diff --git a/LICENSE.md b/LICENSE.md
index 68be0b3..a6696a1 100644
--- a/LICENSE.md
+++ b/LICENSE.md
@@ -1,8 +1,8 @@
 # Licenses
 
-CPML is Copyright (c) 2014 Colby Klein <shakesoda@gmail.com>.
+CPML is Copyright (c) 2016 Colby Klein <shakesoda@gmail.com>.
 
-CPML is Copyright (c) 2014 Landon Manning <lmanning17@gmail.com>.
+CPML is Copyright (c) 2016 Landon Manning <lmanning17@gmail.com>.
 
 Code in vec3.lua is derived from hump.vector. (c) 2010-2013 Matthias Richter. MIT.
 
diff --git a/init.lua b/init.lua
index 904d702..97037c6 100644
--- a/init.lua
+++ b/init.lua
@@ -2,7 +2,7 @@
 -------------------------------------------------------------------------------
 -- @author Colby Klein
 -- @author Landon Manning
--- @copyright 2015
+-- @copyright 2016
 -- @license MIT/X11
 -------------------------------------------------------------------------------
                   .'@@@@@@@@@@@@@@#:
@@ -32,7 +32,7 @@
                 :@@@@@@@++;;;+#@@@@@@+`
                       .;'+++++;.
 --]]
-local current_folder = (...) and (...):gsub('%.init$', '') .. "." or ""
+local modules = (...) and (...):gsub('%.init$', '') .. ".modules." or ""
 
 local cpml = {
 	_LICENSE = "CPML is distributed under the terms of the MIT license. See LICENSE.md.",
@@ -56,8 +56,8 @@ local files = {
 	"vec3",
 }
 
-for _, v in ipairs(files) do
-	cpml[v] = require(current_folder .. "modules." .. v)
+for _, file in ipairs(files) do
+	cpml[file] = require(modules .. file)
 end
 
 return cpml
diff --git a/modules/mat4.lua b/modules/mat4.lua
index 199988a..9a4c6fb 100644
--- a/modules/mat4.lua
+++ b/modules/mat4.lua
@@ -24,6 +24,14 @@ local function new(m)
 	return setmetatable(m, mat4_mt)
 end
 
+local function identity(m)
+	m[1],  m[2],  m[3],  m[4]  = 1, 0, 0, 0
+	m[5],  m[6],  m[7],  m[8]  = 0, 1, 0, 0
+	m[9],  m[10], m[11], m[12] = 0, 0, 1, 0
+	m[13], m[14], m[15], m[16] = 0, 0, 0, 1
+	return m
+end
+
 -- Do the check to see if JIT is enabled. If so use the optimized FFI structs.
 local status, ffi
 if type(jit) == "table" and jit.status() then
@@ -69,20 +77,15 @@ function mat4.new(a)
 end
 
 function mat4.identity()
-	return new {
-		1, 0, 0, 0,
-		0, 1, 0, 0,
-		0, 0, 1, 0,
-		0, 0, 0, 1
-	}
+	return identity(new())
 end
 
 function mat4.from_angle_axis(angle, axis)
 	if type(angle) == "table" then
-		angle, axis = vec3.to_angle_axis(angle)
+		angle, axis = angle:to_angle_axis()
 	end
 
-	local l = vec3.len(axis)
+	local l = axis:len()
 	if l == 0 then
 		return new()
 	end
@@ -100,9 +103,15 @@ function mat4.from_angle_axis(angle, axis)
 end
 
 function mat4.from_direction(direction, up)
-	local forward = vec3.normalize(vec3(), direction)
-	local side    = vec3.normalize(vec3(), vec3.cross(vec3(), forward, up))
-	local new_up  = vec3.normalize(vec3(), vec3.cross(vec3(), side, forward))
+	local forward = vec3():normalize(direction)
+
+	local side = vec3()
+		:cross(forward, up)
+		:normalize(side)
+
+	local new_up = vec3()
+		:cross(side, forward)
+		:normalize(new_up)
 
 	local out = new()
 	out[1]    = side.x
@@ -120,8 +129,8 @@ function mat4.from_direction(direction, up)
 end
 
 function mat4.from_transform(trans, rot, scale)
-	local angle, axis = vec3.to_angle_axis(rot)
-	local l = vec3.len(axis)
+	local angle, axis = rot:to_angle_axis()
+	local l = axis:len()
 
 	if l == 0 then
 		return new()
@@ -248,7 +257,7 @@ function mat4.from_hmd_perspective(tanHalfFov, zNear, zFar, flipZ, farAtInfinity
 	projection[15] = handednessScale
 	projection[16] = 0
 
