diff --git a/CMakeLists.txt b/CMakeLists.txt
index ac14b28..51a5bd3 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -12,7 +12,7 @@ link_directories(/usr/lib/)
 set(CMAKE_BUILD_TYPE Debug)
 set(gui text.cpp rectangle.cpp)
 set(utils util.cpp)
-set(math quaternion.cpp vector.cpp ray.cpp)
+set(math quaternion.cpp vector.cpp matrix.cpp ray.cpp)
 set(render waterPlane.cpp particleEmitter.cpp camera.cpp light.cpp material.cpp mesh.cpp model.cpp node.cpp quad.cpp box.cpp root.cpp shader.cpp texture.cpp)
 set(armature skeleton.cpp bone.cpp)
 
diff --git a/camera.h b/camera.h
index ca79654..b734041 100755
--- a/camera.h
+++ b/camera.h
@@ -19,7 +19,7 @@ namespace vb01{
 			inline float getNearPlane(){return nearPlane;}
 			inline float getFarPlane(){return farPlane;}
 		private:
-			Vector3 position=Vector3(0,0,0),direction=Vector3(0,0,1),left=Vector3(1,0,0),up=Vector3(0,1,0);
+			Vector3 position=Vector3(0,0,0),direction=Vector3(0,0,-1),left=Vector3(1,0,0),up=Vector3(0,1,0);
 			float fov=45,nearPlane=.1,farPlane=100;
 	};
 }
diff --git a/light.cpp b/light.cpp
index 712116c..d9d39d3 100755
--- a/light.cpp
+++ b/light.cpp
@@ -48,36 +48,14 @@ namespace vb01{
 		Node *rootNode=root->getRootNode();
 		Camera *cam=root->getCamera();
 		std::vector<Node*> descendants;
+		std::vector<Material*> materials;
 		rootNode->getDescendants(rootNode,descendants);
 		descendants.push_back(rootNode);
-		std::vector<Material*> materials;
 		int numLights=0,thisId=-1;
+		float fov=cam->getFov(),width=root->getWidth(),height=root->getHeight();
 
-		vec3 dir=vec3(direction.x,direction.y,direction.z);
-		vec3 pos=type==DIRECTIONAL?-.5f*farPlane*dir:vec3(position.x,position.y,position.z);
-		mat4 view=lookAt(pos,pos+dir,vec3(0,1,0));
-		mat4 proj=ortho(-10.f,10.f,-10.f,10.f,nearPlane,farPlane);
-
-		depthMapShader->use();
-		depthMapShader->setMat4(proj*view,"lightMat");
-
-		glViewport(0,0,depthMapSize,depthMapSize);
-		glBindFramebuffer(GL_FRAMEBUFFER,depthmapFBO);
-		for(Node *n : descendants){
-			std::vector<Light*> lights=n->getLights();
-			vector<Mesh*> meshes=n->getMeshes();
-			for(Mesh *mesh : meshes){
-				Material *mat=mesh->getMaterial();
-				if(mat&&mat->isLightingEnabled()){
-					materials.push_back(mat);
-					if(mesh->isCastShadow()){
-						Vector3 pos=n->getPosition();
-						mat4 model=translate(mat4(1.f),vec3(pos.x,pos.y,pos.z));
-						depthMapShader->setMat4(model,"model");
-						mesh->render();
-					}
-				}
-			}
+		for(Node *d : descendants){
+			std::vector<Light*> lights=d->getLights();
 			for(Light *l : lights){
 				if(l){
 					numLights++;
@@ -85,41 +63,91 @@ namespace vb01{
 						thisId=numLights-1;
 				}	
 			}
+			for(Mesh *m : d->getMeshes())
+				materials.push_back(m->getMaterial());
 		}
-		glBindFramebuffer(GL_FRAMEBUFFER,0);
+		for(int i=0;i<descendants.size();i++){
+			Node *n=descendants[i];
+			vector<Mesh*> meshes=n->getMeshes();
+			for(Mesh *mesh : meshes){
+				Material *mat=mesh->getMaterial();
+				if(n->isVisible()&&mat&&mat->isLightingEnabled()){
+					mat4 proj,view;
+					if(mesh->isCastShadow()){
+						Vector3 pos=n->getWorldPosition();
+						Quaternion rot=n->getWorldOrientation();
+						Vector3 rotAxis=rot.norm().getAxis();
 
-		glViewport(0,0,root->getWidth(),root->getHeight());
+						if(rotAxis==Vector3::VEC_ZERO)
+							rotAxis=Vector3::VEC_I;
 
