Release v0.18.0

CHANGELOG.md

@@ -4,14 +4,47 @@ documented here.
 
 This project adheres to [Semantic Versioning](http://semver.org/).
 
-## [0.18.0] - WIP
+## [0.18.0]
+This release adds full complex number support to nalgebra. This includes all common vector/matrix operations as well
+as matrix decomposition. This excludes geometric type (like `Isometry`, `Rotation`, `Translation`, etc.) from the
+`geometry` module.
 
 ### Added
+#### Quaternion and geometric operations
+  * Add trigonometric functions for quaternions: `.cos, .sin, .tan, .acos, .asin, .atan, .cosh, .sinh, .tanh, .acosh, .asinh, .atanh`.
+  * Add geometric algebra operations for quaternions: `.inner, .outer, .project, .rejection`
   * Add `.renormalize` to `Unit<...>` and `Rotation3` to correct potential drift due to repeated operations.
-    Those drifts can cause them not to be pure rotations anymore.
+    Those drifts could cause them not to be pure rotations anymore.
+  
+#### Convolution
+  * `.convolve_full(kernel)` returns the convolution of `self` by `kernel`.
+  * `.convolve_valid(kernel)` returns the convolution of `self` by `kernel` after removal of all the elements relying on zero-padding.
+  * `.convolve_same(kernel)` returns the convolution of `self` by `kernel` with a result of the same size as `self`.
+  
+#### Complex number support
   * Add the `::from_matrix` constructor too all rotation types to extract a rotation from a raw matrix.
   * Add the `::from_matrix_eps` constructor too all rotation types to extract a rotation from a raw matrix. This takes
     more argument than `::from_matrix` to control the convergence of the underlying optimization algorithm.
+  * Add `.camax()` which returns the matrix component with the greatest L1-norm.
+  * Add `.camin()` which returns the matrix component with the smallest L1-norm.
+  * Add `.ad_mul(b)` for matrix-multiplication of `self.adjoint() * b`.
+  * Add `.ad_mul_to(b)` which is the same as `.ad_mul` but with a provided matrix to be filled with the result of the multiplication.
+  * Add BLAS operations involving complex conjugation (following similar names as the original BLAS spec):
+      * `.dotc(rhs)` equal to  `self.adjoint() * rhs`.
+      * `.gerc(alpha, x, y, beta)` equivalent to `self = alpha * x * y.adjoint() + beta * self`
+      * `.hegerc` which is like `gerc` but for Hermitian matrices.
+      * `.syger` which is the new name of `.ger_symm` which is equivalent to `self = alpha * x * y.transpose() + beta * self`.
+      * `.sygemv` which is the new name of `.gemv_symm` which is equivalent to `self = alpha * a * x + beta * self` with `a` symmetric.
+      * `.hegemv(alpha, a, x, beta)` which is like `.sygemv` but with `a` Hermitian.
+      * `.gemv_ad(alpha, a, x, beta)` which is equivalent to `self = alpha * a.adjoint() * x + beta * self`.
+      * `.gemm_ad(alpha, a, b, beta)` which is equivalent to `self = alpha * a.adjoint() * b + beta * self`.
+      * `.icamax()` which returns the index of the complex vector component with the greatest L1-norm.
+
+Note that all the other BLAS operation will continue to work for all fields, including floats and complex numbers.
+
+### Renamed
+  * `RealSchur` has been renamed `Schur` because it can now work with complex matrices.
+
 
 ## [0.17.0]
 

Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name    = "nalgebra"
-version = "0.17.3"
+version = "0.18.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
 
 description = "Linear algebra library with transformations and statically-sized or dynamically-sized matrices."
@@ -11,6 +11,7 @@ readme = "README.md"
 categories = [ "science" ]
 keywords = [ "linear", "algebra", "matrix", "vector", "math" ]
 license = "BSD-3-Clause"
+edition = "2018"
 
 exclude = ["/ci/*", "/.travis.yml", "/Makefile"]
 
@@ -26,7 +27,7 @@ arbitrary       = [ "quickcheck" ]
 serde-serialize = [ "serde", "serde_derive", "num-complex/serde" ]
 abomonation-serialize = [ "abomonation" ]
 sparse = [ ]
-debug = [ ]
+debug = [ "approx/num-complex", "rand/std" ]
 alloc = [ ]
 io = [ "pest", "pest_derive" ]
 
@@ -37,7 +38,7 @@ rand           = { version = "0.6", default-features = false }
 num-traits     = { version = "0.2", default-features = false }
 num-complex    = { version = "0.2", default-features = false }
 approx         = { version = "0.3", default-features = false }
-alga           = { version = "0.8", default-features = false }
+alga           = { version = "0.9", default-features = false }
 matrixmultiply = { version = "0.2", optional = true }
 serde          = { version = "1.0", optional = true }
 serde_derive   = { version = "1.0", optional = true }
@@ -47,9 +48,25 @@ quickcheck     = { version = "0.8", optional = true }
 pest           = { version = "2.0", optional = true }
 pest_derive    = { version = "2.0", optional = true }
 
+#[patch.crates-io]
+#alga = { git = "https://github.com/rustsim/alga", branch = "dev" }
+
 [dev-dependencies]
 serde_json = "1.0"
 rand_xorshift = "0.1"
+### Uncomment this line before running benchmarks.
+### We can't just let this uncommented because that would breack
+### compilation for #[no-std] because of the terrible Cargo bug
+### https://github.com/rust-lang/cargo/issues/4866
+#criterion = "0.2.10"
 
 [workspace]
 members = [ "nalgebra-lapack", "nalgebra-glm" ]
+
+[[bench]]
+name = "nalgebra_bench"
+harness = false
+path = "benches/lib.rs"
+
+[profile.bench]
+lto = true

benches/common/macros.rs

@@ -2,56 +2,52 @@
 
 macro_rules! bench_binop(
     ($name: ident, $t1: ty, $t2: ty, $binop: ident) => {
-        #[bench]
+        fn $name(bh: &mut criterion::Criterion) {
-        fn $name(bh: &mut Bencher) {
             use rand::SeedableRng;
             let mut rng = IsaacRng::seed_from_u64(0);
             let a = rng.gen::<$t1>();
             let b = rng.gen::<$t2>();
 
-            bh.iter(|| {
+            bh.bench_function(stringify!($name), move |bh| bh.iter(|| {
                 a.$binop(b)
-            })
+            }));
         }
     }
 );
 
 macro_rules! bench_binop_ref(
     ($name: ident, $t1: ty, $t2: ty, $binop: ident) => {
-        #[bench]
+        fn $name(bh: &mut criterion::Criterion) {
-        fn $name(bh: &mut Bencher) {
             use rand::SeedableRng;
             let mut rng = IsaacRng::seed_from_u64(0);
             let a = rng.gen::<$t1>();
             let b = rng.gen::<$t2>();
 
-            bh.iter(|| {
+            bh.bench_function(stringify!($name), move |bh| bh.iter(|| {
                 a.$binop(&b)
-            })
+            }));
         }
     }
 );
 
 macro_rules! bench_binop_fn(
     ($name: ident, $t1: ty, $t2: ty, $binop: path) => {
-        #[bench]
+        fn $name(bh: &mut criterion::Criterion) {
-        fn $name(bh: &mut Bencher) {
             use rand::SeedableRng;
             let mut rng = IsaacRng::seed_from_u64(0);
             let a = rng.gen::<$t1>();
             let b = rng.gen::<$t2>();
 
-            bh.iter(|| {
+            bh.bench_function(stringify!($name), move |bh| bh.iter(|| {
                 $binop(&a, &b)
-            })
+            }));
         }
     }
 );
 
 macro_rules! bench_unop_na(
     ($name: ident, $t: ty, $unop: ident) => {
-        #[bench]
+        fn $name(bh: &mut criterion::Criterion) {
-        fn $name(bh: &mut Bencher) {
             const LEN: usize = 1 << 13;
 
             use rand::SeedableRng;
@@ -60,21 +56,20 @@ macro_rules! bench_unop_na(
             let elems: Vec<$t> =  (0usize .. LEN).map(|_| rng.gen::<$t>()).collect();
             let mut i = 0;
 
-            bh.iter(|| {
+            bh.bench_function(stringify!($name), move |bh| bh.iter(|| {
                 i = (i + 1) & (LEN - 1);
 
                 unsafe {
                     test::black_box(na::$unop(elems.get_unchecked(i)))
                 }
-            })
+            }));
         }
     }
 );
 
 macro_rules! bench_unop(
     ($name: ident, $t: ty, $unop: ident) => {
-        #[bench]
+        fn $name(bh: &mut criterion::Criterion) {
-        fn $name(bh: &mut Bencher) {
             const LEN: usize = 1 << 13;
 
             use rand::SeedableRng;
@@ -83,21 +78,20 @@ macro_rules! bench_unop(
             let mut elems: Vec<$t> =  (0usize .. LEN).map(|_| rng.gen::<$t>()).collect();
             let mut i = 0;
 
-            bh.iter(|| {
+            bh.bench_function(stringify!($name), move |bh| bh.iter(|| {
                 i = (i + 1) & (LEN - 1);
 
                 unsafe {
                     test::black_box(elems.get_unchecked_mut(i).$unop())
                 }
-            })
+            }));
         }
     }
 );
 
 macro_rules! bench_construction(
     ($name: ident, $constructor: path, $( $args: ident: $types: ty),*) => {
-        #[bench]
+        fn $name(bh: &mut criterion::Criterion) {
-        fn $name(bh: &mut Bencher) {
             const LEN: usize = 1 << 13;
 
             use rand::SeedableRng;
@@ -106,14 +100,14 @@ macro_rules! bench_construction(
             $(let $args: Vec<$types> = (0usize .. LEN).map(|_| rng.gen::<$types>()).collect();)*
             let mut i = 0;
 
-            bh.iter(|| {
+            bh.bench_function(stringify!($name), move |bh| bh.iter(|| {
                 i = (i + 1) & (LEN - 1);
 
                 unsafe {
                     let res = $constructor($(*$args.get_unchecked(i),)*);
                     test::black_box(res)
                 }
-            })
+            }));
         }
     }
 );

benches/core/matrix.rs

@@ -1,7 +1,6 @@
 use na::{DMatrix, DVector, Matrix2, Matrix3, Matrix4, MatrixN, Vector2, Vector3, Vector4, U10};
 use rand::{IsaacRng, Rng};
 use std::ops::{Add, Div, Mul, Sub};
-use test::{self, Bencher};
 
 #[path = "../common/macros.rs"]
 mod macros;
@@ -46,153 +45,196 @@ bench_unop!(mat2_transpose, Matrix2<f32>, transpose);
 bench_unop!(mat3_transpose, Matrix3<f32>, transpose);
 bench_unop!(mat4_transpose, Matrix4<f32>, transpose);
 
-#[bench]
+fn mat_div_scalar(b: &mut criterion::Criterion) {
-fn mat_div_scalar(b: &mut Bencher) {
     let a = DMatrix::from_row_slice(1000, 1000, &vec![2.0; 1000000]);
     let n = 42.0;
 
-    b.iter(|| {
+    b.bench_function("mat_div_scalar", move |bh| bh.iter(|| {
         let mut aa = a.clone();
         let mut b = aa.slice_mut((0, 0), (1000, 1000));
         b /= n
-    })
+    }));
 }
 
-#[bench]
+fn mat100_add_mat100(bench: &mut criterion::Criterion) {
-fn mat100_add_mat100(bench: &mut Bencher) {
     let a = DMatrix::<f64>::new_random(100, 100);
     let b = DMatrix::<f64>::new_random(100, 100);
 
-    bench.iter(|| &a + &b)
+    bench.bench_function("mat100_add_mat100", move |bh| bh.iter(|| &a + &b));
 }
 
-#[bench]
+fn mat4_mul_mat4(bench: &mut criterion::Criterion) {
-fn mat4_mul_mat4(bench: &mut Bencher) {
     let a = DMatrix::<f64>::new_random(4, 4);
     let b = DMatrix::<f64>::new_random(4, 4);
 
-    bench.iter(|| &a * &b)
+    bench.bench_function("mat4_mul_mat4", move |bh| bh.iter(|| &a * &b));
 }
 
-#[bench]
+fn mat5_mul_mat5(bench: &mut criterion::Criterion) {
-fn mat5_mul_mat5(bench: &mut Bencher) {
     let a = DMatrix::<f64>::new_random(5, 5);
     let b = DMatrix::<f64>::new_random(5, 5);
 
-    bench.iter(|| &a * &b)
+    bench.bench_function("mat5_mul_mat5", move |bh| bh.iter(|| &a * &b));
 }
 
-#[bench]
+fn mat6_mul_mat6(bench: &mut criterion::Criterion) {
-fn mat6_mul_mat6(bench: &mut Bencher) {
     let a = DMatrix::<f64>::new_random(6, 6);
     let b = DMatrix::<f64>::new_random(6, 6);
 
-    bench.iter(|| &a * &b)
+    bench.bench_function("mat6_mul_mat6", move |bh| bh.iter(|| &a * &b));
 }
 
-#[bench]
+fn mat7_mul_mat7(bench: &mut criterion::Criterion) {
-fn mat7_mul_mat7(bench: &mut Bencher) {
     let a = DMatrix::<f64>::new_random(7, 7);
     let b = DMatrix::<f64>::new_random(7, 7);
 
-    bench.iter(|| &a * &b)
+    bench.bench_function("mat7_mul_mat7", move |bh| bh.iter(|| &a * &b));
 }
 
-#[bench]
+fn mat8_mul_mat8(bench: &mut criterion::Criterion) {
-fn mat8_mul_mat8(bench: &mut Bencher) {
     let a = DMatrix::<f64>::new_random(8, 8);
     let b = DMatrix::<f64>::new_random(8, 8);
 
-    bench.iter(|| &a * &b)
+    bench.bench_function("mat8_mul_mat8", move |bh| bh.iter(|| &a * &b));
 }
 
-#[bench]
+fn mat9_mul_mat9(bench: &mut criterion::Criterion) {
-fn mat9_mul_mat9(bench: &mut Bencher) {
     let a = DMatrix::<f64>::new_random(9, 9);
     let b = DMatrix::<f64>::new_random(9, 9);
 
-    bench.iter(|| &a * &b)
+    bench.bench_function("mat9_mul_mat9", move |bh| bh.iter(|| &a * &b));
 }
 
-#[bench]
+fn mat10_mul_mat10(bench: &mut criterion::Criterion) {
-fn mat10_mul_mat10(bench: &mut Bencher) {
     let a = DMatrix::<f64>::new_random(10, 10);
     let b = DMatrix::<f64>::new_random(10, 10);
 
-    bench.iter(|| &a * &b)
+    bench.bench_function("mat10_mul_mat10", move |bh| bh.iter(|| &a * &b));
 }
 
-#[bench]
+fn mat10_mul_mat10_static(bench: &mut criterion::Criterion) {
-fn mat10_mul_mat10_static(bench: &mut Bencher) {
     let a = MatrixN::<f64, U10>::new_random();
     let b = MatrixN::<f64, U10>::new_random();
 
-    bench.iter(|| &a * &b)
+    bench.bench_function("mat10_mul_mat10_static", move |bh| bh.iter(|| &a * &b));
 }
 
-#[bench]
+fn mat100_mul_mat100(bench: &mut criterion::Criterion) {
-fn mat100_mul_mat100(bench: &mut Bencher) {
     let a = DMatrix::<f64>::new_random(100, 100);
     let b = DMatrix::<f64>::new_random(100, 100);
 
-    bench.iter(|| &a * &b)
+    bench.bench_function("mat100_mul_mat100", move |bh| bh.iter(|| &a * &b));
 }
 
-#[bench]
+fn mat500_mul_mat500(bench: &mut criterion::Criterion) {
-fn mat500_mul_mat500(bench: &mut Bencher) {
     let a = DMatrix::<f64>::from_element(500, 500, 5f64);
     let b = DMatrix::<f64>::from_element(500, 500, 6f64);
 
-    bench.iter(|| &a * &b)
+    bench.bench_function("mat500_mul_mat500", move |bh| bh.iter(|| &a * &b));
 }
 
-#[bench]
+fn copy_from(bench: &mut criterion::Criterion) {
-fn copy_from(bench: &mut Bencher) {
     let a = DMatrix::<f64>::new_random(1000, 1000);
     let mut b = DMatrix::<f64>::new_random(1000, 1000);
 
-    bench.iter(|| {
+    bench.bench_function("copy_from", move |bh| bh.iter(|| {
-        b.copy_from(&a);
+          b.copy_from(&a);
-    })
+    }));
 }
 
-#[bench]
+fn axpy(bench: &mut criterion::Criterion) {
-fn axpy(bench: &mut Bencher) {
     let x = DVector::<f64>::from_element(100000, 2.0);
     let mut y = DVector::<f64>::from_element(100000, 3.0);
     let a = 42.0;
 
-    bench.iter(|| {
+    bench.bench_function("axpy", move |bh| bh.iter(|| {
-        y.axpy(a, &x, 1.0);
+          y.axpy(a, &x, 1.0);
-    })
+    }));
 }
 
-#[bench]
+fn tr_mul_to(bench: &mut criterion::Criterion) {
-fn tr_mul_to(bench: &mut Bencher) {
     let a = DMatrix::<f64>::new_random(1000, 1000);
     let b = DVector::<f64>::new_random(1000);
     let mut c = DVector::from_element(1000, 0.0);
 
-    bench.iter(|| a.tr_mul_to(&b, &mut c))
+    bench.bench_function("", move |bh| bh.iter(|| a.tr_mul_to(&b, &mut c)));
 }
 
-#[bench]
+fn mat_mul_mat(bench: &mut criterion::Criterion) {
-fn mat_mul_mat(bench: &mut Bencher) {
     let a = DMatrix::<f64>::new_random(100, 100);
     let b = DMatrix::<f64>::new_random(100, 100);
     let mut ab = DMatrix::<f64>::from_element(100, 100, 0.0);
 
-    bench.iter(|| {
+    bench.bench_function("mat_mul_mat", move |bh| bh.iter(|| {
-        test::black_box(a.mul_to(&b, &mut ab));
+          test::black_box(a.mul_to(&b, &mut ab));
-    })
+    }));
 }
 
-#[bench]
+fn mat100_from_fn(bench: &mut criterion::Criterion) {
-fn mat100_from_fn(bench: &mut Bencher) {
+    bench.bench_function("mat100_from_fn", move |bh| bh.iter(|| DMatrix::from_fn(100, 100, |a, b| a + b)));
-    bench.iter(|| DMatrix::from_fn(100, 100, |a, b| a + b))
 }
 
-#[bench]
+fn mat500_from_fn(bench: &mut criterion::Criterion) {
-fn mat500_from_fn(bench: &mut Bencher) {
+    bench.bench_function("mat500_from_fn", move |bh| bh.iter(|| DMatrix::from_fn(500, 500, |a, b| a + b)));
-    bench.iter(|| DMatrix::from_fn(500, 500, |a, b| a + b))
 }
+
+criterion_group!(matrix,
+    mat2_mul_m,
+    mat3_mul_m,
+    mat4_mul_m,
+
+    mat2_tr_mul_m,
+    mat3_tr_mul_m,
+    mat4_tr_mul_m,
+
+    mat2_add_m,
+    mat3_add_m,
+    mat4_add_m,
+
+    mat2_sub_m,
+    mat3_sub_m,
+    mat4_sub_m,
+
+    mat2_mul_v,
+    mat3_mul_v,
+    mat4_mul_v,
+
+    mat2_tr_mul_v,
+    mat3_tr_mul_v,
+    mat4_tr_mul_v,
+
+    mat2_mul_s,
+    mat3_mul_s,
+    mat4_mul_s,
+
+    mat2_div_s,
+    mat3_div_s,
+    mat4_div_s,
+
+    mat2_inv,
+    mat3_inv,
+    mat4_inv,
+
+    mat2_transpose,
+    mat3_transpose,
+    mat4_transpose,
+
+    mat_div_scalar,
+    mat100_add_mat100,
+    mat4_mul_mat4,
+    mat5_mul_mat5,
+    mat6_mul_mat6,
+    mat7_mul_mat7,
+    mat8_mul_mat8,
+    mat9_mul_mat9,
+    mat10_mul_mat10,
+    mat10_mul_mat10_static,
+    mat100_mul_mat100,
+    mat500_mul_mat500,
+    copy_from,
+    axpy,
+    tr_mul_to,
+    mat_mul_mat,
+    mat100_from_fn,
+    mat500_from_fn,
+);

benches/core/mod.rs

@@ -1,2 +1,5 @@
+pub use self::matrix::matrix;
+pub use self::vector::vector;
+
 mod matrix;
 mod vector;

benches/core/vector.rs

@@ -1,7 +1,6 @@
 use na::{DVector, Vector2, Vector3, Vector4, VectorN};
 use rand::{IsaacRng, Rng};
 use std::ops::{Add, Div, Mul, Sub};
-use test::{self, Bencher};
 use typenum::U10000;
 
 #[path = "../common/macros.rs"]
@@ -48,19 +47,17 @@ 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_f32, VectorN<f32, U10000>, VectorN<f32, U10000>, dot);
 
-#[bench]
+fn vec10000_axpy_f64(bh: &mut criterion::Criterion) {
-fn vec10000_axpy_f64(bh: &mut Bencher) {
     use rand::SeedableRng;
     let mut rng = IsaacRng::seed_from_u64(0);
     let mut a = DVector::new_random(10000);
     let b = DVector::new_random(10000);
     let n = rng.gen::<f64>();
 
-    bh.iter(|| a.axpy(n, &b, 1.0))
+    bh.bench_function("vec10000_axpy_f64", move |bh| bh.iter(|| a.axpy(n, &b, 1.0)));
 }
 
-#[bench]
+fn vec10000_axpy_beta_f64(bh: &mut criterion::Criterion) {
-fn vec10000_axpy_beta_f64(bh: &mut Bencher) {
     use rand::SeedableRng;
     let mut rng = IsaacRng::seed_from_u64(0);
     let mut a = DVector::new_random(10000);
@@ -68,27 +65,25 @@ fn vec10000_axpy_beta_f64(bh: &mut Bencher) {
     let n = rng.gen::<f64>();
     let beta = rng.gen::<f64>();
 
-    bh.iter(|| a.axpy(n, &b, beta))
+    bh.bench_function("vec10000_axpy_beta_f64", move |bh| bh.iter(|| a.axpy(n, &b, beta)));
 }
 
-#[bench]
+fn vec10000_axpy_f64_slice(bh: &mut criterion::Criterion) {
-fn vec10000_axpy_f64_slice(bh: &mut Bencher) {
     use rand::SeedableRng;
     let mut rng = IsaacRng::seed_from_u64(0);
     let mut a = DVector::new_random(10000);
     let b = DVector::new_random(10000);
     let n = rng.gen::<f64>();
 
-    bh.iter(|| {
+    bh.bench_function("vec10000_axpy_f64_slice", move |bh| bh.iter(|| {
         let mut a = a.fixed_rows_mut::<U10000>(0);
         let b = b.fixed_rows::<U10000>(0);
 
         a.axpy(n, &b, 1.0)
-    })
+    }));
 }
 
-#[bench]
+fn vec10000_axpy_f64_static(bh: &mut criterion::Criterion) {
-fn vec10000_axpy_f64_static(bh: &mut Bencher) {
     use rand::SeedableRng;
     let mut rng = IsaacRng::seed_from_u64(0);
     let mut a = VectorN::<f64, U10000>::new_random();
@@ -96,22 +91,20 @@ fn vec10000_axpy_f64_static(bh: &mut Bencher) {
     let n = rng.gen::<f64>();
 
     // NOTE: for some reasons, it is much faster if the arument are boxed (Box::new(VectorN...)).
-    bh.iter(|| a.axpy(n, &b, 1.0))
+    bh.bench_function("vec10000_axpy_f64_static", move |bh| bh.iter(|| a.axpy(n, &b, 1.0)));
 }
 
-#[bench]
+fn vec10000_axpy_f32(bh: &mut criterion::Criterion) {
-fn vec10000_axpy_f32(bh: &mut Bencher) {
     use rand::SeedableRng;
     let mut rng = IsaacRng::seed_from_u64(0);
     let mut a = DVector::new_random(10000);
     let b = DVector::new_random(10000);
     let n = rng.gen::<f32>();
 
-    bh.iter(|| a.axpy(n, &b, 1.0))
+    bh.bench_function("vec10000_axpy_f32", move |bh| bh.iter(|| a.axpy(n, &b, 1.0)));
 }
 
-#[bench]
+fn vec10000_axpy_beta_f32(bh: &mut criterion::Criterion) {
-fn vec10000_axpy_beta_f32(bh: &mut Bencher) {
     use rand::SeedableRng;
     let mut rng = IsaacRng::seed_from_u64(0);
     let mut a = DVector::new_random(10000);
@@ -119,5 +112,55 @@ fn vec10000_axpy_beta_f32(bh: &mut Bencher) {
     let n = rng.gen::<f32>();
     let beta = rng.gen::<f32>();
 
-    bh.iter(|| a.axpy(n, &b, beta))
+    bh.bench_function("vec10000_axpy_beta_f32", move |bh| bh.iter(|| a.axpy(n, &b, beta)));
 }
+
+criterion_group!(vector,
+    vec2_add_v_f32,
+    vec3_add_v_f32,
+    vec4_add_v_f32,
+
+    vec2_add_v_f64,
+    vec3_add_v_f64,
+    vec4_add_v_f64,
+
+    vec2_sub_v,
+    vec3_sub_v,
+    vec4_sub_v,
+
+    vec2_mul_s,
+    vec3_mul_s,
+    vec4_mul_s,
+
+    vec2_div_s,
+    vec3_div_s,
+    vec4_div_s,
+
+    vec2_dot_f32,
+    vec3_dot_f32,
+    vec4_dot_f32,
+
+    vec2_dot_f64,
+    vec3_dot_f64,
+    vec4_dot_f64,
+
+    vec3_cross,
+
+    vec2_norm,
+    vec3_norm,
+    vec4_norm,
+
+    vec2_normalize,
+    vec3_normalize,
+    vec4_normalize,
+
+    vec10000_dot_f64,
+    vec10000_dot_f32,
+
+    vec10000_axpy_f64,
+    vec10000_axpy_beta_f64,
+    vec10000_axpy_f64_slice,
+    vec10000_axpy_f64_static,
+    vec10000_axpy_f32,
+    vec10000_axpy_beta_f32
+);

benches/geometry/mod.rs

@@ -1 +1,3 @@
+pub use self::quaternion::quaternion;
+
 mod quaternion;

benches/geometry/quaternion.rs

@@ -1,7 +1,6 @@
 use na::{Quaternion, UnitQuaternion, Vector3};
 use rand::{IsaacRng, Rng};
 use std::ops::{Add, Div, Mul, Sub};
-use test::{self, Bencher};
 
 #[path = "../common/macros.rs"]
 mod macros;
@@ -25,3 +24,14 @@ bench_unop!(unit_quaternion_inv, UnitQuaternion<f32>, inverse);
 
 // bench_unop_self!(quaternion_conjugate, Quaternion<f32>, conjugate);
 // bench_unop!(quaternion_normalize, Quaternion<f32>, normalize);
+
+criterion_group!(quaternion,
+    quaternion_add_q,
+    quaternion_sub_q,
+    quaternion_mul_q,
+    unit_quaternion_mul_v,
+    quaternion_mul_s,
+    quaternion_div_s,
+    quaternion_inv,
+    unit_quaternion_inv
+);

benches/lib.rs

@@ -6,15 +6,34 @@ extern crate rand;
 extern crate test;
 extern crate typenum;
 
+#[macro_use]
+extern crate criterion;
+
 use na::DMatrix;
 use rand::{IsaacRng, Rng};
 
-mod core;
+pub mod core;
-mod geometry;
+pub mod geometry;
-mod linalg;
+pub mod linalg;
 
 fn reproductible_dmatrix(nrows: usize, ncols: usize) -> DMatrix<f64> {
     use rand::SeedableRng;
     let mut rng = IsaacRng::seed_from_u64(0);
     DMatrix::<f64>::from_fn(nrows, ncols, |_, _| rng.gen())
 }
+
+criterion_main!(
+    core::matrix,
+    core::vector,
+    geometry::quaternion,
+    linalg::bidiagonal,
+    linalg::cholesky,
+    linalg::full_piv_lu,
+    linalg::hessenberg,
+    linalg::lu,
+    linalg::qr,
+    linalg::schur,
+    linalg::solve,
+    linalg::svd,
+    linalg::symmetric_eigen,
+);

benches/linalg/bidiagonal.rs

@@ -1,73 +1,75 @@
 use na::{Bidiagonal, DMatrix, Matrix4};
-use test::{self, Bencher};
 
 #[path = "../common/macros.rs"]
 mod macros;
 
 // Without unpack.
-#[bench]
+fn bidiagonalize_100x100(bh: &mut criterion::Criterion) {
-fn bidiagonalize_100x100(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(100, 100);
-    bh.iter(|| test::black_box(Bidiagonal::new(m.clone())))
+    bh.bench_function("bidiagonalize_100x100", move |bh| bh.iter(|| test::black_box(Bidiagonal::new(m.clone()))));
 }
 
-#[bench]
+fn bidiagonalize_100x500(bh: &mut criterion::Criterion) {
-fn bidiagonalize_100x500(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(100, 500);
-    bh.iter(|| test::black_box(Bidiagonal::new(m.clone())))
+    bh.bench_function("bidiagonalize_100x500", move |bh| bh.iter(|| test::black_box(Bidiagonal::new(m.clone()))));
 }
 
-#[bench]
+fn bidiagonalize_4x4(bh: &mut criterion::Criterion) {
-fn bidiagonalize_4x4(bh: &mut Bencher) {
     let m = Matrix4::<f64>::new_random();
-    bh.iter(|| test::black_box(Bidiagonal::new(m.clone())))
+    bh.bench_function("bidiagonalize_4x4", move |bh| bh.iter(|| test::black_box(Bidiagonal::new(m.clone()))));
 }
 
-#[bench]
+fn bidiagonalize_500x100(bh: &mut criterion::Criterion) {
-fn bidiagonalize_500x100(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(500, 100);
-    bh.iter(|| test::black_box(Bidiagonal::new(m.clone())))
+    bh.bench_function("bidiagonalize_500x100", move |bh| bh.iter(|| test::black_box(Bidiagonal::new(m.clone()))));
 }
 
-#[bench]
+fn bidiagonalize_500x500(bh: &mut criterion::Criterion) {
-fn bidiagonalize_500x500(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(500, 500);
-    bh.iter(|| test::black_box(Bidiagonal::new(m.clone())))
+    bh.bench_function("bidiagonalize_500x500", move |bh| bh.iter(|| test::black_box(Bidiagonal::new(m.clone()))));
 }
 
