From 3b6efaafa9a83392d0a79aefe515ad5134f4f0a4 Mon Sep 17 00:00:00 2001
From: Andrey Pokidov <andrey.pokidov@gmail.com>
Date: Tue, 14 Jan 2025 19:25:04 +0700
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---
 basic-geometry-dev/basic-geometry-dev.cbp |   1 -
 basic-geometry-dev/main.c                 | 265 ++++------------------
 basic-geometry-test/fp32_vector2_test.c   |  48 ++--
 basic-geometry-test/fp32_vector2_test.h   |   8 +-
 basic-geometry-test/main.c                |   2 +-
 basic-geometry/angle.h                    |  76 +++----
 basic-geometry/basis.h                    |   8 +-
 basic-geometry/matrix2x2.h                | 112 ++++-----
 basic-geometry/matrix2x3.h                |  76 +++----
 basic-geometry/matrix3x2.h                |  76 +++----
 basic-geometry/matrix3x3.c                |  16 +-
 basic-geometry/matrix3x3.h                | 112 ++++-----
 basic-geometry/matrixes.c                 |  28 +--
 basic-geometry/matrixes.h                 |  48 ++--
 basic-geometry/quaternion.h               | 104 ++++-----
 basic-geometry/rotation3.c                |   4 +-
 basic-geometry/rotation3.h                |  32 +--
 basic-geometry/tangent.c                  |   4 +-
 basic-geometry/tangent.h                  |  72 +++---
 basic-geometry/vector2.c                  |  16 +-
 basic-geometry/vector2.h                  | 164 ++++++-------
 basic-geometry/vector3.c                  |  16 +-
 basic-geometry/vector3.h                  | 260 ++++++++++++---------
 basic-geometry/versor.c                   |  24 +-
 basic-geometry/versor.h                   | 112 ++++-----
 25 files changed, 768 insertions(+), 916 deletions(-)

diff --git a/basic-geometry-dev/basic-geometry-dev.cbp b/basic-geometry-dev/basic-geometry-dev.cbp
index 2dde9b3..d894694 100644
--- a/basic-geometry-dev/basic-geometry-dev.cbp
+++ b/basic-geometry-dev/basic-geometry-dev.cbp
@@ -31,7 +31,6 @@
 					<Add directory="../basic-geometry" />
 				</Compiler>
 				<Linker>
-					<Add option="-O2" />
 					<Add option="-s" />
 					<Add library="basic-geometry" />
 					<Add library="m" />
diff --git a/basic-geometry-dev/main.c b/basic-geometry-dev/main.c
index 0c1224c..56e0f53 100644
--- a/basic-geometry-dev/main.c
+++ b/basic-geometry-dev/main.c
@@ -10,19 +10,19 @@
 #endif // _WINDOWS_
 
 typedef struct {
-//    fp32_versor_t versor1, versor2, result;
-    fp32_matrix3x3_t matrix;
-    fp32_vector3_t vector1, vector2;
-} fp32_structure_t;
+    versor_fp32_t versor1, versor2, result;
+    matrix3x3_fp32_t matrix;
+    vector3_fp32_t vector1, vector2;
+} structure_fp32_t;
 
-fp32_structure_t* allocate_structures(const unsigned int amount)
+structure_fp32_t* allocate_structures(const unsigned int amount)
 {
-    return calloc(amount, sizeof(fp32_structure_t));
+    return calloc(amount, sizeof(structure_fp32_t));
 }
 
-fp32_structure_t* make_structures(const unsigned int amount)
+structure_fp32_t* make_structures(const unsigned int amount)
 {
-    fp32_structure_t* list = allocate_structures(amount);
+    structure_fp32_t* list = allocate_structures(amount);
 
     if (list == 0) {
         return 0;
@@ -31,8 +31,7 @@ fp32_structure_t* make_structures(const unsigned int amount)
     const float multiplier = 2.0f / RAND_MAX;
 
     for (unsigned int i = 0; i < amount; i++) {
-    /*
-        fp32_versor_set_values(
+        versor_fp32_set_values(
             rand() * multiplier - 1.0f,
             rand() * multiplier - 1.0f,
             rand() * multiplier - 1.0f,
@@ -40,7 +39,7 @@ fp32_structure_t* make_structures(const unsigned int amount)
             &list[i].versor1
         );
 
-        fp32_versor_set_values(
+        versor_fp32_set_values(
             rand() * multiplier - 1.0f,
             rand() * multiplier - 1.0f,
             rand() * multiplier - 1.0f,
@@ -48,54 +47,54 @@ fp32_structure_t* make_structures(const unsigned int amount)
             &list[i].versor2
         );
 
-        fp32_versor_reset(&list[i].result);
-*/
-        fp32_matrix3x3_set_to_identity(&list[i].matrix);
+        versor_reset_fp32(&list[i].result);
 
-        fp32_vector3_set_values(
+        matrix3x3_fp32_set_to_identity(&list[i].matrix);
+
+        vector3_set_fp32(
             rand() * multiplier - 1.0f,
             rand() * multiplier - 1.0f,
             rand() * multiplier - 1.0f,
             &list[i].vector1
         );
 
-        fp32_vector3_reset(&list[i].vector2);
+        vector3_reset_fp32(&list[i].vector2);
     }
 
     return list;
 }
 
-void print_versor(const fp32_versor_t* versor)
+void print_versor_fp32(const versor_fp32_t* versor)
 {
     printf("Versor (%f, %f, %f, %f)\n", versor->s0, versor->x1, versor->x2, versor->x3);
 }
 
-void print_vector(const fp32_vector3_t* vector)
+void print_versor_fp64(const versor_fp64_t* versor)
 {
-    printf("(%f, %f, %f) / %f\n", vector->x1,  vector->x2,  vector->x3,  fp32_vector3_get_modulus(vector));
+    printf("Versor (%lf, %lf, %lf, %lf)\n", versor->s0, versor->x1, versor->x2, versor->x3);
 }
 
-void item_work(fp32_structure_t* item)
+void print_vector_fp32(const vector3_fp32_t* vector)
 {
-    //fp32_versor_combine(&item->versor1, &item->versor1, &item->result);
-    //fp32_versor_make_rotation_matrix(&item->result, &item->matrix);
-    fp32_matrix3x3_right_product(&item->matrix, &item->vector1, &item->vector2);
+    printf("(%f, %f, %f) / %f\n", vector->x1,  vector->x2,  vector->x3,  vector3_get_modulus_fp32(vector));
 }
 
-void circle_work(const unsigned int amount, fp32_structure_t* list)
+void print_vector_fp64(const vector3_fp64_t* vector)
 {
-    for (unsigned int i = 0; i < amount; i++) {
-        //fp32_versor_combine(&list[i].versor1, &list[i].versor1, &list[i].result);
-        //fp32_versor_make_rotation_matrix(&list[i].result, &list[i].matrix);
-        fp32_matrix3x3_right_product(&list[i].matrix, &list[i].vector1, &list[i].vector2);
-        //fp32_versor_turn(&list[i].result, &list[i].vector1, &list[i].vector2);
-    }
+    printf("(%lf, %lf, %lf) / %lf\n", vector->x1,  vector->x2,  vector->x3,  vector3_get_modulus_fp64(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);
 }
 
 int main()
 {
     const unsigned int amount = 1000000;
-    fp32_structure_t* list;
+    structure_fp32_t* list;
 
 #ifdef _WIN64
     ULONGLONG now, start, end;
@@ -121,14 +120,13 @@ int main()
     clock_gettime(CLOCK_REALTIME, &start);
 #endif // _WIN64
 
-    for (int j = 0; j < 1000; j++) {
-        //circle(amount, list);
-        for (unsigned int i = 0; i < amount; i++) {
+    for (unsigned int i = 0; i < amount; i++) {
+        for (int j = 0; j < 1000; j++) {
             //item_work(list + i);
-            //fp32_versor_combine(&list[i].versor1, &list[i].versor1, &list[i].result);
-            //fp32_versor_make_rotation_matrix(&list[i].result, &list[i].matrix);
-            fp32_matrix3x3_right_product(&list[i].matrix, &list[i].vector1, &list[i].vector2);
-            //fp32_versor_turn(&list[i].result, &list[i].vector1, &list[i].vector2);
+            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);
         }
     }
 
@@ -142,196 +140,11 @@ int main()
     printf("Time: %lf\n", (end.tv_sec - start.tv_sec) * 1000.0 + (end.tv_nsec - start.tv_nsec) * 0.000001);
 #endif // _WIN64
 
-    //print_versor(&list[10].versor1);
-    //print_versor(&list[10].versor2);
-    //print_versor(&list[10].result);
+    //print_versor_fp32(&list[10].versor1);
+    //print_versor_fp32(&list[10].versor2);
+    //print_versor_fp32(&list[10].result);
 
     free(list);
 
     return 0;
 }
-
-/*
-fp32_vector3_t* allocate_vectors3(const unsigned int amount)
-{
-    return calloc(amount, sizeof(fp32_vector3_t));
-}
-
-fp32_vector3_t* make_zero_vectors3(const unsigned int amount)
-{
-    fp32_vector3_t* list = allocate_vectors3(amount);
-
-    if (list == 0) {
-        return 0;
-    }
-
-    for (unsigned int i = 0; i < amount; i++) {
-        fp32_vector3_reset(&list[i]);
-    }
-
-    return list;
-}
-
-fp32_vector3_t* make_random_vectors3(const unsigned int amount)
-{
-    fp32_vector3_t* list = allocate_vectors3(amount);
-
-    if (list == 0) {
-        return 0;
-    }
-
-    const float multiplier = 2.0f / RAND_MAX;
-
-    for (unsigned int i = 0; i < amount; i++) {
-        list[i].x1 = rand() * multiplier - 1.0f;
-        list[i].x2 = rand() * multiplier - 1.0f;
-        list[i].x3 = rand() * multiplier - 1.0f;
-    }
-
-    return list;
-}
-
-fp32_versor_t* allocate_versors(const unsigned int amount)
-{
-    return calloc(amount, sizeof(fp32_versor_t));
-}
-
-fp32_versor_t * make_zero_versors(const unsigned int amount)
-{
-    fp32_versor_t * list = allocate_versors(amount);
-
-    if (list == 0) {
-        return 0;
-    }
-
-    for (unsigned int i = 0; i < amount; i++) {
-        fp32_versor_reset(&list[i]);
-    }
-
-    return list;
-}
-
-fp32_versor_t * make_random_versors(const unsigned int amount)
-{
-    fp32_versor_t * list = allocate_versors(amount);
-
-    if (list == 0) {
-        return 0;
-    }
-
-    const float multiplier = 2.0f / RAND_MAX;
-
-    for (unsigned int i = 0; i < amount; i++) {
-        fp32_versor_set_values(
-            rand() * multiplier - 1.0f,
-            rand() * multiplier - 1.0f,
-            rand() * multiplier - 1.0f,
-            rand() * multiplier - 1.0f,
-            &list[i]
-        );
-    }
-
-    return list;
-}
-
-int main()
-{
-    const unsigned int amount = 1000000;
-
-#ifdef _WIN64
-    ULONGLONG now, start, end;
-    now = GetTickCount64();
-    srand((unsigned int)(now & 0xfffffff));
-#else
-    struct timespec now, start, end;
-    clock_gettime(0, &now);
-    srand((unsigned int)(now.tv_nsec & 0xfffffff));
-#endif // _WIN64
-
-    fp32_versor_t * versors1 = make_random_versors(amount);
-
-    if (versors1 == 0) {
-        printf("Cannot allocate memory for versors1");
-        return 0;
-    }
-
-    fp32_versor_t * versors2 = make_random_versors(amount);
-
-    if (versors2 == 0) {
-        printf("Cannot allocate memory for versors2");
-        free(versors1);
-        return 0;
-    }
-
-    fp32_versor_t * results = make_zero_versors(amount);
-
-    if (results == 0) {
-        printf("Cannot allocate memory for results");
-        free(versors2);
-        free(versors1);
-        return 0;
-    }
-
-    fp32_matrix3x3_t* matrixes =malloc(amount * sizeof(fp32_matrix3x3_t));
-
-    if (matrixes == 0) {
-        printf("Cannot allocate memory for matrixes");
-        free(results);
-        free(versors2);
-        free(versors1);
-        return 0;
-    }
-
-    fp32_vector3_t* vectors = make_random_vectors3(amount);
-
-    if (results == 0) {
-        printf("Cannot allocate memory for result vectors");
-        free(matrixes);
-        free(results);
-        free(versors2);
-        free(versors1);
-        return 0;
-    }
-
-#ifdef _WIN64
-    end = GetTickCount64();
-    printf("Setup time: %lld\n", end - now);
-
-    start = GetTickCount64();
-#else
-    clock_gettime(CLOCK_REALTIME, &end);
-    printf("Time: %lf\n", (end.tv_sec - now.tv_sec) * 1000.0 + (end.tv_nsec - now.tv_nsec) * 0.000001);
-
-    clock_gettime(CLOCK_REALTIME, &start);
-#endif // _WIN64
-    for (int j = 0; j < 1000; j++) {
-        for (unsigned int i = 0; i < amount; i++) {
-            fp32_versor_combine(&versors1[i], &versors2[i], &results[i]);
-            fp32_versor_make_rotation_matrix(&versors1[i], &matrixes[i]);
-            fp32_matrix3x3_right_product(&matrixes[i], &vectors[i], &vectors[i]);
-            //fp32_versor_turn(&results[i], &vectors[i], &vectors[i]);
-        }
-    }
-
-#ifdef _WIN64
-    end = GetTickCount64();
-
-    printf("Time: %lld\n", end - start);
-#else
-    clock_gettime(CLOCK_REALTIME, &end);
-
-    printf("Time: %lf\n", (end.tv_sec - start.tv_sec) * 1000.0 + (end.tv_nsec - start.tv_nsec) * 0.000001);
-#endif // _WIN64
-
-    print_versor(versors1 + 10);
-    print_versor(versors2 + 10);
-    print_versor(results + 10);
-
-    free(vectors);
-    free(matrixes);
-    free(results);
-    free(versors2);
-    free(versors1);
-    return 0;
-}
-*/
diff --git a/basic-geometry-test/fp32_vector2_test.c b/basic-geometry-test/fp32_vector2_test.c
index 33cc74c..1be1ee4 100644
--- a/basic-geometry-test/fp32_vector2_test.c
+++ b/basic-geometry-test/fp32_vector2_test.c
@@ -1,8 +1,8 @@
-#include "fp32_vector2_test.h"
+#include "vector2_fp32_test.h"
 
 const int TEST_FP32_VECTOR2_AMOUNT_1 = 5;
 
-const fp32_vector2_t TEST_FP32_VECTOR2_COMMON_1[] = {
+const vector2_fp32_t TEST_FP32_VECTOR2_COMMON_1[] = {
     { 3.0f, 4.0f },
     { -3.0f, -4.0f },
     { 10000.0f, -20000.0f },
@@ -10,7 +10,7 @@ const fp32_vector2_t TEST_FP32_VECTOR2_COMMON_1[] = {
     { -123.5f, 3.7283f }
 };
 
-const fp32_vector2_t TEST_FP32_VECTOR2_COMMON_2[] = {
+const vector2_fp32_t TEST_FP32_VECTOR2_COMMON_2[] = {
     { -3.0f, -4.0f },
     { -3.0f, -4.0f },
     { 0.002f, -0.05f },
@@ -22,14 +22,14 @@ const fp32_vector2_t TEST_FP32_VECTOR2_COMMON_2[] = {
 
 const float FP32_VECTOR2_SQUARE_MODULUS_1[] = { 25.0f, 25.0f, 500000000.0f, 100.01f, 15266.150221f };
 
-int test_fp32_vector2_square_modulus()
+int test_vector2_fp32_square_modulus()
 {
-    print_test_name("fp32_vector2_t square modulus");
+    print_test_name("vector2_fp32_t square modulus");
 
     float square_modulus;
 
     for (int i = 0; i < TEST_FP32_VECTOR2_AMOUNT_1; i++) {
-        square_modulus = fp32_vector2_get_square_modulus(&TEST_FP32_VECTOR2_COMMON_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)) {
             print_test_failed();
@@ -45,14 +45,14 @@ int test_fp32_vector2_square_modulus()
 
 const float FP32_VECTOR2_MODULUS_1[] = { 5.0f, 5.0f, 22360.68f, 10.0005f, 123.55626338f };
 
-int test_fp32_vector2_modulus()
+int test_vector2_fp32_modulus()
 {
-    print_test_name("fp32_vector2_t modulus");
+    print_test_name("vector2_fp32_t modulus");
 
     float square_modulus;
 
     for (int i = 0; i < TEST_FP32_VECTOR2_AMOUNT_1; i++) {
-        square_modulus = fp32_vector2_get_modulus(&TEST_FP32_VECTOR2_COMMON_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)) {
             print_test_failed();
@@ -66,7 +66,7 @@ int test_fp32_vector2_modulus()
 
 // ===================== Add ==================== //
 
-const fp32_vector2_t TEST_FP32_VECTOR2_COMMON_1_2_SUM[] = {
+const vector2_fp32_t TEST_FP32_VECTOR2_COMMON_1_2_SUM[] = {
     { 0.0f, 0.0f },
     { -6.0f, -8.0f },
     { 10000.002f, -20000.05f },
@@ -74,14 +74,14 @@ const fp32_vector2_t TEST_FP32_VECTOR2_COMMON_1_2_SUM[] = {
     { -122.0f, -19.6217f }
 };
 
-int test_fp32_vector2_add()
+int test_vector2_fp32_add()
 {
-    print_test_name("fp32_vector2_t add");
+    print_test_name("vector2_fp32_t add");
 
-    fp32_vector2_t vector;
+    vector2_fp32_t vector;
 
     for (int i = 0; i < TEST_FP32_VECTOR2_AMOUNT_1; i++) {
-        fp32_vector2_add(&TEST_FP32_VECTOR2_COMMON_1[i], &TEST_FP32_VECTOR2_COMMON_2[i], &vector);
+        vector2_fp32_add(&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)) {
@@ -96,7 +96,7 @@ int test_fp32_vector2_add()
 
 // ================== Subtract ================== //
 
-const fp32_vector2_t TEST_FP32_VECTOR2_COMMON_1_2_DIFF[] = {
+const vector2_fp32_t TEST_FP32_VECTOR2_COMMON_1_2_DIFF[] = {
     { 6.0f, 8.0f },
     { 0.0f, 0.0f },
     { 9999.998f, -19999.95f },
@@ -104,14 +104,14 @@ const fp32_vector2_t TEST_FP32_VECTOR2_COMMON_1_2_DIFF[] = {
     { -125.0f, 27.0783f }
 };
 
-int test_fp32_vector2_subtract()
+int test_vector2_fp32_subtract()
 {
-    print_test_name("fp32_vector2_t subtract");
+    print_test_name("vector2_fp32_t subtract");
 
-    fp32_vector2_t vector;
+    vector2_fp32_t vector;
 
     for (int i = 0; i < TEST_FP32_VECTOR2_AMOUNT_1; i++) {
-        fp32_vector2_subtract(&TEST_FP32_VECTOR2_COMMON_1[i], &TEST_FP32_VECTOR2_COMMON_2[i], &vector);
+        vector2_fp32_subtract(&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)) {
@@ -128,21 +128,21 @@ int test_fp32_vector2_subtract()
 
 int test_fp32_vector2()
 {
-    print_test_section("fp32_vector2_t");
+    print_test_section("vector2_fp32_t");
 
-    if (test_fp32_vector2_square_modulus() != TEST_RESULT_SUCCES) {
+    if (test_vector2_fp32_square_modulus() != TEST_RESULT_SUCCES) {
         return TEST_RESULT_FAILED;
     }
 
-    if (test_fp32_vector2_modulus() != TEST_RESULT_SUCCES) {
+    if (test_vector2_fp32_modulus() != TEST_RESULT_SUCCES) {
         return TEST_RESULT_FAILED;
     }
 
-    if (test_fp32_vector2_add() != TEST_RESULT_SUCCES) {
+    if (test_vector2_fp32_add() != TEST_RESULT_SUCCES) {
         return TEST_RESULT_FAILED;
     }
 
-    if (test_fp32_vector2_subtract() != TEST_RESULT_SUCCES) {
+    if (test_vector2_fp32_subtract() != 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 8bfe676..0ea82f7 100644
--- a/basic-geometry-test/fp32_vector2_test.h
+++ b/basic-geometry-test/fp32_vector2_test.h
@@ -5,12 +5,12 @@
 
 int test_fp32_vector2();
 
-int test_fp32_vector2_square_modulus();
+int test_vector2_fp32_square_modulus();
 
-int test_fp32_vector2_modulus();
+int test_vector2_fp32_modulus();
 
-int test_fp32_vector2_add();
+int test_vector2_fp32_add();
 
-int test_fp32_vector2_subtract();
+int test_vector2_fp32_subtract();
 
 #endif
diff --git a/basic-geometry-test/main.c b/basic-geometry-test/main.c
index 03b5b92..ffd2985 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 "fp32_vector2_test.h"
+#include "vector2_fp32_test.h"
 
 #define PROGRAM_RESULT_SUCCESS 0
 #define PROGRAM_RESULT_FAILED 1
diff --git a/basic-geometry/angle.h b/basic-geometry/angle.h
index 36a91b0..aa7f05c 100644
--- a/basic-geometry/angle.h
+++ b/basic-geometry/angle.h
@@ -52,31 +52,31 @@ typedef enum {
 
 // ========= Convert radians to degrees ========= //
 
-static inline float fp32_radians_to_degrees(const float radians)
+inline float fp32_radians_to_degrees(const float radians)
 {
     return radians * FP32_DEGREES_IN_RADIAN;
 }
 
-static inline double fp64_radians_to_degrees(const double radians)
+inline double fp64_radians_to_degrees(const double radians)
 {
     return radians * FP64_DEGREES_IN_RADIAN;
 }
 
 // ========== Convert radians to turns ========== //
 
-static inline float fp32_radians_to_turns(const float radians)
+inline float fp32_radians_to_turns(const float radians)
 {
     return radians * FP32_TURNS_IN_RADIAN;
 }
 
-static inline double fp64_radians_to_turns(const double radians)
+inline double fp64_radians_to_turns(const double radians)
 {
     return radians * FP64_TURNS_IN_RADIAN;
 }
 
 // ========= Convert radians to any unit ======== //
 
-static inline float fp32_radians_to_units(const float radians, const angle_unit_t to_unit)
+inline float fp32_radians_to_units(const float radians, const angle_unit_t to_unit)
 {
     if (to_unit == BG_ANGLE_UNIT_DEGREES) {
         return radians * FP32_DEGREES_IN_RADIAN;
@@ -89,7 +89,7 @@ static inline float fp32_radians_to_units(const float radians, const angle_unit_
     return radians;
 }
 
-static inline double fp64_radians_to_units(const double radians, const angle_unit_t to_unit)
+inline double fp64_radians_to_units(const double radians, const angle_unit_t to_unit)
 {
     if (to_unit == BG_ANGLE_UNIT_DEGREES) {
         return radians * FP64_DEGREES_IN_RADIAN;
@@ -104,7 +104,7 @@ static inline double fp64_radians_to_units(const double radians, const angle_uni
 
 // ============ Normalize radians ============= //
 
-static inline float fp32_radians_normalize(const float radians, const angle_range_t range)
+inline float fp32_radians_normalize(const float radians, const angle_range_t range)
 {
     if (range == BG_ANGLE_RANGE_UNSIGNED) {
         if (0.0f <= radians && radians < FP32_TWO_PI) {
@@ -128,7 +128,7 @@ static inline float fp32_radians_normalize(const float radians, const angle_rang
     return turns * FP32_TWO_PI;
 }
 
-static inline double fp64_radians_normalize(const double radians, const angle_range_t range)
+inline double fp64_radians_normalize(const double radians, const angle_range_t range)
 {
     if (range == BG_ANGLE_RANGE_UNSIGNED) {
         if (0.0 <= radians && radians < FP64_TWO_PI) {
@@ -156,31 +156,31 @@ static inline double fp64_radians_normalize(const double radians, const angle_ra
 
 // ========= Convert degrees to radians ========= //
 
-static inline float fp32_degrees_to_radians(const float degrees)
+inline float fp32_degrees_to_radians(const float degrees)
 {
     return degrees * FP32_RADIANS_IN_DEGREE;
 }
 
-static inline double fp64_degrees_to_radians(const double degrees)
+inline double fp64_degrees_to_radians(const double degrees)
 {
     return degrees * FP64_RADIANS_IN_DEGREE;
 }
 
 // ========== Convert degrees to turns ========== //
 
-static inline float fp32_degrees_to_turns(const float radians)
+inline float fp32_degrees_to_turns(const float radians)
 {
     return radians * FP32_TURNS_IN_DEGREE;
 }
 
-static inline double fp64_degrees_to_turns(const double radians)
+inline double fp64_degrees_to_turns(const double radians)
 {
     return radians * FP64_TURNS_IN_DEGREE;
 }
 
 // ========= Convert degreess to any unit ======== //
 
-static inline float fp32_degrees_to_units(const float degrees, const angle_unit_t to_unit)
+inline float fp32_degrees_to_units(const float degrees, const angle_unit_t to_unit)
 {
     if (to_unit == BG_ANGLE_UNIT_RADIANS) {
         return degrees * FP32_RADIANS_IN_DEGREE;
@@ -193,7 +193,7 @@ static inline float fp32_degrees_to_units(const float degrees, const angle_unit_
     return degrees;
 }
 
-static inline double fp64_degrees_to_units(const double degrees, const angle_unit_t to_unit)
+inline double fp64_degrees_to_units(const double degrees, const angle_unit_t to_unit)
 {
     if (to_unit == BG_ANGLE_UNIT_RADIANS) {
         return degrees * FP64_RADIANS_IN_DEGREE;
@@ -208,7 +208,7 @@ static inline double fp64_degrees_to_units(const double degrees, const angle_uni
 
 // ============ Normalize degrees ============= //
 
-static inline float fp32_degrees_normalize(const float degrees, const angle_range_t range)
+inline float fp32_degrees_normalize(const float degrees, const angle_range_t range)
 {
     if (range == BG_ANGLE_RANGE_UNSIGNED) {
         if (0.0f <= degrees && degrees < 360.0f) {
@@ -232,7 +232,7 @@ static inline float fp32_degrees_normalize(const float degrees, const angle_rang
     return turns * 360.0f;
 }
 
-static inline double fp64_degrees_normalize(const double degrees, const angle_range_t range)
+inline double fp64_degrees_normalize(const double degrees, const angle_range_t range)
 {
     if (range == BG_ANGLE_RANGE_UNSIGNED) {
         if (0.0 <= degrees && degrees < 360.0) {
@@ -260,31 +260,31 @@ static inline double fp64_degrees_normalize(const double degrees, const angle_ra
 
 // ========== Convert turns to radians ========== //
 
-static inline float fp32_turns_to_radians(const float turns)
+inline float fp32_turns_to_radians(const float turns)
 {
     return turns * FP32_TWO_PI;
 }
 
-static inline double fp64_turns_to_radians(const double turns)
+inline double fp64_turns_to_radians(const double turns)
 {
     return turns * FP64_TWO_PI;
 }
 
 // ========== Convert turns to degrees ========== //
 
-static inline float fp32_turns_to_degrees(const float turns)
+inline float fp32_turns_to_degrees(const float turns)
 {
     return turns * 360.0f;
 }
 
-static inline double fp64_turns_to_degrees(const double turns)
+inline double fp64_turns_to_degrees(const double turns)
 {
     return turns * 360.0;
 }
 
 // ========= Convert turns to any unit ======== //
 
-static inline float fp32_turns_to_units(const float turns, const angle_unit_t to_unit)
+inline float fp32_turns_to_units(const float turns, const angle_unit_t to_unit)
 {
     if (to_unit == BG_ANGLE_UNIT_RADIANS) {
         return turns * FP32_TWO_PI;
@@ -297,7 +297,7 @@ static inline float fp32_turns_to_units(const float turns, const angle_unit_t to
     return turns;
 }
 
-static inline double fp64_turns_to_units(const double turns, const angle_unit_t to_unit)
+inline double fp64_turns_to_units(const double turns, const angle_unit_t to_unit)
 {
     if (to_unit == BG_ANGLE_UNIT_RADIANS) {
         return turns * FP64_TWO_PI;
@@ -312,7 +312,7 @@ static inline double fp64_turns_to_units(const double turns, const angle_unit_t
 
 // ============= Normalize turns ============== //
 
-static inline float fp32_turns_normalize(const float turns, const angle_range_t range)
+inline float fp32_turns_normalize(const float turns, const angle_range_t range)
 {
     if (range == BG_ANGLE_RANGE_UNSIGNED) {
         if (0.0f <= turns && turns < 1.0f) {
@@ -334,7 +334,7 @@ static inline float fp32_turns_normalize(const float turns, const angle_range_t
     return rest;
 }
 
-static inline double fp64_turns_normalize(const double turns, const angle_range_t range)
+inline double fp64_turns_normalize(const double turns, const angle_range_t range)
 {
     if (range == BG_ANGLE_RANGE_UNSIGNED) {
         if (0.0 <= turns && turns < 1.0) {
@@ -360,7 +360,7 @@ static inline double fp64_turns_normalize(const double turns, const angle_range_
 
 // ========= Convert any unit to radians ======== //
 
-static inline float fp32_angle_to_radians(const float angle, const angle_unit_t unit)
+inline float fp32_angle_to_radians(const float angle, const angle_unit_t unit)
 {
     if (unit == BG_ANGLE_UNIT_DEGREES) {
         return angle * FP32_RADIANS_IN_DEGREE;
@@ -373,7 +373,7 @@ static inline float fp32_angle_to_radians(const float angle, const angle_unit_t
     return angle;
 }
 
-static inline double fp64_angle_to_radians(const double angle, const angle_unit_t unit)
+inline double fp64_angle_to_radians(const double angle, const angle_unit_t unit)
 {
     if (unit == BG_ANGLE_UNIT_DEGREES) {
         return angle * FP64_RADIANS_IN_DEGREE;
@@ -388,7 +388,7 @@ static inline double fp64_angle_to_radians(const double angle, const angle_unit_
 
