diff --git a/basic-geometry-dev/affine3.c b/basic-geometry-dev/affine3.c
index ec767b2..b9d1e40 100644
--- a/basic-geometry-dev/affine3.c
+++ b/basic-geometry-dev/affine3.c
@@ -52,7 +52,7 @@ BGC_FP32_Affine3* _create_bgc_affine3_random_list(int affine_amount)
         position.shift.x2 = get_random_value_fp32();
         position.shift.x3 = get_random_value_fp32();
 
-        bgc_fp32_position3_get_outward_affine(&affines[i], &position);
+        bgc_fp32_position3_get_affine(&affines[i], &position);
     }
 
     return affines;
diff --git a/basic-geometry/position2.c b/basic-geometry/position2.c
index 20464f9..bb41bea 100644
--- a/basic-geometry/position2.c
+++ b/basic-geometry/position2.c
@@ -18,11 +18,11 @@ extern inline void bgc_fp32_position2_convert_to_fp64(BGC_FP64_Position2* const
 extern inline int bgc_fp32_position2_is_idle(const BGC_FP32_Position2* const position);
 extern inline int bgc_fp64_position2_is_idle(const BGC_FP64_Position2* const position);
 
-extern inline void bgc_fp32_position2_invert(BGC_FP32_Position2* const position);
-extern inline void bgc_fp64_position2_invert(BGC_FP64_Position2* const position);
+extern inline void bgc_fp32_position2_revert(BGC_FP32_Position2* const position);
+extern inline void bgc_fp64_position2_revert(BGC_FP64_Position2* const position);
 
-extern inline void bgc_fp32_position2_get_inverse(BGC_FP32_Position2* const inverted, const BGC_FP32_Position2* const position);
-extern inline void bgc_fp64_position2_get_inverse(BGC_FP64_Position2* const inverted, const BGC_FP64_Position2* const position);
+extern inline void bgc_fp32_position2_get_reverse_position(BGC_FP32_Position2* const reverted, const BGC_FP32_Position2* const position);
+extern inline void bgc_fp64_position2_get_reverse_position(BGC_FP64_Position2* const reverted, const BGC_FP64_Position2* const position);
 
 extern inline void bgc_fp32_position2_combine(BGC_FP32_Position2* const combination, const BGC_FP32_Position2* const first, const BGC_FP32_Position2* const second);
 extern inline void bgc_fp64_position2_combine(BGC_FP64_Position2* const combination, const BGC_FP64_Position2* const first, const BGC_FP64_Position2* const second);
@@ -30,20 +30,20 @@ extern inline void bgc_fp64_position2_combine(BGC_FP64_Position2* const combinat
 extern inline void bgc_fp32_position2_exclude(BGC_FP32_Position2* const difference, const BGC_FP32_Position2* const base, const BGC_FP32_Position2* const excludand);
 extern inline void bgc_fp64_position2_exclude(BGC_FP64_Position2* const difference, const BGC_FP64_Position2* const base, const BGC_FP64_Position2* const excludand);
 
-extern inline void bgc_fp32_position2_get_outward_affine(BGC_FP32_Affine2* const outward_affine_map, const BGC_FP32_Position2* const position);
-extern inline void bgc_fp64_position2_get_outward_affine(BGC_FP64_Affine2* const outward_affine_map, const BGC_FP64_Position2* const position);
+extern inline void bgc_fp32_position2_get_affine(BGC_FP32_Affine2* const affine_map, const BGC_FP32_Position2* const position);
+extern inline void bgc_fp64_position2_get_affine(BGC_FP64_Affine2* const affine_map, const BGC_FP64_Position2* const position);
 
-extern inline void bgc_fp32_position2_get_inward_affine(BGC_FP32_Affine2* const inward_affine_map, const BGC_FP32_Position2* const position);
-extern inline void bgc_fp64_position2_get_inward_affine(BGC_FP64_Affine2* const inward_affine_map, const BGC_FP64_Position2* const position);
+extern inline void bgc_fp32_position2_get_reverse_affine(BGC_FP32_Affine2* const affine_map, const BGC_FP32_Position2* const position);
+extern inline void bgc_fp64_position2_get_reverse_affine(BGC_FP64_Affine2* const affine_map, const BGC_FP64_Position2* const position);
 
-extern inline void bgc_fp32_position2_transform_point_outwards(BGC_FP32_Vector2* const outer_point, const BGC_FP32_Position2* const position, const BGC_FP32_Vector2* const inner_point);
-extern inline void bgc_fp64_position2_transform_point_outwards(BGC_FP64_Vector2* const outer_point, const BGC_FP64_Position2* const position, const BGC_FP64_Vector2* const inner_point);
+extern inline void bgc_fp32_position2_transform_point(BGC_FP32_Vector2* const transformed_point, const BGC_FP32_Position2* const position, const BGC_FP32_Vector2* const initial_point);
+extern inline void bgc_fp64_position2_transform_point(BGC_FP64_Vector2* const transformed_point, const BGC_FP64_Position2* const position, const BGC_FP64_Vector2* const initial_point);
 
-extern inline void bgc_fp32_position2_transform_point_inwards(BGC_FP32_Vector2* const inner_point, const BGC_FP32_Position2* const position, const BGC_FP32_Vector2* const outer_point);
-extern inline void bgc_fp64_position2_transform_point_inwards(BGC_FP64_Vector2* const inner_point, const BGC_FP64_Position2* const position, const BGC_FP64_Vector2* const outer_point);
+extern inline void bgc_fp32_position2_transform_point_back(BGC_FP32_Vector2* const transformed_point, const BGC_FP32_Position2* const position, const BGC_FP32_Vector2* const initial_point);
+extern inline void bgc_fp64_position2_transform_point_back(BGC_FP64_Vector2* const transformed_point, const BGC_FP64_Position2* const position, const BGC_FP64_Vector2* const initial_point);
 
-extern inline void bgc_fp32_position2_transform_vector_outwards(BGC_FP32_Vector2* const outer_vector, const BGC_FP32_Position2* const position, const BGC_FP32_Vector2* const inner_vector);
-extern inline void bgc_fp64_position2_transform_vector_outwards(BGC_FP64_Vector2* const outer_vector, const BGC_FP64_Position2* const position, const BGC_FP64_Vector2* const inner_vector);
+extern inline void bgc_fp32_position2_transform_vector(BGC_FP32_Vector2* const transformed_vector, const BGC_FP32_Position2* const position, const BGC_FP32_Vector2* const initial_vector);
+extern inline void bgc_fp64_position2_transform_vector(BGC_FP64_Vector2* const transformed_vector, const BGC_FP64_Position2* const position, const BGC_FP64_Vector2* const initial_vector);
 
-extern inline void bgc_fp32_position2_transform_vector_inwards(BGC_FP32_Vector2* const inner_vector, const BGC_FP32_Position2* const position, const BGC_FP32_Vector2* const outer_vector);
-extern inline void bgc_fp64_position2_transform_vector_inwards(BGC_FP64_Vector2* const inner_vector, const BGC_FP64_Position2* const position, const BGC_FP64_Vector2* const outer_vector);
+extern inline void bgc_fp32_position2_transform_vector_back(BGC_FP32_Vector2* const transformed_vector, const BGC_FP32_Position2* const position, const BGC_FP32_Vector2* const initial_vector);
+extern inline void bgc_fp64_position2_transform_vector_back(BGC_FP64_Vector2* const transformed_vector, const BGC_FP64_Position2* const position, const BGC_FP64_Vector2* const initial_vector);
diff --git a/basic-geometry/position2.h b/basic-geometry/position2.h
index d8ed9b6..093cf86 100644
--- a/basic-geometry/position2.h
+++ b/basic-geometry/position2.h
@@ -89,32 +89,32 @@ inline int bgc_fp64_position2_is_idle(const BGC_FP64_Position2* const position)
     return bgc_fp64_vector2_is_zero(&position->shift) && bgc_fp64_turn2_is_idle(&position->turn);
 }
 
