I agree with many of the previous comments on QVM, particularly the simple tutorial and starter definitions, as well as comparison to other tools. I could also *very much* use a way to implement generic algorithms that work for multiple linear algebra packages. Additionally, considering the described focus on realtime graphics and simulation I would be interested in functions for rigid body, affine, and dual quaternion transforms. To this end, eigen provides many of the essentials in their geometry module which could be used as a reference. Eigen Geometry Module: http://eigen.tuxfamily.org/dox/group__Geometry__Module.html Dual Quaternion implementation in Eigen Style: https://github.com/hengli/camodocal/blob/master/include/camodocal/calib/Dual... Cheers! Andrew Hundt