diff --git a/basic-geometry-dev/main.c b/basic-geometry-dev/main.c
index 56e0f53..3e20b09 100644
--- a/basic-geometry-dev/main.c
+++ b/basic-geometry-dev/main.c
@@ -11,7 +11,7 @@
 
 typedef struct {
     versor_fp32_t versor1, versor2, result;
-    matrix3x3_fp32_t matrix;
+    //matrix3x3_fp32_t matrix;
     vector3_fp32_t vector1, vector2;
 } structure_fp32_t;
 
@@ -31,7 +31,7 @@ structure_fp32_t* make_structures(const unsigned int amount)
     const float multiplier = 2.0f / RAND_MAX;
 
     for (unsigned int i = 0; i < amount; i++) {
-        versor_fp32_set_values(
+        versor_set_values_fp32(
             rand() * multiplier - 1.0f,
             rand() * multiplier - 1.0f,
             rand() * multiplier - 1.0f,
@@ -39,7 +39,7 @@ structure_fp32_t* make_structures(const unsigned int amount)
             &list[i].versor1
         );
 
-        versor_fp32_set_values(
+        versor_set_values_fp32(
             rand() * multiplier - 1.0f,
             rand() * multiplier - 1.0f,
             rand() * multiplier - 1.0f,
@@ -49,9 +49,9 @@ structure_fp32_t* make_structures(const unsigned int amount)
 
         versor_reset_fp32(&list[i].result);
 
-        matrix3x3_fp32_set_to_identity(&list[i].matrix);
+        //matrix3x3_set_to_identity_fp32(&list[i].matrix);
 
-        vector3_set_fp32(
+        vector3_set_values_fp32(
             rand() * multiplier - 1.0f,
             rand() * multiplier - 1.0f,
             rand() * multiplier - 1.0f,
@@ -86,9 +86,10 @@ void print_vector_fp64(const vector3_fp64_t* vector)
 
 void item_work(structure_fp32_t* item)
 {
-    versor_fp32_combine(&item->versor1, &item->versor1, &item->result);
-    versor_fp32_make_rotation_matrix(&item->result, &item->matrix);
-    matrix3x3_fp32_right_product(&item->matrix, &item->vector1, &item->vector2);
+    for (int j = 0; j < 1000; j++) {
+        versor_combine_fp32(&item->versor1, &item->versor2, &item->result);
+        versor_turn_vector_fp32(&item->result, &item->vector1, &item->vector2);
+    }
 }
 
 int main()
@@ -121,13 +122,12 @@ int main()
 #endif // _WIN64
 
     for (unsigned int i = 0; i < amount; i++) {
-        for (int j = 0; j < 1000; j++) {
-            //item_work(list + i);
-            versor_fp32_combine(&list[i].versor1, &list[i].versor2, &list[i].result);
-            versor_fp32_make_rotation_matrix(&list[i].result, &list[i].matrix);
-            matrix3x3_fp32_right_product(&list[i].matrix, &list[i].vector1, &list[i].vector2);
-            //versor_fp32_turn(&list[i].result, &list[i].vector1, &list[i].vector2);
-        }
+        //for (int j = 0; j < 1000; j++) {
+            item_work(list + i);
+            //structure_fp32_t* item = list + i;
+            //versor_combine_fp32(&item->versor1, &item->versor2, &item->result);
+            //versor_turn_vector_fp32(&item->result, &item->vector1, &item->vector2);
+        //}
     }
 
 #ifdef _WIN64
diff --git a/basic-geometry-test/fp32_vector2_test.c b/basic-geometry-test/fp32_vector2_test.c
index 1be1ee4..86c2189 100644
--- a/basic-geometry-test/fp32_vector2_test.c
+++ b/basic-geometry-test/fp32_vector2_test.c
@@ -1,4 +1,4 @@
-#include "vector2_fp32_test.h"
+#include "fp32_vector2_test.h"
 
 const int TEST_FP32_VECTOR2_AMOUNT_1 = 5;
 
@@ -31,7 +31,7 @@ int test_vector2_fp32_square_modulus()
     for (int i = 0; i < TEST_FP32_VECTOR2_AMOUNT_1; i++) {
         square_modulus = vector2_get_square_modulus_fp32(&TEST_FP32_VECTOR2_COMMON_1[i]);
 
-        if (!test_fp32_are_equal(square_modulus, FP32_VECTOR2_SQUARE_MODULUS_1[i], TEST_FP32_TWO_EPSYLON)) {
+        if (!test_are_equal_fp32(square_modulus, FP32_VECTOR2_SQUARE_MODULUS_1[i], TEST_FP32_TWO_EPSYLON)) {
             print_test_failed();
             return TEST_RESULT_FAILED;
         }
@@ -54,7 +54,7 @@ int test_vector2_fp32_modulus()
     for (int i = 0; i < TEST_FP32_VECTOR2_AMOUNT_1; i++) {
         square_modulus = vector2_get_modulus_fp32(&TEST_FP32_VECTOR2_COMMON_1[i]);
 
-        if (!test_fp32_are_equal(square_modulus, FP32_VECTOR2_MODULUS_1[i], TEST_FP32_EPSYLON)) {
+        if (!test_are_equal_fp32(square_modulus, FP32_VECTOR2_MODULUS_1[i], TEST_FP32_EPSYLON)) {
             print_test_failed();
             return TEST_RESULT_FAILED;
         }
@@ -74,17 +74,17 @@ const vector2_fp32_t TEST_FP32_VECTOR2_COMMON_1_2_SUM[] = {
     { -122.0f, -19.6217f }
 };
 
-int test_vector2_fp32_add()
+int test_vector2_add_fp32()
 {
     print_test_name("vector2_fp32_t add");
 
     vector2_fp32_t vector;
 
     for (int i = 0; i < TEST_FP32_VECTOR2_AMOUNT_1; i++) {
-        vector2_fp32_add(&TEST_FP32_VECTOR2_COMMON_1[i], &TEST_FP32_VECTOR2_COMMON_2[i], &vector);
+        vector2_add_fp32(&TEST_FP32_VECTOR2_COMMON_1[i], &TEST_FP32_VECTOR2_COMMON_2[i], &vector);
 
-        if (!test_fp32_are_equal(vector.x1, TEST_FP32_VECTOR2_COMMON_1_2_SUM[i].x1, TEST_FP32_EPSYLON) ||
-            !test_fp32_are_equal(vector.x2, TEST_FP32_VECTOR2_COMMON_1_2_SUM[i].x2, TEST_FP32_EPSYLON)) {
+        if (!test_are_equal_fp32(vector.x1, TEST_FP32_VECTOR2_COMMON_1_2_SUM[i].x1, TEST_FP32_EPSYLON) ||
+            !test_are_equal_fp32(vector.x2, TEST_FP32_VECTOR2_COMMON_1_2_SUM[i].x2, TEST_FP32_EPSYLON)) {
             print_test_failed();
             return TEST_RESULT_FAILED;
         }
@@ -104,17 +104,17 @@ const vector2_fp32_t TEST_FP32_VECTOR2_COMMON_1_2_DIFF[] = {
     { -125.0f, 27.0783f }
 };
 
-int test_vector2_fp32_subtract()
+int test_vector2_subtract_fp32()
 {
     print_test_name("vector2_fp32_t subtract");
 
     vector2_fp32_t vector;
 
     for (int i = 0; i < TEST_FP32_VECTOR2_AMOUNT_1; i++) {
-        vector2_fp32_subtract(&TEST_FP32_VECTOR2_COMMON_1[i], &TEST_FP32_VECTOR2_COMMON_2[i], &vector);
+        vector2_subtract_fp32(&TEST_FP32_VECTOR2_COMMON_1[i], &TEST_FP32_VECTOR2_COMMON_2[i], &vector);
 
-        if (!test_fp32_are_equal(vector.x1, TEST_FP32_VECTOR2_COMMON_1_2_DIFF[i].x1, TEST_FP32_EPSYLON) ||
-            !test_fp32_are_equal(vector.x2, TEST_FP32_VECTOR2_COMMON_1_2_DIFF[i].x2, TEST_FP32_EPSYLON)) {
+        if (!test_are_equal_fp32(vector.x1, TEST_FP32_VECTOR2_COMMON_1_2_DIFF[i].x1, TEST_FP32_EPSYLON) ||
+            !test_are_equal_fp32(vector.x2, TEST_FP32_VECTOR2_COMMON_1_2_DIFF[i].x2, TEST_FP32_EPSYLON)) {
             print_test_failed();
             return TEST_RESULT_FAILED;
         }
@@ -138,11 +138,11 @@ int test_fp32_vector2()
         return TEST_RESULT_FAILED;
     }
 
-    if (test_vector2_fp32_add() != TEST_RESULT_SUCCES) {
+    if (test_vector2_add_fp32() != TEST_RESULT_SUCCES) {
         return TEST_RESULT_FAILED;
     }
 
-    if (test_vector2_fp32_subtract() != TEST_RESULT_SUCCES) {
+    if (test_vector2_subtract_fp32() != TEST_RESULT_SUCCES) {
         return TEST_RESULT_FAILED;
     }
 
diff --git a/basic-geometry-test/fp32_vector2_test.h b/basic-geometry-test/fp32_vector2_test.h
index 0ea82f7..ad687a3 100644
--- a/basic-geometry-test/fp32_vector2_test.h
+++ b/basic-geometry-test/fp32_vector2_test.h
@@ -9,8 +9,8 @@ int test_vector2_fp32_square_modulus();
 
 int test_vector2_fp32_modulus();
 
-int test_vector2_fp32_add();
+int test_vector2_add_fp32();
 
-int test_vector2_fp32_subtract();
+int test_vector2_subtract_fp32();
 
 #endif
diff --git a/basic-geometry-test/geometry_test.h b/basic-geometry-test/geometry_test.h
index 04d5151..689940b 100644
--- a/basic-geometry-test/geometry_test.h
+++ b/basic-geometry-test/geometry_test.h
@@ -22,7 +22,7 @@ void print_test_success();
 
 void print_test_failed();
 
-inline int test_fp32_are_equal(const float value1, const float value2, const float epsylon)
+inline int test_are_equal_fp32(const float value1, const float value2, const float epsylon)
 {
     if (-1.0f <= value1 && value1 <= 1.0f) {
         const float difference = value1 - value2;
@@ -36,7 +36,7 @@ inline int test_fp32_are_equal(const float value1, const float value2, const flo
     return value1 * (1.0f + epsylon) <= value2 && value2 * (1.0f + epsylon) <= value1;
 }
 
-inline int test_fp64_are_equal(const double value1, const double value2, const double epsylon)
+inline int test_are_equal_fp64(const double value1, const double value2, const double epsylon)
 {
     if (-1.0 <= value1 && value1 <= 1.0) {
         const double difference = value1 - value2;
diff --git a/basic-geometry-test/main.c b/basic-geometry-test/main.c
index ffd2985..03b5b92 100644
--- a/basic-geometry-test/main.c
+++ b/basic-geometry-test/main.c
@@ -2,7 +2,7 @@
 #include <stdlib.h>
 
 #include "geometry_test.h"
-#include "vector2_fp32_test.h"
+#include "fp32_vector2_test.h"
 
 #define PROGRAM_RESULT_SUCCESS 0
 #define PROGRAM_RESULT_FAILED 1
diff --git a/basic-geometry/matrix2x2.h b/basic-geometry/matrix2x2.h
index fe296a3..80954ef 100644
--- a/basic-geometry/matrix2x2.h
+++ b/basic-geometry/matrix2x2.h
@@ -25,7 +25,7 @@ inline void matrix2x2_reset_fp64(matrix2x2_fp64_t* matrix)
 
 // ================== Identity ================== //
 
-inline void matrix2x2_fp32_set_to_identity(matrix2x2_fp32_t* matrix)
+inline void matrix2x2_set_to_identity_fp32(matrix2x2_fp32_t* matrix)
 {
     matrix->r1c1 = 1.0f;
     matrix->r1c2 = 0.0f;
@@ -33,7 +33,7 @@ inline void matrix2x2_fp32_set_to_identity(matrix2x2_fp32_t* matrix)
     matrix->r2c2 = 1.0f;
 }
 
-inline void matrix2x2_fp64_set_to_identity(matrix2x2_fp64_t* matrix)
+inline void matrix2x2_set_to_identity_fp64(matrix2x2_fp64_t* matrix)
 {
     matrix->r1c1 = 1.0;
     matrix->r1c2 = 0.0;
@@ -43,7 +43,7 @@ inline void matrix2x2_fp64_set_to_identity(matrix2x2_fp64_t* matrix)
 
 // ================ Make Diagonal =============== //
 
-inline void matrix2x2_fp32_set_to_diagonal(const float d1, const float d2, matrix2x2_fp32_t* matrix)
+inline void matrix2x2_set_to_diagonal_fp32(const float d1, const float d2, matrix2x2_fp32_t* matrix)
 {
     matrix->r1c1 = d1;
     matrix->r1c2 = 0.0f;
@@ -51,7 +51,7 @@ inline void matrix2x2_fp32_set_to_diagonal(const float d1, const float d2, matri
     matrix->r2c2 = d2;
 }
 
-inline void matrix2x2_fp64_set_to_diagonal(const double d1, const double d2, matrix2x2_fp64_t* matrix)
+inline void matrix2x2_set_to_diagonal_fp64(const double d1, const double d2, matrix2x2_fp64_t* matrix)
 {
     matrix->r1c1 = d1;
     matrix->r1c2 = 0.0;
@@ -61,7 +61,7 @@ inline void matrix2x2_fp64_set_to_diagonal(const double d1, const double d2, mat
 
 // ============== Rotation Matrix =============== //
 
-inline void matrix2x2_fp32_make_turn(const float angle, const angle_unit_t unit, matrix2x2_fp32_t* matrix)
+inline void matrix2x2_make_rotation_fp32(const float angle, const angle_unit_t unit, matrix2x2_fp32_t* matrix)
 {
     const float radians = fp32_angle_to_radians(angle, unit);
     const float cosine = cosf(radians);
@@ -73,7 +73,7 @@ inline void matrix2x2_fp32_make_turn(const float angle, const angle_unit_t unit,
     matrix->r2c2 = cosine;
 }
 
-inline void matrix2x2_fp64_make_turn(const double angle, const angle_unit_t unit, matrix2x2_fp64_t* matrix)
+inline void matrix2x2_make_rotation_fp64(const double angle, const angle_unit_t unit, matrix2x2_fp64_t* matrix)
 {
     const double radians = fp64_angle_to_radians(angle, unit);
     const double cosine = cos(radians);
@@ -151,7 +151,7 @@ inline void matrix2x2_swap_fp64(matrix2x2_fp64_t* matrix1, matrix2x2_fp64_t* mat
 
 // ============= Copy to twin type ============== //
 
-inline void matrix2x2_fp32_set_from_fp64(const matrix2x2_fp64_t* from, matrix2x2_fp32_t* to)
+inline void matrix2x2_convert_fp64_to_fp32(const matrix2x2_fp64_t* from, matrix2x2_fp32_t* to)
 {
     to->r1c1 = (float)from->r1c1;
     to->r1c2 = (float)from->r1c2;
@@ -160,7 +160,7 @@ inline void matrix2x2_fp32_set_from_fp64(const matrix2x2_fp64_t* from, matrix2x2
     to->r2c2 = (float)from->r2c2;
 }
 
-inline void matrix2x2_fp64_set_from_fp32(const matrix2x2_fp32_t* from, matrix2x2_fp64_t* to)
+inline void matrix2x2_convert_fp32_to_fp64(const matrix2x2_fp32_t* from, matrix2x2_fp64_t* to)
 {
     to->r1c1 = from->r1c1;
     to->r1c2 = from->r1c2;
@@ -171,42 +171,42 @@ inline void matrix2x2_fp64_set_from_fp32(const matrix2x2_fp32_t* from, matrix2x2
 
 // ================ Determinant ================= //
 
-inline float matrix2x2_fp32_get_determinant(const matrix2x2_fp32_t* matrix)
+inline float matrix2x2_get_determinant_fp32(const matrix2x2_fp32_t* matrix)
 {
     return matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1;
 }
 
-inline double matrix2x2_fp64_get_determinant(const matrix2x2_fp64_t* matrix)
+inline double matrix2x2_get_determinant_fp64(const matrix2x2_fp64_t* matrix)
 {
     return matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1;
 }
 
 // ================== Singular ================== //
 
-inline int matrix2x2_fp32_is_singular(const matrix2x2_fp32_t* matrix)
+inline int matrix2x2_is_singular_fp32(const matrix2x2_fp32_t* matrix)
 {
-    const float determinant = matrix2x2_fp32_get_determinant(matrix);
+    const float determinant = matrix2x2_get_determinant_fp32(matrix);
 
     return -FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON;
 }
 
-inline int matrix2x2_fp64_is_singular(const matrix2x2_fp64_t* matrix)
+inline int matrix2x2_is_singular_fp64(const matrix2x2_fp64_t* matrix)
 {
-    const double determinant = matrix2x2_fp64_get_determinant(matrix);
+    const double determinant = matrix2x2_get_determinant_fp64(matrix);
 
     return -FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON;
 }
 
 // =============== Transposition ================ //
 
-inline void matrix2x2_fp32_transpose(matrix2x2_fp32_t* matrix)
+inline void matrix2x2_transpose_fp32(matrix2x2_fp32_t* matrix)
 {
     const float tmp = matrix->r1c2;
     matrix->r1c2 = matrix->r2c1;
     matrix->r2c1 = tmp;
 }
 
-inline void matrix2x2_fp64_transpose(matrix2x2_fp64_t* matrix)
+inline void matrix2x2_transpose_fp64(matrix2x2_fp64_t* matrix)
 {
     const double tmp = matrix->r1c2;
     matrix->r1c2 = matrix->r2c1;
@@ -217,7 +217,7 @@ inline void matrix2x2_fp64_transpose(matrix2x2_fp64_t* matrix)
 
 inline int matrix2x2_invert_fp32(matrix2x2_fp32_t* matrix)
 {
-    const float determinant = matrix2x2_fp32_get_determinant(matrix);
+    const float determinant = matrix2x2_get_determinant_fp32(matrix);
 
     if (-FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON) {
         return 0;
@@ -242,7 +242,7 @@ inline int matrix2x2_invert_fp32(matrix2x2_fp32_t* matrix)
 
 inline int matrix2x2_invert_fp64(matrix2x2_fp64_t* matrix)
 {
-    const double determinant = matrix2x2_fp64_get_determinant(matrix);
+    const double determinant = matrix2x2_get_determinant_fp64(matrix);
 
     if (-FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON) {
         return 0;
@@ -267,7 +267,7 @@ inline int matrix2x2_invert_fp64(matrix2x2_fp64_t* matrix)
 
 // =============== Set Transposed =============== //
 
-inline void matrix2x2_fp32_set_transposed(const matrix2x2_fp32_t* from, matrix2x2_fp32_t* to)
+inline void matrix2x2_set_transposed_fp32(const matrix2x2_fp32_t* from, matrix2x2_fp32_t* to)
 {
     float tmp = from->r1c2;
 
@@ -278,7 +278,7 @@ inline void matrix2x2_fp32_set_transposed(const matrix2x2_fp32_t* from, matrix2x
     to->r2c2 = from->r2c2;
 }
 
-inline void matrix2x2_fp64_set_transposed(const matrix2x2_fp64_t* from, matrix2x2_fp64_t* to)
+inline void matrix2x2_set_transposed_fp64(const matrix2x2_fp64_t* from, matrix2x2_fp64_t* to)
 {
     double tmp = from->r1c2;
 
@@ -291,9 +291,9 @@ inline void matrix2x2_fp64_set_transposed(const matrix2x2_fp64_t* from, matrix2x
 
 // ================ Set Inverted ================ //
 
-inline int matrix2x2_fp32_set_inverted(const matrix2x2_fp32_t* from, matrix2x2_fp32_t* to)
+inline int matrix2x2_set_inverted_fp32(const matrix2x2_fp32_t* from, matrix2x2_fp32_t* to)
 {
-    const float determinant = matrix2x2_fp32_get_determinant(from);
+    const float determinant = matrix2x2_get_determinant_fp32(from);
 
     if (-FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON) {
         return 0;
@@ -316,9 +316,9 @@ inline int matrix2x2_fp32_set_inverted(const matrix2x2_fp32_t* from, matrix2x2_f
     return 1;
 }
 
-inline int matrix2x2_fp64_set_inverted(const matrix2x2_fp64_t* from, matrix2x2_fp64_t* to)
+inline int matrix2x2_set_inverted_fp64(const matrix2x2_fp64_t* from, matrix2x2_fp64_t* to)
 {
-    const double determinant = matrix2x2_fp64_get_determinant(from);
+    const double determinant = matrix2x2_get_determinant_fp64(from);
 
     if (-FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON) {
         return 0;
@@ -343,13 +343,13 @@ inline int matrix2x2_fp64_set_inverted(const matrix2x2_fp64_t* from, matrix2x2_f
 
 // ================= Set Row 1 ================== //
 
-inline void matrix2x2_fp32_set_row1(const float c1, const float c2, matrix2x2_fp32_t* matrix)
+inline void matrix2x2_set_row1_fp32(const float c1, const float c2, matrix2x2_fp32_t* matrix)
 {
     matrix->r1c1 = c1;
     matrix->r1c2 = c2;
 }
 
-inline void matrix2x2_fp64_set_row1(const double c1, const double c2, matrix2x2_fp64_t* matrix)
+inline void matrix2x2_set_row1_fp64(const double c1, const double c2, matrix2x2_fp64_t* matrix)
 {
     matrix->r1c1 = c1;
     matrix->r1c2 = c2;
@@ -357,13 +357,13 @@ inline void matrix2x2_fp64_set_row1(const double c1, const double c2, matrix2x2_
 
