QVM: Quaternions, Vectors, Matrices

#include <boost/qvm/quat_operations.hpp>

namespace boost
{
    namespace qvm
    {
        //*** 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 );
    }
}