Merge pull request #901 from dimforge/dev

Release v0.27.0
2021-06-02 15:25:43 +02:00 · 2021-06-02 15:25:43 +02:00 · c04b087388
parent 156f292917 dfc8ad3d6a
commit c04b087388
56 changed files with 1899 additions and 360 deletions
--- a/.github/workflows/nalgebra-ci-build.yml
+++ b/.github/workflows/nalgebra-ci-build.yml
@ -69,6 +69,12 @@ jobs:
      - name: test nalgebra-sparse (slow tests)
        # Unfortunately, the "slow-tests" take so much time that we need to run them with --release
        run: PROPTEST_CASES=10000 cargo test --release --manifest-path=nalgebra-sparse/Cargo.toml --features compare,proptest-support,slow-tests slow
+  test-nalgebra-macros:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - name: test nalgebra-macros
+        run: cargo test -p nalgebra-macros
  build-wasm:
    runs-on: ubuntu-latest
 #    env:
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -4,9 +4,38 @@ documented here.

 This project adheres to [Semantic Versioning](https://semver.org/).

+## [0.27.0]
+This removes the `convert-glam` and `convert-glam-unchecked` optional features.
+Instead, this adds the `convert-glam013`, `convert-glam014`, and `convert-glam015` optional features for
+conversions targeting the versions 0.13, 0.14, and 0.15 of `glam`.
+
+### Added
+- Add macros `matrix!`, `dmatrix!`, `vector!`, `dvector!`, `point!` for constructing matrices/vectors/points in a
+  more convenient way. See [#886](https://github.com/dimforge/nalgebra/pull/886) and [#899](https://github.com/dimforge/nalgebra/pull/899).
+- Add `CooMatrix::reserve` to `nalgebra-sparse`.  
+- Add basic support for serialization using `rkyv`. Can be enabled with the features `rkyv-serialize` or
+  `rkyv-serialize-no-std`.
+
+
+### Fixed
+- Fixed a potential unsoundness issue after deserializing an invalid `DVector` using `serde`.
+
+## [0.26.2]
+### Added
+- Conversion from an array `[T; D]` to an isometry `Isometry<T, _, D>` (as a translation).
+- Conversion from a static vector `SVector<T; D>` to an isometry `Isometry<T, _, D>` (as a translation).
+- Conversion from a point `Point<T; D>` to an isometry `Isometry<T, _, D>` (as a translation).
+- Conversion of an array `[T; D]` from/to a translation `Translation<T, D>`.
+- Conversion of a point `Point<T, D>` to a translation `Translation<T, D>`.
+- Conversion of the tuple of glam types `(Vec3, Quat)` from/to an `Isometry2` or `Isometry3`.
+- Conversion of a glam type `Vec2/3/4` from/to a `Translation2/3/4`.
+
+## [0.26.1]
+Fix a regression introduced in 0.26.0 preventing `DVector` from being serialized with `serde`.
+
 ## [0.26.0]
 This releases integrates `min-const-generics` to nalgebra. See
-[our blog post](https://dimforge.com/blog/2021/04/12/nalgebra-const-generics)
+[our blog post](https://www.dimforge.com/blog/2021/04/12/integrating-const-generics-to-nalgebra)
 for details about this release.

 ### Added
--- a/Cargo.toml
+++ b/Cargo.toml
@ -1,6 +1,6 @@
 [package]
 name    = "nalgebra"
-version = "0.26.0"
+version = "0.27.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]

 description = "General-purpose linear algebra library with transformations and statically-sized or dynamically-sized matrices."
@ -22,7 +22,7 @@ name = "nalgebra"
 path = "src/lib.rs"

 [features]
-default = [ "std" ]
+default = [ "std", "macros" ]
 std     = [ "matrixmultiply", "simba/std" ]
 sparse  = [ ]
 debug   = [ "approx/num-complex", "rand" ]
@ -32,12 +32,14 @@ compare = [ "matrixcompare-core" ]
 libm    = [ "simba/libm" ]
 libm-force = [ "simba/libm_force" ]
 no_unsound_assume_init = [ ]
+macros = [ "nalgebra-macros" ]

 # Conversion
 convert-mint = [ "mint" ]
-convert-glam = [ "glam" ]
-convert-glam-unchecked = [ "convert-glam" ] # Enable edgy conversions like Mat4 -> Isometry3
 convert-bytemuck = [ "bytemuck" ]
+convert-glam013 = [ "glam013" ]
+convert-glam014 = [ "glam014" ]
+convert-glam015 = [ "glam015" ]

 # Serialization
 ## To use serde in a #[no-std] environment, enable the
@ -47,6 +49,8 @@ convert-bytemuck = [ "bytemuck" ]
 serde-serialize-no-std = [ "serde", "num-complex/serde" ]
 serde-serialize        = [ "serde-serialize-no-std", "serde/std" ]
 abomonation-serialize  = [ "abomonation" ]
+rkyv-serialize-no-std  = [ "rkyv" ]
+rkyv-serialize         = [ "rkyv-serialize-no-std", "rkyv/std" ]

 # Randomness
 ## To use rand in a #[no-std] environment, enable the
@ -60,39 +64,44 @@ proptest-support = [ "proptest" ]
 slow-tests       = []

 [dependencies]
+nalgebra-macros = { version = "0.1", path = "nalgebra-macros", optional = true }
 typenum        = "1.12"
 rand-package   = { package = "rand", version = "0.8", optional = true, default-features = false }
 num-traits     = { version = "0.2", default-features = false }
-num-complex    = { version = "0.3", default-features = false }
-num-rational   = { version = "0.3", default-features = false }
-approx         = { version = "0.4", default-features = false }
-simba          = { version = "0.4", default-features = false }
+num-complex    = { version = "0.4", default-features = false }
+num-rational   = { version = "0.4", default-features = false }
+approx         = { version = "0.5", default-features = false }
+simba          = { version = "0.5", default-features = false }
 alga           = { version = "0.9", default-features = false, optional = true }
 rand_distr     = { version = "0.4", default-features = false, optional = true }
 matrixmultiply = { version = "0.3", optional = true }
 serde          = { version = "1.0", default-features = false, features = [ "derive" ], optional = true }
 abomonation    = { version = "0.7", optional = true }
+rkyv           = { version = "~0.6.4", default-features = false, features = ["const_generics"], optional = true }
 mint           = { version = "0.5", optional = true }
-glam           = { version = "0.13", optional = true }
 quickcheck     = { version = "1", optional = true }
 pest           = { version = "2", optional = true }
 pest_derive    = { version = "2", optional = true }
 bytemuck       = { version = "1.5", optional = true }
 matrixcompare-core = { version = "0.1", optional = true }
 proptest           = { version = "1", optional = true, default-features = false, features = ["std"] }
+glam013        = { package = "glam", version = "0.13", optional = true }
+glam014        = { package = "glam", version = "0.14", optional = true }
+glam015        = { package = "glam", version = "0.15", optional = true }
+

 [dev-dependencies]
 serde_json = "1.0"
 rand_xorshift = "0.3"
 rand_isaac = "0.3"
-criterion = "0.2.10"
+criterion = { version = "0.3", features = ["html_reports"] }

 # For matrix comparison macro
-matrixcompare = "0.2.0"
+matrixcompare = "0.3.0"
 itertools = "0.10"

 [workspace]
-members = [ "nalgebra-lapack", "nalgebra-glm", "nalgebra-sparse" ]
+members = [ "nalgebra-lapack", "nalgebra-glm", "nalgebra-sparse", "nalgebra-macros" ]
 resolver = "2"

 [[example]]
@ -103,10 +112,11 @@ required-features = ["compare"]
 name = "nalgebra_bench"
 harness = false
 path = "benches/lib.rs"
+required-features = ["rand"]

 [profile.bench]
 lto = true

 [package.metadata.docs.rs]
 # Enable certain features when building docs for docs.rs
-features = [ "proptest-support", "compare" ]
+features = [ "proptest-support", "compare", "macros" ]
--- a/benches/core/matrix.rs
+++ b/benches/core/matrix.rs
@ -188,7 +188,7 @@ fn tr_mul_to(bench: &mut criterion::Criterion) {
    let b = DVector::<f64>::new_random(1000);
    let mut c = DVector::from_element(1000, 0.0);

-    bench.bench_function("", move |bh| bh.iter(|| a.tr_mul_to(&b, &mut c)));
+    bench.bench_function("tr_mul_to", move |bh| bh.iter(|| a.tr_mul_to(&b, &mut c)));
 }

 fn mat_mul_mat(bench: &mut criterion::Criterion) {
--- a/benches/lib.rs
+++ b/benches/lib.rs
@ -1,4 +1,4 @@
-#![feature(test)]
+#![feature(bench_black_box)]
 #![allow(unused_macros)]

 extern crate nalgebra as na;
--- a/benches/linalg/eigen.rs
+++ b/benches/linalg/eigen.rs
@ -1,4 +1,3 @@
-use test::Bencher;
 use na::{DMatrix, Eigen};

 fn eigen_100x100(bh: &mut criterion::Criterion) {
--- a/examples/cargo/Cargo.toml
+++ b/examples/cargo/Cargo.toml
@ -4,7 +4,7 @@ version = "0.0.0"
 authors = [ "You" ]

 [dependencies]
-nalgebra = "0.26.0"
+nalgebra = "0.27.0"

 [[bin]]
 name = "example"
--- a/nalgebra-glm/Cargo.toml
+++ b/nalgebra-glm/Cargo.toml
@ -1,6 +1,6 @@
 [package]
 name = "nalgebra-glm"
-version = "0.12.0"
+version = "0.13.0"
 authors = ["sebcrozet <developer@crozet.re>"]

 description = "A computer-graphics oriented API for nalgebra, inspired by the C++ GLM library."
@ -25,6 +25,6 @@ abomonation-serialize = [ "nalgebra/abomonation-serialize" ]

 [dependencies]
 num-traits = { version = "0.2", default-features = false }
-approx = { version = "0.4", default-features = false }
-simba = { version = "0.4", default-features = false }
-nalgebra = { path =  "..", version = "0.26", default-features = false }
+approx = { version = "0.5", default-features = false }
+simba = { version = "0.5", default-features = false }
+nalgebra = { path =  "..", version = "0.27", default-features = false }
--- a/nalgebra-lapack/Cargo.toml
+++ b/nalgebra-lapack/Cargo.toml
@ -1,6 +1,6 @@
 [package]
 name    = "nalgebra-lapack"
-version = "0.17.0"
+version = "0.18.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>", "Andrew Straw <strawman@astraw.com>" ]

 description   = "Matrix decompositions using nalgebra matrices and Lapack bindings."
@ -29,18 +29,18 @@ accelerate = ["lapack-src/accelerate"]
 intel-mkl  = ["lapack-src/intel-mkl"]

 [dependencies]
-nalgebra      = { version = "0.26", path = ".." }
+nalgebra      = { version = "0.27", path = ".." }
 num-traits    = "0.2"
-num-complex   = { version = "0.3", default-features = false }
-simba         = "0.4"
+num-complex   = { version = "0.4", default-features = false }
+simba         = "0.5"
 serde         = { version = "1.0", features = [ "derive" ], optional = true }
-lapack        = { version = "0.17", default-features = false }
-lapack-src    = { version = "0.6", default-features = false }
+lapack        = { version = "0.19", default-features = false }
+lapack-src    = { version = "0.8", default-features = false }
 # clippy = "*"

