glam-rs VS nalgebra

You could consider using a template framework instead, like Tera. Glam actually does this to generate Rust code.

If you’re still concerned, we can look at the implementation for to_euler()

I've been polishing glamour, the strongly typed vector math companion to glam. :-)

This crate uses bytemuck to implement a zero-cost strongly typed interface on top of glam.

4. [nalgebra]((https://nalgebra.org) for matrix operations.

There are still a few things I'm searching for, such as a robust optimization library. Currently, I'm experimenting with [OpEn]((https://alphaville.github.io/optimization-engine) for nonlinear model predictive control, but I hope to find something akin to [acados](https://github.com/acados) in Rust. Additionally, while nalgebra is solid, I believe it still doesn't outperform [Eigen]((https://eigen.tuxfamily.org) in terms of performance, though Rust's language features might limit the possibility of implementing something like Eigen.

I'm open to suggestions and feedback! For instance, I’m still debating whether to modularize the pipeline and add async features, or whether to keep things simpler to avoid overwhelming beginner learners.

Current code statistics:

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Looking into the nalgebra source code, we find that the first expression is implemented using generics

Ok, so this uses https://rapier.rs/ which is very cool

Rapier, alongside https://nalgebra.org/ (which it uses underneath) has seriously good documentation and some advanced features like cross-platform determinism (something made hard by the way floating point differs between platforms)

> Some GA libraries[1][2] define types for the different kind of objects (grades)

That's nice!

This reminds of me things like, linear algebra libraries that will type-check matrices so that a 2x2 matrix can't be added to a 2x3 matrix (but then you can have a dynamic matrix that will error only in runtime), like https://nalgebra.org/ and others.

Maybe start by looking at https://nalgebra.org/ to see what rust math libraries might look like

And Nalgebra, while better, also seems to have slowed down on commits and responses to issues and PRs. I have a PR there for a relatively simple wrapper type for row vectors which was explicitly requested by a maintainer, which hasn't even gotten a comment since for two weeks.

nalgebra (similar to Eigen in cpp)

nalgebra

nalgebra is for linear algebra.

Take a look into math libraries, like glam, nalgebra, and cgmath. I've only used these through game engines, though, so I can't offer per-basis reviews/advice.