 // With unpack.
-#[bench]
+fn bidiagonalize_unpack_100x100(bh: &mut criterion::Criterion) {
-fn bidiagonalize_unpack_100x100(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(100, 100);
-    bh.iter(|| {
+    bh.bench_function("bidiagonalize_unpack_100x100", move |bh| bh.iter(|| {
         let bidiag = Bidiagonal::new(m.clone());
         let _ = bidiag.unpack();
-    })
+    }));
 }
 
-#[bench]
+fn bidiagonalize_unpack_100x500(bh: &mut criterion::Criterion) {
-fn bidiagonalize_unpack_100x500(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(100, 500);
-    bh.iter(|| {
+    bh.bench_function("bidiagonalize_unpack_100x500", move |bh| bh.iter(|| {
         let bidiag = Bidiagonal::new(m.clone());
         let _ = bidiag.unpack();
-    })
+    }));
 }
 
-#[bench]
+fn bidiagonalize_unpack_500x100(bh: &mut criterion::Criterion) {
-fn bidiagonalize_unpack_500x100(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(500, 100);
-    bh.iter(|| {
+    bh.bench_function("bidiagonalize_unpack_500x100", move |bh| bh.iter(|| {
         let bidiag = Bidiagonal::new(m.clone());
         let _ = bidiag.unpack();
-    })
+    }));
 }
 
-#[bench]
+fn bidiagonalize_unpack_500x500(bh: &mut criterion::Criterion) {
-fn bidiagonalize_unpack_500x500(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(500, 500);
-    bh.iter(|| {
+    bh.bench_function("bidiagonalize_unpack_500x500", move |bh| bh.iter(|| {
         let bidiag = Bidiagonal::new(m.clone());
         let _ = bidiag.unpack();
-    })
+    }));
 }
+
+criterion_group!(bidiagonal,
+    bidiagonalize_100x100,
+    bidiagonalize_100x500,
+    bidiagonalize_4x4,
+    bidiagonalize_500x100,
+//    bidiagonalize_500x500, // too long
+    bidiagonalize_unpack_100x100,
+    bidiagonalize_unpack_100x500,
+    bidiagonalize_unpack_500x100,
+//    bidiagonalize_unpack_500x500 // too long
+);

benches/linalg/cholesky.rs

@@ -1,109 +1,112 @@
 use na::{Cholesky, DMatrix, DVector};
-use test::{self, Bencher};
 
-#[bench]
+fn cholesky_100x100(bh: &mut criterion::Criterion) {
-fn cholesky_100x100(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(100, 100);
     let m = &m * m.transpose();
 
-    bh.iter(|| test::black_box(Cholesky::new(m.clone())))
+    bh.bench_function("cholesky_100x100", move |bh| bh.iter(|| test::black_box(Cholesky::new(m.clone()))));
 }
 
-#[bench]
+fn cholesky_500x500(bh: &mut criterion::Criterion) {
-fn cholesky_500x500(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(500, 500);
     let m = &m * m.transpose();
 
-    bh.iter(|| test::black_box(Cholesky::new(m.clone())))
+    bh.bench_function("cholesky_500x500", move |bh| bh.iter(|| test::black_box(Cholesky::new(m.clone()))));
 }
 
 // With unpack.
-#[bench]
+fn cholesky_decompose_unpack_100x100(bh: &mut criterion::Criterion) {
-fn cholesky_decompose_unpack_100x100(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(100, 100);
     let m = &m * m.transpose();
 
-    bh.iter(|| {
+    bh.bench_function("cholesky_decompose_unpack_100x100", move |bh| bh.iter(|| {
         let chol = Cholesky::new(m.clone()).unwrap();
         let _ = chol.unpack();
-    })
+    }));
 }
-#[bench]
+fn cholesky_decompose_unpack_500x500(bh: &mut criterion::Criterion) {
-fn cholesky_decompose_unpack_500x500(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(500, 500);
     let m = &m * m.transpose();
 
-    bh.iter(|| {
+    bh.bench_function("cholesky_decompose_unpack_500x500", move |bh| bh.iter(|| {
         let chol = Cholesky::new(m.clone()).unwrap();
         let _ = chol.unpack();
-    })
+    }));
 }
 
-#[bench]
+fn cholesky_solve_10x10(bh: &mut criterion::Criterion) {
-fn cholesky_solve_10x10(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(10, 10);
     let m = &m * m.transpose();
     let v = DVector::<f64>::new_random(10);
     let chol = Cholesky::new(m.clone()).unwrap();
 
-    bh.iter(|| {
+    bh.bench_function("cholesky_solve_10x10", move |bh| bh.iter(|| {
         let _ = chol.solve(&v);
-    })
+    }));
 }
 
-#[bench]
+fn cholesky_solve_100x100(bh: &mut criterion::Criterion) {
-fn cholesky_solve_100x100(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(100, 100);
     let m = &m * m.transpose();
     let v = DVector::<f64>::new_random(100);
     let chol = Cholesky::new(m.clone()).unwrap();
 
-    bh.iter(|| {
+    bh.bench_function("cholesky_solve_100x100", move |bh| bh.iter(|| {
         let _ = chol.solve(&v);
-    })
+    }));
 }
 
-#[bench]
+fn cholesky_solve_500x500(bh: &mut criterion::Criterion) {
-fn cholesky_solve_500x500(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(500, 500);
     let m = &m * m.transpose();
     let v = DVector::<f64>::new_random(500);
     let chol = Cholesky::new(m.clone()).unwrap();
 
-    bh.iter(|| {
+    bh.bench_function("cholesky_solve_500x500", move |bh| bh.iter(|| {
         let _ = chol.solve(&v);
-    })
+    }));
 }
 
-#[bench]
+
-fn cholesky_inverse_10x10(bh: &mut Bencher) {
+fn cholesky_inverse_10x10(bh: &mut criterion::Criterion) {
     let m = DMatrix::<f64>::new_random(10, 10);
     let m = &m * m.transpose();
     let chol = Cholesky::new(m.clone()).unwrap();
 
-    bh.iter(|| {
+    bh.bench_function("cholesky_inverse_10x10", move |bh| bh.iter(|| {
         let _ = chol.inverse();
-    })
+    }));
 }
 
-#[bench]
+fn cholesky_inverse_100x100(bh: &mut criterion::Criterion) {
-fn cholesky_inverse_100x100(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(100, 100);
     let m = &m * m.transpose();
     let chol = Cholesky::new(m.clone()).unwrap();
 
-    bh.iter(|| {
+    bh.bench_function("cholesky_inverse_100x100", move |bh| bh.iter(|| {
         let _ = chol.inverse();
-    })
+    }));
 }
 
-#[bench]
+fn cholesky_inverse_500x500(bh: &mut criterion::Criterion) {
-fn cholesky_inverse_500x500(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(500, 500);
     let m = &m * m.transpose();
     let chol = Cholesky::new(m.clone()).unwrap();
 
-    bh.iter(|| {
+    bh.bench_function("cholesky_inverse_500x500", move |bh| bh.iter(|| {
         let _ = chol.inverse();
-    })
+    }));
 }
+
+criterion_group!(cholesky,
+    cholesky_100x100,
+    cholesky_500x500,
+    cholesky_decompose_unpack_100x100,
+    cholesky_decompose_unpack_500x500,
+    cholesky_solve_10x10,
+    cholesky_solve_100x100,
+    cholesky_solve_500x500,
+    cholesky_inverse_10x10,
+    cholesky_inverse_100x100,
+    cholesky_inverse_500x500
+);

benches/linalg/eigen.rs

@@ -1,30 +1,33 @@
 use test::Bencher;
 use na::{DMatrix, Eigen};
 
-#[bench]
+fn eigen_100x100(bh: &mut criterion::Criterion) {
-fn eigen_100x100(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(100, 100);
 
-    bh.iter(|| Eigen::new(m.clone(), 1.0e-7, 0))
+    bh.bench_function("eigen_100x100", move |bh| bh.iter(|| Eigen::new(m.clone(), 1.0e-7, 0)));
 }
 
-#[bench]
+fn eigen_500x500(bh: &mut criterion::Criterion) {
-fn eigen_500x500(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(500, 500);
 
-    bh.iter(|| Eigen::new(m.clone(), 1.0e-7, 0))
+    bh.bench_function("eigen_500x500", move |bh| bh.iter(|| Eigen::new(m.clone(), 1.0e-7, 0)));
 }
 
-#[bench]
+fn eigenvalues_100x100(bh: &mut criterion::Criterion) {
-fn eigenvalues_100x100(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(100, 100);
 
-    bh.iter(|| m.clone().eigenvalues(1.0e-7, 0))
+    bh.bench_function("eigenvalues_100x100", move |bh| bh.iter(|| m.clone().eigenvalues(1.0e-7, 0)));
 }
 
-#[bench]
+fn eigenvalues_500x500(bh: &mut criterion::Criterion) {
-fn eigenvalues_500x500(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(500, 500);
 
-    bh.iter(|| m.clone().eigenvalues(1.0e-7, 0))
+    bh.bench_function("eigenvalues_500x500", move |bh| bh.iter(|| m.clone().eigenvalues(1.0e-7, 0)));
 }
+
+criterion_group!(eigen,
+    eigen_100x100,
+//    eigen_500x500,
+    eigenvalues_100x100,
+//    eigenvalues_500x500
+);

benches/linalg/full_piv_lu.rs

@@ -1,102 +1,105 @@
 use na::{DMatrix, DVector, FullPivLU};
-use test::{self, Bencher};
 
 // Without unpack.
-#[bench]
+fn full_piv_lu_decompose_10x10(bh: &mut criterion::Criterion) {
-fn full_piv_lu_decompose_10x10(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(10, 10);
-    bh.iter(|| test::black_box(FullPivLU::new(m.clone())))
+    bh.bench_function("full_piv_lu_decompose_10x10", move |bh| bh.iter(|| test::black_box(FullPivLU::new(m.clone()))));
 }
 
-#[bench]
+fn full_piv_lu_decompose_100x100(bh: &mut criterion::Criterion) {
-fn full_piv_lu_decompose_100x100(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(100, 100);
-    bh.iter(|| test::black_box(FullPivLU::new(m.clone())))
+    bh.bench_function("full_piv_lu_decompose_100x100", move |bh| bh.iter(|| test::black_box(FullPivLU::new(m.clone()))));
 }
 
-#[bench]
+fn full_piv_lu_decompose_500x500(bh: &mut criterion::Criterion) {
-fn full_piv_lu_decompose_500x500(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(500, 500);
-    bh.iter(|| test::black_box(FullPivLU::new(m.clone())))
+    bh.bench_function("full_piv_lu_decompose_500x500", move |bh| bh.iter(|| test::black_box(FullPivLU::new(m.clone()))));
 }
 
-#[bench]
+fn full_piv_lu_solve_10x10(bh: &mut criterion::Criterion) {
-fn full_piv_lu_solve_10x10(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(10, 10);
     let lu = FullPivLU::new(m.clone());
 
-    bh.iter(|| {
+    bh.bench_function("full_piv_lu_solve_10x10", move |bh| bh.iter(|| {
         let mut b = DVector::<f64>::from_element(10, 1.0);
         lu.solve(&mut b);
-    })
+    }));
 }
 
-#[bench]
+fn full_piv_lu_solve_100x100(bh: &mut criterion::Criterion) {
-fn full_piv_lu_solve_100x100(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(100, 100);
     let lu = FullPivLU::new(m.clone());
 
-    bh.iter(|| {
+    bh.bench_function("full_piv_lu_solve_100x100", move |bh| bh.iter(|| {
         let mut b = DVector::<f64>::from_element(100, 1.0);
         lu.solve(&mut b);
-    })
+    }));
 }
 
-#[bench]
+fn full_piv_lu_solve_500x500(bh: &mut criterion::Criterion) {
-fn full_piv_lu_solve_500x500(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(500, 500);
     let lu = FullPivLU::new(m.clone());
 
-    bh.iter(|| {
+    bh.bench_function("full_piv_lu_solve_500x500", move |bh| bh.iter(|| {
         let mut b = DVector::<f64>::from_element(500, 1.0);
         lu.solve(&mut b);
-    })
+    }));
 }
 
-#[bench]
+fn full_piv_lu_inverse_10x10(bh: &mut criterion::Criterion) {
-fn full_piv_lu_inverse_10x10(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(10, 10);
     let lu = FullPivLU::new(m.clone());
 
-    bh.iter(|| test::black_box(lu.try_inverse()))
+    bh.bench_function("full_piv_lu_inverse_10x10", move |bh| bh.iter(|| test::black_box(lu.try_inverse())));
 }
 
-#[bench]
+fn full_piv_lu_inverse_100x100(bh: &mut criterion::Criterion) {
-fn full_piv_lu_inverse_100x100(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(100, 100);
     let lu = FullPivLU::new(m.clone());
 
-    bh.iter(|| test::black_box(lu.try_inverse()))
+    bh.bench_function("full_piv_lu_inverse_100x100", move |bh| bh.iter(|| test::black_box(lu.try_inverse())));
 }
 
-#[bench]
+fn full_piv_lu_inverse_500x500(bh: &mut criterion::Criterion) {
-fn full_piv_lu_inverse_500x500(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(500, 500);
     let lu = FullPivLU::new(m.clone());
 
-    bh.iter(|| test::black_box(lu.try_inverse()))
+    bh.bench_function("full_piv_lu_inverse_500x500", move |bh| bh.iter(|| test::black_box(lu.try_inverse())));
 }
 
-#[bench]
+fn full_piv_lu_determinant_10x10(bh: &mut criterion::Criterion) {
-fn full_piv_lu_determinant_10x10(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(10, 10);
     let lu = FullPivLU::new(m.clone());
 
-    bh.iter(|| test::black_box(lu.determinant()))
+    bh.bench_function("full_piv_lu_determinant_10x10", move |bh| bh.iter(|| test::black_box(lu.determinant())));
 }
 
-#[bench]
+
-fn full_piv_lu_determinant_100x100(bh: &mut Bencher) {
+fn full_piv_lu_determinant_100x100(bh: &mut criterion::Criterion) {
     let m = DMatrix::<f64>::new_random(100, 100);
     let lu = FullPivLU::new(m.clone());
 
-    bh.iter(|| test::black_box(lu.determinant()))
+    bh.bench_function("full_piv_lu_determinant_100x100", move |bh| bh.iter(|| test::black_box(lu.determinant())));
 }
 
-#[bench]
+fn full_piv_lu_determinant_500x500(bh: &mut criterion::Criterion) {
-fn full_piv_lu_determinant_500x500(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(500, 500);
     let lu = FullPivLU::new(m.clone());
 
-    bh.iter(|| test::black_box(lu.determinant()))
+    bh.bench_function("full_piv_lu_determinant_500x500", move |bh| bh.iter(|| test::black_box(lu.determinant())));
 }
+
+criterion_group!(full_piv_lu,
+    full_piv_lu_decompose_10x10,
+    full_piv_lu_decompose_100x100,
+//    full_piv_lu_decompose_500x500,
+    full_piv_lu_solve_10x10,
+    full_piv_lu_solve_100x100,
+//    full_piv_lu_solve_500x500,
+    full_piv_lu_inverse_10x10,
+    full_piv_lu_inverse_100x100,
+//    full_piv_lu_inverse_500x500,
+    full_piv_lu_determinant_10x10,
+    full_piv_lu_determinant_100x100,
+//    full_piv_lu_determinant_500x500
+);

benches/linalg/hessenberg.rs

@@ -1,58 +1,60 @@
 use na::{DMatrix, Hessenberg, Matrix4};
-use test::{self, Bencher};
 
 #[path = "../common/macros.rs"]
 mod macros;
 
 // Without unpack.
-#[bench]
+fn hessenberg_decompose_4x4(bh: &mut criterion::Criterion) {
-fn hessenberg_decompose_4x4(bh: &mut Bencher) {
     let m = Matrix4::<f64>::new_random();
-    bh.iter(|| test::black_box(Hessenberg::new(m.clone())))
+    bh.bench_function("hessenberg_decompose_4x4", move |bh| bh.iter(|| test::black_box(Hessenberg::new(m.clone()))));
 }
 
-#[bench]
+fn hessenberg_decompose_100x100(bh: &mut criterion::Criterion) {
-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.bench_function("hessenberg_decompose_100x100", move |bh| bh.iter(|| test::black_box(Hessenberg::new(m.clone()))));
 }
 
-#[bench]
+fn hessenberg_decompose_200x200(bh: &mut criterion::Criterion) {
-fn hessenberg_decompose_200x200(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(200, 200);
-    bh.iter(|| test::black_box(Hessenberg::new(m.clone())))
+    bh.bench_function("hessenberg_decompose_200x200", move |bh| bh.iter(|| test::black_box(Hessenberg::new(m.clone()))));
 }
 
-#[bench]
+fn hessenberg_decompose_500x500(bh: &mut criterion::Criterion) {
-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.bench_function("hessenberg_decompose_500x500", move |bh| bh.iter(|| test::black_box(Hessenberg::new(m.clone()))));
 }
 
 // With unpack.
-#[bench]
+fn hessenberg_decompose_unpack_100x100(bh: &mut criterion::Criterion) {
-fn hessenberg_decompose_unpack_100x100(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(100, 100);
-    bh.iter(|| {
+    bh.bench_function("hessenberg_decompose_unpack_100x100", move |bh| bh.iter(|| {
         let hess = Hessenberg::new(m.clone());
         let _ = hess.unpack();
-    })
+    }));
 }
 
-#[bench]
+fn hessenberg_decompose_unpack_200x200(bh: &mut criterion::Criterion) {
-fn hessenberg_decompose_unpack_200x200(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(200, 200);
-    bh.iter(|| {
+    bh.bench_function("hessenberg_decompose_unpack_200x200", move |bh| bh.iter(|| {
         let hess = Hessenberg::new(m.clone());
         let _ = hess.unpack();
-    })
+    }));
 }
 
-#[bench]
+fn hessenberg_decompose_unpack_500x500(bh: &mut criterion::Criterion) {
-fn hessenberg_decompose_unpack_500x500(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(500, 500);
-    bh.iter(|| {
+    bh.bench_function("hessenberg_decompose_unpack_500x500", move |bh| bh.iter(|| {
         let hess = Hessenberg::new(m.clone());
         let _ = hess.unpack();
-    })
+    }));
 }
+
+criterion_group!(hessenberg,
+    hessenberg_decompose_4x4,
+    hessenberg_decompose_100x100,
+    hessenberg_decompose_200x200,
+//    hessenberg_decompose_500x500,
+    hessenberg_decompose_unpack_100x100,
+    hessenberg_decompose_unpack_200x200,
+//    hessenberg_decompose_unpack_500x500
+);

benches/linalg/lu.rs

@@ -1,102 +1,102 @@
 use na::{DMatrix, DVector, LU};
-use test::{self, Bencher};
 
 // Without unpack.
-#[bench]
+fn lu_decompose_10x10(bh: &mut criterion::Criterion) {
-fn lu_decompose_10x10(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(10, 10);
-    bh.iter(|| test::black_box(LU::new(m.clone())))
+    bh.bench_function("lu_decompose_10x10", move |bh| bh.iter(|| test::black_box(LU::new(m.clone()))));
 }
 
-#[bench]
+fn lu_decompose_100x100(bh: &mut criterion::Criterion) {
-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.bench_function("lu_decompose_100x100", move |bh| bh.iter(|| test::black_box(LU::new(m.clone()))));
 }
 
-#[bench]
+fn lu_decompose_500x500(bh: &mut criterion::Criterion) {
-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.bench_function("lu_decompose_500x500", move |bh| bh.iter(|| test::black_box(LU::new(m.clone()))));
 }
 
-#[bench]
+fn lu_solve_10x10(bh: &mut criterion::Criterion) {
-fn lu_solve_10x10(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(10, 10);
     let lu = LU::new(m.clone());
 
-    bh.iter(|| {
+    bh.bench_function("lu_solve_10x10", move |bh| bh.iter(|| {
         let mut b = DVector::<f64>::from_element(10, 1.0);
         lu.solve(&mut b);
-    })
+    }));
 }
 
-#[bench]
+fn lu_solve_100x100(bh: &mut criterion::Criterion) {
-fn lu_solve_100x100(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(100, 100);
     let lu = LU::new(m.clone());
 
-    bh.iter(|| {
+    bh.bench_function("lu_solve_100x100", move |bh| bh.iter(|| {
         let mut b = DVector::<f64>::from_element(100, 1.0);
         lu.solve(&mut b);
-    })
+    }));
 }
 
-#[bench]
+fn lu_solve_500x500(bh: &mut criterion::Criterion) {
-fn lu_solve_500x500(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(500, 500);
     let lu = LU::new(m.clone());
 
-    bh.iter(|| {
+    bh.bench_function("", move |bh| bh.iter(|| {
         let mut b = DVector::<f64>::from_element(500, 1.0);
         lu.solve(&mut b);
-    })
+    }));
 }
 
-#[bench]
+fn lu_inverse_10x10(bh: &mut criterion::Criterion) {
-fn lu_inverse_10x10(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(10, 10);
     let lu = LU::new(m.clone());
 
-    bh.iter(|| test::black_box(lu.try_inverse()))
+    bh.bench_function("lu_inverse_10x10", move |bh| bh.iter(|| test::black_box(lu.try_inverse())));
 }
 
-#[bench]
+fn lu_inverse_100x100(bh: &mut criterion::Criterion) {
-fn lu_inverse_100x100(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(100, 100);
     let lu = LU::new(m.clone());
 
-    bh.iter(|| test::black_box(lu.try_inverse()))
+    bh.bench_function("lu_inverse_100x100", move |bh| bh.iter(|| test::black_box(lu.try_inverse())));
 }
 
-#[bench]
+fn lu_inverse_500x500(bh: &mut criterion::Criterion) {
-fn lu_inverse_500x500(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(500, 500);
     let lu = LU::new(m.clone());
 
-    bh.iter(|| test::black_box(lu.try_inverse()))
+    bh.bench_function("lu_inverse_500x500", move |bh| bh.iter(|| test::black_box(lu.try_inverse())));
 }
 
-#[bench]
+fn lu_determinant_10x10(bh: &mut criterion::Criterion) {
-fn lu_determinant_10x10(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(10, 10);
     let lu = LU::new(m.clone());
 
-    bh.iter(|| test::black_box(lu.determinant()))
+    bh.bench_function("lu_determinant_10x10", move |bh| bh.iter(|| test::black_box(lu.determinant())));
 }
 
-#[bench]
+fn lu_determinant_100x100(bh: &mut criterion::Criterion) {
-fn lu_determinant_100x100(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(100, 100);
     let lu = LU::new(m.clone());
 
-    bh.iter(|| test::black_box(lu.determinant()))
+    bh.bench_function("lu_determinant_100x100", move |bh| bh.iter(|| test::black_box(lu.determinant())));
 }
 
-#[bench]
+fn lu_determinant_500x500(bh: &mut criterion::Criterion) {
-fn lu_determinant_500x500(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(500, 500);
     let lu = LU::new(m.clone());
 
-    bh.iter(|| test::black_box(lu.determinant()))
+    bh.bench_function("", move |bh| bh.iter(|| test::black_box(lu.determinant())));
 }
+
+criterion_group!(lu,
+    lu_decompose_10x10,
+    lu_decompose_100x100,
+//    lu_decompose_500x500,
+    lu_solve_10x10,
+    lu_solve_100x100,
+    lu_inverse_10x10,
+    lu_inverse_100x100,
+//    lu_inverse_500x500,
+    lu_determinant_10x10,
+    lu_determinant_100x100
+);

benches/linalg/mod.rs

@@ -1,3 +1,14 @@
+pub use self::bidiagonal::bidiagonal;
+pub use self::cholesky::cholesky;
+pub use self::full_piv_lu::full_piv_lu;
+pub use self::hessenberg::hessenberg;
+pub use self::lu::lu;
+pub use self::qr::qr;
+pub use self::schur::schur;
+pub use self::solve::solve;
+pub use self::svd::svd;
+pub use self::symmetric_eigen::symmetric_eigen;
+
 mod bidiagonal;
 mod cholesky;
 mod full_piv_lu;
@@ -8,4 +19,4 @@ mod schur;
 mod solve;
 mod svd;
 mod symmetric_eigen;
-// mod eigen;
+// mod eigen;

benches/linalg/qr.rs

@@ -1,130 +1,133 @@
 use na::{DMatrix, DVector, Matrix4, QR};
-use test::{self, Bencher};
 
 #[path = "../common/macros.rs"]
 mod macros;
 
 // Without unpack.
-#[bench]
+fn qr_decompose_100x100(bh: &mut criterion::Criterion) {
-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.bench_function("qr_decompose_100x100", move |bh| bh.iter(|| test::black_box(QR::new(m.clone()))));
 }
 
-#[bench]
+fn qr_decompose_100x500(bh: &mut criterion::Criterion) {
-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.bench_function("qr_decompose_100x500", move |bh| bh.iter(|| test::black_box(QR::new(m.clone()))));
 }
 
-#[bench]
+fn qr_decompose_4x4(bh: &mut criterion::Criterion) {
-fn qr_decompose_4x4(bh: &mut Bencher) {
     let m = Matrix4::<f64>::new_random();
-    bh.iter(|| test::black_box(QR::new(m.clone())))
+    bh.bench_function("qr_decompose_4x4", move |bh| bh.iter(|| test::black_box(QR::new(m.clone()))));
 }
 
-#[bench]
+fn qr_decompose_500x100(bh: &mut criterion::Criterion) {
-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.bench_function("qr_decompose_500x100", move |bh| bh.iter(|| test::black_box(QR::new(m.clone()))));
 }
 
-#[bench]
+fn qr_decompose_500x500(bh: &mut criterion::Criterion) {
-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.bench_function("qr_decompose_500x500", move |bh| bh.iter(|| test::black_box(QR::new(m.clone()))));
 }
 
 // With unpack.
-#[bench]
+fn qr_decompose_unpack_100x100(bh: &mut criterion::Criterion) {
-fn qr_decompose_unpack_100x100(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(100, 100);
-    bh.iter(|| {
+    bh.bench_function("qr_decompose_unpack_100x100", move |bh| bh.iter(|| {
         let qr = QR::new(m.clone());
         let _ = qr.unpack();
-    })
+    }));
 }
 
-#[bench]
+fn qr_decompose_unpack_100x500(bh: &mut criterion::Criterion) {
-fn qr_decompose_unpack_100x500(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(100, 500);
-    bh.iter(|| {
+    bh.bench_function("qr_decompose_unpack_100x500", move |bh| bh.iter(|| {
         let qr = QR::new(m.clone());
         let _ = qr.unpack();
-    })
+    }));
 }
 
-#[bench]
+fn qr_decompose_unpack_500x100(bh: &mut criterion::Criterion) {
-fn qr_decompose_unpack_500x100(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(500, 100);
-    bh.iter(|| {
+    bh.bench_function("qr_decompose_unpack_500x100", move |bh| bh.iter(|| {
         let qr = QR::new(m.clone());
         let _ = qr.unpack();
-    })
+    }));
 }
 
-#[bench]
+fn qr_decompose_unpack_500x500(bh: &mut criterion::Criterion) {
-fn qr_decompose_unpack_500x500(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(500, 500);
-    bh.iter(|| {
+    bh.bench_function("qr_decompose_unpack_500x500", move |bh| bh.iter(|| {
         let qr = QR::new(m.clone());
         let _ = qr.unpack();
-    })
+    }));
 }
 
-#[bench]
+fn qr_solve_10x10(bh: &mut criterion::Criterion) {
-fn qr_solve_10x10(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(10, 10);
     let qr = QR::new(m.clone());
 
-    bh.iter(|| {
+    bh.bench_function("qr_solve_10x10", move |bh| bh.iter(|| {
         let mut b = DVector::<f64>::from_element(10, 1.0);
         qr.solve(&mut b);
-    })
+    }));
 }
 
-#[bench]
+fn qr_solve_100x100(bh: &mut criterion::Criterion) {
-fn qr_solve_100x100(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(100, 100);
     let qr = QR::new(m.clone());
 
-    bh.iter(|| {
+    bh.bench_function("qr_solve_100x100", move |bh| bh.iter(|| {
         let mut b = DVector::<f64>::from_element(100, 1.0);
         qr.solve(&mut b);
-    })
+    }));
 }
 
-#[bench]
+fn qr_solve_500x500(bh: &mut criterion::Criterion) {
-fn qr_solve_500x500(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(500, 500);
     let qr = QR::new(m.clone());
 
-    bh.iter(|| {
+    bh.bench_function("qr_solve_500x500", move |bh| bh.iter(|| {
         let mut b = DVector::<f64>::from_element(500, 1.0);
         qr.solve(&mut b);
-    })
+    }));
 }
 
-#[bench]
+fn qr_inverse_10x10(bh: &mut criterion::Criterion) {
-fn qr_inverse_10x10(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(10, 10);
     let qr = QR::new(m.clone());
 
-    bh.iter(|| test::black_box(qr.try_inverse()))
+    bh.bench_function("qr_inverse_10x10", move |bh| bh.iter(|| test::black_box(qr.try_inverse())));
 }
 
-#[bench]
+fn qr_inverse_100x100(bh: &mut criterion::Criterion) {
-fn qr_inverse_100x100(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(100, 100);
     let qr = QR::new(m.clone());
 
-    bh.iter(|| test::black_box(qr.try_inverse()))
+    bh.bench_function("qr_inverse_100x100", move |bh| bh.iter(|| test::black_box(qr.try_inverse())));
 }
 
-#[bench]
+fn qr_inverse_500x500(bh: &mut criterion::Criterion) {
-fn qr_inverse_500x500(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(500, 500);
     let qr = QR::new(m.clone());
 
-    bh.iter(|| test::black_box(qr.try_inverse()))
+    bh.bench_function("qr_inverse_500x500", move |bh| bh.iter(|| test::black_box(qr.try_inverse())));
 }
+
+
+criterion_group!(qr,
+    qr_decompose_100x100,
+    qr_decompose_100x500,
+    qr_decompose_4x4,
+    qr_decompose_500x100,
+//    qr_decompose_500x500,
+    qr_decompose_unpack_100x100,
+    qr_decompose_unpack_100x500,
+    qr_decompose_unpack_500x100,
+//    qr_decompose_unpack_500x500,
+    qr_solve_10x10,
+    qr_solve_100x100,
+//    qr_solve_500x500,
+    qr_inverse_10x10,
+    qr_inverse_100x100,
+//    qr_inverse_500x500
+);

benches/linalg/schur.rs

@@ -1,50 +1,52 @@
-use na::{Matrix4, RealSchur};
+use na::{Matrix4, Schur};
-use test::{self, Bencher};
 
