vmath.hpp

C++17 tiny vector math library

Requirements

• gcc >= 7
• clang >= 5.0
• msvc >= 2017

Installation

vmath.hpp is a header-only library. All you need to do is copy the headers files from headers directory into your project and include them:

#include "vmath.hpp/vmath.hpp"

Also, you can add the root repository directory to your cmake project:

add_subdirectory(external/vmath.hpp)
target_link_libraries(your_project_target vmath.hpp)

Disclaimer

The vmath.hpp is a tiny vector math library mainly for games, game engines, and other graphics software. It will never be mathematically strict (e.g. the vector class has operator plus for adding scalars to a vector, which is convenient for developing CG applications but makes no sense in "real" math). For the same reason, the library does not provide flexible vector and matrix sizes. The library functions follow the same principles.

Most functions and types are based on the HLSL (High-Level Shading Language for DirectX) specification. Matrices are row-major, which implies that vector, matrix multiplication is: v * M, not M * v.

API

• Vector Types
• Matrix Types
• Quaternion Types
• Vector Operators
• Matrix Operators
• Quaternion Operators
• Common Functions
• Angle and Trigonometric Functions
• Exponential Functions
• Geometric Functions
• Relational Functions
• Matrix Functions
• Quaternion Functions
• Units
• Cast
• Access
• Matrix Transform 3D
• Matrix Transform 2D
• Matrix Projections
• Vector Transform
• Quaternion Transform

Vector Types

template < typename T, size_t Size >
class vec_base;

template < typename T >
class vec_base<T, 2> {
public:
    T x = T{0};
    T y = T{0};

    constexpr vec_base() = default;
    constexpr explicit vec_base(T v);
    constexpr vec_base(T x, T y);
    constexpr explicit vec_base(const vec_base<T, 3>& xy);
    constexpr explicit vec_base(const vec_base<T, 4>& xy);
};

template < typename T >
class vec_base<T, 3> {
public:
    T x = T{0};
    T y = T{0};
    T z = T{0};

    constexpr vec_base() = default;
    constexpr explicit vec_base(T v);
    constexpr vec_base(T x, T y, T z);
    constexpr vec_base(const vec_base<T, 2>& xy, T z);
    constexpr vec_base(T x, const vec_base<T, 2>& yz);
    constexpr explicit vec_base(const vec_base<T, 4>& xyz);
};

template < typename T >
class vec_base<T, 4> {
public:
    T x = T{0};
    T y = T{0};
    T z = T{0};
    T w = T{0};

    constexpr vec_base() = default;
    constexpr explicit vec_base(T v);
    constexpr vec_base(T x, T y, T z, T w);
    constexpr vec_base(const vec_base<T, 2>& xy, T z, T w);
    constexpr vec_base(T x, const vec_base<T, 2>& yz, T w);
    constexpr vec_base(T x, T y, const vec_base<T, 2>& zw);
    constexpr vec_base(const vec_base<T, 2>& xy, const vec_base<T, 2>& zw);
    constexpr vec_base(const vec_base<T, 3>& xyz, T w);
    constexpr vec_base(T x, const vec_base<T, 3>& yzw);
};

template < typename T, size_t Size >
class vec final : public vec_base<T, Size> {
public:
    using self_type = vec;
    using component_type = T;

    using pointer = component_type*;
    using const_pointer = const component_type*;

    using reference = component_type&;
    using const_reference = const component_type&;

    using iterator = pointer;
    using const_iterator = const_pointer;
    using reverse_iterator = std::reverse_iterator<iterator>;
    using const_reverse_iterator = std::reverse_iterator<const_iterator>;

    static constexpr size_t size = Size;

    constexpr vec() = default;
    constexpr vec(const vec&) = default;
    constexpr vec& operator=(const vec&) = default;

    void swap(vec& other) noexcept(is_nothrow_swappable_v<T>);

    iterator begin() noexcept;
    const_iterator begin() const noexcept;
    iterator end() noexcept;
    const_iterator end() const noexcept;

    reverse_iterator rbegin() noexcept;
    const_reverse_iterator rbegin() const noexcept;
    reverse_iterator rend() noexcept;
    const_reverse_iterator rend() const noexcept;

    const_iterator cbegin() const noexcept;
    const_iterator cend() const noexcept;
    const_reverse_iterator crbegin() const noexcept;
    const_reverse_iterator crend() const noexcept;

    pointer data() noexcept;
    const_pointer data() const noexcept;

    constexpr reference at(size_t index);
    constexpr const_reference at(size_t index) const;

    constexpr reference operator[](size_t index) noexcept;
    constexpr const_reference operator[](size_t index) const noexcept;
};

using bool2 = vec<bool, 2>;
using bool3 = vec<bool, 3>;
using bool4 = vec<bool, 4>;

using int2 = vec<int, 2>;
using int3 = vec<int, 3>;
using int4 = vec<int, 4>;

using uint2 = vec<unsigned, 2>;
using uint3 = vec<unsigned, 3>;
using uint4 = vec<unsigned, 4>;

using float2 = vec<float, 2>;
using float3 = vec<float, 3>;
using float4 = vec<float, 4>;

using double2 = vec<double, 2>;
using double3 = vec<double, 3>;
using double4 = vec<double, 4>;

using size2_t = vec<size_t, 2>;
using size3_t = vec<size_t, 3>;
using size4_t = vec<size_t, 4>;

using ptrdiff2_t = vec<ptrdiff_t, 2>;
using ptrdiff3_t = vec<ptrdiff_t, 3>;
using ptrdiff4_t = vec<ptrdiff_t, 4>;

Matrix Types

template < typename T, size_t Size >
class mat_base;

template < typename T >
class mat_base<T, 2> {
public:
    using row_type = vec<T, 2>;

    row_type rows[2] = {
        row_type{T{1}, T{0}},
        row_type{T{0}, T{1}}};

    constexpr mat_base() = default;
    constexpr explicit mat_base(T d);
    constexpr explicit mat_base(const row_type& d);

    constexpr mat_base(
        T m11, T m12,
        T m21, T m22);

    constexpr mat_base(
        const row_type& row0,
        const row_type& row1);

    constexpr explicit mat_base(const mat_base<T, 3>& other);
    constexpr explicit mat_base(const mat_base<T, 4>& other);
};

template < typename T >
class mat_base<T, 3> {
public:
    using row_type = vec<T, 3>;

    row_type rows[3] = {
        row_type{T{1}, T{0}, T{0}},
        row_type{T{0}, T{1}, T{0}},
        row_type{T{0}, T{0}, T{1}}};

    constexpr mat_base() = default;
    constexpr explicit mat_base(T d);
    constexpr explicit mat_base(const row_type& d);

    constexpr mat_base(
        T m11, T m12, T m13,
        T m21, T m22, T m23,
        T m31, T m32, T m33);

    constexpr mat_base(
        const row_type& row0,
        const row_type& row1,
        const row_type& row2);

    constexpr mat_base(
        const mat_base<T, 2>& m,
        const vec_base<T, 2>& v);

    constexpr explicit mat_base(const mat_base<T, 2>& other);
    constexpr explicit mat_base(const mat_base<T, 4>& other);
};

