forked from M-Labs/nalgebra
93 lines
3.1 KiB
Markdown
93 lines
3.1 KiB
Markdown
# nalgebra
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**nalgebra** is a low-dimensional linear algebra library written for Rust targeting:
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* general-purpose linear algebra (still lacks a lot of features…).
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* real time computer graphics.
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* real time computer physics.
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An on-line version of this documentation is available [here](http://nalgebra.org).
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## Using **nalgebra**
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All the functionalities of **nalgebra** are grouped in one place: the root `nalgebra::` module.
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This module re-exports everything and includes free functions for all traits methods doing
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out-of-place modifications.
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* You can import the whole prelude using:
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```.ignore
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use nalgebra::*;
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```
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The preferred way to use **nalgebra** is to import types and traits explicitly, and call
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free-functions using the `na::` prefix:
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```.rust
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extern crate "nalgebra" as na;
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use na::{Vec3, Rot3, Rotation};
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fn main() {
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let a = Vec3::new(1.0f64, 1.0, 1.0);
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let mut b = Rot3::new(na::zero());
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b.append_rotation(&a);
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assert!(na::approx_eq(&na::rotation(&b), &a));
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}
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```
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## Features
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**nalgebra** is meant to be a general-purpose, low-dimensional, linear algebra
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library, and keeps an optimized set of tools for computational graphics and
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physics. Those features include:
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* Vectors with static sizes: `Vec0`, `Vec1`, `Vec2`, `Vec3`, `Vec4`, `Vec5`, `Vec6`.
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* Points with static sizes: `Pnt0`, `Pnt1`, `Pnt2`, `Pnt3`, `Pnt4`, `Pnt5`, `Pnt6`.
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* Square matrices with static sizes: `Mat1`, `Mat2`, `Mat3`, `Mat4`, `Mat5`, `Mat6 `.
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* Rotation matrices: `Rot2`, `Rot3`, `Rot4`.
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* Isometries: `Iso2`, `Iso3`, `Iso4`.
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* 3D projections for computer graphics: `Persp3`, `PerspMat3`, `Ortho3`, `OrthoMat3`.
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* Dynamically sized vector: `DVec`.
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* Dynamically sized (square or rectangular) matrix: `DMat`.
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* A few methods for data analysis: `Cov`, `Mean`.
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* Almost one trait per functionality: useful for generic programming.
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* Operator overloading using the double trait dispatch
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[trick](http://smallcultfollowing.com/babysteps/blog/2012/10/04/refining-traits-slash-impls/).
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For example, the following works:
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```rust
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extern crate "nalgebra" as na;
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use na::{Vec3, Mat3};
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fn main() {
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let v: Vec3<f64> = na::zero();
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let m: Mat3<f64> = na::one();
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let _ = m * v; // matrix-vector multiplication.
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let _ = v * m; // vector-matrix multiplication.
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let _ = m * m; // matrix-matrix multiplication.
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let _ = v * 2.0f64; // vector-scalar multiplication.
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}
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```
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## Compilation
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You will need the last nightly build of the [rust compiler](http://www.rust-lang.org)
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and the official package manager: [cargo](https://github.com/rust-lang/cargo).
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Simply add the following to your `Cargo.toml` file:
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```.ignore
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[dependencies.nalgebra]
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git = "https://github.com/sebcrozet/nalgebra"
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```
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## **nalgebra** in use
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Here are some projects using **nalgebra**.
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Feel free to add your project to this list if you happen to use **nalgebra**!
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* [nphysics](https://github.com/sebcrozet/nphysics): a real-time physics engine.
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* [ncollide](https://github.com/sebcrozet/ncollide): a collision detection library.
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* [kiss3d](https://github.com/sebcrozet/kiss3d): a minimalistic graphics engine.
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* [nrays](https://github.com/sebcrozet/nrays): a ray tracer.
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