diff --git a/.swiftformat b/.swiftformat
index 458ae5a..eb07e68 100644
--- a/.swiftformat
+++ b/.swiftformat
@@ -3,6 +3,8 @@
 --commas inline
 --disable opaqueGenericParameters
 --disable preferKeyPath
+--disable redundantType
+--disable wrapMultilineStatementBraces
 --exclude .build,.github,.swiftpm,Scripts
 --extensionacl on-declarations
 --header strip
diff --git a/.swiftlint.yml b/.swiftlint.yml
index fd10715..bf40b6c 100644
--- a/.swiftlint.yml
+++ b/.swiftlint.yml
@@ -25,7 +25,6 @@ opt_in_rules:
   #- required_deinit
   #- type_contents_order
   #- unowned_variable_capture
-  - anyobject_protocol
   - array_init
   - attributes
   - closure_body_length
@@ -48,7 +47,6 @@ opt_in_rules:
   - enum_case_associated_values_count
   - expiring_todo
   - explicit_init
-  - explicit_self
   - explicit_top_level_acl
   - fallthrough
   - fatal_error_message
@@ -95,7 +93,6 @@ opt_in_rules:
   - raw_value_for_camel_cased_codable_enum   
   - reduce_into
   - redundant_nil_coalescing
-  - redundant_type_annotation
   - required_enum_case
   - single_test_class
   - sorted_first_last
@@ -109,11 +106,14 @@ opt_in_rules:
   - unavailable_function
   - unneeded_parentheses_in_closure_argument 
   - untyped_error_in_catch
-  - unused_declaration
-  - unused_import
   - vertical_parameter_alignment_on_call
   - vertical_whitespace_between_cases
   - vertical_whitespace_closing_braces
   - vertical_whitespace_opening_braces
   - xct_specific_matcher
   - yoda_condition
+
+analyzer_rules:
+  - explicit_self
+  - unused_declaration
+  - unused_import
diff --git a/Sources/FirebladeMath/Constants.swift b/Sources/FirebladeMath/Constants.swift
index 1c7b303..ca21d76 100644
--- a/Sources/FirebladeMath/Constants.swift
+++ b/Sources/FirebladeMath/Constants.swift
@@ -1,21 +1,35 @@
 /// Factor to convert degrees to radians (Double).
-@inlinable public var kDegreeToRadians64: Double { Double.pi / 180.0 }
+@inlinable public var kDegreeToRadians64: Double {
+    Double.pi / 180.0
+}
+
 /// Factor to convert degrees to radians (Float).
-@inlinable public var kDegreeToRadians32: Float { Float(Double.pi / 180.0) }
+@inlinable public var kDegreeToRadians32: Float {
+    Float(Double.pi / 180.0)
+}
 
 /// Factor to convert radians to degrees (Double).
-@inlinable public var kRadiansToDegree64: Double { 180.0 / Double.pi }
+@inlinable public var kRadiansToDegree64: Double {
+    180.0 / Double.pi
+}
+
 /// Factor to convert radians to degrees (Float).
-@inlinable public var kRadiansToDegree32: Float { Float(180.0 / Double.pi) }
+@inlinable public var kRadiansToDegree32: Float {
+    Float(180.0 / Double.pi)
+}
 
 /// Extension to add constants to Float.
 extension Float {
     /// Half of Pi (π/2).
-    @inlinable public static var halfPi: Float { Float.pi * 0.5 }
+    @inlinable public static var halfPi: Float {
+        Float.pi * 0.5
+    }
 }
 
 /// Extension to add constants to Double.
 extension Double {
     /// Half of Pi (π/2).
-    @inlinable public static var halfPi: Double { Double.pi * 0.5 }
+    @inlinable public static var halfPi: Double {
+        Double.pi * 0.5
+    }
 }
diff --git a/Sources/FirebladeMath/Functions/adjugate.swift b/Sources/FirebladeMath/Functions/adjugate.swift
index bb125dd..048a2d4 100644
--- a/Sources/FirebladeMath/Functions/adjugate.swift
+++ b/Sources/FirebladeMath/Functions/adjugate.swift
@@ -41,62 +41,126 @@ public func adjugate(_ inMat: Mat3x3d) -> Mat3x3d {
 }
 
 /// Computes the adjugate of a 4x4 matrix.
-/// - Parameter m: The input matrix.
+/// - Parameter matrix: The input matrix.
 /// - Returns: The adjugate of the input matrix.
-public func adjugate(_ m: Mat4x4f) -> Mat4x4f {
+public func adjugate(_ matrix: Mat4x4f) -> Mat4x4f {
     // Adjugate is the transpose of the cofactor matrix.
     // cofactor(i, j) = (-1)^(i+j) * minor(i, j)
-    // Here we use m[col, row] indexing.
+    // Here we use matrix[col, row] indexing.
     var res = Mat4x4f.identity
 
-    res[0, 0] = m[1, 1] * (m[2, 2] * m[3, 3] - m[2, 3] * m[3, 2]) - m[2, 1] * (m[1, 2] * m[3, 3] - m[1, 3] * m[3, 2]) + m[3, 1] * (m[1, 2] * m[2, 3] - m[1, 3] * m[2, 2])
-    res[1, 0] = -(m[1, 0] * (m[2, 2] * m[3, 3] - m[2, 3] * m[3, 2]) - m[2, 0] * (m[1, 2] * m[3, 3] - m[1, 3] * m[3, 2]) + m[3, 0] * (m[1, 2] * m[2, 3] - m[1, 3] * m[2, 2]))
-    res[2, 0] = m[1, 0] * (m[2, 1] * m[3, 3] - m[2, 3] * m[3, 1]) - m[2, 0] * (m[1, 1] * m[3, 3] - m[1, 3] * m[3, 1]) + m[3, 0] * (m[1, 1] * m[2, 3] - m[1, 3] * m[2, 1])
-    res[3, 0] = -(m[1, 0] * (m[2, 1] * m[3, 2] - m[2, 2] * m[3, 1]) - m[2, 0] * (m[1, 1] * m[3, 2] - m[1, 2] * m[3, 1]) + m[3, 0] * (m[1, 1] * m[2, 2] - m[1, 2] * m[2, 1]))
-
-    res[0, 1] = -(m[0, 1] * (m[2, 2] * m[3, 3] - m[2, 3] * m[3, 2]) - m[2, 1] * (m[0, 2] * m[3, 3] - m[0, 3] * m[3, 2]) + m[3, 1] * (m[0, 2] * m[2, 3] - m[0, 3] * m[2, 2]))
-    res[1, 1] = m[0, 0] * (m[2, 2] * m[3, 3] - m[2, 3] * m[3, 2]) - m[2, 0] * (m[0, 2] * m[3, 3] - m[0, 3] * m[3, 2]) + m[3, 0] * (m[0, 2] * m[2, 3] - m[0, 3] * m[2, 2])
-    res[2, 1] = -(m[0, 0] * (m[2, 1] * m[3, 3] - m[2, 3] * m[3, 1]) - m[2, 0] * (m[0, 1] * m[3, 3] - m[0, 3] * m[3, 1]) + m[3, 0] * (m[0, 1] * m[2, 3] - m[0, 3] * m[2, 1]))
-    res[3, 1] = m[0, 0] * (m[2, 1] * m[3, 2] - m[2, 2] * m[3, 1]) - m[2, 0] * (m[0, 1] * m[3, 2] - m[0, 2] * m[3, 1]) + m[3, 0] * (m[0, 1] * m[2, 2] - m[0, 2] * m[2, 1])
-
-    res[0, 2] = m[0, 1] * (m[1, 2] * m[3, 3] - m[1, 3] * m[3, 2]) - m[1, 1] * (m[0, 2] * m[3, 3] - m[0, 3] * m[3, 2]) + m[3, 1] * (m[0, 2] * m[1, 3] - m[0, 3] * m[1, 2])
-    res[1, 2] = -(m[0, 0] * (m[1, 2] * m[3, 3] - m[1, 3] * m[3, 2]) - m[1, 0] * (m[0, 2] * m[3, 3] - m[0, 3] * m[3, 2]) + m[3, 0] * (m[0, 2] * m[1, 3] - m[0, 3] * m[1, 2]))
-    res[2, 2] = m[0, 0] * (m[1, 1] * m[3, 3] - m[1, 3] * m[3, 1]) - m[1, 0] * (m[0, 1] * m[3, 3] - m[0, 3] * m[3, 1]) + m[3, 0] * (m[0, 1] * m[1, 3] - m[0, 3] * m[1, 1])
-    res[3, 2] = -(m[0, 0] * (m[1, 1] * m[3, 2] - m[1, 2] * m[3, 1]) - m[1, 0] * (m[0, 1] * m[3, 2] - m[0, 2] * m[3, 1]) + m[3, 0] * (m[0, 1] * m[1, 2] - m[0, 2] * m[1, 1]))
-
-    res[0, 3] = -(m[0, 1] * (m[1, 2] * m[2, 3] - m[1, 3] * m[2, 2]) - m[1, 1] * (m[0, 2] * m[2, 3] - m[0, 3] * m[2, 2]) + m[2, 1] * (m[0, 2] * m[1, 3] - m[0, 3] * m[1, 2]))
-    res[1, 3] = m[0, 0] * (m[1, 2] * m[2, 3] - m[1, 3] * m[2, 2]) - m[1, 0] * (m[0, 2] * m[2, 3] - m[0, 3] * m[2, 2]) + m[2, 0] * (m[0, 2] * m[1, 3] - m[0, 3] * m[1, 2])
-    res[2, 3] = -(m[0, 0] * (m[1, 1] * m[2, 3] - m[1, 3] * m[2, 1]) - m[1, 0] * (m[0, 1] * m[2, 3] - m[0, 3] * m[2, 1]) + m[2, 0] * (m[0, 1] * m[1, 3] - m[0, 3] * m[1, 1]))
-    res[3, 3] = m[0, 0] * (m[1, 1] * m[2, 2] - m[1, 2] * m[2, 1]) - m[1, 0] * (m[0, 1] * m[2, 2] - m[0, 2] * m[2, 1]) + m[2, 0] * (m[0, 1] * m[1, 2] - m[0, 2] * m[1, 1])
+    res[0, 0] = matrix[1, 1] * (matrix[2, 2] * matrix[3, 3] - matrix[2, 3] * matrix[3, 2])
+        - matrix[2, 1] * (matrix[1, 2] * matrix[3, 3] - matrix[1, 3] * matrix[3, 2])
+        + matrix[3, 1] * (matrix[1, 2] * matrix[2, 3] - matrix[1, 3] * matrix[2, 2])
+    res[1, 0] = -(matrix[1, 0] * (matrix[2, 2] * matrix[3, 3] - matrix[2, 3] * matrix[3, 2])
+        - matrix[2, 0] * (matrix[1, 2] * matrix[3, 3] - matrix[1, 3] * matrix[3, 2])
+        + matrix[3, 0] * (matrix[1, 2] * matrix[2, 3] - matrix[1, 3] * matrix[2, 2]))
+    res[2, 0] = matrix[1, 0] * (matrix[2, 1] * matrix[3, 3] - matrix[2, 3] * matrix[3, 1])
+        - matrix[2, 0] * (matrix[1, 1] * matrix[3, 3] - matrix[1, 3] * matrix[3, 1])
+        + matrix[3, 0] * (matrix[1, 1] * matrix[2, 3] - matrix[1, 3] * matrix[2, 1])
+    res[3, 0] = -(matrix[1, 0] * (matrix[2, 1] * matrix[3, 2] - matrix[2, 2] * matrix[3, 1])
+        - matrix[2, 0] * (matrix[1, 1] * matrix[3, 2] - matrix[1, 2] * matrix[3, 1])
+        + matrix[3, 0] * (matrix[1, 1] * matrix[2, 2] - matrix[1, 2] * matrix[2, 1]))
+
+    res[0, 1] = -(matrix[0, 1] * (matrix[2, 2] * matrix[3, 3] - matrix[2, 3] * matrix[3, 2])
+        - matrix[2, 1] * (matrix[0, 2] * matrix[3, 3] - matrix[0, 3] * matrix[3, 2])
+        + matrix[3, 1] * (matrix[0, 2] * matrix[2, 3] - matrix[0, 3] * matrix[2, 2]))
+    res[1, 1] = matrix[0, 0] * (matrix[2, 2] * matrix[3, 3] - matrix[2, 3] * matrix[3, 2])
+        - matrix[2, 0] * (matrix[0, 2] * matrix[3, 3] - matrix[0, 3] * matrix[3, 2])
+        + matrix[3, 0] * (matrix[0, 2] * matrix[2, 3] - matrix[0, 3] * matrix[2, 2])
+    res[2, 1] = -(matrix[0, 0] * (matrix[2, 1] * matrix[3, 3] - matrix[2, 3] * matrix[3, 1])
+        - matrix[2, 0] * (matrix[0, 1] * matrix[3, 3] - matrix[0, 3] * matrix[3, 1])
+        + matrix[3, 0] * (matrix[0, 1] * matrix[2, 3] - matrix[0, 3] * matrix[2, 1]))
+    res[3, 1] = matrix[0, 0] * (matrix[2, 1] * matrix[3, 2] - matrix[2, 2] * matrix[3, 1])
+        - matrix[2, 0] * (matrix[0, 1] * matrix[3, 2] - matrix[0, 2] * matrix[3, 1])
+        + matrix[3, 0] * (matrix[0, 1] * matrix[2, 2] - matrix[0, 2] * matrix[2, 1])
+
+    res[0, 2] = matrix[0, 1] * (matrix[1, 2] * matrix[3, 3] - matrix[1, 3] * matrix[3, 2])
+        - matrix[1, 1] * (matrix[0, 2] * matrix[3, 3] - matrix[0, 3] * matrix[3, 2])
+        + matrix[3, 1] * (matrix[0, 2] * matrix[1, 3] - matrix[0, 3] * matrix[1, 2])
+    res[1, 2] = -(matrix[0, 0] * (matrix[1, 2] * matrix[3, 3] - matrix[1, 3] * matrix[3, 2])
+        - matrix[1, 0] * (matrix[0, 2] * matrix[3, 3] - matrix[0, 3] * matrix[3, 2])
+        + matrix[3, 0] * (matrix[0, 2] * matrix[1, 3] - matrix[0, 3] * matrix[1, 2]))
+    res[2, 2] = matrix[0, 0] * (matrix[1, 1] * matrix[3, 3] - matrix[1, 3] * matrix[3, 1])
+        - matrix[1, 0] * (matrix[0, 1] * matrix[3, 3] - matrix[0, 3] * matrix[3, 1])
+        + matrix[3, 0] * (matrix[0, 1] * matrix[1, 3] - matrix[0, 3] * matrix[1, 1])
+    res[3, 2] = -(matrix[0, 0] * (matrix[1, 1] * matrix[3, 2] - matrix[1, 2] * matrix[3, 1])
+        - matrix[1, 0] * (matrix[0, 1] * matrix[3, 2] - matrix[0, 2] * matrix[3, 1])
+        + matrix[3, 0] * (matrix[0, 1] * matrix[1, 2] - matrix[0, 2] * matrix[1, 1]))
+
+    res[0, 3] = -(matrix[0, 1] * (matrix[1, 2] * matrix[2, 3] - matrix[1, 3] * matrix[2, 2])
+        - matrix[1, 1] * (matrix[0, 2] * matrix[2, 3] - matrix[0, 3] * matrix[2, 2])
+        + matrix[2, 1] * (matrix[0, 2] * matrix[1, 3] - matrix[0, 3] * matrix[1, 2]))
+    res[1, 3] = matrix[0, 0] * (matrix[1, 2] * matrix[2, 3] - matrix[1, 3] * matrix[2, 2])
+        - matrix[1, 0] * (matrix[0, 2] * matrix[2, 3] - matrix[0, 3] * matrix[2, 2])
+        + matrix[2, 0] * (matrix[0, 2] * matrix[1, 3] - matrix[0, 3] * matrix[1, 2])
+    res[2, 3] = -(matrix[0, 0] * (matrix[1, 1] * matrix[2, 3] - matrix[1, 3] * matrix[2, 1])
+        - matrix[1, 0] * (matrix[0, 1] * matrix[2, 3] - matrix[0, 3] * matrix[2, 1])
+        + matrix[2, 0] * (matrix[0, 1] * matrix[1, 3] - matrix[0, 3] * matrix[1, 1]))
+    res[3, 3] = matrix[0, 0] * (matrix[1, 1] * matrix[2, 2] - matrix[1, 2] * matrix[2, 1])
+        - matrix[1, 0] * (matrix[0, 1] * matrix[2, 2] - matrix[0, 2] * matrix[2, 1])
+        + matrix[2, 0] * (matrix[0, 1] * matrix[1, 2] - matrix[0, 2] * matrix[1, 1])
 