 // ========= Convert any unit to degreess ======== //
 
-static inline float fp32_angle_to_degrees(const float angle, const angle_unit_t unit)
+inline float fp32_angle_to_degrees(const float angle, const angle_unit_t unit)
 {
     if (unit == BG_ANGLE_UNIT_RADIANS) {
         return angle * FP32_DEGREES_IN_RADIAN;
@@ -401,7 +401,7 @@ static inline float fp32_angle_to_degrees(const float angle, const angle_unit_t
     return angle;
 }
 
-static inline double fp64_angle_to_degrees(const double angle, const angle_unit_t unit)
+inline double fp64_angle_to_degrees(const double angle, const angle_unit_t unit)
 {
     if (unit == BG_ANGLE_UNIT_RADIANS) {
         return angle * FP64_DEGREES_IN_RADIAN;
@@ -416,7 +416,7 @@ static inline double fp64_angle_to_degrees(const double angle, const angle_unit_
 
 // ========= Convert any unit to turns ======== //
 
-static inline float fp32_angle_to_turns(const float angle, const angle_unit_t unit)
+inline float fp32_angle_to_turns(const float angle, const angle_unit_t unit)
 {
     if (unit == BG_ANGLE_UNIT_RADIANS) {
         return angle * FP32_TURNS_IN_RADIAN;
@@ -429,7 +429,7 @@ static inline float fp32_angle_to_turns(const float angle, const angle_unit_t un
     return angle;
 }
 
-static inline double fp64_angle_to_turns(const double angle, const angle_unit_t unit)
+inline double fp64_angle_to_turns(const double angle, const angle_unit_t unit)
 {
     if (unit == BG_ANGLE_UNIT_RADIANS) {
         return angle * FP64_TURNS_IN_RADIAN;
@@ -444,7 +444,7 @@ static inline double fp64_angle_to_turns(const double angle, const angle_unit_t
 
 // ============= Get Full Circle ============== //
 
-static inline float fp32_angle_get_full_circle(const angle_unit_t unit)
+inline float fp32_angle_get_full_circle(const angle_unit_t unit)
 {
     if (unit == BG_ANGLE_UNIT_DEGREES) {
         return 360.0f;
@@ -457,7 +457,7 @@ static inline float fp32_angle_get_full_circle(const angle_unit_t unit)
     return FP32_TWO_PI;
 }
 
-static inline double fp64_angle_get_full_circle(const angle_unit_t unit)
+inline double fp64_angle_get_full_circle(const angle_unit_t unit)
 {
     if (unit == BG_ANGLE_UNIT_DEGREES) {
         return 360.0;
@@ -472,7 +472,7 @@ static inline double fp64_angle_get_full_circle(const angle_unit_t unit)
 
 // ============= Get Half Circle ============== //
 
-static inline float fp32_angle_get_half_circle(const angle_unit_t unit)
+inline float fp32_angle_get_half_circle(const angle_unit_t unit)
 {
     if (unit == BG_ANGLE_UNIT_DEGREES) {
         return 180.0f;
@@ -485,7 +485,7 @@ static inline float fp32_angle_get_half_circle(const angle_unit_t unit)
     return FP32_PI;
 }
 
-static inline double fp64_angle_get_half_circle(const angle_unit_t unit)
+inline double fp64_angle_get_half_circle(const angle_unit_t unit)
 {
     if (unit == BG_ANGLE_UNIT_DEGREES) {
         return 180.0;
@@ -500,7 +500,7 @@ static inline double fp64_angle_get_half_circle(const angle_unit_t unit)
 
 // ============= Get Half Circle ============== //
 
-static inline float fp32_angle_get_quater_circle(const angle_unit_t unit)
+inline float fp32_angle_get_quater_circle(const angle_unit_t unit)
 {
     if (unit == BG_ANGLE_UNIT_DEGREES) {
         return 90.0f;
@@ -513,7 +513,7 @@ static inline float fp32_angle_get_quater_circle(const angle_unit_t unit)
     return FP32_HALF_OF_PI;
 }
 
-static inline double fp64_angle_get_quater_circle(const angle_unit_t unit)
+inline double fp64_angle_get_quater_circle(const angle_unit_t unit)
 {
     if (unit == BG_ANGLE_UNIT_DEGREES) {
         return 90.0;
@@ -528,7 +528,7 @@ static inline double fp64_angle_get_quater_circle(const angle_unit_t unit)
 
 // ================ Normalize ================= //
 
-static inline float fp32_angle_normalize(const float angle, const angle_unit_t unit, const angle_range_t range)
+inline float fp32_angle_normalize(const float angle, const angle_unit_t unit, const angle_range_t range)
 {
     if (unit == BG_ANGLE_UNIT_DEGREES) {
         return fp32_degrees_normalize(angle, range);
@@ -541,7 +541,7 @@ static inline float fp32_angle_normalize(const float angle, const angle_unit_t u
     return fp32_radians_normalize(angle, range);
 }
 
-static inline double fp64_angle_normalize(const double angle, const angle_unit_t unit, const angle_range_t range)
+inline double fp64_angle_normalize(const double angle, const angle_unit_t unit, const angle_range_t range)
 {
     if (unit == BG_ANGLE_UNIT_DEGREES) {
         return fp64_degrees_normalize(angle, range);
diff --git a/basic-geometry/basis.h b/basic-geometry/basis.h
index e46a56f..67f50a3 100644
--- a/basic-geometry/basis.h
+++ b/basic-geometry/basis.h
@@ -1,5 +1,5 @@
-#ifndef __GEOMETRY__TYPES_H_
-#define __GEOMETRY__TYPES_H_
+#ifndef _GEOMETRY_BASIS_H_
+#define _GEOMETRY_BASIS_H_
 
 #define FP32_EPSYLON_EFFECTIVENESS_LIMIT 10.0f
 
@@ -27,7 +27,7 @@
 #define FP64_GOLDEN_RATIO_HIGH 1.61803398874989485
 #define FP64_GOLDEN_RATIO_LOW 0.61803398874989485
 
-static inline int fp32_are_equal(const float value1, const float value2)
+inline int fp32_are_equal(const float value1, const float value2)
 {
     if (-FP32_EPSYLON_EFFECTIVENESS_LIMIT < value1 && value1 < FP32_EPSYLON_EFFECTIVENESS_LIMIT) {
         return -FP32_EPSYLON <= (value1 - value2) && (value1 - value2) <= FP32_EPSYLON;
@@ -40,7 +40,7 @@ static inline int fp32_are_equal(const float value1, const float value2)
     return value2 <= value1 * (1.0f + FP32_EPSYLON) && value1 <= value2 * (1.0f + FP32_EPSYLON);
 }
 
-static inline int fp64_are_equal(const double value1, const double value2)
+inline int fp64_are_equal(const double value1, const double value2)
 {
     if (-FP64_EPSYLON_EFFECTIVENESS_LIMIT < value1 && value1 < FP64_EPSYLON_EFFECTIVENESS_LIMIT) {
         return -FP64_EPSYLON <= (value1 - value2) && (value1 - value2) <= FP64_EPSYLON;
diff --git a/basic-geometry/matrix2x2.h b/basic-geometry/matrix2x2.h
index 0da1892..fe296a3 100644
--- a/basic-geometry/matrix2x2.h
+++ b/basic-geometry/matrix2x2.h
@@ -7,7 +7,7 @@
 
 // =================== Reset ==================== //
 
-static inline void fp32_matrix2x2_reset(fp32_matrix2x2_t* matrix)
+inline void matrix2x2_reset_fp32(matrix2x2_fp32_t* matrix)
 {
     matrix->r1c1 = 0.0f;
     matrix->r1c2 = 0.0f;
@@ -15,7 +15,7 @@ static inline void fp32_matrix2x2_reset(fp32_matrix2x2_t* matrix)
     matrix->r2c2 = 0.0f;
 }
 
-static inline void fp64_matrix2x2_reset(fp64_matrix2x2_t* matrix)
+inline void matrix2x2_reset_fp64(matrix2x2_fp64_t* matrix)
 {
     matrix->r1c1 = 0.0;
     matrix->r1c2 = 0.0;
@@ -25,7 +25,7 @@ static inline void fp64_matrix2x2_reset(fp64_matrix2x2_t* matrix)
 
 // ================== Identity ================== //
 
-static inline void fp32_matrix2x2_set_to_identity(fp32_matrix2x2_t* matrix)
+inline void matrix2x2_fp32_set_to_identity(matrix2x2_fp32_t* matrix)
 {
     matrix->r1c1 = 1.0f;
     matrix->r1c2 = 0.0f;
@@ -33,7 +33,7 @@ static inline void fp32_matrix2x2_set_to_identity(fp32_matrix2x2_t* matrix)
     matrix->r2c2 = 1.0f;
 }
 
-static inline void fp64_matrix2x2_set_to_identity(fp64_matrix2x2_t* matrix)
+inline void matrix2x2_fp64_set_to_identity(matrix2x2_fp64_t* matrix)
 {
     matrix->r1c1 = 1.0;
     matrix->r1c2 = 0.0;
@@ -43,7 +43,7 @@ static inline void fp64_matrix2x2_set_to_identity(fp64_matrix2x2_t* matrix)
 
 // ================ Make Diagonal =============== //
 
-static inline void fp32_matrix2x2_set_to_diagonal(const float d1, const float d2, fp32_matrix2x2_t* matrix)
+inline void matrix2x2_fp32_set_to_diagonal(const float d1, const float d2, matrix2x2_fp32_t* matrix)
 {
     matrix->r1c1 = d1;
     matrix->r1c2 = 0.0f;
@@ -51,7 +51,7 @@ static inline void fp32_matrix2x2_set_to_diagonal(const float d1, const float d2
     matrix->r2c2 = d2;
 }
 
-static inline void fp64_matrix2x2_set_to_diagonal(const double d1, const double d2, fp64_matrix2x2_t* matrix)
+inline void matrix2x2_fp64_set_to_diagonal(const double d1, const double d2, matrix2x2_fp64_t* matrix)
 {
     matrix->r1c1 = d1;
     matrix->r1c2 = 0.0;
@@ -61,7 +61,7 @@ static inline void fp64_matrix2x2_set_to_diagonal(const double d1, const double
 
 // ============== Rotation Matrix =============== //
 
-static inline void fp32_matrix2x2_make_turn(const float angle, const angle_unit_t unit, fp32_matrix2x2_t* matrix)
+inline void matrix2x2_fp32_make_turn(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 @@ static inline void fp32_matrix2x2_make_turn(const float angle, const angle_unit_
     matrix->r2c2 = cosine;
 }
 
-static inline void fp64_matrix2x2_make_turn(const double angle, const angle_unit_t unit, fp64_matrix2x2_t* matrix)
+inline void matrix2x2_fp64_make_turn(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);
@@ -87,7 +87,7 @@ static inline void fp64_matrix2x2_make_turn(const double angle, const angle_unit
 
 // ==================== Copy ==================== //
 
-static inline void fp32_matrix2x2_copy(const fp32_matrix2x2_t* from, fp32_matrix2x2_t* to)
+inline void matrix2x2_copy_fp32(const matrix2x2_fp32_t* from, matrix2x2_fp32_t* to)
 {
     to->r1c1 = from->r1c1;
     to->r1c2 = from->r1c2;
@@ -96,7 +96,7 @@ static inline void fp32_matrix2x2_copy(const fp32_matrix2x2_t* from, fp32_matrix
     to->r2c2 = from->r2c2;
 }
 
-static inline void fp64_matrix2x2_copy(const fp64_matrix2x2_t* from, fp64_matrix2x2_t* to)
+inline void matrix2x2_copy_fp64(const matrix2x2_fp64_t* from, matrix2x2_fp64_t* to)
 {
     to->r1c1 = from->r1c1;
     to->r1c2 = from->r1c2;
@@ -107,7 +107,7 @@ static inline void fp64_matrix2x2_copy(const fp64_matrix2x2_t* from, fp64_matrix
 
 // ==================== Swap ==================== //
 
-static inline void fp32_matrix2x2_swap(fp32_matrix2x2_t* matrix1, fp32_matrix2x2_t* matrix2)
+inline void matrix2x2_swap_fp32(matrix2x2_fp32_t* matrix1, matrix2x2_fp32_t* matrix2)
 {
     const float r1c1 = matrix2->r1c1;
     const float r1c2 = matrix2->r1c2;
@@ -128,7 +128,7 @@ static inline void fp32_matrix2x2_swap(fp32_matrix2x2_t* matrix1, fp32_matrix2x2
     matrix1->r2c2 = r2c2;
 }
 
-static inline void fp64_matrix2x2_swap(fp64_matrix2x2_t* matrix1, fp64_matrix2x2_t* matrix2)
+inline void matrix2x2_swap_fp64(matrix2x2_fp64_t* matrix1, matrix2x2_fp64_t* matrix2)
 {
     const double r1c1 = matrix2->r1c1;
     const double r1c2 = matrix2->r1c2;
@@ -151,7 +151,7 @@ static inline void fp64_matrix2x2_swap(fp64_matrix2x2_t* matrix1, fp64_matrix2x2
 
 // ============= Copy to twin type ============== //
 
-static inline void fp32_matrix2x2_set_from_fp64(const fp64_matrix2x2_t* from, fp32_matrix2x2_t* to)
+inline void matrix2x2_fp32_set_from_fp64(const matrix2x2_fp64_t* from, matrix2x2_fp32_t* to)
 {
     to->r1c1 = (float)from->r1c1;
     to->r1c2 = (float)from->r1c2;
@@ -160,7 +160,7 @@ static inline void fp32_matrix2x2_set_from_fp64(const fp64_matrix2x2_t* from, fp
     to->r2c2 = (float)from->r2c2;
 }
 
-static inline void fp64_matrix2x2_set_from_fp32(const fp32_matrix2x2_t* from, fp64_matrix2x2_t* to)
+inline void matrix2x2_fp64_set_from_fp32(const matrix2x2_fp32_t* from, matrix2x2_fp64_t* to)
 {
     to->r1c1 = from->r1c1;
     to->r1c2 = from->r1c2;
@@ -171,42 +171,42 @@ static inline void fp64_matrix2x2_set_from_fp32(const fp32_matrix2x2_t* from, fp
 
 // ================ Determinant ================= //
 
-static inline float fp32_matrix2x2_get_determinant(const fp32_matrix2x2_t* matrix)
+inline float matrix2x2_fp32_get_determinant(const matrix2x2_fp32_t* matrix)
 {
     return matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1;
 }
 
-static inline double fp64_matrix2x2_get_determinant(const fp64_matrix2x2_t* matrix)
+inline double matrix2x2_fp64_get_determinant(const matrix2x2_fp64_t* matrix)
 {
     return matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1;
 }
 
 // ================== Singular ================== //
 
-static inline int fp32_matrix2x2_is_singular(const fp32_matrix2x2_t* matrix)
+inline int matrix2x2_fp32_is_singular(const matrix2x2_fp32_t* matrix)
 {
-    const float determinant = fp32_matrix2x2_get_determinant(matrix);
+    const float determinant = matrix2x2_fp32_get_determinant(matrix);
 
     return -FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON;
 }
 
-static inline int fp64_matrix2x2_is_singular(const fp64_matrix2x2_t* matrix)
+inline int matrix2x2_fp64_is_singular(const matrix2x2_fp64_t* matrix)
 {
-    const double determinant = fp64_matrix2x2_get_determinant(matrix);
+    const double determinant = matrix2x2_fp64_get_determinant(matrix);
 
     return -FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON;
 }
 
 // =============== Transposition ================ //
 
-static inline void fp32_matrix2x2_transpose(fp32_matrix2x2_t* matrix)
+inline void matrix2x2_fp32_transpose(matrix2x2_fp32_t* matrix)
 {
     const float tmp = matrix->r1c2;
     matrix->r1c2 = matrix->r2c1;
     matrix->r2c1 = tmp;
 }
 
-static inline void fp64_matrix2x2_transpose(fp64_matrix2x2_t* matrix)
+inline void matrix2x2_fp64_transpose(matrix2x2_fp64_t* matrix)
 {
     const double tmp = matrix->r1c2;
     matrix->r1c2 = matrix->r2c1;
@@ -215,9 +215,9 @@ static inline void fp64_matrix2x2_transpose(fp64_matrix2x2_t* matrix)
 
 // ================= Inversion ================== //
 
-static inline int fp32_matrix2x2_invert(fp32_matrix2x2_t* matrix)
+inline int matrix2x2_invert_fp32(matrix2x2_fp32_t* matrix)
 {
-    const float determinant = fp32_matrix2x2_get_determinant(matrix);
+    const float determinant = matrix2x2_fp32_get_determinant(matrix);
 
     if (-FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON) {
         return 0;
@@ -240,9 +240,9 @@ static inline int fp32_matrix2x2_invert(fp32_matrix2x2_t* matrix)
     return 1;
 }
 
-static inline int fp64_matrix2x2_invert(fp64_matrix2x2_t* matrix)
+inline int matrix2x2_invert_fp64(matrix2x2_fp64_t* matrix)
 {
-    const double determinant = fp64_matrix2x2_get_determinant(matrix);
+    const double determinant = matrix2x2_fp64_get_determinant(matrix);
 
     if (-FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON) {
         return 0;
@@ -267,7 +267,7 @@ static inline int fp64_matrix2x2_invert(fp64_matrix2x2_t* matrix)
 
 // =============== Set Transposed =============== //
 
-static inline void fp32_matrix2x2_set_transposed(const fp32_matrix2x2_t* from, fp32_matrix2x2_t* to)
+inline void matrix2x2_fp32_set_transposed(const matrix2x2_fp32_t* from, matrix2x2_fp32_t* to)
 {
     float tmp = from->r1c2;
 
@@ -278,7 +278,7 @@ static inline void fp32_matrix2x2_set_transposed(const fp32_matrix2x2_t* from, f
     to->r2c2 = from->r2c2;
 }
 
-static inline void fp64_matrix2x2_set_transposed(const fp64_matrix2x2_t* from, fp64_matrix2x2_t* to)
+inline void matrix2x2_fp64_set_transposed(const matrix2x2_fp64_t* from, matrix2x2_fp64_t* to)
 {
     double tmp = from->r1c2;
 
@@ -291,9 +291,9 @@ static inline void fp64_matrix2x2_set_transposed(const fp64_matrix2x2_t* from, f
 
 // ================ Set Inverted ================ //
 
-static inline int fp32_matrix2x2_set_inverted(const fp32_matrix2x2_t* from, fp32_matrix2x2_t* to)
+inline int matrix2x2_fp32_set_inverted(const matrix2x2_fp32_t* from, matrix2x2_fp32_t* to)
 {
-    const float determinant = fp32_matrix2x2_get_determinant(from);
+    const float determinant = matrix2x2_fp32_get_determinant(from);
 
     if (-FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON) {
         return 0;
@@ -316,9 +316,9 @@ static inline int fp32_matrix2x2_set_inverted(const fp32_matrix2x2_t* from, fp32
     return 1;
 }
 
-static inline int fp64_matrix2x2_set_inverted(const fp64_matrix2x2_t* from, fp64_matrix2x2_t* to)
+inline int matrix2x2_fp64_set_inverted(const matrix2x2_fp64_t* from, matrix2x2_fp64_t* to)
 {
-    const double determinant = fp64_matrix2x2_get_determinant(from);
+    const double determinant = matrix2x2_fp64_get_determinant(from);
 
     if (-FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON) {
         return 0;
@@ -343,13 +343,13 @@ static inline int fp64_matrix2x2_set_inverted(const fp64_matrix2x2_t* from, fp64
 
 // ================= Set Row 1 ================== //
 
-static inline void fp32_matrix2x2_set_row1(const float c1, const float c2, fp32_matrix2x2_t* matrix)
+inline void matrix2x2_fp32_set_row1(const float c1, const float c2, matrix2x2_fp32_t* matrix)
 {
     matrix->r1c1 = c1;
     matrix->r1c2 = c2;
 }
 
-static inline void fp64_matrix2x2_set_row1(const double c1, const double c2, fp64_matrix2x2_t* matrix)
+inline void matrix2x2_fp64_set_row1(const double c1, const double c2, matrix2x2_fp64_t* matrix)
 {
     matrix->r1c1 = c1;
     matrix->r1c2 = c2;
@@ -357,13 +357,13 @@ static inline void fp64_matrix2x2_set_row1(const double c1, const double c2, fp6
 
 // ================= Set Row 2 ================== //
 
-static inline void fp32_matrix2x2_set_row2(const float c1, const float c2, fp32_matrix2x2_t* matrix)
+inline void matrix2x2_fp32_set_row2(const float c1, const float c2, matrix2x2_fp32_t* matrix)
 {
     matrix->r2c1 = c1;
     matrix->r2c2 = c2;
 }
 
-static inline void fp64_matrix2x2_set_row2(const double c1, const double c2, fp64_matrix2x2_t* matrix)
+inline void matrix2x2_fp64_set_row2(const double c1, const double c2, matrix2x2_fp64_t* matrix)
 {
     matrix->r2c1 = c1;
     matrix->r2c2 = c2;
@@ -371,13 +371,13 @@ static inline void fp64_matrix2x2_set_row2(const double c1, const double c2, fp6
 
 // ================ Set Column 1 ================ //
 
-static inline void fp32_matrix2x2_set_column1(const float r1, const float r2, fp32_matrix2x2_t* matrix)
+inline void matrix2x2_fp32_set_column1(const float r1, const float r2, matrix2x2_fp32_t* matrix)
 {
     matrix->r1c1 = r1;
     matrix->r2c1 = r2;
 }
 
-static inline void fp64_matrix2x2_set_column1(const double r1, const double r2, fp64_matrix2x2_t* matrix)
+inline void matrix2x2_fp64_set_column1(const double r1, const double r2, matrix2x2_fp64_t* matrix)
 {
     matrix->r1c1 = r1;
     matrix->r2c1 = r2;
@@ -385,13 +385,13 @@ static inline void fp64_matrix2x2_set_column1(const double r1, const double r2,
 
 // ================ Set Column 2 ================ //
 
-static inline void fp32_matrix2x2_set_column2(const float r1, const float r2, fp32_matrix2x2_t* matrix)
+inline void matrix2x2_fp32_set_column2(const float r1, const float r2, matrix2x2_fp32_t* matrix)
 {
     matrix->r1c2 = r1;
     matrix->r2c2 = r2;
 }
 
-static inline void fp64_matrix2x2_set_column2(const double r1, const double r2, fp64_matrix2x2_t* matrix)
+inline void matrix2x2_fp64_set_column2(const double r1, const double r2, matrix2x2_fp64_t* matrix)
 {
     matrix->r1c2 = r1;
     matrix->r2c2 = r2;
@@ -399,7 +399,7 @@ static inline void fp64_matrix2x2_set_column2(const double r1, const double r2,
 
 // ================ Append scaled =============== //
 
-static inline void fp32_matrix2x2_append_scaled(fp32_matrix2x2_t* basic_vector, const fp32_matrix2x2_t* scalable_vector, const float scale)
+inline void matrix2x2_fp32_append_scaled(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 @@ static inline void fp32_matrix2x2_append_scaled(fp32_matrix2x2_t* basic_vector,
     basic_vector->r2c2 += scalable_vector->r2c2 * scale;
 }
 
-static inline void fp64_matrix2x2_append_scaled(fp64_matrix2x2_t* basic_vector, const fp64_matrix2x2_t* scalable_vector, const double scale)
+inline void matrix2x2_fp64_append_scaled(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 @@ static inline void fp64_matrix2x2_append_scaled(fp64_matrix2x2_t* basic_vector,
 
 // ================== Addition ================== //
 
-static inline void fp32_matrix2x2_add(const fp32_matrix2x2_t* matrix1, const fp32_matrix2x2_t* matrix2, fp32_matrix2x2_t* sum)
+inline void matrix2x2_fp32_add(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 @@ static inline void fp32_matrix2x2_add(const fp32_matrix2x2_t* matrix1, const fp3
     sum->r2c2 = matrix1->r2c2 + matrix2->r2c2;
 }
 
-static inline void fp64_matrix2x2_add(const fp64_matrix2x2_t* matrix1, const fp64_matrix2x2_t* matrix2, fp64_matrix2x2_t* sum)
+inline void matrix2x2_fp64_add(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 @@ static inline void fp64_matrix2x2_add(const fp64_matrix2x2_t* matrix1, const fp6
 
 // ================ Subtraction ================= //
 
-static inline void fp32_matrix2x2_subtract(const fp32_matrix2x2_t* minuend, const fp32_matrix2x2_t* subtrahend, fp32_matrix2x2_t* difference)
+inline void matrix2x2_fp32_subtract(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 @@ static inline void fp32_matrix2x2_subtract(const fp32_matrix2x2_t* minuend, cons
     difference->r2c2 = minuend->r2c2 - subtrahend->r2c2;
 }
 
-static inline void fp64_matrix2x2_subtract(const fp64_matrix2x2_t* minuend, const fp64_matrix2x2_t* subtrahend, fp64_matrix2x2_t* difference)
+inline void matrix2x2_fp64_subtract(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 @@ static inline void fp64_matrix2x2_subtract(const fp64_matrix2x2_t* minuend, cons
 
 // =============== Multiplication =============== //
 
-static inline void fp32_matrix2x2_multiply(const fp32_matrix2x2_t* multiplicand, const float multiplier, fp32_matrix2x2_t* product)
+inline void matrix2x2_fp32_multiply(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 @@ static inline void fp32_matrix2x2_multiply(const fp32_matrix2x2_t* multiplicand,
     product->r2c2 = multiplicand->r2c2 * multiplier;
 }
 
-static inline void fp64_matrix2x2_multiply(const fp64_matrix2x2_t* multiplicand, const double multiplier, fp64_matrix2x2_t* product)
+inline void matrix2x2_fp64_multiply(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 @@ static inline void fp64_matrix2x2_multiply(const fp64_matrix2x2_t* multiplicand,
 
 // ================== Division ================== //
 
-static inline void fp32_matrix2x2_divide(const fp32_matrix2x2_t* dividend, const float divisor, fp32_matrix2x2_t* quotient)
+inline void matrix2x2_fp32_divide(const matrix2x2_fp32_t* dividend, const float divisor, matrix2x2_fp32_t* quotient)
 {
-    fp32_matrix2x2_multiply(dividend, 1.0f / divisor, quotient);
+    matrix2x2_fp32_multiply(dividend, 1.0f / divisor, quotient);
 }
 
-static inline void fp64_matrix2x2_divide(const fp64_matrix2x2_t* dividend, const double divisor, fp64_matrix2x2_t* quotient)
+inline void matrix2x2_fp64_divide(const matrix2x2_fp64_t* dividend, const double divisor, matrix2x2_fp64_t* quotient)
 {
-    fp64_matrix2x2_multiply(dividend, 1.0 / divisor, quotient);
+    matrix2x2_fp64_multiply(dividend, 1.0 / divisor, quotient);
 }
 
 // ============ Left Vector Product ============= //
 
-static inline void fp32_matrix2x2_left_product(const fp32_vector2_t* vector, const fp32_matrix2x2_t* matrix, fp32_vector2_t* result)
+inline void matrix2x2_fp32_left_product(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 @@ static inline void fp32_matrix2x2_left_product(const fp32_vector2_t* vector, con
     result->x2 = x2;
 }
 
-static inline void fp64_matrix2x2_left_product(const fp64_vector2_t* vector, const fp64_matrix2x2_t* matrix, fp64_vector2_t* result)
+inline void matrix2x2_fp64_left_product(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 @@ static inline void fp64_matrix2x2_left_product(const fp64_vector2_t* vector, con
 
 // ============ Right Vector Product ============ //
 
-static inline void fp32_matrix2x2_right_product(const fp32_matrix2x2_t* matrix, const fp32_vector2_t* vector, fp32_vector2_t* result)
+inline void matrix2x2_fp32_right_product(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 @@ static inline void fp32_matrix2x2_right_product(const fp32_matrix2x2_t* matrix,
     result->x2 = x2;
 }
 
-static inline void fp64_matrix2x2_right_product(const fp64_matrix2x2_t* matrix, const fp64_vector2_t* vector, fp64_vector2_t* result)
+inline void matrix2x2_fp64_right_product(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 6ac9f99..398e9f7 100644
--- a/basic-geometry/matrix2x3.h
+++ b/basic-geometry/matrix2x3.h
@@ -7,7 +7,7 @@
 
 // =================== Reset ==================== //
 
-static inline void fp32_matrix2x3_reset(fp32_matrix2x3_t* matrix)
+inline void matrix2x3_reset_fp32(matrix2x3_fp32_t* matrix)
 {
     matrix->r1c1 = 0.0f;
     matrix->r1c2 = 0.0f;
@@ -19,7 +19,7 @@ static inline void fp32_matrix2x3_reset(fp32_matrix2x3_t* matrix)
     matrix->r3c2 = 0.0f;
 }
 
-static inline void fp64_matrix2x3_reset(fp64_matrix2x3_t* matrix)
+inline void matrix2x3_reset_fp64(matrix2x3_fp64_t* matrix)
 {
     matrix->r1c1 = 0.0;
     matrix->r1c2 = 0.0;
@@ -33,7 +33,7 @@ static inline void fp64_matrix2x3_reset(fp64_matrix2x3_t* matrix)
 
 // ==================== Copy ==================== //
 
-static inline void fp32_matrix2x3_copy(const fp32_matrix2x3_t* from, fp32_matrix2x3_t* to)
+inline void matrix2x3_copy_fp32(const matrix2x3_fp32_t* from, matrix2x3_fp32_t* to)
 {
     to->r1c1 = from->r1c1;
     to->r1c2 = from->r1c2;
@@ -45,7 +45,7 @@ static inline void fp32_matrix2x3_copy(const fp32_matrix2x3_t* from, fp32_matrix
     to->r3c2 = from->r3c2;
 }
 
-static inline void fp64_matrix2x3_copy(const fp64_matrix2x3_t* from, fp64_matrix2x3_t* to)
+inline void matrix2x3_copy_fp64(const matrix2x3_fp64_t* from, matrix2x3_fp64_t* to)
 {
     to->r1c1 = from->r1c1;
     to->r1c2 = from->r1c2;
@@ -59,7 +59,7 @@ static inline void fp64_matrix2x3_copy(const fp64_matrix2x3_t* from, fp64_matrix
 
