//Copyright (c) 2008-2016 Emil Dotchevski and Reverge Studios, Inc.

//Distributed under the Boost Software License, Version 1.0. (See accompanying
//file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)

#ifndef UUID_4F915D9ED30A11DF962186E3DFD72085
#define UUID_4F915D9ED30A11DF962186E3DFD72085

#include <boost/qvm/detail/mat_assign.hpp>
#include <boost/qvm/mat_operations2.hpp>
#include <boost/qvm/mat_operations3.hpp>
#include <boost/qvm/mat_operations4.hpp>
#include <boost/qvm/math.hpp>
#include <boost/qvm/detail/determinant_impl.hpp>
#include <boost/qvm/detail/cofactor_impl.hpp>
#include <boost/qvm/detail/transp_impl.hpp>
#include <boost/qvm/scalar_traits.hpp>
#include <string>

namespace
boost
    {
    namespace
    qvm
        {
        namespace
        qvm_detail
            {
            BOOST_QVM_INLINE_CRITICAL
            void const *
            get_valid_ptr_mat_operations()
                {
                static int const obj=0;
                return &obj;
                }
            }

        ////////////////////////////////////////////////

        namespace
        qvm_to_string_detail
            {
            template <class T>
            std::string to_string( T const & x );
            }

        namespace
        qvm_detail
            {
            template <int R,int C>
            struct
            to_string_m_defined
                {
                static bool const value=false;
                };

            template <int I,int SizeMinusOne>
            struct
            to_string_matrix_elements
                {
                template <class A>
                static
                std::string
                f( A const & a )
                    {
                    using namespace qvm_to_string_detail;
                    return
                        ( (I%mat_traits<A>::cols)==0 ? '(' : ',' ) +
                        to_string(mat_traits<A>::template read_element<I/mat_traits<A>::cols,I%mat_traits<A>::cols>(a)) +
                        ( (I%mat_traits<A>::cols)==mat_traits<A>::cols-1 ? ")" : "" ) +
                        to_string_matrix_elements<I+1,SizeMinusOne>::f(a);
                    }
                };

            template <int SizeMinusOne>
            struct
            to_string_matrix_elements<SizeMinusOne,SizeMinusOne>
                {
                template <class A>
                static
                std::string
                f( A const & a )
                    {
                    using namespace qvm_to_string_detail;
                    return
                        ( (SizeMinusOne%mat_traits<A>::cols)==0 ? '(' : ',' ) +
                        to_string(mat_traits<A>::template read_element<SizeMinusOne/mat_traits<A>::cols,SizeMinusOne%mat_traits<A>::cols>(a)) +
                        ')';
                    }
                };
            }

        template <class A>
        inline
        typename boost::enable_if_c<
            is_mat<A>::value  &&
            !qvm_detail::to_string_m_defined<mat_traits<A>::rows,mat_traits<A>::cols>::value,
            std::string>::type
        to_string( A const & a )
            {
            return "("+qvm_detail::to_string_matrix_elements<0,mat_traits<A>::rows*mat_traits<A>::cols-1>::f(a)+')';
            }

        ////////////////////////////////////////////////

        template <class A,class B,class Cmp>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value && is_mat<B>::value &&
            mat_traits<A>::rows==mat_traits<B>::rows &&
            mat_traits<A>::cols==mat_traits<B>::cols,
            bool>::type
        cmp( A const & a, B const & b, Cmp f )
            {
            typedef typename deduce_scalar<
                typename mat_traits<A>::scalar_type,
                typename mat_traits<B>::scalar_type>::type T;
            int const rows=mat_traits<A>::rows;
            int const cols=mat_traits<A>::cols;
            T m1[rows][cols]; assign(m1,a);
            T m2[rows][cols]; assign(m2,b);
            for( int i=0; i!=rows; ++i )
                for( int j=0; j!=cols; ++j )
                    if( !f(m1[i][j],m2[i][j]) )
                        return false;
            return true;
            }

        ////////////////////////////////////////////////

        namespace
        qvm_detail
            {
            template <int M,int N>
            struct
            convert_to_m_defined
                {
                static bool const value=false;
                };
            }

        template <class R,class A>
        BOOST_QVM_INLINE_TRIVIAL
        typename enable_if_c<
            is_mat<R>::value && is_mat<A>::value &&
            mat_traits<R>::rows==mat_traits<A>::rows &&
            mat_traits<R>::cols==mat_traits<A>::cols &&
            !qvm_detail::convert_to_m_defined<mat_traits<A>::rows,mat_traits<A>::cols>::value,
            R>::type
        convert_to( A const & a )
            {
            R r; assign(r,a);
            return r;
            }

        ////////////////////////////////////////////////

        namespace
        qvm_detail
            {
            template <int D>
            struct
            determinant_defined
                {
                static bool const value=false;
                };
            }

        template <class A>
        BOOST_QVM_INLINE_TRIVIAL
        typename enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows==mat_traits<A>::cols &&
            !qvm_detail::determinant_defined<mat_traits<A>::rows>::value,
            typename mat_traits<A>::scalar_type>::type
        determinant( A const & a )
            {
            return qvm_detail::determinant_impl(a);
            }

        ////////////////////////////////////////////////

        namespace
        qvm_detail
            {
            template <class T,int Dim>
            class
            identity_mat_
                {
                identity_mat_( identity_mat_ const & );
                identity_mat_ & operator=( identity_mat_ const & );
                ~identity_mat_();

                public:

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

        template <class T,int Dim>
        struct
        mat_traits< qvm_detail::identity_mat_<T,Dim> >
            {
            typedef qvm_detail::identity_mat_<T,Dim> this_matrix;
            typedef T scalar_type;
            static int const rows=Dim;
            static int const cols=Dim;

            template <int Row,int Col>
            static
            BOOST_QVM_INLINE_CRITICAL
            scalar_type
            read_element( this_matrix const & x )
                {
                BOOST_QVM_STATIC_ASSERT(Row>=0);
                BOOST_QVM_STATIC_ASSERT(Row<Dim);
                BOOST_QVM_STATIC_ASSERT(Col>=0);
                BOOST_QVM_STATIC_ASSERT(Col<Dim);
                return scalar_traits<scalar_type>::value(Row==Col);
                }

            static
            BOOST_QVM_INLINE_CRITICAL
            scalar_type
            read_element_idx( int row, int col, this_matrix const & x )
                {
                BOOST_QVM_ASSERT(row>=0);
                BOOST_QVM_ASSERT(row<Dim);
                BOOST_QVM_ASSERT(col>=0);
                BOOST_QVM_ASSERT(col<Dim);
                return scalar_traits<scalar_type>::value(row==col);
                }
            };

        template <class T,int Dim>
        BOOST_QVM_INLINE_TRIVIAL
        qvm_detail::identity_mat_<T,Dim> const &
        identity_mat()
            {
            return *(qvm_detail::identity_mat_<T,Dim> const *)qvm_detail::get_valid_ptr_mat_operations();
            }

        template <class A>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows==mat_traits<A>::cols,
            void>::type
        set_identity( A & a )
            {
            assign(a,identity_mat<typename mat_traits<A>::scalar_type,mat_traits<A>::rows>());
            }

        ////////////////////////////////////////////////

        namespace
        qvm_detail
            {
            template <class T>
            struct
            projection_
                {
                T const _00;
                T const _11;
                T const _22;
                T const _23;
                T const _32;

                BOOST_QVM_INLINE_TRIVIAL
                projection_( T _00, T _11, T _22, T _23, T _32 ):
                    _00(_00),
                    _11(_11),
                    _22(_22),
                    _23(_23),
                    _32(_32)
                    {
                    }

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

            template <int Row,int Col>
            struct
            projection_get
                {
                template <class T>
                static
                BOOST_QVM_INLINE_CRITICAL
                T
                get( projection_<T> const & )
                    {
                    return scalar_traits<T>::value(0);
                    }
                };

            template <> struct projection_get<0,0> { template <class T> static BOOST_QVM_INLINE_CRITICAL T get( projection_<T> const & m ) { return m._00; } };
            template <> struct projection_get<1,1> { template <class T> static BOOST_QVM_INLINE_CRITICAL T get( projection_<T> const & m ) { return m._11; } };
            template <> struct projection_get<2,2> { template <class T> static BOOST_QVM_INLINE_CRITICAL T get( projection_<T> const & m ) { return m._22; } };
            template <> struct projection_get<2,3> { template <class T> static BOOST_QVM_INLINE_CRITICAL T get( projection_<T> const & m ) { return m._23; } };
            template <> struct projection_get<3,2> { template <class T> static BOOST_QVM_INLINE_CRITICAL T get( projection_<T> const & m ) { return m._32; } };
            }

        template <class T>
        struct
        mat_traits< qvm_detail::projection_<T> >
            {
            typedef qvm_detail::projection_<T> this_matrix;
            typedef T scalar_type;
            static int const rows=4;
            static int const cols=4;

            template <int Row,int Col>
            static
            BOOST_QVM_INLINE_CRITICAL
            scalar_type
            read_element( this_matrix const & x )
                {
                BOOST_QVM_STATIC_ASSERT(Row>=0);
                BOOST_QVM_STATIC_ASSERT(Row<rows);
                BOOST_QVM_STATIC_ASSERT(Col>=0);
                BOOST_QVM_STATIC_ASSERT(Col<cols);
                return qvm_detail::projection_get<Row,Col>::get(x);
                }
            };

        template <class T>
        qvm_detail::projection_<T>
        BOOST_QVM_INLINE_OPERATIONS
        perspective_lh( T fov_y, T aspect_ratio, T z_near, T z_far )
            {
            T const one = scalar_traits<T>::value(1);
            T const ys = one/tan<T>(fov_y/scalar_traits<T>::value(2));
            T const xs = ys/aspect_ratio;
            T const zd = z_far-z_near;
            T const z1 = z_far/zd;
            T const z2 = -z_near*z1;
            return qvm_detail::projection_<T>(xs,ys,z1,z2,one);
            }

        template <class T>
        qvm_detail::projection_<T>
        BOOST_QVM_INLINE_OPERATIONS
        perspective_rh( T fov_y, T aspect_ratio, T z_near, T z_far )
            {
            T const one = scalar_traits<T>::value(1);
            T const ys = one/tan<T>(fov_y/scalar_traits<T>::value(2));
            T const xs = ys/aspect_ratio;
            T const zd = z_near-z_far;
            T const z1 = z_far/zd;
            T const z2 = z_near*z1;
            return qvm_detail::projection_<T>(xs,ys,z1,z2,-one);
            }

