767 lines
41 KiB
Markdown
767 lines
41 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](https://semver.org/).
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## [0.29.1] - WIP
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### Added
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- The conversion trait `From<Vec<T>>` and method `from_vec_storage` for `RowDVector`. See [#975](https://github.com/dimforge/nalgebra/issues/975)
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- Added implementation of `From` and `Into` for converting between `nalgebra` types and types from
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`glam 0.18`. These can be enabled by enabling the `convert-glam018` cargo features.
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- Added the methods `Matrix::product`, `::row_product`, `::row_product_tr`, and `::column_product` to compute the
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product of the components, rows, or columns, of a single matrix or vector.
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## [0.29.0]
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### Breaking changes
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- We updated to the version 0.6 of `simba`. This means that the trait bounds `T: na::RealField`, `na::ComplexField`,
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`na::SimdRealField`, `na:SimdComplexField` no imply that `T: Copy` (they only imply that `T: Clone`). This may affect
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generic code.
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- The closure given to `apply`, `zip_apply`, `zip_zip_apply` must now modify the
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first argument inplace, instead of returning a new value. This makes these
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methods more versatile, and avoid useless clones when using non-Copy scalar
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types.
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- The `Allocator` trait signature has been significantly modified in order to handle uninitialized matrices in a sound
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way.
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### Modified
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- `Orthographic3::from_matrix_unchecked` is now `const fn`.
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- `Perspective3::from_matrix_unchecked` is now `const fn`.
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- `Rotation::from_matrix_unchecked` is now `const fn`.
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- The `Scalar` is now automatically implemented for most `'static + Clone` types. Type that implement `Clone` but not
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`Copy` are now much safer to work with thanks to the refactoring of the `Allocator` system.
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### Added
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- The conversion traits form the `bytemuck` crates are now implemented for the geometric types too.
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- Added operator overloading for `Transform * UnitComplex`, `UnitComplex * Transform`, `Transform ×= UnitComplex`,
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`Transform ÷= UnitComplex`.
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- Added `Reflection::bias()` to retrieve the bias of the reflection.
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- Added `Reflection1..Reflection6` aliases for 1D to 6D reflections.
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- Added implementation of `From` and `Into` for converting between `nalgebra` types and types from
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`glam 0.16` and `glam 0.17`. These can be enabled by enabling the `convert-glam016`, and/or `convert-glam017`
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cargo features.
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## [0.28.0]
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### Added
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- Implement `Hash` for `Transform`.
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- Implement `Borrow` and `BorrowMut` for contiguous slices.
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### Modified
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- The `OPoint<T, D>` type has been added. It takes the dimension number as a type-level integer (e.g. `Const<3>`) instead
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of a const-generic. The type `Point<T, const D: usize>` is now an alias for `OPoint`. This changes doesn't affect any
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of the existing code using `Point`. However, it will allow the use `OPoint` in a generic context where the dimension
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cannot be easily expressed as a const-generic (because of the current limitation of const-generics in Rust).
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- Several clippy warnings were fixed. This results in some method signature changes (e.g. taking `self` instead of `&self`)
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but this should not have any practical infulances on existing codebase.
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- The `Point::new` constructors are no longer const-fn. This is due to some limitations in const-fn
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not allowing custom trait-bounds. Use the `point!` macro instead to build points in const environments.
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- `Dynamic::new` and `Unit::new_unchecked` are now const-fn.
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- Methods returning `Result<(), ()>` now return `bool` instead.
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### Fixed
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- Fixed a potential unsoundess issue when converting a mutable slice to a `&mut[T]`.
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## [0.27.1]
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### Fixed
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- Fixed a bug in the conversion from `glam::Vec2` or `glam::DVec2` to `Isometry2`.
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## [0.27.0]
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This removes the `convert-glam` and `convert-glam-unchecked` optional features.
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Instead, this adds the `convert-glam013`, `convert-glam014`, and `convert-glam015` optional features for
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conversions targeting the versions 0.13, 0.14, and 0.15 of `glam`.
