diff --git a/LinearAlgebra/.gitignore b/LinearAlgebra/.gitignore
new file mode 100644
index 0000000..f0b2f47
--- /dev/null
+++ b/LinearAlgebra/.gitignore
@@ -0,0 +1,6 @@
+DoxyGen/DoxyWarnLogfile.txt
+.vscode/settings.json
+**bin
+**obj
+**.meta
+*.sln
diff --git a/LinearAlgebra/src/Angle.cs b/LinearAlgebra/src/Angle.cs
index 78ae979..ca03a50 100644
--- a/LinearAlgebra/src/Angle.cs
+++ b/LinearAlgebra/src/Angle.cs
@@ -1,11 +1,13 @@
 using System;
 
-namespace Passer.LinearAlgebra {
+namespace LinearAlgebra
+{
 
     /// <summary>
     /// %Angle utilities
     /// </summary>
-    public static class Angle {
+    public static class Angle
+    {
         public const float pi = 3.1415927410125732421875F;
         // public static float Rad2Deg = 360.0f / ((float)Math.PI * 2);
         // public static float Deg2Rad = ((float)Math.PI * 2) / 360.0f;
@@ -21,7 +23,8 @@ namespace Passer.LinearAlgebra {
         /// <param name="max">The maximum angle</param>
         /// <returns>The clamped angle</returns>
         /// Angles are normalized
-        public static float Clamp(float angle, float min, float max) {
+        public static float Clamp(float angle, float min, float max)
+        {
             float normalizedAngle = Normalize(angle);
             return Float.Clamp(normalizedAngle, min, max);
         }
@@ -33,7 +36,8 @@ namespace Passer.LinearAlgebra {
         /// <param name="b">The second angle</param>
         /// <returns>the angle between the two angles</returns>
         /// Angle values should be degrees
-        public static float Difference(float a, float b) {
+        public static float Difference(float a, float b)
+        {
             float r = Normalize(b - a);
             return r;
         }
@@ -44,7 +48,8 @@ namespace Passer.LinearAlgebra {
         /// <param name="angle">The angle to normalize</param>
         /// <returns>The normalized angle in interval (-180..180] </returns>
         /// Angle values should be in degrees
-        public static float Normalize(float angle) {
+        public static float Normalize(float angle)
+        {
             if (float.IsInfinity(angle))
                 return angle;
 
@@ -61,7 +66,8 @@ namespace Passer.LinearAlgebra {
         /// <param name="maxAngle">Maximum angle to rotate</param>
         /// <returns>The resulting angle</returns>
         /// This function is compatible with radian and degrees angles
-        public static float MoveTowards(float fromAngle, float toAngle, float maxAngle) {
+        public static float MoveTowards(float fromAngle, float toAngle, float maxAngle)
+        {
             float d = toAngle - fromAngle;
             d = Normalize(d);
             d = Math.Sign(d) * Float.Clamp(Math.Abs(d), 0, maxAngle);
@@ -77,7 +83,8 @@ namespace Passer.LinearAlgebra {
         /// Vectors a and b must be normalized
         /// \deprecated Please use Vector2.ToFactor instead.
         [Obsolete("Please use Vector2.ToFactor instead.")]
-        public static float ToFactor(Vector2 v1, Vector2 v2) {
+        public static float ToFactor(Vector2 v1, Vector2 v2)
+        {
             return (1 - Vector2.Dot(v1, v2)) / 2;
         }
 
diff --git a/LinearAlgebra/src/Direction.cs b/LinearAlgebra/src/Direction.cs
index bd7477f..258e27e 100644
--- a/LinearAlgebra/src/Direction.cs
+++ b/LinearAlgebra/src/Direction.cs
@@ -1,14 +1,18 @@
-namespace Passer.LinearAlgebra {
+namespace LinearAlgebra
+{
 
-    public class Direction {
+    public class Direction
+    {
         public float horizontal;
         public float vertical;
 
-        public Direction() {
+        public Direction()
+        {
             horizontal = 0;
             vertical = 0;
         }
-        public Direction(float horizontal, float vertical) {
+        public Direction(float horizontal, float vertical)
+        {
             this.horizontal = horizontal;
             this.vertical = vertical;
             //Normalize();
@@ -21,8 +25,10 @@ namespace Passer.LinearAlgebra {
         public readonly static Direction left = new Direction(-90, 0);
         public readonly static Direction right = new Direction(90, 0);
 
-        public void Normalize() {
-            if (this.vertical > 90 ||    this.vertical < -90) {
+        public void Normalize()
+        {
+            if (this.vertical > 90 || this.vertical < -90)
+            {
                 this.horizontal += 180;
                 this.vertical = 180 - this.vertical;
             }
diff --git a/LinearAlgebra/src/Float.cs b/LinearAlgebra/src/Float.cs
index 4959b75..70873f0 100644
--- a/LinearAlgebra/src/Float.cs
+++ b/LinearAlgebra/src/Float.cs
@@ -1,9 +1,11 @@
-namespace Passer.LinearAlgebra {
+namespace LinearAlgebra
+{
 
     /// <summary>
     /// Float number utilities
     /// </summary>
-    public class Float {
+    public class Float
+    {
         /// <summary>
         /// The precision of float numbers
         /// </summary>
@@ -20,7 +22,8 @@ namespace Passer.LinearAlgebra {
         /// <param name="min">The minimum value</param>
         /// <param name="max">The maximum value</param>
         /// <returns>The clamped value</returns>
-        public static float Clamp(float f, float min, float max) {
+        public static float Clamp(float f, float min, float max)
+        {
             if (f < min)
                 return min;
             if (f > max)
@@ -33,7 +36,8 @@ namespace Passer.LinearAlgebra {
         /// </summary>
         /// <param name="f">The value to clamp</param>
         /// <returns>The clamped value</returns>
-        public static float Clamp01(float f) {
+        public static float Clamp01(float f)
+        {
             return Clamp(f, 0, 1);
         }
     }
diff --git a/LinearAlgebra/src/Matrix.cs b/LinearAlgebra/src/Matrix.cs
index 4d37dda..1f0542e 100644
--- a/LinearAlgebra/src/Matrix.cs
+++ b/LinearAlgebra/src/Matrix.cs
@@ -1,95 +1,112 @@
 using System;
-using System.Diagnostics;
-using Passer.LinearAlgebra;
 #if UNITY_5_3_OR_NEWER
 using Vector3Float = UnityEngine.Vector3;
 using Vector2Float = UnityEngine.Vector2;
 using Quaternion = UnityEngine.Quaternion;
 #endif
 
-public readonly struct Slice {
-    public uint start { get; }
-    public uint stop { get; }
-    public Slice(uint start, uint stop) {
-        this.start = start;
-        this.stop = stop;
-    }
-}
+namespace LinearAlgebra
+{
 
-public class Matrix2 {
-    public float[,] data { get; }
-
-    public uint nRows => (uint)data.GetLength(0);
-    public uint nCols => (uint)data.GetLength(1);
-
-    public Matrix2(uint nRows, uint nCols) {
-        this.data = new float[nRows, nCols];
-    }
-    public Matrix2(float[,] data) {
-        this.data = data;
-    }
-
-    public Matrix2 Clone() {
-        float[,] data = new float[this.nRows, nCols];
-        for (int rowIx = 0; rowIx < this.nRows; rowIx++) {
-            for (int colIx = 0; colIx < this.nCols; colIx++)
-                data[rowIx, colIx] = this.data[rowIx, colIx];
+    public readonly struct Slice
+    {
+        public uint start { get; }
+        public uint stop { get; }
+        public Slice(uint start, uint stop)
+        {
+            this.start = start;
+            this.stop = stop;
         }
-        return new Matrix2(data);
     }
 
-    public static Matrix2 Zero(uint nRows, uint nCols) {
-        return new Matrix2(nRows, nCols);
-    }
+    public class Matrix2
+    {
+        public float[,] data { get; }
 
-    public static Matrix2 FromVector3(Vector3Float v) {
-        float[,] result = new float[3, 1];
-        result[0, 0] = v.x;
-        result[1, 0] = v.y;
-        result[2, 0] = v.z;
-        return new Matrix2(result);
-    }
+        public uint nRows => (uint)data.GetLength(0);
+        public uint nCols => (uint)data.GetLength(1);
 
-    public static Matrix2 Identity(uint size) {
-        return Diagonal(1, size);
-    }
-    public static Matrix2 Identity(uint nRows, uint nCols) {
-        Matrix2 m = Zero(nRows, nCols);
-        m.FillDiagonal(1);
-        return m;
-    }
+        public Matrix2(uint nRows, uint nCols)
+        {
+            this.data = new float[nRows, nCols];
+        }
+        public Matrix2(float[,] data)
+        {
+            this.data = data;
+        }
 
-    public static Matrix2 Diagonal(Matrix1 v) {
-        float[,] resultData = new float[v.size, v.size];
-        for (int ix = 0; ix < v.size; ix++)
-            resultData[ix, ix] = v.data[ix];
-        return new Matrix2(resultData);
-    }
-    public static Matrix2 Diagonal(float f, uint size) {
-        float[,] resultData = new float[size, size];
-        for (int ix = 0; ix < size; ix++)
-            resultData[ix, ix] = f;
-        return new Matrix2(resultData);
-    }
-    public void FillDiagonal(Matrix1 v) {
-        uint n = Math.Min(Math.Min(this.nRows, this.nCols), v.size);
-        for (int ix = 0; ix < n; ix++)
-            this.data[ix, ix] = v.data[ix];
-    }
-    public void FillDiagonal(float f) {
-        uint n = Math.Min(this.nRows, this.nCols);
-        for (int ix = 0; ix < n; ix++)
-            this.data[ix, ix] = f;
-    }
+        public Matrix2 Clone()
+        {
+            float[,] data = new float[this.nRows, nCols];
+            for (int rowIx = 0; rowIx < this.nRows; rowIx++)
+            {
+                for (int colIx = 0; colIx < this.nCols; colIx++)
+                    data[rowIx, colIx] = this.data[rowIx, colIx];
+            }
+            return new Matrix2(data);
+        }
 
