diff --git a/Physics3D/math/linalg/vec.h b/Physics3D/math/linalg/vec.h
index 34f9308c..95764e02 100644
--- a/Physics3D/math/linalg/vec.h
+++ b/Physics3D/math/linalg/vec.h
@@ -3,8 +3,7 @@
 #include <stddef.h>
 #include <cmath>
 #include <assert.h>
-#include <experimental/simd>
-#include <iostream>
+
 namespace P3D {
 template<typename T, size_t Size>
 struct Vector {
@@ -242,36 +241,9 @@ typedef Vector<long long, 6>	Vec6l;
 typedef Vector<int, 6>			Vec6i;
 
 
-// template<typename T1, typename T2, size_t Size>
-// constexpr auto operator*(const Vector<T1, Size>& a, const Vector<T2, Size>& b) noexcept -> decltype(a[0] * b[0] + a[1] * b[1]) {
-// 	decltype(a[0] * b[0] + a[1] * b[1]) result = a[0] * b[0];
-// 	for(size_t i = 1; i < Size; i++) {
-// 		result += a[i] * b[i];
-// 	}
-// 	return result;
-// }
-
-namespace stdx = std::experimental;
-
-
 template<typename T1, typename T2, size_t Size>
-requires std::is_arithmetic_v<T1> && std::is_arithmetic_v<T2>
-constexpr auto operator*(const Vector<T1, Size>& a, const Vector<T2, Size>& b) noexcept -> decltype(a[0] * b[0]) {
-	stdx::fixed_size_simd<decltype(a[0] * b[0]), Size> result;
-	stdx::fixed_size_simd<T1, Size> a_simd(&a[0], stdx::element_aligned);
-	stdx::fixed_size_simd<T2, Size> b_simd(&b[0], stdx::element_aligned);
-	result = a_simd * b_simd;
-	return stdx::reduce(result);
-	// decltype(a[0] * b[0] + a[1] * b[1]) result = a[0] * b[0];
-	// for(size_t i = 1; i < Size; i++) {
-	// 	result += a[i] * b[i];
-	// }
-	// return result;
-}
-template<typename T1, typename T2, size_t Size>
-requires (!(std::is_arithmetic_v<T1> && std::is_arithmetic_v<T2>))
-constexpr auto operator*(const Vector<T1, Size>& a, const Vector<T2, Size>& b) noexcept -> decltype(a[0] * b[0]) {
-	decltype(a[0] * b[0]) result = a[0] * b[0];
+constexpr auto operator*(const Vector<T1, Size>& a, const Vector<T2, Size>& b) noexcept -> decltype(a[0] * b[0] + a[1] * b[1]) {
+	decltype(a[0] * b[0] + a[1] * b[1]) result = a[0] * b[0];
 	for(size_t i = 1; i < Size; i++) {
 		result += a[i] * b[i];
 	}
@@ -279,43 +251,16 @@ constexpr auto operator*(const Vector<T1, Size>& a, const Vector<T2, Size>& b) n
 }
 
 template<typename T1, typename T2, size_t Size>
-constexpr auto dot(const Vector<T1, Size>& a, const Vector<T2, Size>& b) noexcept -> decltype(a[0] * b[0]) {
+constexpr auto dot(const Vector<T1, Size>& a, const Vector<T2, Size>& b) noexcept -> decltype(a[0] * b[0] + a[1] * b[1]) {
 	return a * b;
 }
 
 template<typename T, size_t Size>
-constexpr auto dot(const Vector<T, Size>& vec) noexcept -> decltype(vec[0] * vec[0]) {
+constexpr auto dot(const Vector<T, Size>& vec) noexcept -> decltype(vec[0] * vec[0] + vec[1] * vec[1]) {
 	return vec * vec;
 }
 
