diff --git a/Bonus.cpp b/Bonus.cpp
index b620342..83fff8a 100644
--- a/Bonus.cpp
+++ b/Bonus.cpp
@@ -4,7 +4,7 @@
 
 #include "Bonus.h"
 
-Bonus::Bonus(const std::string &bonusName, const std::string &filename, const std::string &materials, const Point4D &scale) {
+Bonus::Bonus(const std::string &bonusName, const std::string &filename, const std::string &materials, const Vec3D &scale) {
     _name = bonusName;
     loadObj(filename, materials, scale);
     setCollider(false);
diff --git a/Bonus.h b/Bonus.h
index 613ab5c..4c81549 100644
--- a/Bonus.h
+++ b/Bonus.h
@@ -12,7 +12,7 @@ class Bonus : public RigidBody {
 protected:
     std::string _name;
 public:
-    explicit Bonus(const std::string &bonusName, const std::string& filename, const std::string &materials = "", const Point4D& scale = Point4D{1, 1, 1});
+    explicit Bonus(const std::string &bonusName, const std::string& filename, const std::string &materials = "", const Vec3D& scale = Vec3D{1, 1, 1});
 
     [[nodiscard]] std::string name() const { return _name; }
 };
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 82b9c26..794afd1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -34,10 +34,10 @@ add_executable(shooter
         # 3d engine:
         engine/utils/Time.h
         engine/utils/Time.cpp
-        engine/utils/Point4D.h
-        engine/utils/Point4D.cpp
-        engine/utils/Matrix4x4.h
-        engine/utils/Matrix4x4.cpp
+        engine/Point4D.h
+        engine/Point4D.cpp
+        engine/Matrix4x4.h
+        engine/Matrix4x4.cpp
         engine/Triangle.h
         engine/Triangle.cpp
         engine/Mesh.h
@@ -94,7 +94,7 @@ add_executable(shooter
         engine/network/UDPSocket.h
         engine/network/config.h
         engine/animation/AFunction.h
-        engine/Consts.h)
+        engine/Consts.h engine/Vec3D.cpp engine/Vec3D.h engine/Vec2D.cpp engine/Vec2D.h ShooterConsts.h)
 
 if(APPLE OR UNIX)
     include_directories(/usr/local/include)
diff --git a/Client.cpp b/Client.cpp
index 1a7c880..e5fa3f7 100644
--- a/Client.cpp
+++ b/Client.cpp
@@ -28,7 +28,7 @@ void Client::processInit(sf::Packet& packet) {
         if(targetId != _socket.ownId()) {
             spawnPlayer(targetId);
 
-            _players[targetId]->translateToPoint(Point4D{ buf[0], buf[1], buf[2]});
+            _players[targetId]->translateToPoint(Vec3D{ buf[0], buf[1], buf[2]});
             _players[targetId]->setHealth(buf[3]);
         }
     }
@@ -41,11 +41,11 @@ void Client::processUpdate(sf::Packet& packet) {
     while (packet >> targetId >> buf[0] >> buf[1] >> buf[2] >> buf[3] >> buf[4] >> buf[5]) {
         if (_players.count(targetId)) {
             std::string name = "Player_" + std::to_string(targetId);
-            _players[targetId]->translateToPoint(Point4D{buf[0], buf[1], buf[2]});
+            _players[targetId]->translateToPoint(Vec3D{buf[0], buf[1], buf[2]});
             _players[targetId]->setHealth(buf[3]);
-            _players[targetId]->rotateToAngle(Point4D{0, buf[4], 0});
+            _players[targetId]->rotateToAngle(Vec3D{0, buf[4], 0});
 
-            _players[targetId]->attached("head")->rotate(Matrix4x4::RotationY(buf[4]) * Point4D{1, 0, 0}, buf[5] - _players[targetId]->headAngle());
+            _players[targetId]->attached("head")->rotate(Matrix4x4::RotationY(buf[4]) * Vec3D{1, 0, 0}, buf[5] - _players[targetId]->headAngle());
 
             _players[targetId]->setHeadAngle(buf[5]);
         } else if (targetId == _socket.ownId()) {
@@ -74,7 +74,6 @@ void Client::processCustomPacket(MsgType type, sf::Packet& packet) {
     sf::Uint16 buffId[2];
     double dbuff[10];
     std::string tmp, tmp2;
-    Point4D p1, p2;
 
     switch (type) {
         case MsgType::Kill:
@@ -82,7 +81,7 @@ void Client::processCustomPacket(MsgType type, sf::Packet& packet) {
             if(buffId[0] == _socket.ownId()) {
                 _player->addDeath();
                 // respawn
-                _player->translateToPoint(Point4D{50.0*(-1 + 2.0*(double)rand()/RAND_MAX),30.0*(double)rand()/RAND_MAX,50.0*(-1 + 2.0*(double)rand()/RAND_MAX)});
+                _player->translateToPoint(Vec3D{50.0*(-1 + 2.0*(double)rand()/RAND_MAX),30.0*(double)rand()/RAND_MAX,50.0*(-1 + 2.0*(double)rand()/RAND_MAX)});
                 _player->playDeath();
                 _player->initWeapons();
                 _player->setFullAbility();
@@ -99,23 +98,21 @@ void Client::processCustomPacket(MsgType type, sf::Packet& packet) {
         case MsgType::FireTrace:
             packet >> dbuff[0] >> dbuff[1] >> dbuff[2] >> dbuff[3] >> dbuff[4] >> dbuff[5];
 
-            p1 = Point4D(dbuff[0], dbuff[1], dbuff[2]);
-            p2 = Point4D(dbuff[3], dbuff[4], dbuff[5]);
             if(_addFireTraceCallBack != nullptr)
-                _addFireTraceCallBack(p1, p2);
+                _addFireTraceCallBack(Vec3D(dbuff[0], dbuff[1], dbuff[2]), Vec3D(dbuff[3], dbuff[4], dbuff[5]));
 
             break;
         case MsgType::InitBonuses:
             while (packet >> tmp >> dbuff[0] >> dbuff[1] >> dbuff[2]) {
                 if(_addBonusCallBack != nullptr)
-                    _addBonusCallBack(tmp, Point4D(dbuff[0], dbuff[1], dbuff[2]));
+                    _addBonusCallBack(tmp, Vec3D(dbuff[0], dbuff[1], dbuff[2]));
             }
             break;
 
         case MsgType::AddBonus:
             packet >> tmp >> dbuff[0] >> dbuff[1] >> dbuff[2];
             if(_addBonusCallBack != nullptr)
-                _addBonusCallBack(tmp, Point4D(dbuff[0], dbuff[1], dbuff[2]));
+                _addBonusCallBack(tmp, Vec3D(dbuff[0], dbuff[1], dbuff[2]));
 
             break;
         case MsgType::RemoveBonus:
@@ -141,7 +138,7 @@ void Client::damagePlayer(sf::Uint16 targetId, double damage) {
     Log::log("Client: damagePlayer " + std::to_string(targetId) + " ( -" + std::to_string(damage) + "hp )");
 }
 
-void Client::addTrace(const Point4D& from, const Point4D& to) {
+void Client::addTrace(const Vec3D& from, const Vec3D& to) {
     sf::Packet packet;
 
     packet << MsgType::FireTrace << from.x() << from.y() << from.z() << to.x() << to.y() << to.z();
@@ -170,11 +167,11 @@ void Client::setRemovePlayerCallBack(std::function<void(sf::Uint16)> remove) {
     _removePlayerCallBack = std::move(remove);
 }
 
-void Client::setAddFireTraceCallBack(std::function<void(const Point4D &, const Point4D &)> addTrace) {
+void Client::setAddFireTraceCallBack(std::function<void(const Vec3D &, const Vec3D &)> addTrace) {
     _addFireTraceCallBack = std::move(addTrace);
 }
 
-void Client::setAddBonusCallBack(std::function<void(const std::string &, const Point4D &)> addBonus) {
+void Client::setAddBonusCallBack(std::function<void(const std::string &, const Vec3D &)> addBonus) {
     _addBonusCallBack = std::move(addBonus);
 }
 
diff --git a/Client.h b/Client.h
index 5ad48b0..77de858 100644
--- a/Client.h
+++ b/Client.h
@@ -17,8 +17,8 @@ private:
 
     std::function<void(sf::Uint16)> _spawnPlayerCallBack;
     std::function<void(sf::Uint16)> _removePlayerCallBack;
-    std::function<void(const Point4D&, const Point4D&)> _addFireTraceCallBack;
-    std::function<void(const std::string&, const Point4D&)> _addBonusCallBack;
+    std::function<void(const Vec3D&, const Vec3D&)> _addFireTraceCallBack;
+    std::function<void(const std::string&, const Vec3D&)> _addBonusCallBack;
     std::function<void(const std::string&)> _removeBonusCallBack;
 public:
     explicit Client(std::shared_ptr<Player>  player) : _player(player){};
@@ -27,8 +27,8 @@ public:
 
     void setSpawnPlayerCallBack(std::function<void(sf::Uint16)> spawn);
     void setRemovePlayerCallBack(std::function<void(sf::Uint16)> remove);
-    void setAddFireTraceCallBack(std::function<void(const Point4D&, const Point4D&)> addTrace);
-    void setAddBonusCallBack(std::function<void(const std::string&, const Point4D&)> addBonus);
+    void setAddFireTraceCallBack(std::function<void(const Vec3D&, const Vec3D&)> addTrace);
+    void setAddBonusCallBack(std::function<void(const std::string&, const Vec3D&)> addBonus);
     void setRemoveBonusCallBack(std::function<void(const std::string&)> removeBonus);
 
     void processInit(sf::Packet& packet) override;
@@ -44,7 +44,7 @@ public:
 
     void takeBonus(const std::string& bonusName);
 
-    void addTrace(const Point4D& from, const Point4D& to);
+    void addTrace(const Vec3D& from, const Vec3D& to);
 
     void addPlayer(sf::Uint16 id, std::shared_ptr<Player> player);
 };
diff --git a/Player.cpp b/Player.cpp
index d4650e8..9e81c58 100644
--- a/Player.cpp
+++ b/Player.cpp
@@ -7,7 +7,7 @@
 #include "engine/ResourceManager.h"
 #include "engine/utils/Log.h"
 
-void Player::rotateWeaponsRelativePoint(const Point4D& point4D, const Point4D& v, double val) {
+void Player::rotateWeaponsRelativePoint(const Vec3D& point4D, const Vec3D& v, double val) {
     for(auto& weapon : _weapons)
         weapon->rotateRelativePoint(point4D, v, val);
 }
@@ -63,8 +63,8 @@ void Player::addWeapon(std::shared_ptr<Weapon> weapon) {
     attach(weapon, weapon->name());
 
     _weapons.back()->translate(position());
-    _weapons.back()->rotateRelativePoint(position() + Point4D{0, 1.8, 0}, Point4D{0, 1, 0}, _angle.y());
-    _weapons.back()->rotateRelativePoint(position() + Point4D{0, 1.8, 0}, left(), headAngle());
+    _weapons.back()->rotateRelativePoint(position() + Vec3D{0, 1.8, 0}, Vec3D{0, 1, 0}, _angle->y());
+    _weapons.back()->rotateRelativePoint(position() + Vec3D{0, 1.8, 0}, left(), headAngle());
 
     _weapons.back()->setAddTraceCallBack(_addTraceCallBack);
 }
diff --git a/Player.h b/Player.h
index 02c6b0f..53c9c14 100644
--- a/Player.h
+++ b/Player.h
@@ -42,17 +42,17 @@ private:
     size_t _selectedWeapon = 0;
 
     std::function<void(sf::Uint16 targetId, double)> _damagePlayerCallBack;
-    std::function<void(const Point4D&, const Point4D&)> _addTraceCallBack;
+    std::function<void(const Vec3D&, const Vec3D&)> _addTraceCallBack;
     std::function<void(const std::string&)> _takeBonusCallBack;
 
     std::function<void(std::shared_ptr<Weapon>)> _addWeaponCallBack;
     std::function<void(std::shared_ptr<Weapon>)> _removeWeaponCallBack;
 
-    std::function<std::pair<Point4D, std::string>(const Point4D&, const Point4D&)> _rayCastFunction;
+    std::function<std::pair<Vec3D, std::string>(const Vec3D&, const Vec3D&)> _rayCastFunction;
 public:
     Player() {
-        loadObj("obj/cube.obj", "", Point4D{0.5, 1.9, 0.5});
-        setAcceleration(Point4D{0, -_g, 0});
+        loadObj("obj/cube.obj", "", Vec3D{0.5, 1.9, 0.5});
+        setAcceleration(Vec3D{0, -_g, 0});
         setCollision(true);
         setVisible(false);
         setColor({240, 168, 168});
@@ -68,6 +68,9 @@ public:
     void setHealth(double h) {
         _health = h;
     }
+    void setAbility(double a) {
+        _ability = a;
+    }
 
     [[nodiscard]] double health() const { return _health; }
     [[nodiscard]] double ability() const { return _ability; }
@@ -93,7 +96,7 @@ public:
     void fire();
     void reload();
 
-    void rotateWeaponsRelativePoint(const Point4D& point4D, const Point4D& v, double val);
+    void rotateWeaponsRelativePoint(const Vec3D& point, const Vec3D& v, double val);
 
     [[nodiscard]] int kills() const {return _kills;}
     [[nodiscard]] int deaths() const {return _deaths;}
@@ -107,7 +110,7 @@ public:
     void setDamagePlayerCallBack(std::function<void(sf::Uint16 targetId, double)> hit) {
         _damagePlayerCallBack = std::move(hit);
     }
-    void setAddTraceCallBack(std::function<void(const Point4D&, const Point4D&)> add) {
+    void setAddTraceCallBack(std::function<void(const Vec3D&, const Vec3D&)> add) {
         _addTraceCallBack = std::move(add);
     }
     void setTakeBonusCallBack(std::function<void(const std::string&)> take) {
@@ -119,7 +122,7 @@ public:
     void setRemoveWeaponCallBack(std::function<void(std::shared_ptr<Weapon>)> removeWeapon) {
         _removeWeaponCallBack = std::move(removeWeapon);
     }
-    void setRayCastFunction(std::function<std::pair<Point4D, std::string>(const Point4D&, const Point4D&)> rayCastFunction) {
+    void setRayCastFunction(std::function<std::pair<Vec3D, std::string>(const Vec3D&, const Vec3D&)> rayCastFunction) {
         _rayCastFunction = std::move(rayCastFunction);
     }
 
diff --git a/PlayerController.cpp b/PlayerController.cpp
index 38c1506..b5408a8 100644
--- a/PlayerController.cpp
+++ b/PlayerController.cpp
@@ -51,21 +51,21 @@ void PlayerController::update() {
             Timeline::animate("camera_hor_oscil", new AWait(0));
             Timeline::animate("camera_hor_oscil", new ATranslate(camera, camera->left() / 6, 0.3, Animation::LoopOut::None, Animation::InterpolationType::cos));
 
-            Timeline::animate("camera_vert_oscil", new ATranslate(camera, -Point4D{0, 1, 0} / 12, 0.15, Animation::LoopOut::None, Animation::InterpolationType::cos));
+            Timeline::animate("camera_vert_oscil", new ATranslate(camera, -Vec3D{0, 1, 0} / 12, 0.15, Animation::LoopOut::None, Animation::InterpolationType::cos));
             Timeline::animate("camera_vert_oscil", new AWait(0));
-            Timeline::animate("camera_vert_oscil", new ATranslate(camera, Point4D{0, 1, 0} / 12, 0.15, Animation::LoopOut::None, Animation::InterpolationType::cos));
+            Timeline::animate("camera_vert_oscil", new ATranslate(camera, Vec3D{0, 1, 0} / 12, 0.15, Animation::LoopOut::None, Animation::InterpolationType::cos));
             Timeline::animate("camera_vert_oscil", new AWait(0));
-            Timeline::animate("camera_vert_oscil", new ATranslate(camera, -Point4D{0, 1, 0} / 12, 0.15, Animation::LoopOut::None, Animation::InterpolationType::cos));
+            Timeline::animate("camera_vert_oscil", new ATranslate(camera, -Vec3D{0, 1, 0} / 12, 0.15, Animation::LoopOut::None, Animation::InterpolationType::cos));
             Timeline::animate("camera_vert_oscil", new AWait(0));
-            Timeline::animate("camera_vert_oscil", new ATranslate(camera, Point4D{0, 1, 0} / 12, 0.15, Animation::LoopOut::None, Animation::InterpolationType::cos));
+            Timeline::animate("camera_vert_oscil", new ATranslate(camera, Vec3D{0, 1, 0} / 12, 0.15, Animation::LoopOut::None, Animation::InterpolationType::cos));
 
-            Timeline::animate("camera_init", new ATranslateToPoint( camera, _player->position() + Point4D{0, 1.8, 0}, 0.3, Animation::LoopOut::None, Animation::InterpolationType::cos));
+            Timeline::animate("camera_init", new ATranslateToPoint( camera, _player->position() + Vec3D{0, 1.8, 0}, 0.3, Animation::LoopOut::None, Animation::InterpolationType::cos));
         }
     } else if(inRunning_old && !_inRunning) {
         Timeline::deleteAnimationList("camera_hor_oscil");
         Timeline::deleteAnimationList("camera_vert_oscil");
         Timeline::deleteAnimationList("camera_init");
-        Timeline::animate("camera_init", new ATranslateToPoint( camera, _player->position() + Point4D{0, 1.8, 0}, 0.15, Animation::LoopOut::None, Animation::InterpolationType::cos));
+        Timeline::animate("camera_init", new ATranslateToPoint( camera, _player->position() + Vec3D{0, 1.8, 0}, 0.15, Animation::LoopOut::None, Animation::InterpolationType::cos));
     }
 
     // Left and right
@@ -73,26 +73,26 @@ void PlayerController::update() {
     if (Keyboard::isKeyPressed(sf::Keyboard::A)) {
         _player->translate(_player->left() * Time::deltaTime() * _walkSpeed * coeff);
         if(_player->inCollision())
-            _player->setVelocity(Point4D{0,0,0});
+            _player->setVelocity(Vec3D{0,0,0});
     }
     if (Keyboard::isKeyPressed(sf::Keyboard::D)) {
         _player->translate(-_player->left() * Time::deltaTime() * _walkSpeed * coeff);
         if(_player->inCollision())
-            _player->setVelocity(Point4D{0,0,0});
+            _player->setVelocity(Vec3D{0,0,0});
     }
 
     // Forward and backward
     if (Keyboard::isKeyPressed(sf::Keyboard::W)) {
         _player->translate(_player->lookAt() * Time::deltaTime() * _walkSpeed * coeff);
         if(_player->inCollision())
-            _player->setVelocity(Point4D{0,0,0});
+            _player->setVelocity(Vec3D{0,0,0});
     }
 
     if (Keyboard::isKeyPressed(sf::Keyboard::S)) {
         _player->translate(-_player->lookAt() * Time::deltaTime() * _walkSpeed * coeff);
 
         if(_player->inCollision())
-            _player->setVelocity(Point4D{0,0,0});
+            _player->setVelocity(Vec3D{0,0,0});
     }
 
     if (_player->ability() > 0 && !_isInSlowMo && Keyboard::isKeyPressed(sf::Keyboard::LShift)) {
@@ -111,24 +111,23 @@ void PlayerController::update() {
     }
 
     if (Keyboard::isKeyPressed(sf::Keyboard::Space) && _player->inCollision()) {
-
         // if we just want to jump, we have to add particular speed
         if (!_isSliding)
-            _player->addVelocity(Point4D{ 0, std::abs(_player->collisionNormal().y()) * sqrt(2 * -_player->acceleration().y() * _jumpHeight) * coeff, 0 });
+            _player->addVelocity(Vec3D{ 0, std::abs(_player->collisionNormal().y()) * sqrt(2 * -_player->acceleration().y() * _jumpHeight) * coeff, 0 });
         // if we want to slide, we have to add speed * 60/fps to make it independent on frame rate
         else
-            _player->addVelocity(Point4D{ 0, std::abs(_player->collisionNormal().y()) * sqrt(2 * -_player->acceleration().y() * _jumpHeight) * coeff * 60.0 / Time::fps(), 0 });
+            _player->addVelocity(Vec3D{ 0, std::abs(_player->collisionNormal().y()) * sqrt(2 * -_player->acceleration().y() * _jumpHeight) * coeff * 60.0 / Time::fps(), 0 });
 