 // ================= Set Row 2 ================== //
 
-inline void matrix2x2_fp32_set_row2(const float c1, const float c2, matrix2x2_fp32_t* matrix)
+inline void matrix2x2_set_row2_fp32(const float c1, const float c2, matrix2x2_fp32_t* matrix)
 {
     matrix->r2c1 = c1;
     matrix->r2c2 = c2;
 }
 
-inline void matrix2x2_fp64_set_row2(const double c1, const double c2, matrix2x2_fp64_t* matrix)
+inline void matrix2x2_set_row2_fp64(const double c1, const double c2, matrix2x2_fp64_t* matrix)
 {
     matrix->r2c1 = c1;
     matrix->r2c2 = c2;
@@ -371,13 +371,13 @@ inline void matrix2x2_fp64_set_row2(const double c1, const double c2, matrix2x2_
 
 // ================ Set Column 1 ================ //
 
-inline void matrix2x2_fp32_set_column1(const float r1, const float r2, matrix2x2_fp32_t* matrix)
+inline void matrix2x2_set_column1_fp32(const float r1, const float r2, matrix2x2_fp32_t* matrix)
 {
     matrix->r1c1 = r1;
     matrix->r2c1 = r2;
 }
 
-inline void matrix2x2_fp64_set_column1(const double r1, const double r2, matrix2x2_fp64_t* matrix)
+inline void matrix2x2_set_column1_fp64(const double r1, const double r2, matrix2x2_fp64_t* matrix)
 {
     matrix->r1c1 = r1;
     matrix->r2c1 = r2;
@@ -385,13 +385,13 @@ inline void matrix2x2_fp64_set_column1(const double r1, const double r2, matrix2
 
 // ================ Set Column 2 ================ //
 
-inline void matrix2x2_fp32_set_column2(const float r1, const float r2, matrix2x2_fp32_t* matrix)
+inline void matrix2x2_set_column2_fp32(const float r1, const float r2, matrix2x2_fp32_t* matrix)
 {
     matrix->r1c2 = r1;
     matrix->r2c2 = r2;
 }
 
-inline void matrix2x2_fp64_set_column2(const double r1, const double r2, matrix2x2_fp64_t* matrix)
+inline void matrix2x2_set_column2_fp64(const double r1, const double r2, matrix2x2_fp64_t* matrix)
 {
     matrix->r1c2 = r1;
     matrix->r2c2 = r2;
@@ -399,7 +399,7 @@ inline void matrix2x2_fp64_set_column2(const double r1, const double r2, matrix2
 
 // ================ Append scaled =============== //
 
-inline void matrix2x2_fp32_append_scaled(matrix2x2_fp32_t* basic_vector, const matrix2x2_fp32_t* scalable_vector, const float scale)
+inline void matrix2x2_add_scaled_fp32(matrix2x2_fp32_t* basic_vector, const matrix2x2_fp32_t* scalable_vector, const float scale)
 {
     basic_vector->r1c1 += scalable_vector->r1c1 * scale;
     basic_vector->r1c2 += scalable_vector->r1c2 * scale;
@@ -408,7 +408,7 @@ inline void matrix2x2_fp32_append_scaled(matrix2x2_fp32_t* basic_vector, const m
     basic_vector->r2c2 += scalable_vector->r2c2 * scale;
 }
 
-inline void matrix2x2_fp64_append_scaled(matrix2x2_fp64_t* basic_vector, const matrix2x2_fp64_t* scalable_vector, const double scale)
+inline void matrix2x2_add_scaled_fp64(matrix2x2_fp64_t* basic_vector, const matrix2x2_fp64_t* scalable_vector, const double scale)
 {
     basic_vector->r1c1 += scalable_vector->r1c1 * scale;
     basic_vector->r1c2 += scalable_vector->r1c2 * scale;
@@ -419,7 +419,7 @@ inline void matrix2x2_fp64_append_scaled(matrix2x2_fp64_t* basic_vector, const m
 
 // ================== Addition ================== //
 
-inline void matrix2x2_fp32_add(const matrix2x2_fp32_t* matrix1, const matrix2x2_fp32_t* matrix2, matrix2x2_fp32_t* sum)
+inline void matrix2x2_add_fp32(const matrix2x2_fp32_t* matrix1, const matrix2x2_fp32_t* matrix2, matrix2x2_fp32_t* sum)
 {
     sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
     sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
@@ -428,7 +428,7 @@ inline void matrix2x2_fp32_add(const matrix2x2_fp32_t* matrix1, const matrix2x2_
     sum->r2c2 = matrix1->r2c2 + matrix2->r2c2;
 }
 
-inline void matrix2x2_fp64_add(const matrix2x2_fp64_t* matrix1, const matrix2x2_fp64_t* matrix2, matrix2x2_fp64_t* sum)
+inline void matrix2x2_add_fp64(const matrix2x2_fp64_t* matrix1, const matrix2x2_fp64_t* matrix2, matrix2x2_fp64_t* sum)
 {
     sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
     sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
@@ -439,7 +439,7 @@ inline void matrix2x2_fp64_add(const matrix2x2_fp64_t* matrix1, const matrix2x2_
 
 // ================ Subtraction ================= //
 
-inline void matrix2x2_fp32_subtract(const matrix2x2_fp32_t* minuend, const matrix2x2_fp32_t* subtrahend, matrix2x2_fp32_t* difference)
+inline void matrix2x2_subtract_fp32(const matrix2x2_fp32_t* minuend, const matrix2x2_fp32_t* subtrahend, matrix2x2_fp32_t* difference)
 {
     difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
     difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
@@ -448,7 +448,7 @@ inline void matrix2x2_fp32_subtract(const matrix2x2_fp32_t* minuend, const matri
     difference->r2c2 = minuend->r2c2 - subtrahend->r2c2;
 }
 
-inline void matrix2x2_fp64_subtract(const matrix2x2_fp64_t* minuend, const matrix2x2_fp64_t* subtrahend, matrix2x2_fp64_t* difference)
+inline void matrix2x2_subtract_fp64(const matrix2x2_fp64_t* minuend, const matrix2x2_fp64_t* subtrahend, matrix2x2_fp64_t* difference)
 {
     difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
     difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
@@ -459,7 +459,7 @@ inline void matrix2x2_fp64_subtract(const matrix2x2_fp64_t* minuend, const matri
 
 // =============== Multiplication =============== //
 
-inline void matrix2x2_fp32_multiply(const matrix2x2_fp32_t* multiplicand, const float multiplier, matrix2x2_fp32_t* product)
+inline void matrix2x2_multiply_fp32(const matrix2x2_fp32_t* multiplicand, const float multiplier, matrix2x2_fp32_t* product)
 {
     product->r1c1 = multiplicand->r1c1 * multiplier;
     product->r1c2 = multiplicand->r1c2 * multiplier;
@@ -468,7 +468,7 @@ inline void matrix2x2_fp32_multiply(const matrix2x2_fp32_t* multiplicand, const
     product->r2c2 = multiplicand->r2c2 * multiplier;
 }
 
-inline void matrix2x2_fp64_multiply(const matrix2x2_fp64_t* multiplicand, const double multiplier, matrix2x2_fp64_t* product)
+inline void matrix2x2_multiply_fp64(const matrix2x2_fp64_t* multiplicand, const double multiplier, matrix2x2_fp64_t* product)
 {
     product->r1c1 = multiplicand->r1c1 * multiplier;
     product->r1c2 = multiplicand->r1c2 * multiplier;
@@ -479,19 +479,19 @@ inline void matrix2x2_fp64_multiply(const matrix2x2_fp64_t* multiplicand, const
 
 // ================== Division ================== //
 
-inline void matrix2x2_fp32_divide(const matrix2x2_fp32_t* dividend, const float divisor, matrix2x2_fp32_t* quotient)
+inline void matrix2x2_divide_fp32(const matrix2x2_fp32_t* dividend, const float divisor, matrix2x2_fp32_t* quotient)
 {
-    matrix2x2_fp32_multiply(dividend, 1.0f / divisor, quotient);
+    matrix2x2_multiply_fp32(dividend, 1.0f / divisor, quotient);
 }
 
 inline void matrix2x2_fp64_divide(const matrix2x2_fp64_t* dividend, const double divisor, matrix2x2_fp64_t* quotient)
 {
-    matrix2x2_fp64_multiply(dividend, 1.0 / divisor, quotient);
+    matrix2x2_multiply_fp64(dividend, 1.0 / divisor, quotient);
 }
 
 // ============ Left Vector Product ============= //
 
-inline void matrix2x2_fp32_left_product(const vector2_fp32_t* vector, const matrix2x2_fp32_t* matrix, vector2_fp32_t* result)
+inline void matrix2x2_left_product_fp32(const vector2_fp32_t* vector, const matrix2x2_fp32_t* matrix, vector2_fp32_t* result)
 {
     const float x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1;
     const float x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2;
@@ -500,7 +500,7 @@ inline void matrix2x2_fp32_left_product(const vector2_fp32_t* vector, const matr
     result->x2 = x2;
 }
 
-inline void matrix2x2_fp64_left_product(const vector2_fp64_t* vector, const matrix2x2_fp64_t* matrix, vector2_fp64_t* result)
+inline void matrix2x2_left_product_fp64(const vector2_fp64_t* vector, const matrix2x2_fp64_t* matrix, vector2_fp64_t* result)
 {
     const double x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1;
     const double x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2;
@@ -511,7 +511,7 @@ inline void matrix2x2_fp64_left_product(const vector2_fp64_t* vector, const matr
 
 // ============ Right Vector Product ============ //
 
-inline void matrix2x2_fp32_right_product(const matrix2x2_fp32_t* matrix, const vector2_fp32_t* vector, vector2_fp32_t* result)
+inline void matrix2x2_right_product_fp32(const matrix2x2_fp32_t* matrix, const vector2_fp32_t* vector, vector2_fp32_t* result)
 {
     const float x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2;
     const float x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2;
@@ -520,7 +520,7 @@ inline void matrix2x2_fp32_right_product(const matrix2x2_fp32_t* matrix, const v
     result->x2 = x2;
 }
 
-inline void matrix2x2_fp64_right_product(const matrix2x2_fp64_t* matrix, const vector2_fp64_t* vector, vector2_fp64_t* result)
+inline void matrix2x2_right_product_fp64(const matrix2x2_fp64_t* matrix, const vector2_fp64_t* vector, vector2_fp64_t* result)
 {
     const double x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2;
     const double x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2;
diff --git a/basic-geometry/matrix2x3.h b/basic-geometry/matrix2x3.h
index 398e9f7..68a7a63 100644
--- a/basic-geometry/matrix2x3.h
+++ b/basic-geometry/matrix2x3.h
@@ -121,7 +121,7 @@ inline void matrix2x3_swap_fp64(matrix2x3_fp64_t* matrix1, matrix2x3_fp64_t* mat
 
 // ============= Copy to twin type ============== //
 
-inline void matrix2x3_fp32_set_from_fp64(const matrix2x3_fp64_t* from, matrix2x3_fp32_t* to)
+inline void matrix2x3_convert_fp64_to_fp32(const matrix2x3_fp64_t* from, matrix2x3_fp32_t* to)
 {
     to->r1c1 = (float) from->r1c1;
     to->r1c2 = (float) from->r1c2;
@@ -133,7 +133,7 @@ inline void matrix2x3_fp32_set_from_fp64(const matrix2x3_fp64_t* from, matrix2x3
     to->r3c2 = (float) from->r3c2;
 }
 
-inline void matrix2x3_fp64_set_from_fp32(const matrix2x3_fp32_t* from, matrix2x3_fp64_t* to)
+inline void matrix2x3_convert_fp32_to_fp64(const matrix2x3_fp32_t* from, matrix2x3_fp64_t* to)
 {
     to->r1c1 = from->r1c1;
     to->r1c2 = from->r1c2;
@@ -147,7 +147,7 @@ inline void matrix2x3_fp64_set_from_fp32(const matrix2x3_fp32_t* from, matrix2x3
 
 // =============== Set transposed =============== //
 
-inline void matrix2x3_fp32_set_transposed(const matrix3x2_fp32_t* from, matrix2x3_fp32_t* to)
+inline void matrix2x3_set_transposed_fp32(const matrix3x2_fp32_t* from, matrix2x3_fp32_t* to)
 {
     to->r1c1 = from->r1c1;
     to->r1c2 = from->r2c1;
@@ -159,7 +159,7 @@ inline void matrix2x3_fp32_set_transposed(const matrix3x2_fp32_t* from, matrix2x
     to->r3c2 = from->r2c3;
 }
 
-inline void matrix2x3_fp64_set_transposed(const matrix3x2_fp64_t* from, matrix2x3_fp64_t* to)
+inline void matrix2x3_set_transposed_fp64(const matrix3x2_fp64_t* from, matrix2x3_fp64_t* to)
 {
     to->r1c1 = from->r1c1;
     to->r1c2 = from->r2c1;
@@ -173,7 +173,7 @@ inline void matrix2x3_fp64_set_transposed(const matrix3x2_fp64_t* from, matrix2x
 
 // =============== Set transposed =============== //
 
-inline void matrix2x3_fp32_set_transposed_fp64(const matrix3x2_fp64_t* from, matrix2x3_fp32_t* to)
+inline void matrix2x3_set_transposed_fp32_fp64(const matrix3x2_fp64_t* from, matrix2x3_fp32_t* to)
 {
     to->r1c1 = (float) from->r1c1;
     to->r1c2 = (float) from->r2c1;
@@ -185,7 +185,7 @@ inline void matrix2x3_fp32_set_transposed_fp64(const matrix3x2_fp64_t* from, mat
     to->r3c2 = (float) from->r2c3;
 }
 
-inline void matrix2x3_fp64_set_transposed_fp32(const matrix3x2_fp32_t* from, matrix2x3_fp64_t* to)
+inline void matrix2x3_set_transposed_fp64_fp32(const matrix3x2_fp32_t* from, matrix2x3_fp64_t* to)
 {
     to->r1c1 = from->r1c1;
     to->r1c2 = from->r2c1;
@@ -199,13 +199,13 @@ inline void matrix2x3_fp64_set_transposed_fp32(const matrix3x2_fp32_t* from, mat
 
 // ================= Set Row 1 ================== //
 
-inline void matrix2x3_fp32_set_row1(const float c1, const float c2, matrix2x3_fp32_t* matrix)
+inline void matrix2x3_set_row1_fp32(const float c1, const float c2, matrix2x3_fp32_t* matrix)
 {
     matrix->r1c1 = c1;
     matrix->r1c2 = c2;
 }
 
-inline void matrix2x3_fp64_set_row1(const double c1, const double c2, matrix2x3_fp64_t* matrix)
+inline void matrix2x3_set_row1_fp64(const double c1, const double c2, matrix2x3_fp64_t* matrix)
 {
     matrix->r1c1 = c1;
     matrix->r1c2 = c2;
@@ -213,13 +213,13 @@ inline void matrix2x3_fp64_set_row1(const double c1, const double c2, matrix2x3_
 
 // ================= Set Row 2 ================== //
 
-inline void matrix2x3_fp32_set_row2(const float c1, const float c2, matrix2x3_fp32_t* matrix)
+inline void matrix2x3_set_row2_fp32(const float c1, const float c2, matrix2x3_fp32_t* matrix)
 {
     matrix->r2c1 = c1;
     matrix->r2c2 = c2;
 }
 
-inline void matrix2x3_fp64_set_row2(const double c1, const double c2, matrix2x3_fp64_t* matrix)
+inline void matrix2x3_set_row2_fp64(const double c1, const double c2, matrix2x3_fp64_t* matrix)
 {
     matrix->r2c1 = c1;
     matrix->r2c2 = c2;
@@ -227,13 +227,13 @@ inline void matrix2x3_fp64_set_row2(const double c1, const double c2, matrix2x3_
 
 // ================= Set Row 3 ================== //
 
-inline void matrix2x3_fp32_set_row3(const float c1, const float c2, matrix2x3_fp32_t* matrix)
+inline void matrix2x3_set_row3_fp32(const float c1, const float c2, matrix2x3_fp32_t* matrix)
 {
     matrix->r3c1 = c1;
     matrix->r3c2 = c2;
 }
 
-inline void matrix2x3_fp64_set_row3(const double c1, const double c2, matrix2x3_fp64_t* matrix)
+inline void matrix2x3_set_row3_fp64(const double c1, const double c2, matrix2x3_fp64_t* matrix)
 {
     matrix->r3c1 = c1;
     matrix->r3c2 = c2;
@@ -241,14 +241,14 @@ inline void matrix2x3_fp64_set_row3(const double c1, const double c2, matrix2x3_
 
 // ================ Set Column 1 ================ //
 
-inline void matrix2x3_fp32_set_column1(const float r1, const float r2, const float r3, matrix2x3_fp32_t* matrix)
+inline void matrix2x3_set_column1_fp32(const float r1, const float r2, const float r3, matrix2x3_fp32_t* matrix)
 {
     matrix->r1c1 = r1;
     matrix->r2c1 = r2;
     matrix->r3c1 = r3;
 }
 
-inline void matrix2x3_fp64_set_column1(const double r1, const double r2, const double r3, matrix2x3_fp64_t* matrix)
+inline void matrix2x3_set_column1_fp64(const double r1, const double r2, const double r3, matrix2x3_fp64_t* matrix)
 {
     matrix->r1c1 = r1;
     matrix->r2c1 = r2;
@@ -257,14 +257,14 @@ inline void matrix2x3_fp64_set_column1(const double r1, const double r2, const d
 
 // ================ Set Column 2 ================ //
 
-inline void matrix2x3_fp32_set_column2(const float r1, const float r2, const float r3, matrix2x3_fp32_t* matrix)
+inline void matrix2x3_set_column2_fp32(const float r1, const float r2, const float r3, matrix2x3_fp32_t* matrix)
 {
     matrix->r1c2 = r1;
     matrix->r2c2 = r2;
     matrix->r3c2 = r3;
 }
 
-inline void matrix2x3_fp64_set_column2(const double r1, const double r2, const double r3, matrix2x3_fp64_t* matrix)
+inline void matrix2x3_set_column2_fp64(const double r1, const double r2, const double r3, matrix2x3_fp64_t* matrix)
 {
     matrix->r1c2 = r1;
     matrix->r2c2 = r2;
@@ -273,7 +273,7 @@ inline void matrix2x3_fp64_set_column2(const double r1, const double r2, const d
 
 // ================ Append scaled =============== //
 
-inline void matrix2x3_fp32_append_scaled(matrix2x3_fp32_t* basic_vector, const matrix2x3_fp32_t* scalable_vector, const float scale)
+inline void matrix2x3_add_scaled_fp32(matrix2x3_fp32_t* basic_vector, const matrix2x3_fp32_t* scalable_vector, const float scale)
 {
     basic_vector->r1c1 += scalable_vector->r1c1 * scale;
     basic_vector->r1c2 += scalable_vector->r1c2 * scale;
@@ -285,7 +285,7 @@ inline void matrix2x3_fp32_append_scaled(matrix2x3_fp32_t* basic_vector, const m
     basic_vector->r3c2 += scalable_vector->r3c2 * scale;
 }
 
-inline void matrix2x3_fp64_append_scaled(matrix2x3_fp64_t* basic_vector, const matrix2x3_fp64_t* scalable_vector, const double scale)
+inline void matrix2x3_add_scaled_fp64(matrix2x3_fp64_t* basic_vector, const matrix2x3_fp64_t* scalable_vector, const double scale)
 {
     basic_vector->r1c1 += scalable_vector->r1c1 * scale;
     basic_vector->r1c2 += scalable_vector->r1c2 * scale;
@@ -299,7 +299,7 @@ inline void matrix2x3_fp64_append_scaled(matrix2x3_fp64_t* basic_vector, const m
 
 // ================== Addition ================== //
 
-inline void matrix2x3_fp32_add(const matrix2x3_fp32_t* matrix1, const matrix2x3_fp32_t* matrix2, matrix2x3_fp32_t* sum)
+inline void matrix2x3_add_fp32(const matrix2x3_fp32_t* matrix1, const matrix2x3_fp32_t* matrix2, matrix2x3_fp32_t* sum)
 {
     sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
     sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
@@ -311,7 +311,7 @@ inline void matrix2x3_fp32_add(const matrix2x3_fp32_t* matrix1, const matrix2x3_
     sum->r3c2 = matrix1->r3c2 + matrix2->r3c2;
 }
 
-inline void matrix2x3_fp64_add(const matrix2x3_fp64_t* matrix1, const matrix2x3_fp64_t* matrix2, matrix2x3_fp64_t* sum)
+inline void matrix2x3_add_fp64(const matrix2x3_fp64_t* matrix1, const matrix2x3_fp64_t* matrix2, matrix2x3_fp64_t* sum)
 {
     sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
     sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
@@ -325,7 +325,7 @@ inline void matrix2x3_fp64_add(const matrix2x3_fp64_t* matrix1, const matrix2x3_
 
 // ================ Subtraction ================= //
 
-inline void matrix2x3_fp32_subtract(const matrix2x3_fp32_t* minuend, const matrix2x3_fp32_t* subtrahend, matrix2x3_fp32_t* difference)
+inline void matrix2x3_subtract_fp32(const matrix2x3_fp32_t* minuend, const matrix2x3_fp32_t* subtrahend, matrix2x3_fp32_t* difference)
 {
     difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
     difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
@@ -337,7 +337,7 @@ inline void matrix2x3_fp32_subtract(const matrix2x3_fp32_t* minuend, const matri
     difference->r3c2 = minuend->r3c2 - subtrahend->r3c2;
 }
 
