Update nalgebra requirement from ^0.21 to ^0.31

[dependabot]

Updates the requirements on nalgebra to permit the latest version.

Changelog

Sourced from nalgebra's changelog.

[0.31.0] (30 Apr. 2022)

Breaking changes

• Switch to cust 0.3 (for CUDA support).
• Switch to rkyv 0.7
• Remove support for serialization based on abomonation.
• Remove support for conversions between nalgebra types and glam 0.13.

Modified

• The aliases for Const types have been simplified to help rust-analyzer.

Added

• Add TryFrom conversion between UnitVector2/3/4 and glam’s Vec2/3/4.
• nalgebra-sparse: added support for serialization of sparse matrices with serde.
• nalgebra-sparse: add a CSC matrix constructor from unsorted (but valid) data.
• nalgebra-lapack: add generalized eigenvalues/eigenvectors calculation + QZ decomposition.

Fixed

• Improve stability of SVD.
• Fix slerp for UnitComplex.

[0.30.1] (09 Jan. 2022)

Added

• Add conversion from/to types of glam 0.19 and 0.20.

[0.30.0] (02 Jan. 2022)

Breaking changes

• The Dim trait is now marked as unsafe.
• The Matrix::pow and Matrix::pow_mut methods only allow positive integer exponents now. To compute negative exponents, the user is free to invert the matrix before calling pow with the exponent’s absolute value.
• Remove the Bounded requirement from RealField. Replace it by methods returning Option<Self> so that they can still be implemented by unbounded types (by returning None).
• The ComplexField trait derives from FromPrimitive again. We can actually keep this because all its methods return Option<Self>, meaning that it could be implemented by any type.

Modified

• Use more concise debug impls for matrices and geometric transformation types.
• The singular values computed by the SVD are now sorted in increasing order by default. Use SVD::new_unordered instead to reproduce the older behavior without the sorting overhead.
• The UnitDualQuaternion::sclerp method will no longer panic when given two equal rotations.
• The Matrix::select_rows and Matrix::select_columns methods no longer require the matrix components to implement the trait Zero.
• The Matrix::pow and Matrix::pow_mut methods will now also work with integer matrices.

Added

• Added the conversion trait From<Vec<T>> and method from_vec_storage for RowDVector.
• Added implementation of From and Into for converting between nalgebra types and types from glam 0.18. These can be enabled by enabling the convert-glam018 cargo features.

... (truncated)

Commits

• b656faa Release v0.31.0
• a195e35 Merge pull request #1095 from zyansheep/dev
• e913bec Switch to derive macros for rkyv and bytecheck
• ed41097 fix bytecheck feature in cargo.toml
• 24b9793 add bytecheck impls
• 1b6f2b8 add bytecheck for matrix
• 90f2603 upgrade rkyv to 0.7
• a850592 Merge pull request #1067 from metric-space/qz-decomposition-lapack
• b621177 Merge pull request #1103 from dimforge/additional-glam-conversion
• c9bf6aa Fix warnings
• Additional commits viewable in compare view

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[dependabot]

Superseded by #26.