Merge branch 'master-public' into sparse

# Conflicts:
#	Cargo.toml
#	examples/matrix_construction.rs
#	nalgebra-glm/src/constructors.rs
#	nalgebra-glm/src/ext/matrix_clip_space.rs
#	nalgebra-glm/src/ext/matrix_transform.rs
#	nalgebra-glm/src/ext/mod.rs
#	nalgebra-glm/src/ext/quaternion_common.rs
#	nalgebra-glm/src/gtx/quaternion.rs
#	nalgebra-glm/src/gtx/rotate_vector.rs
#	nalgebra-glm/src/lib.rs
#	nalgebra-glm/src/traits.rs
#	nalgebra-lapack/src/cholesky.rs
#	nalgebra-lapack/src/eigen.rs
#	nalgebra-lapack/src/hessenberg.rs
#	nalgebra-lapack/src/lu.rs
#	nalgebra-lapack/src/qr.rs
#	nalgebra-lapack/src/schur.rs
#	nalgebra-lapack/src/svd.rs
#	nalgebra-lapack/src/symmetric_eigen.rs
#	rustfmt.toml
#	src/base/array_storage.rs
#	src/base/blas.rs
#	src/base/cg.rs
#	src/base/default_allocator.rs
#	src/base/edition.rs
#	src/base/iter.rs
#	src/base/matrix.rs
#	src/base/swizzle.rs
#	src/base/vec_storage.rs
#	src/geometry/mod.rs
#	src/geometry/point_construction.rs
#	src/geometry/quaternion.rs
#	src/geometry/similarity.rs
#	src/geometry/translation.rs
#	src/geometry/unit_complex_construction.rs
#	src/linalg/bidiagonal.rs
#	src/linalg/cholesky.rs
#	src/linalg/full_piv_lu.rs
#	src/linalg/hessenberg.rs
#	src/linalg/lu.rs
#	src/linalg/permutation_sequence.rs
#	src/linalg/qr.rs
#	src/linalg/schur.rs
#	src/linalg/svd.rs
#	src/linalg/symmetric_eigen.rs
#	src/linalg/symmetric_tridiagonal.rs
#	tests/geometry/point.rs
#	tests/geometry/quaternion.rs
#	tests/lib.rs
#	tests/linalg/eigen.rs
#	tests/linalg/svd.rs

CHANGELOG.md

@@ -7,18 +7,53 @@ This project adheres to [Semantic Versioning](http://semver.org/).
 ## [0.17.0] - WIP
 
 ### Added
-  * Add swizzling up to dimension 3. For example, you can do `v.zxy()` as an equivalent to `Vector3::new(v.z, v.x, v.w)`.
+  * Add swizzling up to dimension 3 for vectors. For example, you can do `v.zxy()` as an equivalent to `Vector3::new(v.z, v.x, v.y)`.
+  * Add swizzling up to dimension 3 for points. For example, you can do `p.zxy()` as an equivalent to `Point3::new(p.z, p.x, p.y)`.
   * Add `.copy_from_slice` to copy matrix components from a slice in column-major order.
   * Add `.dot` to quaternions.
   * Add `.zip_zip_map` for iterating on three matrices simultaneously, and applying a closure to them.
   * Add `.slerp` and `.try_slerp` to unit vectors.
+  * Add `.lerp` to vectors.
   * Add `.to_projective` and `.as_projective` to `Perspective3` and `Orthographic3` in order to
   use them as `Projective3` structures.
   * Add `From/Into` impls to allow the conversion of any transformation type to a matrix.
   * Add `Into` impls to convert a matrix slice into an owned matrix.
   * Add `Point*::from_slice` to create a point from a slice.
-  * Add `.map_with_location` to matrices to apply a map which passes the component indices to the user-defined closure alongide
+  * Add `.map_with_location` to matrices to apply a map which passes the component indices to the user-defined closure alongside
   the component itself.
+  * Add impl `From<Vector>` for `Point`.
+  * Add impl `From<Vector4>` for `Quaternion`.
+  * Add impl `From<Vector>` for `Translation`.
+  * Add the `::from_vec` constructor to construct a matrix from a `Vec` (a `DMatrix` will reuse the original `Vec`
+  as-is for its storage).
+  * Add `.to_homogeneous` to square matrices (and with dimensions higher than 1x1). This will increase their number of row
+  and columns by 1. The new column and row are filled with 0, except for the diagonal element which is set to 1.
+  * Implement `Extend<Vec>` for matrices with a dynamic storage. The provided `Vec` is assumed to represent a column-major
+  matrix with the same number of rows as the one being extended. This will effectively append new columns on the right of
+  the matrix being extended.
+  * Implement `Extend<Vec>` for vectors with a dynamic storage. This will concatenate the vector with the given `Vec`.
+  * Implement `Extend<Matrix<...>>` for matrices with dynamic storage. This will concatenate the columns of both matrices.
+  * Implement `Into<Vec>` for the `MatrixVec` storage.
+  * Implement `Hash` for all matrices.
+  * Add a `.len()` method to retrieve the size of a `MatrixVec`.
+
+### Modified
+  * The orthographic projection no longer require that `bottom < top`, that `left < right`, and that `znear < zfar`. The
+  only restriction now ith that they must not be equal (in which case the projection would be singular).
+  * The `Point::from_coordinates` methods is deprecated. Use `Point::from` instead.
+  * The `.transform_point` and `.transform_vector` methods are now inherent methods for matrices so that the user does not have to
+  explicitly import the `Transform` trait from the alga crate.
+  * Renamed the matrix storage types: `MatrixArray` -> `ArrayStorage` and `MatrixVec` -> `VecStorage`.
+  * Renamed `.unwrap()` to `.into_inner()` for geometric types that wrap another type.
+    This is for the case of `Unit`, `Transform`, `Orthographic3`, `Perspective3`, `Rotation`.
+  * Deprecate several functions at the root of the crate (replaced by methods).
+
+### Removed
+    * Remove the `Deref` impl for `MatrixVec` as it could cause hard-to-understand compilation errors.
+
+### nalgebra-glm
+  * Add several alternative projection computations, e.g., `ortho_lh`, `ortho_lh_no`, `perspective_lh`, etc.
+  * Add features matching those of nalgebra, in particular: `serde-serialize`, `abmonation-serialize`, std` (enabled by default).
 
 ## [0.16.0]
 All dependencies have been updated to their latest versions.

Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name    = "nalgebra"
-version = "0.16.12"
+version = "0.16.13"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
 
 description = "Linear algebra library with transformations and statically-sized or dynamically-sized matrices."
@@ -30,23 +30,24 @@ io = [ "pest", "pest_derive" ]
 
 [dependencies]
 typenum        = "1.10"
-generic-array  = "0.11"
+generic-array  = "0.12"
-rand           = { version = "0.5", default-features = false }
+rand           = { version = "0.6", default-features = false }
 num-traits     = { version = "0.2", default-features = false }
 num-complex    = { version = "0.2", default-features = false }
 approx         = { version = "0.3", default-features = false }
 alga           = { version = "0.7", default-features = false }
-matrixmultiply = { version = "0.1", optional = true }
+matrixmultiply = { version = "0.2", optional = true }
 serde          = { version = "1.0", optional = true }
 serde_derive   = { version = "1.0", optional = true }
-abomonation    = { version = "0.5", optional = true }
+abomonation    = { version = "0.7", optional = true }
 mint           = { version = "0.5", optional = true }
-quickcheck     = { version = "0.6", optional = true }
+quickcheck     = { version = "0.7", optional = true }
 pest           = { version = "2.0", optional = true }
 pest_derive    = { version = "2.0", optional = true }
 
 [dev-dependencies]
 serde_json = "1.0"
+rand_xorshift = "0.1"
 
 [workspace]
 members = [ "nalgebra-lapack", "nalgebra-glm" ]

README.md

@@ -2,6 +2,9 @@
   <img src="http://nalgebra.org/img/logo_nalgebra.svg" alt="crates.io">
 </p>
 <p align="center">
+    <a href="https://discord.gg/vt9DJSW">
+        <img src="https://img.shields.io/discord/507548572338880513.svg?logo=discord&colorB=7289DA">
+    </a>
     <a href="https://travis-ci.org/rustsim/nalgebra">
         <img src="https://travis-ci.org/rustsim/nalgebra.svg?branch=master" alt="Build status">
     </a>

benches/common/macros.rs

@@ -4,7 +4,8 @@ macro_rules! bench_binop(
     ($name: ident, $t1: ty, $t2: ty, $binop: ident) => {
         #[bench]
         fn $name(bh: &mut Bencher) {
-            let mut rng = IsaacRng::new_unseeded();
+            use rand::SeedableRng;
+            let mut rng = IsaacRng::seed_from_u64(0);
             let a = rng.gen::<$t1>();
             let b = rng.gen::<$t2>();
 
@@ -19,7 +20,8 @@ macro_rules! bench_binop_ref(
     ($name: ident, $t1: ty, $t2: ty, $binop: ident) => {
         #[bench]
         fn $name(bh: &mut Bencher) {
-            let mut rng = IsaacRng::new_unseeded();
+            use rand::SeedableRng;
+            let mut rng = IsaacRng::seed_from_u64(0);
             let a = rng.gen::<$t1>();
             let b = rng.gen::<$t2>();
 
@@ -34,7 +36,8 @@ macro_rules! bench_binop_fn(
     ($name: ident, $t1: ty, $t2: ty, $binop: path) => {
         #[bench]
         fn $name(bh: &mut Bencher) {
-            let mut rng = IsaacRng::new_unseeded();
+            use rand::SeedableRng;
+            let mut rng = IsaacRng::seed_from_u64(0);
             let a = rng.gen::<$t1>();
             let b = rng.gen::<$t2>();
 
@@ -51,7 +54,8 @@ macro_rules! bench_unop_na(
         fn $name(bh: &mut Bencher) {
             const LEN: usize = 1 << 13;
 
-            let mut rng = IsaacRng::new_unseeded();
+            use rand::SeedableRng;
+            let mut rng = IsaacRng::seed_from_u64(0);
 
             let elems: Vec<$t> =  (0usize .. LEN).map(|_| rng.gen::<$t>()).collect();
             let mut i = 0;
@@ -73,7 +77,8 @@ macro_rules! bench_unop(
         fn $name(bh: &mut Bencher) {
             const LEN: usize = 1 << 13;
 
-            let mut rng = IsaacRng::new_unseeded();
+            use rand::SeedableRng;
+            let mut rng = IsaacRng::seed_from_u64(0);
 
             let mut elems: Vec<$t> =  (0usize .. LEN).map(|_| rng.gen::<$t>()).collect();
             let mut i = 0;
@@ -95,7 +100,8 @@ macro_rules! bench_construction(
         fn $name(bh: &mut Bencher) {
             const LEN: usize = 1 << 13;
 
-            let mut rng = IsaacRng::new_unseeded();
+            use rand::SeedableRng;
+            let mut rng = IsaacRng::seed_from_u64(0);
 
             $(let $args: Vec<$types> = (0usize .. LEN).map(|_| rng.gen::<$types>()).collect();)*
             let mut i = 0;

benches/core/vector.rs

@@ -50,7 +50,8 @@ bench_binop_ref!(vec10000_dot_f32, VectorN<f32, U10000>, VectorN<f32, U10000>, d
 
 #[bench]
 fn vec10000_axpy_f64(bh: &mut Bencher) {
-    let mut rng = IsaacRng::new_unseeded();
+    use rand::SeedableRng;
+    let mut rng = IsaacRng::seed_from_u64(0);
     let mut a = DVector::new_random(10000);
     let b = DVector::new_random(10000);
     let n = rng.gen::<f64>();
@@ -60,7 +61,8 @@ fn vec10000_axpy_f64(bh: &mut Bencher) {
 
 #[bench]
 fn vec10000_axpy_beta_f64(bh: &mut Bencher) {
-    let mut rng = IsaacRng::new_unseeded();
+    use rand::SeedableRng;
+    let mut rng = IsaacRng::seed_from_u64(0);
     let mut a = DVector::new_random(10000);
     let b = DVector::new_random(10000);
     let n = rng.gen::<f64>();
@@ -71,7 +73,8 @@ fn vec10000_axpy_beta_f64(bh: &mut Bencher) {
 
 #[bench]
 fn vec10000_axpy_f64_slice(bh: &mut Bencher) {
-    let mut rng = IsaacRng::new_unseeded();
+    use rand::SeedableRng;
+    let mut rng = IsaacRng::seed_from_u64(0);
     let mut a = DVector::new_random(10000);
     let b = DVector::new_random(10000);
     let n = rng.gen::<f64>();
@@ -86,7 +89,8 @@ fn vec10000_axpy_f64_slice(bh: &mut Bencher) {
 
 #[bench]
 fn vec10000_axpy_f64_static(bh: &mut Bencher) {
-    let mut rng = IsaacRng::new_unseeded();
+    use rand::SeedableRng;
+    let mut rng = IsaacRng::seed_from_u64(0);
     let mut a = VectorN::<f64, U10000>::new_random();
     let b = VectorN::<f64, U10000>::new_random();
     let n = rng.gen::<f64>();
@@ -97,7 +101,8 @@ fn vec10000_axpy_f64_static(bh: &mut Bencher) {
 
 #[bench]
 fn vec10000_axpy_f32(bh: &mut Bencher) {
-    let mut rng = IsaacRng::new_unseeded();
+    use rand::SeedableRng;
+    let mut rng = IsaacRng::seed_from_u64(0);
     let mut a = DVector::new_random(10000);
     let b = DVector::new_random(10000);
     let n = rng.gen::<f32>();
@@ -107,7 +112,8 @@ fn vec10000_axpy_f32(bh: &mut Bencher) {
 
 #[bench]
 fn vec10000_axpy_beta_f32(bh: &mut Bencher) {
-    let mut rng = IsaacRng::new_unseeded();
+    use rand::SeedableRng;
+    let mut rng = IsaacRng::seed_from_u64(0);
     let mut a = DVector::new_random(10000);
     let b = DVector::new_random(10000);
     let n = rng.gen::<f32>();

benches/lib.rs

@@ -14,6 +14,7 @@ mod geometry;
 mod linalg;
 
 fn reproductible_dmatrix(nrows: usize, ncols: usize) -> DMatrix<f64> {
-    let mut rng = IsaacRng::new_unseeded();
+    use rand::SeedableRng;
+    let mut rng = IsaacRng::seed_from_u64(0);
     DMatrix::<f64>::from_fn(nrows, ncols, |_, _| rng.gen())
 }

examples/linear_system_resolution.rs

@@ -0,0 +1,39 @@
+#![cfg_attr(rustfmt, rustfmt_skip)]
+#[macro_use]
+extern crate approx; // for assert_relative_eq
+extern crate nalgebra as na;
+use na::{Matrix4, Matrix4x3, Vector4};
+
+fn main() {
+    let a = Matrix4::new(
+        1.0, 1.0,  2.0, -5.0,
+        2.0, 5.0, -1.0, -9.0,
+        2.0, 1.0, -1.0,  3.0,
+        1.0, 3.0,  2.0,  7.0,
+    );
+    let mut b = Vector4::new(3.0, -3.0, -11.0, -5.0);
+    let decomp = a.lu();
+    let x = decomp.solve(&b).expect("Linear resolution failed.");
+    assert_relative_eq!(a * x, b);
+
+    /*
+     * It is possible to perform the resolution in-place.
+     * This is particularly useful to avoid allocations when
+     * `b` is a `DVector` or a `DMatrix`.
+     */
+    assert!(decomp.solve_mut(&mut b), "Linear resolution failed.");
+    assert_relative_eq!(x, b);
+
+    /*
+     * It is possible to solve multiple systems
+     * simultaneously by using a matrix for `b`.
+     */
+    let b = Matrix4x3::new(
+         3.0,  2.0,  0.0,
+        -3.0,  0.0,  0.0,
+        -11.0, 5.0, -3.0,
+        -5.0,  10.0, 4.0,
+    );
+    let x = decomp.solve(&b).expect("Linear resolution failed.");
+    assert_relative_eq!(a * x, b);
+}

examples/point_construction.rs

@@ -8,7 +8,7 @@ fn main() {
 
     // Build from a coordinates vector.
     let coords = Vector3::new(2.0, 3.0, 4.0);
-    let p1 = Point3::from_coordinates(coords);
+    let p1 = Point3::from(coords);
 
     // Build by translating the origin.
     let translation = Vector3::new(2.0, 3.0, 4.0);

examples/transform_matrix4.rs

@@ -3,7 +3,6 @@ extern crate alga;
 extern crate approx;
 extern crate nalgebra as na;
 
-use alga::linear::Transformation;
 use na::{Matrix4, Point3, Vector3};
 
 fn main() {

examples/transform_vector_point3.rs

@@ -1,7 +1,6 @@
 extern crate alga;
 extern crate nalgebra as na;
 
-use alga::linear::Transformation;
 use na::{Matrix4, Point3, Vector3, Vector4};
 
 fn main() {

nalgebra-glm/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "nalgebra-glm"
-version = "0.1.3"
+version = "0.2.1"
 authors = ["sebcrozet <developer@crozet.re>"]
 
 description = "A computer-graphics oriented API for nalgebra, inspired by the C++ GLM library."
@@ -12,8 +12,16 @@ categories = [ "science" ]
 keywords = [ "linear", "algebra", "matrix", "vector", "math" ]
 license = "BSD-3-Clause"
 
+[features]
+default         = [ "std" ]
+std             = [ "nalgebra/std", "alga/std" ]
+stdweb          = [ "nalgebra/stdweb" ]
+arbitrary       = [ "nalgebra/arbitrary" ]
+serde-serialize = [ "nalgebra/serde-serialize" ]
+abomonation-serialize = [ "nalgebra/abomonation-serialize" ]
+
 [dependencies]
 num-traits = { version = "0.2", default-features = false }
 approx = { version = "0.3", default-features = false }
-alga = "0.7"
+alga = { version = "0.7", default-features = false }
-nalgebra = { path =  "..", version = "^0.16.4" }
+nalgebra = { path =  "..", version = "^0.16.13", default-features = false }

nalgebra-glm/src/common.rs

@@ -315,13 +315,151 @@ where DefaultAllocator: Alloc<f32, D> {
 //    x * (exp).exp2()
 //}
 
-/// Returns `x * (1.0 - a) + y * a`, i.e., the linear blend of x and y using the floating-point value a.
+/// Returns `x * (1.0 - a) + y * a`, i.e., the linear blend of the scalars x and y using the scalar value a.
 ///
 /// The value for a is not restricted to the range `[0, 1]`.
-pub fn mix<N: Number>(x: N, y: N, a: N) -> N {
+///
+/// # Examples:
+///
+/// ```
+/// # use nalgebra_glm as glm;
+/// assert_eq!(glm::mix_scalar(2.0, 20.0, 0.1), 3.8);
+/// ```
+///
+/// # See also:
+///
+/// * [`mix`](fn.mix.html)
+/// * [`mix_vec`](fn.mix_vec.html)
+pub fn mix_scalar<N: Number>(x: N, y: N, a: N) -> N {
     x * (N::one() - a) + y * a
 }
 
+/// Returns `x * (1.0 - a) + y * a`, i.e., the linear blend of the vectors x and y using the scalar value a.
+///
+/// The value for a is not restricted to the range `[0, 1]`.
+///
+/// # Examples:
+///
+/// ```
+/// # use nalgebra_glm as glm;
+/// let x = glm::vec3(1.0, 2.0, 3.0);
+/// let y = glm::vec3(10.0, 20.0, 30.0);
+/// assert_eq!(glm::mix(&x, &y, 0.1), glm::vec3(1.9, 3.8, 5.7));
+/// ```
+///
+/// # See also:
+///
+/// * [`mix_scalar`](fn.mix_scalar.html)
+/// * [`mix_vec`](fn.mix_vec.html)
+pub fn mix<N: Number, D: Dimension>(x: &TVec<N, D>, y: &TVec<N, D>, a: N) -> TVec<N, D>
+where DefaultAllocator: Alloc<N, D> {
+    x * (N::one() - a) + y * a
+}
+
+/// Returns `x * (1.0 - a) + y * a`, i.e., the component-wise linear blend of `x` and `y` using the components of
+/// the vector `a` as coefficients.
+///
+/// The value for a is not restricted to the range `[0, 1]`.
+///
+/// # Examples:
+///
+/// ```
+/// # use nalgebra_glm as glm;
+/// let x = glm::vec3(1.0, 2.0, 3.0);
+/// let y = glm::vec3(10.0, 20.0, 30.0);
+/// let a = glm::vec3(0.1, 0.2, 0.3);
+/// assert_eq!(glm::mix_vec(&x, &y, &a), glm::vec3(1.9, 5.6, 11.1));
+/// ```
+///
+/// # See also:
+///
+/// * [`mix_scalar`](fn.mix_scalar.html)
+/// * [`mix`](fn.mix.html)
+pub fn mix_vec<N: Number, D: Dimension>(
+    x: &TVec<N, D>,
+    y: &TVec<N, D>,
+    a: &TVec<N, D>,
+) -> TVec<N, D>
+where
+    DefaultAllocator: Alloc<N, D>,
+{
+    x.component_mul(&(TVec::<N, D>::repeat(N::one()) - a)) + y.component_mul(&a)
+}
+
+/// Returns `x * (1.0 - a) + y * a`, i.e., the linear blend of the scalars x and y using the scalar value a.
+///
+/// The value for a is not restricted to the range `[0, 1]`.
+/// This is an alias for `mix_scalar`.
+///
+/// # Examples:
+///
+/// ```
+/// # use nalgebra_glm as glm;
+/// assert_eq!(glm::lerp_scalar(2.0, 20.0, 0.1), 3.8);
+/// ```
+///
+/// # See also:
+///
+/// * [`lerp`](fn.lerp.html)
+/// * [`lerp_vec`](fn.lerp_vec.html)
+pub fn lerp_scalar<N: Number>(x: N, y: N, a: N) -> N {
+    mix_scalar(x, y, a)
+}
+
+/// Returns `x * (1.0 - a) + y * a`, i.e., the linear blend of the vectors x and y using the scalar value a.
+///
+/// The value for a is not restricted to the range `[0, 1]`.
+/// This is an alias for `mix`.
+///
+/// # Examples:
+///
+/// ```
+/// # use nalgebra_glm as glm;
+/// let x = glm::vec3(1.0, 2.0, 3.0);
+/// let y = glm::vec3(10.0, 20.0, 30.0);
+/// assert_eq!(glm::lerp(&x, &y, 0.1), glm::vec3(1.9, 3.8, 5.7));
+/// ```
+///
+/// # See also:
+///
+/// * [`lerp_scalar`](fn.lerp_scalar.html)
+/// * [`lerp_vec`](fn.lerp_vec.html)
+pub fn lerp<N: Number, D: Dimension>(x: &TVec<N, D>, y: &TVec<N, D>, a: N) -> TVec<N, D>
+where DefaultAllocator: Alloc<N, D> {
+    mix(x, y, a)
+}
+
+/// Returns `x * (1.0 - a) + y * a`, i.e., the component-wise linear blend of `x` and `y` using the components of
+/// the vector `a` as coefficients.
+///
+/// The value for a is not restricted to the range `[0, 1]`.
+/// This is an alias for `mix_vec`.
+///
+/// # Examples:
+///
+/// ```
+/// # use nalgebra_glm as glm;
+/// let x = glm::vec3(1.0, 2.0, 3.0);
+/// let y = glm::vec3(10.0, 20.0, 30.0);
+/// let a = glm::vec3(0.1, 0.2, 0.3);
+/// assert_eq!(glm::lerp_vec(&x, &y, &a), glm::vec3(1.9, 5.6, 11.1));
+/// ```
+///
+/// # See also:
+///
+/// * [`lerp_scalar`](fn.lerp_scalar.html)
+/// * [`lerp`](fn.lerp.html)
+pub fn lerp_vec<N: Number, D: Dimension>(
+    x: &TVec<N, D>,
+    y: &TVec<N, D>,
+    a: &TVec<N, D>,
+) -> TVec<N, D>
+where
+    DefaultAllocator: Alloc<N, D>,
+{
+    mix_vec(x, y, a)
+}
+
 /// Component-wise modulus.
 ///
 /// Returns `x - y * floor(x / y)` for each component in `x` using the corresponding component of `y`.

nalgebra-glm/src/constructors.rs

@@ -1,8 +1,9 @@
-use aliases::{
+#![cfg_attr(rustfmt, rustfmt_skip)]
-    Qua, TMat, TMat2, TMat2x3, TMat2x4, TMat3, TMat3x2, TMat3x4, TMat4, TMat4x2, TMat4x3, TVec1,
+
-    TVec2, TVec3, TVec4,
+use na::{Scalar, Real, U2, U3, U4};
-};
+use aliases::{TMat, Qua, TVec1, TVec2, TVec3, TVec4, TMat2, TMat2x3, TMat2x4, TMat3, TMat3x2, TMat3x4,
-use na::{Real, Scalar, U2, U3, U4};
+              TMat4, TMat4x2, TMat4x3};
+
 
 /// Creates a new 1D vector.
 ///
@@ -33,173 +34,136 @@ pub fn vec4<N: Scalar>(x: N, y: N, z: N, w: N) -> TVec4<N> {
     TVec4::new(x, y, z, w)
 }
 
+
 /// Create a new 2x2 matrix.
-pub fn mat2<N: Scalar>(m11: N, m12: N, m21: N, m22: N) -> TMat2<N> {
+pub fn mat2<N: Scalar>(m11: N, m12: N,
-    TMat::<N, U2, U2>::new(m11, m12, m21, m22)
+                       m21: N, m22: N) -> TMat2<N> {
+    TMat::<N, U2, U2>::new(
+        m11, m12,
+        m21, m22,
+    )
 }
 
 /// Create a new 2x2 matrix.
-pub fn mat2x2<N: Scalar>(m11: N, m12: N, m21: N, m22: N) -> TMat2<N> {
+pub fn mat2x2<N: Scalar>(m11: N, m12: N,
-    TMat::<N, U2, U2>::new(m11, m12, m21, m22)
+                         m21: N, m22: N) -> TMat2<N> {
+    TMat::<N, U2, U2>::new(
+        m11, m12,
+        m21, m22,
+    )
 }
 
 /// Create a new 2x3 matrix.
-pub fn mat2x3<N: Scalar>(m11: N, m12: N, m13: N, m21: N, m22: N, m23: N) -> TMat2x3<N> {
+pub fn mat2x3<N: Scalar>(m11: N, m12: N, m13: N,
-    TMat::<N, U2, U3>::new(m11, m12, m13, m21, m22, m23)
+                         m21: N, m22: N, m23: N) -> TMat2x3<N> {
+    TMat::<N, U2, U3>::new(
+        m11, m12, m13,
+        m21, m22, m23,
+    )
 }
 
 /// Create a new 2x4 matrix.
-pub fn mat2x4<N: Scalar>(
+pub fn mat2x4<N: Scalar>(m11: N, m12: N, m13: N, m14: N,
-    m11: N,
+                         m21: N, m22: N, m23: N, m24: N) -> TMat2x4<N> {
-    m12: N,
+    TMat::<N, U2, U4>::new(
-    m13: N,
+        m11, m12, m13, m14,
-    m14: N,
+        m21, m22, m23, m24,
-    m21: N,
+    )
-    m22: N,
-    m23: N,
-    m24: N,
-) -> TMat2x4<N>
-{
-    TMat::<N, U2, U4>::new(m11, m12, m13, m14, m21, m22, m23, m24)
 }
 
 /// Create a new 3x3 matrix.
-pub fn mat3<N: Scalar>(
+pub fn mat3<N: Scalar>(m11: N, m12: N, m13: N,
-    m11: N,
+                       m21: N, m22: N, m23: N,
-    m12: N,
+                       m31: N, m32: N, m33: N) -> TMat3<N> {
-    m13: N,
+    TMat::<N, U3, U3>::new(
-    m21: N,
+        m11, m12, m13,
-    m22: N,
+        m21, m22, m23,
-    m23: N,
+        m31, m32, m33,
-    m31: N,
+    )
-    m32: N,
-    m33: N,
-) -> TMat3<N>
-{
-    TMat::<N, U3, U3>::new(m11, m12, m13, m21, m22, m23, m31, m32, m33)
 }
 
 /// Create a new 3x2 matrix.
-pub fn mat3x2<N: Scalar>(m11: N, m12: N, m21: N, m22: N, m31: N, m32: N) -> TMat3x2<N> {
+pub fn mat3x2<N: Scalar>(m11: N, m12: N,
-    TMat::<N, U3, U2>::new(m11, m12, m21, m22, m31, m32)
+                         m21: N, m22: N,
+                         m31: N, m32: N) -> TMat3x2<N> {
+    TMat::<N, U3, U2>::new(
+        m11, m12,
+        m21, m22,
+        m31, m32,
+    )
 }
 
 /// Create a new 3x3 matrix.
-pub fn mat3x3<N: Scalar>(
+pub fn mat3x3<N: Scalar>(m11: N, m12: N, m13: N,
-    m11: N,
+                         m21: N, m22: N, m23: N,
-    m12: N,
+                         m31: N, m32: N, m33: N) -> TMat3<N> {
-    m13: N,
+    TMat::<N, U3, U3>::new(
-    m21: N,
+        m11, m12, m13,
-    m22: N,
+        m31, m32, m33,
-    m23: N,
+        m21, m22, m23,
-    m31: N,
+    )
-    m32: N,
-    m33: N,
-) -> TMat3<N>
-{
-    TMat::<N, U3, U3>::new(m11, m12, m13, m31, m32, m33, m21, m22, m23)
 }
 
 /// Create a new 3x4 matrix.
-pub fn mat3x4<N: Scalar>(
+pub fn mat3x4<N: Scalar>(m11: N, m12: N, m13: N, m14: N,
-    m11: N,
+                         m21: N, m22: N, m23: N, m24: N,
-    m12: N,
+                         m31: N, m32: N, m33: N, m34: N) -> TMat3x4<N> {
-    m13: N,
+    TMat::<N, U3, U4>::new(
-    m14: N,
+        m11, m12, m13, m14,
-    m21: N,
+        m21, m22, m23, m24,
-    m22: N,
+        m31, m32, m33, m34,
-    m23: N,
+    )
-    m24: N,
-    m31: N,
-    m32: N,
-    m33: N,
-    m34: N,
-) -> TMat3x4<N>
-{
-    TMat::<N, U3, U4>::new(m11, m12, m13, m14, m21, m22, m23, m24, m31, m32, m33, m34)
 }
 
 /// Create a new 4x2 matrix.
-pub fn mat4x2<N: Scalar>(
+pub fn mat4x2<N: Scalar>(m11: N, m12: N,
-    m11: N,
+                         m21: N, m22: N,
-    m12: N,
+                         m31: N, m32: N,
-    m21: N,
+                         m41: N, m42: N) -> TMat4x2<N> {
-    m22: N,
+    TMat::<N, U4, U2>::new(
-    m31: N,
+        m11, m12,
-    m32: N,
+        m21, m22,
-    m41: N,
+        m31, m32,
-    m42: N,
+        m41, m42,
-) -> TMat4x2<N>
+    )
-{
-    TMat::<N, U4, U2>::new(m11, m12, m21, m22, m31, m32, m41, m42)
 }
 
 /// Create a new 4x3 matrix.
-pub fn mat4x3<N: Scalar>(
+pub fn mat4x3<N: Scalar>(m11: N, m12: N, m13: N,
-    m11: N,
+                         m21: N, m22: N, m23: N,
-    m12: N,
+                         m31: N, m32: N, m33: N,
-    m13: N,
+                         m41: N, m42: N, m43: N) -> TMat4x3<N> {
-    m21: N,
+    TMat::<N, U4, U3>::new(
-    m22: N,
+        m11, m12, m13,
-    m23: N,
+        m21, m22, m23,
-    m31: N,
+        m31, m32, m33,
-    m32: N,
+        m41, m42, m43,
-    m33: N,
-    m41: N,
-    m42: N,
-    m43: N,
-) -> TMat4x3<N>
-{
-    TMat::<N, U4, U3>::new(m11, m12, m13, m21, m22, m23, m31, m32, m33, m41, m42, m43)
-}
-
-/// Create a new 4x4 matrix.
-pub fn mat4x4<N: Scalar>(
-    m11: N,
-    m12: N,
-    m13: N,
-    m14: N,
-    m21: N,
-    m22: N,
-    m23: N,
-    m24: N,
-    m31: N,
-    m32: N,
-    m33: N,
-    m34: N,
-    m41: N,
-    m42: N,
-    m43: N,
-    m44: N,
-) -> TMat4<N>
-{
-    TMat::<N, U4, U4>::new(
-        m11, m12, m13, m14, m21, m22, m23, m24, m31, m32, m33, m34, m41, m42, m43, m44,
     )
 }
 
 /// Create a new 4x4 matrix.
-pub fn mat4<N: Scalar>(
+pub fn mat4x4<N: Scalar>(m11: N, m12: N, m13: N, m14: N,
-    m11: N,
+                         m21: N, m22: N, m23: N, m24: N,
-    m12: N,
+                         m31: N, m32: N, m33: N, m34: N,
-    m13: N,
+                         m41: N, m42: N, m43: N, m44: N) -> TMat4<N> {
-    m14: N,
-    m21: N,
-    m22: N,
-    m23: N,
-    m24: N,
-    m31: N,
-    m32: N,
-    m33: N,
-    m34: N,
-    m41: N,
-    m42: N,
-    m43: N,
-    m44: N,
-) -> TMat4<N>
-{
     TMat::<N, U4, U4>::new(
-        m11, m12, m13, m14, m21, m22, m23, m24, m31, m32, m33, m34, m41, m42, m43, m44,
+        m11, m12, m13, m14,
+        m21, m22, m23, m24,
+        m31, m32, m33, m34,
+        m41, m42, m43, m44,
+    )
+}
+
+/// Create a new 4x4 matrix.
+pub fn mat4<N: Scalar>(m11: N, m12: N, m13: N, m14: N,
+                       m21: N, m22: N, m23: N, m24: N,
+                       m31: N, m32: N, m33: N, m34: N,
+                       m41: N, m42: N, m43: N, m44: N) -> TMat4<N> {
+    TMat::<N, U4, U4>::new(
+        m11, m12, m13, m14,
+        m21, m22, m23, m24,
+        m31, m32, m33, m34,
+        m41, m42, m43, m44,
     )
 }
 

nalgebra-glm/src/ext/matrix_clip_space.rs

@@ -1,5 +1,5 @@
 use aliases::TMat4;
-use na::{Orthographic3, Perspective3, Real};
+use na::{Real};
 
 //pub fn frustum<N: Real>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> TMat4<N> {
 //    unimplemented!()
@@ -53,119 +53,644 @@ use na::{Orthographic3, Perspective3, Real};
 //    unimplemented!()
 //}
 
-/// Creates a matrix for an orthographic parallel viewing volume, using the right handedness and OpenGL near and far clip planes definition.
+/// Creates a matrix for a right hand orthographic-view frustum with a depth range of -1 to 1
+///
+/// # Parameters
+///
+/// * `left` - Coordinate for left bound of matrix
+/// * `right` - Coordinate for right bound of matrix
+/// * `bottom` - Coordinate for bottom bound of matrix
+/// * `top` - Coordinate for top bound of matrix
+/// * `znear` - Distance from the viewer to the near clipping plane
+/// * `zfar` - Distance from the viewer to the far clipping plane
+///
 pub fn ortho<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
-    Orthographic3::new(left, right, bottom, top, znear, zfar).unwrap()
+    ortho_rh_no(left, right, bottom, top, znear, zfar)
 }
 
-//pub fn ortho_lh<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
+/// Creates a left hand matrix for a orthographic-view frustum with a depth range of -1 to 1
-//    unimplemented!()
+///
-//}
+/// # Parameters
-//
+///
-//pub fn ortho_lh_no<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
+/// * `left` - Coordinate for left bound of matrix
-//    unimplemented!()
+/// * `right` - Coordinate for right bound of matrix
-//}
+/// * `bottom` - Coordinate for bottom bound of matrix
-//
+/// * `top` - Coordinate for top bound of matrix
-//pub fn ortho_lh_zo<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
+/// * `znear` - Distance from the viewer to the near clipping plane
-//    unimplemented!()
+/// * `zfar` - Distance from the viewer to the far clipping plane
-//}
+///
-//
+pub fn ortho_lh<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
-//pub fn ortho_no<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
+    ortho_lh_no(left, right, bottom, top, znear, zfar)
-//    unimplemented!()
+}
-//}
-//
-//pub fn ortho_rh<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
-//    unimplemented!()
-//}
-//
-//pub fn ortho_rh_no<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
-//    unimplemented!()
-//}
-//
-//pub fn ortho_rh_zo<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
-//    unimplemented!()
-//}
-//
-//pub fn ortho_zo<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
-//    unimplemented!()
-//}
 
-/// Creates a matrix for a perspective-view frustum based on the right handedness and OpenGL near and far clip planes definition.
+/// Creates a left hand matrix for a orthographic-view frustum with a depth range of -1 to 1
+///
+/// # Parameters
+///
+/// * `left` - Coordinate for left bound of matrix
+/// * `right` - Coordinate for right bound of matrix
+/// * `bottom` - Coordinate for bottom bound of matrix
+/// * `top` - Coordinate for top bound of matrix
+/// * `znear` - Distance from the viewer to the near clipping plane
+/// * `zfar` - Distance from the viewer to the far clipping plane
+///
+pub fn ortho_lh_no<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
+    let two    : N =  ::convert(2.0);
+    let mut mat : TMat4<N> = TMat4::<N>::identity();
+
+    mat[(0, 0)] = two / (right - left);
+    mat[(0, 3)] = -(right + left) / (right - left);
+    mat[(1, 1)] = two / (top-bottom);
+    mat[(1, 3)] = -(top + bottom) / (top - bottom);
+    mat[(2, 2)] = two / (zfar - znear);
+    mat[(2, 3)] = -(zfar + znear) / (zfar - znear);
+
+    mat
+}
+
+/// Creates a matrix for a left hand orthographic-view frustum with a depth range of 0 to 1
+///
+/// # Parameters
+///
+/// * `left` - Coordinate for left bound of matrix
+/// * `right` - Coordinate for right bound of matrix
+/// * `bottom` - Coordinate for bottom bound of matrix
+/// * `top` - Coordinate for top bound of matrix
+/// * `znear` - Distance from the viewer to the near clipping plane
+/// * `zfar` - Distance from the viewer to the far clipping plane
+///
+pub fn ortho_lh_zo<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
+    let one    : N = N::one();
+    let two    : N = ::convert(2.0);
+    let mut mat : TMat4<N> = TMat4::<N>::identity();
+
+    mat[(0, 0)] = two / (right - left);
+    mat[(0, 3)] = - (right + left) / (right - left);
+    mat[(1, 1)] = two / (top - bottom);
+    mat[(1, 3)] = - (top + bottom) / (top - bottom);
+    mat[(2, 2)] = one / (zfar - znear);
+    mat[(2, 3)] = - znear / (zfar  - znear);
+
+    mat
+}
+
+/// Creates a matrix for a right hand orthographic-view frustum with a depth range of -1 to 1
+///
+/// # Parameters
+///
+/// * `left` - Coordinate for left bound of matrix
+/// * `right` - Coordinate for right bound of matrix
+/// * `bottom` - Coordinate for bottom bound of matrix
+/// * `top` - Coordinate for top bound of matrix
+/// * `znear` - Distance from the viewer to the near clipping plane
+/// * `zfar` - Distance from the viewer to the far clipping plane
+///
+pub fn ortho_no<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
+    ortho_rh_no(left, right, bottom, top, znear, zfar)
+}
+
+/// Creates a matrix for a right hand orthographic-view frustum with a depth range of -1 to 1
+///
+/// # Parameters
+///
+/// * `left` - Coordinate for left bound of matrix
+/// * `right` - Coordinate for right bound of matrix
+/// * `bottom` - Coordinate for bottom bound of matrix
+/// * `top` - Coordinate for top bound of matrix
+/// * `znear` - Distance from the viewer to the near clipping plane
+/// * `zfar` - Distance from the viewer to the far clipping plane
+///
+pub fn ortho_rh<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
+    ortho_rh_no(left, right, bottom, top, znear, zfar)
+}
+
+/// Creates a matrix for a right hand orthographic-view frustum with a depth range of -1 to 1
+///
+/// # Parameters
+///
+/// * `left` - Coordinate for left bound of matrix
+/// * `right` - Coordinate for right bound of matrix
+/// * `bottom` - Coordinate for bottom bound of matrix
+/// * `top` - Coordinate for top bound of matrix
+/// * `znear` - Distance from the viewer to the near clipping plane
+/// * `zfar` - Distance from the viewer to the far clipping plane
+///
+pub fn ortho_rh_no<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
+    let two    : N =  ::convert(2.0);
+    let mut mat : TMat4<N> = TMat4::<N>::identity();
+
+    mat[(0, 0)] = two / (right - left);
+    mat[(0, 3)] = - (right + left) / (right - left);
+    mat[(1, 1)] = two/(top-bottom);
+    mat[(1, 3)] = - (top + bottom) / (top - bottom);
+    mat[(2, 2)] = - two / (zfar - znear);
+    mat[(2, 3)] = - (zfar + znear) / (zfar  - znear);
+
+    mat
+}
+
+/// Creates a right hand matrix for a orthographic-view frustum with a depth range of 0 to 1
+///
+/// # Parameters
+///
+/// * `left` - Coordinate for left bound of matrix
+/// * `right` - Coordinate for right bound of matrix
+/// * `bottom` - Coordinate for bottom bound of matrix
+/// * `top` - Coordinate for top bound of matrix
+/// * `znear` - Distance from the viewer to the near clipping plane
+/// * `zfar` - Distance from the viewer to the far clipping plane
+///
+pub fn ortho_rh_zo<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
+    let one    : N = N::one();
+    let two    : N =  ::convert(2.0);
+    let mut mat : TMat4<N> = TMat4::<N>::identity();
+
+    mat[(0, 0)] = two / (right - left);
+    mat[(0, 3)] = - (right + left) / (right - left);
+    mat[(1, 1)] = two/(top-bottom);
+    mat[(1, 3)] = - (top + bottom) / (top - bottom);
+    mat[(2, 2)] = - one / (zfar - znear);
+    mat[(2, 3)] = - znear / (zfar  - znear);
+
+    mat
+}
+
+/// Creates a right hand matrix for a orthographic-view frustum with a depth range of 0 to 1
+///
+/// # Parameters
+///
+/// * `left` - Coordinate for left bound of matrix
+/// * `right` - Coordinate for right bound of matrix
+/// * `bottom` - Coordinate for bottom bound of matrix
+/// * `top` - Coordinate for top bound of matrix
+/// * `znear` - Distance from the viewer to the near clipping plane
+/// * `zfar` - Distance from the viewer to the far clipping plane
+///
+pub fn ortho_zo<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> TMat4<N> {
+    ortho_rh_zo(left, right, bottom, top, znear, zfar)
+}
+
+/// Creates a matrix for a right hand perspective-view frustum with a depth range of -1 to 1
+///
+/// # Parameters
+///
+/// * `fov` - Field of view, in radians
+/// * `width` - Width of the viewport
+/// * `height` - Height of the viewport
+/// * `near` - Distance from the viewer to the near clipping plane
+/// * `far` - Distance from the viewer to the far clipping plane
+///
+pub fn perspective_fov<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
+    perspective_fov_rh_no(fov, width, height, near, far)
+}
+
+/// Creates a matrix for a left hand perspective-view frustum with a depth range of -1 to 1
+///
+/// # Parameters
+///
+/// * `fov` - Field of view, in radians
+/// * `width` - Width of the viewport
+/// * `height` - Height of the viewport
+/// * `near` - Distance from the viewer to the near clipping plane
+/// * `far` - Distance from the viewer to the far clipping plane
+///
+pub fn perspective_fov_lh<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
+    perspective_fov_lh_no(fov, width, height, near, far)
+}
+
+/// Creates a matrix for a left hand perspective-view frustum with a depth range of -1 to 1
+///
+/// # Parameters
+///
+/// * `fov` - Field of view, in radians
+/// * `width` - Width of the viewport
+/// * `height` - Height of the viewport
+/// * `near` - Distance from the viewer to the near clipping plane
+/// * `far` - Distance from the viewer to the far clipping plane
+///
+pub fn perspective_fov_lh_no<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
+    assert!(
+        width > N::zero(),
+        "The width must be greater than zero"
+    );
+    assert!(
+        height > N::zero(),
+        "The height must be greater than zero."
+    );
+    assert!(
+        fov > N::zero(),
+        "The fov must be greater than zero"
+    );
+
+    let mut mat = TMat4::zeros();
+
+    let rad = fov;
+    let h = (rad * ::convert(0.5)).cos() / (rad * ::convert(0.5)).sin();
+    let w = h * height / width;
+
+    mat[(0, 0)] = w;
+    mat[(1, 1)] = h;
+    mat[(2, 2)] = (far + near) / (far - near);
+    mat[(2, 3)] = - (far * near * ::convert(2.0)) / (far - near);
+    mat[(3, 2)] = N::one();
+
+    mat
+}
+
+/// Creates a matrix for a left hand perspective-view frustum with a depth range of 0 to 1
+///
+/// # Parameters
+///
+/// * `fov` - Field of view, in radians
+/// * `width` - Width of the viewport
+/// * `height` - Height of the viewport
+/// * `near` - Distance from the viewer to the near clipping plane
+/// * `far` - Distance from the viewer to the far clipping plane
+///
+pub fn perspective_fov_lh_zo<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
+    assert!(
+        width > N::zero(),
+        "The width must be greater than zero"
+    );
+    assert!(
+        height > N::zero(),
+        "The height must be greater than zero."
+    );
+    assert!(
+        fov > N::zero(),
+        "The fov must be greater than zero"
+    );
+
+    let mut mat = TMat4::zeros();
+
+    let rad = fov;
+    let h = (rad * ::convert(0.5)).cos() / (rad * ::convert(0.5)).sin();
+    let w = h * height / width;
+
+    mat[(0, 0)] = w;
+    mat[(1, 1)] = h;
+    mat[(2, 2)] = far / (far - near);
+    mat[(2, 3)] = -(far * near) / (far - near);
+    mat[(3, 2)] = N::one();
+
+    mat
+}
+
+/// Creates a matrix for a right hand perspective-view frustum with a depth range of -1 to 1
+///
+/// # Parameters
+///
+/// * `fov` - Field of view, in radians
+/// * `width` - Width of the viewport
+/// * `height` - Height of the viewport
+/// * `near` - Distance from the viewer to the near clipping plane
+/// * `far` - Distance from the viewer to the far clipping plane
+///
+pub fn perspective_fov_no<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
+    perspective_fov_rh_no(fov, width, height, near, far)
+}
+
+/// Creates a matrix for a right hand perspective-view frustum with a depth range of -1 to 1
+///
+/// # Parameters
+///
+/// * `fov` - Field of view, in radians
+/// * `width` - Width of the viewport
+/// * `height` - Height of the viewport
+/// * `near` - Distance from the viewer to the near clipping plane
+/// * `far` - Distance from the viewer to the far clipping plane
+///
+pub fn perspective_fov_rh<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
+    perspective_fov_rh_no(fov, width, height, near, far)
+}
+
+/// Creates a matrix for a right hand perspective-view frustum with a depth range of -1 to 1
+///
+/// # Parameters
+///
+/// * `fov` - Field of view, in radians
+/// * `width` - Width of the viewport
+/// * `height` - Height of the viewport
+/// * `near` - Distance from the viewer to the near clipping plane
+/// * `far` - Distance from the viewer to the far clipping plane
+///
+pub fn perspective_fov_rh_no<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
+    assert!(
+        width > N::zero(),
+        "The width must be greater than zero"
+    );
+    assert!(
+        height > N::zero(),
+        "The height must be greater than zero."
+    );
+    assert!(
+        fov > N::zero(),
+        "The fov must be greater than zero"
+    );
+
+    let mut mat = TMat4::zeros();
+
+    let rad = fov;
+    let h = (rad * ::convert(0.5)).cos() / (rad * ::convert(0.5)).sin();
+    let w = h * height / width;
+
+    mat[(0, 0)] = w;
+    mat[(1, 1)] = h;
+    mat[(2, 2)] = - (far + near) / (far - near);
+    mat[(2, 3)] = - (far * near * ::convert(2.0)) / (far - near);
+    mat[(3, 2)] = -N::one();
+
+    mat
+}
+
+/// Creates a matrix for a right hand perspective-view frustum with a depth range of 0 to 1
+///
+/// # Parameters
+///
+/// * `fov` - Field of view, in radians
+/// * `width` - Width of the viewport
+/// * `height` - Height of the viewport
+/// * `near` - Distance from the viewer to the near clipping plane
+/// * `far` - Distance from the viewer to the far clipping plane
+///
+pub fn perspective_fov_rh_zo<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
+    assert!(
+        width > N::zero(),
+        "The width must be greater than zero"
+    );
+    assert!(
+        height > N::zero(),
+        "The height must be greater than zero."
+    );
+    assert!(
+        fov > N::zero(),
+        "The fov must be greater than zero"
+    );
+
+    let mut mat = TMat4::zeros();
+
+    let rad = fov;
+    let h = (rad * ::convert(0.5)).cos() / (rad * ::convert(0.5)).sin();
+    let w = h * height / width;
+
+    mat[(0, 0)] = w;
+    mat[(1, 1)] = h;
+    mat[(2, 2)] = far / (near - far);
+    mat[(2, 3)] = -(far * near) / (far - near);
+    mat[(3, 2)] = -N::one();
+
+    mat
+}
+
+/// Creates a matrix for a right hand perspective-view frustum with a depth range of 0 to 1
+///
+/// # Parameters
+///
+/// * `fov` - Field of view, in radians
+/// * `width` - Width of the viewport
+/// * `height` - Height of the viewport
+/// * `near` - Distance from the viewer to the near clipping plane
+/// * `far` - Distance from the viewer to the far clipping plane
+///
+pub fn perspective_fov_zo<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
+    perspective_fov_rh_zo(fov, width, height, near, far)
+}
+
+/// Creates a matrix for a right hand perspective-view frustum with a depth range of -1 to 1
+///
+/// # Parameters
+///
+/// * `fovy` - Field of view, in radians
+/// * `aspect` - Ratio of viewport width to height (width/height)
+/// * `near` - Distance from the viewer to the near clipping plane
+/// * `far` - Distance from the viewer to the far clipping plane
 ///
 /// # Important note
 /// The `aspect` and `fovy` argument are interchanged compared to the original GLM API.
 pub fn perspective<N: Real>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
-    Perspective3::new(aspect, fovy, near, far).unwrap()
+    // TODO: Breaking change - revert back to proper glm conventions?
+    //
+    //       Prior to changes to support configuring the behaviour of this function it was simply
+    //       a wrapper around Perspective3::new(). The argument order for that function is different
+    //       than the glm convention, but reordering the arguments would've caused pointlessly
+    //       un-optimal code to be generated so they were rearranged so the function would just call
+    //       straight through.
+    //
+    //       Now this call to Perspective3::new() is no longer made so the functions can have their
+    //       arguments reordered to the glm convention. Unfortunately this is a breaking change so
+    //       can't be cleanly integrated into the existing library version without breaking other
+    //       people's code. Reordering to glm isn't a huge deal but if it is done it will have to be
+    //       in a major API breaking update.
+    //
+    perspective_rh_no(aspect, fovy, near, far)
+}
+
+/// Creates a matrix for a left hand perspective-view frustum with a depth range of -1 to 1
+///
+/// # Parameters
+///
+/// * `fovy` - Field of view, in radians
+/// * `aspect` - Ratio of viewport width to height (width/height)
+/// * `near` - Distance from the viewer to the near clipping plane
+/// * `far` - Distance from the viewer to the far clipping plane
+///
+/// # Important note
+/// The `aspect` and `fovy` argument are interchanged compared to the original GLM API.
+pub fn perspective_lh<N: Real>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
+    perspective_lh_no(aspect, fovy, near, far)
+}
+
+/// Creates a matrix for a left hand perspective-view frustum with a depth range of -1 to 1
+///
+/// # Parameters
+///
+/// * `fovy` - Field of view, in radians
+/// * `aspect` - Ratio of viewport width to height (width/height)
+/// * `near` - Distance from the viewer to the near clipping plane
+/// * `far` - Distance from the viewer to the far clipping plane
+///
+/// # Important note
+/// The `aspect` and `fovy` argument are interchanged compared to the original GLM API.
+pub fn perspective_lh_no<N: Real>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
+    assert!(
+        !relative_eq!(far - near, N::zero()),
+        "The near-plane and far-plane must not be superimposed."
+    );
+    assert!(
+        !relative_eq!(aspect, N::zero()),
+        "The apsect ratio must not be zero."
+    );
+
+    let one = N::one();
+    let two: N = ::convert( 2.0);
+    let mut mat : TMat4<N> = TMat4::zeros();
+
+    let tan_half_fovy = (fovy / two).tan();
+
+    mat[(0, 0)] = one / (aspect * tan_half_fovy);
+    mat[(1, 1)] = one / tan_half_fovy;
+    mat[(2, 2)] = (far + near) / (far - near);
+    mat[(2, 3)] = -(two * far * near) / (far - near);
+    mat[(3, 2)] = one;
+
+    mat
+}
+
+/// Creates a matrix for a left hand perspective-view frustum with a depth range of 0 to 1
+///
+/// # Parameters
+///
+/// * `fovy` - Field of view, in radians
+/// * `aspect` - Ratio of viewport width to height (width/height)
+/// * `near` - Distance from the viewer to the near clipping plane
+/// * `far` - Distance from the viewer to the far clipping plane
+///
+/// # Important note
+/// The `aspect` and `fovy` argument are interchanged compared to the original GLM API.
+pub fn perspective_lh_zo<N: Real>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
+    assert!(
+        !relative_eq!(far - near, N::zero()),
+        "The near-plane and far-plane must not be superimposed."
+    );
+    assert!(
+        !relative_eq!(aspect, N::zero()),
+        "The apsect ratio must not be zero."
+    );
+
+    let one = N::one();
+    let two: N = ::convert( 2.0);
+    let mut mat: TMat4<N> = TMat4::zeros();
+
+    let tan_half_fovy = (fovy / two).tan();
+
+    mat[(0, 0)] = one / (aspect * tan_half_fovy);
+    mat[(1, 1)] = one / tan_half_fovy;
+    mat[(2, 2)] = far / (far - near);
+    mat[(2, 3)] = -(far * near) / (far - near);
+    mat[(3, 2)] = one;
+
+    mat
+}
+
+/// Creates a matrix for a right hand perspective-view frustum with a depth range of -1 to 1
+///
+/// # Parameters
+///
+/// * `fovy` - Field of view, in radians
+/// * `aspect` - Ratio of viewport width to height (width/height)
+/// * `near` - Distance from the viewer to the near clipping plane
+/// * `far` - Distance from the viewer to the far clipping plane
+///
+/// # Important note
+/// The `aspect` and `fovy` argument are interchanged compared to the original GLM API.
+pub fn perspective_no<N: Real>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
+    perspective_rh_no(aspect, fovy, near, far)
+}
+
+/// Creates a matrix for a right hand perspective-view frustum with a depth range of -1 to 1
+///
+/// # Parameters
+///
+/// * `fovy` - Field of view, in radians
+/// * `aspect` - Ratio of viewport width to height (width/height)
+/// * `near` - Distance from the viewer to the near clipping plane
+/// * `far` - Distance from the viewer to the far clipping plane
+///
+/// # Important note
+/// The `aspect` and `fovy` argument are interchanged compared to the original GLM API.
+pub fn perspective_rh<N: Real>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
+    perspective_rh_no(aspect, fovy, near, far)
+}
+
+/// Creates a matrix for a right hand perspective-view frustum with a depth range of -1 to 1
+///
+/// # Parameters
+///
+/// * `fovy` - Field of view, in radians
+/// * `aspect` - Ratio of viewport width to height (width/height)
+/// * `near` - Distance from the viewer to the near clipping plane
+/// * `far` - Distance from the viewer to the far clipping plane
+///
+/// # Important note
+/// The `aspect` and `fovy` argument are interchanged compared to the original GLM API.
+pub fn perspective_rh_no<N: Real>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
+    assert!(
+        !relative_eq!(far - near, N::zero()),
+        "The near-plane and far-plane must not be superimposed."
+    );
+    assert!(
+        !relative_eq!(aspect, N::zero()),
+        "The apsect ratio must not be zero."
+    );
+
+    let negone = -N::one();
+    let one =  N::one();
+    let two: N =   ::convert( 2.0);
+    let mut mat = TMat4::zeros();
+
+    let tan_half_fovy = (fovy / two).tan();
+
+    mat[(0, 0)] = one / (aspect * tan_half_fovy);
+    mat[(1, 1)] = one / tan_half_fovy;
+    mat[(2, 2)] = - (far + near) / (far - near);
+    mat[(2, 3)] = -(two * far * near) / (far - near);
+    mat[(3, 2)] = negone;
+
+    mat
+}
+
+/// Creates a matrix for a right hand perspective-view frustum with a depth range of 0 to 1
+///
+/// # Parameters
+///
+/// * `fovy` - Field of view, in radians
+/// * `aspect` - Ratio of viewport width to height (width/height)
+/// * `near` - Distance from the viewer to the near clipping plane
+/// * `far` - Distance from the viewer to the far clipping plane
+///
+/// # Important note
+/// The `aspect` and `fovy` argument are interchanged compared to the original GLM API.
+pub fn perspective_rh_zo<N: Real>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
+    assert!(
+        !relative_eq!(far - near, N::zero()),
+        "The near-plane and far-plane must not be superimposed."
+    );
+    assert!(
+        !relative_eq!(aspect, N::zero()),
+        "The apsect ratio must not be zero."
+    );
+
+    let negone = -N::one();
+    let one =  N::one();
+    let two =   ::convert( 2.0);
+    let mut mat = TMat4::zeros();
+
+    let tan_half_fovy = (fovy / two).tan();
+
+    mat[(0, 0)] = one / (aspect * tan_half_fovy);
+    mat[(1, 1)] = one / tan_half_fovy;
+    mat[(2, 2)] = far / (near - far);
+    mat[(2, 3)] = -(far * near) / (far - near);
+    mat[(3, 2)] = negone;
+
+    mat
+}
+
+/// Creates a matrix for a right hand perspective-view frustum with a depth range of 0 to 1
+///
+/// # Parameters
+///
+/// * `fovy` - Field of view, in radians
+/// * `aspect` - Ratio of viewport width to height (width/height)
+/// * `near` - Distance from the viewer to the near clipping plane
+/// * `far` - Distance from the viewer to the far clipping plane
+///
+/// # Important note
+/// The `aspect` and `fovy` argument are interchanged compared to the original GLM API.
+pub fn perspective_zo<N: Real>(aspect: N, fovy: N, near: N, far: N) -> TMat4<N> {
+    perspective_rh_zo(aspect, fovy, near, far)
 }
 
-//pub fn perspective_fov<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
-//    unimplemented!()
-//}
-//
-//pub fn perspective_fov_lh<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
-//    unimplemented!()
-//}
-//
-//pub fn perspective_fov_lh_no<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
-//    unimplemented!()
-//}
-//
-//pub fn perspective_fov_lh_zo<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
-//    unimplemented!()
-//}
-//
-//pub fn perspective_fov_no<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
-//    unimplemented!()
-//}
-//
-//pub fn perspective_fov_rh<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
-//    unimplemented!()
-//}
-//
-//pub fn perspective_fov_rh_no<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
-//    unimplemented!()
-//}
-//
-//pub fn perspective_fov_rh_zo<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
-//    unimplemented!()
-//}
-//
-//pub fn perspective_fov_zo<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> TMat4<N> {
-//    unimplemented!()
-//}
-//
-//pub fn perspective_lh<N: Real>(fovy: N, aspect: N, near: N, far: N) -> TMat4<N> {
-//    unimplemented!()
-//}
-//
-//pub fn perspective_lh_no<N: Real>(fovy: N, aspect: N, near: N, far: N) -> TMat4<N> {
-//    unimplemented!()
-//}
-//
-//pub fn perspective_lh_zo<N: Real>(fovy: N, aspect: N, near: N, far: N) -> TMat4<N> {
-//    unimplemented!()
-//}
-//
-//pub fn perspective_no<N: Real>(fovy: N, aspect: N, near: N, far: N) -> TMat4<N> {
-//    unimplemented!()
-//}
-//
-//pub fn perspective_rh<N: Real>(fovy: N, aspect: N, near: N, far: N) -> TMat4<N> {
-//    unimplemented!()
-//}
-//
-//pub fn perspective_rh_no<N: Real>(fovy: N, aspect: N, near: N, far: N) -> TMat4<N> {
-//    unimplemented!()
-//}
-//
-//pub fn perspective_rh_zo<N: Real>(fovy: N, aspect: N, near: N, far: N) -> TMat4<N> {
-//    unimplemented!()
-//}
-//
-//pub fn perspective_zo<N: Real>(fovy: N, aspect: N, near: N, far: N) -> TMat4<N> {
-//    unimplemented!()
-//}
-//
 //pub fn tweaked_infinite_perspective<N: Real>(fovy: N, aspect: N, near: N) -> TMat4<N> {
 //    unimplemented!()
 //}

nalgebra-glm/src/ext/matrix_projection.rs

@@ -24,7 +24,8 @@ pub fn pick_matrix<N: Real>(center: &TVec2<N>, delta: &TVec2<N>, viewport: &TVec
     ))
 }
 
-/// Map the specified object coordinates `(obj.x, obj.y, obj.z)` into window coordinates using OpenGL near and far clip planes definition.
+/// Map the specified object coordinates `(obj.x, obj.y, obj.z)` into window coordinates with a
+/// depth range of -1 to 1
 ///
 /// # Parameters:
 ///
@@ -114,7 +115,8 @@ pub fn project_zo<N: Real>(
     )
 }
 
-/// Map the specified window coordinates (win.x, win.y, win.z) into object coordinates using OpenGL near and far clip planes definition.
+/// Map the specified window coordinates (win.x, win.y, win.z) into object coordinates using a
+/// depth range of -1 to 1
 ///
 /// # Parameters:
 ///

nalgebra-glm/src/ext/matrix_transform.rs

@@ -38,11 +38,7 @@ pub fn look_at<N: Real>(eye: &TVec3<N>, center: &TVec3<N>, up: &TVec3<N>) -> TMa
 /// * [`look_at`](fn.look_at.html)
 /// * [`look_at_rh`](fn.look_at_rh.html)
 pub fn look_at_lh<N: Real>(eye: &TVec3<N>, center: &TVec3<N>, up: &TVec3<N>) -> TMat4<N> {
-    TMat::look_at_lh(
+    TMat::look_at_lh(&Point3::from(*eye), &Point3::from(*center), up)
-        &Point3::from_coordinates(*eye),
-        &Point3::from_coordinates(*center),
-        up,
-    )
 }
 
 /// Build a right handed look at view matrix.
@@ -58,11 +54,7 @@ pub fn look_at_lh<N: Real>(eye: &TVec3<N>, center: &TVec3<N>, up: &TVec3<N>) ->
 /// * [`look_at`](fn.look_at.html)
 /// * [`look_at_lh`](fn.look_at_lh.html)
 pub fn look_at_rh<N: Real>(eye: &TVec3<N>, center: &TVec3<N>, up: &TVec3<N>) -> TMat4<N> {
-    TMat::look_at_rh(
+    TMat::look_at_rh(&Point3::from(*eye), &Point3::from(*center), up)
-        &Point3::from_coordinates(*eye),
-        &Point3::from_coordinates(*center),
-        up,
-    )
 }
 
