GLM
OpenGL Mathematics (GLM)
...This project isn't limited to GLSL features. An extension system, based on the GLSL extension conventions, provides extended capabilities: matrix transformations, quaternions, data packing, random numbers, noise, etc. This library works perfectly with OpenGL but it also ensures interoperability with other third party libraries and SDK. It is a good candidate for software rendering (raytracing / rasterisation), image processing, physics simulations and any development context that requires a simple and convenient mathematics library. ...