-	return mat4.transpose(projection)
+	return projection:transpose(projection)
 end
 
 function mat4.clone(a)
@@ -286,85 +295,22 @@ function mat4.mul_mat4x1(out, a, b)
 end
 
 function mat4.invert(out, a)
-	out[1]   = a[6]  * a[11] * a[16] - a[6]  *
-		a[12] * a[15] - a[10] * a[7]  * a[16] +
-		a[10] * a[8]  * a[15] + a[14] * a[7]  *
-		a[12] - a[14] * a[8]  * a[11]
-
-	out[5]   = -a[5] * a[11] * a[16] + a[5]  *
-		a[12] * a[15] + a[9]  * a[7]  * a[16] -
-		a[9]  * a[8]  * a[15] - a[13] * a[7]  *
-		a[12] + a[13] * a[8]  * a[11]
-
-	out[9]   = a[5]  * a[10] * a[16] - a[5]  *
-		a[12] * a[14] - a[9]  * a[6]  * a[16] +
-		a[9]  * a[8]  * a[14] + a[13] * a[6]  *
-		a[12] - a[13] * a[8]  * a[10]
-
-	out[13]  = -a[5] * a[10] * a[15] + a[5]  *
-		a[11] * a[14] + a[9]  * a[6]  * a[15] -
-		a[9]  * a[7]  * a[14] - a[13] * a[6]  *
-		a[11] + a[13] * a[7]  * a[10]
-
-	out[2]   = -a[2] * a[11] * a[16] + a[2]  *
-		a[12] * a[15] + a[10] * a[3]  * a[16] -
-		a[10] * a[4]  * a[15] - a[14] * a[3]  *
-		a[12] + a[14] * a[4]  * a[11]
-
-	out[6]   =  a[1] * a[11] * a[16] - a[1]  *
-		a[12] * a[15] - a[9]  * a[3]  * a[16] +
-		a[9]  * a[4]  * a[15] + a[13] * a[3]  *
-		a[12] - a[13] * a[4]  * a[11]
-
-	out[10]  = -a[1] * a[10] * a[16] + a[1]  *
-		a[12] * a[14] + a[9]  * a[2]  * a[16] -
-		a[9]  * a[4]  * a[14] - a[13] * a[2]  *
-		a[12] + a[13] * a[4]  * a[10]
-
-	out[14]  = a[1]  * a[10] * a[15] - a[1]  *
-		a[11] * a[14] - a[9]  * a[2]  * a[15] +
-		a[9]  * a[3]  * a[14] + a[13] * a[2]  *
-		a[11] - a[13] * a[3]  * a[10]
-
-	out[3]   = a[2]  * a[7]  * a[16] - a[2]  *
-		a[8]  * a[15] - a[6]  * a[3]  * a[16] +
-		a[6]  * a[4]  * a[15] + a[14] * a[3]  *
-		a[8]  - a[14] * a[4]  * a[7]
-
-	out[7]   = -a[1] * a[7]  * a[16] + a[1]  *
-		a[8]  * a[15] + a[5]  * a[3]  * a[16] -
-		a[5]  * a[4]  * a[15] - a[13] * a[3]  *
-		a[8]  + a[13] * a[4]  * a[7]
-
-	out[11]  = a[1]  * a[6]  * a[16] - a[1]  *
-		a[8]  * a[14] - a[5]  * a[2]  * a[16] +
-		a[5]  * a[4]  * a[14] + a[13] * a[2]  *
-		a[8]  - a[13] * a[4]  * a[6]
-
-	out[15]  = -a[1] * a[6]  * a[15] + a[1]  *
-		a[7]  * a[14] + a[5]  * a[2]  * a[15] -
-		a[5]  * a[3]  * a[14] - a[13] * a[2]  *
-		a[7]  + a[13] * a[3]  * a[6]
-
-	out[4]   = -a[2] * a[7]  * a[12] + a[2]  *
-		a[8]  * a[11] + a[6]  * a[3]  * a[12] -
-		a[6]  * a[4]  * a[11] - a[10] * a[3]  *
-		a[8]  + a[10] * a[4]  * a[7]
-
-	out[8]   = a[1]  * a[7]  * a[12] - a[1]  *
-		a[8]  * a[11] - a[5]  * a[3]  * a[12] +
-		a[5]  * a[4]  * a[11] + a[9]  * a[3]  *
-		a[8]  - a[9]  * a[4]  * a[7]
-
-	out[12]  = -a[1] * a[6]  * a[12] + a[1]  *
-		a[8]  * a[10] + a[5]  * a[2]  * a[12] -
