diff --git a/Assembly-CSharp-Editor.csproj b/Assembly-CSharp-Editor.csproj
index 08fa44b..6886476 100644
--- a/Assembly-CSharp-Editor.csproj
+++ b/Assembly-CSharp-Editor.csproj
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diff --git a/Assembly-CSharp.csproj b/Assembly-CSharp.csproj
index 173cb6d..4f41e1b 100644
--- a/Assembly-CSharp.csproj
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     <Compile Include="Assets/NanoBrain/VisualEditor/NanoBrainObj.cs" />
     <Compile Include="Assets/Scenes/Boids/Scripts/SwarmSpawner.cs" />
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     <Compile Include="Assets/NanoBrain/NeuroidBehaviour.cs" />
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     <Compile Include="Assets/NanoBrain/NanoBrain.cs" />
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     <Compile Include="Assets/NanoBrain/Perception.cs" />
     <Compile Include="Assets/Scenes/Boids/Scripts/SwarmingNucleus.cs" />
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+    <Compile Include="Assets/NanoBrain/LinearAlgebra-csharp/src/Decomposition.cs" />
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     <Compile Include="Assets/Scenes/Boids/Scripts/Boid.cs" />
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     <Compile Include="Assets/NanoBrain/VisualEditor/NucleusObject.cs" />
+    <Compile Include="Assets/NanoBrain/LinearAlgebra-csharp/src/SwingTwist.cs" />
     <Compile Include="Assets/NanoBrain/Neuroid.cs" />
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       <Private>False</Private>
     </Reference>
+    <Reference Include="Unity.Rendering.LightTransport.Editor">
+      <HintPath>Library/ScriptAssemblies/Unity.Rendering.LightTransport.Editor.dll</HintPath>
+      <Private>False</Private>
+    </Reference>
     <Reference Include="Unity.AI.Navigation">
       <HintPath>Library/ScriptAssemblies/Unity.AI.Navigation.dll</HintPath>
       <Private>False</Private>
@@ -1122,8 +1193,8 @@
       <HintPath>Library/ScriptAssemblies/Unity.RenderPipelines.Universal.Shaders.dll</HintPath>
       <Private>False</Private>
     </Reference>
-    <Reference Include="UnityEngine.UI">
-      <HintPath>Library/ScriptAssemblies/UnityEngine.UI.dll</HintPath>
+    <Reference Include="Unity.RenderPipelines.Universal.2D.Editor.Overrides">
+      <HintPath>Library/ScriptAssemblies/Unity.RenderPipelines.Universal.2D.Editor.Overrides.dll</HintPath>
       <Private>False</Private>
     </Reference>
     <Reference Include="Unity.Multiplayer.Center.Common">
@@ -1150,10 +1221,18 @@
       <HintPath>Library/ScriptAssemblies/Unity.AI.Navigation.Editor.dll</HintPath>
       <Private>False</Private>
     </Reference>
+    <Reference Include="UnityEngine.UI">
+      <HintPath>Library/ScriptAssemblies/UnityEngine.UI.dll</HintPath>
+      <Private>False</Private>
+    </Reference>
     <Reference Include="PPv2URPConverters">
       <HintPath>Library/ScriptAssemblies/PPv2URPConverters.dll</HintPath>
