Bump nalgebra from 0.19.0 to 0.21.0

[dependabot-preview]

Bumps nalgebra from 0.19.0 to 0.21.0.

Changelog

Sourced from nalgebra's changelog.

[0.21.0]

In this release, we are no longer relying on traits from the alga crate for our generic code. Instead, we use traits from the new simba crate which are both simpler, and allow for significant optimizations like AoSoA SIMD.

Refer to the monthly Rustsim blogpost for details about this switch and its benefits.

Added

• It is now possible to use SIMD types like simba::f32x4 as scalar types for nalgebra's matrices and geometric types.

Modified

• Use of traits like alga::general::{RealField, ComplexField} have now been replaced by simba::scalar::{RealField, ComplexField}.
• The implementation of traits from the alga crate (and well as the dependency to alga_) are now omitted unless the alga cargo feature is activated.

Removed

• The Neg unary operator is no longer implemented for UnitComplex and UnitQuaternion. This caused hard-to-track errors when we mistakenly write, e.g., -q * v instead of -(q * v).
• The na::convert_unchecked is no longer marked as unsafe.

[0.20.0]

Added

• cholesky.rank_one_update(...) which performs a rank-one update on the cholesky decomposition of a matrix.
• From<&Matrix> is now implemented for matrix slices.
• .try_set_magnitude(...) which sets the magnitude of a vector, while keeping its direction.
• Implementations of From and Into for the conversion between matrix slices and standard (&[N] &mut [N]) slices.

Modified

• We started some major changes in order to allow non-Copy types to be used as scalar types inside of matrices/vectors.

Commits

• 30186d9 Release nalgebra v0.21.0
• b81aed7 Merge pull request #713 from rustsim/soa_simd
• 384aee8 CI: don't run nalgebra-lapack test for now.
• 89a6251 CI: install dependencies for the tests too.
• 240aaea Merge pull request #711 from cschenio/cschenio/doc
• f782060 Fix trailing commas in tests.
• ed85d54 CI: use openblas instead of netlib.
• 4233ba1 CI: add some missing dependencies for lapack
• 0c0915d CI: install cmake for lapack compilation.
• 7bbca5c CI: fix feature selection for nalgebra-lapack.
• Additional commits viewable in compare view

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[coveralls]

Pull Request Test Coverage Report for Build 258

• 0 of 0 changed or added relevant lines in 0 files are covered.
• 15 unchanged lines in 6 files lost coverage.
• Overall coverage decreased (-0.03%) to 59.855%

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Files with Coverage Reduction	New Missed Lines	%
config.rs	1	46.43%
world/boundingbox.rs	2	80.95%
world/material.rs	2	68.83%
world/shape.rs	2	53.06%
main.rs	4	0%
world/mod.rs	4	0%

Totals
Change from base Build 238:	-0.03%
Covered Lines:	744
Relevant Lines:	1243

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💛 - Coveralls