diff --git a/README.md b/README.md
index 399b798..0fa98a5 100644
--- a/README.md
+++ b/README.md
@@ -10,39 +10,31 @@ Has functions for Vec2, Vec3, Vec4, Mat3, Mat4 and Quat.
 import vmath
 ```
 
-## **proc** clamp
-
-Clamps n to min, else returns max if n is higher.
-
-```nim
-proc clamp(n, min, max: float32): float32
-```
-
-## **proc** between
+## **func** between
 
 Returns true if value is between min and max or equal to them.
 
 ```nim
-proc between(value, min, max: float32): bool
+func between(value, min, max: float32): bool
 ```
 
-## **proc** sign
+## **func** sign
 
 Returns the sign of a number, -1 or 1.
 
 ```nim
-proc sign(v: float32): float32
+func sign(v: float32): float32
 ```
 
-## **proc** quantize
+## **func** quantize
 
 Makes v be multipe of n. Rounding to integer quantize by 1.0.
 
 ```nim
-proc quantize(v: float32; n: float32): float32
+func quantize(v: float32; n: float32): float32
 ```
 
-## **proc** lerp
+## **func** lerp
 
 Interpolates value between a and b.
  * 0 -> a
@@ -50,7 +42,7 @@ Interpolates value between a and b.
  * 0.5 -> between a and b
 
 ```nim
-proc lerp(a: float32; b: float32; v: float32): float32
+func lerp(a: float32; b: float32; v: float32): float32
 ```
 
 ## **type** Vec2
@@ -63,194 +55,194 @@ Vec2 = object
  y*: float32
 ```
 
-## **proc** vec2
+## **func** vec2
 
 
 ```nim
-proc vec2(x, y: float32): Vec2
+func vec2(x, y: float32): Vec2
 ```
 
-## **proc** vec2
+## **func** vec2
 
 
 ```nim
-proc vec2(a: Vec2): Vec2
+func vec2(a: Vec2): Vec2
 ```
 
-## **proc** `+`
+## **func** `+`
 
 
 ```nim
-proc `+`(a: Vec2; b: Vec2): Vec2
+func `+`(a: Vec2; b: Vec2): Vec2
 ```
 
-## **proc** `-`
+## **func** `-`
 
 
 ```nim
-proc `-`(a: Vec2; b: Vec2): Vec2
+func `-`(a: Vec2; b: Vec2): Vec2
 ```
 
-## **proc** `*`
+## **func** `*`
 
 
 ```nim
-proc `*`(a: Vec2; b: float32): Vec2
+func `*`(a: Vec2; b: float32): Vec2
 ```
 
-## **proc** `*`
+## **func** `*`
 
 
 ```nim
-proc `*`(a: float32; b: Vec2): Vec2
+func `*`(a: float32; b: Vec2): Vec2
 ```
 
-## **proc** `/`
+## **func** `/`
 
 
 ```nim
-proc `/`(a: Vec2; b: float32): Vec2
+func `/`(a: Vec2; b: float32): Vec2
 ```
 
-## **proc** `+=`
+## **func** `+=`
 
 
 ```nim
-proc `+=`(a: var Vec2; b: Vec2)
+func `+=`(a: var Vec2; b: Vec2)
 ```
 
-## **proc** `-=`
+## **func** `-=`
 
 
 ```nim
-proc `-=`(a: var Vec2; b: Vec2)
+func `-=`(a: var Vec2; b: Vec2)
 ```
 
-## **proc** `*=`
+## **func** `*=`
 
 
 ```nim
-proc `*=`(a: var Vec2; b: float32)
+func `*=`(a: var Vec2; b: float32)
 ```
 
-## **proc** `/=`
+## **func** `/=`
 
 
 ```nim
-proc `/=`(a: var Vec2; b: float32)
+func `/=`(a: var Vec2; b: float32)
 ```
 
-## **proc** zero
+## **func** zero
 
 
 ```nim
-proc zero(a: var Vec2)
+func zero(a: var Vec2)
 ```
 
-## **proc** `-`
+## **func** `-`
 
 
 ```nim
-proc `-`(a: Vec2): Vec2
+func `-`(a: Vec2): Vec2
 ```
 
-## **proc** lengthSq
+## **func** lengthSq
 
 
 ```nim
-proc lengthSq(a: Vec2): float32
+func lengthSq(a: Vec2): float32
 ```
 
-## **proc** length
+## **func** length
 
 
 ```nim
-proc length(a: Vec2): float32
+func length(a: Vec2): float32
 ```
 
-## **proc** length=
+## **func** length=
 
 
 ```nim
-proc length=(a: var Vec2; b: float32)
+func length=(a: var Vec2; b: float32)
 ```
 
-## **proc** normalize
+## **func** normalize
 
 
 ```nim
-proc normalize(a: Vec2): Vec2
+func normalize(a: Vec2): Vec2
 ```
 
-## **proc** dot
+## **func** dot
 
 
 ```nim
-proc dot(a: Vec2; b: Vec2): float32
+func dot(a: Vec2; b: Vec2): float32
 ```
 
-## **proc** dir
+## **func** dir
 
 
 ```nim
-proc dir(at: Vec2; to: Vec2): Vec2
+func dir(at: Vec2; to: Vec2): Vec2
 ```
 
-## **proc** dir
+## **func** dir
 
 
 ```nim
-proc dir(th: float32): Vec2
+func dir(th: float32): Vec2
 ```
 
-## **proc** dist
+## **func** dist
 
 
 ```nim
-proc dist(at: Vec2; to: Vec2): float32
+func dist(at: Vec2; to: Vec2): float32
 ```
 
-## **proc** distSq
+## **func** distSq
 
 
 ```nim
-proc distSq(at: Vec2; to: Vec2): float32
+func distSq(at: Vec2; to: Vec2): float32
 ```
 
-## **proc** lerp
+## **func** lerp
 
 
 ```nim
-proc lerp(a: Vec2; b: Vec2; v: float32): Vec2
+func lerp(a: Vec2; b: Vec2; v: float32): Vec2
 ```
 
-## **proc** quantize
+## **func** quantize
 
 
 ```nim
-proc quantize(v: Vec2; n: float32): Vec2
+func quantize(v: Vec2; n: float32): Vec2
 ```
 
-## **proc** inRect
+## **func** inRect
 
 Check to see if v is inside a rectange formed by a and b. It does not matter how a and b are arranged.
 
 ```nim
-proc inRect(v: Vec2; a: Vec2; b: Vec2): bool
+func inRect(v: Vec2; a: Vec2; b: Vec2): bool
 ```
 
-## **proc** `[]`
+## **func** `[]`
 
 
 ```nim
-proc `[]`(a: Vec2; i: int): float32
+func `[]`(a: Vec2; i: int): float32
 ```
 
-## **proc** `[]=`
+## **func** `[]=`
 
 
 ```nim
-proc `[]=`(a: var Vec2; i: int; b: float32)
+func `[]=`(a: var Vec2; i: int; b: float32)
 ```
 
 ## **proc** randVec2
@@ -260,51 +252,51 @@ proc `[]=`(a: var Vec2; i: int; b: float32)
 proc randVec2(): Vec2
 ```
 
-## **proc** `$`
+## **func** `$`
 
 
 ```nim
-proc `$`(a: Vec2): string
+func `$`(a: Vec2): string {.raises: [ValueError].}
 ```
 
-## **proc** fixAngle
+## **func** fixAngle
 
 Make angle be from -PI to PI radians.
 
 ```nim
-proc fixAngle(angle: float32): float32
+func fixAngle(angle: float32): float32
 ```
 
-## **proc** angle
+## **func** angle
 
 Angle of a Vec2.
 
 ```nim
-proc angle(a: Vec2): float32
+func angle(a: Vec2): float32
 ```
 
-## **proc** angleBetween
+## **func** angleBetween
 
 Angle between 2 Vec2.
 
 ```nim
-proc angleBetween(a: Vec2; b: Vec2): float32
+func angleBetween(a: Vec2; b: Vec2): float32
 ```
 
-## **proc** angleBetween
+## **func** angleBetween
 
 Angle between angle a and angle b.
 
 ```nim
-proc angleBetween(a, b: float32): float32
+func angleBetween(a, b: float32): float32
 ```
 
-## **proc** turnAngle
+## **func** turnAngle
 
 Move from angle a to angle b with step of v.
 
 ```nim
-proc turnAngle(a, b, speed: float32): float32
+func turnAngle(a, b, speed: float32): float32
 ```
 
 ## **type** Vec3
@@ -318,18 +310,18 @@ Vec3 = object
  z*: float32
 ```
 
-## **proc** vec3
+## **func** vec3
 
 
 ```nim
-proc vec3(x, y, z: float32): Vec3
+func vec3(x, y, z: float32): Vec3
 ```
 
-## **proc** vec3
+## **func** vec3
 
 
 ```nim
-proc vec3(a: Vec3): Vec3
+func vec3(a: Vec3): Vec3
 ```
 
 ## **const** X_DIR
@@ -353,242 +345,249 @@ Y_DIR = (x: 0.0, y: 1.0, z: 0.0)
 Z_DIR = (x: 0.0, y: 0.0, z: 1.0)
 ```
 
-## **proc** `+`
+## **func** `+`
 
 
 ```nim
-proc `+`(a: Vec3; b: Vec3): Vec3
+func `+`(a: Vec3; b: Vec3): Vec3
 ```
 
-## **proc** `-`
+## **func** `-`
 
 
 ```nim
-proc `-`(a: Vec3; b: Vec3): Vec3
+func `-`(a: Vec3; b: Vec3): Vec3
 ```
 
-## **proc** `-`
+## **func** `-`
 
 
 ```nim
-proc `-`(a: Vec3): Vec3
+func `-`(a: Vec3): Vec3
 ```
 
-## **proc** `*`
+## **func** `*`
 
 
 ```nim
-proc `*`(a: Vec3; b: float32): Vec3
+func `*`(a: Vec3; b: float32): Vec3
 ```
 
-## **proc** `*`
+## **func** `*`
 
 
 ```nim
-proc `*`(a: float32; b: Vec3): Vec3
+func `*`(a: float32; b: Vec3): Vec3
 ```
 
-## **proc** `/`
+## **func** `/`
 
 
 ```nim
-proc `/`(a: Vec3; b: float32): Vec3
+func `/`(a: Vec3; b: float32): Vec3
 ```
 
-## **proc** `/`
+## **func** `/`
 
 
 ```nim
-proc `/`(a: float32; b: Vec3): Vec3
+func `/`(a: float32; b: Vec3): Vec3
 ```
 
-## **proc** `+=`
+## **func** `+=`
 
 
 ```nim
-proc `+=`(a: var Vec3; b: Vec3)
+func `+=`(a: var Vec3; b: Vec3)
 ```
 
-## **proc** `-=`
+## **func** `-=`
 
 
 ```nim
-proc `-=`(a: var Vec3; b: Vec3)
+func `-=`(a: var Vec3; b: Vec3)
 ```
 
-## **proc** `*=`
+## **func** `*=`
 
 
 ```nim
-proc `*=`(a: var Vec3; b: float32)
+func `*=`(a: var Vec3; b: float32)
 ```
 
-## **proc** `/=`
+## **func** `/=`
 
 
 ```nim
-proc `/=`(a: var Vec3; b: float32)
+func `/=`(a: var Vec3; b: float32)
 ```
 
-## **proc** zero
+## **func** zero
 
 
 ```nim
-proc zero(a: var Vec3)
+func zero(a: var Vec3)
 ```
 
-## **proc** `-`
+## **func** `-`
 
 
 ```nim
-proc `-`(a: var Vec3): Vec3
+func `-`(a: var Vec3): Vec3
 ```
 
-## **proc** lengthSq
+## **func** lengthSq
 
 
 ```nim
-proc lengthSq(a: Vec3): float32
+func lengthSq(a: Vec3): float32
 ```
 
-## **proc** length
+## **func** length
 
 
 ```nim
-proc length(a: Vec3): float32
+func length(a: Vec3): float32
 ```
 
-## **proc** length=
+## **func** length=
 
 
 ```nim
-proc length=(a: var Vec3; b: float32)
+func length=(a: var Vec3; b: float32)
 ```
 
-## **proc** normalize
+## **func** normalize
 
 
 ```nim
-proc normalize(a: Vec3): Vec3
+func normalize(a: Vec3): Vec3
 ```
 
-## **proc** cross
+## **func** cross
 
 
 ```nim
-proc cross(a: Vec3; b: Vec3): Vec3
+func cross(a: Vec3; b: Vec3): Vec3
 ```
 
-## **proc** computeNormal
+## **func** computeNormal
 
 
 ```nim
-proc computeNormal(a, b, c: Vec3): Vec3
+func computeNormal(a, b, c: Vec3): Vec3
 ```
 
-## **proc** dot
+## **func** dot
 
 
 ```nim
-proc dot(a: Vec3; b: Vec3): float32
+func dot(a: Vec3; b: Vec3): float32
 ```
 
-## **proc** dir
+## **func** dir
 
 
 ```nim
-proc dir(at: Vec3; to: Vec3): Vec3
+func dir(at: Vec3; to: Vec3): Vec3
 ```
 
-## **proc** dist
+## **func** dist
 
 
 ```nim
-proc dist(at: Vec3; to: Vec3): float32
+func dist(at: Vec3; to: Vec3): float32
 ```
 
-## **proc** distSq
+## **func** distSq
 
 
 ```nim
-proc distSq(at: Vec3; to: Vec3): float32
+func distSq(at: Vec3; to: Vec3): float32
 ```
 
-## **proc** lerp
+## **func** lerp
 
 
 ```nim
-proc lerp(a: Vec3; b: Vec3; v: float32): Vec3
+func lerp(a: Vec3; b: Vec3; v: float32): Vec3
 ```
 
-## **proc** angleBetween
+## **func** quantize
 
 
 ```nim
-proc angleBetween(a, b: Vec3): float32
+func quantize(v: Vec3; n: float32): Vec3
 ```
 
-## **proc** `[]`
+## **func** angleBetween
 
 
 ```nim
-proc `[]`(a: Vec3; i: int): float32
+func angleBetween(a, b: Vec3): float32
 ```
 
-## **proc** `[]=`
+## **func** `[]`
 
 
 ```nim
-proc `[]=`(a: var Vec3; i: int; b: float32)
+func `[]`(a: Vec3; i: int): float32
 ```
 
-## **proc** xy
+## **func** `[]=`
 
 
 ```nim
-proc xy(a: Vec3): Vec2
+func `[]=`(a: var Vec3; i: int; b: float32)
 ```
 
-## **proc** xz
+## **func** xy
 
 
 ```nim
-proc xz(a: Vec3): Vec2
+func xy(a: Vec3): Vec2
 ```
 
-## **proc** yx
+## **func** xz
 
 
 ```nim
-proc yx(a: Vec3): Vec2
+func xz(a: Vec3): Vec2
 ```
 
-## **proc** yz
+## **func** yx
 
 
 ```nim
-proc yz(a: Vec3): Vec2
+func yx(a: Vec3): Vec2
 ```
 
-## **proc** zx
+## **func** yz
 
 
 ```nim
-proc zx(a: Vec3): Vec2
+func yz(a: Vec3): Vec2
 ```
 
-## **proc** zy
+## **func** zx
 
 
 ```nim
-proc zy(a: Vec3): Vec2
+func zx(a: Vec3): Vec2
 ```
 
-## **proc** almostEquals
+## **func** zy
 
 
 ```nim
-proc almostEquals(a, b: Vec3; precision = 1e-006): bool
+func zy(a: Vec3): Vec2
+```
+
+## **func** almostEquals
+
+
+```nim
+func almostEquals(a, b: Vec3; precision = 1e-006): bool
 ```
 
 ## **proc** randVec3
@@ -599,11 +598,11 @@ Generates a random vector based on <a class="reference external" href="http://ma
 proc randVec3(): Vec3
 ```
 
