diff --git a/main/src/georegression/fitting/cylinder/CylinderToPointSignedDistance_F64.java b/main/src/georegression/fitting/cylinder/CylinderToPointSignedDistance_F64.java
index 4e3f8330..b0b70164 100644
--- a/main/src/georegression/fitting/cylinder/CylinderToPointSignedDistance_F64.java
+++ b/main/src/georegression/fitting/cylinder/CylinderToPointSignedDistance_F64.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2011-2020, Peter Abeles. All Rights Reserved.
+ * Copyright (C) 2022, Peter Abeles. All Rights Reserved.
  *
  * This file is part of Geometric Regression Library (GeoRegression).
  *
@@ -31,7 +31,7 @@
 
 /**
  * Computes the signed Euclidean distance between a cylinder and a set of points, see
- * {@link Distance3D_F64#distance(georegression.struct.shapes.Cylinder3D_F64, georegression.struct.point.Point3D_F64)}.
+ * {@link Distance3D_F64#distanceSigned(georegression.struct.shapes.Cylinder3D_F64, georegression.struct.point.Point3D_F64)}.
  *
  * See {@link CodecCylinder3D_F64} for how the model is parametrized.
  *
diff --git a/main/src/georegression/fitting/cylinder/PointNormalDistanceFromCylinder_F64.java b/main/src/georegression/fitting/cylinder/PointNormalDistanceFromCylinder_F64.java
index 9c41fa2d..3a9a007b 100644
--- a/main/src/georegression/fitting/cylinder/PointNormalDistanceFromCylinder_F64.java
+++ b/main/src/georegression/fitting/cylinder/PointNormalDistanceFromCylinder_F64.java
@@ -41,13 +41,13 @@ public void setModel( Cylinder3D_F64 plane ) {
 
 	@Override
 	public /**/double distance( PlaneNormal3D_F64 point ) {
-		return Math.abs(Distance3D_F64.distance(cylinder, point.p));
+		return Math.abs(Distance3D_F64.distanceSigned(cylinder, point.p));
 	}
 
 	@Override
 	public void distances( List<PlaneNormal3D_F64> list, /**/double[] errors ) {
 		for (int i = 0; i < list.size(); i++) {
-			errors[i] = Math.abs(Distance3D_F64.distance(cylinder, list.get(i).p));
+			errors[i] = Math.abs(Distance3D_F64.distanceSigned(cylinder, list.get(i).p));
 		}
 	}
 
diff --git a/main/src/georegression/fitting/sphere/SphereToPointSignedDistance_F64.java b/main/src/georegression/fitting/sphere/SphereToPointSignedDistance_F64.java
index f9a37e2f..c30d5ad4 100644
--- a/main/src/georegression/fitting/sphere/SphereToPointSignedDistance_F64.java
+++ b/main/src/georegression/fitting/sphere/SphereToPointSignedDistance_F64.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2011-2020, Peter Abeles. All Rights Reserved.
+ * Copyright (C) 2022, Peter Abeles. All Rights Reserved.
  *
  * This file is part of Geometric Regression Library (GeoRegression).
  *
@@ -27,7 +27,7 @@
 
 /**
  * Computes the signed Euclidean distance between a sphere and a set of points, see
- * {@link Distance3D_F64#distance(georegression.struct.shapes.Sphere3D_F64, georegression.struct.point.Point3D_F64)}.
+ * {@link Distance3D_F64#distanceSigned(georegression.struct.shapes.Sphere3D_F64, georegression.struct.point.Point3D_F64)}.
  *
  * See {@link georegression.fitting.sphere.CodecSphere3D_F64} for how the model is parametrized.
  * For use in least-squares non-linear minimization.
@@ -65,7 +65,7 @@ public void process( /**/double[] input, /**/double[] output) {
 		codec.decode(input,sphere);
 
