diff --git a/nalgebra-glm/README b/nalgebra-glm/README
index 4d04221a..6ef3ed83 100644
--- a/nalgebra-glm/README
+++ b/nalgebra-glm/README
@@ -6,4 +6,5 @@
 * tweaked_infinite_perspective(fovy, aspect, near, ep) -> tweaked_infinite_perspective_ep
 * Function overload: the vec version is suffixed by _vec
 * Function overload: the methods taking an epsilon as suffixed by _eps
-* L1Norm and L2Norm between two vectors have been renamed: l1_distance, l2_distance
\ No newline at end of file
+* L1Norm and L2Norm between two vectors have been renamed: l1_distance, l2_distance
+* Matrix columnwise comparisons suffixed by _columns, e.g., `equal` -> `equal_columns`
\ No newline at end of file
diff --git a/nalgebra-glm/src/aliases.rs b/nalgebra-glm/src/aliases.rs
index 1c7a8ff7..e21c0e60 100644
--- a/nalgebra-glm/src/aliases.rs
+++ b/nalgebra-glm/src/aliases.rs
@@ -4,92 +4,173 @@ use na::{MatrixMN, VectorN, Vector1, Vector2, Vector3, Vector4,
          Matrix2x4, Matrix3x4, Matrix4x3,
          Quaternion};
 
+/// A matrix with components of type `N`. It has `R` rows, and `C` columns.
 pub type Mat<N, R, C> = MatrixMN<N, R, C>;
+/// A column vector with components of type `N`. It has `D` rows (and one column).
 pub type Vec<N, R> = VectorN<N, R>;
+/// A quaternion with components of type `N`.
 pub type Qua<N> = Quaternion<N>;
 
+/// A 1D vector with boolean components.
 pub type BVec1 = Vector1<bool>;
+/// A 2D vector with boolean components.
 pub type BVec2 = Vector2<bool>;
+/// A 3D vector with boolean components.
 pub type BVec3 = Vector3<bool>;
+/// A 4D vector with boolean components.
 pub type BVec4 = Vector4<bool>;
+/// A 1D vector with `f64` components.
 pub type DVec1 = Vector1<f64>;
+/// A 2D vector with `f64` components.
 pub type DVec2 = Vector2<f64>;
+/// A 3D vector with `f64` components.
 pub type DVec3 = Vector3<f64>;
+/// A 4D vector with `f64` components.
 pub type DVec4 = Vector4<f64>;
+/// A 1D vector with `i32` components.
 pub type IVec1 = Vector1<i32>;
+/// A 2D vector with `i32` components.
 pub type IVec2 = Vector2<i32>;
+/// A 3D vector with `i32` components.
 pub type IVec3 = Vector3<i32>;
+/// A 4D vector with `i32` components.
 pub type IVec4 = Vector4<i32>;
+/// A 1D vector with `u32` components.
 pub type UVec1 = Vector1<u32>;
+/// A 2D vector with `u32` components.
 pub type UVec2 = Vector2<u32>;
+/// A 3D vector with `u32` components.
 pub type UVec3 = Vector3<u32>;
+/// A 4D vector with `u32` components.
 pub type UVec4 = Vector4<u32>;
+/// A 1D vector with `f32` components.
 pub type Vec1  = Vector1<f32>;
+/// A 2D vector with `f32` components.
 pub type Vec2  = Vector2<f32>;
+/// A 3D vector with `f32` components.
 pub type Vec3  = Vector3<f32>;
+/// A 4D vector with `f32` components.
 pub type Vec4  = Vector4<f32>;
 
+/// A 1D vector with `u64` components.
 pub type U64Vec1 = Vector1<u64>;
+/// A 2D vector with `u64` components.
 pub type U64Vec2 = Vector2<u64>;
+/// A 3D vector with `u64` components.
 pub type U64Vec3 = Vector3<u64>;
+/// A 4D vector with `u64` components.
 pub type U64Vec4 = Vector4<u64>;
+/// A 1D vector with `i64` components.
 pub type I64Vec1 = Vector1<i64>;
+/// A 2D vector with `i64` components.
 pub type I64Vec2 = Vector2<i64>;
+/// A 3D vector with `i64` components.
 pub type I64Vec3 = Vector3<i64>;
+/// A 4D vector with `i64` components.
 pub type I64Vec4 = Vector4<i64>;
 
+/// A 1D vector with `u32` components.
 pub type U32Vec1 = Vector1<u32>;
+/// A 2D vector with `u32` components.
 pub type U32Vec2 = Vector2<u32>;
+/// A 3D vector with `u32` components.
 pub type U32Vec3 = Vector3<u32>;
+/// A 4D vector with `u32` components.
 pub type U32Vec4 = Vector4<u32>;
+/// A 1D vector with `i32` components.
 pub type I32Vec1 = Vector1<i32>;
+/// A 2D vector with `i32` components.
 pub type I32Vec2 = Vector2<i32>;
+/// A 3D vector with `i32` components.
 pub type I32Vec3 = Vector3<i32>;
+/// A 4D vector with `i32` components.
 pub type I32Vec4 = Vector4<i32>;
 
+/// A 1D vector with `u16` components.
 pub type U16Vec1 = Vector1<u16>;
+/// A 2D vector with `u16` components.
 pub type U16Vec2 = Vector2<u16>;
+/// A 3D vector with `u16` components.
 pub type U16Vec3 = Vector3<u16>;
+/// A 4D vector with `u16` components.
 pub type U16Vec4 = Vector4<u16>;
+/// A 1D vector with `i16` components.
 pub type I16Vec1 = Vector1<i16>;
+/// A 2D vector with `i16` components.
 pub type I16Vec2 = Vector2<i16>;
+/// A 3D vector with `i16` components.
 pub type I16Vec3 = Vector3<i16>;
+/// A 4D vector with `i16` components.
 pub type I16Vec4 = Vector4<i16>;
 
+/// A 1D vector with `u8` components.
 pub type U8Vec1 = Vector1<u8>;
+/// A 2D vector with `u8` components.
 pub type U8Vec2 = Vector2<u8>;
+/// A 3D vector with `u8` components.
 pub type U8Vec3 = Vector3<u8>;
+/// A 4D vector with `u8` components.
 pub type U8Vec4 = Vector4<u8>;
+/// A 1D vector with `i8` components.
 pub type I8Vec1 = Vector1<i8>;
+/// A 2D vector with `i8` components.
 pub type I8Vec2 = Vector2<i8>;
+/// A 3D vector with `i8` components.
 pub type I8Vec3 = Vector3<i8>;
+/// A 4D vector with `i8` components.
 pub type I8Vec4 = Vector4<i8>;
 
 
+/// A 2x2 matrix with `f64` components.
 pub type DMat2 = Matrix2<f64>;
+/// A 2x2 matrix with `f64` components.
 pub type DMat2x2 = Matrix2<f64>;
+/// A 2x3 matrix with `f64` components.
 pub type DMat2x3 = Matrix2x3<f64>;
+/// A 2x4 matrix with `f64` components.
 pub type DMat2x4 = Matrix2x4<f64>;
+/// A 3x3 matrix with `f64` components.
 pub type DMat3 = Matrix3<f64>;
+/// A 3x2 matrix with `f64` components.
 pub type DMat3x2 = Matrix3x2<f64>;
+/// A 3x3 matrix with `f64` components.
 pub type DMat3x3 = Matrix3<f64>;
+/// A 3x4 matrix with `f64` components.
 pub type DMat3x4 = Matrix3x4<f64>;
+/// A 4x4 matrix with `f64` components.
 pub type DMat4 = Matrix4<f64>;
+/// A 4x2 matrix with `f64` components.
 pub type DMat4x2 = Matrix4x2<f64>;
+/// A 4x3 matrix with `f64` components.
 pub type DMat4x3 = Matrix4x3<f64>;
+/// A 4x4 matrix with `f64` components.
 pub type DMat4x4 = Matrix4<f64>;
+/// A 2x2 matrix with `f32` components.
 pub type Mat2 = Matrix2<f32>;
+/// A 2x2 matrix with `f32` components.
 pub type Mat2x2 = Matrix2<f32>;
+/// A 2x2 matrix with `f32` components.
 pub type Mat2x3 = Matrix2x3<f32>;
+/// A 2x4 matrix with `f32` components.
 pub type Mat2x4 = Matrix2x4<f32>;
+/// A 3x3 matrix with `f32` components.
 pub type Mat3 = Matrix3<f32>;
+/// A 3x2 matrix with `f32` components.
 pub type Mat3x2 = Matrix3x2<f32>;
+/// A 3x3 matrix with `f32` components.
 pub type Mat3x3 = Matrix3<f32>;
+/// A 3x4 matrix with `f32` components.
 pub type Mat3x4 = Matrix3x4<f32>;
+/// A 4x2 matrix with `f32` components.
 pub type Mat4x2 = Matrix4x2<f32>;
+/// A 4x3 matrix with `f32` components.
 pub type Mat4x3 = Matrix4x3<f32>;
+/// A 4x4 matrix with `f32` components.
 pub type Mat4x4 = Matrix4<f32>;
+/// A 4x3 matrix with `f32` components.
 pub type Mat4 = Matrix4<f32>;
 
+/// A quaternion with f32 components.
 pub type Quat = Quaternion<f32>;
+/// A quaternion with f64 components.
 pub type DQuat = Quaternion<f64>;
diff --git a/nalgebra-glm/src/common.rs b/nalgebra-glm/src/common.rs
index 88deed62..83f9f33a 100644
--- a/nalgebra-glm/src/common.rs
+++ b/nalgebra-glm/src/common.rs
@@ -1,68 +1,88 @@
 use std::mem;
 use num::FromPrimitive;
-use na::{self, Scalar, Real, DefaultAllocator};
+use na::{self, Real, DefaultAllocator};
 
 use aliases::{Vec, Mat};
 use traits::{Number, Dimension, Alloc};
 
-
+/// For each matrix or vector component `x` if `x >= 0`; otherwise, it returns `-x`.
 pub fn abs<N: Number, R: Dimension, C: Dimension>(x: &Mat<N, R, C>) -> Mat<N, R, C>
     where DefaultAllocator: Alloc<N, R, C> {
      x.abs()
 }
 
+/// For each matrix or vector component returns a value equal to the nearest integer that is greater than or equal to `x`.
 pub fn ceil<N: Real, D: Dimension>(x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     x.map(|x| x.ceil())
 }
 
-pub fn clamp<N: Number>(x: N, minVal: N, maxVal: N) -> N {
-    na::clamp(x, minVal, maxVal)
+
+/// Returns `min(max(x, min_val), max_val)`.
+pub fn clamp<N: Number>(x: N, min_val: N, max_val: N) -> N {
+    na::clamp(x, min_val, max_val)
 }
 
-pub fn clamp2<N: Number, D: Dimension>(x: &Vec<N, D>,minVal: N, maxVal: N) -> Vec<N, D>
+/// Returns `min(max(x, min_val), max_val)` for each component in `x` using the floating-point values `min_val and `max_val`.
+pub fn clamp2<N: Number, D: Dimension>(x: &Vec<N, D>, min_val: N, max_val: N) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
-    x.map(|x| na::clamp(x, minVal, maxVal))
+    x.map(|x| na::clamp(x, min_val, max_val))
 }
 
-pub fn clamp3<N: Number, D: Dimension>(x: &Vec<N, D>, minVal: &Vec<N, D>, maxVal: &Vec<N, D>) -> Vec<N, D>
+/// Returns `min(max(x, min_val), max_val)` for each component in `x` using the components of `min_val` and `max_val` as bounds.
+pub fn clamp3<N: Number, D: Dimension>(x: &Vec<N, D>, min_val: &Vec<N, D>, max_val: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
-    na::clamp(x.clone(), minVal.clone(), maxVal.clone())
+    na::clamp(x.clone(), min_val.clone(), max_val.clone())
 }
 
+/// Returns a signed integer value representing the encoding of a floating-point value.
+///
+/// The floating-point value's bit-level representation is preserved.
 pub fn float_bits_to_int(v: f32) -> i32 {
     unsafe { mem::transmute(v) }
 }
 
-pub fn float_bits_to_int_vec<D: Dimension>(v: Vec<f32, D>) -> Vec<i32, D>
+/// Returns a signed integer value representing the encoding of each component of `v`.
+///
+/// The floating point value's bit-level representation is preserved.
+pub fn float_bits_to_int_vec<D: Dimension>(v: &Vec<f32, D>) -> Vec<i32, D>
     where DefaultAllocator: Alloc<f32, D> {
     v.map(|v| float_bits_to_int(v))
 }
 
+/// Returns an unsigned integer value representing the encoding of a floating-point value.
+///
+/// The floating-point value's bit-level representation is preserved.
 pub fn float_bits_to_uint(v: f32) -> u32 {
     unsafe { mem::transmute(v) }
 }
 
+/// Returns an unsigned integer value representing the encoding of each component of `v`.
+///
+/// The floating point value's bit-level representation is preserved.
 pub fn float_bits_to_uint_vec<D: Dimension>(v: &Vec<f32, D>) -> Vec<u32, D>
     where DefaultAllocator: Alloc<f32, D> {
     v.map(|v| float_bits_to_uint(v))
 }
 
+/// Returns componentwise a value equal to the nearest integer that is less then or equal to `x`.
 pub fn floor<N: Real, D: Dimension>(x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     x.map(|x| x.floor())
 }
 
-// FIXME: should be implemented for Vec/Mat?
-pub fn fma<N: Number>(a: N, b: N, c: N) -> N {
-    // FIXME: use an actual FMA
-    a * b + c
-}
+//// FIXME: should be implemented for Vec/Mat?
+//pub fn fma<N: Number>(a: N, b: N, c: N) -> N {
+//    // FIXME: use an actual FMA
+//    a * b + c
+//}
 
+/// Returns the fractional part of `x`.
 pub fn fract<N: Real>(x: N) -> N {
     x.fract()
 }
 
+/// Returns the fractional part of each component of `x`.
 pub fn fract2<N: Real, D: Dimension>(x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     x.map(|x| x.fract())
@@ -76,11 +96,17 @@ pub fn fract2<N: Real, D: Dimension>(x: &Vec<N, D>) -> Vec<N, D>
 //    (x * (-e).exp2(), e)
 //}
 
+/// Returns a floating-point value corresponding to a signed integer encoding of a floating-point value.
+///
+/// If an inf or NaN is passed in, it will not signal, and the resulting floating point value is unspecified. Otherwise, the bit-level representation is preserved.
 pub fn int_bits_to_float(v: i32) -> f32 {
     unsafe { mem::transmute(v) }
 
 }
 
+/// For each components of `v`, returns a floating-point value corresponding to a signed integer encoding of a floating-point value.
+///
+/// If an inf or NaN is passed in, it will not signal, and the resulting floating point value is unspecified. Otherwise, the bit-level representation is preserved.
 pub fn int_bits_to_float_vec<D: Dimension>(v: &Vec<i32, D>) -> Vec<f32, D>
     where DefaultAllocator: Alloc<f32, D> {
     v.map(|v| int_bits_to_float(v))
@@ -104,47 +130,63 @@ pub fn int_bits_to_float_vec<D: Dimension>(v: &Vec<i32, D>) -> Vec<f32, D>
 //    x * (exp).exp2()
 //}
 
+/// The maximum between two numbers.
 pub fn max<N: Number>(x: N, y: N) -> N {
     na::sup(&x, &y)
 }
 
+/// The maximum between each component of `x` and `y`.
 pub fn max2<N: Number, D: Dimension>(x: &Vec<N, D>, y: N) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     x.map(|x| na::sup(&x, &y))
 }
 
+/// Componentwise maximum between `x` and `y`.
 pub fn max3<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     na::sup(x, y)
 }
 
+/// The minimum between two numbers.
 pub fn min<N: Number>(x: N, y: N) -> N {
     na::inf(&x, &y)
 }
 
+/// The minimum between each component of `x` and `y`.
 pub fn min2<N: Number, D: Dimension>(x: &Vec<N, D>,y: N) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     x.map(|x| na::inf(&x, &y))
 }
 
+/// Componentwise minimum between `x` and `y`.
 pub fn min3<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     na::inf(x, y)
 }
 
+/// Returns `x * (1.0 - a) + y * a`, i.e., the linear blend of x and y using the floating-point value a.
+///
+/// The value for a is not restricted to the range `[0, 1]`.
 pub fn mix<N: Number>(x: N, y: N, a: N) -> N {
     x * (N::one() - a) + y * a
 }
 
+/// Componentwise modulus.
+///
+/// Returns `x - y * floor(x / y)` for each component in `x` using the corresponding component of `y`.
 pub fn mod_<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     x.zip_map(y, |x, y| x % y)
 }
 
+/// Modulus between two values.
 pub fn modf<N: Number>(x: N, i: N) -> N {
     x % i
 }
 
+/// Componentwise rounding.
+///
+/// Values equal to `0.5` are rounded away from `0.0`.
 pub fn round<N: Real, D: Dimension>(x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     x.map(|x| x.round())
@@ -156,11 +198,16 @@ pub fn round<N: Real, D: Dimension>(x: &Vec<N, D>) -> Vec<N, D>
 //        unimplemented!()
 //}
 
+/// Returns 1 if `x > 0`, 0 if `x == 0`, or -1 if `x < 0`.
 pub fn sign<N: Number, D: Dimension>(x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     x.map(|x| x.signum())
 }
 
+/// Returns 0.0 if `x <= edge0` and `1.0 if x >= edge1` and performs smooth Hermite interpolation between 0 and 1 when `edge0 < x < edge1`.
+///
+/// This is useful in cases where you would want a threshold function with a smooth transition.
+/// This is equivalent to: `let result = clamp((x - edge0) / (edge1 - edge0), 0, 1); return t * t * (3 - 2 * t);` Results are undefined if `edge0 >= edge1`.
 pub fn smoothstep<N: Number>(edge0: N, edge1: N, x: N) -> N {
     let _3: N = FromPrimitive::from_f64(3.0).unwrap();
     let _2: N = FromPrimitive::from_f64(2.0).unwrap();
@@ -168,6 +215,7 @@ pub fn smoothstep<N: Number>(edge0: N, edge1: N, x: N) -> N {
     t * t * (_3 - t * _2)
 }
 
+/// Returns 0.0 if `x < edge`, otherwise it returns 1.0.
 pub fn step<N: Number>(edge: N, x: N) -> N {
     if edge > x {
         N::zero()
@@ -175,27 +223,35 @@ pub fn step<N: Number>(edge: N, x: N) -> N {
         N::one()
     }
 }
-
+/// Returns 0.0 if `x[i] < edge`, otherwise it returns 1.0.
 pub fn step2<N: Number, D: Dimension>(edge: N, x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     x.map(|x| step(edge, x))
 }
 
+/// Returns 0.0 if `x[i] < edge[i]`, otherwise it returns 1.0.
 pub fn step3<N: Number, D: Dimension>(edge: &Vec<N, D>, x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     edge.zip_map(x, |edge, x| step(edge, x))
 }
 
+/// Returns a value equal to the nearest integer to `x` whose absolute value is not larger than the absolute value of `x`.
 pub fn trunc<N: Real, D: Dimension>(x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     x.map(|x| x.trunc())
 }
 
+/// Returns a floating-point value corresponding to a unsigned integer encoding of a floating-point value.
+///
+/// If an `inf` or `NaN` is passed in, it will not signal, and the resulting floating point value is unspecified. Otherwise, the bit-level representation is preserved.
 pub fn uint_bits_to_float(v: u32) -> f32 {
     unsafe { mem::transmute(v) }
 
 }
 
+/// For each component of `v`, returns a floating-point value corresponding to a unsigned integer encoding of a floating-point value.
+///
+/// If an inf or NaN is passed in, it will not signal, and the resulting floating point value is unspecified. Otherwise, the bit-level representation is preserved.
 pub fn uint_bits_to_float_vec<D: Dimension>(v: &Vec<u32, D>) -> Vec<f32, D>
     where DefaultAllocator: Alloc<f32, D> {
     v.map(|v| uint_bits_to_float(v))
diff --git a/nalgebra-glm/src/constructors.rs b/nalgebra-glm/src/constructors.rs
index 7dfb9e33..aa40eb9d 100644
--- a/nalgebra-glm/src/constructors.rs
+++ b/nalgebra-glm/src/constructors.rs
@@ -1,23 +1,29 @@
 use na::{Scalar, Real, U1, U2, U3, U4};
 use aliases::{Vec, Mat, Qua};
 
+
+/// Creates a new 1D vector.
 pub fn vec1<N: Scalar>(x: N) -> Vec<N, U1> {
     Vec::<N, U1>::new(x)
 }
 
+/// Creates a new 2D vector.
 pub fn vec2<N: Scalar>(x: N, y: N) -> Vec<N, U2> {
     Vec::<N, U2>::new(x, y)
 }
 
+/// Creates a new 3D vector.
 pub fn vec3<N: Scalar>(x: N, y: N, z: N) -> Vec<N, U3> {
     Vec::<N, U3>::new(x, y, z)
 }
 
+/// Creates a new 4D vector.
 pub fn vec4<N: Scalar>(x: N, y: N, z: N, w: N) -> Vec<N, U4> {
     Vec::<N, U4>::new(x, y, z, w)
 }
 
 
+/// Create a new 2x2 matrix.
 pub fn mat2<N: Scalar>(m11: N, m12: N, m21: N, m22: N) -> Mat<N, U2, U2> {
     Mat::<N, U2, U2>::new(
         m11, m12,
@@ -25,6 +31,7 @@ pub fn mat2<N: Scalar>(m11: N, m12: N, m21: N, m22: N) -> Mat<N, U2, U2> {
     )
 }
 
+/// Create a new 2x2 matrix.
 pub fn mat2x2<N: Scalar>(m11: N, m12: N, m21: N, m22: N) -> Mat<N, U2, U2> {
     Mat::<N, U2, U2>::new(
         m11, m12,
@@ -32,6 +39,7 @@ pub fn mat2x2<N: Scalar>(m11: N, m12: N, m21: N, m22: N) -> Mat<N, U2, U2> {
     )
 }
 