-		a[5]  * a[4]  * a[10] - a[9]  * a[2]  *
-		a[8]  + a[9]  * a[4]  * a[6]
-
-	out[16]  = a[1]  * a[6]  * a[11] - a[1]  *
-		a[7]  * a[10] - a[5]  * a[2]  * a[11] +
-		a[5]  * a[3]  * a[10] + a[9]  * a[2]  *
-		a[7]  - a[9]  * a[3]  * a[6]
+	out[1]  =  a[6] * a[11] * a[16] - a[6] * a[12] * a[15] - a[10] * a[7] * a[16] + a[10] * a[8] * a[15] + a[14] * a[7] * a[12] - a[14] * a[8] * a[11]
+	out[2]  = -a[2] * a[11] * a[16] + a[2] * a[12] * a[15] + a[10] * a[3] * a[16] - a[10] * a[4] * a[15] - a[14] * a[3] * a[12] + a[14] * a[4] * a[11]
+	out[3]  =  a[2] * a[7]  * a[16] - a[2] * a[8]  * a[15] - a[6]  * a[3] * a[16] + a[6]  * a[4] * a[15] + a[14] * a[3] * a[8]  - a[14] * a[4] * a[7]
+	out[4]  = -a[2] * a[7]  * a[12] + a[2] * a[8]  * a[11] + a[6]  * a[3] * a[12] - a[6]  * a[4] * a[11] - a[10] * a[3] * a[8]  + a[10] * a[4] * a[7]
+	out[5]  = -a[5] * a[11] * a[16] + a[5] * a[12] * a[15] + a[9]  * a[7] * a[16] - a[9]  * a[8] * a[15] - a[13] * a[7] * a[12] + a[13] * a[8] * a[11]
+	out[6]  =  a[1] * a[11] * a[16] - a[1] * a[12] * a[15] - a[9]  * a[3] * a[16] + a[9]  * a[4] * a[15] + a[13] * a[3] * a[12] - a[13] * a[4] * a[11]
+	out[7]  = -a[1] * a[7]  * a[16] + a[1] * a[8]  * a[15] + a[5]  * a[3] * a[16] - a[5]  * a[4] * a[15] - a[13] * a[3] * a[8]  + a[13] * a[4] * a[7]
+	out[8]  =  a[1] * a[7]  * a[12] - a[1] * a[8]  * a[11] - a[5]  * a[3] * a[12] + a[5]  * a[4] * a[11] + a[9]  * a[3] * a[8]  - a[9]  * a[4] * a[7]
+	out[9]  =  a[5] * a[10] * a[16] - a[5] * a[12] * a[14] - a[9]  * a[6] * a[16] + a[9]  * a[8] * a[14] + a[13] * a[6] * a[12] - a[13] * a[8] * a[10]
+	out[10] = -a[1] * a[10] * a[16] + a[1] * a[12] * a[14] + a[9]  * a[2] * a[16] - a[9]  * a[4] * a[14] - a[13] * a[2] * a[12] + a[13] * a[4] * a[10]
+	out[11] =  a[1] * a[6]  * a[16] - a[1] * a[8]  * a[14] - a[5]  * a[2] * a[16] + a[5]  * a[4] * a[14] + a[13] * a[2] * a[8]  - a[13] * a[4] * a[6]
+	out[12] = -a[1] * a[6]  * a[12] + a[1] * a[8]  * a[10] + a[5]  * a[2] * a[12] - a[5]  * a[4] * a[10] - a[9]  * a[2] * a[8]  + a[9]  * a[4] * a[6]
+	out[13] = -a[5] * a[10] * a[15] + a[5] * a[11] * a[14] + a[9]  * a[6] * a[15] - a[9]  * a[7] * a[14] - a[13] * a[6] * a[11] + a[13] * a[7] * a[10]
+	out[14] =  a[1] * a[10] * a[15] - a[1] * a[11] * a[14] - a[9]  * a[2] * a[15] + a[9]  * a[3] * a[14] + a[13] * a[2] * a[11] - a[13] * a[3] * a[10]
+	out[15] = -a[1] * a[6]  * a[15] + a[1] * a[7]  * a[14] + a[5]  * a[2] * a[15] - a[5]  * a[3] * a[14] - a[13] * a[2] * a[7]  + a[13] * a[3] * a[6]
+	out[16] =  a[1] * a[6]  * a[11] - a[1] * a[7]  * a[10] - a[5]  * a[2] * a[11] + a[5]  * a[3] * a[10] + a[9]  * a[2] * a[7]  - a[9]  * a[3] * a[6]
 
