diff --git a/CMakeLists.txt b/CMakeLists.txt
index 51a5bd3..eda3c95 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -14,9 +14,10 @@ set(gui text.cpp rectangle.cpp)
 set(utils util.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(anim animationChannel.cpp animation.cpp)
 set(armature skeleton.cpp bone.cpp)
 
-add_library(vb01 SHARED main.cpp ${render} ${math} ${utils} ${gui} ${armature})
+add_library(vb01 SHARED main.cpp ${render} ${math} ${utils} ${gui} ${armature} ${anim})
 target_link_libraries(vb01 glfw)
 target_link_libraries(vb01 glad)
 target_link_libraries(vb01 assimp)
diff --git a/animation.cpp b/animation.cpp
new file mode 100644
index 0000000..4fa8822
--- /dev/null
+++ b/animation.cpp
@@ -0,0 +1,25 @@
+#include"animation.h"
+
+using namespace std;
+
+namespace vb01{
+	Animation::Animation(string name){
+		this->name=name;
+	}
+
+	Animation::~Animation(){
+	}
+
+	void Animation::update(){
+	}
+
+	Animation::KeyframeGroup* Animation::getKeyframeGroup(Bone *b){
+		int id=-1;
+		for(int i=0;i<keyframeGroups.size();i++)
+			if(keyframeGroups[i].bone==b){
+				id=i;
+				break;
+			}
+		return id>-1?&(keyframeGroups[id]):nullptr;
+	}
+}
diff --git a/animation.h b/animation.h
new file mode 100644
index 0000000..0e6aee5
--- /dev/null
+++ b/animation.h
@@ -0,0 +1,49 @@
+#ifndef ANIMATION_H
+#define ANIMATION_H
+
+#include<string>
+#include<vector>
+
+namespace vb01{
+	class Bone;
+
+	class Animation{
+		public:
+			struct KeyframeGroup{
+				struct Keyframe{
+					enum Type{
+						POS_X,
+						POS_Y,
+						POS_Z,
+						ROT_W,
+						ROT_X,
+						ROT_Y,
+						ROT_Z,
+						SCALE_X,
+						SCALE_Y,
+						SCALE_Z
+					};
+					enum Interpolation{CONSTANT,LINEAR,BEZIER};
+	
+					Type type;
+					Interpolation interpolation;
+					float value;
+					int frame;
+				};
+				Bone *bone=nullptr;
+				std::vector<Keyframe> keyframes;
+			};
+
+			Animation(std::string);
+			~Animation();
+			void update();
+			KeyframeGroup* getKeyframeGroup(Bone *b);
+			inline std::string getName(){return name;}
+			inline void addKeyframeGroup(KeyframeGroup k){keyframeGroups.push_back(k);}
+		private:
+			std::string name;
+			std::vector<KeyframeGroup> keyframeGroups;
+	};
+}
+
+#endif
diff --git a/animationChannel.cpp b/animationChannel.cpp
new file mode 100644
index 0000000..e69de29
diff --git a/animationChannel.h b/animationChannel.h
new file mode 100644
index 0000000..6c87cd9
--- /dev/null
+++ b/animationChannel.h
@@ -0,0 +1,14 @@
+#ifndef ANIMATION_CHANNEL_H
+#define ANIMATION_CHANNEL_H
+
+namespace vb01{
+	class AnimationChannel{
+		public:
+			AnimationChannel();
+			~AnimationChannel();
+			void update();
+		private:
+	};
+}
+
+#endif
diff --git a/animationController.cpp b/animationController.cpp
new file mode 100644
index 0000000..68ca9d0
--- /dev/null
+++ b/animationController.cpp
@@ -0,0 +1,12 @@
+#include "animationController.h"
+
+namespace vb01{
+	AnimationController::AnimationController(){
+	}
+
+	AnimationController::~AnimationController(){
+	}
+
+	void AnimationController::update(){
+	}
+}
diff --git a/animationController.h b/animationController.h
new file mode 100644
index 0000000..8d5e6c4
--- /dev/null
+++ b/animationController.h
@@ -0,0 +1,19 @@
+#ifndef ANIMATION_CONTROLLER_H
+#define ANIMATION_CONTROLLER_H
+
+#include<string>
+
+namespace vb01{
+	class AnimationController{
+		public:
+			AnimationController();
+			~AnimationController();
+			void update();
+		private:
+		protected:
+			void onAnimationEnd(std::string){}
+			void onAnimationStart(std::string){}
+	};
+}
+
+#endif
diff --git a/bone.cpp b/bone.cpp
index 4cd4fe4..7920757 100644
--- a/bone.cpp
+++ b/bone.cpp
@@ -1,5 +1,9 @@
 #include"bone.h"
 
+using namespace std;
+
 namespace vb01{
-	Bone::Bone() : Node(){}
+	Bone::Bone(string name, Vector3 pos) : Node(pos){
+		this->name=name;
+	}
 }
diff --git a/bone.h b/bone.h
index 40d37ec..8866cd3 100644
--- a/bone.h
+++ b/bone.h
@@ -2,12 +2,16 @@
 #define BONE_H
 
 #include"node.h"
+#include<string>
 
 namespace vb01{
 	class Bone : public Node{
 		public:
-			Bone();
+			Bone(std::string,Vector3=Vector3::VEC_ZERO);
+			std::string getName(){return name;}
 		private:
+			std::string name;
+			Vector3 yAxis,zAxis;
 	};
 }
 
diff --git a/box.cpp b/box.cpp
index de7bd1c..d25b236 100755
--- a/box.cpp
+++ b/box.cpp
@@ -64,7 +64,7 @@ namespace vb01{
 			Vertex v;
 			v.pos=pos[data[3*i]];
 			v.norm=norm[data[3*i+1]];
-			v.texCoords=tex[data[3*i+2]];
+			v.uv=tex[data[3*i+2]];
 			vertices[i]=v;
 			indices[i]=i;	
 		}
diff --git a/light.cpp b/light.cpp
index 4423e15..415c47c 100755
--- a/light.cpp
+++ b/light.cpp
@@ -87,8 +87,8 @@ namespace vb01{
 			for(Mesh *mesh : meshes){
 				Material *mat=mesh->getMaterial();
 				if(n->isVisible()&&mat&&mat->isLightingEnabled()){
-					Vector3 pos=n->getWorldPosition();
-					Quaternion rot=n->getWorldOrientation();
+					Vector3 pos=n->localToGlobalPosition(Vector3::VEC_ZERO);
+					Quaternion rot=n->localToGlobalOrientation(Quaternion::QUAT_W);
 					Vector3 rotAxis=rot.norm().getAxis();
 
 					if(rotAxis==Vector3::VEC_ZERO)
diff --git a/matrix.cpp b/matrix.cpp
index 1f88ade..052e6bb 100644
--- a/matrix.cpp
+++ b/matrix.cpp
@@ -139,13 +139,16 @@ namespace vb01{
 		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;
 		}
@@ -155,11 +158,17 @@ namespace vb01{
 	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);
 		}
+
+		for(int i=0;i<dim[0];i++)
+			delete this->matrix[i];
+		delete[] this->matrix;
+
 		this->matrix=matrix;
 		*this/getDeterminant();
 	}
diff --git a/mesh.cpp b/mesh.cpp
index f79499d..e066e62 100755
--- a/mesh.cpp
+++ b/mesh.cpp
@@ -18,10 +18,15 @@ namespace vb01{
 		
