diff --git a/Nerd_STF/CrossSection2d.cs b/Nerd_STF/CrossSection2d.cs
new file mode 100644
index 0000000..ee66887
--- /dev/null
+++ b/Nerd_STF/CrossSection2d.cs
@@ -0,0 +1,8 @@
+namespace Nerd_STF;
+
+public enum CrossSection2d
+{
+    XY,
+    YZ,
+    ZX
+}
diff --git a/Nerd_STF/Exceptions/InvalidProjectionMatrixException.cs b/Nerd_STF/Exceptions/InvalidProjectionMatrixException.cs
new file mode 100644
index 0000000..b4cd567
--- /dev/null
+++ b/Nerd_STF/Exceptions/InvalidProjectionMatrixException.cs
@@ -0,0 +1,16 @@
+namespace Nerd_STF.Exceptions;
+
+[Serializable]
+public class InvalidProjectionMatrixException : Nerd_STFException
+{
+    public Matrix? Matrix;
+
+    public InvalidProjectionMatrixException() : base("This is not a projection matrix.") { }
+    public InvalidProjectionMatrixException(string message) : base(message) { }
+    public InvalidProjectionMatrixException(string message, Exception inner) : base(message, inner) { }
+    public InvalidProjectionMatrixException(Matrix? matrix) : this() => Matrix = matrix;
+    public InvalidProjectionMatrixException(Matrix? matrix, string message) : this(message) => Matrix = matrix;
+    public InvalidProjectionMatrixException(Matrix? matrix, string message, Exception inner) : this(message, inner) =>
+        Matrix = matrix;
+    protected InvalidProjectionMatrixException(SerializationInfo info, StreamingContext context) : base(info, context) { }
+}
diff --git a/Nerd_STF/Mathematics/Algebra/Matrix.cs b/Nerd_STF/Mathematics/Algebra/Matrix.cs
index f97ad07..11f705b 100644
--- a/Nerd_STF/Mathematics/Algebra/Matrix.cs
+++ b/Nerd_STF/Mathematics/Algebra/Matrix.cs
@@ -157,6 +157,11 @@ public class Matrix : IMatrix<Matrix, Matrix>
         }
     }
 
+    public static Matrix Get2dRotationMatrix(Angle rot) =>
+        Matrix2x2.GenerateRotationMatrix(rot);
+    public static Matrix Get3dRotationMatrix(Angle yaw, Angle pitch, Angle roll) =>
+        Matrix3x3.GenerateRotationMatrix(yaw, pitch, roll);
+
     public static Matrix Absolute(Matrix val) => new(val.Size, (r, c) => Mathf.Absolute(val[r, c]));
     public static Matrix Ceiling(Matrix val) => new(val.Size, (r, c) => Mathf.Ceiling(val[r, c]));
     public static Matrix Clamp(Matrix val, Matrix min, Matrix max) =>
diff --git a/Nerd_STF/Mathematics/Algebra/Matrix2x2.cs b/Nerd_STF/Mathematics/Algebra/Matrix2x2.cs
index 165ecf3..0735899 100644
--- a/Nerd_STF/Mathematics/Algebra/Matrix2x2.cs
+++ b/Nerd_STF/Mathematics/Algebra/Matrix2x2.cs
@@ -161,6 +161,12 @@ public record class Matrix2x2 : IStaticMatrix<Matrix2x2>
         }
     }
 
+    public static Matrix2x2 GenerateRotationMatrix(Angle rot) => new(new[,]
+    {
+        { Mathf.Cos(rot), -Mathf.Sin(rot) },
+        { Mathf.Sin(rot),  Mathf.Cos(rot) }
+    });
+
     public static Matrix2x2 Absolute(Matrix2x2 val) => new(Mathf.Absolute(val.r1c1), Mathf.Absolute(val.r1c2),
         Mathf.Absolute(val.r2c1), Mathf.Absolute(val.r2c2));
     public static Matrix2x2 Average(params Matrix2x2[] vals) => Sum(vals) / vals.Length;
diff --git a/Nerd_STF/Mathematics/Algebra/Matrix3x3.cs b/Nerd_STF/Mathematics/Algebra/Matrix3x3.cs
index 79c4ebb..60ccc4b 100644
--- a/Nerd_STF/Mathematics/Algebra/Matrix3x3.cs
+++ b/Nerd_STF/Mathematics/Algebra/Matrix3x3.cs
@@ -225,6 +225,34 @@ public record class Matrix3x3 : IStaticMatrix<Matrix3x3>
         }
     }
 