-    public static Matrix2 SkewMatrix(Vector3Float v) {
-        float[,] result = new float[3, 3] {
+        public static Matrix2 Zero(uint nRows, uint nCols)
+        {
+            return new Matrix2(nRows, nCols);
+        }
+
+        public static Matrix2 FromVector3(Vector3Float v)
+        {
+            float[,] result = new float[3, 1];
+            result[0, 0] = v.x;
+            result[1, 0] = v.y;
+            result[2, 0] = v.z;
+            return new Matrix2(result);
+        }
+
+        public static Matrix2 Identity(uint size)
+        {
+            return Diagonal(1, size);
+        }
+        public static Matrix2 Identity(uint nRows, uint nCols)
+        {
+            Matrix2 m = Zero(nRows, nCols);
+            m.FillDiagonal(1);
+            return m;
+        }
+
+        public static Matrix2 Diagonal(Matrix1 v)
+        {
+            float[,] resultData = new float[v.size, v.size];
+            for (int ix = 0; ix < v.size; ix++)
+                resultData[ix, ix] = v.data[ix];
+            return new Matrix2(resultData);
+        }
+        public static Matrix2 Diagonal(float f, uint size)
+        {
+            float[,] resultData = new float[size, size];
+            for (int ix = 0; ix < size; ix++)
+                resultData[ix, ix] = f;
+            return new Matrix2(resultData);
+        }
+        public void FillDiagonal(Matrix1 v)
+        {
+            uint n = Math.Min(Math.Min(this.nRows, this.nCols), v.size);
+            for (int ix = 0; ix < n; ix++)
+                this.data[ix, ix] = v.data[ix];
+        }
+        public void FillDiagonal(float f)
+        {
+            uint n = Math.Min(this.nRows, this.nCols);
+            for (int ix = 0; ix < n; ix++)
+                this.data[ix, ix] = f;
+        }
+
+        public static Matrix2 SkewMatrix(Vector3Float v)
+        {
+            float[,] result = new float[3, 3] {
             {0, -v.z, v.y},
             {v.z, 0, -v.x},
             {-v.y, v.x, 0}
         };
-        return new Matrix2(result);
-    }
+            return new Matrix2(result);
+        }
 
 #if UNITY_5_3_OR_NEWER
     public Vector3Float GetRow3(int rowIx) {
@@ -101,336 +118,396 @@ public class Matrix2 {
         };
         return row;
     }
-#endif    
-    public void SetRow(int rowIx, Matrix1 v) {
-        for (uint ix = 0; ix < v.size; ix++)
-            this.data[rowIx, ix] = v.data[ix];
-    }
-    public void SetRow3(int rowIx, Vector3Float v) {
-        this.data[rowIx, 0] = v.x;
-        this.data[rowIx, 1] = v.y;
-        this.data[rowIx, 2] = v.z;
-    }
-
-    public Matrix1 GetColumn(int colIx) {
-        float[] column = new float[this.nRows];
-        for (int i = 0; i < this.nRows; i++) {
-            column[i] = this.data[i, colIx];
+#endif
+        public void SetRow(int rowIx, Matrix1 v)
+        {
+            for (uint ix = 0; ix < v.size; ix++)
+                this.data[rowIx, ix] = v.data[ix];
+        }
+        public void SetRow3(int rowIx, Vector3Float v)
+        {
+            this.data[rowIx, 0] = v.x;
+            this.data[rowIx, 1] = v.y;
+            this.data[rowIx, 2] = v.z;
         }
-        return new Matrix1(column);
-    }
 
-    public static bool AllClose(Matrix2 A, Matrix2 B, float atol = 1e-08f) {
-        for (int i = 0; i < A.nRows; i++) {
-            for (int j = 0; j < A.nCols; j++) {
-                float d = MathF.Abs(A.data[i, j] - B.data[i, j]);
-                if (d > atol)
-                    return false;
+        public Matrix1 GetColumn(int colIx)
+        {
+            float[] column = new float[this.nRows];
+            for (int i = 0; i < this.nRows; i++)
+            {
+                column[i] = this.data[i, colIx];
+            }
+            return new Matrix1(column);
+        }
+
+        public static bool AllClose(Matrix2 A, Matrix2 B, float atol = 1e-08f)
+        {
+            for (int i = 0; i < A.nRows; i++)
+            {
+                for (int j = 0; j < A.nCols; j++)
+                {
+                    float d = MathF.Abs(A.data[i, j] - B.data[i, j]);
+                    if (d > atol)
+                        return false;
+                }
+            }
+            return true;
+        }
+
+        public Matrix2 Transpose()
+        {
+            float[,] resultData = new float[this.nCols, this.nRows];
+            for (uint rowIx = 0; rowIx < this.nRows; rowIx++)
+            {
+                for (uint colIx = 0; colIx < this.nCols; colIx++)
+                    resultData[colIx, rowIx] = this.data[rowIx, colIx];
+            }
+            return new Matrix2(resultData);
+            // double checked code
+        }
+        public Matrix2 transposed
+        {
+            get => Transpose();
+        }
+
+        public static Matrix2 operator -(Matrix2 m)
+        {
+            float[,] result = new float[m.nRows, m.nCols];
+
+            for (int i = 0; i < m.nRows; i++)
+            {
+                for (int j = 0; j < m.nCols; j++)
+                    result[i, j] = -m.data[i, j];
+            }
+            return new Matrix2(result);
+        }
+
+        public static Matrix2 operator -(Matrix2 A, Matrix2 B)
+        {
+            if (A.nRows != B.nRows || A.nCols != B.nCols)
+                throw new System.ArgumentException("Size of A must match size of B.");
+
+            float[,] result = new float[A.nRows, B.nCols];
+
+            for (int i = 0; i < A.nRows; i++)
+            {
+                for (int j = 0; j < A.nCols; j++)
+                    result[i, j] = A.data[i, j] - B.data[i, j];
+            }
+            return new Matrix2(result);
+        }
+
+        public static Matrix2 operator +(Matrix2 A, Matrix2 B)
+        {
+            if (A.nRows != B.nRows || A.nCols != B.nCols)
+                throw new System.ArgumentException("Size of A must match size of B.");
+
+            float[,] result = new float[A.nRows, B.nCols];
+
+            for (int i = 0; i < A.nRows; i++)
+            {
+                for (int j = 0; j < A.nCols; j++)
+                    result[i, j] = A.data[i, j] + B.data[i, j];
+            }
+            return new Matrix2(result);
+        }
+
+        public static Matrix2 operator *(Matrix2 A, Matrix2 B)
+        {
+            if (A.nCols != B.nRows)
+                throw new System.ArgumentException("Number of columns in A must match number of rows in B.");
+
+            float[,] result = new float[A.nRows, B.nCols];
+
+            for (int i = 0; i < A.nRows; i++)
+            {
+                for (int j = 0; j < B.nCols; j++)
+                {
+                    float sum = 0.0f;
+                    for (int k = 0; k < A.nCols; k++)
+                        sum += A.data[i, k] * B.data[k, j];
+
+                    result[i, j] = sum;
+                }
+            }
+
+            return new Matrix2(result);
+            // double checked code
+        }
+
+        public static Matrix1 operator *(Matrix2 A, Matrix1 v)
+        {
+            float[] result = new float[A.nRows];
+
+            for (int i = 0; i < A.nRows; i++)
+            {
+                for (int j = 0; j < A.nCols; j++)
+                {
+                    result[i] += A.data[i, j] * v.data[j];
+                }
+            }
+
+            return new Matrix1(result);
+        }
+
+        public static Vector3Float operator *(Matrix2 A, Vector3Float v)
+        {
+            return new Vector3Float(
+                A.data[0, 0] * v.x + A.data[0, 1] * v.y + A.data[0, 2] * v.z,
+                A.data[1, 0] * v.x + A.data[1, 1] * v.y + A.data[1, 2] * v.z,
+                A.data[2, 0] * v.x + A.data[2, 1] * v.y + A.data[2, 2] * v.z
+            );
+        }
+
+        public static Matrix2 operator *(Matrix2 A, float s)
+        {
+            float[,] result = new float[A.nRows, A.nCols];
+
+            for (int i = 0; i < A.nRows; i++)
+            {
+                for (int j = 0; j < A.nCols; j++)
+                    result[i, j] = A.data[i, j] * s;
+            }
+
+            return new Matrix2(result);
+        }
+        public static Matrix2 operator *(float s, Matrix2 A)
+        {
+            return A * s;
+        }
+
+        public static Matrix2 operator /(Matrix2 A, float s)
+        {
+            float[,] result = new float[A.nRows, A.nCols];
+
+            for (int i = 0; i < A.nRows; i++)
+            {
+                for (int j = 0; j < A.nCols; j++)
+                    result[i, j] = A.data[i, j] / s;
+            }
+
+            return new Matrix2(result);
+        }
+        public static Matrix2 operator /(float s, Matrix2 A)
+        {
+            float[,] result = new float[A.nRows, A.nCols];
+
+            for (int i = 0; i < A.nRows; i++)
+            {
+                for (int j = 0; j < A.nCols; j++)
+                    result[i, j] = s / A.data[i, j];
+            }
+
+            return new Matrix2(result);
+        }
+
+        public Matrix2 Slice(Slice slice)
+        {
+            return Slice(slice.start, slice.stop);
+        }
+        public Matrix2 Slice(uint from, uint to)
+        {
+            if (from < 0 || to >= this.nRows)
+                throw new System.ArgumentException("Slice index out of range.");
+
+            float[,] result = new float[to - from, this.nCols];
+            int resultRowIx = 0;
+            for (uint rowIx = from; rowIx < to; rowIx++)
+            {
+                for (int colIx = 0; colIx < this.nCols; colIx++)
+                {
+                    result[resultRowIx, colIx] = this.data[rowIx, colIx];
+                }
+                resultRowIx++;
+            }
+
+            return new Matrix2(result);
+        }
+        public Matrix2 Slice(Slice rowRange, Slice colRange)
+        {
+            return Slice((rowRange.start, rowRange.stop), (colRange.start, colRange.stop));
+        }
+
+        public Matrix2 Slice((uint start, uint stop) rowRange, (uint start, uint stop) colRange)
+        {
+            float[,] result = new float[rowRange.stop - rowRange.start, colRange.stop - colRange.start];
+
+            uint resultRowIx = 0;
+            uint resultColIx = 0;
+            for (uint i = rowRange.start; i < rowRange.stop; i++)
+            {
+                for (uint j = colRange.start; j < colRange.stop; j++)
+                    result[resultRowIx, resultColIx] = this.data[i, j];
+            }
+            return new Matrix2(result);
+        }
+
+        public void UpdateSlice(Slice slice, Matrix2 m)
+        {
+            int mRowIx = 0;
+            for (uint rowIx = slice.start; rowIx < slice.stop; rowIx++, mRowIx++)
+            {
+                for (int colIx = 0; colIx < this.nCols; colIx++)
+                    this.data[rowIx, colIx] = m.data[mRowIx, colIx];
             }
         }
-        return true;
-    }
-
-    public Matrix2 Transpose() {
-        float[,] resultData = new float[this.nCols, this.nRows];
-        for (uint rowIx = 0; rowIx < this.nRows; rowIx++) {
-            for (uint colIx = 0; colIx < this.nCols; colIx++)
-                resultData[colIx, rowIx] = this.data[rowIx, colIx];
+        public void UpdateSlice(Slice rowRange, Slice colRange, Matrix2 m)
+        {
+            UpdateSlice((rowRange.start, rowRange.stop), (colRange.start, colRange.stop), m);
         }
-        return new Matrix2(resultData);
-        // double checked code
-    }
-    public Matrix2 transposed {
-        get => Transpose();
-    }
-
-    public static Matrix2 operator -(Matrix2 m) {
-        float[,] result = new float[m.nRows, m.nCols];
-
-        for (int i = 0; i < m.nRows; i++) {
-            for (int j = 0; j < m.nCols; j++)
-                result[i, j] = -m.data[i, j];
-        }
-        return new Matrix2(result);
-    }
-
-    public static Matrix2 operator -(Matrix2 A, Matrix2 B) {
-        if (A.nRows != B.nRows || A.nCols != B.nCols)
-            throw new System.ArgumentException("Size of A must match size of B.");
-
-        float[,] result = new float[A.nRows, B.nCols];
-
-        for (int i = 0; i < A.nRows; i++) {
-            for (int j = 0; j < A.nCols; j++)
-                result[i, j] = A.data[i, j] - B.data[i, j];
-        }
-        return new Matrix2(result);
-    }
-
-    public static Matrix2 operator +(Matrix2 A, Matrix2 B) {
-        if (A.nRows != B.nRows || A.nCols != B.nCols)
-            throw new System.ArgumentException("Size of A must match size of B.");
-
-        float[,] result = new float[A.nRows, B.nCols];
-
-        for (int i = 0; i < A.nRows; i++) {
-            for (int j = 0; j < A.nCols; j++)
-                result[i, j] = A.data[i, j] + B.data[i, j];
-        }
-        return new Matrix2(result);
-    }
-
-    public static Matrix2 operator *(Matrix2 A, Matrix2 B) {
-        if (A.nCols != B.nRows)
-            throw new System.ArgumentException("Number of columns in A must match number of rows in B.");
-
-        float[,] result = new float[A.nRows, B.nCols];
-
-        for (int i = 0; i < A.nRows; i++) {
-            for (int j = 0; j < B.nCols; j++) {
-                float sum = 0.0f;
-                for (int k = 0; k < A.nCols; k++)
-                    sum += A.data[i, k] * B.data[k, j];
-
-                result[i, j] = sum;
+        public void UpdateSlice((uint start, uint stop) rowRange, (uint start, uint stop) colRange, Matrix2 m)
+        {
+            for (uint i = rowRange.start; i < rowRange.stop; i++)
+            {
+                for (uint j = colRange.start; j < colRange.stop; j++)
+                    this.data[i, j] = m.data[i - rowRange.start, j - colRange.start];
             }
         }
 