 [dev-dependencies]
-nalgebra   = { version = "0.26", features = [ "arbitrary", "rand" ], path = ".." }
+nalgebra   = { version = "0.27", features = [ "arbitrary", "rand" ], path = ".." }
 proptest   = { version = "1", default-features = false, features = ["std"] }
 quickcheck = "1"
-approx     = "0.4"
+approx     = "0.5"
 rand       = "0.8"
--- a/nalgebra-macros/Cargo.toml
+++ b/nalgebra-macros/Cargo.toml
@ -0,0 +1,25 @@
+[package]
+name = "nalgebra-macros"
+version = "0.1.0"
+authors = [ "Andreas Longva", "Sébastien Crozet <developer@crozet.re>" ]
+edition = "2018"
+description = "Procedural macros for nalgebra"
+documentation = "https://www.nalgebra.org/docs"
+homepage = "https://nalgebra.org"
+repository = "https://github.com/dimforge/nalgebra"
+readme = "../README.md"
+categories = [ "science", "mathematics" ]
+keywords = [ "linear", "algebra", "matrix", "vector", "math" ]
+license = "Apache-2.0"
+
+[lib]
+proc-macro = true
+
+[dependencies]
+syn = { version="1.0", features = ["full"] }
+quote = "1.0"
+proc-macro2 = "1.0"
+
+[dev-dependencies]
+nalgebra = { version = "0.27.0", path = ".." }
+trybuild = "1.0.42"
--- a/nalgebra-macros/src/lib.rs
+++ b/nalgebra-macros/src/lib.rs
@ -0,0 +1,313 @@
+//! Macros for `nalgebra`.
+//!
+//! This crate is not intended for direct consumption. Instead, the macros are re-exported by
+//! `nalgebra` if the `macros` feature is enabled (enabled by default).
+
+extern crate proc_macro;
+
+use proc_macro::TokenStream;
+use quote::{quote, ToTokens, TokenStreamExt};
+use syn::parse::{Error, Parse, ParseStream, Result};
+use syn::punctuated::Punctuated;
+use syn::Expr;
+use syn::{parse_macro_input, Token};
+
+use proc_macro2::{Delimiter, Spacing, TokenStream as TokenStream2, TokenTree};
+use proc_macro2::{Group, Punct};
+
+struct Matrix {
+    // Represent the matrix as a row-major vector of vectors of expressions
+    rows: Vec<Vec<Expr>>,
+    ncols: usize,
+}
+
+impl Matrix {
+    fn nrows(&self) -> usize {
+        self.rows.len()
+    }
+
+    fn ncols(&self) -> usize {
+        self.ncols
+    }
+
+    /// Produces a stream of tokens representing this matrix as a column-major nested array.
+    fn to_col_major_nested_array_tokens(&self) -> TokenStream2 {
+        let mut result = TokenStream2::new();
+        for j in 0..self.ncols() {
+            let mut col = TokenStream2::new();
+            let col_iter = (0..self.nrows()).map(move |i| &self.rows[i][j]);
+            col.append_separated(col_iter, Punct::new(',', Spacing::Alone));
+            result.append(Group::new(Delimiter::Bracket, col));
+            result.append(Punct::new(',', Spacing::Alone));
+        }
+        TokenStream2::from(TokenTree::Group(Group::new(Delimiter::Bracket, result)))
+    }
+
+    /// Produces a stream of tokens representing this matrix as a column-major flat array
+    /// (suitable for representing e.g. a `DMatrix`).
+    fn to_col_major_flat_array_tokens(&self) -> TokenStream2 {
+        let mut data = TokenStream2::new();
+        for j in 0..self.ncols() {
+            for i in 0..self.nrows() {
+                self.rows[i][j].to_tokens(&mut data);
+                data.append(Punct::new(',', Spacing::Alone));
+            }
+        }
+        TokenStream2::from(TokenTree::Group(Group::new(Delimiter::Bracket, data)))
+    }
+}
+
+type MatrixRowSyntax = Punctuated<Expr, Token![,]>;
+
+impl Parse for Matrix {
+    fn parse(input: ParseStream) -> Result<Self> {
+        let mut rows = Vec::new();
+        let mut ncols = None;
+
+        while !input.is_empty() {
+            let row_span = input.span();
+            let row = MatrixRowSyntax::parse_separated_nonempty(input)?;
+
+            if let Some(ncols) = ncols {
+                if row.len() != ncols {
+                    let row_idx = rows.len();
+                    let error_msg = format!(
+                        "Unexpected number of entries in row {}. Expected {}, found {} entries.",
+                        row_idx,
+                        ncols,
+                        row.len()
+                    );
+                    return Err(Error::new(row_span, error_msg));
+                }
+            } else {
+                ncols = Some(row.len());
+            }
+            rows.push(row.into_iter().collect());
+
+            // We've just read a row, so if there are more tokens, there must be a semi-colon,
+            // otherwise the input is malformed
+            if !input.is_empty() {
+                input.parse::<Token![;]>()?;
+            }
+        }
+
+        Ok(Self {
+            rows,
+            ncols: ncols.unwrap_or(0),
+        })
+    }
+}
+
+/// Construct a fixed-size matrix directly from data.
+///
+/// **Note: Requires the `macro` feature to be enabled (enabled by default)**.
+///
+/// This macro facilitates easy construction of matrices when the entries of the matrix are known
+/// (either as constants or expressions). This macro produces an instance of `SMatrix`. This means
+/// that the data of the matrix is stored on the stack, and its dimensions are fixed at
+/// compile-time. If you want to construct a dynamic matrix, use [`dmatrix!`] instead.
+///
+/// `matrix!` is intended to be both the simplest and most efficient way to construct (small)
+/// matrices, and can also be used in *const fn* contexts.
+///
+/// The syntax is MATLAB-like. Column elements are separated by a comma (`,`), and a semi-colon
+/// (`;`) designates that a new row begins.
+///
+/// # Examples
+///
+/// ```
+/// use nalgebra::matrix;
+///
+/// // Produces a Matrix3<_> == SMatrix<_, 3, 3>
+/// let a = matrix![1, 2, 3;
+///                 4, 5, 6;
+///                 7, 8, 9];
+/// ```
+///
+/// You can construct matrices with arbitrary expressions for its elements:
+///
+/// ```
+/// use nalgebra::{matrix, Matrix2};
+/// let theta = 0.45f64;
+///
+/// let r = matrix![theta.cos(), - theta.sin();
+///                 theta.sin(),   theta.cos()];
+/// ```
+#[proc_macro]
+pub fn matrix(stream: TokenStream) -> TokenStream {
+    let matrix = parse_macro_input!(stream as Matrix);
+
+    let row_dim = matrix.nrows();
+    let col_dim = matrix.ncols();
+
+    let array_tokens = matrix.to_col_major_nested_array_tokens();
+
+    //  TODO: Use quote_spanned instead??
+    let output = quote! {
+        nalgebra::SMatrix::<_, #row_dim, #col_dim>
+            ::from_array_storage(nalgebra::ArrayStorage(#array_tokens))
+    };
+
+    proc_macro::TokenStream::from(output)
+}
+
+/// Construct a dynamic matrix directly from data.
+///
+/// **Note: Requires the `macro` feature to be enabled (enabled by default)**.
+///
+/// The syntax is exactly the same as for [`matrix!`], but instead of producing instances of
+/// `SMatrix`, it produces instances of `DMatrix`. At the moment it is not usable
+/// in `const fn` contexts.
+///
+/// ```
+/// use nalgebra::dmatrix;
+///
+/// // Produces a DMatrix<_>
+/// let a = dmatrix![1, 2, 3;
+///                  4, 5, 6;
+///                  7, 8, 9];
+/// ```
+#[proc_macro]
+pub fn dmatrix(stream: TokenStream) -> TokenStream {
+    let matrix = parse_macro_input!(stream as Matrix);
+
+    let row_dim = matrix.nrows();
+    let col_dim = matrix.ncols();
+
+    let array_tokens = matrix.to_col_major_flat_array_tokens();
+
+    //  TODO: Use quote_spanned instead??
+    let output = quote! {
+        nalgebra::DMatrix::<_>
+            ::from_vec_storage(nalgebra::VecStorage::new(
+                nalgebra::Dynamic::new(#row_dim),
+                nalgebra::Dynamic::new(#col_dim),
+                vec!#array_tokens))
+    };
+
+    proc_macro::TokenStream::from(output)
+}
+
+struct Vector {
+    elements: Vec<Expr>,
+}
+
+impl Vector {
+    fn to_array_tokens(&self) -> TokenStream2 {
+        let mut data = TokenStream2::new();
+        data.append_separated(&self.elements, Punct::new(',', Spacing::Alone));
+        TokenStream2::from(TokenTree::Group(Group::new(Delimiter::Bracket, data)))
+    }
+
+    fn len(&self) -> usize {
+        self.elements.len()
+    }
+}
+
+impl Parse for Vector {
+    fn parse(input: ParseStream) -> Result<Self> {
+        // The syntax of a vector is just the syntax of a single matrix row
+        if input.is_empty() {
+            Ok(Self {
+                elements: Vec::new(),
+            })
+        } else {
+            let elements = MatrixRowSyntax::parse_separated_nonempty(input)?
+                .into_iter()
+                .collect();
+            Ok(Self { elements })
+        }
+    }
+}
+
+/// Construct a fixed-size column vector directly from data.
+///
+/// **Note: Requires the `macro` feature to be enabled (enabled by default)**.
+///
+/// Similarly to [`matrix!`], this macro facilitates easy construction of fixed-size vectors.
+/// However, whereas the [`matrix!`] macro expects each row to be separated by a semi-colon,
+/// the syntax of this macro is instead similar to `vec!`, in that the elements of the vector
+/// are simply listed consecutively.
+///
+/// `vector!` is intended to be the most readable and performant way of constructing small,
+/// fixed-size vectors, and it is usable in `const fn` contexts.
+///
+/// ## Examples
+///
+/// ```
+/// use nalgebra::vector;
+///
+/// // Produces a Vector3<_> == SVector<_, 3>
+/// let v = vector![1, 2, 3];
+/// ```
+#[proc_macro]
+pub fn vector(stream: TokenStream) -> TokenStream {
+    let vector = parse_macro_input!(stream as Vector);
+    let len = vector.len();
+    let array_tokens = vector.to_array_tokens();
+    let output = quote! {
+        nalgebra::SVector::<_, #len>
+            ::from_array_storage(nalgebra::ArrayStorage([#array_tokens]))
+    };
+    proc_macro::TokenStream::from(output)
+}
+
+/// Construct a dynamic column vector directly from data.
+///
+/// **Note: Requires the `macro` feature to be enabled (enabled by default)**.
+///
+/// The syntax is exactly the same as for [`vector!`], but instead of producing instances of
+/// `SVector`, it produces instances of `DVector`. At the moment it is not usable
+/// in `const fn` contexts.
+///
+/// ```
+/// use nalgebra::dvector;
+///
+/// // Produces a DVector<_>
+/// let v = dvector![1, 2, 3];
+/// ```
+#[proc_macro]
+pub fn dvector(stream: TokenStream) -> TokenStream {
+    let vector = parse_macro_input!(stream as Vector);
+    let len = vector.len();
+    let array_tokens = vector.to_array_tokens();
+    let output = quote! {
+        nalgebra::DVector::<_>
+            ::from_vec_storage(nalgebra::VecStorage::new(
+                nalgebra::Dynamic::new(#len),
+                nalgebra::Const::<1>,
+                vec!#array_tokens))
+    };
+    proc_macro::TokenStream::from(output)
+}
+
+/// Construct a fixed-size point directly from data.
+///
+/// **Note: Requires the `macro` feature to be enabled (enabled by default)**.
+///
+/// Similarly to [`vector!`], this macro facilitates easy construction of points.
+///
+/// `point!` is intended to be the most readable and performant way of constructing small,
+/// points, and it is usable in `const fn` contexts.
+///
+/// ## Examples
+///
+/// ```
+/// use nalgebra::point;
+///
+/// // Produces a Point3<_>
+/// let v = point![1, 2, 3];
+/// ```
+#[proc_macro]
+pub fn point(stream: TokenStream) -> TokenStream {
+    let vector = parse_macro_input!(stream as Vector);
+    let len = vector.len();
+    let array_tokens = vector.to_array_tokens();
+    let output = quote! {
+        nalgebra::Point::<_, #len> {
+            coords: nalgebra::SVector::<_, #len>
+                        ::from_array_storage(nalgebra::ArrayStorage([#array_tokens]))
+        }
+    };
+    proc_macro::TokenStream::from(output)
+}
--- a/nalgebra-macros/tests/tests.rs
+++ b/nalgebra-macros/tests/tests.rs
@ -0,0 +1,307 @@
+use nalgebra::{
+    DMatrix, DVector, Matrix1x2, Matrix1x3, Matrix1x4, Matrix2, Matrix2x1, Matrix2x3, Matrix2x4,
+    Matrix3, Matrix3x1, Matrix3x2, Matrix3x4, Matrix4, Matrix4x1, Matrix4x2, Matrix4x3, Point,
+    Point1, Point2, Point3, Point4, Point5, Point6, SMatrix, SVector, Vector1, Vector2, Vector3,
+    Vector4, Vector5, Vector6,
+};
+use nalgebra_macros::{dmatrix, dvector, matrix, point, vector};
+
+fn check_statically_same_type<T>(_: &T, _: &T) {}
+
+/// Wrapper for `assert_eq` that also asserts that the types are the same
+macro_rules! assert_eq_and_type {
+    ($left:expr, $right:expr $(,)?) => {
+        check_statically_same_type(&$left, &$right);
+        assert_eq!($left, $right);
+    };
+}
+
+// Skip rustfmt because it just makes the test bloated without making it more readable
+#[rustfmt::skip]
+#[test]
+fn matrix_small_dims_exhaustive() {
+    // 0x0
+    assert_eq_and_type!(matrix![], SMatrix::<i32, 0, 0>::zeros());
+
+    // 1xN
+    assert_eq_and_type!(matrix![1], SMatrix::<i32, 1, 1>::new(1));
+    assert_eq_and_type!(matrix![1, 2], Matrix1x2::new(1, 2));
+    assert_eq_and_type!(matrix![1, 2, 3], Matrix1x3::new(1, 2, 3));
+    assert_eq_and_type!(matrix![1, 2, 3, 4], Matrix1x4::new(1, 2, 3, 4));
+
+    // 2xN
+    assert_eq_and_type!(matrix![1; 2], Matrix2x1::new(1, 2));
+    assert_eq_and_type!(matrix![1, 2; 3, 4], Matrix2::new(1, 2, 3, 4));
+    assert_eq_and_type!(matrix![1, 2, 3; 4, 5, 6], Matrix2x3::new(1, 2, 3, 4, 5, 6));
+    assert_eq_and_type!(matrix![1, 2, 3, 4; 5, 6, 7, 8], Matrix2x4::new(1, 2, 3, 4, 5, 6, 7, 8));
+
+    // 3xN
+    assert_eq_and_type!(matrix![1; 2; 3], Matrix3x1::new(1, 2, 3));
