222 lines
10 KiB
Markdown
222 lines
10 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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## [0.12.0]
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The main change of this release is the update of the dependency serde to 1.0.
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### Added
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* `.trace()` that computes the trace of a matrix (i.e., the sum of its
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diagonal elements.)
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## [0.11.0]
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The [website](http://nalgebra.org) has been fully rewritten and gives a good
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overview of all the added/modified features.
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This version is a major rewrite of the library. Major changes are:
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* Algebraic traits are now defined by the [alga](https://crates.io/crates/alga) crate.
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All other mathematical traits, except `Axpy` have been removed from
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**nalgebra**.
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* Methods are now preferred to free functions because they do not require any
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trait to be used any more.
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* Most algebraic entities can be parametrized by type-level integers
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to specify their dimensions. Using `Dynamic` instead of a type-level
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integer indicates that the dimension known at run-time only.
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* Statically-sized **rectangular** matrices.
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* More transformation types have been added: unit-sized complex numbers (for
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2D rotations), affine/projective/general transformations with `Affine2/3`,
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`Projective2/3`, and `Transform2/3`.
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* Serde serialization is now supported instead of `rustc_serialize`. Enable
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it with the `serde-serialize` feature.
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* Matrix **slices** are now implemented.
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### Added
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Lots of features including rectangular matrices, slices, and Serde
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serialization. Refer to the brand new [website](http://nalgebra.org) for more
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details. The following free-functions have been added as well:
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* `::id()` that returns the universal [identity element](http://nalgebra.org/performance_tricks/#the-id-type)
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of type `Id`.
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* `::inf_sup()` that returns both the infimum and supremum of a value at the
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same time.
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* `::partial_sort2()` that attempts to sort two values in increasing order.
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* `::wrap()` that moves a value to the given interval by adding or removing
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the interval width to it.
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### Modified
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* `::cast` -> `::convert`
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* `point.as_vector()` -> `point.coords`
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* `na::origin` -> `P::origin()`
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* `na::is_zero` -> `.is_zero()` (from num::Zero)
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* `.transform` -> `.transform_point`/`.transform_vector`
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* `.translate` -> `.translate_point`
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* `::dimension::<P>` -> `::dimension::<P::Vector>`
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* `::angle_between` -> `::angle`
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Componentwise multiplication and division has been replaced by methods:
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* multiplication -> `.componentwise_mul`, `.componentwise_mul_mut`.
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* division -> `.componentwise_div`, `.componentwise_div_mut`.
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The following free-functions are now replaced by methods (with the same names)
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only:
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`::cross`, `::cholesky`, `::determinant`, `::diagonal`, `::eigen_qr` (becomes
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`.eig`), `::hessenberg`, `::qr`, `::to_homogeneous`, `::to_rotation_matrix`,
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`::transpose`, `::shape`.
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The following free-functions are now replaced by static methods only:
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* `::householder_matrix` under the name `::new_householder_generic`
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* `::identity`
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* `::new_identity` under the name `::identity`
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* `::from_homogeneous`
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* `::repeat` under the name `::from_element`
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The following free-function are now replaced methods accessible through traits
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only:
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* `::transform` -> methods `.transform_point` and `.transform_vector` of the `alga::linear::Transformation` trait.
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* `::inverse_transform` -> methods `.inverse_transform_point` and
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`.inverse_transform_vector` of the `alga::linear::ProjectiveTransformation`
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trait.
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* `::translate`, `::inverse_translate`, `::rotate`, `::inverse_rotate` ->
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methods from the `alga::linear::Similarity` trait instead. Those have the
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same names but end with `_point` or `_vector`, e.g., `.translate_point` and
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`.translate_vector`.
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* `::orthonormal_subspace_basis` -> method with the same name from
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`alga::linear::FiniteDimInnerSpace`.
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* `::canonical_basis_element` and `::canonical_basis` -> methods with the
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same names from `alga::linear::FiniteDimVectorSpace`.
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* `::rotation_between` -> method with the same name from the
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`alga::linear::Rotation` trait.
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* `::is_zero` -> method with the same name from `num::Zero`.
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### Removed
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* The free functions `::prepend_rotation`, `::append_rotation`,
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`::append_rotation_wrt_center`, `::append_rotation_wrt_point`,
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`::append_transformation`, and `::append_translation ` have been removed.
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Instead create the rotation or translation object explicitly and use
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multiplication to compose it with anything else.
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* The free function `::outer` has been removed. Use column-vector ×
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row-vector multiplication instead.
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* `::approx_eq`, `::approx_eq_eps` have been removed. Use the `relative_eq!`
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macro from the [approx](https://crates.io/crates/approx) crate instead.
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* `::covariance` has been removed. There is no replacement for now.
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* `::mean` has been removed. There is no replacement for now.
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* `::sample_sphere` has been removed. There is no replacement for now.
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* `::cross_matrix` has been removed. There is no replacement for now.
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* `::absolute_rotate` has been removed. There is no replacement for now.
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* `::rotation`, `::transformation`, `::translation`, `::inverse_rotation`,
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`::inverse_transformation`, `::inverse_translation` have been removed. Use
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the appropriate methods/field of each transformation type, e.g.,
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`rotation.angle()` and `rotation.axis()`.
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## [0.10.0]
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### Added
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Binary operations are now allowed between references as well. For example
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`Vector3<f32> + &Vector3<f32>` is now possible.
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### Modified
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Removed unused parameters to methods from the `ApproxEq` trait. Those were
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required before rust 1.0 to help type inference. The are not needed any more
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since it now allowed to write for a type `T` that implements `ApproxEq`:
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`<T as ApproxEq>::approx_epsilon()`. This replaces the old form:
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`ApproxEq::approx_epsilon(None::<T>)`.
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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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