-// template<typename T1, typename T2, size_t Size>
-// constexpr auto operator+(const Vector<T1, Size>& a, const Vector<T2, Size>& b) noexcept -> Vector<decltype(a[0] + b[0]), Size> {
-// 	Vector<decltype(a[0] + b[0]), Size> result;
-// 	for(size_t i = 0; i < Size; i++) {
-// 		result[i] = a[i] + b[i];
-// 	}
-// 	return result;
-// }
-
-template<typename T1, typename T2, size_t Size>
-requires std::is_arithmetic_v<T1> && std::is_arithmetic_v<T2>
-constexpr auto operator+(const Vector<T1, Size>& a, const Vector<T2, Size>& b) noexcept -> Vector<decltype(a[0] + b[0]), Size> {
-	stdx::fixed_size_simd<decltype(a[0] + b[0]), Size> result;
-	stdx::fixed_size_simd<T1, Size> a_simd(&a[0], stdx::element_aligned);
-	stdx::fixed_size_simd<T2, Size> b_simd(&b[0], stdx::element_aligned);
-	result = a_simd + b_simd;
-	Vector<decltype(a[0] + b[0]), Size> result_vec;
-	result.copy_to(result_vec.data, stdx::element_aligned);
-	return result_vec;
-	// Vector<decltype(a[0] + b[0]), Size> result;
-	// for(size_t i = 0; i < Size; i++) {
-	// 	result[i] = a[i] + b[i];
-	// }
-	// return result;
-}
-
 template<typename T1, typename T2, size_t Size>
-requires (!(std::is_arithmetic_v<T1> && std::is_arithmetic_v<T2>))
 constexpr auto operator+(const Vector<T1, Size>& a, const Vector<T2, Size>& b) noexcept -> Vector<decltype(a[0] + b[0]), Size> {
 	Vector<decltype(a[0] + b[0]), Size> result;
 	for(size_t i = 0; i < Size; i++) {
@@ -325,7 +270,6 @@ constexpr auto operator+(const Vector<T1, Size>& a, const Vector<T2, Size>& b) n
 }
 
 template<typename T1, typename T2, size_t Size>
-requires (!(std::is_arithmetic_v<T1> && std::is_arithmetic_v<T2>))
 constexpr auto operator-(const Vector<T1, Size>& a, const Vector<T2, Size>& b) noexcept -> Vector<decltype(a[0] - b[0]), Size> {
 	Vector<decltype(a[0] - b[0]), Size> result;
 	for(size_t i = 0; i < Size; i++) {
@@ -335,25 +279,6 @@ constexpr auto operator-(const Vector<T1, Size>& a, const Vector<T2, Size>& b) n
 }
 
 template<typename T1, typename T2, size_t Size>
-requires std::is_arithmetic_v<T1> && std::is_arithmetic_v<T2>
-constexpr auto operator-(const Vector<T1, Size>& a, const Vector<T2, Size>& b) noexcept -> Vector<decltype(a[0] - b[0]), Size> {
-	stdx::fixed_size_simd<decltype(a[0] - b[0]), Size> result;
-	stdx::fixed_size_simd<T1, Size> a_simd(&a[0], stdx::element_aligned);
-	stdx::fixed_size_simd<T2, Size> b_simd(&b[0], stdx::element_aligned);
-	result = a_simd - b_simd;
-	Vector<decltype(a[0] - b[0]), Size> result_vec;
-	result.copy_to(result_vec.data, stdx::element_aligned);
-	return result_vec;
-
-	// Vector<decltype(a[0] - b[0]), Size> result;
-	// for(size_t i = 0; i < Size; i++) {
-	// 	result[i] = a[i] - b[i];
-	// }
-	// return result;
-}
-
-template<typename T1, typename T2, size_t Size>
-requires (!(std::is_arithmetic_v<T1> && std::is_arithmetic_v<T2>))
 constexpr auto operator*(const Vector<T1, Size>& vec, const T2& factor) noexcept -> Vector<decltype(vec[0] * factor), Size> {
 	Vector<decltype(vec[0] * factor), Size> result;
 	for(size_t i = 0; i < Size; i++) {
@@ -363,26 +288,6 @@ constexpr auto operator*(const Vector<T1, Size>& vec, const T2& factor) noexcept
 }
 