 	}
 
-	Mesh::Mesh(Vertex *vertices, unsigned int *indices,int numTris){
+	Mesh::Mesh(Vertex *vertices,unsigned int *indices,int numTris,VertexGroup *vertexGroups,int numVertexGroups,ShapeKey *shapeKeys,int numShapeKeys,string name){
 		this->vertices=vertices;
 		this->indices=indices;
 		this->numTris=numTris;
+		this->groups=vertexGroups;
+		this->numVertexGroups=numVertexGroups;
+		this->shapeKeys=shapeKeys;
+		this->numShapeKeys=numShapeKeys;
+		this->name=name;
 
 		construct();
 	}
@@ -77,7 +82,7 @@ namespace vb01{
 		glEnableVertexAttribArray(0);
 		glVertexAttribPointer(1,3,GL_FLOAT,GL_FALSE,sizeof(Vertex),(void*)(offsetof(Vertex,norm)));
 		glEnableVertexAttribArray(1);
-		glVertexAttribPointer(2,2,GL_FLOAT,GL_FALSE,sizeof(Vertex),(void*)(offsetof(Vertex,texCoords)));
+		glVertexAttribPointer(2,2,GL_FLOAT,GL_FALSE,sizeof(Vertex),(void*)(offsetof(Vertex,uv)));
 		glEnableVertexAttribArray(2);
 		glVertexAttribPointer(3,3,GL_FLOAT,GL_FALSE,sizeof(Vertex),(void*)(offsetof(Vertex,tan)));
 		glEnableVertexAttribArray(3);
@@ -94,10 +99,8 @@ namespace vb01{
 		Quaternion orient=Quaternion::QUAT_W;
 
 		if(node){
-			Node::Transform t=node->getWorldTransform();
-
-			pos=t.position;
-			orient=t.orientation;
+			pos=node->localToGlobalPosition(Vector3::VEC_ZERO);
+			orient=node->localToGlobalOrientation(Quaternion::QUAT_W);
 			camPos=cam->getPosition();
 		}
 
@@ -120,8 +123,8 @@ namespace vb01{
 			for(Node *n : descendants){
 				for(Mesh *m : n->getMeshes())
 					if(m!=this){
-						Vector3 position=n->getWorldPosition();
-						Quaternion rotation=n->getWorldOrientation();
+						Vector3 position=n->localToGlobalPosition(Vector3::VEC_ZERO);
+						Quaternion rotation=n->localToGlobalOrientation(Quaternion::QUAT_W);
 						Vector3 rotAxis=rotation.norm().getAxis();
 
 						if(rotAxis==Vector3::VEC_ZERO)
@@ -188,4 +191,24 @@ namespace vb01{
 		glPolygonMode(GL_FRONT_AND_BACK,wireframe?GL_LINE:GL_FILL);
 		glDrawElements(GL_TRIANGLES,3*numTris,GL_UNSIGNED_INT,0);	
 	}
+
+	Mesh::VertexGroup& Mesh::getVertexGroup(string name){
+		int id=-1;
+		for(int i=0;i<numVertexGroups;i++)
+			if(groups[i].name==name){
+				id=i;
+				break;
+			}
+		return groups[id];
+	}
+
+	Mesh::ShapeKey& Mesh::getShapeKey(string name){
+		int id=-1;
+		for(int i=0;i<numVertexGroups;i++)
+			if(shapeKeys[i].name==name){
+				id=i;
+				break;
+			}
+		return shapeKeys[id];
+	}
 }
diff --git a/mesh.h b/mesh.h
index 968c44d..6364735 100755
--- a/mesh.h
+++ b/mesh.h
@@ -18,30 +18,41 @@ namespace vb01{
 		public:
 			struct Vertex{
 				Vector3 pos,tan,biTan,norm;
-				Vector2 texCoords;	
+				Vector2 uv;	
 			};
 			struct VertexGroup{
-				int numVertices=0;
+				int numVertices;
+				u32 *vertices=nullptr;
+				float *weights=nullptr;
+				std::string name;
+			};
+			struct ShapeKey{
+				int numVertices;
 				Vertex **vertices=nullptr;
-				float *weights;
+				Vector3 *offsets=nullptr;
 				std::string name;
 			};
 
-			Mesh(Vertex*,unsigned int*,int);
+			Mesh(Vertex*,unsigned int*,int,VertexGroup *groups=nullptr,int=0,ShapeKey *keys=nullptr,int=0,std::string="");
 			~Mesh();
 			virtual void update();
 			void render();
 			void setMaterial(Material *mat){this->material=mat;}
+			VertexGroup& getVertexGroup(std::string);
+			ShapeKey& getShapeKey(std::string);
 			inline void setNode(Node *node){this->node=node;}
 			inline void setCastShadow(bool castShadow){this->castShadow=castShadow;}
 			inline void setReflect(bool r){this->reflect=r;}
 			inline void setWireframe(bool w){this->wireframe=w;}
+			inline void setSkeleton(Skeleton *sk){this->skeleton=sk;}
 			inline Node* getNode(){return node;}
 			inline Material* getMaterial(){return material;}
 			inline std::vector<Mesh*>& getMeshes(){return meshes;}
 			inline bool isCastShadow(){return castShadow;}
 			inline int getNumVerts(){return 3*numTris;}
 			inline Vertex* getVerts(){return vertices;}
+			inline std::string getName(){return name;}
+			inline Skeleton* getSkeleton(){return skeleton;}
 			inline unsigned int* getIndices(){return indices;}
 		private:
 			Shader *environmentShader=nullptr;
@@ -59,9 +70,10 @@ namespace vb01{
 
 			bool staticVerts=true,castShadow=false,reflect=false,wireframe=false;
 			Vertex *vertices;
-			VertexGroup groups;
+			VertexGroup *groups;
+			ShapeKey *shapeKeys;
 			unsigned int *indices,VAO,VBO,EBO;
-			int numTris;
+			int numTris,numVertexGroups=0,numShapeKeys=0;
 	};
 }
 
diff --git a/model.cpp b/model.cpp
index be41d31..1f122fe 100755
--- a/model.cpp
+++ b/model.cpp
@@ -3,6 +3,11 @@
 #include"material.h"
 #include"vector.h"
 #include"util.h"
+#include"bone.h"
+#include"root.h"
+#include"skeleton.h"
+#include"animation.h"
+
 #include<vector>
 #include<iostream>
 #include<Importer.hpp>
@@ -49,11 +54,11 @@ namespace vb01{
 			v.biTan.z=mesh->mBitangents[i].z;
 
 			if(mesh->mTextureCoords[0]){
-				v.texCoords.x=mesh->mTextureCoords[0][i].x;
-				v.texCoords.y=mesh->mTextureCoords[0][i].y;
+				v.uv.x=mesh->mTextureCoords[0][i].x;
+				v.uv.y=mesh->mTextureCoords[0][i].y;
 			}
 			else
-				v.texCoords=Vector2::VEC_ZERO;
+				v.uv=Vector2::VEC_ZERO;
 			vertices[i]=v;
 		}				
 		for(int i=0;i<numTris;i++){
@@ -69,6 +74,7 @@ namespace vb01{
 	}
 