 /// Builds a rotation 4 * 4 matrix created from an axis vector and an angle and right-multiply it to `m`.

nalgebra-glm/src/ext/mod.rs

@@ -1,6 +1,16 @@
 //! (Reexported) Additional features not specified by GLSL specification
 
-pub use self::matrix_clip_space::{ortho, perspective};
+pub use self::matrix_clip_space::{
+    ortho, ortho_lh, ortho_lh_no, ortho_lh_zo, ortho_no, ortho_rh, ortho_rh_no, ortho_rh_zo,
+    ortho_zo,
+
+    perspective, perspective_lh, perspective_lh_no, perspective_lh_zo, perspective_no,
+    perspective_rh, perspective_rh_no, perspective_rh_zo, perspective_zo,
+
+    perspective_fov, perspective_fov_lh,perspective_fov_lh_no, perspective_fov_lh_zo,
+    perspective_fov_no, perspective_fov_rh, perspective_fov_rh_no, perspective_fov_rh_zo,
+    perspective_fov_zo,
+};
 pub use self::matrix_projection::{
     pick_matrix, project, project_no, project_zo, unproject, unproject_no, unproject_zo,
 };

nalgebra-glm/src/ext/quaternion_common.rs

@@ -33,5 +33,5 @@ pub fn quat_lerp<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
 pub fn quat_slerp<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
     Unit::new_normalize(*x)
         .slerp(&Unit::new_normalize(*y), a)
-        .unwrap()
+        .into_inner()
 }

nalgebra-glm/src/ext/quaternion_transform.rs

@@ -19,7 +19,7 @@ pub fn quat_pow<N: Real>(q: &Qua<N>, y: N) -> Qua<N> {
 
 /// Builds a quaternion from an axis and an angle, and right-multiply it to the quaternion `q`.
 pub fn quat_rotate<N: Real>(q: &Qua<N>, angle: N, axis: &TVec3<N>) -> Qua<N> {
-    q * UnitQuaternion::from_axis_angle(&Unit::new_normalize(*axis), angle).unwrap()
+    q * UnitQuaternion::from_axis_angle(&Unit::new_normalize(*axis), angle).into_inner()
 }
 
 //pub fn quat_sqrt<N: Real>(q: &Qua<N>) -> Qua<N> {

nalgebra-glm/src/ext/quaternion_trigonometric.rs

@@ -9,13 +9,13 @@ pub fn quat_angle<N: Real>(x: &Qua<N>) -> N {
 
 /// Creates a quaternion from an axis and an angle.
 pub fn quat_angle_axis<N: Real>(angle: N, axis: &TVec3<N>) -> Qua<N> {
-    UnitQuaternion::from_axis_angle(&Unit::new_normalize(*axis), angle).unwrap()
+    UnitQuaternion::from_axis_angle(&Unit::new_normalize(*axis), angle).into_inner()
 }
 
 /// The rotation axis of a quaternion assumed to be normalized.
 pub fn quat_axis<N: Real>(x: &Qua<N>) -> TVec3<N> {
     if let Some(a) = UnitQuaternion::from_quaternion(*x).axis() {
-        a.unwrap()
+        a.into_inner()
     } else {
         TVec3::zeros()
     }

nalgebra-glm/src/gtc/integer.rs

@@ -15,4 +15,4 @@
 //pub fn uround<N: Scalar, D: Dimension>(x: &TVec<N, D>) -> TVec<u32, D>
 //    where DefaultAllocator: Alloc<N, D> {
 //    unimplemented!()
-//}
+//}

nalgebra-glm/src/gtc/packing.rs

@@ -288,4 +288,4 @@ pub fn unpackUnorm4x16(p: u64) -> Vec4 {
 
 pub fn unpackUnorm4x4(p: u16) -> Vec4 {
     unimplemented!()
-}
+}

nalgebra-glm/src/gtc/quaternion.rs

@@ -5,7 +5,7 @@ use aliases::{Qua, TMat4, TVec, TVec3};
 /// Euler angles of the quaternion `q` as (pitch, yaw, roll).
 pub fn quat_euler_angles<N: Real>(x: &Qua<N>) -> TVec3<N> {
     let q = UnitQuaternion::new_unchecked(*x);
-    let a = q.to_euler_angles();
+    let a = q.euler_angles();
     TVec3::new(a.2, a.1, a.0)
 }
 
@@ -34,19 +34,25 @@ pub fn quat_cast<N: Real>(x: &Qua<N>) -> TMat4<N> {
     ::quat_to_mat4(x)
 }
 
-/// Computes a right-handed look-at quaternion (equivalent to a right-handed look-at matrix).
+/// Computes a right hand look-at quaternion
+///
+/// # Parameters
+///
+/// * `direction` - Direction vector point at where to look
+/// * `up` - Object up vector
+///
 pub fn quat_look_at<N: Real>(direction: &TVec3<N>, up: &TVec3<N>) -> Qua<N> {
     quat_look_at_rh(direction, up)
 }
 
 /// Computes a left-handed look-at quaternion (equivalent to a left-handed look-at matrix).
 pub fn quat_look_at_lh<N: Real>(direction: &TVec3<N>, up: &TVec3<N>) -> Qua<N> {
-    UnitQuaternion::look_at_lh(direction, up).unwrap()
+    UnitQuaternion::look_at_lh(direction, up).into_inner()
 }
 
 /// Computes a right-handed look-at quaternion (equivalent to a right-handed look-at matrix).
 pub fn quat_look_at_rh<N: Real>(direction: &TVec3<N>, up: &TVec3<N>) -> Qua<N> {
-    UnitQuaternion::look_at_rh(direction, up).unwrap()
+    UnitQuaternion::look_at_rh(direction, up).into_inner()
 }
 
 /// The "roll" Euler angle of the quaternion `x` assumed to be normalized.

nalgebra-glm/src/gtc/type_ptr.rs

@@ -113,7 +113,7 @@ pub fn mat4_to_mat2<N: Scalar>(m: &TMat4<N>) -> TMat2<N> {
 
 /// Creates a quaternion from a slice arranged as `[x, y, z, w]`.
 pub fn make_quat<N: Real>(ptr: &[N]) -> Qua<N> {
-    Quaternion::from_vector(TVec4::from_column_slice(ptr))
+    Quaternion::from(TVec4::from_column_slice(ptr))
 }
 
 /// Creates a 1D vector from a slice.

nalgebra-glm/src/gtx/quaternion.rs

@@ -21,7 +21,7 @@ pub fn quat_extract_real_component<N: Real>(q: &Qua<N>) -> N {
 pub fn quat_fast_mix<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
     Unit::new_unchecked(*x)
         .nlerp(&Unit::new_unchecked(*y), a)
-        .unwrap()
+        .into_inner()
 }
 
 //pub fn quat_intermediate<N: Real>(prev: &Qua<N>, curr: &Qua<N>, next: &Qua<N>) -> Qua<N> {
@@ -40,7 +40,7 @@ pub fn quat_magnitude2<N: Real>(q: &Qua<N>) -> N {
 
 /// The quaternion representing the identity rotation.
 pub fn quat_identity<N: Real>() -> Qua<N> {
-    UnitQuaternion::identity().unwrap()
+    UnitQuaternion::identity().into_inner()
 }
 
 /// Rotates a vector by a quaternion assumed to be normalized.
@@ -58,14 +58,14 @@ pub fn quat_rotate_vec<N: Real>(q: &Qua<N>, v: &TVec4<N>) -> TVec4<N> {
 pub fn quat_rotation<N: Real>(orig: &TVec3<N>, dest: &TVec3<N>) -> Qua<N> {
     UnitQuaternion::rotation_between(orig, dest)
         .unwrap_or_else(UnitQuaternion::identity)
-        .unwrap()
+        .into_inner()
 }
 
 /// The spherical linear interpolation between two quaternions.
 pub fn quat_short_mix<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
     Unit::new_normalize(*x)
         .slerp(&Unit::new_normalize(*y), a)
-        .unwrap()
+        .into_inner()
 }
 
 //pub fn quat_squad<N: Real>(q1: &Qua<N>, q2: &Qua<N>, s1: &Qua<N>, s2: &Qua<N>, h: N) -> Qua<N> {
@@ -76,7 +76,7 @@ pub fn quat_short_mix<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
 pub fn quat_to_mat3<N: Real>(x: &Qua<N>) -> TMat3<N> {
     UnitQuaternion::new_unchecked(*x)
         .to_rotation_matrix()
-        .unwrap()
+        .into_inner()
 }
 
 /// Converts a quaternion to a rotation matrix in homogenous coordinates.
@@ -87,7 +87,7 @@ pub fn quat_to_mat4<N: Real>(x: &Qua<N>) -> TMat4<N> {
 /// Converts a rotation matrix to a quaternion.
 pub fn mat3_to_quat<N: Real>(x: &TMat3<N>) -> Qua<N> {
     let r = Rotation3::from_matrix_unchecked(*x);
-    UnitQuaternion::from_rotation_matrix(&r).unwrap()
+    UnitQuaternion::from_rotation_matrix(&r).into_inner()
 }
 
 /// Converts a rotation matrix in homogeneous coordinates to a quaternion.

nalgebra-glm/src/gtx/rotate_normalized_axis.rs

@@ -21,5 +21,5 @@ pub fn rotate_normalized_axis<N: Real>(m: &TMat4<N>, angle: N, axis: &TVec3<N>)
 /// * `angle` - Angle expressed in radians.
 /// * `axis` - Normalized axis of the rotation, must be normalized.
 pub fn quat_rotate_normalized_axis<N: Real>(q: &Qua<N>, angle: N, axis: &TVec3<N>) -> Qua<N> {
-    q * UnitQuaternion::from_axis_angle(&Unit::new_unchecked(*axis), angle).unwrap()
+    q * UnitQuaternion::from_axis_angle(&Unit::new_unchecked(*axis), angle).into_inner()
 }

nalgebra-glm/src/gtx/rotate_vector.rs

@@ -60,5 +60,5 @@ pub fn rotate_z_vec4<N: Real>(v: &TVec4<N>, angle: N) -> TVec4<N> {
 pub fn slerp<N: Real>(x: &TVec3<N>, y: &TVec3<N>, a: N) -> TVec3<N> {
     Unit::new_unchecked(*x)
         .slerp(&Unit::new_unchecked(*y), a)
-        .unwrap()
+        .into_inner()
 }

nalgebra-glm/src/lib.rs

@@ -111,6 +111,7 @@
 */
 
 #![doc(html_favicon_url = "http://nalgebra.org/img/favicon.ico")]
+#![cfg_attr(not(feature = "std"), no_std)]
 
 extern crate num_traits as num;
 #[macro_use]
@@ -122,8 +123,9 @@ pub use aliases::*;
 pub use common::{
     abs, ceil, clamp, clamp_scalar, clamp_vec, float_bits_to_int, float_bits_to_int_vec,
     float_bits_to_uint, float_bits_to_uint_vec, floor, fract, int_bits_to_float,
-    int_bits_to_float_vec, mix, modf, modf_vec, round, sign, smoothstep, step, step_scalar,
+    int_bits_to_float_vec, lerp, lerp_scalar, lerp_vec, mix, mix_scalar, mix_vec, modf, modf_vec,
-    step_vec, trunc, uint_bits_to_float, uint_bits_to_float_scalar,
+    round, sign, smoothstep, step, step_scalar, step_vec, trunc, uint_bits_to_float,
+    uint_bits_to_float_scalar,
 };
 pub use constructors::*;
 pub use exponential::{exp, exp2, inversesqrt, log, log2, pow, sqrt};
@@ -143,12 +145,17 @@ pub use ext::{
     epsilon, equal_columns, equal_columns_eps, equal_columns_eps_vec, equal_eps, equal_eps_vec,
     identity, look_at, look_at_lh, look_at_rh, max, max2, max3, max3_scalar, max4, max4_scalar,
     min, min2, min3, min3_scalar, min4, min4_scalar, not_equal_columns, not_equal_columns_eps,
-    not_equal_columns_eps_vec, not_equal_eps, not_equal_eps_vec, ortho, perspective, pi,
+    not_equal_columns_eps_vec, not_equal_eps, not_equal_eps_vec, ortho, perspective, perspective_fov,
-    pick_matrix, project, project_no, project_zo, quat_angle, quat_angle_axis, quat_axis,
+    perspective_fov_lh,perspective_fov_lh_no, perspective_fov_lh_zo, perspective_fov_no,
-    quat_conjugate, quat_cross, quat_dot, quat_equal, quat_equal_eps, quat_exp, quat_inverse,
+    perspective_fov_rh, perspective_fov_rh_no, perspective_fov_rh_zo, perspective_fov_zo,
-    quat_length, quat_lerp, quat_log, quat_magnitude, quat_normalize, quat_not_equal,
+    perspective_lh, perspective_lh_no, perspective_lh_zo, perspective_no, perspective_rh,
-    quat_not_equal_eps, quat_pow, quat_rotate, quat_slerp, rotate, rotate_x, rotate_y, rotate_z,
+    perspective_rh_no, perspective_rh_zo, perspective_zo, ortho_lh, ortho_lh_no, ortho_lh_zo,
-    scale, translate, unproject, unproject_no, unproject_zo,
+    ortho_no, ortho_rh, ortho_rh_no, ortho_rh_zo, ortho_zo, pi, pick_matrix, project, project_no,
+    project_zo, quat_angle, quat_angle_axis, quat_axis, quat_conjugate, quat_cross, quat_dot,
+    quat_equal, quat_equal_eps, quat_exp, quat_inverse, quat_length, quat_lerp, quat_log,
+    quat_magnitude, quat_normalize, quat_not_equal, quat_not_equal_eps, quat_pow, quat_rotate,
+    quat_slerp, rotate, rotate_x, rotate_y, rotate_z, scale, translate, unproject, unproject_no,
+    unproject_zo,
 };
 pub use gtc::{
     affine_inverse, column, e, euler, four_over_pi, golden_ratio, half_pi, inverse_transpose,

nalgebra-glm/src/traits.rs

@@ -17,8 +17,7 @@ pub trait Number:
 
 impl<T: Scalar + Ring + Lattice + AbsDiffEq<Epsilon = Self> + Signed + FromPrimitive + Bounded>
     Number for T
-{
+{}
-}
 
 #[doc(hidden)]
 pub trait Alloc<N: Scalar, R: Dimension, C: Dimension = U1>:
@@ -77,5 +76,4 @@ impl<N: Scalar, R: Dimension, C: Dimension, T> Alloc<N, R, C> for T where T: All
         + Allocator<i16, C>
         + Allocator<(usize, usize), R>
         + Allocator<(usize, usize), C>
-{
+{}
-}

nalgebra-glm/tests/lib.rs

@@ -0,0 +1,55 @@
+extern crate nalgebra as na;
+extern crate nalgebra_glm as glm;
+
+use na::Perspective3;
+use na::Orthographic3;
+use glm::Mat4;
+use glm::Vec4;
+
+#[test]
+pub fn orthographic_glm_nalgebra_same()
+{
+    let na_mat : Mat4 = Orthographic3::new(-100.0f32,100.0f32, -50.0f32, 50.0f32, 0.1f32, 100.0f32).into_inner();
+    let gl_mat : Mat4 = glm::ortho(-100.0f32,100.0f32, -50.0f32, 50.0f32, 0.1f32, 100.0f32);
+
+    assert_eq!(na_mat, gl_mat);
+}
+
+#[test]
+pub fn perspective_glm_nalgebra_same()
+{
+    let na_mat : Mat4 = Perspective3::new(16.0f32/9.0f32, 3.14f32/2.0f32, 0.1f32, 100.0f32).into_inner();
+    let gl_mat : Mat4 = glm::perspective(16.0f32/9.0f32, 3.14f32/2.0f32, 0.1f32, 100.0f32);
+
+    assert_eq!(na_mat, gl_mat);
+}
+
+#[test]
+pub fn orthographic_glm_nalgebra_project_same()
+{
+    let point = Vec4::new(1.0,0.0,-20.0,1.0);
+
+    let na_mat : Mat4 = Orthographic3::new(-100.0f32,100.0f32, -50.0f32, 50.0f32, 0.1f32, 100.0f32).into_inner();
+    let gl_mat : Mat4 = glm::ortho(-100.0f32,100.0f32, -50.0f32, 50.0f32, 0.1f32, 100.0f32);
+
+    let na_pt = na_mat * point;
+    let gl_pt = gl_mat * point;
+
+    assert_eq!(na_mat, gl_mat);
+    assert_eq!(na_pt, gl_pt);
+}
+
+#[test]
+pub fn perspective_glm_nalgebra_project_same()
+{
+    let point = Vec4::new(1.0,0.0,-20.0,1.0);
+
+    let na_mat : Mat4 = Perspective3::new(16.0f32/9.0f32, 3.14f32/2.0f32, 0.1f32, 100.0f32).into_inner();
+    let gl_mat : Mat4 = glm::perspective(16.0f32/9.0f32, 3.14f32/2.0f32, 0.1f32, 100.0f32);
+
+    let na_pt = na_mat * point;
+    let gl_pt = gl_mat * point;
+
+    assert_eq!(na_mat, gl_mat);
+    assert_eq!(na_pt, gl_pt);
+}

nalgebra-lapack/Cargo.toml

@@ -34,6 +34,6 @@ lapack-src    = { version = "0.2", default-features = false }
 
 [dev-dependencies]
 nalgebra   = { version = "0.16", path = "..", features = [ "arbitrary" ] }
-quickcheck = "0.6"
+quickcheck = "0.7"
 approx     = "0.3"
-rand       = "0.5"
+rand       = "0.6"

nalgebra-lapack/src/cholesky.rs

@@ -15,13 +15,17 @@ use lapack;
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "serde-serialize",
-    serde(bound(serialize = "DefaultAllocator: Allocator<N, D>,
+    serde(bound(
-         MatrixN<N, D>: Serialize"))
+        serialize = "DefaultAllocator: Allocator<N, D>,
+         MatrixN<N, D>: Serialize"
+    ))
 )]
 #[cfg_attr(
     feature = "serde-serialize",
-    serde(bound(deserialize = "DefaultAllocator: Allocator<N, D>,
+    serde(bound(
-         MatrixN<N, D>: Deserialize<'de>"))
+        deserialize = "DefaultAllocator: Allocator<N, D>,
+         MatrixN<N, D>: Deserialize<'de>"
+    ))
 )]
 #[derive(Clone, Debug)]
 pub struct Cholesky<N: Scalar, D: Dim>
@@ -34,8 +38,7 @@ impl<N: Scalar, D: Dim> Copy for Cholesky<N, D>
 where
     DefaultAllocator: Allocator<N, D, D>,
     MatrixN<N, D>: Copy,
-{
+{}
-}
 
 impl<N: CholeskyScalar + Zero, D: Dim> Cholesky<N, D>
 where DefaultAllocator: Allocator<N, D, D>
@@ -157,7 +160,7 @@ where DefaultAllocator: Allocator<N, D, D>
         // Copy lower triangle to upper triangle.
         for i in 0..dim {
             for j in i + 1..dim {
-                unsafe { *self.l.get_unchecked_mut(i, j) = *self.l.get_unchecked(j, i) };
+                unsafe { *self.l.get_unchecked_mut((i, j)) = *self.l.get_unchecked((j, i)) };
             }
         }
 

nalgebra-lapack/src/eigen.rs

@@ -18,19 +18,19 @@ use lapack;
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "serde-serialize",
-    serde(
+    serde(bound(
-        bound(serialize = "DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
+        serialize = "DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
          VectorN<N, D>: Serialize,
-         MatrixN<N, D>: Serialize")
+         MatrixN<N, D>: Serialize"
-    )
+    ))
 )]
 #[cfg_attr(
     feature = "serde-serialize",
-    serde(
+    serde(bound(
-        bound(deserialize = "DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
+        deserialize = "DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
          VectorN<N, D>: Serialize,
-         MatrixN<N, D>: Deserialize<'de>")
+         MatrixN<N, D>: Deserialize<'de>"
-    )
+    ))
 )]
 #[derive(Clone, Debug)]
 pub struct Eigen<N: Scalar, D: Dim>
@@ -49,8 +49,7 @@ where
     DefaultAllocator: Allocator<N, D> + Allocator<N, D, D>,
     VectorN<N, D>: Copy,
     MatrixN<N, D>: Copy,
-{
+{}
-}
 
 impl<N: EigenScalar + Real, D: Dim> Eigen<N, D>
 where DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>

nalgebra-lapack/src/hessenberg.rs

@@ -13,17 +13,21 @@ use lapack;
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "serde-serialize",
-    serde(bound(serialize = "DefaultAllocator: Allocator<N, D, D> +
+    serde(bound(
+        serialize = "DefaultAllocator: Allocator<N, D, D> +
                            Allocator<N, DimDiff<D, U1>>,
          MatrixN<N, D>: Serialize,
-         VectorN<N, DimDiff<D, U1>>: Serialize"))
+         VectorN<N, DimDiff<D, U1>>: Serialize"
+    ))
 )]
 #[cfg_attr(
     feature = "serde-serialize",
-    serde(bound(deserialize = "DefaultAllocator: Allocator<N, D, D> +
+    serde(bound(
+        deserialize = "DefaultAllocator: Allocator<N, D, D> +
                            Allocator<N, DimDiff<D, U1>>,
          MatrixN<N, D>: Deserialize<'de>,
-         VectorN<N, DimDiff<D, U1>>: Deserialize<'de>"))
+         VectorN<N, DimDiff<D, U1>>: Deserialize<'de>"
+    ))
 )]
 #[derive(Clone, Debug)]
 pub struct Hessenberg<N: Scalar, D: DimSub<U1>>
@@ -38,8 +42,7 @@ where
     DefaultAllocator: Allocator<N, D, D> + Allocator<N, DimDiff<D, U1>>,
     MatrixN<N, D>: Copy,
     VectorN<N, DimDiff<D, U1>>: Copy,
-{
+{}
-}
 
 impl<N: HessenbergScalar + Zero, D: DimSub<U1>> Hessenberg<N, D>
 where DefaultAllocator: Allocator<N, D, D> + Allocator<N, DimDiff<D, U1>>

nalgebra-lapack/src/lu.rs

@@ -20,17 +20,21 @@ use lapack;
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "serde-serialize",
-    serde(bound(serialize = "DefaultAllocator: Allocator<N, R, C> +
+    serde(bound(
+        serialize = "DefaultAllocator: Allocator<N, R, C> +
                            Allocator<i32, DimMinimum<R, C>>,
          MatrixMN<N, R, C>: Serialize,
-         PermutationSequence<DimMinimum<R, C>>: Serialize"))
+         PermutationSequence<DimMinimum<R, C>>: Serialize"
+    ))
 )]
 #[cfg_attr(
     feature = "serde-serialize",
-    serde(bound(deserialize = "DefaultAllocator: Allocator<N, R, C> +
+    serde(bound(
+        deserialize = "DefaultAllocator: Allocator<N, R, C> +
                            Allocator<i32, DimMinimum<R, C>>,
          MatrixMN<N, R, C>: Deserialize<'de>,
-         PermutationSequence<DimMinimum<R, C>>: Deserialize<'de>"))
+         PermutationSequence<DimMinimum<R, C>>: Deserialize<'de>"
+    ))
 )]
 #[derive(Clone, Debug)]
 pub struct LU<N: Scalar, R: DimMin<C>, C: Dim>
@@ -45,8 +49,7 @@ where
     DefaultAllocator: Allocator<N, R, C> + Allocator<i32, DimMinimum<R, C>>,
     MatrixMN<N, R, C>: Copy,
     VectorN<i32, DimMinimum<R, C>>: Copy,
-{
+{}
-}
 
 impl<N: LUScalar, R: Dim, C: Dim> LU<N, R, C>
 where

nalgebra-lapack/src/qr.rs

@@ -16,17 +16,21 @@ use lapack;
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "serde-serialize",
-    serde(bound(serialize = "DefaultAllocator: Allocator<N, R, C> +
+    serde(bound(
+        serialize = "DefaultAllocator: Allocator<N, R, C> +
                            Allocator<N, DimMinimum<R, C>>,
          MatrixMN<N, R, C>: Serialize,
-         VectorN<N, DimMinimum<R, C>>: Serialize"))
+         VectorN<N, DimMinimum<R, C>>: Serialize"
+    ))
 )]
 #[cfg_attr(
     feature = "serde-serialize",
-    serde(bound(deserialize = "DefaultAllocator: Allocator<N, R, C> +
+    serde(bound(
+        deserialize = "DefaultAllocator: Allocator<N, R, C> +
                            Allocator<N, DimMinimum<R, C>>,
          MatrixMN<N, R, C>: Deserialize<'de>,
-         VectorN<N, DimMinimum<R, C>>: Deserialize<'de>"))
+         VectorN<N, DimMinimum<R, C>>: Deserialize<'de>"
+    ))
 )]
 #[derive(Clone, Debug)]
 pub struct QR<N: Scalar, R: DimMin<C>, C: Dim>
@@ -41,8 +45,7 @@ where
     DefaultAllocator: Allocator<N, R, C> + Allocator<N, DimMinimum<R, C>>,
     MatrixMN<N, R, C>: Copy,
     VectorN<N, DimMinimum<R, C>>: Copy,
-{
+{}
-}
 
 impl<N: QRScalar + Zero, R: DimMin<C>, C: Dim> QR<N, R, C>
 where DefaultAllocator: Allocator<N, R, C>

nalgebra-lapack/src/schur.rs

@@ -18,19 +18,19 @@ use lapack;
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "serde-serialize",
-    serde(
+    serde(bound(
-        bound(serialize = "DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
+        serialize = "DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
          VectorN<N, D>: Serialize,
-         MatrixN<N, D>: Serialize")
+         MatrixN<N, D>: Serialize"
-    )
+    ))
 )]
 #[cfg_attr(
     feature = "serde-serialize",
-    serde(
+    serde(bound(
-        bound(deserialize = "DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
+        deserialize = "DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
          VectorN<N, D>: Serialize,
-         MatrixN<N, D>: Deserialize<'de>")
+         MatrixN<N, D>: Deserialize<'de>"
-    )
+    ))
 )]
 #[derive(Clone, Debug)]
 pub struct RealSchur<N: Scalar, D: Dim>
@@ -47,8 +47,7 @@ where
     DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
     MatrixN<N, D>: Copy,
     VectorN<N, D>: Copy,
-{
+{}
-}
 
 impl<N: RealSchurScalar + Real, D: Dim> RealSchur<N, D>
 where DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>

nalgebra-lapack/src/svd.rs

@@ -15,21 +15,25 @@ use lapack;
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "serde-serialize",
-    serde(bound(serialize = "DefaultAllocator: Allocator<N, DimMinimum<R, C>> +
+    serde(bound(
+        serialize = "DefaultAllocator: Allocator<N, DimMinimum<R, C>> +
                            Allocator<N, R, R> +
                            Allocator<N, C, C>,
          MatrixN<N, R>: Serialize,
          MatrixN<N, C>: Serialize,
-         VectorN<N, DimMinimum<R, C>>: Serialize"))
+         VectorN<N, DimMinimum<R, C>>: Serialize"
+    ))
 )]
 #[cfg_attr(
     feature = "serde-serialize",
-    serde(bound(serialize = "DefaultAllocator: Allocator<N, DimMinimum<R, C>> +
+    serde(bound(
+        serialize = "DefaultAllocator: Allocator<N, DimMinimum<R, C>> +
                            Allocator<N, R, R> +
                            Allocator<N, C, C>,
          MatrixN<N, R>: Deserialize<'de>,
          MatrixN<N, C>: Deserialize<'de>,
-         VectorN<N, DimMinimum<R, C>>: Deserialize<'de>"))
+         VectorN<N, DimMinimum<R, C>>: Deserialize<'de>"
+    ))
 )]
 #[derive(Clone, Debug)]
 pub struct SVD<N: Scalar, R: DimMin<C>, C: Dim>
@@ -49,8 +53,7 @@ where
     MatrixMN<N, R, R>: Copy,
     MatrixMN<N, C, C>: Copy,
     VectorN<N, DimMinimum<R, C>>: Copy,
-{
+{}
-}
 
 /// Trait implemented by floats (`f32`, `f64`) and complex floats (`Complex<f32>`, `Complex<f64>`)
 /// supported by the Singular Value Decompotition.

nalgebra-lapack/src/symmetric_eigen.rs

@@ -18,17 +18,21 @@ use lapack;
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "serde-serialize",
-    serde(bound(serialize = "DefaultAllocator: Allocator<N, D, D> +
+    serde(bound(
+        serialize = "DefaultAllocator: Allocator<N, D, D> +
                            Allocator<N, D>,
          VectorN<N, D>: Serialize,
-         MatrixN<N, D>: Serialize"))
+         MatrixN<N, D>: Serialize"
+    ))
 )]
 #[cfg_attr(
     feature = "serde-serialize",
-    serde(bound(deserialize = "DefaultAllocator: Allocator<N, D, D> +
+    serde(bound(
+        deserialize = "DefaultAllocator: Allocator<N, D, D> +
                            Allocator<N, D>,
          VectorN<N, D>: Deserialize<'de>,
-         MatrixN<N, D>: Deserialize<'de>"))
+         MatrixN<N, D>: Deserialize<'de>"
+    ))
 )]
 #[derive(Clone, Debug)]
 pub struct SymmetricEigen<N: Scalar, D: Dim>
@@ -46,8 +50,7 @@ where
     DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
     MatrixN<N, D>: Copy,
     VectorN<N, D>: Copy,
-{
+{}
-}
 
 impl<N: SymmetricEigenScalar + Real, D: Dim> SymmetricEigen<N, D>
 where DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>

src/base/alias.rs

@@ -2,7 +2,7 @@
 use base::dimension::Dynamic;
 use base::dimension::{U1, U2, U3, U4, U5, U6};
 #[cfg(any(feature = "std", feature = "alloc"))]
-use base::matrix_vec::MatrixVec;
+use base::vec_storage::VecStorage;
 use base::storage::Owned;
 use base::Matrix;
 
@@ -119,7 +119,7 @@ pub type Matrix6x5<N> = MatrixMN<N, U6, U5>;
  */
 /// A dynamically sized column vector.
 #[cfg(any(feature = "std", feature = "alloc"))]
-pub type DVector<N> = Matrix<N, Dynamic, U1, MatrixVec<N, Dynamic, U1>>;
+pub type DVector<N> = Matrix<N, Dynamic, U1, VecStorage<N, Dynamic, U1>>;
 
 /// A statically sized D-dimensional column vector.
 pub type VectorN<N, D> = MatrixMN<N, D, U1>;
@@ -146,7 +146,7 @@ pub type Vector6<N> = VectorN<N, U6>;
  */
 /// A dynamically sized row vector.
 #[cfg(any(feature = "std", feature = "alloc"))]
-pub type RowDVector<N> = Matrix<N, U1, Dynamic, MatrixVec<N, U1, Dynamic>>;
+pub type RowDVector<N> = Matrix<N, U1, Dynamic, VecStorage<N, U1, Dynamic>>;
 
 /// A statically sized D-dimensional row vector.
 pub type RowVectorN<N, D> = MatrixMN<N, U1, D>;

src/base/alias_slice.rs

@@ -175,24 +175,24 @@ pub type MatrixSliceXx6<'a, N, RStride = U1, CStride = Dynamic> =
     MatrixSliceMN<'a, N, Dynamic, U6, RStride, CStride>;
 
 /// A column vector slice with `D` rows.
-pub type VectorSliceN<'a, N, D, Stride = U1> =
+pub type VectorSliceN<'a, N, D, RStride = U1, CStride = D> =
-    Matrix<N, D, U1, SliceStorage<'a, N, D, U1, Stride, D>>;
+    Matrix<N, D, U1, SliceStorage<'a, N, D, U1, RStride, CStride>>;
 
 /// A column vector slice dynamic numbers of rows and columns.
-pub type DVectorSlice<'a, N, Stride = U1> = VectorSliceN<'a, N, Dynamic, Stride>;
+pub type DVectorSlice<'a, N, RStride = U1, CStride = Dynamic> = VectorSliceN<'a, N, Dynamic, RStride, CStride>;
 
 /// A 1D column vector slice.
-pub type VectorSlice1<'a, N, Stride = U1> = VectorSliceN<'a, N, U1, Stride>;
+pub type VectorSlice1<'a, N, RStride = U1, CStride = U1> = VectorSliceN<'a, N, U1, RStride, CStride>;
 /// A 2D column vector slice.
-pub type VectorSlice2<'a, N, Stride = U1> = VectorSliceN<'a, N, U2, Stride>;
+pub type VectorSlice2<'a, N, RStride = U1, CStride = U2> = VectorSliceN<'a, N, U2, RStride, CStride>;
 /// A 3D column vector slice.
-pub type VectorSlice3<'a, N, Stride = U1> = VectorSliceN<'a, N, U3, Stride>;
+pub type VectorSlice3<'a, N, RStride = U1, CStride = U3> = VectorSliceN<'a, N, U3, RStride, CStride>;
 /// A 4D column vector slice.
-pub type VectorSlice4<'a, N, Stride = U1> = VectorSliceN<'a, N, U4, Stride>;
+pub type VectorSlice4<'a, N, RStride = U1, CStride = U4> = VectorSliceN<'a, N, U4, RStride, CStride>;
 /// A 5D column vector slice.
-pub type VectorSlice5<'a, N, Stride = U1> = VectorSliceN<'a, N, U5, Stride>;
+pub type VectorSlice5<'a, N, RStride = U1, CStride = U5> = VectorSliceN<'a, N, U5, RStride, CStride>;
 /// A 6D column vector slice.
-pub type VectorSlice6<'a, N, Stride = U1> = VectorSliceN<'a, N, U6, Stride>;
+pub type VectorSlice6<'a, N, RStride = U1, CStride = U6> = VectorSliceN<'a, N, U6, RStride, CStride>;
 
 /*
  *
@@ -367,21 +367,21 @@ pub type MatrixSliceMutXx6<'a, N, RStride = U1, CStride = Dynamic> =
     MatrixSliceMutMN<'a, N, Dynamic, U6, RStride, CStride>;
 
 /// A mutable column vector slice with `D` rows.
-pub type VectorSliceMutN<'a, N, D, Stride = U1> =
+pub type VectorSliceMutN<'a, N, D, RStride = U1, CStride = D> =
-    Matrix<N, D, U1, SliceStorageMut<'a, N, D, U1, Stride, D>>;
+    Matrix<N, D, U1, SliceStorageMut<'a, N, D, U1, RStride, CStride>>;
 
 /// A mutable column vector slice dynamic numbers of rows and columns.
-pub type DVectorSliceMut<'a, N, Stride = U1> = VectorSliceMutN<'a, N, Dynamic, Stride>;
+pub type DVectorSliceMut<'a, N, RStride = U1, CStride = Dynamic> = VectorSliceMutN<'a, N, Dynamic, RStride, CStride>;
 
 /// A 1D mutable column vector slice.
-pub type VectorSliceMut1<'a, N, Stride = U1> = VectorSliceMutN<'a, N, U1, Stride>;
+pub type VectorSliceMut1<'a, N, RStride = U1, CStride = U1> = VectorSliceMutN<'a, N, U1, RStride, CStride>;
 /// A 2D mutable column vector slice.
-pub type VectorSliceMut2<'a, N, Stride = U1> = VectorSliceMutN<'a, N, U2, Stride>;
+pub type VectorSliceMut2<'a, N, RStride = U1, CStride = U2> = VectorSliceMutN<'a, N, U2, RStride, CStride>;
 /// A 3D mutable column vector slice.
-pub type VectorSliceMut3<'a, N, Stride = U1> = VectorSliceMutN<'a, N, U3, Stride>;
+pub type VectorSliceMut3<'a, N, RStride = U1, CStride = U3> = VectorSliceMutN<'a, N, U3, RStride, CStride>;
 /// A 4D mutable column vector slice.
-pub type VectorSliceMut4<'a, N, Stride = U1> = VectorSliceMutN<'a, N, U4, Stride>;
+pub type VectorSliceMut4<'a, N, RStride = U1, CStride = U4> = VectorSliceMutN<'a, N, U4, RStride, CStride>;
 /// A 5D mutable column vector slice.
-pub type VectorSliceMut5<'a, N, Stride = U1> = VectorSliceMutN<'a, N, U5, Stride>;
+pub type VectorSliceMut5<'a, N, RStride = U1, CStride = U5> = VectorSliceMutN<'a, N, U5, RStride, CStride>;
 /// A 6D mutable column vector slice.
-pub type VectorSliceMut6<'a, N, Stride = U1> = VectorSliceMutN<'a, N, U6, Stride>;
+pub type VectorSliceMut6<'a, N, RStride = U1, CStride = U6> = VectorSliceMutN<'a, N, U6, RStride, CStride>;

src/base/allocator.rs

@@ -79,8 +79,7 @@ where
     N: Scalar,
     DefaultAllocator: Allocator<N, R1, C1> + Allocator<N, SameShapeR<R1, R2>, SameShapeC<C1, C2>>,
     ShapeConstraint: SameNumberOfRows<R1, R2> + SameNumberOfColumns<C1, C2>,
-{
+{}
-}
 
 // XXX: Bad name.
 /// Restricts the given number of rows to be equal.
@@ -101,5 +100,4 @@ where
     N: Scalar,
     DefaultAllocator: Allocator<N, R1, U1> + Allocator<N, SameShapeR<R1, R2>>,
     ShapeConstraint: SameNumberOfRows<R1, R2>,
-{
+{}
-}

src/base/array_storage.rs

@@ -34,7 +34,7 @@ use base::Scalar;
  */
 /// A array-based statically sized matrix data storage.
 #[repr(C)]
-pub struct MatrixArray<N, R, C>
+pub struct ArrayStorage<N, R, C>
 where
     R: DimName,
     C: DimName,
@@ -44,7 +44,11 @@ where
     data: GenericArray<N, Prod<R::Value, C::Value>>,
 }
 
-impl<N, R, C> Hash for MatrixArray<N, R, C>
+#[deprecated(note="renamed to `ArrayStorage`")]
+/// Renamed to [ArrayStorage].
+pub type MatrixArray<N, R, C> = ArrayStorage<N, R, C>;
+
+impl<N, R, C> Hash for ArrayStorage<N, R, C>
 where
     N: Hash,
     R: DimName,
@@ -57,7 +61,7 @@ where
     }
 }
 
-impl<N, R, C> Deref for MatrixArray<N, R, C>
+impl<N, R, C> Deref for ArrayStorage<N, R, C>
 where
     R: DimName,
     C: DimName,
@@ -72,7 +76,7 @@ where
     }
 }
 
-impl<N, R, C> DerefMut for MatrixArray<N, R, C>
+impl<N, R, C> DerefMut for ArrayStorage<N, R, C>
 where
     R: DimName,
     C: DimName,
@@ -85,7 +89,7 @@ where
     }
 }
 
-impl<N, R, C> Debug for MatrixArray<N, R, C>
+impl<N, R, C> Debug for ArrayStorage<N, R, C>
 where
     N: Debug,
     R: DimName,
@@ -99,7 +103,7 @@ where
     }
 }
 
-impl<N, R, C> Copy for MatrixArray<N, R, C>
+impl<N, R, C> Copy for ArrayStorage<N, R, C>
 where
     N: Copy,
     R: DimName,
@@ -107,10 +111,9 @@ where
     R::Value: Mul<C::Value>,
     Prod<R::Value, C::Value>: ArrayLength<N>,
     GenericArray<N, Prod<R::Value, C::Value>>: Copy,
-{
+{}
-}
 
-impl<N, R, C> Clone for MatrixArray<N, R, C>
+impl<N, R, C> Clone for ArrayStorage<N, R, C>
 where
     N: Clone,
     R: DimName,
@@ -120,23 +123,22 @@ where
 {
     #[inline]
     fn clone(&self) -> Self {
-        MatrixArray {
+        ArrayStorage {
             data: self.data.clone(),
         }
     }
 }
 
-impl<N, R, C> Eq for MatrixArray<N, R, C>
+impl<N, R, C> Eq for ArrayStorage<N, R, C>
 where
     N: Eq,
     R: DimName,
     C: DimName,
     R::Value: Mul<C::Value>,
     Prod<R::Value, C::Value>: ArrayLength<N>,
-{
+{}
-}
 
-impl<N, R, C> PartialEq for MatrixArray<N, R, C>
+impl<N, R, C> PartialEq for ArrayStorage<N, R, C>
 where
     N: PartialEq,
     R: DimName,
@@ -150,7 +152,7 @@ where
     }
 }
 
-unsafe impl<N, R, C> Storage<N, R, C> for MatrixArray<N, R, C>
+unsafe impl<N, R, C> Storage<N, R, C> for ArrayStorage<N, R, C>
 where
     N: Scalar,
     R: DimName,
@@ -202,7 +204,7 @@ where
     }
 }
 
-unsafe impl<N, R, C> StorageMut<N, R, C> for MatrixArray<N, R, C>
+unsafe impl<N, R, C> StorageMut<N, R, C> for ArrayStorage<N, R, C>
 where
     N: Scalar,
     R: DimName,
@@ -222,7 +224,7 @@ where
     }
 }
 
-unsafe impl<N, R, C> ContiguousStorage<N, R, C> for MatrixArray<N, R, C>
+unsafe impl<N, R, C> ContiguousStorage<N, R, C> for ArrayStorage<N, R, C>
 where
     N: Scalar,
     R: DimName,
@@ -230,10 +232,9 @@ where
     R::Value: Mul<C::Value>,
     Prod<R::Value, C::Value>: ArrayLength<N>,
     DefaultAllocator: Allocator<N, R, C, Buffer = Self>,
-{
+{}
-}
 
-unsafe impl<N, R, C> ContiguousStorageMut<N, R, C> for MatrixArray<N, R, C>
+unsafe impl<N, R, C> ContiguousStorageMut<N, R, C> for ArrayStorage<N, R, C>
 where
     N: Scalar,
     R: DimName,
@@ -241,8 +242,7 @@ where
     R::Value: Mul<C::Value>,
     Prod<R::Value, C::Value>: ArrayLength<N>,
     DefaultAllocator: Allocator<N, R, C, Buffer = Self>,
-{
+{}
-}
 
 /*
  *
@@ -251,7 +251,7 @@ where
  */
 // XXX: open an issue for GenericArray so that it implements serde traits?
 #[cfg(feature = "serde-serialize")]
-impl<N, R, C> Serialize for MatrixArray<N, R, C>
+impl<N, R, C> Serialize for ArrayStorage<N, R, C>
 where
     N: Scalar + Serialize,
     R: DimName,
@@ -272,7 +272,7 @@ where
 }
 
 #[cfg(feature = "serde-serialize")]
-impl<'a, N, R, C> Deserialize<'a> for MatrixArray<N, R, C>
+impl<'a, N, R, C> Deserialize<'a> for ArrayStorage<N, R, C>
 where
     N: Scalar + Deserialize<'a>,
     R: DimName,
@@ -282,18 +282,18 @@ where
 {
     fn deserialize<D>(deserializer: D) -> Result<Self, D::Error>
     where D: Deserializer<'a> {
-        deserializer.deserialize_seq(MatrixArrayVisitor::new())
+        deserializer.deserialize_seq(ArrayStorageVisitor::new())
     }
 }
 
 #[cfg(feature = "serde-serialize")]
 /// A visitor that produces a matrix array.
-struct MatrixArrayVisitor<N, R, C> {
+struct ArrayStorageVisitor<N, R, C> {
     marker: PhantomData<(N, R, C)>,
 }
 
 #[cfg(feature = "serde-serialize")]
-impl<N, R, C> MatrixArrayVisitor<N, R, C>
+impl<N, R, C> ArrayStorageVisitor<N, R, C>
 where
     N: Scalar,
     R: DimName,
@@ -303,14 +303,14 @@ where
 {
     /// Construct a new sequence visitor.
     pub fn new() -> Self {
-        MatrixArrayVisitor {
+        ArrayStorageVisitor {
             marker: PhantomData,
         }
     }
 }
 
 #[cfg(feature = "serde-serialize")]
-impl<'a, N, R, C> Visitor<'a> for MatrixArrayVisitor<N, R, C>
+impl<'a, N, R, C> Visitor<'a> for ArrayStorageVisitor<N, R, C>
 where
     N: Scalar + Deserialize<'a>,
     R: DimName,
@@ -318,20 +318,20 @@ where
     R::Value: Mul<C::Value>,
     Prod<R::Value, C::Value>: ArrayLength<N>,
 {
-    type Value = MatrixArray<N, R, C>;
+    type Value = ArrayStorage<N, R, C>;
 
     fn expecting(&self, formatter: &mut Formatter) -> fmt::Result {
         formatter.write_str("a matrix array")
     }
 
     #[inline]
-    fn visit_seq<V>(self, mut visitor: V) -> Result<MatrixArray<N, R, C>, V::Error>
+    fn visit_seq<V>(self, mut visitor: V) -> Result<ArrayStorage<N, R, C>, V::Error>
     where V: SeqAccess<'a> {
         let mut out: Self::Value = unsafe { mem::uninitialized() };
         let mut curr = 0;
 
         while let Some(value) = try!(visitor.next_element()) {
-            out[curr] = value;
+            *out.get_mut(curr).ok_or_else(|| V::Error::invalid_length(curr, &self))? = value;
             curr += 1;
         }
 
@@ -344,7 +344,7 @@ where
 }
 
 #[cfg(feature = "abomonation-serialize")]
-impl<N, R, C> Abomonation for MatrixArray<N, R, C>
+impl<N, R, C> Abomonation for ArrayStorage<N, R, C>
 where
     R: DimName,
     C: DimName,

src/base/blas.rs

@@ -13,18 +13,18 @@ use base::dimension::{Dim, Dynamic, U1, U2, U3, U4};
 use base::storage::{Storage, StorageMut};
 use base::{DefaultAllocator, Matrix, Scalar, SquareMatrix, Vector};
 
-impl<N: Scalar + PartialOrd + Signed, D: Dim, S: Storage<N, D>> Vector<N, D, S> {
+impl<N: Scalar + PartialOrd, D: Dim, S: Storage<N, D>> Vector<N, D, S> {
-    /// Computes the index of the vector component with the largest value.
+    /// Computes the index and value of the vector component with the largest value.
     ///
     /// # Examples:
     ///
     /// ```
     /// # use nalgebra::Vector3;
     /// let vec = Vector3::new(11, -15, 13);
-    /// assert_eq!(vec.imax(), 2);
+    /// assert_eq!(vec.argmax(), (2, 13));
     /// ```
     #[inline]
-    pub fn imax(&self) -> usize {
+    pub fn argmax(&self) -> (usize, N) {
         assert!(!self.is_empty(), "The input vector must not be empty.");
 
         let mut the_max = unsafe { self.vget_unchecked(0) };
@@ -39,7 +39,21 @@ impl<N: Scalar + PartialOrd + Signed, D: Dim, S: Storage<N, D>> Vector<N, D, S>
             }
         }
 
-        the_i
+        (the_i, *the_max)
+    }
+
+    /// Computes the index of the vector component with the largest value.
+    ///
+    /// # Examples:
+    ///
+    /// ```
+    /// # use nalgebra::Vector3;
+    /// let vec = Vector3::new(11, -15, 13);
+    /// assert_eq!(vec.imax(), 2);
+    /// ```
+    #[inline]
+    pub fn imax(&self) -> usize {
+        self.argmax().0
     }
 
     /// Computes the index of the vector component with the largest absolute value.
@@ -52,7 +66,8 @@ impl<N: Scalar + PartialOrd + Signed, D: Dim, S: Storage<N, D>> Vector<N, D, S>
     /// assert_eq!(vec.iamax(), 1);
     /// ```
     #[inline]
-    pub fn iamax(&self) -> usize {
+    pub fn iamax(&self) -> usize
+        where N: Signed {
         assert!(!self.is_empty(), "The input vector must not be empty.");
 
         let mut the_max = unsafe { self.vget_unchecked(0).abs() };
@@ -70,6 +85,34 @@ impl<N: Scalar + PartialOrd + Signed, D: Dim, S: Storage<N, D>> Vector<N, D, S>
         the_i
     }
 
+    /// Computes the index and value of the vector component with the smallest value.
+    ///
+    /// # Examples:
+    ///
+    /// ```
+    /// # use nalgebra::Vector3;
+    /// let vec = Vector3::new(11, -15, 13);
+    /// assert_eq!(vec.argmin(), (1, -15));
+    /// ```
+    #[inline]
+    pub fn argmin(&self) -> (usize, N) {
+        assert!(!self.is_empty(), "The input vector must not be empty.");
+
+        let mut the_min = unsafe { self.vget_unchecked(0) };
+        let mut the_i = 0;
+
+        for i in 1..self.nrows() {
+            let val = unsafe { self.vget_unchecked(i) };
+
+            if val < the_min {
+                the_min = val;
+                the_i = i;
+            }
+        }
+
+        (the_i, *the_min)
+    }
+
     /// Computes the index of the vector component with the smallest value.
     ///
     /// # Examples:
@@ -81,21 +124,7 @@ impl<N: Scalar + PartialOrd + Signed, D: Dim, S: Storage<N, D>> Vector<N, D, S>
     /// ```
     #[inline]
     pub fn imin(&self) -> usize {
-        assert!(!self.is_empty(), "The input vector must not be empty.");
+        self.argmin().0
-
-        let mut the_max = unsafe { self.vget_unchecked(0) };
-        let mut the_i = 0;
-
-        for i in 1..self.nrows() {
-            let val = unsafe { self.vget_unchecked(i) };
-
-            if val < the_max {
-                the_max = val;
-                the_i = i;
-            }
-        }
-
-        the_i
     }
 
     /// Computes the index of the vector component with the smallest absolute value.
@@ -108,17 +137,18 @@ impl<N: Scalar + PartialOrd + Signed, D: Dim, S: Storage<N, D>> Vector<N, D, S>
     /// assert_eq!(vec.iamin(), 0);
     /// ```
     #[inline]
-    pub fn iamin(&self) -> usize {
+    pub fn iamin(&self) -> usize
+        where N: Signed {
         assert!(!self.is_empty(), "The input vector must not be empty.");
 
-        let mut the_max = unsafe { self.vget_unchecked(0).abs() };
+        let mut the_min = unsafe { self.vget_unchecked(0).abs() };
         let mut the_i = 0;
 
         for i in 1..self.nrows() {
             let val = unsafe { self.vget_unchecked(i).abs() };
 
-            if val < the_max {
+            if val < the_min {
-                the_max = val;
+                the_min = val;
                 the_i = i;
             }
         }
@@ -142,12 +172,12 @@ impl<N: Scalar + PartialOrd + Signed, R: Dim, C: Dim, S: Storage<N, R, C>> Matri
     pub fn iamax_full(&self) -> (usize, usize) {
         assert!(!self.is_empty(), "The input matrix must not be empty.");
 
-        let mut the_max = unsafe { self.get_unchecked(0, 0).abs() };
+        let mut the_max = unsafe { self.get_unchecked((0, 0)).abs() };
         let mut the_ij = (0, 0);
 
         for j in 0..self.ncols() {
             for i in 0..self.nrows() {
-                let val = unsafe { self.get_unchecked(i, j).abs() };
+                let val = unsafe { self.get_unchecked((i, j)).abs() };
 
                 if val > the_max {
                     the_max = val;
@@ -197,27 +227,27 @@ where N: Scalar + Zero + ClosedAdd + ClosedMul
         // because the `for` loop below won't be very efficient on those.
         if (R::is::<U2>() || R2::is::<U2>()) && (C::is::<U1>() || C2::is::<U1>()) {
             unsafe {
-                let a = *self.get_unchecked(0, 0) * *rhs.get_unchecked(0, 0);
+                let a = *self.get_unchecked((0, 0)) * *rhs.get_unchecked((0, 0));
-                let b = *self.get_unchecked(1, 0) * *rhs.get_unchecked(1, 0);
+                let b = *self.get_unchecked((1, 0)) * *rhs.get_unchecked((1, 0));
 
                 return a + b;
             }
         }
         if (R::is::<U3>() || R2::is::<U3>()) && (C::is::<U1>() || C2::is::<U1>()) {
             unsafe {
-                let a = *self.get_unchecked(0, 0) * *rhs.get_unchecked(0, 0);
+                let a = *self.get_unchecked((0, 0)) * *rhs.get_unchecked((0, 0));
-                let b = *self.get_unchecked(1, 0) * *rhs.get_unchecked(1, 0);
+                let b = *self.get_unchecked((1, 0)) * *rhs.get_unchecked((1, 0));
-                let c = *self.get_unchecked(2, 0) * *rhs.get_unchecked(2, 0);
+                let c = *self.get_unchecked((2, 0)) * *rhs.get_unchecked((2, 0));
 
                 return a + b + c;
             }
         }
         if (R::is::<U4>() || R2::is::<U4>()) && (C::is::<U1>() || C2::is::<U1>()) {
             unsafe {
-                let mut a = *self.get_unchecked(0, 0) * *rhs.get_unchecked(0, 0);
+                let mut a = *self.get_unchecked((0, 0)) * *rhs.get_unchecked((0, 0));
-                let mut b = *self.get_unchecked(1, 0) * *rhs.get_unchecked(1, 0);
+                let mut b = *self.get_unchecked((1, 0)) * *rhs.get_unchecked((1, 0));
-                let c = *self.get_unchecked(2, 0) * *rhs.get_unchecked(2, 0);
+                let c = *self.get_unchecked((2, 0)) * *rhs.get_unchecked((2, 0));
-                let d = *self.get_unchecked(3, 0) * *rhs.get_unchecked(3, 0);
+                let d = *self.get_unchecked((3, 0)) * *rhs.get_unchecked((3, 0));
 
                 a += c;
                 b += d;
@@ -257,14 +287,14 @@ where N: Scalar + Zero + ClosedAdd + ClosedMul
             acc7 = N::zero();
 
             while self.nrows() - i >= 8 {
-                acc0 += unsafe { *self.get_unchecked(i + 0, j) * *rhs.get_unchecked(i + 0, j) };
+                acc0 += unsafe { *self.get_unchecked((i + 0, j)) * *rhs.get_unchecked((i + 0, j)) };
-                acc1 += unsafe { *self.get_unchecked(i + 1, j) * *rhs.get_unchecked(i + 1, j) };
+                acc1 += unsafe { *self.get_unchecked((i + 1, j)) * *rhs.get_unchecked((i + 1, j)) };
-                acc2 += unsafe { *self.get_unchecked(i + 2, j) * *rhs.get_unchecked(i + 2, j) };
+                acc2 += unsafe { *self.get_unchecked((i + 2, j)) * *rhs.get_unchecked((i + 2, j)) };
-                acc3 += unsafe { *self.get_unchecked(i + 3, j) * *rhs.get_unchecked(i + 3, j) };
+                acc3 += unsafe { *self.get_unchecked((i + 3, j)) * *rhs.get_unchecked((i + 3, j)) };
-                acc4 += unsafe { *self.get_unchecked(i + 4, j) * *rhs.get_unchecked(i + 4, j) };
+                acc4 += unsafe { *self.get_unchecked((i + 4, j)) * *rhs.get_unchecked((i + 4, j)) };
-                acc5 += unsafe { *self.get_unchecked(i + 5, j) * *rhs.get_unchecked(i + 5, j) };
+                acc5 += unsafe { *self.get_unchecked((i + 5, j)) * *rhs.get_unchecked((i + 5, j)) };
-                acc6 += unsafe { *self.get_unchecked(i + 6, j) * *rhs.get_unchecked(i + 6, j) };
+                acc6 += unsafe { *self.get_unchecked((i + 6, j)) * *rhs.get_unchecked((i + 6, j)) };
-                acc7 += unsafe { *self.get_unchecked(i + 7, j) * *rhs.get_unchecked(i + 7, j) };
+                acc7 += unsafe { *self.get_unchecked((i + 7, j)) * *rhs.get_unchecked((i + 7, j)) };
                 i += 8;
             }
 
@@ -274,7 +304,7 @@ where N: Scalar + Zero + ClosedAdd + ClosedMul
             res += acc3 + acc7;
 
             for k in i..self.nrows() {
-                res += unsafe { *self.get_unchecked(k, j) * *rhs.get_unchecked(k, j) }
+                res += unsafe { *self.get_unchecked((k, j)) * *rhs.get_unchecked((k, j)) }
             }
         }
 
@@ -314,7 +344,7 @@ where N: Scalar + Zero + ClosedAdd + ClosedMul
 
         for j in 0..self.nrows() {
             for i in 0..self.ncols() {
-                res += unsafe { *self.get_unchecked(j, i) * *rhs.get_unchecked(i, j) }
+                res += unsafe { *self.get_unchecked((j, i)) * *rhs.get_unchecked((i, j)) }
             }
         }
 
@@ -627,7 +657,6 @@ where N: Scalar + Zero + ClosedAdd + ClosedMul
     ///
     /// ```
     /// # #[macro_use] extern crate approx;
-    /// # extern crate nalgebra;
     /// # use nalgebra::{Matrix2x3, Matrix3x4, Matrix2x4};
     /// let mut mat1 = Matrix2x4::identity();
     /// let mat2 = Matrix2x3::new(1.0, 2.0, 3.0,
@@ -760,7 +789,6 @@ where N: Scalar + Zero + ClosedAdd + ClosedMul
     ///
     /// ```
     /// # #[macro_use] extern crate approx;
-    /// # extern crate nalgebra;
     /// # use nalgebra::{Matrix3x2, Matrix3x4, Matrix2x4};
     /// let mut mat1 = Matrix2x4::identity();
     /// let mat2 = Matrix3x2::new(1.0, 4.0,
@@ -879,7 +907,6 @@ where N: Scalar + Zero + One + ClosedAdd + ClosedMul
     ///
     /// ```
     /// # #[macro_use] extern crate approx;
-    /// # extern crate nalgebra;
     /// # use nalgebra::{DMatrix, DVector};
     /// // Note that all those would also work with statically-sized matrices.
     /// // We use DMatrix/DVector since that's the only case where pre-allocating the
@@ -934,7 +961,6 @@ where N: Scalar + Zero + One + ClosedAdd + ClosedMul
     ///
     /// ```
     /// # #[macro_use] extern crate approx;
-    /// # extern crate nalgebra;
     /// # use nalgebra::{Matrix2, Matrix3, Matrix2x3, Vector2};
     /// let mut mat = Matrix2::identity();
     /// let lhs = Matrix2x3::new(1.0, 2.0, 3.0,
@@ -971,7 +997,6 @@ where N: Scalar + Zero + One + ClosedAdd + ClosedMul
     ///
     /// ```
     /// # #[macro_use] extern crate approx;
-    /// # extern crate nalgebra;
     /// # use nalgebra::{DMatrix, DVector};
     /// // Note that all those would also work with statically-sized matrices.
     /// // We use DMatrix/DVector since that's the only case where pre-allocating the
@@ -1026,7 +1051,6 @@ where N: Scalar + Zero + One + ClosedAdd + ClosedMul
     ///
     /// ```
     /// # #[macro_use] extern crate approx;
-    /// # extern crate nalgebra;
     /// # use nalgebra::{Matrix2, Matrix3x2, Matrix3};
     /// let mut mat = Matrix2::identity();
     /// let rhs = Matrix3x2::new(1.0, 2.0,

src/base/cg.rs

@@ -115,13 +115,13 @@ impl<N: Real> Matrix4<N> {
     /// Creates a new homogeneous matrix for an orthographic projection.
     #[inline]
     pub fn new_orthographic(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> Self {
-        Orthographic3::new(left, right, bottom, top, znear, zfar).unwrap()
+        Orthographic3::new(left, right, bottom, top, znear, zfar).into_inner()
     }
 
     /// Creates a new homogeneous matrix for a perspective projection.
     #[inline]
     pub fn new_perspective(aspect: N, fovy: N, znear: N, zfar: N) -> Self {
-        Perspective3::new(aspect, fovy, znear, zfar).unwrap()
+        Perspective3::new(aspect, fovy, znear, zfar).into_inner()
     }
 
     /// Creates an isometry that corresponds to the local frame of an observer standing at the
@@ -130,8 +130,14 @@ impl<N: Real> Matrix4<N> {
     /// It maps the view direction `target - eye` to the positive `z` axis and the origin to the
     /// `eye`.
     #[inline]
+    pub fn face_towards(eye: &Point3<N>, target: &Point3<N>, up: &Vector3<N>) -> Self {
+        IsometryMatrix3::face_towards(eye, target, up).to_homogeneous()
+    }
+
+    /// Deprecated: Use [Matrix4::face_towards] instead.
+    #[deprecated(note="renamed to `face_towards`")]
     pub fn new_observer_frame(eye: &Point3<N>, target: &Point3<N>, up: &Vector3<N>) -> Self {
-        IsometryMatrix3::new_observer_frame(eye, target, up).to_homogeneous()
+        Matrix4::face_towards(eye, target, up)
     }
 
     /// Builds a right-handed look-at view matrix.
@@ -314,13 +320,14 @@ impl<N: Scalar + Ring, D: DimName, S: StorageMut<N, D, D>> SquareMatrix<N, D, S>
     }
 }
 
-impl<N: Real, D: DimNameSub<U1>> Transformation<Point<N, DimNameDiff<D, U1>>> for MatrixN<N, D>
+impl<N: Real, D: DimNameSub<U1>, S: Storage<N, D, D>> SquareMatrix<N, D, S>
 where DefaultAllocator: Allocator<N, D, D>
         + Allocator<N, DimNameDiff<D, U1>>
         + Allocator<N, DimNameDiff<D, U1>, DimNameDiff<D, U1>>
 {
+    /// Transforms the given vector, assuming the matrix `self` uses homogeneous coordinates.
     #[inline]
-    fn transform_vector(
+    pub fn transform_vector(
         &self,
         v: &VectorN<N, DimNameDiff<D, U1>>,
     ) -> VectorN<N, DimNameDiff<D, U1>>
@@ -336,13 +343,18 @@ where DefaultAllocator: Allocator<N, D, D>
         transform * v
     }
 
+    /// Transforms the given point, assuming the matrix `self` uses homogeneous coordinates.
     #[inline]
-    fn transform_point(&self, pt: &Point<N, DimNameDiff<D, U1>>) -> Point<N, DimNameDiff<D, U1>> {
+    pub fn transform_point(
+        &self,
+        pt: &Point<N, DimNameDiff<D, U1>>,
+    ) -> Point<N, DimNameDiff<D, U1>>
+    {
         let transform = self.fixed_slice::<DimNameDiff<D, U1>, DimNameDiff<D, U1>>(0, 0);
         let translation = self.fixed_slice::<DimNameDiff<D, U1>, U1>(0, D::dim() - 1);
         let normalizer = self.fixed_slice::<U1, DimNameDiff<D, U1>>(D::dim() - 1, 0);
         let n = normalizer.tr_dot(&pt.coords)
-            + unsafe { *self.get_unchecked(D::dim() - 1, D::dim() - 1) };
+            + unsafe { *self.get_unchecked((D::dim() - 1, D::dim() - 1)) };
 
         if !n.is_zero() {
             return transform * (pt / n) + translation;
@@ -351,3 +363,23 @@ where DefaultAllocator: Allocator<N, D, D>
         transform * pt + translation
     }
 }
+
+impl<N: Real, D: DimNameSub<U1>> Transformation<Point<N, DimNameDiff<D, U1>>> for MatrixN<N, D>
+where DefaultAllocator: Allocator<N, D, D>
+        + Allocator<N, DimNameDiff<D, U1>>
+        + Allocator<N, DimNameDiff<D, U1>, DimNameDiff<D, U1>>
+{
+    #[inline]
+    fn transform_vector(
+        &self,
+        v: &VectorN<N, DimNameDiff<D, U1>>,
+    ) -> VectorN<N, DimNameDiff<D, U1>>
+    {
+        self.transform_vector(v)
+    }
+
+    #[inline]
+    fn transform_point(&self, pt: &Point<N, DimNameDiff<D, U1>>) -> Point<N, DimNameDiff<D, U1>> {
+        self.transform_point(pt)
+    }
+}

src/base/componentwise.rs

@@ -11,11 +11,20 @@ use base::dimension::Dim;
 use base::storage::{Storage, StorageMut};
 use base::{DefaultAllocator, Matrix, MatrixMN, MatrixSum, Scalar};
 