 	local det = a[1] * out[1] + a[2] * out[5] + a[3] * out[9] + a[4] * out[13]
 
@@ -380,22 +326,20 @@ function mat4.invert(out, a)
 end
 
 function mat4.scale(out, a, s)
-	local m = new {
-		s.x, 0, 0, 0,
-		0, s.y, 0, 0,
-		0, 0, s.z, 0,
-		0, 0, 0, 1
-	}
+	identity(tmp)
+	tmp[1]  = s.x
+	tmp[6]  = s.y
+	tmp[11] = s.z
 
-	return mat4.mul(out, a, m)
+	return out:mul(a, tmp)
 end
 
 function mat4.rotate(out, a, angle, axis)
 	if type(angle) == "table" then
-		angle, axis = vec3.to_angle_axis(angle)
+		angle, axis = angle:to_angle_axis()
 	end
 
-	local l = vec3.len(axis)
+	local l = axis:len()
 
 	if l == 0 then
 		return a
@@ -404,64 +348,70 @@ function mat4.rotate(out, a, angle, axis)
 	local x, y, z = axis.x / l, axis.y / l, axis.z / l
 	local c = cos(angle)
 	local s = sin(angle)
-	local m = new {
-		x*x*(1-c)+c,   y*x*(1-c)+z*s, x*z*(1-c)-y*s, 0,
-		x*y*(1-c)-z*s, y*y*(1-c)+c,   y*z*(1-c)+x*s, 0,
-		x*z*(1-c)+y*s, y*z*(1-c)-x*s, z*z*(1-c)+c,   0,
-		0, 0, 0, 1,
-	}
 
-	return mat4.mul(out, a, m)
+	identity(tmp)
+	tmp[1]  = x * x * (1 - c) + c
+	tmp[2]  = y * x * (1 - c) + z * s
+	tmp[3]  = x * z * (1 - c) - y * s
+	tmp[5]  = x * y * (1 - c) - z * s
+	tmp[6]  = y * y * (1 - c) + c
+ 	tmp[7]  = y * z * (1 - c) + x * s
+	tmp[9]  = x * z * (1 - c) + y * s
+	tmp[10] = y * z * (1 - c) - x * s
+	tmp[11] = z * z * (1 - c) + c
+
+	return out:mul(a, tmp)
 end
 
 function mat4.translate(out, a, t)
-	local m = new {
-		1, 0, 0, 0,
-		0, 1, 0, 0,
-		0, 0, 1, 0,
-		t.x, t.y, t.z, 1
-	}
+	identity(tmp)
+	tmp[13] = t.x
+	tmp[14] = t.y
+	tmp[15] = t.z
 
-	return mat4.mul(out, a, m)
+	return out:mul(a, tmp)
 end
 
 function mat4.shear(out, a, yx, zx, xy, zy, xz, yz)
-	local yx = yx or 0
-	local zx = zx or 0
-	local xy = xy or 0
-	local zy = zy or 0
-	local xz = xz or 0
-	local yz = yz or 0
-	local m  = new {
-		1, yx, zx, 0,
-		xy, 1, zy, 0,
-		xz, yz, 1, 0,
-		0, 0, 0, 1
-	}
+	identity(tmp)
+	tmp[2]  = yx or 0
+	tmp[3]  = zx or 0
+	tmp[5]  = xy or 0
+	tmp[7]  = zy or 0
+	tmp[9]  = xz or 0
+	tmp[10] = yz or 0
 
-	return mat4.mul(out, a, m)
+	return out:mul(a, tmp)
 end
 
-function mat4.look_at(a, eye, center, up)
-	local forward = vec3.normalize(vec3(), center - eye)
-	local side    = vec3.normalize(vec3(), vec3.cross(vec3(), forward, up))
-	local new_up  = vec3.normalize(vec3(), vec3.cross(vec3(), side, forward))
+function mat4.look_at(out, a, eye, center, up)
+	local forward = vec3():normalize(center - eye)
 
-	local view = new()
-	view[1]    = side.x
-	view[5]    = side.y
-	view[9]    = side.z
-	view[2]    = new_up.x
-	view[6]    = new_up.y
-	view[10]   = new_up.z
-	view[3]    = -forward.x
-	view[7]    = -forward.y
-	view[11]   = -forward.z
-	view[16]   = 1
+	local side = vec3()
+		:cross(forward, up)
+		:normalize(side)
 
-	local out = mat4.mul(new(), mat4.translate(new(), -eye - forward),  view)
+	local new_up = vec3()
+		:cross(side, forward)
+		:normalize(new_up)
 
-	return mat4.mul(out, out, a)
+	identity(tmp)
+	local view = tmp
+
+	view[1]  =  side.x
+	view[5]  =  side.y
+	view[9]  =  side.z
+	view[2]  =  new_up.x
+	view[6]  =  new_up.y
+	view[10] =  new_up.z
+	view[3]  = -forward.x
+	view[7]  = -forward.y
+	view[11] = -forward.z
+
+	return out
+		:translate(-eye - forward)
+		:mul(out, view)
+		:mul(out, a)
 end
 
 function mat4.transpose(out, a)
@@ -490,8 +440,9 @@ end
 function mat4.project(obj, view, projection, viewport)
 	local position = { obj.x, obj.y, obj.z, 1 }
 
-	mat4.mul_mat4x1(position, mat4.transpose(mat4(), view), position)
-	mat4.mul_mat4x1(position, mat4.transpose(mat4(), projection), position)
+	identity(tmp)
+	mat4.mul_mat4x1(position, tmp:transpose(view),       position)
+	mat4.mul_mat4x1(position, tmp:transpose(projection), position)
 
 	position[1] = position[1] / position[4] * 0.5 + 0.5
 	position[2] = position[2] / position[4] * 0.5 + 0.5
@@ -507,10 +458,6 @@ end
 -- https://github.com/g-truc/glm/blob/master/glm/gtc/matrix_transform.inl#L338
 -- Note: GLM calls the view matrix "model"
 function mat4.unproject(win, view, projection, viewport)
-	local inverse = mat4()
-	mat4.mul(inverse, view, projection)
-	mat4.invert(inverse, inverse)
-
 	local position = { win.x, win.y, win.z, 1 }
 
 	position[1] = (position[1] - viewport[1]) / viewport[3]
@@ -521,7 +468,9 @@ function mat4.unproject(win, view, projection, viewport)
 	position[3] = position[3] * 2 - 1
 	position[4] = position[4] * 2 - 1
 