 	Model::Model(string path,bool b) : Node(){
+		Node *rootNode=Root::getSingleton()->getRootNode();
 		if(b){
 			Importer importer;
 			const aiScene *scene=importer.ReadFile(path,aiProcess_Triangulate | aiProcess_FlipUVs | aiProcess_GenNormals | aiProcess_CalcTangentSpace);
@@ -79,130 +85,319 @@ namespace vb01{
 			processNode(scene->mRootNode,scene,this);
 		}
 		else{
-			int numTris,numVerts,numGroups,v=0,u=0,vg=0,b=0;
-			Mesh::Vertex *vertices;
-			Mesh::VertexGroup *groups=new Mesh::VertexGroup[5];
-			unsigned int *indices;
-			Vector3 *pos,*norm;
-	
+			enum Stage{ARMATURE,MESH};
+
+			Stage stage;
 			ifstream in(path);
-			string l;
-			bool verts=false,uv=false,vertexGroups=false,bones=false;
-	
+			string l,name="";
+			Vector3 localPos=Vector3::VEC_ZERO,localScale=Vector3::VEC_IJK;
+			Quaternion localRot=Quaternion::QUAT_W;
+			vector<string> childrenChain;
+			vector<Skeleton*> skeletons;
+			vector<Mesh*> meshes;
+			vector<Light*> lights;
+			vector<Node*> nodes;
+
+			Skeleton *skeleton=nullptr;
+			string animName="";
+			Bone *animBone=nullptr;
+
+			vector<Vector3> vertPos,vertNorm;
+			const int numVertsPerFace=3;
+			int numVertPos=0,numFaces=0,vertId=0,faceId=0,groupId=-1,groupVertId=0,numGroups=0,numShapeKeys=0;
+			Mesh::Vertex *vertices;
+			u32 *indices; 
+			Mesh::VertexGroup *groups=nullptr;
+			Mesh::ShapeKey *shapeKeys=nullptr;
+
 			while(getline(in,l)){
-				if(l.substr(0,8)=="numFaces"){
-					numTris=atoi(l.substr(9,string::npos).c_str());		
-					vertices=new Mesh::Vertex[numTris*3];
-					indices=new unsigned int[numTris*3];
-				}
-				else if(l.substr(0,11)=="numVertices"){
-					numVerts=atoi(l.substr(12,string::npos).c_str());		
-					pos=new Vector3[numVerts];
-					norm=new Vector3[numVerts];
-				}
-				else if(l.substr(0,9)=="numGroups"){
-					numGroups=atoi(l.substr(10,string::npos).c_str());		
-					groups=new Mesh::VertexGroup[numGroups];
-				}
-				if(l=="vertices:"){
-					verts=true;
+				int colonId=-1;
+				for(int i=0;i<l.length();i++)
+					if(l[i]==':'){
+						colonId=i;
+						break;
+					}
+
+				string preColon=l.substr(0,colonId);
+				string postColon=l.length()==colonId+1?"":l.substr(colonId+2,string::npos);
+
+				if(preColon=="ARMATURE"){
+					stage=ARMATURE;
+					skeleton=new Skeleton(postColon);
+					name=postColon;
 					continue;
 				}
-				else if(l=="uv:"){
-					verts=false;	
-					uv=true;
+				else if(preColon=="MESH"){
+					stage=MESH;
+					name=postColon;
 					continue;
 				}
-				else if(l=="groups:"){
-					uv=false;
-					vertexGroups=true;
+				else if(preColon=="pos"){
 					continue;
 				}
-				else if(l=="bones:"){
-					vertexGroups=false;
-					bones=true;
+				else if(preColon=="rot"){
 					continue;
 				}
-	
-				if(verts||uv||vertexGroups||bones){
-					int numCoords=1;
-					if(verts)numCoords=6;
-					else if(uv)numCoords=3;
-					else if(vg)numCoords=3;
-					else if(groups)numCoords=1;
-	
-					int nextSpace=0;
-					int *spaceIds=new int[numCoords-1];
-					for(int i=0;i<l.length();i++)
-						if(l.c_str()[i]==' '){
-							spaceIds[nextSpace]=i;
-							nextSpace++;
+				else if(preColon=="scale"){
+					continue;
+				}
+				else if(preColon=="parent"){
+					childrenChain.push_back(name+" "+postColon);
+					continue;
+				}
+
+				if(stage==ARMATURE){
+					enum ArmatureStage{BONES,ANIMATIONS};
+
+					ArmatureStage armatureStage;
+					int numBones=0;
+
+					if(preColon=="bones"){
+						numBones=atoi(postColon.c_str());
+						armatureStage=BONES;
+						continue;
+					}
+					else if(preColon=="animations"){
+						armatureStage=ANIMATIONS;
+						continue;
+					}
+
+					switch(armatureStage){
+						case BONES:
+						{
+							int numData=11;
+							string data[numData];
+							getLineData(postColon,data,numData);
+
+							float length=atof(data[0].c_str());
+							Vector3 pos=Vector3(atof(data[2].c_str()),atof(data[4].c_str()),-atof(data[3].c_str()));
+							Vector3 xAxis=Vector3(atof(data[5].c_str()),atof(data[7].c_str()),-atof(data[6].c_str())),yAxis=Vector3(atof(data[8].c_str()),atof(data[10].c_str()),-atof(data[9].c_str())),zAxis=xAxis.cross(yAxis);
+
+							string parName=string(data[0].c_str());
+							Node *parent=skeleton->getBone(parName);
+							if(!parent)
+								parent=this;
+
+							Bone *bone=new Bone(preColon);
+							skeleton->addBone(bone,parent);
+							bone->setPosition(parent->globalToLocalPosition(pos));
+							bone->lookAt(yAxis,zAxis,parent);
+
+							break;
 						}
-					float *coords=new float[numCoords];
-					for(int i=0;i<numCoords;i++){
-						int firstChar,lastChar;
-						if(i==0)
-							firstChar=0,lastChar=spaceIds[i];
-						else if(i==numCoords-1)
-							firstChar=spaceIds[i-1],lastChar=string::npos;
-						else
-							firstChar=spaceIds[i-1],lastChar=spaceIds[i]-spaceIds[i-1];
-						coords[i]=atof(l.substr(firstChar,lastChar).c_str());
-					}
-					if(verts){
-						pos[v]=Vector3(coords[0],coords[1],coords[2]);
-						norm[v]=Vector3(coords[3],coords[4],coords[5]);
-						//Vector2 uv=Vector2(coords[6],coords[7]);
-						//vertices[v].pos=pos;
-						//vertices[v].norm=norm;
-						//vertices[v].texCoords=uv;
-						v++;
-					}
-					else if(uv){
-						int id=(int)coords[0];
-						Vector2 uv=Vector2(coords[1],coords[2]);
-						vertices[u].pos=pos[id];
-						vertices[u].norm=norm[id];
-						vertices[u].texCoords=uv;
-						indices[u]=u;
-						u++;
-					}
-					else if(vertexGroups){
-						if(l.c_str()[l.length()-1]==':'){
-							numCoords=1;
-							groups[vg].vertices=new Mesh::Vertex*;
-							groups[vg].weights=new float;
-							groups[vg].name=l.c_str()[l.length()-1];
-							vg++;
-						}
-						else{
-							numCoords=2;
-							int *ids=new int,numVerts=0;
-							for(int i=0;i<3*numTris;i++){
-								if(vertices[i].pos==pos[(int)coords[0]]){
-									ids[numVerts]=i;
-									numVerts++;
+						case ANIMATIONS:
+						{
+							if(preColon=="animationName"){
+								animName=postColon;
+								skeleton->addAnimation(new Animation(animName));
+								continue;
+							}
+							Bone *b=skeleton->getBone(preColon);
+							if(b){
+								animBone=b;
+								Animation *anim=skeleton->getAnimation(animName);
+								Animation::KeyframeGroup *group=anim->getKeyframeGroup(animBone);
+								if(!group){
+									Animation::KeyframeGroup kg;
+									kg.bone=animBone;
+									anim->addKeyframeGroup(kg);
+								}
+								continue;
+							}
+							else{
+								Animation::KeyframeGroup::Keyframe::Type type;