 // ==================== Swap ==================== //
 
-static inline void fp32_matrix2x3_swap(fp32_matrix2x3_t* matrix1, fp32_matrix2x3_t* matrix2)
+inline void matrix2x3_swap_fp32(matrix2x3_fp32_t* matrix1, matrix2x3_fp32_t* matrix2)
 {
     const float r1c1 = matrix2->r1c1;
     const float r1c2 = matrix2->r1c2;
@@ -89,7 +89,7 @@ static inline void fp32_matrix2x3_swap(fp32_matrix2x3_t* matrix1, fp32_matrix2x3
     matrix1->r3c2 = r3c2;
 }
 
-static inline void fp64_matrix2x3_swap(fp64_matrix2x3_t* matrix1, fp64_matrix2x3_t* matrix2)
+inline void matrix2x3_swap_fp64(matrix2x3_fp64_t* matrix1, matrix2x3_fp64_t* matrix2)
 {
     const double r1c1 = matrix2->r1c1;
     const double r1c2 = matrix2->r1c2;
@@ -121,7 +121,7 @@ static inline void fp64_matrix2x3_swap(fp64_matrix2x3_t* matrix1, fp64_matrix2x3
 
 // ============= Copy to twin type ============== //
 
-static inline void fp32_matrix2x3_set_from_fp64(const fp64_matrix2x3_t* from, fp32_matrix2x3_t* to)
+inline void matrix2x3_fp32_set_from_fp64(const matrix2x3_fp64_t* from, matrix2x3_fp32_t* to)
 {
     to->r1c1 = (float) from->r1c1;
     to->r1c2 = (float) from->r1c2;
@@ -133,7 +133,7 @@ static inline void fp32_matrix2x3_set_from_fp64(const fp64_matrix2x3_t* from, fp
     to->r3c2 = (float) from->r3c2;
 }
 
-static inline void fp64_matrix2x3_set_from_fp32(const fp32_matrix2x3_t* from, fp64_matrix2x3_t* to)
+inline void matrix2x3_fp64_set_from_fp32(const matrix2x3_fp32_t* from, matrix2x3_fp64_t* to)
 {
     to->r1c1 = from->r1c1;
     to->r1c2 = from->r1c2;
@@ -147,7 +147,7 @@ static inline void fp64_matrix2x3_set_from_fp32(const fp32_matrix2x3_t* from, fp
 
 // =============== Set transposed =============== //
 
-static inline void fp32_matrix2x3_set_transposed(const fp32_matrix3x2_t* from, fp32_matrix2x3_t* to)
+inline void matrix2x3_fp32_set_transposed(const matrix3x2_fp32_t* from, matrix2x3_fp32_t* to)
 {
     to->r1c1 = from->r1c1;
     to->r1c2 = from->r2c1;
@@ -159,7 +159,7 @@ static inline void fp32_matrix2x3_set_transposed(const fp32_matrix3x2_t* from, f
     to->r3c2 = from->r2c3;
 }
 
-static inline void fp64_matrix2x3_set_transposed(const fp64_matrix3x2_t* from, fp64_matrix2x3_t* to)
+inline void matrix2x3_fp64_set_transposed(const matrix3x2_fp64_t* from, matrix2x3_fp64_t* to)
 {
     to->r1c1 = from->r1c1;
     to->r1c2 = from->r2c1;
@@ -173,7 +173,7 @@ static inline void fp64_matrix2x3_set_transposed(const fp64_matrix3x2_t* from, f
 
 // =============== Set transposed =============== //
 
-static inline void fp32_matrix2x3_set_transposed_fp64(const fp64_matrix3x2_t* from, fp32_matrix2x3_t* to)
+inline void matrix2x3_fp32_set_transposed_fp64(const matrix3x2_fp64_t* from, matrix2x3_fp32_t* to)
 {
     to->r1c1 = (float) from->r1c1;
     to->r1c2 = (float) from->r2c1;
@@ -185,7 +185,7 @@ static inline void fp32_matrix2x3_set_transposed_fp64(const fp64_matrix3x2_t* fr
     to->r3c2 = (float) from->r2c3;
 }
 
-static inline void fp64_matrix2x3_set_transposed_fp32(const fp32_matrix3x2_t* from, fp64_matrix2x3_t* to)
+inline void matrix2x3_fp64_set_transposed_fp32(const matrix3x2_fp32_t* from, matrix2x3_fp64_t* to)
 {
     to->r1c1 = from->r1c1;
     to->r1c2 = from->r2c1;
@@ -199,13 +199,13 @@ static inline void fp64_matrix2x3_set_transposed_fp32(const fp32_matrix3x2_t* fr
 
 // ================= Set Row 1 ================== //
 
-static inline void fp32_matrix2x3_set_row1(const float c1, const float c2, fp32_matrix2x3_t* matrix)
+inline void matrix2x3_fp32_set_row1(const float c1, const float c2, matrix2x3_fp32_t* matrix)
 {
     matrix->r1c1 = c1;
     matrix->r1c2 = c2;
 }
 
-static inline void fp64_matrix2x3_set_row1(const double c1, const double c2, fp64_matrix2x3_t* matrix)
+inline void matrix2x3_fp64_set_row1(const double c1, const double c2, matrix2x3_fp64_t* matrix)
 {
     matrix->r1c1 = c1;
     matrix->r1c2 = c2;
@@ -213,13 +213,13 @@ static inline void fp64_matrix2x3_set_row1(const double c1, const double c2, fp6
 
 // ================= Set Row 2 ================== //
 
-static inline void fp32_matrix2x3_set_row2(const float c1, const float c2, fp32_matrix2x3_t* matrix)
+inline void matrix2x3_fp32_set_row2(const float c1, const float c2, matrix2x3_fp32_t* matrix)
 {
     matrix->r2c1 = c1;
     matrix->r2c2 = c2;
 }
 
-static inline void fp64_matrix2x3_set_row2(const double c1, const double c2, fp64_matrix2x3_t* matrix)
+inline void matrix2x3_fp64_set_row2(const double c1, const double c2, matrix2x3_fp64_t* matrix)
 {
     matrix->r2c1 = c1;
     matrix->r2c2 = c2;
@@ -227,13 +227,13 @@ static inline void fp64_matrix2x3_set_row2(const double c1, const double c2, fp6
 
 // ================= Set Row 3 ================== //
 
-static inline void fp32_matrix2x3_set_row3(const float c1, const float c2, fp32_matrix2x3_t* matrix)
+inline void matrix2x3_fp32_set_row3(const float c1, const float c2, matrix2x3_fp32_t* matrix)
 {
     matrix->r3c1 = c1;
     matrix->r3c2 = c2;
 }
 
-static inline void fp64_matrix2x3_set_row3(const double c1, const double c2, fp64_matrix2x3_t* matrix)
+inline void matrix2x3_fp64_set_row3(const double c1, const double c2, matrix2x3_fp64_t* matrix)
 {
     matrix->r3c1 = c1;
     matrix->r3c2 = c2;
@@ -241,14 +241,14 @@ static inline void fp64_matrix2x3_set_row3(const double c1, const double c2, fp6
 
 // ================ Set Column 1 ================ //
 
-static inline void fp32_matrix2x3_set_column1(const float r1, const float r2, const float r3, fp32_matrix2x3_t* matrix)
+inline void matrix2x3_fp32_set_column1(const float r1, const float r2, const float r3, matrix2x3_fp32_t* matrix)
 {
     matrix->r1c1 = r1;
     matrix->r2c1 = r2;
     matrix->r3c1 = r3;
 }
 
-static inline void fp64_matrix2x3_set_column1(const double r1, const double r2, const double r3, fp64_matrix2x3_t* matrix)
+inline void matrix2x3_fp64_set_column1(const double r1, const double r2, const double r3, matrix2x3_fp64_t* matrix)
 {
     matrix->r1c1 = r1;
     matrix->r2c1 = r2;
@@ -257,14 +257,14 @@ static inline void fp64_matrix2x3_set_column1(const double r1, const double r2,
 
 // ================ Set Column 2 ================ //
 
-static inline void fp32_matrix2x3_set_column2(const float r1, const float r2, const float r3, fp32_matrix2x3_t* matrix)
+inline void matrix2x3_fp32_set_column2(const float r1, const float r2, const float r3, matrix2x3_fp32_t* matrix)
 {
     matrix->r1c2 = r1;
     matrix->r2c2 = r2;
     matrix->r3c2 = r3;
 }
 
-static inline void fp64_matrix2x3_set_column2(const double r1, const double r2, const double r3, fp64_matrix2x3_t* matrix)
+inline void matrix2x3_fp64_set_column2(const double r1, const double r2, const double r3, matrix2x3_fp64_t* matrix)
 {
     matrix->r1c2 = r1;
     matrix->r2c2 = r2;
@@ -273,7 +273,7 @@ static inline void fp64_matrix2x3_set_column2(const double r1, const double r2,
 
 // ================ Append scaled =============== //
 
-static inline void fp32_matrix2x3_append_scaled(fp32_matrix2x3_t* basic_vector, const fp32_matrix2x3_t* scalable_vector, const float scale)
+inline void matrix2x3_fp32_append_scaled(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 @@ static inline void fp32_matrix2x3_append_scaled(fp32_matrix2x3_t* basic_vector,
     basic_vector->r3c2 += scalable_vector->r3c2 * scale;
 }
 
-static inline void fp64_matrix2x3_append_scaled(fp64_matrix2x3_t* basic_vector, const fp64_matrix2x3_t* scalable_vector, const double scale)
+inline void matrix2x3_fp64_append_scaled(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 @@ static inline void fp64_matrix2x3_append_scaled(fp64_matrix2x3_t* basic_vector,
 
 // ================== Addition ================== //
 
-static inline void fp32_matrix2x3_add(const fp32_matrix2x3_t* matrix1, const fp32_matrix2x3_t* matrix2, fp32_matrix2x3_t* sum)
+inline void matrix2x3_fp32_add(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 @@ static inline void fp32_matrix2x3_add(const fp32_matrix2x3_t* matrix1, const fp3
     sum->r3c2 = matrix1->r3c2 + matrix2->r3c2;
 }
 
-static inline void fp64_matrix2x3_add(const fp64_matrix2x3_t* matrix1, const fp64_matrix2x3_t* matrix2, fp64_matrix2x3_t* sum)
+inline void matrix2x3_fp64_add(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 @@ static inline void fp64_matrix2x3_add(const fp64_matrix2x3_t* matrix1, const fp6
 
 // ================ Subtraction ================= //
 
-static inline void fp32_matrix2x3_subtract(const fp32_matrix2x3_t* minuend, const fp32_matrix2x3_t* subtrahend, fp32_matrix2x3_t* difference)
+inline void matrix2x3_fp32_subtract(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 @@ static inline void fp32_matrix2x3_subtract(const fp32_matrix2x3_t* minuend, cons
     difference->r3c2 = minuend->r3c2 - subtrahend->r3c2;
 }
 
-static inline void fp64_matrix2x3_subtract(const fp64_matrix2x3_t* minuend, const fp64_matrix2x3_t* subtrahend, fp64_matrix2x3_t* difference)
+inline void matrix2x3_fp64_subtract(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 @@ static inline void fp64_matrix2x3_subtract(const fp64_matrix2x3_t* minuend, cons
 
 // =============== Multiplication =============== //
 
-static inline void fp32_matrix2x3_multiply(const fp32_matrix2x3_t* multiplicand, const float multiplier, fp32_matrix2x3_t* product)
+inline void matrix2x3_fp32_multiply(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 @@ static inline void fp32_matrix2x3_multiply(const fp32_matrix2x3_t* multiplicand,
     product->r3c2 = multiplicand->r3c2 * multiplier;
 }
 
-static inline void fp64_matrix2x3_multiply(const fp64_matrix2x3_t* multiplicand, const double multiplier, fp64_matrix2x3_t* product)
+inline void matrix2x3_fp64_multiply(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 @@ static inline void fp64_matrix2x3_multiply(const fp64_matrix2x3_t* multiplicand,
 
 // ================== Division ================== //
 
-static inline void fp32_matrix2x3_divide(const fp32_matrix2x3_t* dividend, const float divisor, fp32_matrix2x3_t* quotient)
+inline void matrix2x3_fp32_divide(const matrix2x3_fp32_t* dividend, const float divisor, matrix2x3_fp32_t* quotient)
 {
-    fp32_matrix2x3_multiply(dividend, 1.0f / divisor, quotient);
+    matrix2x3_fp32_multiply(dividend, 1.0f / divisor, quotient);
 }
 
-static inline void fp64_matrix2x3_divide(const fp64_matrix2x3_t* dividend, const double divisor, fp64_matrix2x3_t* quotient)
+inline void matrix2x3_fp64_divide(const matrix2x3_fp64_t* dividend, const double divisor, matrix2x3_fp64_t* quotient)
 {
-    fp64_matrix2x3_multiply(dividend, 1.0 / divisor, quotient);
+    matrix2x3_fp64_multiply(dividend, 1.0 / divisor, quotient);
 }
 
 // ============ Left Vector Product ============= //
 
-static inline void fp32_matrix2x3_left_product(const fp32_vector3_t* vector, const fp32_matrix2x3_t* matrix, fp32_vector2_t* result)
+inline void matrix2x3_fp32_left_product(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;
 }
 
-static inline void fp64_matrix2x3_left_product(const fp64_vector3_t* vector, const fp64_matrix2x3_t* matrix, fp64_vector2_t* result)
+inline void matrix2x3_fp64_left_product(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 @@ static inline void fp64_matrix2x3_left_product(const fp64_vector3_t* vector, con
 
 // ============ Right Vector Product ============ //
 
-static inline void fp32_matrix2x3_right_product(const fp32_matrix2x3_t* matrix, const fp32_vector2_t* vector, fp32_vector3_t* result)
+inline void matrix2x3_fp32_right_product(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;
 }
 
-static inline void fp64_matrix2x3_right_product(const fp64_matrix2x3_t* matrix, const fp64_vector2_t* vector, fp64_vector3_t* result)
+inline void matrix2x3_fp64_right_product(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 bcb7bb6..f851879 100644
--- a/basic-geometry/matrix3x2.h
+++ b/basic-geometry/matrix3x2.h
@@ -7,7 +7,7 @@
 
 // =================== Reset ==================== //
 
-static inline void fp32_matrix3x2_reset(fp32_matrix3x2_t* matrix)
+inline void matrix3x2_reset_fp32(matrix3x2_fp32_t* matrix)
 {
     matrix->r1c1 = 0.0f;
     matrix->r1c2 = 0.0f;
@@ -18,7 +18,7 @@ static inline void fp32_matrix3x2_reset(fp32_matrix3x2_t* matrix)
     matrix->r2c3 = 0.0f;
 }
 
-static inline void fp64_matrix3x2_reset(fp64_matrix3x2_t* matrix)
+inline void matrix3x2_reset_fp64(matrix3x2_fp64_t* matrix)
 {
     matrix->r1c1 = 0.0;
     matrix->r1c2 = 0.0;
@@ -31,7 +31,7 @@ static inline void fp64_matrix3x2_reset(fp64_matrix3x2_t* matrix)
 
 // ==================== Copy ==================== //
 
-static inline void fp32_matrix3x2_copy(const fp32_matrix3x2_t* from, fp32_matrix3x2_t* to)
+inline void matrix3x2_copy_fp32(const matrix3x2_fp32_t* from, matrix3x2_fp32_t* to)
 {
     to->r1c1 = from->r1c1;
     to->r1c2 = from->r1c2;
@@ -42,7 +42,7 @@ static inline void fp32_matrix3x2_copy(const fp32_matrix3x2_t* from, fp32_matrix
     to->r2c3 = from->r2c3;
 }
 
-static inline void fp64_matrix3x2_copy(const fp64_matrix3x2_t* from, fp64_matrix3x2_t* to)
+inline void matrix3x2_copy_fp64(const matrix3x2_fp64_t* from, matrix3x2_fp64_t* to)
 {
     to->r1c1 = from->r1c1;
     to->r1c2 = from->r1c2;
@@ -55,7 +55,7 @@ static inline void fp64_matrix3x2_copy(const fp64_matrix3x2_t* from, fp64_matrix
 
 // ==================== Swap ==================== //
 
-static inline void fp32_matrix3x2_swap(fp32_matrix3x2_t* matrix1, fp32_matrix3x2_t* matrix2)
+inline void matrix3x2_swap_fp32(matrix3x2_fp32_t* matrix1, matrix3x2_fp32_t* matrix2)
 {
     const float r1c1 = matrix2->r1c1;
     const float r1c2 = matrix2->r1c2;
@@ -82,7 +82,7 @@ static inline void fp32_matrix3x2_swap(fp32_matrix3x2_t* matrix1, fp32_matrix3x2
     matrix1->r2c3 = r2c3;
 }
 
-static inline void fp64_matrix3x2_swap(fp64_matrix3x2_t* matrix1, fp64_matrix3x2_t* matrix2)
+inline void matrix3x2_swap_fp64(matrix3x2_fp64_t* matrix1, matrix3x2_fp64_t* matrix2)
 {
     const double r1c1 = matrix2->r1c1;
     const double r1c2 = matrix2->r1c2;
@@ -111,7 +111,7 @@ static inline void fp64_matrix3x2_swap(fp64_matrix3x2_t* matrix1, fp64_matrix3x2
 
 // ============= Set from twin type ============= //
 
-static inline void fp32_matrix3x2_set_from_fp64(const fp64_matrix3x2_t* from, fp32_matrix3x2_t* to)
+inline void matrix3x2_fp32_set_from_fp64(const matrix3x2_fp64_t* from, matrix3x2_fp32_t* to)
 {
     to->r1c1 = (float) from->r1c1;
     to->r1c2 = (float) from->r1c2;
@@ -122,7 +122,7 @@ static inline void fp32_matrix3x2_set_from_fp64(const fp64_matrix3x2_t* from, fp
     to->r2c3 = (float) from->r2c3;
 }
 
-static inline void fp64_matrix3x2_set_from_fp32(const fp32_matrix3x2_t* from, fp64_matrix3x2_t* to)
+inline void matrix3x2_fp64_set_from_fp32(const matrix3x2_fp32_t* from, matrix3x2_fp64_t* to)
 {
     to->r1c1 = from->r1c1;
     to->r1c2 = from->r1c2;
@@ -135,7 +135,7 @@ static inline void fp64_matrix3x2_set_from_fp32(const fp32_matrix3x2_t* from, fp
 
 // =============== Set transposed =============== //
 
-static inline void fp32_matrix3x2_set_transposed(const fp32_matrix2x3_t* from, fp32_matrix3x2_t* to)
+inline void matrix3x2_fp32_set_transposed(const matrix2x3_fp32_t* from, matrix3x2_fp32_t* to)
 {
     to->r1c1 = from->r1c1;
     to->r1c2 = from->r2c1;
@@ -146,7 +146,7 @@ static inline void fp32_matrix3x2_set_transposed(const fp32_matrix2x3_t* from, f
     to->r2c3 = from->r3c2;
 }
 
-static inline void fp64_matrix3x2_set_transposed(const fp64_matrix2x3_t* from, fp64_matrix3x2_t* to)
+inline void matrix3x2_fp64_set_transposed(const matrix2x3_fp64_t* from, matrix3x2_fp64_t* to)
 {
     to->r1c1 = from->r1c1;
     to->r1c2 = from->r2c1;
@@ -159,7 +159,7 @@ static inline void fp64_matrix3x2_set_transposed(const fp64_matrix2x3_t* from, f
 
 // =============== Set transposed =============== //
 
-static inline void fp32_matrix3x2_set_transposed_fp64(const fp64_matrix2x3_t* from, fp32_matrix3x2_t* to)
+inline void matrix3x2_fp32_set_transposed_fp64(const matrix2x3_fp64_t* from, matrix3x2_fp32_t* to)
 {
     to->r1c1 = (float) from->r1c1;
     to->r1c2 = (float) from->r2c1;
@@ -170,7 +170,7 @@ static inline void fp32_matrix3x2_set_transposed_fp64(const fp64_matrix2x3_t* fr
     to->r2c3 = (float) from->r3c2;
 }
 
-static inline void fp64_matrix3x2_set_transposed_fp32(const fp32_matrix2x3_t* from, fp64_matrix3x2_t* to)
+inline void matrix3x2_fp64_set_transposed_fp32(const matrix2x3_fp32_t* from, matrix3x2_fp64_t* to)
 {
     to->r1c1 = from->r1c1;
     to->r1c2 = from->r2c1;
@@ -183,14 +183,14 @@ static inline void fp64_matrix3x2_set_transposed_fp32(const fp32_matrix2x3_t* fr
 
 // ================= Set Row 1 ================== //
 
-static inline void fp32_matrix3x2_set_row1(const float c1, const float c2, const float c3, fp32_matrix3x2_t* matrix)
+inline void matrix3x2_fp32_set_row1(const float c1, const float c2, const float c3, matrix3x2_fp32_t* matrix)
 {
     matrix->r1c1 = c1;
     matrix->r1c2 = c2;
     matrix->r1c3 = c3;
 }
 
-static inline void fp64_matrix3x2_set_row1(const double c1, const double c2, const double c3, fp64_matrix3x2_t* matrix)
+inline void matrix3x2_fp64_set_row1(const double c1, const double c2, const double c3, matrix3x2_fp64_t* matrix)
 {
     matrix->r1c1 = c1;
     matrix->r1c2 = c2;
@@ -199,14 +199,14 @@ static inline void fp64_matrix3x2_set_row1(const double c1, const double c2, con
 
 // ================= Set Row 2 ================== //
 
-static inline void fp32_matrix3x2_set_row2(const float c1, const float c2, const float c3, fp32_matrix3x2_t* matrix)
+inline void matrix3x2_fp32_set_row2(const float c1, const float c2, const float c3, matrix3x2_fp32_t* matrix)
 {
     matrix->r2c1 = c1;
     matrix->r2c2 = c2;
     matrix->r2c3 = c3;
 }
 
-static inline void fp64_matrix3x2_set_row2(const double c1, const double c2, const double c3, fp64_matrix3x2_t* matrix)
+inline void matrix3x2_fp64_set_row2(const double c1, const double c2, const double c3, matrix3x2_fp64_t* matrix)
 {
     matrix->r2c1 = c1;
     matrix->r2c2 = c2;
@@ -215,13 +215,13 @@ static inline void fp64_matrix3x2_set_row2(const double c1, const double c2, con
 
 // ================ Set Column 1 ================ //
 
-static inline void fp32_matrix3x2_set_column1(const float r1, const float r2, fp32_matrix3x2_t* matrix)
+inline void matrix3x2_fp32_set_column1(const float r1, const float r2, matrix3x2_fp32_t* matrix)
 {
     matrix->r1c1 = r1;
     matrix->r2c1 = r2;
 }
 
-static inline void fp64_matrix3x2_set_column1(const double r1, const double r2, fp64_matrix3x2_t* matrix)
+inline void matrix3x2_fp64_set_column1(const double r1, const double r2, matrix3x2_fp64_t* matrix)
 {
     matrix->r1c1 = r1;
     matrix->r2c1 = r2;
@@ -229,13 +229,13 @@ static inline void fp64_matrix3x2_set_column1(const double r1, const double r2,
 
 // ================ Set Column 2 ================ //
 
-static inline void fp32_matrix3x2_set_column2(const float r1, const float r2, fp32_matrix3x2_t* matrix)
+inline void matrix3x2_fp32_set_column2(const float r1, const float r2, matrix3x2_fp32_t* matrix)
 {
     matrix->r1c2 = r1;
     matrix->r2c2 = r2;
 }
 
-static inline void fp64_matrix3x2_set_column2(const double r1, const double r2, fp64_matrix3x2_t* matrix)
+inline void matrix3x2_fp64_set_column2(const double r1, const double r2, matrix3x2_fp64_t* matrix)
 {
     matrix->r1c2 = r1;
     matrix->r2c2 = r2;
@@ -243,13 +243,13 @@ static inline void fp64_matrix3x2_set_column2(const double r1, const double r2,
 
 // ================ Set Column 3 ================ //
 
-static inline void fp32_matrix3x2_set_column3(const float r1, const float r2, fp32_matrix3x2_t* matrix)
+inline void matrix3x2_fp32_set_column3(const float r1, const float r2, matrix3x2_fp32_t* matrix)
 {
     matrix->r1c3 = r1;
     matrix->r2c3 = r2;
 }
 
-static inline void fp64_matrix3x2_set_column3(const double r1, const double r2, fp64_matrix3x2_t* matrix)
+inline void matrix3x2_fp64_set_column3(const double r1, const double r2, matrix3x2_fp64_t* matrix)
 {
     matrix->r1c3 = r1;
     matrix->r2c3 = r2;
@@ -257,7 +257,7 @@ static inline void fp64_matrix3x2_set_column3(const double r1, const double r2,
 
 // ================ Append scaled =============== //
 
-static inline void fp32_matrix3x2_append_scaled(fp32_matrix3x2_t* basic_vector, const fp32_matrix3x2_t* scalable_vector, const float scale)
+inline void matrix3x2_fp32_append_scaled(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 @@ static inline void fp32_matrix3x2_append_scaled(fp32_matrix3x2_t* basic_vector,
     basic_vector->r2c3 += scalable_vector->r2c3 * scale;
 }
 
-static inline void fp64_matrix3x2_append_scaled(fp64_matrix3x2_t* basic_vector, const fp64_matrix3x2_t* scalable_vector, const double scale)
+inline void matrix3x2_fp64_append_scaled(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 @@ static inline void fp64_matrix3x2_append_scaled(fp64_matrix3x2_t* basic_vector,
 
 // ================== Addition ================== //
 
-static inline void fp32_matrix3x2_add(const fp32_matrix3x2_t* matrix1, const fp32_matrix3x2_t* matrix2, fp32_matrix3x2_t* sum)
+inline void matrix3x2_fp32_add(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 @@ static inline void fp32_matrix3x2_add(const fp32_matrix3x2_t* matrix1, const fp3
     sum->r2c3 = matrix1->r2c3 + matrix2->r2c3;
 }
 
-static inline void fp64_matrix3x2_add(const fp64_matrix3x2_t* matrix1, const fp64_matrix3x2_t* matrix2, fp64_matrix3x2_t* sum)
+inline void matrix3x2_fp64_add(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 @@ static inline void fp64_matrix3x2_add(const fp64_matrix3x2_t* matrix1, const fp6
 
 // ================ Subtraction ================= //
 
-static inline void fp32_matrix3x2_subtract(const fp32_matrix3x2_t* minuend, const fp32_matrix3x2_t* subtrahend, fp32_matrix3x2_t* difference)
+inline void matrix3x2_fp32_subtract(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 @@ static inline void fp32_matrix3x2_subtract(const fp32_matrix3x2_t* minuend, cons
     difference->r2c3 = minuend->r2c3 - subtrahend->r2c3;
 }
 
-static inline void fp64_matrix3x2_subtract(const fp64_matrix3x2_t* minuend, const fp64_matrix3x2_t* subtrahend, fp64_matrix3x2_t* difference)
+inline void matrix3x2_fp64_subtract(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 @@ static inline void fp64_matrix3x2_subtract(const fp64_matrix3x2_t* minuend, cons
 
 // =============== Multiplication =============== //
 
-static inline void fp32_matrix3x2_multiply(const fp32_matrix3x2_t* multiplicand, const float multiplier, fp32_matrix3x2_t* product)
+inline void matrix3x2_fp32_multiply(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 @@ static inline void fp32_matrix3x2_multiply(const fp32_matrix3x2_t* multiplicand,
     product->r2c3 = multiplicand->r2c3 * multiplier;
 }
 
-static inline void fp64_matrix3x2_multiply(const fp64_matrix3x2_t* multiplicand, const double multiplier, fp64_matrix3x2_t* product)
+inline void matrix3x2_fp64_multiply(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 @@ static inline void fp64_matrix3x2_multiply(const fp64_matrix3x2_t* multiplicand,
 
 // ================== Division ================== //
 
-static inline void fp32_matrix3x2_divide(const fp32_matrix3x2_t* dividend, const float divisor, fp32_matrix3x2_t* quotient)
+inline void matrix3x2_fp32_divide(const matrix3x2_fp32_t* dividend, const float divisor, matrix3x2_fp32_t* quotient)
 {
-    fp32_matrix3x2_multiply(dividend, 1.0f / divisor, quotient);
+    matrix3x2_fp32_multiply(dividend, 1.0f / divisor, quotient);
 }
 
-static inline void fp64_matrix3x2_divide(const fp64_matrix3x2_t* dividend, const double divisor, fp64_matrix3x2_t* quotient)
+inline void matrix3x2_fp64_divide(const matrix3x2_fp64_t* dividend, const double divisor, matrix3x2_fp64_t* quotient)
 {
-    fp64_matrix3x2_multiply(dividend, 1.0 / divisor, quotient);
+    matrix3x2_fp64_multiply(dividend, 1.0 / divisor, quotient);
 }
 
 // ============ Left Vector Product ============= //
 
-static inline void fp32_matrix3x2_left_product(const fp32_vector2_t* vector, const fp32_matrix3x2_t* matrix, fp32_vector3_t* result)
+inline void matrix3x2_fp32_left_product(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;
 }
 
-static inline void fp64_matrix3x2_left_product(const fp64_vector2_t* vector, const fp64_matrix3x2_t* matrix, fp64_vector3_t* result)
+inline void matrix3x2_fp64_left_product(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 @@ static inline void fp64_matrix3x2_left_product(const fp64_vector2_t* vector, con
 
 // ============ Right Vector Product ============ //
 
-static inline void fp32_matrix3x2_right_product(const fp32_matrix3x2_t* matrix, const fp32_vector3_t* vector, fp32_vector2_t* result)
+inline void matrix3x2_fp32_right_product(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;
 }
 
-static inline void fp64_matrix3x2_right_product(const fp64_matrix3x2_t* matrix, const fp64_vector3_t* vector, fp64_vector2_t* result)
+inline void matrix3x2_fp64_right_product(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 3c19b0c..bcd8e79 100644
--- a/basic-geometry/matrix3x3.c
+++ b/basic-geometry/matrix3x3.c
@@ -2,9 +2,9 @@
 
 // ================= Inversion ================== //
 
-int fp32_matrix3x3_invert(fp32_matrix3x3_t* matrix)
+int matrix3x3_invert_fp32(matrix3x3_fp32_t* matrix)
 {
-    const float determinant = fp32_matrix3x3_get_determinant(matrix);
+    const float determinant = matrix3x3_fp32_get_determinant(matrix);
 
     if (-FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON) {
         return 0;
@@ -39,9 +39,9 @@ int fp32_matrix3x3_invert(fp32_matrix3x3_t* matrix)
     return 1;
 }
 