-#[bench]
+fn schur_decompose_4x4(bh: &mut criterion::Criterion) {
-fn schur_decompose_4x4(bh: &mut Bencher) {
     let m = Matrix4::<f64>::new_random();
-    bh.iter(|| test::black_box(RealSchur::new(m.clone())))
+    bh.bench_function("schur_decompose_4x4", move |bh| bh.iter(|| test::black_box(Schur::new(m.clone()))));
 }
 
-#[bench]
+fn schur_decompose_10x10(bh: &mut criterion::Criterion) {
-fn schur_decompose_10x10(bh: &mut Bencher) {
+    let m = crate::reproductible_dmatrix(10, 10);
-    let m = ::reproductible_dmatrix(10, 10);
+    bh.bench_function("schur_decompose_10x10", move |bh| bh.iter(|| test::black_box(Schur::new(m.clone()))));
-    bh.iter(|| test::black_box(RealSchur::new(m.clone())))
 }
 
-#[bench]
+fn schur_decompose_100x100(bh: &mut criterion::Criterion) {
-fn schur_decompose_100x100(bh: &mut Bencher) {
+    let m = crate::reproductible_dmatrix(100, 100);
-    let m = ::reproductible_dmatrix(100, 100);
+    bh.bench_function("schur_decompose_100x100", move |bh| bh.iter(|| test::black_box(Schur::new(m.clone()))));
-    bh.iter(|| test::black_box(RealSchur::new(m.clone())))
 }
 
-#[bench]
+fn schur_decompose_200x200(bh: &mut criterion::Criterion) {
-fn schur_decompose_200x200(bh: &mut Bencher) {
+    let m = crate::reproductible_dmatrix(200, 200);
-    let m = ::reproductible_dmatrix(200, 200);
+    bh.bench_function("schur_decompose_200x200", move |bh| bh.iter(|| test::black_box(Schur::new(m.clone()))));
-    bh.iter(|| test::black_box(RealSchur::new(m.clone())))
 }
 
-#[bench]
+fn eigenvalues_4x4(bh: &mut criterion::Criterion) {
-fn eigenvalues_4x4(bh: &mut Bencher) {
     let m = Matrix4::<f64>::new_random();
-    bh.iter(|| test::black_box(m.complex_eigenvalues()))
+    bh.bench_function("eigenvalues_4x4", move |bh| bh.iter(|| test::black_box(m.complex_eigenvalues())));
 }
 
-#[bench]
+fn eigenvalues_10x10(bh: &mut criterion::Criterion) {
-fn eigenvalues_10x10(bh: &mut Bencher) {
+    let m = crate::reproductible_dmatrix(10, 10);
-    let m = ::reproductible_dmatrix(10, 10);
+    bh.bench_function("eigenvalues_10x10", move |bh| bh.iter(|| test::black_box(m.complex_eigenvalues())));
-    bh.iter(|| test::black_box(m.complex_eigenvalues()))
 }
 
-#[bench]
+fn eigenvalues_100x100(bh: &mut criterion::Criterion) {
-fn eigenvalues_100x100(bh: &mut Bencher) {
+    let m = crate::reproductible_dmatrix(100, 100);
-    let m = ::reproductible_dmatrix(100, 100);
+    bh.bench_function("eigenvalues_100x100", move |bh| bh.iter(|| test::black_box(m.complex_eigenvalues())));
-    bh.iter(|| test::black_box(m.complex_eigenvalues()))
 }
 
-#[bench]
+fn eigenvalues_200x200(bh: &mut criterion::Criterion) {
-fn eigenvalues_200x200(bh: &mut Bencher) {
+    let m = crate::reproductible_dmatrix(200, 200);
-    let m = ::reproductible_dmatrix(200, 200);
+    bh.bench_function("eigenvalues_200x200", move |bh| bh.iter(|| test::black_box(m.complex_eigenvalues())));
-    bh.iter(|| test::black_box(m.complex_eigenvalues()))
 }
+
+criterion_group!(schur,
+    schur_decompose_4x4,
+    schur_decompose_10x10,
+    schur_decompose_100x100,
+    schur_decompose_200x200,
+    eigenvalues_4x4,
+    eigenvalues_10x10,
+    eigenvalues_100x100,
+    eigenvalues_200x200
+);

benches/linalg/solve.rs

@@ -1,82 +1,85 @@
 use na::{DMatrix, DVector};
-use test::Bencher;
 
-#[bench]
+fn solve_l_triangular_100x100(bh: &mut criterion::Criterion) {
-fn solve_l_triangular_100x100(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(100, 100);
     let v = DVector::<f64>::new_random(100);
 
-    bh.iter(|| {
+    bh.bench_function("solve_l_triangular_100x100", move |bh| bh.iter(|| {
         let _ = m.solve_lower_triangular(&v);
-    })
+    }));
 }
 
-#[bench]
+fn solve_l_triangular_1000x1000(bh: &mut criterion::Criterion) {
-fn solve_l_triangular_1000x1000(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(1000, 1000);
     let v = DVector::<f64>::new_random(1000);
 
-    bh.iter(|| {
+    bh.bench_function("solve_l_triangular_1000x1000", move |bh| bh.iter(|| {
         let _ = m.solve_lower_triangular(&v);
-    })
+    }));
 }
 
-#[bench]
+fn tr_solve_l_triangular_100x100(bh: &mut criterion::Criterion) {
-fn tr_solve_l_triangular_100x100(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(100, 100);
     let v = DVector::<f64>::new_random(100);
 
-    bh.iter(|| {
+    bh.bench_function("tr_solve_l_triangular_100x100", move |bh| bh.iter(|| {
         let _ = m.tr_solve_lower_triangular(&v);
-    })
+    }));
 }
 
-#[bench]
+fn tr_solve_l_triangular_1000x1000(bh: &mut criterion::Criterion) {
-fn tr_solve_l_triangular_1000x1000(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(1000, 1000);
     let v = DVector::<f64>::new_random(1000);
 
-    bh.iter(|| {
+    bh.bench_function("tr_solve_l_triangular_1000x1000", move |bh| bh.iter(|| {
         let _ = m.tr_solve_lower_triangular(&v);
-    })
+    }));
 }
 
-#[bench]
+fn solve_u_triangular_100x100(bh: &mut criterion::Criterion) {
-fn solve_u_triangular_100x100(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(100, 100);
     let v = DVector::<f64>::new_random(100);
 
-    bh.iter(|| {
+    bh.bench_function("solve_u_triangular_100x100", move |bh| bh.iter(|| {
         let _ = m.solve_upper_triangular(&v);
-    })
+    }));
 }
 
-#[bench]
+fn solve_u_triangular_1000x1000(bh: &mut criterion::Criterion) {
-fn solve_u_triangular_1000x1000(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(1000, 1000);
     let v = DVector::<f64>::new_random(1000);
 
-    bh.iter(|| {
+    bh.bench_function("solve_u_triangular_1000x1000", move |bh| bh.iter(|| {
         let _ = m.solve_upper_triangular(&v);
-    })
+    }));
 }
 
-#[bench]
+fn tr_solve_u_triangular_100x100(bh: &mut criterion::Criterion) {
-fn tr_solve_u_triangular_100x100(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(100, 100);
     let v = DVector::<f64>::new_random(100);
 
-    bh.iter(|| {
+    bh.bench_function("tr_solve_u_triangular_100x100", move |bh| bh.iter(|| {
         let _ = m.tr_solve_upper_triangular(&v);
-    })
+    }));
 }
 
-#[bench]
+fn tr_solve_u_triangular_1000x1000(bh: &mut criterion::Criterion) {
-fn tr_solve_u_triangular_1000x1000(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(1000, 1000);
     let v = DVector::<f64>::new_random(1000);
 
-    bh.iter(|| {
+    bh.bench_function("tr_solve_u_triangular_1000x1000", move |bh| bh.iter(|| {
         let _ = m.tr_solve_upper_triangular(&v);
-    })
+    }));
 }
+
+
+criterion_group!(solve,
+    solve_l_triangular_100x100,
+    solve_l_triangular_1000x1000,
+    tr_solve_l_triangular_100x100,
+    tr_solve_l_triangular_1000x1000,
+    solve_u_triangular_100x100,
+    solve_u_triangular_1000x1000,
+    tr_solve_u_triangular_100x100,
+    tr_solve_u_triangular_1000x1000
+);

benches/linalg/svd.rs

@@ -1,98 +1,101 @@
 use na::{Matrix4, SVD};
-use test::{self, Bencher};
 
-#[bench]
+fn svd_decompose_4x4(bh: &mut criterion::Criterion) {
-fn svd_decompose_4x4(bh: &mut Bencher) {
     let m = Matrix4::<f64>::new_random();
-    bh.iter(|| test::black_box(SVD::new(m.clone(), true, true)))
+    bh.bench_function("svd_decompose_4x4", move |bh| bh.iter(|| test::black_box(SVD::new(m.clone(), true, true))));
 }
 
-#[bench]
+fn svd_decompose_10x10(bh: &mut criterion::Criterion) {
-fn svd_decompose_10x10(bh: &mut Bencher) {
+    let m = crate::reproductible_dmatrix(10, 10);
-    let m = ::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(|| test::black_box(SVD::new(m.clone(), true, true)))
 }
 
-#[bench]
+fn svd_decompose_100x100(bh: &mut criterion::Criterion) {
-fn svd_decompose_100x100(bh: &mut Bencher) {
+    let m = crate::reproductible_dmatrix(100, 100);
-    let m = ::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(|| test::black_box(SVD::new(m.clone(), true, true)))
 }
 
-#[bench]
+fn svd_decompose_200x200(bh: &mut criterion::Criterion) {
-fn svd_decompose_200x200(bh: &mut Bencher) {
+    let m = crate::reproductible_dmatrix(200, 200);
-    let m = ::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(|| test::black_box(SVD::new(m.clone(), true, true)))
 }
 
-#[bench]
+fn rank_4x4(bh: &mut criterion::Criterion) {
-fn rank_4x4(bh: &mut Bencher) {
     let m = Matrix4::<f64>::new_random();
-    bh.iter(|| test::black_box(m.rank(1.0e-10)))
+    bh.bench_function("rank_4x4", move |bh| bh.iter(|| test::black_box(m.rank(1.0e-10))));
 }
 
-#[bench]
+fn rank_10x10(bh: &mut criterion::Criterion) {
-fn rank_10x10(bh: &mut Bencher) {
+    let m = crate::reproductible_dmatrix(10, 10);
-    let m = ::reproductible_dmatrix(10, 10);
+    bh.bench_function("rank_10x10", move |bh| bh.iter(|| test::black_box(m.rank(1.0e-10))));
-    bh.iter(|| test::black_box(m.rank(1.0e-10)))
 }
 
-#[bench]
+fn rank_100x100(bh: &mut criterion::Criterion) {
-fn rank_100x100(bh: &mut Bencher) {
+    let m = crate::reproductible_dmatrix(100, 100);
-    let m = ::reproductible_dmatrix(100, 100);
+    bh.bench_function("rank_100x100", move |bh| bh.iter(|| test::black_box(m.rank(1.0e-10))));
-    bh.iter(|| test::black_box(m.rank(1.0e-10)))
 }
 
-#[bench]
+fn rank_200x200(bh: &mut criterion::Criterion) {
-fn rank_200x200(bh: &mut Bencher) {
+    let m = crate::reproductible_dmatrix(200, 200);
-    let m = ::reproductible_dmatrix(200, 200);
+    bh.bench_function("rank_200x200", move |bh| bh.iter(|| test::black_box(m.rank(1.0e-10))));
-    bh.iter(|| test::black_box(m.rank(1.0e-10)))
 }
 
-#[bench]
+fn singular_values_4x4(bh: &mut criterion::Criterion) {
-fn singular_values_4x4(bh: &mut Bencher) {
     let m = Matrix4::<f64>::new_random();
-    bh.iter(|| test::black_box(m.singular_values()))
+    bh.bench_function("singular_values_4x4", move |bh| bh.iter(|| test::black_box(m.singular_values())));
 }
 
-#[bench]
+fn singular_values_10x10(bh: &mut criterion::Criterion) {
-fn singular_values_10x10(bh: &mut Bencher) {
+    let m = crate::reproductible_dmatrix(10, 10);
-    let m = ::reproductible_dmatrix(10, 10);
+    bh.bench_function("singular_values_10x10", move |bh| bh.iter(|| test::black_box(m.singular_values())));
-    bh.iter(|| test::black_box(m.singular_values()))
 }
 
-#[bench]
+fn singular_values_100x100(bh: &mut criterion::Criterion) {
-fn singular_values_100x100(bh: &mut Bencher) {
+    let m = crate::reproductible_dmatrix(100, 100);
-    let m = ::reproductible_dmatrix(100, 100);
+    bh.bench_function("singular_values_100x100", move |bh| bh.iter(|| test::black_box(m.singular_values())));
-    bh.iter(|| test::black_box(m.singular_values()))
 }
 
-#[bench]
+fn singular_values_200x200(bh: &mut criterion::Criterion) {
-fn singular_values_200x200(bh: &mut Bencher) {
+    let m = crate::reproductible_dmatrix(200, 200);
-    let m = ::reproductible_dmatrix(200, 200);
+    bh.bench_function("singular_values_200x200", move |bh| bh.iter(|| test::black_box(m.singular_values())));
-    bh.iter(|| test::black_box(m.singular_values()))
 }
 
-#[bench]
+fn pseudo_inverse_4x4(bh: &mut criterion::Criterion) {
-fn pseudo_inverse_4x4(bh: &mut Bencher) {
     let m = Matrix4::<f64>::new_random();
-    bh.iter(|| test::black_box(m.clone().pseudo_inverse(1.0e-10)))
+    bh.bench_function("pseudo_inverse_4x4", move |bh| bh.iter(|| test::black_box(m.clone().pseudo_inverse(1.0e-10))));
 }
 
-#[bench]
+fn pseudo_inverse_10x10(bh: &mut criterion::Criterion) {
-fn pseudo_inverse_10x10(bh: &mut Bencher) {
+    let m = crate::reproductible_dmatrix(10, 10);
-    let m = ::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(|| test::black_box(m.clone().pseudo_inverse(1.0e-10)))
 }
 
-#[bench]
+fn pseudo_inverse_100x100(bh: &mut criterion::Criterion) {
-fn pseudo_inverse_100x100(bh: &mut Bencher) {
+    let m = crate::reproductible_dmatrix(100, 100);
-    let m = ::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(|| test::black_box(m.clone().pseudo_inverse(1.0e-10)))
 }
 
-#[bench]
+fn pseudo_inverse_200x200(bh: &mut criterion::Criterion) {
-fn pseudo_inverse_200x200(bh: &mut Bencher) {
+    let m = crate::reproductible_dmatrix(200, 200);
-    let m = ::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(|| test::black_box(m.clone().pseudo_inverse(1.0e-10)))
 }
+
+
+criterion_group!(svd,
+    svd_decompose_4x4,
+    svd_decompose_10x10,
+    svd_decompose_100x100,
+    svd_decompose_200x200,
+    rank_4x4,
+    rank_10x10,
+    rank_100x100,
+    rank_200x200,
+    singular_values_4x4,
+    singular_values_10x10,
+    singular_values_100x100,
+    singular_values_200x200,
+    pseudo_inverse_4x4,
+    pseudo_inverse_10x10,
+    pseudo_inverse_100x100,
+    pseudo_inverse_200x200
+);

benches/linalg/symmetric_eigen.rs

@@ -1,26 +1,28 @@
 use na::{Matrix4, SymmetricEigen};
-use test::{self, Bencher};
 
-#[bench]
+fn symmetric_eigen_decompose_4x4(bh: &mut criterion::Criterion) {
-fn symmetric_eigen_decompose_4x4(bh: &mut Bencher) {
     let m = Matrix4::<f64>::new_random();
-    bh.iter(|| test::black_box(SymmetricEigen::new(m.clone())))
+    bh.bench_function("symmetric_eigen_decompose_4x4", move |bh| bh.iter(|| test::black_box(SymmetricEigen::new(m.clone()))));
 }
 
-#[bench]
+fn symmetric_eigen_decompose_10x10(bh: &mut criterion::Criterion) {
-fn symmetric_eigen_decompose_10x10(bh: &mut Bencher) {
+    let m = crate::reproductible_dmatrix(10, 10);
-    let m = ::reproductible_dmatrix(10, 10);
+    bh.bench_function("symmetric_eigen_decompose_10x10", move |bh| bh.iter(|| test::black_box(SymmetricEigen::new(m.clone()))));
-    bh.iter(|| test::black_box(SymmetricEigen::new(m.clone())))
 }
 
-#[bench]
+fn symmetric_eigen_decompose_100x100(bh: &mut criterion::Criterion) {
-fn symmetric_eigen_decompose_100x100(bh: &mut Bencher) {
+    let m = crate::reproductible_dmatrix(100, 100);
-    let m = ::reproductible_dmatrix(100, 100);
+    bh.bench_function("symmetric_eigen_decompose_100x100", move |bh| bh.iter(|| test::black_box(SymmetricEigen::new(m.clone()))));
-    bh.iter(|| test::black_box(SymmetricEigen::new(m.clone())))
 }
 
-#[bench]
+fn symmetric_eigen_decompose_200x200(bh: &mut criterion::Criterion) {
-fn symmetric_eigen_decompose_200x200(bh: &mut Bencher) {
+    let m = crate::reproductible_dmatrix(200, 200);
-    let m = ::reproductible_dmatrix(200, 200);
+    bh.bench_function("symmetric_eigen_decompose_200x200", move |bh| bh.iter(|| test::black_box(SymmetricEigen::new(m.clone()))));
-    bh.iter(|| test::black_box(SymmetricEigen::new(m.clone())))
 }
+
+criterion_group!(symmetric_eigen,
+    symmetric_eigen_decompose_4x4,
+    symmetric_eigen_decompose_10x10,
+    symmetric_eigen_decompose_100x100,
+    symmetric_eigen_decompose_200x200
+);

ci/test.sh

@@ -6,7 +6,7 @@ if [ -z "$NO_STD" ]; then
     if [ -z "$LAPACK" ]; then
         cargo test --verbose;
         cargo test --verbose "arbitrary";
-        cargo test --verbose "debug arbitrary mint serde-serialize abomonation-serialize";
+        cargo test --verbose --all-features;
         cd nalgebra-glm; cargo test --verbose;
     else
         cd nalgebra-lapack; cargo test --verbose;

examples/dimensional_genericity.rs

@@ -4,7 +4,7 @@ extern crate nalgebra as na;
 use alga::linear::FiniteDimInnerSpace;
 use na::allocator::Allocator;
 use na::dimension::Dim;
-use na::{DefaultAllocator, Real, Unit, Vector2, Vector3, VectorN};
+use na::{DefaultAllocator, RealField, Unit, Vector2, Vector3, VectorN};
 
 /// Reflects a vector wrt. the hyperplane with normal `plane_normal`.
 fn reflect_wrt_hyperplane_with_algebraic_genericity<V>(plane_normal: &Unit<V>, vector: &V) -> V
@@ -14,12 +14,12 @@ where V: FiniteDimInnerSpace + Copy {
 }
 
 /// Reflects a vector wrt. the hyperplane with normal `plane_normal`.
-fn reflect_wrt_hyperplane_with_dimensional_genericity<N: Real, D: Dim>(
+fn reflect_wrt_hyperplane_with_dimensional_genericity<N: RealField, D: Dim>(
     plane_normal: &Unit<VectorN<N, D>>,
     vector: &VectorN<N, D>,
 ) -> VectorN<N, D>
 where
-    N: Real,
+    N: RealField,
     D: Dim,
     DefaultAllocator: Allocator<N, D>,
 {
@@ -29,7 +29,7 @@ where
 
 /// 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>
-where N: Real {
+where N: RealField {
     let n = plane_normal.as_ref(); // Get the underlying Vector2
     vector - n * (n.dot(vector) * na::convert(2.0))
 }
@@ -37,7 +37,7 @@ where N: Real {
 /// 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>
-where N: Real {
+where N: RealField {
     let n = plane_normal.as_ref(); // Get the underlying Vector3
     vector - n * (n.dot(vector) * na::convert(2.0))
 }

examples/identity.rs

@@ -36,4 +36,4 @@ fn main() {
     // They both return the same result.
     assert!(result1 == Vector3::new(100001.0, 200002.0, 300003.0));
     assert!(result2 == Vector3::new(100001.0, 200002.0, 300003.0));
-}
+}

examples/scalar_genericity.rs

@@ -1,7 +1,7 @@
 extern crate alga;
 extern crate nalgebra as na;
 
-use alga::general::{Real, RingCommutative};
+use alga::general::{RealField, RingCommutative};
 use na::{Scalar, Vector3};
 
 fn print_vector<N: Scalar>(m: &Vector3<N>) {
@@ -14,11 +14,11 @@ fn print_squared_norm<N: Scalar + RingCommutative>(v: &Vector3<N>) {
     println!("{:?}", sqnorm);
 }
 
-fn print_norm<N: Real>(v: &Vector3<N>) {
+fn print_norm<N: RealField>(v: &Vector3<N>) {
     // NOTE: alternatively, nalgebra already defines `v.norm()`.
     let norm = v.dot(v).sqrt();
 
-    // The Real bound implies that N is Display so we can
+    // The RealField bound implies that N 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 = "0.3.0"
+version = "0.4.0"
 authors = ["sebcrozet <developer@crozet.re>"]
 
 description = "A computer-graphics oriented API for nalgebra, inspired by the C++ GLM library."
@@ -11,6 +11,7 @@ readme = "../README.md"
 categories = [ "science" ]
 keywords = [ "linear", "algebra", "matrix", "vector", "math" ]
 license = "BSD-3-Clause"
+edition = "2018"
 
 [features]
 default         = [ "std" ]
@@ -23,5 +24,5 @@ abomonation-serialize = [ "nalgebra/abomonation-serialize" ]
 [dependencies]
 num-traits = { version = "0.2", default-features = false }
 approx = { version = "0.3", default-features = false }
-alga = { version = "0.8", default-features = false }
+alga = { version = "0.9", default-features = false }
-nalgebra = { path =  "..", version = "0.17", default-features = false }
+nalgebra = { path =  "..", version = "0.18", default-features = false }

nalgebra-glm/src/common.rs

@@ -1,9 +1,9 @@
-use na::{self, DefaultAllocator, Real};
+use na::{self, DefaultAllocator, RealField};
 use num::FromPrimitive;
 use std::mem;
 
-use aliases::{TMat, TVec};
+use crate::aliases::{TMat, TVec};
-use traits::{Alloc, Dimension, Number};
+use crate::traits::{Alloc, Dimension, Number};
 
 /// For each matrix or vector component `x` if `x >= 0`; otherwise, it returns `-x`.
 ///
@@ -43,7 +43,7 @@ where DefaultAllocator: Alloc<N, R, C> {
 /// * [`fract`](fn.fract.html)
 /// * [`round`](fn.round.html)
 /// * [`trunc`](fn.trunc.html)
-pub fn ceil<N: Real, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
+pub fn ceil<N: RealField, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
 where DefaultAllocator: Alloc<N, D> {
     x.map(|x| x.ceil())
 }
@@ -222,7 +222,7 @@ where DefaultAllocator: Alloc<f32, D> {
 /// * [`fract`](fn.fract.html)
 /// * [`round`](fn.round.html)
 /// * [`trunc`](fn.trunc.html)
-pub fn floor<N: Real, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
+pub fn floor<N: RealField, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
 where DefaultAllocator: Alloc<N, D> {
     x.map(|x| x.floor())
 }
@@ -249,14 +249,14 @@ where DefaultAllocator: Alloc<N, D> {
 /// * [`floor`](fn.floor.html)
 /// * [`round`](fn.round.html)
 /// * [`trunc`](fn.trunc.html)
-pub fn fract<N: Real, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
+pub fn fract<N: RealField, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
 where DefaultAllocator: Alloc<N, D> {
     x.map(|x| x.fract())
 }
 
 //// FIXME: should be implemented for TVec/TMat?
 ///// Returns the (significant, exponent) of this float number.
-//pub fn frexp<N: Real>(x: N, exp: N) -> (N, N) {
+//pub fn frexp<N: RealField>(x: N, exp: N) -> (N, N) {
 //    // FIXME: is there a better approach?
 //    let e = x.log2().ceil();
 //    (x * (-e).exp2(), e)
@@ -310,7 +310,7 @@ where DefaultAllocator: Alloc<f32, D> {
 //}
 
 ///// Returns the (significant, exponent) of this float number.
-//pub fn ldexp<N: Real>(x: N, exp: N) -> N {
+//pub fn ldexp<N: RealField>(x: N, exp: N) -> N {
 //    // FIXME: is there a better approach?
 //    x * (exp).exp2()
 //}
@@ -499,7 +499,7 @@ 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: Real, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
+pub fn round<N: RealField, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
 where DefaultAllocator: Alloc<N, D> {
     x.map(|x| x.round())
 }
@@ -576,7 +576,7 @@ where DefaultAllocator: Alloc<N, D> {
 /// * [`floor`](fn.floor.html)
 /// * [`fract`](fn.fract.html)
 /// * [`round`](fn.round.html)
-pub fn trunc<N: Real, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
+pub fn trunc<N: RealField, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
 where DefaultAllocator: Alloc<N, D> {
     x.map(|x| x.trunc())
 }

nalgebra-glm/src/constructors.rs

@@ -1,7 +1,7 @@
 #![cfg_attr(rustfmt, rustfmt_skip)]
 
-use na::{Scalar, Real, U2, U3, U4};
+use na::{Scalar, RealField, U2, U3, U4};
-use aliases::{TMat, Qua, TVec1, TVec2, TVec3, TVec4, TMat2, TMat2x3, TMat2x4, TMat3, TMat3x2, TMat3x4,
+use crate::aliases::{TMat, Qua, TVec1, TVec2, TVec3, TVec4, TMat2, TMat2x3, TMat2x4, TMat3, TMat3x2, TMat3x4,
               TMat4, TMat4x2, TMat4x3};
 
 
@@ -168,6 +168,6 @@ pub fn mat4<N: Scalar>(m11: N, m12: N, m13: N, m14: N,
 }
 
 /// Creates a new quaternion.
-pub fn quat<N: Real>(x: N, y: N, z: N, w: N) -> Qua<N> {
+pub fn quat<N: RealField>(x: N, y: N, z: N, w: N) -> Qua<N> {
     Qua::new(w, x, y, z)
 }

nalgebra-glm/src/exponential.rs

@@ -1,13 +1,13 @@
-use aliases::TVec;
+use crate::aliases::TVec;
-use na::{DefaultAllocator, Real};
+use na::{DefaultAllocator, RealField};
-use traits::{Alloc, Dimension};
+use crate::traits::{Alloc, Dimension};
 
 /// Component-wise exponential.
 ///
 /// # See also:
 ///
 /// * [`exp2`](fn.exp2.html)
-pub fn exp<N: Real, D: Dimension>(v: &TVec<N, D>) -> TVec<N, D>
+pub fn exp<N: RealField, D: Dimension>(v: &TVec<N, D>) -> TVec<N, D>
 where DefaultAllocator: Alloc<N, D> {
     v.map(|x| x.exp())
 }
@@ -17,7 +17,7 @@ where DefaultAllocator: Alloc<N, D> {
 /// # See also:
 ///
 /// * [`exp`](fn.exp.html)
-pub fn exp2<N: Real, D: Dimension>(v: &TVec<N, D>) -> TVec<N, D>
+pub fn exp2<N: RealField, D: Dimension>(v: &TVec<N, D>) -> TVec<N, D>
 where DefaultAllocator: Alloc<N, D> {
     v.map(|x| x.exp2())
 }
@@ -27,7 +27,7 @@ where DefaultAllocator: Alloc<N, D> {
 /// # See also:
 ///
 /// * [`sqrt`](fn.sqrt.html)
-pub fn inversesqrt<N: Real, D: Dimension>(v: &TVec<N, D>) -> TVec<N, D>
+pub fn inversesqrt<N: RealField, D: Dimension>(v: &TVec<N, D>) -> TVec<N, D>
 where DefaultAllocator: Alloc<N, D> {
     v.map(|x| N::one() / x.sqrt())
 }
@@ -37,7 +37,7 @@ where DefaultAllocator: Alloc<N, D> {
 /// # See also:
 ///
 /// * [`log2`](fn.log2.html)
-pub fn log<N: Real, D: Dimension>(v: &TVec<N, D>) -> TVec<N, D>
+pub fn log<N: RealField, D: Dimension>(v: &TVec<N, D>) -> TVec<N, D>
 where DefaultAllocator: Alloc<N, D> {
     v.map(|x| x.ln())
 }
@@ -47,13 +47,13 @@ where DefaultAllocator: Alloc<N, D> {
 /// # See also:
 ///
 /// * [`log`](fn.log.html)
-pub fn log2<N: Real, D: Dimension>(v: &TVec<N, D>) -> TVec<N, D>
+pub fn log2<N: RealField, D: Dimension>(v: &TVec<N, D>) -> TVec<N, D>
 where DefaultAllocator: Alloc<N, D> {
     v.map(|x| x.log2())
 }
 
 /// Component-wise power.
-pub fn pow<N: Real, D: Dimension>(base: &TVec<N, D>, exponent: &TVec<N, D>) -> TVec<N, D>
+pub fn pow<N: RealField, D: Dimension>(base: &TVec<N, D>, exponent: &TVec<N, D>) -> TVec<N, D>
 where DefaultAllocator: Alloc<N, D> {
     base.zip_map(exponent, |b, e| b.powf(e))
 }
@@ -66,7 +66,7 @@ where DefaultAllocator: Alloc<N, D> {
 /// * [`exp2`](fn.exp2.html)
 /// * [`inversesqrt`](fn.inversesqrt.html)
 /// * [`pow`](fn.pow.html)
-pub fn sqrt<N: Real, D: Dimension>(v: &TVec<N, D>) -> TVec<N, D>
+pub fn sqrt<N: RealField, D: Dimension>(v: &TVec<N, D>) -> TVec<N, D>
 where DefaultAllocator: Alloc<N, D> {
     v.map(|x| x.sqrt())
 }

nalgebra-glm/src/ext/matrix_clip_space.rs

@@ -1,55 +1,55 @@
-use aliases::TMat4;
+use crate::aliases::TMat4;
-use na::{Real};
+use na::{RealField};
 
-//pub fn frustum<N: Real>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> TMat4<N> {
+//pub fn frustum<N: RealField>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> TMat4<N> {
 //    unimplemented!()
 //}
 