-## **proc** `$`
+## **func** `$`
 
 
 ```nim
-proc `$`(a: Vec3): string
+func `$`(a: Vec3): string {.raises: [ValueError].}
 ```
 
 ## **type** Vec4
@@ -618,130 +617,130 @@ Vec4 = object
  w*: float32
 ```
 
-## **proc** vec4
+## **func** vec4
 
 
 ```nim
-proc vec4(x, y, z, w: float32): Vec4
+func vec4(x, y, z, w: float32): Vec4
 ```
 
-## **proc** `+`
+## **func** `+`
 
 
 ```nim
-proc `+`(a: Vec4; b: Vec4): Vec4
+func `+`(a: Vec4; b: Vec4): Vec4
 ```
 
-## **proc** `-`
+## **func** `-`
 
 
 ```nim
-proc `-`(a: Vec4; b: Vec4): Vec4
+func `-`(a: Vec4; b: Vec4): Vec4
 ```
 
-## **proc** `-`
+## **func** `-`
 
 
 ```nim
-proc `-`(a: Vec4): Vec4
+func `-`(a: Vec4): Vec4
 ```
 
-## **proc** `*`
+## **func** `*`
 
 
 ```nim
-proc `*`(a: Vec4; b: float32): Vec4
+func `*`(a: Vec4; b: float32): Vec4
 ```
 
-## **proc** `*`
+## **func** `*`
 
 
 ```nim
-proc `*`(a: float32; b: Vec4): Vec4
+func `*`(a: float32; b: Vec4): Vec4
 ```
 
-## **proc** `/`
+## **func** `/`
 
 
 ```nim
-proc `/`(a: Vec4; b: float32): Vec4
+func `/`(a: Vec4; b: float32): Vec4
 ```
 
-## **proc** `/`
+## **func** `/`
 
 
 ```nim
-proc `/`(a: float32; b: Vec4): Vec4
+func `/`(a: float32; b: Vec4): Vec4
 ```
 
-## **proc** `+=`
+## **func** `+=`
 
 
 ```nim
-proc `+=`(a: var Vec4; b: Vec4)
+func `+=`(a: var Vec4; b: Vec4)
 ```
 
-## **proc** `-=`
+## **func** `-=`
 
 
 ```nim
-proc `-=`(a: var Vec4; b: Vec4)
+func `-=`(a: var Vec4; b: Vec4)
 ```
 
-## **proc** `*=`
+## **func** `*=`
 
 
 ```nim
-proc `*=`(a: var Vec4; b: float32)
+func `*=`(a: var Vec4; b: float32)
 ```
 
-## **proc** `/=`
+## **func** `/=`
 
 
 ```nim
-proc `/=`(a: var Vec4; b: float32)
+func `/=`(a: var Vec4; b: float32)
 ```
 
-## **proc** zero
+## **func** zero
 
 
 ```nim
-proc zero(a: var Vec4)
+func zero(a: var Vec4)
 ```
 
-## **proc** xyz
+## **func** xyz
 
 
 ```nim
-proc xyz(a: Vec4): Vec3
+func xyz(a: Vec4): Vec3
 ```
 
-## **proc** `$`
+## **func** `$`
 
 
 ```nim
-proc `$`(a: Vec4): string
+func `$`(a: Vec4): string {.raises: [ValueError].}
 ```
 
-## **proc** vec3
+## **func** vec3
 
 
 ```nim
-proc vec3(a: Vec2; z = 0.0): Vec3
+func vec3(a: Vec2; z = 0.0): Vec3
 ```
 
-## **proc** vec4
+## **func** vec4
 
 
 ```nim
-proc vec4(a: Vec3; w = 0.0): Vec4
+func vec4(a: Vec3; w = 0.0): Vec4
 ```
 
-## **proc** vec4
+## **func** vec4
 
 
 ```nim
-proc vec4(a: Vec2; z = 0.0; w = 0.0): Vec4
+func vec4(a: Vec2; z = 0.0; w = 0.0): Vec4
 ```
 
 ## **type** Mat3
@@ -752,95 +751,95 @@ proc vec4(a: Vec2; z = 0.0; w = 0.0): Vec4
 Mat3 = array[9, float32]
 ```
 
-## **proc** mat3
+## **func** mat3
 
 
 ```nim
-proc mat3(a, b, c, d, e, f, g, h, i: float32): Mat3
+func mat3(a, b, c, d, e, f, g, h, i: float32): Mat3
 ```
 
-## **proc** mat3
+## **func** mat3
 
 
 ```nim
-proc mat3(a: Mat3): Mat3
+func mat3(a: Mat3): Mat3
 ```
 
-## **proc** identity
+## **func** identity
 
 
 ```nim
-proc identity(a: var Mat3)
+func identity(a: var Mat3)
 ```
 
-## **proc** mat3
+## **func** mat3
 
 
 ```nim
-proc mat3(): Mat3
+func mat3(): Mat3
 ```
 
-## **proc** transpose
+## **func** transpose
 
 
 ```nim
-proc transpose(a: Mat3): Mat3
+func transpose(a: Mat3): Mat3
 ```
 
-## **proc** `$`
+## **func** `$`
 
 
 ```nim
-proc `$`(a: Mat3): string
+func `$`(a: Mat3): string {.raises: [ValueError].}
 ```
 
-## **proc** `*`
+## **func** `*`
 
 
 ```nim
-proc `*`(a: Mat3; b: Mat3): Mat3
+func `*`(a: Mat3; b: Mat3): Mat3
 ```
 
-## **proc** `*`
+## **func** `*`
 
 
 ```nim
-proc `*`(m: Mat3; v: Vec3): Vec3
+func `*`(m: Mat3; v: Vec3): Vec3
 ```
 
-## **proc** scale
+## **func** scale
 
 
 ```nim
-proc scale(a: Mat3; v: Vec2): Mat3
+func scale(a: Mat3; v: Vec2): Mat3
 ```
 
-## **proc** scale
+## **func** scale
 
 
 ```nim
-proc scale(a: Mat3; v: Vec3): Mat3
+func scale(a: Mat3; v: Vec3): Mat3
 ```
 
-## **proc** rotationMat3
+## **func** rotationMat3
 
 
 ```nim
-proc rotationMat3(angle: float32): Mat3
+func rotationMat3(angle: float32): Mat3
 ```
 
-## **proc** rotate
+## **func** rotate
 
 
 ```nim
-proc rotate(a: Mat3; angle: float32): Mat3
+func rotate(a: Mat3; angle: float32): Mat3
 ```
 
-## **proc** `*`
+## **func** `*`
 
 
 ```nim
-proc `*`(a: Mat3; b: Vec2): Vec2
+func `*`(a: Mat3; b: Vec2): Vec2
 ```
 
 ## **type** Mat4
@@ -851,207 +850,207 @@ proc `*`(a: Mat3; b: Vec2): Vec2
 Mat4 = array[16, float32]
 ```
 
-## **proc** mat4
+## **func** mat4
 
 
 ```nim
-proc mat4(v0, v1, Vec2, Vec3, Vec4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15: float32): Mat4
+func mat4(v0, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15: float32): Mat4
 ```
 
-## **proc** mat4
+## **func** mat4
 
 
 ```nim
-proc mat4(a: Mat4): Mat4
+func mat4(a: Mat4): Mat4
 ```
 
-## **proc** identity
+## **func** identity
 
 
 ```nim
-proc identity(): Mat4
+func identity(): Mat4
 ```
 
-## **proc** mat4
+## **func** mat4
 
 
 ```nim
-proc mat4(): Mat4
+func mat4(): Mat4
 ```
 
-## **proc** transpose
+## **func** transpose
 
 
 ```nim
-proc transpose(a: Mat4): Mat4
+func transpose(a: Mat4): Mat4
 ```
 
-## **proc** determinant
+## **func** determinant
 
 
 ```nim
-proc determinant(a: Mat4): float32
+func determinant(a: Mat4): float32
 ```
 
-## **proc** inverse
+## **func** inverse
 
 
 ```nim
-proc inverse(a: Mat4): Mat4
+func inverse(a: Mat4): Mat4
 ```
 
-## **proc** `*`
+## **func** `*`
 
 
 ```nim
-proc `*`(a, b: Mat4): Mat4
+func `*`(a, b: Mat4): Mat4
 ```
 
-## **proc** `*`
+## **func** `*`
 
 
 ```nim
-proc `*`(a: Mat4; b: Vec3): Vec3
+func `*`(a: Mat4; b: Vec3): Vec3
 ```
 
-## **proc** right
+## **func** right
 
 
 ```nim
-proc right(a: Mat4): Vec3
+func right(a: Mat4): Vec3
 ```
 
-## **proc** right=
+## **func** right=
 
 
 ```nim
-proc right=(a: var Mat4; b: Vec3)
+func right=(a: var Mat4; b: Vec3)
 ```
 
-## **proc** up
+## **func** up
 
 
 ```nim
-proc up(a: Mat4): Vec3
+func up(a: Mat4): Vec3
 ```
 
-## **proc** up=
+## **func** up=
 
 
 ```nim
-proc up=(a: var Mat4; b: Vec3)
+func up=(a: var Mat4; b: Vec3)
 ```
 
-## **proc** fov
+## **func** fov
 
 
 ```nim
-proc fov(a: Mat4): Vec3
+func fov(a: Mat4): Vec3
 ```
 
-## **proc** fov=
+## **func** fov=
 
 
 ```nim
-proc fov=(a: var Mat4; b: Vec3)
+func fov=(a: var Mat4; b: Vec3)
 ```
 
-## **proc** pos
+## **func** pos
 
 
 ```nim
-proc pos(a: Mat4): Vec3
+func pos(a: Mat4): Vec3
 ```
 
-## **proc** pos=
+## **func** pos=
 
 
 ```nim
-proc pos=(a: var Mat4; b: Vec3)
+func pos=(a: var Mat4; b: Vec3)
 ```
 
-## **proc** rotationOnly
+## **func** rotationOnly
 
 
 ```nim
-proc rotationOnly(a: Mat4): Mat4
+func rotationOnly(a: Mat4): Mat4
 ```
 
-## **proc** dist
+## **func** dist
 
 
 ```nim
-proc dist(a, b: Mat4): float32
+func dist(a, b: Mat4): float32
 ```
 
-## **proc** translate
+## **func** translate
 
 
 ```nim
-proc translate(v: Vec3): Mat4
+func translate(v: Vec3): Mat4
 ```
 
-## **proc** scale
+## **func** scale
 
 
 ```nim
-proc scale(v: Vec3): Mat4
+func scale(v: Vec3): Mat4
 ```
 
-## **proc** close
+## **func** close
 
 
 ```nim
-proc close(a: Mat4; b: Mat4): bool
+func close(a: Mat4; b: Mat4): bool
 ```
 
-## **proc** hrp
+## **func** hrp
 
 
 ```nim
-proc hrp(m: Mat4): Vec3
+func hrp(m: Mat4): Vec3
 ```
 
-## **proc** frustum
+## **func** frustum
 
 
 ```nim
-proc frustum(left, right, bottom, top, near, far: float32): Mat4
+func frustum(left, right, bottom, top, near, far: float32): Mat4
 ```
 
-## **proc** perspective
+## **func** perspective
 
 
 ```nim
-proc perspective(fovy, aspect, near, far: float32): Mat4
+func perspective(fovy, aspect, near, far: float32): Mat4
 ```
 
-## **proc** ortho
+## **func** ortho
 
 
 ```nim
-proc ortho(left, right, bottom, top, near, far: float32): Mat4
+func ortho(left, right, bottom, top, near, far: float32): Mat4
 ```
 
-## **proc** lookAt
+## **func** lookAt
 
 
 ```nim
-proc lookAt(eye, center, up: Vec3): Mat4
+func lookAt(eye, center, up: Vec3): Mat4
 ```
 
-## **proc** tofloat32
+## **func** toFloat32
 
 
 ```nim
-proc tofloat32(m: Mat4): array[16, float32]
+func toFloat32(m: Mat4): array[16, float32]
 ```
 
-## **proc** `$`
+## **func** `$`
 
 
 ```nim
-proc `$`(a: Mat4): string
+func `$`(a: Mat4): string {.raises: [ValueError].}
 ```
 
 ## **type** Quat
@@ -1065,91 +1064,112 @@ Quat = object
  w*: float32
 ```
 
