diff --git a/nalgebra-glm/Cargo.toml b/nalgebra-glm/Cargo.toml
index 7c4aacb2..456dabce 100644
--- a/nalgebra-glm/Cargo.toml
+++ b/nalgebra-glm/Cargo.toml
@@ -15,7 +15,7 @@ edition = "2018"
 
 [features]
 default         = [ "std" ]
-std             = [ "nalgebra/std", "alga/std" ]
+std             = [ "nalgebra/std", "simba/std" ]
 stdweb          = [ "nalgebra/stdweb" ]
 arbitrary       = [ "nalgebra/arbitrary" ]
 serde-serialize = [ "nalgebra/serde-serialize" ]
@@ -24,5 +24,5 @@ abomonation-serialize = [ "nalgebra/abomonation-serialize" ]
 [dependencies]
 num-traits = { version = "0.2", default-features = false }
 approx = { version = "0.3", default-features = false }
-alga = { version = "0.9", default-features = false }
+simba = { version = "0.1", default-features = false }
 nalgebra = { path =  "..", version = "0.20", default-features = false }
diff --git a/nalgebra-glm/src/ext/mod.rs b/nalgebra-glm/src/ext/mod.rs
index 52aa9dc3..1923e806 100644
--- a/nalgebra-glm/src/ext/mod.rs
+++ b/nalgebra-glm/src/ext/mod.rs
@@ -1,19 +1,13 @@
 //! (Reexported) Additional features not specified by GLSL specification
 
 pub use self::matrix_clip_space::{
-    ortho, ortho_lh, ortho_lh_no, ortho_lh_zo, ortho_no, ortho_rh, ortho_rh_no, ortho_rh_zo,
-    ortho_zo,
-
-    perspective, perspective_lh, perspective_lh_no, perspective_lh_zo, perspective_no,
-    perspective_rh, perspective_rh_no, perspective_rh_zo, perspective_zo,
-
-    perspective_fov, perspective_fov_lh,perspective_fov_lh_no, perspective_fov_lh_zo,
+    infinite_perspective_rh_no, infinite_perspective_rh_zo, ortho, ortho_lh, ortho_lh_no,
+    ortho_lh_zo, ortho_no, ortho_rh, ortho_rh_no, ortho_rh_zo, ortho_zo, perspective,
+    perspective_fov, perspective_fov_lh, perspective_fov_lh_no, perspective_fov_lh_zo,
     perspective_fov_no, perspective_fov_rh, perspective_fov_rh_no, perspective_fov_rh_zo,
-    perspective_fov_zo,
-
-    infinite_perspective_rh_no, infinite_perspective_rh_zo,
-
-    reversed_perspective_rh_zo, reversed_infinite_perspective_rh_zo,
+    perspective_fov_zo, perspective_lh, perspective_lh_no, perspective_lh_zo, perspective_no,
+    perspective_rh, perspective_rh_no, perspective_rh_zo, perspective_zo,
+    reversed_infinite_perspective_rh_zo, reversed_perspective_rh_zo,
 };
 pub use self::matrix_projection::{
     pick_matrix, project, project_no, project_zo, unproject, unproject_no, unproject_zo,
@@ -35,7 +29,9 @@ pub use self::quaternion_relational::{
 };
 pub use self::quaternion_transform::{quat_exp, quat_log, quat_pow, quat_rotate};
 pub use self::quaternion_trigonometric::{quat_angle, quat_angle_axis, quat_axis};
-pub use self::scalar_common::{max3_scalar, max4_scalar, min3_scalar, min4_scalar};
+pub use self::scalar_common::{
+    max2_scalar, max3_scalar, max4_scalar, min2_scalar, min3_scalar, min4_scalar,
+};
 pub use self::scalar_constants::{epsilon, pi};
 pub use self::vector_common::{max, max2, max3, max4, min, min2, min3, min4};
 pub use self::vector_relational::{equal_eps, equal_eps_vec, not_equal_eps, not_equal_eps_vec};
diff --git a/nalgebra-glm/src/ext/scalar_common.rs b/nalgebra-glm/src/ext/scalar_common.rs
index 11104ce2..b3bd9c13 100644
--- a/nalgebra-glm/src/ext/scalar_common.rs
+++ b/nalgebra-glm/src/ext/scalar_common.rs
@@ -1,7 +1,51 @@
-use na;
-
 use crate::traits::Number;
 
