# Change Log All notable changes to `nalgebra`, starting with the version 0.6.0 will be documented here. This project adheres to [Semantic Versioning](http://semver.org/). ## [0.11.0] The [website](http://nalgebra.org) has been fully rewritten and gives a good overview of all the added/modified features. This version is a major rewrite of the library. Major changes are: * Algebraic traits are now defined by the [alga](https://crates.io/crates/alga) crate. All other mathematical traits, except `Axpy` have been removed from **nalgebra**. * Methods are now preferred to free functions because they do not require any trait to be used any more. * Most algebraic entities can be parametrized by type-level integers to specify their dimensions. Using `Dynamic` instead of a type-level integer indicates that the dimension known at run-time only. * Statically-sized **rectangular** matrices. * More transformation types have been added: unit-sized complex numbers (for 2D rotations), affine/projective/general transformations with `Affine2/3`, `Projective2/3`, and `Transform2/3`. * Serde serialization is now supported instead of `rustc_serialize`. Enable it with the `serde-serialize` feature. * Matrix **slices** are now implemented. ### Added Lots of features including rectangular matrices, slices, and Serde serialization. Refer to the brand new [website](http://nalgebra.org) for more details. The following free-functions have been added as well: * `::id()` that returns the universal [identity element](http://nalgebra.org/performance_tricks/#the-id-type) of type `Id`. * `::inf_sup()` that returns both the infimum and supremum of a value at the same time. * `::partial_sort2()` that attempts to sort two values in increasing order. * `::wrap()` that moves a value to the given interval by adding or removing the interval width to it. ### Modified * `::cast` -> `::convert` * `point.as_vector()` -> `point.coords` * `na::origin` -> `P::origin()` * `na::is_zero` -> `.is_zero()` (from num::Zero) * `.transform` -> `.transform_point`/`.transform_vector` * `.translate` -> `.translate_point` * `::dimension::

` -> `::dimension::` * `::angle_between` -> `::angle` The following free-functions are now replaced by methods (with the same names) only: `::cross`, `::cholesky`, `::determinant`, `::diagonal`, `::eigen_qr` (becomes `.eig`), `::hessenberg`, `::qr`, `::to_homogeneous`, `::to_rotation_matrix`, `::transpose`, `::shape`. The following free-functions are now replaced by static methods only: * `::householder_matrix` under the name `::new_householder_generic` * `::identity` * `::new_identity` under the name `::identity` * `::from_homogeneous` * `::repeat` under the name `::from_element` The following free-function are now replaced methods accessible through traits only: * `::transform` -> methods `.transform_point` and `.transform_vector` of the `alga::linear::Transformation` trait. * `::inverse_transform` -> methods `.inverse_transform_point` and `.inverse_transform_vector` of the `alga::linear::ProjectiveTransformation` trait. * `::translate`, `::inverse_translate`, `::rotate`, `::inverse_rotate` -> methods from the `alga::linear::Similarity` trait instead. Those have the same names but end with `_point` or `_vector`, e.g., `.translate_point` and `.translate_vector`. * `::orthonormal_subspace_basis` -> method with the same name from `alga::linear::FiniteDimInnerSpace`. * `::canonical_basis_element` and `::canonical_basis` -> methods with the same names from `alga::linear::FiniteDimVectorSpace`. * `::rotation_between` -> method with the same name from the `alga::linear::Rotation` trait. * `::is_zero` -> method with the same name from `num::Zero`. ### Removed * The free functions `::prepend_rotation`, `::append_rotation`, `::append_rotation_wrt_center`, `::append_rotation_wrt_point`, `::append_transformation`, and `::append_translation ` have been removed. Instead create the rotation or translation object explicitly and use multiplication to compose it with anything else. * The free function `::outer` has been removed. Use column-vector × row-vector multiplication instead. * `::approx_eq`, `::approx_eq_eps` have been removed. Use the `relative_eq!