       <Private>False</Private>
     </Reference>
+    <Reference Include="Unity.InternalAPIEngineBridge.004">
+      <HintPath>Library/ScriptAssemblies/Unity.InternalAPIEngineBridge.004.dll</HintPath>
+      <Private>False</Private>
+    </Reference>
     <Reference Include="Unity.RenderPipelines.Core.Runtime.Shared">
       <HintPath>Library/ScriptAssemblies/Unity.RenderPipelines.Core.Runtime.Shared.dll</HintPath>
       <Private>False</Private>
@@ -1182,10 +1261,6 @@
       <HintPath>Library/ScriptAssemblies/Unity.Burst.Editor.dll</HintPath>
       <Private>False</Private>
     </Reference>
-    <Reference Include="Unity.Rendering.LightTransport.Runtime">
-      <HintPath>Library/ScriptAssemblies/Unity.Rendering.LightTransport.Runtime.dll</HintPath>
-      <Private>False</Private>
-    </Reference>
     <Reference Include="Unity.Mathematics.Editor">
       <HintPath>Library/ScriptAssemblies/Unity.Mathematics.Editor.dll</HintPath>
       <Private>False</Private>
@@ -1194,8 +1269,8 @@
       <HintPath>Library/ScriptAssemblies/Unity.RenderPipelines.Universal.Config.Runtime.dll</HintPath>
       <Private>False</Private>
     </Reference>
-    <Reference Include="Unity.RenderPipeline.Universal.ShaderLibrary">
-      <HintPath>Library/ScriptAssemblies/Unity.RenderPipeline.Universal.ShaderLibrary.dll</HintPath>
+    <Reference Include="Unity.UnifiedRayTracing.Runtime">
+      <HintPath>Library/ScriptAssemblies/Unity.UnifiedRayTracing.Runtime.dll</HintPath>
       <Private>False</Private>
     </Reference>
     <Reference Include="Unity.Collections.Editor">
@@ -1206,8 +1281,8 @@
       <HintPath>Library/ScriptAssemblies/Unity.ShaderGraph.Editor.dll</HintPath>
       <Private>False</Private>
     </Reference>
-    <Reference Include="Unity.Rendering.LightTransport.Editor">
-      <HintPath>Library/ScriptAssemblies/Unity.Rendering.LightTransport.Editor.dll</HintPath>
+    <Reference Include="Unity.RenderPipeline.Universal.ShaderLibrary">
+      <HintPath>Library/ScriptAssemblies/Unity.RenderPipeline.Universal.ShaderLibrary.dll</HintPath>
       <Private>False</Private>
     </Reference>
     <Reference Include="Unity.RenderPipelines.Core.Editor.Shared">
@@ -1230,10 +1305,6 @@
       <HintPath>Library/ScriptAssemblies/UnityEditor.UI.dll</HintPath>
       <Private>False</Private>
     </Reference>
-    <Reference Include="Unity.RenderPipelines.ShaderGraph.ShaderGraphLibrary">
-      <HintPath>Library/ScriptAssemblies/Unity.RenderPipelines.ShaderGraph.ShaderGraphLibrary.dll</HintPath>
-      <Private>False</Private>
-    </Reference>
   </ItemGroup>
   <ItemGroup>
   </ItemGroup>
diff --git a/Assets/NanoBrain/Editor/NanoBrain_Editor.cs b/Assets/NanoBrain/Editor/NanoBrain_Editor.cs
index 51e6694..b070c5e 100644
--- a/Assets/NanoBrain/Editor/NanoBrain_Editor.cs
+++ b/Assets/NanoBrain/Editor/NanoBrain_Editor.cs
@@ -54,7 +54,7 @@ public class NanoBrain_Editor : Editor {
         DrawGraph();
 
