nalgebra/CHANGELOG.md

Change Log

All notable changes to nalgebra, starting with the version 0.6.0 will be documented here.

This project adheres to Semantic Versioning.

Unreleased

Added

• Add the glam-0.27 feature to enable conversion from/to types from glam v0.27.

Removed

• The cuda feature has been removed, as the toolchain it depends on is long abandoned.

[0.32.5] (28 March 2024)

Fixed

• Fix numerical issue on SVD with near-identity matrix.

[0.32.4] (19 Feb 2023)

Added

• Add the glam-0.25 feature to enable conversion from/to types from glam v0.25.

[0.32.3] (09 July 2023)

Modified

• Statically sized matrices are now serialized as tuples to match how serde serialized plain arrays.
• Don’t require Scalar for matrix PartialEq and Eq.

Added

• Allow trailing punctuation in macros vector!, matrix!, point!, etc.
• Add the methods Matrix1::as_scalar, ::as_scalar_mut, ::to_scalar, ::into_scalar.
• Add Rotation3::euler_angles_ordered, a generalized euler angles calculation.
• Add the glam-0.24 feature to enable conversion from/to types from glam v0.24.
• Add the glam-0.25 feature to enable conversion from/to types from glam v0.25.
• Add the lerp method to points.
• Implement Clone for MatrixIter.

Fixed

• Fixed severe catastrophic cancellation issue in variance calculation.

[0.32.2] (07 March 2023)

Added

• Add the glam-0.23 to enable conversion from/to type from glam v0.23.

[0.32.1] (14 Jan. 2023)

Modified

• Updated nalgebra-macros to use the new Dyn, avoiding macro-generated deprecation warnings.

[0.32.0] (14 Jan. 2023)

Modified

• Renamed all MatrixSlice types to MatrixView. In general all occurrences of the world Slice or slice have been replaced by View or view.
• Deprecated all the types involving Slice in its name, in favor of the word View.
• Make it so that most nalgebra objects archive as themselves (when using rkyv for serialization).
• Renamed Dynamic to Dyn and make Dyn a tuple struct.

Added

• Add Cholesky::ln_determinant to compute the natural logarithm of the determinant of a matrix decomposed with Cholesky. This can be more numerically stable than computing the determinant itself when very small and/or large values are involved.
• Added new methods Matrix::as_view and Matrix::as_view_mut, which are very useful when working with view-based APIs.
• Added parallel column iterator using rayon: Matrix::par_column_iter and Matrix::par_column_iter_mut. The rayon feature must be enabled to access these methods.
• Implement ReshapableStorage for matrix slices (only for unit strides at the moment).
• Add U0, U1, … constants alongside the U0, U1, … types. This lets us write U4 instead of U4::name() or Const::<4> when we need const dimensions.

Fixed

• Fixed the implementation of Rotation3::euler_angles to return the angles in the documented order (roll, pitch, yaw).

[0.31.4] (13 Nov. 2022)

Added

• Add a convert-glam022 feature to enable conversion between nalgebra and glam v0.22.

[0.31.3] (30 Oct. 2022)

Added

• Add Matrix::try_cast to attempt casting the inner scalar types when that cast may fail.

Fixed

• Fixed the usage of CheckBytes with rkyv.

[0.31.2] (09 Oct. 2022)

Modified

• Use #[inline] on the Dim implementation for Const to improve opt-level 1 performance.
• Make the Point::new constructions const-fn.

Added

• Add UnitVector::cast to change the underlying scalar type.

[0.31.1] (31 July 2022)

Modified

• Improve performances of multiplication of two sparse matrices.

Added

• Add Matrix::from_row_iterator to build a matrix from an iterator yielding components in row-major order.
• Add support for conversion from/to types of glam 0.21.
• nalgebra-sparse: add support for the matrix-market export of sparse matrices.
• nalgebra-lapack: add a GE for solving the generalized eigenvalues problem.

Fixed

• Fix Rotation3::from_matrix and UnitQuaternion::from_matrix when the input matrix is already a valid rotation matrix.

