diff --git a/build/bin/mainV4 b/build/bin/mainV4
index ebbeafb..a9c625f 100755
Binary files a/build/bin/mainV4 and b/build/bin/mainV4 differ
diff --git a/src/joints/headers/joint_interface.hpp b/src/joints/headers/joint_interface.hpp
index 54d90cd..8bf0718 100644
--- a/src/joints/headers/joint_interface.hpp
+++ b/src/joints/headers/joint_interface.hpp
@@ -21,7 +21,7 @@ class JointInterface{
 
     public:
         std::vector<rb::Vector3> offset;
-        std::vector<rb::Vector3_s> rotOffset;
+        std::vector<rb::Vector3> rotOffset;
         PieceInterface* father;
         std::vector<PieceInterface*> childs;
 
diff --git a/src/joints/headers/pivot_joint.hpp b/src/joints/headers/pivot_joint.hpp
index 31e0707..4a202a2 100644
--- a/src/joints/headers/pivot_joint.hpp
+++ b/src/joints/headers/pivot_joint.hpp
@@ -5,9 +5,9 @@ class PivotJoint : public JointInterface {
         void rotate(unsigned int id) override;
         void traslate(unsigned int id) override;
 
-        rb::Vector3_s oldRot;
+        rb::Vector3 oldRot;
         rb::Vector3 pivot;
-        std::vector<rb::Vector3_s> oldCRot;
+        std::vector<rb::Vector3> oldCRot;
 
         //possono servire per calcolare l'offset rispetto alla posizione precedente
         rb::Vector3 oldPos;
diff --git a/src/joints/methods/pivot_joint_class.cpp b/src/joints/methods/pivot_joint_class.cpp
index 077b4dd..209bb97 100644
--- a/src/joints/methods/pivot_joint_class.cpp
+++ b/src/joints/methods/pivot_joint_class.cpp
@@ -3,9 +3,9 @@
 #define ZERO_INT 0.00001
 
 void PivotJoint::rotate(unsigned int id){
-    rb::Vector3_s fRot = father->body.getRot();
+    rb::Vector3 fRot = father->body.getRot();
     rb::Vector3 fPos = father->body.getPos();
-    rb::Vector3_s cRot = childs[id]->body.getRot();
+    rb::Vector3 cRot = childs[id]->body.getRot();
     
     ////  sposto l'origine passivamente su tutti gli assi ////
 
@@ -75,7 +75,7 @@ PivotJoint::PivotJoint(PieceInterface* father,std::vector<PieceInterface*> child
     this->childs = childs;
     this->father = father;
     rb::Vector3 fCoords = father->globalPos + father->body.getPos();
-    rb::Vector3_s fRot = father->body.getRot();
+    rb::Vector3 fRot = father->body.getRot();
 
     pivot = pivotPoint;
     rb::Vector3 pivotCenter = father->body.getPos() + pivot;
@@ -83,7 +83,7 @@ PivotJoint::PivotJoint(PieceInterface* father,std::vector<PieceInterface*> child
     /*
     float sign = pivot[2] >= 0 ? 1 : -1;
     float r = sqrt(pow(pivot[0],2)+pow(pivot[2],2));
-    rotOffset.push_back(  rb::Vector3_s{0,0,_Float16( acos(sign * pivot[0]/r) )} );
+    rotOffset.push_back(  rb::Vector3{0,0,_Float16( acos(sign * pivot[0]/r) )} );
     */
 
 
@@ -97,7 +97,7 @@ PivotJoint::PivotJoint(PieceInterface* father,std::vector<PieceInterface*> child
 
         /*
         float r = sqrt(pow(tmpCoords[0],2)+pow(tmpCoords[2],2));
-        oldCRot.push_back( rb::Vector3_s{0,0,_Float16( acos(tmpCoords[0]/r) )} );
+        oldCRot.push_back( rb::Vector3{0,0,_Float16( acos(tmpCoords[0]/r) )} );
         */
         oldCRot.push_back(c->body.getRot());
 
diff --git a/src/joints/methods/rigid_joint_class.cpp b/src/joints/methods/rigid_joint_class.cpp
index fb09a74..60f0f98 100644
--- a/src/joints/methods/rigid_joint_class.cpp
+++ b/src/joints/methods/rigid_joint_class.cpp
@@ -5,8 +5,8 @@
 //using namespace glm;
 
 void RigidJoint::rotate(unsigned int id){
-    rb::Vector3_s fRot = father->body.getRot();
-    rb::Vector3_s fRotOld = childs[id]->body.getRot() - rotOffset[id];
+    rb::Vector3 fRot = father->body.getRot();
+    rb::Vector3 fRotOld = childs[id]->body.getRot() - rotOffset[id];
     rb::Vector3 fPos = father->body.getPos();
     rb::Vector3 cPos = childs[id]->body.getPos();
 
