Synopsis

# QVM: Quaternions, Vectors, Matrices

### Synopsis

#include <boost/qvm/all.hpp>

    namespace boost
    {
        namespace qvm
        {
            //*** Type traits ***

            template <class T>
            struct is_quat
            {
                static bool const value=/*unspecified*/;
            };

            template <class Q>
            struct quat_traits
            {
                /*main template members unspecified*/
            };

            /*
            User-defined (possibly partial) specializations:

            template <>
            struct quat_traits<Q>
            {
                typedef /*user-defined*/ scalar_type;

                template <int I> static inline scalar_type read_element( Quaternion const & q );
                template <int I> static inline scalar_type & write_element( Quaternion & q );
            };
            */

            template <class QuatType,class ScalarType>
            struct quat_traits_defaults
            {
                typedef QuatType quat_type;
                typedef ScalarType scalar_type;

                template <int I>
                static BOOST_QVM_INLINE_CRITICAL
                scalar_type read_element( quat_type const & x )
                {
                    return quat_traits<quat_type>::template write_element<I>(const_cast<quat_type &>(x));
                }
            };

            template <class T>
            struct is_vec
            {
                static bool const value=/*unspecified*/;
            };

            template <class V>
            struct vec_traits
            {
                /*main template members unspecified*/
            };

            /*
            User-defined (possibly partial) specializations:

            template <>
            struct vec_traits<V>
            {
                static int const dim = /*user-defined*/;
                typedef /*user-defined*/ scalar_type;

                template <int I> static inline scalar_type read_element( Vector const & v );
                template <int I> static inline scalar_type & write_element( Vector & v );

                static inline scalar_type read_element_idx( int i, Vector const & v );
                static inline scalar_type & write_element_idx( int i, Vector & v );
            };
            */

            template <class VecType,class ScalarType,int Dim>
            struct vec_traits_defaults
            {
                typedef VecType vec_type;
                typedef ScalarType scalar_type;
                static int const dim=Dim;

                template <int I>
                static BOOST_QVM_INLINE_CRITICAL
                scalar_type write_element( vec_type const & x )
                {
                    return vec_traits<vec_type>::template write_element<I>(const_cast<vec_type &>(x));
                }

                static BOOST_QVM_INLINE_CRITICAL
                scalar_type read_element_idx( int i, vec_type const & x )
                {
                    return vec_traits<vec_type>::write_element_idx(i,const_cast<vec_type &>(x));
                }

                protected:

                static BOOST_QVM_INLINE_TRIVIAL
                scalar_type & write_element_idx( int i, vec_type & m )
                {
                    /* unspecified */
                }
            };

            template <class T>
            struct is_mat
            {
                static bool const value=/*unspecified*/;
            };

            template <class M>
            struct mat_traits
            {
                /*main template members unspecified*/
            };

            /*
            User-defined (possibly partial) specializations:

            template <>
            struct mat_traits<M>
            {
                static int const rows = /*user-defined*/;
                static int const cols = /*user-defined*/;
                typedef /*user-defined*/ scalar_type;

                template <int R,int C> static inline scalar_type read_element( Matrix const & m );
                template <int R,int C> static inline scalar_type & write_element( Matrix & m );

                static inline scalar_type read_element_idx( int r, int c, Matrix const & m );
                static inline scalar_type & write_element_idx( int r, int c, Matrix & m );
            };
            */

            template <class MatType,class ScalarType,int Rows,int Cols>
            struct mat_traits_defaults
            {
                typedef MatType mat_type;
                typedef ScalarType scalar_type;
                static int const rows=Rows;
                static int const cols=Cols;

                template <int Row,int Col>
                static BOOST_QVM_INLINE_CRITICAL
                scalar_type write_element( mat_type const & x )
                {
                    return mat_traits<mat_type>::template write_element<Row,Col>(const_cast<mat_type &>(x));
                }

                static BOOST_QVM_INLINE_CRITICAL
                scalar_type read_element_idx( int r, int c, mat_type const & x )
                {
                    return mat_traits<mat_type>::write_element_idx(r,c,const_cast<mat_type &>(x));
                }

                protected:

                static BOOST_QVM_INLINE_TRIVIAL
                scalar_type & write_element_idx( int r, int c, mat_type & m )
                {
                    /* unspecified */
                }
            };

            //*** Quaternion, vector and matrix types ***

            template <class T>
            struct quat
            {
                T a[4];

                template <class R>
                operator R() const
                {
                    R r;
                    assign(r,*this);
                    return r;
                }
            };

            template <class Quaternion>
            struct quat_traits;

            template <class T>
            struct quat_traits< quat<T> >
            {
                typedef T scalar_type;

                template <int I> static scalar_type read_element( quat<T> const & x ) { return x.a[I]; }
                template <int I> static scalar_type & write_element( quat<T> & x ) { return x.a[I]; }
            };

            template <class T,int Dim>
            struct vec
            {
                T a[Dim];

                template <class R>
                operator R() const
                {
                    R r;
                    assign(r,*this);
                    return r;
                }
            };

            template <class Vector>
            struct vec_traits;

            template <class T,int Dim>
            struct vec_traits< vec<T,Dim> >
            {
                typedef T scalar_type;
                static int const dim=Dim;

                template <int I> static scalar_type read_element( vec<T,Dim> const & x ) { return x.a[I]; }
                template <int I> static scalar_type & write_element( vec<T,Dim> & x ) { return x.a[I]; }

                static scalar_type read_element_idx( int i, vec<T,Dim> const & x ) { return x.a[i]; }
                static scalar_type & write_element_idx( int i, vec<T,Dim> & x ) { return x.a[i]; }
            };