-## **proc** quat
+## **func** quat
 
 
 ```nim
-proc quat(x, y, z, w: float32): Quat
+func quat(x, y, z, w: float32): Quat
 ```
 
-## **proc** conjugate
+## **func** conjugate
 
 
 ```nim
-proc conjugate(q: Quat): Quat
+func conjugate(q: Quat): Quat
 ```
 
-## **proc** length
+## **func** length
 
 
 ```nim
-proc length(q: Quat): float32
+func length(q: Quat): float32
 ```
 
-## **proc** normalize
+## **func** normalize
 
 
 ```nim
-proc normalize(q: Quat): Quat
+func normalize(q: Quat): Quat
 ```
 
-## **proc** xyz
+## **func** xyz
 
 
 ```nim
-proc xyz(q: Quat): Vec3
+func xyz(q: Quat): Vec3
 ```
 
-## **proc** xyz=
+## **func** xyz=
 
 
 ```nim
-proc xyz=(q: var Quat; v: Vec3)
+func xyz=(q: var Quat; v: Vec3)
 ```
 
-## **proc** `*`
+## **func** `-`
+
+
+```nim
+func `-`(a: var Quat): Quat
+```
+
+## **func** `+`
+
+
+```nim
+func `+`(a: Quat; b: Quat): Quat
+```
+
+## **func** `*`
 
 Multiply the quaternion by a quaternion.
 
 ```nim
-proc `*`(a, b: Quat): Quat
+func `*`(a, b: Quat): Quat
 ```
 
-## **proc** `*`
+## **func** `*`
 
 Multiply the quaternion by a float32.
 
 ```nim
-proc `*`(q: Quat; v: float32): Quat
+func `*`(q: Quat; v: float32): Quat
 ```
 
-## **proc** `*`
+## **func** `*`
 
 Multiply the quaternion by a vector.
 
 ```nim
-proc `*`(q: Quat; v: Vec3): Vec3
+func `*`(q: Quat; v: Vec3): Vec3
 ```
 
-## **proc** mat3
+## **func** `[]=`
 
 
 ```nim
-proc mat3(q: Quat): Mat3
+func `[]=`(a: var Quat; i: int; b: float32)
 ```
 
-## **proc** mat4
+## **func** mat3
 
 
 ```nim
-proc mat4(q: Quat): Mat4
+func mat3(q: Quat): Mat3
 ```
 
-## **proc** reciprocalSqrt
+## **func** mat4
 
 
 ```nim
-proc reciprocalSqrt(x: float32): float32
+func mat4(q: Quat): Mat4
+```
+
+## **func** recifuncalSqrt
+
+
+```nim
+func recifuncalSqrt(x: float32): float32
 ```
 
 ## **proc** quat
@@ -1159,81 +1179,95 @@ proc reciprocalSqrt(x: float32): float32
 proc quat(m: Mat4): Quat
 ```
 
-## **proc** fromAxisAngle
+## **func** fromAxisAngle
 
 
 ```nim
-proc fromAxisAngle(axis: Vec3; angle: float32): Quat
+func fromAxisAngle(axis: Vec3; angle: float32): Quat
 ```
 
-## **proc** toAxisAngle
+## **func** toAxisAngle
 
 
 ```nim
-proc toAxisAngle(q: Quat; axis: var Vec3; angle: var float32)
+func toAxisAngle(q: Quat; axis: var Vec3; angle: var float32)
 ```
 
-## **proc** quat
+## **func** quat
 
 
 ```nim
-proc quat(heading, pitch, roll: float32): Quat
+func quat(heading, pitch, roll: float32): Quat
 ```
 
-## **proc** hrp
+## **func** hrp
 
 
 ```nim
-proc hrp(q: Quat): Vec3
+func hrp(q: Quat): Vec3
 ```
 
-## **proc** `$`
+## **func** dot
 
 
 ```nim
-proc `$`(a: Quat): string
+func dot(a: Quat; b: Quat): float32
 ```
 
-## **proc** rotate
+## **func** nlerp
 
 
 ```nim
-proc rotate(angle: float32; axis: Vec3): Mat4
+func nlerp(a: Quat; b: Quat; v: float32): Quat
 ```
 
-## **proc** rotateX
+## **func** `$`
 
 
 ```nim
-proc rotateX(angle: float32): Mat4
+func `$`(a: Quat): string {.raises: [ValueError].}
 ```
 
-## **proc** rotateY
+## **func** rotate
 
 
 ```nim
-proc rotateY(angle: float32): Mat4
+func rotate(angle: float32; axis: Vec3): Mat4
 ```
 
-## **proc** rotateZ
+## **func** rotateX
 
 
 ```nim
-proc rotateZ(angle: float32): Mat4
+func rotateX(angle: float32): Mat4
 ```
 
-## **proc** scaleMat
+## **func** rotateY
 
 
 ```nim
-proc scaleMat(scale: Vec3): Mat4
+func rotateY(angle: float32): Mat4
 ```
 
-## **proc** scaleMat
+## **func** rotateZ
 
 
 ```nim
-proc scaleMat(scale: float32): Mat4
+func rotateZ(angle: float32): Mat4
+```
+
+## **func** scaleMat
+
+
+```nim
+func scaleMat(scale: Vec3): Mat4
+```
+
+## **func** scaleMat
+
+
+```nim
+func scaleMat(scale: float32): Mat4
 ```
 
 ## **type** Rect
@@ -1247,95 +1281,95 @@ Rect = object
  h*: float32
 ```
 
-## **proc** rect
+## **func** rect
 
 
 ```nim
-proc rect(x, y, w, h: float32): Rect
+func rect(x, y, w, h: float32): Rect
 ```
 
-## **proc** rect
+## **func** rect
 
 
 ```nim
-proc rect(pos, size: Vec2): Rect
+func rect(pos, size: Vec2): Rect
 ```
 
-## **proc** xy
+## **func** xy
 
 Gets the xy as a Vec2.
 
 ```nim
-proc xy(rect: Rect): Vec2
+func xy(rect: Rect): Vec2
 ```
 
-## **proc** xy=
+## **func** xy=
 
 Sets the xy from Vec2.
 
 ```nim
-proc xy=(rect: var Rect; v: Vec2)
+func xy=(rect: var Rect; v: Vec2)
 ```
 
-## **proc** wh
+## **func** wh
 
 Gets the wh as a Vec2.
 
 ```nim
-proc wh(rect: Rect): Vec2
+func wh(rect: Rect): Vec2
 ```
 
-## **proc** wh=
+## **func** wh=
 
 Sets the wh from Vec2.
 
 ```nim
-proc wh=(rect: var Rect; v: Vec2)
+func wh=(rect: var Rect; v: Vec2)
 ```
 
-## **proc** `*`
+## **func** `*`
 
 * all elements of a Rect.
 
 ```nim
-proc `*`(r: Rect; v: float): Rect
+func `*`(r: Rect; v: float): Rect
 ```
 
-## **proc** `/`
+## **func** `/`
 
 / all elements of a Rect.
 
 ```nim
-proc `/`(r: Rect; v: float): Rect
+func `/`(r: Rect; v: float): Rect
 ```
 
-## **proc** `+`
+## **func** `+`
 
 Add two boxes together.
 
 ```nim
-proc `+`(a, b: Rect): Rect
+func `+`(a, b: Rect): Rect
 ```
 
-## **proc** `$`
+## **func** `$`
 
 
 ```nim
-proc `$`(a: Rect): string
+func `$`(a: Rect): string {.raises: [ValueError].}
 ```
 
-## **proc** inside
+## **func** inside
 
 Checks if pos is inside rect.
 
 ```nim
-proc inside(pos: Vec2; rect: Rect): bool
+func inside(pos: Vec2; rect: Rect): bool
 ```
 
-## **proc** overlap
+## **func** overlap
 
 Returns true if box a overlaps box b.
 
 ```nim
-proc overlap(a, b: Rect): bool
+func overlap(a, b: Rect): bool
 ```
diff --git a/src/vmath.nim b/src/vmath.nim
index 7a2deaf..d8b2ae8 100644
--- a/src/vmath.nim
+++ b/src/vmath.nim
@@ -1,30 +1,22 @@
-import math, random, strutils
+import math, random, strformat, strutils
 
 export math
 
-proc clamp*(n, min, max: float32): float32 =
-  ## Clamps n to min, else returns max if n is higher.
-  if n < min:
-    return min
-  if n > max:
-    return max
-  return n
-
-proc between*(value, min, max: float32): bool =
+func between*(value, min, max: float32): bool =
   ## Returns true if value is between min and max or equal to them.
   (value >= min) and (value <= max)
 
-proc sign*(v: float32): float32 =
+func sign*(v: float32): float32 =
   ## Returns the sign of a number, -1 or 1.
   if v >= 0:
     return 1.0
   return -1.0
 
-proc quantize*(v: float32, n: float32): float32 =
+func quantize*(v: float32, n: float32): float32 =
   ## Makes v be multipe of n. Rounding to integer quantize by 1.0.
-  result = sign(v) * floor(abs(v) / n) * n
+  sign(v) * floor(abs(v) / n) * n
 
-proc lerp*(a: float32, b: float32, v: float32): float32 =
+func lerp*(a: float32, b: float32, v: float32): float32 =
   ## Interpolates value between a and b.
   ## * 0 -> a
   ## * 1 -> b
@@ -36,92 +28,92 @@ type Vec2* = object
   x*: float32
   y*: float32
 
-proc vec2*(x, y: float32): Vec2 =
+func vec2*(x, y: float32): Vec2 =
   result.x = x
   result.y = y
 
-proc vec2*(a: Vec2): Vec2 =
+func vec2*(a: Vec2): Vec2 =
   result.x = a.x
   result.y = a.y
 
-proc `+`*(a: Vec2, b: Vec2): Vec2 =
+func `+`*(a: Vec2, b: Vec2): Vec2 =
   result.x = a.x + b.x
   result.y = a.y + b.y
 
-proc `-`*(a: Vec2, b: Vec2): Vec2 =
+func `-`*(a: Vec2, b: Vec2): Vec2 =
   result.x = a.x - b.x
   result.y = a.y - b.y
 
-proc `*`*(a: Vec2, b: float32): Vec2 =
+func `*`*(a: Vec2, b: float32): Vec2 =
   result.x = a.x * b
   result.y = a.y * b
 
-proc `*`*(a: float32, b: Vec2): Vec2 =
+func `*`*(a: float32, b: Vec2): Vec2 =
   b * a
 
-proc `/`*(a: Vec2, b: float32): Vec2 =
+func `/`*(a: Vec2, b: float32): Vec2 =
   result.x = a.x / b
   result.y = a.y / b
 
-proc `+=`*(a: var Vec2, b: Vec2) =
+func `+=`*(a: var Vec2, b: Vec2) =
   a.x += b.x
   a.y += b.y
 
