diff --git a/LinearAlgebra/Matrix.cs b/LinearAlgebra/Matrix.cs
index c2e6334..b5f7e9d 100644
--- a/LinearAlgebra/Matrix.cs
+++ b/LinearAlgebra/Matrix.cs
@@ -4,8 +4,8 @@ using Vector3 = UnityEngine.Vector3;
 using Vector2 = UnityEngine.Vector2;
 
 public readonly struct Slice {
-    public int start {get;}
-    public int stop {get;}
+    public int start { get; }
+    public int stop { get; }
     public Slice(int start, int stop) {
         this.start = start;
         this.stop = stop;
@@ -25,6 +25,15 @@ public class Matrix2 {
         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];
+        }
+        return new Matrix2(data);
+    }
+
     public static Matrix2 Zero(uint nRows, uint nCols) {
         return new Matrix2(nRows, nCols);
     }
@@ -59,6 +68,30 @@ public class Matrix2 {
         return new Matrix2(result);
     }
 
+    public Vector3 GetRow3(int rowIx) {
+        uint cols = this.nCols;
+        Vector3 row = new() {
+            x = this.data[rowIx, 0],
+            y = this.data[rowIx, 1],
+            z = this.data[rowIx, 2]
+        };
+        return row;
+    }
+    public void SetRow3(int rowIx, Vector3 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];
+        }
+        return new Matrix1(column);
+    }
+
+
     public Matrix2 Transpose() {
         float[,] resultData = new float[this.nCols, this.nRows];
         for (uint rowIx = 0; rowIx < this.nRows; rowIx++) {
@@ -145,7 +178,6 @@ public class Matrix2 {
         };
     }
 
-
     public static Matrix2 operator *(Matrix2 A, float s) {
         float[,] result = new float[A.nRows, A.nCols];
 
@@ -244,6 +276,48 @@ public class Matrix2 {
 
         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++;
+        }
+
+        return new Matrix2(minor);
+    }
+
+
 }
 