        ////////////////////////////////////////////////

        namespace
        qvm_detail
            {
            template <class OriginalType,class Scalar>
            class
            matrix_scalar_cast_
                {
                matrix_scalar_cast_( matrix_scalar_cast_ const & );
                matrix_scalar_cast_ & operator=( matrix_scalar_cast_ const & );
                ~matrix_scalar_cast_();

                public:

                template <class T>
                BOOST_QVM_INLINE_TRIVIAL
                matrix_scalar_cast_ &
                operator=( T const & x )
                    {
                    assign(*this,x);
                    return *this;
                    }

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

            template <bool> struct scalar_cast_matrix_filter { };
            template <> struct scalar_cast_matrix_filter<true> { typedef int type; };
            }

        template <class OriginalType,class Scalar>
        struct
        mat_traits< qvm_detail::matrix_scalar_cast_<OriginalType,Scalar> >
            {
            typedef Scalar scalar_type;
            typedef qvm_detail::matrix_scalar_cast_<OriginalType,Scalar> this_matrix;
            static int const rows=mat_traits<OriginalType>::rows;
            static int const cols=mat_traits<OriginalType>::cols;

            template <int Row,int Col>
            static
            BOOST_QVM_INLINE_CRITICAL
            scalar_type
            read_element( this_matrix const & x )
                {
                BOOST_QVM_STATIC_ASSERT(Row>=0);
                BOOST_QVM_STATIC_ASSERT(Row<rows);
                BOOST_QVM_STATIC_ASSERT(Col>=0);
                BOOST_QVM_STATIC_ASSERT(Col<cols);
                return scalar_type(mat_traits<OriginalType>::template read_element<Row,Col>(reinterpret_cast<OriginalType const &>(x)));
                }

            static
            BOOST_QVM_INLINE_CRITICAL
            scalar_type
            read_element_idx( int row, int col, this_matrix const & x )
                {
                BOOST_QVM_ASSERT(row>=0);
                BOOST_QVM_ASSERT(row<rows);
                BOOST_QVM_ASSERT(col>=0);
                BOOST_QVM_ASSERT(col<cols);
                return scalar_type(mat_traits<OriginalType>::read_element_idx(col,row,reinterpret_cast<OriginalType const &>(x)));
                }
            };

        template <class OriginalType,class Scalar,int R,int C>
        struct
        deduce_mat<qvm_detail::matrix_scalar_cast_<OriginalType,Scalar>,R,C>
            {
            typedef mat<Scalar,R,C> type;
            };

        template <class Scalar,class T>
        BOOST_QVM_INLINE_TRIVIAL
        qvm_detail::matrix_scalar_cast_<T,Scalar> const &
        scalar_cast( T const & x, typename qvm_detail::scalar_cast_matrix_filter<is_mat<T>::value>::type=0 )
            {
            return reinterpret_cast<qvm_detail::matrix_scalar_cast_<T,Scalar> const &>(x);
            }

        ////////////////////////////////////////////////

        namespace
        qvm_detail
            {
            template <int M,int N>
            struct
            div_eq_ms_defined
                {
                static bool const value=false;
                };
            }

        template <class A,class B>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value && is_scalar<B>::value &&
            !qvm_detail::div_eq_ms_defined<mat_traits<A>::rows,mat_traits<A>::cols>::value,
            A &>::type
        operator/=( A & a, B b )
            {
            for( int i=0; i!=mat_traits<A>::rows; ++i )
                for( int j=0; j!=mat_traits<A>::cols; ++j )
                    mat_traits<A>::write_element_idx(i,j,a)/=b;
            return a;
            }

        ////////////////////////////////////////////////

        namespace
        qvm_detail
            {
            template <int M,int N>
            struct
            div_ms_defined
                {
                static bool const value=false;
                };
            }

        template <class A,class B>
        BOOST_QVM_INLINE_OPERATIONS
        typename lazy_enable_if_c<
            is_mat<A>::value && is_scalar<B>::value &&
            !qvm_detail::div_ms_defined<mat_traits<A>::rows,mat_traits<A>::cols>::value,
            deduce_mat<A> >::type
        operator/( A const & a, B b )
            {
            typedef typename deduce_mat<A>::type R;
            R r;
            for( int i=0; i!=mat_traits<A>::rows; ++i )
                for( int j=0; j!=mat_traits<A>::cols; ++j )
                    mat_traits<R>::write_element_idx(i,j,r)=mat_traits<A>::read_element_idx(i,j,a)/b;
            return r;
            }

        ////////////////////////////////////////////////

        namespace
        qvm_detail
            {
            template <int M,int N>
            struct
            eq_mm_defined
                {
                static bool const value=false;
                };
            }

        template <class A,class B>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value && is_mat<B>::value &&
            mat_traits<A>::rows==mat_traits<B>::rows &&
            mat_traits<A>::cols==mat_traits<B>::cols &&
            !qvm_detail::eq_mm_defined<mat_traits<A>::rows,mat_traits<A>::cols>::value,
            bool>::type
        operator==( A const & a, B const & b )
            {
            for( int i=0; i!=mat_traits<A>::rows; ++i )
                for( int j=0; j!=mat_traits<A>::cols; ++j )
                    if( mat_traits<A>::read_element_idx(i,j,a)!=mat_traits<B>::read_element_idx(i,j,b) )
                        return false;
            return true;
            }

        ////////////////////////////////////////////////

        namespace
        qvm_detail
            {
            template <int M,int N>
            struct
            minus_eq_mm_defined
                {
                static bool const value=false;
                };
            }

        template <class A,class B>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value && is_mat<B>::value &&
            mat_traits<A>::rows==mat_traits<B>::rows &&
            mat_traits<A>::cols==mat_traits<B>::cols &&
            !qvm_detail::minus_eq_mm_defined<mat_traits<A>::rows,mat_traits<A>::cols>::value,
            A &>::type
        operator-=( A & a, B const & b )
            {
            for( int i=0; i!=mat_traits<A>::rows; ++i )
                for( int j=0; j!=mat_traits<A>::cols; ++j )
                    mat_traits<A>::write_element_idx(i,j,a)-=mat_traits<B>::read_element_idx(i,j,b);
            return a;
            }

        ////////////////////////////////////////////////

        namespace
        qvm_detail
            {
            template <int M,int N>
            struct
            minus_m_defined
                {
                static bool const value=false;
                };
            }

        template <class A>
        BOOST_QVM_INLINE_OPERATIONS
        typename lazy_enable_if_c<
            is_mat<A>::value &&
            !qvm_detail::minus_m_defined<mat_traits<A>::rows,mat_traits<A>::cols>::value,
            deduce_mat<A> >::type
        operator-( A const & a )
            {
            typedef typename deduce_mat<A>::type R;
            R r;
            for( int i=0; i!=mat_traits<A>::rows; ++i )
                for( int j=0; j!=mat_traits<A>::cols; ++j )
                    mat_traits<R>::write_element_idx(i,j,r)=-mat_traits<A>::read_element_idx(i,j,a);
            return r;
            }

        ////////////////////////////////////////////////

        namespace
        qvm_detail
            {
            template <int M,int N>
            struct
            minus_mm_defined
                {
                static bool const value=false;
                };
            }

        template <class A,class B>
        BOOST_QVM_INLINE_OPERATIONS
        typename lazy_enable_if_c<
            is_mat<A>::value && is_mat<B>::value &&
            mat_traits<A>::rows==mat_traits<B>::rows &&
            mat_traits<A>::cols==mat_traits<B>::cols &&
            !qvm_detail::minus_mm_defined<mat_traits<A>::rows,mat_traits<A>::cols>::value,
            deduce_mat2<A,B,mat_traits<A>::rows,mat_traits<A>::cols> >::type
        operator-( A const & a, B const & b )
            {
            typedef typename deduce_mat2<A,B,mat_traits<A>::rows,mat_traits<A>::cols>::type R;
            R r;
            for( int i=0; i!=mat_traits<A>::rows; ++i )
                for( int j=0; j!=mat_traits<A>::cols; ++j )
                    mat_traits<R>::write_element_idx(i,j,r)=mat_traits<A>::read_element_idx(i,j,a)-mat_traits<B>::read_element_idx(i,j,b);
            return r;
            }

