From b81b77b1c95de8fda430a0bd428dd551c89db380 Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pse@pale.blue>
Date: Wed, 31 Jul 2024 11:44:23 +0200
Subject: [PATCH] Extend AngleOf support

---
 Angle.cpp     | 31 +++++++++++++++------
 Angle.h       | 24 ++++++++++-------
 Angle16.cpp   | 74 +++++++++++++++++++++++++++++++++++++++++++++++++++
 Angle16.h     | 34 +++++++++++------------
 Angle32.h     | 36 +++++++++++++------------
 Angle8.cpp    | 24 +++++++++++++++++
 Angle8.h      | 36 ++++++++++++-------------
 AngleUsing.h  | 11 +++++---
 Polar.cpp     | 40 ++++++++++++++--------------
 Polar.h       | 40 +++++++++++++++++-----------
 Spherical.cpp | 55 +++++++++++++++++++-------------------
 Spherical.h   | 47 +++++++++++++++++++-------------
 Vector2.cpp   | 74 ++++++++++++++++++++++++++++-----------------------
 Vector2.h     | 49 +++++++++++++++++++---------------
 Vector3.cpp   | 71 +++++++++++++++++++++++++-----------------------
 Vector3.h     | 63 +++++++++++++++++++++++++------------------
 16 files changed, 441 insertions(+), 268 deletions(-)
 create mode 100644 Angle16.cpp
 create mode 100644 Angle8.cpp

diff --git a/Angle.cpp b/Angle.cpp
index 180db0f..4e69f45 100644
--- a/Angle.cpp
+++ b/Angle.cpp
@@ -3,8 +3,8 @@
 // file, You can obtain one at https ://mozilla.org/MPL/2.0/.
 
 #include "Angle.h"
-#include "FloatSingle.h"
 #include <math.h>
+#include "FloatSingle.h"
 
 /*
 const float Angle::Rad2Deg = 57.29578F;
@@ -73,17 +73,29 @@ float Angle::SineRuleAngle(float a, float beta, float b) {
 */
 //----------------------
 
-template <> AngleOf<float> AngleOf<float>::pi = 3.1415927410125732421875F;
+template <>
+AngleOf<float>::AngleOf(float angle) : value(angle) {}
 
-template <> AngleOf<float> AngleOf<float>::Rad2Deg = 360.0f / (pi * 2);
-template <> AngleOf<float> AngleOf<float>::Deg2Rad = (pi * 2) / 360.0f;
+template <>
+AngleOf<float>::operator float() const {
+  return value;
+}
+
+template <>
+AngleOf<float> AngleOf<float>::pi = 3.1415927410125732421875F;
+
+template <>
+AngleOf<float> AngleOf<float>::Rad2Deg = 360.0f / (pi * 2);
+template <>
+AngleOf<float> AngleOf<float>::Deg2Rad = (pi * 2) / 360.0f;
 
 template <>
 bool Passer::LinearAlgebra::AngleOf<float>::operator==(AngleOf<float> a) {
   return (float)*this == (float)a;
 }
 
-template <> AngleOf<float> AngleOf<float>::Normalize(AngleOf<float> angle) {
+template <>
+AngleOf<float> AngleOf<float>::Normalize(AngleOf<float> angle) {
   float angleValue = angle;
   if (!isfinite(angleValue))
     return angleValue;
@@ -96,7 +108,8 @@ template <> AngleOf<float> AngleOf<float>::Normalize(AngleOf<float> angle) {
 }
 
 template <>
-AngleOf<float> AngleOf<float>::Clamp(AngleOf<float> angle, AngleOf<float> min,
+AngleOf<float> AngleOf<float>::Clamp(AngleOf<float> angle,
+                                     AngleOf<float> min,
                                      AngleOf<float> max) {
   float normalizedAngle = Normalize(angle);
   float r = Float::Clamp(normalizedAngle, min, max);
@@ -120,7 +133,8 @@ AngleOf<float> AngleOf<float>::MoveTowards(AngleOf<float> fromAngle,
 }
 
 template <>
-AngleOf<float> AngleOf<float>::CosineRuleSide(float a, float b,
+AngleOf<float> AngleOf<float>::CosineRuleSide(float a,
+                                              float b,
                                               AngleOf<float> gamma) {
   float a2 = a * a;
   float b2 = b * b;
@@ -150,7 +164,8 @@ AngleOf<float> AngleOf<float>::CosineRuleAngle(float a, float b, float c) {
 }
 
 template <>
-AngleOf<float> AngleOf<float>::SineRuleAngle(float a, AngleOf<float> beta,
+AngleOf<float> AngleOf<float>::SineRuleAngle(float a,
+                                             AngleOf<float> beta,
                                              float b) {
   float alpha = asin(a * sin(beta * Angle::Deg2Rad) / b);
   return alpha;
diff --git a/Angle.h b/Angle.h
index 3c55e48..8be0583 100644
--- a/Angle.h
+++ b/Angle.h
@@ -8,11 +8,15 @@
 namespace Passer {
 namespace LinearAlgebra {
 
-template <typename T> class AngleOf {
-public:
-  AngleOf(){};
-  AngleOf(T v) : value(v) {}
-  operator T() const { return value; }
+template <typename T>
+class AngleOf {
+ public:
+  AngleOf() {};
+  AngleOf(float f);
+  // AngleOf(T v) : value(v) {}
+  //  operator T() const;  // { return value; }
+  operator float() const;
+  inline T GetBinary() const { return this->value; }
 
   static AngleOf<T> Rad2Deg;
   static AngleOf<T> Deg2Rad;
@@ -27,7 +31,8 @@ public:
     AngleOf<T> r = Normalize(b - a);
     return r;
   };
-  static AngleOf<T> MoveTowards(AngleOf<T> fromAngle, AngleOf<T> toAngle,
+  static AngleOf<T> MoveTowards(AngleOf<T> fromAngle,
+                                AngleOf<T> toAngle,
                                 AngleOf<T> maxAngle);
 
   static AngleOf<T> CosineRuleSide(float a, float b, AngleOf<T> gamma);
@@ -35,14 +40,15 @@ public:
 
   static AngleOf<T> SineRuleAngle(float a, AngleOf<T> beta, float c);
 
-private:
+ private:
   T value;
 };
 
 using Angle = AngleOf<float>;
+// using Angle = AngleOf<signed short>;
 
-} // namespace LinearAlgebra
-} // namespace Passer
+}  // namespace LinearAlgebra
+}  // namespace Passer
 using namespace Passer::LinearAlgebra;
 