 		for( int i = 0; i < points.size(); i++ ) {
-			output[i] = Distance3D_F64.distance(sphere,points.get(i));
+			output[i] = Distance3D_F64.distanceSigned(sphere,points.get(i));
 		}
 	}
 }
diff --git a/main/src/georegression/metric/Distance3D_F64.java b/main/src/georegression/metric/Distance3D_F64.java
index 07dcdac4..c0eecf57 100644
--- a/main/src/georegression/metric/Distance3D_F64.java
+++ b/main/src/georegression/metric/Distance3D_F64.java
@@ -42,8 +42,7 @@ public class Distance3D_F64 {
 	 * @param l1 Second line. Not modified.
 	 * @return Distance between the closest point on both lines.
 	 */
-	public static double distance( LineParametric3D_F64 l0,
-								   LineParametric3D_F64 l1 ) {
+	public static double distance( LineParametric3D_F64 l0, LineParametric3D_F64 l1 ) {
 		double x = l0.p.x - l1.p.x;
 		double y = l0.p.y - l1.p.y;
 		double z = l0.p.z - l1.p.z;
@@ -86,10 +85,22 @@ public static double distance( LineParametric3D_F64 l0,
 	 * @return distance.
 	 */
 	public static double distance( LineParametric3D_F64 l, Point3D_F64 p ) {
+		return distance(l, p.x, p.y, p.z);
+	}
 
-		double x = l.p.x - p.x;
-		double y = l.p.y - p.y;
-		double z = l.p.z - p.z;
+	/**
+	 * Distance from the point to the closest point on the line.
+	 *
+	 * @param l Line. Not modified.
+	 * @param px x-axis coordinate of point
+	 * @param py y-axis coordinate of point
+	 * @param pz z-axis coordinate of point
+	 * @return distance.
+	 */
+	public static double distance( LineParametric3D_F64 l, double px, double py, double pz ) {
+		double x = l.p.x - px;
+		double y = l.p.y - py;
+		double z = l.p.z - pz;
 
 		double cc = x*x + y*y + z*z;
 
@@ -115,8 +126,7 @@ public static double distance( LineParametric3D_F64 l, Point3D_F64 p ) {
 	 * @param p Point. Not modified.
 	 * @return distance.
 	 */
-	public static double distance( LineSegment3D_F64 l,
-								   Point3D_F64 p ) {
+	public static double distance( LineSegment3D_F64 l, Point3D_F64 p ) {
 
 		double dx = p.x - l.a.x;
 		double dy = p.y - l.a.y;
@@ -163,35 +173,40 @@ public static double distanceSigned( PlaneGeneral3D_F64 plane, Point3D_F64 point
 	}
 
 	/**
+	 * <p>
 	 * Returns the signed distance a point is from the sphere's surface. If the point is outside of the sphere
 	 * it's distance will be positive. If it is inside it will be negative.
-	 * <p></p>
+	 * </p>
 	 * distance = ||sphere.center - point|| - r
 	 *
 	 * @param sphere The sphere
 	 * @param point The point
 	 * @return Signed distance
 	 */
-	public static double distance( Sphere3D_F64 sphere, Point3D_F64 point ) {
+	public static double distanceSigned( Sphere3D_F64 sphere, Point3D_F64 point ) {
 		double r = point.distance(sphere.center);
 		return r - sphere.radius;
 	}
 
 	/**
-	 * Returns the signed distance a point is from the cylinder's surface. If the point is outside of the cylinder
+	 * Returns the signed distance a point is from the cylinder's surface. If the point is outside the cylinder
 	 * it's distance will be positive. If it is inside it will be negative.
 	 *
 	 * @param cylinder The cylinder
 	 * @param point The point
 	 * @return Signed distance
 	 */
-	public static double distance( Cylinder3D_F64 cylinder, Point3D_F64 point ) {
-		double r = Distance3D_F64.distance(cylinder.line, point);
+	public static double distanceSigned( Cylinder3D_F64 cylinder, Point3D_F64 point ) {
+		return distanceSigned(cylinder, point.x, point.y, point.z);
+	}
+
+	public static double distanceSigned( Cylinder3D_F64 cylinder, double px, double py, double pz ) {
+		double r = Distance3D_F64.distance(cylinder.line, px, py, pz);
 		return r - cylinder.radius;
 	}
 