+    assert_eq_and_type!(matrix![1, 2; 3, 4; 5, 6], Matrix3x2::new(1, 2, 3, 4, 5, 6));
+    assert_eq_and_type!(matrix![1, 2, 3; 4, 5, 6; 7, 8, 9], Matrix3::new(1, 2, 3, 4, 5, 6, 7, 8, 9));
+    assert_eq_and_type!(matrix![1, 2, 3, 4; 5, 6, 7, 8; 9, 10, 11, 12],
+               Matrix3x4::new(1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12));
+
+    // 4xN
+    assert_eq_and_type!(matrix![1; 2; 3; 4], Matrix4x1::new(1, 2, 3, 4));
+    assert_eq_and_type!(matrix![1, 2; 3, 4; 5, 6; 7, 8], Matrix4x2::new(1, 2, 3, 4, 5, 6, 7, 8));
+    assert_eq_and_type!(matrix![1, 2, 3; 4, 5, 6; 7, 8, 9; 10, 11, 12],
+               Matrix4x3::new(1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12));
+    assert_eq_and_type!(matrix![1, 2, 3, 4; 5, 6, 7, 8; 9, 10, 11, 12; 13, 14, 15, 16],
+               Matrix4::new(1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16));
+}
+
+#[test]
+fn matrix_const_fn() {
+    // Ensure that matrix! can be used in const contexts
+    const _: SMatrix<i32, 0, 0> = matrix![];
+    const _: SMatrix<i32, 1, 2> = matrix![1, 2];
+    const _: SMatrix<i32, 2, 3> = matrix![1, 2, 3; 4, 5, 6];
+}
+
+// Skip rustfmt because it just makes the test bloated without making it more readable
+#[rustfmt::skip]
+#[test]
+fn dmatrix_small_dims_exhaustive() {
+    // 0x0
+    assert_eq_and_type!(dmatrix![], DMatrix::<i32>::zeros(0, 0));
+
+    // 1xN
+    assert_eq_and_type!(dmatrix![1], DMatrix::from_row_slice(1, 1, &[1]));
+    assert_eq_and_type!(dmatrix![1, 2], DMatrix::from_row_slice(1, 2, &[1, 2]));
+    assert_eq_and_type!(dmatrix![1, 2, 3], DMatrix::from_row_slice(1, 3, &[1, 2, 3]));
+    assert_eq_and_type!(dmatrix![1, 2, 3, 4], DMatrix::from_row_slice(1, 4, &[1, 2, 3, 4]));
+
+    // 2xN
+    assert_eq_and_type!(dmatrix![1; 2], DMatrix::from_row_slice(2, 1,  &[1, 2]));
+    assert_eq_and_type!(dmatrix![1, 2; 3, 4], DMatrix::from_row_slice(2, 2,  &[1, 2, 3, 4]));
+    assert_eq_and_type!(dmatrix![1, 2, 3; 4, 5, 6], DMatrix::from_row_slice(2, 3,  &[1, 2, 3, 4, 5, 6]));
+    assert_eq_and_type!(dmatrix![1, 2, 3, 4; 5, 6, 7, 8], DMatrix::from_row_slice(2, 4,  &[1, 2, 3, 4, 5, 6, 7, 8]));
+
+    // 3xN
+    assert_eq_and_type!(dmatrix![1; 2; 3], DMatrix::from_row_slice(3, 1,  &[1, 2, 3]));
+    assert_eq_and_type!(dmatrix![1, 2; 3, 4; 5, 6], DMatrix::from_row_slice(3, 2,  &[1, 2, 3, 4, 5, 6]));
+    assert_eq_and_type!(dmatrix![1, 2, 3; 4, 5, 6; 7, 8, 9], DMatrix::from_row_slice(3, 3,  &[1, 2, 3, 4, 5, 6, 7, 8, 9]));
+    assert_eq_and_type!(dmatrix![1, 2, 3, 4; 5, 6, 7, 8; 9, 10, 11, 12],
+               DMatrix::from_row_slice(3, 4,  &[1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12]));
+
+    // 4xN
+    assert_eq_and_type!(dmatrix![1; 2; 3; 4], DMatrix::from_row_slice(4, 1,  &[1, 2, 3, 4]));
+    assert_eq_and_type!(dmatrix![1, 2; 3, 4; 5, 6; 7, 8], DMatrix::from_row_slice(4, 2,  &[1, 2, 3, 4, 5, 6, 7, 8]));
+    assert_eq_and_type!(dmatrix![1, 2, 3; 4, 5, 6; 7, 8, 9; 10, 11, 12],
+               DMatrix::from_row_slice(4, 3,  &[1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12]));
+    assert_eq_and_type!(dmatrix![1, 2, 3, 4; 5, 6, 7, 8; 9, 10, 11, 12; 13, 14, 15, 16],
+               DMatrix::from_row_slice(4, 4,  &[1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]));
+}
+
+// Skip rustfmt because it just makes the test bloated without making it more readable
+#[rustfmt::skip]
+#[test]
+fn vector_small_dims_exhaustive() {
+    assert_eq_and_type!(vector![], SVector::<i32, 0>::zeros());
+    assert_eq_and_type!(vector![1], Vector1::<i32>::new(1));
+    assert_eq_and_type!(vector![1, 2], Vector2::new(1, 2));
+    assert_eq_and_type!(vector![1, 2, 3], Vector3::new(1, 2, 3));
+    assert_eq_and_type!(vector![1, 2, 3, 4], Vector4::new(1, 2, 3, 4));
+    assert_eq_and_type!(vector![1, 2, 3, 4, 5], Vector5::new(1, 2, 3, 4, 5));
+    assert_eq_and_type!(vector![1, 2, 3, 4, 5, 6], Vector6::new(1, 2, 3, 4, 5, 6));
+}
+
+// Skip rustfmt because it just makes the test bloated without making it more readable
+#[rustfmt::skip]
+#[test]
+fn point_small_dims_exhaustive() {
+    assert_eq_and_type!(point![], Point::<i32, 0>::origin());
+    assert_eq_and_type!(point![1], Point1::<i32>::new(1));
+    assert_eq_and_type!(point![1, 2], Point2::new(1, 2));
+    assert_eq_and_type!(point![1, 2, 3], Point3::new(1, 2, 3));
+    assert_eq_and_type!(point![1, 2, 3, 4], Point4::new(1, 2, 3, 4));
+    assert_eq_and_type!(point![1, 2, 3, 4, 5], Point5::new(1, 2, 3, 4, 5));
+    assert_eq_and_type!(point![1, 2, 3, 4, 5, 6], Point6::new(1, 2, 3, 4, 5, 6));
+}
+
+#[test]
+fn vector_const_fn() {
+    // Ensure that vector! can be used in const contexts
+    const _: SVector<i32, 0> = vector![];
+    const _: Vector1<i32> = vector![1];
+    const _: Vector2<i32> = vector![1, 2];
+    const _: Vector6<i32> = vector![1, 2, 3, 4, 5, 6];
+}
+
+#[test]
+fn point_const_fn() {
+    // Ensure that vector! can be used in const contexts
+    const _: Point<i32, 0> = point![];
+    const _: Point1<i32> = point![1];
+    const _: Point2<i32> = point![1, 2];
+    const _: Point6<i32> = point![1, 2, 3, 4, 5, 6];
+}
+
+// Skip rustfmt because it just makes the test bloated without making it more readable
+#[rustfmt::skip]
+#[test]
+fn dvector_small_dims_exhaustive() {
+    assert_eq_and_type!(dvector![], DVector::<i32>::zeros(0));
+    assert_eq_and_type!(dvector![1], DVector::from_column_slice(&[1]));
+    assert_eq_and_type!(dvector![1, 2], DVector::from_column_slice(&[1, 2]));
+    assert_eq_and_type!(dvector![1, 2, 3], DVector::from_column_slice(&[1, 2, 3]));
+    assert_eq_and_type!(dvector![1, 2, 3, 4], DVector::from_column_slice(&[1, 2, 3, 4]));
+    assert_eq_and_type!(dvector![1, 2, 3, 4, 5], DVector::from_column_slice(&[1, 2, 3, 4, 5]));
+    assert_eq_and_type!(dvector![1, 2, 3, 4, 5, 6], DVector::from_column_slice(&[1, 2, 3, 4, 5, 6]));
+}
+
+#[test]
+fn matrix_trybuild_tests() {
+    let t = trybuild::TestCases::new();
+
+    // Verify error message when we give a matrix with mismatched dimensions
+    t.compile_fail("tests/trybuild/matrix_mismatched_dimensions.rs");
+}
+
+#[test]
+fn dmatrix_trybuild_tests() {
+    let t = trybuild::TestCases::new();
+
+    // Verify error message when we give a matrix with mismatched dimensions
+    t.compile_fail("tests/trybuild/dmatrix_mismatched_dimensions.rs");
+}
+
+#[test]
+fn matrix_builtin_types() {
+    // Check that matrix! compiles for all built-in types
+    const _: SMatrix<i8, 2, 2> = matrix![0, 1; 2, 3];
+    const _: SMatrix<i16, 2, 2> = matrix![0, 1; 2, 3];
+    const _: SMatrix<i32, 2, 2> = matrix![0, 1; 2, 3];
+    const _: SMatrix<i64, 2, 2> = matrix![0, 1; 2, 3];
+    const _: SMatrix<isize, 2, 2> = matrix![0, 1; 2, 3];
+    const _: SMatrix<u8, 2, 2> = matrix![0, 1; 2, 3];
+    const _: SMatrix<u16, 2, 2> = matrix![0, 1; 2, 3];
+    const _: SMatrix<u32, 2, 2> = matrix![0, 1; 2, 3];
+    const _: SMatrix<u64, 2, 2> = matrix![0, 1; 2, 3];
+    const _: SMatrix<usize, 2, 2> = matrix![0, 1; 2, 3];
+    const _: SMatrix<f32, 2, 2> = matrix![0.0, 1.0; 2.0, 3.0];
+    const _: SMatrix<f64, 2, 2> = matrix![0.0, 1.0; 2.0, 3.0];
+}
+
+#[test]
+fn vector_builtin_types() {
+    // Check that vector! compiles for all built-in types
+    const _: SVector<i8, 4> = vector![0, 1, 2, 3];
+    const _: SVector<i16, 4> = vector![0, 1, 2, 3];
+    const _: SVector<i32, 4> = vector![0, 1, 2, 3];
+    const _: SVector<i64, 4> = vector![0, 1, 2, 3];
+    const _: SVector<isize, 4> = vector![0, 1, 2, 3];
+    const _: SVector<u8, 4> = vector![0, 1, 2, 3];
+    const _: SVector<u16, 4> = vector![0, 1, 2, 3];
+    const _: SVector<u32, 4> = vector![0, 1, 2, 3];
+    const _: SVector<u64, 4> = vector![0, 1, 2, 3];
+    const _: SVector<usize, 4> = vector![0, 1, 2, 3];
+    const _: SVector<f32, 4> = vector![0.0, 1.0, 2.0, 3.0];
+    const _: SVector<f64, 4> = vector![0.0, 1.0, 2.0, 3.0];
+}
+
+#[test]
+fn dmatrix_builtin_types() {
+    // Check that dmatrix! compiles for all built-in types
+    let _: DMatrix<i8> = dmatrix![0, 1; 2, 3];
+    let _: DMatrix<i16> = dmatrix![0, 1; 2, 3];
+    let _: DMatrix<i32> = dmatrix![0, 1; 2, 3];
+    let _: DMatrix<i64> = dmatrix![0, 1; 2, 3];
+    let _: DMatrix<isize> = dmatrix![0, 1; 2, 3];
+    let _: DMatrix<u8> = dmatrix![0, 1; 2, 3];
+    let _: DMatrix<u16> = dmatrix![0, 1; 2, 3];
+    let _: DMatrix<u32> = dmatrix![0, 1; 2, 3];
+    let _: DMatrix<u64> = dmatrix![0, 1; 2, 3];
+    let _: DMatrix<usize> = dmatrix![0, 1; 2, 3];
+    let _: DMatrix<f32> = dmatrix![0.0, 1.0; 2.0, 3.0];
+    let _: DMatrix<f64> = dmatrix![0.0, 1.0; 2.0, 3.0];
+}
+
+#[test]
+fn point_builtin_types() {
+    // Check that point! compiles for all built-in types
+    const _: Point<i8, 4> = point![0, 1, 2, 3];
+    const _: Point<i16, 4> = point![0, 1, 2, 3];
+    const _: Point<i32, 4> = point![0, 1, 2, 3];
+    const _: Point<i64, 4> = point![0, 1, 2, 3];
+    const _: Point<isize, 4> = point![0, 1, 2, 3];
+    const _: Point<u8, 4> = point![0, 1, 2, 3];
+    const _: Point<u16, 4> = point![0, 1, 2, 3];
+    const _: Point<u32, 4> = point![0, 1, 2, 3];
+    const _: Point<u64, 4> = point![0, 1, 2, 3];
+    const _: Point<usize, 4> = point![0, 1, 2, 3];
+    const _: Point<f32, 4> = point![0.0, 1.0, 2.0, 3.0];
+    const _: Point<f64, 4> = point![0.0, 1.0, 2.0, 3.0];
+}
+
+#[test]
+fn dvector_builtin_types() {
+    // Check that dvector! compiles for all built-in types
+    let _: DVector<i8> = dvector![0, 1, 2, 3];
+    let _: DVector<i16> = dvector![0, 1, 2, 3];
+    let _: DVector<i32> = dvector![0, 1, 2, 3];
+    let _: DVector<i64> = dvector![0, 1, 2, 3];
+    let _: DVector<isize> = dvector![0, 1, 2, 3];
+    let _: DVector<u8> = dvector![0, 1, 2, 3];
+    let _: DVector<u16> = dvector![0, 1, 2, 3];
+    let _: DVector<u32> = dvector![0, 1, 2, 3];
+    let _: DVector<u64> = dvector![0, 1, 2, 3];
+    let _: DVector<usize> = dvector![0, 1, 2, 3];
+    let _: DVector<f32> = dvector![0.0, 1.0, 2.0, 3.0];
+    let _: DVector<f64> = dvector![0.0, 1.0, 2.0, 3.0];
+}
+
+/// Black box function that's just used for testing macros with function call expressions.
+fn f<T>(x: T) -> T {
+    x
+}
+
+#[rustfmt::skip]
+#[test]
+fn matrix_arbitrary_expressions() {
+    // Test that matrix! supports arbitrary expressions for its elements
+    let a = matrix![1 + 2       ,     2 * 3;
+                    4 * f(5 + 6), 7 - 8 * 9];
+    let a_expected = Matrix2::new(1 + 2       ,     2 * 3,
+                                  4 * f(5 + 6), 7 - 8 * 9);
+    assert_eq_and_type!(a, a_expected);
+}
+
+#[rustfmt::skip]
+#[test]
+fn dmatrix_arbitrary_expressions() {
+    // Test that dmatrix! supports arbitrary expressions for its elements
+    let a = dmatrix![1 + 2       ,     2 * 3;
+                     4 * f(5 + 6), 7 - 8 * 9];
+    let a_expected = DMatrix::from_row_slice(2, 2, &[1 + 2       ,     2 * 3,
+                                                     4 * f(5 + 6), 7 - 8 * 9]);
+    assert_eq_and_type!(a, a_expected);
+}
+
+#[rustfmt::skip]
+#[test]
+fn vector_arbitrary_expressions() {
+    // Test that vector! supports arbitrary expressions for its elements
+    let a = vector![1 + 2, 2 * 3, 4 * f(5 + 6), 7 - 8 * 9];
+    let a_expected = Vector4::new(1 + 2, 2 * 3, 4 * f(5 + 6), 7 - 8 * 9);
+    assert_eq_and_type!(a, a_expected);
+}
+
+#[rustfmt::skip]
+#[test]
+fn point_arbitrary_expressions() {
+    // Test that point! supports arbitrary expressions for its elements
+    let a = point![1 + 2, 2 * 3, 4 * f(5 + 6), 7 - 8 * 9];
+    let a_expected = Point4::new(1 + 2, 2 * 3, 4 * f(5 + 6), 7 - 8 * 9);
+    assert_eq_and_type!(a, a_expected);
+}
+
+#[rustfmt::skip]
+#[test]
+fn dvector_arbitrary_expressions() {
+    // Test that dvector! supports arbitrary expressions for its elements
+    let a = dvector![1 + 2, 2 * 3, 4 * f(5 + 6), 7 - 8 * 9];
+    let a_expected = DVector::from_column_slice(&[1 + 2, 2 * 3, 4 * f(5 + 6), 7 - 8 * 9]);
+    assert_eq_and_type!(a, a_expected);
+}
--- a/nalgebra-macros/tests/trybuild/dmatrix_mismatched_dimensions.rs
+++ b/nalgebra-macros/tests/trybuild/dmatrix_mismatched_dimensions.rs
@ -0,0 +1,6 @@
+use nalgebra_macros::dmatrix;
+
+fn main() {
+    dmatrix![1, 2, 3;
+            4, 5];
+}
--- a/nalgebra-macros/tests/trybuild/dmatrix_mismatched_dimensions.stderr
+++ b/nalgebra-macros/tests/trybuild/dmatrix_mismatched_dimensions.stderr
@ -0,0 +1,5 @@
+error: Unexpected number of entries in row 1. Expected 3, found 2 entries.
+ --> $DIR/dmatrix_mismatched_dimensions.rs:5:13
+  |
+5 |             4, 5];
+  |             ^
--- a/nalgebra-macros/tests/trybuild/matrix_mismatched_dimensions.rs
+++ b/nalgebra-macros/tests/trybuild/matrix_mismatched_dimensions.rs
@ -0,0 +1,6 @@
+use nalgebra_macros::matrix;
+
+fn main() {
+    matrix![1, 2, 3;
+            4, 5];
+}
--- a/nalgebra-macros/tests/trybuild/matrix_mismatched_dimensions.stderr
+++ b/nalgebra-macros/tests/trybuild/matrix_mismatched_dimensions.stderr
@ -0,0 +1,5 @@
+error: Unexpected number of entries in row 1. Expected 3, found 2 entries.
+ --> $DIR/matrix_mismatched_dimensions.rs:5:13
+  |
+5 |             4, 5];
+  |             ^
--- a/nalgebra-sparse/Cargo.toml
+++ b/nalgebra-sparse/Cargo.toml
@ -1,6 +1,6 @@
 [package]
 name = "nalgebra-sparse"
-version = "0.2.0"
+version = "0.3.0"
 authors = [ "Andreas Longva", "Sébastien Crozet <developer@crozet.re>" ]
 edition = "2018"
 description = "Sparse matrix computation based on nalgebra."
@ -20,15 +20,15 @@ compare = [ "matrixcompare-core" ]
 slow-tests = []

