nalgebra

Added

• Add convert-glam031 and convert-glam032 features for conversion from/to glam v0.31 and v0.32 #1597.

Fixed

• Fix SymmetricEigen routine #1210.
• Fix matrix parsing grammar to accept numbers without leading zeros, e.g. ".45" #1578.
• Fix build with glam in no_std environments #1555.
• Fix rustdoc warnings #1511.
• Implement absolute threshold for early deflation in Schur algorithm #1565.
• Assert matrix shapes for Matrix::abs_diff_eq #1568.

Release v0.34.1 (#1546)

Added

• Add the convert-glam030 feature to enable conversion from/to types from glam v0.30.
• Add the defmt cargo feature that enables derives of defmt::Format for all no-std types.

Changed

• Bumped MSRV to 1.87.0.
• Updated rand dependency to 0.9.0.
• Renamed associated const DimName::USIZE to DimName::DIM.
• Moved to Rust 2024 edition.
• Several methods are now const whenever possible. See details in #1522.
• Features for conversion from/to types from glam (such as convert-glam029) no longer enable default features for glam, allowing use in no_std environments.

Fixed

• Fix infinite loop when attempting to take the Schur decomposition of a 0 matrix.

Co-authored-by: Willow Black wmcblack@gmail.com

Release v0.33.2 (#1457)

Added

• Add implementations of bytemuck traits for isometries and similarities.
• Implement AsRef<[T]> for matrices with contiguous storage.
• Enable the num-complex/bytemuck feature when the convert-bytemuck feature is enabled.

Fixed

• Fix a memory leak in Matrix::generic_resize.
• Fix glm::is_null to check the vector magnitude instead of individual components.
• Ensure that inverting a 4x4 matrix leaves it unchanged if the inversion fails.

Added

• Add the glam-0.28 feature to enable conversion from/to types from glam v0.28.
• Add a stack! macro for concatenating matrices. See #1375.

Modified

• The cuda feature has been removed, as the toolchain it depends on is long abandoned.
• Update to simba 0.9. See the changelog of simba for details.
• Update the nalgebra-macros crate to syn 2.0.
• Remove the scalar type T from the Allocator trait parameters. Instead of Allocator<T, R, C>, use the simpler Allocator<R, C>.

Added

• Add the glam-0.27 feature to enable conversion from/to types from glam v0.27.

Added

• Add the glam-0.25 feature to enable conversion from/to types from glam v0.25.

Modified

• Statically sized matrices are now serialized as tuples to match how serde serialized plain arrays.
• Don’t require Scalar for matrix PartialEq and Eq.

Added

• Allow trailing punctuation in macros vector!, matrix!, point!, etc.
• Add the methods Matrix1::as_scalar, ::as_scalar_mut, ::to_scalar, ::into_scalar.
• Add Rotation3::euler_angles_ordered, a generalized euler angles calculation.
• Add the glam-0.24 feature to enable conversion from/to types from glam v0.24.
• Add the glam-0.25 feature to enable conversion from/to types from glam v0.25.
• Add the lerp method to points.
• Implement Clone for MatrixIter.

Fixed

• Fixed severe catastrophic cancellation issue in variance calculation.

Added

• Add the glam-0.23 to enable conversion from/to type from glam v0.23.

Modified

• Updated nalgebra-macros to use the new Dyn, avoiding macro-generated deprecation warnings.

Modified

• Renamed all MatrixSlice types to MatrixView. In general all occurrences of the world Slice or slice have been replaced by View or view.
• Deprecated all the types involving Slice in its name, in favor of the word View.
• Make it so that most nalgebra objects archive as themselves (when using rkyv for serialization).
• Renamed Dynamic to Dyn and make Dyn a tuple struct.