 	/**
-	 * Signed distance from a 3D point to 3D triangle.   The sign indicates which side of the triangle the point
+	 * Signed distance from a 3D point to 3D triangle. The sign indicates which side of the triangle the point
 	 * is on. See {@link georegression.metric.alg.DistancePointTriangle3D_F64} for the details.
 	 *
 	 * @param triangle 3D triangle
@@ -199,11 +214,10 @@ public static double distance( Cylinder3D_F64 cylinder, Point3D_F64 point ) {
 	 * @return The closest point
 	 */
 	public static double distance( Triangle3D_F64 triangle, Point3D_F64 point ) {
-
-		DistancePointTriangle3D_F64 alg = new DistancePointTriangle3D_F64();
+		var alg = new DistancePointTriangle3D_F64();
 		alg.setTriangle(triangle.v0, triangle.v1, triangle.v2);
 
-		Point3D_F64 cp = new Point3D_F64();
+		var cp = new Point3D_F64();
 
 		alg.closestPoint(point, cp);
 
diff --git a/main/test/georegression/fitting/TestShapeFittingRobustOps.java b/main/test/georegression/fitting/TestShapeFittingRobustOps.java
index c3219cd6..05663594 100644
--- a/main/test/georegression/fitting/TestShapeFittingRobustOps.java
+++ b/main/test/georegression/fitting/TestShapeFittingRobustOps.java
@@ -142,7 +142,7 @@ class TestShapeFittingRobustOps {
 		// See if the points lie on the found plane, except for the outlier
 		int count = 0;
 		for (int i = 0; i < points.size(); i++) {
-			if (Math.abs(Distance3D_F64.distance(found, points.get(i).p)) < 1) {
+			if (Math.abs(Distance3D_F64.distanceSigned(found, points.get(i).p)) < 1) {
 				count++;
 			}
 		}
@@ -165,7 +165,7 @@ class TestShapeFittingRobustOps {
 		// See if the points lie on the found plane, except for the outlier
 		int count = 0;
 		for (int i = 0; i < points.size(); i++) {
-			if (Math.abs(Distance3D_F64.distance(found, points.get(i).p)) < 1) {
+			if (Math.abs(Distance3D_F64.distanceSigned(found, points.get(i).p)) < 1) {
 				count++;
 			}
 		}
diff --git a/main/test/georegression/fitting/cylinder/TestCylinderToPointSignedDistance_F64.java b/main/test/georegression/fitting/cylinder/TestCylinderToPointSignedDistance_F64.java
index f59b3408..2b553d64 100644
--- a/main/test/georegression/fitting/cylinder/TestCylinderToPointSignedDistance_F64.java
+++ b/main/test/georegression/fitting/cylinder/TestCylinderToPointSignedDistance_F64.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2011-2020, Peter Abeles. All Rights Reserved.
+ * Copyright (C) 2022, Peter Abeles. All Rights Reserved.
  *
  * This file is part of Geometric Regression Library (GeoRegression).
  *
@@ -63,7 +63,7 @@ void compareToDistance() {
 		alg.process(param,output);
 
 		for( int i = 0; i < points.size(); i++ ) {
-			double expected = Distance3D_F64.distance(cylinder, points.get(i));
+			double expected = Distance3D_F64.distanceSigned(cylinder, points.get(i));
 			assertEquals(expected,(double) output[i], GrlConstants.TEST_F64);
 		}
 	}
diff --git a/main/test/georegression/fitting/cylinder/TestGenerateCylinderFromPointNormals_F64.java b/main/test/georegression/fitting/cylinder/TestGenerateCylinderFromPointNormals_F64.java
index c203ebb3..d884d1ff 100644
--- a/main/test/georegression/fitting/cylinder/TestGenerateCylinderFromPointNormals_F64.java
+++ b/main/test/georegression/fitting/cylinder/TestGenerateCylinderFromPointNormals_F64.java
@@ -57,14 +57,14 @@ class TestGenerateCylinderFromPointNormals_F64 {
 			PlaneNormal3D_F64 p1 = paramToPointOnCylinder(cylinder, rand.nextGaussian(), theta + Math.PI/2.0);
 