-		for(Material *m : materials){
-			Shader *shader=m->getShader();
-			shader->use();
-			shader->setInt((int)type,"light["+to_string(thisId)+"].type");
-			shader->setVec3(color,"light["+to_string(thisId)+"].color");
-			shader->setInt(0,"tex");
-			shader->setInt(thisId+1,"light["+to_string(thisId)+"].depthMap");
-			depthMap->select(thisId+1);
+						glViewport(0,0,depthMapSize,depthMapSize);
+						glBindFramebuffer(GL_FRAMEBUFFER,depthmapFBO);
+						glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);
 
-			switch(type){
-				case POINT:
-					shader->setVec3(position,"light["+to_string(thisId)+"].pos");
-					shader->setFloat(attenuationValues.x,"light["+to_string(thisId)+"].a");
-					shader->setFloat(attenuationValues.y,"light["+to_string(thisId)+"].b");
-					shader->setFloat(attenuationValues.z,"light["+to_string(thisId)+"].c");
-					break;
-				case DIRECTIONAL:
-					shader->setMat4(proj*view,"light["+to_string(thisId)+"].lightMat");
-					shader->setVec3(direction,"light["+to_string(thisId)+"].direction");
-					break;
-				case SPOT:
-					shader->setMat4(proj*view,"light["+to_string(thisId)+"].lightMat");
-					shader->setVec3(position,"light["+to_string(thisId)+"].pos");
-					shader->setVec3(direction,"light["+to_string(thisId)+"].direction");
-					shader->setFloat(attenuationValues.x,"light["+to_string(thisId)+"].a");
-					shader->setFloat(attenuationValues.y,"light["+to_string(thisId)+"].b");
-					shader->setFloat(attenuationValues.z,"light["+to_string(thisId)+"].c");
-					shader->setFloat(innerAngle,"light["+to_string(thisId)+"].innerAngle");
-					shader->setFloat(outerAngle,"light["+to_string(thisId)+"].outerAngle");
-					break;
+						Vector3 upDir=direction.cross(Vector3(0,1,0));
+						if(upDir==Vector3(0,0,0))
+							upDir=Vector3::VEC_I;
+
+						vec3 dir=vec3(direction.x,direction.y,direction.z);
+						vec3 up=vec3(upDir.x,upDir.y,upDir.z);
+						vec3 p=type==DIRECTIONAL?vec3(pos.x,pos.y,pos.z)-.5f*farPlane*dir:vec3(position.x,position.y,position.z);
+						view=lookAt(p,p+dir,up);
+						proj=ortho(-10.f,10.f,-10.f,10.f,nearPlane,farPlane);
+
+						depthMapShader->use();
+						depthMapShader->setMat4(proj*view,"lightMat");
+
+						mat4 model=translate(mat4(1.f),vec3(pos.x,pos.y,pos.z));
+						model=rotate(model,rot.getAngle(),vec3(rotAxis.x,rotAxis.y,rotAxis.z));
+						depthMapShader->setMat4(model,"model");
+						mesh->render();
+
+						glBindFramebuffer(GL_FRAMEBUFFER,*(root->getFBO()));
+						glViewport(0,0,root->getWidth(),root->getHeight());
+
+						/*
+						for(Material *m : materials){
+							Shader *shader=m->getShader();
+							shader->use();
+							shader->setInt(1+2*thisId+i,"light["+to_string(thisId)+"].depthMap["+to_string(i)+"]");
+							depthMap->select(1+2*thisId+i);
+						}
+						*/
+					}
+					for(Material *m : materials){
+						Shader *shader=m->getShader();
+						shader->use();
+						shader->setInt((int)type,"light["+to_string(thisId)+"].type");
+						shader->setVec3(color,"light["+to_string(thisId)+"].color");
+						shader->setInt(0,"tex");
+						shader->setInt(1,"light["+to_string(thisId)+"].depthMap["+to_string(0)+"]");
+						depthMap->select(1);
+
+						switch(type){
+							case POINT:
+								shader->setVec3(position,"light["+to_string(thisId)+"].pos");
+								shader->setFloat(attenuationValues.x,"light["+to_string(thisId)+"].a");
