Crate nalgebra[−][src]
nalgebra
nalgebra is a 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.
Using nalgebra
You will need the last stable build of the rust compiler and the official package manager: cargo.
Simply add the following to your Cargo.toml
file:
[dependencies] // TODO: replace the * by the latest version. nalgebra = "*"
Most useful functionalities of nalgebra are grouped in the root module nalgebra::
.
However, the recommended way to use nalgebra is to import types and traits
explicitly, and call free-functions using the na::
prefix:
#[macro_use] extern crate approx; // For the macro relative_eq! extern crate nalgebra as na; use na::{Vector3, Rotation3}; fn main() { let axis = Vector3::x_axis(); let angle = 1.57; let b = Rotation3::from_axis_angle(&axis, angle); relative_eq!(b.axis().unwrap(), axis); relative_eq!(b.angle(), angle); }
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:
- A single parametrizable type
Matrix
for vectors, (square or rectangular) matrices, and slices with dimensions known either at compile-time (using type-level integers) or at runtime. - Matrices and vectors with compile-time sizes are statically allocated while dynamic ones are allocated on the heap.
- Convenient aliases for low-dimensional matrices and vectors:
Vector1
toVector6
andMatrix1x1
toMatrix6x6
, including rectangular matrices likeMatrix2x5
. - Points sizes known at compile time, and convenience aliases:
Point1
toPoint6
. - Translation (seen as a transformation that composes by multiplication):
Translation2
,Translation3
. - Rotation matrices:
Rotation2
,Rotation3
. - Quaternions:
Quaternion
,UnitQuaternion
(for 3D rotation). - Unit complex numbers can be used for 2D rotation:
UnitComplex
. - Algebraic entities with a norm equal to one:
Unit<T>
, e.g.,Unit<Vector3<f32>>
. - Isometries (translation ⨯ rotation):
Isometry2
,Isometry3
- Similarity transformations (translation ⨯ rotation ⨯ uniform scale):
Similarity2
,Similarity3
. - Affine transformations stored as a homogeneous matrix:
Affine2
,Affine3
. - Projective (i.e. invertible) transformations stored as a homogeneous matrix:
Projective2
,Projective3
. - General transformations that does not have to be invertible, stored as a homogeneous matrix:
Transform2
,Transform3
. - 3D projections for computer graphics:
Perspective3
,Orthographic3
. - Matrix factorizations:
Cholesky
,QR
,LU
,FullPivLU
,SVD
,Schur
,Hessenberg
,SymmetricEigen
. - Insertion and removal of rows of columns of a matrix.
Re-exports
pub use crate::base::*; | |
pub use crate::geometry::*; | |
pub use crate::linalg::*; | |
pub use base as core; |
Modules
base | [Reexported at the root of this crate.] Data structures for vector and matrix computations. |
geometry | [Reexported at the root of this crate.] Data structures for points and usual transformations (rotations, isometries, etc.) |
linalg | [Reexported at the root of this crate.] Factorization of real matrices. |
Structs
Complex | A complex number in Cartesian form. |
Traits
ClosedAdd | Trait alias for |
ClosedDiv | Trait alias for |
ClosedMul | Trait alias for |
ClosedSub | Trait alias for |
ComplexField | Trait shared by all complex fields and its subfields (like real numbers). |
Field | Trait implemented by fields, i.e., complex numbers and floats. |
RealField | Trait shared by all reals. |
SimdBool | Lane-wise generalization of |
SimdComplexField | Lane-wise generalisation of |
SimdPartialOrd | Lane-wise generalization of the standard |
SimdRealField | Lanewise generalization of |
Functions
abs | Deprecated The absolute value of |
center | The center of two points. |
clamp | Returns a reference to the input value clamped to the interval |
convert | Converts an object from one type to an equivalent or more general one. |
convert_ref | Converts an object from one type to an equivalent or more general one. |
convert_ref_unchecked | Use with care! Same as |
convert_unchecked | Use with care! Same as |
distance | The distance between two points. |
distance_squared | The squared distance between two points. |
inf | Deprecated Returns the infimum of |
inf_sup | Deprecated Returns simultaneously the infimum and supremum of |
is_convertible | Indicates if |
max | Same as |
min | Same as |
one | Gets the multiplicative identity element. |
partial_clamp | Clamp |
partial_cmp | Compare |
partial_ge | Returns |
partial_gt | Returns |
partial_le | Returns |
partial_lt | Returns |
partial_max | Return the maximum of |
partial_min | Return the minimum of |
partial_sort2 | Sorts two values in increasing order using a partial ordering. |
sup | Deprecated Returns the supremum of |
try_convert | Attempts to convert an object to a more specific one. |
try_convert_ref | Attempts to convert an object to a more specific one. |
wrap | Wraps |
zero | Gets the additive identity element. |