` macro from the [approx](https://crates.io/crates/approx) crate instead. * `::covariance` has been removed. There is no replacement for now. * `::mean` has been removed. There is no replacement for now. * `::sample_sphere` has been removed. There is no replacement for now. * `::cross_matrix` has been removed. There is no replacement for now. * `::absolute_rotate` has been removed. There is no replacement for now. * `::rotation`, `::transformation`, `::translation`, `::inverse_rotation`, `::inverse_transformation`, `::inverse_translation` have been removed. Use the appropriate methods/field of each transformation type, e.g., `rotation.angle()` and `rotation.axis()`. ## [0.10.0] ### Added Binary operations are now allowed between references as well. For example `Vector3 + &Vector3` is now possible. ### Modified Removed unused parameters to methods from the `ApproxEq` trait. Those were required before rust 1.0 to help type inference. The are not needed any more since it now allowed to write for a type `T` that implements `ApproxEq`: `::approx_epsilon()`. This replaces the old form: `ApproxEq::approx_epsilon(None::)`. ## [0.9.0] ### Modified * Renamed: - `::from_col_vector` -> `::from_column_vector` - `::from_col_iter` -> `::from_column_iter` - `.col_slice` -> `.column_slice` - `.set_col` -> `.set_column` - `::canonical_basis_with_dim` -> `::canonical_basis_with_dimension` - `::from_elem` -> `::from_element` - `DiagMut` -> `DiagonalMut` - `UnitQuaternion::new` becomes `UnitQuaternion::from_scaled_axis` or `UnitQuaternion::from_axisangle`. The new `::new` method now requires a not-normalized quaternion. Methods names starting with `new_with_` now start with `from_`. This is more idiomatic in Rust. The `Norm` trait now uses an associated type instead of a type parameter. Other similar trait changes are to be expected in the future, e.g., for the `Diagonal` trait. Methods marked `unsafe` for reasons unrelated to memory safety are no longer unsafe. Instead, their name end with `_unchecked`. In particular: * `Rotation3::new_with_matrix` -> `Rotation3::from_matrix_unchecked` * `PerspectiveMatrix3::new_with_matrix` -> `PerspectiveMatrix3::from_matrix_unchecked` * `OrthographicMatrix3::new_with_matrix` -> `OrthographicMatrix3::from_matrix_unchecked` ### Added - A `Unit` type that wraps normalized values. In particular, `UnitQuaternion` is now an alias for `Unit>`. - `.ln()`, `.exp()` and `.powf(..)` for quaternions and unit quaternions. - `::from_parts(...)` to build a quaternion from its scalar and vector parts. - The `Norm` trait now has a `try_normalize()` that returns `None` if the norm is too small. - The `BaseFloat` and `FloatVector` traits now inherit from `ApproxEq` as well. It is clear that performing computations with floats requires approximate equality. Still WIP: add implementations of abstract algebra traits from the `algebra` crate for vectors, rotations and points. To enable them, activate the `abstract_algebra` feature. ## [0.8.0] ### Modified * Almost everything (types, methods, and traits) now use full names instead of abbreviations (e.g. `Vec3` becomes `Vector3`). Most changes are abvious. Note however that: - `::sqnorm` becomes `::norm_squared`. - `::sqdist` becomes `::distance_squared`. - `::abs`, `::min`, etc. did not change as this is a common name for absolute values on, e.g., the libc. - Dynamically sized structures keep the `D` prefix, e.g., `DMat` becomes `DMatrix`. * All files with abbreviated names have been renamed to their full version, e.g., `vec.rs` becomes `vector.rs`. ## [0.7.0] ### Added * Added implementation of assignement operators (+=, -=, etc.) for everything. ### Modified * Points and vectors are now linked to each other with associated types (on the PointAsVector trait). ## [0.6.0] **Announcement:** a users forum has been created for `nalgebra`, `ncollide`, and `nphysics`. See you [there](http://users.nphysics.org)! ### Added * Added a dependency to [generic-array](https://crates.io/crates/generic-array). Feature-gated: requires `features="generic_sizes"`. * Added statically sized vectors with user-defined sizes: `VectorN`. Feature-gated: requires `features="generic_sizes"`. * Added similarity transformations (an uniform scale followed by a rotation followed by a translation): `Similarity2`, `Similarity3`. ### Removed * Removed zero-sized elements `Vector0`, `Point0`. * Removed 4-dimensional transformations `Rotation4` and `Isometry4` (which had an implementation to incomplete to be useful). ### Modified * Vectors are now multipliable with isometries. This will result into a pure rotation (this is how vectors differ from point semantically: they design directions so they are not translatable). * `{Isometry3, Rotation3}::look_at` reimplemented and renamed to `::look_at_rh` and `::look_at_lh` to agree with the computer graphics community (in particular, the GLM library). Use the `::look_at_rh` variant to build a view matrix that may be successfully used with `Persp` and `Ortho`. * The old `{Isometry3, Rotation3}::look_at` implementations are now called `::new_observer_frame`. * Rename every `fov` on `Persp` to `fovy`. * Fixed the perspective and orthographic projection matrices.