            template <class T,int Rows,int Cols>
            struct mat
            {
                T a[Rows][Cols];

                template <class R>
                operator R() const
                    {
                    R r;
                    assign(r,*this);
                    return r;
                    }
            };

            template <class Matrix>
            struct mat_traits;

            template <class T,int Rows,int Cols>
            struct mat_traits< mat<T,Rows,Cols> >
            {
                typedef T scalar_type;
                static int const rows=Rows;
                static int const cols=Cols;

                template <int Row,int Col> static scalar_type read_element( mat<T,Rows,Cols> const & x ) { return x.a[Row][Col]; }
                template <int Row,int Col> static scalar_type & write_element( mat<T,Rows,Cols> & x ) { return x.a[Row][Col]; }

                static scalar_type read_element_idx( int row, int col, mat<T,Rows,Cols> const & x ) { return x.a[row][col]; }
                static scalar_type & write_element_idx( int row, int col, mat<T,Rows,Cols> & x ) { return x.a[row][col]; }
            };

            //*** Accessing quaternion elements ***

            //Only enabled if:
            //  is_quat<Q>::value

            template <class Q> -unspecified-return-type- S( Q & q );
            template <class Q> -unspecified-return-type- V( Q & q );
            template <class Q> -unspecified-return-type- X( Q & q );
            template <class Q> -unspecified-return-type- Y( Q & q );
            template <class Q> -unspecified-return-type- Z( Q & q );

            //*** Accessing vector elements ***

            //Only enabled if:
            //  is_vec<V>::value

            template <int I,class V> -unspecified-return-type- A( V & v );
            template <class V> -unspecified-return-type- A0( V & v );
            template <class V> -unspecified-return-type- A1( V & v );
            ...
            template <class V> -unspecified-return-type- A9( V & v );

            template <class V> -unspecified-return-type- X( V & v );
            template <class V> -unspecified-return-type- Y( V & v );
            template <class V> -unspecified-return-type- Z( V & v );
            template <class V> -unspecified-return-type- W( V & v );

            //*** Accessing vector elements by swizzling ***

            //2D view proxies, only enabled if:
            //  is_vec<V>::value
            template <class V> -unspecified-2D-vector-type- XX( V & v );
            template <class V> -unspecified-2D-vector-type- XY( V & v );
            template <class V> -unspecified-2D-vector-type- XZ( V & v );
            template <class V> -unspecified-2D-vector-type- XW( V & v );
            template <class V> -unspecified-2D-vector-type- X0( V & v );
            template <class V> -unspecified-2D-vector-type- X1( V & v );
            template <class V> -unspecified-2D-vector-type- YX( V & v );
            template <class V> -unspecified-2D-vector-type- YY( V & v );
            template <class V> -unspecified-2D-vector-type- YZ( V & v );
            template <class V> -unspecified-2D-vector-type- YW( V & v );
            template <class V> -unspecified-2D-vector-type- Y0( V & v );
            template <class V> -unspecified-2D-vector-type- Y1( V & v );
            template <class V> -unspecified-2D-vector-type- ZX( V & v );
            template <class V> -unspecified-2D-vector-type- ZY( V & v );
            template <class V> -unspecified-2D-vector-type- ZZ( V & v );
            template <class V> -unspecified-2D-vector-type- ZW( V & v );
            template <class V> -unspecified-2D-vector-type- Z0( V & v );
            template <class V> -unspecified-2D-vector-type- Z1( V & v );
            template <class V> -unspecified-2D-vector-type- WX( V & v );
            template <class V> -unspecified-2D-vector-type- WY( V & v );
            template <class V> -unspecified-2D-vector-type- WZ( V & v );
            template <class V> -unspecified-2D-vector-type- WW( V & v );
            template <class V> -unspecified-2D-vector-type- W0( V & v );
            template <class V> -unspecified-2D-vector-type- W1( V & v );
            ...
            //2D view proxies, only enabled if:
            //  is_scalar<S>::value
            template <class S> -unspecified-2D-vector-type- X0( S & s );
            template <class S> -unspecified-2D-vector-type- X1( S & s );
            template <class S> -unspecified-2D-vector-type- XX( S & s );
            ...
            -unspecified-2D-vector-type- _00();
            -unspecified-2D-vector-type- _01();
            -unspecified-2D-vector-type- _10();
            -unspecified-2D-vector-type- _11();

            //3D view proxies, only enabled if:
            //  is_vec<V>::value
            template <class V> -unspecified-3D-vector-type- XXX( V & v );
            ...
            template <class V> -unspecified-3D-vector-type- XXW( V & v );
            template <class V> -unspecified-3D-vector-type- XX0( V & v );
            template <class V> -unspecified-3D-vector-type- XX1( V & v );
            template <class V> -unspecified-3D-vector-type- XYX( V & v );
            ...
            template <class V> -unspecified-3D-vector-type- XY1( V & v );
            ...
            template <class V> -unspecified-3D-vector-type- WW1( V & v );
            ...
            //3D view proxies, only enabled if:
            //  is_scalar<S>::value
            template <class S> -unspecified-3D-vector-type- X00( S & s );
            template <class S> -unspecified-3D-vector-type- X01( S & s );
            ...
            template <class S> -unspecified-3D-vector-type- XXX( S & s );
            template <class S> -unspecified-3D-vector-type- XX0( S & s );
            ...
            -unspecified-3D-vector-type- _000();
            -unspecified-3D-vector-type- _001();
            -unspecified-3D-vector-type- _010();
            ...
            -unspecified-3D-vector-type- _111();