-inline void matrix2x3_fp64_subtract(const matrix2x3_fp64_t* minuend, const matrix2x3_fp64_t* subtrahend, matrix2x3_fp64_t* difference)
+inline void matrix2x3_subtract_fp64(const matrix2x3_fp64_t* minuend, const matrix2x3_fp64_t* subtrahend, matrix2x3_fp64_t* difference)
 {
     difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
     difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
@@ -351,7 +351,7 @@ inline void matrix2x3_fp64_subtract(const matrix2x3_fp64_t* minuend, const matri
 
 // =============== Multiplication =============== //
 
-inline void matrix2x3_fp32_multiply(const matrix2x3_fp32_t* multiplicand, const float multiplier, matrix2x3_fp32_t* product)
+inline void matrix2x3_multiply_fp32(const matrix2x3_fp32_t* multiplicand, const float multiplier, matrix2x3_fp32_t* product)
 {
     product->r1c1 = multiplicand->r1c1 * multiplier;
     product->r1c2 = multiplicand->r1c2 * multiplier;
@@ -363,7 +363,7 @@ inline void matrix2x3_fp32_multiply(const matrix2x3_fp32_t* multiplicand, const
     product->r3c2 = multiplicand->r3c2 * multiplier;
 }
 
-inline void matrix2x3_fp64_multiply(const matrix2x3_fp64_t* multiplicand, const double multiplier, matrix2x3_fp64_t* product)
+inline void matrix2x3_multiply_fp64(const matrix2x3_fp64_t* multiplicand, const double multiplier, matrix2x3_fp64_t* product)
 {
     product->r1c1 = multiplicand->r1c1 * multiplier;
     product->r1c2 = multiplicand->r1c2 * multiplier;
@@ -377,25 +377,25 @@ inline void matrix2x3_fp64_multiply(const matrix2x3_fp64_t* multiplicand, const
 
 // ================== Division ================== //
 
-inline void matrix2x3_fp32_divide(const matrix2x3_fp32_t* dividend, const float divisor, matrix2x3_fp32_t* quotient)
+inline void matrix2x3_divide_fp32(const matrix2x3_fp32_t* dividend, const float divisor, matrix2x3_fp32_t* quotient)
 {
-    matrix2x3_fp32_multiply(dividend, 1.0f / divisor, quotient);
+    matrix2x3_multiply_fp32(dividend, 1.0f / divisor, quotient);
 }
 
 inline void matrix2x3_fp64_divide(const matrix2x3_fp64_t* dividend, const double divisor, matrix2x3_fp64_t* quotient)
 {
-    matrix2x3_fp64_multiply(dividend, 1.0 / divisor, quotient);
+    matrix2x3_multiply_fp64(dividend, 1.0 / divisor, quotient);
 }
 
 // ============ Left Vector Product ============= //
 
-inline void matrix2x3_fp32_left_product(const vector3_fp32_t* vector, const matrix2x3_fp32_t* matrix, vector2_fp32_t* result)
+inline void matrix2x3_left_product_fp32(const vector3_fp32_t* vector, const matrix2x3_fp32_t* matrix, vector2_fp32_t* result)
 {
     result->x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1 + vector->x3 * matrix->r3c1;
     result->x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2 + vector->x3 * matrix->r3c2;
 }
 
-inline void matrix2x3_fp64_left_product(const vector3_fp64_t* vector, const matrix2x3_fp64_t* matrix, vector2_fp64_t* result)
+inline void matrix2x3_left_product_fp64(const vector3_fp64_t* vector, const matrix2x3_fp64_t* matrix, vector2_fp64_t* result)
 {
     result->x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1 + vector->x3 * matrix->r3c1;
     result->x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2 + vector->x3 * matrix->r3c2;
@@ -403,14 +403,14 @@ inline void matrix2x3_fp64_left_product(const vector3_fp64_t* vector, const matr
 
 // ============ Right Vector Product ============ //
 
-inline void matrix2x3_fp32_right_product(const matrix2x3_fp32_t* matrix, const vector2_fp32_t* vector, vector3_fp32_t* result)
+inline void matrix2x3_right_product_fp32(const matrix2x3_fp32_t* matrix, const vector2_fp32_t* vector, vector3_fp32_t* result)
 {
     result->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2;
     result->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2;
     result->x3 = matrix->r3c1 * vector->x1 + matrix->r3c2 * vector->x2;
 }
 
-inline void matrix2x3_fp64_right_product(const matrix2x3_fp64_t* matrix, const vector2_fp64_t* vector, vector3_fp64_t* result)
+inline void matrix2x3_right_product_fp64(const matrix2x3_fp64_t* matrix, const vector2_fp64_t* vector, vector3_fp64_t* result)
 {
     result->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2;
     result->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2;
diff --git a/basic-geometry/matrix3x2.h b/basic-geometry/matrix3x2.h
index f851879..dd1b697 100644
--- a/basic-geometry/matrix3x2.h
+++ b/basic-geometry/matrix3x2.h
@@ -111,7 +111,7 @@ inline void matrix3x2_swap_fp64(matrix3x2_fp64_t* matrix1, matrix3x2_fp64_t* mat
 
 // ============= Set from twin type ============= //
 
-inline void matrix3x2_fp32_set_from_fp64(const matrix3x2_fp64_t* from, matrix3x2_fp32_t* to)
+inline void matrix3x2_convert_fp64_to_fp32(const matrix3x2_fp64_t* from, matrix3x2_fp32_t* to)
 {
     to->r1c1 = (float) from->r1c1;
     to->r1c2 = (float) from->r1c2;
@@ -122,7 +122,7 @@ inline void matrix3x2_fp32_set_from_fp64(const matrix3x2_fp64_t* from, matrix3x2
     to->r2c3 = (float) from->r2c3;
 }
 
-inline void matrix3x2_fp64_set_from_fp32(const matrix3x2_fp32_t* from, matrix3x2_fp64_t* to)
+inline void matrix3x2_convert_fp32_to_fp64(const matrix3x2_fp32_t* from, matrix3x2_fp64_t* to)
 {
     to->r1c1 = from->r1c1;
     to->r1c2 = from->r1c2;
@@ -135,7 +135,7 @@ inline void matrix3x2_fp64_set_from_fp32(const matrix3x2_fp32_t* from, matrix3x2
 
 // =============== Set transposed =============== //
 
-inline void matrix3x2_fp32_set_transposed(const matrix2x3_fp32_t* from, matrix3x2_fp32_t* to)
+inline void matrix3x2_set_transposed_fp32(const matrix2x3_fp32_t* from, matrix3x2_fp32_t* to)
 {
     to->r1c1 = from->r1c1;
     to->r1c2 = from->r2c1;
@@ -146,7 +146,7 @@ inline void matrix3x2_fp32_set_transposed(const matrix2x3_fp32_t* from, matrix3x
     to->r2c3 = from->r3c2;
 }
 
-inline void matrix3x2_fp64_set_transposed(const matrix2x3_fp64_t* from, matrix3x2_fp64_t* to)
+inline void matrix3x2_set_transposed_fp64(const matrix2x3_fp64_t* from, matrix3x2_fp64_t* to)
 {
     to->r1c1 = from->r1c1;
     to->r1c2 = from->r2c1;
@@ -159,7 +159,7 @@ inline void matrix3x2_fp64_set_transposed(const matrix2x3_fp64_t* from, matrix3x
 
 // =============== Set transposed =============== //
 
-inline void matrix3x2_fp32_set_transposed_fp64(const matrix2x3_fp64_t* from, matrix3x2_fp32_t* to)
+inline void matrix3x2_set_transposed_fp32_fp64(const matrix2x3_fp64_t* from, matrix3x2_fp32_t* to)
 {
     to->r1c1 = (float) from->r1c1;
     to->r1c2 = (float) from->r2c1;
@@ -170,7 +170,7 @@ inline void matrix3x2_fp32_set_transposed_fp64(const matrix2x3_fp64_t* from, mat
     to->r2c3 = (float) from->r3c2;
 }
 
-inline void matrix3x2_fp64_set_transposed_fp32(const matrix2x3_fp32_t* from, matrix3x2_fp64_t* to)
+inline void matrix3x2_set_transposed_fp64_fp32(const matrix2x3_fp32_t* from, matrix3x2_fp64_t* to)
 {
     to->r1c1 = from->r1c1;
     to->r1c2 = from->r2c1;
@@ -183,14 +183,14 @@ inline void matrix3x2_fp64_set_transposed_fp32(const matrix2x3_fp32_t* from, mat
 
 // ================= Set Row 1 ================== //
 
-inline void matrix3x2_fp32_set_row1(const float c1, const float c2, const float c3, matrix3x2_fp32_t* matrix)
+inline void matrix3x2_set_row1_fp32(const float c1, const float c2, const float c3, matrix3x2_fp32_t* matrix)
 {
     matrix->r1c1 = c1;
     matrix->r1c2 = c2;
     matrix->r1c3 = c3;
 }
 
-inline void matrix3x2_fp64_set_row1(const double c1, const double c2, const double c3, matrix3x2_fp64_t* matrix)
+inline void matrix3x2_set_row1_fp64(const double c1, const double c2, const double c3, matrix3x2_fp64_t* matrix)
 {
     matrix->r1c1 = c1;
     matrix->r1c2 = c2;
@@ -199,14 +199,14 @@ inline void matrix3x2_fp64_set_row1(const double c1, const double c2, const doub
 
 // ================= Set Row 2 ================== //
 
-inline void matrix3x2_fp32_set_row2(const float c1, const float c2, const float c3, matrix3x2_fp32_t* matrix)
+inline void matrix3x2_set_row2_fp32(const float c1, const float c2, const float c3, matrix3x2_fp32_t* matrix)
 {
     matrix->r2c1 = c1;
     matrix->r2c2 = c2;
     matrix->r2c3 = c3;
 }
 
-inline void matrix3x2_fp64_set_row2(const double c1, const double c2, const double c3, matrix3x2_fp64_t* matrix)
+inline void matrix3x2_set_row2_fp64(const double c1, const double c2, const double c3, matrix3x2_fp64_t* matrix)
 {
     matrix->r2c1 = c1;
     matrix->r2c2 = c2;
@@ -215,13 +215,13 @@ inline void matrix3x2_fp64_set_row2(const double c1, const double c2, const doub
 
 // ================ Set Column 1 ================ //
 
-inline void matrix3x2_fp32_set_column1(const float r1, const float r2, matrix3x2_fp32_t* matrix)
+inline void matrix3x2_set_column1_fp32(const float r1, const float r2, matrix3x2_fp32_t* matrix)
 {
     matrix->r1c1 = r1;
     matrix->r2c1 = r2;
 }
 
-inline void matrix3x2_fp64_set_column1(const double r1, const double r2, matrix3x2_fp64_t* matrix)
+inline void matrix3x2_set_column1_fp64(const double r1, const double r2, matrix3x2_fp64_t* matrix)
 {
     matrix->r1c1 = r1;
     matrix->r2c1 = r2;
@@ -229,13 +229,13 @@ inline void matrix3x2_fp64_set_column1(const double r1, const double r2, matrix3
 
 // ================ Set Column 2 ================ //
 
-inline void matrix3x2_fp32_set_column2(const float r1, const float r2, matrix3x2_fp32_t* matrix)
+inline void matrix3x2_set_column2_fp32(const float r1, const float r2, matrix3x2_fp32_t* matrix)
 {
     matrix->r1c2 = r1;
     matrix->r2c2 = r2;
 }
 
-inline void matrix3x2_fp64_set_column2(const double r1, const double r2, matrix3x2_fp64_t* matrix)
+inline void matrix3x2_set_column2_fp64(const double r1, const double r2, matrix3x2_fp64_t* matrix)
 {
     matrix->r1c2 = r1;
     matrix->r2c2 = r2;
@@ -243,13 +243,13 @@ inline void matrix3x2_fp64_set_column2(const double r1, const double r2, matrix3
 
 // ================ Set Column 3 ================ //
 
-inline void matrix3x2_fp32_set_column3(const float r1, const float r2, matrix3x2_fp32_t* matrix)
+inline void matrix3x2_set_column3_fp32(const float r1, const float r2, matrix3x2_fp32_t* matrix)
 {
     matrix->r1c3 = r1;
     matrix->r2c3 = r2;
 }
 
-inline void matrix3x2_fp64_set_column3(const double r1, const double r2, matrix3x2_fp64_t* matrix)
+inline void matrix3x2_set_column3_fp64(const double r1, const double r2, matrix3x2_fp64_t* matrix)
 {
     matrix->r1c3 = r1;
     matrix->r2c3 = r2;
@@ -257,7 +257,7 @@ inline void matrix3x2_fp64_set_column3(const double r1, const double r2, matrix3
 
 // ================ Append scaled =============== //
 
-inline void matrix3x2_fp32_append_scaled(matrix3x2_fp32_t* basic_vector, const matrix3x2_fp32_t* scalable_vector, const float scale)
+inline void matrix3x2_add_scaled_fp32(matrix3x2_fp32_t* basic_vector, const matrix3x2_fp32_t* scalable_vector, const float scale)
 {
     basic_vector->r1c1 += scalable_vector->r1c1 * scale;
     basic_vector->r1c2 += scalable_vector->r1c2 * scale;
@@ -268,7 +268,7 @@ inline void matrix3x2_fp32_append_scaled(matrix3x2_fp32_t* basic_vector, const m
     basic_vector->r2c3 += scalable_vector->r2c3 * scale;
 }
 
-inline void matrix3x2_fp64_append_scaled(matrix3x2_fp64_t* basic_vector, const matrix3x2_fp64_t* scalable_vector, const double scale)
+inline void matrix3x2_add_scaled_fp64(matrix3x2_fp64_t* basic_vector, const matrix3x2_fp64_t* scalable_vector, const double scale)
 {
     basic_vector->r1c1 += scalable_vector->r1c1 * scale;
     basic_vector->r1c2 += scalable_vector->r1c2 * scale;
@@ -281,7 +281,7 @@ inline void matrix3x2_fp64_append_scaled(matrix3x2_fp64_t* basic_vector, const m
 
 // ================== Addition ================== //
 
-inline void matrix3x2_fp32_add(const matrix3x2_fp32_t* matrix1, const matrix3x2_fp32_t* matrix2, matrix3x2_fp32_t* sum)
+inline void matrix3x2_add_fp32(const matrix3x2_fp32_t* matrix1, const matrix3x2_fp32_t* matrix2, matrix3x2_fp32_t* sum)
 {
     sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
     sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
@@ -292,7 +292,7 @@ inline void matrix3x2_fp32_add(const matrix3x2_fp32_t* matrix1, const matrix3x2_
     sum->r2c3 = matrix1->r2c3 + matrix2->r2c3;
 }
 
-inline void matrix3x2_fp64_add(const matrix3x2_fp64_t* matrix1, const matrix3x2_fp64_t* matrix2, matrix3x2_fp64_t* sum)
+inline void matrix3x2_add_fp64(const matrix3x2_fp64_t* matrix1, const matrix3x2_fp64_t* matrix2, matrix3x2_fp64_t* sum)
 {
     sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
     sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
@@ -305,7 +305,7 @@ inline void matrix3x2_fp64_add(const matrix3x2_fp64_t* matrix1, const matrix3x2_
 
 // ================ Subtraction ================= //
 
-inline void matrix3x2_fp32_subtract(const matrix3x2_fp32_t* minuend, const matrix3x2_fp32_t* subtrahend, matrix3x2_fp32_t* difference)
+inline void matrix3x2_subtract_fp32(const matrix3x2_fp32_t* minuend, const matrix3x2_fp32_t* subtrahend, matrix3x2_fp32_t* difference)
 {
     difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
     difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
@@ -316,7 +316,7 @@ inline void matrix3x2_fp32_subtract(const matrix3x2_fp32_t* minuend, const matri
     difference->r2c3 = minuend->r2c3 - subtrahend->r2c3;
 }
 
-inline void matrix3x2_fp64_subtract(const matrix3x2_fp64_t* minuend, const matrix3x2_fp64_t* subtrahend, matrix3x2_fp64_t* difference)
+inline void matrix3x2_subtract_fp64(const matrix3x2_fp64_t* minuend, const matrix3x2_fp64_t* subtrahend, matrix3x2_fp64_t* difference)
 {
     difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
     difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
@@ -329,7 +329,7 @@ inline void matrix3x2_fp64_subtract(const matrix3x2_fp64_t* minuend, const matri
 
 // =============== Multiplication =============== //
 
-inline void matrix3x2_fp32_multiply(const matrix3x2_fp32_t* multiplicand, const float multiplier, matrix3x2_fp32_t* product)
+inline void matrix3x2_multiply_fp32(const matrix3x2_fp32_t* multiplicand, const float multiplier, matrix3x2_fp32_t* product)
 {
     product->r1c1 = multiplicand->r1c1 * multiplier;
     product->r1c2 = multiplicand->r1c2 * multiplier;
@@ -340,7 +340,7 @@ inline void matrix3x2_fp32_multiply(const matrix3x2_fp32_t* multiplicand, const
     product->r2c3 = multiplicand->r2c3 * multiplier;
 }
 
-inline void matrix3x2_fp64_multiply(const matrix3x2_fp64_t* multiplicand, const double multiplier, matrix3x2_fp64_t* product)
+inline void matrix3x2_multiply_fp64(const matrix3x2_fp64_t* multiplicand, const double multiplier, matrix3x2_fp64_t* product)
 {
     product->r1c1 = multiplicand->r1c1 * multiplier;
     product->r1c2 = multiplicand->r1c2 * multiplier;
@@ -353,26 +353,26 @@ inline void matrix3x2_fp64_multiply(const matrix3x2_fp64_t* multiplicand, const
 
 // ================== Division ================== //
 
-inline void matrix3x2_fp32_divide(const matrix3x2_fp32_t* dividend, const float divisor, matrix3x2_fp32_t* quotient)
+inline void matrix3x2_divide_fp32(const matrix3x2_fp32_t* dividend, const float divisor, matrix3x2_fp32_t* quotient)
 {
-    matrix3x2_fp32_multiply(dividend, 1.0f / divisor, quotient);
+    matrix3x2_multiply_fp32(dividend, 1.0f / divisor, quotient);
 }
 
 inline void matrix3x2_fp64_divide(const matrix3x2_fp64_t* dividend, const double divisor, matrix3x2_fp64_t* quotient)
 {
-    matrix3x2_fp64_multiply(dividend, 1.0 / divisor, quotient);
+    matrix3x2_multiply_fp64(dividend, 1.0 / divisor, quotient);
 }
 
 // ============ Left Vector Product ============= //
 
-inline void matrix3x2_fp32_left_product(const vector2_fp32_t* vector, const matrix3x2_fp32_t* matrix, vector3_fp32_t* result)
+inline void matrix3x2_left_product_fp32(const vector2_fp32_t* vector, const matrix3x2_fp32_t* matrix, vector3_fp32_t* result)
 {
     result->x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1;
     result->x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2;
     result->x3 = vector->x1 * matrix->r1c3 + vector->x2 * matrix->r2c3;
 }
 
-inline void matrix3x2_fp64_left_product(const vector2_fp64_t* vector, const matrix3x2_fp64_t* matrix, vector3_fp64_t* result)
+inline void matrix3x2_left_product_fp64(const vector2_fp64_t* vector, const matrix3x2_fp64_t* matrix, vector3_fp64_t* result)
 {
     result->x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1;
     result->x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2;
@@ -381,13 +381,13 @@ inline void matrix3x2_fp64_left_product(const vector2_fp64_t* vector, const matr
 
 // ============ Right Vector Product ============ //
 
-inline void matrix3x2_fp32_right_product(const matrix3x2_fp32_t* matrix, const vector3_fp32_t* vector, vector2_fp32_t* result)
+inline void matrix3x2_right_product_fp32(const matrix3x2_fp32_t* matrix, const vector3_fp32_t* vector, vector2_fp32_t* result)
 {
     result->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3;
     result->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3;
 }
 
-inline void matrix3x2_fp64_right_product(const matrix3x2_fp64_t* matrix, const vector3_fp64_t* vector, vector2_fp64_t* result)
+inline void matrix3x2_right_product_fp64(const matrix3x2_fp64_t* matrix, const vector3_fp64_t* vector, vector2_fp64_t* result)
 {
     result->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3;
     result->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3;
diff --git a/basic-geometry/matrix3x3.c b/basic-geometry/matrix3x3.c
index bcd8e79..5c95d17 100644
--- a/basic-geometry/matrix3x3.c
+++ b/basic-geometry/matrix3x3.c
@@ -4,7 +4,7 @@
 
 int matrix3x3_invert_fp32(matrix3x3_fp32_t* matrix)
 {
-    const float determinant = matrix3x3_fp32_get_determinant(matrix);
+    const float determinant = matrix3x3_get_determinant_fp32(matrix);
 
     if (-FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON) {
         return 0;
@@ -41,7 +41,7 @@ int matrix3x3_invert_fp32(matrix3x3_fp32_t* matrix)
 
 int matrix3x3_invert_fp64(matrix3x3_fp64_t* matrix)
 {
-    const double determinant = matrix3x3_fp64_get_determinant(matrix);
+    const double determinant = matrix3x3_get_determinant_fp64(matrix);
 
     if (-FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON) {
         return 0;
@@ -78,9 +78,9 @@ int matrix3x3_invert_fp64(matrix3x3_fp64_t* matrix)
 