-//pub fn frustum_lh<N: Real>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> TMat4<N> {
+//pub fn frustum_lh<N: RealField>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> TMat4<N> {
 //    unimplemented!()
 //}
 //
-//pub fn frustum_lr_no<N: Real>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> TMat4<N> {
+//pub fn frustum_lr_no<N: RealField>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> TMat4<N> {
 //    unimplemented!()
 //}
 //
-//pub fn frustum_lh_zo<N: Real>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> TMat4<N> {
+//pub fn frustum_lh_zo<N: RealField>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> TMat4<N> {
 //    unimplemented!()
 //}
 //
-//pub fn frustum_no<N: Real>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> TMat4<N> {
+//pub fn frustum_no<N: RealField>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> TMat4<N> {
 //    unimplemented!()
 //}
 //
-//pub fn frustum_rh<N: Real>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> TMat4<N> {
+//pub fn frustum_rh<N: RealField>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> TMat4<N> {
 //    unimplemented!()
 //}
 //
-//pub fn frustum_rh_no<N: Real>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> TMat4<N> {
+//pub fn frustum_rh_no<N: RealField>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> TMat4<N> {
 //    unimplemented!()
 //}
 //
-//pub fn frustum_rh_zo<N: Real>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> TMat4<N> {
+//pub fn frustum_rh_zo<N: RealField>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> TMat4<N> {
 //    unimplemented!()
 //}
 //
-//pub fn frustum_zo<N: Real>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> TMat4<N> {
+//pub fn frustum_zo<N: RealField>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> TMat4<N> {
 //    unimplemented!()
 //}
 
-//pub fn infinite_perspective<N: Real>(fovy: N, aspect: N, near: N) -> TMat4<N> {
+//pub fn infinite_perspective<N: RealField>(fovy: N, aspect: N, near: N) -> TMat4<N> {
 //    unimplemented!()
 //}
 //
-//pub fn infinite_perspective_lh<N: Real>(fovy: N, aspect: N, near: N) -> TMat4<N> {
+//pub fn infinite_perspective_lh<N: RealField>(fovy: N, aspect: N, near: N) -> TMat4<N> {
 //    unimplemented!()
 //}
 //
-//pub fn infinite_perspective_rh<N: Real>(fovy: N, aspect: N, near: N) -> TMat4<N> {
+//pub fn infinite_perspective_rh<N: RealField>(fovy: N, aspect: N, near: N) -> TMat4<N> {
 //    unimplemented!()
 //}
 //
-//pub fn infinite_ortho<N: Real>(left: N, right: N, bottom: N, top: N) -> TMat4<N> {
+//pub fn infinite_ortho<N: RealField>(left: N, right: N, bottom: N, top: N) -> TMat4<N> {
 //    unimplemented!()
 //}
 
@@ -64,7 +64,7 @@ use na::{Real};
 /// * `znear` - Distance from the viewer to the near clipping plane
 /// * `zfar` - Distance from the viewer to the far clipping plane
 ///
-pub fn ortho<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
+pub fn ortho<N: RealField>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
     ortho_rh_no(left, right, bottom, top, znear, zfar)
 }
 
@@ -79,7 +79,7 @@ pub fn ortho<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -
 /// * `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: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
+pub fn ortho_lh<N: RealField>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
     ortho_lh_no(left, right, bottom, top, znear, zfar)
 }
 
@@ -94,8 +94,8 @@ pub fn ortho_lh<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N
 /// * `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: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
+pub fn ortho_lh_no<N: RealField>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
-    let two    : N =  ::convert(2.0);
+    let two    : N =  crate::convert(2.0);
     let mut mat : TMat4<N> = TMat4::<N>::identity();
 
     mat[(0, 0)] = two / (right - left);
@@ -119,9 +119,9 @@ pub fn ortho_lh_no<N: Real>(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_zo<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
+pub fn ortho_lh_zo<N: RealField>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
     let one    : N = N::one();
-    let two    : N = ::convert(2.0);
+    let two    : N = crate::convert(2.0);
     let mut mat : TMat4<N> = TMat4::<N>::identity();
 
     mat[(0, 0)] = two / (right - left);
@@ -145,7 +145,7 @@ pub fn ortho_lh_zo<N: Real>(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_no<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
+pub fn ortho_no<N: RealField>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
     ortho_rh_no(left, right, bottom, top, znear, zfar)
 }
 
@@ -160,7 +160,7 @@ pub fn ortho_no<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N
 /// * `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: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
+pub fn ortho_rh<N: RealField>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
     ortho_rh_no(left, right, bottom, top, znear, zfar)
 }
 
@@ -175,8 +175,8 @@ pub fn ortho_rh<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N
 /// * `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: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
+pub fn ortho_rh_no<N: RealField>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
-    let two    : N =  ::convert(2.0);
+    let two    : N =  crate::convert(2.0);
     let mut mat : TMat4<N> = TMat4::<N>::identity();
 
     mat[(0, 0)] = two / (right - left);
@@ -200,9 +200,9 @@ pub fn ortho_rh_no<N: Real>(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_rh_zo<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
+pub fn ortho_rh_zo<N: RealField>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
     let one    : N = N::one();
-    let two    : N =  ::convert(2.0);
+    let two    : N =  crate::convert(2.0);
     let mut mat : TMat4<N> = TMat4::<N>::identity();
 
     mat[(0, 0)] = two / (right - left);
@@ -226,7 +226,7 @@ pub fn ortho_rh_zo<N: Real>(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_zo<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
+pub fn ortho_zo<N: RealField>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
     ortho_rh_zo(left, right, bottom, top, znear, zfar)
 }
 
@@ -240,7 +240,7 @@ pub fn ortho_zo<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N
 /// * `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: Real>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
+pub fn perspective_fov<N: RealField>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
     perspective_fov_rh_no(fov, width, height, near, far)
 }
 
@@ -254,7 +254,7 @@ pub fn perspective_fov<N: Real>(fov: N, width: N, height: N, near: N, far: N) ->
 /// * `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: Real>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
+pub fn perspective_fov_lh<N: RealField>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
     perspective_fov_lh_no(fov, width, height, near, far)
 }
 
@@ -268,7 +268,7 @@ pub fn perspective_fov_lh<N: Real>(fov: N, width: N, height: N, near: N, far: N)
 /// * `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: Real>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
+pub fn perspective_fov_lh_no<N: RealField>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
     assert!(
         width > N::zero(),
         "The width must be greater than zero"
@@ -285,13 +285,13 @@ pub fn perspective_fov_lh_no<N: Real>(fov: N, width: N, height: N, near: N, far:
     let mut mat = TMat4::zeros();
 
     let rad = fov;
-    let h = (rad * ::convert(0.5)).cos() / (rad * ::convert(0.5)).sin();
+    let h = (rad * crate::convert(0.5)).cos() / (rad * crate::convert(0.5)).sin();
     let w = h * height / width;
 
     mat[(0, 0)] = w;
     mat[(1, 1)] = h;
     mat[(2, 2)] = (far + near) / (far - near);
-    mat[(2, 3)] = - (far * near * ::convert(2.0)) / (far - near);
+    mat[(2, 3)] = - (far * near * crate::convert(2.0)) / (far - near);
     mat[(3, 2)] = N::one();
 
     mat
@@ -307,7 +307,7 @@ pub fn perspective_fov_lh_no<N: Real>(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_zo<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
+pub fn perspective_fov_lh_zo<N: RealField>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
     assert!(
         width > N::zero(),
         "The width must be greater than zero"
@@ -324,7 +324,7 @@ pub fn perspective_fov_lh_zo<N: Real>(fov: N, width: N, height: N, near: N, far:
     let mut mat = TMat4::zeros();
 
     let rad = fov;
-    let h = (rad * ::convert(0.5)).cos() / (rad * ::convert(0.5)).sin();
+    let h = (rad * crate::convert(0.5)).cos() / (rad * crate::convert(0.5)).sin();
     let w = h * height / width;
 
     mat[(0, 0)] = w;
@@ -346,7 +346,7 @@ pub fn perspective_fov_lh_zo<N: Real>(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_no<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
+pub fn perspective_fov_no<N: RealField>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
     perspective_fov_rh_no(fov, width, height, near, far)
 }
 
@@ -360,7 +360,7 @@ pub fn perspective_fov_no<N: Real>(fov: N, width: N, height: N, near: N, far: N)
 /// * `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: Real>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
+pub fn perspective_fov_rh<N: RealField>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
     perspective_fov_rh_no(fov, width, height, near, far)
 }
 
@@ -374,7 +374,7 @@ pub fn perspective_fov_rh<N: Real>(fov: N, width: N, height: N, near: N, far: N)
 /// * `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: Real>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
+pub fn perspective_fov_rh_no<N: RealField>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
     assert!(
         width > N::zero(),
         "The width must be greater than zero"
@@ -391,13 +391,13 @@ pub fn perspective_fov_rh_no<N: Real>(fov: N, width: N, height: N, near: N, far:
     let mut mat = TMat4::zeros();
 
     let rad = fov;
-    let h = (rad * ::convert(0.5)).cos() / (rad * ::convert(0.5)).sin();
+    let h = (rad * crate::convert(0.5)).cos() / (rad * crate::convert(0.5)).sin();
     let w = h * height / width;
 
     mat[(0, 0)] = w;
     mat[(1, 1)] = h;
     mat[(2, 2)] = - (far + near) / (far - near);
-    mat[(2, 3)] = - (far * near * ::convert(2.0)) / (far - near);
+    mat[(2, 3)] = - (far * near * crate::convert(2.0)) / (far - near);
     mat[(3, 2)] = -N::one();
 
     mat
@@ -413,7 +413,7 @@ pub fn perspective_fov_rh_no<N: Real>(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_rh_zo<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
+pub fn perspective_fov_rh_zo<N: RealField>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
     assert!(
         width > N::zero(),
         "The width must be greater than zero"
@@ -430,7 +430,7 @@ pub fn perspective_fov_rh_zo<N: Real>(fov: N, width: N, height: N, near: N, far:
     let mut mat = TMat4::zeros();
 
     let rad = fov;
-    let h = (rad * ::convert(0.5)).cos() / (rad * ::convert(0.5)).sin();
+    let h = (rad * crate::convert(0.5)).cos() / (rad * crate::convert(0.5)).sin();
     let w = h * height / width;
 
     mat[(0, 0)] = w;
@@ -452,7 +452,7 @@ pub fn perspective_fov_rh_zo<N: Real>(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_zo<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
+pub fn perspective_fov_zo<N: RealField>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
     perspective_fov_rh_zo(fov, width, height, near, far)
 }
 
@@ -467,7 +467,7 @@ pub fn perspective_fov_zo<N: Real>(fov: N, width: N, height: N, near: N, far: N)
 ///
 /// # Important note
 /// The `aspect` and `fovy` argument are interchanged compared to the original GLM API.
-pub fn perspective<N: Real>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
+pub fn perspective<N: RealField>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
     // TODO: Breaking change - revert back to proper glm conventions?
     //
     //       Prior to changes to support configuring the behaviour of this function it was simply
@@ -496,7 +496,7 @@ pub fn perspective<N: Real>(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: Real>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
+pub fn perspective_lh<N: RealField>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
     perspective_lh_no(aspect, fovy, near, far)
 }
 
@@ -511,7 +511,7 @@ pub fn perspective_lh<N: Real>(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_no<N: Real>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
+pub fn perspective_lh_no<N: RealField>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
     assert!(
         !relative_eq!(far - near, N::zero()),
         "The near-plane and far-plane must not be superimposed."
@@ -522,7 +522,7 @@ pub fn perspective_lh_no<N: Real>(aspect: N, fovy: N, near: N, far: N) -> TMat4<
     );
 
     let one = N::one();
-    let two: N = ::convert( 2.0);
+    let two: N = crate::convert( 2.0);
     let mut mat : TMat4<N> = TMat4::zeros();
 
     let tan_half_fovy = (fovy / two).tan();
@@ -547,7 +547,7 @@ pub fn perspective_lh_no<N: Real>(aspect: N, fovy: N, near: N, far: N) -> TMat4<
 ///
 /// # Important note
 /// The `aspect` and `fovy` argument are interchanged compared to the original GLM API.
-pub fn perspective_lh_zo<N: Real>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
+pub fn perspective_lh_zo<N: RealField>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
     assert!(
         !relative_eq!(far - near, N::zero()),
         "The near-plane and far-plane must not be superimposed."
@@ -558,7 +558,7 @@ pub fn perspective_lh_zo<N: Real>(aspect: N, fovy: N, near: N, far: N) -> TMat4<
     );
 
     let one = N::one();
-    let two: N = ::convert( 2.0);
+    let two: N = crate::convert( 2.0);
     let mut mat: TMat4<N> = TMat4::zeros();
 
     let tan_half_fovy = (fovy / two).tan();
@@ -583,7 +583,7 @@ pub fn perspective_lh_zo<N: Real>(aspect: N, fovy: N, near: N, far: N) -> TMat4<
 ///
 /// # Important note
 /// The `aspect` and `fovy` argument are interchanged compared to the original GLM API.
-pub fn perspective_no<N: Real>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
+pub fn perspective_no<N: RealField>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
     perspective_rh_no(aspect, fovy, near, far)
 }
 
@@ -598,7 +598,7 @@ pub fn perspective_no<N: Real>(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_rh<N: Real>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
+pub fn perspective_rh<N: RealField>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
     perspective_rh_no(aspect, fovy, near, far)
 }
 
@@ -613,7 +613,7 @@ pub fn perspective_rh<N: Real>(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_rh_no<N: Real>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
+pub fn perspective_rh_no<N: RealField>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
     assert!(
         !relative_eq!(far - near, N::zero()),
         "The near-plane and far-plane must not be superimposed."
@@ -625,7 +625,7 @@ pub fn perspective_rh_no<N: Real>(aspect: N, fovy: N, near: N, far: N) -> TMat4<
 
     let negone = -N::one();
     let one =  N::one();
-    let two: N =   ::convert( 2.0);
+    let two: N =   crate::convert( 2.0);
     let mut mat = TMat4::zeros();
 
     let tan_half_fovy = (fovy / two).tan();
@@ -650,7 +650,7 @@ pub fn perspective_rh_no<N: Real>(aspect: N, fovy: N, near: N, far: N) -> TMat4<
 ///
 /// # Important note
 /// The `aspect` and `fovy` argument are interchanged compared to the original GLM API.
-pub fn perspective_rh_zo<N: Real>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
+pub fn perspective_rh_zo<N: RealField>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
     assert!(
         !relative_eq!(far - near, N::zero()),
         "The near-plane and far-plane must not be superimposed."
@@ -662,7 +662,7 @@ pub fn perspective_rh_zo<N: Real>(aspect: N, fovy: N, near: N, far: N) -> TMat4<
 
     let negone = -N::one();
     let one =  N::one();
-    let two =   ::convert( 2.0);
+    let two =   crate::convert( 2.0);
     let mut mat = TMat4::zeros();
 
     let tan_half_fovy = (fovy / two).tan();
@@ -687,14 +687,14 @@ pub fn perspective_rh_zo<N: Real>(aspect: N, fovy: N, near: N, far: N) -> TMat4<
 ///
 /// # Important note
 /// The `aspect` and `fovy` argument are interchanged compared to the original GLM API.
-pub fn perspective_zo<N: Real>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
+pub fn perspective_zo<N: RealField>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
     perspective_rh_zo(aspect, fovy, near, far)
 }
 
-//pub fn tweaked_infinite_perspective<N: Real>(fovy: N, aspect: N, near: N) -> TMat4<N> {
+//pub fn tweaked_infinite_perspective<N: RealField>(fovy: N, aspect: N, near: N) -> TMat4<N> {
 //    unimplemented!()
 //}
 //
-//pub fn tweaked_infinite_perspective_ep<N: Real>(fovy: N, aspect: N, near: N, ep: N) -> TMat4<N> {
+//pub fn tweaked_infinite_perspective_ep<N: RealField>(fovy: N, aspect: N, near: N, ep: N) -> TMat4<N> {
 //    unimplemented!()
 //}

nalgebra-glm/src/ext/matrix_projection.rs

@@ -1,6 +1,6 @@
-use na::{self, Real, U3};
+use na::{self, RealField, U3};
 
-use aliases::{TMat4, TVec2, TVec3, TVec4};
+use crate::aliases::{TMat4, TVec2, TVec3, TVec4};
 
 /// Define a picking region.
 ///
@@ -9,7 +9,7 @@ use 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: Real>(center: &TVec2<N>, delta: &TVec2<N>, viewport: &TVec4<N>) -> TMat4<N> {
+pub fn pick_matrix<N: RealField>(center: &TVec2<N>, delta: &TVec2<N>, viewport: &TVec4<N>) -> TMat4<N> {
     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,
@@ -41,7 +41,7 @@ pub fn pick_matrix<N: Real>(center: &TVec2<N>, delta: &TVec2<N>, viewport: &TVec
 /// * [`unproject`](fn.unproject.html)
 /// * [`unproject_no`](fn.unproject_no.html)
 /// * [`unproject_zo`](fn.unproject_zo.html)
-pub fn project<N: Real>(
+pub fn project<N: RealField>(
     obj: &TVec3<N>,
     model: &TMat4<N>,
     proj: &TMat4<N>,
@@ -69,7 +69,7 @@ pub fn project<N: Real>(
 /// * [`unproject`](fn.unproject.html)
 /// * [`unproject_no`](fn.unproject_no.html)
 /// * [`unproject_zo`](fn.unproject_zo.html)
-pub fn project_no<N: Real>(
+pub fn project_no<N: RealField>(
     obj: &TVec3<N>,
     model: &TMat4<N>,
     proj: &TMat4<N>,
@@ -98,7 +98,7 @@ pub fn project_no<N: Real>(
 /// * [`unproject`](fn.unproject.html)
 /// * [`unproject_no`](fn.unproject_no.html)
 /// * [`unproject_zo`](fn.unproject_zo.html)
-pub fn project_zo<N: Real>(
+pub fn project_zo<N: RealField>(
     obj: &TVec3<N>,
     model: &TMat4<N>,
     proj: &TMat4<N>,
@@ -132,7 +132,7 @@ pub fn project_zo<N: Real>(
 /// * [`project_zo`](fn.project_zo.html)
 /// * [`unproject_no`](fn.unproject_no.html)
 /// * [`unproject_zo`](fn.unproject_zo.html)
-pub fn unproject<N: Real>(
+pub fn unproject<N: RealField>(
     win: &TVec3<N>,
     model: &TMat4<N>,
     proj: &TMat4<N>,
@@ -160,7 +160,7 @@ pub fn unproject<N: Real>(
 /// * [`project_zo`](fn.project_zo.html)
 /// * [`unproject`](fn.unproject.html)
 /// * [`unproject_zo`](fn.unproject_zo.html)
-pub fn unproject_no<N: Real>(
+pub fn unproject_no<N: RealField>(
     win: &TVec3<N>,
     model: &TMat4<N>,
     proj: &TMat4<N>,
@@ -198,7 +198,7 @@ pub fn unproject_no<N: Real>(
 /// * [`project_zo`](fn.project_zo.html)
 /// * [`unproject`](fn.unproject.html)
 /// * [`unproject_no`](fn.unproject_no.html)
-pub fn unproject_zo<N: Real>(
+pub fn unproject_zo<N: RealField>(
     win: &TVec3<N>,
     model: &TMat4<N>,
     proj: &TMat4<N>,

nalgebra-glm/src/ext/matrix_relationnal.rs

@@ -1,7 +1,7 @@
 use na::DefaultAllocator;
 
-use aliases::{TMat, TVec};
+use crate::aliases::{TMat, TVec};
-use traits::{Alloc, Dimension, Number};
+use crate::traits::{Alloc, Dimension, Number};
 
 /// Perform a component-wise equal-to comparison of two matrices.
 ///

nalgebra-glm/src/ext/matrix_transform.rs

@@ -1,7 +1,7 @@
-use na::{DefaultAllocator, Point3, Real, Rotation3, Unit};
+use na::{DefaultAllocator, Point3, RealField, Rotation3, Unit};
 
-use aliases::{TMat, TMat4, TVec, TVec3};
+use crate::aliases::{TMat, TMat4, TVec, TVec3};
-use traits::{Alloc, Dimension, Number};
+use crate::traits::{Alloc, Dimension, Number};
 
 /// The identity matrix.
 pub fn identity<N: Number, D: Dimension>() -> TMat<N, D, D>
@@ -21,7 +21,7 @@ where DefaultAllocator: Alloc<N, D, D> {
 ///
 /// * [`look_at_lh`](fn.look_at_lh.html)
 /// * [`look_at_rh`](fn.look_at_rh.html)
-pub fn look_at<N: Real>(eye: &TVec3<N>, center: &TVec3<N>, up: &TVec3<N>) -> TMat4<N> {
+pub fn look_at<N: RealField>(eye: &TVec3<N>, center: &TVec3<N>, up: &TVec3<N>) -> TMat4<N> {
     look_at_rh(eye, center, up)
 }
 
@@ -37,7 +37,7 @@ pub fn look_at<N: Real>(eye: &TVec3<N>, center: &TVec3<N>, up: &TVec3<N>) -> TMa
 ///
 /// * [`look_at`](fn.look_at.html)
 /// * [`look_at_rh`](fn.look_at_rh.html)
-pub fn look_at_lh<N: Real>(eye: &TVec3<N>, center: &TVec3<N>, up: &TVec3<N>) -> TMat4<N> {
+pub fn look_at_lh<N: RealField>(eye: &TVec3<N>, center: &TVec3<N>, up: &TVec3<N>) -> TMat4<N> {
     TMat::look_at_lh(&Point3::from(*eye), &Point3::from(*center), up)
 }
 
@@ -53,7 +53,7 @@ pub fn look_at_lh<N: Real>(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: Real>(eye: &TVec3<N>, center: &TVec3<N>, up: &TVec3<N>) -> TMat4<N> {
+pub fn look_at_rh<N: RealField>(eye: &TVec3<N>, center: &TVec3<N>, up: &TVec3<N>) -> TMat4<N> {
     TMat::look_at_rh(&Point3::from(*eye), &Point3::from(*center), up)
 }
 
@@ -72,7 +72,7 @@ pub fn look_at_rh<N: Real>(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: Real>(m: &TMat4<N>, angle: N, axis: &TVec3<N>) -> TMat4<N> {
+pub fn rotate<N: RealField>(m: &TMat4<N>, angle: N, axis: &TVec3<N>) -> TMat4<N> {
     m * Rotation3::from_axis_angle(&Unit::new_normalize(*axis), angle).to_homogeneous()
 }
 
@@ -90,7 +90,7 @@ pub fn rotate<N: Real>(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: Real>(m: &TMat4<N>, angle: N) -> TMat4<N> {
+pub fn rotate_x<N: RealField>(m: &TMat4<N>, angle: N) -> TMat4<N> {
     rotate(m, angle, &TVec::x())
 }
 
@@ -108,7 +108,7 @@ pub fn rotate_x<N: Real>(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: Real>(m: &TMat4<N>, angle: N) -> TMat4<N> {
+pub fn rotate_y<N: RealField>(m: &TMat4<N>, angle: N) -> TMat4<N> {
     rotate(m, angle, &TVec::y())
 }
 
@@ -126,7 +126,7 @@ pub fn rotate_y<N: Real>(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: Real>(m: &TMat4<N>, angle: N) -> TMat4<N> {
+pub fn rotate_z<N: RealField>(m: &TMat4<N>, angle: N) -> TMat4<N> {
     rotate(m, angle, &TVec::z())
 }
 

nalgebra-glm/src/ext/quaternion_common.rs

@@ -1,36 +1,36 @@
-use na::{self, Real, Unit};
+use na::{self, RealField, Unit};
 
-use aliases::Qua;
+use crate::aliases::Qua;
 
 /// The conjugate of `q`.
-pub fn quat_conjugate<N: Real>(q: &Qua<N>) -> Qua<N> {
+pub fn quat_conjugate<N: RealField>(q: &Qua<N>) -> Qua<N> {
     q.conjugate()
 }
 
 /// The inverse of `q`.
-pub fn quat_inverse<N: Real>(q: &Qua<N>) -> Qua<N> {
+pub fn quat_inverse<N: RealField>(q: &Qua<N>) -> Qua<N> {
     q.try_inverse().unwrap_or_else(na::zero)
 }
 
-//pub fn quat_isinf<N: Real>(x: &Qua<N>) -> TVec<bool, U4> {
+//pub fn quat_isinf<N: RealField>(x: &Qua<N>) -> TVec<bool, U4> {
 //    x.coords.map(|e| e.is_inf())
 //}
 
-//pub fn quat_isnan<N: Real>(x: &Qua<N>) -> TVec<bool, U4> {
+//pub fn quat_isnan<N: RealField>(x: &Qua<N>) -> TVec<bool, U4> {
 //    x.coords.map(|e| e.is_nan())
 //}
 
 /// Interpolate linearly between `x` and `y`.
-pub fn quat_lerp<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
+pub fn quat_lerp<N: RealField>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
     x.lerp(y, a)
 }
 
-//pub fn quat_mix<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
+//pub fn quat_mix<N: RealField>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
 //    x * (N::one() - a) + y * a
 //}
 
 /// Interpolate spherically between `x` and `y`.
-pub fn quat_slerp<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
+pub fn quat_slerp<N: RealField>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
     Unit::new_normalize(*x)
         .slerp(&Unit::new_normalize(*y), a)
         .into_inner()

nalgebra-glm/src/ext/quaternion_geometric.rs

@@ -1,28 +1,28 @@
-use na::Real;
+use na::RealField;
 
-use aliases::Qua;
+use crate::aliases::Qua;
 
 /// Multiplies two quaternions.
-pub fn quat_cross<N: Real>(q1: &Qua<N>, q2: &Qua<N>) -> Qua<N> {
+pub fn quat_cross<N: RealField>(q1: &Qua<N>, q2: &Qua<N>) -> Qua<N> {
     q1 * q2
 }
 
 /// The scalar product of two quaternions.
-pub fn quat_dot<N: Real>(x: &Qua<N>, y: &Qua<N>) -> N {
+pub fn quat_dot<N: RealField>(x: &Qua<N>, y: &Qua<N>) -> N {
     x.dot(y)
 }
 
 /// The magnitude of the quaternion `q`.
-pub fn quat_length<N: Real>(q: &Qua<N>) -> N {
+pub fn quat_length<N: RealField>(q: &Qua<N>) -> N {
     q.norm()
 }
 
 /// The magnitude of the quaternion `q`.
-pub fn quat_magnitude<N: Real>(q: &Qua<N>) -> N {
+pub fn quat_magnitude<N: RealField>(q: &Qua<N>) -> N {
     q.norm()
 }
 
 /// Normalizes the quaternion `q`.
-pub fn quat_normalize<N: Real>(q: &Qua<N>) -> Qua<N> {
+pub fn quat_normalize<N: RealField>(q: &Qua<N>) -> Qua<N> {
     q.normalize()
 }

nalgebra-glm/src/ext/quaternion_relational.rs

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

nalgebra-glm/src/ext/quaternion_transform.rs

@@ -1,27 +1,27 @@
-use na::{Real, Unit, UnitQuaternion};
+use na::{RealField, Unit, UnitQuaternion};
 
-use aliases::{Qua, TVec3};
+use crate::aliases::{Qua, TVec3};
 
 /// Computes the quaternion exponential.
-pub fn quat_exp<N: Real>(q: &Qua<N>) -> Qua<N> {
+pub fn quat_exp<N: RealField>(q: &Qua<N>) -> Qua<N> {
     q.exp()
 }
 
 /// Computes the quaternion logarithm.
-pub fn quat_log<N: Real>(q: &Qua<N>) -> Qua<N> {
+pub fn quat_log<N: RealField>(q: &Qua<N>) -> Qua<N> {
     q.ln()
 }
 
 /// Raises the quaternion `q` to the power `y`.
-pub fn quat_pow<N: Real>(q: &Qua<N>, y: N) -> Qua<N> {
+pub fn quat_pow<N: RealField>(q: &Qua<N>, y: N) -> Qua<N> {
     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: Real>(q: &Qua<N>, angle: N, axis: &TVec3<N>) -> Qua<N> {
+pub fn quat_rotate<N: RealField>(q: &Qua<N>, angle: N, axis: &TVec3<N>) -> Qua<N> {
     q * UnitQuaternion::from_axis_angle(&Unit::new_normalize(*axis), angle).into_inner()
 }
 
-//pub fn quat_sqrt<N: Real>(q: &Qua<N>) -> Qua<N> {
+//pub fn quat_sqrt<N: RealField>(q: &Qua<N>) -> Qua<N> {
 //    unimplemented!()
 //}

nalgebra-glm/src/ext/quaternion_trigonometric.rs

@@ -1,19 +1,19 @@
-use na::{Real, Unit, UnitQuaternion};
+use na::{RealField, Unit, UnitQuaternion};
 
-use aliases::{Qua, TVec3};
+use crate::aliases::{Qua, TVec3};
 
 /// The rotation angle of this quaternion assumed to be normalized.
-pub fn quat_angle<N: Real>(x: &Qua<N>) -> N {
+pub fn quat_angle<N: RealField>(x: &Qua<N>) -> N {
     UnitQuaternion::from_quaternion(*x).angle()
 }
 
 /// Creates a quaternion from an axis and an angle.
-pub fn quat_angle_axis<N: Real>(angle: N, axis: &TVec3<N>) -> Qua<N> {
+pub fn quat_angle_axis<N: RealField>(angle: N, axis: &TVec3<N>) -> Qua<N> {
     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: Real>(x: &Qua<N>) -> TVec3<N> {
+pub fn quat_axis<N: RealField>(x: &Qua<N>) -> TVec3<N> {
     if let Some(a) = UnitQuaternion::from_quaternion(*x).axis() {
         a.into_inner()
     } else {

nalgebra-glm/src/ext/scalar_common.rs

@@ -1,6 +1,6 @@
 use na;
 
-use traits::Number;
+use crate::traits::Number;
 
 /// Returns the maximum among three values.
 ///

nalgebra-glm/src/ext/scalar_constants.rs

@@ -1,5 +1,5 @@
 use approx::AbsDiffEq;
-use na::Real;
+use na::RealField;
 
 /// Default epsilon value used for approximate comparison.
 pub fn epsilon<N: AbsDiffEq<Epsilon = N>>() -> N {
@@ -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: Real>() -> N {
+pub fn pi<N: RealField>() -> N {
     N::pi()
 }

nalgebra-glm/src/ext/vector_common.rs

@@ -1,7 +1,7 @@
 use na::{self, DefaultAllocator};
 