-        return new Matrix2(result);
-        // double checked code
-    }
+        public Matrix2 Inverse()
+        {
+            Matrix2 A = this;
+            // unchecked
+            uint n = A.nRows;
 
-    public static Matrix1 operator *(Matrix2 A, Matrix1 v) {
-        float[] result = new float[A.nRows];
-
-        for (int i = 0; i < A.nRows; i++) {
-            for (int j = 0; j < A.nCols; j++) {
-                result[i] += A.data[i, j] * v.data[j];
+            // Create an identity matrix of the same size as the original matrix
+            float[,] augmentedMatrix = new float[n, 2 * n];
+            for (int i = 0; i < n; i++)
+            {
+                for (int j = 0; j < n; j++)
+                {
+                    augmentedMatrix[i, j] = A.data[i, j];
+                    augmentedMatrix[i, j + n] = (i == j) ? 1 : 0;  // Identity matrix
+                }
             }
-        }
 
-        return new Matrix1(result);
-    }
+            // Perform Gaussian elimination
+            for (int i = 0; i < n; i++)
+            {
+                // Find the pivot row
+                float pivot = augmentedMatrix[i, i];
+                if (Math.Abs(pivot) < 1e-10) // Check for singular matrix
+                    throw new InvalidOperationException("Matrix is singular and cannot be inverted.");
 
-    public static Vector3Float operator *(Matrix2 A, Vector3Float v) {
-        return new Vector3Float(
-            A.data[0, 0] * v.x + A.data[0, 1] * v.y + A.data[0, 2] * v.z,
-            A.data[1, 0] * v.x + A.data[1, 1] * v.y + A.data[1, 2] * v.z,
-            A.data[2, 0] * v.x + A.data[2, 1] * v.y + A.data[2, 2] * v.z
-        );
-    }
+                // Normalize the pivot row
+                for (int j = 0; j < 2 * n; j++)
+                    augmentedMatrix[i, j] /= pivot;
 
-    public static Matrix2 operator *(Matrix2 A, float s) {
-        float[,] result = new float[A.nRows, A.nCols];
-
-        for (int i = 0; i < A.nRows; i++) {
-            for (int j = 0; j < A.nCols; j++)
-                result[i, j] = A.data[i, j] * s;
-        }
-
-        return new Matrix2(result);
-    }
-    public static Matrix2 operator *(float s, Matrix2 A) {
-        return A * s;
-    }
-
-    public static Matrix2 operator /(Matrix2 A, float s) {
-        float[,] result = new float[A.nRows, A.nCols];
-
-        for (int i = 0; i < A.nRows; i++) {
-            for (int j = 0; j < A.nCols; j++)
-                result[i, j] = A.data[i, j] / s;
-        }
-
-        return new Matrix2(result);
-    }
-    public static Matrix2 operator /(float s, Matrix2 A) {
-        float[,] result = new float[A.nRows, A.nCols];
-
-        for (int i = 0; i < A.nRows; i++) {
-            for (int j = 0; j < A.nCols; j++)
-                result[i, j] = s / A.data[i, j];
-        }
-
-        return new Matrix2(result);
-    }
-
-    public Matrix2 Slice(Slice slice) {
-        return Slice(slice.start, slice.stop);
-    }
-    public Matrix2 Slice(uint from, uint to) {
-        if (from < 0 || to >= this.nRows)
-            throw new System.ArgumentException("Slice index out of range.");
-
-        float[,] result = new float[to - from, this.nCols];
-        int resultRowIx = 0;
-        for (uint rowIx = from; rowIx < to; rowIx++) {
-            for (int colIx = 0; colIx < this.nCols; colIx++) {
-                result[resultRowIx, colIx] = this.data[rowIx, colIx];
+                // Eliminate the column below the pivot
+                for (int j = i + 1; j < n; j++)
+                {
+                    float factor = augmentedMatrix[j, i];
+                    for (int k = 0; k < 2 * n; k++)
+                        augmentedMatrix[j, k] -= factor * augmentedMatrix[i, k];
+                }
             }
-            resultRowIx++;
-        }
 
-        return new Matrix2(result);
-    }
-    public Matrix2 Slice(Slice rowRange, Slice colRange) {
-        return Slice((rowRange.start, rowRange.stop), (colRange.start, colRange.stop));
-    }
-
-    public Matrix2 Slice((uint start, uint stop) rowRange, (uint start, uint stop) colRange) {
-        float[,] result = new float[rowRange.stop - rowRange.start, colRange.stop - colRange.start];
-
-        uint resultRowIx = 0;
-        uint resultColIx = 0;
-        for (uint i = rowRange.start; i < rowRange.stop; i++) {
-            for (uint j = colRange.start; j < colRange.stop; j++)
-                result[resultRowIx, resultColIx] = this.data[i, j];
-        }
-        return new Matrix2(result);
-    }
-
-    public void UpdateSlice(Slice slice, Matrix2 m) {
-        int mRowIx = 0;
-        for (uint rowIx = slice.start; rowIx < slice.stop; rowIx++, mRowIx++) {
-            for (int colIx = 0; colIx < this.nCols; colIx++)
-                this.data[rowIx, colIx] = m.data[mRowIx, colIx];
-        }
-    }
-    public void UpdateSlice(Slice rowRange, Slice colRange, Matrix2 m) {
-        UpdateSlice((rowRange.start, rowRange.stop), (colRange.start, colRange.stop), m);
-    }
-    public void UpdateSlice((uint start, uint stop) rowRange, (uint start, uint stop) colRange, Matrix2 m) {
-        for (uint i = rowRange.start; i < rowRange.stop; i++) {
-            for (uint j = colRange.start; j < colRange.stop; j++)
-                this.data[i, j] = m.data[i - rowRange.start, j - colRange.start];
-        }
-    }
-
-    public Matrix2 Inverse() {
-        Matrix2 A = this;
-        // unchecked
-        uint n = A.nRows;
-
-        // Create an identity matrix of the same size as the original matrix
-        float[,] augmentedMatrix = new float[n, 2 * n];
-        for (int i = 0; i < n; i++) {
-            for (int j = 0; j < n; j++) {
-                augmentedMatrix[i, j] = A.data[i, j];
-                augmentedMatrix[i, j + n] = (i == j) ? 1 : 0;  // Identity matrix
+            // Back substitution
+            for (uint i = n - 1; i >= 0; i--)
+            {
+                // Eliminate the column above the pivot
+                for (uint j = i - 1; j >= 0; j--)
+                {
+                    float factor = augmentedMatrix[j, i];
+                    for (int k = 0; k < 2 * n; k++)
+                        augmentedMatrix[j, k] -= factor * augmentedMatrix[i, k];
+                }
             }
-        }
 