@@ -65,7 +65,7 @@ RigidJoint::RigidJoint(PieceInterface* father,std::vector<PieceInterface*> child
     this->childs = childs;
     this->father = father;
     rb::Vector3 fCoords = father->globalPos + father->body.getPos();
-    rb::Vector3_s fRot = father->body.getRot();
+    rb::Vector3 fRot = father->body.getRot();
 
 
 
@@ -73,7 +73,7 @@ RigidJoint::RigidJoint(PieceInterface* father,std::vector<PieceInterface*> child
     //mi calcolo l'offset per ogni child rispetto al padre
     for(PieceInterface* c : childs){
         rb::Vector3 tmpCoords;
-        rb::Vector3_s tmpRot;
+        rb::Vector3 tmpRot;
 
         rb::Vector3 cCoords = c->globalPos + c->body.getPos();
 
diff --git a/src/pieces/methods/caviglia_class.cpp b/src/pieces/methods/caviglia_class.cpp
index 0818c5e..b7cc4c8 100644
--- a/src/pieces/methods/caviglia_class.cpp
+++ b/src/pieces/methods/caviglia_class.cpp
@@ -22,7 +22,7 @@ void Caviglia::update(sf::Clock cl){
 sf::Shape* Caviglia::draw(ReferencePlane plane){
     
     rb::Vector3 tmpPos = body.getPos();
-    rb::Vector3_s tmpRot = body.getRot();
+    rb::Vector3 tmpRot = body.getRot();
 
     switch (plane)
     {
diff --git a/src/pieces/methods/coscia_class.cpp b/src/pieces/methods/coscia_class.cpp
index 14f5ffa..4684921 100644
--- a/src/pieces/methods/coscia_class.cpp
+++ b/src/pieces/methods/coscia_class.cpp
@@ -20,7 +20,7 @@ void Coscia::update(sf::Clock cl){
 sf::Shape* Coscia::draw(ReferencePlane plane){
     
     rb::Vector3 tmpPos = body.getPos();
-    rb::Vector3_s tmpRot = body.getRot();
+    rb::Vector3 tmpRot = body.getRot();
 
 
     switch (plane)
diff --git a/src/pieces/methods/sensore_class.cpp b/src/pieces/methods/sensore_class.cpp
index aa16df0..c223161 100644
--- a/src/pieces/methods/sensore_class.cpp
+++ b/src/pieces/methods/sensore_class.cpp
@@ -61,7 +61,7 @@ void Sensore::update(sf::Clock cl){
 
 sf::Shape* Sensore::draw(ReferencePlane plane){
     
-    rb::Vector3_s tmpRot = body.getRot();
+    rb::Vector3 tmpRot = body.getRot();
     rb::Vector3 tmpPos = body.getPos();
 
     switch (plane)
@@ -105,7 +105,7 @@ void Sensore::calcRotWithG(unsigned int index){ // calcolo rotazione con valori
     float tmpAY = acos(tmpSinY);
     float tmpAZ = acos(tmpSinZ);
 
-    body.setRot(rb::Vector3_s{_Float16( tmpAY),_Float16( tmpAX),_Float16( tmpAZ) });
+    body.setRot(rb::Vector3{tmpAY, tmpAX, tmpAZ });
 
 }
 /*
diff --git a/src/pieces/methods/torso.cpp b/src/pieces/methods/torso.cpp
index ec82add..b2074b9 100644
--- a/src/pieces/methods/torso.cpp
+++ b/src/pieces/methods/torso.cpp
@@ -20,7 +20,7 @@ void Torso::update(sf::Clock cl){
 
 sf::Shape* Torso::draw(ReferencePlane plane){
    
-    rb::Vector3_s tmpRot = body.getRot();
+    rb::Vector3 tmpRot = body.getRot();
     rb::Vector3 tmpPos = body.getPos();
 
 
diff --git a/src/rigidbody/headers/rb.hpp b/src/rigidbody/headers/rb.hpp
index 93c51ad..9e7b315 100644
--- a/src/rigidbody/headers/rb.hpp
+++ b/src/rigidbody/headers/rb.hpp
@@ -7,14 +7,14 @@
 
     namespace rb{
         typedef std::vector<float> Vector3;
-        typedef std::vector<_Float16> Vector3_s;
+        //typedef std::vector<_Float16> Vector3;
 
         class rigidbody
         {
             private:
                 Vector3 vel = {0,0,0};
                 Vector3 acc = {0,0,0};
-                Vector3_s rot = {0,0,0};
+                Vector3 rot = {0,0,0};
                 Vector3 tanAcc = {0,0,0};
 
