
-pub fn extractEulerAngleYZX<N: RealField>(M: &TMat4<N>) -> (N, N, N) {
+pub fn extractEulerAngleYZX<T: RealField>(M: &TMat4<T>) -> (T, T, T) {
     unimplemented!()
 }
 
-pub fn extractEulerAngleYZY<N: RealField>(M: &TMat4<N>) -> (N, N, N) {
+pub fn extractEulerAngleYZY<T: RealField>(M: &TMat4<T>) -> (T, T, T) {
     unimplemented!()
 }
 
-pub fn extractEulerAngleZXY<N: RealField>(M: &TMat4<N>) -> (N, N, N) {
+pub fn extractEulerAngleZXY<T: RealField>(M: &TMat4<T>) -> (T, T, T) {
     unimplemented!()
 }
 
-pub fn extractEulerAngleZXZ<N: RealField>(M: &TMat4<N>) -> (N, N, N) {
+pub fn extractEulerAngleZXZ<T: RealField>(M: &TMat4<T>) -> (T, T, T) {
     unimplemented!()
 }
 
-pub fn extractEulerAngleZYX<N: RealField>(M: &TMat4<N>) -> (N, N, N) {
+pub fn extractEulerAngleZYX<T: RealField>(M: &TMat4<T>) -> (T, T, T) {
     unimplemented!()
 }
 
-pub fn extractEulerAngleZYZ<N: RealField>(M: &TMat4<N>) -> (N, N, N) {
+pub fn extractEulerAngleZYZ<T: RealField>(M: &TMat4<T>) -> (T, T, T) {
     unimplemented!()
 }
 
-pub fn orientate2<N: RealField>(angle: N) -> TMat3x3<N> {
+pub fn orientate2<T: RealField>(angle: T) -> TMat3x3<T> {
     unimplemented!()
 }
 
-pub fn orientate3<N: RealField>(angles: TVec3<N>) -> TMat3x3<N> {
+pub fn orientate3<T: RealField>(angles: TVec3<T>) -> TMat3x3<T> {
     unimplemented!()
 }
 
-pub fn orientate4<N: RealField>(angles: TVec3<N>) -> TMat4<N> {
+pub fn orientate4<T: RealField>(angles: TVec3<T>) -> TMat4<T> {
     unimplemented!()
 }
 
-pub fn yawPitchRoll<N: RealField>(yaw: N, pitch: N, roll: N) -> TMat4<N> {
+pub fn yawPitchRoll<T: RealField>(yaw: T, pitch: T, roll: T) -> TMat4<T> {
     unimplemented!()
 }

nalgebra-glm/src/gtx/exterior_product.rs

@@ -2,6 +2,6 @@ use crate::aliases::TVec2;
 use crate::traits::Number;
 
 /// The 2D perpendicular product between two vectors.
-pub fn cross2d<N: Number>(v: &TVec2<N>, u: &TVec2<N>) -> N {
+pub fn cross2d<T: Number>(v: &TVec2<T>, u: &TVec2<T>) -> T {
     v.perp(u)
 }

nalgebra-glm/src/gtx/handed_coordinate_space.rs

@@ -6,8 +6,8 @@ use crate::traits::Number;
 /// # See also:
 ///
 /// * [`right_handed`](fn.right_handed.html)
-pub fn left_handed<N: Number>(a: &TVec3<N>, b: &TVec3<N>, c: &TVec3<N>) -> bool {
+pub fn left_handed<T: Number>(a: &TVec3<T>, b: &TVec3<T>, c: &TVec3<T>) -> bool {
-    a.cross(b).dot(c) < N::zero()
+    a.cross(b).dot(c) < T::zero()
 }
 
 /// Returns `true` if `{a, b, c}` forms a right-handed trihedron.
@@ -15,6 +15,6 @@ pub fn left_handed<N: Number>(a: &TVec3<N>, b: &TVec3<N>, c: &TVec3<N>) -> bool
 /// # See also:
 ///
 /// * [`left_handed`](fn.left_handed.html)
-pub fn right_handed<N: Number>(a: &TVec3<N>, b: &TVec3<N>, c: &TVec3<N>) -> bool {
+pub fn right_handed<T: Number>(a: &TVec3<T>, b: &TVec3<T>, c: &TVec3<T>) -> bool {
-    a.cross(b).dot(c) > N::zero()
+    a.cross(b).dot(c) > T::zero()
 }

nalgebra-glm/src/gtx/matrix_cross_product.rs

@@ -7,7 +7,7 @@ use crate::aliases::{TMat3, TMat4, TVec3};
 /// # See also:
 ///
 /// * [`matrix_cross`](fn.matrix_cross.html)
-pub fn matrix_cross3<N: RealField>(x: &TVec3<N>) -> TMat3<N> {
+pub fn matrix_cross3<T: RealField>(x: &TVec3<T>) -> TMat3<T> {
     x.cross_matrix()
 }
 
@@ -16,6 +16,6 @@ pub fn matrix_cross3<N: RealField>(x: &TVec3<N>) -> TMat3<N> {
 /// # See also:
 ///
 /// * [`matrix_cross3`](fn.matrix_cross3.html)
-pub fn matrix_cross<N: RealField>(x: &TVec3<N>) -> TMat4<N> {
+pub fn matrix_cross<T: RealField>(x: &TVec3<T>) -> TMat4<T> {
     crate::mat3_to_mat4(&x.cross_matrix())
 }

nalgebra-glm/src/gtx/matrix_operation.rs

@@ -15,7 +15,7 @@ use crate::traits::Number;
 /// * [`diagonal4x2`](fn.diagonal4x2.html)
 /// * [`diagonal4x3`](fn.diagonal4x3.html)
 /// * [`diagonal4x4`](fn.diagonal4x4.html)
-pub fn diagonal2x2<N: Number>(v: &TVec2<N>) -> TMat2<N> {
+pub fn diagonal2x2<T: Number>(v: &TVec2<T>) -> TMat2<T> {
     TMat2::from_diagonal(v)
 }
 
@@ -31,7 +31,7 @@ pub fn diagonal2x2<N: Number>(v: &TVec2<N>) -> TMat2<N> {
 /// * [`diagonal4x2`](fn.diagonal4x2.html)
 /// * [`diagonal4x3`](fn.diagonal4x3.html)
 /// * [`diagonal4x4`](fn.diagonal4x4.html)
-pub fn diagonal2x3<N: Number>(v: &TVec2<N>) -> TMat2x3<N> {
+pub fn diagonal2x3<T: Number>(v: &TVec2<T>) -> TMat2x3<T> {
     TMat2x3::from_partial_diagonal(v.as_slice())
 }
 
@@ -47,7 +47,7 @@ pub fn diagonal2x3<N: Number>(v: &TVec2<N>) -> TMat2x3<N> {
 /// * [`diagonal4x2`](fn.diagonal4x2.html)
 /// * [`diagonal4x3`](fn.diagonal4x3.html)
 /// * [`diagonal4x4`](fn.diagonal4x4.html)
-pub fn diagonal2x4<N: Number>(v: &TVec2<N>) -> TMat2x4<N> {
+pub fn diagonal2x4<T: Number>(v: &TVec2<T>) -> TMat2x4<T> {
     TMat2x4::from_partial_diagonal(v.as_slice())
 }
 
@@ -63,7 +63,7 @@ pub fn diagonal2x4<N: Number>(v: &TVec2<N>) -> TMat2x4<N> {
 /// * [`diagonal4x2`](fn.diagonal4x2.html)
 /// * [`diagonal4x3`](fn.diagonal4x3.html)
 /// * [`diagonal4x4`](fn.diagonal4x4.html)
-pub fn diagonal3x2<N: Number>(v: &TVec2<N>) -> TMat3x2<N> {
+pub fn diagonal3x2<T: Number>(v: &TVec2<T>) -> TMat3x2<T> {
     TMat3x2::from_partial_diagonal(v.as_slice())
 }
 
@@ -79,7 +79,7 @@ pub fn diagonal3x2<N: Number>(v: &TVec2<N>) -> TMat3x2<N> {
 /// * [`diagonal4x2`](fn.diagonal4x2.html)
 /// * [`diagonal4x3`](fn.diagonal4x3.html)
 /// * [`diagonal4x4`](fn.diagonal4x4.html)
-pub fn diagonal3x3<N: Number>(v: &TVec3<N>) -> TMat3<N> {
+pub fn diagonal3x3<T: Number>(v: &TVec3<T>) -> TMat3<T> {
     TMat3::from_diagonal(v)
 }
 
@@ -95,7 +95,7 @@ pub fn diagonal3x3<N: Number>(v: &TVec3<N>) -> TMat3<N> {
 /// * [`diagonal4x2`](fn.diagonal4x2.html)
 /// * [`diagonal4x3`](fn.diagonal4x3.html)
 /// * [`diagonal4x4`](fn.diagonal4x4.html)
-pub fn diagonal3x4<N: Number>(v: &TVec3<N>) -> TMat3x4<N> {
+pub fn diagonal3x4<T: Number>(v: &TVec3<T>) -> TMat3x4<T> {
     TMat3x4::from_partial_diagonal(v.as_slice())
 }
 
@@ -111,7 +111,7 @@ pub fn diagonal3x4<N: Number>(v: &TVec3<N>) -> TMat3x4<N> {
 /// * [`diagonal3x4`](fn.diagonal3x4.html)
 /// * [`diagonal4x3`](fn.diagonal4x3.html)
 /// * [`diagonal4x4`](fn.diagonal4x4.html)
-pub fn diagonal4x2<N: Number>(v: &TVec2<N>) -> TMat4x2<N> {
+pub fn diagonal4x2<T: Number>(v: &TVec2<T>) -> TMat4x2<T> {
     TMat4x2::from_partial_diagonal(v.as_slice())
 }
 
@@ -127,7 +127,7 @@ pub fn diagonal4x2<N: Number>(v: &TVec2<N>) -> TMat4x2<N> {
 /// * [`diagonal3x4`](fn.diagonal3x4.html)
 /// * [`diagonal4x2`](fn.diagonal4x2.html)
 /// * [`diagonal4x4`](fn.diagonal4x4.html)
-pub fn diagonal4x3<N: Number>(v: &TVec3<N>) -> TMat4x3<N> {
+pub fn diagonal4x3<T: Number>(v: &TVec3<T>) -> TMat4x3<T> {
     TMat4x3::from_partial_diagonal(v.as_slice())
 }
 
@@ -143,6 +143,6 @@ pub fn diagonal4x3<N: Number>(v: &TVec3<N>) -> TMat4x3<N> {
 /// * [`diagonal3x4`](fn.diagonal3x4.html)
 /// * [`diagonal4x2`](fn.diagonal4x2.html)
 /// * [`diagonal4x3`](fn.diagonal4x3.html)
-pub fn diagonal4x4<N: Number>(v: &TVec4<N>) -> TMat4<N> {
+pub fn diagonal4x4<T: Number>(v: &TVec4<T>) -> TMat4<T> {
     TMat4::from_diagonal(v)
 }

nalgebra-glm/src/gtx/norm.rs

@@ -1,17 +1,13 @@
-use na::{DefaultAllocator, RealField};
+use na::RealField;
 
 use crate::aliases::TVec;
-use crate::traits::{Alloc, Dimension};
 
 /// The squared distance between two points.
 ///
 /// # See also:
 ///
 /// * [`distance`](fn.distance.html)
-pub fn distance2<N: RealField, D: Dimension>(p0: &TVec<N, D>, p1: &TVec<N, D>) -> N
+pub fn distance2<T: RealField, const D: usize>(p0: &TVec<T, D>, p1: &TVec<T, D>) -> T {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     (p1 - p0).norm_squared()
 }
 
@@ -22,10 +18,7 @@ where
 /// * [`l1_norm`](fn.l1_norm.html)
 /// * [`l2_distance`](fn.l2_distance.html)
 /// * [`l2_norm`](fn.l2_norm.html)
-pub fn l1_distance<N: RealField, D: Dimension>(x: &TVec<N, D>, y: &TVec<N, D>) -> N
+pub fn l1_distance<T: RealField, const D: usize>(x: &TVec<T, D>, y: &TVec<T, D>) -> T {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     l1_norm(&(y - x))
 }
 
@@ -39,10 +32,7 @@ where
 /// * [`l1_distance`](fn.l1_distance.html)
 /// * [`l2_distance`](fn.l2_distance.html)
 /// * [`l2_norm`](fn.l2_norm.html)
-pub fn l1_norm<N: RealField, D: Dimension>(v: &TVec<N, D>) -> N
+pub fn l1_norm<T: RealField, const D: usize>(v: &TVec<T, D>) -> T {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     crate::comp_add(&v.abs())
 }
 
@@ -60,10 +50,7 @@ where
 /// * [`length2`](fn.length2.html)
 /// * [`magnitude`](fn.magnitude.html)
 /// * [`magnitude2`](fn.magnitude2.html)
-pub fn l2_distance<N: RealField, D: Dimension>(x: &TVec<N, D>, y: &TVec<N, D>) -> N
+pub fn l2_distance<T: RealField, const D: usize>(x: &TVec<T, D>, y: &TVec<T, D>) -> T {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     l2_norm(&(y - x))
 }
 
@@ -83,10 +70,7 @@ where
 /// * [`length2`](fn.length2.html)
 /// * [`magnitude`](fn.magnitude.html)
 /// * [`magnitude2`](fn.magnitude2.html)
-pub fn l2_norm<N: RealField, D: Dimension>(x: &TVec<N, D>) -> N
+pub fn l2_norm<T: RealField, const D: usize>(x: &TVec<T, D>) -> T {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     x.norm()
 }
 
@@ -101,10 +85,7 @@ where
 /// * [`length`](fn.length.html)
 /// * [`magnitude`](fn.magnitude.html)
 /// * [`magnitude2`](fn.magnitude2.html)
-pub fn length2<N: RealField, D: Dimension>(x: &TVec<N, D>) -> N
+pub fn length2<T: RealField, const D: usize>(x: &TVec<T, D>) -> T {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     x.norm_squared()
 }
 
@@ -119,19 +100,14 @@ where
 /// * [`length2`](fn.length2.html)
 /// * [`magnitude`](fn.magnitude.html)
 /// * [`nalgebra::norm_squared`](../nalgebra/fn.norm_squared.html)
-pub fn magnitude2<N: RealField, D: Dimension>(x: &TVec<N, D>) -> N
+pub fn magnitude2<T: RealField, const D: usize>(x: &TVec<T, D>) -> T {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     x.norm_squared()
 }
 
-//pub fn lxNorm<N: RealField, D: Dimension>(x: &TVec<N, D>, y: &TVec<N, D>, unsigned int Depth) -> N
+//pub fn lxNorm<T: RealField, const D: usize>(x: &TVec<T, D>, y: &TVec<T, D>, unsigned int Depth) -> T {
-//    where DefaultAllocator: Alloc<N, D> {
 //    unimplemented!()
 //}
 //
-//pub fn lxNorm<N: RealField, D: Dimension>(x: &TVec<N, D>, unsigned int Depth) -> N
+//pub fn lxNorm<T: RealField, const D: usize>(x: &TVec<T, D>, unsigned int Depth) -> T  {
-//    where DefaultAllocator: Alloc<N, D> {
 //    unimplemented!()
 //}

nalgebra-glm/src/gtx/normal.rs

@@ -5,6 +5,6 @@ use crate::aliases::TVec3;
 /// The normal vector of the given triangle.
 ///
 /// The normal is computed as the normalized vector `cross(p2 - p1, p3 - p1)`.
-pub fn triangle_normal<N: RealField>(p1: &TVec3<N>, p2: &TVec3<N>, p3: &TVec3<N>) -> TVec3<N> {
+pub fn triangle_normal<T: RealField>(p1: &TVec3<T>, p2: &TVec3<T>, p3: &TVec3<T>) -> TVec3<T> {
     (p2 - p1).cross(&(p3 - p1)).normalize()
 }

nalgebra-glm/src/gtx/normalize_dot.rs

@@ -1,7 +1,6 @@
-use na::{DefaultAllocator, RealField};
+use na::RealField;
 
 use crate::aliases::TVec;
-use crate::traits::{Alloc, Dimension};
 
 /// The dot product of the normalized version of `x` and `y`.
 ///
@@ -10,10 +9,7 @@ use crate::traits::{Alloc, Dimension};
 /// # See also:
 ///
 /// * [`normalize_dot`](fn.normalize_dot.html`)
-pub fn fast_normalize_dot<N: RealField, D: Dimension>(x: &TVec<N, D>, y: &TVec<N, D>) -> N
+pub fn fast_normalize_dot<T: RealField, const D: usize>(x: &TVec<T, D>, y: &TVec<T, D>) -> T {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     // XXX: improve those.
     x.normalize().dot(&y.normalize())
 }
@@ -23,10 +19,7 @@ where
 /// # See also:
 ///
 /// * [`fast_normalize_dot`](fn.fast_normalize_dot.html`)
-pub fn normalize_dot<N: RealField, D: Dimension>(x: &TVec<N, D>, y: &TVec<N, D>) -> N
+pub fn normalize_dot<T: RealField, const D: usize>(x: &TVec<T, D>, y: &TVec<T, D>) -> T {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     // XXX: improve those.
     x.normalize().dot(&y.normalize())
 }

nalgebra-glm/src/gtx/quaternion.rs

@@ -1,97 +1,97 @@
-use na::{RealField, Rotation3, Unit, UnitQuaternion, U3};
+use na::{RealField, Rotation3, Unit, UnitQuaternion};
 
 use crate::aliases::{Qua, TMat3, TMat4, TVec3, TVec4};
 
 /// Rotate the vector `v` by the quaternion `q` assumed to be normalized.
-pub fn quat_cross_vec<N: RealField>(q: &Qua<N>, v: &TVec3<N>) -> TVec3<N> {
+pub fn quat_cross_vec<T: RealField>(q: &Qua<T>, v: &TVec3<T>) -> TVec3<T> {
     UnitQuaternion::new_unchecked(*q) * v
 }
 
 /// Rotate the vector `v` by the inverse of the quaternion `q` assumed to be normalized.
-pub fn quat_inv_cross_vec<N: RealField>(v: &TVec3<N>, q: &Qua<N>) -> TVec3<N> {
+pub fn quat_inv_cross_vec<T: RealField>(v: &TVec3<T>, q: &Qua<T>) -> TVec3<T> {
     UnitQuaternion::new_unchecked(*q).inverse() * v
 }
 
 /// The quaternion `w` component.
-pub fn quat_extract_real_component<N: RealField>(q: &Qua<N>) -> N {
+pub fn quat_extract_real_component<T: RealField>(q: &Qua<T>) -> T {
     q.w
 }
 
 /// Normalized linear interpolation between two quaternions.
-pub fn quat_fast_mix<N: RealField>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
+pub fn quat_fast_mix<T: RealField>(x: &Qua<T>, y: &Qua<T>, a: T) -> Qua<T> {
     Unit::new_unchecked(*x)
         .nlerp(&Unit::new_unchecked(*y), a)
         .into_inner()
 }
 
-//pub fn quat_intermediate<N: RealField>(prev: &Qua<N>, curr: &Qua<N>, next: &Qua<N>) -> Qua<N> {
+//pub fn quat_intermediate<T: RealField>(prev: &Qua<T>, curr: &Qua<T>, next: &Qua<T>) -> Qua<T> {
 //    unimplemented!()
 //}
 
 /// The squared magnitude of a quaternion `q`.
-pub fn quat_length2<N: RealField>(q: &Qua<N>) -> N {
+pub fn quat_length2<T: RealField>(q: &Qua<T>) -> T {
     q.norm_squared()
 }
 
 /// The squared magnitude of a quaternion `q`.
-pub fn quat_magnitude2<N: RealField>(q: &Qua<N>) -> N {
+pub fn quat_magnitude2<T: RealField>(q: &Qua<T>) -> T {
     q.norm_squared()
 }
 
 /// The quaternion representing the identity rotation.
-pub fn quat_identity<N: RealField>() -> Qua<N> {
+pub fn quat_identity<T: RealField>() -> Qua<T> {
     UnitQuaternion::identity().into_inner()
 }
 
 /// Rotates a vector by a quaternion assumed to be normalized.
-pub fn quat_rotate_vec3<N: RealField>(q: &Qua<N>, v: &TVec3<N>) -> TVec3<N> {
+pub fn quat_rotate_vec3<T: RealField>(q: &Qua<T>, v: &TVec3<T>) -> TVec3<T> {
     UnitQuaternion::new_unchecked(*q) * v
 }
 
 /// Rotates a vector in homogeneous coordinates by a quaternion assumed to be normalized.
-pub fn quat_rotate_vec<N: RealField>(q: &Qua<N>, v: &TVec4<N>) -> TVec4<N> {
+pub fn quat_rotate_vec<T: RealField>(q: &Qua<T>, v: &TVec4<T>) -> TVec4<T> {
-    let rotated = Unit::new_unchecked(*q) * v.fixed_rows::<U3>(0);
+    let rotated = Unit::new_unchecked(*q) * v.fixed_rows::<3>(0);
     TVec4::new(rotated.x, rotated.y, rotated.z, v.w)
 }
 
 /// The rotation required to align `orig` to `dest`.
-pub fn quat_rotation<N: RealField>(orig: &TVec3<N>, dest: &TVec3<N>) -> Qua<N> {
+pub fn quat_rotation<T: RealField>(orig: &TVec3<T>, dest: &TVec3<T>) -> Qua<T> {
     UnitQuaternion::rotation_between(orig, dest)
         .unwrap_or_else(UnitQuaternion::identity)
         .into_inner()
 }
 
 /// The spherical linear interpolation between two quaternions.
-pub fn quat_short_mix<N: RealField>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
+pub fn quat_short_mix<T: RealField>(x: &Qua<T>, y: &Qua<T>, a: T) -> Qua<T> {
     Unit::new_normalize(*x)
         .slerp(&Unit::new_normalize(*y), a)
         .into_inner()
 }
 
-//pub fn quat_squad<N: RealField>(q1: &Qua<N>, q2: &Qua<N>, s1: &Qua<N>, s2: &Qua<N>, h: N) -> Qua<N> {
+//pub fn quat_squad<T: RealField>(q1: &Qua<T>, q2: &Qua<T>, s1: &Qua<T>, s2: &Qua<T>, h: T) -> Qua<T> {
 //    unimplemented!()
 //}
 
 /// Converts a quaternion to a rotation matrix.
-pub fn quat_to_mat3<N: RealField>(x: &Qua<N>) -> TMat3<N> {
+pub fn quat_to_mat3<T: RealField>(x: &Qua<T>) -> TMat3<T> {
     UnitQuaternion::new_unchecked(*x)
         .to_rotation_matrix()
         .into_inner()
 }
 
 /// Converts a quaternion to a rotation matrix in homogenous coordinates.
-pub fn quat_to_mat4<N: RealField>(x: &Qua<N>) -> TMat4<N> {
+pub fn quat_to_mat4<T: RealField>(x: &Qua<T>) -> TMat4<T> {
     UnitQuaternion::new_unchecked(*x).to_homogeneous()
 }
 
 /// Converts a rotation matrix to a quaternion.
-pub fn mat3_to_quat<N: RealField>(x: &TMat3<N>) -> Qua<N> {
+pub fn mat3_to_quat<T: RealField>(x: &TMat3<T>) -> Qua<T> {
     let r = Rotation3::from_matrix_unchecked(*x);
     UnitQuaternion::from_rotation_matrix(&r).into_inner()
 }
 
 /// Converts a rotation matrix in homogeneous coordinates to a quaternion.
-pub fn to_quat<N: RealField>(x: &TMat4<N>) -> Qua<N> {
+pub fn to_quat<T: RealField>(x: &TMat4<T>) -> Qua<T> {
-    let rot = x.fixed_slice::<U3, U3>(0, 0).into_owned();
+    let rot = x.fixed_slice::<3, 3>(0, 0).into_owned();
     mat3_to_quat(&rot)
 }

nalgebra-glm/src/gtx/rotate_normalized_axis.rs

@@ -9,7 +9,7 @@ use crate::aliases::{Qua, TMat4, TVec3};
 /// * `m` - Input matrix multiplied by this rotation matrix.
 /// * `angle` - Rotation angle expressed in radians.
 /// * `axis` - Rotation axis, must be normalized.
-pub fn rotate_normalized_axis<N: RealField>(m: &TMat4<N>, angle: N, axis: &TVec3<N>) -> TMat4<N> {
+pub fn rotate_normalized_axis<T: RealField>(m: &TMat4<T>, angle: T, axis: &TVec3<T>) -> TMat4<T> {
     m * Rotation3::from_axis_angle(&Unit::new_unchecked(*axis), angle).to_homogeneous()
 }
 
@@ -20,6 +20,6 @@ pub fn rotate_normalized_axis<N: RealField>(m: &TMat4<N>, angle: N, axis: &TVec3
 /// * `q` - Source orientation.
 /// * `angle` - Angle expressed in radians.
 /// * `axis` - Normalized axis of the rotation, must be normalized.
-pub fn quat_rotate_normalized_axis<N: RealField>(q: &Qua<N>, angle: N, axis: &TVec3<N>) -> Qua<N> {
+pub fn quat_rotate_normalized_axis<T: RealField>(q: &Qua<T>, angle: T, axis: &TVec3<T>) -> Qua<T> {
     q * UnitQuaternion::from_axis_angle(&Unit::new_unchecked(*axis), angle).into_inner()
 }

nalgebra-glm/src/gtx/rotate_vector.rs

@@ -3,7 +3,7 @@ use na::{RealField, Rotation3, Unit, UnitComplex};
 use crate::aliases::{TMat4, TVec2, TVec3, TVec4};
 
 /// Build the rotation matrix needed to align `normal` and `up`.
-pub fn orientation<N: RealField>(normal: &TVec3<N>, up: &TVec3<N>) -> TMat4<N> {
+pub fn orientation<T: RealField>(normal: &TVec3<T>, up: &TVec3<T>) -> TMat4<T> {
     if let Some(r) = Rotation3::rotation_between(normal, up) {
         r.to_homogeneous()
     } else {
@@ -12,52 +12,52 @@ pub fn orientation<N: RealField>(normal: &TVec3<N>, up: &TVec3<N>) -> TMat4<N> {
 }
 
 /// Rotate a two dimensional vector.
-pub fn rotate_vec2<N: RealField>(v: &TVec2<N>, angle: N) -> TVec2<N> {
+pub fn rotate_vec2<T: RealField>(v: &TVec2<T>, angle: T) -> TVec2<T> {
     UnitComplex::new(angle) * v
 }
 
 /// Rotate a three dimensional vector around an axis.
-pub fn rotate_vec3<N: RealField>(v: &TVec3<N>, angle: N, normal: &TVec3<N>) -> TVec3<N> {
+pub fn rotate_vec3<T: RealField>(v: &TVec3<T>, angle: T, normal: &TVec3<T>) -> TVec3<T> {
     Rotation3::from_axis_angle(&Unit::new_normalize(*normal), angle) * v
 }
 
 /// Rotate a thee dimensional vector in homogeneous coordinates around an axis.
-pub fn rotate_vec4<N: RealField>(v: &TVec4<N>, angle: N, normal: &TVec3<N>) -> TVec4<N> {
+pub fn rotate_vec4<T: RealField>(v: &TVec4<T>, angle: T, normal: &TVec3<T>) -> TVec4<T> {
     Rotation3::from_axis_angle(&Unit::new_normalize(*normal), angle).to_homogeneous() * v
 }
 
 /// Rotate a three dimensional vector around the `X` axis.
-pub fn rotate_x_vec3<N: RealField>(v: &TVec3<N>, angle: N) -> TVec3<N> {
+pub fn rotate_x_vec3<T: RealField>(v: &TVec3<T>, angle: T) -> TVec3<T> {
     Rotation3::from_axis_angle(&TVec3::x_axis(), angle) * v
 }
 
 /// Rotate a three dimensional vector in homogeneous coordinates around the `X` axis.
-pub fn rotate_x_vec4<N: RealField>(v: &TVec4<N>, angle: N) -> TVec4<N> {
+pub fn rotate_x_vec4<T: RealField>(v: &TVec4<T>, angle: T) -> TVec4<T> {
     Rotation3::from_axis_angle(&TVec3::x_axis(), angle).to_homogeneous() * v
 }
 
 /// Rotate a three dimensional vector around the `Y` axis.
-pub fn rotate_y_vec3<N: RealField>(v: &TVec3<N>, angle: N) -> TVec3<N> {
+pub fn rotate_y_vec3<T: RealField>(v: &TVec3<T>, angle: T) -> TVec3<T> {
     Rotation3::from_axis_angle(&TVec3::y_axis(), angle) * v
 }
 
 /// Rotate a three dimensional vector in homogeneous coordinates around the `Y` axis.
-pub fn rotate_y_vec4<N: RealField>(v: &TVec4<N>, angle: N) -> TVec4<N> {
+pub fn rotate_y_vec4<T: RealField>(v: &TVec4<T>, angle: T) -> TVec4<T> {
     Rotation3::from_axis_angle(&TVec3::y_axis(), angle).to_homogeneous() * v
 }
 
 /// Rotate a three dimensional vector around the `Z` axis.
-pub fn rotate_z_vec3<N: RealField>(v: &TVec3<N>, angle: N) -> TVec3<N> {
+pub fn rotate_z_vec3<T: RealField>(v: &TVec3<T>, angle: T) -> TVec3<T> {
     Rotation3::from_axis_angle(&TVec3::z_axis(), angle) * v
 }
 
 /// Rotate a three dimensional vector in homogeneous coordinates around the `Z` axis.
-pub fn rotate_z_vec4<N: RealField>(v: &TVec4<N>, angle: N) -> TVec4<N> {
+pub fn rotate_z_vec4<T: RealField>(v: &TVec4<T>, angle: T) -> TVec4<T> {
     Rotation3::from_axis_angle(&TVec3::z_axis(), angle).to_homogeneous() * v
 }
 
 /// Computes a spherical linear interpolation between the vectors `x` and `y` assumed to be normalized.
-pub fn slerp<N: RealField>(x: &TVec3<N>, y: &TVec3<N>, a: N) -> TVec3<N> {
+pub fn slerp<T: RealField>(x: &TVec3<T>, y: &TVec3<T>, a: T) -> TVec3<T> {
     Unit::new_unchecked(*x)
         .slerp(&Unit::new_unchecked(*y), a)
         .into_inner()

nalgebra-glm/src/gtx/transform.rs

@@ -12,7 +12,7 @@ use crate::traits::Number;
 /// * [`rotation2d`](fn.rotation2d.html)
 /// * [`scaling2d`](fn.scaling2d.html)
 /// * [`translation2d`](fn.translation2d.html)
-pub fn rotation<N: RealField>(angle: N, v: &TVec3<N>) -> TMat4<N> {
+pub fn rotation<T: RealField>(angle: T, v: &TVec3<T>) -> TMat4<T> {
     Rotation3::from_axis_angle(&Unit::new_normalize(*v), angle).to_homogeneous()
 }
 
@@ -25,7 +25,7 @@ pub fn rotation<N: RealField>(angle: N, v: &TVec3<N>) -> TMat4<N> {
 /// * [`rotation2d`](fn.rotation2d.html)
 /// * [`scaling2d`](fn.scaling2d.html)
 /// * [`translation2d`](fn.translation2d.html)
-pub fn scaling<N: Number>(v: &TVec3<N>) -> TMat4<N> {
+pub fn scaling<T: Number>(v: &TVec3<T>) -> TMat4<T> {
     TMat4::new_nonuniform_scaling(v)
 }
 
@@ -38,7 +38,7 @@ pub fn scaling<N: Number>(v: &TVec3<N>) -> TMat4<N> {
 /// * [`rotation2d`](fn.rotation2d.html)
 /// * [`scaling2d`](fn.scaling2d.html)
 /// * [`translation2d`](fn.translation2d.html)
-pub fn translation<N: Number>(v: &TVec3<N>) -> TMat4<N> {
+pub fn translation<T: Number>(v: &TVec3<T>) -> TMat4<T> {
     TMat4::new_translation(v)
 }
 
@@ -51,7 +51,7 @@ pub fn translation<N: Number>(v: &TVec3<N>) -> TMat4<N> {
 /// * [`translation`](fn.translation.html)
 /// * [`scaling2d`](fn.scaling2d.html)
 /// * [`translation2d`](fn.translation2d.html)
-pub fn rotation2d<N: RealField>(angle: N) -> TMat3<N> {
+pub fn rotation2d<T: RealField>(angle: T) -> TMat3<T> {
     Rotation2::new(angle).to_homogeneous()
 }
 
@@ -64,7 +64,7 @@ pub fn rotation2d<N: RealField>(angle: N) -> TMat3<N> {
 /// * [`translation`](fn.translation.html)
 /// * [`rotation2d`](fn.rotation2d.html)
 /// * [`translation2d`](fn.translation2d.html)
-pub fn scaling2d<N: Number>(v: &TVec2<N>) -> TMat3<N> {
+pub fn scaling2d<T: Number>(v: &TVec2<T>) -> TMat3<T> {
     TMat3::new_nonuniform_scaling(v)
 }
 
@@ -77,6 +77,6 @@ pub fn scaling2d<N: Number>(v: &TVec2<N>) -> TMat3<N> {
 /// * [`translation`](fn.translation.html)
 /// * [`rotation2d`](fn.rotation2d.html)
 /// * [`scaling2d`](fn.scaling2d.html)
-pub fn translation2d<N: Number>(v: &TVec2<N>) -> TMat3<N> {
+pub fn translation2d<T: Number>(v: &TVec2<T>) -> TMat3<T> {
     TMat3::new_translation(v)
 }

nalgebra-glm/src/gtx/transform2.rs

@@ -1,14 +1,12 @@
-use na::{U2, U3};
-
 use crate::aliases::{TMat3, TMat4, TVec2, TVec3};
 use crate::traits::Number;
 
 /// Build planar projection matrix along normal axis and right-multiply it to `m`.
-pub fn proj2d<N: Number>(m: &TMat3<N>, normal: &TVec2<N>) -> TMat3<N> {
+pub fn proj2d<T: Number>(m: &TMat3<T>, normal: &TVec2<T>) -> TMat3<T> {
     let mut res = TMat3::identity();
 
     {
-        let mut part = res.fixed_slice_mut::<U2, U2>(0, 0);
+        let mut part = res.fixed_slice_mut::<2, 2>(0, 0);
         part -= normal * normal.transpose();
     }
 
@@ -16,11 +14,11 @@ pub fn proj2d<N: Number>(m: &TMat3<N>, normal: &TVec2<N>) -> TMat3<N> {
 }
 
 /// Build planar projection matrix along normal axis, and right-multiply it to `m`.
-pub fn proj<N: Number>(m: &TMat4<N>, normal: &TVec3<N>) -> TMat4<N> {
+pub fn proj<T: Number>(m: &TMat4<T>, normal: &TVec3<T>) -> TMat4<T> {
     let mut res = TMat4::identity();
 
     {
-        let mut part = res.fixed_slice_mut::<U3, U3>(0, 0);
+        let mut part = res.fixed_slice_mut::<3, 3>(0, 0);
         part -= normal * normal.transpose();
     }
 
@@ -28,33 +26,33 @@ pub fn proj<N: Number>(m: &TMat4<N>, normal: &TVec3<N>) -> TMat4<N> {
 }
 
 /// Builds a reflection matrix and right-multiply it to `m`.
-pub fn reflect2d<N: Number>(m: &TMat3<N>, normal: &TVec2<N>) -> TMat3<N> {
+pub fn reflect2d<T: Number>(m: &TMat3<T>, normal: &TVec2<T>) -> TMat3<T> {
     let mut res = TMat3::identity();
 
     {
-        let mut part = res.fixed_slice_mut::<U2, U2>(0, 0);
+        let mut part = res.fixed_slice_mut::<2, 2>(0, 0);
-        part -= (normal * N::from_f64(2.0).unwrap()) * normal.transpose();
+        part -= (normal * T::from_f64(2.0).unwrap()) * normal.transpose();
     }
 
     m * res
 }
 
 /// Builds a reflection matrix, and right-multiply it to `m`.
-pub fn reflect<N: Number>(m: &TMat4<N>, normal: &TVec3<N>) -> TMat4<N> {
+pub fn reflect<T: Number>(m: &TMat4<T>, normal: &TVec3<T>) -> TMat4<T> {
     let mut res = TMat4::identity();
 
     {
-        let mut part = res.fixed_slice_mut::<U3, U3>(0, 0);
+        let mut part = res.fixed_slice_mut::<3, 3>(0, 0);
-        part -= (normal * N::from_f64(2.0).unwrap()) * normal.transpose();
+        part -= (normal * T::from_f64(2.0).unwrap()) * normal.transpose();
     }
 
     m * res
 }
 
 /// Builds a scale-bias matrix.
-pub fn scale_bias_matrix<N: Number>(scale: N, bias: N) -> TMat4<N> {
+pub fn scale_bias_matrix<T: Number>(scale: T, bias: T) -> TMat4<T> {
-    let _0 = N::zero();
+    let _0 = T::zero();
-    let _1 = N::one();
+    let _1 = T::one();
 
     TMat4::new(
         scale, _0, _0, bias, _0, scale, _0, bias, _0, _0, scale, bias, _0, _0, _0, _1,
@@ -62,50 +60,50 @@ pub fn scale_bias_matrix<N: Number>(scale: N, bias: N) -> TMat4<N> {
 }
 
 /// Builds a scale-bias matrix, and right-multiply it to `m`.
-pub fn scale_bias<N: Number>(m: &TMat4<N>, scale: N, bias: N) -> TMat4<N> {
+pub fn scale_bias<T: Number>(m: &TMat4<T>, scale: T, bias: T) -> TMat4<T> {
     m * scale_bias_matrix(scale, bias)
 }
 
 /// Transforms a matrix with a shearing on X axis.
-pub fn shear2d_x<N: Number>(m: &TMat3<N>, y: N) -> TMat3<N> {
+pub fn shear2d_x<T: Number>(m: &TMat3<T>, y: T) -> TMat3<T> {
-    let _0 = N::zero();
+    let _0 = T::zero();
-    let _1 = N::one();
+    let _1 = T::one();
 
     let shear = TMat3::new(_1, y, _0, _0, _1, _0, _0, _0, _1);
     m * shear
 }
 
 /// Transforms a matrix with a shearing on Y axis.
-pub fn shear_x<N: Number>(m: &TMat4<N>, y: N, z: N) -> TMat4<N> {
+pub fn shear_x<T: Number>(m: &TMat4<T>, y: T, z: T) -> TMat4<T> {
-    let _0 = N::zero();
+    let _0 = T::zero();
-    let _1 = N::one();
+    let _1 = T::one();
     let shear = TMat4::new(_1, _0, _0, _0, y, _1, _0, _0, z, _0, _1, _0, _0, _0, _0, _1);
 
     m * shear
 }
 
 /// Transforms a matrix with a shearing on Y axis.
-pub fn shear2d_y<N: Number>(m: &TMat3<N>, x: N) -> TMat3<N> {
+pub fn shear2d_y<T: Number>(m: &TMat3<T>, x: T) -> TMat3<T> {
-    let _0 = N::zero();
+    let _0 = T::zero();
-    let _1 = N::one();
+    let _1 = T::one();
 
     let shear = TMat3::new(_1, _0, _0, x, _1, _0, _0, _0, _1);
     m * shear
 }
 
 /// Transforms a matrix with a shearing on Y axis.
-pub fn shear_y<N: Number>(m: &TMat4<N>, x: N, z: N) -> TMat4<N> {
+pub fn shear_y<T: Number>(m: &TMat4<T>, x: T, z: T) -> TMat4<T> {
-    let _0 = N::zero();
+    let _0 = T::zero();
-    let _1 = N::one();
+    let _1 = T::one();
     let shear = TMat4::new(_1, x, _0, _0, _0, _1, _0, _0, _0, z, _1, _0, _0, _0, _0, _1);
 
     m * shear
 }
 
 /// Transforms a matrix with a shearing on Z axis.
-pub fn shear_z<N: Number>(m: &TMat4<N>, x: N, y: N) -> TMat4<N> {
+pub fn shear_z<T: Number>(m: &TMat4<T>, x: T, y: T) -> TMat4<T> {
-    let _0 = N::zero();
+    let _0 = T::zero();
-    let _1 = N::one();
+    let _1 = T::one();
     let shear = TMat4::new(_1, _0, x, _0, _0, _1, y, _0, _0, _0, _1, _0, _0, _0, _0, _1);
 
     m * shear

nalgebra-glm/src/gtx/transform2d.rs

@@ -12,7 +12,7 @@ use crate::traits::Number;
 /// * [`scaling2d`](fn.scaling2d.html)
 /// * [`translate2d`](fn.translate2d.html)
 /// * [`translation2d`](fn.translation2d.html)
-pub fn rotate2d<N: RealField>(m: &TMat3<N>, angle: N) -> TMat3<N> {
+pub fn rotate2d<T: RealField>(m: &TMat3<T>, angle: T) -> TMat3<T> {
     m * UnitComplex::new(angle).to_homogeneous()
 }
 
@@ -25,7 +25,7 @@ pub fn rotate2d<N: RealField>(m: &TMat3<N>, angle: N) -> TMat3<N> {
 /// * [`scaling2d`](fn.scaling2d.html)
 /// * [`translate2d`](fn.translate2d.html)
 /// * [`translation2d`](fn.translation2d.html)
-pub fn scale2d<N: Number>(m: &TMat3<N>, v: &TVec2<N>) -> TMat3<N> {
+pub fn scale2d<T: Number>(m: &TMat3<T>, v: &TVec2<T>) -> TMat3<T> {
     m.prepend_nonuniform_scaling(v)
 }
 
@@ -38,6 +38,6 @@ pub fn scale2d<N: Number>(m: &TMat3<N>, v: &TVec2<N>) -> TMat3<N> {
 /// * [`scale2d`](fn.scale2d.html)
 /// * [`scaling2d`](fn.scaling2d.html)
 /// * [`translation2d`](fn.translation2d.html)
-pub fn translate2d<N: Number>(m: &TMat3<N>, v: &TVec2<N>) -> TMat3<N> {
+pub fn translate2d<T: Number>(m: &TMat3<T>, v: &TVec2<T>) -> TMat3<T> {
     m.prepend_translation(v)
 }

nalgebra-glm/src/gtx/vector_angle.rs

@@ -1,20 +1,16 @@
-use na::{DefaultAllocator, RealField};
+use na::RealField;
 
 use crate::aliases::TVec;
-use crate::traits::{Alloc, Dimension};
 
 /// The angle between two vectors.
-pub fn angle<N: RealField, D: Dimension>(x: &TVec<N, D>, y: &TVec<N, D>) -> N
+pub fn angle<T: RealField, const D: usize>(x: &TVec<T, D>, y: &TVec<T, D>) -> T {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     x.angle(y)
 }
 
-//pub fn oriented_angle<N: RealField>(x: &TVec2<N>, y: &TVec2<N>) -> N {
+//pub fn oriented_angle<T: RealField>(x: &TVec2<T>, y: &TVec2<T>) -> T {
 //    unimplemented!()
 //}
 //
-//pub fn oriented_angle_ref<N: RealField>(x: &TVec3<N>, y: &TVec3<N>, refv: &TVec3<N>) -> N {
+//pub fn oriented_angle_ref<T: RealField>(x: &TVec3<T>, y: &TVec3<T>, refv: &TVec3<T>) -> T {
 //    unimplemented!()
 //}

nalgebra-glm/src/gtx/vector_query.rs

@@ -1,14 +1,14 @@
-use na::{DefaultAllocator, RealField};
+use na::RealField;
 
 use crate::aliases::{TVec, TVec2, TVec3};
-use crate::traits::{Alloc, Dimension, Number};
+use crate::traits::Number;
 
 /// Returns `true` if two vectors are collinear (up to an epsilon).
 ///
 /// # See also:
 ///
 /// * [`are_collinear2d`](fn.are_collinear2d.html)
-pub fn are_collinear<N: Number>(v0: &TVec3<N>, v1: &TVec3<N>, epsilon: N) -> bool {
+pub fn are_collinear<T: Number>(v0: &TVec3<T>, v1: &TVec3<T>, epsilon: T) -> bool {
     is_null(&v0.cross(v1), epsilon)
 }
 
@@ -17,43 +17,34 @@ pub fn are_collinear<N: Number>(v0: &TVec3<N>, v1: &TVec3<N>, epsilon: N) -> boo
 /// # See also:
 ///
 /// * [`are_collinear`](fn.are_collinear.html)
-pub fn are_collinear2d<N: Number>(v0: &TVec2<N>, v1: &TVec2<N>, epsilon: N) -> bool {
+pub fn are_collinear2d<T: Number>(v0: &TVec2<T>, v1: &TVec2<T>, epsilon: T) -> bool {
-    abs_diff_eq!(v0.perp(v1), N::zero(), epsilon = epsilon)
+    abs_diff_eq!(v0.perp(v1), T::zero(), epsilon = epsilon)
 }
 
 /// Returns `true` if two vectors are orthogonal (up to an epsilon).
-pub fn are_orthogonal<N: Number, D: Dimension>(v0: &TVec<N, D>, v1: &TVec<N, D>, epsilon: N) -> bool
+pub fn are_orthogonal<T: Number, const D: usize>(
-where
+    v0: &TVec<T, D>,
-    DefaultAllocator: Alloc<N, D>,
+    v1: &TVec<T, D>,
-{
+    epsilon: T,
-    abs_diff_eq!(v0.dot(v1), N::zero(), epsilon = epsilon)
+) -> bool {
+    abs_diff_eq!(v0.dot(v1), T::zero(), epsilon = epsilon)
 }
 
-//pub fn are_orthonormal<N: Number, D: Dimension>(v0: &TVec<N, D>, v1: &TVec<N, D>, epsilon: N) -> bool
+//pub fn are_orthonormal<T: Number, const D: usize>(v0: &TVec<T, D>, v1: &TVec<T, D>, epsilon: T) -> bool {
-//    where DefaultAllocator: Alloc<N, D> {
 //    unimplemented!()
 //}
 
 /// Returns `true` if all the components of `v` are zero (up to an epsilon).
-pub fn is_comp_null<N: Number, D: Dimension>(v: &TVec<N, D>, epsilon: N) -> TVec<bool, D>
+pub fn is_comp_null<T: Number, const D: usize>(v: &TVec<T, D>, epsilon: T) -> TVec<bool, D> {
-where
+    v.map(|x| abs_diff_eq!(x, T::zero(), epsilon = epsilon))
-    DefaultAllocator: Alloc<N, D>,
-{
-    v.map(|x| abs_diff_eq!(x, N::zero(), epsilon = epsilon))
 }
 
 /// Returns `true` if `v` has a magnitude of 1 (up to an epsilon).
-pub fn is_normalized<N: RealField, D: Dimension>(v: &TVec<N, D>, epsilon: N) -> bool
+pub fn is_normalized<T: RealField, const D: usize>(v: &TVec<T, D>, epsilon: T) -> bool {
-where
+    abs_diff_eq!(v.norm_squared(), T::one(), epsilon = epsilon * epsilon)
-    DefaultAllocator: Alloc<N, D>,
-{
-    abs_diff_eq!(v.norm_squared(), N::one(), epsilon = epsilon * epsilon)
 }
 
 /// Returns `true` if `v` is zero (up to an epsilon).
-pub fn is_null<N: Number, D: Dimension>(v: &TVec<N, D>, epsilon: N) -> bool
+pub fn is_null<T: Number, const D: usize>(v: &TVec<T, D>, epsilon: T) -> bool {
-where
+    abs_diff_eq!(*v, TVec::<T, D>::zeros(), epsilon = epsilon)
-    DefaultAllocator: Alloc<N, D>,
-{
-    abs_diff_eq!(*v, TVec::<N, D>::zeros(), epsilon = epsilon)
 }

nalgebra-glm/src/integer.rs

@@ -1,29 +1,46 @@
-use na::{Scalar, RealField, U3, DefaultAllocator};
+use na::{DefaultAllocator, RealField, Scalar, U3};
 
-use crate::traits::{Number, Alloc, Dimension};
 use crate::aliases::TVec;
+use crate::traits::{Alloc, Dimension, Number};
 
 pub fn bitCount<T>(v: T) -> i32 {
     unimplemented!()
 }
 
-pub fn bitCount2<N: Scalar, D: Dimension>(v: &TVec<N, D>) -> TVec<i32, D>
+pub fn bitCount2<T: Scalar, const D: usize>(v: &TVec<T, D>) -> TVec<i32, D>
-    where DefaultAllocator: Alloc<N, D> {
+where
+    DefaultAllocator: Alloc<T, D>,
+{
     unimplemented!()
 }
 
-pub fn bitfieldExtract<N: Scalar, D: Dimension>(Value: &TVec<N, D>, Offset: i32, Bits: i32) -> TVec<N, D>
+pub fn bitfieldExtract<T: Scalar, const D: usize>(
-    where DefaultAllocator: Alloc<N, D> {
+    Value: &TVec<T, D>,
+    Offset: i32,
+    Bits: i32,
+) -> TVec<T, D>
+where
+    DefaultAllocator: Alloc<T, D>,
+{
     unimplemented!()
 }
 
-pub fn bitfieldInsert<N: Scalar, D: Dimension>(Base: &TVec<N, D>, Insert: &TVec<N, D>, Offset: i32, Bits: i32) -> TVec<N, D>
+pub fn bitfieldInsert<T: Scalar, const D: usize>(
-    where DefaultAllocator: Alloc<N, D> {
+    Base: &TVec<T, D>,
+    Insert: &TVec<T, D>,
+    Offset: i32,
+    Bits: i32,
+) -> TVec<T, D>
+where
+    DefaultAllocator: Alloc<T, D>,
+{
     unimplemented!()
 }
 
-pub fn bitfieldReverse<N: Scalar, D: Dimension>(v: &TVec<N, D>) -> TVec<N, D>
+pub fn bitfieldReverse<T: Scalar, const D: usize>(v: &TVec<T, D>) -> TVec<T, D>
-    where DefaultAllocator: Alloc<N, D> {
+where
+    DefaultAllocator: Alloc<T, D>,
+{
     unimplemented!()
 }
 
@@ -31,8 +48,10 @@ pub fn findLSB<IU>(x: IU) -> u32 {
     unimplemented!()
 }
 
-pub fn findLSB2<N: Scalar, D: Dimension>(v: &TVec<N, D>) -> TVec<i32, D>
+pub fn findLSB2<T: Scalar, const D: usize>(v: &TVec<T, D>) -> TVec<i32, D>
-    where DefaultAllocator: Alloc<N, D> {
+where
+    DefaultAllocator: Alloc<T, D>,
+{
     unimplemented!()
 }
 
@@ -40,27 +59,53 @@ pub fn findMSB<IU>(x: IU) -> i32 {
     unimplemented!()
 }
 
-pub fn findMSB2<N: Scalar, D: Dimension>(v: &TVec<N, D>) -> TVec<i32, D>
+pub fn findMSB2<T: Scalar, const D: usize>(v: &TVec<T, D>) -> TVec<i32, D>
-    where DefaultAllocator: Alloc<N, D> {
+where
+    DefaultAllocator: Alloc<T, D>,
+{
     unimplemented!()
 }
 