 [dependencies]
-nalgebra = { version="0.26", path = "../" }
+nalgebra = { version="0.27", path = "../" }
 num-traits = { version = "0.2", default-features = false }
 proptest = { version = "1.0", optional = true }
 matrixcompare-core = { version = "0.1.0", optional = true }

 [dev-dependencies]
 itertools = "0.10"
-matrixcompare = { version = "0.2.0", features = [ "proptest-support" ] }
-nalgebra = { version="0.26", path = "../", features = ["compare"] }
+matrixcompare = { version = "0.3.0", features = [ "proptest-support" ] }
+nalgebra = { version="0.27", path = "../", features = ["compare"] }

 [package.metadata.docs.rs]
 # Enable certain features when building docs for docs.rs
--- a/nalgebra-sparse/src/coo.rs
+++ b/nalgebra-sparse/src/coo.rs
@ -130,6 +130,30 @@ impl<T> CooMatrix<T> {
            .map(|((i, j), v)| (*i, *j, v))
    }

+    /// Reserves capacity for COO matrix by at least `additional` elements.
+    ///
+    /// This increase the capacities of triplet holding arrays by reserving more space to avoid
+    /// frequent reallocations in `push` operations.
+    ///
+    /// ## Panics
+    ///
+    /// Panics if any of the individual allocation of triplet arrays fails.
+    ///
+    /// ## Example
+    ///
+    /// ```
+    /// # use nalgebra_sparse::coo::CooMatrix;
+    /// let mut coo = CooMatrix::new(4, 4);
+    /// // Reserve capacity in advance
+    /// coo.reserve(10);
+    /// coo.push(1, 0, 3.0);
+    /// ```
+    pub fn reserve(&mut self, additional: usize) {
+        self.row_indices.reserve(additional);
+        self.col_indices.reserve(additional);
+        self.values.reserve(additional);
+    }
+
    /// Push a single triplet to the matrix.
    ///
    /// This adds the value `v` to the `i`th row and `j`th column in the matrix.
--- a/nalgebra-sparse/src/csc.rs
+++ b/nalgebra-sparse/src/csc.rs
@ -440,12 +440,12 @@ impl<T> CscMatrix<T> {
            .expect("Out of bounds matrix indices encountered")
    }

-    /// Returns a triplet of slices `(row_offsets, col_indices, values)` that make up the CSC data.
+    /// Returns a triplet of slices `(col_offsets, row_indices, values)` that make up the CSC data.
    pub fn csc_data(&self) -> (&[usize], &[usize], &[T]) {
        self.cs.cs_data()
    }

-    /// Returns a triplet of slices `(row_offsets, col_indices, values)` that make up the CSC data,
+    /// Returns a triplet of slices `(col_offsets, row_indices, values)` that make up the CSC data,
    /// where the `values` array is mutable.
    pub fn csc_data_mut(&mut self) -> (&[usize], &[usize], &mut [T]) {
        self.cs.cs_data_mut()
--- a/src/base/array_storage.rs
+++ b/src/base/array_storage.rs
@ -299,3 +299,45 @@ where
        self.as_slice().iter().fold(0, |acc, e| acc + e.extent())
    }
 }
+
+#[cfg(feature = "rkyv-serialize-no-std")]
+mod rkyv_impl {
+    use super::ArrayStorage;
+    use rkyv::{offset_of, project_struct, Archive, Deserialize, Fallible, Serialize};
+
+    impl<T: Archive, const R: usize, const C: usize> Archive for ArrayStorage<T, R, C> {
+        type Archived = ArrayStorage<T::Archived, R, C>;
+        type Resolver = <[[T; R]; C] as Archive>::Resolver;
+
+        fn resolve(
+            &self,
+            pos: usize,
+            resolver: Self::Resolver,
+            out: &mut core::mem::MaybeUninit<Self::Archived>,
+        ) {
+            self.0.resolve(
+                pos + offset_of!(Self::Archived, 0),
+                resolver,
+                project_struct!(out: Self::Archived => 0),
+            );
+        }
+    }
+
+    impl<T: Serialize<S>, S: Fallible + ?Sized, const R: usize, const C: usize> Serialize<S>
+        for ArrayStorage<T, R, C>
+    {
+        fn serialize(&self, serializer: &mut S) -> Result<Self::Resolver, S::Error> {
+            Ok(self.0.serialize(serializer)?)
+        }
+    }
+
+    impl<T: Archive, D: Fallible + ?Sized, const R: usize, const C: usize>
+        Deserialize<ArrayStorage<T, R, C>, D> for ArrayStorage<T::Archived, R, C>
+    where
+        T::Archived: Deserialize<T, D>,
+    {
+        fn deserialize(&self, deserializer: &mut D) -> Result<ArrayStorage<T, R, C>, D::Error> {
+            Ok(ArrayStorage(self.0.deserialize(deserializer)?))
+        }
+    }
+}
--- a/src/base/componentwise.rs
+++ b/src/base/componentwise.rs
@ -240,6 +240,16 @@ impl<T: Scalar, R1: Dim, C1: Dim, SA: Storage<T, R1, C1>> Matrix<T, R1, C1, SA>
    );

    /// Computes the infimum (aka. componentwise min) of two matrices/vectors.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use nalgebra::Matrix2;
+    /// let u = Matrix2::new(4.0, 2.0, 1.0, -2.0);
+    /// let v = Matrix2::new(2.0, 4.0, -2.0, 1.0);
+    /// let expected = Matrix2::new(2.0, 2.0, -2.0, -2.0);
+    /// assert_eq!(u.inf(&v), expected)
+    /// ```
    #[inline]
    pub fn inf(&self, other: &Self) -> OMatrix<T, R1, C1>
    where
@ -250,6 +260,16 @@ impl<T: Scalar, R1: Dim, C1: Dim, SA: Storage<T, R1, C1>> Matrix<T, R1, C1, SA>
    }

    /// Computes the supremum (aka. componentwise max) of two matrices/vectors.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use nalgebra::Matrix2;
+    /// let u = Matrix2::new(4.0, 2.0, 1.0, -2.0);
+    /// let v = Matrix2::new(2.0, 4.0, -2.0, 1.0);
+    /// let expected = Matrix2::new(4.0, 4.0, 1.0, 1.0);
+    /// assert_eq!(u.sup(&v), expected)
+    /// ```
    #[inline]
    pub fn sup(&self, other: &Self) -> OMatrix<T, R1, C1>
    where
@ -260,6 +280,16 @@ impl<T: Scalar, R1: Dim, C1: Dim, SA: Storage<T, R1, C1>> Matrix<T, R1, C1, SA>
    }

    /// Computes the (infimum, supremum) of two matrices/vectors.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use nalgebra::Matrix2;
+    /// let u = Matrix2::new(4.0, 2.0, 1.0, -2.0);
+    /// let v = Matrix2::new(2.0, 4.0, -2.0, 1.0);
+    /// let expected = (Matrix2::new(2.0, 2.0, -2.0, -2.0), Matrix2::new(4.0, 4.0, 1.0, 1.0));
+    /// assert_eq!(u.inf_sup(&v), expected)
+    /// ```
    #[inline]
    pub fn inf_sup(&self, other: &Self) -> (OMatrix<T, R1, C1>, OMatrix<T, R1, C1>)
    where
@ -271,6 +301,16 @@ impl<T: Scalar, R1: Dim, C1: Dim, SA: Storage<T, R1, C1>> Matrix<T, R1, C1, SA>
    }

    /// Adds a scalar to `self`.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use nalgebra::Matrix2;
+    /// let u = Matrix2::new(1.0, 2.0, 3.0, 4.0);
+    /// let s = 10.0;
+    /// let expected = Matrix2::new(11.0, 12.0, 13.0, 14.0);
+    /// assert_eq!(u.add_scalar(s), expected)
+    /// ```
    #[inline]
    #[must_use = "Did you mean to use add_scalar_mut()?"]
    pub fn add_scalar(&self, rhs: T) -> OMatrix<T, R1, C1>
@ -284,6 +324,17 @@ impl<T: Scalar, R1: Dim, C1: Dim, SA: Storage<T, R1, C1>> Matrix<T, R1, C1, SA>
    }

    /// Adds a scalar to `self` in-place.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use nalgebra::Matrix2;
+    /// let mut u = Matrix2::new(1.0, 2.0, 3.0, 4.0);
+    /// let s = 10.0;
+    /// u.add_scalar_mut(s);
+    /// let expected = Matrix2::new(11.0, 12.0, 13.0, 14.0);
+    /// assert_eq!(u, expected)
+    /// ```
    #[inline]
    pub fn add_scalar_mut(&mut self, rhs: T)
    where
--- a/src/base/conversion.rs
+++ b/src/base/conversion.rs
@ -3,7 +3,6 @@ use alloc::vec::Vec;
 use simba::scalar::{SubsetOf, SupersetOf};
 use std::convert::{AsMut, AsRef, From, Into};
 use std::mem;
-use std::ptr;

 use simba::simd::{PrimitiveSimdValue, SimdValue};

@ -24,8 +23,9 @@ use crate::base::{
 use crate::base::{DVector, VecStorage};
 use crate::base::{SliceStorage, SliceStorageMut};
 use crate::constraint::DimEq;
+use crate::{IsNotStaticOne, RowSVector, SMatrix, SVector};

-// TODO: too bad this won't work allo slice conversions.
+// TODO: too bad this won't work for slice conversions.
 impl<T1, T2, R1, C1, R2, C2> SubsetOf<OMatrix<T2, R2, C2>> for OMatrix<T1, R1, C1>
 where
    R1: Dim,
@ -103,35 +103,43 @@ impl<'a, T: Scalar, R: Dim, C: Dim, S: StorageMut<T, R, C>> IntoIterator
    }
 }

+impl<T: Scalar, const D: usize> From<[T; D]> for SVector<T, D> {
+    #[inline]
+    fn from(arr: [T; D]) -> Self {
+        unsafe { Self::from_data_statically_unchecked(ArrayStorage([arr; 1])) }
+    }
+}
+
+impl<T: Scalar, const D: usize> Into<[T; D]> for SVector<T, D> {
+    #[inline]
+    fn into(self) -> [T; D] {
+        // TODO: unfortunately, we must clone because we can move out of an array.
+        self.data.0[0].clone()
+    }
+}
+
+impl<T: Scalar, const D: usize> From<[T; D]> for RowSVector<T, D>
+where
+    Const<D>: IsNotStaticOne,
+{
+    #[inline]
+    fn from(arr: [T; D]) -> Self {
+        SVector::<T, D>::from(arr).transpose()
+    }
+}
+
+impl<T: Scalar, const D: usize> Into<[T; D]> for RowSVector<T, D>
+where
+    Const<D>: IsNotStaticOne,
+{
+    #[inline]
+    fn into(self) -> [T; D] {
+        self.transpose().into()
+    }
+}
+
 macro_rules! impl_from_into_asref_1D(
    ($(($NRows: ident, $NCols: ident) => $SZ: expr);* $(;)*) => {$(
-        impl<T> From<[T; $SZ]> for OMatrix<T, $NRows, $NCols>
-        where T: Scalar,
-              DefaultAllocator: Allocator<T, $NRows, $NCols> {
-            #[inline]
-            fn from(arr: [T; $SZ]) -> Self {
-                unsafe {
-                    let mut res = Self::new_uninitialized();
-                    ptr::copy_nonoverlapping(&arr[0], (*res.as_mut_ptr()).data.ptr_mut(), $SZ);
-
-                    res.assume_init()
-                }
-            }
-        }
-
-        impl<T, S> Into<[T; $SZ]> for Matrix<T, $NRows, $NCols, S>
-        where T: Scalar,
-              S: ContiguousStorage<T, $NRows, $NCols> {
-            #[inline]
-            fn into(self) -> [T; $SZ] {
-                let mut res = mem::MaybeUninit::<[T; $SZ]>::uninit();
-
-                unsafe { ptr::copy_nonoverlapping(self.data.ptr(), res.as_mut_ptr() as *mut T, $SZ) };
-
-                unsafe { res.assume_init() }
-            }
-        }
-
        impl<T, S> AsRef<[T; $SZ]> for Matrix<T, $NRows, $NCols, S>
        where T: Scalar,
              S: ContiguousStorage<T, $NRows, $NCols> {
@ -171,33 +179,22 @@ impl_from_into_asref_1D!(
    (U13, U1) => 13; (U14, U1) => 14; (U15, U1) => 15; (U16, U1) => 16;
 );