template < typename T >
class mat_base<T, 4> {
public:
    using row_type = vec<T, 4>;

    row_type rows[4] = {
        row_type{T{1}, T{0}, T{0}, T{0}},
        row_type{T{0}, T{1}, T{0}, T{0}},
        row_type{T{0}, T{0}, T{1}, T{0}},
        row_type{T{0}, T{0}, T{0}, T{1}}};

    constexpr mat_base() = default;
    constexpr explicit mat_base(T d);
    constexpr explicit mat_base(const row_type& d);

    constexpr mat_base(
        T m11, T m12, T m13, T m14,
        T m21, T m22, T m23, T m24,
        T m31, T m32, T m33, T m34,
        T m41, T m42, T m43, T m44);

    constexpr mat_base(
        const row_type& row0,
        const row_type& row1,
        const row_type& row2,
        const row_type& row3);

    constexpr mat_base(
        const mat_base<T, 3>& m,
        const vec_base<T, 3>& v);

    constexpr explicit mat_base(const mat_base<T, 2>& other);
    constexpr explicit mat_base(const mat_base<T, 3>& other);
};

template < typename T, size_t Size >
class mat final : public mat_base<T, Size> {
public:
    using self_type = mat;
    using row_type = vec<T, Size>;

    using pointer = row_type*;
    using const_pointer = const row_type*;

    using reference = row_type&;
    using const_reference = const row_type&;

    using iterator = pointer;
    using const_iterator = const_pointer;
    using reverse_iterator = std::reverse_iterator<iterator>;
    using const_reverse_iterator = std::reverse_iterator<const_iterator>;

    static constexpr size_t size = Size;

    constexpr mat() = default;
    constexpr mat(const mat&) = default;
    constexpr mat& operator=(const mat&) = default;

    void swap(mat& other) noexcept(is_nothrow_swappable_v<T>);

    iterator begin() noexcept;
    const_iterator begin() const noexcept;
    iterator end() noexcept;
    const_iterator end() const noexcept;

    reverse_iterator rbegin() noexcept;
    const_reverse_iterator rbegin() const noexcept;
    reverse_iterator rend() noexcept;
    const_reverse_iterator rend() const noexcept;

    const_iterator cbegin() const noexcept;
    const_iterator cend() const noexcept;
    const_reverse_iterator crbegin() const noexcept;
    const_reverse_iterator crend() const noexcept;

    pointer data() noexcept;
    const_pointer data() const noexcept;

    constexpr reference at(size_t index);
    constexpr const_reference at(size_t index) const;

    constexpr reference operator[](size_t index) noexcept;
    constexpr const_reference operator[](size_t index) const noexcept;
};

using bool2x2 = mat<bool, 2>;
using bool3x3 = mat<bool, 3>;
using bool4x4 = mat<bool, 4>;

using int2x2 = mat<int, 2>;
using int3x3 = mat<int, 3>;
using int4x4 = mat<int, 4>;

using uint2x2 = mat<unsigned, 2>;
using uint3x3 = mat<unsigned, 3>;
using uint4x4 = mat<unsigned, 4>;

using float2x2 = mat<float, 2>;
using float3x3 = mat<float, 3>;
using float4x4 = mat<float, 4>;

using double2x2 = mat<double, 2>;
using double3x3 = mat<double, 3>;
using double4x4 = mat<double, 4>;

using size2x2_t = mat<size_t, 2>;
using size3x3_t = mat<size_t, 3>;
using size4x4_t = mat<size_t, 4>;

using ptrdiff2x2_t = mat<ptrdiff_t, 2>;
using ptrdiff3x3_t = mat<ptrdiff_t, 3>;
using ptrdiff4x4_t = mat<ptrdiff_t, 4>;

Quaternion Types

template < typename T >
class qua final {
public:
    using imag_type = vec<T, 3>;
    using real_type = T;

    imag_type v = imag_type{T{0}};
    real_type s = real_type{T{1}};
public:
    using self_type = qua;
    using component_type = T;

    using pointer = component_type*;
    using const_pointer = const component_type*;

    using reference = component_type&;
    using const_reference = const component_type&;

    using iterator = pointer;
    using const_iterator = const_pointer;
    using reverse_iterator = std::reverse_iterator<iterator>;
    using const_reverse_iterator = std::reverse_iterator<const_iterator>;

    static constexpr size_t size = 4;
public:
    constexpr qua() = default;
    constexpr qua(const qua&) = default;
    constexpr qua& operator=(const qua&) = default;

    constexpr qua(T vx, T vy, T vz, T s);
    constexpr qua(const vec<T, 3>& v, T s);
    constexpr explicit qua(const vec<T, 4>& vs);

    constexpr explicit operator vec<T, 4>() const;

    void swap(qua& other) noexcept(is_nothrow_swappable_v<T>);

    iterator begin() noexcept;
    const_iterator begin() const noexcept;
    iterator end() noexcept;
    const_iterator end() const noexcept;

    reverse_iterator rbegin() noexcept;
    const_reverse_iterator rbegin() const noexcept;
    reverse_iterator rend() noexcept;
    const_reverse_iterator rend() const noexcept;

    const_iterator cbegin() const noexcept;
    const_iterator cend() const noexcept;
    const_reverse_iterator crbegin() const noexcept;
    const_reverse_iterator crend() const noexcept;

    pointer data() noexcept;
    const_pointer data() const noexcept;

    constexpr reference at(size_t index);
    constexpr const_reference at(size_t index) const;

    constexpr reference operator[](size_t index) noexcept;
    constexpr const_reference operator[](size_t index) const noexcept;
};

using qfloat = qua<float>;
using qdouble = qua<double>;

Vector Operators

// +operator

template < typename T, size_t Size >
constexpr auto operator+(const vec<T, Size>& xs);

// -operator

template < typename T, size_t Size >
constexpr auto operator-(const vec<T, Size>& xs);

// ~operator

template < typename T, size_t Size >
constexpr auto operator~(const vec<T, Size>& xs);

// !operator

template < typename T, size_t Size >
constexpr auto operator!(const vec<T, Size>& xs);

// operator+

template < typename T, size_t Size >
constexpr auto operator+(const vec<T, Size>& xs, T y);

template < typename T, size_t Size >
constexpr auto operator+(T x, const vec<T, Size>& ys);

template < typename T, size_t Size >
constexpr auto operator+(const vec<T, Size>& xs, const vec<T, Size>& ys);

// operator+=

template < typename T, size_t Size >
constexpr vec<T, Size>& operator+=(vec<T, Size>& xs, T y);

template < typename T, size_t Size >
constexpr vec<T, Size>& operator+=(vec<T, Size>& xs, const vec<T, Size>& ys);

// operator-

template < typename T, size_t Size >
constexpr auto operator-(const vec<T, Size>& xs, T y);

template < typename T, size_t Size >
constexpr auto operator-(T x, const vec<T, Size>& ys);

template < typename T, size_t Size >
constexpr auto operator-(const vec<T, Size>& xs, const vec<T, Size>& ys);