 #endif
\ No newline at end of file
diff --git a/Angle16.cpp b/Angle16.cpp
new file mode 100644
index 0000000..d30e208
--- /dev/null
+++ b/Angle16.cpp
@@ -0,0 +1,74 @@
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v. 2.0.If a copy of the MPL was not distributed with this
+// file, You can obtain one at https ://mozilla.org/MPL/2.0/.
+
+#include <math.h>
+#include "Angle.h"
+
+template <>
+AngleOf<signed short>::AngleOf(float angle) {
+  if (!isfinite(angle)) {
+    value = 0;
+    return;
+  }
+
+  // map float [-180..180) to integer [-32768..32767]
+  this->value = (signed short)((angle / 360.0F) * 65536.0F);
+}
+
+template <>
+AngleOf<signed short>::operator float() const {
+  float f = ((this->value * 180) / 32768.0F);
+  return f;
+}
+
+// This should not exist...
+// template <>
+// AngleOf<signed short> AngleOf<signed short>::pi = 3.1415927410125732421875F;
+
+// template <>
+// AngleOf<signed short> AngleOf<signed short>::Rad2Deg = 360.0f / (pi * 2);
+// template <>
+// AngleOf<signed short> AngleOf<signed short>::Deg2Rad = (pi * 2) / 360.0f;
+
+// template <>
+// AngleOf<signed short> AngleOf<signed short>::Normalize(
+//     AngleOf<signed short> angle) {
+//   return angle;
+// }
+
+// Not correct!!! just for syntactical compilation ATM
+template <>
+AngleOf<signed short> AngleOf<signed short>::CosineRuleSide(
+    float a,
+    float b,
+    AngleOf<signed short> gamma) {
+  float a2 = a * a;
+  float b2 = b * b;
+  float d = a2 + b2 - 2 * a * b * cos(gamma * AngleOf<float>::Deg2Rad);
+  // Catch edge cases where float inacuracies lead tot nans
+  if (d < 0)
+    return 0;
+
+  float c = sqrtf(d);
+  return c;
+}
+
+// Not correct!!! just for syntactical compilation ATM
+template <>
+AngleOf<signed short> AngleOf<signed short>::CosineRuleAngle(float a,
+                                                             float b,
+                                                             float c) {
+  float a2 = a * a;
+  float b2 = b * b;
+  float c2 = c * c;
+  float d = (a2 + b2 - c2) / (2 * a * b);
+  // Catch edge cases where float inacuracies lead tot nans
+  if (d >= 1)
+    return 0;
+  if (d <= -1)
+    return 180;
+
+  float gamma = acos(d) * Angle::Rad2Deg;
+  return gamma;
+}
diff --git a/Angle16.h b/Angle16.h
index 511ab63..c3f55e9 100644
--- a/Angle16.h
+++ b/Angle16.h
@@ -1,28 +1,28 @@
-#include "AngleUsing.h"
+// #include "AngleUsing.h"
 
-#include "Angle.h"
 #include <math.h>
+#include "Angle.h"
 
 namespace Passer {
 namespace LinearAlgebra {
 
-typedef AngleUsing<signed short> Angle16;
+typedef AngleOf<signed short> Angle16;
 
-template <> Angle16::AngleUsing(float angle) {
-  if (!isfinite(angle)) {
-    value = 0;
-    return;
-  }
+// template <> Angle16::AngleOf(float angle) {
+//   if (!isfinite(angle)) {
+//     value = 0;
+//     return;
+//   }
 
-  // map float [-180..180) to integer [-32768..32767]
-  this->value = (signed short)((angle / 360.0F) * 65536.0F);
-}
+//   // map float [-180..180) to integer [-32768..32767]
+//   this->value = (signed short)((angle / 360.0F) * 65536.0F);
+// }
 
-template <> float Angle16::ToFloat() const {
-  float f = ((this->value * 180) / 32768.0F);
-  return f;
-}
+// template <> float Angle16::ToFloat() const {
+//   float f = ((this->value * 180) / 32768.0F);
+//   return f;
+// }
 
-} // namespace LinearAlgebra
-} // namespace Passer
+}  // namespace LinearAlgebra
+}  // namespace Passer
 using namespace Passer::LinearAlgebra;
\ No newline at end of file
diff --git a/Angle32.h b/Angle32.h
index 72b135b..75a6e24 100644
--- a/Angle32.h
+++ b/Angle32.h
@@ -1,28 +1,30 @@
-#include "AngleUsing.h"
+// #include "AngleUsing.h"
 
-#include "Angle.h"
 #include <math.h>
+#include "Angle.h"
 
 namespace Passer {
 namespace LinearAlgebra {
 
-typedef AngleUsing<signed long> Angle32;
+typedef AngleOf<signed long> Angle32;
 
-template <> Angle32::AngleUsing(float angle) {
-  if (!isfinite(angle)) {
-    value = 0;
-    return;
-  }
+// template <>
+// Angle32::AngleOf(float angle) {
+//   if (!isfinite(angle)) {
+//     value = 0;
+//     return;
+//   }
 
-  // map float [-180..180) to integer [-2147483648..2147483647]
-  this->value = (signed long)((angle / 360.0F) * 4294967295.0F);
-}
+//   // map float [-180..180) to integer [-2147483648..2147483647]
+//   this->value = (signed long)((angle / 360.0F) * 4294967295.0F);
+// }
 
-template <> float Angle32::ToFloat() const {
-  float f = ((this->value * 180) / 2147483648.0F);
-  return f;
-}
+// template <>
+// float Angle32::ToFloat() const {
+//   float f = ((this->value * 180) / 2147483648.0F);
+//   return f;
+// }
 
-} // namespace LinearAlgebra
-} // namespace Passer
+}  // namespace LinearAlgebra
+}  // namespace Passer
 using namespace Passer::LinearAlgebra;
\ No newline at end of file
diff --git a/Angle8.cpp b/Angle8.cpp
new file mode 100644
index 0000000..a992466
--- /dev/null
+++ b/Angle8.cpp
@@ -0,0 +1,24 @@
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v. 2.0.If a copy of the MPL was not distributed with this
+// file, You can obtain one at https ://mozilla.org/MPL/2.0/.
+
+#include <math.h>
+#include "Angle.h"
+
+template <>
+AngleOf<signed char>::AngleOf(float angle) {
+  if (!isfinite(angle)) {
+    value = 0;
+    return;
+  }
+
+  // map float [-180..180) to integer [-128..127]
+  float f = angle / 360.0F;
+  this->value = (signed char)(f * 256.0F);
+}
+
+template <>
+AngleOf<signed char>::operator float() const {
+  float f = (this->value * 180) / 128.0F;
+  return f;
+}
diff --git a/Angle8.h b/Angle8.h
index 53ba7d2..580c0af 100644
--- a/Angle8.h
+++ b/Angle8.h
@@ -1,29 +1,29 @@
-#include "AngleUsing.h"
+// #include "AngleUsing.h"
 
-#include "Angle.h"
 #include <math.h>
+#include "Angle.h"
 
 namespace Passer {
 namespace LinearAlgebra {
 
-typedef AngleUsing<signed char> Angle8;
+typedef AngleOf<signed char> Angle8;
 
-template <> Angle8::AngleUsing(float angle) {
-  if (!isfinite(angle)) {
-    value = 0;
-    return;
-  }
+// template <> Angle8::AngleOf(float angle) {
+//   if (!isfinite(angle)) {
+//     value = 0;
+//     return;
+//   }
 