 			// Sanity check
-			assertEquals(0.0, Distance3D_F64.distance(cylinder, p0.p), UtilEjml.TEST_F64);
-			assertEquals(0.0, Distance3D_F64.distance(cylinder, p1.p), UtilEjml.TEST_F64);
+			assertEquals(0.0, Distance3D_F64.distanceSigned(cylinder, p0.p), UtilEjml.TEST_F64);
+			assertEquals(0.0, Distance3D_F64.distanceSigned(cylinder, p1.p), UtilEjml.TEST_F64);
 
 			assertTrue(alg.generate(List.of(p0, p1), found));
 
 			// Verify the found cylinder is correct by seeing if the two points lie on it
-			assertEquals(0.0, Distance3D_F64.distance(found, p0.p), UtilEjml.TEST_F64);
-			assertEquals(0.0, Distance3D_F64.distance(found, p1.p), UtilEjml.TEST_F64);
+			assertEquals(0.0, Distance3D_F64.distanceSigned(found, p0.p), UtilEjml.TEST_F64);
+			assertEquals(0.0, Distance3D_F64.distanceSigned(found, p1.p), UtilEjml.TEST_F64);
 		}
 	}
 
diff --git a/main/test/georegression/fitting/sphere/TestSphereToPointSignedDistance_F64.java b/main/test/georegression/fitting/sphere/TestSphereToPointSignedDistance_F64.java
index b577a9b6..e4a45aad 100644
--- a/main/test/georegression/fitting/sphere/TestSphereToPointSignedDistance_F64.java
+++ b/main/test/georegression/fitting/sphere/TestSphereToPointSignedDistance_F64.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2011-2020, Peter Abeles. All Rights Reserved.
+ * Copyright (C) 2022, Peter Abeles. All Rights Reserved.
  *
  * This file is part of Geometric Regression Library (GeoRegression).
  *
@@ -60,7 +60,7 @@ void compareToDistance() {
 		alg.process(param,output);
 
 		for( int i = 0; i < points.size(); i++ ) {
-			double expected = Distance3D_F64.distance(sphere,points.get(i));
+			double expected = Distance3D_F64.distanceSigned(sphere,points.get(i));
 			assertEquals(expected,(double) output[i], GrlConstants.TEST_F64);
 		}
 	}
diff --git a/main/test/georegression/metric/TestDistance3D_F64.java b/main/test/georegression/metric/TestDistance3D_F64.java
index 7d81ab7e..f6d2fa23 100644
--- a/main/test/georegression/metric/TestDistance3D_F64.java
+++ b/main/test/georegression/metric/TestDistance3D_F64.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2020, Peter Abeles. All Rights Reserved.
+ * Copyright (C) 2022, Peter Abeles. All Rights Reserved.
  *
  * This file is part of Geometric Regression Library (GeoRegression).
  *
@@ -159,8 +159,8 @@ void distance_sphere_point() {
 		assertTrue(ro>4.5);
 		assertTrue(ri<4.5);
 
-		assertEquals(ro-4.5,Distance3D_F64.distance(sphere,outside), GrlConstants.TEST_F64);
-		assertEquals(ri-4.5,Distance3D_F64.distance(sphere,inside), GrlConstants.TEST_F64);
+		assertEquals(ro-4.5,Distance3D_F64.distanceSigned(sphere,outside), GrlConstants.TEST_F64);
+		assertEquals(ri-4.5,Distance3D_F64.distanceSigned(sphere,inside), GrlConstants.TEST_F64);
 	}
 
 	@Test
@@ -176,8 +176,8 @@ void distance_cylinder_point() {
 		assertTrue(ro>3.5);
 		assertTrue(ri<3.5);
 
-		assertEquals(ro-3.5,Distance3D_F64.distance(cylinder,outside), GrlConstants.TEST_F64);
-		assertEquals(ri-3.5,Distance3D_F64.distance(cylinder,inside), GrlConstants.TEST_F64);
+		assertEquals(ro-3.5,Distance3D_F64.distanceSigned(cylinder,outside), GrlConstants.TEST_F64);
+		assertEquals(ri-3.5,Distance3D_F64.distanceSigned(cylinder,inside), GrlConstants.TEST_F64);
 	}
 
 	@Test