+/// Create a new 2x3 matrix.
 pub fn mat2x3<N: Scalar>(m11: N, m12: N, m13: N, m21: N, m22: N, m23: N) -> Mat<N, U2, U3> {
     Mat::<N, U2, U3>::new(
         m11, m12, m13,
@@ -39,6 +47,7 @@ pub fn mat2x3<N: Scalar>(m11: N, m12: N, m13: N, m21: N, m22: N, m23: N) -> Mat<
     )
 }
 
+/// Create a new 2x4 matrix.
 pub fn mat2x4<N: Scalar>(m11: N, m12: N, m13: N, m14: N, m21: N, m22: N, m23: N, m24: N) -> Mat<N, U2, U4> {
     Mat::<N, U2, U4>::new(
         m11, m12, m13, m14,
@@ -46,6 +55,7 @@ pub fn mat2x4<N: Scalar>(m11: N, m12: N, m13: N, m14: N, m21: N, m22: N, m23: N,
     )
 }
 
+/// Create a new 3x3 matrix.
 pub fn mat3<N: Scalar>(m11: N, m12: N, m13: N, m21: N, m22: N, m23: N, m31: N, m32: N, m33: N) -> Mat<N, U3, U3> {
     Mat::<N, U3, U3>::new(
         m11, m12, m13,
@@ -54,6 +64,7 @@ pub fn mat3<N: Scalar>(m11: N, m12: N, m13: N, m21: N, m22: N, m23: N, m31: N, m
     )
 }
 
+/// Create a new 3x2 matrix.
 pub fn mat3x2<N: Scalar>(m11: N, m12: N, m21: N, m22: N, m31: N, m32: N) -> Mat<N, U3, U2> {
     Mat::<N, U3, U2>::new(
         m11, m12,
@@ -62,6 +73,7 @@ pub fn mat3x2<N: Scalar>(m11: N, m12: N, m21: N, m22: N, m31: N, m32: N) -> Mat<
     )
 }
 
+/// Create a new 3x3 matrix.
 pub fn mat3x3<N: Scalar>(m11: N, m12: N, m13: N, m21: N, m22: N, m23: N, m31: N, m32: N, m33: N) -> Mat<N, U3, U3> {
     Mat::<N, U3, U3>::new(
         m11, m12, m13,
@@ -70,6 +82,7 @@ pub fn mat3x3<N: Scalar>(m11: N, m12: N, m13: N, m21: N, m22: N, m23: N, m31: N,
     )
 }
 
+/// Create a new 3x4 matrix.
 pub fn mat3x4<N: Scalar>(m11: N, m12: N, m13: N, m14: N, m21: N, m22: N, m23: N, m24: N, m31: N, m32: N, m33: N, m34: N) -> Mat<N, U3, U4> {
     Mat::<N, U3, U4>::new(
         m11, m12, m13, m14,
@@ -78,6 +91,7 @@ pub fn mat3x4<N: Scalar>(m11: N, m12: N, m13: N, m14: N, m21: N, m22: N, m23: N,
     )
 }
 
+/// Create a new 4x2 matrix.
 pub fn mat4x2<N: Scalar>(m11: N, m12: N, m21: N, m22: N, m31: N, m32: N, m41: N, m42: N) -> Mat<N, U4, U2> {
     Mat::<N, U4, U2>::new(
         m11, m12,
@@ -87,6 +101,7 @@ pub fn mat4x2<N: Scalar>(m11: N, m12: N, m21: N, m22: N, m31: N, m32: N, m41: N,
     )
 }
 
+/// Create a new 4x3 matrix.
 pub fn mat4x3<N: Scalar>(m11: N, m12: N, m13: N, m21: N, m22: N, m23: N, m31: N, m32: N, m33: N, m41: N, m42: N, m43: N) -> Mat<N, U4, U3> {
     Mat::<N, U4, U3>::new(
         m11, m12, m13,
@@ -96,6 +111,7 @@ pub fn mat4x3<N: Scalar>(m11: N, m12: N, m13: N, m21: N, m22: N, m23: N, m31: N,
     )
 }
 
+/// Create a new 4x4 matrix.
 pub fn mat4x4<N: Scalar>(m11: N, m12: N, m13: N, m14: N, m21: N, m22: N, m23: N, m24: N, m31: N, m32: N, m33: N, m34: N, m41: N, m42: N, m43: N, m44: N) -> Mat<N, U4, U4> {
     Mat::<N, U4, U4>::new(
         m11, m12, m13, m14,
@@ -105,6 +121,7 @@ pub fn mat4x4<N: Scalar>(m11: N, m12: N, m13: N, m14: N, m21: N, m22: N, m23: N,
     )
 }
 
+/// Create a new 4x4 matrix.
 pub fn mat4<N: Scalar>(m11: N, m12: N, m13: N, m14: N, m21: N, m22: N, m23: N, m24: N, m31: N, m32: N, m33: N, m34: N, m41: N, m42: N, m43: N, m44: N) -> Mat<N, U4, U4> {
     Mat::<N, U4, U4>::new(
         m11, m12, m13, m14,
@@ -114,6 +131,7 @@ pub fn mat4<N: Scalar>(m11: N, m12: N, m13: N, m14: N, m21: N, m22: N, m23: N, m
     )
 }
 
+/// Creates a new quaternion.
 pub fn quat<N: Real>(x: N, y: N, z: N, w: N) -> Qua<N> {
     Qua::new(x, y, z, w)
 }
diff --git a/nalgebra-glm/src/exponential.rs b/nalgebra-glm/src/exponential.rs
index 08fe8f32..67d0f1dc 100644
--- a/nalgebra-glm/src/exponential.rs
+++ b/nalgebra-glm/src/exponential.rs
@@ -2,38 +2,44 @@ use na::{Real, DefaultAllocator};
 use aliases::Vec;
 use traits::{Alloc, Dimension};
 
-
+/// Componentwise exponential.
 pub fn exp<N: Real, D: Dimension>(v: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     v.map(|x| x.exp())
 }
 
+/// Componentwise base-2 exponential.
 pub fn exp2<N: Real, D: Dimension>(v: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     v.map(|x| x.exp2())
 }
 
+/// Compute the inverse of the square root of each component of `v`.
 pub fn inversesqrt<N: Real, D: Dimension>(v: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     v.map(|x| N::one() / x.sqrt())
 
 }
 
+/// Componentwise logarithm.
 pub fn log<N: Real, D: Dimension>(v: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     v.map(|x| x.ln())
 }
 
+/// Componentwise base-2 logarithm.
 pub fn log2<N: Real, D: Dimension>(v: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     v.map(|x| x.log2())
 }
 
+/// Componentwise power.
 pub fn pow<N: Real, D: Dimension>(base: &Vec<N, D>, exponent: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     base.zip_map(exponent, |b, e| b.powf(e))
 }
 
+/// Componentwise square root.
 pub fn sqrt<N: Real, D: Dimension>(v: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     v.map(|x| x.sqrt())
diff --git a/nalgebra-glm/src/ext/matrix_clip_space.rs b/nalgebra-glm/src/ext/matrix_clip_space.rs
new file mode 100644
index 00000000..87bea38b
--- /dev/null
+++ b/nalgebra-glm/src/ext/matrix_clip_space.rs
@@ -0,0 +1,172 @@
+use na::{Real, U4, Orthographic3, Perspective3};
+use aliases::Mat;
+
+//pub fn frustum<N: Real>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+
+//pub fn frustum_lh<N: Real>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn frustum_lr_no<N: Real>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn frustum_lh_zo<N: Real>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn frustum_no<N: Real>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn frustum_rh<N: Real>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn frustum_rh_no<N: Real>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn frustum_rh_zo<N: Real>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn frustum_zo<N: Real>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+
+//pub fn infinite_perspective<N: Real>(fovy: N, aspect: N, near: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn infinite_perspective_lh<N: Real>(fovy: N, aspect: N, near: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn infinite_perspective_rh<N: Real>(fovy: N, aspect: N, near: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn infinite_ortho<N: Real>(left: N, right: N, bottom: N, top: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+
+/// Creates a matrix for an orthographic parallel viewing volume, using the right handedness and OpenGL near and far clip planes definition.
+pub fn ortho<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> Mat<N, U4, U4> {
+    Orthographic3::new(left, right, bottom, top, znear, zfar).unwrap()
+}
+
+//pub fn ortho_lh<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn ortho_lh_no<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn ortho_lh_zo<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn ortho_no<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn ortho_rh<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn ortho_rh_no<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn ortho_rh_zo<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn ortho_zo<N: Real>(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+
+/// Creates a matrix for a symetric perspective-view frustum based on the right handedness and OpenGL near and far clip planes definition.
+pub fn perspective<N: Real>(fovy: N, aspect: N, near: N, far: N) -> Mat<N, U4, U4> {
+    Perspective3::new(fovy, aspect, near, far).unwrap()
+}
+
+//pub fn perspective_fov<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn perspective_fov_lh<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn perspective_fov_lh_no<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn perspective_fov_lh_zo<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn perspective_fov_no<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn perspective_fov_rh<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn perspective_fov_rh_no<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn perspective_fov_rh_zo<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn perspective_fov_zo<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn perspective_lh<N: Real>(fovy: N, aspect: N, near: N, far: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn perspective_lh_no<N: Real>(fovy: N, aspect: N, near: N, far: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn perspective_lh_zo<N: Real>(fovy: N, aspect: N, near: N, far: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn perspective_no<N: Real>(fovy: N, aspect: N, near: N, far: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn perspective_rh<N: Real>(fovy: N, aspect: N, near: N, far: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn perspective_rh_no<N: Real>(fovy: N, aspect: N, near: N, far: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn perspective_rh_zo<N: Real>(fovy: N, aspect: N, near: N, far: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn perspective_zo<N: Real>(fovy: N, aspect: N, near: N, far: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn tweaked_infinite_perspective<N: Real>(fovy: N, aspect: N, near: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
+//
+//pub fn tweaked_infinite_perspective_ep<N: Real>(fovy: N, aspect: N, near: N, ep: N) -> Mat<N, U4, U4> {
+//    unimplemented!()
+//}
diff --git a/nalgebra-glm/src/ext/matrix_projection.rs b/nalgebra-glm/src/ext/matrix_projection.rs
new file mode 100644
index 00000000..c791e643
--- /dev/null
+++ b/nalgebra-glm/src/ext/matrix_projection.rs
@@ -0,0 +1,122 @@
+use na::{self, Real, U2, U3, U4, Vector3, Vector4, Matrix4};
+
+use aliases::{Mat, Vec};
+
+/// Define a picking region.
+///
+/// # Parameters
+///     * `center`: Specify the center of a picking region in window coordinates.
+//      * `delta`: Specify the width and height, respectively, of the picking region in window coordinates.
+//      * `viewport`: Rendering viewport
+pub fn pick_matrix<N: Real>(center: &Vec<N, U2>, delta: &Vec<N, U2>, viewport: &Vec<N, U4>) -> Mat<N, U4, U4> {
+    let shift = Vector3::new(
+        (viewport.z - (center.x - viewport.x) * na::convert(2.0)) / delta.x,
+        (viewport.w - (center.y - viewport.y) * na::convert(2.0)) / delta.y,
+        N::zero()
+    );
+
+    let result = Matrix4::new_translation(&shift);
+    result.prepend_nonuniform_scaling(&Vector3::new(viewport.z / delta.x, viewport.w / delta.y, N::one()))
+}
+
+/// Map the specified object coordinates `(obj.x, obj.y, obj.z)` into window coordinates using OpenGL near and far clip planes definition.
+///
+/// # Parameters
+///     * `obj`: Specify the object coordinates.
+///     * `model`: Specifies the current modelview matrix.
+///     * `proj`: Specifies the current projection matrix.
+///     * `viewport`: Specifies the current viewport.
+pub fn project<N: Real>(obj: &Vec<N, U3>, model: &Mat<N, U4, U4>, proj: &Mat<N, U4, U4>, viewport: Vec<N, U4>) -> Vec<N, U3> {
+    project_no(obj, model, proj, viewport)
+}
+
+/// Map the specified object coordinates (obj.x, obj.y, obj.z) into window coordinates.
+///
+/// The near and far clip planes correspond to z normalized device coordinates of -1 and +1 respectively. (OpenGL clip volume definition)
+///
+/// # Parameters
+///     * `obj`: Specify the object coordinates.
+///     * `model`: Specifies the current modelview matrix.
+///     * `proj`: Specifies the current projection matrix.
+///     * `viewport`: Specifies the current viewport.
+pub fn project_no<N: Real>(obj: &Vec<N, U3>, model: &Mat<N, U4, U4>, proj: &Mat<N, U4, U4>, viewport: Vec<N, U4>) -> Vec<N, U3> {
+    let proj = project_zo(obj, model, proj, viewport);
+    Vector3::new(proj.x, proj.y, proj.z * na::convert(0.5) + na::convert(0.5))
+}
+
+/// Map the specified object coordinates (obj.x, obj.y, obj.z) into window coordinates.
+///
+/// The near and far clip planes correspond to z normalized device coordinates of 0 and +1 respectively. (Direct3D clip volume definition)
+///
+/// # Parameters
+///     * `obj`: Specify the object coordinates.
+///     * `model`: Specifies the current modelview matrix.
+///     * `proj`: Specifies the current projection matrix.
+///     * `viewport`: Specifies the current viewport.
+pub fn project_zo<N: Real>(obj: &Vec<N, U3>, model: &Mat<N, U4, U4>, proj: &Mat<N, U4, U4>, viewport: Vec<N, U4>) -> Vec<N, U3> {
+    let normalized = proj * model * Vector4::new(obj.x, obj.y, obj.z, N::one());
+    let scale = N::one() / normalized.w;
+
+    Vector3::new(
+        viewport.x + (viewport.z * (normalized.x * scale + N::one()) * na::convert(0.5)),
+        viewport.y + (viewport.w * (normalized.y * scale + N::one()) * na::convert(0.5)),
+        normalized.z * scale,
+    )
+}
+
+/// Map the specified window coordinates (win.x, win.y, win.z) into object coordinates using OpengGL near and far clip planes definition.
+///
+/// # Parameters
+///     * `obj`: Specify the window coordinates to be mapped.
+///     * `model`: Specifies the current modelview matrix.
+///     * `proj`: Specifies the current projection matrix.
+///     * `viewport`: Specifies the current viewport.
+pub fn unproject<N: Real>(win: &Vec<N, U3>, model: &Mat<N, U4, U4>, proj: &Mat<N, U4, U4>, viewport: Vec<N, U4>) -> Vec<N, U3> {
+    unproject_no(win, model, proj, viewport)
+}
+
+/// Map the specified window coordinates (win.x, win.y, win.z) into object coordinates.
+///
+/// The near and far clip planes correspond to z normalized device coordinates of -1 and +1 respectively. (OpenGL clip volume definition)
+///
+/// # Parameters
+///     * `obj`: Specify the window coordinates to be mapped.
+///     * `model`: Specifies the current modelview matrix.
+///     * `proj`: Specifies the current projection matrix.
+///     * `viewport`: Specifies the current viewport.
+pub fn unproject_no<N: Real>(win: &Vec<N, U3>, model: &Mat<N, U4, U4>, proj: &Mat<N, U4, U4>, viewport: Vec<N, U4>) -> Vec<N, U3> {
+    let _2: N = na::convert(2.0);
+    let transform = (proj * model).try_inverse().unwrap_or(Matrix4::zeros());
+    let pt = Vector4::new(
+        _2 * (win.x - viewport.x) / viewport.z - N::one(),
+        _2 * (win.y - viewport.y) / viewport.w - N::one(),
+        _2 * win.z - N::one(),
+        N::one(),
+    );
+
+    let result = transform * pt;
+    result.fixed_rows::<U3>(0) / result.w
+}
+
+/// Map the specified window coordinates (win.x, win.y, win.z) into object coordinates.
+///
+/// The near and far clip planes correspond to z normalized device coordinates of 0 and +1 respectively. (Direct3D clip volume definition)
+///
+/// # Parameters
+///     * `obj`: Specify the window coordinates to be mapped.
+///     * `model`: Specifies the current modelview matrix.
+///     * `proj`: Specifies the current projection matrix.
+///     * `viewport`: Specifies the current viewport.
+pub fn unproject_zo<N: Real>(win: &Vec<N, U3>, model: &Mat<N, U4, U4>, proj: &Mat<N, U4, U4>, viewport: Vec<N, U4>) -> Vec<N, U3> {
+    let _2: N = na::convert(2.0);
+    let transform = (proj * model).try_inverse().unwrap_or(Matrix4::zeros());
+    let pt = Vector4::new(
+        _2 * (win.x - viewport.x) / viewport.z - N::one(),
+        _2 * (win.y - viewport.y) / viewport.w - N::one(),
+        win.z,
+        N::one(),
+    );
+
+    let result = transform * pt;
+    result.fixed_rows::<U3>(0) / result.w
+}
\ No newline at end of file
diff --git a/nalgebra-glm/src/ext/matrix_relationnal.rs b/nalgebra-glm/src/ext/matrix_relationnal.rs
new file mode 100644
index 00000000..41da0612
--- /dev/null
+++ b/nalgebra-glm/src/ext/matrix_relationnal.rs
@@ -0,0 +1,76 @@
+use na::DefaultAllocator;
+
+use aliases::{Vec, Mat};
+use traits::{Alloc, Number, Dimension};
+
+/// Perform a component-wise equal-to comparison of two matrices.
+///
+/// Return a boolean vector which components value is True if this expression is satisfied per column of the matrices.
+pub fn equal_columns<N: Number, R: Dimension, C: Dimension>(x: &Mat<N, R, C>, y: &Mat<N, R, C>) -> Vec<bool, C>
+    where DefaultAllocator: Alloc<N, R, C> {
+    let mut res = Vec::<_, C>::repeat(false);
+
+    for i in 0..C::dim() {
+        res[i] = x.column(i) == y.column(i)
+    }
+
+    res
+}
+
+/// Returns the component-wise comparison of `|x - y| < epsilon`.
+///
+/// True if this expression is satisfied.
+pub fn equal_columns_eps<N: Number, R: Dimension, C: Dimension>(x: &Mat<N, R, C>, y: &Mat<N, R, C>, epsilon: N) -> Vec<bool, C>
+    where DefaultAllocator: Alloc<N, R, C> {
+    equal_columns_eps_vec(x, y, &Vec::<_, C>::repeat(epsilon))
+}
+
+/// Returns the component-wise comparison of `|x - y| < epsilon`.
+///
+/// True if this expression is satisfied.
+pub fn equal_columns_eps_vec<N: Number, R: Dimension, C: Dimension>(x: &Mat<N, R, C>, y: &Mat<N, R, C>, epsilon: &Vec<N, C>) -> Vec<bool, C>
+    where DefaultAllocator: Alloc<N, R, C> {
+    let mut res = Vec::<_, C>::repeat(false);
+
+    for i in 0..C::dim() {
+        res[i] = (x.column(i) - y.column(i)).abs() < Vec::<_, R>::repeat(epsilon[i])
+    }
+
+    res
+}
+
+/// Perform a component-wise not-equal-to comparison of two matrices.
+///
+/// Return a boolean vector which components value is True if this expression is satisfied per column of the matrices.
+pub fn not_equal_columns<N: Number, R: Dimension, C: Dimension>(x: &Mat<N, R, C>, y: &Mat<N, R, C>) -> Vec<bool, C>
+    where DefaultAllocator: Alloc<N, R, C> {
+    let mut res = Vec::<_, C>::repeat(false);
+
+    for i in 0..C::dim() {
+        res[i] = x.column(i) != y.column(i)
+    }
+
+    res
+}
+
+/// Returns the component-wise comparison of `|x - y| < epsilon`.
+///
+/// True if this expression is not satisfied.
+pub fn not_equal_columns_eps<N: Number, R: Dimension, C: Dimension>(x: &Mat<N, R, C>, y: &Mat<N, R, C>, epsilon: N) -> Vec<bool, C>
+    where DefaultAllocator: Alloc<N, R, C> {
+    not_equal_columns_eps_vec(x, y, &Vec::<_, C>::repeat(epsilon))
+}
+
+/// Returns the component-wise comparison of `|x - y| >= epsilon`.
+///
+/// True if this expression is not satisfied.
+pub fn not_equal_columns_eps_vec<N: Number, R: Dimension, C: Dimension>(x: &Mat<N, R, C>, y: &Mat<N, R, C>, epsilon: &Vec<N, C>) -> Vec<bool, C>
+    where DefaultAllocator: Alloc<N, R, C> {
+    let mut res = Vec::<_, C>::repeat(false);
+
+    for i in 0..C::dim() {
+        res[i] = (x.column(i) - y.column(i)).abs() >= Vec::<_, R>::repeat(epsilon[i])
+    }
+
+    res
+}
diff --git a/nalgebra-glm/src/ext/matrix_transform.rs b/nalgebra-glm/src/ext/matrix_transform.rs
new file mode 100644
index 00000000..9929e54d
--- /dev/null
+++ b/nalgebra-glm/src/ext/matrix_transform.rs
@@ -0,0 +1,68 @@
+use na::{DefaultAllocator, Real, U3, U4, Unit, Rotation3, Point3};
+
+use traits::{Dimension, Number, Alloc};
+use aliases::{Mat, Vec};
+
+/// The identity matrix.
+pub fn identity<N: Number, D: Dimension>() -> Mat<N, D, D>
+    where DefaultAllocator: Alloc<N, D, D> {
+    Mat::<N, D, D>::identity()
+}
+
+/// Build a look at view matrix based on the right handedness.
+///
+/// # Parameters
+///    * `eye`   − Position of the camera
+///    * `center` − Position where the camera is looking at
+///    * `u` − Normalized up vector, how the camera is oriented. Typically `(0, 1, 0)`
+pub fn look_at<N: Real>(eye: &Vec<N, U3>, center: &Vec<N, U3>, up: &Vec<N, U3>) -> Mat<N, U4, U4> {
+    look_at_rh(eye, center, up)
+}
+
+/// Build a left handed look at view matrix.
+///
+/// # Parameters
+///    * `eye`   − Position of the camera
+///    * `center` − Position where the camera is looking at
+///    * `u` − Normalized up vector, how the camera is oriented. Typically `(0, 1, 0)`
+pub fn look_at_lh<N: Real>(eye: &Vec<N, U3>, center: &Vec<N, U3>, up: &Vec<N, U3>) -> Mat<N, U4, U4> {
+    Mat::look_at_lh(&Point3::from_coordinates(*eye), &Point3::from_coordinates(*center), up)
+}
+
+/// Build a right handed look at view matrix.
+///
+/// # Parameters
+///    * `eye`   − Position of the camera
+///    * `center` − Position where the camera is looking at
+///    * `u` − Normalized up vector, how the camera is oriented. Typically `(0, 1, 0)`
+pub fn look_at_rh<N: Real>(eye: &Vec<N, U3>, center: &Vec<N, U3>, up: &Vec<N, U3>) -> Mat<N, U4, U4> {
+    Mat::look_at_rh(&Point3::from_coordinates(*eye), &Point3::from_coordinates(*center), up)
+}
+
+/// Builds a rotation 4 * 4 matrix created from an axis vector and an angle.
+///
+/// # Parameters
+///    * m − Input matrix multiplied by this rotation matrix.
+///    * angle − Rotation angle expressed in radians.
+///    * axis  − Rotation axis, recommended to be normalized.
+pub fn rotate<N: Real>(m: &Mat<N, U4, U4>, angle: N, axis: &Vec<N, U3>) -> Mat<N, U4, U4> {
+    m * Rotation3::from_axis_angle(&Unit::new_normalize(*axis), angle).to_homogeneous()
+}
+
+/// Builds a scale 4 * 4 matrix created from 3 scalars.
+///
+/// # Parameters
+///    * m − Input matrix multiplied by this scale matrix.
+///    * v − Ratio of scaling for each axis.
+pub fn scale<N: Number>(m: &Mat<N, U4, U4>, v: &Vec<N, U3>) -> Mat<N, U4, U4> {
+    m.prepend_nonuniform_scaling(v)
+}
+
+/// Builds a translation 4 * 4 matrix created from a vector of 3 components.
+///
+/// # Parameters
+///    * m − Input matrix multiplied by this translation matrix.
+///    * v − Coordinates of a translation vector.
+pub fn translate<N: Number>(m: &Mat<N, U4, U4>, v: &Vec<N, U3>) -> Mat<N, U4, U4> {
+    m.prepend_translation(v)
+}
diff --git a/nalgebra-glm/src/ext/mod.rs b/nalgebra-glm/src/ext/mod.rs
new file mode 100644
index 00000000..e5fb92fb
--- /dev/null
+++ b/nalgebra-glm/src/ext/mod.rs
@@ -0,0 +1,20 @@
+//! (Reexported) Additional features not specified by GLSL specification
+
+pub use self::matrix_clip_space::*;
+pub use self::matrix_projection::*;
+pub use self::matrix_relationnal::*;
+pub use self::matrix_transform::*;
+pub use self::scalar_common::*;
+pub use self::scalar_constants::*;
+pub use self::vector_common::*;
+pub use self::vector_relational::*;
+
+
+mod matrix_clip_space;
+mod matrix_projection;
+mod matrix_relationnal;
+mod matrix_transform;
+mod scalar_common;
+mod scalar_constants;
+mod vector_common;
+mod vector_relational;
\ No newline at end of file
diff --git a/nalgebra-glm/src/ext_scalar_common.rs b/nalgebra-glm/src/ext/scalar_common.rs
similarity index 70%
rename from nalgebra-glm/src/ext_scalar_common.rs
rename to nalgebra-glm/src/ext/scalar_common.rs
index 17119d7e..ca5e2e3d 100644
--- a/nalgebra-glm/src/ext_scalar_common.rs
+++ b/nalgebra-glm/src/ext/scalar_common.rs
@@ -2,18 +2,22 @@ use na;
 