-  // map float [-180..180) to integer [-128..127]
-  float f = angle / 360.0F;
-  this->value = (signed char)(f * 256.0F);
-}
+//   // map float [-180..180) to integer [-128..127]
+//   float f = angle / 360.0F;
+//   this->value = (signed char)(f * 256.0F);
+// }
 
-template <> float Angle8::ToFloat() const {
-  float f = (this->value * 180) / 128.0F;
-  return f;
-}
+// template <> float Angle8::ToFloat() const {
+//   float f = (this->value * 180) / 128.0F;
+//   return f;
+// }
 
-} // namespace LinearAlgebra
-} // namespace Passer
+}  // namespace LinearAlgebra
+}  // namespace Passer
 using namespace Passer::LinearAlgebra;
\ No newline at end of file
diff --git a/AngleUsing.h b/AngleUsing.h
index 7afe51d..f2bc80e 100644
--- a/AngleUsing.h
+++ b/AngleUsing.h
@@ -1,3 +1,4 @@
+/*
 #ifndef DISCRETEANGLE_H
 #define DISCRETEANGLE_H
 
@@ -9,8 +10,9 @@ namespace LinearAlgebra {
 
 // A fixed angle between (-180..180]
 
-template <typename T> class AngleUsing {
-public:
+template <typename T>
+class AngleUsing {
+ public:
   AngleUsing(T sourceValue) { this->value = sourceValue; }
   AngleUsing(float f);
   float ToFloat() const;
@@ -42,8 +44,9 @@ public:
   T value;
 };
 
-} // namespace LinearAlgebra
-} // namespace Passer
+}  // namespace LinearAlgebra
+}  // namespace Passer
 using namespace Passer::LinearAlgebra;
 
 #endif
+*/
\ No newline at end of file
diff --git a/Polar.cpp b/Polar.cpp
index 2be9547..8bebaf1 100644
--- a/Polar.cpp
+++ b/Polar.cpp
@@ -37,11 +37,11 @@ const Polar Polar::back = Polar(1.0, 180.0f);
 const Polar Polar::right = Polar(1.0, 90.0f);
 const Polar Polar::left = Polar(1.0, -90.0f);
 
-bool Polar::operator==(const Polar &v) const {
+bool Polar::operator==(const Polar& v) const {
   return (this->distance == v.distance && this->angle == v.angle);
 }
 
-Polar Polar::Normalize(const Polar &v) {
+Polar Polar::Normalize(const Polar& v) {
   Polar r = Polar(1, v.angle);
   return r;
 }
@@ -55,15 +55,15 @@ Polar Polar::operator-() const {
   return v;
 }
 
-Polar Polar::operator-(const Polar &v) const {
+Polar Polar::operator-(const Polar& v) const {
   Polar r = -v;
   return *this + r;
 }
-Polar Polar::operator-=(const Polar &v) {
+Polar Polar::operator-=(const Polar& v) {
   *this = *this - v;
   return *this;
 }
-Polar Polar::operator+(const Polar &v) const {
+Polar Polar::operator+(const Polar& v) const {
   if (v.distance == 0)
     return Polar(this->distance, this->angle);
   if (this->distance == 0.0f)
@@ -89,39 +89,39 @@ Polar Polar::operator+(const Polar &v) const {
   Polar vector = Polar(newDistance, newAngle);
   return vector;
 }
-Polar Polar::operator+=(const Polar &v) {
+Polar Polar::operator+=(const Polar& v) {
   *this = *this + v;
   return *this;
 }
 
-Polar Passer::LinearAlgebra::operator*(const Polar &v, float f) {
-  return Polar(v.distance * f, v.angle);
-}
-Polar Passer::LinearAlgebra::operator*(float f, const Polar &v) {
-  return Polar(v.distance * f, v.angle);
-}
+// Polar Passer::LinearAlgebra::operator*(const Polar &v, float f) {
+//   return Polar(v.distance * f, v.angle);
+// }
+// Polar Passer::LinearAlgebra::operator*(float f, const Polar &v) {
+//   return Polar(v.distance * f, v.angle);
+// }
 Polar Polar::operator*=(float f) {
   this->distance *= f;
   return *this;
 }
-Polar Passer::LinearAlgebra::operator/(const Polar &v, float f) {
-  return Polar(v.distance / f, v.angle);
-}
-Polar Passer::LinearAlgebra::operator/(float f, const Polar &v) {
-  return Polar(v.distance / f, v.angle);
-}
+// Polar Passer::LinearAlgebra::operator/(const Polar& v, float f) {
+//   return Polar(v.distance / f, v.angle);
+// }
+// Polar Passer::LinearAlgebra::operator/(float f, const Polar& v) {
+//   return Polar(v.distance / f, v.angle);
+// }
 Polar Polar::operator/=(float f) {
   this->distance /= f;
   return *this;
 }
 
-float Polar::Distance(const Polar &v1, const Polar &v2) {
+float Polar::Distance(const Polar& v1, const Polar& v2) {
   float d = Angle::CosineRuleSide(v1.distance, v2.distance,
                                   (float)v2.angle - (float)v1.angle);
   return d;
 }
 
-Polar Polar::Rotate(const Polar &v, Angle angle) {
+Polar Polar::Rotate(const Polar& v, Angle angle) {
   Angle a = Angle::Normalize(v.angle + angle);
   Polar r = Polar(v.distance, a);
   return r;
diff --git a/Polar.h b/Polar.h
index ec9a2c7..d6eb5ff 100644
--- a/Polar.h
+++ b/Polar.h
@@ -17,7 +17,7 @@ struct Spherical;
 /// @details This will use the polar coordinate system consisting of a angle
 /// from a reference direction and a distance.
 struct Polar {
-public:
+ public:
   /// @brief The distance in meters
   /// @remark The distance shall never be negative
   float distance;
@@ -59,12 +59,12 @@ public:
   /// @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 Polar &v) const;
+  bool operator==(const Polar& v) const;
 
   /// @brief The vector length
   /// @param v The vector for which you need the length
   /// @return The vector length;
-  inline static float Magnitude(const Polar &v) { return v.distance; }
+  inline static float Magnitude(const Polar& v) { return v.distance; }
   /// @brief The vector length
   /// @return The vector length
   inline float magnitude() const { return this->distance; }
@@ -72,7 +72,7 @@ public:
   /// @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 Polar Normalize(const Polar &v);
+  static Polar Normalize(const Polar& v);
   /// @brief Convert the vector to a length of a
   /// @return The vector normalized to a length of 1
   Polar normalized() const;
@@ -85,45 +85,53 @@ public:
   /// @brief Subtract a polar vector from this vector
   /// @param v The vector to subtract
   /// @return The result of the subtraction
-  Polar operator-(const Polar &v) const;
-  Polar operator-=(const Polar &v);
+  Polar operator-(const Polar& v) const;
+  Polar operator-=(const Polar& v);
   /// @brief Add a polar vector to this vector
   /// @param v The vector to add
   /// @return The result of the addition
-  Polar operator+(const Polar &v) const;
-  Polar operator+=(const Polar &v);
+  Polar operator+(const Polar& v) const;
+  Polar operator+=(const Polar& v);
 