-/// The type of the result of a matrix componentwise operation.
+/// The type of the result of a matrix component-wise operation.
 pub type MatrixComponentOp<N, R1, C1, R2, C2> = MatrixSum<N, R1, C1, R2, C2>;
 
 impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
-    /// Computes the componentwise absolute value.
+    /// Computes the component-wise absolute value.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use nalgebra::Matrix2;
+    /// let a = Matrix2::new(0.0, 1.0,
+    ///                      -2.0, -3.0);
+    /// assert_eq!(a.abs(), Matrix2::new(0.0, 1.0, 2.0, 3.0))
+    /// ```
     #[inline]
     pub fn abs(&self) -> MatrixMN<N, R, C>
     where
@@ -52,7 +61,7 @@ macro_rules! component_binop_impl(
                 for j in 0 .. res.ncols() {
                     for i in 0 .. res.nrows() {
                         unsafe {
-                            res.get_unchecked_mut(i, j).$op_assign(*rhs.get_unchecked(i, j));
+                            res.get_unchecked_mut((i, j)).$op_assign(*rhs.get_unchecked((i, j)));
                         }
                     }
                 }
@@ -80,8 +89,8 @@ macro_rules! component_binop_impl(
                     for j in 0 .. self.ncols() {
                         for i in 0 .. self.nrows() {
                             unsafe {
-                                let res = alpha * a.get_unchecked(i, j).$op(*b.get_unchecked(i, j));
+                                let res = alpha * a.get_unchecked((i, j)).$op(*b.get_unchecked((i, j)));
-                                *self.get_unchecked_mut(i, j) = res;
+                                *self.get_unchecked_mut((i, j)) = res;
                             }
                         }
                     }
@@ -90,8 +99,8 @@ macro_rules! component_binop_impl(
                     for j in 0 .. self.ncols() {
                         for i in 0 .. self.nrows() {
                             unsafe {
-                                let res = alpha * a.get_unchecked(i, j).$op(*b.get_unchecked(i, j));
+                                let res = alpha * a.get_unchecked((i, j)).$op(*b.get_unchecked((i, j)));
-                                *self.get_unchecked_mut(i, j) = beta * *self.get_unchecked(i, j) + res;
+                                *self.get_unchecked_mut((i, j)) = beta * *self.get_unchecked((i, j)) + res;
                             }
                         }
                     }
@@ -112,7 +121,7 @@ macro_rules! component_binop_impl(
                 for j in 0 .. self.ncols() {
                     for i in 0 .. self.nrows() {
                         unsafe {
-                            self.get_unchecked_mut(i, j).$op_assign(*rhs.get_unchecked(i, j));
+                            self.get_unchecked_mut((i, j)).$op_assign(*rhs.get_unchecked((i, j)));
                         }
                     }
                 }
@@ -135,12 +144,94 @@ macro_rules! component_binop_impl(
 
 component_binop_impl!(
     component_mul, component_mul_mut, component_mul_assign, cmpy, ClosedMul.mul.mul_assign,
-    "Componentwise matrix multiplication.",
+    r"
-    "Computes componentwise `self[i] = alpha * a[i] * b[i] + beta * self[i]`.",
+    Componentwise matrix or vector multiplication.
-    "Inplace componentwise matrix multiplication.";
+
+    # Example
+
+    ```
+    # use nalgebra::Matrix2;
+    let a = Matrix2::new(0.0, 1.0, 2.0, 3.0);
+    let b = Matrix2::new(4.0, 5.0, 6.0, 7.0);
+    let expected = Matrix2::new(0.0, 5.0, 12.0, 21.0);
+
+    assert_eq!(a.component_mul(&b), expected);
+    ```
+    ",
+    r"
+    Computes componentwise `self[i] = alpha * a[i] * b[i] + beta * self[i]`.
+
+    # Example
+    ```
+    # use nalgebra::Matrix2;
+    let mut m = Matrix2::new(0.0, 1.0, 2.0, 3.0);
+    let a = Matrix2::new(0.0, 1.0, 2.0, 3.0);
+    let b = Matrix2::new(4.0, 5.0, 6.0, 7.0);
+    let expected = (a.component_mul(&b) * 5.0) + m * 10.0;
+
+    m.cmpy(5.0, &a, &b, 10.0);
+    assert_eq!(m, expected);
+    ```
+    ",
+    r"
+    Inplace componentwise matrix or vector multiplication.
+
+    # Example
+    ```
+    # use nalgebra::Matrix2;
+    let mut a = Matrix2::new(0.0, 1.0, 2.0, 3.0);
+    let b = Matrix2::new(4.0, 5.0, 6.0, 7.0);
+    let expected = Matrix2::new(0.0, 5.0, 12.0, 21.0);
+
+    a.component_mul_assign(&b);
+
+    assert_eq!(a, expected);
+    ```
+    ";
     component_div, component_div_mut, component_div_assign, cdpy, ClosedDiv.div.div_assign,
-    "Componentwise matrix division.",
+    r"
-    "Computes componentwise `self[i] = alpha * a[i] / b[i] + beta * self[i]`.",    
+    Componentwise matrix or vector division.
-    "Inplace componentwise matrix division.";
+
+    # Example
+
+    ```
+    # use nalgebra::Matrix2;
+    let a = Matrix2::new(0.0, 1.0, 2.0, 3.0);
+    let b = Matrix2::new(4.0, 5.0, 6.0, 7.0);
+    let expected = Matrix2::new(0.0, 1.0 / 5.0, 2.0 / 6.0, 3.0 / 7.0);
+
+    assert_eq!(a.component_div(&b), expected);
+    ```
+    ",
+    r"
+    Computes componentwise `self[i] = alpha * a[i] / b[i] + beta * self[i]`.
+
+    # Example
+    ```
+    # use nalgebra::Matrix2;
+    let mut m = Matrix2::new(0.0, 1.0, 2.0, 3.0);
+    let a = Matrix2::new(4.0, 5.0, 6.0, 7.0);
+    let b = Matrix2::new(4.0, 5.0, 6.0, 7.0);
+    let expected = (a.component_div(&b) * 5.0) + m * 10.0;
+
+    m.cdpy(5.0, &a, &b, 10.0);
+    assert_eq!(m, expected);
+    ```
+    ",
+    r"
+    Inplace componentwise matrix or vector division.
+
+    # Example
+    ```
+    # use nalgebra::Matrix2;
+    let mut a = Matrix2::new(0.0, 1.0, 2.0, 3.0);
+    let b = Matrix2::new(4.0, 5.0, 6.0, 7.0);
+    let expected = Matrix2::new(0.0, 1.0 / 5.0, 2.0 / 6.0, 3.0 / 7.0);
+
+    a.component_div_assign(&b);
+
+    assert_eq!(a, expected);
+    ```
+    ";
     // FIXME: add other operators like bitshift, etc. ?
 );

src/base/construction.rs

@@ -82,7 +82,7 @@ where DefaultAllocator: Allocator<N, R, C>
 
         for i in 0..nrows.value() {
             for j in 0..ncols.value() {
-                unsafe { *res.get_unchecked_mut(i, j) = *iter.next().unwrap() }
+                unsafe { *res.get_unchecked_mut((i, j)) = *iter.next().unwrap() }
             }
         }
 
@@ -105,7 +105,7 @@ where DefaultAllocator: Allocator<N, R, C>
 
         for j in 0..ncols.value() {
             for i in 0..nrows.value() {
-                unsafe { *res.get_unchecked_mut(i, j) = f(i, j) }
+                unsafe { *res.get_unchecked_mut((i, j)) = f(i, j) }
             }
         }
 
@@ -132,7 +132,7 @@ where DefaultAllocator: Allocator<N, R, C>
         let mut res = Self::zeros_generic(nrows, ncols);
 
         for i in 0..::min(nrows.value(), ncols.value()) {
-            unsafe { *res.get_unchecked_mut(i, i) = elt }
+            unsafe { *res.get_unchecked_mut((i, i)) = elt }
         }
 
         res
@@ -152,7 +152,7 @@ where DefaultAllocator: Allocator<N, R, C>
         );
 
         for (i, elt) in elts.iter().enumerate() {
-            unsafe { *res.get_unchecked_mut(i, i) = *elt }
+            unsafe { *res.get_unchecked_mut((i, i)) = *elt }
         }
 
         res
@@ -162,6 +162,18 @@ where DefaultAllocator: Allocator<N, R, C>
     ///
     /// Panics if not enough rows are provided (for statically-sized matrices), or if all rows do
     /// not have the same dimensions.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{RowVector3, Matrix3};
+    /// # use std::iter;
+    ///
+    /// let m = Matrix3::from_rows(&[ RowVector3::new(1.0, 2.0, 3.0),  RowVector3::new(4.0, 5.0, 6.0),  RowVector3::new(7.0, 8.0, 9.0) ]);
+    ///
+    /// assert!(m.m11 == 1.0 && m.m12 == 2.0 && m.m13 == 3.0 &&
+    ///         m.m21 == 4.0 && m.m22 == 5.0 && m.m23 == 6.0 &&
+    ///         m.m31 == 7.0 && m.m32 == 8.0 && m.m33 == 9.0);
+    /// ```
     #[inline]
     pub fn from_rows<SB>(rows: &[Matrix<N, U1, C, SB>]) -> Self
     where SB: Storage<N, U1, C> {
@@ -190,6 +202,18 @@ where DefaultAllocator: Allocator<N, R, C>
     ///
     /// Panics if not enough columns are provided (for statically-sized matrices), or if all
     /// columns do not have the same dimensions.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{Vector3, Matrix3};
+    /// # use std::iter;
+    ///
+    /// let m = Matrix3::from_columns(&[ Vector3::new(1.0, 2.0, 3.0),  Vector3::new(4.0, 5.0, 6.0),  Vector3::new(7.0, 8.0, 9.0) ]);
+    ///
+    /// assert!(m.m11 == 1.0 && m.m12 == 4.0 && m.m13 == 7.0 &&
+    ///         m.m21 == 2.0 && m.m22 == 5.0 && m.m23 == 8.0 &&
+    ///         m.m31 == 3.0 && m.m32 == 6.0 && m.m33 == 9.0);
+    /// ```
     #[inline]
     pub fn from_columns<SB>(columns: &[Vector<N, R, SB>]) -> Self
     where SB: Storage<N, R> {
@@ -227,12 +251,35 @@ where DefaultAllocator: Allocator<N, R, C>
     pub fn from_distribution_generic<Distr: Distribution<N> + ?Sized, G: Rng + ?Sized>(
         nrows: R,
         ncols: C,
-        distribution: &mut Distr,
+        distribution: &Distr,
         rng: &mut G,
     ) -> Self
     {
         Self::from_fn_generic(nrows, ncols, |_, _| distribution.sample(rng))
     }
+
+    /// Creates a matrix backed by a given `Vec`.
+    ///
+    /// The output matrix is filled column-by-column.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{Dynamic, DMatrix, Matrix, U1};
+    ///
+    /// let vec = vec![0, 1, 2, 3, 4, 5];
+    /// let vec_ptr = vec.as_ptr();
+    ///
+    /// let matrix = Matrix::from_vec_generic(Dynamic::new(vec.len()), U1, vec);
+    /// let matrix_storage_ptr = matrix.data.as_vec().as_ptr();
+    ///
+    /// // `matrix` is backed by exactly the same `Vec` as it was constructed from.
+    /// assert_eq!(matrix_storage_ptr, vec_ptr);
+    /// ```
+    #[inline]
+    #[cfg(feature = "std")]
+    pub fn from_vec_generic(nrows: R, ncols: C, data: Vec<N>) -> Self {
+        Self::from_iterator_generic(nrows, ncols, data)
+    }
 }
 
 impl<N, D: Dim> MatrixN<N, D>
@@ -241,6 +288,23 @@ where
     DefaultAllocator: Allocator<N, D, D>,
 {
     /// Creates a square matrix with its diagonal set to `diag` and all other entries set to 0.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{Vector3, DVector, Matrix3, DMatrix};
+    /// # use std::iter;
+    ///
+    /// let m = Matrix3::from_diagonal(&Vector3::new(1.0, 2.0, 3.0));
+    /// // The two additional arguments represent the matrix dimensions.
+    /// let dm = DMatrix::from_diagonal(&DVector::from_row_slice(&[1.0, 2.0, 3.0]));
+    ///
+    /// assert!(m.m11 == 1.0 && m.m12 == 0.0 && m.m13 == 0.0 &&
+    ///         m.m21 == 0.0 && m.m22 == 2.0 && m.m23 == 0.0 &&
+    ///         m.m31 == 0.0 && m.m32 == 0.0 && m.m33 == 3.0);
+    /// assert!(dm[(0, 0)] == 1.0 && dm[(0, 1)] == 0.0 && dm[(0, 2)] == 0.0 &&
+    ///         dm[(1, 0)] == 0.0 && dm[(1, 1)] == 2.0 && dm[(1, 2)] == 0.0 &&
+    ///         dm[(2, 0)] == 0.0 && dm[(2, 1)] == 0.0 && dm[(2, 2)] == 3.0);
+    /// ```
     #[inline]
     pub fn from_diagonal<SB: Storage<N, D>>(diag: &Vector<N, D, SB>) -> Self
     where N: Zero {
@@ -249,7 +313,7 @@ where
 
         for i in 0..diag.len() {
             unsafe {
-                *res.get_unchecked_mut(i, i) = *diag.vget_unchecked(i);
+                *res.get_unchecked_mut((i, i)) = *diag.vget_unchecked(i);
             }
         }
 
@@ -267,60 +331,141 @@ macro_rules! impl_constructors(
         impl<N: Scalar, $($DimIdent: $DimBound, )*> MatrixMN<N $(, $Dims)*>
             where DefaultAllocator: Allocator<N $(, $Dims)*> {
 
-            /// Creates a new uninitialized matrix.
+            /// Creates a new uninitialized matrix or vector.
             #[inline]
             pub unsafe fn new_uninitialized($($args: usize),*) -> Self {
                 Self::new_uninitialized_generic($($gargs),*)
             }
 
-            /// Creates a matrix with all its elements set to `elem`.
+            /// Creates a matrix or vector with all its elements set to `elem`.
+            ///
+            /// # Example
+            /// ```
+            /// # use nalgebra::{Matrix2x3, Vector3, DVector, DMatrix};
+            ///
+            /// let v = Vector3::from_element(2.0);
+            /// // The additional argument represents the vector dimension.
+            /// let dv = DVector::from_element(3, 2.0);
+            /// let m = Matrix2x3::from_element(2.0);
+            /// // The two additional arguments represent the matrix dimensions.
+            /// let dm = DMatrix::from_element(2, 3, 2.0);
+            ///
+            /// assert!(v.x == 2.0 && v.y == 2.0 && v.z == 2.0);
+            /// assert!(dv[0] == 2.0 && dv[1] == 2.0 && dv[2] == 2.0);
+            /// assert!(m.m11 == 2.0 && m.m12 == 2.0 && m.m13 == 2.0 &&
+            ///         m.m21 == 2.0 && m.m22 == 2.0 && m.m23 == 2.0);
+            /// assert!(dm[(0, 0)] == 2.0 && dm[(0, 1)] == 2.0 && dm[(0, 2)] == 2.0 &&
+            ///         dm[(1, 0)] == 2.0 && dm[(1, 1)] == 2.0 && dm[(1, 2)] == 2.0);
+            /// ```
             #[inline]
             pub fn from_element($($args: usize,)* elem: N) -> Self {
                 Self::from_element_generic($($gargs, )* elem)
             }
 
-            /// Creates a matrix with all its elements set to `elem`.
+            /// Creates a matrix or vector with all its elements set to `elem`.
             ///
             /// Same as `.from_element`.
+            ///
+            /// # Example
+            /// ```
+            /// # use nalgebra::{Matrix2x3, Vector3, DVector, DMatrix};
+            ///
+            /// let v = Vector3::repeat(2.0);
+            /// // The additional argument represents the vector dimension.
+            /// let dv = DVector::repeat(3, 2.0);
+            /// let m = Matrix2x3::repeat(2.0);
+            /// // The two additional arguments represent the matrix dimensions.
+            /// let dm = DMatrix::repeat(2, 3, 2.0);
+            ///
+            /// assert!(v.x == 2.0 && v.y == 2.0 && v.z == 2.0);
+            /// assert!(dv[0] == 2.0 && dv[1] == 2.0 && dv[2] == 2.0);
+            /// assert!(m.m11 == 2.0 && m.m12 == 2.0 && m.m13 == 2.0 &&
+            ///         m.m21 == 2.0 && m.m22 == 2.0 && m.m23 == 2.0);
+            /// assert!(dm[(0, 0)] == 2.0 && dm[(0, 1)] == 2.0 && dm[(0, 2)] == 2.0 &&
+            ///         dm[(1, 0)] == 2.0 && dm[(1, 1)] == 2.0 && dm[(1, 2)] == 2.0);
+            /// ```
             #[inline]
             pub fn repeat($($args: usize,)* elem: N) -> Self {
                 Self::repeat_generic($($gargs, )* elem)
             }
 
-            /// Creates a matrix with all its elements set to `0`.
+            /// Creates a matrix or vector with all its elements set to `0`.
+            ///
+            /// # Example
+            /// ```
+            /// # use nalgebra::{Matrix2x3, Vector3, DVector, DMatrix};
+            ///
+            /// let v = Vector3::<f32>::zeros();
+            /// // The argument represents the vector dimension.
+            /// let dv = DVector::<f32>::zeros(3);
+            /// let m = Matrix2x3::<f32>::zeros();
+            /// // The two arguments represent the matrix dimensions.
+            /// let dm = DMatrix::<f32>::zeros(2, 3);
+            ///
+            /// assert!(v.x == 0.0 && v.y == 0.0 && v.z == 0.0);
+            /// assert!(dv[0] == 0.0 && dv[1] == 0.0 && dv[2] == 0.0);
+            /// assert!(m.m11 == 0.0 && m.m12 == 0.0 && m.m13 == 0.0 &&
+            ///         m.m21 == 0.0 && m.m22 == 0.0 && m.m23 == 0.0);
+            /// assert!(dm[(0, 0)] == 0.0 && dm[(0, 1)] == 0.0 && dm[(0, 2)] == 0.0 &&
+            ///         dm[(1, 0)] == 0.0 && dm[(1, 1)] == 0.0 && dm[(1, 2)] == 0.0);
+            /// ```
             #[inline]
             pub fn zeros($($args: usize),*) -> Self
                 where N: Zero {
                 Self::zeros_generic($($gargs),*)
             }
 
-            /// Creates a matrix with all its elements filled by an iterator.
+            /// Creates a matrix or vector with all its elements filled by an iterator.
+            ///
+            /// The output matrix is filled column-by-column.
+            ///
+            /// # Example
+            /// ```
+            /// # use nalgebra::{Matrix2x3, Vector3, DVector, DMatrix};
+            /// # use std::iter;
+            ///
+            /// let v = Vector3::from_iterator((0..3).into_iter());
+            /// // The additional argument represents the vector dimension.
+            /// let dv = DVector::from_iterator(3, (0..3).into_iter());
+            /// let m = Matrix2x3::from_iterator((0..6).into_iter());
+            /// // The two additional arguments represent the matrix dimensions.
+            /// let dm = DMatrix::from_iterator(2, 3, (0..6).into_iter());
+            ///
+            /// assert!(v.x == 0 && v.y == 1 && v.z == 2);
+            /// assert!(dv[0] == 0 && dv[1] == 1 && dv[2] == 2);
+            /// assert!(m.m11 == 0 && m.m12 == 2 && m.m13 == 4 &&
+            ///         m.m21 == 1 && m.m22 == 3 && m.m23 == 5);
+            /// assert!(dm[(0, 0)] == 0 && dm[(0, 1)] == 2 && dm[(0, 2)] == 4 &&
+            ///         dm[(1, 0)] == 1 && dm[(1, 1)] == 3 && dm[(1, 2)] == 5);
+            /// ```
             #[inline]
             pub fn from_iterator<I>($($args: usize,)* iter: I) -> Self
                 where I: IntoIterator<Item = N> {
                 Self::from_iterator_generic($($gargs, )* iter)
             }
 
-            /// Creates a matrix with its elements filled with the components provided by a slice
+            /// Creates a matrix or vector filled with the results of a function applied to each of its
-            /// in row-major order.
-            ///
-            /// The order of elements in the slice must follow the usual mathematic writing, i.e.,
-            /// row-by-row.
-            #[inline]
-            pub fn from_row_slice($($args: usize,)* slice: &[N]) -> Self {
-                Self::from_row_slice_generic($($gargs, )* slice)
-            }
-
-            /// Creates a matrix with its elements filled with the components provided by a slice
-            /// in column-major order.
-            #[inline]
-            pub fn from_column_slice($($args: usize,)* slice: &[N]) -> Self {
-                Self::from_column_slice_generic($($gargs, )* slice)
-            }
-
-            /// Creates a matrix filled with the results of a function applied to each of its
             /// component coordinates.
-            // FIXME: don't take a dimension of the matrix is statically sized.
+            ///
+            /// # Example
+            /// ```
+            /// # use nalgebra::{Matrix2x3, Vector3, DVector, DMatrix};
+            /// # use std::iter;
+            ///
+            /// let v = Vector3::from_fn(|i, _| i);
+            /// // The additional argument represents the vector dimension.
+            /// let dv = DVector::from_fn(3, |i, _| i);
+            /// let m = Matrix2x3::from_fn(|i, j| i * 3 + j);
+            /// // The two additional arguments represent the matrix dimensions.
+            /// let dm = DMatrix::from_fn(2, 3, |i, j| i * 3 + j);
+            ///
+            /// assert!(v.x == 0 && v.y == 1 && v.z == 2);
+            /// assert!(dv[0] == 0 && dv[1] == 1 && dv[2] == 2);
+            /// assert!(m.m11 == 0 && m.m12 == 1 && m.m13 == 2 &&
+            ///         m.m21 == 3 && m.m22 == 4 && m.m23 == 5);
+            /// assert!(dm[(0, 0)] == 0 && dm[(0, 1)] == 1 && dm[(0, 2)] == 2 &&
+            ///         dm[(1, 0)] == 3 && dm[(1, 1)] == 4 && dm[(1, 2)] == 5);
+            /// ```
             #[inline]
             pub fn from_fn<F>($($args: usize,)* f: F) -> Self
                 where F: FnMut(usize, usize) -> N {
@@ -330,6 +475,21 @@ macro_rules! impl_constructors(
             /// Creates an identity matrix. If the matrix is not square, the largest square
             /// submatrix (starting at the first row and column) is set to the identity while all
             /// other entries are set to zero.
+            ///
+            /// # Example
+            /// ```
+            /// # use nalgebra::{Matrix2x3, DMatrix};
+            /// # use std::iter;
+            ///
+            /// let m = Matrix2x3::<f32>::identity();
+            /// // The two additional arguments represent the matrix dimensions.
+            /// let dm = DMatrix::<f32>::identity(2, 3);
+            ///
+            /// assert!(m.m11 == 1.0 && m.m12 == 0.0 && m.m13 == 0.0 &&
+            ///         m.m21 == 0.0 && m.m22 == 1.0 && m.m23 == 0.0);
+            /// assert!(dm[(0, 0)] == 1.0 && dm[(0, 1)] == 0.0 && dm[(0, 2)] == 0.0 &&
+            ///         dm[(1, 0)] == 0.0 && dm[(1, 1)] == 1.0 && dm[(1, 2)] == 0.0);
+            /// ```
             #[inline]
             pub fn identity($($args: usize,)*) -> Self
                 where N: Zero + One {
@@ -338,6 +498,21 @@ macro_rules! impl_constructors(
 
             /// Creates a matrix filled with its diagonal filled with `elt` and all other
             /// components set to zero.
+            ///
+            /// # Example
+            /// ```
+            /// # use nalgebra::{Matrix2x3, DMatrix};
+            /// # use std::iter;
+            ///
+            /// let m = Matrix2x3::from_diagonal_element(5.0);
+            /// // The two additional arguments represent the matrix dimensions.
+            /// let dm = DMatrix::from_diagonal_element(2, 3, 5.0);
+            ///
+            /// assert!(m.m11 == 5.0 && m.m12 == 0.0 && m.m13 == 0.0 &&
+            ///         m.m21 == 0.0 && m.m22 == 5.0 && m.m23 == 0.0);
+            /// assert!(dm[(0, 0)] == 5.0 && dm[(0, 1)] == 0.0 && dm[(0, 2)] == 0.0 &&
+            ///         dm[(1, 0)] == 0.0 && dm[(1, 1)] == 5.0 && dm[(1, 2)] == 0.0);
+            /// ```
             #[inline]
             pub fn from_diagonal_element($($args: usize,)* elt: N) -> Self
                 where N: Zero + One {
@@ -348,17 +523,34 @@ macro_rules! impl_constructors(
             /// elements are filled with the content of `elts`. Others are set to 0.
             ///
             /// Panics if `elts.len()` is larger than the minimum among `nrows` and `ncols`.
+            ///
+            /// # Example
+            /// ```
+            /// # use nalgebra::{Matrix3, DMatrix};
+            /// # use std::iter;
+            ///
+            /// let m = Matrix3::from_partial_diagonal(&[1.0, 2.0]);
+            /// // The two additional arguments represent the matrix dimensions.
+            /// let dm = DMatrix::from_partial_diagonal(3, 3, &[1.0, 2.0]);
+            ///
+            /// assert!(m.m11 == 1.0 && m.m12 == 0.0 && m.m13 == 0.0 &&
+            ///         m.m21 == 0.0 && m.m22 == 2.0 && m.m23 == 0.0 &&
+            ///         m.m31 == 0.0 && m.m32 == 0.0 && m.m33 == 0.0);
+            /// assert!(dm[(0, 0)] == 1.0 && dm[(0, 1)] == 0.0 && dm[(0, 2)] == 0.0 &&
+            ///         dm[(1, 0)] == 0.0 && dm[(1, 1)] == 2.0 && dm[(1, 2)] == 0.0 &&
+            ///         dm[(2, 0)] == 0.0 && dm[(2, 1)] == 0.0 && dm[(2, 2)] == 0.0);
+            /// ```
             #[inline]
             pub fn from_partial_diagonal($($args: usize,)* elts: &[N]) -> Self
                 where N: Zero {
                 Self::from_partial_diagonal_generic($($gargs, )* elts)
             }
 
-            /// Creates a matrix filled with random values from the given distribution.
+            /// Creates a matrix or vector filled with random values from the given distribution.
             #[inline]
             pub fn from_distribution<Distr: Distribution<N> + ?Sized, G: Rng + ?Sized>(
                 $($args: usize,)*
-                distribution: &mut Distr,
+                distribution: &Distr,
                 rng: &mut G,
             ) -> Self {
                 Self::from_distribution_generic($($gargs, )* distribution, rng)
@@ -401,6 +593,125 @@ impl_constructors!(Dynamic, Dynamic;
                    Dynamic::new(nrows), Dynamic::new(ncols);
                    nrows, ncols);
 
+/*
+ *
+ * Constructors that don't necessarily require all dimensions
+ * to be specified whon one dimension is already known.
+ *
+ */
+macro_rules! impl_constructors_from_data(
+    ($data: ident; $($Dims: ty),*; $(=> $DimIdent: ident: $DimBound: ident),*; $($gargs: expr),*; $($args: ident),*) => {
+        impl<N: Scalar, $($DimIdent: $DimBound, )*> MatrixMN<N $(, $Dims)*>
+        where DefaultAllocator: Allocator<N $(, $Dims)*> {
+            /// Creates a matrix with its elements filled with the components provided by a slice
+            /// in row-major order.
+            ///
+            /// The order of elements in the slice must follow the usual mathematic writing, i.e.,
+            /// row-by-row.
+            ///
+            /// # Example
+            /// ```
+            /// # use nalgebra::{Matrix2x3, Vector3, DVector, DMatrix};
+            /// # use std::iter;
+            ///
+            /// let v = Vector3::from_row_slice(&[0, 1, 2]);
+            /// // The additional argument represents the vector dimension.
+            /// let dv = DVector::from_row_slice(&[0, 1, 2]);
+            /// let m = Matrix2x3::from_row_slice(&[0, 1, 2, 3, 4, 5]);
+            /// // The two additional arguments represent the matrix dimensions.
+            /// let dm = DMatrix::from_row_slice(2, 3, &[0, 1, 2, 3, 4, 5]);
+            ///
+            /// assert!(v.x == 0 && v.y == 1 && v.z == 2);
+            /// assert!(dv[0] == 0 && dv[1] == 1 && dv[2] == 2);
+            /// assert!(m.m11 == 0 && m.m12 == 1 && m.m13 == 2 &&
+            ///         m.m21 == 3 && m.m22 == 4 && m.m23 == 5);
+            /// assert!(dm[(0, 0)] == 0 && dm[(0, 1)] == 1 && dm[(0, 2)] == 2 &&
+            ///         dm[(1, 0)] == 3 && dm[(1, 1)] == 4 && dm[(1, 2)] == 5);
+            /// ```
+            #[inline]
+            pub fn from_row_slice($($args: usize,)* $data: &[N]) -> Self {
+                Self::from_row_slice_generic($($gargs, )* $data)
+            }
+
+            /// Creates a matrix with its elements filled with the components provided by a slice
+            /// in column-major order.
+            ///
+            /// # Example
+            /// ```
+            /// # use nalgebra::{Matrix2x3, Vector3, DVector, DMatrix};
+            /// # use std::iter;
+            ///
+            /// let v = Vector3::from_column_slice(&[0, 1, 2]);
+            /// // The additional argument represents the vector dimension.
+            /// let dv = DVector::from_column_slice(&[0, 1, 2]);
+            /// let m = Matrix2x3::from_column_slice(&[0, 1, 2, 3, 4, 5]);
+            /// // The two additional arguments represent the matrix dimensions.
+            /// let dm = DMatrix::from_column_slice(2, 3, &[0, 1, 2, 3, 4, 5]);
+            ///
+            /// assert!(v.x == 0 && v.y == 1 && v.z == 2);
+            /// assert!(dv[0] == 0 && dv[1] == 1 && dv[2] == 2);
+            /// assert!(m.m11 == 0 && m.m12 == 2 && m.m13 == 4 &&
+            ///         m.m21 == 1 && m.m22 == 3 && m.m23 == 5);
+            /// assert!(dm[(0, 0)] == 0 && dm[(0, 1)] == 2 && dm[(0, 2)] == 4 &&
+            ///         dm[(1, 0)] == 1 && dm[(1, 1)] == 3 && dm[(1, 2)] == 5);
+            /// ```
+            #[inline]
+            pub fn from_column_slice($($args: usize,)* $data: &[N]) -> Self {
+                Self::from_column_slice_generic($($gargs, )* $data)
+            }
+
+            /// Creates a matrix backed by a given `Vec`.
+            ///
+            /// The output matrix is filled column-by-column.
+            ///
+            /// # Example
+            /// ```
+            /// # use nalgebra::{DMatrix, Matrix2x3};
+            ///
+            /// let m = Matrix2x3::from_vec(vec![0, 1, 2, 3, 4, 5]);
+            ///
+            /// assert!(m.m11 == 0 && m.m12 == 2 && m.m13 == 4 &&
+            ///         m.m21 == 1 && m.m22 == 3 && m.m23 == 5);
+            ///
+            ///
+            /// // The two additional arguments represent the matrix dimensions.
+            /// let dm = DMatrix::from_vec(2, 3, vec![0, 1, 2, 3, 4, 5]);
+            ///
+            /// assert!(dm[(0, 0)] == 0 && dm[(0, 1)] == 2 && dm[(0, 2)] == 4 &&
+            ///         dm[(1, 0)] == 1 && dm[(1, 1)] == 3 && dm[(1, 2)] == 5);
+            /// ```
+            #[inline]
+            #[cfg(feature = "std")]
+            pub fn from_vec($($args: usize,)* $data: Vec<N>) -> Self {
+                Self::from_vec_generic($($gargs, )* $data)
+            }
+        }
+    }
+);
+
+// FIXME: this is not very pretty. We could find a better call syntax.
+impl_constructors_from_data!(data; R, C;                  // Arguments for Matrix<N, ..., S>
+                            => R: DimName, => C: DimName; // Type parameters for impl<N, ..., S>
+                            R::name(), C::name();         // Arguments for `_generic` constructors.
+                            ); // Arguments for non-generic constructors.
+
+impl_constructors_from_data!(data; R, Dynamic;
+                            => R: DimName;
+                            R::name(), Dynamic::new(data.len() / R::dim());
+                            );
+
+impl_constructors_from_data!(data; Dynamic, C;
+                            => C: DimName;
+                            Dynamic::new(data.len() / C::dim()), C::name();
+                            );
+
+impl_constructors_from_data!(data; Dynamic, Dynamic;
+                            ;
+                            Dynamic::new(nrows), Dynamic::new(ncols);
+                            nrows, ncols);
+
+
+
 /*
  *
  * Zero, One, Rand traits.
@@ -495,7 +806,7 @@ where
         Unit::new_normalize(VectorN::from_distribution_generic(
             D::name(),
             U1,
-            &mut StandardNormal,
+            &StandardNormal,
             rng,
         ))
     }
@@ -516,7 +827,7 @@ macro_rules! componentwise_constructors_impl(
             pub fn new($($args: N),*) -> Self {
                 unsafe {
                     let mut res = Self::new_uninitialized();
-                    $( *res.get_unchecked_mut($irow, $icol) = $args; )*
+                    $( *res.get_unchecked_mut(($irow, $icol)) = $args; )*
 
                     res
                 }

src/base/conversion.rs

@@ -17,8 +17,8 @@ use base::dimension::{
 use base::iter::{MatrixIter, MatrixIterMut};
 use base::storage::{ContiguousStorage, ContiguousStorageMut, Storage, StorageMut};
 #[cfg(any(feature = "std", feature = "alloc"))]
-use base::MatrixVec;
+use base::VecStorage;
-use base::{DefaultAllocator, Matrix, MatrixArray, MatrixMN, MatrixSlice, MatrixSliceMut, Scalar};
+use base::{DefaultAllocator, Matrix, ArrayStorage, MatrixMN, MatrixSlice, MatrixSliceMut, Scalar};
 
 // FIXME: too bad this won't work allo slice conversions.
 impl<N1, N2, R1, C1, R2, C2> SubsetOf<MatrixMN<N2, R2, C2>> for MatrixMN<N1, R1, C1>
@@ -42,7 +42,7 @@ where
         let mut res = unsafe { MatrixMN::<N2, R2, C2>::new_uninitialized_generic(nrows2, ncols2) };
         for i in 0..nrows {
             for j in 0..ncols {
-                unsafe { *res.get_unchecked_mut(i, j) = N2::from_subset(self.get_unchecked(i, j)) }
+                unsafe { *res.get_unchecked_mut((i, j)) = N2::from_subset(self.get_unchecked((i, j))) }
             }
         }
 
@@ -63,7 +63,7 @@ where
         let mut res = Self::new_uninitialized_generic(nrows, ncols);
         for i in 0..nrows2 {
             for j in 0..ncols2 {
-                *res.get_unchecked_mut(i, j) = m.get_unchecked(i, j).to_subset_unchecked()
+                *res.get_unchecked_mut((i, j)) = m.get_unchecked((i, j)).to_subset_unchecked()
             }
         }
 
@@ -336,7 +336,7 @@ impl_from_into_mint_2D!(
 );
 
 impl<'a, N, R, C, RStride, CStride> From<MatrixSlice<'a, N, R, C, RStride, CStride>>
-    for Matrix<N, R, C, MatrixArray<N, R, C>>
+    for Matrix<N, R, C, ArrayStorage<N, R, C>>
 where
     N: Scalar,
     R: DimName,
@@ -353,7 +353,7 @@ where
 
 #[cfg(any(feature = "std", feature = "alloc"))]
 impl<'a, N, C, RStride, CStride> From<MatrixSlice<'a, N, Dynamic, C, RStride, CStride>>
-    for Matrix<N, Dynamic, C, MatrixVec<N, Dynamic, C>>
+    for Matrix<N, Dynamic, C, VecStorage<N, Dynamic, C>>
 where
     N: Scalar,
     C: Dim,
@@ -367,7 +367,7 @@ where
 
 #[cfg(any(feature = "std", feature = "alloc"))]
 impl<'a, N, R, RStride, CStride> From<MatrixSlice<'a, N, R, Dynamic, RStride, CStride>>
-    for Matrix<N, R, Dynamic, MatrixVec<N, R, Dynamic>>
+    for Matrix<N, R, Dynamic, VecStorage<N, R, Dynamic>>
 where
     N: Scalar,
     R: DimName,
@@ -380,7 +380,7 @@ where
 }
 
 impl<'a, N, R, C, RStride, CStride> From<MatrixSliceMut<'a, N, R, C, RStride, CStride>>
-    for Matrix<N, R, C, MatrixArray<N, R, C>>
+    for Matrix<N, R, C, ArrayStorage<N, R, C>>
 where
     N: Scalar,
     R: DimName,
@@ -397,7 +397,7 @@ where
 
 #[cfg(any(feature = "std", feature = "alloc"))]
 impl<'a, N, C, RStride, CStride> From<MatrixSliceMut<'a, N, Dynamic, C, RStride, CStride>>
-    for Matrix<N, Dynamic, C, MatrixVec<N, Dynamic, C>>
+    for Matrix<N, Dynamic, C, VecStorage<N, Dynamic, C>>
 where
     N: Scalar,
     C: Dim,
@@ -411,7 +411,7 @@ where
 
 #[cfg(any(feature = "std", feature = "alloc"))]
 impl<'a, N, R, RStride, CStride> From<MatrixSliceMut<'a, N, R, Dynamic, RStride, CStride>>
-    for Matrix<N, R, Dynamic, MatrixVec<N, R, Dynamic>>
+    for Matrix<N, R, Dynamic, VecStorage<N, R, Dynamic>>
 where
     N: Scalar,
     R: DimName,

src/base/default_allocator.rs

@@ -18,9 +18,9 @@ use base::allocator::{Allocator, Reallocator};
 #[cfg(any(feature = "alloc", feature = "std"))]
 use base::dimension::Dynamic;
 use base::dimension::{Dim, DimName};
-use base::matrix_array::MatrixArray;
+use base::array_storage::ArrayStorage;
 #[cfg(any(feature = "std", feature = "alloc"))]
-use base::matrix_vec::MatrixVec;
+use base::vec_storage::VecStorage;
 use base::storage::{Storage, StorageMut};
 use base::Scalar;
 
@@ -29,7 +29,7 @@ use base::Scalar;
  * Allocator.
  *
  */
-/// An allocator based on `GenericArray` and `MatrixVec` for statically-sized and dynamically-sized
+/// An allocator based on `GenericArray` and `VecStorage` for statically-sized and dynamically-sized
 /// matrices respectively.
 pub struct DefaultAllocator;
 
@@ -42,7 +42,7 @@ where
     R::Value: Mul<C::Value>,
     Prod<R::Value, C::Value>: ArrayLength<N>,
 {
-    type Buffer = MatrixArray<N, R, C>;
+    type Buffer = ArrayStorage<N, R, C>;
 
     #[inline]
     unsafe fn allocate_uninitialized(_: R, _: C) -> Self::Buffer {
@@ -77,7 +77,7 @@ where
 // Dynamic - Dynamic
 #[cfg(any(feature = "std", feature = "alloc"))]
 impl<N: Scalar, C: Dim> Allocator<N, Dynamic, C> for DefaultAllocator {
-    type Buffer = MatrixVec<N, Dynamic, C>;
+    type Buffer = VecStorage<N, Dynamic, C>;
 
     #[inline]
     unsafe fn allocate_uninitialized(nrows: Dynamic, ncols: C) -> Self::Buffer {
@@ -86,7 +86,7 @@ impl<N: Scalar, C: Dim> Allocator<N, Dynamic, C> for DefaultAllocator {
         res.reserve_exact(length);
         res.set_len(length);
 
-        MatrixVec::new(nrows, ncols, res)
+        VecStorage::new(nrows, ncols, res)
     }
 
     #[inline]
@@ -101,14 +101,14 @@ impl<N: Scalar, C: Dim> Allocator<N, Dynamic, C> for DefaultAllocator {
         assert!(res.len() == nrows.value() * ncols.value(),
                 "Allocation from iterator error: the iterator did not yield the correct number of elements.");
 
-        MatrixVec::new(nrows, ncols, res)
+        VecStorage::new(nrows, ncols, res)
     }
 }
 
 // Static - Dynamic
 #[cfg(any(feature = "std", feature = "alloc"))]
 impl<N: Scalar, R: DimName> Allocator<N, R, Dynamic> for DefaultAllocator {
-    type Buffer = MatrixVec<N, R, Dynamic>;
+    type Buffer = VecStorage<N, R, Dynamic>;
 
     #[inline]
     unsafe fn allocate_uninitialized(nrows: R, ncols: Dynamic) -> Self::Buffer {
@@ -117,7 +117,7 @@ impl<N: Scalar, R: DimName> Allocator<N, R, Dynamic> for DefaultAllocator {
         res.reserve_exact(length);
         res.set_len(length);
 
-        MatrixVec::new(nrows, ncols, res)
+        VecStorage::new(nrows, ncols, res)
     }
 
     #[inline]
@@ -132,7 +132,7 @@ impl<N: Scalar, R: DimName> Allocator<N, R, Dynamic> for DefaultAllocator {
         assert!(res.len() == nrows.value() * ncols.value(),
                 "Allocation from iterator error: the iterator did not yield the correct number of elements.");
 
-        MatrixVec::new(nrows, ncols, res)
+        VecStorage::new(nrows, ncols, res)
     }
 }
 
@@ -157,7 +157,7 @@ where
         rto: RTo,
         cto: CTo,
         buf: <Self as Allocator<N, RFrom, CFrom>>::Buffer,
-    ) -> MatrixArray<N, RTo, CTo>
+    ) -> ArrayStorage<N, RTo, CTo>
     {
         let mut res = <Self as Allocator<N, RTo, CTo>>::allocate_uninitialized(rto, cto);
 
@@ -185,8 +185,8 @@ where
     unsafe fn reallocate_copy(
         rto: Dynamic,
         cto: CTo,
-        buf: MatrixArray<N, RFrom, CFrom>,
+        buf: ArrayStorage<N, RFrom, CFrom>,
-    ) -> MatrixVec<N, Dynamic, CTo>
+    ) -> VecStorage<N, Dynamic, CTo>
     {
         let mut res = <Self as Allocator<N, Dynamic, CTo>>::allocate_uninitialized(rto, cto);
 
@@ -214,8 +214,8 @@ where
     unsafe fn reallocate_copy(
         rto: RTo,
         cto: Dynamic,
-        buf: MatrixArray<N, RFrom, CFrom>,
+        buf: ArrayStorage<N, RFrom, CFrom>,
-    ) -> MatrixVec<N, RTo, Dynamic>
+    ) -> VecStorage<N, RTo, Dynamic>
     {
         let mut res = <Self as Allocator<N, RTo, Dynamic>>::allocate_uninitialized(rto, cto);
 
@@ -238,11 +238,11 @@ impl<N: Scalar, CFrom: Dim, CTo: Dim> Reallocator<N, Dynamic, CFrom, Dynamic, CT
     unsafe fn reallocate_copy(
         rto: Dynamic,
         cto: CTo,
-        buf: MatrixVec<N, Dynamic, CFrom>,
+        buf: VecStorage<N, Dynamic, CFrom>,
-    ) -> MatrixVec<N, Dynamic, CTo>
+    ) -> VecStorage<N, Dynamic, CTo>
     {
         let new_buf = buf.resize(rto.value() * cto.value());
-        MatrixVec::new(rto, cto, new_buf)
+        VecStorage::new(rto, cto, new_buf)
     }
 }
 
@@ -254,11 +254,11 @@ impl<N: Scalar, CFrom: Dim, RTo: DimName> Reallocator<N, Dynamic, CFrom, RTo, Dy
     unsafe fn reallocate_copy(
         rto: RTo,
         cto: Dynamic,
-        buf: MatrixVec<N, Dynamic, CFrom>,
+        buf: VecStorage<N, Dynamic, CFrom>,
-    ) -> MatrixVec<N, RTo, Dynamic>
+    ) -> VecStorage<N, RTo, Dynamic>
     {
         let new_buf = buf.resize(rto.value() * cto.value());
-        MatrixVec::new(rto, cto, new_buf)
+        VecStorage::new(rto, cto, new_buf)
     }
 }
 
@@ -270,11 +270,11 @@ impl<N: Scalar, RFrom: DimName, CTo: Dim> Reallocator<N, RFrom, Dynamic, Dynamic
     unsafe fn reallocate_copy(
         rto: Dynamic,
         cto: CTo,
-        buf: MatrixVec<N, RFrom, Dynamic>,
+        buf: VecStorage<N, RFrom, Dynamic>,
-    ) -> MatrixVec<N, Dynamic, CTo>
+    ) -> VecStorage<N, Dynamic, CTo>
     {
         let new_buf = buf.resize(rto.value() * cto.value());
-        MatrixVec::new(rto, cto, new_buf)
+        VecStorage::new(rto, cto, new_buf)
     }
 }
 
@@ -286,10 +286,10 @@ impl<N: Scalar, RFrom: DimName, RTo: DimName> Reallocator<N, RFrom, Dynamic, RTo
     unsafe fn reallocate_copy(
         rto: RTo,
         cto: Dynamic,
-        buf: MatrixVec<N, RFrom, Dynamic>,
+        buf: VecStorage<N, RFrom, Dynamic>,
-    ) -> MatrixVec<N, RTo, Dynamic>
+    ) -> VecStorage<N, RTo, Dynamic>
     {
         let new_buf = buf.resize(rto.value() * cto.value());
-        MatrixVec::new(rto, cto, new_buf)
+        VecStorage::new(rto, cto, new_buf)
     }
 }

src/base/dimension.rs

@@ -181,7 +181,7 @@ dim_ops!(
     DimMul, DimNameMul, Mul, mul, Mul::mul, DimProd,    DimNameProd,    Prod;
     DimSub, DimNameSub, Sub, sub, Sub::sub, DimDiff,    DimNameDiff,    Diff;
     DimDiv, DimNameDiv, Div, div, Div::div, DimQuot,    DimNameQuot,    Quot;
-    DimMin, DimNameMin, Min, min, cmp::min, DimMinimum, DimNameNimimum, Minimum;
+    DimMin, DimNameMin, Min, min, cmp::min, DimMinimum, DimNameMinimum, Minimum;
     DimMax, DimNameMax, Max, max, cmp::max, DimMaximum, DimNameMaximum, Maximum;
 );
 

src/base/edition.rs

@@ -1,6 +1,7 @@
 use num::{One, Zero};
 use std::cmp;
 use std::ptr;
+use std::iter::ExactSizeIterator;
 use std::mem;
 
 use base::allocator::{Allocator, Reallocator};
@@ -24,7 +25,7 @@ impl<N: Scalar + Zero, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
         res
     }
 
-    /// Extracts the upper triangular part of this matrix (including the diagonal).
+    /// Extracts the lower triangular part of this matrix (including the diagonal).
     #[inline]
     pub fn lower_triangle(&self) -> MatrixMN<N, R, C>
     where DefaultAllocator: Allocator<N, R, C> {
@@ -33,6 +34,52 @@ impl<N: Scalar + Zero, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
 
         res
     }
+
+    /// Creates a new matrix by extracting the given set of rows from `self`.
+    pub fn select_rows<'a, I>(&self, irows: I) -> MatrixMN<N, Dynamic, C>
+        where I: IntoIterator<Item = &'a usize>,
+              I::IntoIter: ExactSizeIterator + Clone,
+              DefaultAllocator: Allocator<N, Dynamic, C> {
+        let irows = irows.into_iter();
+        let ncols = self.data.shape().1;
+        let mut res = unsafe { MatrixMN::new_uninitialized_generic(Dynamic::new(irows.len()), ncols) };
+
+        // First, check that all the indices from irows are valid.
+        // This will allow us to use unchecked access in the inner loop.
+        for i in irows.clone() {
+            assert!(*i < self.nrows(), "Row index out of bounds.")
+        }
+
+        for j in 0..ncols.value() {
+            // FIXME: use unchecked column indexing
+            let mut res = res.column_mut(j);
+            let mut src = self.column(j);
+
+            for (destination, source) in irows.clone().enumerate() {
+                unsafe {
+                    *res.vget_unchecked_mut(destination) = *src.vget_unchecked(*source)
+                }
+            }
+        }
+
+        res
+    }
+
+    /// Creates a new matrix by extracting the given set of columns from `self`.
+    pub fn select_columns<'a, I>(&self, icols: I) -> MatrixMN<N, R, Dynamic>
+        where I: IntoIterator<Item = &'a usize>,
+              I::IntoIter: ExactSizeIterator,
+              DefaultAllocator: Allocator<N, R, Dynamic> {
+        let icols = icols.into_iter();
+        let nrows = self.data.shape().0;
+        let mut res = unsafe { MatrixMN::new_uninitialized_generic(nrows, Dynamic::new(icols.len())) };
+
+        for (destination, source) in icols.enumerate() {
+            res.column_mut(destination).copy_from(&self.column(*source))
+        }
+
+        res
+    }
 }
 
 impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
@@ -59,7 +106,7 @@ impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
         let n = cmp::min(nrows, ncols);
 
         for i in 0..n {
-            unsafe { *self.get_unchecked_mut(i, i) = val }
+            unsafe { *self.get_unchecked_mut((i, i)) = val }
         }
     }
 
@@ -68,7 +115,7 @@ impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
     pub fn fill_row(&mut self, i: usize, val: N) {
         assert!(i < self.nrows(), "Row index out of bounds.");
         for j in 0..self.ncols() {
-            unsafe { *self.get_unchecked_mut(i, j) = val }
+            unsafe { *self.get_unchecked_mut((i, j)) = val }
         }
     }
 
@@ -77,7 +124,7 @@ impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
     pub fn fill_column(&mut self, j: usize, val: N) {
         assert!(j < self.ncols(), "Row index out of bounds.");
         for i in 0..self.nrows() {
-            unsafe { *self.get_unchecked_mut(i, j) = val }
+            unsafe { *self.get_unchecked_mut((i, j)) = val }
         }
     }
 
@@ -94,7 +141,7 @@ impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
         assert_eq!(diag.len(), min_nrows_ncols, "Mismatched dimensions.");
 
         for i in 0..min_nrows_ncols {
-            unsafe { *self.get_unchecked_mut(i, i) = *diag.vget_unchecked(i) }
+            unsafe { *self.get_unchecked_mut((i, i)) = *diag.vget_unchecked(i) }
         }
     }
 
@@ -129,7 +176,7 @@ impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
     pub fn fill_lower_triangle(&mut self, val: N, shift: usize) {
         for j in 0..self.ncols() {
             for i in (j + shift)..self.nrows() {
-                unsafe { *self.get_unchecked_mut(i, j) = val }
+                unsafe { *self.get_unchecked_mut((i, j)) = val }
             }
         }
     }
@@ -147,7 +194,7 @@ impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
             // FIXME: is there a more efficient way to avoid the min ?
             // (necessary for rectangular matrices)
             for i in 0..cmp::min(j + 1 - shift, self.nrows()) {
-                unsafe { *self.get_unchecked_mut(i, j) = val }
+                unsafe { *self.get_unchecked_mut((i, j)) = val }
             }
         }
     }
@@ -192,7 +239,7 @@ impl<N: Scalar, D: Dim, S: StorageMut<N, D, D>> Matrix<N, D, D, S> {
         for j in 0..dim {
             for i in j + 1..dim {
                 unsafe {
-                    *self.get_unchecked_mut(i, j) = *self.get_unchecked(j, i);
+                    *self.get_unchecked_mut((i, j)) = *self.get_unchecked((j, i));
                 }
             }
         }
@@ -207,7 +254,7 @@ impl<N: Scalar, D: Dim, S: StorageMut<N, D, D>> Matrix<N, D, D, S> {
         for j in 1..self.ncols() {
             for i in 0..j {
                 unsafe {
-                    *self.get_unchecked_mut(i, j) = *self.get_unchecked(j, i);
+                    *self.get_unchecked_mut((i, j)) = *self.get_unchecked((j, i));
                 }
             }
         }
@@ -780,3 +827,136 @@ unsafe fn extend_rows<N: Scalar>(
         );
     }
 }
+
+/// Extend the number of columns of the `Matrix` with elements from
+/// a given iterator.
+impl<N, R, S> Extend<N> for Matrix<N, R, Dynamic, S>
+where
+    N: Scalar,
+    R: Dim,
+    S: Extend<N>,
+{
+    /// Extend the number of columns of the `Matrix` with elements
+    /// from the given iterator.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{DMatrix, Dynamic, Matrix, MatrixMN, Matrix3};
+    ///
+    /// let data = vec![0, 1, 2,      // column 1
+    ///                 3, 4, 5];     // column 2
+    ///
+    /// let mut matrix = DMatrix::from_vec(3, 2, data);
+    ///
+    /// matrix.extend(vec![6, 7, 8]); // column 3
+    ///
+    /// assert!(matrix.eq(&Matrix3::new(0, 3, 6,
+    ///                                 1, 4, 7,
+    ///                                 2, 5, 8)));
+    /// ```
+    ///
+    /// # Panics
+    /// This function panics if the number of elements yielded by the
+    /// given iterator is not a multiple of the number of rows of the
+    /// `Matrix`.
+    ///
+    /// ```should_panic
+    /// # use nalgebra::{DMatrix, Dynamic, MatrixMN};
+    /// let data = vec![0, 1, 2,  // column 1
+    ///                 3, 4, 5]; // column 2
+    ///
+    /// let mut matrix = DMatrix::from_vec(3, 2, data);
+    ///
+    /// // The following panics because the vec length is not a multiple of 3.
+    /// matrix.extend(vec![6, 7, 8, 9]);
+    /// ```
+    fn extend<I: IntoIterator<Item=N>>(&mut self, iter: I) {
+        self.data.extend(iter);
+    }
+}
+
+/// Extend the number of rows of the `Vector` with elements from
+/// a given iterator.
+impl<N, S> Extend<N> for Matrix<N, Dynamic, U1, S>
+where
+    N: Scalar,
+    S: Extend<N>,
+{
+    /// Extend the number of rows of a `Vector` with elements
+    /// from the given iterator.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::DVector;
+    /// let mut vector = DVector::from_vec(vec![0, 1, 2]);
+    /// vector.extend(vec![3, 4, 5]);
+    /// assert!(vector.eq(&DVector::from_vec(vec![0, 1, 2, 3, 4, 5])));
+    /// ```
+    fn extend<I: IntoIterator<Item=N>>(&mut self, iter: I) {
+        self.data.extend(iter);
+    }
+}
+
+impl<N, R, S, RV, SV> Extend<Vector<N, RV, SV>> for Matrix<N, R, Dynamic, S>
+where
+    N: Scalar,
+    R: Dim,
+    S: Extend<Vector<N, RV, SV>>,
+    RV: Dim,
+    SV: Storage<N, RV>,
+    ShapeConstraint: SameNumberOfRows<R, RV>,
+{
+    /// Extends the number of columns of a `Matrix` with `Vector`s
+    /// from a given iterator.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{DMatrix, Vector3, Matrix3x4};
+    ///
+    /// let data = vec![0, 1, 2,          // column 1
+    ///                 3, 4, 5];         // column 2
+    ///
+    /// let mut matrix = DMatrix::from_vec(3, 2, data);
+    ///
+    /// matrix.extend(
+    ///   vec![Vector3::new(6,  7,  8),   // column 3
+    ///        Vector3::new(9, 10, 11)]); // column 4
+    ///
+    /// assert!(matrix.eq(&Matrix3x4::new(0, 3, 6,  9,
+    ///                                   1, 4, 7, 10,
+    ///                                   2, 5, 8, 11)));
+    /// ```
+    ///
+    /// # Panics
+    /// This function panics if the dimension of each `Vector` yielded
+    /// by the given iterator is not equal to the number of rows of
+    /// this `Matrix`.
+    ///
+    /// ```should_panic
+    /// # use nalgebra::{DMatrix, Vector2, Matrix3x4};
+    /// let mut matrix =
+    ///   DMatrix::from_vec(3, 2,
+    ///                     vec![0, 1, 2,   // column 1
+    ///                          3, 4, 5]); // column 2
+    ///
+    /// // The following panics because this matrix can only be extended with 3-dimensional vectors.
+    /// matrix.extend(
+    ///   vec![Vector2::new(6,  7)]); // too few dimensions!
+    /// ```
+    ///
+    /// ```should_panic
+    /// # use nalgebra::{DMatrix, Vector4, Matrix3x4};
+    /// let mut matrix =
+    ///   DMatrix::from_vec(3, 2,
+    ///                     vec![0, 1, 2,   // column 1
+    ///                          3, 4, 5]); // column 2
+    ///
+    /// // The following panics because this matrix can only be extended with 3-dimensional vectors.
+    /// matrix.extend(
+    ///   vec![Vector4::new(6, 7, 8, 9)]); // too few dimensions!
+    /// ```
+    fn extend<I: IntoIterator<Item=Vector<N, RV, SV>>>(&mut self, iter: I)
+    {
+        self.data.extend(iter);
+    }
+}

