CHANGELOG.md

Changelog

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.

Unreleased

Added

• Added i64 and u64 vector types; I64Vec2, I64Vec3, I64Vec4, U64Vec2, U64Vec3 and U64Vec4.

• Added length_squared method on signed and unsigned integer vector types.

• Added distance_squared method on signed integer vector types.

Changed

• Changed quaternion to_axis_angle for improved numerical stability.

Removed

• Removed dependency on serde_derive for improved compile times when using serde.

0.23.0 - 2023-02-22

Breaking changes

• When the scalar-math feature is enabled the vector mask type for Vec3A was changed from BVec3 to BVec3A.

Added

• Added copysign method to signed vector types.

0.22.0 - 2022-10-24

Breaking changes

• 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 These have been replaced by const fn methods.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

• Fixed neg and signum to consistently handle negative zero across multiple platforms.

• Removed register_attr feature usage for SPIR-V targets.

Added

• 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_to_lh and look_to_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.

Changed

• Disable serde default features.

• Made to_cols_array, to_cols_array_2d, and from_diagonal methods const fn.

0.21.3 - 2022-08-02

Fixed

• Fixed glam_assert being too restrictive in matrix transform point and transform vector methods.

Added

• Added experimental core-simd feature which enables SIMD support via the unstable core::simd module.

Changed

• Derive from PartialEq and Eq instead of providing a trait implementation for all non SIMD types.

0.21.2 - 2022-06-25

Fixed

• 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.

Added

• Implemented BitXor and BitXorAssign traits for bool vectors.

0.21.1 - 2022-06-22

Fixed

• Fix compilation when FMA support is enabled.

0.21.0 - 2022-06-22

Breaking changes

• 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.

Added

• 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.

Changed

• 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 types
  • from_cols, from_cols_array, from_cols_array_2d, from_cols_slice on matrix types
  • from_xyzw and from_array on quaternion types
  • from_cols on affine types

• The const new macros where deprecated.

Removed

• Deleted deprecated TransformRT and TransformSRT types.

0.20.5 - 2022-04-12

Fixed

• Fixed a bug in the scalar implementation of 4D vector max_element method where the w element check was incorrect.

0.20.4 - 2022-04-11

Fixed

• Fixed a bug with quaternion slerp with a rotation of tau.

0.20.3 - 2022-03-28

Added

• Added to_array() to Quat and DQuat.
• Added mul_add method to all vector types - note that this will be slower without hardware support enabled.
• Added the fast-math flag which will sacrifice some float determinism for speed.

Fixed

• Fixed a bug in the sse2 and wasm32 implementations of Mat4::determinant().

0.20.2 - 2021-12-20

Fixed

• Fixed SPIR-V build which was broken due to a typo.

0.20.1 - 2021-11-23

Added

• Added the from_rotation_arc_2d() method to Quat and DQuat which will return a rotation between two 2D vectors around the z axis.
• Added impl of Neg operator for matrix types.
• Added cuda feature which forces glam types to match cuda's alignment requirements.

Changed

• The Quat and DQuat methods from_rotation_arc() and from_rotation_arc_colinear() are now available in no_std.
• The Vec3 and DVec3 methods any_orthogonal_vector(), any_orthonormal_vector() and any_orthonormal_pair() are now available in no_std.
• Added repr(C) attribute to affine types.

Removed

• Removed deprecated as_f32(), as_f64(), as_i32() and as_u32() methods.

0.20.0 - 2021-11-01

Breaking changes

• Minimum Supported Version of Rust bumped to 1.52.1 for an update to the mint crate.

Added

• Added implementations for new IntoMint trait from the mint crate.
• Added mint conversions for Mat3A.
• Added as_vec3a cast methods to vector types.

0.19.0 - 2021-10-05

Breaking changes

• Removed truncating vector From implementations. Use .truncate() or swizzle methods instead.

Added

• Added Not, Shl, Shr, BitAnd, BitOr and BitXor implementations for all IVec and UVec vector types.
• Added NAN constant for all types.
• Documented glam's architecture.

Changed

• Sum and Product traits are now implemented in no_std builds.

0.18.0 - 2021-08-26

Breaking changes

• Minimum Supported Version of Rust bumped to 1.51.0 for wasm-bindgen-test and rustdoc alias support.