 template<typename T1, typename T2, size_t Size>
-requires std::is_arithmetic_v<T1> && std::is_arithmetic_v<T2>
-constexpr auto operator*(const Vector<T1, Size>& vec, const T2& factor) noexcept -> Vector<decltype(vec[0] * factor), Size> {
-	// store decltype(vec[0] * factor) as a data type for use later
-	decltype(vec[0] * factor) type;
-	stdx::fixed_size_simd<decltype(type), Size> result;
-	stdx::fixed_size_simd<decltype(type), Size> vec_simd(&vec[0], stdx::element_aligned);
-	stdx::fixed_size_simd<decltype(type), Size> factor_simd = factor;
-	result = vec_simd * factor_simd;
-	Vector<decltype(type), Size> result_vec;
-	result.copy_to(result_vec.data, stdx::element_aligned);
-	return result_vec;
-	// Vector<decltype(vec[0] * factor), Size> result;
-	// for(size_t i = 0; i < Size; i++) {
-	// 	result[i] = vec[i] * factor;
-	// }
-	// return result;
-}
-
-template<typename T1, typename T2, size_t Size>
-requires (!(std::is_arithmetic_v<T1> && std::is_arithmetic_v<T2>))
 constexpr auto operator*(const T1& factor, const Vector<T2, Size>& vec) noexcept -> Vector<decltype(factor* vec[0]), Size> {
 	Vector<decltype(factor* vec[0]), Size> result;
 	for(size_t i = 0; i < Size; i++) {
@@ -392,26 +297,6 @@ constexpr auto operator*(const T1& factor, const Vector<T2, Size>& vec) noexcept
 }
 
 template<typename T1, typename T2, size_t Size>
-requires std::is_arithmetic_v<T1> && std::is_arithmetic_v<T2>
-constexpr auto operator*(const T1& factor, const Vector<T2, Size>& vec) noexcept -> Vector<decltype(factor* vec[0]), Size> {
-	decltype(factor* vec[0]) type;
-	stdx::fixed_size_simd<decltype(type), Size> result;
-	stdx::fixed_size_simd<decltype(type), Size> factor_simd = factor;
-	stdx::fixed_size_simd<decltype(type), Size> vec_simd(&vec[0], stdx::element_aligned);
-	result = factor_simd * vec_simd;
-	Vector<decltype(type), Size> result_vec;
-	result.copy_to(result_vec.data, stdx::element_aligned);
-	return result_vec;
-
-	// Vector<decltype(factor* vec[0]), Size> result;
-	// for(size_t i = 0; i < Size; i++) {
-	// 	result[i] = factor * vec[i];
-	// }
-	// return result;
-}
-
-template<typename T1, typename T2, size_t Size>
-requires (!(std::is_arithmetic_v<T1> && std::is_arithmetic_v<T2>))
 constexpr auto operator/(const Vector<T1, Size>& vec, const T2& factor) noexcept -> Vector<decltype(vec[0] / factor), Size> {
 	Vector<decltype(vec[0] / factor), Size> result;
 	for(size_t i = 0; i < Size; i++) {
@@ -420,27 +305,7 @@ constexpr auto operator/(const Vector<T1, Size>& vec, const T2& factor) noexcept
 	return result;
 }
 
-template<typename T1, typename T2, size_t Size>
-requires std::is_arithmetic_v<T1> && std::is_arithmetic_v<T2>
-constexpr auto operator/(const Vector<T1, Size>& vec, const T2& factor) noexcept -> Vector<decltype(vec[0] / factor), Size> {
-	decltype(vec[0] / factor) type;
-	stdx::fixed_size_simd<decltype(type), Size> result;
-	stdx::fixed_size_simd<decltype(type), Size> vec_simd(&vec[0], stdx::element_aligned);
-	stdx::fixed_size_simd<decltype(type), Size> factor_simd = factor;
-	result = vec_simd / factor_simd;
-	Vector<decltype(type), Size> result_vec;
-	result.copy_to(result_vec.data, stdx::element_aligned);
-	return result_vec;
-
-	// Vector<decltype(vec[0] / factor), Size> result;
-	// for(size_t i = 0; i < Size; i++) {
-	// 	result[i] = vec[i] / factor;
-	// }
-	// return result;
-}
-
 template<typename T, size_t Size>
-requires (!(std::is_arithmetic_v<T>))
 constexpr Vector<T, Size> operator-(const Vector<T, Size>& vec) noexcept {
 	Vector<T, Size> result;
 	for(size_t i = 0; i < Size; i++) {
@@ -449,24 +314,7 @@ constexpr Vector<T, Size> operator-(const Vector<T, Size>& vec) noexcept {
 	return result;
 }
 