-int fp64_matrix3x3_invert(fp64_matrix3x3_t* matrix)
+int matrix3x3_invert_fp64(matrix3x3_fp64_t* matrix)
 {
-    const double determinant = fp64_matrix3x3_get_determinant(matrix);
+    const double determinant = matrix3x3_fp64_get_determinant(matrix);
 
     if (-FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON) {
         return 0;
@@ -78,9 +78,9 @@ int fp64_matrix3x3_invert(fp64_matrix3x3_t* matrix)
 
 // ================ Make Inverted =============== //
 
-int fp32_matrix3x3_set_inverted(const fp32_matrix3x3_t* matrix, fp32_matrix3x3_t* result)
+int matrix3x3_fp32_set_inverted(const matrix3x3_fp32_t* matrix, matrix3x3_fp32_t* result)
 {
-    const float determinant = fp32_matrix3x3_get_determinant(matrix);
+    const float determinant = matrix3x3_fp32_get_determinant(matrix);
 
     if (-FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON) {
         return 0;
@@ -115,9 +115,9 @@ int fp32_matrix3x3_set_inverted(const fp32_matrix3x3_t* matrix, fp32_matrix3x3_t
     return 1;
 }
 
-int fp64_matrix3x3_set_inverted(const fp64_matrix3x3_t* matrix, fp64_matrix3x3_t* result)
+int matrix3x3_fp64_set_inverted(const matrix3x3_fp64_t* matrix, matrix3x3_fp64_t* result)
 {
-    const double determinant = fp64_matrix3x3_get_determinant(matrix);
+    const double determinant = matrix3x3_fp64_get_determinant(matrix);
 
     if (-FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON) {
         return 0;
diff --git a/basic-geometry/matrix3x3.h b/basic-geometry/matrix3x3.h
index 343a974..35838d4 100644
--- a/basic-geometry/matrix3x3.h
+++ b/basic-geometry/matrix3x3.h
@@ -6,7 +6,7 @@
 
 // =================== Reset ==================== //
 
-static inline void fp32_matrix3x3_reset(fp32_matrix3x3_t* matrix)
+inline void matrix3x3_reset_fp32(matrix3x3_fp32_t* matrix)
 {
     matrix->r1c1 = 0.0f;
     matrix->r1c2 = 0.0f;
@@ -21,7 +21,7 @@ static inline void fp32_matrix3x3_reset(fp32_matrix3x3_t* matrix)
     matrix->r3c3 = 0.0f;
 }
 
-static inline void fp64_matrix3x3_reset(fp64_matrix3x3_t* matrix)
+inline void matrix3x3_reset_fp64(matrix3x3_fp64_t* matrix)
 {
     matrix->r1c1 = 0.0;
     matrix->r1c2 = 0.0;
@@ -38,7 +38,7 @@ static inline void fp64_matrix3x3_reset(fp64_matrix3x3_t* matrix)
 
 // ================== Identity ================== //
 
-static inline void fp32_matrix3x3_set_to_identity(fp32_matrix3x3_t* matrix)
+inline void matrix3x3_fp32_set_to_identity(matrix3x3_fp32_t* matrix)
 {
     matrix->r1c1 = 1.0f;
     matrix->r1c2 = 0.0f;
@@ -53,7 +53,7 @@ static inline void fp32_matrix3x3_set_to_identity(fp32_matrix3x3_t* matrix)
     matrix->r3c3 = 1.0f;
 }
 
-static inline void fp64_matrix3x3_set_to_identity(fp64_matrix3x3_t* matrix)
+inline void matrix3x3_fp64_set_to_identity(matrix3x3_fp64_t* matrix)
 {
     matrix->r1c1 = 1.0;
     matrix->r1c2 = 0.0;
@@ -70,7 +70,7 @@ static inline void fp64_matrix3x3_set_to_identity(fp64_matrix3x3_t* matrix)
 
 // ================ Make Diagonal =============== //
 
-static inline void fp32_matrix3x3_set_to_diagonal(const float d1, const float d2, const float d3, fp32_matrix3x3_t* matrix)
+inline void matrix3x3_fp32_set_to_diagonal(const float d1, const float d2, const float d3, matrix3x3_fp32_t* matrix)
 {
     matrix->r1c1 = d1;
     matrix->r1c2 = 0.0f;
@@ -85,7 +85,7 @@ static inline void fp32_matrix3x3_set_to_diagonal(const float d1, const float d2
     matrix->r3c3 = d2;
 }
 
-static inline void fp64_matrix3x3_set_to_diagonal(const double d1, const double d2, const double d3, fp64_matrix3x3_t* matrix)
+inline void matrix3x3_fp64_set_to_diagonal(const double d1, const double d2, const double d3, matrix3x3_fp64_t* matrix)
 {
     matrix->r1c1 = d1;
     matrix->r1c2 = 0.0;
@@ -102,7 +102,7 @@ static inline void fp64_matrix3x3_set_to_diagonal(const double d1, const double
 
 // ==================== Copy ==================== //
 
-static inline void fp32_matrix3x3_copy(const fp32_matrix3x3_t* from, fp32_matrix3x3_t* to)
+inline void matrix3x3_copy_fp32(const matrix3x3_fp32_t* from, matrix3x3_fp32_t* to)
 {
     to->r1c1 = from->r1c1;
     to->r1c2 = from->r1c2;
@@ -117,7 +117,7 @@ static inline void fp32_matrix3x3_copy(const fp32_matrix3x3_t* from, fp32_matrix
     to->r3c3 = from->r3c3;
 }
 
-static inline void fp64_matrix3x3_copy(const fp64_matrix3x3_t* from, fp64_matrix3x3_t* to)
+inline void matrix3x3_copy_fp64(const matrix3x3_fp64_t* from, matrix3x3_fp64_t* to)
 {
     to->r1c1 = from->r1c1;
     to->r1c2 = from->r1c2;
@@ -134,7 +134,7 @@ static inline void fp64_matrix3x3_copy(const fp64_matrix3x3_t* from, fp64_matrix
 
 // ==================== Swap ==================== //
 
-static inline void fp32_matrix3x3_swap(fp32_matrix3x3_t* matrix1, fp32_matrix3x3_t* matrix2)
+inline void matrix3x3_swap_fp32(matrix3x3_fp32_t* matrix1, matrix3x3_fp32_t* matrix2)
 {
     const float r1c1 = matrix2->r1c1;
     const float r1c2 = matrix2->r1c2;
@@ -173,7 +173,7 @@ static inline void fp32_matrix3x3_swap(fp32_matrix3x3_t* matrix1, fp32_matrix3x3
     matrix1->r3c3 = r3c3;
 }
 
-static inline void fp64_matrix3x3_swap(fp64_matrix3x3_t* matrix1, fp64_matrix3x3_t* matrix2)
+inline void matrix3x3_swap_fp64(matrix3x3_fp64_t* matrix1, matrix3x3_fp64_t* matrix2)
 {
     const double r1c1 = matrix2->r1c1;
     const double r1c2 = matrix2->r1c2;
@@ -214,7 +214,7 @@ static inline void fp64_matrix3x3_swap(fp64_matrix3x3_t* matrix1, fp64_matrix3x3
 
 // ============= Set from twin type ============= //
 
-static inline void fp32_matrix3x3_set_from_fp64(const fp64_matrix3x3_t* from, fp32_matrix3x3_t* to)
+inline void matrix3x3_fp32_set_from_fp64(const matrix3x3_fp64_t* from, matrix3x3_fp32_t* to)
 {
     to->r1c1 = (float) from->r1c1;
     to->r1c2 = (float) from->r1c2;
@@ -229,7 +229,7 @@ static inline void fp32_matrix3x3_set_from_fp64(const fp64_matrix3x3_t* from, fp
     to->r3c3 = (float) from->r3c3;
 }
 
-static inline void fp64_matrix3x3_set_from_fp32(const fp32_matrix3x3_t* from, fp64_matrix3x3_t* to)
+inline void matrix3x3_fp64_set_from_fp32(const matrix3x3_fp32_t* from, matrix3x3_fp64_t* to)
 {
     to->r1c1 = from->r1c1;
     to->r1c2 = from->r1c2;
@@ -246,14 +246,14 @@ static inline void fp64_matrix3x3_set_from_fp32(const fp32_matrix3x3_t* from, fp
 
 // ================ Determinant ================= //
 
-static inline float fp32_matrix3x3_get_determinant(const fp32_matrix3x3_t* matrix)
+inline float matrix3x3_fp32_get_determinant(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);
 }
 
-static inline double fp64_matrix3x3_get_determinant(const fp64_matrix3x3_t* matrix)
+inline double matrix3x3_fp64_get_determinant(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)
@@ -262,29 +262,29 @@ static inline double fp64_matrix3x3_get_determinant(const fp64_matrix3x3_t* matr
 
 // ================== Singular ================== //
 
-static inline int fp32_matrix3x3_is_singular(const fp32_matrix3x3_t* matrix)
+inline int matrix3x3_fp32_is_singular(const matrix3x3_fp32_t* matrix)
 {
-    const float determinant = fp32_matrix3x3_get_determinant(matrix);
+    const float determinant = matrix3x3_fp32_get_determinant(matrix);
 
     return -FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON;
 }
 
-static inline int fp64_matrix3x3_is_singular(const fp64_matrix3x3_t* matrix)
+inline int matrix3x3_fp64_is_singular(const matrix3x3_fp64_t* matrix)
 {
-    const double determinant = fp64_matrix3x3_get_determinant(matrix);
+    const double determinant = matrix3x3_fp64_get_determinant(matrix);
 
     return -FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON;
 }
 
 // ================= Inversion ================== //
 
-int fp32_matrix3x3_invert(fp32_matrix3x3_t* matrix);
+int matrix3x3_invert_fp32(matrix3x3_fp32_t* matrix);
 
-int fp64_matrix3x3_invert(fp64_matrix3x3_t* matrix);
+int matrix3x3_invert_fp64(matrix3x3_fp64_t* matrix);
 
 // =============== Transposition ================ //
 
-static inline void fp32_matrix3x3_transpose(fp32_matrix3x3_t* matrix)
+inline void matrix3x3_fp32_transpose(matrix3x3_fp32_t* matrix)
 {
     float tmp = matrix->r1c2;
     matrix->r1c2 = matrix->r2c1;
@@ -299,7 +299,7 @@ static inline void fp32_matrix3x3_transpose(fp32_matrix3x3_t* matrix)
     matrix->r3c2 = tmp;
 }
 
-static inline void fp64_matrix3x3_transpose(fp64_matrix3x3_t* matrix)
+inline void matrix3x3_fp64_transpose(matrix3x3_fp64_t* matrix)
 {
     double tmp = matrix->r1c2;
     matrix->r1c2 = matrix->r2c1;
@@ -316,16 +316,16 @@ static inline void fp64_matrix3x3_transpose(fp64_matrix3x3_t* matrix)
 
 // ================ Make Inverted =============== //
 
-int fp32_matrix3x3_set_inverted(const fp32_matrix3x3_t* matrix, fp32_matrix3x3_t* result);
+int matrix3x3_fp32_set_inverted(const matrix3x3_fp32_t* matrix, matrix3x3_fp32_t* result);
 
-int fp64_matrix3x3_set_inverted(const fp64_matrix3x3_t* matrix, fp64_matrix3x3_t* result);
+int matrix3x3_fp64_set_inverted(const matrix3x3_fp64_t* matrix, matrix3x3_fp64_t* result);
 
 // =============== Make Transposed ============== //
 
-static inline void fp32_matrix3x3_set_transposed(const fp32_matrix3x3_t* matrix, fp32_matrix3x3_t* result)
+inline void matrix3x3_fp32_set_transposed(const matrix3x3_fp32_t* matrix, matrix3x3_fp32_t* result)
 {
     if (matrix == result) {
-        fp32_matrix3x3_transpose(result);
+        matrix3x3_fp32_transpose(result);
         return;
     }
 
@@ -342,10 +342,10 @@ static inline void fp32_matrix3x3_set_transposed(const fp32_matrix3x3_t* matrix,
     result->r3c3 = matrix->r3c3;
 }
 
-static inline void fp64_matrix3x3_set_transposed(const fp64_matrix3x3_t* matrix, fp64_matrix3x3_t* result)
+inline void matrix3x3_fp64_set_transposed(const matrix3x3_fp64_t* matrix, matrix3x3_fp64_t* result)
 {
     if (matrix == result) {
-        fp64_matrix3x3_transpose(result);
+        matrix3x3_fp64_transpose(result);
         return;
     }
 
@@ -364,14 +364,14 @@ static inline void fp64_matrix3x3_set_transposed(const fp64_matrix3x3_t* matrix,
 
 // ================= Set Row 1 ================== //
 
-static inline void fp32_matrix3x3_set_row1(const float c1, const float c2, const float c3, fp32_matrix3x3_t* matrix)
+inline void matrix3x3_fp32_set_row1(const float c1, const float c2, const float c3, matrix3x3_fp32_t* matrix)
 {
     matrix->r1c1 = c1;
     matrix->r1c2 = c2;
     matrix->r1c3 = c3;
 }
 
-static inline void fp64_matrix3x3_set_row1(const double c1, const double c2, const double c3, fp64_matrix3x3_t* matrix)
+inline void matrix3x3_fp64_set_row1(const double c1, const double c2, const double c3, matrix3x3_fp64_t* matrix)
 {
     matrix->r1c1 = c1;
     matrix->r1c2 = c2;
@@ -380,14 +380,14 @@ static inline void fp64_matrix3x3_set_row1(const double c1, const double c2, con
 
 // ================= Set Row 2 ================== //
 
-static inline void fp32_matrix3x3_set_row2(const float c1, const float c2, const float c3, fp32_matrix3x3_t* matrix)
+inline void matrix3x3_fp32_set_row2(const float c1, const float c2, const float c3, matrix3x3_fp32_t* matrix)
 {
     matrix->r2c1 = c1;
     matrix->r2c2 = c2;
     matrix->r2c3 = c3;
 }
 
-static inline void fp64_matrix3x3_set_row2(const double c1, const double c2, const double c3, fp64_matrix3x3_t* matrix)
+inline void matrix3x3_fp64_set_row2(const double c1, const double c2, const double c3, matrix3x3_fp64_t* matrix)
 {
     matrix->r2c1 = c1;
     matrix->r2c2 = c2;
@@ -396,14 +396,14 @@ static inline void fp64_matrix3x3_set_row2(const double c1, const double c2, con
 
 // ================= Set Row 3 ================== //
 
-static inline void fp32_matrix3x3_set_row3(const float c1, const float c2, const float c3, fp32_matrix3x3_t* matrix)
+inline void matrix3x3_fp32_set_row3(const float c1, const float c2, const float c3, matrix3x3_fp32_t* matrix)
 {
     matrix->r3c1 = c1;
     matrix->r3c2 = c2;
     matrix->r3c3 = c3;
 }
 
-static inline void fp64_matrix3x3_set_row3(const double c1, const double c2, const double c3, fp64_matrix3x3_t* matrix)
+inline void matrix3x3_fp64_set_row3(const double c1, const double c2, const double c3, matrix3x3_fp64_t* matrix)
 {
     matrix->r3c1 = c1;
     matrix->r3c2 = c2;
@@ -412,14 +412,14 @@ static inline void fp64_matrix3x3_set_row3(const double c1, const double c2, con
 
 // ================ Set Column 1 ================ //
 
-static inline void fp32_matrix3x3_set_column1(const float r1, const float r2, const float r3, fp32_matrix3x3_t* matrix)
+inline void matrix3x3_fp32_set_column1(const float r1, const float r2, const float r3, matrix3x3_fp32_t* matrix)
 {
     matrix->r1c1 = r1;
     matrix->r2c1 = r2;
     matrix->r3c1 = r3;
 }
 
-static inline void fp64_matrix3x3_set_column1(const double r1, const double r2, const double r3, fp64_matrix3x3_t* matrix)
+inline void matrix3x3_fp64_set_column1(const double r1, const double r2, const double r3, matrix3x3_fp64_t* matrix)
 {
     matrix->r1c1 = r1;
     matrix->r2c1 = r2;
@@ -428,14 +428,14 @@ static inline void fp64_matrix3x3_set_column1(const double r1, const double r2,
 
 // ================ Set Column 2 ================ //
 
-static inline void fp32_matrix3x3_set_column2(const float r1, const float r2, const float r3, fp32_matrix3x3_t* matrix)
+inline void matrix3x3_fp32_set_column2(const float r1, const float r2, const float r3, matrix3x3_fp32_t* matrix)
 {
     matrix->r1c2 = r1;
     matrix->r2c2 = r2;
     matrix->r3c2 = r3;
 }
 
-static inline void fp64_matrix3x3_set_column2(const double r1, const double r2, const double r3, fp64_matrix3x3_t* matrix)
+inline void matrix3x3_fp64_set_column2(const double r1, const double r2, const double r3, matrix3x3_fp64_t* matrix)
 {
     matrix->r1c2 = r1;
     matrix->r2c2 = r2;
@@ -444,14 +444,14 @@ static inline void fp64_matrix3x3_set_column2(const double r1, const double r2,
 
 // ================ Set Column 3 ================ //
 
-static inline void fp32_matrix3x3_set_column3(const float r1, const float r2, const float r3, fp32_matrix3x3_t* matrix)
+inline void matrix3x3_fp32_set_column3(const float r1, const float r2, const float r3, matrix3x3_fp32_t* matrix)
 {
     matrix->r1c3 = r1;
     matrix->r2c3 = r2;
     matrix->r3c3 = r3;
 }
 
-static inline void fp64_matrix3x3_set_column3(const double r1, const double r2, const double r3, fp64_matrix3x3_t* matrix)
+inline void matrix3x3_fp64_set_column3(const double r1, const double r2, const double r3, matrix3x3_fp64_t* matrix)
 {
     matrix->r1c3 = r1;
     matrix->r2c3 = r2;
@@ -460,7 +460,7 @@ static inline void fp64_matrix3x3_set_column3(const double r1, const double r2,
 
 // ================ Append scaled =============== //
 
-static inline void fp32_matrix3x3_append_scaled(fp32_matrix3x3_t* basic_vector, const fp32_matrix3x3_t* scalable_vector, const float scale)
+inline void matrix3x3_fp32_append_scaled(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 @@ static inline void fp32_matrix3x3_append_scaled(fp32_matrix3x3_t* basic_vector,
     basic_vector->r3c3 += scalable_vector->r3c3 * scale;
 }
 
-static inline void fp64_matrix3x3_append_scaled(fp64_matrix3x3_t* basic_vector, const fp64_matrix3x3_t* scalable_vector, const double scale)
+inline void matrix3x3_fp64_append_scaled(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 @@ static inline void fp64_matrix3x3_append_scaled(fp64_matrix3x3_t* basic_vector,
 
 // ================== Addition ================== //
 
-static inline void fp32_matrix3x3_add(const fp32_matrix3x3_t* matrix1, const fp32_matrix3x3_t* matrix2, fp32_matrix3x3_t* sum)
+inline void matrix3x3_fp32_add(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 @@ static inline void fp32_matrix3x3_add(const fp32_matrix3x3_t* matrix1, const fp3
     sum->r3c3 = matrix1->r3c3 + matrix2->r3c3;
 }
 
-static inline void fp64_matrix3x3_add(const fp64_matrix3x3_t* matrix1, const fp64_matrix3x3_t* matrix2, fp64_matrix3x3_t* sum)
+inline void matrix3x3_fp64_add(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 @@ static inline void fp64_matrix3x3_add(const fp64_matrix3x3_t* matrix1, const fp6
 
 // ================ Subtraction ================= //
 
-static inline void fp32_matrix3x3_subtract(const fp32_matrix3x3_t* minuend, const fp32_matrix3x3_t* subtrahend, fp32_matrix3x3_t* difference)
+inline void matrix3x3_fp32_subtract(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 @@ static inline void fp32_matrix3x3_subtract(const fp32_matrix3x3_t* minuend, cons
     difference->r3c3 = minuend->r3c3 - subtrahend->r3c3;
 }
 
-static inline void fp64_matrix3x3_subtract(const fp64_matrix3x3_t* minuend, const fp64_matrix3x3_t* subtrahend, fp64_matrix3x3_t* difference)
+inline void matrix3x3_fp64_subtract(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 @@ static inline void fp64_matrix3x3_subtract(const fp64_matrix3x3_t* minuend, cons
 
 // =============== Multiplication =============== //
 
-static inline void fp32_matrix3x3_multiply(const fp32_matrix3x3_t* multiplicand, const float multiplier, fp32_matrix3x3_t* product)
+inline void matrix3x3_fp32_multiply(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 @@ static inline void fp32_matrix3x3_multiply(const fp32_matrix3x3_t* multiplicand,
     product->r3c3 = multiplicand->r3c3 * multiplier;
 }
 
-static inline void fp64_matrix3x3_multiply(const fp64_matrix3x3_t* multiplicand, const double multiplier, fp64_matrix3x3_t* product)
+inline void matrix3x3_fp64_multiply(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 @@ static inline void fp64_matrix3x3_multiply(const fp64_matrix3x3_t* multiplicand,
 
 // ================== Division ================== //
 
-static inline void fp32_matrix3x3_divide(const fp32_matrix3x3_t* dividend, const float divisor, fp32_matrix3x3_t* quotient)
+inline void matrix3x3_fp32_divide(const matrix3x3_fp32_t* dividend, const float divisor, matrix3x3_fp32_t* quotient)
 {
-    fp32_matrix3x3_multiply(dividend, 1.0f / divisor, quotient);
+    matrix3x3_fp32_multiply(dividend, 1.0f / divisor, quotient);
 }
 
-static inline void fp64_matrix3x3_divide(const fp64_matrix3x3_t* dividend, const double divisor, fp64_matrix3x3_t* quotient)
+inline void matrix3x3_fp64_divide(const matrix3x3_fp64_t* dividend, const double divisor, matrix3x3_fp64_t* quotient)
 {
-    fp64_matrix3x3_multiply(dividend, 1.0 / divisor, quotient);
+    matrix3x3_fp64_multiply(dividend, 1.0 / divisor, quotient);
 }
 
 // ============ Left Vector Product ============= //
 
-static inline void fp32_matrix3x3_left_product(const fp32_vector3_t* vector, const fp32_matrix3x3_t* matrix, fp32_vector3_t* result)
+inline void matrix3x3_fp32_left_product(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 @@ static inline void fp32_matrix3x3_left_product(const fp32_vector3_t* vector, con
     result->x3 = x3;
 }
 
-static inline void fp64_matrix3x3_left_product(const fp64_vector3_t* vector, const fp64_matrix3x3_t* matrix, fp64_vector3_t* result)
+inline void matrix3x3_fp64_left_product(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 @@ static inline void fp64_matrix3x3_left_product(const fp64_vector3_t* vector, con
 
 // ============ Right Vector Product ============ //
 
-static inline void fp32_matrix3x3_right_product(const fp32_matrix3x3_t* matrix, const fp32_vector3_t* vector, fp32_vector3_t* result)
+inline void matrix3x3_fp32_right_product(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 @@ static inline void fp32_matrix3x3_right_product(const fp32_matrix3x3_t* matrix,
     result->x3 = x3;
 }
 
-static inline void fp64_matrix3x3_right_product(const fp64_matrix3x3_t* matrix, const fp64_vector3_t* vector, fp64_vector3_t* result)
+inline void matrix3x3_fp64_right_product(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/matrixes.c b/basic-geometry/matrixes.c
index 1fb5858..f3c496d 100644
--- a/basic-geometry/matrixes.c
+++ b/basic-geometry/matrixes.c
@@ -2,7 +2,7 @@
 
 // ========== Matrix Product 2x2 at 3x2 ========= //
 
-void fp32_matrix_product_2x2_at_3x2(const fp32_matrix2x2_t* matrix1, const fp32_matrix3x2_t* matrix2, fp32_matrix3x2_t* result)
+void matrix_fp32_product_2x2_at_3x2(const matrix2x2_fp32_t* matrix1, const matrix3x2_fp32_t* matrix2, matrix3x2_fp32_t* result)
 {
     const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
     const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
@@ -21,7 +21,7 @@ void fp32_matrix_product_2x2_at_3x2(const fp32_matrix2x2_t* matrix1, const fp32_
     result->r2c3 = r2c3;
 }
 
-void fp64_matrix_product_2x2_at_3x2(const fp64_matrix2x2_t* matrix1, const fp64_matrix3x2_t* matrix2, fp64_matrix3x2_t* result)
+void matrix_fp64_product_2x2_at_3x2(const matrix2x2_fp64_t* matrix1, const matrix3x2_fp64_t* matrix2, matrix3x2_fp64_t* result)
 {
     const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
     const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
@@ -42,7 +42,7 @@ void fp64_matrix_product_2x2_at_3x2(const fp64_matrix2x2_t* matrix1, const fp64_
 
 // ========== Matrix Product 2x3 at 2x2 ========= //
 
-void fp32_matrix_product_2x3_at_2x2(const fp32_matrix2x3_t* matrix1, const fp32_matrix2x2_t* matrix2, fp32_matrix2x3_t* result)
+void matrix_fp32_product_2x3_at_2x2(const matrix2x3_fp32_t* matrix1, const matrix2x2_fp32_t* matrix2, matrix2x3_fp32_t* result)
 {
     const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
     const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
@@ -63,7 +63,7 @@ void fp32_matrix_product_2x3_at_2x2(const fp32_matrix2x3_t* matrix1, const fp32_
     result->r3c2 = r3c2;
 }
 
-void fp64_matrix_product_2x3_at_2x2(const fp64_matrix2x3_t* matrix1, const fp64_matrix2x2_t* matrix2, fp64_matrix2x3_t* result)
+void matrix_fp64_product_2x3_at_2x2(const matrix2x3_fp64_t* matrix1, const matrix2x2_fp64_t* matrix2, matrix2x3_fp64_t* result)
 {
     const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
     const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
@@ -86,7 +86,7 @@ void fp64_matrix_product_2x3_at_2x2(const fp64_matrix2x3_t* matrix1, const fp64_
 
 // ========== Matrix Product 2x3 at 3x2 ========= //
 
-void fp32_matrix_product_2x3_at_3x2(const fp32_matrix2x3_t* matrix1, const fp32_matrix3x2_t* matrix2, fp32_matrix3x3_t* result)
+void matrix_fp32_product_2x3_at_3x2(const matrix2x3_fp32_t* matrix1, const matrix3x2_fp32_t* matrix2, matrix3x3_fp32_t* result)
 {
     result->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
     result->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
@@ -101,7 +101,7 @@ void fp32_matrix_product_2x3_at_3x2(const fp32_matrix2x3_t* matrix1, const fp32_
     result->r3c3 = matrix1->r3c1 * matrix2->r1c3 + matrix1->r3c2 * matrix2->r2c3;
 }
 
-void fp64_matrix_product_2x3_at_3x2(const fp64_matrix2x3_t* matrix1, const fp64_matrix3x2_t* matrix2, fp64_matrix3x3_t* result)
+void matrix_fp64_product_2x3_at_3x2(const matrix2x3_fp64_t* matrix1, const matrix3x2_fp64_t* matrix2, matrix3x3_fp64_t* result)
 {
     result->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
     result->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
@@ -118,7 +118,7 @@ void fp64_matrix_product_2x3_at_3x2(const fp64_matrix2x3_t* matrix1, const fp64_
 
 // ========== Matrix Product 3x2 at 2x3 ========= //
 
-void fp32_matrix_product_3x2_at_2x3(const fp32_matrix3x2_t* matrix1, const fp32_matrix2x3_t* matrix2, fp32_matrix2x2_t* result)
+void matrix_fp32_product_3x2_at_2x3(const matrix3x2_fp32_t* matrix1, const matrix2x3_fp32_t* matrix2, matrix2x2_fp32_t* result)
 {
     result->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
     result->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
@@ -127,7 +127,7 @@ void fp32_matrix_product_3x2_at_2x3(const fp32_matrix3x2_t* matrix1, const fp32_
     result->r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2;
 }
 
-void fp64_matrix_product_3x2_at_2x3(const fp64_matrix3x2_t* matrix1, const fp64_matrix2x3_t* matrix2, fp64_matrix2x2_t* result)
+void matrix_fp64_product_3x2_at_2x3(const matrix3x2_fp64_t* matrix1, const matrix2x3_fp64_t* matrix2, matrix2x2_fp64_t* result)
 {
     result->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
     result->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
@@ -138,7 +138,7 @@ void fp64_matrix_product_3x2_at_2x3(const fp64_matrix3x2_t* matrix1, const fp64_
 
 // ========== Matrix Product 3x2 at 3x3 ========= //
 
-void fp32_matrix_product_3x2_at_3x3(const fp32_matrix3x2_t* matrix1, const fp32_matrix3x3_t* matrix2, fp32_matrix3x2_t* result)
+void matrix_fp32_product_3x2_at_3x3(const matrix3x2_fp32_t* matrix1, const matrix3x3_fp32_t* matrix2, matrix3x2_fp32_t* result)
 {
     const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
     const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
@@ -157,7 +157,7 @@ void fp32_matrix_product_3x2_at_3x3(const fp32_matrix3x2_t* matrix1, const fp32_
     result->r2c3 = r2c3;
 }
 
-void fp64_matrix_product_3x2_at_3x3(const fp64_matrix3x2_t* matrix1, const fp64_matrix3x3_t* matrix2, fp64_matrix3x2_t* result)
+void matrix_fp64_product_3x2_at_3x3(const matrix3x2_fp64_t* matrix1, const matrix3x3_fp64_t* matrix2, matrix3x2_fp64_t* result)
 {
     const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
     const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
@@ -178,7 +178,7 @@ void fp64_matrix_product_3x2_at_3x3(const fp64_matrix3x2_t* matrix1, const fp64_
 
 // ========== Matrix Product 3x3 at 2x3 ========= //
 
-void fp32_matrix_product_3x3_at_2x3(const fp32_matrix3x3_t* matrix1, const fp32_matrix2x3_t* matrix2, fp32_matrix2x3_t* result)
+void matrix_fp32_product_3x3_at_2x3(const matrix3x3_fp32_t* matrix1, const matrix2x3_fp32_t* matrix2, matrix2x3_fp32_t* result)
 {
     const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
     const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
@@ -199,7 +199,7 @@ void fp32_matrix_product_3x3_at_2x3(const fp32_matrix3x3_t* matrix1, const fp32_
     result->r3c2 = r3c2;
 }
 