-	mat4.mul_mat4x1(position, inverse, position)
+	identity(tmp)
+	tmp:mul(view, projection):invert(tmp)
+	mat4.mul_mat4x1(position, tmp, position)
 
 	position[1] = position[1] / position[4]
 	position[2] = position[2] / position[4]
@@ -566,17 +515,18 @@ function mat4.to_vec4s(a)
 end
 
 function mat4.to_quat(a)
-	local m = mat4.to_vec4s(mat4.transpose(out, a))
-	local w = sqrt(1 + m[1][1] + m[2][2] + m[3][3]) / 2
-	local scale = w * 4
+	identity(tmp):transpose(a)
 
-	local q = quat.new(
-		m[3][2] - m[2][3] / scale,
-		m[1][3] - m[3][1] / scale,
-		m[2][1] - m[1][2] / scale,
+	local w     = sqrt(1 + m[1] + m[6] + m[11]) / 2
+	local scale = w * 4
+	local q     = quat.new(
+		m[10] - m[7] / scale,
+		m[3]  - m[9] / scale,
+		m[5]  - m[2] / scale,
 		w
 	)
-	return quat.normalize(q, q)
+
+	return q:normalize(q)
 end
 
 local mat4_mt      = {}
@@ -588,7 +538,7 @@ function mat4_mt.__call(self, a)
 end
 
 function mat4_mt.__unm(a)
-	return mat4.invert(new(), a)
+	return new():invert(a)
 end
 
 function mat4_mt.__eq(a, b)
@@ -609,7 +559,7 @@ function mat4_mt.__mul(a, b)
 	assert(mat4.is_mat4(b) or #b == 4, "__mul: Wrong argument type for right hand operant. (<cpml.mat4> or table #4 expected)")
 
 	if mat4.is_mat4(b) then
-		return mat4.mul(new(), a, b)
+		return new():mul(a, b)
 	end
 
 	return mat4.mul_mat4x1({}, a, b)
diff --git a/modules/quat.lua b/modules/quat.lua
index 7748760..e8dd6cb 100644
--- a/modules/quat.lua
+++ b/modules/quat.lua
@@ -28,6 +28,9 @@ end
 quat.unit = new(0, 0, 0, 1)
 quat.zero = new(0, 0, 0, 0)
 
+-- Statically allocate a temporary variable used in some of our functions.
+local tmp = new(0, 0, 0, 0)
+
 -- Do the check to see if JIT is enabled. If so use the optimized FFI structs.
 local status, ffi
 if type(jit) == "table" and jit.status() then
@@ -75,7 +78,7 @@ end
 -- @tparam vec3 axis
 -- @treturn quat
 function quat.from_angle_axis(angle, axis)
-	local len = vec3.len(axis)
+	local len = axis:len()
 	local s   = sin(angle * 0.5)
 	local c   = cos(angle * 0.5)
 	return new(axis.x * s, axis.y * s, axis.z * s, c)
@@ -86,8 +89,8 @@ end
 -- @tparam vec3 up
 -- @treturn quat
 function quat.from_direction(normal, up)
-	local a = vec3.cross(vec3(), up, normal)
-	local d = vec3.dot(up, normal)
+	local a = vec3():cross(up, normal)
+	local d = up:dot(normal)
 	return new(a.x, a.y, a.z, d + 1)
 end
 
@@ -144,13 +147,14 @@ end
 -- @treturn vec3 out
 local uv, uuv = vec3(), vec3()
 function quat.mul_vec3(out, a, b)
-	vec3.cross(uv, a, b)
-	vec3.cross(uuv, a, uv)
-	vec3.mul(out, uv, a.w)
-	vec3.add(out, out, uuv)
-	vec3.mul(out, out, 2)
-	vec3.add(out, b, out)
+	uv:cross(a, b)
+	uuv:cross(a, uv)
+
 	return out
+		:mul(uv,  a.w)
+		:add(out, uuv)
+		:mul(out, 2  )
+		:add(b,   out)
 end
 
 --- Pow a quaternion by an exponent
@@ -169,9 +173,9 @@ function quat.pow(out, a, n)
 		out.y = a.y^(n-1)
 		out.z = a.z^(n-1)
 		out.w = a.w^(n-1)
-		quat.mul(out, a, out)
+		out:mul(a, out)
 	elseif n < 0 then
-		quat.reciprocal(out, a)
+		out:reciprocal(a)
 		out.x = out.x^(-n)
 		out.y = out.y^(-n)
 		out.z = out.z^(-n)
@@ -186,9 +190,7 @@ end
 -- @tparam quat a
 -- @treturn quat out
 function quat.normalize(out, a)
-	local l = 1 / quat.len(a)
-	quat.scale(out, a, l)
-	return out
+	return out:scale(a, 1 / a:len())
 end
 