        ////////////////////////////////////////////////

        namespace
        qvm_detail
            {
            template <int D>
            struct
            mul_eq_mm_defined
                {
                static bool const value=false;
                };
            }

        template <class A,class B>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            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 &&
            !qvm_detail::mul_eq_mm_defined<mat_traits<A>::rows>::value,
            A &>::type
        operator*=( A & r, B const & b )
            {
            typedef typename mat_traits<A>::scalar_type Ta;
            Ta a[mat_traits<A>::rows][mat_traits<A>::cols];
            for( int i=0; i<mat_traits<A>::rows; ++i )
                for( int j=0; j<mat_traits<B>::cols; ++j )
                    a[i][j]=mat_traits<A>::read_element_idx(i,j,r);
            for( int i=0; i<mat_traits<A>::rows; ++i )
                for( int j=0; j<mat_traits<B>::cols; ++j )
                    {
                    Ta x(scalar_traits<Ta>::value(0));
                    for( int k=0; k<mat_traits<A>::cols; ++k )
                        x += a[i][k]*mat_traits<B>::read_element_idx(k,j,b);
                    mat_traits<A>::write_element_idx(i,j,r) = x;
                    }
            return r;
            }

        ////////////////////////////////////////////////

        namespace
        qvm_detail
            {
            template <int M,int N>
            struct
            mul_eq_ms_defined
                {
                static bool const value=false;
                };
            }

        template <class A,class B>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value && is_scalar<B>::value &&
            !qvm_detail::mul_eq_ms_defined<mat_traits<A>::rows,mat_traits<A>::cols>::value,
            A &>::type
        operator*=( A & a, B b )
            {
            for( int i=0; i!=mat_traits<A>::rows; ++i )
                for( int j=0; j!=mat_traits<A>::cols; ++j )
                    mat_traits<A>::write_element_idx(i,j,a)*=b;
            return a;
            }

        ////////////////////////////////////////////////

        namespace
        qvm_detail
            {
            template <int R,int CR,int C>
            struct
            mul_mm_defined
                {
                static bool const value=false;
                };
            }

        template <class A,class B>
        BOOST_QVM_INLINE_OPERATIONS
        typename lazy_enable_if_c<
            is_mat<A>::value && is_mat<B>::value &&
            mat_traits<A>::cols==mat_traits<B>::rows &&
            !qvm_detail::mul_mm_defined<mat_traits<A>::rows,mat_traits<A>::cols,mat_traits<B>::cols>::value,
            deduce_mat2<A,B,mat_traits<A>::rows,mat_traits<B>::cols> >::type
        operator*( A const & a, B const & b )
            {
            typedef typename deduce_mat2<A,B,mat_traits<A>::rows,mat_traits<B>::cols>::type R;
            R r;
            for( int i=0; i<mat_traits<A>::rows; ++i )
                for( int j=0; j<mat_traits<B>::cols; ++j )
                    {
                    typedef typename mat_traits<A>::scalar_type Ta;
                    Ta x(scalar_traits<Ta>::value(0));
                    for( int k=0; k<mat_traits<A>::cols; ++k )
                        x += mat_traits<A>::read_element_idx(i,k,a)*mat_traits<B>::read_element_idx(k,j,b);
                    mat_traits<R>::write_element_idx(i,j,r) = x;
                    }
            return r;
            }

        ////////////////////////////////////////////////

        namespace
        qvm_detail
            {
            template <int M,int N>
            struct
            mul_ms_defined
                {
                static bool const value=false;
                };
            }

        template <class A,class B>
        BOOST_QVM_INLINE_OPERATIONS
        typename lazy_enable_if_c<
            is_mat<A>::value && is_scalar<B>::value &&
            !qvm_detail::mul_ms_defined<mat_traits<A>::rows,mat_traits<A>::cols>::value,
            deduce_mat<A> >::type
        operator*( A const & a, B b )
            {
            typedef typename deduce_mat<A>::type R;
            R r;
            for( int i=0; i!=mat_traits<A>::rows; ++i )
                for( int j=0; j!=mat_traits<A>::cols; ++j )
                    mat_traits<R>::write_element_idx(i,j,r)=mat_traits<A>::read_element_idx(i,j,a)*b;
            return r;
            }

        ////////////////////////////////////////////////

        namespace
        qvm_detail
            {
            template <int M,int N>
            struct
            mul_sm_defined
                {
                static bool const value=false;
                };
            }

        template <class A,class B>
        BOOST_QVM_INLINE_OPERATIONS
        typename lazy_enable_if_c<
            is_scalar<A>::value && is_mat<B>::value &&
            !qvm_detail::mul_sm_defined<mat_traits<B>::rows,mat_traits<B>::cols>::value,
            deduce_mat<B> >::type
        operator*( A a, B const & b )
            {
            typedef typename deduce_mat<B>::type R;
            R r;
            for( int i=0; i!=mat_traits<B>::rows; ++i )
                for( int j=0; j!=mat_traits<B>::cols; ++j )
                    mat_traits<R>::write_element_idx(i,j,r)=a*mat_traits<B>::read_element_idx(i,j,b);
            return r;
            }

        ////////////////////////////////////////////////

        namespace
        qvm_detail
            {
            template <int M,int N>
            struct
            neq_mm_defined
                {
                static bool const value=false;
                };
            }

        template <class A,class B>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value && is_mat<B>::value &&
            mat_traits<A>::rows==mat_traits<B>::rows &&
            mat_traits<A>::cols==mat_traits<B>::cols &&
            !qvm_detail::neq_mm_defined<mat_traits<A>::rows,mat_traits<A>::cols>::value,
            bool>::type
        operator!=( A const & a, B const & b )
            {
            for( int i=0; i!=mat_traits<A>::rows; ++i )
                for( int j=0; j!=mat_traits<A>::cols; ++j )
                    if( mat_traits<A>::read_element_idx(i,j,a)!=mat_traits<B>::read_element_idx(i,j,b) )
                        return true;
            return false;
            }

        ////////////////////////////////////////////////

        namespace
        qvm_detail
            {
            template <int M,int N>
            struct
            plus_eq_mm_defined
                {
                static bool const value=false;
                };
            }

        template <class A,class B>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value && is_mat<B>::value &&
            mat_traits<A>::rows==mat_traits<B>::rows &&
            mat_traits<A>::cols==mat_traits<B>::cols &&
            !qvm_detail::plus_eq_mm_defined<mat_traits<A>::rows,mat_traits<A>::cols>::value,
            A &>::type
        operator+=( A & a, B const & b )
            {
            for( int i=0; i!=mat_traits<A>::rows; ++i )
                for( int j=0; j!=mat_traits<A>::cols; ++j )
                    mat_traits<A>::write_element_idx(i,j,a)+=mat_traits<B>::read_element_idx(i,j,b);
            return a;
            }

        ////////////////////////////////////////////////

        namespace
        qvm_detail
            {
            template <int M,int N>
            struct
            plus_mm_defined
                {
                static bool const value=false;
                };
            }

        template <class A,class B>
        BOOST_QVM_INLINE_OPERATIONS
        typename lazy_enable_if_c<
            is_mat<A>::value && is_mat<B>::value &&
            mat_traits<A>::rows==mat_traits<B>::rows &&
            mat_traits<A>::cols==mat_traits<B>::cols &&
            !qvm_detail::plus_mm_defined<mat_traits<A>::rows,mat_traits<A>::cols>::value,
            deduce_mat2<A,B,mat_traits<A>::rows,mat_traits<A>::cols> >::type
        operator+( A const & a, B const & b )
            {
            typedef typename deduce_mat2<A,B,mat_traits<A>::rows,mat_traits<A>::cols>::type R;
            R r;
            for( int i=0; i!=mat_traits<A>::rows; ++i )
                for( int j=0; j!=mat_traits<A>::cols; ++j )
                    mat_traits<R>::write_element_idx(i,j,r)=mat_traits<A>::read_element_idx(i,j,a)+mat_traits<B>::read_element_idx(i,j,b);
            return r;
            }

        ////////////////////////////////////////////////

        namespace
        qvm_detail
            {
            template <class T>
            class
            mref_
                {
                mref_( mref_ const & );
                mref_ & operator=( mref_ const & );
                ~mref_();

                public:

                template <class R>
                BOOST_QVM_INLINE_TRIVIAL
                mref_ &
                operator=( R const & x )
                    {
                    assign(*this,x);
                    return *this;
                    }