 use traits::Number;
 
+/// Returns the maximum value among three.
 pub fn max3<N: Number>(a: N, b: N, c: N) -> N {
     na::sup(&na::sup(&a, &b), &c)
 }
 
+/// Returns the maximum value among four.
 pub fn max4<N: Number>(a: N, b: N, c: N, d: N) -> N {
     na::sup(&na::sup(&a, &b), &na::sup(&c, &d))
 }
 
+/// Returns the maximum value among three.
 pub fn min3<N: Number>(a: N, b: N, c: N) -> N {
     na::inf(&na::inf(&a, &b), &c)
 }
 
+/// Returns the maximum value among four.
 pub fn min4<N: Number>(a: N, b: N, c: N, d: N) -> N {
     na::inf(&na::inf(&a, &b), &na::inf(&c, &d))
 }
\ No newline at end of file
diff --git a/nalgebra-glm/src/ext_scalar_constants.rs b/nalgebra-glm/src/ext/scalar_constants.rs
similarity index 66%
rename from nalgebra-glm/src/ext_scalar_constants.rs
rename to nalgebra-glm/src/ext/scalar_constants.rs
index d34c58bf..89e3746c 100644
--- a/nalgebra-glm/src/ext_scalar_constants.rs
+++ b/nalgebra-glm/src/ext/scalar_constants.rs
@@ -1,10 +1,12 @@
 use approx::AbsDiffEq;
 use na::Real;
 
+/// Default epsilon value used for apporximate comparison.
 pub fn epsilon<N: AbsDiffEq<Epsilon = N>>() -> N {
     N::default_epsilon()
 }
 
+/// The value of PI.
 pub fn pi<N: Real>() -> N {
     N::pi()
 }
diff --git a/nalgebra-glm/src/ext_vector_common.rs b/nalgebra-glm/src/ext/vector_common.rs
similarity index 73%
rename from nalgebra-glm/src/ext_vector_common.rs
rename to nalgebra-glm/src/ext/vector_common.rs
index 59033378..a97062dd 100644
--- a/nalgebra-glm/src/ext_vector_common.rs
+++ b/nalgebra-glm/src/ext/vector_common.rs
@@ -3,41 +3,49 @@ use na::{self, DefaultAllocator};
 use traits::{Alloc, Number, Dimension};
 use aliases::Vec;
 
+/// Componentwise maximum between a vector and a scalar.
 pub fn max<N: Number, D: Dimension>(a: &Vec<N, D>, b: N) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     a.map(|a| na::sup(&a, &b))
 }
 
+/// Componentwise maximum between two vectors.
 pub fn max2<N: Number, D: Dimension>(a: &Vec<N, D>, b: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     na::sup(a, b)
 }
 
+/// Componentwise maximum between three vectors.
 pub fn max3<N: Number, D: Dimension>(a: &Vec<N, D>, b: &Vec<N, D>, c: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     max2(&max2(a, b), c)
 }
 
+/// Componentwise maximum between four vectors.
 pub fn max4<N: Number, D: Dimension>(a: &Vec<N, D>, b: &Vec<N, D>, c: &Vec<N, D>, d: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     max2(&max2(a, b), &max2(c, d))
 }
 
-pub fn min<N: Number, D: Dimension>(x: &Vec<N, D>,y: N) -> Vec<N, D>
+/// Componentwise maximum between a vector and a scalar.
+pub fn min<N: Number, D: Dimension>(x: &Vec<N, D>, y: N) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     x.map(|x| na::inf(&x, &y))
 }
 
+/// Componentwise maximum between two vectors.
 pub fn min2<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     na::inf(x, y)
 }
 
+/// Componentwise maximum between three vectors.
 pub fn min3<N: Number, D: Dimension>(a: &Vec<N, D>, b: &Vec<N, D>, c: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     min2(&min2(a, b), c)
 }
 
+/// Componentwise maximum between four vectors.
 pub fn min4<N: Number, D: Dimension>(a: &Vec<N, D>, b: &Vec<N, D>, c: &Vec<N, D>, d: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     min2(&min2(a, b), &min2(c, d))
diff --git a/nalgebra-glm/src/ext_vector_relational.rs b/nalgebra-glm/src/ext/vector_relational.rs
similarity index 64%
rename from nalgebra-glm/src/ext_vector_relational.rs
rename to nalgebra-glm/src/ext/vector_relational.rs
index ba505cb7..c7eeb1a5 100644
--- a/nalgebra-glm/src/ext_vector_relational.rs
+++ b/nalgebra-glm/src/ext/vector_relational.rs
@@ -3,21 +3,25 @@ use na::{DefaultAllocator};
 use traits::{Alloc, Number, Dimension};
 use aliases::Vec;
 
+/// Component-wise approximate equality of two vectors, using a scalar epsilon.
 pub fn equal_eps<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>, epsilon: N) -> Vec<bool, D>
     where DefaultAllocator: Alloc<N, D> {
-    x.zip_map(y, |x, y| abs_diff_eq!(x, y))
+    x.zip_map(y, |x, y| abs_diff_eq!(x, y, epsilon = epsilon))
 }
 
+/// Component-wise approximate equality of two vectors, using a per-component epsilon.
 pub fn equal_eps_vec<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>, epsilon: &Vec<N, D>) -> Vec<bool, D>
     where DefaultAllocator: Alloc<N, D> {
     x.zip_zip_map(y, epsilon, |x, y, eps| abs_diff_eq!(x, y, epsilon = eps))
 }
 
+/// Component-wise approximate non-equality of two vectors, using a scalar epsilon.
 pub fn not_equal_eps<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>, epsilon: N) -> Vec<bool, D>
     where DefaultAllocator: Alloc<N, D> {
-    x.zip_map(y, |x, y| abs_diff_ne!(x, y))
+    x.zip_map(y, |x, y| abs_diff_ne!(x, y, epsilon = epsilon))
 }
 
+/// Component-wise approximate non-equality of two vectors, using a per-component epsilon.
 pub fn not_equal_eps_vec<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>, epsilon: &Vec<N, D>) -> Vec<bool, D>
     where DefaultAllocator: Alloc<N, D> {
     x.zip_zip_map(y, epsilon, |x, y, eps| abs_diff_ne!(x, y, epsilon = eps))
diff --git a/nalgebra-glm/src/ext_matrix_clip_space.rs b/nalgebra-glm/src/ext_matrix_clip_space.rs
deleted file mode 100644
index 7efec074..00000000
--- a/nalgebra-glm/src/ext_matrix_clip_space.rs
+++ /dev/null
@@ -1,170 +0,0 @@
-use na::{Real, U4};
-use aliases::Mat;
-
-pub fn frustum<N: Real>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn frustum_lh<N: Real>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn frustum_lr_no<N: Real>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn frustum_lh_zo<N: Real>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn frustum_no<N: Real>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn frustum_rh<N: Real>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn frustum_rh_no<N: Real>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn frustum_rh_zo<N: Real>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn frustum_zo<N: Real>(left: N, right: N, bottom: N, top: N, near: N, far: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn infinite_perspective<N: Real>(fovy: N, aspect: N, near: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn infinite_perspective_lh<N: Real>(fovy: N, aspect: N, near: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn infinite_perspective_rh<N: Real>(fovy: N, aspect: N, near: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn infinite_ortho<N: Real>(left: N, right: N, bottom: N, top: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn ortho<N: Real>(left: N, right: N, bottom: N, top: N, zNear: N, zFar: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn ortho_lh<N: Real>(left: N, right: N, bottom: N, top: N, zNear: N, zFar: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn ortho_lh_no<N: Real>(left: N, right: N, bottom: N, top: N, zNear: N, zFar: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn ortho_lh_zo<N: Real>(left: N, right: N, bottom: N, top: N, zNear: N, zFar: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn ortho_no<N: Real>(left: N, right: N, bottom: N, top: N, zNear: N, zFar: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn ortho_rh<N: Real>(left: N, right: N, bottom: N, top: N, zNear: N, zFar: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn ortho_rh_no<N: Real>(left: N, right: N, bottom: N, top: N, zNear: N, zFar: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn ortho_rh_zo<N: Real>(left: N, right: N, bottom: N, top: N, zNear: N, zFar: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn ortho_zo<N: Real>(left: N, right: N, bottom: N, top: N, zNear: N, zFar: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn perspective<N: Real>(fovy: N, aspect: N, near: N, far: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn perspective_fov<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn perspective_fov_lh<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn perspective_fov_lh_no<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn perspective_fov_lh_zo<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn perspective_fov_no<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn perspective_fov_rh<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn perspective_fov_rh_no<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn perspective_fov_rh_zo<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn perspective_fov_zo<N: Real>(fov: N, width: N, height: N, near: N, far: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn perspective_lh<N: Real>(fovy: N, aspect: N, near: N, far: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn perspective_lh_no<N: Real>(fovy: N, aspect: N, near: N, far: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn perspective_lh_zo<N: Real>(fovy: N, aspect: N, near: N, far: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn perspective_no<N: Real>(fovy: N, aspect: N, near: N, far: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn perspective_rh<N: Real>(fovy: N, aspect: N, near: N, far: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn perspective_rh_no<N: Real>(fovy: N, aspect: N, near: N, far: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn perspective_rh_zo<N: Real>(fovy: N, aspect: N, near: N, far: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn perspective_zo<N: Real>(fovy: N, aspect: N, near: N, far: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn tweaked_infinite_perspective<N: Real>(fovy: N, aspect: N, near: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
-
-pub fn tweaked_infinite_perspective_ep<N: Real>(fovy: N, aspect: N, near: N, ep: N) -> Mat<N, U4, U4> {
-    unimplemented!()
-}
diff --git a/nalgebra-glm/src/ext_matrix_projection.rs b/nalgebra-glm/src/ext_matrix_projection.rs
deleted file mode 100644
index 5d2a942a..00000000
--- a/nalgebra-glm/src/ext_matrix_projection.rs
+++ /dev/null
@@ -1,67 +0,0 @@
-use na::{self, Real, U2, U3, U4, Vector3, Vector4, Matrix4};
-
-use aliases::{Mat, Vec};
-
-
-pub fn pick_matrix<N: Real>(center: &Vec<N, U2>, delta: &Vec<N, U2>, viewport: &Vec<N, U4>) -> Mat<N, U4, U4> {
-    let shift = Vector3::new(
-        (viewport.z - (center.x - viewport.x) * na::convert(2.0)) / delta.x,
-        (viewport.w - (center.y - viewport.y) * na::convert(2.0)) / delta.y,
-        N::zero()
-    );
-
-    let result = Matrix4::new_translation(&shift);
-    result.prepend_nonuniform_scaling(&Vector3::new(viewport.z / delta.x, viewport.w / delta.y, N::one()))
-}
-
-pub fn project<N: Real>(obj: &Vec<N, U3>, model: &Mat<N, U4, U4>, proj: &Mat<N, U4, U4>, viewport: Vec<N, U4>) -> Vec<N, U3> {
-    project_no(obj, model, proj, viewport)
-}
-
-pub fn project_no<N: Real>(obj: &Vec<N, U3>, model: &Mat<N, U4, U4>, proj: &Mat<N, U4, U4>, viewport: Vec<N, U4>) -> Vec<N, U3> {
-    let proj = project_zo(obj, model, proj, viewport);
-    Vector3::new(proj.x, proj.y, proj.z * na::convert(0.5) + na::convert(0.5))
-}
-
-pub fn project_zo<N: Real>(obj: &Vec<N, U3>, model: &Mat<N, U4, U4>, proj: &Mat<N, U4, U4>, viewport: Vec<N, U4>) -> Vec<N, U3> {
-    let mut normalized = proj * model * Vector4::new(obj.x, obj.y, obj.z, N::one());
-    let scale = N::one() / normalized.w;
-
-    Vector3::new(
-        viewport.x + (viewport.z * (normalized.x * scale + N::one()) * na::convert(0.5)),
-        viewport.y + (viewport.w * (normalized.y * scale + N::one()) * na::convert(0.5)),
-        normalized.z * scale,
-    )
-}
-
-pub fn unproject<N: Real>(win: &Vec<N, U3>, model: &Mat<N, U4, U4>, proj: &Mat<N, U4, U4>, viewport: Vec<N, U4>) -> Vec<N, U3> {
-    unproject_no(win, model, proj, viewport)
-}
-
-pub fn unproject_no<N: Real>(win: &Vec<N, U3>, model: &Mat<N, U4, U4>, proj: &Mat<N, U4, U4>, viewport: Vec<N, U4>) -> Vec<N, U3> {
-    let _2: N = na::convert(2.0);
-    let transform = (proj * model).try_inverse().unwrap_or(Matrix4::zeros());
-    let pt = Vector4::new(
-        _2 * (win.x - viewport.x) / viewport.z - N::one(),
-        _2 * (win.y - viewport.y) / viewport.w - N::one(),
-        _2 * win.z - N::one(),
-        N::one(),
-    );
-
-    let result = transform * pt;
-    result.fixed_rows::<U3>(0) / result.w
-}
-
-pub fn unproject_zo<N: Real>(win: &Vec<N, U3>, model: &Mat<N, U4, U4>, proj: &Mat<N, U4, U4>, viewport: Vec<N, U4>) -> Vec<N, U3> {
-    let _2: N = na::convert(2.0);
-    let transform = (proj * model).try_inverse().unwrap_or(Matrix4::zeros());
-    let pt = Vector4::new(
-        _2 * (win.x - viewport.x) / viewport.z - N::one(),
-        _2 * (win.y - viewport.y) / viewport.w - N::one(),
-        win.z,
-        N::one(),
-    );
-
-    let result = transform * pt;
-    result.fixed_rows::<U3>(0) / result.w
-}
\ No newline at end of file
diff --git a/nalgebra-glm/src/ext_matrix_relationnal.rs b/nalgebra-glm/src/ext_matrix_relationnal.rs
deleted file mode 100644
index 21ab54ec..00000000
--- a/nalgebra-glm/src/ext_matrix_relationnal.rs
+++ /dev/null
@@ -1,59 +0,0 @@
-use na::DefaultAllocator;
-
-use aliases::{Vec, Mat};
-use traits::{Alloc, Number, Dimension};
-
-
-pub fn equal<N: Number, R: Dimension, C: Dimension>(x: &Mat<N, R, C>, y: &Mat<N, R, C>) -> Vec<bool, C>
-    where DefaultAllocator: Alloc<N, R, C> {
-    let mut res = Vec::<_, C>::repeat(false);
-
-    for i in 0..C::dim() {
-        res[i] = x.column(i) == y.column(i)
-    }
-
-    res
-}
-
-pub fn equal_eps<N: Number, R: Dimension, C: Dimension>(x: &Mat<N, R, C>, y: &Mat<N, R, C>, epsilon: N) -> Vec<bool, C>
-    where DefaultAllocator: Alloc<N, R, C> {
-    equal_eps_vec(x, y, &Vec::<_, C>::repeat(epsilon))
-}
-
-pub fn equal_eps_vec<N: Number, R: Dimension, C: Dimension>(x: &Mat<N, R, C>, y: &Mat<N, R, C>, epsilon: &Vec<N, C>) -> Vec<bool, C>
-    where DefaultAllocator: Alloc<N, R, C> {
-    let mut res = Vec::<_, C>::repeat(false);
-
-    for i in 0..C::dim() {
-        res[i] = (x.column(i) - y.column(i)).abs() < Vec::<_, R>::repeat(epsilon[i])
-    }
-
-    res
-}
-
-pub fn not_equal<N: Number, R: Dimension, C: Dimension>(x: &Mat<N, R, C>, y: &Mat<N, R, C>) -> Vec<bool, C>
-    where DefaultAllocator: Alloc<N, R, C> {
-    let mut res = Vec::<_, C>::repeat(false);
-
-    for i in 0..C::dim() {
-        res[i] = x.column(i) != y.column(i)
-    }
-
-    res
-}
-
-pub fn not_equal_eps<N: Number, R: Dimension, C: Dimension>(x: &Mat<N, R, C>, y: &Mat<N, R, C>, epsilon: N) -> Vec<bool, C>
-    where DefaultAllocator: Alloc<N, R, C> {
-    not_equal_eps_vec(x, y, &Vec::<_, C>::repeat(epsilon))
-}
-
-pub fn not_equal_eps_vec<N: Number, R: Dimension, C: Dimension>(x: &Mat<N, R, C>, y: &Mat<N, R, C>, epsilon: &Vec<N, C>) -> Vec<bool, C>
-    where DefaultAllocator: Alloc<N, R, C> {
-    let mut res = Vec::<_, C>::repeat(false);
-
-    for i in 0..C::dim() {
-        res[i] = (x.column(i) - y.column(i)).abs() >= Vec::<_, R>::repeat(epsilon[i])
-    }
-
-    res
-}
diff --git a/nalgebra-glm/src/ext_matrix_transform.rs b/nalgebra-glm/src/ext_matrix_transform.rs
deleted file mode 100644
index 6dff5ccc..00000000
--- a/nalgebra-glm/src/ext_matrix_transform.rs
+++ /dev/null
@@ -1,34 +0,0 @@
-use na::{DefaultAllocator, Scalar, Real, U3, U4, Unit, Rotation3, Point3};
-
-use traits::{Dimension, Number, Alloc};
-use aliases::{Mat, Vec};
-
-pub fn identity<N: Number, D: Dimension>() -> Mat<N, D, D>
-    where DefaultAllocator: Alloc<N, D, D> {
-    Mat::<N, D, D>::identity()
-}
-
-/// Same as `look_at_rh`
-pub fn look_at<N: Real>(eye: &Vec<N, U3>, center: &Vec<N, U3>, up: &Vec<N, U3>) -> Mat<N, U4, U4> {
-    look_at_rh(eye, center, up)
-}
-
-pub fn look_at_lh<N: Real>(eye: &Vec<N, U3>, center: &Vec<N, U3>, up: &Vec<N, U3>) -> Mat<N, U4, U4> {
-    Mat::look_at_lh(&Point3::from_coordinates(*eye), &Point3::from_coordinates(*center), up)
-}
-
-pub fn look_at_rh<N: Real>(eye: &Vec<N, U3>, center: &Vec<N, U3>, up: &Vec<N, U3>) -> Mat<N, U4, U4> {
-    Mat::look_at_rh(&Point3::from_coordinates(*eye), &Point3::from_coordinates(*center), up)
-}
-
-pub fn rotate<N: Real>(m: &Mat<N, U4, U4>, angle: N, axis: &Vec<N, U3>) -> Mat<N, U4, U4> {
-    m * Rotation3::from_axis_angle(&Unit::new_normalize(*axis), angle).to_homogeneous()
-}
-
-pub fn scale<N: Number>(m: &Mat<N, U4, U4>, v: &Vec<N, U3>) -> Mat<N, U4, U4> {
-    m.prepend_nonuniform_scaling(v)
-}
-
-pub fn translate<N: Number>(m: &Mat<N, U4, U4>, v: &Vec<N, U3>) -> Mat<N, U4, U4> {
-    m.prepend_translation(v)
-}
diff --git a/nalgebra-glm/src/geometric.rs b/nalgebra-glm/src/geometric.rs
index 75050bd5..ad9910db 100644
--- a/nalgebra-glm/src/geometric.rs
+++ b/nalgebra-glm/src/geometric.rs
@@ -1,22 +1,26 @@
-use na::{self, Scalar, Real, U3, DefaultAllocator};
+use na::{Real, U3, DefaultAllocator};
 
 use traits::{Number, Alloc, Dimension};
 use aliases::Vec;
 
