Release v0.30.0

CHANGELOG.md

@@ -4,13 +4,21 @@ documented here.
 
 This project adheres to [Semantic Versioning](https://semver.org/).
 
-## [0.30.0]
+## [0.30.0] (02 Jan. 2022)
 
 ### Breaking changes
 - The `Dim` trait is now marked as unsafe.
+- The `Matrix::pow` and `Matrix::pow_mut` methods only allow positive integer exponents now. To compute negative
+  exponents, the user is free to invert the matrix before calling `pow` with the exponent’s absolute value.
 
 ### Modified
 - Use more concise debug impls for matrices and geometric transformation types.
+- The singular values computed by the SVD are now sorted in increasing order by default. Use `SVD::new_unordered`
+  instead to reproduce the older behavior without the sorting overhead.
+- The `UnitDualQuaternion::sclerp` method will no longer panic when given two equal rotations.
+- The `Matrix::select_rows` and `Matrix::select_columns` methods no longer require the matrix components to implement
+  the trait `Zero`.
+- The `Matrix::pow` and `Matrix::pow_mut` methods will now also work with integer matrices.
 
 ### Added
 - Added the conversion trait `From<Vec<T>>` and method `from_vec_storage` for `RowDVector`.
@@ -21,14 +29,26 @@ This project adheres to [Semantic Versioning](https://semver.org/).
 - The `Default` trait is now implemented for most geometric types: `Point`, `Isometry`, `Rotation`, `Similarity`,
   `Transform`, `UnitComplex`, and `UnitQuaternion`.
 - Added the `Scale` geometric type for representing non-uniform scaling.
-- `nalgebra-sparse`: provide constructors for unsorted but otherwise valid data using the CSR format.
 - Added `Cholesky::new_with_substitute` that will replace diagonal elements by a given constant whenever `Cholesky`
   meets a non-definite-positiveness.
+- Re-added the conversion from a vector/matrix slice to a static array.
+- Added the `cuda` feature that enables the support of [rust-cuda](https://github.com/Rust-GPU/Rust-CUDA) for using
+  `nalgebra` features with CUDA kernels written in Rust.
+- Added special-cases implementations for the 2x2 and 3x3 SVDs for better accuracy and performances.
+- Added the methods `Matrix::polar`, `Matrix::try_polar`, and `SVD::to_polar` to compute the polar decomposition of
+  a matrix, based on its SVD.
+- `nalgebra-sparse`: provide constructors for unsorted but otherwise valid data using the CSR format.
+- `nalgebra-sparse`: added reading MatrixMarked data files to a sparse `CooMatrix`.
 
 ### Fixed
 - Fixed a potential unsoundness with `matrix.get(i)` and `matrix.get_mut(i)` where `i`  is an `usize`, and `matrix`
   is a matrix slice with non-default strides.
 - Fixed potential unsoundness with `vector.perp` where `vector` isn’t actually a 2D vector as expected.
+- Fixed linkage issue with `nalgebra-lapack`: the user of `nalgebra-lapack` no longer have to add
+  `extern crate lapack-src` to their `main.rs`.
+- Fixed the `no-std` build of `nalgebra-glm`.
+- Fix the `pow` and `pow_mut` functions (the result was incorrect for some exponent values).
+
 
 ## [0.29.0]
 ### Breaking changes

Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name    = "nalgebra"
-version = "0.29.0"
+version = "0.30.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
 
 description = "General-purpose linear algebra library with transformations and statically-sized or dynamically-sized matrices."
@@ -74,7 +74,7 @@ num-traits     = { version = "0.2", 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 = "0.6", default-features = false }
+simba          = { version = "0.7", 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 }
@@ -134,5 +134,3 @@ lto = true
 # Enable certain features when building docs for docs.rs
 features = [ "proptest-support", "compare", "macros", "rand" ]
 
-[patch.crates-io]
-simba = { git = "https://github.com/dimforge/simba"}

Makefile

@@ -1,12 +0,0 @@
-all:
-	cargo test --features "debug arbitrary serde-serialize abomonation-serialize compare"
-	# cargo check --features "debug arbitrary serde-serialize"
-
-doc:
-	cargo doc --no-deps --features "debug arbitrary serde-serialize abomonation"
-
-bench:
-	cargo bench
-
-test:
-	cargo test --features "debug arbitrary serde-serialize abomonation-serialize compare"

README.md

@@ -30,10 +30,18 @@
 
 -----
 
-## Platinum sponsors
+## Acknowledgements
-Rapier is supported by:
+nalgebra is supported by our **platinum** sponsors:
 <p>
   <a href="https://embark-studios.com">
-    <img src="https://www.embark.dev/img/logo_black.png" width="401px">
+    <img src="https://www.embark.dev/img/logo_black.png" width="301px">
   </a>
 </p>
+
+And our gold sponsors:
+
+<p>
+  <a href="https://fragcolor.com">
+    <img src="https://dimforge.com/img/fragcolor_logo1_color_black.svg" width="151px">
+  </a>
+</p>

examples/cargo/Cargo.toml

@@ -4,7 +4,7 @@ version = "0.0.0"
 authors = [ "You" ]
 
 [dependencies]
-nalgebra = "0.29.0"
+nalgebra = "0.30.0"
 