            //4D view proxies, only enabled if:
            //  is_vec<V>::value
            template <class V> -unspecified-4D-vector-type- XXXX( V & v );
            ...
            template <class V> -unspecified-4D-vector-type- XXXW( V & v );
            template <class V> -unspecified-4D-vector-type- XXX0( V & v );
            template <class V> -unspecified-4D-vector-type- XXX1( V & v );
            template <class V> -unspecified-4D-vector-type- XXYX( V & v );
            ...
            template <class V> -unspecified-4D-vector-type- XXY1( V & v );
            ...
            template <class V> -unspecified-4D-vector-type- WWW1( V & v );
            ...
            //4D view proxies, only enabled if:
            //  is_scalar<S>::value
            template <class S> -unspecified-4D-vector-type- X000( S & s );
            template <class S> -unspecified-4D-vector-type- X001( S & s );
            ...
            template <class S> -unspecified-4D-vector-type- XXXX( S & s );
            template <class S> -unspecified-4D-vector-type- XX00( S & s );
            ...
            -unspecified-4D-vector-type- _0000();
            -unspecified-4D-vector-type- _0001();
            -unspecified-4D-vector-type- _0010();
            ...
            -unspecified-4D-vector-type- _1111();

            //*** Accessing matrix elements ***

            //Only enabled if:
            //  is_quat<Q>::value

            template <int R,int C,class M> -unspecified-return-type- A( M & m );

            template <class M> -unspecified-return-type- A00( M & m );
            template <class M> -unspecified-return-type- A01( M & m );
            ...
            template <class M> -unspecified-return-type- A09( M & m );
            template <class M> -unspecified-return-type- A10( M & m );
            ...
            template <class M> -unspecified-return-type- A99( M & m );

            //*** Quaternion operations ***

            //Only enabled if:
            //  is_quat<A>::value && is_quat<B>::value
            template <class A,class B>
            A & assign( A & a, B const & b );

            //Only enabled if:
            //  is_quat<R>::value && is_quat<A>::value
            template <class R,class A>
            R convert_to( A const & a );

            //Only enabled if:
            //  is_quat<R>::value && is_mat<A>::value &&
            //  mat_traits<A>::rows==3 && mat_traits<A>::cols==3
            template <class R,class A>
            R convert_to( A const & m );

            //Only enabled if:
            //  is_quat<A>::value && is_quat<B>::value
            template <class A,class B>
            A & operator-=( A & a, B const & b );

            //Only enabled if: is_quat<A>::value
            template <class A>
            typename deduce_quat<A>::type
            operator-( A const & a );

            //Only enabled if:
            //  is_quat<A>::value && is_quat<B>::value &&
            template <class A,class B>
            typename deduce_quat2<A,B>::type
            operator-( A const & a, B const & b );

            //Only enabled if:
            //  is_quat<A>::value && is_quat<B>::value
            template <class A,class B>
            A & operator+=( A & a, B const & b );

            //Only enabled if:
            //  is_quat<A>::value && is_quat<B>::value &&
            template <class A,class B>
            typename deduce_quat2<A,B>::type
            operator+( A const & a, B const & b );

            //Only enabled if: is_quat<A>::value && is_quat<B>::value
            template <class A,class B>
            A & operator/=( A & a, B b );

            //Only enabled if: is_quat<A>::value && is_quat<B>::value
            template <class A,class B>
            typename deduce_quat<A>::type
            operator/( A const & a, B b );

            //Only enabled if:
            //  is_quat<A>::value && is_quat<B>::value
            template <class A,class B>
            A & operator*=( A & a, B const & b );

            //Only enabled if: is_quat<A>::value && is_quat<B>::value
            template <class A,class B>
            A & operator*=( A & a, B b );

            //Only enabled if:
            //  is_quat<A>::value && is_quat<B>::value
            template <class A,class B>
            typename deduce_quat2<A,B>::type
            operator*( A const & a, B const & b );

            //Only enabled if: is_quat<A>::value && is_quat<B>::value
            template <class A,class B>
            typename deduce_quat<A>::type
            operator*( A const & a, B b );

            //Only enabled if:
            //  is_quat<A>::value && is_quat<B>::value
            template <class A,class B>
            bool operator==( A const & a, B const & b );

            //Only enabled if:
            //  is_quat<A>::value && is_quat<B>::value
            template <class A,class B>
            bool operator!=( A const & a, B const & b );

            //Only enabled if:
            //  is_quat<A>::value && is_quat<B>::value
            template <class A,class B,class Cmp>
            bool cmp( A const & a, B const & b, Cmp pred );

            //Only enabled if: is_quat<A>::value
            template <class A>
            typename quat_traits<A>::scalar_type
            mag_sqr( A const & a );

            //Only enabled if: is_quat<A>::value
            template <class A>
            typename quat_traits<A>::scalar_type
            mag( A const & a );

            //Only enabled if: is_quat<A>::value
            template <class A>
            typename deduce_quat<A>::type
            normalized( A const & a );

            //Only enabled if: is_quat<A>::value
            template <class A>
            void normalize( A & a );

            //Only enabled if:
            //  is_quat<A>::value && is_quat<B>::value
            template <class A,class B>
            typename deduce_scalar<A,B>::type
            dot( A const & a, B const & b );

            //Only enabled if: is_quat<A>::value
            template <class A>
            typename deduce_quat<A>::type
            conjugate( A const & a );

            //Only enabled if: is_quat<A>::value
            template <class A>
            typename deduce_quat<A>::type
            inverse( A const & a );