 --- Return the inner angle between two quaternions.
@@ -243,9 +245,9 @@ end
 -- @tparam quat a
 -- @treturn quat out
 function quat.inverse(out, a)
-	quat.conjugate(out, a)
-	quat.normalize(out, out)
 	return out
+		:conjugate(a)
+		:normalize(out)
 end
 
 --- Return the reciprocal of a quaternion.
@@ -253,11 +255,10 @@ end
 -- @tparam quat a
 -- @treturn quat out
 function quat.reciprocal(out, a)
-	assert(not quat.is_zer(a), "Cannot reciprocate a zero quaternion")
-	local l = quat.len2(a)
-	quat.conjugate(out, a)
-	quat.scale(out, out, 1 / l)
+	assert(not a:is_zero(), "Cannot reciprocate a zero quaternion")
 	return out
+		:conjugate(a)
+		:scale(out, 1 / a:len2())
 end
 
 --- Linearly interpolate from one quaternion to the next.
@@ -267,11 +268,11 @@ end
 -- @tparam number s 0-1 range number; 0 = a 1 = b
 -- @treturn quat out
 function quat.lerp(out, a, b, s)
-	quat.sub(out, b, a)
-	quat.mul(out, out, s)
-	quat.add(out, a, out)
-	quat.normalize(out, out)
 	return out
+		:sub(b, a)
+		:mul(out, s)
+		:add(a, out)
+		:normalize(out)
 end
 
 --- Slerp from one quaternion to the next.
@@ -281,29 +282,28 @@ end
 -- @tparam number s 0-1 range number; 0 = a 1 = b
 -- @treturn quat out
 function quat.slerp(out, a, b, s)
-	local dot = quat.dot(a, b)
+	local dot = a:dot(b)
 
 	if dot < 0 then
-		quat.scale(a, a, -1)
+		a:scale(a, -1)
 		dot = -dot
 	end
 
 	if dot > DOT_THRESHOLD then
-		quat.lerp(out, a, b, s)
-		return
+		return out:lerp(a, b, s)
 	end
 
 	dot = min(max(dot, -1), 1)
-	local temp  = quat.new()
 	local theta = acos(dot) * s
 
-	quat.scale(out, a, dot)
-	quat.sub(out, b, out)
-	quat.normalize(out, out)
-	quat.scale(out, out, sin(theta))
-	quat.scale(temp, a, cos(theta))
-	quat.add(out, temp, out)
+	tmp:scale(a, cos(theta))
+
 	return out
+		:scale(a, dot)
+		:sub(b, out)
+		:normalize(out)
+		:scale(out, sin(theta))
+		:add(tmp, out)
 end
 
 --- Return the imaginary part of the quaternion as a vec3.
@@ -336,7 +336,7 @@ end
 
 function quat.to_angle_axis(a)
 	if a.w > 1 or a.w < -1 then
-		a = quat.normalize(a, a)
+		a:normalize(a)
 	end
 
 	local angle = 2 * acos(a.w)
@@ -373,16 +373,16 @@ end
 --- Return a boolean showing if a table is or is not a quat
 -- @param q object to be tested
 -- @treturn boolean
-function quat.is_quat(q)
+function quat.is_quat(a)
 	return
 		(
-			type(v) == "table"  or
-			type(v) == "cdata"
+			type(a) == "table"  or
+			type(a) == "cdata"
 		) and
-		type(v.x) == "number" and
-		type(v.y) == "number" and
-		type(v.z) == "number" and
-		type(v.w) == "number"
+		type(a.x) == "number" and
+		type(a.y) == "number" and
+		type(a.z) == "number" and
+		type(a.w) == "number"
 end
 
 function quat.is_zero(a)
@@ -413,7 +413,7 @@ function quat_mt.__call(self, x, y, z, w)
 end
 
 function quat_mt.__unm(a)
-	return quat.scale(new(), a, -1)
+	return new():scale(a, -1)
 end
 
 function quat_mt.__eq(a,b)
@@ -425,25 +425,25 @@ end
 function quat_mt.__add(a, b)
 	assert(quat.is_quat(a), "__add: Wrong argument type for left hand operant. (<cpml.quat> expected)")
 	assert(quat.is_quat(b), "__add: Wrong argument type for right hand operant. (<cpml.quat> expected)")
-	return quat.add(new(), a, b)
+	return new():add(a, b)
 end
 
 function quat_mt.__sub(a, b)
 	assert(quat.is_quat(a), "__sub: Wrong argument type for left hand operant. (<cpml.quat> expected)")
 	assert(quat.is_quat(b), "__sub: Wrong argument type for right hand operant. (<cpml.quat> expected)")
-	return quat.sub(new(), a, b)
+	return new():sub(a, b)
 end
 
