The column may not be normalized if the `factor` is on a scale of 1e-40.
Possibly, f32 just runs out of precision.
There is likely a better solution to the problem.
@ -200,16 +248,21 @@ This project adheres to [Semantic Versioning](https://semver.org/).
cargo features.
## [0.28.0]
### Added
- Implement `Hash` for `Transform`.
- Implement `Borrow` and `BorrowMut` for contiguous slices.
### Modified
- The `OPoint<T, D>` type has been added. It takes the dimension number as a type-level integer (e.g. `Const<3>`) instead
- The `OPoint<T, D>` type has been added. It takes the dimension number as a type-level integer (e.g. `Const<3>`)
instead
of a const-generic. The type `Point<T, const D: usize>` is now an alias for `OPoint`. This changes doesn't affect any
of the existing code using `Point`. However, it will allow the use `OPoint` in a generic context where the dimension
cannot be easily expressed as a const-generic (because of the current limitation of const-generics in Rust).
- Several clippy warnings were fixed. This results in some method signature changes (e.g. taking `self` instead of `&self`)
- Several clippy warnings were fixed. This results in some method signature changes (e.g. taking `self` instead
of `&self`)
but this should not have any practical infulances on existing codebase.
- The `Point::new` constructors are no longer const-fn. This is due to some limitations in const-fn
not allowing custom trait-bounds. Use the `point!` macro instead to build points in const environments.
@ -217,30 +270,38 @@ This project adheres to [Semantic Versioning](https://semver.org/).
- Methods returning `Result<(), ()>` now return `bool` instead.
### Fixed
- Fixed a potential unsoundess issue when converting a mutable slice to a `&mut[T]`.
## [0.27.1]
### Fixed
- Fixed a bug in the conversion from `glam::Vec2` or `glam::DVec2` to `Isometry2`.
## [0.27.0]
This removes the `convert-glam` and `convert-glam-unchecked` optional features.
Instead, this adds the `convert-glam013`, `convert-glam014`, and `convert-glam015` optional features for
conversions targeting the versions 0.13, 0.14, and 0.15 of `glam`.
### Added
- Add macros `matrix!`, `dmatrix!`, `vector!`, `dvector!`, `point!` for constructing matrices/vectors/points in a
more convenient way. See [#886](https://github.com/dimforge/nalgebra/pull/886) and [#899](https://github.com/dimforge/nalgebra/pull/899).
more convenient way. See [#886](https://github.com/dimforge/nalgebra/pull/886)
and [#899](https://github.com/dimforge/nalgebra/pull/899).
- Add `CooMatrix::reserve` to `nalgebra-sparse`.
- Add basic support for serialization using `rkyv`. Can be enabled with the features `rkyv-serialize` or
`rkyv-serialize-no-std`.
### Fixed
- Fixed a potential unsoundness issue after deserializing an invalid `DVector` using `serde`.
## [0.26.2]
### Added
- Conversion from an array `[T; D]` to an isometry `Isometry<T, _, D>` (as a translation).
- Conversion from a static vector `SVector<T; D>` to an isometry `Isometry<T, _, D>` (as a translation).
- Conversion from a point `Point<T; D>` to an isometry `Isometry<T, _, D>` (as a translation).
@ -250,14 +311,17 @@ conversions targeting the versions 0.13, 0.14, and 0.15 of `glam`.
- Conversion of a glam type `Vec2/3/4` from/to a `Translation2/3/4`.
## [0.26.1]
Fix a regression introduced in 0.26.0 preventing `DVector` from being serialized with `serde`.
## [0.26.0]
This release integrates `min-const-generics` to nalgebra. See
[our blog post](https://www.dimforge.com/blog/2021/04/12/integrating-const-generics-to-nalgebra)
for details about this release.
### Added
- Add type aliases for unit vector, e.g., `UnitVector3`.
- Add a `pow` and `pow_mut` function to square matrices.
- Add `Cholesky::determinant` to compute the determinant of a matrix decomposed
@ -265,8 +329,8 @@ for details about this release.
- Add the `serde-serialize-no-std` feature to enable serialization of static matrices/vectors
with serde, but without requiring `std`.
### Modified
- The `serde` crate isn't enabled by default now. Enable the `serde-serialize` or the
`serde-serialize-no-std` features instead.
