diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0845e4a..9769e6d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -44,7 +44,10 @@ add_library(Math
     include/CVector4f.hpp
     include/CFrustum.hpp
     include/CAABox.hpp
-    include/COBBox.hpp)
+    include/COBBox.hpp
+    include/CLine.hpp
+    include/CSphere.hpp
+    include/CUnitVector.hpp)
 
 add_subdirectory(test)
 
diff --git a/include/CAABox.hpp b/include/CAABox.hpp
index bbe96e4..5b56afa 100644
--- a/include/CAABox.hpp
+++ b/include/CAABox.hpp
@@ -3,6 +3,8 @@
 
 #include "CVector3f.hpp"
 #include "CTransform.hpp"
+#include "CPlane.hpp"
+#include "Math.hpp"
 #include <Athena/IStreamReader.hpp>
 
 class ZE_ALIGN(16) CAABox
@@ -55,12 +57,53 @@ public:
     
     inline bool intersects(const CAABox& other) const
     {
-        if (m_max[0] < other.m_min[0]) return false;
-        if (m_min[0] > other.m_max[0]) return false;
-        if (m_max[1] < other.m_min[1]) return false;
-        if (m_min[1] > other.m_max[1]) return false;
-        if (m_max[2] < other.m_min[2]) return false;
-        if (m_min[2] > other.m_max[2]) return false;
+        bool x1 = (m_max[0] < other.m_min[0]);
+        bool x2 = (m_min[0] > other.m_max[0]);
+        bool y1 = (m_max[1] < other.m_min[1]);
+        bool y2 = (m_min[1] > other.m_max[1]);
+        bool z1 = (m_max[2] < other.m_min[2]);
+        bool z2 = (m_min[2] > other.m_max[2]);
+        return x1 && x2 && y1 && y2 && z1 && z2;
+    }
+
+    inline bool inside(const CAABox& other) const
+    {
+        bool x = m_min[0] >= other.m_min[0] && m_max[0] <= other.m_max[0];
+        bool y = m_min[1] >= other.m_min[1] && m_max[1] <= other.m_max[1];
+        bool z = m_min[2] >= other.m_min[2] && m_max[2] <= other.m_max[2];
+        return x && y && z;
+    }
+
+    inline bool insidePlane(const CPlane& plane) const
+    {
+        CVector3f vmin, vmax;
+        /* X axis */
+        if (plane.a >= 0) {
+            vmin[0] = m_min[0];
+            vmax[0] = m_max[0];
+        } else {
+            vmin[0] = m_max[0];
+            vmax[0] = m_min[0];
+        }
+        /* Y axis */
+        if (plane.b >= 0) {
+            vmin[1] = m_min[1];
+            vmax[1] = m_max[1];
+        } else {
+            vmin[1] = m_max[1];
+            vmax[1] = m_min[1];
+        }
+        /* Z axis */
+        if (plane.c >= 0) {
+            vmin[2] = m_min[2];
+            vmax[2] = m_max[2];
+        } else {
+            vmin[2] = m_max[2];
+            vmax[2] = m_min[2];
+        }
+        float dadot = plane.vec.dot(vmax);
+        if (dadot + plane.d < 0)
+            return false;
         return true;
     }
 
@@ -68,7 +111,7 @@ public:
     {
         return (m_min + m_max) * 0.5f;
     }
-    CVector3f extents() const
+    CVector3f volume() const
     {
         return (m_max - m_min) * 0.5f;
     }
@@ -113,16 +156,18 @@ public:
 
     inline CVector3f closestPointAlongVector(const CVector3f& other)
     {
-        return {(other.x >= -0.f) ? m_min.x : m_max.x,
-                (other.y >= -0.f) ? m_min.y : m_max.y,
-                (other.z >= -0.f) ? m_min.z : m_max.z};
+        CVector3f center = this->center();
+        return {(other.x < center.x ? m_min.x : m_max.x),
+                (other.y < center.y ? m_min.y : m_max.y),
+                (other.z < center.z ? m_min.z : m_max.z)};
     }
 
     inline CVector3f furthestPointAlongVector(const CVector3f& other)
     {
-        return {(other.x >= -0.f) ? m_max.x : m_min.x,
-                (other.y >= -0.f) ? m_max.y : m_min.y,
-                (other.z >= -0.f) ? m_max.z : m_min.z};
+        CVector3f center = this->center();
+        return {(other.x < center.x ? m_max.x : m_min.x),
+                (other.y < center.y ? m_max.y : m_min.y),
+                (other.z < center.z ? m_max.z : m_min.z)};
     }
 
