diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3606fc6..c1ecc17 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)
+set(math quaternion.cpp vector.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)
 
 add_library(vb01 SHARED main.cpp ${render} ${math} ${utils} ${gui})
diff --git a/mesh.h b/mesh.h
index a76b61a..ed2bae8 100755
--- a/mesh.h
+++ b/mesh.h
@@ -16,6 +16,7 @@ namespace vb01{
 				Vector3 pos,norm;
 				Vector2 texCoords;	
 			};
+
 			Mesh(Vertex*,unsigned int*,int);
 			~Mesh();
 			virtual void update();
@@ -28,6 +29,8 @@ namespace vb01{
 			inline std::vector<Mesh*>& getMeshes(){return meshes;}
 			inline bool isCastShadow(){return castShadow;}
 			inline int getNumVerts(){return 3*numTris;}
+			inline Vertex* getVerts(){return vertices;}
+			inline unsigned int* getIndices(){return indices;}
 		private:
 			Material *material=nullptr;
 			Node *node=nullptr;
diff --git a/node.cpp b/node.cpp
index d0b519a..5245d02 100755
--- a/node.cpp
+++ b/node.cpp
@@ -120,4 +120,59 @@ namespace vb01{
 				descendants.push_back(node->getChild(i));
 		}
 	}
+
+	Node::Transform Node::getWorldTransform(){
+		Transform t;
+		Vector3 scale=Vector3::VEC_IJK;
+		Quaternion orient=Quaternion::QUAT_W;
+		Vector3 origin=Vector3::VEC_ZERO,axis[]={Vector3::VEC_I,Vector3::VEC_J,Vector3::VEC_K};
+		vector<Node*> ancestors;
+		ancestors.push_back(this);
+		Node *parent=this->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();
+		}
+
+		t.position=origin,t.orientation=orient,t.scale=scale;
+		return t;
+	}
+
+	Vector3 Node::getLocalAxis(int i){
+		Transform t;
+		Vector3 pos=Vector3::VEC_ZERO,scale=Vector3::VEC_IJK;
+		Quaternion orient=Quaternion::QUAT_W;
+		Vector3 origin=Vector3::VEC_ZERO,axis[]={Vector3::VEC_I,Vector3::VEC_J,Vector3::VEC_K};
+		vector<Node*> ancestors;
+		ancestors.push_back(this);
+		Node *parent=this->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();
+		}
+
+		return axis[i];
+	}
 }
diff --git a/node.h b/node.h
index 36ca4f0..289e281 100755
--- a/node.h
+++ b/node.h
@@ -14,6 +14,11 @@ namespace vb01{
 
 	class Node{
 		public:
+			struct Transform{
+				Vector3 position,scale;
+				Quaternion orientation;	
+			};
+
 			Node(Vector3=Vector3::VEC_ZERO,Quaternion=Quaternion::QUAT_W,Vector3=Vector3::VEC_IJK);
 			~Node();
 			void attachMesh(Mesh*);
@@ -23,6 +28,12 @@ namespace vb01{
 			void dettachChild(Node*);
 			void addLight(Light*);
 			void addText(Text*);
+			Transform getWorldTransform();
+			Vector3 getLocalAxis(int);
+			inline Text* getText(int i){return texts[i];}
+			inline Vector3 getWorldPosition(){return getWorldTransform().position;}
+			inline Quaternion getWorldOrientation(){return getWorldTransform().orientation;}
+			inline Vector3 getWorldScale(){return getWorldTransform().scale;}
 			inline std::vector<Mesh*>& getMeshes(){return meshes;}
 			inline Node* getParent(){return parent;}
 			inline void setParent(Node *par){this->parent=par;}
diff --git a/quaternion.h b/quaternion.h
index 185f388..4e441f6 100755
--- a/quaternion.h
+++ b/quaternion.h
@@ -30,7 +30,7 @@ namespace vb01{
 			}
 			inline vb01::Vector3 operator* (vb01::Vector3 v){
 				Quaternion vQuat=(*this)*Quaternion(0,v.x,v.y,v.z)*recip();
-				return Vector3(vQuat.x,vQuat.y,vQuat.z).norm();
+				return Vector3(vQuat.x,vQuat.y,vQuat.z);
 			}
 			inline vb01::Quaternion fromAngle(float angle, Vector3 axis){