-pub fn imulExtended<N: Scalar, D: Dimension>(x: &TVec<i32, D>, y: &TVec<i32, D>, msb: &TVec<i32, D>, lsb: &TVec<i32, D>)
+pub fn imulExtended<T: Scalar, const D: usize>(
-    where DefaultAllocator: Alloc<N, D> {
+    x: &TVec<i32, D>,
+    y: &TVec<i32, D>,
+    msb: &TVec<i32, D>,
+    lsb: &TVec<i32, D>,
+) where
+    DefaultAllocator: Alloc<T, D>,
+{
     unimplemented!()
 }
 
-pub fn uaddCarry<N: Scalar, D: Dimension>(x: &TVec<u32, D>, y: &TVec<u32, D>, carry: &TVec<u32, D>) -> TVec<u32, D>
+pub fn uaddCarry<T: Scalar, const D: usize>(
-    where DefaultAllocator: Alloc<N, D> {
+    x: &TVec<u32, D>,
+    y: &TVec<u32, D>,
+    carry: &TVec<u32, D>,
+) -> TVec<u32, D>
+where
+    DefaultAllocator: Alloc<T, D>,
+{
     unimplemented!()
 }
 
-pub fn umulExtended<N: Scalar, D: Dimension>(x: &TVec<u32, D>, y: &TVec<u32, D>, msb: &TVec<u32, D>, lsb: &TVec<u32, D>)
+pub fn umulExtended<T: Scalar, const D: usize>(
-    where DefaultAllocator: Alloc<N, D> {
+    x: &TVec<u32, D>,
-unimplemented!()
+    y: &TVec<u32, D>,
-}
+    msb: &TVec<u32, D>,
-
+    lsb: &TVec<u32, D>,
-pub fn usubBorrow<N: Scalar, D: Dimension>(x: &TVec<u32, D>, y: &TVec<u32, D>, borrow: &TVec<u32, D>) -> TVec<u32, D>
+) where
-    where DefaultAllocator: Alloc<N, D> {
+    DefaultAllocator: Alloc<T, D>,
+{
+    unimplemented!()
+}
+
+pub fn usubBorrow<T: Scalar, const D: usize>(
+    x: &TVec<u32, D>,
+    y: &TVec<u32, D>,
+    borrow: &TVec<u32, D>,
+) -> TVec<u32, D>
+where
+    DefaultAllocator: Alloc<T, D>,
+{
     unimplemented!()
 }

nalgebra-glm/src/lib.rs

@@ -54,7 +54,7 @@
    ### Vector and matrix construction
    Vectors, matrices, and quaternions can be constructed using several approaches:
    * Using functions with the same name as their type in lower-case. For example [`glm::vec3(x, y, z)`](fn.vec3.html) will create a 3D vector.
-   * Using the `::new` constructor. For example [`Vec3::new(x, y, z)`](../nalgebra/base/type.MatrixMN.html#method.new-27) will create a 3D vector.
+   * Using the `::new` constructor. For example [`Vec3::new(x, y, z)`](../nalgebra/base/type.OMatrix.html#method.new-27) will create a 3D vector.
    * Using the functions prefixed by `make_` to build a vector a matrix from a slice. For example [`glm::make_vec3(&[x, y, z])`](fn.make_vec3.html) will create a 3D vector.
    Keep in mind that constructing a matrix using this type of functions require its components to be arranged in column-major order on the slice.
    * Using a geometric construction function. For example [`glm::rotation(angle, axis)`](fn.rotation.html) will build a 4x4 homogeneous rotation matrix from an angle (in radians) and an axis.
@@ -119,7 +119,7 @@ extern crate approx;
 extern crate nalgebra as na;
 
 pub use crate::aliases::*;
-pub use crate::traits::{Alloc, Dimension, Number};
+pub use crate::traits::Number;
 pub use common::{
     abs, ceil, clamp, clamp_scalar, clamp_vec, float_bits_to_int, float_bits_to_int_vec,
     float_bits_to_uint, float_bits_to_uint_vec, floor, fract, int_bits_to_float,

nalgebra-glm/src/matrix.rs

@@ -1,52 +1,40 @@
-use na::{DefaultAllocator, RealField, Scalar};
+use na::{Const, DimMin, RealField, Scalar};
 
 use crate::aliases::{TMat, TVec};
-use crate::traits::{Alloc, Dimension, Number};
+use crate::traits::Number;
 
 /// The determinant of the matrix `m`.
-pub fn determinant<N: RealField, D: Dimension>(m: &TMat<N, D, D>) -> N
+pub fn determinant<T: RealField, const D: usize>(m: &TMat<T, D, D>) -> T
 where
-    DefaultAllocator: Alloc<N, D, D>,
+    Const<D>: DimMin<Const<D>, Output = Const<D>>,
 {
     m.determinant()
 }
 
 /// The inverse of the matrix `m`.
-pub fn inverse<N: RealField, D: Dimension>(m: &TMat<N, D, D>) -> TMat<N, D, D>
+pub fn inverse<T: RealField, const D: usize>(m: &TMat<T, D, D>) -> TMat<T, D, D> {
-where
-    DefaultAllocator: Alloc<N, D, D>,
-{
     m.clone()
         .try_inverse()
-        .unwrap_or_else(TMat::<N, D, D>::zeros)
+        .unwrap_or_else(TMat::<T, D, D>::zeros)
 }
 
 /// Component-wise multiplication of two matrices.
-pub fn matrix_comp_mult<N: Number, R: Dimension, C: Dimension>(
+pub fn matrix_comp_mult<T: Number, const R: usize, const C: usize>(
-    x: &TMat<N, R, C>,
+    x: &TMat<T, R, C>,
-    y: &TMat<N, R, C>,
+    y: &TMat<T, R, C>,
-) -> TMat<N, R, C>
+) -> TMat<T, R, C> {
-where
-    DefaultAllocator: Alloc<N, R, C>,
-{
     x.component_mul(y)
 }
 
 /// Treats the first parameter `c` as a column vector and the second parameter `r` as a row vector and does a linear algebraic matrix multiply `c * r`.
-pub fn outer_product<N: Number, R: Dimension, C: Dimension>(
+pub fn outer_product<T: Number, const R: usize, const C: usize>(
-    c: &TVec<N, R>,
+    c: &TVec<T, R>,
-    r: &TVec<N, C>,
+    r: &TVec<T, C>,
-) -> TMat<N, R, C>
+) -> TMat<T, R, C> {
-where
-    DefaultAllocator: Alloc<N, R, C>,
-{
     c * r.transpose()
 }
 
 /// The transpose of the matrix `m`.
-pub fn transpose<N: Scalar, R: Dimension, C: Dimension>(x: &TMat<N, R, C>) -> TMat<N, C, R>
+pub fn transpose<T: Scalar, const R: usize, const C: usize>(x: &TMat<T, R, C>) -> TMat<T, C, R> {
-where
-    DefaultAllocator: Alloc<N, R, C>,
-{
     x.transpose()
 }

nalgebra-glm/src/packing.rs

@@ -1,52 +1,51 @@
 use na::Scalar;
 
-use crate::aliases::{Vec2, Vec4, UVec2};
+use crate::aliases::{UVec2, Vec2, Vec4};
 
-
+pub fn packDouble2x32<T: Scalar>(v: &UVec2) -> f64 {
-pub fn packDouble2x32<N: Scalar>(v: &UVec2) -> f64 {
     unimplemented!()
 }
 
-pub fn packHalf2x16<N: Scalar>(v: &Vec2) -> u32 {
+pub fn packHalf2x16<T: Scalar>(v: &Vec2) -> u32 {
     unimplemented!()
 }
 
-pub fn packSnorm2x16<N: Scalar>(v: &Vec2) -> u32 {
+pub fn packSnorm2x16<T: Scalar>(v: &Vec2) -> u32 {
     unimplemented!()
 }
 
-pub fn packSnorm4x8<N: Scalar>(v: &Vec4) -> u32 {
+pub fn packSnorm4x8<T: Scalar>(v: &Vec4) -> u32 {
     unimplemented!()
 }
 
-pub fn packUnorm2x16<N: Scalar>(v: &Vec2) -> u32 {
+pub fn packUnorm2x16<T: Scalar>(v: &Vec2) -> u32 {
     unimplemented!()
 }
 
-pub fn packUnorm4x8<N: Scalar>(v: &Vec4) -> u32 {
+pub fn packUnorm4x8<T: Scalar>(v: &Vec4) -> u32 {
     unimplemented!()
 }
 
-pub fn unpackDouble2x32<N: Scalar>(v: f64) -> UVec2 {
+pub fn unpackDouble2x32<T: Scalar>(v: f64) -> UVec2 {
     unimplemented!()
 }
 
-pub fn unpackHalf2x16<N: Scalar>(v: u32) -> Vec2 {
+pub fn unpackHalf2x16<T: Scalar>(v: u32) -> Vec2 {
     unimplemented!()
 }
 
-pub fn unpackSnorm2x16<N: Scalar>(p: u32) -> Vec2 {
+pub fn unpackSnorm2x16<T: Scalar>(p: u32) -> Vec2 {
     unimplemented!()
 }
 
-pub fn unpackSnorm4x8<N: Scalar>(p: u32) -> Vec4 {
+pub fn unpackSnorm4x8<T: Scalar>(p: u32) -> Vec4 {
     unimplemented!()
 }
 
-pub fn unpackUnorm2x16<N: Scalar>(p: u32) -> Vec2 {
+pub fn unpackUnorm2x16<T: Scalar>(p: u32) -> Vec2 {
     unimplemented!()
 }
 
-pub fn unpackUnorm4x8<N: Scalar>(p: u32) -> Vec4 {
+pub fn unpackUnorm4x8<T: Scalar>(p: u32) -> Vec4 {
     unimplemented!()
 }

nalgebra-glm/src/traits.rs

@@ -1,15 +1,10 @@
 use approx::AbsDiffEq;
 use num::{Bounded, FromPrimitive, Signed};
 
-use na::allocator::Allocator;
+use na::Scalar;
-use na::{DimMin, DimName, Scalar, U1};
 use simba::scalar::{ClosedAdd, ClosedMul, ClosedSub};
 use std::cmp::PartialOrd;
 
-/// A type-level number representing a vector, matrix row, or matrix column, dimension.
-pub trait Dimension: DimName + DimMin<Self, Output = Self> {}
-impl<D: DimName + DimMin<D, Output = Self>> Dimension for D {}
-
 /// A number that can either be an integer or a float.
 pub trait Number:
     Scalar
@@ -39,64 +34,3 @@ impl<
     > Number for T
 {
 }
-
-#[doc(hidden)]
-pub trait Alloc<N: Scalar, R: Dimension, C: Dimension = U1>:
-    Allocator<N, R>
-    + Allocator<N, C>
-    + Allocator<N, U1, R>
-    + Allocator<N, U1, C>
-    + Allocator<N, R, C>
-    + Allocator<N, C, R>
-    + Allocator<N, R, R>
-    + Allocator<N, C, C>
-    + Allocator<bool, R>
-    + Allocator<bool, C>
-    + Allocator<f32, R>
-    + Allocator<f32, C>
-    + Allocator<u32, R>
-    + Allocator<u32, C>
-    + Allocator<i32, R>
-    + Allocator<i32, C>
-    + Allocator<f64, R>
-    + Allocator<f64, C>
-    + Allocator<u64, R>
-    + Allocator<u64, C>
-    + Allocator<i64, R>
-    + Allocator<i64, C>
-    + Allocator<i16, R>
-    + Allocator<i16, C>
-    + Allocator<(usize, usize), R>
-    + Allocator<(usize, usize), C>
-{
-}
-
-impl<N: Scalar, R: Dimension, C: Dimension, T> Alloc<N, R, C> for T where
-    T: Allocator<N, R>
-        + Allocator<N, C>
-        + Allocator<N, U1, R>
-        + Allocator<N, U1, C>
-        + Allocator<N, R, C>
-        + Allocator<N, C, R>
-        + Allocator<N, R, R>
-        + Allocator<N, C, C>
-        + Allocator<bool, R>
-        + Allocator<bool, C>
-        + Allocator<f32, R>
-        + Allocator<f32, C>
-        + Allocator<u32, R>
-        + Allocator<u32, C>
-        + Allocator<i32, R>
-        + Allocator<i32, C>
-        + Allocator<f64, R>
-        + Allocator<f64, C>
-        + Allocator<u64, R>
-        + Allocator<u64, C>
-        + Allocator<i64, R>
-        + Allocator<i64, C>
-        + Allocator<i16, R>
-        + Allocator<i16, C>
-        + Allocator<(usize, usize), R>
-        + Allocator<(usize, usize), C>
-{
-}

nalgebra-glm/src/trigonometric.rs

@@ -1,124 +1,78 @@
-use na::{self, DefaultAllocator, RealField};
+use na::{self, RealField};
 
 use crate::aliases::TVec;
-use crate::traits::{Alloc, Dimension};
 
 /// Component-wise arc-cosinus.
-pub fn acos<N: RealField, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
+pub fn acos<T: RealField, const D: usize>(x: &TVec<T, D>) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     x.map(|e| e.acos())
 }
 
 /// Component-wise hyperbolic arc-cosinus.
-pub fn acosh<N: RealField, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
+pub fn acosh<T: RealField, const D: usize>(x: &TVec<T, D>) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     x.map(|e| e.acosh())
 }
 
 /// Component-wise arc-sinus.
-pub fn asin<N: RealField, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
+pub fn asin<T: RealField, const D: usize>(x: &TVec<T, D>) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     x.map(|e| e.asin())
 }
 
 /// Component-wise hyperbolic arc-sinus.
-pub fn asinh<N: RealField, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
+pub fn asinh<T: RealField, const D: usize>(x: &TVec<T, D>) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     x.map(|e| e.asinh())
 }
 
 /// Component-wise arc-tangent of `y / x`.
-pub fn atan2<N: RealField, D: Dimension>(y: &TVec<N, D>, x: &TVec<N, D>) -> TVec<N, D>
+pub fn atan2<T: RealField, const D: usize>(y: &TVec<T, D>, x: &TVec<T, D>) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     y.zip_map(x, |y, x| y.atan2(x))
 }
 
 /// Component-wise arc-tangent.
-pub fn atan<N: RealField, D: Dimension>(y_over_x: &TVec<N, D>) -> TVec<N, D>
+pub fn atan<T: RealField, const D: usize>(y_over_x: &TVec<T, D>) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     y_over_x.map(|e| e.atan())
 }
 
 /// Component-wise hyperbolic arc-tangent.
-pub fn atanh<N: RealField, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
+pub fn atanh<T: RealField, const D: usize>(x: &TVec<T, D>) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     x.map(|e| e.atanh())
 }
 
 /// Component-wise cosinus.
-pub fn cos<N: RealField, D: Dimension>(angle: &TVec<N, D>) -> TVec<N, D>
+pub fn cos<T: RealField, const D: usize>(angle: &TVec<T, D>) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     angle.map(|e| e.cos())
 }
 
 /// Component-wise hyperbolic cosinus.
-pub fn cosh<N: RealField, D: Dimension>(angle: &TVec<N, D>) -> TVec<N, D>
+pub fn cosh<T: RealField, const D: usize>(angle: &TVec<T, D>) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     angle.map(|e| e.cosh())
 }
 
 /// Component-wise conversion from radians to degrees.
-pub fn degrees<N: RealField, D: Dimension>(radians: &TVec<N, D>) -> TVec<N, D>
+pub fn degrees<T: RealField, const D: usize>(radians: &TVec<T, D>) -> TVec<T, D> {
-where
+    radians.map(|e| e * na::convert(180.0) / T::pi())
-    DefaultAllocator: Alloc<N, D>,
-{
-    radians.map(|e| e * na::convert(180.0) / N::pi())
 }
 
 /// Component-wise conversion fro degrees to radians.
-pub fn radians<N: RealField, D: Dimension>(degrees: &TVec<N, D>) -> TVec<N, D>
+pub fn radians<T: RealField, const D: usize>(degrees: &TVec<T, D>) -> TVec<T, D> {
-where
+    degrees.map(|e| e * T::pi() / na::convert(180.0))
-    DefaultAllocator: Alloc<N, D>,
-{
-    degrees.map(|e| e * N::pi() / na::convert(180.0))
 }
 
 /// Component-wise sinus.
-pub fn sin<N: RealField, D: Dimension>(angle: &TVec<N, D>) -> TVec<N, D>
+pub fn sin<T: RealField, const D: usize>(angle: &TVec<T, D>) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     angle.map(|e| e.sin())
 }
 
 /// Component-wise hyperbolic sinus.
-pub fn sinh<N: RealField, D: Dimension>(angle: &TVec<N, D>) -> TVec<N, D>
+pub fn sinh<T: RealField, const D: usize>(angle: &TVec<T, D>) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     angle.map(|e| e.sinh())
 }
 
 /// Component-wise tangent.
-pub fn tan<N: RealField, D: Dimension>(angle: &TVec<N, D>) -> TVec<N, D>
+pub fn tan<T: RealField, const D: usize>(angle: &TVec<T, D>) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     angle.map(|e| e.tan())
 }
 
 /// Component-wise hyperbolic tangent.
-pub fn tanh<N: RealField, D: Dimension>(angle: &TVec<N, D>) -> TVec<N, D>
+pub fn tanh<T: RealField, const D: usize>(angle: &TVec<T, D>) -> TVec<T, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     angle.map(|e| e.tanh())
 }

nalgebra-glm/src/vector_relational.rs

@@ -1,7 +1,5 @@
-use na::DefaultAllocator;
-
 use crate::aliases::TVec;
-use crate::traits::{Alloc, Dimension, Number};
+use crate::traits::Number;
 
 /// Checks that all the vector components are `true`.
 ///
@@ -20,10 +18,7 @@ use crate::traits::{Alloc, Dimension, Number};
 ///
 /// * [`any`](fn.any.html)
 /// * [`not`](fn.not.html)
-pub fn all<D: Dimension>(v: &TVec<bool, D>) -> bool
+pub fn all<const D: usize>(v: &TVec<bool, D>) -> bool {
-where
-    DefaultAllocator: Alloc<bool, D>,
-{
     v.iter().all(|x| *x)
 }
 
@@ -47,10 +42,7 @@ where
 ///
 /// * [`all`](fn.all.html)
 /// * [`not`](fn.not.html)
-pub fn any<D: Dimension>(v: &TVec<bool, D>) -> bool
+pub fn any<const D: usize>(v: &TVec<bool, D>) -> bool {
-where
-    DefaultAllocator: Alloc<bool, D>,
-{
     v.iter().any(|x| *x)
 }
 
@@ -73,10 +65,7 @@ where
 /// * [`less_than_equal`](fn.less_than_equal.html)
 /// * [`not`](fn.not.html)
 /// * [`not_equal`](fn.not_equal.html)
-pub fn equal<N: Number, D: Dimension>(x: &TVec<N, D>, y: &TVec<N, D>) -> TVec<bool, D>
+pub fn equal<T: Number, const D: usize>(x: &TVec<T, D>, y: &TVec<T, D>) -> TVec<bool, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     x.zip_map(y, |x, y| x == y)
 }
 
@@ -99,10 +88,7 @@ where
 /// * [`less_than_equal`](fn.less_than_equal.html)
 /// * [`not`](fn.not.html)
 /// * [`not_equal`](fn.not_equal.html)
-pub fn greater_than<N: Number, D: Dimension>(x: &TVec<N, D>, y: &TVec<N, D>) -> TVec<bool, D>
+pub fn greater_than<T: Number, const D: usize>(x: &TVec<T, D>, y: &TVec<T, D>) -> TVec<bool, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     x.zip_map(y, |x, y| x > y)
 }
 
@@ -125,10 +111,10 @@ where
 /// * [`less_than_equal`](fn.less_than_equal.html)
 /// * [`not`](fn.not.html)
 /// * [`not_equal`](fn.not_equal.html)
-pub fn greater_than_equal<N: Number, D: Dimension>(x: &TVec<N, D>, y: &TVec<N, D>) -> TVec<bool, D>
+pub fn greater_than_equal<T: Number, const D: usize>(
-where
+    x: &TVec<T, D>,
-    DefaultAllocator: Alloc<N, D>,
+    y: &TVec<T, D>,
-{
+) -> TVec<bool, D> {
     x.zip_map(y, |x, y| x >= y)
 }
 
@@ -151,10 +137,7 @@ where
 /// * [`less_than_equal`](fn.less_than_equal.html)
 /// * [`not`](fn.not.html)
 /// * [`not_equal`](fn.not_equal.html)
-pub fn less_than<N: Number, D: Dimension>(x: &TVec<N, D>, y: &TVec<N, D>) -> TVec<bool, D>
+pub fn less_than<T: Number, const D: usize>(x: &TVec<T, D>, y: &TVec<T, D>) -> TVec<bool, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     x.zip_map(y, |x, y| x < y)
 }
 
@@ -177,10 +160,7 @@ where
 /// * [`less_than`](fn.less_than.html)
 /// * [`not`](fn.not.html)
 /// * [`not_equal`](fn.not_equal.html)
-pub fn less_than_equal<N: Number, D: Dimension>(x: &TVec<N, D>, y: &TVec<N, D>) -> TVec<bool, D>
+pub fn less_than_equal<T: Number, const D: usize>(x: &TVec<T, D>, y: &TVec<T, D>) -> TVec<bool, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     x.zip_map(y, |x, y| x <= y)
 }
 
@@ -204,10 +184,7 @@ where
 /// * [`less_than`](fn.less_than.html)
 /// * [`less_than_equal`](fn.less_than_equal.html)
 /// * [`not_equal`](fn.not_equal.html)
-pub fn not<D: Dimension>(v: &TVec<bool, D>) -> TVec<bool, D>
+pub fn not<const D: usize>(v: &TVec<bool, D>) -> TVec<bool, D> {
-where
-    DefaultAllocator: Alloc<bool, D>,
-{
     v.map(|x| !x)
 }
 
@@ -230,9 +207,6 @@ where
 /// * [`less_than`](fn.less_than.html)
 /// * [`less_than_equal`](fn.less_than_equal.html)
 /// * [`not`](fn.not.html)
-pub fn not_equal<N: Number, D: Dimension>(x: &TVec<N, D>, y: &TVec<N, D>) -> TVec<bool, D>
+pub fn not_equal<T: Number, const D: usize>(x: &TVec<T, D>, y: &TVec<T, D>) -> TVec<bool, D> {
-where
-    DefaultAllocator: Alloc<N, D>,
-{
     x.zip_map(y, |x, y| x != y)
 }

nalgebra-lapack/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name    = "nalgebra-lapack"
-version = "0.16.0"
+version = "0.17.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>", "Andrew Straw <strawman@astraw.com>" ]
 
 description   = "Matrix decompositions using nalgebra matrices and Lapack bindings."
@@ -17,9 +17,9 @@ edition = "2018"
 maintenance = { status = "actively-developed" }
 
 [features]
-serde-serialize = [ "serde", "serde_derive" ]
+serde-serialize  = [ "serde", "nalgebra/serde-serialize" ]
 proptest-support = [ "nalgebra/proptest-support" ]
-arbitrary = [ "nalgebra/arbitrary" ]
+arbitrary        = [ "nalgebra/arbitrary" ]
 
 # For BLAS/LAPACK
 default    = ["netlib"]
@@ -29,19 +29,18 @@ accelerate = ["lapack-src/accelerate"]
 intel-mkl  = ["lapack-src/intel-mkl"]
 
 [dependencies]
-nalgebra      = { version = "0.25", path = ".." }
+nalgebra      = { version = "0.26", path = ".." }
 num-traits    = "0.2"
 num-complex   = { version = "0.3", default-features = false }
 simba         = "0.4"
-serde         = { version = "1.0", optional = true }
+serde         = { version = "1.0", features = [ "derive" ], optional = true }
-serde_derive  = { version = "1.0", optional = true }
 lapack        = { version = "0.17", default-features = false }
 lapack-src    = { version = "0.6", default-features = false }
 # clippy = "*"
 
 [dev-dependencies]
-nalgebra   = { version = "0.25", features = [ "arbitrary" ], path = ".." }
+nalgebra   = { version = "0.26", features = [ "arbitrary", "rand" ], path = ".." }
-proptest = { version = "1", default-features = false, features = ["std"] }
+proptest   = { version = "1", default-features = false, features = ["std"] }
 quickcheck = "1"
 approx     = "0.4"
 rand       = "0.8"

nalgebra-lapack/benches/linalg/hessenberg.rs

@@ -5,17 +5,17 @@ use test::{self, Bencher};
 #[bench]
 fn hessenberg_decompose_100x100(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(100, 100);
-    bh.iter(|| test::black_box(Hessenberg::new(m.clone())))
+    bh.iter(|| std::hint::black_box(Hessenberg::new(m.clone())))
 }
 
 #[bench]
 fn hessenberg_decompose_4x4(bh: &mut Bencher) {
     let m = Matrix4::<f64>::new_random();
-    bh.iter(|| test::black_box(Hessenberg::new(m.clone())))
+    bh.iter(|| std::hint::black_box(Hessenberg::new(m.clone())))
 }
 
 #[bench]
 fn hessenberg_decompose_500x500(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(500, 500);
-    bh.iter(|| test::black_box(Hessenberg::new(m.clone())))
+    bh.iter(|| std::hint::black_box(Hessenberg::new(m.clone())))
 }

nalgebra-lapack/benches/linalg/lu.rs

@@ -5,29 +5,29 @@ use test::{self, Bencher};
 #[bench]
 fn lu_decompose_100x100(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(100, 100);
-    bh.iter(|| test::black_box(LU::new(m.clone())))
+    bh.iter(|| std::hint::black_box(LU::new(m.clone())))
 }
 
 #[bench]
 fn lu_decompose_100x500(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(100, 500);
-    bh.iter(|| test::black_box(LU::new(m.clone())))
+    bh.iter(|| std::hint::black_box(LU::new(m.clone())))
 }
 
 #[bench]
 fn lu_decompose_4x4(bh: &mut Bencher) {
     let m = Matrix4::<f64>::new_random();
-    bh.iter(|| test::black_box(LU::new(m.clone())))
+    bh.iter(|| std::hint::black_box(LU::new(m.clone())))
 }
 
 #[bench]
 fn lu_decompose_500x100(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(500, 100);
-    bh.iter(|| test::black_box(LU::new(m.clone())))
+    bh.iter(|| std::hint::black_box(LU::new(m.clone())))
 }
 
 #[bench]
 fn lu_decompose_500x500(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(500, 500);
-    bh.iter(|| test::black_box(LU::new(m.clone())))
+    bh.iter(|| std::hint::black_box(LU::new(m.clone())))
 }

nalgebra-lapack/benches/linalg/qr.rs

@@ -5,29 +5,29 @@ use test::{self, Bencher};
 #[bench]
 fn qr_decompose_100x100(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(100, 100);
-    bh.iter(|| test::black_box(QR::new(m.clone())))
+    bh.iter(|| std::hint::black_box(QR::new(m.clone())))
 }
 
 #[bench]
 fn qr_decompose_100x500(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(100, 500);
-    bh.iter(|| test::black_box(QR::new(m.clone())))
+    bh.iter(|| std::hint::black_box(QR::new(m.clone())))
 }
 
 #[bench]
 fn qr_decompose_4x4(bh: &mut Bencher) {
     let m = Matrix4::<f64>::new_random();
-    bh.iter(|| test::black_box(QR::new(m.clone())))
+    bh.iter(|| std::hint::black_box(QR::new(m.clone())))
 }
 
 #[bench]
 fn qr_decompose_500x100(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(500, 100);
-    bh.iter(|| test::black_box(QR::new(m.clone())))
+    bh.iter(|| std::hint::black_box(QR::new(m.clone())))
 }
 
 #[bench]
 fn qr_decompose_500x500(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(500, 500);
-    bh.iter(|| test::black_box(QR::new(m.clone())))
+    bh.iter(|| std::hint::black_box(QR::new(m.clone())))
 }

nalgebra-lapack/src/cholesky.rs

@@ -7,7 +7,7 @@ use num_complex::Complex;
 use na::allocator::Allocator;
 use na::dimension::Dim;
 use na::storage::Storage;
-use na::{DefaultAllocator, Matrix, MatrixMN, MatrixN, Scalar};
+use na::{DefaultAllocator, Matrix, OMatrix, Scalar};
 
 use lapack;
 
@@ -15,39 +15,39 @@ use lapack;
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "serde-serialize",
-    serde(bound(serialize = "DefaultAllocator: Allocator<N, D>,
+    serde(bound(serialize = "DefaultAllocator: Allocator<T, D>,
-         MatrixN<N, D>: Serialize"))
+         OMatrix<T, D, D>: Serialize"))
 )]
 #[cfg_attr(
     feature = "serde-serialize",
-    serde(bound(deserialize = "DefaultAllocator: Allocator<N, D>,
+    serde(bound(deserialize = "DefaultAllocator: Allocator<T, D>,
-         MatrixN<N, D>: Deserialize<'de>"))
+         OMatrix<T, D, D>: Deserialize<'de>"))
 )]
 #[derive(Clone, Debug)]
-pub struct Cholesky<N: Scalar, D: Dim>
+pub struct Cholesky<T: Scalar, D: Dim>
 where
-    DefaultAllocator: Allocator<N, D, D>,
+    DefaultAllocator: Allocator<T, D, D>,
 {
-    l: MatrixN<N, D>,
+    l: OMatrix<T, D, D>,
 }
 
-impl<N: Scalar + Copy, D: Dim> Copy for Cholesky<N, D>
+impl<T: Scalar + Copy, D: Dim> Copy for Cholesky<T, D>
 where
-    DefaultAllocator: Allocator<N, D, D>,
+    DefaultAllocator: Allocator<T, D, D>,
-    MatrixN<N, D>: Copy,
+    OMatrix<T, D, D>: Copy,
 {
 }
 
-impl<N: CholeskyScalar + Zero, D: Dim> Cholesky<N, D>
+impl<T: CholeskyScalar + Zero, D: Dim> Cholesky<T, D>
 where
-    DefaultAllocator: Allocator<N, D, D>,
+    DefaultAllocator: Allocator<T, D, D>,
 {
     /// Computes the cholesky decomposition of the given symmetric-definite-positive square
     /// matrix.
     ///
     /// Only the lower-triangular part of the input matrix is considered.
     #[inline]
-    pub fn new(mut m: MatrixN<N, D>) -> Option<Self> {
+    pub fn new(mut m: OMatrix<T, D, D>) -> Option<Self> {
         // TODO: check symmetry as well?
         assert!(
             m.is_square(),
@@ -58,14 +58,14 @@ where
         let dim = m.nrows() as i32;
         let mut info = 0;
 
-        N::xpotrf(uplo, dim, m.as_mut_slice(), dim, &mut info);
+        T::xpotrf(uplo, dim, m.as_mut_slice(), dim, &mut info);
         lapack_check!(info);
 
         Some(Self { l: m })
     }
 
     /// Retrieves the lower-triangular factor of the cholesky decomposition.
-    pub fn unpack(mut self) -> MatrixN<N, D> {
+    pub fn unpack(mut self) -> OMatrix<T, D, D> {
         self.l.fill_upper_triangle(Zero::zero(), 1);
         self.l
     }
@@ -75,12 +75,12 @@ where
     ///
     /// This is an allocation-less version of `self.l()`. The values of the strict upper-triangular
     /// part are garbage and should be ignored by further computations.
-    pub fn unpack_dirty(self) -> MatrixN<N, D> {
+    pub fn unpack_dirty(self) -> OMatrix<T, D, D> {
         self.l
     }
 
     /// Retrieves the lower-triangular factor of the cholesky decomposition.
-    pub fn l(&self) -> MatrixN<N, D> {
+    pub fn l(&self) -> OMatrix<T, D, D> {
         let mut res = self.l.clone();
         res.fill_upper_triangle(Zero::zero(), 1);
         res
@@ -91,7 +91,7 @@ where
     ///
     /// This is an allocation-less version of `self.l()`. The values of the strict upper-triangular
     /// part are garbage and should be ignored by further computations.
-    pub fn l_dirty(&self) -> &MatrixN<N, D> {
+    pub fn l_dirty(&self) -> &OMatrix<T, D, D> {
         &self.l
     }
 
@@ -99,11 +99,11 @@ where
     /// unknown to be determined.
     pub fn solve<R2: Dim, C2: Dim, S2>(
         &self,
-        b: &Matrix<N, R2, C2, S2>,
+        b: &Matrix<T, R2, C2, S2>,
-    ) -> Option<MatrixMN<N, R2, C2>>
+    ) -> Option<OMatrix<T, R2, C2>>
     where
-        S2: Storage<N, R2, C2>,
+        S2: Storage<T, R2, C2>,
-        DefaultAllocator: Allocator<N, R2, C2>,
+        DefaultAllocator: Allocator<T, R2, C2>,
     {
         let mut res = b.clone_owned();
         if self.solve_mut(&mut res) {
@@ -115,9 +115,9 @@ where
 
     /// Solves in-place the symmetric-definite-positive linear system `self * x = b`, where `x` is
     /// the unknown to be determined.
-    pub fn solve_mut<R2: Dim, C2: Dim>(&self, b: &mut MatrixMN<N, R2, C2>) -> bool
+    pub fn solve_mut<R2: Dim, C2: Dim>(&self, b: &mut OMatrix<T, R2, C2>) -> bool
     where
-        DefaultAllocator: Allocator<N, R2, C2>,
+        DefaultAllocator: Allocator<T, R2, C2>,
     {
         let dim = self.l.nrows();
 
@@ -131,7 +131,7 @@ where
         let ldb = dim as i32;
         let mut info = 0;
 
-        N::xpotrs(
+        T::xpotrs(
             b'L',
             dim as i32,
             nrhs,
@@ -145,11 +145,11 @@ where
     }
 
     /// Computes the inverse of the decomposed matrix.
-    pub fn inverse(mut self) -> Option<MatrixN<N, D>> {
+    pub fn inverse(mut self) -> Option<OMatrix<T, D, D>> {
         let dim = self.l.nrows();
         let mut info = 0;
 
-        N::xpotri(
+        T::xpotri(
             b'L',
             dim as i32,
             self.l.as_mut_slice(),

nalgebra-lapack/src/eigen.rs

@@ -8,9 +8,9 @@ use simba::scalar::RealField;
 
 use crate::ComplexHelper;
 use na::allocator::Allocator;
-use na::dimension::{Dim, U1};
+use na::dimension::{Const, Dim};
 use na::storage::Storage;
-use na::{DefaultAllocator, Matrix, MatrixN, Scalar, VectorN};
+use na::{DefaultAllocator, Matrix, OMatrix, OVector, Scalar};
 
 use lapack;
 
@@ -19,74 +19,74 @@ use lapack;
 #[cfg_attr(
     feature = "serde-serialize",
     serde(
-        bound(serialize = "DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
+        bound(serialize = "DefaultAllocator: Allocator<T, D, D> + Allocator<T, D>,
-         VectorN<N, D>: Serialize,
+         OVector<T, D>: Serialize,
-         MatrixN<N, D>: Serialize")
+         OMatrix<T, D, D>: Serialize")
     )
 )]
 #[cfg_attr(
     feature = "serde-serialize",
     serde(
-        bound(deserialize = "DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
+        bound(deserialize = "DefaultAllocator: Allocator<T, D, D> + Allocator<T, D>,
-         VectorN<N, D>: Serialize,
+         OVector<T, D>: Serialize,
-         MatrixN<N, D>: Deserialize<'de>")
+         OMatrix<T, D, D>: Deserialize<'de>")
     )
 )]
 #[derive(Clone, Debug)]
-pub struct Eigen<N: Scalar, D: Dim>
+pub struct Eigen<T: Scalar, D: Dim>
 where
-    DefaultAllocator: Allocator<N, D> + Allocator<N, D, D>,
+    DefaultAllocator: Allocator<T, D> + Allocator<T, D, D>,
 {
     /// The eigenvalues of the decomposed matrix.
-    pub eigenvalues: VectorN<N, D>,
+    pub eigenvalues: OVector<T, D>,
     /// The (right) eigenvectors of the decomposed matrix.
-    pub eigenvectors: Option<MatrixN<N, D>>,
+    pub eigenvectors: Option<OMatrix<T, D, D>>,
     /// The left eigenvectors of the decomposed matrix.
-    pub left_eigenvectors: Option<MatrixN<N, D>>,
+    pub left_eigenvectors: Option<OMatrix<T, D, D>>,
 }
 
-impl<N: Scalar + Copy, D: Dim> Copy for Eigen<N, D>
+impl<T: Scalar + Copy, D: Dim> Copy for Eigen<T, D>
 where
-    DefaultAllocator: Allocator<N, D> + Allocator<N, D, D>,
+    DefaultAllocator: Allocator<T, D> + Allocator<T, D, D>,
-    VectorN<N, D>: Copy,
+    OVector<T, D>: Copy,
-    MatrixN<N, D>: Copy,
+    OMatrix<T, D, D>: Copy,
 {
 }
 
-impl<N: EigenScalar + RealField, D: Dim> Eigen<N, D>
+impl<T: EigenScalar + RealField, D: Dim> Eigen<T, D>
 where
-    DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
+    DefaultAllocator: Allocator<T, D, D> + Allocator<T, D>,
 {
     /// Computes the eigenvalues and eigenvectors of the square matrix `m`.
     ///
     /// If `eigenvectors` is `false` then, the eigenvectors are not computed explicitly.
     pub fn new(
-        mut m: MatrixN<N, D>,
+        mut m: OMatrix<T, D, D>,
         left_eigenvectors: bool,
         eigenvectors: bool,
-    ) -> Option<Eigen<N, D>> {
+    ) -> Option<Eigen<T, D>> {
         assert!(
             m.is_square(),
             "Unable to compute the eigenvalue decomposition of a non-square matrix."
         );
 
-        let ljob = if left_eigenvectors { b'V' } else { b'N' };
+        let ljob = if left_eigenvectors { b'V' } else { b'T' };
-        let rjob = if eigenvectors { b'V' } else { b'N' };
+        let rjob = if eigenvectors { b'V' } else { b'T' };
 
         let (nrows, ncols) = m.data.shape();
         let n = nrows.value();
 
         let lda = n as i32;
 
-        let mut wr = unsafe { Matrix::new_uninitialized_generic(nrows, U1).assume_init() };
+        let mut wr = unsafe { Matrix::new_uninitialized_generic(nrows, Const::<1>).assume_init() };
         // TODO: Tap into the workspace.
-        let mut wi = unsafe { Matrix::new_uninitialized_generic(nrows, U1).assume_init() };
+        let mut wi = unsafe { Matrix::new_uninitialized_generic(nrows, Const::<1>).assume_init() };
 
         let mut info = 0;
-        let mut placeholder1 = [N::zero()];
+        let mut placeholder1 = [T::zero()];
-        let mut placeholder2 = [N::zero()];
+        let mut placeholder2 = [T::zero()];
 
-        let lwork = N::xgeev_work_size(
+        let lwork = T::xgeev_work_size(
             ljob,
             rjob,
             n as i32,
@@ -112,7 +112,7 @@ where
                 let mut vr =
                     unsafe { Matrix::new_uninitialized_generic(nrows, ncols).assume_init() };
 
-                N::xgeev(
+                T::xgeev(
                     ljob,
                     rjob,
                     n as i32,
@@ -142,7 +142,7 @@ where
                 let mut vl =
                     unsafe { Matrix::new_uninitialized_generic(nrows, ncols).assume_init() };
 
-                N::xgeev(
+                T::xgeev(
                     ljob,
                     rjob,
                     n as i32,
@@ -172,7 +172,7 @@ where
                 let mut vr =
                     unsafe { Matrix::new_uninitialized_generic(nrows, ncols).assume_init() };
 
-                N::xgeev(
+                T::xgeev(
                     ljob,
                     rjob,
                     n as i32,
@@ -199,7 +199,7 @@ where
                 }
             }
             (false, false) => {
-                N::xgeev(
+                T::xgeev(
                     ljob,
                     rjob,
                     n as i32,
@@ -233,9 +233,9 @@ where
     /// The complex eigenvalues of the given matrix.
     ///
     /// Panics if the eigenvalue computation does not converge.
-    pub fn complex_eigenvalues(mut m: MatrixN<N, D>) -> VectorN<Complex<N>, D>
+    pub fn complex_eigenvalues(mut m: OMatrix<T, D, D>) -> OVector<Complex<T>, D>
     where
-        DefaultAllocator: Allocator<Complex<N>, D>,
+        DefaultAllocator: Allocator<Complex<T>, D>,
     {
         assert!(
             m.is_square(),
@@ -247,16 +247,16 @@ where
 
         let lda = n as i32;
 
-        let mut wr = unsafe { Matrix::new_uninitialized_generic(nrows, U1).assume_init() };
+        let mut wr = unsafe { Matrix::new_uninitialized_generic(nrows, Const::<1>).assume_init() };
-        let mut wi = unsafe { Matrix::new_uninitialized_generic(nrows, U1).assume_init() };
+        let mut wi = unsafe { Matrix::new_uninitialized_generic(nrows, Const::<1>).assume_init() };
 
         let mut info = 0;
-        let mut placeholder1 = [N::zero()];
+        let mut placeholder1 = [T::zero()];
-        let mut placeholder2 = [N::zero()];
+        let mut placeholder2 = [T::zero()];
 
-        let lwork = N::xgeev_work_size(
+        let lwork = T::xgeev_work_size(
-            b'N',
+            b'T',
-            b'N',
+            b'T',
             n as i32,
             m.as_mut_slice(),
             lda,
@@ -273,9 +273,9 @@ where
 
         let mut work = unsafe { crate::uninitialized_vec(lwork as usize) };
 
-        N::xgeev(
+        T::xgeev(
-            b'N',
+            b'T',
-            b'N',
+            b'T',
             n as i32,
             m.as_mut_slice(),
             lda,
@@ -291,7 +291,7 @@ where
         );
         lapack_panic!(info);
 
-        let mut res = unsafe { Matrix::new_uninitialized_generic(nrows, U1).assume_init() };
+        let mut res = unsafe { Matrix::new_uninitialized_generic(nrows, Const::<1>).assume_init() };
 
         for i in 0..res.len() {
             res[i] = Complex::new(wr[i], wi[i]);
@@ -302,8 +302,8 @@ where
 
     /// The determinant of the decomposed matrix.
     #[inline]
-    pub fn determinant(&self) -> N {
+    pub fn determinant(&self) -> T {
-        let mut det = N::one();
+        let mut det = T::one();
         for e in self.eigenvalues.iter() {
             det *= *e;
         }

nalgebra-lapack/src/hessenberg.rs

@@ -3,9 +3,9 @@ use num_complex::Complex;
 
 use crate::ComplexHelper;
 use na::allocator::Allocator;
-use na::dimension::{DimDiff, DimSub, U1};
+use na::dimension::{Const, DimDiff, DimSub, U1};
 use na::storage::Storage;
-use na::{DefaultAllocator, Matrix, MatrixN, Scalar, VectorN};
+use na::{DefaultAllocator, Matrix, OMatrix, OVector, Scalar};
 
 use lapack;
 
@@ -13,41 +13,41 @@ use lapack;
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "serde-serialize",
-    serde(bound(serialize = "DefaultAllocator: Allocator<N, D, D> +
+    serde(bound(serialize = "DefaultAllocator: Allocator<T, D, D> +
-                           Allocator<N, DimDiff<D, U1>>,
+                           Allocator<T, DimDiff<D, U1>>,
-         MatrixN<N, D>: Serialize,
+         OMatrix<T, D, D>: Serialize,
-         VectorN<N, DimDiff<D, U1>>: Serialize"))
+         OVector<T, DimDiff<D, U1>>: Serialize"))
 )]
 #[cfg_attr(
     feature = "serde-serialize",
-    serde(bound(deserialize = "DefaultAllocator: Allocator<N, D, D> +
+    serde(bound(deserialize = "DefaultAllocator: Allocator<T, D, D> +
-                           Allocator<N, DimDiff<D, U1>>,
+                           Allocator<T, DimDiff<D, U1>>,
-         MatrixN<N, D>: Deserialize<'de>,
+         OMatrix<T, D, D>: Deserialize<'de>,
-         VectorN<N, DimDiff<D, U1>>: Deserialize<'de>"))
+         OVector<T, DimDiff<D, U1>>: Deserialize<'de>"))
 )]
 #[derive(Clone, Debug)]
-pub struct Hessenberg<N: Scalar, D: DimSub<U1>>
+pub struct Hessenberg<T: Scalar, D: DimSub<U1>>
 where
-    DefaultAllocator: Allocator<N, D, D> + Allocator<N, DimDiff<D, U1>>,
+    DefaultAllocator: Allocator<T, D, D> + Allocator<T, DimDiff<D, U1>>,
 {
-    h: MatrixN<N, D>,
+    h: OMatrix<T, D, D>,
-    tau: VectorN<N, DimDiff<D, U1>>,
+    tau: OVector<T, DimDiff<D, U1>>,
 }
 
-impl<N: Scalar + Copy, D: DimSub<U1>> Copy for Hessenberg<N, D>
+impl<T: Scalar + Copy, D: DimSub<U1>> Copy for Hessenberg<T, D>
 where
-    DefaultAllocator: Allocator<N, D, D> + Allocator<N, DimDiff<D, U1>>,
+    DefaultAllocator: Allocator<T, D, D> + Allocator<T, DimDiff<D, U1>>,
-    MatrixN<N, D>: Copy,
+    OMatrix<T, D, D>: Copy,
-    VectorN<N, DimDiff<D, U1>>: Copy,
+    OVector<T, DimDiff<D, U1>>: Copy,
 {
 }
 
-impl<N: HessenbergScalar + Zero, D: DimSub<U1>> Hessenberg<N, D>
+impl<T: HessenbergScalar + Zero, D: DimSub<U1>> Hessenberg<T, D>
 where
-    DefaultAllocator: Allocator<N, D, D> + Allocator<N, DimDiff<D, U1>>,
+    DefaultAllocator: Allocator<T, D, D> + Allocator<T, DimDiff<D, U1>>,
 {
     /// Computes the hessenberg decomposition of the matrix `m`.
-    pub fn new(mut m: MatrixN<N, D>) -> Self {
+    pub fn new(mut m: OMatrix<T, D, D>) -> Self {
         let nrows = m.data.shape().0;
         let n = nrows.value() as i32;
 
@@ -60,16 +60,18 @@ where
             "Unable to compute the hessenberg decomposition of an empty matrix."
         );
 
-        let mut tau = unsafe { Matrix::new_uninitialized_generic(nrows.sub(U1), U1).assume_init() };
+        let mut tau = unsafe {
+            Matrix::new_uninitialized_generic(nrows.sub(Const::<1>), Const::<1>).assume_init()
+        };
 
         let mut info = 0;
         let lwork =
-            N::xgehrd_work_size(n, 1, n, m.as_mut_slice(), n, tau.as_mut_slice(), &mut info);
+            T::xgehrd_work_size(n, 1, n, m.as_mut_slice(), n, tau.as_mut_slice(), &mut info);
         let mut work = unsafe { crate::uninitialized_vec(lwork as usize) };
 
         lapack_panic!(info);
 
-        N::xgehrd(
+        T::xgehrd(
             n,
             1,
             n,
@@ -87,36 +89,36 @@ where
 
     /// Computes the hessenberg matrix of this decomposition.
     #[inline]
-    pub fn h(&self) -> MatrixN<N, D> {
+    pub fn h(&self) -> OMatrix<T, D, D> {
         let mut h = self.h.clone_owned();
-        h.fill_lower_triangle(N::zero(), 2);
+        h.fill_lower_triangle(T::zero(), 2);
 
         h
     }
 }
 
-impl<N: HessenbergReal + Zero, D: DimSub<U1>> Hessenberg<N, D>
+impl<T: HessenbergReal + Zero, D: DimSub<U1>> Hessenberg<T, D>
 where
-    DefaultAllocator: Allocator<N, D, D> + Allocator<N, DimDiff<D, U1>>,
+    DefaultAllocator: Allocator<T, D, D> + Allocator<T, DimDiff<D, U1>>,
 {
     /// Computes the matrices `(Q, H)` of this decomposition.
     #[inline]
-    pub fn unpack(self) -> (MatrixN<N, D>, MatrixN<N, D>) {
+    pub fn unpack(self) -> (OMatrix<T, D, D>, OMatrix<T, D, D>) {
         (self.q(), self.h())
     }
 
     /// Computes the unitary matrix `Q` of this decomposition.
     #[inline]
-    pub fn q(&self) -> MatrixN<N, D> {
+    pub fn q(&self) -> OMatrix<T, D, D> {
         let n = self.h.nrows() as i32;
         let mut q = self.h.clone_owned();
         let mut info = 0;
 
         let lwork =
-            N::xorghr_work_size(n, 1, n, q.as_mut_slice(), n, self.tau.as_slice(), &mut info);
+            T::xorghr_work_size(n, 1, n, q.as_mut_slice(), n, self.tau.as_slice(), &mut info);
-        let mut work = vec![N::zero(); lwork as usize];
+        let mut work = vec![T::zero(); lwork as usize];
 
-        N::xorghr(
+        T::xorghr(
             n,
             1,
             n,

nalgebra-lapack/src/lu.rs

@@ -3,9 +3,9 @@ use num_complex::Complex;
 
 use crate::ComplexHelper;
 use na::allocator::Allocator;
-use na::dimension::{Dim, DimMin, DimMinimum, U1};
+use na::dimension::{Const, Dim, DimMin, DimMinimum};
 use na::storage::Storage;
-use na::{DefaultAllocator, Matrix, MatrixMN, MatrixN, Scalar, VectorN};
+use na::{DefaultAllocator, Matrix, OMatrix, OVector, Scalar};
 
 use lapack;
 
@@ -20,57 +20,57 @@ use lapack;
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "serde-serialize",
-    serde(bound(serialize = "DefaultAllocator: Allocator<N, R, C> +
+    serde(bound(serialize = "DefaultAllocator: Allocator<T, R, C> +
                            Allocator<i32, DimMinimum<R, C>>,
-         MatrixMN<N, R, C>: Serialize,
+         OMatrix<T, R, C>: Serialize,
          PermutationSequence<DimMinimum<R, C>>: Serialize"))
 )]
 #[cfg_attr(
     feature = "serde-serialize",
-    serde(bound(deserialize = "DefaultAllocator: Allocator<N, R, C> +
+    serde(bound(deserialize = "DefaultAllocator: Allocator<T, R, C> +
                            Allocator<i32, DimMinimum<R, C>>,
-         MatrixMN<N, R, C>: Deserialize<'de>,
+         OMatrix<T, R, C>: Deserialize<'de>,
          PermutationSequence<DimMinimum<R, C>>: Deserialize<'de>"))
 )]
 #[derive(Clone, Debug)]
-pub struct LU<N: Scalar, R: DimMin<C>, C: Dim>
+pub struct LU<T: Scalar, R: DimMin<C>, C: Dim>
 where
-    DefaultAllocator: Allocator<i32, DimMinimum<R, C>> + Allocator<N, R, C>,
+    DefaultAllocator: Allocator<i32, DimMinimum<R, C>> + Allocator<T, R, C>,
 {
-    lu: MatrixMN<N, R, C>,
+    lu: OMatrix<T, R, C>,
-    p: VectorN<i32, DimMinimum<R, C>>,
+    p: OVector<i32, DimMinimum<R, C>>,
 }
 