Added

• Added wasm32 SIMD intrinsics support.
• Added optional support for the rkyv serialization crate.
• Added Rem and RemAssign implementations for all vector types.
• Added quaternion xyz() method for returning the vector part of the quaternion.
• Added From((Scalar, Vector3)) for 4D vector types.

Changed

• Deprecated 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.

0.17.3 - 2021-07-18

Fixed

• Fix alignment unit tests on non x86 platforms.

0.17.2 - 2021-07-15

Fixed

• Fix alignment unit tests on i686 and S390x.

0.17.1 - 2021-06-29

Added

• Added serde support for Affine2, DAffine2, Affine3A and DAffine3.

0.17.0 - 2021-06-26

Breaking changes

• The addition of Add and Sub implementations of scalar values for vector types may create ambiguities with existing calls to add and sub.
• Removed From<Mat3> implementation for Mat2 and From<DMat3> for DMat2. These have been replaced by Mat2::from_mat3() and DMat2::from_mat3().
• Removed From<Mat4> implementation for Mat3 and From<DMat4> for DMat3. These have been replaced by Mat3::from_mat4() and DMat3::from_mat4().
• Removed deprecated from_slice_unaligned(), write_to_slice_unaligned(), from_rotation_mat4 and from_rotation_ypr() methods.

Added

• Added col_mut() method which returns a mutable reference to a matrix column to all matrix types.
• Added AddAssign, MulAssign and SubAssign implementations for all matrix types.
• Added Add and Sub implementations of scalar values for vector types.
• Added more glam_assert! checks and documented methods where they are used.
• Added vector projection and rejection methods project_onto(), project_onto_normalized(), reject_from() and reject_from_normalized().
• Added 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.
• Added Mat3::from_mat2(), DMat3::from_mat2(), Mat4::from_mat3() and DMat4::from_mat3() which create an affine transform from a smaller linear transform matrix.

Changed

• Don't support 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.

Fixed

• Fixed compile time alignment checks failing on i686 targets.

0.16.0 - 2021-06-06

Breaking changes

• sprirv-std dependency was removed, rust-gpu depends on glam internally again for now.
• Added must_use attribute to all inverse(), normalize(), try_normalize(), transpose() and conjugate() methods.

Added

• Added fract() method to float vector types which return a vector containing self - self.floor().
• Added optional support for the approx crate. Note that all glam types implement their own abs_diff_eq() method without requiring the approx dependency.

0.15.2 - 2021-05-20

Added

• Added from_cols() methods to affine types.
• Added methods for reading and writing affine types from and to arrays and slices, including from_cols_array(), to_cols_array(), from_cols_array_2d(), to_cols_array_2d(), from_cols_slice() and write_cols_to_slice().
• Added core::fmt::Display trait implementations for affine types.
• Added core::ops::Add, core::ops::Mul scalar and core::ops::Sub trait implementations for affine types.
• Added from_array() methods to quaternion types.

Changed

• Renamed vector and quaternion from_slice_unaligned() and write_to_slice_unaligned() methods to from_slice() and write_to_slice().
• Removed usage of _mm_rcp_ps from SSE2 implementation of Quat::slerp as this instruction is not deterministic between Intel and AMD chips.

0.15.1 - 2021-05-14

Changed

• Disable const_assert_eq! size and alignment checks for SPIR-V targets.

0.15.0 - 2021-05-14

Breaking changes

• Removed PartialOrd and Ord trait implementations for all glam types.
• Removed deprecated zero(), one(), unit_x(), unit_y(), unit_z(), unit_w(), identity() and Mat2::scale() methods.
• Remove problematic 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].

Added

• Added 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.
• Added Quat::to_euler() method for extracting Euler angles.
• Added Quat::from_vec4() which is an explicit method for creating a quaternion from a 4D vector. The method does not normalize the resulting quaternion.
• Added 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.
• Added 3D affine transform types Affine3A and DAffine3. These are more efficient than using Mat4 and DMat4 respectively when working with 3D affine transforms.
• Added 2D affine transform types Affine2 and DAffine2. These are more efficient than using Mat3 and DMat3 respectively when working with 2D affine transforms.
• Added Quat::from_affine3() to create a quaternion from an affine transform rotation.
• Added explicit to_array() method to vector types to better match the matrix methods.