+/// Returns the maximum among two values.
+///
+/// # Examples:
+///
+/// ```
+/// # use nalgebra_glm as glm;
+/// assert_eq!(2.0, glm::max2_scalar(1.0, 2.0));
+/// assert_eq!(1, glm::max2_scalar(0, 1));
+/// ```
+///
+/// # See also:
+///
+/// * [`max4_scalar`](fn.max4_scalar.html)
+/// * [`min3_scalar`](fn.min3_scalar.html)
+/// * [`min4_scalar`](fn.min4_scalar.html)
+pub fn max2_scalar<N: Number>(a: N, b: N) -> N {
+    if a >= b {
+        a
+    } else {
+        b
+    }
+}
+
+/// Returns the maximum among two values.
+///
+/// # Examples:
+///
+/// ```
+/// # use nalgebra_glm as glm;
+/// assert_eq!(1.0, glm::min2_scalar(1.0, 2.0));
+/// assert_eq!(0, glm::min2_scalar(0, 1));
+/// ```
+///
+/// # See also:
+///
+/// * [`max4_scalar`](fn.max4_scalar.html)
+/// * [`min3_scalar`](fn.min3_scalar.html)
+/// * [`min4_scalar`](fn.min4_scalar.html)
+pub fn min2_scalar<N: Number>(a: N, b: N) -> N {
+    if a <= b {
+        a
+    } else {
+        b
+    }
+}
+
 /// Returns the maximum among three values.
 ///
 /// # Examples:
@@ -18,7 +62,7 @@ use crate::traits::Number;
 /// * [`min3_scalar`](fn.min3_scalar.html)
 /// * [`min4_scalar`](fn.min4_scalar.html)
 pub fn max3_scalar<N: Number>(a: N, b: N, c: N) -> N {
-    na::sup(&na::sup(&a, &b), &c)
+    max2_scalar(max2_scalar(a, b), c)
 }
 
 /// Returns the maximum among four values.
@@ -37,7 +81,7 @@ pub fn max3_scalar<N: Number>(a: N, b: N, c: N) -> N {
 /// * [`min3_scalar`](fn.min3_scalar.html)
 /// * [`min4_scalar`](fn.min4_scalar.html)
 pub fn max4_scalar<N: Number>(a: N, b: N, c: N, d: N) -> N {
-    na::sup(&na::sup(&a, &b), &na::sup(&c, &d))
+    max2_scalar(max2_scalar(a, b), max2_scalar(c, d))
 }
 
 /// Returns the minimum among three values.
@@ -56,7 +100,7 @@ pub fn max4_scalar<N: Number>(a: N, b: N, c: N, d: N) -> N {
 /// * [`max4_scalar`](fn.max4_scalar.html)
 /// * [`min4_scalar`](fn.min4_scalar.html)
 pub fn min3_scalar<N: Number>(a: N, b: N, c: N) -> N {
-    na::inf(&na::inf(&a, &b), &c)
+    min2_scalar(min2_scalar(a, b), c)
 }
 
 /// Returns the minimum among four values.
@@ -75,5 +119,5 @@ pub fn min3_scalar<N: Number>(a: N, b: N, c: N) -> N {
 /// * [`max4_scalar`](fn.max4_scalar.html)
 /// * [`min3_scalar`](fn.min3_scalar.html)
 pub fn min4_scalar<N: Number>(a: N, b: N, c: N, d: N) -> N {
-    na::inf(&na::inf(&a, &b), &na::inf(&c, &d))
+    min2_scalar(min2_scalar(a, b), min2_scalar(c, d))
 }
diff --git a/nalgebra-glm/src/ext/vector_common.rs b/nalgebra-glm/src/ext/vector_common.rs
index a6418ef8..ff892f1e 100644
--- a/nalgebra-glm/src/ext/vector_common.rs
+++ b/nalgebra-glm/src/ext/vector_common.rs
@@ -17,8 +17,10 @@ use crate::traits::{Alloc, Dimension, Number};
 /// * [`min3`](fn.min3.html)
 /// * [`min4`](fn.min4.html)
 pub fn max<N: Number, D: Dimension>(a: &TVec<N, D>, b: N) -> TVec<N, D>
-where DefaultAllocator: Alloc<N, D> {
-    a.map(|a| na::sup(&a, &b))
+where
+    DefaultAllocator: Alloc<N, D>,
+{
+    a.map(|a| crate::max2_scalar(a, b))
 }
 
