diff --git a/etk/math/Vector3D.cpp b/etk/math/Vector3D.cpp
index 7146133..356399f 100644
--- a/etk/math/Vector3D.cpp
+++ b/etk/math/Vector3D.cpp
@@ -8,7 +8,7 @@
 #include <etk/stdTools.hpp>
 #include <etk/debug.hpp>
 
-std::ostream& etk::operator <<(std::ostream& _os, const ivec3& _obj) {
+std::ostream& etk::operator <<(std::ostream& _os, const etk::Vector3D<int32_t>& _obj) {
 	_os << "(";
 	_os << _obj.x();
 	_os << ",";
@@ -19,7 +19,20 @@ std::ostream& etk::operator <<(std::ostream& _os, const ivec3& _obj) {
 	return _os;
 }
 
-std::ostream& operator <<(std::ostream& _os, const vec3& _obj) {
+#ifdef ETK_BUILD_LINEARMATH
+	std::ostream& operator <<(std::ostream& _os, const btVector3& _obj) {
+		_os << "(";
+		_os << _obj.x();
+		_os << ",";
+		_os << _obj.y();
+		_os << ",";
+		_os << _obj.z();
+		_os << ")";
+		return _os;
+	}
+#endif
+
+std::ostream& etk::operator <<(std::ostream& _os, const etk::Vector3D<float>& _obj) {
 	_os << "(";
 	_os << _obj.x();
 	_os << ",";
@@ -30,7 +43,7 @@ std::ostream& operator <<(std::ostream& _os, const vec3& _obj) {
 	return _os;
 }
 
-std::ostream& etk::operator <<(std::ostream& _os, const uivec3& _obj) {
+std::ostream& etk::operator <<(std::ostream& _os, const etk::Vector3D<uint32_t>& _obj) {
 	_os << "(";
 	_os << _obj.x();
 	_os << ",";
@@ -41,7 +54,7 @@ std::ostream& etk::operator <<(std::ostream& _os, const uivec3& _obj) {
 	return _os;
 }
 
-std::ostream& etk::operator <<(std::ostream& _os, const bvec3& _obj) {
+std::ostream& etk::operator <<(std::ostream& _os, const etk::Vector3D<bool>& _obj) {
 	_os << "(";
 	_os << _obj.x();
 	_os << ",";
@@ -53,7 +66,20 @@ std::ostream& etk::operator <<(std::ostream& _os, const bvec3& _obj) {
 }
 
 
-std::ostream& etk::operator <<(std::ostream& _os, const std::vector<vec3>& _obj) {
+
+#ifdef ETK_BUILD_LINEARMATH
+	std::ostream& etk::operator <<(std::ostream& _os, const std::vector<btVector3>& _obj) {
+		for (size_t iii = 0; iii < _obj.size(); ++iii) {
+			if (iii != 0) {
+				_os << " ";
+			}
+			_os << _obj[iii];
+		}
+		return _os;
+	}
+#endif
+
+std::ostream& etk::operator <<(std::ostream& _os, const std::vector<etk::Vector3D<float>>& _obj) {
 	for (size_t iii = 0; iii < _obj.size(); ++iii) {
 		if (iii != 0) {
 			_os << " ";
@@ -63,7 +89,7 @@ std::ostream& etk::operator <<(std::ostream& _os, const std::vector<vec3>& _obj)
 	return _os;
 }
 
-std::ostream& etk::operator <<(std::ostream& _os, const std::vector<ivec3>& _obj) {
+std::ostream& etk::operator <<(std::ostream& _os, const std::vector<etk::Vector3D<int32_t>>& _obj) {
 	for (size_t iii = 0; iii < _obj.size(); ++iii) {
 		if (iii != 0) {
 			_os << " ";
@@ -73,7 +99,7 @@ std::ostream& etk::operator <<(std::ostream& _os, const std::vector<ivec3>& _obj
 	return _os;
 }
 
-std::ostream& etk::operator <<(std::ostream& _os, const std::vector<uivec3>& _obj) {
+std::ostream& etk::operator <<(std::ostream& _os, const std::vector<etk::Vector3D<uint32_t>>& _obj) {
 	for (size_t iii = 0; iii < _obj.size(); ++iii) {
 		if (iii != 0) {
 			_os << " ";
@@ -83,7 +109,7 @@ std::ostream& etk::operator <<(std::ostream& _os, const std::vector<uivec3>& _ob
 	return _os;
 }
 