src/base/indexing.rs

@@ -0,0 +1,714 @@
+//! Indexing
+
+use base::{Dim, DimName, DimDiff, DimSub, Dynamic, Matrix, MatrixSlice, MatrixSliceMut, Scalar, U1};
+use base::storage::{Storage, StorageMut};
+
+use std::ops;
+
+// N.B.: Not a public trait!
+trait DimRange<D: Dim>
+{
+    /// The number of elements indexed by this range.
+    type Length: Dim;
+
+    /// The lower bound of the range, inclusive.
+    fn lower(&self, dimension: D) -> usize;
+
+    /// The number of elements included in the range.
+    fn length(&self, dimension: D) -> Self::Length;
+
+    /// Produces true if `Self` is contained within `dimension`.
+    fn contained_by(&self, dimension: D) -> bool;
+}
+
+impl<D: Dim> DimRange<D> for usize {
+    type Length = U1;
+
+    #[inline(always)]
+    fn lower(&self, _: D) -> usize {
+        *self
+    }
+
+    #[inline(always)]
+    fn length(&self, _: D) -> Self::Length {
+        U1
+    }
+
+    #[inline(always)]
+    fn contained_by(&self, dimension: D) -> bool {
+        *self < dimension.value()
+    }
+}
+
+#[test]
+fn dimrange_usize() {
+    use base::dimension::U0;
+    assert_eq!(DimRange::contained_by(&0, U0), false);
+    assert_eq!(DimRange::contained_by(&0, U1), true);
+}
+
+impl<D: Dim> DimRange<D> for ops::Range<usize> {
+    type Length = Dynamic;
+
+    #[inline(always)]
+    fn lower(&self, _: D) -> usize {
+        self.start
+    }
+
+    #[inline(always)]
+    fn length(&self, _: D) -> Self::Length {
+        Dynamic::new(self.end.saturating_sub(self.start))
+    }
+
+    #[inline(always)]
+    fn contained_by(&self, dimension: D) -> bool {
+        (self.start < dimension.value()) && (self.end <= dimension.value())
+    }
+}
+
+#[test]
+fn dimrange_range_usize() {
+    use std::usize::MAX;
+    use base::dimension::U0;
+    assert_eq!(DimRange::contained_by(&(0..0), U0), false);
+    assert_eq!(DimRange::contained_by(&(0..1), U0), false);
+    assert_eq!(DimRange::contained_by(&(0..1), U1), true);
+    assert_eq!(DimRange::contained_by(&((MAX - 1)..MAX), Dynamic::new(MAX)), true);
+    assert_eq!(DimRange::length(&((MAX - 1)..MAX), Dynamic::new(MAX)), Dynamic::new(1));
+    assert_eq!(DimRange::length(&(MAX..(MAX - 1)), Dynamic::new(MAX)), Dynamic::new(0));
+    assert_eq!(DimRange::length(&(MAX..MAX), Dynamic::new(MAX)), Dynamic::new(0));
+}
+
+impl<D: Dim> DimRange<D> for ops::RangeFrom<usize> {
+    type Length = Dynamic;
+
+    #[inline(always)]
+    fn lower(&self, _: D) -> usize {
+        self.start
+    }
+
+    #[inline(always)]
+    fn length(&self, dimension: D) -> Self::Length {
+        (self.start..dimension.value()).length(dimension)
+    }
+
+    #[inline(always)]
+    fn contained_by(&self, dimension: D) -> bool {
+        self.start < dimension.value()
+    }
+}
+
+#[test]
+fn dimrange_rangefrom_usize() {
+    use std::usize::MAX;
+    use base::dimension::U0;
+    assert_eq!(DimRange::contained_by(&(0..), U0), false);
+    assert_eq!(DimRange::contained_by(&(0..), U0), false);
+    assert_eq!(DimRange::contained_by(&(0..), U1), true);
+    assert_eq!(DimRange::contained_by(&((MAX - 1)..), Dynamic::new(MAX)), true);
+    assert_eq!(DimRange::length(&((MAX - 1)..), Dynamic::new(MAX)), Dynamic::new(1));
+    assert_eq!(DimRange::length(&(MAX..), Dynamic::new(MAX)), Dynamic::new(0));
+}
+
+impl<D: Dim, T: Dim> DimRange<D> for ops::RangeFrom<T>
+where D: DimSub<T>
+{
+    type Length = DimDiff<D, T>;
+
+    #[inline(always)]
+    fn lower(&self, _: D) -> usize {
+        self.start.value()
+    }
+
+    #[inline(always)]
+    fn length(&self, dimension: D) -> Self::Length {
+        dimension.sub(self.start)
+    }
+
+    #[inline(always)]
+    fn contained_by(&self, _: D) -> bool {
+        true
+    }
+}
+
+#[test]
+fn dimrange_rangefrom_dimname() {
+    use base::dimension::{U5, U4};
+    assert_eq!(DimRange::length(&(U1..), U5), U4);
+}
+
+impl<D: Dim> DimRange<D> for ops::RangeFull {
+    type Length = D;
+
+    #[inline(always)]
+    fn lower(&self, _: D) -> usize {
+        0
+    }
+
+    #[inline(always)]
+    fn length(&self, dimension: D) -> Self::Length {
+        dimension
+    }
+
+    #[inline(always)]
+    fn contained_by(&self, _: D) -> bool {
+        true
+    }
+}
+
+#[test]
+fn dimrange_rangefull() {
+    use base::dimension::U0;
+    assert_eq!(DimRange::contained_by(&(..), U0), true);
+    assert_eq!(DimRange::length(&(..), U1), U1);
+}
+
+impl<D: Dim> DimRange<D> for ops::RangeInclusive<usize> {
+    type Length = Dynamic;
+
+    #[inline(always)]
+    fn lower(&self, _: D) -> usize {
+        *self.start()
+    }
+
+    #[inline(always)]
+    fn length(&self, _: D) -> Self::Length {
+        Dynamic::new(
+            if self.end() < self.start() {
+                0
+            } else {
+                self.end().wrapping_sub(self.start().wrapping_sub(1))
+            })
+    }
+
+    #[inline(always)]
+    fn contained_by(&self, dimension: D) -> bool {
+        (*self.start() < dimension.value()) && (*self.end() < dimension.value())
+    }
+}
+
+#[test]
+fn dimrange_rangeinclusive_usize() {
+    use std::usize::MAX;
+    use base::dimension::U0;
+    assert_eq!(DimRange::contained_by(&(0..=0), U0), false);
+    assert_eq!(DimRange::contained_by(&(0..=0), U1), true);
+    assert_eq!(DimRange::contained_by(&(MAX..=MAX), Dynamic::new(MAX)), false);
+    assert_eq!(DimRange::contained_by(&((MAX-1)..=MAX), Dynamic::new(MAX)), false);
+    assert_eq!(DimRange::contained_by(&((MAX-1)..=(MAX-1)), Dynamic::new(MAX)), true);
+    assert_eq!(DimRange::length(&(0..=0), U1), Dynamic::new(1));
+    assert_eq!(DimRange::length(&((MAX - 1)..=MAX), Dynamic::new(MAX)), Dynamic::new(2));
+    assert_eq!(DimRange::length(&(MAX..=(MAX - 1)), Dynamic::new(MAX)), Dynamic::new(0));
+    assert_eq!(DimRange::length(&(MAX..=MAX), Dynamic::new(MAX)), Dynamic::new(1));
+}
+
+impl<D: Dim> DimRange<D> for ops::RangeTo<usize>
+{
+    type Length = Dynamic;
+
+    #[inline(always)]
+    fn lower(&self, _: D) -> usize {
+        0
+    }
+
+    #[inline(always)]
+    fn length(&self, _: D) -> Self::Length {
+        Dynamic::new(self.end)
+    }
+
+    #[inline(always)]
+    fn contained_by(&self, dimension: D) -> bool {
+        self.end <= dimension.value()
+    }
+}
+
+#[test]
+fn dimrange_rangeto_usize() {
+    use std::usize::MAX;
+    use base::dimension::U0;
+    assert_eq!(DimRange::contained_by(&(..0), U0), true);
+    assert_eq!(DimRange::contained_by(&(..1), U0), false);
+    assert_eq!(DimRange::contained_by(&(..0), U1), true);
+    assert_eq!(DimRange::contained_by(&(..(MAX - 1)), Dynamic::new(MAX)), true);
+    assert_eq!(DimRange::length(&(..(MAX - 1)), Dynamic::new(MAX)), Dynamic::new(MAX - 1));
+    assert_eq!(DimRange::length(&(..MAX), Dynamic::new(MAX)), Dynamic::new(MAX));
+}
+
+impl<D: Dim> DimRange<D> for ops::RangeToInclusive<usize>
+{
+    type Length = Dynamic;
+
+    #[inline(always)]
+    fn lower(&self, _: D) -> usize {
+        0
+    }
+
+    #[inline(always)]
+    fn length(&self, _: D) -> Self::Length {
+        Dynamic::new(self.end + 1)
+    }
+
+    #[inline(always)]
+    fn contained_by(&self, dimension: D) -> bool {
+        self.end < dimension.value()
+    }
+}
+
+#[test]
+fn dimrange_rangetoinclusive_usize() {
+    use std::usize::MAX;
+    use base::dimension::U0;
+    assert_eq!(DimRange::contained_by(&(..=0), U0), false);
+    assert_eq!(DimRange::contained_by(&(..=1), U0), false);
+    assert_eq!(DimRange::contained_by(&(..=0), U1), true);
+    assert_eq!(DimRange::contained_by(&(..=(MAX)), Dynamic::new(MAX)), false);
+    assert_eq!(DimRange::contained_by(&(..=(MAX - 1)), Dynamic::new(MAX)), true);
+    assert_eq!(DimRange::length(&(..=(MAX - 1)), Dynamic::new(MAX)), Dynamic::new(MAX));
+}
+
+/// A helper trait used for indexing operations.
+pub trait MatrixIndex<'a, N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>>: Sized {
+
+    /// The output type returned by methods.
+    type Output : 'a;
+
+    /// Produces true if the given matrix is contained by this index.
+    #[doc(hidden)]
+    fn contained_by(&self, matrix: &Matrix<N, R, C, S>) -> bool;
+
+    /// Produces a shared view of the data at this location if in bounds,
+    /// or `None`, otherwise.
+    #[doc(hidden)]
+    #[inline(always)]
+    fn get(self, matrix: &'a Matrix<N, R, C, S>) -> Option<Self::Output> {
+        if self.contained_by(matrix) {
+            Some(unsafe{self.get_unchecked(matrix)})
+        } else {
+            None
+        }
+    }
+
+    /// Produces a shared view of the data at this location if in bounds
+    /// without any bounds checking.
+    #[doc(hidden)]
+    unsafe fn get_unchecked(self, matrix: &'a Matrix<N, R, C, S>) -> Self::Output;
+
+    /// Produces a shared view to the data at this location, or panics
+    /// if out of bounds.
+    #[doc(hidden)]
+    #[inline(always)]
+    fn index(self, matrix: &'a Matrix<N, R, C, S>) -> Self::Output {
+        self.get(matrix).expect("Index out of bounds.")
+    }
+}
+
+/// A helper trait used for indexing operations.
+pub trait MatrixIndexMut<'a, N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>>: MatrixIndex<'a, N, R, C, S> {
+    /// The output type returned by methods.
+    type OutputMut : 'a;
+
+    /// Produces a mutable view of the data at this location, without
+    /// performing any bounds checking.
+    #[doc(hidden)]
+    unsafe fn get_unchecked_mut(self, matrix: &'a mut Matrix<N, R, C, S>) -> Self::OutputMut;
+
+    /// Produces a mutable view of the data at this location, if in
+    /// bounds.
+    #[doc(hidden)]
+    #[inline(always)]
+    fn get_mut(self, matrix: &'a mut Matrix<N, R, C, S>) -> Option<Self::OutputMut> {
+        if self.contained_by(matrix) {
+            Some(unsafe{self.get_unchecked_mut(matrix)})
+        } else {
+            None
+        }
+    }
+
+    /// Produces a mutable view of the data at this location, or panics
+    /// if out of bounds.
+    #[doc(hidden)]
+    #[inline(always)]
+    fn index_mut(self, matrix: &'a mut Matrix<N, R, C, S>) -> Self::OutputMut {
+        self.get_mut(matrix).expect("Index out of bounds.")
+    }
+}
+
+/// # Indexing Operations
+/// ## Indices to Individual Elements
+/// ### Two-Dimensional Indices
+/// ```
+/// # use nalgebra::*;
+/// let matrix = Matrix2::new(0, 2,
+///                           1, 3);
+///
+/// assert_eq!(matrix.index((0, 0)), &0);
+/// assert_eq!(matrix.index((1, 0)), &1);
+/// assert_eq!(matrix.index((0, 1)), &2);
+/// assert_eq!(matrix.index((1, 1)), &3);
+/// ```
+///
+/// ### Linear Address Indexing
+/// ```
+/// # use nalgebra::*;
+/// let matrix = Matrix2::new(0, 2,
+///                           1, 3);
+///
+/// assert_eq!(matrix.get(0), Some(&0));
+/// assert_eq!(matrix.get(1), Some(&1));
+/// assert_eq!(matrix.get(2), Some(&2));
+/// assert_eq!(matrix.get(3), Some(&3));
+/// ```
+///
+/// ## Indices to Individual Rows and Columns
+/// ### Index to a Row
+/// ```
+/// # use nalgebra::*;
+/// let matrix = Matrix2::new(0, 2,
+///                           1, 3);
+///
+/// assert!(matrix.index((0, ..))
+///     .eq(&Matrix1x2::new(0, 2)));
+/// ```
+///
+/// ### Index to a Column
+/// ```
+/// # use nalgebra::*;
+/// let matrix = Matrix2::new(0, 2,
+///                           1, 3);
+///
+/// assert!(matrix.index((.., 0))
+///     .eq(&Matrix2x1::new(0,
+///                         1)));
+/// ```
+///
+/// ## Indices to Parts of Individual Rows and Columns
+/// ### Index to a Partial Row
+/// ```
+/// # use nalgebra::*;
+/// let matrix = Matrix3::new(0, 3, 6,
+///                           1, 4, 7,
+///                           2, 5, 8);
+///
+/// assert!(matrix.index((0, ..2))
+///     .eq(&Matrix1x2::new(0, 3)));
+/// ```
+///
+/// ### Index to a Partial Column
+/// ```
+/// # use nalgebra::*;
+/// let matrix = Matrix3::new(0, 3, 6,
+///                           1, 4, 7,
+///                           2, 5, 8);
+///
+/// assert!(matrix.index((..2, 0))
+///     .eq(&Matrix2x1::new(0,
+///                         1)));
+///
+/// assert!(matrix.index((U1.., 0))
+///     .eq(&Matrix2x1::new(1,
+///                         2)));
+/// ```
+/// ## Indices to Ranges of Rows and Columns
+/// ### Index to a Range of Rows
+/// ```
+/// # use nalgebra::*;
+/// let matrix = Matrix3::new(0, 3, 6,
+///                           1, 4, 7,
+///                           2, 5, 8);
+///
+/// assert!(matrix.index((1..3, ..))
+///     .eq(&Matrix2x3::new(1, 4, 7,
+///                         2, 5, 8)));
+/// ```
+/// ### Index to a Range of Columns
+/// ```
+/// # use nalgebra::*;
+/// let matrix = Matrix3::new(0, 3, 6,
+///                           1, 4, 7,
+///                           2, 5, 8);
+///
+/// assert!(matrix.index((.., 1..3))
+///     .eq(&Matrix3x2::new(3, 6,
+///                         4, 7,
+///                         5, 8)));
+/// ```
+impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S>
+{
+    /// Produces a view of the data at the given index, or
+    /// `None` if the index is out of bounds.
+    #[inline]
+    pub fn get<'a, I>(&'a self, index: I) -> Option<I::Output>
+    where
+        I: MatrixIndex<'a, N, R, C, S>
+    {
+        index.get(self)
+    }
+
+    /// Produces a mutable view of the data at the given index, or
+    /// `None` if the index is out of bounds.
+    #[inline]
+    pub fn get_mut<'a, I>(&'a mut self, index: I) -> Option<I::OutputMut>
+    where
+        S: StorageMut<N, R, C>,
+        I: MatrixIndexMut<'a, N, R, C, S>
+    {
+        index.get_mut(self)
+    }
+
+    /// Produces a view of the data at the given index, or
+    /// panics if the index is out of bounds.
+    #[inline]
+    pub fn index<'a, I>(&'a self, index: I) -> I::Output
+    where
+        I: MatrixIndex<'a, N, R, C, S>
+    {
+        index.index(self)
+    }
+
+    /// Produces a mutable view of the data at the given index, or
+    /// panics if the index is out of bounds.
+    #[inline]
+    pub fn index_mut<'a, I>(&'a mut self, index: I) -> I::OutputMut
+    where
+        S: StorageMut<N, R, C>,
+        I: MatrixIndexMut<'a, N, R, C, S>
+    {
+        index.index_mut(self)
+    }
+
+    /// Produces a view of the data at the given index, without doing
+    /// any bounds checking.
+    #[inline]
+    pub unsafe fn get_unchecked<'a, I>(&'a self, index: I) -> I::Output
+    where
+        I: MatrixIndex<'a, N, R, C, S>
+    {
+        index.get_unchecked(self)
+    }
+
+    /// Returns a mutable view of the data at the given index, without doing
+    /// any bounds checking.
+    #[inline]
+    pub unsafe fn get_unchecked_mut<'a, I>(&'a mut self, index: I) -> I::OutputMut
+    where
+        S: StorageMut<N, R, C>,
+        I: MatrixIndexMut<'a, N, R, C, S>
+    {
+        index.get_unchecked_mut(self)
+    }
+}
+
+// EXTRACT A SINGLE ELEMENT BY 1D LINEAR ADDRESS
+
+impl<'a, N, R, C, S> MatrixIndex<'a, N, R, C, S> for usize
+where
+    N: Scalar,
+    R: Dim,
+    C: Dim,
+    S: Storage<N, R, C>
+{
+    type Output = &'a N;
+
+    #[doc(hidden)]
+    #[inline(always)]
+    fn contained_by(&self, matrix: &Matrix<N, R, C, S>) -> bool {
+        *self < matrix.len()
+    }
+
+    #[doc(hidden)]
+    #[inline(always)]
+    unsafe fn get_unchecked(self, matrix: &'a Matrix<N, R, C, S>) -> Self::Output {
+        matrix.data.get_unchecked_linear(self)
+    }
+}
+
+impl<'a, N, R, C, S> MatrixIndexMut<'a, N, R, C, S> for usize
+where
+    N: Scalar,
+    R: Dim,
+    C: Dim,
+    S: StorageMut<N, R, C>
+{
+    type OutputMut = &'a mut N;
+
+    #[doc(hidden)]
+    #[inline(always)]
+    unsafe fn get_unchecked_mut(self, matrix: &'a mut Matrix<N, R, C, S>) -> Self::OutputMut
+    where S: StorageMut<N, R, C>,
+    {
+        matrix.data.get_unchecked_linear_mut(self)
+    }
+}
+
+// EXTRACT A SINGLE ELEMENT BY 2D COORDINATES
+
+impl<'a, N, R, C, S> MatrixIndex<'a, N, R, C, S> for (usize, usize)
+where
+    N: Scalar,
+    R: Dim,
+    C: Dim,
+    S: Storage<N, R, C>
+{
+    type Output = &'a N;
+
+    #[doc(hidden)]
+    #[inline(always)]
+    fn contained_by(&self, matrix: &Matrix<N, R, C, S>) -> bool {
+        let (rows, cols) = self;
+        let (nrows, ncols) = matrix.data.shape();
+        DimRange::contained_by(rows, nrows) && DimRange::contained_by(cols, ncols)
+    }
+
+    #[doc(hidden)]
+    #[inline(always)]
+    unsafe fn get_unchecked(self, matrix: &'a Matrix<N, R, C, S>) -> Self::Output {
+        let (row, col) = self;
+        matrix.data.get_unchecked(row, col)
+    }
+}
+
+impl<'a, N, R, C, S> MatrixIndexMut<'a, N, R, C, S> for (usize, usize)
+where
+    N: Scalar,
+    R: Dim,
+    C: Dim,
+    S: StorageMut<N, R, C>
+{
+    type OutputMut = &'a mut N;
+
+    #[doc(hidden)]
+    #[inline(always)]
+    unsafe fn get_unchecked_mut(self, matrix: &'a mut Matrix<N, R, C, S>) -> Self::OutputMut
+    where S: StorageMut<N, R, C>,
+    {
+        let (row, col) = self;
+        matrix.data.get_unchecked_mut(row, col)
+    }
+}
+
+macro_rules! impl_index_pair {
+    (
+      $R: ident,
+      $C: ident,
+      [<$($RTyP: ident : $RTyPB: ty,)*> usize => $ROut: ty
+        $(where $RConstraintType: ty: $RConstraintBound: ident<$($RConstraintBoundParams: ty $( = $REqBound: ty )*),*>)*],
+      [<$($CTyP: ident : $CTyPB: ty,)*> usize => $COut: ty
+        $(where $CConstraintType: ty: $CConstraintBound: ident<$($CConstraintBoundParams: ty $( = $CEqBound: ty )*),*>)*]
+    ) => {};
+
+    (
+      $R: ident,
+      $C: ident,
+      [<$($RTyP: ident: $RTyPB: tt),*> $RIdx: ty => $ROut: ty
+        $(where $RConstraintType: ty: $RConstraintBound: ident $(<$($RConstraintBoundParams: ty $( = $REqBound: ty )*),*>)* )*],
+      [<$($CTyP: ident: $CTyPB: tt),*> $CIdx: ty => $COut: ty
+        $(where $CConstraintType: ty: $CConstraintBound: ident $(<$($CConstraintBoundParams: ty $( = $CEqBound: ty )*),*>)* )*]
+    ) =>
+    {
+        impl<'a, N, $R, $C, S, $($RTyP : $RTyPB,)* $($CTyP : $CTyPB),*> MatrixIndex<'a, N, $R, $C, S> for ($RIdx, $CIdx)
+        where
+            N: Scalar,
+            $R: Dim,
+            $C: Dim,
+            S: Storage<N, R, C>,
+            $( $RConstraintType: $RConstraintBound $(<$( $RConstraintBoundParams $( = $REqBound )*),*>)* ,)*
+            $( $CConstraintType: $CConstraintBound $(<$( $CConstraintBoundParams $( = $CEqBound )*),*>)* ),*
+        {
+            type Output = MatrixSlice<'a, N, $ROut, $COut, S::RStride, S::CStride>;
+
+            #[doc(hidden)]
+            #[inline(always)]
+            fn contained_by(&self, matrix: &Matrix<N, $R, $C, S>) -> bool {
+                let (rows, cols) = self;
+                let (nrows, ncols) = matrix.data.shape();
+                DimRange::contained_by(rows, nrows) && DimRange::contained_by(cols, ncols)
+            }
+
+            #[doc(hidden)]
+            #[inline(always)]
+            unsafe fn get_unchecked(self, matrix: &'a Matrix<N, $R, $C, S>) -> Self::Output {
+                use base::SliceStorage;
+
+                let (rows, cols) = self;
+                let (nrows, ncols) = matrix.data.shape();
+
+                let data =
+                    SliceStorage::new_unchecked(&matrix.data,
+                        (rows.lower(nrows),  cols.lower(ncols)),
+                        (rows.length(nrows), cols.length(ncols)));
+
+                Matrix::from_data_statically_unchecked(data)
+            }
+        }
+
+        impl<'a, N, $R, $C, S, $($RTyP : $RTyPB,)* $($CTyP : $CTyPB),*> MatrixIndexMut<'a, N, $R, $C, S> for ($RIdx, $CIdx)
+        where
+            N: Scalar,
+            $R: Dim,
+            $C: Dim,
+            S: StorageMut<N, R, C>,
+            $( $RConstraintType: $RConstraintBound $(<$( $RConstraintBoundParams $( = $REqBound )*),*>)* ,)*
+            $( $CConstraintType: $CConstraintBound $(<$( $CConstraintBoundParams $( = $CEqBound )*),*>)* ),*
+        {
+            type OutputMut = MatrixSliceMut<'a, N, $ROut, $COut, S::RStride, S::CStride>;
+
+            #[doc(hidden)]
+            #[inline(always)]
+            unsafe fn get_unchecked_mut(self, matrix: &'a mut Matrix<N, $R, $C, S>) -> Self::OutputMut {
+                use base::SliceStorageMut;
+
+                let (rows, cols) = self;
+                let (nrows, ncols) = matrix.data.shape();
+
+                let data =
+                    SliceStorageMut::new_unchecked(&mut matrix.data,
+                        (rows.lower(nrows),  cols.lower(ncols)),
+                        (rows.length(nrows), cols.length(ncols)));
+
+                Matrix::from_data_statically_unchecked(data)
+            }
+        }
+    }
+}
+
+macro_rules! impl_index_pairs {
+    (index $R: ident with {} index $C: ident with {$($r: tt,)* }) => {};
+
+    (index $R: ident with {$lh : tt, $($lt : tt,)*}
+     index $C: ident with { $($r: tt,)* }) =>
+    {
+        $(
+            impl_index_pair!{$R, $C, $lh, $r}
+        )*
+        impl_index_pairs!{index $R with {$($lt,)*} index $C with {$($r,)*}}
+    }
+}
+
+impl_index_pairs!{
+    index R with {
+        [<> usize                         =>  U1],
+        [<> ops::Range<usize>             =>  Dynamic],
+        [<> ops::RangeFrom<usize>         =>  Dynamic],
+        [<> ops::RangeFull                =>  R],
+        [<> ops::RangeInclusive<usize>    =>  Dynamic],
+        [<> ops::RangeTo<usize>           =>  Dynamic],
+        [<> ops::RangeToInclusive<usize>  =>  Dynamic],
+
+        [<I: Dim> ops::RangeFrom<I>
+          =>  DimDiff<R, I>
+          where R: DimSub<I>],
+    }
+    index C with {
+        [<> usize                         =>  U1],
+        [<> ops::Range<usize>             =>  Dynamic],
+        [<> ops::RangeFrom<usize>         =>  Dynamic],
+        [<> ops::RangeFull                =>  C],
+        [<> ops::RangeInclusive<usize>    =>  Dynamic],
+        [<> ops::RangeTo<usize>           =>  Dynamic],
+        [<> ops::RangeToInclusive<usize>  =>  Dynamic],
+
+        [<J: DimName> ops::RangeFrom<J>
+          =>  DimDiff<C, J>
+          where C: DimSub<J>],
+    }
+}

src/base/iter.rs

@@ -3,9 +3,9 @@
 use std::marker::PhantomData;
 use std::mem;
 
-use base::dimension::Dim;
+use base::dimension::{Dim, U1};
 use base::storage::{Storage, StorageMut};
-use base::Scalar;
+use base::{Scalar, Matrix, MatrixSlice, MatrixSliceMut};
 
 macro_rules! iterator {
     (struct $Name:ident for $Storage:ident.$ptr: ident -> $Ptr:ty, $Ref:ty, $SRef: ty) => {
@@ -96,3 +96,226 @@ macro_rules! iterator {
 
 iterator!(struct MatrixIter for Storage.ptr -> *const N, &'a N, &'a S);
 iterator!(struct MatrixIterMut for StorageMut.ptr_mut -> *mut N, &'a mut N, &'a mut S);
+
+
+/*
+ *
+ * Row iterators.
+ *
+ */
+#[derive(Clone)]
+/// An iterator through the rows of a matrix.
+pub struct RowIter<'a, N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> {
+    mat: &'a Matrix<N, R, C, S>,
+    curr: usize
+}
+
+impl<'a, N: Scalar, R: Dim, C: Dim, S: 'a + Storage<N, R, C>> RowIter<'a, N, R, C, S> {
+    pub(crate) fn new(mat: &'a Matrix<N, R, C, S>) -> Self {
+        RowIter {
+            mat, curr: 0
+        }
+    }
+}
+
+
+impl<'a, N: Scalar, R: Dim, C: Dim, S: 'a + Storage<N, R, C>> Iterator for RowIter<'a, N, R, C, S> {
+    type Item = MatrixSlice<'a, N, U1, C, S::RStride, S::CStride>;
+
+    #[inline]
+    fn next(&mut self) -> Option<Self::Item> {
+        if self.curr < self.mat.nrows() {
+            let res = self.mat.row(self.curr);
+            self.curr += 1;
+            Some(res)
+        } else {
+            None
+        }
+    }
+
+    #[inline]
+    fn size_hint(&self) -> (usize, Option<usize>) {
+        (self.mat.nrows() - self.curr, Some(self.mat.nrows() - self.curr))
+    }
+
+    #[inline]
+    fn count(self) -> usize {
+        self.mat.nrows() - self.curr
+    }
+}
+
+impl<'a, N: Scalar, R: Dim, C: Dim, S: 'a + Storage<N, R, C>> ExactSizeIterator for RowIter<'a, N, R, C, S> {
+    #[inline]
+    fn len(&self) -> usize {
+        self.mat.nrows() - self.curr
+    }
+}
+
+
+/// An iterator through the mutable rows of a matrix.
+pub struct RowIterMut<'a, N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> {
+    mat: *mut Matrix<N, R, C, S>,
+    curr: usize,
+    phantom: PhantomData<&'a mut Matrix<N, R, C, S>>
+}
+
+impl<'a, N: Scalar, R: Dim, C: Dim, S: 'a + StorageMut<N, R, C>> RowIterMut<'a, N, R, C, S> {
+    pub(crate) fn new(mat: &'a mut Matrix<N, R, C, S>) -> Self {
+        RowIterMut {
+            mat,
+            curr: 0,
+            phantom: PhantomData
+        }
+    }
+
+    fn nrows(&self) -> usize {
+        unsafe {
+            (*self.mat).nrows()
+        }
+    }
+}
+
+
+impl<'a, N: Scalar, R: Dim, C: Dim, S: 'a + StorageMut<N, R, C>> Iterator for RowIterMut<'a, N, R, C, S> {
+    type Item = MatrixSliceMut<'a, N, U1, C, S::RStride, S::CStride>;
+
+    #[inline]
+    fn next(&mut self) -> Option<Self::Item> {
+        if self.curr < self.nrows() {
+            let res = unsafe { (*self.mat).row_mut(self.curr) };
+            self.curr += 1;
+            Some(res)
+        } else {
+            None
+        }
+    }
+
+    #[inline]
+    fn size_hint(&self) -> (usize, Option<usize>) {
+        (self.nrows() - self.curr, Some(self.nrows() - self.curr))
+    }
+
+    #[inline]
+    fn count(self) -> usize {
+        self.nrows() - self.curr
+    }
+}
+
+impl<'a, N: Scalar, R: Dim, C: Dim, S: 'a + StorageMut<N, R, C>> ExactSizeIterator for RowIterMut<'a, N, R, C, S> {
+    #[inline]
+    fn len(&self) -> usize {
+        self.nrows() - self.curr
+    }
+}
+
+
+/*
+ *
+ * Column iterators.
+ *
+ */
+#[derive(Clone)]
+/// An iterator through the columns of a matrix.
+pub struct ColumnIter<'a, N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> {
+    mat: &'a Matrix<N, R, C, S>,
+    curr: usize
+}
+
+impl<'a, N: Scalar, R: Dim, C: Dim, S: 'a + Storage<N, R, C>> ColumnIter<'a, N, R, C, S> {
+    pub(crate) fn new(mat: &'a Matrix<N, R, C, S>) -> Self {
+        ColumnIter {
+            mat, curr: 0
+        }
+    }
+}
+
+
+impl<'a, N: Scalar, R: Dim, C: Dim, S: 'a + Storage<N, R, C>> Iterator for ColumnIter<'a, N, R, C, S> {
+    type Item = MatrixSlice<'a, N, R, U1, S::RStride, S::CStride>;
+
+    #[inline]
+    fn next(&mut self) -> Option<Self::Item> {
+        if self.curr < self.mat.ncols() {
+            let res = self.mat.column(self.curr);
+            self.curr += 1;
+            Some(res)
+        } else {
+            None
+        }
+    }
+
+    #[inline]
+    fn size_hint(&self) -> (usize, Option<usize>) {
+        (self.mat.ncols() - self.curr, Some(self.mat.ncols() - self.curr))
+    }
+
+    #[inline]
+    fn count(self) -> usize {
+        self.mat.ncols() - self.curr
+    }
+}
+
+impl<'a, N: Scalar, R: Dim, C: Dim, S: 'a + Storage<N, R, C>> ExactSizeIterator for ColumnIter<'a, N, R, C, S> {
+    #[inline]
+    fn len(&self) -> usize {
+        self.mat.ncols() - self.curr
+    }
+}
+
+
+/// An iterator through the mutable columns of a matrix.
+pub struct ColumnIterMut<'a, N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> {
+    mat: *mut Matrix<N, R, C, S>,
+    curr: usize,
+    phantom: PhantomData<&'a mut Matrix<N, R, C, S>>
+}
+
+impl<'a, N: Scalar, R: Dim, C: Dim, S: 'a + StorageMut<N, R, C>> ColumnIterMut<'a, N, R, C, S> {
+    pub(crate) fn new(mat: &'a mut Matrix<N, R, C, S>) -> Self {
+        ColumnIterMut {
+            mat,
+            curr: 0,
+            phantom: PhantomData
+        }
+    }
+
+    fn ncols(&self) -> usize {
+        unsafe {
+            (*self.mat).ncols()
+        }
+    }
+}
+
+
+impl<'a, N: Scalar, R: Dim, C: Dim, S: 'a + StorageMut<N, R, C>> Iterator for ColumnIterMut<'a, N, R, C, S> {
+    type Item = MatrixSliceMut<'a, N, R, U1, S::RStride, S::CStride>;
+
+    #[inline]
+    fn next(&mut self) -> Option<Self::Item> {
+        if self.curr < self.ncols() {
+            let res = unsafe { (*self.mat).column_mut(self.curr) };
+            self.curr += 1;
+            Some(res)
+        } else {
+            None
+        }
+    }
+
+    #[inline]
+    fn size_hint(&self) -> (usize, Option<usize>) {
+        (self.ncols() - self.curr, Some(self.ncols() - self.curr))
+    }
+
+    #[inline]
+    fn count(self) -> usize {
+        self.ncols() - self.curr
+    }
+}
+
+impl<'a, N: Scalar, R: Dim, C: Dim, S: 'a + StorageMut<N, R, C>> ExactSizeIterator for ColumnIterMut<'a, N, R, C, S> {
+    #[inline]
+    fn len(&self) -> usize {
+        self.ncols() - self.curr
+    }
+}
+

src/base/matrix.rs

@@ -1,4 +1,4 @@
-use num::Zero;
+use num::{One, Zero};
 use num_complex::Complex;
 #[cfg(feature = "abomonation-serialize")]
 use std::io::{Result as IOResult, Write};
@@ -7,6 +7,7 @@ use approx::{AbsDiffEq, RelativeEq, UlpsEq};
 use std::any::TypeId;
 use std::cmp::Ordering;
 use std::fmt;
+use std::hash::{Hash, Hasher};
 use std::marker::PhantomData;
 use std::mem;
 
@@ -16,12 +17,12 @@ use serde::{Deserialize, Deserializer, Serialize, Serializer};
 #[cfg(feature = "abomonation-serialize")]
 use abomonation::Abomonation;
 
-use alga::general::{Real, Ring};
+use alga::general::{ClosedAdd, ClosedMul, ClosedSub, Real, Ring};
 
 use base::allocator::{Allocator, SameShapeAllocator, SameShapeC, SameShapeR};
 use base::constraint::{DimEq, SameNumberOfColumns, SameNumberOfRows, ShapeConstraint};
-use base::dimension::{Dim, DimAdd, DimSum, U1, U2, U3};
+use base::dimension::{Dim, DimAdd, DimSum, IsNotStaticOne, U1, U2, U3};
-use base::iter::{MatrixIter, MatrixIterMut};
+use base::iter::{MatrixIter, MatrixIterMut, RowIter, RowIterMut, ColumnIter, ColumnIterMut};
 use base::storage::{
     ContiguousStorage, ContiguousStorageMut, Owned, SameShapeStorage, Storage, StorageMut,
 };
@@ -72,7 +73,7 @@ pub type MatrixCross<N, R1, C1, R2, C2> =
 /// dynamically-sized column vector should be represented as a `Matrix<N, Dynamic, U1, S>` (given
 /// some concrete types for `N` and a compatible data storage type `S`).
 #[repr(C)]
-#[derive(Hash, Clone, Copy)]
+#[derive(Clone, Copy)]
 pub struct Matrix<N: Scalar, R: Dim, C: Dim, S> {
     /// The data storage that contains all the matrix components and informations about its number
     /// of rows and column (if needed).
@@ -246,6 +247,37 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
         MatrixIter::new(&self.data)
     }
 
+    /// Iterate through the rows of this matrix.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::Matrix2x3;
+    /// let mut a = Matrix2x3::new(1, 2, 3,
+    ///                            4, 5, 6);
+    /// for (i, row) in a.row_iter().enumerate() {
+    ///     assert_eq!(row, a.row(i))
+    /// }
+    /// ```
+    #[inline]
+    pub fn row_iter(&self) -> RowIter<N, R, C, S> {
+        RowIter::new(self)
+    }
+
+    /// Iterate through the columns of this matrix.
+    /// # Example
+    /// ```
+    /// # use nalgebra::Matrix2x3;
+    /// let mut a = Matrix2x3::new(1, 2, 3,
+    ///                            4, 5, 6);
+    /// for (i, column) in a.column_iter().enumerate() {
+    ///     assert_eq!(column, a.column(i))
+    /// }
+    /// ```
+    #[inline]
+    pub fn column_iter(&self) -> ColumnIter<N, R, C, S> {
+        ColumnIter::new(self)
+    }
+
     /// Computes the row and column coordinates of the i-th element of this matrix seen as a
     /// vector.
     #[inline]
@@ -263,17 +295,6 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
         }
     }
 
-    /// Gets a reference to the element of this matrix at row `irow` and column `icol` without
-    /// bound-checking.
-    #[inline]
-    pub unsafe fn get_unchecked(&self, irow: usize, icol: usize) -> &N {
-        debug_assert!(
-            irow < self.nrows() && icol < self.ncols(),
-            "Matrix index out of bounds."
-        );
-        self.data.get_unchecked(irow, icol)
-    }
-
     /// Tests whether `self` and `rhs` are equal up to a given epsilon.
     ///
     /// See `relative_eq` from the `RelativeEq` trait for more details.
@@ -374,7 +395,7 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
         for j in 0..res.ncols() {
             for i in 0..res.nrows() {
                 unsafe {
-                    *res.get_unchecked_mut(i, j) = *self.get_unchecked(i, j);
+                    *res.get_unchecked_mut((i, j)) = *self.get_unchecked((i, j));
                 }
             }
         }
@@ -403,7 +424,7 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     }
 
     /// Returns a matrix containing the result of `f` applied to each of its entries. Unlike `map`,
-    /// `f` also gets passed the row and column index, i.e. `f(value, row, col)`.
+    /// `f` also gets passed the row and column index, i.e. `f(row, col, value)`.
     #[inline]
     pub fn map_with_location<N2: Scalar, F: FnMut(usize, usize, N) -> N2>(
         &self,
@@ -503,6 +524,57 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
         res
     }
 
+    /// Folds a function `f` on each entry of `self`.
+    #[inline]
+    pub fn fold<Acc>(&self, init: Acc, mut f: impl FnMut(Acc, N) -> Acc) -> Acc {
+        let (nrows, ncols) = self.data.shape();
+
+        let mut res = init;
+
+        for j in 0..ncols.value() {
+            for i in 0..nrows.value() {
+                unsafe {
+                    let a = *self.data.get_unchecked(i, j);
+                    res = f(res, a)
+                }
+            }
+        }
+
+        res
+    }
+
+    /// Folds a function `f` on each pairs of entries from `self` and `rhs`.
+    #[inline]
+    pub fn zip_fold<N2, R2, C2, S2, Acc>(&self, rhs: &Matrix<N2, R2, C2, S2>, init: Acc, mut f: impl FnMut(Acc, N, N2) -> Acc) -> Acc
+        where
+            N2: Scalar,
+            R2: Dim,
+            C2: Dim,
+            S2: Storage<N2, R2, C2>,
+            ShapeConstraint: SameNumberOfRows<R, R2> + SameNumberOfColumns<C, C2>
+    {
+        let (nrows, ncols) = self.data.shape();
+
+        let mut res = init;
+
+        assert!(
+            (nrows.value(), ncols.value()) == rhs.shape(),
+            "Matrix simultaneous traversal error: dimension mismatch."
+        );
+
+        for j in 0..ncols.value() {
+            for i in 0..nrows.value() {
+                unsafe {
+                    let a = *self.data.get_unchecked(i, j);
+                    let b = *rhs.data.get_unchecked(i, j);
+                    res = f(res, a, b)
+                }
+            }
+        }
+
+        res
+    }
+
     /// Transposes `self` and store the result into `out`.
     #[inline]
     pub fn transpose_to<R2, C2, SB>(&self, out: &mut Matrix<N, R2, C2, SB>)
@@ -522,7 +594,7 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
         for i in 0..nrows {
             for j in 0..ncols {
                 unsafe {
-                    *out.get_unchecked_mut(j, i) = *self.get_unchecked(i, j);
+                    *out.get_unchecked_mut((j, i)) = *self.get_unchecked((i, j));
                 }
             }
         }
@@ -550,14 +622,44 @@ impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
         MatrixIterMut::new(&mut self.data)
     }
 
-    /// Gets a mutable reference to the i-th element of this matrix.
+    /// Mutably iterates through this matrix rows.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::Matrix2x3;
+    /// let mut a = Matrix2x3::new(1, 2, 3,
+    ///                            4, 5, 6);
+    /// for (i, mut row) in a.row_iter_mut().enumerate() {
+    ///     row *= (i + 1) * 10;
+    /// }
+    ///
+    /// let expected = Matrix2x3::new(10, 20, 30,
+    ///                               80, 100, 120);
+    /// assert_eq!(a, expected);
+    /// ```
     #[inline]
-    pub unsafe fn get_unchecked_mut(&mut self, irow: usize, icol: usize) -> &mut N {
+    pub fn row_iter_mut(&mut self) -> RowIterMut<N, R, C, S> {
-        debug_assert!(
+        RowIterMut::new(self)
-            irow < self.nrows() && icol < self.ncols(),
+    }
-            "Matrix index out of bounds."
+
-        );
+    /// Mutably iterates through this matrix columns.
-        self.data.get_unchecked_mut(irow, icol)
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::Matrix2x3;
+    /// let mut a = Matrix2x3::new(1, 2, 3,
+    ///                            4, 5, 6);
+    /// for (i, mut col) in a.column_iter_mut().enumerate() {
+    ///     col *= (i + 1) * 10;
+    /// }
+    ///
+    /// let expected = Matrix2x3::new(10, 40, 90,
+    ///                               40, 100, 180);
+    /// assert_eq!(a, expected);
+    /// ```
+    #[inline]
+    pub fn column_iter_mut(&mut self) -> ColumnIterMut<N, R, C, S> {
+        ColumnIterMut::new(self)
     }
 
     /// Swaps two entries without bound-checking.
@@ -598,7 +700,7 @@ impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
         for j in 0..ncols {
             for i in 0..nrows {
                 unsafe {
-                    *self.get_unchecked_mut(i, j) = *slice.get_unchecked(i + j * nrows);
+                    *self.get_unchecked_mut((i, j)) = *slice.get_unchecked(i + j * nrows);
                 }
             }
         }
@@ -621,7 +723,7 @@ impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
         for j in 0..self.ncols() {
             for i in 0..self.nrows() {
                 unsafe {
-                    *self.get_unchecked_mut(i, j) = *other.get_unchecked(i, j);
+                    *self.get_unchecked_mut((i, j)) = *other.get_unchecked((i, j));
                 }
             }
         }
@@ -645,7 +747,7 @@ impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
         for j in 0..ncols {
             for i in 0..nrows {
                 unsafe {
-                    *self.get_unchecked_mut(i, j) = *other.get_unchecked(j, i);
+                    *self.get_unchecked_mut((i, j)) = *other.get_unchecked((j, i));
                 }
             }
         }
@@ -653,8 +755,7 @@ impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
 
     /// Replaces each component of `self` by the result of a closure `f` applied on it.
     #[inline]
-    pub fn apply<F: FnMut(N) -> N>(&mut self, mut f: F)
+    pub fn apply<F: FnMut(N) -> N>(&mut self, mut f: F) {
-    where DefaultAllocator: Allocator<N, R, C> {
         let (nrows, ncols) = self.shape();
 
         for j in 0..ncols {
@@ -666,6 +767,71 @@ impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
             }
         }
     }
+
+    /// Replaces each component of `self` by the result of a closure `f` applied on its components
+    /// joined with the components from `rhs`.
+    #[inline]
+    pub fn zip_apply<N2, R2, C2, S2>(&mut self, rhs: &Matrix<N2, R2, C2, S2>, mut f: impl FnMut(N, N2) -> N)
+        where N2: Scalar,
+              R2: Dim,
+              C2: Dim,
+              S2: Storage<N2, R2, C2>,
+              ShapeConstraint: SameNumberOfRows<R, R2> + SameNumberOfColumns<C, C2> {
+        let (nrows, ncols) = self.shape();
+
+        assert!(
+            (nrows, ncols) == rhs.shape(),
+            "Matrix simultaneous traversal error: dimension mismatch."
+        );
+
+        for j in 0..ncols {
+            for i in 0..nrows {
+                unsafe {
+                    let e = self.data.get_unchecked_mut(i, j);
+                    let rhs = rhs.get_unchecked((i, j));
+                    *e = f(*e, *rhs)
+                }
+            }
+        }
+    }
+
+
+    /// Replaces each component of `self` by the result of a closure `f` applied on its components
+    /// joined with the components from `b` and `c`.
+    #[inline]
+    pub fn zip_zip_apply<N2, R2, C2, S2, N3, R3, C3, S3>(&mut self, b: &Matrix<N2, R2, C2, S2>, c: &Matrix<N3, R3, C3, S3>, mut f: impl FnMut(N, N2, N3) -> N)
+        where N2: Scalar,
+              R2: Dim,
+              C2: Dim,
+              S2: Storage<N2, R2, C2>,
+              N3: Scalar,
+              R3: Dim,
+              C3: Dim,
+              S3: Storage<N3, R3, C3>,
+              ShapeConstraint: SameNumberOfRows<R, R2> + SameNumberOfColumns<C, C2>,
+              ShapeConstraint: SameNumberOfRows<R, R2> + SameNumberOfColumns<C, C2> {
+        let (nrows, ncols) = self.shape();
+
+        assert!(
+            (nrows, ncols) == b.shape(),
+            "Matrix simultaneous traversal error: dimension mismatch."
+        );
+        assert!(
+            (nrows, ncols) == c.shape(),
+            "Matrix simultaneous traversal error: dimension mismatch."
+        );
+
+        for j in 0..ncols {
+            for i in 0..nrows {
+                unsafe {
+                    let e = self.data.get_unchecked_mut(i, j);
+                    let b = b.get_unchecked((i, j));
+                    let c = c.get_unchecked((i, j));
+                    *e = f(*e, *b, *c)
+                }
+            }
+        }
+    }
 }
 
 impl<N: Scalar, D: Dim, S: Storage<N, D>> Vector<N, D, S> {
@@ -742,7 +908,7 @@ impl<N: Real, R: Dim, C: Dim, S: Storage<Complex<N>, R, C>> Matrix<Complex<N>, R
         for i in 0..nrows {
             for j in 0..ncols {
                 unsafe {
-                    *out.get_unchecked_mut(j, i) = self.get_unchecked(i, j).conj();
+                    *out.get_unchecked_mut((j, i)) = self.get_unchecked((i, j)).conj();
                 }
             }
         }
@@ -776,8 +942,8 @@ impl<N: Real, D: Dim, S: StorageMut<Complex<N>, D, D>> Matrix<Complex<N>, D, D,
         for i in 1..dim {
             for j in 0..i {
                 unsafe {
-                    let ref_ij = self.get_unchecked_mut(i, j) as *mut Complex<N>;
+                    let ref_ij = self.get_unchecked_mut((i, j)) as *mut Complex<N>;
-                    let ref_ji = self.get_unchecked_mut(j, i) as *mut Complex<N>;
+                    let ref_ji = self.get_unchecked_mut((j, i)) as *mut Complex<N>;
                     let conj_ij = (*ref_ij).conj();
                     let conj_ji = (*ref_ji).conj();
                     *ref_ij = conj_ji;
@@ -803,7 +969,7 @@ impl<N: Scalar, D: Dim, S: Storage<N, D, D>> SquareMatrix<N, D, S> {
 
         for i in 0..dim.value() {
             unsafe {
-                *res.vget_unchecked_mut(i) = *self.get_unchecked(i, i);
+                *res.vget_unchecked_mut(i) = *self.get_unchecked((i, i));
             }
         }
 
@@ -823,27 +989,36 @@ impl<N: Scalar, D: Dim, S: Storage<N, D, D>> SquareMatrix<N, D, S> {
         let mut res = N::zero();
 
         for i in 0..dim.value() {
-            res += unsafe { *self.get_unchecked(i, i) };
+            res += unsafe { *self.get_unchecked((i, i)) };
         }
 
         res
     }
 }
 
+impl<N: Scalar + One + Zero, D: DimAdd<U1> + IsNotStaticOne, S: Storage<N, D, D>> Matrix<N, D, D, S> {
+
+    /// Yields the homogeneous matrix for this matrix, i.e., appending an additional dimension and
+    /// and setting the diagonal element to `1`.
+    #[inline]
+    pub fn to_homogeneous(&self) -> MatrixN<N, DimSum<D, U1>>
+    where DefaultAllocator: Allocator<N, DimSum<D, U1>, DimSum<D, U1>> {
+        assert!(self.is_square(), "Only square matrices can currently be transformed to homogeneous coordinates.");
+        let dim = DimSum::<D, U1>::from_usize(self.nrows() + 1);
+        let mut res = MatrixN::identity_generic(dim, dim); 
+        res.generic_slice_mut::<D, D>((0, 0), self.data.shape()).copy_from(&self);
+        res
+    }
+
+}
+
 impl<N: Scalar + Zero, D: DimAdd<U1>, S: Storage<N, D>> Vector<N, D, S> {
     /// Computes the coordinates in projective space of this vector, i.e., appends a `0` to its
     /// coordinates.
     #[inline]
     pub fn to_homogeneous(&self) -> VectorN<N, DimSum<D, U1>>
     where DefaultAllocator: Allocator<N, DimSum<D, U1>> {
-        let len = self.len();
+        self.push(N::zero())
-        let hnrows = DimSum::<D, U1>::from_usize(len + 1);
-        let mut res = unsafe { VectorN::<N, _>::new_uninitialized_generic(hnrows, U1) };
-        res.generic_slice_mut((0, 0), self.data.shape())
-            .copy_from(self);
-        res[(len, 0)] = N::zero();
-
-        res
     }
 
     /// Constructs a vector from coordinates in projective space, i.e., removes a `0` at the end of
@@ -863,6 +1038,22 @@ impl<N: Scalar + Zero, D: DimAdd<U1>, S: Storage<N, D>> Vector<N, D, S> {
     }
 }
 
+impl<N: Scalar + Zero, D: DimAdd<U1>, S: Storage<N, D>> Vector<N, D, S> {
+    /// Constructs a new vector of higher dimension by appending `element` to the end of `self`.
+    #[inline]
+    pub fn push(&self, element: N) -> VectorN<N, DimSum<D, U1>>
+    where DefaultAllocator: Allocator<N, DimSum<D, U1>> {
+        let len = self.len();
+        let hnrows = DimSum::<D, U1>::from_usize(len + 1);
+        let mut res = unsafe { VectorN::<N, _>::new_uninitialized_generic(hnrows, U1) };
+        res.generic_slice_mut((0, 0), self.data.shape())
+            .copy_from(self);
+        res[(len, 0)] = element;
+
+        res
+    }
+}
+
 impl<N, R: Dim, C: Dim, S> AbsDiffEq for Matrix<N, R, C, S>
 where
     N: Scalar + AbsDiffEq,
@@ -1019,8 +1210,7 @@ impl<N, R: Dim, C: Dim, S> Eq for Matrix<N, R, C, S>
 where
     N: Scalar + Eq,
     S: Storage<N, R, C>,
-{
+{}
-}
 
 impl<N, R: Dim, C: Dim, S> PartialEq for Matrix<N, R, C, S>
 where
@@ -1124,8 +1314,8 @@ impl<N: Scalar + Ring, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
         assert!(self.shape() == (2, 1), "2D perpendicular product ");
 
         unsafe {
-            *self.get_unchecked(0, 0) * *b.get_unchecked(1, 0)
+            *self.get_unchecked((0, 0)) * *b.get_unchecked((1, 0))
-                - *self.get_unchecked(1, 0) * *b.get_unchecked(0, 0)
+                - *self.get_unchecked((1, 0)) * *b.get_unchecked((0, 0))
         }
     }
 
@@ -1160,17 +1350,17 @@ impl<N: Scalar + Ring, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
                 let ncols = SameShapeC::<C, C2>::from_usize(1);
                 let mut res = Matrix::new_uninitialized_generic(nrows, ncols);
 
-                let ax = *self.get_unchecked(0, 0);
+                let ax = *self.get_unchecked((0, 0));
-                let ay = *self.get_unchecked(1, 0);
+                let ay = *self.get_unchecked((1, 0));
-                let az = *self.get_unchecked(2, 0);
+                let az = *self.get_unchecked((2, 0));
 
-                let bx = *b.get_unchecked(0, 0);
+                let bx = *b.get_unchecked((0, 0));
-                let by = *b.get_unchecked(1, 0);
+                let by = *b.get_unchecked((1, 0));
-                let bz = *b.get_unchecked(2, 0);
+                let bz = *b.get_unchecked((2, 0));
 
-                *res.get_unchecked_mut(0, 0) = ay * bz - az * by;
+                *res.get_unchecked_mut((0, 0)) = ay * bz - az * by;
-                *res.get_unchecked_mut(1, 0) = az * bx - ax * bz;
+                *res.get_unchecked_mut((1, 0)) = az * bx - ax * bz;
-                *res.get_unchecked_mut(2, 0) = ax * by - ay * bx;
+                *res.get_unchecked_mut((2, 0)) = ax * by - ay * bx;
 
                 res
             }
@@ -1181,17 +1371,17 @@ impl<N: Scalar + Ring, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
                 let ncols = SameShapeC::<C, C2>::from_usize(3);
                 let mut res = Matrix::new_uninitialized_generic(nrows, ncols);
 
-                let ax = *self.get_unchecked(0, 0);
+                let ax = *self.get_unchecked((0, 0));
-                let ay = *self.get_unchecked(0, 1);
+                let ay = *self.get_unchecked((0, 1));
-                let az = *self.get_unchecked(0, 2);
+                let az = *self.get_unchecked((0, 2));
 
-                let bx = *b.get_unchecked(0, 0);
+                let bx = *b.get_unchecked((0, 0));
-                let by = *b.get_unchecked(0, 1);
+                let by = *b.get_unchecked((0, 1));
-                let bz = *b.get_unchecked(0, 2);
+                let bz = *b.get_unchecked((0, 2));
 
-                *res.get_unchecked_mut(0, 0) = ay * bz - az * by;
+                *res.get_unchecked_mut((0, 0)) = ay * bz - az * by;
-                *res.get_unchecked_mut(0, 1) = az * bx - ax * bz;
+                *res.get_unchecked_mut((0, 1)) = az * bx - ax * bz;
-                *res.get_unchecked_mut(0, 2) = ax * by - ay * bx;
+                *res.get_unchecked_mut((0, 2)) = ax * by - ay * bx;
 
                 res
             }
@@ -1247,65 +1437,27 @@ impl<N: Real, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     }
 }
 
-impl<N: Real, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
+impl<N: Scalar + Zero + One + ClosedAdd + ClosedSub + ClosedMul, D: Dim, S: Storage<N, D>>
-    /// The squared L2 norm of this vector.
+    Vector<N, D, S>
-    #[inline]
+{
-    pub fn norm_squared(&self) -> N {
+    /// Returns `self * (1.0 - t) + rhs * t`, i.e., the linear blend of the vectors x and y using the scalar value a.
-        let mut res = N::zero();
+    ///
-
+    /// The value for a is not restricted to the range `[0, 1]`.
-        for i in 0..self.ncols() {
+    ///
-            let col = self.column(i);
+    /// # Examples:
-            res += col.dot(&col)
+    ///
-        }
+    /// ```
-
+    /// # use nalgebra::Vector3;
+    /// let x = Vector3::new(1.0, 2.0, 3.0);
+    /// let y = Vector3::new(10.0, 20.0, 30.0);
+    /// assert_eq!(x.lerp(&y, 0.1), Vector3::new(1.9, 3.8, 5.7));
+    /// ```
+    pub fn lerp<S2: Storage<N, D>>(&self, rhs: &Vector<N, D, S2>, t: N) -> VectorN<N, D>
+    where DefaultAllocator: Allocator<N, D> {
+        let mut res = self.clone_owned();
+        res.axpy(t, rhs, N::one() - t);
         res
     }
-
-    /// The L2 norm of this matrix.
-    #[inline]
-    pub fn norm(&self) -> N {
-        self.norm_squared().sqrt()
-    }
-
-    /// A synonym for the norm of this matrix.
-    ///
-    /// Aka the length.
-    ///
-    /// This function is simply implemented as a call to `norm()`
-    #[inline]
-    pub fn magnitude(&self) -> N {
-        self.norm()
-    }
-
-    /// A synonym for the squared norm of this matrix.
-    ///
-    /// Aka the squared length.
-    ///
-    /// This function is simply implemented as a call to `norm_squared()`
-    #[inline]
-    pub fn magnitude_squared(&self) -> N {
-        self.norm_squared()
-    }
-
-    /// Returns a normalized version of this matrix.
-    #[inline]
-    pub fn normalize(&self) -> MatrixMN<N, R, C>
-    where DefaultAllocator: Allocator<N, R, C> {
-        self / self.norm()
-    }
-
-    /// Returns a normalized version of this matrix unless its norm as smaller or equal to `eps`.
-    #[inline]
-    pub fn try_normalize(&self, min_norm: N) -> Option<MatrixMN<N, R, C>>
-    where DefaultAllocator: Allocator<N, R, C> {
-        let n = self.norm();
-
-        if n <= min_norm {
-            None
-        } else {
-            Some(self / n)
-        }
-    }
 }
 
 impl<N: Real, D: Dim, S: Storage<N, D>> Unit<Vector<N, D, S>> {
@@ -1359,32 +1511,6 @@ impl<N: Real, D: Dim, S: Storage<N, D>> Unit<Vector<N, D, S>> {
     }
 }
 
-impl<N: Real, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
-    /// Normalizes this matrix in-place and returns its norm.
-    #[inline]
-    pub fn normalize_mut(&mut self) -> N {
-        let n = self.norm();
-        *self /= n;
-
-        n
-    }
-
-    /// Normalizes this matrix in-place or does nothing if its norm is smaller or equal to `eps`.
-    ///
-    /// If the normalization succeeded, returns the old normal of this matrix.
-    #[inline]
-    pub fn try_normalize_mut(&mut self, min_norm: N) -> Option<N> {
-        let n = self.norm();
-
-        if n <= min_norm {
-            None
-        } else {
-            *self /= n;
-            Some(n)
-        }
-    }
-}
-
 impl<N, R: Dim, C: Dim, S> AbsDiffEq for Unit<Matrix<N, R, C, S>>
 where
     N: Scalar + AbsDiffEq,
@@ -1444,3 +1570,24 @@ where
         self.as_ref().ulps_eq(other.as_ref(), epsilon, max_ulps)
     }
 }
+
+impl<N, R, C, S> Hash for Matrix<N, R, C, S>
+where
+    N: Scalar + Hash,
+    R: Dim,
+    C: Dim,
+    S: Storage<N, R, C>,
+{
+    fn hash<H: Hasher>(&self, state: &mut H) {
+        let (nrows, ncols) = self.shape();
+        (nrows, ncols).hash(state);
+
+        for j in 0..ncols {
+            for i in 0..nrows {
+                unsafe {
+                     self.get_unchecked((i, j)).hash(state);
+                }
+            }
+        }
+    }
+}

src/base/mod.rs

@@ -18,16 +18,19 @@ mod construction;
 mod construction_slice;
 mod conversion;
 mod edition;
+pub mod indexing;
 mod matrix;
 mod matrix_alga;
-mod matrix_array;
+mod array_storage;
 mod matrix_slice;
 #[cfg(any(feature = "std", feature = "alloc"))]
-mod matrix_vec;
+mod vec_storage;
 mod properties;
 mod scalar;
 mod swizzle;
 mod unit;
+mod statistics;
+mod norm;
 
 #[doc(hidden)]
 pub mod helper;
@@ -35,13 +38,14 @@ pub mod helper;
 pub use self::matrix::*;
 pub use self::scalar::*;
 pub use self::unit::*;
+pub use self::norm::*;
 
 pub use self::default_allocator::*;
 pub use self::dimension::*;
 
 pub use self::alias::*;
 pub use self::alias_slice::*;
-pub use self::matrix_array::*;
+pub use self::array_storage::*;
 pub use self::matrix_slice::*;
 #[cfg(any(feature = "std", feature = "alloc"))]
-pub use self::matrix_vec::*;
+pub use self::vec_storage::*;

src/base/norm.rs

@@ -0,0 +1,238 @@
+use num::Signed;
+use std::cmp::PartialOrd;
+
+use allocator::Allocator;
+use ::{Real, Scalar};
+use storage::{Storage, StorageMut};
+use base::{DefaultAllocator, Matrix, Dim, MatrixMN};
+use constraint::{SameNumberOfRows, SameNumberOfColumns, ShapeConstraint};
+
+
+// FIXME: this should be be a trait on alga?
+/// A trait for abstract matrix norms.
+///
+/// This may be moved to the alga crate in the future.
+pub trait Norm<N: Scalar> {
+    /// Apply this norm to the given matrix.
+    fn norm<R, C, S>(&self, m: &Matrix<N, R, C, S>) -> N
+        where R: Dim, C: Dim, S: Storage<N, R, C>;
+    /// Use the metric induced by this norm to compute the metric distance between the two given matrices.
+    fn metric_distance<R1, C1, S1, R2, C2, S2>(&self, m1: &Matrix<N, R1, C1, S1>, m2: &Matrix<N, R2, C2, S2>) -> N
+        where R1: Dim, C1: Dim, S1: Storage<N, R1, C1>,
+              R2: Dim, C2: Dim, S2: Storage<N, R2, C2>,
+              ShapeConstraint: SameNumberOfRows<R1, R2> + SameNumberOfColumns<C1, C2>;
+}
+
+/// Euclidean norm.
+pub struct EuclideanNorm;
+/// Lp norm.
+pub struct LpNorm(pub i32);
+/// L-infinite norm aka. Chebytchev norm aka. uniform norm aka. suppremum norm.
+pub struct UniformNorm;
+
+impl<N: Real> Norm<N> for EuclideanNorm {
+    #[inline]
+    fn norm<R, C, S>(&self, m: &Matrix<N, R, C, S>) -> N
+        where R: Dim, C: Dim, S: Storage<N, R, C> {
+        m.norm_squared().sqrt()
+    }
+
+    #[inline]
+    fn metric_distance<R1, C1, S1, R2, C2, S2>(&self, m1: &Matrix<N, R1, C1, S1>, m2: &Matrix<N, R2, C2, S2>) -> N
+        where R1: Dim, C1: Dim, S1: Storage<N, R1, C1>,
+              R2: Dim, C2: Dim, S2: Storage<N, R2, C2>,
+              ShapeConstraint: SameNumberOfRows<R1, R2> + SameNumberOfColumns<C1, C2> {
+        m1.zip_fold(m2, N::zero(), |acc, a, b| {
+            let diff = a - b;
+            acc + diff * diff
+        }).sqrt()
+    }
+}
+
+impl<N: Real> Norm<N> for LpNorm {
+    #[inline]
+    fn norm<R, C, S>(&self, m: &Matrix<N, R, C, S>) -> N
+        where R: Dim, C: Dim, S: Storage<N, R, C> {
+        m.fold(N::zero(), |a, b| {
+            a + b.abs().powi(self.0)
+        }).powf(::convert(1.0 / (self.0 as f64)))
+    }
+
+    #[inline]
+    fn metric_distance<R1, C1, S1, R2, C2, S2>(&self, m1: &Matrix<N, R1, C1, S1>, m2: &Matrix<N, R2, C2, S2>) -> N
+        where R1: Dim, C1: Dim, S1: Storage<N, R1, C1>,
+              R2: Dim, C2: Dim, S2: Storage<N, R2, C2>,
+              ShapeConstraint: SameNumberOfRows<R1, R2> + SameNumberOfColumns<C1, C2> {
+        m1.zip_fold(m2, N::zero(), |acc, a, b| {
+            let diff = a - b;
+            acc + diff.abs().powi(self.0)
+        }).powf(::convert(1.0 / (self.0 as f64)))
+    }
+}
+
+impl<N: Scalar + PartialOrd + Signed> Norm<N> for UniformNorm {
+    #[inline]
+    fn norm<R, C, S>(&self, m: &Matrix<N, R, C, S>) -> N
+        where R: Dim, C: Dim, S: Storage<N, R, C> {
+        m.amax()
+    }
+
+    #[inline]
+    fn metric_distance<R1, C1, S1, R2, C2, S2>(&self, m1: &Matrix<N, R1, C1, S1>, m2: &Matrix<N, R2, C2, S2>) -> N
+        where R1: Dim, C1: Dim, S1: Storage<N, R1, C1>,
+              R2: Dim, C2: Dim, S2: Storage<N, R2, C2>,
+              ShapeConstraint: SameNumberOfRows<R1, R2> + SameNumberOfColumns<C1, C2> {
+        m1.zip_fold(m2, N::zero(), |acc, a, b| {
+            let val = (a - b).abs();
+            if val > acc {
+                val
+            } else {
+                acc
+            }
+        })
+    }
+}
+
+
+impl<N: Real, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
+    /// The squared L2 norm of this vector.
+    #[inline]
+    pub fn norm_squared(&self) -> N {
+        let mut res = N::zero();
+
+        for i in 0..self.ncols() {
+            let col = self.column(i);
+            res += col.dot(&col)
+        }
+
+        res
+    }
+
+    /// The L2 norm of this matrix.
+    ///
+    /// Use `.apply_norm` to apply a custom norm.
+    #[inline]
+    pub fn norm(&self) -> N {
+        self.norm_squared().sqrt()
+    }
+
+    /// Compute the distance between `self` and `rhs` using the metric induced by the euclidean norm.
+    ///
+    /// Use `.apply_metric_distance` to apply a custom norm.
+    #[inline]
+    pub fn metric_distance<R2, C2, S2>(&self, rhs: &Matrix<N, R2, C2, S2>) -> N
+        where R2: Dim, C2: Dim, S2: Storage<N, R2, C2>,
+              ShapeConstraint: SameNumberOfRows<R, R2> + SameNumberOfColumns<C, C2> {
+        self.apply_metric_distance(rhs, &EuclideanNorm)
+    }
+
+    /// Uses the given `norm` to compute the norm of `self`.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use nalgebra::{Vector3, UniformNorm, LpNorm, EuclideanNorm};
+    ///
+    /// let v = Vector3::new(1.0, 2.0, 3.0);
+    /// assert_eq!(v.apply_norm(&UniformNorm), 3.0);
+    /// assert_eq!(v.apply_norm(&LpNorm(1)), 6.0);
+    /// assert_eq!(v.apply_norm(&EuclideanNorm), v.norm());
+    /// ```
+    #[inline]
+    pub fn apply_norm(&self, norm: &impl Norm<N>) -> N {
+        norm.norm(self)
+    }
+
+    /// Uses the metric induced by the given `norm` to compute the metric distance between `self` and `rhs`.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use nalgebra::{Vector3, UniformNorm, LpNorm, EuclideanNorm};
+    ///
+    /// let v1 = Vector3::new(1.0, 2.0, 3.0);
+    /// let v2 = Vector3::new(10.0, 20.0, 30.0);
+    ///
+    /// assert_eq!(v1.apply_metric_distance(&v2, &UniformNorm), 27.0);
+    /// assert_eq!(v1.apply_metric_distance(&v2, &LpNorm(1)), 27.0 + 18.0 + 9.0);
+    /// assert_eq!(v1.apply_metric_distance(&v2, &EuclideanNorm), (v1 - v2).norm());
+    /// ```
+    #[inline]
+    pub fn apply_metric_distance<R2, C2, S2>(&self, rhs: &Matrix<N, R2, C2, S2>, norm: &impl Norm<N>) -> N
+        where R2: Dim, C2: Dim, S2: Storage<N, R2, C2>,
+              ShapeConstraint: SameNumberOfRows<R, R2> + SameNumberOfColumns<C, C2> {
+        norm.metric_distance(self,rhs)
+    }
+
+    /// The Lp norm of this matrix.
+    #[inline]
+    pub fn lp_norm(&self, p: i32) -> N {
+        self.apply_norm(&LpNorm(p))
+    }
+
+    /// A synonym for the norm of this matrix.
+    ///
+    /// Aka the length.
+    ///
+    /// This function is simply implemented as a call to `norm()`
+    #[inline]
+    pub fn magnitude(&self) -> N {
+        self.norm()
+    }
+
+    /// A synonym for the squared norm of this matrix.
+    ///
+    /// Aka the squared length.
+    ///
+    /// This function is simply implemented as a call to `norm_squared()`
+    #[inline]
+    pub fn magnitude_squared(&self) -> N {
+        self.norm_squared()
+    }
+
+    /// Returns a normalized version of this matrix.
+    #[inline]
+    pub fn normalize(&self) -> MatrixMN<N, R, C>
+        where DefaultAllocator: Allocator<N, R, C> {
+        self / self.norm()
+    }
+
+    /// Returns a normalized version of this matrix unless its norm as smaller or equal to `eps`.
+    #[inline]
+    pub fn try_normalize(&self, min_norm: N) -> Option<MatrixMN<N, R, C>>
+        where DefaultAllocator: Allocator<N, R, C> {
+        let n = self.norm();
+
+        if n <= min_norm {
+            None
+        } else {
+            Some(self / n)
+        }
+    }
+}
+
+impl<N: Real, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
+    /// Normalizes this matrix in-place and returns its norm.
+    #[inline]
+    pub fn normalize_mut(&mut self) -> N {
+        let n = self.norm();
+        *self /= n;
+
+        n
+    }
+
+    /// Normalizes this matrix in-place or does nothing if its norm is smaller or equal to `eps`.
+    ///
+    /// If the normalization succeeded, returns the old normal of this matrix.
+    #[inline]
+    pub fn try_normalize_mut(&mut self, min_norm: N) -> Option<N> {
+        let n = self.norm();
+
+        if n <= min_norm {
+            None
+        } else {
+            *self /= n;
+            Some(n)
+        }
+    }
+}

src/base/ops.rs

@@ -45,7 +45,7 @@ where
             "Matrix index out of bounds."
         );
 