 /// Component-wise maximum between two vectors.
@@ -35,8 +37,10 @@ where DefaultAllocator: Alloc<N, D> {
 /// * [`min3`](fn.min3.html)
 /// * [`min4`](fn.min4.html)
 pub fn max2<N: Number, D: Dimension>(a: &TVec<N, D>, b: &TVec<N, D>) -> TVec<N, D>
-where DefaultAllocator: Alloc<N, D> {
-    na::sup(a, b)
+where
+    DefaultAllocator: Alloc<N, D>,
+{
+    a.zip_map(b, |a, b| crate::max2_scalar(a, b))
 }
 
 /// Component-wise maximum between three vectors.
@@ -53,7 +57,9 @@ where DefaultAllocator: Alloc<N, D> {
 /// * [`min3`](fn.min3.html)
 /// * [`min4`](fn.min4.html)
 pub fn max3<N: Number, D: Dimension>(a: &TVec<N, D>, b: &TVec<N, D>, c: &TVec<N, D>) -> TVec<N, D>
-where DefaultAllocator: Alloc<N, D> {
+where
+    DefaultAllocator: Alloc<N, D>,
+{
     max2(&max2(a, b), c)
 }
 
@@ -96,8 +102,10 @@ where
 /// * [`min3`](fn.min3.html)
 /// * [`min4`](fn.min4.html)
 pub fn min<N: Number, D: Dimension>(x: &TVec<N, D>, y: N) -> TVec<N, D>
-where DefaultAllocator: Alloc<N, D> {
-    x.map(|x| na::inf(&x, &y))
+where
+    DefaultAllocator: Alloc<N, D>,
+{
+    x.map(|x| crate::min2_scalar(x, y))
 }
 
 /// Component-wise minimum between two vectors.
@@ -114,8 +122,10 @@ where DefaultAllocator: Alloc<N, D> {
 /// * [`min3`](fn.min3.html)
 /// * [`min4`](fn.min4.html)
 pub fn min2<N: Number, D: Dimension>(x: &TVec<N, D>, y: &TVec<N, D>) -> TVec<N, D>
-where DefaultAllocator: Alloc<N, D> {
-    na::inf(x, y)
+where
+    DefaultAllocator: Alloc<N, D>,
+{
+    x.zip_map(y, |a, b| crate::min2_scalar(a, b))
 }
 
 /// Component-wise minimum between three vectors.
@@ -132,7 +142,9 @@ where DefaultAllocator: Alloc<N, D> {
 /// * [`min2`](fn.min2.html)
 /// * [`min4`](fn.min4.html)
 pub fn min3<N: Number, D: Dimension>(a: &TVec<N, D>, b: &TVec<N, D>, c: &TVec<N, D>) -> TVec<N, D>
-where DefaultAllocator: Alloc<N, D> {
+where
+    DefaultAllocator: Alloc<N, D>,
+{
     min2(&min2(a, b), c)
 }
 
diff --git a/nalgebra-glm/src/gtx/component_wise.rs b/nalgebra-glm/src/gtx/component_wise.rs
index 7c4af7a0..cfb851f4 100644
--- a/nalgebra-glm/src/gtx/component_wise.rs
+++ b/nalgebra-glm/src/gtx/component_wise.rs
@@ -22,7 +22,9 @@ use crate::traits::{Alloc, Dimension, Number};
 /// * [`comp_min`](fn.comp_min.html)
 /// * [`comp_mul`](fn.comp_mul.html)
 pub fn comp_add<N: Number, R: Dimension, C: Dimension>(m: &TMat<N, R, C>) -> N
-where DefaultAllocator: Alloc<N, R, C> {
+where
+    DefaultAllocator: Alloc<N, R, C>,
+{
     m.iter().fold(N::zero(), |x, y| x + *y)
 }
 