+impl<T: Scalar, const R: usize, const C: usize> From<[[T; R]; C]> for SMatrix<T, R, C> {
+    #[inline]
+    fn from(arr: [[T; R]; C]) -> Self {
+        unsafe { Self::from_data_statically_unchecked(ArrayStorage(arr)) }
+    }
+}
+
+impl<T: Scalar, const R: usize, const C: usize> Into<[[T; R]; C]> for SMatrix<T, R, C> {
+    #[inline]
+    fn into(self) -> [[T; R]; C] {
+        self.data.0
+    }
+}
+
 macro_rules! impl_from_into_asref_2D(
    ($(($NRows: ty, $NCols: ty) => ($SZRows: expr, $SZCols: expr));* $(;)*) => {$(
-        impl<T: Scalar> From<[[T; $SZRows]; $SZCols]> for OMatrix<T, $NRows, $NCols>
-        where DefaultAllocator: Allocator<T, $NRows, $NCols> {
-            #[inline]
-            fn from(arr: [[T; $SZRows]; $SZCols]) -> Self {
-                unsafe {
-                    let mut res = Self::new_uninitialized();
-                    ptr::copy_nonoverlapping(&arr[0][0], (*res.as_mut_ptr()).data.ptr_mut(), $SZRows * $SZCols);
-
-                    res.assume_init()
-                }
-            }
-        }
-
-        impl<T: Scalar, S> Into<[[T; $SZRows]; $SZCols]> for Matrix<T, $NRows, $NCols, S>
-        where S: ContiguousStorage<T, $NRows, $NCols> {
-            #[inline]
-            fn into(self) -> [[T; $SZRows]; $SZCols] {
-                let mut res = mem::MaybeUninit::<[[T; $SZRows]; $SZCols]>::uninit();
-
-                unsafe { ptr::copy_nonoverlapping(self.data.ptr(), res.as_mut_ptr() as *mut T, $SZRows * $SZCols) };
-
-                unsafe { res.assume_init() }
-            }
-        }
-
        impl<T: Scalar, S> AsRef<[[T; $SZRows]; $SZCols]> for Matrix<T, $NRows, $NCols, S>
        where S: ContiguousStorage<T, $NRows, $NCols> {
            #[inline]
--- a/src/base/dimension.rs
+++ b/src/base/dimension.rs
@ -211,6 +211,57 @@ pub trait DimName: Dim {
    fn dim() -> usize;
 }

+#[cfg(feature = "serde-serialize-no-std")]
+impl<const D: usize> Serialize for Const<D> {
+    fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
+    where
+        S: Serializer,
+    {
+        ().serialize(serializer)
+    }
+}
+
+#[cfg(feature = "serde-serialize-no-std")]
+impl<'de, const D: usize> Deserialize<'de> for Const<D> {
+    fn deserialize<Des>(deserializer: Des) -> Result<Self, Des::Error>
+    where
+        Des: Deserializer<'de>,
+    {
+        <()>::deserialize(deserializer).map(|_| Const::<D>)
+    }
+}
+
+#[cfg(feature = "rkyv-serialize-no-std")]
+mod rkyv_impl {
+    use super::Const;
+    use rkyv::{Archive, Deserialize, Fallible, Serialize};
+
+    impl<const R: usize> Archive for Const<R> {
+        type Archived = Self;
+        type Resolver = ();
+
+        fn resolve(
+            &self,
+            _: usize,
+            _: Self::Resolver,
+            _: &mut core::mem::MaybeUninit<Self::Archived>,
+        ) {
+        }
+    }
+
+    impl<S: Fallible + ?Sized, const R: usize> Serialize<S> for Const<R> {
+        fn serialize(&self, _: &mut S) -> Result<Self::Resolver, S::Error> {
+            Ok(())
+        }
+    }
+
+    impl<D: Fallible + ?Sized, const R: usize> Deserialize<Self, D> for Const<R> {
+        fn deserialize(&self, _: &mut D) -> Result<Self, D::Error> {
+            Ok(Const)
+        }
+    }
+}
+
 pub trait ToConst {
    type Const: DimName;
 }
--- a/src/base/matrix.rs
+++ b/src/base/matrix.rs
@ -29,7 +29,10 @@ use crate::base::storage::{
    ContiguousStorage, ContiguousStorageMut, Owned, SameShapeStorage, Storage, StorageMut,
 };
 use crate::base::{Const, DefaultAllocator, OMatrix, OVector, Scalar, Unit};
-use crate::SimdComplexField;
+use crate::{ArrayStorage, SMatrix, SimdComplexField};
+
+#[cfg(any(feature = "std", feature = "alloc"))]
+use crate::{DMatrix, DVector, Dynamic, VecStorage};

 /// A square matrix.
 pub type SquareMatrix<T, D, S> = Matrix<T, D, D, S>;
@ -305,6 +308,53 @@ where
 {
 }

+#[cfg(feature = "rkyv-serialize-no-std")]
+mod rkyv_impl {
+    use super::Matrix;
+    use core::marker::PhantomData;
+    use rkyv::{offset_of, project_struct, Archive, Deserialize, Fallible, Serialize};
+
+    impl<T: Archive, R: Archive, C: Archive, S: Archive> Archive for Matrix<T, R, C, S> {
+        type Archived = Matrix<T::Archived, R::Archived, C::Archived, S::Archived>;
+        type Resolver = S::Resolver;
+
+        fn resolve(
+            &self,
+            pos: usize,
+            resolver: Self::Resolver,
+            out: &mut core::mem::MaybeUninit<Self::Archived>,
+        ) {
+            self.data.resolve(
+                pos + offset_of!(Self::Archived, data),
+                resolver,
+                project_struct!(out: Self::Archived => data),
+            );
+        }
+    }
+
+    impl<T: Archive, R: Archive, C: Archive, S: Serialize<_S>, _S: Fallible + ?Sized> Serialize<_S>
+        for Matrix<T, R, C, S>
+    {
+        fn serialize(&self, serializer: &mut _S) -> Result<Self::Resolver, _S::Error> {
+            Ok(self.data.serialize(serializer)?)
+        }
+    }
+
+    impl<T: Archive, R: Archive, C: Archive, S: Archive, D: Fallible + ?Sized>
+        Deserialize<Matrix<T, R, C, S>, D>
+        for Matrix<T::Archived, R::Archived, C::Archived, S::Archived>
+    where
+        S::Archived: Deserialize<S, D>,
+    {
+        fn deserialize(&self, deserializer: &mut D) -> Result<Matrix<T, R, C, S>, D::Error> {
+            Ok(Matrix {
+                data: self.data.deserialize(deserializer)?,
+                _phantoms: PhantomData,
+            })
+        }
+    }
+}
+
 impl<T, R, C, S> Matrix<T, R, C, S> {
    /// Creates a new matrix with the given data without statically checking that the matrix
    /// dimension matches the storage dimension.
@ -317,6 +367,49 @@ impl<T, R, C, S> Matrix<T, R, C, S> {
    }
 }

+impl<T, const R: usize, const C: usize> SMatrix<T, R, C> {
+    /// Creates a new statically-allocated matrix from the given [ArrayStorage].
+    ///
+    /// This method exists primarily as a workaround for the fact that `from_data` can not
+    /// work in `const fn` contexts.
+    #[inline(always)]
+    pub const fn from_array_storage(storage: ArrayStorage<T, R, C>) -> Self {
+        // This is sound because the row and column types are exactly the same as that of the
+        // storage, so there can be no mismatch
+        unsafe { Self::from_data_statically_unchecked(storage) }
+    }
+}
+
+// TODO: Consider removing/deprecating `from_vec_storage` once we are able to make
+// `from_data` const fn compatible
+#[cfg(any(feature = "std", feature = "alloc"))]
+impl<T> DMatrix<T> {
+    /// Creates a new heap-allocated matrix from the given [VecStorage].
+    ///
+    /// This method exists primarily as a workaround for the fact that `from_data` can not
+    /// work in `const fn` contexts.
+    pub const fn from_vec_storage(storage: VecStorage<T, Dynamic, Dynamic>) -> Self {
+        // This is sound because the dimensions of the matrix and the storage are guaranteed
+        // to be the same
+        unsafe { Self::from_data_statically_unchecked(storage) }
+    }
+}
+
+// TODO: Consider removing/deprecating `from_vec_storage` once we are able to make
+// `from_data` const fn compatible
+#[cfg(any(feature = "std", feature = "alloc"))]
+impl<T> DVector<T> {
+    /// Creates a new heap-allocated matrix from the given [VecStorage].
+    ///
+    /// This method exists primarily as a workaround for the fact that `from_data` can not
+    /// work in `const fn` contexts.
+    pub const fn from_vec_storage(storage: VecStorage<T, Dynamic, U1>) -> Self {
+        // This is sound because the dimensions of the matrix and the storage are guaranteed
+        // to be the same
+        unsafe { Self::from_data_statically_unchecked(storage) }
+    }
+}
+
 impl<T: Scalar, R: Dim, C: Dim, S: Storage<T, R, C>> Matrix<T, R, C, S> {
    /// Creates a new matrix with the given data.
    #[inline(always)]
--- a/src/base/unit.rs
+++ b/src/base/unit.rs
@ -71,6 +71,47 @@ impl<T: Abomonation> Abomonation for Unit<T> {
    }
 }

+#[cfg(feature = "rkyv-serialize-no-std")]
+mod rkyv_impl {
+    use super::Unit;
+    use rkyv::{offset_of, project_struct, Archive, Deserialize, Fallible, Serialize};
+
+    impl<T: Archive> Archive for Unit<T> {
+        type Archived = Unit<T::Archived>;
+        type Resolver = T::Resolver;
+
+        fn resolve(
+            &self,
+            pos: usize,
+            resolver: Self::Resolver,
+            out: &mut ::core::mem::MaybeUninit<Self::Archived>,
+        ) {
+            self.value.resolve(
+                pos + offset_of!(Self::Archived, value),
+                resolver,
+                project_struct!(out: Self::Archived => value),
+            );
+        }
+    }
+
+    impl<T: Serialize<S>, S: Fallible + ?Sized> Serialize<S> for Unit<T> {
+        fn serialize(&self, serializer: &mut S) -> Result<Self::Resolver, S::Error> {
+            Ok(self.value.serialize(serializer)?)
+        }
+    }
+
+    impl<T: Archive, D: Fallible + ?Sized> Deserialize<Unit<T>, D> for Unit<T::Archived>
+    where
+        T::Archived: Deserialize<T, D>,
+    {
+        fn deserialize(&self, deserializer: &mut D) -> Result<Unit<T>, D::Error> {
+            Ok(Unit {
+                value: self.value.deserialize(deserializer)?,
+            })
+        }
+    }
+}
+
 impl<T, R, C, S> PartialEq for Unit<Matrix<T, R, C, S>>
 where
    T: Scalar + PartialEq,
--- a/src/base/vec_storage.rs
+++ b/src/base/vec_storage.rs
@ -13,6 +13,12 @@ use crate::base::storage::{
 };
 use crate::base::{Scalar, Vector};

+#[cfg(feature = "serde-serialize-no-std")]
+use serde::{
+    de::{Deserialize, Deserializer, Error},
+    ser::{Serialize, Serializer},
+};
+
 #[cfg(feature = "abomonation-serialize")]
 use abomonation::Abomonation;

@ -24,13 +30,54 @@ use abomonation::Abomonation;
 /// A Vec-based matrix data storage. It may be dynamically-sized.
 #[repr(C)]
 #[derive(Eq, Debug, Clone, PartialEq)]
-#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 pub struct VecStorage<T, R: Dim, C: Dim> {
    data: Vec<T>,
    nrows: R,
    ncols: C,
 }

+#[cfg(feature = "serde-serialize")]
+impl<T, R: Dim, C: Dim> Serialize for VecStorage<T, R, C>
+where
+    T: Serialize,
+    R: Serialize,
+    C: Serialize,
+{
+    fn serialize<Ser>(&self, serializer: Ser) -> Result<Ser::Ok, Ser::Error>
+    where
+        Ser: Serializer,
+    {
+        (&self.data, &self.nrows, &self.ncols).serialize(serializer)
+    }
+}
+
+#[cfg(feature = "serde-serialize")]
+impl<'a, T, R: Dim, C: Dim> Deserialize<'a> for VecStorage<T, R, C>
+where
+    T: Deserialize<'a>,
+    R: Deserialize<'a>,
+    C: Deserialize<'a>,
+{
+    fn deserialize<Des>(deserializer: Des) -> Result<Self, Des::Error>
+    where
+        Des: Deserializer<'a>,
+    {
+        let (data, nrows, ncols): (Vec<T>, R, C) = Deserialize::deserialize(deserializer)?;
+
+        // SAFETY: make sure the data we deserialize have the
+        //         correct number of elements.
+        if nrows.value() * ncols.value() != data.len() {
+            return Err(Des::Error::custom(format!(
+                "Expected {} components, found {}",
+                nrows.value() * ncols.value(),
+                data.len()
+            )));
+        }
+
+        Ok(Self { data, nrows, ncols })
+    }
+}
+
 #[deprecated(note = "renamed to `VecStorage`")]
 /// Renamed to [VecStorage].
 pub type MatrixVec<T, R, C> = VecStorage<T, R, C>;
--- a/src/geometry/isometry.rs
+++ b/src/geometry/isometry.rs
@ -98,6 +98,66 @@ where
    }
 }

+#[cfg(feature = "rkyv-serialize-no-std")]
+mod rkyv_impl {
+    use super::Isometry;
+    use crate::{base::Scalar, geometry::Translation};
+    use rkyv::{offset_of, project_struct, Archive, Deserialize, Fallible, Serialize};
+
+    impl<T: Scalar + Archive, R: Archive, const D: usize> Archive for Isometry<T, R, D>
+    where
+        T::Archived: Scalar,
+    {
+        type Archived = Isometry<T::Archived, R::Archived, D>;
+        type Resolver = (R::Resolver, <Translation<T, D> as Archive>::Resolver);
+
+        fn resolve(
+            &self,
+            pos: usize,
+            resolver: Self::Resolver,
+            out: &mut core::mem::MaybeUninit<Self::Archived>,
+        ) {
+            self.rotation.resolve(
+                pos + offset_of!(Self::Archived, rotation),
+                resolver.0,
+                project_struct!(out: Self::Archived => rotation),
+            );
+            self.translation.resolve(
+                pos + offset_of!(Self::Archived, translation),
+                resolver.1,
+                project_struct!(out: Self::Archived => translation),
+            );
+        }
+    }
+
+    impl<T: Scalar + Serialize<S>, R: Serialize<S>, S: Fallible + ?Sized, const D: usize>
+        Serialize<S> for Isometry<T, R, D>
+    where
+        T::Archived: Scalar,
+    {
+        fn serialize(&self, serializer: &mut S) -> Result<Self::Resolver, S::Error> {
+            Ok((
+                self.rotation.serialize(serializer)?,
+                self.translation.serialize(serializer)?,
+            ))
+        }
+    }
+
+    impl<T: Scalar + Archive, R: Archive, _D: Fallible + ?Sized, const D: usize>
+        Deserialize<Isometry<T, R, D>, _D> for Isometry<T::Archived, R::Archived, D>
+    where
+        T::Archived: Scalar + Deserialize<T, _D>,
+        R::Archived: Scalar + Deserialize<R, _D>,
+    {
+        fn deserialize(&self, deserializer: &mut _D) -> Result<Isometry<T, R, D>, _D::Error> {
+            Ok(Isometry {
+                rotation: self.rotation.deserialize(deserializer)?,
+                translation: self.translation.deserialize(deserializer)?,
+            })
+        }
+    }
+}
+
 impl<T: Scalar + hash::Hash, R: hash::Hash, const D: usize> hash::Hash for Isometry<T, R, D>
 where
    Owned<T, Const<D>>: hash::Hash,
--- a/src/geometry/isometry_conversion.rs
+++ b/src/geometry/isometry_conversion.rs
@ -9,6 +9,7 @@ use crate::geometry::{
    AbstractRotation, Isometry, Isometry3, Similarity, SuperTCategoryOf, TAffine, Transform,
    Translation, UnitDualQuaternion, UnitQuaternion,
 };
+use crate::{Point, SVector};

