diff --git a/Source/INS/geometry/vector.c b/Source/INS/geometry/vector.c
index f26d0c4..1fb265f 100644
--- a/Source/INS/geometry/vector.c
+++ b/Source/INS/geometry/vector.c
@@ -1,2 +1,138 @@
 #include "vector.h"
+#include <math.h>
+
+Vector2 normalizeV2(const Vector2* v, float gain)
+{
+	float len = lengthV2(v);
+	Vector2 res = {.x = v->x / len, .y = v->y / len};
+	return res;
+}
+
+Vector3 normalizeV3(const Vector3* v, float gain)
+{
+	float len = lengthV3(v);
+	Vector3 res = {.x = v->x / len, .y = v->y / len, .z = v->z};
+	return res;
+}
+
+Vector2 absV2(const Vector2* v)
+{
+	Vector2 res = {.x = fabsf(v->x), .y = fabsf(v->y)};
+	return res;
+}
+
+Vector3 absV3(const Vector3* v)
+{
+	Vector3 res = {.x = fabsf(v->x), .y = fabsf(v->y), .z = fabsf(v->z)};
+	return res;
+}
+
+float lengthV2(const Vector2* v)
+{
+	return sqrtf(v->x * v->x + v->y * v->y);
+}
+
+float lengthV3(const Vector3* v)
+{
+	return sqrtf(v->x * v->x + v->y * v->y + v->z * v->z);
+}
+
+float lengthSquaredV2(const Vector2* v)
+{
+	return v->x * v->x + v->y * v->y;
+}
+
+float lengthSquaredV3(const Vector3* v)
+{
+	return v->x * v->x + v->y * v->y + v->z * v->z;
+}
+
+Vector2 limitV2(const Vector2* v, float min, float max)
+{
+	Vector2 lim;
+	
+	if (v->x < min) lim.x = min; else if (v->x > max) lim.x = max; else lim.x = v->x;
+	if (v->y < min) lim.y = min; else if (v->y > max) lim.y = max; else lim.y = v->y;
+	
+	return lim;
+}
+
+Vector3 limitV3(const Vector3* v, float min, float max)
+{
+	Vector3 lim;
+	
+	if (v->x < min) lim.x = min; else if (v->x > max) lim.x = max; else lim.x = v->x;
+	if (v->y < min) lim.y = min; else if (v->y > max) lim.y = max; else lim.y = v->y;
+	if (v->z < min) lim.z = min; else if (v->z > max) lim.z = max; else lim.z = v->z;
+	
+	return lim;
+}
+
+Vector2 powerV2(const Vector2* v, float pow)
+{
+	Vector2 res = {.x = powf(v->x, pow), .y = powf(v->y, pow)};
+	return res;
+}
+
+Vector3 powerV3(const Vector3* v, float pow)
+{
+	Vector3 res = {.x = powf(v->x, pow), .y = powf(v->y, pow), .z = powf(v->z, pow)};
+	return res;
+}
+
+Vector2 sumV2(const Vector2* v1, const Vector2* v2)
+{
+	Vector2 res = {.x = v1->x + v2->x, .y = v1->y + v2->y};
+	return res;
+}
+
+Vector3 sumV3(const Vector3* v1, const Vector3* v2)
+{
+	Vector3 res = {.x = v1->x + v2->x, .y = v1->y + v2->y, .z = v1->z + v2->z};
+	return res;
+}
+
+Vector2 diffV2(const Vector2* v1, const Vector2* v2)
+{
+	Vector2 res = {.x = v1->x - v2->x, .y = v1->y - v2->y};
+	return res;
+}
+
+Vector3 diffV3(const Vector3* v1, const Vector3* v2)
+{
+	Vector3 res = {.x = v1->x - v2->x, .y = v1->y - v2->y, .z = v1->z - v2->z};
+	return res;
+}
+
+Vector2 constProdV2(const Vector2* v, float value)
+{
+	Vector2 res = {.x = v->x * value, .y = v->y * value};
+	return res;
+}
+
+Vector3 constProdV3(const Vector3* v, float value)
+{
+	Vector3 res = {.x = v->x * value, .y = v->y * value, .z = v->z * value};
+	return res;
+}
+
+float scalarProdV2(const Vector2* v1, const Vector2* v2)
+{
+	float res = v1->x * v2->x + v1->y * v2->y;
+	return res;
+}
+
+float scalarProdV3(const Vector3* v1, const Vector3* v2)
+{
+	float res = v1->x * v2->x + v1->y * v2->y + v1->z * v2->z;
+	return res;
+}
+
+
+
+
+
+
+
+
 
diff --git a/Source/INS/geometry/vector.h b/Source/INS/geometry/vector.h
index fc519bc..0ac0024 100644
--- a/Source/INS/geometry/vector.h
+++ b/Source/INS/geometry/vector.h
@@ -14,8 +14,8 @@ typedef struct
 	float x, y, z;
 } Vector3;
 
-Vector2 normalizeV2(Vector2* v, float gain);
-Vector3 normalizeV3(Vector3* v, float gain);
+Vector2 normalizeV2(const Vector2* v, float gain);
+Vector3 normalizeV3(const Vector3* v, float gain);
 
 Vector2 absV2(const Vector2* v);
 Vector3 absV3(const Vector3* v);
@@ -26,11 +26,11 @@ float lengthV3(const Vector3* v);
 float lengthSquaredV2(const Vector2* v);
 float lengthSquaredV3(const Vector3* v);
 
-Vector2 limitV2(float min, float max);
-Vector3 limitV3(float min, float max);
+Vector2 limitV2(const Vector2* v, float min, float max);
+Vector3 limitV3(const Vector3* v, float min, float max);
 
-Vector2 powerV2(float pow);
-Vector3 powerV3(float pow);
+Vector2 powerV2(const Vector2* v, float pow);
+Vector3 powerV3(const Vector3* v, float pow);
 
 Vector2 sumV2(const Vector2* v1, const Vector2* v2);
 Vector3 sumV3(const Vector3* v1, const Vector3* v2);
@@ -38,8 +38,8 @@ Vector3 sumV3(const Vector3* v1, const Vector3* v2);
 Vector2 diffV2(const Vector2* v1, const Vector2* v2);
 Vector3 diffV3(const Vector3* v1, const Vector3* v2);
 
-Vector2 constProdV2(float value);
-Vector3 constProdV3(float value);
+Vector2 constProdV2(const Vector2* v, float value);
+Vector3 constProdV3(const Vector3* v, float value);
 
 float scalarProdV2(const Vector2* v1, const Vector2* v2);
 float scalarProdV3(const Vector3* v1, const Vector3* v2);