-// =================== Invert ==================== //
+// =================== Revert ==================== //
 
-inline void bgc_fp32_position2_invert(BGC_FP32_Position2* const position)
+inline void bgc_fp32_position2_revert(BGC_FP32_Position2* const position)
 {
     bgc_fp32_turn2_vector_back(&position->shift, &position->turn, &position->shift);
     bgc_fp32_turn2_revert(&position->turn);
     bgc_fp32_vector2_revert(&position->shift);
 }
 
-inline void bgc_fp64_position2_invert(BGC_FP64_Position2* const position)
+inline void bgc_fp64_position2_revert(BGC_FP64_Position2* const position)
 {
     bgc_fp64_turn2_vector_back(&position->shift, &position->turn, &position->shift);
     bgc_fp64_turn2_revert(&position->turn);
     bgc_fp64_vector2_revert(&position->shift);
 }
 
-// ================= Get Inverse ================= //
+// ============ Get Reverse Position ============= //
 
-inline void bgc_fp32_position2_get_inverse(BGC_FP32_Position2* const inverted, const BGC_FP32_Position2* const position)
+inline void bgc_fp32_position2_get_reverse_position(BGC_FP32_Position2* const inverted, const BGC_FP32_Position2* const position)
 {
     bgc_fp32_turn2_vector_back(&inverted->shift, &position->turn, &position->shift);
     bgc_fp32_turn2_get_reverse(&inverted->turn, &position->turn);
     bgc_fp32_vector2_revert(&inverted->shift);
 }
 
-inline void bgc_fp64_position2_get_inverse(BGC_FP64_Position2* const inverted, const BGC_FP64_Position2* const position)
+inline void bgc_fp64_position2_get_reverse_position(BGC_FP64_Position2* const inverted, const BGC_FP64_Position2* const position)
 {
     bgc_fp64_turn2_vector_back(&inverted->shift, &position->turn, &position->shift);
     bgc_fp64_turn2_get_reverse(&inverted->turn, &position->turn);
@@ -157,92 +157,92 @@ inline void bgc_fp64_position2_exclude(BGC_FP64_Position2* const difference, con
     bgc_fp64_turn2_exclude(&difference->turn, &base->turn, &excludand->turn);
 }
 
-// ============= Get Outward Affine ============== //
+// ================= Get Affine ================== //
 
-inline void bgc_fp32_position2_get_outward_affine(BGC_FP32_Affine2* const outward_affine_map, const BGC_FP32_Position2* const position)
+inline void bgc_fp32_position2_get_affine(BGC_FP32_Affine2* const affine_map, const BGC_FP32_Position2* const position)
 {
-    bgc_fp32_turn2_get_rotation_matrix(&outward_affine_map->distortion, &position->turn);
-    bgc_fp32_vector2_copy(&outward_affine_map->shift, &position->shift);
+    bgc_fp32_turn2_get_rotation_matrix(&affine_map->distortion, &position->turn);
+    bgc_fp32_vector2_copy(&affine_map->shift, &position->shift);
 }
 
-inline void bgc_fp64_position2_get_outward_affine(BGC_FP64_Affine2* const outward_affine_map, const BGC_FP64_Position2* const position)
+inline void bgc_fp64_position2_get_affine(BGC_FP64_Affine2* const affine_map, const BGC_FP64_Position2* const position)
 {
-    bgc_fp64_turn2_get_rotation_matrix(&outward_affine_map->distortion, &position->turn);
-    bgc_fp64_vector2_copy(&outward_affine_map->shift, &position->shift);
+    bgc_fp64_turn2_get_rotation_matrix(&affine_map->distortion, &position->turn);
+    bgc_fp64_vector2_copy(&affine_map->shift, &position->shift);
 }
 
-// ============== Get Inward Affine ============== //
+// ============= Get Reverse Affine ============== //
 
-inline void bgc_fp32_position2_get_inward_affine(BGC_FP32_Affine2* const inward_affine_map, const BGC_FP32_Position2* const position)
+inline void bgc_fp32_position2_get_reverse_affine(BGC_FP32_Affine2* const affine_map, const BGC_FP32_Position2* const position)
 {
-    bgc_fp32_turn2_get_reverse_matrix(&inward_affine_map->distortion, &position->turn);
-    bgc_fp32_matrix2x2_multiply_by_vector2(&inward_affine_map->shift, &inward_affine_map->distortion, &position->shift);
-    bgc_fp32_vector2_revert(&inward_affine_map->shift);
+    bgc_fp32_turn2_get_reverse_matrix(&affine_map->distortion, &position->turn);
+    bgc_fp32_matrix2x2_multiply_by_vector2(&affine_map->shift, &affine_map->distortion, &position->shift);
+    bgc_fp32_vector2_revert(&affine_map->shift);
 }
 
-inline void bgc_fp64_position2_get_inward_affine(BGC_FP64_Affine2* const inward_affine_map, const BGC_FP64_Position2* const position)
+inline void bgc_fp64_position2_get_reverse_affine(BGC_FP64_Affine2* const affine_map, const BGC_FP64_Position2* const position)
 {
-    bgc_fp64_turn2_get_reverse_matrix(&inward_affine_map->distortion, &position->turn);
-    bgc_fp64_matrix2x2_multiply_by_vector2(&inward_affine_map->shift, &inward_affine_map->distortion, &position->shift);
-    bgc_fp64_vector2_revert(&inward_affine_map->shift);
+    bgc_fp64_turn2_get_reverse_matrix(&affine_map->distortion, &position->turn);
+    bgc_fp64_matrix2x2_multiply_by_vector2(&affine_map->shift, &affine_map->distortion, &position->shift);
+    bgc_fp64_vector2_revert(&affine_map->shift);
 }
 
-// ========== Transform Point Outwards =========== //
+// =============== Transform Point =============== //
 
-inline void bgc_fp32_position2_transform_point_outwards(BGC_FP32_Vector2* const outer_point, const BGC_FP32_Position2* const position, const BGC_FP32_Vector2* const inner_point)
+inline void bgc_fp32_position2_transform_point(BGC_FP32_Vector2* const transformed_point, const BGC_FP32_Position2* const position, const BGC_FP32_Vector2* const initial_point)
 {
     BGC_FP32_Vector2 turned_point;
-    bgc_fp32_turn2_vector(&turned_point, &position->turn, inner_point);
-    bgc_fp32_vector2_add(outer_point, &position->shift, &turned_point);
+    bgc_fp32_turn2_vector(&turned_point, &position->turn, initial_point);
+    bgc_fp32_vector2_add(transformed_point, &position->shift, &turned_point);
 }
 
-inline void bgc_fp64_position2_transform_point_outwards(BGC_FP64_Vector2* const outer_point, const BGC_FP64_Position2* const position, const BGC_FP64_Vector2* const inner_point)
+inline void bgc_fp64_position2_transform_point(BGC_FP64_Vector2* const transformed_point, const BGC_FP64_Position2* const position, const BGC_FP64_Vector2* const initial_point)
 {
     BGC_FP64_Vector2 turned_point;
-    bgc_fp64_turn2_vector(&turned_point, &position->turn, inner_point);
-    bgc_fp64_vector2_add(outer_point, &position->shift, &turned_point);
+    bgc_fp64_turn2_vector(&turned_point, &position->turn, initial_point);
+    bgc_fp64_vector2_add(transformed_point, &position->shift, &turned_point);
 }
 
-// =========== Transform Point Inwards =========== //
+// ========== Transform Point Backwards ========== //
 
-inline void bgc_fp32_position2_transform_point_inwards(BGC_FP32_Vector2* const inner_point, const BGC_FP32_Position2* const position, const BGC_FP32_Vector2* const outer_point)
+inline void bgc_fp32_position2_transform_point_back(BGC_FP32_Vector2* const transformed_point, const BGC_FP32_Position2* const position, const BGC_FP32_Vector2* const initial_point)
 {
     BGC_FP32_Vector2 relative_point;
-    bgc_fp32_vector2_subtract(&relative_point, outer_point, &position->shift);
-    bgc_fp32_turn2_vector_back(inner_point, &position->turn, &relative_point);
+    bgc_fp32_vector2_subtract(&relative_point, initial_point, &position->shift);
+    bgc_fp32_turn2_vector_back(transformed_point, &position->turn, &relative_point);
 