-proc `-=`*(a: var Vec2, b: Vec2) =
+func `-=`*(a: var Vec2, b: Vec2) =
   a.x -= b.x
   a.y -= b.y
 
-proc `*=`*(a: var Vec2, b: float32) =
+func `*=`*(a: var Vec2, b: float32) =
   a.x *= b
   a.y *= b
 
-proc `/=`*(a: var Vec2, b: float32) =
+func `/=`*(a: var Vec2, b: float32) =
   a.x /= b
   a.y /= b
 
-proc zero*(a: var Vec2) =
+func zero*(a: var Vec2) =
   a.x = 0
   a.y = 0
 
-proc `-`*(a: Vec2): Vec2 =
+func `-`*(a: Vec2): Vec2 =
   result.x = -a.x
   result.y = -a.y
 
-proc lengthSq*(a: Vec2): float32 =
+func lengthSq*(a: Vec2): float32 =
   a.x * a.x + a.y * a.y
 
-proc length*(a: Vec2): float32 =
+func length*(a: Vec2): float32 =
   math.sqrt(a.lengthSq)
 
-proc `length=`*(a: var Vec2, b: float32) =
+func `length=`*(a: var Vec2, b: float32) =
   a *= b / a.length
 
-proc normalize*(a: Vec2): Vec2 =
+func normalize*(a: Vec2): Vec2 =
   a / a.length
 
-proc dot*(a: Vec2, b: Vec2): float32 =
+func dot*(a: Vec2, b: Vec2): float32 =
   a.x*b.x + a.y*b.y
 
-proc dir*(at: Vec2, to: Vec2): Vec2 =
+func dir*(at: Vec2, to: Vec2): Vec2 =
   result = (at - to).normalize()
 
-proc dir*(th: float32): Vec2 =
+func dir*(th: float32): Vec2 =
   vec2(cos(th), sin(th))
 
-proc dist*(at: Vec2, to: Vec2): float32 =
+func dist*(at: Vec2, to: Vec2): float32 =
   (at - to).length
 
-proc distSq*(at: Vec2, to: Vec2): float32 =
+func distSq*(at: Vec2, to: Vec2): float32 =
   (at - to).lengthSq
 
-proc lerp*(a: Vec2, b: Vec2, v: float32): Vec2 =
+func lerp*(a: Vec2, b: Vec2, v: float32): Vec2 =
   a * (1.0 - v) + b * v
 
-proc quantize*(v: Vec2, n: float32): Vec2 =
+func quantize*(v: Vec2, n: float32): Vec2 =
   result.x = sign(v.x) * floor(abs(v.x) / n) * n
   result.y = sign(v.y) * floor(abs(v.y) / n) * n
 
-proc inRect*(v: Vec2, a: Vec2, b: Vec2): bool =
+func inRect*(v: Vec2, a: Vec2, b: Vec2): bool =
   ## Check to see if v is inside a rectange formed by a and b.
   ## It does not matter how a and b are arranged.
   let
@@ -129,14 +121,14 @@ proc inRect*(v: Vec2, a: Vec2, b: Vec2): bool =
     max = vec2(max(a.x, b.x), max(a.y, b.y))
   return v.x > min.x and v.x < max.x and v.y > min.y and v.y < max.y
 
-proc `[]`*(a: Vec2, i: int): float32 =
+func `[]`*(a: Vec2, i: int): float32 =
   assert(i == 0 or i == 1)
   if i == 0:
     return a.x
   elif i == 1:
     return a.y
 
-proc `[]=`*(a: var Vec2, i: int, b: float32) =
+func `[]=`*(a: var Vec2, i: int, b: float32) =
   assert(i == 0 or i == 1)
   if i == 0:
     a.x = b
@@ -148,12 +140,10 @@ proc randVec2*(): Vec2 =
   let v = rand(1.0)
   vec2(cos(a)*v, sin(a)*v)
 
-proc `$`*(a: Vec2): string =
-  return "(" &
-    a.x.formatfloat(ffDecimal, 4) & ", " &
-    a.y.formatfloat(ffDecimal, 4) & ")"
+func `$`*(a: Vec2): string =
+  &"({a.x:.4f}, {a.y:.4f})"
 
-proc fixAngle*(angle: float32): float32 =
+func fixAngle*(angle: float32): float32 =
   ## Make angle be from -PI to PI radians.
   var angle = angle
   while angle > PI:
@@ -162,19 +152,19 @@ proc fixAngle*(angle: float32): float32 =
     angle += PI*2
   return angle
 
-proc angle*(a: Vec2): float32 =
+func angle*(a: Vec2): float32 =
   ## Angle of a Vec2.
   math.arctan2(a.y, a.x)
 
-proc angleBetween*(a: Vec2, b: Vec2): float32 =
+func angleBetween*(a: Vec2, b: Vec2): float32 =
   ## Angle between 2 Vec2.
   fixAngle(math.arctan2(a.y - b.y, a.x - b.x))
 
-proc angleBetween*(a, b: float32): float32 =
+func angleBetween*(a, b: float32): float32 =
   ## Angle between angle a and angle b.
   (b - a).fixAngle
 
-proc turnAngle*(a, b, speed: float32): float32 =
+func turnAngle*(a, b, speed: float32): float32 =
   ## Move from angle a to angle b with step of v.
   var
     turn = fixAngle(b - a)
@@ -192,12 +182,12 @@ type Vec3* = object
   y*: float32
   z*: float32
 
-proc vec3*(x, y, z: float32): Vec3 =
+func vec3*(x, y, z: float32): Vec3 =
   result.x = x
   result.y = y
   result.z = z
 
-proc vec3*(a: Vec3): Vec3 =
+func vec3*(a: Vec3): Vec3 =
   result.x = a.x
   result.y = a.y
   result.z = a.z
@@ -206,115 +196,115 @@ const X_DIR* = vec3(1.0, 0.0, 0.0)
 const Y_DIR* = vec3(0.0, 1.0, 0.0)
 const Z_DIR* = vec3(0.0, 0.0, 1.0)
 
-proc `+`*(a: Vec3, b: Vec3): Vec3 =
+func `+`*(a: Vec3, b: Vec3): Vec3 =
   result.x = a.x + b.x
   result.y = a.y + b.y
   result.z = a.z + b.z
 
-proc `-`*(a: Vec3, b: Vec3): Vec3 =
+func `-`*(a: Vec3, b: Vec3): Vec3 =
   result.x = a.x - b.x
   result.y = a.y - b.y
   result.z = a.z - b.z
 
-proc `-`*(a: Vec3): Vec3 =
+func `-`*(a: Vec3): Vec3 =
   result.x = -a.x
   result.y = -a.y
   result.z = -a.z
 
-proc `*`*(a: Vec3, b: float32): Vec3 =
+func `*`*(a: Vec3, b: float32): Vec3 =
   result.x = a.x * b
   result.y = a.y * b
   result.z = a.z * b
 
-proc `*`*(a: float32, b: Vec3): Vec3 =
+func `*`*(a: float32, b: Vec3): Vec3 =
   b * a
 
-proc `/`*(a: Vec3, b: float32): Vec3 =
+func `/`*(a: Vec3, b: float32): Vec3 =
   result.x = a.x / b
   result.y = a.y / b
   result.z = a.z / b
 
-proc `/`*(a: float32, b: Vec3): Vec3 =
+func `/`*(a: float32, b: Vec3): Vec3 =
   result.x = a / b.x
   result.y = a / b.y
   result.z = a / b.z
 
-proc `+=`*(a: var Vec3, b: Vec3) =
+func `+=`*(a: var Vec3, b: Vec3) =
   a.x += b.x
   a.y += b.y
   a.z += b.z
 
-proc `-=`*(a: var Vec3, b: Vec3) =
+func `-=`*(a: var Vec3, b: Vec3) =
   a.x -= b.x
   a.y -= b.y
   a.z -= b.z
 
-proc `*=`*(a: var Vec3, b: float32) =
+func `*=`*(a: var Vec3, b: float32) =
   a.x *= b
   a.y *= b
   a.z *= b
 
-proc `/=`*(a: var Vec3, b: float32) =
+func `/=`*(a: var Vec3, b: float32) =
   a.x /= b
   a.y /= b
   a.z /= b
 
-proc zero*(a: var Vec3) =
+func zero*(a: var Vec3) =
   a.x = 0
   a.y = 0
   a.z = 0
 
-proc `-`*(a: var Vec3): Vec3 =
+func `-`*(a: var Vec3): Vec3 =
   result.x = -a.x
   result.y = -a.y
   result.z = -a.z
 
-proc lengthSq*(a: Vec3): float32 =
+func lengthSq*(a: Vec3): float32 =
   a.x * a.x + a.y * a.y + a.z * a.z
 
-proc length*(a: Vec3): float32 =
+func length*(a: Vec3): float32 =
   math.sqrt(a.lengthSq)
 
-proc `length=`*(a: var Vec3, b: float32) =
+func `length=`*(a: var Vec3, b: float32) =
   a *= b / a.length
 
-proc normalize*(a: Vec3): Vec3 =
+func normalize*(a: Vec3): Vec3 =
   return a / math.sqrt(a.x*a.x + a.y*a.y + a.z*a.z)
 
-proc cross*(a: Vec3, b: Vec3): Vec3 =
+func cross*(a: Vec3, b: Vec3): Vec3 =
   result.x = a.y*b.z - a.z*b.y
   result.y = a.z*b.x - a.x*b.z
   result.z = a.x*b.y - a.y*b.x
 
-proc computeNormal*(a, b, c: Vec3): Vec3 =
+func computeNormal*(a, b, c: Vec3): Vec3 =
   result = cross(c - b, b - a).normalize()
 
-proc dot*(a: Vec3, b: Vec3): float32 =
+func dot*(a: Vec3, b: Vec3): float32 =
   a.x*b.x + a.y*b.y + a.z*b.z
 
-proc dir*(at: Vec3, to: Vec3): Vec3 =
+func dir*(at: Vec3, to: Vec3): Vec3 =
   result = (at - to).normalize()
 
-proc dist*(at: Vec3, to: Vec3): float32 =
+func dist*(at: Vec3, to: Vec3): float32 =
   (at - to).length
 
-proc distSq*(at: Vec3, to: Vec3): float32 =
+func distSq*(at: Vec3, to: Vec3): float32 =
   (at - to).lengthSq
 
-proc lerp*(a: Vec3, b: Vec3, v: float32): Vec3 =
+func lerp*(a: Vec3, b: Vec3, v: float32): Vec3 =
   a * (1.0 - v) + b * v
 
-proc quantize*(v: Vec3, n: float32): Vec3 =
+func quantize*(v: Vec3, n: float32): Vec3 =
   result.x = sign(v.x) * floor(abs(v.x) / n) * n
   result.y = sign(v.y) * floor(abs(v.y) / n) * n
   result.z = sign(v.z) * floor(abs(v.z) / n) * n
 
-proc angleBetween*(a, b: Vec3): float32 =
+func angleBetween*(a, b: Vec3): float32 =
   var dot = dot(a, b)
   dot = dot / (a.length * b.length)
   return arccos(dot)
 
-proc `[]`*(a: Vec3, i: int): float32 =
+func `[]`*(a: Vec3, i: int): float32 =
   assert(i == 0 or i == 1 or i == 2)
   if i == 0:
     return a.x
@@ -323,7 +313,7 @@ proc `[]`*(a: Vec3, i: int): float32 =
   elif i == 2:
     return a.z
 
-proc `[]=`*(a: var Vec3, i: int, b: float32) =
+func `[]=`*(a: var Vec3, i: int, b: float32) =
   assert(i == 0 or i == 1 or i == 2)
   if i == 0:
     a.x = b
@@ -332,25 +322,25 @@ proc `[]=`*(a: var Vec3, i: int, b: float32) =
   elif i == 2:
     a.z = b
 
-proc xy*(a: Vec3): Vec2 =
+func xy*(a: Vec3): Vec2 =
   vec2(a.x, a.y)
 
-proc xz*(a: Vec3): Vec2 =
+func xz*(a: Vec3): Vec2 =
   vec2(a.x, a.z)
 
-proc yx*(a: Vec3): Vec2 =
+func yx*(a: Vec3): Vec2 =
   vec2(a.y, a.x)
 
-proc yz*(a: Vec3): Vec2 =
+func yz*(a: Vec3): Vec2 =
   vec2(a.y, a.z)
 
-proc zx*(a: Vec3): Vec2 =
+func zx*(a: Vec3): Vec2 =
   vec2(a.y, a.x)
 
-proc zy*(a: Vec3): Vec2 =
+func zy*(a: Vec3): Vec2 =
   vec2(a.z, a.y)
 
-proc almostEquals*(a, b: Vec3, precision = 1e-6): bool =
+func almostEquals*(a, b: Vec3, precision = 1e-6): bool =
   let c = a - b
   return abs(c.x) < precision and abs(c.y) < precision and abs(c.z) < precision
 
@@ -368,11 +358,8 @@ proc randVec3*(): Vec3 =
     cos(ph)
   )
 
