diff --git a/Angle.h b/Angle.h
index 31fc88a..943be90 100644
--- a/Angle.h
+++ b/Angle.h
@@ -39,23 +39,7 @@ private:
 };
 
 using Angle = AngleOf<float>;
-/*
-class Angle {
-public:
-  const static float Rad2Deg;
-  const static float Deg2Rad;
 
-  static float Normalize(float angle);
-  static float Clamp(float angle, float min, float max);
-  static float Difference(float a, float b);
-  static float MoveTowards(float fromAngle, float toAngle, float maxAngle);
-
-  static float CosineRuleSide(float a, float b, float gamma);
-  static float CosineRuleAngle(float a, float b, float c);
-
-  static float SineRuleAngle(float a, float beta, float c);
-};
-*/
 } // namespace Passer
 using namespace Passer;
 
diff --git a/Matrix.cpp b/Matrix.cpp
index 7a67504..b9b2eab 100644
--- a/Matrix.cpp
+++ b/Matrix.cpp
@@ -15,9 +15,9 @@ template <> MatrixOf<float>::MatrixOf(unsigned int rows, unsigned int cols) {
 }
 
 template <> MatrixOf<float>::MatrixOf(Vector3 v) : MatrixOf(3, 1) {
-  Set(0, 0, v.x);
-  Set(1, 0, v.y);
-  Set(2, 0, v.z);
+  Set(0, 0, v.Right());
+  Set(1, 0, v.Up());
+  Set(2, 0, v.Forward());
 }
 
 template <>
@@ -27,7 +27,7 @@ void MatrixOf<float>::Multiply(const MatrixOf<float> *m1,
     for (unsigned int colIx2 = 0; colIx2 < m2->cols; colIx2++) {
       unsigned int rDataIx = colIx2 * m2->cols + rowIx1;
       r->data[rDataIx] = 0.0F;
-      for (int kIx = 0; kIx < m2->rows; kIx++) {
+      for (unsigned int kIx = 0; kIx < m2->rows; kIx++) {
         unsigned int dataIx1 = rowIx1 * m1->cols + kIx;
         unsigned int dataIx2 = kIx * m2->cols + colIx2;
         r->data[rDataIx] += m1->data[dataIx1] * m2->data[dataIx2];
diff --git a/Quaternion.cpp b/Quaternion.cpp
index 0389ab2..8f76a71 100644
--- a/Quaternion.cpp
+++ b/Quaternion.cpp
@@ -115,13 +115,21 @@ Vector3 Quaternion::operator*(const Vector3 &p) const {
   float num10 = this->w * num;
   float num11 = this->w * num2;
   float num12 = this->w * num3;
-  Vector3 result = Vector3::zero;
-  result.x =
-      (1 - (num5 + num6)) * p.x + (num7 - num12) * p.y + (num8 + num11) * p.z;
-  result.y =
-      (num7 + num12) * p.x + (1 - (num4 + num6)) * p.y + (num9 - num10) * p.z;
-  result.z =
-      (num8 - num11) * p.x + (num9 + num10) * p.y + (1 - (num4 + num5)) * p.z;
+
+  float px = p.Right();
+  float py = p.Up();
+  float pz = p.Forward();
+  // Vector3 result = Vector3::zero;
+  //  result.x =
+  float rx =
+      (1 - (num5 + num6)) * px + (num7 - num12) * py + (num8 + num11) * pz;
+  // result.y =
+  float ry =
+      (num7 + num12) * px + (1 - (num4 + num6)) * py + (num9 - num10) * pz;
+  // result.z =
+  float rz =
+      (num8 - num11) * px + (num9 + num10) * py + (1 - (num4 + num5)) * pz;
+  Vector3 result = Vector3(rx, ry, rz);
   return result;
 }
 
@@ -142,15 +150,15 @@ Quaternion Quaternion::LookRotation(const Vector3 &forward, const Vector3 &up) {
   Vector3 nForward = Vector3::Normalize(forward);
   Vector3 nRight = Vector3::Normalize(Vector3::Cross(up, nForward));
   Vector3 nUp = Vector3::Cross(nForward, nRight);
-  float m00 = nRight.x;
-  float m01 = nRight.y;
-  float m02 = nRight.z;
-  float m10 = nUp.x;
-  float m11 = nUp.y;
-  float m12 = nUp.z;
-  float m20 = nForward.x;
-  float m21 = nForward.y;
-  float m22 = nForward.z;
+  float m00 = nRight.Right();     // x;
+  float m01 = nRight.Up();        // y;
+  float m02 = nRight.Forward();   // z;
+  float m10 = nUp.Right();        // x;
+  float m11 = nUp.Up();           // y;
+  float m12 = nUp.Forward();      // z;
+  float m20 = nForward.Right();   // x;
+  float m21 = nForward.Up();      // y;
+  float m22 = nForward.Forward(); // z;
 
   float num8 = (m00 + m11) + m22;
   Quaternion quaternion = Quaternion();
@@ -219,9 +227,9 @@ Quaternion Quaternion::AngleAxis(float angle, const Vector3 &axis) {
   radians *= 0.5f;
 
   Vector3 axis2 = axis * (float)sin(radians);
-  result.x = axis2.x;
-  result.y = axis2.y;
-  result.z = axis2.z;
+  result.x = axis2.Right();   // x;
+  result.y = axis2.Up();      // y;
+  result.z = axis2.Forward(); // z;
   result.w = (float)cos(radians);
 
   return Quaternion::Normalize(result);
@@ -293,7 +301,8 @@ Quaternion Quaternion::SlerpUnclamped(const Quaternion &a, const Quaternion &b,
     blendB = t;
   }
   Vector3 v = axyz * blendA + b2.xyz() * blendB;
-  Quaternion result = Quaternion(v.x, v.y, v.z, blendA * a.w + blendB * b2.w);
+  Quaternion result =
+      Quaternion(v.Right(), v.Up(), v.Forward(), blendA * a.w + blendB * b2.w);
   if (result.GetLengthSquared() > 0.0f)
     return Quaternion::Normalize(result);
   else
@@ -317,9 +326,9 @@ Quaternion Quaternion::Euler(Vector3 euler) {
 }
 