+/// The cross product of two vectors.
 pub fn cross<N: Number, D: Dimension>(x: &Vec<N, U3>, y: &Vec<N, U3>) -> Vec<N, U3> {
     x.cross(y)
 }
 
+/// The distance between two points.
 pub fn distance<N: Real, D: Dimension>(p0: &Vec<N, D>, p1: &Vec<N, D>) -> N
     where DefaultAllocator: Alloc<N, D> {
    (p1 - p0).norm()
 }
 
+/// The dot product of two vectors.
 pub fn dot<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> N
     where DefaultAllocator: Alloc<N, D> {
     x.dot(y)
 }
 
+/// If `dot(nref, i) < 0.0`, return `n`, otherwise, return `-n`.
 pub fn faceforward<N: Number, D: Dimension>(n: &Vec<N, D>, i: &Vec<N, D>, nref: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     if nref.dot(i) < N::zero() {
@@ -26,22 +30,32 @@ pub fn faceforward<N: Number, D: Dimension>(n: &Vec<N, D>, i: &Vec<N, D>, nref:
     }
 }
 
+/// The magnitude of a vector.
 pub fn length<N: Real, D: Dimension>(x: &Vec<N, D>) -> N
     where DefaultAllocator: Alloc<N, D> {
     x.norm()
 }
 
+/// The magnitude of a vector.
+pub fn magnitude<N: Real, D: Dimension>(x: &Vec<N, D>) -> N
+    where DefaultAllocator: Alloc<N, D> {
+    x.norm()
+}
+
+/// Normalizes a vector.
 pub fn normalize<N: Real, D: Dimension>(x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     x.normalize()
 }
 
+/// For the incident vector `i` and surface orientation `n`, returns the reflection direction : `result = i - 2.0 * dot(n, i) * n`.
 pub fn reflect<N: Number, D: Dimension>(i: &Vec<N, D>, n: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     let _2 = N::one() + N::one();
     i - n * (n.dot(i) * _2)
 }
 
+/// For the incident vector `i` and surface normal `n`, and the ratio of indices of refraction `eta`, return the refraction vector.
 pub fn refract<N: Real, D: Dimension>(i: &Vec<N, D>, n: &Vec<N, D>, eta: N) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
 
diff --git a/nalgebra-glm/src/gtc_bitfield.rs b/nalgebra-glm/src/gtc/bitfield.rs
similarity index 100%
rename from nalgebra-glm/src/gtc_bitfield.rs
rename to nalgebra-glm/src/gtc/bitfield.rs
diff --git a/nalgebra-glm/src/gtc_constants.rs b/nalgebra-glm/src/gtc/constants.rs
similarity index 73%
rename from nalgebra-glm/src/gtc_constants.rs
rename to nalgebra-glm/src/gtc/constants.rs
index ab9ebb2c..cfbf4ae7 100644
--- a/nalgebra-glm/src/gtc_constants.rs
+++ b/nalgebra-glm/src/gtc/constants.rs
@@ -1,111 +1,138 @@
 use na::{self, Real};
 use traits::Number;
 
+/// The euler constant.
 pub fn e<N: Real>() -> N {
     N::e()
 }
 
+/// The euler constant.
 pub fn euler<N: Real>() -> N {
     N::e()
 }
 
+/// Returns `4 / pi`.
 pub fn four_over_pi<N: Real>() -> N {
     na::convert::<_, N>(4.0) / N::pi()
 }
 
+/// Returns the golden ratio.
 pub fn golden_ratio<N: Real>() -> N {
     (N::one() + root_five()) / na::convert(2.0)
 }
 
+/// Returns `4 / pi`.
 pub fn half_pi<N: Real>() -> N {
     N::frac_pi_2()
 }
 
+/// Returns `4 / pi`.
 pub fn ln_ln_two<N: Real>() -> N {
     N::ln_2().ln()
 }
 
+/// Returns `ln(10)`.
 pub fn ln_ten<N: Real>() -> N {
     N::ln_10()
 }
 
+/// Returns `ln(2)`.
 pub fn ln_two<N: Real>() -> N {
     N::ln_2()
 }
 
+/// Returns `1`.
 pub fn one<N: Number>() -> N {
     N::one()
 }
 
+/// Returns `1 / pi`.
 pub fn one_over_pi<N: Real>() -> N {
     N::frac_1_pi()
 }
 
+/// Returns `1 / sqrt(2)`.
 pub fn one_over_root_two<N: Real>() -> N {
     N::one() / root_two()
 }
 
+/// Returns `1 / (2pi)`.
 pub fn one_over_two_pi<N: Real>() -> N {
     N::frac_1_pi() * na::convert(0.5)
 }
 
+/// Returns `pi / 4`.
 pub fn quarter_pi<N: Real>() -> N {
     N::frac_pi_4()
 }
 
+/// Returns `sqrt(5)`.
 pub fn root_five<N: Real>() -> N {
     na::convert::<_, N>(5.0).sqrt()
 }
 
+/// Returns `sqrt(pi / 2)`.
 pub fn root_half_pi<N: Real>() -> N {
     (N::pi() / na::convert(2.0)).sqrt()
 }
 
+/// Returns `sqrt(ln(4))`.
 pub fn root_ln_four<N: Real>() -> N {
     na::convert::<_, N>(4.0).sqrt()
 }
 
+/// Returns the square root of pi.
 pub fn root_pi<N: Real>() -> N {
     N::pi().sqrt()
 }
 
+/// Returns the square root of 3.
 pub fn root_three<N: Real>() -> N {
     na::convert::<_, N>(3.0).sqrt()
 }
 
+/// Returns the square root of 2.
 pub fn root_two<N: Real>() -> N {
     // FIXME: there should be a ::sqrt_2() on the Real trait.
     na::convert::<_, N>(2.0).sqrt()
 }
 
+/// Returns the square root of 2pi.
 pub fn root_two_pi<N: Real>() -> N {
     N::two_pi().sqrt()
 }
 
+/// Returns `1 / 3.
 pub fn third<N: Real>() -> N {
     na::convert(1.0 / 2.0)
 }
 
+/// Returns `3 / (2pi)`.
 pub fn three_over_two_pi<N: Real>() -> N {
     na::convert::<_, N>(3.0) / N::two_pi()
 }
 
+/// Returns `2 / pi`.
 pub fn two_over_pi<N: Real>() -> N {
     N::frac_2_pi()
 }
 
+/// Returns `2 / sqrt(pi)`.
 pub fn two_over_root_pi<N: Real>() -> N {
     N::frac_2_pi()
 }
 
+/// Returns `2pi`.
 pub fn two_pi<N: Real>() -> N {
     N::two_pi()
 }
 
+/// Returns `2 / 3`.
 pub fn two_thirds<N: Real>() -> N {
     na::convert(2.0 / 3.0)
 }
 
+/// Returns `0`.
 pub fn zero<N: Number>() -> N {
     N::zero()
 }
\ No newline at end of file
diff --git a/nalgebra-glm/src/gtc/epsilon.rs b/nalgebra-glm/src/gtc/epsilon.rs
new file mode 100644
index 00000000..91ba8503
--- /dev/null
+++ b/nalgebra-glm/src/gtc/epsilon.rs
@@ -0,0 +1,27 @@
+use approx::AbsDiffEq;
+use na::DefaultAllocator;
+
+use traits::{Alloc, Number, Dimension};
+use aliases::Vec;
+
+/// Componentwise approximate equality beween two vectors.
+pub fn epsilon_equal<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>, epsilon: N) -> Vec<bool, D>
+    where DefaultAllocator: Alloc<N, D> {
+    x.zip_map(y, |x, y| abs_diff_eq!(x, y, epsilon = epsilon))
+}
+
+/// Componentwise approximate equality beween two scalars.
+pub fn epsilon_equal2<N: AbsDiffEq<Epsilon = N>>(x: N, y: N, epsilon: N) -> bool {
+    abs_diff_eq!(x, y, epsilon = epsilon)
+}
+
+/// Componentwise approximate non-equality beween two vectors.
+pub fn epsilon_not_equal<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>, epsilon: N) -> Vec<bool, D>
+    where DefaultAllocator: Alloc<N, D> {
+    x.zip_map(y, |x, y| abs_diff_ne!(x, y, epsilon = epsilon))
+}
+
+/// Componentwise approximate non-equality beween two scalars.
+pub fn epsilon_not_equal2<N: AbsDiffEq<Epsilon = N>>(x: N, y: N, epsilon: N) -> bool {
+    abs_diff_ne!(x, y, epsilon = epsilon)
+}
diff --git a/nalgebra-glm/src/gtc_integer.rs b/nalgebra-glm/src/gtc/integer.rs
similarity index 100%
rename from nalgebra-glm/src/gtc_integer.rs
rename to nalgebra-glm/src/gtc/integer.rs
diff --git a/nalgebra-glm/src/gtc_matrix_access.rs b/nalgebra-glm/src/gtc/matrix_access.rs
similarity index 82%
rename from nalgebra-glm/src/gtc_matrix_access.rs
rename to nalgebra-glm/src/gtc/matrix_access.rs
index f8280e96..03b67fa5 100644
--- a/nalgebra-glm/src/gtc_matrix_access.rs
+++ b/nalgebra-glm/src/gtc/matrix_access.rs
@@ -3,11 +3,13 @@ use na::{Scalar, DefaultAllocator};
 use traits::{Alloc, Dimension};
 use aliases::{Vec, Mat};
 
+/// The `index`-th column of the matrix `m`.
 pub fn column<N: Scalar, R: Dimension, C: Dimension>(m: &Mat<N, R, C>, index: usize) -> Vec<N, R>
     where DefaultAllocator: Alloc<N, R, C> {
     m.column(index).into_owned()
 }
 
+/// Sets to `x` the `index`-th column of the matrix `m`.
 pub fn set_column<N: Scalar, R: Dimension, C: Dimension>(m: &Mat<N, R, C>, index: usize, x: &Vec<N, R>) -> Mat<N, R, C>
     where DefaultAllocator: Alloc<N, R, C> {
     let mut res = m.clone();
@@ -15,11 +17,13 @@ pub fn set_column<N: Scalar, R: Dimension, C: Dimension>(m: &Mat<N, R, C>, index
     res
 }
 
+/// The `index`-th row of the matrix `m`.
 pub fn row<N: Scalar, R: Dimension, C: Dimension>(m: &Mat<N, R, C>, index: usize) -> Vec<N, C>
     where DefaultAllocator: Alloc<N, R, C> {
     m.row(index).into_owned().transpose()
 }
 
+/// Sets to `x` the `index`-th row of the matrix `m`.
 pub fn set_row<N: Scalar, R: Dimension, C: Dimension>(m: &Mat<N, R, C>, index: usize, x: &Vec<N, C>) -> Mat<N, R, C>
     where DefaultAllocator: Alloc<N, R, C> {
     let mut res = m.clone();
diff --git a/nalgebra-glm/src/gtc_matrix_inverse.rs b/nalgebra-glm/src/gtc/matrix_inverse.rs
similarity index 78%
rename from nalgebra-glm/src/gtc_matrix_inverse.rs
rename to nalgebra-glm/src/gtc/matrix_inverse.rs
index c36210ea..ea5f2e06 100644
--- a/nalgebra-glm/src/gtc_matrix_inverse.rs
+++ b/nalgebra-glm/src/gtc/matrix_inverse.rs
@@ -1,14 +1,16 @@
-use na::{Real, DefaultAllocator, Transform, TAffine};
+use na::{Real, DefaultAllocator};
 
 use traits::{Alloc, Dimension};
 use aliases::Mat;
 
+/// Fast matrix inverse for affine matrix.
 pub fn affine_inverse<N: Real, D: Dimension>(m: Mat<N, D, D>) -> Mat<N, D, D>
     where DefaultAllocator: Alloc<N, D, D> {
     // FIXME: this should be optimized.
     m.try_inverse().unwrap_or(Mat::<_, D, D>::zeros())
 }
 
+/// Compute the transpose of the inverse of a matrix.
 pub fn inverse_transpose<N: Real, D: Dimension>(m: Mat<N, D, D>) -> Mat<N, D, D>
     where DefaultAllocator: Alloc<N, D, D> {
     m.try_inverse().unwrap_or(Mat::<_, D, D>::zeros()).transpose()
diff --git a/nalgebra-glm/src/gtc/mod.rs b/nalgebra-glm/src/gtc/mod.rs
new file mode 100644
index 00000000..83078278
--- /dev/null
+++ b/nalgebra-glm/src/gtc/mod.rs
@@ -0,0 +1,26 @@
+//! (Reexported) Recommended features not specified by GLSL specification
+
+//pub use self::bitfield::*;
+pub use self::constants::*;
+pub use self::epsilon::*;
+//pub use self::integer::*;
+pub use self::matrix_access::*;
+pub use self::matrix_inverse::*;
+//pub use self::packing::*;
+//pub use self::reciprocal::*;
+//pub use self::round::*;
+pub use self::type_ptr::*;
+//pub use self::ulp::*;
+
+
+//mod bitfield;
+mod constants;
+mod epsilon;
+//mod integer;
+mod matrix_access;
+mod matrix_inverse;
+//mod packing;
+//mod reciprocal;
+//mod round;
+mod type_ptr;
+//mod ulp;
\ No newline at end of file
diff --git a/nalgebra-glm/src/gtc_packing.rs b/nalgebra-glm/src/gtc/packing.rs
similarity index 100%
rename from nalgebra-glm/src/gtc_packing.rs
rename to nalgebra-glm/src/gtc/packing.rs
diff --git a/nalgebra-glm/src/gtc_reciprocal.rs b/nalgebra-glm/src/gtc/reciprocal.rs
similarity index 100%
rename from nalgebra-glm/src/gtc_reciprocal.rs
rename to nalgebra-glm/src/gtc/reciprocal.rs
diff --git a/nalgebra-glm/src/gtc_round.rs b/nalgebra-glm/src/gtc/round.rs
similarity index 100%
rename from nalgebra-glm/src/gtc_round.rs
rename to nalgebra-glm/src/gtc/round.rs
diff --git a/nalgebra-glm/src/gtc_type_ptr.rs b/nalgebra-glm/src/gtc/type_ptr.rs
similarity index 56%
rename from nalgebra-glm/src/gtc_type_ptr.rs
rename to nalgebra-glm/src/gtc/type_ptr.rs
index 49bb63d2..1c99440a 100644
--- a/nalgebra-glm/src/gtc_type_ptr.rs
+++ b/nalgebra-glm/src/gtc/type_ptr.rs
@@ -5,140 +5,211 @@ use na::{Scalar, Real, U1, U2, U3, U4, DefaultAllocator,
 use traits::{Number, Alloc, Dimension};
 use aliases::{Qua, Vec, Mat};
 
-
+/// Creates a 2x2 matrix from a slice arranged in column-major order.
 pub fn make_mat2<N: Scalar>(ptr: &[N]) -> Mat<N, U2, U2> {
     Matrix2::from_column_slice(ptr)
 }
 
+/// Creates a 2x2 matrix from a slice arranged in column-major order.
 pub fn make_mat2x2<N: Scalar>(ptr: &[N]) -> Mat<N, U2, U2> {
     Matrix2::from_column_slice(ptr)
 }
 
+/// Creates a 2x3 matrix from a slice arranged in column-major order.
 pub fn make_mat2x3<N: Scalar>(ptr: &[N]) -> Mat<N, U2, U3> {
     Matrix2x3::from_column_slice(ptr)
 }
 
+/// Creates a 2x4 matrix from a slice arranged in column-major order.
 pub fn make_mat2x4<N: Scalar>(ptr: &[N]) -> Mat<N, U2, U4> {
     Matrix2x4::from_column_slice(ptr)
 }
 
+/// Creates a 3 matrix from a slice arranged in column-major order.
 pub fn make_mat3<N: Scalar>(ptr: &[N]) -> Mat<N, U3, U3> {
     Matrix3::from_column_slice(ptr)
 }
 
+/// Creates a 3x2 matrix from a slice arranged in column-major order.
 pub fn make_mat3x2<N: Scalar>(ptr: &[N]) -> Mat<N, U3, U2> {
     Matrix3x2::from_column_slice(ptr)
 }
 
+/// Creates a 3x3 matrix from a slice arranged in column-major order.
 pub fn make_mat3x3<N: Scalar>(ptr: &[N]) -> Mat<N, U3, U3> {
     Matrix3::from_column_slice(ptr)
 }
 
+/// Creates a 3x4 matrix from a slice arranged in column-major order.
 pub fn make_mat3x4<N: Scalar>(ptr: &[N]) -> Mat<N, U3, U4> {
     Matrix3x4::from_column_slice(ptr)
 }
 
+/// Creates a 4x4 matrix from a slice arranged in column-major order.
 pub fn make_mat4<N: Scalar>(ptr: &[N]) -> Mat<N, U4, U4> {
     Matrix4::from_column_slice(ptr)
 }
 
+/// Creates a 4x2 matrix from a slice arranged in column-major order.
 pub fn make_mat4x2<N: Scalar>(ptr: &[N]) -> Mat<N, U4, U2> {
     Matrix4x2::from_column_slice(ptr)
 }
 
+/// Creates a 4x3 matrix from a slice arranged in column-major order.
 pub fn make_mat4x3<N: Scalar>(ptr: &[N]) -> Mat<N, U4, U3> {
     Matrix4x3::from_column_slice(ptr)
 }
 
+/// Creates a 4x4 matrix from a slice arranged in column-major order.
 pub fn make_mat4x4<N: Scalar>(ptr: &[N]) -> Mat<N, U4, U4> {
     Matrix4::from_column_slice(ptr)
 }
 
+/// Creates a quaternion from a slice arranged as `[x, y, z, w]`.
 pub fn make_quat<N: Real>(ptr: &[N]) -> Qua<N> {
     Quaternion::from_vector(Vector4::from_column_slice(ptr))
 }
 
+/// Creates a 1D vector from another vector.
+///
+/// Missing components, if any, are set to 0.
 pub fn make_vec1<N: Scalar>(v: &Vec<N, U1>) -> Vec<N, U1> {
     *v
 }
 
+/// Creates a 1D vector from another vector.
+///
+/// Missing components, if any, are set to 0.
 pub fn make_vec1_2<N: Scalar>(v: &Vec<N, U2>) -> Vec<N, U1> {
     Vector1::new(v.x)
 }
 
+/// Creates a 1D vector from another vector.
+///
+/// Missing components, if any, are set to 0.
 pub fn make_vec1_3<N: Scalar>(v: &Vec<N, U3>) -> Vec<N, U1> {
     Vector1::new(v.x)
 }
 
+/// Creates a 1D vector from another vector.
+///
+/// Missing components, if any, are set to 0.
 pub fn make_vec1_4<N: Scalar>(v: &Vec<N, U4>) -> Vec<N, U1> {
     Vector1::new(v.x)
 }
 
+/// Creates a 2D vector from another vector.
+///
+/// Missing components, if any, are set to 0.
 pub fn make_vec2_1<N: Number>(v: &Vec<N, U1>) -> Vec<N, U2> {
     Vector2::new(v.x, N::zero())
 }
 
+/// Creates a 2D vector from another vector.
+///
+/// Missing components, if any, are set to 0.
 pub fn make_vec2_2<N: Scalar>(v: &Vec<N, U2>) -> Vec<N, U2> {
     *v
 }
 
+/// Creates a 2D vector from another vector.
+///
+/// Missing components, if any, are set to 0.
 pub fn make_vec2_3<N: Scalar>(v: &Vec<N, U3>) -> Vec<N, U2> {
     Vector2::new(v.x, v.y)
 }
 
+/// Creates a 2D vector from another vector.
+///
+/// Missing components, if any, are set to 0.
 pub fn make_vec2_4<N: Scalar>(v: &Vec<N, U4>) -> Vec<N, U2> {
     Vector2::new(v.x, v.y)
 }
 
+/// Creates a 2D vector from another vector.
+///
+/// Missing components, if any, are set to 0.
 pub fn make_vec2<N: Scalar>(ptr: &[N]) -> Vec<N, U2> {
     Vector2::from_column_slice(ptr)
 }
 
