99 lines
4.4 KiB
Markdown
99 lines
4.4 KiB
Markdown
# Change Log
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All notable changes to `nalgebra`, starting with the version 0.6.0 will be
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documented here.
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This project adheres to [Semantic Versioning](http://semver.org/).
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## [0.9.0]
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### Modified
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* Renamed:
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- `::from_col_vector` -> `::from_column_vector`
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- `::from_col_iter` -> `::from_column_iter`
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- `.col_slice` -> `.column_slice`
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- `.set_col` -> `.set_column`
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- `::canonical_basis_with_dim` -> `::canonical_basis_with_dimension`
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- `::from_elem` -> `::from_element`
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- `DiagMut` -> `DiagonalMut`
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- `UnitQuaternion::new` becomes `UnitQuaternion::from_scaled_axis` or
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`UnitQuaternion::from_axisangle`. The new `::new` method now requires a
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not-normalized quaternion.
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Methods names starting with `new_with_` now start with `from_`. This is more
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idiomatic in Rust.
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The `Norm` trait now uses an associated type instead of a type parameter.
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Other similar trait changes are to be expected in the future, e.g., for the
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`Diagonal` trait.
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Methods marked `unsafe` for reasons unrelated to memory safety are no
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longer unsafe. Instead, their name end with `_unchecked`. In particular:
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* `Rotation3::new_with_matrix` -> `Rotation3::from_matrix_unchecked`
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* `PerspectiveMatrix3::new_with_matrix` -> `PerspectiveMatrix3::from_matrix_unchecked`
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* `OrthographicMatrix3::new_with_matrix` -> `OrthographicMatrix3::from_matrix_unchecked`
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### Added
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- A `Unit<T>` type that wraps normalized values. In particular,
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`UnitQuaternion<N>` is now an alias for `Unit<Quaternion<N>>`.
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- `.ln()`, `.exp()` and `.powf(..)` for quaternions and unit quaternions.
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- `::from_parts(...)` to build a quaternion from its scalar and vector
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parts.
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- The `Norm` trait now has a `try_normalize()` that returns `None` if the
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norm is too small.
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- The `BaseFloat` and `FloatVector` traits now inherit from `ApproxEq` as
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well. It is clear that performing computations with floats requires
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approximate equality.
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Still WIP: add implementations of abstract algebra traits from the `algebra`
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crate for vectors, rotations and points. To enable them, activate the
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`abstract_algebra` feature.
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## [0.8.0]
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### Modified
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* Almost everything (types, methods, and traits) now use full names instead
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of abbreviations (e.g. `Vec3` becomes `Vector3`). Most changes are abvious.
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Note however that:
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- `::sqnorm` becomes `::norm_squared`.
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- `::sqdist` becomes `::distance_squared`.
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- `::abs`, `::min`, etc. did not change as this is a common name for
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absolute values on, e.g., the libc.
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- Dynamically sized structures keep the `D` prefix, e.g., `DMat` becomes
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`DMatrix`.
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* All files with abbreviated names have been renamed to their full version,
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e.g., `vec.rs` becomes `vector.rs`.
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## [0.7.0]
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### Added
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* Added implementation of assignement operators (+=, -=, etc.) for
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everything.
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### Modified
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* Points and vectors are now linked to each other with associated types
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(on the PointAsVector trait).
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## [0.6.0]
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**Announcement:** a users forum has been created for `nalgebra`, `ncollide`, and `nphysics`. See
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you [there](http://users.nphysics.org)!
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### Added
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* Added a dependency to [generic-array](https://crates.io/crates/generic-array). Feature-gated:
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requires `features="generic_sizes"`.
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* Added statically sized vectors with user-defined sizes: `VectorN`. Feature-gated: requires
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`features="generic_sizes"`.
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* Added similarity transformations (an uniform scale followed by a rotation followed by a
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translation): `Similarity2`, `Similarity3`.
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### Removed
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* Removed zero-sized elements `Vector0`, `Point0`.
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* Removed 4-dimensional transformations `Rotation4` and `Isometry4` (which had an implementation to incomplete to be useful).
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### Modified
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* Vectors are now multipliable with isometries. This will result into a pure rotation (this is how
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vectors differ from point semantically: they design directions so they are not translatable).
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* `{Isometry3, Rotation3}::look_at` reimplemented and renamed to `::look_at_rh` and `::look_at_lh` to agree
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with the computer graphics community (in particular, the GLM library). Use the `::look_at_rh`
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variant to build a view matrix that
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may be successfully used with `Persp` and `Ortho`.
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* The old `{Isometry3, Rotation3}::look_at` implementations are now called `::new_observer_frame`.
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* Rename every `fov` on `Persp` to `fovy`.
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* Fixed the perspective and orthographic projection matrices.
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