All notable changes to this project will be documented in this file.
The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.
Added u32 implementation of BVec3A and BVec4 when SIMD is not available. These are used instead of aliasing to the bool implementations.
Removed Add, Sub, and scalar Mul implementations from affine types as they didn't make sense on these types.
Removed deprecated const_* macros. These have been replaced by const fn methods.
Fixed neg and signum to consistently handle negative zero across multiple platforms.
Removed register_attr feature usage for SPIR-V targets.
Added missing Serialize, Deserialize and PartialEq implementations.
Added Sum<Self> and Product<Self> implementations for all vector, matrix and quaternion types.
Added 4x4 matrix methods look_at_lh and look_at_rh. These were previously private.
Added dot_into_vec methods to vector which returns the result of the dot product splatted to all vector lanes.
Added is_negative_bitmask to vector types which returns a u32 of bits for each negative vector lane.
Added splat method and TRUE and FALSE constants to all BVec types.
Added from_mat3a methods to Affine2, Mat2, Mat4 and Quat types.
Disable serde default features.
Made to_cols_array, to_cols_array_2d, and from_diagonal methods const fn.
glam_assert being too restrictive in matrix transform point and transform vector methods.core-simd feature which enables SIMD support via the unstable core::simd module.PartialEq and Eq instead of providing a trait implementation for all non SIMD types.Restore missing $crate:: prefix in deprecated const_* macros.
Fixed some performance regressions in affine and matrix determinant and inverses due to lack of inlining.
Fixed some performance regressions in the SSE2 Vec3A to Vec3 from conversion.
BitXor and BitXorAssign traits for bool vectors.Minimum Supported Version of Rust bumped to 1.58.1 to allow const pointer dereferences in constant evaluation.
The abs_diff_eq method on Mat2 and DMat2 now takes other by value instead of reference. This is consistent with the other matrix types.
The AsMut and Deref trait implementations on Quat and DQuat was removed. Quaternion fields are now public.
The AsRef trait implementations were removed from BVec2, BVec3, BVec3A, BVec4 and BVec4A.
NEG_ONE constant was added to all signed vector types.
NEG_X, NEG_Y, NEG_Z and NEG_W negative axis vectors were added to signed vector types.
The rotate and from_angle methods were added to Vec2 and DVec2. from_angle returns a 2D vector containing [angle.cos(), angle.sin()] that can be used to rotate another 2D vector.
The from_array const function was added to all vector types.
Source code is now largely generated. This removes most usage of macros internally to improve readability. There should be no change in API or behavior other than what is documented here.
Many methods have been made const fn:
new, splat, from_slice, to_array and extend on vector typesfrom_cols, from_cols_array, from_cols_array_2d, from_cols_slice on matrix typesfrom_xyzw and from_array on quaternion typesfrom_cols on affine typesThe const new macros where deprecated.
TransformRT and TransformSRT types.max_element method where the w element check was incorrect.slerp with a rotation of tau.to_array() to Quat and DQuat.mul_add method to all vector types - note that this will be slower without hardware support enabled.fast-math flag which will sacrifice some float determinism for speed.sse2 and wasm32 implementations of Mat4::determinant().from_rotation_arc_2d() method to Quat and DQuat which will return a rotation between two 2D vectors around the z axis.Neg operator for matrix types.cuda feature which forces glam types to match cuda's alignment requirements.Quat and DQuat methods from_rotation_arc() and from_rotation_arc_colinear() are now available in no_std.Vec3 and DVec3 methods any_orthogonal_vector(), any_orthonormal_vector() and any_orthonormal_pair() are now available in no_std.repr(C) attribute to affine types.as_f32(), as_f64(), as_i32() and as_u32() methods.mint crate.IntoMint trait from the mint crate.mint conversions for Mat3A.as_vec3a cast methods to vector types.From implementations. Use .truncate() or swizzle methods instead.Not, Shl, Shr, BitAnd, BitOr and BitXor implementations for all IVec and UVec vector types.NAN constant for all types.glam's architecture.Sum and Product traits are now implemented in no_std builds.wasm-bindgen-test and rustdoc alias support.wasm32 SIMD intrinsics support.rkyv serialization crate.Rem and RemAssign implementations for all vector types.xyz() method for returning the vector part of the quaternion.From((Scalar, Vector3)) for 4D vector types.as_f32(), as_f64(), as_i32() and as_u32() methods in favor of more specific methods such as as_vec2(), as_dvec2(), as_ivec2() and