+/// Creates a 3D vector from another vector.
+///
+/// Missing components, if any, are set to 0.
 pub fn make_vec3_1<N: Number>(v: &Vec<N, U1>) -> Vec<N, U3> {
     Vector3::new(v.x, N::zero(), N::zero())
 }
 
+/// Creates a 3D vector from another vector.
+///
+/// Missing components, if any, are set to 0.
 pub fn make_vec3_2<N: Number>(v: &Vec<N, U2>) -> Vec<N, U3> {
     Vector3::new(v.x, v.y, N::zero())
 }
 
+/// Creates a 3D vector from another vector.
+///
+/// Missing components, if any, are set to 0.
 pub fn make_vec3_3<N: Scalar>(v: &Vec<N, U3>) -> Vec<N, U3> {
     *v
 }
 
+/// Creates a 3D vector from another vector.
+///
+/// Missing components, if any, are set to 0.
 pub fn make_vec3_4<N: Scalar>(v: &Vec<N, U4>) -> Vec<N, U3> {
     Vector3::new(v.x, v.y, v.z)
 }
 
+/// Creates a 3D vector from another vector.
+///
+/// Missing components, if any, are set to 0.
 pub fn make_vec3<N: Scalar>(ptr: &[N]) -> Vec<N, U3> {
     Vector3::from_column_slice(ptr)
 }
 
+/// Creates a 4D vector from another vector.
+///
+/// Missing components, if any, are set to 0.
 pub fn make_vec4_1<N: Number>(v: &Vec<N, U1>) -> Vec<N, U4> {
     Vector4::new(v.x, N::zero(), N::zero(), N::zero())
 }
 
+/// Creates a 4D vector from another vector.
+///
+/// Missing components, if any, are set to 0.
 pub fn make_vec4_2<N: Number>(v: &Vec<N, U2>) -> Vec<N, U4> {
     Vector4::new(v.x, v.y, N::zero(), N::zero())
 }
 
+/// Creates a 4D vector from another vector.
+///
+/// Missing components, if any, are set to 0.
 pub fn make_vec4_3<N: Number>(v: &Vec<N, U3>) -> Vec<N, U4> {
     Vector4::new(v.x, v.y, v.z, N::zero())
 }
 
+/// Creates a 4D vector from another vector.
+///
+/// Missing components, if any, are set to 0.
 pub fn make_vec4_4<N: Scalar>(v: &Vec<N, U4>) -> Vec<N, U4> {
     *v
 }
 
+/// Creates a 4D vector from another vector.
+///
+/// Missing components, if any, are set to 0.
 pub fn make_vec4<N: Scalar>(ptr: &[N]) -> Vec<N, U4> {
     Vector4::from_column_slice(ptr)
 }
 
+/// Converts a matrix or vector to a slice arranged in column-major order.
 pub fn value_ptr<N: Scalar, R: Dimension, C: Dimension>(x: &Mat<N, R, C>) -> &[N]
     where DefaultAllocator: Alloc<N, R, C> {
     x.as_slice()
 }
 
+/// Converts a matrix or vector to a mutable slice arranged in column-major order.
 pub fn value_ptr_mut<N: Scalar, R: Dimension, C: Dimension>(x: &mut Mat<N, R, C>) -> &mut [N]
     where DefaultAllocator: Alloc<N, R, C> {
     x.as_mut_slice()
diff --git a/nalgebra-glm/src/gtc_ulp.rs b/nalgebra-glm/src/gtc/ulp.rs
similarity index 100%
rename from nalgebra-glm/src/gtc_ulp.rs
rename to nalgebra-glm/src/gtc/ulp.rs
diff --git a/nalgebra-glm/src/gtc_epsilon.rs b/nalgebra-glm/src/gtc_epsilon.rs
deleted file mode 100644
index 5b5b4c2a..00000000
--- a/nalgebra-glm/src/gtc_epsilon.rs
+++ /dev/null
@@ -1,23 +0,0 @@
-use approx::AbsDiffEq;
-use na::DefaultAllocator;
-
-use traits::{Alloc, Number, Dimension};
-use aliases::Vec;
-
-pub fn epsilonEqual<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>, epsilon: N) -> Vec<bool, D>
-    where DefaultAllocator: Alloc<N, D> {
-    x.zip_map(y, |x, y| abs_diff_eq!(x, y, epsilon = epsilon))
-}
-
-pub fn epsilonEqual2<N: AbsDiffEq<Epsilon = N>>(x: N, y: N, epsilon: N) -> bool {
-    abs_diff_eq!(x, y, epsilon = epsilon)
-}
-
-pub fn epsilonNotEqual<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>, epsilon: N) -> Vec<bool, D>
-    where DefaultAllocator: Alloc<N, D> {
-    x.zip_map(y, |x, y| abs_diff_ne!(x, y, epsilon = epsilon))
-}
-
-pub fn epsilonNotEqual2<N: AbsDiffEq<Epsilon = N>>(x: N, y: N, epsilon: N) -> bool {
-    abs_diff_ne!(x, y, epsilon = epsilon)
-}
diff --git a/nalgebra-glm/src/gtx_component_wise.rs b/nalgebra-glm/src/gtx/component_wise.rs
similarity index 75%
rename from nalgebra-glm/src/gtx_component_wise.rs
rename to nalgebra-glm/src/gtx/component_wise.rs
index 9d8a74b1..acff2a93 100644
--- a/nalgebra-glm/src/gtx_component_wise.rs
+++ b/nalgebra-glm/src/gtx/component_wise.rs
@@ -1,24 +1,27 @@
-use na::{self, Scalar, Real, DefaultAllocator};
+use na::{self, DefaultAllocator};
 
 use traits::{Number, Alloc, Dimension};
 use aliases::Mat;
 
-
+/// The sum of every components of the given matrix or vector.
 pub fn comp_add<N: Number, R: Dimension, C: Dimension>(m: &Mat<N, R, C>) -> N
     where DefaultAllocator: Alloc<N, R, C> {
     m.iter().fold(N::zero(), |x, y| x + *y)
 }
 
+/// The maximum of every components of the given matrix or vector.
 pub fn comp_max<N: Number, R: Dimension, C: Dimension>(m: &Mat<N, R, C>) -> N
     where DefaultAllocator: Alloc<N, R, C> {
     m.iter().fold(N::min_value(), |x, y| na::sup(&x, y))
 }
 
+/// The minimum of every components of the given matrix or vector.
 pub fn comp_min<N: Number, R: Dimension, C: Dimension>(m: &Mat<N, R, C>) -> N
     where DefaultAllocator: Alloc<N, R, C> {
     m.iter().fold(N::max_value(), |x, y| na::inf(&x, y))
 }
 
+/// The product of every components of the given matrix or vector.
 pub fn comp_mul<N: Number, R: Dimension, C: Dimension>(m: &Mat<N, R, C>) -> N
     where DefaultAllocator: Alloc<N, R, C> {
     m.iter().fold(N::one(), |x, y| x * *y)
diff --git a/nalgebra-glm/src/gtx/euler_angles.rs b/nalgebra-glm/src/gtx/euler_angles.rs
new file mode 100644
index 00000000..cd1e0a48
--- /dev/null
+++ b/nalgebra-glm/src/gtx/euler_angles.rs
@@ -0,0 +1,163 @@
+use na::{Real, U3, U4};
+
+use aliases::{Vec, Mat};
+
+pub fn derivedEulerAngleX<N: Real>(angleX: N, angularVelocityX: N) -> Mat<N, U4, U4> {
+    unimplemented!()
+}
+
+pub fn derivedEulerAngleY<N: Real>(angleY: N, angularVelocityY: N) -> Mat<N, U4, U4> {
+    unimplemented!()
+}
+
+pub fn derivedEulerAngleZ<N: Real>(angleZ: N, angularVelocityZ: N) -> Mat<N, U4, U4> {
+    unimplemented!()
+}
+
+pub fn eulerAngleX<N: Real>(angleX: N) -> Mat<N, U4, U4> {
+    unimplemented!()
+}
+
+pub fn eulerAngleXY<N: Real>(angleX: N, angleY: N) -> Mat<N, U4, U4> {
+    unimplemented!()
+}
+
+pub fn eulerAngleXYX<N: Real>(t1: N, t2: N, t3: N) -> Mat<N, U4, U4> {
+    unimplemented!()
+}
+
+pub fn eulerAngleXYZ<N: Real>(t1: N, t2: N, t3: N) -> Mat<N, U4, U4> {
+    unimplemented!()
+}
+
+pub fn eulerAngleXZ<N: Real>(angleX: N, angleZ: N) -> Mat<N, U4, U4> {
+    unimplemented!()
+}
+
+pub fn eulerAngleXZX<N: Real>(t1: N, t2: N, t3: N) -> Mat<N, U4, U4> {
+    unimplemented!()
+}
+
+pub fn eulerAngleXZY<N: Real>(t1: N, t2: N, t3: N) -> Mat<N, U4, U4> {
+    unimplemented!()
+}
+
+pub fn eulerAngleY<N: Real>(angleY: N) -> Mat<N, U4, U4> {
+    unimplemented!()
+}
+
+pub fn eulerAngleYX<N: Real>(angleY: N, angleX: N) -> Mat<N, U4, U4> {
+    unimplemented!()
+}
+
+pub fn eulerAngleYXY<N: Real>(t1: N, t2: N, t3: N) -> Mat<N, U4, U4> {
+    unimplemented!()
+}
+
+pub fn eulerAngleYXZ<N: Real>(yaw: N, pitch: N, roll: N) -> Mat<N, U4, U4> {
+    unimplemented!()
+}
+
+pub fn eulerAngleYZ<N: Real>(angleY: N, angleZ: N) -> Mat<N, U4, U4> {
+    unimplemented!()
+}
+
+pub fn eulerAngleYZX<N: Real>(t1: N, t2: N, t3: N) -> Mat<N, U4, U4> {
+    unimplemented!()
+}
+
+pub fn eulerAngleYZY<N: Real>(t1: N, t2: N, t3: N) -> Mat<N, U4, U4> {
+    unimplemented!()
+}
+
+pub fn eulerAngleZ<N: Real>(angleZ: N) -> Mat<N, U4, U4> {
+    unimplemented!()
+}
+
+pub fn eulerAngleZX<N: Real>(angle: N, angleX: N) -> Mat<N, U4, U4> {
+    unimplemented!()
+}
+
+pub fn eulerAngleZXY<N: Real>(t1: N, t2: N, t3: N) -> Mat<N, U4, U4> {
+    unimplemented!()
+}
+
+pub fn eulerAngleZXZ<N: Real>(t1: N, t2: N, t3: N) -> Mat<N, U4, U4> {
+    unimplemented!()
+}
+
+pub fn eulerAngleZY<N: Real>(angleZ: N, angleY: N) -> Mat<N, U4, U4> {
+    unimplemented!()
+}
+
+pub fn eulerAngleZYX<N: Real>(t1: N, t2: N, t3: N) -> Mat<N, U4, U4> {
+    unimplemented!()
+}
+
+pub fn eulerAngleZYZ<N: Real>(t1: N, t2: N, t3: N) -> Mat<N, U4, U4> {
+    unimplemented!()
+}
+
+pub fn extractEulerAngleXYX<N: Real>(M: &Mat<N, U4, U4>) -> (N, N, N) {
+    unimplemented!()
+}
+
+pub fn extractEulerAngleXYZ<N: Real>(M: &Mat<N, U4, U4>) -> (N, N, N) {
+    unimplemented!()
+}
+
+pub fn extractEulerAngleXZX<N: Real>(M: &Mat<N, U4, U4>) -> (N, N, N) {
+    unimplemented!()
+}
+
+pub fn extractEulerAngleXZY<N: Real>(M: &Mat<N, U4, U4>) -> (N, N, N) {
+    unimplemented!()
+}
+
+pub fn extractEulerAngleYXY<N: Real>(M: &Mat<N, U4, U4>) -> (N, N, N) {
+    unimplemented!()
+}
+
+pub fn extractEulerAngleYXZ<N: Real>(M: &Mat<N, U4, U4>) -> (N, N, N) {
+    unimplemented!()
+}
+
+pub fn extractEulerAngleYZX<N: Real>(M: &Mat<N, U4, U4>) -> (N, N, N) {
+    unimplemented!()
+}
+
+pub fn extractEulerAngleYZY<N: Real>(M: &Mat<N, U4, U4>) -> (N, N, N) {
+    unimplemented!()
+}
+
+pub fn extractEulerAngleZXY<N: Real>(M: &Mat<N, U4, U4>) -> (N, N, N) {
+    unimplemented!()
+}
+
+pub fn extractEulerAngleZXZ<N: Real>(M: &Mat<N, U4, U4>) -> (N, N, N) {
+    unimplemented!()
+}
+
+pub fn extractEulerAngleZYX<N: Real>(M: &Mat<N, U4, U4>) -> (N, N, N) {
+    unimplemented!()
+}
+
+pub fn extractEulerAngleZYZ<N: Real>(M: &Mat<N, U4, U4>) -> (N, N, N) {
+    unimplemented!()
+}
+
+pub fn orientate2<N: Real>(angle: N) -> Mat<N, U3, U3> {
+    unimplemented!()
+}
+
+pub fn orientate3<N: Real>(angles: Vec<N, U3>) -> Mat<N, U3, U3> {
+    unimplemented!()
+}
+
+pub fn orientate4<N: Real>(angles: Vec<N, U3>) -> Mat<N, U4, U4> {
+    unimplemented!()
+}
+
+pub fn yawPitchRoll<N: Real>(yaw: N, pitch: N, roll: N) -> Mat<N, U4, U4> {
+    unimplemented!()
+}
diff --git a/nalgebra-glm/src/gtx_exterior_product.rs b/nalgebra-glm/src/gtx/exterior_product.rs
similarity index 70%
rename from nalgebra-glm/src/gtx_exterior_product.rs
rename to nalgebra-glm/src/gtx/exterior_product.rs
index 2d1f9993..9653e80f 100644
--- a/nalgebra-glm/src/gtx_exterior_product.rs
+++ b/nalgebra-glm/src/gtx/exterior_product.rs
@@ -3,6 +3,7 @@ use na::U2;
 use traits::Number;
 use aliases::Vec;
 
+/// The 2D perpendicular product between two vectors.
 pub fn cross<N: Number>(v: &Vec<N, U2>, u: &Vec<N, U2>) -> N {
     v.perp(u)
 }
\ No newline at end of file
diff --git a/nalgebra-glm/src/gtx_handed_coordinate_space.rs b/nalgebra-glm/src/gtx/handed_coordinate_space.rs
similarity index 69%
rename from nalgebra-glm/src/gtx_handed_coordinate_space.rs
rename to nalgebra-glm/src/gtx/handed_coordinate_space.rs
index 9b5d9634..1a68fcf3 100644
--- a/nalgebra-glm/src/gtx_handed_coordinate_space.rs
+++ b/nalgebra-glm/src/gtx/handed_coordinate_space.rs
@@ -3,10 +3,12 @@ use na::U3;
 use traits::Number;
 use aliases::Vec;
 
+/// Returns `true` if `{a, b, c}` forms a left-handed trihedron.
 pub fn left_handed<N: Number>(a: &Vec<N, U3>, b: &Vec<N, U3>, c: &Vec<N, U3>) -> bool {
     a.cross(b).dot(c) < N::zero()
 }
 
+/// Returns `true` if `{a, b, c}` forms a right-handed trihedron.
 pub fn right_handed<N: Number>(a: &Vec<N, U3>, b: &Vec<N, U3>, c: &Vec<N, U3>) -> bool {
     a.cross(b).dot(c) > N::zero()
 }
diff --git a/nalgebra-glm/src/gtx_matrix_cross_product.rs b/nalgebra-glm/src/gtx/matrix_cross_product.rs
similarity index 72%
rename from nalgebra-glm/src/gtx_matrix_cross_product.rs
rename to nalgebra-glm/src/gtx/matrix_cross_product.rs
index e247c2ab..1cbaddc8 100644
--- a/nalgebra-glm/src/gtx_matrix_cross_product.rs
+++ b/nalgebra-glm/src/gtx/matrix_cross_product.rs
@@ -1,11 +1,13 @@
-use na::{self, Real, U3, U4, Matrix4};
+use na::{Real, U3, U4, Matrix4};
 
 use aliases::{Vec, Mat};
 
+/// Builds a 3x3 matrix `m` such that for any `v`: `m * v == cross(x, v)`.
 pub fn matrix_cross3<N: Real>(x: &Vec<N, U3>) -> Mat<N, U3, U3> {
     x.cross_matrix()
 }
 
+/// Builds a 4x4 matrix `m` such that for any `v`: `m * v == cross(x, v)`.
 pub fn matrix_cross4<N: Real>(x: &Vec<N, U3>) -> Mat<N, U4, U4> {
     let m = x.cross_matrix();
 
diff --git a/nalgebra-glm/src/gtx_matrix_operation.rs b/nalgebra-glm/src/gtx/matrix_operation.rs
similarity index 79%
rename from nalgebra-glm/src/gtx_matrix_operation.rs
rename to nalgebra-glm/src/gtx/matrix_operation.rs
index 1cd8d300..b915808f 100644
--- a/nalgebra-glm/src/gtx_matrix_operation.rs
+++ b/nalgebra-glm/src/gtx/matrix_operation.rs
@@ -4,39 +4,47 @@ use na::{Matrix2, Matrix2x3, Matrix2x4, Matrix3, Matrix3x2, Matrix3x4, Matrix4,
 use traits::Number;
 use aliases::{Vec, Mat};
 
-
+/// Builds a 2x2 diagonal matrix.
 pub fn diagonal2x2<N: Number>(v: &Vec<N, U2>) -> Mat<N, U2, U2> {
     Matrix2::from_diagonal(v)
 }
 
+/// Builds a 2x3 diagonal matrix.
 pub fn diagonal2x3<N: Number>(v: &Vec<N, U2>) -> Mat<N, U2, U3> {
     Matrix2x3::from_partial_diagonal(v.as_slice())
 }
 
+/// Builds a 2x4 diagonal matrix.
 pub fn diagonal2x4<N: Number>(v: &Vec<N, U2>) -> Mat<N, U2, U4> {
     Matrix2x4::from_partial_diagonal(v.as_slice())
 }
 
+/// Builds a 3x2 diagonal matrix.
 pub fn diagonal3x2<N: Number>(v: &Vec<N, U3>) -> Mat<N, U3, U2> {
     Matrix3x2::from_partial_diagonal(v.as_slice())
 }
 
+/// Builds a 3x3 diagonal matrix.
 pub fn diagonal3x3<N: Number>(v: &Vec<N, U3>) -> Mat<N, U3, U3> {
     Matrix3::from_diagonal(v)
 }
 
+/// Builds a 3x4 diagonal matrix.
 pub fn diagonal3x4<N: Number>(v: &Vec<N, U3>) -> Mat<N, U3, U4> {
     Matrix3x4::from_partial_diagonal(v.as_slice())
 }
 
+/// Builds a 4x2 diagonal matrix.
 pub fn diagonal4x2<N: Number>(v: &Vec<N, U4>) -> Mat<N, U4, U2> {
     Matrix4x2::from_partial_diagonal(v.as_slice())
 }
 
+/// Builds a 4x3 diagonal matrix.
 pub fn diagonal4x3<N: Number>(v: &Vec<N, U4>) -> Mat<N, U4, U3> {
     Matrix4x3::from_partial_diagonal(v.as_slice())
 }
 
+/// Builds a 4x4 diagonal matrix.
 pub fn diagonal4x4<N: Number>(v: &Vec<N, U4>) -> Mat<N, U4, U4> {
     Matrix4::from_diagonal(v)
 }
diff --git a/nalgebra-glm/src/gtx/mod.rs b/nalgebra-glm/src/gtx/mod.rs
new file mode 100644
index 00000000..fa4294b9
--- /dev/null
+++ b/nalgebra-glm/src/gtx/mod.rs
@@ -0,0 +1,38 @@
+//! (Reexported) Experimental features not specified by GLSL specification.
+
+
+pub use self::component_wise::*;
+//pub use self::euler_angles::*;
+pub use self::exterior_product::*;
+pub use self::handed_coordinate_space::*;
+pub use self::matrix_cross_product::*;
+pub use self::matrix_operation::*;
+pub use self::norm::*;
+pub use self::normal::*;
+pub use self::normalize_dot::*;
+pub use self::rotate_normalized_axis::*;
+pub use self::rotate_vector::*;
+pub use self::transform::*;
+pub use self::transform2::*;
+pub use self::transform2d::*;
+pub use self::vector_angle::*;
+pub use self::vector_query::*;
+
+
+
+mod component_wise;
+//mod euler_angles;
+mod exterior_product;
+mod handed_coordinate_space;
+mod matrix_cross_product;
+mod matrix_operation;
+mod norm;
+mod normal;
+mod normalize_dot;
+mod rotate_normalized_axis;
+mod rotate_vector;
+mod transform;
+mod transform2;
+mod transform2d;
+mod vector_angle;
+mod vector_query;
\ No newline at end of file
diff --git a/nalgebra-glm/src/gtx_norm.rs b/nalgebra-glm/src/gtx/norm.rs
similarity index 77%
rename from nalgebra-glm/src/gtx_norm.rs
rename to nalgebra-glm/src/gtx/norm.rs
index dddbf743..37b5655c 100644
--- a/nalgebra-glm/src/gtx_norm.rs
+++ b/nalgebra-glm/src/gtx/norm.rs
@@ -3,36 +3,48 @@ use na::{Real, DefaultAllocator};
 use traits::{Alloc, Dimension};
 use aliases::Vec;
 
+/// The squared distance between two points.
 pub fn distance2<N: Real, D: Dimension>(p0: &Vec<N, D>, p1: &Vec<N, D>) -> N
     where DefaultAllocator: Alloc<N, D> {
     (p1 - p0).norm_squared()
 }
 
+/// The l1-norm of `x - y`.
 pub fn l1_distance<N: Real, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> N
     where DefaultAllocator: Alloc<N, D> {
     l1_norm(&(x - y))
 }
 