-void fp64_matrix_product_3x3_at_2x3(const fp64_matrix3x3_t* matrix1, const fp64_matrix2x3_t* matrix2, fp64_matrix2x3_t* result)
+void matrix_fp64_product_3x3_at_2x3(const matrix3x3_fp64_t* matrix1, const matrix2x3_fp64_t* matrix2, matrix2x3_fp64_t* result)
 {
     const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
     const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
@@ -222,7 +222,7 @@ void fp64_matrix_product_3x3_at_2x3(const fp64_matrix3x3_t* matrix1, const fp64_
 
 // ========== Matrix Product 3x3 at 3x3 ========= //
 
-void fp32_matrix_product_3x3_at_3x3(const fp32_matrix3x3_t* matrix1, const fp32_matrix3x3_t* matrix2, fp32_matrix3x3_t* result)
+void matrix_fp32_product_3x3_at_3x3(const matrix3x3_fp32_t* matrix1, const matrix3x3_fp32_t* matrix2, matrix3x3_fp32_t* result)
 {
     const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
     const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
@@ -249,7 +249,7 @@ void fp32_matrix_product_3x3_at_3x3(const fp32_matrix3x3_t* matrix1, const fp32_
     result->r3c3 = r3c3;
 }
 
-void fp64_matrix_product_3x3_at_3x3(const fp64_matrix3x3_t* matrix1, const fp64_matrix3x3_t* matrix2, fp64_matrix3x3_t* result)
+void matrix_fp64_product_3x3_at_3x3(const matrix3x3_fp64_t* matrix1, const matrix3x3_fp64_t* matrix2, matrix3x3_fp64_t* result)
 {
     const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
     const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
diff --git a/basic-geometry/matrixes.h b/basic-geometry/matrixes.h
index 539cfc8..c634ca5 100644
--- a/basic-geometry/matrixes.h
+++ b/basic-geometry/matrixes.h
@@ -6,12 +6,12 @@
 typedef struct {
     float r1c1, r1c2;
     float r2c1, r2c2;
-} fp32_matrix2x2_t;
+} matrix2x2_fp32_t;
 
 typedef struct {
     double r1c1, r1c2;
     double r2c1, r2c2;
-} fp64_matrix2x2_t;
+} matrix2x2_fp64_t;
 
 // ================== Matrix2x3 ================= //
 
@@ -19,25 +19,25 @@ typedef struct {
     float r1c1, r1c2;
     float r2c1, r2c2;
     float r3c1, r3c2;
-} fp32_matrix2x3_t;
+} matrix2x3_fp32_t;
 
 typedef struct {
     double r1c1, r1c2;
     double r2c1, r2c2;
     double r3c1, r3c2;
-} fp64_matrix2x3_t;
+} matrix2x3_fp64_t;
 
 // ================== Matrix3x2 ================= //
 
 typedef struct {
     float r1c1, r1c2, r1c3;
     float r2c1, r2c2, r2c3;
-} fp32_matrix3x2_t;
+} matrix3x2_fp32_t;
 
 typedef struct {
     double r1c1, r1c2, r1c3;
     double r2c1, r2c2, r2c3;
-} fp64_matrix3x2_t;
+} matrix3x2_fp64_t;
 
 // ================== Matrix3x3 ================= //
 
@@ -45,17 +45,17 @@ typedef struct {
     float r1c1, r1c2, r1c3;
     float r2c1, r2c2, r2c3;
     float r3c1, r3c2, r3c3;
-} fp32_matrix3x3_t;
+} matrix3x3_fp32_t;
 
 typedef struct {
     double r1c1, r1c2, r1c3;
     double r2c1, r2c2, r2c3;
     double r3c1, r3c2, r3c3;
-} fp64_matrix3x3_t;
+} matrix3x3_fp64_t;
 
 // ========== Matrix Product 2x2 at 2x2 ========= //
 
-static inline void fp32_matrix_product_2x2_at_2x2(const fp32_matrix2x2_t* matrix1, const fp32_matrix2x2_t* matrix2, fp32_matrix2x2_t* result)
+inline void matrix_fp32_product_2x2_at_2x2(const matrix2x2_fp32_t* matrix1, const matrix2x2_fp32_t* matrix2, matrix2x2_fp32_t* result)
 {
     const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
     const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
@@ -70,7 +70,7 @@ static inline void fp32_matrix_product_2x2_at_2x2(const fp32_matrix2x2_t* matrix
     result->r2c2 = r2c2;
 }
 
-static inline void fp64_matrix_product_2x2_at_2x2(const fp64_matrix2x2_t* matrix1, const fp64_matrix2x2_t* matrix2, fp64_matrix2x2_t* result)
+inline void matrix_fp64_product_2x2_at_2x2(const matrix2x2_fp64_t* matrix1, const matrix2x2_fp64_t* matrix2, matrix2x2_fp64_t* result)
 {
     const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
     const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
@@ -87,44 +87,44 @@ static inline void fp64_matrix_product_2x2_at_2x2(const fp64_matrix2x2_t* matrix
 
 // ========== Matrix Product 2x2 at 3x2 ========= //
 
-void fp32_matrix_product_2x2_at_3x2(const fp32_matrix2x2_t* matrix1, const fp32_matrix3x2_t* matrix2, fp32_matrix3x2_t* result);
+void matrix_fp32_product_2x2_at_3x2(const matrix2x2_fp32_t* matrix1, const matrix3x2_fp32_t* matrix2, matrix3x2_fp32_t* result);
 
-void fp64_matrix_product_2x2_at_3x2(const fp64_matrix2x2_t* matrix1, const fp64_matrix3x2_t* matrix2, fp64_matrix3x2_t* result);
+void matrix_fp64_product_2x2_at_3x2(const matrix2x2_fp64_t* matrix1, const matrix3x2_fp64_t* matrix2, matrix3x2_fp64_t* result);
 
 // ========== Matrix Product 2x3 at 2x2 ========= //
 
-void fp32_matrix_product_2x3_at_2x2(const fp32_matrix2x3_t* matrix1, const fp32_matrix2x2_t* matrix2, fp32_matrix2x3_t* result);
+void matrix_fp32_product_2x3_at_2x2(const matrix2x3_fp32_t* matrix1, const matrix2x2_fp32_t* matrix2, matrix2x3_fp32_t* result);
 
-void fp64_matrix_product_2x3_at_2x2(const fp64_matrix2x3_t* matrix1, const fp64_matrix2x2_t* matrix2, fp64_matrix2x3_t* result);
+void matrix_fp64_product_2x3_at_2x2(const matrix2x3_fp64_t* matrix1, const matrix2x2_fp64_t* matrix2, matrix2x3_fp64_t* result);
 
 // ========== Matrix Product 2x3 at 3x2 ========= //
 
-void fp32_matrix_product_2x3_at_3x2(const fp32_matrix2x3_t* matrix1, const fp32_matrix3x2_t* matrix2, fp32_matrix3x3_t* result);
+void matrix_fp32_product_2x3_at_3x2(const matrix2x3_fp32_t* matrix1, const matrix3x2_fp32_t* matrix2, matrix3x3_fp32_t* result);
 
-void fp64_matrix_product_2x3_at_3x2(const fp64_matrix2x3_t* matrix1, const fp64_matrix3x2_t* matrix2, fp64_matrix3x3_t* result);
+void matrix_fp64_product_2x3_at_3x2(const matrix2x3_fp64_t* matrix1, const matrix3x2_fp64_t* matrix2, matrix3x3_fp64_t* result);
 
 // ========== Matrix Product 3x2 at 2x3 ========= //
 
-void fp32_matrix_product_3x2_at_2x3(const fp32_matrix3x2_t* matrix1, const fp32_matrix2x3_t* matrix2, fp32_matrix2x2_t* result);
+void matrix_fp32_product_3x2_at_2x3(const matrix3x2_fp32_t* matrix1, const matrix2x3_fp32_t* matrix2, matrix2x2_fp32_t* result);
 
-void fp64_matrix_product_3x2_at_2x3(const fp64_matrix3x2_t* matrix1, const fp64_matrix2x3_t* matrix2, fp64_matrix2x2_t* result);
+void matrix_fp64_product_3x2_at_2x3(const matrix3x2_fp64_t* matrix1, const matrix2x3_fp64_t* matrix2, matrix2x2_fp64_t* result);
 
 // ========== Matrix Product 3x2 at 3x3 ========= //
 
-void fp32_matrix_product_3x2_at_3x3(const fp32_matrix3x2_t* matrix1, const fp32_matrix3x3_t* matrix2, fp32_matrix3x2_t* result);
+void matrix_fp32_product_3x2_at_3x3(const matrix3x2_fp32_t* matrix1, const matrix3x3_fp32_t* matrix2, matrix3x2_fp32_t* result);
 
-void fp64_matrix_product_3x2_at_3x3(const fp64_matrix3x2_t* matrix1, const fp64_matrix3x3_t* matrix2, fp64_matrix3x2_t* result);
+void matrix_fp64_product_3x2_at_3x3(const matrix3x2_fp64_t* matrix1, const matrix3x3_fp64_t* matrix2, matrix3x2_fp64_t* result);
 
 // ========== Matrix Product 3x3 at 2x3 ========= //
 
-void fp32_matrix_product_3x3_at_2x3(const fp32_matrix3x3_t* matrix1, const fp32_matrix2x3_t* matrix2, fp32_matrix2x3_t* result);
+void matrix_fp32_product_3x3_at_2x3(const matrix3x3_fp32_t* matrix1, const matrix2x3_fp32_t* matrix2, matrix2x3_fp32_t* result);
 
-void fp64_matrix_product_3x3_at_2x3(const fp64_matrix3x3_t* matrix1, const fp64_matrix2x3_t* matrix2, fp64_matrix2x3_t* result);
+void matrix_fp64_product_3x3_at_2x3(const matrix3x3_fp64_t* matrix1, const matrix2x3_fp64_t* matrix2, matrix2x3_fp64_t* result);
 
 // ========== Matrix Product 3x3 at 3x3 ========= //
 
-void fp32_matrix_product_3x3_at_3x3(const fp32_matrix3x3_t* matrix1, const fp32_matrix3x3_t* matrix2, fp32_matrix3x3_t* result);
+void matrix_fp32_product_3x3_at_3x3(const matrix3x3_fp32_t* matrix1, const matrix3x3_fp32_t* matrix2, matrix3x3_fp32_t* result);
 
-void fp64_matrix_product_3x3_at_3x3(const fp64_matrix3x3_t* matrix1, const fp64_matrix3x3_t* matrix2, fp64_matrix3x3_t* result);
+void matrix_fp64_product_3x3_at_3x3(const matrix3x3_fp64_t* matrix1, const matrix3x3_fp64_t* matrix2, matrix3x3_fp64_t* result);
 
 #endif // _GEOMETRY_MATRIX_TYPES_H_
diff --git a/basic-geometry/quaternion.h b/basic-geometry/quaternion.h
index 8f1f53e..82b8067 100644
--- a/basic-geometry/quaternion.h
+++ b/basic-geometry/quaternion.h
@@ -9,15 +9,15 @@
 
 typedef struct {
     float s0, x1, x2, x3;
-} fp32_quaternion_t;
+} quaternion_fp32_t;
 
 typedef struct {
     double s0, x1, x2, x3;
-} fp64_quaternion_t;
+} quaternion_fp64_t;
 
 // ==================== Reset =================== //
 
-static inline void fp32_quaternion_reset(fp32_quaternion_t * quaternion)
+inline void quaternion_reset_fp32(quaternion_fp32_t * quaternion)
 {
     quaternion->s0 = 0.0f;
     quaternion->x1 = 0.0f;
@@ -25,7 +25,7 @@ static inline void fp32_quaternion_reset(fp32_quaternion_t * quaternion)
     quaternion->x3 = 0.0f;
 }
 
-static inline void fp64_quaternion_reset(fp64_quaternion_t * quaternion)
+inline void quaternion_reset_fp64(quaternion_fp64_t * quaternion)
 {
     quaternion->s0 = 0.0;
     quaternion->x1 = 0.0;
@@ -35,7 +35,7 @@ static inline void fp64_quaternion_reset(fp64_quaternion_t * quaternion)
 
 // ================== Set Unit ================== //
 
-static inline void fp32_quaternion_set_identity(fp32_quaternion_t * quaternion)
+inline void quaternion_fp32_set_identity(quaternion_fp32_t * quaternion)
 {
     quaternion->s0 = 1.0f;
     quaternion->x1 = 0.0f;
@@ -43,7 +43,7 @@ static inline void fp32_quaternion_set_identity(fp32_quaternion_t * quaternion)
     quaternion->x3 = 0.0f;
 }
 
-static inline void fp64_quaternion_set_identity(fp64_quaternion_t * quaternion)
+inline void quaternion_fp64_set_identity(quaternion_fp64_t * quaternion)
 {
     quaternion->s0 = 1.0;
     quaternion->x1 = 0.0;
@@ -53,7 +53,7 @@ static inline void fp64_quaternion_set_identity(fp64_quaternion_t * quaternion)
 
 // ==================== Set ===================== //
 
-static inline void fp32_quaternion_set_values(const float s0, const float x1, const float x2, const float x3, fp32_quaternion_t * quaternion)
+inline void quaternion_fp32_set_values(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 @@ static inline void fp32_quaternion_set_values(const float s0, const float x1, co
     quaternion->x3 = x3;
 }
 
-static inline void fp64_quaternion_set_values(const double s0, const double x1, const double x2, const double x3, fp64_quaternion_t * quaternion)
+inline void quaternion_fp64_set_values(const double s0, const double x1, const double x2, const double x3, quaternion_fp64_t * quaternion)
 {
     quaternion->s0 = s0;
     quaternion->x1 = x1;
@@ -71,7 +71,7 @@ static inline void fp64_quaternion_set_values(const double s0, const double x1,
 
 // ==================== Copy ==================== //
 
-static inline void fp32_quaternion_copy(const fp32_quaternion_t* from, fp32_quaternion_t* to)
+inline void quaternion_copy_fp32(const quaternion_fp32_t* from, quaternion_fp32_t* to)
 {
     to->s0 = from->s0;
     to->x1 = from->x1;
@@ -79,7 +79,7 @@ static inline void fp32_quaternion_copy(const fp32_quaternion_t* from, fp32_quat
     to->x3 = from->x3;
 }
 
-static inline void fp64_quaternion_copy(const fp64_quaternion_t* from, fp64_quaternion_t* to)
+inline void quaternion_copy_fp64(const quaternion_fp64_t* from, quaternion_fp64_t* to)
 {
     to->s0 = from->s0;
     to->x1 = from->x1;
@@ -89,7 +89,7 @@ static inline void fp64_quaternion_copy(const fp64_quaternion_t* from, fp64_quat
 
 // ==================== Swap ==================== //
 
-static inline void fp32_quaternion_swap(fp32_quaternion_t* quarternion1, fp32_quaternion_t* quarternion2)
+inline void quaternion_swap_fp32(quaternion_fp32_t* quarternion1, quaternion_fp32_t* quarternion2)
 {
     const float s0 = quarternion2->s0;
     const float x1 = quarternion2->x1;
@@ -107,7 +107,7 @@ static inline void fp32_quaternion_swap(fp32_quaternion_t* quarternion1, fp32_qu
     quarternion1->x3 = x3;
 }
 
-static inline void fp64_quaternion_swap(fp64_quaternion_t* quarternion1, fp64_quaternion_t* quarternion2)
+inline void quaternion_swap_fp64(quaternion_fp64_t* quarternion1, quaternion_fp64_t* quarternion2)
 {
     const double s0 = quarternion2->s0;
     const double x1 = quarternion2->x1;
@@ -127,7 +127,7 @@ static inline void fp64_quaternion_swap(fp64_quaternion_t* quarternion1, fp64_qu
 
 // ============= Copy to twin type ============== //
 
-static inline void fp32_quaternion_set_from_fp64(const fp64_quaternion_t* quaternion, fp32_quaternion_t* result)
+inline void quaternion_fp32_set_from_fp64(const quaternion_fp64_t* quaternion, quaternion_fp32_t* result)
 {
     result->s0 = (float) quaternion->s0;
     result->x1 = (float) quaternion->x1;
@@ -135,7 +135,7 @@ static inline void fp32_quaternion_set_from_fp64(const fp64_quaternion_t* quater
     result->x3 = (float) quaternion->x3;
 }
 
-static inline void fp64_quaternion_set_from_fp32(const fp32_quaternion_t* quaternion, fp64_quaternion_t* result)
+inline void quaternion_fp64_set_from_fp32(const quaternion_fp32_t* quaternion, quaternion_fp64_t* result)
 {
     result->s0 = quaternion->s0;
     result->x1 = quaternion->x1;
@@ -145,14 +145,14 @@ static inline void fp64_quaternion_set_from_fp32(const fp32_quaternion_t* quater
 
 // ================= Inversion ================== //
 
-static inline void fp32_quaternion_conjugate(fp32_quaternion_t* quaternion)
+inline void quaternion_fp32_conjugate(quaternion_fp32_t* quaternion)
 {
     quaternion->x1 = -quaternion->x1;
     quaternion->x2 = -quaternion->x2;
     quaternion->x3 = -quaternion->x3;
 }
 
-static inline void fp64_quaternion_conjugate(fp64_quaternion_t* quaternion)
+inline void quaternion_fp64_conjugate(quaternion_fp64_t* quaternion)
 {
     quaternion->x1 = -quaternion->x1;
     quaternion->x2 = -quaternion->x2;
@@ -161,7 +161,7 @@ static inline void fp64_quaternion_conjugate(fp64_quaternion_t* quaternion)
 
 // ================ Set Conjugate =============== //
 
-static inline void fp32_quaternion_set_conjugate(const fp32_quaternion_t* quaternion, fp32_quaternion_t* result)
+inline void quaternion_fp32_set_conjugate(const quaternion_fp32_t* quaternion, quaternion_fp32_t* result)
 {
     result->s0 = quaternion->s0;
     result->x1 = -quaternion->x1;
@@ -169,7 +169,7 @@ static inline void fp32_quaternion_set_conjugate(const fp32_quaternion_t* quater
     result->x3 = -quaternion->x3;
 }
 
-static inline void fp64_quaternion_set_conjugate(const fp64_quaternion_t* quaternion, fp64_quaternion_t* result)
+inline void quaternion_fp64_set_conjugate(const quaternion_fp64_t* quaternion, quaternion_fp64_t* result)
 {
     result->s0 = quaternion->s0;
     result->x1 = -quaternion->x1;
@@ -179,7 +179,7 @@ static inline void fp64_quaternion_set_conjugate(const fp64_quaternion_t* quater
 
 // ================ Set Conjugate =============== //
 
-static inline void fp32_quaternion_set_conjugate_fp64(const fp64_quaternion_t* quaternion, fp32_quaternion_t* result)
+inline void quaternion_fp32_set_conjugate_fp64(const quaternion_fp64_t* quaternion, quaternion_fp32_t* result)
 {
     result->s0 = (float) quaternion->s0;
     result->x1 = (float) -quaternion->x1;
@@ -187,7 +187,7 @@ static inline void fp32_quaternion_set_conjugate_fp64(const fp64_quaternion_t* q
     result->x3 = (float) -quaternion->x3;
 }
 
-static inline void fp64_quaternion_set_conjugate_fp32(const fp32_quaternion_t* quaternion, fp64_quaternion_t* result)
+inline void quaternion_fp64_set_conjugate_fp32(const quaternion_fp32_t* quaternion, quaternion_fp64_t* result)
 {
     result->s0 = quaternion->s0;
     result->x1 = -quaternion->x1;
@@ -197,40 +197,40 @@ static inline void fp64_quaternion_set_conjugate_fp32(const fp32_quaternion_t* q
 
 // ============= Get Square Modulus ============= //
 
-static inline float fp32_quaternion_get_square_modulus(const fp32_quaternion_t* quaternion)
+inline float quaternion_get_square_modulus_fp32(const quaternion_fp32_t* quaternion)
 {
     return (quaternion->s0 * quaternion->s0 + quaternion->x1 * quaternion->x1) + (quaternion->x2 * quaternion->x2 + quaternion->x3 * quaternion->x3);
 }
 
-static inline double fp64_quaternion_get_square_modulus(const fp64_quaternion_t* quaternion)
+inline double quaternion_get_square_modulus_fp64(const quaternion_fp64_t* quaternion)
 {
     return (quaternion->s0 * quaternion->s0 + quaternion->x1 * quaternion->x1) + (quaternion->x2 * quaternion->x2 + quaternion->x3 * quaternion->x3);
 }
 
 // ================ Get Modulus ================= //
 
-static inline float fp32_quaternion_get_modulus(const fp32_quaternion_t* quaternion)
+inline float quaternion_get_modulus_fp32(const quaternion_fp32_t* quaternion)
 {
-    return sqrtf(fp32_quaternion_get_square_modulus(quaternion));
+    return sqrtf(quaternion_get_square_modulus_fp32(quaternion));
 }
 
-static inline double fp64_quaternion_get_modulus(const fp64_quaternion_t* quaternion)
+inline double quaternion_get_modulus_fp64(const quaternion_fp64_t* quaternion)
 {
-    return sqrt(fp64_quaternion_get_square_modulus(quaternion));
+    return sqrt(quaternion_get_square_modulus_fp64(quaternion));
 }
 
 // =============== Normalization ================ //
 
-static inline int fp32_quaternion_normalize(fp32_quaternion_t* quaternion)
+inline int quaternion_fp32_normalize(quaternion_fp32_t* quaternion)
 {
-    const float square_modulus = fp32_quaternion_get_square_modulus(quaternion);
+    const float square_modulus = quaternion_get_square_modulus_fp32(quaternion);
 
     if (1.0f - FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP32_TWO_EPSYLON) {
         return 1;
     }
 
     if (square_modulus <= FP32_SQUARE_EPSYLON) {
-        fp32_quaternion_reset(quaternion);
+        quaternion_reset_fp32(quaternion);
         return 0;
     }
 
@@ -244,16 +244,16 @@ static inline int fp32_quaternion_normalize(fp32_quaternion_t* quaternion)
     return 1;
 }
 
-static inline int fp64_quaternion_normalize(fp64_quaternion_t* quaternion)
+inline int quaternion_fp64_normalize(quaternion_fp64_t* quaternion)
 {
-    const double square_modulus = fp64_quaternion_get_square_modulus(quaternion);
+    const double square_modulus = quaternion_get_square_modulus_fp64(quaternion);
 
     if (1.0 - FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + FP64_TWO_EPSYLON) {
         return 1;
     }
 
     if (square_modulus <= FP32_SQUARE_EPSYLON) {
-        fp64_quaternion_reset(quaternion);
+        quaternion_reset_fp64(quaternion);
         return 0;
     }
 
@@ -269,7 +269,7 @@ static inline int fp64_quaternion_normalize(fp64_quaternion_t* quaternion)
 
 // ============ Make Rotation Matrix ============ //
 
-static inline void fp32_quaternion_get_rotation_matrix(const fp32_quaternion_t* quaternion, fp32_matrix3x3_t* matrix)
+inline void quaternion_fp32_get_rotation_matrix(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 @@ static inline void fp32_quaternion_get_rotation_matrix(const fp32_quaternion_t*
 
     if (-FP32_EPSYLON <= square_modulus && square_modulus <= FP32_EPSYLON)
     {
-        fp32_matrix3x3_set_to_identity(matrix);
+        matrix3x3_fp32_set_to_identity(matrix);
         return;
     }
 
@@ -307,7 +307,7 @@ static inline void fp32_quaternion_get_rotation_matrix(const fp32_quaternion_t*
     matrix->r1c3 = corrector2 * (x1x3 + s0x2);
 }
 
-static inline void fp64_quaternion_get_rotation_matrix(const fp64_quaternion_t* quaternion, fp64_matrix3x3_t* matrix)
+inline void quaternion_fp64_get_rotation_matrix(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 @@ static inline void fp64_quaternion_get_rotation_matrix(const fp64_quaternion_t*
 
     if (-FP64_EPSYLON <= square_modulus && square_modulus <= FP64_EPSYLON)
     {
-        fp64_matrix3x3_set_to_identity(matrix);
+        matrix3x3_fp64_set_to_identity(matrix);
         return;
     }
 
@@ -347,7 +347,7 @@ static inline void fp64_quaternion_get_rotation_matrix(const fp64_quaternion_t*
 
 // ============ Make Reverse Matrix ============= //
 
-static inline void fp32_quaternion_get_reverse_matrix(const fp32_quaternion_t* quaternion, fp32_matrix3x3_t* matrix)
+inline void quaternion_fp32_get_reverse_matrix(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 @@ static inline void fp32_quaternion_get_reverse_matrix(const fp32_quaternion_t* q
 
     if (-FP32_EPSYLON <= square_modulus && square_modulus <= FP32_EPSYLON)
     {
-        fp32_matrix3x3_set_to_identity(matrix);
+        matrix3x3_fp32_set_to_identity(matrix);
         return;
     }
 
@@ -385,7 +385,7 @@ static inline void fp32_quaternion_get_reverse_matrix(const fp32_quaternion_t* q
     matrix->r1c3 = corrector2 * (x1x3 - s0x2);
 }
 
-static inline void fp64_quaternion_get_reverse_matrix(const fp64_quaternion_t* quaternion, fp64_matrix3x3_t* matrix)
+inline void quaternion_fp64_get_reverse_matrix(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 @@ static inline void fp64_quaternion_get_reverse_matrix(const fp64_quaternion_t* q
 
     if (-FP64_EPSYLON <= square_modulus && square_modulus <= FP64_EPSYLON)
     {
-        fp64_matrix3x3_set_to_identity(matrix);
+        matrix3x3_fp64_set_to_identity(matrix);
         return;
     }
 
@@ -425,7 +425,7 @@ static inline void fp64_quaternion_get_reverse_matrix(const fp64_quaternion_t* q
 
 // ==================== Add ===================== //
 
-static inline void fp32_quaternion_add(const fp32_quaternion_t * quaternion1, const fp32_quaternion_t * quaternion2, fp32_quaternion_t * result)
+inline void quaternion_fp32_add(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 @@ static inline void fp32_quaternion_add(const fp32_quaternion_t * quaternion1, co
     result->x3 = quaternion1->x3 + quaternion2->x3;
 }
 
-static inline void fp64_quaternion_add(const fp64_quaternion_t * quaternion1, const fp64_quaternion_t * quaternion2, fp64_quaternion_t * result)
+inline void quaternion_fp64_add(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 @@ static inline void fp64_quaternion_add(const fp64_quaternion_t * quaternion1, co
 
 // ================== Subtract ================== //
 
-static inline void fp32_quaternion_subtract(const fp32_quaternion_t * minuend, const fp32_quaternion_t * subtrahend, fp32_quaternion_t * difference)
+inline void quaternion_fp32_subtract(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 @@ static inline void fp32_quaternion_subtract(const fp32_quaternion_t * minuend, c
     difference->x3 = minuend->x3 - subtrahend->x3;
 }
 
-static inline void fp64_quaternion_subtract(const fp64_quaternion_t * minuend, const fp64_quaternion_t * subtrahend, fp64_quaternion_t * difference)
+inline void quaternion_fp64_subtract(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 @@ static inline void fp64_quaternion_subtract(const fp64_quaternion_t * minuend, c
 
 // =============== Multiplication =============== //
 
-static inline void fp32_quaternion_multiply(const fp32_quaternion_t* multiplicand, const float multipier, fp32_quaternion_t* product)
+inline void quaternion_fp32_multiply(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 @@ static inline void fp32_quaternion_multiply(const fp32_quaternion_t* multiplican
     product->x3 = multiplicand->x3 * multipier;
 }
 
-static inline void fp64_quaternion_multiply(const fp64_quaternion_t* multiplicand, const double multipier, fp64_quaternion_t* product)
+inline void quaternion_fp64_multiply(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 @@ static inline void fp64_quaternion_multiply(const fp64_quaternion_t* multiplican
 
 // ================== Division ================== //
 
-static inline void fp32_quaternion_divide(const fp32_quaternion_t* dividend, const float divisor, fp32_quaternion_t* quotient)
+inline void quaternion_fp32_divide(const quaternion_fp32_t* dividend, const float divisor, quaternion_fp32_t* quotient)
 {
-    fp32_quaternion_multiply(dividend, 1.0f / divisor, quotient);
+    quaternion_fp32_multiply(dividend, 1.0f / divisor, quotient);
 }
 
-static inline void fp64_quaternion_divide(const fp64_quaternion_t* dividend, const double divisor, fp64_quaternion_t* quotient)
+inline void quaternion_fp64_divide(const quaternion_fp64_t* dividend, const double divisor, quaternion_fp64_t* quotient)
 {
-    fp64_quaternion_multiply(dividend, 1.0 / divisor, quotient);
+    quaternion_fp64_multiply(dividend, 1.0 / divisor, quotient);
 }
 
 // ================== Product =================== //
 
-static inline void fp32_quaternion_get_product(const fp32_quaternion_t* left, const fp32_quaternion_t* right, fp32_quaternion_t* product)
+inline void quaternion_fp32_get_product(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 @@ static inline void fp32_quaternion_get_product(const fp32_quaternion_t* left, co
     product->x3 = x3;
 }
 
-static inline void fp64_quaternion_get_product(const fp64_quaternion_t* left, const fp64_quaternion_t* right, fp64_quaternion_t* product)
+inline void quaternion_fp64_get_product(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.c b/basic-geometry/rotation3.c
index 033d875..b413fcf 100644
--- a/basic-geometry/rotation3.c
+++ b/basic-geometry/rotation3.c
@@ -1,5 +1,5 @@
 #include "rotation3.h"
 
-const fp32_rotation3_t FP32_IDLE_ROTATION3 = { {0.0f, 0.0f, 0.0f}, 0.0f};
+const rotation3_fp32_t FP32_IDLE_ROTATION3 = { {0.0f, 0.0f, 0.0f}, 0.0f};
 