 // ================ Make Inverted =============== //
 
-int matrix3x3_fp32_set_inverted(const matrix3x3_fp32_t* matrix, matrix3x3_fp32_t* result)
+int matrix3x3_set_inverted_fp32(const matrix3x3_fp32_t* matrix, matrix3x3_fp32_t* result)
 {
-    const float determinant = matrix3x3_fp32_get_determinant(matrix);
+    const float determinant = matrix3x3_get_determinant_fp32(matrix);
 
     if (-FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON) {
         return 0;
@@ -115,9 +115,9 @@ int matrix3x3_fp32_set_inverted(const matrix3x3_fp32_t* matrix, matrix3x3_fp32_t
     return 1;
 }
 
-int matrix3x3_fp64_set_inverted(const matrix3x3_fp64_t* matrix, matrix3x3_fp64_t* result)
+int matrix3x3_set_inverted_fp64(const matrix3x3_fp64_t* matrix, matrix3x3_fp64_t* result)
 {
-    const double determinant = matrix3x3_fp64_get_determinant(matrix);
+    const double determinant = matrix3x3_get_determinant_fp64(matrix);
 
     if (-FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON) {
         return 0;
diff --git a/basic-geometry/matrix3x3.h b/basic-geometry/matrix3x3.h
index 35838d4..7468f77 100644
--- a/basic-geometry/matrix3x3.h
+++ b/basic-geometry/matrix3x3.h
@@ -38,7 +38,7 @@ inline void matrix3x3_reset_fp64(matrix3x3_fp64_t* matrix)
 
 // ================== Identity ================== //
 
-inline void matrix3x3_fp32_set_to_identity(matrix3x3_fp32_t* matrix)
+inline void matrix3x3_set_to_identity_fp32(matrix3x3_fp32_t* matrix)
 {
     matrix->r1c1 = 1.0f;
     matrix->r1c2 = 0.0f;
@@ -53,7 +53,7 @@ inline void matrix3x3_fp32_set_to_identity(matrix3x3_fp32_t* matrix)
     matrix->r3c3 = 1.0f;
 }
 
-inline void matrix3x3_fp64_set_to_identity(matrix3x3_fp64_t* matrix)
+inline void matrix3x3_set_to_identity_fp64(matrix3x3_fp64_t* matrix)
 {
     matrix->r1c1 = 1.0;
     matrix->r1c2 = 0.0;
@@ -70,7 +70,7 @@ inline void matrix3x3_fp64_set_to_identity(matrix3x3_fp64_t* matrix)
 
 // ================ Make Diagonal =============== //
 
-inline void matrix3x3_fp32_set_to_diagonal(const float d1, const float d2, const float d3, matrix3x3_fp32_t* matrix)
+inline void matrix3x3_set_to_diagonal_fp32(const float d1, const float d2, const float d3, matrix3x3_fp32_t* matrix)
 {
     matrix->r1c1 = d1;
     matrix->r1c2 = 0.0f;
@@ -85,7 +85,7 @@ inline void matrix3x3_fp32_set_to_diagonal(const float d1, const float d2, const
     matrix->r3c3 = d2;
 }
 
-inline void matrix3x3_fp64_set_to_diagonal(const double d1, const double d2, const double d3, matrix3x3_fp64_t* matrix)
+inline void matrix3x3_set_to_diagonal_fp64(const double d1, const double d2, const double d3, matrix3x3_fp64_t* matrix)
 {
     matrix->r1c1 = d1;
     matrix->r1c2 = 0.0;
@@ -214,7 +214,7 @@ inline void matrix3x3_swap_fp64(matrix3x3_fp64_t* matrix1, matrix3x3_fp64_t* mat
 
 // ============= Set from twin type ============= //
 
-inline void matrix3x3_fp32_set_from_fp64(const matrix3x3_fp64_t* from, matrix3x3_fp32_t* to)
+inline void matrix3x3_convert_fp64_to_fp32(const matrix3x3_fp64_t* from, matrix3x3_fp32_t* to)
 {
     to->r1c1 = (float) from->r1c1;
     to->r1c2 = (float) from->r1c2;
@@ -229,7 +229,7 @@ inline void matrix3x3_fp32_set_from_fp64(const matrix3x3_fp64_t* from, matrix3x3
     to->r3c3 = (float) from->r3c3;
 }
 
-inline void matrix3x3_fp64_set_from_fp32(const matrix3x3_fp32_t* from, matrix3x3_fp64_t* to)
+inline void matrix3x3_convert_fp32_to_fp64(const matrix3x3_fp32_t* from, matrix3x3_fp64_t* to)
 {
     to->r1c1 = from->r1c1;
     to->r1c2 = from->r1c2;
@@ -246,14 +246,14 @@ inline void matrix3x3_fp64_set_from_fp32(const matrix3x3_fp32_t* from, matrix3x3
 
 // ================ Determinant ================= //
 
-inline float matrix3x3_fp32_get_determinant(const matrix3x3_fp32_t* matrix)
+inline float matrix3x3_get_determinant_fp32(const matrix3x3_fp32_t* matrix)
 {
     return matrix->r1c1 * (matrix->r2c2 * matrix->r3c3 - matrix->r2c3 * matrix->r3c2)
          + matrix->r1c2 * (matrix->r2c3 * matrix->r3c1 - matrix->r2c1 * matrix->r3c3)
          + matrix->r1c3 * (matrix->r2c1 * matrix->r3c2 - matrix->r2c2 * matrix->r3c1);
 }
 
-inline double matrix3x3_fp64_get_determinant(const matrix3x3_fp64_t* matrix)
+inline double matrix3x3_get_determinant_fp64(const matrix3x3_fp64_t* matrix)
 {
     return matrix->r1c1 * (matrix->r2c2 * matrix->r3c3 - matrix->r2c3 * matrix->r3c2)
          + matrix->r1c2 * (matrix->r2c3 * matrix->r3c1 - matrix->r2c1 * matrix->r3c3)
@@ -262,16 +262,16 @@ inline double matrix3x3_fp64_get_determinant(const matrix3x3_fp64_t* matrix)
 
 // ================== Singular ================== //
 
-inline int matrix3x3_fp32_is_singular(const matrix3x3_fp32_t* matrix)
+inline int matrix3x3_is_singular_fp32(const matrix3x3_fp32_t* matrix)
 {
-    const float determinant = matrix3x3_fp32_get_determinant(matrix);
+    const float determinant = matrix3x3_get_determinant_fp32(matrix);
 
     return -FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON;
 }
 
-inline int matrix3x3_fp64_is_singular(const matrix3x3_fp64_t* matrix)
+inline int matrix3x3_is_singular_fp64(const matrix3x3_fp64_t* matrix)
 {
-    const double determinant = matrix3x3_fp64_get_determinant(matrix);
+    const double determinant = matrix3x3_get_determinant_fp64(matrix);
 
     return -FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON;
 }
@@ -284,7 +284,7 @@ int matrix3x3_invert_fp64(matrix3x3_fp64_t* matrix);
 
 // =============== Transposition ================ //
 
-inline void matrix3x3_fp32_transpose(matrix3x3_fp32_t* matrix)
+inline void matrix3x3_transpose_fp32(matrix3x3_fp32_t* matrix)
 {
     float tmp = matrix->r1c2;
     matrix->r1c2 = matrix->r2c1;
@@ -299,7 +299,7 @@ inline void matrix3x3_fp32_transpose(matrix3x3_fp32_t* matrix)
     matrix->r3c2 = tmp;
 }
 
-inline void matrix3x3_fp64_transpose(matrix3x3_fp64_t* matrix)
+inline void matrix3x3_transpose_fp64(matrix3x3_fp64_t* matrix)
 {
     double tmp = matrix->r1c2;
     matrix->r1c2 = matrix->r2c1;
@@ -316,16 +316,16 @@ inline void matrix3x3_fp64_transpose(matrix3x3_fp64_t* matrix)
 
 // ================ Make Inverted =============== //
 
-int matrix3x3_fp32_set_inverted(const matrix3x3_fp32_t* matrix, matrix3x3_fp32_t* result);
+int matrix3x3_set_inverted_fp32(const matrix3x3_fp32_t* matrix, matrix3x3_fp32_t* result);
 
-int matrix3x3_fp64_set_inverted(const matrix3x3_fp64_t* matrix, matrix3x3_fp64_t* result);
+int matrix3x3_set_inverted_fp64(const matrix3x3_fp64_t* matrix, matrix3x3_fp64_t* result);
 
 // =============== Make Transposed ============== //
 
-inline void matrix3x3_fp32_set_transposed(const matrix3x3_fp32_t* matrix, matrix3x3_fp32_t* result)
+inline void matrix3x3_set_transposed_fp32(const matrix3x3_fp32_t* matrix, matrix3x3_fp32_t* result)
 {
     if (matrix == result) {
-        matrix3x3_fp32_transpose(result);
+        matrix3x3_transpose_fp32(result);
         return;
     }
 
@@ -342,10 +342,10 @@ inline void matrix3x3_fp32_set_transposed(const matrix3x3_fp32_t* matrix, matrix
     result->r3c3 = matrix->r3c3;
 }
 
-inline void matrix3x3_fp64_set_transposed(const matrix3x3_fp64_t* matrix, matrix3x3_fp64_t* result)
+inline void matrix3x3_set_transposed_fp64(const matrix3x3_fp64_t* matrix, matrix3x3_fp64_t* result)
 {
     if (matrix == result) {
-        matrix3x3_fp64_transpose(result);
+        matrix3x3_transpose_fp64(result);
         return;
     }
 
@@ -364,14 +364,14 @@ inline void matrix3x3_fp64_set_transposed(const matrix3x3_fp64_t* matrix, matrix
 
 // ================= Set Row 1 ================== //
 
-inline void matrix3x3_fp32_set_row1(const float c1, const float c2, const float c3, matrix3x3_fp32_t* matrix)
+inline void matrix3x3_set_row1_fp32(const float c1, const float c2, const float c3, matrix3x3_fp32_t* matrix)
 {
     matrix->r1c1 = c1;
     matrix->r1c2 = c2;
     matrix->r1c3 = c3;
 }
 
-inline void matrix3x3_fp64_set_row1(const double c1, const double c2, const double c3, matrix3x3_fp64_t* matrix)
+inline void matrix3x3_set_row1_fp64(const double c1, const double c2, const double c3, matrix3x3_fp64_t* matrix)
 {
     matrix->r1c1 = c1;
     matrix->r1c2 = c2;
@@ -380,14 +380,14 @@ inline void matrix3x3_fp64_set_row1(const double c1, const double c2, const doub
 
 // ================= Set Row 2 ================== //
 
-inline void matrix3x3_fp32_set_row2(const float c1, const float c2, const float c3, matrix3x3_fp32_t* matrix)
+inline void matrix3x3_set_row2_fp32(const float c1, const float c2, const float c3, matrix3x3_fp32_t* matrix)
 {
     matrix->r2c1 = c1;
     matrix->r2c2 = c2;
     matrix->r2c3 = c3;
 }
 
-inline void matrix3x3_fp64_set_row2(const double c1, const double c2, const double c3, matrix3x3_fp64_t* matrix)
+inline void matrix3x3_set_row2_fp64(const double c1, const double c2, const double c3, matrix3x3_fp64_t* matrix)
 {
     matrix->r2c1 = c1;
     matrix->r2c2 = c2;
@@ -396,14 +396,14 @@ inline void matrix3x3_fp64_set_row2(const double c1, const double c2, const doub
 
 // ================= Set Row 3 ================== //
 
-inline void matrix3x3_fp32_set_row3(const float c1, const float c2, const float c3, matrix3x3_fp32_t* matrix)
+inline void matrix3x3_set_row3_fp32(const float c1, const float c2, const float c3, matrix3x3_fp32_t* matrix)
 {
     matrix->r3c1 = c1;
     matrix->r3c2 = c2;
     matrix->r3c3 = c3;
 }
 
-inline void matrix3x3_fp64_set_row3(const double c1, const double c2, const double c3, matrix3x3_fp64_t* matrix)
+inline void matrix3x3_set_row3_fp64(const double c1, const double c2, const double c3, matrix3x3_fp64_t* matrix)
 {
     matrix->r3c1 = c1;
     matrix->r3c2 = c2;
@@ -412,14 +412,14 @@ inline void matrix3x3_fp64_set_row3(const double c1, const double c2, const doub
 
 // ================ Set Column 1 ================ //
 
-inline void matrix3x3_fp32_set_column1(const float r1, const float r2, const float r3, matrix3x3_fp32_t* matrix)
+inline void matrix3x3_set_column1_fp32(const float r1, const float r2, const float r3, matrix3x3_fp32_t* matrix)
 {
     matrix->r1c1 = r1;
     matrix->r2c1 = r2;
     matrix->r3c1 = r3;
 }
 
-inline void matrix3x3_fp64_set_column1(const double r1, const double r2, const double r3, matrix3x3_fp64_t* matrix)
+inline void matrix3x3_set_column1_fp64(const double r1, const double r2, const double r3, matrix3x3_fp64_t* matrix)
 {
     matrix->r1c1 = r1;
     matrix->r2c1 = r2;
@@ -428,14 +428,14 @@ inline void matrix3x3_fp64_set_column1(const double r1, const double r2, const d
 
 // ================ Set Column 2 ================ //
 
-inline void matrix3x3_fp32_set_column2(const float r1, const float r2, const float r3, matrix3x3_fp32_t* matrix)
+inline void matrix3x3_set_column2_fp32(const float r1, const float r2, const float r3, matrix3x3_fp32_t* matrix)
 {
     matrix->r1c2 = r1;
     matrix->r2c2 = r2;
     matrix->r3c2 = r3;
 }
 
-inline void matrix3x3_fp64_set_column2(const double r1, const double r2, const double r3, matrix3x3_fp64_t* matrix)
+inline void matrix3x3_set_column2_fp64(const double r1, const double r2, const double r3, matrix3x3_fp64_t* matrix)
 {
     matrix->r1c2 = r1;
     matrix->r2c2 = r2;
@@ -444,14 +444,14 @@ inline void matrix3x3_fp64_set_column2(const double r1, const double r2, const d
 
 // ================ Set Column 3 ================ //
 
-inline void matrix3x3_fp32_set_column3(const float r1, const float r2, const float r3, matrix3x3_fp32_t* matrix)
+inline void matrix3x3_set_column3_fp32(const float r1, const float r2, const float r3, matrix3x3_fp32_t* matrix)
 {
     matrix->r1c3 = r1;
     matrix->r2c3 = r2;
     matrix->r3c3 = r3;
 }
 
-inline void matrix3x3_fp64_set_column3(const double r1, const double r2, const double r3, matrix3x3_fp64_t* matrix)
+inline void matrix3x3_set_column3_fp64(const double r1, const double r2, const double r3, matrix3x3_fp64_t* matrix)
 {
     matrix->r1c3 = r1;
     matrix->r2c3 = r2;
@@ -460,7 +460,7 @@ inline void matrix3x3_fp64_set_column3(const double r1, const double r2, const d
 
 // ================ Append scaled =============== //
 
-inline void matrix3x3_fp32_append_scaled(matrix3x3_fp32_t* basic_vector, const matrix3x3_fp32_t* scalable_vector, const float scale)
+inline void matrix3x3_add_scaled_fp32(matrix3x3_fp32_t* basic_vector, const matrix3x3_fp32_t* scalable_vector, const float scale)
 {
     basic_vector->r1c1 += scalable_vector->r1c1 * scale;
     basic_vector->r1c2 += scalable_vector->r1c2 * scale;
@@ -475,7 +475,7 @@ inline void matrix3x3_fp32_append_scaled(matrix3x3_fp32_t* basic_vector, const m
     basic_vector->r3c3 += scalable_vector->r3c3 * scale;
 }
 
-inline void matrix3x3_fp64_append_scaled(matrix3x3_fp64_t* basic_vector, const matrix3x3_fp64_t* scalable_vector, const double scale)
+inline void matrix3x3_add_scaled_fp64(matrix3x3_fp64_t* basic_vector, const matrix3x3_fp64_t* scalable_vector, const double scale)
 {
     basic_vector->r1c1 += scalable_vector->r1c1 * scale;
     basic_vector->r1c2 += scalable_vector->r1c2 * scale;
@@ -492,7 +492,7 @@ inline void matrix3x3_fp64_append_scaled(matrix3x3_fp64_t* basic_vector, const m
 
 // ================== Addition ================== //
 
-inline void matrix3x3_fp32_add(const matrix3x3_fp32_t* matrix1, const matrix3x3_fp32_t* matrix2, matrix3x3_fp32_t* sum)
+inline void matrix3x3_add_fp32(const matrix3x3_fp32_t* matrix1, const matrix3x3_fp32_t* matrix2, matrix3x3_fp32_t* sum)
 {
     sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
     sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
@@ -507,7 +507,7 @@ inline void matrix3x3_fp32_add(const matrix3x3_fp32_t* matrix1, const matrix3x3_
     sum->r3c3 = matrix1->r3c3 + matrix2->r3c3;
 }
 
-inline void matrix3x3_fp64_add(const matrix3x3_fp64_t* matrix1, const matrix3x3_fp64_t* matrix2, matrix3x3_fp64_t* sum)
+inline void matrix3x3_add_fp64(const matrix3x3_fp64_t* matrix1, const matrix3x3_fp64_t* matrix2, matrix3x3_fp64_t* sum)
 {
     sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
     sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
@@ -524,7 +524,7 @@ inline void matrix3x3_fp64_add(const matrix3x3_fp64_t* matrix1, const matrix3x3_
 
 // ================ Subtraction ================= //
 
-inline void matrix3x3_fp32_subtract(const matrix3x3_fp32_t* minuend, const matrix3x3_fp32_t* subtrahend, matrix3x3_fp32_t* difference)
+inline void matrix3x3_subtract_fp32(const matrix3x3_fp32_t* minuend, const matrix3x3_fp32_t* subtrahend, matrix3x3_fp32_t* difference)
 {
     difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
     difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
@@ -539,7 +539,7 @@ inline void matrix3x3_fp32_subtract(const matrix3x3_fp32_t* minuend, const matri
     difference->r3c3 = minuend->r3c3 - subtrahend->r3c3;
 }
 
-inline void matrix3x3_fp64_subtract(const matrix3x3_fp64_t* minuend, const matrix3x3_fp64_t* subtrahend, matrix3x3_fp64_t* difference)
+inline void matrix3x3_subtract_fp64(const matrix3x3_fp64_t* minuend, const matrix3x3_fp64_t* subtrahend, matrix3x3_fp64_t* difference)
 {
     difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
     difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
@@ -556,7 +556,7 @@ inline void matrix3x3_fp64_subtract(const matrix3x3_fp64_t* minuend, const matri
 
 // =============== Multiplication =============== //
 
-inline void matrix3x3_fp32_multiply(const matrix3x3_fp32_t* multiplicand, const float multiplier, matrix3x3_fp32_t* product)
+inline void matrix3x3_multiply_fp32(const matrix3x3_fp32_t* multiplicand, const float multiplier, matrix3x3_fp32_t* product)
 {
     product->r1c1 = multiplicand->r1c1 * multiplier;
     product->r1c2 = multiplicand->r1c2 * multiplier;
@@ -571,7 +571,7 @@ inline void matrix3x3_fp32_multiply(const matrix3x3_fp32_t* multiplicand, const
     product->r3c3 = multiplicand->r3c3 * multiplier;
 }
 
-inline void matrix3x3_fp64_multiply(const matrix3x3_fp64_t* multiplicand, const double multiplier, matrix3x3_fp64_t* product)
+inline void matrix3x3_multiply_fp64(const matrix3x3_fp64_t* multiplicand, const double multiplier, matrix3x3_fp64_t* product)
 {
     product->r1c1 = multiplicand->r1c1 * multiplier;
     product->r1c2 = multiplicand->r1c2 * multiplier;
@@ -588,19 +588,19 @@ inline void matrix3x3_fp64_multiply(const matrix3x3_fp64_t* multiplicand, const
 
 // ================== Division ================== //
 
-inline void matrix3x3_fp32_divide(const matrix3x3_fp32_t* dividend, const float divisor, matrix3x3_fp32_t* quotient)
+inline void matrix3x3_divide_fp32(const matrix3x3_fp32_t* dividend, const float divisor, matrix3x3_fp32_t* quotient)
 {
-    matrix3x3_fp32_multiply(dividend, 1.0f / divisor, quotient);
+    matrix3x3_multiply_fp32(dividend, 1.0f / divisor, quotient);
 }
 
 inline void matrix3x3_fp64_divide(const matrix3x3_fp64_t* dividend, const double divisor, matrix3x3_fp64_t* quotient)
 {
-    matrix3x3_fp64_multiply(dividend, 1.0 / divisor, quotient);
+    matrix3x3_multiply_fp64(dividend, 1.0 / divisor, quotient);
 }
 
 // ============ Left Vector Product ============= //
 
-inline void matrix3x3_fp32_left_product(const vector3_fp32_t* vector, const matrix3x3_fp32_t* matrix, vector3_fp32_t* result)
+inline void matrix3x3_left_product_fp32(const vector3_fp32_t* vector, const matrix3x3_fp32_t* matrix, vector3_fp32_t* result)
 {
     const float x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1 + vector->x3 * matrix->r3c1;
     const float x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2 + vector->x3 * matrix->r3c2;
@@ -611,7 +611,7 @@ inline void matrix3x3_fp32_left_product(const vector3_fp32_t* vector, const matr
     result->x3 = x3;
 }
 
-inline void matrix3x3_fp64_left_product(const vector3_fp64_t* vector, const matrix3x3_fp64_t* matrix, vector3_fp64_t* result)
+inline void matrix3x3_left_product_fp64(const vector3_fp64_t* vector, const matrix3x3_fp64_t* matrix, vector3_fp64_t* result)
 {
     const double x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1 + vector->x3 * matrix->r3c1;
     const double x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2 + vector->x3 * matrix->r3c2;
@@ -624,7 +624,7 @@ inline void matrix3x3_fp64_left_product(const vector3_fp64_t* vector, const matr
 