-proc `$`*(a: Vec3): string =
-  return "(" &
-    a.x.formatfloat(ffDecimal, 8) & ", " &
-    a.y.formatfloat(ffDecimal, 8) & ", " &
-    a.z.formatfloat(ffDecimal, 8) & ")"
+func `$`*(a: Vec3): string =
+  &"({a.x:.8f}, {a.y:.8f}, {a.z:.8f})"
 
 type Vec4* = object
   ## 4D Vector.
@@ -381,104 +368,100 @@ type Vec4* = object
   z*: float32
   w*: float32
 
-proc vec4*(x, y, z, w: float32): Vec4 =
+func vec4*(x, y, z, w: float32): Vec4 =
   result.x = x
   result.y = y
   result.z = z
   result.w = w
 
-proc `+`*(a: Vec4, b: Vec4): Vec4 =
+func `+`*(a: Vec4, b: Vec4): Vec4 =
   result.x = a.x + b.x
   result.y = a.y + b.y
   result.z = a.z + b.z
   result.w = a.w + b.w
 
-proc `-`*(a: Vec4, b: Vec4): Vec4 =
+func `-`*(a: Vec4, b: Vec4): Vec4 =
   result.x = a.x - b.x
   result.y = a.y - b.y
   result.z = a.z - b.z
   result.w = a.w - b.w
 
-proc `-`*(a: Vec4): Vec4 =
+func `-`*(a: Vec4): Vec4 =
   result.x = -a.x
   result.y = -a.y
   result.z = -a.z
   result.w = -a.w
 
-proc `*`*(a: Vec4, b: float32): Vec4 =
+func `*`*(a: Vec4, b: float32): Vec4 =
   result.x = a.x * b
   result.y = a.y * b
   result.z = a.z * b
   result.w = a.w * b
 
-proc `*`*(a: float32, b: Vec4): Vec4 =
+func `*`*(a: float32, b: Vec4): Vec4 =
   b * a
 
-proc `/`*(a: Vec4, b: float32): Vec4 =
+func `/`*(a: Vec4, b: float32): Vec4 =
   result.x = a.x / b
   result.y = a.y / b
 
   result.z = a.z / b
   result.w = a.w / b
 
-proc `/`*(a: float32, b: Vec4): Vec4 =
+func `/`*(a: float32, b: Vec4): Vec4 =
   result.x = a / b.x
   result.y = a / b.y
   result.z = a / b.z
   result.w = a / b.w
 
-proc `+=`*(a: var Vec4, b: Vec4) =
+func `+=`*(a: var Vec4, b: Vec4) =
   a.x += b.x
   a.y += b.y
   a.z += b.z
   a.w += b.w
 
-proc `-=`*(a: var Vec4, b: Vec4) =
+func `-=`*(a: var Vec4, b: Vec4) =
   a.x -= b.x
   a.y -= b.y
   a.z -= b.z
   a.w -= b.w
 
-proc `*=`*(a: var Vec4, b: float32) =
+func `*=`*(a: var Vec4, b: float32) =
   a.x *= b
   a.y *= b
   a.z *= b
   a.w *= b
 
-proc `/=`*(a: var Vec4, b: float32) =
+func `/=`*(a: var Vec4, b: float32) =
   a.x /= b
   a.y /= b
   a.z /= b
   a.w /= b
 
-proc zero*(a: var Vec4) =
+func zero*(a: var Vec4) =
   a.x = 0
   a.y = 0
   a.z = 0
   a.w = 0
 
-proc xyz*(a: Vec4): Vec3 =
+func xyz*(a: Vec4): Vec3 =
   vec3(a.x, a.y, a.z)
 
-proc `$`*(a: Vec4): string =
-  return "(" &
-    a.x.formatfloat(ffDecimal, 8) & ", " &
-    a.y.formatfloat(ffDecimal, 8) & ", " &
-    a.z.formatfloat(ffDecimal, 8) & ", " &
-    a.w.formatfloat(ffDecimal, 8) & ")"
+func `$`*(a: Vec4): string =
+  &"({a.x:.8f}, {a.y:.8f}, {a.z:.8f}, {a.w:.8f})"
 
-proc vec3*(a: Vec2, z = 0.0): Vec3 =
+func vec3*(a: Vec2, z = 0.0): Vec3 =
   vec3(a.x, a.y, z)
 
-proc vec4*(a: Vec3, w = 0.0): Vec4 =
+func vec4*(a: Vec3, w = 0.0): Vec4 =
   vec4(a.x, a.y, a.z, w)
 
-proc vec4*(a: Vec2, z = 0.0, w = 0.0): Vec4 =
+func vec4*(a: Vec2, z = 0.0, w = 0.0): Vec4 =
   vec4(a.x, a.y, z, w)
 
 type Mat3* = array[9, float32] ## 3x3 Matrix
 
-proc mat3*(a, b, c, d, e, f, g, h, i: float32): Mat3 =
+func mat3*(a, b, c, d, e, f, g, h, i: float32): Mat3 =
   result[0] = a
   result[1] = b
   result[2] = c
@@ -489,10 +472,10 @@ proc mat3*(a, b, c, d, e, f, g, h, i: float32): Mat3 =
   result[7] = h
   result[8] = i
 
-proc mat3*(a: Mat3): Mat3 =
+func mat3*(a: Mat3): Mat3 =
   result = a
 
-proc identity*(a: var Mat3) =
+func identity*(a: var Mat3) =
   a[0] = 1
   a[1] = 0
   a[2] = 0
@@ -503,10 +486,10 @@ proc identity*(a: var Mat3) =
   a[7] = 0
   a[8] = 1
 
-proc mat3*(): Mat3 =
+func mat3*(): Mat3 =
   result.identity()
 
-proc transpose*(a: Mat3): Mat3 =
+func transpose*(a: Mat3): Mat3 =
   result[0] = a[0]
   result[1] = a[3]
   result[2] = a[6]
@@ -517,19 +500,12 @@ proc transpose*(a: Mat3): Mat3 =
   result[7] = a[5]
   result[8] = a[8]
 
-proc `$`*(a: Mat3): string =
-  return "[" &
-    a[0].formatfloat(ffDecimal, 4) & ", " &
-    a[1].formatfloat(ffDecimal, 4) & ", " &
-    a[2].formatfloat(ffDecimal, 4) & ", " &
-    a[3].formatfloat(ffDecimal, 4) & ", " &
-    a[4].formatfloat(ffDecimal, 4) & ", " &
-    a[5].formatfloat(ffDecimal, 4) & ", " &
-    a[6].formatfloat(ffDecimal, 4) & ", " &
-    a[7].formatfloat(ffDecimal, 4) & ", " &
-    a[8].formatfloat(ffDecimal, 4) & "]"
+func `$`*(a: Mat3): string =
+  &"""[{a[0]:.4f}, {a[1]:.4f}, {a[2]:.4f},
+{a[3]:.4f}, {a[4]:.4f}, {a[5]:.4f},
+{a[6]:.4f}, {a[7]:.4f}, {a[8]:.4f}]"""
 
-proc `*`*(a: Mat3, b: Mat3): Mat3 =
+func `*`*(a: Mat3, b: Mat3): Mat3 =
   let
     a00 = a[0]
     a01 = a[1]
@@ -563,12 +539,12 @@ proc `*`*(a: Mat3, b: Mat3): Mat3 =
   result[7] = b20 * a01 + b21 * a11 + b22 * a21
   result[8] = b20 * a02 + b21 * a12 + b22 * a22
 
-proc `*`*(m: Mat3, v: Vec3): Vec3 =
+func `*`*(m: Mat3, v: Vec3): Vec3 =
   result.x = m[0]*v.x + m[1]*v.y + m[2]*v.z
   result.y = m[3]*v.x + m[4]*v.y + m[5]*v.z
   result.z = m[6]*v.x + m[7]*v.y + m[8]*v.z
 
-proc scale*(a: Mat3, v: Vec2): Mat3 =
+func scale*(a: Mat3, v: Vec2): Mat3 =
   result[0] = v.x * a[0]
   result[1] = v.x * a[1]
   result[2] = v.x * a[2]
@@ -579,7 +555,7 @@ proc scale*(a: Mat3, v: Vec2): Mat3 =
   result[7] = a[7]
   result[8] = a[8]
 
-proc scale*(a: Mat3, v: Vec3): Mat3 =
+func scale*(a: Mat3, v: Vec3): Mat3 =
   result[0] = v.x * a[0]
   result[1] = v.x * a[1]
   result[2] = v.x * a[2]
@@ -590,7 +566,7 @@ proc scale*(a: Mat3, v: Vec3): Mat3 =
   result[7] = v.z * a[7]
   result[8] = v.z * a[8]
 
-proc rotationMat3*(angle: float32): Mat3 =
+func rotationMat3*(angle: float32): Mat3 =
   # Create a matrix from an angle.
   let
     sin = sin(angle)
@@ -607,17 +583,17 @@ proc rotationMat3*(angle: float32): Mat3 =
   result[7] = 0
   result[8] = 1
 
-proc rotate*(a: Mat3, angle: float32): Mat3 =
+func rotate*(a: Mat3, angle: float32): Mat3 =
   # Rotates a matrix by an angle.
   a * rotationMat3(angle)
 
-proc `*`*(a: Mat3, b: Vec2): Vec2 =
+func `*`*(a: Mat3, b: Vec2): Vec2 =
   result.x = a[0]*b.x + a[1]*b.y + a[6]
   result.y = a[3]*b.x + a[4]*b.y + a[7]
 
 type Mat4* = array[16, float32] ## 4x4 Matrix - OpenGL row order
 
-proc mat4*(v0, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13,
+func mat4*(v0, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13,
     v14, v15: float32): Mat4 =
   result[0] = v0
   result[1] = v1
@@ -636,10 +612,10 @@ proc mat4*(v0, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13,
   result[14] = v14
   result[15] = v15
 
-proc mat4*(a: Mat4): Mat4 =
+func mat4*(a: Mat4): Mat4 =
   result = a
 
-proc identity*(): Mat4 =
+func identity*(): Mat4 =
   result[0] = 1
   result[1] = 0
   result[2] = 0
@@ -657,10 +633,10 @@ proc identity*(): Mat4 =
   result[14] = 0
   result[15] = 1
 
-proc mat4*(): Mat4 =
+func mat4*(): Mat4 =
   return identity()
 
-proc transpose*(a: Mat4): Mat4 =
+func transpose*(a: Mat4): Mat4 =
   result[0] = a[0]
   result[1] = a[4]
   result[2] = a[8]
@@ -681,7 +657,7 @@ proc transpose*(a: Mat4): Mat4 =
   result[14] = a[11]
   result[15] = a[15]
 
-proc determinant*(a: Mat4): float32 =
+func determinant*(a: Mat4): float32 =
   var
     a00 = a[0]
     a01 = a[1]
@@ -709,7 +685,7 @@ proc determinant*(a: Mat4): float32 =
     a20*a01*a12*a33 - a00*a21*a12*a33 - a10*a01*a22*a33 + a00*a11*a22*a33
   )
 
-proc inverse*(a: Mat4): Mat4 =
+func inverse*(a: Mat4): Mat4 =
   var
     a00 = a[0]
     a01 = a[1]
@@ -762,7 +738,7 @@ proc inverse*(a: Mat4): Mat4 =
   result[14] = (-a30*b03 + a31*b01 - a32*b00)*invDet
   result[15] = (+a20*b03 - a21*b01 + a22*b00)*invDet
 
-proc `*`*(a, b: Mat4): Mat4 =
+func `*`*(a, b: Mat4): Mat4 =
   var
     a00 = a[0]
     a01 = a[1]
@@ -816,56 +792,56 @@ proc `*`*(a, b: Mat4): Mat4 =
   result[14] = b30*a02 + b31*a12 + b32*a22 + b33*a32
   result[15] = b30*a03 + b31*a13 + b32*a23 + b33*a33
 
-proc `*`*(a: Mat4, b: Vec3): Vec3 =
+func `*`*(a: Mat4, b: Vec3): Vec3 =
   result.x = a[0]*b.x + a[4]*b.y + a[8]*b.z + a[12]
   result.y = a[1]*b.x + a[5]*b.y + a[9]*b.z + a[13]
   result.z = a[2]*b.x + a[6]*b.y + a[10]*b.z + a[14]
 
-proc right*(a: Mat4): Vec3 =
+func right*(a: Mat4): Vec3 =
   result.x = a[0]
   result.y = a[1]
   result.z = a[2]
 
-proc `right=`*(a: var Mat4, b: Vec3) =
+func `right=`*(a: var Mat4, b: Vec3) =
   a[0] = b.x
   a[1] = b.y
   a[2] = b.z
 
-proc up*(a: Mat4): Vec3 =
+func up*(a: Mat4): Vec3 =
   result.x = a[4]
   result.y = a[5]
   result.z = a[6]
 
-proc `up=`*(a: var Mat4, b: Vec3) =
+func `up=`*(a: var Mat4, b: Vec3) =
   a[4] = b.x
   a[5] = b.y
   a[6] = b.z
 