-template<typename T, size_t Size>
-requires std::is_arithmetic_v<T>
-constexpr Vector<T, Size> operator-(const Vector<T, Size>& vec) noexcept {
-	stdx::fixed_size_simd<T, Size> result(&vec[0], stdx::element_aligned);
-	result = -result;
-	Vector<T, Size> result_vec;
-	result.copy_to(result_vec.data, stdx::element_aligned);
-	return result_vec;
-
-	// Vector<T, Size> result;
-	// for(size_t i = 0; i < Size; i++) {
-	// 	result[i] = -vec[i];
-	// }
-	// return result;
-}
-
 template<typename T1, typename T2, size_t Size>
-requires (!(std::is_arithmetic_v<T1> && std::is_arithmetic_v<T2>))
 constexpr Vector<T1, Size>& operator+=(Vector<T1, Size>& vec, const Vector<T2, Size>& other) noexcept {
 	for(size_t i = 0; i < Size; i++) {
 		vec[i] += other[i];
@@ -475,22 +323,6 @@ constexpr Vector<T1, Size>& operator+=(Vector<T1, Size>& vec, const Vector<T2, S
 }
 
 template<typename T1, typename T2, size_t Size>
-requires std::is_arithmetic_v<T1> && std::is_arithmetic_v<T2>
-constexpr Vector<T1, Size>& operator+=(Vector<T1, Size>& vec, const Vector<T2, Size>& other) noexcept {
-	stdx::fixed_size_simd<T1, Size> vec_simd(&vec[0], stdx::element_aligned);
-	stdx::fixed_size_simd<T2, Size> other_simd(&other[0], stdx::element_aligned);
-	vec_simd += other_simd;
-	vec_simd.copy_to(vec.data, stdx::element_aligned);
-	return vec;
-
-	// for(size_t i = 0; i < Size; i++) {
-	// 	vec[i] += other[i];
-	// }
-	// return vec;
-}
-
-template<typename T1, typename T2, size_t Size>
-requires (!(std::is_arithmetic_v<T1> && std::is_arithmetic_v<T2>))
 constexpr Vector<T1, Size>& operator-=(Vector<T1, Size>& vec, const Vector<T2, Size>& other) noexcept {
 	for(size_t i = 0; i < Size; i++) {
 		vec[i] -= other[i];
@@ -499,22 +331,6 @@ constexpr Vector<T1, Size>& operator-=(Vector<T1, Size>& vec, const Vector<T2, S
 }
 
 template<typename T1, typename T2, size_t Size>
-requires std::is_arithmetic_v<T1> && std::is_arithmetic_v<T2>
-constexpr Vector<T1, Size>& operator-=(Vector<T1, Size>& vec, const Vector<T2, Size>& other) noexcept {
-	stdx::fixed_size_simd<T1, Size> vec_simd(&vec[0], stdx::element_aligned);
-	stdx::fixed_size_simd<T2, Size> other_simd(&other[0], stdx::element_aligned);
-	vec_simd -= other_simd;
-	vec_simd.copy_to(vec.data, stdx::element_aligned);
-	return vec;
-
-	// for(size_t i = 0; i < Size; i++) {
-	// 	vec[i] -= other[i];
-	// }
-	// return vec;
-}
-
-template<typename T1, typename T2, size_t Size>
-requires (!(std::is_arithmetic_v<T1> && std::is_arithmetic_v<T2>))
 constexpr Vector<T1, Size>& operator*=(Vector<T1, Size>& vec, const T2& factor) noexcept {
 	for(size_t i = 0; i < Size; i++) {
 		vec[i] *= factor;
@@ -523,22 +339,6 @@ constexpr Vector<T1, Size>& operator*=(Vector<T1, Size>& vec, const T2& factor)
 }
 