-const fp64_rotation3_t FP64_IDLE_ROTATION3 = { {0.0, 0.0, 0.0}, 0.0};
+const rotation3_fp64_t FP64_IDLE_ROTATION3 = { {0.0, 0.0, 0.0}, 0.0};
diff --git a/basic-geometry/rotation3.h b/basic-geometry/rotation3.h
index 5f31c07..2a34cab 100644
--- a/basic-geometry/rotation3.h
+++ b/basic-geometry/rotation3.h
@@ -6,22 +6,22 @@
 #include "vector3.h"
 
 typedef struct {
-    fp32_vector3_t axis;
+    vector3_fp32_t axis;
     float radians;
-} fp32_rotation3_t;
+} rotation3_fp32_t;
 
 typedef struct {
-    fp64_vector3_t axis;
+    vector3_fp64_t axis;
     double radians;
-} fp64_rotation3_t;
+} rotation3_fp64_t;
 
-extern const fp32_rotation3_t FP32_IDLE_ROTATION3;
+extern const rotation3_fp32_t FP32_IDLE_ROTATION3;
 
-extern const fp64_rotation3_t FP64_IDLE_ROTATION3;
+extern const rotation3_fp64_t FP64_IDLE_ROTATION3;
 
 // =================== Reset ==================== //
 
-static inline void fp32_rotation_reset(fp32_rotation3_t* rotation)
+inline void fp32_rotation_reset(rotation3_fp32_t* rotation)
 {
     rotation->axis.x1 = 0.0f;
     rotation->axis.x2 = 0.0f;
@@ -30,7 +30,7 @@ static inline void fp32_rotation_reset(fp32_rotation3_t* rotation)
     rotation->radians = 0.0f;
 }
 
-static inline void fp64_rotation_reset(fp64_rotation3_t* rotation)
+inline void fp64_rotation_reset(rotation3_fp64_t* rotation)
 {
     rotation->axis.x1 = 0.0;
     rotation->axis.x2 = 0.0;
@@ -41,13 +41,13 @@ static inline void fp64_rotation_reset(fp64_rotation3_t* rotation)
 
 // ==================== Make ==================== //
 
-static inline void fp32_rotation_set_values(const float x1, const float x2, const float x3, const float angle, const angle_unit_t unit, fp32_rotation3_t* rotation)
+inline void fp32_rotation_set_values(const float x1, const float x2, const float x3, const float angle, const angle_unit_t unit, rotation3_fp32_t* rotation)
 {
     rotation->axis.x1 = x1;
     rotation->axis.x2 = x2;
     rotation->axis.x3 = x3;
 
-    if (fp32_vector3_normalize(&rotation->axis)) {
+    if (vector3_fp32_normalize(&rotation->axis)) {
         rotation->radians = fp32_angle_to_radians(angle, unit);
     }
     else {
@@ -56,13 +56,13 @@ static inline void fp32_rotation_set_values(const float x1, const float x2, cons
 }
 
 
-static inline void fp64_rotation_set_values(const double x1, const double x2, const double x3, const double angle, const angle_unit_t unit, fp64_rotation3_t* rotation)
+inline void fp64_rotation_set_values(const double x1, const double x2, const double x3, const double angle, const angle_unit_t unit, rotation3_fp64_t* rotation)
 {
     rotation->axis.x1 = x1;
     rotation->axis.x2 = x2;
     rotation->axis.x3 = x3;
 
-    if (fp64_vector3_normalize(&rotation->axis)) {
+    if (vector3_fp64_normalize(&rotation->axis)) {
         rotation->radians = fp64_angle_to_radians(angle, unit);
     }
     else {
@@ -70,13 +70,13 @@ static inline void fp64_rotation_set_values(const double x1, const double x2, co
     }
 }
 
-static inline void fp32_rotation_set_with_axis(const fp32_vector3_t* axis, const float angle, const angle_unit_t unit, fp32_rotation3_t* rotation)
+inline void fp32_rotation_set_with_axis(const vector3_fp32_t* axis, const float angle, const angle_unit_t unit, rotation3_fp32_t* rotation)
 {
     rotation->axis.x1 = axis->x1;
     rotation->axis.x2 = axis->x2;
     rotation->axis.x3 = axis->x3;
 
-    if (fp32_vector3_normalize(&rotation->axis)) {
+    if (vector3_fp32_normalize(&rotation->axis)) {
         rotation->radians = fp32_angle_to_radians(angle, unit);
     }
     else {
@@ -84,13 +84,13 @@ static inline void fp32_rotation_set_with_axis(const fp32_vector3_t* axis, const
     }
 }
 
-static inline void fp64_rotation_set_with_axis(const fp64_vector3_t* axis, const double angle, const angle_unit_t unit, fp64_rotation3_t* rotation)
+inline void fp64_rotation_set_with_axis(const vector3_fp64_t* axis, const double angle, const angle_unit_t unit, rotation3_fp64_t* rotation)
 {
     rotation->axis.x1 = axis->x1;
     rotation->axis.x2 = axis->x2;
     rotation->axis.x3 = axis->x3;
 
-    if (fp64_vector3_normalize(&rotation->axis)) {
+    if (vector3_fp64_normalize(&rotation->axis)) {
         rotation->radians = fp64_angle_to_radians(angle, unit);
     }
     else {
diff --git a/basic-geometry/tangent.c b/basic-geometry/tangent.c
index cc76b2c..7b48806 100644
--- a/basic-geometry/tangent.c
+++ b/basic-geometry/tangent.c
@@ -1,5 +1,5 @@
 #include "tangent.h"
 
-const fp32_tangent_t FP32_IDLE_TANGENT = { 1.0f, 0.0f };
+const tangent_fp32_t FP32_IDLE_TANGENT = { 1.0f, 0.0f };
 
-const fp64_tangent_t FP64_IDLE_TANGENT = { 1.0, 0.0 };
+const tangent_fp64_t FP64_IDLE_TANGENT = { 1.0, 0.0 };
diff --git a/basic-geometry/tangent.h b/basic-geometry/tangent.h
index c1b009b..de3be7a 100644
--- a/basic-geometry/tangent.h
+++ b/basic-geometry/tangent.h
@@ -13,12 +13,12 @@
 typedef struct
 {
     const float cos, sin;
-} fp32_tangent_t;
+} tangent_fp32_t;
 
 typedef struct
 {
     const double cos, sin;
-} fp64_tangent_t;
+} tangent_fp64_t;
 
 // ================= Dark Twins ================= //
 
@@ -32,12 +32,12 @@ typedef struct {
 
 // ================= Constants ================== //
 
-extern const fp32_tangent_t FP32_IDLE_TANGENT;
-extern const fp64_tangent_t FP64_IDLE_TANGENT;
+extern const tangent_fp32_t FP32_IDLE_TANGENT;
+extern const tangent_fp64_t FP64_IDLE_TANGENT;
 
 // =================== Reset ==================== //
 
-static inline void fp32_tangent_reset(fp32_tangent_t* tangent)
+inline void tangent_reset_fp32(tangent_fp32_t* tangent)
 {
     __BgFP32DarkTwinTangent* twin = (__BgFP32DarkTwinTangent*)tangent;
 
@@ -45,7 +45,7 @@ static inline void fp32_tangent_reset(fp32_tangent_t* tangent)
     twin->sin = 0.0f;
 }
 
-static inline void fp64_tangent_reset(fp64_tangent_t* tangent)
+inline void tangent_reset_fp64(tangent_fp64_t* tangent)
 {
     __BgFP64DarkTwinTangent* twin = (__BgFP64DarkTwinTangent*)tangent;
 
@@ -55,7 +55,7 @@ static inline void fp64_tangent_reset(fp64_tangent_t* tangent)
 
 // ==================== Set ===================== //
 
-static inline void fp32_tangent_set_values(const float x1, const float x2, fp32_tangent_t* tangent)
+inline void tangent_fp32_set_values(const float x1, const float x2, tangent_fp32_t* tangent)
 {
     const float square_module = x1 * x1 + x2 * x2;
 
@@ -80,7 +80,7 @@ static inline void fp32_tangent_set_values(const float x1, const float x2, fp32_
     twin->sin = x2 * multiplier;
 }
 
-static inline void fp64_tangent_set_values(const double x1, const double x2, fp64_tangent_t* tangent)
+inline void tangent_fp64_set_values(const double x1, const double x2, tangent_fp64_t* tangent)
 {
     const double square_module = x1 * x1 + x2 * x2;
 
@@ -107,7 +107,7 @@ static inline void fp64_tangent_set_values(const double x1, const double x2, fp6
 
 // ==================== Copy ==================== //
 
-static inline void fp32_tangent_copy(const fp32_tangent_t* from, fp32_tangent_t* to)
+inline void tangent_copy_fp32(const tangent_fp32_t* from, tangent_fp32_t* to)
 {
     __BgFP32DarkTwinTangent* twin = (__BgFP32DarkTwinTangent*)to;
 
@@ -115,7 +115,7 @@ static inline void fp32_tangent_copy(const fp32_tangent_t* from, fp32_tangent_t*
     twin->sin = from->sin;
 }
 
-static inline void fp64_tangent_copy(const fp64_tangent_t* from, fp64_tangent_t* to)
+inline void tangent_copy_fp64(const tangent_fp64_t* from, tangent_fp64_t* to)
 {
     __BgFP64DarkTwinTangent* twin = (__BgFP64DarkTwinTangent*)to;
 
@@ -125,7 +125,7 @@ static inline void fp64_tangent_copy(const fp64_tangent_t* from, fp64_tangent_t*
 
 // ==================== Swap ==================== //
 
-static inline void fp32_tangent_swap(fp32_tangent_t* tangent1, fp32_tangent_t* tangent2)
+inline void tangent_swap_fp32(tangent_fp32_t* tangent1, tangent_fp32_t* tangent2)
 {
     const float cos = tangent1->cos;
     const float sin = tangent1->sin;
@@ -141,7 +141,7 @@ static inline void fp32_tangent_swap(fp32_tangent_t* tangent1, fp32_tangent_t* t
     twin2->sin = sin;
 }
 
-static inline void fp64_tangent_swap(fp64_tangent_t* tangent1, fp64_tangent_t* tangent2)
+inline void tangent_swap_fp64(tangent_fp64_t* tangent1, tangent_fp64_t* tangent2)
 {
     const double cos = tangent1->cos;
     const double sin = tangent1->sin;
@@ -159,7 +159,7 @@ static inline void fp64_tangent_swap(fp64_tangent_t* tangent1, fp64_tangent_t* t
 
 // ================== Set Turn ================== //
 
-static inline void fp32_tangent_set_turn(const float angle, const angle_unit_t unit, fp32_tangent_t* tangent)
+inline void tangent_fp32_set_turn(const float angle, const angle_unit_t unit, tangent_fp32_t* tangent)
 {
     const float radians = fp32_angle_to_radians(angle, unit);
 
@@ -169,7 +169,7 @@ static inline void fp32_tangent_set_turn(const float angle, const angle_unit_t u
     twin->sin = sinf(radians);
 }
 
-static inline void fp64_tangent_set_turn(const double angle, const angle_unit_t unit, fp64_tangent_t* tangent)
+inline void tangent_fp64_set_turn(const double angle, const angle_unit_t unit, tangent_fp64_t* tangent)
 {
     const double radians = fp64_angle_to_radians(angle, unit);
 
@@ -181,31 +181,31 @@ static inline void fp64_tangent_set_turn(const double angle, const angle_unit_t
 
 // ============= Copy to twin type ============== //
 
-static inline void fp32_tangent_set_from_fp64(const fp64_tangent_t* from, fp32_tangent_t* to)
+inline void tangent_fp32_set_from_fp64(const tangent_fp64_t* from, tangent_fp32_t* to)
 {
-    fp32_tangent_set_values((float)from->cos, (float)from->sin, to);
+    tangent_fp32_set_values((float)from->cos, (float)from->sin, to);
 }
 
-static inline void fp64_tangent_set_from_fp32(const fp32_tangent_t* from, fp64_tangent_t* to)
+inline void tangent_fp64_set_from_fp32(const tangent_fp32_t* from, tangent_fp64_t* to)
 {
-    fp64_tangent_set_values((double)from->cos, (double)from->sin, to);
+    tangent_fp64_set_values((double)from->cos, (double)from->sin, to);
 }
 
 // ================= Inversion ================== //
 
-static inline void fp32_tangent_invert(fp32_tangent_t* tangent)
+inline void tangent_invert_fp32(tangent_fp32_t* tangent)
 {
     ((__BgFP32DarkTwinTangent*)tangent)->sin = -tangent->sin;
 }
 
-static inline void fp64_tangent_invert(fp64_tangent_t* tangent)
+inline void tangent_invert_fp64(tangent_fp64_t* tangent)
 {
     ((__BgFP64DarkTwinTangent*)tangent)->sin = -tangent->sin;
 }
 
 // ================ Set Inverted ================ //
 
-static inline void fp32_tangent_set_inverted(const fp32_tangent_t* tangent, fp32_tangent_t* result)
+inline void tangent_fp32_set_inverted(const tangent_fp32_t* tangent, tangent_fp32_t* result)
 {
     __BgFP32DarkTwinTangent* twin = (__BgFP32DarkTwinTangent*)result;
 
@@ -213,7 +213,7 @@ static inline void fp32_tangent_set_inverted(const fp32_tangent_t* tangent, fp32
     twin->sin = -tangent->sin;
 }
 
-static inline void fp64_tangent_set_inverted(const fp64_tangent_t* tangent, fp64_tangent_t* result)
+inline void tangent_fp64_set_inverted(const tangent_fp64_t* tangent, tangent_fp64_t* result)
 {
     __BgFP64DarkTwinTangent* twin = (__BgFP64DarkTwinTangent*)result;
 
@@ -223,7 +223,7 @@ static inline void fp64_tangent_set_inverted(const fp64_tangent_t* tangent, fp64
 
 // ============== Rotation Matrix =============== //
 
-static inline void fp32_tangent_make_rotation_matrix(const fp32_tangent_t* tangent, fp32_matrix2x2_t* matrix)
+inline void tangent_fp32_make_rotation_matrix(const tangent_fp32_t* tangent, matrix2x2_fp32_t* matrix)
 {
     matrix->r1c1 = tangent->cos;
     matrix->r1c2 = -tangent->sin;
@@ -231,7 +231,7 @@ static inline void fp32_tangent_make_rotation_matrix(const fp32_tangent_t* tange
     matrix->r2c2 = tangent->cos;
 }
 
-static inline void fp64_tangent_make_rotation_matrix(const fp64_tangent_t* tangent, fp64_matrix2x2_t* matrix)
+inline void tangent_fp64_make_rotation_matrix(const tangent_fp64_t* tangent, matrix2x2_fp64_t* matrix)
 {
     matrix->r1c1 = tangent->cos;
     matrix->r1c2 = -tangent->sin;
@@ -241,7 +241,7 @@ static inline void fp64_tangent_make_rotation_matrix(const fp64_tangent_t* tange
 
 // ============== Reverse Matrix ================ //
 
-static inline void fp32_tangent_make_reverse_matrix(const fp32_tangent_t* tangent, fp32_matrix2x2_t* matrix)
+inline void tangent_fp32_make_reverse_matrix(const tangent_fp32_t* tangent, matrix2x2_fp32_t* matrix)
 {
     matrix->r1c1 = tangent->cos;
     matrix->r1c2 = tangent->sin;
@@ -249,7 +249,7 @@ static inline void fp32_tangent_make_reverse_matrix(const fp32_tangent_t* tangen
     matrix->r2c2 = tangent->cos;
 }
 
-static inline void fp64_tangent_make_reverse_matrix(const fp64_tangent_t* tangent, fp64_matrix2x2_t* matrix)
+inline void tangent_fp64_make_reverse_matrix(const tangent_fp64_t* tangent, matrix2x2_fp64_t* matrix)
 {
     matrix->r1c1 = tangent->cos;
     matrix->r1c2 = tangent->sin;
@@ -259,7 +259,7 @@ static inline void fp64_tangent_make_reverse_matrix(const fp64_tangent_t* tangen
 
 // =================== Angle =================== //
 
-static inline float fp32_tangent_get_angle(const fp32_tangent_t* tangent, const angle_unit_t unit)
+inline float tangent_fp32_get_angle(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 @@ static inline float fp32_tangent_get_angle(const fp32_tangent_t* tangent, const
     return fp32_radians_to_units(atan2f(tangent->cos, tangent->sin), unit);
 }
 
-static inline double fp64_tangent_get_angle(const fp64_tangent_t* tangent, const angle_unit_t unit)
+inline double tangent_fp64_get_angle(const tangent_fp64_t* tangent, const angle_unit_t unit)
 {
     if (tangent->cos >= 1.0 - FP64_TWO_EPSYLON) {
         return 0.0;
@@ -303,18 +303,18 @@ static inline double fp64_tangent_get_angle(const fp64_tangent_t* tangent, const
 
 // ================ Combination ================= //
 
-static inline void fp32_tangent_combine(const fp32_tangent_t* tangent1, const fp32_tangent_t* tangent2, fp32_tangent_t* result)
+inline void tangent_fp32_combine(const tangent_fp32_t* tangent1, const tangent_fp32_t* tangent2, tangent_fp32_t* result)
 {
-    fp32_tangent_set_values(
+    tangent_fp32_set_values(
         tangent1->cos * tangent2->cos - tangent1->sin * tangent2->sin,
         tangent1->cos * tangent2->sin + tangent1->sin * tangent2->cos,
         result
     );
 }
 
-static inline void fp64_tangent_combine(const fp64_tangent_t* tangent1, const fp64_tangent_t* tangent2, fp64_tangent_t* result)
+inline void tangent_fp64_combine(const tangent_fp64_t* tangent1, const tangent_fp64_t* tangent2, tangent_fp64_t* result)
 {
-    fp64_tangent_set_values(
+    tangent_fp64_set_values(
         tangent1->cos * tangent2->cos - tangent1->sin * tangent2->sin,
         tangent1->cos * tangent2->sin + tangent1->sin * tangent2->cos,
         result
@@ -323,7 +323,7 @@ static inline void fp64_tangent_combine(const fp64_tangent_t* tangent1, const fp
 
 // ================ Turn Vector ================= //
 
-static inline void fp32_tangent_turn(const fp32_tangent_t* tangent, const fp32_vector2_t* vector, fp32_vector2_t* result)
+inline void tangent_fp32_turn(const tangent_fp32_t* tangent, const vector2_fp32_t* vector, vector2_fp32_t* result)
 {
     const float x1 = tangent->cos * vector->x1 - tangent->sin * vector->x2;
     const float x2 = tangent->sin * vector->x1 + tangent->cos * vector->x2;
@@ -332,7 +332,7 @@ static inline void fp32_tangent_turn(const fp32_tangent_t* tangent, const fp32_v
     result->x2 = x2;
 }
 
-static inline void fp64_tangent_turn(const fp64_tangent_t* tangent, const fp64_vector2_t* vector, fp64_vector2_t* result)
+inline void tangent_fp64_turn(const tangent_fp64_t* tangent, const vector2_fp64_t* vector, vector2_fp64_t* result)
 {
     const double x1 = tangent->cos * vector->x1 - tangent->sin * vector->x2;
     const double x2 = tangent->sin * vector->x1 + tangent->cos * vector->x2;
@@ -343,7 +343,7 @@ static inline void fp64_tangent_turn(const fp64_tangent_t* tangent, const fp64_v
 
 // ============ Turn Vector Backward ============ //
 
-static inline void fp32_tangent_turn_back(const fp32_tangent_t* tangent, const fp32_vector2_t* vector, fp32_vector2_t* result)
+inline void tangent_fp32_turn_back(const tangent_fp32_t* tangent, const vector2_fp32_t* vector, vector2_fp32_t* result)
 {
     const float x1 = tangent->sin * vector->x2 + tangent->cos * vector->x1;
     const float x2 = tangent->cos * vector->x2 - tangent->sin * vector->x1;
@@ -352,7 +352,7 @@ static inline void fp32_tangent_turn_back(const fp32_tangent_t* tangent, const f
     result->x2 = x2;
 }
 
-static inline void fp64_tangent_turn_back(const fp64_tangent_t* tangent, const fp64_vector2_t* vector, fp64_vector2_t* result)
+inline void tangent_fp64_turn_back(const tangent_fp64_t* tangent, const vector2_fp64_t* vector, vector2_fp64_t* result)
 {
     const double x1 = tangent->sin * vector->x2 + tangent->cos * vector->x1;
     const double x2 = tangent->cos * vector->x2 - tangent->sin * vector->x1;
diff --git a/basic-geometry/vector2.c b/basic-geometry/vector2.c
index 5c9884d..e2e3fd4 100644
--- a/basic-geometry/vector2.c
+++ b/basic-geometry/vector2.c
@@ -2,25 +2,25 @@
 
 // =================== Angle ==================== //
 
-float fp32_vector2_get_angle(const fp32_vector2_t* vector1, const fp32_vector2_t* vector2, const angle_unit_t unit)
+float vector2_fp32_get_angle(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2, const angle_unit_t unit)
 {
     if (vector1 == 0 || vector2 == 0) {
         return 0.0f;
     }
 
-    const float square_modulus1 = fp32_vector2_get_square_modulus(vector1);
+    const float square_modulus1 = vector2_get_square_modulus_fp32(vector1);
 
     if (square_modulus1 <= FP32_SQUARE_EPSYLON) {
         return 0.0f;
     }
 
-    const float square_modulus2 = fp32_vector2_get_square_modulus(vector2);
+    const float square_modulus2 = vector2_get_square_modulus_fp32(vector2);
 
     if (square_modulus2 <= FP32_SQUARE_EPSYLON) {
         return 0.0f;
     }
 
-    const float cosine = fp32_vector2_scalar_product(vector1, vector2) / sqrtf(square_modulus1 * square_modulus2);
+    const float cosine = vector2_fp32_scalar_product(vector1, vector2) / sqrtf(square_modulus1 * square_modulus2);
 
     if (cosine >= 1.0f - FP32_EPSYLON) {
         return 0.0f;
@@ -33,25 +33,25 @@ float fp32_vector2_get_angle(const fp32_vector2_t* vector1, const fp32_vector2_t
     return fp32_radians_to_units(acosf(cosine), unit);
 }
 
-double fp64_vector2_get_angle(const fp64_vector2_t* vector1, const fp64_vector2_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)
 {
     if (vector1 == 0 || vector2 == 0) {
         return 0.0;
     }
 
-    const double square_modulus1 = fp64_vector2_get_square_modulus(vector1);
+    const double square_modulus1 = vector2_get_square_modulus_fp64(vector1);
 
     if (square_modulus1 <= FP64_SQUARE_EPSYLON) {
         return 0.0;
     }
 
-    const double square_modulus2 = fp64_vector2_get_square_modulus(vector2);
+    const double square_modulus2 = vector2_get_square_modulus_fp64(vector2);
 
     if (square_modulus2 <= FP64_SQUARE_EPSYLON) {
         return 0.0;
     }
 
-    const double cosine = fp64_vector2_scalar_product(vector1, vector2) / sqrt(square_modulus1 * square_modulus2);
+    const double cosine = vector2_fp64_scalar_product(vector1, vector2) / sqrt(square_modulus1 * square_modulus2);
 
     if (cosine >= 1.0 - FP64_EPSYLON) {
         return 0.0;
diff --git a/basic-geometry/vector2.h b/basic-geometry/vector2.h
index c6785c5..fde65ee 100644
--- a/basic-geometry/vector2.h
+++ b/basic-geometry/vector2.h
@@ -9,22 +9,22 @@
 typedef struct
 {
     float x1, x2;
-} fp32_vector2_t;
+} vector2_fp32_t;
 
 typedef struct
 {
     double x1, x2;
-} fp64_vector2_t;
+} vector2_fp64_t;
 
 // =================== Reset ==================== //
 
-static inline void fp32_vector2_reset(fp32_vector2_t* vector)
+inline void vector2_reset_fp32(vector2_fp32_t* vector)
 {
     vector->x1 = 0.0f;
     vector->x2 = 0.0f;
 }
 
-static inline void fp64_vector2_reset(fp64_vector2_t* vector)
+inline void vector2_reset_fp64(vector2_fp64_t* vector)
 {
     vector->x1 = 0.0;
     vector->x2 = 0.0;
@@ -32,13 +32,13 @@ static inline void fp64_vector2_reset(fp64_vector2_t* vector)
 
 // ==================== Set ===================== //
 
-static inline void fp32_vector2_set_values(const float x1, const float x2, fp32_vector2_t* to)
+inline void vector2_fp32_set_values(const float x1, const float x2, vector2_fp32_t* to)
 {
     to->x1 = x1;
     to->x2 = x2;
 }
 
-static inline void fp64_vector2_set_values(const double x1, const double x2, fp64_vector2_t* to)
+inline void vector2_fp64_set_values(const double x1, const double x2, vector2_fp64_t* to)
 {
     to->x1 = x1;
     to->x2 = x2;
@@ -46,13 +46,13 @@ static inline void fp64_vector2_set_values(const double x1, const double x2, fp6
 
 // ==================== Copy ==================== //
 
-static inline void fp32_vector2_copy(const fp32_vector2_t* from, fp32_vector2_t* to)
+inline void vector2_copy_fp32(const vector2_fp32_t* from, vector2_fp32_t* to)
 {
     to->x1 = from->x1;
     to->x2 = from->x2;
 }
 
-static inline void fp64_vector2_copy(const fp64_vector2_t* from, fp64_vector2_t* to)
+inline void vector2_copy_fp64(const vector2_fp64_t* from, vector2_fp64_t* to)
 {
     to->x1 = from->x1;
     to->x2 = from->x2;
@@ -60,7 +60,7 @@ static inline void fp64_vector2_copy(const fp64_vector2_t* from, fp64_vector2_t*
 
 // ==================== Swap ==================== //
 
-static inline void fp32_vector2_swap(fp32_vector2_t* vector1, fp32_vector2_t* vector2)
+inline void vector2_swap_fp32(vector2_fp32_t* vector1, vector2_fp32_t* vector2)
 {
     const float x1 = vector2->x1;
     const float x2 = vector2->x2;
@@ -72,7 +72,7 @@ static inline void fp32_vector2_swap(fp32_vector2_t* vector1, fp32_vector2_t* ve
     vector1->x2 = x2;
 }
 
-static inline void fp64_vector2_swap(fp64_vector2_t* vector1, fp64_vector2_t* vector2)
+inline void vector2_swap_fp64(vector2_fp64_t* vector1, vector2_fp64_t* vector2)
 {
     const double x1 = vector2->x1;
     const double x2 = vector2->x2;
@@ -86,13 +86,13 @@ static inline void fp64_vector2_swap(fp64_vector2_t* vector1, fp64_vector2_t* ve
 
 // ============= Copy to twin type ============== //
 
-static inline void fp32_vector2_set_from_fp64(const fp64_vector2_t* from, fp32_vector2_t* to)
+inline void vector2_fp32_set_from_fp64(const vector2_fp64_t* from, vector2_fp32_t* to)
 {
     to->x1 = (float)from->x1;
     to->x2 = (float)from->x2;
 }
 
-static inline void fp64_vector2_set_from_fp32(const fp32_vector2_t* from, fp64_vector2_t* to)
+inline void vector2_fp64_set_from_fp32(const vector2_fp32_t* from, vector2_fp64_t* to)
 {
     to->x1 = from->x1;
     to->x2 = from->x2;
@@ -100,13 +100,13 @@ static inline void fp64_vector2_set_from_fp32(const fp32_vector2_t* from, fp64_v
 
 // =================== Reverse ================== //
 
-static inline void fp32_vector2_set_reverse(const fp32_vector2_t* from, fp32_vector2_t* to)
+inline void vector2_fp32_set_reverse(const vector2_fp32_t* from, vector2_fp32_t* to)
 {
     to->x1 = -from->x1;
     to->x2 = -from->x2;
 }
 
-static inline void fp64_vector2_set_reverse(const fp64_vector2_t* from, fp64_vector2_t* to)
+inline void vector2_fp64_set_reverse(const vector2_fp64_t* from, vector2_fp64_t* to)
 {
     to->x1 = -from->x1;
     to->x2 = -from->x2;
@@ -114,13 +114,13 @@ static inline void fp64_vector2_set_reverse(const fp64_vector2_t* from, fp64_vec
 
 // ============= Reverse twin type ============== //
 
-static inline void fp32_vector2_set_reverse_fp64(const fp64_vector2_t* from, fp32_vector2_t* to)
+inline void vector2_fp32_set_reverse_fp64(const vector2_fp64_t* from, vector2_fp32_t* to)
 {
     to->x1 = (float) -from->x1;
     to->x2 = (float) -from->x2;
 }
 
-static inline void fp64_vector2_set_reverse_fp32(const fp32_vector2_t* from, fp64_vector2_t* to)
+inline void vector2_fp64_set_reverse_fp32(const vector2_fp32_t* from, vector2_fp64_t* to)
 {
     to->x1 = -from->x1;
     to->x2 = -from->x2;
@@ -128,61 +128,61 @@ static inline void fp64_vector2_set_reverse_fp32(const fp32_vector2_t* from, fp6
 
 // =================== Module =================== //
 
-static inline float fp32_vector2_get_square_modulus(const fp32_vector2_t* vector)
+inline float vector2_get_square_modulus_fp32(const vector2_fp32_t* vector)
 {
     return vector->x1 * vector->x1 + vector->x2 * vector->x2;
 }
 
-static inline double fp64_vector2_get_square_modulus(const fp64_vector2_t* vector)
+inline double vector2_get_square_modulus_fp64(const vector2_fp64_t* vector)
 {
     return vector->x1 * vector->x1 + vector->x2 * vector->x2;
 }
 
-static inline float fp32_vector2_get_modulus(const fp32_vector2_t* vector)
+inline float vector2_get_modulus_fp32(const vector2_fp32_t* vector)
 {
-    return sqrtf(fp32_vector2_get_square_modulus(vector));
+    return sqrtf(vector2_get_square_modulus_fp32(vector));
 }
 
-static inline double fp64_vector2_get_modulus(const fp64_vector2_t* vector)
+inline double vector2_get_modulus_fp64(const vector2_fp64_t* vector)
 {
-    return sqrt(fp64_vector2_get_square_modulus(vector));
+    return sqrt(vector2_get_square_modulus_fp64(vector));
 }
 