-use aliases::TVec;
+use crate::aliases::TVec;
-use traits::{Alloc, Dimension, Number};
+use crate::traits::{Alloc, Dimension, Number};
 
 /// Component-wise maximum between a vector and a scalar.
 ///

nalgebra-glm/src/ext/vector_relational.rs

@@ -1,7 +1,7 @@
 use na::DefaultAllocator;
 
-use aliases::TVec;
+use crate::aliases::TVec;
-use traits::{Alloc, Dimension, Number};
+use crate::traits::{Alloc, Dimension, Number};
 
 /// Component-wise approximate equality of two vectors, using a scalar epsilon.
 ///

nalgebra-glm/src/geometric.rs

@@ -1,7 +1,7 @@
-use na::{DefaultAllocator, Real};
+use na::{DefaultAllocator, RealField};
 
-use aliases::{TVec, TVec3};
+use crate::aliases::{TVec, TVec3};
-use traits::{Alloc, Dimension, Number};
+use crate::traits::{Alloc, Dimension, Number};
 
 /// The cross product of two vectors.
 pub fn cross<N: Number, D: Dimension>(x: &TVec3<N>, y: &TVec3<N>) -> TVec3<N> {
@@ -13,7 +13,7 @@ pub fn cross<N: Number, D: Dimension>(x: &TVec3<N>, y: &TVec3<N>) -> TVec3<N> {
 /// # See also:
 ///
 /// * [`distance2`](fn.distance2.html)
-pub fn distance<N: Real, D: Dimension>(p0: &TVec<N, D>, p1: &TVec<N, D>) -> N
+pub fn distance<N: RealField, D: Dimension>(p0: &TVec<N, D>, p1: &TVec<N, D>) -> N
 where DefaultAllocator: Alloc<N, D> {
     (p1 - p0).norm()
 }
@@ -49,7 +49,7 @@ where
 /// * [`length2`](fn.length2.html)
 /// * [`magnitude`](fn.magnitude.html)
 /// * [`magnitude2`](fn.magnitude2.html)
-pub fn length<N: Real, D: Dimension>(x: &TVec<N, D>) -> N
+pub fn length<N: RealField, D: Dimension>(x: &TVec<N, D>) -> N
 where DefaultAllocator: Alloc<N, D> {
     x.norm()
 }
@@ -63,13 +63,13 @@ where DefaultAllocator: Alloc<N, D> {
 /// * [`length`](fn.length.html)
 /// * [`magnitude2`](fn.magnitude2.html)
 /// * [`nalgebra::norm`](../nalgebra/fn.norm.html)
-pub fn magnitude<N: Real, D: Dimension>(x: &TVec<N, D>) -> N
+pub fn magnitude<N: RealField, D: Dimension>(x: &TVec<N, D>) -> N
 where DefaultAllocator: Alloc<N, D> {
     x.norm()
 }
 
 /// Normalizes a vector.
-pub fn normalize<N: Real, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
+pub fn normalize<N: RealField, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
 where DefaultAllocator: Alloc<N, D> {
     x.normalize()
 }
@@ -82,7 +82,7 @@ where DefaultAllocator: Alloc<N, D> {
 }
 
 /// 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: Real, D: Dimension>(i: &TVec<N, D>, n: &TVec<N, D>, eta: N) -> TVec<N, D>
+pub fn refract_vec<N: RealField, D: Dimension>(i: &TVec<N, D>, n: &TVec<N, D>, eta: N) -> TVec<N, D>
 where DefaultAllocator: Alloc<N, D> {
     let ni = n.dot(i);
     let k = N::one() - eta * eta * (N::one() - ni * ni);

nalgebra-glm/src/gtc/bitfield.rs

@@ -1,7 +1,7 @@
 use na::{Scalar, DefaultAllocator};
 
-use traits::{Alloc, Dimension};
+use crate::traits::{Alloc, Dimension};
-use aliases::*;
+use crate::aliases::*;
 
 pub fn bitfieldDeinterleave(x: u16) -> U8Vec2 {
     unimplemented!()

nalgebra-glm/src/gtc/constants.rs

@@ -1,14 +1,14 @@
-use na::{self, Real};
+use na::{self, RealField};
 
 /// The Euler constant.
 ///
 /// This is a shorthand alias for [`euler`](fn.euler.html).
-pub fn e<N: Real>() -> N {
+pub fn e<N: RealField>() -> N {
     N::e()
 }
 
 /// The Euler constant.
-pub fn euler<N: Real>() -> N {
+pub fn euler<N: RealField>() -> N {
     N::e()
 }
 
@@ -28,12 +28,12 @@ pub fn euler<N: Real>() -> 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: Real>() -> N {
+pub fn four_over_pi<N: RealField>() -> N {
     na::convert::<_, N>(4.0) / N::pi()
 }
 
 /// Returns the golden ratio.
-pub fn golden_ratio<N: Real>() -> N {
+pub fn golden_ratio<N: RealField>() -> N {
     (N::one() + root_five()) / na::convert(2.0)
 }
 
@@ -53,7 +53,7 @@ pub fn golden_ratio<N: Real>() -> 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: Real>() -> N {
+pub fn half_pi<N: RealField>() -> N {
     N::frac_pi_2()
 }
 
@@ -63,7 +63,7 @@ pub fn half_pi<N: Real>() -> N {
 ///
 /// * [`ln_ten`](fn.ln_ten.html)
 /// * [`ln_two`](fn.ln_two.html)
-pub fn ln_ln_two<N: Real>() -> N {
+pub fn ln_ln_two<N: RealField>() -> N {
     N::ln_2().ln()
 }
 
@@ -73,7 +73,7 @@ pub fn ln_ln_two<N: Real>() -> N {
 ///
 /// * [`ln_ln_two`](fn.ln_ln_two.html)
 /// * [`ln_two`](fn.ln_two.html)
-pub fn ln_ten<N: Real>() -> N {
+pub fn ln_ten<N: RealField>() -> N {
     N::ln_10()
 }
 
@@ -83,7 +83,7 @@ pub fn ln_ten<N: Real>() -> N {
 ///
 /// * [`ln_ln_two`](fn.ln_ln_two.html)
 /// * [`ln_ten`](fn.ln_ten.html)
-pub fn ln_two<N: Real>() -> N {
+pub fn ln_two<N: RealField>() -> N {
     N::ln_2()
 }
 
@@ -106,12 +106,12 @@ 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: Real>() -> N {
+pub fn one_over_pi<N: RealField>() -> N {
     N::frac_1_pi()
 }
 
 /// Returns `1 / sqrt(2)`.
-pub fn one_over_root_two<N: Real>() -> N {
+pub fn one_over_root_two<N: RealField>() -> N {
     N::one() / root_two()
 }
 
@@ -131,7 +131,7 @@ pub fn one_over_root_two<N: Real>() -> 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: Real>() -> N {
+pub fn one_over_two_pi<N: RealField>() -> N {
     N::frac_1_pi() * na::convert(0.5)
 }
 
@@ -151,7 +151,7 @@ pub fn one_over_two_pi<N: Real>() -> 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: Real>() -> N {
+pub fn quarter_pi<N: RealField>() -> N {
     N::frac_pi_4()
 }
 
@@ -161,7 +161,7 @@ pub fn quarter_pi<N: Real>() -> N {
 ///
 /// * [`root_three`](fn.root_three.html)
 /// * [`root_two`](fn.root_two.html)
-pub fn root_five<N: Real>() -> N {
+pub fn root_five<N: RealField>() -> N {
     na::convert::<_, N>(5.0).sqrt()
 }
 
@@ -181,12 +181,12 @@ pub fn root_five<N: Real>() -> 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: Real>() -> N {
+pub fn root_half_pi<N: RealField>() -> N {
     (N::pi() / na::convert(2.0)).sqrt()
 }
 
 /// Returns `sqrt(ln(4))`.
-pub fn root_ln_four<N: Real>() -> N {
+pub fn root_ln_four<N: RealField>() -> N {
     na::convert::<_, N>(4.0).ln().sqrt()
 }
 
@@ -206,7 +206,7 @@ pub fn root_ln_four<N: Real>() -> 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: Real>() -> N {
+pub fn root_pi<N: RealField>() -> N {
     N::pi().sqrt()
 }
 
@@ -216,7 +216,7 @@ pub fn root_pi<N: Real>() -> N {
 ///
 /// * [`root_five`](fn.root_five.html)
 /// * [`root_two`](fn.root_two.html)
-pub fn root_three<N: Real>() -> N {
+pub fn root_three<N: RealField>() -> N {
     na::convert::<_, N>(3.0).sqrt()
 }
 
@@ -226,8 +226,8 @@ pub fn root_three<N: Real>() -> N {
 ///
 /// * [`root_five`](fn.root_five.html)
 /// * [`root_three`](fn.root_three.html)
-pub fn root_two<N: Real>() -> N {
+pub fn root_two<N: RealField>() -> N {
-    // FIXME: there should be a ::sqrt_2() on the Real trait.
+    // FIXME: there should be a crate::sqrt_2() on the RealField trait.
     na::convert::<_, N>(2.0).sqrt()
 }
 
@@ -247,7 +247,7 @@ pub fn root_two<N: Real>() -> 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: Real>() -> N {
+pub fn root_two_pi<N: RealField>() -> N {
     N::two_pi().sqrt()
 }
 
@@ -256,7 +256,7 @@ pub fn root_two_pi<N: Real>() -> N {
 /// # See also:
 ///
 /// * [`two_thirds`](fn.two_thirds.html)
-pub fn third<N: Real>() -> N {
+pub fn third<N: RealField>() -> N {
     na::convert(1.0 / 3.0)
 }
 
@@ -276,7 +276,7 @@ pub fn third<N: Real>() -> 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: Real>() -> N {
+pub fn three_over_two_pi<N: RealField>() -> N {
     na::convert::<_, N>(3.0) / N::two_pi()
 }
 
@@ -295,7 +295,7 @@ pub fn three_over_two_pi<N: Real>() -> 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: Real>() -> N {
+pub fn two_over_pi<N: RealField>() -> N {
     N::frac_2_pi()
 }
 
@@ -315,7 +315,7 @@ pub fn two_over_pi<N: Real>() -> 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: Real>() -> N {
+pub fn two_over_root_pi<N: RealField>() -> N {
     N::frac_2_sqrt_pi()
 }
 
@@ -335,7 +335,7 @@ pub fn two_over_root_pi<N: Real>() -> 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: Real>() -> N {
+pub fn two_pi<N: RealField>() -> N {
     N::two_pi()
 }
 
@@ -344,7 +344,7 @@ pub fn two_pi<N: Real>() -> N {
 /// # See also:
 ///
 /// * [`third`](fn.third.html)
-pub fn two_thirds<N: Real>() -> N {
+pub fn two_thirds<N: RealField>() -> N {
     na::convert(2.0 / 3.0)
 }
 

nalgebra-glm/src/gtc/epsilon.rs

@@ -4,8 +4,8 @@
 use approx::AbsDiffEq;
 use na::DefaultAllocator;
 
-use traits::{Alloc, Number, Dimension};
+use crate::traits::{Alloc, Number, Dimension};
-use aliases::TVec;
+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>

nalgebra-glm/src/gtc/integer.rs

@@ -1,7 +1,7 @@
 //use na::{Scalar, DefaultAllocator};
 //
-//use traits::{Alloc, Dimension};
+//use crate::traits::{Alloc, Dimension};
-//use aliases::TVec;
+//use crate::aliases::TVec;
 
 //pub fn iround<N: Scalar, D: Dimension>(x: &TVec<N, D>) -> TVec<i32, D>
 //    where DefaultAllocator: Alloc<N, D> {

nalgebra-glm/src/gtc/matrix_access.rs

@@ -1,7 +1,7 @@
 use na::{DefaultAllocator, Scalar};
 
-use aliases::{TMat, TVec};
+use crate::aliases::{TMat, TVec};
-use traits::{Alloc, Dimension};
+use crate::traits::{Alloc, Dimension};
 
 /// The `index`-th column of the matrix `m`.
 ///

nalgebra-glm/src/gtc/matrix_inverse.rs

@@ -1,17 +1,17 @@
-use na::{DefaultAllocator, Real};
+use na::{DefaultAllocator, RealField};
 
-use aliases::TMat;
+use crate::aliases::TMat;
-use traits::{Alloc, Dimension};
+use crate::traits::{Alloc, Dimension};
 
 /// Fast matrix inverse for affine matrix.
-pub fn affine_inverse<N: Real, D: Dimension>(m: TMat<N, D, D>) -> TMat<N, D, D>
+pub fn affine_inverse<N: RealField, D: Dimension>(m: TMat<N, D, D>) -> TMat<N, D, D>
 where DefaultAllocator: Alloc<N, D, D> {
     // FIXME: 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: Real, D: Dimension>(m: TMat<N, D, D>) -> TMat<N, D, D>
+pub fn inverse_transpose<N: RealField, D: Dimension>(m: TMat<N, D, D>) -> TMat<N, D, D>
 where DefaultAllocator: Alloc<N, D, D> {
     m.try_inverse()
         .unwrap_or_else(TMat::<_, D, D>::zeros)

nalgebra-glm/src/gtc/packing.rs

@@ -1,7 +1,7 @@
-use na::{Scalar, Real, DefaultAllocator, U3, U4};
+use na::{Scalar, RealField, DefaultAllocator, U3, U4};
 
-use traits::{Alloc, Dimension};
+use crate::traits::{Alloc, Dimension};
-use aliases::*;
+use crate::aliases::*;
 
 
 pub fn packF2x11_1x10(v: &Vec3) -> i32 {
@@ -53,7 +53,7 @@ pub fn packRGBM<N: Scalar>(rgb: &TVec3<N>) -> TVec4<N> {
     unimplemented!()
 }
 
-pub fn packSnorm<I: Scalar, N: Real, D: Dimension>(v: TVec<N, D>) -> TVec<I, D>
+pub fn packSnorm<I: Scalar, N: RealField, D: Dimension>(v: TVec<N, D>) -> TVec<I, D>
     where DefaultAllocator: Alloc<N, D> + Alloc<I, D> {
     unimplemented!()
 }
@@ -102,7 +102,7 @@ pub fn packUint4x8(v: &U8Vec4) -> i32 {
     unimplemented!()
 }
 
-pub fn packUnorm<UI: Scalar, N: Real, D: Dimension>(v: &TVec<N, D>) -> TVec<UI, D>
+pub fn packUnorm<UI: Scalar, N: RealField, D: Dimension>(v: &TVec<N, D>) -> TVec<UI, D>
     where DefaultAllocator: Alloc<N, D> + Alloc<UI, D> {
     unimplemented!()
 }
@@ -196,7 +196,7 @@ pub fn unpackRGBM<N: Scalar>(rgbm: &TVec4<N>) -> TVec3<N> {
     unimplemented!()
 }
 
-pub fn unpackSnorm<I: Scalar, N: Real, D: Dimension>(v: &TVec<I, D>) -> TVec<N, D>
+pub fn unpackSnorm<I: Scalar, N: RealField, D: Dimension>(v: &TVec<I, D>) -> TVec<N, D>
     where DefaultAllocator: Alloc<N, D> + Alloc<I, D> {
     unimplemented!()
 }
@@ -245,7 +245,7 @@ pub fn unpackUint4x8(p: i32) -> U8Vec4 {
     unimplemented!()
 }
 
-pub fn unpackUnorm<UI: Scalar, N: Real, D: Dimension>(v: &TVec<UI, D>) -> TVec<N, D>
+pub fn unpackUnorm<UI: Scalar, N: RealField, D: Dimension>(v: &TVec<UI, D>) -> TVec<N, D>
     where DefaultAllocator: Alloc<N, D> + Alloc<UI, D> {
     unimplemented!()
 }

nalgebra-glm/src/gtc/quaternion.rs

@@ -1,37 +1,37 @@
-use na::{Real, UnitQuaternion, U4};
+use na::{RealField, UnitQuaternion, U4};
 
-use aliases::{Qua, TMat4, TVec, TVec3};
+use crate::aliases::{Qua, TMat4, TVec, TVec3};
 
 /// Euler angles of the quaternion `q` as (pitch, yaw, roll).
-pub fn quat_euler_angles<N: Real>(x: &Qua<N>) -> TVec3<N> {
+pub fn quat_euler_angles<N: RealField>(x: &Qua<N>) -> TVec3<N> {
     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: Real>(x: &Qua<N>, y: &Qua<N>) -> TVec<bool, U4> {
+pub fn quat_greater_than<N: RealField>(x: &Qua<N>, y: &Qua<N>) -> TVec<bool, U4> {
-    ::greater_than(&x.coords, &y.coords)
+    crate::greater_than(&x.coords, &y.coords)
 }
 
 /// Component-wise `>=` comparison between two quaternions.
-pub fn quat_greater_than_equal<N: Real>(x: &Qua<N>, y: &Qua<N>) -> TVec<bool, U4> {
+pub fn quat_greater_than_equal<N: RealField>(x: &Qua<N>, y: &Qua<N>) -> TVec<bool, U4> {
-    ::greater_than_equal(&x.coords, &y.coords)
+    crate::greater_than_equal(&x.coords, &y.coords)
 }
 
 /// Component-wise `<` comparison between two quaternions.
-pub fn quat_less_than<N: Real>(x: &Qua<N>, y: &Qua<N>) -> TVec<bool, U4> {
+pub fn quat_less_than<N: RealField>(x: &Qua<N>, y: &Qua<N>) -> TVec<bool, U4> {
-    ::less_than(&x.coords, &y.coords)
+    crate::less_than(&x.coords, &y.coords)
 }
 
 /// Component-wise `<=` comparison between two quaternions.
-pub fn quat_less_than_equal<N: Real>(x: &Qua<N>, y: &Qua<N>) -> TVec<bool, U4> {
+pub fn quat_less_than_equal<N: RealField>(x: &Qua<N>, y: &Qua<N>) -> TVec<bool, U4> {
-    ::less_than_equal(&x.coords, &y.coords)
+    crate::less_than_equal(&x.coords, &y.coords)
 }
 
 /// Convert a quaternion to a rotation matrix in homogeneous coordinates.
-pub fn quat_cast<N: Real>(x: &Qua<N>) -> TMat4<N> {
+pub fn quat_cast<N: RealField>(x: &Qua<N>) -> TMat4<N> {
-    ::quat_to_mat4(x)
+    crate::quat_to_mat4(x)
 }
 
 /// Computes a right hand look-at quaternion
@@ -41,34 +41,34 @@ pub fn quat_cast<N: Real>(x: &Qua<N>) -> TMat4<N> {
 /// * `direction` - Direction vector point at where to look
 /// * `up` - Object up vector
 ///
-pub fn quat_look_at<N: Real>(direction: &TVec3<N>, up: &TVec3<N>) -> Qua<N> {
+pub fn quat_look_at<N: RealField>(direction: &TVec3<N>, up: &TVec3<N>) -> Qua<N> {
     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: Real>(direction: &TVec3<N>, up: &TVec3<N>) -> Qua<N> {
+pub fn quat_look_at_lh<N: RealField>(direction: &TVec3<N>, up: &TVec3<N>) -> Qua<N> {
     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: Real>(direction: &TVec3<N>, up: &TVec3<N>) -> Qua<N> {
+pub fn quat_look_at_rh<N: RealField>(direction: &TVec3<N>, up: &TVec3<N>) -> Qua<N> {
     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: Real>(x: &Qua<N>) -> N {
+pub fn quat_roll<N: RealField>(x: &Qua<N>) -> N {
     // FIXME: optimize this.
     quat_euler_angles(x).z
 }
 
 /// The "yaw" Euler angle of the quaternion `x` assumed to be normalized.
-pub fn quat_yaw<N: Real>(x: &Qua<N>) -> N {
+pub fn quat_yaw<N: RealField>(x: &Qua<N>) -> N {
     // FIXME: optimize this.
     quat_euler_angles(x).y
 }
 
 /// The "pitch" Euler angle of the quaternion `x` assumed to be normalized.
-pub fn quat_pitch<N: Real>(x: &Qua<N>) -> N {
+pub fn quat_pitch<N: RealField>(x: &Qua<N>) -> N {
     // FIXME: optimize this.
     quat_euler_angles(x).x
 }

nalgebra-glm/src/gtc/round.rs

@@ -1,7 +1,7 @@
-use na::{Scalar, Real, U3, DefaultAllocator};
+use na::{Scalar, RealField, U3, DefaultAllocator};
 
-use traits::{Number, Alloc, Dimension};
+use crate::traits::{Number, Alloc, Dimension};
-use aliases::TVec;
+use crate::aliases::TVec;
 
 
 pub fn ceilMultiple<T>(v: T, Multiple: T) -> T {

nalgebra-glm/src/gtc/type_ptr.rs

@@ -1,10 +1,10 @@
-use na::{DefaultAllocator, Quaternion, Real, Scalar};
+use na::{DefaultAllocator, Quaternion, RealField, Scalar};
 
-use aliases::{
+use crate::aliases::{
     Qua, TMat, TMat2, TMat2x3, TMat2x4, TMat3, TMat3x2, TMat3x4, TMat4, TMat4x2, TMat4x3, TVec1,
     TVec2, TVec3, TVec4,
 };
-use traits::{Alloc, Dimension, Number};
+use crate::traits::{Alloc, Dimension, Number};
 
 /// Creates a 2x2 matrix from a slice arranged in column-major order.
 pub fn make_mat2<N: Scalar>(ptr: &[N]) -> TMat2<N> {
@@ -112,7 +112,7 @@ 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: Real>(ptr: &[N]) -> Qua<N> {
+pub fn make_quat<N: RealField>(ptr: &[N]) -> Qua<N> {
     Quaternion::from(TVec4::from_column_slice(ptr))
 }
 

nalgebra-glm/src/gtc/ulp.rs

@@ -1,6 +1,6 @@
 use na::{Scalar, U2};
 
-use aliases::TVec;
+use crate::aliases::TVec;
 
 
 pub fn float_distance<T>(x: T, y: T) -> u64 {

nalgebra-glm/src/gtx/component_wise.rs

@@ -1,7 +1,7 @@
 use na::{self, DefaultAllocator};
 
-use aliases::TMat;
+use crate::aliases::TMat;
-use traits::{Alloc, Dimension, Number};
+use crate::traits::{Alloc, Dimension, Number};
 
 /// The sum of every component of the given matrix or vector.
 ///

nalgebra-glm/src/gtx/euler_angles.rs

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

nalgebra-glm/src/gtx/exterior_product.rs

@@ -1,5 +1,5 @@
-use aliases::TVec2;
+use crate::aliases::TVec2;
-use traits::Number;
+use crate::traits::Number;
 
 /// The 2D perpendicular product between two vectors.
 pub fn cross2d<N: Number>(v: &TVec2<N>, u: &TVec2<N>) -> N {

nalgebra-glm/src/gtx/handed_coordinate_space.rs

@@ -1,5 +1,5 @@
-use aliases::TVec3;
+use crate::aliases::TVec3;
-use traits::Number;
+use crate::traits::Number;
 
 /// Returns `true` if `{a, b, c}` forms a left-handed trihedron.
 ///

nalgebra-glm/src/gtx/matrix_cross_product.rs

@@ -1,13 +1,13 @@
-use na::Real;
+use na::RealField;
 
-use aliases::{TMat3, TMat4, TVec3};
+use crate::aliases::{TMat3, TMat4, TVec3};
 
 /// Builds a 3x3 matrix `m` such that for any `v`: `m * v == cross(x, v)`.
 ///
 /// # See also:
 ///
 /// * [`matrix_cross`](fn.matrix_cross.html)
-pub fn matrix_cross3<N: Real>(x: &TVec3<N>) -> TMat3<N> {
+pub fn matrix_cross3<N: RealField>(x: &TVec3<N>) -> TMat3<N> {
     x.cross_matrix()
 }
 
@@ -16,6 +16,6 @@ pub fn matrix_cross3<N: Real>(x: &TVec3<N>) -> TMat3<N> {
 /// # See also:
 ///
 /// * [`matrix_cross3`](fn.matrix_cross3.html)
-pub fn matrix_cross<N: Real>(x: &TVec3<N>) -> TMat4<N> {
+pub fn matrix_cross<N: RealField>(x: &TVec3<N>) -> TMat4<N> {
-    ::mat3_to_mat4(&x.cross_matrix())
+    crate::mat3_to_mat4(&x.cross_matrix())
 }

nalgebra-glm/src/gtx/matrix_operation.rs

@@ -1,7 +1,7 @@
-use aliases::{
+use crate::aliases::{
     TMat2, TMat2x3, TMat2x4, TMat3, TMat3x2, TMat3x4, TMat4, TMat4x2, TMat4x3, TVec2, TVec3, TVec4,
 };
-use traits::Number;
+use crate::traits::Number;
 
 /// Builds a 2x2 diagonal matrix.
 ///

nalgebra-glm/src/gtx/norm.rs

@@ -1,14 +1,14 @@
-use na::{DefaultAllocator, Real};
+use na::{DefaultAllocator, RealField};
 
-use aliases::TVec;
+use crate::aliases::TVec;
-use traits::{Alloc, Dimension};
+use crate::traits::{Alloc, Dimension};
 
 /// The squared distance between two points.
 ///
 /// # See also:
 ///
 /// * [`distance`](fn.distance.html)
-pub fn distance2<N: Real, D: Dimension>(p0: &TVec<N, D>, p1: &TVec<N, D>) -> N
+pub fn distance2<N: RealField, D: Dimension>(p0: &TVec<N, D>, p1: &TVec<N, D>) -> N
 where DefaultAllocator: Alloc<N, D> {
     (p1 - p0).norm_squared()
 }
@@ -20,7 +20,7 @@ where DefaultAllocator: Alloc<N, D> {
 /// * [`l1_norm`](fn.l1_norm.html)
 /// * [`l2_distance`](fn.l2_distance.html)
 /// * [`l2_norm`](fn.l2_norm.html)
-pub fn l1_distance<N: Real, D: Dimension>(x: &TVec<N, D>, y: &TVec<N, D>) -> N
+pub fn l1_distance<N: RealField, D: Dimension>(x: &TVec<N, D>, y: &TVec<N, D>) -> N
 where DefaultAllocator: Alloc<N, D> {
     l1_norm(&(y - x))
 }
@@ -35,9 +35,9 @@ where DefaultAllocator: Alloc<N, D> {
 /// * [`l1_distance`](fn.l1_distance.html)
 /// * [`l2_distance`](fn.l2_distance.html)
 /// * [`l2_norm`](fn.l2_norm.html)
-pub fn l1_norm<N: Real, D: Dimension>(v: &TVec<N, D>) -> N
+pub fn l1_norm<N: RealField, D: Dimension>(v: &TVec<N, D>) -> N
 where DefaultAllocator: Alloc<N, D> {
-    ::comp_add(&v.abs())
+    crate::comp_add(&v.abs())
 }
 
 /// The l2-norm of `x - y`.
@@ -54,7 +54,7 @@ where DefaultAllocator: Alloc<N, D> {
 /// * [`length2`](fn.length2.html)
 /// * [`magnitude`](fn.magnitude.html)
 /// * [`magnitude2`](fn.magnitude2.html)
-pub fn l2_distance<N: Real, D: Dimension>(x: &TVec<N, D>, y: &TVec<N, D>) -> N
+pub fn l2_distance<N: RealField, D: Dimension>(x: &TVec<N, D>, y: &TVec<N, D>) -> N
 where DefaultAllocator: Alloc<N, D> {
     l2_norm(&(y - x))
 }
@@ -75,7 +75,7 @@ where DefaultAllocator: Alloc<N, D> {
 /// * [`length2`](fn.length2.html)
 /// * [`magnitude`](fn.magnitude.html)
 /// * [`magnitude2`](fn.magnitude2.html)
-pub fn l2_norm<N: Real, D: Dimension>(x: &TVec<N, D>) -> N
+pub fn l2_norm<N: RealField, D: Dimension>(x: &TVec<N, D>) -> N
 where DefaultAllocator: Alloc<N, D> {
     x.norm()
 }
@@ -91,7 +91,7 @@ where DefaultAllocator: Alloc<N, D> {
 /// * [`length`](fn.length.html)
 /// * [`magnitude`](fn.magnitude.html)
 /// * [`magnitude2`](fn.magnitude2.html)
-pub fn length2<N: Real, D: Dimension>(x: &TVec<N, D>) -> N
+pub fn length2<N: RealField, D: Dimension>(x: &TVec<N, D>) -> N
 where DefaultAllocator: Alloc<N, D> {
     x.norm_squared()
 }
@@ -107,17 +107,17 @@ where DefaultAllocator: Alloc<N, D> {
 /// * [`length2`](fn.length2.html)
 /// * [`magnitude`](fn.magnitude.html)
 /// * [`nalgebra::norm_squared`](../nalgebra/fn.norm_squared.html)
-pub fn magnitude2<N: Real, D: Dimension>(x: &TVec<N, D>) -> N
+pub fn magnitude2<N: RealField, D: Dimension>(x: &TVec<N, D>) -> N
 where DefaultAllocator: Alloc<N, D> {
     x.norm_squared()
 }
 
-//pub fn lxNorm<N: Real, D: Dimension>(x: &TVec<N, D>, y: &TVec<N, D>, unsigned int Depth) -> N
+//pub fn lxNorm<N: RealField, D: Dimension>(x: &TVec<N, D>, y: &TVec<N, D>, unsigned int Depth) -> N
 //    where DefaultAllocator: Alloc<N, D> {
 //    unimplemented!()
 //}
 //
-//pub fn lxNorm<N: Real, D: Dimension>(x: &TVec<N, D>, unsigned int Depth) -> N
+//pub fn lxNorm<N: RealField, D: Dimension>(x: &TVec<N, D>, unsigned int Depth) -> N
 //    where DefaultAllocator: Alloc<N, D> {
 //    unimplemented!()
 //}

nalgebra-glm/src/gtx/normal.rs

@@ -1,10 +1,10 @@
-use na::Real;
+use na::RealField;
 
-use aliases::TVec3;
+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: Real>(p1: &TVec3<N>, p2: &TVec3<N>, p3: &TVec3<N>) -> TVec3<N> {
+pub fn triangle_normal<N: RealField>(p1: &TVec3<N>, p2: &TVec3<N>, p3: &TVec3<N>) -> TVec3<N> {
     (p2 - p1).cross(&(p3 - p1)).normalize()
 }

nalgebra-glm/src/gtx/normalize_dot.rs

@@ -1,7 +1,7 @@
-use na::{DefaultAllocator, Real};
+use na::{DefaultAllocator, RealField};
 
-use aliases::TVec;
+use crate::aliases::TVec;
-use traits::{Alloc, Dimension};
+use crate::traits::{Alloc, Dimension};
 
