924d8269d8
This adds the Pnt{1,2,3,4,5,6} structures.
This adds the traits:
− AnyPnt
− FloatPnt
− PntExt
− FloatPntExt
− Orig (to return the zero point)
− PntAsVec
− VecAsPnt
This adds operator overloading:
− Pnt + Vec
− Pnt - Vec
− Pnt * Scalar
− Pnt / Scalar
− Pnt + Scalar
− Pnt - Scalar
− Iso * Pnt
− Rot * Pnt
− Pnt * Iso
− Pnt * Rot
This changes some behavior:
− Iso multiplication with a Vec does not translate the vector any more.
− ToHomogeneous adds a 0.0 at the end of a Vec and a 1.0 at the end of a Pnt.
− FromHomogeneous performs w-normalization on a Pnt, but not on a Vec.
− The Translate<Vec> trait is never implemented (i-e. a Vec is not to be translated).
cc #25
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| benches | ||
| src | ||
| tests | ||
| .gitignore | ||
| .travis.yml | ||
| Cargo.toml | ||
| LICENSE | ||
| Makefile | ||
| README.md | ||
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.
An on-line version of this documentation is available here.
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 doing
out-of-place modifications.
- You can import the whole prelude using:
use nalgebra::na::*;
The preferred way to use nalgebra is to import types and traits explicitly, and call
free-functions using the na:: prefix:
extern crate nalgebra;
use nalgebra::na::{Vec3, Rot3, Rotation};
use nalgebra::na;
fn main() {
let a = Vec3::new(1.0f64, 1.0, 1.0);
let mut b = Rot3::new(na::zero());
b.append_rotation(&a);
assert!(na::approx_eq(&na::rotation(&b), &a));
}
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,Vec3,Vec4,Vec5,Vec6. - Square matrices with static sizes:
Mat1,Mat2,Mat3,Mat4,Mat5,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. - Some matrix factorization algorithms: QR decomposition, ...
- Almost one trait per functionality: useful for generic programming.
- Operator overloading using the double trait dispatch trick. For example, the following works:
extern crate nalgebra;
use nalgebra::na::{Vec3, Mat3};
use nalgebra::na;
fn main() {
let v: Vec3<f64> = na::zero();
let m: Mat3<f64> = na::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 nightly build of the rust compiler and the official package manager: cargo.
Simply add the following to your Cargo.toml file:
[dependencies.nalgebra]
git = "https://github.com/sebcrozet/nalgebra"
nalgebra in use
Here are some projects using nalgebra. Feel free to add your project to this list if you happen to use nalgebra!