   /// @brief Scale the vector uniformly up
   /// @param f The scaling factor
   /// @return The scaled vector
   /// @remark This operation will scale the distance of the vector. The angle
   /// will be unaffected.
-  friend Polar operator*(const Polar &v, float f);
-  friend Polar operator*(float f, const Polar &v);
+  friend Polar operator*(const Polar& v, float f) {
+    return Polar(v.distance * f, v.angle);
+  }
+  friend Polar operator*(float f, const Polar& v) {
+    return Polar(f * v.distance, v.angle);
+  }
   Polar operator*=(float f);
   /// @brief Scale the vector uniformly down
   /// @param f The scaling factor
   /// @return The scaled factor
   /// @remark This operation will scale the distance of the vector. The angle
   /// will be unaffected.
-  friend Polar operator/(const Polar &v, float f);
-  friend Polar operator/(float f, const Polar &v);
+  friend Polar operator/(const Polar& v, float f) {
+    return Polar(v.distance / f, v.angle);
+  }
+  friend Polar operator/(float f, const Polar& v) {
+    return Polar(f / v.distance, v.angle);
+  }
   Polar operator/=(float f);
 
   /// @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 Polar &v1, const Polar &v2);
+  static float Distance(const Polar& v1, const Polar& v2);
 
   /// @brief Rotate a vector
   /// @param v The vector to rotate
   /// @param a The angle in degreesto rotate
   /// @return The rotated vector
-  static Polar Rotate(const Polar &v, Angle a);
+  static Polar Rotate(const Polar& v, Angle a);
 };
-} // namespace LinearAlgebra
-} // namespace Passer
+}  // namespace LinearAlgebra
+}  // namespace Passer
 using namespace Passer::LinearAlgebra;
 
 #include "Spherical.h"
diff --git a/Spherical.cpp b/Spherical.cpp
index b09fda0..860b621 100644
--- a/Spherical.cpp
+++ b/Spherical.cpp
@@ -17,7 +17,8 @@ Spherical::Spherical(Polar polar) {
   this->verticalAngle = 0.0f;
 }
 
-Spherical::Spherical(float distance, Angle horizontalAngle,
+Spherical::Spherical(float distance,
+                     Angle horizontalAngle,
                      Angle verticalAngle) {
   if (distance < 0) {
     this->distance = -distance;
@@ -50,13 +51,13 @@ const Spherical Spherical::left = Spherical(1.0f, -90.0f, 0.0f);
 const Spherical Spherical::up = Spherical(1.0f, 0.0f, 90.0f);
 const Spherical Spherical::down = Spherical(1.0f, 0.0f, -90.0f);
 
-bool Spherical::operator==(const Spherical &v) const {
+bool Spherical::operator==(const Spherical& v) const {
   return (this->distance == v.distance &&
           this->horizontalAngle == v.horizontalAngle &&
           this->verticalAngle == v.verticalAngle);
 }
 
-Spherical Spherical::Normalize(const Spherical &v) {
+Spherical Spherical::Normalize(const Spherical& v) {
   Spherical r = Spherical(1, v.horizontalAngle, v.verticalAngle);
   return r;
 }
@@ -71,7 +72,7 @@ Spherical Spherical::operator-() const {
   return v;
 }
 
-Spherical Spherical::operator-(const Spherical &s2) const {
+Spherical Spherical::operator-(const Spherical& s2) const {
   // let's do it the easy way...
   Vector3 v1 = Vector3(*this);
   Vector3 v2 = Vector3(s2);
@@ -79,12 +80,12 @@ Spherical Spherical::operator-(const Spherical &s2) const {
   Spherical r = Spherical(v);
   return r;
 }
-Spherical Spherical::operator-=(const Spherical &v) {
+Spherical Spherical::operator-=(const Spherical& v) {
   *this = *this - v;
   return *this;
 }
 
-Spherical Spherical::operator+(const Spherical &s2) const {
+Spherical Spherical::operator+(const Spherical& s2) const {
   // let's do it the easy way...
   Vector3 v1 = Vector3(*this);
   Vector3 v2 = Vector3(s2);
@@ -138,28 +139,28 @@ Spherical Spherical::operator+(const Spherical &s2) const {
   Spherical v = Spherical(newDistance, newHorizontalAngle, newVerticalAngle);
   */
 }
-Spherical Spherical::operator+=(const Spherical &v) {
+Spherical Spherical::operator+=(const Spherical& v) {
   *this = *this + v;
   return *this;
 }
 
-Spherical Passer::LinearAlgebra::operator*(const Spherical &v, float f) {
-  return Spherical(v.distance * f, v.horizontalAngle, v.verticalAngle);
-}
-Spherical Passer::LinearAlgebra::operator*(float f, const Spherical &v) {
-  return Spherical(v.distance * f, v.horizontalAngle, v.verticalAngle);
-}
+// Spherical Passer::LinearAlgebra::operator*(const Spherical &v, float f) {
+//   return Spherical(v.distance * f, v.horizontalAngle, v.verticalAngle);
+// }
+// Spherical Passer::LinearAlgebra::operator*(float f, const Spherical &v) {
+//   return Spherical(v.distance * f, v.horizontalAngle, v.verticalAngle);
+// }
 Spherical Spherical::operator*=(float f) {
   this->distance *= f;
   return *this;
 }
 
-Spherical Passer::LinearAlgebra::operator/(const Spherical &v, float f) {
-  return Spherical(v.distance / f, v.horizontalAngle, v.verticalAngle);
-}
-Spherical Passer::LinearAlgebra::operator/(float f, const Spherical &v) {
-  return Spherical(v.distance / f, v.horizontalAngle, v.verticalAngle);
-}
+// Spherical Passer::LinearAlgebra::operator/(const Spherical &v, float f) {
+//   return Spherical(v.distance / f, v.horizontalAngle, v.verticalAngle);
+// }
+// Spherical Passer::LinearAlgebra::operator/(float f, const Spherical &v) {
+//   return Spherical(v.distance / f, v.horizontalAngle, v.verticalAngle);
+// }
 Spherical Spherical::operator/=(float f) {
   this->distance /= f;
   return *this;
@@ -183,12 +184,11 @@ Spherical Spherical::operator/=(float f) {
 const float epsilon = 1E-05f;
 const float Rad2Deg = 57.29578F;
 