+								shader->setFloat(attenuationValues.y,"light["+to_string(thisId)+"].b");
+								shader->setFloat(attenuationValues.z,"light["+to_string(thisId)+"].c");
+								break;
+							case DIRECTIONAL:
+								shader->setMat4(proj*view,"light["+to_string(thisId)+"].lightMat");
+								shader->setVec3(direction,"light["+to_string(thisId)+"].direction");
+								break;
+							case SPOT:
+								shader->setMat4(proj*view,"light["+to_string(thisId)+"].lightMat");
+								shader->setVec3(position,"light["+to_string(thisId)+"].pos");
+								shader->setVec3(direction,"light["+to_string(thisId)+"].direction");
+								shader->setFloat(attenuationValues.x,"light["+to_string(thisId)+"].a");
+								shader->setFloat(attenuationValues.y,"light["+to_string(thisId)+"].b");
+								shader->setFloat(attenuationValues.z,"light["+to_string(thisId)+"].c");
+								shader->setFloat(innerAngle,"light["+to_string(thisId)+"].innerAngle");
+								shader->setFloat(outerAngle,"light["+to_string(thisId)+"].outerAngle");
+								break;
+						}
+					}
+				}
 			}
 		}
 	}
diff --git a/matrix.cpp b/matrix.cpp
new file mode 100644
index 0000000..1f88ade
--- /dev/null
+++ b/matrix.cpp
@@ -0,0 +1,191 @@
+#include"matrix.h"
+#include<iostream>
+
+using namespace std;
+
+namespace vb01{
+	Matrix::Matrix(float **matrix,int rows,int columns){
+		this->dim[0]=rows;
+		this->dim[1]=columns;
+
+		this->matrix=new float*[rows];
+		for(int i=0;i<dim[0];i++){
+			this->matrix[i]=new float[columns];
+			for(int j=0;j<dim[1];j++)
+				this->matrix[i][j]=matrix[i][j];
+		}
+	}
+
+	Matrix::Matrix(Vector3 v1,Vector3 v2,Vector3 v3){
+		dim[0]=3;
+		dim[1]=3;
+
+		matrix=new float*[3];
+
+		matrix[0]=new float[3];
+		matrix[0][0]=v1.x;
+		matrix[0][1]=v1.y;
+		matrix[0][2]=v1.z;
+		matrix[1]=new float[3];
+		matrix[1][0]=v2.x;
+		matrix[1][1]=v2.y;
+		matrix[1][2]=v2.z;
+		matrix[2]=new float[3];
+		matrix[2][0]=v3.x;
+		matrix[2][1]=v3.y;
+		matrix[2][2]=v3.z;
+	}
+
+	Matrix& Matrix::operator+(Matrix &m){
+		if(dim[0]==m.dim[0]&&dim[1]==m.dim[1]){
+			for(int i=0;i<dim[0];i++)
+				for(int j=0;j<dim[1];j++)
+					matrix[i][j]+=m.matrix[i][j];
+			return *this;
+		}
+		else{
+			cout<<"Incompatible matrix dimensions for addition.\n";
+			exit(-1);
+		}
+	}
+
+	Matrix& Matrix::operator-(Matrix &m){
+		if(dim[0]==m.dim[0]&&dim[1]==m.dim[1]){
+			for(int i=0;i<dim[0];i++)
+				for(int j=0;j<dim[1];j++)
+					matrix[i][j]-=m.matrix[i][j];
+			return *this;
+		}
+		else{
+			cout<<"Incompatible matrix dimensions for subtraction.\n";
+			exit(-1);
+		}
+	}
+
+	Matrix Matrix::operator*(Matrix &m){
+		if(dim[1]==m.dim[0]){
+			float **matrix=new float*[dim[0]];
+			for(int i=0;i<dim[0];i++){
+				matrix[i]=new float[m.dim[1]];
+				for(int j=0;j<m.dim[1];j++)
+					matrix[i][j]=0.;
+			}
+
+			for(int i=0;i<dim[0];i++)
+				for(int j=0;j<dim[1];j++)
+					for(int k=0;k<dim[0];k++)
+						matrix[i][j]+=this->matrix[i][k]*m.matrix[k][j];
+			return Matrix(matrix,dim[0],dim[1]);
+		}
+		else{
+			cout<<"Incompatible matrix dimensions for multiplication.\n";
+			exit(-1);
+		}
+	}
+
+	Vector3 Matrix::operator* (Vector3 v){
+		float **matrix=new float*[3];
+		matrix[0]=new float[1];
+		matrix[0][0]=v.x;
+		matrix[1]=new float[1];
+		matrix[1][0]=v.y;
+		matrix[2]=new float[1];
+		matrix[2][0]=v.z;
+
+		Matrix vMat(matrix,3,1);
+		vMat=(*this)*vMat;