 template<typename T1, typename T2, size_t Size>
-requires std::is_arithmetic_v<T1> && std::is_arithmetic_v<T2>
-constexpr Vector<T1, Size>& operator*=(Vector<T1, Size>& vec, const T2& factor) noexcept {
-	stdx::fixed_size_simd<T1, Size> vec_simd(&vec[0], stdx::element_aligned);
-	stdx::fixed_size_simd<T2, Size> factor_simd = factor;
-	vec_simd *= factor_simd;
-	vec_simd.copy_to(vec.data, stdx::element_aligned);
-	return vec;
-
-	// for(size_t i = 0; i < Size; i++) {
-	// 	vec[i] *= factor;
-	// }
-	// return vec;
-}
-
-template<typename T1, typename T2, size_t Size>
-requires (!(std::is_arithmetic_v<T1> && std::is_arithmetic_v<T2>))
 constexpr Vector<T1, Size>& operator/=(Vector<T1, Size>& vec, const T2& factor) noexcept {
 	for(size_t i = 0; i < Size; i++) {
 		vec[i] /= factor;
@@ -546,21 +346,6 @@ constexpr Vector<T1, Size>& operator/=(Vector<T1, Size>& vec, const T2& factor)
 	return vec;
 }
 
-template<typename T1, typename T2, size_t Size>
-requires std::is_arithmetic_v<T1> && std::is_arithmetic_v<T2>
-constexpr Vector<T1, Size>& operator/=(Vector<T1, Size>& vec, const T2& factor) noexcept {
-	stdx::fixed_size_simd<T1, Size> vec_simd(&vec[0], stdx::element_aligned);
-	stdx::fixed_size_simd<T2, Size> factor_simd = factor;
-	vec_simd /= factor_simd;
-	vec_simd.copy_to(vec.data, stdx::element_aligned);
-	return vec;
-
-	// for(size_t i = 0; i < Size; i++) {
-	// 	vec[i] /= factor;
-	// }
-	// return vec;
-}
-
 template<typename T1, typename T2>
 constexpr auto operator%(const Vector<T1, 2>& first, const Vector<T2, 2>& second) noexcept -> decltype(first[0] * second[1] - first[1] * second[0]) {
 	return first[0] * second[1] - first[1] * second[0];
@@ -646,7 +431,12 @@ constexpr Vector<T, Size - 1> withoutIndex(const Vector<T, Size>& vec, size_t in
 
 template<typename T, size_t Size>
 constexpr T lengthSquared(const Vector<T, Size>& vec) noexcept {
-	return vec * vec;
+	T sum = vec[0] * vec[0];
+
+	for(size_t i = 1; i < Size; i++) {
+		sum += vec[i] * vec[i];
+	}
+	return sum;
 }
 
 template<typename T, size_t Size>
@@ -696,26 +486,12 @@ constexpr Vector<T, Size> normalize(const Vector<T, Size>& vec) noexcept {
 	return vec / length(vec);
 }
 
-// template<typename T, size_t Size>
-// constexpr Vector<T, Size> abs(const Vector<T, Size>& vec) noexcept {
-// 	Vector<T, Size> result;
-// 	for(size_t i = 0; i < Size; i++)
-// 		result[i] = std::abs(vec[i]);
-// 	return result;
-// }
-
 template<typename T, size_t Size>
 constexpr Vector<T, Size> abs(const Vector<T, Size>& vec) noexcept {
-	stdx::fixed_size_simd<T, Size> vec_simd(&vec[0], stdx::element_aligned);
-	vec_simd = stdx::abs(vec_simd);
-	Vector<T, Size> result_vec;
-	vec_simd.copy_to(result_vec.data, stdx::element_aligned);
-	return result_vec;
-
-	// Vector<T, Size> result;
-	// for(size_t i = 0; i < Size; i++)
-	// 	result[i] = std::abs(vec[i]);
-	// return result;
+	Vector<T, Size> result;
+	for(size_t i = 0; i < Size; i++)
+		result[i] = std::abs(vec[i]);
+	return result;
 }
 