 public class Matrix1 {
@@ -343,180 +417,4 @@ public class Matrix1 {
         for (int ix = slice.start; ix < slice.stop; ix++, vIx++)
             this.data[ix] = v.data[vIx];
     }
-}
-
-public class Matrix {
-    private readonly uint rows = 0;
-    private readonly uint cols = 0;
-    private float[] data;
-
-    public Matrix(uint rows, uint cols) {
-        this.rows = rows;
-        this.cols = cols;
-    }
-
-    public static float[,] Diagonal(float[] v) {
-        float[,] r = new float[v.Length, v.Length];
-        for (int i = 0; i < v.Length; i++) {
-            r[i, i] = v[i];
-        }
-        return r;
-    }
-
-    public static float[,] Transpose(float[,] m) {
-        int rows = m.GetLength(0);
-        int cols = m.GetLength(1);
-        float[,] r = new float[cols, rows];
-        for (uint rowIx = 0; rowIx < rows; rowIx++) {
-            for (uint colIx = 0; colIx < cols; colIx++)
-                r[colIx, rowIx] = m[rowIx, colIx];
-        }
-        return r;
-        // double checked code
-    }
-
-    public static void NegateColumn(float[,] m, uint colIx) {
-        for (uint rowIx = 0; rowIx < m.GetLength(0); rowIx++) {
-            m[rowIx, colIx] = -m[rowIx, colIx];
-        }
-    }
-
-    public static float Determinant(float[,] matrix) {
-        int n = matrix.GetLength(0);
-        if (n != matrix.GetLength(1))
-            throw new System.ArgumentException("Matrix must be square.");
-
-        if (n == 1)
-            return matrix[0, 0]; // Base case for 1x1 matrix
-
-        if (n == 2) // Base case for 2x2 matrix
-            return matrix[0, 0] * matrix[1, 1] - matrix[0, 1] * matrix[1, 0];
-
-        float det = 0;
-        for (int col = 0; col < n; col++)
-            det += (col % 2 == 0 ? 1 : -1) * matrix[0, col] * Determinant(Minor(matrix, 0, col));
-
-        return det;
-    }
-
-    // Helper function to compute the minor of a matrix
-    private static float[,] Minor(float[,] matrix, int rowToRemove, int colToRemove) {
-        int n = matrix.GetLength(0);
-        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] = matrix[i, j];
-                c++;
-            }
-            r++;
-        }
-
-        return minor;
-    }
-
-    public static float[,] MultiplyMatrices(float[,] A, float[,] B) {
-        int rowsA = A.GetLength(0);
-        int colsA = A.GetLength(1);
-        int rowsB = B.GetLength(0);
-        int colsB = B.GetLength(1);
-
-        if (colsA != rowsB)
-            throw new System.ArgumentException("Number of columns in A must match number of rows in B.");
-
-        float[,] result = new float[rowsA, colsB];
-
-        for (int i = 0; i < rowsA; i++) {
-            for (int j = 0; j < colsB; j++) {
-                float sum = 0.0f;
-                for (int k = 0; k < colsA; k++)
-                    sum += A[i, k] * B[k, j];
-
-                result[i, j] = sum;
-            }
-        }
-
-        return result;
-        // double checked code
-    }
-
-    public static float[] MultiplyMatrixVector(float[,] A, float[] v) {
-        int rows = A.GetLength(0);
-        int cols = A.GetLength(1);
-        float[] result = new float[rows];
-
-        for (int i = 0; i < rows; i++) {
-            for (int j = 0; j < cols; j++) {
-                result[i] += A[i, j] * v[j];
-            }
-        }
-
-        return result;
-    }
-
-    // Vector-matrix multiplication
-    public static Vector3 MultiplyMatrixVector3(float[,] A, Vector3 v) {
-        return new Vector3() {
-            x = A[0, 0] * v.x + A[0, 1] * v.y + A[0, 2] * v.z,
-            y = A[1, 0] * v.x + A[1, 1] * v.y + A[1, 2] * v.z,
-            z = A[2, 0] * v.x + A[2, 1] * v.y + A[2, 2] * v.z
-        };
-    }
-
-    public static float[,] MultiplyMatrixScalar(float[,] A, float s) {
-        int rows = A.GetLength(0);
-        int cols = A.GetLength(1);
-        float[,] result = new float[rows, cols];
-
-        for (int i = 0; i < rows; i++) {
-            for (int j = 0; j < cols; j++) {
-                result[i, j] += A[i, j] * s;
-            }
-        }
-
-        return result;
-    }
-
-    public static float[] GetColumn(float[,] M, int col) {
-        int rows = M.GetLength(0);
-        float[] column = new float[rows];
-        for (int i = 0; i < rows; i++) {
-            column[i] = M[i, col];
-        }
-        return column;
-    }
-
-    public static Vector3 GetRow3(float[,] M, int rowIx) {
-        int cols = M.GetLength(1);
-        Vector3 row = new();
-        row.x = M[rowIx, 0];
-        row.y = M[rowIx, 1];
-        row.z = M[rowIx, 2];
-        return row;
-    }
-
-    public static void SetRow3(float[,] M, int rowIx, Vector3 v) {
-        M[rowIx, 0] = v.x;
-        M[rowIx, 1] = v.y;
-        M[rowIx, 2] = v.z;
-    }
-
-    public static float Dot(float[] a, float[] b) {
-        float sum = 0;
-        for (int i = 0; i < a.Length; i++) sum += a[i] * b[i];
-        return sum;
-    }
-
-    public static float[,] IdentityMatrix(int size) {
-        float[,] I = new float[size, size];
-        for (int i = 0; i < size; i++) I[i, i] = 1.0f;
-        return I;
-    }
-
 }
\ No newline at end of file
diff --git a/LinearAlgebra/Quaternion.cs b/LinearAlgebra/Quaternion.cs
index 55ad014..9a9fed7 100644
--- a/LinearAlgebra/Quaternion.cs
+++ b/LinearAlgebra/Quaternion.cs
@@ -13,15 +13,16 @@ namespace Passer.LinearAlgebra {
             this.w = w;
         }
 
-        public static float[,] ToRotationMatrix(Quaternion q) {
+        public static Matrix2 ToRotationMatrix(Quaternion q) {
             float w = q.x, x = q.y, y = q.z, z = q.w;
 
-            return new float[,]
+            float[,] result = new float[,]
             {
                 { 1 - 2 * (y * y + z * z), 2 * (x * y - w * z), 2 * (x * z + w * y) },
                 { 2 * (x * y + w * z), 1 - 2 * (x * x + z * z), 2 * (y * z - w * x) },
                 { 2 * (x * z - w * y), 2 * (y * z + w * x), 1 - 2 * (x * x + y * y) }
             };
+            return new Matrix2(result);
         }
     }