HTTPS All The Things (#608)
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CHANGELOG.md
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CHANGELOG.md
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All notable changes to `nalgebra`, starting with the version 0.6.0 will be
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All notable changes to `nalgebra`, starting with the version 0.6.0 will be
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documented here.
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documented here.
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This project adheres to [Semantic Versioning](http://semver.org/).
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This project adheres to [Semantic Versioning](https://semver.org/).
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## [0.18.0]
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## [0.18.0]
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This release adds full complex number support to nalgebra. This includes all common vector/matrix operations as well
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This release adds full complex number support to nalgebra. This includes all common vector/matrix operations as well
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@ -111,7 +111,7 @@ All dependencies have been updated to their latest versions.
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## [0.15.0]
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## [0.15.0]
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The most notable change of this release is the support for using part of the library without the rust standard
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The most notable change of this release is the support for using part of the library without the rust standard
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library (i.e. it supports `#![no_std]`). See the corresponding [documentation](http://nalgebra.org/wasm_and_embedded_programming/).
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library (i.e. it supports `#![no_std]`). See the corresponding [documentation](https://nalgebra.org/wasm_and_embedded_programming/).
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### Modified
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### Modified
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* Rename the `core` module to `base` to avoid conflicts with the `core` crate implicitly imported when
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* Rename the `core` module to `base` to avoid conflicts with the `core` crate implicitly imported when
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`#![no_std]` is enabled.
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`#![no_std]` is enabled.
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@ -276,7 +276,7 @@ The main change of this release is the update of the dependency serde to 1.0.
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elements.)
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elements.)
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## [0.11.0]
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## [0.11.0]
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The [website](http://nalgebra.org) has been fully rewritten and gives a good
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The [website](https://nalgebra.org) has been fully rewritten and gives a good
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overview of all the added/modified features.
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overview of all the added/modified features.
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This version is a major rewrite of the library. Major changes are:
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This version is a major rewrite of the library. Major changes are:
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@ -298,9 +298,9 @@ This version is a major rewrite of the library. Major changes are:
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### Added
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### Added
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Lots of features including rectangular matrices, slices, and Serde
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Lots of features including rectangular matrices, slices, and Serde
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serialization. Refer to the brand new [website](http://nalgebra.org) for more
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serialization. Refer to the brand new [website](https://nalgebra.org) for more
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details. The following free-functions have been added as well:
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details. The following free-functions have been added as well:
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* `::id()` that returns the universal [identity element](http://nalgebra.org/performance_tricks/#the-id-type)
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* `::id()` that returns the universal [identity element](https://nalgebra.org/performance_tricks/#the-id-type)
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of type `Id`.
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of type `Id`.
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* `::inf_sup()` that returns both the infimum and supremum of a value at the
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* `::inf_sup()` that returns both the infimum and supremum of a value at the
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same time.
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same time.
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@ -459,7 +459,7 @@ crate for vectors, rotations and points. To enable them, activate the
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## [0.6.0]
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## [0.6.0]
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**Announcement:** a users forum has been created for `nalgebra`, `ncollide`, and `nphysics`. See
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**Announcement:** a users forum has been created for `nalgebra`, `ncollide`, and `nphysics`. See
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you [there](http://users.nphysics.org)!
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you [there](https://users.nphysics.org)!
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### Added
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### Added
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* Added a dependency to [generic-array](https://crates.io/crates/generic-array). Feature-gated:
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* Added a dependency to [generic-array](https://crates.io/crates/generic-array). Feature-gated:
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authors = [ "Sébastien Crozet <developer@crozet.re>" ]
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authors = [ "Sébastien Crozet <developer@crozet.re>" ]
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description = "Linear algebra library with transformations and statically-sized or dynamically-sized matrices."
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description = "Linear algebra library with transformations and statically-sized or dynamically-sized matrices."