as_uvec2() and so on.serde support for Affine2, DAffine2, Affine3A and DAffine3.Add and Sub implementations of scalar values for vector types may create ambiguities with existing calls to add and sub.From<Mat3> implementation for Mat2 and From<DMat3> for DMat2. These have been replaced by Mat2::from_mat3() and DMat2::from_mat3().From<Mat4> implementation for Mat3 and From<DMat4> for DMat3. These have been replaced by Mat3::from_mat4() and DMat3::from_mat4().from_slice_unaligned(), write_to_slice_unaligned(), from_rotation_mat4 and from_rotation_ypr() methods.col_mut() method which returns a mutable reference to a matrix column to all matrix types.AddAssign, MulAssign and SubAssign implementations for all matrix types.Add and Sub implementations of scalar values for vector types.glam_assert! checks and documented methods where they are used.project_onto(), project_onto_normalized(), reject_from() and reject_from_normalized().Mat2::from_mat3(), DMat2::from_mat3(), Mat3::from_mat4(), DMat3::from_mat4() which create a smaller matrix from a larger one, discarding a final row and column of the input matrix.Mat3::from_mat2(), DMat3::from_mat2(), Mat4::from_mat3() and DMat4::from_mat3() which create an affine transform from a smaller linear transform matrix.AsRef and AsMut on SPIR-V targets. Also removed SPIR-V support for some methods that used as_ref(), including hash(). Not a breaking change as these methods would not have worked anyway.sprirv-std dependency was removed, rust-gpu depends on glam internally again for now.must_use attribute to all inverse(), normalize(), try_normalize(), transpose() and conjugate() methods.fract() method to float vector types which return a vector containing self - self.floor().approx crate. Note that all glam types implement their own abs_diff_eq() method without requiring the approx dependency.from_cols() methods to affine types.from_cols_array(), to_cols_array(), from_cols_array_2d(), to_cols_array_2d(), from_cols_slice() and write_cols_to_slice().core::fmt::Display trait implementations for affine types.core::ops::Add, core::ops::Mul scalar and core::ops::Sub trait implementations for affine types.from_array() methods to quaternion types.from_slice_unaligned() and write_to_slice_unaligned() methods to from_slice() and write_to_slice()._mm_rcp_ps from SSE2 implementation of Quat::slerp as this instruction is not deterministic between Intel and AMD chips.const_assert_eq! size and alignment checks for SPIR-V targets.PartialOrd and Ord trait implementations for all glam types.zero(), one(), unit_x(), unit_y(), unit_z(), unit_w(), identity() and Mat2::scale() methods.Quat From trait conversions which would allow creating a non-uniform quaternion without necessarily realising, including from Vec4, (x, y, z, w) and [f32; 4].EulerRot enum for specifying Euler rotation order and Quat::from_euler(), Mat3::from_euler() and Mat4::from_euler() which support specifying a rotation order and angles of rotation.Quat::to_euler() method for extracting Euler angles.Quat::from_vec4() which is an explicit method for creating a quaternion from a 4D vector. The method does not normalize the resulting quaternion.Mat3A type which uses Vec3A columns. It is 16 byte aligned and contains internal padding but it generally faster than Mat3 for most operations if SIMD is available.Affine3A and DAffine3. These are more efficient than using Mat4 and DMat4 respectively when working with 3D affine transforms.Affine2 and DAffine2. These are more efficient than using Mat3 and DMat3 respectively when working with 2D affine transforms.Quat::from_affine3() to create a quaternion from an affine transform rotation.to_array() method to vector types to better match the matrix methods.Quat::from_rotation_ypr(), Mat3::from_rotation_ypr() and Mat4::from_rotation_ypr() in favor of new from_euler() methods.Quat::from_rotation_mat3() and Quat::from_rotation_mat4() in favor of new from_mat3 and from_mat4 methods.TransformSRT and TransformRT which are under the transform-types feature. These will be moved to a separate experimental crate.spirv-std dependency version to 0.4.0-alpha7.spirv-std dependency.AXES[] constants to all vector types. These are arrays containing the unit vector for each axis.from_scaled_axis and to_scaled_axis methods.bytemuck to 1.5, rand to 0.8, rand_xoshiro to 0.6 and spirv-std to 0.4.0-alpha4.clamp() functions.col() and row().spirv-std for the SPIR-V target.From impls.transform_point3() was changed to not perform the perspective divide. This is an optimization for use with affine transforms where perspective correction is not required. The project_point3() method was added for transforming points by perspective projections.from_scale() method was changed to create a affine transform containing a 2-dimensional non-uniform