+		return Vector3(vMat[0][0],vMat[1][0],vMat[2][0]);
+	}
+
+	template<typename T> Matrix& Matrix::operator+(T s){
+		for(int i=0;i<dim[0];i++)
+			for(int j=0;j<dim[1];j++)
+				matrix[i][j]+=s;
+		return *this;
+	}
+
+	template<typename T> Matrix& Matrix::operator-(T s){
+		for(int i=0;i<dim[0];i++)
+			for(int j=0;j<dim[1];j++)
+				matrix[i][j]-=s;
+		return *this;
+	}
+
+	template<typename T> Matrix& Matrix::operator*(T s){
+		for(int i=0;i<dim[0];i++)
+			for(int j=0;j<dim[1];j++)
+				matrix[i][j]*=s;
+		return *this;
+	}
+
+	template<typename T> Matrix& Matrix::operator/(T s){
+		for(int i=0;i<dim[0];i++)
+			for(int j=0;j<dim[1];j++)
+				matrix[i][j]/=s;
+		return *this;
+	}
+
+	void Matrix::transpose(){
+		float **matrix=new float*[dim[1]];
+		for(int i=0;i<dim[1];i++)
+			matrix[i]=new float[dim[0]];
+		for(int i=0;i<dim[0];i++)
+			for(int j=0;j<dim[1];j++)
+				matrix[i][j]=this->matrix[j][i];
+		this->matrix=matrix;
+	}
+
+	Matrix Matrix::getSubMatrix(int row,int column){
+		int newRows=dim[0]-1,newColumns=dim[1]-1;
+		float **matrix=new float*[dim[0]];
+		bool offsetRows=false,offsetColumns=false;
+		for(int i=0;i<dim[1];i++){
+			matrix[i]=new float[dim[1]];
+			for(int j=0;j<dim[1];j++)
+				if(i!=row&&j!=column){
+					int a=offsetRows&&i!=0?i-1:i,b=offsetColumns&&j!=0?j-1:j;
+					matrix[a][b]=this->matrix[i][j];
+				}
+				else if(i==row) offsetRows=true;
+				else if(j==column) offsetColumns=true;
+		}
+		return Matrix(matrix,newRows,newColumns);
+	}
+
+	void Matrix::invert(){
+		transpose();
+		float **matrix=new float*[dim[0]];
+		for(int i=0;i<dim[0];i++){
+			matrix[i]=new float[dim[1]];
+			for(int j=0;j<dim[1];j++)
+				matrix[i][j]=getCofactor(i,j);
+		}
+		this->matrix=matrix;
+		*this/getDeterminant();
+	}
+
+	float Matrix::getMinor(int row,int column){
+		return getSubMatrix(row,column).getDeterminant();
+	}
+
+	float Matrix::getCofactor(int row,int column){
+		return ((row+column+2)%2==0?1:-1)*getMinor(row,column);	
+	}
+
+	float Matrix::getDeterminant(){
+		if(dim[0]!=dim[1]){
+			cout<<"Matrix not square.\n";
+			exit(-1);
+		}
+		if(dim[0]==1)
+			return matrix[0][0];
+		else if(dim[0]==2)
+			return matrix[0][0]*matrix[1][1]-matrix[1][0]*matrix[0][1];
+		else{
+			float det=0;
+			for(int i=0;i<dim[0];i++)
+				det+=matrix[i][0]*getCofactor(i,0);
+			return det;
+		}
+	}
+}
diff --git a/matrix.h b/matrix.h
new file mode 100644
index 0000000..78a6186
--- /dev/null
+++ b/matrix.h
@@ -0,0 +1,30 @@
+#ifndef MATRIX_H
+#define MATRIX_H
+
+#include"vector.h"
+
+namespace vb01{
+	struct Matrix{
+		int dim[2];
+		float **matrix;
+		Matrix(float**,int,int);
+		Matrix(Vector3,Vector3,Vector3);
+		Matrix& operator+ (Matrix&);
+		Matrix& operator- (Matrix&);
+		Matrix operator* (Matrix&);
+		Vector3 operator* (Vector3);
+		inline float* operator[](int i){return matrix[i];}
+		template<typename T> Matrix& operator+ (T);
+		template<typename T> Matrix& operator- (T);
+		template<typename T> Matrix& operator* (T);
+		template<typename T> Matrix& operator/ (T);
+		void transpose();
+		Matrix getSubMatrix(int,int);
+		void invert();
+		float getMinor(int,int);
+		float getCofactor(int,int);
+		float getDeterminant();
+	};
+}
+
+#endif
diff --git a/mesh.cpp b/mesh.cpp
index bc82459..747ce26 100755
--- a/mesh.cpp
+++ b/mesh.cpp
@@ -66,27 +66,10 @@ namespace vb01{
 		Quaternion orient=Quaternion::QUAT_W;
 