Added

• Add Cholesky::ln_determinant to compute the natural logarithm of the determinant of a matrix decomposed with Cholesky. This can be more numerically stable than computing the determinant itself when very small and/or large values are involved.
• Added new methods Matrix::as_view and Matrix::as_view_mut, which are very useful when working with view-based APIs.
• Added parallel column iterator using rayon: Matrix::par_column_iter and Matrix::par_column_iter_mut. The rayon feature must be enabled to access these methods.
• Implement ReshapableStorage for matrix slices (only for unit strides at the moment).
• Add U0, U1, … constants alongside the U0, U1, … types. This lets us write U4 instead of U4::name() or Const::<4> when we need const dimensions.

Fixed

• Fixed the implementation of Rotation3::euler_angles to return the angles in the documented order (roll, pitch, yaw).

Added

• Add a convert-glam022 feature to enable conversion between nalgebra and glam v0.22.

Added

• Add Matrix::try_cast to attempt casting the inner scalar types when that cast may fail.

Fixed

• Fixed the usage of CheckBytes with rkyv.

Modified

• Use #[inline] on the Dim implementation for Const to improve opt-level 1 performance.
• Make the Point::new constructions const-fn.

Added

• Add UnitVector::cast to change the underlying scalar type.

Modified

• Improve performances of multiplication of two sparse matrices.

Added

• Add Matrix::from_row_iterator to build a matrix from an iterator yielding components in row-major order.
• Add support for conversion from/to types of glam 0.21.
• nalgebra-sparse: add support for the matrix-market export of sparse matrices.
• nalgebra-lapack: add a GE for solving the generalized eigenvalues problem.

Fixed

• Fix Rotation3::from_matrix and UnitQuaternion::from_matrix when the input matrix is already a valid rotation matrix.

Breaking changes

• Switch to cust 0.3 (for CUDA support).
• Switch to rkyv 0.7
• Remove support for serialization based on abomonation.
• Remove support for conversions between nalgebra types and glam 0.13.

Modified

• The aliases for Const types have been simplified to help rust-analyzer.

Added

• Add TryFrom conversion between UnitVector2/3/4 and glam’s Vec2/3/4.
• nalgebra-sparse: added support for serialization of sparse matrices with serde.
• nalgebra-sparse: add a CSC matrix constructor from unsorted (but valid) data.
• nalgebra-lapack: add generalized eigenvalues/eigenvectors calculation + QZ decomposition.

Fixed

• Improve stability of SVD.
• Fix slerp for UnitComplex.

Added

• Add conversion from/to types of glam 0.19 and 0.20.

Breaking changes

• The Dim trait is now marked as unsafe.
• The Matrix::pow and Matrix::pow_mut methods only allow positive integer exponents now. To compute negative exponents, the user is free to invert the matrix before calling pow with the exponent’s absolute value.
• Remove the Bounded requirement from RealField. Replace it by methods returning Option<Self> so that they can still be implemented by unbounded types (by returning None).
• The ComplexField trait derives from FromPrimitive again. We can actually keep this because all its methods return Option<Self>, meaning that it could be implemented by any type.

Modified

• Use more concise debug impls for matrices and geometric transformation types.
• The singular values computed by the SVD are now sorted in increasing order by default. Use SVD::new_unordered instead to reproduce the older behavior without the sorting overhead.
• The UnitDualQuaternion::sclerp method will no longer panic when given two equal rotations.
• The Matrix::select_rows and Matrix::select_columns methods no longer require the matrix components to implement the trait Zero.
• The Matrix::pow and Matrix::pow_mut methods will now also work with integer matrices.