 /*
 * This file provides the following conversions:
@ -198,6 +199,35 @@ where
    }
 }

+impl<T: SimdRealField, R, const D: usize> From<[T; D]> for Isometry<T, R, D>
+where
+    R: AbstractRotation<T, D>,
+{
+    #[inline]
+    fn from(coords: [T; D]) -> Self {
+        Self::from_parts(coords.into(), R::identity())
+    }
+}
+
+impl<T: SimdRealField, R, const D: usize> From<SVector<T, D>> for Isometry<T, R, D>
+where
+    R: AbstractRotation<T, D>,
+{
+    #[inline]
+    fn from(coords: SVector<T, D>) -> Self {
+        Self::from_parts(coords.into(), R::identity())
+    }
+}
+impl<T: SimdRealField, R, const D: usize> From<Point<T, D>> for Isometry<T, R, D>
+where
+    R: AbstractRotation<T, D>,
+{
+    #[inline]
+    fn from(coords: Point<T, D>) -> Self {
+        Self::from_parts(coords.into(), R::identity())
+    }
+}
+
 impl<T: Scalar + PrimitiveSimdValue, R, const D: usize>
    From<[Isometry<T::Element, R::Element, D>; 2]> for Isometry<T, R, D>
 where
--- a/src/geometry/point_construction.rs
+++ b/src/geometry/point_construction.rs
@ -225,17 +225,3 @@ componentwise_constructors_impl!(
    "# use nalgebra::Point6;\nlet p = Point6::new(1.0, 2.0, 3.0, 4.0, 5.0, 6.0);\nassert!(p.x == 1.0 && p.y == 2.0 && p.z == 3.0 && p.w == 4.0 && p.a == 5.0 && p.b == 6.0);";
    Point6, Vector6, x:0, y:1, z:2, w:3, a:4, b:5;
 );
-
-macro_rules! from_array_impl(
-    ($($Point: ident, $len: expr);*) => {$(
-      impl <T: Scalar> From<[T; $len]> for $Point<T> {
-          fn from(coords: [T; $len]) -> Self {
-              Self {
-                coords: coords.into()
-              }
-          }
-      }
-    )*}
-);
-
-from_array_impl!(Point1, 1; Point2, 2; Point3, 3; Point4, 4; Point5, 5; Point6, 6);
--- a/src/geometry/point_conversion.rs
+++ b/src/geometry/point_conversion.rs
@ -81,6 +81,22 @@ where
    }
 }

+impl<T: Scalar, const D: usize> From<[T; D]> for Point<T, D> {
+    #[inline]
+    fn from(coords: [T; D]) -> Self {
+        Point {
+            coords: coords.into(),
+        }
+    }
+}
+
+impl<T: Scalar, const D: usize> Into<[T; D]> for Point<T, D> {
+    #[inline]
+    fn into(self) -> [T; D] {
+        self.coords.into()
+    }
+}
+
 impl<T: Scalar, const D: usize> From<OVector<T, Const<D>>> for Point<T, D> {
    #[inline]
    fn from(coords: OVector<T, Const<D>>) -> Self {
--- a/src/geometry/quaternion.rs
+++ b/src/geometry/quaternion.rs
@ -113,6 +113,48 @@ where
    }
 }

+#[cfg(feature = "rkyv-serialize-no-std")]
+mod rkyv_impl {
+    use super::Quaternion;
+    use crate::base::Vector4;
+    use rkyv::{offset_of, project_struct, Archive, Deserialize, Fallible, Serialize};
+
+    impl<T: Archive> Archive for Quaternion<T> {
+        type Archived = Quaternion<T::Archived>;
+        type Resolver = <Vector4<T> as Archive>::Resolver;
+
+        fn resolve(
+            &self,
+            pos: usize,
+            resolver: Self::Resolver,
+            out: &mut core::mem::MaybeUninit<Self::Archived>,
+        ) {
+            self.coords.resolve(
+                pos + offset_of!(Self::Archived, coords),
+                resolver,
+                project_struct!(out: Self::Archived => coords),
+            );
+        }
+    }
+
+    impl<T: Serialize<S>, S: Fallible + ?Sized> Serialize<S> for Quaternion<T> {
+        fn serialize(&self, serializer: &mut S) -> Result<Self::Resolver, S::Error> {
+            Ok(self.coords.serialize(serializer)?)
+        }
+    }
+
+    impl<T: Archive, D: Fallible + ?Sized> Deserialize<Quaternion<T>, D> for Quaternion<T::Archived>
+    where
+        T::Archived: Deserialize<T, D>,
+    {
+        fn deserialize(&self, deserializer: &mut D) -> Result<Quaternion<T>, D::Error> {
+            Ok(Quaternion {
+                coords: self.coords.deserialize(deserializer)?,
+            })
+        }
+    }
+}
+
 impl<T: SimdRealField> Quaternion<T>
 where
    T::Element: SimdRealField,
--- a/src/geometry/translation.rs
+++ b/src/geometry/translation.rs
@ -97,6 +97,49 @@ where
    }
 }

+#[cfg(feature = "rkyv-serialize-no-std")]
+mod rkyv_impl {
+    use super::Translation;
+    use crate::base::SVector;
+    use rkyv::{offset_of, project_struct, Archive, Deserialize, Fallible, Serialize};
+
+    impl<T: Archive, const D: usize> Archive for Translation<T, D> {
+        type Archived = Translation<T::Archived, D>;
+        type Resolver = <SVector<T, D> as Archive>::Resolver;
+
+        fn resolve(
+            &self,
+            pos: usize,
+            resolver: Self::Resolver,
+            out: &mut core::mem::MaybeUninit<Self::Archived>,
+        ) {
+            self.vector.resolve(
+                pos + offset_of!(Self::Archived, vector),
+                resolver,
+                project_struct!(out: Self::Archived => vector),
+            );
+        }
+    }
+
+    impl<T: Serialize<S>, S: Fallible + ?Sized, const D: usize> Serialize<S> for Translation<T, D> {
+        fn serialize(&self, serializer: &mut S) -> Result<Self::Resolver, S::Error> {
+            Ok(self.vector.serialize(serializer)?)
+        }
+    }
+
+    impl<T: Archive, _D: Fallible + ?Sized, const D: usize> Deserialize<Translation<T, D>, _D>
+        for Translation<T::Archived, D>
+    where
+        T::Archived: Deserialize<T, _D>,
+    {
+        fn deserialize(&self, deserializer: &mut _D) -> Result<Translation<T, D>, _D::Error> {
+            Ok(Translation {
+                vector: self.vector.deserialize(deserializer)?,
+            })
+        }
+    }
+}
+
 impl<T: Scalar, const D: usize> Translation<T, D> {
    /// Creates a new translation from the given vector.
    #[inline]
--- a/src/geometry/translation_conversion.rs
+++ b/src/geometry/translation_conversion.rs
@ -11,6 +11,7 @@ use crate::geometry::{
    AbstractRotation, Isometry, Similarity, SuperTCategoryOf, TAffine, Transform, Translation,
    Translation3, UnitDualQuaternion, UnitQuaternion,
 };
+use crate::Point;

 /*
 * This file provides the following conversions:
@ -199,6 +200,31 @@ impl<T: Scalar, const D: usize> From<OVector<T, Const<D>>> for Translation<T, D>
    }
 }

+impl<T: Scalar, const D: usize> From<[T; D]> for Translation<T, D> {
+    #[inline]
+    fn from(coords: [T; D]) -> Self {
+        Translation {
+            vector: coords.into(),
+        }
+    }
+}
+
+impl<T: Scalar, const D: usize> From<Point<T, D>> for Translation<T, D> {
+    #[inline]
+    fn from(pt: Point<T, D>) -> Self {
+        Translation {
+            vector: pt.coords.into(),
+        }
+    }
+}
+
+impl<T: Scalar, const D: usize> Into<[T; D]> for Translation<T, D> {
+    #[inline]
+    fn into(self) -> [T; D] {
+        self.vector.into()
+    }
+}
+
 impl<T: Scalar + PrimitiveSimdValue, const D: usize> From<[Translation<T::Element, D>; 2]>
    for Translation<T, D>
 where
--- a/src/lib.rs
+++ b/src/lib.rs
@ -136,6 +136,9 @@ pub use crate::sparse::*;
 )]
 pub use base as core;

+#[cfg(feature = "macros")]
+pub use nalgebra_macros::{dmatrix, dvector, matrix, point, vector};
+
 use simba::scalar::SupersetOf;
 use std::cmp::{self, Ordering, PartialOrd};

--- a/src/third_party/glam/common/glam_isometry.rs
+++ b/src/third_party/glam/common/glam_isometry.rs
@ -0,0 +1,193 @@
+use super::glam::{DMat3, DMat4, DQuat, DVec2, DVec3, Mat3, Mat4, Quat, Vec2, Vec3};
+use crate::{Isometry2, Isometry3, Matrix3, Matrix4};
+use std::convert::TryFrom;
+
+impl From<Isometry2<f32>> for Mat3 {
+    fn from(iso: Isometry2<f32>) -> Mat3 {
+        iso.to_homogeneous().into()
+    }
+}
+impl From<Isometry3<f32>> for Mat4 {
+    fn from(iso: Isometry3<f32>) -> Mat4 {
+        iso.to_homogeneous().into()
+    }
+}
+
+impl From<Isometry2<f64>> for DMat3 {
+    fn from(iso: Isometry2<f64>) -> DMat3 {
+        iso.to_homogeneous().into()
+    }
+}
+impl From<Isometry3<f64>> for DMat4 {
+    fn from(iso: Isometry3<f64>) -> DMat4 {
+        iso.to_homogeneous().into()
+    }
+}
+
+impl From<Isometry3<f32>> for (Vec3, Quat) {
+    fn from(iso: Isometry3<f32>) -> (Vec3, Quat) {
+        (iso.translation.into(), iso.rotation.into())
+    }
+}
+
+impl From<Isometry3<f64>> for (DVec3, DQuat) {
+    fn from(iso: Isometry3<f64>) -> (DVec3, DQuat) {
+        (iso.translation.into(), iso.rotation.into())
+    }
+}
+
+impl From<Isometry2<f32>> for (Vec3, Quat) {
+    fn from(iso: Isometry2<f32>) -> (Vec3, Quat) {
+        let tra = Vec3::new(iso.translation.x, iso.translation.y, 0.0);
+        let rot = Quat::from_axis_angle(Vec3::Z, iso.rotation.angle());
+        (tra, rot)
+    }
+}
+
+impl From<Isometry2<f64>> for (DVec3, DQuat) {
+    fn from(iso: Isometry2<f64>) -> (DVec3, DQuat) {
+        let tra = DVec3::new(iso.translation.x, iso.translation.y, 0.0);
+        let rot = DQuat::from_axis_angle(DVec3::Z, iso.rotation.angle());
+        (tra, rot)
+    }
+}
+
+impl From<(Vec3, Quat)> for Isometry3<f32> {
+    fn from((tra, rot): (Vec3, Quat)) -> Self {
+        Isometry3::from_parts(tra.into(), rot.into())
+    }
+}
+
+impl From<(DVec3, DQuat)> for Isometry3<f64> {
+    fn from((tra, rot): (DVec3, DQuat)) -> Self {
+        Isometry3::from_parts(tra.into(), rot.into())
+    }
+}
+
+impl From<(Vec3, Quat)> for Isometry2<f32> {
+    fn from((tra, rot): (Vec3, Quat)) -> Self {
+        Isometry2::new([tra.x, tra.y].into(), rot.to_axis_angle().1)
+    }
+}
+
+impl From<(DVec3, DQuat)> for Isometry2<f64> {
+    fn from((tra, rot): (DVec3, DQuat)) -> Self {
+        Isometry2::new([tra.x, tra.y].into(), rot.to_axis_angle().1)
+    }
+}
+
+impl From<(Vec2, Quat)> for Isometry2<f32> {
+    fn from((tra, rot): (Vec2, Quat)) -> Self {
+        Isometry2::new(tra.into(), rot.to_axis_angle().1)
+    }
+}
+
+impl From<(DVec2, DQuat)> for Isometry2<f64> {
+    fn from((tra, rot): (DVec2, DQuat)) -> Self {
+        Isometry2::new(tra.into(), rot.to_axis_angle().1)
+    }
+}
+
+impl From<(Vec2, f32)> for Isometry2<f32> {
+    fn from((tra, rot): (Vec2, f32)) -> Self {
+        Isometry2::new(tra.into(), rot)
+    }
+}
+
+impl From<(DVec2, f64)> for Isometry2<f64> {
+    fn from((tra, rot): (DVec2, f64)) -> Self {
+        Isometry2::new(tra.into(), rot)
+    }
+}
+
+impl From<Quat> for Isometry3<f32> {
+    fn from(rot: Quat) -> Self {
+        Isometry3::from_parts(crate::one(), rot.into())
+    }
+}
+
+impl From<DQuat> for Isometry3<f64> {
+    fn from(rot: DQuat) -> Self {
+        Isometry3::from_parts(crate::one(), rot.into())
+    }
+}
+
+impl From<Quat> for Isometry2<f32> {
+    fn from(rot: Quat) -> Self {
+        Isometry2::new(crate::zero(), rot.to_axis_angle().1)
+    }
+}
+
+impl From<DQuat> for Isometry2<f64> {
+    fn from(rot: DQuat) -> Self {
+        Isometry2::new(crate::zero(), rot.to_axis_angle().1)
+    }
+}
+
+impl From<Vec3> for Isometry3<f32> {
+    fn from(tra: Vec3) -> Self {
+        Isometry3::from_parts(tra.into(), crate::one())
+    }
+}
+
+impl From<DVec3> for Isometry3<f64> {
+    fn from(tra: DVec3) -> Self {
+        Isometry3::from_parts(tra.into(), crate::one())
+    }
+}
+
+impl From<Vec2> for Isometry2<f32> {
+    fn from(tra: Vec2) -> Self {
+        Isometry2::new(tra.into(), crate::one())
+    }
+}
+
+impl From<DVec2> for Isometry2<f64> {
+    fn from(tra: DVec2) -> Self {
+        Isometry2::new(tra.into(), crate::one())
+    }
+}
+
+impl From<Vec3> for Isometry2<f32> {
+    fn from(tra: Vec3) -> Self {
+        Isometry2::new([tra.x, tra.y].into(), crate::one())
+    }
+}
+
+impl From<DVec3> for Isometry2<f64> {
+    fn from(tra: DVec3) -> Self {
+        Isometry2::new([tra.x, tra.y].into(), crate::one())
+    }
+}
+
+impl TryFrom<Mat3> for Isometry2<f32> {
+    type Error = ();
+
+    fn try_from(mat3: Mat3) -> Result<Isometry2<f32>, Self::Error> {
+        crate::try_convert(Matrix3::from(mat3)).ok_or(())
+    }
+}
+
+impl TryFrom<Mat4> for Isometry3<f32> {
+    type Error = ();
+
+    fn try_from(mat4: Mat4) -> Result<Isometry3<f32>, Self::Error> {
+        crate::try_convert(Matrix4::from(mat4)).ok_or(())
+    }
+}
+
+impl TryFrom<DMat3> for Isometry2<f64> {
+    type Error = ();
+
+    fn try_from(mat3: DMat3) -> Result<Isometry2<f64>, Self::Error> {
+        crate::try_convert(Matrix3::from(mat3)).ok_or(())
+    }
+}
+
+impl TryFrom<DMat4> for Isometry3<f64> {
+    type Error = ();
+
+    fn try_from(mat4: DMat4) -> Result<Isometry3<f64>, Self::Error> {
+        crate::try_convert(Matrix4::from(mat4)).ok_or(())
+    }
+}
--- a/src/third_party/glam/common/glam_matrix.rs
+++ b/src/third_party/glam/common/glam_matrix.rs
@ -1,9 +1,9 @@
-use crate::storage::Storage;
-use crate::{Matrix, Matrix2, Matrix3, Matrix4, Vector, Vector2, Vector3, Vector4, U2, U3, U4};
-use glam::{
+use super::glam::{
    BVec2, BVec3, BVec4, DMat2, DMat3, DMat4, DVec2, DVec3, DVec4, IVec2, IVec3, IVec4, Mat2, Mat3,
    Mat4, UVec2, UVec3, UVec4, Vec2, Vec3, Vec3A, Vec4,
 };
+use crate::storage::Storage;
+use crate::{Matrix, Matrix2, Matrix3, Matrix4, Vector, Vector2, Vector3, Vector4, U2, U3, U4};