-proc fov*(a: Mat4): Vec3 =
+func fov*(a: Mat4): Vec3 =
   result.x = a[8]
   result.y = a[9]
   result.z = a[10]
 
-proc `fov=`*(a: var Mat4, b: Vec3) =
+func `fov=`*(a: var Mat4, b: Vec3) =
   a[8] = b.x
   a[9] = b.y
   a[10] = b.z
 
-proc pos*(a: Mat4): Vec3 =
+func pos*(a: Mat4): Vec3 =
   result.x = a[12]
   result.y = a[13]
   result.z = a[14]
 
-proc `pos=`*(a: var Mat4, b: Vec3) =
+func `pos=`*(a: var Mat4, b: Vec3) =
   a[12] = b.x
   a[13] = b.y
   a[14] = b.z
 
-proc rotationOnly*(a: Mat4): Mat4 =
+func rotationOnly*(a: Mat4): Mat4 =
   result = a
   result.pos = vec3(0, 0, 0)
 
-proc dist*(a, b: Mat4): float32 =
+func dist*(a, b: Mat4): float32 =
   var
     x = a[12] - b[12]
     y = a[13] - b[13]
@@ -873,7 +849,7 @@ proc dist*(a, b: Mat4): float32 =
   return sqrt(x*x + y*y + z*z)
 
 #[
-proc translate*(a: Mat4, v: Vec3): Mat4 =
+func translate*(a: Mat4, v: Vec3): Mat4 =
   var
     a00 = a[0]
     a01 = a[1]
@@ -907,7 +883,7 @@ proc translate*(a: Mat4, v: Vec3): Mat4 =
   result[15] = a03*v.x + a13*v.y + a23*v.z + a[15]
 ]#
 
-proc translate*(v: Vec3): Mat4 =
+func translate*(v: Vec3): Mat4 =
   result[0] = 1
   result[5] = 1
   result[10] = 1
@@ -916,19 +892,19 @@ proc translate*(v: Vec3): Mat4 =
   result[13] = v.y
   result[14] = v.z
 
-proc scale*(v: Vec3): Mat4 =
+func scale*(v: Vec3): Mat4 =
   result[0] = v.x
   result[5] = v.y
   result[10] = v.z
   result[15] = 1
 
-proc close*(a: Mat4, b: Mat4): bool =
+func close*(a: Mat4, b: Mat4): bool =
   for i in 0..15:
     if abs(a[i] - b[i]) > 0.001:
       return false
   return true
 
-proc hrp*(m: Mat4): Vec3 =
+func hrp*(m: Mat4): Vec3 =
   var heading, pitch, roll: float32
   if m[1] > 0.998: # singularity at north pole
     heading = arctan2(m[2], m[10])
@@ -946,7 +922,7 @@ proc hrp*(m: Mat4): Vec3 =
   result.y = pitch
   result.z = roll
 
-proc frustum*(left, right, bottom, top, near, far: float32): Mat4 =
+func frustum*(left, right, bottom, top, near, far: float32): Mat4 =
   var
     rl = (right - left)
     tb = (top - bottom)
@@ -968,13 +944,13 @@ proc frustum*(left, right, bottom, top, near, far: float32): Mat4 =
   result[14] = -(far*near*2) / fn
   result[15] = 0
 
-proc perspective*(fovy, aspect, near, far: float32): Mat4 =
+func perspective*(fovy, aspect, near, far: float32): Mat4 =
   var
     top = near * tan(fovy*PI / 360.0)
     right = top * aspect
   return frustum(-right, right, -top, top, near, far)
 
-proc ortho*(left, right, bottom, top, near, far: float32): Mat4 =
+func ortho*(left, right, bottom, top, near, far: float32): Mat4 =
   var
     rl = (right - left)
     tb = (top - bottom)
@@ -996,7 +972,7 @@ proc ortho*(left, right, bottom, top, near, far: float32): Mat4 =
   result[14] = -(far + near) / fn
   result[15] = 1
 
-proc lookAt*(eye, center, up: Vec3): Mat4 =
+func lookAt*(eye, center, up: Vec3): Mat4 =
   var
     eyex = eye[0]
     eyey = eye[1]
@@ -1073,7 +1049,7 @@ proc lookAt*(eye, center, up: Vec3): Mat4 =
   result[14] = -(z0*eyex + z1*eyey + z2*eyez)
   result[15] = 1
 
-proc toFloat32*(m: Mat4): array[16, float32] =
+func toFloat32*(m: Mat4): array[16, float32] =
   return [
      float32 m[00], float32 m[01], float32 m[02], float32 m[03],
      float32 m[04], float32 m[05], float32 m[06], float32 m[07],
@@ -1081,24 +1057,11 @@ proc toFloat32*(m: Mat4): array[16, float32] =
      float32 m[12], float32 m[13], float32 m[14], float32 m[15]
   ]
 
-proc `$`*(a: Mat4): string =
-  return "[" &
-    a[0].formatfloat(ffDecimal, 5) & ", " &
-    a[1].formatfloat(ffDecimal, 5) & ", " &
-    a[2].formatfloat(ffDecimal, 5) & ", " &
-    a[3].formatfloat(ffDecimal, 5) & ",\n" &
-    a[4].formatfloat(ffDecimal, 5) & ", " &
-    a[5].formatfloat(ffDecimal, 5) & ", " &
-    a[6].formatfloat(ffDecimal, 5) & ", " &
-    a[7].formatfloat(ffDecimal, 5) & ",\n " &
-    a[8].formatfloat(ffDecimal, 5) & ", " &
-    a[9].formatfloat(ffDecimal, 5) & ", " &
-    a[10].formatfloat(ffDecimal, 5) & ", " &
-    a[11].formatfloat(ffDecimal, 5) & ",\n" &
-    a[12].formatfloat(ffDecimal, 5) & ", " &
-    a[13].formatfloat(ffDecimal, 5) & ", " &
-    a[14].formatfloat(ffDecimal, 5) & ", " &
-    a[15].formatfloat(ffDecimal, 5) & "]"
+func `$`*(a: Mat4): string =
+  &"""[{a[0]:.5f}, {a[1]:.5f}, {a[2]:.5f}, {a[3]:.5f},
+{a[4]:.5f}, {a[5]:.5f}, {a[6]:.5f}, {a[7]:.5f},
+{a[8]:.5f}, {a[9]:.5f}, {a[10]:.5f}, {a[11]:.5f},
+{a[12]:.5f}, {a[13]:.5f}, {a[14]:.5f}, {a[15]:.5f}]"""
 
 type Quat* = object
   x*: float32
@@ -1106,55 +1069,55 @@ type Quat* = object
   z*: float32
   w*: float32
 
-proc quat*(x, y, z, w: float32): Quat =
+func quat*(x, y, z, w: float32): Quat =
   result.x = x
   result.y = y
   result.z = z
   result.w = w
 
-proc conjugate*(q: Quat): Quat =
+func conjugate*(q: Quat): Quat =
   result.w = +q.w
   result.x = -q.x
   result.y = -q.y
   result.z = -q.z
 
-proc length*(q: Quat): float32 =
+func length*(q: Quat): float32 =
   return sqrt(
     q.w * q.w +
     q.x * q.x +
     q.y * q.y +
     q.z * q.z)
 
-proc normalize*(q: Quat): Quat =
+func normalize*(q: Quat): Quat =
   var m = q.length
   result.x = q.x / m
   result.y = q.y / m
   result.z = q.z / m
   result.w = q.w / m
 
-proc xyz*(q: Quat): Vec3 =
+func xyz*(q: Quat): Vec3 =
   result.x = q.x
   result.y = q.y
   result.z = q.z
 
-proc `xyz=`*(q: var Quat, v: Vec3) =
+func `xyz=`*(q: var Quat, v: Vec3) =
   q.x = v.x
   q.y = v.y
   q.z = v.z
 
-proc `-`*(a: var Quat): Quat =
+func `-`*(a: var Quat): Quat =
   result.x = -a.x
   result.y = -a.y
   result.z = -a.z
   result.w = -a.w
 
-proc `+`*(a: Quat, b: Quat): Quat =
+func `+`*(a: Quat, b: Quat): Quat =
   result.x = a.x + b.x
   result.y = a.y + b.y
   result.z = a.z + b.z
   result.w = a.w + b.w
 
-proc `*`*(a, b: Quat): Quat =
+func `*`*(a, b: Quat): Quat =
   ## Multiply the quaternion by a quaternion.
   #[
   var q = quat(0,0,0,0)
@@ -1172,14 +1135,14 @@ proc `*`*(a, b: Quat): Quat =
   result.z = a.z * b.w + a.w * b.z + a.x * b.y - a.y * b.x
   result.w = a.w * b.w - a.x * b.x - a.y * b.y - a.z * b.z
 
-proc `*`*(q: Quat, v: float32): Quat =
+func `*`*(q: Quat, v: float32): Quat =
   ## Multiply the quaternion by a float32.
   result.x = q.x * v
   result.y = q.y * v
   result.z = q.z * v
   result.w = q.w * v
 
-proc `*`*(q: Quat, v: Vec3): Vec3 =
+func `*`*(q: Quat, v: Vec3): Vec3 =
   ## Multiply the quaternion by a vector.
   var
     x = v.x
@@ -1200,7 +1163,18 @@ proc `*`*(q: Quat, v: Vec3): Vec3 =
   result.y = iy * qw + iw * -qy + iz * -qx - ix * -qz
   result.z = iz * qw + iw * -qz + ix * -qy - iy * -qx
 
-proc mat3*(q: Quat): Mat3 =
+func `[]=`*(a: var Quat, i: int, b: float32) =
+  assert(i == 0 or i == 1 or i == 2 or i == 3)
+  if i == 0:
+    a.x = b
+  elif i == 1:
+    a.y = b
+  elif i == 2:
+    a.z = b
+  elif i == 3:
+    a.w = b
+
+func mat3*(q: Quat): Mat3 =
   var xx = q.x * q.x
   var xy = q.x * q.y
   var xz = q.x * q.z
@@ -1223,7 +1197,7 @@ proc mat3*(q: Quat): Mat3 =
   result[7] = 0 + 2 * (yz + xw)
   result[8] = 1 - 2 * (xx + yy)
 
-proc mat4*(q: Quat): Mat4 =
+func mat4*(q: Quat): Mat4 =
   var xx = q.x * q.x
   var xy = q.x * q.y
   var xz = q.x * q.z
@@ -1254,7 +1228,7 @@ proc mat4*(q: Quat): Mat4 =
   result[14] = 0
   result[15] = 1.0
 
-proc reciprocalSqrt*(x: float32): float32 =
+func recifuncalSqrt*(x: float32): float32 =
   return 1.0/sqrt(x)
 
 proc quat*(m: Mat4): Quat =
@@ -1294,7 +1268,7 @@ proc quat*(m: Mat4): Quat =
   assert abs(q.length - 1.0) < 0.001
   return q
 
-proc fromAxisAngle*(axis: Vec3, angle: float32): Quat =
+func fromAxisAngle*(axis: Vec3, angle: float32): Quat =
   var a = axis.normalize()
   var s = sin(angle / 2)
   result.x = a.x * s
@@ -1302,7 +1276,7 @@ proc fromAxisAngle*(axis: Vec3, angle: float32): Quat =
   result.z = a.z * s
   result.w = cos(angle / 2)
 
-proc toAxisAngle*(q: Quat, axis: var Vec3, angle: var float32) =
+func toAxisAngle*(q: Quat, axis: var Vec3, angle: var float32) =
   var cosAngle = q.w
   angle = arccos(cosAngle) * 2.0
   var sinAngle = sqrt(1.0 - cosAngle * cosAngle)
@@ -1314,7 +1288,7 @@ proc toAxisAngle*(q: Quat, axis: var Vec3, angle: var float32) =
   axis.y = q.y / sinAngle
   axis.z = q.z / sinAngle
 
-proc quat*(heading, pitch, roll: float32): Quat =
+func quat*(heading, pitch, roll: float32): Quat =
   var t0 = cos(heading * 0.5)
   var t1 = sin(heading * 0.5)
   var t2 = cos(roll * 0.5)
@@ -1326,7 +1300,7 @@ proc quat*(heading, pitch, roll: float32): Quat =
   result.y = t0 * t2 * t5 + t1 * t3 * t4
   result.z = t1 * t2 * t4 - t0 * t3 * t5
 
-proc hrp*(q: Quat): Vec3 =
+func hrp*(q: Quat): Vec3 =
   var ysqr = q.y * q.y
   # roll
   var t0 = +2.0 * (q.w * q.x + q.y * q.z)
@@ -1344,42 +1318,38 @@ proc hrp*(q: Quat): Vec3 =
   var t4 = +1.0 - 2.0 * (ysqr + q.z * q.z)
   result.x = arctan2(t3, t4)
 
-proc dot*(a: Quat, b: Quat): float32 =
+func dot*(a: Quat, b: Quat): float32 =
   a.x*b.x + a.y*b.y + a.z*b.z + a.w*b.w
 