[0.31.0] (30 Apr. 2022)

Breaking changes

• Switch to cust 0.3 (for CUDA support).
• Switch to rkyv 0.7
• Remove support for serialization based on abomonation.
• Remove support for conversions between nalgebra types and glam 0.13.

Modified

• The aliases for Const types have been simplified to help rust-analyzer.

Added

• Add TryFrom conversion between UnitVector2/3/4 and glam’s Vec2/3/4.
• nalgebra-sparse: added support for serialization of sparse matrices with serde.
• nalgebra-sparse: add a CSC matrix constructor from unsorted (but valid) data.
• nalgebra-lapack: add generalized eigenvalues/eigenvectors calculation + QZ decomposition.

Fixed

• Improve stability of SVD.
• Fix slerp for UnitComplex.

[0.30.1] (09 Jan. 2022)

Added

• Add conversion from/to types of glam 0.19 and 0.20.

[0.30.0] (02 Jan. 2022)

Breaking changes

• The Dim trait is now marked as unsafe.
• The Matrix::pow and Matrix::pow_mut methods only allow positive integer exponents now. To compute negative exponents, the user is free to invert the matrix before calling pow with the exponent’s absolute value.
• Remove the Bounded requirement from RealField. Replace it by methods returning Option<Self> so that they can still be implemented by unbounded types (by returning None).
• The ComplexField trait derives from FromPrimitive again. We can actually keep this because all its methods return Option<Self>, meaning that it could be implemented by any type.

Modified

• Use more concise debug impls for matrices and geometric transformation types.
• The singular values computed by the SVD are now sorted in increasing order by default. Use SVD::new_unordered instead to reproduce the older behavior without the sorting overhead.
• The UnitDualQuaternion::sclerp method will no longer panic when given two equal rotations.
• The Matrix::select_rows and Matrix::select_columns methods no longer require the matrix components to implement the trait Zero.
• The Matrix::pow and Matrix::pow_mut methods will now also work with integer matrices.

Added

• Added the conversion trait From<Vec<T>> and method from_vec_storage for RowDVector.
• Added implementation of From and Into for converting between nalgebra types and types from glam 0.18. These can be enabled by enabling the convert-glam018 cargo features.
• Added the methods Matrix::product, ::row_product, ::row_product_tr, and ::column_product to compute the product of the components, rows, or columns, of a single matrix or vector.
• The Default trait is now implemented for most geometric types: Point, Isometry, Rotation, Similarity, Transform, UnitComplex, and UnitQuaternion.
• Added the Scale geometric type for representing non-uniform scaling.
• Added Cholesky::new_with_substitute that will replace diagonal elements by a given constant whenever Cholesky meets a non-definite-positiveness.
• Re-added the conversion from a vector/matrix slice to a static array.
• Added the cuda feature that enables the support of rust-cuda for using nalgebra features with CUDA kernels written in Rust.
• Added special-cases implementations for the 2x2 and 3x3 SVDs for better accuracy and performances.
• Added the methods Matrix::polar, Matrix::try_polar, and SVD::to_polar to compute the polar decomposition of a matrix, based on its SVD.
• nalgebra-sparse: provide constructors for unsorted but otherwise valid data using the CSR format.
• nalgebra-sparse: added reading MatrixMarked data files to a sparse CooMatrix.

Fixed

• Fixed a potential unsoundness with matrix.get(i) and matrix.get_mut(i) where i is an usize, and matrix is a matrix slice with non-default strides.
• Fixed potential unsoundness with vector.perp where vector isn’t actually a 2D vector as expected.
• Fixed linkage issue with nalgebra-lapack: the user of nalgebra-lapack no longer have to add extern crate lapack-src to their main.rs.
• Fixed the no-std build of nalgebra-glm.
• Fix the pow and pow_mut functions (the result was incorrect for some exponent values).