 // ============ Right Vector Product ============ //
 
-inline void matrix3x3_fp32_right_product(const matrix3x3_fp32_t* matrix, const vector3_fp32_t* vector, vector3_fp32_t* result)
+inline void matrix3x3_right_product_fp32(const matrix3x3_fp32_t* matrix, const vector3_fp32_t* vector, vector3_fp32_t* result)
 {
     const float x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3;
     const float x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3;
@@ -635,7 +635,7 @@ inline void matrix3x3_fp32_right_product(const matrix3x3_fp32_t* matrix, const v
     result->x3 = x3;
 }
 
-inline void matrix3x3_fp64_right_product(const matrix3x3_fp64_t* matrix, const vector3_fp64_t* vector, vector3_fp64_t* result)
+inline void matrix3x3_right_product_fp64(const matrix3x3_fp64_t* matrix, const vector3_fp64_t* vector, vector3_fp64_t* result)
 {
     const double x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3;
     const double x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3;
diff --git a/basic-geometry/quaternion.h b/basic-geometry/quaternion.h
index 82b8067..816fa8d 100644
--- a/basic-geometry/quaternion.h
+++ b/basic-geometry/quaternion.h
@@ -35,7 +35,7 @@ inline void quaternion_reset_fp64(quaternion_fp64_t * quaternion)
 
 // ================== Set Unit ================== //
 
-inline void quaternion_fp32_set_identity(quaternion_fp32_t * quaternion)
+inline void quaternion_set_to_identity_fp32(quaternion_fp32_t * quaternion)
 {
     quaternion->s0 = 1.0f;
     quaternion->x1 = 0.0f;
@@ -43,7 +43,7 @@ inline void quaternion_fp32_set_identity(quaternion_fp32_t * quaternion)
     quaternion->x3 = 0.0f;
 }
 
-inline void quaternion_fp64_set_identity(quaternion_fp64_t * quaternion)
+inline void quaternion_set_to_identity_fp64(quaternion_fp64_t * quaternion)
 {
     quaternion->s0 = 1.0;
     quaternion->x1 = 0.0;
@@ -53,7 +53,7 @@ inline void quaternion_fp64_set_identity(quaternion_fp64_t * quaternion)
 
 // ==================== Set ===================== //
 
-inline void quaternion_fp32_set_values(const float s0, const float x1, const float x2, const float x3, quaternion_fp32_t * quaternion)
+inline void quaternion_set_values_fp32(const float s0, const float x1, const float x2, const float x3, quaternion_fp32_t * quaternion)
 {
     quaternion->s0 = s0;
     quaternion->x1 = x1;
@@ -61,7 +61,7 @@ inline void quaternion_fp32_set_values(const float s0, const float x1, const flo
     quaternion->x3 = x3;
 }
 
-inline void quaternion_fp64_set_values(const double s0, const double x1, const double x2, const double x3, quaternion_fp64_t * quaternion)
+inline void quaternion_set_values_fp64(const double s0, const double x1, const double x2, const double x3, quaternion_fp64_t * quaternion)
 {
     quaternion->s0 = s0;
     quaternion->x1 = x1;
@@ -127,7 +127,7 @@ inline void quaternion_swap_fp64(quaternion_fp64_t* quarternion1, quaternion_fp6
 
 // ============= Copy to twin type ============== //
 
-inline void quaternion_fp32_set_from_fp64(const quaternion_fp64_t* quaternion, quaternion_fp32_t* result)
+inline void quaternion_convert_fp64_to_fp32(const quaternion_fp64_t* quaternion, quaternion_fp32_t* result)
 {
     result->s0 = (float) quaternion->s0;
     result->x1 = (float) quaternion->x1;
@@ -135,7 +135,7 @@ inline void quaternion_fp32_set_from_fp64(const quaternion_fp64_t* quaternion, q
     result->x3 = (float) quaternion->x3;
 }
 
-inline void quaternion_fp64_set_from_fp32(const quaternion_fp32_t* quaternion, quaternion_fp64_t* result)
+inline void quaternion_convert_fp32_to_fp64(const quaternion_fp32_t* quaternion, quaternion_fp64_t* result)
 {
     result->s0 = quaternion->s0;
     result->x1 = quaternion->x1;
@@ -145,14 +145,14 @@ inline void quaternion_fp64_set_from_fp32(const quaternion_fp32_t* quaternion, q
 
 // ================= Inversion ================== //
 
-inline void quaternion_fp32_conjugate(quaternion_fp32_t* quaternion)
+inline void quaternion_conjugate_fp32(quaternion_fp32_t* quaternion)
 {
     quaternion->x1 = -quaternion->x1;
     quaternion->x2 = -quaternion->x2;
     quaternion->x3 = -quaternion->x3;
 }
 
-inline void quaternion_fp64_conjugate(quaternion_fp64_t* quaternion)
+inline void quaternion_conjugate_fp64(quaternion_fp64_t* quaternion)
 {
     quaternion->x1 = -quaternion->x1;
     quaternion->x2 = -quaternion->x2;
@@ -161,7 +161,7 @@ inline void quaternion_fp64_conjugate(quaternion_fp64_t* quaternion)
 
 // ================ Set Conjugate =============== //
 
-inline void quaternion_fp32_set_conjugate(const quaternion_fp32_t* quaternion, quaternion_fp32_t* result)
+inline void quaternion_set_conjugate_fp32(const quaternion_fp32_t* quaternion, quaternion_fp32_t* result)
 {
     result->s0 = quaternion->s0;
     result->x1 = -quaternion->x1;
@@ -169,7 +169,7 @@ inline void quaternion_fp32_set_conjugate(const quaternion_fp32_t* quaternion, q
     result->x3 = -quaternion->x3;
 }
 
-inline void quaternion_fp64_set_conjugate(const quaternion_fp64_t* quaternion, quaternion_fp64_t* result)
+inline void quaternion_set_conjugate_fp64(const quaternion_fp64_t* quaternion, quaternion_fp64_t* result)
 {
     result->s0 = quaternion->s0;
     result->x1 = -quaternion->x1;
@@ -179,7 +179,7 @@ inline void quaternion_fp64_set_conjugate(const quaternion_fp64_t* quaternion, q
 
 // ================ Set Conjugate =============== //
 
-inline void quaternion_fp32_set_conjugate_fp64(const quaternion_fp64_t* quaternion, quaternion_fp32_t* result)
+inline void quaternion_set_conjugate_fp64_to_fp32(const quaternion_fp64_t* quaternion, quaternion_fp32_t* result)
 {
     result->s0 = (float) quaternion->s0;
     result->x1 = (float) -quaternion->x1;
@@ -187,7 +187,7 @@ inline void quaternion_fp32_set_conjugate_fp64(const quaternion_fp64_t* quaterni
     result->x3 = (float) -quaternion->x3;
 }
 
-inline void quaternion_fp64_set_conjugate_fp32(const quaternion_fp32_t* quaternion, quaternion_fp64_t* result)
+inline void quaternion_set_conjugate_fp32_to_fp64(const quaternion_fp32_t* quaternion, quaternion_fp64_t* result)
 {
     result->s0 = quaternion->s0;
     result->x1 = -quaternion->x1;
@@ -221,7 +221,7 @@ inline double quaternion_get_modulus_fp64(const quaternion_fp64_t* quaternion)
 
 // =============== Normalization ================ //
 
-inline int quaternion_fp32_normalize(quaternion_fp32_t* quaternion)
+inline int quaternion_normalize_fp32(quaternion_fp32_t* quaternion)
 {
     const float square_modulus = quaternion_get_square_modulus_fp32(quaternion);
 
@@ -244,7 +244,7 @@ inline int quaternion_fp32_normalize(quaternion_fp32_t* quaternion)
     return 1;
 }
 
-inline int quaternion_fp64_normalize(quaternion_fp64_t* quaternion)
+inline int quaternion_normalize_fp64(quaternion_fp64_t* quaternion)
 {
     const double square_modulus = quaternion_get_square_modulus_fp64(quaternion);
 
@@ -269,7 +269,7 @@ inline int quaternion_fp64_normalize(quaternion_fp64_t* quaternion)
 
 // ============ Make Rotation Matrix ============ //
 
-inline void quaternion_fp32_get_rotation_matrix(const quaternion_fp32_t* quaternion, matrix3x3_fp32_t* matrix)
+inline void quaternion_get_rotation_matrix_fp32(const quaternion_fp32_t* quaternion, matrix3x3_fp32_t* matrix)
 {
     const float s0s0 = quaternion->s0 * quaternion->s0;
     const float x1x1 = quaternion->x1 * quaternion->x1;
@@ -280,7 +280,7 @@ inline void quaternion_fp32_get_rotation_matrix(const quaternion_fp32_t* quatern
 
     if (-FP32_EPSYLON <= square_modulus && square_modulus <= FP32_EPSYLON)
     {
-        matrix3x3_fp32_set_to_identity(matrix);
+        matrix3x3_set_to_identity_fp32(matrix);
         return;
     }
 
@@ -307,7 +307,7 @@ inline void quaternion_fp32_get_rotation_matrix(const quaternion_fp32_t* quatern
     matrix->r1c3 = corrector2 * (x1x3 + s0x2);
 }
 
-inline void quaternion_fp64_get_rotation_matrix(const quaternion_fp64_t* quaternion, matrix3x3_fp64_t* matrix)
+inline void quaternion_get_rotation_matrix_fp64(const quaternion_fp64_t* quaternion, matrix3x3_fp64_t* matrix)
 {
     const double s0s0 = quaternion->s0 * quaternion->s0;
     const double x1x1 = quaternion->x1 * quaternion->x1;
@@ -318,7 +318,7 @@ inline void quaternion_fp64_get_rotation_matrix(const quaternion_fp64_t* quatern
 
     if (-FP64_EPSYLON <= square_modulus && square_modulus <= FP64_EPSYLON)
     {
-        matrix3x3_fp64_set_to_identity(matrix);
+        matrix3x3_set_to_identity_fp64(matrix);
         return;
     }
 
@@ -347,7 +347,7 @@ inline void quaternion_fp64_get_rotation_matrix(const quaternion_fp64_t* quatern
 
 // ============ Make Reverse Matrix ============= //
 
-inline void quaternion_fp32_get_reverse_matrix(const quaternion_fp32_t* quaternion, matrix3x3_fp32_t* matrix)
+inline void quaternion_get_reverse_matrix_fp32(const quaternion_fp32_t* quaternion, matrix3x3_fp32_t* matrix)
 {
     const float s0s0 = quaternion->s0 * quaternion->s0;
     const float x1x1 = quaternion->x1 * quaternion->x1;
@@ -358,7 +358,7 @@ inline void quaternion_fp32_get_reverse_matrix(const quaternion_fp32_t* quaterni
 
     if (-FP32_EPSYLON <= square_modulus && square_modulus <= FP32_EPSYLON)
     {
-        matrix3x3_fp32_set_to_identity(matrix);
+        matrix3x3_set_to_identity_fp32(matrix);
         return;
     }
 
@@ -385,7 +385,7 @@ inline void quaternion_fp32_get_reverse_matrix(const quaternion_fp32_t* quaterni
     matrix->r1c3 = corrector2 * (x1x3 - s0x2);
 }
 
-inline void quaternion_fp64_get_reverse_matrix(const quaternion_fp64_t* quaternion, matrix3x3_fp64_t* matrix)
+inline void quaternion_get_reverse_matrix_fp64(const quaternion_fp64_t* quaternion, matrix3x3_fp64_t* matrix)
 {
     const double s0s0 = quaternion->s0 * quaternion->s0;
     const double x1x1 = quaternion->x1 * quaternion->x1;
@@ -396,7 +396,7 @@ inline void quaternion_fp64_get_reverse_matrix(const quaternion_fp64_t* quaterni
 
     if (-FP64_EPSYLON <= square_modulus && square_modulus <= FP64_EPSYLON)
     {
-        matrix3x3_fp64_set_to_identity(matrix);
+        matrix3x3_set_to_identity_fp64(matrix);
         return;
     }
 
@@ -425,7 +425,7 @@ inline void quaternion_fp64_get_reverse_matrix(const quaternion_fp64_t* quaterni
 
 // ==================== Add ===================== //
 
-inline void quaternion_fp32_add(const quaternion_fp32_t * quaternion1, const quaternion_fp32_t * quaternion2, quaternion_fp32_t * result)
+inline void quaternion_add_fp32(const quaternion_fp32_t * quaternion1, const quaternion_fp32_t * quaternion2, quaternion_fp32_t * result)
 {
     result->s0 = quaternion1->s0 + quaternion2->s0;
     result->x1 = quaternion1->x1 + quaternion2->x1;
@@ -433,7 +433,7 @@ inline void quaternion_fp32_add(const quaternion_fp32_t * quaternion1, const qua
     result->x3 = quaternion1->x3 + quaternion2->x3;
 }
 
-inline void quaternion_fp64_add(const quaternion_fp64_t * quaternion1, const quaternion_fp64_t * quaternion2, quaternion_fp64_t * result)
+inline void quaternion_add_fp64(const quaternion_fp64_t * quaternion1, const quaternion_fp64_t * quaternion2, quaternion_fp64_t * result)
 {
     result->s0 = quaternion1->s0 + quaternion2->s0;
     result->x1 = quaternion1->x1 + quaternion2->x1;
@@ -443,7 +443,7 @@ inline void quaternion_fp64_add(const quaternion_fp64_t * quaternion1, const qua
 
 // ================== Subtract ================== //
 
-inline void quaternion_fp32_subtract(const quaternion_fp32_t * minuend, const quaternion_fp32_t * subtrahend, quaternion_fp32_t * difference)
+inline void quaternion_subtract_fp32(const quaternion_fp32_t * minuend, const quaternion_fp32_t * subtrahend, quaternion_fp32_t * difference)
 {
     difference->s0 = minuend->s0 - subtrahend->s0;
     difference->x1 = minuend->x1 - subtrahend->x1;
@@ -451,7 +451,7 @@ inline void quaternion_fp32_subtract(const quaternion_fp32_t * minuend, const qu
     difference->x3 = minuend->x3 - subtrahend->x3;
 }
 
-inline void quaternion_fp64_subtract(const quaternion_fp64_t * minuend, const quaternion_fp64_t * subtrahend, quaternion_fp64_t * difference)
+inline void quaternion_subtract_fp64(const quaternion_fp64_t * minuend, const quaternion_fp64_t * subtrahend, quaternion_fp64_t * difference)
 {
     difference->s0 = minuend->s0 - subtrahend->s0;
     difference->x1 = minuend->x1 - subtrahend->x1;
@@ -461,7 +461,7 @@ inline void quaternion_fp64_subtract(const quaternion_fp64_t * minuend, const qu
 
 // =============== Multiplication =============== //
 
-inline void quaternion_fp32_multiply(const quaternion_fp32_t* multiplicand, const float multipier, quaternion_fp32_t* product)
+inline void quaternion_multiply_fp32(const quaternion_fp32_t* multiplicand, const float multipier, quaternion_fp32_t* product)
 {
     product->s0 = multiplicand->s0 * multipier;
     product->x1 = multiplicand->x1 * multipier;
@@ -469,7 +469,7 @@ inline void quaternion_fp32_multiply(const quaternion_fp32_t* multiplicand, cons
     product->x3 = multiplicand->x3 * multipier;
 }
 
-inline void quaternion_fp64_multiply(const quaternion_fp64_t* multiplicand, const double multipier, quaternion_fp64_t* product)
+inline void quaternion_multiply_fp64(const quaternion_fp64_t* multiplicand, const double multipier, quaternion_fp64_t* product)
 {
     product->s0 = multiplicand->s0 * multipier;
     product->x1 = multiplicand->x1 * multipier;
@@ -479,19 +479,19 @@ inline void quaternion_fp64_multiply(const quaternion_fp64_t* multiplicand, cons
 
 // ================== Division ================== //
 
-inline void quaternion_fp32_divide(const quaternion_fp32_t* dividend, const float divisor, quaternion_fp32_t* quotient)
+inline void quaternion_divide_fp32(const quaternion_fp32_t* dividend, const float divisor, quaternion_fp32_t* quotient)
 {
-    quaternion_fp32_multiply(dividend, 1.0f / divisor, quotient);
+    quaternion_multiply_fp32(dividend, 1.0f / divisor, quotient);
 }
 
 inline void quaternion_fp64_divide(const quaternion_fp64_t* dividend, const double divisor, quaternion_fp64_t* quotient)
 {
-    quaternion_fp64_multiply(dividend, 1.0 / divisor, quotient);
+    quaternion_multiply_fp64(dividend, 1.0 / divisor, quotient);
 }
 
 // ================== Product =================== //
 
-inline void quaternion_fp32_get_product(const quaternion_fp32_t* left, const quaternion_fp32_t* right, quaternion_fp32_t* product)
+inline void quaternion_get_product_fp32(const quaternion_fp32_t* left, const quaternion_fp32_t* right, quaternion_fp32_t* product)
 {
     const float s0 = (left->s0 * right->s0 - left->x1 * right->x1) - (left->x2 * right->x2 + left->x3 * right->x3);
     const float x1 = (left->x1 * right->s0 + left->s0 * right->x1) - (left->x3 * right->x2 - left->x2 * right->x3);
@@ -504,7 +504,7 @@ inline void quaternion_fp32_get_product(const quaternion_fp32_t* left, const qua
     product->x3 = x3;
 }
 
-inline void quaternion_fp64_get_product(const quaternion_fp64_t* left, const quaternion_fp64_t* right, quaternion_fp64_t* product)
+inline void quaternion_get_product_fp64(const quaternion_fp64_t* left, const quaternion_fp64_t* right, quaternion_fp64_t* product)
 {
     const double s0 = (left->s0 * right->s0 - left->x1 * right->x1) - (left->x2 * right->x2 + left->x3 * right->x3);
     const double x1 = (left->x1 * right->s0 + left->s0 * right->x1) - (left->x3 * right->x2 - left->x2 * right->x3);
diff --git a/basic-geometry/rotation3.h b/basic-geometry/rotation3.h
index 2a34cab..93aa57d 100644
--- a/basic-geometry/rotation3.h
+++ b/basic-geometry/rotation3.h
@@ -47,7 +47,7 @@ inline void fp32_rotation_set_values(const float x1, const float x2, const float
     rotation->axis.x2 = x2;
     rotation->axis.x3 = x3;
 
-    if (vector3_fp32_normalize(&rotation->axis)) {
+    if (vector3_normalize_fp32(&rotation->axis)) {
         rotation->radians = fp32_angle_to_radians(angle, unit);
     }
     else {
@@ -62,7 +62,7 @@ inline void fp64_rotation_set_values(const double x1, const double x2, const dou
     rotation->axis.x2 = x2;
     rotation->axis.x3 = x3;
 
-    if (vector3_fp64_normalize(&rotation->axis)) {
+    if (vector3_normalize_fp64(&rotation->axis)) {
         rotation->radians = fp64_angle_to_radians(angle, unit);
     }
     else {
@@ -76,7 +76,7 @@ inline void fp32_rotation_set_with_axis(const vector3_fp32_t* axis, const float
     rotation->axis.x2 = axis->x2;
     rotation->axis.x3 = axis->x3;
 
-    if (vector3_fp32_normalize(&rotation->axis)) {
+    if (vector3_normalize_fp32(&rotation->axis)) {
         rotation->radians = fp32_angle_to_radians(angle, unit);
     }
     else {
@@ -90,7 +90,7 @@ inline void fp64_rotation_set_with_axis(const vector3_fp64_t* axis, const double
     rotation->axis.x2 = axis->x2;
     rotation->axis.x3 = axis->x3;
 
-    if (vector3_fp64_normalize(&rotation->axis)) {
+    if (vector3_normalize_fp64(&rotation->axis)) {
         rotation->radians = fp64_angle_to_radians(angle, unit);
     }
     else {
diff --git a/basic-geometry/tangent.h b/basic-geometry/tangent.h
index de3be7a..ec29dc6 100644
--- a/basic-geometry/tangent.h
+++ b/basic-geometry/tangent.h
@@ -55,7 +55,7 @@ inline void tangent_reset_fp64(tangent_fp64_t* tangent)
 
 // ==================== Set ===================== //
 
-inline void tangent_fp32_set_values(const float x1, const float x2, tangent_fp32_t* tangent)
+inline void tangent_set_values_fp32(const float x1, const float x2, tangent_fp32_t* tangent)
 {
     const float square_module = x1 * x1 + x2 * x2;
 
@@ -80,7 +80,7 @@ inline void tangent_fp32_set_values(const float x1, const float x2, tangent_fp32
     twin->sin = x2 * multiplier;
 }
 
-inline void tangent_fp64_set_values(const double x1, const double x2, tangent_fp64_t* tangent)
+inline void tangent_set_values_fp64(const double x1, const double x2, tangent_fp64_t* tangent)
 {
     const double square_module = x1 * x1 + x2 * x2;
 
@@ -181,14 +181,14 @@ inline void tangent_fp64_set_turn(const double angle, const angle_unit_t unit, t
 
 // ============= Copy to twin type ============== //
 
-inline void tangent_fp32_set_from_fp64(const tangent_fp64_t* from, tangent_fp32_t* to)
+inline void tangent_convert_fp64_to_fp32(const tangent_fp64_t* from, tangent_fp32_t* to)
 {
-    tangent_fp32_set_values((float)from->cos, (float)from->sin, to);
+    tangent_set_values_fp32((float)from->cos, (float)from->sin, to);
 }
 