 /**
@@ -771,34 +547,15 @@ constexpr T pointToLineDistanceSquared(const Vector<T, Size>& line, const Vector
 	return lengthSquared(point - project(point, line));
 }
 
-
 template<typename T, size_t Size>
-// requires (!(std::is_arithmetic_v<T>))
 constexpr Vector<T, Size> elementWiseMul(const Vector<T, Size>& first, const Vector<T, Size>& second) noexcept {
 	Vector<T, Size> result;
 	for(size_t i = 0; i < Size; i++)
 		result[i] = first[i] * second[i];
 	return result;
 }
-// template<typename T, size_t Size>
-// requires std::is_arithmetic_v<T>
-// constexpr Vector<T, Size> elementWiseMul(const Vector<T, Size>& first, const Vector<T, Size>& second) noexcept {
-// 	stdx::fixed_size_simd<T, Size> result;
-// 	stdx::fixed_size_simd<T, Size> first_simd(&first[0], stdx::element_aligned);
-// 	stdx::fixed_size_simd<T, Size> second_simd(&second[0], stdx::element_aligned);
-// 	result = first_simd * second_simd;
-// 	Vector<T, Size> result_vec;
-// 	result.copy_to(result_vec.data, stdx::element_aligned);
-// 	return result_vec;
-
-// 	// Vector<T, Size> result;
-// 	// for(size_t i = 0; i < Size; i++)
-// 	// 	result[i] = first[i] * second[i];
-// 	// return result;
-// }
 
 template<typename T, size_t Size>
-// requires (!(std::is_arithmetic_v<T>))
 constexpr Vector<T, Size> elementWiseSquare(const Vector<T, Size>& vec) noexcept {
 	Vector<T, Size> result;
 	for(size_t i = 0; i < Size; i++)
@@ -806,24 +563,7 @@ constexpr Vector<T, Size> elementWiseSquare(const Vector<T, Size>& vec) noexcept
 	return result;
 }
 
-// template<typename T, size_t Size>
-// requires std::is_arithmetic_v<T>
-// constexpr Vector<T, Size> elementWiseSquare(const Vector<T, Size>& vec) noexcept {
-// 	stdx::fixed_size_simd<T, Size> result;
-// 	stdx::fixed_size_simd<T, Size> vec_simd(&vec[0], stdx::element_aligned);
-// 	result = vec_simd * vec_simd;
-// 	Vector<T, Size> result_vec;
-// 	result.copy_to(result_vec.data, stdx::element_aligned);
-// 	return result_vec;
-
-// 	// Vector<T, Size> result;
-// 	// for(size_t i = 0; i < Size; i++)
-// 	// 	result[i] = vec[i] * vec[i];
-// 	// return result;
-// }
-
 template<typename T, size_t Size>
-// requires (!(std::is_arithmetic_v<T>))
 constexpr Vector<T, Size> elementWiseCube(const Vector<T, Size>& vec) noexcept {
 	Vector<T, Size> result;
 	for(size_t i = 0; i < Size; i++)
@@ -831,22 +571,6 @@ constexpr Vector<T, Size> elementWiseCube(const Vector<T, Size>& vec) noexcept {
 	return result;
 }
 
-// template<typename T, size_t Size>
-// requires std::is_arithmetic_v<T>
-// constexpr Vector<T, Size> elementWiseCube(const Vector<T, Size>& vec) noexcept {
-// 	stdx::fixed_size_simd<T, Size> result;
-// 	stdx::fixed_size_simd<T, Size> vec_simd(&vec[0], stdx::element_aligned);
-// 	result = vec_simd * vec_simd * vec_simd;
-// 	Vector<T, Size> result_vec;
-// 	result.copy_to(result_vec.data, stdx::element_aligned);
-// 	return result_vec;
-
-// 	// Vector<T, Size> result;
-// 	// for(size_t i = 0; i < Size; i++)
-// 	// 	result[i] = vec[i] * vec[i] * vec[i];
-// 	// return result;
-// }
-
 /* computes (
 	a.y * b.z + a.z * b.y,
 	a.z * b.x + a.x * b.z,