-        _player->translate(Point4D{ 0, Time::deltaTime() * _walkSpeed * 2 * coeff * 60.0 / Time::fps(), 0 });
+        _player->translate(Vec3D{ 0, Time::deltaTime() * _walkSpeed * 2 * coeff * 60.0 / Time::fps(), 0 });
         _isSliding = true;
     } else {
         _isSliding = false;
     }
 
     // Mouse movement
-    Point4D displacement = _mouse->getMouseDisplacement();
+    Vec2D displacement = _mouse->getMouseDisplacement();
 
-    _player->rotate(Point4D{0, -displacement.x() / 1000.0, 0});
+    _player->rotate(Vec3D{0, -displacement.x() / 1000.0, 0});
     _player->setVelocity(Matrix4x4::RotationY(-displacement.x() / 1000.0) * _player->velocity());
 
     double rotationLeft = displacement.y() / 1000.0;
@@ -140,7 +139,7 @@ void PlayerController::update() {
         rotationLeft = -Consts::PI / 2 - _player->headAngle();
 
     _player->setHeadAngle(_player->headAngle() + rotationLeft);
-    _player->rotateWeaponsRelativePoint(_player->position() + Point4D{0, 1.8, 0}, _player->left(), rotationLeft);
+    _player->rotateWeaponsRelativePoint(_player->position() + Vec3D{0, 1.8, 0}, _player->left(), rotationLeft);
 
     if (_keyboard->isKeyTapped(sf::Keyboard::Right) || _keyboard->isKeyTapped(sf::Keyboard::E)) {
         _player->nextWeapon();
diff --git a/Server.cpp b/Server.cpp
index c961c32..b8fbb8a 100644
--- a/Server.cpp
+++ b/Server.cpp
@@ -9,14 +9,12 @@ void Server::broadcast() {
     sf::Packet updatePacket;
     updatePacket << MsgType::Update;
 
-    for (auto& player : _players)
-    {
+    for (auto& player : _players) {
         //player.second->setHealth(player.second->health() + (Time::time() - _lastBroadcast)/100);
         updatePacket << player.first << player.second->position().x() << player.second->position().y() << player.second->position().z() << player.second->health() << player.second->angle().y() << player.second->headAngle();
     }
 
-    for (auto& player : _players)
-    {
+    for (auto& player : _players) {
         _socket.send(updatePacket, player.first);
     }
 }
@@ -53,8 +51,8 @@ void Server::processClientUpdate(sf::Uint16 senderId, sf::Packet& packet) {
     double buf[5];
 
     packet >> buf[0] >> buf[1] >> buf[2] >> buf[3] >> buf[4];
-    _players.at(senderId)->translateToPoint(Point4D{ buf[0], buf[1], buf[2] });
-    _players.at(senderId)->rotateToAngle(Point4D{0, buf[3], 0});
+    _players.at(senderId)->translateToPoint(Vec3D{ buf[0], buf[1], buf[2] });
+    _players.at(senderId)->rotateToAngle(Vec3D{0, buf[3], 0});
     _players.at(senderId)->setHeadAngle(buf[4]);
 }
 
diff --git a/Shooter.cpp b/Shooter.cpp
index 0f37bf4..da2fe71 100644
--- a/Shooter.cpp
+++ b/Shooter.cpp
@@ -56,8 +56,8 @@ void Shooter::InitNetwork()
 
     client->setSpawnPlayerCallBack([this](sf::Uint16 id){ spawnPlayer(id); });
     client->setRemovePlayerCallBack([this](sf::Uint16 id){ removePlayer(id); });
-    client->setAddFireTraceCallBack([this](const Point4D& from, const Point4D& to){ addFireTrace(from, to); });
-    client->setAddBonusCallBack([this](const std::string& bonusName, const Point4D& position){ addBonus(bonusName, position); });
+    client->setAddFireTraceCallBack([this](const Vec3D& from, const Vec3D& to){ addFireTrace(from, to); });
+    client->setAddBonusCallBack([this](const std::string& bonusName, const Vec3D& position){ addBonus(bonusName, position); });
     client->setRemoveBonusCallBack([this](const std::string& bonusName){ removeBonus(bonusName); });
 }
 
@@ -68,25 +68,25 @@ void Shooter::start() {
 
     mouse->setMouseCursorVisible(true);
 
-    world->loadMap("maps/map1.obj", "maps/materials.txt", "map", Point4D{5, 5, 5});
+    world->loadMap("maps/map1.obj", "maps/materials.txt", "map", Vec3D{5, 5, 5});
 
     player = std::make_shared<Player>();
     playerController = std::make_shared<PlayerController>(player, keyboard, mouse);
 
-    player->setAddTraceCallBack([this](const Point4D& from, const Point4D& to){ client->addTrace(from, to); addFireTrace(from, to); });
+    player->setAddTraceCallBack([this](const Vec3D& from, const Vec3D& to){ client->addTrace(from, to); addFireTrace(from, to); });
     player->setDamagePlayerCallBack([this] (sf::Uint16 targetId, double damage) { client->damagePlayer(targetId, damage); });
-    player->setRayCastFunction([this](const Point4D& from, const Point4D& to) { return world->rayCast(from, to); });
+    player->setRayCastFunction([this](const Vec3D& from, const Vec3D& to) { return world->rayCast(from, to); });
     player->setTakeBonusCallBack([this] (const string& bonusName) { client->takeBonus(bonusName); });
-
     player->setAddWeaponCallBack([this](std::shared_ptr<Weapon> weapon){ addWeapon(weapon); });
     player->setRemoveWeaponCallBack([this](std::shared_ptr<Weapon> weapon){ removeWeapon(weapon); });
+
     player->initWeapons();
 
-    camera->translateToPoint(player->position() + Point4D{0, 1.8, 0});
+    camera->translateToPoint(player->position() + Vec3D{0, 1.8, 0});
     player->attach(camera, "camera");
 
     world->addBody(player, "Player");
-    player->translate(Point4D{0, 10, 0});
+    player->translate(Vec3D{0, 10, 0});
 
     client = std::make_shared<Client>(player);
     server = std::make_shared<Server>();
@@ -96,7 +96,7 @@ void Shooter::start() {
     mainMenu.setBackgroundTexture("textures/back.png", 1.1, 1.1, screen->width(), screen->height());
 
     mainMenu.addButton(screen->width()/2, 200, 200, 20, [this] () { this->play(); }, "Play", 5, 5, "textures/gui.png", {0, 66}, {0, 86}, {0, 46}, "engine/fonts/Roboto-Medium.ttf", {255, 255, 255}, "sound/click.ogg");
-    mainMenu.addButton(screen->width()/2, 350, 200, 20, [this] () { this->player->translateToPoint(Point4D{0, 0, 0}); this->player->setVelocity({}); this->play(); }, "Respawn", 5, 5, "textures/gui.png", {0, 66}, {0, 86}, {0, 46}, "engine/fonts/Roboto-Medium.ttf", {255, 255, 255}, "sound/click.ogg");
+    mainMenu.addButton(screen->width()/2, 350, 200, 20, [this] () { this->player->translateToPoint(Vec3D{0, 0, 0}); this->player->setVelocity({}); this->play(); }, "Respawn", 5, 5, "textures/gui.png", {0, 66}, {0, 86}, {0, 46}, "engine/fonts/Roboto-Medium.ttf", {255, 255, 255}, "sound/click.ogg");
 
     mainMenu.addButton(screen->width()/2, 500, 200, 20, [this] () { client->disconnect(); server->stop(); this->exit();}, "Exit", 5, 5, "textures/gui.png", {0, 66}, {0, 86}, {0, 46}, "engine/fonts/Roboto-Medium.ttf", {255, 255, 255}, "sound/click.ogg");
 
@@ -207,22 +207,22 @@ void Shooter::spawnPlayer(sf::Uint16 id) {
     client->addPlayer(id, newPlayer);
     world->addBody(newPlayer, name);
     newPlayer->setVisible(true);
-    newPlayer->setAcceleration(Point4D{0, 0, 0});
+    newPlayer->setAcceleration(Vec3D{0, 0, 0});
 
     // add head and other stuff:
-    world->loadBody(name + "_head", "obj/cube.obj", "", Point4D{0.7, 0.7, 0.7});
-    world->body(name + "_head")->translate(Point4D{0, 2, 0});
+    world->loadBody(name + "_head", "obj/cube.obj", "", Vec3D{0.7, 0.7, 0.7});
+    world->body(name + "_head")->translate(Vec3D{0, 2, 0});
     world->body(name + "_head")->setCollider(false);
     newPlayer->attach(world->body(name + "_head"), "head");
 
-    world->loadBody(name + "_eye1", "obj/cube.obj", "", Point4D{0.2, 0.2, 0.05});
-    world->body(name + "_eye1")->translate(Point4D{0.3, 2.1, 0.7});
+    world->loadBody(name + "_eye1", "obj/cube.obj", "", Vec3D{0.2, 0.2, 0.05});
+    world->body(name + "_eye1")->translate(Vec3D{0.3, 2.1, 0.7});
     world->body(name + "_eye1")->setCollider(false);
     world->body(name + "_eye1")->setColor({147, 159, 255});
     world->body(name + "_head")->attach(world->body(name + "_eye1"), "eye1");
 
-    world->loadBody(name + "_eye2", "obj/cube.obj", "", Point4D{0.2, 0.2, 0.05});
-    world->body(name + "_eye2")->translate(Point4D{-0.3, 2.1, 0.7});
+    world->loadBody(name + "_eye2", "obj/cube.obj", "", Vec3D{0.2, 0.2, 0.05});
+    world->body(name + "_eye2")->translate(Vec3D{-0.3, 2.1, 0.7});
     world->body(name + "_eye2")->setCollider(false);
     world->body(name + "_eye2")->setColor({147, 159, 255});
     world->body(name + "_head")->attach(world->body(name + "_eye2"), "eye2");
@@ -236,7 +236,7 @@ void Shooter::removePlayer(sf::Uint16 id) {
     world->removeBody(name + "_eye2");
 }
 
-void Shooter::addFireTrace(const Point4D &from, const Point4D &to) {
+void Shooter::addFireTrace(const Vec3D &from, const Vec3D &to) {
     std::string traceName = "Client_fireTraces_" + std::to_string(fireTraces++);
     world->addBody(std::make_shared<RigidBody>(Mesh::LineTo(from, to, 0.05)), traceName);
     world->body(traceName)->setCollider(false);
@@ -249,11 +249,11 @@ void Shooter::deleteFireTrace(const std::string& traceName) {
     world->removeBody(traceName);
 }
 
-void Shooter::addBonus(const string &bonusName, const Point4D &position) {
+void Shooter::addBonus(const string &bonusName, const Vec3D &position) {
     std::string name = bonusName.substr(6, bonusName.size()-3-5);
-    world->addBody(std::make_shared<Bonus>(bonusName, "obj/" + name + ".obj", "obj/" + name + "_mat.txt", Point4D{3, 3, 3}), bonusName);
+    world->addBody(std::make_shared<Bonus>(bonusName, "obj/" + name + ".obj", "obj/" + name + "_mat.txt", Vec3D{3, 3, 3}), bonusName);
     world->body(bonusName)->translateToPoint(position);
-    Timeline::animate(bonusName + "_rotation", new ARotate(world->body(bonusName), Point4D{0, 2*Consts::PI, 0}, 4, Animation::LoopOut::Continue, Animation::InterpolationType::linear));
+    Timeline::animate(bonusName + "_rotation", new ARotate(world->body(bonusName), Vec3D{0, 2*Consts::PI, 0}, 4, Animation::LoopOut::Continue, Animation::InterpolationType::linear));
 }
 
 void Shooter::removeBonus(const string &bonusName) {
diff --git a/Shooter.h b/Shooter.h
index fec5737..729e119 100644
--- a/Shooter.h
+++ b/Shooter.h
@@ -43,9 +43,9 @@ private:
 
     void spawnPlayer(sf::Uint16 id);
     void removePlayer(sf::Uint16 id);
-    void addFireTrace(const Point4D& from, const Point4D& to);
+    void addFireTrace(const Vec3D& from, const Vec3D& to);
     void deleteFireTrace(const std::string& traceName);
-    void addBonus(const std::string& bonusName, const Point4D& position);
+    void addBonus(const std::string& bonusName, const Vec3D& position);
     void removeBonus(const std::string& bonusName);
     void addWeapon(std::shared_ptr<Weapon> weapon);
     void removeWeapon(std::shared_ptr<Weapon> weapon);
diff --git a/ShooterConsts.h b/ShooterConsts.h
new file mode 100644
index 0000000..3e7473a
--- /dev/null
+++ b/ShooterConsts.h
@@ -0,0 +1,13 @@
+//
+// Created by Иван Ильин on 10.10.2021.
+//
+
+#ifndef SHOOTER_SHOOTERCONSTS_H
+#define SHOOTER_SHOOTERCONSTS_H
+
+namespace ShooterConsts {
+    const double GRAVITY = 35;
+
+}
+
+#endif //SHOOTER_SHOOTERCONSTS_H
diff --git a/engine/Camera.cpp b/engine/Camera.cpp
index 8aed8aa..a95f1fd 100644
--- a/engine/Camera.cpp
+++ b/engine/Camera.cpp
@@ -8,11 +8,11 @@
 #include <cmath>
 #include "Consts.h"
 
-std::vector<Triangle> &Camera::project(std::shared_ptr<Mesh> mesh) {
+std::vector<std::shared_ptr<Triangle>> Camera::project(std::shared_ptr<Mesh> mesh) {
 
     if(!_ready) {
         Log::log("Camera::project(): cannot project _tris without camera initialization ( Camera::init() ) ");
-        return this->_triangles;
+        return _triangles;
     }
 
     if(!mesh->isVisible())
@@ -24,37 +24,36 @@ std::vector<Triangle> &Camera::project(std::shared_ptr<Mesh> mesh) {
 
     // We don't want to waste time re-allocating memory every time
     std::vector<Triangle> clippedTriangles, tempBuffer;
+
     for(auto& t : mesh->triangles()) {
 
-        double dot = t.norm().dot((mesh->position() + t[0] - _position).normalized());
+
+        double dot = t.norm().dot((mesh->position() + Vec3D(t[0]) - position()).normalized());
 
         if(dot > 0)
             continue;
 
-        Triangle clipped[2];
         // It needs to be cleared because it's reused through iterations. Usually it doesn't free memory.
         clippedTriangles.clear();
+        tempBuffer.clear();
 
-        // In the beginning we need to to translate drawTriangle from world coordinate to our camera system:
+        // In the beginning we need to to translate triangle from world coordinate to our camera system:
         // After that we apply clipping for all planes from _clipPlanes
         clippedTriangles.emplace_back(t * VM);
         for(auto& plane : _clipPlanes)
         {
             while(!clippedTriangles.empty())
             {
-                clipped[0] = clippedTriangles.back();
-                clipped[1] = clipped[0];
+                std::vector<Triangle> clipResult = plane.clip(clippedTriangles.back());
                 clippedTriangles.pop_back();
-                int additional = plane.clip(clipped[0], clipped[1]);
-
-                for(int i = 0; i < additional; i++)
-                    tempBuffer.emplace_back(clipped[i]);
+                for(auto & i : clipResult)
+                    tempBuffer.emplace_back(i);
             }
             clippedTriangles.swap(tempBuffer);
         }
 
-        for(auto& clippedTriangle : clippedTriangles) {
-            sf::Color color = clippedTriangle.color();
+        for(auto& clipped : clippedTriangles) {
+            sf::Color color = clipped.color();
             sf::Color ambientColor = sf::Color((sf::Uint8)(color.r * (0.3 * std::abs(dot) + 0.7)),
                                                (sf::Uint8)(color.g * (0.3 * std::abs(dot) + 0.7)),
                                                (sf::Uint8)(color.b * (0.3 * std::abs(dot) + 0.7)),
@@ -62,14 +61,14 @@ std::vector<Triangle> &Camera::project(std::shared_ptr<Mesh> mesh) {
 
             // Finally its time to project our clipped colored drawTriangle from 3D -> 2D
             // and transform it's coordinate to screen space (in pixels):
-            clippedTriangle = clippedTriangle * _SP;
+            Triangle clippedProjected = clipped * _SP;
 
-            clippedTriangle = Triangle(clippedTriangle[0] / clippedTriangle[0].w(),
-                                       clippedTriangle[1] / clippedTriangle[1].w(),
-                                       clippedTriangle[2] / clippedTriangle[2].w(),
-                                       ambientColor);
+            Triangle clippedProjectedNormalized = Triangle(clippedProjected[0] / clippedProjected[0].w(),
+                                                         clippedProjected[1] / clippedProjected[1].w(),
+                                                         clippedProjected[2] / clippedProjected[2].w(),
+                                                         ambientColor);
 
-            _triangles.emplace_back(clippedTriangle);
+            _triangles.emplace_back(std::make_shared<Triangle>(clippedProjectedNormalized));
         }
     }
 
@@ -87,28 +86,28 @@ void Camera::init(int width, int height, double fov, double ZNear, double ZFar)
 
     // This is planes for clipping _tris.
     // Motivation: we are not interest in _tris that we cannot see.
-    _clipPlanes.emplace_back(Plane(Point4D{0, 0, 1}, Point4D{0, 0, ZNear})); // near plane
-    _clipPlanes.emplace_back(Plane(Point4D{0, 0, -1}, Point4D{0, 0, ZFar})); // far plane
+    _clipPlanes.emplace_back(Plane(Vec3D{0, 0, 1}, Vec3D{0, 0, ZNear})); // near plane
+    _clipPlanes.emplace_back(Plane(Vec3D{0, 0, -1}, Vec3D{0, 0, ZFar})); // far plane
 
     double thetta1 = Consts::PI*fov*0.5/180.0;
     double thetta2 = atan(_aspect * tan(thetta1));
-    _clipPlanes.emplace_back(Plane(Point4D{-cos(thetta2), 0, sin(thetta2)}, Point4D{0, 0, 0})); // left plane
-    _clipPlanes.emplace_back(Plane(Point4D{cos(thetta2), 0, sin(thetta2)}, Point4D{0, 0, 0})); // right plane
-    _clipPlanes.emplace_back(Plane(Point4D{0, cos(thetta1), sin(thetta1)}, Point4D{0, 0, 0})); // down plane
-    _clipPlanes.emplace_back(Plane(Point4D{0, -cos(thetta1), sin(thetta1)}, Point4D{0, 0, 0})); // up plane
+    _clipPlanes.emplace_back(Plane(Vec3D{-cos(thetta2), 0, sin(thetta2)}, Vec3D{0, 0, 0})); // left plane
+    _clipPlanes.emplace_back(Plane(Vec3D{cos(thetta2), 0, sin(thetta2)}, Vec3D{0, 0, 0})); // right plane
+    _clipPlanes.emplace_back(Plane(Vec3D{0, cos(thetta1), sin(thetta1)}, Vec3D{0, 0, 0})); // down plane
+    _clipPlanes.emplace_back(Plane(Vec3D{0, -cos(thetta1), sin(thetta1)}, Vec3D{0, 0, 0})); // up plane
 
     _ready = true;
     Log::log("Camera::init(): camera successfully initialized.");
 }
 
-std::vector<Triangle> &Camera::sorted() {
+std::vector<std::shared_ptr<Triangle>> Camera::sorted() {
 
     // Sort _tris from _back to front
     // This is some replacement for Z-buffer
-    std::sort(_triangles.begin(), _triangles.end(), [](Triangle &t1, Triangle &t2)
+    std::sort(_triangles.begin(), _triangles.end(), [](std::shared_ptr<Triangle> &t1, std::shared_ptr<Triangle> &t2)
     {
-        std::vector<double> v_z1({t1[0].z(), t1[1].z(), t1[2].z()});
-        std::vector<double> v_z2({t2[0].z(), t2[1].z(), t2[2].z()});
+        std::vector<double> v_z1({(*t1)[0].z(), (*t1)[1].z(), (*t1)[2].z()});
+        std::vector<double> v_z2({(*t2)[0].z(), (*t2)[1].z(), (*t2)[2].z()});
 
         std::sort(v_z1.begin(), v_z1.end());
         std::sort(v_z2.begin(), v_z2.end());
@@ -127,5 +126,5 @@ void Camera::clear() {
     // That is like preparation for new camera shot: we need to set
     // the position of camera and insert new cartridge for photo.
     _triangles.clear();
-    _V = Matrix4x4::View(_left, _up, _lookAt, _position);
+    _V = Matrix4x4::View(left(), up(), lookAt(), position());
 }
diff --git a/engine/Camera.h b/engine/Camera.h
index 58d1f23..69d60fe 100644
--- a/engine/Camera.h
+++ b/engine/Camera.h
@@ -19,7 +19,7 @@ private:
     // To accelerate calculations we can use precalculated matrix that does not chance
     Matrix4x4 _SP; // screen-space-projections matrix
 