+								Animation::KeyframeGroup::Keyframe::Interpolation interp;
+								if(preColon=="pos_x")
+									type=Animation::KeyframeGroup::Keyframe::Type::POS_X;
+								else if(preColon=="pos_y")
+									type=Animation::KeyframeGroup::Keyframe::Type::POS_Y;
+								else if(preColon=="pos_z")
+									type=Animation::KeyframeGroup::Keyframe::Type::POS_Z;
+								else if(preColon=="rot_w")
+									type=Animation::KeyframeGroup::Keyframe::Type::ROT_W;
+								else if(preColon=="rot_x")
+									type=Animation::KeyframeGroup::Keyframe::Type::ROT_X;
+								else if(preColon=="rot_y")
+									type=Animation::KeyframeGroup::Keyframe::Type::ROT_Y;
+								else if(preColon=="rot_z")
+									type=Animation::KeyframeGroup::Keyframe::Type::ROT_Z;
+								else if(l==""){
+									skeletons.push_back(skeleton);
+									break;
+								}
+								else{
+									int numData=3;
+									string data[numData];
+
+									getLineData(l,data,numData);
+
+									float value=atof(data[0].c_str()),frame=atoi(data[1].c_str());
+									interp=(Animation::KeyframeGroup::Keyframe::Interpolation)atoi(data[2].c_str());
+
+									Animation::KeyframeGroup::Keyframe keyframe;
+									keyframe.type=type;
+									keyframe.interpolation=interp;
+									keyframe.value=value;
+									keyframe.frame=frame;
+									skeleton->getAnimation(animName)->getKeyframeGroup(animBone)->keyframes.push_back(keyframe);
+
 								}
 							}
-							for(int i=0;i<3*numTris;i++)
-								for(int j=0;j<numVerts;j++){
-									groups[vg].vertices[groups[vg].numVertices]=&(vertices[ids[j]]);
-									groups[vg].weights[ids[j]]=coords[1];
-								}
-							groups[vg].numVertices++;
-							delete[] ids;
+							break;
 						}
 					}
-					else if(bones){
-						b++;
+				}
+				else{
+					enum MeshStage{VERTICES,FACES,GROUPS,SHAPE_KEYS};
+
+					MeshStage meshStage;
+
+					if(preColon=="vertices"){
+						string data[2];
+						getLineData(postColon,data,2);
+						numVertPos=atoi(data[0].c_str());
+						numFaces=atoi(data[1].c_str());
+						meshStage=VERTICES;
+						continue;
+					}
+					else if(preColon=="faces"){
+						meshStage=FACES;
+						vertices=new Mesh::Vertex[numFaces*numVertsPerFace];
+						indices=new u32[numFaces*numVertsPerFace];
+						continue;
+					}
+					else if(preColon=="groups"){
+						numGroups=atoi(postColon.c_str());
+						groups=new Mesh::VertexGroup[numGroups];
+						meshStage=GROUPS;
+						continue;
+					}
+					else if(preColon=="shapeKeys"){
+						meshStage=SHAPE_KEYS;
+						continue;
+					}
+					switch(meshStage){
+						{
+						case VERTICES:
+							int numData=6;
+							string data[numData];
+							getLineData(l,data,numData);
+							Vector3 vp=Vector3(atof(data[0].c_str()),atof(data[2].c_str()),-atof(data[1].c_str()));
+							Vector3 vn=Vector3(atof(data[3].c_str()),atof(data[5].c_str()),-atof(data[4].c_str()));
+							vertPos.push_back(vp);
+							vertNorm.push_back(vn);
+							break;
+						}
+						{
+						case FACES:
+							int numData=9;
+							string data[numData];
+							getLineData(l,data,numData);
+							u32 index=atoi(data[0].c_str());
+							Vector2 uv=Vector2(atof(data[1].c_str()),atof(data[2].c_str()));
+							Vector3 tan=Vector3(atof(data[3].c_str()),atof(data[5].c_str()),-atof(data[4].c_str()));
+							Vector3 biTan=Vector3(atof(data[6].c_str()),atof(data[8].c_str()),-atof(data[7].c_str()));
+							/*
+							*/
+
+							Mesh::Vertex vert;
+							vert.pos=vertPos[index];
+							vert.norm=vertNorm[index];
+							vert.uv=uv;
+							vert.tan=tan;
+							vert.biTan=biTan;
+							vertices[vertId]=vert;
+
+							indices[vertId]=vertId;
+							vertId++;
+							break;
+						}
+						{
+						case GROUPS:
+							if(l==""){
+								meshes.push_back(new Mesh(vertices,indices,numFaces,groups,numGroups,shapeKeys,numShapeKeys,name));
+								break;
+							}
+							else if(colonId!=-1){
+								groupId++,groupVertId=0;
+								int numVerts=atoi(postColon.c_str());
+								groups[groupId].numVertices=numVerts;
+								groups[groupId].name=preColon;
+								if(numVerts>0){
+									groups[groupId].vertices=new u32[numVerts];
+									groups[groupId].weights=new float[numVerts];
+								}
+							}
+							else{
+								int numData=2,vertId;
+								float weight;
+								string data[numData];
+								getLineData(l,data,numData);
+								vertId=atoi(data[0].c_str());
+								weight=atof(data[1].c_str());
+								groups[groupId].vertices[groupVertId]=vertId;
+								groups[groupId].weights[groupVertId]=weight;
+								groupVertId++;
+							}
+							break;
+						}
+						{
+						case SHAPE_KEYS:
+							if(l==""){
+								meshes.push_back(new Mesh(vertices,indices,numFaces,groups,numGroups,shapeKeys,numShapeKeys,name));
+								break;
+							}
+							break;
+						}
 					}
-					delete[] coords;
 				}
 			}
-			delete[] pos;
-			delete[] norm;
-			attachChild(new Node());
-			children[0]->attachMesh(new Mesh(vertices,indices,numTris));
+			for(Mesh *mesh : meshes){
+				Node *meshNode=new Node(localPos,localRot,localScale);
+				meshNode->attachMesh(mesh);
+				nodes.push_back(meshNode);
+				for(string line : childrenChain){
+					int spaceId=-1;
+					for(int i=0;i<line.length();i++)
+						if(line[i]==' ')
+							spaceId=i;
+					string childName=line.substr(0,spaceId),parentName=line.substr(spaceId+1,string::npos);
+					if(mesh->getName()==childName){
+						for(Skeleton *sk : skeletons){
+							if(sk->getName()==parentName)
+								mesh->setSkeleton(sk);
+						}
+					}
+				}
+			}
+			for(Light *light : lights){
+				Node *lightNode=new Node(localPos,localRot,localScale);
+				lightNode->addLight(light);
+				nodes.push_back(lightNode);
+			}
+			for(string line : childrenChain){
+				int spaceId=-1;
+				for(int i=0;i<line.length();i++)
+					if(line[i]==' ')
+						spaceId=i;
+				string childName=line.substr(0,spaceId),parentName=line.substr(spaceId+1,string::npos);
+				Node *childNode=nullptr,*parentNode=this;
+				for(int i=0;i<nodes.size();i++){
+					Mesh *m0=nodes[i]->getMesh(0);
+					Skeleton *sk0=m0->getSkeleton();
+					if(m0->getName()==childName||(sk0&&sk0->getName()==childName)){
+						childNode=nodes[i];
+						for(int j=0;j<nodes.size();j++){
+							Mesh *m1=nodes[j]->getMesh(0);
+							Skeleton *sk1=m1->getSkeleton();
+							if(m1->getName()==parentName||(sk1&&sk1->getName()==parentName))
+								parentNode=nodes[j];
+						}
+					}
+				}
+				if(childNode!=parentNode)
+					parentNode->attachChild(childNode);
+			}
 		}
 	}
 
