diff --git a/basic-geometry-dev/main.c b/basic-geometry-dev/main.c
index d65ef54..bc0c0a6 100644
--- a/basic-geometry-dev/main.c
+++ b/basic-geometry-dev/main.c
@@ -473,17 +473,17 @@ int main()
 {
     //BgcVersorFP32 start = { 1.0f, 0.0f, 0.0f, 0.0f };
     //BgcVersorFP32 end = { 0.0f, 1.0f, 0.0f, 0.0f };
-    /*
+    
     BgcVersorFP32 start = { 1.0f, 0.0f, 0.0f, 0.0f };
     BgcVersorFP32 end = { 0.9999f, 0.01414f, 0.0f, 0.0f };
     BgcSlerpFP32 slerp;
     BgcVersorFP32 result;
-    bgc_slerp_make_fp32(&start, &end, &slerp);
+    bgc_slerp_make_full_fp32(&start, &end, &slerp);
     bgc_slerp_get_turn_for_phase_fp32(&slerp, 0.5f, &result);
-    printf("Result: %0.12f, %0.12f, %0.12f, %0.12f\n", result.s0, result.x1, result.x2, result.x3);
-    */
 
-    test_basis_difference_fp64();
+    print_versor_fp32(&result);
+
+    //test_basis_difference_fp64();
 
     return 0;
 }
diff --git a/basic-geometry/slerp.c b/basic-geometry/slerp.c
index 2e03264..43f5cf0 100644
--- a/basic-geometry/slerp.c
+++ b/basic-geometry/slerp.c
@@ -3,25 +3,42 @@
 extern inline void bgc_slerp_reset_fp32(BgcSlerpFP32* slerp);
 extern inline void bgc_slerp_reset_fp64(BgcSlerpFP64* slerp);
 
+extern inline void bgc_slerp_make_full_fp32(const BgcVersorFP32* start, const BgcVersorFP32* end, BgcSlerpFP32* slerp);
+extern inline void bgc_slerp_make_full_fp64(const BgcVersorFP64* start, const BgcVersorFP64* end, BgcSlerpFP64* slerp);
+
+extern inline void bgc_slerp_make_shortened_fp32(const BgcVersorFP32* start, const BgcVersorFP32* end, BgcSlerpFP32* slerp);
+extern inline void bgc_slerp_make_shortened_fp64(const BgcVersorFP64* start, const BgcVersorFP64* end, BgcSlerpFP64* slerp);
+
 extern inline void bgc_slerp_get_turn_for_phase_fp32(const BgcSlerpFP32* slerp, const float phase, BgcVersorFP32* result);
 extern inline void bgc_slerp_get_turn_for_phase_fp64(const BgcSlerpFP64* slerp, const double phase, BgcVersorFP64* result);
 
-void bgc_slerp_make_full_fp32(const BgcVersorFP32* start, const BgcVersorFP32* end, BgcSlerpFP32* slerp)
+void bgc_slerp_make_fp32(const BgcVersorFP32* start, const BgcVersorFP32* augment, BgcSlerpFP32* slerp)
 {
-    BgcVersorFP32 delta;
+    const float square_vector = augment->x1 * augment->x1 + augment->x2 * augment->x2 + augment->x3 * augment->x3;
 
-    bgc_versor_exclude_fp32(end, start, &delta);
-
-    const float square_vector = delta.x1 * delta.x1 + delta.x2 * delta.x2 + delta.x3 * delta.x3;
-
-    if (square_vector <= BGC_SQUARE_EPSYLON_FP32 || square_vector != square_vector) {
+    if (square_vector != square_vector) {
         bgc_slerp_reset_fp32(slerp);
         return;
     }
 