-    std::vector<Triangle> _triangles{};
+    std::vector<std::shared_ptr<Triangle>> _triangles{};
     std::vector<Plane> _clipPlanes{};
 
     bool _ready = false;
@@ -30,12 +30,12 @@ public:
 
     void init(int width, int height, double fov = 110.0, double ZNear = 0.1, double ZFar = 5000.0);
 
-    std::vector<Triangle>& project(std::shared_ptr<Mesh> mesh);
+    std::vector<std::shared_ptr<Triangle>> project(std::shared_ptr<Mesh> mesh);
 
     void clear();
 
     [[nodiscard]] int buffSize() const { return _triangles.size(); }
-    std::vector<Triangle>& sorted();
+    std::vector<std::shared_ptr<Triangle>> sorted();
 };
 
 
diff --git a/engine/Consts.h b/engine/Consts.h
index 81fdb74..2415018 100644
--- a/engine/Consts.h
+++ b/engine/Consts.h
@@ -7,6 +7,12 @@
 
 namespace Consts {
     const double PI = 3.14159265358979323846264338327950288;
+    const double EPS = 0.000001;
+
+    const int GJK_MAX_ITERATIONS = 50;
+    const double EPA_EPS = 0.0001;
+
+    const double RAY_CAST_MAX_DISTANCE = 10000;
 }
 
 #endif //SHOOTER_CONSTS_H
diff --git a/engine/Engine.cpp b/engine/Engine.cpp
index 48c4173..b34ec07 100644
--- a/engine/Engine.cpp
+++ b/engine/Engine.cpp
@@ -55,7 +55,7 @@ void Engine::create(int screenWidth, int screenHeight, const std::string &name,
 
             // draw projected body
             for (auto &t : camera->sorted())
-                screen->drawTriangle(t);
+                screen->drawTriangle(*t);
 
             _triPerSec = camera->buffSize() * Time::fps();
 
diff --git a/engine/utils/Matrix4x4.cpp b/engine/Matrix4x4.cpp
similarity index 69%
rename from engine/utils/Matrix4x4.cpp
rename to engine/Matrix4x4.cpp
index 337c22c..350f35c 100644
--- a/engine/utils/Matrix4x4.cpp
+++ b/engine/Matrix4x4.cpp
@@ -6,7 +6,7 @@
 #include <cassert>
 
 #include <cmath>
-#include "../Consts.h"
+#include "Consts.h"
 
 Matrix4x4 Matrix4x4::operator*(const Matrix4x4 &matrix4X4) const {
     Matrix4x4 result = Matrix4x4::Zero();
@@ -27,6 +27,14 @@ Point4D Matrix4x4::operator*(const Point4D &point4D) const {
     );
 }
 
+Vec3D Matrix4x4::operator*(const Vec3D &vec) const {
+    return Vec3D(
+            _arr[0][0] * vec.x() + _arr[0][1] * vec.y() + _arr[0][2] * vec.z(),
+            _arr[1][0] * vec.x() + _arr[1][1] * vec.y() + _arr[1][2] * vec.z(),
+            _arr[2][0] * vec.x() + _arr[2][1] * vec.y() + _arr[2][2] * vec.z()
+            );
+}
+
 Matrix4x4 Matrix4x4::Identity() {
     Matrix4x4 result;
 
@@ -54,7 +62,7 @@ Matrix4x4 Matrix4x4::Zero() {
     return Matrix4x4::Constant(0);
 }
 
-Matrix4x4 Matrix4x4::Scale(const Point4D& factor) {
+Matrix4x4 Matrix4x4::Scale(const Vec3D& factor) {
     Matrix4x4 s{};
     s._arr[0][0] = factor.x();
     s._arr[1][1] = factor.y();
@@ -64,14 +72,8 @@ Matrix4x4 Matrix4x4::Scale(const Point4D& factor) {
     return s;
 }
 
-Matrix4x4 Matrix4x4::Translation(const Point4D& v) {
+Matrix4x4 Matrix4x4::Translation(const Vec3D& v) {
     Matrix4x4 t{};
-/*
- * ( 1 0 0 dx )(_x)   (_x + dx)
- * ( 0 1 0 dy )(_y) = (_y + dy)
- * ( 0 0 1 dz )(z)   (z + dz)
- * ( 0 0 0 1  )(1)   (  1   )
- */
 
     t._arr[0][0] = 1.0;
     t._arr[1][1] = 1.0;
@@ -129,25 +131,25 @@ Matrix4x4 Matrix4x4::RotationZ(double rz) {
     return Rz;
 }
 
-Matrix4x4 Matrix4x4::Rotation(const Point4D& r) {
+Matrix4x4 Matrix4x4::Rotation(const Vec3D& r) {
     return RotationX(r.x()) * RotationY(r.y()) * RotationZ(r.z());
 }
 
-Matrix4x4 Matrix4x4::Rotation(Point4D v, double rv) {
+Matrix4x4 Matrix4x4::Rotation(const Vec3D& v, double rv) {
     Matrix4x4 Rv{};
-    v = v.normalized();
+    Vec3D nv(v.normalized());
 
-    Rv._arr[0][0] = cos(rv) + (1.0 - cos(rv))*v.x()*v.x();
-    Rv._arr[0][1] = (1.0 - cos(rv))*v.x()*v.y() - sin(rv)*v.z();
-    Rv._arr[0][2] = (1.0 - cos(rv))*v.x()*v.z() + sin(rv)*v.y();
+    Rv._arr[0][0] = cos(rv) + (1.0 - cos(rv))*nv.x()*nv.x();
+    Rv._arr[0][1] = (1.0 - cos(rv))*nv.x()*nv.y() - sin(rv)*nv.z();
+    Rv._arr[0][2] = (1.0 - cos(rv))*nv.x()*nv.z() + sin(rv)*nv.y();
 
-    Rv._arr[1][0] = (1.0 - cos(rv))*v.x()*v.y() + sin(rv)*v.z();
-    Rv._arr[1][1] = cos(rv) + (1.0 - cos(rv))*v.y()*v.y();
-    Rv._arr[1][2] = (1.0 - cos(rv))*v.y()*v.z() - sin(rv)*v.x();
+    Rv._arr[1][0] = (1.0 - cos(rv))*nv.x()*nv.y() + sin(rv)*nv.z();
+    Rv._arr[1][1] = cos(rv) + (1.0 - cos(rv))*nv.y()*nv.y();
+    Rv._arr[1][2] = (1.0 - cos(rv))*nv.y()*nv.z() - sin(rv)*nv.x();
 
-    Rv._arr[2][0] = (1.0 - cos(rv))*v.z()*v.x() - sin(rv)*v.y();
-    Rv._arr[2][1] = (1.0 - cos(rv))*v.z()*v.y() + sin(rv)*v.x();
-    Rv._arr[2][2] = cos(rv) + (1.0 - cos(rv))*v.z()*v.z();
+    Rv._arr[2][0] = (1.0 - cos(rv))*nv.z()*nv.x() - sin(rv)*nv.y();
+    Rv._arr[2][1] = (1.0 - cos(rv))*nv.z()*nv.y() + sin(rv)*nv.x();
+    Rv._arr[2][2] = cos(rv) + (1.0 - cos(rv))*nv.z()*nv.z();
 
     Rv._arr[3][3] = 1.0;
 
@@ -181,22 +183,22 @@ Matrix4x4 Matrix4x4::ScreenSpace(int width, int height) {
     return s;
 }
 
-Matrix4x4 Matrix4x4::View(const Point4D &left, const Point4D &up, const Point4D &lookAt, const Point4D &eye) {
+Matrix4x4 Matrix4x4::View(const Vec3D &left, const Vec3D &up, const Vec3D &lookAt, const Vec3D &eye) {
     Matrix4x4 V = Zero();
 
-    V._arr[0][0] = left[0];
-    V._arr[0][1] = left[1];
-    V._arr[0][2] = left[2];
+    V._arr[0][0] = left.x();
+    V._arr[0][1] = left.y();
+    V._arr[0][2] = left.z();
     V._arr[0][3] = -eye.dot(left);
 
-    V._arr[1][0] = up[0];
-    V._arr[1][1] = up[1];
-    V._arr[1][2] = up[2];
+    V._arr[1][0] = up.x();
+    V._arr[1][1] = up.y();
+    V._arr[1][2] = up.z();
     V._arr[1][3] = -eye.dot(up);
 
-    V._arr[2][0] = lookAt[0];
-    V._arr[2][1] = lookAt[1];
-    V._arr[2][2] = lookAt[2];
+    V._arr[2][0] = lookAt.x();
+    V._arr[2][1] = lookAt.y();
+    V._arr[2][2] = lookAt.z();
     V._arr[2][3] = -eye.dot(lookAt);
 
     V._arr[3][3] = 1.0;
diff --git a/engine/utils/Matrix4x4.h b/engine/Matrix4x4.h
similarity index 71%
rename from engine/utils/Matrix4x4.h
rename to engine/Matrix4x4.h
index 7c04d88..6bbe1e3 100644
--- a/engine/utils/Matrix4x4.h
+++ b/engine/Matrix4x4.h
@@ -7,6 +7,7 @@
 
 #include <array>
 #include "Point4D.h"
+#include "Vec3D.h"
 
 class Matrix4x4 {
 private:
@@ -18,21 +19,22 @@ public:
 
     [[nodiscard]] Matrix4x4 operator*(const Matrix4x4& matrix4X4) const;
     [[nodiscard]] Point4D operator*(const Point4D& point4D) const;
+    [[nodiscard]] Vec3D operator*(const Vec3D& vec) const;
 
     // Any useful matrix (static methods)
     Matrix4x4 static Identity();
     Matrix4x4 static Zero();
     Matrix4x4 static Constant (double value);
 
-    Matrix4x4 static Scale(const Point4D& factor);
-    Matrix4x4 static Translation(const Point4D& v);
-    Matrix4x4 static Rotation(const Point4D& r);
+    Matrix4x4 static Scale(const Vec3D& factor);
+    Matrix4x4 static Translation(const Vec3D& v);
+    Matrix4x4 static Rotation(const Vec3D& r);
     Matrix4x4 static RotationX (double rx);
     Matrix4x4 static RotationY (double ry);
     Matrix4x4 static RotationZ (double rz);
-    Matrix4x4 static Rotation (Point4D v, double rv);
+    Matrix4x4 static Rotation (const Vec3D& v, double rv);
 
-    Matrix4x4 static View(const Point4D& left, const Point4D& up, const Point4D& lookAt, const Point4D& eye);
+    Matrix4x4 static View(const Vec3D &left, const Vec3D &up, const Vec3D &lookAt, const Vec3D &eye);
     Matrix4x4 static Projection (double fov = 90.0, double aspect = 1.0, double ZNear = 1.0, double ZFar = 10.0);
     Matrix4x4 static ScreenSpace (int width, int height);
 };
diff --git a/engine/Mesh.cpp b/engine/Mesh.cpp
index 0b5c520..ae2f582 100644
--- a/engine/Mesh.cpp
+++ b/engine/Mesh.cpp
@@ -12,13 +12,16 @@
 using namespace std;
 
 Mesh &Mesh::operator*=(const Matrix4x4 &matrix4X4) {
-    for (auto& t : _tris)
-        t = t * matrix4X4;
+    std::vector<Triangle> newTriangles;
+    for(auto &t : _tris) {
+        newTriangles.emplace_back(t * matrix4X4);
+    }
+    setTriangles(newTriangles);
 
     return *this;
 }
 
-Mesh &Mesh::loadObj(const std::string& filename, const std::string &materials, const Point4D& scale) {
+Mesh &Mesh::loadObj(const std::string& filename, const std::string &materials, const Vec3D& scale) {
 
     auto objects = Mesh::LoadObjects(filename, materials, scale);
     for(auto& obj : objects) {
@@ -29,61 +32,54 @@ Mesh &Mesh::loadObj(const std::string& filename, const std::string &materials, c
     return *this;
 }
 
-Mesh::Mesh(const std::string& filename, const std::string &materials, const Point4D& scale){
+Mesh::Mesh(const std::string& filename, const std::string &materials, const Vec3D& scale){
     loadObj(filename, materials, scale);
 }
 
-Mesh::Mesh(const vector<Triangle> &tries){
-    _tris = tries;
-}
-
-Mesh::Mesh(const Mesh& mesh) {
-    *this = mesh;
+Mesh::Mesh(const vector<Triangle> &tries) : _tris(tries) {
 }
 
 Mesh Mesh::Obj(const std::string& filename) {
     return Mesh(filename);
 }
 
-void Mesh::rotate(const Point4D &r) {
+void Mesh::rotate(const Vec3D &r) {
     Object::rotate(r);
     *this *= Matrix4x4::Rotation(r);
 }
 
-void Mesh::rotate(const Point4D &v, double r) {
+void Mesh::rotate(const Vec3D &v, double r) {
     Object::rotate(v, r);
     *this *= Matrix4x4::Rotation(v, r);
 }
 
-void Mesh::scale(const Point4D &s) {
+void Mesh::scale(const Vec3D &s) {
     Object::scale(s);
     *this *= Matrix4x4::Scale(s);
 }
 
-Mesh &Mesh::operator=(const Mesh &mesh) {
-    _tris = mesh._tris;
-    _position = mesh._position;
-    _color = mesh._color;
-    return *this;
-}
-
-void Mesh::rotateRelativePoint(const Point4D &s, const Point4D &r) {
+void Mesh::rotateRelativePoint(const Vec3D &s, const Vec3D &r) {
     Object::rotateRelativePoint(s, r);
     *this *= Matrix4x4::Rotation(r);
 }
 
-void Mesh::rotateRelativePoint(const Point4D &s, const Point4D &v, double r) {
+void Mesh::rotateRelativePoint(const Vec3D &s, const Vec3D &v, double r) {
     Object::rotateRelativePoint(s, v, r);
     *this *= Matrix4x4::Rotation(v, r);
 }
 
-void Mesh::setColor(sf::Color c) {
+void Mesh::setColor(const sf::Color& c) {
     _color = c;
-    for (auto& t : _tris)
-        t = Triangle(t[0], t[1], t[2], _color);
+
+    // change color of all mesh triangles:
+    std::vector<Triangle> newTriangles;
+    for(auto &t : _tris) {
+        newTriangles.emplace_back(Triangle(t[0], t[1], t[2], c));
+    }
+    setTriangles(newTriangles);
 }
 
-std::vector<std::shared_ptr<Mesh>> Mesh::LoadObjects(const string &filename, const string &materials, const Point4D &scale) {
+std::vector<std::shared_ptr<Mesh>> Mesh::LoadObjects(const string &filename, const string &materials, const Vec3D &scale) {
     std::vector<std::shared_ptr<Mesh>> objects;
     map<string, sf::Color> maters;
 
@@ -170,26 +166,27 @@ std::vector<std::shared_ptr<Mesh>> Mesh::LoadObjects(const string &filename, con
     return objects;
 }
 
-Mesh Mesh::LineTo(const Point4D& from, const Point4D& to, double line_width, sf::Color color) {
+Mesh Mesh::LineTo(const Vec3D& from, const Vec3D& to, double line_width, const sf::Color& color) {
 
     Mesh line;
 
-    Point4D v1 = (to - from).normalized();
-    Point4D v2 = from.cross3D(from + Point4D{1, 0, 0}).normalized();
-    Point4D v3 = v1.cross3D(v2).normalized();
+    Vec3D v1 = (to - from).normalized();
+    Vec3D v2 = from.cross(from + Vec3D{1, 0, 0}).normalized();
+    Vec3D v3 = v1.cross(v2).normalized();
 
     // from plane
-    Point4D p1 = from - v2 * line_width/2.0 - v3 * line_width/2.0;
-    Point4D p2 = from - v2 * line_width/2.0 + v3 * line_width/2.0;
-    Point4D p3 = from + v2 * line_width/2.0 + v3 * line_width/2.0;
-    Point4D p4 = from + v2 * line_width/2.0 - v3 * line_width/2.0;
+    Point4D p1 = (from - v2 * line_width/2.0 - v3 * line_width/2.0).makePoint4D();
+    Point4D p2 = (from - v2 * line_width/2.0 + v3 * line_width/2.0).makePoint4D();
+    Point4D p3 = (from + v2 * line_width/2.0 + v3 * line_width/2.0).makePoint4D();
+    Point4D p4 = (from + v2 * line_width/2.0 - v3 * line_width/2.0).makePoint4D();
     // to plane
-    Point4D p5 = to - v2 * line_width/2.0 - v3 * line_width/2.0;
-    Point4D p6 = to - v2 * line_width/2.0 + v3 * line_width/2.0;
-    Point4D p7 = to + v2 * line_width/2.0 + v3 * line_width/2.0;
-    Point4D p8 = to + v2 * line_width/2.0 - v3 * line_width/2.0;
+    Point4D p5 = (to - v2 * line_width/2.0 - v3 * line_width/2.0).makePoint4D();
+    Point4D p6 = (to - v2 * line_width/2.0 + v3 * line_width/2.0).makePoint4D();
+    Point4D p7 = (to + v2 * line_width/2.0 + v3 * line_width/2.0).makePoint4D();
+    Point4D p8 = (to + v2 * line_width/2.0 - v3 * line_width/2.0).makePoint4D();
 
-    line._tris = {
+
+    line._tris = std::move(std::vector<Triangle>{
             { p2, p4, p1 },
             { p2, p3, p4 },
             { p1, p6, p2 },
@@ -202,14 +199,19 @@ Mesh Mesh::LineTo(const Point4D& from, const Point4D& to, double line_width, sf:
             { p4, p7, p8 },
             { p1, p8, p5 },
             { p1, p4, p8 }
-    };
-
+    });
     line.setColor(color);
 
-    for(auto& triangle : line._tris)
-        triangle = Triangle(Point4D{triangle[0].x(), triangle[0].y(), triangle[0].z(), 1},
-                            Point4D{triangle[1].x(), triangle[1].y(), triangle[1].z(), 1},
-                            Point4D{triangle[2].x(), triangle[2].y(), triangle[2].z(), 1}, line.color());
-
     return line;
 }
+
+Mesh::Mesh(const Mesh &mesh) : _tris(mesh._tris), _color(mesh._color), _visible(mesh._visible) {
+
+}
+
+void Mesh::setTriangles(const vector<Triangle> &t) {
+    _tris.clear();
+    for (auto & tri : t) {
+        _tris.push_back(tri);
+    }
+}
diff --git a/engine/Mesh.h b/engine/Mesh.h
index 7363a07..d78236b 100644
--- a/engine/Mesh.h
+++ b/engine/Mesh.h
@@ -19,38 +19,38 @@ private:
     Mesh& operator*=(const Matrix4x4& matrix4X4);
 public:
     Mesh() = default;
+    Mesh& operator=(const Mesh& mesh) = delete;
     Mesh(const Mesh& mesh);
 
     explicit Mesh(const std::vector<Triangle>& tries);
-    Mesh& operator=(const Mesh& mesh);
-    explicit Mesh(const std::string& filename, const std::string &materials = "", const Point4D& scale = Point4D{1, 1, 1});
+    explicit Mesh(const std::string& filename, const std::string &materials = "", const Vec3D& scale = Vec3D{1, 1, 1});
 
-    Mesh& loadObj(const std::string& filename, const std::string &materials = "", const Point4D& scale = Point4D{1, 1, 1});
+    Mesh& loadObj(const std::string& filename, const std::string &materials = "", const Vec3D& scale = Vec3D{1, 1, 1});
 
     [[nodiscard]] std::vector<Triangle>const &triangles() const { return _tris; }
     [[nodiscard]] std::vector<Triangle>& triangles() { return _tris; }
-    void setTriangles(const std::vector<Triangle>& t) { _tris = t; }
+    void setTriangles(const std::vector<Triangle>& t);
 