// operator-=

template < typename T, size_t Size >
constexpr vec<T, Size>& operator-=(vec<T, Size>& xs, T y);

template < typename T, size_t Size >
constexpr vec<T, Size>& operator-=(vec<T, Size>& xs, const vec<T, Size>& ys);

// operator*

template < typename T, size_t Size >
constexpr auto operator*(const vec<T, Size>& xs, T y);

template < typename T, size_t Size >
constexpr auto operator*(T x, const vec<T, Size>& ys);

template < typename T, size_t Size >
constexpr auto operator*(const vec<T, Size>& xs, const vec<T, Size>& ys);

// operator*=

template < typename T, size_t Size >
constexpr vec<T, Size>& operator*=(vec<T, Size>& xs, T y);

template < typename T, size_t Size >
constexpr vec<T, Size>& operator*=(vec<T, Size>& xs, const vec<T, Size>& ys);

// operator/

template < typename T, size_t Size >
constexpr auto operator/(const vec<T, Size>& xs, T y);

template < typename T, size_t Size >
constexpr auto operator/(T x, const vec<T, Size>& ys);

template < typename T, size_t Size >
constexpr auto operator/(const vec<T, Size>& xs, const vec<T, Size>& ys);

// operator/=

template < typename T, size_t Size >
constexpr vec<T, Size>& operator/=(vec<T, Size>& xs, T y);

template < typename T, size_t Size >
constexpr vec<T, Size>& operator/=(vec<T, Size>& xs, const vec<T, Size>& ys);

// operator&

template < typename T, size_t Size >
constexpr auto operator&(const vec<T, Size>& xs, T y);

template < typename T, size_t Size >
constexpr auto operator&(T x, const vec<T, Size>& ys);

template < typename T, size_t Size >
constexpr auto operator&(const vec<T, Size>& xs, const vec<T, Size>& ys);

// operator&=

template < typename T, size_t Size >
constexpr vec<T, Size>& operator&=(vec<T, Size>& xs, T y);

template < typename T, size_t Size >
constexpr vec<T, Size>& operator&=(vec<T, Size>& xs, const vec<T, Size>& ys);

// operator|

template < typename T, size_t Size >
constexpr auto operator|(const vec<T, Size>& xs, T y);

template < typename T, size_t Size >
constexpr auto operator|(T x, const vec<T, Size>& ys);

template < typename T, size_t Size >
constexpr auto operator|(const vec<T, Size>& xs, const vec<T, Size>& ys);

// operator|=

template < typename T, size_t Size >
constexpr vec<T, Size>& operator|=(vec<T, Size>& xs, T y);

template < typename T, size_t Size >
constexpr vec<T, Size>& operator|=(vec<T, Size>& xs, const vec<T, Size>& ys);

// operator^

template < typename T, size_t Size >
constexpr auto operator^(const vec<T, Size>& xs, T y);

template < typename T, size_t Size >
constexpr auto operator^(T x, const vec<T, Size>& ys);

template < typename T, size_t Size >
constexpr auto operator^(const vec<T, Size>& xs, const vec<T, Size>& ys);

// operator^=

template < typename T, size_t Size >
constexpr vec<T, Size>& operator^=(vec<T, Size>& xs, T y);

template < typename T, size_t Size >
constexpr vec<T, Size>& operator^=(vec<T, Size>& xs, const vec<T, Size>& ys);

// operator&&

template < typename T, size_t Size >
constexpr auto operator&&(const vec<T, Size>& xs, T y);

template < typename T, size_t Size >
constexpr auto operator&&(T x, const vec<T, Size>& ys);

template < typename T, size_t Size >
constexpr auto operator&&(const vec<T, Size>& xs, const vec<T, Size>& ys);

// operator||

template < typename T, size_t Size >
constexpr auto operator||(const vec<T, Size>& xs, T y);

template < typename T, size_t Size >
constexpr auto operator||(T x, const vec<T, Size>& ys);

template < typename T, size_t Size >
constexpr auto operator||(const vec<T, Size>& xs, const vec<T, Size>& ys);

// operator==

template < typename T, size_t Size >
constexpr bool operator==(const vec<T, Size>& xs, const vec<T, Size>& ys);

// operator!=

template < typename T, size_t Size >
constexpr bool operator!=(const vec<T, Size>& xs, const vec<T, Size>& ys);

// operator<

template < typename T, size_t Size >
constexpr bool operator<(const vec<T, Size>& xs, const vec<T, Size>& ys);

Matrix Operators

// +operator

template < typename T, size_t Size >
constexpr auto operator+(const mat<T, Size>& xs);

// -operator

template < typename T, size_t Size >
constexpr auto operator-(const mat<T, Size>& xs);

// ~operator

template < typename T, size_t Size >
constexpr auto operator~(const mat<T, Size>& xs);

// !operator

template < typename T, size_t Size >
constexpr auto operator!(const mat<T, Size>& xs);

// operator+

template < typename T, size_t Size >
constexpr auto operator+(const mat<T, Size>& xs, T y);

template < typename T, size_t Size >
constexpr auto operator+(T x, const mat<T, Size>& ys);

template < typename T, size_t Size >
constexpr auto operator+(const mat<T, Size>& xs, const mat<T, Size>& ys);

// operator+=

template < typename T, size_t Size >
constexpr mat<T, Size>& operator+=(mat<T, Size>& xs, T y);

template < typename T, size_t Size >
constexpr mat<T, Size>& operator+=(mat<T, Size>& xs, const mat<T, Size>& ys);

// operator-

template < typename T, size_t Size >
constexpr auto operator-(const mat<T, Size>& xs, T y);

template < typename T, size_t Size >
constexpr auto operator-(T x, const mat<T, Size>& ys);

template < typename T, size_t Size >
constexpr auto operator-(const mat<T, Size>& xs, const mat<T, Size>& ys);

// operator-=

template < typename T, size_t Size >
constexpr mat<T, Size>& operator-=(mat<T, Size>& xs, T y);

template < typename T, size_t Size >
constexpr mat<T, Size>& operator-=(mat<T, Size>& xs, const mat<T, Size>& ys);

// operator*

template < typename T, size_t Size >
constexpr auto operator*(const mat<T, Size>& xs, T y);

template < typename T, size_t Size >
constexpr auto operator*(T x, const mat<T, Size>& ys);

template < typename T, size_t Size >
constexpr auto operator*(const vec<T, Size>& xs, const mat<T, Size>& ys);

template < typename T, size_t Size >
constexpr auto operator*(const mat<T, Size>& xs, const mat<T, Size>& ys);

// operator*=

template < typename T, size_t Size >
constexpr mat<T, Size>& operator*=(mat<T, Size>& xs, T y);

template < typename T, size_t Size >
constexpr vec<T, Size>& operator*=(vec<T, Size>& xs, const mat<T, Size>& ys);

template < typename T, size_t Size >
constexpr mat<T, Size>& operator*=(mat<T, Size>& xs, const mat<T, Size>& ys);

// operator/

template < typename T, size_t Size >
constexpr auto operator/(const mat<T, Size>& xs, T y);

template < typename T, size_t Size >
constexpr auto operator/(T x, const mat<T, Size>& ys);

// operator/=

template < typename T, size_t Size >
constexpr mat<T, Size>& operator/=(mat<T, Size>& xs, T y);

