# nalgebra

**nalgebra** is a linear algebra library written for Rust targeting:

* general-purpose linear algebra (still misses a lot of features…).
* real time computer graphics.
* real time computer physics.

## Using **nalgebra**
All the functionalities of **nalgebra** are grouped in one place: the `na` module.
This module re-exports everything and includes free functions for all traits methods.
Free functions are useful if you prefer doing something like `na::dot(v1, v2)` instead of
`v1.dot(v2)`.

* You can import the whole prelude, including free functions, using:

```.rust
use nalgebra::na::*;
```

* If you dont want to import everything but only every trait:

```.rust
use nalgebra::traits::*;
```

* If you dont want to import everything but only every structure:

```.rust
use nalgebra::structs::*;
```
Of course, you can still import `nalgebra::na` alone, and get anything you want using the `na`
prefix.

## Features
**nalgebra** is meant to be a general-purpose linear algebra library (but is very far from that…),
and keeps an optimized set of tools for computational graphics and physics. Those features include:

* Vectors with static sizes: `Vec0`, `Vec1`, `Vec2`, ..., `Vec6`.
* Square matrices with static sizes: `Mat1`, `Mat2`, ..., `Mat6 `.
* Rotation matrices: `Rot2`, `Rot3`, `Rot4`.
* Isometries: `Iso2`, `Iso3`, `Iso4`.
* Dynamically sized vector: `DVec`.
* Dynamically sized (square or rectangular) matrix: `DMat`.
* A few methods for data analysis: `Cov`, `Mean`.
* Almost one trait per functionality: useful for generic programming.
* Operator overloading using the double trait dispatch
  [trick](http://smallcultfollowing.com/babysteps/blog/2012/10/04/refining-traits-slash-impls/).
  For example, the following work:

```rust
extern mod nalgebra;
use std::num::{Zero, One};
use nalgebra::na::{Vec3, Mat3};

fn main() {
    let v: Vec3<f64> = Zero::zero();
    let m: Mat3<f64> = One::one();

    let _ = m * v;   // matrix-vector multiplication.
    let _ = v * m;   // vector-matrix multiplication.
    let _ = m * m;   // matrix-matrix multiplication.
    let _ = v * 2.0; // vector-scalar multiplication.
}
```

## Compilation
You will need the last rust compiler from the master branch.
If you encounter problems, make sure you have the last version before creating an issue.

    git clone git://github.com/sebcrozet/nalgebra.git
    cd nalgebra
    make

You can build the documentation on the `doc` folder using:

```.rust
make doc
```

## **nalgebra** in use
Here are some projects using **nalgebra**.
Feel free to add your project to this list if you happen to use **nalgebra**!

* [nphysics](https://github.com/sebcrozet/nphysics): a real-time physics engine.
* [ncollide](https://github.com/sebcrozet/ncollide): a collision detection library.
* [kiss3d](https://github.com/sebcrozet/kiss3d): a minimalistic graphics engine.
* [frog](https://github.com/natal/frog): a machine learning library.