-proc nlerp*(a: Quat, b: Quat, v: float32): Quat =
+func nlerp*(a: Quat, b: Quat, v: float32): Quat =
   if dot(a, b) < 0:
     var c = a
     (-c * (1.0 - v) + b * v).normalize()
   else:
     (a * (1.0 - v) + b * v).normalize()
 
-proc `$`*(a: Quat): string =
-  return "q(" &
-    a.x.formatfloat(ffDecimal, 8) & ", " &
-    a.y.formatfloat(ffDecimal, 8) & ", " &
-    a.z.formatfloat(ffDecimal, 8) & ", " &
-    a.w.formatfloat(ffDecimal, 8) & ")"
+func `$`*(a: Quat): string =
+  &"q({a.x:.8f}, {a.y:.8f}, {a.z:.8f}, {a.w:.8f})"
 
-proc rotate*(angle: float32, axis: Vec3): Mat4 =
+func rotate*(angle: float32, axis: Vec3): Mat4 =
   fromAxisAngle(axis, angle).mat4()
 
-proc rotateX*(angle: float32): Mat4 =
+func rotateX*(angle: float32): Mat4 =
   return rotate(angle, vec3(1, 0, 0))
 
-proc rotateY*(angle: float32): Mat4 =
+func rotateY*(angle: float32): Mat4 =
   return rotate(angle, vec3(0, 1, 0))
 
-proc rotateZ*(angle: float32): Mat4 =
+func rotateZ*(angle: float32): Mat4 =
   return rotate(angle, vec3(0, 0, 1))
 
-proc scaleMat*(scale: Vec3): Mat4 =
+func scaleMat*(scale: Vec3): Mat4 =
   result[0] = scale.x
   result[5] = scale.y
   result[10] = scale.z
   result[15] = 1.0
 
-proc scaleMat*(scale: float32): Mat4 =
+func scaleMat*(scale: float32): Mat4 =
   return scaleMat(vec3(scale, scale, scale))
 
 type Rect* = object
@@ -1388,64 +1358,60 @@ type Rect* = object
   w*: float32
   h*: float32
 
-proc rect*(x, y, w, h: float32): Rect =
+func rect*(x, y, w, h: float32): Rect =
   result.x = x
   result.y = y
   result.w = w
   result.h = h
 
-proc rect*(pos, size: Vec2): Rect =
+func rect*(pos, size: Vec2): Rect =
   result.x = pos.x
   result.y = pos.y
   result.w = size.x
   result.h = size.y
 
-proc xy*(rect: Rect): Vec2 =
+func xy*(rect: Rect): Vec2 =
   ## Gets the xy as a Vec2.
   vec2(rect.x, rect.y)
 
-proc `xy=`*(rect: var Rect, v: Vec2) =
+func `xy=`*(rect: var Rect, v: Vec2) =
   ## Sets the xy from Vec2.
   rect.x = v.x
   rect.y = v.y
 
-proc wh*(rect: Rect): Vec2 =
+func wh*(rect: Rect): Vec2 =
   ## Gets the wh as a Vec2.
   vec2(rect.w, rect.h)
 
-proc `wh=`*(rect: var Rect, v: Vec2) =
+func `wh=`*(rect: var Rect, v: Vec2) =
   ## Sets the wh from Vec2.
   rect.w = v.x
   rect.h = v.y
 
-proc `*`*(r: Rect, v: float): Rect =
+func `*`*(r: Rect, v: float): Rect =
   ## * all elements of a Rect.
   rect(r.x * v, r.y * v, r.w * v, r.h * v)
 
-proc `/`*(r: Rect, v: float): Rect =
+func `/`*(r: Rect, v: float): Rect =
   ## / all elements of a Rect.
   rect(r.x / v, r.y / v, r.w / v, r.h / v)
 
-proc `+`*(a, b: Rect): Rect =
+func `+`*(a, b: Rect): Rect =
   ## Add two boxes together.
   result.x = a.x + b.x
   result.y = a.y + b.y
   result.w = a.w
   result.h = a.h
 
-proc `$`*(a: Rect): string =
-  return "(" &
-    $a.x & ", " &
-    $a.y & ": " &
-    $a.w & " x " &
-    $a.h & ")"
+func `$`*(a: Rect): string =
+  &"({a.x}, {a.y}: {a.w} x {a.h})"
 
-proc inside*(pos: Vec2, rect: Rect): bool =
+func inside*(pos: Vec2, rect: Rect): bool =
   ## Checks if pos is inside rect.
   (rect.x <= pos.x and pos.x <= rect.x + rect.w) and (
     rect.y <= pos.y and pos.y <= rect.y + rect.h)
 