-        // Perform Gaussian elimination
-        for (int i = 0; i < n; i++) {
-            // Find the pivot row
-            float pivot = augmentedMatrix[i, i];
-            if (Math.Abs(pivot) < 1e-10) // Check for singular matrix
-                throw new InvalidOperationException("Matrix is singular and cannot be inverted.");
-
-            // Normalize the pivot row
-            for (int j = 0; j < 2 * n; j++)
-                augmentedMatrix[i, j] /= pivot;
-
-            // Eliminate the column below the pivot
-            for (int j = i + 1; j < n; j++) {
-                float factor = augmentedMatrix[j, i];
-                for (int k = 0; k < 2 * n; k++)
-                    augmentedMatrix[j, k] -= factor * augmentedMatrix[i, k];
+            // Extract the inverse matrix from the augmented matrix
+            float[,] inverse = new float[n, n];
+            for (int i = 0; i < n; i++)
+            {
+                for (int j = 0; j < n; j++)
+                    inverse[i, j] = augmentedMatrix[i, j + n];
             }
+
+            return new Matrix2(inverse);
         }
 
-        // Back substitution
-        for (uint i = n - 1; i >= 0; i--) {
-            // Eliminate the column above the pivot
-            for (uint j = i - 1; j >= 0; j--) {
-                float factor = augmentedMatrix[j, i];
-                for (int k = 0; k < 2 * n; k++)
-                    augmentedMatrix[j, k] -= factor * augmentedMatrix[i, k];
+        public float Determinant()
+        {
+            uint n = this.nRows;
+            if (n != this.nCols)
+                throw new System.ArgumentException("Matrix must be square.");
+
+            if (n == 1)
+                return this.data[0, 0]; // Base case for 1x1 matrix
+
+            if (n == 2) // Base case for 2x2 matrix
+                return this.data[0, 0] * this.data[1, 1] - this.data[0, 1] * this.data[1, 0];
+
+            float det = 0;
+            for (int col = 0; col < n; col++)
+                det += (col % 2 == 0 ? 1 : -1) * this.data[0, col] * this.Minor(0, col).Determinant();
+
+            return det;
+        }
+
+        // Helper function to compute the minor of a matrix
+        private Matrix2 Minor(int rowToRemove, int colToRemove)
+        {
+            uint n = this.nRows;
+            float[,] minor = new float[n - 1, n - 1];
+
+            int r = 0, c = 0;
+            for (int i = 0; i < n; i++)
+            {
+                if (i == rowToRemove) continue;
+
+                c = 0;
+                for (int j = 0; j < n; j++)
+                {
+                    if (j == colToRemove) continue;
+
+                    minor[r, c] = this.data[i, j];
+                    c++;
+                }
+                r++;
             }
+
+            return new Matrix2(minor);
+        }
+    }
+
+    public class Matrix1
+    {
+        public float[] data { get; }
+
+        public uint size => (uint)data.GetLength(0);
+
+        public Matrix1(uint size)
+        {
+            this.data = new float[size];
         }
 
-        // Extract the inverse matrix from the augmented matrix
-        float[,] inverse = new float[n, n];
-        for (int i = 0; i < n; i++) {
-            for (int j = 0; j < n; j++)
-                inverse[i, j] = augmentedMatrix[i, j + n];
+        public Matrix1(float[] data)
+        {
+            this.data = data;
         }
 
-        return new Matrix2(inverse);
-    }
-
-    public float Determinant() {
-        uint n = this.nRows;
-        if (n != this.nCols)
-            throw new System.ArgumentException("Matrix must be square.");
-
-        if (n == 1)
-            return this.data[0, 0]; // Base case for 1x1 matrix
-
-        if (n == 2) // Base case for 2x2 matrix
-            return this.data[0, 0] * this.data[1, 1] - this.data[0, 1] * this.data[1, 0];
-
-        float det = 0;
-        for (int col = 0; col < n; col++)
-            det += (col % 2 == 0 ? 1 : -1) * this.data[0, col] * this.Minor(0, col).Determinant();
-
-        return det;
-    }
-
-    // Helper function to compute the minor of a matrix
-    private Matrix2 Minor(int rowToRemove, int colToRemove) {
-        uint n = this.nRows;
-        float[,] minor = new float[n - 1, n - 1];
-
-        int r = 0, c = 0;
-        for (int i = 0; i < n; i++) {
-            if (i == rowToRemove) continue;
-
-            c = 0;
-            for (int j = 0; j < n; j++) {
-                if (j == colToRemove) continue;
-
-                minor[r, c] = this.data[i, j];
-                c++;
-            }
-            r++;
+        public static Matrix1 Zero(uint size)
+        {
+            return new Matrix1(size);
         }
 
-        return new Matrix2(minor);
-    }
-}
+        public static Matrix1 FromVector2(Vector2Float v)
+        {
+            float[] result = new float[2];
+            result[0] = v.x;
+            result[1] = v.y;
+            return new Matrix1(result);
+        }
 
-public class Matrix1 {
-    public float[] data { get; }
-
-    public uint size => (uint)data.GetLength(0);
-
-    public Matrix1(uint size) {
-        this.data = new float[size];
-    }
-
-    public Matrix1(float[] data) {
-        this.data = data;
-    }
-
-    public static Matrix1 Zero(uint size) {
-        return new Matrix1(size);
-    }
-
-    public static Matrix1 FromVector2(Vector2Float v) {
-        float[] result = new float[2];
-        result[0] = v.x;
-        result[1] = v.y;
-        return new Matrix1(result);
-    }
-
-    public static Matrix1 FromVector3(Vector3Float v) {
-        float[] result = new float[3];
-        result[0] = v.x;
-        result[1] = v.y;
-        result[2] = v.z;
-        return new Matrix1(result);
-    }
+        public static Matrix1 FromVector3(Vector3Float v)
+        {
+            float[] result = new float[3];
+            result[0] = v.x;
+            result[1] = v.y;
+            result[2] = v.z;
+            return new Matrix1(result);
+        }
 
 #if UNITY_5_3_OR_NEWER
     public static Matrix1 FromQuaternion(Quaternion q) {
@@ -443,20 +520,24 @@ public class Matrix1 {
     }
 #endif
 
-    public Vector2Float vector2 {
-        get {
-            if (this.size != 2)
-                throw new System.ArgumentException("Matrix1 must be of size 2");
-            return new Vector2Float(this.data[0], this.data[1]);
+        public Vector2Float vector2
+        {
+            get
+            {
+                if (this.size != 2)
+                    throw new System.ArgumentException("Matrix1 must be of size 2");
+                return new Vector2Float(this.data[0], this.data[1]);
+            }
         }
-    }
-    public Vector3Float vector3 {
-        get {
-            if (this.size != 3)
-                throw new System.ArgumentException("Matrix1 must be of size 3");
-            return new Vector3Float(this.data[0], this.data[1], this.data[2]);
+        public Vector3Float vector3
+        {
+            get
+            {
+                if (this.size != 3)
+                    throw new System.ArgumentException("Matrix1 must be of size 3");
+                return new Vector3Float(this.data[0], this.data[1], this.data[2]);
+            }
         }
-    }
 
 #if UNITY_5_3_OR_NEWER
     public Quaternion quaternion {
@@ -468,82 +549,97 @@ public class Matrix1 {
     }
 #endif
 
-    public Matrix1 Clone() {
-        float[] data = new float[this.size];
-        for (int rowIx = 0; rowIx < this.size; rowIx++)
-            data[rowIx] = this.data[rowIx];
-        return new Matrix1(data);
-    }
+        public Matrix1 Clone()
+        {
+            float[] data = new float[this.size];
+            for (int rowIx = 0; rowIx < this.size; rowIx++)
+                data[rowIx] = this.data[rowIx];
+            return new Matrix1(data);
+        }
 