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documentation = "http://nalgebra.org/rustdoc/nalgebra/index.html"
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documentation = "https://nalgebra.org/rustdoc/nalgebra/index.html"
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homepage = "http://nalgebra.org"
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homepage = "https://nalgebra.org"
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repository = "https://github.com/rustsim/nalgebra"
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repository = "https://github.com/rustsim/nalgebra"
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readme = "README.md"
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readme = "README.md"
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categories = [ "science" ]
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categories = [ "science" ]
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<p align="center">
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<p align="center">
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<img src="http://nalgebra.org/img/logo_nalgebra.svg" alt="crates.io">
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<img src="https://nalgebra.org/img/logo_nalgebra.svg" alt="crates.io">
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</p>
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</p>
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<p align="center">
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<p align="center">
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<a href="https://discord.gg/vt9DJSW">
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<a href="https://discord.gg/vt9DJSW">
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<img src="https://travis-ci.org/rustsim/nalgebra.svg?branch=master" alt="Build status">
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<img src="https://travis-ci.org/rustsim/nalgebra.svg?branch=master" alt="Build status">
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</a>
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</a>
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<a href="https://crates.io/crates/nalgebra">
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<a href="https://crates.io/crates/nalgebra">
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<img src="http://meritbadge.herokuapp.com/nalgebra?style=flat-square" alt="crates.io">
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<img src="https://meritbadge.herokuapp.com/nalgebra?style=flat-square" alt="crates.io">
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</a>
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</a>
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<a href="https://opensource.org/licenses/BSD-3-Clause">
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<a href="https://opensource.org/licenses/BSD-3-Clause">
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<img src="https://img.shields.io/badge/license-BSD%203--Clause-blue.svg?style=flat">
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<img src="https://img.shields.io/badge/license-BSD%203--Clause-blue.svg?style=flat">
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</p>
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</p>
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<p align = "center">
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<p align = "center">
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<strong>
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<strong>
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<a href="http://nalgebra.org">Users guide</a> | <a href="http://nalgebra.org/rustdoc/nalgebra/index.html">Documentation</a> | <a href="https://discourse.nphysics.org/c/nalgebra">Forum</a>
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<a href="https://nalgebra.org">Users guide</a> | <a href="https://nalgebra.org/rustdoc/nalgebra/index.html">Documentation</a> | <a href="https://discourse.nphysics.org/c/nalgebra">Forum</a>
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</strong>
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</strong>
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</p>
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</p>
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seamless inter-operability between both.
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seamless inter-operability between both.
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## Getting started
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## Getting started
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First of all, you should start by taking a look at the official [GLM API documentation](http://glm.g-truc.net/0.9.9/api/index.html)
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First of all, you should start by taking a look at the official [GLM API documentation](https://glm.g-truc.net/0.9.9/api/index.html)
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since **nalgebra-glm** implements a large subset of it. To use **nalgebra-glm** to your project, you
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since **nalgebra-glm** implements a large subset of it. To use **nalgebra-glm** to your project, you
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should add it as a dependency to your `Crates.toml`:
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should add it as a dependency to your `Crates.toml`:
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and keep in mind it is possible to convert, e.g., an `Isometry3` to a `Mat4` and vice-versa (see the [conversions section](#conversions)).
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and keep in mind it is possible to convert, e.g., an `Isometry3` to a `Mat4` and vice-versa (see the [conversions section](#conversions)).
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*/
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*/
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#![doc(html_favicon_url = "http://nalgebra.org/img/favicon.ico")]
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#![doc(html_favicon_url = "https://nalgebra.org/img/favicon.ico")]
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#![cfg_attr(not(feature = "std"), no_std)]
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#![cfg_attr(not(feature = "std"), no_std)]
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extern crate num_traits as num;
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extern crate num_traits as num;
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authors = [ "Sébastien Crozet <developer@crozet.re>", "Andrew Straw <strawman@astraw.com>" ]
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authors = [ "Sébastien Crozet <developer@crozet.re>", "Andrew Straw <strawman@astraw.com>" ]
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description = "Linear algebra library with transformations and satically-sized or dynamically-sized matrices."
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description = "Linear algebra library with transformations and satically-sized or dynamically-sized matrices."
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documentation = "http://nalgebra.org/doc/nalgebra/index.html"
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documentation = "https://nalgebra.org/doc/nalgebra/index.html"
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homepage = "http://nalgebra.org"
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homepage = "https://nalgebra.org"
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repository = "https://github.com/rustsim/nalgebra"
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repository = "https://github.com/rustsim/nalgebra"
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readme = "README.md"
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readme = "README.md"
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keywords = [ "linear", "algebra", "matrix", "vector" ]
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keywords = [ "linear", "algebra", "matrix", "vector" ]
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Like the [lapack crate](https://crates.io/crates/lapack) from which this
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Like the [lapack crate](https://crates.io/crates/lapack) from which this
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behavior is inherited, nalgebra-lapack uses [cargo
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behavior is inherited, nalgebra-lapack uses [cargo
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features](http://doc.crates.io/manifest.html#the-[features]-section) to select
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features](https://doc.crates.io/manifest.html#the-[features]-section) to select
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which lapack provider (or implementation) is used. Command line arguments to
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which lapack provider (or implementation) is used. Command line arguments to
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cargo are the easiest way to do this, and the best provider depends on your
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cargo are the easiest way to do this, and the best provider depends on your
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particular system. In some cases, the providers can be further tuned with
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particular system. In some cases, the providers can be further tuned with
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//!
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//!