 }
 
-inline void bgc_fp64_position2_transform_point_inwards(BGC_FP64_Vector2* const inner_point, const BGC_FP64_Position2* const position, const BGC_FP64_Vector2* const outer_point)
+inline void bgc_fp64_position2_transform_point_back(BGC_FP64_Vector2* const transformed_point, const BGC_FP64_Position2* const position, const BGC_FP64_Vector2* const initial_point)
 {
     BGC_FP64_Vector2 relative_point;
-    bgc_fp64_vector2_subtract(&relative_point, outer_point, &position->shift);
-    bgc_fp64_turn2_vector_back(inner_point, &position->turn, &relative_point);
+    bgc_fp64_vector2_subtract(&relative_point, initial_point, &position->shift);
+    bgc_fp64_turn2_vector_back(transformed_point, &position->turn, &relative_point);
 
 }
 
-// ========== Transform Vector Outwards ========== //
+// ============== Transform Vector =============== //
 
-inline void bgc_fp32_position2_transform_vector_outwards(BGC_FP32_Vector2* const outer_vector, const BGC_FP32_Position2* const position, const BGC_FP32_Vector2* const inner_vector)
+inline void bgc_fp32_position2_transform_vector(BGC_FP32_Vector2* const transformed_vector, const BGC_FP32_Position2* const position, const BGC_FP32_Vector2* const initial_vector)
 {
-    bgc_fp32_turn2_vector(outer_vector, &position->turn, inner_vector);
+    bgc_fp32_turn2_vector(transformed_vector, &position->turn, initial_vector);
 }
 
-inline void bgc_fp64_position2_transform_vector_outwards(BGC_FP64_Vector2* const outer_vector, const BGC_FP64_Position2* const position, const BGC_FP64_Vector2* const inner_vector)
+inline void bgc_fp64_position2_transform_vector(BGC_FP64_Vector2* const transformed_vector, const BGC_FP64_Position2* const position, const BGC_FP64_Vector2* const initial_vector)
 {
-    bgc_fp64_turn2_vector(outer_vector, &position->turn, inner_vector);
+    bgc_fp64_turn2_vector(transformed_vector, &position->turn, initial_vector);
 }
 
-// ========== Transform Vector Inwards =========== //
+// ========= Transform Vector Backwards ========== //
 
-inline void bgc_fp32_position2_transform_vector_inwards(BGC_FP32_Vector2* const inner_vector, const BGC_FP32_Position2* const position, const BGC_FP32_Vector2* const outer_vector)
+inline void bgc_fp32_position2_transform_vector_back(BGC_FP32_Vector2* const transformed_vector, const BGC_FP32_Position2* const position, const BGC_FP32_Vector2* const initial_vector)
 {
-    bgc_fp32_turn2_vector_back(inner_vector, &position->turn, outer_vector);
+    bgc_fp32_turn2_vector_back(transformed_vector, &position->turn, initial_vector);
 }
 
-inline void bgc_fp64_position2_transform_vector_inwards(BGC_FP64_Vector2* const inner_vector, const BGC_FP64_Position2* const position, const BGC_FP64_Vector2* const outer_vector)
+inline void bgc_fp64_position2_transform_vector_back(BGC_FP64_Vector2* const transformed_vector, const BGC_FP64_Position2* const position, const BGC_FP64_Vector2* const initial_vector)
 {
-    bgc_fp64_turn2_vector_back(inner_vector, &position->turn, outer_vector);
+    bgc_fp64_turn2_vector_back(transformed_vector, &position->turn, initial_vector);
 }
 
 #endif
diff --git a/basic-geometry/position3.c b/basic-geometry/position3.c
index 0382312..c7857d8 100644
--- a/basic-geometry/position3.c
+++ b/basic-geometry/position3.c
@@ -18,11 +18,11 @@ extern inline void bgc_fp64_position3_convert_to_fp32(BGC_FP32_Position3* const
 extern inline int bgc_fp32_position3_is_idle(const BGC_FP32_Position3* const position);
 extern inline int bgc_fp64_position3_is_idle(const BGC_FP64_Position3* const position);
 
-extern inline void bgc_fp32_position3_invert(BGC_FP32_Position3* const position);
-extern inline void bgc_fp64_position3_invert(BGC_FP64_Position3* const position);
+extern inline void bgc_fp32_position3_revert(BGC_FP32_Position3* const position);
+extern inline void bgc_fp64_position3_revert(BGC_FP64_Position3* const position);
 
-extern inline void bgc_fp32_position3_get_inverse(BGC_FP32_Position3* const inverse, const BGC_FP32_Position3* const position);
-extern inline void bgc_fp64_position3_get_inverse(BGC_FP64_Position3* const inverse, const BGC_FP64_Position3* const position);
+extern inline void bgc_fp32_position3_get_reverse_position(BGC_FP32_Position3* const reverse, const BGC_FP32_Position3* const position);
+extern inline void bgc_fp64_position3_get_reverse_position(BGC_FP64_Position3* const reverse, const BGC_FP64_Position3* const position);
 
 extern inline void bgc_fp32_position3_combine(BGC_FP32_Position3* const combination, const BGC_FP32_Position3* const first, const BGC_FP32_Position3* const second);
 extern inline void bgc_fp64_position3_combine(BGC_FP64_Position3* const combination, const BGC_FP64_Position3* const first, const BGC_FP64_Position3* const second);
@@ -30,20 +30,20 @@ extern inline void bgc_fp64_position3_combine(BGC_FP64_Position3* const combinat
 extern inline void bgc_fp32_position3_exclude(BGC_FP32_Position3* const difference, const BGC_FP32_Position3* const base, const BGC_FP32_Position3* const excludant);
 extern inline void bgc_fp64_position3_exclude(BGC_FP64_Position3* const difference, const BGC_FP64_Position3* const base, const BGC_FP64_Position3* const excludant);
 
-extern inline void bgc_fp32_position3_get_outward_affine(BGC_FP32_Affine3* const outward_affine_map, const BGC_FP32_Position3* const position);
-extern inline void bgc_fp64_position3_get_outward_affine(BGC_FP64_Affine3* const outward_affine_map, const BGC_FP64_Position3* const position);
+extern inline void bgc_fp32_position3_get_affine(BGC_FP32_Affine3* const outward_affine_map, const BGC_FP32_Position3* const position);
+extern inline void bgc_fp64_position3_get_affine(BGC_FP64_Affine3* const outward_affine_map, const BGC_FP64_Position3* const position);
 
-extern inline void bgc_fp32_position3_get_inward_affine(BGC_FP32_Affine3* const inward_affine_map, const BGC_FP32_Position3* const position);
-extern inline void bgc_fp64_position3_get_inward_affine(BGC_FP64_Affine3* const inward_affine_map, const BGC_FP64_Position3* const position);
+extern inline void bgc_fp32_position3_get_reverse_affine(BGC_FP32_Affine3* const inward_affine_map, const BGC_FP32_Position3* const position);
+extern inline void bgc_fp64_position3_get_reverse_affine(BGC_FP64_Affine3* const inward_affine_map, const BGC_FP64_Position3* const position);
 
-extern inline void bgc_fp32_position3_transform_point_outwards(BGC_FP32_Vector3* const outer_point, const BGC_FP32_Position3* const position, const BGC_FP32_Vector3* const inner_point);
-extern inline void bgc_fp64_position3_transform_point_outwards(BGC_FP64_Vector3* const outer_point, const BGC_FP64_Position3* const position, const BGC_FP64_Vector3* const inner_point);
+extern inline void bgc_fp32_position3_transform_point(BGC_FP32_Vector3* const transformed_point, const BGC_FP32_Position3* const position, const BGC_FP32_Vector3* const initial_point);
+extern inline void bgc_fp64_position3_transform_point(BGC_FP64_Vector3* const transformed_point, const BGC_FP64_Position3* const position, const BGC_FP64_Vector3* const initial_point);
 