     return res
 }
 
 /// Computes the adjugate of a 4x4 matrix.
-/// - Parameter m: The input matrix.
+/// - Parameter matrix: The input matrix.
 /// - Returns: The adjugate of the input matrix.
-public func adjugate(_ m: Mat4x4d) -> Mat4x4d {
+public func adjugate(_ matrix: Mat4x4d) -> Mat4x4d {
     var res = Mat4x4d.identity
 
-    res[0, 0] = m[1, 1] * (m[2, 2] * m[3, 3] - m[2, 3] * m[3, 2]) - m[2, 1] * (m[1, 2] * m[3, 3] - m[1, 3] * m[3, 2]) + m[3, 1] * (m[1, 2] * m[2, 3] - m[1, 3] * m[2, 2])
-    res[1, 0] = -(m[1, 0] * (m[2, 2] * m[3, 3] - m[2, 3] * m[3, 2]) - m[2, 0] * (m[1, 2] * m[3, 3] - m[1, 3] * m[3, 2]) + m[3, 0] * (m[1, 2] * m[2, 3] - m[1, 3] * m[2, 2]))
-    res[2, 0] = m[1, 0] * (m[2, 1] * m[3, 3] - m[2, 3] * m[3, 1]) - m[2, 0] * (m[1, 1] * m[3, 3] - m[1, 3] * m[3, 1]) + m[3, 0] * (m[1, 1] * m[2, 3] - m[1, 3] * m[2, 1])
-    res[3, 0] = -(m[1, 0] * (m[2, 1] * m[3, 2] - m[2, 2] * m[3, 1]) - m[2, 0] * (m[1, 1] * m[3, 2] - m[1, 2] * m[3, 1]) + m[3, 0] * (m[1, 1] * m[2, 2] - m[1, 2] * m[2, 1]))
-
-    res[0, 1] = -(m[0, 1] * (m[2, 2] * m[3, 3] - m[2, 3] * m[3, 2]) - m[2, 1] * (m[0, 2] * m[3, 3] - m[0, 3] * m[3, 2]) + m[3, 1] * (m[0, 2] * m[2, 3] - m[0, 3] * m[2, 2]))
-    res[1, 1] = m[0, 0] * (m[2, 2] * m[3, 3] - m[2, 3] * m[3, 2]) - m[2, 0] * (m[0, 2] * m[3, 3] - m[0, 3] * m[3, 2]) + m[3, 0] * (m[0, 2] * m[2, 3] - m[0, 3] * m[2, 2])
-    res[2, 1] = -(m[0, 0] * (m[2, 1] * m[3, 3] - m[2, 3] * m[3, 1]) - m[2, 0] * (m[0, 1] * m[3, 3] - m[0, 3] * m[3, 1]) + m[3, 0] * (m[0, 1] * m[2, 3] - m[0, 3] * m[2, 1]))
-    res[3, 1] = m[0, 0] * (m[2, 1] * m[3, 2] - m[2, 2] * m[3, 1]) - m[2, 0] * (m[0, 1] * m[3, 2] - m[0, 2] * m[3, 1]) + m[3, 0] * (m[0, 1] * m[2, 2] - m[0, 2] * m[2, 1])
-
-    res[0, 2] = m[0, 1] * (m[1, 2] * m[3, 3] - m[1, 3] * m[3, 2]) - m[1, 1] * (m[0, 2] * m[3, 3] - m[0, 3] * m[3, 2]) + m[3, 1] * (m[0, 2] * m[1, 3] - m[0, 3] * m[1, 2])
-    res[1, 2] = -(m[0, 0] * (m[1, 2] * m[3, 3] - m[1, 3] * m[3, 2]) - m[1, 0] * (m[0, 2] * m[3, 3] - m[0, 3] * m[3, 2]) + m[3, 0] * (m[0, 2] * m[1, 3] - m[0, 3] * m[1, 2]))
-    res[2, 2] = m[0, 0] * (m[1, 1] * m[3, 3] - m[1, 3] * m[3, 1]) - m[1, 0] * (m[0, 1] * m[3, 3] - m[0, 3] * m[3, 1]) + m[3, 0] * (m[0, 1] * m[1, 3] - m[0, 3] * m[1, 1])
-    res[3, 2] = -(m[0, 0] * (m[1, 1] * m[3, 2] - m[1, 2] * m[3, 1]) - m[1, 0] * (m[0, 1] * m[3, 2] - m[0, 2] * m[3, 1]) + m[3, 0] * (m[0, 1] * m[1, 2] - m[0, 2] * m[1, 1]))
-
-    res[0, 3] = -(m[0, 1] * (m[1, 2] * m[2, 3] - m[1, 3] * m[2, 2]) - m[1, 1] * (m[0, 2] * m[2, 3] - m[0, 3] * m[2, 2]) + m[2, 1] * (m[0, 2] * m[1, 3] - m[0, 3] * m[1, 2]))
-    res[1, 3] = m[0, 0] * (m[1, 2] * m[2, 3] - m[1, 3] * m[2, 2]) - m[1, 0] * (m[0, 2] * m[2, 3] - m[0, 3] * m[2, 2]) + m[2, 0] * (m[0, 2] * m[1, 3] - m[0, 3] * m[1, 2])
-    res[2, 3] = -(m[0, 0] * (m[1, 1] * m[2, 3] - m[1, 3] * m[2, 1]) - m[1, 0] * (m[0, 1] * m[2, 3] - m[0, 3] * m[2, 1]) + m[2, 0] * (m[0, 1] * m[1, 3] - m[0, 3] * m[1, 1]))
-    res[3, 3] = m[0, 0] * (m[1, 1] * m[2, 2] - m[1, 2] * m[2, 1]) - m[1, 0] * (m[0, 1] * m[2, 2] - m[0, 2] * m[2, 1]) + m[2, 0] * (m[0, 1] * m[1, 2] - m[0, 2] * m[1, 1])
+    res[0, 0] = matrix[1, 1] * (matrix[2, 2] * matrix[3, 3] - matrix[2, 3] * matrix[3, 2])
+        - matrix[2, 1] * (matrix[1, 2] * matrix[3, 3] - matrix[1, 3] * matrix[3, 2])
+        + matrix[3, 1] * (matrix[1, 2] * matrix[2, 3] - matrix[1, 3] * matrix[2, 2])
+    res[1, 0] = -(matrix[1, 0] * (matrix[2, 2] * matrix[3, 3] - matrix[2, 3] * matrix[3, 2])
+        - matrix[2, 0] * (matrix[1, 2] * matrix[3, 3] - matrix[1, 3] * matrix[3, 2])
+        + matrix[3, 0] * (matrix[1, 2] * matrix[2, 3] - matrix[1, 3] * matrix[2, 2]))
+    res[2, 0] = matrix[1, 0] * (matrix[2, 1] * matrix[3, 3] - matrix[2, 3] * matrix[3, 1])
+        - matrix[2, 0] * (matrix[1, 1] * matrix[3, 3] - matrix[1, 3] * matrix[3, 1])
+        + matrix[3, 0] * (matrix[1, 1] * matrix[2, 3] - matrix[1, 3] * matrix[2, 1])
+    res[3, 0] = -(matrix[1, 0] * (matrix[2, 1] * matrix[3, 2] - matrix[2, 2] * matrix[3, 1])
+        - matrix[2, 0] * (matrix[1, 1] * matrix[3, 2] - matrix[1, 2] * matrix[3, 1])
+        + matrix[3, 0] * (matrix[1, 1] * matrix[2, 2] - matrix[1, 2] * matrix[2, 1]))
+
+    res[0, 1] = -(matrix[0, 1] * (matrix[2, 2] * matrix[3, 3] - matrix[2, 3] * matrix[3, 2])
+        - matrix[2, 1] * (matrix[0, 2] * matrix[3, 3] - matrix[0, 3] * matrix[3, 2])
+        + matrix[3, 1] * (matrix[0, 2] * matrix[2, 3] - matrix[0, 3] * matrix[2, 2]))
+    res[1, 1] = matrix[0, 0] * (matrix[2, 2] * matrix[3, 3] - matrix[2, 3] * matrix[3, 2])
+        - matrix[2, 0] * (matrix[0, 2] * matrix[3, 3] - matrix[0, 3] * matrix[3, 2])
+        + matrix[3, 0] * (matrix[0, 2] * matrix[2, 3] - matrix[0, 3] * matrix[2, 2])
+    res[2, 1] = -(matrix[0, 0] * (matrix[2, 1] * matrix[3, 3] - matrix[2, 3] * matrix[3, 1])
+        - matrix[2, 0] * (matrix[0, 1] * matrix[3, 3] - matrix[0, 3] * matrix[3, 1])
+        + matrix[3, 0] * (matrix[0, 1] * matrix[2, 3] - matrix[0, 3] * matrix[2, 1]))
+    res[3, 1] = matrix[0, 0] * (matrix[2, 1] * matrix[3, 2] - matrix[2, 2] * matrix[3, 1])
+        - matrix[2, 0] * (matrix[0, 1] * matrix[3, 2] - matrix[0, 2] * matrix[3, 1])
+        + matrix[3, 0] * (matrix[0, 1] * matrix[2, 2] - matrix[0, 2] * matrix[2, 1])
+
+    res[0, 2] = matrix[0, 1] * (matrix[1, 2] * matrix[3, 3] - matrix[1, 3] * matrix[3, 2])
+        - matrix[1, 1] * (matrix[0, 2] * matrix[3, 3] - matrix[0, 3] * matrix[3, 2])
+        + matrix[3, 1] * (matrix[0, 2] * matrix[1, 3] - matrix[0, 3] * matrix[1, 2])
+    res[1, 2] = -(matrix[0, 0] * (matrix[1, 2] * matrix[3, 3] - matrix[1, 3] * matrix[3, 2])
+        - matrix[1, 0] * (matrix[0, 2] * matrix[3, 3] - matrix[0, 3] * matrix[3, 2])
+        + matrix[3, 0] * (matrix[0, 2] * matrix[1, 3] - matrix[0, 3] * matrix[1, 2]))
+    res[2, 2] = matrix[0, 0] * (matrix[1, 1] * matrix[3, 3] - matrix[1, 3] * matrix[3, 1])
+        - matrix[1, 0] * (matrix[0, 1] * matrix[3, 3] - matrix[0, 3] * matrix[3, 1])
+        + matrix[3, 0] * (matrix[0, 1] * matrix[1, 3] - matrix[0, 3] * matrix[1, 1])
+    res[3, 2] = -(matrix[0, 0] * (matrix[1, 1] * matrix[3, 2] - matrix[1, 2] * matrix[3, 1])
+        - matrix[1, 0] * (matrix[0, 1] * matrix[3, 2] - matrix[0, 2] * matrix[3, 1])
+        + matrix[3, 0] * (matrix[0, 1] * matrix[1, 2] - matrix[0, 2] * matrix[1, 1]))
+
+    res[0, 3] = -(matrix[0, 1] * (matrix[1, 2] * matrix[2, 3] - matrix[1, 3] * matrix[2, 2])
+        - matrix[1, 1] * (matrix[0, 2] * matrix[2, 3] - matrix[0, 3] * matrix[2, 2])
+        + matrix[2, 1] * (matrix[0, 2] * matrix[1, 3] - matrix[0, 3] * matrix[1, 2]))
+    res[1, 3] = matrix[0, 0] * (matrix[1, 2] * matrix[2, 3] - matrix[1, 3] * matrix[2, 2])
+        - matrix[1, 0] * (matrix[0, 2] * matrix[2, 3] - matrix[0, 3] * matrix[2, 2])
+        + matrix[2, 0] * (matrix[0, 2] * matrix[1, 3] - matrix[0, 3] * matrix[1, 2])
+    res[2, 3] = -(matrix[0, 0] * (matrix[1, 1] * matrix[2, 3] - matrix[1, 3] * matrix[2, 1])
+        - matrix[1, 0] * (matrix[0, 1] * matrix[2, 3] - matrix[0, 3] * matrix[2, 1])
+        + matrix[2, 0] * (matrix[0, 1] * matrix[1, 3] - matrix[0, 3] * matrix[1, 1]))
+    res[3, 3] = matrix[0, 0] * (matrix[1, 1] * matrix[2, 2] - matrix[1, 2] * matrix[2, 1])
+        - matrix[1, 0] * (matrix[0, 1] * matrix[2, 2] - matrix[0, 2] * matrix[2, 1])
+        + matrix[2, 0] * (matrix[0, 1] * matrix[1, 2] - matrix[0, 2] * matrix[1, 1])
 
