diff --git a/changelog.txt b/changelog.txt
new file mode 100644
--- /dev/null
+++ b/changelog.txt
@@ -0,0 +1,2 @@
+0.4.0:
+- use spatial-math 0.2 which uses `linear`
diff --git a/not-gloss-examples.cabal b/not-gloss-examples.cabal
--- a/not-gloss-examples.cabal
+++ b/not-gloss-examples.cabal
@@ -1,5 +1,5 @@
 name:                not-gloss-examples
-version:             0.3.0
+version:             0.4.0
 stability:           Experimental
 synopsis:            examples for not-gloss
 license:             BSD3
@@ -11,32 +11,35 @@
 build-type:          Simple
 cabal-version:       >=1.8
 
+extra-source-files:  changelog.txt
+
 executable           not-gloss-display
   main-is:           src/Display.hs
-  build-depends:     not-gloss >= 0.5.0,
-                     spatial-math >= 0.1.4 && < 0.2,
+  build-depends:     not-gloss >= 0.6.0,
+                     linear >= 1.3.1,
                      base >= 4.5 && < 4.7
   ghc-options:       -threaded -O2
 
 executable           not-gloss-animate
   main-is:           src/Animate.hs
-  build-depends:     not-gloss >= 0.5.0,
-                     spatial-math >= 0.1.4 && < 0.2,
+  build-depends:     not-gloss >= 0.6.0,
+                     linear >= 1.3.1,
                      base >= 4.5 && < 4.7
   ghc-options:       -threaded -O2
 
 executable           not-gloss-simulate
   main-is:           src/Simulate.hs
-  build-depends:     not-gloss >= 0.5.0,
-                     spatial-math >= 0.1.4 && < 0.2,
+  build-depends:     not-gloss >= 0.6.0,
+                     linear >= 1.3.1,
                      base >= 4.5 && < 4.7
   ghc-options:       -threaded -O2
 
 executable           not-gloss-game
   main-is:           src/Play.hs
-  build-depends:     not-gloss >= 0.5.0,
-                     spatial-math >= 0.1.4 && < 0.2,
-                     GLUT == 2.3.*,
+  build-depends:     not-gloss >= 0.6.0,
+                     spatial-math >= 0.2.0 && < 0.3,
+                     linear >= 1.3.1,
+                     GLUT,
                      containers,
                      X11,
                      base >= 4.5 && < 4.7
diff --git a/src/Animate.hs b/src/Animate.hs
--- a/src/Animate.hs
+++ b/src/Animate.hs
@@ -2,8 +2,7 @@
 
 module Main where
 
-import SpatialMath
-import qualified Quat
+import Linear
 
 import Vis
 
@@ -11,18 +10,18 @@
 drawFun time = VisObjects $ [axes,box,ellipsoid,sphere] ++ (map text [-5..5]) ++ [boxText, plane] 
   where
     x = realToFrac $ -1 + sin (2*time)
-    quat = Quat.normalize $ Quat 1 x (1-x) (x*x)
+    quat = normalize $ Quaternion 1 (V3 x (1-x) (x*x))
     
     axes = Axes (0.5, 15)
-    sphere = Trans (Xyz 0 x (-1)) $ Sphere 0.15 Wireframe (makeColor 0.2 0.3 0.8 1)
+    sphere = Trans (V3 0 x (-1)) $ Sphere 0.15 Wireframe (makeColor 0.2 0.3 0.8 1)
     
