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QVM: Quaternions, Vectors, Matrices


#include <boost/qvm/mat_operations.hpp>

namespace qvm
    //Only enabled if:
    //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
    //  mat_traits<A>::rows==mat_traits<A>::cols &&
    //  is_vec<B>::value && vec_traits<B>::dim==3
    template <class A,class B>
    void rotate( A & a, B const & axis, typename mat_traits<A>::scalar_type angle );


As if:

a *= rot_mat<mat_traits<A>::rows>(axis,angle);