     return res
 }
diff --git a/Sources/FirebladeMath/Functions/determinant.swift b/Sources/FirebladeMath/Functions/determinant.swift
index 1da9e3d..40aafaa 100644
--- a/Sources/FirebladeMath/Functions/determinant.swift
+++ b/Sources/FirebladeMath/Functions/determinant.swift
@@ -40,10 +40,10 @@ public func determinant(_ mat: Mat3x3f) -> Float {
     #if FRB_MATH_USE_SIMD
     return simd.simd_determinant(mat.storage)
     #else
-    let a = mat[0, 0] * (mat[1, 1] * mat[2, 2] - mat[1, 2] * mat[2, 1])
-    let b = mat[0, 1] * (mat[1, 0] * mat[2, 2] - mat[1, 2] * mat[2, 0])
-    let c = mat[0, 2] * (mat[1, 0] * mat[2, 1] - mat[1, 1] * mat[2, 0])
-    return a - b + c
+    let termA = mat[0, 0] * (mat[1, 1] * mat[2, 2] - mat[1, 2] * mat[2, 1])
+    let termB = mat[0, 1] * (mat[1, 0] * mat[2, 2] - mat[1, 2] * mat[2, 0])
+    let termC = mat[0, 2] * (mat[1, 0] * mat[2, 1] - mat[1, 1] * mat[2, 0])
+    return termA - termB + termC
     #endif
 }
 
@@ -85,9 +85,9 @@ public func determinant(_ mat: Mat3x3d) -> Double {
     #if FRB_MATH_USE_SIMD
     return simd.simd_determinant(mat.storage)
     #else
-    let a = mat[0, 0] * (mat[1, 1] * mat[2, 2] - mat[1, 2] * mat[2, 1])
-    let b = mat[0, 1] * (mat[1, 0] * mat[2, 2] - mat[1, 2] * mat[2, 0])
-    let c = mat[0, 2] * (mat[1, 0] * mat[2, 1] - mat[1, 1] * mat[2, 0])
-    return a - b + c
+    let termA = mat[0, 0] * (mat[1, 1] * mat[2, 2] - mat[1, 2] * mat[2, 1])
+    let termB = mat[0, 1] * (mat[1, 0] * mat[2, 2] - mat[1, 2] * mat[2, 0])
+    let termC = mat[0, 2] * (mat[1, 0] * mat[2, 1] - mat[1, 1] * mat[2, 0])
+    return termA - termB + termC
     #endif
 }
diff --git a/Sources/FirebladeMath/Functions/matrix.swift b/Sources/FirebladeMath/Functions/matrix.swift
index d70ae63..7a83df6 100644
--- a/Sources/FirebladeMath/Functions/matrix.swift
+++ b/Sources/FirebladeMath/Functions/matrix.swift
@@ -56,15 +56,24 @@ public func matrix4x4(from quat: Quat4f) -> Mat4x4f {
     #else
     let v = Vec4f(quat)
     return Mat4x4f(
-        Vec4f(1 - 2 * (v.y * v.y + v.z * v.z),
-              2 * (v.x * v.y + v.z * v.w),
-              2 * (v.x * v.z - v.y * v.w), 0),
-        Vec4f(2 * (v.x * v.y - v.z * v.w),
-              1 - 2 * (v.z * v.z + v.x * v.x),
-              2 * (v.y * v.z + v.x * v.w), 0),
-        Vec4f(2 * (v.z * v.x + v.y * v.w),
-              2 * (v.y * v.z - v.x * v.w),
-              1 - 2 * (v.y * v.y + v.x * v.x), 0),
+        Vec4f(
+            1 - 2 * (v.y * v.y + v.z * v.z),
+            2 * (v.x * v.y + v.z * v.w),
+            2 * (v.x * v.z - v.y * v.w),
+            0
+        ),
+        Vec4f(
+            2 * (v.x * v.y - v.z * v.w),
+            1 - 2 * (v.z * v.z + v.x * v.x),
+            2 * (v.y * v.z + v.x * v.w),
+            0
+        ),
+        Vec4f(
+            2 * (v.z * v.x + v.y * v.w),
+            2 * (v.y * v.z - v.x * v.w),
+            1 - 2 * (v.y * v.y + v.x * v.x),
+            0
+        ),
         Vec4f(0, 0, 0, 1)
     )
     #endif
@@ -79,15 +88,24 @@ public func matrix4x4(from quat: Quat4d) -> Mat4x4d {
     #else
     let v = Vec4d(quat)
     return Mat4x4d(
-        Vec4d(1 - 2 * (v.y * v.y + v.z * v.z),
-              2 * (v.x * v.y + v.z * v.w),
-              2 * (v.x * v.z - v.y * v.w), 0),
-        Vec4d(2 * (v.x * v.y - v.z * v.w),
-              1 - 2 * (v.z * v.z + v.x * v.x),
-              2 * (v.y * v.z + v.x * v.w), 0),
-        Vec4d(2 * (v.z * v.x + v.y * v.w),
-              2 * (v.y * v.z - v.x * v.w),
-              1 - 2 * (v.y * v.y + v.x * v.x), 0),
+        Vec4d(
+            1 - 2 * (v.y * v.y + v.z * v.z),
+            2 * (v.x * v.y + v.z * v.w),
+            2 * (v.x * v.z - v.y * v.w),
+            0
+        ),
+        Vec4d(
+            2 * (v.x * v.y - v.z * v.w),
+            1 - 2 * (v.z * v.z + v.x * v.x),
+            2 * (v.y * v.z + v.x * v.w),
+            0
+        ),
+        Vec4d(
+            2 * (v.z * v.x + v.y * v.w),
+            2 * (v.y * v.z - v.x * v.w),
+            1 - 2 * (v.y * v.y + v.x * v.x),
+            0
+        ),
         Vec4d(0, 0, 0, 1)
     )
     #endif
diff --git a/Sources/FirebladeMath/Functions/sign.swift b/Sources/FirebladeMath/Functions/sign.swift
index 72c9ee3..a71d190 100644
--- a/Sources/FirebladeMath/Functions/sign.swift
+++ b/Sources/FirebladeMath/Functions/sign.swift
@@ -9,7 +9,7 @@ public func sign(_ x: Double) -> Double {
     #if FRB_MATH_USE_SIMD
     return simd_sign(x)
     #else
-    return (x == 0 || x != x) ? 0 : copysign(1, x)
+    return (x == 0 || x.isNaN) ? 0 : copysign(1, x)
     #endif
 }
 
@@ -20,6 +20,6 @@ public func sign(_ x: Float) -> Float {
     #if FRB_MATH_USE_SIMD
     return simd_sign(x)
     #else
-    return (x == 0 || x != x) ? 0 : copysign(1, x)
+    return (x == 0 || x.isNaN) ? 0 : copysign(1, x)
     #endif
 }
diff --git a/Sources/FirebladeMath/Matrix/Mat4x4d.swift b/Sources/FirebladeMath/Matrix/Mat4x4d.swift
index da2c1d6..1bf44b5 100644
--- a/Sources/FirebladeMath/Matrix/Mat4x4d.swift
+++ b/Sources/FirebladeMath/Matrix/Mat4x4d.swift
@@ -174,7 +174,8 @@ extension Mat4x4d {
 
     /// Returns the Euler angles (pitch, yaw, roll) for this matrix in radians.
     /// - Returns: A 3D vector where x is pitch, y is yaw, and z is roll.
-    @inline(__always) public var eulerAnglesXYZ: Vec3d {
+    @inline(__always)
+    public var eulerAnglesXYZ: Vec3d {
         let thetaX: Double
         let thetaY: Double
         let thetaZ: Double
diff --git a/Sources/FirebladeMath/Matrix/Mat4x4f.swift b/Sources/FirebladeMath/Matrix/Mat4x4f.swift
index 39f5d8d..2308763 100644
--- a/Sources/FirebladeMath/Matrix/Mat4x4f.swift
+++ b/Sources/FirebladeMath/Matrix/Mat4x4f.swift
@@ -273,7 +273,8 @@ extension Mat4x4f {
 
     /// Returns the Euler angles (pitch, yaw, roll) for this matrix in radians.
     /// - Returns: A 3D vector where x is pitch, y is yaw, and z is roll.
-    @inline(__always) public var eulerAnglesXYZ: Vec3f {
+    @inline(__always)
+    public var eulerAnglesXYZ: Vec3f {
         // /// https://www.geometrictools.com/Documentation/EulerAngles.pdf
         let thetaX: Float
         let thetaY: Float
diff --git a/Sources/FirebladeMath/Matrix/Matrix+Multiplication.swift b/Sources/FirebladeMath/Matrix/Matrix+Multiplication.swift
index e2ceb01..69b0a08 100644
--- a/Sources/FirebladeMath/Matrix/Matrix+Multiplication.swift
+++ b/Sources/FirebladeMath/Matrix/Matrix+Multiplication.swift
@@ -1,3 +1,4 @@
+// swiftlint:disable file_length
 #if FRB_MATH_USE_SIMD
 import func simd.simd_mul
 #endif
diff --git a/Sources/FirebladeMath/Matrix/Matrix+Operators.swift b/Sources/FirebladeMath/Matrix/Matrix+Operators.swift
index d32d959..2278b58 100644
--- a/Sources/FirebladeMath/Matrix/Matrix+Operators.swift
+++ b/Sources/FirebladeMath/Matrix/Matrix+Operators.swift
@@ -1,305 +1,317 @@
-// MARK: 4x4f
-
-/// Multiplies two 4x4 float matrices.
-/// - Parameters:
-///   - lhs: The left-hand side matrix.
-///   - rhs: The right-hand side matrix.
-/// - Returns: The product of the two matrices.
-@inlinable
-public func * (lhs: Mat4x4f, rhs: Mat4x4f) -> Mat4x4f {
-    FirebladeMath.multiply(lhs, rhs)
+// MARK: - 4x4f
+
+extension Mat4x4f {
+    /// Multiplies two 4x4 float matrices.
+    /// - Parameters:
+    ///   - lhs: The left-hand side matrix.
+    ///   - rhs: The right-hand side matrix.
+    /// - Returns: The product of the two matrices.
+    @inlinable
+    public static func * (lhs: Mat4x4f, rhs: Mat4x4f) -> Mat4x4f {
+        FirebladeMath.multiply(lhs, rhs)
+    }
+
+    /// Multiplies a 4x4 float matrix by a scalar.
+    /// - Parameters:
+    ///   - lhs: The scalar value.
+    ///   - rhs: The matrix.
+    /// - Returns: The resulting matrix.
+    @inlinable
+    public static func * (lhs: Float, rhs: Mat4x4f) -> Mat4x4f {
+        FirebladeMath.multiply(lhs, rhs)
+    }
+
+    /// Multiplies a 4D float vector by a 4x4 float matrix.
+    /// - Parameters:
+    ///   - lhs: The vector.
+    ///   - rhs: The matrix.
+    /// - Returns: The resulting vector.
+    @inlinable
+    public static func * (lhs: Vec4f, rhs: Mat4x4f) -> Vec4f {
+        FirebladeMath.multiply(lhs, rhs)
+    }
+
+    /// Multiplies a 4x4 float matrix by a 4D float vector.
+    /// - Parameters:
+    ///   - lhs: The matrix.
+    ///   - rhs: The vector.
+    /// - Returns: The resulting vector.
+    @inlinable
+    public static func * (lhs: Mat4x4f, rhs: Vec4f) -> Vec4f {
+        FirebladeMath.multiply(lhs, rhs)
+    }
+
+    /// Multiplies two 4x4 float matrices and assigns the result to the first matrix.
+    /// - Parameters:
+    ///   - lhs: The left-hand side matrix to be updated.
+    ///   - rhs: The right-hand side matrix.
+    @inlinable
+    public static func *= (lhs: inout Mat4x4f, rhs: Mat4x4f) {
+        lhs = FirebladeMath.multiply(lhs, rhs)
+    }
 }
 