-impl<N: Scalar + Copy, R: DimMin<C>, C: Dim> Copy for LU<N, R, C>
+impl<T: Scalar + Copy, R: DimMin<C>, C: Dim> Copy for LU<T, R, C>
 where
-    DefaultAllocator: Allocator<N, R, C> + Allocator<i32, DimMinimum<R, C>>,
+    DefaultAllocator: Allocator<T, R, C> + Allocator<i32, DimMinimum<R, C>>,
-    MatrixMN<N, R, C>: Copy,
+    OMatrix<T, R, C>: Copy,
-    VectorN<i32, DimMinimum<R, C>>: Copy,
+    OVector<i32, DimMinimum<R, C>>: Copy,
 {
 }
 
-impl<N: LUScalar, R: Dim, C: Dim> LU<N, R, C>
+impl<T: LUScalar, R: Dim, C: Dim> LU<T, R, C>
 where
-    N: Zero + One,
+    T: Zero + One,
     R: DimMin<C>,
-    DefaultAllocator: Allocator<N, R, C>
+    DefaultAllocator: Allocator<T, R, C>
-        + Allocator<N, R, R>
+        + Allocator<T, R, R>
-        + Allocator<N, R, DimMinimum<R, C>>
+        + Allocator<T, R, DimMinimum<R, C>>
-        + Allocator<N, DimMinimum<R, C>, C>
+        + Allocator<T, DimMinimum<R, C>, C>
         + Allocator<i32, DimMinimum<R, C>>,
 {
     /// Computes the LU decomposition with partial (row) pivoting of `matrix`.
-    pub fn new(mut m: MatrixMN<N, R, C>) -> Self {
+    pub fn new(mut m: OMatrix<T, R, C>) -> Self {
         let (nrows, ncols) = m.data.shape();
         let min_nrows_ncols = nrows.min(ncols);
         let nrows = nrows.value() as i32;
         let ncols = ncols.value() as i32;
 
-        let mut ipiv: VectorN<i32, _> = Matrix::zeros_generic(min_nrows_ncols, U1);
+        let mut ipiv: OVector<i32, _> = Matrix::zeros_generic(min_nrows_ncols, Const::<1>);
 
         let mut info = 0;
 
-        N::xgetrf(
+        T::xgetrf(
             nrows,
             ncols,
             m.as_mut_slice(),
@@ -85,7 +85,7 @@ where
 
     /// Gets the lower-triangular matrix part of the decomposition.
     #[inline]
-    pub fn l(&self) -> MatrixMN<N, R, DimMinimum<R, C>> {
+    pub fn l(&self) -> OMatrix<T, R, DimMinimum<R, C>> {
         let (nrows, ncols) = self.lu.data.shape();
         let mut res = self.lu.columns_generic(0, nrows.min(ncols)).into_owned();
 
@@ -97,7 +97,7 @@ where
 
     /// Gets the upper-triangular matrix part of the decomposition.
     #[inline]
-    pub fn u(&self) -> MatrixMN<N, DimMinimum<R, C>, C> {
+    pub fn u(&self) -> OMatrix<T, DimMinimum<R, C>, C> {
         let (nrows, ncols) = self.lu.data.shape();
         let mut res = self.lu.rows_generic(0, nrows.min(ncols)).into_owned();
 
@@ -111,7 +111,7 @@ where
     /// Computing the permutation matrix explicitly is costly and usually not necessary.
     /// To permute rows of a matrix or vector, use the method `self.permute(...)` instead.
     #[inline]
-    pub fn p(&self) -> MatrixN<N, R> {
+    pub fn p(&self) -> OMatrix<T, R, R> {
         let (dim, _) = self.lu.data.shape();
         let mut id = Matrix::identity_generic(dim, dim);
         self.permute(&mut id);
@@ -124,19 +124,19 @@ where
 
     /// Gets the LAPACK permutation indices.
     #[inline]
-    pub fn permutation_indices(&self) -> &VectorN<i32, DimMinimum<R, C>> {
+    pub fn permutation_indices(&self) -> &OVector<i32, DimMinimum<R, C>> {
         &self.p
     }
 
     /// Applies the permutation matrix to a given matrix or vector in-place.
     #[inline]
-    pub fn permute<C2: Dim>(&self, rhs: &mut MatrixMN<N, R, C2>)
+    pub fn permute<C2: Dim>(&self, rhs: &mut OMatrix<T, R, C2>)
     where
-        DefaultAllocator: Allocator<N, R, C2>,
+        DefaultAllocator: Allocator<T, R, C2>,
     {
         let (nrows, ncols) = rhs.shape();
 
-        N::xlaswp(
+        T::xlaswp(
             ncols as i32,
             rhs.as_mut_slice(),
             nrows as i32,
@@ -147,9 +147,9 @@ where
         );
     }
 
-    fn generic_solve_mut<R2: Dim, C2: Dim>(&self, trans: u8, b: &mut MatrixMN<N, R2, C2>) -> bool
+    fn generic_solve_mut<R2: Dim, C2: Dim>(&self, trans: u8, b: &mut OMatrix<T, R2, C2>) -> bool
     where
-        DefaultAllocator: Allocator<N, R2, C2> + Allocator<i32, R2>,
+        DefaultAllocator: Allocator<T, R2, C2> + Allocator<i32, R2>,
     {
         let dim = self.lu.nrows();
 
@@ -167,7 +167,7 @@ where
         let ldb = dim as i32;
         let mut info = 0;
 
-        N::xgetrs(
+        T::xgetrs(
             trans,
             dim as i32,
             nrhs,
@@ -184,14 +184,14 @@ where
     /// Solves the linear system `self * x = b`, where `x` is the unknown to be determined.
     pub fn solve<R2: Dim, C2: Dim, S2>(
         &self,
-        b: &Matrix<N, R2, C2, S2>,
+        b: &Matrix<T, R2, C2, S2>,
-    ) -> Option<MatrixMN<N, R2, C2>>
+    ) -> Option<OMatrix<T, R2, C2>>
     where
-        S2: Storage<N, R2, C2>,
+        S2: Storage<T, R2, C2>,
-        DefaultAllocator: Allocator<N, R2, C2> + Allocator<i32, R2>,
+        DefaultAllocator: Allocator<T, R2, C2> + Allocator<i32, R2>,
     {
         let mut res = b.clone_owned();
-        if self.generic_solve_mut(b'N', &mut res) {
+        if self.generic_solve_mut(b'T', &mut res) {
             Some(res)
         } else {
             None
@@ -202,11 +202,11 @@ where
     /// determined.
     pub fn solve_transpose<R2: Dim, C2: Dim, S2>(
         &self,
-        b: &Matrix<N, R2, C2, S2>,
+        b: &Matrix<T, R2, C2, S2>,
-    ) -> Option<MatrixMN<N, R2, C2>>
+    ) -> Option<OMatrix<T, R2, C2>>
     where
-        S2: Storage<N, R2, C2>,
+        S2: Storage<T, R2, C2>,
-        DefaultAllocator: Allocator<N, R2, C2> + Allocator<i32, R2>,
+        DefaultAllocator: Allocator<T, R2, C2> + Allocator<i32, R2>,
     {
         let mut res = b.clone_owned();
         if self.generic_solve_mut(b'T', &mut res) {
@@ -220,11 +220,11 @@ where
     /// be determined.
     pub fn solve_conjugate_transpose<R2: Dim, C2: Dim, S2>(
         &self,
-        b: &Matrix<N, R2, C2, S2>,
+        b: &Matrix<T, R2, C2, S2>,
-    ) -> Option<MatrixMN<N, R2, C2>>
+    ) -> Option<OMatrix<T, R2, C2>>
     where
-        S2: Storage<N, R2, C2>,
+        S2: Storage<T, R2, C2>,
-        DefaultAllocator: Allocator<N, R2, C2> + Allocator<i32, R2>,
+        DefaultAllocator: Allocator<T, R2, C2> + Allocator<i32, R2>,
     {
         let mut res = b.clone_owned();
         if self.generic_solve_mut(b'T', &mut res) {
@@ -237,20 +237,20 @@ where
     /// Solves in-place the linear system `self * x = b`, where `x` is the unknown to be determined.
     ///
     /// Returns `false` if no solution was found (the decomposed matrix is singular).
-    pub fn solve_mut<R2: Dim, C2: Dim>(&self, b: &mut MatrixMN<N, R2, C2>) -> bool
+    pub fn solve_mut<R2: Dim, C2: Dim>(&self, b: &mut OMatrix<T, R2, C2>) -> bool
     where
-        DefaultAllocator: Allocator<N, R2, C2> + Allocator<i32, R2>,
+        DefaultAllocator: Allocator<T, R2, C2> + Allocator<i32, R2>,
     {
-        self.generic_solve_mut(b'N', b)
+        self.generic_solve_mut(b'T', b)
     }
 
     /// Solves in-place the linear system `self.transpose() * x = b`, where `x` is the unknown to be
     /// determined.
     ///
     /// Returns `false` if no solution was found (the decomposed matrix is singular).
-    pub fn solve_transpose_mut<R2: Dim, C2: Dim>(&self, b: &mut MatrixMN<N, R2, C2>) -> bool
+    pub fn solve_transpose_mut<R2: Dim, C2: Dim>(&self, b: &mut OMatrix<T, R2, C2>) -> bool
     where
-        DefaultAllocator: Allocator<N, R2, C2> + Allocator<i32, R2>,
+        DefaultAllocator: Allocator<T, R2, C2> + Allocator<i32, R2>,
     {
         self.generic_solve_mut(b'T', b)
     }
@@ -259,25 +259,25 @@ where
     /// be determined.
     ///
     /// Returns `false` if no solution was found (the decomposed matrix is singular).
-    pub fn solve_adjoint_mut<R2: Dim, C2: Dim>(&self, b: &mut MatrixMN<N, R2, C2>) -> bool
+    pub fn solve_adjoint_mut<R2: Dim, C2: Dim>(&self, b: &mut OMatrix<T, R2, C2>) -> bool
     where
-        DefaultAllocator: Allocator<N, R2, C2> + Allocator<i32, R2>,
+        DefaultAllocator: Allocator<T, R2, C2> + Allocator<i32, R2>,
     {
         self.generic_solve_mut(b'T', b)
     }
 }
 
-impl<N: LUScalar, D: Dim> LU<N, D, D>
+impl<T: LUScalar, D: Dim> LU<T, D, D>
 where
-    N: Zero + One,
+    T: Zero + One,
     D: DimMin<D, Output = D>,
-    DefaultAllocator: Allocator<N, D, D> + Allocator<i32, D>,
+    DefaultAllocator: Allocator<T, D, D> + Allocator<i32, D>,
 {
     /// Computes the inverse of the decomposed matrix.
-    pub fn inverse(mut self) -> Option<MatrixN<N, D>> {
+    pub fn inverse(mut self) -> Option<OMatrix<T, D, D>> {
         let dim = self.lu.nrows() as i32;
         let mut info = 0;
-        let lwork = N::xgetri_work_size(
+        let lwork = T::xgetri_work_size(
             dim,
             self.lu.as_mut_slice(),
             dim,
@@ -288,7 +288,7 @@ where
 
         let mut work = unsafe { crate::uninitialized_vec(lwork as usize) };
 
-        N::xgetri(
+        T::xgetri(
             dim,
             self.lu.as_mut_slice(),
             dim,

nalgebra-lapack/src/qr.rs

@@ -6,9 +6,9 @@ use num_complex::Complex;
 
 use crate::ComplexHelper;
 use na::allocator::Allocator;
-use na::dimension::{Dim, DimMin, DimMinimum, U1};
+use na::dimension::{Const, Dim, DimMin, DimMinimum};
 use na::storage::Storage;
-use na::{DefaultAllocator, Matrix, MatrixMN, Scalar, VectorN};
+use na::{DefaultAllocator, Matrix, OMatrix, OVector, Scalar};
 
 use lapack;
 
@@ -16,55 +16,56 @@ use lapack;
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "serde-serialize",
-    serde(bound(serialize = "DefaultAllocator: Allocator<N, R, C> +
+    serde(bound(serialize = "DefaultAllocator: Allocator<T, R, C> +
-                           Allocator<N, DimMinimum<R, C>>,
+                           Allocator<T, DimMinimum<R, C>>,
-         MatrixMN<N, R, C>: Serialize,
+         OMatrix<T, R, C>: Serialize,
-         VectorN<N, DimMinimum<R, C>>: Serialize"))
+         OVector<T, DimMinimum<R, C>>: Serialize"))
 )]
 #[cfg_attr(
     feature = "serde-serialize",
-    serde(bound(deserialize = "DefaultAllocator: Allocator<N, R, C> +
+    serde(bound(deserialize = "DefaultAllocator: Allocator<T, R, C> +
-                           Allocator<N, DimMinimum<R, C>>,
+                           Allocator<T, DimMinimum<R, C>>,
-         MatrixMN<N, R, C>: Deserialize<'de>,
+         OMatrix<T, R, C>: Deserialize<'de>,
-         VectorN<N, DimMinimum<R, C>>: Deserialize<'de>"))
+         OVector<T, DimMinimum<R, C>>: Deserialize<'de>"))
 )]
 #[derive(Clone, Debug)]
-pub struct QR<N: Scalar, R: DimMin<C>, C: Dim>
+pub struct QR<T: Scalar, R: DimMin<C>, C: Dim>
 where
-    DefaultAllocator: Allocator<N, R, C> + Allocator<N, DimMinimum<R, C>>,
+    DefaultAllocator: Allocator<T, R, C> + Allocator<T, DimMinimum<R, C>>,
 {
-    qr: MatrixMN<N, R, C>,
+    qr: OMatrix<T, R, C>,
-    tau: VectorN<N, DimMinimum<R, C>>,
+    tau: OVector<T, DimMinimum<R, C>>,
 }
 
-impl<N: Scalar + Copy, R: DimMin<C>, C: Dim> Copy for QR<N, R, C>
+impl<T: Scalar + Copy, R: DimMin<C>, C: Dim> Copy for QR<T, R, C>
 where
-    DefaultAllocator: Allocator<N, R, C> + Allocator<N, DimMinimum<R, C>>,
+    DefaultAllocator: Allocator<T, R, C> + Allocator<T, DimMinimum<R, C>>,
-    MatrixMN<N, R, C>: Copy,
+    OMatrix<T, R, C>: Copy,
-    VectorN<N, DimMinimum<R, C>>: Copy,
+    OVector<T, DimMinimum<R, C>>: Copy,
 {
 }
 
-impl<N: QRScalar + Zero, R: DimMin<C>, C: Dim> QR<N, R, C>
+impl<T: QRScalar + Zero, R: DimMin<C>, C: Dim> QR<T, R, C>
 where
-    DefaultAllocator: Allocator<N, R, C>
+    DefaultAllocator: Allocator<T, R, C>
-        + Allocator<N, R, DimMinimum<R, C>>
+        + Allocator<T, R, DimMinimum<R, C>>
-        + Allocator<N, DimMinimum<R, C>, C>
+        + Allocator<T, DimMinimum<R, C>, C>
-        + Allocator<N, DimMinimum<R, C>>,
+        + Allocator<T, DimMinimum<R, C>>,
 {
     /// Computes the QR decomposition of the matrix `m`.
-    pub fn new(mut m: MatrixMN<N, R, C>) -> Self {
+    pub fn new(mut m: OMatrix<T, R, C>) -> Self {
         let (nrows, ncols) = m.data.shape();
 
         let mut info = 0;
-        let mut tau =
+        let mut tau = unsafe {
-            unsafe { Matrix::new_uninitialized_generic(nrows.min(ncols), U1).assume_init() };
+            Matrix::new_uninitialized_generic(nrows.min(ncols), Const::<1>).assume_init()
+        };
 
         if nrows.value() == 0 || ncols.value() == 0 {
             return Self { qr: m, tau: tau };
         }
 
-        let lwork = N::xgeqrf_work_size(
+        let lwork = T::xgeqrf_work_size(
             nrows.value() as i32,
             ncols.value() as i32,
             m.as_mut_slice(),
@@ -75,7 +76,7 @@ where
 
         let mut work = unsafe { crate::uninitialized_vec(lwork as usize) };
 
-        N::xgeqrf(
+        T::xgeqrf(
             nrows.value() as i32,
             ncols.value() as i32,
             m.as_mut_slice(),
@@ -91,37 +92,37 @@ where
 
     /// Retrieves the upper trapezoidal submatrix `R` of this decomposition.
     #[inline]
-    pub fn r(&self) -> MatrixMN<N, DimMinimum<R, C>, C> {
+    pub fn r(&self) -> OMatrix<T, DimMinimum<R, C>, C> {
         let (nrows, ncols) = self.qr.data.shape();
         self.qr.rows_generic(0, nrows.min(ncols)).upper_triangle()
     }
 }
 
-impl<N: QRReal + Zero, R: DimMin<C>, C: Dim> QR<N, R, C>
+impl<T: QRReal + Zero, R: DimMin<C>, C: Dim> QR<T, R, C>
 where
-    DefaultAllocator: Allocator<N, R, C>
+    DefaultAllocator: Allocator<T, R, C>
-        + Allocator<N, R, DimMinimum<R, C>>
+        + Allocator<T, R, DimMinimum<R, C>>
-        + Allocator<N, DimMinimum<R, C>, C>
+        + Allocator<T, DimMinimum<R, C>, C>
-        + Allocator<N, DimMinimum<R, C>>,
+        + Allocator<T, DimMinimum<R, C>>,
 {
     /// Retrieves the matrices `(Q, R)` of this decompositions.
     pub fn unpack(
         self,
     ) -> (
-        MatrixMN<N, R, DimMinimum<R, C>>,
+        OMatrix<T, R, DimMinimum<R, C>>,
-        MatrixMN<N, DimMinimum<R, C>, C>,
+        OMatrix<T, DimMinimum<R, C>, C>,
     ) {
         (self.q(), self.r())
     }
 
     /// Computes the orthogonal matrix `Q` of this decomposition.
     #[inline]
-    pub fn q(&self) -> MatrixMN<N, R, DimMinimum<R, C>> {
+    pub fn q(&self) -> OMatrix<T, R, DimMinimum<R, C>> {
         let (nrows, ncols) = self.qr.data.shape();
         let min_nrows_ncols = nrows.min(ncols);
 
         if min_nrows_ncols.value() == 0 {
-            return MatrixMN::from_element_generic(nrows, min_nrows_ncols, N::zero());
+            return OMatrix::from_element_generic(nrows, min_nrows_ncols, T::zero());
         }
 
         let mut q = self
@@ -132,7 +133,7 @@ where
         let mut info = 0;
         let nrows = nrows.value() as i32;
 
-        let lwork = N::xorgqr_work_size(
+        let lwork = T::xorgqr_work_size(
             nrows,
             min_nrows_ncols.value() as i32,
             self.tau.len() as i32,
@@ -142,9 +143,9 @@ where
             &mut info,
         );
 
-        let mut work = vec![N::zero(); lwork as usize];
+        let mut work = vec![T::zero(); lwork as usize];
 
-        N::xorgqr(
+        T::xorgqr(
             nrows,
             min_nrows_ncols.value() as i32,
             self.tau.len() as i32,

nalgebra-lapack/src/schur.rs

@@ -8,9 +8,9 @@ use simba::scalar::RealField;
 
 use crate::ComplexHelper;
 use na::allocator::Allocator;
-use na::dimension::{Dim, U1};
+use na::dimension::{Const, Dim};
 use na::storage::Storage;
-use na::{DefaultAllocator, Matrix, MatrixN, Scalar, VectorN};
+use na::{DefaultAllocator, Matrix, OMatrix, OVector, Scalar};
 
 use lapack;
 
@@ -19,53 +19,53 @@ use lapack;
 #[cfg_attr(
     feature = "serde-serialize",
     serde(
-        bound(serialize = "DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
+        bound(serialize = "DefaultAllocator: Allocator<T, D, D> + Allocator<T, D>,
-         VectorN<N, D>: Serialize,
+         OVector<T, D>: Serialize,
-         MatrixN<N, D>: Serialize")
+         OMatrix<T, D, D>: Serialize")
     )
 )]
 #[cfg_attr(
     feature = "serde-serialize",
     serde(
-        bound(deserialize = "DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
+        bound(deserialize = "DefaultAllocator: Allocator<T, D, D> + Allocator<T, D>,
-         VectorN<N, D>: Serialize,
+         OVector<T, D>: Serialize,
-         MatrixN<N, D>: Deserialize<'de>")
+         OMatrix<T, D, D>: Deserialize<'de>")
     )
 )]
 #[derive(Clone, Debug)]
-pub struct Schur<N: Scalar, D: Dim>
+pub struct Schur<T: Scalar, D: Dim>
 where
-    DefaultAllocator: Allocator<N, D> + Allocator<N, D, D>,
+    DefaultAllocator: Allocator<T, D> + Allocator<T, D, D>,
 {
-    re: VectorN<N, D>,
+    re: OVector<T, D>,
-    im: VectorN<N, D>,
+    im: OVector<T, D>,
-    t: MatrixN<N, D>,
+    t: OMatrix<T, D, D>,
-    q: MatrixN<N, D>,
+    q: OMatrix<T, D, D>,
 }
 
-impl<N: Scalar + Copy, D: Dim> Copy for Schur<N, D>
+impl<T: Scalar + Copy, D: Dim> Copy for Schur<T, D>
 where
-    DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
+    DefaultAllocator: Allocator<T, D, D> + Allocator<T, D>,
-    MatrixN<N, D>: Copy,
+    OMatrix<T, D, D>: Copy,
-    VectorN<N, D>: Copy,
+    OVector<T, D>: Copy,
 {
 }
 
-impl<N: SchurScalar + RealField, D: Dim> Schur<N, D>
+impl<T: SchurScalar + RealField, D: Dim> Schur<T, D>
 where
-    DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
+    DefaultAllocator: Allocator<T, D, D> + Allocator<T, D>,
 {
     /// Computes the eigenvalues and real Schur form of the matrix `m`.
     ///
     /// Panics if the method did not converge.
-    pub fn new(m: MatrixN<N, D>) -> Self {
+    pub fn new(m: OMatrix<T, D, D>) -> Self {
         Self::try_new(m).expect("Schur decomposition: convergence failed.")
     }
 
     /// Computes the eigenvalues and real Schur form of the matrix `m`.
     ///
     /// Returns `None` if the method did not converge.
-    pub fn try_new(mut m: MatrixN<N, D>) -> Option<Self> {
+    pub fn try_new(mut m: OMatrix<T, D, D>) -> Option<Self> {
         assert!(
             m.is_square(),
             "Unable to compute the eigenvalue decomposition of a non-square matrix."
@@ -78,16 +78,16 @@ where
 
         let mut info = 0;
 
-        let mut wr = unsafe { Matrix::new_uninitialized_generic(nrows, U1).assume_init() };
+        let mut wr = unsafe { Matrix::new_uninitialized_generic(nrows, Const::<1>).assume_init() };
-        let mut wi = unsafe { Matrix::new_uninitialized_generic(nrows, U1).assume_init() };
+        let mut wi = unsafe { Matrix::new_uninitialized_generic(nrows, Const::<1>).assume_init() };
         let mut q = unsafe { Matrix::new_uninitialized_generic(nrows, ncols).assume_init() };
         // Placeholders:
         let mut bwork = [0i32];
         let mut unused = 0;
 
-        let lwork = N::xgees_work_size(
+        let lwork = T::xgees_work_size(
             b'V',
-            b'N',
+            b'T',
             n as i32,
             m.as_mut_slice(),
             lda,
@@ -103,9 +103,9 @@ where
 
         let mut work = unsafe { crate::uninitialized_vec(lwork as usize) };
 
-        N::xgees(
+        T::xgees(
             b'V',
-            b'N',
+            b'T',
             n as i32,
             m.as_mut_slice(),
             lda,
@@ -131,14 +131,14 @@ where
 
     /// Retrieves the unitary matrix `Q` and the upper-quasitriangular matrix `T` such that the
     /// decomposed matrix equals `Q * T * Q.transpose()`.
-    pub fn unpack(self) -> (MatrixN<N, D>, MatrixN<N, D>) {
+    pub fn unpack(self) -> (OMatrix<T, D, D>, OMatrix<T, D, D>) {
         (self.q, self.t)
     }
 
     /// Computes the real eigenvalues of the decomposed matrix.
     ///
     /// Return `None` if some eigenvalues are complex.
-    pub fn eigenvalues(&self) -> Option<VectorN<N, D>> {
+    pub fn eigenvalues(&self) -> Option<OVector<T, D>> {
         if self.im.iter().all(|e| e.is_zero()) {
             Some(self.re.clone())
         } else {
@@ -147,12 +147,13 @@ where
     }
 
     /// Computes the complex eigenvalues of the decomposed matrix.
-    pub fn complex_eigenvalues(&self) -> VectorN<Complex<N>, D>
+    pub fn complex_eigenvalues(&self) -> OVector<Complex<T>, D>
     where
-        DefaultAllocator: Allocator<Complex<N>, D>,
+        DefaultAllocator: Allocator<Complex<T>, D>,
     {
-        let mut out =
+        let mut out = unsafe {
-            unsafe { VectorN::new_uninitialized_generic(self.t.data.shape().0, U1).assume_init() };
+            OVector::new_uninitialized_generic(self.t.data.shape().0, Const::<1>).assume_init()
+        };
 
         for i in 0..out.len() {
             out[i] = Complex::new(self.re[i], self.im[i])

nalgebra-lapack/src/svd.rs

@@ -5,9 +5,9 @@ use num::Signed;
 use std::cmp;
 
 use na::allocator::Allocator;
-use na::dimension::{Dim, DimMin, DimMinimum, U1};
+use na::dimension::{Const, Dim, DimMin, DimMinimum, U1};
 use na::storage::Storage;
-use na::{DefaultAllocator, Matrix, MatrixMN, MatrixN, Scalar, VectorN};
+use na::{DefaultAllocator, Matrix, OMatrix, OVector, Scalar};
 
 use lapack;
 
@@ -15,41 +15,41 @@ use lapack;
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "serde-serialize",
-    serde(bound(serialize = "DefaultAllocator: Allocator<N, DimMinimum<R, C>> +
+    serde(bound(serialize = "DefaultAllocator: Allocator<T, DimMinimum<R, C>> +
-                           Allocator<N, R, R> +
+                           Allocator<T, R, R> +
-                           Allocator<N, C, C>,
+                           Allocator<T, C, C>,
-         MatrixN<N, R>: Serialize,
+         OMatrix<T, R>: Serialize,
-         MatrixN<N, C>: Serialize,
+         OMatrix<T, C>: Serialize,
-         VectorN<N, DimMinimum<R, C>>: Serialize"))
+         OVector<T, DimMinimum<R, C>>: Serialize"))
 )]
 #[cfg_attr(
     feature = "serde-serialize",
-    serde(bound(serialize = "DefaultAllocator: Allocator<N, DimMinimum<R, C>> +
+    serde(bound(serialize = "DefaultAllocator: Allocator<T, DimMinimum<R, C>> +
-                           Allocator<N, R, R> +
+                           Allocator<T, R, R> +
-                           Allocator<N, C, C>,
+                           Allocator<T, C, C>,
-         MatrixN<N, R>: Deserialize<'de>,
+         OMatrix<T, R>: Deserialize<'de>,
-         MatrixN<N, C>: Deserialize<'de>,
+         OMatrix<T, C>: Deserialize<'de>,
-         VectorN<N, DimMinimum<R, C>>: Deserialize<'de>"))
+         OVector<T, DimMinimum<R, C>>: Deserialize<'de>"))
 )]
 #[derive(Clone, Debug)]
-pub struct SVD<N: Scalar, R: DimMin<C>, C: Dim>
+pub struct SVD<T: Scalar, R: DimMin<C>, C: Dim>
 where
-    DefaultAllocator: Allocator<N, R, R> + Allocator<N, DimMinimum<R, C>> + Allocator<N, C, C>,
+    DefaultAllocator: Allocator<T, R, R> + Allocator<T, DimMinimum<R, C>> + Allocator<T, C, C>,
 {
     /// The left-singular vectors `U` of this SVD.
-    pub u: MatrixN<N, R>, // TODO: should be MatrixMN<N, R, DimMinimum<R, C>>
+    pub u: OMatrix<T, R, R>, // TODO: should be OMatrix<T, R, DimMinimum<R, C>>
     /// The right-singular vectors `V^t` of this SVD.
-    pub vt: MatrixN<N, C>, // TODO: should be MatrixMN<N, DimMinimum<R, C>, C>
+    pub vt: OMatrix<T, C, C>, // TODO: should be OMatrix<T, DimMinimum<R, C>, C>
     /// The singular values of this SVD.
-    pub singular_values: VectorN<N, DimMinimum<R, C>>,
+    pub singular_values: OVector<T, DimMinimum<R, C>>,
 }
 
-impl<N: Scalar + Copy, R: DimMin<C>, C: Dim> Copy for SVD<N, R, C>
+impl<T: Scalar + Copy, R: DimMin<C>, C: Dim> Copy for SVD<T, R, C>
 where
-    DefaultAllocator: Allocator<N, C, C> + Allocator<N, R, R> + Allocator<N, DimMinimum<R, C>>,
+    DefaultAllocator: Allocator<T, C, C> + Allocator<T, R, R> + Allocator<T, DimMinimum<R, C>>,
-    MatrixMN<N, R, R>: Copy,
+    OMatrix<T, R, R>: Copy,
-    MatrixMN<N, C, C>: Copy,
+    OMatrix<T, C, C>: Copy,
-    VectorN<N, DimMinimum<R, C>>: Copy,
+    OVector<T, DimMinimum<R, C>>: Copy,
 {
 }
 
@@ -63,19 +63,19 @@ where
         + Allocator<Self, C, C>,
 {
     /// Computes the SVD decomposition of `m`.
-    fn compute(m: MatrixMN<Self, R, C>) -> Option<SVD<Self, R, C>>;
+    fn compute(m: OMatrix<Self, R, C>) -> Option<SVD<Self, R, C>>;
 }
 
-impl<N: SVDScalar<R, C>, R: DimMin<C>, C: Dim> SVD<N, R, C>
+impl<T: SVDScalar<R, C>, R: DimMin<C>, C: Dim> SVD<T, R, C>
 where
-    DefaultAllocator: Allocator<N, R, R>
+    DefaultAllocator: Allocator<T, R, R>
-        + Allocator<N, R, C>
+        + Allocator<T, R, C>
-        + Allocator<N, DimMinimum<R, C>>
+        + Allocator<T, DimMinimum<R, C>>
-        + Allocator<N, C, C>,
+        + Allocator<T, C, C>,
 {
     /// Computes the Singular Value Decomposition of `matrix`.
-    pub fn new(m: MatrixMN<N, R, C>) -> Option<Self> {
+    pub fn new(m: OMatrix<T, R, C>) -> Option<Self> {
-        N::compute(m)
+        T::compute(m)
     }
 }
 
@@ -88,7 +88,7 @@ macro_rules! svd_impl(
                                         Allocator<$t, C, C> +
                                         Allocator<$t, DimMinimum<R, C>> {
 
-            fn compute(mut m: MatrixMN<$t, R, C>) -> Option<SVD<$t, R, C>> {
+            fn compute(mut m: OMatrix<$t, R, C>) -> Option<SVD<$t, R, C>> {
                 let (nrows, ncols) = m.data.shape();
 
                 if nrows.value() == 0 || ncols.value() == 0 {
@@ -100,7 +100,7 @@ macro_rules! svd_impl(
                 let lda = nrows.value() as i32;
 
                 let mut u  = unsafe { Matrix::new_uninitialized_generic(nrows, nrows).assume_init() };
-                let mut s  = unsafe { Matrix::new_uninitialized_generic(nrows.min(ncols), U1).assume_init() };
+                let mut s  = unsafe { Matrix::new_uninitialized_generic(nrows.min(ncols), Const::<1>).assume_init() };
                 let mut vt = unsafe { Matrix::new_uninitialized_generic(ncols, ncols).assume_init() };
 
                 let ldu  = nrows.value();
@@ -150,12 +150,12 @@ macro_rules! svd_impl(
             /// Useful if some components (e.g. some singular values) of this decomposition have
             /// been manually changed by the user.
             #[inline]
-            pub fn recompose(self) -> MatrixMN<$t, R, C> {
+            pub fn recompose(self) -> OMatrix<$t, R, C> {
                 let nrows           = self.u.data.shape().0;
                 let ncols           = self.vt.data.shape().1;
                 let min_nrows_ncols = nrows.min(ncols);
 
-                let mut res: MatrixMN<_, R, C> = Matrix::zeros_generic(nrows, ncols);
+                let mut res: OMatrix<_, R, C> = Matrix::zeros_generic(nrows, ncols);
 
                 {
                     let mut sres = res.generic_slice_mut((0, 0), (min_nrows_ncols, ncols));
@@ -175,12 +175,12 @@ macro_rules! svd_impl(
             ///
             /// All singular value below epsilon will be set to zero instead of being inverted.
             #[inline]
-            pub fn pseudo_inverse(&self, epsilon: $t) -> MatrixMN<$t, C, R> {
+            pub fn pseudo_inverse(&self, epsilon: $t) -> OMatrix<$t, C, R> {
                 let nrows           = self.u.data.shape().0;
                 let ncols           = self.vt.data.shape().1;
                 let min_nrows_ncols = nrows.min(ncols);
 
-                let mut res: MatrixMN<_, C, R> = Matrix::zeros_generic(ncols, nrows);
+                let mut res: OMatrix<_, C, R> = Matrix::zeros_generic(ncols, nrows);
 
                 {
                     let mut sres = res.generic_slice_mut((0, 0), (min_nrows_ncols, nrows));
@@ -230,9 +230,9 @@ macro_rules! svd_complex_impl(
     ($name: ident, $t: ty, $lapack_func: path) => (
         impl SVDScalar for Complex<$t> {
             fn compute<R: Dim, C: Dim, S>(mut m: Matrix<$t, R, C, S>) -> Option<SVD<$t, R, C, S::Alloc>>
-            Option<(MatrixN<Complex<$t>, R, S::Alloc>,
+            Option<(OMatrix<Complex<$t>, R, S::Alloc>,
-                    VectorN<$t, DimMinimum<R, C>, S::Alloc>,
+                    OVector<$t, DimMinimum<R, C>, S::Alloc>,
-                    MatrixN<Complex<$t>, C, S::Alloc>)>
+                    OMatrix<Complex<$t>, C, S::Alloc>)>
             where R: DimMin<C>,
                   S: ContiguousStorage<Complex<$t>, R, C>,
                   S::Alloc: OwnedAllocator<Complex<$t>, R, C, S> +

nalgebra-lapack/src/symmetric_eigen.rs

@@ -8,9 +8,9 @@ use simba::scalar::RealField;
 
 use crate::ComplexHelper;
 use na::allocator::Allocator;
-use na::dimension::{Dim, U1};
+use na::dimension::{Const, Dim};
 use na::storage::Storage;
-use na::{DefaultAllocator, Matrix, MatrixN, Scalar, VectorN};
+use na::{DefaultAllocator, Matrix, OMatrix, OVector, Scalar};
 
 use lapack;
 
@@ -18,47 +18,47 @@ use lapack;
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "serde-serialize",
-    serde(bound(serialize = "DefaultAllocator: Allocator<N, D, D> +
+    serde(bound(serialize = "DefaultAllocator: Allocator<T, D, D> +
-                           Allocator<N, D>,
+                           Allocator<T, D>,
-         VectorN<N, D>: Serialize,
+         OVector<T, D>: Serialize,
-         MatrixN<N, D>: Serialize"))
+         OMatrix<T, D, D>: Serialize"))
 )]
 #[cfg_attr(
     feature = "serde-serialize",
-    serde(bound(deserialize = "DefaultAllocator: Allocator<N, D, D> +
+    serde(bound(deserialize = "DefaultAllocator: Allocator<T, D, D> +
-                           Allocator<N, D>,
+                           Allocator<T, D>,
-         VectorN<N, D>: Deserialize<'de>,
+         OVector<T, D>: Deserialize<'de>,
-         MatrixN<N, D>: Deserialize<'de>"))
+         OMatrix<T, D, D>: Deserialize<'de>"))
 )]
 #[derive(Clone, Debug)]
-pub struct SymmetricEigen<N: Scalar, D: Dim>
+pub struct SymmetricEigen<T: Scalar, D: Dim>
 where
-    DefaultAllocator: Allocator<N, D> + Allocator<N, D, D>,
+    DefaultAllocator: Allocator<T, D> + Allocator<T, D, D>,
 {
     /// The eigenvectors of the decomposed matrix.
-    pub eigenvectors: MatrixN<N, D>,
+    pub eigenvectors: OMatrix<T, D, D>,
 
     /// The unsorted eigenvalues of the decomposed matrix.
-    pub eigenvalues: VectorN<N, D>,
+    pub eigenvalues: OVector<T, D>,
 }
 
-impl<N: Scalar + Copy, D: Dim> Copy for SymmetricEigen<N, D>
+impl<T: Scalar + Copy, D: Dim> Copy for SymmetricEigen<T, D>
 where
-    DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
+    DefaultAllocator: Allocator<T, D, D> + Allocator<T, D>,
-    MatrixN<N, D>: Copy,
+    OMatrix<T, D, D>: Copy,
-    VectorN<N, D>: Copy,
+    OVector<T, D>: Copy,
 {
 }
 
-impl<N: SymmetricEigenScalar + RealField, D: Dim> SymmetricEigen<N, D>
+impl<T: SymmetricEigenScalar + RealField, D: Dim> SymmetricEigen<T, D>
 where
-    DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
+    DefaultAllocator: Allocator<T, D, D> + Allocator<T, D>,
 {
     /// Computes the eigenvalues and eigenvectors of the symmetric matrix `m`.
     ///
     /// Only the lower-triangular part of `m` is read. If `eigenvectors` is `false` then, the
     /// eigenvectors are not computed explicitly. Panics if the method did not converge.
-    pub fn new(m: MatrixN<N, D>) -> Self {
+    pub fn new(m: OMatrix<T, D, D>) -> Self {
         let (vals, vecs) =
             Self::do_decompose(m, true).expect("SymmetricEigen: convergence failure.");
         Self {
@@ -71,7 +71,7 @@ where
     ///
     /// Only the lower-triangular part of `m` is read. If `eigenvectors` is `false` then, the
     /// eigenvectors are not computed explicitly. Returns `None` if the method did not converge.
-    pub fn try_new(m: MatrixN<N, D>) -> Option<Self> {
+    pub fn try_new(m: OMatrix<T, D, D>) -> Option<Self> {
         Self::do_decompose(m, true).map(|(vals, vecs)| SymmetricEigen {
             eigenvalues: vals,
             eigenvectors: vecs.unwrap(),
@@ -79,30 +79,31 @@ where
     }
 
     fn do_decompose(
-        mut m: MatrixN<N, D>,
+        mut m: OMatrix<T, D, D>,
         eigenvectors: bool,
-    ) -> Option<(VectorN<N, D>, Option<MatrixN<N, D>>)> {
+    ) -> Option<(OVector<T, D>, Option<OMatrix<T, D, D>>)> {
         assert!(
             m.is_square(),
             "Unable to compute the eigenvalue decomposition of a non-square matrix."
         );
 
-        let jobz = if eigenvectors { b'V' } else { b'N' };
+        let jobz = if eigenvectors { b'V' } else { b'T' };
 
         let nrows = m.data.shape().0;
         let n = nrows.value();
 
         let lda = n as i32;
 
-        let mut values = unsafe { Matrix::new_uninitialized_generic(nrows, U1).assume_init() };
+        let mut values =
+            unsafe { Matrix::new_uninitialized_generic(nrows, Const::<1>).assume_init() };
         let mut info = 0;
 
-        let lwork = N::xsyev_work_size(jobz, b'L', n as i32, m.as_mut_slice(), lda, &mut info);
+        let lwork = T::xsyev_work_size(jobz, b'L', n as i32, m.as_mut_slice(), lda, &mut info);
         lapack_check!(info);
 
         let mut work = unsafe { crate::uninitialized_vec(lwork as usize) };
 
-        N::xsyev(
+        T::xsyev(
             jobz,
             b'L',
             n as i32,
@@ -122,7 +123,7 @@ where
     /// Computes only the eigenvalues of the input matrix.
     ///
     /// Panics if the method does not converge.
-    pub fn eigenvalues(m: MatrixN<N, D>) -> VectorN<N, D> {
+    pub fn eigenvalues(m: OMatrix<T, D, D>) -> OVector<T, D> {
         Self::do_decompose(m, false)
             .expect("SymmetricEigen eigenvalues: convergence failure.")
             .0
@@ -131,14 +132,14 @@ where
     /// Computes only the eigenvalues of the input matrix.
     ///
     /// Returns `None` if the method does not converge.
-    pub fn try_eigenvalues(m: MatrixN<N, D>) -> Option<VectorN<N, D>> {
+    pub fn try_eigenvalues(m: OMatrix<T, D, D>) -> Option<OVector<T, D>> {
         Self::do_decompose(m, false).map(|res| res.0)
     }
 
     /// The determinant of the decomposed matrix.
     #[inline]
-    pub fn determinant(&self) -> N {
+    pub fn determinant(&self) -> T {
-        let mut det = N::one();
+        let mut det = T::one();
         for e in self.eigenvalues.iter() {
             det *= *e;
         }
@@ -149,7 +150,7 @@ where
     /// Rebuild the original matrix.
     ///
     /// This is useful if some of the eigenvalues have been manually modified.
-    pub fn recompose(&self) -> MatrixN<N, D> {
+    pub fn recompose(&self) -> OMatrix<T, D, D> {
         let mut u_t = self.eigenvectors.clone();
         for i in 0..self.eigenvalues.len() {
             let val = self.eigenvalues[i];

nalgebra-sparse/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "nalgebra-sparse"
-version = "0.1.0"
+version = "0.2.0"
 authors = [ "Andreas Longva", "Sébastien Crozet <developer@crozet.re>" ]
 edition = "2018"
 description = "Sparse matrix computation based on nalgebra."
@@ -20,7 +20,7 @@ compare = [ "matrixcompare-core" ]
 slow-tests = []
 
 [dependencies]
-nalgebra = { version="0.25", path = "../" }
+nalgebra = { version="0.26", path = "../" }
 num-traits = { version = "0.2", default-features = false }
 proptest = { version = "1.0", optional = true }
 matrixcompare-core = { version = "0.1.0", optional = true }
@@ -28,7 +28,7 @@ matrixcompare-core = { version = "0.1.0", optional = true }
 [dev-dependencies]
 itertools = "0.10"
 matrixcompare = { version = "0.2.0", features = [ "proptest-support" ] }
-nalgebra = { version="0.25", path = "../", features = ["compare"] }
+nalgebra = { version="0.26", path = "../", features = ["compare"] }
 
 [package.metadata.docs.rs]
 # Enable certain features when building docs for docs.rs

nalgebra-sparse/src/ops/impl_std_ops.rs

@@ -10,7 +10,7 @@ use nalgebra::allocator::Allocator;
 use nalgebra::base::storage::Storage;
 use nalgebra::constraint::{DimEq, ShapeConstraint};
 use nalgebra::{
-    ClosedAdd, ClosedDiv, ClosedMul, ClosedSub, DefaultAllocator, Dim, Dynamic, Matrix, MatrixMN,
+    ClosedAdd, ClosedDiv, ClosedMul, ClosedSub, DefaultAllocator, Dim, Dynamic, Matrix, OMatrix,
     Scalar, U1,
 };
 use num_traits::{One, Zero};
@@ -274,7 +274,7 @@ macro_rules! impl_spmm_cs_dense {
         impl_spmm_cs_dense!(&'a $matrix_type_name<T>, &'a Matrix<T, R, C, S>, $spmm_fn, |lhs, rhs| {
             let (_, ncols) = rhs.data.shape();
             let nrows = Dynamic::new(lhs.nrows());
-            let mut result = MatrixMN::<T, Dynamic, C>::zeros_generic(nrows, ncols);
+            let mut result = OMatrix::<T, Dynamic, C>::zeros_generic(nrows, ncols);
             $spmm_fn(T::zero(), &mut result, T::one(), Op::NoOp(lhs), Op::NoOp(rhs));
             result
         });
@@ -305,7 +305,7 @@ macro_rules! impl_spmm_cs_dense {
             DefaultAllocator: Allocator<T, Dynamic, C>,
             // TODO: Is it possible to simplify these bounds?
             ShapeConstraint:
-                // Bounds so that we can turn MatrixMN<T, Dynamic, C> into a DMatrixSliceMut
+                // Bounds so that we can turn OMatrix<T, Dynamic, C> into a DMatrixSliceMut
                   DimEq<U1, <<DefaultAllocator as Allocator<T, Dynamic, C>>::Buffer as Storage<T, Dynamic, C>>::RStride>
                 + DimEq<C, Dynamic>
                 + DimEq<Dynamic, <<DefaultAllocator as Allocator<T, Dynamic, C>>::Buffer as Storage<T, Dynamic, C>>::CStride>
@@ -316,7 +316,7 @@ macro_rules! impl_spmm_cs_dense {
         {
             // We need the column dimension to be generic, so that if RHS is a vector, then
             // we also get a vector (and not a matrix)
-            type Output = MatrixMN<T, Dynamic, C>;
+            type Output = OMatrix<T, Dynamic, C>;
 
             fn mul(self, rhs: $dense_matrix_type) -> Self::Output {
                 let $lhs = self;

src/base/alias.rs

@@ -4,7 +4,7 @@ use crate::base::dimension::{U1, U2, U3, U4, U5, U6};
 use crate::base::storage::Owned;
 #[cfg(any(feature = "std", feature = "alloc"))]
 use crate::base::vec_storage::VecStorage;
-use crate::base::Matrix;
+use crate::base::{ArrayStorage, Const, Matrix, Unit};
 
 /*
  *
@@ -13,244 +13,254 @@ use crate::base::Matrix;
  *
  *
  */
-/// A statically sized column-major matrix with `R` rows and `C` columns.
+
+/// An owned matrix column-major matrix with `R` rows and `C` columns.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-#[deprecated(note = "This matrix name contains a typo. Use MatrixMN instead.")]
+pub type OMatrix<T, R, C> = Matrix<T, R, C, Owned<T, R, C>>;
-pub type MatrixNM<N, R, C> = Matrix<N, R, C, Owned<N, R, C>>;
+
+/// An owned matrix column-major matrix with `R` rows and `C` columns.
+///
+/// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
+#[deprecated(
+    note = "use SMatrix for a statically-sized matrix using integer dimensions, or OMatrix for an owned matrix using types as dimensions."
+)]
+pub type MatrixMN<T, R, C> = Matrix<T, R, C, Owned<T, R, C>>;
+
+/// An owned matrix column-major matrix with `D` columns.
+///
+/// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
+#[deprecated(note = "use OMatrix<T, D, D> or SMatrix<T, D, D> instead.")]
+pub type MatrixN<T, D> = Matrix<T, D, D, Owned<T, D, D>>;
 
 /// A statically sized column-major matrix with `R` rows and `C` columns.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixMN<N, R, C> = Matrix<N, R, C, Owned<N, R, C>>;
+pub type SMatrix<T, const R: usize, const C: usize> =
-
+    Matrix<T, Const<R>, Const<C>, ArrayStorage<T, R, C>>;
-/// A statically sized column-major square matrix with `D` rows and columns.
-///
-/// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixN<N, D> = Matrix<N, D, D, Owned<N, D, D>>;
 
 /// A dynamically sized column-major matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
 #[cfg(any(feature = "std", feature = "alloc"))]
-pub type DMatrix<N> = Matrix<N, Dynamic, Dynamic, Owned<N, Dynamic, Dynamic>>;
+pub type DMatrix<T> = Matrix<T, Dynamic, Dynamic, VecStorage<T, Dynamic, Dynamic>>;
 
 /// A heap-allocated, column-major, matrix with a dynamic number of rows and 1 columns.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
 #[cfg(any(feature = "std", feature = "alloc"))]
-pub type MatrixXx1<N> = Matrix<N, Dynamic, U1, Owned<N, Dynamic, U1>>;
+pub type MatrixXx1<T> = Matrix<T, Dynamic, U1, VecStorage<T, Dynamic, U1>>;
 /// A heap-allocated, column-major, matrix with a dynamic number of rows and 2 columns.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
 #[cfg(any(feature = "std", feature = "alloc"))]
-pub type MatrixXx2<N> = Matrix<N, Dynamic, U2, Owned<N, Dynamic, U2>>;
+pub type MatrixXx2<T> = Matrix<T, Dynamic, U2, VecStorage<T, Dynamic, U2>>;
 /// A heap-allocated, column-major, matrix with a dynamic number of rows and 3 columns.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
 #[cfg(any(feature = "std", feature = "alloc"))]
-pub type MatrixXx3<N> = Matrix<N, Dynamic, U3, Owned<N, Dynamic, U3>>;
+pub type MatrixXx3<T> = Matrix<T, Dynamic, U3, VecStorage<T, Dynamic, U3>>;
 /// A heap-allocated, column-major, matrix with a dynamic number of rows and 4 columns.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
 #[cfg(any(feature = "std", feature = "alloc"))]
-pub type MatrixXx4<N> = Matrix<N, Dynamic, U4, Owned<N, Dynamic, U4>>;
+pub type MatrixXx4<T> = Matrix<T, Dynamic, U4, VecStorage<T, Dynamic, U4>>;
 /// A heap-allocated, column-major, matrix with a dynamic number of rows and 5 columns.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
 #[cfg(any(feature = "std", feature = "alloc"))]
-pub type MatrixXx5<N> = Matrix<N, Dynamic, U5, Owned<N, Dynamic, U5>>;
+pub type MatrixXx5<T> = Matrix<T, Dynamic, U5, VecStorage<T, Dynamic, U5>>;
 /// A heap-allocated, column-major, matrix with a dynamic number of rows and 6 columns.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
 #[cfg(any(feature = "std", feature = "alloc"))]
-pub type MatrixXx6<N> = Matrix<N, Dynamic, U6, Owned<N, Dynamic, U6>>;
+pub type MatrixXx6<T> = Matrix<T, Dynamic, U6, VecStorage<T, Dynamic, U6>>;
 