 
-    public float magnitude {
-        get {
-            float sum = 0;
-            foreach (var elm in data)
-                sum += elm;
-            return sum / data.Length;
+        public float magnitude
+        {
+            get
+            {
+                float sum = 0;
+                foreach (var elm in data)
+                    sum += elm;
+                return sum / data.Length;
+            }
+        }
+        public static Matrix1 operator +(Matrix1 A, Matrix1 B)
+        {
+            if (A.size != B.size)
+                throw new System.ArgumentException("Size of A must match size of B.");
+
+            float[] result = new float[A.size];
+
+            for (int i = 0; i < A.size; i++)
+            {
+                result[i] = A.data[i] + B.data[i];
+            }
+            return new Matrix1(result);
+        }
+
+        public Matrix2 Transpose()
+        {
+            float[,] r = new float[1, this.size];
+            for (uint colIx = 0; colIx < this.size; colIx++)
+                r[1, colIx] = this.data[colIx];
+
+            return new Matrix2(r);
+        }
+
+        public static float Dot(Matrix1 a, Matrix1 b)
+        {
+            if (a.size != b.size)
+                throw new System.ArgumentException("Vectors must be of the same length.");
+
+            float result = 0.0f;
+            for (int i = 0; i < a.size; i++)
+            {
+                result += a.data[i] * b.data[i];
+            }
+            return result;
+        }
+
+        public static Matrix1 operator *(Matrix1 A, float f)
+        {
+            float[] result = new float[A.size];
+
+            for (int i = 0; i < A.size; i++)
+                result[i] += A.data[i] * f;
+
+            return new Matrix1(result);
+        }
+        public static Matrix1 operator *(float f, Matrix1 A)
+        {
+            return A * f;
+        }
+
+        public Matrix1 Slice(Slice range)
+        {
+            return Slice(range.start, range.stop);
+        }
+        public Matrix1 Slice(uint from, uint to)
+        {
+            if (from < 0 || to >= this.size)
+                throw new System.ArgumentException("Slice index out of range.");
+
+            float[] result = new float[to - from];
+            int resultIx = 0;
+            for (uint ix = from; ix < to; ix++)
+                result[resultIx++] = this.data[ix];
+
+            return new Matrix1(result);
+        }
+        public void UpdateSlice(Slice slice, Matrix1 v)
+        {
+            int vIx = 0;
+            for (uint ix = slice.start; ix < slice.stop; ix++, vIx++)
+                this.data[ix] = v.data[vIx];
         }
     }
-    public static Matrix1 operator +(Matrix1 A, Matrix1 B) {
-        if (A.size != B.size)
-            throw new System.ArgumentException("Size of A must match size of B.");
 
-        float[] result = new float[A.size];
-
-        for (int i = 0; i < A.size; i++) {
-            result[i] = A.data[i] + B.data[i];
-        }
-        return new Matrix1(result);
-    }
-
-    public Matrix2 Transpose() {
-        float[,] r = new float[1, this.size];
-        for (uint colIx = 0; colIx < this.size; colIx++)
-            r[1, colIx] = this.data[colIx];
-
-        return new Matrix2(r);
-    }
-
-    public static float Dot(Matrix1 a, Matrix1 b) {
-        if (a.size != b.size)
-            throw new System.ArgumentException("Vectors must be of the same length.");
-
-        float result = 0.0f;
-        for (int i = 0; i < a.size; i++) {
-            result += a.data[i] * b.data[i];
-        }
-        return result;
-    }
-
-    public static Matrix1 operator *(Matrix1 A, float f) {
-        float[] result = new float[A.size];
-
-        for (int i = 0; i < A.size; i++)
-            result[i] += A.data[i] * f;
-
-        return new Matrix1(result);
-    }
-    public static Matrix1 operator *(float f, Matrix1 A) {
-        return A * f;
-    }
-
-    public Matrix1 Slice(Slice range) {
-        return Slice(range.start, range.stop);
-    }
-    public Matrix1 Slice(uint from, uint to) {
-        if (from < 0 || to >= this.size)
-            throw new System.ArgumentException("Slice index out of range.");
-
-        float[] result = new float[to - from];
-        int resultIx = 0;
-        for (uint ix = from; ix < to; ix++)
-            result[resultIx++] = this.data[ix];
-
-        return new Matrix1(result);
-    }
-    public void UpdateSlice(Slice slice, Matrix1 v) {
-        int vIx = 0;
-        for (uint ix = slice.start; ix < slice.stop; ix++, vIx++)
-            this.data[ix] = v.data[vIx];
-    }
 }
\ No newline at end of file
diff --git a/LinearAlgebra/src/Quat32.cs b/LinearAlgebra/src/Quat32.cs
index 6bebd04..3026f8e 100644
--- a/LinearAlgebra/src/Quat32.cs
+++ b/LinearAlgebra/src/Quat32.cs
@@ -1,6 +1,6 @@
 using System;
 
-namespace Passer.LinearAlgebra
+namespace LinearAlgebra
 {
     public class Quat32
     {
diff --git a/LinearAlgebra/src/Quaternion.cs b/LinearAlgebra/src/Quaternion.cs
index 57f8f5d..f481ef4 100644
--- a/LinearAlgebra/src/Quaternion.cs
+++ b/LinearAlgebra/src/Quaternion.cs
@@ -2,15 +2,19 @@ using System;
 #if UNITY_5_3_OR_NEWER
 using Quaternion = UnityEngine.Quaternion;
 #endif
-namespace Passer.LinearAlgebra {
 
-    public class QuaternionOf<T> {
+namespace LinearAlgebra
+{
+
+    public class QuaternionOf<T>
+    {
         public T x;
         public T y;
         public T z;
         public T w;
 
-        public QuaternionOf(T x, T y, T z, T w) {
+        public QuaternionOf(T x, T y, T z, T w)
+        {
             this.x = x;
             this.y = y;
             this.z = z;
diff --git a/LinearAlgebra/src/Spherical.cs b/LinearAlgebra/src/Spherical.cs
index be0c38a..497a508 100644
--- a/LinearAlgebra/src/Spherical.cs
+++ b/LinearAlgebra/src/Spherical.cs
@@ -3,35 +3,42 @@ using System;
 using Vector3Float = UnityEngine.Vector3;
 #endif
 
-namespace Passer.LinearAlgebra {
-    public class Spherical {
+namespace LinearAlgebra
+{
+    public class Spherical
+    {
         public float distance;
         public Direction direction;
 
         public static Spherical zero = new Spherical(0, 0, 0);
         public static Spherical forward = new Spherical(1, 0, 0);
 
-        public Spherical(float distance, float horizontal, float vertical) {
+        public Spherical(float distance, float horizontal, float vertical)
+        {
             this.distance = distance;
             this.direction = new Direction(horizontal, vertical);
         }
-        public Spherical(float distance, Direction direction) {
+        public Spherical(float distance, Direction direction)
+        {
             this.distance = distance;
             this.direction = direction;
         }
 
-        public static Spherical FromVector3(Vector3Float v) {
+        public static Spherical FromVector3(Vector3Float v)
+        {
             float distance = v.magnitude;
             if (distance == 0.0f)
                 return new Spherical(distance, 0, 0);
-            else {
+            else
+            {
                 float verticalAngle = (float)((Angle.pi / 2 - Math.Acos(v.y / distance)) * Angle.Rad2Deg);
-                float horizontalAngle = (float) Math.Atan2(v.x, v.z) * Angle.Rad2Deg;
+                float horizontalAngle = (float)Math.Atan2(v.x, v.z) * Angle.Rad2Deg;
                 return new Spherical(distance, horizontalAngle, verticalAngle);
             }
         }
 
-        public Vector3Float ToVector3() {
+        public Vector3Float ToVector3()
+        {
             float verticalRad = (Angle.pi / 2) - this.direction.vertical * Angle.Deg2Rad;
             float horizontalRad = this.direction.horizontal * Angle.Deg2Rad;
             float cosVertical = (float)Math.Cos(verticalRad);
diff --git a/LinearAlgebra/src/SwingTwist.cs b/LinearAlgebra/src/SwingTwist.cs
index 7f4bbfd..a7a73da 100644
--- a/LinearAlgebra/src/SwingTwist.cs
+++ b/LinearAlgebra/src/SwingTwist.cs
@@ -1,4 +1,4 @@
-namespace Passer.LinearAlgebra
+namespace LinearAlgebra
 {
 
     public class SwingTwist
diff --git a/LinearAlgebra/src/Vector2.cs b/LinearAlgebra/src/Vector2.cs
index c7d00a4..603b0de 100644
--- a/LinearAlgebra/src/Vector2.cs
+++ b/LinearAlgebra/src/Vector2.cs
@@ -1,50 +1,63 @@
 using System;
 using System.Numerics;
 
-namespace Passer.LinearAlgebra {
+namespace LinearAlgebra
+{
 
-    public class Vector2Of<T> where T : IComparable<T> {
+    public class Vector2Of<T> where T : IComparable<T>
+    {
         public T x;
         public T y;
 
-        public Vector2Of(T x, T y) {
+        public Vector2Of(T x, T y)
+        {
             this.x = x;
             this.y = y;
         }
     }
 
-    public class Vector2Int : Vector2Of<int> {
+    public class Vector2Int : Vector2Of<int>
+    {
         public Vector2Int(int x, int y) : base(x, y) { }
 
-        public static Vector2Int operator -(Vector2Int v1, Vector2Int v2) {
+        public static Vector2Int operator -(Vector2Int v1, Vector2Int v2)
+        {
             return new Vector2Int(v1.x - v2.x, v1.y - v2.y);
         }
 
-        public float magnitude {
-            get {
+        public float magnitude
+        {
+            get
+            {
                 return (float)Math.Sqrt(this.x * this.x + this.y * this.y);
             }
         }
 
-        public static float Distance(Vector2Int v1, Vector2Int v2) {
+        public static float Distance(Vector2Int v1, Vector2Int v2)
+        {
             return (v1 - v2).magnitude;
         }
     }
 
-    public class Vector2Float : Vector2Of<float> {
+    public class Vector2Float : Vector2Of<float>
+    {
         public Vector2Float(float x, float y) : base(x, y) { }
 
-        public static Vector2Float operator -(Vector2Float v1, Vector2Float v2) {
+        public static Vector2Float operator -(Vector2Float v1, Vector2Float v2)
+        {
             return new Vector2Float(v1.x - v2.x, v1.y - v2.y);
         }
 
-        public float magnitude {
-            get {
+        public float magnitude
+        {
+            get
+            {
                 return (float)Math.Sqrt(this.x * this.x + this.y * this.y);
             }
         }
 