+/// The l1-norm of `v`.
 pub fn l1_norm<N: Real, D: Dimension>(v: &Vec<N, D>) -> N
     where DefaultAllocator: Alloc<N, D> {
     ::comp_add(&v.abs())
 }
 
+/// The l2-norm of `x - y`.
 pub fn l2_distance<N: Real, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> N
     where DefaultAllocator: Alloc<N, D> {
     l2_norm(&(y - x))
 }
 
+/// The l2-norm of `v`.
 pub fn l2_norm<N: Real, D: Dimension>(x: &Vec<N, D>) -> N
     where DefaultAllocator: Alloc<N, D> {
     x.norm()
 }
 
+/// The squared magnitude of `x`.
 pub fn length2<N: Real, D: Dimension>(x: &Vec<N, D>) -> N
     where DefaultAllocator: Alloc<N, D> {
     x.norm_squared()
 }
 
+/// The squared magnitude of `x`.
+pub fn magnitude2<N: Real, D: Dimension>(x: &Vec<N, D>) -> N
+    where DefaultAllocator: Alloc<N, D> {
+    x.norm_squared()
+}
+
 //pub fn lxNorm<N: Real, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>, unsigned int Depth) -> N
 //    where DefaultAllocator: Alloc<N, D> {
 //    unimplemented!()
diff --git a/nalgebra-glm/src/gtx/normal.rs b/nalgebra-glm/src/gtx/normal.rs
new file mode 100644
index 00000000..01418490
--- /dev/null
+++ b/nalgebra-glm/src/gtx/normal.rs
@@ -0,0 +1,10 @@
+use na::{Real, U3};
+
+use aliases::Vec;
+
+/// The normal vector of the given triangle.
+///
+/// The normal is computed as the normalized vector `cross(p2 - p1, p3 - p1)`.
+pub fn triangle_normal<N: Real>(p1: &Vec<N, U3>, p2: &Vec<N, U3>, p3: &Vec<N, U3>) -> Vec<N, U3> {
+    (p2 - p1).cross(&(p3 - p1)).normalize()
+}
\ No newline at end of file
diff --git a/nalgebra-glm/src/gtx_normalize_dot.rs b/nalgebra-glm/src/gtx/normalize_dot.rs
similarity index 51%
rename from nalgebra-glm/src/gtx_normalize_dot.rs
rename to nalgebra-glm/src/gtx/normalize_dot.rs
index e51331d5..07855b2f 100644
--- a/nalgebra-glm/src/gtx_normalize_dot.rs
+++ b/nalgebra-glm/src/gtx/normalize_dot.rs
@@ -3,14 +3,15 @@ use na::{Real, DefaultAllocator};
 use traits::{Dimension, Alloc};
 use aliases::Vec;
 
-
-pub fn fastNormalizeDot<N: Real, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> N
+/// The dot product of the normalized version of `x` and `y`.
+pub fn fast_normalize_dot<N: Real, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> N
     where DefaultAllocator: Alloc<N, D> {
     // XXX: improve those.
     x.normalize().dot(&y.normalize())
 }
 
-pub fn normalizeDot<N: Real, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> N
+/// The dot product of the normalized version of `x` and `y`.
+pub fn normalize_dot<N: Real, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> N
     where DefaultAllocator: Alloc<N, D> {
     // XXX: improve those.
     x.normalize().dot(&y.normalize())
diff --git a/nalgebra-glm/src/gtx/rotate_normalized_axis.rs b/nalgebra-glm/src/gtx/rotate_normalized_axis.rs
new file mode 100644
index 00000000..e465da8d
--- /dev/null
+++ b/nalgebra-glm/src/gtx/rotate_normalized_axis.rs
@@ -0,0 +1,13 @@
+use na::{Real, Rotation3, Unit, U3, U4};
+
+use aliases::{Vec, Mat};
+
+/// Builds a rotation 4 * 4 matrix created from a normalized axis and an angle.
+///
+/// # Parameters
+///     * `m` - Input matrix multiplied by this rotation matrix.
+///     * `angle` - Rotation angle expressed in radians.
+///     * `axis` - Rotation axis, must be normalized.
+pub fn rotate_normalized_axis<N: Real>(m: &Mat<N, U4, U4>, angle: N, axis: &Vec<N, U3>) -> Mat<N, U4, U4> {
+    m * Rotation3::from_axis_angle(&Unit::new_unchecked(*axis), angle).to_homogeneous()
+}
\ No newline at end of file
diff --git a/nalgebra-glm/src/gtx_rotate_vector.rs b/nalgebra-glm/src/gtx/rotate_vector.rs
similarity index 51%
rename from nalgebra-glm/src/gtx_rotate_vector.rs
rename to nalgebra-glm/src/gtx/rotate_vector.rs
index 666190f7..eceef954 100644
--- a/nalgebra-glm/src/gtx_rotate_vector.rs
+++ b/nalgebra-glm/src/gtx/rotate_vector.rs
@@ -2,6 +2,7 @@ use na::{Real, U2, U3, U4, Rotation3, Vector3, Unit, UnitComplex};
 
 use aliases::{Vec, Mat};
 
+/// Build the rotation matrix needed to align `normal` and `up`.
 pub fn orientation<N: Real>(normal: &Vec<N, U3>, up: &Vec<N, U3>) -> Mat<N, U4, U4> {
     if let Some(r) = Rotation3::rotation_between(normal, up) {
         r.to_homogeneous()
@@ -10,42 +11,52 @@ pub fn orientation<N: Real>(normal: &Vec<N, U3>, up: &Vec<N, U3>) -> Mat<N, U4,
     }
 }
 
+/// Rotate a two dimensional vector.
 pub fn rotate2<N: Real>(v: &Vec<N, U2>, angle: N) -> Vec<N, U2> {
     UnitComplex::new(angle) * v
 }
 
+/// Rotate a three dimensional vector around an axis.
 pub fn rotate<N: Real>(v: &Vec<N, U3>, angle: N, normal: &Vec<N, U3>) -> Vec<N, U3> {
     Rotation3::from_axis_angle(&Unit::new_normalize(*normal), angle) * v
 }
 
+/// Rotate a thee dimensional vector in homogeneous coordinates around an axis.
 pub fn rotate4<N: Real>(v: &Vec<N, U4>, angle: N, normal: &Vec<N, U3>) -> Vec<N, U4> {
     Rotation3::from_axis_angle(&Unit::new_normalize(*normal), angle).to_homogeneous() * v
 }
 
-pub fn rotateX<N: Real>(v: &Vec<N, U3>, angle: N) -> Vec<N, U3> {
+/// Rotate a three dimensional vector around the `X` axis.
+pub fn rotate_x<N: Real>(v: &Vec<N, U3>, angle: N) -> Vec<N, U3> {
     Rotation3::from_axis_angle(&Vector3::x_axis(), angle) * v
 }
 
-pub fn rotateX4<N: Real>(v: &Vec<N, U4>, angle: N) -> Vec<N, U4> {
+/// Rotate a three dimensional vector in homogeneous coordinates around the `X` axis.
+pub fn rotate_x4<N: Real>(v: &Vec<N, U4>, angle: N) -> Vec<N, U4> {
     Rotation3::from_axis_angle(&Vector3::x_axis(), angle).to_homogeneous() * v
 }
 
-pub fn rotateY<N: Real>(v: &Vec<N, U3>, angle: N) -> Vec<N, U3> {
+/// Rotate a three dimensional vector around the `Y` axis.
+pub fn rotate_y<N: Real>(v: &Vec<N, U3>, angle: N) -> Vec<N, U3> {
     Rotation3::from_axis_angle(&Vector3::y_axis(), angle) * v
 }
 
-pub fn rotateY4<N: Real>(v: &Vec<N, U4>, angle: N) -> Vec<N, U4> {
+/// Rotate a three dimensional vector in homogeneous coordinates around the `Y` axis.
+pub fn rotate_y4<N: Real>(v: &Vec<N, U4>, angle: N) -> Vec<N, U4> {
     Rotation3::from_axis_angle(&Vector3::y_axis(), angle).to_homogeneous() * v
 }
 
-pub fn rotateZ<N: Real>(v: &Vec<N, U3>, angle: N) -> Vec<N, U3> {
+/// Rotate a three dimensional vector around the `Z` axis.
+pub fn rotate_z<N: Real>(v: &Vec<N, U3>, angle: N) -> Vec<N, U3> {
     Rotation3::from_axis_angle(&Vector3::z_axis(), angle) * v
 }
 
-pub fn rotateZ4<N: Real>(v: &Vec<N, U4>, angle: N) -> Vec<N, U4> {
+/// Rotate a three dimensional vector in homogeneous coordinates around the `Z` axis.
+pub fn rotate_z4<N: Real>(v: &Vec<N, U4>, angle: N) -> Vec<N, U4> {
     Rotation3::from_axis_angle(&Vector3::z_axis(), angle).to_homogeneous() * v
 }
 
+/// Computes a spehical linear interpolation between the vectors `x` and `y` assumed to be normalized.
 pub fn slerp<N: Real>(x: &Vec<N, U3>, y: &Vec<N, U3>, a: N) -> Vec<N, U3> {
-    unimplemented!()
+    Unit::new_unchecked(*x).slerp(&Unit::new_unchecked(*y), a).unwrap()
 }
diff --git a/nalgebra-glm/src/gtx_transform.rs b/nalgebra-glm/src/gtx/transform.rs
similarity index 62%
rename from nalgebra-glm/src/gtx_transform.rs
rename to nalgebra-glm/src/gtx/transform.rs
index 698c68e6..065c0079 100644
--- a/nalgebra-glm/src/gtx_transform.rs
+++ b/nalgebra-glm/src/gtx/transform.rs
@@ -3,15 +3,17 @@ use na::{Real, Unit, Rotation3, Matrix4, U3, U4};
 use traits::Number;
 use aliases::{Vec, Mat};
 
-
+/// Builds a rotation 4 * 4 matrix created from an axis of 3 scalars and an angle expressed in radians.
 pub fn rotate<N: Real>(angle: N, v: &Vec<N, U3>) -> Mat<N, U4, U4> {
     Rotation3::from_axis_angle(&Unit::new_normalize(*v), angle).to_homogeneous()
 }
 
+/// Transforms a matrix with a scale 4 * 4 matrix created from a vector of 3 components.
 pub fn scale<N: Number>(v: &Vec<N, U3>) -> Mat<N, U4, U4> {
     Matrix4::new_nonuniform_scaling(v)
 }
 
+/// Transforms a matrix with a translation 4 * 4 matrix created from 3 scalars.
 pub fn translate<N: Number>(v: &Vec<N, U3>) -> Mat<N, U4, U4> {
     Matrix4::new_translation(v)
 }
diff --git a/nalgebra-glm/src/gtx_transform2.rs b/nalgebra-glm/src/gtx/transform2.rs
similarity index 54%
rename from nalgebra-glm/src/gtx_transform2.rs
rename to nalgebra-glm/src/gtx/transform2.rs
index 3d3477cd..09a788be 100644
--- a/nalgebra-glm/src/gtx_transform2.rs
+++ b/nalgebra-glm/src/gtx/transform2.rs
@@ -1,9 +1,10 @@
-use na::{self, U2, U3, U4, Matrix3, Matrix4};
+use na::{U2, U3, U4, Matrix3, Matrix4};
 
 use traits::Number;
 use aliases::{Mat, Vec};
 
-pub fn proj2D<N: Number>(m: &Mat<N, U3, U3>, normal: &Vec<N, U2>) -> Mat<N, U3, U3> {
+/// Build planar projection matrix along normal axis and right-multiply it to `m`.
+pub fn proj2<N: Number>(m: &Mat<N, U3, U3>, normal: &Vec<N, U2>) -> Mat<N, U3, U3> {
     let mut res = Matrix3::identity();
 
     {
@@ -11,10 +12,11 @@ pub fn proj2D<N: Number>(m: &Mat<N, U3, U3>, normal: &Vec<N, U2>) -> Mat<N, U3,
         part -= normal * normal.transpose();
     }
 
-    res
+    m * res
 }
 
-pub fn proj3D<N: Number>(m: &Mat<N, U4, U4>, normal: &Vec<N, U3>) -> Mat<N, U4, U4> {
+/// Build planar projection matrix along normal axis, and right-multiply it to `m`.
+pub fn proj3<N: Number>(m: &Mat<N, U4, U4>, normal: &Vec<N, U3>) -> Mat<N, U4, U4> {
     let mut res = Matrix4::identity();
 
     {
@@ -22,10 +24,11 @@ pub fn proj3D<N: Number>(m: &Mat<N, U4, U4>, normal: &Vec<N, U3>) -> Mat<N, U4,
         part -= normal * normal.transpose();
     }
 
-    res
+    m * res
 }
 
-pub fn reflect2D<N: Number>(m: &Mat<N, U3, U3>, normal: &Vec<N, U2>) -> Mat<N, U3, U3> {
+/// Builds a reflection matrix and right-multiply it to `m`.
+pub fn reflect2<N: Number>(m: &Mat<N, U3, U3>, normal: &Vec<N, U2>) -> Mat<N, U3, U3> {
     let mut res = Matrix3::identity();
 
     {
@@ -33,10 +36,11 @@ pub fn reflect2D<N: Number>(m: &Mat<N, U3, U3>, normal: &Vec<N, U2>) -> Mat<N, U
         part -= (normal * N::from_f64(2.0).unwrap()) * normal.transpose();
     }
 
-    res
+    m * res
 }
 
-pub fn reflect3D<N: Number>(m: &Mat<N, U4, U4>, normal: &Vec<N, U3>) -> Mat<N, U4, U4> {
+/// Builds a reflection matrix, and right-multiply it to `m`.
+pub fn reflect3<N: Number>(m: &Mat<N, U4, U4>, normal: &Vec<N, U3>) -> Mat<N, U4, U4> {
     let mut res = Matrix4::identity();
 
     {
@@ -44,10 +48,11 @@ pub fn reflect3D<N: Number>(m: &Mat<N, U4, U4>, normal: &Vec<N, U3>) -> Mat<N, U
         part -= (normal * N::from_f64(2.0).unwrap()) * normal.transpose();
     }
 
-    res
+    m * res
 }
 
-pub fn scaleBias<N: Number>(scale: N, bias: N) -> Mat<N, U4, U4> {
+/// Builds a scale-bias matrix.
+pub fn scale_bias<N: Number>(scale: N, bias: N) -> Mat<N, U4, U4> {
     let _0 = N::zero();
     let _1 = N::one();
 
@@ -59,11 +64,13 @@ pub fn scaleBias<N: Number>(scale: N, bias: N) -> Mat<N, U4, U4> {
     )
 }
 
-pub fn scaleBias2<N: Number>(m: &Mat<N, U4, U4>, scale: N, bias: N) -> Mat<N, U4, U4> {
-    m * scaleBias(scale, bias)
+/// Builds a scale-bias matrix, and right-multiply it to `m`.
+pub fn scale_bias2<N: Number>(m: &Mat<N, U4, U4>, scale: N, bias: N) -> Mat<N, U4, U4> {
+    m * scale_bias(scale, bias)
 }
 
-pub fn shearX2D<N: Number>(m: &Mat<N, U3, U3>, y: N) -> Mat<N, U3, U3> {
+/// Transforms a matrix with a shearing on X axis.
+pub fn shear_x2<N: Number>(m: &Mat<N, U3, U3>, y: N) -> Mat<N, U3, U3> {
     let _0 = N::zero();
     let _1 = N::one();
 
@@ -75,7 +82,8 @@ pub fn shearX2D<N: Number>(m: &Mat<N, U3, U3>, y: N) -> Mat<N, U3, U3> {
     m * shear
 }
 
-pub fn shearX3D<N: Number>(m: &Mat<N, U4, U4>, y: N, z: N) -> Mat<N, U4, U4> {
+/// Transforms a matrix with a shearing on Y axis.
+pub fn shear_x3<N: Number>(m: &Mat<N, U4, U4>, y: N, z: N) -> Mat<N, U4, U4> {
     let _0 = N::zero();
     let _1 = N::one();
     let shear = Matrix4::new(
@@ -88,7 +96,8 @@ pub fn shearX3D<N: Number>(m: &Mat<N, U4, U4>, y: N, z: N) -> Mat<N, U4, U4> {
     m * shear
 }
 
-pub fn shearY2D<N: Number>(m: &Mat<N, U3, U3>, x: N) -> Mat<N, U3, U3> {
+/// Transforms a matrix with a shearing on Y axis.
+pub fn shear_y2<N: Number>(m: &Mat<N, U3, U3>, x: N) -> Mat<N, U3, U3> {
     let _0 = N::zero();
     let _1 = N::one();
 
@@ -100,7 +109,8 @@ pub fn shearY2D<N: Number>(m: &Mat<N, U3, U3>, x: N) -> Mat<N, U3, U3> {
     m * shear
 }
 
-pub fn shearY3D<N: Number>(m: &Mat<N, U4, U4>, x: N, z: N) -> Mat<N, U4, U4> {
+/// Transforms a matrix with a shearing on Y axis.
+pub fn shear_y3<N: Number>(m: &Mat<N, U4, U4>, x: N, z: N) -> Mat<N, U4, U4> {
     let _0 = N::zero();
     let _1 = N::one();
     let shear = Matrix4::new(
@@ -113,7 +123,8 @@ pub fn shearY3D<N: Number>(m: &Mat<N, U4, U4>, x: N, z: N) -> Mat<N, U4, U4> {
     m * shear
 }
 
-pub fn shearZ3D<N: Number>(m: &Mat<N, U4, U4>, x: N, y: N) -> Mat<N, U4, U4> {
+/// Transforms a matrix with a shearing on Z axis.
+pub fn shear_z3d<N: Number>(m: &Mat<N, U4, U4>, x: N, y: N) -> Mat<N, U4, U4> {
     let _0 = N::zero();
     let _1 = N::one();
     let shear = Matrix4::new(
diff --git a/nalgebra-glm/src/gtx_transform2d.rs b/nalgebra-glm/src/gtx/transform2d.rs
similarity index 60%
rename from nalgebra-glm/src/gtx_transform2d.rs
rename to nalgebra-glm/src/gtx/transform2d.rs
index b04a8275..9e4de825 100644
--- a/nalgebra-glm/src/gtx_transform2d.rs
+++ b/nalgebra-glm/src/gtx/transform2d.rs
@@ -3,15 +3,18 @@ use na::{Real, U2, U3, UnitComplex, Matrix3};
 use traits::Number;
 use aliases::{Mat, Vec};
 
+/// Builds a 2D rotation matrix from an angle and right-multiply it to `m`.
 pub fn rotate<N: Real>(m: &Mat<N, U3, U3>, angle: N) -> Mat<N, U3, U3> {
     m * UnitComplex::new(angle).to_homogeneous()
 }
 
+/// Builds a 2D scaling matrix and right-multiply it to `m`.
 pub fn scale<N: Number>(m: &Mat<N, U3, U3>, v: &Vec<N, U2>) -> Mat<N, U3, U3> {
     m.prepend_nonuniform_scaling(v)
 }
 
-pub fn shearX<N: Number>(m: &Mat<N, U3, U3>, y: N) -> Mat<N, U3, U3> {
+/// Builds a 2D shearing matrix on the `X` axis and right-multiply it to `m`.
+pub fn shear_x<N: Number>(m: &Mat<N, U3, U3>, y: N) -> Mat<N, U3, U3> {
     let _0 = N::zero();
     let _1 = N::one();
 
@@ -23,7 +26,8 @@ pub fn shearX<N: Number>(m: &Mat<N, U3, U3>, y: N) -> Mat<N, U3, U3> {
     m * shear
 }
 
-pub fn shearY<N: Number>(m: &Mat<N, U3, U3>, x: N) -> Mat<N, U3, U3> {
+/// Builds a 2D shearing matrix on the `Y` axis and right-multiply it to `m`.
+pub fn shear_y<N: Number>(m: &Mat<N, U3, U3>, x: N) -> Mat<N, U3, U3> {
     let _0 = N::zero();
     let _1 = N::one();
 
@@ -35,6 +39,7 @@ pub fn shearY<N: Number>(m: &Mat<N, U3, U3>, x: N) -> Mat<N, U3, U3> {
     m * shear
 }
 
+/// Builds a translation matrix and right-multiply it to `m`.
 pub fn translate<N: Number>(m: &Mat<N, U3, U3>, v: &Vec<N, U2>) -> Mat<N, U3, U3> {
     m.prepend_translation(v)
 }
diff --git a/nalgebra-glm/src/gtx/vector_angle.rs b/nalgebra-glm/src/gtx/vector_angle.rs
new file mode 100644
index 00000000..a3231456
--- /dev/null
+++ b/nalgebra-glm/src/gtx/vector_angle.rs
@@ -0,0 +1,19 @@
+use na::{DefaultAllocator, Real};
+
+use traits::{Dimension, Alloc};
+use aliases::Vec;
+
+
+/// The angle between two vectors.
+pub fn angle<N: Real, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> N
+    where DefaultAllocator: Alloc<N, D> {
+    x.angle(y)
+}
+
+//pub fn oriented_angle<N: Real>(x: &Vec<N, U2>, y: &Vec<N, U2>) -> N {
+//    unimplemented!()
+//}
+//
+//pub fn oriented_angle_ref<N: Real>(x: &Vec<N, U3>, y: &Vec<N, U3>, refv: &Vec<N, U3>) -> N {
+//    unimplemented!()
+//}
diff --git a/nalgebra-glm/src/gtx_vector_query.rs b/nalgebra-glm/src/gtx/vector_query.rs
similarity index 66%
rename from nalgebra-glm/src/gtx_vector_query.rs
rename to nalgebra-glm/src/gtx/vector_query.rs
index ef5a7e21..8eb8fd2c 100644
--- a/nalgebra-glm/src/gtx_vector_query.rs
+++ b/nalgebra-glm/src/gtx/vector_query.rs
@@ -3,34 +3,40 @@ use na::{Real, DefaultAllocator, U2, U3};
 use traits::{Number, Dimension, Alloc};
 use aliases::Vec;
 
