nalgebra/README.md

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.

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.

• You can import the whole prelude using:

use nalgebra::*;

The preferred way to use nalgebra is to import types and traits explicitly, and call free-functions using the na:: prefix:

extern crate nalgebra as na;
use na::{Vec3, Rot3, Rotation};

fn main() {
    let     a = Vec3::new(1.0f64, 1.0, 1.0);
    let mut b = Rot3::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: Vec1, Vec2, Vec3, Vec4, Vec5, Vec6.
• Vector with a user-defined static size: VecN (available only with the generic_sizes feature).
• Points with static sizes: Pnt1, Pnt2, Pnt3, Pnt4, Pnt5, Pnt6.
• Square matrices with static sizes: Mat1, Mat2, Mat3, Mat4, Mat5, Mat6 .
• Rotation matrices: Rot2, Rot3
• Quaternions: Quat, UnitQuat.
• Isometries (translation ⨯ rotation): Iso2, Iso3
• Similarity transformations (translation ⨯ rotation ⨯ uniform scale): Sim2, Sim3.
• 3D projections for computer graphics: Persp3, PerspMat3, Ortho3, OrthoMat3.
• Dynamically sized heap-allocated vector: DVec.
• Dynamically sized stack-allocated vectors with a maximum size: DVec1 to DVec6.
• Dynamically sized heap-allocated (square or rectangular) matrix: DMat.
• Linear algebra and data analysis operators: Cov, Mean, qr, cholesky.
• Almost one trait per functionality: useful for generic programming.