-/// Multiplies a 4x4 float matrix by a scalar.
-/// - Parameters:
-///   - lhs: The scalar value.
-///   - rhs: The matrix.
-/// - Returns: The resulting matrix.
-@inlinable
-public func * (lhs: Float, rhs: Mat4x4f) -> Mat4x4f {
-    FirebladeMath.multiply(lhs, rhs)
+// MARK: - 4x4d
+
+extension Mat4x4d {
+    /// Multiplies two 4x4 double matrices.
+    /// - Parameters:
+    ///   - lhs: The left-hand side matrix.
+    ///   - rhs: The right-hand side matrix.
+    /// - Returns: The product of the two matrices.
+    @inlinable
+    public static func * (lhs: Mat4x4d, rhs: Mat4x4d) -> Mat4x4d {
+        FirebladeMath.multiply(lhs, rhs)
+    }
+
+    /// Multiplies a 4x4 double matrix by a scalar.
+    /// - Parameters:
+    ///   - lhs: The scalar value.
+    ///   - rhs: The matrix.
+    /// - Returns: The resulting matrix.
+    @inlinable
+    public static func * (lhs: Double, rhs: Mat4x4d) -> Mat4x4d {
+        FirebladeMath.multiply(lhs, rhs)
+    }
+
+    /// Multiplies a 4D double vector by a 4x4 double matrix.
+    /// - Parameters:
+    ///   - lhs: The vector.
+    ///   - rhs: The matrix.
+    /// - Returns: The resulting vector.
+    @inlinable
+    public static func * (lhs: Vec4d, rhs: Mat4x4d) -> Vec4d {
+        FirebladeMath.multiply(lhs, rhs)
+    }
+
+    /// Multiplies a 4x4 double matrix by a 4D double vector.
+    /// - Parameters:
+    ///   - lhs: The matrix.
+    ///   - rhs: The vector.
+    /// - Returns: The resulting vector.
+    @inlinable
+    public static func * (lhs: Mat4x4d, rhs: Vec4d) -> Vec4d {
+        FirebladeMath.multiply(lhs, rhs)
+    }
+
+    /// Multiplies two 4x4 double matrices and assigns the result to the first matrix.
+    /// - Parameters:
+    ///   - lhs: The left-hand side matrix to be updated.
+    ///   - rhs: The right-hand side matrix.
+    @inlinable
+    public static func *= (lhs: inout Mat4x4d, rhs: Mat4x4d) {
+        lhs = FirebladeMath.multiply(lhs, rhs)
+    }
 }
 
-/// Multiplies a 4D float vector by a 4x4 float matrix.
-/// - Parameters:
-///   - lhs: The vector.
-///   - rhs: The matrix.
-/// - Returns: The resulting vector.
-@inlinable
-public func * (lhs: Vec4f, rhs: Mat4x4f) -> Vec4f {
-    FirebladeMath.multiply(lhs, rhs)
+// MARK: - 3x3f
+
+extension Mat3x3f {
+    /// Multiplies two 3x3 float matrices.
+    /// - Parameters:
+    ///   - lhs: The left-hand side matrix.
+    ///   - rhs: The right-hand side matrix.
+    /// - Returns: The product of the two matrices.
+    @inlinable
+    public static func * (lhs: Mat3x3f, rhs: Mat3x3f) -> Mat3x3f {
+        FirebladeMath.multiply(lhs, rhs)
+    }
+
+    /// Multiplies a 3x3 float matrix by a scalar.
+    /// - Parameters:
+    ///   - lhs: The scalar value.
+    ///   - rhs: The matrix.
+    /// - Returns: The resulting matrix.
+    @inlinable
+    public static func * (lhs: Float, rhs: Mat3x3f) -> Mat3x3f {
+        FirebladeMath.multiply(lhs, rhs)
+    }
+
+    /// Multiplies a 3D float vector by a 3x3 float matrix.
+    /// - Parameters:
+    ///   - lhs: The vector.
+    ///   - rhs: The matrix.
+    /// - Returns: The resulting vector.
+    @inlinable
+    public static func * (lhs: Vec3f, rhs: Mat3x3f) -> Vec3f {
+        FirebladeMath.multiply(lhs, rhs)
+    }
+
+    /// Multiplies a 3x3 float matrix by a 3D float vector.
+    /// - Parameters:
+    ///   - lhs: The matrix.
+    ///   - rhs: The vector.
+    /// - Returns: The resulting vector.
+    @inlinable
+    public static func * (lhs: Mat3x3f, rhs: Vec3f) -> Vec3f {
+        FirebladeMath.multiply(lhs, rhs)
+    }
+
+    /// Multiplies two 3x3 float matrices and assigns the result to the first matrix.
+    /// - Parameters:
+    ///   - lhs: The left-hand side matrix to be updated.
+    ///   - rhs: The right-hand side matrix.
+    @inlinable
+    public static func *= (lhs: inout Mat3x3f, rhs: Mat3x3f) {
+        lhs = FirebladeMath.multiply(lhs, rhs)
+    }
 }
 
-/// Multiplies a 4x4 float matrix by a 4D float vector.
-/// - Parameters:
-///   - lhs: The matrix.
-///   - rhs: The vector.
-/// - Returns: The resulting vector.
-@inlinable
-public func * (lhs: Mat4x4f, rhs: Vec4f) -> Vec4f {
-    FirebladeMath.multiply(lhs, rhs)
+// MARK: - 3x3d
+
+extension Mat3x3d {
+    /// Multiplies two 3x3 double matrices.
+    /// - Parameters:
+    ///   - lhs: The left-hand side matrix.
+    ///   - rhs: The right-hand side matrix.
+    /// - Returns: The product of the two matrices.
+    @inlinable
+    public static func * (lhs: Mat3x3d, rhs: Mat3x3d) -> Mat3x3d {
+        FirebladeMath.multiply(lhs, rhs)
+    }
+
+    /// Multiplies a 3x3 double matrix by a scalar.
+    /// - Parameters:
+    ///   - lhs: The scalar value.
+    ///   - rhs: The matrix.
+    /// - Returns: The resulting matrix.
+    @inlinable
+    public static func * (lhs: Double, rhs: Mat3x3d) -> Mat3x3d {
+        FirebladeMath.multiply(lhs, rhs)
+    }
+
+    /// Multiplies a 3D double vector by a 3x3 double matrix.
+    /// - Parameters:
+    ///   - lhs: The vector.
+    ///   - rhs: The matrix.
+    /// - Returns: The resulting vector.
+    @inlinable
+    public static func * (lhs: Vec3d, rhs: Mat3x3d) -> Vec3d {
+        FirebladeMath.multiply(lhs, rhs)
+    }
+
+    /// Multiplies a 3x3 double matrix by a 3D double vector.
+    /// - Parameters:
+    ///   - lhs: The matrix.
+    ///   - rhs: The vector.
+    /// - Returns: The resulting vector.
+    @inlinable
+    public static func * (lhs: Mat3x3d, rhs: Vec3d) -> Vec3d {
+        FirebladeMath.multiply(lhs, rhs)
+    }
+
+    /// Multiplies two 3x3 double matrices and assigns the result to the first matrix.
+    /// - Parameters:
+    ///   - lhs: The left-hand side matrix to be updated.
+    ///   - rhs: The right-hand side matrix.
+    @inlinable
+    public static func *= (lhs: inout Mat3x3d, rhs: Mat3x3d) {
+        lhs = FirebladeMath.multiply(lhs, rhs)
+    }
 }
 
-/// Multiplies two 4x4 float matrices and assigns the result to the first matrix.
-/// - Parameters:
-///   - lhs: The left-hand side matrix to be updated.
-///   - rhs: The right-hand side matrix.
-@inlinable
-public func *= (lhs: inout Mat4x4f, rhs: Mat4x4f) {
-    lhs = FirebladeMath.multiply(lhs, rhs)
+// MARK: - 2x2f
+
+extension Mat2x2f {
+    /// Multiplies two 2x2 float matrices.
+    /// - Parameters:
+    ///   - lhs: The left-hand side matrix.
+    ///   - rhs: The right-hand side matrix.
+    /// - Returns: The product of the two matrices.
+    @inlinable
+    public static func * (lhs: Mat2x2f, rhs: Mat2x2f) -> Mat2x2f {
+        FirebladeMath.multiply(lhs, rhs)
+    }
+
+    /// Multiplies a 2x2 float matrix by a scalar.
+    /// - Parameters:
+    ///   - lhs: The scalar value.
+    ///   - rhs: The matrix.
+    /// - Returns: The resulting matrix.
+    @inlinable
+    public static func * (lhs: Float, rhs: Mat2x2f) -> Mat2x2f {
+        FirebladeMath.multiply(lhs, rhs)
+    }
+
+    /// Multiplies a 2D float vector by a 2x2 float matrix.
+    /// - Parameters:
+    ///   - lhs: The vector.
+    ///   - rhs: The matrix.
+    /// - Returns: The resulting vector.
+    @inlinable
+    public static func * (lhs: Vec2f, rhs: Mat2x2f) -> Vec2f {
+        FirebladeMath.multiply(lhs, rhs)
+    }
+
+    /// Multiplies a 2x2 float matrix by a 2D float vector.
+    /// - Parameters:
+    ///   - lhs: The matrix.
+    ///   - rhs: The vector.
+    /// - Returns: The resulting vector.
+    @inlinable
+    public static func * (lhs: Mat2x2f, rhs: Vec2f) -> Vec2f {
+        FirebladeMath.multiply(lhs, rhs)
+    }
+
+    /// Multiplies two 2x2 float matrices and assigns the result to the first matrix.
+    /// - Parameters:
+    ///   - lhs: The left-hand side matrix to be updated.
+    ///   - rhs: The right-hand side matrix.
+    @inlinable
+    public static func *= (lhs: inout Mat2x2f, rhs: Mat2x2f) {
+        lhs = FirebladeMath.multiply(lhs, rhs)
+    }
 }
 