         EditorGUILayout.TextField("Name", currentNucleus.name);
-        EditorGUILayout.Vector3Field("Output Value", currentNucleus.outputValue);
+        EditorGUILayout.Vector3Field("Output Value", currentNucleus.outputValue.ToVector3());
         if (currentNucleus.synapses.Count > 0) {
             EditorGUI.indentLevel++;
             //foreach ((Nucleus nucleus, float weight) in currentNucleus.synapses) {
@@ -65,7 +65,7 @@ public class NanoBrain_Editor : Editor {
                 EditorGUI.BeginDisabledGroup(nucleus.isSleeping);
 
                 EditorGUILayout.BeginHorizontal();
-                EditorGUILayout.Vector3Field(nucleus.name, nucleus.outputValue);
+                EditorGUILayout.Vector3Field(nucleus.name, nucleus.outputValue.ToVector3());
                 EditorGUILayout.FloatField(weight, GUILayout.Width(50));
                 EditorGUILayout.EndHorizontal();
 
@@ -265,7 +265,7 @@ public class NanoBrain_Editor : Editor {
         // Handles.color = Color.green;
         // Handles.DrawLine(brain.transform.position, brain.transform.position + Vector3.up);
         Handles.color = Color.yellow;
-        Vector3 worldForce = brain.transform.TransformDirection(this.currentNucleus.outputValue);
+        Vector3 worldForce = brain.transform.TransformDirection(this.currentNucleus.outputValue.ToVector3());
         //Debug.DrawRay(position, worldForce * 10, Color.yellow);
         Handles.DrawLine(position, position + worldForce * 10);
     }
diff --git a/Assets/NanoBrain/LinearAlgebra-csharp.meta b/Assets/NanoBrain/LinearAlgebra-csharp.meta
new file mode 100644
index 0000000..38d4620
--- /dev/null
+++ b/Assets/NanoBrain/LinearAlgebra-csharp.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: b011ef22eaa3add3591b513363fbbd0a
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/NanoBrain/NanoBrain-Unity.code-workspace b/Assets/NanoBrain/NanoBrain-Unity.code-workspace
new file mode 100644
index 0000000..5194438
--- /dev/null
+++ b/Assets/NanoBrain/NanoBrain-Unity.code-workspace
@@ -0,0 +1,12 @@
+{
+	"folders": [
+		{
+			"path": "../.."
+		},
+		{
+			"name": "LinearAlgebra-csharp",
+			"path": "LinearAlgebra-csharp"
+		}
+	],
+	"settings": {}
+}
\ No newline at end of file
diff --git a/Assets/NanoBrain/NanoBrain-Unity.code-workspace.meta b/Assets/NanoBrain/NanoBrain-Unity.code-workspace.meta
new file mode 100644
index 0000000..65bb132
--- /dev/null
+++ b/Assets/NanoBrain/NanoBrain-Unity.code-workspace.meta
@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: cfec45da5945b94d684a763d86b0dcf8
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/NanoBrain/Neuroid.cs b/Assets/NanoBrain/Neuroid.cs
index 2ec6156..5468235 100644
--- a/Assets/NanoBrain/Neuroid.cs
+++ b/Assets/NanoBrain/Neuroid.cs
@@ -1,4 +1,5 @@
 using UnityEngine;
+using LinearAlgebra;
 
 [System.Serializable]
 public class Neuroid : Nucleus {
@@ -37,7 +38,6 @@ public class Neuroid : Nucleus {
                 return Synapse.Presets.Reciprocal(1);
             default:
                 this.curveMax = 1;
-                //return AnimationCurve.Constant(0, 1, 1);
                 return this.curve;
         }
     }
@@ -63,42 +63,34 @@ public class Neuroid : Nucleus {
     }
 
     public void SetInput(Neuroid input) {
-        // if (this.synapses.ContainsKey(input) == false)
-        //     this.synapses[input] = 1.0f;
         if (this.SynapseExists(input) == false)
             this.SetWeight(input, 1.0f);
         UpdateState();
     }
 
     public void SetInput(Neuroid input, float weight) {
-        //this.synapses[input] = weight;
         this.SetWeight(input, weight);
         UpdateState();
     }
 
     public virtual void UpdateState() {
         Vector3 result = Vector3.zero;
-        //foreach ((Nucleus nucleus, float weight) in this.synapses) {
         foreach (Synapse synapse in this.synapses) {
             Nucleus synapseNucleus = synapse.nucleus;
             if (synapseNucleus is Neuroid neuroid && neuroid.isSleeping)
                 continue;
 
-            Vector3 direction = synapseNucleus.outputValue.normalized;
-            float magnitude = synapseNucleus.outputValue.magnitude;
+            Vector3 direction = synapseNucleus.outputValue.direction.ToVector3();
 
             float weight = synapse.weight;
-            magnitude = weight * curve.Evaluate(synapseNucleus.outputValue.magnitude);
-            // magnitude = weight * Mathf.Pow(magnitude, exponent);
-            // if (inverse && magnitude > 0)
-            //     magnitude = 1 / magnitude;
-            result += direction * magnitude;
+            float magnitude = weight * curve.Evaluate(synapseNucleus.outputValue.magnitude);
 
+            result += direction * magnitude;
         }
         if (average && this.synapses.Count > 0)
             result /= this.synapses.Count;
 
-        this.outputValue = result;
+        this.outputValue = Spherical.FromVector3(result);
         this.stale = 0;
 
         foreach (Receiver receiver in this.receivers) {
@@ -107,8 +99,5 @@ public class Neuroid : Nucleus {
         }
     }
 
-    // public bool IsStale() {
-    //     return this.stale > 2;
-    // }
 }
 
diff --git a/Assets/NanoBrain/Nucleus.cs b/Assets/NanoBrain/Nucleus.cs
index 33e8493..9c195ca 100644
--- a/Assets/NanoBrain/Nucleus.cs
+++ b/Assets/NanoBrain/Nucleus.cs
@@ -2,6 +2,7 @@ using System;
 using System.Collections.Generic;
 using UnityEngine;
 using UnityEditor;
+using LinearAlgebra;
 
 [System.Serializable]
 public class Nucleus {
@@ -63,7 +64,7 @@ public class Nucleus {
 
     public NanoBrainObj brain { get; set; }
 
-    public virtual Vector3 outputValue { get; set; }
+    public virtual Spherical outputValue { get; set; }
 