+/// Returns `true` if two vectors are collinear (up to an epsilon).
 pub fn are_collinear<N: Number>(v0: &Vec<N, U3>, v1: &Vec<N, U3>, epsilon: N) -> bool {
     is_null(&v0.cross(v1), epsilon)
 }
 
+/// Returns `true` if two 2D vectors are collinear (up to an epsilon).
 pub fn are_collinear2<N: Number>(v0: &Vec<N, U2>, v1: &Vec<N, U2>, epsilon: N) -> bool {
     abs_diff_eq!(v0.perp(v1), N::zero(), epsilon = epsilon)
 }
 
+/// Returns `true` if two vectors are orthogonal (up to an epsilon).
 pub fn are_orthogonal<N: Number, D: Dimension>(v0: &Vec<N, D>, v1: &Vec<N, D>, epsilon: N) -> bool
     where DefaultAllocator: Alloc<N, D> {
     abs_diff_eq!(v0.dot(v1), N::zero(), epsilon = epsilon)
 }
 
-pub fn are_orthonormal<N: Number, D: Dimension>(v0: &Vec<N, D>, v1: &Vec<N, D>, epsilon: N) -> bool
-    where DefaultAllocator: Alloc<N, D> {
-    unimplemented!()
-}
+//pub fn are_orthonormal<N: Number, D: Dimension>(v0: &Vec<N, D>, v1: &Vec<N, D>, epsilon: N) -> bool
+//    where DefaultAllocator: Alloc<N, D> {
+//    unimplemented!()
+//}
 
+/// Returns `true` if all the components of `v` are zero (up to an epsilon).
 pub fn is_comp_null<N: Number, D: Dimension>(v: &Vec<N, D>, epsilon: N) -> Vec<bool, D>
     where DefaultAllocator: Alloc<N, D> {
     v.map(|x| abs_diff_eq!(x, N::zero(), epsilon = epsilon))
 }
 
+/// Returns `true` if `v` has a magnitude of 1 (up to an epsilon).
 pub fn is_normalized<N: Real, D: Dimension>(v: &Vec<N, D>, epsilon: N) -> bool
     where DefaultAllocator: Alloc<N, D> {
     abs_diff_eq!(v.norm_squared(), N::one(), epsilon = epsilon * epsilon)
 }
 
+/// Returns `true` if `v` is zero (up to an epsilon).
 pub fn is_null<N: Number, D: Dimension>(v: &Vec<N, D>, epsilon: N) -> bool
     where DefaultAllocator: Alloc<N, D> {
     abs_diff_eq!(*v, Vec::<N, D>::zeros(), epsilon = epsilon)
diff --git a/nalgebra-glm/src/gtx_euler_angles.rs b/nalgebra-glm/src/gtx_euler_angles.rs
deleted file mode 100644
index f42a941a..00000000
--- a/nalgebra-glm/src/gtx_euler_angles.rs
+++ /dev/null
@@ -1,41 +0,0 @@
-pub fn mat< 4, 4, T, defaultp > 	derivedEulerAngleX (T const &angleX, T const &angularVelocityX)
-pub fn mat< 4, 4, T, defaultp > 	derivedEulerAngleY (T const &angleY, T const &angularVelocityY)
-pub fn mat< 4, 4, T, defaultp > 	derivedEulerAngleZ (T const &angleZ, T const &angularVelocityZ)
-pub fn mat< 4, 4, T, defaultp > 	eulerAngleX (T const &angleX)
-pub fn mat< 4, 4, T, defaultp > 	eulerAngleXY (T const &angleX, T const &angleY)
-pub fn mat< 4, 4, T, defaultp > 	eulerAngleXYX (T const &t1, T const &t2, T const &t3)
-pub fn mat< 4, 4, T, defaultp > 	eulerAngleXYZ (T const &t1, T const &t2, T const &t3)
-pub fn mat< 4, 4, T, defaultp > 	eulerAngleXZ (T const &angleX, T const &angleZ)
-pub fn mat< 4, 4, T, defaultp > 	eulerAngleXZX (T const &t1, T const &t2, T const &t3)
-pub fn mat< 4, 4, T, defaultp > 	eulerAngleXZY (T const &t1, T const &t2, T const &t3)
-pub fn mat< 4, 4, T, defaultp > 	eulerAngleY (T const &angleY)
-pub fn mat< 4, 4, T, defaultp > 	eulerAngleYX (T const &angleY, T const &angleX)
-pub fn mat< 4, 4, T, defaultp > 	eulerAngleYXY (T const &t1, T const &t2, T const &t3)
-pub fn mat< 4, 4, T, defaultp > 	eulerAngleYXZ (T const &yaw, T const &pitch, T const &roll)
-pub fn mat< 4, 4, T, defaultp > 	eulerAngleYZ (T const &angleY, T const &angleZ)
-pub fn mat< 4, 4, T, defaultp > 	eulerAngleYZX (T const &t1, T const &t2, T const &t3)
-pub fn mat< 4, 4, T, defaultp > 	eulerAngleYZY (T const &t1, T const &t2, T const &t3)
-pub fn mat< 4, 4, T, defaultp > 	eulerAngleZ (T const &angleZ)
-pub fn mat< 4, 4, T, defaultp > 	eulerAngleZX (T const &angle, T const &angleX)
-pub fn mat< 4, 4, T, defaultp > 	eulerAngleZXY (T const &t1, T const &t2, T const &t3)
-pub fn mat< 4, 4, T, defaultp > 	eulerAngleZXZ (T const &t1, T const &t2, T const &t3)
-pub fn mat< 4, 4, T, defaultp > 	eulerAngleZY (T const &angleZ, T const &angleY)
-pub fn mat< 4, 4, T, defaultp > 	eulerAngleZYX (T const &t1, T const &t2, T const &t3)
-pub fn mat< 4, 4, T, defaultp > 	eulerAngleZYZ (T const &t1, T const &t2, T const &t3)
-pub fn void 	extractEulerAngleXYX (mat< 4, 4, T, defaultp > const &M, T &t1, T &t2, T &t3)
-pub fn void 	extractEulerAngleXYZ (mat< 4, 4, T, defaultp > const &M, T &t1, T &t2, T &t3)
-pub fn void 	extractEulerAngleXZX (mat< 4, 4, T, defaultp > const &M, T &t1, T &t2, T &t3)
-pub fn void 	extractEulerAngleXZY (mat< 4, 4, T, defaultp > const &M, T &t1, T &t2, T &t3)
-pub fn void 	extractEulerAngleYXY (mat< 4, 4, T, defaultp > const &M, T &t1, T &t2, T &t3)
-pub fn void 	extractEulerAngleYXZ (mat< 4, 4, T, defaultp > const &M, T &t1, T &t2, T &t3)
-pub fn void 	extractEulerAngleYZX (mat< 4, 4, T, defaultp > const &M, T &t1, T &t2, T &t3)
-pub fn void 	extractEulerAngleYZY (mat< 4, 4, T, defaultp > const &M, T &t1, T &t2, T &t3)
-pub fn void 	extractEulerAngleZXY (mat< 4, 4, T, defaultp > const &M, T &t1, T &t2, T &t3)
-pub fn void 	extractEulerAngleZXZ (mat< 4, 4, T, defaultp > const &M, T &t1, T &t2, T &t3)
-pub fn void 	extractEulerAngleZYX (mat< 4, 4, T, defaultp > const &M, T &t1, T &t2, T &t3)
-pub fn void 	extractEulerAngleZYZ (mat< 4, 4, T, defaultp > const &M, T &t1, T &t2, T &t3)
-pub fn mat< 2, 2, T, defaultp > 	orientate2 (T const &angle)
-pub fn mat< 3, 3, T, defaultp > 	orientate3 (T const &angle)
-pub fn mat< 3, 3, T, Q > 	orientate3 (vec< 3, T, Q > const &angles)
-pub fn mat< 4, 4, T, Q > 	orientate4 (vec< 3, T, Q > const &angles)
-pub fn mat< 4, 4, T, defaultp > 	yawPitchRoll (T const &yaw, T const &pitch, T const &roll)
\ No newline at end of file
diff --git a/nalgebra-glm/src/gtx_normal.rs b/nalgebra-glm/src/gtx_normal.rs
deleted file mode 100644
index aa32c875..00000000
--- a/nalgebra-glm/src/gtx_normal.rs
+++ /dev/null
@@ -1,7 +0,0 @@
-use na::{Real, U3};
-
-use aliases::Vec;
-
-pub fn triangleNormal<N: Real>(p1: &Vec<N, U3>, p2: &Vec<N, U3>, p3: &Vec<N, U3>) -> Vec<N, U3> {
-    (p2 - p1).cross(&(p3 - p1)).normalize()
-}
\ No newline at end of file
diff --git a/nalgebra-glm/src/gtx_quaternion.rs b/nalgebra-glm/src/gtx_quaternion.rs
deleted file mode 100644
index 6c7e7c99..00000000
--- a/nalgebra-glm/src/gtx_quaternion.rs
+++ /dev/null
@@ -1,16 +0,0 @@
-pub fn vec< 3, T, Q > 	cross (qua< T, Q > const &q, vec< 3, T, Q > const &v)
-pub fn vec< 3, T, Q > 	cross (vec< 3, T, Q > const &v, qua< T, Q > const &q)
-pub fn T 	extractRealComponent (qua< T, Q > const &q)
-pub fn qua< T, Q > 	fastMix (qua< T, Q > const &x, qua< T, Q > const &y, T const &a)
-pub fn qua< T, Q > 	intermediate (qua< T, Q > const &prev, qua< T, Q > const &curr, qua< T, Q > const &next)
-pub fn T 	length2 (qua< T, Q > const &q)
-pub fn qua< T, Q > 	quat_identity ()
-pub fn vec< 3, T, Q > 	rotate (qua< T, Q > const &q, vec< 3, T, Q > const &v)
-pub fn vec< 4, T, Q > 	rotate (qua< T, Q > const &q, vec< 4, T, Q > const &v)
-pub fn qua< T, Q > 	rotation (vec< 3, T, Q > const &orig, vec< 3, T, Q > const &dest)
-pub fn qua< T, Q > 	shortMix (qua< T, Q > const &x, qua< T, Q > const &y, T const &a)
-pub fn qua< T, Q > 	squad (qua< T, Q > const &q1, qua< T, Q > const &q2, qua< T, Q > const &s1, qua< T, Q > const &s2, T const &h)
-pub fn mat< 3, 3, T, Q > 	toMat3 (qua< T, Q > const &x)
-pub fn mat< 4, 4, T, Q > 	toMat4 (qua< T, Q > const &x)
-pub fn qua< T, Q > 	toQuat (mat< 3, 3, T, Q > const &x)
-pub fn qua< T, Q > 	toQuat (mat< 4, 4, T, Q > const &x)
diff --git a/nalgebra-glm/src/gtx_rotate_normalized_axis.rs b/nalgebra-glm/src/gtx_rotate_normalized_axis.rs
deleted file mode 100644
index ab30ca15..00000000
--- a/nalgebra-glm/src/gtx_rotate_normalized_axis.rs
+++ /dev/null
@@ -1,11 +0,0 @@
-use na::{Real, Rotation3, UnitQuaternion, Unit, U3, U4};
-
-use aliases::{Vec, Mat, Qua};
-
-pub fn rotateNormalizedAxis<N: Real>(m: &Mat<N, U4, U4>, angle: N, axis: &Vec<N, U3>) -> Mat<N, U4, U4> {
-    m * Rotation3::from_axis_angle(&Unit::new_unchecked(*axis), angle).to_homogeneous()
-}
-
-pub fn rotateNormalizedAxis2<N: Real>(q: &Qua<N>, angle: N, axis: &Vec<N, U3>) -> Qua<N> {
-    q * UnitQuaternion::from_axis_angle(&Unit::new_unchecked(*axis), angle).unwrap()
-}
\ No newline at end of file
diff --git a/nalgebra-glm/src/gtx_vector_angle.rs b/nalgebra-glm/src/gtx_vector_angle.rs
deleted file mode 100644
index 74e7ca38..00000000
--- a/nalgebra-glm/src/gtx_vector_angle.rs
+++ /dev/null
@@ -1,18 +0,0 @@
-use na::{self, DefaultAllocator, Real, U2, U3};
-
-use traits::{Dimension, Alloc};
-use aliases::Vec;
-
-
-pub fn angle<N: Real, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> N
-    where DefaultAllocator: Alloc<N, D> {
-    x.angle(y)
-}
-
-pub fn oriented_angle<N: Real>(x: &Vec<N, U2>, y: &Vec<N, U2>) -> N {
-    unimplemented!()
-}
-
-pub fn oriented_angle_ref<N: Real>(x: &Vec<N, U3>, y: &Vec<N, U3>, refv: &Vec<N, U3>) -> N {
-    unimplemented!()
-}
diff --git a/nalgebra-glm/src/lib.rs b/nalgebra-glm/src/lib.rs
index 2ee8b708..e56dd6bc 100644
--- a/nalgebra-glm/src/lib.rs
+++ b/nalgebra-glm/src/lib.rs
@@ -1,3 +1,8 @@
+
+#![allow(dead_code)]
+
+
+
 extern crate num_traits as num;
 #[macro_use]
 extern crate approx;
@@ -6,6 +11,7 @@ extern crate nalgebra as na;
 
 pub use aliases::*;
 pub use constructors::*;
+pub use common::*;
 pub use geometric::*;
 pub use matrix::*;
 pub use traits::*;
@@ -13,61 +19,23 @@ pub use trigonometric::*;
 pub use vector_relational::*;
 pub use exponential::*;
 
-pub use ext_vector_relational::*;
-
-pub use gtx_component_wise::*;
+pub use gtx::*;
+pub use gtc::*;
+pub use ext::*;
 
 mod aliases;
-pub mod constructors;
+mod constructors;
 mod common;
-pub mod matrix;
-pub mod geometric;
+mod matrix;
+mod geometric;
 mod traits;
-pub mod trigonometric;
-pub mod vector_relational;
-pub mod exponential;
-pub mod integer;
-pub mod packing;
-pub mod ext_matrix_clip_space;
-pub mod ext_matrix_projection;
-pub mod ext_matrix_relationnal;
-pub mod ext_matrix_transform;
-pub mod ext_quaternion_common;
-pub mod ext_quaternion_geometric;
-pub mod ext_quaternion_transform;
-pub mod ext_quaternion_trigonometric;
-pub mod ext_quaternion_relational;
-pub mod ext_scalar_common;
-pub mod ext_scalar_constants;
-pub mod ext_vector_common;
-pub mod ext_vector_relational;
-//pub mod gtc_bitfield;
-pub mod gtc_constants;
-pub mod gtc_epsilon;
-//pub mod gtc_integer;
-pub mod gtc_matrix_access;
-pub mod gtc_matrix_inverse;
-//pub mod gtc_packing;
-pub mod gtc_quaternion;
-//pub mod gtc_reciprocal;
-//pub mod gtc_round;
-pub mod gtc_type_ptr;
-//pub mod gtc_ulp;
+mod trigonometric;
+mod vector_relational;
+mod exponential;
+//mod integer;
+//mod packing;
 
-pub mod gtx_component_wise;
-//pub mod gtx_euler_angles;
-pub mod gtx_exterior_product;
-pub mod gtx_handed_coordinate_space;
-pub mod gtx_matrix_cross_product;
-pub mod gtx_matrix_operation;
-pub mod gtx_norm;
-pub mod gtx_normal;
-pub mod gtx_normalize_dot;
-//pub mod gtx_quaternion;
-pub mod gtx_rotate_normalized_axis;
-//pub mod gtx_rotate_vector;
-pub mod gtx_transform;
-//pub mod gtx_transform2;
-//pub mod gtx_transform2d;
-//pub mod gtx_vector_angle;
-pub mod gtx_vector_query;
\ No newline at end of file
+pub mod ext;
+pub mod gtc;
+pub mod gtx;
+pub mod quat;
\ No newline at end of file
diff --git a/nalgebra-glm/src/matrix.rs b/nalgebra-glm/src/matrix.rs
index 99b9e565..d3dcd64d 100644
--- a/nalgebra-glm/src/matrix.rs
+++ b/nalgebra-glm/src/matrix.rs
@@ -1,30 +1,33 @@
-use num::Num;
-use na::{Scalar, Real, DefaultAllocator, U1};
+use na::{Scalar, Real, DefaultAllocator};
 
 use traits::{Alloc, Dimension, Number};
 use aliases::{Mat, Vec};
 
-
+/// The determinant of the matrix `m`.
 pub fn determinant<N: Real, D: Dimension>(m: &Mat<N, D, D>) -> N
     where DefaultAllocator: Alloc<N, D, D> {
     m.determinant()
 }
 
+/// The inverse of the matrix `m`.
 pub fn inverse<N: Real, D: Dimension>(m: &Mat<N, D, D>) -> Mat<N, D, D>
     where DefaultAllocator: Alloc<N, D, D> {
     m.clone().try_inverse().unwrap_or(Mat::<N, D, D>::zeros())
 }
 
+/// Componentwise multiplication of two matrices.
 pub fn matrix_comp_mult<N: Number, R: Dimension, C: Dimension>(x: &Mat<N, R, C>, y: &Mat<N, R, C>) -> Mat<N, R, C>
     where DefaultAllocator: Alloc<N, R, C> {
     x.component_mul(y)
 }
 
+/// Treats the first parameter `c` as a column vector and the second parameter `r` as a row vector and does a linear algebraic matrix multiply `c * r`.
 pub fn outer_product<N: Number, R: Dimension, C: Dimension>(c: &Vec<N, R>, r: &Vec<N, C>) -> Mat<N, R, C>
     where DefaultAllocator: Alloc<N, R, C> {
     c * r.transpose()
 }
 
+/// The transpose of the matrix `m`.
 pub fn transpose<N: Scalar, R: Dimension, C: Dimension>(x: &Mat<N, R, C>) -> Mat<N, C, R>
     where DefaultAllocator: Alloc<N, R, C> {
     x.transpose()
diff --git a/nalgebra-glm/src/gtc_quaternion.rs b/nalgebra-glm/src/quat/gtc_quaternion.rs
similarity index 63%
rename from nalgebra-glm/src/gtc_quaternion.rs
rename to nalgebra-glm/src/quat/gtc_quaternion.rs
index 7adf0e14..f8729391 100644
--- a/nalgebra-glm/src/gtc_quaternion.rs
+++ b/nalgebra-glm/src/quat/gtc_quaternion.rs
@@ -1,72 +1,87 @@
-use na::{self, Real, U3, U4, UnitQuaternion, Vector3, Rotation3};
+use na::{Real, U3, U4, UnitQuaternion, Vector3, Rotation3};
 
 use aliases::{Qua, Vec, Mat};
 
 
-/// Euler angles of the quaternion as (pitch, yaw, roll).
+/// Euler angles of the quaternion `q` as (pitch, yaw, roll).
 pub fn euler_angles<N: Real>(x: &Qua<N>) -> Vec<N, U3> {
     let q = UnitQuaternion::new_unchecked(*x);
     let a = q.to_euler_angles();
     Vector3::new(a.2, a.1, a.0)
 }
 
+/// Componentwise `>` comparison between two quaternions.
 pub fn greater_than<N: Real>(x: &Qua<N>, y: &Qua<N>) -> Vec<bool, U4> {
     ::greater_than(&x.coords, &y.coords)
 }
 
+/// Componentwise `>=` comparison between two quaternions.
 pub fn greater_than_equal<N: Real>(x: &Qua<N>, y: &Qua<N>) -> Vec<bool, U4> {
     ::greater_than_equal(&x.coords, &y.coords)
 }
 
+/// Componentwise `<` comparison between two quaternions.
 pub fn less_than<N: Real>(x: &Qua<N>, y: &Qua<N>) -> Vec<bool, U4> {
     ::less_than(&x.coords, &y.coords)
 }
 
+/// Componentwise `<=` comparison between two quaternions.
 pub fn less_than_equal<N: Real>(x: &Qua<N>, y: &Qua<N>) -> Vec<bool, U4> {
     ::less_than_equal(&x.coords, &y.coords)
 }
 
+
+/// Convert a quaternion to a rotation matrix.
 pub fn mat3_cast<N: Real>(x: Qua<N>) -> Mat<N, U3, U3> {
     let q = UnitQuaternion::new_unchecked(x);
     q.to_rotation_matrix().unwrap()
 }
 
+/// Convert a quaternion to a rotation matrix in homogeneous coordinates.
 pub fn mat4_cast<N: Real>(x: Qua<N>) -> Mat<N, U4, U4> {
     let q = UnitQuaternion::new_unchecked(x);
     q.to_homogeneous()
 }
 
+/// Convert a rotation matrix to a quaternion.
 pub fn quat_cast<N: Real>(x: Mat<N, U3, U3>) -> Qua<N> {
     let rot = Rotation3::from_matrix_unchecked(x);
     UnitQuaternion::from_rotation_matrix(&rot).unwrap()
 }
 
+/// Convert a rotation matrix in homogeneous coordinates to a quaternion.
 pub fn quat_cast2<N: Real>(x: Mat<N, U4, U4>) -> Qua<N> {
     quat_cast(x.fixed_slice::<U3, U3>(0, 0).into_owned())
 }
 
+/// Computes a right-handed look-at quaternion (equivalent to a right-handed look-at matrix).
 pub fn quat_look_at<N: Real>(direction: &Vec<N, U3>, up: &Vec<N, U3>) -> Qua<N> {
     quat_look_at_rh(direction, up)
 }
 
+/// Computes a left-handed look-at quaternion (equivalent to a left-handed look-at matrix).
 pub fn quat_look_at_lh<N: Real>(direction: &Vec<N, U3>, up: &Vec<N, U3>) -> Qua<N> {
     UnitQuaternion::look_at_lh(direction, up).unwrap()
 }
 