     // Translate body
     // Rotate body around XYZ axes
-    void rotate(const Point4D& r) override;
+    void rotate(const Vec3D& r) override;
     // Rotate body around normalised vector 'v' by 'r' radians
-    void rotate(const Point4D& v, double r) override;
+    void rotate(const Vec3D& v, double r) override;
     // Rotate body around XYZ by (r._x, r._y, r.z) radians relative val 'point4D'
-    void rotateRelativePoint(const Point4D& point4D, const Point4D& r) override;
+    void rotateRelativePoint(const Vec3D& point, const Vec3D& r) override;
     // Rotate body around normalised vector 'v' by 'r' radians relative val 'point4D'
-    void rotateRelativePoint(const Point4D& point4D, const Point4D& v, double r) override;
-    void scale(const Point4D& s) override;
+    void rotateRelativePoint(const Vec3D& point4D, const Vec3D& v, double r) override;
+    void scale(const Vec3D& s) override;
 
     [[nodiscard]] sf::Color color() const { return _color; }
-    void setColor(sf::Color c);
+    void setColor(const sf::Color& c);
 
     void setVisible(bool visibility) { _visible = visibility; }
     [[nodiscard]] bool isVisible() const { return _visible; }
 
     Mesh static Obj(const std::string& filename);
-    std::vector<std::shared_ptr<Mesh>> static LoadObjects(const std::string& filename, const std::string &materials = "", const Point4D& scale = Point4D{1, 1, 1});
-    Mesh static LineTo(const Point4D& from, const Point4D& to, double line_width = 0.1, sf::Color color = {150, 150, 150, 255});
+    std::vector<std::shared_ptr<Mesh>> static LoadObjects(const std::string& filename, const std::string &materials = "", const Vec3D& scale = Vec3D{1, 1, 1});
+    Mesh static LineTo(const Vec3D& from, const Vec3D& to, double line_width = 0.1, const sf::Color& color = {150, 150, 150, 255});
 };
 
 #endif //INC_3DZAVR_MESH_H
diff --git a/engine/Mouse.cpp b/engine/Mouse.cpp
index 231102e..453a664 100644
--- a/engine/Mouse.cpp
+++ b/engine/Mouse.cpp
@@ -5,18 +5,18 @@
 #include "Mouse.h"
 #include "utils/Time.h"
 
-Point4D Mouse::getMousePosition() const {
+Vec2D Mouse::getMousePosition() const {
     sf::Vector2<int> pos = sf::Mouse::getPosition(*_window);
-    return Point4D(pos.x, pos.y, 0, 0);
+    return Vec2D(pos.x, pos.y);
 }
 
-Point4D Mouse::getMouseDisplacement() const {
+Vec2D Mouse::getMouseDisplacement() const {
     sf::Vector2<int> mousePos = sf::Mouse::getPosition(*_window);
     sf::Vector2<int> center = sf::Vector2<int>(_window->getSize().x/2, _window->getSize().y/2);
 
     sf::Vector2<int> displacement = mousePos - center;
     //setMouseInCenter();
-    return Point4D(displacement.x, displacement.y, 0, 0);
+    return Vec2D(displacement.x, displacement.y);
 }
 
 void Mouse::setMouseInCenter() const {
diff --git a/engine/Mouse.h b/engine/Mouse.h
index e88b6ba..6101916 100644
--- a/engine/Mouse.h
+++ b/engine/Mouse.h
@@ -7,7 +7,7 @@
 
 #include <memory>
 #include <SFML/Graphics.hpp>
-#include "utils/Point4D.h"
+#include "Vec2D.h"
 
 class Mouse {
 private:
@@ -22,8 +22,8 @@ public:
     static bool isButtonPressed(sf::Mouse::Button button); // returns true if this _button is _pressed
     bool isButtonTapped(sf::Mouse::Button button); // returns true if this _button is tapped and 1/5 sec passed (_button bouncing problem solved)
 
-    [[nodiscard]] Point4D getMousePosition() const;
-    [[nodiscard]] Point4D getMouseDisplacement() const;
+    [[nodiscard]] Vec2D getMousePosition() const;
+    [[nodiscard]] Vec2D getMouseDisplacement() const;
     void setMouseInCenter() const;
     void setMouseCursorVisible(bool visible);
 };
diff --git a/engine/Object.cpp b/engine/Object.cpp
index ef56b3e..9d69dde 100644
--- a/engine/Object.cpp
+++ b/engine/Object.cpp
@@ -3,114 +3,121 @@
 //
 
 #include "Object.h"
-#include "utils/Matrix4x4.h"
+#include "Matrix4x4.h"
 #include "utils/Log.h"
 
-void Object::translate(const Point4D &dv) {
-    _position = _position + dv;
+void Object::translate(const Vec3D &dv) {
+    _position = std::make_unique<Vec3D>(*_position + dv);
 
     for(auto attached : _attachedObjects)
         attached.second->translate(dv);
 }
 
-void Object::scale(const Point4D &s) {
+void Object::scale(const Vec3D &s) {
     for(auto attached : _attachedObjects)
         attached.second->scale(s);
 }
 
-void Object::rotate(const Point4D &r) {
-    _angle = _angle + r;
+void Object::rotate(const Vec3D &r) {
+    _angle = std::make_unique<Vec3D>(*_angle + r);
 
     Matrix4x4 rotationMatrix = Matrix4x4::RotationZ(r.z())*Matrix4x4::RotationY(r.y())*Matrix4x4::RotationX(r.z());
 
-    _left = rotationMatrix * _left;
-    _up = rotationMatrix * _up;
-    _lookAt = rotationMatrix * _lookAt;
+    _left = std::make_unique<Vec3D>(rotationMatrix * *_left);
+    _up = std::make_unique<Vec3D>(rotationMatrix * *_up);
+    _lookAt = std::make_unique<Vec3D>(rotationMatrix * *_lookAt);
 
     for(auto attached : _attachedObjects)
         attached.second->rotateRelativePoint(position(), r);
 }
 
-void Object::rotate(const Point4D &v, double rv) {
+void Object::rotate(const Vec3D &v, double rv) {
     Matrix4x4 rotationMatrix = Matrix4x4::Rotation(v, rv);
-    _left = rotationMatrix * _left;
-    _up = rotationMatrix * _up;
-    _lookAt = rotationMatrix * _lookAt;
+
+    _left = std::make_unique<Vec3D>(rotationMatrix * *_left);
+    _up = std::make_unique<Vec3D>(rotationMatrix * *_up);
+    _lookAt = std::make_unique<Vec3D>(rotationMatrix * *_lookAt);
 
     for(auto attached : _attachedObjects)
         attached.second->rotateRelativePoint(position(), v, rv);
 }
 
-void Object::rotateRelativePoint(const Point4D &s, const Point4D &r) {
-    _angle = _angle + r;
+void Object::rotateRelativePoint(const Vec3D &s, const Vec3D &r) {
+    _angle = std::make_unique<Vec3D>(*_angle + r);
 
     // Translate XYZ by vector r1
-    Point4D r1 = _position - s;
+    Vec3D r1(*_position - s);
 
     // In translated coordinate system we rotate body and position
     Matrix4x4 rotationMatrix = Matrix4x4::Rotation(r);
-    Point4D r2 = rotationMatrix*r1;
+    Vec3D r2(rotationMatrix*r1);
 
-    _left = rotationMatrix * _left;
-    _up = rotationMatrix * _up;
-    _lookAt = rotationMatrix * _lookAt;
+    _left = std::make_unique<Vec3D>(rotationMatrix * *_left);
+    _up = std::make_unique<Vec3D>(rotationMatrix * *_up);
+    _lookAt = std::make_unique<Vec3D>(rotationMatrix * *_lookAt);
 
     // After rotation we translate XYZ by vector -r2 and recalculate position
-    _position = s + r2;
+    _position = std::make_unique<Vec3D>(s + r2);
 
     for(auto attached : _attachedObjects)
         attached.second->rotateRelativePoint(s, r);
 }
 
-void Object::rotateRelativePoint(const Point4D &s, const Point4D &v, double r) {
+void Object::rotateRelativePoint(const Vec3D &s, const Vec3D &v, double r) {
     // Translate XYZ by vector r1
-    Point4D r1 = _position - s;
+    Vec3D r1(*_position - s);
     // In translated coordinate system we rotate body and position
     Matrix4x4 rotationMatrix = Matrix4x4::Rotation(v, r);
-    Point4D r2 = rotationMatrix*r1;
+    Vec3D r2 = rotationMatrix*r1;
 
-    _left = rotationMatrix * _left;
-    _up = rotationMatrix * _up;
-    _lookAt = rotationMatrix * _lookAt;
+    _left = std::make_unique<Vec3D>(rotationMatrix * *_left);
+    _up = std::make_unique<Vec3D>(rotationMatrix * *_up);
+    _lookAt = std::make_unique<Vec3D>(rotationMatrix * *_lookAt);
 
     // After rotation we translate XYZ by vector -r2 and recalculate position
-    _position = s + r2;
+    _position = std::make_unique<Vec3D>(s + r2);
 
     for(auto attached : _attachedObjects)
         attached.second->rotateRelativePoint(s, v, r);
 }
 
 void Object::rotateLeft(double rl) {
-    _angleLeftUpLookAt = Point4D{_angleLeftUpLookAt.x() + rl, _angleLeftUpLookAt.y(), _angleLeftUpLookAt.z()};
+    _angleLeftUpLookAt = std::make_unique<Vec3D>(Vec3D{_angleLeftUpLookAt->x() + rl,
+                                                          _angleLeftUpLookAt->y(),
+                                                          _angleLeftUpLookAt->z()});
 
-    rotate(_left, rl);
+    rotate(*_left, rl);
 
     for(auto attached : _attachedObjects)
-        attached.second->rotateRelativePoint(position(), _left, rl);
+        attached.second->rotateRelativePoint(position(), *_left, rl);
 }
 
 void Object::rotateUp(double ru) {
-    _angleLeftUpLookAt = Point4D{_angleLeftUpLookAt.x(), _angleLeftUpLookAt.y() + ru, _angleLeftUpLookAt.z()};
-    rotate(_up, ru);
+    _angleLeftUpLookAt = std::make_unique<Vec3D>(Vec3D{_angleLeftUpLookAt->x(),
+                                                          _angleLeftUpLookAt->y() + ru,
+                                                          _angleLeftUpLookAt->z()});
+    rotate(*_up, ru);
 
     for(auto attached : _attachedObjects)
-        attached.second->rotateRelativePoint(position(), _up, ru);
+        attached.second->rotateRelativePoint(position(), *_up, ru);
 }
 
 void Object::rotateLookAt(double rlAt) {
-    _angleLeftUpLookAt = Point4D{_angleLeftUpLookAt.x(), _angleLeftUpLookAt.y(), _angleLeftUpLookAt.z() + rlAt};
-    rotate(_lookAt, rlAt);
+    _angleLeftUpLookAt = std::make_unique<Vec3D>(Vec3D{_angleLeftUpLookAt->x(),
+                                                          _angleLeftUpLookAt->y(),
+                                                          _angleLeftUpLookAt->z() + rlAt});
+    rotate(*_lookAt, rlAt);
 
     for(auto attached : _attachedObjects)
-        attached.second->rotateRelativePoint(position(), _lookAt, rlAt);
+        attached.second->rotateRelativePoint(position(), *_lookAt, rlAt);
 }
 
-void Object::translateToPoint(const Point4D &point) {
-    translate(point - _position);
+void Object::translateToPoint(const Vec3D &point) {
+    translate(point - *_position);
 }
 
-void Object::rotateToAngle(const Point4D &v) {
-    rotate(v - _angle);
+void Object::rotateToAngle(const Vec3D &v) {
+    rotate(v - *_angle);
 }
 
 std::shared_ptr<Object> Object::attached(const std::string &name) {
@@ -120,7 +127,11 @@ std::shared_ptr<Object> Object::attached(const std::string &name) {
 }
 
 void Object::attach(std::shared_ptr<Object> object, const std::string &name) {
-    _attachedObjects.emplace(name, object);
+    // TODO: solve problem with possible infinite recursive call chains
+    if(this != object.get())
+        _attachedObjects.emplace(name, object);
+    else
+        throw std::invalid_argument{"Object::attach: You cannot attach object to itself"};
 }
 
 void Object::unattach(const std::string &name) {
diff --git a/engine/Object.h b/engine/Object.h
index 2ae19d0..0bcbd46 100644
--- a/engine/Object.h
+++ b/engine/Object.h
@@ -6,40 +6,40 @@
 #define ENGINE_OBJECT_H
 
 #include <map>
-#include "utils/Point4D.h"
+#include "Vec3D.h"
 #include <memory>
 #include <string>
 
 class Object {
 protected:
-    Point4D _left =   Point4D{1, 0, 0, 0}; // internal X
-    Point4D _up =     Point4D{0, 1, 0, 0}; // internal Y
-    Point4D _lookAt = Point4D{0, 0, 1, 0}; // internal Z
+    std::unique_ptr<Vec3D> _left   = std::make_unique<Vec3D>(Vec3D{1, 0, 0}); // internal X
+    std::unique_ptr<Vec3D> _up     = std::make_unique<Vec3D>(Vec3D{0, 1, 0}); // internal Y
+    std::unique_ptr<Vec3D> _lookAt = std::make_unique<Vec3D>(Vec3D{0, 0, 1}); // internal Z
 
     std::map<std::string, std::shared_ptr<Object>> _attachedObjects;
 
-    Point4D _position;
-    Point4D _angle;
-    Point4D _angleLeftUpLookAt;
+    std::unique_ptr<Vec3D> _position = std::make_unique<Vec3D>(Vec3D{0, 0, 0});
+    std::unique_ptr<Vec3D> _angle = std::make_unique<Vec3D>(Vec3D{0, 0, 0});
+    std::unique_ptr<Vec3D> _angleLeftUpLookAt = std::make_unique<Vec3D>(Vec3D{0, 0, 0});
 public:
     Object() = default;
 
-    virtual void translate(const Point4D& dv);
-    virtual void translateToPoint(const Point4D& point);
-    virtual void scale(const Point4D& s);
-    virtual void rotate(const Point4D& r);
-    virtual void rotate(const Point4D& v, double rv);
-    virtual void rotateToAngle(const Point4D& v);
-    virtual void rotateRelativePoint(const Point4D& s, const Point4D& r);
-    virtual void rotateRelativePoint(const Point4D& s, const Point4D& v, double r);
+    virtual void translate(const Vec3D& dv);
+    virtual void translateToPoint(const Vec3D& point);
+    virtual void scale(const Vec3D& s);
+    virtual void rotate(const Vec3D& r);
+    virtual void rotate(const Vec3D& v, double rv);
+    virtual void rotateToAngle(const Vec3D& v);
+    virtual void rotateRelativePoint(const Vec3D& s, const Vec3D& r);
+    virtual void rotateRelativePoint(const Vec3D& s, const Vec3D& v, double r);
 
-    [[nodiscard]] Point4D position() const { return _position; }
-    [[nodiscard]] Point4D angle() const { return _angle; }
-    [[nodiscard]] Point4D angleLeftUpLookAt() const { return _angleLeftUpLookAt; }
+    [[nodiscard]] Vec3D position() const { return *_position; }
+    [[nodiscard]] Vec3D angle() const { return *_angle; }
+    [[nodiscard]] Vec3D angleLeftUpLookAt() const { return *_angleLeftUpLookAt; }
 
-    [[nodiscard]] Point4D left() const { return _left; }
-    [[nodiscard]] Point4D up() const { return _up; }
-    [[nodiscard]] Point4D lookAt() const { return _lookAt; }
+    [[nodiscard]] Vec3D left() const { return *_left; }
+    [[nodiscard]] Vec3D up() const { return *_up; }
+    [[nodiscard]] Vec3D lookAt() const { return *_lookAt; }
 
     void rotateLeft(double rl);
     void rotateUp(double ru);
diff --git a/engine/Plane.cpp b/engine/Plane.cpp
index 22f91fe..c9681f0 100644
--- a/engine/Plane.cpp
+++ b/engine/Plane.cpp
@@ -4,75 +4,71 @@
 
 #include "Plane.h"
 
-Plane::Plane(const Triangle& tri) {
-    _triangle = tri;
-    _n = tri.norm();
-    _p = tri[0];
+Plane::Plane(const Triangle& tri) : _triangle(tri), _n(tri.norm()), _p(tri[0]) {
+
 }
 
-Plane::Plane(const Point4D &N, const Point4D &P) {
-    _n = N.normalized();
-    _p = P;
+Plane::Plane(const Vec3D &N, const Vec3D &P) : _n(N.normalized()), _p(P) {
+
 }
 
-Plane::Plane(const Plane &plane) {
-    _triangle = plane._triangle;
-    _n = plane._n;
-    _p = plane._p;
+double Plane::distance(const Vec3D &point) const {
+    return point.dot(_n) - _p.dot(_n);
 }
 
-double Plane::distance(const Point4D &point4D) const {
-    return point4D.dot(_n) - _p.dot(_n);
-}
-
-std::pair<Point4D, double> Plane::intersection(const Point4D &start, const Point4D &end) const {
+std::pair<Vec3D, double> Plane::intersection(const Vec3D &start, const Vec3D &end) const {
     double s_dot_n = start.dot(_n);
     double k = (s_dot_n - _p.dot(_n)) / (s_dot_n - end.dot(_n));
-    Point4D res = start + (end - start)*k;
+    Vec3D res = start + (end - start)*k;
     return std::make_pair(res, k);
 }
 
-int Plane::clip(Triangle &tri, Triangle &additional_tri) const {
+std::vector<Triangle> Plane::clip(const Triangle &tri) const {
 
-    Point4D insidePoints[3];  int inside = 0;
-    Point4D outsidePoints[3]; int outside = 0;
+    std::vector<Triangle> result;
 
-    double distances[3] = {distance(tri[0]), distance(tri[1]), distance(tri[2])};
+    std::vector<Vec3D> insidePoints;
+    std::vector<Vec3D> outsidePoints;
+
+    double distances[3] = {distance(Vec3D(tri[0])),
+                           distance(Vec3D(tri[1])),
+                           distance(Vec3D(tri[2]))};
 
     for(int i = 0; i < 3; i++) {
         if (distances[i] >= 0) {
-            insidePoints[inside++] = tri[i];
+            insidePoints.emplace_back(tri[i]);
         } else {
-            outsidePoints[outside++] = tri[i];
+            outsidePoints.emplace_back(tri[i]);
         }
     }
 
-    if(inside == 0) {
-        return 0;
+    if(insidePoints.size() == 1) {
+        std::pair<Vec3D, double> intersect1 = intersection(insidePoints[0], outsidePoints[0]);
+        std::pair<Vec3D, double> intersect2 = intersection(insidePoints[0], outsidePoints[1]);
+
+        result.emplace_back(insidePoints[0].makePoint4D(),
+                            intersect1.first.makePoint4D(),
+                            intersect2.first.makePoint4D(),
+                            tri.color());
     }
 
-    if(inside == 1) {
-        std::pair<Point4D, double> intersect1 = intersection(insidePoints[0], outsidePoints[0]);
-        std::pair<Point4D, double> intersect2 = intersection(insidePoints[0], outsidePoints[1]);
+    if(insidePoints.size() == 2) {
+        std::pair<Vec3D, double> intersect1 = intersection(insidePoints[0], outsidePoints[0]);
+        std::pair<Vec3D, double> intersect2 = intersection(insidePoints[1], outsidePoints[0]);
 
-        tri = Triangle(insidePoints[0], intersect1.first, intersect2.first, tri.color());
-
-        return 1;
+        result.emplace_back(insidePoints[0].makePoint4D(),
+                            intersect1.first.makePoint4D(),
+                            insidePoints[1].makePoint4D(),
+                            tri.color());
+        result.emplace_back(intersect1.first.makePoint4D(),
+                            intersect2.first.makePoint4D(),
+                            insidePoints[1].makePoint4D(),
+                            tri.color());
     }
 
-    if(inside == 2) {
-        std::pair<Point4D, double> intersect1 = intersection(insidePoints[0], outsidePoints[0]);
-        std::pair<Point4D, double> intersect2 = intersection(insidePoints[1], outsidePoints[0]);
-
-        tri = Triangle(insidePoints[0], intersect1.first, insidePoints[1], tri.color());
-        additional_tri = Triangle(intersect1.first, intersect2.first, insidePoints[1], tri.color());
-
-        return 2;
+    if(insidePoints.size() == 3) {
+        result.emplace_back(tri);
     }
 
