# nalgebra 0.6.0

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