scale to be consistent with the 4x4 matrix version. The from_diagonal() method can be used to create a 3x3 scale matrix.transform_point2_as_vec3a, transform_vector2_as_vec3a and mul_vec3_as_vec3a were unintentionally pub and are no longer publicly accessible.Vec2::X, Vec4::W etc constants as a shorter versions of unit_x() and friends.ONE constants for vectors.IDENTITY constants for Mat2, Mat3, Mat4 and Quat.ZERO constant for vectors and matrices.clamp_length(), clamp_length_max(), and clamp_length_min methods for f32 and f64 vector types.try_normalize() and normalize_or_zero() for all real vector types.from_diagonal() methods to all matrix types for creating diagonal matrices from a vector.angle_between(), from_rotation_arc() and from_rotation_arc_colinear() to quaternion types.inverse() which assumes the quaternion is already normalized and returns the conjugate.from_translation() and from_angle() methods to 3x3 matrix types.project_point3() method to 4x4 matrix types. This method is for transforming 3D vectors by perspective projection transforms.Eq and Hash impls for integer vector types.::unit_x/y/z(), ::zero(), ::one(), ::identity() functions in favor of constants.Vec2Mask, Vec3Mask and Vec4Mask have been replaced by BVec2, BVec3, BVec3A, BVec4 and BVec4A. These types are used by some vector methods and are not typically referenced directly.f64 primitive type supportDVec2, DVec3 and DVec4DMat2, DMat3 and DMat4DQuati32 primitive type supportIVec2, IVec3 and IVec4u32 primitive type supportUVec2, UVec3 and UVec4bool primitive type supportBVec2, BVec3 and BVec4build.rs has been removed.Vec3 repr(simd) for spirv targets.From<(Vec2, f32)> for Vec3 and From<(Vec3, f32) for Vec4.is_finite method to all types which returns true if, and only if, all contained elements are finite.exp and powf methods for all vector types.is_nan method now returns a bool to match the new is_finite method and to be consistent with the same methods on the f32 and f64 primitive types.is_nan which returns a vector mask to is_nan_mask.cfg definitions added by build.rs for defining structs as rust-analyzer is not aware of them..x(), .x_mut(), .set_x(), etc. on vector and quaternion types..x_axis(), .x_axis_mut(), .set_x_axis(), etc. on matrix types.Vec2::perp method which returns a Vec2 perpendicular to self.Vec2 and Vec3 types were changed to use public named fields for .x, .y, and .z instead of accessors.Quat, Vec3A and Vec4 implement Deref and DerefMut for the new XYZ and XYZW structs to emulate public named field access.Mat3 and Mat4 had their axis members made public instead of needing accessors.Mat2 implements Deref and DerefMut for the new XYAxes struct to emulate public named field access.length_reciprocal and sign methods.glam as a no_std dependency should now work as expected.Vec4::truncate from Vec3A to Vec3.From implementations to truncate to narrower vector types, e.g. Vec4 to Vec3A, Vec3 and Vec2 and from Vec3A and Vec3 to Vec2.Vec4, Vec3A, Vec3 and Vec2. These can be used to reorder elements in the same type and also to create larger or smaller vectors from the given vectors elements.Quat operators Add<Quat>, Sub<Quat>, Mul<f32> and Div<f32. These are used by other crates for interpolation quaternions along splines. Note that these operations will not return unit length quaternions, thus the results must be normalized before performing other Quat operations.Mat4::transform_point3a and Mat4::transform_vector3a.AsRef<[f32; 9]> and AsMut<[f32; 9]> trait implementations to Mat3.bytemuck support primarily for casting types to &[u8].no_std by disabling the default std feature and adding the libm feature.distance and distance_squared methods to Vec2, Vec3, Vec3A and Vec4.glam uses SSE2 for some types which prevents constructor functions can not be made const fn. To work around this limitation the following macro functions have been added to support creating const values of glam types: const_mat2, const_mat3, const_mat4, const_quat, const_vec2, const_vec3, const_vec3a and const_vec4.is_nan methods to Vec2, Vec3, Vec3A and Vec4 which return a mask.reciprocal and length_reciprocal methods to recip and length_recip to match the Rust standard library naming. The old methods have been deprecated.sign methods to signum match the Rust standard library naming. The new methods now check for NAN. The old methods have been deprecated.Mat4::determinant and Mat4::inverse.Mat4::perspective_glu_rh.Mat4::transform_point3 to account for homogeneous w coordinate. Previously this would have been incorrect when the resulting homogeneous coordinate was not 1.0, e.g. when transforming by a perspective projection.Mat3::transform_point2 to account for homogeneous z coordinate.Mat4::perspective_rh.Mat3::mul_vec3a and Quat::mul_vec3a.Quat::mul_vec3 to accept and