                 _Float16 mass = 1;
@@ -40,9 +40,9 @@
 
                 
                 Vector3 getPos();
-                Vector3_s getRot();
+                Vector3 getRot();
                 void setPos(const Vector3 Npos);
-                void setRot(const Vector3_s Nrot);
+                void setRot(const Vector3 Nrot);
                 void setVel(const Vector3 Nacc);
                 void setAcc(const Vector3 Nvel);
                 void step(const sf::Clock time);
@@ -76,30 +76,9 @@
                 v1[2] - v2[2]
             };
         }
-
-    inline rb::Vector3_s operator+(const rb::Vector3_s& v1, const rb::Vector3_s& v2) {
-            if (v1.size() != 3 || v2.size() != 3) {
-                throw std::invalid_argument("I vettori devono avere esattamente 3 elementi.");
-            }
-            return rb::Vector3_s{
-                v1[0] + v2[0],
-                v1[1] + v2[1],
-                v1[2] + v2[2]
-            };
-        }
-
-     inline rb::Vector3_s operator-(const rb::Vector3_s& v1, const rb::Vector3_s& v2) {
-            if (v1.size() != 3 || v2.size() != 3) {
-                throw std::invalid_argument("I vettori devono avere esattamente 3 elementi.");
-            }
-            return rb::Vector3_s{
-                v1[0] - v2[0],
-                v1[1] - v2[1],
-                v1[2] - v2[2]
-            };
-        }
+    
         /*
-        inline bool operator!=(const rb::Vector3_s& v1, const rb::Vector3_s& v2) {
+        inline bool operator!=(const rb::Vector3& v1, const rb::Vector3& v2) {
             if (v1.size() != 3 || v2.size() != 3) {
                 throw std::invalid_argument("I vettori devono avere esattamente 3 elementi.");
             }
diff --git a/src/rigidbody/methods/rb_class.cpp b/src/rigidbody/methods/rb_class.cpp
index a88ff08..21382f8 100755
--- a/src/rigidbody/methods/rb_class.cpp
+++ b/src/rigidbody/methods/rb_class.cpp
@@ -21,8 +21,8 @@ rigidbody::~rigidbody()
 Vector3 rigidbody::getPos(){
     return Vector3 {coords};
 }
-Vector3_s rigidbody::getRot(){
-    return Vector3_s {rot};
+Vector3 rigidbody::getRot(){
+    return Vector3 {rot};
 }
 
 void rigidbody::setPos(Vector3 Npos){
@@ -47,7 +47,7 @@ void rigidbody::setAcc(const Vector3 Nacc){
 
 }
 
-void rigidbody::setRot(const Vector3_s Nrot){
+void rigidbody::setRot(const Vector3 Nrot){
     if (Nrot.size() != 3) throw "Vel vector must be 3 in lenght!";
     
     int i = 0;
diff --git a/src/sfml_util.cpp b/src/sfml_util.cpp
index e40a525..c0c74db 100644
--- a/src/sfml_util.cpp
+++ b/src/sfml_util.cpp
@@ -112,10 +112,10 @@ void handle(const sf::Event::MouseMoved &mouseMoved, State &gs)
         gs.pieces[gs.selected]->body.setPos({tmp[0]+ (offset.x * px),tmp[1]+ (offset.x * py),tmp[2]+offset.y});
     }
     if (gs.selected != -1 && gs.rot_Piece){
-        rb::Vector3_s tmp = gs.pieces[gs.selected]->body.getRot();
+        rb::Vector3 tmp = gs.pieces[gs.selected]->body.getRot();
 
-        _Float16 nrot = _Float16(offset.x)/100;
-        gs.pieces[gs.selected]->body.setRot({tmp[0]+(nrot*_Float16(py)),tmp[1]+(nrot*_Float16(px)),tmp[2]});
+        float nrot = float(offset.x)/100;
+        gs.pieces[gs.selected]->body.setRot({tmp[0]+(nrot*py),tmp[1]+(nrot*px),tmp[2]});
         
         //printf("Rotation : %f,%f,%f \n",gs.pieces[gs.selected]->body.getRot()[0],gs.pieces[gs.selected]->body.getRot()[1],gs.pieces[gs.selected]->body.getRot()[2]);
     }