 Quaternion Quaternion::FromEulerRad(Vector3 euler) {
-  float yaw = euler.x;
-  float pitch = euler.y;
-  float roll = euler.z;
+  float yaw = euler.Right();
+  float pitch = euler.Up();
+  float roll = euler.Forward();
   float rollOver2 = roll * 0.5f;
   float sinRollOver2 = (float)sin((float)rollOver2);
   float cosRollOver2 = (float)cos((float)rollOver2);
@@ -348,9 +357,9 @@ Quaternion Quaternion::EulerXYZ(Vector3 euler) {
   return Quaternion::FromEulerRadXYZ(euler * Deg2Rad);
 }
 Quaternion Quaternion::FromEulerRadXYZ(Vector3 euler) {
-  float yaw = euler.x;
-  float pitch = euler.y;
-  float roll = euler.z;
+  float yaw = euler.Right();    // x;
+  float pitch = euler.Up();     // y;
+  float roll = euler.Forward(); // z;
   float rollOver2 = roll * 0.5f;
   float sinRollOver2 = (float)sin((float)rollOver2);
   float cosRollOver2 = (float)cos((float)rollOver2);
@@ -389,7 +398,7 @@ Quaternion Quaternion::GetRotationAround(Vector3 axis, Quaternion rotation) {
   Vector3 ra = Vector3(rotation.x, rotation.y, rotation.z); // rotation axis
   Vector3 p = Vector3::Project(
       ra, axis); // return projection ra on to axis  (parallel component)
-  Quaternion twist = Quaternion(p.x, p.y, p.z, rotation.w);
+  Quaternion twist = Quaternion(p.Right(), p.Up(), p.Forward(), rotation.w);
   twist = Quaternion::Normalize(twist);
   return twist;
 }
diff --git a/Spherical.cpp b/Spherical.cpp
index 699d01e..3e623b3 100644
--- a/Spherical.cpp
+++ b/Spherical.cpp
@@ -37,8 +37,8 @@ Spherical::Spherical(Vector3 v) {
     this->horizontalAngle = 0.0f;
   } else {
     this->verticalAngle =
-        (90.0f - acosf(v.y / this->distance) * Angle::Rad2Deg);
-    this->horizontalAngle = atan2f(v.x, v.z) * Angle::Rad2Deg;
+        (90.0f - acosf(v.Up() / this->distance) * Angle::Rad2Deg);
+    this->horizontalAngle = atan2f(v.Right(), v.Forward()) * Angle::Rad2Deg;
   }
 }
 
diff --git a/Vector2.cpp b/Vector2.cpp
index c5321ea..1ab580a 100644
--- a/Vector2.cpp
+++ b/Vector2.cpp
@@ -21,13 +21,13 @@ Vector2::Vector2(float _x, float _y) {
   x = _x;
   y = _y;
 }
-Vector2::Vector2(Vec2 v) {
-  x = v.x;
-  y = v.y;
-}
+// Vector2::Vector2(Vec2 v) {
+//   x = v.x;
+//   y = v.y;
+// }
 Vector2::Vector2(Vector3 v) {
-  x = v.x;
-  y = v.z;
+  x = v.Right();   // x;
+  y = v.Forward(); // z;
 }
 Vector2::Vector2(Polar p) {
   float horizontalRad = p.angle * Angle::Deg2Rad;
@@ -53,11 +53,11 @@ bool Vector2::operator==(const Vector2 &v) {
   return (this->x == v.x && this->y == v.y);
 }
 
-float Vector2::Magnitude(const Vector2 &a) {
-  return sqrtf(a.x * a.x + a.y * a.y);
+float Vector2::Magnitude(const Vector2 &v) {
+  return sqrtf(v.x * v.x + v.y * v.y);
 }
 float Vector2::magnitude() const { return (float)sqrtf(x * x + y * y); }
-float Vector2::SqrMagnitude(const Vector2 &a) { return a.x * a.x + a.y * a.y; }
+float Vector2::SqrMagnitude(const Vector2 &v) { return v.x * v.x + v.y * v.y; }
 float Vector2::sqrMagnitude() const { return (x * x + y * y); }
 
 Vector2 Vector2::Normalize(const Vector2 &v) {
@@ -79,21 +79,47 @@ Vector2 Vector2::normalized() const {
 
 Vector2 Vector2::operator-() { return Vector2(-this->x, -this->y); }
 
-Vector2 Vector2::operator-(const Vector2 &v2) const {
-  return Vector2(this->x - v2.x, this->y - v2.y);
+Vector2 Vector2::operator-(const Vector2 &v) const {
+  return Vector2(this->x - v.x, this->y - v.y);
 }
-Vector2 Vector2::operator+(const Vector2 &v2) const {
-  return Vector2(this->x + v2.x, this->y + v2.y);
+Vector2 Vector2::operator-=(const Vector2 &v) {
+  this->x -= v.x;
+  this->y -= v.y;
+  return *this;
+}
+Vector2 Vector2::operator+(const Vector2 &v) const {
+  return Vector2(this->x + v.x, this->y + v.y);
+}
+Vector2 Vector2::operator+=(const Vector2 &v) {
+  this->x += v.x;
+  this->y += v.y;
+  return *this;
 }
 
-Vector2 Vector2::Scale(const Vector2 &p1, const Vector2 &p2) {
-  return Vector2(p1.x * p2.x, p1.y * p2.y);
+Vector2 Vector2::Scale(const Vector2 &v1, const Vector2 &v2) {
+  return Vector2(v1.x * v2.x, v1.y * v2.y);
 }
-Vector2 Vector2::operator*(float f) const {
-  return Vector2(this->x * f, this->y * f);
+Vector2 Passer::operator*(const Vector2 &v, const float f) {
+  return Vector2(v.x * f, v.y * f);
 }
-Vector2 Vector2::operator/(float f) const {
-  return Vector2(this->x / f, this->y / f);
+Vector2 Passer::operator*(const float f, const Vector2 &v) {
+  return Vector2(v.x * f, v.y * f);
+}
+Vector2 Vector2::operator*=(const float f) {
+  this->x *= f;
+  this->y *= f;
+  return *this;
+}
+Vector2 Passer::operator/(const Vector2 &v, const float f) {
+  return Vector2(v.x / f, v.y / f);
+}
+Vector2 Passer::operator/(const float f, const Vector2 &v) {
+  return Vector2(v.x / f, v.y / f);
+}
+Vector2 Vector2::operator/=(const float f) {
+  this->x /= f;
+  this->y /= f;
+  return *this;
 }
 
 float Vector2::Dot(const Vector2 &v1, const Vector2 &v2) {
@@ -120,8 +146,8 @@ float Vector2::SignedAngle(const Vector2 &v1, const Vector2 &v2) {
     return nanf("");
 #endif
 
