Crate nalgebra [−] [src]

nalgebra

nalgebra is a low-dimensional linear algebra library written for Rust targeting:

low-dimensional 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.

Thus, you can import the whole prelude using:

use nalgebra::*;Run

However, the recommended 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::{Vector3, Rotation3, Rotation};

fn main() {
    let     a = Vector3::new(1.0f64, 1.0, 1.0);
    let mut b = Rotation3::new(na::zero());

    b.append_rotation_mut(&a);

    assert!(na::approx_eq(&na::rotation(&b), &a));
}Run

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: Vector1, Vector2, Vector3, Vector4, Vector5, Vector6.
Vector with a user-defined static size: VectorN (available only with the generic_sizes feature).
Points with static sizes: Point1, Point2, Point3, Point4, Point5, Point6.
Square matrices with static sizes: Matrix1, Matrix2, Matrix3, Matrix4, Matrix5, Matrix6.
Rotation matrices: Rotation2, Rotation3
Quaternions: Quaternion, UnitQuaternion.
Isometries (translation ⨯ rotation): Isometry2, Isometry3
Similarity transformations (translation ⨯ rotation ⨯ uniform scale): Similarity2, Similarity3.
3D projections for computer graphics: Perspective3, PerspectiveMatrix3, Orthographic3, OrthographicMatrix3.
Dynamically sized heap-allocated vector: DVector.
Dynamically sized stack-allocated vectors with a maximum size: DVector1 to DVector6.
Dynamically sized heap-allocated (square or rectangular) matrix: DMatrix.
Linear algebra and data analysis operators: Covariance, Mean, qr, cholesky.
Almost one trait per functionality: useful for generic programming.

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: a real-time physics engine.
ncollide: a collision detection library.
kiss3d: a minimalistic graphics engine.
nrays: a ray tracer.

Macros

assert_approx_eq	Asserts approximate equality of two values with the `ApproxEq` trait.
assert_approx_eq_eps	Asserts approximate equality within a given tolerance of two values with the `ApproxEq` trait.
assert_approx_eq_ulps	Asserts approximate equality within a given tolerance of two values with the `ApproxEq` trait, with tolerance specified in ULPs.

Structs

DMatrix	Matrix with dimensions unknown at compile-time.
DMatrix1	A stack-allocated dynamically sized matrix with at most one row and column.
DMatrix2	A stack-allocated dynamically sized square or rectangular matrix with at most 2 rows and columns.
DMatrix3	A stack-allocated dynamically sized square or rectangular matrix with at most 3 rows and columns.
DMatrix4	A stack-allocated dynamically sized square or rectangular matrix with at most 4 rows and columns.
DMatrix5	A stack-allocated dynamically sized square or rectangular matrix with at most 5 rows and columns.
DMatrix6	A stack-allocated dynamically sized square or rectangular matrix with at most 6 rows and columns.
DVector	Heap allocated, dynamically sized vector.
DVector1	Stack-allocated, dynamically sized vector with a maximum size of 1.
DVector2	Stack-allocated, dynamically sized vector with a maximum size of 2.
DVector3	Stack-allocated, dynamically sized vector with a maximum size of 3.
DVector4	Stack-allocated, dynamically sized vector with a maximum size of 4.
DVector5	Stack-allocated, dynamically sized vector with a maximum size of 5.
DVector6	Stack-allocated, dynamically sized vector with a maximum size of 6.
Identity	Special identity matrix. All its operation are no-ops.
Isometry2	Two dimensional direct isometry.
Isometry3	Three dimensional direct isometry.
Matrix1	Square matrix of dimension 1.
Matrix2	Square matrix of dimension 2.
Matrix3	Square matrix of dimension 3.
Matrix4	Square matrix of dimension 4.
Matrix5	Square matrix of dimension 5.
Matrix6	Square matrix of dimension 6.
Orthographic3	A 3D orthographic projection stored without any matrix.
OrthographicMatrix3	A 3D orthographic projection stored as a 4D matrix.
Perspective3	A 3D perspective projection stored without any matrix.
PerspectiveMatrix3	A 3D perspective projection stored as a 4D matrix.
Point1	Point of dimension 1.
Point2	Point of dimension 2.
Point3	Point of dimension 3.
Point4	Point of dimension 4.
Point5	Point of dimension 5.
Point6	Point of dimension 6.
Quaternion	A quaternion. See `UnitQuaternion` for a quaternion that can be used as a rotation.
Rotation2	Two dimensional rotation matrix.
Rotation3	Three dimensional rotation matrix.
Similarity2	A two-dimensional similarity transformation.
Similarity3	A three-dimensional similarity transformation.
UnitQuaternion	A unit quaternion that can represent a 3D rotation.
Vector1	Vector of dimension 1.
Vector2	Vector of dimension 2.
Vector3	Vector of dimension 3.
Vector4	Vector of dimension 4.
Vector5	Vector of dimension 5.
Vector6	Vector of dimension 6.