Changed

• Deprecated Quat::from_rotation_ypr(), Mat3::from_rotation_ypr() and Mat4::from_rotation_ypr() in favor of new from_euler() methods.
• Deprecated Quat::from_rotation_mat3() and Quat::from_rotation_mat4() in favor of new from_mat3 and from_mat4 methods.
• Deprecated TransformSRT and TransformRT which are under the transform-types feature. These will be moved to a separate experimental crate.
• Updated spirv-std dependency version to 0.4.0-alpha7.

0.14.0 - 2021-04-09

Breaking changes

• Minimum Supported Version of Rust bumped to 1.45.0 for the spirv-std dependency.

Added

• Added AXES[] constants to all vector types. These are arrays containing the unit vector for each axis.
• Added quaternion from_scaled_axis and to_scaled_axis methods.

Changed

• Updated dependency versions of bytemuck to 1.5, rand to 0.8, rand_xoshiro to 0.6 and spirv-std to 0.4.0-alpha4.

0.13.1 - 2021-03-24

Added

• Added vector clamp() functions.
• Added matrix column and row accessor methods, col() and row().
• Added SPIR-V module and dependency on spirv-std for the SPIR-V target.
• Added matrix truncation from 4x4 to 3x3 and 3x3 to 2x2 via From impls.

Changed

• Documentation corrections and improvements.

0.13.0 - 2021-03-04

Breaking Changes

• The behavior of the 4x4 matrix method 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.
• The 3x3 matrix 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.
• The 3x3 matrix methods transform_point2_as_vec3a, transform_vector2_as_vec3a and mul_vec3_as_vec3a were unintentionally pub and are no longer publicly accessible.

Added

• Added Vec2::X, Vec4::W etc constants as a shorter versions of unit_x() and friends.
• Added ONE constants for vectors.
• Added IDENTITY constants for Mat2, Mat3, Mat4 and Quat.
• Added ZERO constant for vectors and matrices.
• Added clamp_length(), clamp_length_max(), and clamp_length_min methods for f32 and f64 vector types.
• Added try_normalize() and normalize_or_zero() for all real vector types.
• Added from_diagonal() methods to all matrix types for creating diagonal matrices from a vector.
• Added angle_between(), from_rotation_arc() and from_rotation_arc_colinear() to quaternion types.
• Added quaternion inverse() which assumes the quaternion is already normalized and returns the conjugate.
• Added from_translation() and from_angle() methods to 3x3 matrix types.
• Added project_point3() method to 4x4 matrix types. This method is for transforming 3D vectors by perspective projection transforms.
• Added Eq and Hash impls for integer vector types.

Changed

• Deprecated ::unit_x/y/z(), ::zero(), ::one(), ::identity() functions in favor of constants.

0.12.0 - 2021-01-15

Breaking Changes

• 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.

Added

• Added f64 primitive type support
  • vectors: DVec2, DVec3 and DVec4
  • square matrices: DMat2, DMat3 and DMat4
  • a quaternion type: DQuat
• Added i32 primitive type support
  • vectors: IVec2, IVec3 and IVec4
• Added u32 primitive type support
  • vectors: UVec2, UVec3 and UVec4
• Added bool primitive type support
  • vectors: BVec2, BVec3 and BVec4

Removed

• build.rs has been removed.

0.11.3 - 2020-12-29

Changed

• Made Vec3 repr(simd) for spirv targets.

Added

• Added From<(Vec2, f32)> for Vec3 and From<(Vec3, f32) for Vec4.

0.11.2 - 2020-12-04

Changed

• Compilation fixes for Rust 1.36.0.

0.11.1 - 2020-12-03

Added

• Added support for the Rust GPU SPIR-V target architecture.

0.11.0 - 2020-11-26

Added

• Added is_finite method to all types which returns true if, and only if, all contained elements are finite.
• Added exp and powf methods for all vector types.

Changed

• The 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.
• Renamed is_nan which returns a vector mask to is_nan_mask.
• Don't use the cfg definitions added by build.rs for defining structs as rust-analyzer is not aware of them.

Removed

• Removed deprecated accessor methods.

0.10.2 - 2020-11-17

Changed

• Deprecated element accessor members .x(), .x_mut(), .set_x(), etc. on vector and quaternion types.
• Deprecated column accessor members .x_axis(), .x_axis_mut(), .set_x_axis(), etc. on matrix types.