            //Only enabled if:
            //  is_quat<A>::value && is_quat<B>::value && is_scalar<C>
            template <class A,class B,class C>
            typename deduce_quat2<A,B> >::type
            slerp( A const & a, B const & b, C c );

            template <class T>
            -unspecified-return-type- zero_quat();

            //Only enabled if: is_quat<A>::value
            template <class A>
            void set_zero( A & a );

            template <class S>
            -unspecified-return-type- identity_quat();

            //Only enabled if: is_quat<A>::value
            template <class A>
            void set_identity( A & a );

            //Only enabled if:
            //  is_vec<A>::value && vec_traits<A>::dim==3
            template <class A>
            -unspecified-return-type- rot_quat( A const & axis, typename vec_traits<A>::scalar_type angle );

            //Only enabled if:
            //  is_quat<A>::value &&
            //  is_vec<B>::value && vec_traits<B>::dim==3
            template <class A>
            void set_rot( A & a, B const & axis, typename vec_traits<B>::scalar_type angle );

            //Only enabled if:
            //  is_quat<A>::value &&
            //  is_vec<B>::value && vec_traits<B>::dim==3
            template <class A,class B>
            void rotate( A & a, B const & axis, typename quat_traits<A>::scalar_type angle );

            template <class Angle>
            -unspecified-return-type- rotx_quat( Angle const & angle );

            //Only enabled if: is_quat<A>::value
            template <class A>
            void set_rotx( A & a, typename quat_traits<A>::scalar_type angle );

            //Only enabled if: is_quat<A>::value
            template <class A>
            void rotate_x( A & a, typename quat_traits<A>::scalar_type angle );

            template <class Angle>
            -unspecified-return-type- roty_quat( Angle const & angle );

            //Only enabled if: is_quat<A>::value
            template <class A>
            void set_rotz( A & a, typename quat_traits<A>::scalar_type angle );

            //Only enabled if: is_quat<A>::value
            template <class A>
            void rotate_y( A & a, typename quat_traits<A>::scalar_type angle );

            template <class Angle>
            -unspecified-return-type- rotz_quat( Angle const & angle );

            //Only enabled if: is_quat<A>::value
            template <class A>
            void set_rotz( A & a, typename quat_traits<A>::scalar_type angle );

            //Only enabled if: is_quat<A>::value
            template <class A>
            void rotate_z( A & a, typename quat_traits<A>::scalar_type angle );

            //Only enabled if: is_quat<A>::value
            template <class Scalar,class A>
            -unspecified-return_type- scalar_cast( A const & a );

            //Only enabled if: is_quat<A>::value
            template <class A>
            -unspecified-return-type- qref( A & a );

            //*** Vector operations ***

            //Only enabled if:
            //  is_vec<A>::value && is_vec<B>::value &&
            //  vec_traits<A>::dim==vec_traits<B>::dim
            template <class A,class B>
            A & assign( A & a, B const & b );

            //Only enabled if:
            //  is_vec<R>::value && is_vec<A>::value &&
            //  vec_traits<R>::dim==vec_traits<A>::dim
            template <class R,class A>
            R convert_to( A const & a );

            //Only enabled if:
            //  is_vec<A>::value && is_vec<B>::value &&
            //  vec_traits<A>::dim==vec_traits<B>::dim
            template <class A,class B>
            A & operator-=( A & a, B const & b );

            //Only enabled if: is_vec<A>::value
            template <class A>
            typename deduce_vec<A>::type
            operator-( A const & a );

            //Only enabled if:
            //  is_vec<A>::value && is_vec<B>::value &&
            //  vec_traits<A>::dim==vec_traits<B>::dim
            template <class A,class B>
            typename deduce_vec2<A,B,vec_traits<A>::dim>::type
            operator-( A const & a, B const & b );

            //Only enabled if:
            //  is_vec<A>::value && is_vec<B>::value &&
            //  vec_traits<A>::dim==vec_traits<B>::dim
            template <class A,class B>
            A & operator+=( A & a, B const & b );

            //Only enabled if:
            //  is_vec<A>::value && is_vec<B>::value &&
            //  vec_traits<A>::dim==vec_traits<B>::dim
            template <class A,class B>
            typename deduce_vec2<A,B,vec_traits<A>::dim>::type
            operator+( A const & a, B const & b );

            //Only enabled if: is_vec<A>::value && is_scalar<B>::value
            template <class A,class B>
            A & operator/=( A & a, B b );

            //Only enabled if: is_vec<A>::value && is_scalar<B>::value
            template <class A,class B>
            typename deduce_vec<A>::type
            operator/( A const & a, B b );

            //Only enabled if: is_vec<A>::value && is_scalar<B>::value
            template <class A,class B>
            A & operator*=( A & a, B b );

            //Only enabled if: is_vec<A>::value && is_scalar<B>::value
            template <class A>
            typename deduce_vec<A>::type
            operator*( A const & a, B b );

            //Only enabled if: is_scalar<A>::value && is_vec<B>::value
            template <class A>
            typename deduce_vec<B>::type
            operator*( A a, B const & b );

            //Only enabled if:
            //  is_vec<A>::value && is_vec<B>::value &&
            //  vec_traits<A>::dim==vec_traits<B>::dim
            template <class A,class B>
            bool operator==( A const & a, B const & b );

            //Only enabled if:
            //  is_vec<A>::value && is_vec<B>::value &&
            //  vec_traits<A>::dim==vec_traits<B>::dim
            template <class A,class B>
            bool operator!=( A const & a, B const & b );

            //Only enabled if:
            //  is_vec<A>::value && is_vec<B>::value &&
            //  vec_traits<A>::dim==vec_traits<B>::dim
            template <class A,class B,class Cmp>
            bool cmp( A const & a, B const & b, Cmp pred );