// operator&

template < typename T, size_t Size >
constexpr auto operator&(const mat<T, Size>& xs, T y);

template < typename T, size_t Size >
constexpr auto operator&(T x, const mat<T, Size>& ys);

template < typename T, size_t Size >
constexpr auto operator&(const mat<T, Size>& xs, const mat<T, Size>& ys);

// operator&=

template < typename T, size_t Size >
constexpr mat<T, Size>& operator&=(mat<T, Size>& xs, T y);

template < typename T, size_t Size >
constexpr mat<T, Size>& operator&=(mat<T, Size>& xs, const mat<T, Size>& ys);

// operator|

template < typename T, size_t Size >
constexpr auto operator|(const mat<T, Size>& xs, T y);

template < typename T, size_t Size >
constexpr auto operator|(T x, const mat<T, Size>& ys);

template < typename T, size_t Size >
constexpr auto operator|(const mat<T, Size>& xs, const mat<T, Size>& ys);

// operator|=

template < typename T, size_t Size >
constexpr mat<T, Size>& operator|=(mat<T, Size>& xs, T y);

template < typename T, size_t Size >
constexpr mat<T, Size>& operator|=(mat<T, Size>& xs, const mat<T, Size>& ys);

// operator^

template < typename T, size_t Size >
constexpr auto operator^(const mat<T, Size>& xs, T y);

template < typename T, size_t Size >
constexpr auto operator^(T x, const mat<T, Size>& ys);

template < typename T, size_t Size >
constexpr auto operator^(const mat<T, Size>& xs, const mat<T, Size>& ys);

// operator^=

template < typename T, size_t Size >
constexpr mat<T, Size>& operator^=(mat<T, Size>& xs, T y);

template < typename T, size_t Size >
constexpr mat<T, Size>& operator^=(mat<T, Size>& xs, const mat<T, Size>& ys);

// operator&&

template < typename T, size_t Size >
constexpr auto operator&&(const mat<T, Size>& xs, T y);

template < typename T, size_t Size >
constexpr auto operator&&(T x, const mat<T, Size>& ys);

template < typename T, size_t Size >
constexpr auto operator&&(const mat<T, Size>& xs, const mat<T, Size>& ys);

// operator||

template < typename T, size_t Size >
constexpr auto operator||(const mat<T, Size>& xs, T y);

template < typename T, size_t Size >
constexpr auto operator||(T x, const mat<T, Size>& ys);

template < typename T, size_t Size >
constexpr auto operator||(const mat<T, Size>& xs, const mat<T, Size>& ys);

// operator==

template < typename T, size_t Size >
constexpr bool operator==(const mat<T, Size>& xs, const mat<T, Size>& ys);

// operator!=

template < typename T, size_t Size >
constexpr bool operator!=(const mat<T, Size>& xs, const mat<T, Size>& ys);

// operator<

template < typename T, size_t Size >
constexpr bool operator<(const mat<T, Size>& xs, const mat<T, Size>& ys);

Quaternion Operators

// +operator

template < typename T >
constexpr auto operator+(const qua<T>& xs);

// -operator

template < typename T >
constexpr auto operator-(const qua<T>& xs);

// operator+

template < typename T >
constexpr auto operator+(const qua<T>& xs, const qua<T>& ys);

// operator+=

template < typename T >
constexpr qua<T>& operator+=(qua<T>& xs, const qua<T>& ys);

// operator-

template < typename T >
constexpr auto operator-(const qua<T>& xs, const qua<T>& ys);

// operator-=

template < typename T >
constexpr qua<T>& operator-=(qua<T>& xs, const qua<T>& ys);

// operator*

template < typename T >
constexpr auto operator*(const qua<T>& xs, T y);

template < typename T >
constexpr auto operator*(T x, const qua<T>& ys);

template < typename T >
constexpr auto operator*(const vec<T, 3>& xs, const qua<T>& ys);

template < typename T >
constexpr auto operator*(const qua<T>& xs, const qua<T>& ys);

// operator*=

template < typename T >
constexpr qua<T>& operator*=(qua<T>& xs, T y);

template < typename T >
constexpr vec<T, 3>& operator*=(vec<T, 3>& xs, const qua<T>& ys);

template < typename T >
constexpr qua<T>& operator*=(qua<T>& xs, const qua<T>& ys);

// operator/

template < typename T >
constexpr auto operator/(const qua<T>& xs, T y);

template < typename T >
constexpr auto operator/(T x, const qua<T>& ys);

// operator/=

template < typename T >
constexpr qua<T>& operator/=(qua<T>& xs, T y);

// operator==

template < typename T >
constexpr bool operator==(const qua<T>& xs, const qua<T>& ys);

// operator!=

template < typename T >
constexpr bool operator!=(const qua<T>& xs, const qua<T>& ys);

// operator<

template < typename T >
constexpr bool operator<(const qua<T>& xs, const qua<T>& ys);

Common Functions

Scalar

template < arithmetic T >
constexpr T abs(T x) noexcept;

template < arithmetic T >
constexpr T sqr(T x) noexcept;

template < arithmetic T >
constexpr T sign(T x) noexcept;

template < floating_point T >
constexpr T rcp(T x) noexcept;

template < floating_point T >
T floor(T x) noexcept;

template < floating_point T >
T trunc(T x) noexcept;

template < floating_point T >
T round(T x) noexcept;

template < floating_point T >
T ceil(T x) noexcept;

template < floating_point T >
T fract(T x) noexcept;

template < floating_point T >
T fmod(T x, T y) noexcept;

template < floating_point T >
T copysign(T x, T s) noexcept;

template < arithmetic T >
constexpr T min(T x, T y) noexcept;

template < arithmetic T >
constexpr T max(T x, T y) noexcept;

template < arithmetic T >
constexpr T clamp(T x, T min_x, T max_x) noexcept;

template < arithmetic T >
constexpr T saturate(T x) noexcept;

template < floating_point T >
constexpr T lerp(T x, T y, T a) noexcept;

template < floating_point T >
constexpr T lerp(T x, T y, T x_a, T y_a) noexcept;

template < floating_point T >
constexpr T step(T edge, T x) noexcept;

template < floating_point T >
constexpr T smoothstep(T edge0, T edge1, T x) noexcept;

template < floating_point T >
T fma(T x, T y, T z) noexcept;