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### Added
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- Add macros `matrix!`, `dmatrix!`, `vector!`, `dvector!`, `point!` for constructing matrices/vectors/points in a
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more convenient way. See [#886](https://github.com/dimforge/nalgebra/pull/886) and [#899](https://github.com/dimforge/nalgebra/pull/899).
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- Add `CooMatrix::reserve` to `nalgebra-sparse`.
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- Add basic support for serialization using `rkyv`. Can be enabled with the features `rkyv-serialize` or
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`rkyv-serialize-no-std`.
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### Fixed
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- Fixed a potential unsoundness issue after deserializing an invalid `DVector` using `serde`.
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## [0.26.2]
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### Added
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- Conversion from an array `[T; D]` to an isometry `Isometry<T, _, D>` (as a translation).
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- Conversion from a static vector `SVector<T; D>` to an isometry `Isometry<T, _, D>` (as a translation).
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- Conversion from a point `Point<T; D>` to an isometry `Isometry<T, _, D>` (as a translation).
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- Conversion of an array `[T; D]` from/to a translation `Translation<T, D>`.
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- Conversion of a point `Point<T, D>` to a translation `Translation<T, D>`.
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- Conversion of the tuple of glam types `(Vec3, Quat)` from/to an `Isometry2` or `Isometry3`.
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- Conversion of a glam type `Vec2/3/4` from/to a `Translation2/3/4`.
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## [0.26.1]
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Fix a regression introduced in 0.26.0 preventing `DVector` from being serialized with `serde`.
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## [0.26.0]
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This release integrates `min-const-generics` to nalgebra. See
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[our blog post](https://www.dimforge.com/blog/2021/04/12/integrating-const-generics-to-nalgebra)
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for details about this release.
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### Added
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- Add type aliases for unit vector, e.g., `UnitVector3`.
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- Add a `pow` and `pow_mut` function to square matrices.
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- Add `Cholesky::determinant` to compute the determinant of a matrix decomposed
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with Cholesky.
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- Add the `serde-serialize-no-std` feature to enable serialization of static matrices/vectors
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with serde, but without requiring `std`.
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### Modified
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- The `serde` crate isn't enabled by default now. Enable the `serde-serialize` or the
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`serde-serialize-no-std` features instead.
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- The `Const<const D: usize>` type has been introduced to represent dimensions known
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at compile-time. This replaces the type-level integers from `typenum` as well as
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the `U1, U2, ..., U127` types from `nalgebra`. These `U1, U2, ..., U127` are now
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just aliases for `Const<D>`, e.g., `type U2 = Const<2>`.
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- The `ArrayStorage` now uses a standard array `[[T; R]; C]` instead of a `GenericArray`.
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- Many trait bounds were changed to accommodate const-generics. Most of these changes
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should be transparent wrt. non-generic code.
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- The `MatrixMN` alias has been deprecated. Use `OMatrix` or `SMatrix` instead.
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- The `MatrixN<T, D>` alias has been deprecated. Use `OMatrix<T, D, D>` or `SMatrix` instead.
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- The `VectorN<T, D>` alias has been deprecated. Use `OVector` or `SVector` instead.
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- The `Point`, `Translation`, `Isometry`, `Similarity`, and `Transformation` types now take an
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integer for their dimension (instead of a type-level integer).
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- The type parameter order of `Isometry`, `Similarity`, `Transformation` changed to put
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the integer dimensions in the last position (this is required by the compiler).
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- The `::new` constructors of translations, points, matrices, and vectors of dimensions `<= 6`
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are now `const fn`, making them usable to define constant globals. The `Quaternion::new`
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constructor is also a `const fn` now.
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## [0.25.4]
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### Fixed
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- Fix a compilation error when only the `serde-serialize` feature is enabled.
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## [0.25.3]
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### Added
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- The `Vector::simd_cap_magnitude` method to cap the magnitude of the vector with
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SIMD components.
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## [0.25.2]
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### Added
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- A `convert-glam` cargo feature to enable implementations of `From` traits to convert
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between `glam` types and `nalgebra` types.
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- A `convert-glam-unchecked` cargo feature to enable some extra `glam`/`nalgebra` conversions that may
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lead to unexpected results if used improperly. For example, this enables the conversion from a
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`glam::Mat4` to a `na::Isometry3`. This conversion will be cheap (without any check) but willlead to
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unexpected results if the glam matrix contains non-isometric components (like scaling for example).