Enums

PartialOrdering

Result of a partial ordering.

Traits

Absolute	Trait of objects having an absolute value. This is useful if the object does not have the same type as its absolute value.
AbsoluteRotate	Composition of a rotation and an absolute value.
ApproxEq	Trait for testing approximate equality
Axpy	Trait of objects implementing the `y = ax + y` operation.
BaseFloat	Basic floating-point number numeric trait.
BaseNum	Basic integral numeric trait.
Basis	Traits of objects which can form a basis (typically vectors).
Bounded	Types that have maximum and minimum value.
Cast	Traits of objects which can be created from an object of type `T`.
Column	Trait to access columns of a matrix or vector.
ColumnSlice	Trait to access part of a column of a matrix
Covariance	Trait for computing the covariance of a set of data.
Cross	Trait of elements having a cross product.
CrossMatrix	Trait of elements having a cross product operation which can be expressed as a matrix.
Determinant	Trait of objects having a determinant. Typically used by square matrices.
Diagonal	Trait to get the diagonal of square matrices.
Dimension	Trait of objects having a spacial dimension known at compile time.
Dot	Traits of objects having a dot product.
EigenQR	Trait for computing the eigenvector and eigenvalues of a square matrix usin the QR algorithm.
Eye	Trait for constructing the identity matrix
FloatPoint	Trait of points with components implementing the `BaseFloat` trait.
FloatVector	Trait of vector with components implementing the `BaseFloat` trait.
FromHomogeneous	Traits of objects which can be build from an homogeneous coordinate form.
Indexable	This is a workaround of current Rust limitations.
Inverse	Trait of objects having an inverse. Typically used to implement matrix inverse.
Iterable	This is a workaround of current Rust limitations.
IterableMut	This is a workaround of current Rust limitations.
Matrix	Trait of matrices.
Mean	Trait for computing the mean of a set of data.
Norm	Traits of objects having an euclidian norm.
NumPoint	Trait grouping most common operations on points.
NumVector	Trait grouping most common operations on vectors.
Origin	The zero element of a vector space, seen as an element of its embeding affine space.
Outer	Traits of objects having an outer product.
PartialOrder	Pointwise ordering operations.
PointAsVector	Trait that relates a point of an affine space to a vector of the associated vector space.
Repeat	Trait for constructiong an object repeating a value.
Rotate	Trait of objects able to rotate other objects.
Rotation	Trait of object which can represent a rotation, and to which new rotations can be appended. A rotation is assumed to be an isometry without translation and without reflexion.
RotationMatrix	Trait of transformation having a rotation extractable as a rotation matrix. This can typically be implemented by quaternions to convert them to a rotation matrix.
RotationTo	Trait of object that can be rotated to be superimposed with another one of the same nature.
RotationWithTranslation	Various composition of rotation and translation.
Row	Trait to access rows of a matrix or a vector.
RowSlice	Trait to access part of a row of a matrix
Shape	The shape of an indexable object.
SquareMatrix	Trait implemented by square matrices.
ToHomogeneous	Traits of objects which can be put in homogeneous coordinates form.
Transform	Trait of objects able to transform other objects.
Transformation	Trait of object which represent a transformation, and to which new transformations can be appended.
Translate	Trait of objects able to translate other objects. This is typically implemented by vectors to translate points.
Translation	Trait of object which represent a translation, and to wich new translation can be appended.
Transpose	Trait of objects which can be transposed.
UniformSphereSample	Trait of vectors able to sample a unit sphere.