Added

• Added the conversion trait From<Vec<T>> and method from_vec_storage for RowDVector.
• Added implementation of From and Into for converting between nalgebra types and types from glam 0.18. These can be enabled by enabling the convert-glam018 cargo features.
• Added the methods Matrix::product, ::row_product, ::row_product_tr, and ::column_product to compute the product of the components, rows, or columns, of a single matrix or vector.
• The Default trait is now implemented for most geometric types: Point, Isometry, Rotation, Similarity, Transform, UnitComplex, and UnitQuaternion.
• Added the Scale geometric type for representing non-uniform scaling.
• Added Cholesky::new_with_substitute that will replace diagonal elements by a given constant whenever Cholesky meets a non-definite-positiveness.
• Re-added the conversion from a vector/matrix slice to a static array.
• Added the cuda feature that enables the support of rust-cuda for using nalgebra features with CUDA kernels written in Rust.
• Added special-cases implementations for the 2x2 and 3x3 SVDs for better accuracy and performances.
• Added the methods Matrix::polar, Matrix::try_polar, and SVD::to_polar to compute the polar decomposition of a matrix, based on its SVD.
• nalgebra-sparse: provide constructors for unsorted but otherwise valid data using the CSR format.
• nalgebra-sparse: added reading MatrixMarked data files to a sparse CooMatrix.

Fixed

• Fixed a potential unsoundness with matrix.get(i) and matrix.get_mut(i) where i is an usize, and matrix is a matrix slice with non-default strides.
• Fixed potential unsoundness with vector.perp where vector isn’t actually a 2D vector as expected.
• Fixed linkage issue with nalgebra-lapack: the user of nalgebra-lapack no longer have to add extern crate lapack-src to their main.rs.
• Fixed the no-std build of nalgebra-glm.
• Fix the pow and pow_mut functions (the result was incorrect for some exponent values).

Breaking changes

• We updated to the version 0.6 of simba. This means that the trait bounds T: na::RealField, na::ComplexField, na::SimdRealField, na:SimdComplexField no imply that T: Copy (they only imply that T: Clone). This may affect generic code.
• The closure given to apply, zip_apply, zip_zip_apply must now modify the first argument inplace, instead of returning a new value. This makes these methods more versatile, and avoid useless clones when using non-Copy scalar types.
• The Allocator trait signature has been significantly modified in order to handle uninitialized matrices in a sound way.

Modified

• Orthographic3::from_matrix_unchecked is now const fn.
• Perspective3::from_matrix_unchecked is now const fn.
• Rotation::from_matrix_unchecked is now const fn.
• The Scalar is now automatically implemented for most 'static + Clone types. Type that implement Clone but not Copy are now much safer to work with thanks to the refactoring of the Allocator system.

Added

• The conversion traits form the bytemuck crates are now implemented for the geometric types too.
• Added operator overloading for Transform * UnitComplex, UnitComplex * Transform, Transform ×= UnitComplex, Transform ÷= UnitComplex.
• Added Reflection::bias() to retrieve the bias of the reflection.
• Added Reflection1..Reflection6 aliases for 1D to 6D reflections.
• Added implementation of From and Into for converting between nalgebra types and types from glam 0.16 and glam 0.17. These can be enabled by enabling the convert-glam016, and/or convert-glam017 cargo features.

Added

• Implement Hash for Transform.
• Implement Borrow and BorrowMut for contiguous slices.

Modified

• The OPoint<T, D> type has been added. It takes the dimension number as a type-level integer (e.g. Const<3>) instead of a const-generic. The type Point<T, const D: usize> is now an alias for OPoint. This changes doesn't affect any of the existing code using Point. However, it will allow the use OPoint in a generic context where the dimension cannot be easily expressed as a const-generic (because of the current limitation of const-generics in Rust).
• Several clippy warnings were fixed. This results in some method signature changes (e.g. taking self instead of &self) but this should not have any practical infulances on existing codebase.
• The Point::new constructors are no longer const-fn. This is due to some limitations in const-fn not allowing custom trait-bounds. Use the point! macro instead to build points in const environments.
• Dynamic::new and Unit::new_unchecked are now const-fn.
• Methods returning Result<(), ()> now return bool instead.

Fixed

• Fixed a potential unsoundess issue when converting a mutable slice to a &mut[T].

Fixed

• Fixed a bug in the conversion from glam::Vec2 or glam::DVec2 to Isometry2.

This removes the convert-glam and convert-glam-unchecked optional features. Instead, this adds the convert-glam013, convert-glam014, and convert-glam015 optional features for conversions targeting the versions 0.13, 0.14, and 0.15 of glam.

