Sourced from nalgebra's changelog.

Change Log

All notable changes to nalgebra, starting with the version 0.6.0 will be documented here.

This project adheres to Semantic Versioning.

[0.24.0]

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> any more. Instead, it is implemented specifically for UnitComplex, UnitQuaternion and Unit<Vector>.

[0.23.2]

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.

[0.23.1]

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).

[0.23.0]

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.

• d45e6ea Release v0.24.1
• fb26d4d Update the htaml_root_url.
• 7d5cc49 Update cargo badge and categories.
• b695aaa Release v0.24.0
• c1eeaf0 Merge pull request #817 from chinedufn/dq-serde
• b951325 Serialize DQ to [N;8]
• d8fa3ff Merge pull request #810 from chinedufn/dual-quaternion
• 7ec5d00 Clean up DualQuat bounds
• 89134ef Store DQ as real and dual Quat
• 8036c56 Introduce DualQuaternion type
• Additional commits viewable in compare view

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