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

boost/qvm/quat_vec_operations.hpp

This header defines all available operations between quaternions and vectors.

Synopsis:

#include <boost/qvm/quat_vec_operations.hpp>

namespace boost
{
    namespace qvm
    {
        //Only enabled if:
        //  is_quat<A>::value &&
        //  is_vec<B>::value && vec_traits<B>::dim==3
        template <class A,class B>
        typename deduce_vec2<A,B,3>::type
        operator*( A const & a, B const & b );
    }
}