 		if(node){
-			Vector3 origin=Vector3::VEC_ZERO,axis[]={Vector3::VEC_I,Vector3::VEC_J,Vector3::VEC_K};
-			vector<Node*> ancestors;
-			ancestors.push_back(node);
-			Node *parent=node->getParent();
-			while(parent){
-				ancestors.push_back(parent);
-				parent=parent->getParent();
-			}
-			while(!ancestors.empty()){
-				int id=ancestors.size()-1;
-				Quaternion o=ancestors[id]->getOrientation();	
-				Vector3 p=ancestors[id]->getPosition(),s=ancestors[id]->getScale();
-				origin=origin+axis[0]*p.x*s.x+axis[1]*p.y*s.y+axis[2]*p.z*s.z;
-				orient=o*orient;
-				scale=s;
-				for(int i=0;i<3;i++)
-					axis[i]=orient*axis[i];
-				ancestors.pop_back();
-			}
+			Node::Transform t=node->getWorldTransform();
 
-			pos=origin;
+			pos=t.position;
+			orient=t.orientation;
 			camPos=cam->getPosition();
 		}
 
@@ -125,6 +108,7 @@ namespace vb01{
 			glBindBuffer(GL_ELEMENT_ARRAY_BUFFER,EBO);
 			glBufferSubData(GL_ELEMENT_ARRAY_BUFFER,0,3*numTris*sizeof(unsigned int),indices);
 		}
+		glPolygonMode(GL_FRONT_AND_BACK,wireframe?GL_LINE:GL_FILL);
 		glDrawElements(GL_TRIANGLES,3*numTris,GL_UNSIGNED_INT,0);	
 	}
 }
diff --git a/mesh.h b/mesh.h
index e4acfb1..5995954 100755
--- a/mesh.h
+++ b/mesh.h
@@ -31,6 +31,7 @@ namespace vb01{
 			void setMaterial(Material *mat){this->material=mat;}
 			inline void setNode(Node *node){this->node=node;}
 			inline void setCastShadow(bool castShadow){this->castShadow=castShadow;}
+			inline void setWireframe(bool w){this->wireframe=w;}
 			inline Node* getNode(){return node;}
 			inline Material* getMaterial(){return material;}
 			inline std::vector<Mesh*>& getMeshes(){return meshes;}
@@ -48,7 +49,7 @@ namespace vb01{
 			Mesh();
 			void construct();
 
-			bool staticVerts=true,castShadow=false;
+			bool staticVerts=true,castShadow=false,wireframe=false;
 			Vertex *vertices;
 			VertexGroup groups;
 			unsigned int *indices,VAO,VBO,EBO;
diff --git a/model.cpp b/model.cpp
index 9165de0..6c2a7d8 100755
--- a/model.cpp
+++ b/model.cpp
@@ -213,9 +213,20 @@ namespace vb01{
 	}
 
 	void Model::setCastShadow(bool castShadow){
-		for(Node *node : children)
+		vector<Node*> descendants;
+		getDescendants(this,descendants);
+		for(Node *node : descendants)
 			for(Mesh *mesh : node->getMeshes())
 				mesh->setCastShadow(castShadow);
 		this->castShadow=castShadow;
 	}
+
+	void Model::setWireframe(bool wirefame){
+		vector<Node*> descendants;
+		getDescendants(this,descendants);
+		for(Node *node : descendants)
+			for(Mesh *mesh : node->getMeshes())
+				mesh->setWireframe(wirefame);
+		this->wireframe=wireframe;
+	}
 }
diff --git a/model.h b/model.h
index e322066..471c431 100755
--- a/model.h
+++ b/model.h
@@ -22,6 +22,7 @@ namespace vb01{
 			void update();
 			void setMaterial(Material*);
 			void setCastShadow(bool);
+			void setWireframe(bool);
 		private:
 			void processNode(aiNode*, const aiScene*, Node*);
 			void processMesh(aiMesh*, const aiScene*, Node*);
@@ -29,7 +30,7 @@ namespace vb01{
 			void processMaterial();
 
 			Material* material;
-			bool castShadow=false;
+			bool castShadow=false,wireframe=false;
 	};
 }
 
diff --git a/node.cpp b/node.cpp
index a78c299..03afe69 100755
--- a/node.cpp
+++ b/node.cpp
@@ -5,6 +5,7 @@
 #include"light.h"
 #include"text.h"
 #include"material.h"
+#include"matrix.h"
 
 using namespace std;
 
@@ -112,11 +113,15 @@ namespace vb01{
 		text->setNode(this);	
 	}
 
-	void Node::lookAt(Vector3 newDir){
-		Vector3 dir=getLocalAxis(0).norm();
-		float angle=dir.getAngleBetween(newDir.norm());
-		Vector3 rotAxis=dir.cross(newDir.norm());
+	void Node::lookAt(Vector3 newDir,Vector3 upDir){
+		Vector3 dir=getLocalAxis(2).norm(),newDirLocal=globalToLocal(newDir.norm()),upDirLocal=globalToLocal(upDir.norm());
+		float angle=dir.getAngleBetween(newDirLocal);
+		Vector3 rotAxis=dir.cross(newDirLocal);
 		orientation=Quaternion(angle,rotAxis)*orientation;
+		Vector3 up=getLocalAxis(1).norm();
+		angle=up.getAngleBetween(upDirLocal);
+		rotAxis=up.cross(upDirLocal);
+		orientation=Quaternion(angle,rotAxis.norm())*orientation;
 	}
 
 	void Node::getDescendants(Node *node, vector<Node*> &descendants){
@@ -182,4 +187,56 @@ namespace vb01{
 