@@ -49,8 +51,11 @@ where DefaultAllocator: Alloc<N, R, C> {
 /// * [`max3`](fn.max3.html)
 /// * [`max4`](fn.max4.html)
 pub fn comp_max<N: Number, R: Dimension, C: Dimension>(m: &TMat<N, R, C>) -> N
-where DefaultAllocator: Alloc<N, R, C> {
-    m.iter().fold(N::min_value(), |x, y| na::sup(&x, y))
+where
+    DefaultAllocator: Alloc<N, R, C>,
+{
+    m.iter()
+        .fold(N::min_value(), |x, y| crate::max2_scalar(x, *y))
 }
 
 /// The minimum of every component of the given matrix or vector.
@@ -76,8 +81,11 @@ where DefaultAllocator: Alloc<N, R, C> {
 /// * [`min3`](fn.min3.html)
 /// * [`min4`](fn.min4.html)
 pub fn comp_min<N: Number, R: Dimension, C: Dimension>(m: &TMat<N, R, C>) -> N
-where DefaultAllocator: Alloc<N, R, C> {
-    m.iter().fold(N::max_value(), |x, y| na::inf(&x, y))
+where
+    DefaultAllocator: Alloc<N, R, C>,
+{
+    m.iter()
+        .fold(N::max_value(), |x, y| crate::min2_scalar(x, *y))
 }
 
 /// The product of every component of the given matrix or vector.
@@ -99,7 +107,9 @@ where DefaultAllocator: Alloc<N, R, C> {
 /// * [`comp_max`](fn.comp_max.html)
 /// * [`comp_min`](fn.comp_min.html)
 pub fn comp_mul<N: Number, R: Dimension, C: Dimension>(m: &TMat<N, R, C>) -> N
-where DefaultAllocator: Alloc<N, R, C> {
+where
+    DefaultAllocator: Alloc<N, R, C>,
+{
     m.iter().fold(N::one(), |x, y| x * *y)
 }
 
diff --git a/nalgebra-glm/src/lib.rs b/nalgebra-glm/src/lib.rs
index c8f266a4..e9c64160 100644
--- a/nalgebra-glm/src/lib.rs
+++ b/nalgebra-glm/src/lib.rs
@@ -116,10 +116,10 @@
 extern crate num_traits as num;
 #[macro_use]
 extern crate approx;
-extern crate alga;
 extern crate nalgebra as na;
 
 pub use crate::aliases::*;
+pub use crate::traits::{Alloc, Dimension, Number};
 pub use common::{
     abs, ceil, clamp, clamp_scalar, clamp_vec, float_bits_to_int, float_bits_to_int_vec,
     float_bits_to_uint, float_bits_to_uint_vec, floor, fract, int_bits_to_float,
@@ -133,7 +133,6 @@ pub use geometric::{
     cross, distance, dot, faceforward, length, magnitude, normalize, reflect_vec, refract_vec,
 };
 pub use matrix::{determinant, inverse, matrix_comp_mult, outer_product, transpose};
-pub use crate::traits::{Alloc, Dimension, Number};
 pub use trigonometric::{
     acos, acosh, asin, asinh, atan, atan2, atanh, cos, cosh, degrees, radians, sin, sinh, tan, tanh,
 };
@@ -143,20 +142,20 @@ pub use vector_relational::{
 