-  float angleFrom = atan2(v1.y, v1.x);
-  float angleTo = atan2(v2.y, v2.x);
+  float angleFrom = atan2f(v1.y, v1.x);
+  float angleTo = atan2f(v2.y, v2.x);
   return -(angleTo - angleFrom) * Angle::Rad2Deg;
 }
 
diff --git a/Vector2.h b/Vector2.h
index 63d3c08..055375a 100644
--- a/Vector2.h
+++ b/Vector2.h
@@ -35,16 +35,15 @@ struct Polar;
 /// @remark This uses the right=handed carthesian coordinate system.
 /// @note This implementation intentionally avoids the use of x and y
 struct Vector2 : Vec2 {
+  friend struct Vec2;
+
 public:
   /// @brief A new 2-dimensional zero vector
   Vector2();
   /// @brief A new 2-dimensional vector
-  /// @param sideward The sideward value
-  /// @param forward The forward value
-  Vector2(float sideward, float forward);
-  /// @brief A vector created from a C-style Vec2
-  /// @param v The C-syle Vec2
-  Vector2(Vec2 v);
+  /// @param right The distance in the right direction in meters
+  /// @param forward The distance in the forward direction in meters
+  Vector2(float right, float forward);
   /// @brief Convert a Vector3 to a Vector2
   /// @param v The 3D vector
   /// @note This will project the vector to the horizontal plane
@@ -64,18 +63,18 @@ public:
   const static Vector2 right;
   /// @brief A normalized left-oriented vector
   const static Vector2 left;
-  /// @brief A normalized up-oriented vector
-  /// @note This is equal to Vector2::forward
-  const static Vector2 up;
-  /// @brief A normalized down-oriented vector
-  /// @note This is equal to Vector2::down
-  const static Vector2 down;
   /// @brief A normalized forward-oriented vector
   /// @note This is equal to Vector2::up
   const static Vector2 forward;
   /// @brief A normalized back-oriented vector
   /// @note This is equal to Vector2::down
   const static Vector2 back;
+  /// @brief A normalized up-oriented vector
+  /// @note This is a convenience function which is equal to Vector2::forward
+  const static Vector2 up;
+  /// @brief A normalized down-oriented vector
+  /// @note This is a convenience function which is equal to Vector2::down
+  const static Vector2 down;
 
   /// @brief Check if this vector to the given vector
   /// @param v The vector to check against
@@ -121,12 +120,14 @@ public:
   /// @param v The vector to subtract from this vector
   /// @return The result of the subtraction
   Vector2 operator-(const Vector2 &v) const;
+  Vector2 operator-=(const Vector2 &v);
   /// @brief Add a vector to this vector
   /// @param v The vector to add to this vector
   /// @return The result of the addition
   Vector2 operator+(const Vector2 &v) const;
+  Vector2 operator+=(const Vector2 &v);
 
-  /// @brief Scale a vector using another vector
+  /// @brief Scale the vector using another vector
   /// @param v1 The vector to scale
   /// @param v2 A vector with the scaling factors
   /// @return The scaled vector
@@ -138,12 +139,16 @@ public:
   /// @return The scaled vector
   /// @remark Each component of the vector will be multipled with the same
   /// factor f.
-  Vector2 operator*(float f) const;
+  friend Vector2 operator*(const Vector2 &v, const float f);
+  friend Vector2 operator*(const float f, const Vector2 &v);
+  Vector2 operator*=(const float f);
   /// @brief Scale the vector uniformly down
   /// @param f The scaling factor
   /// @return The scaled vector
   /// @remark Each componet of the vector will be divided by the same factor.
-  Vector2 operator/(float f) const;
+  friend Vector2 operator/(const Vector2 &v, const float f);
+  friend Vector2 operator/(const float f, const Vector2 &v);
+  Vector2 operator/=(const float f);
 
   /// @brief The dot product of two vectors
   /// @param v1 The first vector
diff --git a/Vector3.cpp b/Vector3.cpp
index 3ee597e..2cf43f1 100644
--- a/Vector3.cpp
+++ b/Vector3.cpp
@@ -13,21 +13,21 @@ const float Rad2Deg = 57.29578F;
 const float epsilon = 1E-05f;
 
 Vector3::Vector3() {
-  x = 0;
-  y = 0;
-  z = 0;
+  this->x = 0;
+  this->y = 0;
+  this->z = 0;
 }
 
-Vector3::Vector3(float _x, float _y, float _z) {
-  x = _x;
-  y = _y;
-  z = _z;
+Vector3::Vector3(float right, float up, float forward) {
+  this->x = right;
+  this->y = up;
+  this->z = forward;
 }
 
-Vector3::Vector3(Vec3 v) {
-  x = v.x;
-  y = v.y;
-  z = v.z;
+Vector3::Vector3(Vector2 v) {
+  this->x = v.x;
+  this->y = 0.0f;
+  this->z = v.y;
 }
 
 Vector3::Vector3(Spherical s) {
@@ -61,17 +61,17 @@ const Vector3 Vector3::back = Vector3(0, 0, -1);
 // inline float Vector3::Forward() { return z; }
 // inline float Vector3::Up() { return y; }
 // inline float Vector3::Right() { return x; }
-Vector3 Vector3::FromHorizontal(const Vector2 &v) {
-  return Vector3(v.x, 0, v.y);
-}
+// Vector3 Vector3::FromHorizontal(const Vector2 &v) {
+//   return Vector3(v.x, 0, v.y);
+// }
 
-float Vector3::Magnitude(const Vector3 &a) {
-  return sqrtf(a.x * a.x + a.y * a.y + a.z * a.z);
+float Vector3::Magnitude(const Vector3 &v) {
+  return sqrtf(v.x * v.x + v.y * v.y + v.z * v.z);
 }
 float Vector3::magnitude() const { return (float)sqrtf(x * x + y * y + z * z); }
 
-float Vector3::SqrMagnitude(const Vector3 &a) {
-  return a.x * a.x + a.y * a.y + a.z * a.z;
+float Vector3::SqrMagnitude(const Vector3 &v) {
+  return v.x * v.x + v.y * v.y + v.z * v.z;
 }
 float Vector3::sqrMagnitude() const { return (x * x + y * y + z * z); }
 
@@ -92,26 +92,55 @@ Vector3 Vector3::normalized() const {
   return result;
 }
 
-Vector3 Vector3::operator-(const Vector3 &v2) const {
-  return Vector3(this->x - v2.x, this->y - v2.y, this->z - v2.z);
+Vector3 Vector3::operator-() const {
+  return Vector3(-this->x, -this->y, -this->z);
 }
 
-Vector3 Vector3::operator-() { return Vector3(-this->x, -this->y, -this->z); }
-
-Vector3 Vector3::operator+(const Vector3 &v2) const {
-  return Vector3(this->x + v2.x, this->y + v2.y, this->z + v2.z);
+Vector3 Vector3::operator-(const Vector3 &v) const {
+  return Vector3(this->x - v.x, this->y - v.y, this->z - v.z);
+}
+Vector3 Vector3::operator-=(const Vector3 &v) {
+  this->x -= v.x;
+  this->y -= v.y;
+  this->z -= v.z;
+  return *this;
+}
+Vector3 Vector3::operator+(const Vector3 &v) const {
+  return Vector3(this->x + v.x, this->y + v.y, this->z + v.z);
+}
+Vector3 Vector3::operator+=(const Vector3 &v) {
+  this->x += v.x;
+  this->y += v.y;
+  this->z += v.z;
+  return *this;
 }
 
