nalgebra/CHANGELOG.md

230 lines
10 KiB
Markdown
Raw Blame History

This file contains ambiguous Unicode characters

This file contains Unicode characters that might be confused with other characters. If you think that this is intentional, you can safely ignore this warning. Use the Escape button to reveal them.

# Change Log
All notable changes to `nalgebra`, starting with the version 0.6.0 will be
documented here.
This project adheres to [Semantic Versioning](http://semver.org/).
## [0.13.0] - WIP
### Added
* `.kronecker(a, b)` computes the kronecker product (i.e. matrix tensor
product) of two matrices.
* `.set_row(i, row)` sets the i-th row of the matrix.
* `.set_column(j, column)` sets the i-th column of the matrix.
## [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 (i.e., the sum of its
diagonal elements.)
## [0.11.0]
The [website](http://nalgebra.org) has been fully rewritten and gives a good
overview of all the added/modified features.
This version is a major rewrite of the library. Major changes are:
* Algebraic traits are now defined by the [alga](https://crates.io/crates/alga) crate.
All other mathematical traits, except `Axpy` have been removed from
**nalgebra**.
* Methods are now preferred to free functions because they do not require any
trait to be used any more.
* Most algebraic entities can be parametrized by type-level integers
to specify their dimensions. Using `Dynamic` instead of a type-level
integer indicates that the dimension known at run-time only.
* Statically-sized **rectangular** matrices.
* More transformation types have been added: unit-sized complex numbers (for
2D rotations), affine/projective/general transformations with `Affine2/3`,
`Projective2/3`, and `Transform2/3`.
* Serde serialization is now supported instead of `rustc_serialize`. Enable
it with the `serde-serialize` feature.
* Matrix **slices** are now implemented.
### Added
Lots of features including rectangular matrices, slices, and Serde
serialization. Refer to the brand new [website](http://nalgebra.org) for more
details. The following free-functions have been added as well:
* `::id()` that returns the universal [identity element](http://nalgebra.org/performance_tricks/#the-id-type)
of type `Id`.
* `::inf_sup()` that returns both the infimum and supremum of a value at the
same time.
* `::partial_sort2()` that attempts to sort two values in increasing order.
* `::wrap()` that moves a value to the given interval by adding or removing
the interval width to it.
### Modified
* `::cast` -> `::convert`
* `point.as_vector()` -> `point.coords`
* `na::origin` -> `P::origin()`
* `na::is_zero` -> `.is_zero()` (from num::Zero)
* `.transform` -> `.transform_point`/`.transform_vector`
* `.translate` -> `.translate_point`
* `::dimension::<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. The 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.
Methods names starting with `new_with_` now start with `from_`. This is more
idiomatic in Rust.
The `Norm` trait now uses an associated type instead of a type parameter.
Other similar trait changes are to be expected in the future, e.g., for the
`Diagonal` trait.
Methods marked `unsafe` for reasons unrelated to memory safety are no
longer unsafe. Instead, their name end with `_unchecked`. In particular:
* `Rotation3::new_with_matrix` -> `Rotation3::from_matrix_unchecked`
* `PerspectiveMatrix3::new_with_matrix` -> `PerspectiveMatrix3::from_matrix_unchecked`
* `OrthographicMatrix3::new_with_matrix` -> `OrthographicMatrix3::from_matrix_unchecked`
### Added
- A `Unit<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 full names instead
of abbreviations (e.g. `Vec3` becomes `Vector3`). Most changes are abvious.
Note however that:
- `::sqnorm` becomes `::norm_squared`.
- `::sqdist` becomes `::distance_squared`.
- `::abs`, `::min`, etc. did not change as this is a common name for
absolute values on, e.g., the libc.
- Dynamically sized structures keep the `D` prefix, e.g., `DMat` becomes
`DMatrix`.
* All files with abbreviated names have been renamed to their full version,
e.g., `vec.rs` becomes `vector.rs`.
## [0.7.0]
### Added
* Added implementation of assignement operators (+=, -=, etc.) for
everything.
### Modified
* Points and vectors are now linked to each other with associated types
(on the PointAsVector trait).
## [0.6.0]
**Announcement:** a users forum has been created for `nalgebra`, `ncollide`, and `nphysics`. See
you [there](http://users.nphysics.org)!
### Added
* Added a dependency to [generic-array](https://crates.io/crates/generic-array). Feature-gated:
requires `features="generic_sizes"`.
* Added statically sized vectors with user-defined sizes: `VectorN`. Feature-gated: requires
`features="generic_sizes"`.
* Added similarity transformations (an uniform scale followed by a rotation followed by a
translation): `Similarity2`, `Similarity3`.
### Removed
* Removed zero-sized elements `Vector0`, `Point0`.
* Removed 4-dimensional transformations `Rotation4` and `Isometry4` (which had an implementation to incomplete to be useful).
### Modified
* Vectors are now multipliable with isometries. This will result into a pure rotation (this is how
vectors differ from point semantically: they design directions so they are not translatable).
* `{Isometry3, Rotation3}::look_at` reimplemented and renamed to `::look_at_rh` and `::look_at_lh` to agree
with the computer graphics community (in particular, the GLM library). Use the `::look_at_rh`
variant to build a view matrix that
may be successfully used with `Persp` and `Ortho`.
* The old `{Isometry3, Rotation3}::look_at` implementations are now called `::new_observer_frame`.
* Rename every `fov` on `Persp` to `fovy`.
* Fixed the perspective and orthographic projection matrices.