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

        template <class M>
        struct
        mat_traits< qvm_detail::mref_<M> >
            {
            typedef typename mat_traits<M>::scalar_type scalar_type;
            typedef qvm_detail::mref_<M> this_matrix;
            static int const rows=mat_traits<M>::rows;
            static int const cols=mat_traits<M>::cols;

            template <int Row,int Col>
            static
            BOOST_QVM_INLINE_CRITICAL
            scalar_type
            read_element( this_matrix const & x )
                {
                BOOST_QVM_STATIC_ASSERT(Row>=0);
                BOOST_QVM_STATIC_ASSERT(Row<rows);
                BOOST_QVM_STATIC_ASSERT(Col>=0);
                BOOST_QVM_STATIC_ASSERT(Col<cols);
                return mat_traits<M>::template read_element<Row,Col>(reinterpret_cast<M const &>(x));
                }

            template <int Row,int Col>
            static
            BOOST_QVM_INLINE_CRITICAL
            scalar_type &
            write_element( this_matrix & x )
                {
                BOOST_QVM_STATIC_ASSERT(Row>=0);
                BOOST_QVM_STATIC_ASSERT(Row<rows);
                BOOST_QVM_STATIC_ASSERT(Col>=0);
                BOOST_QVM_STATIC_ASSERT(Col<cols);
                return mat_traits<M>::template write_element<Row,Col>(reinterpret_cast<M &>(x));
                }

            static
            BOOST_QVM_INLINE_CRITICAL
            scalar_type
            read_element_idx( int row, int col, this_matrix const & x )
                {
                BOOST_QVM_ASSERT(row>=0);
                BOOST_QVM_ASSERT(row<rows);
                BOOST_QVM_ASSERT(col>=0);
                BOOST_QVM_ASSERT(col<cols);
                return mat_traits<M>::read_element_idx(row,col,reinterpret_cast<M const &>(x));
                }

            static
            BOOST_QVM_INLINE_CRITICAL
            scalar_type &
            write_element_idx( int row, int col, this_matrix & x )
                {
                BOOST_QVM_ASSERT(row>=0);
                BOOST_QVM_ASSERT(row<rows);
                BOOST_QVM_ASSERT(col>=0);
                BOOST_QVM_ASSERT(col<cols);
                return mat_traits<M>::write_element_idx(row,col,reinterpret_cast<M &>(x));
                }
            };

        template <class M,int R,int C>
        struct
        deduce_mat<qvm_detail::mref_<M>,R,C>
            {
            typedef mat<typename mat_traits<M>::scalar_type,R,C> type;
            };

        template <class M>
        BOOST_QVM_INLINE_TRIVIAL
        typename enable_if_c<
            is_mat<M>::value,
            qvm_detail::mref_<M> const &>::type
        mref( M const & a )
            {
            return reinterpret_cast<qvm_detail::mref_<M> const &>(a);
            }

        template <class M>
        BOOST_QVM_INLINE_TRIVIAL
        typename enable_if_c<
            is_mat<M>::value,
            qvm_detail::mref_<M> &>::type
        mref( M & a )
            {
            return reinterpret_cast<qvm_detail::mref_<M> &>(a);
            }

        ////////////////////////////////////////////////

        namespace
        qvm_detail
            {
            template <class T,int Rows,int Cols>
            class
            zero_mat_
                {
                zero_mat_( zero_mat_ const & );
                zero_mat_ & operator=( zero_mat_ const & );
                ~zero_mat_();

                public:

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

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

            template <int Row,int Col>
            static
            BOOST_QVM_INLINE_CRITICAL
            scalar_type
            read_element( this_matrix const & )
                {
                BOOST_QVM_STATIC_ASSERT(Row>=0);
                BOOST_QVM_STATIC_ASSERT(Row<Rows);
                BOOST_QVM_STATIC_ASSERT(Col>=0);
                BOOST_QVM_STATIC_ASSERT(Col<Cols);
                return scalar_traits<scalar_type>::value(0);
                }

            static
            BOOST_QVM_INLINE_CRITICAL
            scalar_type
            read_element_idx( int row, int col, this_matrix const & )
                {
                BOOST_QVM_ASSERT(row>=0);
                BOOST_QVM_ASSERT(row<rows);
                BOOST_QVM_ASSERT(col>=0);
                BOOST_QVM_ASSERT(col<cols);
                return scalar_traits<scalar_type>::value(0);
                }
            };

        template <class T,int Rows,int Cols,int R,int C>
        struct
        deduce_mat<qvm_detail::zero_mat_<T,Rows,Cols>,R,C>
            {
            typedef mat<T,R,C> type;
            };

        template <class T,int Rows,int Cols>
        BOOST_QVM_INLINE_TRIVIAL
        qvm_detail::zero_mat_<T,Rows,Cols> const &
        zero_mat()
            {
            return *(qvm_detail::zero_mat_<T,Rows,Cols> const *)qvm_detail::get_valid_ptr_mat_operations();
            }

        template <class T,int Dim>
        BOOST_QVM_INLINE_TRIVIAL
        qvm_detail::zero_mat_<T,Dim,Dim> const &
        zero_mat()
            {
            return *(qvm_detail::zero_mat_<T,Dim,Dim> const *)qvm_detail::get_valid_ptr_mat_operations();
            }

        template <class A>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value,
            void>::type
        set_zero( A & a )
            {
            assign(a,zero_mat<typename mat_traits<A>::scalar_type,mat_traits<A>::rows,mat_traits<A>::cols>());
            }

        ////////////////////////////////////////////////

        namespace
        qvm_detail
            {
            template <int D,class S>
            struct
            rot_mat_
                {
                typedef S scalar_type;
                scalar_type a[3][3];

                BOOST_QVM_INLINE
                rot_mat_(
                        scalar_type a00, scalar_type a01, scalar_type a02,
                        scalar_type a10, scalar_type a11, scalar_type a12,
                        scalar_type a20, scalar_type a21, scalar_type a22 )
                    {
                    a[0][0] = a00;
                    a[0][1] = a01;
                    a[0][2] = a02;
                    a[1][0] = a10;
                    a[1][1] = a11;
                    a[1][2] = a12;
                    a[2][0] = a20;
                    a[2][1] = a21;
                    a[2][2] = a22;
                    }

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

            template <int Row,int Col>
            struct
            rot_m_get
                {
                template <class T>
                static
                BOOST_QVM_INLINE_CRITICAL
                T
                get( T const (&)[3][3] )
                    {
                    return scalar_traits<T>::value(Row==Col);
                    }
                };

            template <> struct rot_m_get<0,0> { template <class T> static BOOST_QVM_INLINE_CRITICAL T get( T const (&a)[3][3] ) { return a[0][0]; } };
            template <> struct rot_m_get<0,1> { template <class T> static BOOST_QVM_INLINE_CRITICAL T get( T const (&a)[3][3] ) { return a[0][1]; } };
            template <> struct rot_m_get<0,2> { template <class T> static BOOST_QVM_INLINE_CRITICAL T get( T const (&a)[3][3] ) { return a[0][2]; } };
            template <> struct rot_m_get<1,0> { template <class T> static BOOST_QVM_INLINE_CRITICAL T get( T const (&a)[3][3] ) { return a[1][0]; } };
            template <> struct rot_m_get<1,1> { template <class T> static BOOST_QVM_INLINE_CRITICAL T get( T const (&a)[3][3] ) { return a[1][1]; } };
            template <> struct rot_m_get<1,2> { template <class T> static BOOST_QVM_INLINE_CRITICAL T get( T const (&a)[3][3] ) { return a[1][2]; } };
            template <> struct rot_m_get<2,0> { template <class T> static BOOST_QVM_INLINE_CRITICAL T get( T const (&a)[3][3] ) { return a[2][0]; } };
            template <> struct rot_m_get<2,1> { template <class T> static BOOST_QVM_INLINE_CRITICAL T get( T const (&a)[3][3] ) { return a[2][1]; } };
            template <> struct rot_m_get<2,2> { template <class T> static BOOST_QVM_INLINE_CRITICAL T get( T const (&a)[3][3] ) { return a[2][2]; } };
            }

        template <class M>
        struct mat_traits;

        template <int D,class S>
        struct
        mat_traits< qvm_detail::rot_mat_<D,S> >
            {
            typedef qvm_detail::rot_mat_<D,S> this_matrix;
            typedef typename this_matrix::scalar_type scalar_type;
            static int const rows=D;
            static int const cols=D;

            template <int Row,int Col>
            static
            BOOST_QVM_INLINE_CRITICAL
            scalar_type
            read_element( this_matrix const & x )
                {
                BOOST_QVM_STATIC_ASSERT(Row>=0);
                BOOST_QVM_STATIC_ASSERT(Row<D);
                BOOST_QVM_STATIC_ASSERT(Col>=0);
                BOOST_QVM_STATIC_ASSERT(Col<D);
                return qvm_detail::rot_m_get<Row,Col>::get(x.a);
                }

            static
            BOOST_QVM_INLINE_CRITICAL
            scalar_type
            read_element_idx( int row, int col, this_matrix const & x )
                {
                BOOST_QVM_ASSERT(row>=0);
                BOOST_QVM_ASSERT(row<D);
                BOOST_QVM_ASSERT(col>=0);
                BOOST_QVM_ASSERT(col<D);
                return row<3 && col<3?
                    x.a[row][col] :
                    scalar_traits<scalar_type>::value(row==col);
                }
            };

        template <int Dim,class V,class Angle>
        BOOST_QVM_INLINE
        typename enable_if_c<
            is_vec<V>::value && vec_traits<V>::dim==3,
            qvm_detail::rot_mat_<Dim,Angle> >::type
        rot_mat( V const & axis, Angle angle )
            {
            typedef Angle scalar_type;
            scalar_type const x=vec_traits<V>::template read_element<0>(axis);
            scalar_type const y=vec_traits<V>::template read_element<1>(axis);
            scalar_type const z=vec_traits<V>::template read_element<2>(axis);
            scalar_type const m2=x*x+y*y+z*z;
            if( m2==scalar_traits<scalar_type>::value(0) )
                BOOST_QVM_THROW_EXCEPTION(zero_magnitude_error());
            scalar_type const s = sin<scalar_type>(angle);
            scalar_type const c = cos<scalar_type>(angle);
            scalar_type const x2 = x*x;
            scalar_type const y2 = y*y;
            scalar_type const z2 = z*z;
            scalar_type const xy = x*y;
            scalar_type const xz = x*z;
            scalar_type const yz = y*z;
            scalar_type const xs = x*s;
            scalar_type const ys = y*s;
            scalar_type const zs = z*s;
            scalar_type const one = scalar_traits<scalar_type>::value(1);
            scalar_type const c1 = one-c;
            return qvm_detail::rot_mat_<Dim,Angle>(
                x2+(one-x2)*c, xy*c1-zs, xz*(one-c)+ys,
                xy*c1+zs, y2+(one-y2)*c, yz*c1-xs,
                xz*c1-ys, yz*c1+xs, z2+(one-z2)*c );
            }

        template <class A,class B,class Angle>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows==mat_traits<A>::cols &&
            mat_traits<A>::rows>=3 &&
            is_vec<B>::value && vec_traits<B>::dim==3,
            void>::type
        set_rot( A & a, B const & axis, Angle angle )
            {
            assign(a,rot_mat<mat_traits<A>::rows>(axis,angle));
            }

        template <class A,class B,class Angle>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows==mat_traits<A>::cols &&
            mat_traits<A>::rows>=3 &&
            is_vec<B>::value && vec_traits<B>::dim==3,
            void>::type
        rotate( A & a, B const & axis, Angle angle )
            {
            a *= rot_mat<mat_traits<A>::rows>(axis,angle);
            }