            //Only enabled if:
            //  is_vec<A>::value
            template <class A>
            typename vec_traits<A>::scalar_type
            mag_sqr( A const & a );

            //Only enabled if:
            //  is_vec<A>::value
            template <class A>
            typename vec_traits<A>::scalar_type
            mag( A const & a );

            //Only enabled if:
            //  is_vec<A>::value
            template <class A>
            typename deduce_vec<A>::type
            normalized( A const & a );

            //Only enabled if:
            //  is_vec<A>::value
            template <class A>
            void normalize( A & a );

            //Only enabled if:
            //  is_vec<A>::value && is_vec<B>::value &&
            //  vec_traits<A>::dim==vec_traits<B>::dim
            template <class A,class B>
            typename deduce_scalar<A,B>::type
            dot( A const & a, B const & b );

            //Only enabled if:
            //  is_vec<A>::value && is_vec<B>::value &&
            //  vec_traits<A>::dim==3 && vec_traits<B>::dim==3
            template <class A,class B>
            typename deduce_vec2<A,B,3>::type
            cross( A const & a, B const & b );

            template <class T,int S>
            -unspecified-return-type- zero_vec();

            //Only enabled if:
            //  is_vec<A>::value
            template <class A>
            void set_zero( A & a );

            //Only enabled if: is_vec<A>::value
            template <class A>
            -unspecified-return-type- vref( A & a );

            //Only enabled if: is_vec<A>::value
            template <class Scalar,class A>
            -unspecified-return_type- scalar_cast( A const & a );

            //*** Matrix operations ***

            //Only enabled if:
            //  is_mat<A>::value && is_mat<B>::value &&
            //  mat_traits<A>::rows==mat_traits<B>::rows &&
            //  mat_traits<A>::cols==mat_traits<B>::cols
            template <class A,class B>
            A & assign( A & a, B const & b );

            //Only enabled if:
            //  is_mat<R>::value && is_mat<A>::value &&
            //  mat_traits<R>::rows==mat_traits<A>::rows &&
            //  mat_traits<R>::cols==mat_traits<A>::cols
            template <class R,class A>
            R convert_to( A const & a );

            //Only enabled if:
            //  is_mat<A>::value && is_mat<B>::value &&
            //  mat_traits<A>::rows==mat_traits<B>::rows &&
            //  mat_traits<A>::cols==mat_traits<B>::cols
            template <class A,class B>
            A & operator-=( A & a, B const & b );

            //Only enabled if: is_mat<A>::value
            template <class A>
            typename deduce_mat<A>::type
            operator-( A const & a );

            //Only enabled if:
            //  is_mat<A>::value && is_mat<B>::value &&
            //  mat_traits<A>::rows==mat_traits<B>::rows &&
            //  mat_traits<A>::cols==mat_traits<B>::cols
            template <class A,class B>
            typename deduce_mat2<A,B,mat_traits<A>::rows,mat_traits<A>::cols>::type
            operator-( A const & a, B const & b );

            //Only enabled if:
            //  is_mat<A>::value && is_mat<B>::value &&
            //  mat_traits<A>::rows==mat_traits<B>::rows &&
            //  mat_traits<A>::cols==mat_traits<B>::cols
            template <class A,class B>
            A & operator+=( A & a, B const & b );

            //Only enabled if:
            //  is_mat<A>::value && is_mat<B>::value &&
            //  mat_traits<A>::rows==mat_traits<B>::rows &&
            //  mat_traits<A>::cols==mat_traits<B>::cols
            template <class A,class B>
            typename deduce_mat2<A,B,mat_traits<A>::rows,mat_traits<A>::cols>::type
            operator+( A const & a, B const & b );

            //Only enabled if: is_mat<A>::value && is_scalar<B>::value
            template <class A,class B>
            A & operator/=( A & a, B b );

            //Only enabled if: is_mat<A>::value && is_scalar<B>::value
            template <class A,class B>
            typename deduce_mat<A>::type
            operator/( A const & a, B b );

            //Only enabled if:
            //  is_mat<A>::value && is_mat<B>::value &&
            //  mat_traits<A>::rows==mat_traits<A>::cols &&
            //  mat_traits<A>::rows==mat_traits<B>::rows &&
            //  mat_traits<A>::cols==mat_traits<B>::cols
            template <class A,class B>
            A & operator*=( A & a, B const & b );

            //Only enabled if: is_mat<A>::value && is_scalar<B>::value
            template <class A,class B>
            A & operator*=( A & a, B b );

            //Only enabled if:
            //  is_mat<A>::value && is_mat<B>::value &&
            //  mat_traits<A>::cols==mat_traits<B>::rows
            template <class A,class B>
            typename deduce_mat2<A,B,mat_traits<A>::rows,mat_traits<B>::cols>::type
            operator*( A const & a, B const & b );

            //Only enabled if: is_mat<A>::value && is_scalar<B>::value
            template <class A,class B>
            typename deduce_mat<A>::type
            operator*( A const & a, B b );

            //Only enabled if: is_scalar<A>::value && is_mat<B>::value
            template <class A,class B>
            typename deduce_mat<B>::type
            operator*( A a, B const & b );

            //Only enabled if:
            //  is_mat<A>::value && is_mat<B>::value &&
            //  mat_traits<A>::rows==mat_traits<B>::rows &&
            //  mat_traits<A>::cols==mat_traits<B>::cols
            template <class A,class B>
            bool operator==( A const & a, B const & b );