Functions

abs	Computes a component-wise absolute value.
absolute_rotate	Applies a rotation using the absolute values of its components.
angle_between	Computes the angle of the rotation needed to transfom `a` to `b`.
append_rotation	Applies the rotation `v` to a copy of `m`.
append_rotation_wrt_center	Rotates a copy of `m` by `amount` using `m.translation()` as the pivot point.
append_rotation_wrt_point	Rotates a copy of `m` by `amount` using `center` as the pivot point.
append_transformation	Gets a transformed copy of `m`.
append_translation	Applies the translation `v` to a copy of `m`.
approx_eq	Tests approximate equality.
approx_eq_eps	Tests approximate equality using a custom epsilon.
canonical_basis	Computes the canonical basis for a given dimension.
canonical_basis_element	Gets the (0-based) i-th element of the canonical basis of V.
cast	Converts an object from one type to another.
center	Returns the center of two points.
cholesky	Cholesky decomposition G of a square symmetric positive definite matrix A, such that A = G * G^T
clamp	Change the input value to ensure it is on the range `[min, max]`.
covariance	Computes the covariance of a set of observations.
cross	Computes the cross product of two vectors.
cross_matrix	Given a vector, computes the matrix which, when multiplied by another vector, computes a cross product.
determinant	Computes the determinant of a square matrix.
diagonal	Gets the diagonal of a square matrix.
dimension	Gets the dimension an object lives in.
distance	Returns the distance between two points.
distance_squared	Returns the squared distance between two points.
dot	Computes the dot product of two vectors.
eigen_qr	Computes the eigenvalues and eigenvectors of a square matrix usin the QR algorithm.
from_homogeneous	Converts a matrix or vector from homogeneous coordinates.
hessenberg	Hessenberg Returns the matrix m in Hessenberg form and the corresponding similarity transformation
householder_matrix	Get the householder matrix corresponding to a reflexion to the hyperplane defined by `vector`. It can be a reflexion contained in a subspace.
identity	Create a special identity object.
inf	Returns the infimum of `a` and `b`.
inverse	Gets an inverted copy of a matrix.
inverse_rotate	Applies an inverse rotation to a vector.
inverse_rotation	Gets the inverse rotation applicable by `m`.
inverse_transform	Applies an inverse transformation to a vector.
inverse_transformation	Gets the inverse transformation applicable by `m`.
inverse_translate	Applies an inverse translation to a point.
inverse_translation	Gets the inverse translation applicable by `m`.
is_zero	Tests is a value is iqual to zero.
max	Same as `cmp::max`.
mean	Computes the mean of a set of observations.
min	Same as `cmp::min`.
new_identity	Construct the identity matrix for a given dimension
norm	Computes the L2 norm of a vector.
norm_squared	Computes the squared L2 norm of a vector.
normalize	Gets the normalized version of a vector.
one	Create a one-valued value.
origin	Returns the trivial origin of an affine space.
orthonormal_subspace_basis	Computes the basis of the orthonormal subspace of a given vector.
outer	Computes the outer product of two vectors.
partial_clamp	Clamp `value` between `min` and `max`. Returns `None` if `value` is not comparable to `min` or `max`.
partial_cmp	Compare `a` and `b` using a partial ordering relation.
partial_ge	Returns `true` iff `a` and `b` are comparable and `a >= b`.
partial_gt	Returns `true` iff `a` and `b` are comparable and `a > b`.
partial_le	Returns `true` iff `a` and `b` are comparable and `a <= b`.
partial_lt	Returns `true` iff `a` and `b` are comparable and `a < b`.
partial_max	Return the maximum of `a` and `b` if they are comparable.
partial_min	Return the minimum of `a` and `b` if they are comparable.
prepend_rotation	Pre-applies the rotation `v` to a copy of `m`.
qr	QR decomposition using Householder reflections.
repeat	Create an object by repeating a value.
rotate	Applies a rotation to a vector.
rotation	Gets the rotation applicable by `m`.
rotation_between	Computes the rotation needed to transform `a` to `b`.
sample_sphere	Samples the unit sphere living on the dimension as the samples types.
shape	Gets the indexable range of an object.
sup	Returns the supremum of `a` and `b`.
to_homogeneous	Converts a matrix or vector to homogeneous coordinates.
to_rotation_matrix	Builds a rotation matrix from `r`.
transform	Applies a transformation to a vector.
transformation	Gets the transformation applicable by `m`.
translate	Applies a translation to a point.
translation	Gets the translation applicable by `m`.
transpose	Gets a transposed copy of a matrix.
zero	Create a zero-valued value.