Added

• Add macros matrix!, dmatrix!, vector!, dvector!, point! for constructing matrices/vectors/points in a more convenient way. See #886 and #899.
• Add CooMatrix::reserve to nalgebra-sparse.
• Add basic support for serialization using rkyv. Can be enabled with the features rkyv-serialize or rkyv-serialize-no-std.

Fixed

• Fixed a potential unsoundness issue after deserializing an invalid DVector using serde.

Added

• Conversion from an array [T; D] to an isometry Isometry<T, _, D> (as a translation).
• Conversion from a static vector SVector<T; D> to an isometry Isometry<T, _, D> (as a translation).
• Conversion from a point Point<T; D> to an isometry Isometry<T, _, D> (as a translation).
• Conversion of an array [T; D] from/to a translation Translation<T, D>.
• Conversion of a point Point<T, D> to a translation Translation<T, D>.
• Conversion of the tuple of glam types (Vec3, Quat) from/to an Isometry2 or Isometry3.
• Conversion of a glam type Vec2/3/4 from/to a Translation2/3/4.

Fix a regression introduced in 0.26.0 preventing DVector from being serialized with serde.

This release integrates min-const-generics to nalgebra. See our blog post for details about this release.

Added

• Add type aliases for unit vector, e.g., UnitVector3.
• Add a pow and pow_mut function to square matrices.
• Add Cholesky::determinant to compute the determinant of a matrix decomposed with Cholesky.
• Add the serde-serialize-no-std feature to enable serialization of static matrices/vectors with serde, but without requiring std.

Modified

• The serde crate isn't enabled by default now. Enable the serde-serialize or the serde-serialize-no-std features instead.
• The Const<const D: usize> type has been introduced to represent dimensions known at compile-time. This replaces the type-level integers from typenum as well as the U1, U2, ..., U127 types from nalgebra. These U1, U2, ..., U127 are now just aliases for Const<D>, e.g., type U2 = Const<2>.
• The ArrayStorage now uses a standard array [[T; R]; C] instead of a GenericArray.
• Many trait bounds were changed to accommodate const-generics. Most of these changes should be transparent wrt. non-generic code.
• The MatrixMN alias has been deprecated. Use OMatrix or SMatrix instead.
• The MatrixN<T, D> alias has been deprecated. Use OMatrix<T, D, D> or SMatrix instead.
• The VectorN<T, D> alias has been deprecated. Use OVector or SVector instead.
• The Point, Translation, Isometry, Similarity, and Transformation types now take an integer for their dimension (instead of a type-level integer).
• The type parameter order of Isometry, Similarity, Transformation changed to put the integer dimensions in the last position (this is required by the compiler).
• The ::new constructors of translations, points, matrices, and vectors of dimensions <= 6 are now const fn, making them usable to define constant globals. The Quaternion::new constructor is also a const fn now.

Fixed

• Fix a compilation error when only the serde-serialize feature is enabled.

Added

• The Vector::simd_cap_magnitude method to cap the magnitude of the vector with SIMD components.

Added

• A convert-glam cargo feature to enable implementations of From traits to convert between glam types and nalgebra types.
• A convert-glam-unchecked cargo feature to enable some extra glam/nalgebra conversions that may lead to unexpected results if used improperly. For example, this enables the conversion from a glam::Mat4 to a na::Isometry3. This conversion will be cheap (without any check) but willlead to unexpected results if the glam matrix contains non-isometric components (like scaling for example).
• A cast method has been added to most types. This can be used to change the type of the components of a given entity. Example: vector.cast::<f32>().

This release replaces the version 0.25.0 which has been yanked. The 0.25.0 version added significant complication to build nalgebra targeting a #[no-std] platform not supported by rand.

The rand dependency is now optional (and disabled by default). You may enable it with:

• The rand-no-std cargo feature when targeting a #[no-std] environment.
• The rand cargo feature when targeting a std environment.