 macro_rules! impl_vec_conversion(
    ($N: ty, $Vec2: ty, $Vec3: ty, $Vec4: ty) => {
--- a/src/third_party/glam/common/glam_point.rs
+++ b/src/third_party/glam/common/glam_point.rs
@ -1,8 +1,8 @@
-use crate::{Point2, Point3, Point4};
-use glam::{
+use super::glam::{
    BVec2, BVec3, BVec4, DVec2, DVec3, DVec4, IVec2, IVec3, IVec4, UVec2, UVec3, UVec4, Vec2, Vec3,
    Vec3A, Vec4,
 };
+use crate::{Point2, Point3, Point4};

 macro_rules! impl_point_conversion(
    ($N: ty, $Vec2: ty, $Vec3: ty, $Vec4: ty) => {
--- a/src/third_party/glam/common/glam_quaternion.rs
+++ b/src/third_party/glam/common/glam_quaternion.rs
@ -1,5 +1,5 @@
+use super::glam::{DQuat, Quat};
 use crate::{Quaternion, UnitQuaternion};
-use glam::{DQuat, Quat};

 impl From<Quat> for Quaternion<f32> {
    #[inline]
@ -43,22 +43,16 @@ impl From<UnitQuaternion<f64>> for DQuat {
    }
 }

-#[cfg(feature = "convert-glam-unchecked")]
-mod unchecked {
-    use crate::{Quaternion, UnitQuaternion};
-    use glam::{DQuat, Quat};
-
-    impl From<Quat> for UnitQuaternion<f32> {
+impl From<Quat> for UnitQuaternion<f32> {
    #[inline]
    fn from(e: Quat) -> UnitQuaternion<f32> {
-            UnitQuaternion::new_unchecked(Quaternion::from(e))
-        }
-    }
-
-    impl From<DQuat> for UnitQuaternion<f64> {
-        #[inline]
-        fn from(e: DQuat) -> UnitQuaternion<f64> {
-            UnitQuaternion::new_unchecked(Quaternion::from(e))
-        }
+        UnitQuaternion::new_normalize(Quaternion::from(e))
+    }
+}
+
+impl From<DQuat> for UnitQuaternion<f64> {
+    #[inline]
+    fn from(e: DQuat) -> UnitQuaternion<f64> {
+        UnitQuaternion::new_normalize(Quaternion::from(e))
    }
 }
--- a/src/third_party/glam/common/glam_rotation.rs
+++ b/src/third_party/glam/common/glam_rotation.rs
@ -0,0 +1,58 @@
+use super::glam::{DMat2, DQuat, Mat2, Quat};
+use crate::{Rotation2, Rotation3, UnitComplex, UnitQuaternion};
+
+impl From<Rotation2<f32>> for Mat2 {
+    #[inline]
+    fn from(e: Rotation2<f32>) -> Mat2 {
+        e.into_inner().into()
+    }
+}
+
+impl From<Rotation2<f64>> for DMat2 {
+    #[inline]
+    fn from(e: Rotation2<f64>) -> DMat2 {
+        e.into_inner().into()
+    }
+}
+
+impl From<Rotation3<f32>> for Quat {
+    #[inline]
+    fn from(e: Rotation3<f32>) -> Quat {
+        UnitQuaternion::from(e).into()
+    }
+}
+
+impl From<Rotation3<f64>> for DQuat {
+    #[inline]
+    fn from(e: Rotation3<f64>) -> DQuat {
+        UnitQuaternion::from(e).into()
+    }
+}
+
+impl From<Mat2> for Rotation2<f32> {
+    #[inline]
+    fn from(e: Mat2) -> Rotation2<f32> {
+        UnitComplex::from(e).to_rotation_matrix()
+    }
+}
+
+impl From<DMat2> for Rotation2<f64> {
+    #[inline]
+    fn from(e: DMat2) -> Rotation2<f64> {
+        UnitComplex::from(e).to_rotation_matrix()
+    }
+}
+
+impl From<Quat> for Rotation3<f32> {
+    #[inline]
+    fn from(e: Quat) -> Rotation3<f32> {
+        Rotation3::from(UnitQuaternion::from(e))
+    }
+}
+
+impl From<DQuat> for Rotation3<f64> {
+    #[inline]
+    fn from(e: DQuat) -> Rotation3<f64> {
+        Rotation3::from(UnitQuaternion::from(e))
+    }
+}
--- a/src/third_party/glam/common/glam_similarity.rs
+++ b/src/third_party/glam/common/glam_similarity.rs
@ -0,0 +1,53 @@
+use super::glam::{DMat3, DMat4, Mat3, Mat4};
+use crate::{Matrix3, Matrix4, Similarity2, Similarity3};
+use std::convert::TryFrom;
+
+impl From<Similarity2<f32>> for Mat3 {
+    fn from(iso: Similarity2<f32>) -> Mat3 {
+        iso.to_homogeneous().into()
+    }
+}
+impl From<Similarity3<f32>> for Mat4 {
+    fn from(iso: Similarity3<f32>) -> Mat4 {
+        iso.to_homogeneous().into()
+    }
+}
+
+impl From<Similarity2<f64>> for DMat3 {
+    fn from(iso: Similarity2<f64>) -> DMat3 {
+        iso.to_homogeneous().into()
+    }
+}
+impl From<Similarity3<f64>> for DMat4 {
+    fn from(iso: Similarity3<f64>) -> DMat4 {
+        iso.to_homogeneous().into()
+    }
+}
+
+impl TryFrom<Mat3> for Similarity2<f32> {
+    type Error = ();
+    fn try_from(mat3: Mat3) -> Result<Similarity2<f32>, ()> {
+        crate::try_convert(Matrix3::from(mat3)).ok_or(())
+    }
+}
+
+impl TryFrom<Mat4> for Similarity3<f32> {
+    type Error = ();
+    fn try_from(mat4: Mat4) -> Result<Similarity3<f32>, ()> {
+        crate::try_convert(Matrix4::from(mat4)).ok_or(())
+    }
+}
+
+impl TryFrom<DMat3> for Similarity2<f64> {
+    type Error = ();
+    fn try_from(mat3: DMat3) -> Result<Similarity2<f64>, ()> {
+        crate::try_convert(Matrix3::from(mat3)).ok_or(())
+    }
+}
+
+impl TryFrom<DMat4> for Similarity3<f64> {
+    type Error = ();
+    fn try_from(mat4: DMat4) -> Result<Similarity3<f64>, ()> {
+        crate::try_convert(Matrix4::from(mat4)).ok_or(())
+    }
+}
--- a/src/third_party/glam/common/glam_translation.rs
+++ b/src/third_party/glam/common/glam_translation.rs
@ -0,0 +1,65 @@
+use super::glam::{DVec2, DVec3, DVec4, Vec2, Vec3, Vec3A, Vec4};
+use crate::{Translation2, Translation3, Translation4};
+
+macro_rules! impl_translation_conversion(
+    ($N: ty, $Vec2: ty, $Vec3: ty, $Vec4: ty) => {
+        impl From<$Vec2> for Translation2<$N> {
+            #[inline]
+            fn from(e: $Vec2) -> Translation2<$N> {
+                (*e.as_ref()).into()
+            }
+        }
+
+        impl From<Translation2<$N>> for $Vec2 {
+            #[inline]
+            fn from(e: Translation2<$N>) -> $Vec2 {
+                e.vector.into()
+            }
+        }
+
+        impl From<$Vec3> for Translation3<$N> {
+            #[inline]
+            fn from(e: $Vec3) -> Translation3<$N> {
+                (*e.as_ref()).into()
+            }
+        }
+
+        impl From<Translation3<$N>> for $Vec3 {
+            #[inline]
+            fn from(e: Translation3<$N>) -> $Vec3 {
+                e.vector.into()
+            }
+        }
+
+        impl From<$Vec4> for Translation4<$N> {
+            #[inline]
+            fn from(e: $Vec4) -> Translation4<$N> {
+                (*e.as_ref()).into()
+            }
+        }
+
+        impl From<Translation4<$N>> for $Vec4 {
+            #[inline]
+            fn from(e: Translation4<$N>) -> $Vec4 {
+                e.vector.into()
+            }
+        }
+    }
+);
+
+impl_translation_conversion!(f32, Vec2, Vec3, Vec4);
+impl_translation_conversion!(f64, DVec2, DVec3, DVec4);
+
+impl From<Vec3A> for Translation3<f32> {
+    #[inline]
+    fn from(e: Vec3A) -> Translation3<f32> {
+        (*e.as_ref()).into()
+    }
+}
+
+impl From<Translation3<f32>> for Vec3A {
+    #[inline]
+    fn from(e: Translation3<f32>) -> Vec3A {
+        e.vector.into()
+    }
+}
--- a/src/third_party/glam/common/glam_unit_complex.rs
+++ b/src/third_party/glam/common/glam_unit_complex.rs
@ -0,0 +1,30 @@
+use super::glam::{DMat2, Mat2};
+use crate::{Complex, UnitComplex};
+
+impl From<UnitComplex<f32>> for Mat2 {
+    #[inline]
+    fn from(e: UnitComplex<f32>) -> Mat2 {
+        e.to_rotation_matrix().into_inner().into()
+    }
+}
+
+impl From<UnitComplex<f64>> for DMat2 {
+    #[inline]
+    fn from(e: UnitComplex<f64>) -> DMat2 {
+        e.to_rotation_matrix().into_inner().into()
+    }
+}
+
+impl From<Mat2> for UnitComplex<f32> {
+    #[inline]
+    fn from(e: Mat2) -> UnitComplex<f32> {
+        UnitComplex::new_normalize(Complex::new(e.x_axis.x, e.x_axis.y))
+    }
+}
+
+impl From<DMat2> for UnitComplex<f64> {
+    #[inline]
+    fn from(e: DMat2) -> UnitComplex<f64> {
+        UnitComplex::new_normalize(Complex::new(e.x_axis.x, e.x_axis.y))
+    }
+}
--- a/src/third_party/glam/glam_isometry.rs
+++ b/src/third_party/glam/glam_isometry.rs
@ -1,54 +0,0 @@
-use crate::{Isometry2, Isometry3};
-use glam::{DMat3, DMat4, Mat3, Mat4};
-
-impl From<Isometry2<f32>> for Mat3 {
-    fn from(iso: Isometry2<f32>) -> Mat3 {
-        iso.to_homogeneous().into()
-    }
-}
-impl From<Isometry3<f32>> for Mat4 {
-    fn from(iso: Isometry3<f32>) -> Mat4 {
-        iso.to_homogeneous().into()
-    }
-}
-
-impl From<Isometry2<f64>> for DMat3 {
-    fn from(iso: Isometry2<f64>) -> DMat3 {
-        iso.to_homogeneous().into()
-    }
-}
-impl From<Isometry3<f64>> for DMat4 {
-    fn from(iso: Isometry3<f64>) -> DMat4 {
-        iso.to_homogeneous().into()
-    }
-}
-
-#[cfg(feature = "convert-glam-unchecked")]
-mod unchecked {
-    use crate::{Isometry2, Isometry3, Matrix3, Matrix4};
-    use glam::{DMat3, DMat4, Mat3, Mat4};
-
-    impl From<Mat3> for Isometry2<f32> {
-        fn from(mat3: Mat3) -> Isometry2<f32> {
-            crate::convert_unchecked(Matrix3::from(mat3))
-        }
-    }
-
-    impl From<Mat4> for Isometry3<f32> {
-        fn from(mat4: Mat4) -> Isometry3<f32> {
-            crate::convert_unchecked(Matrix4::from(mat4))
-        }
-    }
-
-    impl From<DMat3> for Isometry2<f64> {
-        fn from(mat3: DMat3) -> Isometry2<f64> {
-            crate::convert_unchecked(Matrix3::from(mat3))
-        }
-    }
-
-    impl From<DMat4> for Isometry3<f64> {
-        fn from(mat4: DMat4) -> Isometry3<f64> {
-            crate::convert_unchecked(Matrix4::from(mat4))
-        }
-    }
-}
--- a/src/third_party/glam/glam_rotation.rs
+++ b/src/third_party/glam/glam_rotation.rs
@ -1,64 +0,0 @@
-use crate::{Rotation2, Rotation3, UnitQuaternion};
-use glam::{DMat2, DQuat, Mat2, Quat};
-
-impl From<Rotation2<f32>> for Mat2 {
-    #[inline]
-    fn from(e: Rotation2<f32>) -> Mat2 {
-        e.into_inner().into()
-    }
-}
-
-impl From<Rotation2<f64>> for DMat2 {
-    #[inline]
-    fn from(e: Rotation2<f64>) -> DMat2 {
-        e.into_inner().into()
-    }
-}
-
-impl From<Rotation3<f32>> for Quat {
-    #[inline]
-    fn from(e: Rotation3<f32>) -> Quat {
-        UnitQuaternion::from(e).into()
-    }
-}
-
-impl From<Rotation3<f64>> for DQuat {
-    #[inline]
-    fn from(e: Rotation3<f64>) -> DQuat {
-        UnitQuaternion::from(e).into()
-    }
-}
-
-#[cfg(feature = "convert-glam-unchecked")]
-mod unchecked {
-    use crate::{Rotation2, Rotation3, UnitQuaternion};
-    use glam::{DMat2, DQuat, Mat2, Quat};
-
-    impl From<Mat2> for Rotation2<f32> {
-        #[inline]
-        fn from(e: Mat2) -> Rotation2<f32> {
-            Rotation2::from_matrix_unchecked(e.into())
-        }
-    }
-
-    impl From<DMat2> for Rotation2<f64> {
-        #[inline]
-        fn from(e: DMat2) -> Rotation2<f64> {
-            Rotation2::from_matrix_unchecked(e.into())
-        }
-    }
-
-    impl From<Quat> for Rotation3<f32> {
-        #[inline]
-        fn from(e: Quat) -> Rotation3<f32> {
-            Rotation3::from(UnitQuaternion::from(e))
-        }
-    }
-
-    impl From<DQuat> for Rotation3<f64> {
-        #[inline]
-        fn from(e: DQuat) -> Rotation3<f64> {
-            Rotation3::from(UnitQuaternion::from(e))
-        }
-    }
-}
--- a/src/third_party/glam/glam_similarity.rs
+++ b/src/third_party/glam/glam_similarity.rs
@ -1,54 +0,0 @@
-use crate::{Similarity2, Similarity3};
-use glam::{DMat3, DMat4, Mat3, Mat4};
-
-impl From<Similarity2<f32>> for Mat3 {
-    fn from(iso: Similarity2<f32>) -> Mat3 {
-        iso.to_homogeneous().into()
-    }
-}
-impl From<Similarity3<f32>> for Mat4 {
-    fn from(iso: Similarity3<f32>) -> Mat4 {
-        iso.to_homogeneous().into()
-    }
-}
-
-impl From<Similarity2<f64>> for DMat3 {
-    fn from(iso: Similarity2<f64>) -> DMat3 {
-        iso.to_homogeneous().into()
-    }
-}
-impl From<Similarity3<f64>> for DMat4 {
-    fn from(iso: Similarity3<f64>) -> DMat4 {
-        iso.to_homogeneous().into()
-    }
-}
-
-#[cfg(feature = "convert-glam-unchecked")]
-mod unchecked {
-    use crate::{Matrix3, Matrix4, Similarity2, Similarity3};
-    use glam::{DMat3, DMat4, Mat3, Mat4};
-
-    impl From<Mat3> for Similarity2<f32> {
-        fn from(mat3: Mat3) -> Similarity2<f32> {
-            crate::convert_unchecked(Matrix3::from(mat3))
-        }
-    }
-
-    impl From<Mat4> for Similarity3<f32> {
-        fn from(mat4: Mat4) -> Similarity3<f32> {
-            crate::convert_unchecked(Matrix4::from(mat4))
-        }
-    }
-
-    impl From<DMat3> for Similarity2<f64> {
-        fn from(mat3: DMat3) -> Similarity2<f64> {
-            crate::convert_unchecked(Matrix3::from(mat3))
-        }
-    }
-
-    impl From<DMat4> for Similarity3<f64> {
-        fn from(mat4: DMat4) -> Similarity3<f64> {
-            crate::convert_unchecked(Matrix4::from(mat4))
-        }
-    }
-}
--- a/src/third_party/glam/glam_unit_complex.rs
+++ b/src/third_party/glam/glam_unit_complex.rs
@ -1,36 +0,0 @@
-use crate::UnitComplex;
-use glam::{DMat2, Mat2};
-
-impl From<UnitComplex<f32>> for Mat2 {
-    #[inline]
-    fn from(e: UnitComplex<f32>) -> Mat2 {
-        e.to_rotation_matrix().into_inner().into()
-    }
-}
-
-impl From<UnitComplex<f64>> for DMat2 {
-    #[inline]
-    fn from(e: UnitComplex<f64>) -> DMat2 {
-        e.to_rotation_matrix().into_inner().into()
-    }
-}
-
-#[cfg(feature = "convert-glam-unchecked")]
-mod unchecked {
-    use crate::{Rotation2, UnitComplex};
-    use glam::{DMat2, Mat2};
-
-    impl From<Mat2> for UnitComplex<f32> {
-        #[inline]
-        fn from(e: Mat2) -> UnitComplex<f32> {
-            Rotation2::from_matrix_unchecked(e.into()).into()
-        }
-    }
-
-    impl From<DMat2> for UnitComplex<f64> {
-        #[inline]
-        fn from(e: DMat2) -> UnitComplex<f64> {
-            Rotation2::from_matrix_unchecked(e.into()).into()
-        }
-    }
-}
--- a/src/third_party/glam/mod.rs
+++ b/src/third_party/glam/mod.rs
@ -1,7 +1,6 @@
-mod glam_isometry;
-mod glam_matrix;
-mod glam_point;
-mod glam_quaternion;
-mod glam_rotation;
-mod glam_similarity;
-mod glam_unit_complex;
+#[cfg(feature = "glam013")]
+mod v013;
+#[cfg(feature = "glam014")]
+mod v014;
+#[cfg(feature = "glam015")]
+mod v015;
--- a/src/third_party/glam/v013/mod.rs
+++ b/src/third_party/glam/v013/mod.rs
@ -0,0 +1,18 @@
+#[path = "../common/glam_isometry.rs"]
+mod glam_isometry;
+#[path = "../common/glam_matrix.rs"]
+mod glam_matrix;
+#[path = "../common/glam_point.rs"]
+mod glam_point;
+#[path = "../common/glam_quaternion.rs"]
+mod glam_quaternion;
+#[path = "../common/glam_rotation.rs"]
+mod glam_rotation;
+#[path = "../common/glam_similarity.rs"]
+mod glam_similarity;
+#[path = "../common/glam_translation.rs"]
+mod glam_translation;
+#[path = "../common/glam_unit_complex.rs"]
+mod glam_unit_complex;
+
+pub(self) use glam013 as glam;
--- a/src/third_party/glam/v014/mod.rs
+++ b/src/third_party/glam/v014/mod.rs
@ -0,0 +1,18 @@
+#[path = "../common/glam_isometry.rs"]
+mod glam_isometry;
+#[path = "../common/glam_matrix.rs"]
+mod glam_matrix;
+#[path = "../common/glam_point.rs"]
+mod glam_point;
+#[path = "../common/glam_quaternion.rs"]
+mod glam_quaternion;
+#[path = "../common/glam_rotation.rs"]
+mod glam_rotation;
+#[path = "../common/glam_similarity.rs"]
+mod glam_similarity;
+#[path = "../common/glam_translation.rs"]
+mod glam_translation;
+#[path = "../common/glam_unit_complex.rs"]
+mod glam_unit_complex;
+
+pub(self) use glam014 as glam;
--- a/src/third_party/glam/v015/mod.rs
+++ b/src/third_party/glam/v015/mod.rs
@ -0,0 +1,18 @@
+#[path = "../common/glam_isometry.rs"]
+mod glam_isometry;
+#[path = "../common/glam_matrix.rs"]
+mod glam_matrix;
+#[path = "../common/glam_point.rs"]
+mod glam_point;
+#[path = "../common/glam_quaternion.rs"]
+mod glam_quaternion;
+#[path = "../common/glam_rotation.rs"]
+mod glam_rotation;
+#[path = "../common/glam_similarity.rs"]
+mod glam_similarity;
+#[path = "../common/glam_translation.rs"]
+mod glam_translation;
+#[path = "../common/glam_unit_complex.rs"]
+mod glam_unit_complex;
+
+pub(self) use glam015 as glam;
--- a/src/third_party/mod.rs
+++ b/src/third_party/mod.rs
@ -1,6 +1,5 @@
 #[cfg(feature = "alga")]
 mod alga;
-#[cfg(feature = "glam")]
 mod glam;
 #[cfg(feature = "mint")]
 mod mint;
--- a/tests/core/conversion.rs
+++ b/tests/core/conversion.rs
@ -1,5 +1,4 @@
-#![cfg(all(feature = "proptest-support", feature = "alga"))]
-use alga::linear::Transformation;
+#![cfg(all(feature = "proptest-support"))]
 use na::{
    self, Affine3, Isometry3, Matrix2, Matrix2x3, Matrix2x4, Matrix2x5, Matrix2x6, Matrix3,
    Matrix3x2, Matrix3x4, Matrix3x5, Matrix3x6, Matrix4, Matrix4x2, Matrix4x3, Matrix4x5,
@ -16,7 +15,7 @@ use proptest::{prop_assert, prop_assert_eq, proptest};