 /// A heap-allocated, row-major, matrix with 1 rows and a dynamic number of columns.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
 #[cfg(any(feature = "std", feature = "alloc"))]
-pub type Matrix1xX<N> = Matrix<N, U1, Dynamic, Owned<N, U1, Dynamic>>;
+pub type Matrix1xX<T> = Matrix<T, U1, Dynamic, VecStorage<T, U1, Dynamic>>;
 /// A heap-allocated, row-major, matrix with 2 rows and a dynamic number of columns.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
 #[cfg(any(feature = "std", feature = "alloc"))]
-pub type Matrix2xX<N> = Matrix<N, U2, Dynamic, Owned<N, U2, Dynamic>>;
+pub type Matrix2xX<T> = Matrix<T, U2, Dynamic, VecStorage<T, U2, Dynamic>>;
 /// A heap-allocated, row-major, matrix with 3 rows and a dynamic number of columns.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
 #[cfg(any(feature = "std", feature = "alloc"))]
-pub type Matrix3xX<N> = Matrix<N, U3, Dynamic, Owned<N, U3, Dynamic>>;
+pub type Matrix3xX<T> = Matrix<T, U3, Dynamic, VecStorage<T, U3, Dynamic>>;
 /// A heap-allocated, row-major, matrix with 4 rows and a dynamic number of columns.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
 #[cfg(any(feature = "std", feature = "alloc"))]
-pub type Matrix4xX<N> = Matrix<N, U4, Dynamic, Owned<N, U4, Dynamic>>;
+pub type Matrix4xX<T> = Matrix<T, U4, Dynamic, VecStorage<T, U4, Dynamic>>;
 /// A heap-allocated, row-major, matrix with 5 rows and a dynamic number of columns.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
 #[cfg(any(feature = "std", feature = "alloc"))]
-pub type Matrix5xX<N> = Matrix<N, U5, Dynamic, Owned<N, U5, Dynamic>>;
+pub type Matrix5xX<T> = Matrix<T, U5, Dynamic, VecStorage<T, U5, Dynamic>>;
 /// A heap-allocated, row-major, matrix with 6 rows and a dynamic number of columns.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
 #[cfg(any(feature = "std", feature = "alloc"))]
-pub type Matrix6xX<N> = Matrix<N, U6, Dynamic, Owned<N, U6, Dynamic>>;
+pub type Matrix6xX<T> = Matrix<T, U6, Dynamic, VecStorage<T, U6, Dynamic>>;
 
 /// A stack-allocated, column-major, 1x1 square matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix1<N> = Matrix<N, U1, U1, Owned<N, U1, U1>>;
+pub type Matrix1<T> = Matrix<T, U1, U1, ArrayStorage<T, 1, 1>>;
 /// A stack-allocated, column-major, 2x2 square matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix2<N> = Matrix<N, U2, U2, Owned<N, U2, U2>>;
+pub type Matrix2<T> = Matrix<T, U2, U2, ArrayStorage<T, 2, 2>>;
 /// A stack-allocated, column-major, 3x3 square matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix3<N> = Matrix<N, U3, U3, Owned<N, U3, U3>>;
+pub type Matrix3<T> = Matrix<T, U3, U3, ArrayStorage<T, 3, 3>>;
 /// A stack-allocated, column-major, 4x4 square matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix4<N> = Matrix<N, U4, U4, Owned<N, U4, U4>>;
+pub type Matrix4<T> = Matrix<T, U4, U4, ArrayStorage<T, 4, 4>>;
 /// A stack-allocated, column-major, 5x5 square matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix5<N> = Matrix<N, U5, U5, Owned<N, U5, U5>>;
+pub type Matrix5<T> = Matrix<T, U5, U5, ArrayStorage<T, 5, 5>>;
 /// A stack-allocated, column-major, 6x6 square matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix6<N> = Matrix<N, U6, U6, Owned<N, U6, U6>>;
+pub type Matrix6<T> = Matrix<T, U6, U6, ArrayStorage<T, 6, 6>>;
 
 /// A stack-allocated, column-major, 1x2 matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix1x2<N> = Matrix<N, U1, U2, Owned<N, U1, U2>>;
+pub type Matrix1x2<T> = Matrix<T, U1, U2, ArrayStorage<T, 1, 2>>;
 /// A stack-allocated, column-major, 1x3 matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix1x3<N> = Matrix<N, U1, U3, Owned<N, U1, U3>>;
+pub type Matrix1x3<T> = Matrix<T, U1, U3, ArrayStorage<T, 1, 3>>;
 /// A stack-allocated, column-major, 1x4 matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix1x4<N> = Matrix<N, U1, U4, Owned<N, U1, U4>>;
+pub type Matrix1x4<T> = Matrix<T, U1, U4, ArrayStorage<T, 1, 4>>;
 /// A stack-allocated, column-major, 1x5 matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix1x5<N> = Matrix<N, U1, U5, Owned<N, U1, U5>>;
+pub type Matrix1x5<T> = Matrix<T, U1, U5, ArrayStorage<T, 1, 5>>;
 /// A stack-allocated, column-major, 1x6 matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix1x6<N> = Matrix<N, U1, U6, Owned<N, U1, U6>>;
+pub type Matrix1x6<T> = Matrix<T, U1, U6, ArrayStorage<T, 1, 6>>;
 
 /// A stack-allocated, column-major, 2x3 matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix2x3<N> = Matrix<N, U2, U3, Owned<N, U2, U3>>;
+pub type Matrix2x3<T> = Matrix<T, U2, U3, ArrayStorage<T, 2, 3>>;
 /// A stack-allocated, column-major, 2x4 matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix2x4<N> = Matrix<N, U2, U4, Owned<N, U2, U4>>;
+pub type Matrix2x4<T> = Matrix<T, U2, U4, ArrayStorage<T, 2, 4>>;
 /// A stack-allocated, column-major, 2x5 matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix2x5<N> = Matrix<N, U2, U5, Owned<N, U2, U5>>;
+pub type Matrix2x5<T> = Matrix<T, U2, U5, ArrayStorage<T, 2, 5>>;
 /// A stack-allocated, column-major, 2x6 matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix2x6<N> = Matrix<N, U2, U6, Owned<N, U2, U6>>;
+pub type Matrix2x6<T> = Matrix<T, U2, U6, ArrayStorage<T, 2, 6>>;
 
 /// A stack-allocated, column-major, 3x4 matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix3x4<N> = Matrix<N, U3, U4, Owned<N, U3, U4>>;
+pub type Matrix3x4<T> = Matrix<T, U3, U4, ArrayStorage<T, 3, 4>>;
 /// A stack-allocated, column-major, 3x5 matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix3x5<N> = Matrix<N, U3, U5, Owned<N, U3, U5>>;
+pub type Matrix3x5<T> = Matrix<T, U3, U5, ArrayStorage<T, 3, 5>>;
 /// A stack-allocated, column-major, 3x6 matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix3x6<N> = Matrix<N, U3, U6, Owned<N, U3, U6>>;
+pub type Matrix3x6<T> = Matrix<T, U3, U6, ArrayStorage<T, 3, 6>>;
 
 /// A stack-allocated, column-major, 4x5 matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix4x5<N> = Matrix<N, U4, U5, Owned<N, U4, U5>>;
+pub type Matrix4x5<T> = Matrix<T, U4, U5, ArrayStorage<T, 4, 5>>;
 /// A stack-allocated, column-major, 4x6 matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix4x6<N> = Matrix<N, U4, U6, Owned<N, U4, U6>>;
+pub type Matrix4x6<T> = Matrix<T, U4, U6, ArrayStorage<T, 4, 6>>;
 
 /// A stack-allocated, column-major, 5x6 matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix5x6<N> = Matrix<N, U5, U6, Owned<N, U5, U6>>;
+pub type Matrix5x6<T> = Matrix<T, U5, U6, ArrayStorage<T, 5, 6>>;
 
 /// A stack-allocated, column-major, 2x1 matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix2x1<N> = Matrix<N, U2, U1, Owned<N, U2, U1>>;
+pub type Matrix2x1<T> = Matrix<T, U2, U1, ArrayStorage<T, 2, 1>>;
 /// A stack-allocated, column-major, 3x1 matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix3x1<N> = Matrix<N, U3, U1, Owned<N, U3, U1>>;
+pub type Matrix3x1<T> = Matrix<T, U3, U1, ArrayStorage<T, 3, 1>>;
 /// A stack-allocated, column-major, 4x1 matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix4x1<N> = Matrix<N, U4, U1, Owned<N, U4, U1>>;
+pub type Matrix4x1<T> = Matrix<T, U4, U1, ArrayStorage<T, 4, 1>>;
 /// A stack-allocated, column-major, 5x1 matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix5x1<N> = Matrix<N, U5, U1, Owned<N, U5, U1>>;
+pub type Matrix5x1<T> = Matrix<T, U5, U1, ArrayStorage<T, 5, 1>>;
 /// A stack-allocated, column-major, 6x1 matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix6x1<N> = Matrix<N, U6, U1, Owned<N, U6, U1>>;
+pub type Matrix6x1<T> = Matrix<T, U6, U1, ArrayStorage<T, 6, 1>>;
 
 /// A stack-allocated, column-major, 3x2 matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix3x2<N> = Matrix<N, U3, U2, Owned<N, U3, U2>>;
+pub type Matrix3x2<T> = Matrix<T, U3, U2, ArrayStorage<T, 3, 2>>;
 /// A stack-allocated, column-major, 4x2 matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix4x2<N> = Matrix<N, U4, U2, Owned<N, U4, U2>>;
+pub type Matrix4x2<T> = Matrix<T, U4, U2, ArrayStorage<T, 4, 2>>;
 /// A stack-allocated, column-major, 5x2 matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix5x2<N> = Matrix<N, U5, U2, Owned<N, U5, U2>>;
+pub type Matrix5x2<T> = Matrix<T, U5, U2, ArrayStorage<T, 5, 2>>;
 /// A stack-allocated, column-major, 6x2 matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix6x2<N> = Matrix<N, U6, U2, Owned<N, U6, U2>>;
+pub type Matrix6x2<T> = Matrix<T, U6, U2, ArrayStorage<T, 6, 2>>;
 
 /// A stack-allocated, column-major, 4x3 matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix4x3<N> = Matrix<N, U4, U3, Owned<N, U4, U3>>;
+pub type Matrix4x3<T> = Matrix<T, U4, U3, ArrayStorage<T, 4, 3>>;
 /// A stack-allocated, column-major, 5x3 matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix5x3<N> = Matrix<N, U5, U3, Owned<N, U5, U3>>;
+pub type Matrix5x3<T> = Matrix<T, U5, U3, ArrayStorage<T, 5, 3>>;
 /// A stack-allocated, column-major, 6x3 matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix6x3<N> = Matrix<N, U6, U3, Owned<N, U6, U3>>;
+pub type Matrix6x3<T> = Matrix<T, U6, U3, ArrayStorage<T, 6, 3>>;
 
 /// A stack-allocated, column-major, 5x4 matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix5x4<N> = Matrix<N, U5, U4, Owned<N, U5, U4>>;
+pub type Matrix5x4<T> = Matrix<T, U5, U4, ArrayStorage<T, 5, 4>>;
 /// A stack-allocated, column-major, 6x4 matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix6x4<N> = Matrix<N, U6, U4, Owned<N, U6, U4>>;
+pub type Matrix6x4<T> = Matrix<T, U6, U4, ArrayStorage<T, 6, 4>>;
 
 /// A stack-allocated, column-major, 6x5 matrix.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type Matrix6x5<N> = Matrix<N, U6, U5, Owned<N, U6, U5>>;
+pub type Matrix6x5<T> = Matrix<T, U6, U5, ArrayStorage<T, 6, 5>>;
 
 /*
  *
@@ -261,23 +271,33 @@ pub type Matrix6x5<N> = Matrix<N, U6, U5, Owned<N, U6, U5>>;
  */
 /// A dynamically sized column vector.
 #[cfg(any(feature = "std", feature = "alloc"))]
-pub type DVector<N> = Matrix<N, Dynamic, U1, VecStorage<N, Dynamic, U1>>;
+pub type DVector<T> = Matrix<T, Dynamic, U1, VecStorage<T, Dynamic, U1>>;
 
+/// An owned D-dimensional column vector.
+pub type OVector<T, D> = Matrix<T, D, U1, Owned<T, D, U1>>;
 /// A statically sized D-dimensional column vector.
-pub type VectorN<N, D> = Matrix<N, D, U1, Owned<N, D, U1>>;
+pub type SVector<T, const D: usize> = Matrix<T, Const<D>, U1, ArrayStorage<T, D, 1>>; // Owned<T, Const<D>, U1>>;
+
+/// An owned matrix column-major matrix with `R` rows and `C` columns.
+///
+/// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
+#[deprecated(
+    note = "use SVector for a statically-sized matrix using integer dimensions, or OVector for an owned matrix using types as dimensions."
+)]
+pub type VectorN<T, D> = Matrix<T, D, U1, Owned<T, D, U1>>;
 
 /// A stack-allocated, 1-dimensional column vector.
-pub type Vector1<N> = Matrix<N, U1, U1, Owned<N, U1, U1>>;
+pub type Vector1<T> = Matrix<T, U1, U1, ArrayStorage<T, 1, 1>>;
 /// A stack-allocated, 2-dimensional column vector.
-pub type Vector2<N> = Matrix<N, U2, U1, Owned<N, U2, U1>>;
+pub type Vector2<T> = Matrix<T, U2, U1, ArrayStorage<T, 2, 1>>;
 /// A stack-allocated, 3-dimensional column vector.
-pub type Vector3<N> = Matrix<N, U3, U1, Owned<N, U3, U1>>;
+pub type Vector3<T> = Matrix<T, U3, U1, ArrayStorage<T, 3, 1>>;
 /// A stack-allocated, 4-dimensional column vector.
-pub type Vector4<N> = Matrix<N, U4, U1, Owned<N, U4, U1>>;
+pub type Vector4<T> = Matrix<T, U4, U1, ArrayStorage<T, 4, 1>>;
 /// A stack-allocated, 5-dimensional column vector.
-pub type Vector5<N> = Matrix<N, U5, U1, Owned<N, U5, U1>>;
+pub type Vector5<T> = Matrix<T, U5, U1, ArrayStorage<T, 5, 1>>;
 /// A stack-allocated, 6-dimensional column vector.
-pub type Vector6<N> = Matrix<N, U6, U1, Owned<N, U6, U1>>;
+pub type Vector6<T> = Matrix<T, U6, U1, ArrayStorage<T, 6, 1>>;
 
 /*
  *
@@ -288,20 +308,43 @@ pub type Vector6<N> = Matrix<N, U6, U1, Owned<N, U6, U1>>;
  */
 /// A dynamically sized row vector.
 #[cfg(any(feature = "std", feature = "alloc"))]
-pub type RowDVector<N> = Matrix<N, U1, Dynamic, VecStorage<N, U1, Dynamic>>;
+pub type RowDVector<T> = Matrix<T, U1, Dynamic, VecStorage<T, U1, Dynamic>>;
+
+/// An owned D-dimensional row vector.
+pub type RowOVector<T, D> = Matrix<T, U1, D, Owned<T, U1, D>>;
 
 /// A statically sized D-dimensional row vector.
-pub type RowVectorN<N, D> = Matrix<N, U1, D, Owned<N, U1, D>>;
+pub type RowSVector<T, const D: usize> = Matrix<T, U1, Const<D>, ArrayStorage<T, 1, D>>;
 
 /// A stack-allocated, 1-dimensional row vector.
-pub type RowVector1<N> = Matrix<N, U1, U1, Owned<N, U1, U1>>;
+pub type RowVector1<T> = Matrix<T, U1, U1, ArrayStorage<T, 1, 1>>;
 /// A stack-allocated, 2-dimensional row vector.
-pub type RowVector2<N> = Matrix<N, U1, U2, Owned<N, U1, U2>>;
+pub type RowVector2<T> = Matrix<T, U1, U2, ArrayStorage<T, 1, 2>>;
 /// A stack-allocated, 3-dimensional row vector.
-pub type RowVector3<N> = Matrix<N, U1, U3, Owned<N, U1, U3>>;
+pub type RowVector3<T> = Matrix<T, U1, U3, ArrayStorage<T, 1, 3>>;
 /// A stack-allocated, 4-dimensional row vector.
-pub type RowVector4<N> = Matrix<N, U1, U4, Owned<N, U1, U4>>;
+pub type RowVector4<T> = Matrix<T, U1, U4, ArrayStorage<T, 1, 4>>;
 /// A stack-allocated, 5-dimensional row vector.
-pub type RowVector5<N> = Matrix<N, U1, U5, Owned<N, U1, U5>>;
+pub type RowVector5<T> = Matrix<T, U1, U5, ArrayStorage<T, 1, 5>>;
 /// A stack-allocated, 6-dimensional row vector.
-pub type RowVector6<N> = Matrix<N, U1, U6, Owned<N, U1, U6>>;
+pub type RowVector6<T> = Matrix<T, U1, U6, ArrayStorage<T, 1, 6>>;
+
+/*
+ *
+ *
+ * Unit Vector.
+ *
+ *
+ */
+/// A stack-allocated, 1-dimensional unit vector.
+pub type UnitVector1<T> = Unit<Matrix<T, U1, U1, ArrayStorage<T, 1, 1>>>;
+/// A stack-allocated, 2-dimensional unit vector.
+pub type UnitVector2<T> = Unit<Matrix<T, U2, U1, ArrayStorage<T, 2, 1>>>;
+/// A stack-allocated, 3-dimensional unit vector.
+pub type UnitVector3<T> = Unit<Matrix<T, U3, U1, ArrayStorage<T, 3, 1>>>;
+/// A stack-allocated, 4-dimensional unit vector.
+pub type UnitVector4<T> = Unit<Matrix<T, U4, U1, ArrayStorage<T, 4, 1>>>;
+/// A stack-allocated, 5-dimensional unit vector.
+pub type UnitVector5<T> = Unit<Matrix<T, U5, U1, ArrayStorage<T, 5, 1>>>;
+/// A stack-allocated, 6-dimensional unit vector.
+pub type UnitVector6<T> = Unit<Matrix<T, U6, U1, ArrayStorage<T, 6, 1>>>;

src/base/alias_slice.rs

@@ -1,6 +1,6 @@
 use crate::base::dimension::{Dynamic, U1, U2, U3, U4, U5, U6};
 use crate::base::matrix_slice::{SliceStorage, SliceStorageMut};
-use crate::base::Matrix;
+use crate::base::{Const, Matrix};
 
 /*
  *
@@ -9,287 +9,290 @@ use crate::base::Matrix;
  *
  *
  */
-/// A column-major matrix slice with `R` rows and `C` columns.
+// NOTE: we can't provide defaults for the strides because it's not supported yet by min_const_generics.
+/// A column-major matrix slice with dimensions known at compile-time.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMN<'a, N, R, C, RStride = U1, CStride = R> =
+pub type SMatrixSlice<'a, T, const R: usize, const C: usize> =
-    Matrix<N, R, C, SliceStorage<'a, N, R, C, RStride, CStride>>;
+    Matrix<T, Const<R>, Const<C>, SliceStorage<'a, T, Const<R>, Const<C>, Const<1>, Const<R>>>;
-
-/// A column-major matrix slice with `D` rows and columns.
-///
-/// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceN<'a, N, D, RStride = U1, CStride = D> =
-    Matrix<N, D, D, SliceStorage<'a, N, D, D, RStride, CStride>>;
 
 /// A column-major matrix slice dynamic numbers of rows and columns.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type DMatrixSlice<'a, N, RStride = U1, CStride = Dynamic> =
+pub type DMatrixSlice<'a, T, RStride = U1, CStride = Dynamic> =
-    Matrix<N, Dynamic, Dynamic, SliceStorage<'a, N, Dynamic, Dynamic, RStride, CStride>>;
+    Matrix<T, Dynamic, Dynamic, SliceStorage<'a, T, Dynamic, Dynamic, RStride, CStride>>;
 
 /// A column-major 1x1 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice1<'a, N, RStride = U1, CStride = U1> =
+pub type MatrixSlice1<'a, T, RStride = U1, CStride = U1> =
-    Matrix<N, U1, U1, SliceStorage<'a, N, U1, U1, RStride, CStride>>;
+    Matrix<T, U1, U1, SliceStorage<'a, T, U1, U1, RStride, CStride>>;
 /// A column-major 2x2 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice2<'a, N, RStride = U1, CStride = U2> =
+pub type MatrixSlice2<'a, T, RStride = U1, CStride = U2> =
-    Matrix<N, U2, U2, SliceStorage<'a, N, U2, U2, RStride, CStride>>;
+    Matrix<T, U2, U2, SliceStorage<'a, T, U2, U2, RStride, CStride>>;
 /// A column-major 3x3 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice3<'a, N, RStride = U1, CStride = U3> =
+pub type MatrixSlice3<'a, T, RStride = U1, CStride = U3> =
-    Matrix<N, U3, U3, SliceStorage<'a, N, U3, U3, RStride, CStride>>;
+    Matrix<T, U3, U3, SliceStorage<'a, T, U3, U3, RStride, CStride>>;
 /// A column-major 4x4 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice4<'a, N, RStride = U1, CStride = U4> =
+pub type MatrixSlice4<'a, T, RStride = U1, CStride = U4> =
-    Matrix<N, U4, U4, SliceStorage<'a, N, U4, U4, RStride, CStride>>;
+    Matrix<T, U4, U4, SliceStorage<'a, T, U4, U4, RStride, CStride>>;
 /// A column-major 5x5 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice5<'a, N, RStride = U1, CStride = U5> =
+pub type MatrixSlice5<'a, T, RStride = U1, CStride = U5> =
-    Matrix<N, U5, U5, SliceStorage<'a, N, U5, U5, RStride, CStride>>;
+    Matrix<T, U5, U5, SliceStorage<'a, T, U5, U5, RStride, CStride>>;
 /// A column-major 6x6 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice6<'a, N, RStride = U1, CStride = U6> =
+pub type MatrixSlice6<'a, T, RStride = U1, CStride = U6> =
-    Matrix<N, U6, U6, SliceStorage<'a, N, U6, U6, RStride, CStride>>;
+    Matrix<T, U6, U6, SliceStorage<'a, T, U6, U6, RStride, CStride>>;
 
 /// A column-major 1x2 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice1x2<'a, N, RStride = U1, CStride = U1> =
+pub type MatrixSlice1x2<'a, T, RStride = U1, CStride = U1> =
-    Matrix<N, U1, U2, SliceStorage<'a, N, U1, U2, RStride, CStride>>;
+    Matrix<T, U1, U2, SliceStorage<'a, T, U1, U2, RStride, CStride>>;
 /// A column-major 1x3 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice1x3<'a, N, RStride = U1, CStride = U1> =
+pub type MatrixSlice1x3<'a, T, RStride = U1, CStride = U1> =
-    Matrix<N, U1, U3, SliceStorage<'a, N, U1, U3, RStride, CStride>>;
+    Matrix<T, U1, U3, SliceStorage<'a, T, U1, U3, RStride, CStride>>;
 /// A column-major 1x4 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice1x4<'a, N, RStride = U1, CStride = U1> =
+pub type MatrixSlice1x4<'a, T, RStride = U1, CStride = U1> =
-    Matrix<N, U1, U4, SliceStorage<'a, N, U1, U4, RStride, CStride>>;
+    Matrix<T, U1, U4, SliceStorage<'a, T, U1, U4, RStride, CStride>>;
 /// A column-major 1x5 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice1x5<'a, N, RStride = U1, CStride = U1> =
+pub type MatrixSlice1x5<'a, T, RStride = U1, CStride = U1> =
-    Matrix<N, U1, U5, SliceStorage<'a, N, U1, U5, RStride, CStride>>;
+    Matrix<T, U1, U5, SliceStorage<'a, T, U1, U5, RStride, CStride>>;
 /// A column-major 1x6 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice1x6<'a, N, RStride = U1, CStride = U1> =
+pub type MatrixSlice1x6<'a, T, RStride = U1, CStride = U1> =
-    Matrix<N, U1, U6, SliceStorage<'a, N, U1, U6, RStride, CStride>>;
+    Matrix<T, U1, U6, SliceStorage<'a, T, U1, U6, RStride, CStride>>;
 
 /// A column-major 2x1 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice2x1<'a, N, RStride = U1, CStride = U2> =
+pub type MatrixSlice2x1<'a, T, RStride = U1, CStride = U2> =
-    Matrix<N, U2, U1, SliceStorage<'a, N, U2, U1, RStride, CStride>>;
+    Matrix<T, U2, U1, SliceStorage<'a, T, U2, U1, RStride, CStride>>;
 /// A column-major 2x3 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice2x3<'a, N, RStride = U1, CStride = U2> =
+pub type MatrixSlice2x3<'a, T, RStride = U1, CStride = U2> =
-    Matrix<N, U2, U3, SliceStorage<'a, N, U2, U3, RStride, CStride>>;
+    Matrix<T, U2, U3, SliceStorage<'a, T, U2, U3, RStride, CStride>>;
 /// A column-major 2x4 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice2x4<'a, N, RStride = U1, CStride = U2> =
+pub type MatrixSlice2x4<'a, T, RStride = U1, CStride = U2> =
-    Matrix<N, U2, U4, SliceStorage<'a, N, U2, U4, RStride, CStride>>;
+    Matrix<T, U2, U4, SliceStorage<'a, T, U2, U4, RStride, CStride>>;
 /// A column-major 2x5 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice2x5<'a, N, RStride = U1, CStride = U2> =
+pub type MatrixSlice2x5<'a, T, RStride = U1, CStride = U2> =
-    Matrix<N, U2, U5, SliceStorage<'a, N, U2, U5, RStride, CStride>>;
+    Matrix<T, U2, U5, SliceStorage<'a, T, U2, U5, RStride, CStride>>;
 /// A column-major 2x6 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice2x6<'a, N, RStride = U1, CStride = U2> =
+pub type MatrixSlice2x6<'a, T, RStride = U1, CStride = U2> =
-    Matrix<N, U2, U6, SliceStorage<'a, N, U2, U6, RStride, CStride>>;
+    Matrix<T, U2, U6, SliceStorage<'a, T, U2, U6, RStride, CStride>>;
 
 /// A column-major 3x1 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice3x1<'a, N, RStride = U1, CStride = U3> =
+pub type MatrixSlice3x1<'a, T, RStride = U1, CStride = U3> =
-    Matrix<N, U3, U1, SliceStorage<'a, N, U3, U1, RStride, CStride>>;
+    Matrix<T, U3, U1, SliceStorage<'a, T, U3, U1, RStride, CStride>>;
 /// A column-major 3x2 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice3x2<'a, N, RStride = U1, CStride = U3> =
+pub type MatrixSlice3x2<'a, T, RStride = U1, CStride = U3> =
-    Matrix<N, U3, U2, SliceStorage<'a, N, U3, U2, RStride, CStride>>;
+    Matrix<T, U3, U2, SliceStorage<'a, T, U3, U2, RStride, CStride>>;
 /// A column-major 3x4 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice3x4<'a, N, RStride = U1, CStride = U3> =
+pub type MatrixSlice3x4<'a, T, RStride = U1, CStride = U3> =
-    Matrix<N, U3, U4, SliceStorage<'a, N, U3, U4, RStride, CStride>>;
+    Matrix<T, U3, U4, SliceStorage<'a, T, U3, U4, RStride, CStride>>;
 /// A column-major 3x5 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice3x5<'a, N, RStride = U1, CStride = U3> =
+pub type MatrixSlice3x5<'a, T, RStride = U1, CStride = U3> =
-    Matrix<N, U3, U5, SliceStorage<'a, N, U3, U5, RStride, CStride>>;
+    Matrix<T, U3, U5, SliceStorage<'a, T, U3, U5, RStride, CStride>>;
 /// A column-major 3x6 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice3x6<'a, N, RStride = U1, CStride = U3> =
+pub type MatrixSlice3x6<'a, T, RStride = U1, CStride = U3> =
-    Matrix<N, U3, U6, SliceStorage<'a, N, U3, U6, RStride, CStride>>;
+    Matrix<T, U3, U6, SliceStorage<'a, T, U3, U6, RStride, CStride>>;
 
 /// A column-major 4x1 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice4x1<'a, N, RStride = U1, CStride = U4> =
+pub type MatrixSlice4x1<'a, T, RStride = U1, CStride = U4> =
-    Matrix<N, U4, U1, SliceStorage<'a, N, U4, U1, RStride, CStride>>;
+    Matrix<T, U4, U1, SliceStorage<'a, T, U4, U1, RStride, CStride>>;
 /// A column-major 4x2 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice4x2<'a, N, RStride = U1, CStride = U4> =
+pub type MatrixSlice4x2<'a, T, RStride = U1, CStride = U4> =
-    Matrix<N, U4, U2, SliceStorage<'a, N, U4, U2, RStride, CStride>>;
+    Matrix<T, U4, U2, SliceStorage<'a, T, U4, U2, RStride, CStride>>;
 /// A column-major 4x3 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice4x3<'a, N, RStride = U1, CStride = U4> =
+pub type MatrixSlice4x3<'a, T, RStride = U1, CStride = U4> =
-    Matrix<N, U4, U3, SliceStorage<'a, N, U4, U3, RStride, CStride>>;
+    Matrix<T, U4, U3, SliceStorage<'a, T, U4, U3, RStride, CStride>>;
 /// A column-major 4x5 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice4x5<'a, N, RStride = U1, CStride = U4> =
+pub type MatrixSlice4x5<'a, T, RStride = U1, CStride = U4> =
-    Matrix<N, U4, U5, SliceStorage<'a, N, U4, U5, RStride, CStride>>;
+    Matrix<T, U4, U5, SliceStorage<'a, T, U4, U5, RStride, CStride>>;
 /// A column-major 4x6 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice4x6<'a, N, RStride = U1, CStride = U4> =
+pub type MatrixSlice4x6<'a, T, RStride = U1, CStride = U4> =
-    Matrix<N, U4, U6, SliceStorage<'a, N, U4, U6, RStride, CStride>>;
+    Matrix<T, U4, U6, SliceStorage<'a, T, U4, U6, RStride, CStride>>;
 
 /// A column-major 5x1 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice5x1<'a, N, RStride = U1, CStride = U5> =
+pub type MatrixSlice5x1<'a, T, RStride = U1, CStride = U5> =
-    Matrix<N, U5, U1, SliceStorage<'a, N, U5, U1, RStride, CStride>>;
+    Matrix<T, U5, U1, SliceStorage<'a, T, U5, U1, RStride, CStride>>;
 /// A column-major 5x2 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice5x2<'a, N, RStride = U1, CStride = U5> =
+pub type MatrixSlice5x2<'a, T, RStride = U1, CStride = U5> =
-    Matrix<N, U5, U2, SliceStorage<'a, N, U5, U2, RStride, CStride>>;
+    Matrix<T, U5, U2, SliceStorage<'a, T, U5, U2, RStride, CStride>>;
 /// A column-major 5x3 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice5x3<'a, N, RStride = U1, CStride = U5> =
+pub type MatrixSlice5x3<'a, T, RStride = U1, CStride = U5> =
-    Matrix<N, U5, U3, SliceStorage<'a, N, U5, U3, RStride, CStride>>;
+    Matrix<T, U5, U3, SliceStorage<'a, T, U5, U3, RStride, CStride>>;
 /// A column-major 5x4 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice5x4<'a, N, RStride = U1, CStride = U5> =
+pub type MatrixSlice5x4<'a, T, RStride = U1, CStride = U5> =
-    Matrix<N, U5, U4, SliceStorage<'a, N, U5, U4, RStride, CStride>>;
+    Matrix<T, U5, U4, SliceStorage<'a, T, U5, U4, RStride, CStride>>;
 /// A column-major 5x6 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice5x6<'a, N, RStride = U1, CStride = U5> =
+pub type MatrixSlice5x6<'a, T, RStride = U1, CStride = U5> =
-    Matrix<N, U5, U6, SliceStorage<'a, N, U5, U6, RStride, CStride>>;
+    Matrix<T, U5, U6, SliceStorage<'a, T, U5, U6, RStride, CStride>>;
 
 /// A column-major 6x1 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice6x1<'a, N, RStride = U1, CStride = U6> =
+pub type MatrixSlice6x1<'a, T, RStride = U1, CStride = U6> =
-    Matrix<N, U6, U1, SliceStorage<'a, N, U6, U1, RStride, CStride>>;
+    Matrix<T, U6, U1, SliceStorage<'a, T, U6, U1, RStride, CStride>>;
 /// A column-major 6x2 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice6x2<'a, N, RStride = U1, CStride = U6> =
+pub type MatrixSlice6x2<'a, T, RStride = U1, CStride = U6> =
-    Matrix<N, U6, U2, SliceStorage<'a, N, U6, U2, RStride, CStride>>;
+    Matrix<T, U6, U2, SliceStorage<'a, T, U6, U2, RStride, CStride>>;
 /// A column-major 6x3 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice6x3<'a, N, RStride = U1, CStride = U6> =
+pub type MatrixSlice6x3<'a, T, RStride = U1, CStride = U6> =
-    Matrix<N, U6, U3, SliceStorage<'a, N, U6, U3, RStride, CStride>>;
+    Matrix<T, U6, U3, SliceStorage<'a, T, U6, U3, RStride, CStride>>;
 /// A column-major 6x4 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice6x4<'a, N, RStride = U1, CStride = U6> =
+pub type MatrixSlice6x4<'a, T, RStride = U1, CStride = U6> =
-    Matrix<N, U6, U4, SliceStorage<'a, N, U6, U4, RStride, CStride>>;
+    Matrix<T, U6, U4, SliceStorage<'a, T, U6, U4, RStride, CStride>>;
 /// A column-major 6x5 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSlice6x5<'a, N, RStride = U1, CStride = U6> =
+pub type MatrixSlice6x5<'a, T, RStride = U1, CStride = U6> =
-    Matrix<N, U6, U5, SliceStorage<'a, N, U6, U5, RStride, CStride>>;
+    Matrix<T, U6, U5, SliceStorage<'a, T, U6, U5, RStride, CStride>>;
 
 /// A column-major matrix slice with 1 row and a number of columns chosen at runtime.
-pub type MatrixSlice1xX<'a, N, RStride = U1, CStride = U1> =
+pub type MatrixSlice1xX<'a, T, RStride = U1, CStride = U1> =
-    Matrix<N, U1, Dynamic, SliceStorage<'a, N, U1, Dynamic, RStride, CStride>>;
+    Matrix<T, U1, Dynamic, SliceStorage<'a, T, U1, Dynamic, RStride, CStride>>;
 /// A column-major matrix slice with 2 rows and a number of columns chosen at runtime.
-pub type MatrixSlice2xX<'a, N, RStride = U1, CStride = U2> =
+pub type MatrixSlice2xX<'a, T, RStride = U1, CStride = U2> =
-    Matrix<N, U2, Dynamic, SliceStorage<'a, N, U2, Dynamic, RStride, CStride>>;
+    Matrix<T, U2, Dynamic, SliceStorage<'a, T, U2, Dynamic, RStride, CStride>>;
 /// A column-major matrix slice with 3 rows and a number of columns chosen at runtime.
-pub type MatrixSlice3xX<'a, N, RStride = U1, CStride = U3> =
+pub type MatrixSlice3xX<'a, T, RStride = U1, CStride = U3> =
-    Matrix<N, U3, Dynamic, SliceStorage<'a, N, U3, Dynamic, RStride, CStride>>;
+    Matrix<T, U3, Dynamic, SliceStorage<'a, T, U3, Dynamic, RStride, CStride>>;
 /// A column-major matrix slice with 4 rows and a number of columns chosen at runtime.
-pub type MatrixSlice4xX<'a, N, RStride = U1, CStride = U4> =
+pub type MatrixSlice4xX<'a, T, RStride = U1, CStride = U4> =
-    Matrix<N, U4, Dynamic, SliceStorage<'a, N, U4, Dynamic, RStride, CStride>>;
+    Matrix<T, U4, Dynamic, SliceStorage<'a, T, U4, Dynamic, RStride, CStride>>;
 /// A column-major matrix slice with 5 rows and a number of columns chosen at runtime.
-pub type MatrixSlice5xX<'a, N, RStride = U1, CStride = U5> =
+pub type MatrixSlice5xX<'a, T, RStride = U1, CStride = U5> =
-    Matrix<N, U5, Dynamic, SliceStorage<'a, N, U5, Dynamic, RStride, CStride>>;
+    Matrix<T, U5, Dynamic, SliceStorage<'a, T, U5, Dynamic, RStride, CStride>>;
 /// A column-major matrix slice with 6 rows and a number of columns chosen at runtime.
-pub type MatrixSlice6xX<'a, N, RStride = U1, CStride = U6> =
+pub type MatrixSlice6xX<'a, T, RStride = U1, CStride = U6> =
-    Matrix<N, U6, Dynamic, SliceStorage<'a, N, U6, Dynamic, RStride, CStride>>;
+    Matrix<T, U6, Dynamic, SliceStorage<'a, T, U6, Dynamic, RStride, CStride>>;
 
 /// A column-major matrix slice with a number of rows chosen at runtime and 1 column.
-pub type MatrixSliceXx1<'a, N, RStride = U1, CStride = Dynamic> =
+pub type MatrixSliceXx1<'a, T, RStride = U1, CStride = Dynamic> =
-    Matrix<N, Dynamic, U1, SliceStorage<'a, N, Dynamic, U1, RStride, CStride>>;
+    Matrix<T, Dynamic, U1, SliceStorage<'a, T, Dynamic, U1, RStride, CStride>>;
 /// A column-major matrix slice with a number of rows chosen at runtime and 2 columns.
-pub type MatrixSliceXx2<'a, N, RStride = U1, CStride = Dynamic> =
+pub type MatrixSliceXx2<'a, T, RStride = U1, CStride = Dynamic> =
-    Matrix<N, Dynamic, U2, SliceStorage<'a, N, Dynamic, U2, RStride, CStride>>;
+    Matrix<T, Dynamic, U2, SliceStorage<'a, T, Dynamic, U2, RStride, CStride>>;
 /// A column-major matrix slice with a number of rows chosen at runtime and 3 columns.
-pub type MatrixSliceXx3<'a, N, RStride = U1, CStride = Dynamic> =
+pub type MatrixSliceXx3<'a, T, RStride = U1, CStride = Dynamic> =
-    Matrix<N, Dynamic, U3, SliceStorage<'a, N, Dynamic, U3, RStride, CStride>>;
+    Matrix<T, Dynamic, U3, SliceStorage<'a, T, Dynamic, U3, RStride, CStride>>;
 /// A column-major matrix slice with a number of rows chosen at runtime and 4 columns.
-pub type MatrixSliceXx4<'a, N, RStride = U1, CStride = Dynamic> =
+pub type MatrixSliceXx4<'a, T, RStride = U1, CStride = Dynamic> =
-    Matrix<N, Dynamic, U4, SliceStorage<'a, N, Dynamic, U4, RStride, CStride>>;
+    Matrix<T, Dynamic, U4, SliceStorage<'a, T, Dynamic, U4, RStride, CStride>>;
 /// A column-major matrix slice with a number of rows chosen at runtime and 5 columns.
-pub type MatrixSliceXx5<'a, N, RStride = U1, CStride = Dynamic> =
+pub type MatrixSliceXx5<'a, T, RStride = U1, CStride = Dynamic> =
-    Matrix<N, Dynamic, U5, SliceStorage<'a, N, Dynamic, U5, RStride, CStride>>;
+    Matrix<T, Dynamic, U5, SliceStorage<'a, T, Dynamic, U5, RStride, CStride>>;
 /// A column-major matrix slice with a number of rows chosen at runtime and 6 columns.
-pub type MatrixSliceXx6<'a, N, RStride = U1, CStride = Dynamic> =
+pub type MatrixSliceXx6<'a, T, RStride = U1, CStride = Dynamic> =
-    Matrix<N, Dynamic, U6, SliceStorage<'a, N, Dynamic, U6, RStride, CStride>>;
+    Matrix<T, Dynamic, U6, SliceStorage<'a, T, Dynamic, U6, RStride, CStride>>;
 
-/// A column vector slice with `D` rows.
+/// A column vector slice with dimensions known at compile-time.
-pub type VectorSliceN<'a, N, D, RStride = U1, CStride = D> =
+///
-    Matrix<N, D, U1, SliceStorage<'a, N, D, U1, RStride, CStride>>;
+/// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
+pub type VectorSlice<'a, T, D, RStride = U1, CStride = D> =
+    Matrix<T, D, U1, SliceStorage<'a, T, D, U1, RStride, CStride>>;
+
+/// A column vector slice with dimensions known at compile-time.
+///
+/// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
+pub type SVectorSlice<'a, T, const D: usize> =
+    Matrix<T, Const<D>, Const<1>, SliceStorage<'a, T, Const<D>, Const<1>, Const<1>, Const<D>>>;
 
 /// A column vector slice dynamic numbers of rows and columns.
-pub type DVectorSlice<'a, N, RStride = U1, CStride = Dynamic> =
+pub type DVectorSlice<'a, T, RStride = U1, CStride = Dynamic> =
-    Matrix<N, Dynamic, U1, SliceStorage<'a, N, Dynamic, U1, RStride, CStride>>;
+    Matrix<T, Dynamic, U1, SliceStorage<'a, T, Dynamic, U1, RStride, CStride>>;
 
 /// A 1D column vector slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type VectorSlice1<'a, N, RStride = U1, CStride = U1> =
+pub type VectorSlice1<'a, T, RStride = U1, CStride = U1> =
-    Matrix<N, U1, U1, SliceStorage<'a, N, U1, U1, RStride, CStride>>;
+    Matrix<T, U1, U1, SliceStorage<'a, T, U1, U1, RStride, CStride>>;
 /// A 2D column vector slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type VectorSlice2<'a, N, RStride = U1, CStride = U2> =
+pub type VectorSlice2<'a, T, RStride = U1, CStride = U2> =
-    Matrix<N, U2, U1, SliceStorage<'a, N, U2, U1, RStride, CStride>>;
+    Matrix<T, U2, U1, SliceStorage<'a, T, U2, U1, RStride, CStride>>;
 /// A 3D column vector slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type VectorSlice3<'a, N, RStride = U1, CStride = U3> =
+pub type VectorSlice3<'a, T, RStride = U1, CStride = U3> =
-    Matrix<N, U3, U1, SliceStorage<'a, N, U3, U1, RStride, CStride>>;
+    Matrix<T, U3, U1, SliceStorage<'a, T, U3, U1, RStride, CStride>>;
 /// A 4D column vector slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type VectorSlice4<'a, N, RStride = U1, CStride = U4> =
+pub type VectorSlice4<'a, T, RStride = U1, CStride = U4> =
-    Matrix<N, U4, U1, SliceStorage<'a, N, U4, U1, RStride, CStride>>;
+    Matrix<T, U4, U1, SliceStorage<'a, T, U4, U1, RStride, CStride>>;
 /// A 5D column vector slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type VectorSlice5<'a, N, RStride = U1, CStride = U5> =
+pub type VectorSlice5<'a, T, RStride = U1, CStride = U5> =
-    Matrix<N, U5, U1, SliceStorage<'a, N, U5, U1, RStride, CStride>>;
+    Matrix<T, U5, U1, SliceStorage<'a, T, U5, U1, RStride, CStride>>;
 /// A 6D column vector slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type VectorSlice6<'a, N, RStride = U1, CStride = U6> =
+pub type VectorSlice6<'a, T, RStride = U1, CStride = U6> =
-    Matrix<N, U6, U1, SliceStorage<'a, N, U6, U1, RStride, CStride>>;
+    Matrix<T, U6, U1, SliceStorage<'a, T, U6, U1, RStride, CStride>>;
 
 /*
  *
@@ -301,281 +304,297 @@ pub type VectorSlice6<'a, N, RStride = U1, CStride = U6> =
 /// A column-major matrix slice with `R` rows and `C` columns.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMutMN<'a, N, R, C, RStride = U1, CStride = R> =
+pub type MatrixSliceMutMN<'a, T, R, C, RStride = U1, CStride = R> =
-    Matrix<N, R, C, SliceStorageMut<'a, N, R, C, RStride, CStride>>;
+    Matrix<T, R, C, SliceStorageMut<'a, T, R, C, RStride, CStride>>;
 
 /// A column-major matrix slice with `D` rows and columns.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMutN<'a, N, D, RStride = U1, CStride = D> =
+pub type MatrixSliceMutN<'a, T, D, RStride = U1, CStride = D> =
-    Matrix<N, D, D, SliceStorageMut<'a, N, D, D, RStride, CStride>>;
+    Matrix<T, D, D, SliceStorageMut<'a, T, D, D, RStride, CStride>>;
+
+/// A column-major matrix slice with dimensions known at compile-time.
+///
+/// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
+pub type SMatrixSliceMut<'a, T, const R: usize, const C: usize> =
+    Matrix<T, Const<R>, Const<C>, SliceStorageMut<'a, T, Const<R>, Const<C>, Const<1>, Const<R>>>;
 
 /// A column-major matrix slice dynamic numbers of rows and columns.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type DMatrixSliceMut<'a, N, RStride = U1, CStride = Dynamic> =
+pub type DMatrixSliceMut<'a, T, RStride = U1, CStride = Dynamic> =
-    Matrix<N, Dynamic, Dynamic, SliceStorageMut<'a, N, Dynamic, Dynamic, RStride, CStride>>;
+    Matrix<T, Dynamic, Dynamic, SliceStorageMut<'a, T, Dynamic, Dynamic, RStride, CStride>>;
 
 /// A column-major 1x1 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut1<'a, N, RStride = U1, CStride = U1> =
+pub type MatrixSliceMut1<'a, T, RStride = U1, CStride = U1> =
-    Matrix<N, U1, U1, SliceStorageMut<'a, N, U1, U1, RStride, CStride>>;
+    Matrix<T, U1, U1, SliceStorageMut<'a, T, U1, U1, RStride, CStride>>;
 /// A column-major 2x2 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut2<'a, N, RStride = U1, CStride = U2> =
+pub type MatrixSliceMut2<'a, T, RStride = U1, CStride = U2> =
-    Matrix<N, U2, U2, SliceStorageMut<'a, N, U2, U2, RStride, CStride>>;
+    Matrix<T, U2, U2, SliceStorageMut<'a, T, U2, U2, RStride, CStride>>;
 /// A column-major 3x3 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut3<'a, N, RStride = U1, CStride = U3> =
+pub type MatrixSliceMut3<'a, T, RStride = U1, CStride = U3> =
-    Matrix<N, U3, U3, SliceStorageMut<'a, N, U3, U3, RStride, CStride>>;
+    Matrix<T, U3, U3, SliceStorageMut<'a, T, U3, U3, RStride, CStride>>;
 /// A column-major 4x4 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut4<'a, N, RStride = U1, CStride = U4> =
+pub type MatrixSliceMut4<'a, T, RStride = U1, CStride = U4> =
-    Matrix<N, U4, U4, SliceStorageMut<'a, N, U4, U4, RStride, CStride>>;
+    Matrix<T, U4, U4, SliceStorageMut<'a, T, U4, U4, RStride, CStride>>;
 /// A column-major 5x5 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut5<'a, N, RStride = U1, CStride = U5> =
+pub type MatrixSliceMut5<'a, T, RStride = U1, CStride = U5> =
-    Matrix<N, U5, U5, SliceStorageMut<'a, N, U5, U5, RStride, CStride>>;
+    Matrix<T, U5, U5, SliceStorageMut<'a, T, U5, U5, RStride, CStride>>;
 /// A column-major 6x6 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut6<'a, N, RStride = U1, CStride = U6> =
+pub type MatrixSliceMut6<'a, T, RStride = U1, CStride = U6> =
-    Matrix<N, U6, U6, SliceStorageMut<'a, N, U6, U6, RStride, CStride>>;
+    Matrix<T, U6, U6, SliceStorageMut<'a, T, U6, U6, RStride, CStride>>;
 
 /// A column-major 1x2 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut1x2<'a, N, RStride = U1, CStride = U1> =
+pub type MatrixSliceMut1x2<'a, T, RStride = U1, CStride = U1> =
-    Matrix<N, U1, U2, SliceStorageMut<'a, N, U1, U2, RStride, CStride>>;
+    Matrix<T, U1, U2, SliceStorageMut<'a, T, U1, U2, RStride, CStride>>;
 /// A column-major 1x3 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut1x3<'a, N, RStride = U1, CStride = U1> =
+pub type MatrixSliceMut1x3<'a, T, RStride = U1, CStride = U1> =
-    Matrix<N, U1, U3, SliceStorageMut<'a, N, U1, U3, RStride, CStride>>;
+    Matrix<T, U1, U3, SliceStorageMut<'a, T, U1, U3, RStride, CStride>>;
 /// A column-major 1x4 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut1x4<'a, N, RStride = U1, CStride = U1> =
+pub type MatrixSliceMut1x4<'a, T, RStride = U1, CStride = U1> =
-    Matrix<N, U1, U4, SliceStorageMut<'a, N, U1, U4, RStride, CStride>>;
+    Matrix<T, U1, U4, SliceStorageMut<'a, T, U1, U4, RStride, CStride>>;
 /// A column-major 1x5 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut1x5<'a, N, RStride = U1, CStride = U1> =
+pub type MatrixSliceMut1x5<'a, T, RStride = U1, CStride = U1> =
-    Matrix<N, U1, U5, SliceStorageMut<'a, N, U1, U5, RStride, CStride>>;
+    Matrix<T, U1, U5, SliceStorageMut<'a, T, U1, U5, RStride, CStride>>;
 /// A column-major 1x6 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut1x6<'a, N, RStride = U1, CStride = U1> =
+pub type MatrixSliceMut1x6<'a, T, RStride = U1, CStride = U1> =
-    Matrix<N, U1, U6, SliceStorageMut<'a, N, U1, U6, RStride, CStride>>;
+    Matrix<T, U1, U6, SliceStorageMut<'a, T, U1, U6, RStride, CStride>>;
 
 /// A column-major 2x1 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut2x1<'a, N, RStride = U1, CStride = U2> =
+pub type MatrixSliceMut2x1<'a, T, RStride = U1, CStride = U2> =
-    Matrix<N, U2, U1, SliceStorageMut<'a, N, U2, U1, RStride, CStride>>;
+    Matrix<T, U2, U1, SliceStorageMut<'a, T, U2, U1, RStride, CStride>>;
 /// A column-major 2x3 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut2x3<'a, N, RStride = U1, CStride = U2> =
+pub type MatrixSliceMut2x3<'a, T, RStride = U1, CStride = U2> =
-    Matrix<N, U2, U3, SliceStorageMut<'a, N, U2, U3, RStride, CStride>>;
+    Matrix<T, U2, U3, SliceStorageMut<'a, T, U2, U3, RStride, CStride>>;
 /// A column-major 2x4 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut2x4<'a, N, RStride = U1, CStride = U2> =
+pub type MatrixSliceMut2x4<'a, T, RStride = U1, CStride = U2> =
-    Matrix<N, U2, U4, SliceStorageMut<'a, N, U2, U4, RStride, CStride>>;
+    Matrix<T, U2, U4, SliceStorageMut<'a, T, U2, U4, RStride, CStride>>;
 /// A column-major 2x5 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut2x5<'a, N, RStride = U1, CStride = U2> =
+pub type MatrixSliceMut2x5<'a, T, RStride = U1, CStride = U2> =
-    Matrix<N, U2, U5, SliceStorageMut<'a, N, U2, U5, RStride, CStride>>;
+    Matrix<T, U2, U5, SliceStorageMut<'a, T, U2, U5, RStride, CStride>>;
 /// A column-major 2x6 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut2x6<'a, N, RStride = U1, CStride = U2> =
+pub type MatrixSliceMut2x6<'a, T, RStride = U1, CStride = U2> =
-    Matrix<N, U2, U6, SliceStorageMut<'a, N, U2, U6, RStride, CStride>>;
+    Matrix<T, U2, U6, SliceStorageMut<'a, T, U2, U6, RStride, CStride>>;
 
