diff --git a/src/rwbase.cpp b/src/rwbase.cpp
index 453309b..7363f91 100644
--- a/src/rwbase.cpp
+++ b/src/rwbase.cpp
@@ -66,22 +66,43 @@ initialize(void)
 float32
 V3d::length(void)
 {
-	return sqrt(this->x*this->x+this->y*this->y+this->z*this->z);
+	return sqrt(x*x + y*y + z*z);
 }
 
 V3d
 V3d::normalize(void)
 {
-	return V3d::scale(this, 1.0f/this->length());
+	return this->scale(1.0f/this->length());
+}
+
+float32
+Quat::length(void)
+{
+	return sqrt(w*w + x*x + y*y + z*z);
+}
+
+Quat
+Quat::normalize(void)
+{
+	return this->scale(1.0f/this->length());
+}
+
+Quat
+Quat::mult(const Quat &q)
+{
+	return Quat(w*q.w - x*q.x - y*q.y - z*q.z,
+	            w*q.x + x*q.w + y*q.z - z*q.y,
+	            w*q.y + y*q.w + z*q.x - x*q.z,
+	            w*q.z + z*q.w + x*q.y - y*q.x);
 }
 
 V3d
-V3d::cross(V3d *a, V3d *b)
+V3d::cross(const V3d &v)
 {
 	V3d res;
-	res.x = a->y*b->z - a->z*b->y;
-	res.y = a->z*b->x - a->x*b->z;
-	res.z = a->x*b->y - a->y*b->x;
+	res.x = this->y*v.z - this->z*v.y;
+	res.y = this->z*v.x - this->x*v.z;
+	res.z = this->x*v.y - this->y*v.x;
 	return res;
 }
 
diff --git a/src/rwbase.h b/src/rwbase.h
index 207e81e..82c578d 100644
--- a/src/rwbase.h
+++ b/src/rwbase.h
@@ -60,39 +60,56 @@ struct V2d
 struct V3d
 {
 	float32 x, y, z;
+	V3d(void) : x(0.0f), y(0.0f), z(0.0f) {}
+	V3d(float32 x, float32 y, float32 z) : x(x), y(y), z(z) {}
 	void set(float32 x, float32 y, float32 z){
 		this->x = x; this->y = y; this->z = z; }
-	static V3d sub(V3d *a, V3d *b){
+	V3d sub(const V3d &v){
 		V3d res;
-		res.x = a->x - b->x;
-		res.y = a->y - b->y;
-		res.z = a->z - b->z;
+		res.x = x - v.x;
+		res.y = y - v.y;
+		res.z = z - v.z;
 		return res;
 	}
-	static V3d add(V3d *a, V3d *b){
+	V3d add(const V3d &v){
 		V3d res;
-		res.x = a->x + b->x;
-		res.y = a->y + b->y;
-		res.z = a->z + b->z;
+		res.x = x + v.x;
+		res.y = y + v.y;
+		res.z = z + v.z;
 		return res;
 	}
-	static V3d scale(V3d *a, float32 r){
+	V3d scale(float32 r){
 		V3d res;
-		res.x = a->x*r;
-		res.y = a->y*r;
-		res.z = a->z*r;
+		res.x = x*r;
+		res.y = y*r;
+		res.z = z*r;
 		return res;
 	}
 	float32 length(void);
 	V3d normalize(void);
-	static V3d cross(V3d *a, V3d *b);
+	V3d cross(const V3d &b);
 };
 
 struct Quat
 {
 	float32 w, x, y, z;
+	Quat(void) : w(0.0f), x(0.0f), y(0.0f), z(0.0f) {}
+	Quat(float32 w, float32 x, float32 y, float32 z) : w(w), x(x), y(y), z(z) {}
+	Quat(float32 w, V3d vec) : w(w), x(vec.x), y(vec.y), z(vec.z) {}
+	Quat(V3d vec) : w(0.0f), x(vec.x), y(vec.y), z(vec.z) {}
 	void set(float32 w, float32 x, float32 y, float32 z){
 		this->w = w; this->x = x; this->y = y; this->z = z; }
+	V3d vec(void){ return V3d(x, y, z); }
+	Quat sub(const Quat &q){
+		return Quat(w-q.w, x-q.x, y-q.y, z-q.z); }
+	Quat add(const Quat &q){
+		return Quat(w+q.w, x+q.x, y+q.y, z+q.z); }
+	Quat scale(float32 r){
+		return Quat(w*r, x*r, y*r, z*r); }
+	Quat conj(void){ return Quat(w, -x, -y, -z); }
+	float32 length(void);
+	Quat normalize(void);
+	Quat mult(const Quat &q);
 };
 
 struct Matrix