@@ -226,6 +421,26 @@ namespace vb01{
 		Node::update();	
 	}
 
+	void Model::getLineData(string &line,string data[],int numData,int offset){
+		int offsetComma=0,c1=0;
+		for(int i=0;i<line.length()&&offsetComma<offset;i++)
+			if(line.c_str()[i]==' '){
+				c1=i+1;
+				offsetComma++;
+			}
+		int c2=c1;
+		for(int i=0;i<numData;i++){
+			for(int j=c1;j<line.length();j++)	
+				if(line.c_str()[j]==' '){
+					c2=j;
+					break;
+				}
+			data[i]=line.substr(c1,c2-c1);
+			c2++;
+			c1=c2;
+		}
+	}
+
 	void Model::setMaterial(Material *mat){
 		vector<Node*> descendants;
 		getDescendants(this,descendants);
diff --git a/model.h b/model.h
index 6be023f..b76ae8d 100755
--- a/model.h
+++ b/model.h
@@ -29,6 +29,7 @@ namespace vb01{
 			void processMesh(aiMesh*, const aiScene*, Node*);
 //			std::vector<Texture*> processTexture(aiMaterial*, Assimp::aiTextureType);
 			void processMaterial();
+			void getLineData(std::string&,std::string[],int,int=0);
 
 			Material* material;
 			bool castShadow=false,reflect=false,wireframe=false;
diff --git a/node.cpp b/node.cpp
index fb3704a..c20e136 100755
--- a/node.cpp
+++ b/node.cpp
@@ -6,14 +6,21 @@
 #include"text.h"
 #include"material.h"
 #include"matrix.h"
+#include<glm.hpp>
+#include<glm/gtc/matrix_inverse.hpp>
 
 using namespace std;
+using namespace glm;
 
 namespace vb01{
-	Node::Node(Vector3 pos, Quaternion orientation, Vector3 scale){
+	Node::Node(Vector3 pos, Quaternion orientation, Vector3 scale,string name){
 		this->pos=pos;
 		this->scale=scale;
 		this->orientation=orientation;
+		this->name=name;
+		axis[0]=Vector3::VEC_I;
+		axis[1]=Vector3::VEC_J;
+		axis[2]=Vector3::VEC_K;
 	}
 
 	Node::~Node(){
@@ -49,6 +56,7 @@ namespace vb01{
 	void Node::attachChild(Node *child){
 		child->setParent(this);
 		children.push_back(child);
+		child->updateLocalAxis();
 	}
 
 	void Node::dettachChild(Node *child){
@@ -91,15 +99,33 @@ namespace vb01{
 		text->setNode(this);	
 	}
 
-	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::lookAt(Vector3 newDir,Vector3 newUp,Node *node){
+		newDir=node->localToGlobalPosition(newDir);
+		newUp=node->localToGlobalPosition(newUp);
+		float angle=axis[2].getAngleBetween(newDir);
+		Vector3 rotAxis=axis[2].cross(newDir).norm();
+		if(rotAxis==Vector3::VEC_ZERO)
+			rotAxis=axis[1];
+		//setOrientation((Quaternion(angle,rotAxis)*(orientation)));
+		setOrientation(node->globalToLocalOrientation(Quaternion(angle,rotAxis)*node->localToGlobalOrientation(orientation)));
+
+		mat3 mat;
+		mat[0][0]=axis[0].x;
+		mat[1][0]=axis[0].y;
+		mat[2][0]=axis[0].z;
+		mat[0][1]=axis[1].x;
+		mat[1][1]=axis[1].y;
+		mat[2][1]=axis[1].z;
+		mat[0][2]=axis[2].x;
+		mat[1][2]=axis[2].y;
+		mat[2][2]=axis[2].z;
+		mat=inverse(mat);
+		vec3 nu=vec3(newUp.x,newUp.y,newUp.z)*mat;
+		newUp=(axis[0]*nu.x+axis[1]*nu.y).norm();
+		angle=axis[1].getAngleBetween(newUp);
+		//setOrientation((Quaternion(angle*(nu.x<0?1:-1),axis[2])*(orientation)));
+		setOrientation(node->globalToLocalOrientation(Quaternion(angle*(nu.x<0?1:-1),axis[2])*node->localToGlobalOrientation(orientation)));
+		//setOrientation(node->globalToLocalOrientation(Quaternion(angle,axis[2])*node->localToGlobalOrientation(orientation)));
 	}
 
 	void Node::getDescendants(Node *node, vector<Node*> &descendants){
@@ -111,111 +137,116 @@ namespace vb01{
 		}
 	}
 
-	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};
+	void Node::updateLocalAxis(){
+		Node *rootNode=Root::getSingleton()->getRootNode(),*par=this;
+		while(par->getParent())
+			par=par->getParent();
+		if(par!=rootNode)
+			return;
+
+		Vector3 parAxis[3]={
+			parent->getLocalAxis(0),
+			parent->getLocalAxis(1),
+			parent->getLocalAxis(2)
+		};
+
+		for(int i=0;i<3;i++)
+			axis[i]=(orientation*parAxis[i]).norm();
+		for(Node *ch : children)
+			ch->updateLocalAxis();
+	}
+
+	Vector3 Node::localToGlobalPosition(Vector3 localPos){
+		Vector3 origin=Vector3::VEC_ZERO;
 		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];
+			Node *par=ancestors[id]->getParent();
+			Vector3 parAxis[]={
+				par?par->getLocalAxis(0):Vector3::VEC_I,
+				par?par->getLocalAxis(1):Vector3::VEC_J,
+				par?par->getLocalAxis(2):Vector3::VEC_K
+			};
+			Vector3 p=ancestors[id]->getPosition();
+			origin=origin+parAxis[0]*p.x+parAxis[1]*p.y+parAxis[2]*p.z;
 			ancestors.pop_back();
 		}
-
-		t.position=origin,t.orientation=orient,t.scale=scale;
-		return t;
+		return origin+axis[0]*localPos.x+axis[1]*localPos.y+axis[2]*localPos.z;
 	}
 
