hi i'm new to boost so please don't blame me the question is do you need a matrix library which allows you to write clear, human readable code like dV = (1/m)*force + transpose(A)*g - cross_product(omega, V) //here dV is a derivative of velocity, m is (scalar) mass //A is transition matrix and //g is gravity acceleration vector //omega is angular velocity and V is velocity vector itself //force is defined in body space (e.g. aerodynamics and thrust) that is an expression of newton's 2nd law (or if you like 'change in momentum' law: d(m*V)/dt = d_local(m*V)/dt + (omega)x(m*V) = sum_of(forces) as you can see so far i'm a math nerd) of course it must be implemented through lazy evaluation technique (which immediately implies expression templates) ps i looked at uBLAS and the design seemed obsolete to me so i thought there could be a better approach then blindly following blas design pps thanks for reading til here and forgive for (possibly) wasting your time