0.10.1 - 2020-11-15

Added

• Added the Vec2::perp method which returns a Vec2 perpendicular to self.

Changed

• 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.

Removed

• Removed deprecated length_reciprocal and sign methods.

Fixed

• Adding glam as a no_std dependency should now work as expected.

0.10.0 - 2020-10-31

Breaking Changes

• Changed the return type of Vec4::truncate from Vec3A to Vec3.

Added

• Added From implementations to truncate to narrower vector types, e.g. Vec4 to Vec3A, Vec3 and Vec2 and from Vec3A and Vec3 to Vec2.
• Added swizzles for 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.
• Added 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.
• Added Mat4::transform_point3a and Mat4::transform_vector3a.
• Added AsRef<[f32; 9]> and AsMut<[f32; 9]> trait implementations to Mat3.
• Added optional bytemuck support primarily for casting types to &[u8].
• Added support for compiling with no_std by disabling the default std feature and adding the libm feature.
• Added distance and distance_squared methods to Vec2, Vec3, Vec3A and Vec4.

0.9.5 - 2020-10-10

Added

• 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.
• Added is_nan methods to Vec2, Vec3, Vec3A and Vec4 which return a mask.

Changed

• Renamed the vector reciprocal and length_reciprocal methods to recip and length_recip to match the Rust standard library naming. The old methods have been deprecated.
• Renamed the vector sign methods to signum match the Rust standard library naming. The new methods now check for NAN. The old methods have been deprecated.
• Added SSE2 optimized implementations of Mat4::determinant and Mat4::inverse.

Removed

• Removed deprecated function Mat4::perspective_glu_rh.

0.9.4 - 2020-08-31

Fixed

• Fixed 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.
• Fixed Mat3::transform_point2 to account for homogeneous z coordinate.

0.9.3 - 2020-08-11

Added

• Added Mat4::perspective_rh.

0.9.2 - 2020-07-09

Added

• Added Mat3::mul_vec3a and Quat::mul_vec3a.

Changed

• Changed Quat::mul_vec3 to accept and return Vec3 instead of Vec3A.

0.9.1 - 2020-07-01

Added

• Added Mat3 * Vec3A implementation.
• Added Vec3A benches.

Changed

• Some documentation improvements around the new Vec3A type.

0.9.0 - 2020-06-28

Added

• 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.
• Added mut column accessors to all matrix types, e.g. Mat2::x_axis_mut().
• Added From trait implementations for Vec3AMask and Vec4Mask to __m128.

Changed

• The Mat3 type is using the scalar Vec3 type for storage.
• Simplified Debug trait output for Quat, Vec4 and Vec3A.

Removed

• Removed the packed-vec3 feature flag as it is now redundant.

0.8.7 - 2020-04-28

Added

• Added Quat::slerp - note that this uses a sin approximation.
• Added angle_between method for Vec2 and Vec3.
• Implemented Debug, Display, PartialEq, Eq, PartialOrd, Ord, Hash, and AsRef traits for Vec2Mask, Vec3Mask and Vec4Mask.
• Added conversion functions from Vec2Mask, Vec3Mask and Vec4Mask to an array of [u32].
• Added build.rs to simplify conditional feature compilation.

Changed

• Increased test coverage.

Removed

• Removed cfg-if dependency.

0.8.6 - 2020-02-18

Added

• Added the 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.
• Added x_mut, y_mut, z_mut, w_mut where appropriate to Vec2, Vec3 and Vec4.
• Added implementation of core::ops::Index and core::ops::IndexMut for Vec2, Vec3 and Vec4.

Changed

• Merged SSE2 and scalar Vec3 and Vec4 implementations into single files using the cfg-if crate.

0.8.5 - 2020-01-02

Added

• Added projection functions Mat4::perspective_lh, Mat4::perspective_infinite_lh, Mat4::perspective_infinite_reverse_lh, Mat4::orthgraphic_lh and Mat4::orthographic_rh.
• Added round, ceil and floor methods to Vec2, Vec3 and Vec4.

0.8.4 - 2019-12-17

Added

• Added Mat4::to_scale_rotation_translation for extracting scale, rotation and translation from a 4x4 homogeneous transformation matrix.
• Added cargo-deny GitHub Action.

