#include <boost/qvm/quat_operations.hpp>
namespace qvm { //Only enabled if: // is_quat<A>::value && // is_vec<B>::value && vec_traits<B>::dim==3 template <class A,class B> void rotate( A & a, B const & axis, typename quat_traits<A>::scalar_type angle ); }
As if:
a *= rot_quat(axis,angle);