-Angle Spherical::AngleBetween(const Spherical &v1, const Spherical &v2) {
-
+Angle Spherical::AngleBetween(const Spherical& v1, const Spherical& v2) {
   // float denominator = sqrtf(v1_3.sqrMagnitude() * v2_3.sqrMagnitude());
   float denominator =
-      v1.distance * v2.distance; // sqrtf(v1.distance * v1.distance *
-                                 // v2.distance * v2.distance);
+      v1.distance * v2.distance;  // sqrtf(v1.distance * v1.distance *
+                                  // v2.distance * v2.distance);
   if (denominator < epsilon)
     return 0;
 
@@ -197,24 +197,25 @@ Angle Spherical::AngleBetween(const Spherical &v1, const Spherical &v2) {
   float dot = Vector3::Dot(v1_3, v2_3);
   float fraction = dot / denominator;
   if (isnan(fraction))
-    return fraction; // short cut to returning NaN universally
+    return fraction;  // short cut to returning NaN universally
 
   float cdot = Float::Clamp(fraction, -1.0, 1.0);
   float r = ((float)acos(cdot)) * Rad2Deg;
   return r;
 }
 
-Spherical Spherical::Rotate(const Spherical &v, Angle horizontalAngle,
+Spherical Spherical::Rotate(const Spherical& v,
+                            Angle horizontalAngle,
                             Angle verticalAngle) {
   Spherical r = Spherical(v.distance, v.horizontalAngle + horizontalAngle,
                           v.verticalAngle + verticalAngle);
   return r;
 }
-Spherical Spherical::RotateHorizontal(const Spherical &v, Angle a) {
+Spherical Spherical::RotateHorizontal(const Spherical& v, Angle a) {
   Spherical r = Spherical(v.distance, v.horizontalAngle + a, v.verticalAngle);
   return r;
 }
-Spherical Spherical::RotateVertical(const Spherical &v, Angle a) {
+Spherical Spherical::RotateVertical(const Spherical& v, Angle a) {
   Spherical r = Spherical(v.distance, v.horizontalAngle, v.verticalAngle + a);
   return r;
 }
\ No newline at end of file
diff --git a/Spherical.h b/Spherical.h
index 4e285e3..112f5e0 100644
--- a/Spherical.h
+++ b/Spherical.h
@@ -19,7 +19,7 @@ struct Vector3;
 /// reference direction. The reference direction is typically thought of
 /// as a forward direction.
 struct Spherical {
-public:
+ public:
   /// @brief The distance in meters
   /// @remark The distance should never be negative
   float distance;
@@ -66,12 +66,12 @@ public:
   /// @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 Spherical &v) const;
+  bool operator==(const Spherical& v) const;
 
   /// @brief The vector length
   /// @param v The vector for which you need the length
   /// @return The vector length;
-  inline static float Magnitude(const Spherical &v) { return v.distance; }
+  inline static float Magnitude(const Spherical& v) { return v.distance; }
   /// @brief The vector length
   /// @return The vector length
   inline float magnitude() const { return this->distance; }
@@ -79,7 +79,7 @@ public:
   /// @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 Spherical Normalize(const Spherical &v);
+  static Spherical Normalize(const Spherical& v);
   /// @brief Convert the vector to a length of a
   /// @return The vector normalized to a length of 1
   Spherical normalized() const;
@@ -93,29 +93,39 @@ public:
   /// @brief Subtract a spherical vector from this vector
   /// @param v The vector to subtract
   /// @return The result of the subtraction
-  Spherical operator-(const Spherical &v) const;
-  Spherical operator-=(const Spherical &v);
+  Spherical operator-(const Spherical& v) const;
+  Spherical operator-=(const Spherical& v);
   /// @brief Add a spherical vector to this vector
   /// @param v The vector to add
   /// @return The result of the addition
-  Spherical operator+(const Spherical &v) const;
-  Spherical operator+=(const Spherical &v);
+  Spherical operator+(const Spherical& v) const;
+  Spherical operator+=(const Spherical& v);
 
   /// @brief Scale the vector uniformly up
   /// @param f The scaling factor
   /// @return The scaled vector
   /// @remark This operation will scale the distance of the vector. The angle
   /// will be unaffected.
-  friend Spherical operator*(const Spherical &v, float f);
-  friend Spherical operator*(float f, const Spherical &v);
+  friend Spherical operator*(const Spherical& v, float f) {
+    return Spherical(v.distance * f, v.horizontalAngle, v.verticalAngle);
+  }
+  friend Spherical operator*(float f, const Spherical& v) {
+    return Spherical(v.distance * f, v.horizontalAngle,
+                     v.verticalAngle);  // not correct, should be f * v.distance
+  }
   Spherical operator*=(float f);
   /// @brief Scale the vector uniformly down
   /// @param f The scaling factor
   /// @return The scaled factor
   /// @remark This operation will scale the distance of the vector. The angle
   /// will be unaffected.
-  friend Spherical operator/(const Spherical &v, float f);
-  friend Spherical operator/(float f, const Spherical &v);
+  friend Spherical operator/(const Spherical& v, float f) {
+    return Spherical(v.distance / f, v.horizontalAngle, v.verticalAngle);
+  }
+  friend Spherical operator/(float f, const Spherical& v) {
+    return Spherical(v.distance / f, v.horizontalAngle,
+                     v.verticalAngle);  // not correct, should be f / v.distance
+  }
   Spherical operator/=(float f);
 
   /// <summary>
@@ -126,16 +136,17 @@ public:
   /// <returns>The distance between the two vectors</returns>
   // static float Distance(const Spherical &s1, const Spherical &s2);
 
-  static Angle AngleBetween(const Spherical &v1, const Spherical &v2);
+  static Angle AngleBetween(const Spherical& v1, const Spherical& v2);
 
-  static Spherical Rotate(const Spherical &v, Angle horizontalAngle,
+  static Spherical Rotate(const Spherical& v,
+                          Angle horizontalAngle,
                           Angle verticalAngle);
-  static Spherical RotateHorizontal(const Spherical &v, Angle angle);
-  static Spherical RotateVertical(const Spherical &v, Angle angle);
+  static Spherical RotateHorizontal(const Spherical& v, Angle angle);
+  static Spherical RotateVertical(const Spherical& v, Angle angle);
 };
 
-} // namespace LinearAlgebra
-} // namespace Passer
+}  // namespace LinearAlgebra
+}  // namespace Passer
 using namespace Passer::LinearAlgebra;
 
 #include "Vector3.h"
diff --git a/Vector2.cpp b/Vector2.cpp
index 9c94fae..a7ded06 100644
--- a/Vector2.cpp
+++ b/Vector2.cpp
@@ -26,8 +26,8 @@ Vector2::Vector2(float _x, float _y) {
 //   y = v.y;
 // }
 Vector2::Vector2(Vector3 v) {
-  x = v.Right();   // x;
-  y = v.Forward(); // z;
+  x = v.Right();    // x;
+  y = v.Forward();  // z;
 }
 Vector2::Vector2(Polar p) {
   float horizontalRad = p.angle * Angle::Deg2Rad;
@@ -49,18 +49,24 @@ const Vector2 Vector2::down = Vector2(0, -1);
 const Vector2 Vector2::forward = Vector2(0, 1);
 const Vector2 Vector2::back = Vector2(0, -1);
 