 /// A column-major 3x1 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut3x1<'a, N, RStride = U1, CStride = U3> =
+pub type MatrixSliceMut3x1<'a, T, RStride = U1, CStride = U3> =
-    Matrix<N, U3, U1, SliceStorageMut<'a, N, U3, U1, RStride, CStride>>;
+    Matrix<T, U3, U1, SliceStorageMut<'a, T, U3, U1, RStride, CStride>>;
 /// A column-major 3x2 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut3x2<'a, N, RStride = U1, CStride = U3> =
+pub type MatrixSliceMut3x2<'a, T, RStride = U1, CStride = U3> =
-    Matrix<N, U3, U2, SliceStorageMut<'a, N, U3, U2, RStride, CStride>>;
+    Matrix<T, U3, U2, SliceStorageMut<'a, T, U3, U2, RStride, CStride>>;
 /// A column-major 3x4 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut3x4<'a, N, RStride = U1, CStride = U3> =
+pub type MatrixSliceMut3x4<'a, T, RStride = U1, CStride = U3> =
-    Matrix<N, U3, U4, SliceStorageMut<'a, N, U3, U4, RStride, CStride>>;
+    Matrix<T, U3, U4, SliceStorageMut<'a, T, U3, U4, RStride, CStride>>;
 /// A column-major 3x5 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut3x5<'a, N, RStride = U1, CStride = U3> =
+pub type MatrixSliceMut3x5<'a, T, RStride = U1, CStride = U3> =
-    Matrix<N, U3, U5, SliceStorageMut<'a, N, U3, U5, RStride, CStride>>;
+    Matrix<T, U3, U5, SliceStorageMut<'a, T, U3, U5, RStride, CStride>>;
 /// A column-major 3x6 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut3x6<'a, N, RStride = U1, CStride = U3> =
+pub type MatrixSliceMut3x6<'a, T, RStride = U1, CStride = U3> =
-    Matrix<N, U3, U6, SliceStorageMut<'a, N, U3, U6, RStride, CStride>>;
+    Matrix<T, U3, U6, SliceStorageMut<'a, T, U3, U6, RStride, CStride>>;
 
 /// A column-major 4x1 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut4x1<'a, N, RStride = U1, CStride = U4> =
+pub type MatrixSliceMut4x1<'a, T, RStride = U1, CStride = U4> =
-    Matrix<N, U4, U1, SliceStorageMut<'a, N, U4, U1, RStride, CStride>>;
+    Matrix<T, U4, U1, SliceStorageMut<'a, T, U4, U1, RStride, CStride>>;
 /// A column-major 4x2 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut4x2<'a, N, RStride = U1, CStride = U4> =
+pub type MatrixSliceMut4x2<'a, T, RStride = U1, CStride = U4> =
-    Matrix<N, U4, U2, SliceStorageMut<'a, N, U4, U2, RStride, CStride>>;
+    Matrix<T, U4, U2, SliceStorageMut<'a, T, U4, U2, RStride, CStride>>;
 /// A column-major 4x3 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut4x3<'a, N, RStride = U1, CStride = U4> =
+pub type MatrixSliceMut4x3<'a, T, RStride = U1, CStride = U4> =
-    Matrix<N, U4, U3, SliceStorageMut<'a, N, U4, U3, RStride, CStride>>;
+    Matrix<T, U4, U3, SliceStorageMut<'a, T, U4, U3, RStride, CStride>>;
 /// A column-major 4x5 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut4x5<'a, N, RStride = U1, CStride = U4> =
+pub type MatrixSliceMut4x5<'a, T, RStride = U1, CStride = U4> =
-    Matrix<N, U4, U5, SliceStorageMut<'a, N, U4, U5, RStride, CStride>>;
+    Matrix<T, U4, U5, SliceStorageMut<'a, T, U4, U5, RStride, CStride>>;
 /// A column-major 4x6 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut4x6<'a, N, RStride = U1, CStride = U4> =
+pub type MatrixSliceMut4x6<'a, T, RStride = U1, CStride = U4> =
-    Matrix<N, U4, U6, SliceStorageMut<'a, N, U4, U6, RStride, CStride>>;
+    Matrix<T, U4, U6, SliceStorageMut<'a, T, U4, U6, RStride, CStride>>;
 
 /// A column-major 5x1 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut5x1<'a, N, RStride = U1, CStride = U5> =
+pub type MatrixSliceMut5x1<'a, T, RStride = U1, CStride = U5> =
-    Matrix<N, U5, U1, SliceStorageMut<'a, N, U5, U1, RStride, CStride>>;
+    Matrix<T, U5, U1, SliceStorageMut<'a, T, U5, U1, RStride, CStride>>;
 /// A column-major 5x2 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut5x2<'a, N, RStride = U1, CStride = U5> =
+pub type MatrixSliceMut5x2<'a, T, RStride = U1, CStride = U5> =
-    Matrix<N, U5, U2, SliceStorageMut<'a, N, U5, U2, RStride, CStride>>;
+    Matrix<T, U5, U2, SliceStorageMut<'a, T, U5, U2, RStride, CStride>>;
 /// A column-major 5x3 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut5x3<'a, N, RStride = U1, CStride = U5> =
+pub type MatrixSliceMut5x3<'a, T, RStride = U1, CStride = U5> =
-    Matrix<N, U5, U3, SliceStorageMut<'a, N, U5, U3, RStride, CStride>>;
+    Matrix<T, U5, U3, SliceStorageMut<'a, T, U5, U3, RStride, CStride>>;
 /// A column-major 5x4 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut5x4<'a, N, RStride = U1, CStride = U5> =
+pub type MatrixSliceMut5x4<'a, T, RStride = U1, CStride = U5> =
-    Matrix<N, U5, U4, SliceStorageMut<'a, N, U5, U4, RStride, CStride>>;
+    Matrix<T, U5, U4, SliceStorageMut<'a, T, U5, U4, RStride, CStride>>;
 /// A column-major 5x6 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut5x6<'a, N, RStride = U1, CStride = U5> =
+pub type MatrixSliceMut5x6<'a, T, RStride = U1, CStride = U5> =
-    Matrix<N, U5, U6, SliceStorageMut<'a, N, U5, U6, RStride, CStride>>;
+    Matrix<T, U5, U6, SliceStorageMut<'a, T, U5, U6, RStride, CStride>>;
 
 /// A column-major 6x1 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut6x1<'a, N, RStride = U1, CStride = U6> =
+pub type MatrixSliceMut6x1<'a, T, RStride = U1, CStride = U6> =
-    Matrix<N, U6, U1, SliceStorageMut<'a, N, U6, U1, RStride, CStride>>;
+    Matrix<T, U6, U1, SliceStorageMut<'a, T, U6, U1, RStride, CStride>>;
 /// A column-major 6x2 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut6x2<'a, N, RStride = U1, CStride = U6> =
+pub type MatrixSliceMut6x2<'a, T, RStride = U1, CStride = U6> =
-    Matrix<N, U6, U2, SliceStorageMut<'a, N, U6, U2, RStride, CStride>>;
+    Matrix<T, U6, U2, SliceStorageMut<'a, T, U6, U2, RStride, CStride>>;
 /// A column-major 6x3 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut6x3<'a, N, RStride = U1, CStride = U6> =
+pub type MatrixSliceMut6x3<'a, T, RStride = U1, CStride = U6> =
-    Matrix<N, U6, U3, SliceStorageMut<'a, N, U6, U3, RStride, CStride>>;
+    Matrix<T, U6, U3, SliceStorageMut<'a, T, U6, U3, RStride, CStride>>;
 /// A column-major 6x4 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut6x4<'a, N, RStride = U1, CStride = U6> =
+pub type MatrixSliceMut6x4<'a, T, RStride = U1, CStride = U6> =
-    Matrix<N, U6, U4, SliceStorageMut<'a, N, U6, U4, RStride, CStride>>;
+    Matrix<T, U6, U4, SliceStorageMut<'a, T, U6, U4, RStride, CStride>>;
 /// A column-major 6x5 matrix slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type MatrixSliceMut6x5<'a, N, RStride = U1, CStride = U6> =
+pub type MatrixSliceMut6x5<'a, T, RStride = U1, CStride = U6> =
-    Matrix<N, U6, U5, SliceStorageMut<'a, N, U6, U5, RStride, CStride>>;
+    Matrix<T, U6, U5, SliceStorageMut<'a, T, U6, U5, RStride, CStride>>;
 
 /// A column-major matrix slice with 1 row and a number of columns chosen at runtime.
-pub type MatrixSliceMut1xX<'a, N, RStride = U1, CStride = U1> =
+pub type MatrixSliceMut1xX<'a, T, RStride = U1, CStride = U1> =
-    Matrix<N, U1, Dynamic, SliceStorageMut<'a, N, U1, Dynamic, RStride, CStride>>;
+    Matrix<T, U1, Dynamic, SliceStorageMut<'a, T, U1, Dynamic, RStride, CStride>>;
 /// A column-major matrix slice with 2 rows and a number of columns chosen at runtime.
-pub type MatrixSliceMut2xX<'a, N, RStride = U1, CStride = U2> =
+pub type MatrixSliceMut2xX<'a, T, RStride = U1, CStride = U2> =
-    Matrix<N, U2, Dynamic, SliceStorageMut<'a, N, U2, Dynamic, RStride, CStride>>;
+    Matrix<T, U2, Dynamic, SliceStorageMut<'a, T, U2, Dynamic, RStride, CStride>>;
 /// A column-major matrix slice with 3 rows and a number of columns chosen at runtime.
-pub type MatrixSliceMut3xX<'a, N, RStride = U1, CStride = U3> =
+pub type MatrixSliceMut3xX<'a, T, RStride = U1, CStride = U3> =
-    Matrix<N, U3, Dynamic, SliceStorageMut<'a, N, U3, Dynamic, RStride, CStride>>;
+    Matrix<T, U3, Dynamic, SliceStorageMut<'a, T, U3, Dynamic, RStride, CStride>>;
 /// A column-major matrix slice with 4 rows and a number of columns chosen at runtime.
-pub type MatrixSliceMut4xX<'a, N, RStride = U1, CStride = U4> =
+pub type MatrixSliceMut4xX<'a, T, RStride = U1, CStride = U4> =
-    Matrix<N, U4, Dynamic, SliceStorageMut<'a, N, U4, Dynamic, RStride, CStride>>;
+    Matrix<T, U4, Dynamic, SliceStorageMut<'a, T, U4, Dynamic, RStride, CStride>>;
 /// A column-major matrix slice with 5 rows and a number of columns chosen at runtime.
-pub type MatrixSliceMut5xX<'a, N, RStride = U1, CStride = U5> =
+pub type MatrixSliceMut5xX<'a, T, RStride = U1, CStride = U5> =
-    Matrix<N, U5, Dynamic, SliceStorageMut<'a, N, U5, Dynamic, RStride, CStride>>;
+    Matrix<T, U5, Dynamic, SliceStorageMut<'a, T, U5, Dynamic, RStride, CStride>>;
 /// A column-major matrix slice with 6 rows and a number of columns chosen at runtime.
-pub type MatrixSliceMut6xX<'a, N, RStride = U1, CStride = U6> =
+pub type MatrixSliceMut6xX<'a, T, RStride = U1, CStride = U6> =
-    Matrix<N, U6, Dynamic, SliceStorageMut<'a, N, U6, Dynamic, RStride, CStride>>;
+    Matrix<T, U6, Dynamic, SliceStorageMut<'a, T, U6, Dynamic, RStride, CStride>>;
 
 /// A column-major matrix slice with a number of rows chosen at runtime and 1 column.
-pub type MatrixSliceMutXx1<'a, N, RStride = U1, CStride = Dynamic> =
+pub type MatrixSliceMutXx1<'a, T, RStride = U1, CStride = Dynamic> =
-    Matrix<N, Dynamic, U1, SliceStorageMut<'a, N, Dynamic, U1, RStride, CStride>>;
+    Matrix<T, Dynamic, U1, SliceStorageMut<'a, T, Dynamic, U1, RStride, CStride>>;
 /// A column-major matrix slice with a number of rows chosen at runtime and 2 columns.
-pub type MatrixSliceMutXx2<'a, N, RStride = U1, CStride = Dynamic> =
+pub type MatrixSliceMutXx2<'a, T, RStride = U1, CStride = Dynamic> =
-    Matrix<N, Dynamic, U2, SliceStorageMut<'a, N, Dynamic, U2, RStride, CStride>>;
+    Matrix<T, Dynamic, U2, SliceStorageMut<'a, T, Dynamic, U2, RStride, CStride>>;
 /// A column-major matrix slice with a number of rows chosen at runtime and 3 columns.
-pub type MatrixSliceMutXx3<'a, N, RStride = U1, CStride = Dynamic> =
+pub type MatrixSliceMutXx3<'a, T, RStride = U1, CStride = Dynamic> =
-    Matrix<N, Dynamic, U3, SliceStorageMut<'a, N, Dynamic, U3, RStride, CStride>>;
+    Matrix<T, Dynamic, U3, SliceStorageMut<'a, T, Dynamic, U3, RStride, CStride>>;
 /// A column-major matrix slice with a number of rows chosen at runtime and 4 columns.
-pub type MatrixSliceMutXx4<'a, N, RStride = U1, CStride = Dynamic> =
+pub type MatrixSliceMutXx4<'a, T, RStride = U1, CStride = Dynamic> =
-    Matrix<N, Dynamic, U4, SliceStorageMut<'a, N, Dynamic, U4, RStride, CStride>>;
+    Matrix<T, Dynamic, U4, SliceStorageMut<'a, T, Dynamic, U4, RStride, CStride>>;
 /// A column-major matrix slice with a number of rows chosen at runtime and 5 columns.
-pub type MatrixSliceMutXx5<'a, N, RStride = U1, CStride = Dynamic> =
+pub type MatrixSliceMutXx5<'a, T, RStride = U1, CStride = Dynamic> =
-    Matrix<N, Dynamic, U5, SliceStorageMut<'a, N, Dynamic, U5, RStride, CStride>>;
+    Matrix<T, Dynamic, U5, SliceStorageMut<'a, T, Dynamic, U5, RStride, CStride>>;
 /// A column-major matrix slice with a number of rows chosen at runtime and 6 columns.
-pub type MatrixSliceMutXx6<'a, N, RStride = U1, CStride = Dynamic> =
+pub type MatrixSliceMutXx6<'a, T, RStride = U1, CStride = Dynamic> =
-    Matrix<N, Dynamic, U6, SliceStorageMut<'a, N, Dynamic, U6, RStride, CStride>>;
+    Matrix<T, Dynamic, U6, SliceStorageMut<'a, T, Dynamic, U6, RStride, CStride>>;
 
-/// A column vector slice with `D` rows.
+/// A column vector slice with dimensions known at compile-time.
-pub type VectorSliceMutN<'a, N, D, RStride = U1, CStride = D> =
+///
-    Matrix<N, D, U1, SliceStorageMut<'a, N, D, U1, RStride, CStride>>;
+/// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
+pub type VectorSliceMut<'a, T, D, RStride = U1, CStride = D> =
+    Matrix<T, D, U1, SliceStorageMut<'a, T, D, U1, RStride, CStride>>;
+
+/// A column vector slice with dimensions known at compile-time.
+///
+/// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
+pub type SVectorSliceMut<'a, T, const D: usize> =
+    Matrix<T, Const<D>, Const<1>, SliceStorageMut<'a, T, Const<D>, Const<1>, Const<1>, Const<D>>>;
 
 /// A column vector slice dynamic numbers of rows and columns.
-pub type DVectorSliceMut<'a, N, RStride = U1, CStride = Dynamic> =
+///
-    Matrix<N, Dynamic, U1, SliceStorageMut<'a, N, Dynamic, U1, RStride, CStride>>;
+/// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
+pub type DVectorSliceMut<'a, T, RStride = U1, CStride = Dynamic> =
+    Matrix<T, Dynamic, U1, SliceStorageMut<'a, T, Dynamic, U1, RStride, CStride>>;
 
 /// A 1D column vector slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type VectorSliceMut1<'a, N, RStride = U1, CStride = U1> =
+pub type VectorSliceMut1<'a, T, RStride = U1, CStride = U1> =
-    Matrix<N, U1, U1, SliceStorageMut<'a, N, U1, U1, RStride, CStride>>;
+    Matrix<T, U1, U1, SliceStorageMut<'a, T, U1, U1, RStride, CStride>>;
 /// A 2D column vector slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type VectorSliceMut2<'a, N, RStride = U1, CStride = U2> =
+pub type VectorSliceMut2<'a, T, RStride = U1, CStride = U2> =
-    Matrix<N, U2, U1, SliceStorageMut<'a, N, U2, U1, RStride, CStride>>;
+    Matrix<T, U2, U1, SliceStorageMut<'a, T, U2, U1, RStride, CStride>>;
 /// A 3D column vector slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type VectorSliceMut3<'a, N, RStride = U1, CStride = U3> =
+pub type VectorSliceMut3<'a, T, RStride = U1, CStride = U3> =
-    Matrix<N, U3, U1, SliceStorageMut<'a, N, U3, U1, RStride, CStride>>;
+    Matrix<T, U3, U1, SliceStorageMut<'a, T, U3, U1, RStride, CStride>>;
 /// A 4D column vector slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type VectorSliceMut4<'a, N, RStride = U1, CStride = U4> =
+pub type VectorSliceMut4<'a, T, RStride = U1, CStride = U4> =
-    Matrix<N, U4, U1, SliceStorageMut<'a, N, U4, U1, RStride, CStride>>;
+    Matrix<T, U4, U1, SliceStorageMut<'a, T, U4, U1, RStride, CStride>>;
 /// A 5D column vector slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type VectorSliceMut5<'a, N, RStride = U1, CStride = U5> =
+pub type VectorSliceMut5<'a, T, RStride = U1, CStride = U5> =
-    Matrix<N, U5, U1, SliceStorageMut<'a, N, U5, U1, RStride, CStride>>;
+    Matrix<T, U5, U1, SliceStorageMut<'a, T, U5, U1, RStride, CStride>>;
 /// A 6D column vector slice.
 ///
 /// **Because this is an alias, not all its methods are listed here. See the [`Matrix`](crate::base::Matrix) type too.**
-pub type VectorSliceMut6<'a, N, RStride = U1, CStride = U6> =
+pub type VectorSliceMut6<'a, T, RStride = U1, CStride = U6> =
-    Matrix<N, U6, U1, SliceStorageMut<'a, N, U6, U1, RStride, CStride>>;
+    Matrix<T, U6, U1, SliceStorageMut<'a, T, U6, U1, RStride, CStride>>;

src/base/allocator.rs

@@ -9,7 +9,7 @@ use crate::base::storage::ContiguousStorageMut;
 use crate::base::{DefaultAllocator, Scalar};
 
 /// A matrix allocator of a memory buffer that may contain `R::to_usize() * C::to_usize()`
-/// elements of type `N`.
+/// elements of type `T`.
 ///
 /// An allocator is said to be:
 ///   − static:  if `R` and `C` both implement `DimName`.
@@ -17,15 +17,15 @@ use crate::base::{DefaultAllocator, Scalar};
 ///
 /// Every allocator must be both static and dynamic. Though not all implementations may share the
 /// same `Buffer` type.
-pub trait Allocator<N: Scalar, R: Dim, C: Dim = U1>: Any + Sized {
+pub trait Allocator<T: Scalar, R: Dim, C: Dim = U1>: Any + Sized {
     /// The type of buffer this allocator can instanciate.
-    type Buffer: ContiguousStorageMut<N, R, C> + Clone;
+    type Buffer: ContiguousStorageMut<T, R, C> + Clone;
 
     /// Allocates a buffer with the given number of rows and columns without initializing its content.
     unsafe fn allocate_uninitialized(nrows: R, ncols: C) -> mem::MaybeUninit<Self::Buffer>;
 
     /// Allocates a buffer initialized with the content of the given iterator.
-    fn allocate_from_iterator<I: IntoIterator<Item = N>>(
+    fn allocate_from_iterator<I: IntoIterator<Item = T>>(
         nrows: R,
         ncols: C,
         iter: I,
@@ -34,8 +34,8 @@ pub trait Allocator<N: Scalar, R: Dim, C: Dim = U1>: Any + Sized {
 
 /// A matrix reallocator. Changes the size of the memory buffer that initially contains (RFrom ×
 /// CFrom) elements to a smaller or larger size (RTo, CTo).
-pub trait Reallocator<N: Scalar, RFrom: Dim, CFrom: Dim, RTo: Dim, CTo: Dim>:
+pub trait Reallocator<T: Scalar, RFrom: Dim, CFrom: Dim, RTo: Dim, CTo: Dim>:
-    Allocator<N, RFrom, CFrom> + Allocator<N, RTo, CTo>
+    Allocator<T, RFrom, CFrom> + Allocator<T, RTo, CTo>
 {
     /// Reallocates a buffer of shape `(RTo, CTo)`, possibly reusing a previously allocated buffer
     /// `buf`. Data stored by `buf` are linearly copied to the output:
@@ -47,8 +47,8 @@ pub trait Reallocator<N: Scalar, RFrom: Dim, CFrom: Dim, RTo: Dim, CTo: Dim>:
     unsafe fn reallocate_copy(
         nrows: RTo,
         ncols: CTo,
-        buf: <Self as Allocator<N, RFrom, CFrom>>::Buffer,
+        buf: <Self as Allocator<T, RFrom, CFrom>>::Buffer,
-    ) -> <Self as Allocator<N, RTo, CTo>>::Buffer;
+    ) -> <Self as Allocator<T, RTo, CTo>>::Buffer;
 }
 
 /// The number of rows of the result of a componentwise operation on two matrices.
@@ -59,48 +59,48 @@ pub type SameShapeC<C1, C2> = <ShapeConstraint as SameNumberOfColumns<C1, C2>>::
 
 // TODO: Bad name.
 /// Restricts the given number of rows and columns to be respectively the same.
-pub trait SameShapeAllocator<N, R1, C1, R2, C2>:
+pub trait SameShapeAllocator<T, R1, C1, R2, C2>:
-    Allocator<N, R1, C1> + Allocator<N, SameShapeR<R1, R2>, SameShapeC<C1, C2>>
+    Allocator<T, R1, C1> + Allocator<T, SameShapeR<R1, R2>, SameShapeC<C1, C2>>
 where
     R1: Dim,
     R2: Dim,
     C1: Dim,
     C2: Dim,
-    N: Scalar,
+    T: Scalar,
     ShapeConstraint: SameNumberOfRows<R1, R2> + SameNumberOfColumns<C1, C2>,
 {
 }
 
-impl<N, R1, R2, C1, C2> SameShapeAllocator<N, R1, C1, R2, C2> for DefaultAllocator
+impl<T, R1, R2, C1, C2> SameShapeAllocator<T, R1, C1, R2, C2> for DefaultAllocator
 where
     R1: Dim,
     R2: Dim,
     C1: Dim,
     C2: Dim,
-    N: Scalar,
+    T: Scalar,
-    DefaultAllocator: Allocator<N, R1, C1> + Allocator<N, SameShapeR<R1, R2>, SameShapeC<C1, C2>>,
+    DefaultAllocator: Allocator<T, R1, C1> + Allocator<T, SameShapeR<R1, R2>, SameShapeC<C1, C2>>,
     ShapeConstraint: SameNumberOfRows<R1, R2> + SameNumberOfColumns<C1, C2>,
 {
 }
 
 // XXX: Bad name.
 /// Restricts the given number of rows to be equal.
-pub trait SameShapeVectorAllocator<N, R1, R2>:
+pub trait SameShapeVectorAllocator<T, R1, R2>:
-    Allocator<N, R1> + Allocator<N, SameShapeR<R1, R2>> + SameShapeAllocator<N, R1, U1, R2, U1>
+    Allocator<T, R1> + Allocator<T, SameShapeR<R1, R2>> + SameShapeAllocator<T, R1, U1, R2, U1>
 where
     R1: Dim,
     R2: Dim,
-    N: Scalar,
+    T: Scalar,
     ShapeConstraint: SameNumberOfRows<R1, R2>,
 {
 }
 
-impl<N, R1, R2> SameShapeVectorAllocator<N, R1, R2> for DefaultAllocator
+impl<T, R1, R2> SameShapeVectorAllocator<T, R1, R2> for DefaultAllocator
 where
     R1: Dim,
     R2: Dim,
-    N: Scalar,
+    T: Scalar,
-    DefaultAllocator: Allocator<N, R1, U1> + Allocator<N, SameShapeR<R1, R2>>,
+    DefaultAllocator: Allocator<T, R1, U1> + Allocator<T, SameShapeR<R1, R2>>,
     ShapeConstraint: SameNumberOfRows<R1, R2>,
 {
 }

src/base/array_storage.rs

@@ -1,29 +1,26 @@
 use std::fmt::{self, Debug, Formatter};
-use std::hash::{Hash, Hasher};
+// use std::hash::{Hash, Hasher};
 #[cfg(feature = "abomonation-serialize")]
 use std::io::{Result as IOResult, Write};
-use std::ops::{Deref, DerefMut, Mul};
+use std::ops::Mul;
 
-#[cfg(feature = "serde-serialize")]
+#[cfg(feature = "serde-serialize-no-std")]
 use serde::de::{Error, SeqAccess, Visitor};
-#[cfg(feature = "serde-serialize")]
+#[cfg(feature = "serde-serialize-no-std")]
 use serde::ser::SerializeSeq;
-#[cfg(feature = "serde-serialize")]
+#[cfg(feature = "serde-serialize-no-std")]
 use serde::{Deserialize, Deserializer, Serialize, Serializer};
-#[cfg(feature = "serde-serialize")]
+#[cfg(feature = "serde-serialize-no-std")]
 use std::marker::PhantomData;
-#[cfg(feature = "serde-serialize")]
+#[cfg(feature = "serde-serialize-no-std")]
 use std::mem;
 
 #[cfg(feature = "abomonation-serialize")]
 use abomonation::Abomonation;
 
-use generic_array::{ArrayLength, GenericArray};
-use typenum::Prod;
-
 use crate::base::allocator::Allocator;
 use crate::base::default_allocator::DefaultAllocator;
-use crate::base::dimension::{DimName, U1};
+use crate::base::dimension::{Const, ToTypenum};
 use crate::base::storage::{
     ContiguousStorage, ContiguousStorageMut, Owned, ReshapableStorage, Storage, StorageMut,
 };
@@ -36,166 +33,49 @@ use crate::base::Scalar;
  */
 /// A array-based statically sized matrix data storage.
 #[repr(C)]
-pub struct ArrayStorage<N, R, C>
+#[derive(Copy, Clone, PartialEq, Eq, Hash)]
-where
+pub struct ArrayStorage<T, const R: usize, const C: usize>(pub [[T; R]; C]);
-    R: DimName,
-    C: DimName,
-    R::Value: Mul<C::Value>,
-    Prod<R::Value, C::Value>: ArrayLength<N>,
-{
-    data: GenericArray<N, Prod<R::Value, C::Value>>,
-}
 
-#[deprecated(note = "renamed to `ArrayStorage`")]
+// TODO: remove this once the stdlib implements Default for arrays.
-/// Renamed to [ArrayStorage].
+impl<T: Default, const R: usize, const C: usize> Default for ArrayStorage<T, R, C>
-pub type MatrixArray<N, R, C> = ArrayStorage<N, R, C>;
-
-impl<N, R, C> Default for ArrayStorage<N, R, C>
 where
-    R: DimName,
+    [[T; R]; C]: Default,
-    C: DimName,
-    R::Value: Mul<C::Value>,
-    Prod<R::Value, C::Value>: ArrayLength<N>,
-    N: Default,
 {
+    #[inline]
     fn default() -> Self {
-        ArrayStorage {
+        Self(Default::default())
-            data: Default::default(),
-        }
     }
 }
 
-impl<N, R, C> Hash for ArrayStorage<N, R, C>
+impl<T: Debug, const R: usize, const C: usize> Debug for ArrayStorage<T, R, C> {
-where
-    N: Hash,
-    R: DimName,
-    C: DimName,
-    R::Value: Mul<C::Value>,
-    Prod<R::Value, C::Value>: ArrayLength<N>,
-{
-    fn hash<H: Hasher>(&self, state: &mut H) {
-        self.data[..].hash(state)
-    }
-}
-
-impl<N, R, C> Deref for ArrayStorage<N, R, C>
-where
-    R: DimName,
-    C: DimName,
-    R::Value: Mul<C::Value>,
-    Prod<R::Value, C::Value>: ArrayLength<N>,
-{
-    type Target = GenericArray<N, Prod<R::Value, C::Value>>;
-
-    #[inline]
-    fn deref(&self) -> &Self::Target {
-        &self.data
-    }
-}
-
-impl<N, R, C> DerefMut for ArrayStorage<N, R, C>
-where
-    R: DimName,
-    C: DimName,
-    R::Value: Mul<C::Value>,
-    Prod<R::Value, C::Value>: ArrayLength<N>,
-{
-    #[inline]
-    fn deref_mut(&mut self) -> &mut Self::Target {
-        &mut self.data
-    }
-}
-
-impl<N, R, C> Debug for ArrayStorage<N, R, C>
-where
-    N: Debug,
-    R: DimName,
-    C: DimName,
-    R::Value: Mul<C::Value>,
-    Prod<R::Value, C::Value>: ArrayLength<N>,
-{
     #[inline]
     fn fmt(&self, fmt: &mut Formatter) -> fmt::Result {
-        self.data.fmt(fmt)
+        self.0.fmt(fmt)
     }
 }
 
-impl<N, R, C> Copy for ArrayStorage<N, R, C>
+unsafe impl<T, const R: usize, const C: usize> Storage<T, Const<R>, Const<C>>
+    for ArrayStorage<T, R, C>
 where
-    N: Copy,
+    T: Scalar,
-    R: DimName,
+    DefaultAllocator: Allocator<T, Const<R>, Const<C>, Buffer = Self>,
-    C: DimName,
-    R::Value: Mul<C::Value>,
-    Prod<R::Value, C::Value>: ArrayLength<N>,
-    GenericArray<N, Prod<R::Value, C::Value>>: Copy,
 {
-}
+    type RStride = Const<1>;
-
+    type CStride = Const<R>;
-impl<N, R, C> Clone for ArrayStorage<N, R, C>
-where
-    N: Clone,
-    R: DimName,
-    C: DimName,
-    R::Value: Mul<C::Value>,
-    Prod<R::Value, C::Value>: ArrayLength<N>,
-{
-    #[inline]
-    fn clone(&self) -> Self {
-        ArrayStorage {
-            data: self.data.clone(),
-        }
-    }
-}
-
-impl<N, R, C> Eq for ArrayStorage<N, R, C>
-where
-    N: Eq,
-    R: DimName,
-    C: DimName,
-    R::Value: Mul<C::Value>,
-    Prod<R::Value, C::Value>: ArrayLength<N>,
-{
-}
-
-impl<N, R, C> PartialEq for ArrayStorage<N, R, C>
-where
-    N: PartialEq,
-    R: DimName,
-    C: DimName,
-    R::Value: Mul<C::Value>,
-    Prod<R::Value, C::Value>: ArrayLength<N>,
-{
-    #[inline]
-    fn eq(&self, right: &Self) -> bool {
-        self.data == right.data
-    }
-}
-
-unsafe impl<N, R, C> Storage<N, R, C> for ArrayStorage<N, R, C>
-where
-    N: Scalar,
-    R: DimName,
-    C: DimName,
-    R::Value: Mul<C::Value>,
-    Prod<R::Value, C::Value>: ArrayLength<N>,
-    DefaultAllocator: Allocator<N, R, C, Buffer = Self>,
-{
-    type RStride = U1;
-    type CStride = R;
 
     #[inline]
-    fn ptr(&self) -> *const N {
+    fn ptr(&self) -> *const T {
-        self[..].as_ptr()
+        self.0.as_ptr() as *const T
     }
 
     #[inline]
-    fn shape(&self) -> (R, C) {
+    fn shape(&self) -> (Const<R>, Const<C>) {
-        (R::name(), C::name())
+        (Const, Const)
     }
 
     #[inline]
     fn strides(&self) -> (Self::RStride, Self::CStride) {
-        (Self::RStride::name(), Self::CStride::name())
+        (Const, Const)
     }
 
     #[inline]
@@ -204,112 +84,107 @@ where
     }
 
     #[inline]
-    fn into_owned(self) -> Owned<N, R, C>
+    fn into_owned(self) -> Owned<T, Const<R>, Const<C>>
     where
-        DefaultAllocator: Allocator<N, R, C>,
+        DefaultAllocator: Allocator<T, Const<R>, Const<C>>,
     {
         self
     }
 
     #[inline]
-    fn clone_owned(&self) -> Owned<N, R, C>
+    fn clone_owned(&self) -> Owned<T, Const<R>, Const<C>>
     where
-        DefaultAllocator: Allocator<N, R, C>,
+        DefaultAllocator: Allocator<T, Const<R>, Const<C>>,
     {
-        let it = self.iter().cloned();
+        let it = self.as_slice().iter().cloned();
-
         DefaultAllocator::allocate_from_iterator(self.shape().0, self.shape().1, it)
     }
 
     #[inline]
-    fn as_slice(&self) -> &[N] {
+    fn as_slice(&self) -> &[T] {
-        &self[..]
+        unsafe { std::slice::from_raw_parts(self.ptr(), R * C) }
     }
 }
 
-unsafe impl<N, R, C> StorageMut<N, R, C> for ArrayStorage<N, R, C>
+unsafe impl<T, const R: usize, const C: usize> StorageMut<T, Const<R>, Const<C>>
+    for ArrayStorage<T, R, C>
 where
-    N: Scalar,
+    T: Scalar,
-    R: DimName,
+    DefaultAllocator: Allocator<T, Const<R>, Const<C>, Buffer = Self>,
-    C: DimName,
-    R::Value: Mul<C::Value>,
-    Prod<R::Value, C::Value>: ArrayLength<N>,
-    DefaultAllocator: Allocator<N, R, C, Buffer = Self>,
 {
     #[inline]
-    fn ptr_mut(&mut self) -> *mut N {
+    fn ptr_mut(&mut self) -> *mut T {
-        self[..].as_mut_ptr()
+        self.0.as_mut_ptr() as *mut T
     }
 
     #[inline]
-    fn as_mut_slice(&mut self) -> &mut [N] {
+    fn as_mut_slice(&mut self) -> &mut [T] {
-        &mut self[..]
+        unsafe { std::slice::from_raw_parts_mut(self.ptr_mut(), R * C) }
     }
 }
 
-unsafe impl<N, R, C> ContiguousStorage<N, R, C> for ArrayStorage<N, R, C>
+unsafe impl<T, const R: usize, const C: usize> ContiguousStorage<T, Const<R>, Const<C>>
+    for ArrayStorage<T, R, C>
 where
-    N: Scalar,
+    T: Scalar,
-    R: DimName,
+    DefaultAllocator: Allocator<T, Const<R>, Const<C>, Buffer = Self>,
-    C: DimName,
-    R::Value: Mul<C::Value>,
-    Prod<R::Value, C::Value>: ArrayLength<N>,
-    DefaultAllocator: Allocator<N, R, C, Buffer = Self>,
 {
 }
 
-unsafe impl<N, R, C> ContiguousStorageMut<N, R, C> for ArrayStorage<N, R, C>
+unsafe impl<T, const R: usize, const C: usize> ContiguousStorageMut<T, Const<R>, Const<C>>
+    for ArrayStorage<T, R, C>
 where
-    N: Scalar,
+    T: Scalar,
-    R: DimName,
+    DefaultAllocator: Allocator<T, Const<R>, Const<C>, Buffer = Self>,
-    C: DimName,
-    R::Value: Mul<C::Value>,
-    Prod<R::Value, C::Value>: ArrayLength<N>,
-    DefaultAllocator: Allocator<N, R, C, Buffer = Self>,
 {
 }
 
-impl<N, R1, C1, R2, C2> ReshapableStorage<N, R1, C1, R2, C2> for ArrayStorage<N, R1, C1>
+impl<T, const R1: usize, const C1: usize, const R2: usize, const C2: usize>
+    ReshapableStorage<T, Const<R1>, Const<C1>, Const<R2>, Const<C2>> for ArrayStorage<T, R1, C1>
 where
-    N: Scalar,
+    T: Scalar,
-    R1: DimName,
+    Const<R1>: ToTypenum,
-    C1: DimName,
+    Const<C1>: ToTypenum,
-    R1::Value: Mul<C1::Value>,
+    Const<R2>: ToTypenum,
-    Prod<R1::Value, C1::Value>: ArrayLength<N>,
+    Const<C2>: ToTypenum,
-    R2: DimName,
+    <Const<R1> as ToTypenum>::Typenum: Mul<<Const<C1> as ToTypenum>::Typenum>,
-    C2: DimName,
+    <Const<R2> as ToTypenum>::Typenum: Mul<
-    R2::Value: Mul<C2::Value, Output = Prod<R1::Value, C1::Value>>,
+        <Const<C2> as ToTypenum>::Typenum,
-    Prod<R2::Value, C2::Value>: ArrayLength<N>,
+        Output = typenum::Prod<
+            <Const<R1> as ToTypenum>::Typenum,
+            <Const<C1> as ToTypenum>::Typenum,
+        >,
+    >,
 {
-    type Output = ArrayStorage<N, R2, C2>;
+    type Output = ArrayStorage<T, R2, C2>;
 
-    fn reshape_generic(self, _: R2, _: C2) -> Self::Output {
+    fn reshape_generic(self, _: Const<R2>, _: Const<C2>) -> Self::Output {
-        ArrayStorage { data: self.data }
+        unsafe {
+            let data: [[T; R2]; C2] = std::mem::transmute_copy(&self.0);
+            std::mem::forget(self.0);
+            ArrayStorage(data)
+        }
     }
 }
 
 /*
  *
- * Allocation-less serde impls.
+ * Serialization.
  *
  */
-// XXX: open an issue for GenericArray so that it implements serde traits?
+// XXX: open an issue for serde so that it allows the serialization/deserialization of all arrays?
-#[cfg(feature = "serde-serialize")]
+#[cfg(feature = "serde-serialize-no-std")]
-impl<N, R, C> Serialize for ArrayStorage<N, R, C>
+impl<T, const R: usize, const C: usize> Serialize for ArrayStorage<T, R, C>
 where
-    N: Scalar + Serialize,
+    T: Scalar + Serialize,
-    R: DimName,
-    C: DimName,
-    R::Value: Mul<C::Value>,
-    Prod<R::Value, C::Value>: ArrayLength<N>,
 {
     fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
     where
         S: Serializer,
     {
-        let mut serializer = serializer.serialize_seq(Some(R::dim() * C::dim()))?;
+        let mut serializer = serializer.serialize_seq(Some(R * C))?;
 
-        for e in self.iter() {
+        for e in self.as_slice().iter() {
             serializer.serialize_element(e)?;
         }
 
@@ -317,14 +192,10 @@ where
     }
 }
 
-#[cfg(feature = "serde-serialize")]
+#[cfg(feature = "serde-serialize-no-std")]
-impl<'a, N, R, C> Deserialize<'a> for ArrayStorage<N, R, C>
+impl<'a, T, const R: usize, const C: usize> Deserialize<'a> for ArrayStorage<T, R, C>
 where
-    N: Scalar + Deserialize<'a>,
+    T: Scalar + Deserialize<'a>,
-    R: DimName,
-    C: DimName,
-    R::Value: Mul<C::Value>,
-    Prod<R::Value, C::Value>: ArrayLength<N>,
 {
     fn deserialize<D>(deserializer: D) -> Result<Self, D::Error>
     where
@@ -334,20 +205,16 @@ where
     }
 }
 
-#[cfg(feature = "serde-serialize")]
+#[cfg(feature = "serde-serialize-no-std")]
 /// A visitor that produces a matrix array.
-struct ArrayStorageVisitor<N, R, C> {
+struct ArrayStorageVisitor<T, const R: usize, const C: usize> {
-    marker: PhantomData<(N, R, C)>,
+    marker: PhantomData<T>,
 }
 
-#[cfg(feature = "serde-serialize")]
+#[cfg(feature = "serde-serialize-no-std")]
-impl<N, R, C> ArrayStorageVisitor<N, R, C>
+impl<T, const R: usize, const C: usize> ArrayStorageVisitor<T, R, C>
 where
-    N: Scalar,
+    T: Scalar,
-    R: DimName,
-    C: DimName,
-    R::Value: Mul<C::Value>,
-    Prod<R::Value, C::Value>: ArrayLength<N>,
 {
     /// Construct a new sequence visitor.
     pub fn new() -> Self {
@@ -357,23 +224,19 @@ where
     }
 }
 
-#[cfg(feature = "serde-serialize")]
+#[cfg(feature = "serde-serialize-no-std")]
-impl<'a, N, R, C> Visitor<'a> for ArrayStorageVisitor<N, R, C>
+impl<'a, T, const R: usize, const C: usize> Visitor<'a> for ArrayStorageVisitor<T, R, C>
 where
-    N: Scalar + Deserialize<'a>,
+    T: Scalar + Deserialize<'a>,
-    R: DimName,
-    C: DimName,
-    R::Value: Mul<C::Value>,
-    Prod<R::Value, C::Value>: ArrayLength<N>,
 {
-    type Value = ArrayStorage<N, R, C>;
+    type Value = ArrayStorage<T, R, C>;
 
     fn expecting(&self, formatter: &mut Formatter) -> fmt::Result {
         formatter.write_str("a matrix array")
     }
 
     #[inline]
-    fn visit_seq<V>(self, mut visitor: V) -> Result<ArrayStorage<N, R, C>, V::Error>
+    fn visit_seq<V>(self, mut visitor: V) -> Result<ArrayStorage<T, R, C>, V::Error>
     where
         V: SeqAccess<'a>,
     {
@@ -381,12 +244,13 @@ where
         let mut curr = 0;
 
         while let Some(value) = visitor.next_element()? {
-            *out.get_mut(curr)
+            *out.as_mut_slice()
+                .get_mut(curr)
                 .ok_or_else(|| V::Error::invalid_length(curr, &self))? = value;
             curr += 1;
         }
 
-        if curr == R::dim() * C::dim() {
+        if curr == R * C {
             Ok(out)
         } else {
             Err(V::Error::invalid_length(curr, &self))
@@ -395,36 +259,24 @@ where
 }
 
 #[cfg(feature = "bytemuck")]
-unsafe impl<N: Scalar + bytemuck::Zeroable, R: DimName, C: DimName> bytemuck::Zeroable
+unsafe impl<T: Scalar + Copy + bytemuck::Zeroable, const R: usize, const C: usize>
-    for ArrayStorage<N, R, C>
+    bytemuck::Zeroable for ArrayStorage<T, R, C>
-where
-    R::Value: Mul<C::Value>,
-    Prod<R::Value, C::Value>: ArrayLength<N>,
-    Self: Copy,
 {
 }
 
 #[cfg(feature = "bytemuck")]
-unsafe impl<N: Scalar + bytemuck::Pod, R: DimName, C: DimName> bytemuck::Pod
+unsafe impl<T: Scalar + Copy + bytemuck::Pod, const R: usize, const C: usize> bytemuck::Pod
-    for ArrayStorage<N, R, C>
+    for ArrayStorage<T, R, C>
-where
-    R::Value: Mul<C::Value>,
-    Prod<R::Value, C::Value>: ArrayLength<N>,
-    Self: Copy,
 {
 }
 
 #[cfg(feature = "abomonation-serialize")]
-impl<N, R, C> Abomonation for ArrayStorage<N, R, C>
+impl<T, const R: usize, const C: usize> Abomonation for ArrayStorage<T, R, C>
 where
-    R: DimName,
+    T: Scalar + Abomonation,
-    C: DimName,
-    R::Value: Mul<C::Value>,
-    Prod<R::Value, C::Value>: ArrayLength<N>,
-    N: Abomonation,
 {
     unsafe fn entomb<W: Write>(&self, writer: &mut W) -> IOResult<()> {
-        for element in self.data.as_slice() {
+        for element in self.as_slice() {
             element.entomb(writer)?;
         }
 
@@ -432,7 +284,7 @@ where
     }
 
     unsafe fn exhume<'a, 'b>(&'a mut self, mut bytes: &'b mut [u8]) -> Option<&'b mut [u8]> {
-        for element in self.data.as_mut_slice() {
+        for element in self.as_mut_slice() {
             let temp = bytes;
             bytes = if let Some(remainder) = element.exhume(temp) {
                 remainder
@@ -444,9 +296,6 @@ where
     }
 
     fn extent(&self) -> usize {
-        self.data
+        self.as_slice().iter().fold(0, |acc, e| acc + e.extent())
-            .as_slice()
-            .iter()
-            .fold(0, |acc, e| acc + e.extent())
     }
 }

src/base/blas.rs

@@ -10,25 +10,25 @@ use crate::base::allocator::Allocator;
 use crate::base::constraint::{
     AreMultipliable, DimEq, SameNumberOfColumns, SameNumberOfRows, ShapeConstraint,
 };
-use crate::base::dimension::{Dim, Dynamic, U1, U2, U3, U4};
+use crate::base::dimension::{Const, Dim, Dynamic, U1, U2, U3, U4};
 use crate::base::storage::{Storage, StorageMut};
 use crate::base::{
-    DVectorSlice, DefaultAllocator, Matrix, Scalar, SquareMatrix, Vector, VectorSliceN,
+    DVectorSlice, DefaultAllocator, Matrix, Scalar, SquareMatrix, Vector, VectorSlice,
 };
 
 /// # Dot/scalar product
-impl<N, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S>
+impl<T, R: Dim, C: Dim, S: Storage<T, R, C>> Matrix<T, R, C, S>
 where
-    N: Scalar + Zero + ClosedAdd + ClosedMul,
+    T: Scalar + Zero + ClosedAdd + ClosedMul,
 {
     #[inline(always)]
     fn dotx<R2: Dim, C2: Dim, SB>(
         &self,
-        rhs: &Matrix<N, R2, C2, SB>,
+        rhs: &Matrix<T, R2, C2, SB>,
-        conjugate: impl Fn(N) -> N,
+        conjugate: impl Fn(T) -> T,
-    ) -> N
+    ) -> T
     where
-        SB: Storage<N, R2, C2>,
+        SB: Storage<T, R2, C2>,
         ShapeConstraint: DimEq<R, R2> + DimEq<C, C2>,
     {
         assert!(
@@ -92,7 +92,7 @@ where
         //
         // And this comment from bluss:
         // https://users.rust-lang.org/t/how-to-zip-two-slices-efficiently/2048/12
-        let mut res = N::zero();
+        let mut res = T::zero();
 
         // We have to define them outside of the loop (and not inside at first assignment)
         // otherwise vectorization won't kick in for some reason.
@@ -108,14 +108,14 @@ where
         for j in 0..self.ncols() {
             let mut i = 0;
 
-            acc0 = N::zero();
+            acc0 = T::zero();
-            acc1 = N::zero();
+            acc1 = T::zero();
-            acc2 = N::zero();
+            acc2 = T::zero();
-            acc3 = N::zero();
+            acc3 = T::zero();
-            acc4 = N::zero();
+            acc4 = T::zero();
-            acc5 = N::zero();
+            acc5 = T::zero();
-            acc6 = N::zero();
+            acc6 = T::zero();
-            acc7 = N::zero();
+            acc7 = T::zero();
 
             while self.nrows() - i >= 8 {
                 acc0 += unsafe {
@@ -193,9 +193,9 @@ where
     /// ```
     ///
     #[inline]
-    pub fn dot<R2: Dim, C2: Dim, SB>(&self, rhs: &Matrix<N, R2, C2, SB>) -> N
+    pub fn dot<R2: Dim, C2: Dim, SB>(&self, rhs: &Matrix<T, R2, C2, SB>) -> T
     where
-        SB: Storage<N, R2, C2>,
+        SB: Storage<T, R2, C2>,
         ShapeConstraint: DimEq<R, R2> + DimEq<C, C2>,
     {
         self.dotx(rhs, |e| e)
@@ -221,13 +221,13 @@ where
     /// assert_ne!(vec1.dotc(&vec2), vec1.dot(&vec2));
     /// ```
     #[inline]
-    pub fn dotc<R2: Dim, C2: Dim, SB>(&self, rhs: &Matrix<N, R2, C2, SB>) -> N
+    pub fn dotc<R2: Dim, C2: Dim, SB>(&self, rhs: &Matrix<T, R2, C2, SB>) -> T
     where
-        N: SimdComplexField,
+        T: SimdComplexField,
-        SB: Storage<N, R2, C2>,
+        SB: Storage<T, R2, C2>,
         ShapeConstraint: DimEq<R, R2> + DimEq<C, C2>,
     {
-        self.dotx(rhs, N::simd_conjugate)
+        self.dotx(rhs, T::simd_conjugate)
     }
 
     /// The dot product between the transpose of `self` and `rhs`.
@@ -248,9 +248,9 @@ where
     /// assert_eq!(mat1.tr_dot(&mat2), 9.1);
     /// ```
     #[inline]
-    pub fn tr_dot<R2: Dim, C2: Dim, SB>(&self, rhs: &Matrix<N, R2, C2, SB>) -> N
+    pub fn tr_dot<R2: Dim, C2: Dim, SB>(&self, rhs: &Matrix<T, R2, C2, SB>) -> T
     where
-        SB: Storage<N, R2, C2>,
+        SB: Storage<T, R2, C2>,
         ShapeConstraint: DimEq<C, R2> + DimEq<R, C2>,
     {
         let (nrows, ncols) = self.shape();
@@ -260,7 +260,7 @@ where
             "Transposed dot product dimension mismatch."
         );
 
-        let mut res = N::zero();
+        let mut res = T::zero();
 
         for j in 0..self.nrows() {
             for i in 0..self.ncols() {
@@ -275,17 +275,17 @@ where
     }
 }
 
-fn array_axcpy<N>(
+fn array_axcpy<T>(
-    y: &mut [N],
+    y: &mut [T],
-    a: N,
+    a: T,
-    x: &[N],
+    x: &[T],
-    c: N,
+    c: T,
-    beta: N,
+    beta: T,
     stride1: usize,
     stride2: usize,
     len: usize,
 ) where
-    N: Scalar + Zero + ClosedAdd + ClosedMul,
+    T: Scalar + Zero + ClosedAdd + ClosedMul,
 {
     for i in 0..len {
         unsafe {
@@ -298,9 +298,9 @@ fn array_axcpy<N>(
     }
 }
 
-fn array_axc<N>(y: &mut [N], a: N, x: &[N], c: N, stride1: usize, stride2: usize, len: usize)
+fn array_axc<T>(y: &mut [T], a: T, x: &[T], c: T, stride1: usize, stride2: usize, len: usize)
 where
-    N: Scalar + Zero + ClosedAdd + ClosedMul,
+    T: Scalar + Zero + ClosedAdd + ClosedMul,
 {
     for i in 0..len {
         unsafe {
@@ -312,10 +312,10 @@ where
 }
 
