# nalgebra 0.1.0

Linear algebra library for computer physics, computer graphics and general low-dimensional linear algebra for Rust.
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# nalgebra

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

• general-purpose linear algebra (still lacks a lot of featuresâ€¦).
• 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 doing out-of-place modifications.

• 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(&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 static sizes: `Vec0`, `Vec1`, `Vec2`, `Vec3`, `Vec4`, `Vec5`, `Vec6`.
• Points with static sizes: `Pnt0`, `Pnt1`, `Pnt2`, `Pnt3`, `Pnt4`, `Pnt5`, `Pnt6`.
• Square matrices with static sizes: `Mat1`, `Mat2`, `Mat3`, `Mat4`, `Mat5`, `Mat6 `.
• Rotation matrices: `Rot2`, `Rot3`, `Rot4`.
• Quaternions: `Quat`, `UnitQuat`.
• Isometries: `Iso2`, `Iso3`, `Iso4`.
• 3D projections for computer graphics: `Persp3`, `PerspMat3`, `Ortho3`, `OrthoMat3`.
• Dynamically sized vector: `DVec`.
• Dynamically sized (square or rectangular) matrix: `DMat`.
• A few methods for data analysis: `Cov`, `Mean`.
• 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" as na;
use na::{Vec3, Mat3};

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 * 2.0f64; // vector-scalar multiplication.
}
``````