[0.29.0]

Breaking changes

• We updated to the version 0.6 of simba. This means that the trait bounds T: na::RealField, na::ComplexField, na::SimdRealField, na:SimdComplexField no imply that T: Copy (they only imply that T: Clone). This may affect generic code.
• The closure given to apply, zip_apply, zip_zip_apply must now modify the first argument inplace, instead of returning a new value. This makes these methods more versatile, and avoid useless clones when using non-Copy scalar types.
• The Allocator trait signature has been significantly modified in order to handle uninitialized matrices in a sound way.

Modified

• Orthographic3::from_matrix_unchecked is now const fn.
• Perspective3::from_matrix_unchecked is now const fn.
• Rotation::from_matrix_unchecked is now const fn.
• The Scalar is now automatically implemented for most 'static + Clone types. Type that implement Clone but not Copy are now much safer to work with thanks to the refactoring of the Allocator system.

Added

• The conversion traits form the bytemuck crates are now implemented for the geometric types too.
• Added operator overloading for Transform * UnitComplex, UnitComplex * Transform, Transform ×= UnitComplex, Transform ÷= UnitComplex.
• Added Reflection::bias() to retrieve the bias of the reflection.
• Added Reflection1..Reflection6 aliases for 1D to 6D reflections.
• Added implementation of From and Into for converting between nalgebra types and types from glam 0.16 and glam 0.17. These can be enabled by enabling the convert-glam016, and/or convert-glam017 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 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) 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.
• Dynamic::new and Unit::new_unchecked are now const-fn.
• 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 and #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).
• Conversion of an array [T; D] from/to a translation Translation<T, D>.
• Conversion of a point Point<T, D> to a translation Translation<T, D>.
• Conversion of the tuple of glam types (Vec3, Quat) from/to an Isometry2 or Isometry3.
• 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 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 with Cholesky.
• 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 at compile-time. This replaces the type-level integers from typenum as well as the U1, U2, ..., U127 types from nalgebra. These U1, U2, ..., U127 are now just aliases for Const<D>, e.g., type U2 = Const<2>.
• The ArrayStorage now uses a standard array [[T; R]; C] instead of a GenericArray.
• Many trait bounds were changed to accommodate const-generics. Most of these changes should be transparent wrt. non-generic code.
• The MatrixMN alias has been deprecated. Use OMatrix or SMatrix instead.
• The MatrixN<T, D> alias has been deprecated. Use OMatrix<T, D, D> or SMatrix instead.
• The VectorN<T, D> alias has been deprecated. Use OVector or SVector instead.
• The Point, Translation, Isometry, Similarity, and Transformation types now take an integer for their dimension (instead of a type-level integer).
• The type parameter order of Isometry, Similarity, Transformation changed to put the integer dimensions in the last position (this is required by the compiler).
• The ::new constructors of translations, points, matrices, and vectors of dimensions <= 6 are now const fn, making them usable to define constant globals. The Quaternion::new 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 lead to unexpected results if used improperly. For example, this enables the conversion from a glam::Mat4 to a na::Isometry3. This conversion will be cheap (without any check) but willlead to unexpected results if the glam matrix contains non-isometric components (like scaling for example).
• A cast method has been added to most types. This can be used to change the 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 nalgebraitself 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 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.
• 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 directly (instead of being aliases for other aliases).

[0.23.0]

Added

• 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) 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 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.
• The Rotation2.slerp, Rotation3.slerp, and UnitQuaternion.slerp method for 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 positive-definite. It can be used with SIMD types.
• The Default trait is now implemented for matrices, and quaternions. They are all filled with zeros, except for UnitQuaternion which is initialized with the identity.
• Matrix exponential matrix.exp().
• 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 crate which are both simpler, and allow for significant optimizations like AoSoA SIMD.

Refer to the monthly dimforge blogpost 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."

Modified

• It is now possible to get the min/max element of unsigned integer matrices.

Added to nalgebra-glm

• Some infinite and reversed perspectives: ::infinite_perspective_rh_no, ::infinite_perspective_rh_zo, ::reversed_perspective_rh_zo, and ::reversed_infinite_perspective_rh_zo.