 // ================= Comparison ================= //
 
-static inline int fp32_vector2_is_zero(const fp32_vector2_t* vector)
+inline int vector2_fp32_is_zero(const vector2_fp32_t* vector)
 {
-    return fp32_vector2_get_square_modulus(vector) <= FP32_SQUARE_EPSYLON;
+    return vector2_get_square_modulus_fp32(vector) <= FP32_SQUARE_EPSYLON;
 }
 
-static inline int fp64_vector2_is_zero(const fp64_vector2_t* vector)
+inline int vector2_fp64_is_zero(const vector2_fp64_t* vector)
 {
-    return fp64_vector2_get_square_modulus(vector) <= FP64_SQUARE_EPSYLON;
+    return vector2_get_square_modulus_fp64(vector) <= FP64_SQUARE_EPSYLON;
 }
 
-static inline int fp32_vector2_is_unit(const fp32_vector2_t* vector)
+inline int vector2_fp32_is_unit(const vector2_fp32_t* vector)
 {
-    const float square_modulus = fp32_vector2_get_square_modulus(vector);
+    const float square_modulus = vector2_get_square_modulus_fp32(vector);
 
     return 1.0f - FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP32_TWO_EPSYLON;
 }
 
-static inline int fp64_vector2_is_unit(const fp64_vector2_t* vector)
+inline int vector2_fp64_is_unit(const vector2_fp64_t* vector)
 {
-    const double square_modulus = fp64_vector2_get_square_modulus(vector);
+    const double square_modulus = vector2_get_square_modulus_fp64(vector);
 
     return 1.0f - FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP64_TWO_EPSYLON;
 }
 
 // ==================== Add ===================== //
 
-static inline void fp32_vector2_add(const fp32_vector2_t* vector1, const fp32_vector2_t* vector2, fp32_vector2_t* sum)
+inline void vector2_fp32_add(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;
 }
 
-static inline void fp64_vector2_add(const fp64_vector2_t* vector1, const fp64_vector2_t* vector2, fp64_vector2_t* sum)
+inline void vector2_fp64_add(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 @@ static inline void fp64_vector2_add(const fp64_vector2_t* vector1, const fp64_ve
 
 // ================ Subtraction ================= //
 
-static inline void fp32_vector2_subtract(const fp32_vector2_t* minuend, const fp32_vector2_t* subtrahend, fp32_vector2_t* difference)
+inline void vector2_fp32_subtract(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;
 }
 
-static inline void fp64_vector2_subtract(const fp64_vector2_t* minuend, const fp64_vector2_t* subtrahend, fp64_vector2_t* difference)
+inline void vector2_fp64_subtract(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 @@ static inline void fp64_vector2_subtract(const fp64_vector2_t* minuend, const fp
 
 // =============== Multiplication =============== //
 
-static inline void fp32_vector2_multiply(const fp32_vector2_t* multiplicand, const float multiplier, fp32_vector2_t* product)
+inline void vector2_fp32_multiply(const vector2_fp32_t* multiplicand, const float multiplier, vector2_fp32_t* product)
 {
     product->x1 = multiplicand->x1 * multiplier;
     product->x2 = multiplicand->x2 * multiplier;
 }
 
-static inline void fp64_vector2_multiply(const fp64_vector2_t* multiplicand, const double multiplier, fp64_vector2_t* product)
+inline void vector2_fp64_multiply(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 @@ static inline void fp64_vector2_multiply(const fp64_vector2_t* multiplicand, con
 
 // ================== Division ================== //
 
-static inline void fp32_vector2_divide(const fp32_vector2_t* dividend, const float divisor, fp32_vector2_t* quotient)
+inline void vector2_fp32_divide(const vector2_fp32_t* dividend, const float divisor, vector2_fp32_t* quotient)
 {
-    fp32_vector2_multiply(dividend, 1.0f / divisor, quotient);
+    vector2_fp32_multiply(dividend, 1.0f / divisor, quotient);
 }
 
-static inline void fp64_vector2_divide(const fp64_vector2_t* dividend, const double divisor, fp64_vector2_t* quotient)
+inline void vector2_fp64_divide(const vector2_fp64_t* dividend, const double divisor, vector2_fp64_t* quotient)
 {
-    fp64_vector2_multiply(dividend, 1.0 / divisor, quotient);
+    vector2_fp64_multiply(dividend, 1.0 / divisor, quotient);
 }
 
 // ================ Append scaled =============== //
 
-static inline void fp32_vector2_append_scaled(fp32_vector2_t* basic_vector, const fp32_vector2_t* scalable_vector, const float scale)
+inline void vector2_fp32_append_scaled(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;
 }
 
-static inline void fp64_vector2_append_scaled(fp64_vector2_t* basic_vector, const fp64_vector2_t* scalable_vector, const double scale)
+inline void vector2_fp64_append_scaled(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;
@@ -244,13 +244,13 @@ static inline void fp64_vector2_append_scaled(fp64_vector2_t* basic_vector, cons
 
 // ================== Average2 ================== //
 
-static inline void fp32_vector2_get_mean2(const fp32_vector2_t* vector1, const fp32_vector2_t* vector2, fp32_vector2_t* result)
+inline void vector2_fp32_get_mean2(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2, vector2_fp32_t* result)
 {
     result->x1 = (vector1->x1 + vector2->x1) * 0.5f;
     result->x2 = (vector1->x2 + vector2->x2) * 0.5f;
 }
 
-static inline void fp64_vector2_get_mean2(const fp64_vector2_t* vector1, const fp64_vector2_t* vector2, fp64_vector2_t* result)
+inline void vector2_fp64_get_mean2(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2, vector2_fp64_t* result)
 {
     result->x1 = (vector1->x1 + vector2->x1) * 0.5;
     result->x2 = (vector1->x2 + vector2->x2) * 0.5;
@@ -258,13 +258,13 @@ static inline void fp64_vector2_get_mean2(const fp64_vector2_t* vector1, const f
 
 // ================== Average3 ================== //
 
-static inline void fp32_vector2_get_mean3(const fp32_vector2_t* vector1, const fp32_vector2_t* vector2, const fp32_vector2_t* vector3, fp32_vector2_t* result)
+inline void vector2_fp32_get_mean3(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2, const vector2_fp32_t* vector3, vector2_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;
 }
 
-static inline void fp64_vector2_get_mean3(const fp64_vector2_t* vector1, const fp64_vector2_t* vector2, const fp64_vector2_t* vector3, fp64_vector2_t* result)
+inline void vector2_fp64_get_mean3(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2, const vector2_fp64_t* vector3, vector2_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;
@@ -272,31 +272,31 @@ static inline void fp64_vector2_get_mean3(const fp64_vector2_t* vector1, const f
 
 // =============== Scalar Product =============== //
 
-static inline float fp32_vector2_scalar_product(const fp32_vector2_t* vector1, const fp32_vector2_t* vector2)
+inline float vector2_fp32_scalar_product(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2)
 {
     return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2;
 }
 
-static inline double fp64_vector2_scalar_product(const fp64_vector2_t* vector1, const fp64_vector2_t* vector2)
+inline double vector2_fp64_scalar_product(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2)
 {
     return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2;
 }
 
 // =============== Cross Product ================ //
 
-static inline float fp32_vector2_cross_product(const fp32_vector2_t* vector1, const fp32_vector2_t* vector2)
+inline float vector2_fp32_cross_product(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2)
 {
     return vector1->x1 * vector2->x2 - vector1->x2 * vector2->x1;
 }
 
-static inline double fp64_vector2_cross_product(const fp64_vector2_t* vector1, const fp64_vector2_t* vector2)
+inline double vector2_fp64_cross_product(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2)
 {
     return vector1->x1 * vector2->x2 - vector1->x2 * vector2->x1;
 }
 
 // ============== Complex Product =============== //
 
-static inline void fp32_vector2_complex_product(const fp32_vector2_t* vector1, const fp32_vector2_t* vector2, fp32_vector2_t* result)
+inline void vector2_fp32_complex_product(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2, vector2_fp32_t* result)
 {
     const float x1 = vector1->x1 * vector2->x1 - vector1->x2 * vector2->x2;
     const float x2 = vector1->x1 * vector2->x2 + vector1->x2 * vector2->x1;
@@ -305,7 +305,7 @@ static inline void fp32_vector2_complex_product(const fp32_vector2_t* vector1, c
     result->x2 = x2;
 }
 
-static inline void fp64_vector2_complex_product(const fp64_vector2_t* vector1, const fp64_vector2_t* vector2, fp64_vector2_t* result)
+inline void vector2_fp64_complex_product(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2, vector2_fp64_t* result)
 {
     const double x1 = vector1->x1 * vector2->x1 - vector1->x2 * vector2->x2;
     const double x2 = vector1->x1 * vector2->x2 + vector1->x2 * vector2->x1;
@@ -316,63 +316,63 @@ static inline void fp64_vector2_complex_product(const fp64_vector2_t* vector1, c
 
 // =============== Normalization ================ //
 
-static inline int fp32_vector2_normalize(fp32_vector2_t* vector)
+inline int vector2_fp32_normalize(vector2_fp32_t* vector)
 {
-    const float square_modulus = fp32_vector2_get_square_modulus(vector);
+    const float square_modulus = vector2_get_square_modulus_fp32(vector);
 
     if (1.0f - FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP32_TWO_EPSYLON) {
         return 1;
     }
 
     if (square_modulus <= FP32_SQUARE_EPSYLON) {
-        fp32_vector2_reset(vector);
+        vector2_reset_fp32(vector);
         return 0;
     }
 
-    fp32_vector2_multiply(vector, sqrtf(1.0f / square_modulus), vector);
+    vector2_fp32_multiply(vector, sqrtf(1.0f / square_modulus), vector);
     return 1;
 }
 
-static inline int fp64_vector2_normalize(fp64_vector2_t* vector)
+inline int vector2_fp64_normalize(vector2_fp64_t* vector)
 {
-    const double square_modulus = fp64_vector2_get_square_modulus(vector);
+    const double square_modulus = vector2_get_square_modulus_fp64(vector);
 
     if (1.0 - FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + FP64_TWO_EPSYLON) {
         return 1;
     }
 
     if (square_modulus <= FP64_SQUARE_EPSYLON) {
-        fp64_vector2_reset(vector);
+        vector2_reset_fp64(vector);
         return 0;
     }
 
-    fp64_vector2_multiply(vector, sqrt(1.0 / square_modulus), vector);
+    vector2_fp64_multiply(vector, sqrt(1.0 / square_modulus), vector);
     return 1;
 }
 
 // =============== Get Normalized =============== //
 
-static inline int fp32_vector2_set_normalized(const fp32_vector2_t* vector, fp32_vector2_t* result)
+inline int vector2_fp32_set_normalized(const vector2_fp32_t* vector, vector2_fp32_t* result)
 {
-    fp32_vector2_copy(vector, result);
-    return fp32_vector2_normalize(result);
+    vector2_copy_fp32(vector, result);
+    return vector2_fp32_normalize(result);
 }
 
-static inline int fp64_vector2_set_normalized(const fp64_vector2_t* vector, fp64_vector2_t* result)
+inline int vector2_fp64_set_normalized(const vector2_fp64_t* vector, vector2_fp64_t* result)
 {
-    fp64_vector2_copy(vector, result);
-    return fp64_vector2_normalize(result);
+    vector2_copy_fp64(vector, result);
+    return vector2_fp64_normalize(result);
 }
 
 // =================== Angle ==================== //
 
-float fp32_vector2_get_angle(const fp32_vector2_t* vector1, const fp32_vector2_t* vector2, const angle_unit_t unit);
+float vector2_fp32_get_angle(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2, const angle_unit_t unit);
 
-double fp64_vector2_get_angle(const fp64_vector2_t* vector1, const fp64_vector2_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);
 
 // =============== Square Distance ============== //
 
-static inline float fp32_vector2_get_square_distance(const fp32_vector2_t* vector1, const fp32_vector2_t* vector2)
+inline float vector2_fp32_get_square_distance(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 @@ static inline float fp32_vector2_get_square_distance(const fp32_vector2_t* vecto
     return dx1 * dx1 + dx2 * dx2;
 }
 
-static inline double fp64_vector2_get_square_distance(const fp64_vector2_t* vector1, const fp64_vector2_t* vector2)
+inline double vector2_fp64_get_square_distance(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 @@ static inline double fp64_vector2_get_square_distance(const fp64_vector2_t* vect
 
 // ================== Distance ================== //
 
-static inline float fp32_vector2_get_distance(const fp32_vector2_t* vector1, const fp32_vector2_t* vector2)
+inline float vector2_fp32_get_distance(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2)
 {
-    return sqrtf(fp32_vector2_get_square_distance(vector1, vector2));
+    return sqrtf(vector2_fp32_get_square_distance(vector1, vector2));
 }
 
-static inline double fp64_vector2_get_distance(const fp64_vector2_t* vector1, const fp64_vector2_t* vector2)
+inline double vector2_fp64_get_distance(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2)
 {
-    return sqrt(fp64_vector2_get_square_distance(vector1, vector2));
+    return sqrt(vector2_fp64_get_square_distance(vector1, vector2));
 }
 
 // ================== Are Equal ================= //
 
-static inline int fp32_vector2_are_equal(const fp32_vector2_t* vector1, const fp32_vector2_t* vector2)
+inline int vector2_fp32_are_equal(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2)
 {
-    const float square_modulus1 = fp32_vector2_get_square_modulus(vector1);
-    const float square_modulus2 = fp32_vector2_get_square_modulus(vector2);
-    const float square_modulus3 = fp32_vector2_get_square_distance(vector1, 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);
 
     // 2.0f means dimension amount
     if (square_modulus1 < FP32_EPSYLON_EFFECTIVENESS_LIMIT || square_modulus2 < FP32_EPSYLON_EFFECTIVENESS_LIMIT) {
@@ -420,11 +420,11 @@ static inline int fp32_vector2_are_equal(const fp32_vector2_t* vector1, const fp
     return square_modulus3 <= (2.0f * FP32_SQUARE_EPSYLON) * square_modulus1;
 }
 
-static inline int fp64_vector2_are_equal(const fp64_vector2_t* vector1, const fp64_vector2_t* vector2)
+inline int vector2_fp64_are_equal(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2)
 {
-    const double square_modulus1 = fp64_vector2_get_square_modulus(vector1);
-    const double square_modulus2 = fp64_vector2_get_square_modulus(vector2);
-    const double square_modulus3 = fp64_vector2_get_square_distance(vector1, 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);
 
     // 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 fa7e31f..525206b 100644
--- a/basic-geometry/vector3.c
+++ b/basic-geometry/vector3.c
@@ -2,25 +2,25 @@
 
 // =================== Angle ==================== //
 
-float fp32_vector3_get_angle(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2, const angle_unit_t unit)
+float vector3_fp32_get_angle(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, const angle_unit_t unit)
 {
     if (vector1 == 0 || vector2 == 0) {
         return 0.0f;
     }
 
-    const float square_modulus1 = fp32_vector3_get_square_modulus(vector1);
+    const float square_modulus1 = vector3_get_square_modulus_fp32(vector1);
 
     if (square_modulus1 <= FP32_SQUARE_EPSYLON) {
         return 0.0f;
     }
 
-    const float square_modulus2 = fp32_vector3_get_square_modulus(vector2);
+    const float square_modulus2 = vector3_get_square_modulus_fp32(vector2);
 
     if (square_modulus2 <= FP32_SQUARE_EPSYLON) {
         return 0.0f;
     }
 
-    const float cosine = fp32_vector3_scalar_product(vector1, vector2) / sqrtf(square_modulus1 * square_modulus2);
+    const float cosine = vector3_fp32_scalar_product(vector1, vector2) / sqrtf(square_modulus1 * square_modulus2);
 
     if (cosine >= 1.0f - FP32_EPSYLON) {
         return 0.0f;
@@ -33,25 +33,25 @@ float fp32_vector3_get_angle(const fp32_vector3_t* vector1, const fp32_vector3_t
     return fp32_radians_to_units(acosf(cosine), unit);
 }
 
-double fp64_vector3_get_angle(const fp64_vector3_t* vector1, const fp64_vector3_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)
 {
     if (vector1 == 0 || vector2 == 0) {
         return 0.0;
     }
 
-    const double square_modulus1 = fp64_vector3_get_square_modulus(vector1);
+    const double square_modulus1 = vector3_get_square_modulus_fp64(vector1);
 
     if (square_modulus1 <= FP64_SQUARE_EPSYLON) {
         return 0.0;
     }
 
-    const double square_modulus2 = fp64_vector3_get_square_modulus(vector2);
+    const double square_modulus2 = vector3_get_square_modulus_fp64(vector2);
 
     if (square_modulus2 <= FP64_SQUARE_EPSYLON) {
         return 0.0;
     }
 
-    const double cosine = fp64_vector3_scalar_product(vector1, vector2) / sqrt(square_modulus1 * square_modulus2);
+    const double cosine = vector3_fp64_scalar_product(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 bc4a945..3b99a76 100644
--- a/basic-geometry/vector3.h
+++ b/basic-geometry/vector3.h
@@ -7,27 +7,51 @@
 #include <math.h>
 
 // ================== Vector3 =================== //
-//
+
 typedef struct
 {
     float x1, x2, x3;
-} fp32_vector3_t;
+} vector3_fp32_t;
 
 typedef struct
 {
     double x1, x2, x3;
-} fp64_vector3_t;
+} 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 ==================== //
 
-static inline void fp32_vector3_reset(fp32_vector3_t* vector)
+inline void vector3_reset_fp32(vector3_fp32_t* vector)
 {
     vector->x1 = 0.0f;
     vector->x2 = 0.0f;
     vector->x3 = 0.0f;
 }
 
-static inline void fp64_vector3_reset(fp64_vector3_t* vector)
+inline void vector3_reset_fp64(vector3_fp64_t* vector)
 {
     vector->x1 = 0.0;
     vector->x2 = 0.0;
@@ -36,14 +60,14 @@ static inline void fp64_vector3_reset(fp64_vector3_t* vector)
 
 // ==================== Set ===================== //
 
-static inline void fp32_vector3_set_values(const float x1, const float x2, const float x3, fp32_vector3_t* to)
+inline void vector3_set_fp32(const float x1, const float x2, const float x3, vector3_fp32_t* to)
 {
     to->x1 = x1;
     to->x2 = x2;
     to->x3 = x3;
 }
 
-static inline void fp64_vector3_set_values(const double x1, const double x2, const double x3, fp64_vector3_t* to)
+inline void vector3_set_fp64(const double x1, const double x2, const double x3, vector3_fp64_t* to)
 {
     to->x1 = x1;
     to->x2 = x2;
@@ -52,14 +76,30 @@ static inline void fp64_vector3_set_values(const double x1, const double x2, con
 
 // ==================== Copy ==================== //
 
-static inline void fp32_vector3_copy(const fp32_vector3_t* from, fp32_vector3_t* to)
+inline void vector3_copy_fp32(const vector3_fp32_t* from, vector3_fp32_t* to)
 {
     to->x1 = from->x1;
     to->x2 = from->x2;
     to->x3 = from->x3;
 }
 
-static inline void fp64_vector3_copy(const fp64_vector3_t* from, fp64_vector3_t* to)
+inline void vector3_copy_fp64(const vector3_fp64_t* from, vector3_fp64_t* to)
+{
+    to->x1 = from->x1;
+    to->x2 = from->x2;
+    to->x3 = from->x3;
+}
+
+// ================== Convert =================== //
+
+inline void vector3_fp32_convert(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)
 {
     to->x1 = from->x1;
     to->x2 = from->x2;
@@ -68,7 +108,7 @@ static inline void fp64_vector3_copy(const fp64_vector3_t* from, fp64_vector3_t*
 
 // ==================== Swap ==================== //
 
-static inline void fp32_vector3_swap(fp32_vector3_t* vector1, fp32_vector3_t* vector2)
+inline void vector3_swap_fp32(vector3_fp32_t* vector1, vector3_fp32_t* vector2)
 {
     const float x1 = vector2->x1;
     const float x2 = vector2->x2;
@@ -83,7 +123,7 @@ static inline void fp32_vector3_swap(fp32_vector3_t* vector1, fp32_vector3_t* ve
     vector1->x3 = x3;
 }
 
-static inline void fp64_vector3_swap(fp64_vector3_t* vector1, fp64_vector3_t* vector2)
+inline void vector3_swap_fp64(vector3_fp64_t* vector1, vector3_fp64_t* vector2)
 {
     const double x1 = vector2->x1;
     const double x2 = vector2->x2;
@@ -98,112 +138,112 @@ static inline void fp64_vector3_swap(fp64_vector3_t* vector1, fp64_vector3_t* ve
     vector1->x3 = x3;
 }
 
-// ============= Copy to twin type ============== //
+// ==================== Invert ================== //
 
-static inline void fp32_vector3_set_from_fp64(const fp64_vector3_t* from, fp32_vector3_t* to)
+inline void vector3_invert_fp32(vector3_fp32_t* vector)
 {
-    to->x1 = (float) from->x1;
-    to->x2 = (float) from->x2;
-    to->x3 = (float) from->x3;
+    vector->x1 = -vector->x1;
+    vector->x2 = -vector->x2;
+    vector->x3 = -vector->x3;
 }
 
-static inline void fp64_vector3_set_from_fp32(const fp32_vector3_t* from, fp64_vector3_t* to)
+inline void vector3_invert_fp64(vector3_fp64_t* vector)
 {
-    to->x1 = from->x1;
-    to->x2 = from->x2;
-    to->x3 = from->x3;
+    vector->x1 = -vector->x1;
+    vector->x2 = -vector->x2;
+    vector->x3 = -vector->x3;
 }
 
-// =================== Reverse ================== //
+// ================ Make Inverted =============== //
 
-static inline void fp32_vector3_set_reverse(const fp32_vector3_t* from, fp32_vector3_t* to)
+inline void vector3_fp32_make_inverted(const vector3_fp32_t* vector, vector3_fp32_t* result)
 {
-    to->x1 = -from->x1;
-    to->x2 = -from->x2;
-    to->x3 = -from->x3;
+    result->x1 = -vector->x1;
+    result->x2 = -vector->x2;
+    result->x3 = -vector->x3;
 }
 
-static inline void fp64_vector3_set_reverse(const fp64_vector3_t* from, fp64_vector3_t* to)
+inline void vector3_fp64_make_inverted(const vector3_fp64_t* vector, vector3_fp64_t* result)
 {
-    to->x1 = -from->x1;
-    to->x2 = -from->x2;
-    to->x3 = -from->x3;
+    result->x1 = -vector->x1;
+    result->x2 = -vector->x2;
+    result->x3 = -vector->x3;
 }
 
-// ============= Reverse twin type ============== //
+// ============== Make Inverted Twin ============ //
 
-static inline void fp32_vector3_set_reverse_fp64(const fp64_vector3_t* from, fp32_vector3_t* to)
+inline void vector3_fp32_make_inverted_fp64(const vector3_fp32_t* vector, vector3_fp64_t* result)
 {
-    to->x1 = (float) -from->x1;
-    to->x2 = (float) -from->x2;
-    to->x3 = (float) -from->x3;
+    result->x1 = -vector->x1;
+    result->x2 = -vector->x2;
+    result->x3 = -vector->x3;
 }
 
-static inline void fp64_vector3_set_reverse_fp32(const fp32_vector3_t* from, fp64_vector3_t* to)
+inline void vector3_fp64_make_inverted_fp32(const vector3_fp64_t* vector, vector3_fp32_t* result)
 {
-    to->x1 = -from->x1;
-    to->x2 = -from->x2;
-    to->x3 = -from->x3;
+    result->x1 = (float) -vector->x1;
+    result->x2 = (float) -vector->x2;
+    result->x3 = (float) -vector->x3;
 }
 
 // =================== Module =================== //
 
-static inline float fp32_vector3_get_square_modulus(const fp32_vector3_t* vector)
+inline float vector3_get_square_modulus_fp32(const vector3_fp32_t* vector)
 {
     return vector->x1 * vector->x1 + vector->x2 * vector->x2 + vector->x3 * vector->x3;
 }
 
-static inline double fp64_vector3_get_square_modulus(const fp64_vector3_t* vector)
+inline double vector3_get_square_modulus_fp64(const vector3_fp64_t* vector)
 {
     return vector->x1 * vector->x1 + vector->x2 * vector->x2 + vector->x3 * vector->x3;
 }
 
-static inline float fp32_vector3_get_modulus(const fp32_vector3_t* vector)
+inline float vector3_get_modulus_fp32(const vector3_fp32_t* vector)
 {
-    return sqrtf(fp32_vector3_get_square_modulus(vector));
+    return sqrtf(vector3_get_square_modulus_fp32(vector));
 }
 
-static inline double fp64_vector3_get_modulus(const fp64_vector3_t* vector)
+inline double vector3_get_modulus_fp64(const vector3_fp64_t* vector)
 {
-    return sqrt(fp64_vector3_get_square_modulus(vector));
+    return sqrt(vector3_get_square_modulus_fp64(vector));
 }
 
 // ================= Comparison ================= //
 
-static inline int fp32_vector3_is_zero(const fp32_vector3_t* vector)
+inline int vector3_fp32_is_zero(const vector3_fp32_t* vector)
 {
-    return fp32_vector3_get_square_modulus(vector) <= FP32_SQUARE_EPSYLON;
+    return vector3_get_square_modulus_fp32(vector) <= FP32_SQUARE_EPSYLON;
 }
 
-static inline int fp64_vector3_is_zero(const fp64_vector3_t* vector)
+inline int vector3_fp64_is_zero(const vector3_fp64_t* vector)
 {
-    return fp64_vector3_get_square_modulus(vector) <= FP64_SQUARE_EPSYLON;
+    return vector3_get_square_modulus_fp64(vector) <= FP64_SQUARE_EPSYLON;
 }
 
-static inline int fp32_vector3_is_unit(const fp32_vector3_t* vector)
+inline int vector3_fp32_is_unit(const vector3_fp32_t* vector)
 {
-    const float square_modulus = fp32_vector3_get_square_modulus(vector);
+    const float square_modulus = vector3_get_square_modulus_fp32(vector);
 
     return 1.0f - FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP32_TWO_EPSYLON;
 }
 
-static inline int fp64_vector3_is_unit(const fp64_vector3_t* vector)
+inline int vector3_fp64_is_unit(const vector3_fp64_t* vector)
 {
-    const double square_modulus = fp64_vector3_get_square_modulus(vector);
+    const double square_modulus = vector3_get_square_modulus_fp64(vector);
 
     return 1.0f - FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP64_TWO_EPSYLON;
 }
 
 // ==================== Add ===================== //
 
-static inline void fp32_vector3_add(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2, fp32_vector3_t* sum)
+inline void vector3_fp32_add(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;
 }
 
-static inline void fp64_vector3_add(const fp64_vector3_t* vector1, const fp64_vector3_t* vector2, fp64_vector3_t* sum)
+inline void vector3_fp64_add(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;
@@ -212,14 +252,14 @@ static inline void fp64_vector3_add(const fp64_vector3_t* vector1, const fp64_ve
 
 // ================ Subtraction ================= //
 
-static inline void fp32_vector3_subtract(const fp32_vector3_t* minuend, const fp32_vector3_t* subtrahend, fp32_vector3_t* difference)
+inline void vector3_fp32_subtract(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;
 }
 
-static inline void fp64_vector3_subtract(const fp64_vector3_t* minuend, const fp64_vector3_t* subtrahend, fp64_vector3_t* difference)
+inline void vector3_fp64_subtract(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;
@@ -228,14 +268,14 @@ static inline void fp64_vector3_subtract(const fp64_vector3_t* minuend, const fp
 
 // =============== Multiplication =============== //
 
-static inline void fp32_vector3_multiply(const fp32_vector3_t* multiplicand, const float multiplier, fp32_vector3_t* product)
+inline void vector3_fp32_multiply(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;
 }
 
-static inline void fp64_vector3_multiply(const fp64_vector3_t* multiplicand, const double multiplier, fp64_vector3_t* product)
+inline void vector3_fp64_multiply(const vector3_fp64_t* multiplicand, const double multiplier, vector3_fp64_t* product)
 {
     product->x1 = multiplicand->x1 * multiplier;
     product->x2 = multiplicand->x2 * multiplier;
@@ -244,26 +284,26 @@ static inline void fp64_vector3_multiply(const fp64_vector3_t* multiplicand, con
 
 // ================== Division ================== //
 
-static inline void fp32_vector3_divide(const fp32_vector3_t* dividend, const float divisor, fp32_vector3_t* quotient)
+inline void vector3_fp32_divide(const vector3_fp32_t* dividend, const float divisor, vector3_fp32_t* quotient)
 {
-    fp32_vector3_multiply(dividend, 1.0f / divisor, quotient);
+    vector3_fp32_multiply(dividend, 1.0f / divisor, quotient);
 }
 
-static inline void fp64_vector3_divide(const fp64_vector3_t* dividend, const double divisor, fp64_vector3_t* quotient)
+inline void vector3_fp64_divide(const vector3_fp64_t* dividend, const double divisor, vector3_fp64_t* quotient)
 {
-    fp64_vector3_multiply(dividend, 1.0 / divisor, quotient);
+    vector3_fp64_multiply(dividend, 1.0 / divisor, quotient);
 }
 
 // ================ Append scaled =============== //
 
-static inline void fp32_vector3_append_scaled(fp32_vector3_t* basic_vector, const fp32_vector3_t* scalable_vector, const float scale)
+inline void vector3_fp32_append_scaled(vector3_fp32_t* basic_vector, const vector3_fp32_t* scalable_vector, const float scale)
 {
     basic_vector->x1 += scalable_vector->x1 * scale;
     basic_vector->x2 += scalable_vector->x2 * scale;
     basic_vector->x3 += scalable_vector->x3 * scale;
 }
 
-static inline void fp64_vector3_append_scaled(fp64_vector3_t* basic_vector, const fp64_vector3_t* scalable_vector, const double scale)
+inline void vector3_fp64_append_scaled(vector3_fp64_t* basic_vector, const vector3_fp64_t* scalable_vector, const double scale)
 {
     basic_vector->x1 += scalable_vector->x1 * scale;
     basic_vector->x2 += scalable_vector->x2 * scale;
@@ -272,14 +312,14 @@ static inline void fp64_vector3_append_scaled(fp64_vector3_t* basic_vector, cons
 
 // ================== Average2 ================== //
 
-static inline void fp32_vector3_get_mean2(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2, fp32_vector3_t* result)
+inline void vector3_fp32_get_mean2(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;
 }
 
