diff --git a/Cargo.lock b/Cargo.lock
index a8f4919..aa52c5b 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -93,6 +93,12 @@ dependencies = [
  "libc",
 ]
 
+[[package]]
+name = "anyhow"
+version = "1.0.75"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a4668cab20f66d8d020e1fbc0ebe47217433c1b6c8f2040faf858554e394ace6"
+
 [[package]]
 name = "approx"
 version = "0.5.1"
@@ -222,6 +228,12 @@ dependencies = [
  "syn 2.0.39",
 ]
 
+[[package]]
+name = "byteorder"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
+
 [[package]]
 name = "calloop"
 version = "0.10.6"
@@ -268,6 +280,12 @@ dependencies = [
  "unicode-width",
 ]
 
+[[package]]
+name = "color_quant"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3d7b894f5411737b7867f4827955924d7c254fc9f4d91a6aad6b097804b1018b"
+
 [[package]]
 name = "com-rs"
 version = "0.2.1"
@@ -616,6 +634,21 @@ version = "2.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9a3a5bfb195931eeb336b2a7b4d761daec841b97f947d34394601737a7bba5e4"
 
+[[package]]
+name = "image"
+version = "0.24.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6f3dfdbdd72063086ff443e297b61695500514b1e41095b6fb9a5ab48a70a711"
+dependencies = [
+ "bytemuck",
+ "byteorder",
+ "color_quant",
+ "jpeg-decoder",
+ "num-rational",
+ "num-traits",
+ "png",
+]
+
 [[package]]
 name = "indexmap"
 version = "2.1.0"
@@ -664,6 +697,12 @@ dependencies = [
  "libc",
 ]
 
+[[package]]
+name = "jpeg-decoder"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bc0000e42512c92e31c2252315bda326620a4e034105e900c98ec492fa077b3e"
+
 [[package]]
 name = "js-sys"
 version = "0.3.65"
@@ -869,6 +908,7 @@ checksum = "307ed9b18cc2423f29e83f84fd23a8e73628727990181f18641a8b5dc2ab1caa"
 dependencies = [
  "approx",
  "matrixmultiply",
+ "nalgebra-macros",
  "num-complex",
  "num-rational",
  "num-traits",
@@ -877,15 +917,14 @@ dependencies = [
 ]
 
 [[package]]
-name = "nalgebra-glm"
-version = "0.18.0"
+name = "nalgebra-macros"
+version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e68879ff227a94627e63bbd518b4f82b8f0cc56bb01a498251507de6d1c412d6"
+checksum = "91761aed67d03ad966ef783ae962ef9bbaca728d2dd7ceb7939ec110fffad998"
 dependencies = [
- "approx",
- "nalgebra",
- "num-traits",
- "simba",
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
 ]
 
 [[package]]
@@ -1291,16 +1330,25 @@ version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "216080ab382b992234dda86873c18d4c48358f5cfcb70fd693d7f6f2131b628b"
 
+[[package]]
+name = "roots"
+version = "0.0.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "082f11ffa03bbef6c2c6ea6bea1acafaade2fd9050ae0234ab44a2153742b058"
+
 [[package]]
 name = "rust-opengl"
 version = "0.1.0"
 dependencies = [
+ "anyhow",
  "bytemuck",
  "cfg-if",
  "env_logger",
+ "image",
  "log",
- "nalgebra-glm",
+ "nalgebra",
  "pollster",
+ "roots",
  "wgpu",
  "winit",
 ]
diff --git a/Cargo.toml b/Cargo.toml
index 9f42d4a..1af3f7e 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -4,6 +4,10 @@ version = "0.1.0"
 edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
+[dependencies.image]
+version = "0.24"
+default-features = false
+features = ["png", "jpeg"]
 
 [dependencies]
 cfg-if = "1"
@@ -13,4 +17,6 @@ log = "0.4"
 wgpu = "0.18"
 pollster = "0.3"
 bytemuck = { version = "1.12", features = [ "derive" ] }
-nalgebra-glm = "0.18.0"
+anyhow = "1.0"
+nalgebra = "0.32.3"
+roots = "0.0.8"
diff --git a/src/main.rs b/src/main.rs
index ca55e83..5eb215e 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -2,10 +2,18 @@
 #![allow(unused_imports)]
 #![allow(unused_variables)]
 //Use linear algebra module
-
-pub mod state;
 use state::run;
 
+//Cameras
+mod camera;
+mod primitive;
+mod ray;
+mod state;
+mod texture;
+mod vertex;
+
+const EPSILON: f32 = 1e-7;
+
 fn main() {
     pollster::block_on(run());
 }
diff --git a/src/ray.rs b/src/ray.rs
index e8fdb88..7dcb8e8 100644
--- a/src/ray.rs
+++ b/src/ray.rs
@@ -1,15 +1,17 @@
-use nalgebra::Vector4;
+use crate::EPSILON;
+
+use nalgebra::{Matrix4, Point3, Vector3};
 
 pub struct Ray {
-    a: Vector4<f32>,
-    b: Vector4<f32>,
+    pub a: Point3<f32>,
+    pub b: Vector3<f32>,
 }
 
 impl Ray {
-    fn new(_a: Vector4<f32>, _b: Vector4<f32>) -> Ray {
+    pub fn new(_a: Point3<f32>, _b: Vector3<f32>) -> Ray {
         Ray { a: _a, b: _b }
     }
-    fn at_t(self, t: f32) -> Vector4<f32> {
+    pub fn at_t(self, t: f32) -> Point3<f32> {
         self.a + self.b * t
     }
 }