-    if(inside == 3) {
-        return 1;
-    }
-
-    return 0;
+    return result;
 }
diff --git a/engine/Plane.h b/engine/Plane.h
index 1ae7c1a..9c49909 100644
--- a/engine/Plane.h
+++ b/engine/Plane.h
@@ -5,7 +5,7 @@
 #ifndef ENGINE_PLANE_H
 #define ENGINE_PLANE_H
 
-#include "utils/Point4D.h"
+#include "Point4D.h"
 #include "Triangle.h"
 
 class Plane {
@@ -13,22 +13,22 @@ private:
     // You can define plane by defining the points in 3D space
     Triangle _triangle;
     // Or by defining normal vector and one val laying on the plane
-    Point4D _n = Point4D{0, 0, 1, 0};
-    Point4D _p{};
+    Vec3D _n = Vec3D{0, 0, 1};
+    Vec3D _p{};
 public:
     // A plain with normal vector '_n' and val '_p' lays on the plane
     Plane() = default;
-    Plane(const Point4D& N, const Point4D& P);
-    Plane(const Plane& plane);
+    Plane(const Vec3D& N, const Vec3D& P);
+    Plane(const Plane& plane) = default;
     explicit Plane(const Triangle& tri);
 
-    [[nodiscard]] double distance(const Point4D& point4D) const;
+    [[nodiscard]] double distance(const Vec3D& point4D) const;
     // Point4D in space where line ('start' to 'end') intersects plain with normal vector '_n' and val '_p' lays on the plane
-    [[nodiscard]] std::pair<Point4D, double> intersection(const Point4D& start, const Point4D& end) const;
-    int clip(Triangle& tri, Triangle& additional_tri) const;
+    [[nodiscard]] std::pair<Vec3D, double> intersection(const Vec3D& start, const Vec3D& end) const;
+    [[nodiscard]] std::vector<Triangle> clip(const Triangle& tri) const;
 
-    [[nodiscard]] Point4D N() const { return _n; }
-    [[nodiscard]] Point4D P() const { return _p; }
+    [[nodiscard]] Vec3D N() const { return _n; }
+    [[nodiscard]] Vec3D P() const { return _p; }
 };
 
 
diff --git a/engine/utils/Point4D.cpp b/engine/Point4D.cpp
similarity index 59%
rename from engine/utils/Point4D.cpp
rename to engine/Point4D.cpp
index e8d8f86..9aa7e05 100644
--- a/engine/utils/Point4D.cpp
+++ b/engine/Point4D.cpp
@@ -4,6 +4,7 @@
 
 #include "Point4D.h"
 #include <cmath>
+#include <stdexcept>
 
 Point4D::Point4D (double x, double y, double z, double w) {
     _arr_point[0] = x;
@@ -19,60 +20,51 @@ Point4D::Point4D(const Point4D &point4D) {
     _arr_point[3] = point4D.w();
 }
 
-[[nodiscard]] double Point4D::operator[] (int i) const {
-    return _arr_point[i];
-}
-
 [[nodiscard]] Point4D Point4D::operator-() const {
     return Point4D(-x(), -y(), -z(), -w());
 }
 
-bool Point4D::operator==(const Point4D& point4D) const
-{
-    return this == &point4D || (*this - point4D).sqrAbs() < 0.0000000001;
+bool Point4D::operator==(const Point4D& point4D) const {
+    return (*this - point4D).sqrAbs() < Consts::EPS;
 }
-bool Point4D::operator!=(const Point4D& point4D) const
-{
-    return this != &point4D && (*this - point4D).sqrAbs() > 0.0000000001;
+
+bool Point4D::operator!=(const Point4D& point4D) const {
+    return !(*this == point4D);
 }
 
 // Operations with Point4D
 Point4D Point4D::operator+(const Point4D& point4D) const {
     return Point4D(x()+point4D.x(), y()+point4D.y(), z()+point4D.z(), w()+point4D.w());
 }
+
 Point4D Point4D::operator-(const Point4D& point4D) const {
     return Point4D(*this) + -point4D;
 }
 
-double Point4D::dot(const Point4D& point4D) const
-{
-    return point4D.x() * x() + point4D.y() * y() + point4D.z() * z();
-}
-[[nodiscard]] Point4D Point4D::cross3D(const Point4D& point4D) const {
-    return Point4D {y() * point4D.z() - point4D.y() * z(),
-                    z() * point4D.x() - point4D.z() * x(),
-                    x() * point4D.y() - point4D.x() * y()};
-}
-
 Point4D Point4D::operator*(double number) const {
     return Point4D(x()*number, y()*number, z()*number, w()*number);
 }
+
 Point4D Point4D::operator/(double number) const {
-    if(number != 0)
+    if(std::abs(number) > Consts::EPS)
         return Point4D(*this)*(1.0/number);
     else
-        return Point4D();
+        throw std::domain_error{"Point4D::operator/(double number): division by zero"};
 }
 
 // Other useful methods
-double Point4D::sqrAbs() const
-{
+double Point4D::sqrAbs() const {
     return x()*x() + y()*y() + z()*z();
 }
+
 double Point4D::abs() const {
     return sqrt(sqrAbs());
 }
 
 Point4D Point4D::normalized() const {
-    return Point4D(*this)/abs();
+    double vecAbs = abs();
+    if(vecAbs > Consts::EPS)
+        return Point4D(*this)/abs();
+    else
+        return Point4D(0);
 }
diff --git a/engine/utils/Point4D.h b/engine/Point4D.h
similarity index 80%
rename from engine/utils/Point4D.h
rename to engine/Point4D.h
index 422c1a7..9a1c984 100644
--- a/engine/utils/Point4D.h
+++ b/engine/Point4D.h
@@ -6,6 +6,7 @@
 #define ENGINE_POINT4D_H
 
 #include <array>
+#include "Consts.h"
 
 class Point4D {
 private:
@@ -14,16 +15,15 @@ private:
 public:
     Point4D () = default;
     Point4D (const Point4D& point4D);
-    Point4D& operator=(const Point4D& point4D) { _arr_point = point4D._arr_point; return *this; };
     explicit Point4D (double x, double y = 0.0, double z = 0.0, double w = 0.0);
+    Point4D& operator=(const Point4D& point4D) = delete;
+
 
     [[nodiscard]] double x() const { return _arr_point[0]; }
     [[nodiscard]] double y() const { return _arr_point[1]; }
     [[nodiscard]] double z() const { return _arr_point[2]; }
     [[nodiscard]] double w() const { return _arr_point[3]; }
 
-    [[nodiscard]] double operator[] (int i) const;
-
     [[nodiscard]] Point4D operator-() const;
 
     // Boolean operations
@@ -34,9 +34,6 @@ public:
     [[nodiscard]] Point4D operator+(const Point4D& point4D) const;
     [[nodiscard]] Point4D operator-(const Point4D& point4D) const;
 
-    [[nodiscard]] double dot(const Point4D& point4D) const; // Returns dot product
-    [[nodiscard]] Point4D cross3D(const Point4D& point4D) const; // Returns cross product
-
     // Operations with numbers
     [[nodiscard]] Point4D operator*(double number) const;
     [[nodiscard]] Point4D operator/(double number) const;
diff --git a/engine/Screen.cpp b/engine/Screen.cpp
index 2692343..19f51ac 100644
--- a/engine/Screen.cpp
+++ b/engine/Screen.cpp
@@ -78,7 +78,7 @@ void Screen::debugText(const std::string& text) {
     _window->draw(t);
 }
 
-void Screen::drawTetragon(const Point4D &p1, const Point4D &p2, const Point4D &p3, const Point4D &p4, sf::Color color) {
+void Screen::drawTetragon(const Vec2D &p1, const Vec2D &p2, const Vec2D &p3, const Vec2D &p4, sf::Color color) {
     sf::ConvexShape polygon;
     polygon.setPointCount(4);
     polygon.setPoint(0, sf::Vector2f((float)p1.x(), (float)p1.y()));
@@ -89,7 +89,7 @@ void Screen::drawTetragon(const Point4D &p1, const Point4D &p2, const Point4D &p
     _window->draw(polygon);
 }
 
-void Screen::drawText(const std::string& string, const Point4D &position, int size, sf::Color color) {
+void Screen::drawText(const std::string& string, const Vec2D &position, int size, sf::Color color) {
     sf::Text text;
 
     text.setFont(*ResourceManager::loadFont("engine/fonts/Roboto-Medium.ttf"));
diff --git a/engine/Screen.h b/engine/Screen.h
index 777487f..55aa506 100644
--- a/engine/Screen.h
+++ b/engine/Screen.h
@@ -33,8 +33,8 @@ public:
     bool hasFocus() const { return _window->hasFocus(); }
 
     void drawTriangle(const Triangle& triangle);
-    void drawTetragon(const Point4D& p1, const Point4D& p2, const Point4D& p3, const Point4D& p4, sf::Color color);
-    void drawText(const std::string& string, const Point4D& position, int size, sf::Color color);
+    void drawTetragon(const Vec2D& p1, const Vec2D& p2, const Vec2D& p3, const Vec2D& p4, sf::Color color);
+    void drawText(const std::string& string, const Vec2D& position, int size, sf::Color color);
     void drawText(const sf::Text& text);
     void drawSprite(const sf::Sprite& sprite);
 
diff --git a/engine/Triangle.cpp b/engine/Triangle.cpp
index 5cad1ba..1ad2c9f 100644
--- a/engine/Triangle.cpp
+++ b/engine/Triangle.cpp
@@ -5,53 +5,47 @@
 #include "Triangle.h"
 
 Triangle::Triangle () {
-    _p[0] = Point4D{0, 0, 0, 1};
-    _p[1] = Point4D{0, 0, 0, 1};
-    _p[2] = Point4D{0, 0, 0, 1};
+    _points.emplace_back(Point4D(0, 0, 0, 1));
+    _points.emplace_back(Point4D(0, 0, 0, 1));
+    _points.emplace_back(Point4D(0, 0, 0, 1));
 }
 
-Triangle::Triangle(const Point4D& p1, const Point4D& p2, const Point4D& p3, sf::Color color) {
-    _p[0] = p1;
-    _p[1] = p2;
-    _p[2] = p3;
-    _color = color;
+Triangle::Triangle(const Point4D& p1, const Point4D& p2, const Point4D& p3, sf::Color color) : _color(color) {
+    _points.emplace_back(Point4D(p1));
+    _points.emplace_back(Point4D(p2));
+    _points.emplace_back(Point4D(p3));
+}
+
+Triangle::Triangle(const Triangle &triangle) : _points(triangle._points), _color(triangle._color) {
+
 }
 
 Triangle Triangle::operator*(const Matrix4x4 &matrix4X4) const {
-    Triangle res(*this);
-
-    res._p[0] = matrix4X4 * _p[0];
-    res._p[1] = matrix4X4 * _p[1];
-    res._p[2] = matrix4X4 * _p[2];
-
-    return res;
+    return Triangle(matrix4X4 * _points[0], matrix4X4 * _points[1], matrix4X4 * _points[2], _color);
 }
 
-Point4D Triangle::norm() const {
+Vec3D Triangle::norm() const {
 
-    Point4D v1 = _p[1] - _p[0];
-    Point4D v2 = _p[2] - _p[0];
+    Vec3D v1 = Vec3D(_points[1] - _points[0]);
+    Vec3D v2 = Vec3D(_points[2] - _points[0]);
+    Vec3D crossProduct = v1.cross(v2);
 
-    return v1.cross3D(v2).normalized();
+    if(crossProduct.sqrAbs() > Consts::EPS)
+        return crossProduct.normalized();
+    else
+        return Vec3D(0);
 }
 
 Point4D Triangle::operator[](int i) const {
-    return _p[i];
+    return _points[i];
 }
 
-Triangle::Triangle(const Triangle &triangle) {
-    _color = triangle._color;
-    _p[0] = triangle[0];
-    _p[1] = triangle[1];
-    _p[2] = triangle[2];
-}
+bool Triangle::isPointInside(const Vec3D &point) const {
+    Vec3D triangleNorm = norm();
 
-bool Triangle::isPointInside(const Point4D &point) const {
-    Point4D triangleNorm = norm();
-
-    double dot1 = (point - _p[0]).cross3D(_p[1] - _p[0]).dot(triangleNorm);
-    double dot2 = (point - _p[1]).cross3D(_p[2] - _p[1]).dot(triangleNorm);
-    double dot3 = (point - _p[2]).cross3D(_p[0] - _p[2]).dot(triangleNorm);
+    double dot1 = (point - Vec3D(_points[0])).cross(Vec3D(_points[1] - _points[0])).dot(triangleNorm);
+    double dot2 = (point - Vec3D(_points[1])).cross(Vec3D(_points[2] - _points[1])).dot(triangleNorm);
+    double dot3 = (point - Vec3D(_points[2])).cross(Vec3D(_points[0] - _points[2])).dot(triangleNorm);
 
     if((dot1 >= 0 && dot2 >= 0 && dot3 >= 0) || (dot1 <= 0 && dot2 <= 0 && dot3 <= 0))
         return true;
diff --git a/engine/Triangle.h b/engine/Triangle.h
index a5580dd..545ea2b 100644
--- a/engine/Triangle.h
+++ b/engine/Triangle.h
@@ -5,30 +5,32 @@
 #ifndef ENGINE_TRIANGLE_H
 #define ENGINE_TRIANGLE_H
 
-#include "utils/Point4D.h"
-#include "utils/Matrix4x4.h"
+#include "Point4D.h"
+#include "Vec3D.h"
+#include "Matrix4x4.h"
 #include <SFML/Graphics.hpp>
 
 class Triangle {
 private:
     sf::Color _color;
-    Point4D _p[3];
-
+    std::vector<Point4D> _points;
 public:
 
     Triangle ();
     Triangle (const Triangle& triangle);
     Triangle (const Point4D& p1, const Point4D& p2, const Point4D& p3, sf::Color color = {0, 0, 0});
+    Triangle& operator=(const Triangle&) = delete;
 
     [[nodiscard]] Point4D operator[] (int i) const;
-    [[nodiscard]] Point4D norm() const;
+    [[nodiscard]] Vec3D norm() const;
 
     // Operations with Matrix4x4
     [[nodiscard]] Triangle operator*(const Matrix4x4& matrix4X4) const;
 
-    [[nodiscard]] bool isPointInside(const Point4D& point) const;
+    [[nodiscard]] bool isPointInside(const Vec3D& point) const;
 
     [[nodiscard]] sf::Color color() const { return _color; }
+
 };
 
 
diff --git a/engine/Vec2D.cpp b/engine/Vec2D.cpp
new file mode 100644
index 0000000..7d50bf0
--- /dev/null
+++ b/engine/Vec2D.cpp
@@ -0,0 +1,71 @@
+//
+// Created by Иван Ильин on 10.10.2021.
+//
+
+#include <cmath>
+#include "Vec2D.h"
+
+Vec2D::Vec2D(const Vec2D &vec) {
+    _arr_point[0] = vec.x();
+    _arr_point[1] = vec.y();
+}
+
+Vec2D::Vec2D (double x, double y) {
+    _arr_point[0] = x;
+    _arr_point[1] = y;
+}
+
+Vec2D::Vec2D(const Point4D &point4D) {
+    _arr_point[0] = point4D.x();
+    _arr_point[1] = point4D.y();
+}
+
+Vec2D Vec2D::operator-() const {
+    return Vec2D(-x(), -y());
+}
+
+bool Vec2D::operator==(const Vec2D& vec) const {
+    return (*this - vec).sqrAbs() < Consts::EPS;
+}
+bool Vec2D::operator!=(const Vec2D& vec) const {
+    return !(*this == vec);
+}
+
+Vec2D Vec2D::operator+(const Vec2D& vec) const {
+    return Vec2D(x()+vec.x(), y()+vec.y());
+}
+Vec2D Vec2D::operator-(const Vec2D& vec) const {
+    return Vec2D(*this) + -vec;
+}
+
+Vec2D Vec2D::operator*(double number) const {
+    return Vec2D(x()*number, y()*number);
+}
+
+Vec2D Vec2D::operator/(double number) const {
+    if(std::abs(number) > Consts::EPS)
+        return Vec2D(*this)*(1.0/number);
+    else
+        throw std::domain_error{"Vec2D::operator/(double number): division by zero"};
+}
+
+// Other useful methods
+double Vec2D::sqrAbs() const {
+    return x()*x() + y()*y();
+}
+
+double Vec2D::abs() const {
+    return sqrt(sqrAbs());
+}
+
+Vec2D Vec2D::normalized() const {
+    double vecAbs = abs();
+    if(vecAbs > Consts::EPS)
+        return Vec2D(*this)/abs();
+    else
+        return Vec2D(0);
+}
+
+double Vec2D::dot(const Vec2D& vec) const {
+    return vec.x() * x() + vec.y() * y();
+}
diff --git a/engine/Vec2D.h b/engine/Vec2D.h
new file mode 100644
index 0000000..04100ab
--- /dev/null
+++ b/engine/Vec2D.h
@@ -0,0 +1,48 @@
+//
+// Created by Иван Ильин on 10.10.2021.
+//
+
+#ifndef SHOOTER_VEC2D_H
+#define SHOOTER_VEC2D_H
+
+
+#include <array>
+#include "Point4D.h"
+
+class Vec2D {
+private:
+    std::array<double, 2> _arr_point{};
+
+public:
+    Vec2D () = default;
+    Vec2D (const Vec2D& vec);
+    Vec2D (const Point4D& point4D);
+    explicit Vec2D (double x, double y = 0.0);
+    Vec2D& operator=(const Vec2D&) = delete;
+
+    [[nodiscard]] double x() const { return _arr_point[0]; }
+    [[nodiscard]] double y() const { return _arr_point[1]; }
+
+    [[nodiscard]] Vec2D operator-() const;
+
+    // Boolean operations
+    bool operator==(const Vec2D& vec) const;
+    bool operator!=(const Vec2D& vec) const;
+
+    [[nodiscard]] Vec2D operator+(const Vec2D& vec) const;
+    [[nodiscard]] Vec2D operator-(const Vec2D& vec) const;
+
+    [[nodiscard]] double dot(const Vec2D& vec) const; // Returns dot product
+
+    // Operations with numbers
+    [[nodiscard]] Vec2D operator*(double number) const;
+    [[nodiscard]] Vec2D operator/(double number) const;
+
+    // Other useful methods
+    [[nodiscard]] double sqrAbs() const; // Returns squared vector length
+    [[nodiscard]] double abs() const; // Returns vector length
+    [[nodiscard]] Vec2D normalized() const; // Returns normalized vector without changing
+};
+
+
+#endif //SHOOTER_VEC2D_H
diff --git a/engine/Vec3D.cpp b/engine/Vec3D.cpp
new file mode 100644
index 0000000..387a82f
--- /dev/null
+++ b/engine/Vec3D.cpp
@@ -0,0 +1,86 @@
+//
+// Created by Иван Ильин on 09.10.2021.
+//
+
+#include "Vec3D.h"
+#include <cmath>
+#include <stdexcept>
+
+Vec3D::Vec3D(const Vec3D &vec) {
+    _arr_point[0] = vec.x();
+    _arr_point[1] = vec.y();
+    _arr_point[2] = vec.z();
+}
+
+Vec3D::Vec3D (const Point4D& point4D) {
+    _arr_point[0] = point4D.x();
+    _arr_point[1] = point4D.y();
+    _arr_point[2] = point4D.z();
+}
+
+Vec3D::Vec3D (double x, double y, double z) {
+    _arr_point[0] = x;
+    _arr_point[1] = y;
+    _arr_point[2] = z;
+}
+
+Vec3D Vec3D::operator-() const {
+    return Vec3D(-x(), -y(), -z());
+}
+
+bool Vec3D::operator==(const Vec3D& vec) const {
+    return (*this - vec).sqrAbs() < Consts::EPS;
+}
+bool Vec3D::operator!=(const Vec3D& vec) const {
+    return !(*this == vec);
+}
+
+// Operations with Vec3D
+Vec3D Vec3D::operator+(const Vec3D& vec) const {
+    return Vec3D(x()+vec.x(), y()+vec.y(), z()+vec.z());
+}
+Vec3D Vec3D::operator-(const Vec3D& vec) const {
+    return Vec3D(*this) + -vec;
+}
+
+Vec3D Vec3D::operator*(double number) const {
+    return Vec3D(x()*number, y()*number, z()*number);
+}
+
+Vec3D Vec3D::operator/(double number) const {
+    if(std::abs(number) > Consts::EPS)
+        return Vec3D(*this)*(1.0/number);
+    else
+        throw std::domain_error{"Vec3D::operator/(double number): division by zero"};
+}
+
+// Other useful methods
+double Vec3D::sqrAbs() const {
+    return x()*x() + y()*y() + z()*z();
+}
+
+double Vec3D::abs() const {
+    return sqrt(sqrAbs());
+}
+
+Vec3D Vec3D::normalized() const {
+    double vecAbs = abs();
+    if(vecAbs > Consts::EPS)
+        return Vec3D(*this)/abs();
+    else
+        return Vec3D(0);
+}
+
+double Vec3D::dot(const Vec3D& vec) const {
+    return vec.x() * x() + vec.y() * y() + vec.z() * z();
+}
+
+Vec3D Vec3D::cross(const Vec3D& vec) const {
+    return Vec3D{y() * vec.z() - vec.y() * z(),
+                 z() * vec.x() - vec.z() * x(),
+                 x() * vec.y() - vec.x() * y()};
+}
+
+Point4D Vec3D::makePoint4D() const {
+    return Point4D(x(), y(), z(), 1.0);
+}
diff --git a/engine/Vec3D.h b/engine/Vec3D.h
new file mode 100644
index 0000000..d315067
--- /dev/null
+++ b/engine/Vec3D.h
@@ -0,0 +1,51 @@
+//
+// Created by Иван Ильин on 09.10.2021.
+//
+
+#ifndef SHOOTER_VEC3D_H
+#define SHOOTER_VEC3D_H
+
+#include <array>
+#include "Point4D.h"
+
+class Vec3D {
+private:
+    std::array<double, 3> _arr_point{};
+
+public:
+    Vec3D () = default;
+    Vec3D (const Vec3D& vec);
+    explicit Vec3D (const Point4D& vec);
+    explicit Vec3D (double x, double y = 0.0, double z = 0.0);
+    Vec3D& operator=(const Vec3D&) = delete;
+
+    [[nodiscard]] double x() const { return _arr_point[0]; }
+    [[nodiscard]] double y() const { return _arr_point[1]; }
+    [[nodiscard]] double z() const { return _arr_point[2]; }
+
+    [[nodiscard]] Vec3D operator-() const;
+
+    // Boolean operations
+    bool operator==(const Vec3D& vec) const;
+    bool operator!=(const Vec3D& vec) const;
+
+    // Operations with Point4D
+    [[nodiscard]] Vec3D operator+(const Vec3D& vec) const;
+    [[nodiscard]] Vec3D operator-(const Vec3D& vec) const;
+
+    [[nodiscard]] double dot(const Vec3D& vec) const; // Returns dot product
+    [[nodiscard]] Vec3D cross(const Vec3D& vec) const; // Returns cross product
+
+    // Operations with numbers
+    [[nodiscard]] Vec3D operator*(double number) const;
+    [[nodiscard]] Vec3D operator/(double number) const;
+
+    // Other useful methods
+    [[nodiscard]] double sqrAbs() const; // Returns squared vector length
+    [[nodiscard]] double abs() const; // Returns vector length
+    [[nodiscard]] Vec3D normalized() const; // Returns normalized vector without changing
+    [[nodiscard]] Point4D makePoint4D() const;
+};
+
+
+#endif //SHOOTER_VEC3D_H
diff --git a/engine/World.cpp b/engine/World.cpp
index a2e6c38..3b2d3b2 100644
--- a/engine/World.cpp
+++ b/engine/World.cpp
@@ -14,36 +14,39 @@ void World::addBody(std::shared_ptr<RigidBody> body, const string &name) {
     Log::log("World::addBody(): inserted body '" + name + "' with " + std::to_string(_objects[name]->triangles().size()) + " tris.");
 }
 