-    ellipsoid = Trans (Xyz x 0 (-1)) $ RotQuat quat $ Ellipsoid (0.2, 0.3, 0.4) Solid (makeColor 1 0.3 0.5 1)
-    box = Trans (Xyz 0 0 x) $ RotQuat quat $ Box (0.2, 0.2, 0.2) Wireframe (makeColor 0 1 1 1)
-    plane = Plane (Xyz 0 0 1) (makeColor 1 1 1 1) (makeColor 0.4 0.6 0.65 0.4)
+    ellipsoid = Trans (V3 x 0 (-1)) $ RotQuat quat $ Ellipsoid (0.2, 0.3, 0.4) Solid (makeColor 1 0.3 0.5 1)
+    box = Trans (V3 0 0 x) $ RotQuat quat $ Box (0.2, 0.2, 0.2) Wireframe (makeColor 0 1 1 1)
+    plane = Plane (V3 0 0 1) (makeColor 1 1 1 1) (makeColor 0.4 0.6 0.65 0.4)
     text k = Text2d "OLOLOLOLOLO" (100,500 - k*100*x) TimesRoman24 (makeColor 0 (0.5 + x'/2) (0.5 - x'/2) 1)
       where
         x' = realToFrac $ (x + 1)/0.4*k/5
-    boxText = Text3d "trololololo" (Xyz 0 0 (x-0.2)) TimesRoman24 (makeColor 1 0 0 1)
+    boxText = Text3d "trololololo" (V3 0 0 (x-0.2)) TimesRoman24 (makeColor 1 0 0 1)
 
 main :: IO ()
 main = do
diff --git a/src/Display.hs b/src/Display.hs
--- a/src/Display.hs
+++ b/src/Display.hs
@@ -2,8 +2,7 @@
 
 module Main where
 
-import SpatialMath
-import qualified Quat
+import Linear
 
 import Vis
 
@@ -11,17 +10,17 @@
 drawFun = VisObjects $ [axes,box,ellipsoid,sphere] ++ (map text [-5..5]) ++ [boxText, plane] 
   where
     x = -1
-    quat = Quat.normalize $ Quat 1 2 3 4
+    quat = normalize $ Quaternion 1 (V3 2 3 4)
     
     axes = Axes (0.5, 15)
-    sphere = Trans (Xyz 0 x (-1)) $ Sphere 0.15 Wireframe (makeColor 0.2 0.3 0.8 1)
-    ellipsoid = Trans (Xyz x 0 (-1)) $ RotQuat quat $ Ellipsoid (0.2, 0.3, 0.4) Solid (makeColor 1 0.3 0.5 1)
-    box = Trans (Xyz 0 0 x) $ RotQuat quat $ Box (0.2, 0.2, 0.2) Wireframe (makeColor 0 1 1 1)
-    plane = Plane (Xyz 0 0 1) (makeColor 1 1 1 1) (makeColor 0.4 0.6 0.65 0.4)
+    sphere = Trans (V3 0 x (-1)) $ Sphere 0.15 Wireframe (makeColor 0.2 0.3 0.8 1)
+    ellipsoid = Trans (V3 x 0 (-1)) $ RotQuat quat $ Ellipsoid (0.2, 0.3, 0.4) Solid (makeColor 1 0.3 0.5 1)
+    box = Trans (V3 0 0 x) $ RotQuat quat $ Box (0.2, 0.2, 0.2) Wireframe (makeColor 0 1 1 1)
+    plane = Plane (V3 0 0 1) (makeColor 1 1 1 1) (makeColor 0.4 0.6 0.65 0.4)
     text k = Text2d "OLOLOLOLOLO" (100,500 - k*100*x) TimesRoman24 (makeColor 0 (0.5 + x'/2) (0.5 - x'/2) 1)
       where
         x' = realToFrac $ (x + 1)/0.4*k/5
-    boxText = Text3d "trololololo" (Xyz 0 0 (x-0.2)) TimesRoman24 (makeColor 1 0 0 1)
+    boxText = Text3d "trololololo" (V3 0 0 (x-0.2)) TimesRoman24 (makeColor 1 0 0 1)
 
 main :: IO ()
 main = do
diff --git a/src/Play.hs b/src/Play.hs
--- a/src/Play.hs
+++ b/src/Play.hs
@@ -3,8 +3,8 @@
 module Main ( main
             ) where
 
-import SpatialMath
-import qualified Xyz
+import Linear
+import SpatialMath ( Euler(..), rotateXyzAboutZ, rotVecByEulerB2A )
 import Graphics.X11 ( initThreads )
 import Vis
 import Graphics.UI.GLUT hiding ( Plane, Sphere, motionCallback )
@@ -18,21 +18,21 @@
 faceHeight :: Double
 faceHeight = 1.5
 