Vector

template < typename T, size_t Size >
constexpr vec<T, Size> abs(const vec<T, Size>& xs);

template < typename T, size_t Size >
constexpr vec<T, Size> sqr(const vec<T, Size>& xs);

template < typename T, size_t Size >
constexpr vec<T, Size> sign(const vec<T, Size>& xs);

template < typename T, size_t Size >
constexpr vec<T, Size> rcp(const vec<T, Size>& xs);

template < typename T, size_t Size >
vec<T, Size> floor(const vec<T, Size>& xs);

template < typename T, size_t Size >
vec<T, Size> trunc(const vec<T, Size>& xs);

template < typename T, size_t Size >
vec<T, Size> round(const vec<T, Size>& xs);

template < typename T, size_t Size >
vec<T, Size> ceil(const vec<T, Size>& xs);

template < typename T, size_t Size >
vec<T, Size> fract(const vec<T, Size>& xs);

template < typename T, size_t Size >
vec<T, Size> fmod(const vec<T, Size>& xs, T y);

template < typename T, size_t Size >
vec<T, Size> fmod(const vec<T, Size>& xs, const vec<T, Size>& ys);

template < typename T, size_t Size >
vec<T, Size> copysign(const vec<T, Size>& xs, T s);

template < typename T, size_t Size >
vec<T, Size> copysign(const vec<T, Size>& xs, const vec<T, Size>& ss);

template < typename T, size_t Size >
constexpr T min(const vec<T, Size>& xs);

template < typename T, size_t Size >
constexpr vec<T, Size> min(const vec<T, Size>& xs, T y);

template < typename T, size_t Size >
constexpr vec<T, Size> min(T x, const vec<T, Size>& ys);

template < typename T, size_t Size >
constexpr vec<T, Size> min(const vec<T, Size>& xs, const vec<T, Size>& ys);

template < typename T, size_t Size >
constexpr T max(const vec<T, Size>& xs);

template < typename T, size_t Size >
constexpr vec<T, Size> max(const vec<T, Size>& xs, T y);

template < typename T, size_t Size >
constexpr vec<T, Size> max(T x, const vec<T, Size>& ys);

template < typename T, size_t Size >
constexpr vec<T, Size> max(const vec<T, Size>& xs, const vec<T, Size>& ys);

template < typename T, size_t Size >
constexpr vec<T, Size> clamp(const vec<T, Size>& xs, T min_x, T max_x);

template < typename T, size_t Size >
constexpr vec<T, Size> clamp(const vec<T, Size>& xs, const vec<T, Size>& min_xs, const vec<T, Size>& max_xs);

template < typename T, size_t Size >
constexpr vec<T, Size> saturate(const vec<T, Size>& xs);

template < typename T, size_t Size >
constexpr vec<T, Size> lerp(const vec<T, Size>& xs, const vec<T, Size>& ys, T a);

template < typename T, size_t Size >
constexpr vec<T, Size> lerp(const vec<T, Size>& xs, const vec<T, Size>& ys, T x_a, T y_a);

template < typename T, size_t Size >
constexpr vec<T, Size> lerp(const vec<T, Size>& xs, const vec<T, Size>& ys, const vec<T, Size>& as);

template < typename T, size_t Size >
constexpr vec<T, Size> lerp(const vec<T, Size>& xs, const vec<T, Size>& ys, const vec<T, Size>& xs_a, const vec<T, Size>& ys_a);

template < typename T, size_t Size >
constexpr vec<T, Size> step(T edge, const vec<T, Size>& xs);

template < typename T, size_t Size >
constexpr vec<T, Size> step(const vec<T, Size>& edges, const vec<T, Size>& xs);

template < typename T, size_t Size >
constexpr vec<T, Size> smoothstep(T edge0, T edge1, const vec<T, Size>& xs);

template < typename T, size_t Size >
constexpr vec<T, Size> smoothstep(const vec<T, Size>& edges0, const vec<T, Size>& edges1, const vec<T, Size>& xs);

template < typename T, size_t Size >
vec<T, Size> fma(const vec<T, Size>& as, const vec<T, Size>& bs, const vec<T, Size>& cs);

Quaternion

template < typename T >
qua<T> lerp(const qua<T>& xs, const qua<T>& ys, T a);

template < typename T >
qua<T> lerp(const qua<T>& xs, const qua<T>& ys, T xs_a, T ys_a);

template < typename T >
qua<T> nlerp(const qua<T>& unit_xs, const qua<T>& unit_ys, T a);

template < typename T >
qua<T> slerp(const qua<T>& unit_xs, const qua<T>& unit_ys, T a);

Angle and Trigonometric Functions

Scalar

template < floating_point T >
constexpr T radians(T degrees) noexcept;

template < floating_point T >
constexpr T degrees(T radians) noexcept;

template < floating_point T >
T sin(T x) noexcept;

template < floating_point T >
T cos(T x) noexcept;

template < floating_point T >
T tan(T x) noexcept;

template < floating_point T >
T asin(T x) noexcept;

template < floating_point T >
T acos(T x) noexcept;

template < floating_point T >
T atan(T x) noexcept;

template < floating_point T >
T atan2(T y, T x) noexcept;

template < floating_point T >
T sinh(T x) noexcept;

template < floating_point T >
T cosh(T x) noexcept;

template < floating_point T >
T tanh(T x) noexcept;

template < floating_point T >
T asinh(T x) noexcept;

template < floating_point T >
T acosh(T x) noexcept;

template < floating_point T >
T atanh(T x) noexcept;

template < floating_point T >
pair<T, T> sincos(T x) noexcept;

template < floating_point T >
void sincos(T x, T* s, T* c) noexcept;

Vector

template < typename T, size_t Size >
constexpr vec<T, Size> radians(const vec<T, Size>& degrees);

template < typename T, size_t Size >
constexpr vec<T, Size> degrees(const vec<T, Size>& radians);

template < typename T, size_t Size >
vec<T, Size> sin(const vec<T, Size>& xs);

template < typename T, size_t Size >
vec<T, Size> cos(const vec<T, Size>& xs);

template < typename T, size_t Size >
vec<T, Size> tan(const vec<T, Size>& xs);

template < typename T, size_t Size >
vec<T, Size> asin(const vec<T, Size>& xs);

template < typename T, size_t Size >
vec<T, Size> acos(const vec<T, Size>& xs);

template < typename T, size_t Size >
vec<T, Size> atan(const vec<T, Size>& xs);

template < typename T, size_t Size >
vec<T, Size> atan2(const vec<T, Size>& ys, const vec<T, Size>& xs);

template < typename T, size_t Size >
vec<T, Size> sinh(const vec<T, Size>& xs);

template < typename T, size_t Size >
vec<T, Size> cosh(const vec<T, Size>& xs);

template < typename T, size_t Size >
vec<T, Size> tanh(const vec<T, Size>& xs);

template < typename T, size_t Size >
vec<T, Size> asinh(const vec<T, Size>& xs);

template < typename T, size_t Size >
vec<T, Size> acosh(const vec<T, Size>& xs);

template < typename T, size_t Size >
vec<T, Size> atanh(const vec<T, Size>& xs);

template < typename T, size_t Size >
pair<vec<T, Size>, vec<T, Size>> sincos(const vec<T, Size>& xs);

template < typename T, size_t Size >
void sincos(const vec<T, Size>& xs, vec<T, Size>* ss, vec<T, Size>* cs);

Exponential Functions

Scalar

template < floating_point T >
T pow(T x, T y) noexcept;

template < floating_point T >
T exp(T x) noexcept;

template < floating_point T >
T log(T x) noexcept;

template < floating_point T >
T exp2(T x) noexcept;

template < floating_point T >
T log2(T x) noexcept;

template < floating_point T >
T sqrt(T x) noexcept;

template < floating_point T >
T rsqrt(T x) noexcept;