        ////////////////////////////////////////////////

        template <int Dim,class Angle>
        BOOST_QVM_INLINE
        qvm_detail::rot_mat_<Dim,Angle>
        rot_mat_xzy( Angle x1, Angle z2, Angle y3 )
            {
            typedef Angle scalar_type;
            scalar_type const c1 = cos<scalar_type>(x1);
            scalar_type const s1 = sin<scalar_type>(x1);
            scalar_type const c2 = cos<scalar_type>(z2);
            scalar_type const s2 = sin<scalar_type>(z2);
            scalar_type const c3 = cos<scalar_type>(y3);
            scalar_type const s3 = sin<scalar_type>(y3);
            return qvm_detail::rot_mat_<Dim,Angle>(
                c2*c3, -s2, c2*s3,
                s1*s3 + c1*c3*s2, c1*c2, c1*s2*s3 - c3*s1,
                c3*s1*s2 - c1*s3, c2*s1, c1*c3 + s1*s2*s3 );
            }

        template <class A,class Angle>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows==mat_traits<A>::cols &&
            mat_traits<A>::rows>=3,
            void>::type
        set_rot_xzy( A & a, Angle x1, Angle z2, Angle y3 )
            {
            assign(a,rot_mat_xzy<mat_traits<A>::rows>(x1,z2,y3));
            }

        template <class A,class Angle>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows==mat_traits<A>::cols &&
            mat_traits<A>::rows>=3,
            void>::type
        rotate_xzy( A & a, Angle x1, Angle z2, Angle y3 )
            {
            a *= rot_mat_xzy<mat_traits<A>::rows>(x1,z2,y3);
            }

        ////////////////////////////////////////////////

        template <int Dim,class Angle>
        BOOST_QVM_INLINE
        qvm_detail::rot_mat_<Dim,Angle>
        rot_mat_xyz( Angle x1, Angle y2, Angle z3 )
            {
            typedef Angle scalar_type;
            scalar_type const c1 = cos<scalar_type>(x1);
            scalar_type const s1 = sin<scalar_type>(x1);
            scalar_type const c2 = cos<scalar_type>(y2);
            scalar_type const s2 = sin<scalar_type>(y2);
            scalar_type const c3 = cos<scalar_type>(z3);
            scalar_type const s3 = sin<scalar_type>(z3);
            return qvm_detail::rot_mat_<Dim,Angle>(
                c2*c3, -c2*s3, s2,
                c1*s3 + c3*s1*s2, c1*c3 - s1*s2*s3, -c2*s1,
                s1*s3 - c1*c3*s2, c3*s1 + c1*s2*s3, c1*c2 );
            }

        template <class A,class Angle>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows==mat_traits<A>::cols &&
            mat_traits<A>::rows>=3,
            void>::type
        set_rot_xyz( A & a, Angle x1, Angle y2, Angle z3 )
            {
            assign(a,rot_mat_xyz<mat_traits<A>::rows>(x1,y2,z3));
            }

        template <class A,class Angle>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows==mat_traits<A>::cols &&
            mat_traits<A>::rows>=3,
            void>::type
        rotate_xyz( A & a, Angle x1, Angle y2, Angle z3 )
            {
            a *= rot_mat_xyz<mat_traits<A>::rows>(x1,y2,z3);
            }

        ////////////////////////////////////////////////

        template <int Dim,class Angle>
        BOOST_QVM_INLINE
        qvm_detail::rot_mat_<Dim,Angle>
        rot_mat_yxz( Angle y1, Angle x2, Angle z3 )
            {
            typedef Angle scalar_type;
            scalar_type const c1 = cos<scalar_type>(y1);
            scalar_type const s1 = sin<scalar_type>(y1);
            scalar_type const c2 = cos<scalar_type>(x2);
            scalar_type const s2 = sin<scalar_type>(x2);
            scalar_type const c3 = cos<scalar_type>(z3);
            scalar_type const s3 = sin<scalar_type>(z3);
            return qvm_detail::rot_mat_<Dim,Angle>(
                c1*c3 + s1*s2*s3, c3*s1*s2 - c1*s3, c2*s1,
                c2*s3, c2*c3, -s2,
                c1*s2*s3 - c3*s1, c1*c3*s2 + s1*s3, c1*c2 );
            }

        template <class A,class Angle>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows==mat_traits<A>::cols &&
            mat_traits<A>::rows>=3,
            void>::type
        set_rot_yxz( A & a, Angle y1, Angle x2, Angle z3 )
            {
            assign(a,rot_mat_yxz<mat_traits<A>::rows>(y1,x2,z3));
            }

        template <class A,class Angle>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows==mat_traits<A>::cols &&
            mat_traits<A>::rows>=3,
            void>::type
        rotate_yxz( A & a, Angle y1, Angle x2, Angle z3 )
            {
            a *= rot_mat_yxz<mat_traits<A>::rows>(y1,x2,z3);
            }

        ////////////////////////////////////////////////

        template <int Dim,class Angle>
        BOOST_QVM_INLINE
        qvm_detail::rot_mat_<Dim,Angle>
        rot_mat_yzx( Angle y1, Angle z2, Angle x3 )
            {
            typedef Angle scalar_type;
            scalar_type const c1 = cos<scalar_type>(y1);
            scalar_type const s1 = sin<scalar_type>(y1);
            scalar_type const c2 = cos<scalar_type>(z2);
            scalar_type const s2 = sin<scalar_type>(z2);
            scalar_type const c3 = cos<scalar_type>(x3);
            scalar_type const s3 = sin<scalar_type>(x3);
            return qvm_detail::rot_mat_<Dim,Angle>(
                c1*c2, s1*s3 - c1*c3*s2, c3*s1 + c1*s2*s3,
                s2, c2*c3, -c2*s3,
                -c2*s1, c1*s3 + c3*s1*s2, c1*c3 - s1*s2*s3 );
            }

        template <class A,class Angle>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows==mat_traits<A>::cols &&
            mat_traits<A>::rows>=3,
            void>::type
        set_rot_yzx( A & a, Angle y1, Angle z2, Angle x3 )
            {
            assign(a,rot_mat_yzx<mat_traits<A>::rows>(y1,z2,x3));
            }

        template <class A,class Angle>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows==mat_traits<A>::cols &&
            mat_traits<A>::rows>=3,
            void>::type
        rotate_yzx( A & a, Angle y1, Angle z2, Angle x3 )
            {
            a *= rot_mat_yzx<mat_traits<A>::rows>(y1,z2,x3);
            }

        ////////////////////////////////////////////////

        template <int Dim,class Angle>
        BOOST_QVM_INLINE
        qvm_detail::rot_mat_<Dim,Angle>
        rot_mat_zyx( Angle z1, Angle y2, Angle x3 )
            {
            typedef Angle scalar_type;
            scalar_type const c1 = cos<scalar_type>(z1);
            scalar_type const s1 = sin<scalar_type>(z1);
            scalar_type const c2 = cos<scalar_type>(y2);
            scalar_type const s2 = sin<scalar_type>(y2);
            scalar_type const c3 = cos<scalar_type>(x3);
            scalar_type const s3 = sin<scalar_type>(x3);
            return qvm_detail::rot_mat_<Dim,Angle>(
                c1*c2, c1*s2*s3 - c3*s1, s1*s3 + c1*c3*s2,
                c2*s1, c1*c3 + s1*s2*s3, c3*s1*s2 - c1*s3,
                -s2, c2*s3, c2*c3 );
            }

        template <class A,class Angle>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows==mat_traits<A>::cols &&
            mat_traits<A>::rows>=3,
            void>::type
        set_rot_zyx( A & a, Angle z1, Angle y2, Angle x3 )
            {
            assign(a,rot_mat_zyx<mat_traits<A>::rows>(z1,y2,x3));
            }

        template <class A,class Angle>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows==mat_traits<A>::cols &&
            mat_traits<A>::rows>=3,
            void>::type
        rotate_zyx( A & a, Angle z1, Angle y2, Angle x3 )
            {
            a *= rot_mat_zyx<mat_traits<A>::rows>(z1,y2,x3);
            }