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- A `cast` method has been added to most types. This can be used to change the
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type of the components of a given entity. Example: `vector.cast::<f32>()`.
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## [0.25.1]
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This release replaces the version 0.25.0 which has been yanked. The 0.25.0 version
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added significant complication to build `nalgebra` targeting a `#[no-std]` platform
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not supported by `rand`.
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The `rand` dependency is now optional (and disabled by default). You may enable it with:
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- The `rand-no-std` cargo feature when targeting a `#[no-std]` environment.
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- The `rand` cargo feature when targeting a `std` environment.
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## [0.25.0] - Yanked
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This updates all the dependencies of nalgebra to their latest version, including:
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- rand 0.8
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- proptest 1.0
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- simba 0.4
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### New crate: nalgebra-sparse
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Alongside this release of `nalgebra`, we are releasing `nalgebra-sparse`: a crate dedicated to sparse matrix
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computation with `nalgebra`. The `sparse` module of `nalgebra`itself still exists for backward compatibility,
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but it will be deprecated soon in favor of the `nalgebra-sparse` crate.
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### Added
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* Add `UnitDualQuaternion`, a dual-quaternion with unit magnitude which can be used as an isometry transformation.
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* Add `UDU::new()` and `matrix.udu()` to compute the UDU factorization of a matrix.
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* Add `ColPivQR::new()` and `matrix.col_piv_qr()` to compute the QR decomposition with column pivoting of a matrix.
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* 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).
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* Add `Matrix::cap_magnitude` to cap the magnitude of a vector.
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* Add `UnitQuaternion::append_axisangle_linearized` to approximately append a rotation represented as an axis-angle to a rotation represented as an unit quaternion.
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* Mark the iterators on matrix components as `DoubleEndedIter`.
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* Re-export `simba::simd::SimdValue` at the root of the `nalgebra` crate.
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## [0.24.0]
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### Added
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* The `DualQuaternion` type. It is still work-in-progress, but the basics are here:
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creation from its real and dual part, multiplication of two dual quaternions,
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and normalization.
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### Removed
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* There is no blanket `impl<T> PartialEq for Unit<T>` anymore. Instead, it is
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implemented specifically for `UnitComplex`, `UnitQuaternion` and `Unit<Vector>`.
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## [0.23.2]
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In this release, we improved the documentation of some of the geometric types
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by applying changes similar to what we did in the version 0.23.1 for matrices.
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### Added
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* The `Isometry::inv_mul` method which is a more efficient way of doing
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`isometry1.inverse() * isometry2`.
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## [0.23.1]
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In this release we improved the documentation of the matrix and vector types by:
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- Grouping `impl` bocks logically, adding a title comment to these impl blocks.
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- Reference these impl blocks docs at the top of the documentation page for `Matrix`.
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- Reduce the depth of type aliasing. Now all vector and matrix types are aliases of `Matrix`
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directly (instead of being aliases for other aliases).
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## [0.23.0]
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### Added
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* The `.inverse_transform_unit_vector(v)` was added to `Rotation2/3`, `Isometry2/3`, `UnitQuaternion`, and `UnitComplex`.
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It applies the corresponding rotation to a unit vector `Unit<Vector2/3>`.
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* The `Point.map(f)` and `Point.apply(f)` to apply a function to each component of the point, similarly to `Vector.map(f)`
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and `Vector.apply(f)`.
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* The `Quaternion::from([N; 4])` conversion to build a quaternion from an array of four elements.
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* The `Isometry::from(Translation)` conversion to build an isometry from a translation.
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* 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
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others set to zero.
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* The `Isometry.lerp_slerp` and `Isometry.try_lerp_slerp` methods to interpolate between two isometries using linear
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interpolation for the translational part, and spherical interpolation for the rotational part.
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* The `Rotation2.slerp`, `Rotation3.slerp`, and `UnitQuaternion.slerp` method for
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spherical interpolation.