Vector

template < typename T, size_t Size >
vec<T, Size> pow(const vec<T, Size>& xs, const vec<T, Size>& ys);

template < typename T, size_t Size >
vec<T, Size> exp(const vec<T, Size>& xs);

template < typename T, size_t Size >
vec<T, Size> log(const vec<T, Size>& xs);

template < typename T, size_t Size >
vec<T, Size> exp2(const vec<T, Size>& xs);

template < typename T, size_t Size >
vec<T, Size> log2(const vec<T, Size>& xs);

template < typename T, size_t Size >
vec<T, Size> sqrt(const vec<T, Size>& xs);

template < typename T, size_t Size >
vec<T, Size> rsqrt(const vec<T, Size>& xs);

Geometric Functions

Scalar

template < arithmetic T >
constexpr T dot(T x, T y) noexcept;

template < arithmetic T >
constexpr T length(T x) noexcept;

template < arithmetic T >
constexpr T length2(T x) noexcept;

template < arithmetic T >
constexpr T distance(T x, T y) noexcept;

template < arithmetic T >
constexpr T distance2(T x, T y) noexcept;

template < floating_point T >
T normalize(T x) noexcept;

Vector

template < typename T, size_t Size >
constexpr T dot(const vec<T, Size>& xs, const vec<T, Size>& ys);

template < typename T, size_t Size >
T length(const vec<T, Size>& xs);

template < typename T, size_t Size >
constexpr T length2(const vec<T, Size>& xs);

template < typename T, size_t Size >
T distance(const vec<T, Size>& xs, const vec<T, Size>& ys);

template < typename T, size_t Size >
constexpr T distance2(const vec<T, Size>& xs, const vec<T, Size>& ys);

template < typename T >
constexpr T cross(const vec<T, 2>& xs, const vec<T, 2>& ys);

template < typename T >
constexpr vec<T, 3> cross(const vec<T, 3>& xs, const vec<T, 3>& ys);

template < typename T, size_t Size >
vec<T, Size> normalize(const vec<T, Size>& xs);

Quaternion

template < typename T >
constexpr T dot(const qua<T>& xs, const qua<T>& ys);

template < typename T >
T length(const qua<T>& xs);

template < typename T >
constexpr T length2(const qua<T>& xs);

template < typename T >
T distance(const qua<T>& xs, const qua<T>& ys);

template < typename T >
qua<T> normalize(const qua<T>& xs);

Relational Functions

Scalar

template < arithmetic T >
constexpr bool any(T x) noexcept;

template < arithmetic T >
constexpr bool all(T x) noexcept;

template < arithmetic T >
constexpr bool approx(T x, T y) noexcept;

template < arithmetic T >
constexpr bool approx(T x, T y, T epsilon) noexcept;

template < arithmetic T >
constexpr bool less(T x, T y) noexcept;

template < arithmetic T >
constexpr bool less_equal(T x, T y) noexcept;

template < arithmetic T >
constexpr bool greater(T x, T y) noexcept;

template < arithmetic T >
constexpr bool greater_equal(T x, T y) noexcept;

template < arithmetic T >
constexpr bool equal_to(T x, T y) noexcept;

template < arithmetic T >
constexpr bool not_equal_to(T x, T y) noexcept;

Vector

template < typename T, std::size_t Size
         , typename U = decltype(any(std::declval<T>())) >
constexpr U any(const vec<T, Size>& xs);

template < typename T, std::size_t Size
         , typename U = decltype(all(std::declval<T>())) >
constexpr U all(const vec<T, Size>& xs);

template < typename T, std::size_t Size
         , typename U = decltype(approx(
             std::declval<T>(),
             std::declval<T>())) >
constexpr vec<U, Size> approx(const vec<T, Size>& xs, const vec<T, Size>& ys);

template < typename T, std::size_t Size
         , typename U = decltype(approx(
             std::declval<T>(),
             std::declval<T>(),
             std::declval<T>())) >
constexpr vec<U, Size> approx(const vec<T, Size>& xs, const vec<T, Size>& ys, T epsilon);

template < typename T, std::size_t Size
         , typename U = decltype(less(
             std::declval<T>(),
             std::declval<T>())) >
constexpr vec<U, Size> less(const vec<T, Size>& xs, const vec<T, Size>& ys);

template < typename T, std::size_t Size
         , typename U = decltype(less_equal(
             std::declval<T>(),
             std::declval<T>())) >
constexpr vec<U, Size> less_equal(const vec<T, Size>& xs, const vec<T, Size>& ys);

template < typename T, std::size_t Size
         , typename U = decltype(greater(
             std::declval<T>(),
             std::declval<T>())) >
constexpr vec<U, Size> greater(const vec<T, Size>& xs, const vec<T, Size>& ys);

template < typename T, std::size_t Size
         , typename U = decltype(greater_equal(
             std::declval<T>(),
             std::declval<T>())) >
constexpr vec<U, Size> greater_equal(const vec<T, Size>& xs, const vec<T, Size>& ys);

template < typename T, std::size_t Size
         , typename U = decltype(equal_to(
             std::declval<T>(),
             std::declval<T>())) >
constexpr vec<U, Size> equal_to(const vec<T, Size>& xs, const vec<T, Size>& ys);

template < typename T, std::size_t Size
         , typename U = decltype(not_equal_to(
             std::declval<T>(),
             std::declval<T>())) >
constexpr vec<U, Size> not_equal_to(const vec<T, Size>& xs, const vec<T, Size>& ys);

Matrix

template < typename T, std::size_t Size
         , typename U = decltype(any(std::declval<vec<T, Size>>())) >
constexpr U any(const mat<T, Size>& xs);

template < typename T, std::size_t Size
         , typename U = decltype(all(std::declval<vec<T, Size>>())) >
constexpr U all(const mat<T, Size>& xs);

template < typename T, std::size_t Size
         , typename U = typename decltype(approx(
             std::declval<vec<T, Size>>(),
             std::declval<vec<T, Size>>()))::component_type >
constexpr mat<U, Size> approx(const mat<T, Size>& xs, const mat<T, Size>& ys);

template < typename T, std::size_t Size
         , typename U = typename decltype(approx(
             std::declval<vec<T, Size>>(),
             std::declval<vec<T, Size>>(),
             std::declval<T>()))::component_type >
constexpr mat<U, Size> approx(const mat<T, Size>& xs, const mat<T, Size>& ys, T epsilon);

template < typename T, std::size_t Size
         , typename U = typename decltype(less(
             std::declval<vec<T, Size>>(),
             std::declval<vec<T, Size>>()))::component_type >
constexpr mat<U, Size> less(const mat<T, Size>& xs, const mat<T, Size>& ys);

template < typename T, std::size_t Size
         , typename U = typename decltype(less_equal(
             std::declval<vec<T, Size>>(),
             std::declval<vec<T, Size>>()))::component_type >
constexpr mat<U, Size> less_equal(const mat<T, Size>& xs, const mat<T, Size>& ys);

template < typename T, std::size_t Size
         , typename U = typename decltype(greater(
             std::declval<vec<T, Size>>(),
             std::declval<vec<T, Size>>()))::component_type >
constexpr mat<U, Size> greater(const mat<T, Size>& xs, const mat<T, Size>& ys);

template < typename T, std::size_t Size
         , typename U = typename decltype(greater_equal(
             std::declval<vec<T, Size>>(),
             std::declval<vec<T, Size>>()))::component_type >
constexpr mat<U, Size> greater_equal(const mat<T, Size>& xs, const mat<T, Size>& ys);

template < typename T, std::size_t Size
         , typename U = typename decltype(equal_to(
             std::declval<vec<T, Size>>(),
             std::declval<vec<T, Size>>()))::component_type >
constexpr mat<U, Size> equal_to(const mat<T, Size>& xs, const mat<T, Size>& ys);

template < typename T, std::size_t Size
         , typename U = typename decltype(not_equal_to(
             std::declval<vec<T, Size>>(),
             std::declval<vec<T, Size>>()))::component_type >
constexpr mat<U, Size> not_equal_to(const mat<T, Size>& xs, const mat<T, Size>& ys);

