61 lines
2.5 KiB
Markdown
61 lines
2.5 KiB
Markdown
[](https://travis-ci.org/sebcrozet/nalgebra)
|
||
|
||
nalgebra
|
||
========
|
||
|
||
**nalgebra** is a low-dimensional linear algebra library written for Rust targeting:
|
||
|
||
* General-purpose linear algebra (still lacks a lot of features…)
|
||
* Real time computer graphics.
|
||
* Real time computer physics.
|
||
|
||
An on-line version of this documentation is available [here](http://nalgebra.org/doc/nalgebra).
|
||
|
||
## Using **nalgebra**
|
||
All the functionality of **nalgebra** is grouped in one place: the root module `nalgebra::`. This
|
||
module re-exports everything and includes free functions for all traits methods performing
|
||
out-of-place operations.
|
||
|
||
Thus, you can import the whole prelude using:
|
||
|
||
```.ignore
|
||
use nalgebra::*;
|
||
```
|
||
|
||
However, the recommended way to use **nalgebra** is to import types and traits
|
||
explicitly, and call free-functions using the `na::` prefix:
|
||
|
||
```.rust
|
||
extern crate nalgebra as na;
|
||
use na::{Vector3, Rotation3, Rotation};
|
||
|
||
fn main() {
|
||
let a = Vector3::new(1.0f64, 1.0, 1.0);
|
||
let mut b = Rotation3::new(na::zero());
|
||
|
||
b.append_rotation_mut(&a);
|
||
|
||
assert!(na::approx_eq(&na::rotation(&b), &a));
|
||
}
|
||
```
|
||
|
||
|
||
## Features
|
||
**nalgebra** is meant to be a general-purpose, low-dimensional, linear algebra library, with
|
||
an optimized set of tools for computer graphics and physics. Those features include:
|
||
|
||
* Vectors with predefined static sizes: `Vector1`, `Vector2`, `Vector3`, `Vector4`, `Vector5`, `Vector6`.
|
||
* Vector with a user-defined static size: `VectorN` (available only with the `generic_sizes` feature).
|
||
* Points with static sizes: `Point1`, `Point2`, `Point3`, `Point4`, `Point5`, `Point6`.
|
||
* Square matrices with static sizes: `Matrix1`, `Matrix2`, `Matrix3`, `Matrix4`, `Matrix5`, `Matrix6 `.
|
||
* Rotation matrices: `Rotation2`, `Rotation3`
|
||
* Quaternions: `Quaternion`, `UnitQuaternion`.
|
||
* Isometrymetries (translation ⨯ rotation): `Isometry2`, `Isometry3`
|
||
* Similarity transformations (translation ⨯ rotation ⨯ uniform scale): `Similarity2`, `Similarity3`.
|
||
* 3D projections for computer graphics: `Persp3`, `PerspMatrix3`, `Ortho3`, `OrthoMatrix3`.
|
||
* Dynamically sized heap-allocated vector: `DVector`.
|
||
* Dynamically sized stack-allocated vectors with a maximum size: `DVector1` to `DVector6`.
|
||
* Dynamically sized heap-allocated (square or rectangular) matrix: `DMatrix`.
|
||
* Linear algebra and data analysis operators: `Covariance`, `Mean`, `qr`, `cholesky`.
|
||
* Almost one trait per functionality: useful for generic programming.
|