Changed

• Renamed Quat::new to Quat::from_xyzw.

0.8.3 - 2019-11-27

Added

• Added Mat4::orthographic_rh_gl.

Changed

• Renamed Mat4::perspective_glu_rh to Mat4::perspective_rh_gl.
• SSE2 optimizations for Mat2::determinant, Mat2::inverse, Mat2::transpose, Mat3::transpose, Quat::conjugate, Quat::lerp, Quat::mul_vec3, Quat::mul_quat and Quat::from_rotation_ypr.
• Disabled optimizations to Mat4::transform_point3 and Mat4::transform_vector3 as they are probably incorrect and need investigating.
• Added missing #[repr(C)] to Mat2, Mat3 and Mat4.
• Benchmarks now store output of functions to better estimate the cost of a function call.

Removed

• Removed deprecated functions Mat2::new, Mat3::new and Mat4::new.

0.8.2 - 2019-11-06

Changed

• 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.

Removed

• glam_assert!'s checking lerp is bounded between 0.0 and 1.0 and that matrix scales are non-zero have been removed.

0.8.1 - 2019-11-03

Added

• Added Display trait implementations for Mat2, Mat3 and Mat4.

Changed

• Disabled glam's SSE2 sin_cos implementation - it became less precise for large angle values.
• Reduced the default epsilon used by the is_normalized! macro from std::f32::EPSILON to 1e-6.

0.8.0 - 2019-10-14

Removed

• Removed the approx crate dependency. Each glam type has an abs_diff_eq method added which is used by unit tests for approximate floating point comparisons.
• Removed the Angle type. All angles are now f32 and are expected to be in radians.
• Removed the deprecated Vec2b, Vec3b and Vec4b types and the mask methods on Vec2Mask, Vec3Mask and Vec4Mask.

Changed

• The 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.
• The 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.
• Matrix new methods have been renamed to from_cols to be consistent with the other methods that create matrices from data.
• Renamed Mat4::perspective_glu to Mat4::perspective_glu_rh.

0.7.2 - 2019-09-22

Fixed

• Fixed incorrect projection matrix methods Mat4::look_at_lh and Mat4::look_at_rh.

Added

• Added support for building infinite projection matrices, including both standard and reverse depth Mat4::perspective_infinite_rh and Mat4::perspective_infinite_rh.
• Added Vec2Mask::new, Vec3Mask::new and Vec4Mask::new methods.
• Implemented std::ops BitAnd, BitAndAssign, BitOr, BitOrAssign and Not traits for Vec2Mask, Vec3Mask and Vec4Mask.
• Added method documentation for Vec4 and Vec4Mask types.
• Added missing serde implementations for Mat2, Mat3 and Mat4.
• Updated rand and criterion versions.

0.7.1 - 2019-07-08

Fixed

• The SSE2 implementation of Vec4 dot was missing a shuffle, meaning the dot, length, length_squared, length_reciprocal and normalize methods were sometimes incorrect.

Added

• Added the 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.
• Added is_normalized method to Vec2, Vec3 and Vec4.

Changed

• Replaced usage of std::mem::uninitialized with std::mem::MaybeUninit. This change requires stable Rust 1.36.
• Renamed Vec2b to Vec2Mask, Vec3b to Vec3Mask and Vec4b to Vec4Mask. Old names are aliased to the new name and deprecated.
• Deprecate VecNMask mask method, use new bitmask method instead
• Made fallback version of VecNMask types the same size and alignment as the SIMD versions.
• Added Default support to VecNMask types, will add more common traits in the future.
• Added #[inline] to mat2, mat3 and mat4 functions.

0.7.0 - 2019-06-28

Added

• Added Mat2 into [f32; 4], Mat3 into [f32; 9] and Mat4 into [f32; 16].

Removed

• Removed impl Mul<&Vec2> for Mat2 and impl Mul<&Vec3> for Vec3 as these don't exist for any other types.

0.6.1 - 2019-06-22

Changed

• Mat2 now uses a Vec4 internally which gives it some performance improvements when SSE2 is available.

0.6.0 - 2019-06-13

Changed

• Switched from row vectors to column vectors
• Vectors are now on the right of multiplications with matrices and quaternions.