 /// # BLAS functions
-impl<N, D: Dim, S> Vector<N, D, S>
+impl<T, D: Dim, S> Vector<T, D, S>
 where
-    N: Scalar + Zero + ClosedAdd + ClosedMul,
+    T: Scalar + Zero + ClosedAdd + ClosedMul,
-    S: StorageMut<N, D>,
+    S: StorageMut<T, D>,
 {
     /// Computes `self = a * x * c + b * self`.
     ///
@@ -331,9 +331,9 @@ where
     /// assert_eq!(vec1, Vector3::new(6.0, 12.0, 18.0));
     /// ```
     #[inline]
-    pub fn axcpy<D2: Dim, SB>(&mut self, a: N, x: &Vector<N, D2, SB>, c: N, b: N)
+    pub fn axcpy<D2: Dim, SB>(&mut self, a: T, x: &Vector<T, D2, SB>, c: T, b: T)
     where
-        SB: Storage<N, D2>,
+        SB: Storage<T, D2>,
         ShapeConstraint: DimEq<D, D2>,
     {
         assert_eq!(self.nrows(), x.nrows(), "Axcpy: mismatched vector shapes.");
@@ -365,14 +365,14 @@ where
     /// assert_eq!(vec1, Vector3::new(6.0, 12.0, 18.0));
     /// ```
     #[inline]
-    pub fn axpy<D2: Dim, SB>(&mut self, a: N, x: &Vector<N, D2, SB>, b: N)
+    pub fn axpy<D2: Dim, SB>(&mut self, a: T, x: &Vector<T, D2, SB>, b: T)
     where
-        N: One,
+        T: One,
-        SB: Storage<N, D2>,
+        SB: Storage<T, D2>,
         ShapeConstraint: DimEq<D, D2>,
     {
         assert_eq!(self.nrows(), x.nrows(), "Axpy: mismatched vector shapes.");
-        self.axcpy(a, x, N::one(), b)
+        self.axcpy(a, x, T::one(), b)
     }
 
     /// Computes `self = alpha * a * x + beta * self`, where `a` is a matrix, `x` a vector, and
@@ -394,14 +394,14 @@ where
     #[inline]
     pub fn gemv<R2: Dim, C2: Dim, D3: Dim, SB, SC>(
         &mut self,
-        alpha: N,
+        alpha: T,
-        a: &Matrix<N, R2, C2, SB>,
+        a: &Matrix<T, R2, C2, SB>,
-        x: &Vector<N, D3, SC>,
+        x: &Vector<T, D3, SC>,
-        beta: N,
+        beta: T,
     ) where
-        N: One,
+        T: One,
-        SB: Storage<N, R2, C2>,
+        SB: Storage<T, R2, C2>,
-        SC: Storage<N, D3>,
+        SC: Storage<T, D3>,
         ShapeConstraint: DimEq<D, R2> + AreMultipliable<R2, C2, D3, U1>,
     {
         let dim1 = self.nrows();
@@ -418,7 +418,7 @@ where
             // because we documented the guaranty that `self` is
             // never read if `beta` is zero.
             if beta.is_zero() {
-                self.fill(N::zero());
+                self.fill(T::zero());
             } else {
                 *self *= beta;
             }
@@ -434,25 +434,25 @@ where
             let col2 = a.column(j);
             let val = unsafe { x.vget_unchecked(j).inlined_clone() };
 
-            self.axcpy(alpha.inlined_clone(), &col2, val, N::one());
+            self.axcpy(alpha.inlined_clone(), &col2, val, T::one());
         }
     }
 
     #[inline(always)]
     fn xxgemv<D2: Dim, D3: Dim, SB, SC>(
         &mut self,
-        alpha: N,
+        alpha: T,
-        a: &SquareMatrix<N, D2, SB>,
+        a: &SquareMatrix<T, D2, SB>,
-        x: &Vector<N, D3, SC>,
+        x: &Vector<T, D3, SC>,
-        beta: N,
+        beta: T,
         dot: impl Fn(
-            &DVectorSlice<N, SB::RStride, SB::CStride>,
+            &DVectorSlice<T, SB::RStride, SB::CStride>,
-            &DVectorSlice<N, SC::RStride, SC::CStride>,
+            &DVectorSlice<T, SC::RStride, SC::CStride>,
-        ) -> N,
+        ) -> T,
     ) where
-        N: One,
+        T: One,
-        SB: Storage<N, D2, D2>,
+        SB: Storage<T, D2, D2>,
-        SC: Storage<N, D3>,
+        SC: Storage<T, D3>,
         ShapeConstraint: DimEq<D, D2> + AreMultipliable<D2, D2, D3, U1>,
     {
         let dim1 = self.nrows();
@@ -490,7 +490,7 @@ where
             self.rows_range_mut(j + 1..).axpy(
                 alpha.inlined_clone() * val,
                 &col2.rows_range(j + 1..),
-                N::one(),
+                T::one(),
             );
         }
     }
@@ -501,14 +501,14 @@ where
     #[deprecated(note = "This is renamed `sygemv` to match the original BLAS terminology.")]
     pub fn gemv_symm<D2: Dim, D3: Dim, SB, SC>(
         &mut self,
-        alpha: N,
+        alpha: T,
-        a: &SquareMatrix<N, D2, SB>,
+        a: &SquareMatrix<T, D2, SB>,
-        x: &Vector<N, D3, SC>,
+        x: &Vector<T, D3, SC>,
-        beta: N,
+        beta: T,
     ) where
-        N: One,
+        T: One,
-        SB: Storage<N, D2, D2>,
+        SB: Storage<T, D2, D2>,
-        SC: Storage<N, D3>,
+        SC: Storage<T, D3>,
         ShapeConstraint: DimEq<D, D2> + AreMultipliable<D2, D2, D3, U1>,
     {
         self.sygemv(alpha, a, x, beta)
@@ -545,14 +545,14 @@ where
     #[inline]
     pub fn sygemv<D2: Dim, D3: Dim, SB, SC>(
         &mut self,
-        alpha: N,
+        alpha: T,
-        a: &SquareMatrix<N, D2, SB>,
+        a: &SquareMatrix<T, D2, SB>,
-        x: &Vector<N, D3, SC>,
+        x: &Vector<T, D3, SC>,
-        beta: N,
+        beta: T,
     ) where
-        N: One,
+        T: One,
-        SB: Storage<N, D2, D2>,
+        SB: Storage<T, D2, D2>,
-        SC: Storage<N, D3>,
+        SC: Storage<T, D3>,
         ShapeConstraint: DimEq<D, D2> + AreMultipliable<D2, D2, D3, U1>,
     {
         self.xxgemv(alpha, a, x, beta, |a, b| a.dot(b))
@@ -590,14 +590,14 @@ where
     #[inline]
     pub fn hegemv<D2: Dim, D3: Dim, SB, SC>(
         &mut self,
-        alpha: N,
+        alpha: T,
-        a: &SquareMatrix<N, D2, SB>,
+        a: &SquareMatrix<T, D2, SB>,
-        x: &Vector<N, D3, SC>,
+        x: &Vector<T, D3, SC>,
-        beta: N,
+        beta: T,
     ) where
-        N: SimdComplexField,
+        T: SimdComplexField,
-        SB: Storage<N, D2, D2>,
+        SB: Storage<T, D2, D2>,
-        SC: Storage<N, D3>,
+        SC: Storage<T, D3>,
         ShapeConstraint: DimEq<D, D2> + AreMultipliable<D2, D2, D3, U1>,
     {
         self.xxgemv(alpha, a, x, beta, |a, b| a.dotc(b))
@@ -606,15 +606,15 @@ where
     #[inline(always)]
     fn gemv_xx<R2: Dim, C2: Dim, D3: Dim, SB, SC>(
         &mut self,
-        alpha: N,
+        alpha: T,
-        a: &Matrix<N, R2, C2, SB>,
+        a: &Matrix<T, R2, C2, SB>,
-        x: &Vector<N, D3, SC>,
+        x: &Vector<T, D3, SC>,
-        beta: N,
+        beta: T,
-        dot: impl Fn(&VectorSliceN<N, R2, SB::RStride, SB::CStride>, &Vector<N, D3, SC>) -> N,
+        dot: impl Fn(&VectorSlice<T, R2, SB::RStride, SB::CStride>, &Vector<T, D3, SC>) -> T,
     ) where
-        N: One,
+        T: One,
-        SB: Storage<N, R2, C2>,
+        SB: Storage<T, R2, C2>,
-        SC: Storage<N, D3>,
+        SC: Storage<T, D3>,
         ShapeConstraint: DimEq<D, C2> + AreMultipliable<C2, R2, D3, U1>,
     {
         let dim1 = self.nrows();
@@ -665,14 +665,14 @@ where
     #[inline]
     pub fn gemv_tr<R2: Dim, C2: Dim, D3: Dim, SB, SC>(
         &mut self,
-        alpha: N,
+        alpha: T,
-        a: &Matrix<N, R2, C2, SB>,
+        a: &Matrix<T, R2, C2, SB>,
-        x: &Vector<N, D3, SC>,
+        x: &Vector<T, D3, SC>,
-        beta: N,
+        beta: T,
     ) where
-        N: One,
+        T: One,
-        SB: Storage<N, R2, C2>,
+        SB: Storage<T, R2, C2>,
-        SC: Storage<N, D3>,
+        SC: Storage<T, D3>,
         ShapeConstraint: DimEq<D, C2> + AreMultipliable<C2, R2, D3, U1>,
     {
         self.gemv_xx(alpha, a, x, beta, |a, b| a.dot(b))
@@ -700,36 +700,36 @@ where
     #[inline]
     pub fn gemv_ad<R2: Dim, C2: Dim, D3: Dim, SB, SC>(
         &mut self,
-        alpha: N,
+        alpha: T,
-        a: &Matrix<N, R2, C2, SB>,
+        a: &Matrix<T, R2, C2, SB>,
-        x: &Vector<N, D3, SC>,
+        x: &Vector<T, D3, SC>,
-        beta: N,
+        beta: T,
     ) where
-        N: SimdComplexField,
+        T: SimdComplexField,
-        SB: Storage<N, R2, C2>,
+        SB: Storage<T, R2, C2>,
-        SC: Storage<N, D3>,
+        SC: Storage<T, D3>,
         ShapeConstraint: DimEq<D, C2> + AreMultipliable<C2, R2, D3, U1>,
     {
         self.gemv_xx(alpha, a, x, beta, |a, b| a.dotc(b))
     }
 }
 
-impl<N, R1: Dim, C1: Dim, S: StorageMut<N, R1, C1>> Matrix<N, R1, C1, S>
+impl<T, R1: Dim, C1: Dim, S: StorageMut<T, R1, C1>> Matrix<T, R1, C1, S>
 where
-    N: Scalar + Zero + ClosedAdd + ClosedMul,
+    T: Scalar + Zero + ClosedAdd + ClosedMul,
 {
     #[inline(always)]
     fn gerx<D2: Dim, D3: Dim, SB, SC>(
         &mut self,
-        alpha: N,
+        alpha: T,
-        x: &Vector<N, D2, SB>,
+        x: &Vector<T, D2, SB>,
-        y: &Vector<N, D3, SC>,
+        y: &Vector<T, D3, SC>,
-        beta: N,
+        beta: T,
-        conjugate: impl Fn(N) -> N,
+        conjugate: impl Fn(T) -> T,
     ) where
-        N: One,
+        T: One,
-        SB: Storage<N, D2>,
+        SB: Storage<T, D2>,
-        SC: Storage<N, D3>,
+        SC: Storage<T, D3>,
         ShapeConstraint: DimEq<R1, D2> + DimEq<C1, D3>,
     {
         let (nrows1, ncols1) = self.shape();
@@ -768,14 +768,14 @@ where
     #[inline]
     pub fn ger<D2: Dim, D3: Dim, SB, SC>(
         &mut self,
-        alpha: N,
+        alpha: T,
-        x: &Vector<N, D2, SB>,
+        x: &Vector<T, D2, SB>,
-        y: &Vector<N, D3, SC>,
+        y: &Vector<T, D3, SC>,
-        beta: N,
+        beta: T,
     ) where
-        N: One,
+        T: One,
-        SB: Storage<N, D2>,
+        SB: Storage<T, D2>,
-        SC: Storage<N, D3>,
+        SC: Storage<T, D3>,
         ShapeConstraint: DimEq<R1, D2> + DimEq<C1, D3>,
     {
         self.gerx(alpha, x, y, beta, |e| e)
@@ -801,14 +801,14 @@ where
     #[inline]
     pub fn gerc<D2: Dim, D3: Dim, SB, SC>(
         &mut self,
-        alpha: N,
+        alpha: T,
-        x: &Vector<N, D2, SB>,
+        x: &Vector<T, D2, SB>,
-        y: &Vector<N, D3, SC>,
+        y: &Vector<T, D3, SC>,
-        beta: N,
+        beta: T,
     ) where
-        N: SimdComplexField,
+        T: SimdComplexField,
-        SB: Storage<N, D2>,
+        SB: Storage<T, D2>,
-        SC: Storage<N, D3>,
+        SC: Storage<T, D3>,
         ShapeConstraint: DimEq<R1, D2> + DimEq<C1, D3>,
     {
         self.gerx(alpha, x, y, beta, SimdComplexField::simd_conjugate)
@@ -838,14 +838,14 @@ where
     #[inline]
     pub fn gemm<R2: Dim, C2: Dim, R3: Dim, C3: Dim, SB, SC>(
         &mut self,
-        alpha: N,
+        alpha: T,
-        a: &Matrix<N, R2, C2, SB>,
+        a: &Matrix<T, R2, C2, SB>,
-        b: &Matrix<N, R3, C3, SC>,
+        b: &Matrix<T, R3, C3, SC>,
-        beta: N,
+        beta: T,
     ) where
-        N: One,
+        T: One,
-        SB: Storage<N, R2, C2>,
+        SB: Storage<T, R2, C2>,
-        SC: Storage<N, R3, C3>,
+        SC: Storage<T, R3, C3>,
         ShapeConstraint: SameNumberOfRows<R1, R2>
             + SameNumberOfColumns<C1, C3>
             + AreMultipliable<R2, C2, R3, C3>,
@@ -897,14 +897,14 @@ where
                         // because we documented the guaranty that `self` is
                         // never read if `beta` is zero.
                         if beta.is_zero() {
-                            self.fill(N::zero());
+                            self.fill(T::zero());
                         } else {
                             *self *= beta;
                         }
                         return;
                     }
 
-                    if N::is::<f32>() {
+                    if T::is::<f32>() {
                         let (rsa, csa) = a.strides();
                         let (rsb, csb) = b.strides();
                         let (rsc, csc) = self.strides();
@@ -928,7 +928,7 @@ where
                             );
                         }
                         return;
-                    } else if N::is::<f64>() {
+                    } else if T::is::<f64>() {
                         let (rsa, csa) = a.strides();
                         let (rsb, csb) = b.strides();
                         let (rsc, csc) = self.strides();
@@ -993,14 +993,14 @@ where
     #[inline]
     pub fn gemm_tr<R2: Dim, C2: Dim, R3: Dim, C3: Dim, SB, SC>(
         &mut self,
-        alpha: N,
+        alpha: T,
-        a: &Matrix<N, R2, C2, SB>,
+        a: &Matrix<T, R2, C2, SB>,
-        b: &Matrix<N, R3, C3, SC>,
+        b: &Matrix<T, R3, C3, SC>,
-        beta: N,
+        beta: T,
     ) where
-        N: One,
+        T: One,
-        SB: Storage<N, R2, C2>,
+        SB: Storage<T, R2, C2>,
-        SC: Storage<N, R3, C3>,
+        SC: Storage<T, R3, C3>,
         ShapeConstraint: SameNumberOfRows<R1, C2>
             + SameNumberOfColumns<C1, C3>
             + AreMultipliable<C2, R2, R3, C3>,
@@ -1055,14 +1055,14 @@ where
     #[inline]
     pub fn gemm_ad<R2: Dim, C2: Dim, R3: Dim, C3: Dim, SB, SC>(
         &mut self,
-        alpha: N,
+        alpha: T,
-        a: &Matrix<N, R2, C2, SB>,
+        a: &Matrix<T, R2, C2, SB>,
-        b: &Matrix<N, R3, C3, SC>,
+        b: &Matrix<T, R3, C3, SC>,
-        beta: N,
+        beta: T,
     ) where
-        N: SimdComplexField,
+        T: SimdComplexField,
-        SB: Storage<N, R2, C2>,
+        SB: Storage<T, R2, C2>,
-        SC: Storage<N, R3, C3>,
+        SC: Storage<T, R3, C3>,
         ShapeConstraint: SameNumberOfRows<R1, C2>
             + SameNumberOfColumns<C1, C3>
             + AreMultipliable<C2, R2, R3, C3>,
@@ -1088,22 +1088,22 @@ where
     }
 }
 
-impl<N, R1: Dim, C1: Dim, S: StorageMut<N, R1, C1>> Matrix<N, R1, C1, S>
+impl<T, R1: Dim, C1: Dim, S: StorageMut<T, R1, C1>> Matrix<T, R1, C1, S>
 where
-    N: Scalar + Zero + ClosedAdd + ClosedMul,
+    T: Scalar + Zero + ClosedAdd + ClosedMul,
 {
     #[inline(always)]
     fn xxgerx<D2: Dim, D3: Dim, SB, SC>(
         &mut self,
-        alpha: N,
+        alpha: T,
-        x: &Vector<N, D2, SB>,
+        x: &Vector<T, D2, SB>,
-        y: &Vector<N, D3, SC>,
+        y: &Vector<T, D3, SC>,
-        beta: N,
+        beta: T,
-        conjugate: impl Fn(N) -> N,
+        conjugate: impl Fn(T) -> T,
     ) where
-        N: One,
+        T: One,
-        SB: Storage<N, D2>,
+        SB: Storage<T, D2>,
-        SC: Storage<N, D3>,
+        SC: Storage<T, D3>,
         ShapeConstraint: DimEq<R1, D2> + DimEq<C1, D3>,
     {
         let dim1 = self.nrows();
@@ -1120,7 +1120,7 @@ where
             let val = unsafe { conjugate(y.vget_unchecked(j).inlined_clone()) };
             let subdim = Dynamic::new(dim1 - j);
             // TODO: avoid bound checks.
-            self.generic_slice_mut((j, j), (subdim, U1)).axpy(
+            self.generic_slice_mut((j, j), (subdim, Const::<1>)).axpy(
                 alpha.inlined_clone() * val,
                 &x.rows_range(j..),
                 beta.inlined_clone(),
@@ -1151,14 +1151,14 @@ where
     #[deprecated(note = "This is renamed `syger` to match the original BLAS terminology.")]
     pub fn ger_symm<D2: Dim, D3: Dim, SB, SC>(
         &mut self,
-        alpha: N,
+        alpha: T,
-        x: &Vector<N, D2, SB>,
+        x: &Vector<T, D2, SB>,
-        y: &Vector<N, D3, SC>,
+        y: &Vector<T, D3, SC>,
-        beta: N,
+        beta: T,
     ) where
-        N: One,
+        T: One,
-        SB: Storage<N, D2>,
+        SB: Storage<T, D2>,
-        SC: Storage<N, D3>,
+        SC: Storage<T, D3>,
         ShapeConstraint: DimEq<R1, D2> + DimEq<C1, D3>,
     {
         self.syger(alpha, x, y, beta)
@@ -1187,14 +1187,14 @@ where
     #[inline]
     pub fn syger<D2: Dim, D3: Dim, SB, SC>(
         &mut self,
-        alpha: N,
+        alpha: T,
-        x: &Vector<N, D2, SB>,
+        x: &Vector<T, D2, SB>,
-        y: &Vector<N, D3, SC>,
+        y: &Vector<T, D3, SC>,
-        beta: N,
+        beta: T,
     ) where
-        N: One,
+        T: One,
-        SB: Storage<N, D2>,
+        SB: Storage<T, D2>,
-        SC: Storage<N, D3>,
+        SC: Storage<T, D3>,
         ShapeConstraint: DimEq<R1, D2> + DimEq<C1, D3>,
     {
         self.xxgerx(alpha, x, y, beta, |e| e)
@@ -1222,23 +1222,23 @@ where
     #[inline]
     pub fn hegerc<D2: Dim, D3: Dim, SB, SC>(
         &mut self,
-        alpha: N,
+        alpha: T,
-        x: &Vector<N, D2, SB>,
+        x: &Vector<T, D2, SB>,
-        y: &Vector<N, D3, SC>,
+        y: &Vector<T, D3, SC>,
-        beta: N,
+        beta: T,
     ) where
-        N: SimdComplexField,
+        T: SimdComplexField,
-        SB: Storage<N, D2>,
+        SB: Storage<T, D2>,
-        SC: Storage<N, D3>,
+        SC: Storage<T, D3>,
         ShapeConstraint: DimEq<R1, D2> + DimEq<C1, D3>,
     {
         self.xxgerx(alpha, x, y, beta, SimdComplexField::simd_conjugate)
     }
 }
 
-impl<N, D1: Dim, S: StorageMut<N, D1, D1>> SquareMatrix<N, D1, S>
+impl<T, D1: Dim, S: StorageMut<T, D1, D1>> SquareMatrix<T, D1, S>
 where
-    N: Scalar + Zero + One + ClosedAdd + ClosedMul,
+    T: Scalar + Zero + One + ClosedAdd + ClosedMul,
 {
     /// Computes the quadratic form `self = alpha * lhs * mid * lhs.transpose() + beta * self`.
     ///
@@ -1268,27 +1268,27 @@ where
     /// assert_relative_eq!(mat, expected);
     pub fn quadform_tr_with_workspace<D2, S2, R3, C3, S3, D4, S4>(
         &mut self,
-        work: &mut Vector<N, D2, S2>,
+        work: &mut Vector<T, D2, S2>,
-        alpha: N,
+        alpha: T,
-        lhs: &Matrix<N, R3, C3, S3>,
+        lhs: &Matrix<T, R3, C3, S3>,
-        mid: &SquareMatrix<N, D4, S4>,
+        mid: &SquareMatrix<T, D4, S4>,
-        beta: N,
+        beta: T,
     ) where
         D2: Dim,
         R3: Dim,
         C3: Dim,
         D4: Dim,
-        S2: StorageMut<N, D2>,
+        S2: StorageMut<T, D2>,
-        S3: Storage<N, R3, C3>,
+        S3: Storage<T, R3, C3>,
-        S4: Storage<N, D4, D4>,
+        S4: Storage<T, D4, D4>,
         ShapeConstraint: DimEq<D1, D2> + DimEq<D1, R3> + DimEq<D2, R3> + DimEq<C3, D4>,
     {
-        work.gemv(N::one(), lhs, &mid.column(0), N::zero());
+        work.gemv(T::one(), lhs, &mid.column(0), T::zero());
         self.ger(alpha.inlined_clone(), work, &lhs.column(0), beta);
 
         for j in 1..mid.ncols() {
-            work.gemv(N::one(), lhs, &mid.column(j), N::zero());
+            work.gemv(T::one(), lhs, &mid.column(j), T::zero());
-            self.ger(alpha.inlined_clone(), work, &lhs.column(j), N::one());
+            self.ger(alpha.inlined_clone(), work, &lhs.column(j), T::one());
         }
     }
 
@@ -1315,21 +1315,22 @@ where
     /// assert_relative_eq!(mat, expected);
     pub fn quadform_tr<R3, C3, S3, D4, S4>(
         &mut self,
-        alpha: N,
+        alpha: T,
-        lhs: &Matrix<N, R3, C3, S3>,
+        lhs: &Matrix<T, R3, C3, S3>,
-        mid: &SquareMatrix<N, D4, S4>,
+        mid: &SquareMatrix<T, D4, S4>,
-        beta: N,
+        beta: T,
     ) where
         R3: Dim,
         C3: Dim,
         D4: Dim,
-        S3: Storage<N, R3, C3>,
+        S3: Storage<T, R3, C3>,
-        S4: Storage<N, D4, D4>,
+        S4: Storage<T, D4, D4>,
         ShapeConstraint: DimEq<D1, D1> + DimEq<D1, R3> + DimEq<C3, D4>,
-        DefaultAllocator: Allocator<N, D1>,
+        DefaultAllocator: Allocator<T, D1>,
     {
-        let mut work =
+        let mut work = unsafe {
-            unsafe { crate::unimplemented_or_uninitialized_generic!(self.data.shape().0, U1) };
+            crate::unimplemented_or_uninitialized_generic!(self.data.shape().0, Const::<1>)
+        };
         self.quadform_tr_with_workspace(&mut work, alpha, lhs, mid, beta)
     }
 
@@ -1360,28 +1361,28 @@ where
     /// assert_relative_eq!(mat, expected);
     pub fn quadform_with_workspace<D2, S2, D3, S3, R4, C4, S4>(
         &mut self,
-        work: &mut Vector<N, D2, S2>,
+        work: &mut Vector<T, D2, S2>,
-        alpha: N,
+        alpha: T,
-        mid: &SquareMatrix<N, D3, S3>,
+        mid: &SquareMatrix<T, D3, S3>,
-        rhs: &Matrix<N, R4, C4, S4>,
+        rhs: &Matrix<T, R4, C4, S4>,
-        beta: N,
+        beta: T,
     ) where
         D2: Dim,
         D3: Dim,
         R4: Dim,
         C4: Dim,
-        S2: StorageMut<N, D2>,
+        S2: StorageMut<T, D2>,
-        S3: Storage<N, D3, D3>,
+        S3: Storage<T, D3, D3>,
-        S4: Storage<N, R4, C4>,
+        S4: Storage<T, R4, C4>,
         ShapeConstraint:
             DimEq<D3, R4> + DimEq<D1, C4> + DimEq<D2, D3> + AreMultipliable<C4, R4, D2, U1>,
     {
-        work.gemv(N::one(), mid, &rhs.column(0), N::zero());
+        work.gemv(T::one(), mid, &rhs.column(0), T::zero());
         self.column_mut(0)
             .gemv_tr(alpha.inlined_clone(), &rhs, work, beta.inlined_clone());
 
         for j in 1..rhs.ncols() {
-            work.gemv(N::one(), mid, &rhs.column(j), N::zero());
+            work.gemv(T::one(), mid, &rhs.column(j), T::zero());
             self.column_mut(j)
                 .gemv_tr(alpha.inlined_clone(), &rhs, work, beta.inlined_clone());
         }
@@ -1409,21 +1410,22 @@ where
     /// assert_relative_eq!(mat, expected);
     pub fn quadform<D2, S2, R3, C3, S3>(
         &mut self,
-        alpha: N,
+        alpha: T,
-        mid: &SquareMatrix<N, D2, S2>,
+        mid: &SquareMatrix<T, D2, S2>,
-        rhs: &Matrix<N, R3, C3, S3>,
+        rhs: &Matrix<T, R3, C3, S3>,
-        beta: N,
+        beta: T,
     ) where
         D2: Dim,
         R3: Dim,
         C3: Dim,
-        S2: Storage<N, D2, D2>,
+        S2: Storage<T, D2, D2>,
-        S3: Storage<N, R3, C3>,
+        S3: Storage<T, R3, C3>,
         ShapeConstraint: DimEq<D2, R3> + DimEq<D1, C3> + AreMultipliable<C3, R3, D2, U1>,
-        DefaultAllocator: Allocator<N, D2>,
+        DefaultAllocator: Allocator<T, D2>,
     {
-        let mut work =
+        let mut work = unsafe {
-            unsafe { crate::unimplemented_or_uninitialized_generic!(mid.data.shape().0, U1) };
+            crate::unimplemented_or_uninitialized_generic!(mid.data.shape().0, Const::<1>)
+        };
         self.quadform_with_workspace(&mut work, alpha, mid, rhs, beta)
     }
 }

src/base/cg.rs

@@ -11,8 +11,8 @@ use crate::base::allocator::Allocator;
 use crate::base::dimension::{DimName, DimNameDiff, DimNameSub, U1};
 use crate::base::storage::{Storage, StorageMut};
 use crate::base::{
-    DefaultAllocator, Matrix3, Matrix4, MatrixN, Scalar, SquareMatrix, Unit, Vector, Vector2,
+    Const, DefaultAllocator, Matrix3, Matrix4, OMatrix, OVector, Scalar, SquareMatrix, Unit,
-    Vector3, VectorN,
+    Vector, Vector2, Vector3,
 };
 use crate::geometry::{
     Isometry, IsometryMatrix3, Orthographic3, Perspective3, Point, Point2, Point3, Rotation2,
@@ -22,26 +22,26 @@ use crate::geometry::{
 use simba::scalar::{ClosedAdd, ClosedMul, RealField};
 
 /// # Translation and scaling in any dimension
-impl<N, D: DimName> MatrixN<N, D>
+impl<T, D: DimName> OMatrix<T, D, D>
 where
-    N: Scalar + Zero + One,
+    T: Scalar + Zero + One,
-    DefaultAllocator: Allocator<N, D, D>,
+    DefaultAllocator: Allocator<T, D, D>,
 {
     /// Creates a new homogeneous matrix that applies the same scaling factor on each dimension.
     #[inline]
-    pub fn new_scaling(scaling: N) -> Self {
+    pub fn new_scaling(scaling: T) -> Self {
         let mut res = Self::from_diagonal_element(scaling);
-        res[(D::dim() - 1, D::dim() - 1)] = N::one();
+        res[(D::dim() - 1, D::dim() - 1)] = T::one();
 
         res
     }
 
     /// Creates a new homogeneous matrix that applies a distinct scaling factor for each dimension.
     #[inline]
-    pub fn new_nonuniform_scaling<SB>(scaling: &Vector<N, DimNameDiff<D, U1>, SB>) -> Self
+    pub fn new_nonuniform_scaling<SB>(scaling: &Vector<T, DimNameDiff<D, U1>, SB>) -> Self
     where
         D: DimNameSub<U1>,
-        SB: Storage<N, DimNameDiff<D, U1>>,
+        SB: Storage<T, DimNameDiff<D, U1>>,
     {
         let mut res = Self::identity();
         for i in 0..scaling.len() {
@@ -53,24 +53,27 @@ where
 
     /// Creates a new homogeneous matrix that applies a pure translation.
     #[inline]
-    pub fn new_translation<SB>(translation: &Vector<N, DimNameDiff<D, U1>, SB>) -> Self
+    pub fn new_translation<SB>(translation: &Vector<T, DimNameDiff<D, U1>, SB>) -> Self
     where
         D: DimNameSub<U1>,
-        SB: Storage<N, DimNameDiff<D, U1>>,
+        SB: Storage<T, DimNameDiff<D, U1>>,
     {
         let mut res = Self::identity();
-        res.fixed_slice_mut::<DimNameDiff<D, U1>, U1>(0, D::dim() - 1)
+        res.generic_slice_mut(
-            .copy_from(translation);
+            (0, D::dim() - 1),
+            (DimNameDiff::<D, U1>::name(), Const::<1>),
+        )
+        .copy_from(translation);
 
         res
     }
 }
 
 /// # 2D transformations as a Matrix3
-impl<N: RealField> Matrix3<N> {
+impl<T: RealField> Matrix3<T> {
     /// Builds a 2 dimensional homogeneous rotation matrix from an angle in radian.
     #[inline]
-    pub fn new_rotation(angle: N) -> Self {
+    pub fn new_rotation(angle: T) -> Self {
         Rotation2::new(angle).to_homogeneous()
     }
 
@@ -78,9 +81,9 @@ impl<N: RealField> Matrix3<N> {
     ///
     /// Can be used to implement "zoom_to" functionality.
     #[inline]
-    pub fn new_nonuniform_scaling_wrt_point(scaling: &Vector2<N>, pt: &Point2<N>) -> Self {
+    pub fn new_nonuniform_scaling_wrt_point(scaling: &Vector2<T>, pt: &Point2<T>) -> Self {
-        let zero = N::zero();
+        let zero = T::zero();
-        let one = N::one();
+        let one = T::one();
         Matrix3::new(
             scaling.x,
             zero,
@@ -96,12 +99,12 @@ impl<N: RealField> Matrix3<N> {
 }
 
 /// # 3D transformations as a Matrix4
-impl<N: RealField> Matrix4<N> {
+impl<T: RealField> Matrix4<T> {
     /// Builds a 3D homogeneous rotation matrix from an axis and an angle (multiplied together).
     ///
     /// Returns the identity matrix if the given argument is zero.
     #[inline]
-    pub fn new_rotation(axisangle: Vector3<N>) -> Self {
+    pub fn new_rotation(axisangle: Vector3<T>) -> Self {
         Rotation3::new(axisangle).to_homogeneous()
     }
 
@@ -109,7 +112,7 @@ impl<N: RealField> Matrix4<N> {
     ///
     /// Returns the identity matrix if the given argument is zero.
     #[inline]
-    pub fn new_rotation_wrt_point(axisangle: Vector3<N>, pt: Point3<N>) -> Self {
+    pub fn new_rotation_wrt_point(axisangle: Vector3<T>, pt: Point3<T>) -> Self {
         let rot = Rotation3::from_scaled_axis(axisangle);
         Isometry::rotation_wrt_point(rot, pt).to_homogeneous()
     }
@@ -118,9 +121,9 @@ impl<N: RealField> Matrix4<N> {
     ///
     /// Can be used to implement "zoom_to" functionality.
     #[inline]
-    pub fn new_nonuniform_scaling_wrt_point(scaling: &Vector3<N>, pt: &Point3<N>) -> Self {
+    pub fn new_nonuniform_scaling_wrt_point(scaling: &Vector3<T>, pt: &Point3<T>) -> Self {
-        let zero = N::zero();
+        let zero = T::zero();
-        let one = N::one();
+        let one = T::one();
         Matrix4::new(
             scaling.x,
             zero,
@@ -146,31 +149,31 @@ impl<N: RealField> Matrix4<N> {
     /// Returns the identity matrix if the given argument is zero.
     /// This is identical to `Self::new_rotation`.
     #[inline]
-    pub fn from_scaled_axis(axisangle: Vector3<N>) -> Self {
+    pub fn from_scaled_axis(axisangle: Vector3<T>) -> Self {
         Rotation3::from_scaled_axis(axisangle).to_homogeneous()
     }
 
     /// Creates a new rotation from Euler angles.
     ///
     /// The primitive rotations are applied in order: 1 roll − 2 pitch − 3 yaw.
-    pub fn from_euler_angles(roll: N, pitch: N, yaw: N) -> Self {
+    pub fn from_euler_angles(roll: T, pitch: T, yaw: T) -> Self {
         Rotation3::from_euler_angles(roll, pitch, yaw).to_homogeneous()
     }
 
     /// Builds a 3D homogeneous rotation matrix from an axis and a rotation angle.
-    pub fn from_axis_angle(axis: &Unit<Vector3<N>>, angle: N) -> Self {
+    pub fn from_axis_angle(axis: &Unit<Vector3<T>>, angle: T) -> Self {
         Rotation3::from_axis_angle(axis, angle).to_homogeneous()
     }
 
     /// Creates a new homogeneous matrix for an orthographic projection.
     #[inline]
-    pub fn new_orthographic(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> Self {
+    pub fn new_orthographic(left: T, right: T, bottom: T, top: T, znear: T, zfar: T) -> Self {
         Orthographic3::new(left, right, bottom, top, znear, zfar).into_inner()
     }
 
     /// Creates a new homogeneous matrix for a perspective projection.
     #[inline]
-    pub fn new_perspective(aspect: N, fovy: N, znear: N, zfar: N) -> Self {
+    pub fn new_perspective(aspect: T, fovy: T, znear: T, zfar: T) -> Self {
         Perspective3::new(aspect, fovy, znear, zfar).into_inner()
     }
 
@@ -180,40 +183,40 @@ impl<N: RealField> Matrix4<N> {
     /// It maps the view direction `target - eye` to the positive `z` axis and the origin to the
     /// `eye`.
     #[inline]
-    pub fn face_towards(eye: &Point3<N>, target: &Point3<N>, up: &Vector3<N>) -> Self {
+    pub fn face_towards(eye: &Point3<T>, target: &Point3<T>, up: &Vector3<T>) -> Self {
         IsometryMatrix3::face_towards(eye, target, up).to_homogeneous()
     }
 
     /// Deprecated: Use [Matrix4::face_towards] instead.
     #[deprecated(note = "renamed to `face_towards`")]
-    pub fn new_observer_frame(eye: &Point3<N>, target: &Point3<N>, up: &Vector3<N>) -> Self {
+    pub fn new_observer_frame(eye: &Point3<T>, target: &Point3<T>, up: &Vector3<T>) -> Self {
         Matrix4::face_towards(eye, target, up)
     }
 
     /// Builds a right-handed look-at view matrix.
     #[inline]
-    pub fn look_at_rh(eye: &Point3<N>, target: &Point3<N>, up: &Vector3<N>) -> Self {
+    pub fn look_at_rh(eye: &Point3<T>, target: &Point3<T>, up: &Vector3<T>) -> Self {
         IsometryMatrix3::look_at_rh(eye, target, up).to_homogeneous()
     }
 
     /// Builds a left-handed look-at view matrix.
     #[inline]
-    pub fn look_at_lh(eye: &Point3<N>, target: &Point3<N>, up: &Vector3<N>) -> Self {
+    pub fn look_at_lh(eye: &Point3<T>, target: &Point3<T>, up: &Vector3<T>) -> Self {
         IsometryMatrix3::look_at_lh(eye, target, up).to_homogeneous()
     }
 }
 
 /// # Append/prepend translation and scaling
-impl<N: Scalar + Zero + One + ClosedMul + ClosedAdd, D: DimName, S: Storage<N, D, D>>
+impl<T: Scalar + Zero + One + ClosedMul + ClosedAdd, D: DimName, S: Storage<T, D, D>>
-    SquareMatrix<N, D, S>
+    SquareMatrix<T, D, S>
 {
     /// Computes the transformation equal to `self` followed by an uniform scaling factor.
     #[inline]
     #[must_use = "Did you mean to use append_scaling_mut()?"]
-    pub fn append_scaling(&self, scaling: N) -> MatrixN<N, D>
+    pub fn append_scaling(&self, scaling: T) -> OMatrix<T, D, D>
     where
         D: DimNameSub<U1>,
-        DefaultAllocator: Allocator<N, D, D>,
+        DefaultAllocator: Allocator<T, D, D>,
     {
         let mut res = self.clone_owned();
         res.append_scaling_mut(scaling);
@@ -223,10 +226,10 @@ impl<N: Scalar + Zero + One + ClosedMul + ClosedAdd, D: DimName, S: Storage<N, D
     /// Computes the transformation equal to an uniform scaling factor followed by `self`.
     #[inline]
     #[must_use = "Did you mean to use prepend_scaling_mut()?"]
-    pub fn prepend_scaling(&self, scaling: N) -> MatrixN<N, D>
+    pub fn prepend_scaling(&self, scaling: T) -> OMatrix<T, D, D>
     where
         D: DimNameSub<U1>,
-        DefaultAllocator: Allocator<N, D, D>,
+        DefaultAllocator: Allocator<T, D, D>,
     {
         let mut res = self.clone_owned();
         res.prepend_scaling_mut(scaling);
@@ -238,12 +241,12 @@ impl<N: Scalar + Zero + One + ClosedMul + ClosedAdd, D: DimName, S: Storage<N, D
     #[must_use = "Did you mean to use append_nonuniform_scaling_mut()?"]
     pub fn append_nonuniform_scaling<SB>(
         &self,
-        scaling: &Vector<N, DimNameDiff<D, U1>, SB>,
+        scaling: &Vector<T, DimNameDiff<D, U1>, SB>,
-    ) -> MatrixN<N, D>
+    ) -> OMatrix<T, D, D>
     where
         D: DimNameSub<U1>,
-        SB: Storage<N, DimNameDiff<D, U1>>,
+        SB: Storage<T, DimNameDiff<D, U1>>,
-        DefaultAllocator: Allocator<N, D, D>,
+        DefaultAllocator: Allocator<T, D, D>,
     {
         let mut res = self.clone_owned();
         res.append_nonuniform_scaling_mut(scaling);
@@ -255,12 +258,12 @@ impl<N: Scalar + Zero + One + ClosedMul + ClosedAdd, D: DimName, S: Storage<N, D
     #[must_use = "Did you mean to use prepend_nonuniform_scaling_mut()?"]
     pub fn prepend_nonuniform_scaling<SB>(
         &self,
-        scaling: &Vector<N, DimNameDiff<D, U1>, SB>,
+        scaling: &Vector<T, DimNameDiff<D, U1>, SB>,
-    ) -> MatrixN<N, D>
+    ) -> OMatrix<T, D, D>
     where
         D: DimNameSub<U1>,
-        SB: Storage<N, DimNameDiff<D, U1>>,
+        SB: Storage<T, DimNameDiff<D, U1>>,
-        DefaultAllocator: Allocator<N, D, D>,
+        DefaultAllocator: Allocator<T, D, D>,
     {
         let mut res = self.clone_owned();
         res.prepend_nonuniform_scaling_mut(scaling);
@@ -270,11 +273,14 @@ impl<N: Scalar + Zero + One + ClosedMul + ClosedAdd, D: DimName, S: Storage<N, D
     /// Computes the transformation equal to `self` followed by a translation.
     #[inline]
     #[must_use = "Did you mean to use append_translation_mut()?"]
-    pub fn append_translation<SB>(&self, shift: &Vector<N, DimNameDiff<D, U1>, SB>) -> MatrixN<N, D>
+    pub fn append_translation<SB>(
+        &self,
+        shift: &Vector<T, DimNameDiff<D, U1>, SB>,
+    ) -> OMatrix<T, D, D>
     where
         D: DimNameSub<U1>,
-        SB: Storage<N, DimNameDiff<D, U1>>,
+        SB: Storage<T, DimNameDiff<D, U1>>,
-        DefaultAllocator: Allocator<N, D, D>,
+        DefaultAllocator: Allocator<T, D, D>,
     {
         let mut res = self.clone_owned();
         res.append_translation_mut(shift);
@@ -286,12 +292,12 @@ impl<N: Scalar + Zero + One + ClosedMul + ClosedAdd, D: DimName, S: Storage<N, D
     #[must_use = "Did you mean to use prepend_translation_mut()?"]
     pub fn prepend_translation<SB>(
         &self,
-        shift: &Vector<N, DimNameDiff<D, U1>, SB>,
+        shift: &Vector<T, DimNameDiff<D, U1>, SB>,
-    ) -> MatrixN<N, D>
+    ) -> OMatrix<T, D, D>
     where
         D: DimNameSub<U1>,
-        SB: Storage<N, DimNameDiff<D, U1>>,
+        SB: Storage<T, DimNameDiff<D, U1>>,
-        DefaultAllocator: Allocator<N, D, D> + Allocator<N, DimNameDiff<D, U1>>,
+        DefaultAllocator: Allocator<T, D, D> + Allocator<T, DimNameDiff<D, U1>>,
     {
         let mut res = self.clone_owned();
         res.prepend_translation_mut(shift);
@@ -300,36 +306,36 @@ impl<N: Scalar + Zero + One + ClosedMul + ClosedAdd, D: DimName, S: Storage<N, D
 
     /// Computes in-place the transformation equal to `self` followed by an uniform scaling factor.
     #[inline]
-    pub fn append_scaling_mut(&mut self, scaling: N)
+    pub fn append_scaling_mut(&mut self, scaling: T)
     where
-        S: StorageMut<N, D, D>,
+        S: StorageMut<T, D, D>,
         D: DimNameSub<U1>,
     {
-        let mut to_scale = self.fixed_rows_mut::<DimNameDiff<D, U1>>(0);
+        let mut to_scale = self.rows_generic_mut(0, DimNameDiff::<D, U1>::name());
         to_scale *= scaling;
     }
 
     /// Computes in-place the transformation equal to an uniform scaling factor followed by `self`.
     #[inline]
-    pub fn prepend_scaling_mut(&mut self, scaling: N)
+    pub fn prepend_scaling_mut(&mut self, scaling: T)
     where
-        S: StorageMut<N, D, D>,
+        S: StorageMut<T, D, D>,
         D: DimNameSub<U1>,
     {
-        let mut to_scale = self.fixed_columns_mut::<DimNameDiff<D, U1>>(0);
+        let mut to_scale = self.columns_generic_mut(0, DimNameDiff::<D, U1>::name());
         to_scale *= scaling;
     }
 
     /// Computes in-place the transformation equal to `self` followed by a non-uniform scaling factor.
     #[inline]
-    pub fn append_nonuniform_scaling_mut<SB>(&mut self, scaling: &Vector<N, DimNameDiff<D, U1>, SB>)
+    pub fn append_nonuniform_scaling_mut<SB>(&mut self, scaling: &Vector<T, DimNameDiff<D, U1>, SB>)
     where
-        S: StorageMut<N, D, D>,
+        S: StorageMut<T, D, D>,
         D: DimNameSub<U1>,
-        SB: Storage<N, DimNameDiff<D, U1>>,
+        SB: Storage<T, DimNameDiff<D, U1>>,
     {
         for i in 0..scaling.len() {
-            let mut to_scale = self.fixed_rows_mut::<U1>(i);
+            let mut to_scale = self.fixed_rows_mut::<1>(i);
             to_scale *= scaling[i].inlined_clone();
         }
     }
@@ -338,25 +344,25 @@ impl<N: Scalar + Zero + One + ClosedMul + ClosedAdd, D: DimName, S: Storage<N, D
     #[inline]
     pub fn prepend_nonuniform_scaling_mut<SB>(
         &mut self,
-        scaling: &Vector<N, DimNameDiff<D, U1>, SB>,
+        scaling: &Vector<T, DimNameDiff<D, U1>, SB>,
     ) where
-        S: StorageMut<N, D, D>,
+        S: StorageMut<T, D, D>,
         D: DimNameSub<U1>,
-        SB: Storage<N, DimNameDiff<D, U1>>,
+        SB: Storage<T, DimNameDiff<D, U1>>,
     {
         for i in 0..scaling.len() {
-            let mut to_scale = self.fixed_columns_mut::<U1>(i);
+            let mut to_scale = self.fixed_columns_mut::<1>(i);
             to_scale *= scaling[i].inlined_clone();
         }
     }
 
     /// Computes the transformation equal to `self` followed by a translation.
     #[inline]
-    pub fn append_translation_mut<SB>(&mut self, shift: &Vector<N, DimNameDiff<D, U1>, SB>)
+    pub fn append_translation_mut<SB>(&mut self, shift: &Vector<T, DimNameDiff<D, U1>, SB>)
     where
-        S: StorageMut<N, D, D>,
+        S: StorageMut<T, D, D>,
         D: DimNameSub<U1>,
-        SB: Storage<N, DimNameDiff<D, U1>>,
+        SB: Storage<T, DimNameDiff<D, U1>>,
     {
         for i in 0..D::dim() {
             for j in 0..D::dim() - 1 {
@@ -368,41 +374,55 @@ impl<N: Scalar + Zero + One + ClosedMul + ClosedAdd, D: DimName, S: Storage<N, D
 
     /// Computes the transformation equal to a translation followed by `self`.
     #[inline]
-    pub fn prepend_translation_mut<SB>(&mut self, shift: &Vector<N, DimNameDiff<D, U1>, SB>)
+    pub fn prepend_translation_mut<SB>(&mut self, shift: &Vector<T, DimNameDiff<D, U1>, SB>)
     where
         D: DimNameSub<U1>,
-        S: StorageMut<N, D, D>,
+        S: StorageMut<T, D, D>,
-        SB: Storage<N, DimNameDiff<D, U1>>,
+        SB: Storage<T, DimNameDiff<D, U1>>,
-        DefaultAllocator: Allocator<N, DimNameDiff<D, U1>>,
+        DefaultAllocator: Allocator<T, DimNameDiff<D, U1>>,
     {
         let scale = self
-            .fixed_slice::<U1, DimNameDiff<D, U1>>(D::dim() - 1, 0)
+            .generic_slice(
+                (D::dim() - 1, 0),
+                (Const::<1>, DimNameDiff::<D, U1>::name()),
+            )
             .tr_dot(&shift);
-        let post_translation =
+        let post_translation = self.generic_slice(
-            self.fixed_slice::<DimNameDiff<D, U1>, DimNameDiff<D, U1>>(0, 0) * shift;
+            (0, 0),
+            (DimNameDiff::<D, U1>::name(), DimNameDiff::<D, U1>::name()),
+        ) * shift;
 
         self[(D::dim() - 1, D::dim() - 1)] += scale;
 
-        let mut translation = self.fixed_slice_mut::<DimNameDiff<D, U1>, U1>(0, D::dim() - 1);
+        let mut translation = self.generic_slice_mut(
+            (0, D::dim() - 1),
+            (DimNameDiff::<D, U1>::name(), Const::<1>),
+        );
         translation += post_translation;
     }
 }
 
 /// # Transformation of vectors and points
-impl<N: RealField, D: DimNameSub<U1>, S: Storage<N, D, D>> SquareMatrix<N, D, S>
+impl<T: RealField, D: DimNameSub<U1>, S: Storage<T, D, D>> SquareMatrix<T, D, S>
 where
-    DefaultAllocator: Allocator<N, D, D>
+    DefaultAllocator: Allocator<T, D, D>
-        + Allocator<N, DimNameDiff<D, U1>>
+        + Allocator<T, DimNameDiff<D, U1>>
-        + Allocator<N, DimNameDiff<D, U1>, DimNameDiff<D, U1>>,
+        + Allocator<T, DimNameDiff<D, U1>, DimNameDiff<D, U1>>,
 {
     /// Transforms the given vector, assuming the matrix `self` uses homogeneous coordinates.
     #[inline]
     pub fn transform_vector(
         &self,
-        v: &VectorN<N, DimNameDiff<D, U1>>,
+        v: &OVector<T, DimNameDiff<D, U1>>,
-    ) -> VectorN<N, DimNameDiff<D, U1>> {
+    ) -> OVector<T, DimNameDiff<D, U1>> {
-        let transform = self.fixed_slice::<DimNameDiff<D, U1>, DimNameDiff<D, U1>>(0, 0);
+        let transform = self.generic_slice(
-        let normalizer = self.fixed_slice::<U1, DimNameDiff<D, U1>>(D::dim() - 1, 0);
+            (0, 0),
+            (DimNameDiff::<D, U1>::name(), DimNameDiff::<D, U1>::name()),
+        );
+        let normalizer = self.generic_slice(
+            (D::dim() - 1, 0),
+            (Const::<1>, DimNameDiff::<D, U1>::name()),
+        );
         let n = normalizer.tr_dot(&v);
 
         if !n.is_zero() {
@@ -411,18 +431,33 @@ where
 
         transform * v
     }
+}
 
+impl<T: RealField, S: Storage<T, Const<3>, Const<3>>> SquareMatrix<T, Const<3>, S> {
     /// Transforms the given point, assuming the matrix `self` uses homogeneous coordinates.
     #[inline]
-    pub fn transform_point(
+    pub fn transform_point(&self, pt: &Point<T, 2>) -> Point<T, 2> {
-        &self,
+        let transform = self.fixed_slice::<2, 2>(0, 0);
-        pt: &Point<N, DimNameDiff<D, U1>>,
+        let translation = self.fixed_slice::<2, 1>(0, 2);
-    ) -> Point<N, DimNameDiff<D, U1>> {
+        let normalizer = self.fixed_slice::<1, 2>(2, 0);
-        let transform = self.fixed_slice::<DimNameDiff<D, U1>, DimNameDiff<D, U1>>(0, 0);
+        let n = normalizer.tr_dot(&pt.coords) + unsafe { *self.get_unchecked((2, 2)) };
-        let translation = self.fixed_slice::<DimNameDiff<D, U1>, U1>(0, D::dim() - 1);
+
-        let normalizer = self.fixed_slice::<U1, DimNameDiff<D, U1>>(D::dim() - 1, 0);
+        if !n.is_zero() {
-        let n = normalizer.tr_dot(&pt.coords)
+            (transform * pt + translation) / n
-            + unsafe { *self.get_unchecked((D::dim() - 1, D::dim() - 1)) };
+        } else {
+            transform * pt + translation
+        }
+    }
+}
+
+impl<T: RealField, S: Storage<T, Const<4>, Const<4>>> SquareMatrix<T, Const<4>, S> {
+    /// Transforms the given point, assuming the matrix `self` uses homogeneous coordinates.
+    #[inline]
+    pub fn transform_point(&self, pt: &Point<T, 3>) -> Point<T, 3> {
+        let transform = self.fixed_slice::<3, 3>(0, 0);
+        let translation = self.fixed_slice::<3, 1>(0, 3);
+        let normalizer = self.fixed_slice::<1, 3>(3, 0);
+        let n = normalizer.tr_dot(&pt.coords) + unsafe { *self.get_unchecked((3, 3)) };
 
         if !n.is_zero() {
             (transform * pt + translation) / n

src/base/componentwise.rs

@@ -10,13 +10,13 @@ use crate::base::allocator::{Allocator, SameShapeAllocator};
 use crate::base::constraint::{SameNumberOfColumns, SameNumberOfRows, ShapeConstraint};
 use crate::base::dimension::Dim;
 use crate::base::storage::{Storage, StorageMut};
-use crate::base::{DefaultAllocator, Matrix, MatrixMN, MatrixSum, Scalar};
+use crate::base::{DefaultAllocator, Matrix, MatrixSum, OMatrix, Scalar};
 use crate::ClosedAdd;
 