[0.18.0]

This release adds full complex number support to nalgebra. This includes all common vector/matrix operations as well as matrix decomposition. This excludes geometric type (like Isometry, Rotation, Translation, etc.) from the geometry module.

Added

Quaternion and geometric operations

• Add trigonometric functions for quaternions: .cos, .sin, .tan, .acos, .asin, .atan, .cosh, .sinh, .tanh, .acosh, .asinh, .atanh.
• Add geometric algebra operations for quaternions: .inner, .outer, .project, .rejection
• Add .left_div, .right_div for quaternions.
• Add .renormalize to Unit<...> and Rotation3 to correct potential drift due to repeated operations. Those drifts could cause them not to be pure rotations anymore.

Convolution

• .convolve_full(kernel) returns the convolution of self by kernel.
• .convolve_valid(kernel) returns the convolution of self by kernel after removal of all the elements relying on zero-padding.
• .convolve_same(kernel) returns the convolution of self by kernel with a result of the same size as self.

Complex number support

• Add the ::from_matrix constructor too all rotation types to extract a rotation from a raw matrix.
• Add the ::from_matrix_eps constructor too all rotation types to extract a rotation from a raw matrix. This takes more argument than ::from_matrix to control the convergence of the underlying optimization algorithm.
• Add .camax() which returns the matrix component with the greatest L1-norm.
• Add .camin() which returns the matrix component with the smallest L1-norm.
• Add .ad_mul(b) for matrix-multiplication of self.adjoint() * b.
• Add .ad_mul_to(b) which is the same as .ad_mul but with a provided matrix to be filled with the result of the multiplication.
• Add BLAS operations involving complex conjugation (following similar names as the original BLAS spec):
  • .dotc(rhs) equal to self.adjoint() * rhs.
  • .gerc(alpha, x, y, beta) equivalent to self = alpha * x * y.adjoint() + beta * self
  • .hegerc which is like gerc but for Hermitian matrices.
  • .syger which is the new name of .ger_symm which is equivalent to self = alpha * x * y.transpose() + beta * self.
  • .sygemv which is the new name of .gemv_symm which is equivalent to self = alpha * a * x + beta * self with a symmetric.
  • .hegemv(alpha, a, x, beta) which is like .sygemv but with a Hermitian.
  • .gemv_ad(alpha, a, x, beta) which is equivalent to self = alpha * a.adjoint() * x + beta * self.
  • .gemm_ad(alpha, a, b, beta) which is equivalent to self = alpha * a.adjoint() * b + beta * self.
  • .icamax() which returns the index of the complex vector component with the greatest L1-norm.

Note that all the other BLAS operation will continue to work for all fields, including floats and complex numbers.

Renamed

• RealSchur has been renamed Schur because it can now work with complex matrices.

[0.17.0]

Added

• 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 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.

Modified

• Adjust UnitQuaternions, Rotation3s, and Rotation2s generated from the Standard distribution to be uniformly distributed.

Added

• Add a feature stdweb to activate the dependency feature rand/stdweb.
• Add blas-like methods .imin() and .imax() that return the index of the minimum and maximum entry of a vector.
• Add construction of a Point from an array by implementing the From trait.
• Add support for generating uniformly distributed random unit column vectors using the Standard distribution.

[0.15.0]

The most notable change of this release is the support for using part of the library without the rust standard library (i.e. it supports #![no_std]). See the corresponding documentation.

Modified

• Rename the core module to base to avoid conflicts with the core crate implicitly imported when #![no_std] is enabled.
• Constructors of the MatrixSlice* types have been renamed from new_* to from_slice_*. This was necessary to avoid the incoherent_fundamental_impls lint that is going to become a hard error.

Added

• Add UnitQuaternion constructor ::new_eps(...) and ::from_scaled_axis_eps(...) that return the identity if the magnitude of the input axisangle is smaller than the epsilon provided.
• Add methods .rotation_between_axis(...) and .scaled_rotation_between_axis(...) to UnitComplex to compute the rotation matrix between two 2D unit vectors.
• Add methods .axis_angle() to UnitComplex and UnitQuaternion in order to retrieve both the unit rotation axis, and the rotation angle simultaneously.
• Add functions to construct a random matrix with a user-defined distribution: ::from_distribution(...).