-extern inline void bgc_fp32_position3_transform_point_inwards(BGC_FP32_Vector3* const inner_point, const BGC_FP32_Position3* const position, const BGC_FP32_Vector3* const outer_point);
-extern inline void bgc_fp64_position3_transform_point_inwards(BGC_FP64_Vector3* const inner_point, const BGC_FP64_Position3* const position, const BGC_FP64_Vector3* const outer_point);
+extern inline void bgc_fp32_position3_transform_point_back(BGC_FP32_Vector3* const transformed_point, const BGC_FP32_Position3* const position, const BGC_FP32_Vector3* const initial_point);
+extern inline void bgc_fp64_position3_transform_point_back(BGC_FP64_Vector3* const transformed_point, const BGC_FP64_Position3* const position, const BGC_FP64_Vector3* const initial_point);
 
-extern inline void bgc_fp32_position3_transform_vector_outwards(BGC_FP32_Vector3* const outer_vector, const BGC_FP32_Position3* const position, const BGC_FP32_Vector3* const inner_vector);
-extern inline void bgc_fp64_position3_transform_vector_outwards(BGC_FP64_Vector3* const outer_vector, const BGC_FP64_Position3* const position, const BGC_FP64_Vector3* const inner_vector);
+extern inline void bgc_fp32_position3_transform_vector(BGC_FP32_Vector3* const transformed_vector, const BGC_FP32_Position3* const position, const BGC_FP32_Vector3* const initial_vector);
+extern inline void bgc_fp64_position3_transform_vector(BGC_FP64_Vector3* const transformed_vector, const BGC_FP64_Position3* const position, const BGC_FP64_Vector3* const initial_vector);
 
-extern inline void bgc_fp32_position3_transform_vector_inwards(BGC_FP32_Vector3* const inner_vector, const BGC_FP32_Position3* const position, const BGC_FP32_Vector3* const outer_vector);
-extern inline void bgc_fp64_position3_transform_vector_inwards(BGC_FP64_Vector3* const inner_vector, const BGC_FP64_Position3* const position, const BGC_FP64_Vector3* const outer_vector);
+extern inline void bgc_fp32_position3_transform_vector_back(BGC_FP32_Vector3* const transformed_vector, const BGC_FP32_Position3* const position, const BGC_FP32_Vector3* const initial_vector);
+extern inline void bgc_fp64_position3_transform_vector_back(BGC_FP64_Vector3* const transformed_vector, const BGC_FP64_Position3* const position, const BGC_FP64_Vector3* const initial_vector);
diff --git a/basic-geometry/position3.h b/basic-geometry/position3.h
index ddafdff..3876249 100644
--- a/basic-geometry/position3.h
+++ b/basic-geometry/position3.h
@@ -88,36 +88,36 @@ inline int bgc_fp64_position3_is_idle(const BGC_FP64_Position3* const position)
     return bgc_fp64_vector3_is_zero(&position->shift) && bgc_fp64_turn3_is_idle(&position->turn);
 }
 
-// =================== Invert ==================== //
+// =================== Revert ==================== //
 
-inline void bgc_fp32_position3_invert(BGC_FP32_Position3* const position)
+inline void bgc_fp32_position3_revert(BGC_FP32_Position3* const position)
 {
     bgc_fp32_turn3_vector_back(&position->shift, &position->turn, &position->shift);
     bgc_fp32_turn3_revert(&position->turn);
     bgc_fp32_vector3_revert(&position->shift);
 }
 
-inline void bgc_fp64_position3_invert(BGC_FP64_Position3* const position)
+inline void bgc_fp64_position3_revert(BGC_FP64_Position3* const position)
 {
     bgc_fp64_turn3_vector_back(&position->shift, &position->turn, &position->shift);
     bgc_fp64_turn3_revert(&position->turn);
     bgc_fp64_vector3_revert(&position->shift);
 }
 
-// ================= Get Inverse ================= //
+// ============ Get Reverse Position ============= //
 
-inline void bgc_fp32_position3_get_inverse(BGC_FP32_Position3* const inverse, const BGC_FP32_Position3* const position)
+inline void bgc_fp32_position3_get_reverse_position(BGC_FP32_Position3* const reverse, const BGC_FP32_Position3* const position)
 {
-    bgc_fp32_turn3_vector_back(&inverse->shift, &position->turn, &position->shift);
-    bgc_fp32_turn3_get_reverse(&inverse->turn, &position->turn);
-    bgc_fp32_vector3_revert(&inverse->shift);
+    bgc_fp32_turn3_vector_back(&reverse->shift, &position->turn, &position->shift);
+    bgc_fp32_turn3_get_reverse(&reverse->turn, &position->turn);
+    bgc_fp32_vector3_revert(&reverse->shift);
 }
 
-inline void bgc_fp64_position3_get_inverse(BGC_FP64_Position3* const inverse, const BGC_FP64_Position3* const position)
+inline void bgc_fp64_position3_get_reverse_position(BGC_FP64_Position3* const reverse, const BGC_FP64_Position3* const position)
 {
-    bgc_fp64_turn3_vector_back(&inverse->shift, &position->turn, &position->shift);
-    bgc_fp64_turn3_get_reverse(&inverse->turn, &position->turn);
-    bgc_fp64_vector3_revert(&inverse->shift);
+    bgc_fp64_turn3_vector_back(&reverse->shift, &position->turn, &position->shift);
+    bgc_fp64_turn3_get_reverse(&reverse->turn, &position->turn);
+    bgc_fp64_vector3_revert(&reverse->shift);
 }
 
 // =================== Combine =================== //
@@ -156,92 +156,92 @@ inline void bgc_fp64_position3_exclude(BGC_FP64_Position3* const difference, con
     bgc_fp64_turn3_exclude(&difference->turn, &base->turn, &excludant->turn);
 }
 
-// ============= Get Outward Affine ============== //
+// ================= Get Affine ================== //
 
-inline void bgc_fp32_position3_get_outward_affine(BGC_FP32_Affine3* const outward_affine_map, const BGC_FP32_Position3* const position)
+inline void bgc_fp32_position3_get_affine(BGC_FP32_Affine3* const affine_map, const BGC_FP32_Position3* const position)
 {
-    bgc_fp32_turn3_get_rotation_matrix(&outward_affine_map->distortion, &position->turn);
-    bgc_fp32_vector3_copy(&outward_affine_map->shift, &position->shift);
+    bgc_fp32_turn3_get_rotation_matrix(&affine_map->distortion, &position->turn);
+    bgc_fp32_vector3_copy(&affine_map->shift, &position->shift);
 }
 
-inline void bgc_fp64_position3_get_outward_affine(BGC_FP64_Affine3* const outward_affine_map, const BGC_FP64_Position3* const position)
+inline void bgc_fp64_position3_get_affine(BGC_FP64_Affine3* const affine_map, const BGC_FP64_Position3* const position)
 {
-    bgc_fp64_turn3_get_rotation_matrix(&outward_affine_map->distortion, &position->turn);
-    bgc_fp64_vector3_copy(&outward_affine_map->shift, &position->shift);
+    bgc_fp64_turn3_get_rotation_matrix(&affine_map->distortion, &position->turn);
+    bgc_fp64_vector3_copy(&affine_map->shift, &position->shift);
 }
 
-// ============== Get Inward Affine ============== //
+// ============= Get Reverse Affine ============== //
 
