# Crate nalgebra[−][src]

Expand description

# 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]
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` to `Vector6` and `Matrix1x1` to `Matrix6x6`, including rectangular matrices like `Matrix2x5`.
• Points sizes known at compile time, and convenience aliases: `Point1` to `Point6`.
• 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

[Reexported at the root of this crate.] Data structures for vector and matrix computations.

[Reexported at the root of this crate.] Data structures for points and usual transformations (rotations, isometries, etc.)

[Reexported at the root of this crate.] Factorization of real matrices.

`proptest`-related features for `nalgebra` data structures.

## Macros

Construct a dynamic matrix directly from data.

Construct a dynamic column vector directly from data.

Construct a fixed-size matrix directly from data.

Construct a fixed-size point directly from data.

Construct a fixed-size column vector directly from data.

## Structs

A complex number in Cartesian form.

## Traits

Trait alias for `Add` and `AddAssign` with result of type `Self`.

Trait alias for `Div` and `DivAssign` with result of type `Self`.

Trait alias for `Mul` and `MulAssign` with result of type `Self`.

Trait alias for `Sub` and `SubAssign` with result of type `Self`.

Trait shared by all complex fields and its subfields (like real numbers).

Trait implemented by fields, i.e., complex numbers and floats.

Trait shared by all reals.

Lane-wise generalization of `bool` for SIMD booleans.

Lane-wise generalisation of `ComplexField` for SIMD complex fields.

Lane-wise generalization of the standard `PartialOrd` for SIMD values.

Lanewise generalization of `RealField` for SIMD reals.

Base trait for every SIMD types.

## Functions

absDeprecated

The absolute value of `a`.

The center of two points.

Returns a reference to the input value clamped to the interval `[min, max]`.

Converts an object from one type to an equivalent or more general one.

Converts an object from one type to an equivalent or more general one.

Use with care! Same as `try_convert` but without any property checks.

Use with care! Same as `try_convert` but without any property checks.

The distance between two points.

The squared distance between two points.

infDeprecated

Returns the infimum of `a` and `b`.

inf_supDeprecated

Returns simultaneously the infimum and supremum of `a` and `b`.

Indicates if `try_convert` will succeed without actually performing the conversion.

Same as `cmp::max`.

Same as `cmp::min`.

Gets the multiplicative identity element.

Clamp `value` between `min` and `max`. Returns `None` if `value` is not comparable to `min` or `max`.

Compare `a` and `b` using a partial ordering relation.

Returns `true` iff `a` and `b` are comparable and `a >= b`.

Returns `true` iff `a` and `b` are comparable and `a > b`.

Returns `true` iff `a` and `b` are comparable and `a <= b`.

Returns `true` iff `a` and `b` are comparable and `a < b`.

Return the maximum of `a` and `b` if they are comparable.

Return the minimum of `a` and `b` if they are comparable.

Sorts two values in increasing order using a partial ordering.

supDeprecated

Returns the supremum of `a` and `b`.

Attempts to convert an object to a more specific one.

Attempts to convert an object to a more specific one.

Wraps `val` into the range `[min, max]` using modular arithmetics.