     [System.NonSerialized]
     public int stale = 0;
diff --git a/Assets/NanoBrain/Perceptoid.cs b/Assets/NanoBrain/Perceptoid.cs
index b6be740..c2acb1f 100644
--- a/Assets/NanoBrain/Perceptoid.cs
+++ b/Assets/NanoBrain/Perceptoid.cs
@@ -1,4 +1,5 @@
 using UnityEngine;
+using LinearAlgebra;
 
 [System.Serializable]
 public class Perceptoid : Neuroid {
@@ -88,9 +89,9 @@ public class Perceptoid : Neuroid {
 
         this.thingType = thingType;
         this.receptor.thingType = thingType;
-        this.receptor.localPosition = Vector3.zero;
+        this.receptor.localPosition = Spherical.zero;
 
-        this.outputValue = Vector3.zero;
+        this.outputValue = Spherical.zero;
         this.receivers = new();
         this.AddReceiver(velocityNeuroid);
 
@@ -98,11 +99,11 @@ public class Perceptoid : Neuroid {
     }
 
     public override void UpdateState() {
-        Vector3 result = receptor.localPosition;
+        Vector3 result = receptor.localPosition.ToVector3();
         foreach (Synapse synapse in this.synapses) {
             Nucleus nucleus = synapse.nucleus;
             float weight = synapse.weight;
-            Vector3 direction = nucleus.outputValue.normalized;
+            Vector3 direction = nucleus.outputValue.normalized.ToVector3();
             float magnitude = nucleus.outputValue.magnitude;
 
             magnitude = weight * Mathf.Pow(magnitude, exponent);
@@ -113,16 +114,16 @@ public class Perceptoid : Neuroid {
         if (average && this.synapses.Count > 0)
             result /= this.synapses.Count + 1;
 
-        this.outputValue = result;
+        this.outputValue = Spherical.FromVector3(result);
         foreach (Receiver receiver in this.receivers)
             if (receiver.nucleus is Neuroid neuroid)
                 neuroid.SetInput(this);
         this.stale = 0;
     }
 
-    public void UpdateState(int thingId, Vector3 receptorValue) {
+    public void UpdateState(int thingId, Spherical receptorValue) {
         this.thingId = thingId;
-        Vector3 result = receptorValue;
+        Spherical result = receptorValue;
         // foreach (Synapse synapse in this.synapses) {
         //     Nucleus nucleus = synapse.nucleus;
         //     float weight = synapse.weight;
diff --git a/Assets/NanoBrain/Receptor.cs b/Assets/NanoBrain/Receptor.cs
index 9f5fbce..5f64972 100644
--- a/Assets/NanoBrain/Receptor.cs
+++ b/Assets/NanoBrain/Receptor.cs
@@ -1,6 +1,7 @@
 using System.Collections.Generic;
 using System.Linq;
 using UnityEngine;
+using LinearAlgebra;
 
 public class Receptor {
 
@@ -9,7 +10,7 @@ public class Receptor {
 
     public int thingId;
     public int thingType;
-    public Vector3 localPosition;
+    public Spherical localPosition;
 
     public Receptor(Perceptoid perceptoid) {
         this.perceptei.Add(perceptoid);
@@ -18,7 +19,7 @@ public class Receptor {
 
     public virtual void ProcessStimulus(int thingId, Vector3 localPosition) {
         this.thingId = thingId;
-        this.localPosition = localPosition;
+        this.localPosition = Spherical.FromVector3(localPosition);
 
         Perceptoid selectedPerceptoid = null;
         foreach (Perceptoid perceptoid in this.perceptei) {
diff --git a/Assets/NanoBrain/SensoryNeuroid.cs b/Assets/NanoBrain/SensoryNeuroid.cs
index c716cca..d0948a7 100644
--- a/Assets/NanoBrain/SensoryNeuroid.cs
+++ b/Assets/NanoBrain/SensoryNeuroid.cs
@@ -1,6 +1,7 @@
 using System.Collections.Generic;
 using System.Linq;
 using UnityEngine;
+using LinearAlgebra;
 
 // public class Receptor {
 
@@ -52,9 +53,9 @@ public class SensoryNeuroid : Neuroid {
         this.name = name + ": position";
 
         this.receptor.thingType = thingId;
-        this.receptor.localPosition = Vector3.zero;
+        this.receptor.localPosition = Spherical.zero;
 
-        this.outputValue = Vector3.zero;
+        this.outputValue = Spherical.zero;
         this.receivers = new();
         this.AddReceiver(velocityNeuroid);
 