            //Only enabled if:
            //  is_mat<A>::value && is_mat<B>::value &&
            //  mat_traits<A>::rows==mat_traits<B>::rows &&
            //  mat_traits<A>::cols==mat_traits<B>::cols
            template <class A,class B>
            bool operator!=( A const & a, B const & b );

            //Only enabled if:
            //  is_mat<A>::value && is_mat<B>::value &&
            //  mat_traits<A>::rows==mat_traits<B>::rows &&
            //  mat_traits<A>::cols==mat_traits<B>::cols
            template <class A,class B,class Cmp>
            bool cmp( A const & a, B const & b, Cmp pred );

            //Only enabled if:
            //  is_mat<A>::value && is_scalar<B>::value
            //  mat_traits<A>::rows==mat_traits<A>::cols

            template <class A,class B>
            typename deduce_mat<A>::type
            inverse( A const & a, B det );

            template <class A>
            typename deduce_mat<A>::type
            inverse( A const & a );

            template <class T,int D>
            -unspecified-return-type- zero_mat();

            template <class T,int R,int C>
            -unspecified-return-type- zero_mat();

            //Only enabled if:
            //  is_mat<A>::value
            template <class A>
            void set_zero( A & a );

            template <class S,int D>
            -unspecified-return-type- identity_mat();

            //Only enabled if:
            //  is_mat<A>::value &&
            //  mat_traits<A>::cols==mat_traits<A>::rows
            template <class A>
            void set_identity( A & a );

            //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 );

            template <int Dim,class Angle>
            -unspecified-return-type-
            rot_mat_xzy( Angle x1, Angle z2, Angle y3 );

            template <int Dim,class Angle>
            -unspecified-return-type-
            rot_mat_xyz( Angle x1, Angle y2, Angle z3 );

            template <int Dim,class Angle>
            -unspecified-return-type-
            rot_mat_yxz( Angle y1, Angle x2, Angle z3 );

            template <int Dim,class Angle>
            -unspecified-return-type-
            rot_mat_yzx( Angle y1, Angle z2, Angle x3 );

            template <int Dim,class Angle>
            -unspecified-return-type-
            rot_mat_zyx( Angle z1, Angle y2, Angle x3 );

            template <int Dim,class Angle>
            -unspecified-return-type-
            rot_mat_zxy( Angle z1, Angle x2, Angle y3 );

            template <int Dim,class Angle>
            -unspecified-return-type-
            rot_mat_xzx( Angle x1, Angle z2, Angle x3 );

            template <int Dim,class Angle>
            -unspecified-return-type-
            rot_mat_xyx( Angle x1, Angle y2, Angle x3 );

            template <int Dim,class Angle>
            -unspecified-return-type-
            rot_mat_yxy( Angle y1, Angle x2, Angle y3 );

            template <int Dim,class Angle>
            -unspecified-return-type-
            rot_mat_yzy( Angle y1, Angle z2, Angle y3 );

            template <int Dim,class Angle>
            -unspecified-return-type-
            rot_mat_zyz( Angle z1, Angle y2, Angle z3 );

            template <int Dim,class Angle>
            -unspecified-return-type-
            rot_mat_zxz( Angle z1, Angle y2, Angle z3 );

            //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>
            void set_rot( A & a, B const & axis, typename vec_traits<B>::scalar_type angle );

            //Only enabled if:
            //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
            //  mat_traits<A>::rows==mat_traits<A>::cols
            template <class A,class Angle>
            void set_rot_xzy( A & a, Angle x1, Angle z2, Angle y3 );

            //Only enabled if:
            //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
            //  mat_traits<A>::rows==mat_traits<A>::cols
            template <class A,class Angle>
            void set_rot_xyz( A & a, Angle x1, Angle y2, Angle z3 );

            //Only enabled if:
            //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
            //  mat_traits<A>::rows==mat_traits<A>::cols
            template <class A,class Angle>
            void set_rot_yxz( A & a, Angle y1, Angle x2, Angle z3 );

            //Only enabled if:
            //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
            //  mat_traits<A>::rows==mat_traits<A>::cols
            template <class A,class Angle>
            void set_rot_yzx( A & a, Angle y1, Angle z2, Angle x3 );

            //Only enabled if:
            //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
            //  mat_traits<A>::rows==mat_traits<A>::cols
            template <class A,class Angle>
            void set_rot_zyx( A & a, Angle z1, Angle y2, Angle x3 );

            //Only enabled if:
            //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
            //  mat_traits<A>::rows==mat_traits<A>::cols
            template <class A,class Angle>
            void set_rot_zxy( A & a, Angle z1, Angle x2, Angle y3 );

            //Only enabled if:
            //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
            //  mat_traits<A>::rows==mat_traits<A>::cols
            template <class A,class Angle>
            void set_rot_xzx( A & a, Angle x1, Angle z2, Angle x3 );

            //Only enabled if:
            //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
            //  mat_traits<A>::rows==mat_traits<A>::cols
            template <class A,class Angle>
            void set_rot_xyx( A & a, Angle x1, Angle y2, Angle x3 );

            //Only enabled if:
            //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
            //  mat_traits<A>::rows==mat_traits<A>::cols
            template <class A,class Angle>
            void set_rot_yxy( A & a, Angle y1, Angle x2, Angle y3 );

            //Only enabled if:
            //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
            //  mat_traits<A>::rows==mat_traits<A>::cols
            template <class A,class Angle>
            void set_rot_yzy( A & a, Angle y1, Angle z2, Angle y3 );

            //Only enabled if:
            //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
            //  mat_traits<A>::rows==mat_traits<A>::cols
            template <class A,class Angle>
            void set_rot_zyz( A & a, Angle z1, Angle y2, Angle z3 );