 		return axis[i];
 	}
+
+	Vector3 Node::localToGlobal(Vector3 p0){
+		Vector3 dir=getLocalAxis(2),up=getLocalAxis(1),left=getLocalAxis(0);
+		float **mat=new float*[3];
+		for(int i=0;i<3;i++)
+			mat[i]=new float[3];
+
+		mat[0][0]=left.x;
+		mat[1][0]=left.y;
+		mat[2][0]=left.z;
+		mat[0][1]=up.x;
+		mat[1][1]=up.y;
+		mat[2][1]=up.z;
+		mat[0][2]=dir.x;
+		mat[1][2]=dir.y;
+		mat[2][2]=dir.z;
+
+		Vector3 p=Matrix(mat,3,3)*p0;
+
+		for(int i=0;i<3;i++)
+			delete[] mat[i];
+		delete[] mat;
+
+		return p;
+	}
+
+	Vector3 Node::globalToLocal(Vector3 p0){
+		Vector3 dir=getLocalAxis(2),up=getLocalAxis(1),left=getLocalAxis(0);
+		float **mat=new float*[3];
+		for(int i=0;i<3;i++)
+			mat[i]=new float[3];
+
+		mat[0][0]=left.x;
+		mat[1][0]=left.y;
+		mat[2][0]=left.z;
+		mat[0][1]=up.x;
+		mat[1][1]=up.y;
+		mat[2][1]=up.z;
+		mat[0][2]=dir.x;
+		mat[1][2]=dir.y;
+		mat[2][2]=dir.z;
+
+		Matrix m(mat,3,3);
+		m.invert();
+		Vector3 p=m*p0;
+
+		for(int i=0;i<3;i++)
+			delete[] mat[i];
+		delete[] mat;
+
+		return p;
+	}
 }
diff --git a/node.h b/node.h
index 2f4cd2a..36da0a3 100755
--- a/node.h
+++ b/node.h
@@ -28,9 +28,11 @@ namespace vb01{
 			void dettachChild(Node*);
 			void addLight(Light*);
 			void addText(Text*);
-			void lookAt(Vector3);
+			void lookAt(Vector3,Vector3);
 			Transform getWorldTransform();
 			Vector3 getLocalAxis(int);
+			Vector3 localToGlobal(Vector3);
+			Vector3 globalToLocal(Vector3);
 			inline Text* getText(int i){return texts[i];}
 			inline Vector3 getWorldPosition(){return getWorldTransform().position;}
 			inline Quaternion getWorldOrientation(){return getWorldTransform().orientation;}
diff --git a/particle.frag b/particle.frag
index 510dd0b..716b66e 100755
--- a/particle.frag
+++ b/particle.frag
@@ -7,10 +7,10 @@ flat in int id;
 out vec4 FragColor;
 
 uniform sampler2D tex;
-uniform vec4 color[100];
+uniform vec4 color[200];
 
 void main(){
-	float alpha=texture(tex,texCoords).x;
+	float alpha=texture(tex,texCoords).r;
 	vec4 c=color[id];
 	//FragColor=vec4(1,0,0,1);
 	FragColor=vec4(c.x,c.y,c.z,c.w*alpha);
diff --git a/particle.vert b/particle.vert
index b978d45..918eb40 100755
--- a/particle.vert
+++ b/particle.vert
@@ -9,8 +9,8 @@ flat out int id;
 
 uniform mat4 proj;
 uniform mat4 view;
-uniform mat4 model[100];
-uniform vec2 size[100];
+uniform mat4 model[200];
+uniform vec2 size[200];
 
 void main(){
 	vec3 camLeft=vec3(view[0][0],view[1][0],view[2][0]);	
diff --git a/particleEmitter.cpp b/particleEmitter.cpp
index f1b83bf..7a41cde 100755
--- a/particleEmitter.cpp
+++ b/particleEmitter.cpp
@@ -89,6 +89,10 @@ namespace vb01{
 		shader->setMat4(view,"view");
 		shader->setMat4(proj,"proj");
 
+		Vector3 nodePos=node->getWorldTransform().position;
+		Vector3 nodeDir=node->getLocalAxis(2);
+		Vector3 nodeUp=node->getLocalAxis(1);
+		Vector3 nodeLeft=node->getLocalAxis(0);
 		for(int i=0;i<numParticles;i++){
 			Vector3 dir=particles[i].dir;
 			if(getTime()-particles[i].time>=particles[i].timeToLive){
@@ -99,9 +103,10 @@ namespace vb01{
 				dir=Quaternion(s1,ra1)*dir;
 				dir=Quaternion(s2,ra2)*dir;
 				particles[i].timeToLive=s64(1000*((highLife-lowLife)*factor+lowLife));
-				particles[i].mat=mat4(1.f);
+				particles[i].mat=translate(mat4(1.f),vec3(nodePos.x,nodePos.y,nodePos.z));
 			}
-			particles[i].dir=dir.norm()*direction.getLengthSq();
+			//dir=nodeLeft*dir.x+nodeUp*dir.y+nodeDir*dir.z;
+			particles[i].dir=dir.norm()*direction.getLengthSq()+gravity;
 			float lifePercentage=(float)(getTime()-particles[i].time)/particles[i].timeToLive;
 			particles[i].color=startColor+(endColor-startColor)*lifePercentage;
 			particles[i].size=startSize+(endSize-startSize)*lifePercentage;
@@ -126,8 +131,10 @@ namespace vb01{
 			shader->setVec2(particles[i].size,"size["+to_string(i)+"]");
 		}
 			