-inline void bgc_fp32_position3_get_inward_affine(BGC_FP32_Affine3* const inward_affine_map, const BGC_FP32_Position3* const position)
+inline void bgc_fp32_position3_get_reverse_affine(BGC_FP32_Affine3* const affine_map, const BGC_FP32_Position3* const position)
 {
-    bgc_fp32_turn3_get_reverse_matrix(&inward_affine_map->distortion, &position->turn);
-    bgc_fp32_matrix3x3_multiply_by_vector3(&inward_affine_map->shift, &inward_affine_map->distortion, &position->shift);
-    bgc_fp32_vector3_revert(&inward_affine_map->shift);
+    bgc_fp32_turn3_get_reverse_matrix(&affine_map->distortion, &position->turn);
+    bgc_fp32_matrix3x3_multiply_by_vector3(&affine_map->shift, &affine_map->distortion, &position->shift);
+    bgc_fp32_vector3_revert(&affine_map->shift);
 }
 
-inline void bgc_fp64_position3_get_inward_affine(BGC_FP64_Affine3* const inward_affine_map, const BGC_FP64_Position3* const position)
+inline void bgc_fp64_position3_get_reverse_affine(BGC_FP64_Affine3* const affine_map, const BGC_FP64_Position3* const position)
 {
-    bgc_fp64_turn3_get_reverse_matrix(&inward_affine_map->distortion, &position->turn);
-    bgc_fp64_matrix3x3_multiply_by_vector3(&inward_affine_map->shift, &inward_affine_map->distortion, &position->shift);
-    bgc_fp64_vector3_revert(&inward_affine_map->shift);
+    bgc_fp64_turn3_get_reverse_matrix(&affine_map->distortion, &position->turn);
+    bgc_fp64_matrix3x3_multiply_by_vector3(&affine_map->shift, &affine_map->distortion, &position->shift);
+    bgc_fp64_vector3_revert(&affine_map->shift);
 }
 
-// ========== Transform Point Outwards =========== //
+// =============== Transform Point =============== //
 
-inline void bgc_fp32_position3_transform_point_outwards(BGC_FP32_Vector3* const outer_point, const BGC_FP32_Position3* const position, const BGC_FP32_Vector3* const inner_point)
+inline void bgc_fp32_position3_transform_point(BGC_FP32_Vector3* const transformed_point, const BGC_FP32_Position3* const position, const BGC_FP32_Vector3* const initial_point)
 {
     BGC_FP32_Vector3 turned_point;
-    bgc_fp32_turn3_vector(&turned_point, &position->turn, inner_point);
-    bgc_fp32_vector3_add(outer_point, &position->shift, &turned_point);
+    bgc_fp32_turn3_vector(&turned_point, &position->turn, initial_point);
+    bgc_fp32_vector3_add(transformed_point, &position->shift, &turned_point);
 }
 
-inline void bgc_fp64_position3_transform_point_outwards(BGC_FP64_Vector3* const outer_point, const BGC_FP64_Position3* const position, const BGC_FP64_Vector3* const inner_point)
+inline void bgc_fp64_position3_transform_point(BGC_FP64_Vector3* const transformed_point, const BGC_FP64_Position3* const position, const BGC_FP64_Vector3* const initial_point)
 {
     BGC_FP64_Vector3 turned_point;
-    bgc_fp64_turn3_vector(&turned_point, &position->turn, inner_point);
-    bgc_fp64_vector3_add(outer_point, &position->shift, &turned_point);
+    bgc_fp64_turn3_vector(&turned_point, &position->turn, initial_point);
+    bgc_fp64_vector3_add(transformed_point, &position->shift, &turned_point);
 }
 
-// =========== Transform Point Inwards =========== //
+// ========== Transform Point Backwards ========== //
 
-inline void bgc_fp32_position3_transform_point_inwards(BGC_FP32_Vector3* const inner_point, const BGC_FP32_Position3 * const position, const BGC_FP32_Vector3 * const outer_point)
+inline void bgc_fp32_position3_transform_point_back(BGC_FP32_Vector3* const transformed_point, const BGC_FP32_Position3 * const position, const BGC_FP32_Vector3 * const initial_point)
 {
     BGC_FP32_Vector3 relative_point;
-    bgc_fp32_vector3_subtract(&relative_point, outer_point, &position->shift);
-    bgc_fp32_turn3_vector_back(inner_point, &position->turn, &relative_point);
+    bgc_fp32_vector3_subtract(&relative_point, initial_point, &position->shift);
+    bgc_fp32_turn3_vector_back(transformed_point, &position->turn, &relative_point);
 
 }
 
-inline void bgc_fp64_position3_transform_point_inwards(BGC_FP64_Vector3* const inner_point, const BGC_FP64_Position3* const position, const BGC_FP64_Vector3* const outer_point)
+inline void bgc_fp64_position3_transform_point_back(BGC_FP64_Vector3* const transformed_point, const BGC_FP64_Position3* const position, const BGC_FP64_Vector3* const initial_point)
 {
     BGC_FP64_Vector3 relative_point;
-    bgc_fp64_vector3_subtract(&relative_point, outer_point, &position->shift);
-    bgc_fp64_turn3_vector_back(inner_point, &position->turn, &relative_point);
+    bgc_fp64_vector3_subtract(&relative_point, initial_point, &position->shift);
+    bgc_fp64_turn3_vector_back(transformed_point, &position->turn, &relative_point);
 
 }
 
-// ========== Transform Vector Outwards ========== //
+// ============== Transform Vector =============== //
 
-inline void bgc_fp32_position3_transform_vector_outwards(BGC_FP32_Vector3* const outer_vector, const BGC_FP32_Position3* const position, const BGC_FP32_Vector3* const inner_vector)
+inline void bgc_fp32_position3_transform_vector(BGC_FP32_Vector3* const transformed_vector, const BGC_FP32_Position3* const position, const BGC_FP32_Vector3* const initial_vector)
 {
-    bgc_fp32_turn3_vector(outer_vector, &position->turn, inner_vector);
+    bgc_fp32_turn3_vector(transformed_vector, &position->turn, initial_vector);
 }
 
-inline void bgc_fp64_position3_transform_vector_outwards(BGC_FP64_Vector3* const outer_vector, const BGC_FP64_Position3* const position, const BGC_FP64_Vector3* const inner_vector)
+inline void bgc_fp64_position3_transform_vector(BGC_FP64_Vector3* const transformed_vector, const BGC_FP64_Position3* const position, const BGC_FP64_Vector3* const initial_vector)
 {
-    bgc_fp64_turn3_vector(outer_vector, &position->turn, inner_vector);
+    bgc_fp64_turn3_vector(transformed_vector, &position->turn, initial_vector);
 }
 
 // ========== Transform Vector Inwards =========== //
 
-inline void bgc_fp32_position3_transform_vector_inwards(BGC_FP32_Vector3* const inner_vector, const BGC_FP32_Position3* const position, const BGC_FP32_Vector3* const outer_vector)
+inline void bgc_fp32_position3_transform_vector_back(BGC_FP32_Vector3* const transformed_vector, const BGC_FP32_Position3* const position, const BGC_FP32_Vector3* const initial_vector)
 {
-    bgc_fp32_turn3_vector_back(inner_vector, &position->turn, outer_vector);
+    bgc_fp32_turn3_vector_back(transformed_vector, &position->turn, initial_vector);
 }
 
-inline void bgc_fp64_position3_transform_vector_inwards(BGC_FP64_Vector3* const inner_vector, const BGC_FP64_Position3* const position, const BGC_FP64_Vector3* const outer_vector)
+inline void bgc_fp64_position3_transform_vector_back(BGC_FP64_Vector3* const transformed_vector, const BGC_FP64_Position3* const position, const BGC_FP64_Vector3* const initial_vector)
 {
-    bgc_fp64_turn3_vector_back(inner_vector, &position->turn, outer_vector);
+    bgc_fp64_turn3_vector_back(transformed_vector, &position->turn, initial_vector);
 }
 