     inline CVector3f getPoint(const int point)
@@ -139,18 +184,9 @@ public:
     inline CVector3f clampToBox(const CVector3f& vec)
     {
         CVector3f ret = vec;
-        if (ret.x < m_min.x)
-            ret.x = m_min.x;
-        if (ret.y < m_min.y)
-            ret.y = m_min.y;
-        if (ret.z < m_min.z)
-            ret.z = m_min.z;
-        if (ret.x > m_max.x)
-            ret.x = m_max.x;
-        if (ret.y > m_max.y)
-            ret.y = m_max.y;
-        if (ret.z > m_max.z)
-            ret.z = m_max.z;
+        Math::clamp(ret.x, m_min.x, m_max.x);
+        Math::clamp(ret.y, m_min.y, m_max.y);
+        Math::clamp(ret.z, m_min.z, m_max.z);
         return ret;
     }
 
diff --git a/include/CLine.hpp b/include/CLine.hpp
new file mode 100644
index 0000000..e69de29
diff --git a/include/COBBox.hpp b/include/COBBox.hpp
index 7ceaf06..da81a59 100644
--- a/include/COBBox.hpp
+++ b/include/COBBox.hpp
@@ -16,7 +16,7 @@ public:
     {}
 
     COBBox(const CAABox& aabb)
-        : m_extents(aabb.extents())
+        : m_extents(aabb.volume())
     {
         m_transform.m_origin = aabb.center();
     }
diff --git a/include/CSphere.hpp b/include/CSphere.hpp
new file mode 100644
index 0000000..15dbdc1
--- /dev/null
+++ b/include/CSphere.hpp
@@ -0,0 +1,35 @@
+#ifndef CSPHERE_HPP
+#define CSPHERE_HPP
+
+#include "CVector3f.hpp"
+
+class ZE_ALIGN(16) CSphere
+{
+public:
+    ZE_DECLARE_ALIGNED_ALLOCATOR();
+
+    CSphere(const CVector3f& position, float radius)
+    {
+#if __SSE__
+        mVec128 = position.mVec128;
+#endif
+        r = radius;
+    }
+
+    inline CVector3f getSurfaceNormal(const CVector3f& coord)
+    {
+        return (vec - coord).normalized();
+    }
+
+    union
+    {
+        struct { float x, y, z, r; };
+        float s[4];
+        CVector3f vec;
+#if __SSE__
+        __m128 mVec128;
+#endif
+    };
+};
+
+#endif
diff --git a/include/CTransform.hpp b/include/CTransform.hpp
index a8de86f..9cc2e47 100644
--- a/include/CTransform.hpp
+++ b/include/CTransform.hpp
@@ -123,6 +123,7 @@ static inline CTransform CTransformFromScaleVector(const CVector3f& scale)
     return CTransform(CMatrix3f(scale));
 }
 CTransform CTransformFromEditorEuler(const CVector3f& eulerVec);
+CTransform CTransformFromEditorEulers(const CVector3f& eulerVec, const CVector3f& origin);
 CTransform CTransformFromAxisAngle(const CVector3f& axis, float angle);
 
 #endif // CTRANSFORM_HPP
diff --git a/include/CVector2f.hpp b/include/CVector2f.hpp
index c6a24cd..0051c2d 100644
--- a/include/CVector2f.hpp
+++ b/include/CVector2f.hpp
@@ -198,17 +198,26 @@ class ZE_ALIGN(16) CVector2f
     inline void normalize()
     {
         float mag = length();
-        assert(mag != 0.0);
-        mag = 1.0 / mag;
-        *this *= mag;
+        if (mag > 1e-6f)
+        {
+            mag = 1.0 / mag;
+            *this *= mag;
+        }
+        else
+            zeroOut();
     }
+
     inline CVector2f normalized() const
     {
         float mag = length();
-        assert(mag != 0.0);
-        mag = 1.0 / mag;
-        return *this * mag;
+        if (mag > 1e-6f)
+        {
+            mag = 1.0 / mag;
+            return *this * mag;
+        }
+        return {1, 0};
     }
+
     inline float cross(const CVector2f& rhs) const
     {
         return (x * rhs.y) - (y * rhs.x);
diff --git a/include/CVector3f.hpp b/include/CVector3f.hpp
index 19ae44d..cdcee6d 100644
--- a/include/CVector3f.hpp
+++ b/include/CVector3f.hpp
@@ -169,7 +169,7 @@ public:
             *this *= mag;
         }
         else
-            x = 1.0, y = 0.0, z = 0.0;
+            zeroOut();
     }
     inline CVector3f normalized() const
     {
@@ -179,7 +179,7 @@ public:
             mag = 1.0 / mag;
             return *this * mag;
         }
-        return {1, 0, 0};
+        return {0, 0, 0};
     }
     inline CVector3f cross(const CVector3f& rhs) const
     {
@@ -260,6 +260,11 @@ public:
         return !isNormalized();
     }
 
