diff --git a/cmake/sac-core-ext.txt b/cmake/sac-core-ext.txt
index d4887c83..4e927d32 100644
--- a/cmake/sac-core-ext.txt
+++ b/cmake/sac-core-ext.txt
@@ -56,6 +56,8 @@ structures/ScalarArith.xsac                Core
 structures/String.sac                      Core
 structures/StringArray.sac                 Ext
 structures/Structures.sac                  Core
+structures/Vector3d.xsac                   Ext
+structures/Vector3f.xsac                   Ext
 
 # System
 system/Clock.sac                           Core
diff --git a/include/Vector3.mac b/include/Vector3.mac
new file mode 100644
index 00000000..c2fc44fc
--- /dev/null
+++ b/include/Vector3.mac
@@ -0,0 +1,171 @@
+#pragma safe
+
+module VECTOR3;
+
+export all;
+
+struct VECTOR3 {
+    REAL VX;
+    REAL VY;
+    REAL VZ;
+};
+
+inline REAL
+l2norm(struct VECTOR3 v)
+{
+    x = _mul_SxS_(v.VX, v.VX);
+    y = _mul_SxS_(v.VY, v.VY);
+    z = _mul_SxS_(v.VZ, v.VZ);
+    return Math::sqrt(_add_SxS_(_add_SxS_(x, y), z));
+}
+
+/******************************************************************************
+ *
+ * Binary operations
+ *
+ ******************************************************************************/
+
+#define VEC3D_BIN_AxA(name, op)                                                \
+inline struct VECTOR3[d>0:shp]                                                 \
+name(struct VECTOR3[d>0:shp] a, struct VECTOR3[d>0:shp] b)                     \
+{                                                                              \
+    return { iv -> VECTOR3 { op(_sel_VxA_(iv, a).VX, _sel_VxA_(iv, b).VX),     \
+                             op(_sel_VxA_(iv, a).VY, _sel_VxA_(iv, b).VY),     \
+                             op(_sel_VxA_(iv, a).VZ, _sel_VxA_(iv, b).VZ) }    \
+           | iv < shp };                                                       \
+}
+
+#define VEC3D_BIN_AxS(name, op)                                                \
+inline struct VECTOR3[d>0:shp]                                                 \
+name(struct VECTOR3[d>0:shp] a, struct VECTOR3 b)                              \
+{                                                                              \
+    return { iv -> VECTOR3 { op(_sel_VxA_(iv, a).VX, b.VX),                    \
+                             op(_sel_VxA_(iv, a).VY, b.VY),                    \
+                             op(_sel_VxA_(iv, a).VZ, b.VZ) }                   \
+           | iv < shp };                                                       \
+}
+
+#define VEC3D_BIN_AxX(name, op)                                                \
+inline struct VECTOR3[d>0:shp] name(struct VECTOR3[d>0:shp] a, REAL b)         \
+{                                                                              \
+    return { iv -> VECTOR3 { op(_sel_VxA_(iv, a).VX, b),                       \
+                             op(_sel_VxA_(iv, a).VY, b),                       \
+                             op(_sel_VxA_(iv, a).VZ, b) }                      \
+           | iv < shp };                                                       \
+}
+
+#define VEC3D_BIN_SxS(name, op)                                                \
+inline struct VECTOR3 name(struct VECTOR3 a, struct VECTOR3 b)                 \
+{                                                                              \
+    return VECTOR3 { op(a.VX, b.VX), op(a.VY, b.VY), op(a.VZ, b.VZ) };         \
+}
+
+#define VEC3D_BIN_SxX(name, op)                                                \
+inline struct VECTOR3 name(struct VECTOR3 a, REAL b)                           \
+{                                                                              \
+    return VECTOR3 { op(a.VX, b), op(a.VY, b), op(a.VZ, b) };                  \
+}
+
+#define VEC3D_BIN(name, op)                                                    \
+VEC3D_BIN_AxA(name, op)                                                        \
+VEC3D_BIN_AxS(name, op)                                                        \
+VEC3D_BIN_AxX(name, op)                                                        \
+VEC3D_BIN_SxS(name, op)                                                        \
+VEC3D_BIN_SxX(name, op)
+
+VEC3D_BIN(+, _add_SxS_)
+VEC3D_BIN(-, _sub_SxS_)
+VEC3D_BIN(*, _mul_SxS_)
+VEC3D_BIN(/, _div_SxS_)
+
+/******************************************************************************
+ *
+ * Unary operations
+ *
+ ******************************************************************************/
+
+#define VEC3D_UNARY_A(name, op)                                                \
+inline struct VECTOR3[d>0:shp] name(struct VECTOR3[d>0:shp] a)                 \
+{                                                                              \
+    return { iv -> VECTOR3 { op(_sel_VxA_(iv, a).VX),                          \
+                             op(_sel_VxA_(iv, a).VY),                          \
+                             op(_sel_VxA_(iv, a).VZ) }                         \
+           | iv < shp };                                                       \
+}
+
+#define VEC3D_UNARY_S(name, op)                                                \
+inline struct VECTOR3 name(struct VECTOR3 a)                                   \
+{                                                                              \
+    return VECTOR3{ op(a.VX), op(a.VY), op(a.VZ) };                            \