+    public static Matrix3x3 GenerateRotationMatrix(Angle yaw, Angle pitch, Angle roll)
+    {
+        // Could be optimized by merging all of the matrices by hand
+        // but that's a huge matrix and, as said before like a gajillion
+        // times, this ain't the optimization update.
+
+        Matrix3x3 yawMatrix = new(new[,]
+        {
+            { Mathf.Cos(yaw), -Mathf.Sin(yaw), 0 },
+            { Mathf.Sin(yaw),  Mathf.Cos(yaw), 0 },
+            {              0,               0, 1 }
+        });
+        Matrix3x3 pitchMatrix = new(new[,]
+        {
+            {  Mathf.Cos(pitch), 0, Mathf.Sin(pitch) },
+            {                 0, 1,                0 },
+            { -Mathf.Sin(pitch), 0, Mathf.Cos(pitch) }
+        });
+        Matrix3x3 rollMatrix = new(new[,]
+        {
+            { 1,               0,                0 },
+            { 0, Mathf.Cos(roll), -Mathf.Sin(roll) },
+            { 0, Mathf.Sin(roll),  Mathf.Cos(roll) }
+        });
+
+        return yawMatrix * pitchMatrix * rollMatrix;
+    }
+
     public static Matrix3x3 Absolute(Matrix3x3 val) =>
         new(Mathf.Absolute(val.r1c1), Mathf.Absolute(val.r1c2), Mathf.Absolute(val.r1c3),
             Mathf.Absolute(val.r2c1), Mathf.Absolute(val.r2c2), Mathf.Absolute(val.r2c3),
diff --git a/Nerd_STF/Mathematics/Algebra/ProjectionMatrix.cs b/Nerd_STF/Mathematics/Algebra/ProjectionMatrix.cs
new file mode 100644
index 0000000..da9a4e2
--- /dev/null
+++ b/Nerd_STF/Mathematics/Algebra/ProjectionMatrix.cs
@@ -0,0 +1,74 @@
+namespace Nerd_STF.Mathematics.Algebra;
+
+public record class ProjectionMatrix : Matrix3x3
+{
+    // TODO: i need to remove the record check from everything, add new equals comparitors
+    //       and re-implement IsValidProjectionMatrix
+
+    public ProjectionMatrix(float all) : this(all, all, all, all, all, all, all, all, all) { }
+    public ProjectionMatrix(float r1c1, float r1c2, float r1c3, float r2c1,
+        float r2c2, float r2c3, float r3c1, float r3c2, float r3c3) :
+        base(r1c1, r1c2, r1c3, r2c1, r2c2, r2c3, r3c1, r3c2, r3c3)
+    {
+        //if (!IsValidProjectionMatrix) throw new InvalidProjectionMatrixException(this);
+    }
+    public ProjectionMatrix(float[] nums) : this(nums[0], nums[1], nums[2],
+        nums[3], nums[4], nums[5], nums[6], nums[7], nums[8]) { }
+    public ProjectionMatrix(int[] nums) : this(nums[0], nums[1], nums[2],
+        nums[3], nums[4], nums[5], nums[6], nums[7], nums[8]) { }
+    public ProjectionMatrix(Fill<float> fill) : this(fill(0), fill(1), fill(2),
+        fill(3), fill(4), fill(5), fill(6), fill(7), fill(8)) { }
+    public ProjectionMatrix(Fill<int> fill) : this(fill(0), fill(1), fill(2),
+        fill(3), fill(4), fill(5), fill(6), fill(7), fill(8)) { }
+    public ProjectionMatrix(float[,] nums) : this(nums[0, 0], nums[0, 1], nums[0, 2],
+        nums[1, 0], nums[1, 1], nums[1, 2], nums[2, 0], nums[2, 1], nums[2, 2]) { }
+    public ProjectionMatrix(int[,] nums) : this(nums[0, 0], nums[0, 1], nums[0, 2],
+        nums[1, 0], nums[1, 1], nums[1, 2], nums[2, 0], nums[2, 1], nums[2, 2]) { }
+    public ProjectionMatrix(Fill2d<float> fill) : this(fill(0, 0), fill(0, 1), fill(0, 2),
+        fill(1, 0), fill(1, 1), fill(1, 2), fill(2, 0), fill(2, 1), fill(2, 2)) { }
+    public ProjectionMatrix(Fill2d<int> fill) : this(fill(0, 0), fill(0, 1), fill(0, 2),
+        fill(1, 0), fill(1, 1), fill(1, 2), fill(2, 0), fill(2, 1), fill(2, 2)) { }
+    public ProjectionMatrix(Float3 r1, Float3 r2, Float3 r3) : this(r1.x, r1.y, r1.z, r2.x, r2.y, r2.z, r3.x, r3.y, r3.z) { }
+    public ProjectionMatrix(Fill<Float3> fill) : this(fill(0), fill(1), fill(2)) { }
+    public ProjectionMatrix(Fill<Int3> fill) : this((IEnumerable<int>)fill(0), fill(1), fill(2)) { }
+    public ProjectionMatrix(IEnumerable<float> r1, IEnumerable<float> r2, IEnumerable<float> r3)
+        : this(r1.ToFill(), r2.ToFill(), r3.ToFill()) { }
+    public ProjectionMatrix(IEnumerable<int> r1, IEnumerable<int> r2, IEnumerable<int> r3)
+        : this(r1.ToFill(), r2.ToFill(), r3.ToFill()) { }
+    public ProjectionMatrix(Fill<float> r1, Fill<float> r2, Fill<float> r3)
+        : this(r1(0), r1(1), r1(2), r2(0), r2(1), r2(2), r3(0), r3(1), r3(2)) { }
+    public ProjectionMatrix(Fill<int> r1, Fill<int> r2, Fill<int> r3)
+        : this(r1(0), r1(1), r1(2), r2(0), r2(1), r2(2), r3(0), r3(1), r3(2)) { }
+
+    public static ProjectionMatrix SingleViewProjection(CrossSection2d section) => new(new[,]
+    {
+        { section == CrossSection2d.XY || section == CrossSection2d.ZX ? 1 : 0, 0, 0 },
+        { 0, section == CrossSection2d.XY || section == CrossSection2d.YZ ? 1 : 0, 0 },
+        { 0, 0, section == CrossSection2d.YZ || section == CrossSection2d.ZX ? 1 : 0 }
+    });
+    public static ProjectionMatrix IsometricProjection(Angle alpha, Angle beta)
+    {
+        Matrix3x3 alphaMat = new(new[,]
+        {
+            { 1,                 0,                0 },
+            { 0,  Mathf.Cos(alpha), Mathf.Sin(alpha) },
+            { 0, -Mathf.Sin(alpha), Mathf.Cos(alpha) }
+        });
+        Matrix3x3 betaMat = new(new[,]
+        {
+            { Mathf.Cos(beta), 0, -Mathf.Sin(beta) },
+            {               0, 1,                0 },
+            { Mathf.Sin(beta), 0,  Mathf.Cos(beta) }
+        });
+        Matrix3x3 flatten = new(new[,]
+        {
+            { 1, 0, 0 },
+            { 0, 1, 0 },
+            { 0, 0, 0 }
+        });
+        Matrix3x3 result = alphaMat * betaMat * flatten;
+        return new(result.ToFill2D());
+    }
+
+    public Fill<Float3> Project(Fill<Float3> toProject) => i => this * toProject(i);
+}
diff --git a/Nerd_STF/Mathematics/Algebra/Vector2d.cs b/Nerd_STF/Mathematics/Algebra/Vector2d.cs
index 2720aae..e8f8cdf 100644
--- a/Nerd_STF/Mathematics/Algebra/Vector2d.cs
+++ b/Nerd_STF/Mathematics/Algebra/Vector2d.cs
@@ -50,7 +50,7 @@ public record struct Vector2d : IAbsolute<Vector2d>, IAverage<Vector2d>,
         return new(val.theta, mag);
     }
     public static Vector3d Cross(Vector2d a, Vector2d b, bool normalized = false) =>
-        Float2.Cross(a.ToXYZ(), b.ToXYZ(), normalized).ToVector();
+        new Float3(0, 0, Float2.Cross(a.ToXYZ(), b.ToXYZ(), normalized)).ToVector();
     public static float Dot(Vector2d a, Vector2d b) => Float2.Dot(a.ToXYZ(), b.ToXYZ());
     public static float Dot(params Vector2d[] vals)
     {
diff --git a/Nerd_STF/Mathematics/Float2.cs b/Nerd_STF/Mathematics/Float2.cs
index e479088..e43d253 100644
--- a/Nerd_STF/Mathematics/Float2.cs
+++ b/Nerd_STF/Mathematics/Float2.cs
@@ -2,7 +2,7 @@
 