-void World::loadBody(const string &name, const string &filename, const std::string &materials, const Point4D& scale) {
+void World::loadBody(const string &name, const string &filename, const std::string &materials, const Vec3D& scale) {
     _objects.emplace(name, std::make_shared<RigidBody>(Mesh(filename, materials, scale)));
     Log::log("World::loadBody(): inserted body from " + filename + " with title '" + name + "' with " + std::to_string(_objects[name]->triangles().size()) + " tris.");
 }
 
-std::pair<Point4D, string> World::rayCast(const Point4D& from, const Point4D& to) {
+std::pair<Vec3D, string> World::rayCast(const Vec3D& from, const Vec3D& to) {
 
-    std::pair<Point4D, string> result{Point4D{0, 0,0, -1}, ""};
-    double minDistance = 10000;
+    std::pair<Vec3D, string> result;
+    std::unique_ptr<Vec3D> point = std::make_unique<Vec3D>();
+    std::string name;
+    double minDistance = Consts::RAY_CAST_MAX_DISTANCE;
 
     for(auto& object : _objects) {
         if((object.first.find("Player") != std::string::npos) || (object.first.find("Bonus") != std::string::npos))
             continue;
 
         for(auto& tri : object.second->triangles()) {
-            Triangle tri_translated(tri[0] + object.second->position(), tri[1] + object.second->position(), tri[2] + object.second->position());
+            Triangle tri_translated(tri[0] + object.second->position().makePoint4D(), tri[1] + object.second->position().makePoint4D(), tri[2] + object.second->position().makePoint4D());
 
             Plane plane(tri_translated);
             auto intersection = plane.intersection(from, to);
             double distance = (intersection.first - from).sqrAbs();
             if(intersection.second > 0 && distance < minDistance && tri_translated.isPointInside(intersection.first)) {
                 minDistance = distance;
-                result = {intersection.first, object.first};
+                point = std::make_unique<Vec3D>(intersection.first);
+                name = object.first;
             }
         }
     }
-    return result;
+    return {*point, name};
 }
 
-void World::loadMap(const std::string& filename, const std::string& materials, const std::string& name, const Point4D& scale) {
+void World::loadMap(const std::string& filename, const std::string& materials, const std::string& name, const Vec3D& scale) {
     auto objs = Mesh::LoadObjects(filename, materials, scale);
     for(unsigned i = 0; i < objs.size(); i++) {
         string meshName = name + "_" + to_string(i);
diff --git a/engine/World.h b/engine/World.h
index bf33fa8..b1de54d 100644
--- a/engine/World.h
+++ b/engine/World.h
@@ -22,14 +22,14 @@ public:
     void addBody(std::shared_ptr<RigidBody> mesh, const std::string& name = "");
     std::shared_ptr<RigidBody> body(const std::string& name);
     void removeBody(std::string name);
-    void loadBody(const std::string &name, const std::string &filename, const std::string &materials = "", const Point4D& scale = Point4D{1, 1, 1});
+    void loadBody(const std::string &name, const std::string &filename, const std::string &materials = "", const Vec3D& scale = Vec3D{1, 1, 1});
 
     // rayCast returns pair of Point4D and std::string:
-    // 1) Point4D is point of collision (the last coordinate is -1 if there are no collisions)
+    // 1) Point4D is point of collision
     // 2) std::string - title of the object
-    std::pair<Point4D, std::string> rayCast(const Point4D& from, const Point4D& to);
+    std::pair<Vec3D, std::string> rayCast(const Vec3D& from, const Vec3D& to);
 
-    void loadMap(const std::string& filename, const std::string& materials, const std::string& name = "map", const Point4D & scale = Point4D{1, 1, 1});
+    void loadMap(const std::string& filename, const std::string& materials, const std::string& name = "map", const Vec3D & scale = Vec3D{1, 1, 1});
 };
 
 
diff --git a/engine/animation/ARotate.h b/engine/animation/ARotate.h
index 3cd8b50..84335d1 100644
--- a/engine/animation/ARotate.h
+++ b/engine/animation/ARotate.h
@@ -12,15 +12,13 @@ class ARotate : public Animation {
 private:
     std::shared_ptr<Object> _object;
 
-    Point4D value;
+    Vec3D value;
 public:
-    ARotate(std::shared_ptr<Object> object, const Point4D& r, double duration = 1, LoopOut looped = LoopOut::None, InterpolationType interpolationType = InterpolationType::bezier) {
+    ARotate(std::shared_ptr<Object> object, const Vec3D& r, double duration = 1, LoopOut looped = LoopOut::None, InterpolationType interpolationType = InterpolationType::bezier) : value(r) {
         _object = object;
         _duration = duration;
         _looped = looped;
         _intType = interpolationType;
-
-        value = r;
     }
 
     bool update() override {
diff --git a/engine/animation/AScale.h b/engine/animation/AScale.h
index 37f11ec..8cf528f 100644
--- a/engine/animation/AScale.h
+++ b/engine/animation/AScale.h
@@ -13,17 +13,15 @@ class AScale : public Animation {
 private:
     std::shared_ptr<Mesh> _mesh;
 
-    Point4D value;
+    Vec3D value;
     std::vector<Triangle> triangles{};
 public:
-    AScale(std::shared_ptr<Mesh> mesh, const Point4D &s, double duration = 1, LoopOut looped = LoopOut::None, InterpolationType interpolationType = InterpolationType::bezier) {
+    AScale(std::shared_ptr<Mesh> mesh, const Vec3D &s, double duration = 1, LoopOut looped = LoopOut::None, InterpolationType interpolationType = InterpolationType::bezier) : value(s) {
         _mesh = mesh;
         _duration = duration;
         _looped = looped;
         _intType = interpolationType;
         _waitFor = true;
-
-        value = s;
     }
 
     bool update() override {
diff --git a/engine/animation/ATranslate.h b/engine/animation/ATranslate.h
index 4131fc1..17f2b9d 100644
--- a/engine/animation/ATranslate.h
+++ b/engine/animation/ATranslate.h
@@ -12,15 +12,13 @@ class ATranslate : public Animation {
 private:
     std::shared_ptr<Object> _object;
 
-    Point4D value;
+    Vec3D value;
 public:
-    ATranslate(std::shared_ptr<Object> object, const Point4D& t, double duration = 1, LoopOut looped = LoopOut::None, InterpolationType interpolationType = InterpolationType::bezier) {
+    ATranslate(std::shared_ptr<Object> object, const Vec3D& t, double duration = 1, LoopOut looped = LoopOut::None, InterpolationType interpolationType = InterpolationType::bezier) : value(t){
         _object = object;
         _duration = duration;
         _looped = looped;
         _intType = interpolationType;
-
-        value = t;
     }
 
     bool update() override {
diff --git a/engine/animation/ATranslateToPoint.h b/engine/animation/ATranslateToPoint.h
index a2518df..4ea0a41 100644
--- a/engine/animation/ATranslateToPoint.h
+++ b/engine/animation/ATranslateToPoint.h
@@ -12,23 +12,21 @@ class ATranslateToPoint : public Animation {
 private:
     std::shared_ptr<Object> _object;
 
-    Point4D point;
-    Point4D value;
+    Vec3D point;
+    std::unique_ptr<Vec3D> value;
 public:
-    ATranslateToPoint(std::shared_ptr<Object> object, const Point4D& p, double duration = 1, LoopOut looped = LoopOut::None, InterpolationType interpolationType = InterpolationType::bezier) {
+    ATranslateToPoint(std::shared_ptr<Object> object, const Vec3D& p, double duration = 1, LoopOut looped = LoopOut::None, InterpolationType interpolationType = InterpolationType::bezier) : point(p) {
         _object = object;
         _duration = duration;
         _looped = looped;
         _intType = interpolationType;
-
-        point = p;
     }
 
     bool update() override {
         if(!_started) {
-            value = point - _object->position();
+            value = std::make_unique<Vec3D>(point - _object->position());
         }
-        _object->translate(value * _dp);
+        _object->translate(*value * _dp);
 
         return updateState();
     }
diff --git a/engine/animation/Animation.cpp b/engine/animation/Animation.cpp
index 9738a89..458261b 100644
--- a/engine/animation/Animation.cpp
+++ b/engine/animation/Animation.cpp
@@ -25,8 +25,8 @@ bool Animation::updateState() {
 
     switch (_intType) {
         case InterpolationType::bezier:
-            _p = Interpolation::Bezier(_bezier[0], _bezier[1], _time);
-            _dp = Interpolation::dBezier(_bezier[0], _bezier[1], _time, _dtime);
+            _p = Interpolation::Bezier(*_bezier[0], *_bezier[1], _time);
+            _dp = Interpolation::dBezier(*_bezier[0], *_bezier[1], _time, _dtime);
             break;
         case InterpolationType::bouncing:
             _p = Interpolation::Bouncing(_time);
diff --git a/engine/animation/Animation.h b/engine/animation/Animation.h
index 1bf4800..e1f4db7 100644
--- a/engine/animation/Animation.h
+++ b/engine/animation/Animation.h
@@ -8,6 +8,7 @@
 #include "../utils/Time.h"
 #include "../Triangle.h"
 #include "Interpolation.h"
+#include "../Vec2D.h"
 
 class Animation {
 public:
@@ -37,7 +38,8 @@ protected:
     double _dp = 0;
 
     InterpolationType _intType = InterpolationType::bezier;
-    Point4D _bezier[2] = {Point4D{0.8, 0}, Point4D{0.2, 1}};
+    std::unique_ptr<Vec2D> _bezier[2] = {std::make_unique<Vec2D>(Vec2D{0.8, 0}),
+                                         std::make_unique<Vec2D>(Vec2D{0.2, 1})};
 
     // If '_waitFor' == true then we need to finish all animation before starting this one. (for example for a_wait() or a_scale())
     bool _waitFor = false;
@@ -47,7 +49,10 @@ public:
     Animation() = default;
     virtual ~Animation() = default;
 
-    void setBezierParams(const Point4D& p1, const Point4D& p2) { _bezier[0] = p1; _bezier[1] = p2; }
+    void setBezierPoints(const Vec2D& p1, const Vec2D& p2) {
+        _bezier[0] = std::make_unique<Vec2D>(p1);
+        _bezier[1] = std::make_unique<Vec2D>(p2);
+    }
     [[nodiscard]] bool waitFor() const { return _waitFor; }
 
 
diff --git a/engine/animation/Interpolation.h b/engine/animation/Interpolation.h
index 549fe3e..90ce54c 100644
--- a/engine/animation/Interpolation.h
+++ b/engine/animation/Interpolation.h
@@ -5,7 +5,7 @@
 #ifndef ENGINE_INTERPOLATION_H
 #define ENGINE_INTERPOLATION_H
 
-#include "../utils/Point4D.h"
+#include "../Vec2D.h"
 
 #include <cmath>
 #include "../Consts.h"
@@ -13,12 +13,12 @@
 namespace Interpolation {
     static double Linear(double t);
     static double Cos(double t);
-    static double Bezier(const Point4D& p1, const Point4D& p2, double t);
+    static double Bezier(const Vec2D& p1, const Vec2D& p2, double t);
     static double Bouncing(double t);
 
     static double dLinear(double t, double dt);
     static double dCos(double t, double dt);
-    static double dBezier(const Point4D& p1, const Point4D& p2, double t, double dt);
+    static double dBezier(const Vec2D& p1, const Vec2D& p2, double t, double dt);
     static double dBouncing(double t, double dt);
 };
 
@@ -32,11 +32,11 @@ double Interpolation::Cos(double t) {
     return 0.5*(1 - cos(Consts::PI*Interpolation::Linear(t)));
 }
 
-double Interpolation::Bezier(const Point4D &p1, const Point4D &p2, double t) {
+double Interpolation::Bezier(const Vec2D &p1, const Vec2D &p2, double t) {
     t = Interpolation::Linear(t);
 
-    double h = 0.000001;
-    double eps = 0.000001;
+    double h = Consts::EPS;
+    double eps = Consts::EPS;
 
     // We are trying to find 's' when px = t
     auto f = [=](double s){
@@ -77,7 +77,7 @@ double Interpolation::dCos(double t, double dt) {
     return 0.5*Consts::PI*sin(Consts::PI*t)*dt;
 }
 
-double Interpolation::dBezier(const Point4D &p1, const Point4D &p2, double t, double dt) {
+double Interpolation::dBezier(const Vec2D &p1, const Vec2D &p2, double t, double dt) {
     return Interpolation::Bezier(p1, p2, t + dt) - Interpolation::Bezier(p1, p2, t);
 }
 
diff --git a/engine/gui/Window.cpp b/engine/gui/Window.cpp
index bae9861..a250850 100644
--- a/engine/gui/Window.cpp
+++ b/engine/gui/Window.cpp
@@ -19,8 +19,8 @@ void Window::update() {
     _screen->setTitle(_name);
     _screen->drawSprite(_back);
 
-    Point4D mousePos = _mouse->getMousePosition();
-    Point4D dMousePos = mousePos - _prevMousePosition;
+    Vec2D mousePos = _mouse->getMousePosition();
+    Vec2D dMousePos = mousePos - *_prevMousePosition;
     _back.setPosition(_back.getPosition() - sf::Vector2f((float)(dMousePos.x() / 30), (float)(dMousePos.y() / 30)));
     bool isPressed = _mouse->isButtonTapped(sf::Mouse::Left);
 
@@ -40,7 +40,7 @@ void Window::update() {
         }
     }
 
-    _prevMousePosition = mousePos;
+    _prevMousePosition = std::make_unique<Vec2D>(mousePos);
 }
 
 void Window::setBackgroundTexture(const std::string &texture, double sx, double sy, int w, int h) {
diff --git a/engine/gui/Window.h b/engine/gui/Window.h
index 16f6535..7592e10 100644
--- a/engine/gui/Window.h
+++ b/engine/gui/Window.h
@@ -20,7 +20,7 @@ private:
 
     sf::Sprite _back;
 
-    Point4D _prevMousePosition;
+    std::unique_ptr<Vec2D> _prevMousePosition = std::make_unique<Vec2D>(Vec2D{0, 0});
 
     std::shared_ptr<Screen> _screen;
     std::shared_ptr<Mouse> _mouse;
diff --git a/engine/network/ClientUDP.cpp b/engine/network/ClientUDP.cpp
index 1ea7ba9..20fd51a 100644
--- a/engine/network/ClientUDP.cpp
+++ b/engine/network/ClientUDP.cpp
@@ -9,7 +9,7 @@
 #include <cmath>
 #include "../utils/Log.h"
 
-ClientUDP::ClientUDP() : _lastBroadcast(std::numeric_limits<double>::min()), _working(false)
+ClientUDP::ClientUDP() : _lastBroadcast(-std::numeric_limits<double>::max()), _working(false)
 {
     _socket.setTimeoutCallback(std::bind(&ClientUDP::timeout, this, std::placeholders::_1));
 }
diff --git a/engine/network/ReliableMsg.cpp b/engine/network/ReliableMsg.cpp
index 574b6cf..e52e366 100644
--- a/engine/network/ReliableMsg.cpp
+++ b/engine/network/ReliableMsg.cpp
@@ -7,7 +7,7 @@
 #include "../utils/Time.h"
 #include "config.h"
 
-ReliableMsg::ReliableMsg(sf::Packet& packet, sf::IpAddress address, sf::Uint16 port) : packet(packet), address(address), port(port), lastTry(std::numeric_limits<double>::min()), firstTry(Time::time()) {}
+ReliableMsg::ReliableMsg(sf::Packet& packet, sf::IpAddress address, sf::Uint16 port) : packet(packet), address(address), port(port), lastTry(-std::numeric_limits<double>::max()), firstTry(Time::time()) {}
 ReliableMsg::ReliableMsg(const ReliableMsg& msg) : packet(msg.packet), address(msg.address), port(msg.port), lastTry(msg.lastTry), firstTry(msg.firstTry) {}
 
 bool ReliableMsg::trySend(sf::UdpSocket& socket)
diff --git a/engine/network/ServerUDP.cpp b/engine/network/ServerUDP.cpp
index f794e2b..3c1afae 100644
--- a/engine/network/ServerUDP.cpp
+++ b/engine/network/ServerUDP.cpp
@@ -9,7 +9,7 @@
 #include "../utils/Log.h"
 #include <cmath>
 
-ServerUDP::ServerUDP() : _lastBroadcast(std::numeric_limits<double>::min()), _working(false)
+ServerUDP::ServerUDP() : _lastBroadcast(-std::numeric_limits<double>::max()), _working(false)
 {
     _socket.setTimeoutCallback(std::bind(&ServerUDP::timeout, this, std::placeholders::_1));
 }
diff --git a/engine/physics/RigidBody.cpp b/engine/physics/RigidBody.cpp
index 2312b85..4bb3351 100644
--- a/engine/physics/RigidBody.cpp
+++ b/engine/physics/RigidBody.cpp
@@ -9,167 +9,171 @@
 #include <iostream>
 #include <cmath>
 