-bool Vector2::operator==(const Vector2 &v) {
+bool Vector2::operator==(const Vector2& v) {
   return (this->x == v.x && this->y == v.y);
 }
 
-float Vector2::Magnitude(const Vector2 &v) {
+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 &v) { return v.x * v.x + v.y * v.y; }
-float Vector2::sqrMagnitude() const { return (x * x + y * y); }
+float Vector2::magnitude() const {
+  return (float)sqrtf(x * x + y * 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) {
+Vector2 Vector2::Normalize(const Vector2& v) {
   float num = Vector2::Magnitude(v);
   Vector2 result = Vector2::zero;
   if (num > Float::epsilon) {
@@ -77,63 +83,65 @@ Vector2 Vector2::normalized() const {
   return result;
 }
 
-Vector2 Vector2::operator-() { return Vector2(-this->x, -this->y); }
+Vector2 Vector2::operator-() {
+  return Vector2(-this->x, -this->y);
+}
 
-Vector2 Vector2::operator-(const Vector2 &v) const {
+Vector2 Vector2::operator-(const Vector2& v) const {
   return Vector2(this->x - v.x, this->y - v.y);
 }
-Vector2 Vector2::operator-=(const Vector2 &v) {
+Vector2 Vector2::operator-=(const Vector2& v) {
   this->x -= v.x;
   this->y -= v.y;
   return *this;
 }
-Vector2 Vector2::operator+(const Vector2 &v) const {
+Vector2 Vector2::operator+(const Vector2& v) const {
   return Vector2(this->x + v.x, this->y + v.y);
 }
-Vector2 Vector2::operator+=(const Vector2 &v) {
+Vector2 Vector2::operator+=(const Vector2& v) {
   this->x += v.x;
   this->y += v.y;
   return *this;
 }
 
-Vector2 Vector2::Scale(const Vector2 &v1, const Vector2 &v2) {
+Vector2 Vector2::Scale(const Vector2& v1, const Vector2& v2) {
   return Vector2(v1.x * v2.x, v1.y * v2.y);
 }
-Vector2 Passer::LinearAlgebra::operator*(const Vector2 &v, float f) {
-  return Vector2(v.x * f, v.y * f);
-}
-Vector2 Passer::LinearAlgebra::operator*(float f, const Vector2 &v) {
-  return Vector2(v.x * f, v.y * f);
-}
+// Vector2 Passer::LinearAlgebra::operator*(const Vector2 &v, float f) {
+//   return Vector2(v.x * f, v.y * f);
+// }
+// Vector2 Passer::LinearAlgebra::operator*(float f, const Vector2 &v) {
+//   return Vector2(v.x * f, v.y * f);
+// }
 Vector2 Vector2::operator*=(float f) {
   this->x *= f;
   this->y *= f;
   return *this;
 }
-Vector2 Passer::LinearAlgebra::operator/(const Vector2 &v, float f) {
-  return Vector2(v.x / f, v.y / f);
-}
-Vector2 Passer::LinearAlgebra::operator/(float f, const Vector2 &v) {
-  return Vector2(v.x / f, v.y / f);
-}
+// Vector2 Passer::LinearAlgebra::operator/(const Vector2 &v, float f) {
+//   return Vector2(v.x / f, v.y / f);
+// }
+// Vector2 Passer::LinearAlgebra::operator/(float f, const Vector2 &v) {
+//   return Vector2(v.x / f, v.y / f);
+// }
 Vector2 Vector2::operator/=(float f) {
   this->x /= f;
   this->y /= f;
   return *this;
 }
 
-float Vector2::Dot(const Vector2 &v1, const Vector2 &v2) {
+float Vector2::Dot(const Vector2& v1, const Vector2& v2) {
   return v1.x * v2.x + v1.y * v2.y;
 }
 
-float Vector2::Distance(const Vector2 &v1, const Vector2 &v2) {
+float Vector2::Distance(const Vector2& v1, const Vector2& v2) {
   return Magnitude(v1 - v2);
 }
 
-float Vector2::Angle(const Vector2 &v1, const Vector2 &v2) {
+float Vector2::Angle(const Vector2& v1, const Vector2& v2) {
   return (float)fabs(SignedAngle(v1, v2));
 }
-float Vector2::SignedAngle(const Vector2 &v1, const Vector2 &v2) {
+float Vector2::SignedAngle(const Vector2& v1, const Vector2& v2) {
   float sqrMagFrom = v1.sqrMagnitude();
   float sqrMagTo = v2.sqrMagnitude();
 
@@ -151,11 +159,11 @@ float Vector2::SignedAngle(const Vector2 &v1, const Vector2 &v2) {
   return -(angleTo - angleFrom) * Angle::Rad2Deg;
 }
 
-Vector2 Vector2::Rotate(const Vector2 &v, Passer::LinearAlgebra::Angle a) {
+Vector2 Vector2::Rotate(const Vector2& v, Passer::LinearAlgebra::Angle a) {
   float angleRad = a * Angle::Deg2Rad;
 #if defined(AVR)
   float sinValue = sin(angleRad);
-  float cosValue = cos(angleRad); // * Angle::Deg2Rad);
+  float cosValue = cos(angleRad);  // * Angle::Deg2Rad);
 #else
   float sinValue = (float)sinf(angleRad);
   float cosValue = (float)cosf(angleRad);
@@ -168,7 +176,7 @@ Vector2 Vector2::Rotate(const Vector2 &v, Passer::LinearAlgebra::Angle a) {
   return r;
 }
 
-Vector2 Vector2::Lerp(const Vector2 &v1, const Vector2 &v2, float f) {
+Vector2 Vector2::Lerp(const Vector2& v1, const Vector2& v2, float f) {
   Vector2 v = v1 + (v2 - v1) * f;
   return v;
 }
diff --git a/Vector2.h b/Vector2.h
index aeca26b..97d6c79 100644
--- a/Vector2.h
+++ b/Vector2.h
@@ -38,7 +38,7 @@ struct Polar;
 struct Vector2 : Vec2 {
   friend struct Vec2;
 
-public:
+ public:
   /// @brief A new 2-dimensional zero vector
   Vector2();
   /// @brief A new 2-dimensional vector
@@ -80,12 +80,12 @@ public:
   /// @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 Vector2 &v);
+  bool operator==(const Vector2& v);
 