 proptest! {
    #[test]
-    fn translation_conversion(t in translation3(), v in vector3(), p in point3()) {
+    fn translation_conversion(t in translation3(), p in point3()) {
        let iso: Isometry3<f64>   = na::convert(t);
        let sim: Similarity3<f64> = na::convert(t);
        let aff: Affine3<f64>     = na::convert(t);
@ -29,12 +28,6 @@ proptest! {
        prop_assert_eq!(t, na::try_convert(prj).unwrap());
        prop_assert_eq!(t, na::try_convert(tr).unwrap() );

-        prop_assert_eq!(t.transform_vector(&v), iso * v);
-        prop_assert_eq!(t.transform_vector(&v), sim * v);
-        prop_assert_eq!(t.transform_vector(&v), aff * v);
-        prop_assert_eq!(t.transform_vector(&v), prj * v);
-        prop_assert_eq!(t.transform_vector(&v), tr  * v);
-
        prop_assert_eq!(t * p, iso * p);
        prop_assert_eq!(t * p, sim * p);
        prop_assert_eq!(t * p, aff * p);
--- a/tests/core/macros.rs
+++ b/tests/core/macros.rs
@ -0,0 +1,12 @@
+use nalgebra::{dmatrix, dvector, matrix, point, vector};
+
+#[test]
+fn sanity_test() {
+    // The macros are already tested in `nalgebra-macros`. Here we just test that they compile fine.
+
+    let _ = matrix![1, 2, 3; 4, 5, 6];
+    let _ = dmatrix![1, 2, 3; 4, 5, 6];
+    let _ = point![1, 2, 3, 4, 5, 6];
+    let _ = vector![1, 2, 3, 4, 5, 6];
+    let _ = dvector![1, 2, 3, 4, 5, 6];
+}
--- a/tests/core/mod.rs
+++ b/tests/core/mod.rs
@ -16,3 +16,6 @@ mod matrixcompare;

 #[cfg(feature = "arbitrary")]
 pub mod helper;
+
+#[cfg(feature = "macros")]
+mod macros;
--- a/tests/core/serde.rs
+++ b/tests/core/serde.rs
@ -1,8 +1,8 @@
 #![cfg(feature = "serde-serialize")]

 use na::{
-    DMatrix, Isometry2, Isometry3, IsometryMatrix2, IsometryMatrix3, Matrix3x4, Point2, Point3,
-    Quaternion, Rotation2, Rotation3, Similarity2, Similarity3, SimilarityMatrix2,
+    DMatrix, Isometry2, Isometry3, IsometryMatrix2, IsometryMatrix3, Matrix2x3, Matrix3x4, Point2,
+    Point3, Quaternion, Rotation2, Rotation3, Similarity2, Similarity3, SimilarityMatrix2,
    SimilarityMatrix3, Translation2, Translation3, Unit, Vector2,
 };
 use rand;
@ -27,6 +27,32 @@ fn serde_dmatrix() {
    let serialized = serde_json::to_string(&v).unwrap();
    let deserialized: DMatrix<f32> = serde_json::from_str(&serialized).unwrap();
    assert_eq!(v, deserialized);
+
+    let m = DMatrix::from_column_slice(2, 3, &[1.0, 2.0, 3.0, 4.0, 5.0, 6.0]);
+    let mat_str = "[[1.0, 2.0, 3.0, 4.0, 5.0, 6.0],2,3]";
+    let deserialized: DMatrix<f32> = serde_json::from_str(&mat_str).unwrap();
+    assert_eq!(m, deserialized);
+
+    let m = Matrix2x3::from_column_slice(&[1.0, 2.0, 3.0, 4.0, 5.0, 6.0]);
+    let mat_str = "[1.0, 2.0, 3.0, 4.0, 5.0, 6.0]";
+    let deserialized: Matrix2x3<f32> = serde_json::from_str(&mat_str).unwrap();
+    assert_eq!(m, deserialized);
+}
+
+#[test]
+#[should_panic]
+fn serde_dmatrix_invalid_len() {
+    // This must fail: we attempt to deserialize a 2x3 with only 5 elements.
+    let mat_str = "[[1.0, 2.0, 3.0, 4.0, 5.0],2,3]";
+    let _: DMatrix<f32> = serde_json::from_str(&mat_str).unwrap();
+}
+
+#[test]
+#[should_panic]
+fn serde_smatrix_invalid_len() {
+    // This must fail: we attempt to deserialize a 2x3 with only 5 elements.
+    let mat_str = "[1.0, 2.0, 3.0, 4.0, 5.0]";
+    let _: Matrix2x3<f32> = serde_json::from_str(&mat_str).unwrap();
 }

 test_serde!(
--- a/tests/lib.rs
+++ b/tests/lib.rs
@ -1,7 +1,12 @@
-#[cfg(not(all(feature = "debug", feature = "compare", feature = "rand")))]
+#[cfg(not(all(
+    feature = "debug",
+    feature = "compare",
+    feature = "rand",
+    feature = "macros"
+)))]
 compile_error!(
-    "Please enable the `debug`, `compare`, and `rand` features in order to compile and run the tests.
-     Example: `cargo test --features debug,compare,rand`"
+    "Please enable the `debug`, `compare`, `rand` and `macros` features in order to compile and run the tests.
+     Example: `cargo test --features debug,compare,rand,macros`"
 );

 #[cfg(feature = "abomonation-serialize")]