-Vector3 Vector3::Scale(const Vector3 &p1, const Vector3 &p2) {
-  return Vector3(p1.x * p2.x, p1.y * p2.y, p1.z * p2.z);
+Vector3 Vector3::Scale(const Vector3 &v1, const Vector3 &v2) {
+  return Vector3(v1.x * v2.x, v1.y * v2.y, v1.z * v2.z);
 }
-
-Vector3 Vector3::operator*(float f) const {
-  return Vector3(this->x * f, this->y * f, this->z * f);
+Vector3 Passer::operator*(const Vector3 &v, const float f) {
+  return Vector3(v.x * f, v.y * f, v.z * f);
 }
-
-Vector3 Vector3::operator/(float d) const {
-  return Vector3(this->x / d, this->y / d, this->z / d);
+Vector3 Passer::operator*(const float f, const Vector3 &v) {
+  return Vector3(v.x * f, v.y * f, v.z * f);
+}
+Vector3 Vector3::operator*=(const float f) {
+  this->x *= f;
+  this->y *= f;
+  this->z *= f;
+  return *this;
+}
+Vector3 Passer::operator/(const Vector3 &v, const float f) {
+  return Vector3(v.x / f, v.y / f, v.z / f);
+}
+Vector3 Passer::operator/(const float f, const Vector3 &v) {
+  return Vector3(v.x / f, v.y / f, v.z / f);
+}
+Vector3 Vector3::operator/=(const float f) {
+  this->x /= f;
+  this->y /= f;
+  this->z /= f;
+  return *this;
 }
 
 float Vector3::Dot(const Vector3 &v1, const Vector3 &v2) {
@@ -122,8 +151,8 @@ bool Vector3::operator==(const Vector3 &v) {
   return (this->x == v.x && this->y == v.y && this->z == v.z);
 }
 
-float Vector3::Distance(const Vector3 &p1, const Vector3 &p2) {
-  return Magnitude(p1 - p2);
+float Vector3::Distance(const Vector3 &v1, const Vector3 &v2) {
+  return Magnitude(v1 - v2);
 }
 
 Vector3 Vector3::Cross(const Vector3 &v1, const Vector3 &v2) {
@@ -131,25 +160,19 @@ Vector3 Vector3::Cross(const Vector3 &v1, const Vector3 &v2) {
                  v1.x * v2.y - v1.y * v2.x);
 }
 
-Vector3 Vector3::Project(const Vector3 &vector, const Vector3 &onNormal) {
-  float sqrMagnitude = Dot(onNormal, onNormal);
+Vector3 Vector3::Project(const Vector3 &v, const Vector3 &n) {
+  float sqrMagnitude = Dot(n, n);
   if (sqrMagnitude < epsilon)
     return Vector3::zero;
   else {
-    float dot = Dot(vector, onNormal);
-    Vector3 r = onNormal * dot / sqrMagnitude;
+    float dot = Dot(v, n);
+    Vector3 r = n * dot / sqrMagnitude;
     return r;
   }
 }
 
-Vector3 Vector3::ProjectOnPlane(const Vector3 &vector,
-                                const Vector3 &planeNormal) {
-  Vector3 r = vector - Project(vector, planeNormal);
-  return r;
-}
-
-Vector2 Vector3::ProjectHorizontalPlane(const Vector3 &vector) {
-  Vector2 r = Vector2(vector.x, vector.z);
+Vector3 Vector3::ProjectOnPlane(const Vector3 &v, const Vector3 &n) {
+  Vector3 r = v - Project(v, n);
   return r;
 }
 
@@ -159,12 +182,12 @@ float clamp(float x, float lower, float upper) {
   return upperClamp;
 }
 
-float Vector3::Angle(const Vector3 &from, const Vector3 &to) {
-  float denominator = sqrtf(from.sqrMagnitude() * to.sqrMagnitude());
+float Vector3::Angle(const Vector3 &v1, const Vector3 &v2) {
+  float denominator = sqrtf(v1.sqrMagnitude() * v2.sqrMagnitude());
   if (denominator < epsilon)
     return 0;
 
-  float dot = Vector3::Dot(from, to);
+  float dot = Vector3::Dot(v1, v2);
   float fraction = dot / denominator;
   if (isnan(fraction))
     return fraction; // short cut to returning NaN universally
@@ -174,12 +197,12 @@ float Vector3::Angle(const Vector3 &from, const Vector3 &to) {
   return r;
 }
 
-float Vector3::SignedAngle(const Vector3 &from, const Vector3 &to,
+float Vector3::SignedAngle(const Vector3 &v1, const Vector3 &v2,
                            const Vector3 &axis) {
   // angle in [0,180]
-  float angle = Vector3::Angle(from, to);
+  float angle = Vector3::Angle(v1, v2);
 
-  Vector3 cross = Vector3::Cross(from, to);
+  Vector3 cross = Vector3::Cross(v1, v2);
   float b = Vector3::Dot(axis, cross);
   float signd = b < 0 ? -1.0F : (b > 0 ? 1.0F : 0.0F);
 
@@ -189,7 +212,7 @@ float Vector3::SignedAngle(const Vector3 &from, const Vector3 &to,
   return signed_angle;
 }
 
-Vector3 Vector3::Lerp(const Vector3 &from, const Vector3 &to, float f) {
-  Vector3 v = from + (to - from) * f;
+Vector3 Vector3::Lerp(const Vector3 &v1, const Vector3 &v2, float f) {
+  Vector3 v = v1 + (v2 - v1) * f;
   return v;
-}
\ No newline at end of file
+}
diff --git a/Vector3.h b/Vector3.h
index fbc51e3..5c10bb6 100644
--- a/Vector3.h
+++ b/Vector3.h
@@ -18,6 +18,7 @@ extern "C" {
 /// This is a C-style implementation
 /// This uses the right-handed coordinate system.
 typedef struct Vec3 {
+protected:
   /// <summary>
   /// The right axis of the vector
   /// </summary>
@@ -34,247 +35,184 @@ typedef struct Vec3 {
 } Vec3;
 }
 
-/// <summary>
-/// A 3-dimensional vector
-/// </summary>
-/// This uses the right-handed coordinate system.
+/// @brief A 3-dimensional vector
+/// @remark This uses a right-handed carthesian coordinate system.
+/// @note This implementation intentionally avoids the use of x, y and z values.
 struct Vector3 : Vec3 {
+  friend struct Vec3;
+
 public:
-  /// <summary>
-  /// Create a new 3-dimensinal zero vector
-  /// </summary>
+  /// @brief A new 3-dimensional zero vector
   Vector3();
-  /// <summary>
-  /// Create a new 3-dimensional vector
-  /// </summary>
-  /// <param name="x">x axis value</param>
-  /// <param name="y">y axis value</param>
-  /// <param name="z">z axis value</param>
-  Vector3(float x, float y, float z);
-  /// <summary>
-  /// Create a vector from C-style Vec3
-  /// </summary>
-  /// <param name="v">The C-style Vec</param>
-  Vector3(Vec3 v);
-  /// <summary>
-  /// Vector3 destructor
-  /// </summary>
-  Vector3(Spherical s);
+  /// @brief A new 3-dimensional vector
+  /// @param right The distance in the right direction in meters
+  /// @param up The distance in the upward direction in meters
+  /// @param forward The distance in the forward direction in meters
+  Vector3(float right, float up, float forward);
+  /// @brief Convert a 2-dimenstional vector to a 3-dimensional vector
+  /// @param v The vector to convert
+  Vector3(Vector2 v);
+  /// @brief Convert vector in spherical coordinates to 3d carthesian
+  /// coordinates
+  /// @param v The vector to convert
+  Vector3(Spherical v);
+
+  /// @brief Vector3 destructor
   ~Vector3();
 