            //Only enabled if:
            //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
            //  mat_traits<A>::rows==mat_traits<A>::cols
            template <class A,class Angle>
            void set_rot_zxz( A & a, Angle z1, Angle x2, Angle z3 );

            //Only enabled if:
            //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
            //  mat_traits<A>::rows==mat_traits<A>::cols
            template <class A,class Angle>
            void set_rot_xzy( A & a, Angle x1, Angle z2, Angle y3 );

            //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 );

            //Only enabled if:
            //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
            //  mat_traits<A>::rows==mat_traits<A>::cols
            template <class A,class Angle>
            void rotate_xzy( A & a, Angle x1, Angle z2, Angle y3 );

            //Only enabled if:
            //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
            //  mat_traits<A>::rows==mat_traits<A>::cols
            template <class A,class Angle>
            void rotate_xyz( A & a, Angle x1, Angle y2, Angle z3 );

            //Only enabled if:
            //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
            //  mat_traits<A>::rows==mat_traits<A>::cols
            template <class A,class Angle>
            void rotate_yxz( A & a, Angle y1, Angle x2, Angle z3 );

            //Only enabled if:
            //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
            //  mat_traits<A>::rows==mat_traits<A>::cols
            template <class A,class Angle>
            void rotate_yzx( A & a, Angle y1, Angle z2, Angle x3 );

            //Only enabled if:
            //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
            //  mat_traits<A>::rows==mat_traits<A>::cols
            template <class A,class Angle>
            void rotate_zyx( A & a, Angle z1, Angle y2, Angle x3 );

            //Only enabled if:
            //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
            //  mat_traits<A>::rows==mat_traits<A>::cols
            template <class A,class Angle>
            void rotate_zxy( A & a, Angle z1, Angle x2, Angle y3 );

            //Only enabled if:
            //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
            //  mat_traits<A>::rows==mat_traits<A>::cols
            template <class A,class Angle>
            void rotate_xzx( A & a, Angle x1, Angle z2, Angle x3 );

            //Only enabled if:
            //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
            //  mat_traits<A>::rows==mat_traits<A>::cols
            template <class A,class Angle>
            void rotate_xyx( A & a, Angle x1, Angle y2, Angle x3 );

            //Only enabled if:
            //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
            //  mat_traits<A>::rows==mat_traits<A>::cols
            template <class A,class Angle>
            void rotate_yxy( A & a, Angle y1, Angle x2, Angle y3 );

            //Only enabled if:
            //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
            //  mat_traits<A>::rows==mat_traits<A>::cols
            template <class A,class Angle>
            void rotate_yzy( A & a, Angle y1, Angle z2, Angle y3 );

            //Only enabled if:
            //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
            //  mat_traits<A>::rows==mat_traits<A>::cols
            template <class A,class Angle>
            void rotate_zyz( A & a, Angle z1, Angle y2, Angle z3 );

            //Only enabled if:
            //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
            //  mat_traits<A>::rows==mat_traits<A>::cols
            template <class A,class Angle>
            void rotate_zxz( A & a, Angle z1, Angle x2, Angle z3 );

            template <int Dim,class Angle>
            -unspecified-return-type- rotx_mat( Angle const & angle );

            //Only enabled if:
            //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
            //  mat_traits<A>::rows==mat_traits<A>::cols
            template <class A>
            void set_rotx( A & a, typename mat_traits<A>::scalar_type angle );

            //Only enabled if:
            //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
            //  mat_traits<A>::rows==mat_traits<A>::cols
            template <class A>
            void rotate_x( A & a, typename mat_traits<A>::scalar_type angle );

            template <int Dim,class Angle>
            -unspecified-return-type- roty_mat( Angle const & angle );

            //Only enabled if:
            //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
            //  mat_traits<A>::rows==mat_traits<A>::cols
            template <class A>
            void set_roty( A & a, typename mat_traits<A>::scalar_type angle );

            //Only enabled if:
            //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
            //  mat_traits<A>::rows==mat_traits<A>::cols
            template <class A>
            void rotate_y( A & a, typename mat_traits<A>::scalar_type angle );

            template <int Dim,class Angle>
            -unspecified-return-type- rotz_mat( Angle const & angle );

            //Only enabled if:
            //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
            //  mat_traits<A>::rows==mat_traits<A>::cols
            template <class A>
            void set_rotz( A & a, typename mat_traits<A>::scalar_type angle );

            //Only enabled if:
            //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
            //  mat_traits<A>::rows==mat_traits<A>::cols
            template <class A>
            void rotate_z( A & a, typename mat_traits<A>::scalar_type angle );

            //Only enabled if:
            //  is_mat<A>::value && mat_traits<A>::rows==mat_traits<A>::cols
            template <class A>
            mat_traits<A>::scalar_type
            determinant( A const & a );

            template <class T>
            -unspecified-return-type
            perspective_lh( T fov_y, T aspect, T zn, T zf );

            template <class T>
            -unspecified-return-type
            perspective_rh( T fov_y, T aspect, T zn, T zf );

            //Only enabled if: is_mat<A>::value
            template <class A>
            -unspecified-return-type- mref( A & a );

            //Only enabled if: is_mat<A>::value
            template <class Scalar,class A>
            -unspecified-return_type- scalar_cast( A const & a );

            //*** Quaternion-Vector operations ***

            //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 );

            //*** Vector-Matrix operations ***

            //Only enabled if:
            //  is_mat<A>::value && is_vec<B>::value &&
            //  mat_traits<A>::cols==vec_traits<B>::dim
            template <class A,class B>
            typename deduce_vec2<A,B,mat_traits<A>::rows>::type
            operator*( A const & a, B const & b );