-// MARK: 4x4d
-
-/// Multiplies two 4x4 double matrices.
-/// - Parameters:
-///   - lhs: The left-hand side matrix.
-///   - rhs: The right-hand side matrix.
-/// - Returns: The product of the two matrices.
-@inlinable
-public func * (lhs: Mat4x4d, rhs: Mat4x4d) -> Mat4x4d {
-    FirebladeMath.multiply(lhs, rhs)
-}
-
-/// Multiplies a 4x4 double matrix by a scalar.
-/// - Parameters:
-///   - lhs: The scalar value.
-///   - rhs: The matrix.
-/// - Returns: The resulting matrix.
-@inlinable
-public func * (lhs: Double, rhs: Mat4x4d) -> Mat4x4d {
-    FirebladeMath.multiply(lhs, rhs)
-}
-
-/// Multiplies a 4D double vector by a 4x4 double matrix.
-/// - Parameters:
-///   - lhs: The vector.
-///   - rhs: The matrix.
-/// - Returns: The resulting vector.
-@inlinable
-public func * (lhs: Vec4d, rhs: Mat4x4d) -> Vec4d {
-    FirebladeMath.multiply(lhs, rhs)
-}
-
-/// Multiplies a 4x4 double matrix by a 4D double vector.
-/// - Parameters:
-///   - lhs: The matrix.
-///   - rhs: The vector.
-/// - Returns: The resulting vector.
-@inlinable
-public func * (lhs: Mat4x4d, rhs: Vec4d) -> Vec4d {
-    FirebladeMath.multiply(lhs, rhs)
-}
-
-/// Multiplies two 4x4 double matrices and assigns the result to the first matrix.
-/// - Parameters:
-///   - lhs: The left-hand side matrix to be updated.
-///   - rhs: The right-hand side matrix.
-@inlinable
-public func *= (lhs: inout Mat4x4d, rhs: Mat4x4d) {
-    lhs = FirebladeMath.multiply(lhs, rhs)
-}
-
-// MARK: 3x3f
-
-/// Multiplies two 3x3 float matrices.
-/// - Parameters:
-///   - lhs: The left-hand side matrix.
-///   - rhs: The right-hand side matrix.
-/// - Returns: The product of the two matrices.
-@inlinable
-public func * (lhs: Mat3x3f, rhs: Mat3x3f) -> Mat3x3f {
-    FirebladeMath.multiply(lhs, rhs)
-}
-
-/// Multiplies a 3x3 float matrix by a scalar.
-/// - Parameters:
-///   - lhs: The scalar value.
-///   - rhs: The matrix.
-/// - Returns: The resulting matrix.
-@inlinable
-public func * (lhs: Float, rhs: Mat3x3f) -> Mat3x3f {
-    FirebladeMath.multiply(lhs, rhs)
-}
-
-/// Multiplies a 3D float vector by a 3x3 float matrix.
-/// - Parameters:
-///   - lhs: The vector.
-///   - rhs: The matrix.
-/// - Returns: The resulting vector.
-@inlinable
-public func * (lhs: Vec3f, rhs: Mat3x3f) -> Vec3f {
-    FirebladeMath.multiply(lhs, rhs)
-}
-
-/// Multiplies a 3x3 float matrix by a 3D float vector.
-/// - Parameters:
-///   - lhs: The matrix.
-///   - rhs: The vector.
-/// - Returns: The resulting vector.
-@inlinable
-public func * (lhs: Mat3x3f, rhs: Vec3f) -> Vec3f {
-    FirebladeMath.multiply(lhs, rhs)
-}
-
-/// Multiplies two 3x3 float matrices and assigns the result to the first matrix.
-/// - Parameters:
-///   - lhs: The left-hand side matrix to be updated.
-///   - rhs: The right-hand side matrix.
-@inlinable
-public func *= (lhs: inout Mat3x3f, rhs: Mat3x3f) {
-    lhs = FirebladeMath.multiply(lhs, rhs)
-}
-
-// MARK: 3x3d
-
-/// Multiplies two 3x3 double matrices.
-/// - Parameters:
-///   - lhs: The left-hand side matrix.
-///   - rhs: The right-hand side matrix.
-/// - Returns: The product of the two matrices.
-@inlinable
-public func * (lhs: Mat3x3d, rhs: Mat3x3d) -> Mat3x3d {
-    FirebladeMath.multiply(lhs, rhs)
-}
-
-/// Multiplies a 3x3 double matrix by a scalar.
-/// - Parameters:
-///   - lhs: The scalar value.
-///   - rhs: The matrix.
-/// - Returns: The resulting matrix.
-@inlinable
-public func * (lhs: Double, rhs: Mat3x3d) -> Mat3x3d {
-    FirebladeMath.multiply(lhs, rhs)
-}
-
-/// Multiplies a 3D double vector by a 3x3 double matrix.
-/// - Parameters:
-///   - lhs: The vector.
-///   - rhs: The matrix.
-/// - Returns: The resulting vector.
-@inlinable
-public func * (lhs: Vec3d, rhs: Mat3x3d) -> Vec3d {
-    FirebladeMath.multiply(lhs, rhs)
-}
-
-/// Multiplies a 3x3 double matrix by a 3D double vector.
-/// - Parameters:
-///   - lhs: The matrix.
-///   - rhs: The vector.
-/// - Returns: The resulting vector.
-@inlinable
-public func * (lhs: Mat3x3d, rhs: Vec3d) -> Vec3d {
-    FirebladeMath.multiply(lhs, rhs)
-}
-
-/// Multiplies two 3x3 double matrices and assigns the result to the first matrix.
-/// - Parameters:
-///   - lhs: The left-hand side matrix to be updated.
-///   - rhs: The right-hand side matrix.
-@inlinable
-public func *= (lhs: inout Mat3x3d, rhs: Mat3x3d) {
-    lhs = FirebladeMath.multiply(lhs, rhs)
-}
-
-// MARK: 2x2f
-
-/// Multiplies two 2x2 float matrices.
-/// - Parameters:
-///   - lhs: The left-hand side matrix.
-///   - rhs: The right-hand side matrix.
-/// - Returns: The product of the two matrices.
-@inlinable
-public func * (lhs: Mat2x2f, rhs: Mat2x2f) -> Mat2x2f {
-    FirebladeMath.multiply(lhs, rhs)
-}
-
-/// Multiplies a 2x2 float matrix by a scalar.
-/// - Parameters:
-///   - lhs: The scalar value.
-///   - rhs: The matrix.
-/// - Returns: The resulting matrix.
-@inlinable
-public func * (lhs: Float, rhs: Mat2x2f) -> Mat2x2f {
-    FirebladeMath.multiply(lhs, rhs)
-}
-
-/// Multiplies a 2D float vector by a 2x2 float matrix.
-/// - Parameters:
-///   - lhs: The vector.
-///   - rhs: The matrix.
-/// - Returns: The resulting vector.
-@inlinable
-public func * (lhs: Vec2f, rhs: Mat2x2f) -> Vec2f {
-    FirebladeMath.multiply(lhs, rhs)
-}
-
-/// Multiplies a 2x2 float matrix by a 2D float vector.
-/// - Parameters:
-///   - lhs: The matrix.
-///   - rhs: The vector.
-/// - Returns: The resulting vector.
-@inlinable
-public func * (lhs: Mat2x2f, rhs: Vec2f) -> Vec2f {
-    FirebladeMath.multiply(lhs, rhs)
-}
-
-/// Multiplies two 2x2 float matrices and assigns the result to the first matrix.
-/// - Parameters:
-///   - lhs: The left-hand side matrix to be updated.
-///   - rhs: The right-hand side matrix.
-@inlinable
-public func *= (lhs: inout Mat2x2f, rhs: Mat2x2f) {
-    lhs = FirebladeMath.multiply(lhs, rhs)
-}
-
-// MARK: 2x2d
-
-/// Multiplies two 2x2 double matrices.
-/// - Parameters:
-///   - lhs: The left-hand side matrix.
-///   - rhs: The right-hand side matrix.
-/// - Returns: The product of the two matrices.
-@inlinable
-public func * (lhs: Mat2x2d, rhs: Mat2x2d) -> Mat2x2d {
-    FirebladeMath.multiply(lhs, rhs)
-}
-
-/// Multiplies a 2x2 double matrix by a scalar.
-/// - Parameters:
-///   - lhs: The scalar value.
-///   - rhs: The matrix.
-/// - Returns: The resulting matrix.
-@inlinable
-public func * (lhs: Double, rhs: Mat2x2d) -> Mat2x2d {
-    FirebladeMath.multiply(lhs, rhs)
-}
-
-/// Multiplies a 2D double vector by a 2x2 double matrix.
-/// - Parameters:
-///   - lhs: The vector.
-///   - rhs: The matrix.
-/// - Returns: The resulting vector.
-@inlinable
-public func * (lhs: Vec2d, rhs: Mat2x2d) -> Vec2d {
-    FirebladeMath.multiply(lhs, rhs)
-}
-
-/// Multiplies a 2x2 double matrix by a 2D double vector.
-/// - Parameters:
-///   - lhs: The matrix.
-///   - rhs: The vector.
-/// - Returns: The resulting vector.
-@inlinable
-public func * (lhs: Mat2x2d, rhs: Vec2d) -> Vec2d {
-    FirebladeMath.multiply(lhs, rhs)
-}
-
-/// Multiplies two 2x2 double matrices and assigns the result to the first matrix.
-/// - Parameters:
-///   - lhs: The left-hand side matrix to be updated.
-///   - rhs: The right-hand side matrix.
-@inlinable
-public func *= (lhs: inout Mat2x2d, rhs: Mat2x2d) {
-    lhs = FirebladeMath.multiply(lhs, rhs)
+// MARK: - 2x2d
+
+extension Mat2x2d {
+    /// Multiplies two 2x2 double matrices.
+    /// - Parameters:
+    ///   - lhs: The left-hand side matrix.
+    ///   - rhs: The right-hand side matrix.
+    /// - Returns: The product of the two matrices.
+    @inlinable
+    public static func * (lhs: Mat2x2d, rhs: Mat2x2d) -> Mat2x2d {
+        FirebladeMath.multiply(lhs, rhs)
+    }
+
+    /// Multiplies a 2x2 double matrix by a scalar.
+    /// - Parameters:
+    ///   - lhs: The scalar value.
+    ///   - rhs: The matrix.
+    /// - Returns: The resulting matrix.
+    @inlinable
+    public static func * (lhs: Double, rhs: Mat2x2d) -> Mat2x2d {
+        FirebladeMath.multiply(lhs, rhs)
+    }
+
+    /// Multiplies a 2D double vector by a 2x2 double matrix.
+    /// - Parameters:
+    ///   - lhs: The vector.
+    ///   - rhs: The matrix.
+    /// - Returns: The resulting vector.
+    @inlinable
+    public static func * (lhs: Vec2d, rhs: Mat2x2d) -> Vec2d {
+        FirebladeMath.multiply(lhs, rhs)
+    }
+
+    /// Multiplies a 2x2 double matrix by a 2D double vector.
+    /// - Parameters:
+    ///   - lhs: The matrix.
+    ///   - rhs: The vector.
+    /// - Returns: The resulting vector.
+    @inlinable
+    public static func * (lhs: Mat2x2d, rhs: Vec2d) -> Vec2d {
+        FirebladeMath.multiply(lhs, rhs)
+    }
+
+    /// Multiplies two 2x2 double matrices and assigns the result to the first matrix.
+    /// - Parameters:
+    ///   - lhs: The left-hand side matrix to be updated.
+    ///   - rhs: The right-hand side matrix.
+    @inlinable
+    public static func *= (lhs: inout Mat2x2d, rhs: Mat2x2d) {
+        lhs = FirebladeMath.multiply(lhs, rhs)
+    }
 }
diff --git a/Sources/FirebladeMath/Matrix/Matrix2x2.swift b/Sources/FirebladeMath/Matrix/Matrix2x2.swift
index 84c8621..13fbcdd 100644
--- a/Sources/FirebladeMath/Matrix/Matrix2x2.swift
+++ b/Sources/FirebladeMath/Matrix/Matrix2x2.swift
@@ -33,13 +33,13 @@ public struct Matrix2x2<Storage: Storage2x2Protocol>: RandomAccessCollection, Mu
         storage.index(before: i)
     }
 
-    @usableFromInline init(storage: Storage) {
+    @usableFromInline
+    init(storage: Storage) {
         self.storage = storage
     }
 
     /// The 2x2 identity matrix.
-    @inlinable
-    public static var identity: Matrix2x2<Storage> {
+    @inlinable public static var identity: Matrix2x2<Storage> {
         Matrix2x2(diagonal: Vector(repeating: 1))
     }
 
@@ -109,7 +109,8 @@ public struct Matrix2x2<Storage: Storage2x2Protocol>: RandomAccessCollection, Mu
     }
 
     /// Provides access to the underlying memory as a contiguous buffer.
-    @inlinable public func withForcedContiguousStorage<R>(_ body: (UnsafeBufferPointer<Element>) -> R) throws -> R? {
+    @inlinable
+    public func withForcedContiguousStorage<R>(_ body: (UnsafeBufferPointer<Element>) -> R) throws -> R? {
         // https://forums.swift.org/t/se-0256-introduce-mutable-contiguouscollection-protocol/22569/7
         if let result = withContiguousStorageIfAvailable(body) {
             return result
@@ -119,7 +120,8 @@ public struct Matrix2x2<Storage: Storage2x2Protocol>: RandomAccessCollection, Mu
     }
 
     /// Provides mutable access to the underlying memory as a contiguous buffer.
-    @inlinable public mutating func withForcedContiguousMutableStorage<R>(_ body: (inout UnsafeMutableBufferPointer<Element>) -> R) throws -> R? {
+    @inlinable
+    public mutating func withForcedContiguousMutableStorage<R>(_ body: (inout UnsafeMutableBufferPointer<Element>) -> R) throws -> R? {
         // https://forums.swift.org/t/se-0256-introduce-mutable-contiguouscollection-protocol/22569/7
         if let result = withContiguousMutableStorageIfAvailable(body) {
             return result
diff --git a/Sources/FirebladeMath/Matrix/Matrix3x3.swift b/Sources/FirebladeMath/Matrix/Matrix3x3.swift
index fc381e1..97dc27c 100644
--- a/Sources/FirebladeMath/Matrix/Matrix3x3.swift
+++ b/Sources/FirebladeMath/Matrix/Matrix3x3.swift
@@ -33,13 +33,13 @@ public struct Matrix3x3<Storage: Storage3x3Protocol>: RandomAccessCollection, Mu
         storage.index(before: i)
     }
 
-    @usableFromInline init(storage: Storage) {
+    @usableFromInline
+    init(storage: Storage) {
         self.storage = storage
     }
 
     /// The 3x3 identity matrix.
-    @inlinable
-    public static var identity: Matrix3x3<Storage> {
+    @inlinable public static var identity: Matrix3x3<Storage> {
         Matrix3x3(diagonal: Vector(repeating: 1))
     }
 
@@ -101,7 +101,7 @@ public struct Matrix3x3<Storage: Storage3x3Protocol>: RandomAccessCollection, Mu
     }
 
     /// The column vectors of the matrix.
-    @inlinable public var columns: (Vector, Vector, Vector) {
+    @inlinable public var columns: (Vector, Vector, Vector) { // swiftlint:disable:this large_tuple
         storage.columns
     }
 
@@ -111,7 +111,8 @@ public struct Matrix3x3<Storage: Storage3x3Protocol>: RandomAccessCollection, Mu
     }
 