-	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};
+	Vector3 Node::globalToLocalPosition(Vector3 globalPos){
+		Vector3 origin=globalPos;
 		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();
+			int id=0;
+			Node *par=ancestors[id]->getParent();
+			Vector3 parAxis[]={
+				par?par->getLocalAxis(0):Vector3::VEC_I,
+				par?par->getLocalAxis(1):Vector3::VEC_J,
+				par?par->getLocalAxis(2):Vector3::VEC_K
+			};
+			Vector3 p=ancestors[id]->getPosition();
+			origin=origin-parAxis[0]*p.x-parAxis[1]*p.y-parAxis[2]*p.z;
+			ancestors.erase(ancestors.begin());
+		}
+		//return origin+axis[0]*localPos.x+axis[1]*localPos.y+axis[2]*localPos.z;
+		return origin;
+	}
+
+	Quaternion Node::localToGlobalOrientation(Quaternion localRot){
+		Quaternion origin=Quaternion::QUAT_W;
+		vector<Node*> ancestors;
+		ancestors.push_back(this);
+		Node *parent=this->getParent();
+
+		while(parent){
+			ancestors.push_back(parent);
+			parent=parent->getParent();
 		}
 
-		return axis[i];
+		while(!ancestors.empty()){
+			int id=ancestors.size()-1;
+			Quaternion o=ancestors[id]->getOrientation();
+			origin=o*origin;
+			ancestors.pop_back();
+		}
+		return localRot*origin;
 	}
 
-	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];
+	Quaternion Node::globalToLocalOrientation(Quaternion globalRot){
+		Quaternion origin=globalRot;
+		vector<Node*> ancestors;
+		ancestors.push_back(this);
+		Node *parent=this->getParent();
 
-		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;
+		while(parent){
+			ancestors.push_back(parent);
+			parent=parent->getParent();
+		}
 
-		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;
+		while(!ancestors.empty()){
+			int id=ancestors.size()-1;
+			Quaternion o=ancestors[id]->getOrientation();
+			origin=origin*Quaternion(-o.getAngle(),o.getAxis());
+			ancestors.pop_back();
+		}
+		return origin;
 	}
 
 	void Node::updateShaders(){
@@ -236,4 +267,9 @@ namespace vb01{
 			}
 		}
 	}
+
+	void Node::setOrientation(Quaternion q){
+		this->orientation=q;
+		updateLocalAxis();
+	}
 }
diff --git a/node.h b/node.h
index 977a5e7..c10fdb5 100755
--- a/node.h
+++ b/node.h
@@ -4,6 +4,7 @@
 #include"quaternion.h"
 #include"vector.h"
 #include<vector>
+#include<string>
 
 namespace vb01{
 	class Mesh;
@@ -15,11 +16,11 @@ namespace vb01{
 	class Node{
 		public:
 			struct Transform{
-				Vector3 position,scale;
-				Quaternion orientation;	
+				Vector3 position=Vector3::VEC_ZERO,scale=Vector3::VEC_IJK;
+				Quaternion orientation=Quaternion::QUAT_W;	
 			};
 
-			Node(Vector3=Vector3::VEC_ZERO,Quaternion=Quaternion::QUAT_W,Vector3=Vector3::VEC_IJK);
+			Node(Vector3=Vector3::VEC_ZERO,Quaternion=Quaternion::QUAT_W,Vector3=Vector3::VEC_IJK,std::string="");
 			virtual ~Node();
 			void attachMesh(Mesh*);
 			void attachParticleEmitter(ParticleEmitter*);
@@ -29,20 +30,23 @@ namespace vb01{
 			void addLight(Light*);
 			void removeLight(int);
 			void addText(Text*);
-			void lookAt(Vector3,Vector3);
-			Transform getWorldTransform();
-			Vector3 getLocalAxis(int);
-			Vector3 localToGlobal(Vector3);
-			Vector3 globalToLocal(Vector3);
+			void lookAt(Vector3,Vector3,Node*);
+			void updateLocalAxis();
+			void setOrientation(Quaternion);
+			void getDescendants(Node*,std::vector<Node*>&);
+			Vector3 localToGlobalPosition(Vector3);
+			Vector3 globalToLocalPosition(Vector3);
+			Quaternion localToGlobalOrientation(Quaternion);
+			Quaternion globalToLocalOrientation(Quaternion);
+			Vector3 localToGlobalScale(Vector3);
+			Vector3 globalToLocalScale(Vector3);
 			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 Mesh* getMesh(int i){return meshes[i];}
 			inline Node* getParent(){return parent;}
 			inline void setParent(Node *par){this->parent=par;}
 			inline Node* getChild(int i){return children[i];}
+			inline Vector3 getLocalAxis(int i){return axis[i];}
 			inline Vector3 getPosition(){return pos;}
 			inline Vector3 getScale(){return scale;}
 			inline void setPosition(Vector3 pos){this->pos=pos;}
@@ -53,21 +57,21 @@ namespace vb01{
 			inline int getNumLights(){return lights.size();}
 			inline int getNumChildren(){return children.size();}
 			inline Quaternion getOrientation(){return orientation;}
-			inline void setOrientation(Quaternion q){this->orientation=q;}
 			inline bool isVisible(){return visible;}
+			inline std::string getName(){return name;}
 			inline void setVisible(bool v){this->visible=v;}
-			void getDescendants(Node*,std::vector<Node*>&);
 		protected:
 			void updateShaders();
 			
 			bool visible=true;
-			Vector3 pos,scale;
+			Vector3 pos,scale,axis[3];
 			Quaternion orientation;
 			std::vector<Mesh*> meshes;
 			std::vector<ParticleEmitter*> emitters;
 			std::vector<Node*> children;
 			std::vector<Light*> lights;
 			std::vector<Text*> texts;
+			std::string name;
 			Node *parent=nullptr;
 	};
 }
diff --git a/particleEmitter.cpp b/particleEmitter.cpp
index 586063d..9829d80 100755
--- a/particleEmitter.cpp
+++ b/particleEmitter.cpp
@@ -139,7 +139,7 @@ namespace vb01{
 		shader->setVec2(startSize,"startSize");
 		shader->setVec2(endSize,"endSize");
 