@@ -64,13 +65,14 @@ public class SensoryNeuroid : Neuroid {
     }
 
     public override void UpdateState() {
-        Vector3 result = receptor.localPosition;
+        Vector3 result = receptor.localPosition.ToVector3();
         //foreach ((Nucleus nucleus, float weight) in this.synapses) {
         foreach (Synapse synapse in this.synapses) {
             Nucleus nucleus = synapse.nucleus;
             float weight = synapse.weight;
-            Vector3 direction = nucleus.outputValue.normalized;
-            float magnitude = nucleus.outputValue.magnitude;
+            Vector3 outputV3 = nucleus.outputValue.ToVector3();
+            Vector3 direction = outputV3.normalized;
+            float magnitude = outputV3.magnitude;
 
             magnitude = weight * Mathf.Pow(magnitude, exponent);
             if (inverse)
@@ -80,7 +82,7 @@ public class SensoryNeuroid : Neuroid {
         if (average && this.synapses.Count > 0)
             result /= this.synapses.Count + 1;
 
-        this.outputValue = result;
+        this.outputValue = Spherical.FromVector3(result);
         //foreach (Neuroid neuroid in this.receivers)
         foreach (Receiver receiver in this.receivers)
             if (receiver.nucleus is Neuroid neuroid)
@@ -107,16 +109,17 @@ public class VelocityNeuroid : Neuroid {
     public override void UpdateState() {
         // Assuming only one synapse for now....
         //Vector3 currentPosition = this.synapses.First().Key.outputValue;
-        Vector3 currentPosition = this.synapses.First().nucleus.outputValue;
+        Spherical currentPosition = this.synapses.First().nucleus.outputValue;
+        Vector3 currentPositionV3 = currentPosition.ToVector3();
         float currentValueTime = Time.time;
 
         if (lastValueTime != 0) {
             float deltaTime = currentValueTime - lastValueTime;
-            Vector3 translation = currentPosition - lastPosition;
+            Vector3 translation = currentPositionV3 - lastPosition;
             Vector3 velocity = translation / deltaTime;
 
             // No activation function...
-            this.outputValue = velocity;
+            this.outputValue = Spherical.FromVector3(velocity);
             this.stale = 0;
 
             //foreach (Neuroid receiver in receivers)
@@ -127,6 +130,6 @@ public class VelocityNeuroid : Neuroid {
         }
 
         this.lastValueTime = currentValueTime;
-        this.lastPosition = currentPosition;
+        this.lastPosition = currentPositionV3;
     }
 }
\ No newline at end of file
diff --git a/Assets/NanoBrain/VisualEditor/Editor/NanoBrainEditor.cs b/Assets/NanoBrain/VisualEditor/Editor/NanoBrainEditor.cs
index 7c86c74..f1946f3 100644
--- a/Assets/NanoBrain/VisualEditor/Editor/NanoBrainEditor.cs
+++ b/Assets/NanoBrain/VisualEditor/Editor/NanoBrainEditor.cs
@@ -341,7 +341,7 @@ public class GraphBoardView : VisualElement {
             currentNucleus.name = EditorGUILayout.TextField(currentNucleus.name);
             EditorGUILayout.BeginHorizontal();
             EditorGUILayout.LabelField("Output Value", GUILayout.Width(100));
-            EditorGUILayout.Vector3Field(GUIContent.none, currentNucleus.outputValue);
+            EditorGUILayout.Vector3Field(GUIContent.none, currentNucleus.outputValue.ToVector3());
             EditorGUILayout.EndHorizontal();
             if (currentNucleus.synapses.Count > 0) {
                 EditorGUILayout.LabelField("Synapses");
@@ -360,7 +360,7 @@ public class GraphBoardView : VisualElement {
                     // currentNucleus.synapses[nucleus] = EditorGUILayout.FloatField(weight, GUILayout.Width(40));
                     synapse.weight = EditorGUILayout.FloatField(synapse.weight, GUILayout.Width(40));
                     EditorGUI.indentLevel++;
-                    EditorGUILayout.Vector3Field(GUIContent.none, synapse.nucleus.outputValue, GUILayout.Width(180));
+                    EditorGUILayout.Vector3Field(GUIContent.none, synapse.nucleus.outputValue.ToVector3(), GUILayout.Width(180));
                     EditorGUILayout.EndHorizontal();
 