+		glDisable(GL_CULL_FACE);
 		glBindVertexArray(VAO);
 		glDrawElementsInstanced(GL_TRIANGLES,6,GL_UNSIGNED_INT,0,numParticles);	
+		glEnable(GL_CULL_FACE);
 	}
 
 	void ParticleEmitter::setDirection(Vector3 dir){
diff --git a/particleEmitter.h b/particleEmitter.h
index 8eb7dfa..bfb871d 100755
--- a/particleEmitter.h
+++ b/particleEmitter.h
@@ -22,6 +22,11 @@ namespace vb01{
 			inline void setStartColor(Vector4 color){this->startColor=color;}
 			inline void setEndColor(Vector4 color){this->endColor=color;}
 			inline void setSpread(float s){this->spread=s;}
+			inline void setLowLife(float l){this->lowLife=l;}
+			inline void setHighLife(float h){this->highLife=h;}
+			inline void setGravity(Vector3 g){this->gravity=g;}
+			inline Node* getNode(){return node;}
+			inline Vector3 getDirection(){return direction;}
 			void setDirection(Vector3 dir);
 		private:
 			struct Vertex{
@@ -42,7 +47,7 @@ namespace vb01{
 			Material *material=nullptr;
 			Node *node=nullptr;
 			Vector2 startSize=Vector2::VEC_IJ,endSize=Vector2::VEC_IJ;
-			Vector3 direction=Vector3(0,.1,0);
+			Vector3 direction=Vector3(0,.1,0),gravity=Vector3::VEC_ZERO;
 			Vector4 startColor,endColor;
 			float spread=1,lowLife=1,highLife=2;
 	};
diff --git a/ray.cpp b/ray.cpp
index 5614a2e..b8de292 100644
--- a/ray.cpp
+++ b/ray.cpp
@@ -37,8 +37,8 @@ namespace vb01{
 						Vector3 bisecCVec=((pointB-pointC)+(pointA-pointC));
 						bool withinBisecA=(contactPoint-pointA).norm().getAngleBetween(bisecAVec.norm())<=angleA/2;
 						bool withinBisecB=(contactPoint-pointB).norm().getAngleBetween(bisecBVec.norm())<=angleB/2;
-						//bool withinBisecC=(contactPoint-pointC).norm().getAngleBetween(bisecCVec.norm())<=angleC/2;
-						if(withinBisecA&&withinBisecB){
+						bool withinBisecC=(contactPoint-pointC).norm().getAngleBetween(bisecCVec.norm())<=angleC/2;
+						if(withinBisecA&&withinBisecB&&withinBisecC){
 							CollisionResult result;
 							result.pos=contactPoint;
 							result.distance=distance;
diff --git a/root.cpp b/root.cpp
index 0f89cd5..d4f1d10 100755
--- a/root.cpp
+++ b/root.cpp
@@ -41,19 +41,19 @@ namespace vb01{
 		glfwWindowHint(GLFW_OPENGL_PROFILE,GLFW_OPENGL_CORE_PROFILE);
 		window=glfwCreateWindow(width,height,"KEK",NULL,NULL);
 		if(window==NULL){
-			std::cout<<"KEK\n";
+			std::cout<<"Failed to load window.\n";
 			exit(-1);
 		}
 		glfwMakeContextCurrent(window);
 		glfwSetFramebufferSizeCallback(window,foo);
 		if(!gladLoadGLLoader((GLADloadproc)glfwGetProcAddress)){
-			std::cout<<"KEK2\n";
+			std::cout<<"Failed to load GLAD.\n";
 			exit(-1);
 		}
 		glEnable(GL_DEPTH_TEST);
 		glEnable(GL_STENCIL_TEST);
-		//glEnable(GL_CULL_FACE);
-		//glCullFace(GL_BACK);
+		glEnable(GL_CULL_FACE);
+		glCullFace(GL_FRONT);
 		glDepthMask(GL_TRUE);
 		glEnable(GL_BLEND);
 		glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);
@@ -82,30 +82,30 @@ namespace vb01{
 	}
 
 	void Root::update(){
+		glBindFramebuffer(GL_FRAMEBUFFER,FBO);
 		glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);
-		
-		//glBindFramebuffer(GL_FRAMEBUFFER,FBO);
 
 		glEnable(GL_DEPTH_TEST);
-		//glEnable(GL_CULL_FACE);
+		glEnable(GL_CULL_FACE);
 
 		if(skybox){
 			glDepthMask(GL_FALSE);
-			//glCullFace(GL_BACK);
+			glCullFace(GL_BACK);
 			skybox->update();
 			glDepthMask(GL_TRUE);
-			//glCullFace(GL_FRONT);
+			glCullFace(GL_FRONT);
 		}
 
 		rootNode->update();
 