-data PlayerState = Running (Xyz Double) (Xyz Double) (Euler Double)
+data PlayerState = Running (V3 Double) (V3 Double) (Euler Double)
 
 data GameState = GameState { playerState :: PlayerState
                            , keySet :: Set.Set Key
                            , lastMousePos :: Maybe (GLint,GLint)
                            }
 
-toVertex :: (Real a, Fractional b) => Xyz a -> Vertex3 b
-toVertex xyz = (\(Xyz x y z) -> Vertex3 x y z) $ fmap realToFrac xyz
+toVertex :: (Real a, Fractional b) => V3 a -> Vertex3 b
+toVertex xyz = (\(V3 x y z) -> Vertex3 x y z) $ fmap realToFrac xyz
 
 setCamera :: PlayerState -> IO ()
-setCamera (Running (Xyz x y z) _ euler) = lookAt (toVertex xyz0) (toVertex target) (Vector3 0 0 (-1))
+setCamera (Running (V3 x y z) _ euler) = lookAt (toVertex xyz0) (toVertex target) (Vector3 0 0 (-1))
   where
-    xyz0 = Xyz x y (z-faceHeight)
-    target = xyz0 + rotVecByEulerB2A euler (Xyz 1 0 0)
+    xyz0 = V3 x y (z-faceHeight)
+    target = xyz0 + rotVecByEulerB2A euler (V3 1 0 0)
 
 simfun :: Float -> GameState -> IO GameState
 simfun _ (GameState (Running pos _ euler0@(Euler yaw _ _)) keys lmp) = do
@@ -41,9 +41,9 @@
       y' = (fromIntegral y) `div` 2
 
   when (Just (x',y') /= lmp) (pointerPosition $= (Position x' y'))
-  return $ GameState (Running (pos + (Xyz.scale ts v)) v euler0) keys (Just (x',y'))
+  return $ GameState (Running (pos + (ts *^ v)) v euler0) keys (Just (x',y'))
   where
-    v = rotateXyzAboutZ (Xyz (w-s) (d-a) 0) (-yaw)
+    v = rotateXyzAboutZ (V3 (w-s) (d-a) 0) yaw
       where
         w = if Set.member (Char 'w') keys then 3 else 0
         a = if Set.member (Char 'a') keys then 3 else 0
@@ -79,18 +79,18 @@
   where
     x' = -1
     axes = Axes (0.5, 15)
-    sphere = Trans (Xyz 0 x' (-1)) $ Sphere 0.15 Wireframe (makeColor 0.2 0.3 0.8 1)
-    ellipsoid = Trans (Xyz x' 0 (-1)) $ Ellipsoid (0.2, 0.3, 0.4) Solid (makeColor 1 0.3 0.5 1)
-    box = Trans (Xyz 0 0 x') $ Box (0.2, 0.2, 0.2) Wireframe (makeColor 0 1 1 1)
-    plane = Plane (Xyz 0 0 1) (makeColor 1 1 1 1) (makeColor 0.4 0.6 0.65 0.4)
+    sphere = Trans (V3 0 x' (-1)) $ Sphere 0.15 Wireframe (makeColor 0.2 0.3 0.8 1)
+    ellipsoid = Trans (V3 x' 0 (-1)) $ Ellipsoid (0.2, 0.3, 0.4) Solid (makeColor 1 0.3 0.5 1)
+    box = Trans (V3 0 0 x') $ Box (0.2, 0.2, 0.2) Wireframe (makeColor 0 1 1 1)
+    plane = Plane (V3 0 0 1) (makeColor 1 1 1 1) (makeColor 0.4 0.6 0.65 0.4)
     text k = Text2d "OLOLOLOLOLO" (100,500 - k*100*x') TimesRoman24 (makeColor 0 (0.5 + x''/2) (0.5 - x''/2) 1)
       where
         x'' = realToFrac $ (x' + 1)/0.4*k/5
-    boxText = Text3d "trololololo" (Xyz 0 0 (x'-0.2)) TimesRoman24 (makeColor 1 0 0 1)
+    boxText = Text3d "trololololo" (V3 0 0 (x'-0.2)) TimesRoman24 (makeColor 1 0 0 1)
 