+    inline bool isZero() const
+    {
+        return lengthSquared() <= 1e-7;
+    }
+
     inline void scaleToLength(float newLength)
     {
         float length = lengthSquared();
@@ -281,6 +286,12 @@ public:
         return v;
     }
 
+    inline bool isEqu(const CVector3f& other, float epsilon=1e-7f)
+    {
+        CVector3f diffVec = other - *this;
+        return (diffVec.x <= epsilon && diffVec.y <= epsilon && diffVec.z <= epsilon);
+    }
+
     inline float& operator[](size_t idx) {return (&x)[idx];}
     inline const float& operator[](size_t idx) const {return (&x)[idx];}
 
diff --git a/include/CVector4f.hpp b/include/CVector4f.hpp
index ec5f4f9..d211d3a 100644
--- a/include/CVector4f.hpp
+++ b/include/CVector4f.hpp
@@ -222,16 +222,23 @@ class ZE_ALIGN(16) CVector4f
     inline void normalize()
     {
         float mag = length();
-        assert(mag != 0.0);
-        mag = 1.0 / mag;
-        *this *= mag;
+        if (mag > 1e-6f)
+        {
+            mag = 1.0 / mag;
+            *this *= mag;
+        }
+        else
+            zeroOut();
     }
     inline CVector4f normalized() const
     {
         float mag = length();
-        assert(mag != 0.0);
-        mag = 1.0 / mag;
-        return *this * mag;
+        if (mag > 1e-6f)
+        {
+            mag = 1.0 / mag;
+            return *this * mag;
+        }
+        return {0, 0, 0, 0};
     }
 
     inline float dot(const CVector4f& rhs) const
diff --git a/include/Global.hpp b/include/Global.hpp
index a7afb1d..638d158 100644
--- a/include/Global.hpp
+++ b/include/Global.hpp
@@ -11,7 +11,7 @@
 #       define ZE_ALIGN(x) __declspec(align(x))
 #   else
 #       include <mm_malloc.h>
-#       define ZE_ALIGN(x) __attribute__((aligned(x)))
+#       define ZE_ALIGN(x) alignas(16)
 #   endif
 #   define ZE_SHUFFLE(x,y,z,w) ((w)<<6 | (z)<<4 | (y)<<2 | (x))
 #   define zeAlloc(sz, align) _mm_malloc(sz, align)
diff --git a/include/Math.hpp b/include/Math.hpp
index 41dbdd5..3d6ab70 100644
--- a/include/Math.hpp
+++ b/include/Math.hpp
@@ -18,15 +18,14 @@ namespace Math
 {
     template<typename T>
     inline T clamp(T min, T val, T max) {return MAX(min, MIN(max, val));}
-    
     inline float radToDeg(float rad) {return rad * 180.f / M_PI;}
     inline float degToRad(float deg) {return deg * M_PI / 180;}
-    
+
     extern const CVector3f kRadToDegVec;
     extern const CVector3f kDegToRadVec;
     inline CVector3f radToDeg(CVector3f rad) {return rad * kRadToDegVec;}
     inline CVector3f degToRad(CVector3f deg) {return deg * kDegToRadVec;}
-    
+
     extern const CVector3f kUpVec;
     CTransform lookAt(const CVector3f& pos, const CVector3f& lookPos, const CVector3f& up=kUpVec);
     inline CVector3f baryToWorld(const CVector3f& p0, const CVector3f& p1, const CVector3f& p2, const CVector3f& bary)
diff --git a/include/MathLib.hpp b/include/MathLib.hpp
index b6a48ca..7c7e323 100644
--- a/include/MathLib.hpp
+++ b/include/MathLib.hpp
@@ -11,10 +11,12 @@
 #include "CVector2f.hpp"
 #include "CVector3f.hpp"
 #include "CVector4f.hpp"
+#include "CUnitVector.hpp"
 #include "CRectangle.hpp"
 #include "CPlane.hpp"
 #include "CAABox.hpp"
 #include "COBBox.hpp"
+#include "CSphere.hpp"
 #include "CFrustum.hpp"
 #include "CColor.hpp"
 #include "Global.hpp"
diff --git a/src/CTransform.cpp b/src/CTransform.cpp
index cfd727d..2340347 100644
--- a/src/CTransform.cpp
+++ b/src/CTransform.cpp
@@ -58,3 +58,9 @@ CTransform CTransformFromAxisAngle(const CVector3f& axis, float angle)
     return result;
 }
 
+CTransform CTransformFromEditorEulers(const CVector3f& eulerVec, const CVector3f& origin)
+{
+    CTransform ret = CTransformFromEditorEuler(eulerVec);
+    ret.m_origin = origin;
+    return ret;
+}