QVM: Quaternions, Vectors, Matrices

rotate(mat,vec,scalar)

#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 );
}

Effects:

As if:

a *= rot_mat<mat_traits<A>::rows>(axis,angle);
See also: boost/qvm/mat_operations.hpp