 function quat_mt.__mul(a, b)
 	assert(quat.is_quat(a), "__mul: Wrong argument type for left hand operant. (<cpml.quat> expected)")
-	assert(quat.is_quat(b) or vec3.is_vec3(b) or type(b) = "number", "__mul: Wrong argument type for right hand operant. (<cpml.quat> or <cpml.vec3> expected)")
+	assert(quat.is_quat(b) or vec3.is_vec3(b) or type(b) == "number", "__mul: Wrong argument type for right hand operant. (<cpml.quat> or <cpml.vec3> expected)")
 
 	if quat.is_quat(b) then
-		return quat.mul(new(), a, b)
+		return new():mul(a, b)
 	end
 
 	if type(b) == "number" then
-		return quat.scale(new(), a, b)
+		return new():scale(a, b)
 	end
 
 	return quat.mul_vec3(vec3(), a, b)
@@ -452,7 +452,7 @@ end
 function quat_mt.__pow(a, n)
 	assert(quat.is_quat(a), "__pow: Wrong argument type for left hand operant. (<cpml.quat> expected)")
 	assert(type(b) == "number", "__pow: Wrong argument type for right hand operant. (<number> expected)")
-	return quat.pow(new(), a, n)
+	return new():pow(a, n)
 end
 
 if status then
diff --git a/modules/vec2.lua b/modules/vec2.lua
index 7134df0..4f68f36 100644
--- a/modules/vec2.lua
+++ b/modules/vec2.lua
@@ -120,7 +120,7 @@ end
 -- @tparam vec2 out vector to store the result
 -- @tparam vec2 a vector to normalize
 function vec2.normalize(out, a)
-	local l = vec2.len(a)
+	local l = a:len()
 	out.x = a.x / l
 	out.y = a.y / l
 	return out
@@ -131,10 +131,9 @@ end
 -- @tparam vec2 a vector to be trimmed
 -- @tparam number len the length to trim the vector to
 function vec2.trim(out, a, len)
-	len = math.min(vec2.len(a), len)
-	vec2.normalize(out, a)
-	vec2.mul(out, out, len)
 	return out
+		:normalize(a)
+		:mul(out, math.min(a:len(), len))
 end
 
 --- Get the cross product of two vectors.
@@ -188,9 +187,10 @@ function vec2.dist2(a, b)
 end
 
 function vec2.rotate(out, a, phi)
-	local c, s = cos(phi), sin(phi)
-	out.x      = c * a.x - s * a.y
-	out.y      = s * a.x + c * a.y
+	local c = cos(phi)
+	local s = sin(phi)
+	out.x   = c * a.x - s * a.y
+	out.y   = s * a.x + c * a.y
 	return out
 end
 
@@ -207,10 +207,10 @@ end
 -- @tparam number s step value
 -- @treturn vec2
 function vec2.lerp(out, a, b, s)
-	vec2.sub(out, b, a)
-	vec2.mul(out, out, s)
-	vec2.add(out, out, a)
 	return out
+		:sub(b, a)
+		:mul(out, s)
+		:add(out, a)
 end
 
 --- Unpack a vector into form x,y
@@ -224,14 +224,18 @@ end
 --- Return a boolean showing if a table is or is not a vec2
 -- @param v the object to be tested
 -- @treturn boolean
-function vec2.is_vec2(v)
+function vec2.is_vec2(a)
 	return
 		(
-			type(v) == "table" or
-			type(v) == "cdata"
+			type(a) == "table" or
+			type(a) == "cdata"
 		)  and
-		type(v.x) == "number" and
-		type(v.y) == "number"
+		type(a.x) == "number" and
+		type(a.y) == "number"
+end
+
+function vec2.is_zero(a)
+	return a.x == 0 and a.y == 0
 end
 
 --- Convert point from cartesian to polar.
@@ -261,7 +265,7 @@ function vec2_mt.__call(self, x, y)
 end
 
 function vec2_mt.__unm(a)
-	return vec2.new(-a.x, -a.y)
+	return new(-a.x, -a.y)
 end
 
 function vec2_mt.__eq(a,b)
@@ -273,25 +277,25 @@ end
 function vec2_mt.__add(a, b)
 	assert(vec2.is_vec2(a), "__add: Wrong argument type for left hand operant. (<cpml.vec2> expected)")
 	assert(vec2.is_vec2(b), "__add: Wrong argument type for right hand operant. (<cpml.vec2> expected)")
-	return vec2.add(new(), a, b)
+	return new():add(a, b)
 end
 
 function vec2_mt.__sub(a, b)
 	assert(vec2.is_vec2(a), "__add: Wrong argument type for left hand operant. (<cpml.vec2> expected)")
 	assert(vec2.is_vec2(b), "__add: Wrong argument type for right hand operant. (<cpml.vec2> expected)")
-	return vec2.sub(new(), a, b)
+	return new():sub(a, b)
 end
 
 function vec2_mt.__mul(a, b)
 	assert(vec2.is_vec2(a), "__mul: Wrong argument type for left hand operant. (<cpml.vec2> expected)")
 	assert(type(b) == "number", "__mul: Wrong argument type for right hand operant. (<number> expected)")
-	return vec2.mul(new(), a, b)
+	return new():mul(a, b)
 end
 