 /// The dot product of the normalized version of `x` and `y`.
 ///
@@ -10,7 +10,7 @@ use traits::{Alloc, Dimension};
 /// # See also:
 ///
 /// * [`normalize_dot`](fn.normalize_dot.html`)
-pub fn fast_normalize_dot<N: Real, D: Dimension>(x: &TVec<N, D>, y: &TVec<N, D>) -> N
+pub fn fast_normalize_dot<N: RealField, D: Dimension>(x: &TVec<N, D>, y: &TVec<N, D>) -> N
 where DefaultAllocator: Alloc<N, D> {
     // XXX: improve those.
     x.normalize().dot(&y.normalize())
@@ -21,7 +21,7 @@ where DefaultAllocator: Alloc<N, D> {
 /// # See also:
 ///
 /// * [`fast_normalize_dot`](fn.fast_normalize_dot.html`)
-pub fn normalize_dot<N: Real, D: Dimension>(x: &TVec<N, D>, y: &TVec<N, D>) -> N
+pub fn normalize_dot<N: RealField, D: Dimension>(x: &TVec<N, D>, y: &TVec<N, D>) -> N
 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::{Real, Rotation3, Unit, UnitQuaternion, U3};
+use na::{RealField, Rotation3, Unit, UnitQuaternion, U3};
 
-use aliases::{Qua, TMat3, TMat4, TVec3, TVec4};
+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: Real>(q: &Qua<N>, v: &TVec3<N>) -> TVec3<N> {
+pub fn quat_cross_vec<N: RealField>(q: &Qua<N>, v: &TVec3<N>) -> TVec3<N> {
     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: Real>(v: &TVec3<N>, q: &Qua<N>) -> TVec3<N> {
+pub fn quat_inv_cross_vec<N: RealField>(v: &TVec3<N>, q: &Qua<N>) -> TVec3<N> {
     UnitQuaternion::new_unchecked(*q).inverse() * v
 }
 
 /// The quaternion `w` component.
-pub fn quat_extract_real_component<N: Real>(q: &Qua<N>) -> N {
+pub fn quat_extract_real_component<N: RealField>(q: &Qua<N>) -> N {
     q.w
 }
 
 /// Normalized linear interpolation between two quaternions.
-pub fn quat_fast_mix<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
+pub fn quat_fast_mix<N: RealField>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
     Unit::new_unchecked(*x)
         .nlerp(&Unit::new_unchecked(*y), a)
         .into_inner()
 }
 
-//pub fn quat_intermediate<N: Real>(prev: &Qua<N>, curr: &Qua<N>, next: &Qua<N>) -> Qua<N> {
+//pub fn quat_intermediate<N: RealField>(prev: &Qua<N>, curr: &Qua<N>, next: &Qua<N>) -> Qua<N> {
 //    unimplemented!()
 //}
 
 /// The squared magnitude of a quaternion `q`.
-pub fn quat_length2<N: Real>(q: &Qua<N>) -> N {
+pub fn quat_length2<N: RealField>(q: &Qua<N>) -> N {
     q.norm_squared()
 }
 
 /// The squared magnitude of a quaternion `q`.
-pub fn quat_magnitude2<N: Real>(q: &Qua<N>) -> N {
+pub fn quat_magnitude2<N: RealField>(q: &Qua<N>) -> N {
     q.norm_squared()
 }
 
 /// The quaternion representing the identity rotation.
-pub fn quat_identity<N: Real>() -> Qua<N> {
+pub fn quat_identity<N: RealField>() -> Qua<N> {
     UnitQuaternion::identity().into_inner()
 }
 
 /// Rotates a vector by a quaternion assumed to be normalized.
-pub fn quat_rotate_vec3<N: Real>(q: &Qua<N>, v: &TVec3<N>) -> TVec3<N> {
+pub fn quat_rotate_vec3<N: RealField>(q: &Qua<N>, v: &TVec3<N>) -> TVec3<N> {
     UnitQuaternion::new_unchecked(*q) * v
 }
 
 /// Rotates a vector in homogeneous coordinates by a quaternion assumed to be normalized.
-pub fn quat_rotate_vec<N: Real>(q: &Qua<N>, v: &TVec4<N>) -> TVec4<N> {
+pub fn quat_rotate_vec<N: RealField>(q: &Qua<N>, v: &TVec4<N>) -> TVec4<N> {
     let rotated = Unit::new_unchecked(*q) * v.fixed_rows::<U3>(0);
     TVec4::new(rotated.x, rotated.y, rotated.z, v.w)
 }
 
 /// The rotation required to align `orig` to `dest`.
-pub fn quat_rotation<N: Real>(orig: &TVec3<N>, dest: &TVec3<N>) -> Qua<N> {
+pub fn quat_rotation<N: RealField>(orig: &TVec3<N>, dest: &TVec3<N>) -> Qua<N> {
     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: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
+pub fn quat_short_mix<N: RealField>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
     Unit::new_normalize(*x)
         .slerp(&Unit::new_normalize(*y), a)
         .into_inner()
 }
 
-//pub fn quat_squad<N: Real>(q1: &Qua<N>, q2: &Qua<N>, s1: &Qua<N>, s2: &Qua<N>, h: N) -> Qua<N> {
+//pub fn quat_squad<N: RealField>(q1: &Qua<N>, q2: &Qua<N>, s1: &Qua<N>, s2: &Qua<N>, h: N) -> Qua<N> {
 //    unimplemented!()
 //}
 
 /// Converts a quaternion to a rotation matrix.
-pub fn quat_to_mat3<N: Real>(x: &Qua<N>) -> TMat3<N> {
+pub fn quat_to_mat3<N: RealField>(x: &Qua<N>) -> TMat3<N> {
     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: Real>(x: &Qua<N>) -> TMat4<N> {
+pub fn quat_to_mat4<N: RealField>(x: &Qua<N>) -> TMat4<N> {
     UnitQuaternion::new_unchecked(*x).to_homogeneous()
 }
 
 /// Converts a rotation matrix to a quaternion.
-pub fn mat3_to_quat<N: Real>(x: &TMat3<N>) -> Qua<N> {
+pub fn mat3_to_quat<N: RealField>(x: &TMat3<N>) -> Qua<N> {
     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: Real>(x: &TMat4<N>) -> Qua<N> {
+pub fn to_quat<N: RealField>(x: &TMat4<N>) -> Qua<N> {
     let rot = x.fixed_slice::<U3, U3>(0, 0).into_owned();
     mat3_to_quat(&rot)
 }

nalgebra-glm/src/gtx/rotate_normalized_axis.rs

@@ -1,6 +1,6 @@
-use na::{Real, Rotation3, Unit, UnitQuaternion};
+use na::{RealField, Rotation3, Unit, UnitQuaternion};
 
-use aliases::{Qua, TMat4, TVec3};
+use crate::aliases::{Qua, TMat4, TVec3};
 
 /// Builds a rotation 4 * 4 matrix created from a normalized axis and an angle.
 ///
@@ -9,7 +9,7 @@ use 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: Real>(m: &TMat4<N>, angle: N, axis: &TVec3<N>) -> TMat4<N> {
+pub fn rotate_normalized_axis<N: RealField>(m: &TMat4<N>, angle: N, axis: &TVec3<N>) -> TMat4<N> {
     m * Rotation3::from_axis_angle(&Unit::new_unchecked(*axis), angle).to_homogeneous()
 }
 
@@ -20,6 +20,6 @@ pub fn rotate_normalized_axis<N: Real>(m: &TMat4<N>, angle: N, axis: &TVec3<N>)
 /// * `q` - Source orientation.
 /// * `angle` - Angle expressed in radians.
 /// * `axis` - Normalized axis of the rotation, must be normalized.
-pub fn quat_rotate_normalized_axis<N: Real>(q: &Qua<N>, angle: N, axis: &TVec3<N>) -> Qua<N> {
+pub fn quat_rotate_normalized_axis<N: RealField>(q: &Qua<N>, angle: N, axis: &TVec3<N>) -> Qua<N> {
     q * UnitQuaternion::from_axis_angle(&Unit::new_unchecked(*axis), angle).into_inner()
 }

nalgebra-glm/src/gtx/rotate_vector.rs

@@ -1,9 +1,9 @@
-use na::{Real, Rotation3, Unit, UnitComplex};
+use na::{RealField, Rotation3, Unit, UnitComplex};
 
-use aliases::{TMat4, TVec2, TVec3, TVec4};
+use crate::aliases::{TMat4, TVec2, TVec3, TVec4};
 
 /// Build the rotation matrix needed to align `normal` and `up`.
-pub fn orientation<N: Real>(normal: &TVec3<N>, up: &TVec3<N>) -> TMat4<N> {
+pub fn orientation<N: RealField>(normal: &TVec3<N>, up: &TVec3<N>) -> TMat4<N> {
     if let Some(r) = Rotation3::rotation_between(normal, up) {
         r.to_homogeneous()
     } else {
@@ -12,52 +12,52 @@ pub fn orientation<N: Real>(normal: &TVec3<N>, up: &TVec3<N>) -> TMat4<N> {
 }
 
 /// Rotate a two dimensional vector.
-pub fn rotate_vec2<N: Real>(v: &TVec2<N>, angle: N) -> TVec2<N> {
+pub fn rotate_vec2<N: RealField>(v: &TVec2<N>, angle: N) -> TVec2<N> {
     UnitComplex::new(angle) * v
 }
 
 /// Rotate a three dimensional vector around an axis.
-pub fn rotate_vec3<N: Real>(v: &TVec3<N>, angle: N, normal: &TVec3<N>) -> TVec3<N> {
+pub fn rotate_vec3<N: RealField>(v: &TVec3<N>, angle: N, normal: &TVec3<N>) -> TVec3<N> {
     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: Real>(v: &TVec4<N>, angle: N, normal: &TVec3<N>) -> TVec4<N> {
+pub fn rotate_vec4<N: RealField>(v: &TVec4<N>, angle: N, normal: &TVec3<N>) -> TVec4<N> {
     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: Real>(v: &TVec3<N>, angle: N) -> TVec3<N> {
+pub fn rotate_x_vec3<N: RealField>(v: &TVec3<N>, angle: N) -> TVec3<N> {
     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: Real>(v: &TVec4<N>, angle: N) -> TVec4<N> {
+pub fn rotate_x_vec4<N: RealField>(v: &TVec4<N>, angle: N) -> TVec4<N> {
     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: Real>(v: &TVec3<N>, angle: N) -> TVec3<N> {
+pub fn rotate_y_vec3<N: RealField>(v: &TVec3<N>, angle: N) -> TVec3<N> {
     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: Real>(v: &TVec4<N>, angle: N) -> TVec4<N> {
+pub fn rotate_y_vec4<N: RealField>(v: &TVec4<N>, angle: N) -> TVec4<N> {
     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: Real>(v: &TVec3<N>, angle: N) -> TVec3<N> {
+pub fn rotate_z_vec3<N: RealField>(v: &TVec3<N>, angle: N) -> TVec3<N> {
     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: Real>(v: &TVec4<N>, angle: N) -> TVec4<N> {
+pub fn rotate_z_vec4<N: RealField>(v: &TVec4<N>, angle: N) -> TVec4<N> {
     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: Real>(x: &TVec3<N>, y: &TVec3<N>, a: N) -> TVec3<N> {
+pub fn slerp<N: RealField>(x: &TVec3<N>, y: &TVec3<N>, a: N) -> TVec3<N> {
     Unit::new_unchecked(*x)
         .slerp(&Unit::new_unchecked(*y), a)
         .into_inner()

nalgebra-glm/src/gtx/transform.rs

@@ -1,7 +1,7 @@
-use na::{Real, Rotation2, Rotation3, Unit};
+use na::{RealField, Rotation2, Rotation3, Unit};
 
-use aliases::{TMat3, TMat4, TVec2, TVec3};
+use crate::aliases::{TMat3, TMat4, TVec2, TVec3};
-use traits::Number;
+use crate::traits::Number;
 
 /// A rotation 4 * 4 matrix created from an axis of 3 scalars and an angle expressed in radians.
 ///
@@ -12,7 +12,7 @@ use traits::Number;
 /// * [`rotation2d`](fn.rotation2d.html)
 /// * [`scaling2d`](fn.scaling2d.html)
 /// * [`translation2d`](fn.translation2d.html)
-pub fn rotation<N: Real>(angle: N, v: &TVec3<N>) -> TMat4<N> {
+pub fn rotation<N: RealField>(angle: N, v: &TVec3<N>) -> TMat4<N> {
     Rotation3::from_axis_angle(&Unit::new_normalize(*v), angle).to_homogeneous()
 }
 
@@ -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: Real>(angle: N) -> TMat3<N> {
+pub fn rotation2d<N: RealField>(angle: N) -> TMat3<N> {
     Rotation2::new(angle).to_homogeneous()
 }
 

nalgebra-glm/src/gtx/transform2.rs

@@ -1,7 +1,7 @@
 use na::{U2, U3};
 
-use aliases::{TMat3, TMat4, TVec2, TVec3};
+use crate::aliases::{TMat3, TMat4, TVec2, TVec3};
-use traits::Number;
+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> {

nalgebra-glm/src/gtx/transform2d.rs

@@ -1,7 +1,7 @@
-use na::{Real, UnitComplex};
+use na::{RealField, UnitComplex};
 
-use aliases::{TMat3, TVec2};
+use crate::aliases::{TMat3, TVec2};
-use traits::Number;
+use crate::traits::Number;
 
 /// Builds a 2D rotation matrix from an angle and right-multiply it to `m`.
 ///
@@ -12,7 +12,7 @@ use traits::Number;
 /// * [`scaling2d`](fn.scaling2d.html)
 /// * [`translate2d`](fn.translate2d.html)
 /// * [`translation2d`](fn.translation2d.html)
-pub fn rotate2d<N: Real>(m: &TMat3<N>, angle: N) -> TMat3<N> {
+pub fn rotate2d<N: RealField>(m: &TMat3<N>, angle: N) -> TMat3<N> {
     m * UnitComplex::new(angle).to_homogeneous()
 }
 

nalgebra-glm/src/gtx/vector_angle.rs

@@ -1,18 +1,18 @@
-use na::{DefaultAllocator, Real};
+use na::{DefaultAllocator, RealField};
 
-use aliases::TVec;
+use crate::aliases::TVec;
-use traits::{Alloc, Dimension};
+use crate::traits::{Alloc, Dimension};
 
 /// The angle between two vectors.
-pub fn angle<N: Real, D: Dimension>(x: &TVec<N, D>, y: &TVec<N, D>) -> N
+pub fn angle<N: RealField, D: Dimension>(x: &TVec<N, D>, y: &TVec<N, D>) -> N
 where DefaultAllocator: Alloc<N, D> {
     x.angle(y)
 }
 
-//pub fn oriented_angle<N: Real>(x: &TVec2<N>, y: &TVec2<N>) -> N {
+//pub fn oriented_angle<N: RealField>(x: &TVec2<N>, y: &TVec2<N>) -> N {
 //    unimplemented!()
 //}
 //
-//pub fn oriented_angle_ref<N: Real>(x: &TVec3<N>, y: &TVec3<N>, refv: &TVec3<N>) -> N {
+//pub fn oriented_angle_ref<N: RealField>(x: &TVec3<N>, y: &TVec3<N>, refv: &TVec3<N>) -> N {
 //    unimplemented!()
 //}

nalgebra-glm/src/gtx/vector_query.rs

@@ -1,7 +1,7 @@
-use na::{DefaultAllocator, Real};
+use na::{DefaultAllocator, RealField};
 
-use aliases::{TVec, TVec2, TVec3};
+use crate::aliases::{TVec, TVec2, TVec3};
-use traits::{Alloc, Dimension, Number};
+use crate::traits::{Alloc, Dimension, Number};
 
 /// Returns `true` if two vectors are collinear (up to an epsilon).
 ///
@@ -45,7 +45,7 @@ where DefaultAllocator: Alloc<N, D> {
 }
 
 /// Returns `true` if `v` has a magnitude of 1 (up to an epsilon).
-pub fn is_normalized<N: Real, D: Dimension>(v: &TVec<N, D>, epsilon: N) -> bool
+pub fn is_normalized<N: RealField, D: Dimension>(v: &TVec<N, D>, epsilon: N) -> bool
 where DefaultAllocator: Alloc<N, D> {
     abs_diff_eq!(v.norm_squared(), N::one(), epsilon = epsilon * epsilon)
 }

nalgebra-glm/src/integer.rs

@@ -1,7 +1,7 @@
-use na::{Scalar, Real, U3, DefaultAllocator};
+use na::{Scalar, RealField, U3, DefaultAllocator};
 
-use traits::{Number, Alloc, Dimension};
+use crate::traits::{Number, Alloc, Dimension};
-use aliases::TVec;
+use crate::aliases::TVec;
 
 pub fn bitCount<T>(v: T) -> i32 {
     unimplemented!()

nalgebra-glm/src/lib.rs

@@ -119,7 +119,7 @@ extern crate approx;
 extern crate alga;
 extern crate nalgebra as na;
 
-pub use aliases::*;
+pub use crate::aliases::*;
 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,
@@ -133,7 +133,7 @@ pub use geometric::{
     cross, distance, dot, faceforward, length, magnitude, normalize, reflect_vec, refract_vec,
 };
 pub use matrix::{determinant, inverse, matrix_comp_mult, outer_product, transpose};
-pub use traits::{Alloc, Dimension, Number};
+pub use crate::traits::{Alloc, Dimension, Number};
 pub use trigonometric::{
     acos, acosh, asin, asinh, atan, atan2, atanh, cos, cosh, degrees, radians, sin, sinh, tan, tanh,
 };
@@ -191,7 +191,7 @@ pub use gtx::{
 pub use na::{
     convert, convert_ref, convert_ref_unchecked, convert_unchecked, try_convert, try_convert_ref,
 };
-pub use na::{DefaultAllocator, Real, Scalar, U1, U2, U3, U4};
+pub use na::{DefaultAllocator, RealField, Scalar, U1, U2, U3, U4};
 
 mod aliases;
 mod common;

nalgebra-glm/src/matrix.rs

@@ -1,16 +1,16 @@
-use na::{DefaultAllocator, Real, Scalar};
+use na::{DefaultAllocator, RealField, Scalar};
 
-use aliases::{TMat, TVec};
+use crate::aliases::{TMat, TVec};
-use traits::{Alloc, Dimension, Number};
+use crate::traits::{Alloc, Dimension, Number};
 
 /// The determinant of the matrix `m`.
-pub fn determinant<N: Real, D: Dimension>(m: &TMat<N, D, D>) -> N
+pub fn determinant<N: RealField, D: Dimension>(m: &TMat<N, D, D>) -> N
 where DefaultAllocator: Alloc<N, D, D> {
     m.determinant()
 }
 
 /// The inverse of the matrix `m`.
-pub fn inverse<N: Real, D: Dimension>(m: &TMat<N, D, D>) -> TMat<N, D, D>
+pub fn inverse<N: RealField, D: Dimension>(m: &TMat<N, D, D>) -> TMat<N, D, D>
 where DefaultAllocator: Alloc<N, D, D> {
     m.clone()
         .try_inverse()

nalgebra-glm/src/packing.rs

@@ -1,6 +1,6 @@
 use na::Scalar;
 
-use aliases::{Vec2, Vec4, UVec2};
+use crate::aliases::{Vec2, Vec4, UVec2};
 
 
 pub fn packDouble2x32<N: Scalar>(v: &UVec2) -> f64 {

nalgebra-glm/src/trigonometric.rs

@@ -1,94 +1,94 @@
-use na::{self, DefaultAllocator, Real};
+use na::{self, DefaultAllocator, RealField};
 
-use aliases::TVec;
+use crate::aliases::TVec;
-use traits::{Alloc, Dimension};
+use crate::traits::{Alloc, Dimension};
 
 /// Component-wise arc-cosinus.
-pub fn acos<N: Real, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
+pub fn acos<N: RealField, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
 where DefaultAllocator: Alloc<N, D> {
     x.map(|e| e.acos())
 }
 
 /// Component-wise hyperbolic arc-cosinus.
-pub fn acosh<N: Real, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
+pub fn acosh<N: RealField, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
 where DefaultAllocator: Alloc<N, D> {
     x.map(|e| e.acosh())
 }
 
 /// Component-wise arc-sinus.
-pub fn asin<N: Real, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
+pub fn asin<N: RealField, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
 where DefaultAllocator: Alloc<N, D> {
     x.map(|e| e.asin())
 }
 
 /// Component-wise hyperbolic arc-sinus.
-pub fn asinh<N: Real, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
+pub fn asinh<N: RealField, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
 where DefaultAllocator: Alloc<N, D> {
     x.map(|e| e.asinh())
 }
 
 /// Component-wise arc-tangent of `y / x`.
-pub fn atan2<N: Real, D: Dimension>(y: &TVec<N, D>, x: &TVec<N, D>) -> TVec<N, D>
+pub fn atan2<N: RealField, D: Dimension>(y: &TVec<N, D>, x: &TVec<N, D>) -> TVec<N, D>
 where DefaultAllocator: Alloc<N, D> {
     y.zip_map(x, |y, x| y.atan2(x))
 }
 
 /// Component-wise arc-tangent.
-pub fn atan<N: Real, D: Dimension>(y_over_x: &TVec<N, D>) -> TVec<N, D>
+pub fn atan<N: RealField, D: Dimension>(y_over_x: &TVec<N, D>) -> TVec<N, D>
 where DefaultAllocator: Alloc<N, D> {
     y_over_x.map(|e| e.atan())
 }
 
 /// Component-wise hyperbolic arc-tangent.
-pub fn atanh<N: Real, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
+pub fn atanh<N: RealField, D: Dimension>(x: &TVec<N, D>) -> TVec<N, D>
 where DefaultAllocator: Alloc<N, D> {
     x.map(|e| e.atanh())
 }
 
 /// Component-wise cosinus.
-pub fn cos<N: Real, D: Dimension>(angle: &TVec<N, D>) -> TVec<N, D>
+pub fn cos<N: RealField, D: Dimension>(angle: &TVec<N, D>) -> TVec<N, D>
 where DefaultAllocator: Alloc<N, D> {
     angle.map(|e| e.cos())
 }
 
 /// Component-wise hyperbolic cosinus.
-pub fn cosh<N: Real, D: Dimension>(angle: &TVec<N, D>) -> TVec<N, D>
+pub fn cosh<N: RealField, D: Dimension>(angle: &TVec<N, D>) -> TVec<N, D>
 where DefaultAllocator: Alloc<N, D> {
     angle.map(|e| e.cosh())
 }
 
 /// Component-wise conversion from radians to degrees.
-pub fn degrees<N: Real, D: Dimension>(radians: &TVec<N, D>) -> TVec<N, D>
+pub fn degrees<N: RealField, D: Dimension>(radians: &TVec<N, D>) -> TVec<N, D>
 where 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: Real, D: Dimension>(degrees: &TVec<N, D>) -> TVec<N, D>
+pub fn radians<N: RealField, D: Dimension>(degrees: &TVec<N, D>) -> TVec<N, D>
 where DefaultAllocator: Alloc<N, D> {
     degrees.map(|e| e * N::pi() / na::convert(180.0))
 }
 
 /// Component-wise sinus.
-pub fn sin<N: Real, D: Dimension>(angle: &TVec<N, D>) -> TVec<N, D>
+pub fn sin<N: RealField, D: Dimension>(angle: &TVec<N, D>) -> TVec<N, D>
 where DefaultAllocator: Alloc<N, D> {
     angle.map(|e| e.sin())
 }
 
 /// Component-wise hyperbolic sinus.
-pub fn sinh<N: Real, D: Dimension>(angle: &TVec<N, D>) -> TVec<N, D>
+pub fn sinh<N: RealField, D: Dimension>(angle: &TVec<N, D>) -> TVec<N, D>
 where DefaultAllocator: Alloc<N, D> {
     angle.map(|e| e.sinh())
 }
 
 /// Component-wise tangent.
-pub fn tan<N: Real, D: Dimension>(angle: &TVec<N, D>) -> TVec<N, D>
+pub fn tan<N: RealField, D: Dimension>(angle: &TVec<N, D>) -> TVec<N, D>
 where DefaultAllocator: Alloc<N, D> {
     angle.map(|e| e.tan())
 }
 
 /// Component-wise hyperbolic tangent.
-pub fn tanh<N: Real, D: Dimension>(angle: &TVec<N, D>) -> TVec<N, D>
+pub fn tanh<N: RealField, D: Dimension>(angle: &TVec<N, D>) -> TVec<N, D>
 where DefaultAllocator: Alloc<N, D> {
     angle.map(|e| e.tanh())
 }

nalgebra-glm/src/vector_relational.rs

@@ -1,7 +1,7 @@
 use na::DefaultAllocator;
 
-use aliases::TVec;
+use crate::aliases::TVec;
-use traits::{Alloc, Dimension, Number};
+use crate::traits::{Alloc, Dimension, Number};
 
 /// Checks that all the vector components are `true`.
 ///

nalgebra-lapack/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name    = "nalgebra-lapack"
-version = "0.9.0"
+version = "0.10.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>", "Andrew Straw <strawman@astraw.com>" ]
 
 description   = "Linear algebra library with transformations and satically-sized or dynamically-sized matrices."
@@ -10,6 +10,7 @@ repository    = "https://github.com/rustsim/nalgebra"
 readme        = "README.md"
 keywords      = [ "linear", "algebra", "matrix", "vector" ]
 license       = "BSD-3-Clause"
+edition       = "2018"
 
 [features]
 serde-serialize = [ "serde", "serde_derive" ]
@@ -22,10 +23,10 @@ accelerate = ["lapack-src/accelerate"]
 intel-mkl  = ["lapack-src/intel-mkl"]
 
 [dependencies]
-nalgebra      = { version = "0.17", path = ".." }
+nalgebra      = { version = "0.18", path = ".." }
 num-traits    = "0.2"
 num-complex   = { version = "0.2", default-features = false }
-alga          = { version = "0.8", default-features = false }
+alga          = { version = "0.9", default-features = false }
 serde         = { version = "1.0", optional = true }
 serde_derive  = { version = "1.0", optional = true }
 lapack        = { version = "0.16", default-features = false }
@@ -33,7 +34,7 @@ lapack-src    = { version = "0.2", default-features = false }
 # clippy = "*"
 
 [dev-dependencies]
-nalgebra   = { version = "0.17", path = "..", features = [ "arbitrary" ] }
+nalgebra   = { version = "0.18", path = "..", features = [ "arbitrary" ] }
 quickcheck = "0.8"
 approx     = "0.3"
 rand       = "0.6"

nalgebra-lapack/src/eigen.rs

@@ -4,13 +4,13 @@ use serde::{Deserialize, Serialize};
 use num::Zero;
 use num_complex::Complex;
 
-use alga::general::Real;
+use alga::general::RealField;
 
 use na::allocator::Allocator;
 use na::dimension::{Dim, U1};
 use na::storage::Storage;
 use na::{DefaultAllocator, Matrix, MatrixN, Scalar, VectorN};
-use ComplexHelper;
+use crate::ComplexHelper;
 
 use lapack;
 
@@ -51,7 +51,7 @@ where
     MatrixN<N, D>: Copy,
 {}
 
-impl<N: EigenScalar + Real, D: Dim> Eigen<N, D>
+impl<N: EigenScalar + RealField, D: Dim> Eigen<N, D>
 where DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>
 {
     /// Computes the eigenvalues and eigenvectors of the square matrix `m`.
@@ -101,7 +101,7 @@ where DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>
 
         lapack_check!(info);
 
-        let mut work = unsafe { ::uninitialized_vec(lwork as usize) };
+        let mut work = unsafe { crate::uninitialized_vec(lwork as usize) };
 
         match (left_eigenvectors, eigenvectors) {
             (true, true) => {
@@ -263,7 +263,7 @@ where DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>
 
         lapack_panic!(info);
 
-        let mut work = unsafe { ::uninitialized_vec(lwork as usize) };
+        let mut work = unsafe { crate::uninitialized_vec(lwork as usize) };
 
         N::xgeev(
             b'N',

nalgebra-lapack/src/hessenberg.rs

@@ -5,7 +5,7 @@ use na::allocator::Allocator;
 use na::dimension::{DimDiff, DimSub, U1};
 use na::storage::Storage;
 use na::{DefaultAllocator, Matrix, MatrixN, Scalar, VectorN};
-use ComplexHelper;
+use crate::ComplexHelper;
 
 use lapack;
 
@@ -66,7 +66,7 @@ where DefaultAllocator: Allocator<N, D, D> + Allocator<N, DimDiff<D, U1>>
         let mut info = 0;
         let lwork =
             N::xgehrd_work_size(n, 1, n, m.as_mut_slice(), n, tau.as_mut_slice(), &mut info);
-        let mut work = unsafe { ::uninitialized_vec(lwork as usize) };
+        let mut work = unsafe { crate::uninitialized_vec(lwork as usize) };
 
         lapack_panic!(info);
 

nalgebra-lapack/src/lib.rs

@@ -98,7 +98,7 @@ pub use self::eigen::Eigen;
 pub use self::hessenberg::Hessenberg;
 pub use self::lu::{LUScalar, LU};
 pub use self::qr::QR;
-pub use self::schur::RealSchur;
+pub use self::schur::Schur;
 pub use self::svd::SVD;
 pub use self::symmetric_eigen::SymmetricEigen;
 

nalgebra-lapack/src/lu.rs

@@ -5,7 +5,7 @@ use na::allocator::Allocator;
 use na::dimension::{Dim, DimMin, DimMinimum, U1};
 use na::storage::Storage;
 use na::{DefaultAllocator, Matrix, MatrixMN, MatrixN, Scalar, VectorN};
-use ComplexHelper;
+use crate::ComplexHelper;
 
 use lapack;
 
@@ -214,7 +214,7 @@ where
         }
     }
 
-    /// Solves the linear system `self.conjugate_transpose() * x = b`, where `x` is the unknown to
+    /// Solves the linear system `self.adjoint() * x = b`, where `x` is the unknown to
     /// be determined.
     pub fn solve_conjugate_transpose<R2: Dim, C2: Dim, S2>(
         &self,
@@ -249,11 +249,11 @@ where
         self.generic_solve_mut(b'T', b)
     }
 
-    /// Solves in-place the linear system `self.conjugate_transpose() * x = b`, where `x` is the unknown to
+    /// Solves in-place the linear system `self.adjoint() * 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_conjugate_transpose_mut<R2: Dim, C2: Dim>(
+    pub fn solve_adjoint_mut<R2: Dim, C2: Dim>(
         &self,
         b: &mut MatrixMN<N, R2, C2>,
     ) -> bool
@@ -283,7 +283,7 @@ where
         );
         lapack_check!(info);
 