            //Only enabled if:
            //  is_mat<A>::value && is_vec<B>::value &&
            //  mat_traits<A>::rows==4 && mat_traits<A>::cols==4 &&
            //  vec_traits<B>::dim==3
            template <class A,class B>
            deduce_vec2<A,B,3> >::type
            transform_vector( A const & a, B const & b );

            //Only enabled if:
            //  is_mat<A>::value && is_vec<B>::value &&
            //  mat_traits<A>::rows==4 && mat_traits<A>::cols==4 &&
            //  vec_traits<B>::dim==3
            template <class A,class B>
            deduce_vec2<A,B,3> >::type
            transform_point( A const & a, B const & b );

            //*** Matrix-to-matrix view proxies ***

            template <int R>
            -unspecified-return-type- del_row();

            template <int C>
            -unspecified-return-type- del_col();

            template <int R,int C>
            -unspecified-return-type- del_row_col();

            template <int R>
            -unspecified-return-type- neg_row();

            template <int C>
            -unspecified-return-type- neg_col();

            template <int R1,int R2>
            -unspecified-return-type- swap_rows();

            template <int C1,int C2>
            -unspecified-return-type- swap_cols();

            -unspecified-return-type- transposed();

            //*** Vector-to-matrix view proxies ***

            //Only enabled if: is_vec<A>::value
            template <iclass A>
            -unspecified-return-type- col_mat( A & a );

            //Only enabled if: is_vec<A>::value
            template <iclass A>
            -unspecified-return-type- row_mat( A & a );

            //Only enabled if: is_vec<A>::value
            template <iclass A>
            -unspecified-return-type- translation_mat( A & a );

            //Only enabled if: is_vec<A>::value
            template <iclass A>
            -unspecified-return-type- diag_mat( A & a );

            //*** Matrix-to-vector view proxies ***

            //Only enabled if: is_mat<A>::value
            template <int C,class A>
            -unspecified-return-type- col( A & a );

            //Only enabled if: is_mat<A>::value
            template <int C,class A>
            -unspecified-return-type- row( A & a );

            //Only enabled if: is_mat<A>::value
            template <class A>
            -unspecified-return-type- diag( A & a );

            //Only enabled if:
            //  is_mat<A>::value &&
            //  mat_traits<A>::rows==mat_traits<A>::cols && mat_traits<A>::rows>=3
            template <class A>
            -unspecified-return-type- translation( A & a );

            //*** Generic programming utilities ***

            template <class Q>
            struct deduce_quat
            {
                typedef Q type;
            };

            template <class A,class B>
            struct deduce_quat2
            {
                typedef /*unspecified*/ type;
            };

            template <
                class V,
                int Dim=vec_traits<Vector>::dim>
            struct deduce_vec
            {
                typedef /*unspecified*/ type;
            };

            template <class A,class B,int Dim>
            struct deduce_vec2
            {
                typedef /*unspecified*/ type;
            };

            template <
                class M,
                int Rows=mat_traits<Matrix>::rows,
                int Cols=mat_traits<Matrix>::cols>
            struct deduce_mat
            {
                typedef /*unspecified*/ type;
            };

            template <class A,class B,int Rows,int Cols>
            struct deduce_mat2
            {
                typedef /*unspecified*/ type;
            };

            template <class A,class B>
            struct deduce_scalar
            {
                typedef typename impl<A,B>::type type;
            };

            template <class Scalar>
            struct scalar_traits
            {
                BOOST_QVM_INLINE_CRITICAL
                static Scalar value( int v )
                {
                    return Scalar(v);
                }
            };

            template <class T>
            struct scalar
            {
                typedef /*exact definition unspecified*/ type;
            };

            //*** Exception types ***

            struct error:
                virtual boost::exception,
                virtual std::exception
            {
            };

            struct zero_determinant_error: virtual error { };
            struct zero_magnitude_error: virtual error { };
        }

    }

    //*** Macros ***

    #ifndef BOOST_QVM_FORCE_INLINE
    #define BOOST_QVM_FORCE_INLINE /*platform-specific*/
    #endif

    #ifndef BOOST_QVM_INLINE
    #define BOOST_QVM_INLINE inline
    #endif

    #ifndef BOOST_QVM_INLINE_TRIVIAL
    #define BOOST_QVM_INLINE_TRIVIAL BOOST_QVM_FORCE_INLINE
    #endif

    #ifndef BOOST_QVM_INLINE_CRITICAL
    #define BOOST_QVM_INLINE_CRITICAL BOOST_QVM_FORCE_INLINE
    #endif

    #ifndef BOOST_QVM_INLINE_OPERATIONS
    #define BOOST_QVM_INLINE_OPERATIONS BOOST_QVM_INLINE
    #endif

    #ifndef BOOST_QVM_INLINE_RECURSION
    #define BOOST_QVM_INLINE_RECURSION BOOST_QVM_INLINE_OPERATIONS
    #endif

    #ifndef BOOST_QVM_ASSERT
    #include <boost/assert.hpp>
    #define BOOST_QVM_ASSERT BOOST_ASSERT
    #endif

    #ifndef BOOST_QVM_STATIC_ASSERT
    #include <boost/static_assert.hpp>
    #define BOOST_QVM_STATIC_ASSERT BOOST_STATIC_ASSERT
    #endif

    #ifndef BOOST_QVM_THROW_EXCEPTION
    #include <boost/throw_exception.hpp>
    #define BOOST_QVM_THROW_EXCEPTION BOOST_THROW_EXCEPTION
    #endif

See also: Boost QVM