-        unsafe { self.get_unchecked(ij.0, ij.1) }
+        unsafe { self.get_unchecked((ij.0, ij.1)) }
     }
 }
 
@@ -71,7 +71,7 @@ where
             "Matrix index out of bounds."
         );
 
-        unsafe { self.get_unchecked_mut(ij.0, ij.1) }
+        unsafe { self.get_unchecked_mut((ij.0, ij.1)) }
     }
 }
 
@@ -172,8 +172,8 @@ macro_rules! componentwise_binop_impl(
                     for j in 0 .. self.ncols() {
                         for i in 0 .. self.nrows() {
                             unsafe {
-                                let val = self.get_unchecked(i, j).$method(*rhs.get_unchecked(i, j));
+                                let val = self.get_unchecked((i, j)).$method(*rhs.get_unchecked((i, j)));
-                                *out.get_unchecked_mut(i, j) = val;
+                                *out.get_unchecked_mut((i, j)) = val;
                             }
                         }
                     }
@@ -204,7 +204,7 @@ macro_rules! componentwise_binop_impl(
                     for j in 0 .. rhs.ncols() {
                         for i in 0 .. rhs.nrows() {
                             unsafe {
-                                self.get_unchecked_mut(i, j).$method_assign(*rhs.get_unchecked(i, j))
+                                self.get_unchecked_mut((i, j)).$method_assign(*rhs.get_unchecked((i, j)))
                             }
                         }
                     }
@@ -235,8 +235,8 @@ macro_rules! componentwise_binop_impl(
                     for j in 0 .. self.ncols() {
                         for i in 0 .. self.nrows() {
                             unsafe {
-                                let r = rhs.get_unchecked_mut(i, j);
+                                let r = rhs.get_unchecked_mut((i, j));
-                                *r = self.get_unchecked(i, j).$method(*r)
+                                *r = self.get_unchecked((i, j)).$method(*r)
                             }
                         }
                     }
@@ -448,7 +448,7 @@ macro_rules! componentwise_scalarop_impl(
             fn $method_assign(&mut self, rhs: N) {
                 for j in 0 .. self.ncols() {
                     for i in 0 .. self.nrows() {
-                        unsafe { self.get_unchecked_mut(i, j).$method_assign(rhs) };
+                        unsafe { self.get_unchecked_mut((i, j)).$method_assign(rhs) };
                     }
                 }
             }
@@ -657,7 +657,7 @@ where
         for i in 0..ncols1 {
             for j in 0..ncols2 {
                 let dot = self.column(i).dot(&rhs.column(j));
-                unsafe { *out.get_unchecked_mut(i, j) = dot };
+                unsafe { *out.get_unchecked_mut((i, j)) = dot };
             }
         }
     }
@@ -704,10 +704,10 @@ where
                 for j2 in 0..ncols2.value() {
                     for i1 in 0..nrows1.value() {
                         unsafe {
-                            let coeff = *self.get_unchecked(i1, j1);
+                            let coeff = *self.get_unchecked((i1, j1));
 
                             for i2 in 0..nrows2.value() {
-                                *data_res = coeff * *rhs.get_unchecked(i2, j2);
+                                *data_res = coeff * *rhs.get_unchecked((i2, j2));
                                 data_res = data_res.offset(1);
                             }
                         }

src/base/statistics.rs

@@ -0,0 +1,309 @@
+use ::{Real, Dim, Matrix, VectorN, RowVectorN, DefaultAllocator, U1, VectorSliceN};
+use storage::Storage;
+use allocator::Allocator;
+
+impl<N: Real, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
+    /// Returns a row vector where each element is the result of the application of `f` on the
+    /// corresponding column of the original matrix.
+    #[inline]
+    pub fn compress_rows(&self, f: impl Fn(VectorSliceN<N, R, S::RStride, S::CStride>) -> N) -> RowVectorN<N, C>
+        where DefaultAllocator: Allocator<N, U1, C> {
+
+        let ncols = self.data.shape().1;
+        let mut res = unsafe { RowVectorN::new_uninitialized_generic(U1, ncols) };
+
+        for i in 0..ncols.value() {
+            // FIXME: avoid bound checking of column.
+            unsafe { *res.get_unchecked_mut((0, i)) = f(self.column(i)); }
+        }
+
+        res
+    }
+
+    /// Returns a column vector where each element is the result of the application of `f` on the
+    /// corresponding column of the original matrix.
+    ///
+    /// This is the same as `self.compress_rows(f).transpose()`.
+    #[inline]
+    pub fn compress_rows_tr(&self, f: impl Fn(VectorSliceN<N, R, S::RStride, S::CStride>) -> N) -> VectorN<N, C>
+        where DefaultAllocator: Allocator<N, C> {
+
+        let ncols = self.data.shape().1;
+        let mut res = unsafe { VectorN::new_uninitialized_generic(ncols, U1) };
+
+        for i in 0..ncols.value() {
+            // FIXME: avoid bound checking of column.
+            unsafe { *res.vget_unchecked_mut(i) = f(self.column(i)); }
+        }
+
+        res
+    }
+
+    /// Returns a column vector resulting from the folding of `f` on each column of this matrix.
+    #[inline]
+    pub fn compress_columns(&self, init: VectorN<N, R>, f: impl Fn(&mut VectorN<N, R>, VectorSliceN<N, R, S::RStride, S::CStride>)) -> VectorN<N, R>
+        where DefaultAllocator: Allocator<N, R> {
+        let mut res = init;
+
+        for i in 0..self.ncols() {
+            f(&mut res, self.column(i))
+        }
+
+        res
+    }
+}
+
+impl<N: Real, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
+    /*
+     *
+     * Sum computation.
+     *
+     */
+    /// The sum of all the elements of this matrix.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use nalgebra::Matrix2x3;
+    ///
+    /// let m = Matrix2x3::new(1.0, 2.0, 3.0,
+    ///                        4.0, 5.0, 6.0);
+    /// assert_eq!(m.sum(), 21.0);
+    /// ```
+    #[inline]
+    pub fn sum(&self) -> N {
+        self.iter().cloned().fold(N::zero(), |a, b| a + b)
+    }
+
+    /// The sum of all the rows of this matrix.
+    ///
+    /// Use `.row_variance_tr` if you need the result in a column vector instead.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use nalgebra::{Matrix2x3, RowVector3};
+    ///
+    /// let m = Matrix2x3::new(1.0, 2.0, 3.0,
+    ///                        4.0, 5.0, 6.0);
+    /// assert_eq!(m.row_sum(), RowVector3::new(5.0, 7.0, 9.0));
+    /// ```
+    #[inline]
+    pub fn row_sum(&self) -> RowVectorN<N, C>
+        where DefaultAllocator: Allocator<N, U1, C> {
+        self.compress_rows(|col| col.sum())
+    }
+
+    /// The sum of all the rows of this matrix. The result is transposed and returned as a column vector.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use nalgebra::{Matrix2x3, Vector3};
+    ///
+    /// let m = Matrix2x3::new(1.0, 2.0, 3.0,
+    ///                        4.0, 5.0, 6.0);
+    /// assert_eq!(m.row_sum_tr(), Vector3::new(5.0, 7.0, 9.0));
+    /// ```
+    #[inline]
+    pub fn row_sum_tr(&self) -> VectorN<N, C>
+        where DefaultAllocator: Allocator<N, C> {
+        self.compress_rows_tr(|col| col.sum())
+    }
+
+    /// The sum of all the columns of this matrix.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use nalgebra::{Matrix2x3, Vector2};
+    ///
+    /// let m = Matrix2x3::new(1.0, 2.0, 3.0,
+    ///                        4.0, 5.0, 6.0);
+    /// assert_eq!(m.column_sum(), Vector2::new(6.0, 15.0));
+    /// ```
+    #[inline]
+    pub fn column_sum(&self) -> VectorN<N, R>
+        where DefaultAllocator: Allocator<N, R> {
+        let nrows = self.data.shape().0;
+        self.compress_columns(VectorN::zeros_generic(nrows, U1), |out, col| {
+            out.axpy(N::one(), &col, N::one())
+        })
+    }
+
+    /*
+     *
+     * Variance computation.
+     *
+     */
+    /// The variance of all the elements of this matrix.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::Matrix2x3;
+    ///
+    /// let m = Matrix2x3::new(1.0, 2.0, 3.0,
+    ///                        4.0, 5.0, 6.0);
+    /// assert_relative_eq!(m.variance(), 35.0 / 12.0, epsilon = 1.0e-8);
+    /// ```
+    #[inline]
+    pub fn variance(&self) -> N {
+        if self.len() == 0 {
+            N::zero()
+        } else {
+            let val = self.iter().cloned().fold((N::zero(), N::zero()), |a, b| (a.0 + b * b, a.1 + b));
+            let denom = N::one() / ::convert::<_, N>(self.len() as f64);
+            val.0 * denom - (val.1 * denom) * (val.1 * denom)
+        }
+    }
+
+    /// The variance of all the rows of this matrix.
+    ///
+    /// Use `.row_variance_tr` if you need the result in a column vector instead.
+    /// # Example
+    ///
+    /// ```
+    /// # use nalgebra::{Matrix2x3, RowVector3};
+    ///
+    /// let m = Matrix2x3::new(1.0, 2.0, 3.0,
+    ///                        4.0, 5.0, 6.0);
+    /// assert_eq!(m.row_variance(), RowVector3::new(2.25, 2.25, 2.25));
+    /// ```
+    #[inline]
+    pub fn row_variance(&self) -> RowVectorN<N, C>
+        where DefaultAllocator: Allocator<N, U1, C> {
+        self.compress_rows(|col| col.variance())
+    }
+
+    /// The variance of all the rows of this matrix. The result is transposed and returned as a column vector.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use nalgebra::{Matrix2x3, Vector3};
+    ///
+    /// let m = Matrix2x3::new(1.0, 2.0, 3.0,
+    ///                        4.0, 5.0, 6.0);
+    /// assert_eq!(m.row_variance_tr(), Vector3::new(2.25, 2.25, 2.25));
+    /// ```
+    #[inline]
+    pub fn row_variance_tr(&self) -> VectorN<N, C>
+        where DefaultAllocator: Allocator<N, C> {
+        self.compress_rows_tr(|col| col.variance())
+    }
+
+    /// The variance of all the columns of this matrix.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{Matrix2x3, Vector2};
+    ///
+    /// let m = Matrix2x3::new(1.0, 2.0, 3.0,
+    ///                        4.0, 5.0, 6.0);
+    /// assert_relative_eq!(m.column_variance(), Vector2::new(2.0 / 3.0, 2.0 / 3.0), epsilon = 1.0e-8);
+    /// ```
+    #[inline]
+    pub fn column_variance(&self) -> VectorN<N, R>
+        where DefaultAllocator: Allocator<N, R> {
+        let (nrows, ncols) = self.data.shape();
+
+        let mut mean = self.column_mean();
+        mean.apply(|e| -(e * e));
+
+        let denom = N::one() / ::convert::<_, N>(ncols.value() as f64);
+        self.compress_columns(mean, |out, col| {
+            for i in 0..nrows.value() {
+                unsafe {
+                    let val = col.vget_unchecked(i);
+                    *out.vget_unchecked_mut(i) += denom * *val * *val
+                }
+            }
+        })
+    }
+
+    /*
+     *
+     * Mean computation.
+     *
+     */
+    /// The mean of all the elements of this matrix.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use nalgebra::Matrix2x3;
+    ///
+    /// let m = Matrix2x3::new(1.0, 2.0, 3.0,
+    ///                        4.0, 5.0, 6.0);
+    /// assert_eq!(m.mean(), 3.5);
+    /// ```
+    #[inline]
+    pub fn mean(&self) -> N {
+        if self.len() == 0 {
+            N::zero()
+        } else {
+            self.sum() / ::convert(self.len() as f64)
+        }
+    }
+
+    /// The mean of all the rows of this matrix.
+    ///
+    /// Use `.row_mean_tr` if you need the result in a column vector instead.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use nalgebra::{Matrix2x3, RowVector3};
+    ///
+    /// let m = Matrix2x3::new(1.0, 2.0, 3.0,
+    ///                        4.0, 5.0, 6.0);
+    /// assert_eq!(m.row_mean(), RowVector3::new(2.5, 3.5, 4.5));
+    /// ```
+    #[inline]
+    pub fn row_mean(&self) -> RowVectorN<N, C>
+        where DefaultAllocator: Allocator<N, U1, C> {
+        self.compress_rows(|col| col.mean())
+    }
+
+    /// The mean of all the rows of this matrix. The result is transposed and returned as a column vector.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use nalgebra::{Matrix2x3, Vector3};
+    ///
+    /// let m = Matrix2x3::new(1.0, 2.0, 3.0,
+    ///                        4.0, 5.0, 6.0);
+    /// assert_eq!(m.row_mean_tr(), Vector3::new(2.5, 3.5, 4.5));
+    /// ```
+    #[inline]
+    pub fn row_mean_tr(&self) -> VectorN<N, C>
+        where DefaultAllocator: Allocator<N, C> {
+        self.compress_rows_tr(|col| col.mean())
+    }
+
+    /// The mean of all the columns of this matrix.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use nalgebra::{Matrix2x3, Vector2};
+    ///
+    /// let m = Matrix2x3::new(1.0, 2.0, 3.0,
+    ///                        4.0, 5.0, 6.0);
+    /// assert_eq!(m.column_mean(), Vector2::new(2.0, 5.0));
+    /// ```
+    #[inline]
+    pub fn column_mean(&self) -> VectorN<N, R>
+        where DefaultAllocator: Allocator<N, R> {
+        let (nrows, ncols) = self.data.shape();
+        let denom = N::one() / ::convert::<_, N>(ncols.value() as f64);
+        self.compress_columns(VectorN::zeros_generic(nrows, U1), |out, col| {
+            out.axpy(denom, &col, N::one())
+        })
+    }
+}

src/base/storage.rs

@@ -34,7 +34,7 @@ pub type CStride<N, R, C = U1> =
 /// Note that `Self` must always have a number of elements compatible with the matrix length (given
 /// by `R` and `C` if they are known at compile-time). For example, implementors of this trait
 /// should **not** allow the user to modify the size of the underlying buffer with safe methods
-/// (for example the `MatrixVec::data_mut` method is unsafe because the user could change the
+/// (for example the `VecStorage::data_mut` method is unsafe because the user could change the
 /// vector's size so that it no longer contains enough elements: this will lead to UB.
 pub unsafe trait Storage<N: Scalar, R: Dim, C: Dim = U1>: Debug + Sized {
     /// The static stride of this storage's rows.

src/base/swizzle.rs

@@ -3,64 +3,60 @@ use storage::Storage;
 use typenum::{self, Cmp, Greater};
 
 macro_rules! impl_swizzle {
-    ($(where $BaseDim: ident: $name: ident() -> $Result: ident[$($i: expr),*]);*) => {
+    ($( where $BaseDim: ident: $( $name: ident() -> $Result: ident[$($i: expr),+] ),+ ;)* ) => {
         $(
-            impl<N: Scalar, D: DimName, S: Storage<N, D>> Vector<N, D, S> {
+            impl<N: Scalar, D: DimName, S: Storage<N, D>> Vector<N, D, S>
-                /// Builds a new vector from components of `self`.
+            where D::Value: Cmp<typenum::$BaseDim, Output=Greater>
-                #[inline]
+            {
-                pub fn $name(&self) -> $Result<N>
+                $(
-                    where D::Value: Cmp<typenum::$BaseDim, Output=Greater> {
+                    /// Builds a new vector from components of `self`.
-                    $Result::new($(self[$i]),*)
+                    #[inline]
-                }
+                    pub fn $name(&self) -> $Result<N> {
+                        $Result::new($(self[$i]),*)
+                    }
+                )*
             }
         )*
     }
 }
 
 impl_swizzle!(
-    where U0: xx() -> Vector2[0, 0];
+    where U0: xx()  -> Vector2[0, 0],
-    where U1: xy() -> Vector2[0, 1];
+              xxx() -> Vector3[0, 0, 0];
-    where U2: xz() -> Vector2[0, 2];
-    where U1: yx() -> Vector2[1, 0];
-    where U1: yy() -> Vector2[1, 1];
-    where U1: yz() -> Vector2[1, 2];
-    where U2: zx() -> Vector2[2, 0];
-    where U2: zy() -> Vector2[2, 1];
-    where U2: zz() -> Vector2[2, 2];
 
-    where U0: xxx() -> Vector3[0, 0, 0];
+    where U1: xy()  -> Vector2[0, 1],
-    where U1: xxy() -> Vector3[0, 0, 1];
+              yx()  -> Vector2[1, 0],
-    where U2: xxz() -> Vector3[0, 0, 2];
+              yy()  -> Vector2[1, 1],
+              xxy() -> Vector3[0, 0, 1],
+              xyx() -> Vector3[0, 1, 0],
+              xyy() -> Vector3[0, 1, 1],
+              yxx() -> Vector3[1, 0, 0],
+              yxy() -> Vector3[1, 0, 1],
+              yyx() -> Vector3[1, 1, 0],
+              yyy() -> Vector3[1, 1, 1];
 
-    where U1: xyx() -> Vector3[0, 1, 0];
+    where U2: xz()  -> Vector2[0, 2],
-    where U1: xyy() -> Vector3[0, 1, 1];
+              yz()  -> Vector2[1, 2],
-    where U2: xyz() -> Vector3[0, 1, 2];
+              zx()  -> Vector2[2, 0],
-
+              zy()  -> Vector2[2, 1],
-    where U2: xzx() -> Vector3[0, 2, 0];
+              zz()  -> Vector2[2, 2],
-    where U2: xzy() -> Vector3[0, 2, 1];
+              xxz() -> Vector3[0, 0, 2],
-    where U2: xzz() -> Vector3[0, 2, 2];
+              xyz() -> Vector3[0, 1, 2],
-
+              xzx() -> Vector3[0, 2, 0],
-    where U1: yxx() -> Vector3[1, 0, 0];
+              xzy() -> Vector3[0, 2, 1],
-    where U1: yxy() -> Vector3[1, 0, 1];
+              xzz() -> Vector3[0, 2, 2],
-    where U2: yxz() -> Vector3[1, 0, 2];
+              yxz() -> Vector3[1, 0, 2],
-
+              yyz() -> Vector3[1, 1, 2],
-    where U1: yyx() -> Vector3[1, 1, 0];
+              yzx() -> Vector3[1, 2, 0],
-    where U1: yyy() -> Vector3[1, 1, 1];
+              yzy() -> Vector3[1, 2, 1],
-    where U2: yyz() -> Vector3[1, 1, 2];
+              yzz() -> Vector3[1, 2, 2],
-
+              zxx() -> Vector3[2, 0, 0],
-    where U2: yzx() -> Vector3[1, 2, 0];
+              zxy() -> Vector3[2, 0, 1],
-    where U2: yzy() -> Vector3[1, 2, 1];
+              zxz() -> Vector3[2, 0, 2],
-    where U2: yzz() -> Vector3[1, 2, 2];
+              zyx() -> Vector3[2, 1, 0],
-
+              zyy() -> Vector3[2, 1, 1],
-    where U2: zxx() -> Vector3[2, 0, 0];
+              zyz() -> Vector3[2, 1, 2],
-    where U2: zxy() -> Vector3[2, 0, 1];
+              zzx() -> Vector3[2, 2, 0],
-    where U2: zxz() -> Vector3[2, 0, 2];
+              zzy() -> Vector3[2, 2, 1],
-
+              zzz() -> Vector3[2, 2, 2];
-    where U2: zyx() -> Vector3[2, 1, 0];
-    where U2: zyy() -> Vector3[2, 1, 1];
-    where U2: zyz() -> Vector3[2, 1, 2];
-
-    where U2: zzx() -> Vector3[2, 2, 0];
-    where U2: zzy() -> Vector3[2, 2, 1];
-    where U2: zzz() -> Vector3[2, 2, 2]
 );

src/base/unit.rs

@@ -15,7 +15,7 @@ use alga::linear::NormedSpace;
 
 /// A wrapper that ensures the underlying algebraic entity has a unit norm.
 ///
-/// Use `.as_ref()` or `.unwrap()` to obtain the underlying value by-reference or by-move.
+/// Use `.as_ref()` or `.into_inner()` to obtain the underlying value by-reference or by-move.
 #[repr(transparent)]
 #[derive(Eq, PartialEq, Clone, Hash, Debug, Copy)]
 pub struct Unit<T> {
@@ -113,6 +113,14 @@ impl<T> Unit<T> {
 
     /// Retrieves the underlying value.
     #[inline]
+    pub fn into_inner(self) -> T {
+        self.value
+    }
+
+    /// Retrieves the underlying value.
+    /// Deprecated: use [Unit::into_inner] instead.
+    #[deprecated(note="use `.into_inner()` instead")]
+    #[inline]
     pub fn unwrap(self) -> T {
         self.value
     }
@@ -143,7 +151,7 @@ where T::Field: RelativeEq
 {
     #[inline]
     fn to_superset(&self) -> T {
-        self.clone().unwrap()
+        self.clone().into_inner()
     }
 
     #[inline]

src/base/vec_storage.rs

@@ -1,6 +1,5 @@
 #[cfg(feature = "abomonation-serialize")]
 use std::io::{Result as IOResult, Write};
-use std::ops::Deref;
 
 #[cfg(all(feature = "alloc", not(feature = "std")))]
 use alloc::vec::Vec;
@@ -9,7 +8,8 @@ use base::allocator::Allocator;
 use base::default_allocator::DefaultAllocator;
 use base::dimension::{Dim, DimName, Dynamic, U1};
 use base::storage::{ContiguousStorage, ContiguousStorageMut, Owned, Storage, StorageMut};
-use base::Scalar;
+use base::{Scalar, Vector};
+use base::constraint::{SameNumberOfRows, ShapeConstraint};
 
 #[cfg(feature = "abomonation-serialize")]
 use abomonation::Abomonation;
@@ -23,21 +23,25 @@ use abomonation::Abomonation;
 #[repr(C)]
 #[derive(Eq, Debug, Clone, PartialEq)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
-pub struct MatrixVec<N, R: Dim, C: Dim> {
+pub struct VecStorage<N, R: Dim, C: Dim> {
     data: Vec<N>,
     nrows: R,
     ncols: C,
 }
 
-impl<N, R: Dim, C: Dim> MatrixVec<N, R, C> {
+#[deprecated(note="renamed to `VecStorage`")]
+/// Renamed to [VecStorage].
+pub type MatrixVec<N, R, C> = VecStorage<N, R, C>;
+
+impl<N, R: Dim, C: Dim> VecStorage<N, R, C> {
     /// Creates a new dynamic matrix data storage from the given vector and shape.
     #[inline]
-    pub fn new(nrows: R, ncols: C, data: Vec<N>) -> MatrixVec<N, R, C> {
+    pub fn new(nrows: R, ncols: C, data: Vec<N>) -> VecStorage<N, R, C> {
         assert!(
             nrows.value() * ncols.value() == data.len(),
             "Data storage buffer dimension mismatch."
         );
-        MatrixVec {
+        VecStorage {
             data: data,
             nrows: nrows,
             ncols: ncols,
@@ -46,15 +50,16 @@ impl<N, R: Dim, C: Dim> MatrixVec<N, R, C> {
 
     /// The underlying data storage.
     #[inline]
-    pub fn data(&self) -> &Vec<N> {
+    pub fn as_vec(&self) -> &Vec<N> {
         &self.data
     }
 
     /// The underlying mutable data storage.
     ///
-    /// This is unsafe because this may cause UB if the vector is modified by the user.
+    /// This is unsafe because this may cause UB if the size of the vector is changed
+    /// by the user.
     #[inline]
-    pub unsafe fn data_mut(&mut self) -> &mut Vec<N> {
+    pub unsafe fn as_vec_mut(&mut self) -> &mut Vec<N> {
         &mut self.data
     }
 
@@ -76,14 +81,18 @@ impl<N, R: Dim, C: Dim> MatrixVec<N, R, C> {
 
         self.data
     }
+
+    /// The number of elements on the underlying vector.
+    #[inline]
+    pub fn len(&self) -> usize {
+        self.data.len()
+    }
 }
 
-impl<N, R: Dim, C: Dim> Deref for MatrixVec<N, R, C> {
+impl<N, R: Dim, C: Dim> Into<Vec<N>> for VecStorage<N, R, C>
-    type Target = Vec<N>;
+{
-
+    fn into(self) -> Vec<N> {
-    #[inline]
+        self.data
-    fn deref(&self) -> &Self::Target {
-        &self.data
     }
 }
 
@@ -93,7 +102,7 @@ impl<N, R: Dim, C: Dim> Deref for MatrixVec<N, R, C> {
  * Dynamic − Dynamic
  *
  */
-unsafe impl<N: Scalar, C: Dim> Storage<N, Dynamic, C> for MatrixVec<N, Dynamic, C>
+unsafe impl<N: Scalar, C: Dim> Storage<N, Dynamic, C> for VecStorage<N, Dynamic, C>
 where DefaultAllocator: Allocator<N, Dynamic, C, Buffer = Self>
 {
     type RStride = U1;
@@ -133,11 +142,11 @@ where DefaultAllocator: Allocator<N, Dynamic, C, Buffer = Self>
 
     #[inline]
     fn as_slice(&self) -> &[N] {
-        &self[..]
+        &self.data
     }
 }
 
-unsafe impl<N: Scalar, R: DimName> Storage<N, R, Dynamic> for MatrixVec<N, R, Dynamic>
+unsafe impl<N: Scalar, R: DimName> Storage<N, R, Dynamic> for VecStorage<N, R, Dynamic>
 where DefaultAllocator: Allocator<N, R, Dynamic, Buffer = Self>
 {
     type RStride = U1;
@@ -177,7 +186,7 @@ where DefaultAllocator: Allocator<N, R, Dynamic, Buffer = Self>
 
     #[inline]
     fn as_slice(&self) -> &[N] {
-        &self[..]
+        &self.data
     }
 }
 
@@ -186,7 +195,7 @@ where DefaultAllocator: Allocator<N, R, Dynamic, Buffer = Self>
  * StorageMut, ContiguousStorage.
  *
  */
-unsafe impl<N: Scalar, C: Dim> StorageMut<N, Dynamic, C> for MatrixVec<N, Dynamic, C>
+unsafe impl<N: Scalar, C: Dim> StorageMut<N, Dynamic, C> for VecStorage<N, Dynamic, C>
 where DefaultAllocator: Allocator<N, Dynamic, C, Buffer = Self>
 {
     #[inline]
@@ -200,13 +209,13 @@ where DefaultAllocator: Allocator<N, Dynamic, C, Buffer = Self>
     }
 }
 
-unsafe impl<N: Scalar, C: Dim> ContiguousStorage<N, Dynamic, C> for MatrixVec<N, Dynamic, C> where DefaultAllocator: Allocator<N, Dynamic, C, Buffer = Self>
+unsafe impl<N: Scalar, C: Dim> ContiguousStorage<N, Dynamic, C> for VecStorage<N, Dynamic, C> where DefaultAllocator: Allocator<N, Dynamic, C, Buffer = Self>
 {}
 
-unsafe impl<N: Scalar, C: Dim> ContiguousStorageMut<N, Dynamic, C> for MatrixVec<N, Dynamic, C> where DefaultAllocator: Allocator<N, Dynamic, C, Buffer = Self>
+unsafe impl<N: Scalar, C: Dim> ContiguousStorageMut<N, Dynamic, C> for VecStorage<N, Dynamic, C> where DefaultAllocator: Allocator<N, Dynamic, C, Buffer = Self>
 {}
 
-unsafe impl<N: Scalar, R: DimName> StorageMut<N, R, Dynamic> for MatrixVec<N, R, Dynamic>
+unsafe impl<N: Scalar, R: DimName> StorageMut<N, R, Dynamic> for VecStorage<N, R, Dynamic>
 where DefaultAllocator: Allocator<N, R, Dynamic, Buffer = Self>
 {
     #[inline]
@@ -221,7 +230,7 @@ where DefaultAllocator: Allocator<N, R, Dynamic, Buffer = Self>
 }
 
 #[cfg(feature = "abomonation-serialize")]
-impl<N: Abomonation, R: Dim, C: Dim> Abomonation for MatrixVec<N, R, C> {
+impl<N: Abomonation, R: Dim, C: Dim> Abomonation for VecStorage<N, R, C> {
     unsafe fn entomb<W: Write>(&self, writer: &mut W) -> IOResult<()> {
         self.data.entomb(writer)
     }
@@ -235,8 +244,66 @@ impl<N: Abomonation, R: Dim, C: Dim> Abomonation for MatrixVec<N, R, C> {
     }
 }
 
-unsafe impl<N: Scalar, R: DimName> ContiguousStorage<N, R, Dynamic> for MatrixVec<N, R, Dynamic> where DefaultAllocator: Allocator<N, R, Dynamic, Buffer = Self>
+unsafe impl<N: Scalar, R: DimName> ContiguousStorage<N, R, Dynamic> for VecStorage<N, R, Dynamic> where DefaultAllocator: Allocator<N, R, Dynamic, Buffer = Self>
 {}
 
-unsafe impl<N: Scalar, R: DimName> ContiguousStorageMut<N, R, Dynamic> for MatrixVec<N, R, Dynamic> where DefaultAllocator: Allocator<N, R, Dynamic, Buffer = Self>
+unsafe impl<N: Scalar, R: DimName> ContiguousStorageMut<N, R, Dynamic> for VecStorage<N, R, Dynamic> where DefaultAllocator: Allocator<N, R, Dynamic, Buffer = Self>
 {}
+
+impl<N, R: Dim> Extend<N> for VecStorage<N, R, Dynamic>
+{
+    /// Extends the number of columns of the `VecStorage` with elements
+    /// from the given iterator.
+    ///
+    /// # Panics
+    /// This function panics if the number of elements yielded by the
+    /// given iterator is not a multiple of the number of rows of the
+    /// `VecStorage`.
+    fn extend<I: IntoIterator<Item=N>>(&mut self, iter: I)
+    {
+        self.data.extend(iter);
+        self.ncols = Dynamic::new(self.data.len() / self.nrows.value());
+        assert!(self.data.len() % self.nrows.value() == 0,
+          "The number of elements produced by the given iterator was not a multiple of the number of rows.");
+    }
+}
+
+impl<N, R, RV, SV> Extend<Vector<N, RV, SV>> for VecStorage<N, R, Dynamic>
+where
+    N: Scalar,
+    R: Dim,
+    RV: Dim,
+    SV: Storage<N, RV>,
+    ShapeConstraint: SameNumberOfRows<R, RV>,
+{
+    /// Extends the number of columns of the `VecStorage` with vectors
+    /// from the given iterator.
+    ///
+    /// # Panics
+    /// This function panics if the number of rows of each `Vector`
+    /// yielded by the iterator is not equal to the number of rows
+    /// of this `VecStorage`.
+    fn extend<I: IntoIterator<Item=Vector<N, RV, SV>>>(&mut self, iter: I)
+    {
+        let nrows = self.nrows.value();
+        let iter = iter.into_iter();
+        let (lower, _upper) = iter.size_hint();
+        self.data.reserve(nrows * lower);
+        for vector in iter {
+            assert_eq!(nrows, vector.shape().0);
+            self.data.extend(vector.iter());
+        }
+        self.ncols = Dynamic::new(self.data.len() / nrows);
+    }
+}
+
+impl<N> Extend<N> for VecStorage<N, Dynamic, U1>
+{
+    /// Extends the number of rows of the `VecStorage` with elements
+    /// from the given iterator.
+    fn extend<I: IntoIterator<Item=N>>(&mut self, iter: I)
+    {
+        self.data.extend(iter);
+        self.nrows = Dynamic::new(self.data.len());
+    }
+}

src/debug/random_orthogonal.rs

@@ -48,6 +48,7 @@ where
     Owned<N, D, D>: Clone + Send,
 {
     fn arbitrary<G: Gen>(g: &mut G) -> Self {
+        use rand::Rng;
         let dim = D::try_to_usize().unwrap_or(g.gen_range(1, 50));
         Self::new(D::from_usize(dim), || N::arbitrary(g))
     }

src/debug/random_sdp.rs

@@ -49,6 +49,7 @@ where
     Owned<N, D, D>: Clone + Send,
 {
     fn arbitrary<G: Gen>(g: &mut G) -> Self {
+        use rand::Rng;
         let dim = D::try_to_usize().unwrap_or(g.gen_range(1, 50));
         Self::new(D::from_usize(dim), || N::arbitrary(g))
     }

src/geometry/isometry.rs

@@ -108,6 +108,19 @@ impl<N: Real, D: DimName, R: Rotation<Point<N, D>>> Isometry<N, D, R>
 where DefaultAllocator: Allocator<N, D>
 {
     /// Creates a new isometry from its rotational and translational parts.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use std::f32;
+    /// # use nalgebra::{Isometry3, Translation3, UnitQuaternion, Vector3, Point3};
+    /// let tra = Translation3::new(0.0, 0.0, 3.0);
+    /// let rot = UnitQuaternion::from_scaled_axis(Vector3::y() * f32::consts::PI);
+    /// let iso = Isometry3::from_parts(tra, rot);
+    ///
+    /// assert_relative_eq!(iso * Point3::new(1.0, 2.0, 3.0), Point3::new(-1.0, 2.0, 0.0), epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn from_parts(translation: Translation<N, D>, rotation: R) -> Isometry<N, D, R> {
         Isometry {
@@ -118,6 +131,18 @@ where DefaultAllocator: Allocator<N, D>
     }
 
     /// Inverts `self`.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use std::f32;
+    /// # use nalgebra::{Isometry2, Point2, Vector2};
+    /// let iso = Isometry2::new(Vector2::new(1.0, 2.0), f32::consts::FRAC_PI_2);
+    /// let inv = iso.inverse();
+    /// let pt = Point2::new(1.0, 2.0);
+    ///
+    /// assert_eq!(inv * (iso * pt), pt);
+    /// ```
     #[inline]
     pub fn inverse(&self) -> Isometry<N, D, R> {
         let mut res = self.clone();
@@ -125,7 +150,20 @@ where DefaultAllocator: Allocator<N, D>
         res
     }
 
-    /// Inverts `self`.
+    /// Inverts `self` in-place.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use std::f32;
+    /// # use nalgebra::{Isometry2, Point2, Vector2};
+    /// let mut iso = Isometry2::new(Vector2::new(1.0, 2.0), f32::consts::FRAC_PI_2);
+    /// let pt = Point2::new(1.0, 2.0);
+    /// let transformed_pt = iso * pt;
+    /// iso.inverse_mut();
+    ///
+    /// assert_eq!(iso * transformed_pt, pt);
+    /// ```
     #[inline]
     pub fn inverse_mut(&mut self) {
         self.rotation.inverse_mut();
@@ -134,12 +172,39 @@ where DefaultAllocator: Allocator<N, D>
     }
 
     /// Appends to `self` the given translation in-place.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use std::f32;
+    /// # use nalgebra::{Isometry2, Translation2, Vector2};
+    /// let mut iso = Isometry2::new(Vector2::new(1.0, 2.0), f32::consts::FRAC_PI_2);
+    /// let tra = Translation2::new(3.0, 4.0);
+    /// // Same as `iso = tra * iso`.
+    /// iso.append_translation_mut(&tra);
+    ///
+    /// assert_eq!(iso.translation, Translation2::new(4.0, 6.0));
+    /// ```
     #[inline]
     pub fn append_translation_mut(&mut self, t: &Translation<N, D>) {
         self.translation.vector += &t.vector
     }
 
     /// Appends to `self` the given rotation in-place.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use std::f32;
+    /// # use nalgebra::{Isometry2, Translation2, UnitComplex, Vector2};
+    /// let mut iso = Isometry2::new(Vector2::new(1.0, 2.0), f32::consts::PI / 6.0);
+    /// let rot = UnitComplex::new(f32::consts::PI / 2.0);
+    /// // Same as `iso = rot * iso`.
+    /// iso.append_rotation_mut(&rot);
+    ///
+    /// assert_relative_eq!(iso, Isometry2::new(Vector2::new(-2.0, 1.0), f32::consts::PI * 2.0 / 3.0), epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn append_rotation_mut(&mut self, r: &R) {
         self.rotation = self.rotation.append_rotation(&r);
@@ -148,6 +213,20 @@ where DefaultAllocator: Allocator<N, D>
 
     /// Appends in-place to `self` a rotation centered at the point `p`, i.e., the rotation that
     /// lets `p` invariant.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use std::f32;
+    /// # use nalgebra::{Isometry2, Translation2, UnitComplex, Vector2, Point2};
+    /// let mut iso = Isometry2::new(Vector2::new(1.0, 2.0), f32::consts::FRAC_PI_2);
+    /// let rot = UnitComplex::new(f32::consts::FRAC_PI_2);
+    /// let pt = Point2::new(1.0, 0.0);
+    /// iso.append_rotation_wrt_point_mut(&rot, &pt);
+    ///
+    /// assert_relative_eq!(iso * pt, Point2::new(-2.0, 0.0), epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn append_rotation_wrt_point_mut(&mut self, r: &R, p: &Point<N, D>) {
         self.translation.vector -= &p.coords;
@@ -157,10 +236,23 @@ where DefaultAllocator: Allocator<N, D>
 
     /// Appends in-place to `self` a rotation centered at the point with coordinates
     /// `self.translation`.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use std::f32;
+    /// # use nalgebra::{Isometry2, Translation2, UnitComplex, Vector2, Point2};
+    /// let mut iso = Isometry2::new(Vector2::new(1.0, 2.0), f32::consts::FRAC_PI_2);
+    /// let rot = UnitComplex::new(f32::consts::FRAC_PI_2);
+    /// iso.append_rotation_wrt_center_mut(&rot);
+    ///
+    /// // The translation part should not have changed.
+    /// assert_eq!(iso.translation.vector, Vector2::new(1.0, 2.0));
+    /// assert_eq!(iso.rotation, UnitComplex::new(f32::consts::PI));
+    /// ```
     #[inline]
     pub fn append_rotation_wrt_center_mut(&mut self, r: &R) {
-        let center = Point::from_coordinates(self.translation.vector.clone());
+        self.rotation = self.rotation.append_rotation(r);
-        self.append_rotation_wrt_point_mut(r, &center)
     }
 }
 
@@ -172,6 +264,20 @@ impl<N: Real, D: DimName, R> Isometry<N, D, R>
 where DefaultAllocator: Allocator<N, D>
 {
     /// Converts this isometry into its equivalent homogeneous transformation matrix.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use std::f32;
+    /// # use nalgebra::{Isometry2, Vector2, Matrix3};
+    /// let iso = Isometry2::new(Vector2::new(10.0, 20.0), f32::consts::FRAC_PI_6);
+    /// let expected = Matrix3::new(0.8660254, -0.5,      10.0,
+    ///                             0.5,       0.8660254, 20.0,
+    ///                             0.0,       0.0,       1.0);
+    ///
+    /// assert_relative_eq!(iso.to_homogeneous(), expected, epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn to_homogeneous(&self) -> MatrixN<N, DimNameSum<D, U1>>
     where

src/geometry/isometry_alga.rs

@@ -143,10 +143,7 @@ where
     #[inline]
     fn append_rotation(&self, r: &Self::Rotation) -> Self {
         let shift = r.transform_vector(&self.translation.vector);
-        Isometry::from_parts(
+        Isometry::from_parts(Translation::from(shift), r.clone() * self.rotation.clone())
-            Translation::from_vector(shift),
-            r.clone() * self.rotation.clone(),
-        )
     }
 
     #[inline]

src/geometry/isometry_construction.rs

@@ -23,6 +23,20 @@ impl<N: Real, D: DimName, R: AlgaRotation<Point<N, D>>> Isometry<N, D, R>
 where DefaultAllocator: Allocator<N, D>
 {
     /// Creates a new identity isometry.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use nalgebra::{Isometry2, Point2, Isometry3, Point3};
+    ///
+    /// let iso = Isometry2::identity();
+    /// let pt = Point2::new(1.0, 2.0);
+    /// assert_eq!(iso * pt, pt);
+    ///
+    /// let iso = Isometry3::identity();
+    /// let pt = Point3::new(1.0, 2.0, 3.0);
+    /// assert_eq!(iso * pt, pt);
+    /// ```
     #[inline]
     pub fn identity() -> Self {
         Self::from_parts(Translation::identity(), R::identity())
@@ -30,10 +44,24 @@ where DefaultAllocator: Allocator<N, D>
 
     /// The isometry that applies the rotation `r` with its axis passing through the point `p`.
     /// This effectively lets `p` invariant.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use std::f32;
+    /// # use nalgebra::{Isometry2, Point2, UnitComplex};
+    /// let rot = UnitComplex::new(f32::consts::PI);
+    /// let pt = Point2::new(1.0, 0.0);
+    /// let iso = Isometry2::rotation_wrt_point(rot, pt);
+    ///
+    /// assert_eq!(iso * pt, pt); // The rotation center is not affected.
+    /// assert_relative_eq!(iso * Point2::new(1.0, 2.0), Point2::new(1.0, -2.0), epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn rotation_wrt_point(r: R, p: Point<N, D>) -> Self {
         let shift = r.transform_vector(&-&p.coords);
-        Self::from_parts(Translation::from_vector(shift + p.coords), r)
+        Self::from_parts(Translation::from(shift + p.coords), r)
     }
 }
 
@@ -81,11 +109,23 @@ where
 
 // 2D rotation.
 impl<N: Real> Isometry<N, U2, Rotation2<N>> {
-    /// Creates a new isometry from a translation and a rotation angle.
+    /// Creates a new 2D isometry from a translation and a rotation angle.
+    ///
+    /// Its rotational part is represented as a 2x2 rotation matrix.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use std::f32;
+    /// # use nalgebra::{Isometry2, Vector2, Point2};
+    /// let iso = Isometry2::new(Vector2::new(1.0, 2.0), f32::consts::FRAC_PI_2);
+    ///
+    /// assert_eq!(iso * Point2::new(3.0, 4.0), Point2::new(-3.0, 5.0));
+    /// ```
     #[inline]
     pub fn new(translation: Vector2<N>, angle: N) -> Self {
         Self::from_parts(
-            Translation::from_vector(translation),
+            Translation::from(translation),
             Rotation::<N, U2>::new(angle),
         )
     }
@@ -104,11 +144,23 @@ impl<N: Real> Isometry<N, U2, Rotation2<N>> {
 }
 
 impl<N: Real> Isometry<N, U2, UnitComplex<N>> {
-    /// Creates a new isometry from a translation and a rotation angle.
+    /// Creates a new 2D isometry from a translation and a rotation angle.
+    ///
+    /// Its rotational part is represented as an unit complex number.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use std::f32;
+    /// # use nalgebra::{IsometryMatrix2, Point2, Vector2};
+    /// let iso = IsometryMatrix2::new(Vector2::new(1.0, 2.0), f32::consts::FRAC_PI_2);
+    ///
+    /// assert_eq!(iso * Point2::new(3.0, 4.0), Point2::new(-3.0, 5.0));
+    /// ```
     #[inline]
     pub fn new(translation: Vector2<N>, angle: N) -> Self {
         Self::from_parts(
-            Translation::from_vector(translation),
+            Translation::from(translation),
             UnitComplex::from_angle(angle),
         )
     }
@@ -131,10 +183,33 @@ macro_rules! isometry_construction_impl(
     ($RotId: ident < $($RotParams: ident),*>, $RRDim: ty, $RCDim: ty) => {
         impl<N: Real> Isometry<N, U3, $RotId<$($RotParams),*>> {
             /// Creates a new isometry from a translation and a rotation axis-angle.
+            ///
+            /// # Example
+            ///
+            /// ```
+            /// # #[macro_use] extern crate approx;
+            /// # use std::f32;
+            /// # use nalgebra::{Isometry3, IsometryMatrix3, Point3, Vector3};
+            /// let axisangle = Vector3::y() * f32::consts::FRAC_PI_2;
+            /// let translation = Vector3::new(1.0, 2.0, 3.0);
+            /// // Point and vector being transformed in the tests.
+            /// let pt = Point3::new(4.0, 5.0, 6.0);
+            /// let vec = Vector3::new(4.0, 5.0, 6.0);
+            ///
+            /// // Isometry with its rotation part represented as a UnitQuaternion
+            /// let iso = Isometry3::new(translation, axisangle);
+            /// assert_relative_eq!(iso * pt, Point3::new(7.0, 7.0, -1.0), epsilon = 1.0e-6);
+            /// assert_relative_eq!(iso * vec, Vector3::new(6.0, 5.0, -4.0), epsilon = 1.0e-6);
+            ///
+            /// // Isometry with its rotation part represented as a Rotation3 (a 3x3 rotation matrix).
+            /// let iso = IsometryMatrix3::new(translation, axisangle);
+            /// assert_relative_eq!(iso * pt, Point3::new(7.0, 7.0, -1.0), epsilon = 1.0e-6);
+            /// assert_relative_eq!(iso * vec, Vector3::new(6.0, 5.0, -4.0), epsilon = 1.0e-6);
+            /// ```
             #[inline]
             pub fn new(translation: Vector3<N>, axisangle: Vector3<N>) -> Self {
                 Self::from_parts(
-                    Translation::from_vector(translation),
+                    Translation::from(translation),
                     $RotId::<$($RotParams),*>::from_scaled_axis(axisangle))
             }
 
@@ -153,34 +228,85 @@ macro_rules! isometry_construction_impl(
             /// Creates an isometry that corresponds to the local frame of an observer standing at the
             /// point `eye` and looking toward `target`.
             ///
-            /// It maps the view direction `target - eye` to the positive `z` axis and the origin to the
+            /// It maps the `z` axis to the view direction `target - eye`and the origin to the `eye`.
-            /// `eye`.
             ///
             /// # Arguments
             ///   * eye - The observer position.
             ///   * target - The target position.
             ///   * up - Vertical direction. The only requirement of this parameter is to not be collinear
             ///   to `eye - at`. Non-collinearity is not checked.
+            ///
+            /// # Example
+            ///
+            /// ```
+            /// # #[macro_use] extern crate approx;
+            /// # use std::f32;
+            /// # use nalgebra::{Isometry3, IsometryMatrix3, Point3, Vector3};
+            /// let eye = Point3::new(1.0, 2.0, 3.0);
+            /// let target = Point3::new(2.0, 2.0, 3.0);
+            /// let up = Vector3::y();
+            ///
+            /// // Isometry with its rotation part represented as a UnitQuaternion
+            /// let iso = Isometry3::face_towards(&eye, &target, &up);
+            /// assert_eq!(iso * Point3::origin(), eye);
+            /// assert_relative_eq!(iso * Vector3::z(), Vector3::x());
+            ///
+            /// // Isometry with its rotation part represented as Rotation3 (a 3x3 rotation matrix).
+            /// let iso = IsometryMatrix3::face_towards(&eye, &target, &up);
+            /// assert_eq!(iso * Point3::origin(), eye);
+            /// assert_relative_eq!(iso * Vector3::z(), Vector3::x());
+            /// ```
             #[inline]
-            pub fn new_observer_frame(eye:    &Point3<N>,
+            pub fn face_towards(eye:    &Point3<N>,
                                       target: &Point3<N>,
                                       up:     &Vector3<N>)
                                       -> Self {
                 Self::from_parts(
-                    Translation::from_vector(eye.coords.clone()),
+                    Translation::from(eye.coords.clone()),
-                    $RotId::new_observer_frame(&(target - eye), up))
+                    $RotId::face_towards(&(target - eye), up))
+            }
+
+            /// Deprecated: Use [Isometry::face_towards] instead.
+            #[deprecated(note="renamed to `face_towards`")]
+            pub fn new_observer_frame(eye:    &Point3<N>,
+                                      target: &Point3<N>,
+                                      up:     &Vector3<N>)
+                                      -> Self {
+                Self::face_towards(eye, target, up)
             }
 
             /// Builds a right-handed look-at view matrix.
             ///
-            /// This conforms to the common notion of right handed look-at matrix from the computer
+            /// It maps the view direction `target - eye` to the **negative** `z` axis to and the `eye` to the origin.
-            /// graphics community.
+            /// This conforms to the common notion of right handed camera look-at **view matrix** from
+            /// the computer graphics community, i.e. the camera is assumed to look toward its local `-z` axis.
             ///
             /// # Arguments
             ///   * eye - The eye position.
             ///   * target - The target position.
             ///   * up - A vector approximately aligned with required the vertical axis. The only
             ///   requirement of this parameter is to not be collinear to `target - eye`.
+            ///
+            /// # Example
+            ///
+            /// ```
+            /// # #[macro_use] extern crate approx;
+            /// # use std::f32;
+            /// # use nalgebra::{Isometry3, IsometryMatrix3, Point3, Vector3};
+            /// let eye = Point3::new(1.0, 2.0, 3.0);
+            /// let target = Point3::new(2.0, 2.0, 3.0);
+            /// let up = Vector3::y();
+            ///
+            /// // Isometry with its rotation part represented as a UnitQuaternion
+            /// let iso = Isometry3::look_at_rh(&eye, &target, &up);
+            /// assert_eq!(iso * eye, Point3::origin());
+            /// assert_relative_eq!(iso * Vector3::x(), -Vector3::z());
+            ///
+            /// // Isometry with its rotation part represented as Rotation3 (a 3x3 rotation matrix).
+            /// let iso = IsometryMatrix3::look_at_rh(&eye, &target, &up);
+            /// assert_eq!(iso * eye, Point3::origin());
+            /// assert_relative_eq!(iso * Vector3::x(), -Vector3::z());
+            /// ```
             #[inline]
             pub fn look_at_rh(eye:    &Point3<N>,
                               target: &Point3<N>,
@@ -189,19 +315,41 @@ macro_rules! isometry_construction_impl(
                 let rotation = $RotId::look_at_rh(&(target - eye), up);
                 let trans    = &rotation * (-eye);
 
-                Self::from_parts(Translation::from_vector(trans.coords), rotation)
+                Self::from_parts(Translation::from(trans.coords), rotation)
             }
 
             /// Builds a left-handed look-at view matrix.
             ///
-            /// This conforms to the common notion of left handed look-at matrix from the computer
+            /// It maps the view direction `target - eye` to the **positive** `z` axis and the `eye` to the origin.
-            /// graphics community.
+            /// This conforms to the common notion of right handed camera look-at **view matrix** from
+            /// the computer graphics community, i.e. the camera is assumed to look toward its local `z` axis.
             ///
             /// # Arguments
             ///   * eye - The eye position.
             ///   * target - The target position.
             ///   * up - A vector approximately aligned with required the vertical axis. The only
             ///   requirement of this parameter is to not be collinear to `target - eye`.
+            ///
+            /// # Example
+            ///
+            /// ```
+            /// # #[macro_use] extern crate approx;
+            /// # use std::f32;
+            /// # use nalgebra::{Isometry3, IsometryMatrix3, Point3, Vector3};
+            /// let eye = Point3::new(1.0, 2.0, 3.0);
+            /// let target = Point3::new(2.0, 2.0, 3.0);
+            /// let up = Vector3::y();
+            ///
+            /// // Isometry with its rotation part represented as a UnitQuaternion
+            /// let iso = Isometry3::look_at_lh(&eye, &target, &up);
+            /// assert_eq!(iso * eye, Point3::origin());
+            /// assert_relative_eq!(iso * Vector3::x(), Vector3::z());
+            ///
+            /// // Isometry with its rotation part represented as Rotation3 (a 3x3 rotation matrix).
+            /// let iso = IsometryMatrix3::look_at_lh(&eye, &target, &up);
+            /// assert_eq!(iso * eye, Point3::origin());
+            /// assert_relative_eq!(iso * Vector3::x(), Vector3::z());
+            /// ```
             #[inline]
             pub fn look_at_lh(eye:    &Point3<N>,
                               target: &Point3<N>,
@@ -210,7 +358,7 @@ macro_rules! isometry_construction_impl(
                 let rotation = $RotId::look_at_lh(&(target - eye), up);
                 let trans    = &rotation * (-eye);
 
-                Self::from_parts(Translation::from_vector(trans.coords), rotation)
+                Self::from_parts(Translation::from(trans.coords), rotation)
             }
         }
     }

src/geometry/isometry_conversion.rs

@@ -141,7 +141,9 @@ where
     #[inline]
     unsafe fn from_superset_unchecked(m: &MatrixN<N2, DimNameSum<D, U1>>) -> Self {
         let t = m.fixed_slice::<D, U1>(0, D::dim()).into_owned();
-        let t = Translation::from_vector(::convert_unchecked(t));
+        let t = Translation {
+            vector: ::convert_unchecked(t),
+        };
 
         Self::from_parts(t, ::convert_unchecked(m.clone_owned()))
     }

src/geometry/isometry_ops.rs

@@ -142,7 +142,7 @@ isometry_binop_impl_all!(
     [ref ref] => {
         let shift = self.rotation.transform_vector(&rhs.translation.vector);
 
-        Isometry::from_parts(Translation::from_vector(&self.translation.vector + shift),
+        Isometry::from_parts(Translation::from(&self.translation.vector + shift),
                              self.rotation.clone() * rhs.rotation.clone()) // FIXME: too bad we have to clone.
     };
 );
@@ -267,7 +267,7 @@ isometry_binop_impl_all!(
     [val ref] => &self * right;
     [ref ref] => {
         let new_tr = &self.translation.vector + self.rotation.transform_vector(&right.vector);
-        Isometry::from_parts(Translation::from_vector(new_tr), self.rotation.clone())
+        Isometry::from_parts(Translation::from(new_tr), self.rotation.clone())
     };
 );
 
@@ -339,10 +339,10 @@ isometry_from_composition_impl_all!(
     Mul, mul;
     (D, D), (D, U1) for D: DimName;
     self: Rotation<N, D>, right: Translation<N, D>, Output = Isometry<N, D, Rotation<N, D>>;
-    [val val] => Isometry::from_parts(Translation::from_vector(&self * right.vector),  self);
+    [val val] => Isometry::from_parts(Translation::from(&self * right.vector),  self);
-    [ref val] => Isometry::from_parts(Translation::from_vector(self * right.vector),   self.clone());
+    [ref val] => Isometry::from_parts(Translation::from(self * right.vector),   self.clone());
-    [val ref] => Isometry::from_parts(Translation::from_vector(&self * &right.vector), self);
+    [val ref] => Isometry::from_parts(Translation::from(&self * &right.vector), self);
-    [ref ref] => Isometry::from_parts(Translation::from_vector(self * &right.vector),  self.clone());
+    [ref ref] => Isometry::from_parts(Translation::from(self * &right.vector),  self.clone());
 );
 
 // UnitQuaternion × Translation
@@ -351,10 +351,10 @@ isometry_from_composition_impl_all!(
     (U4, U1), (U3, U1);
     self: UnitQuaternion<N>, right: Translation<N, U3>,
     Output = Isometry<N, U3, UnitQuaternion<N>>;
-    [val val] => Isometry::from_parts(Translation::from_vector(&self *  right.vector), self);
+    [val val] => Isometry::from_parts(Translation::from(&self *  right.vector), self);
-    [ref val] => Isometry::from_parts(Translation::from_vector( self *  right.vector), self.clone());
+    [ref val] => Isometry::from_parts(Translation::from( self *  right.vector), self.clone());
-    [val ref] => Isometry::from_parts(Translation::from_vector(&self * &right.vector), self);
+    [val ref] => Isometry::from_parts(Translation::from(&self * &right.vector), self);
-    [ref ref] => Isometry::from_parts(Translation::from_vector( self * &right.vector), self.clone());
+    [ref ref] => Isometry::from_parts(Translation::from( self * &right.vector), self.clone());
 );
 
 // Rotation × Isometry
@@ -368,7 +368,7 @@ isometry_from_composition_impl_all!(
     [val ref] => &self * right;
     [ref ref] => {
         let shift = self * &right.translation.vector;
-        Isometry::from_parts(Translation::from_vector(shift), self * &right.rotation)
+        Isometry::from_parts(Translation::from(shift), self * &right.rotation)
     };
 );
 
@@ -396,7 +396,7 @@ isometry_from_composition_impl_all!(
     [val ref] => &self * right;
     [ref ref] => {
         let shift = self * &right.translation.vector;
-        Isometry::from_parts(Translation::from_vector(shift), self * &right.rotation)
+        Isometry::from_parts(Translation::from(shift), self * &right.rotation)
     };
 );
 

src/geometry/mod.rs

@@ -54,6 +54,8 @@ mod similarity_construction;
 mod similarity_conversion;
 mod similarity_ops;
 
+mod swizzle;
+
 mod transform;
 mod transform_alga;
 mod transform_alias;

src/geometry/orthographic.rs

@@ -63,21 +63,49 @@ impl<'a, N: Real + Deserialize<'a>> Deserialize<'a> for Orthographic3<N> {
 
 impl<N: Real> Orthographic3<N> {
     /// Creates a new orthographic projection matrix.
+    ///
+    /// This follows the OpenGL convention, so this will flip the `z` axis.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{Orthographic3, Point3};
+    /// let proj = Orthographic3::new(1.0, 10.0, 2.0, 20.0, 0.1, 1000.0);
+    /// // Check this projection actually transforms the view cuboid into the double-unit cube.
+    /// // See https://www.nalgebra.org/projections/#orthographic-projection for more details.
+    /// let p1 = Point3::new(1.0, 2.0, -0.1);
+    /// let p2 = Point3::new(1.0, 2.0, -1000.0);
+    /// let p3 = Point3::new(1.0, 20.0, -0.1);
+    /// let p4 = Point3::new(1.0, 20.0, -1000.0);
+    /// let p5 = Point3::new(10.0, 2.0, -0.1);
+    /// let p6 = Point3::new(10.0, 2.0, -1000.0);
+    /// let p7 = Point3::new(10.0, 20.0, -0.1);
+    /// let p8 = Point3::new(10.0, 20.0, -1000.0);
+    ///
+    /// assert_relative_eq!(proj.project_point(&p1), Point3::new(-1.0, -1.0, -1.0));
+    /// assert_relative_eq!(proj.project_point(&p2), Point3::new(-1.0, -1.0,  1.0));
+    /// assert_relative_eq!(proj.project_point(&p3), Point3::new(-1.0,  1.0, -1.0));
+    /// assert_relative_eq!(proj.project_point(&p4), Point3::new(-1.0,  1.0,  1.0));
+    /// assert_relative_eq!(proj.project_point(&p5), Point3::new( 1.0, -1.0, -1.0));
+    /// assert_relative_eq!(proj.project_point(&p6), Point3::new( 1.0, -1.0,  1.0));
+    /// assert_relative_eq!(proj.project_point(&p7), Point3::new( 1.0,  1.0, -1.0));
+    /// assert_relative_eq!(proj.project_point(&p8), Point3::new( 1.0,  1.0,  1.0));
+    ///
+    /// // This also works with flipped axis. In other words, we allow that
+    /// // `left > right`, `bottom > top`, and/or `znear > zfar`.
+    /// let proj = Orthographic3::new(10.0, 1.0, 20.0, 2.0, 1000.0, 0.1);
+    ///
+    /// assert_relative_eq!(proj.project_point(&p1), Point3::new( 1.0,  1.0,  1.0));
+    /// assert_relative_eq!(proj.project_point(&p2), Point3::new( 1.0,  1.0, -1.0));
+    /// assert_relative_eq!(proj.project_point(&p3), Point3::new( 1.0, -1.0,  1.0));
+    /// assert_relative_eq!(proj.project_point(&p4), Point3::new( 1.0, -1.0, -1.0));
+    /// assert_relative_eq!(proj.project_point(&p5), Point3::new(-1.0,  1.0,  1.0));
+    /// assert_relative_eq!(proj.project_point(&p6), Point3::new(-1.0,  1.0, -1.0));
+    /// assert_relative_eq!(proj.project_point(&p7), Point3::new(-1.0, -1.0,  1.0));
+    /// assert_relative_eq!(proj.project_point(&p8), Point3::new(-1.0, -1.0, -1.0));
+    /// ```
     #[inline]
     pub fn new(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> Self {
-        assert!(
-            left < right,
-            "The left corner must be farther than the right corner."
-        );
-        assert!(
-            bottom < top,
-            "The top corner must be higher than the bottom corner."
-        );
-        assert!(
-            znear < zfar,
-            "The far plane must be farther than the near plane."
-        );
-
         let matrix = Matrix4::<N>::identity();
         let mut res = Self::from_matrix_unchecked(matrix);
 