-		//glBindFramebuffer(GL_FRAMEBUFFER,0);
+		glBindFramebuffer(GL_FRAMEBUFFER,0);
+		glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);
 
-		//glDisable(GL_CULL_FACE);
+		glDisable(GL_CULL_FACE);
 
 		glDisable(GL_DEPTH_TEST);
 
-		//guiPlane->update();
+		guiPlane->update();
 		/*
 		*/
 		glEnable(GL_DEPTH_TEST);
diff --git a/root.h b/root.h
index 3a82c07..da2d254 100755
--- a/root.h
+++ b/root.h
@@ -25,6 +25,7 @@ namespace vb01{
 			inline Node* getGuiNode(){return guiNode;}
 			inline int getWidth(){return width;}
 			inline int getHeight(){return height;}
+			inline unsigned int* getFBO(){return &FBO;}
 			inline GLFWwindow* getWindow(){return window;}
 			void createSkybox(std::string[6]);
 			static Root* getSingleton();
diff --git a/texture.cpp b/texture.cpp
index 6a36e4b..e629ace 100755
--- a/texture.cpp
+++ b/texture.cpp
@@ -8,7 +8,6 @@
 using namespace std;
 
 namespace vb01{
-
 	Texture::Texture(int width, int height, bool shadowMap){
 		this->width=width;
 		this->height=height;
@@ -69,6 +68,8 @@ namespace vb01{
 		glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MIN_FILTER,GL_LINEAR);
 		glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MAG_FILTER,GL_LINEAR);
 
+		//stbi_set_flip_vertically_on_load(true);
+
 		data=stbi_load(path.c_str(),&width,&height,&numChannels,0);
 
 		glTexImage2D(GL_TEXTURE_2D,0,png?GL_RGBA:GL_RGB,width,height,0,png?GL_RGBA:GL_RGB,GL_UNSIGNED_BYTE,data);
@@ -81,6 +82,7 @@ namespace vb01{
 
 		glGenTextures(1,&texture);
 		glBindTexture(GL_TEXTURE_CUBE_MAP,texture);
+
 		for(int i=0;i<6;i++){
 			data=stbi_load(paths[i].c_str(),&width,&height,&numChannels,0);
 			if(data){
diff --git a/texture.frag b/texture.frag
index 9a5fbc8..cf6d20a 100755
--- a/texture.frag
+++ b/texture.frag
@@ -1,6 +1,7 @@
 #version 330 core
 
 const int numLights=1;
+const int numShadows=1;
 
 in vec3 fragPos;
 in vec3 norm;
@@ -16,7 +17,7 @@ struct Light{
 	vec3 pos,color,direction;
 	float innerAngle,outerAngle;
 	float a,b,c;
-	sampler2D depthMap;
+	sampler2D depthMap[numShadows];
 	mat4 lightMat;
 };
 
@@ -28,10 +29,10 @@ uniform bool castShadow;
 uniform vec4 diffuseColor;
 uniform vec3 camPos;
 
-float getShadow(int id){
+float getShadow(int id,int shadowId){
 	vec3 projCoords=(light[id].lightMat*vec4(fragPos,1)).xyz/(light[id].lightMat*vec4(fragPos,1)).w;
 	projCoords=projCoords*.5+.5;
-	float closestDepth=texture(light[id].depthMap,projCoords.xy).r;
+	float closestDepth=texture(light[id].depthMap[shadowId],projCoords.xy).r;
 	float currentDepth=projCoords.z;
 	float bias=.005;
 	return currentDepth-bias>closestDepth?.7:0;
@@ -76,10 +77,11 @@ void main(){
 			diffuseColor+=light[i].color*(factor*attenuation*coef);
 		}	
 
-		for(int i=0;i<numLights;i++){
-			float shadow=coef*getShadow(i);
-			diffuseColor*=(1-shadow);
-		}
+		for(int i=0;i<numLights;i++)
+			for(int j=0;j<numShadows;j++){
+				float shadow=coef*getShadow(i,j);
+				diffuseColor*=(1-shadow);
+			}
 
 		finalColor*=vec4(diffuseColor+specularColor,1);
 	}