 /// The type of the result of a matrix component-wise operation.
-pub type MatrixComponentOp<N, R1, C1, R2, C2> = MatrixSum<N, R1, C1, R2, C2>;
+pub type MatrixComponentOp<T, R1, C1, R2, C2> = MatrixSum<T, R1, C1, R2, C2>;
 
-impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
+impl<T: Scalar, R: Dim, C: Dim, S: Storage<T, R, C>> Matrix<T, R, C, S> {
     /// Computes the component-wise absolute value.
     ///
     /// # Example
@@ -28,10 +28,10 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     /// assert_eq!(a.abs(), Matrix2::new(0.0, 1.0, 2.0, 3.0))
     /// ```
     #[inline]
-    pub fn abs(&self) -> MatrixMN<N, R, C>
+    pub fn abs(&self) -> OMatrix<T, R, C>
     where
-        N: Signed,
+        T: Signed,
-        DefaultAllocator: Allocator<N, R, C>,
+        DefaultAllocator: Allocator<T, R, C>,
     {
         let mut res = self.clone_owned();
 
@@ -49,11 +49,11 @@ macro_rules! component_binop_impl(
     ($($binop: ident, $binop_mut: ident, $binop_assign: ident, $cmpy: ident, $Trait: ident . $op: ident . $op_assign: ident, $desc:expr, $desc_cmpy:expr, $desc_mut:expr);* $(;)*) => {$(
         #[doc = $desc]
         #[inline]
-        pub fn $binop<R2, C2, SB>(&self, rhs: &Matrix<N, R2, C2, SB>) -> MatrixComponentOp<N, R1, C1, R2, C2>
+        pub fn $binop<R2, C2, SB>(&self, rhs: &Matrix<T, R2, C2, SB>) -> MatrixComponentOp<T, R1, C1, R2, C2>
-            where N: $Trait,
+            where T: $Trait,
                   R2: Dim, C2: Dim,
-                  SB: Storage<N, R2, C2>,
+                  SB: Storage<T, R2, C2>,
-                  DefaultAllocator: SameShapeAllocator<N, R1, C1, R2, C2>,
+                  DefaultAllocator: SameShapeAllocator<T, R1, C1, R2, C2>,
                   ShapeConstraint:  SameNumberOfRows<R1, R2> + SameNumberOfColumns<C1, C2> {
 
             assert_eq!(self.shape(), rhs.shape(), "Componentwise mul/div: mismatched matrix dimensions.");
@@ -73,13 +73,13 @@ macro_rules! component_binop_impl(
         // componentwise binop plus Y.
         #[doc = $desc_cmpy]
         #[inline]
-        pub fn $cmpy<R2, C2, SB, R3, C3, SC>(&mut self, alpha: N, a: &Matrix<N, R2, C2, SB>, b: &Matrix<N, R3, C3, SC>, beta: N)
+        pub fn $cmpy<R2, C2, SB, R3, C3, SC>(&mut self, alpha: T, a: &Matrix<T, R2, C2, SB>, b: &Matrix<T, R3, C3, SC>, beta: T)
-            where N: $Trait + Zero + Mul<N, Output = N> + Add<N, Output = N>,
+            where T: $Trait + Zero + Mul<T, Output = T> + Add<T, Output = T>,
                   R2: Dim, C2: Dim,
                   R3: Dim, C3: Dim,
-                  SA: StorageMut<N, R1, C1>,
+                  SA: StorageMut<T, R1, C1>,
-                  SB: Storage<N, R2, C2>,
+                  SB: Storage<T, R2, C2>,
-                  SC: Storage<N, R3, C3>,
+                  SC: Storage<T, R3, C3>,
                   ShapeConstraint: SameNumberOfRows<R1, R2> + SameNumberOfColumns<C1, C2> +
                                    SameNumberOfRows<R1, R3> + SameNumberOfColumns<C1, C3> {
             assert_eq!(self.shape(), a.shape(), "Componentwise mul/div: mismatched matrix dimensions.");
@@ -109,12 +109,12 @@ macro_rules! component_binop_impl(
 
         #[doc = $desc_mut]
         #[inline]
-        pub fn $binop_assign<R2, C2, SB>(&mut self, rhs: &Matrix<N, R2, C2, SB>)
+        pub fn $binop_assign<R2, C2, SB>(&mut self, rhs: &Matrix<T, R2, C2, SB>)
-            where N: $Trait,
+            where T: $Trait,
                   R2: Dim,
                   C2: Dim,
-                  SA: StorageMut<N, R1, C1>,
+                  SA: StorageMut<T, R1, C1>,
-                  SB: Storage<N, R2, C2>,
+                  SB: Storage<T, R2, C2>,
                   ShapeConstraint: SameNumberOfRows<R1, R2> + SameNumberOfColumns<C1, C2> {
 
             assert_eq!(self.shape(), rhs.shape(), "Componentwise mul/div: mismatched matrix dimensions.");
@@ -131,12 +131,12 @@ macro_rules! component_binop_impl(
         #[doc = $desc_mut]
         #[inline]
         #[deprecated(note = "This is renamed using the `_assign` suffix instead of the `_mut` suffix.")]
-        pub fn $binop_mut<R2, C2, SB>(&mut self, rhs: &Matrix<N, R2, C2, SB>)
+        pub fn $binop_mut<R2, C2, SB>(&mut self, rhs: &Matrix<T, R2, C2, SB>)
-            where N: $Trait,
+            where T: $Trait,
                   R2: Dim,
                   C2: Dim,
-                  SA: StorageMut<N, R1, C1>,
+                  SA: StorageMut<T, R1, C1>,
-                  SB: Storage<N, R2, C2>,
+                  SB: Storage<T, R2, C2>,
                   ShapeConstraint: SameNumberOfRows<R1, R2> + SameNumberOfColumns<C1, C2> {
             self.$binop_assign(rhs)
         }
@@ -144,7 +144,7 @@ macro_rules! component_binop_impl(
 );
 
 /// # Componentwise operations
-impl<N: Scalar, R1: Dim, C1: Dim, SA: Storage<N, R1, C1>> Matrix<N, R1, C1, SA> {
+impl<T: Scalar, R1: Dim, C1: Dim, SA: Storage<T, R1, C1>> Matrix<T, R1, C1, SA> {
     component_binop_impl!(
         component_mul, component_mul_mut, component_mul_assign, cmpy, ClosedMul.mul.mul_assign,
         r"
@@ -241,30 +241,30 @@ impl<N: Scalar, R1: Dim, C1: Dim, SA: Storage<N, R1, C1>> Matrix<N, R1, C1, SA>
 
     /// Computes the infimum (aka. componentwise min) of two matrices/vectors.
     #[inline]
-    pub fn inf(&self, other: &Self) -> MatrixMN<N, R1, C1>
+    pub fn inf(&self, other: &Self) -> OMatrix<T, R1, C1>
     where
-        N: SimdPartialOrd,
+        T: SimdPartialOrd,
-        DefaultAllocator: Allocator<N, R1, C1>,
+        DefaultAllocator: Allocator<T, R1, C1>,
     {
         self.zip_map(other, |a, b| a.simd_min(b))
     }
 
     /// Computes the supremum (aka. componentwise max) of two matrices/vectors.
     #[inline]
-    pub fn sup(&self, other: &Self) -> MatrixMN<N, R1, C1>
+    pub fn sup(&self, other: &Self) -> OMatrix<T, R1, C1>
     where
-        N: SimdPartialOrd,
+        T: SimdPartialOrd,
-        DefaultAllocator: Allocator<N, R1, C1>,
+        DefaultAllocator: Allocator<T, R1, C1>,
     {
         self.zip_map(other, |a, b| a.simd_max(b))
     }
 
     /// Computes the (infimum, supremum) of two matrices/vectors.
     #[inline]
-    pub fn inf_sup(&self, other: &Self) -> (MatrixMN<N, R1, C1>, MatrixMN<N, R1, C1>)
+    pub fn inf_sup(&self, other: &Self) -> (OMatrix<T, R1, C1>, OMatrix<T, R1, C1>)
     where
-        N: SimdPartialOrd,
+        T: SimdPartialOrd,
-        DefaultAllocator: Allocator<N, R1, C1>,
+        DefaultAllocator: Allocator<T, R1, C1>,
     {
         // TODO: can this be optimized?
         (self.inf(other), self.sup(other))
@@ -273,10 +273,10 @@ impl<N: Scalar, R1: Dim, C1: Dim, SA: Storage<N, R1, C1>> Matrix<N, R1, C1, SA>
     /// Adds a scalar to `self`.
     #[inline]
     #[must_use = "Did you mean to use add_scalar_mut()?"]
-    pub fn add_scalar(&self, rhs: N) -> MatrixMN<N, R1, C1>
+    pub fn add_scalar(&self, rhs: T) -> OMatrix<T, R1, C1>
     where
-        N: ClosedAdd,
+        T: ClosedAdd,
-        DefaultAllocator: Allocator<N, R1, C1>,
+        DefaultAllocator: Allocator<T, R1, C1>,
     {
         let mut res = self.clone_owned();
         res.add_scalar_mut(rhs);
@@ -285,10 +285,10 @@ impl<N: Scalar, R1: Dim, C1: Dim, SA: Storage<N, R1, C1>> Matrix<N, R1, C1, SA>
 
     /// Adds a scalar to `self` in-place.
     #[inline]
-    pub fn add_scalar_mut(&mut self, rhs: N)
+    pub fn add_scalar_mut(&mut self, rhs: T)
     where
-        N: ClosedAdd,
+        T: ClosedAdd,
-        SA: StorageMut<N, R1, C1>,
+        SA: StorageMut<T, R1, C1>,
     {
         for e in self.iter_mut() {
             *e += rhs.inlined_clone()

src/base/construction.rs

@@ -20,9 +20,11 @@ use typenum::{self, Cmp, Greater};
 use simba::scalar::{ClosedAdd, ClosedMul};
 
 use crate::base::allocator::Allocator;
-use crate::base::dimension::{Dim, DimName, Dynamic, U1, U2, U3, U4, U5, U6};
+use crate::base::dimension::{Dim, DimName, Dynamic, ToTypenum};
 use crate::base::storage::Storage;
-use crate::base::{DefaultAllocator, Matrix, MatrixMN, MatrixN, Scalar, Unit, Vector, VectorN};
+use crate::base::{
+    ArrayStorage, Const, DefaultAllocator, Matrix, OMatrix, OVector, Scalar, Unit, Vector,
+};
 
 /// When "no_unsound_assume_init" is enabled, expands to `unimplemented!()` instead of `new_uninitialized_generic().assume_init()`.
 /// Intended as a placeholder, each callsite should be refactored to use uninitialized memory soundly
@@ -31,7 +33,7 @@ macro_rules! unimplemented_or_uninitialized_generic {
     ($nrows:expr, $ncols:expr) => {{
         #[cfg(feature="no_unsound_assume_init")] {
             // Some of the call sites need the number of rows and columns from this to infer a type, so
-            // uninitialized memory is used to infer the type, as `N: Zero` isn't available at all callsites.
+            // uninitialized memory is used to infer the type, as `T: Zero` isn't available at all callsites.
             // This may technically still be UB even though the assume_init is dead code, but all callsites should be fixed before #556 is closed.
             let typeinference_helper = crate::base::Matrix::new_uninitialized_generic($nrows, $ncols);
             unimplemented!();
@@ -47,9 +49,9 @@ macro_rules! unimplemented_or_uninitialized_generic {
 /// the dimension as inputs.
 ///
 /// These functions should only be used when working on dimension-generic code.
-impl<N: Scalar, R: Dim, C: Dim> MatrixMN<N, R, C>
+impl<T: Scalar, R: Dim, C: Dim> OMatrix<T, R, C>
 where
-    DefaultAllocator: Allocator<N, R, C>,
+    DefaultAllocator: Allocator<T, R, C>,
 {
     /// Creates a new uninitialized matrix. If the matrix has a compile-time dimension, this panics
     /// if `nrows != R::to_usize()` or `ncols != C::to_usize()`.
@@ -60,7 +62,7 @@ where
 
     /// Creates a matrix with all its elements set to `elem`.
     #[inline]
-    pub fn from_element_generic(nrows: R, ncols: C, elem: N) -> Self {
+    pub fn from_element_generic(nrows: R, ncols: C, elem: T) -> Self {
         let len = nrows.value() * ncols.value();
         Self::from_iterator_generic(nrows, ncols, iter::repeat(elem).take(len))
     }
@@ -69,7 +71,7 @@ where
     ///
     /// Same as `from_element_generic`.
     #[inline]
-    pub fn repeat_generic(nrows: R, ncols: C, elem: N) -> Self {
+    pub fn repeat_generic(nrows: R, ncols: C, elem: T) -> Self {
         let len = nrows.value() * ncols.value();
         Self::from_iterator_generic(nrows, ncols, iter::repeat(elem).take(len))
     }
@@ -78,16 +80,16 @@ where
     #[inline]
     pub fn zeros_generic(nrows: R, ncols: C) -> Self
     where
-        N: Zero,
+        T: Zero,
     {
-        Self::from_element_generic(nrows, ncols, N::zero())
+        Self::from_element_generic(nrows, ncols, T::zero())
     }
 
     /// Creates a matrix with all its elements filled by an iterator.
     #[inline]
     pub fn from_iterator_generic<I>(nrows: R, ncols: C, iter: I) -> Self
     where
-        I: IntoIterator<Item = N>,
+        I: IntoIterator<Item = T>,
     {
         Self::from_data(DefaultAllocator::allocate_from_iterator(nrows, ncols, iter))
     }
@@ -98,7 +100,7 @@ where
     /// The order of elements in the slice must follow the usual mathematic writing, i.e.,
     /// row-by-row.
     #[inline]
-    pub fn from_row_slice_generic(nrows: R, ncols: C, slice: &[N]) -> Self {
+    pub fn from_row_slice_generic(nrows: R, ncols: C, slice: &[T]) -> Self {
         assert!(
             slice.len() == nrows.value() * ncols.value(),
             "Matrix init. error: the slice did not contain the right number of elements."
@@ -119,7 +121,7 @@ where
     /// Creates a matrix with its elements filled with the components provided by a slice. The
     /// components must have the same layout as the matrix data storage (i.e. column-major).
     #[inline]
-    pub fn from_column_slice_generic(nrows: R, ncols: C, slice: &[N]) -> Self {
+    pub fn from_column_slice_generic(nrows: R, ncols: C, slice: &[T]) -> Self {
         Self::from_iterator_generic(nrows, ncols, slice.iter().cloned())
     }
 
@@ -128,7 +130,7 @@ where
     #[inline]
     pub fn from_fn_generic<F>(nrows: R, ncols: C, mut f: F) -> Self
     where
-        F: FnMut(usize, usize) -> N,
+        F: FnMut(usize, usize) -> T,
     {
         let mut res: Self = unsafe { crate::unimplemented_or_uninitialized_generic!(nrows, ncols) };
 
@@ -148,9 +150,9 @@ where
     #[inline]
     pub fn identity_generic(nrows: R, ncols: C) -> Self
     where
-        N: Zero + One,
+        T: Zero + One,
     {
-        Self::from_diagonal_element_generic(nrows, ncols, N::one())
+        Self::from_diagonal_element_generic(nrows, ncols, T::one())
     }
 
     /// Creates a new matrix with its diagonal filled with copies of `elt`.
@@ -158,9 +160,9 @@ where
     /// If the matrix is not square, the largest square submatrix starting at index `(0, 0)` is set
     /// to the identity matrix. All other entries are set to zero.
     #[inline]
-    pub fn from_diagonal_element_generic(nrows: R, ncols: C, elt: N) -> Self
+    pub fn from_diagonal_element_generic(nrows: R, ncols: C, elt: T) -> Self
     where
-        N: Zero + One,
+        T: Zero + One,
     {
         let mut res = Self::zeros_generic(nrows, ncols);
 
@@ -176,9 +178,9 @@ where
     ///
     /// Panics if `elts.len()` is larger than the minimum among `nrows` and `ncols`.
     #[inline]
-    pub fn from_partial_diagonal_generic(nrows: R, ncols: C, elts: &[N]) -> Self
+    pub fn from_partial_diagonal_generic(nrows: R, ncols: C, elts: &[T]) -> Self
     where
-        N: Zero,
+        T: Zero,
     {
         let mut res = Self::zeros_generic(nrows, ncols);
         assert!(
@@ -210,9 +212,9 @@ where
     ///         m.m31 == 7.0 && m.m32 == 8.0 && m.m33 == 9.0);
     /// ```
     #[inline]
-    pub fn from_rows<SB>(rows: &[Matrix<N, U1, C, SB>]) -> Self
+    pub fn from_rows<SB>(rows: &[Matrix<T, Const<1>, C, SB>]) -> Self
     where
-        SB: Storage<N, U1, C>,
+        SB: Storage<T, Const<1>, C>,
     {
         assert!(!rows.is_empty(), "At least one row must be given.");
         let nrows = R::try_to_usize().unwrap_or_else(|| rows.len());
@@ -252,9 +254,9 @@ where
     ///         m.m31 == 3.0 && m.m32 == 6.0 && m.m33 == 9.0);
     /// ```
     #[inline]
-    pub fn from_columns<SB>(columns: &[Vector<N, R, SB>]) -> Self
+    pub fn from_columns<SB>(columns: &[Vector<T, R, SB>]) -> Self
     where
-        SB: Storage<N, R>,
+        SB: Storage<T, R>,
     {
         assert!(!columns.is_empty(), "At least one column must be given.");
         let ncols = C::try_to_usize().unwrap_or_else(|| columns.len());
@@ -282,15 +284,16 @@ where
     #[cfg(feature = "rand")]
     pub fn new_random_generic(nrows: R, ncols: C) -> Self
     where
-        Standard: Distribution<N>,
+        Standard: Distribution<T>,
     {
-        Self::from_fn_generic(nrows, ncols, |_, _| rand::random())
+        let mut rng = rand::thread_rng();
+        Self::from_fn_generic(nrows, ncols, |_, _| rng.gen())
     }
 
     /// Creates a matrix filled with random values from the given distribution.
     #[inline]
     #[cfg(feature = "rand-no-std")]
-    pub fn from_distribution_generic<Distr: Distribution<N> + ?Sized, G: Rng + ?Sized>(
+    pub fn from_distribution_generic<Distr: Distribution<T> + ?Sized, G: Rng + ?Sized>(
         nrows: R,
         ncols: C,
         distribution: &Distr,
@@ -305,12 +308,12 @@ where
     ///
     /// # Example
     /// ```
-    /// # use nalgebra::{Dynamic, DMatrix, Matrix, U1};
+    /// # use nalgebra::{Dynamic, DMatrix, Matrix, Const};
     ///
     /// let vec = vec![0, 1, 2, 3, 4, 5];
     /// let vec_ptr = vec.as_ptr();
     ///
-    /// let matrix = Matrix::from_vec_generic(Dynamic::new(vec.len()), U1, vec);
+    /// let matrix = Matrix::from_vec_generic(Dynamic::new(vec.len()), Const::<1>, vec);
     /// let matrix_storage_ptr = matrix.data.as_vec().as_ptr();
     ///
     /// // `matrix` is backed by exactly the same `Vec` as it was constructed from.
@@ -318,15 +321,15 @@ where
     /// ```
     #[inline]
     #[cfg(any(feature = "std", feature = "alloc"))]
-    pub fn from_vec_generic(nrows: R, ncols: C, data: Vec<N>) -> Self {
+    pub fn from_vec_generic(nrows: R, ncols: C, data: Vec<T>) -> Self {
         Self::from_iterator_generic(nrows, ncols, data)
     }
 }
 
-impl<N, D: Dim> MatrixN<N, D>
+impl<T, D: Dim> OMatrix<T, D, D>
 where
-    N: Scalar,
+    T: Scalar,
-    DefaultAllocator: Allocator<N, D, D>,
+    DefaultAllocator: Allocator<T, D, D>,
 {
     /// Creates a square matrix with its diagonal set to `diag` and all other entries set to 0.
     ///
@@ -347,9 +350,9 @@ where
     ///         dm[(2, 0)] == 0.0 && dm[(2, 1)] == 0.0 && dm[(2, 2)] == 3.0);
     /// ```
     #[inline]
-    pub fn from_diagonal<SB: Storage<N, D>>(diag: &Vector<N, D, SB>) -> Self
+    pub fn from_diagonal<SB: Storage<T, D>>(diag: &Vector<T, D, SB>) -> Self
     where
-        N: Zero,
+        T: Zero,
     {
         let (dim, _) = diag.data.shape();
         let mut res = Self::zeros_generic(dim, dim);
@@ -398,7 +401,7 @@ macro_rules! impl_constructors(
         ///         dm[(1, 0)] == 2.0 && dm[(1, 1)] == 2.0 && dm[(1, 2)] == 2.0);
         /// ```
         #[inline]
-        pub fn from_element($($args: usize,)* elem: N) -> Self {
+        pub fn from_element($($args: usize,)* elem: T) -> Self {
             Self::from_element_generic($($gargs, )* elem)
         }
 
@@ -425,7 +428,7 @@ macro_rules! impl_constructors(
         ///         dm[(1, 0)] == 2.0 && dm[(1, 1)] == 2.0 && dm[(1, 2)] == 2.0);
         /// ```
         #[inline]
-        pub fn repeat($($args: usize,)* elem: N) -> Self {
+        pub fn repeat($($args: usize,)* elem: T) -> Self {
             Self::repeat_generic($($gargs, )* elem)
         }
 
@@ -451,7 +454,7 @@ macro_rules! impl_constructors(
         /// ```
         #[inline]
         pub fn zeros($($args: usize),*) -> Self
-            where N: Zero {
+            where T: Zero {
             Self::zeros_generic($($gargs),*)
         }
 
@@ -480,7 +483,7 @@ macro_rules! impl_constructors(
         /// ```
         #[inline]
         pub fn from_iterator<I>($($args: usize,)* iter: I) -> Self
-            where I: IntoIterator<Item = N> {
+            where I: IntoIterator<Item = T> {
             Self::from_iterator_generic($($gargs, )* iter)
         }
 
@@ -508,7 +511,7 @@ macro_rules! impl_constructors(
         /// ```
         #[inline]
         pub fn from_fn<F>($($args: usize,)* f: F) -> Self
-            where F: FnMut(usize, usize) -> N {
+            where F: FnMut(usize, usize) -> T {
             Self::from_fn_generic($($gargs, )* f)
         }
 
@@ -532,7 +535,7 @@ macro_rules! impl_constructors(
         /// ```
         #[inline]
         pub fn identity($($args: usize,)*) -> Self
-            where N: Zero + One {
+            where T: Zero + One {
             Self::identity_generic($($gargs),* )
         }
 
@@ -554,8 +557,8 @@ macro_rules! impl_constructors(
         ///         dm[(1, 0)] == 0.0 && dm[(1, 1)] == 5.0 && dm[(1, 2)] == 0.0);
         /// ```
         #[inline]
-        pub fn from_diagonal_element($($args: usize,)* elt: N) -> Self
+        pub fn from_diagonal_element($($args: usize,)* elt: T) -> Self
-            where N: Zero + One {
+            where T: Zero + One {
             Self::from_diagonal_element_generic($($gargs, )* elt)
         }
 
@@ -581,15 +584,15 @@ macro_rules! impl_constructors(
         ///         dm[(2, 0)] == 0.0 && dm[(2, 1)] == 0.0 && dm[(2, 2)] == 0.0);
         /// ```
         #[inline]
-        pub fn from_partial_diagonal($($args: usize,)* elts: &[N]) -> Self
+        pub fn from_partial_diagonal($($args: usize,)* elts: &[T]) -> Self
-            where N: Zero {
+            where T: Zero {
             Self::from_partial_diagonal_generic($($gargs, )* elts)
         }
 
         /// Creates a matrix or vector filled with random values from the given distribution.
         #[inline]
         #[cfg(feature = "rand-no-std")]
-        pub fn from_distribution<Distr: Distribution<N> + ?Sized, G: Rng + ?Sized>(
+        pub fn from_distribution<Distr: Distribution<T> + ?Sized, G: Rng + ?Sized>(
             $($args: usize,)*
             distribution: &Distr,
             rng: &mut G,
@@ -601,28 +604,28 @@ macro_rules! impl_constructors(
         #[inline]
         #[cfg(feature = "rand")]
         pub fn new_random($($args: usize),*) -> Self
-            where Standard: Distribution<N> {
+            where Standard: Distribution<T> {
             Self::new_random_generic($($gargs),*)
         }
     }
 );
 
 /// # Constructors of statically-sized vectors or statically-sized matrices
-impl<N: Scalar, R: DimName, C: DimName> MatrixMN<N, R, C>
+impl<T: Scalar, R: DimName, C: DimName> OMatrix<T, R, C>
 where
-    DefaultAllocator: Allocator<N, R, C>,
+    DefaultAllocator: Allocator<T, R, C>,
 {
-    // TODO: this is not very pretty. We could find a better call syntax.
+    // TODO: this is not very pretty. We could find a better call syntax.
-    impl_constructors!(R, C;                         // Arguments for Matrix<N, ..., S>
+    impl_constructors!(R, C;                         // Arguments for Matrix<T, ..., S>
-    => R: DimName, => C: DimName; // Type parameters for impl<N, ..., S>
+    => R: DimName, => C: DimName; // Type parameters for impl<T, ..., S>
     R::name(), C::name();         // Arguments for `_generic` constructors.
     ); // Arguments for non-generic constructors.
 }
 
 /// # Constructors of matrices with a dynamic number of columns
-impl<N: Scalar, R: DimName> MatrixMN<N, R, Dynamic>
+impl<T: Scalar, R: DimName> OMatrix<T, R, Dynamic>
 where
-    DefaultAllocator: Allocator<N, R, Dynamic>,
+    DefaultAllocator: Allocator<T, R, Dynamic>,
 {
     impl_constructors!(R, Dynamic;
                    => R: DimName;
@@ -631,9 +634,9 @@ where
 }
 
 /// # Constructors of dynamic vectors and matrices with a dynamic number of rows
-impl<N: Scalar, C: DimName> MatrixMN<N, Dynamic, C>
+impl<T: Scalar, C: DimName> OMatrix<T, Dynamic, C>
 where
-    DefaultAllocator: Allocator<N, Dynamic, C>,
+    DefaultAllocator: Allocator<T, Dynamic, C>,
 {
     impl_constructors!(Dynamic, C;
                    => C: DimName;
@@ -642,9 +645,9 @@ where
 }
 
 /// # Constructors of fully dynamic matrices
-impl<N: Scalar> MatrixMN<N, Dynamic, Dynamic>
+impl<T: Scalar> OMatrix<T, Dynamic, Dynamic>
 where
-    DefaultAllocator: Allocator<N, Dynamic, Dynamic>,
+    DefaultAllocator: Allocator<T, Dynamic, Dynamic>,
 {
     impl_constructors!(Dynamic, Dynamic;
                    ;
@@ -660,8 +663,8 @@ where
  */
 macro_rules! impl_constructors_from_data(
     ($data: ident; $($Dims: ty),*; $(=> $DimIdent: ident: $DimBound: ident),*; $($gargs: expr),*; $($args: ident),*) => {
-        impl<N: Scalar, $($DimIdent: $DimBound, )*> MatrixMN<N $(, $Dims)*>
+        impl<T: Scalar, $($DimIdent: $DimBound, )*> OMatrix<T $(, $Dims)*>
-        where DefaultAllocator: Allocator<N $(, $Dims)*> {
+        where DefaultAllocator: Allocator<T $(, $Dims)*> {
             /// Creates a matrix with its elements filled with the components provided by a slice
             /// in row-major order.
             ///
@@ -688,7 +691,7 @@ macro_rules! impl_constructors_from_data(
             ///         dm[(1, 0)] == 3 && dm[(1, 1)] == 4 && dm[(1, 2)] == 5);
             /// ```
             #[inline]
-            pub fn from_row_slice($($args: usize,)* $data: &[N]) -> Self {
+            pub fn from_row_slice($($args: usize,)* $data: &[T]) -> Self {
                 Self::from_row_slice_generic($($gargs, )* $data)
             }
 
@@ -715,7 +718,7 @@ macro_rules! impl_constructors_from_data(
             ///         dm[(1, 0)] == 1 && dm[(1, 1)] == 3 && dm[(1, 2)] == 5);
             /// ```
             #[inline]
-            pub fn from_column_slice($($args: usize,)* $data: &[N]) -> Self {
+            pub fn from_column_slice($($args: usize,)* $data: &[T]) -> Self {
                 Self::from_column_slice_generic($($gargs, )* $data)
             }
 
@@ -741,7 +744,7 @@ macro_rules! impl_constructors_from_data(
             /// ```
             #[inline]
             #[cfg(any(feature = "std", feature = "alloc"))]
-            pub fn from_vec($($args: usize,)* $data: Vec<N>) -> Self {
+            pub fn from_vec($($args: usize,)* $data: Vec<T>) -> Self {
                 Self::from_vec_generic($($gargs, )* $data)
             }
         }
@@ -749,8 +752,8 @@ macro_rules! impl_constructors_from_data(
 );
 
 // TODO: this is not very pretty. We could find a better call syntax.
-impl_constructors_from_data!(data; R, C;                  // Arguments for Matrix<N, ..., S>
+impl_constructors_from_data!(data; R, C;                  // Arguments for Matrix<T, ..., S>
-=> R: DimName, => C: DimName; // Type parameters for impl<N, ..., S>
+=> R: DimName, => C: DimName; // Type parameters for impl<T, ..., S>
 R::name(), C::name();         // Arguments for `_generic` constructors.
 ); // Arguments for non-generic constructors.
 
@@ -774,14 +777,14 @@ impl_constructors_from_data!(data; Dynamic, Dynamic;
  * Zero, One, Rand traits.
  *
  */
-impl<N, R: DimName, C: DimName> Zero for MatrixMN<N, R, C>
+impl<T, R: DimName, C: DimName> Zero for OMatrix<T, R, C>
 where
-    N: Scalar + Zero + ClosedAdd,
+    T: Scalar + Zero + ClosedAdd,
-    DefaultAllocator: Allocator<N, R, C>,
+    DefaultAllocator: Allocator<T, R, C>,
 {
     #[inline]
     fn zero() -> Self {
-        Self::from_element(N::zero())
+        Self::from_element(T::zero())
     }
 
     #[inline]
@@ -790,10 +793,10 @@ where
     }
 }
 
-impl<N, D: DimName> One for MatrixN<N, D>
+impl<T, D: DimName> One for OMatrix<T, D, D>
 where
-    N: Scalar + Zero + One + ClosedMul + ClosedAdd,
+    T: Scalar + Zero + One + ClosedMul + ClosedAdd,
-    DefaultAllocator: Allocator<N, D, D>,
+    DefaultAllocator: Allocator<T, D, D>,
 {
     #[inline]
     fn one() -> Self {
@@ -801,45 +804,45 @@ where
     }
 }
 
-impl<N, R: DimName, C: DimName> Bounded for MatrixMN<N, R, C>
+impl<T, R: DimName, C: DimName> Bounded for OMatrix<T, R, C>
 where
-    N: Scalar + Bounded,
+    T: Scalar + Bounded,
-    DefaultAllocator: Allocator<N, R, C>,
+    DefaultAllocator: Allocator<T, R, C>,
 {
     #[inline]
     fn max_value() -> Self {
-        Self::from_element(N::max_value())
+        Self::from_element(T::max_value())
     }
 
     #[inline]
     fn min_value() -> Self {
-        Self::from_element(N::min_value())
+        Self::from_element(T::min_value())
     }
 }
 
 #[cfg(feature = "rand-no-std")]
-impl<N: Scalar, R: Dim, C: Dim> Distribution<MatrixMN<N, R, C>> for Standard
+impl<T: Scalar, R: Dim, C: Dim> Distribution<OMatrix<T, R, C>> for Standard
 where
-    DefaultAllocator: Allocator<N, R, C>,
+    DefaultAllocator: Allocator<T, R, C>,
-    Standard: Distribution<N>,
+    Standard: Distribution<T>,
 {
     #[inline]
-    fn sample<'a, G: Rng + ?Sized>(&self, rng: &'a mut G) -> MatrixMN<N, R, C> {
+    fn sample<'a, G: Rng + ?Sized>(&self, rng: &'a mut G) -> OMatrix<T, R, C> {
         let nrows = R::try_to_usize().unwrap_or_else(|| rng.gen_range(0..10));
         let ncols = C::try_to_usize().unwrap_or_else(|| rng.gen_range(0..10));
 
-        MatrixMN::from_fn_generic(R::from_usize(nrows), C::from_usize(ncols), |_, _| rng.gen())
+        OMatrix::from_fn_generic(R::from_usize(nrows), C::from_usize(ncols), |_, _| rng.gen())
     }
 }
 
 #[cfg(feature = "arbitrary")]
-impl<N, R, C> Arbitrary for MatrixMN<N, R, C>
+impl<T, R, C> Arbitrary for OMatrix<T, R, C>
 where
     R: Dim,
     C: Dim,
-    N: Scalar + Arbitrary + Send,
+    T: Scalar + Arbitrary + Send,
-    DefaultAllocator: Allocator<N, R, C>,
+    DefaultAllocator: Allocator<T, R, C>,
-    Owned<N, R, C>: Clone + Send,
+    Owned<T, R, C>: Clone + Send,
 {
     #[inline]
     fn arbitrary(g: &mut Gen) -> Self {
@@ -847,23 +850,24 @@ where
         let ncols = C::try_to_usize().unwrap_or(usize::arbitrary(g) % 10);
 
         Self::from_fn_generic(R::from_usize(nrows), C::from_usize(ncols), |_, _| {
-            N::arbitrary(g)
+            T::arbitrary(g)
         })
     }
 }
 
+// TODO(specialization): faster impls possible for D≤4 (see rand_distr::{UnitCircle, UnitSphere})
 #[cfg(feature = "rand")]
-impl<N: crate::RealField, D: DimName> Distribution<Unit<VectorN<N, D>>> for Standard
+impl<T: crate::RealField, D: DimName> Distribution<Unit<OVector<T, D>>> for Standard
 where
-    DefaultAllocator: Allocator<N, D>,
+    DefaultAllocator: Allocator<T, D>,
-    rand_distr::StandardNormal: Distribution<N>,
+    rand_distr::StandardNormal: Distribution<T>,
 {
     /// Generate a uniformly distributed random unit vector.
     #[inline]
-    fn sample<'a, G: Rng + ?Sized>(&self, rng: &'a mut G) -> Unit<VectorN<N, D>> {
+    fn sample<'a, G: Rng + ?Sized>(&self, rng: &'a mut G) -> Unit<OVector<T, D>> {
-        Unit::new_normalize(VectorN::from_distribution_generic(
+        Unit::new_normalize(OVector::from_distribution_generic(
             D::name(),
-            U1,
+            Const::<1>,
             &rand_distr::StandardNormal,
             rng,
         ))
@@ -875,22 +879,44 @@ where
  * Constructors for small matrices and vectors.
  *
  */
+
+macro_rules! transpose_array(
+    [$($a: ident),*;] => {
+        [$([$a]),*]
+    };
+    [$($a: ident),*; $($b: ident),*;] => {
+        [$([$a, $b]),*];
+    };
+    [$($a: ident),*; $($b: ident),*; $($c: ident),*;] => {
+        [$([$a, $b, $c]),*];
+    };
+    [$($a: ident),*; $($b: ident),*; $($c: ident),*; $($d: ident),*;] => {
+        [$([$a, $b, $c, $d]),*];
+    };
+    [$($a: ident),*; $($b: ident),*; $($c: ident),*; $($d: ident),*; $($e: ident),*;] => {
+        [$([$a, $b, $c, $d, $e]),*];
+    };
+    [$($a: ident),*; $($b: ident),*; $($c: ident),*; $($d: ident),*; $($e: ident),*; $($f: ident),*;] => {
+        [$([$a, $b, $c, $d, $e, $f]),*];
+    };
+);
+
 macro_rules! componentwise_constructors_impl(
-    ($($R: ty, $C: ty, $($args: ident:($irow: expr,$icol: expr)),*);* $(;)*) => {$(
+    ($($R: expr, $C: expr, [$($($args: ident),*);*] $(;)*)*) => {$(
-        impl<N> MatrixMN<N, $R, $C>
+        impl<T> Matrix<T, Const<$R>, Const<$C>, ArrayStorage<T, $R, $C>> {
-            where N: Scalar,
-                  DefaultAllocator: Allocator<N, $R, $C> {
             /// Initializes this matrix from its components.
             #[inline]
-            pub fn new($($args: N),*) -> Self {
+            pub const fn new($($($args: T),*),*) -> Self {
                 unsafe {
-                    #[cfg(feature="no_unsound_assume_init")]
+                    Self::from_data_statically_unchecked(
-                    let mut res: Self = unimplemented!();
+                        ArrayStorage(
-                    #[cfg(not(feature="no_unsound_assume_init"))]
+                            transpose_array![
-                    let mut res = Self::new_uninitialized().assume_init();
+                                $(
-                    $( *res.get_unchecked_mut(($irow, $icol)) = $args; )*
+                                    $($args),*
-
+                                ;)*
-                    res
+                            ]
+                        )
+                    )
                 }
             }
         }
@@ -901,145 +927,145 @@ componentwise_constructors_impl!(
     /*
      * Square matrices 1 .. 6.
      */
-    U2, U2, m11:(0,0), m12:(0,1),
+    2, 2, [m11, m12;
-            m21:(1,0), m22:(1,1);
+           m21, m22];
-    U3, U3, m11:(0,0), m12:(0,1), m13:(0,2),
+    3, 3, [m11, m12, m13;
-            m21:(1,0), m22:(1,1), m23:(1,2),
+          m21, m22, m23;
-            m31:(2,0), m32:(2,1), m33:(2,2);
+          m31, m32, m33];
-    U4, U4, m11:(0,0), m12:(0,1), m13:(0,2), m14:(0,3),
+    4, 4, [m11, m12, m13, m14;
-            m21:(1,0), m22:(1,1), m23:(1,2), m24:(1,3),
+          m21, m22, m23, m24;
-            m31:(2,0), m32:(2,1), m33:(2,2), m34:(2,3),
+          m31, m32, m33, m34;
-            m41:(3,0), m42:(3,1), m43:(3,2), m44:(3,3);
+          m41, m42, m43, m44];
-    U5, U5, m11:(0,0), m12:(0,1), m13:(0,2), m14:(0,3), m15:(0,4),
+    5, 5, [m11, m12, m13, m14, m15;
-            m21:(1,0), m22:(1,1), m23:(1,2), m24:(1,3), m25:(1,4),
+          m21, m22, m23, m24, m25;
-            m31:(2,0), m32:(2,1), m33:(2,2), m34:(2,3), m35:(2,4),
+          m31, m32, m33, m34, m35;
-            m41:(3,0), m42:(3,1), m43:(3,2), m44:(3,3), m45:(3,4),
+          m41, m42, m43, m44, m45;
-            m51:(4,0), m52:(4,1), m53:(4,2), m54:(4,3), m55:(4,4);
+          m51, m52, m53, m54, m55];
-    U6, U6, m11:(0,0), m12:(0,1), m13:(0,2), m14:(0,3), m15:(0,4), m16:(0,5),
+    6, 6, [m11, m12, m13, m14, m15, m16;
-            m21:(1,0), m22:(1,1), m23:(1,2), m24:(1,3), m25:(1,4), m26:(1,5),
+          m21, m22, m23, m24, m25, m26;
-            m31:(2,0), m32:(2,1), m33:(2,2), m34:(2,3), m35:(2,4), m36:(2,5),
+          m31, m32, m33, m34, m35, m36;
-            m41:(3,0), m42:(3,1), m43:(3,2), m44:(3,3), m45:(3,4), m46:(3,5),
+          m41, m42, m43, m44, m45, m46;
-            m51:(4,0), m52:(4,1), m53:(4,2), m54:(4,3), m55:(4,4), m56:(4,5),
+          m51, m52, m53, m54, m55, m56;
-            m61:(5,0), m62:(5,1), m63:(5,2), m64:(5,3), m65:(5,4), m66:(5,5);
+          m61, m62, m63, m64, m65, m66];
 
     /*
      * Rectangular matrices with 2 rows.
      */
-    U2, U3, m11:(0,0), m12:(0,1), m13:(0,2),
+    2, 3, [m11, m12, m13;
-            m21:(1,0), m22:(1,1), m23:(1,2);
+          m21, m22, m23];
-    U2, U4, m11:(0,0), m12:(0,1), m13:(0,2), m14:(0,3),
+    2, 4, [m11, m12, m13, m14;
-            m21:(1,0), m22:(1,1), m23:(1,2), m24:(1,3);
+          m21, m22, m23, m24];
-    U2, U5, m11:(0,0), m12:(0,1), m13:(0,2), m14:(0,3), m15:(0,4),
+    2, 5, [m11, m12, m13, m14, m15;
-            m21:(1,0), m22:(1,1), m23:(1,2), m24:(1,3), m25:(1,4);
+          m21, m22, m23, m24, m25];
-    U2, U6, m11:(0,0), m12:(0,1), m13:(0,2), m14:(0,3), m15:(0,4), m16:(0,5),
+    2, 6, [m11, m12, m13, m14, m15, m16;
-            m21:(1,0), m22:(1,1), m23:(1,2), m24:(1,3), m25:(1,4), m26:(1,5);
+          m21, m22, m23, m24, m25, m26];
 
     /*
      * Rectangular matrices with 3 rows.
      */
-    U3, U2, m11:(0,0), m12:(0,1),
+    3, 2, [m11, m12;
-            m21:(1,0), m22:(1,1),
+          m21, m22;
-            m31:(2,0), m32:(2,1);
+          m31, m32];
-    U3, U4, m11:(0,0), m12:(0,1), m13:(0,2), m14:(0,3),
+    3, 4, [m11, m12, m13, m14;
-            m21:(1,0), m22:(1,1), m23:(1,2), m24:(1,3),
+          m21, m22, m23, m24;
-            m31:(2,0), m32:(2,1), m33:(2,2), m34:(2,3);
+          m31, m32, m33, m34];
-    U3, U5, m11:(0,0), m12:(0,1), m13:(0,2), m14:(0,3), m15:(0,4),
+    3, 5, [m11, m12, m13, m14, m15;
-            m21:(1,0), m22:(1,1), m23:(1,2), m24:(1,3), m25:(1,4),
+          m21, m22, m23, m24, m25;
-            m31:(2,0), m32:(2,1), m33:(2,2), m34:(2,3), m35:(2,4);
+          m31, m32, m33, m34, m35];
-    U3, U6, m11:(0,0), m12:(0,1), m13:(0,2), m14:(0,3), m15:(0,4), m16:(0,5),
+    3, 6, [m11, m12, m13, m14, m15, m16;
-            m21:(1,0), m22:(1,1), m23:(1,2), m24:(1,3), m25:(1,4), m26:(1,5),
+          m21, m22, m23, m24, m25, m26;
-            m31:(2,0), m32:(2,1), m33:(2,2), m34:(2,3), m35:(2,4), m36:(2,5);
+          m31, m32, m33, m34, m35, m36];
 
     /*
      * Rectangular matrices with 4 rows.
      */
-    U4, U2, m11:(0,0), m12:(0,1),
+    4, 2, [m11, m12;
-            m21:(1,0), m22:(1,1),
+          m21, m22;
-            m31:(2,0), m32:(2,1),
+          m31, m32;
-            m41:(3,0), m42:(3,1);
+          m41, m42];
-    U4, U3, m11:(0,0), m12:(0,1), m13:(0,2),
+    4, 3, [m11, m12, m13;
-            m21:(1,0), m22:(1,1), m23:(1,2),
+          m21, m22, m23;
-            m31:(2,0), m32:(2,1), m33:(2,2),
+          m31, m32, m33;
-            m41:(3,0), m42:(3,1), m43:(3,2);
+          m41, m42, m43];
-    U4, U5, m11:(0,0), m12:(0,1), m13:(0,2), m14:(0,3), m15:(0,4),
+    4, 5, [m11, m12, m13, m14, m15;
-            m21:(1,0), m22:(1,1), m23:(1,2), m24:(1,3), m25:(1,4),
+          m21, m22, m23, m24, m25;
-            m31:(2,0), m32:(2,1), m33:(2,2), m34:(2,3), m35:(2,4),
+          m31, m32, m33, m34, m35;
-            m41:(3,0), m42:(3,1), m43:(3,2), m44:(3,3), m45:(3,4);
+          m41, m42, m43, m44, m45];
-    U4, U6, m11:(0,0), m12:(0,1), m13:(0,2), m14:(0,3), m15:(0,4), m16:(0,5),
+    4, 6, [m11, m12, m13, m14, m15, m16;
-            m21:(1,0), m22:(1,1), m23:(1,2), m24:(1,3), m25:(1,4), m26:(1,5),
+          m21, m22, m23, m24, m25, m26;
-            m31:(2,0), m32:(2,1), m33:(2,2), m34:(2,3), m35:(2,4), m36:(2,5),
+          m31, m32, m33, m34, m35, m36;
-            m41:(3,0), m42:(3,1), m43:(3,2), m44:(3,3), m45:(3,4), m46:(3,5);
+          m41, m42, m43, m44, m45, m46];
 
     /*
      * Rectangular matrices with 5 rows.
      */
-    U5, U2, m11:(0,0), m12:(0,1),
+    5, 2, [m11, m12;
-            m21:(1,0), m22:(1,1),
+          m21, m22;
-            m31:(2,0), m32:(2,1),
+          m31, m32;
-            m41:(3,0), m42:(3,1),
+          m41, m42;
-            m51:(4,0), m52:(4,1);
+          m51, m52];
-    U5, U3, m11:(0,0), m12:(0,1), m13:(0,2),
+    5, 3, [m11, m12, m13;
-            m21:(1,0), m22:(1,1), m23:(1,2),
+          m21, m22, m23;
-            m31:(2,0), m32:(2,1), m33:(2,2),
+          m31, m32, m33;
-            m41:(3,0), m42:(3,1), m43:(3,2),
+          m41, m42, m43;
-            m51:(4,0), m52:(4,1), m53:(4,2);
+          m51, m52, m53];
-    U5, U4, m11:(0,0), m12:(0,1), m13:(0,2), m14:(0,3),
+    5, 4, [m11, m12, m13, m14;
-            m21:(1,0), m22:(1,1), m23:(1,2), m24:(1,3),
+          m21, m22, m23, m24;
-            m31:(2,0), m32:(2,1), m33:(2,2), m34:(2,3),
+          m31, m32, m33, m34;
-            m41:(3,0), m42:(3,1), m43:(3,2), m44:(3,3),
+          m41, m42, m43, m44;
-            m51:(4,0), m52:(4,1), m53:(4,2), m54:(4,3);
+          m51, m52, m53, m54];
-    U5, U6, m11:(0,0), m12:(0,1), m13:(0,2), m14:(0,3), m15:(0,4), m16:(0,5),
+    5, 6, [m11, m12, m13, m14, m15, m16;
-            m21:(1,0), m22:(1,1), m23:(1,2), m24:(1,3), m25:(1,4), m26:(1,5),
+          m21, m22, m23, m24, m25, m26;
-            m31:(2,0), m32:(2,1), m33:(2,2), m34:(2,3), m35:(2,4), m36:(2,5),
+          m31, m32, m33, m34, m35, m36;
-            m41:(3,0), m42:(3,1), m43:(3,2), m44:(3,3), m45:(3,4), m46:(3,5),
+          m41, m42, m43, m44, m45, m46;
-            m51:(4,0), m52:(4,1), m53:(4,2), m54:(4,3), m55:(4,4), m56:(4,5);
+          m51, m52, m53, m54, m55, m56];
 
     /*
      * Rectangular matrices with 6 rows.
      */
-    U6, U2, m11:(0,0), m12:(0,1),
+    6, 2, [m11, m12;
-            m21:(1,0), m22:(1,1),
+          m21, m22;
-            m31:(2,0), m32:(2,1),
+          m31, m32;
-            m41:(3,0), m42:(3,1),
+          m41, m42;
-            m51:(4,0), m52:(4,1),
+          m51, m52;
-            m61:(5,0), m62:(5,1);
+          m61, m62];
-    U6, U3, m11:(0,0), m12:(0,1), m13:(0,2),
+    6, 3, [m11, m12, m13;
-            m21:(1,0), m22:(1,1), m23:(1,2),
+          m21, m22, m23;
-            m31:(2,0), m32:(2,1), m33:(2,2),
+          m31, m32, m33;
-            m41:(3,0), m42:(3,1), m43:(3,2),
+          m41, m42, m43;
-            m51:(4,0), m52:(4,1), m53:(4,2),
+          m51, m52, m53;
-            m61:(5,0), m62:(5,1), m63:(5,2);
+          m61, m62, m63];
-    U6, U4, m11:(0,0), m12:(0,1), m13:(0,2), m14:(0,3),
+    6, 4, [m11, m12, m13, m14;
-            m21:(1,0), m22:(1,1), m23:(1,2), m24:(1,3),
+          m21, m22, m23, m24;
-            m31:(2,0), m32:(2,1), m33:(2,2), m34:(2,3),
+          m31, m32, m33, m34;
-            m41:(3,0), m42:(3,1), m43:(3,2), m44:(3,3),
+          m41, m42, m43, m44;
-            m51:(4,0), m52:(4,1), m53:(4,2), m54:(4,3),
+          m51, m52, m53, m54;
-            m61:(5,0), m62:(5,1), m63:(5,2), m64:(5,3);
+          m61, m62, m63, m64];
-    U6, U5, m11:(0,0), m12:(0,1), m13:(0,2), m14:(0,3), m15:(0,4),
+    6, 5, [m11, m12, m13, m14, m15;
-            m21:(1,0), m22:(1,1), m23:(1,2), m24:(1,3), m25:(1,4),
+          m21, m22, m23, m24, m25;
-            m31:(2,0), m32:(2,1), m33:(2,2), m34:(2,3), m35:(2,4),
+          m31, m32, m33, m34, m35;
-            m41:(3,0), m42:(3,1), m43:(3,2), m44:(3,3), m45:(3,4),
+          m41, m42, m43, m44, m45;
-            m51:(4,0), m52:(4,1), m53:(4,2), m54:(4,3), m55:(4,4),
+          m51, m52, m53, m54, m55;
-            m61:(5,0), m62:(5,1), m63:(5,2), m64:(5,3), m65:(5,4);
+          m61, m62, m63, m64, m65];
 
