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A linear algebra and mathematics library for computer graphics.
branch: master

Merge pull request #211 from kvark/num

Fixed the num crate
latest commit e29bb4c899
@kvark kvark authored


Build Status

A linear algebra and mathematics library for computer graphics.

The library provides:

  • vectors: Vector2, Vector3, Vector4
  • square matrices: Matrix2, Matrix3, Matrix4
  • a quaternion type: Quaternion
  • rotation matrices: Basis2, Basis3
  • angle units: Rad, Deg
  • points: Point2, Point3
  • a generic ray: Ray
  • a plane type: Plane
  • perspective projections: Perspective, PerspectiveFov, Ortho
  • a view frustum: Frustum
  • spatial transformations: AffineMatrix3, Transform3
  • axis-aligned bounding boxes: Aabb2, Aabb3
  • oriented bounding boxes: Obb2, Obb3
  • collision primitives: Sphere, Cylinder

Not all of the functionality has been implemented yet, and the existing code is not fully covered by the testsuite. If you encounter any mistakes or omissions please let me know by posting an issue, or even better: send me a pull request with a fix.




cgmath is not an n-dimensional library and is aimed at computer graphics applications rather than general linear algebra. It only offers the 2, 3, and 4 dimensional structures that are more than useful for most computer graphics applications. This design decision was made in order to simplify the implementation (Rust cannot paramerise over constants at compile time), and to make dimension-specific optimisations easier in the future.


Pull requests are most welcome, especially in the realm of performance enhancements and fixing any mistakes I may have made along the way. Unit tests and benchmarks are also required, so help on that front would be most appreciated.


Contact bjz on #rust and #rust-gamedev, or post an issue on Github.

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