-        public static float Distance(Vector2Float v1, Vector2Float v2) {
+        public static float Distance(Vector2Float v1, Vector2Float v2)
+        {
             return (v1 - v2).magnitude;
         }
     }
@@ -52,7 +65,8 @@ namespace Passer.LinearAlgebra {
     /// <summary>
     /// 2-dimensional vectors
     /// </summary>
-    public struct Vector2 : IEquatable<Vector2> {
+    public struct Vector2 : IEquatable<Vector2>
+    {
 
         /// <summary>
         /// The right axis of the vector
@@ -69,7 +83,8 @@ namespace Passer.LinearAlgebra {
         /// </summary>
         /// <param name="x">x axis value</param>
         /// <param name="y">y axis value</param>
-        public Vector2(float x, float y) {
+        public Vector2(float x, float y)
+        {
             this.x = x;
             this.y = y;
         }
@@ -114,8 +129,10 @@ namespace Passer.LinearAlgebra {
         /// 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.
-        public float sqrMagnitude {
-            get {
+        public float sqrMagnitude
+        {
+            get
+            {
                 float d = x * x + y * y;
                 return d;
             }
@@ -125,8 +142,10 @@ namespace Passer.LinearAlgebra {
         /// The length of this vector
         /// </summary>
         /// <returns>The length of this vector</returns>
-        public float magnitude {
-            get {
+        public float magnitude
+        {
+            get
+            {
                 float d = (float)Math.Sqrt(x * x + y * y);
                 return d;
             }
@@ -136,8 +155,10 @@ namespace Passer.LinearAlgebra {
         /// Convert the vector to a length of a 1
         /// </summary>
         /// <returns>The vector with length 1</returns>
-        public Vector2 normalized {
-            get {
+        public Vector2 normalized
+        {
+            get
+            {
                 float l = magnitude;
                 Vector2 v = zero;
                 if (l > Float.epsilon)
@@ -152,7 +173,8 @@ namespace Passer.LinearAlgebra {
         /// <param name="v1">The first vector</param>
         /// <param name="v2">The second vector</param>
         /// <returns>The result of adding the two vectors</returns>
-        public static Vector2 operator +(Vector2 v1, Vector2 v2) {
+        public static Vector2 operator +(Vector2 v1, Vector2 v2)
+        {
             Vector2 v = new Vector2(v1.x + v2.x, v1.y + v2.y);
             return v;
         }
@@ -163,7 +185,8 @@ namespace Passer.LinearAlgebra {
         /// <param name="v1">The first vector</param>
         /// <param name="v2">The second vector</param>
         /// <returns>The result of adding the two vectors</returns>
-        public static Vector2 operator -(Vector2 v1, Vector2 v2) {
+        public static Vector2 operator -(Vector2 v1, Vector2 v2)
+        {
             Vector2 v = new Vector2(v1.x - v2.x, v1.y - v2.y);
             return v;
         }
@@ -174,7 +197,8 @@ namespace Passer.LinearAlgebra {
         /// <param name="v1">The vector to negate</param>
         /// <returns>The negated vector</returns>
         /// This will result in a vector pointing in the opposite direction
-        public static Vector2 operator -(Vector2 v1) {
+        public static Vector2 operator -(Vector2 v1)
+        {
             Vector2 v = new Vector2(-v1.x, -v1.y);
             return v;
         }
@@ -186,7 +210,8 @@ namespace Passer.LinearAlgebra {
         /// <param name="f">The scaling factor</param>
         /// <returns>The scaled vector</returns>
         /// Each component of the vector will be multipled with the same factor.
-        public static Vector2 operator *(Vector2 v1, float f) {
+        public static Vector2 operator *(Vector2 v1, float f)
+        {
             Vector2 v = new Vector2(v1.x * f, v1.y * f);
             return v;
         }
@@ -198,7 +223,8 @@ namespace Passer.LinearAlgebra {
         /// <param name="v1">The vector to scale</param>
         /// <returns>The scaled vector</returns>
         /// Each component of the vector will be multipled with the same factor.
-        public static Vector2 operator *(float f, Vector2 v1) {
+        public static Vector2 operator *(float f, Vector2 v1)
+        {
             Vector2 v = new Vector2(f * v1.x, f * v1.y);
             return v;
         }
@@ -210,7 +236,8 @@ namespace Passer.LinearAlgebra {
         /// <param name="f">The scaling factor</param>
         /// <returns>The scaled vector</returns>
         /// Each component of the vector will be devided by the same factor.
-        public static Vector2 operator /(Vector2 v1, float f) {
+        public static Vector2 operator /(Vector2 v1, float f)
+        {
             Vector2 v = new Vector2(v1.x / f, v1.y / f);
             return v;
         }
@@ -227,7 +254,8 @@ namespace Passer.LinearAlgebra {
         /// </summary>
         /// <param name="obj">The object to compare to</param>
         /// <returns><em>false</em> when the object is not a Vector2 or does not have equal values</returns>
-        public override bool Equals(object obj) {
+        public override bool Equals(object obj)
+        {
             if (!(obj is Vector2 v))
                 return false;
 
@@ -243,7 +271,8 @@ namespace Passer.LinearAlgebra {
         /// Note that this uses a Float equality check which cannot be not exact in all cases.
         /// In most cases it is better to check if the Vector2.Distance between the vectors is smaller than Float.epsilon
         /// Or more efficient: (v1 - v2).sqrMagnitude < Float.sqrEpsilon
-        public static bool operator ==(Vector2 v1, Vector2 v2) {
+        public static bool operator ==(Vector2 v1, Vector2 v2)
+        {
             return (v1.x == v2.x && v1.y == v2.y);
         }
 
@@ -256,7 +285,8 @@ namespace Passer.LinearAlgebra {
         /// Note that this uses a Float equality check which cannot be not exact in all case.
         /// In most cases it is better to check if the Vector2.Distance between the vectors is smaller than Float.epsilon.
         /// Or more efficient: (v1 - v2).sqrMagnitude < Float.sqrEpsilon
-        public static bool operator !=(Vector2 v1, Vector2 v2) {
+        public static bool operator !=(Vector2 v1, Vector2 v2)
+        {
             return (v1.x != v2.x || v1.y != v2.y);
         }
 
@@ -264,7 +294,8 @@ namespace Passer.LinearAlgebra {
         /// Get an hash code for the vector
         /// </summary>
         /// <returns>The hash code</returns>
-        public override int GetHashCode() {
+        public override int GetHashCode()
+        {
             return (x, y).GetHashCode();
         }
 
@@ -274,7 +305,8 @@ namespace Passer.LinearAlgebra {
         /// <param name="v1">The first vector</param>
         /// <param name="v2">The second vector</param>
         /// <returns>The distance between the two vectors</returns>
-        public static float Distance(Vector2 v1, Vector2 v2) {
+        public static float Distance(Vector2 v1, Vector2 v2)
+        {
             float x = v1.x - v2.x;
             float y = v1.y - v2.y;
             float d = (float)Math.Sqrt(x * x + y * y);
@@ -287,7 +319,8 @@ namespace Passer.LinearAlgebra {
         /// <param name="v1">The first vector</param>
         /// <param name="v2">The second vector</param>
         /// <returns>The dot product of the two vectors</returns>
-        public static float Dot(Vector2 v1, Vector2 v2) {
+        public static float Dot(Vector2 v1, Vector2 v2)
+        {
             return v1.x * v2.x + v1.y * v2.y;
         }
 
@@ -301,7 +334,8 @@ namespace Passer.LinearAlgebra {
         /// The factor f is unclamped. Value 0 matches the *v1* vector, Value 1
         /// matches the *v2* vector Value -1 is *v1* vector minus the difference
         /// between *v1* and *v2* etc.
-        public static Vector2 Lerp(Vector2 v1, Vector2 v2, float f) {
+        public static Vector2 Lerp(Vector2 v1, Vector2 v2, float f)
+        {
             Vector2 v = v1 + (v2 - v1) * f;
             return v;
         }
@@ -313,7 +347,8 @@ namespace Passer.LinearAlgebra {
         /// <param name="to">The ending vector</param>
         /// <param name="axis">The axis to rotate around</param>
         /// <returns>The signed angle in degrees</returns>
-        public static float SignedAngle(Vector2 from, Vector2 to) {
+        public static float SignedAngle(Vector2 from, Vector2 to)
+        {
             //float sign = Math.Sign(v1.y * v2.x - v1.x * v2.y);
             //return Vector2.Angle(v1, v2) * sign;
 
@@ -336,13 +371,15 @@ namespace Passer.LinearAlgebra {
         /// <param name="v1">The vector to rotate</param>
         /// <param name="angle">The angle in degrees</param>
         /// <returns></returns>
-        public static Vector2 Rotate(Vector2 v1, float angle) {
+        public static Vector2 Rotate(Vector2 v1, float angle)
+        {
             float sin = (float)Math.Sin(angle * Angle.Deg2Rad);
             float cos = (float)Math.Cos(angle * Angle.Deg2Rad);
 
             float tx = v1.x;
             float ty = v1.y;
-            Vector2 v = new Vector2() {
+            Vector2 v = new Vector2()
+            {
                 x = (cos * tx) - (sin * ty),
                 y = (sin * tx) + (cos * ty)
             };
@@ -356,7 +393,8 @@ namespace Passer.LinearAlgebra {
         /// <param name="v2">The second vector</param>
         /// <returns>The resulting factor in interval [0..1]</returns>
         /// Vectors a and b must be normalized
-        public static float ToFactor(Vector2 v1, Vector2 v2) {
+        public static float ToFactor(Vector2 v1, Vector2 v2)
+        {
             return (1 - Vector2.Dot(v1, v2)) / 2;
         }
     }
diff --git a/LinearAlgebra/src/Vector3.cs b/LinearAlgebra/src/Vector3.cs
index 3b17b06..616b82e 100644
--- a/LinearAlgebra/src/Vector3.cs
+++ b/LinearAlgebra/src/Vector3.cs
@@ -1,13 +1,16 @@
 #if !UNITY_5_3_OR_NEWER
 using System;
 