     /*
      * Row vectors 1 .. 6.
      */
-    U1, U1, x:(0,0);
+    1, 1, [x];
-    U1, U2, x:(0,0), y:(0,1);
+    1, 2, [x, y];
-    U1, U3, x:(0,0), y:(0,1), z:(0,2);
+    1, 3, [x, y, z];
-    U1, U4, x:(0,0), y:(0,1), z:(0,2), w:(0,3);
+    1, 4, [x, y, z, w];
-    U1, U5, x:(0,0), y:(0,1), z:(0,2), w:(0,3), a:(0,4);
+    1, 5, [x, y, z, w, a];
-    U1, U6, x:(0,0), y:(0,1), z:(0,2), w:(0,3), a:(0,4), b:(0,5);
+    1, 6, [x, y, z, w, a, b];
 
     /*
      * Column vectors 1 .. 6.
      */
-    U2, U1, x:(0,0), y:(1,0);
+    2, 1, [x; y];
-    U3, U1, x:(0,0), y:(1,0), z:(2,0);
+    3, 1, [x; y; z];
-    U4, U1, x:(0,0), y:(1,0), z:(2,0), w:(3,0);
+    4, 1, [x; y; z; w];
-    U5, U1, x:(0,0), y:(1,0), z:(2,0), w:(3,0), a:(4,0);
+    5, 1, [x; y; z; w; a];
-    U6, U1, x:(0,0), y:(1,0), z:(2,0), w:(3,0), a:(4,0), b:(5,0);
+    6, 1, [x; y; z; w; a; b];
 );
 
 /*
@@ -1047,34 +1073,35 @@ componentwise_constructors_impl!(
  * Axis constructors.
  *
  */
-impl<N, R: DimName> VectorN<N, R>
+impl<T, R: DimName> OVector<T, R>
 where
-    N: Scalar + Zero + One,
+    R: ToTypenum,
-    DefaultAllocator: Allocator<N, R>,
+    T: Scalar + Zero + One,
+    DefaultAllocator: Allocator<T, R>,
 {
     /// The column vector with `val` as its i-th component.
     #[inline]
-    pub fn ith(i: usize, val: N) -> Self {
+    pub fn ith(i: usize, val: T) -> Self {
         let mut res = Self::zeros();
         res[i] = val;
         res
     }
 
-    /// The column unit vector with `N::one()` as its i-th component.
+    /// The column unit vector with `T::one()` as its i-th component.
     #[inline]
     pub fn ith_axis(i: usize) -> Unit<Self> {
-        Unit::new_unchecked(Self::ith(i, N::one()))
+        Unit::new_unchecked(Self::ith(i, T::one()))
     }
 
     /// The column vector with a 1 as its first component, and zero elsewhere.
     #[inline]
     pub fn x() -> Self
     where
-        R::Value: Cmp<typenum::U0, Output = Greater>,
+        R::Typenum: Cmp<typenum::U0, Output = Greater>,
     {
         let mut res = Self::zeros();
         unsafe {
-            *res.vget_unchecked_mut(0) = N::one();
+            *res.vget_unchecked_mut(0) = T::one();
         }
 
         res
@@ -1084,11 +1111,11 @@ where
     #[inline]
     pub fn y() -> Self
     where
-        R::Value: Cmp<typenum::U1, Output = Greater>,
+        R::Typenum: Cmp<typenum::U1, Output = Greater>,
     {
         let mut res = Self::zeros();
         unsafe {
-            *res.vget_unchecked_mut(1) = N::one();
+            *res.vget_unchecked_mut(1) = T::one();
         }
 
         res
@@ -1098,11 +1125,11 @@ where
     #[inline]
     pub fn z() -> Self
     where
-        R::Value: Cmp<typenum::U2, Output = Greater>,
+        R::Typenum: Cmp<typenum::U2, Output = Greater>,
     {
         let mut res = Self::zeros();
         unsafe {
-            *res.vget_unchecked_mut(2) = N::one();
+            *res.vget_unchecked_mut(2) = T::one();
         }
 
         res
@@ -1112,11 +1139,11 @@ where
     #[inline]
     pub fn w() -> Self
     where
-        R::Value: Cmp<typenum::U3, Output = Greater>,
+        R::Typenum: Cmp<typenum::U3, Output = Greater>,
     {
         let mut res = Self::zeros();
         unsafe {
-            *res.vget_unchecked_mut(3) = N::one();
+            *res.vget_unchecked_mut(3) = T::one();
         }
 
         res
@@ -1126,11 +1153,11 @@ where
     #[inline]
     pub fn a() -> Self
     where
-        R::Value: Cmp<typenum::U4, Output = Greater>,
+        R::Typenum: Cmp<typenum::U4, Output = Greater>,
     {
         let mut res = Self::zeros();
         unsafe {
-            *res.vget_unchecked_mut(4) = N::one();
+            *res.vget_unchecked_mut(4) = T::one();
         }
 
         res
@@ -1140,11 +1167,11 @@ where
     #[inline]
     pub fn b() -> Self
     where
-        R::Value: Cmp<typenum::U5, Output = Greater>,
+        R::Typenum: Cmp<typenum::U5, Output = Greater>,
     {
         let mut res = Self::zeros();
         unsafe {
-            *res.vget_unchecked_mut(5) = N::one();
+            *res.vget_unchecked_mut(5) = T::one();
         }
 
         res
@@ -1154,7 +1181,7 @@ where
     #[inline]
     pub fn x_axis() -> Unit<Self>
     where
-        R::Value: Cmp<typenum::U0, Output = Greater>,
+        R::Typenum: Cmp<typenum::U0, Output = Greater>,
     {
         Unit::new_unchecked(Self::x())
     }
@@ -1163,7 +1190,7 @@ where
     #[inline]
     pub fn y_axis() -> Unit<Self>
     where
-        R::Value: Cmp<typenum::U1, Output = Greater>,
+        R::Typenum: Cmp<typenum::U1, Output = Greater>,
     {
         Unit::new_unchecked(Self::y())
     }
@@ -1172,7 +1199,7 @@ where
     #[inline]
     pub fn z_axis() -> Unit<Self>
     where
-        R::Value: Cmp<typenum::U2, Output = Greater>,
+        R::Typenum: Cmp<typenum::U2, Output = Greater>,
     {
         Unit::new_unchecked(Self::z())
     }
@@ -1181,7 +1208,7 @@ where
     #[inline]
     pub fn w_axis() -> Unit<Self>
     where
-        R::Value: Cmp<typenum::U3, Output = Greater>,
+        R::Typenum: Cmp<typenum::U3, Output = Greater>,
     {
         Unit::new_unchecked(Self::w())
     }
@@ -1190,7 +1217,7 @@ where
     #[inline]
     pub fn a_axis() -> Unit<Self>
     where
-        R::Value: Cmp<typenum::U4, Output = Greater>,
+        R::Typenum: Cmp<typenum::U4, Output = Greater>,
     {
         Unit::new_unchecked(Self::a())
     }
@@ -1199,7 +1226,7 @@ where
     #[inline]
     pub fn b_axis() -> Unit<Self>
     where
-        R::Value: Cmp<typenum::U5, Output = Greater>,
+        R::Typenum: Cmp<typenum::U5, Output = Greater>,
     {
         Unit::new_unchecked(Self::b())
     }

src/base/construction_slice.rs

@@ -1,12 +1,12 @@
-use crate::base::dimension::{Dim, DimName, Dynamic, U1};
+use crate::base::dimension::{Const, Dim, DimName, Dynamic};
 use crate::base::matrix_slice::{SliceStorage, SliceStorageMut};
-use crate::base::{MatrixSliceMN, MatrixSliceMutMN, Scalar};
+use crate::base::{MatrixSlice, MatrixSliceMutMN, Scalar};
 
 use num_rational::Ratio;
 
 /// # Creating matrix slices from `&[T]`
-impl<'a, N: Scalar, R: Dim, C: Dim, RStride: Dim, CStride: Dim>
+impl<'a, T: Scalar, R: Dim, C: Dim, RStride: Dim, CStride: Dim>
-    MatrixSliceMN<'a, N, R, C, RStride, CStride>
+    MatrixSlice<'a, T, R, C, RStride, CStride>
 {
     /// Creates, without bound-checking, a matrix slice from an array and with dimensions and strides specified by generic types instances.
     ///
@@ -14,7 +14,7 @@ impl<'a, N: Scalar, R: Dim, C: Dim, RStride: Dim, CStride: Dim>
     /// The generic types `R`, `C`, `RStride`, `CStride` can either be type-level integers or integers wrapped with `Dynamic::new()`.
     #[inline]
     pub unsafe fn from_slice_with_strides_generic_unchecked(
-        data: &'a [N],
+        data: &'a [T],
         start: usize,
         nrows: R,
         ncols: C,
@@ -35,7 +35,7 @@ impl<'a, N: Scalar, R: Dim, C: Dim, RStride: Dim, CStride: Dim>
     /// The generic types `R`, `C`, `RStride`, `CStride` can either be type-level integers or integers wrapped with `Dynamic::new()`.
     #[inline]
     pub fn from_slice_with_strides_generic(
-        data: &'a [N],
+        data: &'a [T],
         nrows: R,
         ncols: C,
         rstride: RStride,
@@ -56,19 +56,21 @@ impl<'a, N: Scalar, R: Dim, C: Dim, RStride: Dim, CStride: Dim>
     }
 }
 
-impl<'a, N: Scalar, R: Dim, C: Dim> MatrixSliceMN<'a, N, R, C> {
+impl<'a, T: Scalar, R: Dim, C: Dim> MatrixSlice<'a, T, R, C> {
     /// Creates, without bound-checking, a matrix slice from an array and with dimensions specified by generic types instances.
     ///
     /// This method is unsafe because the input data array is not checked to contain enough elements.
     /// The generic types `R` and `C` can either be type-level integers or integers wrapped with `Dynamic::new()`.
     #[inline]
     pub unsafe fn from_slice_generic_unchecked(
-        data: &'a [N],
+        data: &'a [T],
         start: usize,
         nrows: R,
         ncols: C,
     ) -> Self {
-        Self::from_slice_with_strides_generic_unchecked(data, start, nrows, ncols, U1, nrows)
+        Self::from_slice_with_strides_generic_unchecked(
+            data, start, nrows, ncols, Const::<1>, nrows,
+        )
     }
 
     /// Creates a matrix slice from an array and with dimensions and strides specified by generic types instances.
@@ -76,41 +78,41 @@ impl<'a, N: Scalar, R: Dim, C: Dim> MatrixSliceMN<'a, N, R, C> {
     /// Panics if the input data array dose not contain enough elements.
     /// The generic types `R` and `C` can either be type-level integers or integers wrapped with `Dynamic::new()`.
     #[inline]
-    pub fn from_slice_generic(data: &'a [N], nrows: R, ncols: C) -> Self {
+    pub fn from_slice_generic(data: &'a [T], nrows: R, ncols: C) -> Self {
-        Self::from_slice_with_strides_generic(data, nrows, ncols, U1, nrows)
+        Self::from_slice_with_strides_generic(data, nrows, ncols, Const::<1>, nrows)
     }
 }
 
 macro_rules! impl_constructors(
     ($($Dims: ty),*; $(=> $DimIdent: ident: $DimBound: ident),*; $($gargs: expr),*; $($args: ident),*) => {
-        impl<'a, N: Scalar, $($DimIdent: $DimBound),*> MatrixSliceMN<'a, N, $($Dims),*> {
+        impl<'a, T: Scalar, $($DimIdent: $DimBound),*> MatrixSlice<'a, T, $($Dims),*> {
             /// Creates a new matrix slice from the given data array.
             ///
             /// Panics if `data` does not contain enough elements.
             #[inline]
-            pub fn from_slice(data: &'a [N], $($args: usize),*) -> Self {
+            pub fn from_slice(data: &'a [T], $($args: usize),*) -> Self {
                 Self::from_slice_generic(data, $($gargs),*)
             }
 
             /// Creates, without bound checking, a new matrix slice from the given data array.
             #[inline]
-            pub unsafe fn from_slice_unchecked(data: &'a [N], start: usize, $($args: usize),*) -> Self {
+            pub unsafe fn from_slice_unchecked(data: &'a [T], start: usize, $($args: usize),*) -> Self {
                 Self::from_slice_generic_unchecked(data, start, $($gargs),*)
             }
         }
 
-        impl<'a, N: Scalar, $($DimIdent: $DimBound, )*> MatrixSliceMN<'a, N, $($Dims,)* Dynamic, Dynamic> {
+        impl<'a, T: Scalar, $($DimIdent: $DimBound, )*> MatrixSlice<'a, T, $($Dims,)* Dynamic, Dynamic> {
             /// Creates a new matrix slice with the specified strides from the given data array.
             ///
             /// Panics if `data` does not contain enough elements.
             #[inline]
-            pub fn from_slice_with_strides(data: &'a [N], $($args: usize,)* rstride: usize, cstride: usize) -> Self {
+            pub fn from_slice_with_strides(data: &'a [T], $($args: usize,)* rstride: usize, cstride: usize) -> Self {
                 Self::from_slice_with_strides_generic(data, $($gargs,)* Dynamic::new(rstride), Dynamic::new(cstride))
             }
 
             /// Creates, without bound checking, a new matrix slice with the specified strides from the given data array.
             #[inline]
-            pub unsafe fn from_slice_with_strides_unchecked(data: &'a [N], start: usize, $($args: usize,)* rstride: usize, cstride: usize) -> Self {
+            pub unsafe fn from_slice_with_strides_unchecked(data: &'a [T], start: usize, $($args: usize,)* rstride: usize, cstride: usize) -> Self {
                 Self::from_slice_with_strides_generic_unchecked(data, start, $($gargs,)* Dynamic::new(rstride), Dynamic::new(cstride))
             }
         }
@@ -118,8 +120,8 @@ macro_rules! impl_constructors(
 );
 
 // TODO: this is not very pretty. We could find a better call syntax.
-impl_constructors!(R, C;                         // Arguments for Matrix<N, ..., S>
+impl_constructors!(R, C;                         // Arguments for Matrix<T, ..., S>
-=> R: DimName, => C: DimName; // Type parameters for impl<N, ..., S>
+=> R: DimName, => C: DimName; // Type parameters for impl<T, ..., S>
 R::name(), C::name();         // Arguments for `_generic` constructors.
 ); // Arguments for non-generic constructors.
 
@@ -139,8 +141,8 @@ impl_constructors!(Dynamic, Dynamic;
                    nrows, ncols);
 
 /// # Creating mutable matrix slices from `&mut [T]`
-impl<'a, N: Scalar, R: Dim, C: Dim, RStride: Dim, CStride: Dim>
+impl<'a, T: Scalar, R: Dim, C: Dim, RStride: Dim, CStride: Dim>
-    MatrixSliceMutMN<'a, N, R, C, RStride, CStride>
+    MatrixSliceMutMN<'a, T, R, C, RStride, CStride>
 {
     /// Creates, without bound-checking, a mutable matrix slice from an array and with dimensions and strides specified by generic types instances.
     ///
@@ -148,7 +150,7 @@ impl<'a, N: Scalar, R: Dim, C: Dim, RStride: Dim, CStride: Dim>
     /// The generic types `R`, `C`, `RStride`, `CStride` can either be type-level integers or integers wrapped with `Dynamic::new()`.
     #[inline]
     pub unsafe fn from_slice_with_strides_generic_unchecked(
-        data: &'a mut [N],
+        data: &'a mut [T],
         start: usize,
         nrows: R,
         ncols: C,
@@ -169,7 +171,7 @@ impl<'a, N: Scalar, R: Dim, C: Dim, RStride: Dim, CStride: Dim>
     /// The generic types `R`, `C`, `RStride`, `CStride` can either be type-level integers or integers wrapped with `Dynamic::new()`.
     #[inline]
     pub fn from_slice_with_strides_generic(
-        data: &'a mut [N],
+        data: &'a mut [T],
         nrows: R,
         ncols: C,
         rstride: RStride,
@@ -212,19 +214,21 @@ impl<'a, N: Scalar, R: Dim, C: Dim, RStride: Dim, CStride: Dim>
     }
 }
 
-impl<'a, N: Scalar, R: Dim, C: Dim> MatrixSliceMutMN<'a, N, R, C> {
+impl<'a, T: Scalar, R: Dim, C: Dim> MatrixSliceMutMN<'a, T, R, C> {
     /// Creates, without bound-checking, a mutable matrix slice from an array and with dimensions specified by generic types instances.
     ///
     /// This method is unsafe because the input data array is not checked to contain enough elements.
     /// The generic types `R` and `C` can either be type-level integers or integers wrapped with `Dynamic::new()`.
     #[inline]
     pub unsafe fn from_slice_generic_unchecked(
-        data: &'a mut [N],
+        data: &'a mut [T],
         start: usize,
         nrows: R,
         ncols: C,
     ) -> Self {
-        Self::from_slice_with_strides_generic_unchecked(data, start, nrows, ncols, U1, nrows)
+        Self::from_slice_with_strides_generic_unchecked(
+            data, start, nrows, ncols, Const::<1>, nrows,
+        )
     }
 
     /// Creates a mutable matrix slice from an array and with dimensions and strides specified by generic types instances.
@@ -232,42 +236,42 @@ impl<'a, N: Scalar, R: Dim, C: Dim> MatrixSliceMutMN<'a, N, R, C> {
     /// Panics if the input data array dose not contain enough elements.
     /// The generic types `R` and `C` can either be type-level integers or integers wrapped with `Dynamic::new()`.
     #[inline]
-    pub fn from_slice_generic(data: &'a mut [N], nrows: R, ncols: C) -> Self {
+    pub fn from_slice_generic(data: &'a mut [T], nrows: R, ncols: C) -> Self {
-        Self::from_slice_with_strides_generic(data, nrows, ncols, U1, nrows)
+        Self::from_slice_with_strides_generic(data, nrows, ncols, Const::<1>, nrows)
     }
 }
 
 macro_rules! impl_constructors_mut(
     ($($Dims: ty),*; $(=> $DimIdent: ident: $DimBound: ident),*; $($gargs: expr),*; $($args: ident),*) => {
-        impl<'a, N: Scalar, $($DimIdent: $DimBound),*> MatrixSliceMutMN<'a, N, $($Dims),*> {
+        impl<'a, T: Scalar, $($DimIdent: $DimBound),*> MatrixSliceMutMN<'a, T, $($Dims),*> {
             /// Creates a new mutable matrix slice from the given data array.
             ///
             /// Panics if `data` does not contain enough elements.
             #[inline]
-            pub fn from_slice(data: &'a mut [N], $($args: usize),*) -> Self {
+            pub fn from_slice(data: &'a mut [T], $($args: usize),*) -> Self {
                 Self::from_slice_generic(data, $($gargs),*)
             }
 
             /// Creates, without bound checking, a new mutable matrix slice from the given data array.
             #[inline]
-            pub unsafe fn from_slice_unchecked(data: &'a mut [N], start: usize, $($args: usize),*) -> Self {
+            pub unsafe fn from_slice_unchecked(data: &'a mut [T], start: usize, $($args: usize),*) -> Self {
                 Self::from_slice_generic_unchecked(data, start, $($gargs),*)
             }
         }
 
-        impl<'a, N: Scalar, $($DimIdent: $DimBound, )*> MatrixSliceMutMN<'a, N, $($Dims,)* Dynamic, Dynamic> {
+        impl<'a, T: Scalar, $($DimIdent: $DimBound, )*> MatrixSliceMutMN<'a, T, $($Dims,)* Dynamic, Dynamic> {
             /// Creates a new mutable matrix slice with the specified strides from the given data array.
             ///
             /// Panics if `data` does not contain enough elements.
             #[inline]
-            pub fn from_slice_with_strides_mut(data: &'a mut [N], $($args: usize,)* rstride: usize, cstride: usize) -> Self {
+            pub fn from_slice_with_strides_mut(data: &'a mut [T], $($args: usize,)* rstride: usize, cstride: usize) -> Self {
                 Self::from_slice_with_strides_generic(
                     data, $($gargs,)* Dynamic::new(rstride), Dynamic::new(cstride))
             }
 
             /// Creates, without bound checking, a new mutable matrix slice with the specified strides from the given data array.
             #[inline]
-            pub unsafe fn from_slice_with_strides_unchecked(data: &'a mut [N], start: usize, $($args: usize,)* rstride: usize, cstride: usize) -> Self {
+            pub unsafe fn from_slice_with_strides_unchecked(data: &'a mut [T], start: usize, $($args: usize,)* rstride: usize, cstride: usize) -> Self {
                 Self::from_slice_with_strides_generic_unchecked(
                     data, start, $($gargs,)* Dynamic::new(rstride), Dynamic::new(cstride))
             }
@@ -276,8 +280,8 @@ macro_rules! impl_constructors_mut(
 );
 
 // TODO: this is not very pretty. We could find a better call syntax.
-impl_constructors_mut!(R, C;                         // Arguments for Matrix<N, ..., S>
+impl_constructors_mut!(R, C;                         // Arguments for Matrix<T, ..., S>
-=> R: DimName, => C: DimName; // Type parameters for impl<N, ..., S>
+=> R: DimName, => C: DimName; // Type parameters for impl<T, ..., S>
 R::name(), C::name();         // Arguments for `_generic` constructors.
 ); // Arguments for non-generic constructors.
 

src/base/conversion.rs

@@ -5,10 +5,6 @@ use std::convert::{AsMut, AsRef, From, Into};
 use std::mem;
 use std::ptr;
 
-use generic_array::ArrayLength;
-use std::ops::Mul;
-use typenum::Prod;
-
 use simba::simd::{PrimitiveSimdValue, SimdValue};
 
 use crate::base::allocator::{Allocator, SameShapeAllocator};
@@ -16,13 +12,13 @@ use crate::base::constraint::{SameNumberOfColumns, SameNumberOfRows, ShapeConstr
 #[cfg(any(feature = "std", feature = "alloc"))]
 use crate::base::dimension::Dynamic;
 use crate::base::dimension::{
-    Dim, DimName, U1, U10, U11, U12, U13, U14, U15, U16, U2, U3, U4, U5, U6, U7, U8, U9,
+    Const, Dim, DimName, U1, U10, U11, U12, U13, U14, U15, U16, U2, U3, U4, U5, U6, U7, U8, U9,
 };
 use crate::base::iter::{MatrixIter, MatrixIterMut};
 use crate::base::storage::{ContiguousStorage, ContiguousStorageMut, Storage, StorageMut};
 use crate::base::{
-    ArrayStorage, DVectorSlice, DVectorSliceMut, DefaultAllocator, Matrix, MatrixMN, MatrixSlice,
+    ArrayStorage, DVectorSlice, DVectorSliceMut, DefaultAllocator, Matrix, MatrixSlice,
-    MatrixSliceMut, Scalar,
+    MatrixSliceMut, OMatrix, Scalar,
 };
 #[cfg(any(feature = "std", feature = "alloc"))]
 use crate::base::{DVector, VecStorage};
@@ -30,30 +26,30 @@ use crate::base::{SliceStorage, SliceStorageMut};
 use crate::constraint::DimEq;
 
 // TODO: too bad this won't work allo slice conversions.
-impl<N1, N2, R1, C1, R2, C2> SubsetOf<MatrixMN<N2, R2, C2>> for MatrixMN<N1, R1, C1>
+impl<T1, T2, R1, C1, R2, C2> SubsetOf<OMatrix<T2, R2, C2>> for OMatrix<T1, R1, C1>
 where
     R1: Dim,
     C1: Dim,
     R2: Dim,
     C2: Dim,
-    N1: Scalar,
+    T1: Scalar,
-    N2: Scalar + SupersetOf<N1>,
+    T2: Scalar + SupersetOf<T1>,
     DefaultAllocator:
-        Allocator<N2, R2, C2> + Allocator<N1, R1, C1> + SameShapeAllocator<N1, R1, C1, R2, C2>,
+        Allocator<T2, R2, C2> + Allocator<T1, R1, C1> + SameShapeAllocator<T1, R1, C1, R2, C2>,
     ShapeConstraint: SameNumberOfRows<R1, R2> + SameNumberOfColumns<C1, C2>,
 {
     #[inline]
-    fn to_superset(&self) -> MatrixMN<N2, R2, C2> {
+    fn to_superset(&self) -> OMatrix<T2, R2, C2> {
         let (nrows, ncols) = self.shape();
         let nrows2 = R2::from_usize(nrows);
         let ncols2 = C2::from_usize(ncols);
 
-        let mut res: MatrixMN<N2, R2, C2> =
+        let mut res: OMatrix<T2, R2, C2> =
             unsafe { crate::unimplemented_or_uninitialized_generic!(nrows2, ncols2) };
         for i in 0..nrows {
             for j in 0..ncols {
                 unsafe {
-                    *res.get_unchecked_mut((i, j)) = N2::from_subset(self.get_unchecked((i, j)))
+                    *res.get_unchecked_mut((i, j)) = T2::from_subset(self.get_unchecked((i, j)))
                 }
             }
         }
@@ -62,12 +58,12 @@ where
     }
 
     #[inline]
-    fn is_in_subset(m: &MatrixMN<N2, R2, C2>) -> bool {
+    fn is_in_subset(m: &OMatrix<T2, R2, C2>) -> bool {
         m.iter().all(|e| e.is_in_subset())
     }
 
     #[inline]
-    fn from_superset_unchecked(m: &MatrixMN<N2, R2, C2>) -> Self {
+    fn from_superset_unchecked(m: &OMatrix<T2, R2, C2>) -> Self {
         let (nrows2, ncols2) = m.shape();
         let nrows = R1::from_usize(nrows2);
         let ncols = C1::from_usize(ncols2);
@@ -85,9 +81,9 @@ where
     }
 }
 
-impl<'a, N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> IntoIterator for &'a Matrix<N, R, C, S> {
+impl<'a, T: Scalar, R: Dim, C: Dim, S: Storage<T, R, C>> IntoIterator for &'a Matrix<T, R, C, S> {
-    type Item = &'a N;
+    type Item = &'a T;
-    type IntoIter = MatrixIter<'a, N, R, C, S>;
+    type IntoIter = MatrixIter<'a, T, R, C, S>;
 
     #[inline]
     fn into_iter(self) -> Self::IntoIter {
@@ -95,11 +91,11 @@ impl<'a, N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> IntoIterator for &'a Ma
     }
 }
 
-impl<'a, N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> IntoIterator
+impl<'a, T: Scalar, R: Dim, C: Dim, S: StorageMut<T, R, C>> IntoIterator
-    for &'a mut Matrix<N, R, C, S>
+    for &'a mut Matrix<T, R, C, S>
 {
-    type Item = &'a mut N;
+    type Item = &'a mut T;
-    type IntoIter = MatrixIterMut<'a, N, R, C, S>;
+    type IntoIter = MatrixIterMut<'a, T, R, C, S>;
 
     #[inline]
     fn into_iter(self) -> Self::IntoIter {
@@ -109,11 +105,11 @@ impl<'a, N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> IntoIterator
 
 macro_rules! impl_from_into_asref_1D(
     ($(($NRows: ident, $NCols: ident) => $SZ: expr);* $(;)*) => {$(
-        impl<N> From<[N; $SZ]> for MatrixMN<N, $NRows, $NCols>
+        impl<T> From<[T; $SZ]> for OMatrix<T, $NRows, $NCols>
-        where N: Scalar,
+        where T: Scalar,
-              DefaultAllocator: Allocator<N, $NRows, $NCols> {
+              DefaultAllocator: Allocator<T, $NRows, $NCols> {
             #[inline]
-            fn from(arr: [N; $SZ]) -> Self {
+            fn from(arr: [T; $SZ]) -> Self {
                 unsafe {
                     let mut res = Self::new_uninitialized();
                     ptr::copy_nonoverlapping(&arr[0], (*res.as_mut_ptr()).data.ptr_mut(), $SZ);
@@ -123,35 +119,35 @@ macro_rules! impl_from_into_asref_1D(
             }
         }
 
-        impl<N, S> Into<[N; $SZ]> for Matrix<N, $NRows, $NCols, S>
+        impl<T, S> Into<[T; $SZ]> for Matrix<T, $NRows, $NCols, S>
-        where N: Scalar,
+        where T: Scalar,
-              S: ContiguousStorage<N, $NRows, $NCols> {
+              S: ContiguousStorage<T, $NRows, $NCols> {
             #[inline]
-            fn into(self) -> [N; $SZ] {
+            fn into(self) -> [T; $SZ] {
-                let mut res = mem::MaybeUninit::<[N; $SZ]>::uninit();
+                let mut res = mem::MaybeUninit::<[T; $SZ]>::uninit();
 
-                unsafe { ptr::copy_nonoverlapping(self.data.ptr(), res.as_mut_ptr() as *mut N, $SZ) };
+                unsafe { ptr::copy_nonoverlapping(self.data.ptr(), res.as_mut_ptr() as *mut T, $SZ) };
 
                 unsafe { res.assume_init() }
             }
         }
 
-        impl<N, S> AsRef<[N; $SZ]> for Matrix<N, $NRows, $NCols, S>
+        impl<T, S> AsRef<[T; $SZ]> for Matrix<T, $NRows, $NCols, S>
-        where N: Scalar,
+        where T: Scalar,
-              S: ContiguousStorage<N, $NRows, $NCols> {
+              S: ContiguousStorage<T, $NRows, $NCols> {
             #[inline]
-            fn as_ref(&self) -> &[N; $SZ] {
+            fn as_ref(&self) -> &[T; $SZ] {
                 unsafe {
                     mem::transmute(self.data.ptr())
                 }
             }
         }
 
-        impl<N, S> AsMut<[N; $SZ]> for Matrix<N, $NRows, $NCols, S>
+        impl<T, S> AsMut<[T; $SZ]> for Matrix<T, $NRows, $NCols, S>
-        where N: Scalar,
+        where T: Scalar,
-              S: ContiguousStorageMut<N, $NRows, $NCols> {
+              S: ContiguousStorageMut<T, $NRows, $NCols> {
             #[inline]
-            fn as_mut(&mut self) -> &mut [N; $SZ] {
+            fn as_mut(&mut self) -> &mut [T; $SZ] {
                 unsafe {
                     mem::transmute(self.data.ptr_mut())
                 }
@@ -177,10 +173,10 @@ impl_from_into_asref_1D!(
 
 macro_rules! impl_from_into_asref_2D(
     ($(($NRows: ty, $NCols: ty) => ($SZRows: expr, $SZCols: expr));* $(;)*) => {$(
-        impl<N: Scalar> From<[[N; $SZRows]; $SZCols]> for MatrixMN<N, $NRows, $NCols>
+        impl<T: Scalar> From<[[T; $SZRows]; $SZCols]> for OMatrix<T, $NRows, $NCols>
-        where DefaultAllocator: Allocator<N, $NRows, $NCols> {
+        where DefaultAllocator: Allocator<T, $NRows, $NCols> {
             #[inline]
-            fn from(arr: [[N; $SZRows]; $SZCols]) -> Self {
+            fn from(arr: [[T; $SZRows]; $SZCols]) -> Self {
                 unsafe {
                     let mut res = Self::new_uninitialized();
                     ptr::copy_nonoverlapping(&arr[0][0], (*res.as_mut_ptr()).data.ptr_mut(), $SZRows * $SZCols);
@@ -190,32 +186,32 @@ macro_rules! impl_from_into_asref_2D(
             }
         }
 
-        impl<N: Scalar, S> Into<[[N; $SZRows]; $SZCols]> for Matrix<N, $NRows, $NCols, S>
+        impl<T: Scalar, S> Into<[[T; $SZRows]; $SZCols]> for Matrix<T, $NRows, $NCols, S>
-        where S: ContiguousStorage<N, $NRows, $NCols> {
+        where S: ContiguousStorage<T, $NRows, $NCols> {
             #[inline]
-            fn into(self) -> [[N; $SZRows]; $SZCols] {
+            fn into(self) -> [[T; $SZRows]; $SZCols] {
-                let mut res = mem::MaybeUninit::<[[N; $SZRows]; $SZCols]>::uninit();
+                let mut res = mem::MaybeUninit::<[[T; $SZRows]; $SZCols]>::uninit();
 
-                unsafe { ptr::copy_nonoverlapping(self.data.ptr(), res.as_mut_ptr() as *mut N, $SZRows * $SZCols) };
+                unsafe { ptr::copy_nonoverlapping(self.data.ptr(), res.as_mut_ptr() as *mut T, $SZRows * $SZCols) };
 
                 unsafe { res.assume_init() }
             }
         }
 
-        impl<N: Scalar, S> AsRef<[[N; $SZRows]; $SZCols]> for Matrix<N, $NRows, $NCols, S>
+        impl<T: Scalar, S> AsRef<[[T; $SZRows]; $SZCols]> for Matrix<T, $NRows, $NCols, S>
-        where S: ContiguousStorage<N, $NRows, $NCols> {
+        where S: ContiguousStorage<T, $NRows, $NCols> {
             #[inline]
-            fn as_ref(&self) -> &[[N; $SZRows]; $SZCols] {
+            fn as_ref(&self) -> &[[T; $SZRows]; $SZCols] {
                 unsafe {
                     mem::transmute(self.data.ptr())
                 }
             }
         }
 
-        impl<N: Scalar, S> AsMut<[[N; $SZRows]; $SZCols]> for Matrix<N, $NRows, $NCols, S>
+        impl<T: Scalar, S> AsMut<[[T; $SZRows]; $SZCols]> for Matrix<T, $NRows, $NCols, S>
-        where S: ContiguousStorageMut<N, $NRows, $NCols> {
+        where S: ContiguousStorageMut<T, $NRows, $NCols> {
             #[inline]
-            fn as_mut(&mut self) -> &mut [[N; $SZRows]; $SZCols] {
+            fn as_mut(&mut self) -> &mut [[T; $SZRows]; $SZCols] {
                 unsafe {
                     mem::transmute(self.data.ptr_mut())
                 }
@@ -233,111 +229,105 @@ impl_from_into_asref_2D!(
     (U6, U2) => (6, 2); (U6, U3) => (6, 3); (U6, U4) => (6, 4); (U6, U5) => (6, 5); (U6, U6) => (6, 6);
 );
 
-impl<'a, N, R, C, RStride, CStride> From<MatrixSlice<'a, N, R, C, RStride, CStride>>
+impl<'a, T, RStride, CStride, const R: usize, const C: usize>
-    for Matrix<N, R, C, ArrayStorage<N, R, C>>
+    From<MatrixSlice<'a, T, Const<R>, Const<C>, RStride, CStride>>
+    for Matrix<T, Const<R>, Const<C>, ArrayStorage<T, R, C>>
 where
-    N: Scalar,
+    T: Scalar,
-    R: DimName,
-    C: DimName,
     RStride: Dim,
     CStride: Dim,
-    R::Value: Mul<C::Value>,
-    Prod<R::Value, C::Value>: ArrayLength<N>,
 {
-    fn from(matrix_slice: MatrixSlice<'a, N, R, C, RStride, CStride>) -> Self {
+    fn from(matrix_slice: MatrixSlice<'a, T, Const<R>, Const<C>, RStride, CStride>) -> Self {
         matrix_slice.into_owned()
     }
 }
 
 #[cfg(any(feature = "std", feature = "alloc"))]
-impl<'a, N, C, RStride, CStride> From<MatrixSlice<'a, N, Dynamic, C, RStride, CStride>>
+impl<'a, T, C, RStride, CStride> From<MatrixSlice<'a, T, Dynamic, C, RStride, CStride>>
-    for Matrix<N, Dynamic, C, VecStorage<N, Dynamic, C>>
+    for Matrix<T, Dynamic, C, VecStorage<T, Dynamic, C>>
 where
-    N: Scalar,
+    T: Scalar,
     C: Dim,
     RStride: Dim,
     CStride: Dim,
 {
-    fn from(matrix_slice: MatrixSlice<'a, N, Dynamic, C, RStride, CStride>) -> Self {
+    fn from(matrix_slice: MatrixSlice<'a, T, Dynamic, C, RStride, CStride>) -> Self {
         matrix_slice.into_owned()
     }
 }
 
 #[cfg(any(feature = "std", feature = "alloc"))]
-impl<'a, N, R, RStride, CStride> From<MatrixSlice<'a, N, R, Dynamic, RStride, CStride>>
+impl<'a, T, R, RStride, CStride> From<MatrixSlice<'a, T, R, Dynamic, RStride, CStride>>
-    for Matrix<N, R, Dynamic, VecStorage<N, R, Dynamic>>
+    for Matrix<T, R, Dynamic, VecStorage<T, R, Dynamic>>
 where
-    N: Scalar,
+    T: Scalar,
     R: DimName,
     RStride: Dim,
     CStride: Dim,
 {
-    fn from(matrix_slice: MatrixSlice<'a, N, R, Dynamic, RStride, CStride>) -> Self {
+    fn from(matrix_slice: MatrixSlice<'a, T, R, Dynamic, RStride, CStride>) -> Self {
         matrix_slice.into_owned()
     }
 }
 
-impl<'a, N, R, C, RStride, CStride> From<MatrixSliceMut<'a, N, R, C, RStride, CStride>>
+impl<'a, T, RStride, CStride, const R: usize, const C: usize>
-    for Matrix<N, R, C, ArrayStorage<N, R, C>>
+    From<MatrixSliceMut<'a, T, Const<R>, Const<C>, RStride, CStride>>
+    for Matrix<T, Const<R>, Const<C>, ArrayStorage<T, R, C>>
 where
-    N: Scalar,
+    T: Scalar,
-    R: DimName,
-    C: DimName,
     RStride: Dim,
     CStride: Dim,
-    R::Value: Mul<C::Value>,
-    Prod<R::Value, C::Value>: ArrayLength<N>,
 {
-    fn from(matrix_slice: MatrixSliceMut<'a, N, R, C, RStride, CStride>) -> Self {
+    fn from(matrix_slice: MatrixSliceMut<'a, T, Const<R>, Const<C>, RStride, CStride>) -> Self {
         matrix_slice.into_owned()
     }
 }
 
 #[cfg(any(feature = "std", feature = "alloc"))]
-impl<'a, N, C, RStride, CStride> From<MatrixSliceMut<'a, N, Dynamic, C, RStride, CStride>>
+impl<'a, T, C, RStride, CStride> From<MatrixSliceMut<'a, T, Dynamic, C, RStride, CStride>>
-    for Matrix<N, Dynamic, C, VecStorage<N, Dynamic, C>>
+    for Matrix<T, Dynamic, C, VecStorage<T, Dynamic, C>>
 where
-    N: Scalar,
+    T: Scalar,
     C: Dim,
     RStride: Dim,
     CStride: Dim,
 {
-    fn from(matrix_slice: MatrixSliceMut<'a, N, Dynamic, C, RStride, CStride>) -> Self {
+    fn from(matrix_slice: MatrixSliceMut<'a, T, Dynamic, C, RStride, CStride>) -> Self {
         matrix_slice.into_owned()
     }
 }
 
 #[cfg(any(feature = "std", feature = "alloc"))]
-impl<'a, N, R, RStride, CStride> From<MatrixSliceMut<'a, N, R, Dynamic, RStride, CStride>>
+impl<'a, T, R, RStride, CStride> From<MatrixSliceMut<'a, T, R, Dynamic, RStride, CStride>>
-    for Matrix<N, R, Dynamic, VecStorage<N, R, Dynamic>>
+    for Matrix<T, R, Dynamic, VecStorage<T, R, Dynamic>>
 where
-    N: Scalar,
+    T: Scalar,
     R: DimName,
     RStride: Dim,
     CStride: Dim,
 {
-    fn from(matrix_slice: MatrixSliceMut<'a, N, R, Dynamic, RStride, CStride>) -> Self {
+    fn from(matrix_slice: MatrixSliceMut<'a, T, R, Dynamic, RStride, CStride>) -> Self {
         matrix_slice.into_owned()
     }
 }
 
-impl<'a, N, R, C, RSlice, CSlice, RStride, CStride, S> From<&'a Matrix<N, R, C, S>>
+impl<'a, T, R, C, RSlice, CSlice, RStride, CStride, S> From<&'a Matrix<T, R, C, S>>
-    for MatrixSlice<'a, N, RSlice, CSlice, RStride, CStride>
+    for MatrixSlice<'a, T, RSlice, CSlice, RStride, CStride>
 where
-    N: Scalar,
+    T: Scalar,
     R: Dim,
     C: Dim,
     RSlice: Dim,
     CSlice: Dim,
     RStride: Dim,
     CStride: Dim,
-    S: Storage<N, R, C>,
+    S: Storage<T, R, C>,
     ShapeConstraint: DimEq<R, RSlice>
         + DimEq<C, CSlice>
         + DimEq<RStride, S::RStride>
         + DimEq<CStride, S::CStride>,
 {
-    fn from(m: &'a Matrix<N, R, C, S>) -> Self {
+    fn from(m: &'a Matrix<T, R, C, S>) -> Self {
         let (row, col) = m.data.shape();
         let row_slice = RSlice::from_usize(row.value());
         let col_slice = CSlice::from_usize(col.value());
@@ -358,23 +348,23 @@ where
     }
 }
 
-impl<'a, N, R, C, RSlice, CSlice, RStride, CStride, S> From<&'a mut Matrix<N, R, C, S>>
+impl<'a, T, R, C, RSlice, CSlice, RStride, CStride, S> From<&'a mut Matrix<T, R, C, S>>
-    for MatrixSlice<'a, N, RSlice, CSlice, RStride, CStride>
+    for MatrixSlice<'a, T, RSlice, CSlice, RStride, CStride>
 where
-    N: Scalar,
+    T: Scalar,
     R: Dim,
     C: Dim,
     RSlice: Dim,
     CSlice: Dim,
     RStride: Dim,
     CStride: Dim,
-    S: Storage<N, R, C>,
+    S: Storage<T, R, C>,
     ShapeConstraint: DimEq<R, RSlice>
         + DimEq<C, CSlice>
         + DimEq<RStride, S::RStride>
         + DimEq<CStride, S::CStride>,
 {
-    fn from(m: &'a mut Matrix<N, R, C, S>) -> Self {
+    fn from(m: &'a mut Matrix<T, R, C, S>) -> Self {
         let (row, col) = m.data.shape();
         let row_slice = RSlice::from_usize(row.value());
         let col_slice = CSlice::from_usize(col.value());
@@ -395,23 +385,23 @@ where
     }
 }
 
-impl<'a, N, R, C, RSlice, CSlice, RStride, CStride, S> From<&'a mut Matrix<N, R, C, S>>
+impl<'a, T, R, C, RSlice, CSlice, RStride, CStride, S> From<&'a mut Matrix<T, R, C, S>>
-    for MatrixSliceMut<'a, N, RSlice, CSlice, RStride, CStride>
+    for MatrixSliceMut<'a, T, RSlice, CSlice, RStride, CStride>
 where
-    N: Scalar,
+    T: Scalar,
     R: Dim,
     C: Dim,
     RSlice: Dim,
     CSlice: Dim,
     RStride: Dim,
     CStride: Dim,
-    S: StorageMut<N, R, C>,
+    S: StorageMut<T, R, C>,
     ShapeConstraint: DimEq<R, RSlice>
         + DimEq<C, CSlice>
         + DimEq<RStride, S::RStride>
         + DimEq<CStride, S::CStride>,
 {
-    fn from(m: &'a mut Matrix<N, R, C, S>) -> Self {
+    fn from(m: &'a mut Matrix<T, R, C, S>) -> Self {
         let (row, col) = m.data.shape();
         let row_slice = RSlice::from_usize(row.value());
         let col_slice = CSlice::from_usize(col.value());
@@ -433,54 +423,54 @@ where
 }
 
 #[cfg(any(feature = "std", feature = "alloc"))]
-impl<'a, N: Scalar> From<Vec<N>> for DVector<N> {
+impl<'a, T: Scalar> From<Vec<T>> for DVector<T> {
     #[inline]
-    fn from(vec: Vec<N>) -> Self {
+    fn from(vec: Vec<T>) -> Self {
         Self::from_vec(vec)
     }
 }
 
-impl<'a, N: Scalar + Copy, R: Dim, C: Dim, S: ContiguousStorage<N, R, C>> Into<&'a [N]>
+impl<'a, T: Scalar + Copy, R: Dim, C: Dim, S: ContiguousStorage<T, R, C>> Into<&'a [T]>
-    for &'a Matrix<N, R, C, S>
+    for &'a Matrix<T, R, C, S>
 {
     #[inline]
-    fn into(self) -> &'a [N] {
+    fn into(self) -> &'a [T] {
         self.as_slice()
     }
 }
 
-impl<'a, N: Scalar + Copy, R: Dim, C: Dim, S: ContiguousStorageMut<N, R, C>> Into<&'a mut [N]>
+impl<'a, T: Scalar + Copy, R: Dim, C: Dim, S: ContiguousStorageMut<T, R, C>> Into<&'a mut [T]>
-    for &'a mut Matrix<N, R, C, S>
+    for &'a mut Matrix<T, R, C, S>
 {
     #[inline]
-    fn into(self) -> &'a mut [N] {
+    fn into(self) -> &'a mut [T] {
         self.as_mut_slice()
     }
 }
 
-impl<'a, N: Scalar + Copy> From<&'a [N]> for DVectorSlice<'a, N> {
+impl<'a, T: Scalar + Copy> From<&'a [T]> for DVectorSlice<'a, T> {
     #[inline]
-    fn from(slice: &'a [N]) -> Self {
+    fn from(slice: &'a [T]) -> Self {
         Self::from_slice(slice, slice.len())
     }
 }
 
-impl<'a, N: Scalar + Copy> From<&'a mut [N]> for DVectorSliceMut<'a, N> {
+impl<'a, T: Scalar + Copy> From<&'a mut [T]> for DVectorSliceMut<'a, T> {
     #[inline]
-    fn from(slice: &'a mut [N]) -> Self {
+    fn from(slice: &'a mut [T]) -> Self {
         Self::from_slice(slice, slice.len())
     }
 }
 
-impl<N: Scalar + PrimitiveSimdValue, R: Dim, C: Dim> From<[MatrixMN<N::Element, R, C>; 2]>
+impl<T: Scalar + PrimitiveSimdValue, R: Dim, C: Dim> From<[OMatrix<T::Element, R, C>; 2]>
-    for MatrixMN<N, R, C>
+    for OMatrix<T, R, C>
 where
-    N: From<[<N as SimdValue>::Element; 2]>,
+    T: From<[<T as SimdValue>::Element; 2]>,
-    N::Element: Scalar + SimdValue,
+    T::Element: Scalar + SimdValue,
-    DefaultAllocator: Allocator<N, R, C> + Allocator<N::Element, R, C>,
+    DefaultAllocator: Allocator<T, R, C> + Allocator<T::Element, R, C>,
 {
     #[inline]
-    fn from(arr: [MatrixMN<N::Element, R, C>; 2]) -> Self {
+    fn from(arr: [OMatrix<T::Element, R, C>; 2]) -> Self {
         let (nrows, ncols) = arr[0].data.shape();
 
         Self::from_fn_generic(nrows, ncols, |i, j| {
@@ -493,15 +483,15 @@ where
     }
 }
 
-impl<N: Scalar + PrimitiveSimdValue, R: Dim, C: Dim> From<[MatrixMN<N::Element, R, C>; 4]>
+impl<T: Scalar + PrimitiveSimdValue, R: Dim, C: Dim> From<[OMatrix<T::Element, R, C>; 4]>
-    for MatrixMN<N, R, C>
+    for OMatrix<T, R, C>
 where
-    N: From<[<N as SimdValue>::Element; 4]>,
+    T: From<[<T as SimdValue>::Element; 4]>,
-    N::Element: Scalar + SimdValue,
+    T::Element: Scalar + SimdValue,
-    DefaultAllocator: Allocator<N, R, C> + Allocator<N::Element, R, C>,
+    DefaultAllocator: Allocator<T, R, C> + Allocator<T::Element, R, C>,
 {
     #[inline]
-    fn from(arr: [MatrixMN<N::Element, R, C>; 4]) -> Self {
+    fn from(arr: [OMatrix<T::Element, R, C>; 4]) -> Self {
         let (nrows, ncols) = arr[0].data.shape();
 
         Self::from_fn_generic(nrows, ncols, |i, j| {
@@ -516,15 +506,15 @@ where
     }
 }
 
-impl<N: Scalar + PrimitiveSimdValue, R: Dim, C: Dim> From<[MatrixMN<N::Element, R, C>; 8]>
+impl<T: Scalar + PrimitiveSimdValue, R: Dim, C: Dim> From<[OMatrix<T::Element, R, C>; 8]>
-    for MatrixMN<N, R, C>
+    for OMatrix<T, R, C>
 where
-    N: From<[<N as SimdValue>::Element; 8]>,
+    T: From<[<T as SimdValue>::Element; 8]>,
-    N::Element: Scalar + SimdValue,
+    T::Element: Scalar + SimdValue,
-    DefaultAllocator: Allocator<N, R, C> + Allocator<N::Element, R, C>,
+    DefaultAllocator: Allocator<T, R, C> + Allocator<T::Element, R, C>,
 {
     #[inline]
-    fn from(arr: [MatrixMN<N::Element, R, C>; 8]) -> Self {
+    fn from(arr: [OMatrix<T::Element, R, C>; 8]) -> Self {
         let (nrows, ncols) = arr[0].data.shape();
 
         Self::from_fn_generic(nrows, ncols, |i, j| {
@@ -543,14 +533,14 @@ where
     }
 }
 
-impl<N: Scalar + PrimitiveSimdValue, R: Dim, C: Dim> From<[MatrixMN<N::Element, R, C>; 16]>
+impl<T: Scalar + PrimitiveSimdValue, R: Dim, C: Dim> From<[OMatrix<T::Element, R, C>; 16]>
-    for MatrixMN<N, R, C>
+    for OMatrix<T, R, C>
 where
-    N: From<[<N as SimdValue>::Element; 16]>,
+    T: From<[<T as SimdValue>::Element; 16]>,
-    N::Element: Scalar + SimdValue,
+    T::Element: Scalar + SimdValue,
-    DefaultAllocator: Allocator<N, R, C> + Allocator<N::Element, R, C>,
+    DefaultAllocator: Allocator<T, R, C> + Allocator<T::Element, R, C>,
 {
-    fn from(arr: [MatrixMN<N::Element, R, C>; 16]) -> Self {
+    fn from(arr: [OMatrix<T::Element, R, C>; 16]) -> Self {
         let (nrows, ncols) = arr[0].data.shape();
 
         Self::from_fn_generic(nrows, ncols, |i, j| {