- The `Const<const D: usize>` type has been introduced to represent dimensions known
@ -288,16 +352,22 @@ for details about this release.
constructor is also a `const fn` now.
## [0.25.4]
### Fixed
- Fix a compilation error when only the `serde-serialize` feature is enabled.
## [0.25.3]
### Added
- The `Vector::simd_cap_magnitude` method to cap the magnitude of the vector with
SIMD components.
## [0.25.2]
### Added
- A `convert-glam` cargo feature to enable implementations of `From` traits to convert
between `glam` types and `nalgebra` types.
- A `convert-glam-unchecked` cargo feature to enable some extra `glam`/`nalgebra` conversions that may
@ -308,56 +378,70 @@ for details about this release.
type of the components of a given entity. Example: `vector.cast::<f32>()`.
## [0.25.1]
This release replaces the version 0.25.0 which has been yanked. The 0.25.0 version
added significant complication to build `nalgebra` targeting a `#[no-std]` platform
not supported by `rand`.
The `rand` dependency is now optional (and disabled by default). You may enable it with:
- The `rand-no-std` cargo feature when targeting a `#[no-std]` environment.
- The `rand` cargo feature when targeting a `std` environment.
## [0.25.0] - Yanked
This updates all the dependencies of nalgebra to their latest version, including:
- rand 0.8
- proptest 1.0
- simba 0.4
### New crate: nalgebra-sparse
Alongside this release of `nalgebra`, we are releasing `nalgebra-sparse`: a crate dedicated to sparse matrix
computation with `nalgebra`. The `sparse` module of `nalgebra`itself still exists for backward compatibility,
but it will be deprecated soon in favor of the `nalgebra-sparse` crate.
### Added
* Add `UnitDualQuaternion`, a dual-quaternion with unit magnitude which can be used as an isometry transformation.
* Add `UDU::new()` and `matrix.udu()` to compute the UDU factorization of a matrix.
* Add `ColPivQR::new()` and `matrix.col_piv_qr()` to compute the QR decomposition with column pivoting of a matrix.
* Add `from_basis_unchecked` to all the rotation types. This builds a rotation from a set of basis vectors (representing the columns of the corresponding rotation matrix).
* Add `from_basis_unchecked` to all the rotation types. This builds a rotation from a set of basis vectors (representing
the columns of the corresponding rotation matrix).
* Add `Matrix::cap_magnitude` to cap the magnitude of a vector.
* Add `UnitQuaternion::append_axisangle_linearized` to approximately append a rotation represented as an axis-angle to a rotation represented as an unit quaternion.
* Add `UnitQuaternion::append_axisangle_linearized` to approximately append a rotation represented as an axis-angle to a
rotation represented as an unit quaternion.
* Mark the iterators on matrix components as `DoubleEndedIter`.
* Re-export `simba::simd::SimdValue` at the root of the `nalgebra` crate.
## [0.24.0]
### Added
* The `DualQuaternion` type. It is still work-in-progress, but the basics are here:
creation from its real and dual part, multiplication of two dual quaternions,
and normalization.
### Removed
* There is no blanket `impl<T> PartialEq for Unit<T>` anymore. Instead, it is
implemented specifically for `UnitComplex`, `UnitQuaternion` and `Unit<Vector>`.
## [0.23.2]
In this release, we improved the documentation of some of the geometric types
by applying changes similar to what we did in the version 0.23.1 for matrices.
### Added
* The `Isometry::inv_mul` method which is a more efficient way of doing
`isometry1.inverse() * isometry2`.
## [0.23.1]
In this release we improved the documentation of the matrix and vector types by:
- Grouping `impl` bocks logically, adding a title comment to these impl blocks.
- Reference these impl blocks docs at the top of the documentation page for `Matrix`.
- Reduce the depth of type aliasing. Now all vector and matrix types are aliases of `Matrix`
@ -366,13 +450,17 @@ In this release we improved the documentation of the matrix and vector types by:
## [0.23.0]
### Added
* The `.inverse_transform_unit_vector(v)` was added to `Rotation2/3`, `Isometry2/3`, `UnitQuaternion`, and `UnitComplex`.
* The `.inverse_transform_unit_vector(v)` was added to `Rotation2/3`, `Isometry2/3`, `UnitQuaternion`,
and `UnitComplex`.