-namespace Passer.LinearAlgebra {
-    public class Vector3Of<T> {
+namespace LinearAlgebra
+{
+    public class Vector3Of<T>
+    {
         public T x;
         public T y;
         public T z;
 
-        public Vector3Of(T x, T y, T z) {
+        public Vector3Of(T x, T y, T z)
+        {
             this.x = x;
             this.y = y;
             this.z = z;
@@ -18,13 +21,16 @@ namespace Passer.LinearAlgebra {
         // }
     }
 
-    public class Vector3Int : Vector3Of<int> {
+    public class Vector3Int : Vector3Of<int>
+    {
         public Vector3Int(int x, int y, int z) : base(x, y, z) { }
     }
-    public class Vector3Float : Vector3Of<float> {
+    public class Vector3Float : Vector3Of<float>
+    {
         public Vector3Float(float x, float y, float z) : base(x, y, z) { }
 
-        public float magnitude {
+        public float magnitude
+        {
             get => (float)Math.Sqrt(this.x * this.x + this.y * this.y + this.z * this.z);
         }
     }
@@ -33,7 +39,8 @@ namespace Passer.LinearAlgebra {
     /// 3-dimensional vectors
     /// </summary>
     /// This uses the right-handed coordinate system.
-    public struct Vector3 : IEquatable<Vector3> {
+    public struct Vector3 : IEquatable<Vector3>
+    {
 
         /// <summary>
         /// The right axis of the vector
@@ -54,7 +61,8 @@ namespace Passer.LinearAlgebra {
         /// <param name="x">x axis value</param>
         /// <param name="y">y axis value</param>
         /// <param name="z">z axis value</param>
-        public Vector3(float x, float y, float z) {
+        public Vector3(float x, float y, float z)
+        {
             this.x = x;
             this.y = y;
             this.z = z;
@@ -93,15 +101,19 @@ namespace Passer.LinearAlgebra {
         /// </summary>
         public static readonly Vector3 forward = new Vector3(0, 1, 0);
 
-        public float magnitude {
-            get {
+        public float magnitude
+        {
+            get
+            {
                 float d = (float)Math.Sqrt(x * x + y * y);
                 return d;
             }
         }
 
-        public Vector3 normalized {
-            get {
+        public Vector3 normalized
+        {
+            get
+            {
                 float l = magnitude;
                 Vector3 v = zero;
                 if (l > Float.epsilon)
@@ -110,66 +122,79 @@ namespace Passer.LinearAlgebra {
             }
         }
 
-        public static Vector3 operator +(Vector3 v1, Vector3 v2) {
+        public static Vector3 operator +(Vector3 v1, Vector3 v2)
+        {
             Vector3 v = new Vector3(v1.x + v2.x, v1.y + v2.y, v1.z + v2.z);
             return v;
         }
 
-        public static Vector3 operator -(Vector3 v1, Vector3 v2) {
+        public static Vector3 operator -(Vector3 v1, Vector3 v2)
+        {
             Vector3 v = new Vector3(v1.x - v2.x, v1.y - v2.y, v1.z - v2.z);
             return v;
         }
 
-        public static Vector3 operator -(Vector3 v1) {
+        public static Vector3 operator -(Vector3 v1)
+        {
             Vector3 v = new Vector3(-v1.x, -v1.y, -v1.z);
             return v;
         }
 
-        public static Vector3 operator *(Vector3 v1, float d) {
+        public static Vector3 operator *(Vector3 v1, float d)
+        {
             Vector3 v = new Vector3(v1.x * d, v1.y * d, v1.z * d);
             return v;
         }
 
-        public static Vector3 operator *(float d, Vector3 v1) {
+        public static Vector3 operator *(float d, Vector3 v1)
+        {
             Vector3 v = new Vector3(d * v1.x, d * v1.y, d * v1.z);
             return v;
         }
 
-        public static Vector3 operator /(Vector3 v1, float d) {
+        public static Vector3 operator /(Vector3 v1, float d)
+        {
             Vector3 v = new Vector3(v1.x / d, v1.y / d, v1.z / d);
             return v;
         }
 
         public bool Equals(Vector3 v) => (x == v.x && y == v.y && z == v.z);
 
-        public override bool Equals(object obj) {
+        public override bool Equals(object obj)
+        {
             if (!(obj is Vector3 v))
                 return false;
 
             return (x == v.x && y == v.y && z == v.z);
         }
 
-        public static bool operator ==(Vector3 v1, Vector3 v2) {
+        public static bool operator ==(Vector3 v1, Vector3 v2)
+        {
             return (v1.x == v2.x && v1.y == v2.y && v1.z == v2.z);
         }
 
-        public static bool operator !=(Vector3 v1, Vector3 v2) {
+        public static bool operator !=(Vector3 v1, Vector3 v2)
+        {
             return (v1.x != v2.x || v1.y != v2.y || v1.z != v2.z);
         }
 
-        public override int GetHashCode() {
+        public override int GetHashCode()
+        {
             return (x, y, z).GetHashCode();
         }
 
-        public static float Distance(Vector3 v1, Vector3 v2) {
+        public static float Distance(Vector3 v1, Vector3 v2)
+        {
             return (v2 - v1).magnitude;
         }
 
-        public static float Dot(Vector3 v1, Vector3 v2) {
+        public static float Dot(Vector3 v1, Vector3 v2)
+        {
             return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z;
         }
 
-        public static Vector3 Lerp(Vector3 v1, Vector3 v2, float f) {
+        public static Vector3 Lerp(Vector3 v1, Vector3 v2, float f)
+        {
             Vector3 v = v1 + (v2 - v1) * f;
             return v;
         }
diff --git a/LinearAlgebra/src/float16.cs b/LinearAlgebra/src/float16.cs
index 4195ee6..5d94014 100644
--- a/LinearAlgebra/src/float16.cs
+++ b/LinearAlgebra/src/float16.cs
@@ -1,8 +1,10 @@
 using System;
 
-namespace Passer.LinearAlgebra {
+namespace LinearAlgebra
+{
 
-    public class float16 {
+    public class float16
+    {
         //
         //    FILE: float16.cpp
         //  AUTHOR: Rob Tillaart
@@ -14,12 +16,14 @@ namespace Passer.LinearAlgebra {
 
         public float16() { _value = 0; }
 
-        public float16(float f) {
+        public float16(float f)
+        {
             //_value = f32tof16(f);
             _value = F32ToF16__(f);
         }
 
-        public float toFloat() {
+        public float toFloat()
+        {
             return f16tof32(_value);
         }
 
@@ -153,7 +157,8 @@ namespace Passer.LinearAlgebra {
         //
         //  CORE CONVERSION
         //
-        float f16tof32(ushort _value) {
+        float f16tof32(ushort _value)
+        {
             //ushort sgn;
             ushort man;
             int exp;
@@ -168,11 +173,13 @@ namespace Passer.LinearAlgebra {
             //Debug.Log($"{sgn} {exp} {man}");
 
             //  ZERO
-            if ((_value & 0x7FFF) == 0) {
+            if ((_value & 0x7FFF) == 0)
+            {
                 return sgn ? -0 : 0;
             }
             //  NAN & INF
-            if (exp == 0x001F) {
+            if (exp == 0x001F)
+            {
                 if (man == 0)
                     return sgn ? float.NegativeInfinity : float.PositiveInfinity; //-INFINITY : INFINITY;
                 else
@@ -186,43 +193,50 @@ namespace Passer.LinearAlgebra {
                 f = 1;
 
             //  PROCESS MANTISSE
-            for (int i = 9; i >= 0; i--) {
+            for (int i = 9; i >= 0; i--)
+            {
                 f *= 2;
                 if ((man & (1 << i)) != 0)
                     f = f + 1;
             }
             //Debug.Log($"{f}");
             f = f * (float)Math.Pow(2.0f, exp - 25);
-            if (exp == 0) {
+            if (exp == 0)
+            {
                 f = f * (float)Math.Pow(2.0f, -13); // 5.96046447754e-8;
             }
             //Debug.Log($"{f}");
             return sgn ? -f : f;
         }
 
-        public static uint SingleToInt32Bits(float value) {
+        public static uint SingleToInt32Bits(float value)
+        {
             byte[] bytes = BitConverter.GetBytes(value);
             if (BitConverter.IsLittleEndian)
                 Array.Reverse(bytes); // If the system is little-endian, reverse the byte order
             return BitConverter.ToUInt32(bytes, 0);
         }
 
-        public ushort F32ToF16__(float f) {
+        public ushort F32ToF16__(float f)
+        {
             uint t = BitConverter.ToUInt32(BitConverter.GetBytes(f), 0);
             ushort man = (ushort)((t & 0x007FFFFF) >> 12);
             int exp = (int)((t & 0x7F800000) >> 23);
             bool sgn = (t & 0x80000000) != 0;
 
             // handle 0
-            if ((t & 0x7FFFFFFF) == 0) {
+            if ((t & 0x7FFFFFFF) == 0)
+            {
                 return sgn ? (ushort)0x8000 : (ushort)0x0000;
             }
             // denormalized float32 does not fit in float16
-            if (exp == 0x00) {
+            if (exp == 0x00)
+            {
                 return sgn ? (ushort)0x8000 : (ushort)0x0000;
             }
             // handle infinity & NAN
-            if (exp == 0x00FF) {
+            if (exp == 0x00FF)
+            {
                 if (man != 0)
                     return 0xFE00;              // NAN
                 return sgn ? (ushort)0xFC00 : (ushort)0x7C00; // -INF : INF
@@ -231,11 +245,13 @@ namespace Passer.LinearAlgebra {
             // normal numbers
             exp = exp - 127 + 15;
             // overflow does not fit => INF
-            if (exp > 30) {
+            if (exp > 30)
+            {
                 return sgn ? (ushort)0xFC00 : (ushort)0x7C00; // -INF : INF
             }
             // subnormal numbers
-            if (exp < -38) {
+            if (exp < -38)
+            {
                 return sgn ? (ushort)0x8000 : (ushort)0x0000; // -0 or 0 ? just 0 ?
             }
             if (exp <= 0) // subnormal
@@ -260,7 +276,8 @@ namespace Passer.LinearAlgebra {
         }
 