@@ -92,6 +120,19 @@ impl<N: Real> Orthographic3<N> {
     ///
     /// It is not checked whether or not the given matrix actually represents an orthographic
     /// projection.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{Orthographic3, Point3, Matrix4};
+    /// let mat = Matrix4::new(
+    ///     2.0 / 9.0, 0.0,        0.0,         -11.0 / 9.0,
+    ///     0.0,       2.0 / 18.0, 0.0,         -22.0 / 18.0,
+    ///     0.0,       0.0,       -2.0 / 999.9, -1000.1 / 999.9,
+    ///     0.0,       0.0,        0.0,         1.0
+    /// );
+    /// let proj = Orthographic3::from_matrix_unchecked(mat);
+    /// assert_eq!(proj, Orthographic3::new(1.0, 10.0, 2.0, 20.0, 0.1, 1000.0));
+    /// ```
     #[inline]
     pub fn from_matrix_unchecked(matrix: Matrix4<N>) -> Self {
         Orthographic3 { matrix: matrix }
@@ -101,8 +142,8 @@ impl<N: Real> Orthographic3<N> {
     #[inline]
     pub fn from_fov(aspect: N, vfov: N, znear: N, zfar: N) -> Self {
         assert!(
-            znear < zfar,
+            znear != zfar,
-            "The far plane must be farther than the near plane."
+            "The far plane must not be equal to the near plane."
         );
         assert!(
             !relative_eq!(aspect, N::zero()),
@@ -124,6 +165,22 @@ impl<N: Real> Orthographic3<N> {
     }
 
     /// Retrieves the inverse of the underlying homogeneous matrix.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{Orthographic3, Point3, Matrix4};
+    /// let proj = Orthographic3::new(1.0, 10.0, 2.0, 20.0, 0.1, 1000.0);
+    /// let inv = proj.inverse();
+    ///
+    /// assert_relative_eq!(inv * proj.as_matrix(), Matrix4::identity());
+    /// assert_relative_eq!(proj.as_matrix() * inv, Matrix4::identity());
+    ///
+    /// let proj = Orthographic3::new(10.0, 1.0, 20.0, 2.0, 1000.0, 0.1);
+    /// let inv = proj.inverse();
+    /// assert_relative_eq!(inv * proj.as_matrix(), Matrix4::identity());
+    /// assert_relative_eq!(proj.as_matrix() * inv, Matrix4::identity());
+    /// ```
     #[inline]
     pub fn inverse(&self) -> Matrix4<N> {
         let mut res = self.to_homogeneous();
@@ -144,66 +201,188 @@ impl<N: Real> Orthographic3<N> {
     }
 
     /// Computes the corresponding homogeneous matrix.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{Orthographic3, Point3, Matrix4};
+    /// let proj = Orthographic3::new(1.0, 10.0, 2.0, 20.0, 0.1, 1000.0);
+    /// let expected = Matrix4::new(
+    ///     2.0 / 9.0, 0.0,        0.0,         -11.0 / 9.0,
+    ///     0.0,       2.0 / 18.0, 0.0,         -22.0 / 18.0,
+    ///     0.0,       0.0,       -2.0 / 999.9, -1000.1 / 999.9,
+    ///     0.0,       0.0,        0.0,         1.0
+    /// );
+    /// assert_eq!(proj.to_homogeneous(), expected);
+    /// ```
     #[inline]
     pub fn to_homogeneous(&self) -> Matrix4<N> {
         self.matrix
     }
 
     /// A reference to the underlying homogeneous transformation matrix.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{Orthographic3, Point3, Matrix4};
+    /// let proj = Orthographic3::new(1.0, 10.0, 2.0, 20.0, 0.1, 1000.0);
+    /// let expected = Matrix4::new(
+    ///     2.0 / 9.0, 0.0,        0.0,         -11.0 / 9.0,
+    ///     0.0,       2.0 / 18.0, 0.0,         -22.0 / 18.0,
+    ///     0.0,       0.0,       -2.0 / 999.9, -1000.1 / 999.9,
+    ///     0.0,       0.0,        0.0,         1.0
+    /// );
+    /// assert_eq!(*proj.as_matrix(), expected);
+    /// ```
     #[inline]
     pub fn as_matrix(&self) -> &Matrix4<N> {
         &self.matrix
     }
 
     /// A reference to this transformation seen as a `Projective3`.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::Orthographic3;
+    /// let proj = Orthographic3::new(1.0, 10.0, 2.0, 20.0, 0.1, 1000.0);
+    /// assert_eq!(proj.as_projective().to_homogeneous(), proj.to_homogeneous());
+    /// ```
     #[inline]
     pub fn as_projective(&self) -> &Projective3<N> {
         unsafe { mem::transmute(self) }
     }
 
     /// This transformation seen as a `Projective3`.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::Orthographic3;
+    /// let proj = Orthographic3::new(1.0, 10.0, 2.0, 20.0, 0.1, 1000.0);
+    /// assert_eq!(proj.to_projective().to_homogeneous(), proj.to_homogeneous());
+    /// ```
     #[inline]
     pub fn to_projective(&self) -> Projective3<N> {
         Projective3::from_matrix_unchecked(self.matrix)
     }
 
     /// Retrieves the underlying homogeneous matrix.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{Orthographic3, Point3, Matrix4};
+    /// let proj = Orthographic3::new(1.0, 10.0, 2.0, 20.0, 0.1, 1000.0);
+    /// let expected = Matrix4::new(
+    ///     2.0 / 9.0, 0.0,        0.0,         -11.0 / 9.0,
+    ///     0.0,       2.0 / 18.0, 0.0,         -22.0 / 18.0,
+    ///     0.0,       0.0,       -2.0 / 999.9, -1000.1 / 999.9,
+    ///     0.0,       0.0,        0.0,         1.0
+    /// );
+    /// assert_eq!(proj.into_inner(), expected);
+    /// ```
+    #[inline]
+    pub fn into_inner(self) -> Matrix4<N> {
+        self.matrix
+    }
+
+    /// Retrieves the underlying homogeneous matrix.
+    /// Deprecated: Use [Orthographic3::into_inner] instead.
+    #[deprecated(note="use `.into_inner()` instead")]
     #[inline]
     pub fn unwrap(self) -> Matrix4<N> {
         self.matrix
     }
 
-    /// The smallest x-coordinate of the view cuboid.
+    /// The left offset of the view cuboid.
+    ///
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::Orthographic3;
+    /// let proj = Orthographic3::new(1.0, 10.0, 2.0, 20.0, 0.1, 1000.0);
+    /// assert_relative_eq!(proj.left(), 1.0, epsilon = 1.0e-6);
+    ///
+    /// let proj = Orthographic3::new(10.0, 1.0, 20.0, 2.0, 1000.0, 0.1);
+    /// assert_relative_eq!(proj.left(), 10.0, epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn left(&self) -> N {
         (-N::one() - self.matrix[(0, 3)]) / self.matrix[(0, 0)]
     }
 
-    /// The largest x-coordinate of the view cuboid.
+    /// The right offset of the view cuboid.
+    ///
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::Orthographic3;
+    /// let proj = Orthographic3::new(1.0, 10.0, 2.0, 20.0, 0.1, 1000.0);
+    /// assert_relative_eq!(proj.right(), 10.0, epsilon = 1.0e-6);
+    ///
+    /// let proj = Orthographic3::new(10.0, 1.0, 20.0, 2.0, 1000.0, 0.1);
+    /// assert_relative_eq!(proj.right(), 1.0, epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn right(&self) -> N {
         (N::one() - self.matrix[(0, 3)]) / self.matrix[(0, 0)]
     }
 
-    /// The smallest y-coordinate of the view cuboid.
+    /// The bottom offset of the view cuboid.
+    ///
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::Orthographic3;
+    /// let proj = Orthographic3::new(1.0, 10.0, 2.0, 20.0, 0.1, 1000.0);
+    /// assert_relative_eq!(proj.bottom(), 2.0, epsilon = 1.0e-6);
+    ///
+    /// let proj = Orthographic3::new(10.0, 1.0, 20.0, 2.0, 1000.0, 0.1);
+    /// assert_relative_eq!(proj.bottom(), 20.0, epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn bottom(&self) -> N {
         (-N::one() - self.matrix[(1, 3)]) / self.matrix[(1, 1)]
     }
 
-    /// The largest y-coordinate of the view cuboid.
+    /// The top offset of the view cuboid.
+    ///
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::Orthographic3;
+    /// let proj = Orthographic3::new(1.0, 10.0, 2.0, 20.0, 0.1, 1000.0);
+    /// assert_relative_eq!(proj.top(), 20.0, epsilon = 1.0e-6);
+    ///
+    /// let proj = Orthographic3::new(10.0, 1.0, 20.0, 2.0, 1000.0, 0.1);
+    /// assert_relative_eq!(proj.top(), 2.0, epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn top(&self) -> N {
         (N::one() - self.matrix[(1, 3)]) / self.matrix[(1, 1)]
     }
 
     /// The near plane offset of the view cuboid.
+    ///
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::Orthographic3;
+    /// let proj = Orthographic3::new(1.0, 10.0, 2.0, 20.0, 0.1, 1000.0);
+    /// assert_relative_eq!(proj.znear(), 0.1, epsilon = 1.0e-6);
+    ///
+    /// let proj = Orthographic3::new(10.0, 1.0, 20.0, 2.0, 1000.0, 0.1);
+    /// assert_relative_eq!(proj.znear(), 1000.0, epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn znear(&self) -> N {
         (N::one() + self.matrix[(2, 3)]) / self.matrix[(2, 2)]
     }
 
     /// The far plane offset of the view cuboid.
+    ///
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::Orthographic3;
+    /// let proj = Orthographic3::new(1.0, 10.0, 2.0, 20.0, 0.1, 1000.0);
+    /// assert_relative_eq!(proj.zfar(), 1000.0, epsilon = 1.0e-6);
+    ///
+    /// let proj = Orthographic3::new(10.0, 1.0, 20.0, 2.0, 1000.0, 0.1);
+    /// assert_relative_eq!(proj.zfar(), 0.1, epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn zfar(&self) -> N {
         (-N::one() + self.matrix[(2, 3)]) / self.matrix[(2, 2)]
@@ -211,6 +390,31 @@ impl<N: Real> Orthographic3<N> {
 
     // FIXME: when we get specialization, specialize the Mul impl instead.
     /// Projects a point. Faster than matrix multiplication.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{Orthographic3, Point3};
+    /// let proj = Orthographic3::new(1.0, 10.0, 2.0, 20.0, 0.1, 1000.0);
+    ///
+    /// let p1 = Point3::new(1.0, 2.0, -0.1);
+    /// let p2 = Point3::new(1.0, 2.0, -1000.0);
+    /// let p3 = Point3::new(1.0, 20.0, -0.1);
+    /// let p4 = Point3::new(1.0, 20.0, -1000.0);
+    /// let p5 = Point3::new(10.0, 2.0, -0.1);
+    /// let p6 = Point3::new(10.0, 2.0, -1000.0);
+    /// let p7 = Point3::new(10.0, 20.0, -0.1);
+    /// let p8 = Point3::new(10.0, 20.0, -1000.0);
+    ///
+    /// assert_relative_eq!(proj.project_point(&p1), Point3::new(-1.0, -1.0, -1.0));
+    /// assert_relative_eq!(proj.project_point(&p2), Point3::new(-1.0, -1.0,  1.0));
+    /// assert_relative_eq!(proj.project_point(&p3), Point3::new(-1.0,  1.0, -1.0));
+    /// assert_relative_eq!(proj.project_point(&p4), Point3::new(-1.0,  1.0,  1.0));
+    /// assert_relative_eq!(proj.project_point(&p5), Point3::new( 1.0, -1.0, -1.0));
+    /// assert_relative_eq!(proj.project_point(&p6), Point3::new( 1.0, -1.0,  1.0));
+    /// assert_relative_eq!(proj.project_point(&p7), Point3::new( 1.0,  1.0, -1.0));
+    /// assert_relative_eq!(proj.project_point(&p8), Point3::new( 1.0,  1.0,  1.0));
+    /// ```
     #[inline]
     pub fn project_point(&self, p: &Point3<N>) -> Point3<N> {
         Point3::new(
@@ -221,6 +425,31 @@ impl<N: Real> Orthographic3<N> {
     }
 
     /// Un-projects a point. Faster than multiplication by the underlying matrix inverse.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{Orthographic3, Point3};
+    /// let proj = Orthographic3::new(1.0, 10.0, 2.0, 20.0, 0.1, 1000.0);
+    ///
+    /// let p1 = Point3::new(-1.0, -1.0, -1.0);
+    /// let p2 = Point3::new(-1.0, -1.0,  1.0);
+    /// let p3 = Point3::new(-1.0,  1.0, -1.0);
+    /// let p4 = Point3::new(-1.0,  1.0,  1.0);
+    /// let p5 = Point3::new( 1.0, -1.0, -1.0);
+    /// let p6 = Point3::new( 1.0, -1.0,  1.0);
+    /// let p7 = Point3::new( 1.0,  1.0, -1.0);
+    /// let p8 = Point3::new( 1.0,  1.0,  1.0);
+    ///
+    /// assert_relative_eq!(proj.unproject_point(&p1), Point3::new(1.0, 2.0, -0.1), epsilon = 1.0e-6);
+    /// assert_relative_eq!(proj.unproject_point(&p2), Point3::new(1.0, 2.0, -1000.0), epsilon = 1.0e-6);
+    /// assert_relative_eq!(proj.unproject_point(&p3), Point3::new(1.0, 20.0, -0.1), epsilon = 1.0e-6);
+    /// assert_relative_eq!(proj.unproject_point(&p4), Point3::new(1.0, 20.0, -1000.0), epsilon = 1.0e-6);
+    /// assert_relative_eq!(proj.unproject_point(&p5), Point3::new(10.0, 2.0, -0.1), epsilon = 1.0e-6);
+    /// assert_relative_eq!(proj.unproject_point(&p6), Point3::new(10.0, 2.0, -1000.0), epsilon = 1.0e-6);
+    /// assert_relative_eq!(proj.unproject_point(&p7), Point3::new(10.0, 20.0, -0.1), epsilon = 1.0e-6);
+    /// assert_relative_eq!(proj.unproject_point(&p8), Point3::new(10.0, 20.0, -1000.0), epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn unproject_point(&self, p: &Point3<N>) -> Point3<N> {
         Point3::new(
@@ -232,6 +461,23 @@ impl<N: Real> Orthographic3<N> {
 
     // FIXME: when we get specialization, specialize the Mul impl instead.
     /// Projects a vector. Faster than matrix multiplication.
+    ///
+    /// Vectors are not affected by the translation part of the projection.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{Orthographic3, Vector3};
+    /// let proj = Orthographic3::new(1.0, 10.0, 2.0, 20.0, 0.1, 1000.0);
+    ///
+    /// let v1 = Vector3::x();
+    /// let v2 = Vector3::y();
+    /// let v3 = Vector3::z();
+    ///
+    /// assert_relative_eq!(proj.project_vector(&v1), Vector3::x() * 2.0 / 9.0);
+    /// assert_relative_eq!(proj.project_vector(&v2), Vector3::y() * 2.0 / 18.0);
+    /// assert_relative_eq!(proj.project_vector(&v3), Vector3::z() * -2.0 / 999.9);
+    /// ```
     #[inline]
     pub fn project_vector<SB>(&self, p: &Vector<N, U3, SB>) -> Vector3<N>
     where SB: Storage<N, U3> {
@@ -242,28 +488,76 @@ impl<N: Real> Orthographic3<N> {
         )
     }
 
-    /// Sets the smallest x-coordinate of the view cuboid.
+    /// Sets the left offset of the view cuboid.
+    ///
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::Orthographic3;
+    /// let mut proj = Orthographic3::new(1.0, 10.0, 2.0, 20.0, 0.1, 1000.0);
+    /// proj.set_left(2.0);
+    /// assert_relative_eq!(proj.left(), 2.0, epsilon = 1.0e-6);
+    ///
+    /// // It is OK to set a left offset greater than the current right offset.
+    /// proj.set_left(20.0);
+    /// assert_relative_eq!(proj.left(), 20.0, epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn set_left(&mut self, left: N) {
         let right = self.right();
         self.set_left_and_right(left, right);
     }
 
-    /// Sets the largest x-coordinate of the view cuboid.
+    /// Sets the right offset of the view cuboid.
+    ///
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::Orthographic3;
+    /// let mut proj = Orthographic3::new(1.0, 10.0, 2.0, 20.0, 0.1, 1000.0);
+    /// proj.set_right(15.0);
+    /// assert_relative_eq!(proj.right(), 15.0, epsilon = 1.0e-6);
+    ///
+    /// // It is OK to set a right offset smaller than the current left offset.
+    /// proj.set_right(-3.0);
+    /// assert_relative_eq!(proj.right(), -3.0, epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn set_right(&mut self, right: N) {
         let left = self.left();
         self.set_left_and_right(left, right);
     }
 
-    /// Sets the smallest y-coordinate of the view cuboid.
+    /// Sets the bottom offset of the view cuboid.
+    ///
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::Orthographic3;
+    /// let mut proj = Orthographic3::new(1.0, 10.0, 2.0, 20.0, 0.1, 1000.0);
+    /// proj.set_bottom(8.0);
+    /// assert_relative_eq!(proj.bottom(), 8.0, epsilon = 1.0e-6);
+    ///
+    /// // It is OK to set a bottom offset greater than the current top offset.
+    /// proj.set_bottom(50.0);
+    /// assert_relative_eq!(proj.bottom(), 50.0, epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn set_bottom(&mut self, bottom: N) {
         let top = self.top();
         self.set_bottom_and_top(bottom, top);
     }
 
-    /// Sets the largest y-coordinate of the view cuboid.
+    /// Sets the top offset of the view cuboid.
+    ///
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::Orthographic3;
+    /// let mut proj = Orthographic3::new(1.0, 10.0, 2.0, 20.0, 0.1, 1000.0);
+    /// proj.set_top(15.0);
+    /// assert_relative_eq!(proj.top(), 15.0, epsilon = 1.0e-6);
+    ///
+    /// // It is OK to set a top offset smaller than the current bottom offset.
+    /// proj.set_top(-3.0);
+    /// assert_relative_eq!(proj.top(), -3.0, epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn set_top(&mut self, top: N) {
         let bottom = self.bottom();
@@ -271,6 +565,18 @@ impl<N: Real> Orthographic3<N> {
     }
 
     /// Sets the near plane offset of the view cuboid.
+    ///
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::Orthographic3;
+    /// let mut proj = Orthographic3::new(1.0, 10.0, 2.0, 20.0, 0.1, 1000.0);
+    /// proj.set_znear(8.0);
+    /// assert_relative_eq!(proj.znear(), 8.0, epsilon = 1.0e-6);
+    ///
+    /// // It is OK to set a znear greater than the current zfar.
+    /// proj.set_znear(5000.0);
+    /// assert_relative_eq!(proj.znear(), 5000.0, epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn set_znear(&mut self, znear: N) {
         let zfar = self.zfar();
@@ -278,39 +584,93 @@ impl<N: Real> Orthographic3<N> {
     }
 
     /// Sets the far plane offset of the view cuboid.
+    ///
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::Orthographic3;
+    /// let mut proj = Orthographic3::new(1.0, 10.0, 2.0, 20.0, 0.1, 1000.0);
+    /// proj.set_zfar(15.0);
+    /// assert_relative_eq!(proj.zfar(), 15.0, epsilon = 1.0e-6);
+    ///
+    /// // It is OK to set a zfar smaller than the current znear.
+    /// proj.set_zfar(-3.0);
+    /// assert_relative_eq!(proj.zfar(), -3.0, epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn set_zfar(&mut self, zfar: N) {
         let znear = self.znear();
         self.set_znear_and_zfar(znear, zfar);
     }
 
-    /// Sets the view cuboid coordinates along the `x` axis.
+    /// Sets the view cuboid offsets along the `x` axis.
+    ///
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::Orthographic3;
+    /// let mut proj = Orthographic3::new(1.0, 10.0, 2.0, 20.0, 0.1, 1000.0);
+    /// proj.set_left_and_right(7.0, 70.0);
+    /// assert_relative_eq!(proj.left(), 7.0, epsilon = 1.0e-6);
+    /// assert_relative_eq!(proj.right(), 70.0, epsilon = 1.0e-6);
+    ///
+    /// // It is also OK to have `left > right`.
+    /// proj.set_left_and_right(70.0, 7.0);
+    /// assert_relative_eq!(proj.left(), 70.0, epsilon = 1.0e-6);
+    /// assert_relative_eq!(proj.right(), 7.0, epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn set_left_and_right(&mut self, left: N, right: N) {
         assert!(
-            left < right,
+            left != right,
-            "The left corner must be farther than the right corner."
+            "The left corner must not be equal to the right corner."
         );
         self.matrix[(0, 0)] = ::convert::<_, N>(2.0) / (right - left);
         self.matrix[(0, 3)] = -(right + left) / (right - left);
     }
 
-    /// Sets the view cuboid coordinates along the `y` axis.
+    /// Sets the view cuboid offsets along the `y` axis.
+    ///
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::Orthographic3;
+    /// let mut proj = Orthographic3::new(1.0, 10.0, 2.0, 20.0, 0.1, 1000.0);
+    /// proj.set_bottom_and_top(7.0, 70.0);
+    /// assert_relative_eq!(proj.bottom(), 7.0, epsilon = 1.0e-6);
+    /// assert_relative_eq!(proj.top(), 70.0, epsilon = 1.0e-6);
+    ///
+    /// // It is also OK to have `bottom > top`.
+    /// proj.set_bottom_and_top(70.0, 7.0);
+    /// assert_relative_eq!(proj.bottom(), 70.0, epsilon = 1.0e-6);
+    /// assert_relative_eq!(proj.top(), 7.0, epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn set_bottom_and_top(&mut self, bottom: N, top: N) {
         assert!(
-            bottom < top,
+            bottom != top,
-            "The top corner must be higher than the bottom corner."
+            "The top corner must not be equal to the bottom corner."
         );
         self.matrix[(1, 1)] = ::convert::<_, N>(2.0) / (top - bottom);
         self.matrix[(1, 3)] = -(top + bottom) / (top - bottom);
     }
 
     /// Sets the near and far plane offsets of the view cuboid.
+    ///
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::Orthographic3;
+    /// let mut proj = Orthographic3::new(1.0, 10.0, 2.0, 20.0, 0.1, 1000.0);
+    /// proj.set_znear_and_zfar(50.0, 5000.0);
+    /// assert_relative_eq!(proj.znear(), 50.0, epsilon = 1.0e-6);
+    /// assert_relative_eq!(proj.zfar(), 5000.0, epsilon = 1.0e-6);
+    ///
+    /// // It is also OK to have `znear > zfar`.
+    /// proj.set_znear_and_zfar(5000.0, 0.5);
+    /// assert_relative_eq!(proj.znear(), 5000.0, epsilon = 1.0e-6);
+    /// assert_relative_eq!(proj.zfar(), 0.5, epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn set_znear_and_zfar(&mut self, znear: N, zfar: N) {
         assert!(
-            !relative_eq!(zfar - znear, N::zero()),
+            zfar != znear,
             "The near-plane and far-plane must not be superimposed."
         );
         self.matrix[(2, 2)] = -::convert::<_, N>(2.0) / (zfar - znear);
@@ -352,6 +712,6 @@ where Matrix4<N>: Send
 impl<N: Real> From<Orthographic3<N>> for Matrix4<N> {
     #[inline]
     fn from(orth: Orthographic3<N>) -> Self {
-        orth.unwrap()
+        orth.into_inner()
     }
 }

src/geometry/perspective.rs

@@ -141,6 +141,14 @@ impl<N: Real> Perspective3<N> {
 
     /// Retrieves the underlying homogeneous matrix.
     #[inline]
+    pub fn into_inner(self) -> Matrix4<N> {
+        self.matrix
+    }
+
+    /// Retrieves the underlying homogeneous matrix.
+    /// Deprecated: Use [Perspective3::into_inner] instead.
+    #[deprecated(note="use `.into_inner()` instead")]
+    #[inline]
     pub fn unwrap(self) -> Matrix4<N> {
         self.matrix
     }
@@ -279,6 +287,6 @@ impl<N: Real + Arbitrary> Arbitrary for Perspective3<N> {
 impl<N: Real> From<Perspective3<N>> for Matrix4<N> {
     #[inline]
     fn from(orth: Perspective3<N>) -> Self {
-        orth.unwrap()
+        orth.into_inner()
     }
 }

src/geometry/point.rs

@@ -19,7 +19,7 @@ use base::{DefaultAllocator, Scalar, VectorN};
 
 /// A point in a n-dimensional euclidean space.
 #[repr(C)]
-#[derive(Debug)]
+#[derive(Debug, Clone)]
 pub struct Point<N: Scalar, D: DimName>
 where DefaultAllocator: Allocator<N, D>
 {
@@ -44,17 +44,6 @@ where
 {
 }
 
-impl<N: Scalar, D: DimName> Clone for Point<N, D>
-where
-    DefaultAllocator: Allocator<N, D>,
-    <DefaultAllocator as Allocator<N, D>>::Buffer: Clone,
-{
-    #[inline]
-    fn clone(&self) -> Self {
-        Point::from_coordinates(self.coords.clone())
-    }
-}
-
 #[cfg(feature = "serde-serialize")]
 impl<N: Scalar, D: DimName> Serialize for Point<N, D>
 where
@@ -77,7 +66,7 @@ where
     where Des: Deserializer<'a> {
         let coords = VectorN::<N, D>::deserialize(deserializer)?;
 
-        Ok(Point::from_coordinates(coords))
+        Ok(Point::from(coords))
     }
 }
 
@@ -105,14 +94,21 @@ where
 impl<N: Scalar, D: DimName> Point<N, D>
 where DefaultAllocator: Allocator<N, D>
 {
-    /// Clones this point into one that owns its data.
-    #[inline]
-    pub fn clone(&self) -> Point<N, D> {
-        Point::from_coordinates(self.coords.clone_owned())
-    }
-
     /// Converts this point into a vector in homogeneous coordinates, i.e., appends a `1` at the
     /// end of it.
+    ///
+    /// This is the same as `.into()`.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{Point2, Point3, Vector3, Vector4};
+    /// let p = Point2::new(10.0, 20.0);
+    /// assert_eq!(p.to_homogeneous(), Vector3::new(10.0, 20.0, 1.0));
+    ///
+    /// // This works in any dimension.
+    /// let p = Point3::new(10.0, 20.0, 30.0);
+    /// assert_eq!(p.to_homogeneous(), Vector4::new(10.0, 20.0, 30.0, 1.0));
+    /// ```
     #[inline]
     pub fn to_homogeneous(&self) -> VectorN<N, DimNameSum<D, U1>>
     where
@@ -128,12 +124,24 @@ where DefaultAllocator: Allocator<N, D>
     }
 
     /// Creates a new point with the given coordinates.
+    #[deprecated(note = "Use Point::from(vector) instead.")]
     #[inline]
     pub fn from_coordinates(coords: VectorN<N, D>) -> Point<N, D> {
         Point { coords: coords }
     }
 
     /// The dimension of this point.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{Point2, Point3};
+    /// let p = Point2::new(1.0, 2.0);
+    /// assert_eq!(p.len(), 2);
+    ///
+    /// // This works in any dimension.
+    /// let p = Point3::new(10.0, 20.0, 30.0);
+    /// assert_eq!(p.len(), 3);
+    /// ```
     #[inline]
     pub fn len(&self) -> usize {
         self.coords.len()
@@ -142,11 +150,23 @@ where DefaultAllocator: Allocator<N, D>
     /// The stride of this point. This is the number of buffer element separating each component of
     /// this point.
     #[inline]
+    #[deprecated(note = "This methods is no longer significant and will always return 1.")]
     pub fn stride(&self) -> usize {
         self.coords.strides().0
     }
 
     /// Iterates through this point coordinates.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::Point3;
+    /// let p = Point3::new(1.0, 2.0, 3.0);
+    /// let mut it = p.iter().cloned();
+    ///
+    /// assert_eq!(it.next(), Some(1.0));
+    /// assert_eq!(it.next(), Some(2.0));
+    /// assert_eq!(it.next(), Some(3.0));
+    /// assert_eq!(it.next(), None);
     #[inline]
     pub fn iter(&self) -> MatrixIter<N, D, U1, <DefaultAllocator as Allocator<N, D>>::Buffer> {
         self.coords.iter()
@@ -159,6 +179,17 @@ where DefaultAllocator: Allocator<N, D>
     }
 
     /// Mutably iterates through this point coordinates.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::Point3;
+    /// let mut p = Point3::new(1.0, 2.0, 3.0);
+    ///
+    /// for e in p.iter_mut() {
+    ///     *e *= 10.0;
+    /// }
+    ///
+    /// assert_eq!(p, Point3::new(10.0, 20.0, 30.0));
     #[inline]
     pub fn iter_mut(
         &mut self,

src/geometry/point_alga.rs

@@ -33,7 +33,7 @@ where DefaultAllocator: Allocator<N, D>
 
     #[inline]
     fn from_coordinates(coords: Self::Coordinates) -> Self {
-        Self::from_coordinates(coords)
+        Self::from(coords)
     }
 
     #[inline]
@@ -54,7 +54,7 @@ where
 {
     #[inline]
     fn meet(&self, other: &Self) -> Self {
-        Point::from_coordinates(self.coords.meet(&other.coords))
+        Point::from(self.coords.meet(&other.coords))
     }
 }
 
@@ -65,7 +65,7 @@ where
 {
     #[inline]
     fn join(&self, other: &Self) -> Self {
-        Point::from_coordinates(self.coords.join(&other.coords))
+        Point::from(self.coords.join(&other.coords))
     }
 }
 
@@ -78,6 +78,6 @@ where
     fn meet_join(&self, other: &Self) -> (Self, Self) {
         let (meet, join) = self.coords.meet_join(&other.coords);
 
-        (Point::from_coordinates(meet), Point::from_coordinates(join))
+        (Point::from(meet), Point::from(join))
     }
 }

src/geometry/point_construction.rs

@@ -18,26 +18,79 @@ where DefaultAllocator: Allocator<N, D>
     /// Creates a new point with uninitialized coordinates.
     #[inline]
     pub unsafe fn new_uninitialized() -> Self {
-        Self::from_coordinates(VectorN::new_uninitialized())
+        Self::from(VectorN::new_uninitialized())
     }
 
     /// Creates a new point with all coordinates equal to zero.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use nalgebra::{Point2, Point3};
+    /// // This works in any dimension.
+    /// // The explicit ::<f32> type annotation may not always be needed,
+    /// // depending on the context of type inference.
+    /// let pt = Point2::<f32>::origin();
+    /// assert!(pt.x == 0.0 && pt.y == 0.0);
+    ///
+    /// let pt = Point3::<f32>::origin();
+    /// assert!(pt.x == 0.0 && pt.y == 0.0 && pt.z == 0.0);
+    /// ```
     #[inline]
     pub fn origin() -> Self
     where N: Zero {
-        Self::from_coordinates(VectorN::from_element(N::zero()))
+        Self::from(VectorN::from_element(N::zero()))
     }
 
     /// Creates a new point from a slice.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use nalgebra::{Point2, Point3};
+    /// let data = [ 1.0, 2.0, 3.0 ];
+    ///
+    /// let pt = Point2::from_slice(&data[..2]);
+    /// assert_eq!(pt, Point2::new(1.0, 2.0));
+    ///
+    /// let pt = Point3::from_slice(&data);
+    /// assert_eq!(pt, Point3::new(1.0, 2.0, 3.0));
+    /// ```
     #[inline]
     pub fn from_slice(components: &[N]) -> Self {
-        Self::from_coordinates(VectorN::from_row_slice(components))
+        Self::from(VectorN::from_row_slice(components))
     }
 
     /// Creates a new point from its homogeneous vector representation.
     ///
     /// In practice, this builds a D-dimensional points with the same first D component as `v`
     /// divided by the last component of `v`. Returns `None` if this divisor is zero.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use nalgebra::{Point2, Point3, Vector3, Vector4};
+    ///
+    /// let coords = Vector4::new(1.0, 2.0, 3.0, 1.0);
+    /// let pt = Point3::from_homogeneous(coords);
+    /// assert_eq!(pt, Some(Point3::new(1.0, 2.0, 3.0)));
+    ///
+    /// // All component of the result will be divided by the
+    /// // last component of the vector, here 2.0.
+    /// let coords = Vector4::new(1.0, 2.0, 3.0, 2.0);
+    /// let pt = Point3::from_homogeneous(coords);
+    /// assert_eq!(pt, Some(Point3::new(0.5, 1.0, 1.5)));
+    ///
+    /// // Fails because the last component is zero.
+    /// let coords = Vector4::new(1.0, 2.0, 3.0, 0.0);
+    /// let pt = Point3::from_homogeneous(coords);
+    /// assert!(pt.is_none());
+    ///
+    /// // Works also in other dimensions.
+    /// let coords = Vector3::new(1.0, 2.0, 1.0);
+    /// let pt = Point2::from_homogeneous(coords);
+    /// assert_eq!(pt, Some(Point2::new(1.0, 2.0)));
+    /// ```
     #[inline]
     pub fn from_homogeneous(v: VectorN<N, DimNameSum<D, U1>>) -> Option<Self>
     where
@@ -47,7 +100,7 @@ where DefaultAllocator: Allocator<N, D>
     {
         if !v[D::dim()].is_zero() {
             let coords = v.fixed_slice::<D, U1>(0, 0) / v[D::dim()];
-            Some(Self::from_coordinates(coords))
+            Some(Self::from(coords))
         } else {
             None
         }
@@ -64,12 +117,12 @@ where DefaultAllocator: Allocator<N, D>
 {
     #[inline]
     fn max_value() -> Self {
-        Self::from_coordinates(VectorN::max_value())
+        Self::from(VectorN::max_value())
     }
 
     #[inline]
     fn min_value() -> Self {
-        Self::from_coordinates(VectorN::min_value())
+        Self::from(VectorN::min_value())
     }
 }
 
@@ -80,7 +133,7 @@ where
 {
     #[inline]
     fn sample<'a, G: Rng + ?Sized>(&self, rng: &mut G) -> Point<N, D> {
-        Point::from_coordinates(rng.gen::<VectorN<N, D>>())
+        Point::from(rng.gen::<VectorN<N, D>>())
     }
 }
 
@@ -92,7 +145,7 @@ where
 {
     #[inline]
     fn arbitrary<G: Gen>(g: &mut G) -> Self {
-        Point::from_coordinates(VectorN::arbitrary(g))
+        Point::from(VectorN::arbitrary(g))
     }
 }
 
@@ -102,10 +155,13 @@ where
  *
  */
 macro_rules! componentwise_constructors_impl(
-    ($($D: ty, $($args: ident:$irow: expr),*);* $(;)*) => {$(
+    ($($doc: expr; $D: ty, $($args: ident:$irow: expr),*);* $(;)*) => {$(
         impl<N: Scalar> Point<N, $D>
             where DefaultAllocator: Allocator<N, $D> {
-            /// Initializes this matrix from its components.
+            #[doc = "Initializes this point from its components."]
+            #[doc = "# Example\n```"]
+            #[doc = $doc]
+            #[doc = "```"]
             #[inline]
             pub fn new($($args: N),*) -> Point<N, $D> {
                 unsafe {
@@ -120,11 +176,17 @@ macro_rules! componentwise_constructors_impl(
 );
 
 componentwise_constructors_impl!(
+    "# use nalgebra::Point1;\nlet p = Point1::new(1.0);\nassert!(p.x == 1.0);";
     U1, x:0;
+    "# use nalgebra::Point2;\nlet p = Point2::new(1.0, 2.0);\nassert!(p.x == 1.0 && p.y == 2.0);";
     U2, x:0, y:1;
+    "# use nalgebra::Point3;\nlet p = Point3::new(1.0, 2.0, 3.0);\nassert!(p.x == 1.0 && p.y == 2.0 && p.z == 3.0);";
     U3, x:0, y:1, z:2;
+    "# use nalgebra::Point4;\nlet p = Point4::new(1.0, 2.0, 3.0, 4.0);\nassert!(p.x == 1.0 && p.y == 2.0 && p.z == 3.0 && p.w == 4.0);";
     U4, x:0, y:1, z:2, w:3;
+    "# use nalgebra::Point5;\nlet p = Point5::new(1.0, 2.0, 3.0, 4.0, 5.0);\nassert!(p.x == 1.0 && p.y == 2.0 && p.z == 3.0 && p.w == 4.0 && p.a == 5.0);";
     U5, x:0, y:1, z:2, w:3, a:4;
+    "# 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);";
     U6, x:0, y:1, z:2, w:3, a:4, b:5;
 );
 
@@ -132,7 +194,9 @@ macro_rules! from_array_impl(
     ($($D: ty, $len: expr);*) => {$(
       impl <N: Scalar> From<[N; $len]> for Point<N, $D> {
           fn from (coords: [N; $len]) -> Self {
-              Point::from_coordinates(coords.into())
+              Point {
+                coords: coords.into()
+              }
           }
       }
     )*}

src/geometry/point_conversion.rs

@@ -33,7 +33,7 @@ where
 {
     #[inline]
     fn to_superset(&self) -> Point<N2, D> {
-        Point::from_coordinates(self.coords.to_superset())
+        Point::from(self.coords.to_superset())
     }
 
     #[inline]
@@ -45,7 +45,7 @@ where
 
     #[inline]
     unsafe fn from_superset_unchecked(m: &Point<N2, D>) -> Self {
-        Point::from_coordinates(Matrix::from_superset_unchecked(&m.coords))
+        Point::from(Matrix::from_superset_unchecked(&m.coords))
     }
 }
 
@@ -73,7 +73,9 @@ where
     #[inline]
     unsafe fn from_superset_unchecked(v: &VectorN<N2, DimNameSum<D, U1>>) -> Self {
         let coords = v.fixed_slice::<D, U1>(0, 0) / v[D::dim()];
-        Self::from_coordinates(::convert_unchecked(coords))
+        Self {
+            coords: ::convert_unchecked(coords)
+        }
     }
 }
 
@@ -138,3 +140,15 @@ where
         t.to_homogeneous()
     }
 }
+
+impl<N: Scalar, D: DimName> From<VectorN<N, D>> for Point<N, D>
+    where
+        DefaultAllocator: Allocator<N, D>,
+{
+    #[inline]
+    fn from(coords: VectorN<N, D>) -> Self {
+        Point {
+            coords
+        }
+    }
+}

src/geometry/point_ops.rs

@@ -50,7 +50,7 @@ where DefaultAllocator: Allocator<N, D>
 
     #[inline]
     fn neg(self) -> Self::Output {
-        Point::from_coordinates(-self.coords)
+        Point::from(-self.coords)
     }
 }
 
@@ -61,7 +61,7 @@ where DefaultAllocator: Allocator<N, D>
 
     #[inline]
     fn neg(self) -> Self::Output {
-        Point::from_coordinates(-&self.coords)
+        Point::from(-&self.coords)
     }
 }
 
@@ -96,43 +96,43 @@ add_sub_impl!(Sub, sub, ClosedSub;
 add_sub_impl!(Sub, sub, ClosedSub;
     (D1, U1), (D2, U1) -> (D1) for D1: DimName, D2: Dim, SB: Storage<N, D2>;
     self: &'a Point<N, D1>, right: &'b Vector<N, D2, SB>, Output = Point<N, D1>;
-    Self::Output::from_coordinates(&self.coords - right); 'a, 'b);
+    Self::Output::from(&self.coords - right); 'a, 'b);
 
 add_sub_impl!(Sub, sub, ClosedSub;
     (D1, U1), (D2, U1) -> (D1) for D1: DimName, D2: Dim, SB: Storage<N, D2>;
     self: &'a Point<N, D1>, right: Vector<N, D2, SB>, Output = Point<N, D1>;
-    Self::Output::from_coordinates(&self.coords - &right); 'a); // FIXME: should not be a ref to `right`.
+    Self::Output::from(&self.coords - &right); 'a); // FIXME: should not be a ref to `right`.
 
 add_sub_impl!(Sub, sub, ClosedSub;
     (D1, U1), (D2, U1) -> (D1) for D1: DimName, D2: Dim, SB: Storage<N, D2>;
     self: Point<N, D1>, right: &'b Vector<N, D2, SB>, Output = Point<N, D1>;
-    Self::Output::from_coordinates(self.coords - right); 'b);
+    Self::Output::from(self.coords - right); 'b);
 
 add_sub_impl!(Sub, sub, ClosedSub;
     (D1, U1), (D2, U1) -> (D1) for D1: DimName, D2: Dim, SB: Storage<N, D2>;
     self: Point<N, D1>, right: Vector<N, D2, SB>, Output = Point<N, D1>;
-    Self::Output::from_coordinates(self.coords - right); );
+    Self::Output::from(self.coords - right); );
 
 // Point + Vector
 add_sub_impl!(Add, add, ClosedAdd;
     (D1, U1), (D2, U1) -> (D1) for D1: DimName, D2: Dim, SB: Storage<N, D2>;
     self: &'a Point<N, D1>, right: &'b Vector<N, D2, SB>, Output = Point<N, D1>;
-    Self::Output::from_coordinates(&self.coords + right); 'a, 'b);
+    Self::Output::from(&self.coords + right); 'a, 'b);
 
 add_sub_impl!(Add, add, ClosedAdd;
     (D1, U1), (D2, U1) -> (D1) for D1: DimName, D2: Dim, SB: Storage<N, D2>;
     self: &'a Point<N, D1>, right: Vector<N, D2, SB>, Output = Point<N, D1>;
-    Self::Output::from_coordinates(&self.coords + &right); 'a); // FIXME: should not be a ref to `right`.
+    Self::Output::from(&self.coords + &right); 'a); // FIXME: should not be a ref to `right`.
 
 add_sub_impl!(Add, add, ClosedAdd;
     (D1, U1), (D2, U1) -> (D1) for D1: DimName, D2: Dim, SB: Storage<N, D2>;
     self: Point<N, D1>, right: &'b Vector<N, D2, SB>, Output = Point<N, D1>;
-    Self::Output::from_coordinates(self.coords + right); 'b);
+    Self::Output::from(self.coords + right); 'b);
 
 add_sub_impl!(Add, add, ClosedAdd;
     (D1, U1), (D2, U1) -> (D1) for D1: DimName, D2: Dim, SB: Storage<N, D2>;
     self: Point<N, D1>, right: Vector<N, D2, SB>, Output = Point<N, D1>;
-    Self::Output::from_coordinates(self.coords + right); );
+    Self::Output::from(self.coords + right); );
 
 // XXX: replace by the shared macro: add_sub_assign_impl
 macro_rules! op_assign_impl(
@@ -178,10 +178,10 @@ md_impl_all!(
     (R1, C1), (D2, U1) for R1: DimName, C1: Dim, D2: DimName, SA: Storage<N, R1, C1>
     where ShapeConstraint: AreMultipliable<R1, C1, D2, U1>;
     self: Matrix<N, R1, C1, SA>, right: Point<N, D2>, Output = Point<N, R1>;
-    [val val] => Point::from_coordinates(self * right.coords);
+    [val val] => Point::from(self * right.coords);
-    [ref val] => Point::from_coordinates(self * right.coords);
+    [ref val] => Point::from(self * right.coords);
-    [val ref] => Point::from_coordinates(self * &right.coords);
+    [val ref] => Point::from(self * &right.coords);
-    [ref ref] => Point::from_coordinates(self * &right.coords);
+    [ref ref] => Point::from(self * &right.coords);
 );
 
 /*
@@ -198,7 +198,7 @@ macro_rules! componentwise_scalarop_impl(
 
             #[inline]
             fn $method(self, right: N) -> Self::Output {
-                Point::from_coordinates(self.coords.$method(right))
+                Point::from(self.coords.$method(right))
             }
         }
 
@@ -208,7 +208,7 @@ macro_rules! componentwise_scalarop_impl(
 
             #[inline]
             fn $method(self, right: N) -> Self::Output {
-                Point::from_coordinates((&self.coords).$method(right))
+                Point::from((&self.coords).$method(right))
             }
         }
 
@@ -233,7 +233,7 @@ macro_rules! left_scalar_mul_impl(
 
             #[inline]
             fn mul(self, right: Point<$T, D>) -> Self::Output {
-                Point::from_coordinates(self * right.coords)
+                Point::from(self * right.coords)
             }
         }
 
@@ -243,7 +243,7 @@ macro_rules! left_scalar_mul_impl(
 
             #[inline]
             fn mul(self, right: &'b Point<$T, D>) -> Self::Output {
-                Point::from_coordinates(self * &right.coords)
+                Point::from(self * &right.coords)
             }
         }
     )*}

src/geometry/quaternion.rs

@@ -68,7 +68,7 @@ impl<N: Real> Copy for Quaternion<N> {}
 impl<N: Real> Clone for Quaternion<N> {
     #[inline]
     fn clone(&self) -> Self {
-        Quaternion::from_vector(self.coords.clone())
+        Quaternion::from(self.coords.clone())
     }
 }
 
@@ -90,7 +90,7 @@ where Owned<N, U4>: Deserialize<'a>
     where Des: Deserializer<'a> {
         let coords = Vector4::<N>::deserialize(deserializer)?;
 
-        Ok(Quaternion::from_vector(coords))
+        Ok(Quaternion::from(coords))
     }
 }
 
@@ -106,16 +106,33 @@ impl<N: Real> Quaternion<N> {
     #[inline]
     #[deprecated(note = "This method is a no-op and will be removed in a future release.")]
     pub fn clone_owned(&self) -> Quaternion<N> {
-        Quaternion::from_vector(self.coords.clone_owned())
+        Quaternion::from(self.coords.clone_owned())
     }
 
     /// Normalizes this quaternion.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::Quaternion;
+    /// let q = Quaternion::new(1.0, 2.0, 3.0, 4.0);
+    /// let q_normalized = q.normalize();
+    /// relative_eq!(q_normalized.norm(), 1.0);
+    /// ```
     #[inline]
     pub fn normalize(&self) -> Quaternion<N> {
-        Quaternion::from_vector(self.coords.normalize())
+        Quaternion::from(self.coords.normalize())
     }
 
-    /// Compute the conjugate of this quaternion.
+    /// The conjugate of this quaternion.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::Quaternion;
+    /// let q = Quaternion::new(1.0, 2.0, 3.0, 4.0);
+    /// let conj = q.conjugate();
+    /// assert!(conj.i == -2.0 && conj.j == -3.0 && conj.k == -4.0 && conj.w == 1.0);
+    /// ```
     #[inline]
     pub fn conjugate(&self) -> Quaternion<N> {
         let v = Vector4::new(
@@ -124,13 +141,30 @@ impl<N: Real> Quaternion<N> {
             -self.coords[2],
             self.coords[3],
         );
-        Quaternion::from_vector(v)
+        Quaternion::from(v)
     }
 
     /// Inverts this quaternion if it is not zero.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::Quaternion;
+    /// let q = Quaternion::new(1.0, 2.0, 3.0, 4.0);
+    /// let inv_q = q.try_inverse();
+    ///
+    /// assert!(inv_q.is_some());
+    /// assert_relative_eq!(inv_q.unwrap() * q, Quaternion::identity());
+    ///
+    /// //Non-invertible case
+    /// let q = Quaternion::new(0.0, 0.0, 0.0, 0.0);
+    /// let inv_q = q.try_inverse();
+    ///
+    /// assert!(inv_q.is_none());
+    /// ```
     #[inline]
     pub fn try_inverse(&self) -> Option<Quaternion<N>> {
-        let mut res = Quaternion::from_vector(self.coords.clone_owned());
+        let mut res = Quaternion::from(self.coords.clone_owned());
 
         if res.try_inverse_mut() {
             Some(res)
@@ -140,30 +174,74 @@ impl<N: Real> Quaternion<N> {
     }
 
     /// Linear interpolation between two quaternion.
+    ///
+    /// Computes `self * (1 - t) + other * t`.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::Quaternion;
+    /// let q1 = Quaternion::new(1.0, 2.0, 3.0, 4.0);
+    /// let q2 = Quaternion::new(10.0, 20.0, 30.0, 40.0);
+    ///
+    /// assert_eq!(q1.lerp(&q2, 0.1), Quaternion::new(1.9, 3.8, 5.7, 7.6));
+    /// ```
     #[inline]
     pub fn lerp(&self, other: &Quaternion<N>, t: N) -> Quaternion<N> {
         self * (N::one() - t) + other * t
     }
 
     /// The vector part `(i, j, k)` of this quaternion.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::Quaternion;
+    /// let q = Quaternion::new(1.0, 2.0, 3.0, 4.0);
+    /// assert_eq!(q.vector()[0], 2.0);
+    /// assert_eq!(q.vector()[1], 3.0);
+    /// assert_eq!(q.vector()[2], 4.0);
+    /// ```
     #[inline]
     pub fn vector(&self) -> MatrixSlice<N, U3, U1, RStride<N, U4, U1>, CStride<N, U4, U1>> {
         self.coords.fixed_rows::<U3>(0)
     }
 
     /// The scalar part `w` of this quaternion.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::Quaternion;
+    /// let q = Quaternion::new(1.0, 2.0, 3.0, 4.0);
+    /// assert_eq!(q.scalar(), 1.0);
+    /// ```
     #[inline]
     pub fn scalar(&self) -> N {
         self.coords[3]
     }
 
     /// Reinterprets this quaternion as a 4D vector.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{Vector4, Quaternion};
+    /// let q = Quaternion::new(1.0, 2.0, 3.0, 4.0);
+    /// // Recall that the quaternion is stored internally as (i, j, k, w)
+    /// // while the ::new constructor takes the arguments as (w, i, j, k).
+    /// assert_eq!(*q.as_vector(), Vector4::new(2.0, 3.0, 4.0, 1.0));
+    /// ```
     #[inline]
     pub fn as_vector(&self) -> &Vector4<N> {
         &self.coords
     }
 
     /// The norm of this quaternion.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::Quaternion;
+    /// let q = Quaternion::new(1.0, 2.0, 3.0, 4.0);
+    /// assert_relative_eq!(q.norm(), 5.47722557, epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn norm(&self) -> N {
         self.coords.norm()
@@ -172,30 +250,58 @@ impl<N: Real> Quaternion<N> {
     /// A synonym for the norm of this quaternion.
     ///
     /// Aka the length.
+    /// This is the same as `.norm()`
     ///
-    /// This function is simply implemented as a call to `norm()`
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::Quaternion;
+    /// let q = Quaternion::new(1.0, 2.0, 3.0, 4.0);
+    /// assert_relative_eq!(q.magnitude(), 5.47722557, epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn magnitude(&self) -> N {
         self.norm()
     }
 
-    /// A synonym for the squared norm of this quaternion.
-    ///
-    /// Aka the squared length.
-    ///
-    /// This function is simply implemented as a call to `norm_squared()`
-    #[inline]
-    pub fn magnitude_squared(&self) -> N {
-        self.norm_squared()
-    }
-
     /// The squared norm of this quaternion.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::Quaternion;
+    /// let q = Quaternion::new(1.0, 2.0, 3.0, 4.0);
+    /// assert_eq!(q.magnitude_squared(), 30.0);
+    /// ```
     #[inline]
     pub fn norm_squared(&self) -> N {
         self.coords.norm_squared()
     }
 
+    /// A synonym for the squared norm of this quaternion.
+    ///
+    /// Aka the squared length.
+    /// This is the same as `.norm_squared()`
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::Quaternion;
+    /// let q = Quaternion::new(1.0, 2.0, 3.0, 4.0);
+    /// assert_eq!(q.magnitude_squared(), 30.0);
+    /// ```
+    #[inline]
+    pub fn magnitude_squared(&self) -> N {
+        self.norm_squared()
+    }
+
     /// The dot product of two quaternions.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::Quaternion;
+    /// let q1 = Quaternion::new(1.0, 2.0, 3.0, 4.0);
+    /// let q2 = Quaternion::new(5.0, 6.0, 7.0, 8.0);
+    /// assert_eq!(q1.dot(&q2), 70.0);
+    /// ```
     #[inline]
     pub fn dot(&self, rhs: &Self) -> N {
         self.coords.dot(&rhs.coords)
@@ -205,6 +311,17 @@ impl<N: Real> Quaternion<N> {
     ///
     /// Returns, from left to right: the quaternion norm, the half rotation angle, the rotation
     /// axis. If the rotation angle is zero, the rotation axis is set to `None`.
+    ///
+    /// # Example
+    /// ```
+    /// # use std::f32;
+    /// # use nalgebra::{Vector3, Quaternion};
+    /// let q = Quaternion::new(0.0, 5.0, 0.0, 0.0);
+    /// let (norm, half_ang, axis) = q.polar_decomposition();
+    /// assert_eq!(norm, 5.0);
+    /// assert_eq!(half_ang, f32::consts::FRAC_PI_2);
+    /// assert_eq!(axis, Some(Vector3::x_axis()));
+    /// ```
     pub fn polar_decomposition(&self) -> (N, N, Option<Unit<Vector3<N>>>) {
         if let Some((q, n)) = Unit::try_new_and_get(*self, N::zero()) {
             if let Some(axis) = Unit::try_new(self.vector().clone_owned(), N::zero()) {
@@ -219,13 +336,52 @@ impl<N: Real> Quaternion<N> {
         }
     }
 
+    /// Compute the natural logarithm of a quaternion.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::Quaternion;
+    /// let q = Quaternion::new(2.0, 5.0, 0.0, 0.0);
+    /// assert_relative_eq!(q.ln(), Quaternion::new(1.683647, 1.190289, 0.0, 0.0), epsilon = 1.0e-6)
+    /// ```
+    #[inline]
+    pub fn ln(&self) -> Quaternion<N> {
+        let n = self.norm();
+        let v = self.vector();
+        let s = self.scalar();
+
+        Quaternion::from_parts(n.ln(), v.normalize() * (s / n).acos())
+    }
+
     /// Compute the exponential of a quaternion.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::Quaternion;
+    /// let q = Quaternion::new(1.683647, 1.190289, 0.0, 0.0);
+    /// assert_relative_eq!(q.exp(), Quaternion::new(2.0, 5.0, 0.0, 0.0), epsilon = 1.0e-5)
+    /// ```
     #[inline]
     pub fn exp(&self) -> Quaternion<N> {
         self.exp_eps(N::default_epsilon())
     }
 
-    /// Compute the exponential of a quaternion.
+    /// Compute the exponential of a quaternion. Returns the identity if the vector part of this quaternion
+    /// has a norm smaller than `eps`.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::Quaternion;
+    /// let q = Quaternion::new(1.683647, 1.190289, 0.0, 0.0);
+    /// assert_relative_eq!(q.exp_eps(1.0e-6), Quaternion::new(2.0, 5.0, 0.0, 0.0), epsilon = 1.0e-5);
+    ///
+    /// // Singular case.
+    /// let q = Quaternion::new(0.0000001, 0.0, 0.0, 0.0);
+    /// assert_eq!(q.exp_eps(1.0e-6), Quaternion::identity());
+    /// ```
     #[inline]
     pub fn exp_eps(&self, eps: N) -> Quaternion<N> {
         let v = self.vector();
@@ -238,33 +394,52 @@ impl<N: Real> Quaternion<N> {
             let n = nn.sqrt();
             let nv = v * (w_exp * n.sin() / n);
 
-            Quaternion::from_parts(n.cos(), nv)
+            Quaternion::from_parts(w_exp * n.cos(), nv)
         }
     }
 
-    /// Compute the natural logarithm of a quaternion.
-    #[inline]
-    pub fn ln(&self) -> Quaternion<N> {
-        let n = self.norm();
-        let v = self.vector();
-        let s = self.scalar();
-
-        Quaternion::from_parts(n.ln(), v.normalize() * (s / n).acos())
-    }
-
     /// Raise the quaternion to a given floating power.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::Quaternion;
+    /// let q = Quaternion::new(1.0, 2.0, 3.0, 4.0);
+    /// assert_relative_eq!(q.powf(1.5), Quaternion::new( -6.2576659, 4.1549037, 6.2323556, 8.3098075), epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn powf(&self, n: N) -> Quaternion<N> {
         (self.ln() * n).exp()
     }
 
     /// Transforms this quaternion into its 4D vector form (Vector part, Scalar part).
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{Quaternion, Vector4};
+    /// let mut q = Quaternion::identity();
+    /// *q.as_vector_mut() = Vector4::new(1.0, 2.0, 3.0, 4.0);
+    /// assert!(q.i == 1.0 && q.j == 2.0 && q.k == 3.0 && q.w == 4.0);
+    /// ```
     #[inline]
     pub fn as_vector_mut(&mut self) -> &mut Vector4<N> {
         &mut self.coords
     }
 
     /// The mutable vector part `(i, j, k)` of this quaternion.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{Quaternion, Vector4};
+    /// let mut q = Quaternion::identity();
+    /// {
+    ///     let mut v = q.vector_mut();
+    ///     v[0] = 2.0;
+    ///     v[1] = 3.0;
+    ///     v[2] = 4.0;
+    /// }
+    /// assert!(q.i == 2.0 && q.j == 3.0 && q.k == 4.0 && q.w == 1.0);
+    /// ```
     #[inline]
     pub fn vector_mut(
         &mut self,
@@ -273,6 +448,14 @@ impl<N: Real> Quaternion<N> {
     }
 
     /// Replaces this quaternion by its conjugate.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::Quaternion;
+    /// let mut q = Quaternion::new(1.0, 2.0, 3.0, 4.0);
+    /// q.conjugate_mut();
+    /// assert!(q.i == -2.0 && q.j == -3.0 && q.k == -4.0 && q.w == 1.0);
+    /// ```
     #[inline]
     pub fn conjugate_mut(&mut self) {
         self.coords[0] = -self.coords[0];
@@ -281,6 +464,20 @@ impl<N: Real> Quaternion<N> {
     }
 
     /// Inverts this quaternion in-place if it is not zero.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::Quaternion;
+    /// let mut q = Quaternion::new(1.0, 2.0, 3.0, 4.0);
+    ///
+    /// assert!(q.try_inverse_mut());
+    /// assert_relative_eq!(q * Quaternion::new(1.0, 2.0, 3.0, 4.0), Quaternion::identity());
+    ///
+    /// //Non-invertible case
+    /// let mut q = Quaternion::new(0.0, 0.0, 0.0, 0.0);
+    /// assert!(!q.try_inverse_mut());
+    /// ```
     #[inline]
     pub fn try_inverse_mut(&mut self) -> bool {
         let norm_squared = self.norm_squared();
@@ -296,6 +493,15 @@ impl<N: Real> Quaternion<N> {
     }
 
     /// Normalizes this quaternion.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::Quaternion;
+    /// let mut q = Quaternion::new(1.0, 2.0, 3.0, 4.0);
+    /// q.normalize_mut();
+    /// assert_relative_eq!(q.norm(), 1.0);
+    /// ```
     #[inline]
     pub fn normalize_mut(&mut self) -> N {
         self.coords.normalize_mut()
@@ -368,19 +574,31 @@ pub type UnitQuaternion<N> = Unit<Quaternion<N>>;
 impl<N: Real> UnitQuaternion<N> {
     /// Moves this unit quaternion into one that owns its data.
     #[inline]
-    #[deprecated(note = "This method is a no-op and will be removed in a future release.")]
+    #[deprecated(
+        note = "This method is unnecessary and will be removed in a future release. Use `.clone()` instead."
+    )]
     pub fn into_owned(self) -> UnitQuaternion<N> {
         self
     }
 
     /// Clones this unit quaternion into one that owns its data.
     #[inline]
-    #[deprecated(note = "This method is a no-op and will be removed in a future release.")]
+    #[deprecated(
+        note = "This method is unnecessary and will be removed in a future release. Use `.clone()` instead."
+    )]
     pub fn clone_owned(&self) -> UnitQuaternion<N> {
         *self
     }
 
     /// The rotation angle in [0; pi] of this unit quaternion.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{Unit, UnitQuaternion, Vector3};
+    /// let axis = Unit::new_normalize(Vector3::new(1.0, 2.0, 3.0));
+    /// let rot = UnitQuaternion::from_axis_angle(&axis, 1.78);
+    /// assert_eq!(rot.angle(), 1.78);
+    /// ```
     #[inline]
     pub fn angle(&self) -> N {
         let w = self.quaternion().scalar().abs();
@@ -396,24 +614,59 @@ impl<N: Real> UnitQuaternion<N> {
     /// The underlying quaternion.
     ///
     /// Same as `self.as_ref()`.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{UnitQuaternion, Quaternion};
+    /// let axis = UnitQuaternion::identity();
+    /// assert_eq!(*axis.quaternion(), Quaternion::new(1.0, 0.0, 0.0, 0.0));
+    /// ```
     #[inline]
     pub fn quaternion(&self) -> &Quaternion<N> {
         self.as_ref()
     }
 
     /// Compute the conjugate of this unit quaternion.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{Unit, UnitQuaternion, Vector3};
+    /// let axis = Unit::new_normalize(Vector3::new(1.0, 2.0, 3.0));
+    /// let rot = UnitQuaternion::from_axis_angle(&axis, 1.78);
+    /// let conj = rot.conjugate();
+    /// assert_eq!(conj, UnitQuaternion::from_axis_angle(&-axis, 1.78));
+    /// ```
     #[inline]
     pub fn conjugate(&self) -> UnitQuaternion<N> {
         UnitQuaternion::new_unchecked(self.as_ref().conjugate())
     }
 
     /// Inverts this quaternion if it is not zero.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{Unit, UnitQuaternion, Vector3};
+    /// let axis = Unit::new_normalize(Vector3::new(1.0, 2.0, 3.0));
+    /// let rot = UnitQuaternion::from_axis_angle(&axis, 1.78);
+    /// let inv = rot.inverse();
+    /// assert_eq!(rot * inv, UnitQuaternion::identity());
+    /// assert_eq!(inv * rot, UnitQuaternion::identity());
+    /// ```
     #[inline]
     pub fn inverse(&self) -> UnitQuaternion<N> {
         self.conjugate()
     }
 
     /// The rotation angle needed to make `self` and `other` coincide.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{UnitQuaternion, Vector3};
+    /// let rot1 = UnitQuaternion::from_axis_angle(&Vector3::y_axis(), 1.0);
+    /// let rot2 = UnitQuaternion::from_axis_angle(&Vector3::x_axis(), 0.1);
+    /// assert_relative_eq!(rot1.angle_to(&rot2), 1.0045657, epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn angle_to(&self, other: &UnitQuaternion<N>) -> N {
         let delta = self.rotation_to(other);
@@ -423,6 +676,16 @@ impl<N: Real> UnitQuaternion<N> {
     /// The unit quaternion needed to make `self` and `other` coincide.
     ///
     /// The result is such that: `self.rotation_to(other) * self == other`.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{UnitQuaternion, Vector3};
+    /// let rot1 = UnitQuaternion::from_axis_angle(&Vector3::y_axis(), 1.0);
+    /// let rot2 = UnitQuaternion::from_axis_angle(&Vector3::x_axis(), 0.1);
+    /// let rot_to = rot1.rotation_to(&rot2);
+    /// assert_relative_eq!(rot_to * rot1, rot2, epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn rotation_to(&self, other: &UnitQuaternion<N>) -> UnitQuaternion<N> {
         other / self
@@ -431,12 +694,30 @@ impl<N: Real> UnitQuaternion<N> {
     /// Linear interpolation between two unit quaternions.
     ///
     /// The result is not normalized.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{UnitQuaternion, Quaternion};
+    /// let q1 = UnitQuaternion::new_normalize(Quaternion::new(1.0, 0.0, 0.0, 0.0));
+    /// let q2 = UnitQuaternion::new_normalize(Quaternion::new(0.0, 1.0, 0.0, 0.0));
+    /// assert_eq!(q1.lerp(&q2, 0.1), Quaternion::new(0.9, 0.1, 0.0, 0.0));
+    /// ```
     #[inline]
     pub fn lerp(&self, other: &UnitQuaternion<N>, t: N) -> Quaternion<N> {
         self.as_ref().lerp(other.as_ref(), t)
     }
 