-  /// <summary>
-  /// A vector with zero for all axis
-  /// </summary>
+  /// @brief A vector with zero for all axis
   const static Vector3 zero;
-  /// <summary>
-  /// A vector with one for all axis
-  /// </summary>
+  /// @brief A vector with one for all axis
   const static Vector3 one;
-  /// <summary>
-  /// A normalized vector pointing in the right direction
-  /// </summary>
+  /// @brief A normalized right-oriented vector
   const static Vector3 right;
-  /// <summary>
-  /// A normalized vector pointing in the left direction
-  /// </summary>
+  /// @brief A normalized left-oriented vector
   const static Vector3 left;
-  /// <summary>
-  /// A normalized vector pointing in the upward direction
-  /// </summary>
+  /// @brief A normalized up-oriented vector
   const static Vector3 up;
-  /// <summary>
-  /// A normalized vector pointing in the downward direcion
-  /// </summary>
+  /// @brief A normalized down-oriented vector
   const static Vector3 down;
-  /// <summary>
-  /// A normalized vector pointing in the forward direction
-  /// </summary>
+  /// @brief A normalized forward-oriented vector
   const static Vector3 forward;
-  /// <summary>
-  /// A normalized vector pointing in the backward direction
-  /// </summary>
+  /// @brief A normalized back-oriented vector
   const static Vector3 back;
 
-  // Experimental Access functions which are intended to replace the use of XYZ
-  inline float Forward() { return z; };
-  inline float Up() { return y; };
-  inline float Right() { return x; };
-  static Vector3 FromHorizontal(const Vector2 &vector);
+  // Access functions which are intended to replace the use of XYZ
+  inline float Forward() const { return z; };
+  inline float Up() const { return y; };
+  inline float Right() const { return x; };
 
-  /// <summary>
-  /// The length of a vector
-  /// </summary>
-  /// <param name="vector">The vector for which you need the length</param>
-  /// <returns>The length of the given vector</returns>
-  static float Magnitude(const Vector3 &vector);
-  /// <summary>
-  /// The length of this vector
-  /// </summary>
-  /// <returns>The length of this vector</returns>
+  /// @brief Check if this vector to the given vector
+  /// @param v The vector to check against
+  /// @return true if it is identical to the given vector
+  /// @note This uses float comparison to check equality which may have strange
+  /// effects. Equality on floats should be avoided.
+  bool operator==(const Vector3 &v);
+
+  /// @brief The vector length
+  /// @param v The vector for which you need the length
+  /// @return The vector length
+  static float Magnitude(const Vector3 &v);
+  /// @brief The vector length
+  /// @return The vector length
   float magnitude() const;
-  /// <summary>
-  /// The squared length of a vector
-  /// </summary>
-  /// <param name="vector">The vector for which you need the squared
-  /// length</param> <returns>The squatred length</returns> The squared length
-  /// is computationally simpler than the real length. Think of Pythagoras A^2 +
-  /// B^2 = C^2. This leaves out the calculation of the squared root of C.
-  static float SqrMagnitude(const Vector3 &vector);
-  /// <summary>
-  /// The squared length of this vector
-  /// </summary>
-  /// <returns>The squared length</returns>
-  /// The squared length is computationally simpler than the real length.
-  /// Think of Pythagoras A^2 + B^2 = C^2.
-  /// This leaves out the calculation of the squared root of C.
+  /// @brief The squared vector length
+  /// @param v The vector for which you need the length
+  /// @return The squared vector length
+  /// @remark The squared length is computationally simpler than the real
+  /// length. Think of Pythagoras A^2 + B^2 = C^2. This leaves out the
+  /// calculation of the squared root of C.
+  static float SqrMagnitude(const Vector3 &v);
+  /// @brief The squared vector length
+  /// @return The squared vector length
+  /// @remark The squared length is computationally simpler than the real
+  /// length. Think of Pythagoras A^2 + B^2 = C^2. This leaves out the
+  /// calculation of the squared root of C.
   float sqrMagnitude() const;
-  /// <summary>
-  /// Connvert a vector to a length of 1
-  /// </summary>
-  /// <param name="vector">The vector to convert</param>
-  /// <returns>The vector with length 1</returns>
-  static Vector3 Normalize(const Vector3 &vector);
-  /// <summary>
-  /// Convert the vector to a length of a
-  /// </summary>
-  /// <returns>The vector with length 1</returns>
+
+  /// @brief Convert the vector to a length of 1
+  /// @param v The vector to convert
+  /// @return The vector normalized to a length of 1
+  static Vector3 Normalize(const Vector3 &v);
+  /// @brief Convert the vector to a length of 1
+  /// @return The vector normalized to a length of 1
   Vector3 normalized() const;
 
-  /// <summary>
-  /// Negate the vector
-  /// </summary>
-  /// <returns>The negated vector</returns>
-  /// This will result in a vector pointing in the opposite direction
-  Vector3 operator-();
-  /// <summary>
-  /// Subtract a vector from this vector
-  /// </summary>
-  /// <param name="vector">The vector to subtract from this vector</param>
-  /// <returns>The result of the subtraction</returns>
-  Vector3 operator-(const Vector3 &vector) const;
+  /// @brief Negate te vector such that it points in the opposite direction
+  /// @return The negated vector
+  Vector3 operator-() const;
 
-  /// <summary>
-  /// Add another vector to this vector
-  /// </summary>
-  /// <param name="vector2">The vector to add</param>
-  /// <returns>The result of adding the vector</returns>
-  Vector3 operator+(const Vector3 &vector2) const;
+  /// @brief Subtract a vector from this vector
+  /// @param v The vector to subtract from this vector
+  /// @return The result of this subtraction
+  Vector3 operator-(const Vector3 &v) const;
+  Vector3 operator-=(const Vector3 &v);
+  /// @brief Add a vector to this vector
+  /// @param v The vector to add to this vector
+  /// @return The result of the addition
+  Vector3 operator+(const Vector3 &v) const;
+  Vector3 operator+=(const Vector3 &v);
 