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//! Like the [lapack crate](https://crates.io/crates/lapack) from which this
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//! Like the [lapack crate](https://crates.io/crates/lapack) from which this
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//! behavior is inherited, nalgebra-lapack uses [cargo
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//! behavior is inherited, nalgebra-lapack uses [cargo
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//! features](http://doc.crates.io/manifest.html#the-[features]-section) to select
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//! features](https://doc.crates.io/manifest.html#the-[features]-section) to select
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//! which lapack provider (or implementation) is used. Command line arguments to
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//! which lapack provider (or implementation) is used. Command line arguments to
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//! cargo are the easiest way to do this, and the best provider depends on your
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//! cargo are the easiest way to do this, and the best provider depends on your
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//! particular system. In some cases, the providers can be further tuned with
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//! particular system. In some cases, the providers can be further tuned with
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#![deny(unused_results)]
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#![deny(unused_results)]
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#![deny(missing_docs)]
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#![deny(missing_docs)]
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#![doc(
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#![doc(
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html_favicon_url = "http://nalgebra.org/img/favicon.ico",
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html_favicon_url = "https://nalgebra.org/img/favicon.ico",
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html_root_url = "http://nalgebra.org/rustdoc"
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html_root_url = "https://nalgebra.org/rustdoc"
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)]
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)]
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extern crate alga;
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extern crate alga;
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}
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}
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// All this is inspired from the "unrolled version" discussed in:
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// All this is inspired from the "unrolled version" discussed in:
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// http://blog.theincredibleholk.org/blog/2012/12/10/optimizing-dot-product/
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// https://blog.theincredibleholk.org/blog/2012/12/10/optimizing-dot-product/
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//
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//
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// And this comment from bluss:
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// And this comment from bluss:
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// https://users.rust-lang.org/t/how-to-zip-two-slices-efficiently/2048/12
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// https://users.rust-lang.org/t/how-to-zip-two-slices-efficiently/2048/12
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#[inline]
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#[inline]
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pub fn from_rotation_matrix(rotmat: &Rotation3<N>) -> Self {
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pub fn from_rotation_matrix(rotmat: &Rotation3<N>) -> Self {
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// Robust matrix to quaternion transformation.
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// Robust matrix to quaternion transformation.
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// See http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion
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// See https://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion
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let tr = rotmat[(0, 0)] + rotmat[(1, 1)] + rotmat[(2, 2)];
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let tr = rotmat[(0, 0)] + rotmat[(1, 1)] + rotmat[(2, 2)];
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let res;
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let res;
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/// ```
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/// ```
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pub fn euler_angles(&self) -> (N, N, N) {
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pub fn euler_angles(&self) -> (N, N, N) {
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// Implementation informed by "Computing Euler angles from a rotation matrix", by Gregory G. Slabaugh
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// Implementation informed by "Computing Euler angles from a rotation matrix", by Gregory G. Slabaugh
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// http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.371.6578
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// https://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.371.6578
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if self[(2, 0)].abs() < N::one() {
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if self[(2, 0)].abs() < N::one() {
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let yaw = -self[(2, 0)].asin();
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let yaw = -self[(2, 0)].asin();
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let roll = (self[(2, 1)] / yaw.cos()).atan2(self[(2, 2)] / yaw.cos());
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let roll = (self[(2, 1)] / yaw.cos()).atan2(self[(2, 2)] / yaw.cos());
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* Real-time computer physics.
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* Real-time computer physics.
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## Using **nalgebra**
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## Using **nalgebra**
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You will need the last stable build of the [rust compiler](http://www.rust-lang.org)
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You will need the last stable build of the [rust compiler](https://www.rust-lang.org)
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and the official package manager: [cargo](https://github.com/rust-lang/cargo).
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and the official package manager: [cargo](https://github.com/rust-lang/cargo).
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Simply add the following to your `Cargo.toml` file:
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Simply add the following to your `Cargo.toml` file:
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#![deny(missing_docs)]
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#![deny(missing_docs)]
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#![warn(incoherent_fundamental_impls)]
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#![warn(incoherent_fundamental_impls)]
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#![doc(
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#![doc(
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html_favicon_url = "http://nalgebra.org/img/favicon.ico",
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html_favicon_url = "https://nalgebra.org/img/favicon.ico",
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html_root_url = "http://nalgebra.org/rustdoc"
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html_root_url = "https://nalgebra.org/rustdoc"
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)]
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)]
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#![cfg_attr(not(feature = "std"), no_std)]
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#![cfg_attr(not(feature = "std"), no_std)]
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#![cfg_attr(all(feature = "alloc", not(feature = "std")), feature(alloc))]
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#![cfg_attr(all(feature = "alloc", not(feature = "std")), feature(alloc))]
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