+    if (square_vector <= BGC_SQUARE_EPSYLON_FP32) {
+        slerp->s0_cos_weight = start->s0;
+        slerp->x1_cos_weight = start->x1;
+        slerp->x2_cos_weight = start->x2;
+        slerp->x3_cos_weight = start->x3;
+
+        slerp->s0_sin_weight = 0.0f;
+        slerp->x1_sin_weight = 0.0f;
+        slerp->x2_sin_weight = 0.0f;
+        slerp->x3_sin_weight = 0.0f;
+
+        slerp->radians = 0.0f;
+        return;
+    }
+
     const float vector_modulus = sqrtf(square_vector);
 
-    slerp->radians = atan2f(vector_modulus, delta.s0);
+    slerp->radians = atan2f(vector_modulus, augment->s0);
 
     const float mutliplier = 1.0f / vector_modulus;
 
@@ -30,28 +47,39 @@ void bgc_slerp_make_full_fp32(const BgcVersorFP32* start, const BgcVersorFP32* e
     slerp->x2_cos_weight = start->x2;
     slerp->x3_cos_weight = start->x3;
 
-    slerp->s0_sin_weight = -mutliplier * (delta.x1 * start->x1 + delta.x2 * start->x2 + delta.x3 * start->x3);
-    slerp->x1_sin_weight = mutliplier * (delta.x1 * start->s0 + delta.x2 * start->x3 - delta.x3 * start->x2);
-    slerp->x2_sin_weight = mutliplier * (delta.x2 * start->s0 - delta.x1 * start->x3 + delta.x3 * start->x1);
-    slerp->x3_sin_weight = mutliplier * (delta.x3 * start->s0 - delta.x2 * start->x1 + delta.x1 * start->x2);
+    slerp->s0_sin_weight = -mutliplier * (augment->x1 * start->x1 + augment->x2 * start->x2 + augment->x3 * start->x3);
+    slerp->x1_sin_weight = mutliplier * (augment->x1 * start->s0 + augment->x2 * start->x3 - augment->x3 * start->x2);
+    slerp->x2_sin_weight = mutliplier * (augment->x2 * start->s0 - augment->x1 * start->x3 + augment->x3 * start->x1);
+    slerp->x3_sin_weight = mutliplier * (augment->x3 * start->s0 - augment->x2 * start->x1 + augment->x1 * start->x2);
 }
 
-void bgc_slerp_make_full_fp64(const BgcVersorFP64* start, const BgcVersorFP64* end, BgcSlerpFP64* slerp)
+void bgc_slerp_make_fp64(const BgcVersorFP64* start, const BgcVersorFP64* augment, BgcSlerpFP64* slerp)
 {
-    BgcVersorFP64 delta;
+    const double square_vector = augment->x1 * augment->x1 + augment->x2 * augment->x2 + augment->x3 * augment->x3;
 
-    bgc_versor_exclude_fp64(end, start, &delta);
-
-    const double square_vector = delta.x1 * delta.x1 + delta.x2 * delta.x2 + delta.x3 * delta.x3;
-
-    if (square_vector <= BGC_SQUARE_EPSYLON_FP64 || square_vector != square_vector) {
+    if (square_vector != square_vector) {
         bgc_slerp_reset_fp64(slerp);
         return;
     }
 
+    if (square_vector <= BGC_SQUARE_EPSYLON_FP64) {
+        slerp->s0_cos_weight = start->s0;
+        slerp->x1_cos_weight = start->x1;
+        slerp->x2_cos_weight = start->x2;
+        slerp->x3_cos_weight = start->x3;
+
+        slerp->s0_sin_weight = 0.0;
+        slerp->x1_sin_weight = 0.0;
+        slerp->x2_sin_weight = 0.0;
+        slerp->x3_sin_weight = 0.0;
+
+        slerp->radians = 0.0;
+        return;
+    }
+
     const double vector_modulus = sqrt(square_vector);
 
-    slerp->radians = atan2(vector_modulus, delta.s0);
+    slerp->radians = atan2(vector_modulus, augment->s0);
 
     const double mutliplier = 1.0 / vector_modulus;
 