This updates all the dependencies of nalgebra to their latest version, including:

• rand 0.8
• proptest 1.0
• simba 0.4

New crate: nalgebra-sparse

Alongside this release of nalgebra, we are releasing nalgebra-sparse: a crate dedicated to sparse matrix computation with nalgebra. The sparse module of nalgebraitself still exists for backward compatibility, but it will be deprecated soon in favor of the nalgebra-sparse crate.

Added

• Add UnitDualQuaternion, a dual-quaternion with unit magnitude which can be used as an isometry transformation.
• Add UDU::new() and matrix.udu() to compute the UDU factorization of a matrix.
• Add ColPivQR::new() and matrix.col_piv_qr() to compute the QR decomposition with column pivoting of a matrix.
• Add from_basis_unchecked to all the rotation types. This builds a rotation from a set of basis vectors (representing the columns of the corresponding rotation matrix).
• Add Matrix::cap_magnitude to cap the magnitude of a vector.
• Add UnitQuaternion::append_axisangle_linearized to approximately append a rotation represented as an axis-angle to a rotation represented as an unit quaternion.
• Mark the iterators on matrix components as DoubleEndedIter.
• Re-export simba::simd::SimdValue at the root of the nalgebra crate.

Added

• The DualQuaternion type. It is still work-in-progress, but the basics are here: creation from its real and dual part, multiplication of two dual quaternions, and normalization.

Removed

• There is no blanket impl<T> PartialEq for Unit<T> anymore. Instead, it is implemented specifically for UnitComplex, UnitQuaternion and Unit<Vector>.

In this release, we improved the documentation of some of the geometric types by applying changes similar to what we did in the version 0.23.1 for matrices.

Added

• The Isometry::inv_mul method which is a more efficient way of doing isometry1.inverse() * isometry2.

In this release we improved the documentation of the matrix and vector types by:

• Grouping impl bocks logically, adding a title comment to these impl blocks.
• Reference these impl blocks docs at the top of the documentation page for Matrix.
• Reduce the depth of type aliasing. Now all vector and matrix types are aliases of Matrix directly (instead of being aliases for other aliases).

Added

• The .inverse_transform_unit_vector(v) was added to Rotation2/3, Isometry2/3, UnitQuaternion, and UnitComplex. It applies the corresponding rotation to a unit vector Unit<Vector2/3>.
• The Point.map(f) and Point.apply(f) to apply a function to each component of the point, similarly to Vector.map(f) and Vector.apply(f).
• The Quaternion::from([N; 4]) conversion to build a quaternion from an array of four elements.
• The Isometry::from(Translation) conversion to build an isometry from a translation.
• The Vector::ith_axis(i) which build a unit vector, e.g., Unit<Vector3<f32>> with its i-th component set to 1.0, and the others set to zero.
• The Isometry.lerp_slerp and Isometry.try_lerp_slerp methods to interpolate between two isometries using linear interpolation for the translational part, and spherical interpolation for the rotational part.
• The Rotation2.slerp, Rotation3.slerp, and UnitQuaternion.slerp method for spherical interpolation.

In this release, we are using the new version 0.2 of simba. One major change of that version is that the use of libm is now opt-in when building targeting no-std environment. If you are using floating-point operations with nalgebra in a no-std environment, you will need to enable the new libm feature of nalgebra for your code to compile again.

Added

• The libm feature that enables libm when building for no-std environment.
• The libm-force feature that enables libm even when building for a not no-std environment.
• Cholesky::new_unchecked which build a Cholesky decomposition without checking that its input is positive-definite. It can be used with SIMD types.
• The Default trait is now implemented for matrices, and quaternions. They are all filled with zeros, except for UnitQuaternion which is initialized with the identity.
• Matrix exponential matrix.exp().
• The Vector::ith(i, x) that builds a vector filled with zeros except for the i-th component set to x.