                     EditorGUI.EndDisabledGroup();
diff --git a/Assets/NanoBrain/VisualEditor/Editor/NanoBrainInspector.cs b/Assets/NanoBrain/VisualEditor/Editor/NanoBrainInspector.cs
index 43a2af7..8db7231 100644
--- a/Assets/NanoBrain/VisualEditor/Editor/NanoBrainInspector.cs
+++ b/Assets/NanoBrain/VisualEditor/Editor/NanoBrainInspector.cs
@@ -455,7 +455,7 @@ public class NanoBrainInspector : Editor {
                 DisconnectNucleus(this.currentNucleus);
 
                 if (this.gameObject != null) {
-                    Vector3 worldVector = this.gameObject.transform.TransformVector(this.currentNucleus.outputValue);
+                    Vector3 worldVector = this.gameObject.transform.TransformVector(this.currentNucleus.outputValue.ToVector3());
                     Debug.DrawRay(this.gameObject.transform.position, worldVector, Color.yellow);
                 }
             });
diff --git a/Assets/NanoBrain/VisualEditor/NanoBrainObj.cs b/Assets/NanoBrain/VisualEditor/NanoBrainObj.cs
index 137125a..145e14d 100644
--- a/Assets/NanoBrain/VisualEditor/NanoBrainObj.cs
+++ b/Assets/NanoBrain/VisualEditor/NanoBrainObj.cs
@@ -1,5 +1,6 @@
 using System.Collections.Generic;
 using UnityEngine;
+using LinearAlgebra;
 
 [CreateAssetMenu(menuName = "Passer/NanoBrain")]
 public class NanoBrainObj : ScriptableObject, ISerializationCallbackReceiver {
@@ -33,12 +34,12 @@ public class NanoBrainObj : ScriptableObject, ISerializationCallbackReceiver {
         foreach (Nucleus nucleus in nuclei) {
             nucleus.stale++;
             if (nucleus.isSleeping)
-                nucleus.outputValue = Vector3.zero;
+                nucleus.outputValue = Spherical.zero;
         }
         foreach (Perceptoid perception in perceptei) {
             perception.stale++;
             if (perception.isSleeping)
-                perception.outputValue = Vector3.zero;
+                perception.outputValue = Spherical.zero;
         }
     }
 
diff --git a/Assets/Scenes/Boids/Scripts/Boid.cs b/Assets/Scenes/Boids/Scripts/Boid.cs
index c2cc778..43da333 100644
--- a/Assets/Scenes/Boids/Scripts/Boid.cs
+++ b/Assets/Scenes/Boids/Scripts/Boid.cs
@@ -55,7 +55,7 @@ public class Boid : MonoBehaviour {
             boundaryReceptor.ProcessStimulus(777, desiredLocalSpace);
         }
 
-        Vector3 worldForce = this.transform.TransformDirection(nanoBrain.root.outputValue);
+        Vector3 worldForce = this.transform.TransformDirection(nanoBrain.root.outputValue.ToVector3());
 
         this.velocity = (1 - sc.inertia) * (worldForce * Time.deltaTime) + sc.inertia * velocity;
         if (this.velocity.magnitude > 0)
diff --git a/Assets/Scenes/Boids/Scripts/SwarmingNucleus.cs b/Assets/Scenes/Boids/Scripts/SwarmingNucleus.cs
index 92f9950..bbe6200 100644
--- a/Assets/Scenes/Boids/Scripts/SwarmingNucleus.cs
+++ b/Assets/Scenes/Boids/Scripts/SwarmingNucleus.cs
@@ -1,4 +1,5 @@
 using UnityEngine;
+using LinearAlgebra;
 
 public class Swarming : Nucleus {
     public Neuroid cohesion;
@@ -8,7 +9,7 @@ public class Swarming : Nucleus {
 
     public Neuroid output;
 
-    public override Vector3 outputValue { get => output.outputValue; set => output.outputValue = value; }
+    public override Spherical outputValue { get => output.outputValue; set => output.outputValue = value; }
 