 main :: IO ()
 main = do
-  let state0 = GameState (Running (Xyz (-2) 0 0) 0 (Euler 0 0 0)) (Set.empty) Nothing
+  let state0 = GameState (Running (V3 (-2) 0 0) 0 (Euler 0 0 0)) (Set.empty) Nothing
       setCam (GameState x _ _) = setCamera x
       drawfun' x = return (drawfun x, Just None)
   _ <- initThreads
diff --git a/src/Simulate.hs b/src/Simulate.hs
--- a/src/Simulate.hs
+++ b/src/Simulate.hs
@@ -2,41 +2,40 @@
 
 module Main where
 
-import SpatialMath
-import qualified Quat
+import Linear
 
 import Vis
 
 ts :: Double
 ts = 0.01
 
-data State a = State (a,a) (Quat a) [Xyz a]
+data State a = State (a,a) (Quaternion a) [V3 a]
 
 simFun :: Float -> State Double -> State Double
-simFun _ (State (x0,v) q0 trail0) = State (x, v + 5*ts*(-1 - x)) (Quat.qmult' q0 dq) trail
+simFun _ (State (x0,v) q0 trail0) = State (x, v + 5*ts*(-1 - x)) (normalize (q0 * dq)) trail
   where
-    dq = Quat 1 (x*ts) (v*ts) (x*v*ts)
+    dq = Quaternion 1 (V3 (x*ts) (v*ts) (x*v*ts))
     x = x0 + v*ts
     trail
-      | length trail0 < 75 = (Xyz 0 x (-1)):trail0
-      | otherwise = take 75 ((Xyz 0 x (-1)):trail0)
+      | length trail0 < 75 = (V3 0 x (-1)):trail0
+      | otherwise = take 75 ((V3 0 x (-1)):trail0)
 
 drawFun :: State Double -> VisObject Double
 drawFun (State (x,_) quat trail) = VisObjects $ [axes,box,ellipsoid,sphere, line] ++ (map text [-5..5]) ++ [boxText, plane] 
   where
     axes = Axes (0.5, 15)
-    sphere = Trans (Xyz 0 x (-1)) $ Sphere 0.15 Wireframe (makeColor 0.2 0.3 0.8 1)
-    ellipsoid = Trans (Xyz x 0 (-1)) $
+    sphere = Trans (V3 0 x (-1)) $ Sphere 0.15 Wireframe (makeColor 0.2 0.3 0.8 1)
+    ellipsoid = Trans (V3 x 0 (-1)) $
                 RotQuat quat $
                 Ellipsoid (0.2, 0.3, 0.4) Solid (makeColor 1 0.3 0.5 1)
-    box = Trans (Xyz 0 0 x) $
+    box = Trans (V3 0 0 x) $
           RotQuat quat $
           Box (0.2, 0.2, 0.2) Wireframe (makeColor 0 1 1 1)
-    plane = Plane (Xyz 0 0 1) (makeColor 1 1 1 1) (makeColor 0.4 0.6 0.65 0.4)
+    plane = Plane (V3 0 0 1) (makeColor 1 1 1 1) (makeColor 0.4 0.6 0.65 0.4)
     text k = Text2d "OLOLOLOLOLO" (100,500 - k*100*x) TimesRoman24 (makeColor 0 (0.5 + x'/2) (0.5 - x'/2) 1)
       where
         x' = realToFrac $ (x + 1)/0.4*k/5
-    boxText = Text3d "trololololo" (Xyz 0 0 (x-0.2)) TimesRoman24 (makeColor 1 0 0 1)
+    boxText = Text3d "trololololo" (V3 0 0 (x-0.2)) TimesRoman24 (makeColor 1 0 0 1)
     line = Line' $ zip trail (map (\a -> makeColor 1 0 0 a) (linspace 1 0 (length trail))) -- (makeColor 1 0 0 1)
 
 linspace :: Fractional a => a -> a -> Int -> [a]
@@ -44,5 +43,5 @@
 
 main :: IO ()
 main = do
-  let state0 = State (-1.4,0) (Quat 1 0 0 0) []
+  let state0 = State (-1.4,0) (Quaternion 1 (V3 0 0 0)) []
   simulate Nothing "simulate test" ts state0 drawFun simFun