-  /// <summary>
-  /// Scale a vector using another vector
-  /// </summary>
-  /// <param name="vector1">The vector to scale</param>
-  /// <param name="vector2">A vector with scaling factors</param>
-  /// <returns>The scaled vector</returns>
-  /// Each component of the vector v1 will be multiplied with the
-  /// component from the scaling vector v2.
-  static Vector3 Scale(const Vector3 &vector1, const Vector3 &vector2);
-  /// <summary>
-  /// Scale a vector uniformly up
-  /// </summary>
-  /// <param name="factor">The scaling factor</param>
-  /// <returns>The scaled vector</returns>
-  /// Each component of the vector will be multipled with the same factor.
-  Vector3 operator*(const float factor) const;
-  /// <summary>
-  /// Scale a vector uniformy down
-  /// </summary>
-  /// <param name="factor">The scaling factor</param>
-  /// <returns>The scaled vector</returns>
-  /// Each componet of the vector will be divided by the same factor.
-  Vector3 operator/(const float factor) const;
+  /// @brief Scale the vector using another vector
+  /// @param v1 The vector to scale
+  /// @param v2 A vector with the scaling factors
+  /// @return The scaled vector
+  /// @remark Each component of the vector v1 will be multiplied with the
+  /// matching component from the scaling vector v2.
+  static Vector3 Scale(const Vector3 &v1, const Vector3 &v2);
+  /// @brief Scale the vector uniformly up
+  /// @param f The scaling factor
+  /// @return The scaled vector
+  /// @remark Each component of the vector will be multipled with the same
+  /// factor f.
+  friend Vector3 operator*(const Vector3 &v, const float f);
+  friend Vector3 operator*(const float f, const Vector3 &v);
+  Vector3 operator*=(const float f);
+  /// @brief Scale the vector uniformly down
+  /// @param f The scaling factor
+  /// @return The scaled vector
+  /// @remark Each componet of the vector will be divided by the same factor.
+  friend Vector3 operator/(const Vector3 &v, const float f);
+  friend Vector3 operator/(const float f, const Vector3 &v);
+  Vector3 operator/=(const float f);
 
-  /// <summary>
-  /// The dot product of two vectors
-  /// </summary>
-  /// <param name="vector1">The first vector</param>
-  /// <param name="vector2">The second vector</param>
-  /// <returns>The dot product of the two vectors</returns>
-  static float Dot(const Vector3 &vector1, const Vector3 &vector2);
+  /// @brief The distance between two vectors
+  /// @param v1 The first vector
+  /// @param v2 The second vector
+  /// @return The distance between the two vectors
+  static float Distance(const Vector3 &v1, const Vector3 &v2);
 
-  /// <summary>
-  /// Check is this vector is equal to the given vector
-  /// </summary>
-  /// <param name="vector">The vector to check against</param>
-  /// <returns>True if it is identical to the given vector</returns>
-  /// Note this uses float comparison to check equality which
-  /// may have strange effects. Equality on float should be avoided.
-  bool operator==(const Vector3 &vector);
+  /// @brief The dot product of two vectors
+  /// @param v1 The first vector
+  /// @param v2 The second vector
+  /// @return The dot product of the two vectors
+  static float Dot(const Vector3 &v1, const Vector3 &v2);
 
-  /// <summary>
-  /// The distance between two vectors
-  /// </summary>
-  /// <param name="vector1">The first vector</param>
-  /// <param name="vector2">The second vectors</param>
-  /// <returns>The distance between the two vectors</returns>
-  static float Distance(const Vector3 &vector1, const Vector3 &vector2);
+  /// @brief The cross product of two vectors
+  /// @param v1 The first vector
+  /// @param v2 The second vector
+  /// @return The cross product of the two vectors
+  static Vector3 Cross(const Vector3 &v1, const Vector3 &v2);
 
-  /// <summary>
-  /// The cross product of two vectors
-  /// </summary>
-  /// <param name="vector1">The first vector</param>
-  /// <param name="vector2">The second vector</param>
-  /// <returns>The cross product of the two vectors</returns>
-  static Vector3 Cross(const Vector3 &vector1, const Vector3 &vector2);
-
-  /// <summary>
-  /// Project a vector on another vector
-  /// </summary>
-  /// <param name="vector">The vector to project</param>
-  /// <param name="onNormal">The normal vector to project on</param>
-  /// <returns>The projected vector</returns>
-  static Vector3 Project(const Vector3 &vector, const Vector3 &onNormal);
-  /// <summary>
-  /// Projects a vector onto a plane defined by a normal orthogonal to the
+  /// @brief Project the vector on another vector
+  /// @param v The vector to project
+  /// @param n The normal vecto to project on
+  /// @return The projected vector
+  static Vector3 Project(const Vector3 &v, const Vector3 &n);
+  /// @brief Project the vector on a plane defined by a normal orthogonal to the
   /// plane.
-  /// </summary>
-  /// <param name="vector">The vector to project</param>
-  /// <param name="planeNormal">The normal of the plane to project on</param>
-  /// <returns></returns>
-  static Vector3 ProjectOnPlane(const Vector3 &vector,
-                                const Vector3 &planeNormal);
+  /// @param v The vector to project
+  /// @param n The normal of the plane to project on
+  /// @return Teh projected vector
+  static Vector3 ProjectOnPlane(const Vector3 &v, const Vector3 &n);
 
-  /// <summary>
-  /// Projects a vector onto the horizontal plane.
-  /// </summary>
-  /// <param name="vector">The vector to project</param>
-  /// <returns>A 2D carthesian vector with the coordinates in the horizontal
-  /// plane.</returns>
-  static Vector2 ProjectHorizontalPlane(const Vector3 &vector);
-
-  /// <summary>
-  /// Calculate the angle between two vectors
-  /// </summary>
-  /// <param name="vector1">The first vector</param>
-  /// <param name="vector2">The second vector</param>
-  /// <returns></returns>
-  /// This reterns an unsigned angle which is the shortest distance
-  /// between the two vectors. Use Vector3::SignedAngle if a
-  /// signed angle is needed.
-  static float Angle(const Vector3 &vector1, const Vector3 &vector2);
-
-  /// <summary>
-  /// Calculate the angle between two vectors rotation around an axis.
-  /// </summary>
-  /// <param name="from">The starting vector</param>
-  /// <param name="to">The ending vector</param>
-  /// <param name="axis">The axis to rotate around</param>
-  /// <returns>The signed angle</returns>
-  static float SignedAngle(const Vector3 &from, const Vector3 &to,
+  /// @brief The angle between two vectors
+  /// @param v1 The first vector
+  /// @param v2 The second vector
+  /// @return The angle between the two vectors
+  /// @remark This reterns an unsigned angle which is the shortest distance
+  /// between the two vectors. Use Vector3::SignedAngle if a signed angle is
+  /// needed.
+  static float Angle(const Vector3 &v1, const Vector3 &v2);
+  /// @brief The signed angle between two vectors
+  /// @param v1 The starting vector
+  /// @param v2 The ending vector
+  /// @param axis The axis to rotate around
+  /// @return The signed angle between the two vectors
+  static float SignedAngle(const Vector3 &v1, const Vector3 &v2,
                            const Vector3 &axis);
 