return Vec3 instead of Vec3A.Mat3 * Vec3A implementation.Vec3A benches.Vec3A type.Vec3 has been split into scalar Vec3 and 16 byte aligned Vec3A types. Only the Vec3A type currently uses SIMD optimizations.Vec3Mask has been split into scalar Vec3Mask and 16 byte aligned Vec3AMask types.mut column accessors to all matrix types, e.g. Mat2::x_axis_mut().From trait implementations for Vec3AMask and Vec4Mask to __m128.Mat3 type is using the scalar Vec3 type for storage.Debug trait output for Quat, Vec4 and Vec3A.packed-vec3 feature flag as it is now redundant.Quat::slerp - note that this uses a sin approximation.angle_between method for Vec2 and Vec3.Debug, Display, PartialEq, Eq, PartialOrd, Ord, Hash, and AsRef traits for Vec2Mask, Vec3Mask and Vec4Mask.Vec2Mask, Vec3Mask and Vec4Mask to an array of [u32].build.rs to simplify conditional feature compilation.cfg-if dependency.packed-vec3 feature flag to disable using SIMD types for Vec3 and Mat3 types. This avoids wasting some space due to 16 byte alignment at the cost of some performance.x_mut, y_mut, z_mut, w_mut where appropriate to Vec2, Vec3 and Vec4.core::ops::Index and core::ops::IndexMut for Vec2, Vec3 and Vec4.Vec3 and Vec4 implementations into single files using the cfg-if crate.Mat4::perspective_lh, Mat4::perspective_infinite_lh, Mat4::perspective_infinite_reverse_lh, Mat4::orthgraphic_lh and Mat4::orthographic_rh.round, ceil and floor methods to Vec2, Vec3 and Vec4.Mat4::to_scale_rotation_translation for extracting scale, rotation and translation from a 4x4 homogeneous transformation matrix.cargo-deny GitHub Action.Quat::new to Quat::from_xyzw.Mat4::orthographic_rh_gl.Mat4::perspective_glu_rh to Mat4::perspective_rh_gl.Mat2::determinant, Mat2::inverse, Mat2::transpose, Mat3::transpose, Quat::conjugate, Quat::lerp, Quat::mul_vec3, Quat::mul_quat and Quat::from_rotation_ypr.Mat4::transform_point3 and Mat4::transform_vector3 as they are probably incorrect and need investigating.#[repr(C)] to Mat2, Mat3 and Mat4.Mat2::new, Mat3::new and Mat4::new.glam_assert! is no longer enabled by default in debug builds, it can be enabled in any configuration using the glam-assert feature or in debug builds only using the debug-glam-assert feature.glam_assert!'s checking lerp is bounded between 0.0 and 1.0 and that matrix scales are non-zero have been removed.Display trait implementations for Mat2, Mat3 and Mat4.glam's SSE2 sin_cos implementation - it became less precise for large angle values.is_normalized! macro from std::f32::EPSILON to 1e-6.approx crate dependency. Each glam type has an abs_diff_eq method added which is used by unit tests for approximate floating point comparisons.Angle type. All angles are now f32 and are expected to be in radians.Vec2b, Vec3b and Vec4b types and the mask methods on Vec2Mask, Vec3Mask and Vec4Mask.rand crate dependency has been removed from default features. This was required for benchmarking but a simple random number generator has been added to the benches support module instead.From trait implementation converting between 1D and 2D f32 arrays and matrix types have been removed. It was ambiguous how array data would map to matrix columns so these have been replaced with explicit methods from_cols_array and from_cols_array_2d.new methods have been renamed to from_cols to be consistent with the other methods that create matrices from data.Mat4::perspective_glu to Mat4::perspective_glu_rh.Mat4::look_at_lh and Mat4::look_at_rh.Mat4::perspective_infinite_rh and Mat4::perspective_infinite_rh.Vec2Mask::new, Vec3Mask::new and Vec4Mask::new methods.std::ops BitAnd, BitAndAssign, BitOr, BitOrAssign and Not traits for Vec2Mask, Vec3Mask and Vec4Mask.Vec4 and Vec4Mask types.serde implementations for Mat2, Mat3 and Mat4.rand and criterion versions.Vec4 dot was missing a shuffle, meaning the dot, length, length_squared, length_reciprocal and normalize methods were sometimes incorrect.glam_assert macro which behaves like Rust's debug_assert but can be enabled separately to debug_assert. This is used to perform asserts on correctness.is_normalized method to Vec2, Vec3 and Vec4.std::mem::uninitialized with std::mem::MaybeUninit. This change requires stable Rust 1.36.Vec2b to Vec2Mask, Vec3b to Vec3Mask and Vec4b to Vec4Mask. Old names are aliased to the new name and deprecated.VecNMask mask method, use new bitmask method insteadVecNMask types the same size and alignment as the SIMD versions.Default support to VecNMask types, will add more common traits in the future.#[inline] to mat2, mat3 and mat4 functions.Mat2 into [f32; 4], Mat3 into [f32; 9] and Mat4 into [f32; 16].impl Mul<&Vec2> for Mat2 and impl Mul<&Vec3> for Vec3 as these don't exist for any other types.Mat2 now uses a Vec4 internally which gives it some performance improvements when SSE2 is available.