-		Vector3 nodePos=node->getWorldTransform().position;
+		Vector3 nodePos=node->localToGlobalPosition(Vector3::VEC_ZERO);
 		Vector3 nodeDir=node->getLocalAxis(2);
 		Vector3 nodeUp=node->getLocalAxis(1);
 		Vector3 nodeLeft=node->getLocalAxis(0);
diff --git a/quad.cpp b/quad.cpp
index 27e86f6..cfed173 100755
--- a/quad.cpp
+++ b/quad.cpp
@@ -36,22 +36,22 @@ namespace vb01{
 			v6.pos=Vector3(size.x,0,0);
 		}
 		v1.norm=Vector3(0,0,-1);
-		v1.texCoords=Vector2(1,1);
+		v1.uv=Vector2(1,1);
 
 		v2.norm=Vector3(0,0,-1);
-		v2.texCoords=Vector2(0,1);
+		v2.uv=Vector2(0,1);
 
 		v3.norm=Vector3(0,0,-1);
-		v3.texCoords=Vector2(0,0);
+		v3.uv=Vector2(0,0);
 
 		v4.norm=Vector3(0,0,-1);
-		v4.texCoords=Vector2(0,0);
+		v4.uv=Vector2(0,0);
 
 		v5.norm=Vector3(0,0,-1);
-		v5.texCoords=Vector2(1,0);
+		v5.uv=Vector2(1,0);
 
 		v6.norm=Vector3(0,0,-1);
-		v6.texCoords=Vector2(1,1);
+		v6.uv=Vector2(1,1);
 		
 		indices[0]=0;
 		indices[1]=1;
diff --git a/quaternion.h b/quaternion.h
index 359a447..358084d 100755
--- a/quaternion.h
+++ b/quaternion.h
@@ -50,6 +50,7 @@ namespace vb01{
 			}
 			inline Quaternion norm(){return *this/getLength();}
 			inline Quaternion recip(){return conj()/getLengthSq();}
+			inline Quaternion invert(){return conj()/(getLengthSq());}
 			inline float getLengthSq(){return w*w+x*x+y*y+z*z;}
 			inline float getLength(){return std::sqrt(getLengthSq());}
 
diff --git a/ray.cpp b/ray.cpp
index b8de292..ac23fdc 100644
--- a/ray.cpp
+++ b/ray.cpp
@@ -7,8 +7,8 @@ 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();
+		Vector3 pos=node->localToGlobalPosition(Vector3::VEC_ZERO);
+		Quaternion rot=node->localToGlobalOrientation(Quaternion::QUAT_W);
 		for(Mesh *m : node->getMeshes()){
 			const int numVerts=m->getNumVerts();
 			Mesh::Vertex *vertices=m->getVerts();
diff --git a/root.cpp b/root.cpp
index 2f660c7..809ee16 100755
--- a/root.cpp
+++ b/root.cpp
@@ -31,7 +31,7 @@ namespace vb01{
 		camera=new Camera();
 	}
 
-	void Root::start(int width,int height){
+	void Root::start(int width,int height,string name){
 		this->width=width;
 		this->height=height;
 
@@ -39,7 +39,7 @@ namespace vb01{
 		glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR,3);
 		glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR,3);
 		glfwWindowHint(GLFW_OPENGL_PROFILE,GLFW_OPENGL_CORE_PROFILE);
-		window=glfwCreateWindow(width,height,"KEK",NULL,NULL);
+		window=glfwCreateWindow(width,height,name.c_str(),NULL,NULL);
 		if(window==NULL){
 			std::cout<<"Failed to load window.\n";
 			exit(-1);
diff --git a/root.h b/root.h
index 84f10b0..4bd5faa 100755
--- a/root.h
+++ b/root.h
@@ -20,7 +20,7 @@ namespace vb01{
 	class Root{
 		public:
 			void update();
-			void start(int,int);
+			void start(int,int,std::string);
 			inline Camera* getCamera(){return camera;}
 			inline Node* getRootNode(){return rootNode;}
 			inline Node* getGuiNode(){return guiNode;}
diff --git a/script.py b/script.py
index 77e37f7..9bef5d2 100644
--- a/script.py
+++ b/script.py
@@ -2,25 +2,18 @@ import sys
 
 def exportData(ob):
     par=ob.parent
-    file.write(ob.name+"\n")
+    file.write(ob.type+": "+ob.name+"\n")
     file.write("pos: "+str(ob.location.x)+" "+str(ob.location.y)+" "+str(ob.location.z)+"\n")
     file.write("rot: "+str(ob.rotation_quaternion.w)+" "+str(ob.rotation_quaternion.x)+" "+str(ob.rotation_quaternion.y)+" "+str(-ob.rotation_quaternion.z)+"\n")
     file.write("scale: "+str(ob.scale.x)+" "+str(ob.scale.y)+" "+str(ob.scale.z)+"\n")
-    file.write("parent: "+('None' if par is None else par.name)+"\n")
+    file.write("parent: "+('-' if par is None else par.name)+"\n")
     if(ob.type=="ARMATURE"):
         file.write("bones: "+str(len(ob.data.bones)))
         for bone in ob.data.bones:
-            tail=bone.tail
             head=bone.head
-            file.write("\n"+bone.name+": "+str(head.x)+" "+str(head.y)+" "+str(head.z)+" "+str(tail.x)+" "+str(tail.y)+" "+str(tail.z))
-    
-        file.write("\nboneHierarchy:")
-        for bone in ob.data.bones:
-            numChildren=len(bone.children)
-            if numChildren>0:
-                file.write('\n'+bone.name+' '+str(numChildren)+':')
-                for ch in bone.children:
-                    file.write(' '+ch.name)
+            xAxis=bone.x_axis
+            yAxis=bone.y_axis
+            file.write("\n"+bone.name+": "+('None' if bone.parent is None else bone.parent.name)+" "+str(bone.length)+" "+str(head.x)+" "+str(head.y)+" "+str(head.z)+" "+str(xAxis.x)+" "+str(xAxis.y)+" "+str(xAxis.z)+" "+str(yAxis.x)+" "+str(yAxis.y)+" "+str(yAxis.z)+" ")
 
         numAnims=len(ob.animation_data.nla_tracks[0].strips)
         if numAnims>0:
@@ -29,7 +22,7 @@ def exportData(ob):
                 animName=nlaStrip.name
                 action=bpy.data.actions[animName]
                 numAnimBones=len(action.groups)
-                file.write("\n"+animName+": "+str(numAnimBones)+"\n")
+                file.write("\nanimationName: "+animName+"\n")
     
                 print('Exporting animation '+animName+'...\n')
                 for group in action.groups:
@@ -56,13 +49,22 @@ def exportData(ob):
                             file.write("rot_"+coords[arrInd])
                         elif coordType=="scale":
                             file.write("scale_"+coords[arrInd+1])
-                        file.write(' '+str(numKeyframes)+':\n')
+                        file.write(': '+str(numKeyframes)+'\n')
     
