Description
A linear algebra and mathematics library for computer graphics.
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README
cgmathrs
A linear algebra and mathematics library for computer graphics.
The library provides:
 vectors:
Vector2
,Vector3
,Vector4
 square matrices:
Matrix2
,Matrix3
,Matrix4
 a quaternion type:
Quaternion
 rotation matrices:
Basis2
,Basis3
 angle units:
Rad
,Deg
 points:
Point2
,Point3
 perspective projections:
Perspective
,PerspectiveFov
,Ortho
 spatial transformations:
AffineMatrix3
,Transform3
Not all of the functionality has been implemented yet, and the existing code is not fully covered by the testsuite. If you encounter any mistakes or omissions please let me know by posting an issue, or even better: send me a pull request with a fix.
Conventions
cgmath interprets its vectors as column matrices (also known as "column vectors"), meaning when transforming a vector with a matrix, the matrix goes on the left. This is reflected in the fact that cgmath implements the multiplication operator for Matrix * Vector, but not Vector * Matrix.
Features
Swizzling
This library offers an optional feature called
"swizzling"
widely familiar to GPU programmers. To enable swizzle operators, pass the
features="swizzle"
option to cargo. Enabling this feature will increase
the size of the cgmath library by approximately 0.6MB. This isn't an
issue if the library is linked in the "normal" way by adding cgmath as a
dependency in Cargo.toml, which will link cgmath statically so all unused
swizzle operators will be optimized away by the compiler in release mode.
Example
If we have
let v = Vector3::new(1.0, 2.0, 3.0);
then v.xyxz()
produces a
Vector4 { x: 1.0, y: 2.0, z: 1.0, w: 3.0 }
and v.zy()
produces a
Vector2 { x: 3.0, y: 2.0 }
SIMD optimizations
The current SIMD support depends on the deprecated "simd" package as well as the unstable "specialization" feature. To build this code, a pre1.33 nightly build of Rust is required, e.g. 20190101nightly. Though the code is not useful in its present form, it has some worth preserving as starting point for a future migration (see https://github.com/rustgd/cgmath/issues/490).
Limitations
cgmath is not an ndimensional library and is aimed at computer graphics applications rather than general linear algebra. It only offers the 2, 3, and 4 dimensional structures that are more than enough for most computer graphics applications. This design decision was made in order to simplify the implementation (Rust cannot parameterize over constants at compile time), and to make dimensionspecific optimisations easier in the future.
Contributing
Pull requests are most welcome, especially in the realm of performance enhancements and fixing any mistakes I may have made along the way. Unit tests and benchmarks are also required, so help on that front would be most appreciated.
Support
Contact bjz
on irc.mozilla.org #rust
and #rustgamedev,
or post an issue on Github.
*Note that all licence references and agreements mentioned in the cgmathrs README section above
are relevant to that project's source code only.