Boost C++ Libraries

...one of the most highly regarded and expertly designed C++ library projects in the world. Herb Sutter and Andrei Alexandrescu, C++ Coding Standards

QVM: Quaternions, Vectors, Matrices

rot_mat

#include <boost/qvm/mat_operations.hpp>

namespace qvm
{
    //Only enabled if:
    //  is_vec<A>::value && vec_traits<A>::dim==3
    template <int Dim,class A,class Angle>
    -unspecified-return-type
    rot_mat( A const & axis, Angle angle );
}

Returns:

A matrix of unspecified type, of Dim rows and Dim columns parameter, which performs a rotation around the axis at angle radians.

Throws:

In case the axis vector has zero magnitude, throws zero_magnitude_error.

Note:

The rot_mat function is not a view proxy; it returns a temp object.