@@ -60,70 +88,8 @@ void bgc_slerp_make_full_fp64(const BgcVersorFP64* start, const BgcVersorFP64* e
     slerp->x2_cos_weight = start->x2;
     slerp->x3_cos_weight = start->x3;
 
-    slerp->s0_sin_weight = -mutliplier * (delta.x1 * start->x1 + delta.x2 * start->x2 + delta.x3 * start->x3);
-    slerp->x1_sin_weight = mutliplier * (delta.x1 * start->s0 + delta.x2 * start->x3 - delta.x3 * start->x2);
-    slerp->x2_sin_weight = mutliplier * (delta.x2 * start->s0 - delta.x1 * start->x3 + delta.x3 * start->x1);
-    slerp->x3_sin_weight = mutliplier * (delta.x3 * start->s0 - delta.x2 * start->x1 + delta.x1 * start->x2);
-}
-
-void bgc_slerp_make_shortened_fp32(const BgcVersorFP32* start, const BgcVersorFP32* end, BgcSlerpFP32* slerp)
-{
-    BgcVersorFP32 delta;
-
-    bgc_versor_exclude_fp32(end, start, &delta);
-    bgc_versor_shorten_fp32(&delta, &delta);
-
-    const float square_vector = delta.x1 * delta.x1 + delta.x2 * delta.x2 + delta.x3 * delta.x3;
-
-    if (square_vector <= BGC_SQUARE_EPSYLON_FP32 || square_vector != square_vector) {
-        bgc_slerp_reset_fp32(slerp);
-        return;
-    }
-
-    const float vector_modulus = sqrtf(square_vector);
-
-    slerp->radians = atan2f(vector_modulus, delta.s0);
-
-    const float mutliplier = 1.0f / vector_modulus;
-
-    slerp->s0_cos_weight = start->s0;
-    slerp->x1_cos_weight = start->x1;
-    slerp->x2_cos_weight = start->x2;
-    slerp->x3_cos_weight = start->x3;
-
-    slerp->s0_sin_weight = -mutliplier * (delta.x1 * start->x1 + delta.x2 * start->x2 + delta.x3 * start->x3);
-    slerp->x1_sin_weight =  mutliplier * (delta.x1 * start->s0 + delta.x2 * start->x3 - delta.x3 * start->x2);
-    slerp->x2_sin_weight =  mutliplier * (delta.x2 * start->s0 - delta.x1 * start->x3 + delta.x3 * start->x1);
-    slerp->x3_sin_weight =  mutliplier * (delta.x3 * start->s0 - delta.x2 * start->x1 + delta.x1 * start->x2);
-}
-
-void bgc_slerp_make_shortened_fp64(const BgcVersorFP64* start, const BgcVersorFP64* end, BgcSlerpFP64* slerp)
-{
-    BgcVersorFP64 delta;
-
-    bgc_versor_exclude_fp64(end, start, &delta);
-    bgc_versor_shorten_fp64(&delta, &delta);
-
-    const double square_vector = delta.x1 * delta.x1 + delta.x2 * delta.x2 + delta.x3 * delta.x3;
-
-    if (square_vector <= BGC_SQUARE_EPSYLON_FP64 || square_vector != square_vector) {
-        bgc_slerp_reset_fp64(slerp);
-        return;
-    }
-
-    const double vector_modulus = sqrt(square_vector);
-
-    slerp->radians = atan2(vector_modulus, delta.s0);
-
-    const double mutliplier = 1.0 / vector_modulus;
-
-    slerp->s0_cos_weight = start->s0;
-    slerp->x1_cos_weight = start->x1;
-    slerp->x2_cos_weight = start->x2;
-    slerp->x3_cos_weight = start->x3;
-
-    slerp->s0_sin_weight = -mutliplier * (delta.x1 * start->x1 + delta.x2 * start->x2 + delta.x3 * start->x3);
-    slerp->x1_sin_weight =  mutliplier * (delta.x1 * start->s0 + delta.x2 * start->x3 - delta.x3 * start->x2);
-    slerp->x2_sin_weight =  mutliplier * (delta.x2 * start->s0 - delta.x1 * start->x3 + delta.x3 * start->x1);
-    slerp->x3_sin_weight =  mutliplier * (delta.x3 * start->s0 - delta.x2 * start->x1 + delta.x1 * start->x2);
+    slerp->s0_sin_weight = -mutliplier * (augment->x1 * start->x1 + augment->x2 * start->x2 + augment->x3 * start->x3);
+    slerp->x1_sin_weight = mutliplier * (augment->x1 * start->s0 + augment->x2 * start->x3 - augment->x3 * start->x2);
+    slerp->x2_sin_weight = mutliplier * (augment->x2 * start->s0 - augment->x1 * start->x3 + augment->x3 * start->x1);
+    slerp->x3_sin_weight = mutliplier * (augment->x3 * start->s0 - augment->x2 * start->x1 + augment->x1 * start->x2);
 }
diff --git a/basic-geometry/slerp.h b/basic-geometry/slerp.h
index a4a2053..c2f02a5 100644
--- a/basic-geometry/slerp.h
+++ b/basic-geometry/slerp.h
@@ -53,13 +53,47 @@ inline void bgc_slerp_reset_fp64(BgcSlerpFP64* slerp)
     slerp->radians = 0.0;
 }
 