 #endif // _BGC_POSITION_H_INCLUDED_
diff --git a/basic-geometry/rigid-pose3.c b/basic-geometry/rigid-pose3.c
index 7866566..d55c28b 100644
--- a/basic-geometry/rigid-pose3.c
+++ b/basic-geometry/rigid-pose3.c
@@ -42,8 +42,8 @@ extern inline void bgc_fp64_rigid_pose3_get_alternative(BGC_FP64_RigidPose3* con
 extern inline void bgc_fp32_rigid_pose3_revert(BGC_FP32_RigidPose3* const pose);
 extern inline void bgc_fp64_rigid_pose3_revert(BGC_FP64_RigidPose3* const pose);
 
-extern inline void bgc_fp32_rigid_pose3_get_reverse(BGC_FP32_RigidPose3* const reverse, const BGC_FP32_RigidPose3* const pose);
-extern inline void bgc_fp64_rigid_pose3_get_reverse(BGC_FP64_RigidPose3* const reverse, const BGC_FP64_RigidPose3* const pose);
+extern inline void bgc_fp32_rigid_pose3_get_reverse_pose(BGC_FP32_RigidPose3* const reverse, const BGC_FP32_RigidPose3* const pose);
+extern inline void bgc_fp64_rigid_pose3_get_reverse_pose(BGC_FP64_RigidPose3* const reverse, const BGC_FP64_RigidPose3* const pose);
 
 extern inline void bgc_fp32_rigid_pose3_combine(BGC_FP32_RigidPose3* const combination, const BGC_FP32_RigidPose3* const first, const BGC_FP32_RigidPose3* const second);
 extern inline void bgc_fp64_rigid_pose3_combine(BGC_FP64_RigidPose3* const combination, const BGC_FP64_RigidPose3* const first, const BGC_FP64_RigidPose3* const second);
@@ -51,32 +51,32 @@ extern inline void bgc_fp64_rigid_pose3_combine(BGC_FP64_RigidPose3* const combi
 extern inline void bgc_fp32_rigid_pose3_exclude(BGC_FP32_RigidPose3* const difference, const BGC_FP32_RigidPose3* const base, const BGC_FP32_RigidPose3* const excludant);
 extern inline void bgc_fp64_rigid_pose3_exclude(BGC_FP64_RigidPose3* const difference, const BGC_FP64_RigidPose3* const base, const BGC_FP64_RigidPose3* const excludant);
 
-extern inline void bgc_fp32_rigid_pose3_get_outward_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_RigidPose3* const pose);
-extern inline void bgc_fp64_rigid_pose3_get_outward_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_RigidPose3* const pose);
+extern inline void bgc_fp32_rigid_pose3_get_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_RigidPose3* const pose);
+extern inline void bgc_fp64_rigid_pose3_get_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_RigidPose3* const pose);
 
-extern inline void bgc_fp32_rigid_pose3_get_inward_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_RigidPose3* const pose);
-extern inline void bgc_fp64_rigid_pose3_get_inward_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_RigidPose3* const pose);
+extern inline void bgc_fp32_rigid_pose3_get_reverse_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_RigidPose3* const pose);
+extern inline void bgc_fp64_rigid_pose3_get_reverse_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_RigidPose3* const pose);
 
-extern inline void bgc_fp32_rigid_pose3_get_outer_shift(BGC_FP32_Vector3* const shift, const BGC_FP32_RigidPose3* const pose);
-extern inline void bgc_fp64_rigid_pose3_get_outer_shift(BGC_FP64_Vector3* const shift, const BGC_FP64_RigidPose3* const pose);
+extern inline void bgc_fp32_rigid_pose3_get_shift(BGC_FP32_Vector3* const shift, const BGC_FP32_RigidPose3* const pose);
+extern inline void bgc_fp64_rigid_pose3_get_shift(BGC_FP64_Vector3* const shift, const BGC_FP64_RigidPose3* const pose);
 
-extern inline void bgc_fp32_rigid_pose3_get_inner_shift(BGC_FP32_Vector3* const shift, const BGC_FP32_RigidPose3* const pose);
-extern inline void bgc_fp64_rigid_pose3_get_inner_shift(BGC_FP64_Vector3* const shift, const BGC_FP64_RigidPose3* const pose);
+extern inline void bgc_fp32_rigid_pose3_get_reverse_shift(BGC_FP32_Vector3* const shift, const BGC_FP32_RigidPose3* const pose);
+extern inline void bgc_fp64_rigid_pose3_get_reverse_shift(BGC_FP64_Vector3* const shift, const BGC_FP64_RigidPose3* const pose);
 
-extern inline void bgc_fp32_rigid_pose3_get_outward_affine(BGC_FP32_Affine3* const affine_map, const BGC_FP32_RigidPose3* const pose);
-extern inline void bgc_fp64_rigid_pose3_get_outward_affine(BGC_FP64_Affine3* const affine_map, const BGC_FP64_RigidPose3* const pose);
+extern inline void bgc_fp32_rigid_pose3_get_affine(BGC_FP32_Affine3* const affine_map, const BGC_FP32_RigidPose3* const pose);
+extern inline void bgc_fp64_rigid_pose3_get_affine(BGC_FP64_Affine3* const affine_map, const BGC_FP64_RigidPose3* const pose);
 
-extern inline void bgc_fp32_rigid_pose3_get_inward_affine(BGC_FP32_Affine3* const affine_map, const BGC_FP32_RigidPose3* const pose);
-extern inline void bgc_fp64_rigid_pose3_get_inward_affine(BGC_FP64_Affine3* const affine_map, const BGC_FP64_RigidPose3* const pose);
+extern inline void bgc_fp32_rigid_pose3_get_reverse_affine(BGC_FP32_Affine3* const affine_map, const BGC_FP32_RigidPose3* const pose);
+extern inline void bgc_fp64_rigid_pose3_get_reverse_affine(BGC_FP64_Affine3* const affine_map, const BGC_FP64_RigidPose3* const pose);
 
-extern inline void bgc_fp32_rigid_pose3_get_outer_position(BGC_FP32_Position3* const position, const BGC_FP32_RigidPose3* const pose);
-extern inline void bgc_fp64_rigid_pose3_get_outer_position(BGC_FP64_Position3* const position, const BGC_FP64_RigidPose3* const pose);
+extern inline void bgc_fp32_rigid_pose3_get_position(BGC_FP32_Position3* const position, const BGC_FP32_RigidPose3* const pose);
+extern inline void bgc_fp64_rigid_pose3_get_position(BGC_FP64_Position3* const position, const BGC_FP64_RigidPose3* const pose);
 
-extern inline void bgc_fp32_rigid_pose3_set_outer_position(BGC_FP32_RigidPose3* const pose, const BGC_FP32_Position3* const position);
-extern inline void bgc_fp64_rigid_pose3_set_outer_position(BGC_FP64_RigidPose3* const pose, const BGC_FP64_Position3* const position);
+extern inline void bgc_fp32_rigid_pose3_set_position(BGC_FP32_RigidPose3* const pose, const BGC_FP32_Position3* const position);
+extern inline void bgc_fp64_rigid_pose3_set_position(BGC_FP64_RigidPose3* const pose, const BGC_FP64_Position3* const position);
 
-extern inline void bgc_fp32_rigid_pose3_get_inner_position(BGC_FP32_Position3* const position, const BGC_FP32_RigidPose3* const pose);
-extern inline void bgc_fp64_rigid_pose3_get_inner_position(BGC_FP64_Position3* const position, const BGC_FP64_RigidPose3* const pose);
+extern inline void bgc_fp32_rigid_pose3_get_reverse_position(BGC_FP32_Position3* const position, const BGC_FP32_RigidPose3* const pose);
+extern inline void bgc_fp64_rigid_pose3_get_reverse_position(BGC_FP64_Position3* const position, const BGC_FP64_RigidPose3* const pose);
 