-  /// <summary>
-  /// Lerp between two vectors
-  /// </summary>
-  /// <param name="from">The from vector</param>
-  /// <param name="to">The to vector</param>
-  /// <param name="f">The interpolation distance (0..1)</param>
-  /// <returns>The lerped vector</returns>
-  /// The factor f is unclamped. Value 0 matches the *from* vector, Value 1
-  /// matches the *to* vector Value -1 is *from* vector minus the difference
-  /// between *from* and *to* etc.
-  static Vector3 Lerp(const Vector3 &from, const Vector3 &to, float f);
+  /// @brief Lerp (linear interpolation) between two vectors
+  /// @param v1 The starting vector
+  /// @param v2 The ending vector
+  /// @param f The interpolation distance
+  /// @return The lerped vector
+  /// @remark The factor f is unclamped. Value 0 matches the vector *v1*, Value
+  /// 1 matches vector *v2*. Value -1 is vector *v1* minus the difference
+  /// between *v1* and *v2* etc.
+  static Vector3 Lerp(const Vector3 &v1, const Vector3 &v2, float f);
 };
+
 } // namespace Passer
 using namespace Passer;
 
diff --git a/test/Spherical_test.cc b/test/Spherical_test.cc
index 2740804..df8f18a 100644
--- a/test/Spherical_test.cc
+++ b/test/Spherical_test.cc
@@ -77,9 +77,9 @@ TEST(Spherical, Incident1) {
   EXPECT_NEAR(s.verticalAngle, sr.verticalAngle, 1.0e-02);
 
   Vector3 r = Vector3(sr);
-  EXPECT_NEAR(r.x, v.x, 1.0e-02) << "toVector3.x 1 0 0";
-  EXPECT_NEAR(r.y, v.y, 1.0e-02) << "toVector3.y 1 0 0";
-  EXPECT_NEAR(r.z, v.z, 1.0e-02) << "toVector3.z 1 0 0";
+  EXPECT_NEAR(r.Right(), v.Right(), 1.0e-02) << "toVector3.x 1 0 0";
+  EXPECT_NEAR(r.Up(), v.Up(), 1.0e-02) << "toVector3.y 1 0 0";
+  EXPECT_NEAR(r.Forward(), v.Forward(), 1.0e-02) << "toVector3.z 1 0 0";
 }
 
 TEST(Spherical, Incident2) {
@@ -92,9 +92,9 @@ TEST(Spherical, Incident2) {
   EXPECT_NEAR(s.verticalAngle, sr.verticalAngle, 1.0e-05);
 
   Vector3 r = Vector3(sr);
-  EXPECT_NEAR(r.x, v.x, 1.0e-06);
-  EXPECT_NEAR(r.y, v.y, 1.0e-06);
-  EXPECT_NEAR(r.z, v.z, 1.0e-06);
+  EXPECT_NEAR(r.Right(), v.Right(), 1.0e-06);
+  EXPECT_NEAR(r.Up(), v.Up(), 1.0e-06);
+  EXPECT_NEAR(r.Forward(), v.Forward(), 1.0e-06);
 
   v = Vector3(0.0f, 1.0f, 1.0f);
   s = Spherical(v);
@@ -105,9 +105,9 @@ TEST(Spherical, Incident2) {
   EXPECT_NEAR(s.verticalAngle, sr.verticalAngle, 1.0e-05);
 
   r = Vector3(sr);
-  EXPECT_NEAR(r.x, v.x, 1.0e-06);
-  EXPECT_NEAR(r.y, v.y, 1.0e-06);
-  EXPECT_NEAR(r.z, v.z, 1.0e-06);
+  EXPECT_NEAR(r.Right(), v.Right(), 1.0e-06);
+  EXPECT_NEAR(r.Up(), v.Up(), 1.0e-06);
+  EXPECT_NEAR(r.Forward(), v.Forward(), 1.0e-06);
 
   v = Vector3(1.0f, 1.0f, 1.0f);
   s = Spherical(v);
@@ -117,9 +117,9 @@ TEST(Spherical, Incident2) {
   EXPECT_NEAR(s.horizontalAngle, 45.0F, 1.0e-02);
   EXPECT_NEAR(s.verticalAngle, 35.26F, 1.0e-02);
 
-  EXPECT_NEAR(r.x, v.x, 1.0e-06);
-  EXPECT_NEAR(r.y, v.y, 1.0e-06);
-  EXPECT_NEAR(r.z, v.z, 1.0e-06);
+  EXPECT_NEAR(r.Right(), v.Right(), 1.0e-06);
+  EXPECT_NEAR(r.Up(), v.Up(), 1.0e-06);
+  EXPECT_NEAR(r.Forward(), v.Forward(), 1.0e-06);
 
   // s = Spherical(10, 45, 45);
   // r = s.ToVector3();
diff --git a/test/Vector2_test.cc b/test/Vector2_test.cc
index f08c252..ba61ec6 100644
--- a/test/Vector2_test.cc
+++ b/test/Vector2_test.cc
@@ -168,11 +168,17 @@ TEST(Vector2, Subtract) {
   v2 = Vector2(4, 5);
   v = v1 - v2;
   EXPECT_TRUE(v == Vector2(0, 0)) << "4 5 - 4 5";
+  v = v1;
+  v -= v2;
+  EXPECT_TRUE(v == Vector2(0, 0)) << "4 5 - 4 5";
 
   v2 = Vector2(0, 0);
   v = v1 - v2;
   EXPECT_TRUE(v == Vector2(4, 5)) << "4 5 - 0 0";
 
+  v -= v2;
+  EXPECT_TRUE(v == Vector2(4, 5)) << "4 5 - 0 0";
+
   if (std::numeric_limits<float>::is_iec559) {
     v2 = Vector2(FLOAT_INFINITY, FLOAT_INFINITY);
     v = v1 - v2;
@@ -197,10 +203,15 @@ TEST(Vector2, Addition) {
   v2 = Vector2(-1, -2);
   v = v1 + v2;
   EXPECT_TRUE(v == Vector2(3, 3)) << "4 5 + -1 -2";
+  v = v1;
+  v += v2;
+  EXPECT_TRUE(v == Vector2(3, 3)) << "4 5 + -1 -2";
 
   v2 = Vector2(0, 0);
   v = v1 + v2;
   EXPECT_TRUE(v == Vector2(4, 5)) << "4 5 + 0 0";
+  v += v2;
+  EXPECT_TRUE(v == Vector2(4, 5)) << "4 5 + 0 0";
 
   if (std::numeric_limits<float>::is_iec559) {
     v2 = Vector2(FLOAT_INFINITY, FLOAT_INFINITY);
diff --git a/test/Vector3_test.cc b/test/Vector3_test.cc
index 483cbdb..4e5003c 100644
--- a/test/Vector3_test.cc
+++ b/test/Vector3_test.cc
@@ -12,25 +12,25 @@ TEST(Vector3, FromSpherical) {
   Spherical s = Spherical(v);
   Vector3 r = Vector3(s);
 