        ////////////////////////////////////////////////

        template <int Dim,class Angle>
        BOOST_QVM_INLINE
        qvm_detail::rot_mat_<Dim,Angle>
        rot_mat_zxy( Angle z1, Angle x2, Angle y3 )
            {
            typedef Angle scalar_type;
            scalar_type const c1 = cos<scalar_type>(z1);
            scalar_type const s1 = sin<scalar_type>(z1);
            scalar_type const c2 = cos<scalar_type>(x2);
            scalar_type const s2 = sin<scalar_type>(x2);
            scalar_type const c3 = cos<scalar_type>(y3);
            scalar_type const s3 = sin<scalar_type>(y3);
            return qvm_detail::rot_mat_<Dim,Angle>(
                c1*c3 - s1*s2*s3, -c2*s1, c1*s3 + c3*s1*s2,
                c3*s1 + c1*s2*s3, c1*c2, s1*s3 - c1*c3*s2,
                -c2*s3, s2, c2*c3 );
            }

        template <class A,class Angle>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows==mat_traits<A>::cols &&
            mat_traits<A>::rows>=3,
            void>::type
        set_rot_zxy( A & a, Angle z1, Angle x2, Angle y3 )
            {
            assign(a,rot_mat_zxy<mat_traits<A>::rows>(z1,x2,y3));
            }

        template <class A,class Angle>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows==mat_traits<A>::cols &&
            mat_traits<A>::rows>=3,
            void>::type
        rotate_zxy( A & a, Angle z1, Angle x2, Angle y3 )
            {
            a *= rot_mat_zxy<mat_traits<A>::rows>(z1,x2,y3);
            }

        ////////////////////////////////////////////////

        template <int Dim,class Angle>
        BOOST_QVM_INLINE
        qvm_detail::rot_mat_<Dim,Angle>
        rot_mat_xzx( Angle x1, Angle z2, Angle x3 )
            {
            typedef Angle scalar_type;
            scalar_type const c1 = cos<scalar_type>(x1);
            scalar_type const s1 = sin<scalar_type>(x1);
            scalar_type const c2 = cos<scalar_type>(z2);
            scalar_type const s2 = sin<scalar_type>(z2);
            scalar_type const c3 = cos<scalar_type>(x3);
            scalar_type const s3 = sin<scalar_type>(x3);
            return qvm_detail::rot_mat_<Dim,Angle>(
                c2, -c3*s2, s2*s3,
                c1*s2, c1*c2*c3 - s1*s3, -c3*s1 - c1*c2*s3,
                s1*s2, c1*s3 + c2*c3*s1, c1*c3 - c2*s1*s3 );
            }

        template <class A,class Angle>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows==mat_traits<A>::cols &&
            mat_traits<A>::rows>=3,
            void>::type
        set_rot_xzx( A & a, Angle x1, Angle z2, Angle x3 )
            {
            assign(a,rot_mat_xzx<mat_traits<A>::rows>(x1,z2,x3));
            }

        template <class A,class Angle>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows==mat_traits<A>::cols &&
            mat_traits<A>::rows>=3,
            void>::type
        rotate_xzx( A & a, Angle x1, Angle z2, Angle x3 )
            {
            a *= rot_mat_xzx<mat_traits<A>::rows>(x1,z2,x3);
            }

        ////////////////////////////////////////////////

        template <int Dim,class Angle>
        BOOST_QVM_INLINE
        qvm_detail::rot_mat_<Dim,Angle>
        rot_mat_xyx( Angle x1, Angle y2, Angle x3 )
            {
            typedef Angle scalar_type;
            scalar_type const c1 = cos<scalar_type>(x1);
            scalar_type const s1 = sin<scalar_type>(x1);
            scalar_type const c2 = cos<scalar_type>(y2);
            scalar_type const s2 = sin<scalar_type>(y2);
            scalar_type const c3 = cos<scalar_type>(x3);
            scalar_type const s3 = sin<scalar_type>(x3);
            return qvm_detail::rot_mat_<Dim,Angle>(
                c2, s2*s3, c3*s2,
                s1*s2, c1*c3 - c2*s1*s3, -c1*s3 - c2*c3*s1,
                -c1*s2, c3*s1 + c1*c2*s3, c1*c2*c3 - s1*s3 );
            }

        template <class A,class Angle>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows==mat_traits<A>::cols &&
            mat_traits<A>::rows>=3,
            void>::type
        set_rot_xyx( A & a, Angle x1, Angle y2, Angle x3 )
            {
            assign(a,rot_mat_xyx<mat_traits<A>::rows>(x1,y2,x3));
            }

        template <class A,class Angle>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows==mat_traits<A>::cols &&
            mat_traits<A>::rows>=3,
            void>::type
        rotate_xyx( A & a, Angle x1, Angle y2, Angle x3 )
            {
            a *= rot_mat_xyx<mat_traits<A>::rows>(x1,y2,x3);
            }

        ////////////////////////////////////////////////

        template <int Dim,class Angle>
        BOOST_QVM_INLINE
        qvm_detail::rot_mat_<Dim,Angle>
        rot_mat_yxy( Angle y1, Angle x2, Angle y3 )
            {
            typedef Angle scalar_type;
            scalar_type const c1 = cos<scalar_type>(y1);
            scalar_type const s1 = sin<scalar_type>(y1);
            scalar_type const c2 = cos<scalar_type>(x2);
            scalar_type const s2 = sin<scalar_type>(x2);
            scalar_type const c3 = cos<scalar_type>(y3);
            scalar_type const s3 = sin<scalar_type>(y3);
            return qvm_detail::rot_mat_<Dim,Angle>(
                c1*c3 - c2*s1*s3, s1*s2, c1*s3 + c2*c3*s1,
                s2*s3, c2, -c3*s2,
                -c3*s1 - c1*c2*s3, c1*s2, c1*c2*c3 - s1*s3 );
            }

        template <class A,class Angle>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows==mat_traits<A>::cols &&
            mat_traits<A>::rows>=3,
            void>::type
        set_rot_yxy( A & a, Angle y1, Angle x2, Angle y3 )
            {
            assign(a,rot_mat_yxy<mat_traits<A>::rows>(y1,x2,y3));
            }

        template <class A,class Angle>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows==mat_traits<A>::cols &&
            mat_traits<A>::rows>=3,
            void>::type
        rotate_yxy( A & a, Angle y1, Angle x2, Angle y3 )
            {
            a *= rot_mat_yxy<mat_traits<A>::rows>(y1,x2,y3);
            }

        ////////////////////////////////////////////////

        template <int Dim,class Angle>
        BOOST_QVM_INLINE
        qvm_detail::rot_mat_<Dim,Angle>
        rot_mat_yzy( Angle y1, Angle z2, Angle y3 )
            {
            typedef Angle scalar_type;
            scalar_type const c1 = cos<scalar_type>(y1);
            scalar_type const s1 = sin<scalar_type>(y1);
            scalar_type const c2 = cos<scalar_type>(z2);
            scalar_type const s2 = sin<scalar_type>(z2);
            scalar_type const c3 = cos<scalar_type>(y3);
            scalar_type const s3 = sin<scalar_type>(y3);
            return qvm_detail::rot_mat_<Dim,Angle>(
                c1*c2*c3 - s1*s3, -c1*s2, c3*s1 + c1*c2*s3,
                c3*s2, c2, s2*s3,
                -c1*s3 - c2*c3*s1, s1*s2, c1*c3 - c2*s1*s3 );
            }

        template <class A,class Angle>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows==mat_traits<A>::cols &&
            mat_traits<A>::rows>=3,
            void>::type
        set_rot_yzy( A & a, Angle y1, Angle z2, Angle y3 )
            {
            assign(a,rot_mat_yzy<mat_traits<A>::rows>(y1,z2,y3));
            }

        template <class A,class Angle>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows==mat_traits<A>::cols &&
            mat_traits<A>::rows>=3,
            void>::type
        rotate_yzy( A & a, Angle y1, Angle z2, Angle y3 )
            {
            a *= rot_mat_yzy<mat_traits<A>::rows>(y1,z2,y3);
            }

        ////////////////////////////////////////////////

        template <int Dim,class Angle>
        BOOST_QVM_INLINE
        qvm_detail::rot_mat_<Dim,Angle>
        rot_mat_zyz( Angle z1, Angle y2, Angle z3 )
            {
            typedef Angle scalar_type;
            scalar_type const c1 = cos<scalar_type>(z1);
            scalar_type const s1 = sin<scalar_type>(z1);
            scalar_type const c2 = cos<scalar_type>(y2);
            scalar_type const s2 = sin<scalar_type>(y2);
            scalar_type const c3 = cos<scalar_type>(z3);
            scalar_type const s3 = sin<scalar_type>(z3);
            return qvm_detail::rot_mat_<Dim,Angle>(
                c1*c2*c3 - s1*s3, -c3*s1 - c1*c2*s3, c1*s2,
                c1*s3 + c2*c3*s1, c1*c3 - c2*s1*s3, s1*s2,
                -c3*s2, s2*s3, c2 );
            }

        template <class A,class Angle>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows==mat_traits<A>::cols &&
            mat_traits<A>::rows>=3,
            void>::type
        set_rot_zyz( A & a, Angle z1, Angle y2, Angle z3 )
            {
            assign(a,rot_mat_zyz<mat_traits<A>::rows>(z1,y2,z3));
            }

        template <class A,class Angle>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows==mat_traits<A>::cols &&
            mat_traits<A>::rows>=3,
            void>::type
        rotate_zyz( A & a, Angle z1, Angle y2, Angle z3 )
            {
            a *= rot_mat_zyz<mat_traits<A>::rows>(z1,y2,z3);
            }