-        let mut work = unsafe { ::uninitialized_vec(lwork as usize) };
+        let mut work = unsafe { crate::uninitialized_vec(lwork as usize) };
 
         N::xgetri(
             dim,

nalgebra-lapack/src/qr.rs

@@ -8,7 +8,7 @@ use na::allocator::Allocator;
 use na::dimension::{Dim, DimMin, DimMinimum, U1};
 use na::storage::Storage;
 use na::{DefaultAllocator, Matrix, MatrixMN, Scalar, VectorN};
-use ComplexHelper;
+use crate::ComplexHelper;
 
 use lapack;
 
@@ -73,7 +73,7 @@ where DefaultAllocator: Allocator<N, R, C>
             &mut info,
         );
 
-        let mut work = unsafe { ::uninitialized_vec(lwork as usize) };
+        let mut work = unsafe { crate::uninitialized_vec(lwork as usize) };
 
         N::xgeqrf(
             nrows.value() as i32,

nalgebra-lapack/src/schur.rs

@@ -4,13 +4,13 @@ use serde::{Deserialize, Serialize};
 use num::Zero;
 use num_complex::Complex;
 
-use alga::general::Real;
+use alga::general::RealField;
 
 use na::allocator::Allocator;
 use na::dimension::{Dim, U1};
 use na::storage::Storage;
 use na::{DefaultAllocator, Matrix, MatrixN, Scalar, VectorN};
-use ComplexHelper;
+use crate::ComplexHelper;
 
 use lapack;
 
@@ -33,7 +33,7 @@ use lapack;
     ))
 )]
 #[derive(Clone, Debug)]
-pub struct RealSchur<N: Scalar, D: Dim>
+pub struct Schur<N: Scalar, D: Dim>
 where DefaultAllocator: Allocator<N, D> + Allocator<N, D, D>
 {
     re: VectorN<N, D>,
@@ -42,21 +42,21 @@ where DefaultAllocator: Allocator<N, D> + Allocator<N, D, D>
     q: MatrixN<N, D>,
 }
 
-impl<N: Scalar, D: Dim> Copy for RealSchur<N, D>
+impl<N: Scalar, D: Dim> Copy for Schur<N, D>
 where
     DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
     MatrixN<N, D>: Copy,
     VectorN<N, D>: Copy,
 {}
 
-impl<N: RealSchurScalar + Real, D: Dim> RealSchur<N, D>
+impl<N: SchurScalar + RealField, D: Dim> Schur<N, D>
 where DefaultAllocator: Allocator<N, D, D> + Allocator<N, 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 {
-        Self::try_new(m).expect("RealSchur decomposition: convergence failed.")
+        Self::try_new(m).expect("Schur decomposition: convergence failed.")
     }
 
     /// Computes the eigenvalues and real Schur form of the matrix `m`.
@@ -98,7 +98,7 @@ where DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>
         );
         lapack_check!(info);
 
-        let mut work = unsafe { ::uninitialized_vec(lwork as usize) };
+        let mut work = unsafe { crate::uninitialized_vec(lwork as usize) };
 
         N::xgees(
             b'V',
@@ -118,7 +118,7 @@ where DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>
         );
         lapack_check!(info);
 
-        Some(RealSchur {
+        Some(Schur {
             re: wr,
             im: wi,
             t: m,
@@ -161,8 +161,8 @@ where DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>
  * Lapack functions dispatch.
  *
  */
-/// Trait implemented by scalars for which Lapack implements the Real Schur decomposition.
+/// Trait implemented by scalars for which Lapack implements the RealField Schur decomposition.
-pub trait RealSchurScalar: Scalar {
+pub trait SchurScalar: Scalar {
     #[allow(missing_docs)]
     fn xgees(
         jobvs: u8,
@@ -202,7 +202,7 @@ pub trait RealSchurScalar: Scalar {
 
 macro_rules! real_eigensystem_scalar_impl (
     ($N: ty, $xgees: path) => (
-        impl RealSchurScalar for $N {
+        impl SchurScalar for $N {
             #[inline]
             fn xgees(jobvs:  u8,
                      sort:   u8,

nalgebra-lapack/src/svd.rs

@@ -109,7 +109,7 @@ macro_rules! svd_impl(
                 let mut work  = [ 0.0 ];
                 let mut lwork = -1 as i32;
                 let mut info  = 0;
-                let mut iwork = unsafe { ::uninitialized_vec(8 * cmp::min(nrows.value(), ncols.value())) };
+                let mut iwork = unsafe { crate::uninitialized_vec(8 * cmp::min(nrows.value(), ncols.value())) };
 
                 unsafe {
                     $lapack_func(job, nrows.value() as i32, ncols.value() as i32, m.as_mut_slice(),
@@ -119,7 +119,7 @@ macro_rules! svd_impl(
                 lapack_check!(info);
 
                 lwork = work[0] as i32;
-                let mut work = unsafe { ::uninitialized_vec(lwork as usize) };
+                let mut work = unsafe { crate::uninitialized_vec(lwork as usize) };
 
                 unsafe {
                 $lapack_func(job, nrows.value() as i32, ncols.value() as i32, m.as_mut_slice(),

nalgebra-lapack/src/symmetric_eigen.rs

@@ -4,13 +4,13 @@ use serde::{Deserialize, Serialize};
 use num::Zero;
 use std::ops::MulAssign;
 
-use alga::general::Real;
+use alga::general::RealField;
 
 use na::allocator::Allocator;
 use na::dimension::{Dim, U1};
 use na::storage::Storage;
 use na::{DefaultAllocator, Matrix, MatrixN, Scalar, VectorN};
-use ComplexHelper;
+use crate::ComplexHelper;
 
 use lapack;
 
@@ -52,7 +52,7 @@ where
     VectorN<N, D>: Copy,
 {}
 
-impl<N: SymmetricEigenScalar + Real, D: Dim> SymmetricEigen<N, D>
+impl<N: SymmetricEigenScalar + RealField, D: Dim> SymmetricEigen<N, D>
 where DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>
 {
     /// Computes the eigenvalues and eigenvectors of the symmetric matrix `m`.
@@ -102,7 +102,7 @@ where DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>
         let lwork = N::xsyev_work_size(jobz, b'L', n as i32, m.as_mut_slice(), lda, &mut info);
         lapack_check!(info);
 
-        let mut work = unsafe { ::uninitialized_vec(lwork as usize) };
+        let mut work = unsafe { crate::uninitialized_vec(lwork as usize) };
 
         N::xsyev(
             jobz,

nalgebra-lapack/tests/linalg/mod.rs

@@ -2,6 +2,6 @@ mod cholesky;
 mod lu;
 mod qr;
 mod real_eigensystem;
-mod real_schur;
+mod schur;
 mod svd;
 mod symmetric_eigen;

nalgebra-lapack/tests/linalg/schur.rs

@@ -1,5 +1,5 @@
 use na::{DMatrix, Matrix4};
-use nl::RealSchur;
+use nl::Schur;
 use std::cmp;
 
 quickcheck! {
@@ -7,13 +7,13 @@ quickcheck! {
         let n = cmp::max(1, cmp::min(n, 10));
         let m = DMatrix::<f64>::new_random(n, n);
 
-        let (vecs, vals) = RealSchur::new(m.clone()).unpack();
+        let (vecs, vals) = Schur::new(m.clone()).unpack();
 
         relative_eq!(&vecs * vals * vecs.transpose(), m, epsilon = 1.0e-7)
     }
 
     fn schur_static(m: Matrix4<f64>) -> bool {
-        let (vecs, vals) = RealSchur::new(m.clone()).unpack();
+        let (vecs, vals) = Schur::new(m.clone()).unpack();
 
         relative_eq!(vecs * vals * vecs.transpose(), m, epsilon = 1.0e-7)
     }

src/base/alias.rs

@@ -1,10 +1,10 @@
 #[cfg(any(feature = "alloc", feature = "std"))]
-use base::dimension::Dynamic;
+use crate::base::dimension::Dynamic;
-use base::dimension::{U1, U2, U3, U4, U5, U6};
+use crate::base::dimension::{U1, U2, U3, U4, U5, U6};
 #[cfg(any(feature = "std", feature = "alloc"))]
-use base::vec_storage::VecStorage;
+use crate::base::vec_storage::VecStorage;
-use base::storage::Owned;
+use crate::base::storage::Owned;
-use base::Matrix;
+use crate::base::Matrix;
 
 /*
  *

src/base/alias_slice.rs

@@ -1,6 +1,6 @@
-use base::dimension::{Dynamic, U1, U2, U3, U4, U5, U6};
+use crate::base::dimension::{Dynamic, U1, U2, U3, U4, U5, U6};
-use base::matrix_slice::{SliceStorage, SliceStorageMut};
+use crate::base::matrix_slice::{SliceStorage, SliceStorageMut};
-use base::Matrix;
+use crate::base::Matrix;
 
 /*
  *

src/base/allocator.rs

@@ -2,10 +2,10 @@
 
 use std::any::Any;
 
-use base::constraint::{SameNumberOfColumns, SameNumberOfRows, ShapeConstraint};
+use crate::base::constraint::{SameNumberOfColumns, SameNumberOfRows, ShapeConstraint};
-use base::dimension::{Dim, U1};
+use crate::base::dimension::{Dim, U1};
-use base::storage::ContiguousStorageMut;
+use crate::base::storage::ContiguousStorageMut;
-use base::{DefaultAllocator, Scalar};
+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`.

src/base/array_storage.rs

@@ -21,11 +21,11 @@ use abomonation::Abomonation;
 use generic_array::{ArrayLength, GenericArray};
 use typenum::Prod;
 
-use base::allocator::Allocator;
+use crate::base::allocator::Allocator;
-use base::default_allocator::DefaultAllocator;
+use crate::base::default_allocator::DefaultAllocator;
-use base::dimension::{DimName, U1};
+use crate::base::dimension::{DimName, U1};
-use base::storage::{ContiguousStorage, ContiguousStorageMut, Owned, Storage, StorageMut};
+use crate::base::storage::{ContiguousStorage, ContiguousStorageMut, Owned, Storage, StorageMut};
-use base::Scalar;
+use crate::base::Scalar;
 
 /*
  *
@@ -330,7 +330,7 @@ where
         let mut out: Self::Value = unsafe { mem::uninitialized() };
         let mut curr = 0;
 
-        while let Some(value) = try!(visitor.next_element()) {
+        while let Some(value) = visitor.next_element()? {
             *out.get_mut(curr).ok_or_else(|| V::Error::invalid_length(curr, &self))? = value;
             curr += 1;
         }

src/base/blas.rs

@@ -1,17 +1,52 @@
-use alga::general::{ClosedAdd, ClosedMul};
+use alga::general::{ClosedAdd, ClosedMul, ComplexField};
 #[cfg(feature = "std")]
 use matrixmultiply;
 use num::{One, Signed, Zero};
 #[cfg(feature = "std")]
 use std::mem;
 
-use base::allocator::Allocator;
+use crate::base::allocator::Allocator;
-use base::constraint::{
+use crate::base::constraint::{
     AreMultipliable, DimEq, SameNumberOfColumns, SameNumberOfRows, ShapeConstraint,
 };
-use base::dimension::{Dim, Dynamic, U1, U2, U3, U4};
+use crate::base::dimension::{Dim, Dynamic, U1, U2, U3, U4};
-use base::storage::{Storage, StorageMut};
+use crate::base::storage::{Storage, StorageMut};
-use base::{DefaultAllocator, Matrix, Scalar, SquareMatrix, Vector};
+use crate::base::{DefaultAllocator, Matrix, Scalar, SquareMatrix, Vector, DVectorSlice, VectorSliceN};
+
+
+// FIXME: find a way to avoid code duplication just for complex number support.
+impl<N: ComplexField, D: Dim, S: Storage<N, D>> Vector<N, D, S> {
+    /// Computes the index of the vector component with the largest complex or real absolute value.
+    ///
+    /// # Examples:
+    ///
+    /// ```
+    /// # extern crate num_complex;
+    /// # extern crate nalgebra;
+    /// # use num_complex::Complex;
+    /// # use nalgebra::Vector3;
+    /// let vec = Vector3::new(Complex::new(11.0, 3.0), Complex::new(-15.0, 0.0), Complex::new(13.0, 5.0));
+    /// assert_eq!(vec.icamax(), 2);
+    /// ```
+    #[inline]
+    pub fn icamax(&self) -> usize {
+        assert!(!self.is_empty(), "The input vector must not be empty.");
+
+        let mut the_max = unsafe { self.vget_unchecked(0).norm1() };
+        let mut the_i = 0;
+
+        for i in 1..self.nrows() {
+            let val = unsafe { self.vget_unchecked(i).norm1() };
+
+            if val > the_max {
+                the_max = val;
+                the_i = i;
+            }
+        }
+
+        the_i
+    }
+}
 
 impl<N: Scalar + PartialOrd, D: Dim, S: Storage<N, D>> Vector<N, D, S> {
     /// Computes the index and value of the vector component with the largest value.
@@ -157,6 +192,44 @@ impl<N: Scalar + PartialOrd, D: Dim, S: Storage<N, D>> Vector<N, D, S> {
     }
 }
 
+// FIXME: find a way to avoid code duplication just for complex number support.
+impl<N: ComplexField, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
+    /// Computes the index of the matrix component with the largest absolute value.
+    ///
+    /// # Examples:
+    ///
+    /// ```
+    /// # extern crate num_complex;
+    /// # extern crate nalgebra;
+    /// # use num_complex::Complex;
+    /// # use nalgebra::Matrix2x3;
+    /// let mat = Matrix2x3::new(Complex::new(11.0, 1.0), Complex::new(-12.0, 2.0), Complex::new(13.0, 3.0),
+    ///                          Complex::new(21.0, 43.0), Complex::new(22.0, 5.0), Complex::new(-23.0, 0.0));
+    /// assert_eq!(mat.icamax_full(), (1, 0));
+    /// ```
+    #[inline]
+    pub fn icamax_full(&self) -> (usize, usize) {
+        assert!(!self.is_empty(), "The input matrix must not be empty.");
+
+        let mut the_max = unsafe { self.get_unchecked((0, 0)).norm1() };
+        let mut the_ij = (0, 0);
+
+        for j in 0..self.ncols() {
+            for i in 0..self.nrows() {
+                let val = unsafe { self.get_unchecked((i, j)).norm1() };
+
+                if val > the_max {
+                    the_max = val;
+                    the_ij = (i, j);
+                }
+            }
+        }
+
+        the_ij
+    }
+}
+
+
 impl<N: Scalar + PartialOrd + Signed, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     /// Computes the index of the matrix component with the largest absolute value.
     ///
@@ -193,30 +266,11 @@ impl<N: Scalar + PartialOrd + Signed, R: Dim, C: Dim, S: Storage<N, R, C>> Matri
 impl<N, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S>
 where N: Scalar + Zero + ClosedAdd + ClosedMul
 {
-    /// The dot product between two vectors or matrices (seen as vectors).
+    #[inline(always)]
-    ///
+    fn dotx<R2: Dim, C2: Dim, SB>(&self, rhs: &Matrix<N, R2, C2, SB>, conjugate: impl Fn(N) -> N) -> N
-    /// Note that this is **not** the matrix multiplication as in, e.g., numpy. For matrix
+        where
-    /// multiplication, use one of: `.gemm`, `.mul_to`, `.mul`, the `*` operator.
+            SB: Storage<N, R2, C2>,
-    ///
+            ShapeConstraint: DimEq<R, R2> + DimEq<C, C2>,
-    /// # Examples:
-    ///
-    /// ```
-    /// # use nalgebra::{Vector3, Matrix2x3};
-    /// let vec1 = Vector3::new(1.0, 2.0, 3.0);
-    /// let vec2 = Vector3::new(0.1, 0.2, 0.3);
-    /// assert_eq!(vec1.dot(&vec2), 1.4);
-    ///
-    /// let mat1 = Matrix2x3::new(1.0, 2.0, 3.0,
-    ///                           4.0, 5.0, 6.0);
-    /// let mat2 = Matrix2x3::new(0.1, 0.2, 0.3,
-    ///                           0.4, 0.5, 0.6);
-    /// assert_eq!(mat1.dot(&mat2), 9.1);
-    /// ```
-    #[inline]
-    pub fn dot<R2: Dim, C2: Dim, SB>(&self, rhs: &Matrix<N, R2, C2, SB>) -> N
-    where
-        SB: Storage<N, R2, C2>,
-        ShapeConstraint: DimEq<R, R2> + DimEq<C, C2>,
     {
         assert!(
             self.nrows() == rhs.nrows(),
@@ -227,27 +281,27 @@ where N: Scalar + Zero + ClosedAdd + ClosedMul
         // because the `for` loop below won't be very efficient on those.
         if (R::is::<U2>() || R2::is::<U2>()) && (C::is::<U1>() || C2::is::<U1>()) {
             unsafe {
-                let a = *self.get_unchecked((0, 0)) * *rhs.get_unchecked((0, 0));
+                let a = conjugate(*self.get_unchecked((0, 0))) * *rhs.get_unchecked((0, 0));
-                let b = *self.get_unchecked((1, 0)) * *rhs.get_unchecked((1, 0));
+                let b = conjugate(*self.get_unchecked((1, 0))) * *rhs.get_unchecked((1, 0));
 
                 return a + b;
             }
         }
         if (R::is::<U3>() || R2::is::<U3>()) && (C::is::<U1>() || C2::is::<U1>()) {
             unsafe {
-                let a = *self.get_unchecked((0, 0)) * *rhs.get_unchecked((0, 0));
+                let a = conjugate(*self.get_unchecked((0, 0))) * *rhs.get_unchecked((0, 0));
-                let b = *self.get_unchecked((1, 0)) * *rhs.get_unchecked((1, 0));
+                let b = conjugate(*self.get_unchecked((1, 0))) * *rhs.get_unchecked((1, 0));
-                let c = *self.get_unchecked((2, 0)) * *rhs.get_unchecked((2, 0));
+                let c = conjugate(*self.get_unchecked((2, 0))) * *rhs.get_unchecked((2, 0));
 
                 return a + b + c;
             }
         }
         if (R::is::<U4>() || R2::is::<U4>()) && (C::is::<U1>() || C2::is::<U1>()) {
             unsafe {
-                let mut a = *self.get_unchecked((0, 0)) * *rhs.get_unchecked((0, 0));
+                let mut a = conjugate(*self.get_unchecked((0, 0))) * *rhs.get_unchecked((0, 0));
-                let mut b = *self.get_unchecked((1, 0)) * *rhs.get_unchecked((1, 0));
+                let mut b = conjugate(*self.get_unchecked((1, 0))) * *rhs.get_unchecked((1, 0));
-                let c = *self.get_unchecked((2, 0)) * *rhs.get_unchecked((2, 0));
+                let c = conjugate(*self.get_unchecked((2, 0))) * *rhs.get_unchecked((2, 0));
-                let d = *self.get_unchecked((3, 0)) * *rhs.get_unchecked((3, 0));
+                let d = conjugate(*self.get_unchecked((3, 0))) * *rhs.get_unchecked((3, 0));
 
                 a += c;
                 b += d;
@@ -287,14 +341,14 @@ where N: Scalar + Zero + ClosedAdd + ClosedMul
             acc7 = N::zero();
 
             while self.nrows() - i >= 8 {
-                acc0 += unsafe { *self.get_unchecked((i + 0, j)) * *rhs.get_unchecked((i + 0, j)) };
+                acc0 += unsafe { conjugate(*self.get_unchecked((i + 0, j))) * *rhs.get_unchecked((i + 0, j)) };
-                acc1 += unsafe { *self.get_unchecked((i + 1, j)) * *rhs.get_unchecked((i + 1, j)) };
+                acc1 += unsafe { conjugate(*self.get_unchecked((i + 1, j))) * *rhs.get_unchecked((i + 1, j)) };
-                acc2 += unsafe { *self.get_unchecked((i + 2, j)) * *rhs.get_unchecked((i + 2, j)) };
+                acc2 += unsafe { conjugate(*self.get_unchecked((i + 2, j))) * *rhs.get_unchecked((i + 2, j)) };
-                acc3 += unsafe { *self.get_unchecked((i + 3, j)) * *rhs.get_unchecked((i + 3, j)) };
+                acc3 += unsafe { conjugate(*self.get_unchecked((i + 3, j))) * *rhs.get_unchecked((i + 3, j)) };
-                acc4 += unsafe { *self.get_unchecked((i + 4, j)) * *rhs.get_unchecked((i + 4, j)) };
+                acc4 += unsafe { conjugate(*self.get_unchecked((i + 4, j))) * *rhs.get_unchecked((i + 4, j)) };
-                acc5 += unsafe { *self.get_unchecked((i + 5, j)) * *rhs.get_unchecked((i + 5, j)) };
+                acc5 += unsafe { conjugate(*self.get_unchecked((i + 5, j))) * *rhs.get_unchecked((i + 5, j)) };
-                acc6 += unsafe { *self.get_unchecked((i + 6, j)) * *rhs.get_unchecked((i + 6, j)) };
+                acc6 += unsafe { conjugate(*self.get_unchecked((i + 6, j))) * *rhs.get_unchecked((i + 6, j)) };
-                acc7 += unsafe { *self.get_unchecked((i + 7, j)) * *rhs.get_unchecked((i + 7, j)) };
+                acc7 += unsafe { conjugate(*self.get_unchecked((i + 7, j))) * *rhs.get_unchecked((i + 7, j)) };
                 i += 8;
             }
 
@@ -304,13 +358,75 @@ where N: Scalar + Zero + ClosedAdd + ClosedMul
             res += acc3 + acc7;
 
             for k in i..self.nrows() {
-                res += unsafe { *self.get_unchecked((k, j)) * *rhs.get_unchecked((k, j)) }
+                res += unsafe { conjugate(*self.get_unchecked((k, j))) * *rhs.get_unchecked((k, j)) }
             }
         }
 
         res
     }
 
+
+    /// The dot product between two vectors or matrices (seen as vectors).
+    ///
+    /// This is equal to `self.transpose() * rhs`. For the sesquilinear complex dot product, use
+    /// `self.dotc(rhs)`.
+    ///
+    /// Note that this is **not** the matrix multiplication as in, e.g., numpy. For matrix
+    /// multiplication, use one of: `.gemm`, `.mul_to`, `.mul`, the `*` operator.
+    ///
+    /// # Examples:
+    ///
+    /// ```
+    /// # use nalgebra::{Vector3, Matrix2x3};
+    /// let vec1 = Vector3::new(1.0, 2.0, 3.0);
+    /// let vec2 = Vector3::new(0.1, 0.2, 0.3);
+    /// assert_eq!(vec1.dot(&vec2), 1.4);
+    ///
+    /// let mat1 = Matrix2x3::new(1.0, 2.0, 3.0,
+    ///                           4.0, 5.0, 6.0);
+    /// let mat2 = Matrix2x3::new(0.1, 0.2, 0.3,
+    ///                           0.4, 0.5, 0.6);
+    /// assert_eq!(mat1.dot(&mat2), 9.1);
+    /// ```
+    ///
+    #[inline]
+    pub fn dot<R2: Dim, C2: Dim, SB>(&self, rhs: &Matrix<N, R2, C2, SB>) -> N
+    where
+        SB: Storage<N, R2, C2>,
+        ShapeConstraint: DimEq<R, R2> + DimEq<C, C2>,
+    {
+        self.dotx(rhs, |e| e)
+    }
+
+    /// The conjugate-linear dot product between two vectors or matrices (seen as vectors).
+    ///
+    /// This is equal to `self.adjoint() * rhs`.
+    /// For real vectors, this is identical to `self.dot(&rhs)`.
+    /// Note that this is **not** the matrix multiplication as in, e.g., numpy. For matrix
+    /// multiplication, use one of: `.gemm`, `.mul_to`, `.mul`, the `*` operator.
+    ///
+    /// # Examples:
+    ///
+    /// ```
+    /// # use nalgebra::{Vector2, Complex};
+    /// let vec1 = Vector2::new(Complex::new(1.0, 2.0), Complex::new(3.0, 4.0));
+    /// let vec2 = Vector2::new(Complex::new(0.4, 0.3), Complex::new(0.2, 0.1));
+    /// assert_eq!(vec1.dotc(&vec2), Complex::new(2.0, -1.0));
+    ///
+    /// // Note that for complex vectors, we generally have:
+    /// // vec1.dotc(&vec2) != vec2.dot(&vec2)
+    /// 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
+        where
+            N: ComplexField,
+            SB: Storage<N, R2, C2>,
+            ShapeConstraint: DimEq<R, R2> + DimEq<C, C2>,
+    {
+        self.dotx(rhs, ComplexField::conjugate)
+    }
+
     /// The dot product between the transpose of `self` and `rhs`.
     ///
     /// # Examples:
@@ -378,7 +494,7 @@ where
 {
     /// Computes `self = a * x + b * self`.
     ///
-    /// If be is zero, `self` is never read from.
+    /// If `b` is zero, `self` is never read from.
     ///
     /// # Examples:
     ///
@@ -465,40 +581,15 @@ where
         }
     }
 
-    /// Computes `self = alpha * a * x + beta * self`, where `a` is a **symmetric** matrix, `x` a
+
-    /// vector, and `alpha, beta` two scalars.
+    #[inline(always)]
-    ///
+    fn xxgemv<D2: Dim, D3: Dim, SB, SC>(
-    /// If `beta` is zero, `self` is never read. If `self` is read, only its lower-triangular part
-    /// (including the diagonal) is actually read.
-    ///
-    /// # Examples:
-    ///
-    /// ```
-    /// # use nalgebra::{Matrix2, Vector2};
-    /// let mat = Matrix2::new(1.0, 2.0,
-    ///                        2.0, 4.0);
-    /// let mut vec1 = Vector2::new(1.0, 2.0);
-    /// let vec2 = Vector2::new(0.1, 0.2);
-    /// vec1.gemv_symm(10.0, &mat, &vec2, 5.0);
-    /// assert_eq!(vec1, Vector2::new(10.0, 20.0));
-    ///
-    ///
-    /// // The matrix upper-triangular elements can be garbage because it is never
-    /// // read by this method. Therefore, it is not necessary for the caller to
-    /// // fill the matrix struct upper-triangle.
-    /// let mat = Matrix2::new(1.0, 9999999.9999999,
-    ///                        2.0, 4.0);
-    /// let mut vec1 = Vector2::new(1.0, 2.0);
-    /// vec1.gemv_symm(10.0, &mat, &vec2, 5.0);
-    /// assert_eq!(vec1, Vector2::new(10.0, 20.0));
-    /// ```
-    #[inline]
-    pub fn gemv_symm<D2: Dim, D3: Dim, SB, SC>(
         &mut self,
         alpha: N,
         a: &SquareMatrix<N, D2, SB>,
         x: &Vector<N, D3, SC>,
         beta: N,
+        dot: impl Fn(&DVectorSlice<N, SB::RStride, SB::CStride>, &DVectorSlice<N, SC::RStride, SC::CStride>) -> N,
     ) where
         N: One,
         SB: Storage<N, D2, D2>,
@@ -511,11 +602,11 @@ where
 
         assert!(
             a.is_square(),
-            "Syetric gemv: the input matrix must be square."
+            "Symmetric cgemv: the input matrix must be square."
         );
         assert!(
             dim2 == dim3 && dim1 == dim2,
-            "Symmetric gemv: dimensions mismatch."
+            "Symmetric cgemv: dimensions mismatch."
         );
 
         if dim2 == 0 {
@@ -526,11 +617,11 @@ where
         let col2 = a.column(0);
         let val = unsafe { *x.vget_unchecked(0) };
         self.axpy(alpha * val, &col2, beta);
-        self[0] += alpha * x.rows_range(1..).dot(&a.slice_range(1.., 0));
+        self[0] += alpha * dot(&a.slice_range(1.., 0), &x.rows_range(1..));
 
         for j in 1..dim2 {
             let col2 = a.column(j);
-            let dot = x.rows_range(j..).dot(&col2.rows_range(j..));
+            let dot = dot(&col2.rows_range(j..), &x.rows_range(j..));
 