         //This function is faulty!!!!
-        ushort f32tof16(float f) {
+        ushort f32tof16(float f)
+        {
             //uint t = *(uint*)&f;
             //uint t = (uint)BitConverter.SingleToInt32Bits(f);
             uint t = SingleToInt32Bits(f);
@@ -270,15 +287,18 @@ namespace Passer.LinearAlgebra {
             bool sgn = (t & 0x80000000) != 0;
 
             //  handle 0
-            if ((t & 0x7FFFFFFF) == 0) {
+            if ((t & 0x7FFFFFFF) == 0)
+            {
                 return sgn ? (ushort)0x8000 : (ushort)0x0000;
             }
             //  denormalized float32 does not fit in float16
-            if (exp == 0x00) {
+            if (exp == 0x00)
+            {
                 return sgn ? (ushort)0x8000 : (ushort)0x0000;
             }
             //  handle infinity & NAN
-            if (exp == 0x00FF) {
+            if (exp == 0x00FF)
+            {
                 if (man != 0)
                     return 0xFE00;              //  NAN
                 return sgn ? (ushort)0xFC00 : (ushort)0x7C00; //  -INF : INF
@@ -287,11 +307,13 @@ namespace Passer.LinearAlgebra {
             //  normal numbers
             exp = (short)(exp - 127 + 15);
             //  overflow does not fit => INF
-            if (exp > 30) {
+            if (exp > 30)
+            {
                 return sgn ? (ushort)0xFC00 : (ushort)0x7C00; //  -INF : INF
             }
             //  subnormal numbers
-            if (exp < -38) {
+            if (exp < -38)
+            {
                 return sgn ? (ushort)0x8000 : (ushort)0x0000; //  -0 or 0  ?   just 0 ?
             }
             if (exp <= 0) //  subnormal
diff --git a/LinearAlgebra/test/AngleTest.cs b/LinearAlgebra/test/AngleTest.cs
index 85f0cc0..75522f3 100644
--- a/LinearAlgebra/test/AngleTest.cs
+++ b/LinearAlgebra/test/AngleTest.cs
@@ -1,12 +1,17 @@
-#if NUNIT
 using NUnit.Framework;
-using Passer.LinearAlgebra;
 
-namespace LinearAlgebraTest {
-    public class AngleTest {
+namespace LinearAlgebra.Test
+{
+    public class Tests
+    {
+        [SetUp]
+        public void Setup()
+        {
+        }
 
         [Test]
-        public void Normalize() {
+        public void Test_Normalize()
+        {
             float r = 0;
 
             r = Angle.Normalize(90);
@@ -38,7 +43,8 @@ namespace LinearAlgebraTest {
         }
 
         [Test]
-        public void Clamp() {
+        public void Clamp()
+        {
             float r = 0;
 
             r = Angle.Clamp(1, 0, 2);
@@ -63,11 +69,12 @@ namespace LinearAlgebraTest {
             Assert.AreEqual(r, 1, "Clamp 1 0 INFINITY");
 
             r = Angle.Clamp(1, float.NegativeInfinity, 1);
-            Assert.AreEqual(r, 1,  "Clamp 1 -INFINITY 1");
+            Assert.AreEqual(r, 1, "Clamp 1 -INFINITY 1");
         }
 
         [Test]
-        public void Difference() {
+        public void Difference()
+        {
             float r = 0;
 
             r = Angle.Difference(0, 90);
@@ -105,7 +112,8 @@ namespace LinearAlgebraTest {
         }
 
         [Test]
-        public void MoveTowards() {
+        public void MoveTowards()
+        {
             float r = 0;
 
             r = Angle.MoveTowards(0, 90, 30);
@@ -158,5 +166,4 @@ namespace LinearAlgebraTest {
 
         }
     }
-}
-#endif
\ No newline at end of file
+}
\ No newline at end of file
diff --git a/src/Messages/LowLevelMessages.cs b/src/Messages/LowLevelMessages.cs
index 27835e6..39da789 100644
--- a/src/Messages/LowLevelMessages.cs
+++ b/src/Messages/LowLevelMessages.cs
@@ -1,19 +1,15 @@
-using Passer.LinearAlgebra;
+using LinearAlgebra;
 
-namespace RoboidControl
-{
-    public class LowLevelMessages
-    {
+namespace RoboidControl {
+    public class LowLevelMessages {
 
-        public static void SendSpherical(byte[] buffer, ref byte ix, Spherical v)
-        {
+        public static void SendSpherical(byte[] buffer, ref byte ix, Spherical v) {
             SendFloat16(buffer, ref ix, new float16(v.distance));
             SendAngle8(buffer, ref ix, v.direction.horizontal);
             SendAngle8(buffer, ref ix, v.direction.vertical);
         }
 
-        public static Spherical ReceiveSpherical(byte[] data, ref byte ix)
-        {
+        public static Spherical ReceiveSpherical(byte[] data, ref byte ix) {
             float distance = ReceiveFloat16(data, ref ix);
             float horizontal = ReceiveAngle8(data, ref ix);
             float vertical = ReceiveAngle8(data, ref ix);
@@ -21,20 +17,17 @@ namespace RoboidControl
             return v;
         }
 
-        public static void SendQuat32(byte[] buffer, ref byte ix, SwingTwist s)
-        {
+        public static void SendQuat32(byte[] buffer, ref byte ix, SwingTwist s) {
             Quat32 q32 = Quat32.FromSwingTwist(s);
             SendQuat32(buffer, ref ix, q32);
 
         }
-        public static void SendQuat32(byte[] buffer, ref byte ix, Quat32 q)
-        {
+        public static void SendQuat32(byte[] buffer, ref byte ix, Quat32 q) {
             int qx = (int)(q.x * 127 + 128);
             int qy = (int)(q.y * 127 + 128);
             int qz = (int)(q.z * 127 + 128);
             int qw = (int)(q.w * 255);
-            if (q.w < 0)
-            {
+            if (q.w < 0) {
                 qx = -qx;
                 qy = -qy;
                 qz = -qz;
@@ -46,8 +39,7 @@ namespace RoboidControl
             buffer[ix++] = (byte)qz;
             buffer[ix++] = (byte)qw;
         }
-        public static Quat32 ReceiveQuat32(byte[] data, ref byte ix)
-        {
+        public static Quat32 ReceiveQuat32(byte[] data, ref byte ix) {
             Quat32 q = new Quat32(
                 (data[ix++] - 128.0F) / 127.0F,
                 (data[ix++] - 128.0F) / 127.0F,
@@ -56,8 +48,7 @@ namespace RoboidControl
             return q;
         }
 
-        public static SwingTwist ReceiveSwingTwist(byte[] data, ref byte ix)
-        {
+        public static SwingTwist ReceiveSwingTwist(byte[] data, ref byte ix) {
             Quat32 q32 = ReceiveQuat32(data, ref ix);
             // UnityEngine.Quaternion q = new(q32.x, q32.y, q32.z, q32.w);
             // SwingTwist r = new(q.eulerAngles.y, q.eulerAngles.x, q.eulerAngles.z);
@@ -66,8 +57,7 @@ namespace RoboidControl
             return r;
         }
 
-        public static void SendAngle8(byte[] buffer, ref byte ix, float angle)
-        {
+        public static void SendAngle8(byte[] buffer, ref byte ix, float angle) {
             // Normalize angle
             while (angle >= 180)
                 angle -= 360;
@@ -77,28 +67,24 @@ namespace RoboidControl
             buffer[ix++] = (byte)value;
         }
 
-        public static float ReceiveAngle8(byte[] data, ref byte ix)
-        {
+        public static float ReceiveAngle8(byte[] data, ref byte ix) {
             float value = (data[ix++] * 180) / 128.0F;
             return value;
         }
 
-        public static void SendFloat16(byte[] data, ref byte ix, float f)
-        {
+        public static void SendFloat16(byte[] data, ref byte ix, float f) {
             float16 f16 = new float16(f);
             ushort binary = f16.GetBinary();
             data[ix++] = (byte)(binary >> 8);
             data[ix++] = (byte)(binary & 255);
         }
-        public static void SendFloat16(byte[] data, ref byte ix, float16 f)
-        {
+        public static void SendFloat16(byte[] data, ref byte ix, float16 f) {
             ushort binary = f.GetBinary();
             data[ix++] = (byte)((binary >> 8) & 0xFF);
             data[ix++] = (byte)(binary & 0xFF);
         }
 
-        public static float ReceiveFloat16(byte[] data, ref byte ix)
-        {
+        public static float ReceiveFloat16(byte[] data, ref byte ix) {
             byte msb = data[ix++];
             byte lsb = data[ix++];
             ushort value = (ushort)(msb << 8 | lsb);
diff --git a/src/Messages/PoseMsg.cs b/src/Messages/PoseMsg.cs
index 5edd583..f29588f 100644
--- a/src/Messages/PoseMsg.cs
+++ b/src/Messages/PoseMsg.cs
@@ -1,4 +1,4 @@
-using Passer.LinearAlgebra;
+using LinearAlgebra;
 
 namespace RoboidControl {
 
diff --git a/src/Thing.cs b/src/Thing.cs
index 3f12b62..bf5b109 100644
--- a/src/Thing.cs
+++ b/src/Thing.cs
@@ -1,7 +1,6 @@
 using System;
 using System.Collections.Generic;
-using System.Diagnostics;
-using Passer.LinearAlgebra;
+using LinearAlgebra;
 
 namespace RoboidControl {