     public Swarming(NanoBrainObj brain, Perception perception, SwarmControl sc) : base("Swarming Nucleus") {
         this.cohesion = new(brain, "Cohesion") { inverse = false };
diff --git a/Packages/manifest.json b/Packages/manifest.json
index 4e3816e..e74462a 100644
--- a/Packages/manifest.json
+++ b/Packages/manifest.json
@@ -4,13 +4,14 @@
     "com.unity.collab-proxy": "2.10.2",
     "com.unity.ide.rider": "3.0.38",
     "com.unity.ide.visualstudio": "2.0.25",
-    "com.unity.inputsystem": "1.14.2",
-    "com.unity.multiplayer.center": "1.0.0",
-    "com.unity.render-pipelines.universal": "17.2.0",
+    "com.unity.inputsystem": "1.17.0",
+    "com.unity.multiplayer.center": "1.0.1",
+    "com.unity.render-pipelines.universal": "17.3.0",
     "com.unity.test-framework": "1.6.0",
     "com.unity.timeline": "1.8.9",
     "com.unity.ugui": "2.0.0",
     "com.unity.modules.accessibility": "1.0.0",
+    "com.unity.modules.adaptiveperformance": "1.0.0",
     "com.unity.modules.ai": "1.0.0",
     "com.unity.modules.androidjni": "1.0.0",
     "com.unity.modules.animation": "1.0.0",
@@ -37,6 +38,7 @@
     "com.unity.modules.unitywebrequestaudio": "1.0.0",
     "com.unity.modules.unitywebrequesttexture": "1.0.0",
     "com.unity.modules.unitywebrequestwww": "1.0.0",
+    "com.unity.modules.vectorgraphics": "1.0.0",
     "com.unity.modules.vehicles": "1.0.0",
     "com.unity.modules.video": "1.0.0",
     "com.unity.modules.vr": "1.0.0",
diff --git a/Packages/packages-lock.json b/Packages/packages-lock.json
index a197b82..8bcb908 100644
--- a/Packages/packages-lock.json
+++ b/Packages/packages-lock.json
@@ -10,7 +10,7 @@
       "url": "https://packages.unity.com"
     },
     "com.unity.burst": {
-      "version": "1.8.25",
+      "version": "1.8.26",
       "depth": 2,
       "source": "registry",
       "dependencies": {
@@ -33,8 +33,8 @@
       "dependencies": {
         "com.unity.burst": "1.8.23",
         "com.unity.mathematics": "1.3.2",
-        "com.unity.nuget.mono-cecil": "1.11.5",
         "com.unity.test-framework": "1.4.6",
+        "com.unity.nuget.mono-cecil": "1.11.5",
         "com.unity.test-framework.performance": "3.0.3"
       },
       "url": "https://packages.unity.com"
@@ -64,7 +64,7 @@
       "url": "https://packages.unity.com"
     },
     "com.unity.inputsystem": {
-      "version": "1.14.2",
+      "version": "1.17.0",
       "depth": 0,
       "source": "registry",
       "dependencies": {
@@ -73,14 +73,14 @@
       "url": "https://packages.unity.com"
     },
     "com.unity.mathematics": {
-      "version": "1.3.2",
+      "version": "1.3.3",
       "depth": 2,
       "source": "registry",
       "dependencies": {},
       "url": "https://packages.unity.com"
     },
     "com.unity.multiplayer.center": {
-      "version": "1.0.0",
+      "version": "1.0.1",
       "depth": 0,
       "source": "builtin",
       "dependencies": {
@@ -88,14 +88,14 @@
       }
     },
     "com.unity.nuget.mono-cecil": {
-      "version": "1.11.5",
+      "version": "1.11.6",
       "depth": 3,
       "source": "registry",
       "dependencies": {},
       "url": "https://packages.unity.com"
     },
     "com.unity.render-pipelines.core": {
-      "version": "17.2.0",
+      "version": "17.3.0",
       "depth": 1,
       "source": "builtin",
       "dependencies": {
@@ -105,17 +105,16 @@
         "com.unity.collections": "2.4.3",
         "com.unity.modules.physics": "1.0.0",
         "com.unity.modules.terrain": "1.0.0",
-        "com.unity.modules.jsonserialize": "1.0.0",
-        "com.unity.rendering.light-transport": "1.0.1"
+        "com.unity.modules.jsonserialize": "1.0.0"
       }
     },
     "com.unity.render-pipelines.universal": {
-      "version": "17.2.0",
+      "version": "17.3.0",
       "depth": 0,
       "source": "builtin",
       "dependencies": {
-        "com.unity.render-pipelines.core": "17.2.0",
-        "com.unity.shadergraph": "17.2.0",
+        "com.unity.render-pipelines.core": "17.3.0",
+        "com.unity.shadergraph": "17.3.0",
         "com.unity.render-pipelines.universal-config": "17.0.3"