-inline void tangent_fp64_set_from_fp32(const tangent_fp32_t* from, tangent_fp64_t* to)
+inline void tangent_convert_fp32_to_fp64(const tangent_fp32_t* from, tangent_fp64_t* to)
 {
-    tangent_fp64_set_values((double)from->cos, (double)from->sin, to);
+    tangent_set_values_fp64((double)from->cos, (double)from->sin, to);
 }
 
 // ================= Inversion ================== //
@@ -205,7 +205,7 @@ inline void tangent_invert_fp64(tangent_fp64_t* tangent)
 
 // ================ Set Inverted ================ //
 
-inline void tangent_fp32_set_inverted(const tangent_fp32_t* tangent, tangent_fp32_t* result)
+inline void tangent_set_inverted_fp32(const tangent_fp32_t* tangent, tangent_fp32_t* result)
 {
     __BgFP32DarkTwinTangent* twin = (__BgFP32DarkTwinTangent*)result;
 
@@ -213,7 +213,7 @@ inline void tangent_fp32_set_inverted(const tangent_fp32_t* tangent, tangent_fp3
     twin->sin = -tangent->sin;
 }
 
-inline void tangent_fp64_set_inverted(const tangent_fp64_t* tangent, tangent_fp64_t* result)
+inline void tangent_set_inverted_fp64(const tangent_fp64_t* tangent, tangent_fp64_t* result)
 {
     __BgFP64DarkTwinTangent* twin = (__BgFP64DarkTwinTangent*)result;
 
@@ -259,7 +259,7 @@ inline void tangent_fp64_make_reverse_matrix(const tangent_fp64_t* tangent, matr
 
 // =================== Angle =================== //
 
-inline float tangent_fp32_get_angle(const tangent_fp32_t* tangent, const angle_unit_t unit)
+inline float tangent_get_angle_fp32(const tangent_fp32_t* tangent, const angle_unit_t unit)
 {
     if (tangent->cos >= 1.0f - FP32_TWO_EPSYLON) {
         return 0.0f;
@@ -280,7 +280,7 @@ inline float tangent_fp32_get_angle(const tangent_fp32_t* tangent, const angle_u
     return fp32_radians_to_units(atan2f(tangent->cos, tangent->sin), unit);
 }
 
-inline double tangent_fp64_get_angle(const tangent_fp64_t* tangent, const angle_unit_t unit)
+inline double tangent_get_angle_fp64(const tangent_fp64_t* tangent, const angle_unit_t unit)
 {
     if (tangent->cos >= 1.0 - FP64_TWO_EPSYLON) {
         return 0.0;
@@ -305,7 +305,7 @@ inline double tangent_fp64_get_angle(const tangent_fp64_t* tangent, const angle_
 
 inline void tangent_fp32_combine(const tangent_fp32_t* tangent1, const tangent_fp32_t* tangent2, tangent_fp32_t* result)
 {
-    tangent_fp32_set_values(
+    tangent_set_values_fp32(
         tangent1->cos * tangent2->cos - tangent1->sin * tangent2->sin,
         tangent1->cos * tangent2->sin + tangent1->sin * tangent2->cos,
         result
@@ -314,7 +314,7 @@ inline void tangent_fp32_combine(const tangent_fp32_t* tangent1, const tangent_f
 
 inline void tangent_fp64_combine(const tangent_fp64_t* tangent1, const tangent_fp64_t* tangent2, tangent_fp64_t* result)
 {
-    tangent_fp64_set_values(
+    tangent_set_values_fp64(
         tangent1->cos * tangent2->cos - tangent1->sin * tangent2->sin,
         tangent1->cos * tangent2->sin + tangent1->sin * tangent2->cos,
         result
diff --git a/basic-geometry/vector2.c b/basic-geometry/vector2.c
index e2e3fd4..30cf01f 100644
--- a/basic-geometry/vector2.c
+++ b/basic-geometry/vector2.c
@@ -2,7 +2,7 @@
 
 // =================== Angle ==================== //
 
-float vector2_fp32_get_angle(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2, const angle_unit_t unit)
+float vector2_get_angle_fp32(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2, const angle_unit_t unit)
 {
     if (vector1 == 0 || vector2 == 0) {
         return 0.0f;
@@ -33,7 +33,7 @@ float vector2_fp32_get_angle(const vector2_fp32_t* vector1, const vector2_fp32_t
     return fp32_radians_to_units(acosf(cosine), unit);
 }
 
-double vector2_fp64_get_angle(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2, const angle_unit_t unit)
+double vector2_get_angle_fp64(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2, const angle_unit_t unit)
 {
     if (vector1 == 0 || vector2 == 0) {
         return 0.0;
diff --git a/basic-geometry/vector2.h b/basic-geometry/vector2.h
index fde65ee..e7f6266 100644
--- a/basic-geometry/vector2.h
+++ b/basic-geometry/vector2.h
@@ -32,13 +32,13 @@ inline void vector2_reset_fp64(vector2_fp64_t* vector)
 
 // ==================== Set ===================== //
 
-inline void vector2_fp32_set_values(const float x1, const float x2, vector2_fp32_t* to)
+inline void vector2_set_values_fp32(const float x1, const float x2, vector2_fp32_t* to)
 {
     to->x1 = x1;
     to->x2 = x2;
 }
 
-inline void vector2_fp64_set_values(const double x1, const double x2, vector2_fp64_t* to)
+inline void vector2_set_values_fp64(const double x1, const double x2, vector2_fp64_t* to)
 {
     to->x1 = x1;
     to->x2 = x2;
@@ -86,13 +86,13 @@ inline void vector2_swap_fp64(vector2_fp64_t* vector1, vector2_fp64_t* vector2)
 
 // ============= Copy to twin type ============== //
 
-inline void vector2_fp32_set_from_fp64(const vector2_fp64_t* from, vector2_fp32_t* to)
+inline void vector2_convert_fp64_to_fp32(const vector2_fp64_t* from, vector2_fp32_t* to)
 {
     to->x1 = (float)from->x1;
     to->x2 = (float)from->x2;
 }
 
-inline void vector2_fp64_set_from_fp32(const vector2_fp32_t* from, vector2_fp64_t* to)
+inline void vector2_convert_fp32_to_fp64(const vector2_fp32_t* from, vector2_fp64_t* to)
 {
     to->x1 = from->x1;
     to->x2 = from->x2;
@@ -176,13 +176,13 @@ inline int vector2_fp64_is_unit(const vector2_fp64_t* vector)
 
 // ==================== Add ===================== //
 
-inline void vector2_fp32_add(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2, vector2_fp32_t* sum)
+inline void vector2_add_fp32(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2, vector2_fp32_t* sum)
 {
     sum->x1 = vector1->x1 + vector2->x1;
     sum->x2 = vector1->x2 + vector2->x2;
 }
 
-inline void vector2_fp64_add(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2, vector2_fp64_t* sum)
+inline void vector2_add_fp64(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2, vector2_fp64_t* sum)
 {
     sum->x1 = vector1->x1 + vector2->x1;
     sum->x2 = vector1->x2 + vector2->x2;
@@ -190,13 +190,13 @@ inline void vector2_fp64_add(const vector2_fp64_t* vector1, const vector2_fp64_t
 
 // ================ Subtraction ================= //
 
-inline void vector2_fp32_subtract(const vector2_fp32_t* minuend, const vector2_fp32_t* subtrahend, vector2_fp32_t* difference)
+inline void vector2_subtract_fp32(const vector2_fp32_t* minuend, const vector2_fp32_t* subtrahend, vector2_fp32_t* difference)
 {
     difference->x1 = minuend->x1 - subtrahend->x1;
     difference->x2 = minuend->x2 - subtrahend->x2;
 }
 
-inline void vector2_fp64_subtract(const vector2_fp64_t* minuend, const vector2_fp64_t* subtrahend, vector2_fp64_t* difference)
+inline void vector2_subtract_fp64(const vector2_fp64_t* minuend, const vector2_fp64_t* subtrahend, vector2_fp64_t* difference)
 {
     difference->x1 = minuend->x1 - subtrahend->x1;
     difference->x2 = minuend->x2 - subtrahend->x2;
@@ -204,13 +204,13 @@ inline void vector2_fp64_subtract(const vector2_fp64_t* minuend, const vector2_f
 
 // =============== Multiplication =============== //
 
-inline void vector2_fp32_multiply(const vector2_fp32_t* multiplicand, const float multiplier, vector2_fp32_t* product)
+inline void vector2_multiply_fp32(const vector2_fp32_t* multiplicand, const float multiplier, vector2_fp32_t* product)
 {
     product->x1 = multiplicand->x1 * multiplier;
     product->x2 = multiplicand->x2 * multiplier;
 }
 
-inline void vector2_fp64_multiply(const vector2_fp64_t* multiplicand, const double multiplier, vector2_fp64_t* product)
+inline void vector2_multiply_fp64(const vector2_fp64_t* multiplicand, const double multiplier, vector2_fp64_t* product)
 {
     product->x1 = multiplicand->x1 * multiplier;
     product->x2 = multiplicand->x2 * multiplier;
@@ -218,25 +218,25 @@ inline void vector2_fp64_multiply(const vector2_fp64_t* multiplicand, const doub
 
 // ================== Division ================== //
 
-inline void vector2_fp32_divide(const vector2_fp32_t* dividend, const float divisor, vector2_fp32_t* quotient)
+inline void vector2_divide_fp32(const vector2_fp32_t* dividend, const float divisor, vector2_fp32_t* quotient)
 {
-    vector2_fp32_multiply(dividend, 1.0f / divisor, quotient);
+    vector2_multiply_fp32(dividend, 1.0f / divisor, quotient);
 }
 
 inline void vector2_fp64_divide(const vector2_fp64_t* dividend, const double divisor, vector2_fp64_t* quotient)
 {
-    vector2_fp64_multiply(dividend, 1.0 / divisor, quotient);
+    vector2_multiply_fp64(dividend, 1.0 / divisor, quotient);
 }
 
 // ================ Append scaled =============== //
 
-inline void vector2_fp32_append_scaled(vector2_fp32_t* basic_vector, const vector2_fp32_t* scalable_vector, const float scale)
+inline void vector2_add_scaled_fp32(vector2_fp32_t* basic_vector, const vector2_fp32_t* scalable_vector, const float scale)
 {
     basic_vector->x1 += scalable_vector->x1 * scale;
     basic_vector->x2 += scalable_vector->x2 * scale;
 }
 
-inline void vector2_fp64_append_scaled(vector2_fp64_t* basic_vector, const vector2_fp64_t* scalable_vector, const double scale)
+inline void vector2_add_scaled_fp64(vector2_fp64_t* basic_vector, const vector2_fp64_t* scalable_vector, const double scale)
 {
     basic_vector->x1 += scalable_vector->x1 * scale;
     basic_vector->x2 += scalable_vector->x2 * scale;
@@ -316,7 +316,7 @@ inline void vector2_fp64_complex_product(const vector2_fp64_t* vector1, const ve
 
 // =============== Normalization ================ //
 
-inline int vector2_fp32_normalize(vector2_fp32_t* vector)
+inline int vector2_normalize_fp32(vector2_fp32_t* vector)
 {
     const float square_modulus = vector2_get_square_modulus_fp32(vector);
 
@@ -329,11 +329,11 @@ inline int vector2_fp32_normalize(vector2_fp32_t* vector)
         return 0;
     }
 
-    vector2_fp32_multiply(vector, sqrtf(1.0f / square_modulus), vector);
+    vector2_multiply_fp32(vector, sqrtf(1.0f / square_modulus), vector);
     return 1;
 }
 
-inline int vector2_fp64_normalize(vector2_fp64_t* vector)
+inline int vector2_normalize_fp64(vector2_fp64_t* vector)
 {
     const double square_modulus = vector2_get_square_modulus_fp64(vector);
 
@@ -346,7 +346,7 @@ inline int vector2_fp64_normalize(vector2_fp64_t* vector)
         return 0;
     }
 
-    vector2_fp64_multiply(vector, sqrt(1.0 / square_modulus), vector);
+    vector2_multiply_fp64(vector, sqrt(1.0 / square_modulus), vector);
     return 1;
 }
 
@@ -355,24 +355,24 @@ inline int vector2_fp64_normalize(vector2_fp64_t* vector)
 inline int vector2_fp32_set_normalized(const vector2_fp32_t* vector, vector2_fp32_t* result)
 {
     vector2_copy_fp32(vector, result);
-    return vector2_fp32_normalize(result);
+    return vector2_normalize_fp32(result);
 }
 
 inline int vector2_fp64_set_normalized(const vector2_fp64_t* vector, vector2_fp64_t* result)
 {
     vector2_copy_fp64(vector, result);
-    return vector2_fp64_normalize(result);
+    return vector2_normalize_fp64(result);
 }
 
 // =================== Angle ==================== //
 
-float vector2_fp32_get_angle(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2, const angle_unit_t unit);
+float vector2_get_angle_fp32(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2, const angle_unit_t unit);
 
-double vector2_fp64_get_angle(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2, const angle_unit_t unit);
+double vector2_get_angle_fp64(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2, const angle_unit_t unit);
 
 // =============== Square Distance ============== //
 
-inline float vector2_fp32_get_square_distance(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2)
+inline float vector2_get_square_distance_fp32(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2)
 {
     const float dx1 = (vector1->x1 - vector2->x1);
     const float dx2 = (vector1->x2 - vector2->x2);
@@ -380,7 +380,7 @@ inline float vector2_fp32_get_square_distance(const vector2_fp32_t* vector1, con
     return dx1 * dx1 + dx2 * dx2;
 }
 
-inline double vector2_fp64_get_square_distance(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2)
+inline double vector2_get_square_distance_fp64(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2)
 {
     const double dx1 = (vector1->x1 - vector2->x1);
     const double dx2 = (vector1->x2 - vector2->x2);
@@ -390,23 +390,23 @@ inline double vector2_fp64_get_square_distance(const vector2_fp64_t* vector1, co
 
 // ================== Distance ================== //
 
-inline float vector2_fp32_get_distance(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2)
+inline float vector2_get_distance_fp32(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2)
 {
-    return sqrtf(vector2_fp32_get_square_distance(vector1, vector2));
+    return sqrtf(vector2_get_square_distance_fp32(vector1, vector2));
 }
 
-inline double vector2_fp64_get_distance(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2)
+inline double vector2_get_distance_fp64(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2)
 {
-    return sqrt(vector2_fp64_get_square_distance(vector1, vector2));
+    return sqrt(vector2_get_square_distance_fp64(vector1, vector2));
 }
 
 // ================== Are Equal ================= //
 
-inline int vector2_fp32_are_equal(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2)
+inline int vector2_are_equal_fp32(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2)
 {
     const float square_modulus1 = vector2_get_square_modulus_fp32(vector1);
     const float square_modulus2 = vector2_get_square_modulus_fp32(vector2);
-    const float square_modulus3 = vector2_fp32_get_square_distance(vector1, vector2);
+    const float square_modulus3 = vector2_get_square_distance_fp32(vector1, vector2);
 
     // 2.0f means dimension amount
     if (square_modulus1 < FP32_EPSYLON_EFFECTIVENESS_LIMIT || square_modulus2 < FP32_EPSYLON_EFFECTIVENESS_LIMIT) {
@@ -420,11 +420,11 @@ inline int vector2_fp32_are_equal(const vector2_fp32_t* vector1, const vector2_f
     return square_modulus3 <= (2.0f * FP32_SQUARE_EPSYLON) * square_modulus1;
 }
 
-inline int vector2_fp64_are_equal(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2)
+inline int vector2_are_equal_fp64(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2)
 {
     const double square_modulus1 = vector2_get_square_modulus_fp64(vector1);
     const double square_modulus2 = vector2_get_square_modulus_fp64(vector2);
-    const double square_modulus3 = vector2_fp64_get_square_distance(vector1, vector2);
+    const double square_modulus3 = vector2_get_square_distance_fp64(vector1, vector2);
 
     // 2.0 means dimension amount
     if (square_modulus1 < FP64_EPSYLON_EFFECTIVENESS_LIMIT || square_modulus2 < FP64_EPSYLON_EFFECTIVENESS_LIMIT) {
diff --git a/basic-geometry/vector3.c b/basic-geometry/vector3.c
index 525206b..284175f 100644
--- a/basic-geometry/vector3.c
+++ b/basic-geometry/vector3.c
@@ -2,7 +2,7 @@
 
 // =================== Angle ==================== //
 
-float vector3_fp32_get_angle(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, const angle_unit_t unit)
+float vector3_get_angle_fp32(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, const angle_unit_t unit)
 {
     if (vector1 == 0 || vector2 == 0) {
         return 0.0f;
@@ -20,7 +20,7 @@ float vector3_fp32_get_angle(const vector3_fp32_t* vector1, const vector3_fp32_t
         return 0.0f;
     }
 
-    const float cosine = vector3_fp32_scalar_product(vector1, vector2) / sqrtf(square_modulus1 * square_modulus2);
+    const float cosine = vector3_scalar_product_fp32(vector1, vector2) / sqrtf(square_modulus1 * square_modulus2);
 
     if (cosine >= 1.0f - FP32_EPSYLON) {
         return 0.0f;
@@ -33,7 +33,7 @@ float vector3_fp32_get_angle(const vector3_fp32_t* vector1, const vector3_fp32_t
     return fp32_radians_to_units(acosf(cosine), unit);
 }
 
-double vector3_fp64_get_angle(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, const angle_unit_t unit)
+double vector3_get_angle_fp64(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, const angle_unit_t unit)
 {
     if (vector1 == 0 || vector2 == 0) {
         return 0.0;
@@ -51,7 +51,7 @@ double vector3_fp64_get_angle(const vector3_fp64_t* vector1, const vector3_fp64_
         return 0.0;
     }
 
-    const double cosine = vector3_fp64_scalar_product(vector1, vector2) / sqrt(square_modulus1 * square_modulus2);
+    const double cosine = vector3_scalar_product_fp64(vector1, vector2) / sqrt(square_modulus1 * square_modulus2);
 
     if (cosine >= 1.0 - FP64_EPSYLON) {
         return 0.0;
diff --git a/basic-geometry/vector3.h b/basic-geometry/vector3.h
index 3b99a76..6b4cf5c 100644
--- a/basic-geometry/vector3.h
+++ b/basic-geometry/vector3.h
@@ -18,30 +18,6 @@ typedef struct
     double x1, x2, x3;
 } vector3_fp64_t;
 
-// ================ Declarations ================ //
-/*
-extern inline void vector3_reset_fp32(vector3_fp32_t* vector);
-extern inline void vector3_set_fp32(const float x1, const float x2, const float x3, vector3_fp32_t* to);
-extern inline void vector3_copy_fp32(const vector3_fp32_t* from, vector3_fp32_t* to);
-extern inline void vector3_fp32_convert(const vector3_fp64_t* from, vector3_fp32_t* to);
-extern inline void vector3_swap_fp32(vector3_fp32_t* vector1, vector3_fp32_t* vector2);
-extern inline void vector3_invert_fp32(vector3_fp32_t* vector);
-extern inline void vector3_fp32_make_inverted(const vector3_fp32_t* vector, vector3_fp32_t* result);
-extern inline void vector3_fp32_make_inverted_fp64(const vector3_fp64_t* vector, vector3_fp32_t* result);
-extern inline float vector3_get_square_modulus_fp32(const vector3_fp32_t* vector);
-extern inline float vector3_get_modulus_fp32(const vector3_fp32_t* vector);
-
-extern inline void vector3_reset_fp64(vector3_fp64_t* vector);
-extern inline void vector3_set_fp64(const double x1, const double x2, const double x3, vector3_fp64_t* to);
-extern inline void vector3_copy_fp64(const vector3_fp64_t* from, vector3_fp64_t* to);
-extern inline void vector3_fp64_convert(const vector3_fp32_t* from, vector3_fp64_t* to);
-extern inline void vector3_swap_fp64(vector3_fp64_t* vector1, vector3_fp64_t* vector2);
-extern inline void vector3_invert_fp64(vector3_fp64_t* vector);
-extern inline void vector3_fp64_make_inverted(const vector3_fp64_t* vector, vector3_fp64_t* result);
-extern inline void vector3_fp64_make_inverted_fp32(const vector3_fp32_t* vector, vector3_fp64_t* result);
-extern inline double vector3_get_square_modulus_fp64(const vector3_fp64_t* vector);
-extern inline double vector3_get_modulus_fp64(const vector3_fp64_t* vector);
-*/
 // =================== Reset ==================== //
 
 inline void vector3_reset_fp32(vector3_fp32_t* vector)
@@ -60,14 +36,14 @@ inline void vector3_reset_fp64(vector3_fp64_t* vector)
 
 // ==================== Set ===================== //
 
-inline void vector3_set_fp32(const float x1, const float x2, const float x3, vector3_fp32_t* to)
+inline void vector3_set_values_fp32(const float x1, const float x2, const float x3, vector3_fp32_t* to)
 {
     to->x1 = x1;
     to->x2 = x2;
     to->x3 = x3;
 }
 
-inline void vector3_set_fp64(const double x1, const double x2, const double x3, vector3_fp64_t* to)
+inline void vector3_set_values_fp64(const double x1, const double x2, const double x3, vector3_fp64_t* to)
 {
     to->x1 = x1;
     to->x2 = x2;
@@ -92,14 +68,14 @@ inline void vector3_copy_fp64(const vector3_fp64_t* from, vector3_fp64_t* to)
 
 // ================== Convert =================== //
 
-inline void vector3_fp32_convert(const vector3_fp64_t* from, vector3_fp32_t* to)
+inline void vector3_convert__fp64_to_fp32(const vector3_fp64_t* from, vector3_fp32_t* to)
 {
     to->x1 = (float) from->x1;
     to->x2 = (float) from->x2;
     to->x3 = (float) from->x3;
 }
 
