NathanSWard / glam-rs

A simple and fast linear algebra library for games and graphics

glam

A simple and fast 3D math library for games and graphics.

Development status

glam is in beta stage. Base functionality has been implemented and the look and feel of the API has solidified.

Features

• f32 types
  • vectors: Vec2, Vec3, Vec3A and Vec4
  • square matrices: Mat2, Mat3 and Mat4
  • a quaternion type: Quat
• f64 types
  • vectors: DVec2, DVec3 and DVec4
  • square matrices: DMat2, DMat3 and DMat4
  • a quaternion type: DQuat
• i32 types
  • vectors: IVec2, IVec3 and IVec4
• u32 types
  • vectors: UVec2, UVec3 and UVec4
• bool types
  • vectors: BVec2, BVec3 and BVec4

SIMD

The Vec3A, Vec4 and Quat types use SSE2 on x86/x86_64 architectures. Mat2, Mat3 and Mat4 also use SSE2 for some functionality. Not everything has a SIMD implementation yet.

Note that this does result in some wasted space in the case of Vec3A as the SIMD vector type is 16 bytes large and 16 byte aligned.

glam outperforms similar Rust libraries for common operations as tested by the mathbench project.

no_std support

no_std support can be enabled by compiling with --no-default-features to disable std support and --features libm for math functions that are only defined in std. For example:

[dependencies]
glam = { version = "0.13.0", default-features = false, features = ["libm"] }

To support both std and no_std builds in project, you can use the following in your Cargo.toml:

[features]
default = ["std"]

std = ["glam/std"]
libm = ["glam/libm"]

[dependencies]
glam = { version = "0.13.0", default-features = false }

Optional features

• bytemuck - for casting into slices of bytes
• libm - required to compile with no_std
• mint - for interoperating with other 3D math libraries
• num-traits - required to compile no_std, will be included when enabling the libm feature
• rand - implementations of Distribution trait for all glam types. This is primarily used for unit testing
• serde - implementations of Serialize and Deserialize for all glam types. Note that serialization should work between builds of glam with and without SIMD enabled

Feature gates

• scalar-math - compiles with SIMD support disabled
• debug-glam-assert - adds assertions in debug builds which check the validity of parameters passed to glam to help catch runtime errors
• glam-assert - adds validation assertions to all builds

Minimum Supported Version of Rust (MSVR)

The minimum supported version of Rust for glam is 1.45.0.

Conventions

Column vectors

glam interprets vectors as column matrices (also known as "column vectors") meaning when transforming a vector with a matrix the matrix goes on the left, e.g. v' = Mv. DirectX uses row vectors, OpenGL uses column vectors. There are pros and cons to both.

Column-major order

Matrices are stored in column major format. Each column vector is stored in contiguous memory.

Co-ordinate system

glam is co-ordinate system agnostic and intends to support both right handed and left handed conventions.

Design Philosophy

The design of this library is guided by a desire for simplicity and good performance.

• No generics and minimal traits in the public API for simplicity of usage
• All dependencies are optional (e.g. mint, rand and serde)
• Follows the Rust API Guidelines where possible
• Aiming for 100% test coverage
• Common functionality is benchmarked using Criterion.rs

Future work

• Experiment with a using a 4x3 matrix as a 3D transform type that can be more efficient than Mat4 for certain operations like inverse and multiplies
• wasm support

Inspirations

There were many inspirations for the interface and internals of glam from the Rust and C++ worlds. In particular:

• How to write a maths library in 2016 inspired the initial Vec3A implementation
• Realtime Math - header only C++11 with SSE and NEON SIMD intrinsic support
• DirectXMath - header only SIMD C++ linear algebra library for use in games and graphics apps
• glam is a play on the name of the popular C++ library GLM

License

Licensed under either of

• Apache License, Version 2.0 (LICENSE-APACHE or http://www.apache.org/licenses/LICENSE-2.0)
• MIT license (LICENSE-MIT or http://opensource.org/licenses/MIT)

at your option.

Contribution

Contributions in any form (issues, pull requests, etc.) to this project must adhere to Rust's Code of Conduct.

Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions.

Thank you to all of the glam contributors!

Support

If you are interested in contributing or have a request or suggestion start a discussion on github. See CONTRIBUTING.md for more information for contributors.

The Game Development in Rust Discord and Bevy Engine Discord servers can are also good places to ask for help with glam.

Attribution

glam contains code ported from the following C++ libraries:

• DirectXMath - MIT License - Copyright (c) 2011-2020 Microsoft Corp
• Realtime Math - MIT License - Copyright (c) 2018 Nicholas Frechette
• GLM - MIT License - Copyright (c) 2005 - G-Truc Creation

See ATTRIBUTION.md for details.