 pub use ext::{
     epsilon, equal_columns, equal_columns_eps, equal_columns_eps_vec, equal_eps, equal_eps_vec,
-    identity, look_at, look_at_lh, look_at_rh, max, max2, max3, max3_scalar, max4, max4_scalar,
-    min, min2, min3, min3_scalar, min4, min4_scalar, not_equal_columns, not_equal_columns_eps,
-    not_equal_columns_eps_vec, not_equal_eps, not_equal_eps_vec, ortho, perspective, perspective_fov,
-    perspective_fov_lh,perspective_fov_lh_no, perspective_fov_lh_zo, perspective_fov_no,
-    perspective_fov_rh, perspective_fov_rh_no, perspective_fov_rh_zo, perspective_fov_zo,
-    perspective_lh, perspective_lh_no, perspective_lh_zo, perspective_no, perspective_rh,
-    perspective_rh_no, perspective_rh_zo, perspective_zo, ortho_lh, ortho_lh_no, ortho_lh_zo,
-    ortho_no, ortho_rh, ortho_rh_no, ortho_rh_zo, ortho_zo, pi, pick_matrix, project, project_no,
-    project_zo, quat_angle, quat_angle_axis, quat_axis, quat_conjugate, quat_cross, quat_dot,
-    quat_equal, quat_equal_eps, quat_exp, quat_inverse, quat_length, quat_lerp, quat_log,
+    identity, infinite_perspective_rh_no, infinite_perspective_rh_zo, look_at, look_at_lh,
+    look_at_rh, max, max2, max2_scalar, max3, max3_scalar, max4, max4_scalar, min, min2,
+    min2_scalar, min3, min3_scalar, min4, min4_scalar, not_equal_columns, not_equal_columns_eps,
+    not_equal_columns_eps_vec, not_equal_eps, not_equal_eps_vec, ortho, ortho_lh, ortho_lh_no,
+    ortho_lh_zo, ortho_no, ortho_rh, ortho_rh_no, ortho_rh_zo, ortho_zo, perspective,
+    perspective_fov, perspective_fov_lh, perspective_fov_lh_no, perspective_fov_lh_zo,
+    perspective_fov_no, perspective_fov_rh, perspective_fov_rh_no, perspective_fov_rh_zo,
+    perspective_fov_zo, perspective_lh, perspective_lh_no, perspective_lh_zo, perspective_no,
+    perspective_rh, perspective_rh_no, perspective_rh_zo, perspective_zo, pi, pick_matrix, project,
+    project_no, project_zo, quat_angle, quat_angle_axis, quat_axis, quat_conjugate, quat_cross,
+    quat_dot, quat_equal, quat_equal_eps, quat_exp, quat_inverse, quat_length, quat_lerp, quat_log,
     quat_magnitude, quat_normalize, quat_not_equal, quat_not_equal_eps, quat_pow, quat_rotate,
-    quat_slerp, rotate, rotate_x, rotate_y, rotate_z, scale, translate, unproject, unproject_no,
-    unproject_zo, infinite_perspective_rh_no, infinite_perspective_rh_zo,
-    reversed_perspective_rh_zo, reversed_infinite_perspective_rh_zo,
+    quat_slerp, reversed_infinite_perspective_rh_zo, reversed_perspective_rh_zo, rotate, rotate_x,
+    rotate_y, rotate_z, scale, translate, unproject, unproject_no, unproject_zo,
 };
 pub use gtc::{
     affine_inverse, column, e, euler, four_over_pi, golden_ratio, half_pi, inverse_transpose,
diff --git a/nalgebra-glm/src/traits.rs b/nalgebra-glm/src/traits.rs
index 1783ee5d..0857484e 100644
--- a/nalgebra-glm/src/traits.rs
+++ b/nalgebra-glm/src/traits.rs
@@ -3,7 +3,8 @@ use num::{Bounded, FromPrimitive, Signed};
 
 use na::allocator::Allocator;
 use na::{DimMin, DimName, Scalar, U1};
-use simba::scalar::{Lattice, Ring};
+use simba::scalar::{ClosedAdd, ClosedMul, ClosedSub};
+use std::cmp::PartialOrd;
 
 /// A type-level number representing a vector, matrix row, or matrix column, dimension.
 pub trait Dimension: DimName + DimMin<Self, Output = Self> {}
@@ -11,15 +12,26 @@ 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 + Copy + Ring + Lattice + AbsDiffEq<Epsilon = Self> + Signed + FromPrimitive + Bounded
+    Scalar
+    + Copy
+    + PartialOrd
+    + ClosedAdd
+    + ClosedSub
+    + ClosedMul
+    + AbsDiffEq<Epsilon = Self>
+    + Signed
+    + FromPrimitive
+    + Bounded
 {
 }
 
 impl<
         T: Scalar
             + Copy
-            + Ring
-            + Lattice
+            + PartialOrd
+            + ClosedAdd
+            + ClosedSub
+            + ClosedMul
             + AbsDiffEq<Epsilon = Self>
             + Signed
             + FromPrimitive