-Point4D RigidBody::_findFurthestPoint(const Point4D& direction) {
-    Point4D maxPoint = {};
-    auto maxDistance = (double)-INFINITY;
+Vec3D RigidBody::_findFurthestPoint(const Vec3D& direction) {
+    std::unique_ptr<Vec3D> maxPoint = std::make_unique<Vec3D>(Vec3D{0, 0, 0});
+    auto maxDistance = -std::numeric_limits<double>::max();
     for(auto& tri : triangles()){
         for(int i = 0; i < 3; i++){
-            Point4D point = tri[i];
-
-            point = point + position();
+            Vec3D point = Vec3D(tri[i] + position().makePoint4D());
 
             double distance = point.dot(direction);
             if(distance > maxDistance) {
                 maxDistance = distance;
-                maxPoint = point;
+                maxPoint = std::make_unique<Vec3D>(point);
             }
         }
     }
-    return maxPoint;
+    return *maxPoint;
 }
 
-Point4D RigidBody::_support(std::shared_ptr<RigidBody> obj, const Point4D& direction) {
-    Point4D p1 = _findFurthestPoint(direction);
-    Point4D p2 = obj->_findFurthestPoint(-direction);
+Vec3D RigidBody::_support(std::shared_ptr<RigidBody> obj, const Vec3D& direction) {
+    Vec3D p1 = _findFurthestPoint(direction);
+    Vec3D p2 = obj->_findFurthestPoint(-direction);
 
     return p1 - p2;
 }
 
-bool RigidBody::_nextSimplex(Simplex &points, Point4D &direction) {
-    switch (points.size()) {
-        case 2: return _line(points, direction);
-        case 3: return _triangle(points, direction);
-        case 4: return _tetrahedron(points, direction);
-    }
+NextSimplex RigidBody::_nextSimplex(const Simplex &points) {
+    switch (points.type()) {
+        case SimplexType::Line: return _lineCase(points);
+        case SimplexType::Triangle: return _triangleCase(points);
+        case SimplexType::Tetrahedron: return _tetrahedronCase(points);
 
-    // never should be here
-    return false;
+        default: throw std::logic_error{"RigidBody::_nextSimplex: simplex is not Line, Triangle or Tetrahedron"};
+    }
 }
 
-bool RigidBody::_line(Simplex& points, Point4D& direction) {
-    Point4D a = points[0];
-    Point4D b = points[1];
+NextSimplex RigidBody::_lineCase(const Simplex& points) {
+    std::unique_ptr<Simplex> newPoints = std::make_unique<Simplex>(points);
+    std::unique_ptr<Vec3D> newDirection;
 
-    Point4D ab = b - a;
-    Point4D ao =   - a;
+    Vec3D a = points[0];
+    Vec3D b = points[1];
+
+    Vec3D ab = b - a;
+    Vec3D ao =   - a;
 
     if (ab.dot(ao) > 0) {
-        direction = ab.cross3D(ao).cross3D(ab);
+        newDirection = std::make_unique<Vec3D>(ab.cross(ao).cross(ab));
     } else {
-        points = { a };
-        direction = ao;
+        newPoints = std::make_unique<Simplex>(Simplex{a});
+        newDirection = std::make_unique<Vec3D>(ao);
     }
 
-    return false;
+    return NextSimplex{*newPoints, *newDirection, false};
 }
 
-bool RigidBody::_triangle(Simplex &points, Point4D &direction) {
-    Point4D a = points[0];
-    Point4D b = points[1];
-    Point4D c = points[2];
+NextSimplex RigidBody::_triangleCase(const Simplex &points) {
+    std::unique_ptr<Simplex> newPoints = std::make_unique<Simplex>(points);
+    std::unique_ptr<Vec3D> newDirection;
 
-    Point4D ab = b - a;
-    Point4D ac = c - a;
-    Point4D ao =   - a;
+    Vec3D a = points[0];
+    Vec3D b = points[1];
+    Vec3D c = points[2];
 
-    Point4D abc = ab.cross3D(ac);
+    Vec3D ab = b - a;
+    Vec3D ac = c - a;
+    Vec3D ao =   - a;
 
-    if (abc.cross3D(ac).dot(ao) > 0) {
+    Vec3D abc = ab.cross(ac);
+
+    if (abc.cross(ac).dot(ao) > 0) {
         if (ac.dot(ao) > 0) {
-            points = { a, c };
-            direction = ac.cross3D(ao).cross3D(ac);
+            newPoints = std::make_unique<Simplex>(Simplex{ a, c });
+            newDirection = std::make_unique<Vec3D>(ac.cross(ao).cross(ac));
         }
-        else
-        {
-            return _line(points = { a, b }, direction);
+        else {
+            return _lineCase(Simplex { a, b });
         }
-    }
-    else
-    {
-        if (ab.cross3D(abc).dot(ao) > 0) {
-            return _line(points = { a, b }, direction);
+    } else {
+        if (ab.cross(abc).dot(ao) > 0) {
+            return _lineCase(Simplex { a, b });
         }
-        else
-        {
+        else {
             if (abc.dot(ao) > 0) {
-                direction = abc;
+                newDirection = std::make_unique<Vec3D>(abc);
             } else {
-                points = { a, c, b };
-                direction = -abc;
+                newPoints = std::make_unique<Simplex>(Simplex{ a, c, b });
+                newDirection = std::make_unique<Vec3D>(-abc);
             }
         }
     }
 
-    return false;
+    return NextSimplex{*newPoints, *newDirection, false};
 }
 
-bool RigidBody::_tetrahedron(Simplex &points, Point4D &direction) {
-    Point4D a = points[0];
-    Point4D b = points[1];
-    Point4D c = points[2];
-    Point4D d = points[3];
+NextSimplex RigidBody::_tetrahedronCase(const Simplex &points) {
+    Vec3D a = points[0];
+    Vec3D b = points[1];
+    Vec3D c = points[2];
+    Vec3D d = points[3];
 
-    Point4D ab = b - a;
-    Point4D ac = c - a;
-    Point4D ad = d - a;
-    Point4D ao =   - a;
+    Vec3D ab = b - a;
+    Vec3D ac = c - a;
+    Vec3D ad = d - a;
+    Vec3D ao =   - a;
 
-    Point4D abc = ab.cross3D(ac);
-    Point4D acd = ac.cross3D(ad);
-    Point4D adb = ad.cross3D(ab);
+    Vec3D abc = ab.cross(ac);
+    Vec3D acd = ac.cross(ad);
+    Vec3D adb = ad.cross(ab);
 
     if (abc.dot(ao) > 0) {
-        return _triangle(points = { a, b, c }, direction);
+        return _triangleCase(Simplex{ a, b, c });
     }
 
     if (acd.dot(ao) > 0) {
-        return _triangle(points = { a, c, d }, direction);
+        return _triangleCase(Simplex{ a, c, d });
     }
 
     if (adb.dot(ao) > 0) {
-        return _triangle(points = { a, d, b }, direction);
+        return _triangleCase(Simplex{ a, d, b });
     }
 
-    return true;
+    return NextSimplex{points, Vec3D(), true};
 }
 
 std::pair<bool, Simplex> RigidBody::checkGJKCollision(std::shared_ptr<RigidBody> obj) {
 
     // Get initial support point in any direction
-    Point4D support = _support(obj, Point4D{1, 0, 0});
+    std::unique_ptr<Vec3D> support = std::make_unique<Vec3D>(_support(obj, Vec3D{1, 0, 0}));
 
     // Simplex is an array of points, max count is 4
-    Simplex points;
-    points.push_front(support);
+    std::unique_ptr<Simplex> points = std::make_unique<Simplex>();
+    points->push_front(*support);
 
     // New direction is towards the origin
-    Point4D direction = -support;
+    std::unique_ptr<Vec3D> direction = std::make_unique<Vec3D>(-*support);
 
     int iterations = 0;
 
-    while (iterations < 50) {
-        support = _support(obj, direction);
+    while (iterations < Consts::GJK_MAX_ITERATIONS) {
+        support = std::make_unique<Vec3D>(_support(obj, *direction));
 
-        if (support.dot(direction) <= 0)
-            return std::make_pair(false, points); // no collision
+        if (support->dot(*direction) <= 0)
+            return std::make_pair(false, *points); // no collision
 
-        points.push_front(support);
+        points->push_front(*support);
 
-        if (_nextSimplex(points, direction)) {
+        NextSimplex nextSimplex = _nextSimplex(*points);
+
+        direction = std::make_unique<Vec3D>(nextSimplex.newDirection);
+        points = std::make_unique<Simplex>(nextSimplex.newSimplex);
+
+        if (nextSimplex.finishSearching) {
             if(obj->isCollider())
                 _inCollision = true;
-            return std::make_pair(true, points);
+            return std::make_pair(true, *points);
         }
 
         iterations++;
     }
 
-    return std::make_pair(false, points); // no collision
+    return std::make_pair(false, *points); // no collision
 }
 
 CollisionPoint RigidBody::EPA(const Simplex& simplex, std::shared_ptr<RigidBody> obj) {
 
-    std::vector<Point4D> polytope(simplex.begin(), simplex.end());
+    std::vector<Vec3D> polytope(simplex.begin(), simplex.end());
     std::vector<size_t>  faces = {
             0, 1, 2,
             0, 3, 1,
@@ -178,41 +182,39 @@ CollisionPoint RigidBody::EPA(const Simplex& simplex, std::shared_ptr<RigidBody>
     };
 
     // list: vector4(normal, distance), index: min distance
-    auto [normals, minFace] = _getFaceNormals(polytope, faces);
+    auto [normals, minFace] = std::move(_getFaceNormals(polytope, faces));
 
-    Point4D minNormal;
-    double minDistance = INFINITY;
+    std::shared_ptr<Vec3D> minNormal{};
+    double minDistance = std::numeric_limits<double>::max();
 
     int iterations = 0;
 
-    while ((minDistance == INFINITY) && (iterations < 50)) {
-        minNormal   = Point4D{normals[minFace].x(), normals[minFace].y(), normals[minFace].z()};
-        minDistance = normals[minFace].w();
+    while ((minDistance == std::numeric_limits<double>::max()) && (iterations < Consts::GJK_MAX_ITERATIONS)) {
+        minNormal = std::make_shared<Vec3D>(normals[minFace]->normal);
+        minDistance = normals[minFace]->distance;
 
-        Point4D support = _support(obj, minNormal);
-        double sDistance = minNormal.dot(support);
+        Vec3D support = _support(obj, *minNormal);
+        double sDistance = minNormal->dot(support);
 
-        if (std::abs(sDistance - minDistance) > 0.0001) {
-            minDistance = INFINITY;
+        if (std::abs(sDistance - minDistance) > Consts::EPA_EPS) {
+            minDistance = std::numeric_limits<double>::max();
             std::vector<std::pair<size_t, size_t>> uniqueEdges;
 
             for (size_t i = 0; i < normals.size(); i++) {
-                if (normals[i].dot(support) > 0) {
+                if (normals[i]->normal.dot(support) > 0) {
                     size_t f = i * 3;
 
-                    _addIfUniqueEdge(uniqueEdges, faces, f, f + 1);
-                    _addIfUniqueEdge(uniqueEdges, faces, f + 1, f + 2);
-                    _addIfUniqueEdge(uniqueEdges, faces, f + 2, f);
+                    uniqueEdges = _addIfUniqueEdge(uniqueEdges, faces, f + 0, f + 1);
+                    uniqueEdges = _addIfUniqueEdge(uniqueEdges, faces, f + 1, f + 2);
+                    uniqueEdges = _addIfUniqueEdge(uniqueEdges, faces, f + 2, f + 0);
 
-                    faces[f + 2] = faces.back(); faces.pop_back();
-                    faces[f + 1] = faces.back(); faces.pop_back();
-                    faces[f    ] = faces.back(); faces.pop_back();
-
-                    normals[i] = normals.back(); normals.pop_back();
-
-                    i--;
+                    faces.erase(faces.begin() + f);
+                    faces.erase(faces.begin() + f);
+                    faces.erase(faces.begin() + f);
+                    normals.erase(normals.begin() + i--);
                 }
             }
+
             std::vector<size_t> newFaces;
             for (auto [edgeIndex1, edgeIndex2] : uniqueEdges) {
                 newFaces.push_back(edgeIndex1);
@@ -227,15 +229,15 @@ CollisionPoint RigidBody::EPA(const Simplex& simplex, std::shared_ptr<RigidBody>
             if(newNormals.empty())
                 break;
 
-            double oldMinDistance = INFINITY;
+            double oldMinDistance = std::numeric_limits<double>::max();
             for (size_t i = 0; i < normals.size(); i++) {
-                if (normals[i].w() < oldMinDistance) {
-                    oldMinDistance = normals[i].w();
+                if (normals[i]->distance < oldMinDistance) {
+                    oldMinDistance = normals[i]->distance;
                     minFace = i;
                 }
             }
 
-            if (newNormals[newMinFace].w() < oldMinDistance) {
+            if (newNormals[newMinFace]->distance < oldMinDistance) {
                 minFace = newMinFace + normals.size();
             }
 
@@ -244,79 +246,80 @@ CollisionPoint RigidBody::EPA(const Simplex& simplex, std::shared_ptr<RigidBody>
         }
         iterations++;
     }
-    CollisionPoint point;
-
-    point.normal = minNormal;
-    point.depth = minDistance + 0.0001;
-    point.hasCollision = minDistance < INFINITY;
 
     _collisionNormal = minNormal;
-
-    return point;
+    return CollisionPoint{*minNormal, minDistance + Consts::EPA_EPS, minDistance < std::numeric_limits<double>::max()};
 }
 
-std::pair<std::vector<Point4D>, size_t> RigidBody::_getFaceNormals(const std::vector<Point4D>& polytope, const std::vector<size_t>&  faces) {
-    std::vector<Point4D> normals;
-    size_t minTriangle = 0;
-    double minDistance = INFINITY;
+std::pair<std::vector<std::shared_ptr<FaceNormal>>, size_t> RigidBody::_getFaceNormals(const std::vector<Vec3D>& polytope, const std::vector<size_t>& faces) {
+    std::vector<std::shared_ptr<FaceNormal>> normals;
+    size_t nearestFaceIndex = 0;
+
+    double minDistance = std::numeric_limits<double>::max();
 
     for (size_t i = 0; i < faces.size(); i += 3) {
-        Point4D a = polytope[faces[i    ]];
-        Point4D b = polytope[faces[i + 1]];
-        Point4D c = polytope[faces[i + 2]];
+        Vec3D a = polytope[faces[i + 0]];
+        Vec3D b = polytope[faces[i + 1]];
+        Vec3D c = polytope[faces[i + 2]];
 
-        Point4D normal = (b - a).cross3D(c - a).normalized();
-        double distance = normal.dot(a);
+        std::shared_ptr<Vec3D> normal = std::make_shared<Vec3D>((b - a).cross(c - a).normalized());
+        if(normal->sqrAbs() < Consts::EPS)
+            continue;
+
+        double distance = normal->dot(a);
 
         if (distance < 0) {
-            normal = -normal;
+            normal = std::make_unique<Vec3D>(-*normal);
             distance *= -1;
         }
 
-        normal = Point4D{normal.x(), normal.y(), normal.z(), distance};
-        normals.emplace_back(normal);
+        normal = std::make_shared<Vec3D>(Vec3D{normal->x(), normal->y(), normal->z()});
+        normals.emplace_back(std::make_shared<FaceNormal>(FaceNormal{*normal, distance}));
 
         if (distance < minDistance) {
-            minTriangle = i / 3;
+            nearestFaceIndex = i / 3;
             minDistance = distance;
         }
     }
 
-    return { normals, minTriangle };
+    return {normals, nearestFaceIndex};
 }
 
-void RigidBody::_addIfUniqueEdge(std::vector<std::pair<size_t, size_t>>& edges, const std::vector<size_t>& faces, size_t a, size_t b) {
+std::vector<std::pair<size_t, size_t>> RigidBody::_addIfUniqueEdge(const std::vector<std::pair<size_t, size_t>>& edges, const std::vector<size_t>& faces, size_t a, size_t b) {
 
-    auto reverse = std::find(                   //      0--<--3
-            edges.begin(),                      //     / \ B /   A: 2-0
-            edges.end(),                        //    / A \ /    B: 0-2
-            std::make_pair(faces[b], faces[a])  //   1-->--2
-    );
+    std::vector<std::pair<size_t, size_t>> newEdges = edges;
 
-    if (reverse != edges.end()) {
-        edges.erase(reverse);
+    // We are interested in reversed edge
+    //      0--<--3
+    //     / \ B /   A: 2-0
+    //    / A \ /    B: 0-2
+    //   1-->--2
+    auto reverse = std::find(newEdges.begin(), newEdges.end(), std::make_pair(faces[b], faces[a]));
+
+    if (reverse != newEdges.end()) {
+        newEdges.erase(reverse);
+    } else {
+        newEdges.emplace_back(faces[a], faces[b]);
     }
 
-    else {
-        edges.emplace_back(faces[a], faces[b]);
-    }
+    return newEdges;
 }
 
 void RigidBody::updatePhysicsState() {
-    translate(_velocity * Time::deltaTime());
-    _velocity = _velocity + _acceleration * Time::deltaTime();
+    translate(*_velocity * Time::deltaTime());
+    _velocity = std::make_unique<Vec3D>(*_velocity + *_acceleration * Time::deltaTime());
 }
 
-void RigidBody::setVelocity(const Point4D& velocity) {
-    _velocity = velocity;
+void RigidBody::setVelocity(const Vec3D& velocity) {
+    _velocity = std::make_unique<Vec3D>(velocity);
 }
 
-void RigidBody::addVelocity(const Point4D &velocity) {
-    _velocity = _velocity + velocity;
+void RigidBody::addVelocity(const Vec3D &velocity) {
+    _velocity = std::make_unique<Vec3D>(*_velocity + velocity);
 }
 
-void RigidBody::setAcceleration(const Point4D& acceleration) {
-    _acceleration = acceleration;
+void RigidBody::setAcceleration(const Vec3D& acceleration) {
+    _acceleration = std::make_unique<Vec3D>(acceleration);
 }
 
 RigidBody::RigidBody(const Mesh &mesh) : Mesh(mesh) {
diff --git a/engine/physics/RigidBody.h b/engine/physics/RigidBody.h
index 13130b0..2442173 100644
--- a/engine/physics/RigidBody.h
+++ b/engine/physics/RigidBody.h
@@ -8,52 +8,60 @@
 #include <vector>
 #include <memory>
 #include <functional>
-#include "../utils/Point4D.h"
 #include "../Triangle.h"
 #include "Simplex.h"
 #include "../Mesh.h"
 
 struct CollisionPoint {
-    Point4D a; // Furthest point of a into b
-    Point4D b; // Furthest point of b into a
-    Point4D normal; // b – a normalized
-    double depth;    // Length of b – a
-    bool hasCollision;
+    const Vec3D normal;
+    const double depth;
+    const bool hasCollision;
+};
+
+struct FaceNormal {
+    const Vec3D normal;
+    const double distance;
+};
+
+struct NextSimplex {
+    const Simplex newSimplex;
+    const Vec3D newDirection;
+    const bool finishSearching;
 };
 
 class RigidBody : public Mesh {
 private:
-    Point4D _findFurthestPoint(const Point4D& direction);
-    Point4D _support(std::shared_ptr<RigidBody> obj, const Point4D& direction);
+    Vec3D _findFurthestPoint(const Vec3D& direction);
+    Vec3D _support(std::shared_ptr<RigidBody> obj, const Vec3D& direction);
 
     std::function<void(const std::string&, std::shared_ptr<RigidBody>)> _collisionCallBack;
 
-    static bool _nextSimplex(Simplex& points, Point4D& direction);
-    static bool _line(Simplex& points, Point4D& direction);
-    static bool _triangle(Simplex& points, Point4D& direction);
-    static bool _tetrahedron(Simplex& points, Point4D& direction);
+    static NextSimplex _nextSimplex(const Simplex& points);
+    static NextSimplex _lineCase(const Simplex& points);
+    static NextSimplex _triangleCase(const Simplex& points);
+    static NextSimplex _tetrahedronCase(const Simplex& points);
 