 public record struct Float2 : IAbsolute<Float2>, IAverage<Float2>, ICeiling<Float2, Int2>,
     IClamp<Float2>, IClampMagnitude<Float2, float>, IComparable<Float2>,
-    ICross<Float2, Float3>, IDivide<Float2>, IDot<Float2, float>, IEquatable<Float2>,
+    ICross<Float2, float>, IDivide<Float2>, IDot<Float2, float>, IEquatable<Float2>,
     IFloor<Float2, Int2>, IFromTuple<Float2, (float x, float y)>, IGroup<float>,
     ILerp<Float2, float>, IMathOperators<Float2>, IMax<Float2>, IMedian<Float2>, IMin<Float2>,
     IIndexAll<float>, IIndexRangeAll<float>, IPresets2d<Float2>, IProduct<Float2>, IRound<Float2, Int2>,
@@ -96,8 +96,8 @@ public record struct Float2 : IAbsolute<Float2>, IAverage<Float2>, ICeiling<Floa
         else if (mag > maxMag) val *= maxMag;
         return val;
     }
-    public static Float3 Cross(Float2 a, Float2 b, bool normalized = false) =>
-        Float3.Cross(a, b, normalized);
+    public static float Cross(Float2 a, Float2 b, bool normalized = false) =>
+        Float3.Cross(a, b, normalized).z;
     public static Float2 Divide(Float2 num, params Float2[] vals) => num / Product(vals);
     public static float Dot(Float2 a, Float2 b) => a.x * b.x + a.y * b.y;
     public static float Dot(params Float2[] vals)
diff --git a/Nerd_STF/Mathematics/Geometry/Triangle.cs b/Nerd_STF/Mathematics/Geometry/Triangle.cs
index 4b2a095..e7f2228 100644
--- a/Nerd_STF/Mathematics/Geometry/Triangle.cs
+++ b/Nerd_STF/Mathematics/Geometry/Triangle.cs
@@ -208,18 +208,21 @@ public class Triangle : IClosestTo<Float3>, IContains<Float3>, IContainsPartial<
     }
     public override int GetHashCode() => base.GetHashCode();
 