     /// Normalized linear interpolation between two unit quaternions.
+    ///
+    /// This is the same as `self.lerp` except that the result is normalized.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{UnitQuaternion, Quaternion};
+    /// let q1 = UnitQuaternion::new_normalize(Quaternion::new(1.0, 0.0, 0.0, 0.0));
+    /// let q2 = UnitQuaternion::new_normalize(Quaternion::new(0.0, 1.0, 0.0, 0.0));
+    /// assert_eq!(q1.nlerp(&q2, 0.1), UnitQuaternion::new_normalize(Quaternion::new(0.9, 0.1, 0.0, 0.0)));
+    /// ```
     #[inline]
     pub fn nlerp(&self, other: &UnitQuaternion<N>, t: N) -> UnitQuaternion<N> {
         let mut res = self.lerp(other, t);
@@ -448,13 +729,13 @@ impl<N: Real> UnitQuaternion<N> {
     /// Spherical linear interpolation between two unit quaternions.
     ///
     /// Panics if the angle between both quaternion is 180 degrees (in which case the interpolation
-    /// is not well-defined).
+    /// is not well-defined). Use `.try_slerp` instead to avoid the panic.
     #[inline]
     pub fn slerp(&self, other: &UnitQuaternion<N>, t: N) -> UnitQuaternion<N> {
-        Unit::new_unchecked(Quaternion::from_vector(
+        Unit::new_unchecked(Quaternion::from(
             Unit::new_unchecked(self.coords)
                 .slerp(&Unit::new_unchecked(other.coords), t)
-                .unwrap(),
+                .into_inner(),
         ))
     }
 
@@ -478,7 +759,7 @@ impl<N: Real> UnitQuaternion<N> {
     {
         Unit::new_unchecked(self.coords)
             .try_slerp(&Unit::new_unchecked(other.coords), t, epsilon)
-            .map(|q| Unit::new_unchecked(Quaternion::from_vector(q.unwrap())))
+            .map(|q| Unit::new_unchecked(Quaternion::from(q.into_inner())))
     }
 
     /// Compute the conjugate of this unit quaternion in-place.
@@ -488,12 +769,36 @@ impl<N: Real> UnitQuaternion<N> {
     }
 
     /// Inverts this quaternion if it is not zero.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{UnitQuaternion, Vector3, Unit};
+    /// let axisangle = Vector3::new(0.1, 0.2, 0.3);
+    /// let mut rot = UnitQuaternion::new(axisangle);
+    /// rot.inverse_mut();
+    /// assert_relative_eq!(rot * UnitQuaternion::new(axisangle), UnitQuaternion::identity());
+    /// assert_relative_eq!(UnitQuaternion::new(axisangle) * rot, UnitQuaternion::identity());
+    /// ```
     #[inline]
     pub fn inverse_mut(&mut self) {
         self.as_mut_unchecked().conjugate_mut()
     }
 
     /// The rotation axis of this unit quaternion or `None` if the rotation is zero.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{UnitQuaternion, Vector3, Unit};
+    /// let axis = Unit::new_normalize(Vector3::new(1.0, 2.0, 3.0));
+    /// let angle = 1.2;
+    /// let rot = UnitQuaternion::from_axis_angle(&axis, angle);
+    /// assert_eq!(rot.axis(), Some(axis));
+    ///
+    /// // Case with a zero angle.
+    /// let rot = UnitQuaternion::from_axis_angle(&axis, 0.0);
+    /// assert!(rot.axis().is_none());
+    /// ```
     #[inline]
     pub fn axis(&self) -> Option<Unit<Vector3<N>>> {
         let v = if self.quaternion().scalar() >= N::zero() {
@@ -506,10 +811,19 @@ impl<N: Real> UnitQuaternion<N> {
     }
 
     /// The rotation axis of this unit quaternion multiplied by the rotation angle.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{UnitQuaternion, Vector3, Unit};
+    /// let axisangle = Vector3::new(0.1, 0.2, 0.3);
+    /// let rot = UnitQuaternion::new(axisangle);
+    /// assert_relative_eq!(rot.scaled_axis(), axisangle, epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn scaled_axis(&self) -> Vector3<N> {
         if let Some(axis) = self.axis() {
-            axis.unwrap() * self.angle()
+            axis.into_inner() * self.angle()
         } else {
             Vector3::zero()
         }
@@ -518,6 +832,19 @@ impl<N: Real> UnitQuaternion<N> {
     /// The rotation axis and angle in ]0, pi] of this unit quaternion.
     ///
     /// Returns `None` if the angle is zero.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{UnitQuaternion, Vector3, Unit};
+    /// let axis = Unit::new_normalize(Vector3::new(1.0, 2.0, 3.0));
+    /// let angle = 1.2;
+    /// let rot = UnitQuaternion::from_axis_angle(&axis, angle);
+    /// assert_eq!(rot.axis_angle(), Some((axis, angle)));
+    ///
+    /// // Case with a zero angle.
+    /// let rot = UnitQuaternion::from_axis_angle(&axis, 0.0);
+    /// assert!(rot.axis_angle().is_none());
+    /// ```
     #[inline]
     pub fn axis_angle(&self) -> Option<(Unit<Vector3<N>>, N)> {
         if let Some(axis) = self.axis() {
@@ -540,10 +867,19 @@ impl<N: Real> UnitQuaternion<N> {
     /// Note that this function yields a `Quaternion<N>` because it looses the unit property.
     /// The vector part of the return value corresponds to the axis-angle representation (divided
     /// by 2.0) of this unit quaternion.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{Vector3, UnitQuaternion};
+    /// let axisangle = Vector3::new(0.1, 0.2, 0.3);
+    /// let q = UnitQuaternion::new(axisangle);
+    /// assert_relative_eq!(q.ln().vector().into_owned(), axisangle, epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn ln(&self) -> Quaternion<N> {
         if let Some(v) = self.axis() {
-            Quaternion::from_parts(N::zero(), v.unwrap() * self.angle())
+            Quaternion::from_parts(N::zero(), v.into_inner() * self.angle())
         } else {
             Quaternion::zero()
         }
@@ -553,6 +889,18 @@ impl<N: Real> UnitQuaternion<N> {
     ///
     /// This returns the unit quaternion that identifies a rotation with axis `self.axis()` and
     /// angle `self.angle() × n`.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{UnitQuaternion, Vector3, Unit};
+    /// let axis = Unit::new_normalize(Vector3::new(1.0, 2.0, 3.0));
+    /// let angle = 1.2;
+    /// let rot = UnitQuaternion::from_axis_angle(&axis, angle);
+    /// let pow = rot.powf(2.0);
+    /// assert_relative_eq!(pow.axis().unwrap(), axis, epsilon = 1.0e-6);
+    /// assert_eq!(pow.angle(), 2.4);
+    /// ```
     #[inline]
     pub fn powf(&self, n: N) -> UnitQuaternion<N> {
         if let Some(v) = self.axis() {
@@ -563,6 +911,21 @@ impl<N: Real> UnitQuaternion<N> {
     }
 
     /// Builds a rotation matrix from this unit quaternion.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use std::f32;
+    /// # use nalgebra::{UnitQuaternion, Vector3, Matrix3};
+    /// let q = UnitQuaternion::from_axis_angle(&Vector3::z_axis(), f32::consts::FRAC_PI_6);
+    /// let rot = q.to_rotation_matrix();
+    /// let expected = Matrix3::new(0.8660254, -0.5,      0.0,
+    ///                             0.5,       0.8660254, 0.0,
+    ///                             0.0,       0.0,       1.0);
+    ///
+    /// assert_relative_eq!(*rot.matrix(), expected, epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn to_rotation_matrix(&self) -> Rotation<N, U3> {
         let i = self.as_ref()[0];
@@ -596,13 +959,48 @@ impl<N: Real> UnitQuaternion<N> {
 
     /// Converts this unit quaternion into its equivalent Euler angles.
     ///
-    /// The angles are produced in the form (roll, yaw, pitch).
+    /// The angles are produced in the form (roll, pitch, yaw).
     #[inline]
+    #[deprecated(note = "This is renamed to use `.euler_angles()`.")]
     pub fn to_euler_angles(&self) -> (N, N, N) {
-        self.to_rotation_matrix().to_euler_angles()
+        self.euler_angles()
+    }
+
+    /// Retrieves the euler angles corresponding to this unit quaternion.
+    ///
+    /// The angles are produced in the form (roll, pitch, yaw).
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::UnitQuaternion;
+    /// let rot = UnitQuaternion::from_euler_angles(0.1, 0.2, 0.3);
+    /// let euler = rot.euler_angles();
+    /// assert_relative_eq!(euler.0, 0.1, epsilon = 1.0e-6);
+    /// assert_relative_eq!(euler.1, 0.2, epsilon = 1.0e-6);
+    /// assert_relative_eq!(euler.2, 0.3, epsilon = 1.0e-6);
+    /// ```
+    #[inline]
+    pub fn euler_angles(&self) -> (N, N, N) {
+        self.to_rotation_matrix().euler_angles()
     }
 
     /// Converts this unit quaternion into its equivalent homogeneous transformation matrix.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use std::f32;
+    /// # use nalgebra::{UnitQuaternion, Vector3, Matrix4};
+    /// let rot = UnitQuaternion::from_axis_angle(&Vector3::z_axis(), f32::consts::FRAC_PI_6);
+    /// let expected = Matrix4::new(0.8660254, -0.5,      0.0, 0.0,
+    ///                             0.5,       0.8660254, 0.0, 0.0,
+    ///                             0.0,       0.0,       1.0, 0.0,
+    ///                             0.0,       0.0,       0.0, 1.0);
+    ///
+    /// assert_relative_eq!(rot.to_homogeneous(), expected, epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn to_homogeneous(&self) -> MatrixN<N, U4> {
         self.to_rotation_matrix().to_homogeneous()
@@ -612,7 +1010,7 @@ impl<N: Real> UnitQuaternion<N> {
 impl<N: Real + fmt::Display> fmt::Display for UnitQuaternion<N> {
     fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
         if let Some(axis) = self.axis() {
-            let axis = axis.unwrap();
+            let axis = axis.into_inner();
             write!(
                 f,
                 "UnitQuaternion angle: {} − axis: ({}, {}, {})",

src/geometry/quaternion_alga.rs

@@ -98,7 +98,7 @@ impl<N: Real> FiniteDimVectorSpace for Quaternion<N> {
 
     #[inline]
     fn canonical_basis_element(i: usize) -> Self {
-        Self::from_vector(Vector4::canonical_basis_element(i))
+        Self::from(Vector4::canonical_basis_element(i))
     }
 
     #[inline]
@@ -131,7 +131,7 @@ impl<N: Real> NormedSpace for Quaternion<N> {
     #[inline]
     fn normalize(&self) -> Self {
         let v = self.coords.normalize();
-        Self::from_vector(v)
+        Self::from(v)
     }
 
     #[inline]
@@ -142,7 +142,7 @@ impl<N: Real> NormedSpace for Quaternion<N> {
     #[inline]
     fn try_normalize(&self, min_norm: N) -> Option<Self> {
         if let Some(v) = self.coords.try_normalize(min_norm) {
-            Some(Self::from_vector(v))
+            Some(Self::from(v))
         } else {
             None
         }

src/geometry/quaternion_construction.rs

@@ -23,6 +23,7 @@ impl<N: Real> Quaternion<N> {
     /// Creates a quaternion from a 4D vector. The quaternion scalar part corresponds to the `w`
     /// vector component.
     #[inline]
+    #[deprecated(note = "Use `::from` instead.")]
     pub fn from_vector(vector: Vector4<N>) -> Self {
         Quaternion { coords: vector }
     }
@@ -30,17 +31,36 @@ impl<N: Real> Quaternion<N> {
     /// Creates a new quaternion from its individual components. Note that the arguments order does
     /// **not** follow the storage order.
     ///
-    /// The storage order is `[ x, y, z, w ]`.
+    /// The storage order is `[ i, j, k, w ]` while the arguments for this functions are in the
+    /// order `(w, i, j, k)`.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{Quaternion, Vector4};
+    /// let q = Quaternion::new(1.0, 2.0, 3.0, 4.0);
+    /// assert!(q.i == 2.0 && q.j == 3.0 && q.k == 4.0 && q.w == 1.0);
+    /// assert_eq!(*q.as_vector(), Vector4::new(2.0, 3.0, 4.0, 1.0));
+    /// ```
     #[inline]
-    pub fn new(w: N, x: N, y: N, z: N) -> Self {
+    pub fn new(w: N, i: N, j: N, k: N) -> Self {
-        let v = Vector4::<N>::new(x, y, z, w);
+        let v = Vector4::<N>::new(i, j, k, w);
-        Self::from_vector(v)
+        Self::from(v)
     }
 
     /// Creates a new quaternion from its scalar and vector parts. Note that the arguments order does
     /// **not** follow the storage order.
     ///
     /// The storage order is [ vector, scalar ].
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{Quaternion, Vector3, Vector4};
+    /// let w = 1.0;
+    /// let ijk = Vector3::new(2.0, 3.0, 4.0);
+    /// let q = Quaternion::from_parts(w, ijk);
+    /// assert!(q.i == 2.0 && q.j == 3.0 && q.k == 4.0 && q.w == 1.0);
+    /// assert_eq!(*q.as_vector(), Vector4::new(2.0, 3.0, 4.0, 1.0));
+    /// ```
     #[inline]
     // FIXME: take a reference to `vector`?
     pub fn from_parts<SB>(scalar: N, vector: Vector<N, U3, SB>) -> Self
@@ -56,10 +76,20 @@ impl<N: Real> Quaternion<N> {
     where SB: Storage<N, U3> {
         let rot = UnitQuaternion::<N>::from_axis_angle(&axis, theta * ::convert(2.0f64));
 
-        rot.unwrap() * scale
+        rot.into_inner() * scale
     }
 
     /// The quaternion multiplicative identity.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::Quaternion;
+    /// let q = Quaternion::identity();
+    /// let q2 = Quaternion::new(1.0, 2.0, 3.0, 4.0);
+    ///
+    /// assert_eq!(q * q2, q2);
+    /// assert_eq!(q2 * q, q2);
+    /// ```
     #[inline]
     pub fn identity() -> Self {
         Self::new(N::one(), N::zero(), N::zero(), N::zero())
@@ -110,7 +140,21 @@ where Owned<N, U4>: Send
 }
 
 impl<N: Real> UnitQuaternion<N> {
-    /// The quaternion multiplicative identity.
+    /// The rotation identity.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{UnitQuaternion, Vector3, Point3};
+    /// let q = UnitQuaternion::identity();
+    /// let q2 = UnitQuaternion::new(Vector3::new(1.0, 2.0, 3.0));
+    /// let v = Vector3::new_random();
+    /// let p = Point3::from(v);
+    ///
+    /// assert_eq!(q * q2, q2);
+    /// assert_eq!(q2 * q, q2);
+    /// assert_eq!(q * v, v);
+    /// assert_eq!(q * p, p);
+    /// ```
     #[inline]
     pub fn identity() -> Self {
         Self::new_unchecked(Quaternion::identity())
@@ -118,6 +162,27 @@ impl<N: Real> UnitQuaternion<N> {
 
     /// Creates a new quaternion from a unit vector (the rotation axis) and an angle
     /// (the rotation angle).
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use std::f32;
+    /// # use nalgebra::{UnitQuaternion, Point3, Vector3};
+    /// let axis = Vector3::y_axis();
+    /// let angle = f32::consts::FRAC_PI_2;
+    /// // Point and vector being transformed in the tests.
+    /// let pt = Point3::new(4.0, 5.0, 6.0);
+    /// let vec = Vector3::new(4.0, 5.0, 6.0);
+    /// let q = UnitQuaternion::from_axis_angle(&axis, angle);
+    ///
+    /// assert_eq!(q.axis().unwrap(), axis);
+    /// assert_eq!(q.angle(), angle);
+    /// assert_relative_eq!(q * pt, Point3::new(6.0, 5.0, -4.0), epsilon = 1.0e-6);
+    /// assert_relative_eq!(q * vec, Vector3::new(6.0, 5.0, -4.0), epsilon = 1.0e-6);
+    ///
+    /// // A zero vector yields an identity.
+    /// assert_eq!(UnitQuaternion::from_scaled_axis(Vector3::<f32>::zeros()), UnitQuaternion::identity());
+    /// ```
     #[inline]
     pub fn from_axis_angle<SB>(axis: &Unit<Vector<N, U3, SB>>, angle: N) -> Self
     where SB: Storage<N, U3> {
@@ -138,6 +203,17 @@ impl<N: Real> UnitQuaternion<N> {
     /// Creates a new unit quaternion from Euler angles.
     ///
     /// The primitive rotations are applied in order: 1 roll − 2 pitch − 3 yaw.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::UnitQuaternion;
+    /// let rot = UnitQuaternion::from_euler_angles(0.1, 0.2, 0.3);
+    /// let euler = rot.euler_angles();
+    /// assert_relative_eq!(euler.0, 0.1, epsilon = 1.0e-6);
+    /// assert_relative_eq!(euler.1, 0.2, epsilon = 1.0e-6);
+    /// assert_relative_eq!(euler.2, 0.3, epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn from_euler_angles(roll: N, pitch: N, yaw: N) -> Self {
         let (sr, cr) = (roll * ::convert(0.5f64)).sin_cos();
@@ -155,6 +231,19 @@ impl<N: Real> UnitQuaternion<N> {
     }
 
     /// Builds an unit quaternion from a rotation matrix.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{Rotation3, UnitQuaternion, Vector3};
+    /// let axis = Vector3::y_axis();
+    /// let angle = 0.1;
+    /// let rot = Rotation3::from_axis_angle(&axis, angle);
+    /// let q = UnitQuaternion::from_rotation_matrix(&rot);
+    /// assert_relative_eq!(q.to_rotation_matrix(), rot, epsilon = 1.0e-6);
+    /// assert_relative_eq!(q.axis().unwrap(), rot.axis().unwrap(), epsilon = 1.0e-6);
+    /// assert_relative_eq!(q.angle(), rot.angle(), epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn from_rotation_matrix(rotmat: &Rotation<N, U3>) -> Self {
         // Robust matrix to quaternion transformation.
@@ -206,6 +295,17 @@ impl<N: Real> UnitQuaternion<N> {
 
     /// The unit quaternion needed to make `a` and `b` be collinear and point toward the same
     /// direction.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{Vector3, UnitQuaternion};
+    /// let a = Vector3::new(1.0, 2.0, 3.0);
+    /// let b = Vector3::new(3.0, 1.0, 2.0);
+    /// let q = UnitQuaternion::rotation_between(&a, &b).unwrap();
+    /// assert_relative_eq!(q * a, b);
+    /// assert_relative_eq!(q.inverse() * b, a);
+    /// ```
     #[inline]
     pub fn rotation_between<SB, SC>(a: &Vector<N, U3, SB>, b: &Vector<N, U3, SC>) -> Option<Self>
     where
@@ -217,6 +317,18 @@ impl<N: Real> UnitQuaternion<N> {
 
     /// The smallest rotation needed to make `a` and `b` collinear and point toward the same
     /// direction, raised to the power `s`.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{Vector3, UnitQuaternion};
+    /// let a = Vector3::new(1.0, 2.0, 3.0);
+    /// let b = Vector3::new(3.0, 1.0, 2.0);
+    /// let q2 = UnitQuaternion::scaled_rotation_between(&a, &b, 0.2).unwrap();
+    /// let q5 = UnitQuaternion::scaled_rotation_between(&a, &b, 0.5).unwrap();
+    /// assert_relative_eq!(q2 * q2 * q2 * q2 * q2 * a, b, epsilon = 1.0e-6);
+    /// assert_relative_eq!(q5 * q5 * a, b, epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn scaled_rotation_between<SB, SC>(
         a: &Vector<N, U3, SB>,
@@ -240,6 +352,17 @@ impl<N: Real> UnitQuaternion<N> {
 
     /// The unit quaternion needed to make `a` and `b` be collinear and point toward the same
     /// direction.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{Unit, Vector3, UnitQuaternion};
+    /// let a = Unit::new_normalize(Vector3::new(1.0, 2.0, 3.0));
+    /// let b = Unit::new_normalize(Vector3::new(3.0, 1.0, 2.0));
+    /// let q = UnitQuaternion::rotation_between(&a, &b).unwrap();
+    /// assert_relative_eq!(q * a, b);
+    /// assert_relative_eq!(q.inverse() * b, a);
+    /// ```
     #[inline]
     pub fn rotation_between_axis<SB, SC>(
         a: &Unit<Vector<N, U3, SB>>,
@@ -254,6 +377,18 @@ impl<N: Real> UnitQuaternion<N> {
 
     /// The smallest rotation needed to make `a` and `b` collinear and point toward the same
     /// direction, raised to the power `s`.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{Unit, Vector3, UnitQuaternion};
+    /// let a = Unit::new_normalize(Vector3::new(1.0, 2.0, 3.0));
+    /// let b = Unit::new_normalize(Vector3::new(3.0, 1.0, 2.0));
+    /// let q2 = UnitQuaternion::scaled_rotation_between(&a, &b, 0.2).unwrap();
+    /// let q5 = UnitQuaternion::scaled_rotation_between(&a, &b, 0.5).unwrap();
+    /// assert_relative_eq!(q2 * q2 * q2 * q2 * q2 * a, b, epsilon = 1.0e-6);
+    /// assert_relative_eq!(q5 * q5 * a, b, epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn scaled_rotation_between_axis<SB, SC>(
         na: &Unit<Vector<N, U3, SB>>,
@@ -293,63 +428,127 @@ impl<N: Real> UnitQuaternion<N> {
     /// Creates an unit quaternion that corresponds to the local frame of an observer standing at the
     /// origin and looking toward `dir`.
     ///
-    /// It maps the view direction `dir` to the positive `z` axis.
+    /// It maps the `z` axis to the direction `dir`.
     ///
     /// # Arguments
-    ///   * dir - The look direction, that is, direction the matrix `z` axis will be aligned with.
+    ///   * dir - The look direction. It does not need to be normalized.
-    ///   * up - The vertical direction. The only requirement of this parameter is to not be
+    ///   * up - The vertical direction. It does not need to be normalized.
-    ///   collinear
+    ///   The only requirement of this parameter is to not be collinear to `dir`. Non-collinearity
-    ///   to `dir`. Non-collinearity is not checked.
+    ///   is not checked.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use std::f32;
+    /// # use nalgebra::{UnitQuaternion, Vector3};
+    /// let dir = Vector3::new(1.0, 2.0, 3.0);
+    /// let up = Vector3::y();
+    ///
+    /// let q = UnitQuaternion::face_towards(&dir, &up);
+    /// assert_relative_eq!(q * Vector3::z(), dir.normalize());
+    /// ```
     #[inline]
-    pub fn new_observer_frame<SB, SC>(dir: &Vector<N, U3, SB>, up: &Vector<N, U3, SC>) -> Self
+    pub fn face_towards<SB, SC>(dir: &Vector<N, U3, SB>, up: &Vector<N, U3, SC>) -> Self
     where
         SB: Storage<N, U3>,
         SC: Storage<N, U3>,
     {
-        Self::from_rotation_matrix(&Rotation::<N, U3>::new_observer_frame(dir, up))
+        Self::from_rotation_matrix(&Rotation::<N, U3>::face_towards(dir, up))
+    }
+
+    /// Deprecated: Use [UnitQuaternion::face_towards] instead.
+    #[deprecated(note="renamed to `face_towards`")]
+    pub fn new_observer_frames<SB, SC>(dir: &Vector<N, U3, SB>, up: &Vector<N, U3, SC>) -> Self
+    where
+        SB: Storage<N, U3>,
+        SC: Storage<N, U3>,
+    {
+        Self::face_towards(dir, up)
     }
 
     /// Builds a right-handed look-at view matrix without translation.
     ///
+    /// It maps the view direction `dir` to the **negative** `z` axis.
     /// This conforms to the common notion of right handed look-at matrix from the computer
     /// graphics community.
     ///
     /// # Arguments
-    ///   * eye - The eye position.
+    ///   * dir − The view direction. It does not need to be normalized.
-    ///   * target - The target position.
+    ///   * up - A vector approximately aligned with required the vertical axis. It does not need
-    ///   * up - A vector approximately aligned with required the vertical axis. The only
+    ///   to be normalized. The only requirement of this parameter is to not be collinear to `dir`.
-    ///   requirement of this parameter is to not be collinear to `target - eye`.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use std::f32;
+    /// # use nalgebra::{UnitQuaternion, Vector3};
+    /// let dir = Vector3::new(1.0, 2.0, 3.0);
+    /// let up = Vector3::y();
+    ///
+    /// let q = UnitQuaternion::look_at_rh(&dir, &up);
+    /// assert_relative_eq!(q * dir.normalize(), -Vector3::z());
+    /// ```
     #[inline]
     pub fn look_at_rh<SB, SC>(dir: &Vector<N, U3, SB>, up: &Vector<N, U3, SC>) -> Self
     where
         SB: Storage<N, U3>,
         SC: Storage<N, U3>,
     {
-        Self::new_observer_frame(&-dir, up).inverse()
+        Self::face_towards(&-dir, up).inverse()
     }
 
     /// Builds a left-handed look-at view matrix without translation.
     ///
+    /// It maps the view direction `dir` to the **positive** `z` axis.
     /// This conforms to the common notion of left handed look-at matrix from the computer
     /// graphics community.
     ///
     /// # Arguments
-    ///   * eye - The eye position.
+    ///   * dir − The view direction. It does not need to be normalized.
-    ///   * target - The target position.
     ///   * up - A vector approximately aligned with required the vertical axis. The only
-    ///   requirement of this parameter is to not be collinear to `target - eye`.
+    ///   requirement of this parameter is to not be collinear to `dir`.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use std::f32;
+    /// # use nalgebra::{UnitQuaternion, Vector3};
+    /// let dir = Vector3::new(1.0, 2.0, 3.0);
+    /// let up = Vector3::y();
+    ///
+    /// let q = UnitQuaternion::look_at_lh(&dir, &up);
+    /// assert_relative_eq!(q * dir.normalize(), Vector3::z());
+    /// ```
     #[inline]
     pub fn look_at_lh<SB, SC>(dir: &Vector<N, U3, SB>, up: &Vector<N, U3, SC>) -> Self
     where
         SB: Storage<N, U3>,
         SC: Storage<N, U3>,
     {
-        Self::new_observer_frame(dir, up).inverse()
+        Self::face_towards(dir, up).inverse()
     }
 
     /// Creates a new unit quaternion rotation from a rotation axis scaled by the rotation angle.
     ///
     /// If `axisangle` has a magnitude smaller than `N::default_epsilon()`, this returns the identity rotation.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use std::f32;
+    /// # use nalgebra::{UnitQuaternion, Point3, Vector3};
+    /// let axisangle = Vector3::y() * f32::consts::FRAC_PI_2;
+    /// // Point and vector being transformed in the tests.
+    /// let pt = Point3::new(4.0, 5.0, 6.0);
+    /// let vec = Vector3::new(4.0, 5.0, 6.0);
+    /// let q = UnitQuaternion::new(axisangle);
+    ///
+    /// assert_relative_eq!(q * pt, Point3::new(6.0, 5.0, -4.0), epsilon = 1.0e-6);
+    /// assert_relative_eq!(q * vec, Vector3::new(6.0, 5.0, -4.0), epsilon = 1.0e-6);
+    ///
+    /// // A zero vector yields an identity.
+    /// assert_eq!(UnitQuaternion::new(Vector3::<f32>::zeros()), UnitQuaternion::identity());
+    /// ```
     #[inline]
     pub fn new<SB>(axisangle: Vector<N, U3, SB>) -> Self
     where SB: Storage<N, U3> {
@@ -361,6 +560,24 @@ impl<N: Real> UnitQuaternion<N> {
     /// Creates a new unit quaternion rotation from a rotation axis scaled by the rotation angle.
     ///
     /// If `axisangle` has a magnitude smaller than `eps`, this returns the identity rotation.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use std::f32;
+    /// # use nalgebra::{UnitQuaternion, Point3, Vector3};
+    /// let axisangle = Vector3::y() * f32::consts::FRAC_PI_2;
+    /// // Point and vector being transformed in the tests.
+    /// let pt = Point3::new(4.0, 5.0, 6.0);
+    /// let vec = Vector3::new(4.0, 5.0, 6.0);
+    /// let q = UnitQuaternion::new_eps(axisangle, 1.0e-6);
+    ///
+    /// assert_relative_eq!(q * pt, Point3::new(6.0, 5.0, -4.0), epsilon = 1.0e-6);
+    /// assert_relative_eq!(q * vec, Vector3::new(6.0, 5.0, -4.0), epsilon = 1.0e-6);
+    ///
+    /// // An almost zero vector yields an identity.
+    /// assert_eq!(UnitQuaternion::new_eps(Vector3::new(1.0e-8, 1.0e-9, 1.0e-7), 1.0e-6), UnitQuaternion::identity());
+    /// ```
     #[inline]
     pub fn new_eps<SB>(axisangle: Vector<N, U3, SB>, eps: N) -> Self
     where SB: Storage<N, U3> {
@@ -373,6 +590,24 @@ impl<N: Real> UnitQuaternion<N> {
     ///
     /// If `axisangle` has a magnitude smaller than `N::default_epsilon()`, this returns the identity rotation.
     /// Same as `Self::new(axisangle)`.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use std::f32;
+    /// # use nalgebra::{UnitQuaternion, Point3, Vector3};
+    /// let axisangle = Vector3::y() * f32::consts::FRAC_PI_2;
+    /// // Point and vector being transformed in the tests.
+    /// let pt = Point3::new(4.0, 5.0, 6.0);
+    /// let vec = Vector3::new(4.0, 5.0, 6.0);
+    /// let q = UnitQuaternion::from_scaled_axis(axisangle);
+    ///
+    /// assert_relative_eq!(q * pt, Point3::new(6.0, 5.0, -4.0), epsilon = 1.0e-6);
+    /// assert_relative_eq!(q * vec, Vector3::new(6.0, 5.0, -4.0), epsilon = 1.0e-6);
+    ///
+    /// // A zero vector yields an identity.
+    /// assert_eq!(UnitQuaternion::from_scaled_axis(Vector3::<f32>::zeros()), UnitQuaternion::identity());
+    /// ```
     #[inline]
     pub fn from_scaled_axis<SB>(axisangle: Vector<N, U3, SB>) -> Self
     where SB: Storage<N, U3> {
@@ -382,7 +617,25 @@ impl<N: Real> UnitQuaternion<N> {
     /// Creates a new unit quaternion rotation from a rotation axis scaled by the rotation angle.
     ///
     /// If `axisangle` has a magnitude smaller than `eps`, this returns the identity rotation.
-    /// Same as `Self::new(axisangle)`.
+    /// Same as `Self::new_eps(axisangle, eps)`.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use std::f32;
+    /// # use nalgebra::{UnitQuaternion, Point3, Vector3};
+    /// let axisangle = Vector3::y() * f32::consts::FRAC_PI_2;
+    /// // Point and vector being transformed in the tests.
+    /// let pt = Point3::new(4.0, 5.0, 6.0);
+    /// let vec = Vector3::new(4.0, 5.0, 6.0);
+    /// let q = UnitQuaternion::from_scaled_axis_eps(axisangle, 1.0e-6);
+    ///
+    /// assert_relative_eq!(q * pt, Point3::new(6.0, 5.0, -4.0), epsilon = 1.0e-6);
+    /// assert_relative_eq!(q * vec, Vector3::new(6.0, 5.0, -4.0), epsilon = 1.0e-6);
+    ///
+    /// // An almost zero vector yields an identity.
+    /// assert_eq!(UnitQuaternion::from_scaled_axis_eps(Vector3::new(1.0e-8, 1.0e-9, 1.0e-7), 1.0e-6), UnitQuaternion::identity());
+    /// ```
     #[inline]
     pub fn from_scaled_axis_eps<SB>(axisangle: Vector<N, U3, SB>, eps: N) -> Self
     where SB: Storage<N, U3> {
@@ -436,15 +689,16 @@ where
 
 #[cfg(test)]
 mod tests {
+    extern crate rand_xorshift;
     use super::*;
-    use rand::{self, SeedableRng};
+    use rand::SeedableRng;
 
     #[test]
     fn random_unit_quats_are_unit() {
-        let mut rng = rand::prng::XorShiftRng::from_seed([0xAB; 16]);
+        let mut rng = rand_xorshift::XorShiftRng::from_seed([0xAB; 16]);
         for _ in 0..1000 {
             let x = rng.gen::<UnitQuaternion<f32>>();
-            assert!(relative_eq!(x.unwrap().norm(), 1.0))
+            assert!(relative_eq!(x.into_inner().norm(), 1.0))
         }
     }
 }

src/geometry/quaternion_conversion.rs

@@ -39,7 +39,7 @@ where
 {
     #[inline]
     fn to_superset(&self) -> Quaternion<N2> {
-        Quaternion::from_vector(self.coords.to_superset())
+        Quaternion::from(self.coords.to_superset())
     }
 
     #[inline]
@@ -49,7 +49,9 @@ where
 
     #[inline]
     unsafe fn from_superset_unchecked(q: &Quaternion<N2>) -> Self {
-        Self::from_vector(q.coords.to_subset_unchecked())
+        Self {
+            coords: q.coords.to_subset_unchecked(),
+        }
     }
 }
 
@@ -226,6 +228,13 @@ impl<N: Real> From<UnitQuaternion<N>> for Matrix4<N> {
 impl<N: Real> From<UnitQuaternion<N>> for Matrix3<N> {
     #[inline]
     fn from(q: UnitQuaternion<N>) -> Matrix3<N> {
-        q.to_rotation_matrix().unwrap()
+        q.to_rotation_matrix().into_inner()
+    }
+}
+
+impl<N: Real> From<Vector4<N>> for Quaternion<N> {
+    #[inline]
+    fn from(coords: Vector4<N>) -> Self {
+        Quaternion { coords }
     }
 }

src/geometry/quaternion_ops.rs

@@ -103,28 +103,28 @@ quaternion_op_impl!(
     Add, add;
     (U4, U1), (U4, U1);
     self: &'a Quaternion<N>, rhs: &'b Quaternion<N>, Output = Quaternion<N>;
-    Quaternion::from_vector(&self.coords + &rhs.coords);
+    Quaternion::from(&self.coords + &rhs.coords);
     'a, 'b);
 
 quaternion_op_impl!(
     Add, add;
     (U4, U1), (U4, U1);
     self: &'a Quaternion<N>, rhs: Quaternion<N>, Output = Quaternion<N>;
-    Quaternion::from_vector(&self.coords + rhs.coords);
+    Quaternion::from(&self.coords + rhs.coords);
     'a);
 
 quaternion_op_impl!(
     Add, add;
     (U4, U1), (U4, U1);
     self: Quaternion<N>, rhs: &'b Quaternion<N>, Output = Quaternion<N>;
-    Quaternion::from_vector(self.coords + &rhs.coords);
+    Quaternion::from(self.coords + &rhs.coords);
     'b);
 
 quaternion_op_impl!(
     Add, add;
     (U4, U1), (U4, U1);
     self: Quaternion<N>, rhs: Quaternion<N>, Output = Quaternion<N>;
-    Quaternion::from_vector(self.coords + rhs.coords);
+    Quaternion::from(self.coords + rhs.coords);
     );
 
 // Quaternion - Quaternion
@@ -132,28 +132,28 @@ quaternion_op_impl!(
     Sub, sub;
     (U4, U1), (U4, U1);
     self: &'a Quaternion<N>, rhs: &'b Quaternion<N>, Output = Quaternion<N>;
-    Quaternion::from_vector(&self.coords - &rhs.coords);
+    Quaternion::from(&self.coords - &rhs.coords);
     'a, 'b);
 
 quaternion_op_impl!(
     Sub, sub;
     (U4, U1), (U4, U1);
     self: &'a Quaternion<N>, rhs: Quaternion<N>, Output = Quaternion<N>;
-    Quaternion::from_vector(&self.coords - rhs.coords);
+    Quaternion::from(&self.coords - rhs.coords);
     'a);
 
 quaternion_op_impl!(
     Sub, sub;
     (U4, U1), (U4, U1);
     self: Quaternion<N>, rhs: &'b Quaternion<N>, Output = Quaternion<N>;
-    Quaternion::from_vector(self.coords - &rhs.coords);
+    Quaternion::from(self.coords - &rhs.coords);
     'b);
 
 quaternion_op_impl!(
     Sub, sub;
     (U4, U1), (U4, U1);
     self: Quaternion<N>, rhs: Quaternion<N>, Output = Quaternion<N>;
-    Quaternion::from_vector(self.coords - rhs.coords);
+    Quaternion::from(self.coords - rhs.coords);
     );
 
 // Quaternion × Quaternion
@@ -428,7 +428,7 @@ quaternion_op_impl!(
     (U4, U1), (U3, U1);
     self: &'a UnitQuaternion<N>, rhs: &'b Point3<N>,
     Output = Point3<N> => U3, U4;
-    Point3::from_coordinates(self * &rhs.coords);
+    Point3::from(self * &rhs.coords);
     'a, 'b);
 
 quaternion_op_impl!(
@@ -436,7 +436,7 @@ quaternion_op_impl!(
     (U4, U1), (U3, U1);
     self: &'a UnitQuaternion<N>, rhs: Point3<N>,
     Output = Point3<N> => U3, U4;
-    Point3::from_coordinates(self * rhs.coords);
+    Point3::from(self * rhs.coords);
     'a);
 
 quaternion_op_impl!(
@@ -444,7 +444,7 @@ quaternion_op_impl!(
     (U4, U1), (U3, U1);
     self: UnitQuaternion<N>, rhs: &'b Point3<N>,
     Output = Point3<N> => U3, U4;
-    Point3::from_coordinates(self * &rhs.coords);
+    Point3::from(self * &rhs.coords);
     'b);
 
 quaternion_op_impl!(
@@ -452,7 +452,7 @@ quaternion_op_impl!(
     (U4, U1), (U3, U1);
     self: UnitQuaternion<N>, rhs: Point3<N>,
     Output = Point3<N> => U3, U4;
-    Point3::from_coordinates(self * rhs.coords);
+    Point3::from(self * rhs.coords);
     );
 
 // UnitQuaternion × Unit<Vector>
@@ -469,7 +469,7 @@ quaternion_op_impl!(
     (U4, U1), (U3, U1) for SB: Storage<N, U3> ;
     self: &'a UnitQuaternion<N>, rhs: Unit<Vector<N, U3, SB>>,
     Output = Unit<Vector3<N>> => U3, U4;
-    Unit::new_unchecked(self * rhs.unwrap());
+    Unit::new_unchecked(self * rhs.into_inner());
     'a);
 
 quaternion_op_impl!(
@@ -485,7 +485,7 @@ quaternion_op_impl!(
     (U4, U1), (U3, U1) for SB: Storage<N, U3> ;
     self: UnitQuaternion<N>, rhs: Unit<Vector<N, U3, SB>>,
     Output = Unit<Vector3<N>> => U3, U4;
-    Unit::new_unchecked(self * rhs.unwrap());
+    Unit::new_unchecked(self * rhs.into_inner());
     );
 
 macro_rules! scalar_op_impl(
@@ -495,7 +495,7 @@ macro_rules! scalar_op_impl(
 
             #[inline]
             fn $op(self, n: N) -> Self::Output {
-                Quaternion::from_vector(self.coords.$op(n))
+                Quaternion::from(self.coords.$op(n))
             }
         }
 
@@ -504,7 +504,7 @@ macro_rules! scalar_op_impl(
 
             #[inline]
             fn $op(self, n: N) -> Self::Output {
-                Quaternion::from_vector((&self.coords).$op(n))
+                Quaternion::from((&self.coords).$op(n))
             }
         }
 
@@ -530,7 +530,7 @@ macro_rules! left_scalar_mul_impl(
 
             #[inline]
             fn mul(self, right: Quaternion<$T>) -> Self::Output {
-                Quaternion::from_vector(self * right.coords)
+                Quaternion::from(self * right.coords)
             }
         }
 
@@ -539,7 +539,7 @@ macro_rules! left_scalar_mul_impl(
 
             #[inline]
             fn mul(self, right: &'b Quaternion<$T>) -> Self::Output {
-                Quaternion::from_vector(self * &right.coords)
+                Quaternion::from(self * &right.coords)
             }
         }
     )*}
@@ -552,7 +552,7 @@ impl<N: Real> Neg for Quaternion<N> {
 
     #[inline]
     fn neg(self) -> Self::Output {
-        Quaternion::from_vector(-self.coords)
+        Quaternion::from(-self.coords)
     }
 }
 
@@ -561,7 +561,7 @@ impl<'a, N: Real> Neg for &'a Quaternion<N> {
 
     #[inline]
     fn neg(self) -> Self::Output {
-        Quaternion::from_vector(-&self.coords)
+        Quaternion::from(-&self.coords)
     }
 }
 

src/geometry/reflection.rs

@@ -20,7 +20,7 @@ impl<N: Real, D: Dim, S: Storage<N, D>> Reflection<N, D, S> {
     /// represents a plane that passes through the origin.
     pub fn new(axis: Unit<Vector<N, D, S>>, bias: N) -> Reflection<N, D, S> {
         Reflection {
-            axis: axis.unwrap(),
+            axis: axis.into_inner(),
             bias: bias,
         }
     }

src/geometry/rotation.rs

@@ -108,28 +108,100 @@ impl<N: Scalar, D: DimName> Rotation<N, D>
 where DefaultAllocator: Allocator<N, D, D>
 {
     /// A reference to the underlying matrix representation of this rotation.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{Rotation2, Rotation3, Vector3, Matrix2, Matrix3};
+    /// # use std::f32;
+    /// let rot = Rotation3::from_axis_angle(&Vector3::z_axis(), f32::consts::FRAC_PI_6);
+    /// let expected = Matrix3::new(0.8660254, -0.5,      0.0,
+    ///                             0.5,       0.8660254, 0.0,
+    ///                             0.0,       0.0,       1.0);
+    /// assert_eq!(*rot.matrix(), expected);
+    ///
+    ///
+    /// let rot = Rotation2::new(f32::consts::FRAC_PI_6);
+    /// let expected = Matrix2::new(0.8660254, -0.5,
+    ///                             0.5,       0.8660254);
+    /// assert_eq!(*rot.matrix(), expected);
+    /// ```
     #[inline]
     pub fn matrix(&self) -> &MatrixN<N, D> {
         &self.matrix
     }
 
     /// A mutable reference to the underlying matrix representation of this rotation.
-    ///
-    /// This is unsafe because this allows the user to replace the matrix by another one that is
-    /// non-square, non-inversible, or non-orthonormal. If one of those properties is broken,
-    /// subsequent method calls may be UB.
     #[inline]
+    #[deprecated(note = "Use `.matrix_mut_unchecked()` instead.")]
     pub unsafe fn matrix_mut(&mut self) -> &mut MatrixN<N, D> {
         &mut self.matrix
     }
 
+    /// A mutable reference to the underlying matrix representation of this rotation.
+    ///
+    /// This is suffixed by "_unchecked" because this allows the user to replace the matrix by another one that is
+    /// non-square, non-inversible, or non-orthonormal. If one of those properties is broken,
+    /// subsequent method calls may be UB.
+    #[inline]
+    pub fn matrix_mut_unchecked(&mut self) -> &mut MatrixN<N, D> {
+        &mut self.matrix
+    }
+
     /// Unwraps the underlying matrix.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{Rotation2, Rotation3, Vector3, Matrix2, Matrix3};
+    /// # use std::f32;
+    /// let rot = Rotation3::from_axis_angle(&Vector3::z_axis(), f32::consts::FRAC_PI_6);
+    /// let mat = rot.into_inner();
+    /// let expected = Matrix3::new(0.8660254, -0.5,      0.0,
+    ///                             0.5,       0.8660254, 0.0,
+    ///                             0.0,       0.0,       1.0);
+    /// assert_eq!(mat, expected);
+    ///
+    ///
+    /// let rot = Rotation2::new(f32::consts::FRAC_PI_6);
+    /// let mat = rot.into_inner();
+    /// let expected = Matrix2::new(0.8660254, -0.5,
+    ///                             0.5,       0.8660254);
+    /// assert_eq!(mat, expected);
+    /// ```
+    #[inline]
+    pub fn into_inner(self) -> MatrixN<N, D> {
+        self.matrix
+    }
+
+    /// Unwraps the underlying matrix.
+    /// Deprecated: Use [Rotation::into_inner] instead.
+    #[deprecated(note="use `.into_inner()` instead")]
     #[inline]
     pub fn unwrap(self) -> MatrixN<N, D> {
         self.matrix
     }
 
     /// Converts this rotation into its equivalent homogeneous transformation matrix.
+    ///
+    /// This is the same as `self.into()`.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{Rotation2, Rotation3, Vector3, Matrix3, Matrix4};
+    /// # use std::f32;
+    /// let rot = Rotation3::from_axis_angle(&Vector3::z_axis(), f32::consts::FRAC_PI_6);
+    /// let expected = Matrix4::new(0.8660254, -0.5,      0.0, 0.0,
+    ///                             0.5,       0.8660254, 0.0, 0.0,
+    ///                             0.0,       0.0,       1.0, 0.0,
+    ///                             0.0,       0.0,       0.0, 1.0);
+    /// assert_eq!(rot.to_homogeneous(), expected);
+    ///
+    ///
+    /// let rot = Rotation2::new(f32::consts::FRAC_PI_6);
+    /// let expected = Matrix3::new(0.8660254, -0.5,      0.0,
+    ///                             0.5,       0.8660254, 0.0,
+    ///                             0.0,       0.0,       1.0);
+    /// assert_eq!(rot.to_homogeneous(), expected);
+    /// ```
     #[inline]
     pub fn to_homogeneous(&self) -> MatrixN<N, DimNameSum<D, U1>>
     where
@@ -137,6 +209,9 @@ where DefaultAllocator: Allocator<N, D, D>
         D: DimNameAdd<U1>,
         DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>,
     {
+        // We could use `MatrixN::to_homogeneous()` here, but that would imply
+        // adding the additional traits `DimAdd` and `IsNotStaticOne`. Maybe
+        // these things will get nicer once specialization lands in Rust.
         let mut res = MatrixN::<N, DimNameSum<D, U1>>::identity();
         res.fixed_slice_mut::<D, D>(0, 0).copy_from(&self.matrix);
 
@@ -146,6 +221,25 @@ where DefaultAllocator: Allocator<N, D, D>
     /// Creates a new rotation from the given square matrix.
     ///
     /// The matrix squareness is checked but not its orthonormality.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{Rotation2, Rotation3, Matrix2, Matrix3};
+    /// # use std::f32;
+    /// let mat = Matrix3::new(0.8660254, -0.5,      0.0,
+    ///                        0.5,       0.8660254, 0.0,
+    ///                        0.0,       0.0,       1.0);
+    /// let rot = Rotation3::from_matrix_unchecked(mat);
+    ///
+    /// assert_eq!(*rot.matrix(), mat);
+    ///
+    ///
+    /// let mat = Matrix2::new(0.8660254, -0.5,
+    ///                        0.5,       0.8660254);
+    /// let rot = Rotation2::from_matrix_unchecked(mat);
+    ///
+    /// assert_eq!(*rot.matrix(), mat);
+    /// ```
     #[inline]
     pub fn from_matrix_unchecked(matrix: MatrixN<N, D>) -> Rotation<N, D> {
         assert!(
@@ -157,24 +251,100 @@ where DefaultAllocator: Allocator<N, D, D>
     }
 
     /// Transposes `self`.
+    ///
+    /// Same as `.inverse()` because the inverse of a rotation matrix is its transform.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{Rotation2, Rotation3, Vector3};
+    /// let rot = Rotation3::new(Vector3::new(1.0, 2.0, 3.0));
+    /// let tr_rot = rot.transpose();
+    /// assert_relative_eq!(rot * tr_rot, Rotation3::identity(), epsilon = 1.0e-6);
+    /// assert_relative_eq!(tr_rot * rot, Rotation3::identity(), epsilon = 1.0e-6);
+    ///
+    /// let rot = Rotation2::new(1.2);
+    /// let tr_rot = rot.transpose();
+    /// assert_relative_eq!(rot * tr_rot, Rotation2::identity(), epsilon = 1.0e-6);
+    /// assert_relative_eq!(tr_rot * rot, Rotation2::identity(), epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn transpose(&self) -> Rotation<N, D> {
         Rotation::from_matrix_unchecked(self.matrix.transpose())
     }
 
     /// Inverts `self`.
+    ///
+    /// Same as `.transpose()` because the inverse of a rotation matrix is its transform.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{Rotation2, Rotation3, Vector3};
+    /// let rot = Rotation3::new(Vector3::new(1.0, 2.0, 3.0));
+    /// let inv = rot.inverse();
+    /// assert_relative_eq!(rot * inv, Rotation3::identity(), epsilon = 1.0e-6);
+    /// assert_relative_eq!(inv * rot, Rotation3::identity(), epsilon = 1.0e-6);
+    ///
+    /// let rot = Rotation2::new(1.2);
+    /// let inv = rot.inverse();
+    /// assert_relative_eq!(rot * inv, Rotation2::identity(), epsilon = 1.0e-6);
+    /// assert_relative_eq!(inv * rot, Rotation2::identity(), epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn inverse(&self) -> Rotation<N, D> {
         self.transpose()
     }
 
     /// Transposes `self` in-place.
+    ///
+    /// Same as `.inverse_mut()` because the inverse of a rotation matrix is its transform.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{Rotation2, Rotation3, Vector3};
+    /// let rot = Rotation3::new(Vector3::new(1.0, 2.0, 3.0));
+    /// let mut tr_rot = Rotation3::new(Vector3::new(1.0, 2.0, 3.0));
+    /// tr_rot.transpose_mut();
+    ///
+    /// assert_relative_eq!(rot * tr_rot, Rotation3::identity(), epsilon = 1.0e-6);
+    /// assert_relative_eq!(tr_rot * rot, Rotation3::identity(), epsilon = 1.0e-6);
+    ///
+    /// let rot = Rotation2::new(1.2);
+    /// let mut tr_rot = Rotation2::new(1.2);
+    /// tr_rot.transpose_mut();
+    ///
+    /// assert_relative_eq!(rot * tr_rot, Rotation2::identity(), epsilon = 1.0e-6);
+    /// assert_relative_eq!(tr_rot * rot, Rotation2::identity(), epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn transpose_mut(&mut self) {
         self.matrix.transpose_mut()
     }
 
     /// Inverts `self` in-place.
+    ///
+    /// Same as `.transpose_mut()` because the inverse of a rotation matrix is its transform.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{Rotation2, Rotation3, Vector3};
+    /// let rot = Rotation3::new(Vector3::new(1.0, 2.0, 3.0));
+    /// let mut inv = Rotation3::new(Vector3::new(1.0, 2.0, 3.0));
+    /// inv.inverse_mut();
+    ///
+    /// assert_relative_eq!(rot * inv, Rotation3::identity(), epsilon = 1.0e-6);
+    /// assert_relative_eq!(inv * rot, Rotation3::identity(), epsilon = 1.0e-6);
+    ///
+    /// let rot = Rotation2::new(1.2);
+    /// let mut inv = Rotation2::new(1.2);
+    /// inv.inverse_mut();
+    ///
+    /// assert_relative_eq!(rot * inv, Rotation2::identity(), epsilon = 1.0e-6);
+    /// assert_relative_eq!(inv * rot, Rotation2::identity(), epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn inverse_mut(&mut self) {
         self.transpose_mut()

src/geometry/rotation_alga.rs

@@ -89,7 +89,7 @@ where DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>
 {
     #[inline]
     fn inverse_transform_point(&self, pt: &Point<N, D>) -> Point<N, D> {
-        Point::from_coordinates(self.inverse_transform_vector(&pt.coords))
+        Point::from(self.inverse_transform_vector(&pt.coords))
     }
 
     #[inline]

src/geometry/rotation_construction.rs

@@ -14,6 +14,16 @@ where
     DefaultAllocator: Allocator<N, D, D>,
 {
     /// Creates a new square identity rotation of the given `dimension`.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::Quaternion;
+    /// let rot1 = Quaternion::identity();
+    /// let rot2 = Quaternion::new(1.0, 2.0, 3.0, 4.0);
+    ///
+    /// assert_eq!(rot1 * rot2, rot2);
+    /// assert_eq!(rot2 * rot1, rot2);
+    /// ```
     #[inline]
     pub fn identity() -> Rotation<N, D> {
         Self::from_matrix_unchecked(MatrixN::<N, D>::identity())

src/geometry/rotation_conversion.rs

@@ -227,7 +227,7 @@ impl<N: Real> From<Rotation2<N>> for Matrix3<N> {
 impl<N: Real> From<Rotation2<N>> for Matrix2<N> {
     #[inline]
     fn from(q: Rotation2<N>) -> Matrix2<N> {
-        q.unwrap()
+        q.into_inner()
     }
 }
 
@@ -241,6 +241,6 @@ impl<N: Real> From<Rotation3<N>> for Matrix4<N> {
 impl<N: Real> From<Rotation3<N>> for Matrix3<N> {
     #[inline]
     fn from(q: Rotation3<N>) -> Matrix3<N> {
-        q.unwrap()
+        q.into_inner()
     }
 }

src/geometry/rotation_ops.rs

@@ -46,9 +46,9 @@ md_impl_all!(
     Mul, mul;
     (D, D), (D, D) for D: DimName;
     self: Rotation<N, D>, right: Rotation<N, D>, Output = Rotation<N, D>;
-    [val val] => Rotation::from_matrix_unchecked(self.unwrap() * right.unwrap());
+    [val val] => Rotation::from_matrix_unchecked(self.into_inner() * right.into_inner());
-    [ref val] => Rotation::from_matrix_unchecked(self.matrix() * right.unwrap());
+    [ref val] => Rotation::from_matrix_unchecked(self.matrix() * right.into_inner());
-    [val ref] => Rotation::from_matrix_unchecked(self.unwrap() * right.matrix());
+    [val ref] => Rotation::from_matrix_unchecked(self.into_inner() * right.matrix());
     [ref ref] => Rotation::from_matrix_unchecked(self.matrix() * right.matrix());
 );
 
@@ -71,9 +71,9 @@ md_impl_all!(
     where DefaultAllocator: Allocator<N, D1, C2>
     where ShapeConstraint: AreMultipliable<D1, D1, R2, C2>;
     self: Rotation<N, D1>, right: Matrix<N, R2, C2, SB>, Output = MatrixMN<N, D1, C2>;
-    [val val] => self.unwrap() * right;
+    [val val] => self.into_inner() * right;
     [ref val] => self.matrix() * right;
-    [val ref] => self.unwrap() * right;
+    [val ref] => self.into_inner() * right;
     [ref ref] => self.matrix() * right;
 );
 
@@ -84,8 +84,8 @@ md_impl_all!(
     where DefaultAllocator: Allocator<N, R1, D2>
     where ShapeConstraint:  AreMultipliable<R1, C1, D2, D2>;
     self: Matrix<N, R1, C1, SA>, right: Rotation<N, D2>, Output = MatrixMN<N, R1, D2>;
-    [val val] => self * right.unwrap();
+    [val val] => self * right.into_inner();
-    [ref val] => self * right.unwrap();
+    [ref val] => self * right.into_inner();
     [val ref] => self * right.matrix();
     [ref ref] => self * right.matrix();
 );
@@ -112,9 +112,9 @@ md_impl_all!(
     where DefaultAllocator: Allocator<N, D>
     where ShapeConstraint:  AreMultipliable<D, D, D, U1>;
     self: Rotation<N, D>, right: Point<N, D>, Output = Point<N, D>;
-    [val val] => self.unwrap() * right;
+    [val val] => self.into_inner() * right;
     [ref val] => self.matrix() * right;
-    [val ref] => self.unwrap() * right;
+    [val ref] => self.into_inner() * right;
     [ref ref] => self.matrix() * right;
 );
 
@@ -125,9 +125,9 @@ md_impl_all!(
     where DefaultAllocator: Allocator<N, D>
     where ShapeConstraint:  AreMultipliable<D, D, D, U1>;
     self: Rotation<N, D>, right: Unit<Vector<N, D, S>>, Output = Unit<VectorN<N, D>>;
-    [val val] => Unit::new_unchecked(self.unwrap() * right.unwrap());
+    [val val] => Unit::new_unchecked(self.into_inner() * right.into_inner());
-    [ref val] => Unit::new_unchecked(self.matrix() * right.unwrap());
+    [ref val] => Unit::new_unchecked(self.matrix() * right.into_inner());
-    [val ref] => Unit::new_unchecked(self.unwrap() * right.as_ref());
+    [val ref] => Unit::new_unchecked(self.into_inner() * right.as_ref());
     [ref ref] => Unit::new_unchecked(self.matrix() * right.as_ref());
 );
 
@@ -138,16 +138,16 @@ md_assign_impl_all!(
     MulAssign, mul_assign;
     (D, D), (D, D) for D: DimName;
     self: Rotation<N, D>, right: Rotation<N, D>;
-    [val] => unsafe { self.matrix_mut().mul_assign(right.unwrap()) };
+    [val] => self.matrix_mut_unchecked().mul_assign(right.into_inner());
-    [ref] => unsafe { self.matrix_mut().mul_assign(right.matrix()) };
+    [ref] => self.matrix_mut_unchecked().mul_assign(right.matrix());
 );
 
 md_assign_impl_all!(
     DivAssign, div_assign;
     (D, D), (D, D) for D: DimName;
     self: Rotation<N, D>, right: Rotation<N, D>;
-    [val] => unsafe { self.matrix_mut().mul_assign(right.inverse().unwrap()) };
+    [val] => self.matrix_mut_unchecked().mul_assign(right.inverse().into_inner());
-    [ref] => unsafe { self.matrix_mut().mul_assign(right.inverse().matrix()) };
+    [ref] => self.matrix_mut_unchecked().mul_assign(right.inverse().matrix());
 );
 
 // Matrix *= Rotation
@@ -160,7 +160,7 @@ md_assign_impl_all!(
     MulAssign, mul_assign;
     (R1, C1), (C1, C1) for R1: DimName, C1: DimName;
     self: MatrixMN<N, R1, C1>, right: Rotation<N, C1>;
-    [val] => self.mul_assign(right.unwrap());
+    [val] => self.mul_assign(right.into_inner());
     [ref] => self.mul_assign(right.matrix());
 );
 
@@ -168,6 +168,6 @@ md_assign_impl_all!(
     DivAssign, div_assign;
     (R1, C1), (C1, C1) for R1: DimName, C1: DimName;
     self: MatrixMN<N, R1, C1>, right: Rotation<N, C1>;
-    [val] => self.mul_assign(right.inverse().unwrap());
+    [val] => self.mul_assign(right.inverse().into_inner());
     [ref] => self.mul_assign(right.inverse().matrix());
 );

src/geometry/rotation_specialization.rs

@@ -22,6 +22,17 @@ use geometry::{Rotation2, Rotation3, UnitComplex};
  */
 impl<N: Real> Rotation2<N> {
     /// Builds a 2 dimensional rotation matrix from an angle in radian.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use std::f32;
+    /// # use nalgebra::{Rotation2, Point2};
+    /// let rot = Rotation2::new(f32::consts::FRAC_PI_2);
+    ///
+    /// assert_relative_eq!(rot * Point2::new(3.0, 4.0), Point2::new(-4.0, 3.0));
+    /// ```
     pub fn new(angle: N) -> Self {
         let (sia, coa) = angle.sin_cos();
         Self::from_matrix_unchecked(MatrixN::<N, U2>::new(coa, -sia, sia, coa))
@@ -29,7 +40,9 @@ impl<N: Real> Rotation2<N> {
 
     /// Builds a 2 dimensional rotation matrix from an angle in radian wrapped in a 1-dimensional vector.
     ///
-    /// Equivalent to `Self::new(axisangle[0])`.
+    ///
+    /// This is generally used in the context of generic programming. Using
+    /// the `::new(angle)` method instead is more common.
     #[inline]
     pub fn from_scaled_axis<SB: Storage<N, U1>>(axisangle: Vector<N, U1, SB>) -> Self {
         Self::new(axisangle[0])
@@ -38,6 +51,17 @@ impl<N: Real> Rotation2<N> {
     /// The rotation matrix required to align `a` and `b` but with its angle.
     ///
     /// This is the rotation `R` such that `(R * a).angle(b) == 0 && (R * a).dot(b).is_positive()`.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{Vector2, Rotation2};
+    /// let a = Vector2::new(1.0, 2.0);
+    /// let b = Vector2::new(2.0, 1.0);
+    /// let rot = Rotation2::rotation_between(&a, &b);
+    /// assert_relative_eq!(rot * a, b);
+    /// assert_relative_eq!(rot.inverse() * b, a);
+    /// ```
     #[inline]
     pub fn rotation_between<SB, SC>(a: &Vector<N, U2, SB>, b: &Vector<N, U2, SC>) -> Self
     where
@@ -49,6 +73,18 @@ impl<N: Real> Rotation2<N> {
 
     /// The smallest rotation needed to make `a` and `b` collinear and point toward the same
     /// direction, raised to the power `s`.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{Vector2, Rotation2};
+    /// let a = Vector2::new(1.0, 2.0);
+    /// let b = Vector2::new(2.0, 1.0);
+    /// let rot2 = Rotation2::scaled_rotation_between(&a, &b, 0.2);
+    /// let rot5 = Rotation2::scaled_rotation_between(&a, &b, 0.5);
+    /// assert_relative_eq!(rot2 * rot2 * rot2 * rot2 * rot2 * a, b, epsilon = 1.0e-6);
+    /// assert_relative_eq!(rot5 * rot5 * a, b, epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn scaled_rotation_between<SB, SC>(
         a: &Vector<N, U2, SB>,
@@ -65,12 +101,29 @@ impl<N: Real> Rotation2<N> {
 
 impl<N: Real> Rotation2<N> {
     /// The rotation angle.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::Rotation2;
+    /// let rot = Rotation2::new(1.78);
+    /// assert_relative_eq!(rot.angle(), 1.78);
+    /// ```
     #[inline]
     pub fn angle(&self) -> N {
         self.matrix()[(1, 0)].atan2(self.matrix()[(0, 0)])
     }
 