                         for keyframe in channel.keyframe_points:
                             keyframeId=keyframe.co[0]
                             interp=keyframe.interpolation
                             bpy.context.scene.frame_set(int(start)+int(keyframeId))
                             poseBone=ob.pose.bones[group.name]
+                            interpInt=-1
+
+                            if interp=='CONSTANT':
+                                interpInt=0
+                            elif interp=='LINEAR':
+                                interpInt=1
+                            elif interp=='BEZIER':
+                                interpInt=2
+
                             if bpy.context.scene.frame_current>end:
                                     bpy.context.scene.frame_current=bpy.context.scene.frame_current-1
                             if coordType=="location":
@@ -71,7 +73,7 @@ def exportData(ob):
                                 file.write(str(poseBone.rotation_quaternion[arrInd]))
                             elif coordType=="scale":
                                 file.write(str(poseBone.scale[arrInd]))
-                            file.write(" "+str(keyframeId)+" "+interp)
+                            file.write(" "+str(keyframeId)+" "+str(interpInt))
                             if interp=='BEZIER':
                                 file.write(" "+str(keyframe.handle_left_type)+" "+str(keyframe.handle_left.x)+" "+str(keyframe.handle_left.y)+" ")
                                 file.write(str(keyframe.handle_right_type)+" "+str(keyframe.handle_right.x)+" "+str(keyframe.handle_right.y))
@@ -86,31 +88,56 @@ def exportData(ob):
         #if mesh.shape_keys is not NoneType:
             #numShapeKeys=len(mesh.shape_keys[0].key_blocks)-1
 
-        file.write("vertices: "+str(numVerts)+","+str(numFaces)+"\n")
+        file.write("vertices: "+str(numVerts)+" "+str(numFaces)+" \n")
         print('Exporting vertices...\n')
         for vert in mesh.vertices:
             pos=vert.co
             norm=vert.normal
-            file.write(str(pos.x)+" "+str(pos.y)+" "+str(pos.z)+" "+str(norm.x)+" "+str(norm.y)+" "+str(norm.z)+"\n")
-        
-        file.write("uv:\n")
-        print('Exporting texture coordinates...\n')
+            file.write(str(pos.x)+" "+str(pos.y)+" "+str(pos.z)+" "+str(norm.x)+" "+str(norm.y)+" "+str(norm.z)+" \n")
+        '''
         for face in mesh.polygons:
-            for vert,loop in zip(face.vertices,face.loop_indices):
-                uv=mesh.uv_layers[0].data[loop].uv
-                file.write(str(vert)+" "+str(uv.x)+" "+str(uv.y)+"\n")
-        
+            for vert,loop in zip(face.vertices,mesh.loops):
+                pos=mesh.vertices[vert].co
+                norm=mesh.vertices[vert].normal
+                uv=mesh.uv_layers[0].data[loop.index].uv
+                tan=loop.tangent
+                bitan=loop.bitangent
+                file.write(str(pos.x)+" "+str(pos.y)+" "+str(pos.z)+" "+str(norm.x)+" "+str(norm.y)+" "+str(norm.z)+str(uv.x)+" "+str(uv.y)+" "+str(tan.x)+" "+str(tan.y)+" "+str(tan.z)+" "+str(bitan.x)+" "+str(bitan.y)+" "+str(bitan.z)+" \n")
+        '''
+
+        file.write("faces:\n")
+        print('Exporting faces...\n')
+        mesh.calc_tangents()
+        for face in mesh.polygons:
+            for vert,loopInd in zip(face.vertices,face.loop_indices):
+                uv=mesh.uv_layers[0].data[loopInd].uv
+                loop=mesh.loops[loopInd]
+                tan=loop.tangent
+                bitan=loop.bitangent
+                file.write(str(vert)+" "+str(uv.x)+" "+str(uv.y)+" "+str(tan.x)+" "+str(tan.y)+" "+str(tan.z)+" "+str(bitan.x)+" "+str(bitan.y)+" "+str(bitan.z)+" \n")
+        mesh.free_tangents()
+
         if numGroups>0:
+            groupVerts=[]
             file.write("groups: "+str(numGroups)+"\n")
             print('Exporting vertex groups...\n')
-            for group in ob.vertex_groups:
-                file.write(group.name+":\n")
+            for i in range(0,numGroups):
+                groupVerts.append([])
+                for vert in mesh.vertices:
+                    for g in vert.groups:
+                        if g.group==ob.vertex_groups[i].index:
+                            groupVerts[i].append(vert.index)
+
+            for i in range(0,numGroups):
+                group=ob.vertex_groups[i]
+                file.write(group.name+": "+str(len(groupVerts[i]))+"\n")
                 for vert in mesh.vertices:
                     for g in vert.groups:
                         if g.group==group.index:
-                            file.write(str(vert.index)+" "+str(g.weight)+"\n")
+                            file.write(str(vert.index)+" "+str(g.weight)+" \n")
+
         if numShapeKeys>0:
-            file.write('shape keys:\n')
+            file.write('shapeKeys:\n')
             print('Exporting shape keys...\n')
             for shape_key in mesh.shape_keys.key_blocks:
                 if shape_key.name=='Basis':
@@ -120,7 +147,14 @@ def exportData(ob):
                     if(newPos!=mesh.vertices[i].co):
                         file.write('\n'+str(i)+" "+str(newPos.x)+' '+str(newPos.y)+' '+str(newPos.z))
 
-fl="/home/dominykas/c++/vb01/kek.vb";
+fl=bpy.data.filepath
+dotId=0
+for i in range(len(fl)):
+    if(fl[i]=='.'):
+        dotId=i
+        break
+fl=fl[0:dotId]+".vb"
+
 objects=[]
 selectedObjects=bpy.context.selected_objects
 
diff --git a/skeleton.cpp b/skeleton.cpp
index 44faddf..261072a 100644
--- a/skeleton.cpp
+++ b/skeleton.cpp
@@ -1,5 +1,35 @@
 #include"skeleton.h"
+#include"animation.h"
+
+using namespace std;
 
 namespace vb01{
-	Skeleton::Skeleton(){}
+	Skeleton::Skeleton(string name){
+		this->name=name;
+	}
+
+	void Skeleton::addBone(Bone *bone, Node *parent){
+		parent->attachChild(bone);
+		bones.push_back(bone);
+	}
+
+	Bone* Skeleton::getBone(string name){
+		Bone *bone=nullptr;
+		for(Bone *b : bones)
+			if(b->getName()==name){
+				bone=b;
+				break;
+			}
+		return bone;
+	}
+
+	Animation* Skeleton::getAnimation(string name){
+		Animation *anim=nullptr;
+		for(Animation *a : animations)
+			if(a->getName()==name){
+				anim=a;
+				break;
+			}
+		return anim;
+	}
 }
diff --git a/skeleton.h b/skeleton.h
index 9a1b56b..d993af0 100644
--- a/skeleton.h
+++ b/skeleton.h
@@ -1,11 +1,27 @@
 #ifndef SKELETON_H
 #define SKELETON_H
 
+#include<vector>
+#include<string>
+#include"bone.h"
+
 namespace vb01{
+	class Animation;
+
 	class Skeleton{
 		public:
-			Skeleton();
+			Skeleton(std::string="");
+			void addBone(Bone*,Node*);
+			Bone* getBone(std::string);
+			Animation* getAnimation(std::string);
+			inline void addAnimation(Animation *anim){animations.push_back(anim);}
+			inline Bone* getBone(int i){return bones[i];}
+			inline std::vector<Bone*>& getBones(){return bones;}
+			inline std::string getName(){return name;}
 		private:
+			std::string name;
+			std::vector<Bone*> bones;
+			std::vector<Animation*> animations;
 	};
 }