QVM

A generic C++ library for working with Quaternions, Vectors and Matrices.

Documentation

Emphasis on 2, 3 and 4-dimensional operations needed in graphics, video games and simulation applications.
Free function templates operate on any compatible user-defined Quaternion, Vector or Matrix type.
Enables Quaternion, Vector and Matrix types from different libraries to be safely mixed in the same expression.
Type-safe mapping between compatible lvalue types with no temporary objects; f.ex. transpose remaps the access to the elements, rather than transforming the matrix.
Requires only {CPP}03.
Zero dependencies.

Besides GitHub, there are two other distribution channels:

QVM is included in official Boost releases.
For maximum portability, the library is also available in single-header format, in two variants (direct download links):
- qvm.hpp: single header containing the complete QVM source, including the complete set of swizzling overloads.
- qvm_lite.hpp: single header containing everything except for the swizzling overloads.