-std::ostream& etk::operator <<(std::ostream& _os, const std::vector<bvec3>& _obj) {
+std::ostream& etk::operator <<(std::ostream& _os, const std::vector<etk::Vector3D<bool>>& _obj) {
 	for (size_t iii = 0; iii < _obj.size(); ++iii) {
 		if (iii != 0) {
 			_os << " ";
diff --git a/etk/math/Vector3D.hpp b/etk/math/Vector3D.hpp
index fd3784d..fbc8e76 100644
--- a/etk/math/Vector3D.hpp
+++ b/etk/math/Vector3D.hpp
@@ -442,8 +442,7 @@ namespace etk {
 			 * @return false The Objects are NOT identical
 			 */
 			bool operator==(const Vector3D<T>& _obj) const {
-				return (    (m_floats[3] == _obj.m_floats[3])
-				         && (m_floats[2] == _obj.m_floats[2])
+				return (    (m_floats[2] == _obj.m_floats[2])
 				         && (m_floats[1] == _obj.m_floats[1])
 				         && (m_floats[0] == _obj.m_floats[0]));
 			}
@@ -454,8 +453,7 @@ namespace etk {
 			 * @return false The Objects are identical
 			 */
 			bool operator!=(const Vector3D<T>& _obj) const {
-				return (    (m_floats[3] != _obj.m_floats[3])
-				         || (m_floats[2] != _obj.m_floats[2])
+				return (    (m_floats[2] != _obj.m_floats[2])
 				         || (m_floats[1] != _obj.m_floats[1])
 				         || (m_floats[0] != _obj.m_floats[0]));
 			}
@@ -464,20 +462,18 @@ namespace etk {
 			 * @param _obj The other Vector3D<T> to compare with 
 			 */
 			void setMax(const Vector3D<T>& _obj) {
-				btSetMax(m_floats[0], _obj.m_floats[0]);
-				btSetMax(m_floats[1], _obj.m_floats[1]);
-				btSetMax(m_floats[2], _obj.m_floats[2]);
-				btSetMax(m_floats[3], _obj.m_floats[3]);
+				m_floats[0] = std::max(m_floats[0], _obj.m_floats[0]);
+				m_floats[1] = std::max(m_floats[1], _obj.m_floats[1]);
+				m_floats[2] = std::max(m_floats[2], _obj.m_floats[2]);
 			}
 			/**
 			 * @brief Set each element to the min of the current values and the values of another Vector3D<T>
 			 * @param _obj The other Vector3D<T> to compare with 
 			 */
 			void setMin(const Vector3D<T>& _obj) {
-				btSetMin(m_floats[0], _obj.m_floats[0]);
-				btSetMin(m_floats[1], _obj.m_floats[1]);
-				btSetMin(m_floats[2], _obj.m_floats[2]);
-				btSetMin(m_floats[3], _obj.m_floats[3]);
+				m_floats[0] = std::min(m_floats[0], _obj.m_floats[0]);
+				m_floats[1] = std::min(m_floats[1], _obj.m_floats[1]);
+				m_floats[2] = std::min(m_floats[2], _obj.m_floats[2]);
 			}
 			/**
 			 * @brief Set Value on the vector
@@ -520,12 +516,22 @@ namespace etk {
 			}
 	};
 	//! @not_in_doc
+	std::ostream& operator <<(std::ostream& _os, const etk::Vector3D<float>& _obj);
+	//! @not_in_doc
 	std::ostream& operator <<(std::ostream& _os, const etk::Vector3D<int32_t>& _obj);
 	//! @not_in_doc
 	std::ostream& operator <<(std::ostream& _os, const etk::Vector3D<uint32_t>& _obj);
 	//! @not_in_doc
 	std::ostream& operator <<(std::ostream& _os, const etk::Vector3D<bool>& _obj);
-};
+	//! @not_in_doc
+	std::ostream& operator <<(std::ostream& _os, const std::vector<etk::Vector3D<float>>& _obj);
+	//! @not_in_doc
+	std::ostream& operator <<(std::ostream& _os, const std::vector<etk::Vector3D<int32_t>>& _obj);
+	//! @not_in_doc
+	std::ostream& operator <<(std::ostream& _os, const std::vector<etk::Vector3D<uint32_t>>& _obj);
+	//! @not_in_doc
+	std::ostream& operator <<(std::ostream& _os, const std::vector<etk::Vector3D<bool>>& _obj);
+}
 
 // To siplify the writing of the code ==> this permit to have the same name with the glsl language...
 #ifdef ETK_BUILD_LINEARMATH
@@ -539,10 +545,9 @@ using ivec3 = etk::Vector3D<int32_t>; //!< wrapper on etk::Vector3D<int32_t> to
 using uivec3 = etk::Vector3D<uint32_t>; //!< wrapper on etk::Vector3D<uint32_t> to have the same naming has OpenGL shader
 using bvec3 = etk::Vector3D<bool>; //!< wrapper on etk::Vector3D<bool> to have the same naming has OpenGL shader
 
-//! @not_in_doc
-std::ostream& operator <<(std::ostream& _os, const vec3& _obj);
-
 #ifdef ETK_BUILD_LINEARMATH
+	std::ostream& operator <<(std::ostream& _os, const btVector3& _obj);
+	std::ostream& operator <<(std::ostream& _os, const std::vector<btVector3>& _obj);
 	vec3 quaternionToEulerXYZ(const btQuaternion& quat);
 #endif
 
@@ -583,20 +588,6 @@ namespace etk {
 	}
 }
 
-
-namespace etk {
-	//! @not_in_doc
-	std::ostream& operator <<(std::ostream& _os, const std::vector<vec3>& _obj);
-	//! @not_in_doc
-	std::ostream& operator <<(std::ostream& _os, const std::vector<ivec3>& _obj);
-	//! @not_in_doc
-	std::ostream& operator <<(std::ostream& _os, const std::vector<uivec3>& _obj);
-	//! @not_in_doc
-	std::ostream& operator <<(std::ostream& _os, const std::vector<bvec3>& _obj);
-}
-
-
-
 template<class ETK_TYPE>
 inline etk::Vector3D<ETK_TYPE> operator+(const etk::Vector3D<ETK_TYPE>& _vect1, const etk::Vector3D<ETK_TYPE>& _vect2) {
     return etk::Vector3D<ETK_TYPE>(_vect1.x() + _vect2.x(), _vect1.y() + _vect2.y(), _vect1.z() + _vect2.z());