   /// @brief The vector length
   /// @param v The vector for which you need the length
   /// @return The vector length
-  static float Magnitude(const Vector2 &v);
+  static float Magnitude(const Vector2& v);
   /// @brief The vector length
   /// @return The vector length
   float magnitude() const;
@@ -95,7 +95,7 @@ public:
   /// @remark The squared length is computationally simpler than the real
   /// length. Think of Pythagoras A^2 + B^2 = C^2. This prevents the calculation
   /// of the squared root of C.
-  static float SqrMagnitude(const Vector2 &v);
+  static float SqrMagnitude(const Vector2& v);
   /// @brief The squared vector length
   /// @return The squared vector length
   /// @remark The squared length is computationally simpler than the real
@@ -106,7 +106,7 @@ public:
   /// @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 Vector2 Normalize(const Vector2 &v);
+  static Vector2 Normalize(const Vector2& v);
   /// @brief Convert the vector to a length 1
   /// @return The vector normalized to a length of 1
   Vector2 normalized() const;
@@ -118,13 +118,13 @@ public:
   /// @brief Subtract a vector from this vector
   /// @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);
+  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);
+  Vector2 operator+(const Vector2& v) const;
+  Vector2 operator+=(const Vector2& v);
 
   /// @brief Scale the vector using another vector
   /// @param v1 The vector to scale
@@ -132,34 +132,39 @@ public:
   /// @return The scaled vector
   /// @remark Each component of the vector v1 will be multiplied with the
   /// matching component from the scaling vector v2.
-  static Vector2 Scale(const Vector2 &v1, const Vector2 &v2);
+  static Vector2 Scale(const Vector2& v1, const Vector2& 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 Vector2 operator*(const Vector2 &v, float f);
-  friend Vector2 operator*(float f, const Vector2 &v);
+  friend Vector2 operator*(const Vector2& v, float f) {
+    return Vector2(v.x * f, v.y * f);
+  }
+  friend Vector2 operator*(float f, const Vector2& v) {
+    return Vector2(v.x * f, v.y * f);
+    // return Vector2(f * v.x, f * v.y);
+  }
   Vector2 operator*=(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 Vector2 operator/(const Vector2 &v, float f);
-  friend Vector2 operator/(float f, const Vector2 &v);
+  friend Vector2 operator/(const Vector2& v, float f);
+  friend Vector2 operator/(float f, const Vector2& v);
   Vector2 operator/=(float f);
 
   /// @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 Vector2 &v1, const Vector2 &v2);
+  static float Dot(const Vector2& v1, const Vector2& v2);
 
   /// @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 Vector2 &v1, const Vector2 &v2);
+  static float Distance(const Vector2& v1, const Vector2& v2);
 
   /// @brief The angle between two vectors
   /// @param v1 The first vector
@@ -168,18 +173,18 @@ public:
   /// @remark This reterns an unsigned angle which is the shortest distance
   /// between the two vectors. Use Vector2::SignedAngle if a signed angle is
   /// needed.
-  static float Angle(const Vector2 &v1, const Vector2 &v2);
+  static float Angle(const Vector2& v1, const Vector2& v2);
   /// @brief The signed angle between two vectors
   /// @param v1 The starting vector
   /// @param v2 The ending vector
   /// @return The signed angle between the two vectors
-  static float SignedAngle(const Vector2 &v1, const Vector2 &v2);
+  static float SignedAngle(const Vector2& v1, const Vector2& v2);
 
   /// @brief Rotate the vector
   /// @param v The vector to rotate
   /// @param a The angle in degrees to rotate
   /// @return The rotated vector
-  static Vector2 Rotate(const Vector2 &v, Passer::LinearAlgebra::Angle a);
+  static Vector2 Rotate(const Vector2& v, Passer::LinearAlgebra::Angle a);
 
   /// @brief Lerp (linear interpolation) between two vectors
   /// @param v1 The starting vector
@@ -189,11 +194,11 @@ public:
   /// @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 Vector2 Lerp(const Vector2 &v1, const Vector2 &v2, float f);
+  static Vector2 Lerp(const Vector2& v1, const Vector2& v2, float f);
 };
 
-} // namespace LinearAlgebra
-} // namespace Passer
+}  // namespace LinearAlgebra
+}  // namespace Passer
 using namespace Passer::LinearAlgebra;
 
 #include "Polar.h"
diff --git a/Vector3.cpp b/Vector3.cpp
index da894f8..50829d7 100644
--- a/Vector3.cpp
+++ b/Vector3.cpp
@@ -65,17 +65,21 @@ const Vector3 Vector3::back = Vector3(0, 0, -1);
 //   return Vector3(v.x, 0, v.y);
 // }
 
-float Vector3::Magnitude(const Vector3 &v) {
+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::magnitude() const {
+  return (float)sqrtf(x * x + y * y + z * z);
+}
 
-float Vector3::SqrMagnitude(const Vector3 &v) {
+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); }
+float Vector3::sqrMagnitude() const {
+  return (x * x + y * y + z * z);
+}
 
-Vector3 Vector3::Normalize(const Vector3 &v) {
+Vector3 Vector3::Normalize(const Vector3& v) {
   float num = Vector3::Magnitude(v);
   Vector3 result = Vector3::zero;
   if (num > epsilon) {
@@ -96,46 +100,46 @@ Vector3 Vector3::operator-() const {
   return Vector3(-this->x, -this->y, -this->z);
 }
 
-Vector3 Vector3::operator-(const Vector3 &v) const {
+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) {
+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 {
+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) {
+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 &v1, const Vector3 &v2) {
+Vector3 Vector3::Scale(const Vector3& v1, const Vector3& v2) {
   return Vector3(v1.x * v2.x, v1.y * v2.y, v1.z * v2.z);
 }
-Vector3 Passer::LinearAlgebra::operator*(const Vector3 &v, float f) {
-  return Vector3(v.x * f, v.y * f, v.z * f);
-}
-Vector3 Passer::LinearAlgebra::operator*(float f, const Vector3 &v) {
-  return Vector3(v.x * f, v.y * f, v.z * f);
-}
+// Vector3 Passer::LinearAlgebra::operator*(const Vector3 &v, float f) {
+//   return Vector3(v.x * f, v.y * f, v.z * f);
+// }
+// Vector3 Passer::LinearAlgebra::operator*(float f, const Vector3 &v) {
+//   return Vector3(v.x * f, v.y * f, v.z * f);
+// }
 Vector3 Vector3::operator*=(float f) {
   this->x *= f;
   this->y *= f;
   this->z *= f;
   return *this;
 }
-Vector3 Passer::LinearAlgebra::operator/(const Vector3 &v, float f) {
-  return Vector3(v.x / f, v.y / f, v.z / f);
-}
-Vector3 Passer::LinearAlgebra::operator/(float f, const Vector3 &v) {
-  return Vector3(v.x / f, v.y / f, v.z / f);
-}
+// Vector3 Passer::LinearAlgebra::operator/(const Vector3 &v, float f) {
+//   return Vector3(v.x / f, v.y / f, v.z / f);
+// }
+// Vector3 Passer::LinearAlgebra::operator/(float f, const Vector3 &v) {
+//   return Vector3(v.x / f, v.y / f, v.z / f);
+// }
 Vector3 Vector3::operator/=(float f) {
   this->x /= f;
   this->y /= f;
@@ -143,24 +147,24 @@ Vector3 Vector3::operator/=(float f) {
   return *this;
 }
 