-extern inline void bgc_fp32_rigid_pose3_set_inner_position(BGC_FP32_RigidPose3* const pose, const BGC_FP32_Position3* const position);
-extern inline void bgc_fp64_rigid_pose3_set_inner_position(BGC_FP64_RigidPose3* const pose, const BGC_FP64_Position3* const position);
+extern inline void bgc_fp32_rigid_pose3_set_reverse_position(BGC_FP32_RigidPose3* const pose, const BGC_FP32_Position3* const position);
+extern inline void bgc_fp64_rigid_pose3_set_reverse_position(BGC_FP64_RigidPose3* const pose, const BGC_FP64_Position3* const position);
diff --git a/basic-geometry/rigid-pose3.h b/basic-geometry/rigid-pose3.h
index 4ffaef9..5d1e6a9 100644
--- a/basic-geometry/rigid-pose3.h
+++ b/basic-geometry/rigid-pose3.h
@@ -252,15 +252,15 @@ inline void bgc_fp64_rigid_pose3_revert(BGC_FP64_RigidPose3* const pose)
     bgc_fp64_quaternion_conjugate(&pose->_versor.dual_part);
 }
 
-// ================ Get Reverse ================= //
+// ============== Get Reverse Pose ============== //
 
-inline void bgc_fp32_rigid_pose3_get_reverse(BGC_FP32_RigidPose3* const reverse, const BGC_FP32_RigidPose3* const pose)
+inline void bgc_fp32_rigid_pose3_get_reverse_pose(BGC_FP32_RigidPose3* const reverse, const BGC_FP32_RigidPose3* const pose)
 {
     bgc_fp32_quaternion_get_conjugate(&reverse->_versor.real_part, &pose->_versor.real_part);
     bgc_fp32_quaternion_get_conjugate(&reverse->_versor.dual_part, &pose->_versor.dual_part);
 }
 
-inline void bgc_fp64_rigid_pose3_get_reverse(BGC_FP64_RigidPose3* const reverse, const BGC_FP64_RigidPose3* const pose)
+inline void bgc_fp64_rigid_pose3_get_reverse_pose(BGC_FP64_RigidPose3* const reverse, const BGC_FP64_RigidPose3* const pose)
 {
     bgc_fp64_quaternion_get_conjugate(&reverse->_versor.real_part, &pose->_versor.real_part);
     bgc_fp64_quaternion_get_conjugate(&reverse->_versor.dual_part, &pose->_versor.dual_part);
@@ -308,33 +308,33 @@ inline void bgc_fp64_rigid_pose3_exclude(BGC_FP64_RigidPose3* const difference,
     _bgc_fp64_rigid_pose3_normalize(difference);
 }
 
-// ============= Get Outward Matrix ============= //
+// ============ Get Rotation Matrix ============= //
 
-inline void bgc_fp32_rigid_pose3_get_outward_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_RigidPose3* const pose)
+inline void bgc_fp32_rigid_pose3_get_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_RigidPose3* const pose)
 {
     _bgc_fp32_versor_get_rotation_matrix(matrix, &pose->_versor.real_part);
 }
 
-inline void bgc_fp64_rigid_pose3_get_outward_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_RigidPose3* const pose)
+inline void bgc_fp64_rigid_pose3_get_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_RigidPose3* const pose)
 {
     _bgc_fp64_versor_get_rotation_matrix(matrix, &pose->_versor.real_part);
 }
 
-// ============= Get Inward Matrix ============== //
+// ============= Get Reverse Matrix ============= //
 
-inline void bgc_fp32_rigid_pose3_get_inward_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_RigidPose3* const pose)
+inline void bgc_fp32_rigid_pose3_get_reverse_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_RigidPose3* const pose)
 {
     _bgc_fp32_versor_get_reverse_matrix(matrix, &pose->_versor.real_part);
 }
 
-inline void bgc_fp64_rigid_pose3_get_inward_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_RigidPose3* const pose)
+inline void bgc_fp64_rigid_pose3_get_reverse_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_RigidPose3* const pose)
 {
     _bgc_fp64_versor_get_reverse_matrix(matrix, &pose->_versor.real_part);
 }
 
-// ============== Get Outer Shift =============== //
+// ================= Get Shift ================== //
 
-inline void bgc_fp32_rigid_pose3_get_outer_shift(BGC_FP32_Vector3* const shift, const BGC_FP32_RigidPose3* const pose)
+inline void bgc_fp32_rigid_pose3_get_shift(BGC_FP32_Vector3* const shift, const BGC_FP32_RigidPose3* const pose)
 {
     const BGC_FP32_Quaternion* const real = &pose->_versor.real_part;
     const BGC_FP32_Quaternion* const dual = &pose->_versor.dual_part;
@@ -344,7 +344,7 @@ inline void bgc_fp32_rigid_pose3_get_outer_shift(BGC_FP32_Vector3* const shift,
     shift->x3 = 2.0f * ((dual->x3 * real->s0 + dual->x2 * real->x1) - (dual->s0 * real->x3 + dual->x1 * real->x2));
 }
 
-inline void bgc_fp64_rigid_pose3_get_outer_shift(BGC_FP64_Vector3* const shift, const BGC_FP64_RigidPose3* const pose)
+inline void bgc_fp64_rigid_pose3_get_shift(BGC_FP64_Vector3* const shift, const BGC_FP64_RigidPose3* const pose)
 {
     const BGC_FP64_Quaternion* const real = &pose->_versor.real_part;
     const BGC_FP64_Quaternion* const dual = &pose->_versor.dual_part;
@@ -354,9 +354,9 @@ inline void bgc_fp64_rigid_pose3_get_outer_shift(BGC_FP64_Vector3* const shift,
     shift->x3 = 2.0 * ((dual->x3 * real->s0 + dual->x2 * real->x1) - (dual->s0 * real->x3 + dual->x1 * real->x2));
 }
 
-// ============== Get Inner Shift ============== //
+// ============= Get Reverse Shift ============= //
 
-inline void bgc_fp32_rigid_pose3_get_inner_shift(BGC_FP32_Vector3* const shift, const BGC_FP32_RigidPose3* const pose)
+inline void bgc_fp32_rigid_pose3_get_reverse_shift(BGC_FP32_Vector3* const shift, const BGC_FP32_RigidPose3* const pose)
 {
     const BGC_FP32_Quaternion* const real = &pose->_versor.real_part;
     const BGC_FP32_Quaternion* const dual = &pose->_versor.dual_part;
@@ -366,7 +366,7 @@ inline void bgc_fp32_rigid_pose3_get_inner_shift(BGC_FP32_Vector3* const shift,
     shift->x3 = 2.0f * ((dual->s0 * real->x3 - dual->x3 * real->s0) + (dual->x2 * real->x1 - dual->x1 * real->x2));
 }
 
-inline void bgc_fp64_rigid_pose3_get_inner_shift(BGC_FP64_Vector3* const shift, const BGC_FP64_RigidPose3* const pose)
+inline void bgc_fp64_rigid_pose3_get_reverse_shift(BGC_FP64_Vector3* const shift, const BGC_FP64_RigidPose3* const pose)
 {
     const BGC_FP64_Quaternion* const real = &pose->_versor.real_part;
     const BGC_FP64_Quaternion* const dual = &pose->_versor.dual_part;
@@ -376,51 +376,51 @@ inline void bgc_fp64_rigid_pose3_get_inner_shift(BGC_FP64_Vector3* const shift,
     shift->x3 = 2.0 * ((dual->s0 * real->x3 - dual->x3 * real->s0) + (dual->x2 * real->x1 - dual->x1 * real->x2));
 }
 
-// ============ Get Outward Affine3 ============= //
+// ================ Get Affine3 ================= //
 
-inline void bgc_fp32_rigid_pose3_get_outward_affine(BGC_FP32_Affine3* const affine_map, const BGC_FP32_RigidPose3* const pose)
+inline void bgc_fp32_rigid_pose3_get_affine(BGC_FP32_Affine3* const affine_map, const BGC_FP32_RigidPose3* const pose)
 {
     _bgc_fp32_versor_get_rotation_matrix(&affine_map->distortion, &pose->_versor.real_part);
-    bgc_fp32_rigid_pose3_get_outer_shift(&affine_map->shift, pose);
+    bgc_fp32_rigid_pose3_get_shift(&affine_map->shift, pose);
 }
 