[0.14.0]

Modified

• Allow the Isometry * Unit<Vector> multiplication.

Added

• Add blas-like operations: .quadform(...) and .quadform_tr(...) to compute respectively the quadratic forms self = alpha * A.transpose() * B * A + beta * self and alpha * A * B * A.transpose() + beta * self. Here, A, B are matrices with B square, and alpha, beta are reals.
• Add blas-like operations: .gemv_tr(...) that behaves like .gemv except that the provided matrix is assumed to be transposed.
• Add blas-like operations: cmpy, cdpy for component-wise multiplications and division with scalar factors:
  • self <- alpha * self + beta * a * b
  • self <- alpha * self + beta * a / b
• .cross_matrix() returns the cross-product matrix of a given 3D vector, i.e., the matrix M such that for all vector v we have M * v == self.cross(&v).
• .iamin() that returns the index of the vector entry with the smallest absolute value.
• The mint feature that can be enabled in order to allow conversions from and to types of the mint crate.
• Aliases for matrix and vector slices. Their are named by adding Slice before the dimension numbers, i.e., a 3x5 matrix slice with dimensions known at compile-time is called MatrixSlice3x5. A vector slice with dimensions unknown at compile-time is called DVectorSlice.
• Add functions for constructing matrix slices from a slice &[N], e.g., MatrixSlice2::new(...) and MatrixSlice2::new_with_strides(...).
• The ::repeat(...) constructor that is an alternative name to ::from_element(...).
• UnitQuaternion::scaled_rotation_between_axis(...) and UnitQuaternion::rotation_between_axis(...) that take Unit vectors instead of Vector as arguments.

[0.13.0]

The nalgebra-lapack crate has been updated. This now includes a broad range matrix decompositions using LAPACK bindings.

This adds support for serialization using the abomonation crate.

Breaking semantic change

• The implementation of slicing with steps now matches the documentation. Before, step identified the number to add to pass from one column/row index to the next one. This made 0 step invalid. Now (and on the documentation so far), the step is the number of ignored row/columns between each row/column. Thus, a step of 0 means that no row/column is ignored. For example, a step of, say, 3 on previous versions should now bet set to 2.

Modified

• The trait Axpy has been replaced by a method .axpy.
• The alias MatrixNM is now deprecated. Use MatrixMN instead (we reordered M and N to be in alphabetical order).
• In-place componentwise multiplication and division .component_mul_mut(...) and .component_div_mut(...) have been deprecated for a future renaming. Use .component_mul_assign(...) and .component_div_assign(...) instead.

Added

• alga::general::Real is now re-exported by nalgebra. elements.)
• ::zeros(...) that creates a matrix filled with zeroes.
• ::from_partial_diagonal(...) that creates a matrix from diagonal elements. The matrix can be rectangular. If not enough elements are provided, the rest of the diagonal is set to 0.
• .conjugate_transpose() computes the transposed conjugate of a complex matrix.
• .conjugate_transpose_to(...) computes the transposed conjugate of a complex matrix. The result written into a user-provided matrix.
• .transpose_to(...) is the same as .transpose() but stores the result in the provided matrix.
• .conjugate_transpose_to(...) is the same as .conjugate_transpose() but stores the result in the provided matrix.
• Implements IntoIterator for &Matrix, &mut Matrix and Matrix.
• .mul_to(...) multiplies two matrices and stores the result to the given buffer.
• .tr_mul_to(...) left-multiplies self.transpose() to another matrix and stores the result to the given buffer.
• .add_scalar(...) that adds a scalar to each component of a matrix.
• .add_scalar_mut(...) that adds in-place a scalar to each component of a matrix.
• .kronecker(a, b) computes the kronecker product (i.e. matrix tensor product) of two matrices.
• .apply(f) replaces each component of a matrix with the results of the closure f called on each of them.