 [[bin]]
 name = "example"

nalgebra-glm/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "nalgebra-glm"
-version = "0.15.0"
+version = "0.16.0"
 authors = ["sebcrozet <developer@crozet.re>"]
 
 description = "A computer-graphics oriented API for nalgebra, inspired by the C++ GLM library."
@@ -37,5 +37,5 @@ convert-glam018 = [ "nalgebra/glam018" ]
 [dependencies]
 num-traits = { version = "0.2", default-features = false }
 approx = { version = "0.5", default-features = false }
-simba = { version = "0.6", default-features = false }
+simba = { version = "0.7", default-features = false }
-nalgebra = { path =  "..", version = "0.29", default-features = false }
+nalgebra = { path =  "..", version = "0.30", default-features = false }

nalgebra-lapack/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name    = "nalgebra-lapack"
-version = "0.20.0"
+version = "0.21.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>", "Andrew Straw <strawman@astraw.com>" ]
 
 description   = "Matrix decompositions using nalgebra matrices and Lapack bindings."
@@ -29,17 +29,17 @@ accelerate = ["lapack-src/accelerate"]
 intel-mkl  = ["lapack-src/intel-mkl"]
 
 [dependencies]
-nalgebra      = { version = "0.29", path = ".." }
+nalgebra      = { version = "0.30", path = ".." }
 num-traits    = "0.2"
 num-complex   = { version = "0.4", default-features = false }
-simba         = "0.5"
+simba         = "0.7"
 serde         = { version = "1.0", features = [ "derive" ], optional = true }
 lapack        = { version = "0.19", default-features = false }
 lapack-src    = { version = "0.8", default-features = false }
 # clippy = "*"
 
 [dev-dependencies]
-nalgebra   = { version = "0.29", features = [ "arbitrary", "rand" ], path = ".." }
+nalgebra   = { version = "0.30", features = [ "arbitrary", "rand" ], path = ".." }
 proptest   = { version = "1", default-features = false, features = ["std"] }
 quickcheck = "1"
 approx     = "0.5"

nalgebra-lapack/src/eigen.rs

@@ -294,7 +294,7 @@ where
         let mut res = Matrix::zeros_generic(nrows, Const::<1>);
 
         for i in 0..res.len() {
-            res[i] = Complex::new(wr[i], wi[i]);
+            res[i] = Complex::new(wr[i].clone(), wi[i].clone());
         }
 
         res
@@ -306,7 +306,7 @@ where
     pub fn determinant(&self) -> T {
         let mut det = T::one();
         for e in self.eigenvalues.iter() {
-            det *= *e;
+            det *= e.clone();
         }
 
         det

nalgebra-lapack/src/schur.rs

@@ -155,7 +155,7 @@ where
         let mut out = Matrix::zeros_generic(self.t.shape_generic().0, Const::<1>);
 
         for i in 0..out.len() {
-            out[i] = Complex::new(self.re[i], self.im[i])
+            out[i] = Complex::new(self.re[i].clone(), self.im[i].clone())
         }
 
         out

nalgebra-lapack/src/symmetric_eigen.rs

@@ -140,7 +140,7 @@ where
     pub fn determinant(&self) -> T {
         let mut det = T::one();
         for e in self.eigenvalues.iter() {
-            det *= *e;
+            det *= e.clone();
         }
 
         det
@@ -153,7 +153,7 @@ where
     pub fn recompose(&self) -> OMatrix<T, D, D> {
         let mut u_t = self.eigenvectors.clone();
         for i in 0..self.eigenvalues.len() {
-            let val = self.eigenvalues[i];
+            let val = self.eigenvalues[i].clone();
             u_t.column_mut(i).mul_assign(val);
         }
         u_t.transpose_mut();

nalgebra-macros/Cargo.toml

@@ -21,5 +21,5 @@ quote = "1.0"
 proc-macro2 = "1.0"
 
 [dev-dependencies]
-nalgebra = { version = "0.29.0", path = ".." }
+nalgebra = { version = "0.30.0", path = ".." }
 trybuild = "1.0.42"

nalgebra-sparse/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "nalgebra-sparse"
-version = "0.5.0"
+version = "0.6.0"
 authors = [ "Andreas Longva", "Sébastien Crozet <developer@crozet.re>" ]
 edition = "2018"
 description = "Sparse matrix computation based on nalgebra."
@@ -23,7 +23,7 @@ io      = [ "pest", "pest_derive" ]
 slow-tests = []
 
 [dependencies]
-nalgebra = { version="0.29", path = "../" }
+nalgebra = { version="0.30", path = "../" }
 num-traits = { version = "0.2", default-features = false }
 proptest = { version = "1.0", optional = true }
 matrixcompare-core = { version = "0.1.0", optional = true }
@@ -33,7 +33,7 @@ pest_derive    = { version = "2", optional = true }
 [dev-dependencies]
 itertools = "0.10"
 matrixcompare = { version = "0.3.0", features = [ "proptest-support" ] }
-nalgebra = { version="0.29", path = "../", features = ["compare"] }
+nalgebra = { version="0.30", path = "../", features = ["compare"] }
 
 [package.metadata.docs.rs]
 # Enable certain features when building docs for docs.rs