-void bgc_slerp_make_full_fp32(const BgcVersorFP32* start, const BgcVersorFP32* end, BgcSlerpFP32* slerp);
+void bgc_slerp_make_fp32(const BgcVersorFP32* start, const BgcVersorFP32* augment, BgcSlerpFP32* slerp);
 
-void bgc_slerp_make_full_fp64(const BgcVersorFP64* start, const BgcVersorFP64* end, BgcSlerpFP64* slerp);
+void bgc_slerp_make_fp64(const BgcVersorFP64* start, const BgcVersorFP64* augment, BgcSlerpFP64* slerp);
 
-void bgc_slerp_make_shortened_fp32(const BgcVersorFP32* start, const BgcVersorFP32* end, BgcSlerpFP32* slerp);
+inline void bgc_slerp_make_full_fp32(const BgcVersorFP32* start, const BgcVersorFP32* end, BgcSlerpFP32* slerp)
+{
+    BgcVersorFP32 augment;
 
-void bgc_slerp_make_shortened_fp64(const BgcVersorFP64* start, const BgcVersorFP64* end, BgcSlerpFP64* slerp);
+    bgc_versor_exclude_fp32(end, start, &augment);
+
+    bgc_slerp_make_fp32(start, &augment, slerp);
+}
+
+inline void bgc_slerp_make_full_fp64(const BgcVersorFP64* start, const BgcVersorFP64* end, BgcSlerpFP64* slerp)
+{
+    BgcVersorFP64 augment;
+
+    bgc_versor_exclude_fp64(end, start, &augment);
+
+    bgc_slerp_make_fp64(start, &augment, slerp);
+}
+
+inline void bgc_slerp_make_shortened_fp32(const BgcVersorFP32* start, const BgcVersorFP32* end, BgcSlerpFP32* slerp)
+{
+    BgcVersorFP32 augment;
+
+    bgc_versor_exclude_fp32(end, start, &augment);
+    bgc_versor_shorten_fp32(&augment, &augment);
+
+    bgc_slerp_make_fp32(start, &augment, slerp);
+}
+
+inline void bgc_slerp_make_shortened_fp64(const BgcVersorFP64* start, const BgcVersorFP64* end, BgcSlerpFP64* slerp)
+{
+    BgcVersorFP64 augment;
+
+    bgc_versor_exclude_fp64(end, start, &augment);
+    bgc_versor_shorten_fp64(&augment, &augment);
+
+    bgc_slerp_make_fp64(start, &augment, slerp);
+}
 
 inline void bgc_slerp_get_turn_for_phase_fp32(const BgcSlerpFP32* slerp, const float phase, BgcVersorFP32* result)
 {