-proc overlap*(a, b: Rect): bool =
+func overlap*(a, b: Rect): bool =
   ## Returns true if box a overlaps box b.
   let
     xOverlap = between(a.x, b.x, b.x + b.w) or between(b.x, a.x, a.x + a.w)
diff --git a/tests/vmathtest.test.txt b/tests/vmathtest.test.txt
index 3a7a889..166a1d2 100644
--- a/tests/vmathtest.test.txt
+++ b/tests/vmathtest.test.txt
@@ -39,1114 +39,1114 @@
 # basic vector mat4
 [1.00000, 0.00000, 0.00000, 0.00000,
 0.00000, 1.00000, 0.00000, 0.00000,
- 0.00000, 0.00000, 1.00000, 0.00000,
+0.00000, 0.00000, 1.00000, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 0.0
 q(0.00000000, 0.00000000, 0.00000000, 1.00000000)
 [1.00000, 0.00000, 0.00000, 0.00000,
 0.00000, 1.00000, 0.00000, 0.00000,
- 0.00000, 0.00000, 1.00000, 0.00000,
+0.00000, 0.00000, 1.00000, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 # basic vector mat4 -1
 [1.00000, 0.00000, 0.00000, 0.00000,
 0.00000, 0.00000, -1.00000, 0.00000,
- 0.00000, 1.00000, 0.00000, 0.00000,
+0.00000, 1.00000, 0.00000, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 5.960464477539063e-008
 q(0.70710677, 0.00000000, 0.00000000, 0.70710677)
 [1.00000, 0.00000, 0.00000, 0.00000,
 0.00000, 0.00000, -1.00000, 0.00000,
- 0.00000, 1.00000, 0.00000, 0.00000,
+0.00000, 1.00000, 0.00000, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 # Y 90
 [0.00000, 0.00000, 1.00000, 0.00000,
 0.00000, 1.00000, 0.00000, 0.00000,
- -1.00000, 0.00000, 0.00000, 0.00000,
+-1.00000, 0.00000, 0.00000, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 5.960464477539063e-008
 q(0.00000000, 0.70710671, 0.00000000, 0.70710677)
 [0.00000, 0.00000, 1.00000, 0.00000,
 0.00000, 1.00000, 0.00000, 0.00000,
- -1.00000, 0.00000, 0.00000, 0.00000,
+-1.00000, 0.00000, 0.00000, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 # -Y 90
-[0.00000, -0.00000, -1.00000, 0.00000,
-0.00000, 1.00000, -0.00000, 0.00000,
- 1.00000, 0.00000, 0.00000, 0.00000,
+[0.00000, 0.00000, -1.00000, 0.00000,
+0.00000, 1.00000, 0.00000, 0.00000,
+1.00000, 0.00000, 0.00000, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 5.960464477539063e-008
 q(0.00000000, -0.70710671, 0.00000000, 0.70710677)
-[0.00000, -0.00000, -1.00000, 0.00000,
-0.00000, 1.00000, -0.00000, 0.00000,
- 1.00000, 0.00000, 0.00000, 0.00000,
+[0.00000, 0.00000, -1.00000, 0.00000,
+0.00000, 1.00000, 0.00000, 0.00000,
+1.00000, 0.00000, 0.00000, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 # X 90
 [1.00000, 0.00000, 0.00000, 0.00000,
 0.00000, 0.00000, -1.00000, 0.00000,
- 0.00000, 1.00000, 0.00000, 0.00000,
+0.00000, 1.00000, 0.00000, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 5.960464477539063e-008
 q(0.70710671, 0.00000000, 0.00000000, 0.70710677)
 [1.00000, 0.00000, 0.00000, 0.00000,
 0.00000, 0.00000, -1.00000, 0.00000,
- 0.00000, 1.00000, 0.00000, 0.00000,
+0.00000, 1.00000, 0.00000, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 true
 # Y 90
 [1.00000, 0.00000, 0.00000, 0.00000,
 0.00000, 0.00000, -1.00000, 0.00000,
- 0.00000, 1.00000, 0.00000, 0.00000,
+0.00000, 1.00000, 0.00000, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 5.960464477539063e-008
 q(0.70710671, 0.00000000, 0.00000000, 0.70710677)
 [1.00000, 0.00000, 0.00000, 0.00000,
 0.00000, 0.00000, -1.00000, 0.00000,
- 0.00000, 1.00000, 0.00000, 0.00000,
+0.00000, 1.00000, 0.00000, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 true
 # 1,1,1 1.11rad
 [-0.29392, 0.84253, 0.45139, 0.00000,
 0.45139, -0.29392, 0.84253, 0.00000,
- 0.84253, 0.45139, -0.29392, 0.00000,
+0.84253, 0.45139, -0.29392, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 1.192092895507813e-007
 q(0.56875318, 0.56875318, 0.56875318, -0.17192911)
 [-0.29392, 0.84253, 0.45139, 0.00000,
 0.45139, -0.29392, 0.84253, 0.00000,
- 0.84253, 0.45139, -0.29392, 0.00000,
+0.84253, 0.45139, -0.29392, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 # 1,1,1 1.11rad
 [-0.29392, -0.45139, -0.84253, 0.00000,
 -0.84253, -0.29392, 0.45139, 0.00000,
- -0.45139, 0.84253, -0.29392, 0.00000,
+-0.45139, 0.84253, -0.29392, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 1.192092895507813e-007
 q(-0.56875318, 0.56875318, 0.56875318, -0.17192911)
 [-0.29392, -0.45139, -0.84253, 0.00000,
 -0.84253, -0.29392, 0.45139, 0.00000,
- -0.45139, 0.84253, -0.29392, 0.00000,
+-0.45139, 0.84253, -0.29392, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 # 1,1,1 1.11rad
 [-0.12426, -0.03090, -0.99177, 0.00000,
 -0.52440, -0.84648, 0.09208, 0.00000,
- -0.84236, 0.53152, 0.08898, 0.00000,
+-0.84236, 0.53152, 0.08898, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 0.0
 q(-0.63899082, 0.21725684, 0.71758670, -0.17192909)
 [-0.12426, -0.03090, -0.99177, 0.00000,
 -0.52440, -0.84648, 0.09208, 0.00000,
- -0.84236, 0.53152, 0.08898, 0.00000,
+-0.84236, 0.53152, 0.08898, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 # super random
 [1.00000, -0.00000, -0.00001, 0.00000,
 0.00000, 1.00000, -0.00003, 0.00000,
- 0.00001, 0.00003, 1.00000, 0.00000,
+0.00001, 0.00003, 1.00000, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 0.0
 q(0.00001343, -0.00000529, 0.00000046, 1.00000000)
 [1.00000, -0.00000, -0.00001, 0.00000,
 0.00000, 1.00000, -0.00003, 0.00000,
- 0.00001, 0.00003, 1.00000, 0.00000,
+0.00001, 0.00003, 1.00000, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.97395, -0.21888, 0.05932, 0.00000,
 0.22420, 0.96867, -0.10682, 0.00000,
- -0.03408, 0.11733, 0.99251, 0.00000,
+-0.03408, 0.11733, 0.99251, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 0.0
 q(0.05649684, 0.02354353, 0.11167806, 0.99185777)
 [0.97395, -0.21888, 0.05932, 0.00000,
 0.22420, 0.96867, -0.10682, 0.00000,
- -0.03408, 0.11733, 0.99251, 0.00000,
+-0.03408, 0.11733, 0.99251, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.94667, -0.07871, -0.31244, 0.00000,
 0.12656, 0.98260, 0.13592, 0.00000,
- 0.29630, -0.16821, 0.94016, 0.00000,
+0.29630, -0.16821, 0.94016, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 0.0
 q(-0.07730617, -0.15473069, 0.05217682, 0.98354453)
 [0.94667, -0.07871, -0.31244, 0.00000,
 0.12656, 0.98260, 0.13592, 0.00000,
- 0.29630, -0.16821, 0.94016, 0.00000,
+0.29630, -0.16821, 0.94016, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [1.00000, -0.00248, -0.00009, 0.00000,
 0.00248, 0.99999, -0.00365, 0.00000,
- 0.00010, 0.00365, 0.99999, 0.00000,
+0.00010, 0.00365, 0.99999, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 0.0
 q(0.00182304, -0.00004744, 0.00123900, 0.99999762)
 [1.00000, -0.00248, -0.00009, 0.00000,
 0.00248, 0.99999, -0.00365, 0.00000,
- 0.00010, 0.00365, 0.99999, 0.00000,
+0.00010, 0.00365, 0.99999, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.32176, 0.36285, -0.87453, 0.00000,
 0.77105, 0.43564, 0.46444, 0.00000,
- 0.54951, -0.82374, -0.13960, 0.00000,
+0.54951, -0.82374, -0.13960, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 1.192092895507813e-007
 q(0.50638878, 0.55979633, -0.16046251, -0.63596427)
 [0.32176, 0.36285, -0.87453, 0.00000,
 0.77105, 0.43564, 0.46444, 0.00000,
- 0.54951, -0.82374, -0.13960, 0.00000,
+0.54951, -0.82374, -0.13960, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.10492, -0.34468, 0.93284, 0.00000,
 0.99084, 0.11647, -0.06840, 0.00000,
- -0.08507, 0.93147, 0.35374, 0.00000,
+-0.08507, 0.93147, 0.35374, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 0.0
 q(0.39834076, 0.40552813, 0.53206140, 0.62752080)
 [0.10492, -0.34468, 0.93284, 0.00000,
 0.99084, 0.11647, -0.06840, 0.00000,
- -0.08507, 0.93147, 0.35374, 0.00000,
+-0.08507, 0.93147, 0.35374, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [-0.60676, 0.44074, 0.66150, 0.00000,
 -0.77476, -0.14184, -0.61614, 0.00000,
- -0.17773, -0.88636, 0.42753, 0.00000,
+-0.17773, -0.88636, 0.42753, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 0.0
 q(0.16397245, -0.50926191, 0.73758608, -0.41198561)
 [-0.60676, 0.44074, 0.66150, 0.00000,
 -0.77476, -0.14184, -0.61614, 0.00000,
- -0.17773, -0.88636, 0.42753, 0.00000,
+-0.17773, -0.88636, 0.42753, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.99145, 0.10713, 0.07456, 0.00000,
 -0.11510, 0.98697, 0.11242, 0.00000,
- -0.06155, -0.12004, 0.99086, 0.00000,
+-0.06155, -0.12004, 0.99086, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 0.0
 q(-0.05833903, 0.03416020, -0.05577203, 0.99615216)
 [0.99145, 0.10713, 0.07456, 0.00000,
 -0.11510, 0.98697, 0.11242, 0.00000,
- -0.06155, -0.12004, 0.99086, 0.00000,
+-0.06155, -0.12004, 0.99086, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [-0.87604, -0.42938, 0.21949, 0.00000,
 0.39134, -0.36704, 0.84388, 0.00000,
- -0.28179, 0.82517, 0.48958, 0.00000,
+-0.28179, 0.82517, 0.48958, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 1.192092895507813e-007
 q(-0.01884186, 0.50483084, 0.82653940, 0.24824029)
 [-0.87604, -0.42938, 0.21949, 0.00000,
 0.39134, -0.36704, 0.84388, 0.00000,
- -0.28179, 0.82517, 0.48958, 0.00000,
+-0.28179, 0.82517, 0.48958, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.76733, 0.57804, 0.27762, 0.00000,
 -0.61101, 0.52767, 0.59011, 0.00000,
- 0.19462, -0.62243, 0.75809, 0.00000,
+0.19462, -0.62243, 0.75809, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 0.0
 q(-0.34697443, 0.02375118, -0.34025231, 0.87365496)
 [0.76733, 0.57804, 0.27762, 0.00000,
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 0.0
 q(0.87710935, -0.39284909, -0.16743849, -0.21980277)
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 5.960464477539063e-008
 q(0.52647084, 0.78480536, 0.31222209, 0.09708924)
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 [-0.43865, 0.84116, -0.31629, 0.00000,
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 0.0
 q(0.52977055, 0.79611599, -0.29244864, -0.00403502)
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 [0.27254, 0.95445, -0.12147, 0.00000,
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 1.192092895507813e-007
 q(0.70566976, 0.49377745, -0.34628648, 0.37188703)
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 [0.87212, 0.33129, -0.36007, 0.00000,
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 0.0
 q(-0.27206343, -0.22672045, -0.11197562, 0.92846149)
 [0.87212, 0.33129, -0.36007, 0.00000,
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 [0.86997, -0.45053, -0.20044, 0.00000,
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 0.0
 q(0.96489829, -0.22573029, -0.11857944, -0.06289791)
 [0.86997, -0.45053, -0.20044, 0.00000,
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 [0.33557, 0.85634, 0.39252, 0.00000,
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 0.0
 q(-0.59486568, -0.21675034, -0.53407180, 0.56028700)
 [0.33557, 0.85634, 0.39252, 0.00000,
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 [0.22452, 0.31579, 0.92188, 0.00000,
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 5.960464477539063e-008
 q(0.02477232, 0.59517753, -0.18303882, 0.78207844)
 [0.22452, 0.31579, 0.92188, 0.00000,
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 [-0.59473, 0.79824, -0.09549, 0.00000,
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 0.00000, 0.00000, 0.00000, 1.00000]
 1.192092895507813e-007
 q(0.40951881, 0.85063720, 0.27162424, -0.18689792)
 [-0.59473, 0.79824, -0.09549, 0.00000,
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 [0.95513, -0.10834, 0.27565, 0.00000,
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 0.0
 q(0.00132331, 0.13932329, 0.05497207, 0.98871905)
 [0.95513, -0.10834, 0.27565, 0.00000,
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 [0.59268, 0.61558, -0.51942, 0.00000,
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 5.960464477539063e-008
 q(-0.34949958, -0.40286580, -0.20337182, 0.82109016)
 [0.59268, 0.61558, -0.51942, 0.00000,
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 [0.28953, 0.92730, -0.23727, 0.00000,
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 0.0
 q(-0.01744772, -0.16025776, -0.57406783, 0.80278224)
 [0.28953, 0.92730, -0.23727, 0.00000,
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 [0.84054, -0.12278, 0.52766, 0.00000,
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 1.192092895507813e-007
 q(-0.03658033, 0.27726230, 0.05346029, 0.95860803)
 [0.84054, -0.12278, 0.52766, 0.00000,
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 [0.66013, 0.73211, -0.16806, 0.00000,
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 5.960464477539063e-008
 q(-0.42226014, -0.26794082, -0.31327802, 0.80731708)
 [0.66013, 0.73211, -0.16806, 0.00000,
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 [-0.10317, 0.82130, -0.56109, 0.00000,
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 0.00000, 0.00000, 0.00000, 1.00000]
 0.0
 q(-0.26358324, 0.14374615, 0.72864306, -0.61558121)
 [-0.10317, 0.82130, -0.56109, 0.00000,
 -0.97286, -0.20079, -0.11503, 0.00000,
- -0.20714, 0.53399, 0.81972, 0.00000,
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 0.00000, 0.00000, 0.00000, 1.00000]
 [0.99503, 0.09744, 0.02075, 0.00000,
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- -0.01914, -0.01751, 0.99966, 0.00000,
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 0.0
 q(-0.00827966, 0.00998507, -0.04886289, 0.99872130)
 [0.99503, 0.09744, 0.02075, 0.00000,
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 [0.65424, 0.43498, -0.61868, 0.00000,
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 0.0
 q(0.05535709, -0.32495019, -0.25940236, 0.90777391)
 [0.65424, 0.43498, -0.61868, 0.00000,
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 0.00000, 0.00000, 0.00000, 1.00000]
 [-0.75809, 0.45666, 0.46557, 0.00000,
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+-0.17361, 0.54682, -0.81905, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 5.960464477539063e-008
 q(0.29967248, 0.90538603, 0.24356183, 0.17649405)
 [-0.75809, 0.45666, 0.46557, 0.00000,
 0.62861, 0.70175, 0.33525, 0.00000,
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 0.00000, 0.00000, 0.00000, 1.00000]
 [-0.14412, 0.43544, -0.88861, 0.00000,
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- 0.82891, 0.54360, 0.13194, 0.00000,
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 0.00000, 0.00000, 0.00000, 1.00000]
 0.0
 q(0.03994098, -0.65759784, -0.37366563, 0.65295011)
 [-0.14412, 0.43544, -0.88861, 0.00000,
 -0.54050, 0.71756, 0.43928, 0.00000,
- 0.82891, 0.54360, 0.13194, 0.00000,
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 0.00000, 0.00000, 0.00000, 1.00000]
 [0.72325, 0.67347, -0.15279, 0.00000,
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 0.0
 q(-0.03717959, -0.09676723, -0.35918251, 0.92749214)
 [0.72325, 0.67347, -0.15279, 0.00000,
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 0.00000, 0.00000, 0.00000, 1.00000]
 [-0.21039, 0.87009, -0.44574, 0.00000,
 0.58405, 0.47750, 0.65641, 0.00000,
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 0.00000, 0.00000, 0.00000, 1.00000]
 0.0
 q(0.47977704, 0.75771421, 0.17624755, -0.40573388)
 [-0.21039, 0.87009, -0.44574, 0.00000,
 0.58405, 0.47750, 0.65641, 0.00000,
- 0.78398, -0.12223, -0.60863, 0.00000,
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 0.00000, 0.00000, 0.00000, 1.00000]
 [-0.04831, 0.97599, 0.21239, 0.00000,
 0.58354, -0.14500, 0.79903, 0.00000,
- 0.81064, 0.16254, -0.56253, 0.00000,
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 0.00000, 0.00000, 0.00000, 1.00000]
 0.0
 q(0.64405173, 0.60535949, 0.39710954, -0.24706522)
 [-0.04831, 0.97599, 0.21239, 0.00000,
 0.58354, -0.14500, 0.79903, 0.00000,
- 0.81064, 0.16254, -0.56253, 0.00000,
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 0.00000, 0.00000, 0.00000, 1.00000]
 [-0.52721, 0.84591, -0.08054, 0.00000,
 -0.68087, -0.47725, -0.55556, 0.00000,
- -0.50839, -0.23807, 0.82757, 0.00000,
+-0.50839, -0.23807, 0.82757, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 0.0
 q(-0.17497791, -0.23579675, 0.84143168, -0.45362473)
 [-0.52721, 0.84591, -0.08054, 0.00000,
 -0.68087, -0.47725, -0.55556, 0.00000,
- -0.50839, -0.23807, 0.82757, 0.00000,
+-0.50839, -0.23807, 0.82757, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.40645, 0.91333, -0.02484, 0.00000,
 -0.29263, 0.15589, 0.94343, 0.00000,
- 0.86554, -0.37619, 0.33063, 0.00000,
+0.86554, -0.37619, 0.33063, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 1.192092895507813e-007
 q(-0.47956556, -0.32357344, -0.43826151, 0.68792742)
 [0.40645, 0.91333, -0.02484, 0.00000,
 -0.29263, 0.15589, 0.94343, 0.00000,
- 0.86554, -0.37619, 0.33063, 0.00000,
+0.86554, -0.37619, 0.33063, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.79792, 0.27235, -0.53772, 0.00000,
 -0.03575, 0.91191, 0.40884, 0.00000,
- 0.60170, -0.30700, 0.73737, 0.00000,
+0.60170, -0.30700, 0.73737, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 5.960464477539063e-008
 q(-0.19277409, -0.30684772, -0.08297171, 0.92833090)
 [0.79792, 0.27235, -0.53772, 0.00000,
 -0.03575, 0.91191, 0.40884, 0.00000,
- 0.60170, -0.30700, 0.73737, 0.00000,
+0.60170, -0.30700, 0.73737, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [-0.35790, 0.16569, -0.91894, 0.00000,
 -0.72331, 0.57319, 0.38506, 0.00000,
- 0.59053, 0.80249, -0.08530, 0.00000,
+0.59053, 0.80249, -0.08530, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 0.0
 q(-0.19634607, 0.70999873, 0.41815314, -0.53150541)
 [-0.35790, 0.16569, -0.91894, 0.00000,
 -0.72331, 0.57319, 0.38506, 0.00000,
- 0.59053, 0.80249, -0.08530, 0.00000,
+0.59053, 0.80249, -0.08530, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.82578, -0.41854, 0.37804, 0.00000,
 0.51437, 0.83382, -0.20042, 0.00000,
- -0.23134, 0.35996, 0.90383, 0.00000,
+-0.23134, 0.35996, 0.90383, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 0.0
 q(0.14842853, 0.16140796, 0.24710263, 0.94385207)
 [0.82578, -0.41854, 0.37804, 0.00000,
 0.51437, 0.83382, -0.20042, 0.00000,
- -0.23134, 0.35996, 0.90383, 0.00000,
+-0.23134, 0.35996, 0.90383, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.57132, 0.82056, 0.01650, 0.00000,
 0.81800, -0.57095, 0.06999, 0.00000,
- 0.06685, -0.02649, -0.99741, 0.00000,
+0.06685, -0.02649, -0.99741, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 0.0
 q(0.88595670, 0.46237046, 0.02352080, -0.02722242)
 [0.57132, 0.82056, 0.01650, 0.00000,
 0.81800, -0.57095, 0.06999, 0.00000,
- 0.06685, -0.02649, -0.99741, 0.00000,
+0.06685, -0.02649, -0.99741, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 # matrix to quat test
 # matrix to quat test