Quaternion

template < typename T
         , typename U = decltype(any(std::declval<vec<T, 4>>())) >
constexpr U any(const qua<T>& xs);

template < typename T
         , typename U = decltype(all(std::declval<vec<T, 4>>())) >
constexpr U all(const qua<T>& xs);

template < typename T
         , typename U = typename decltype(approx(
             std::declval<vec<T, 4>>(),
             std::declval<vec<T, 4>>()))::component_type >
constexpr vec<U, 4> approx(const qua<T>& xs, const qua<T>& ys);

template < typename T
         , typename U = typename decltype(approx(
             std::declval<vec<T, 4>>(),
             std::declval<vec<T, 4>>(),
             std::declval<T>()))::component_type >
constexpr vec<U, 4> approx(const qua<T>& xs, const qua<T>& ys, T epsilon);

template < typename T
         , typename U = typename decltype(less(
             std::declval<vec<T, 4>>(),
             std::declval<vec<T, 4>>()))::component_type >
constexpr vec<U, 4> less(const qua<T>& xs, const qua<T>& ys);

template < typename T
         , typename U = typename decltype(less_equal(
             std::declval<vec<T, 4>>(),
             std::declval<vec<T, 4>>()))::component_type >
constexpr vec<U, 4> less_equal(const qua<T>& xs, const qua<T>& ys);

template < typename T
         , typename U = typename decltype(greater(
             std::declval<vec<T, 4>>(),
             std::declval<vec<T, 4>>()))::component_type >
constexpr vec<U, 4> greater(const qua<T>& xs, const qua<T>& ys);

template < typename T
         , typename U = typename decltype(greater_equal(
             std::declval<vec<T, 4>>(),
             std::declval<vec<T, 4>>()))::component_type >
constexpr vec<U, 4> greater_equal(const qua<T>& xs, const qua<T>& ys);

template < typename T
         , typename U = typename decltype(equal_to(
             std::declval<vec<T, 4>>(),
             std::declval<vec<T, 4>>()))::component_type >
constexpr vec<U, 4> equal_to(const qua<T>& xs, const qua<T>& ys);

template < typename T
         , typename U = typename decltype(not_equal_to(
             std::declval<vec<T, 4>>(),
             std::declval<vec<T, 4>>()))::component_type >
constexpr vec<U, 4> not_equal_to(const qua<T>& xs, const qua<T>& ys);

Matrix Functions

template < typename T >
constexpr mat<T, 2> transpose(const mat<T, 2>& m);

template < typename T >
constexpr mat<T, 3> transpose(const mat<T, 3>& m);

template < typename T >
constexpr mat<T, 4> transpose(const mat<T, 4>& m);

template < typename T >
constexpr T determinant(const mat<T, 2>& m);

template < typename T >
constexpr T determinant(const mat<T, 3>& m);

template < typename T >
constexpr T determinant(const mat<T, 4>& m);

template < typename T >
constexpr mat<T, 2> inverse(const mat<T, 2>& m);

template < typename T >
constexpr mat<T, 3> inverse(const mat<T, 3>& m);

template < typename T >
constexpr mat<T, 4> inverse(const mat<T, 4>& m);

Quaternion Functions

template < typename T >
constexpr qua<T> conjugate(const qua<T>& q);

template < typename T >
constexpr qua<T> inverse(const qua<T>& q);

Units

template < typename T > inline constexpr vec<T, 2> zero2;
template < typename T > inline constexpr vec<T, 3> zero3;
template < typename T > inline constexpr vec<T, 4> zero4;

template < typename T > inline constexpr vec<T, 2> unit2;
template < typename T > inline constexpr vec<T, 3> unit3;
template < typename T > inline constexpr vec<T, 4> unit4;

template < typename T > inline constexpr vec<T, 2> unit2_x;
template < typename T > inline constexpr vec<T, 2> unit2_y;

template < typename T > inline constexpr vec<T, 3> unit3_x;
template < typename T > inline constexpr vec<T, 3> unit3_y;
template < typename T > inline constexpr vec<T, 3> unit3_z;

template < typename T > inline constexpr vec<T, 4> unit4_x;
template < typename T > inline constexpr vec<T, 4> unit4_y;
template < typename T > inline constexpr vec<T, 4> unit4_z;
template < typename T > inline constexpr vec<T, 4> unit4_w;

template < typename T > inline constexpr mat<T, 2> zero2x2;
template < typename T > inline constexpr mat<T, 3> zero3x3;
template < typename T > inline constexpr mat<T, 4> zero4x4;

template < typename T > inline constexpr mat<T, 2> unit2x2;
template < typename T > inline constexpr mat<T, 3> unit3x3;
template < typename T > inline constexpr mat<T, 4> unit4x4;

template < typename T > inline constexpr mat<T, 2> identity2x2;
template < typename T > inline constexpr mat<T, 3> identity3x3;
template < typename T > inline constexpr mat<T, 4> identity4x4;

template < typename T > inline constexpr qua<T> qidentity;

Cast

template < arithmetic To, arithmetic From >
constexpr To cast_to(From x) noexcept;

template < typename To, typename From, size_t Size >
constexpr vec<To, Size> cast_to(const vec<From, Size>& v);

template < typename To, typename From, size_t Size >
constexpr mat<To, Size> cast_to(const mat<From, Size>& m);

template < typename To, typename From >
constexpr qua<To> cast_to(const qua<From>& q);

Access

template < typename T, size_t Size >
constexpr T component(const vec<T, Size>& v, size_t index);

template < typename T, size_t Size >
constexpr vec<T, Size> component(vec<T, Size> v, size_t index, T x);

template < typename T, size_t Size >
constexpr vec<T, Size> row(const mat<T, Size>& m, size_t index);

template < typename T, size_t Size >
constexpr mat<T, Size> row(mat<T, Size> m, size_t index, const vec<T, Size>& v);

template < typename T, size_t Size >
constexpr vec<T, Size> column(const mat<T, Size>& m, size_t index);

template < typename T, size_t Size >
constexpr mat<T, Size> column(const mat<T, Size>& m, size_t index, const vec<T, Size>& v);

template < typename T >
constexpr T real(const qua<T>& q);

template < typename T >
constexpr qua<T> real(qua<T> q, T real);

template < typename T >
constexpr vec<T, 3> imag(const qua<T>& q);

template < typename T >
constexpr qua<T> imag(qua<T> q, const vec<T, 3>& imag);