In this release, we are no longer relying on traits from the alga crate for our generic code. Instead, we use traits from the new simba crate which are both simpler, and allow for significant optimizations like AoSoA SIMD.

Refer to the monthly dimforge blogpost for details about this switch and its benefits.

Added

• It is now possible to use SIMD types like simba::f32x4 as scalar types for nalgebra's matrices and geometric types.

Modified

• Use of traits like alga::general::{RealField, ComplexField} have now been replaced by simba::scalar::{RealField, ComplexField}.
• The implementation of traits from the alga crate (and well as the dependency to alga_) are now omitted unless the alga cargo feature is activated.

Removed

• The Neg unary operator is no longer implemented for UnitComplex and UnitQuaternion. This caused hard-to-track errors when we mistakenly write, e.g., -q * v instead of -(q * v).
• The na::convert_unchecked is no longer marked as unsafe.

Added

• cholesky.rank_one_update(...) which performs a rank-one update on the cholesky decomposition of a matrix.
• From<&Matrix> is now implemented for matrix slices.
• .try_set_magnitude(...) which sets the magnitude of a vector, while keeping its direction.
• Implementations of From and Into for the conversion between matrix slices and standard (&[N] &mut [N]) slices.

Modified

• We started some major changes in order to allow non-Copy types to be used as scalar types inside of matrices/vectors.

Added

• .remove_rows_at and remove_columns_at which removes a set of rows or columns (specified by indices) from a matrix.
• Several formatting traits have been implemented for all matrices/vectors: LowerExp, UpperExp, Octal, LowerHex, UpperHex, Binary, Pointer.
• UnitQuaternion::quaternions_mean(...) which computes the mean rotation of a set of unit quaternions. This implements the algorithm from _Oshman, Yaakov, and Avishy Carmi, "Attitude estimation from vector observations using a genetic-algorithm-embedded quaternion particle filter."

Modified

• It is now possible to get the min/max element of unsigned integer matrices.

Added to nalgebra-glm

• Some infinite and reversed perspectives: ::infinite_perspective_rh_no, ::infinite_perspective_rh_zo, ::reversed_perspective_rh_zo, and ::reversed_infinite_perspective_rh_zo.

This release adds full complex number support to nalgebra. This includes all common vector/matrix operations as well as matrix decomposition. This excludes geometric type (like Isometry, Rotation, Translation, etc.) from the geometry module.

Added

Quaternion and geometric operations

• Add trigonometric functions for quaternions: .cos, .sin, .tan, .acos, .asin, .atan, .cosh, .sinh, .tanh, .acosh, .asinh, .atanh.
• Add geometric algebra operations for quaternions: .inner, .outer, .project, .rejection
• Add .left_div, .right_div for quaternions.
• Add .renormalize to Unit<...> and Rotation3 to correct potential drift due to repeated operations. Those drifts could cause them not to be pure rotations anymore.

Convolution

• .convolve_full(kernel) returns the convolution of self by kernel.
• .convolve_valid(kernel) returns the convolution of self by kernel after removal of all the elements relying on zero-padding.
• .convolve_same(kernel) returns the convolution of self by kernel with a result of the same size as self.

Complex number support

• Add the ::from_matrix constructor too all rotation types to extract a rotation from a raw matrix.
• Add the ::from_matrix_eps constructor too all rotation types to extract a rotation from a raw matrix. This takes more argument than ::from_matrix to control the convergence of the underlying optimization algorithm.
• Add .camax() which returns the matrix component with the greatest L1-norm.
• Add .camin() which returns the matrix component with the smallest L1-norm.
• Add .ad_mul(b) for matrix-multiplication of self.adjoint() * b.
• Add .ad_mul_to(b) which is the same as .ad_mul but with a provided matrix to be filled with the result of the multiplication.
• Add BLAS operations involving complex conjugation (following similar names as the original BLAS spec):
  • .dotc(rhs) equal to self.adjoint() * rhs.
  • .gerc(alpha, x, y, beta) equivalent to self = alpha * x * y.adjoint() + beta * self
  • .hegerc which is like gerc but for Hermitian matrices.
  • .syger which is the new name of .ger_symm which is equivalent to self = alpha * x * y.transpose() + beta * self.
  • .sygemv which is the new name of .gemv_symm which is equivalent to self = alpha * a * x + beta * self with a symmetric.
  • .hegemv(alpha, a, x, beta) which is like .sygemv but with a Hermitian.
  • .gemv_ad(alpha, a, x, beta) which is equivalent to self = alpha * a.adjoint() * x + beta * self.
  • .gemm_ad(alpha, a, b, beta) which is equivalent to self = alpha * a.adjoint() * b + beta * self.
  • .icamax() which returns the index of the complex vector component with the greatest L1-norm.

