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Support heterogeneous units in matrices and vectors #707

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@chiphogg

We've now laid the groundwork with our initial vector and matrix implementation. The next step will be to finish the job and support heterogeneous units. We'll need to figure out nice, fluent APIs, with good callsite readability, and robust foundations.

This is basically "the heterogeneous-units parts of #70", which I am changing to be core vector/matrix support only.

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    ⬇️ affects: code (interfaces)Affects the way end users will interact with the library💪 effort: epicMajor features that will take considerable planning and effort to add

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