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## [0.22.0]
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In this release, we are using the new version 0.2 of simba. One major change of that version is that the
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use of `libm` is now opt-in when building targeting `no-std` environment. If you are using floating-point
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operations with nalgebra in a `no-std` environment, you will need to enable the new `libm` feature
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of nalgebra for your code to compile again.
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### Added
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* The `libm` feature that enables `libm` when building for `no-std` environment.
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* The `libm-force` feature that enables `libm` even when building for a not `no-std` environment.
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* `Cholesky::new_unchecked` which build a Cholesky decomposition without checking that its input is
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positive-definite. It can be used with SIMD types.
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* The `Default` trait is now implemented for matrices, and quaternions. They are all filled with zeros,
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except for `UnitQuaternion` which is initialized with the identity.
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* Matrix exponential `matrix.exp()`.
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* The `Vector::ith(i, x)` that builds a vector filled with zeros except for the `i`-th component set to `x`.
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## [0.21.0]
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In this release, we are no longer relying on traits from the __alga__ crate for our generic code.
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Instead, we use traits from the new [simba](https://crates.io/crates/simba) crate which are both
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simpler, and allow for significant optimizations like AoSoA SIMD.
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Refer to the [monthly dimforge blogpost](https://www.dimforge.org/blog/2020/04/01/this-month-in-dimforge/)
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for details about this switch and its benefits.
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### Added
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* It is now possible to use SIMD types like `simba::f32x4` as scalar types for nalgebra's matrices and
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geometric types.
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### Modified
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* Use of traits like `alga::general::{RealField, ComplexField}` have now been replaced by
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`simba::scalar::{RealField, ComplexField}`.
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* The implementation of traits from the __alga__ crate (and well as the dependency to _alga__) are now
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omitted unless the `alga` cargo feature is activated.
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### Removed
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* The `Neg` unary operator is no longer implemented for `UnitComplex` and `UnitQuaternion`. This caused
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hard-to-track errors when we mistakenly write, e.g., `-q * v` instead of `-(q * v)`.
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* The `na::convert_unchecked` is no longer marked as unsafe.
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## [0.20.0]
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### Added
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* `cholesky.rank_one_update(...)` which performs a rank-one update on the cholesky decomposition of a matrix.
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* `From<&Matrix>` is now implemented for matrix slices.
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* `.try_set_magnitude(...)` which sets the magnitude of a vector, while keeping its direction.
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* Implementations of `From` and `Into` for the conversion between matrix slices and standard (`&[N]` `&mut [N]`) slices.
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### Modified
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* We started some major changes in order to allow non-Copy types to be used as scalar types inside of matrices/vectors.
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## [0.19.0]
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### Added
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* `.remove_rows_at` and `remove_columns_at` which removes a set of rows or columns (specified by indices) from a matrix.
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* Several formatting traits have been implemented for all matrices/vectors: `LowerExp`, `UpperExp`, `Octal`, `LowerHex`,
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`UpperHex`, `Binary`, `Pointer`.
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* `UnitQuaternion::quaternions_mean(...)` which computes the mean rotation of a set of unit quaternions. This implements
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the algorithm from _Oshman, Yaakov, and Avishy Carmi, "Attitude estimation from vector observations using a genetic-algorithm-embedded quaternion particle filter."
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### Modified
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* It is now possible to get the `min/max` element of unsigned integer matrices.
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### Added to nalgebra-glm
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* Some infinite and reversed perspectives: `::infinite_perspective_rh_no`, `::infinite_perspective_rh_zo`,
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`::reversed_perspective_rh_zo`, and `::reversed_infinite_perspective_rh_zo`.
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## [0.18.0]
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This release adds full complex number support to nalgebra. This includes all common vector/matrix operations as well
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as matrix decomposition. This excludes geometric type (like `Isometry`, `Rotation`, `Translation`, etc.) from the
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`geometry` module.
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### Added
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#### Quaternion and geometric operations
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* Add trigonometric functions for quaternions: `.cos, .sin, .tan, .acos, .asin, .atan, .cosh, .sinh, .tanh, .acosh, .asinh, .atanh`.
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* Add geometric algebra operations for quaternions: `.inner, .outer, .project, .rejection`
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* Add `.left_div, .right_div` for quaternions.
