94 lines
2.9 KiB
Markdown
94 lines
2.9 KiB
Markdown
# nalgebra
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**nalgebra** is a linear algebra library written for Rust targeting:
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* general-purpose linear algebra (still misses a lot of features…).
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* real time computer graphics.
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* real time computer physics.
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An on-line version of this documentation is available [here](http://nalgebra.org).
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## Using **nalgebra**
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All the functionalities of **nalgebra** are grouped in one place: the `na` module.
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This module re-exports everything and includes free functions for all traits methods doing
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out-of-place modifications.
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* You can import the whole prelude using:
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```
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use nalgebra::na::*;
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```
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The preferred way to use **nalgebra** is to import types and traits explicitly, and call
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free-functions using the `na::` prefix:
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```.rust
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extern crate nalgebra;
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use nalgebra::na::{Vec3, Rot3, Rotation};
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use nalgebra::na;
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fn main() {
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let a = Vec3::new(1.0f64, 1.0, 1.0);
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let mut b = Rot3::new(na::zero());
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b.append_rotation(&a);
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assert!(na::approx_eq(&na::rotation(&b), &a));
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}
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```
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## Features
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**nalgebra** is meant to be a general-purpose linear algebra library (but is very far from that…),
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and keeps an optimized set of tools for computational graphics and physics. Those features include:
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* Vectors with static sizes: `Vec0`, `Vec1`, `Vec2`, `Vec3`, `Vec4`, `Vec5`, `Vec6`.
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* Square matrices with static sizes: `Mat1`, `Mat2`, `Mat3`, `Mat4`, `Mat5`, `Mat6 `.
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* Rotation matrices: `Rot2`, `Rot3`, `Rot4`.
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* Isometries: `Iso2`, `Iso3`, `Iso4`.
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* Dynamically sized vector: `DVec`.
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* Dynamically sized (square or rectangular) matrix: `DMat`.
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* A few methods for data analysis: `Cov`, `Mean`.
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* Some matrix factorization algorithms: QR decomposition, ...
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* Almost one trait per functionality: useful for generic programming.
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* Operator overloading using the double trait dispatch
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[trick](http://smallcultfollowing.com/babysteps/blog/2012/10/04/refining-traits-slash-impls/).
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For example, the following works:
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```rust
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extern crate nalgebra;
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use nalgebra::na::{Vec3, Mat3};
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use nalgebra::na;
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fn main() {
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let v: Vec3<f64> = na::zero();
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let m: Mat3<f64> = na::one();
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let _ = m * v; // matrix-vector multiplication.
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let _ = v * m; // vector-matrix multiplication.
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let _ = m * m; // matrix-matrix multiplication.
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let _ = v * 2.0; // vector-scalar multiplication.
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}
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```
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## Compilation
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You will need the last rust compiler from the master branch.
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If you encounter problems, make sure you have the last version before creating an issue.
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git clone git://github.com/sebcrozet/nalgebra.git
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cd nalgebra
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make
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You can build the documentation on the `doc` folder using:
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```
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make doc
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```
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## **nalgebra** in use
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Here are some projects using **nalgebra**.
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Feel free to add your project to this list if you happen to use **nalgebra**!
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* [nphysics](http://nphysics-dev.org): a real-time physics engine.
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* [ncollide](http://ncollide.org): a collision detection library.
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* [kiss3d](https://kiss3d.org): a minimalistic graphics engine.
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