             let val;
             unsafe {
@@ -542,6 +633,156 @@ where
         }
     }
 
+    /// Computes `self = alpha * a * x + beta * self`, where `a` is a **symmetric** matrix, `x` a
+    /// vector, and `alpha, beta` two scalars. DEPRECATED: use `sygemv` instead.
+    #[inline]
+    #[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,
+        a: &SquareMatrix<N, D2, SB>,
+        x: &Vector<N, D3, SC>,
+        beta: N,
+    ) where
+        N: One,
+        SB: Storage<N, D2, D2>,
+        SC: Storage<N, D3>,
+        ShapeConstraint: DimEq<D, D2> + AreMultipliable<D2, D2, D3, U1>,
+    {
+        self.sygemv(alpha, a, x, beta)
+    }
+
+    /// Computes `self = alpha * a * x + beta * self`, where `a` is a **symmetric** matrix, `x` a
+    /// vector, and `alpha, beta` two scalars.
+    ///
+    /// For hermitian matrices, use `.hegemv` instead.
+    /// If `beta` is zero, `self` is never read. If `self` is read, only its lower-triangular part
+    /// (including the diagonal) is actually read.
+    ///
+    /// # Examples:
+    ///
+    /// ```
+    /// # use nalgebra::{Matrix2, Vector2};
+    /// let mat = Matrix2::new(1.0, 2.0,
+    ///                        2.0, 4.0);
+    /// let mut vec1 = Vector2::new(1.0, 2.0);
+    /// let vec2 = Vector2::new(0.1, 0.2);
+    /// vec1.sygemv(10.0, &mat, &vec2, 5.0);
+    /// assert_eq!(vec1, Vector2::new(10.0, 20.0));
+    ///
+    ///
+    /// // The matrix upper-triangular elements can be garbage because it is never
+    /// // read by this method. Therefore, it is not necessary for the caller to
+    /// // fill the matrix struct upper-triangle.
+    /// let mat = Matrix2::new(1.0, 9999999.9999999,
+    ///                        2.0, 4.0);
+    /// let mut vec1 = Vector2::new(1.0, 2.0);
+    /// vec1.sygemv(10.0, &mat, &vec2, 5.0);
+    /// assert_eq!(vec1, Vector2::new(10.0, 20.0));
+    /// ```
+    #[inline]
+    pub fn sygemv<D2: Dim, D3: Dim, SB, SC>(
+        &mut self,
+        alpha: N,
+        a: &SquareMatrix<N, D2, SB>,
+        x: &Vector<N, D3, SC>,
+        beta: N,
+    ) where
+        N: One,
+        SB: Storage<N, D2, D2>,
+        SC: Storage<N, D3>,
+        ShapeConstraint: DimEq<D, D2> + AreMultipliable<D2, D2, D3, U1>,
+    {
+        self.xxgemv(alpha, a, x, beta, |a, b| a.dot(b))
+    }
+
+    /// Computes `self = alpha * a * x + beta * self`, where `a` is an **hermitian** matrix, `x` a
+    /// vector, and `alpha, beta` two scalars.
+    ///
+    /// If `beta` is zero, `self` is never read. If `self` is read, only its lower-triangular part
+    /// (including the diagonal) is actually read.
+    ///
+    /// # Examples:
+    ///
+    /// ```
+    /// # use nalgebra::{Matrix2, Vector2, Complex};
+    /// let mat = Matrix2::new(Complex::new(1.0, 0.0), Complex::new(2.0, -0.1),
+    ///                        Complex::new(2.0, 1.0), Complex::new(4.0, 0.0));
+    /// let mut vec1 = Vector2::new(Complex::new(1.0, 2.0), Complex::new(3.0, 4.0));
+    /// let vec2 = Vector2::new(Complex::new(0.1, 0.2), Complex::new(0.3, 0.4));
+    /// vec1.sygemv(Complex::new(10.0, 20.0), &mat, &vec2, Complex::new(5.0, 15.0));
+    /// assert_eq!(vec1, Vector2::new(Complex::new(-48.0, 44.0), Complex::new(-75.0, 110.0)));
+    ///
+    ///
+    /// // The matrix upper-triangular elements can be garbage because it is never
+    /// // read by this method. Therefore, it is not necessary for the caller to
+    /// // fill the matrix struct upper-triangle.
+    ///
+    /// let mat = Matrix2::new(Complex::new(1.0, 0.0), Complex::new(99999999.9, 999999999.9),
+    ///                        Complex::new(2.0, 1.0), Complex::new(4.0, 0.0));
+    /// let mut vec1 = Vector2::new(Complex::new(1.0, 2.0), Complex::new(3.0, 4.0));
+    /// let vec2 = Vector2::new(Complex::new(0.1, 0.2), Complex::new(0.3, 0.4));
+    /// vec1.sygemv(Complex::new(10.0, 20.0), &mat, &vec2, Complex::new(5.0, 15.0));
+    /// assert_eq!(vec1, Vector2::new(Complex::new(-48.0, 44.0), Complex::new(-75.0, 110.0)));
+    /// ```
+    #[inline]
+    pub fn hegemv<D2: Dim, D3: Dim, SB, SC>(
+        &mut self,
+        alpha: N,
+        a: &SquareMatrix<N, D2, SB>,
+        x: &Vector<N, D3, SC>,
+        beta: N,
+    ) where
+        N: ComplexField,
+        SB: Storage<N, D2, D2>,
+        SC: Storage<N, D3>,
+        ShapeConstraint: DimEq<D, D2> + AreMultipliable<D2, D2, D3, U1>,
+    {
+        self.xxgemv(alpha, a, x, beta, |a, b| a.dotc(b))
+    }
+
+
+    #[inline(always)]
+    fn gemv_xx<R2: Dim, C2: Dim, D3: Dim, SB, SC>(
+        &mut self,
+        alpha: N,
+        a: &Matrix<N, R2, C2, SB>,
+        x: &Vector<N, D3, SC>,
+        beta: N,
+        dot: impl Fn(&VectorSliceN<N, R2, SB::RStride, SB::CStride>, &Vector<N, D3, SC>) -> N,
+    ) where
+        N: One,
+        SB: Storage<N, R2, C2>,
+        SC: Storage<N, D3>,
+        ShapeConstraint: DimEq<D, C2> + AreMultipliable<C2, R2, D3, U1>,
+    {
+        let dim1 = self.nrows();
+        let (nrows2, ncols2) = a.shape();
+        let dim3 = x.nrows();
+
+        assert!(
+            nrows2 == dim3 && dim1 == ncols2,
+            "Gemv: dimensions mismatch."
+        );
+
+        if ncols2 == 0 {
+            return;
+        }
+
+        if beta.is_zero() {
+            for j in 0..ncols2 {
+                let val = unsafe { self.vget_unchecked_mut(j) };
+                *val = alpha * dot(&a.column(j), x)
+            }
+        } else {
+            for j in 0..ncols2 {
+                let val = unsafe { self.vget_unchecked_mut(j) };
+                *val = alpha * dot(&a.column(j), x) + beta * *val;
+            }
+        }
+    }
+
+
     /// Computes `self = alpha * a.transpose() * x + beta * self`, where `a` is a matrix, `x` a vector, and
     /// `alpha, beta` two scalars.
     ///
@@ -573,36 +814,78 @@ where
         SC: Storage<N, D3>,
         ShapeConstraint: DimEq<D, C2> + AreMultipliable<C2, R2, D3, U1>,
     {
-        let dim1 = self.nrows();
+        self.gemv_xx(alpha, a, x, beta, |a, b| a.dot(b))
-        let (nrows2, ncols2) = a.shape();
+    }
-        let dim3 = x.nrows();
 
-        assert!(
+    /// Computes `self = alpha * a.adjoint() * x + beta * self`, where `a` is a matrix, `x` a vector, and
-            nrows2 == dim3 && dim1 == ncols2,
+    /// `alpha, beta` two scalars.
-            "Gemv: dimensions mismatch."
+    ///
-        );
+    /// For real matrices, this is the same as `.gemv_tr`.
-
+    /// If `beta` is zero, `self` is never read.
-        if ncols2 == 0 {
+    ///
-            return;
+    /// # Examples:
-        }
+    ///
-
+    /// ```
-        if beta.is_zero() {
+    /// # use nalgebra::{Matrix2, Vector2, Complex};
-            for j in 0..ncols2 {
+    /// let mat = Matrix2::new(Complex::new(1.0, 2.0), Complex::new(3.0, 4.0),
-                let val = unsafe { self.vget_unchecked_mut(j) };
+    ///                        Complex::new(5.0, 6.0), Complex::new(7.0, 8.0));
-                *val = alpha * a.column(j).dot(x)
+    /// let mut vec1 = Vector2::new(Complex::new(1.0, 2.0), Complex::new(3.0, 4.0));
-            }
+    /// let vec2 = Vector2::new(Complex::new(0.1, 0.2), Complex::new(0.3, 0.4));
-        } else {
+    /// let expected = mat.adjoint() * vec2 * Complex::new(10.0, 20.0) + vec1 * Complex::new(5.0, 15.0);
-            for j in 0..ncols2 {
+    ///
-                let val = unsafe { self.vget_unchecked_mut(j) };
+    /// vec1.gemv_ad(Complex::new(10.0, 20.0), &mat, &vec2, Complex::new(5.0, 15.0));
-                *val = alpha * a.column(j).dot(x) + beta * *val;
+    /// assert_eq!(vec1, expected);
-            }
+    /// ```
-        }
+    #[inline]
+    pub fn gemv_ad<R2: Dim, C2: Dim, D3: Dim, SB, SC>(
+        &mut self,
+        alpha: N,
+        a: &Matrix<N, R2, C2, SB>,
+        x: &Vector<N, D3, SC>,
+        beta: N,
+    ) where
+        N: ComplexField,
+        SB: Storage<N, R2, C2>,
+        SC: Storage<N, 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>
 where N: Scalar + Zero + ClosedAdd + ClosedMul
 {
+    #[inline(always)]
+    fn gerx<D2: Dim, D3: Dim, SB, SC>(
+        &mut self,
+        alpha: N,
+        x: &Vector<N, D2, SB>,
+        y: &Vector<N, D3, SC>,
+        beta: N,
+        conjugate: impl Fn(N) -> N,
+    ) where
+        N: One,
+        SB: Storage<N, D2>,
+        SC: Storage<N, D3>,
+        ShapeConstraint: DimEq<R1, D2> + DimEq<C1, D3>,
+    {
+        let (nrows1, ncols1) = self.shape();
+        let dim2 = x.nrows();
+        let dim3 = y.nrows();
+
+        assert!(
+            nrows1 == dim2 && ncols1 == dim3,
+            "ger: dimensions mismatch."
+        );
+
+        for j in 0..ncols1 {
+            // FIXME: avoid bound checks.
+            let val = unsafe { conjugate(*y.vget_unchecked(j)) };
+            self.column_mut(j).axpy(alpha * val, x, beta);
+        }
+    }
+
     /// Computes `self = alpha * x * y.transpose() + beta * self`.
     ///
     /// If `beta` is zero, `self` is never read.
@@ -632,20 +915,40 @@ where N: Scalar + Zero + ClosedAdd + ClosedMul
         SC: Storage<N, D3>,
         ShapeConstraint: DimEq<R1, D2> + DimEq<C1, D3>,
     {
-        let (nrows1, ncols1) = self.shape();
+        self.gerx(alpha, x, y, beta, |e| e)
-        let dim2 = x.nrows();
+    }
-        let dim3 = y.nrows();
 
-        assert!(
+    /// Computes `self = alpha * x * y.adjoint() + beta * self`.
-            nrows1 == dim2 && ncols1 == dim3,
+    ///
-            "ger: dimensions mismatch."
+    /// If `beta` is zero, `self` is never read.
-        );
+    ///
-
+    /// # Examples:
-        for j in 0..ncols1 {
+    ///
-            // FIXME: avoid bound checks.
+    /// ```
-            let val = unsafe { *y.vget_unchecked(j) };
+    /// # #[macro_use] extern crate approx;
-            self.column_mut(j).axpy(alpha * val, x, beta);
+    /// # use nalgebra::{Matrix2x3, Vector2, Vector3, Complex};
-        }
+    /// let mut mat = Matrix2x3::repeat(Complex::new(4.0, 5.0));
+    /// let vec1 = Vector2::new(Complex::new(1.0, 2.0), Complex::new(3.0, 4.0));
+    /// let vec2 = Vector3::new(Complex::new(0.6, 0.5), Complex::new(0.4, 0.5), Complex::new(0.2, 0.1));
+    /// let expected = vec1 * vec2.adjoint() * Complex::new(10.0, 20.0) + mat * Complex::new(5.0, 15.0);
+    ///
+    /// mat.gerc(Complex::new(10.0, 20.0), &vec1, &vec2, Complex::new(5.0, 15.0));
+    /// assert_eq!(mat, expected);
+    /// ```
+    #[inline]
+    pub fn gerc<D2: Dim, D3: Dim, SB, SC>(
+        &mut self,
+        alpha: N,
+        x: &Vector<N, D2, SB>,
+        y: &Vector<N, D3, SC>,
+        beta: N,
+    ) where
+        N: ComplexField,
+        SB: Storage<N, D2>,
+        SC: Storage<N, D3>,
+        ShapeConstraint: DimEq<R1, D2> + DimEq<C1, D3>,
+    {
+        self.gerx(alpha, x, y, beta, ComplexField::conjugate)
     }
 
     /// Computes `self = alpha * a * b + beta * self`, where `a, b, self` are matrices.
@@ -800,7 +1103,7 @@ where N: Scalar + Zero + ClosedAdd + ClosedMul
     /// let expected = mat2.transpose() * mat3 * 10.0 + mat1 * 5.0;
     ///
     /// mat1.gemm_tr(10.0, &mat2, &mat3, 5.0);
-    /// assert_relative_eq!(mat1, expected);
+    /// assert_eq!(mat1, expected);
     /// ```
     #[inline]
     pub fn gemm_tr<R2: Dim, C2: Dim, R3: Dim, C3: Dim, SB, SC>(
@@ -836,11 +1139,105 @@ where N: Scalar + Zero + ClosedAdd + ClosedMul
             self.column_mut(j1).gemv_tr(alpha, a, &b.column(j1), beta);
         }
     }
+
+
+    /// Computes `self = alpha * a.adjoint() * b + beta * self`, where `a, b, self` are matrices.
+    /// `alpha` and `beta` are scalar.
+    ///
+    /// If `beta` is zero, `self` is never read.
+    ///
+    /// # Examples:
+    ///
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{Matrix3x2, Matrix3x4, Matrix2x4, Complex};
+    /// let mut mat1 = Matrix2x4::identity();
+    /// let mat2 = Matrix3x2::new(Complex::new(1.0, 4.0), Complex::new(7.0, 8.0),
+    ///                           Complex::new(2.0, 5.0), Complex::new(9.0, 10.0),
+    ///                           Complex::new(3.0, 6.0), Complex::new(11.0, 12.0));
+    /// let mat3 = Matrix3x4::new(Complex::new(0.1, 1.3), Complex::new(0.2, 1.4), Complex::new(0.3, 1.5), Complex::new(0.4, 1.6),
+    ///                           Complex::new(0.5, 1.7), Complex::new(0.6, 1.8), Complex::new(0.7, 1.9), Complex::new(0.8, 2.0),
+    ///                           Complex::new(0.9, 2.1), Complex::new(1.0, 2.2), Complex::new(1.1, 2.3), Complex::new(1.2, 2.4));
+    /// let expected = mat2.adjoint() * mat3 * Complex::new(10.0, 20.0) + mat1 * Complex::new(5.0, 15.0);
+    ///
+    /// mat1.gemm_ad(Complex::new(10.0, 20.0), &mat2, &mat3, Complex::new(5.0, 15.0));
+    /// assert_eq!(mat1, expected);
+    /// ```
+    #[inline]
+    pub fn gemm_ad<R2: Dim, C2: Dim, R3: Dim, C3: Dim, SB, SC>(
+        &mut self,
+        alpha: N,
+        a: &Matrix<N, R2, C2, SB>,
+        b: &Matrix<N, R3, C3, SC>,
+        beta: N,
+    ) where
+        N: ComplexField,
+        SB: Storage<N, R2, C2>,
+        SC: Storage<N, R3, C3>,
+        ShapeConstraint: SameNumberOfRows<R1, C2>
+        + SameNumberOfColumns<C1, C3>
+        + AreMultipliable<C2, R2, R3, C3>,
+    {
+        let (nrows1, ncols1) = self.shape();
+        let (nrows2, ncols2) = a.shape();
+        let (nrows3, ncols3) = b.shape();
+
+        assert_eq!(
+            nrows2, nrows3,
+            "gemm: dimensions mismatch for multiplication."
+        );
+        assert_eq!(
+            (nrows1, ncols1),
+            (ncols2, ncols3),
+            "gemm: dimensions mismatch for addition."
+        );
+
+        for j1 in 0..ncols1 {
+            // FIXME: avoid bound checks.
+            self.column_mut(j1).gemv_ad(alpha, a, &b.column(j1), beta);
+        }
+    }
 }
 
 impl<N, R1: Dim, C1: Dim, S: StorageMut<N, R1, C1>> Matrix<N, R1, C1, S>
 where N: Scalar + Zero + ClosedAdd + ClosedMul
 {
+    #[inline(always)]
+    fn xxgerx<D2: Dim, D3: Dim, SB, SC>(
+        &mut self,
+        alpha: N,
+        x: &Vector<N, D2, SB>,
+        y: &Vector<N, D3, SC>,
+        beta: N,
+        conjugate: impl Fn(N) -> N,
+    ) where
+        N: One,
+        SB: Storage<N, D2>,
+        SC: Storage<N, D3>,
+        ShapeConstraint: DimEq<R1, D2> + DimEq<C1, D3>,
+    {
+        let dim1 = self.nrows();
+        let dim2 = x.nrows();
+        let dim3 = y.nrows();
+
+        assert!(
+            self.is_square(),
+            "Symmetric ger: the input matrix must be square."
+        );
+        assert!(dim1 == dim2 && dim1 == dim3, "ger: dimensions mismatch.");
+
+        for j in 0..dim1 {
+            let val = unsafe { conjugate(*y.vget_unchecked(j)) };
+            let subdim = Dynamic::new(dim1 - j);
+            // FIXME: avoid bound checks.
+            self.generic_slice_mut((j, j), (subdim, U1)).axpy(
+                alpha * val,
+                &x.rows_range(j..),
+                beta,
+            );
+        }
+    }
+
     /// Computes `self = alpha * x * y.transpose() + beta * self`, where `self` is a **symmetric**
     /// matrix.
     ///
@@ -861,6 +1258,7 @@ where N: Scalar + Zero + ClosedAdd + ClosedMul
     /// assert_eq!(mat.lower_triangle(), expected.lower_triangle());
     /// assert_eq!(mat.m12, 99999.99999); // This was untouched.
     #[inline]
+    #[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,
@@ -873,26 +1271,78 @@ where N: Scalar + Zero + ClosedAdd + ClosedMul
         SC: Storage<N, D3>,
         ShapeConstraint: DimEq<R1, D2> + DimEq<C1, D3>,
     {
-        let dim1 = self.nrows();
+        self.syger(alpha, x, y, beta)
-        let dim2 = x.nrows();
+    }
-        let dim3 = y.nrows();
 
-        assert!(
+    /// Computes `self = alpha * x * y.transpose() + beta * self`, where `self` is a **symmetric**
-            self.is_square(),
+    /// matrix.
-            "Symmetric ger: the input matrix must be square."
+    ///
-        );
+    /// For hermitian complex matrices, use `.hegerc` instead.
-        assert!(dim1 == dim2 && dim1 == dim3, "ger: dimensions mismatch.");
+    /// If `beta` is zero, `self` is never read. The result is symmetric. Only the lower-triangular
+    /// (including the diagonal) part of `self` is read/written.
+    ///
+    /// # Examples:
+    ///
+    /// ```
+    /// # use nalgebra::{Matrix2, Vector2};
+    /// let mut mat = Matrix2::identity();
+    /// let vec1 = Vector2::new(1.0, 2.0);
+    /// let vec2 = Vector2::new(0.1, 0.2);
+    /// let expected = vec1 * vec2.transpose() * 10.0 + mat * 5.0;
+    /// mat.m12 = 99999.99999; // This component is on the upper-triangular part and will not be read/written.
+    ///
+    /// mat.syger(10.0, &vec1, &vec2, 5.0);
+    /// assert_eq!(mat.lower_triangle(), expected.lower_triangle());
+    /// assert_eq!(mat.m12, 99999.99999); // This was untouched.
+    #[inline]
+    pub fn syger<D2: Dim, D3: Dim, SB, SC>(
+        &mut self,
+        alpha: N,
+        x: &Vector<N, D2, SB>,
+        y: &Vector<N, D3, SC>,
+        beta: N,
+    ) where
+        N: One,
+        SB: Storage<N, D2>,
+        SC: Storage<N, D3>,
+        ShapeConstraint: DimEq<R1, D2> + DimEq<C1, D3>,
+    {
+        self.xxgerx(alpha, x, y, beta, |e| e)
+    }
 
-        for j in 0..dim1 {
+    /// Computes `self = alpha * x * y.adjoint() + beta * self`, where `self` is an **hermitian**
-            let val = unsafe { *y.vget_unchecked(j) };
+    /// matrix.
-            let subdim = Dynamic::new(dim1 - j);
+    ///
-            // FIXME: avoid bound checks.
+    /// If `beta` is zero, `self` is never read. The result is symmetric. Only the lower-triangular
-            self.generic_slice_mut((j, j), (subdim, U1)).axpy(
+    /// (including the diagonal) part of `self` is read/written.
-                alpha * val,
+    ///
-                &x.rows_range(j..),
+    /// # Examples:
-                beta,
+    ///
-            );
+    /// ```
-        }
+    /// # use nalgebra::{Matrix2, Vector2, Complex};
+    /// let mut mat = Matrix2::identity();
+    /// let vec1 = Vector2::new(Complex::new(1.0, 3.0), Complex::new(2.0, 4.0));
+    /// let vec2 = Vector2::new(Complex::new(0.2, 0.4), Complex::new(0.1, 0.3));
+    /// let expected = vec1 * vec2.adjoint() * Complex::new(10.0, 20.0) + mat * Complex::new(5.0, 15.0);
+    /// mat.m12 = Complex::new(99999.99999, 88888.88888); // This component is on the upper-triangular part and will not be read/written.
+    ///
+    /// mat.hegerc(Complex::new(10.0, 20.0), &vec1, &vec2, Complex::new(5.0, 15.0));
+    /// assert_eq!(mat.lower_triangle(), expected.lower_triangle());
+    /// assert_eq!(mat.m12, Complex::new(99999.99999, 88888.88888)); // This was untouched.
+    #[inline]
+    pub fn hegerc<D2: Dim, D3: Dim, SB, SC>(
+        &mut self,
+        alpha: N,
+        x: &Vector<N, D2, SB>,
+        y: &Vector<N, D3, SC>,
+        beta: N,
+    ) where
+        N: ComplexField,
+        SB: Storage<N, D2>,
+        SC: Storage<N, D3>,
+        ShapeConstraint: DimEq<R1, D2> + DimEq<C1, D3>,
+    {
+        self.xxgerx(alpha, x, y, beta, ComplexField::conjugate)
     }
 }
 

src/base/cg.rs

@@ -7,18 +7,18 @@
 
 use num::One;
 
-use base::allocator::Allocator;
+use crate::base::allocator::Allocator;
-use base::dimension::{DimName, DimNameDiff, DimNameSub, U1};
+use crate::base::dimension::{DimName, DimNameDiff, DimNameSub, U1};
-use base::storage::{Storage, StorageMut};
+use crate::base::storage::{Storage, StorageMut};
-use base::{
+use crate::base::{
     DefaultAllocator, Matrix3, Matrix4, MatrixN, Scalar, SquareMatrix, Unit, Vector, Vector3,
     VectorN,
 };
-use geometry::{
+use crate::geometry::{
     Isometry, IsometryMatrix3, Orthographic3, Perspective3, Point, Point3, Rotation2, Rotation3,
 };
 
-use alga::general::{Real, Ring};
+use alga::general::{RealField, Ring};
 use alga::linear::Transformation;
 
 impl<N, D: DimName> MatrixN<N, D>
@@ -65,7 +65,7 @@ where
     }
 }
 
-impl<N: Real> Matrix3<N> {
+impl<N: RealField> Matrix3<N> {
     /// Builds a 2 dimensional homogeneous rotation matrix from an angle in radian.
     #[inline]
     pub fn new_rotation(angle: N) -> Self {
@@ -73,7 +73,7 @@ impl<N: Real> Matrix3<N> {
     }
 }
 
-impl<N: Real> Matrix4<N> {
+impl<N: RealField> Matrix4<N> {
     /// Builds a 3D homogeneous rotation matrix from an axis and an angle (multiplied together).
     ///
     /// Returns the identity matrix if the given argument is zero.
@@ -321,7 +321,7 @@ impl<N: Scalar + Ring, D: DimName, S: StorageMut<N, D, D>> SquareMatrix<N, D, S>
     }
 }
 
-impl<N: Real, D: DimNameSub<U1>, S: Storage<N, D, D>> SquareMatrix<N, D, S>
+impl<N: RealField, D: DimNameSub<U1>, S: Storage<N, D, D>> SquareMatrix<N, D, S>
 where DefaultAllocator: Allocator<N, D, D>
         + Allocator<N, DimNameDiff<D, U1>>
         + Allocator<N, DimNameDiff<D, U1>, DimNameDiff<D, U1>>
@@ -365,7 +365,7 @@ where DefaultAllocator: Allocator<N, D, D>
     }
 }
 
-impl<N: Real, D: DimNameSub<U1>> Transformation<Point<N, DimNameDiff<D, U1>>> for MatrixN<N, D>
+impl<N: RealField, D: DimNameSub<U1>> Transformation<Point<N, DimNameDiff<D, U1>>> for MatrixN<N, D>
 where DefaultAllocator: Allocator<N, D, D>
         + Allocator<N, DimNameDiff<D, U1>>
         + Allocator<N, DimNameDiff<D, U1>, DimNameDiff<D, U1>>

src/base/componentwise.rs

@@ -5,11 +5,11 @@ use std::ops::{Add, Mul};
 
 use alga::general::{ClosedDiv, ClosedMul};
 
-use base::allocator::{Allocator, SameShapeAllocator};
+use crate::base::allocator::{Allocator, SameShapeAllocator};
-use base::constraint::{SameNumberOfColumns, SameNumberOfRows, ShapeConstraint};
+use crate::base::constraint::{SameNumberOfColumns, SameNumberOfRows, ShapeConstraint};
-use base::dimension::Dim;
+use crate::base::dimension::Dim;
-use base::storage::{Storage, StorageMut};
+use crate::base::storage::{Storage, StorageMut};
-use base::{DefaultAllocator, Matrix, MatrixMN, MatrixSum, Scalar};
+use crate::base::{DefaultAllocator, Matrix, MatrixMN, MatrixSum, Scalar};
 
 /// 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>;

src/base/constraint.rs

@@ -1,6 +1,6 @@
 //! Compatibility constraints between matrix shapes, e.g., for addition or multiplication.
 
-use base::dimension::{Dim, DimName, Dynamic};
+use crate::base::dimension::{Dim, DimName, Dynamic};
 
 /// A type used in `where` clauses for enforcing constraints.
 pub struct ShapeConstraint;

src/base/construction.rs

@@ -1,5 +1,5 @@
 #[cfg(feature = "arbitrary")]
-use base::storage::Owned;
+use crate::base::storage::Owned;
 #[cfg(feature = "arbitrary")]
 use quickcheck::{Arbitrary, Gen};
 
@@ -12,13 +12,13 @@ use std::iter;
 use typenum::{self, Cmp, Greater};
 
 #[cfg(feature = "std")]
-use alga::general::Real;
+use alga::general::RealField;
 use alga::general::{ClosedAdd, ClosedMul};
 
-use base::allocator::Allocator;
+use crate::base::allocator::Allocator;
-use base::dimension::{Dim, DimName, Dynamic, U1, U2, U3, U4, U5, U6};
+use crate::base::dimension::{Dim, DimName, Dynamic, U1, U2, U3, U4, U5, U6};
-use base::storage::Storage;
+use crate::base::storage::Storage;
-use base::{DefaultAllocator, Matrix, MatrixMN, MatrixN, Scalar, Unit, Vector, VectorN};
+use crate::base::{DefaultAllocator, Matrix, MatrixMN, MatrixN, Scalar, Unit, Vector, VectorN};
 
 /*
  *
@@ -131,7 +131,7 @@ where DefaultAllocator: Allocator<N, R, C>
     where N: Zero + One {
         let mut res = Self::zeros_generic(nrows, ncols);
 
-        for i in 0..::min(nrows.value(), ncols.value()) {
+        for i in 0..crate::min(nrows.value(), ncols.value()) {
             unsafe { *res.get_unchecked_mut((i, i)) = elt }
         }
 
@@ -147,7 +147,7 @@ where DefaultAllocator: Allocator<N, R, C>
     where N: Zero {
         let mut res = Self::zeros_generic(nrows, ncols);
         assert!(
-            elts.len() <= ::min(nrows.value(), ncols.value()),
+            elts.len() <= crate::min(nrows.value(), ncols.value()),
             "Too many diagonal elements provided."
         );
 
@@ -795,7 +795,7 @@ where
 }
 
 #[cfg(feature = "std")]
-impl<N: Real, D: DimName> Distribution<Unit<VectorN<N, D>>> for Standard
+impl<N: RealField, D: DimName> Distribution<Unit<VectorN<N, D>>> for Standard
 where
     DefaultAllocator: Allocator<N, D>,
     StandardNormal: Distribution<N>,

src/base/construction_slice.rs

@@ -1,6 +1,6 @@
-use base::dimension::{Dim, DimName, Dynamic, U1};
+use crate::base::dimension::{Dim, DimName, Dynamic, U1};
-use base::matrix_slice::{SliceStorage, SliceStorageMut};
+use crate::base::matrix_slice::{SliceStorage, SliceStorageMut};
-use base::{MatrixSliceMN, MatrixSliceMutMN, Scalar};
+use crate::base::{MatrixSliceMN, MatrixSliceMutMN, Scalar};
 
 /*
  *

src/base/conversion.rs

@@ -9,18 +9,18 @@ use generic_array::ArrayLength;
 use std::ops::Mul;
 use typenum::Prod;
 
-use base::allocator::{Allocator, SameShapeAllocator};
+use crate::base::allocator::{Allocator, SameShapeAllocator};
-use base::constraint::{SameNumberOfColumns, SameNumberOfRows, ShapeConstraint};
+use crate::base::constraint::{SameNumberOfColumns, SameNumberOfRows, ShapeConstraint};
-use base::dimension::{
+use crate::base::dimension::{
     Dim, DimName, U1, U10, U11, U12, U13, U14, U15, U16, U2, U3, U4, U5, U6, U7, U8, U9,
 };
 #[cfg(any(feature = "std", feature = "alloc"))]
-use base::dimension::Dynamic;
+use crate::base::dimension::Dynamic;
-use base::iter::{MatrixIter, MatrixIterMut};
+use crate::base::iter::{MatrixIter, MatrixIterMut};
-use base::storage::{ContiguousStorage, ContiguousStorageMut, Storage, StorageMut};
+use crate::base::storage::{ContiguousStorage, ContiguousStorageMut, Storage, StorageMut};
 #[cfg(any(feature = "std", feature = "alloc"))]
-use base::VecStorage;
+use crate::base::VecStorage;
-use base::{DefaultAllocator, Matrix, ArrayStorage, MatrixMN, MatrixSlice, MatrixSliceMut, Scalar};
+use crate::base::{DefaultAllocator, Matrix, ArrayStorage, MatrixMN, MatrixSlice, MatrixSliceMut, Scalar};
 
 // FIXME: 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>
@@ -331,9 +331,9 @@ macro_rules! impl_from_into_mint_2D(
 #[cfg(feature = "mint")]
 impl_from_into_mint_2D!(
     (U2, U2) => ColumnMatrix2{x, y}[2];
-    (U2, U3) => ColumnMatrix2x3{x, y}[2];
+    (U2, U3) => ColumnMatrix2x3{x, y, z}[2];
     (U3, U3) => ColumnMatrix3{x, y, z}[3];
-    (U3, U4) => ColumnMatrix3x4{x, y, z}[3];
+    (U3, U4) => ColumnMatrix3x4{x, y, z, w}[3];
     (U4, U4) => ColumnMatrix4{x, y, z, w}[4];
 );
 

src/base/coordinates.rs

@@ -7,9 +7,9 @@
 use std::mem;
 use std::ops::{Deref, DerefMut};
 
-use base::dimension::{U1, U2, U3, U4, U5, U6};
+use crate::base::dimension::{U1, U2, U3, U4, U5, U6};
-use base::storage::{ContiguousStorage, ContiguousStorageMut};
+use crate::base::storage::{ContiguousStorage, ContiguousStorageMut};
-use base::{Matrix, Scalar};
+use crate::base::{Matrix, Scalar};
 
 /*
  *