Matrix Transform 3D

template < typename T >
constexpr mat<T, 4> translate(T x, T y, T z);

template < typename T >
constexpr mat<T, 4> translate(const mat<T, 4>& m, T x, T y, T z);

template < typename T >
constexpr mat<T, 4> translate(const vec<T, 3>& v);

template < typename T >
constexpr mat<T, 4> translate(const mat<T, 4>& m, const vec<T, 3>& v);

template < typename T >
mat<T, 4> rotate(const qua<T>& q);

template < typename T >
mat<T, 4> rotate(const mat<T, 4>& m, const qua<T>& q);

template < typename T >
mat<T, 4> rotate(T angle, const vec<T, 3>& axis);

template < typename T >
mat<T, 4> rotate(const mat<T, 4>& m, T angle, const vec<T, 3>& axis);

template < typename T >
mat<T, 4> rotate_x(T angle);

template < typename T >
mat<T, 4> rotate_x(const mat<T, 4>& m, T angle);

template < typename T >
mat<T, 4> rotate_y(T angle);

template < typename T >
mat<T, 4> rotate_y(const mat<T, 4>& m, T angle);

template < typename T >
mat<T, 4> rotate_z(T angle);

template < typename T >
mat<T, 4> rotate_z(const mat<T, 4>& m, T angle);

template < typename T >
constexpr mat<T, 4> scale(T x, T y, T z);

template < typename T >
constexpr mat<T, 4> scale(const mat<T, 4>& m, T x, T y, T z);

template < typename T >
constexpr mat<T, 4> scale(const vec<T, 3>& v);

template < typename T >
constexpr mat<T, 4> scale(const mat<T, 4>& m, const vec<T, 3>& v);

template < typename T >
mat<T, 4> look_at_lh(const vec<T, 3>& eye, const vec<T, 3>& at, const vec<T, 3>& up);

template < typename T >
mat<T, 4> look_at_rh(const vec<T, 3>& eye, const vec<T, 3>& at, const vec<T, 3>& up);

Matrix Transform 2D

template < typename T >
constexpr mat<T, 3> translate(T x, T y);

template < typename T >
constexpr mat<T, 3> translate(const mat<T, 3>& m, T x, T y);

template < typename T >
constexpr mat<T, 3> translate(const vec<T, 2>& v);

template < typename T >
constexpr mat<T, 3> translate(const mat<T, 3>& m, const vec<T, 2>& v);

template < typename T >
mat<T, 3> rotate(T angle);

template < typename T >
mat<T, 3> rotate(const mat<T, 3>& m, T angle);

template < typename T >
constexpr mat<T, 3> scale(T x, T y);

template < typename T >
constexpr mat<T, 3> scale(const mat<T, 3>& m, T x, T y);

template < typename T >
constexpr mat<T, 3> scale(const vec<T, 2>& v);

template < typename T >
constexpr mat<T, 3> scale(const mat<T, 3>& m, const vec<T, 2>& v);

template < typename T >
constexpr mat<T, 3> shear(T x, T y);

template < typename T >
constexpr mat<T, 3> shear(const mat<T, 3>& m, T x, T y);

template < typename T >
constexpr mat<T, 3> shear(const vec<T, 2>& v);

template < typename T >
constexpr mat<T, 3> shear(const mat<T, 3>& m, const vec<T, 2>& v);

template < typename T >
constexpr mat<T, 3> shear_x(T y);

template < typename T >
constexpr mat<T, 3> shear_x(const mat<T, 3>& m, T y);

template < typename T >
constexpr mat<T, 3> shear_y(T x);

template < typename T >
constexpr mat<T, 3> shear_y(const mat<T, 3>& m, T x);

Matrix Projections

template < typename T >
mat<T, 4> orthographic_lh(T width, T height, T znear, T zfar);

template < typename T >
mat<T, 4> orthographic_rh(T width, T height, T znear, T zfar);

template < typename T >
mat<T, 4> orthographic_lh(T left, T right, T bottom, T top, T znear, T zfar);

template < typename T >
mat<T, 4> orthographic_rh(T left, T right, T bottom, T top, T znear, T zfar);

template < typename T >
mat<T, 4> perspective_lh(T width, T height, T znear, T zfar);

template < typename T >
mat<T, 4> perspective_rh(T width, T height, T znear, T zfar);

template < typename T >
mat<T, 4> perspective_lh(T left, T right, T bottom, T top, T znear, T zfar);

template < typename T >
mat<T, 4> perspective_rh(T left, T right, T bottom, T top, T znear, T zfar);

template < typename T >
mat<T, 4> perspective_fov_lh(T fovy, T aspect, T znear, T zfar);

template < typename T >
mat<T, 4> perspective_fov_rh(T fovy, T aspect, T znear, T zfar);

Vector Transform

template < typename T, size_t Size >
T angle(const vec<T, Size>& x, const vec<T, Size>& y);

template < typename T >
vec<T, 2> rotate(const vec<T, 2>& v, T angle);

template < typename T >
vec<T, 3> rotate_x(const vec<T, 3>& v, T angle);

template < typename T >
vec<T, 3> rotate_y(const vec<T, 3>& v, T angle);

template < typename T >
vec<T, 3> rotate_z(const vec<T, 3>& v, T angle);

template < typename T >
vec<T, 3> rotate(const vec<T, 3>& v, const qua<T>& q);

template < typename T >
vec<T, 3> rotate(const vec<T, 3>& v, T angle, const vec<T, 3>& axis);

template < typename T, size_t Size >
constexpr vec<T, Size> project(const vec<T, Size>& v, const vec<T, Size>& normal);

template < typename T, size_t Size >
constexpr vec<T, Size> perpendicular(const vec<T, Size>& v, const vec<T, Size>& normal);

Quaternion Transform

template < typename T >
qua<T> qrotate(const mat<T, 3>& m);

template < typename T >
qua<T> qrotate(const qua<T>& q, const mat<T, 3>& m);

template < typename T >
qua<T> qrotate(const vec<T, 3>& from, const vec<T, 3>& to);

template < typename T >
qua<T> qrotate(const qua<T>& q, const vec<T, 3>& from, const vec<T, 3>& to);

template < typename T >
qua<T> qrotate(T angle, const vec<T, 3>& axis);

template < typename T >
qua<T> qrotate(const qua<T>& q, T angle, const vec<T, 3>& axis);

template < typename T >
qua<T> qrotate_x(T angle);

template < typename T >
qua<T> qrotate_x(const qua<T>& q, T angle);

template < typename T >
qua<T> qrotate_y(T angle);

template < typename T >
qua<T> qrotate_y(const qua<T>& q, T angle);

template < typename T >
qua<T> qrotate_z(T angle);

template < typename T >
qua<T> qrotate_z(const qua<T>& q, T angle);

template < typename T >
qua<T> qlook_at_lh(const vec<T, 3>& dir, const vec<T, 3>& up);

template < typename T >
qua<T> qlook_at_rh(const vec<T, 3>& dir, const vec<T, 3>& up);

License (MIT)