       }
     },
@@ -127,29 +126,19 @@
         "com.unity.render-pipelines.core": "17.0.3"
       }
     },
-    "com.unity.rendering.light-transport": {
-      "version": "1.0.1",
-      "depth": 2,
-      "source": "builtin",
-      "dependencies": {
-        "com.unity.collections": "2.2.0",
-        "com.unity.mathematics": "1.2.4",
-        "com.unity.modules.terrain": "1.0.0"
-      }
-    },
     "com.unity.searcher": {
-      "version": "4.9.3",
+      "version": "4.9.4",
       "depth": 2,
       "source": "registry",
       "dependencies": {},
       "url": "https://packages.unity.com"
     },
     "com.unity.shadergraph": {
-      "version": "17.2.0",
+      "version": "17.3.0",
       "depth": 1,
       "source": "builtin",
       "dependencies": {
-        "com.unity.render-pipelines.core": "17.2.0",
+        "com.unity.render-pipelines.core": "17.3.0",
         "com.unity.searcher": "4.9.3"
       }
     },
@@ -178,9 +167,9 @@
       "depth": 0,
       "source": "registry",
       "dependencies": {
+        "com.unity.modules.audio": "1.0.0",
         "com.unity.modules.director": "1.0.0",
         "com.unity.modules.animation": "1.0.0",
-        "com.unity.modules.audio": "1.0.0",
         "com.unity.modules.particlesystem": "1.0.0"
       },
       "url": "https://packages.unity.com"
@@ -200,6 +189,14 @@
       "source": "builtin",
       "dependencies": {}
     },
+    "com.unity.modules.adaptiveperformance": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {
+        "com.unity.modules.subsystems": "1.0.0"
+      }
+    },
     "com.unity.modules.ai": {
       "version": "1.0.0",
       "depth": 0,
@@ -407,6 +404,16 @@
         "com.unity.modules.imageconversion": "1.0.0"
       }
     },
+    "com.unity.modules.vectorgraphics": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {
+        "com.unity.modules.uielements": "1.0.0",
+        "com.unity.modules.imageconversion": "1.0.0",
+        "com.unity.modules.imgui": "1.0.0"
+      }
+    },
     "com.unity.modules.vehicles": {
       "version": "1.0.0",
       "depth": 0,
diff --git a/ProjectSettings/GraphicsSettings.asset b/ProjectSettings/GraphicsSettings.asset
index 02f1134..abe4fcd 100644
--- a/ProjectSettings/GraphicsSettings.asset
+++ b/ProjectSettings/GraphicsSettings.asset
@@ -58,7 +58,9 @@ GraphicsSettings:
   m_FogKeepExp2: 1
   m_AlbedoSwatchInfos: []
   m_RenderPipelineGlobalSettingsMap:
-    UnityEngine.Rendering.Universal.UniversalRenderPipeline: {fileID: 11400000, guid: 370d27fa5af5291e18529fa336759ac9, type: 2}
+    UnityEngine.Rendering.Universal.UniversalRenderPipeline: {fileID: 11400000, guid: 2acc6984d25d4a508a6d7042927d3083, type: 2}
+  m_ShaderBuildSettings:
+    keywordDeclarationOverrides: []
   m_LightsUseLinearIntensity: 1
   m_LightsUseColorTemperature: 1
   m_LogWhenShaderIsCompiled: 0
diff --git a/ProjectSettings/Packages/com.unity.dedicated-server/MultiplayerRolesSettings.asset b/ProjectSettings/Packages/com.unity.dedicated-server/MultiplayerRolesSettings.asset
new file mode 100644
index 0000000..d72800d
--- /dev/null
+++ b/ProjectSettings/Packages/com.unity.dedicated-server/MultiplayerRolesSettings.asset
@@ -0,0 +1,17 @@
+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
+--- !u!114 &1
+MonoBehaviour:
+  m_ObjectHideFlags: 53
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 0}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 15023, guid: 0000000000000000e000000000000000, type: 0}
+  m_Name: 
+  m_EditorClassIdentifier: UnityEditor.MultiplayerModule.dll::UnityEditor.Multiplayer.Internal.MultiplayerRolesSettings
+  m_MultiplayerRoleForClassicProfile:
+    m_Keys: []
+    m_Values: 
diff --git a/ProjectSettings/ProjectVersion.txt b/ProjectSettings/ProjectVersion.txt
index 48c0834..879b68f 100644
--- a/ProjectSettings/ProjectVersion.txt
+++ b/ProjectSettings/ProjectVersion.txt
@@ -1,2 +1,2 @@
-m_EditorVersion: 6000.2.13f1
-m_EditorVersionWithRevision: 6000.2.13f1 (abdb44fca7f7)
+m_EditorVersion: 6000.3.2f1
+m_EditorVersionWithRevision: 6000.3.2f1 (a9779f353c9b)