     /// Provides access to the underlying memory as a contiguous buffer.
-    @inlinable public func withForcedContiguousStorage<R>(_ body: (UnsafeBufferPointer<Element>) -> R) throws -> R? {
+    @inlinable
+    public func withForcedContiguousStorage<R>(_ body: (UnsafeBufferPointer<Element>) -> R) throws -> R? {
         // https://forums.swift.org/t/se-0256-introduce-mutable-contiguouscollection-protocol/22569/7
         if let result = withContiguousStorageIfAvailable(body) {
             return result
@@ -121,7 +122,8 @@ public struct Matrix3x3<Storage: Storage3x3Protocol>: RandomAccessCollection, Mu
     }
 
     /// Provides mutable access to the underlying memory as a contiguous buffer.
-    @inlinable public mutating func withForcedContiguousMutableStorage<R>(_ body: (inout UnsafeMutableBufferPointer<Element>) -> R) throws -> R? {
+    @inlinable
+    public mutating func withForcedContiguousMutableStorage<R>(_ body: (inout UnsafeMutableBufferPointer<Element>) -> R) throws -> R? {
         // https://forums.swift.org/t/se-0256-introduce-mutable-contiguouscollection-protocol/22569/7
         if let result = withContiguousMutableStorageIfAvailable(body) {
             return result
diff --git a/Sources/FirebladeMath/Matrix/Matrix4x4+Projections.swift b/Sources/FirebladeMath/Matrix/Matrix4x4+Projections.swift
index a590c3e..a48eb51 100644
--- a/Sources/FirebladeMath/Matrix/Matrix4x4+Projections.swift
+++ b/Sources/FirebladeMath/Matrix/Matrix4x4+Projections.swift
@@ -66,7 +66,7 @@ extension Mat4x4f {
     ///   - zNear: The distance to the near clipping plane.
     ///   - zFar: The distance to the far clipping plane.
     /// - Returns: The orthographic projection matrix.
-    public static func orthographicRH(left: Float, right: Float, top: Float, bottom: Float, zNear: Float, zFar: Float) -> Self {
+    public static func orthographicRH(left: Float, right: Float, top: Float, bottom: Float, zNear: Float, zFar: Float) -> Self { // swiftlint:disable:this function_parameter_count
         let m00: Float = 2.0 / (right - left)
         let m03: Float = (left + right) / (left - right)
         let m11: Float = 2.0 / (top - bottom)
@@ -92,7 +92,7 @@ extension Mat4x4f {
     ///   - zNear: The distance to the near clipping plane.
     ///   - zFar: The distance to the far clipping plane.
     /// - Returns: The orthographic projection matrix.
-    public static func orthographicLH(left: Float, right: Float, top: Float, bottom: Float, zNear: Float, zFar: Float) -> Self {
+    public static func orthographicLH(left: Float, right: Float, top: Float, bottom: Float, zNear: Float, zFar: Float) -> Self { // swiftlint:disable:this function_parameter_count
         let m00: Float = 2.0 / (right - left)
         let m03: Float = (left + right) / (left - right)
         let m11: Float = 2.0 / (top - bottom)
@@ -174,7 +174,7 @@ extension Mat4x4d {
     ///   - zNear: The distance to the near clipping plane.
     ///   - zFar: The distance to the far clipping plane.
     /// - Returns: The orthographic projection matrix.
-    public static func orthographicRH(left: Double, right: Double, top: Double, bottom: Double, zNear: Double, zFar: Double) -> Self {
+    public static func orthographicRH(left: Double, right: Double, top: Double, bottom: Double, zNear: Double, zFar: Double) -> Self { // swiftlint:disable:this function_parameter_count
         let m00: Double = 2.0 / (right - left)
         let m03: Double = (left + right) / (left - right)
         let m11: Double = 2.0 / (top - bottom)
@@ -200,7 +200,7 @@ extension Mat4x4d {
     ///   - zNear: The distance to the near clipping plane.
     ///   - zFar: The distance to the far clipping plane.
     /// - Returns: The orthographic projection matrix.
-    public static func orthographicLH(left: Double, right: Double, top: Double, bottom: Double, zNear: Double, zFar: Double) -> Self {
+    public static func orthographicLH(left: Double, right: Double, top: Double, bottom: Double, zNear: Double, zFar: Double) -> Self { // swiftlint:disable:this function_parameter_count
         let m00: Double = 2.0 / (right - left)
         let m03: Double = (left + right) / (left - right)
         let m11: Double = 2.0 / (top - bottom)
diff --git a/Sources/FirebladeMath/Matrix/Matrix4x4.swift b/Sources/FirebladeMath/Matrix/Matrix4x4.swift
index c840227..d992223 100644
--- a/Sources/FirebladeMath/Matrix/Matrix4x4.swift
+++ b/Sources/FirebladeMath/Matrix/Matrix4x4.swift
@@ -33,13 +33,13 @@ public struct Matrix4x4<Storage: Storage4x4Protocol>: RandomAccessCollection, Mu
         storage.index(before: i)
     }
 
-    @usableFromInline init(storage: Storage) {
+    @usableFromInline
+    init(storage: Storage) {
         self.storage = storage
     }
 
     /// The 4x4 identity matrix.
-    @inlinable
-    public static var identity: Matrix4x4<Storage> {
+    @inlinable public static var identity: Matrix4x4<Storage> {
         Matrix4x4(diagonal: Vector(repeating: 1))
     }
 
@@ -102,9 +102,8 @@ public struct Matrix4x4<Storage: Storage4x4Protocol>: RandomAccessCollection, Mu
         storage.replaceSubrange(subrange, with: newElements)
     }
 
-    // swiftlint:disable large_tuple
     /// The column vectors of the matrix.
-    @inlinable public var columns: (Vector, Vector, Vector, Vector) {
+    @inlinable public var columns: (Vector, Vector, Vector, Vector) { // swiftlint:disable:this large_tuple
         storage.columns
     }
 
@@ -114,7 +113,8 @@ public struct Matrix4x4<Storage: Storage4x4Protocol>: RandomAccessCollection, Mu
     }
 
     /// Provides access to the underlying memory as a contiguous buffer.
-    @inlinable public func withForcedContiguousStorage<R>(_ body: (UnsafeBufferPointer<Element>) -> R) throws -> R? {
+    @inlinable
+    public func withForcedContiguousStorage<R>(_ body: (UnsafeBufferPointer<Element>) -> R) throws -> R? {
         // https://forums.swift.org/t/se-0256-introduce-mutable-contiguouscollection-protocol/22569/7
         if let result = withContiguousStorageIfAvailable(body) {
             return result
@@ -124,7 +124,8 @@ public struct Matrix4x4<Storage: Storage4x4Protocol>: RandomAccessCollection, Mu
     }
 
     /// Provides mutable access to the underlying memory as a contiguous buffer.
-    @inlinable public mutating func withForcedContiguousMutableStorage<R>(_ body: (inout UnsafeMutableBufferPointer<Element>) -> R) throws -> R? {
+    @inlinable
+    public mutating func withForcedContiguousMutableStorage<R>(_ body: (inout UnsafeMutableBufferPointer<Element>) -> R) throws -> R? {
         // https://forums.swift.org/t/se-0256-introduce-mutable-contiguouscollection-protocol/22569/7
         if let result = withContiguousMutableStorageIfAvailable(body) {
             return result
diff --git a/Sources/FirebladeMath/Matrix/MatrixStorage+NO_SIMD.swift b/Sources/FirebladeMath/Matrix/MatrixStorage+NO_SIMD.swift
index 8b56f31..f4480f3 100644
--- a/Sources/FirebladeMath/Matrix/MatrixStorage+NO_SIMD.swift
+++ b/Sources/FirebladeMath/Matrix/MatrixStorage+NO_SIMD.swift
@@ -97,6 +97,7 @@ public struct Storage3x3<Value: StorageScalar>: Storage3x3Protocol {
     @usableFromInline var column1: Column
     @usableFromInline var column2: Column
 
+    // swiftlint:disable:next large_tuple
     @inlinable public var columns: (Column, Column, Column) {
         (column0, column1, column2)
     }
@@ -189,14 +190,14 @@ public struct Storage4x4<Value: StorageScalar>: Storage4x4Protocol {
     public typealias Storage2x2Ref = Storage2x2<Value>
     public typealias Storage3x3Ref = Storage3x3<Value>
 
-    // TODO: we could use SIMD16<Value> here
+    // NOTE: we could use SIMD16<Value> here
 
     @usableFromInline var column0: Column
     @usableFromInline var column1: Column
     @usableFromInline var column2: Column
     @usableFromInline var column3: Column
 
-    // swiftlint:disable large_tuple
+    // swiftlint:disable:next large_tuple
     @inlinable public var columns: (Column, Column, Column, Column) {
         (column0, column1, column2, column3)
     }
diff --git a/Sources/FirebladeMath/Matrix/MatrixStorage+SIMD.swift b/Sources/FirebladeMath/Matrix/MatrixStorage+SIMD.swift
index c470fad..8cb7a08 100644
--- a/Sources/FirebladeMath/Matrix/MatrixStorage+SIMD.swift
+++ b/Sources/FirebladeMath/Matrix/MatrixStorage+SIMD.swift
@@ -11,8 +11,7 @@ import struct simd.matrix.simd_float4x4
 /// Conformance to matrix storage protocols.
 extension simd_float2x2: Storage2x2Protocol, @retroactive @unchecked Sendable, @retroactive RandomAccessCollection, @retroactive MutableCollection, @retroactive RangeReplaceableCollection,
     @retroactive BidirectionalCollection, @retroactive Collection,
-    @retroactive Sequence
-{
+    @retroactive Sequence {
     /// The element type of the matrix storage.
     public typealias Element = Float
     /// The column vector type of the matrix.
@@ -59,8 +58,7 @@ extension simd_float2x2: Storage2x2Protocol, @retroactive @unchecked Sendable, @
 /// Conformance to matrix storage protocols.
 extension simd_double2x2: Storage2x2Protocol, @retroactive @unchecked Sendable, @retroactive RandomAccessCollection, @retroactive MutableCollection, @retroactive RangeReplaceableCollection,
     @retroactive BidirectionalCollection, @retroactive Collection,
-    @retroactive Sequence
-{
+    @retroactive Sequence {
     /// The element type of the matrix storage.
     public typealias Element = Double
     /// The column vector type of the matrix.
@@ -109,8 +107,7 @@ extension simd_double2x2: Storage2x2Protocol, @retroactive @unchecked Sendable,
 /// Conformance to matrix storage protocols.
 extension simd_float3x3: Storage3x3Protocol, @retroactive @unchecked Sendable, @retroactive RandomAccessCollection, @retroactive MutableCollection, @retroactive RangeReplaceableCollection,
     @retroactive BidirectionalCollection, @retroactive Collection,
-    @retroactive Sequence
-{
+    @retroactive Sequence {
     /// The element type of the matrix storage.
     public typealias Element = Float
     /// The column vector type of the matrix.
@@ -163,8 +160,7 @@ extension simd_float3x3: Storage3x3Protocol, @retroactive @unchecked Sendable, @
 /// Conformance to matrix storage protocols.
 extension simd_double3x3: Storage3x3Protocol, @retroactive @unchecked Sendable, @retroactive RandomAccessCollection, @retroactive MutableCollection, @retroactive RangeReplaceableCollection,
     @retroactive BidirectionalCollection, @retroactive Collection,
-    @retroactive Sequence
-{
+    @retroactive Sequence {
     /// The element type of the matrix storage.
     public typealias Element = Double
     /// The column vector type of the matrix.
@@ -219,8 +215,7 @@ extension simd_double3x3: Storage3x3Protocol, @retroactive @unchecked Sendable,
 /// Conformance to matrix storage protocols.
 extension simd_float4x4: Storage4x4Protocol, @retroactive @unchecked Sendable, @retroactive RandomAccessCollection, @retroactive MutableCollection, @retroactive RangeReplaceableCollection,
     @retroactive BidirectionalCollection, @retroactive Collection,
-    @retroactive Sequence
-{
+    @retroactive Sequence {
     /// The element type of the matrix storage.
     public typealias Element = Float
     /// The column vector type of the matrix.
@@ -279,8 +274,7 @@ extension simd_float4x4: Storage4x4Protocol, @retroactive @unchecked Sendable, @
 /// Conformance to matrix storage protocols.
 extension simd_double4x4: Storage4x4Protocol, @retroactive @unchecked Sendable, @retroactive RandomAccessCollection, @retroactive MutableCollection, @retroactive RangeReplaceableCollection,
     @retroactive BidirectionalCollection, @retroactive Collection,
-    @retroactive Sequence
-{
+    @retroactive Sequence {
     /// The element type of the matrix storage.
     public typealias Element = Double
     /// The column vector type of the matrix.
diff --git a/Sources/FirebladeMath/Matrix/MatrixStorage.swift b/Sources/FirebladeMath/Matrix/MatrixStorage.swift
index beef11e..c5cc463 100644
--- a/Sources/FirebladeMath/Matrix/MatrixStorage.swift
+++ b/Sources/FirebladeMath/Matrix/MatrixStorage.swift
@@ -11,9 +11,8 @@ public protocol Storage4x4Protocol: RandomAccessCollection, MutableCollection, R
     /// Creates a new storage with the specified diagonal values.
     init(diagonal: Column)
 