Note that all the other BLAS operation will continue to work for all fields, including floats and complex numbers.

Renamed

• RealSchur has been renamed Schur because it can now work with complex matrices.

Added

• Add swizzling up to dimension 3 for vectors. For example, you can do v.zxy() as an equivalent to Vector3::new(v.z, v.x, v.y).
• Add swizzling up to dimension 3 for points. For example, you can do p.zxy() as an equivalent to Point3::new(p.z, p.x, p.y).
• Add .copy_from_slice to copy matrix components from a slice in column-major order.
• Add .dot to quaternions.
• Add .zip_zip_map for iterating on three matrices simultaneously, and applying a closure to them.
• Add .slerp and .try_slerp to unit vectors.
• Add .lerp to vectors.
• Add .to_projective and .as_projective to Perspective3 and Orthographic3 in order to use them as Projective3 structures.
• Add From/Into impls to allow the conversion of any transformation type to a matrix.
• Add Into impls to convert a matrix slice into an owned matrix.
• Add Point*::from_slice to create a point from a slice.
• Add .map_with_location to matrices to apply a map which passes the component indices to the user-defined closure alongside the component itself.
• Add impl From<Vector> for Point.
• Add impl From<Vector4> for Quaternion.
• Add impl From<Vector> for Translation.
• Add the ::from_vec constructor to construct a matrix from a Vec (a DMatrix will reuse the original Vec as-is for its storage).
• Add .to_homogeneous to square matrices (and with dimensions higher than 1x1). This will increase their number of row and columns by 1. The new column and row are filled with 0, except for the diagonal element which is set to 1.
• Implement Extend<Vec> for matrices with a dynamic storage. The provided Vec is assumed to represent a column-major matrix with the same number of rows as the one being extended. This will effectively append new columns on the right of the matrix being extended.
• Implement Extend<Vec> for vectors with a dynamic storage. This will concatenate the vector with the given Vec.
• Implement Extend<Matrix<...>> for matrices with dynamic storage. This will concatenate the columns of both matrices.
• Implement Into<Vec> for the MatrixVec storage.
• Implement Hash for all matrices.
• Add a .len() method to retrieve the size of a MatrixVec.

Modified

• The orthographic projection no longer require that bottom < top, that left < right, and that znear < zfar. The only restriction now ith that they must not be equal (in which case the projection would be singular).
• The Point::from_coordinates methods is deprecated. Use Point::from instead.
• The .transform_point and .transform_vector methods are now inherent methods for matrices so that the user does not have to explicitly import the Transform trait from the alga crate.
• Renamed the matrix storage types: MatrixArray -> ArrayStorage and MatrixVec -> VecStorage.
• Renamed .unwrap() to .into_inner() for geometric types that wrap another type. This is for the case of Unit, Transform, Orthographic3, Perspective3, Rotation.
• Deprecate several functions at the root of the crate (replaced by methods).

Removed

* Remove the `Deref` impl for `MatrixVec` as it could cause hard-to-understand compilation errors.

nalgebra-glm

• Add several alternative projection computations, e.g., ortho_lh, ortho_lh_no, perspective_lh, etc.
• Add features matching those of nalgebra, in particular:serde-serialize, abmonation-serialize, std` (enabled by default).