-static inline void fp64_vector3_get_mean2(const fp64_vector3_t* vector1, const fp64_vector3_t* vector2, fp64_vector3_t* result)
+inline void vector3_fp64_get_mean2(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;
@@ -288,14 +328,14 @@ static inline void fp64_vector3_get_mean2(const fp64_vector3_t* vector1, const f
 
 // ================== Average3 ================== //
 
-static inline void fp32_vector3_get_mean3(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2, const fp32_vector3_t* vector3, fp32_vector3_t* result)
+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)
 {
     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;
 }
 
-static inline void fp64_vector3_get_mean3(const fp64_vector3_t* vector1, const fp64_vector3_t* vector2, const fp64_vector3_t* vector3, fp64_vector3_t* result)
+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)
 {
     result->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * FP64_ONE_THIRD;
     result->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * FP64_ONE_THIRD;
@@ -304,26 +344,26 @@ static inline void fp64_vector3_get_mean3(const fp64_vector3_t* vector1, const f
 
 // =============== Scalar Product =============== //
 
-static inline float fp32_vector3_scalar_product(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2)
+inline float vector3_fp32_scalar_product(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2)
 {
     return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2 + vector1->x3 * vector2->x3;
 }
 
-static inline double fp64_vector3_scalar_product(const fp64_vector3_t* vector1, const fp64_vector3_t* vector2)
+inline double vector3_fp64_scalar_product(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 =============== //
 
-static inline float fp32_vector3_triple_product(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2, const fp32_vector3_t* vector3)
+inline float vector3_fp32_triple_product(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);
 }
 
-static inline double fp64_vector3_triple_product(const fp64_vector3_t* vector1, const fp64_vector3_t* vector2, const fp64_vector3_t* vector3)
+inline double vector3_fp64_triple_product(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)
@@ -332,7 +372,7 @@ static inline double fp64_vector3_triple_product(const fp64_vector3_t* vector1,
 
 // =============== Cross Product ================ //
 
-static inline void fp32_vector3_cross_product(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2, fp32_vector3_t* result)
+inline void vector3_fp32_cross_product(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;
@@ -343,7 +383,7 @@ static inline void fp32_vector3_cross_product(const fp32_vector3_t* vector1, con
     result->x3 = x3;
 }
 
-static inline void fp64_vector3_cross_product(const fp64_vector3_t* vector1, const fp64_vector3_t* vector2, fp64_vector3_t* result)
+inline void vector3_fp64_cross_product(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;
@@ -356,20 +396,20 @@ static inline void fp64_vector3_cross_product(const fp64_vector3_t* vector1, con
 
 // ============ Double Cross Product ============ //
 
-static inline void fp32_vector3_double_cross_product(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2, const fp32_vector3_t* vector3, fp32_vector3_t* result)
+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)
 {
-    const float ac = fp32_vector3_scalar_product(vector1, vector3);
-    const float ab = fp32_vector3_scalar_product(vector1, vector2);
+    const float ac = vector3_fp32_scalar_product(vector1, vector3);
+    const float ab = vector3_fp32_scalar_product(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;
 }
 
-static inline void fp64_vector3_double_cross(const fp64_vector3_t* vector1, const fp64_vector3_t* vector2, const fp64_vector3_t* vector3, fp64_vector3_t* result)
+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)
 {
-    const double ac = fp64_vector3_scalar_product(vector1, vector3);
-    const double ab = fp64_vector3_scalar_product(vector1, vector2);
+    const double ac = vector3_fp64_scalar_product(vector1, vector3);
+    const double ab = vector3_fp64_scalar_product(vector1, vector2);
 
     result->x1 = vector2->x1 * ac - vector3->x1 * ab;
     result->x2 = vector2->x2 * ac - vector3->x2 * ab;
@@ -378,63 +418,63 @@ static inline void fp64_vector3_double_cross(const fp64_vector3_t* vector1, cons
 
 // =============== Normalization ================ //
 
-static inline int fp32_vector3_normalize(fp32_vector3_t* vector)
+inline int vector3_fp32_normalize(vector3_fp32_t* vector)
 {
-    const float square_modulus = fp32_vector3_get_square_modulus(vector);
+    const float square_modulus = vector3_get_square_modulus_fp32(vector);
 
     if (1.0f - FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP32_TWO_EPSYLON) {
         return 1;
     }
 
     if (square_modulus <= FP32_SQUARE_EPSYLON) {
-        fp32_vector3_reset(vector);
+        vector3_reset_fp32(vector);
         return 0;
     }
 
-    fp32_vector3_multiply(vector, sqrtf(1.0f / square_modulus), vector);
+    vector3_fp32_multiply(vector, sqrtf(1.0f / square_modulus), vector);
     return 1;
 }
 
-static inline int fp64_vector3_normalize(fp64_vector3_t* vector)
+inline int vector3_fp64_normalize(vector3_fp64_t* vector)
 {
-    const double square_modulus = fp64_vector3_get_square_modulus(vector);
+    const double square_modulus = vector3_get_square_modulus_fp64(vector);
 
     if (1.0 - FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + FP64_TWO_EPSYLON) {
         return 1;
     }
 
     if (square_modulus <= FP64_SQUARE_EPSYLON) {
-        fp64_vector3_reset(vector);
+        vector3_reset_fp64(vector);
         return 0;
     }
 
-    fp64_vector3_multiply(vector, sqrt(1.0 / square_modulus), vector);
+    vector3_fp64_multiply(vector, sqrt(1.0 / square_modulus), vector);
     return 1;
 }
 
 // =============== Get Normalized =============== //
 
-static inline int fp32_vector3_set_normalized(const fp32_vector3_t* vector, fp32_vector3_t* result)
+inline int vector3_fp32_set_normalized(const vector3_fp32_t* vector, vector3_fp32_t* result)
 {
-    fp32_vector3_copy(vector, result);
-    return fp32_vector3_normalize(result);
+    vector3_copy_fp32(vector, result);
+    return vector3_fp32_normalize(result);
 }
 
-static inline int fp64_vector3_set_normalized(const fp64_vector3_t* vector, fp64_vector3_t* result)
+inline int vector3_fp64_set_normalized(const vector3_fp64_t* vector, vector3_fp64_t* result)
 {
-    fp64_vector3_copy(vector, result);
-    return fp64_vector3_normalize(result);
+    vector3_copy_fp64(vector, result);
+    return vector3_fp64_normalize(result);
 }
 
 // =================== Angle ==================== //
 
-float fp32_vector3_get_angle(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2, const angle_unit_t unit);
+float vector3_fp32_get_angle(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, const angle_unit_t unit);
 
-double fp64_vector3_get_angle(const fp64_vector3_t* vector1, const fp64_vector3_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);
 
 // =============== Square Distance ============== //
 
-static inline float fp32_vector3_get_square_distance(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2)
+inline float vector3_fp32_get_square_distance(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2)
 {
     const float dx1 = (vector1->x1 - vector2->x1);
     const float dx2 = (vector1->x2 - vector2->x2);
@@ -443,7 +483,7 @@ static inline float fp32_vector3_get_square_distance(const fp32_vector3_t* vecto
     return dx1 * dx1 + dx2 * dx2 + dx3 * dx3;
 }
 
-static inline double fp64_vector3_get_square_distance(const fp64_vector3_t* vector1, const fp64_vector3_t* vector2)
+inline double vector3_fp64_get_square_distance(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2)
 {
     const double dx1 = (vector1->x1 - vector2->x1);
     const double dx2 = (vector1->x2 - vector2->x2);
@@ -454,23 +494,23 @@ static inline double fp64_vector3_get_square_distance(const fp64_vector3_t* vect
 
 // ================== Distance ================== //
 
-static inline float fp32_vector3_get_distance(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2)
+inline float vector3_fp32_get_distance(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2)
 {
-    return sqrtf(fp32_vector3_get_square_distance(vector1, vector2));
+    return sqrtf(vector3_fp32_get_square_distance(vector1, vector2));
 }
 
-static inline double fp64_vector3_get_distance(const fp64_vector3_t* vector1, const fp64_vector3_t* vector2)
+inline double vector3_fp64_get_distance(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2)
 {
-    return sqrt(fp64_vector3_get_square_distance(vector1, vector2));
+    return sqrt(vector3_fp64_get_square_distance(vector1, vector2));
 }
 
 // ================== Are Equal ================= //
 
-static inline int fp32_vector3_are_equal(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2)
+inline int vector3_fp32_are_equal(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2)
 {
-    const float square_modulus1 = fp32_vector3_get_square_modulus(vector1);
-    const float square_modulus2 = fp32_vector3_get_square_modulus(vector2);
-    const float square_modulus3 = fp32_vector3_get_square_distance(vector1, 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);
 
     // 3.0f means dimension amount
     if (square_modulus1 < FP32_EPSYLON_EFFECTIVENESS_LIMIT || square_modulus2 < FP32_EPSYLON_EFFECTIVENESS_LIMIT) {
@@ -484,11 +524,11 @@ static inline int fp32_vector3_are_equal(const fp32_vector3_t* vector1, const fp
     return square_modulus3 <= (3.0f * FP32_SQUARE_EPSYLON) * square_modulus1;
 }
 
-static inline int fp64_vector3_are_equal(const fp64_vector3_t* vector1, const fp64_vector3_t* vector2)
+inline int vector3_fp64_are_equal(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2)
 {
-    const double square_modulus1 = fp64_vector3_get_square_modulus(vector1);
-    const double square_modulus2 = fp64_vector3_get_square_modulus(vector2);
-    const double square_modulus3 = fp64_vector3_get_square_distance(vector1, 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);
 
     // 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 209cc40..3b54329 100644
--- a/basic-geometry/versor.c
+++ b/basic-geometry/versor.c
@@ -3,18 +3,18 @@
 #include "angle.h"
 #include "versor.h"
 
-const fp32_versor_t FP32_IDLE_VERSOR = { 1.0f, 0.0f, 0.0f, 0.0f };
+const versor_fp32_t FP32_IDLE_VERSOR = { 1.0f, 0.0f, 0.0f, 0.0f };
 
-const fp64_versor_t FP64_IDLE_VERSOR = { 1.0, 0.0, 0.0, 0.0 };
+const versor_fp64_t FP64_IDLE_VERSOR = { 1.0, 0.0, 0.0, 0.0 };
 
 // =============== Set Crude Turn =============== //
 
-void fp32_versor_set_crude_turn(const float x1, const float x2, const float x3, const float angle, const angle_unit_t unit, fp32_versor_t* result)
+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)
 {
     const float square_vector = x1 * x1 + x2 * x2 + x3 * x3;
 
     if (square_vector <= FP32_SQUARE_EPSYLON) {
-        fp32_versor_reset(result);
+        versor_reset_fp32(result);
         return;
     }
 
@@ -23,21 +23,21 @@ void fp32_versor_set_crude_turn(const float x1, const float x2, const float x3,
     const float sine = sinf(half_angle);
 
     if (-FP32_EPSYLON <= sine && sine <= FP32_EPSYLON) {
-        fp32_versor_reset(result);
+        versor_reset_fp32(result);
         return;
     }
 
     const float multiplier = sine / sqrtf(square_vector);
 
-    fp32_versor_set_values(cosf(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier, result);
+    versor_fp32_set_values(cosf(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier, result);
 }
 
-void fp64_versor_set_crude_turn(const double x1, const double x2, const double x3, const double angle, const angle_unit_t unit, fp64_versor_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)
 {
     const double square_vector = x1 * x1 + x2 * x2 + x3 * x3;
 
     if (square_vector <= FP64_SQUARE_EPSYLON) {
-        fp64_versor_reset(result);
+        versor_reset_fp64(result);
         return;
     }
 
@@ -46,18 +46,18 @@ void fp64_versor_set_crude_turn(const double x1, const double x2, const double x
     const double sine = sin(half_angle);
 
     if (-FP64_EPSYLON <= sine && sine <= FP64_EPSYLON) {
-        fp64_versor_reset(result);
+        versor_reset_fp64(result);
         return;
     }
 
     const double multiplier = sine / sqrt(square_vector);
 
-    fp64_versor_set_values(cos(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier, result);
+    versor_fp64_set_values(cos(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier, result);
 }
 
 // ================= Rotation3 ================== //
 
-void fp32_versor_get_rotation(const fp32_versor_t* versor, fp32_rotation3_t* result)
+void versor_fp32_get_rotation(const versor_fp32_t* versor, rotation3_fp32_t* result)
 {
     if (versor == 0 || result == 0) {
         return;
@@ -79,7 +79,7 @@ void fp32_versor_get_rotation(const fp32_versor_t* versor, fp32_rotation3_t* res
     result->axis.x3 = versor->x3 * multiplier;
 }
 
-void fp64_versor_get_rotation(const fp64_versor_t* versor, fp64_rotation3_t* result)
+void versor_fp64_get_rotation(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 15275f1..d5de4ee 100644
--- a/basic-geometry/versor.h
+++ b/basic-geometry/versor.h
@@ -13,11 +13,11 @@
 
 typedef struct {
     const float s0, x1, x2, x3;
-} fp32_versor_t;
+} versor_fp32_t;
 
 typedef struct {
     const double s0, x1, x2, x3;
-} fp64_versor_t;
+} versor_fp64_t;
 
 // ================= Dark Twins ================= //
 
@@ -31,12 +31,12 @@ typedef struct {
 
 // ================= Constants ================== //
 
-extern const fp32_versor_t FP32_IDLE_VERSOR;
-extern const fp64_versor_t FP64_IDLE_VERSOR;
+extern const versor_fp32_t FP32_IDLE_VERSOR;
+extern const versor_fp64_t FP64_IDLE_VERSOR;
 
 // =================== Reset ==================== //
 
-static inline void fp32_versor_reset(fp32_versor_t* versor)
+inline void versor_reset_fp32(versor_fp32_t* versor)
 {
     __BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)versor;
 
@@ -46,7 +46,7 @@ static inline void fp32_versor_reset(fp32_versor_t* versor)
     twin->x3 = 0.0f;
 }
 
-static inline void fp64_versor_reset(fp64_versor_t* versor)
+inline void versor_reset_fp64(versor_fp64_t* versor)
 {
     __BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)versor;
 
@@ -58,7 +58,7 @@ static inline void fp64_versor_reset(fp64_versor_t* versor)
 
 // ==================== Set ===================== //
 
-static inline void fp32_versor_set_values(const float s0, const float x1, const float x2, const float x3, fp32_versor_t* versor)
+inline void versor_fp32_set_values(const float s0, const float x1, const float x2, const float x3, versor_fp32_t* versor)
 {
     __BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)versor;
 
@@ -89,7 +89,7 @@ static inline void fp32_versor_set_values(const float s0, const float x1, const
     twin->x3 *= multiplier;
 }
 
-static inline void fp64_versor_set_values(const double s0, const double x1, const double x2, const double x3, fp64_versor_t* versor)
+inline void versor_fp64_set_values(const double s0, const double x1, const double x2, const double x3, versor_fp64_t* versor)
 {
     __BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)versor;
 
@@ -122,7 +122,7 @@ static inline void fp64_versor_set_values(const double s0, const double x1, cons
 
 // ==================== Copy ==================== //
 
-static inline void fp32_versor_copy(const fp32_versor_t* from, fp32_versor_t* to)
+inline void versor_copy_fp32(const versor_fp32_t* from, versor_fp32_t* to)
 {
     __BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)to;
 
@@ -132,7 +132,7 @@ static inline void fp32_versor_copy(const fp32_versor_t* from, fp32_versor_t* to
     twin->x3 = from->x3;
 }
 
-static inline void fp64_versor_copy(const fp64_versor_t* from, fp64_versor_t* to)
+inline void versor_copy_fp64(const versor_fp64_t* from, versor_fp64_t* to)
 {
     __BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)to;
 
@@ -144,7 +144,7 @@ static inline void fp64_versor_copy(const fp64_versor_t* from, fp64_versor_t* to
 
 // ==================== Swap ==================== //
 
-static inline void fp32_versor_swap(fp32_versor_t* versor1, fp32_versor_t* versor2)
+inline void versor_swap_fp32(versor_fp32_t* versor1, versor_fp32_t* versor2)
 {
     const float s0 = versor1->s0;
     const float x1 = versor1->x1;
@@ -166,7 +166,7 @@ static inline void fp32_versor_swap(fp32_versor_t* versor1, fp32_versor_t* verso
     twin2->x3 = x3;
 }
 
-static inline void fp64_versor_swap(fp64_versor_t* versor1, fp64_versor_t* versor2)
+inline void versor_swap_fp64(versor_fp64_t* versor1, versor_fp64_t* versor2)
 {
     const double s0 = versor1->s0;
     const double x1 = versor1->x1;
@@ -190,51 +190,51 @@ static inline void fp64_versor_swap(fp64_versor_t* versor1, fp64_versor_t* verso
 
 // =============== Set Crude Turn =============== //
 
-void fp32_versor_set_crude_turn(const float x1, const float x2, const float x3, const float angle, const angle_unit_t unit, fp32_versor_t* result);
+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 fp64_versor_set_crude_turn(const double x1, const double x2, const double x3, const double angle, const angle_unit_t unit, fp64_versor_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);
 
 // ================== Set Turn ================== //
 
-static inline void fp32_versor_set_turn(const fp32_vector3_t* axis, const float angle, const angle_unit_t unit, fp32_versor_t* result)
+inline void versor_fp32_set_turn(const vector3_fp32_t* axis, const float angle, const angle_unit_t unit, versor_fp32_t* result)
 {
-    fp32_versor_set_crude_turn(axis->x1, axis->x2, axis->x3, angle, unit, result);
+    versor_fp32_set_crude_turn(axis->x1, axis->x2, axis->x3, angle, unit, result);
 }
 
-static inline void fp64_versor_set_turn(const fp32_vector3_t* axis, const double angle, const angle_unit_t unit, fp64_versor_t* result)
+inline void versor_fp64_set_turn(const vector3_fp32_t* axis, const double angle, const angle_unit_t unit, versor_fp64_t* result)
 {
-    fp64_versor_set_crude_turn(axis->x1, axis->x2, axis->x3, angle, unit, result);
+    versor_fp64_set_crude_turn(axis->x1, axis->x2, axis->x3, angle, unit, result);
 }
 
 // ================ Set Rotation ================ //
 
-static inline void fp32_versor_set_rotation(const fp32_rotation3_t* rotation, fp32_versor_t* result)
+inline void versor_fp32_set_rotation(const rotation3_fp32_t* rotation, versor_fp32_t* result)
 {
-    fp32_versor_set_crude_turn(rotation->axis.x1, rotation->axis.x2, rotation->axis.x3, rotation->radians, BG_ANGLE_UNIT_RADIANS, result);
+    versor_fp32_set_crude_turn(rotation->axis.x1, rotation->axis.x2, rotation->axis.x3, rotation->radians, BG_ANGLE_UNIT_RADIANS, result);
 }
 
-static inline void fp64_versor_set_rotation(const fp64_rotation3_t* rotation, fp64_versor_t* result)
+inline void versor_fp64_set_rotation(const rotation3_fp64_t* rotation, versor_fp64_t* result)
 {
-    fp64_versor_set_crude_turn(rotation->axis.x1, rotation->axis.x2, rotation->axis.x3, rotation->radians, BG_ANGLE_UNIT_RADIANS, result);
+    versor_fp64_set_crude_turn(rotation->axis.x1, rotation->axis.x2, rotation->axis.x3, rotation->radians, BG_ANGLE_UNIT_RADIANS, result);
 }
 
 // ================= Comparison ================= //
 
-static inline int fp32_versor_is_idle(const fp32_versor_t* versor)
+inline int versor_fp32_is_idle(const versor_fp32_t* versor)
 {
     return 1.0f - FP32_EPSYLON <= versor->s0 || versor->s0 <= -(1.0 - FP32_EPSYLON);
 }
 
-static inline int fp64_versor_is_idle(const fp64_versor_t* versor)
+inline int versor_fp64_is_idle(const versor_fp64_t* versor)
 {
     return 1.0 - FP64_EPSYLON <= versor->s0 || versor->s0 <= -(1.0 - FP64_EPSYLON);
 }
 
 // ============= Copy to twin type ============== //
 
-static inline void fp32_versor_set_from_fp64(const fp64_versor_t* versor, fp32_versor_t* result)
+inline void versor_fp32_set_from_fp64(const versor_fp64_t* versor, versor_fp32_t* result)
 {
-    fp32_versor_set_values(
+    versor_fp32_set_values(
         (float) versor->s0,
         (float) versor->x1,
         (float) versor->x2,
@@ -243,9 +243,9 @@ static inline void fp32_versor_set_from_fp64(const fp64_versor_t* versor, fp32_v
     );
 }
 
-static inline void fp64_versor_set_from_fp32(const fp32_versor_t* versor, fp64_versor_t* result)
+inline void versor_fp64_set_from_fp32(const versor_fp32_t* versor, versor_fp64_t* result)
 {
-    fp64_versor_set_values(
+    versor_fp64_set_values(
         versor->s0,
         versor->x1,
         versor->x2,
@@ -256,7 +256,7 @@ static inline void fp64_versor_set_from_fp32(const fp32_versor_t* versor, fp64_v
 
 // ================== Shorten =================== //
 
-static inline void fp32_versor_shorten(fp32_versor_t* versor)
+inline void versor_fp32_shorten(versor_fp32_t* versor)
 {
     if (versor->s0 >= 0.0f) {
         return;
@@ -269,7 +269,7 @@ static inline void fp32_versor_shorten(fp32_versor_t* versor)
     twin->x3 = -versor->x3;
 }
 
-static inline void fp64_versor_shorten(fp64_versor_t* versor)
+inline void versor_fp64_shorten(versor_fp64_t* versor)
 {
     if (versor->s0 >= 0.0f) {
         return;
@@ -284,7 +284,7 @@ static inline void fp64_versor_shorten(fp64_versor_t* versor)
 
 // ================== Shorten =================== //
 
-static inline void fp32_versor_set_shortened(const fp32_versor_t* versor, fp32_versor_t* shortened)
+inline void versor_fp32_set_shortened(const versor_fp32_t* versor, versor_fp32_t* shortened)
 {
     __BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)shortened;
 
@@ -302,7 +302,7 @@ static inline void fp32_versor_set_shortened(const fp32_versor_t* versor, fp32_v
     twin->x3 = -versor->x3;
 }
 
-static inline void fp64_versor_set_shortened(const fp64_versor_t* versor, fp64_versor_t* shortened)
+inline void versor_fp64_set_shortened(const versor_fp64_t* versor, versor_fp64_t* shortened)
 {
     __BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)shortened;
 
@@ -322,7 +322,7 @@ static inline void fp64_versor_set_shortened(const fp64_versor_t* versor, fp64_v
 
 // ================= Inversion ================== //
 
-static inline void fp32_versor_invert(fp32_versor_t* versor)
+inline void versor_invert_fp32(versor_fp32_t* versor)
 {
     __BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)versor;
     twin->x1 = -versor->x1;
@@ -330,7 +330,7 @@ static inline void fp32_versor_invert(fp32_versor_t* versor)
     twin->x3 = -versor->x3;
 }
 
-static inline void fp64_versor_invert(fp64_versor_t* versor)
+inline void versor_invert_fp64(versor_fp64_t* versor)
 {
     __BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)versor;
     twin->x1 = -versor->x1;
@@ -340,7 +340,7 @@ static inline void fp64_versor_invert(fp64_versor_t* versor)
 
 // ================ Set Inverted ================ //
 
-static inline void fp32_versor_set_inverted(const fp32_versor_t* versor, fp32_versor_t* to)
+inline void versor_fp32_set_inverted(const versor_fp32_t* versor, versor_fp32_t* to)
 {
     __BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)to;
     twin->s0 = versor->s0;
@@ -349,7 +349,7 @@ static inline void fp32_versor_set_inverted(const fp32_versor_t* versor, fp32_ve
     twin->x3 = -versor->x3;
 }
 
-static inline void fp64_versor_set_inverted(const fp64_versor_t* versor, fp64_versor_t* to)
+inline void versor_fp64_set_inverted(const versor_fp64_t* versor, versor_fp64_t* to)
 {
     __BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)to;
     twin->s0 = versor->s0;
@@ -360,9 +360,9 @@ static inline void fp64_versor_set_inverted(const fp64_versor_t* versor, fp64_ve
 
 // ================ Set Inverted ================ //
 
-static inline void fp32_versor_set_inverted_fp64(const fp64_versor_t* versor, fp32_versor_t* to)
+inline void versor_fp32_set_inverted_fp64(const versor_fp64_t* versor, versor_fp32_t* to)
 {
-    fp32_versor_set_values(
+    versor_fp32_set_values(
         (float) versor->s0,
         (float) -versor->x1,
         (float) -versor->x2,
@@ -371,9 +371,9 @@ static inline void fp32_versor_set_inverted_fp64(const fp64_versor_t* versor, fp
     );
 }
 
-static inline void fp64_versor_set_inverted_fp32(const fp32_versor_t* versor, fp64_versor_t* to)
+inline void versor_fp64_set_inverted_fp32(const versor_fp32_t* versor, versor_fp64_t* to)
 {
-    fp64_versor_set_values(
+    versor_fp64_set_values(
         versor->s0,
         -versor->x1,
         -versor->x2,
@@ -384,7 +384,7 @@ static inline void fp64_versor_set_inverted_fp32(const fp32_versor_t* versor, fp
 
 // ================ Combination ================= //
 
-static inline void fp32_versor_combine(const fp32_versor_t* second, const fp32_versor_t* first, fp32_versor_t* result)
+inline void versor_fp32_combine(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 @@ static inline void fp32_versor_combine(const fp32_versor_t* second, const fp32_v
     twin->x3 *= multiplier;
 }
 
-static inline void fp64_versor_combine(const fp64_versor_t* second, const fp64_versor_t* first, fp64_versor_t* result)
+inline void versor_fp64_combine(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 @@ static inline void fp64_versor_combine(const fp64_versor_t* second, const fp64_v
 
 // ============ Combination of three ============ //
 
-static inline void fp32_versor_combine3(const fp32_versor_t* third, const fp32_versor_t* second, const fp32_versor_t* first, fp32_versor_t* result)
+inline void versor_fp32_combine3(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 @@ static inline void fp32_versor_combine3(const fp32_versor_t* third, const fp32_v
     twin->x3 *= multiplier;
 }
 
-static inline void fp64_versor_combine3(const fp64_versor_t* third, const fp64_versor_t* second, const fp64_versor_t* first, fp64_versor_t* result)
+inline void versor_fp64_combine3(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 @@ static inline void fp64_versor_combine3(const fp64_versor_t* third, const fp64_v
 
 // ================= Exclusion ================== //
 
-static inline void fp32_versor_exclude(const fp32_versor_t* basic, const fp32_versor_t* exclusion, fp32_versor_t* result)
+inline void versor_fp32_exclude(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 @@ static inline void fp32_versor_exclude(const fp32_versor_t* basic, const fp32_ve
     twin->x3 *= multiplier;
 }
 
-static inline void fp64_versor_exclude(const fp64_versor_t* basic, const fp64_versor_t* exclusion, fp64_versor_t* result)
+inline void versor_fp64_exclude(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 @@ static inline void fp64_versor_exclude(const fp64_versor_t* basic, const fp64_ve
 
 // ================= Rotation3 ================== //
 
-void fp32_versor_get_rotation(const fp32_versor_t* versor, fp32_rotation3_t* result);
+void versor_fp32_get_rotation(const versor_fp32_t* versor, rotation3_fp32_t* result);
 
-void fp64_versor_get_rotation(const fp64_versor_t* versor, fp64_rotation3_t* result);
+void versor_fp64_get_rotation(const versor_fp64_t* versor, rotation3_fp64_t* result);
 
 // =========== Make Rotation Matrix3x3 ========== //
 
-static inline void fp32_versor_make_rotation_matrix(const fp32_versor_t* versor, fp32_matrix3x3_t* matrix)
+inline void versor_fp32_make_rotation_matrix(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 @@ static inline void fp32_versor_make_rotation_matrix(const fp32_versor_t* versor,
     matrix->r1c3 = x1x3 + s0x2;
 }
 
-static inline void fp64_versor_make_rotation_matrix(const fp64_versor_t* versor, fp64_matrix3x3_t* matrix)
+inline void versor_fp64_make_rotation_matrix(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 @@ static inline void fp64_versor_make_rotation_matrix(const fp64_versor_t* versor,
 
 // =========== Make Reverse Matrix3x3 =========== //
 
-static inline void fp32_versor_make_reverse_matrix(const fp32_versor_t* versor, fp32_matrix3x3_t* matrix)
+inline void versor_fp32_make_reverse_matrix(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 @@ static inline void fp32_versor_make_reverse_matrix(const fp32_versor_t* versor,
     matrix->r1c3 = x1x3 - s0x2;
 }
 
-static inline void fp64_versor_make_reverse_matrix(const fp64_versor_t* versor, fp64_matrix3x3_t* matrix)
+inline void versor_fp64_make_reverse_matrix(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 @@ static inline void fp64_versor_make_reverse_matrix(const fp64_versor_t* versor,
 
 // ================ Turn Vector ================= //
 
-static inline void fp32_versor_turn(const fp32_versor_t* versor, const fp32_vector3_t* vector, fp32_vector3_t* result)
+inline void versor_fp32_turn(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 @@ static inline void fp32_versor_turn(const fp32_versor_t* versor, const fp32_vect
     result->x3 = x3;
 }
 
-static inline void fp64_versor_turn(const fp64_versor_t* versor, const fp64_vector3_t* vector, fp64_vector3_t* result)
+inline void versor_fp64_turn(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 @@ static inline void fp64_versor_turn(const fp64_versor_t* versor, const fp64_vect
 
 // ============== Turn Vector Back ============== //
 
-static inline void fp32_versor_turn_back(const fp32_versor_t* versor, const fp32_vector3_t* vector, fp32_vector3_t* result)
+inline void versor_fp32_turn_back(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 @@ static inline void fp32_versor_turn_back(const fp32_versor_t* versor, const fp32
     result->x3 = x3;
 }
 
-static inline void fp64_versor_turn_back(const fp64_versor_t* versor, const fp64_vector3_t* vector, fp64_vector3_t* result)
+inline void versor_fp64_turn_back(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);