+/// Computes a right-handed look-at quaternion (equivalent to a right-handed look-at matrix).
 pub fn quat_look_at_rh<N: Real>(direction: &Vec<N, U3>, up: &Vec<N, U3>) -> Qua<N> {
     UnitQuaternion::look_at_rh(direction, up).unwrap()
 }
 
+/// The "roll" euler angle of the quaternion `x` assumed to be normalized.
 pub fn roll<N: Real>(x: &Qua<N>) -> N {
     // FIXME: optimize this.
     euler_angles(x).z
 }
 
+/// The "yaw" euler angle of the quaternion `x` assumed to be normalized.
 pub fn yaw<N: Real>(x: &Qua<N>) -> N {
     // FIXME: optimize this.
     euler_angles(x).y
 }
 
+/// The "pitch" euler angle of the quaternion `x` assumed to be normalized.
 pub fn pitch<N: Real>(x: &Qua<N>) -> N {
     // FIXME: optimize this.
     euler_angles(x).x
diff --git a/nalgebra-glm/src/quat/gtx_quaternion.rs b/nalgebra-glm/src/quat/gtx_quaternion.rs
new file mode 100644
index 00000000..74a0fca6
--- /dev/null
+++ b/nalgebra-glm/src/quat/gtx_quaternion.rs
@@ -0,0 +1,91 @@
+use na::{Real, Unit, Rotation3, Vector4, UnitQuaternion, U3, U4};
+
+use aliases::{Qua, Vec, Mat};
+
+/// Rotate the vector `v` by the quaternion `q` assumed to be normalized.
+pub fn cross<N: Real>(q: &Qua<N>, v: &Vec<N, U3>) -> Vec<N, U3> {
+    UnitQuaternion::new_unchecked(*q) * v
+}
+
+/// Rotate the vector `v` by the inverse of the quaternion `q` assumed to be normalized.
+pub fn cross2<N: Real>(v: &Vec<N, U3>, q: &Qua<N>) -> Vec<N, U3> {
+    UnitQuaternion::new_unchecked(*q).inverse() * v
+}
+
+/// The quaternion `w` component.
+pub fn extract_real_component<N: Real>(q: &Qua<N>) -> N {
+    q.w
+}
+
+/// Normalized linear interpolation between two quaternions.
+pub fn fast_mix<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
+    Unit::new_unchecked(*x).nlerp(&Unit::new_unchecked(*y), a).unwrap()
+}
+
+//pub fn intermediate<N: Real>(prev: &Qua<N>, curr: &Qua<N>, next: &Qua<N>) -> Qua<N> {
+//    unimplemented!()
+//}
+
+/// The squared magnitude of a quaternion `q`.
+pub fn length2<N: Real>(q: &Qua<N>) -> N {
+    q.norm_squared()
+}
+
+/// The squared magnitude of a quaternion `q`.
+pub fn magnitude2<N: Real>(q: &Qua<N>) -> N {
+    q.norm_squared()
+}
+
+/// The quaternion representing the identity rotation.
+pub fn quat_identity<N: Real>() -> Qua<N> {
+    UnitQuaternion::identity().unwrap()
+}
+
+/// Rotates a vector by a quaternion assumed to be normalized.
+pub fn rotate<N: Real>(q: &Qua<N>, v: &Vec<N, U3>) -> Vec<N, U3> {
+    UnitQuaternion::new_unchecked(*q) * v
+}
+
+/// Rotates a vector in homogeneous coordinates by a quaternion assumed to be normalized.
+pub fn rotate2<N: Real>(q: &Qua<N>, v: &Vec<N, U4>) -> Vec<N, U4> {
+//    UnitQuaternion::new_unchecked(*q) * v
+    let rotated = Unit::new_unchecked(*q) * v.fixed_rows::<U3>(0);
+    Vector4::new(rotated.x, rotated.y, rotated.z, v.w)
+}
+
+/// The rotation required to align `orig` to `dest`.
+pub fn rotation<N: Real>(orig: &Vec<N, U3>, dest: &Vec<N, U3>) -> Qua<N> {
+    UnitQuaternion::rotation_between(orig, dest).unwrap_or(UnitQuaternion::identity()).unwrap()
+}
+
+/// The spherical linear interpolation between two quaternions.
+pub fn short_mix<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
+    Unit::new_normalize(*x).slerp(&Unit::new_normalize(*y), a).unwrap()
+}
+
+//pub fn squad<N: Real>(q1: &Qua<N>, q2: &Qua<N>, s1: &Qua<N>, s2: &Qua<N>, h: N) -> Qua<N> {
+//    unimplemented!()
+//}
+
+/// Converts a quaternion to a rotation matrix.
+pub fn to_mat3<N: Real>(x: &Qua<N>) -> Mat<N, U3, U3> {
+    UnitQuaternion::new_unchecked(*x).to_rotation_matrix().unwrap()
+}
+
+/// Converts a quaternion to a rotation matrix in homogenous coordinates.
+pub fn to_mat4<N: Real>(x: &Qua<N>) -> Mat<N, U4, U4> {
+    UnitQuaternion::new_unchecked(*x).to_homogeneous()
+}
+
+/// Converts a rotation matrix to a quaternion.
+pub fn to_quat<N: Real>(x: &Mat<N, U3, U3>) -> Qua<N> {
+    let r = Rotation3::from_matrix_unchecked(*x);
+    UnitQuaternion::from_rotation_matrix(&r).unwrap()
+}
+
+/// Converts a rotation matrix in homogeneous coordinates to a quaternion.
+pub fn to_quat2<N: Real>(x: &Mat<N, U4, U4>) -> Qua<N> {
+    let rot = x.fixed_slice::<U3, U3>(0, 0).into_owned();
+    to_quat(&rot)
+}
+
diff --git a/nalgebra-glm/src/quat/gtx_rotate_normalized_axis.rs b/nalgebra-glm/src/quat/gtx_rotate_normalized_axis.rs
new file mode 100644
index 00000000..3cb9f515
--- /dev/null
+++ b/nalgebra-glm/src/quat/gtx_rotate_normalized_axis.rs
@@ -0,0 +1,13 @@
+use na::{Real, Unit, UnitQuaternion, U3};
+
+use aliases::{Vec, Qua};
+
+/// Rotates a quaternion from a vector of 3 components normalized axis and an angle.
+///
+/// # Parameters
+///     * `q` - Source orientation
+///     * `angle` - Angle expressed in radians.
+///     * `axis` - Normalized axis of the rotation, must be normalized.
+pub fn rotate_normalized_axis<N: Real>(q: &Qua<N>, angle: N, axis: &Vec<N, U3>) -> Qua<N> {
+    q * UnitQuaternion::from_axis_angle(&Unit::new_unchecked(*axis), angle).unwrap()
+}
\ No newline at end of file
diff --git a/nalgebra-glm/src/quat/mod.rs b/nalgebra-glm/src/quat/mod.rs
new file mode 100644
index 00000000..05326932
--- /dev/null
+++ b/nalgebra-glm/src/quat/mod.rs
@@ -0,0 +1,19 @@
+//! Definition and operations on quaternions.
+
+pub use self::gtc_quaternion::*;
+pub use self::gtx_quaternion::*;
+pub use self::gtx_rotate_normalized_axis::*;
+pub use self::quaternion_common::*;
+pub use self::quaternion_geometric::*;
+pub use self::quaternion_relational::*;
+pub use self::quaternion_transform::*;
+pub use self::quaternion_trigonometric::*;
+
+mod gtc_quaternion;
+mod gtx_quaternion;
+mod gtx_rotate_normalized_axis;
+mod quaternion_common;
+mod quaternion_geometric;
+mod quaternion_relational;
+mod quaternion_transform;
+mod quaternion_trigonometric;
\ No newline at end of file
diff --git a/nalgebra-glm/src/ext_quaternion_common.rs b/nalgebra-glm/src/quat/quaternion_common.rs
similarity index 66%
rename from nalgebra-glm/src/ext_quaternion_common.rs
rename to nalgebra-glm/src/quat/quaternion_common.rs
index 05d33b2b..75eaae4d 100644
--- a/nalgebra-glm/src/ext_quaternion_common.rs
+++ b/nalgebra-glm/src/quat/quaternion_common.rs
@@ -1,11 +1,13 @@
-use na::{self, Real, Unit, U4};
+use na::{self, Real, Unit};
 
-use aliases::{Vec, Qua};
+use aliases::Qua;
 
+/// The conjugate of `q`.
 pub fn conjugate<N: Real>(q: &Qua<N>) -> Qua<N> {
     q.conjugate()
 }
 
+/// The inverse of `q`.
 pub fn inverse<N: Real>(q: &Qua<N>) -> Qua<N> {
     q.try_inverse().unwrap_or(na::zero())
 }
@@ -18,14 +20,16 @@ pub fn inverse<N: Real>(q: &Qua<N>) -> Qua<N> {
 //    x.coords.map(|e| e.is_nan())
 //}
 
+/// Interpolate linearly between `x` and `y`.
 pub fn lerp<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
     x.lerp(y, a)
 }
 
-pub fn mix<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
-    x * (N::one() - a) + y * a
-}
+//pub fn mix<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
+//    x * (N::one() - a) + y * a
+//}
 
+/// Interpolate spherically between `x` and `y`.
 pub fn slerp<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
     Unit::new_normalize(*x).slerp(&Unit::new_normalize(*y), a).unwrap()
 }
diff --git a/nalgebra-glm/src/ext_quaternion_geometric.rs b/nalgebra-glm/src/quat/quaternion_geometric.rs
similarity index 53%
rename from nalgebra-glm/src/ext_quaternion_geometric.rs
rename to nalgebra-glm/src/quat/quaternion_geometric.rs
index 7b231101..952815a8 100644
--- a/nalgebra-glm/src/ext_quaternion_geometric.rs
+++ b/nalgebra-glm/src/quat/quaternion_geometric.rs
@@ -2,15 +2,27 @@ use na::Real;
 
 use aliases::Qua;
 
+/// Multiplies two quaternions.
 pub fn cross<N: Real>(q1: &Qua<N>, q2: &Qua<N>) -> Qua<N> {
     q1 * q2
 }
+
+/// The scalar product of two quaternions.
 pub fn dot<N: Real>(x: &Qua<N>, y: &Qua<N>) -> N {
     x.dot(y)
 }
+
+/// The magnitude of the quaternion `q`.
 pub fn length<N: Real>(q: &Qua<N>) -> N {
     q.norm()
 }
+
+/// The magnitude of the quaternion `q`.
+pub fn magnitude<N: Real>(q: &Qua<N>) -> N {
+    q.norm()
+}
+
+/// Normalizes the quaternion `q`.
 pub fn normalize<N: Real>(q: &Qua<N>) -> Qua<N> {
     q.normalize()
 }
\ No newline at end of file
diff --git a/nalgebra-glm/src/ext_quaternion_relational.rs b/nalgebra-glm/src/quat/quaternion_relational.rs
similarity index 65%
rename from nalgebra-glm/src/ext_quaternion_relational.rs
rename to nalgebra-glm/src/quat/quaternion_relational.rs
index ab37d297..50541455 100644
--- a/nalgebra-glm/src/ext_quaternion_relational.rs
+++ b/nalgebra-glm/src/quat/quaternion_relational.rs
@@ -3,18 +3,22 @@ use na::{Real, U4};
 
 use aliases::{Qua, Vec};
 
+/// Componentwise equality comparison between two quaternions.
 pub fn equal<N: Real>(x: &Qua<N>, y: &Qua<N>) -> Vec<bool, U4> {
     ::equal(&x.coords, &y.coords)
 }
 
+/// Componentwise approximate equality comparison between two quaternions.
 pub fn equal_eps<N: Real>(x: &Qua<N>, y: &Qua<N>, epsilon: N) -> Vec<bool, U4> {
     ::equal_eps(&x.coords, &y.coords, epsilon)
 }
 
+/// Componentwise non-equality comparison between two quaternions.
 pub fn not_equal<N: Real>(x: &Qua<N>, y: &Qua<N>) -> Vec<bool, U4> {
     ::not_equal(&x.coords, &y.coords)
 }
 
+/// Componentwise approximate non-equality comparison between two quaternions.
 pub fn not_equal_eps<N: Real>(x: &Qua<N>, y: &Qua<N>, epsilon: N) -> Vec<bool, U4> {
     ::not_equal_eps(&x.coords, &y.coords, epsilon)
 }
diff --git a/nalgebra-glm/src/ext_quaternion_transform.rs b/nalgebra-glm/src/quat/quaternion_transform.rs
similarity index 58%
rename from nalgebra-glm/src/ext_quaternion_transform.rs
rename to nalgebra-glm/src/quat/quaternion_transform.rs
index 08f7b393..a0b29172 100644
--- a/nalgebra-glm/src/ext_quaternion_transform.rs
+++ b/nalgebra-glm/src/quat/quaternion_transform.rs
@@ -2,22 +2,26 @@ use na::{Real, U3, UnitQuaternion, Unit};
 
 use aliases::{Vec, Qua};
 
+/// Computes the quaternion exponential.
 pub fn exp<N: Real>(q: &Qua<N>) -> Qua<N> {
     q.exp()
 }
 
+/// Computes the quaternion logarithm.
 pub fn log<N: Real>(q: &Qua<N>) -> Qua<N> {
     q.ln()
 }
 
+/// Raises the quaternion `q` to the power `y`.
 pub fn pow<N: Real>(q: &Qua<N>, y: N) -> Qua<N> {
     q.powf(y)
 }
 
+/// Builds a quaternion from an axis and an angle, and right-multiply it to the quaternion `q`.
 pub fn rotate<N: Real>(q: &Qua<N>, angle: N, axis: &Vec<N, U3>) -> Qua<N> {
     q * UnitQuaternion::from_axis_angle(&Unit::new_normalize(*axis), angle).unwrap()
 }
 
-pub fn sqrt<N: Real>(q: &Qua<N>) -> Qua<N> {
-    unimplemented!()
-}
\ No newline at end of file
+//pub fn sqrt<N: Real>(q: &Qua<N>) -> Qua<N> {
+//    unimplemented!()
+//}
\ No newline at end of file
diff --git a/nalgebra-glm/src/ext_quaternion_trigonometric.rs b/nalgebra-glm/src/quat/quaternion_trigonometric.rs
similarity index 63%
rename from nalgebra-glm/src/ext_quaternion_trigonometric.rs
rename to nalgebra-glm/src/quat/quaternion_trigonometric.rs
index 3f0e6b61..20f39cde 100644
--- a/nalgebra-glm/src/ext_quaternion_trigonometric.rs
+++ b/nalgebra-glm/src/quat/quaternion_trigonometric.rs
@@ -2,14 +2,17 @@ use na::{Real, U3, Unit, UnitQuaternion, Vector3};
 
 use aliases::{Vec, Qua};
 
+/// The rotation angle of this quaternion assumed to be normalized.
 pub fn angle<N: Real>(x: &Qua<N>) -> N {
     UnitQuaternion::from_quaternion(*x).angle()
 }
 
-pub fn angleAxis<N: Real>(angle: N, axis: &Vec<N, U3>) -> Qua<N> {
+/// Creates a quaternion from an axis and an angle.
+pub fn angle_axis<N: Real>(angle: N, axis: &Vec<N, U3>) -> Qua<N> {
     UnitQuaternion::from_axis_angle(&Unit::new_normalize(*axis), angle).unwrap()
 }
 
+/// The rotation axis of a quaternion assumed to be normalized.
 pub fn axis<N: Real>(x: &Qua<N>) -> Vec<N, U3> {
     if let Some(a) = UnitQuaternion::from_quaternion(*x).axis() {
         a.unwrap()
diff --git a/nalgebra-glm/src/traits.rs b/nalgebra-glm/src/traits.rs
index 53a16813..02e62e97 100644
--- a/nalgebra-glm/src/traits.rs
+++ b/nalgebra-glm/src/traits.rs
@@ -1,4 +1,3 @@
-use std::cmp::{PartialOrd, PartialEq};
 use num::{Signed, FromPrimitive, Bounded};
 use approx::AbsDiffEq;
 
@@ -6,10 +5,12 @@ use alga::general::{Ring, Lattice};
 use na::{Scalar, DimName, DimMin, U1};
 use na::allocator::Allocator;
 
+/// A type-level number representing a vector, matrix row, or matrix column, dimension.
 pub trait Dimension: DimName + DimMin<Self, Output = Self> {}
 impl<D: DimName + DimMin<D, Output = Self>> Dimension for D {}
 
 
+/// A number that can either be an integer or a float.
 pub trait Number: Scalar + Ring + Lattice + AbsDiffEq<Epsilon = Self> + Signed + FromPrimitive + Bounded {
 }
 
diff --git a/nalgebra-glm/src/trigonometric.rs b/nalgebra-glm/src/trigonometric.rs
index f590ce1a..71673f29 100644
--- a/nalgebra-glm/src/trigonometric.rs
+++ b/nalgebra-glm/src/trigonometric.rs
@@ -3,76 +3,92 @@ use na::{self, Real, DefaultAllocator};
 use aliases::Vec;
 use traits::{Alloc, Dimension};
 
+
+/// Componentwise arc-cosinus.
 pub fn acos<N: Real, D: Dimension>(x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     x.map(|e| e.acos())
 }
 
+/// Componentwise hyperbolic arc-cosinus.
 pub fn acosh<N: Real, D: Dimension>(x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     x.map(|e| e.acosh())
 }
 
+/// Componentwise arc-sinus.
 pub fn asin<N: Real, D: Dimension>(x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     x.map(|e| e.asin())
 }
 
+/// Componentwise hyperbolic arc-sinus.
 pub fn asinh<N: Real, D: Dimension>(x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     x.map(|e| e.asinh())
 }
 
+/// Componentwise arc-tangent of `y / x`.
 pub fn atan2<N: Real, D: Dimension>(y: &Vec<N, D>, x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     y.zip_map(x, |y, x| y.atan2(x))
 }
 
+/// Componentwise arc-tangent.
 pub fn atan<N: Real, D: Dimension>(y_over_x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     y_over_x.map(|e| e.atan())
 }
 
+/// Componentwise hyperbolic arc-tangent.
 pub fn atanh<N: Real, D: Dimension>(x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     x.map(|e| e.atanh())
 }
 
+/// Componentwise cosinus.
 pub fn cos<N: Real, D: Dimension>(angle: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     angle.map(|e| e.cos())
 }
 
+/// Componentwise hyperbolic cosinus.
 pub fn cosh<N: Real, D: Dimension>(angle: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     angle.map(|e| e.cosh())
 }
 
+/// Componentwise conversion from radians to degrees.
 pub fn degrees<N: Real, D: Dimension>(radians: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     radians.map(|e| e * na::convert(180.0) / N::pi())
 }
 
+/// Componentwise conversion fro degrees to radians.
 pub fn radians<N: Real, D: Dimension>(degrees: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     degrees.map(|e| e * N::pi() / na::convert(180.0))
 }
 
+/// Componentwise sinus.
 pub fn sin<N: Real, D: Dimension>(angle: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     angle.map(|e| e.sin())
 }
 
+/// Componentwise hyperbolic sinus.
 pub fn sinh<N: Real, D: Dimension>(angle: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     angle.map(|e| e.sinh())
 }
 
+/// Componentwise tangent.
 pub fn tan<N: Real, D: Dimension>(angle: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     angle.map(|e| e.tan())
 }
 
+/// Componentwise hyperbolic tangent.
 pub fn tanh<N: Real, D: Dimension>(angle: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     angle.map(|e| e.tanh())
diff --git a/nalgebra-glm/src/vector_relational.rs b/nalgebra-glm/src/vector_relational.rs
index ae1a2a2e..e414dd27 100644
--- a/nalgebra-glm/src/vector_relational.rs
+++ b/nalgebra-glm/src/vector_relational.rs
@@ -1,49 +1,57 @@
-use na::{self, Real, DefaultAllocator};
+use na::{DefaultAllocator};
 
 use aliases::Vec;
 use traits::{Number, Alloc, Dimension};
 
-
+/// Checks that all the vector components are `true`.
 pub fn all<D: Dimension>(v: &Vec<bool, D>) -> bool
     where DefaultAllocator: Alloc<bool, D> {
     v.iter().all(|x| *x)
 }
 
+/// Checks that at least one of the vector components is `true`.
 pub fn any<D: Dimension>(v: &Vec<bool, D>) -> bool
     where DefaultAllocator: Alloc<bool, D> {
     v.iter().any(|x| *x)
 }
 
+/// Componentwise equality comparison.
 pub fn equal<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<bool, D>
     where DefaultAllocator: Alloc<N, D> {
     x.zip_map(y, |x, y| x == y)
 }
 
+/// Componentwise `>` comparison.
 pub fn greater_than<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<bool, D>
     where DefaultAllocator: Alloc<N, D> {
     x.zip_map(y, |x, y| x > y)
 }
 
+/// Componentwise `>=` comparison.
 pub fn greater_than_equal<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<bool, D>
     where DefaultAllocator: Alloc<N, D> {
     x.zip_map(y, |x, y| x >= y)
 }
 
+/// Componentwise `<` comparison.
 pub fn less_than<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<bool, D>
     where DefaultAllocator: Alloc<N, D> {
     x.zip_map(y, |x, y| x < y)
 }
 
+/// Componentwise `>=` comparison.
 pub fn less_than_equal<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<bool, D>
     where DefaultAllocator: Alloc<N, D> {
     x.zip_map(y, |x, y| x <= y)
 }
 
+/// Componentwise not `!`.
 pub fn not<D: Dimension>(v: &Vec<bool, D>) -> Vec<bool, D>
     where DefaultAllocator: Alloc<bool, D> {
     v.map(|x| !x)
 }
 
+/// Componentwise not-equality `!=`.
 pub fn not_equal<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<bool, D>
     where DefaultAllocator: Alloc<N, D> {
     x.zip_map(y, |x, y| x != y)