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* Add `.renormalize` to `Unit<...>` and `Rotation3` to correct potential drift due to repeated operations.
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Those drifts could cause them not to be pure rotations anymore.
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#### Convolution
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* `.convolve_full(kernel)` returns the convolution of `self` by `kernel`.
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* `.convolve_valid(kernel)` returns the convolution of `self` by `kernel` after removal of all the elements relying on zero-padding.
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* `.convolve_same(kernel)` returns the convolution of `self` by `kernel` with a result of the same size as `self`.
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#### Complex number support
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* Add the `::from_matrix` constructor too all rotation types to extract a rotation from a raw matrix.
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* Add the `::from_matrix_eps` constructor too all rotation types to extract a rotation from a raw matrix. This takes
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more argument than `::from_matrix` to control the convergence of the underlying optimization algorithm.
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* Add `.camax()` which returns the matrix component with the greatest L1-norm.
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* Add `.camin()` which returns the matrix component with the smallest L1-norm.
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* Add `.ad_mul(b)` for matrix-multiplication of `self.adjoint() * b`.
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* 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.
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* Add BLAS operations involving complex conjugation (following similar names as the original BLAS spec):
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* `.dotc(rhs)` equal to `self.adjoint() * rhs`.
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* `.gerc(alpha, x, y, beta)` equivalent to `self = alpha * x * y.adjoint() + beta * self`
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* `.hegerc` which is like `gerc` but for Hermitian matrices.
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* `.syger` which is the new name of `.ger_symm` which is equivalent to `self = alpha * x * y.transpose() + beta * self`.
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* `.sygemv` which is the new name of `.gemv_symm` which is equivalent to `self = alpha * a * x + beta * self` with `a` symmetric.
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* `.hegemv(alpha, a, x, beta)` which is like `.sygemv` but with `a` Hermitian.
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* `.gemv_ad(alpha, a, x, beta)` which is equivalent to `self = alpha * a.adjoint() * x + beta * self`.
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* `.gemm_ad(alpha, a, b, beta)` which is equivalent to `self = alpha * a.adjoint() * b + beta * self`.
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* `.icamax()` which returns the index of the complex vector component with the greatest L1-norm.
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Note that all the other BLAS operation will continue to work for all fields, including floats and complex numbers.
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### Renamed
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* `RealSchur` has been renamed `Schur` because it can now work with complex matrices.
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## [0.17.0]
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### Added
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* 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)`.
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* 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)`.
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* Add `.copy_from_slice` to copy matrix components from a slice in column-major order.
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* Add `.dot` to quaternions.
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* Add `.zip_zip_map` for iterating on three matrices simultaneously, and applying a closure to them.
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* Add `.slerp` and `.try_slerp` to unit vectors.
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* Add `.lerp` to vectors.
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* Add `.to_projective` and `.as_projective` to `Perspective3` and `Orthographic3` in order to
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use them as `Projective3` structures.
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* Add `From/Into` impls to allow the conversion of any transformation type to a matrix.
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* Add `Into` impls to convert a matrix slice into an owned matrix.
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* Add `Point*::from_slice` to create a point from a slice.
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* Add `.map_with_location` to matrices to apply a map which passes the component indices to the user-defined closure alongside
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the component itself.
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* Add impl `From<Vector>` for `Point`.
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* Add impl `From<Vector4>` for `Quaternion`.
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* 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 `UnitQuaternion`s, `Rotation3`s, and `Rotation2`s 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](https://nalgebra.org/wasm_and_embedded_programming/).
|
||
### 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](https://crates.io/crates/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](https://crates.io/crates/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](https://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 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](https://nalgebra.org) for more
|
||
details. The following free-functions have been added as well:
|
||
* `::id()` that returns the universal [identity element](https://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::<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](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<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
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||
* Added implementation of assignment operators (+=, -=, etc.) for
|
||
everything.
|
||
### Modified
|
||
* Points and vectors are now linked to each other with associated types
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||
(on the PointAsVector trait).
|
||
|
||
|
||
## [0.6.0]
|
||
**Announcement:** a users forum has been created for `nalgebra`, `ncollide`, and `nphysics`. See
|
||
you [there](https://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
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||
* 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.
|