-  EXPECT_FLOAT_EQ(r.x, 0.0F) << "toVector3.x 0 0 1";
-  EXPECT_NEAR(r.y, 0.0F, 1.0e-06) << "toVector3.y 0 0 1";
-  EXPECT_FLOAT_EQ(r.z, 1.0F) << "toVector3.z 0 0 1";
+  EXPECT_FLOAT_EQ(r.Right(), 0.0F) << "toVector3.x 0 0 1";
+  EXPECT_NEAR(r.Up(), 0.0F, 1.0e-06) << "toVector3.y 0 0 1";
+  EXPECT_FLOAT_EQ(r.Forward(), 1.0F) << "toVector3.z 0 0 1";
 
   v = Vector3(0, 1, 0);
   s = Spherical(v);
   r = Vector3(s);
 
-  EXPECT_FLOAT_EQ(r.x, 0.0F) << "toVector3.x 0 1 0";
-  EXPECT_FLOAT_EQ(r.y, 1.0F) << "toVector3.y 0 1 0";
-  EXPECT_NEAR(r.z, 0.0F, 1.0e-06) << "toVector3.z 0 1 0";
+  EXPECT_FLOAT_EQ(r.Right(), 0.0F) << "toVector3.x 0 1 0";
+  EXPECT_FLOAT_EQ(r.Up(), 1.0F) << "toVector3.y 0 1 0";
+  EXPECT_NEAR(r.Forward(), 0.0F, 1.0e-06) << "toVector3.z 0 1 0";
 
   v = Vector3(1, 0, 0);
   s = Spherical(v);
   r = Vector3(s);
 
-  EXPECT_FLOAT_EQ(r.x, 1.0F) << "toVector3.x 1 0 0";
-  EXPECT_NEAR(r.y, 0.0F, 1.0e-06) << "toVector3.y 1 0 0";
-  EXPECT_NEAR(r.z, 0.0F, 1.0e-06) << "toVector3.z 1 0 0";
+  EXPECT_FLOAT_EQ(r.Right(), 1.0F) << "toVector3.x 1 0 0";
+  EXPECT_NEAR(r.Up(), 0.0F, 1.0e-06) << "toVector3.y 1 0 0";
+  EXPECT_NEAR(r.Forward(), 0.0F, 1.0e-06) << "toVector3.z 1 0 0";
 }
 
 TEST(Vector3, Magnitude) {
@@ -118,12 +118,12 @@ TEST(Vector3, Normalize) {
   if (std::numeric_limits<float>::is_iec559) {
     v1 = Vector3(FLOAT_INFINITY, FLOAT_INFINITY, FLOAT_INFINITY);
     v = v1.normalized();
-    r = isnan(v.x) && isnan(v.y) && isnan(v.z);
+    r = isnan(v.Right()) && isnan(v.Up()) && isnan(v.Forward());
     EXPECT_TRUE(r) << "v.normalized INFINITY INFINITY INFINITY";
 
     v1 = Vector3(-FLOAT_INFINITY, -FLOAT_INFINITY, -FLOAT_INFINITY);
     v = v1.normalized();
-    r = isnan(v.x) && isnan(v.y) && isnan(v.z);
+    r = isnan(v.Right()) && isnan(v.Up()) && isnan(v.Forward());
     EXPECT_TRUE(r) << "v.normalized -INFINITY -INFINITY -INFINITY";
   }
 }
@@ -409,12 +409,12 @@ TEST(Vector3, Cross) {
   if (std::numeric_limits<float>::is_iec559) {
     v2 = Vector3(FLOAT_INFINITY, FLOAT_INFINITY, FLOAT_INFINITY);
     v = Vector3::Cross(v1, v2);
-    r = isnan(v.x) && isnan(v.y) && isnan(v.z);
+    r = isnan(v.Right()) && isnan(v.Up()) && isnan(v.Forward());
     EXPECT_TRUE(r) << "Cross(4 5 6, INFINITY INFINITY INFINITY)";
 
     v2 = Vector3(-FLOAT_INFINITY, -FLOAT_INFINITY, -FLOAT_INFINITY);
     v = Vector3::Cross(v1, v2);
-    r = isnan(v.x) && isnan(v.y) && isnan(v.z);
+    r = isnan(v.Right()) && isnan(v.Up()) && isnan(v.Forward());
     EXPECT_TRUE(r) << "Cross(4 5 6, -INFINITY -INFINITY -INFINITY)";
   }
 }
@@ -442,12 +442,12 @@ TEST(Vector3, Project) {
   if (std::numeric_limits<float>::is_iec559) {
     v2 = Vector3(FLOAT_INFINITY, FLOAT_INFINITY, FLOAT_INFINITY);
     v = Vector3::Project(v1, v2);
-    r = isnan(v.x) && isnan(v.y) && isnan(v.z);
+    r = isnan(v.Right()) && isnan(v.Up()) && isnan(v.Forward());
     EXPECT_TRUE(r) << "Project(4 5 6, INFINITY INFINITY INFINITY)";
 
     v2 = Vector3(-FLOAT_INFINITY, -FLOAT_INFINITY, -FLOAT_INFINITY);
     v = Vector3::Project(v1, v2);
-    r = isnan(v.x) && isnan(v.y) && isnan(v.z);
+    r = isnan(v.Right()) && isnan(v.Up()) && isnan(v.Forward());
     EXPECT_TRUE(r) << "Project(4 5 6, -INFINITY -INFINITY -INFINITY)";
   }
 }
@@ -475,12 +475,12 @@ TEST(Vector3, ProjectOnPlane) {
   if (std::numeric_limits<float>::is_iec559) {
     v2 = Vector3(FLOAT_INFINITY, FLOAT_INFINITY, FLOAT_INFINITY);
     v = Vector3::ProjectOnPlane(v1, v2);
-    r = isnan(v.x) && isnan(v.y) && isnan(v.z);
+    r = isnan(v.Right()) && isnan(v.Up()) && isnan(v.Forward());
     EXPECT_TRUE(r) << "ProjectOnPlane(4 5 6, INFINITY INFINITY INFINITY)";
 
     v2 = Vector3(-FLOAT_INFINITY, -FLOAT_INFINITY, -FLOAT_INFINITY);
     v = Vector3::ProjectOnPlane(v1, v2);
-    r = isnan(v.x) && isnan(v.y) && isnan(v.z);
+    r = isnan(v.Right()) && isnan(v.Up()) && isnan(v.Forward());
     EXPECT_TRUE(r) << "ProjectOnPlane(4 5 6, -INFINITY -INFINITY -INFINITY)";
   }
 }