-inline void bgc_fp64_rigid_pose3_get_outward_affine(BGC_FP64_Affine3* const affine_map, const BGC_FP64_RigidPose3* const pose)
+inline void bgc_fp64_rigid_pose3_get_affine(BGC_FP64_Affine3* const affine_map, const BGC_FP64_RigidPose3* const pose)
 {
     _bgc_fp64_versor_get_rotation_matrix(&affine_map->distortion, &pose->_versor.real_part);
-    bgc_fp64_rigid_pose3_get_outer_shift(&affine_map->shift, pose);
+    bgc_fp64_rigid_pose3_get_shift(&affine_map->shift, pose);
 }
 
-// ============= Get Inward Affine3 ============= //
+// ============ Get Reverse Affine3 ============= //
 
-inline void bgc_fp32_rigid_pose3_get_inward_affine(BGC_FP32_Affine3* const affine_map, const BGC_FP32_RigidPose3* const pose)
+inline void bgc_fp32_rigid_pose3_get_reverse_affine(BGC_FP32_Affine3* const affine_map, const BGC_FP32_RigidPose3* const pose)
 {
     _bgc_fp32_versor_get_reverse_matrix(&affine_map->distortion, &pose->_versor.real_part);
-    bgc_fp32_rigid_pose3_get_inner_shift(&affine_map->shift, pose);
+    bgc_fp32_rigid_pose3_get_reverse_shift(&affine_map->shift, pose);
 }
 
-inline void bgc_fp64_rigid_pose3_get_inward_affine(BGC_FP64_Affine3* const affine_map, const BGC_FP64_RigidPose3* const pose)
+inline void bgc_fp64_rigid_pose3_get_reverse_affine(BGC_FP64_Affine3* const affine_map, const BGC_FP64_RigidPose3* const pose)
 {
     _bgc_fp64_versor_get_reverse_matrix(&affine_map->distortion, &pose->_versor.real_part);
-    bgc_fp64_rigid_pose3_get_inner_shift(&affine_map->shift, pose);
+    bgc_fp64_rigid_pose3_get_reverse_shift(&affine_map->shift, pose);
 }
 
-// ============ Get Outer Position3 ============= //
+// =============== Get Position3 ================ //
 
-inline void bgc_fp32_rigid_pose3_get_outer_position(BGC_FP32_Position3* const position, const BGC_FP32_RigidPose3* const pose)
+inline void bgc_fp32_rigid_pose3_get_position(BGC_FP32_Position3* const position, const BGC_FP32_RigidPose3* const pose)
 {
     bgc_fp32_quaternion_copy(&position->turn._versor, &pose->_versor.real_part);
-    bgc_fp32_rigid_pose3_get_outer_shift(&position->shift, pose);
+    bgc_fp32_rigid_pose3_get_shift(&position->shift, pose);
 }
 
-inline void bgc_fp64_rigid_pose3_get_outer_position(BGC_FP64_Position3* const position, const BGC_FP64_RigidPose3* const pose)
+inline void bgc_fp64_rigid_pose3_get_position(BGC_FP64_Position3* const position, const BGC_FP64_RigidPose3* const pose)
 {
     bgc_fp64_quaternion_copy(&position->turn._versor, &pose->_versor.real_part);
-    bgc_fp64_rigid_pose3_get_outer_shift(&position->shift, pose);
+    bgc_fp64_rigid_pose3_get_shift(&position->shift, pose);
 }
 
-// ============ Set Outer Position3 ============= //
+// =============== Set Position3 ================ //
 
-inline void bgc_fp32_rigid_pose3_set_outer_position(BGC_FP32_RigidPose3* const pose, const BGC_FP32_Position3* const position)
+inline void bgc_fp32_rigid_pose3_set_position(BGC_FP32_RigidPose3* const pose, const BGC_FP32_Position3* const position)
 {
     const BGC_FP32_Quaternion* const versor = &position->turn._versor;
     const BGC_FP32_Vector3* const shift = &position->shift;
@@ -433,7 +433,7 @@ inline void bgc_fp32_rigid_pose3_set_outer_position(BGC_FP32_RigidPose3* const p
     pose->_versor.dual_part.x3 = -0.5f * (shift->x2 * versor->x1 - shift->x1 * versor->x2 - shift->x3 * versor->s0);
 }
 
-inline void bgc_fp64_rigid_pose3_set_outer_position(BGC_FP64_RigidPose3* const pose, const BGC_FP64_Position3* const position)
+inline void bgc_fp64_rigid_pose3_set_position(BGC_FP64_RigidPose3* const pose, const BGC_FP64_Position3* const position)
 {
     const BGC_FP64_Quaternion* const versor = &position->turn._versor;
     const BGC_FP64_Vector3* const shift = &position->shift;
@@ -446,23 +446,23 @@ inline void bgc_fp64_rigid_pose3_set_outer_position(BGC_FP64_RigidPose3* const p
     pose->_versor.dual_part.x3 = -0.5 * (shift->x2 * versor->x1 - shift->x1 * versor->x2 - shift->x3 * versor->s0);
 }
 
-// ============ Get Inner Position3 ============= //
+// =========== Get Reverse Position3 ============ //
 
-inline void bgc_fp32_rigid_pose3_get_inner_position(BGC_FP32_Position3* const position, const BGC_FP32_RigidPose3* const pose)
+inline void bgc_fp32_rigid_pose3_get_reverse_position(BGC_FP32_Position3* const position, const BGC_FP32_RigidPose3* const pose)
 {
     bgc_fp32_quaternion_get_conjugate(&position->turn._versor, &pose->_versor.real_part);
-    bgc_fp32_rigid_pose3_get_inner_shift(&position->shift, pose);
+    bgc_fp32_rigid_pose3_get_reverse_shift(&position->shift, pose);
 }
 
-inline void bgc_fp64_rigid_pose3_get_inner_position(BGC_FP64_Position3* const position, const BGC_FP64_RigidPose3* const pose)
+inline void bgc_fp64_rigid_pose3_get_reverse_position(BGC_FP64_Position3* const position, const BGC_FP64_RigidPose3* const pose)
 {
     bgc_fp64_quaternion_get_conjugate(&position->turn._versor, &pose->_versor.real_part);
-    bgc_fp64_rigid_pose3_get_inner_shift(&position->shift, pose);
+    bgc_fp64_rigid_pose3_get_reverse_shift(&position->shift, pose);
 }
 
-// ============ Set Inner Position3 ============= //
+// =========== Set Reverse Position3 ============ //
 
-inline void bgc_fp32_rigid_pose3_set_inner_position(BGC_FP32_RigidPose3* const pose, const BGC_FP32_Position3* const position)
+inline void bgc_fp32_rigid_pose3_set_reverse_position(BGC_FP32_RigidPose3* const pose, const BGC_FP32_Position3* const position)
 {
     const BGC_FP32_Quaternion* const versor = &position->turn._versor;
     const BGC_FP32_Vector3* const shift = &position->shift;
@@ -475,7 +475,7 @@ inline void bgc_fp32_rigid_pose3_set_inner_position(BGC_FP32_RigidPose3* const p
     pose->_versor.dual_part.x3 = -0.5f * (versor->s0 * shift->x3 + versor->x2 * shift->x1 - versor->x1 * shift->x2);
 }
 
-inline void bgc_fp64_rigid_pose3_set_inner_position(BGC_FP64_RigidPose3* const pose, const BGC_FP64_Position3* const position)
+inline void bgc_fp64_rigid_pose3_set_reverse_position(BGC_FP64_RigidPose3* const pose, const BGC_FP64_Position3* const position)
 {
     const BGC_FP64_Quaternion* const versor = &position->turn._versor;
     const BGC_FP64_Vector3* const shift = &position->shift;