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.
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Use of traits like alga::general::{RealField, ComplexField} have now been replaced by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.
[0.20.0]
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.
[0.19.0]
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.
[0.18.0]
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.
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Updates the requirements on nalgebra to permit the latest version.
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