-    static std::pair<std::vector<Point4D>, size_t> _getFaceNormals(const std::vector<Point4D>& polytope, const std::vector<size_t>&  faces);
-    static void _addIfUniqueEdge(std::vector<std::pair<size_t, size_t>>& edges, const std::vector<size_t>& faces, size_t a, size_t b);
+    static std::pair<std::vector<std::shared_ptr<FaceNormal>>, size_t> _getFaceNormals(const std::vector<Vec3D>& polytope, const std::vector<size_t>&  faces);
+    static std::vector<std::pair<size_t, size_t>> _addIfUniqueEdge(const std::vector<std::pair<size_t, size_t>>& edges, const std::vector<size_t>& faces, size_t a, size_t b);
 
 protected:
-    Point4D _velocity;
-    Point4D _acceleration;
+    std::unique_ptr<Vec3D> _velocity = std::make_unique<Vec3D>(Vec3D{0, 0, 0});;
+    std::unique_ptr<Vec3D> _acceleration = std::make_unique<Vec3D>(Vec3D{0, 0, 0});;
 
     bool _collision = false;
     bool _isCollider = true;
 
     bool _inCollision = false;
-    Point4D _collisionNormal;
+    std::shared_ptr<Vec3D> _collisionNormal = std::make_unique<Vec3D>(Vec3D{0, 0, 0});;
 
 public:
     RigidBody() = default;
     explicit RigidBody(const Mesh& mesh);
 
-    std::pair<bool, Simplex> checkGJKCollision(std::shared_ptr<RigidBody> obj);
-    CollisionPoint EPA(const Simplex& simplex, std::shared_ptr<RigidBody> obj);
+    [[nodiscard]] std::pair<bool, Simplex> checkGJKCollision(std::shared_ptr<RigidBody> obj);
+    [[nodiscard]] CollisionPoint EPA(const Simplex& simplex, std::shared_ptr<RigidBody> obj);
 
-    [[nodiscard]] Point4D collisionNormal() const { return _collisionNormal; }
+    [[nodiscard]] Vec3D collisionNormal() const { return *_collisionNormal; }
 
     [[nodiscard]] bool isCollision() const { return _collision; }
     [[nodiscard]] bool inCollision() const {return _inCollision; }
@@ -64,12 +72,12 @@ public:
 
     void updatePhysicsState();
 
-    void setVelocity(const Point4D& velocity);
-    void addVelocity(const Point4D& velocity);
-    void setAcceleration(const Point4D& acceleration);
+    void setVelocity(const Vec3D& velocity);
+    void addVelocity(const Vec3D& velocity);
+    void setAcceleration(const Vec3D& acceleration);
 
-    [[nodiscard]] Point4D velocity() const { return _velocity; }
-    [[nodiscard]] Point4D acceleration() const { return _acceleration; }
+    [[nodiscard]] Vec3D velocity() const { return *_velocity; }
+    [[nodiscard]] Vec3D acceleration() const { return *_acceleration; }
 
     [[nodiscard]] const std::function<void(const std::string&, std::shared_ptr<RigidBody>)>& collisionCallBack() const { return _collisionCallBack; }
     void setCollisionCallBack(const std::function<void(const std::string&, std::shared_ptr<RigidBody>)>& f) { _collisionCallBack = f; }
diff --git a/engine/physics/Simplex.h b/engine/physics/Simplex.h
index 3049af4..cae6ce7 100644
--- a/engine/physics/Simplex.h
+++ b/engine/physics/Simplex.h
@@ -5,34 +5,45 @@
 #ifndef ENGINE_SIMPLEX_H
 #define ENGINE_SIMPLEX_H
 
-#include "../utils/Point4D.h"
+#include "../Vec3D.h"
+#include <deque>
+
+enum class SimplexType {
+    Zero,
+    Point,
+    Line,
+    Triangle,
+    Tetrahedron
+};
 
 struct Simplex {
 private:
-    std::array<Point4D, 4> m_points{};
-    unsigned m_size = 0;
+    std::deque<Vec3D> _points{};
 
 public:
     Simplex() = default;
 
-    Simplex& operator=(std::initializer_list<Point4D> list) {
-        for (auto v = list.begin(); v != list.end(); v++) {
-            m_points[std::distance(list.begin(), v)] = *v;
+    Simplex(std::initializer_list<Vec3D> list) {
+        for (const auto & v : list) {
+            _points.push_back(v);
+            if(_points.size() > 4)
+                _points.pop_front();
         }
-        m_size = list.size();
-        return *this;
     }
 
-    void push_front(const Point4D& point) {
-        m_points = { point, m_points[0], m_points[1], m_points[2] };
-        m_size = std::min(m_size + 1, 4u);
+    void push_front(const Vec3D& point) {
+        _points.push_front(point);
+        if(_points.size() > 4)
+            _points.pop_back();
     }
 
-    Point4D& operator[](unsigned i) { return m_points[i]; }
-    [[nodiscard]] unsigned size() const { return m_size; }
+    Vec3D operator[](unsigned i) const { return _points[i]; }
+    [[nodiscard]] unsigned size() const { return _points.size(); }
 
-    [[nodiscard]] auto begin() const { return m_points.begin(); }
-    [[nodiscard]] auto end()   const { return m_points.end() - (4 - m_size); }
+    [[nodiscard]] auto begin() const { return _points.begin(); }
+    [[nodiscard]] auto end()   const { return _points.end(); }
+
+    [[nodiscard]] SimplexType type() const { return static_cast<SimplexType>(_points.size()); }
 };
 
 #endif //INC_3DZAVR_SIMPLEX_H
diff --git a/engine/physics/Solver.cpp b/engine/physics/Solver.cpp
index e91850c..4c03cb9 100644
--- a/engine/physics/Solver.cpp
+++ b/engine/physics/Solver.cpp
@@ -9,14 +9,11 @@ void Solver::solveCollision(std::shared_ptr<RigidBody> obj1, std::shared_ptr<Rig
     if(!collision.hasCollision)
         return;
 
-    Point4D obj1_velocity_parallel = collision.normal * obj1->velocity().dot(collision.normal);
+    Vec3D obj1_velocity_parallel = collision.normal * obj1->velocity().dot(collision.normal);
+    Vec3D obj1_velocity_perpendicular = obj1->velocity() - obj1_velocity_parallel;
 
-    obj1_velocity_parallel = Point4D{obj1_velocity_parallel.x(), obj1_velocity_parallel.y(), obj1_velocity_parallel.z(), 0};
-
-    Point4D obj1_velocity_perpendicular = obj1->velocity() - obj1_velocity_parallel;
-
-    Point4D obj2_velocity_parallel = collision.normal * obj2->velocity().dot(collision.normal);
-    Point4D obj2_velocity_perpendicular = obj2->velocity() - obj2_velocity_parallel;
+    Vec3D obj2_velocity_parallel = collision.normal * obj2->velocity().dot(collision.normal);
+    Vec3D obj2_velocity_perpendicular = obj2->velocity() - obj2_velocity_parallel;
 
     if(obj1->isCollision()) {
         if(obj1->velocity().dot(collision.normal) > 0) {
diff --git a/weapon/Ak47.cpp b/weapon/Ak47.cpp
index 245ebdc..bf34126 100644
--- a/weapon/Ak47.cpp
+++ b/weapon/Ak47.cpp
@@ -7,7 +7,7 @@
 
 using namespace std;
 
-Ak47::Ak47(int ammo, const std::string& weaponName) : Weapon(weaponName, "obj/ak47.obj", "obj/ak47_mat.txt", Point4D{3, 3, 3}, Point4D{-0.8, 1.3, 0.3}, Point4D{0, Consts::PI, 0}) {
+Ak47::Ak47(int ammo, const std::string& weaponName) : Weapon(weaponName, "obj/ak47.obj", "obj/ak47_mat.txt", Vec3D{3, 3, 3}, Vec3D{-0.8, 1.3, 0.3}, Vec3D{0, Consts::PI, 0}) {
     fireSound.setBuffer(*ResourceManager::loadSoundBuffer("sound/weapons/ak47.ogg"));
     reloadSound.setBuffer(*ResourceManager::loadSoundBuffer("sound/weapons/reload_ak47.ogg"));
 
diff --git a/weapon/Gold_Ak47.h b/weapon/Gold_Ak47.h
index 8f6b5ec..28ddc60 100644
--- a/weapon/Gold_Ak47.h
+++ b/weapon/Gold_Ak47.h
@@ -9,7 +9,7 @@
 
 class Gold_Ak47 : public Weapon {
 public:
-    explicit Gold_Ak47(int ammo = 200, const std::string& weaponName = "gold_ak47") : Weapon(weaponName, "obj/ak47.obj", "obj/gold_ak47_mat.txt", Point4D{3, 3, 3}, Point4D{-0.8, 1.3, 0.3}, Point4D{0, Consts::PI, 0}) {
+    explicit Gold_Ak47(int ammo = 200, const std::string& weaponName = "gold_ak47") : Weapon(weaponName, "obj/ak47.obj", "obj/gold_ak47_mat.txt", Vec3D{3, 3, 3}, Vec3D{-0.8, 1.3, 0.3}, Vec3D{0, Consts::PI, 0}) {
         fireSound.setBuffer(*ResourceManager::loadSoundBuffer("sound/weapons/ak47.ogg"));
         reloadSound.setBuffer(*ResourceManager::loadSoundBuffer("sound/weapons/reload_ak47.ogg"));
 
diff --git a/weapon/Gun.cpp b/weapon/Gun.cpp
index 0704c96..3f18a88 100644
--- a/weapon/Gun.cpp
+++ b/weapon/Gun.cpp
@@ -7,7 +7,7 @@
 
 using namespace std;
 
-Gun::Gun(int ammo, const std::string& weaponName) : Weapon(weaponName, "obj/gun.obj", "obj/gun_mat.txt", Point4D{3, 3, 3}, Point4D{-0.8, 1.3, 0.3}, Point4D{0, Consts::PI, 0}) {
+Gun::Gun(int ammo, const std::string& weaponName) : Weapon(weaponName, "obj/gun.obj", "obj/gun_mat.txt", Vec3D{3, 3, 3}, Vec3D{-0.8, 1.3, 0.3}, Vec3D{0, Consts::PI, 0}) {
     fireSound.setBuffer(*ResourceManager::loadSoundBuffer("sound/weapons/gun.ogg"));
     reloadSound.setBuffer(*ResourceManager::loadSoundBuffer("sound/weapons/reload_gun.ogg"));
 
diff --git a/weapon/Rifle.cpp b/weapon/Rifle.cpp
index a104e16..862ed51 100644
--- a/weapon/Rifle.cpp
+++ b/weapon/Rifle.cpp
@@ -5,7 +5,7 @@
 #include "../engine/ResourceManager.h"
 #include "Rifle.h"
 
-Rifle::Rifle(int ammo, const std::string &weaponName) : Weapon(weaponName, "obj/rifle.obj", "obj/rifle_mat.txt", Point4D{3, 3, 3}, Point4D{-1.2, 1, 0.3}, Point4D{0, Consts::PI, 0}) {
+Rifle::Rifle(int ammo, const std::string &weaponName) : Weapon(weaponName, "obj/rifle.obj", "obj/rifle_mat.txt", Vec3D{3, 3, 3}, Vec3D{-1.2, 1, 0.3}, Vec3D{0, Consts::PI, 0}) {
     fireSound.setBuffer(*ResourceManager::loadSoundBuffer("sound/weapons/shotgun.ogg"));
     reloadSound.setBuffer(*ResourceManager::loadSoundBuffer("sound/weapons/reload_ak47.ogg"));
 
diff --git a/weapon/Shotgun.cpp b/weapon/Shotgun.cpp
index 41792b2..8e190fa 100644
--- a/weapon/Shotgun.cpp
+++ b/weapon/Shotgun.cpp
@@ -9,7 +9,7 @@
 
 using namespace std;
 
-Shotgun::Shotgun(int ammo, const std::string& weaponName) : Weapon(weaponName, "obj/shotgun.obj", "obj/shotgun_mat.txt", Point4D{3, 3, 3}, Point4D{-0.95, 1.3, -0.6}, Point4D{0, Consts::PI, 0}) {
+Shotgun::Shotgun(int ammo, const std::string& weaponName) : Weapon(weaponName, "obj/shotgun.obj", "obj/shotgun_mat.txt", Vec3D{3, 3, 3}, Vec3D{-0.95, 1.3, -0.6}, Vec3D{0, Consts::PI, 0}) {
     fireSound.setBuffer(*ResourceManager::loadSoundBuffer("sound/weapons/shotgun.ogg"));
     reloadSound.setBuffer(*ResourceManager::loadSoundBuffer("sound/weapons/reload_shotgun.ogg"));
 
@@ -25,12 +25,12 @@ Shotgun::Shotgun(int ammo, const std::string& weaponName) : Weapon(weaponName, "
 }
 
 std::map<std::string, double>
-Shotgun::processFire(std::function<std::pair<Point4D, std::string>(const Point4D&, const Point4D&)> rayCastFunction, const Point4D& pos, const Point4D& direction) {
+Shotgun::processFire(std::function<std::pair<Vec3D, std::string>(const Vec3D&, const Vec3D&)> rayCastFunction, const Vec3D& pos, const Vec3D& direction) {
     std::map<std::string, double> damagedPlayers;
 
     for(int i = 0; i < 15; i++) {
         //generate random vector
-        Point4D randV(10*_spreading*(1.0 - 2.0*(double)rand()/RAND_MAX), 10*_spreading*(1.0 - 2.0*(double)rand()/RAND_MAX), 10*_spreading*(1.0 - 2.0*(double)rand()/RAND_MAX));
+        Vec3D randV(10*_spreading*(1.0 - 2.0*(double)rand()/RAND_MAX), 10*_spreading*(1.0 - 2.0*(double)rand()/RAND_MAX), 10*_spreading*(1.0 - 2.0*(double)rand()/RAND_MAX));
 
         // damage player
         auto rayCast = rayCastFunction(pos, pos + direction * 1000 + randV);
@@ -38,8 +38,8 @@ Shotgun::processFire(std::function<std::pair<Point4D, std::string>(const Point4D
             damagedPlayers[rayCast.second] += _damage / (1.0 + (pos - rayCast.first).abs());
         }
 
-        Point4D to = rayCast.first.w() == -1 ? pos + direction * 1000 + randV: rayCast.first;
-        Point4D from = position() + triangles().back()[0];
+        Vec3D to = rayCast.first == Vec3D(0) ? pos + direction * 1000 + randV: rayCast.first;
+        Vec3D from = position() + Vec3D(triangles().back()[0]);
         _addTraceCallBack(from, to);
     }
 
diff --git a/weapon/Shotgun.h b/weapon/Shotgun.h
index ffeda22..e54d0ec 100644
--- a/weapon/Shotgun.h
+++ b/weapon/Shotgun.h
@@ -10,7 +10,7 @@
 class Shotgun : public Weapon {
 public:
     explicit Shotgun(int ammo = 15, const std::string& weaponName = "shotgun");
-    std::map<std::string, double> processFire(std::function<std::pair<Point4D, std::string>(const Point4D&, const Point4D&)> rayCastFunction, const Point4D& position, const Point4D& direction) override;
+    std::map<std::string, double> processFire(std::function<std::pair<Vec3D, std::string>(const Vec3D&, const Vec3D&)> rayCastFunction, const Vec3D& position, const Vec3D& direction) override;
 };
 
 
diff --git a/weapon/Weapon.cpp b/weapon/Weapon.cpp
index 10bc4ac..260113c 100644
--- a/weapon/Weapon.cpp
+++ b/weapon/Weapon.cpp
@@ -12,7 +12,7 @@
 
 using namespace std;
 
-Weapon::Weapon(const std::string& weaponName, const std::string& objFileName, const std::string& matFileName, const Point4D& scale, const Point4D& t, const Point4D& r) {
+Weapon::Weapon(const std::string& weaponName, const std::string& objFileName, const std::string& matFileName, const Vec3D& scale, const Vec3D& t, const Vec3D& r) {
     _name = weaponName;
 
     loadObj(objFileName, matFileName, scale);
@@ -23,7 +23,7 @@ Weapon::Weapon(const std::string& weaponName, const std::string& objFileName, co
     noAmmoSound.setBuffer(*ResourceManager::loadSoundBuffer("sound/weapons/no_ammo.ogg"));
 }
 
-std::map<std::string, double> Weapon::fire(std::function<std::pair<Point4D, std::string>(const Point4D&, const Point4D&)> rayCastFunction, const Point4D& position, const Point4D& direction) {
+std::map<std::string, double> Weapon::fire(std::function<std::pair<Vec3D, std::string>(const Vec3D&, const Vec3D&)> rayCastFunction, const Vec3D& position, const Vec3D& direction) {
     if(_clipAmmo == 0) {
         reload();
         if(_clipAmmo == 0)
@@ -58,11 +58,11 @@ void Weapon::reload() {
     _lastReloadTime = Time::time();
 }
 
-std::map<std::string, double> Weapon::processFire(std::function<std::pair<Point4D, std::string>(const Point4D&, const Point4D&)> rayCastFunction, const Point4D& pos, const Point4D& direction) {
+std::map<std::string, double> Weapon::processFire(std::function<std::pair<Vec3D, std::string>(const Vec3D&, const Vec3D&)> rayCastFunction, const Vec3D& pos, const Vec3D& direction) {
     std::map<std::string, double> damagedPlayers;
 
     //generate random vector
-    Point4D randV(10.0*_spreading*(1.0 - 2.0*(double)rand()/RAND_MAX), 10.0*_spreading*(1.0 - 2.0*(double)rand()/RAND_MAX), 10.0*_spreading*(1.0 - 2.0*(double)rand()/RAND_MAX));
+    Vec3D randV(10.0*_spreading*(1.0 - 2.0*(double)rand()/RAND_MAX), 10.0*_spreading*(1.0 - 2.0*(double)rand()/RAND_MAX), 10.0*_spreading*(1.0 - 2.0*(double)rand()/RAND_MAX));
 
     // damage player
     auto rayCast = rayCastFunction(pos, pos + direction * 1000 + randV);
@@ -71,8 +71,8 @@ std::map<std::string, double> Weapon::processFire(std::function<std::pair<Point4
     }
 
     // add trace line
-    Point4D to = rayCast.first.w() == -1 ? pos + direction * 1000 + randV: rayCast.first;
-    Point4D from = position() + triangles().back()[0];
+    Vec3D to = rayCast.first == Vec3D(0) ? pos + direction * 1000 + randV: rayCast.first;
+    Vec3D from = position() + Vec3D(triangles().back()[0]);
     _addTraceCallBack(from, to);
 
     return damagedPlayers;
diff --git a/weapon/Weapon.h b/weapon/Weapon.h
index dc961b4..48fc69f 100644
--- a/weapon/Weapon.h
+++ b/weapon/Weapon.h
@@ -40,19 +40,19 @@ protected:
 
     int fireTraces = 0;
 
-    std::function<void(const Point4D&, const Point4D&)> _addTraceCallBack;
+    std::function<void(const Vec3D&, const Vec3D&)> _addTraceCallBack;
 
-    virtual std::map<std::string, double> processFire(std::function<std::pair<Point4D, std::string>(const Point4D&, const Point4D&)> rayCastFunction, const Point4D& position, const Point4D& direction);
+    virtual std::map<std::string, double> processFire(std::function<std::pair<Vec3D, std::string>(const Vec3D&, const Vec3D&)> rayCastFunction, const Vec3D& position, const Vec3D& direction);
 
 public:
-    Weapon(const std::string& weaponName, const std::string& objFileName, const std::string& matFileName, const Point4D& scale, const Point4D& translate, const Point4D& rotate);
+    Weapon(const std::string& weaponName, const std::string& objFileName, const std::string& matFileName, const Vec3D& scale, const Vec3D& translate, const Vec3D& rotate);
 
-    std::map<std::string, double> fire(std::function<std::pair<Point4D, std::string>(const Point4D&, const Point4D&)> rayCastFunction, const Point4D& position, const Point4D& direction);
+    std::map<std::string, double> fire(std::function<std::pair<Vec3D, std::string>(const Vec3D&, const Vec3D&)> rayCastFunction, const Vec3D& position, const Vec3D& direction);
     void reload();
 
     [[nodiscard]] std::pair<double, double> balance() const{ return std::make_pair(_clipAmmo, _stockAmmo); }
 
-    void setAddTraceCallBack(std::function<void(Point4D, Point4D)> add) {
+    void setAddTraceCallBack(std::function<void(Vec3D, Vec3D)> add) {
         _addTraceCallBack = std::move(add);
     }