-inline void vector3_fp64_convert(const vector3_fp32_t* from, vector3_fp64_t* to)
+inline void vector3_convert__fp32_to_fp64(const vector3_fp32_t* from, vector3_fp64_t* to)
 {
     to->x1 = from->x1;
     to->x2 = from->x2;
@@ -156,14 +132,14 @@ inline void vector3_invert_fp64(vector3_fp64_t* vector)
 
 // ================ Make Inverted =============== //
 
-inline void vector3_fp32_make_inverted(const vector3_fp32_t* vector, vector3_fp32_t* result)
+inline void vector3_set_inverted_fp32(const vector3_fp32_t* vector, vector3_fp32_t* result)
 {
     result->x1 = -vector->x1;
     result->x2 = -vector->x2;
     result->x3 = -vector->x3;
 }
 
-inline void vector3_fp64_make_inverted(const vector3_fp64_t* vector, vector3_fp64_t* result)
+inline void vector3_set_inverted_fp64(const vector3_fp64_t* vector, vector3_fp64_t* result)
 {
     result->x1 = -vector->x1;
     result->x2 = -vector->x2;
@@ -172,14 +148,14 @@ inline void vector3_fp64_make_inverted(const vector3_fp64_t* vector, vector3_fp6
 
 // ============== Make Inverted Twin ============ //
 
-inline void vector3_fp32_make_inverted_fp64(const vector3_fp32_t* vector, vector3_fp64_t* result)
+inline void vector3_set_inverted_fp32_to_fp64(const vector3_fp32_t* vector, vector3_fp64_t* result)
 {
     result->x1 = -vector->x1;
     result->x2 = -vector->x2;
     result->x3 = -vector->x3;
 }
 
-inline void vector3_fp64_make_inverted_fp32(const vector3_fp64_t* vector, vector3_fp32_t* result)
+inline void vector3_set_inverted_fp64_to_fp32(const vector3_fp64_t* vector, vector3_fp32_t* result)
 {
     result->x1 = (float) -vector->x1;
     result->x2 = (float) -vector->x2;
@@ -236,90 +212,150 @@ inline int vector3_fp64_is_unit(const vector3_fp64_t* vector)
 
 // ==================== Add ===================== //
 
-inline void vector3_fp32_add(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, vector3_fp32_t* sum)
+inline void vector3_add_fp32(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, vector3_fp32_t* sum)
 {
     sum->x1 = vector1->x1 + vector2->x1;
     sum->x2 = vector1->x2 + vector2->x2;
     sum->x3 = vector1->x3 + vector2->x3;
 }
 
-inline void vector3_fp64_add(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, vector3_fp64_t* sum)
+inline void vector3_add_fp64(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, vector3_fp64_t* sum)
 {
     sum->x1 = vector1->x1 + vector2->x1;
     sum->x2 = vector1->x2 + vector2->x2;
     sum->x3 = vector1->x3 + vector2->x3;
 }
 
+// ==================== Sum ===================== //
+
+inline void vector3_set_sum_fp32_to_fp64(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, vector3_fp64_t* sum)
+{
+    sum->x1 = vector1->x1 + vector2->x1;
+    sum->x2 = vector1->x2 + vector2->x2;
+    sum->x3 = vector1->x3 + vector2->x3;
+}
+
+inline void vector3_set_sum_fp64_to_fp32(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, vector3_fp32_t* sum)
+{
+    sum->x1 = (float)(vector1->x1 + vector2->x1);
+    sum->x2 = (float)(vector1->x2 + vector2->x2);
+    sum->x3 = (float)(vector1->x3 + vector2->x3);
+}
+
+// ================= Add scaled ================= //
+
+inline void vector3_add_scaled_fp32(const vector3_fp32_t* basic_vector, const vector3_fp32_t* scalable_vector, const float scale, vector3_fp32_t* result)
+{
+    result->x1 = basic_vector->x1 + scalable_vector->x1 * scale;
+    result->x2 = basic_vector->x2 + scalable_vector->x2 * scale;
+    result->x3 = basic_vector->x3 + scalable_vector->x3 * scale;
+}
+
+inline void vector3_add_scaled_fp64(const vector3_fp64_t* basic_vector, const vector3_fp64_t* scalable_vector, const double scale, vector3_fp64_t* result)
+{
+    result->x1 = basic_vector->x1 + scalable_vector->x1 * scale;
+    result->x2 = basic_vector->x2 + scalable_vector->x2 * scale;
+    result->x3 = basic_vector->x3 + scalable_vector->x3 * scale;
+}
+
 // ================ Subtraction ================= //
 
-inline void vector3_fp32_subtract(const vector3_fp32_t* minuend, const vector3_fp32_t* subtrahend, vector3_fp32_t* difference)
+inline void vector3_subtract_fp32(const vector3_fp32_t* minuend, const vector3_fp32_t* subtrahend, vector3_fp32_t* difference)
 {
     difference->x1 = minuend->x1 - subtrahend->x1;
     difference->x2 = minuend->x2 - subtrahend->x2;
     difference->x3 = minuend->x3 - subtrahend->x3;
 }
 
-inline void vector3_fp64_subtract(const vector3_fp64_t* minuend, const vector3_fp64_t* subtrahend, vector3_fp64_t* difference)
+inline void vector3_subtract_fp64(const vector3_fp64_t* minuend, const vector3_fp64_t* subtrahend, vector3_fp64_t* difference)
 {
     difference->x1 = minuend->x1 - subtrahend->x1;
     difference->x2 = minuend->x2 - subtrahend->x2;
     difference->x3 = minuend->x3 - subtrahend->x3;
 }
 
+// ================= Difference ================= //
+
+inline void vector3_set_difference_fp32_to_fp64(const vector3_fp32_t* minuend, const vector3_fp32_t* subtrahend, vector3_fp64_t* difference)
+{
+    difference->x1 = minuend->x1 - subtrahend->x1;
+    difference->x2 = minuend->x2 - subtrahend->x2;
+    difference->x3 = minuend->x3 - subtrahend->x3;
+}
+
+inline void vector3_set_difference_fp64_to_fp32(const vector3_fp64_t* minuend, const vector3_fp64_t* subtrahend, vector3_fp64_t* difference)
+{
+    difference->x1 = (float)(minuend->x1 - subtrahend->x1);
+    difference->x2 = (float)(minuend->x2 - subtrahend->x2);
+    difference->x3 = (float)(minuend->x3 - subtrahend->x3);
+}
+
 // =============== Multiplication =============== //
 
-inline void vector3_fp32_multiply(const vector3_fp32_t* multiplicand, const float multiplier, vector3_fp32_t* product)
+inline void vector3_multiply_fp32(const vector3_fp32_t* multiplicand, const float multiplier, vector3_fp32_t* product)
 {
     product->x1 = multiplicand->x1 * multiplier;
     product->x2 = multiplicand->x2 * multiplier;
     product->x3 = multiplicand->x3 * multiplier;
 }
 
-inline void vector3_fp64_multiply(const vector3_fp64_t* multiplicand, const double multiplier, vector3_fp64_t* product)
+inline void vector3_multiply_fp64(const vector3_fp64_t* multiplicand, const double multiplier, vector3_fp64_t* product)
 {
     product->x1 = multiplicand->x1 * multiplier;
     product->x2 = multiplicand->x2 * multiplier;
     product->x3 = multiplicand->x3 * multiplier;
 }
 
+// =============== Multiplication =============== //
+
+inline void vector3_set_product_fp32_to_fp64(const vector3_fp32_t* multiplicand, const double multiplier, vector3_fp64_t* product)
+{
+    product->x1 = multiplicand->x1 * multiplier;
+    product->x2 = multiplicand->x2 * multiplier;
+    product->x3 = multiplicand->x3 * multiplier;
+}
+
+inline void vector3_set_product_fp64_to_fp32(const vector3_fp64_t* multiplicand, const double multiplier, vector3_fp32_t* product)
+{
+    product->x1 = (float)(multiplicand->x1 * multiplier);
+    product->x2 = (float)(multiplicand->x2 * multiplier);
+    product->x3 = (float)(multiplicand->x3 * multiplier);
+}
+
 // ================== Division ================== //
 
-inline void vector3_fp32_divide(const vector3_fp32_t* dividend, const float divisor, vector3_fp32_t* quotient)
+inline void vector3_divide_fp32(const vector3_fp32_t* dividend, const float divisor, vector3_fp32_t* quotient)
 {
-    vector3_fp32_multiply(dividend, 1.0f / divisor, quotient);
+    vector3_multiply_fp32(dividend, 1.0f / divisor, quotient);
 }
 
-inline void vector3_fp64_divide(const vector3_fp64_t* dividend, const double divisor, vector3_fp64_t* quotient)
+inline void vector3_divide_fp64(const vector3_fp64_t* dividend, const double divisor, vector3_fp64_t* quotient)
 {
-    vector3_fp64_multiply(dividend, 1.0 / divisor, quotient);
+    vector3_multiply_fp64(dividend, 1.0 / divisor, quotient);
 }
 
-// ================ Append scaled =============== //
+// ================== Quotient ================== //
 
-inline void vector3_fp32_append_scaled(vector3_fp32_t* basic_vector, const vector3_fp32_t* scalable_vector, const float scale)
+inline void vector3_set_quotient_fp32_to_fp64(const vector3_fp32_t* dividend, const double divisor, vector3_fp64_t* quotient)
 {
-    basic_vector->x1 += scalable_vector->x1 * scale;
-    basic_vector->x2 += scalable_vector->x2 * scale;
-    basic_vector->x3 += scalable_vector->x3 * scale;
+    vector3_set_product_fp32_to_fp64(dividend, 1.0 / divisor, quotient);
 }
 
-inline void vector3_fp64_append_scaled(vector3_fp64_t* basic_vector, const vector3_fp64_t* scalable_vector, const double scale)
+inline void vector3_set_quotient_fp64_to_fp32(const vector3_fp64_t* dividend, const double divisor, vector3_fp32_t* quotient)
 {
-    basic_vector->x1 += scalable_vector->x1 * scale;
-    basic_vector->x2 += scalable_vector->x2 * scale;
-    basic_vector->x3 += scalable_vector->x3 * scale;
+    vector3_set_product_fp64_to_fp32(dividend, 1.0f / divisor, quotient);
 }
 
 // ================== Average2 ================== //
 
-inline void vector3_fp32_get_mean2(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, vector3_fp32_t* result)
+inline void vector3_mean_of_two_fp32(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, vector3_fp32_t* result)
 {
     result->x1 = (vector1->x1 + vector2->x1) * 0.5f;
     result->x2 = (vector1->x2 + vector2->x2) * 0.5f;
     result->x3 = (vector1->x3 + vector2->x3) * 0.5f;
 }
 
-inline void vector3_fp64_get_mean2(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, vector3_fp64_t* result)
+inline void vector3_mean_of_two_fp64(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, vector3_fp64_t* result)
 {
     result->x1 = (vector1->x1 + vector2->x1) * 0.5;
     result->x2 = (vector1->x2 + vector2->x2) * 0.5;
@@ -328,14 +364,14 @@ inline void vector3_fp64_get_mean2(const vector3_fp64_t* vector1, const vector3_
 
 // ================== Average3 ================== //
 
-inline void vector3_fp32_get_mean3(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, const vector3_fp32_t* vector3, vector3_fp32_t* result)
+inline void vector3_mean_of_three_fp32(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, const vector3_fp32_t* vector3, vector3_fp32_t* result)
 {
     result->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * FP32_ONE_THIRD;
     result->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * FP32_ONE_THIRD;
     result->x3 = (vector1->x3 + vector2->x3 + vector3->x3) * FP32_ONE_THIRD;
 }
 
-inline void vector3_fp64_get_mean3(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, const vector3_fp64_t* vector3, vector3_fp64_t* result)
+inline void vector3_mean_of_three_fp64(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, const vector3_fp64_t* vector3, vector3_fp64_t* result)
 {
     result->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * FP64_ONE_THIRD;
     result->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * FP64_ONE_THIRD;
@@ -344,26 +380,26 @@ inline void vector3_fp64_get_mean3(const vector3_fp64_t* vector1, const vector3_
 
 // =============== Scalar Product =============== //
 
-inline float vector3_fp32_scalar_product(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2)
+inline float vector3_scalar_product_fp32(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2)
 {
     return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2 + vector1->x3 * vector2->x3;
 }
 
-inline double vector3_fp64_scalar_product(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2)
+inline double vector3_scalar_product_fp64(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2)
 {
     return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2 + vector1->x3 * vector2->x3;
 }
 
 // =============== Triple Product =============== //
 
-inline float vector3_fp32_triple_product(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, const vector3_fp32_t* vector3)
+inline float vector3_triple_product_fp32(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, const vector3_fp32_t* vector3)
 {
     return vector1->x1 * (vector2->x2 * vector3->x3 - vector2->x3 * vector3->x2)
          + vector1->x2 * (vector2->x3 * vector3->x1 - vector2->x1 * vector3->x3)
          + vector1->x3 * (vector2->x1 * vector3->x2 - vector2->x2 * vector3->x1);
 }
 
-inline double vector3_fp64_triple_product(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, const vector3_fp64_t* vector3)
+inline double vector3_triple_product_fp64(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, const vector3_fp64_t* vector3)
 {
     return vector1->x1 * (vector2->x2 * vector3->x3 - vector2->x3 * vector3->x2)
          + vector1->x2 * (vector2->x3 * vector3->x1 - vector2->x1 * vector3->x3)
@@ -372,7 +408,7 @@ inline double vector3_fp64_triple_product(const vector3_fp64_t* vector1, const v
 
 // =============== Cross Product ================ //
 
-inline void vector3_fp32_cross_product(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, vector3_fp32_t* result)
+inline void vector3_cross_product_fp32(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, vector3_fp32_t* result)
 {
     const float x1 = vector1->x2 * vector2->x3 - vector1->x3 * vector2->x2;
     const float x2 = vector1->x3 * vector2->x1 - vector1->x1 * vector2->x3;
@@ -383,7 +419,7 @@ inline void vector3_fp32_cross_product(const vector3_fp32_t* vector1, const vect
     result->x3 = x3;
 }
 
-inline void vector3_fp64_cross_product(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, vector3_fp64_t* result)
+inline void vector3_cross_product_fp64(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, vector3_fp64_t* result)
 {
     const double x1 = vector1->x2 * vector2->x3 - vector1->x3 * vector2->x2;
     const double x2 = vector1->x3 * vector2->x1 - vector1->x1 * vector2->x3;
@@ -396,20 +432,20 @@ inline void vector3_fp64_cross_product(const vector3_fp64_t* vector1, const vect
 
 // ============ Double Cross Product ============ //
 
-inline void vector3_fp32_double_cross_product(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, const vector3_fp32_t* vector3, vector3_fp32_t* result)
+inline void vector3_double_cross_fp32(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, const vector3_fp32_t* vector3, vector3_fp32_t* result)
 {
-    const float ac = vector3_fp32_scalar_product(vector1, vector3);
-    const float ab = vector3_fp32_scalar_product(vector1, vector2);
+    const float ac = vector3_scalar_product_fp32(vector1, vector3);
+    const float ab = vector3_scalar_product_fp32(vector1, vector2);
 
     result->x1 = vector2->x1 * ac - vector3->x1 * ab;
     result->x2 = vector2->x2 * ac - vector3->x2 * ab;
     result->x3 = vector2->x3 * ac - vector3->x3 * ab;
 }
 
-inline void vector3_fp64_double_cross(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, const vector3_fp64_t* vector3, vector3_fp64_t* result)
+inline void vector3_double_cross_fp64(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, const vector3_fp64_t* vector3, vector3_fp64_t* result)
 {
-    const double ac = vector3_fp64_scalar_product(vector1, vector3);
-    const double ab = vector3_fp64_scalar_product(vector1, vector2);
+    const double ac = vector3_scalar_product_fp64(vector1, vector3);
+    const double ab = vector3_scalar_product_fp64(vector1, vector2);
 
     result->x1 = vector2->x1 * ac - vector3->x1 * ab;
     result->x2 = vector2->x2 * ac - vector3->x2 * ab;
@@ -418,7 +454,7 @@ inline void vector3_fp64_double_cross(const vector3_fp64_t* vector1, const vecto
 
 // =============== Normalization ================ //
 
-inline int vector3_fp32_normalize(vector3_fp32_t* vector)
+inline int vector3_normalize_fp32(vector3_fp32_t* vector)
 {
     const float square_modulus = vector3_get_square_modulus_fp32(vector);
 
@@ -431,11 +467,11 @@ inline int vector3_fp32_normalize(vector3_fp32_t* vector)
         return 0;
     }
 
-    vector3_fp32_multiply(vector, sqrtf(1.0f / square_modulus), vector);
+    vector3_multiply_fp32(vector, sqrtf(1.0f / square_modulus), vector);
     return 1;
 }
 
-inline int vector3_fp64_normalize(vector3_fp64_t* vector)
+inline int vector3_normalize_fp64(vector3_fp64_t* vector)
 {
     const double square_modulus = vector3_get_square_modulus_fp64(vector);
 
@@ -448,33 +484,33 @@ inline int vector3_fp64_normalize(vector3_fp64_t* vector)
         return 0;
     }
 
-    vector3_fp64_multiply(vector, sqrt(1.0 / square_modulus), vector);
+    vector3_multiply_fp64(vector, sqrt(1.0 / square_modulus), vector);
     return 1;
 }
 
-// =============== Get Normalized =============== //
+// =============== Set Normalized =============== //
 
-inline int vector3_fp32_set_normalized(const vector3_fp32_t* vector, vector3_fp32_t* result)
+inline int vector3_set_normalized_fp32(const vector3_fp32_t* vector, vector3_fp32_t* result)
 {
     vector3_copy_fp32(vector, result);
-    return vector3_fp32_normalize(result);
+    return vector3_normalize_fp32(result);
 }
 
-inline int vector3_fp64_set_normalized(const vector3_fp64_t* vector, vector3_fp64_t* result)
+inline int vector3_set_normalized_fp64(const vector3_fp64_t* vector, vector3_fp64_t* result)
 {
     vector3_copy_fp64(vector, result);
-    return vector3_fp64_normalize(result);
+    return vector3_normalize_fp64(result);
 }
 
 // =================== Angle ==================== //
 
-float vector3_fp32_get_angle(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, const angle_unit_t unit);
+float vector3_get_angle_fp32(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, const angle_unit_t unit);
 
-double vector3_fp64_get_angle(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, const angle_unit_t unit);
+double vector3_get_angle_fp64(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, const angle_unit_t unit);
 
 // =============== Square Distance ============== //
 
-inline float vector3_fp32_get_square_distance(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2)
+inline float vector3_get_square_distance_fp32(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2)
 {
     const float dx1 = (vector1->x1 - vector2->x1);
     const float dx2 = (vector1->x2 - vector2->x2);
@@ -483,7 +519,7 @@ inline float vector3_fp32_get_square_distance(const vector3_fp32_t* vector1, con
     return dx1 * dx1 + dx2 * dx2 + dx3 * dx3;
 }
 
-inline double vector3_fp64_get_square_distance(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2)
+inline double vector3_get_square_distance_fp64(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2)
 {
     const double dx1 = (vector1->x1 - vector2->x1);
     const double dx2 = (vector1->x2 - vector2->x2);
@@ -494,23 +530,23 @@ inline double vector3_fp64_get_square_distance(const vector3_fp64_t* vector1, co
 
 // ================== Distance ================== //
 
-inline float vector3_fp32_get_distance(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2)
+inline float vector3_get_distance_fp32(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2)
 {
-    return sqrtf(vector3_fp32_get_square_distance(vector1, vector2));
+    return sqrtf(vector3_get_square_distance_fp32(vector1, vector2));
 }
 
-inline double vector3_fp64_get_distance(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2)
+inline double vector3_get_distance_fp64(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2)
 {
-    return sqrt(vector3_fp64_get_square_distance(vector1, vector2));
+    return sqrt(vector3_get_square_distance_fp64(vector1, vector2));
 }
 
 // ================== Are Equal ================= //
 
-inline int vector3_fp32_are_equal(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2)
+inline int vector3_are_equal_fp32(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2)
 {
     const float square_modulus1 = vector3_get_square_modulus_fp32(vector1);
     const float square_modulus2 = vector3_get_square_modulus_fp32(vector2);
-    const float square_modulus3 = vector3_fp32_get_square_distance(vector1, vector2);
+    const float square_modulus3 = vector3_get_square_distance_fp32(vector1, vector2);
 
     // 3.0f means dimension amount
     if (square_modulus1 < FP32_EPSYLON_EFFECTIVENESS_LIMIT || square_modulus2 < FP32_EPSYLON_EFFECTIVENESS_LIMIT) {
@@ -524,11 +560,11 @@ inline int vector3_fp32_are_equal(const vector3_fp32_t* vector1, const vector3_f
     return square_modulus3 <= (3.0f * FP32_SQUARE_EPSYLON) * square_modulus1;
 }
 
-inline int vector3_fp64_are_equal(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2)
+inline int vector3_are_equal_fp64(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2)
 {
     const double square_modulus1 = vector3_get_square_modulus_fp64(vector1);
     const double square_modulus2 = vector3_get_square_modulus_fp64(vector2);
-    const double square_modulus3 = vector3_fp64_get_square_distance(vector1, vector2);
+    const double square_modulus3 = vector3_get_square_distance_fp64(vector1, vector2);
 
     // 3.0 means dimension amount
     if (square_modulus1 < FP64_EPSYLON_EFFECTIVENESS_LIMIT || square_modulus2 < FP64_EPSYLON_EFFECTIVENESS_LIMIT) {
diff --git a/basic-geometry/versor.c b/basic-geometry/versor.c
index 3b54329..2dd540e 100644
--- a/basic-geometry/versor.c
+++ b/basic-geometry/versor.c
@@ -9,7 +9,7 @@ const versor_fp64_t FP64_IDLE_VERSOR = { 1.0, 0.0, 0.0, 0.0 };
 