+}
+
+#define VEC3D_UNARY(name, op)                                                  \
+VEC3D_UNARY_A(name, op)                                                        \
+VEC3D_UNARY_S(name, op)
+
+VEC3D_UNARY(-, _neg_S_)
+
+/******************************************************************************
+ *
+ * Equality operations
+ *
+ ******************************************************************************/
+
+#define VEC3D_EQ_AxA(name, op, and_or)                                         \
+inline bool[d>0:shp] name(struct VECTOR3[d>0:shp] a, struct VECTOR3[d>0:shp] b)\
+{                                                                              \
+    return with {                                                              \
+        (_mul_SxV_(0, shp) <= iv < shp) :                                      \
+            and_or(op(_sel_VxA_(iv, a).VX, _sel_VxA_(iv, b).VX),               \
+            and_or(op(_sel_VxA_(iv, a).VY, _sel_VxA_(iv, b).VY),               \
+                   op(_sel_VxA_(iv, a).VZ, _sel_VxA_(iv, b).VZ)));             \
+    }: genarray(shp, true);                                                    \
+}
+
+#define VEC3D_EQ_AxS(name, op, and_or)                                         \
+inline bool[d>0:shp] name(struct VECTOR3[d>0:shp] a, struct VECTOR3 b)         \
+{                                                                              \
+    return with {                                                              \
+        (_mul_SxV_(0, shp) <= iv < shp) :                                      \
+            and_or(op(_sel_VxA_(iv, a).VX, b.VX),                              \
+            and_or(op(_sel_VxA_(iv, a).VY, b.VY),                              \
+                   op(_sel_VxA_(iv, a).VZ, b.VZ)));                            \
+    }: genarray(shp, true);                                                    \
+}
+
+#define VEC3D_EQ_AxX(name, op, and_or)                                         \
+inline bool[d>0:shp] name(struct VECTOR3[d>0:shp] a, REAL b)                   \
+{                                                                              \
+    return with {                                                              \
+        (_mul_SxV_(0, shp) <= iv < shp) :                                      \
+            and_or(op(_sel_VxA_(iv, a).VX, b),                                 \
+            and_or(op(_sel_VxA_(iv, a).VY, b),                                 \
+                   op(_sel_VxA_(iv, a).VZ, b)));                               \
+    }: genarray(shp, true);                                                    \
+}
+
+#define VEC3D_EQ_SxS(name, op, and_or)                                         \
+inline bool name(struct VECTOR3 a, struct VECTOR3 b)                           \
+{                                                                              \
+    return and_or(op(a.VX, b.VX),                                              \
+           and_or(op(a.VY, b.VY),                                              \
+                  op(a.VZ, b.VZ)));                                            \
+}
+
+#define VEC3D_EQ_SxX(name, op, and_or)                                         \
+inline bool name(struct VECTOR3 a, REAL b)                                     \
+{                                                                              \
+    return and_or(op(a.VX, b),                                                 \
+           and_or(op(a.VY, b),                                                 \
+                  op(a.VZ, b)));                                               \
+}
+
+#define VEC3D_EQ(name, op, and_or)                                             \
+VEC3D_EQ_AxA(name, op, and_or)                                                 \
+VEC3D_EQ_AxS(name, op, and_or)                                                 \
+VEC3D_EQ_AxX(name, op, and_or)                                                 \
+VEC3D_EQ_SxS(name, op, and_or)                                                 \
+VEC3D_EQ_SxX(name, op, and_or)
+
+VEC3D_EQ(==, _eq_SxS_, _and_SxS_)
+VEC3D_EQ(!=, _neq_SxS_, _or_SxS_)
diff --git a/src/structures/Structures.sac b/src/structures/Structures.sac
index dfa0c289..f7e139ba 100644
--- a/src/structures/Structures.sac
+++ b/src/structures/Structures.sac
@@ -11,6 +11,11 @@ import Color8: all;
 import Complex: all;
 import List: all;
 import Quaternion: all;
+/* Importing both currently causes a name clash, because the same C function
+ * name is being generated for both the double and float variants.
+ * Until this has been fixed, we must exclude them from this module. */
+//import Vector3d: all;
+//import Vector3f: all;
 #endif
 
 export all;
diff --git a/src/structures/Vector3d.xsac b/src/structures/Vector3d.xsac
new file mode 100644
index 00000000..569a8c75
--- /dev/null
+++ b/src/structures/Vector3d.xsac
@@ -0,0 +1,7 @@
+#define REAL double
+#define VECTOR3 Vector3d
+#define VX xd
+#define VY yd
+#define VZ zd
+
+#include "Vector3.mac"
diff --git a/src/structures/Vector3f.xsac b/src/structures/Vector3f.xsac
new file mode 100644
index 00000000..e10563a7
--- /dev/null
+++ b/src/structures/Vector3f.xsac
@@ -0,0 +1,7 @@
+#define REAL float
+#define VECTOR3 Vector3f
+#define VX xf
+#define VY yf
+#define VZ zf
+
+#include "Vector3.mac"