 function vec2_mt.__div(a, b)
 	assert(vec2.is_vec2(a), "__div: Wrong argument type for left hand operant. (<cpml.vec2> expected)")
 	assert(type(b) == "number", "__div: Wrong argument type for right hand operant. (<number> expected)")
-	return vec2.div(new(), a, b)
+	return new():div(a, b)
 end
 
 if status then
diff --git a/modules/vec3.lua b/modules/vec3.lua
index 62d0e6a..f9181b7 100644
--- a/modules/vec3.lua
+++ b/modules/vec3.lua
@@ -129,10 +129,9 @@ end
 -- @tparam vec3 a vector to be trimmed
 -- @tparam number len the length to trim the vector to
 function vec3.trim(out, a, len)
-	len = math.min(vec3.len(a), len)
-	vec3.normalize(out, a)
-	vec3.mul(out, out, len)
 	return out
+		:normalize(a)
+		:mul(out, math.min(vec3.len(a), len))
 end
 
 --- Get the cross product of two vectors.
@@ -200,16 +199,17 @@ function vec3.rotate(out, a, phi, axis)
 	end
 
 	local u = vec3.normalize(vec3(), axis)
-	local c, s = cos(phi), sin(phi)
+	local c = cos(phi)
+	local s = sin(phi)
 
 	-- Calculate generalized rotation matrix
 	local m1 = new((c + u.x * u.x * (1 - c)),       (u.x * u.y * (1 - c) - u.z * s), (u.x * u.z * (1 - c) + u.y * s))
 	local m2 = new((u.y * u.x * (1 - c) + u.z * s), (c + u.y * u.y * (1 - c)),       (u.y * u.z * (1 - c) - u.x * s))
 	local m3 = new((u.z * u.x * (1 - c) - u.y * s), (u.z * u.y * (1 - c) + u.x * s), (c + u.z * u.z * (1 - c))      )
 
-	out.x = vec3.dot(a, m1)
-	out.y = vec3.dot(a, m2)
-	out.z = vec3.dot(a, m3)
+	out.x = a:dot(m1)
+	out.y = a:dot(m2)
+	out.z = a:dot(m3)
 	return out
 end
 
@@ -227,10 +227,10 @@ end
 -- @tparam number s step value
 -- @treturn vec3
 function vec3.lerp(out, a, b, s)
-	vec3.sub(out, b, a)
-	vec3.mul(out, out, s)
-	vec3.add(out, out, a)
 	return out
+		:sub(b, a)
+		:mul(out, s)
+		:add(out, a)
 end
 
 --- Unpack a vector into form x,y,z
@@ -256,6 +256,14 @@ function vec3.is_vec3(a)
 		type(a.y) == "number" and
 		type(a.z) == "number"
 end
+
+function vec3.is_zero(a)
+	return
+		a.x == 0 and
+		a.y == 0 and
+		a.z == 0
+end
+
 --- Return a string formatted "{x, y, z}"
 -- @tparam vec3 a the vector to be turned into a string
 -- @treturn string
@@ -272,7 +280,7 @@ function vec3_mt.__call(self, x, y, z)
 end
 
 function vec3_mt.__unm(a)
-	return vec3.new(-a.x, -a.y, -a.z)
+	return new(-a.x, -a.y, -a.z)
 end
 
 function vec3_mt.__eq(a,b)
@@ -284,25 +292,25 @@ end
 function vec3_mt.__add(a, b)
 	assert(vec3.is_vec3(a), "__add: Wrong argument type for left hand operant. (<cpml.vec3> expected)")
 	assert(vec3.is_vec3(b), "__add: Wrong argument type for right hand operant. (<cpml.vec3> expected)")
-	return vec3.add(new(), a, b)
+	return new():add(a, b)
 end
 
 function vec3_mt.__sub(a, b)
 	assert(vec3.is_vec3(a), "__sub: Wrong argument type for left hand operant. (<cpml.vec3> expected)")
 	assert(vec3.is_vec3(b), "__sub: Wrong argument type for right hand operant. (<cpml.vec3> expected)")
-	return vec3.sub(new(), a, b)
+	return new():sub(a, b)
 end
 
 function vec3_mt.__mul(a, b)
 	assert(vec3.is_vec3(a), "__mul: Wrong argument type for left hand operant. (<cpml.vec3> expected)")
 	assert(type(b) == "number", "__mul: Wrong argument type for right hand operant. (<number> expected)")
-	return vec3.mul(new(), a, b)
+	return new():mul(a, b)
 end
 
 function vec3_mt.__div(a, b)
 	assert(vec3.is_vec3(a), "__div: Wrong argument type for left hand operant. (<cpml.vec3> expected)")
 	assert(type(b) == "number", "__div: Wrong argument type for right hand operant. (<number> expected)")
-	return vec3.div(new(), a, b)
+	return new():div(a, b)
 end
 
 if status then