 // =============== Set Crude Turn =============== //
 
-void versor_fp32_set_crude_turn(const float x1, const float x2, const float x3, const float angle, const angle_unit_t unit, versor_fp32_t* result)
+void versor_set_crude_turn_fp32(const float x1, const float x2, const float x3, const float angle, const angle_unit_t unit, versor_fp32_t* result)
 {
     const float square_vector = x1 * x1 + x2 * x2 + x3 * x3;
 
@@ -29,10 +29,10 @@ void versor_fp32_set_crude_turn(const float x1, const float x2, const float x3,
 
     const float multiplier = sine / sqrtf(square_vector);
 
-    versor_fp32_set_values(cosf(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier, result);
+    versor_set_values_fp32(cosf(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier, result);
 }
 
-void versor_fp64_set_crude_turn(const double x1, const double x2, const double x3, const double angle, const angle_unit_t unit, versor_fp64_t* result)
+void versor_set_crude_turn_fp64(const double x1, const double x2, const double x3, const double angle, const angle_unit_t unit, versor_fp64_t* result)
 {
     const double square_vector = x1 * x1 + x2 * x2 + x3 * x3;
 
@@ -52,12 +52,12 @@ void versor_fp64_set_crude_turn(const double x1, const double x2, const double x
 
     const double multiplier = sine / sqrt(square_vector);
 
-    versor_fp64_set_values(cos(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier, result);
+    versor_set_values_fp64(cos(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier, result);
 }
 
 // ================= Rotation3 ================== //
 
-void versor_fp32_get_rotation(const versor_fp32_t* versor, rotation3_fp32_t* result)
+void versor_get_rotation_fp32(const versor_fp32_t* versor, rotation3_fp32_t* result)
 {
     if (versor == 0 || result == 0) {
         return;
@@ -79,7 +79,7 @@ void versor_fp32_get_rotation(const versor_fp32_t* versor, rotation3_fp32_t* res
     result->axis.x3 = versor->x3 * multiplier;
 }
 
-void versor_fp64_get_rotation(const versor_fp64_t* versor, rotation3_fp64_t* result)
+void versor_get_rotation_fp64(const versor_fp64_t* versor, rotation3_fp64_t* result)
 {
     if (versor == 0 || result == 0) {
         return;
diff --git a/basic-geometry/versor.h b/basic-geometry/versor.h
index d5de4ee..7dbb219 100644
--- a/basic-geometry/versor.h
+++ b/basic-geometry/versor.h
@@ -58,7 +58,7 @@ inline void versor_reset_fp64(versor_fp64_t* versor)
 
 // ==================== Set ===================== //
 
-inline void versor_fp32_set_values(const float s0, const float x1, const float x2, const float x3, versor_fp32_t* versor)
+inline void versor_set_values_fp32(const float s0, const float x1, const float x2, const float x3, versor_fp32_t* versor)
 {
     __BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)versor;
 
@@ -89,7 +89,7 @@ inline void versor_fp32_set_values(const float s0, const float x1, const float x
     twin->x3 *= multiplier;
 }
 
-inline void versor_fp64_set_values(const double s0, const double x1, const double x2, const double x3, versor_fp64_t* versor)
+inline void versor_set_values_fp64(const double s0, const double x1, const double x2, const double x3, versor_fp64_t* versor)
 {
     __BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)versor;
 
@@ -190,51 +190,51 @@ inline void versor_swap_fp64(versor_fp64_t* versor1, versor_fp64_t* versor2)
 
 // =============== Set Crude Turn =============== //
 
-void versor_fp32_set_crude_turn(const float x1, const float x2, const float x3, const float angle, const angle_unit_t unit, versor_fp32_t* result);
+void versor_set_crude_turn_fp32(const float x1, const float x2, const float x3, const float angle, const angle_unit_t unit, versor_fp32_t* result);
 
-void versor_fp64_set_crude_turn(const double x1, const double x2, const double x3, const double angle, const angle_unit_t unit, versor_fp64_t* result);
+void versor_set_crude_turn_fp64(const double x1, const double x2, const double x3, const double angle, const angle_unit_t unit, versor_fp64_t* result);
 
 // ================== Set Turn ================== //
 
-inline void versor_fp32_set_turn(const vector3_fp32_t* axis, const float angle, const angle_unit_t unit, versor_fp32_t* result)
+inline void versor_set_turn_fp32(const vector3_fp32_t* axis, const float angle, const angle_unit_t unit, versor_fp32_t* result)
 {
-    versor_fp32_set_crude_turn(axis->x1, axis->x2, axis->x3, angle, unit, result);
+    versor_set_crude_turn_fp32(axis->x1, axis->x2, axis->x3, angle, unit, result);
 }
 
-inline void versor_fp64_set_turn(const vector3_fp32_t* axis, const double angle, const angle_unit_t unit, versor_fp64_t* result)
+inline void versor_set_turn_fp64(const vector3_fp32_t* axis, const double angle, const angle_unit_t unit, versor_fp64_t* result)
 {
-    versor_fp64_set_crude_turn(axis->x1, axis->x2, axis->x3, angle, unit, result);
+    versor_set_crude_turn_fp64(axis->x1, axis->x2, axis->x3, angle, unit, result);
 }
 
 // ================ Set Rotation ================ //
 
-inline void versor_fp32_set_rotation(const rotation3_fp32_t* rotation, versor_fp32_t* result)
+inline void versor_set_rotation_fp32(const rotation3_fp32_t* rotation, versor_fp32_t* result)
 {
-    versor_fp32_set_crude_turn(rotation->axis.x1, rotation->axis.x2, rotation->axis.x3, rotation->radians, BG_ANGLE_UNIT_RADIANS, result);
+    versor_set_crude_turn_fp32(rotation->axis.x1, rotation->axis.x2, rotation->axis.x3, rotation->radians, BG_ANGLE_UNIT_RADIANS, result);
 }
 
-inline void versor_fp64_set_rotation(const rotation3_fp64_t* rotation, versor_fp64_t* result)
+inline void versor_set_rotation_fp64(const rotation3_fp64_t* rotation, versor_fp64_t* result)
 {
-    versor_fp64_set_crude_turn(rotation->axis.x1, rotation->axis.x2, rotation->axis.x3, rotation->radians, BG_ANGLE_UNIT_RADIANS, result);
+    versor_set_crude_turn_fp64(rotation->axis.x1, rotation->axis.x2, rotation->axis.x3, rotation->radians, BG_ANGLE_UNIT_RADIANS, result);
 }
 
 // ================= Comparison ================= //
 
-inline int versor_fp32_is_idle(const versor_fp32_t* versor)
+inline int versor_is_idle_fp32(const versor_fp32_t* versor)
 {
     return 1.0f - FP32_EPSYLON <= versor->s0 || versor->s0 <= -(1.0 - FP32_EPSYLON);
 }
 
-inline int versor_fp64_is_idle(const versor_fp64_t* versor)
+inline int versor_is_idle_fp64(const versor_fp64_t* versor)
 {
     return 1.0 - FP64_EPSYLON <= versor->s0 || versor->s0 <= -(1.0 - FP64_EPSYLON);
 }
 
 // ============= Copy to twin type ============== //
 
-inline void versor_fp32_set_from_fp64(const versor_fp64_t* versor, versor_fp32_t* result)
+inline void versor_convert_fp64_to_fp32(const versor_fp64_t* versor, versor_fp32_t* result)
 {
-    versor_fp32_set_values(
+    versor_set_values_fp32(
         (float) versor->s0,
         (float) versor->x1,
         (float) versor->x2,
@@ -243,9 +243,9 @@ inline void versor_fp32_set_from_fp64(const versor_fp64_t* versor, versor_fp32_t
     );
 }
 
-inline void versor_fp64_set_from_fp32(const versor_fp32_t* versor, versor_fp64_t* result)
+inline void versor_convert_fp32_to_fp64(const versor_fp32_t* versor, versor_fp64_t* result)
 {
-    versor_fp64_set_values(
+    versor_set_values_fp64(
         versor->s0,
         versor->x1,
         versor->x2,
@@ -256,7 +256,7 @@ inline void versor_fp64_set_from_fp32(const versor_fp32_t* versor, versor_fp64_t
 
 // ================== Shorten =================== //
 
-inline void versor_fp32_shorten(versor_fp32_t* versor)
+inline void versor_shorten_fp32(versor_fp32_t* versor)
 {
     if (versor->s0 >= 0.0f) {
         return;
@@ -269,7 +269,7 @@ inline void versor_fp32_shorten(versor_fp32_t* versor)
     twin->x3 = -versor->x3;
 }
 
-inline void versor_fp64_shorten(versor_fp64_t* versor)
+inline void versor_shorten_fp64(versor_fp64_t* versor)
 {
     if (versor->s0 >= 0.0f) {
         return;
@@ -284,7 +284,7 @@ inline void versor_fp64_shorten(versor_fp64_t* versor)
 
 // ================== Shorten =================== //
 
-inline void versor_fp32_set_shortened(const versor_fp32_t* versor, versor_fp32_t* shortened)
+inline void versor_set_shortened_fp32(const versor_fp32_t* versor, versor_fp32_t* shortened)
 {
     __BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)shortened;
 
@@ -302,7 +302,7 @@ inline void versor_fp32_set_shortened(const versor_fp32_t* versor, versor_fp32_t
     twin->x3 = -versor->x3;
 }
 
-inline void versor_fp64_set_shortened(const versor_fp64_t* versor, versor_fp64_t* shortened)
+inline void versor_set_shortened_fp64(const versor_fp64_t* versor, versor_fp64_t* shortened)
 {
     __BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)shortened;
 
@@ -340,7 +340,7 @@ inline void versor_invert_fp64(versor_fp64_t* versor)
 
 // ================ Set Inverted ================ //
 
-inline void versor_fp32_set_inverted(const versor_fp32_t* versor, versor_fp32_t* to)
+inline void versor_set_inverted_fp32(const versor_fp32_t* versor, versor_fp32_t* to)
 {
     __BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)to;
     twin->s0 = versor->s0;
@@ -349,7 +349,7 @@ inline void versor_fp32_set_inverted(const versor_fp32_t* versor, versor_fp32_t*
     twin->x3 = -versor->x3;
 }
 
-inline void versor_fp64_set_inverted(const versor_fp64_t* versor, versor_fp64_t* to)
+inline void versor_set_inverted_fp64(const versor_fp64_t* versor, versor_fp64_t* to)
 {
     __BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)to;
     twin->s0 = versor->s0;
@@ -360,9 +360,9 @@ inline void versor_fp64_set_inverted(const versor_fp64_t* versor, versor_fp64_t*
 
 // ================ Set Inverted ================ //
 
-inline void versor_fp32_set_inverted_fp64(const versor_fp64_t* versor, versor_fp32_t* to)
+inline void versor_set_inverted_fp64_to_fp32(const versor_fp64_t* versor, versor_fp32_t* to)
 {
-    versor_fp32_set_values(
+    versor_set_values_fp32(
         (float) versor->s0,
         (float) -versor->x1,
         (float) -versor->x2,
@@ -371,9 +371,9 @@ inline void versor_fp32_set_inverted_fp64(const versor_fp64_t* versor, versor_fp
     );
 }
 
-inline void versor_fp64_set_inverted_fp32(const versor_fp32_t* versor, versor_fp64_t* to)
+inline void versor_set_inverted_fp32_to_fp64(const versor_fp32_t* versor, versor_fp64_t* to)
 {
-    versor_fp64_set_values(
+    versor_set_values_fp64(
         versor->s0,
         -versor->x1,
         -versor->x2,
@@ -384,7 +384,7 @@ inline void versor_fp64_set_inverted_fp32(const versor_fp32_t* versor, versor_fp
 
 // ================ Combination ================= //
 
-inline void versor_fp32_combine(const versor_fp32_t* second, const versor_fp32_t* first, versor_fp32_t* result)
+inline void versor_combine_fp32(const versor_fp32_t* second, const versor_fp32_t* first, versor_fp32_t* result)
 {
     const float s0 = (second->s0 * first->s0 - second->x1 * first->x1) - (second->x2 * first->x2 + second->x3 * first->x3);
     const float x1 = (second->x1 * first->s0 + second->s0 * first->x1) - (second->x3 * first->x2 - second->x2 * first->x3);
@@ -412,7 +412,7 @@ inline void versor_fp32_combine(const versor_fp32_t* second, const versor_fp32_t
     twin->x3 *= multiplier;
 }
 
-inline void versor_fp64_combine(const versor_fp64_t* second, const versor_fp64_t* first, versor_fp64_t* result)
+inline void versor_combine_fp64(const versor_fp64_t* second, const versor_fp64_t* first, versor_fp64_t* result)
 {
     const double s0 = (second->s0 * first->s0 - second->x1 * first->x1) - (second->x2 * first->x2 + second->x3 * first->x3);
     const double x1 = (second->x1 * first->s0 + second->s0 * first->x1) - (second->x3 * first->x2 - second->x2 * first->x3);
@@ -442,7 +442,7 @@ inline void versor_fp64_combine(const versor_fp64_t* second, const versor_fp64_t
 
 // ============ Combination of three ============ //
 
-inline void versor_fp32_combine3(const versor_fp32_t* third, const versor_fp32_t* second, const versor_fp32_t* first, versor_fp32_t* result)
+inline void versor_combine3_fp32(const versor_fp32_t* third, const versor_fp32_t* second, const versor_fp32_t* first, versor_fp32_t* result)
 {
     const float s0a = (second->s0 * first->s0 - second->x1 * first->x1) - (second->x2 * first->x2 + second->x3 * first->x3);
     const float x1a = (second->x1 * first->s0 + second->s0 * first->x1) - (second->x3 * first->x2 - second->x2 * first->x3);
@@ -475,7 +475,7 @@ inline void versor_fp32_combine3(const versor_fp32_t* third, const versor_fp32_t
     twin->x3 *= multiplier;
 }
 
-inline void versor_fp64_combine3(const versor_fp64_t* third, const versor_fp64_t* second, const versor_fp64_t* first, versor_fp64_t* result)
+inline void versor_combine3_fp64(const versor_fp64_t* third, const versor_fp64_t* second, const versor_fp64_t* first, versor_fp64_t* result)
 {
     const double s0a = (second->s0 * first->s0 - second->x1 * first->x1) - (second->x2 * first->x2 + second->x3 * first->x3);
     const double x1a = (second->x1 * first->s0 + second->s0 * first->x1) - (second->x3 * first->x2 - second->x2 * first->x3);
@@ -510,7 +510,7 @@ inline void versor_fp64_combine3(const versor_fp64_t* third, const versor_fp64_t
 
 // ================= Exclusion ================== //
 
-inline void versor_fp32_exclude(const versor_fp32_t* basic, const versor_fp32_t* exclusion, versor_fp32_t* result)
+inline void versor_exclude_fp32(const versor_fp32_t* basic, const versor_fp32_t* exclusion, versor_fp32_t* result)
 {
     const float s0 = (basic->s0 * exclusion->s0 + basic->x1 * exclusion->x1) + (basic->x2 * exclusion->x2 + basic->x3 * exclusion->x3);
     const float x1 = (basic->x1 * exclusion->s0 - basic->s0 * exclusion->x1) + (basic->x3 * exclusion->x2 - basic->x2 * exclusion->x3);
@@ -538,7 +538,7 @@ inline void versor_fp32_exclude(const versor_fp32_t* basic, const versor_fp32_t*
     twin->x3 *= multiplier;
 }
 
-inline void versor_fp64_exclude(const versor_fp64_t* basic, const versor_fp64_t* exclusion, versor_fp64_t* result)
+inline void versor_exclude_fp64(const versor_fp64_t* basic, const versor_fp64_t* exclusion, versor_fp64_t* result)
 {
     const double s0 = (basic->s0 * exclusion->s0 + basic->x1 * exclusion->x1) + (basic->x2 * exclusion->x2 + basic->x3 * exclusion->x3);
     const double x1 = (basic->x1 * exclusion->s0 - basic->s0 * exclusion->x1) + (basic->x3 * exclusion->x2 - basic->x2 * exclusion->x3);
@@ -568,13 +568,13 @@ inline void versor_fp64_exclude(const versor_fp64_t* basic, const versor_fp64_t*
 
 // ================= Rotation3 ================== //
 
-void versor_fp32_get_rotation(const versor_fp32_t* versor, rotation3_fp32_t* result);
+void versor_get_rotation_fp32(const versor_fp32_t* versor, rotation3_fp32_t* result);
 
-void versor_fp64_get_rotation(const versor_fp64_t* versor, rotation3_fp64_t* result);
+void versor_get_rotation_fp64(const versor_fp64_t* versor, rotation3_fp64_t* result);
 
 // =========== Make Rotation Matrix3x3 ========== //
 
-inline void versor_fp32_make_rotation_matrix(const versor_fp32_t* versor, matrix3x3_fp32_t* matrix)
+inline void versor_make_rotation_matrix_fp32(const versor_fp32_t* versor, matrix3x3_fp32_t* matrix)
 {
     const float s0s0 = versor->s0 * versor->s0;
     const float x1x1 = versor->x1 * versor->x1;
@@ -602,7 +602,7 @@ inline void versor_fp32_make_rotation_matrix(const versor_fp32_t* versor, matrix
     matrix->r1c3 = x1x3 + s0x2;
 }
 
-inline void versor_fp64_make_rotation_matrix(const versor_fp64_t* versor, matrix3x3_fp64_t* matrix)
+inline void versor_make_rotation_matrix_fp64(const versor_fp64_t* versor, matrix3x3_fp64_t* matrix)
 {
     const double s0s0 = versor->s0 * versor->s0;
     const double x1x1 = versor->x1 * versor->x1;
@@ -632,7 +632,7 @@ inline void versor_fp64_make_rotation_matrix(const versor_fp64_t* versor, matrix
 
 // =========== Make Reverse Matrix3x3 =========== //
 
-inline void versor_fp32_make_reverse_matrix(const versor_fp32_t* versor, matrix3x3_fp32_t* matrix)
+inline void versor_make_reverse_matrix_fp32(const versor_fp32_t* versor, matrix3x3_fp32_t* matrix)
 {
     const float s0s0 = versor->s0 * versor->s0;
     const float x1x1 = versor->x1 * versor->x1;
@@ -660,7 +660,7 @@ inline void versor_fp32_make_reverse_matrix(const versor_fp32_t* versor, matrix3
     matrix->r1c3 = x1x3 - s0x2;
 }
 
-inline void versor_fp64_make_reverse_matrix(const versor_fp64_t* versor, matrix3x3_fp64_t* matrix)
+inline void versor_make_reverse_matrix_fp64(const versor_fp64_t* versor, matrix3x3_fp64_t* matrix)
 {
     const double s0s0 = versor->s0 * versor->s0;
     const double x1x1 = versor->x1 * versor->x1;
@@ -690,7 +690,7 @@ inline void versor_fp64_make_reverse_matrix(const versor_fp64_t* versor, matrix3
 
 // ================ Turn Vector ================= //
 
-inline void versor_fp32_turn(const versor_fp32_t* versor, const vector3_fp32_t* vector, vector3_fp32_t* result)
+inline void versor_turn_vector_fp32(const versor_fp32_t* versor, const vector3_fp32_t* vector, vector3_fp32_t* result)
 {
     const float tx1 = 2.0f * (versor->x2 * vector->x3 - versor->x3 * vector->x2);
     const float tx2 = 2.0f * (versor->x3 * vector->x1 - versor->x1 * vector->x3);
@@ -705,7 +705,7 @@ inline void versor_fp32_turn(const versor_fp32_t* versor, const vector3_fp32_t*
     result->x3 = x3;
 }
 
-inline void versor_fp64_turn(const versor_fp64_t* versor, const vector3_fp64_t* vector, vector3_fp64_t* result)
+inline void versor_turn_vector_fp64(const versor_fp64_t* versor, const vector3_fp64_t* vector, vector3_fp64_t* result)
 {
     const double tx1 = 2.0 * (versor->x2 * vector->x3 - versor->x3 * vector->x2);
     const double tx2 = 2.0 * (versor->x3 * vector->x1 - versor->x1 * vector->x3);
@@ -722,7 +722,7 @@ inline void versor_fp64_turn(const versor_fp64_t* versor, const vector3_fp64_t*
 
 // ============== Turn Vector Back ============== //
 
-inline void versor_fp32_turn_back(const versor_fp32_t* versor, const vector3_fp32_t* vector, vector3_fp32_t* result)
+inline void versor_turn_vector_back_fp32(const versor_fp32_t* versor, const vector3_fp32_t* vector, vector3_fp32_t* result)
 {
     const float tx1 = 2.0f * (versor->x2 * vector->x3 - versor->x3 * vector->x2);
     const float tx2 = 2.0f * (versor->x3 * vector->x1 - versor->x1 * vector->x3);
@@ -737,7 +737,7 @@ inline void versor_fp32_turn_back(const versor_fp32_t* versor, const vector3_fp3
     result->x3 = x3;
 }
 
-inline void versor_fp64_turn_back(const versor_fp64_t* versor, const vector3_fp64_t* vector, vector3_fp64_t* result)
+inline void versor_turn_vector_back_fp64(const versor_fp64_t* versor, const vector3_fp64_t* vector, vector3_fp64_t* result)
 {
     const double tx1 = 2.0 * (versor->x2 * vector->x3 - versor->x3 * vector->x2);
     const double tx2 = 2.0 * (versor->x3 * vector->x1 - versor->x1 * vector->x3);