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+#ifndef ucoo_math_vect3d_tcc
+#define ucoo_math_vect3d_tcc
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2015 Nicolas Schodet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+//
+// }}}
+
+#include <cmath>
+
+namespace ucoo {
+
+template<typename T>
+constexpr
+vect3d<T>::vect3d ()
+{
+}
+
+template<typename T>
+constexpr
+vect3d<T>::vect3d (T x_, T y_, T z_)
+ : x (x_), y (y_), z (z_)
+{
+}
+
+template<typename T>
+vect3d<T>::vect3d (const vect3d<T> &a, const vect3d<T> &b)
+{
+ *this = b - a;
+}
+
+template<typename T>
+vect3d<T>
+vect3d<T>::operator+ (const vect3d<T> &o) const
+{
+ return vect3d<T> (x + o.x, y + o.y, z + o.z);
+}
+
+template<typename T>
+vect3d<T>
+vect3d<T>::operator+= (const vect3d<T> &o)
+{
+ *this = *this + o;
+ return *this;
+}
+
+template<typename T>
+vect3d<T>
+vect3d<T>::operator- (const vect3d<T> &o) const
+{
+ return vect3d<T> (x - o.x, y - o.y, z - o.z);
+}
+
+template<typename T>
+vect3d<T>
+vect3d<T>::operator-= (const vect3d<T> &o)
+{
+ *this = *this - o;
+ return *this;
+}
+
+template<typename T>
+template<typename U>
+vect3d<T>
+vect3d<T>::operator* (U s) const
+{
+ return vect3d<T> (x * s, y * s, z * s);
+}
+
+template<typename T>
+template<typename U>
+vect3d<T>
+vect3d<T>::operator*= (U s)
+{
+ *this = *this * s;
+ return *this;
+}
+
+template<typename T>
+template<typename U>
+vect3d<T>
+vect3d<T>::operator/ (U s) const
+{
+ return vect3d<T> (x / s, y / s, z / s);
+}
+
+template<typename T>
+template<typename U>
+vect3d<T>
+vect3d<T>::operator/= (U s)
+{
+ *this = *this / s;
+ return *this;
+}
+
+template<typename T>
+T
+vect3d<T>::dot (const vect3d<T> &o) const
+{
+ return x * o.x + y * o.y + z * o.z;
+}
+
+template<typename T>
+vect3d<T>
+vect3d<T>::cross (const vect3d<T> &o) const
+{
+ return vect3d<T> (
+ y * o.z - z * o.y,
+ z * o.x - x * o.z,
+ x * o.y - y * o.x
+ );
+}
+
+template<typename T>
+T
+vect3d<T>::norm () const
+{
+ return std::sqrt (dot (*this));
+}
+
+template<typename T>
+vect3d<T>
+vect3d<T>::unit () const
+{
+ return *this / norm ();
+}
+
+} // namespace ucoo
+
+#endif // ucoo_math_vect3d_tcc