        ////////////////////////////////////////////////

        template <int Dim,class Angle>
        BOOST_QVM_INLINE
        qvm_detail::rot_mat_<Dim,Angle>
        rot_mat_zxz( Angle z1, Angle x2, Angle z3 )
            {
            typedef Angle scalar_type;
            scalar_type const c1 = cos<scalar_type>(z1);
            scalar_type const s1 = sin<scalar_type>(z1);
            scalar_type const c2 = cos<scalar_type>(x2);
            scalar_type const s2 = sin<scalar_type>(x2);
            scalar_type const c3 = cos<scalar_type>(z3);
            scalar_type const s3 = sin<scalar_type>(z3);
            return qvm_detail::rot_mat_<Dim,Angle>(
                c1*c3 - c2*s1*s3, -c1*s3 - c2*c3*s1, s1*s2,
                c3*s1 + c1*c2*s3, c1*c2*c3 - s1*s3, -c1*s2,
                s2*s3, c3*s2, c2 );
            }

        template <class A,class Angle>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows==mat_traits<A>::cols &&
            mat_traits<A>::rows>=3,
            void>::type
        set_rot_zxz( A & a, Angle z1, Angle x2, Angle z3 )
            {
            assign(a,rot_mat_zxz<mat_traits<A>::rows>(z1,x2,z3));
            }

        template <class A,class Angle>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows==mat_traits<A>::cols &&
            mat_traits<A>::rows>=3,
            void>::type
        rotate_zxz( A & a, Angle z1, Angle x2, Angle z3 )
            {
            a *= rot_mat_zxz<mat_traits<A>::rows>(z1,x2,z3);
            }

        ////////////////////////////////////////////////

        namespace
        qvm_detail
            {
            template <int Dim,class Angle>
            struct
            rotx_mat_
                {
                BOOST_QVM_INLINE_TRIVIAL
                rotx_mat_()
                    {
                    }

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

                private:

                rotx_mat_( rotx_mat_ const & );
                rotx_mat_ & operator=( rotx_mat_ const & );
                ~rotx_mat_();
                };

            template <int Row,int Col>
            struct
            rotx_m_get
                {
                template <class T>
                static
                BOOST_QVM_INLINE_CRITICAL
                T
                get( T const & )
                    {
                    return scalar_traits<T>::value(Row==Col);
                    }
                };

            template <>
            struct
            rotx_m_get<1,1>
                {
                template <class T>
                static
                BOOST_QVM_INLINE_CRITICAL
                T
                get( T const & angle )
                    {
                    return cos<T>(angle);
                    }
                };

            template <>
            struct
            rotx_m_get<1,2>
                {
                template <class T>
                static
                BOOST_QVM_INLINE_CRITICAL
                T
                get( T const & angle )
                    {
                    return -sin<T>(angle);
                    }
                };

            template <>
            struct
            rotx_m_get<2,1>
                {
                template <class T>
                static
                BOOST_QVM_INLINE_CRITICAL
                T
                get( T const & angle )
                    {
                    return sin<T>(angle);
                    }
                };

            template <>
            struct
            rotx_m_get<2,2>
                {
                template <class T>
                static
                BOOST_QVM_INLINE_CRITICAL
                T
                get( T const & angle )
                    {
                    return cos<T>(angle);
                    }
                };
            }

        template <int Dim,class Angle>
        struct
        mat_traits< qvm_detail::rotx_mat_<Dim,Angle> >
            {
            typedef qvm_detail::rotx_mat_<Dim,Angle> this_matrix;
            typedef Angle scalar_type;
            static int const rows=Dim;
            static int const cols=Dim;

            template <int Row,int Col>
            static
            BOOST_QVM_INLINE_CRITICAL
            scalar_type
            read_element( this_matrix const & x )
                {
                BOOST_QVM_STATIC_ASSERT(Row>=0);
                BOOST_QVM_STATIC_ASSERT(Col>=0);
                BOOST_QVM_STATIC_ASSERT(Row<Dim);
                BOOST_QVM_STATIC_ASSERT(Col<Dim);
                return qvm_detail::rotx_m_get<Row,Col>::get(reinterpret_cast<Angle const &>(x));
                }

            static
            BOOST_QVM_INLINE_CRITICAL
            scalar_type
            read_element_idx( int row, int col, this_matrix const & x )
                {
                BOOST_QVM_ASSERT(row>=0);
                BOOST_QVM_ASSERT(col>=0);
                BOOST_QVM_ASSERT(row<Dim);
                BOOST_QVM_ASSERT(col<Dim);
                Angle const & a=reinterpret_cast<Angle const &>(x);
                if( row==1 )
                    {
                    if( col==1 )
                        return cos<scalar_type>(a);
                    if( col==2 )
                        return -sin<scalar_type>(a);
                    }
                if( row==2 )
                    {
                    if( col==1 )
                        return sin<scalar_type>(a);
                    if( col==2 )
                        return cos<scalar_type>(a);
                    }
                return scalar_traits<scalar_type>::value(row==col);
                }
            };

        template <int Dim,class Angle>
        struct
        deduce_mat<qvm_detail::rotx_mat_<Dim,Angle>,Dim,Dim>
            {
            typedef mat<Angle,Dim,Dim> type;
            };

        template <int Dim,class Angle>
        struct
        deduce_mat2<qvm_detail::rotx_mat_<Dim,Angle>,qvm_detail::rotx_mat_<Dim,Angle>,Dim,Dim>
            {
            typedef mat<Angle,Dim,Dim> type;
            };

        template <int Dim,class Angle>
        BOOST_QVM_INLINE_TRIVIAL
        qvm_detail::rotx_mat_<Dim,Angle> const &
        rotx_mat( Angle const & angle )
            {
            BOOST_QVM_STATIC_ASSERT(Dim>=3);
            return reinterpret_cast<qvm_detail::rotx_mat_<Dim,Angle> const &>(angle);
            }

        template <class A,class Angle>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows>=3 &&
            mat_traits<A>::rows==mat_traits<A>::cols,
            void>::type
        set_rotx( A & a, Angle angle )
            {
            assign(a,rotx_mat<mat_traits<A>::rows>(angle));
            }

        template <class A,class Angle>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows>=3 &&
            mat_traits<A>::rows==mat_traits<A>::cols,
            void>::type
        rotate_x( A & a, Angle angle )
            {
            a *= rotx_mat<mat_traits<A>::rows>(angle);
            }

        ////////////////////////////////////////////////

        namespace
        qvm_detail
            {
            template <int Dim,class Angle>
            struct
            roty_mat_
                {
                BOOST_QVM_INLINE_TRIVIAL
                roty_mat_()
                    {
                    }

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

                private:

                roty_mat_( roty_mat_ const & );
                roty_mat_ & operator=( roty_mat_ const & );
                ~roty_mat_();
                };

            template <int Row,int Col>
            struct
            roty_m_get
                {
                template <class T>
                static
                BOOST_QVM_INLINE_CRITICAL
                T
                get( T const & )
                    {
                    return scalar_traits<T>::value(Row==Col);
                    }
                };

            template <>
            struct
            roty_m_get<0,0>
                {
                template <class T>
                static
                BOOST_QVM_INLINE_CRITICAL
                T
                get( T const & angle )
                    {
                    return cos<T>(angle);
                    }
                };

            template <>
            struct
            roty_m_get<0,2>
                {
                template <class T>
                static
                BOOST_QVM_INLINE_CRITICAL
                T
                get( T const & angle )
                    {
                    return sin<T>(angle);
                    }
                };

            template <>
            struct
            roty_m_get<2,0>
                {
                template <class T>
                static
                BOOST_QVM_INLINE_CRITICAL
                T
                get( T const & angle )
                    {
                    return -sin<T>(angle);
                    }
                };

            template <>
            struct
            roty_m_get<2,2>
                {
                template <class T>
                static
                BOOST_QVM_INLINE_CRITICAL
                T
                get( T const & angle )
                    {
                    return cos<T>(angle);
                    }
                };
            }

        template <int Dim,class Angle>
        struct
        mat_traits< qvm_detail::roty_mat_<Dim,Angle> >
            {
            typedef qvm_detail::roty_mat_<Dim,Angle> this_matrix;
            typedef Angle scalar_type;
            static int const rows=Dim;
            static int const cols=Dim;

            template <int Row,int Col>
            static
            BOOST_QVM_INLINE_CRITICAL
            scalar_type
            read_element( this_matrix const & x )
                {
                BOOST_QVM_STATIC_ASSERT(Row>=0);
                BOOST_QVM_STATIC_ASSERT(Col>=0);
                BOOST_QVM_STATIC_ASSERT(Row<Dim);
                BOOST_QVM_STATIC_ASSERT(Col<Dim);
                return qvm_detail::roty_m_get<Row,Col>::get(reinterpret_cast<Angle const &>(x));
                }

            static
            BOOST_QVM_INLINE_CRITICAL
            scalar_type
            read_element_idx( int row, int col, this_matrix const & x )
                {
                BOOST_QVM_ASSERT(row>=0);
                BOOST_QVM_ASSERT(col>=0);
                BOOST_QVM_ASSERT(row<Dim);
                BOOST_QVM_ASSERT(col<Dim);
                Angle const & a=reinterpret_cast<Angle const &>(x);
                if( row==0 )
                    {
                    if( col==0 )
                        return cos<scalar_type>(a);
                    if( col==2 )
                        return sin<scalar_type>(a);
                    }
                if( row==2 )
                    {
                    if( col==0 )
                        return -sin<scalar_type>(a);
                    if( col==2 )
                        return cos<scalar_type>(a);
                    }
                return scalar_traits<scalar_type>::value(row==col);
                }
            };