It applies the corresponding rotation to a unit vector `Unit<Vector2/3>`.
* The `Point.map(f)` and `Point.apply(f)` to apply a function to each component of the point, similarly to `Vector.map(f)`
* The `Point.map(f)` and `Point.apply(f)` to apply a function to each component of the point, similarly
to `Vector.map(f)`
and `Vector.apply(f)`.
* The `Quaternion::from([N; 4])` conversion to build a quaternion from an array of four elements.
* The `Isometry::from(Translation)` conversion to build an isometry from a translation.
* The `Vector::ith_axis(i)` which build a unit vector, e.g., `Unit<Vector3<f32>>` with its i-th component set to 1.0, and the
* The `Vector::ith_axis(i)` which build a unit vector, e.g., `Unit<Vector3<f32>>` with its i-th component set to 1.0,
and the
others set to zero.
* The `Isometry.lerp_slerp` and `Isometry.try_lerp_slerp` methods to interpolate between two isometries using linear
interpolation for the translational part, and spherical interpolation for the rotational part.
@ -380,12 +468,14 @@ In this release we improved the documentation of the matrix and vector types by:
spherical interpolation.
## [0.22.0]
In this release, we are using the new version 0.2 of simba. One major change of that version is that the
use of `libm` is now opt-in when building targeting `no-std` environment. If you are using floating-point
operations with nalgebra in a `no-std` environment, you will need to enable the new `libm` feature
of nalgebra for your code to compile again.
### Added
* The `libm` feature that enables `libm` when building for `no-std` environment.
* The `libm-force` feature that enables `libm` even when building for a not `no-std` environment.
* `Cholesky::new_unchecked` which build a Cholesky decomposition without checking that its input is
@ -396,6 +486,7 @@ of nalgebra for your code to compile again.
* The `Vector::ith(i, x)` that builds a vector filled with zeros except for the `i`-th component set to `x`.
## [0.21.0]
In this release, we are no longer relying on traits from the __alga__ crate for our generic code.
Instead, we use traits from the new [simba](https://crates.io/crates/simba) crate which are both
simpler, and allow for significant optimizations like AoSoA SIMD.
@ -404,75 +495,98 @@ Refer to the [monthly dimforge blogpost](https://www.dimforge.org/blog/2020/04/0
for details about this switch and its benefits.
### Added
* It is now possible to use SIMD types like `simba::f32x4` as scalar types for nalgebra's matrices and
geometric types.
### Modified
* Use of traits like `alga::general::{RealField, ComplexField}` have now been replaced by
`simba::scalar::{RealField, ComplexField}`.
* The implementation of traits from the __alga__ crate (and well as the dependency to _alga__) are now
omitted unless the `alga` cargo feature is activated.
### Removed
* The `Neg` unary operator is no longer implemented for `UnitComplex` and `UnitQuaternion`. This caused
hard-to-track errors when we mistakenly write, e.g., `-q * v` instead of `-(q * v)`.
* The `na::convert_unchecked` is no longer marked as unsafe.
## [0.20.0]
### Added
* `cholesky.rank_one_update(...)` which performs a rank-one update on the cholesky decomposition of a matrix.
* `From<&Matrix>` is now implemented for matrix slices.
* `.try_set_magnitude(...)` which sets the magnitude of a vector, while keeping its direction.
* Implementations of `From` and `Into` for the conversion between matrix slices and standard (`&[N]` `&mut [N]`) slices.
### Modified
* We started some major changes in order to allow non-Copy types to be used as scalar types inside of matrices/vectors.
## [0.19.0]
### Added
* `.remove_rows_at` and `remove_columns_at` which removes a set of rows or columns (specified by indices) from a matrix.
* Several formatting traits have been implemented for all matrices/vectors: `LowerExp`, `UpperExp`, `Octal`, `LowerHex`,
`UpperHex`, `Binary`, `Pointer`.
* `UnitQuaternion::quaternions_mean(...)` which computes the mean rotation of a set of unit quaternions. This implements
the algorithm from _Oshman, Yaakov, and Avishy Carmi, "Attitude estimation from vector observations using a genetic-algorithm-embedded quaternion particle filter."
the algorithm from _Oshman, Yaakov, and Avishy Carmi, "Attitude estimation from vector observations using a
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