 				return Quaternion(cos(angle/2),axis.x*sin(angle/2),axis.y*sin(angle/2),axis.z*sin(angle/2));
diff --git a/ray.cpp b/ray.cpp
new file mode 100644
index 0000000..6d2d7f0
--- /dev/null
+++ b/ray.cpp
@@ -0,0 +1,63 @@
+#include<algorithm>
+#include"ray.h"
+#include"mesh.h"
+#include"node.h"
+
+using namespace std;
+
+namespace vb01{
+	void retrieveCollisions(Vector3 rayPos, Vector3 rayDir,Node *node,std::vector<CollisionResult> &results, const float rayLength){
+		Vector3 pos=node->getWorldPosition();
+		Quaternion rot=node->getWorldOrientation();
+		for(Mesh *m : node->getMeshes()){
+			const int numVerts=m->getNumVerts();
+			Mesh::Vertex *vertices=m->getVerts();
+			u32 *indices=m->getIndices();
+
+			for(int i=0;i<numVerts/3;i++){
+				Vector3 pointA=pos+rot*vertices[indices[i*3]].pos,pointB=pos+rot*vertices[indices[i*3+1]].pos,pointC=pos+rot*vertices[indices[i*3+2]].pos;
+				Vector3 hypVec=pointA-rayPos;
+				Vector3 perpVec=(pointB-pointA).cross(pointC-pointA);
+				float a1=hypVec.norm().getAngleBetween(perpVec.norm());
+				if(a1>PI/2){
+					a1=PI-a1;
+					perpVec=-perpVec;
+				}	 
+				float perpLine=hypVec.getLength()*cos(a1);
+		   		float a2=perpVec.norm().getAngleBetween(rayDir.norm());
+				if(a2<=PI/2){
+					float distance=perpLine/cos(a2);
+					if((distance<=rayLength&&rayLength!=.0)||rayLength==.0){
+						Vector3 contactPoint=rayPos+rayDir.norm()*distance;
+						float angleA=(pointB-pointA).norm().getAngleBetween((pointC-pointA).norm());
+						float angleB=(pointA-pointB).norm().getAngleBetween((pointC-pointB).norm());
+						float angleC=(pointB-pointC).norm().getAngleBetween((pointA-pointC).norm());
+						Vector3 bisecAVec=((pointB-pointA)+(pointC-pointA));
+						Vector3 bisecBVec=((pointA-pointB)+(pointC-pointB));
+						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){
+							CollisionResult result;
+							result.pos=contactPoint;
+							result.distance=distance;
+							result.mesh=m;
+							results.push_back(result);
+						}
+					}
+				}
+			}
+		}
+		for(Node *c : node->getChildren())
+			retrieveCollisions(rayPos,rayDir,c,results,rayLength);
+	}
+        
+	void sortResults(std::vector<CollisionResult> &results){
+		for(int i=0;i<results.size();i++){
+			for(int i2=i;i2<results.size();i2++)
+				if(results[i].distance>results[i2].distance)
+					swap(results[i],results[i2]);
+		}
+	}
+}
diff --git a/ray.h b/ray.h
new file mode 100644
index 0000000..172b01a
--- /dev/null
+++ b/ray.h
@@ -0,0 +1,17 @@
+#include"vector.h"
+#include"util.h"
+#include<vector>
+
+namespace vb01{
+	class Node;
+	class Mesh;
+
+	struct CollisionResult{
+		Vector3 pos;
+		float distance;
+		Mesh *mesh=nullptr;
+	};
+
+	void retrieveCollisions(Vector3,Vector3,Node*,std::vector<CollisionResult>&,const float=.0);
+	void sortResults(std::vector<CollisionResult>&);
+}
diff --git a/vector.h b/vector.h
index b5691b6..ff07253 100755
--- a/vector.h
+++ b/vector.h
@@ -31,6 +31,7 @@ namespace vb01{
 			this->z=z;
 		}
 		bool  operator==(const Vector3 &v){return x==v.x&&y==v.y&&z==v.z;}
+		Vector3 operator-(){return Vector3(-x,-y,-z);}
 		Vector3 operator-(const Vector3 &v){return Vector3(x-v.x,y-v.y,z-v.z);}
 		Vector3 operator+(const Vector3 &v){return Vector3(x+v.x,y+v.y,z+v.z);}
 		template<typename T>Vector3 operator+(T s){return Vector3(x+s,y+s,z+s);}