        template <int Dim,class Angle>
        struct
        deduce_mat<qvm_detail::roty_mat_<Dim,Angle>,Dim,Dim>
            {
            typedef mat<Angle,Dim,Dim> type;
            };

        template <int Dim,class Angle>
        struct
        deduce_mat2<qvm_detail::roty_mat_<Dim,Angle>,qvm_detail::roty_mat_<Dim,Angle>,Dim,Dim>
            {
            typedef mat<Angle,Dim,Dim> type;
            };

        template <int Dim,class Angle>
        BOOST_QVM_INLINE_TRIVIAL
        qvm_detail::roty_mat_<Dim,Angle> const &
        roty_mat( Angle const & angle )
            {
            BOOST_QVM_STATIC_ASSERT(Dim>=3);
            return reinterpret_cast<qvm_detail::roty_mat_<Dim,Angle> const &>(angle);
            }

        template <class A,class Angle>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows>=2 &&
            mat_traits<A>::rows==mat_traits<A>::cols,
            void>::type
        set_roty( A & a, Angle angle )
            {
            assign(a,roty_mat<mat_traits<A>::rows>(angle));
            }

        template <class A,class Angle>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows>=3 &&
            mat_traits<A>::rows==mat_traits<A>::cols,
            void>::type
        rotate_y( A & a, Angle angle )
            {
            a *= roty_mat<mat_traits<A>::rows>(angle);
            }

        ////////////////////////////////////////////////

        namespace
        qvm_detail
            {
            template <int Dim,class Angle>
            struct
            rotz_mat_
                {
                BOOST_QVM_INLINE_TRIVIAL
                rotz_mat_()
                    {
                    }

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

                private:

                rotz_mat_( rotz_mat_ const & );
                rotz_mat_ & operator=( rotz_mat_ const & );
                ~rotz_mat_();
                };

            template <int Row,int Col>
            struct
            rotz_m_get
                {
                template <class T>
                static
                BOOST_QVM_INLINE_CRITICAL
                T
                get( T const & )
                    {
                    return scalar_traits<T>::value(Row==Col);
                    }
                };

            template <>
            struct
            rotz_m_get<0,0>
                {
                template <class T>
                static
                BOOST_QVM_INLINE_CRITICAL
                T
                get( T const & angle )
                    {
                    return cos<T>(angle);
                    }
                };

            template <>
            struct
            rotz_m_get<0,1>
                {
                template <class T>
                static
                BOOST_QVM_INLINE_CRITICAL
                T
                get( T const & angle )
                    {
                    return -sin<T>(angle);
                    }
                };

            template <>
            struct
            rotz_m_get<1,0>
                {
                template <class T>
                static
                BOOST_QVM_INLINE_CRITICAL
                T
                get( T const & angle )
                    {
                    return sin<T>(angle);
                    }
                };

            template <>
            struct
            rotz_m_get<1,1>
                {
                template <class T>
                static
                BOOST_QVM_INLINE_CRITICAL
                T
                get( T const & angle )
                    {
                    return cos<T>(angle);
                    }
                };
            }

        template <int Dim,class Angle>
        struct
        mat_traits< qvm_detail::rotz_mat_<Dim,Angle> >
            {
            typedef qvm_detail::rotz_mat_<Dim,Angle> this_matrix;
            typedef Angle scalar_type;
            static int const rows=Dim;
            static int const cols=Dim;

            template <int Row,int Col>
            static
            BOOST_QVM_INLINE_CRITICAL
            scalar_type
            read_element( this_matrix const & x )
                {
                BOOST_QVM_STATIC_ASSERT(Row>=0);
                BOOST_QVM_STATIC_ASSERT(Col>=0);
                BOOST_QVM_STATIC_ASSERT(Row<Dim);
                BOOST_QVM_STATIC_ASSERT(Col<Dim);
                return qvm_detail::rotz_m_get<Row,Col>::get(reinterpret_cast<Angle const &>(x));
                }

            static
            BOOST_QVM_INLINE_CRITICAL
            scalar_type
            read_element_idx( int row, int col, this_matrix const & x )
                {
                BOOST_QVM_ASSERT(row>=0);
                BOOST_QVM_ASSERT(col>=0);
                BOOST_QVM_ASSERT(row<Dim);
                BOOST_QVM_ASSERT(col<Dim);
                Angle const & a=reinterpret_cast<Angle const &>(x);
                if( row==0 )
                    {
                    if( col==0 )
                        return cos<scalar_type>(a);
                    if( col==1 )
                        return -sin<scalar_type>(a);
                    }
                if( row==1 )
                    {
                    if( col==0 )
                        return sin<scalar_type>(a);
                    if( col==1 )
                        return cos<scalar_type>(a);
                    }
                return scalar_traits<scalar_type>::value(row==col);
                }
            };

        template <int Dim,class Angle>
        struct
        deduce_mat<qvm_detail::rotz_mat_<Dim,Angle>,Dim,Dim>
            {
            typedef mat<Angle,Dim,Dim> type;
            };

        template <int Dim,class Angle,int R,int C>
        struct
        deduce_mat2<qvm_detail::rotz_mat_<Dim,Angle>,qvm_detail::rotz_mat_<Dim,Angle>,R,C>
            {
            typedef mat<Angle,R,C> type;
            };

        template <int Dim,class Angle>
        BOOST_QVM_INLINE_TRIVIAL
        qvm_detail::rotz_mat_<Dim,Angle> const &
        rotz_mat( Angle const & angle )
            {
            BOOST_QVM_STATIC_ASSERT(Dim>=2);
            return reinterpret_cast<qvm_detail::rotz_mat_<Dim,Angle> const &>(angle);
            }

        template <class A,class Angle>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows>=2 &&
            mat_traits<A>::rows==mat_traits<A>::cols,
            void>::type
        set_rotz( A & a, Angle angle )
            {
            assign(a,rotz_mat<mat_traits<A>::rows>(angle));
            }

        template <class A,class Angle>
        BOOST_QVM_INLINE_OPERATIONS
        typename enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows>=2 &&
            mat_traits<A>::rows==mat_traits<A>::cols,
            void>::type
        rotate_z( A & a, Angle angle )
            {
            a *= rotz_mat<mat_traits<A>::rows>(angle);
            }

        ////////////////////////////////////////////////

        namespace
        qvm_detail
            {
            template <int D>
            struct
            inverse_m_defined
                {
                static bool const value=false;
                };
            }

        template <class A,class B>
        BOOST_QVM_INLINE_TRIVIAL
        typename lazy_enable_if_c<
            is_mat<A>::value && is_scalar<B>::value &&
            mat_traits<A>::rows==mat_traits<A>::cols &&
            !qvm_detail::inverse_m_defined<mat_traits<A>::rows>::value,
            deduce_mat<A> >::type
        inverse( A const & a, B det )
            {
            typedef typename mat_traits<A>::scalar_type T;
            BOOST_QVM_ASSERT(det!=scalar_traits<T>::value(0));
            T f=scalar_traits<T>::value(1)/det;
            typedef typename deduce_mat<A>::type cofactor_return_type;
            cofactor_return_type c=qvm_detail::cofactor_impl(a);
            return reinterpret_cast<qvm_detail::transposed_<cofactor_return_type> const &>(c) * f;
            }

        template <class A>
        BOOST_QVM_INLINE_TRIVIAL
        typename lazy_enable_if_c<
            is_mat<A>::value &&
            mat_traits<A>::rows==mat_traits<A>::cols &&
            !qvm_detail::inverse_m_defined<mat_traits<A>::rows>::value,
            deduce_mat<A> >::type
        inverse( A const & a )
            {
            typedef typename mat_traits<A>::scalar_type T;
            T det=determinant(a);
            if( det==scalar_traits<T>::value(0) )
                BOOST_QVM_THROW_EXCEPTION(zero_determinant_error());
            return inverse(a,det);
            }

        ////////////////////////////////////////////////

        namespace
        sfinae
            {
            using ::boost::qvm::to_string;
            using ::boost::qvm::assign;
            using ::boost::qvm::determinant;
            using ::boost::qvm::cmp;
            using ::boost::qvm::convert_to;
            using ::boost::qvm::set_identity;
            using ::boost::qvm::set_zero;
            using ::boost::qvm::scalar_cast;
            using ::boost::qvm::operator/=;
            using ::boost::qvm::operator/;
            using ::boost::qvm::operator==;
            using ::boost::qvm::operator-=;
            using ::boost::qvm::operator-;
            using ::boost::qvm::operator*=;
            using ::boost::qvm::operator*;
            using ::boost::qvm::operator!=;
            using ::boost::qvm::operator+=;
            using ::boost::qvm::operator+;
            using ::boost::qvm::mref;
            using ::boost::qvm::rot_mat;
            using ::boost::qvm::set_rot;
            using ::boost::qvm::rotate;
            using ::boost::qvm::set_rotx;
            using ::boost::qvm::rotate_x;
            using ::boost::qvm::set_roty;
            using ::boost::qvm::rotate_y;
            using ::boost::qvm::set_rotz;
            using ::boost::qvm::rotate_z;
            using ::boost::qvm::inverse;
            }

        ////////////////////////////////////////////////
        }
    }

#endif
