destille to single header

src/modm/math/geometry/line_2d_impl.hpp

@@ -79,7 +79,7 @@ modm::Line2D<T>::getDistanceTo(const Vector<T, 2>& point) const
 	FloatType d = c1 / c2;
 
 	// calculate the closest point
-	Vector<T, 2> closestPoint = this->point + d * this->directionVector;
+	Vector<T, 2> closestPoint = this->point + this->directionVector * d;
 
 	// return the length of the vector from the closest point on the line
 	// to the given point

src/modm/math/geometry/line_segment_2d_impl.hpp

@@ -161,10 +161,10 @@ template<typename T>
 bool
 modm::LineSegment2D<T>::intersects(const LineSegment2D<T>& other) const
 {
-	return (((Vector<T, 2>::ccw(this->startPoint, this->endPoint, other.startPoint) *
-			  Vector<T, 2>::ccw(this->startPoint, this->endPoint, other.endPoint)) <= 0) &&
-			((Vector<T, 2>::ccw(other.startPoint, other.endPoint, this->startPoint) *
-			  Vector<T, 2>::ccw(other.startPoint, other.endPoint, this->endPoint)) <= 0));
+	return (((modm::ccw(this->startPoint, this->endPoint, other.startPoint) *
+			  modm::ccw(this->startPoint, this->endPoint, other.endPoint)) <= 0) &&
+			((modm::ccw(other.startPoint, other.endPoint, this->startPoint) *
+			  modm::ccw(other.startPoint, other.endPoint, this->endPoint)) <= 0));
 }
 
 // ----------------------------------------------------------------------------

src/modm/math/geometry/location_2d.hpp

@@ -54,13 +54,13 @@ namespace modm
 		void setPosition(const Vector<T, 2>& position) { this->position = position; }
 
 		[[deprecated("Use 'setPosition({x, y}' instead!")]]
-		void setPosition(T x, T y) { this->position.x = x; this->position.y = y; }
+		void setPosition(T x, T y) { this->position.x() = x; this->position.y() = y; }
 		void setOrientation(const float orientation) { this->orientation = orientation; }
 
 		Vector<T, 2> getPosition() const { return position; }
 		inline float getOrientation() const { return orientation; }
-		T getX() const { return position.x; }
-		T getY() const { return position.y; }
+		T getX() const { return position.x(); }
+		T getY() const { return position.y(); }
 
 		bool operator== (const Location2D &other) const {
 			return (

src/modm/math/geometry/polygon_2d.hpp

@@ -15,7 +15,7 @@
 #define MODM_POLYGON_2D_HPP
 
 #include "point_set_2d.hpp"
-#include "vector2.hpp"
+#include "vector.hpp"
 
 namespace modm
 {

src/modm/math/geometry/polygon_2d_impl.hpp

@@ -161,7 +161,7 @@ modm::Polygon2D<T>::isInside(const modm::Polygon2D<T>::PointType& point)
 
 	SizeType n = this->points.getSize();
 	for (SizeType i = 0; i < n; ++i) {
-		int_fast8_t r = Vector<T, 2>::ccw(this->points[i], this->points[(i + 1) % n], point);
+		int_fast8_t r = modm::ccw(this->points[i], this->points[(i + 1) % n], point);
 
 		switch (r) {
 		case 0:

src/modm/math/geometry/quaternion.hpp

@@ -20,6 +20,7 @@ namespace modm
 {
 	// forward declaration
 	template<class T, std::size_t N>
+	requires (N > 0)
 	class Vector;
 
 	template<class T, std::size_t ROWS, std::size_t COLUMNS>