-    public bool Contains(Float3 point)
+    public bool Contains(Float3 point) => Contains(point, 0.05f);
+    public bool Contains(Float3 point, float tolerance)
     {
         Triangle pab = (point, a, b),
                  pbc = (point, b, c),
                  pca = (point, c, a);
-        return Mathf.Absolute(Area - (pab.Area + pbc.Area + pca.Area)) < 0.05f;
+        return Mathf.Absolute(Area - (pab.Area + pbc.Area + pca.Area)) < tolerance;
     }
-    public bool Contains(Line line) =>
-        Contains(line.a) && Contains(line.b);
+    public bool Contains(Line line) => Contains(line, 0.05f);
+    public bool Contains(Line line, float tolerance) =>
+        Contains(line.a, tolerance) && Contains(line.b, tolerance);
 
-    public bool ContainsPartially(Line line) =>
-        Contains(line.a) || Contains(line.b);
+    public bool ContainsPartially(Line line) => ContainsPartially(line, 0.05f);
+    public bool ContainsPartially(Line line, float tolerance) =>
+        Contains(line.a, tolerance) || Contains(line.b, tolerance);
 
     public Float3[] GetAllVerts() => new[] { a, b, c };
 
diff --git a/Nerd_STF/Nerd_STF.csproj b/Nerd_STF/Nerd_STF.csproj
index 5bb893b..4d0467b 100644
--- a/Nerd_STF/Nerd_STF.csproj
+++ b/Nerd_STF/Nerd_STF.csproj
@@ -66,4 +66,9 @@ Anyway, that's everything in this update. Again, pretty small, but meaningful no
     </None>
   </ItemGroup>
 
+  <ItemGroup>
+    <PackageReference Include="Emgu.CV" Version="4.7.0.5276" />
+    <PackageReference Include="Emgu.CV.runtime.windows" Version="4.7.0.5276" />
+  </ItemGroup>
+
 </Project>