-    // swiftlint:disable large_tuple
     /// The column vectors of the matrix.
-    var columns: (Column, Column, Column, Column) { get }
+    var columns: (Column, Column, Column, Column) { get } // swiftlint:disable:this large_tuple
 
     /// Accesses the value at the specified column and row.
     subscript(column: Int, row: Int) -> Value { get set }
@@ -65,7 +64,7 @@ public protocol Storage3x3Protocol: RandomAccessCollection, MutableCollection, R
     init(diagonal: Column)
 
     /// The column vectors of the matrix.
-    var columns: (Column, Column, Column) { get }
+    var columns: (Column, Column, Column) { get } // swiftlint:disable:this large_tuple
 
     /// Accesses the value at the specified column and row.
     subscript(column: Int, row: Int) -> Value { get set }
diff --git a/Sources/FirebladeMath/Quat/Quat.swift b/Sources/FirebladeMath/Quat/Quat.swift
index c297140..69bf7dc 100644
--- a/Sources/FirebladeMath/Quat/Quat.swift
+++ b/Sources/FirebladeMath/Quat/Quat.swift
@@ -5,6 +5,7 @@
 public struct Quaternion<Storage: QuaternionStorageProtocol>: Sendable {
     /// The scalar type used in the quaternion.
     public typealias Value = Storage.Value
+
     @usableFromInline var storage: Storage
 
     /// Creates a quaternion from a storage object.
diff --git a/Sources/FirebladeMath/Quat/Quat4d.swift b/Sources/FirebladeMath/Quat/Quat4d.swift
index 89b9c37..a64d0d1 100644
--- a/Sources/FirebladeMath/Quat/Quat4d.swift
+++ b/Sources/FirebladeMath/Quat/Quat4d.swift
@@ -1,7 +1,8 @@
 extension Quat4d {
     /// Creates a double-precision quaternion from a single-precision quaternion.
     /// - Parameter quat: The single-precision quaternion.
-    @inlinable public init(_ quat: Quat4f) {
+    @inlinable
+    public init(_ quat: Quat4f) {
         self.init(Double(quat.x), Double(quat.y), Double(quat.z), Double(quat.w))
     }
 
diff --git a/Sources/FirebladeMath/Quat/Quat4f+Euler.swift b/Sources/FirebladeMath/Quat/Quat4f+Euler.swift
index 65e60c1..2043d62 100644
--- a/Sources/FirebladeMath/Quat/Quat4f+Euler.swift
+++ b/Sources/FirebladeMath/Quat/Quat4f+Euler.swift
@@ -12,13 +12,13 @@ extension Quat4f {
     //      return Quat4f(q1, q2, q3, q4)
     //  }
 
-    public static func fromEulerAngles_123(_ e: Vec3f) -> Quat4f {
-        let c1 = cos(e.x / 2.0)
-        let s1 = sin(e.x / 2.0)
-        let c2 = cos(e.y / 2.0)
-        let s2 = sin(e.y / 2.0)
-        let c3 = cos(e.z / 2.0)
-        let s3 = sin(e.z / 2.0)
+    public static func fromEulerAngles_123(_ euler: Vec3f) -> Quat4f {
+        let c1 = cos(euler.x / 2.0)
+        let s1 = sin(euler.x / 2.0)
+        let c2 = cos(euler.y / 2.0)
+        let s2 = sin(euler.y / 2.0)
+        let c3 = cos(euler.z / 2.0)
+        let s3 = sin(euler.z / 2.0)
 
         let q4 = c1 * c2 * c3 - s1 * s2 * s3
         let q3 = s1 * c2 * c3 + c1 * s2 * s3
@@ -41,13 +41,13 @@ extension Quat4f {
     //     return Quat4f(q1, q2, q3, q4)
     // }
 
-    public static func fromEulerAngles_132(_ e: Vec3f) -> Quat4f {
-        let c1 = cos(e.x / 2.0)
-        let s1 = sin(e.x / 2.0)
-        let c2 = cos(e.y / 2.0)
-        let s2 = sin(e.y / 2.0)
-        let c3 = cos(e.z / 2.0)
-        let s3 = sin(e.z / 2.0)
+    public static func fromEulerAngles_132(_ euler: Vec3f) -> Quat4f {
+        let c1 = cos(euler.x / 2.0)
+        let s1 = sin(euler.x / 2.0)
+        let c2 = cos(euler.y / 2.0)
+        let s2 = sin(euler.y / 2.0)
+        let c3 = cos(euler.z / 2.0)
+        let s3 = sin(euler.z / 2.0)
 
         let q4 = c1 * c2 * c3 + s1 * s2 * s3
         let q3 = s1 * c2 * c3 - c1 * s2 * s3
@@ -70,13 +70,13 @@ extension Quat4f {
     //      return Quat4f(q1, q2, q3, q4)
     //  }
 
-    public static func fromEulerAngles_213(_ e: Vec3f) -> Quat4f {
-        let c1 = cos(e.x / 2.0)
-        let s1 = sin(e.x / 2.0)
-        let c2 = cos(e.y / 2.0)
-        let s2 = sin(e.y / 2.0)
-        let c3 = cos(e.z / 2.0)
-        let s3 = sin(e.z / 2.0)
+    public static func fromEulerAngles_213(_ euler: Vec3f) -> Quat4f {
+        let c1 = cos(euler.x / 2.0)
+        let s1 = sin(euler.x / 2.0)
+        let c2 = cos(euler.y / 2.0)
+        let s2 = sin(euler.y / 2.0)
+        let c3 = cos(euler.z / 2.0)
+        let s3 = sin(euler.z / 2.0)
 
         let q4 = c1 * c2 * c3 + s1 * s2 * s3
         let q3 = c1 * s2 * c3 + s1 * c2 * s3
@@ -86,13 +86,13 @@ extension Quat4f {
         return Quat4f(q1, q2, q3, q4)
     }
 
-    public static func fromEulerAngles_231(_ e: Vec3f) -> Quat4f {
-        let c1 = cos(e.x / 2.0)
-        let s1 = sin(e.x / 2.0)
-        let c2 = cos(e.y / 2.0)
-        let s2 = sin(e.y / 2.0)
-        let c3 = cos(e.z / 2.0)
-        let s3 = sin(e.z / 2.0)
+    public static func fromEulerAngles_231(_ euler: Vec3f) -> Quat4f {
+        let c1 = cos(euler.x / 2.0)
+        let s1 = sin(euler.x / 2.0)
+        let c2 = cos(euler.y / 2.0)
+        let s2 = sin(euler.y / 2.0)
+        let c3 = cos(euler.z / 2.0)
+        let s3 = sin(euler.z / 2.0)
 
         let q4 = c1 * c2 * c3 - s1 * s2 * s3
         let q3 = c1 * c2 * s3 + s1 * s2 * c3
@@ -115,13 +115,13 @@ extension Quat4f {
     //     return Quat4f(q1, q2, q3, q4)
     // }
 
-    public static func fromEulerAngles_312(_ e: Vec3f) -> Quat4f {
-        let c1 = cos(e.x / 2.0)
-        let s1 = sin(e.x / 2.0)
-        let c2 = cos(e.y / 2.0)
-        let s2 = sin(e.y / 2.0)
-        let c3 = cos(e.z / 2.0)
-        let s3 = sin(e.z / 2.0)
+    public static func fromEulerAngles_312(_ euler: Vec3f) -> Quat4f {
+        let c1 = cos(euler.x / 2.0)
+        let s1 = sin(euler.x / 2.0)
+        let c2 = cos(euler.y / 2.0)
+        let s2 = sin(euler.y / 2.0)
+        let c3 = cos(euler.z / 2.0)
+        let s3 = sin(euler.z / 2.0)
 
         let q4 = c1 * c2 * c3 - s1 * s2 * s3
         let q3 = c1 * s2 * c3 - s1 * c2 * s3
@@ -144,13 +144,13 @@ extension Quat4f {
     //     return Quat4f(q1, q2, q3, q4)
     // }
 
-    public static func fromEulerAngles_321(_ e: Vec3f) -> Quat4f {
-        let c1 = cos(e.x / 2.0)
-        let s1 = sin(e.x / 2.0)
-        let c2 = cos(e.y / 2.0)
-        let s2 = sin(e.y / 2.0)
-        let c3 = cos(e.z / 2.0)
-        let s3 = sin(e.z / 2.0)
+    public static func fromEulerAngles_321(_ euler: Vec3f) -> Quat4f {
+        let c1 = cos(euler.x / 2.0)
+        let s1 = sin(euler.x / 2.0)
+        let c2 = cos(euler.y / 2.0)
+        let s2 = sin(euler.y / 2.0)
+        let c3 = cos(euler.z / 2.0)
+        let s3 = sin(euler.z / 2.0)
 
         let q4 = c1 * c2 * c3 + s1 * s2 * s3
         let q3 = c1 * c2 * s3 - s1 * s2 * c3
@@ -165,23 +165,19 @@ extension Quat4f {
         self = Quat4f.fromEulerAngles_321(Vec3f(pitch, yaw, roll))
     }
 
-    @inlinable
-    public var eulerAngles: Vec3f {
+    @inlinable public var eulerAngles: Vec3f {
         quaternionToEulerAngles_321(self)
     }
 
-    @inlinable
-    public var pitch: Float {
+    @inlinable public var pitch: Float {
         eulerAngles.x
     }
 
-    @inlinable
-    public var yaw: Float {
+    @inlinable public var yaw: Float {
         eulerAngles.y
     }
 
-    @inlinable
-    public var roll: Float {
+    @inlinable public var roll: Float {
         eulerAngles.z
     }
 
@@ -212,11 +208,11 @@ extension Quat4f {
 //    return Vec3f(e1, e2, e3)
 // }
 
-public func quaternionToEulerAngles_123(_ q: Quat4f) -> Vec3f {
-    let q0 = q.w
-    let q1 = q.z
-    let q2 = q.y
-    let q3 = q.x
+public func quaternionToEulerAngles_123(_ quat: Quat4f) -> Vec3f {
+    let q0 = quat.w
+    let q1 = quat.z
+    let q2 = quat.y
+    let q3 = quat.x
 
     let e1 = atan2(-2.0 * (q2 * q3 - q0 * q1), q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3)
     let e2 = asin(2.0 * (q1 * q3 + q0 * q2))
@@ -235,11 +231,11 @@ public func quaternionToEulerAngles_123(_ q: Quat4f) -> Vec3f {
 //    return Vec3f(e1, e2, e3)
 // }
 
-public func quaternionToEulerAngles_132(_ q: Quat4f) -> Vec3f {
-    let q0 = q.w
-    let q1 = q.z
-    let q2 = q.y
-    let q3 = q.x
+public func quaternionToEulerAngles_132(_ quat: Quat4f) -> Vec3f {
+    let q0 = quat.w
+    let q1 = quat.z
+    let q2 = quat.y
+    let q3 = quat.x
 
     let e1 = atan2(2.0 * (q2 * q3 + q0 * q1), q0 * q0 - q1 * q1 + q2 * q2 - q3 * q3)
     let e2 = asin(-2.0 * (q1 * q2 - q0 * q3))
@@ -259,11 +255,11 @@ public func quaternionToEulerAngles_132(_ q: Quat4f) -> Vec3f {
 //    return Vec3f(e1, e2, e3)
 // }
 
-public func quaternionToEulerAngles_213(_ q: Quat4f) -> Vec3f {
-    let q0 = q.w
-    let q1 = q.z
-    let q2 = q.y
-    let q3 = q.x
+public func quaternionToEulerAngles_213(_ quat: Quat4f) -> Vec3f {
+    let q0 = quat.w
+    let q1 = quat.z
+    let q2 = quat.y
+    let q3 = quat.x
 
     let e1 = atan2(2.0 * (q1 * q3 + q0 * q2), q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3)
     let e2 = asin(-2.0 * (q2 * q3 - q0 * q1))
@@ -272,11 +268,11 @@ public func quaternionToEulerAngles_213(_ q: Quat4f) -> Vec3f {
     return Vec3f(e1, e2, e3)
 }
 
-public func quaternionToEulerAngles_231(_ q: Quat4f) -> Vec3f {
-    let q0 = q.w
-    let q1 = q.z
-    let q2 = q.y
-    let q3 = q.x
+public func quaternionToEulerAngles_231(_ quat: Quat4f) -> Vec3f {
+    let q0 = quat.w
+    let q1 = quat.z
+    let q2 = quat.y
+    let q3 = quat.x
 
     let e1 = atan2(-2.0 * (q1 * q3 - q0 * q2), q0 * q0 + q1 * q1 - q2 * q2 - q3 * q3)
     let e2 = asin(2.0 * (q1 * q2 + q0 * q3))
@@ -296,11 +292,11 @@ public func quaternionToEulerAngles_231(_ q: Quat4f) -> Vec3f {
 //    return Vec3f(e1, e2, e3)
 // }
 
-public func quaternionToEulerAngles_312(_ q: Quat4f) -> Vec3f {
-    let q0 = q.w
-    let q1 = q.z
-    let q2 = q.y
-    let q3 = q.x
+public func quaternionToEulerAngles_312(_ quat: Quat4f) -> Vec3f {
+    let q0 = quat.w
+    let q1 = quat.z
+    let q2 = quat.y
+    let q3 = quat.x
 
     let e1 = atan2(-2.0 * (q1 * q2 - q0 * q3), q0 * q0 - q1 * q1 + q2 * q2 - q3 * q3)
     let e2 = asin(2.0 * (q2 * q3 + q0 * q1))
@@ -320,11 +316,11 @@ public func quaternionToEulerAngles_312(_ q: Quat4f) -> Vec3f {
 //    return Vec3f(e1, e2, e3)
 // }
 