     /// The rotation angle needed to make `self` and `other` coincide.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::Rotation2;
+    /// let rot1 = Rotation2::new(0.1);
+    /// let rot2 = Rotation2::new(1.7);
+    /// assert_relative_eq!(rot1.angle_to(&rot2), 1.6);
+    /// ```
     #[inline]
     pub fn angle_to(&self, other: &Rotation2<N>) -> N {
         self.rotation_to(other).angle()
@@ -79,6 +132,18 @@ impl<N: Real> Rotation2<N> {
     /// The rotation matrix needed to make `self` and `other` coincide.
     ///
     /// The result is such that: `self.rotation_to(other) * self == other`.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::Rotation2;
+    /// let rot1 = Rotation2::new(0.1);
+    /// let rot2 = Rotation2::new(1.7);
+    /// let rot_to = rot1.rotation_to(&rot2);
+    ///
+    /// assert_relative_eq!(rot_to * rot1, rot2);
+    /// assert_relative_eq!(rot_to.inverse() * rot2, rot1);
+    /// ```
     #[inline]
     pub fn rotation_to(&self, other: &Rotation2<N>) -> Rotation2<N> {
         other * self.inverse()
@@ -86,12 +151,24 @@ impl<N: Real> Rotation2<N> {
 
     /// Raise the quaternion to a given floating power, i.e., returns the rotation with the angle
     /// of `self` multiplied by `n`.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::Rotation2;
+    /// let rot = Rotation2::new(0.78);
+    /// let pow = rot.powf(2.0);
+    /// assert_relative_eq!(pow.angle(), 2.0 * 0.78);
+    /// ```
     #[inline]
     pub fn powf(&self, n: N) -> Rotation2<N> {
         Self::new(self.angle() * n)
     }
 
     /// The rotation angle returned as a 1-dimensional vector.
+    ///
+    /// This is generally used in the context of generic programming. Using
+    /// the `.angle()` method instead is more common.
     #[inline]
     pub fn scaled_axis(&self) -> VectorN<N, U1> {
         Vector1::new(self.angle())
@@ -129,6 +206,24 @@ impl<N: Real> Rotation3<N> {
     /// # Arguments
     ///   * `axisangle` - A vector representing the rotation. Its magnitude is the amount of rotation
     ///   in radian. Its direction is the axis of rotation.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use std::f32;
+    /// # use nalgebra::{Rotation3, Point3, Vector3};
+    /// let axisangle = Vector3::y() * f32::consts::FRAC_PI_2;
+    /// // Point and vector being transformed in the tests.
+    /// let pt = Point3::new(4.0, 5.0, 6.0);
+    /// let vec = Vector3::new(4.0, 5.0, 6.0);
+    /// let rot = Rotation3::new(axisangle);
+    ///
+    /// assert_relative_eq!(rot * pt, Point3::new(6.0, 5.0, -4.0), epsilon = 1.0e-6);
+    /// assert_relative_eq!(rot * vec, Vector3::new(6.0, 5.0, -4.0), epsilon = 1.0e-6);
+    ///
+    /// // A zero vector yields an identity.
+    /// assert_eq!(Rotation3::new(Vector3::<f32>::zeros()), Rotation3::identity());
+    /// ```
     pub fn new<SB: Storage<N, U3>>(axisangle: Vector<N, U3, SB>) -> Self {
         let axisangle = axisangle.into_owned();
         let (axis, angle) = Unit::new_and_get(axisangle);
@@ -136,11 +231,52 @@ impl<N: Real> Rotation3<N> {
     }
 
     /// Builds a 3D rotation matrix from an axis scaled by the rotation angle.
+    ///
+    /// This is the same as `Self::new(axisangle)`.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use std::f32;
+    /// # use nalgebra::{Rotation3, Point3, Vector3};
+    /// let axisangle = Vector3::y() * f32::consts::FRAC_PI_2;
+    /// // Point and vector being transformed in the tests.
+    /// let pt = Point3::new(4.0, 5.0, 6.0);
+    /// let vec = Vector3::new(4.0, 5.0, 6.0);
+    /// let rot = Rotation3::new(axisangle);
+    ///
+    /// assert_relative_eq!(rot * pt, Point3::new(6.0, 5.0, -4.0), epsilon = 1.0e-6);
+    /// assert_relative_eq!(rot * vec, Vector3::new(6.0, 5.0, -4.0), epsilon = 1.0e-6);
+    ///
+    /// // A zero vector yields an identity.
+    /// assert_eq!(Rotation3::from_scaled_axis(Vector3::<f32>::zeros()), Rotation3::identity());
+    /// ```
     pub fn from_scaled_axis<SB: Storage<N, U3>>(axisangle: Vector<N, U3, SB>) -> Self {
         Self::new(axisangle)
     }
 
     /// Builds a 3D rotation matrix from an axis and a rotation angle.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use std::f32;
+    /// # use nalgebra::{Rotation3, Point3, Vector3};
+    /// let axis = Vector3::y_axis();
+    /// let angle = f32::consts::FRAC_PI_2;
+    /// // Point and vector being transformed in the tests.
+    /// let pt = Point3::new(4.0, 5.0, 6.0);
+    /// let vec = Vector3::new(4.0, 5.0, 6.0);
+    /// let rot = Rotation3::from_axis_angle(&axis, angle);
+    ///
+    /// assert_eq!(rot.axis().unwrap(), axis);
+    /// assert_eq!(rot.angle(), angle);
+    /// assert_relative_eq!(rot * pt, Point3::new(6.0, 5.0, -4.0), epsilon = 1.0e-6);
+    /// assert_relative_eq!(rot * vec, Vector3::new(6.0, 5.0, -4.0), epsilon = 1.0e-6);
+    ///
+    /// // A zero vector yields an identity.
+    /// assert_eq!(Rotation3::from_scaled_axis(Vector3::<f32>::zeros()), Rotation3::identity());
+    /// ```
     pub fn from_axis_angle<SB>(axis: &Unit<Vector<N, U3, SB>>, angle: N) -> Self
     where SB: Storage<N, U3> {
         if angle.is_zero() {
@@ -172,6 +308,17 @@ impl<N: Real> Rotation3<N> {
     /// Creates a new rotation from Euler angles.
     ///
     /// The primitive rotations are applied in order: 1 roll − 2 pitch − 3 yaw.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::Rotation3;
+    /// let rot = Rotation3::from_euler_angles(0.1, 0.2, 0.3);
+    /// let euler = rot.euler_angles();
+    /// assert_relative_eq!(euler.0, 0.1, epsilon = 1.0e-6);
+    /// assert_relative_eq!(euler.1, 0.2, epsilon = 1.0e-6);
+    /// assert_relative_eq!(euler.2, 0.3, epsilon = 1.0e-6);
+    /// ```
     pub fn from_euler_angles(roll: N, pitch: N, yaw: N) -> Self {
         let (sr, cr) = roll.sin_cos();
         let (sp, cp) = pitch.sin_cos();
@@ -192,16 +339,35 @@ impl<N: Real> Rotation3<N> {
 
     /// Creates Euler angles from a rotation.
     ///
-    /// The angles are produced in the form (roll, yaw, pitch).
+    /// The angles are produced in the form (roll, pitch, yaw).
+    #[deprecated(note = "This is renamed to use `.euler_angles()`.")]
     pub fn to_euler_angles(&self) -> (N, N, N) {
+        self.euler_angles()
+    }
+
+    /// Euler angles corresponding to this rotation from a rotation.
+    ///
+    /// The angles are produced in the form (roll, pitch, yaw).
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::Rotation3;
+    /// let rot = Rotation3::from_euler_angles(0.1, 0.2, 0.3);
+    /// let euler = rot.euler_angles();
+    /// assert_relative_eq!(euler.0, 0.1, epsilon = 1.0e-6);
+    /// assert_relative_eq!(euler.1, 0.2, epsilon = 1.0e-6);
+    /// assert_relative_eq!(euler.2, 0.3, epsilon = 1.0e-6);
+    /// ```
+    pub fn euler_angles(&self) -> (N, N, N) {
         // Implementation informed by "Computing Euler angles from a rotation matrix", by Gregory G. Slabaugh
         //  http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.371.6578
-        if self[(2, 0)].abs() != N::one() {
+        if self[(2, 0)].abs() < N::one() {
             let yaw = -self[(2, 0)].asin();
             let roll = (self[(2, 1)] / yaw.cos()).atan2(self[(2, 2)] / yaw.cos());
             let pitch = (self[(1, 0)] / yaw.cos()).atan2(self[(0, 0)] / yaw.cos());
             (roll, yaw, pitch)
-        } else if self[(2, 0)] == -N::one() {
+        } else if self[(2, 0)] <= -N::one() {
             (self[(0, 1)].atan2(self[(0, 2)]), N::frac_pi_2(), N::zero())
         } else {
             (
@@ -215,15 +381,26 @@ impl<N: Real> Rotation3<N> {
     /// Creates a rotation that corresponds to the local frame of an observer standing at the
     /// origin and looking toward `dir`.
     ///
-    /// It maps the view direction `dir` to the positive `z` axis.
+    /// It maps the `z` axis to the direction `dir`.
     ///
     /// # Arguments
     ///   * dir - The look direction, that is, direction the matrix `z` axis will be aligned with.
     ///   * up - The vertical direction. The only requirement of this parameter is to not be
-    ///   collinear
+    ///   collinear to `dir`. Non-collinearity is not checked.
-    ///   to `dir`. Non-collinearity is not checked.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use std::f32;
+    /// # use nalgebra::{Rotation3, Vector3};
+    /// let dir = Vector3::new(1.0, 2.0, 3.0);
+    /// let up = Vector3::y();
+    ///
+    /// let rot = Rotation3::face_towards(&dir, &up);
+    /// assert_relative_eq!(rot * Vector3::z(), dir.normalize());
+    /// ```
     #[inline]
-    pub fn new_observer_frame<SB, SC>(dir: &Vector<N, U3, SB>, up: &Vector<N, U3, SC>) -> Self
+    pub fn face_towards<SB, SC>(dir: &Vector<N, U3, SB>, up: &Vector<N, U3, SC>) -> Self
     where
         SB: Storage<N, U3>,
         SC: Storage<N, U3>,
@@ -237,47 +414,92 @@ impl<N: Real> Rotation3<N> {
         ))
     }
 
+    /// Deprecated: Use [Rotation3::face_towards] instead.
+    #[deprecated(note="renamed to `face_towards`")]
+    pub fn new_observer_frames<SB, SC>(dir: &Vector<N, U3, SB>, up: &Vector<N, U3, SC>) -> Self
+    where
+        SB: Storage<N, U3>,
+        SC: Storage<N, U3>,
+    {
+        Self::face_towards(dir, up)
+    }
+
     /// Builds a right-handed look-at view matrix without translation.
     ///
+    /// It maps the view direction `dir` to the **negative** `z` axis.
     /// This conforms to the common notion of right handed look-at matrix from the computer
     /// graphics community.
     ///
     /// # Arguments
-    ///   * eye - The eye position.
+    ///   * dir - The direction toward which the camera looks.
-    ///   * target - The target position.
     ///   * up - A vector approximately aligned with required the vertical axis. The only
-    ///   requirement of this parameter is to not be collinear to `target - eye`.
+    ///   requirement of this parameter is to not be collinear to `dir`.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use std::f32;
+    /// # use nalgebra::{Rotation3, Vector3};
+    /// let dir = Vector3::new(1.0, 2.0, 3.0);
+    /// let up = Vector3::y();
+    ///
+    /// let rot = Rotation3::look_at_rh(&dir, &up);
+    /// assert_relative_eq!(rot * dir.normalize(), -Vector3::z());
+    /// ```
     #[inline]
     pub fn look_at_rh<SB, SC>(dir: &Vector<N, U3, SB>, up: &Vector<N, U3, SC>) -> Self
     where
         SB: Storage<N, U3>,
         SC: Storage<N, U3>,
     {
-        Self::new_observer_frame(&dir.neg(), up).inverse()
+        Self::face_towards(&dir.neg(), up).inverse()
     }
 
     /// Builds a left-handed look-at view matrix without translation.
     ///
+    /// It maps the view direction `dir` to the **positive** `z` axis.
     /// This conforms to the common notion of left handed look-at matrix from the computer
     /// graphics community.
     ///
     /// # Arguments
-    ///   * eye - The eye position.
+    ///   * dir - The direction toward which the camera looks.
-    ///   * target - The target position.
     ///   * up - A vector approximately aligned with required the vertical axis. The only
-    ///   requirement of this parameter is to not be collinear to `target - eye`.
+    ///   requirement of this parameter is to not be collinear to `dir`.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use std::f32;
+    /// # use nalgebra::{Rotation3, Vector3};
+    /// let dir = Vector3::new(1.0, 2.0, 3.0);
+    /// let up = Vector3::y();
+    ///
+    /// let rot = Rotation3::look_at_lh(&dir, &up);
+    /// assert_relative_eq!(rot * dir.normalize(), Vector3::z());
+    /// ```
     #[inline]
     pub fn look_at_lh<SB, SC>(dir: &Vector<N, U3, SB>, up: &Vector<N, U3, SC>) -> Self
     where
         SB: Storage<N, U3>,
         SC: Storage<N, U3>,
     {
-        Self::new_observer_frame(dir, up).inverse()
+        Self::face_towards(dir, up).inverse()
     }
 
     /// The rotation matrix required to align `a` and `b` but with its angle.
     ///
     /// This is the rotation `R` such that `(R * a).angle(b) == 0 && (R * a).dot(b).is_positive()`.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{Vector3, Rotation3};
+    /// let a = Vector3::new(1.0, 2.0, 3.0);
+    /// let b = Vector3::new(3.0, 1.0, 2.0);
+    /// let rot = Rotation3::rotation_between(&a, &b).unwrap();
+    /// assert_relative_eq!(rot * a, b, epsilon = 1.0e-6);
+    /// assert_relative_eq!(rot.inverse() * b, a, epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn rotation_between<SB, SC>(a: &Vector<N, U3, SB>, b: &Vector<N, U3, SC>) -> Option<Self>
     where
@@ -289,6 +511,18 @@ impl<N: Real> Rotation3<N> {
 
     /// The smallest rotation needed to make `a` and `b` collinear and point toward the same
     /// direction, raised to the power `s`.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{Vector3, Rotation3};
+    /// let a = Vector3::new(1.0, 2.0, 3.0);
+    /// let b = Vector3::new(3.0, 1.0, 2.0);
+    /// let rot2 = Rotation3::scaled_rotation_between(&a, &b, 0.2).unwrap();
+    /// let rot5 = Rotation3::scaled_rotation_between(&a, &b, 0.5).unwrap();
+    /// assert_relative_eq!(rot2 * rot2 * rot2 * rot2 * rot2 * a, b, epsilon = 1.0e-6);
+    /// assert_relative_eq!(rot5 * rot5 * a, b, epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn scaled_rotation_between<SB, SC>(
         a: &Vector<N, U3, SB>,
@@ -320,7 +554,16 @@ impl<N: Real> Rotation3<N> {
         Some(Self::identity())
     }
 
-    /// The rotation angle.
+    /// The rotation angle in [0; pi].
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{Unit, Rotation3, Vector3};
+    /// let axis = Unit::new_normalize(Vector3::new(1.0, 2.0, 3.0));
+    /// let rot = Rotation3::from_axis_angle(&axis, 1.78);
+    /// assert_relative_eq!(rot.angle(), 1.78);
+    /// ```
     #[inline]
     pub fn angle(&self) -> N {
         ((self.matrix()[(0, 0)] + self.matrix()[(1, 1)] + self.matrix()[(2, 2)] - N::one())
@@ -329,6 +572,20 @@ impl<N: Real> Rotation3<N> {
     }
 
     /// The rotation axis. Returns `None` if the rotation angle is zero or PI.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{Rotation3, Vector3, Unit};
+    /// let axis = Unit::new_normalize(Vector3::new(1.0, 2.0, 3.0));
+    /// let angle = 1.2;
+    /// let rot = Rotation3::from_axis_angle(&axis, angle);
+    /// assert_relative_eq!(rot.axis().unwrap(), axis);
+    ///
+    /// // Case with a zero angle.
+    /// let rot = Rotation3::from_axis_angle(&axis, 0.0);
+    /// assert!(rot.axis().is_none());
+    /// ```
     #[inline]
     pub fn axis(&self) -> Option<Unit<Vector3<N>>> {
         let axis = VectorN::<N, U3>::new(
@@ -341,16 +598,62 @@ impl<N: Real> Rotation3<N> {
     }
 
     /// The rotation axis multiplied by the rotation angle.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{Rotation3, Vector3, Unit};
+    /// let axisangle = Vector3::new(0.1, 0.2, 0.3);
+    /// let rot = Rotation3::new(axisangle);
+    /// assert_relative_eq!(rot.scaled_axis(), axisangle, epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn scaled_axis(&self) -> Vector3<N> {
         if let Some(axis) = self.axis() {
-            axis.unwrap() * self.angle()
+            axis.into_inner() * self.angle()
         } else {
             Vector::zero()
         }
     }
 
+    /// The rotation axis and angle in ]0, pi] of this unit quaternion.
+    ///
+    /// Returns `None` if the angle is zero.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{Rotation3, Vector3, Unit};
+    /// let axis = Unit::new_normalize(Vector3::new(1.0, 2.0, 3.0));
+    /// let angle = 1.2;
+    /// let rot = Rotation3::from_axis_angle(&axis, angle);
+    /// let axis_angle = rot.axis_angle().unwrap();
+    /// assert_relative_eq!(axis_angle.0, axis);
+    /// assert_relative_eq!(axis_angle.1, angle);
+    ///
+    /// // Case with a zero angle.
+    /// let rot = Rotation3::from_axis_angle(&axis, 0.0);
+    /// assert!(rot.axis_angle().is_none());
+    /// ```
+    #[inline]
+    pub fn axis_angle(&self) -> Option<(Unit<Vector3<N>>, N)> {
+        if let Some(axis) = self.axis() {
+            Some((axis, self.angle()))
+        } else {
+            None
+        }
+    }
+
     /// The rotation angle needed to make `self` and `other` coincide.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{Rotation3, Vector3};
+    /// let rot1 = Rotation3::from_axis_angle(&Vector3::y_axis(), 1.0);
+    /// let rot2 = Rotation3::from_axis_angle(&Vector3::x_axis(), 0.1);
+    /// assert_relative_eq!(rot1.angle_to(&rot2), 1.0045657, epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn angle_to(&self, other: &Rotation3<N>) -> N {
         self.rotation_to(other).angle()
@@ -359,6 +662,16 @@ impl<N: Real> Rotation3<N> {
     /// The rotation matrix needed to make `self` and `other` coincide.
     ///
     /// The result is such that: `self.rotation_to(other) * self == other`.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{Rotation3, Vector3};
+    /// let rot1 = Rotation3::from_axis_angle(&Vector3::y_axis(), 1.0);
+    /// let rot2 = Rotation3::from_axis_angle(&Vector3::x_axis(), 0.1);
+    /// let rot_to = rot1.rotation_to(&rot2);
+    /// assert_relative_eq!(rot_to * rot1, rot2, epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn rotation_to(&self, other: &Rotation3<N>) -> Rotation3<N> {
         other * self.inverse()
@@ -366,6 +679,18 @@ impl<N: Real> Rotation3<N> {
 
     /// Raise the quaternion to a given floating power, i.e., returns the rotation with the same
     /// axis as `self` and an angle equal to `self.angle()` multiplied by `n`.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{Rotation3, Vector3, Unit};
+    /// let axis = Unit::new_normalize(Vector3::new(1.0, 2.0, 3.0));
+    /// let angle = 1.2;
+    /// let rot = Rotation3::from_axis_angle(&axis, angle);
+    /// let pow = rot.powf(2.0);
+    /// assert_relative_eq!(pow.axis().unwrap(), axis, epsilon = 1.0e-6);
+    /// assert_eq!(pow.angle(), 2.4);
+    /// ```
     #[inline]
     pub fn powf(&self, n: N) -> Rotation3<N> {
         if let Some(axis) = self.axis() {

src/geometry/similarity.rs

@@ -25,17 +25,21 @@ use geometry::{Isometry, Point, Translation};
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "serde-serialize",
-    serde(bound(serialize = "N: Serialize,
+    serde(bound(
+        serialize = "N: Serialize,
                      R: Serialize,
                      DefaultAllocator: Allocator<N, D>,
-                     Owned<N, D>: Serialize"))
+                     Owned<N, D>: Serialize"
+    ))
 )]
 #[cfg_attr(
     feature = "serde-serialize",
-    serde(bound(deserialize = "N: Deserialize<'de>,
+    serde(bound(
+        deserialize = "N: Deserialize<'de>,
                        R: Deserialize<'de>,
                        DefaultAllocator: Allocator<N, D>,
-                       Owned<N, D>: Deserialize<'de>"))
+                       Owned<N, D>: Deserialize<'de>"
+    ))
 )]
 pub struct Similarity<N: Real, D: DimName, R>
 where DefaultAllocator: Allocator<N, D>
@@ -80,8 +84,7 @@ impl<N: Real, D: DimName + Copy, R: Rotation<Point<N, D>> + Copy> Copy for Simil
 where
     DefaultAllocator: Allocator<N, D>,
     Owned<N, D>: Copy,
-{
+{}
-}
 
 impl<N: Real, D: DimName, R: Rotation<Point<N, D>> + Clone> Clone for Similarity<N, D, R>
 where DefaultAllocator: Allocator<N, D>
@@ -181,7 +184,7 @@ where
         );
 
         Self::from_parts(
-            Translation::from_vector(&self.isometry.translation.vector * scaling),
+            Translation::from(&self.isometry.translation.vector * scaling),
             self.isometry.rotation.clone(),
             self.scaling * scaling,
         )
@@ -266,8 +269,7 @@ impl<N: Real, D: DimName, R> Eq for Similarity<N, D, R>
 where
     R: Rotation<Point<N, D>> + Eq,
     DefaultAllocator: Allocator<N, D>,
-{
+{}
-}
 
 impl<N: Real, D: DimName, R> PartialEq for Similarity<N, D, R>
 where

src/geometry/similarity_construction.rs

@@ -25,6 +25,20 @@ where
     DefaultAllocator: Allocator<N, D>,
 {
     /// Creates a new identity similarity.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use nalgebra::{Similarity2, Point2, Similarity3, Point3};
+    ///
+    /// let sim = Similarity2::identity();
+    /// let pt = Point2::new(1.0, 2.0);
+    /// assert_eq!(sim * pt, pt);
+    ///
+    /// let sim = Similarity3::identity();
+    /// let pt = Point3::new(1.0, 2.0, 3.0);
+    /// assert_eq!(sim * pt, pt);
+    /// ```
     #[inline]
     pub fn identity() -> Self {
         Self::from_isometry(Isometry::identity(), N::one())
@@ -67,10 +81,23 @@ where
 {
     /// The similarity that applies the scaling factor `scaling`, followed by the rotation `r` with
     /// its axis passing through the point `p`.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use std::f32;
+    /// # use nalgebra::{Similarity2, Point2, UnitComplex};
+    /// let rot = UnitComplex::new(f32::consts::FRAC_PI_2);
+    /// let pt = Point2::new(3.0, 2.0);
+    /// let sim = Similarity2::rotation_wrt_point(rot, pt, 4.0);
+    ///
+    /// assert_relative_eq!(sim * Point2::new(1.0, 2.0), Point2::new(-3.0, 3.0), epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn rotation_wrt_point(r: R, p: Point<N, D>, scaling: N) -> Self {
         let shift = r.transform_vector(&-&p.coords);
-        Self::from_parts(Translation::from_vector(shift + p.coords), r, scaling)
+        Self::from_parts(Translation::from(shift + p.coords), r, scaling)
     }
 }
 
@@ -101,11 +128,22 @@ where
 
 // 2D rotation.
 impl<N: Real> Similarity<N, U2, Rotation2<N>> {
-    /// Creates a new similarity from a translation and a rotation angle.
+    /// Creates a new similarity from a translation, a rotation, and an uniform scaling factor.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use std::f32;
+    /// # use nalgebra::{SimilarityMatrix2, Vector2, Point2};
+    /// let sim = SimilarityMatrix2::new(Vector2::new(1.0, 2.0), f32::consts::FRAC_PI_2, 3.0);
+    ///
+    /// assert_relative_eq!(sim * Point2::new(2.0, 4.0), Point2::new(-11.0, 8.0), epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn new(translation: Vector2<N>, angle: N, scaling: N) -> Self {
         Self::from_parts(
-            Translation::from_vector(translation),
+            Translation::from(translation),
             Rotation2::new(angle),
             scaling,
         )
@@ -114,10 +152,21 @@ impl<N: Real> Similarity<N, U2, Rotation2<N>> {
 
 impl<N: Real> Similarity<N, U2, UnitComplex<N>> {
     /// Creates a new similarity from a translation and a rotation angle.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use std::f32;
+    /// # use nalgebra::{Similarity2, Vector2, Point2};
+    /// let sim = Similarity2::new(Vector2::new(1.0, 2.0), f32::consts::FRAC_PI_2, 3.0);
+    ///
+    /// assert_relative_eq!(sim * Point2::new(2.0, 4.0), Point2::new(-11.0, 8.0), epsilon = 1.0e-6);
+    /// ```
     #[inline]
     pub fn new(translation: Vector2<N>, angle: N, scaling: N) -> Self {
         Self::from_parts(
-            Translation::from_vector(translation),
+            Translation::from(translation),
             UnitComplex::new(angle),
             scaling,
         )
@@ -130,6 +179,29 @@ macro_rules! similarity_construction_impl(
         impl<N: Real> Similarity<N, U3, $Rot> {
             /// Creates a new similarity from a translation, rotation axis-angle, and scaling
             /// factor.
+            ///
+            /// # Example
+            ///
+            /// ```
+            /// # #[macro_use] extern crate approx;
+            /// # use std::f32;
+            /// # use nalgebra::{Similarity3, SimilarityMatrix3, Point3, Vector3};
+            /// let axisangle = Vector3::y() * f32::consts::FRAC_PI_2;
+            /// let translation = Vector3::new(1.0, 2.0, 3.0);
+            /// // Point and vector being transformed in the tests.
+            /// let pt = Point3::new(4.0, 5.0, 6.0);
+            /// let vec = Vector3::new(4.0, 5.0, 6.0);
+            ///
+            /// // Similarity with its rotation part represented as a UnitQuaternion
+            /// let sim = Similarity3::new(translation, axisangle, 3.0);
+            /// assert_relative_eq!(sim * pt, Point3::new(19.0, 17.0, -9.0), epsilon = 1.0e-5);
+            /// assert_relative_eq!(sim * vec, Vector3::new(18.0, 15.0, -12.0), epsilon = 1.0e-5);
+            ///
+            /// // Similarity with its rotation part represented as a Rotation3 (a 3x3 rotation matrix).
+            /// let sim = SimilarityMatrix3::new(translation, axisangle, 3.0);
+            /// assert_relative_eq!(sim * pt, Point3::new(19.0, 17.0, -9.0), epsilon = 1.0e-5);
+            /// assert_relative_eq!(sim * vec, Vector3::new(18.0, 15.0, -12.0), epsilon = 1.0e-5);
+            /// ```
             #[inline]
             pub fn new(translation: Vector3<N>, axisangle: Vector3<N>, scaling: N) -> Self {
                 Self::from_isometry(Isometry::<_, U3, $Rot>::new(translation, axisangle), scaling)
@@ -146,13 +218,44 @@ macro_rules! similarity_construction_impl(
             ///   * target - The target position.
             ///   * up - Vertical direction. The only requirement of this parameter is to not be collinear
             ///   to `eye - at`. Non-collinearity is not checked.
+            ///
+            /// # Example
+            ///
+            /// ```
+            /// # #[macro_use] extern crate approx;
+            /// # use std::f32;
+            /// # use nalgebra::{Similarity3, SimilarityMatrix3, Point3, Vector3};
+            /// let eye = Point3::new(1.0, 2.0, 3.0);
+            /// let target = Point3::new(2.0, 2.0, 3.0);
+            /// let up = Vector3::y();
+            ///
+            /// // Similarity with its rotation part represented as a UnitQuaternion
+            /// let sim = Similarity3::face_towards(&eye, &target, &up, 3.0);
+            /// assert_eq!(sim * Point3::origin(), eye);
+            /// assert_relative_eq!(sim * Vector3::z(), Vector3::x() * 3.0, epsilon = 1.0e-6);
+            ///
+            /// // Similarity with its rotation part represented as Rotation3 (a 3x3 rotation matrix).
+            /// let sim = SimilarityMatrix3::face_towards(&eye, &target, &up, 3.0);
+            /// assert_eq!(sim * Point3::origin(), eye);
+            /// assert_relative_eq!(sim * Vector3::z(), Vector3::x() * 3.0, epsilon = 1.0e-6);
+            /// ```
             #[inline]
-            pub fn new_observer_frame(eye:    &Point3<N>,
+            pub fn face_towards(eye:    &Point3<N>,
                                       target: &Point3<N>,
                                       up:     &Vector3<N>,
                                       scaling: N)
                                       -> Self {
-                Self::from_isometry(Isometry::<_, U3, $Rot>::new_observer_frame(eye, target, up), scaling)
+                Self::from_isometry(Isometry::<_, U3, $Rot>::face_towards(eye, target, up), scaling)
+            }
+
+            /// Deprecated: Use [SimilarityMatrix3::face_towards] instead.
+            #[deprecated(note="renamed to `face_towards`")]
+            pub fn new_observer_frames(eye:    &Point3<N>,
+                                      target: &Point3<N>,
+                                      up:     &Vector3<N>,
+                                      scaling: N)
+                                      -> Self {
+                Self::face_towards(eye, target, up, scaling)
             }
 
             /// Builds a right-handed look-at view matrix including scaling factor.
@@ -165,6 +268,25 @@ macro_rules! similarity_construction_impl(
             ///   * target - The target position.
             ///   * up - A vector approximately aligned with required the vertical axis. The only
             ///   requirement of this parameter is to not be collinear to `target - eye`.
+            ///
+            /// # Example
+            ///
+            /// ```
+            /// # #[macro_use] extern crate approx;
+            /// # use std::f32;
+            /// # use nalgebra::{Similarity3, SimilarityMatrix3, Point3, Vector3};
+            /// let eye = Point3::new(1.0, 2.0, 3.0);
+            /// let target = Point3::new(2.0, 2.0, 3.0);
+            /// let up = Vector3::y();
+            ///
+            /// // Similarity with its rotation part represented as a UnitQuaternion
+            /// let iso = Similarity3::look_at_rh(&eye, &target, &up, 3.0);
+            /// assert_relative_eq!(iso * Vector3::x(), -Vector3::z() * 3.0, epsilon = 1.0e-6);
+            ///
+            /// // Similarity with its rotation part represented as Rotation3 (a 3x3 rotation matrix).
+            /// let iso = SimilarityMatrix3::look_at_rh(&eye, &target, &up, 3.0);
+            /// assert_relative_eq!(iso * Vector3::x(), -Vector3::z() * 3.0, epsilon = 1.0e-6);
+            /// ```
             #[inline]
             pub fn look_at_rh(eye:     &Point3<N>,
                               target:  &Point3<N>,
@@ -184,6 +306,25 @@ macro_rules! similarity_construction_impl(
             ///   * target - The target position.
             ///   * up - A vector approximately aligned with required the vertical axis. The only
             ///   requirement of this parameter is to not be collinear to `target - eye`.
+            ///
+            /// # Example
+            ///
+            /// ```
+            /// # #[macro_use] extern crate approx;
+            /// # use std::f32;
+            /// # use nalgebra::{Similarity3, SimilarityMatrix3, Point3, Vector3};
+            /// let eye = Point3::new(1.0, 2.0, 3.0);
+            /// let target = Point3::new(2.0, 2.0, 3.0);
+            /// let up = Vector3::y();
+            ///
+            /// // Similarity with its rotation part represented as a UnitQuaternion
+            /// let sim = Similarity3::look_at_lh(&eye, &target, &up, 3.0);
+            /// assert_relative_eq!(sim * Vector3::x(), Vector3::z() * 3.0, epsilon = 1.0e-6);
+            ///
+            /// // Similarity with its rotation part represented as Rotation3 (a 3x3 rotation matrix).
+            /// let sim = SimilarityMatrix3::look_at_lh(&eye, &target, &up, 3.0);
+            /// assert_relative_eq!(sim * Vector3::x(), Vector3::z() * 3.0, epsilon = 1.0e-6);
+            /// ```
             #[inline]
             pub fn look_at_lh(eye:     &Point3<N>,
                               target:  &Point3<N>,

src/geometry/similarity_conversion.rs

@@ -155,7 +155,9 @@ where
         }
 
         let t = m.fixed_slice::<D, U1>(0, D::dim()).into_owned();
-        let t = Translation::from_vector(::convert_unchecked(t));
+        let t = Translation {
+            vector: ::convert_unchecked(t),
+        };
 
         Self::from_parts(t, ::convert_unchecked(mm), ::convert_unchecked(scale))
     }

src/geometry/similarity_ops.rs

@@ -269,7 +269,7 @@ similarity_binop_impl_all!(
     [ref ref] => {
         let shift = self.isometry.rotation.transform_vector(&rhs.translation.vector) * self.scaling();
         Similarity::from_parts(
-            Translation::from_vector(&self.isometry.translation.vector + shift),
+            Translation::from(&self.isometry.translation.vector + shift),
             self.isometry.rotation.clone() * rhs.rotation.clone(),
             self.scaling())
     };
@@ -352,7 +352,7 @@ similarity_binop_impl_all!(
     [ref ref] => {
         let shift = self.isometry.rotation.transform_vector(&right.vector) * self.scaling();
         Similarity::from_parts(
-            Translation::from_vector(&self.isometry.translation.vector + shift),
+            Translation::from(&self.isometry.translation.vector + shift),
             self.isometry.rotation.clone(),
             self.scaling())
     };

src/geometry/swizzle.rs

@@ -0,0 +1,65 @@
+use base::allocator::Allocator;
+use base::{DefaultAllocator, DimName, Scalar};
+use geometry::{Point, Point2, Point3};
+use typenum::{self, Cmp, Greater};
+
+macro_rules! impl_swizzle {
+    ($( where $BaseDim: ident: $( $name: ident() -> $Result: ident[$($i: expr),+] ),+ ;)* ) => {
+        $(
+            impl<N: Scalar, D: DimName> Point<N, D>
+            where
+                DefaultAllocator: Allocator<N, D>,
+                D::Value: Cmp<typenum::$BaseDim, Output=Greater>
+            {
+                $(
+                    /// Builds a new point from components of `self`.
+                    #[inline]
+                    pub fn $name(&self) -> $Result<N> {
+                        $Result::new($(self[$i]),*)
+                    }
+                )*
+            }
+        )*
+    }
+}
+
+impl_swizzle!(
+    where U0: xx()  -> Point2[0, 0],
+              xxx() -> Point3[0, 0, 0];
+
+    where U1: xy()  -> Point2[0, 1],
+              yx()  -> Point2[1, 0],
+              yy()  -> Point2[1, 1],
+              xxy() -> Point3[0, 0, 1],
+              xyx() -> Point3[0, 1, 0],
+              xyy() -> Point3[0, 1, 1],
+              yxx() -> Point3[1, 0, 0],
+              yxy() -> Point3[1, 0, 1],
+              yyx() -> Point3[1, 1, 0],
+              yyy() -> Point3[1, 1, 1];
+
+    where U2: xz()  -> Point2[0, 2],
+              yz()  -> Point2[1, 2],
+              zx()  -> Point2[2, 0],
+              zy()  -> Point2[2, 1],
+              zz()  -> Point2[2, 2],
+              xxz() -> Point3[0, 0, 2],
+              xyz() -> Point3[0, 1, 2],
+              xzx() -> Point3[0, 2, 0],
+              xzy() -> Point3[0, 2, 1],
+              xzz() -> Point3[0, 2, 2],
+              yxz() -> Point3[1, 0, 2],
+              yyz() -> Point3[1, 1, 2],
+              yzx() -> Point3[1, 2, 0],
+              yzy() -> Point3[1, 2, 1],
+              yzz() -> Point3[1, 2, 2],
+              zxx() -> Point3[2, 0, 0],
+              zxy() -> Point3[2, 0, 1],
+              zxz() -> Point3[2, 0, 2],
+              zyx() -> Point3[2, 1, 0],
+              zyy() -> Point3[2, 1, 1],
+              zyz() -> Point3[2, 1, 2],
+              zzx() -> Point3[2, 2, 0],
+              zzy() -> Point3[2, 2, 1],
+              zzz() -> Point3[2, 2, 2];
+);

src/geometry/transform.rs

@@ -1,3 +1,4 @@
+use approx::{AbsDiffEq, RelativeEq, UlpsEq};
 use std::any::Any;
 use std::fmt::Debug;
 use std::marker::PhantomData;
@@ -14,7 +15,7 @@ use base::{DefaultAllocator, MatrixN};
 
 /// Trait implemented by phantom types identifying the projective transformation type.
 ///
-/// NOTE: this trait is not intended to be implementable outside of the `nalgebra` crate.
+/// NOTE: this trait is not intended to be implemented outside of the `nalgebra` crate.
 pub trait TCategory: Any + Debug + Copy + PartialEq + Send {
     /// Indicates whether a `Transform` with the category `Self` has a bottom-row different from
     /// `0 0 .. 1`.
@@ -237,13 +238,43 @@ where DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>
         }
     }
 
-    /// The underlying matrix.
+    /// Retrieves the underlying matrix.
+    ///
+    /// # Examples
+    /// ```
+    /// # use nalgebra::{Matrix3, Transform2};
+    ///
+    /// let m = Matrix3::new(1.0, 2.0, 0.0,
+    ///                      3.0, 4.0, 0.0,
+    ///                      0.0, 0.0, 1.0);
+    /// let t = Transform2::from_matrix_unchecked(m);
+    /// assert_eq!(t.into_inner(), m);
+    /// ```
+    #[inline]
+    pub fn into_inner(self) -> MatrixN<N, DimNameSum<D, U1>> {
+        self.matrix
+    }
+
+    /// Retrieves the underlying matrix.
+    /// Deprecated: Use [Transform::into_inner] instead.
+    #[deprecated(note="use `.into_inner()` instead")]
     #[inline]
     pub fn unwrap(self) -> MatrixN<N, DimNameSum<D, U1>> {
         self.matrix
     }
 
     /// A reference to the underlying matrix.
+    ///
+    /// # Examples
+    /// ```
+    /// # use nalgebra::{Matrix3, Transform2};
+    ///
+    /// let m = Matrix3::new(1.0, 2.0, 0.0,
+    ///                      3.0, 4.0, 0.0,
+    ///                      0.0, 0.0, 1.0);
+    /// let t = Transform2::from_matrix_unchecked(m);
+    /// assert_eq!(*t.matrix(), m);
+    /// ```
     #[inline]
     pub fn matrix(&self) -> &MatrixN<N, DimNameSum<D, U1>> {
         &self.matrix
@@ -253,6 +284,24 @@ where DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>
     ///
     /// It is `_unchecked` because direct modifications of this matrix may break invariants
     /// identified by this transformation category.
+    ///
+    /// # Examples
+    /// ```
+    /// # use nalgebra::{Matrix3, Transform2};
+    ///
+    /// let m = Matrix3::new(1.0, 2.0, 0.0,
+    ///                      3.0, 4.0, 0.0,
+    ///                      0.0, 0.0, 1.0);
+    /// let mut t = Transform2::from_matrix_unchecked(m);
+    /// t.matrix_mut_unchecked().m12 = 42.0;
+    /// t.matrix_mut_unchecked().m23 = 90.0;
+    ///
+    ///
+    /// let expected = Matrix3::new(1.0, 42.0, 0.0,
+    ///                             3.0, 4.0,  90.0,
+    ///                             0.0, 0.0,  1.0);
+    /// assert_eq!(*t.matrix(), expected);
+    /// ```
     #[inline]
     pub fn matrix_mut_unchecked(&mut self) -> &mut MatrixN<N, DimNameSum<D, U1>> {
         &mut self.matrix
@@ -271,19 +320,53 @@ where DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>
 
     /// Clones this transform into one that owns its data.
     #[inline]
-    #[deprecated(note = "This method is a no-op and will be removed in a future release.")]
+    #[deprecated(
+        note = "This method is redundant with automatic `Copy` and the `.clone()` method and will be removed in a future release."
+    )]
     pub fn clone_owned(&self) -> Transform<N, D, C> {
         Transform::from_matrix_unchecked(self.matrix.clone_owned())
     }
 
     /// Converts this transform into its equivalent homogeneous transformation matrix.
+    ///
+    /// # Examples
+    /// ```
+    /// # use nalgebra::{Matrix3, Transform2};
+    ///
+    /// let m = Matrix3::new(1.0, 2.0, 0.0,
+    ///                      3.0, 4.0, 0.0,
+    ///                      0.0, 0.0, 1.0);
+    /// let t = Transform2::from_matrix_unchecked(m);
+    /// assert_eq!(t.into_inner(), m);
+    /// ```
     #[inline]
     pub fn to_homogeneous(&self) -> MatrixN<N, DimNameSum<D, U1>> {
         self.matrix().clone_owned()
     }
 
     /// Attempts to invert this transformation. You may use `.inverse` instead of this
-    /// transformation has a subcategory of `TProjective`.
+    /// transformation has a subcategory of `TProjective` (i.e. if it is a `Projective{2,3}` or `Affine{2,3}`).
+    ///
+    /// # Examples
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{Matrix3, Transform2};
+    ///
+    /// let m = Matrix3::new(2.0, 2.0, -0.3,
+    ///                      3.0, 4.0, 0.1,
+    ///                      0.0, 0.0, 1.0);
+    /// let t = Transform2::from_matrix_unchecked(m);
+    /// let inv_t = t.try_inverse().unwrap();
+    /// assert_relative_eq!(t * inv_t, Transform2::identity());
+    /// assert_relative_eq!(inv_t * t, Transform2::identity());
+    ///
+    /// // Non-invertible case.
+    /// let m = Matrix3::new(0.0, 2.0, 1.0,
+    ///                      3.0, 0.0, 5.0,
+    ///                      0.0, 0.0, 0.0);
+    /// let t = Transform2::from_matrix_unchecked(m);
+    /// assert!(t.try_inverse().is_none());
+    /// ```
     #[inline]
     pub fn try_inverse(self) -> Option<Transform<N, D, C>> {
         if let Some(m) = self.matrix.try_inverse() {
@@ -294,7 +377,21 @@ where DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>
     }
 
     /// Inverts this transformation. Use `.try_inverse` if this transform has the `TGeneral`
-    /// category (it may not be invertible).
+    /// category (i.e., a `Transform{2,3}` may not be invertible).
+    ///
+    /// # Examples
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{Matrix3, Projective2};
+    ///
+    /// let m = Matrix3::new(2.0, 2.0, -0.3,
+    ///                      3.0, 4.0, 0.1,
+    ///                      0.0, 0.0, 1.0);
+    /// let proj = Projective2::from_matrix_unchecked(m);
+    /// let inv_t = proj.inverse();
+    /// assert_relative_eq!(proj * inv_t, Projective2::identity());
+    /// assert_relative_eq!(inv_t * proj, Projective2::identity());
+    /// ```
     #[inline]
     pub fn inverse(self) -> Transform<N, D, C>
     where C: SubTCategoryOf<TProjective> {
@@ -304,6 +401,28 @@ where DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>
 
     /// Attempts to invert this transformation in-place. You may use `.inverse_mut` instead of this
     /// transformation has a subcategory of `TProjective`.
+    ///
+    /// # Examples
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{Matrix3, Transform2};
+    ///
+    /// let m = Matrix3::new(2.0, 2.0, -0.3,
+    ///                      3.0, 4.0, 0.1,
+    ///                      0.0, 0.0, 1.0);
+    /// let t = Transform2::from_matrix_unchecked(m);
+    /// let mut inv_t = t;
+    /// assert!(inv_t.try_inverse_mut());
+    /// assert_relative_eq!(t * inv_t, Transform2::identity());
+    /// assert_relative_eq!(inv_t * t, Transform2::identity());
+    ///
+    /// // Non-invertible case.
+    /// let m = Matrix3::new(0.0, 2.0, 1.0,
+    ///                      3.0, 0.0, 5.0,
+    ///                      0.0, 0.0, 0.0);
+    /// let mut t = Transform2::from_matrix_unchecked(m);
+    /// assert!(!t.try_inverse_mut());
+    /// ```
     #[inline]
     pub fn try_inverse_mut(&mut self) -> bool {
         self.matrix.try_inverse_mut()
@@ -311,6 +430,21 @@ where DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>
 
     /// Inverts this transformation in-place. Use `.try_inverse_mut` if this transform has the
     /// `TGeneral` category (it may not be invertible).
+    ///
+    /// # Examples
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{Matrix3, Projective2};
+    ///
+    /// let m = Matrix3::new(2.0, 2.0, -0.3,
+    ///                      3.0, 4.0, 0.1,
+    ///                      0.0, 0.0, 1.0);
+    /// let proj = Projective2::from_matrix_unchecked(m);
+    /// let mut inv_t = proj;
+    /// inv_t.inverse_mut();
+    /// assert_relative_eq!(proj * inv_t, Projective2::identity());
+    /// assert_relative_eq!(inv_t * proj, Projective2::identity());
+    /// ```
     #[inline]
     pub fn inverse_mut(&mut self)
     where C: SubTCategoryOf<TProjective> {
@@ -329,6 +463,63 @@ where DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>
     }
 }
 
+impl<N: Real, D: DimNameAdd<U1>, C: TCategory> AbsDiffEq for Transform<N, D, C>
+where
+    N::Epsilon: Copy,
+    DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>,
+{
+    type Epsilon = N::Epsilon;
+
+    #[inline]
+    fn default_epsilon() -> Self::Epsilon {
+        N::default_epsilon()
+    }
+
+    #[inline]
+    fn abs_diff_eq(&self, other: &Self, epsilon: Self::Epsilon) -> bool {
+        self.matrix.abs_diff_eq(&other.matrix, epsilon)
+    }
+}
+
+impl<N: Real, D: DimNameAdd<U1>, C: TCategory> RelativeEq for Transform<N, D, C>
+where
+    N::Epsilon: Copy,
+    DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>,
+{
+    #[inline]
+    fn default_max_relative() -> Self::Epsilon {
+        N::default_max_relative()
+    }
+
+    #[inline]
+    fn relative_eq(
+        &self,
+        other: &Self,
+        epsilon: Self::Epsilon,
+        max_relative: Self::Epsilon,
+    ) -> bool
+    {
+        self.matrix
+            .relative_eq(&other.matrix, epsilon, max_relative)
+    }
+}
+
+impl<N: Real, D: DimNameAdd<U1>, C: TCategory> UlpsEq for Transform<N, D, C>
+where
+    N::Epsilon: Copy,
+    DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>,
+{
+    #[inline]
+    fn default_max_ulps() -> u32 {
+        N::default_max_ulps()
+    }
+
+    #[inline]
+    fn ulps_eq(&self, other: &Self, epsilon: Self::Epsilon, max_ulps: u32) -> bool {
+        self.matrix.ulps_eq(&other.matrix, epsilon, max_ulps)
+    }
+}
+
 #[cfg(test)]
 mod tests {
     use super::*;

src/geometry/transform_alias.rs

@@ -2,16 +2,16 @@ use base::dimension::{U2, U3};
 
 use geometry::{TAffine, TGeneral, TProjective, Transform};
 
-/// A 2D general transformation that may not be inversible. Stored as an homogeneous 3x3 matrix.
+/// A 2D general transformation that may not be invertible. Stored as an homogeneous 3x3 matrix.
 pub type Transform2<N> = Transform<N, U2, TGeneral>;
-/// An inversible 2D general transformation. Stored as an homogeneous 3x3 matrix.
+/// An invertible 2D general transformation. Stored as an homogeneous 3x3 matrix.
 pub type Projective2<N> = Transform<N, U2, TProjective>;
 /// A 2D affine transformation. Stored as an homogeneous 3x3 matrix.
 pub type Affine2<N> = Transform<N, U2, TAffine>;
 
 /// A 3D general transformation that may not be inversible. Stored as an homogeneous 4x4 matrix.
 pub type Transform3<N> = Transform<N, U3, TGeneral>;
-/// An inversible 3D general transformation. Stored as an homogeneous 4x4 matrix.
+/// An invertible 3D general transformation. Stored as an homogeneous 4x4 matrix.
 pub type Projective3<N> = Transform<N, U3, TProjective>;
 /// A 3D affine transformation. Stored as an homogeneous 4x4 matrix.
 pub type Affine3<N> = Transform<N, U3, TAffine>;

src/geometry/transform_construction.rs

@@ -12,6 +12,33 @@ impl<N: Real, D: DimNameAdd<U1>, C: TCategory> Transform<N, D, C>
 where DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>
 {
     /// Creates a new identity transform.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use nalgebra::{Transform2, Projective2, Affine2, Transform3, Projective3, Affine3, Point2, Point3};
+    ///
+    /// let pt = Point2::new(1.0, 2.0);
+    /// let t = Projective2::identity();
+    /// assert_eq!(t * pt, pt);
+    ///
+    /// let aff = Affine2::identity();
+    /// assert_eq!(aff * pt, pt);
+    ///
+    /// let aff = Transform2::identity();
+    /// assert_eq!(aff * pt, pt);
+    ///
+    /// // Also works in 3D.
+    /// let pt = Point3::new(1.0, 2.0, 3.0);
+    /// let t = Projective3::identity();
+    /// assert_eq!(t * pt, pt);
+    ///
+    /// let aff = Affine3::identity();
+    /// assert_eq!(aff * pt, pt);
+    ///
+    /// let aff = Transform3::identity();
+    /// assert_eq!(aff * pt, pt);
+    /// ```
     #[inline]
     pub fn identity() -> Self {
         Self::from_matrix_unchecked(MatrixN::<_, DimNameSum<D, U1>>::identity())

src/geometry/transform_ops.rs

@@ -143,7 +143,7 @@ md_impl_all!(
 
         if C::has_normalizer() {
             let normalizer = self.matrix().fixed_slice::<U1, D>(D::dim(), 0);
-            let n = normalizer.tr_dot(&rhs.coords) + unsafe { *self.matrix().get_unchecked(D::dim(), D::dim()) };
+            let n = normalizer.tr_dot(&rhs.coords) + unsafe { *self.matrix().get_unchecked((D::dim(), D::dim())) };
 
             if !n.is_zero() {
                 return (transform * rhs + translation) / n;
@@ -159,9 +159,9 @@ md_impl_all!(
     Mul, mul where N: Real;
     (DimNameSum<D, U1>, DimNameSum<D, U1>), (DimNameSum<D, U1>, DimNameSum<D, U1>) for D: DimNameAdd<U1>, CA: TCategoryMul<CB>, CB: TCategory;
     self: Transform<N, D, CA>, rhs: Transform<N, D, CB>, Output = Transform<N, D, CA::Representative>;
-    [val val] => Self::Output::from_matrix_unchecked(self.unwrap() * rhs.unwrap());
+    [val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.into_inner());
-    [ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.unwrap());
+    [ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.into_inner());
-    [val ref] => Self::Output::from_matrix_unchecked(self.unwrap() * rhs.matrix());
+    [val ref] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.matrix());
     [ref ref] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.matrix());
 );
 
@@ -170,9 +170,9 @@ md_impl_all!(
     Mul, mul where N: Real;
     (DimNameSum<D, U1>, DimNameSum<D, U1>), (D, D) for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
     self: Transform<N, D, C>, rhs: Rotation<N, D>, Output = Transform<N, D, C::Representative>;
-    [val val] => Self::Output::from_matrix_unchecked(self.unwrap() * rhs.to_homogeneous());
+    [val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
     [ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
-    [val ref] => Self::Output::from_matrix_unchecked(self.unwrap() * rhs.to_homogeneous());
+    [val ref] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
     [ref ref] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
 );
 
@@ -181,8 +181,8 @@ md_impl_all!(
     Mul, mul where N: Real;
     (D, D), (DimNameSum<D, U1>, DimNameSum<D, U1>) for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
     self: Rotation<N, D>, rhs: Transform<N, D, C>, Output = Transform<N, D, C::Representative>;
-    [val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.unwrap());
+    [val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
-    [ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.unwrap());
+    [ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
     [val ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
     [ref ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
 );
@@ -192,9 +192,9 @@ md_impl_all!(
     Mul, mul where N: Real;
     (U4, U4), (U4, U1) for C: TCategoryMul<TAffine>;
     self: Transform<N, U3, C>, rhs: UnitQuaternion<N>, Output = Transform<N, U3, C::Representative>;
-    [val val] => Self::Output::from_matrix_unchecked(self.unwrap() * rhs.to_homogeneous());
+    [val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
     [ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
-    [val ref] => Self::Output::from_matrix_unchecked(self.unwrap() * rhs.to_homogeneous());
+    [val ref] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
     [ref ref] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
 );
 
@@ -203,8 +203,8 @@ md_impl_all!(
     Mul, mul where N: Real;
     (U4, U1), (U4, U4) for C: TCategoryMul<TAffine>;
     self: UnitQuaternion<N>, rhs: Transform<N, U3, C>, Output = Transform<N, U3, C::Representative>;
-    [val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.unwrap());
+    [val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
-    [ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.unwrap());
+    [ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
     [val ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
     [ref ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
 );
@@ -215,9 +215,9 @@ md_impl_all!(
     (DimNameSum<D, U1>, DimNameSum<D, U1>), (D, U1)
     for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<MatrixN<N, DimNameSum<D, U1>> >;
     self: Transform<N, D, C>, rhs: Isometry<N, D, R>, Output = Transform<N, D, C::Representative>;
-    [val val] => Self::Output::from_matrix_unchecked(self.unwrap() * rhs.to_homogeneous());
+    [val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
     [ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
-    [val ref] => Self::Output::from_matrix_unchecked(self.unwrap() * rhs.to_homogeneous());
+    [val ref] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
     [ref ref] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
 );
 
@@ -227,8 +227,8 @@ md_impl_all!(
     (D, U1), (DimNameSum<D, U1>, DimNameSum<D, U1>)
     for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<MatrixN<N, DimNameSum<D, U1>> >;
     self: Isometry<N, D, R>, rhs: Transform<N, D, C>, Output = Transform<N, D, C::Representative>;
-    [val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.unwrap());
+    [val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
-    [ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.unwrap());
+    [ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
     [val ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
     [ref ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
 );
@@ -239,9 +239,9 @@ md_impl_all!(
     (DimNameSum<D, U1>, DimNameSum<D, U1>), (D, U1)
     for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<MatrixN<N, DimNameSum<D, U1>> >;
     self: Transform<N, D, C>, rhs: Similarity<N, D, R>, Output = Transform<N, D, C::Representative>;
-    [val val] => Self::Output::from_matrix_unchecked(self.unwrap() * rhs.to_homogeneous());
+    [val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
     [ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
-    [val ref] => Self::Output::from_matrix_unchecked(self.unwrap() * rhs.to_homogeneous());
+    [val ref] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
     [ref ref] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
 );
 
@@ -251,8 +251,8 @@ md_impl_all!(
     (D, U1), (DimNameSum<D, U1>, DimNameSum<D, U1>)
     for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<MatrixN<N, DimNameSum<D, U1>> >;
     self: Similarity<N, D, R>, rhs: Transform<N, D, C>, Output = Transform<N, D, C::Representative>;
-    [val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.unwrap());
+    [val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
-    [ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.unwrap());
+    [ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
     [val ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
     [ref ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
 );
@@ -270,9 +270,9 @@ md_impl_all!(
     Mul, mul where N: Real;
     (DimNameSum<D, U1>, DimNameSum<D, U1>), (D, U1) for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
     self: Transform<N, D, C>, rhs: Translation<N, D>, Output = Transform<N, D, C::Representative>;
-    [val val] => Self::Output::from_matrix_unchecked(self.unwrap() * rhs.to_homogeneous());
+    [val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
     [ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
-    [val ref] => Self::Output::from_matrix_unchecked(self.unwrap() * rhs.to_homogeneous());
+    [val ref] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
     [ref ref] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
 );
 
@@ -282,8 +282,8 @@ md_impl_all!(
     (D, U1), (DimNameSum<D, U1>, DimNameSum<D, U1>)
     for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
     self: Translation<N, D>, rhs: Transform<N, D, C>, Output = Transform<N, D, C::Representative>;
-    [val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.unwrap());
+    [val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
-    [ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.unwrap());
+    [ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
     [val ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
     [ref ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
 );
@@ -350,9 +350,9 @@ md_impl_all!(
 //          for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<MatrixN<N, DimNameSum<D, U1>> >
 //          where SB::Alloc: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1> >;
 //          self: Transform<N, D, C>, rhs: Isometry<N, D, R>, Output = Transform<N, D, C::Representative>;
-//          [val val] => Self::Output::from_matrix_unchecked(self.unwrap() * rhs.inverse().to_homogeneous());
+//          [val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.inverse().to_homogeneous());
 //          [ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.inverse().to_homogeneous());
-//          [val ref] => Self::Output::from_matrix_unchecked(self.unwrap() * rhs.inverse().to_homogeneous());
+//          [val ref] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.inverse().to_homogeneous());
 //          [ref ref] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.inverse().to_homogeneous());
 //      );
 
@@ -363,8 +363,8 @@ md_impl_all!(
 //          for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<MatrixN<N, DimNameSum<D, U1>> >
 //          where SA::Alloc: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1> >;
 //          self: Isometry<N, D, R>, rhs: Transform<N, D, C>, Output = Transform<N, D, C::Representative>;
-//          [val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.unwrap());
+//          [val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
-//          [ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.unwrap());
+//          [ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
 //          [val ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
 //          [ref ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
 //      );
@@ -377,9 +377,9 @@ md_impl_all!(
 //          where SB::Alloc: Allocator<N, D, D >
 //          where SB::Alloc: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1> >;
 //          self: Transform<N, D, C>, rhs: Similarity<N, D, R>, Output = Transform<N, D, C::Representative>;
-//          [val val] => Self::Output::from_matrix_unchecked(self.unwrap() * rhs.to_homogeneous());
+//          [val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
 //          [ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
-//          [val ref] => Self::Output::from_matrix_unchecked(self.unwrap() * rhs.to_homogeneous());
+//          [val ref] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
 //          [ref ref] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
 //      );
 
@@ -391,8 +391,8 @@ md_impl_all!(
 //          where SA::Alloc: Allocator<N, D, D >
 //          where SA::Alloc: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1> >;
 //          self: Similarity<N, D, R>, rhs: Transform<N, D, C>, Output = Transform<N, D, C::Representative>;
-//          [val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.unwrap());
+//          [val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
-//          [ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.unwrap());
+//          [ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
 //          [val ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
 //          [ref ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
 //      );
@@ -425,7 +425,7 @@ md_assign_impl_all!(
     MulAssign, mul_assign where N: Real;
     (DimNameSum<D, U1>, DimNameSum<D, U1>), (DimNameSum<D, U1>, DimNameSum<D, U1>) for D: DimNameAdd<U1>, CA: TCategory, CB: SubTCategoryOf<CA>;
     self: Transform<N, D, CA>, rhs: Transform<N, D, CB>;
-    [val] => *self.matrix_mut_unchecked() *= rhs.unwrap();
+    [val] => *self.matrix_mut_unchecked() *= rhs.into_inner();
     [ref] => *self.matrix_mut_unchecked() *= rhs.matrix();
 );
 

src/geometry/translation.rs

@@ -43,8 +43,7 @@ impl<N: Scalar, D: DimName> Copy for Translation<N, D>
 where
     DefaultAllocator: Allocator<N, D>,
     Owned<N, D>: Copy,
-{
+{}
-}
 
 impl<N: Scalar, D: DimName> Clone for Translation<N, D>
 where
@@ -53,7 +52,7 @@ where
 {
     #[inline]
     fn clone(&self) -> Self {
-        Translation::from_vector(self.vector.clone())
+        Translation::from(self.vector.clone())
     }
 }
 
@@ -100,7 +99,7 @@ where
     where Des: Deserializer<'a> {
         let matrix = VectorN::<N, D>::deserialize(deserializer)?;
 
-        Ok(Translation::from_vector(matrix))
+        Ok(Translation::from(matrix))
     }
 }
 
@@ -109,18 +108,49 @@ where DefaultAllocator: Allocator<N, D>
 {
     /// Creates a new translation from the given vector.
     #[inline]
+    #[deprecated(note = "Use `::from` instead.")]
     pub fn from_vector(vector: VectorN<N, D>) -> Translation<N, D> {
         Translation { vector: vector }
     }
 
     /// Inverts `self`.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{Translation2, Translation3};
+    /// let t = Translation3::new(1.0, 2.0, 3.0);
+    /// assert_eq!(t * t.inverse(), Translation3::identity());
+    /// assert_eq!(t.inverse() * t, Translation3::identity());
+    ///
+    /// // Work in all dimensions.
+    /// let t = Translation2::new(1.0, 2.0);
+    /// assert_eq!(t * t.inverse(), Translation2::identity());
+    /// assert_eq!(t.inverse() * t, Translation2::identity());
+    /// ```
     #[inline]
     pub fn inverse(&self) -> Translation<N, D>
     where N: ClosedNeg {
-        Translation::from_vector(-&self.vector)
+        Translation::from(-&self.vector)
     }
 
     /// Converts this translation into its equivalent homogeneous transformation matrix.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{Translation2, Translation3, Matrix3, Matrix4};
+    /// let t = Translation3::new(10.0, 20.0, 30.0);
+    /// let expected = Matrix4::new(1.0, 0.0, 0.0, 10.0,
+    ///                             0.0, 1.0, 0.0, 20.0,
+    ///                             0.0, 0.0, 1.0, 30.0,
+    ///                             0.0, 0.0, 0.0, 1.0);
+    /// assert_eq!(t.to_homogeneous(), expected);
+    ///
+    /// let t = Translation2::new(10.0, 20.0);
+    /// let expected = Matrix3::new(1.0, 0.0, 10.0,
+    ///                             0.0, 1.0, 20.0,
+    ///                             0.0, 0.0, 1.0);
+    /// assert_eq!(t.to_homogeneous(), expected);
+    /// ```
     #[inline]
     pub fn to_homogeneous(&self) -> MatrixN<N, DimNameSum<D, U1>>
     where
@@ -136,6 +166,23 @@ where DefaultAllocator: Allocator<N, D>
     }
 
     /// Inverts `self` in-place.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{Translation2, Translation3};
+    /// let t = Translation3::new(1.0, 2.0, 3.0);
+    /// let mut inv_t = Translation3::new(1.0, 2.0, 3.0);
+    /// inv_t.inverse_mut();
+    /// assert_eq!(t * inv_t, Translation3::identity());
+    /// assert_eq!(inv_t * t, Translation3::identity());
+    ///
+    /// // Work in all dimensions.
+    /// let t = Translation2::new(1.0, 2.0);
+    /// let mut inv_t = Translation2::new(1.0, 2.0);
+    /// inv_t.inverse_mut();
+    /// assert_eq!(t * inv_t, Translation2::identity());
+    /// assert_eq!(inv_t * t, Translation2::identity());
+    /// ```
     #[inline]
     pub fn inverse_mut(&mut self)
     where N: ClosedNeg {

src/geometry/translation_alga.rs

@@ -183,16 +183,16 @@ where DefaultAllocator: Allocator<N, D>
 
     #[inline]
     fn from_vector(v: VectorN<N, D>) -> Option<Self> {
-        Some(Self::from_vector(v))
+        Some(Self::from(v))
     }
 
     #[inline]
     fn powf(&self, n: N) -> Option<Self> {
-        Some(Self::from_vector(&self.vector * n))
+        Some(Self::from(&self.vector * n))
     }
 
     #[inline]
     fn translation_between(a: &Point<N, D>, b: &Point<N, D>) -> Option<Self> {
-        Some(Self::from_vector(b - a))
+        Some(Self::from(b - a))
     }
 }