Pure Rust implementation of some Blas operations:

• .iamax() returns the index of the maximum value of a vector.
• .axpy(...) computes self = a * x + b * self.
• .gemv(...) computes self = alpha * a * x + beta * self with a matrix and vector a and x.
• .ger(...) computes self = alpha * x^t * y + beta * self where x and y are vectors.
• .gemm(...) computes self = alpha * a * b + beta * self where a and b are matrices.
• .gemv_symm(...) is the same as .gemv except that self is assumed symmetric.
• .ger_symm(...) is the same as .ger except that self is assumed symmetric.

New slicing methods:

• .rows_range(...) that retrieves a reference to a range of rows.
• .rows_range_mut(...) that retrieves a mutable reference to a range of rows.
• .columns_range(...) that retrieves a reference to a range of columns.
• .columns_range_mut(...) that retrieves a mutable reference to a range of columns.

Matrix decompositions implemented in pure Rust:

• Cholesky, SVD, LU, QR, Hessenberg, Schur, Symmetric eigendecompositions, Bidiagonal, Symmetric tridiagonal
• Computation of householder reflectors and givens rotations.

Matrix edition:

• .upper_triangle() extracts the upper triangle of a matrix, including the diagonal.
• .lower_triangle() extracts the lower triangle of a matrix, including the diagonal.
• .fill(...) fills the matrix with a single value.
• .fill_with_identity(...) fills the matrix with the identity.
• .fill_diagonal(...) fills the matrix diagonal with a single value.
• .fill_row(...) fills a selected matrix row with a single value.
• .fill_column(...) fills a selected matrix column with a single value.
• .set_diagonal(...) sets the matrix diagonal.
• .set_row(...) sets a selected row.
• .set_column(...) sets a selected column.
• .fill_lower_triangle(...) fills some sub-diagonals below the main diagonal with a value.
• .fill_upper_triangle(...) fills some sub-diagonals above the main diagonal with a value.
• .swap_rows(...) swaps two rows.
• .swap_columns(...) swaps two columns.

Column removal:

• .remove_column(...) removes one column.
• .remove_fixed_columns<D>(...) removes D columns.
• .remove_columns(...) removes a number of columns known at run-time.

Row removal:

• .remove_row(...) removes one row.
• .remove_fixed_rows<D>(...) removes D rows.
• .remove_rows(...) removes a number of rows known at run-time.

Column insertion:

• .insert_column(...) adds one column at the given position.
• .insert_fixed_columns<D>(...) adds D columns at the given position.
• .insert_columns(...) adds at the given position a number of columns known at run-time.

Row insertion:

• .insert_row(...) adds one row at the given position.
• .insert_fixed_rows<D>(...) adds D rows at the given position.
• .insert_rows(...) adds at the given position a number of rows known at run-time.

[0.12.0]

The main change of this release is the update of the dependency serde to 1.0.

Added

• .trace() that computes the trace of a matrix (the sum of its diagonal elements.)

[0.11.0]

The website 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 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 anymore.
• 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 for more details. The following free-functions have been added as well:

• ::id() that returns the universal identity element 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::<P> -> ::dimension::<P::Vector>
• ::angle_between -> ::angle

Componentwise multiplication and division has been replaced by methods:

• multiplication -> .componentwise_mul, .componentwise_mul_mut.
• division -> .componentwise_div, .componentwise_div_mut.

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 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<f32> + &Vector3<f32> is now possible.

Modified

Removed unused parameters to methods from the ApproxEq trait. Those were required before rust 1.0 to help type inference. They are not needed any more since it now allowed to write for a type T that implements ApproxEq: <T as ApproxEq>::approx_epsilon(). This replaces the old form: ApproxEq::approx_epsilon(None::<T>).

[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.

Method 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<T> type that wraps normalized values. In particular, UnitQuaternion<N> is now an alias for Unit<Quaternion<N>>.
• .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 fulls names instead of abbreviations (e.g. Vec3 becomes Vector3). Most changes are obvious. 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 assignment 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!

Added

• Added a dependency to 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 too 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.