-public func quaternionToEulerAngles_321(_ q: Quat4f) -> Vec3f {
-    let q0 = q.w
-    let q1 = q.z
-    let q2 = q.y
-    let q3 = q.x
+public func quaternionToEulerAngles_321(_ quat: Quat4f) -> Vec3f {
+    let q0 = quat.w
+    let q1 = quat.z
+    let q2 = quat.y
+    let q3 = quat.x
 
     let e1 = atan2(2.0 * (q1 * q2 + q0 * q3), q0 * q0 + q1 * q1 - q2 * q2 - q3 * q3)
     let e2 = asin(-2.0 * (q1 * q3 - q0 * q2))
diff --git a/Sources/FirebladeMath/Quat/Quaternion+Operators.swift b/Sources/FirebladeMath/Quat/Quaternion+Operators.swift
index fa79e63..4940e5b 100644
--- a/Sources/FirebladeMath/Quat/Quaternion+Operators.swift
+++ b/Sources/FirebladeMath/Quat/Quaternion+Operators.swift
@@ -1,137 +1,141 @@
-/// Multiplies a scalar by a quaternion.
-/// - Parameters:
-///   - lhs: The scalar value.
-///   - rhs: The quaternion.
-/// - Returns: The scaled quaternion.
-@inlinable
-public func * (lhs: Float, rhs: Quat4f) -> Quat4f {
-    FirebladeMath.multiply(lhs, rhs)
-}
+extension Quat4f {
+    /// Multiplies a scalar by a quaternion.
+    /// - Parameters:
+    ///   - lhs: The scalar value.
+    ///   - rhs: The quaternion.
+    /// - Returns: The scaled quaternion.
+    @inlinable
+    public static func * (lhs: Float, rhs: Quat4f) -> Quat4f {
+        FirebladeMath.multiply(lhs, rhs)
+    }
 
-/// Multiplies a quaternion by a scalar.
-/// - Parameters:
-///   - lhs: The quaternion.
-///   - rhs: The scalar value.
-/// - Returns: The scaled quaternion.
-@inlinable
-public func * (lhs: Quat4f, rhs: Float) -> Quat4f {
-    FirebladeMath.multiply(lhs, rhs)
-}
+    /// Multiplies a quaternion by a scalar.
+    /// - Parameters:
+    ///   - lhs: The quaternion.
+    ///   - rhs: The scalar value.
+    /// - Returns: The scaled quaternion.
+    @inlinable
+    public static func * (lhs: Quat4f, rhs: Float) -> Quat4f {
+        FirebladeMath.multiply(lhs, rhs)
+    }
 
-/// Returns the product of two quaternions.
-/// - Parameters:
-///   - lhs: The left-hand side quaternion.
-///   - rhs: The right-hand side quaternion.
-/// - Returns: The product of the two quaternions.
-@inlinable
-public func * (lhs: Quat4f, rhs: Quat4f) -> Quat4f {
-    FirebladeMath.multiply(lhs, rhs)
-}
+    /// Returns the product of two quaternions.
+    /// - Parameters:
+    ///   - lhs: The left-hand side quaternion.
+    ///   - rhs: The right-hand side quaternion.
+    /// - Returns: The product of the two quaternions.
+    @inlinable
+    public static func * (lhs: Quat4f, rhs: Quat4f) -> Quat4f {
+        FirebladeMath.multiply(lhs, rhs)
+    }
 
-/// Returns a vector rotated by a quaternion.
-/// - Parameters:
-///   - lhs: The quaternion.
-///   - rhs: The vector to rotate.
-/// - Returns: The rotated vector.
-@inlinable
-public func * (lhs: Quat4f, rhs: Vec3f) -> Vec3f {
-    FirebladeMath.act(lhs, rhs)
-}
+    /// Returns a vector rotated by a quaternion.
+    /// - Parameters:
+    ///   - lhs: The quaternion.
+    ///   - rhs: The vector to rotate.
+    /// - Returns: The rotated vector.
+    @inlinable
+    public static func * (lhs: Quat4f, rhs: Vec3f) -> Vec3f {
+        FirebladeMath.act(lhs, rhs)
+    }
 
-/// Multiplies two quaternions and assigns the result to the left-hand side.
-/// - Parameters:
-///   - lhs: The left-hand side quaternion to be modified.
-///   - rhs: The right-hand side quaternion.
-@inlinable
-public func *= (lhs: inout Quat4f, rhs: Quat4f) {
-    lhs = FirebladeMath.multiply(lhs, rhs)
-}
+    /// Multiplies two quaternions and assigns the result to the left-hand side.
+    /// - Parameters:
+    ///   - lhs: The left-hand side quaternion to be modified.
+    ///   - rhs: The right-hand side quaternion.
+    @inlinable
+    public static func *= (lhs: inout Quat4f, rhs: Quat4f) {
+        lhs = FirebladeMath.multiply(lhs, rhs)
+    }
 
-/// Adds two quaternions component-wise.
-/// - Parameters:
-///   - lhs: The left-hand side quaternion.
-///   - rhs: The right-hand side quaternion.
-/// - Returns: The sum of the two quaternions.
-@inlinable
-public func + (lhs: Quat4f, rhs: Quat4f) -> Quat4f {
-    FirebladeMath.add(lhs, rhs)
-}
+    /// Adds two quaternions component-wise.
+    /// - Parameters:
+    ///   - lhs: The left-hand side quaternion.
+    ///   - rhs: The right-hand side quaternion.
+    /// - Returns: The sum of the two quaternions.
+    @inlinable
+    public static func + (lhs: Quat4f, rhs: Quat4f) -> Quat4f {
+        FirebladeMath.add(lhs, rhs)
+    }
 
-/// Subtracts the right-hand side quaternion from the left-hand side quaternion component-wise.
-/// - Parameters:
-///   - lhs: The left-hand side quaternion.
-///   - rhs: The right-hand side quaternion.
-/// - Returns: The difference of the two quaternions.
-@inlinable
-public func - (lhs: Quat4f, rhs: Quat4f) -> Quat4f {
-    FirebladeMath.subtract(lhs, rhs)
+    /// Subtracts the right-hand side quaternion from the left-hand side quaternion component-wise.
+    /// - Parameters:
+    ///   - lhs: The left-hand side quaternion.
+    ///   - rhs: The right-hand side quaternion.
+    /// - Returns: The difference of the two quaternions.
+    @inlinable
+    public static func - (lhs: Quat4f, rhs: Quat4f) -> Quat4f {
+        FirebladeMath.subtract(lhs, rhs)
+    }
 }
 
-/// Multiplies a scalar by a quaternion.
-/// - Parameters:
-///   - lhs: The scalar value.
-///   - rhs: The quaternion.
-/// - Returns: The scaled quaternion.
-@inlinable
-public func * (lhs: Double, rhs: Quat4d) -> Quat4d {
-    FirebladeMath.multiply(lhs, rhs)
-}
+extension Quat4d {
+    /// Multiplies a scalar by a quaternion.
+    /// - Parameters:
+    ///   - lhs: The scalar value.
+    ///   - rhs: The quaternion.
+    /// - Returns: The scaled quaternion.
+    @inlinable
+    public static func * (lhs: Double, rhs: Quat4d) -> Quat4d {
+        FirebladeMath.multiply(lhs, rhs)
+    }
 
-/// Multiplies a quaternion by a scalar.
-/// - Parameters:
-///   - lhs: The quaternion.
-///   - rhs: The scalar value.
-/// - Returns: The scaled quaternion.
-@inlinable
-public func * (lhs: Quat4d, rhs: Double) -> Quat4d {
-    FirebladeMath.multiply(lhs, rhs)
-}
+    /// Multiplies a quaternion by a scalar.
+    /// - Parameters:
+    ///   - lhs: The quaternion.
+    ///   - rhs: The scalar value.
+    /// - Returns: The scaled quaternion.
+    @inlinable
+    public static func * (lhs: Quat4d, rhs: Double) -> Quat4d {
+        FirebladeMath.multiply(lhs, rhs)
+    }
 
-/// Returns the product of two quaternions.
-/// - Parameters:
-///   - lhs: The left-hand side quaternion.
-///   - rhs: The right-hand side quaternion.
-/// - Returns: The product of the two quaternions.
-@inlinable
-public func * (lhs: Quat4d, rhs: Quat4d) -> Quat4d {
-    FirebladeMath.multiply(lhs, rhs)
-}
+    /// Returns the product of two quaternions.
+    /// - Parameters:
+    ///   - lhs: The left-hand side quaternion.
+    ///   - rhs: The right-hand side quaternion.
+    /// - Returns: The product of the two quaternions.
+    @inlinable
+    public static func * (lhs: Quat4d, rhs: Quat4d) -> Quat4d {
+        FirebladeMath.multiply(lhs, rhs)
+    }
 
-/// Returns a vector rotated by a quaternion.
-/// - Parameters:
-///   - lhs: The quaternion.
-///   - rhs: The vector to rotate.
-/// - Returns: The rotated vector.
-@inlinable
-public func * (lhs: Quat4d, rhs: Vec3d) -> Vec3d {
-    FirebladeMath.act(lhs, rhs)
-}
+    /// Returns a vector rotated by a quaternion.
+    /// - Parameters:
+    ///   - lhs: The quaternion.
+    ///   - rhs: The vector to rotate.
+    /// - Returns: The rotated vector.
+    @inlinable
+    public static func * (lhs: Quat4d, rhs: Vec3d) -> Vec3d {
+        FirebladeMath.act(lhs, rhs)
+    }
 
-/// Multiplies two quaternions and assigns the result to the left-hand side.
-/// - Parameters:
-///   - lhs: The left-hand side quaternion to be modified.
-///   - rhs: The right-hand side quaternion.
-@inlinable
-public func *= (lhs: inout Quat4d, rhs: Quat4d) {
-    lhs = FirebladeMath.multiply(lhs, rhs)
-}
+    /// Multiplies two quaternions and assigns the result to the left-hand side.
+    /// - Parameters:
+    ///   - lhs: The left-hand side quaternion to be modified.
+    ///   - rhs: The right-hand side quaternion.
+    @inlinable
+    public static func *= (lhs: inout Quat4d, rhs: Quat4d) {
+        lhs = FirebladeMath.multiply(lhs, rhs)
+    }
 
-/// Adds two quaternions component-wise.
-/// - Parameters:
-///   - lhs: The left-hand side quaternion.
-///   - rhs: The right-hand side quaternion.
-/// - Returns: The sum of the two quaternions.
-@inlinable
-public func + (lhs: Quat4d, rhs: Quat4d) -> Quat4d {
-    FirebladeMath.add(lhs, rhs)
-}
+    /// Adds two quaternions component-wise.
+    /// - Parameters:
+    ///   - lhs: The left-hand side quaternion.
+    ///   - rhs: The right-hand side quaternion.
+    /// - Returns: The sum of the two quaternions.
+    @inlinable
+    public static func + (lhs: Quat4d, rhs: Quat4d) -> Quat4d {
+        FirebladeMath.add(lhs, rhs)
+    }
 
-/// Subtracts the right-hand side quaternion from the left-hand side quaternion component-wise.
-/// - Parameters:
-///   - lhs: The left-hand side quaternion.
-///   - rhs: The right-hand side quaternion.
-/// - Returns: The difference of the two quaternions.
-@inlinable
-public func - (lhs: Quat4d, rhs: Quat4d) -> Quat4d {
-    FirebladeMath.subtract(lhs, rhs)
+    /// Subtracts the right-hand side quaternion from the left-hand side quaternion component-wise.
+    /// - Parameters:
+    ///   - lhs: The left-hand side quaternion.
+    ///   - rhs: The right-hand side quaternion.
+    /// - Returns: The difference of the two quaternions.
+    @inlinable
+    public static func - (lhs: Quat4d, rhs: Quat4d) -> Quat4d {
+        FirebladeMath.subtract(lhs, rhs)
+    }
 }
diff --git a/Sources/FirebladeMath/Quat/QuaternionStorage+NO_SIMD.swift b/Sources/FirebladeMath/Quat/QuaternionStorage+NO_SIMD.swift
index 74559e6..0107a4d 100644
--- a/Sources/FirebladeMath/Quat/QuaternionStorage+NO_SIMD.swift
+++ b/Sources/FirebladeMath/Quat/QuaternionStorage+NO_SIMD.swift
@@ -14,23 +14,23 @@ public struct QuaternionStorage<Value: StorageScalar>: QuaternionStorageProtocol
     }
 
     @inlinable public var x: Value {
-        set { storage.x = newValue }
         get { storage.x }
+        set { storage.x = newValue }
     }
 
     @inlinable public var y: Value {
-        set { storage.y = newValue }
         get { storage.y }
+        set { storage.y = newValue }
     }
 
     @inlinable public var z: Value {
-        set { storage.z = newValue }
         get { storage.z }
+        set { storage.z = newValue }
     }
 
     @inlinable public var w: Value {
-        set { storage.w = newValue }
         get { storage.w }
+        set { storage.w = newValue }
     }
 
     public func makeIterator() -> SIMDScalarIterator<SIMD4<Value>> {