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nalgebra v0.26.0 Release Notes

  • 🚀 This releases 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

    • 0️⃣ 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.