-float Vector3::Dot(const Vector3 &v1, const Vector3 &v2) {
+float Vector3::Dot(const Vector3& v1, const Vector3& v2) {
   return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z;
 }
 
-bool Vector3::operator==(const Vector3 &v) {
+bool Vector3::operator==(const Vector3& v) {
   return (this->x == v.x && this->y == v.y && this->z == v.z);
 }
 
-float Vector3::Distance(const Vector3 &v1, const Vector3 &v2) {
+float Vector3::Distance(const Vector3& v1, const Vector3& v2) {
   return Magnitude(v1 - v2);
 }
 
-Vector3 Vector3::Cross(const Vector3 &v1, const Vector3 &v2) {
+Vector3 Vector3::Cross(const Vector3& v1, const Vector3& v2) {
   return Vector3(v1.y * v2.z - v1.z * v2.y, v1.z * v2.x - v1.x * v2.z,
                  v1.x * v2.y - v1.y * v2.x);
 }
 
-Vector3 Vector3::Project(const Vector3 &v, const Vector3 &n) {
+Vector3 Vector3::Project(const Vector3& v, const Vector3& n) {
   float sqrMagnitude = Dot(n, n);
   if (sqrMagnitude < epsilon)
     return Vector3::zero;
@@ -171,7 +175,7 @@ Vector3 Vector3::Project(const Vector3 &v, const Vector3 &n) {
   }
 }
 
-Vector3 Vector3::ProjectOnPlane(const Vector3 &v, const Vector3 &n) {
+Vector3 Vector3::ProjectOnPlane(const Vector3& v, const Vector3& n) {
   Vector3 r = v - Project(v, n);
   return r;
 }
@@ -182,7 +186,7 @@ float clamp(float x, float lower, float upper) {
   return upperClamp;
 }
 
-float Vector3::Angle(const Vector3 &v1, const Vector3 &v2) {
+float Vector3::Angle(const Vector3& v1, const Vector3& v2) {
   float denominator = sqrtf(v1.sqrMagnitude() * v2.sqrMagnitude());
   if (denominator < epsilon)
     return 0;
@@ -190,15 +194,16 @@ float Vector3::Angle(const Vector3 &v1, const Vector3 &v2) {
   float dot = Vector3::Dot(v1, v2);
   float fraction = dot / denominator;
   if (isnan(fraction))
-    return fraction; // short cut to returning NaN universally
+    return fraction;  // short cut to returning NaN universally
 
   float cdot = clamp(fraction, -1.0, 1.0);
   float r = ((float)acos(cdot)) * Rad2Deg;
   return r;
 }
 
-float Vector3::SignedAngle(const Vector3 &v1, const Vector3 &v2,
-                           const Vector3 &axis) {
+float Vector3::SignedAngle(const Vector3& v1,
+                           const Vector3& v2,
+                           const Vector3& axis) {
   // angle in [0,180]
   float angle = Vector3::Angle(v1, v2);
 
@@ -212,7 +217,7 @@ float Vector3::SignedAngle(const Vector3 &v1, const Vector3 &v2,
   return signed_angle;
 }
 
-Vector3 Vector3::Lerp(const Vector3 &v1, const Vector3 &v2, float f) {
+Vector3 Vector3::Lerp(const Vector3& v1, const Vector3& v2, float f) {
   Vector3 v = v1 + (v2 - v1) * f;
   return v;
 }
diff --git a/Vector3.h b/Vector3.h
index 27db549..f17eae8 100644
--- a/Vector3.h
+++ b/Vector3.h
@@ -19,7 +19,7 @@ extern "C" {
 /// This is a C-style implementation
 /// This uses the right-handed coordinate system.
 typedef struct Vec3 {
-protected:
+ protected:
   /// <summary>
   /// The right axis of the vector
   /// </summary>
@@ -42,7 +42,7 @@ protected:
 struct Vector3 : Vec3 {
   friend struct Vec3;
 
-public:
+ public:
   /// @brief A new 3-dimensional zero vector
   Vector3();
   /// @brief A new 3-dimensional vector
@@ -88,12 +88,12 @@ public:
   /// @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);
+  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);
+  static float Magnitude(const Vector3& v);
   /// @brief The vector length
   /// @return The vector length
   float magnitude() const;
@@ -103,7 +103,7 @@ public:
   /// @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);
+  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
@@ -114,7 +114,7 @@ public:
   /// @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);
+  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;
@@ -126,13 +126,13 @@ public:
   /// @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);
+  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);
+  Vector3 operator+(const Vector3& v) const;
+  Vector3 operator+=(const Vector3& v);
 
   /// @brief Scale the vector using another vector
   /// @param v1 The vector to scale
@@ -140,52 +140,62 @@ public:
   /// @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);
+  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, float f);
-  friend Vector3 operator*(float f, const Vector3 &v);
+  friend Vector3 operator*(const Vector3& v, float f) {
+    return Vector3(v.x * f, v.y * f, v.z * f);
+  }
+  friend Vector3 operator*(float f, const Vector3& v) {
+    // return Vector3(f * v.x, f * v.y, f * v.z);
+    return Vector3(v.x * f, v.y * f, v.z * f);
+  }
   Vector3 operator*=(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, float f);
-  friend Vector3 operator/(float f, const Vector3 &v);
+  friend Vector3 operator/(const Vector3& v, float f) {
+    return Vector3(v.x / f, v.y / f, v.z / f);
+  }
+  friend Vector3 operator/(float f, const Vector3& v) {
+    // return Vector3(f / v.x, f / v.y, f / v.z);
+    return Vector3(v.x / f, v.y / f, v.z / f);
+  }
   Vector3 operator/=(float f);
 
   /// @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);
+  static float Distance(const Vector3& v1, const Vector3& v2);
 
   /// @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);
+  static float Dot(const Vector3& v1, const Vector3& v2);
 
   /// @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);
+  static Vector3 Cross(const Vector3& v1, const Vector3& v2);
 
   /// @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);
+  static Vector3 Project(const Vector3& v, const Vector3& n);
   /// @brief Project the vector on a plane defined by a normal orthogonal to the
   /// plane.
   /// @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);
+  static Vector3 ProjectOnPlane(const Vector3& v, const Vector3& n);
 
   /// @brief The angle between two vectors
   /// @param v1 The first vector
@@ -194,14 +204,15 @@ public:
   /// @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);
+  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);
+  static float SignedAngle(const Vector3& v1,
+                           const Vector3& v2,
+                           const Vector3& axis);
 
   /// @brief Lerp (linear interpolation) between two vectors
   /// @param v1 The starting vector
@@ -211,11 +222,11 @@ public:
   /// @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);
+  static Vector3 Lerp(const Vector3& v1, const Vector3& v2, float f);
 };
 
-} // namespace LinearAlgebra
-} // namespace Passer
+}  // namespace LinearAlgebra
+}  // namespace Passer
 using namespace Passer::LinearAlgebra;
 
 #include "Spherical.h"