diff --git a/src/camera.rs b/src/camera.rs
index d18518e..3ea88a5 100644
--- a/src/camera.rs
+++ b/src/camera.rs
@@ -1,8 +1,9 @@
 //! This module contains everything to deal with cameras.
 
 use nalgebra::Matrix4;
+use nalgebra::Vector4;
 
-use math::vector::Vector3;
+use math::vector::{Vector2, Vector3};
 use math::frustum::Frustum;
 
 /// The trait that a render camera should implement.
@@ -11,76 +12,87 @@ use math::frustum::Frustum;
 pub trait RenderCamera {
 
     /// Returns the view matrix of the camera.
-    fn get_view_matrix(&self) -> Matrix4<f32>;
+    fn view(&self) -> Matrix4<f32>;
 
     /// Returns the perspective matrix of the camera.
-    fn get_perspective_matrix(&self) -> Matrix4<f32>;
+    fn perspective(&self) -> Matrix4<f32>;
 
     /// Returns the product of the perspective matrix and the view matrix.
-    fn get_model_view_matrix(&self) -> Matrix4<f32> {
-        self.get_perspective_matrix() * self.get_view_matrix().try_inverse().unwrap()
+    fn model_view(&self) -> Matrix4<f32> {
+        self.perspective() * self.view()
     }
 
     /// Returns the frustum of the camera.
     fn frustum(&self) -> Frustum {
-        Frustum::from_matrix(&self.get_model_view_matrix())
+        panic!();
     }
 
 }
 
-/// Creates a look at matrix from the center, the target pointed by the camera and the up vector.
-pub fn look_at_matrix(position: [f32; 3], target: [f32; 3], up: [f32; 3]) -> Matrix4<f32> {
-    let f = {
-        let f = [
-            target[0] - position[0],
-            target[1] - position[1],
-            target[2] - position[2],
-        ];
-        let len = f[0] * f[0] + f[1] * f[1] + f[2] * f[2];
-        let len = len.sqrt();
-        [f[0] / len, f[1] / len, f[2] / len]
-    };
+/// Creates the pose matrix, inverse of the look at matrix.
+pub fn pose(position: Vector3<f32>, target: Vector3<f32>, up: Vector3<f32>) -> Matrix4<f32> {
+    // This is the right way to do things
+    let e3 = (position - target).normalized();
 
-    let s = [up[1] * f[2] - up[2] * f[1],
-    up[2] * f[0] - up[0] * f[2],
-    up[0] * f[1] - up[1] * f[0]];
-
-    let s_norm = {
-        let len = s[0] * s[0] + s[1] * s[1] + s[2] * s[2];
-        let len = len.sqrt();
-        [s[0] / len, s[1] / len, s[2] / len]
-    };
-
-    let u = [f[1] * s_norm[2] - f[2] * s_norm[1],
-    f[2] * s_norm[0] - f[0] * s_norm[2],
-    f[0] * s_norm[1] - f[1] * s_norm[0]];
-
-    let p = [-position[0] * s_norm[0] - position[1] * s_norm[1] - position[2] * s_norm[2],
-    -position[0] * u[0] - position[1] * u[1] - position[2] * u[2],
-    -position[0] * f[0] - position[1] * f[1] - position[2] * f[2]];
+    // Well, ok, maybe this is not the right way, but it works
+    let e1 = up.cross_product(e3).normalized();
+    let e2 = e3.cross_product(e1);
 
     [
-        [-s_norm[0], u[0], f[0], 0.0],
-        [-s_norm[1], u[1], f[1], 0.0],
-        [-s_norm[2], u[2], f[2], 0.0],
-        [-p[0],      p[1], p[2], 1.0],
+        [e1[0], e1[1], e1[2], 0.0],
+        [e2[0], e2[1], e2[2], 0.0],
+        [e3[0], e3[1], e3[2], 0.0],
+        [position[0], position[1], position[2], 1.0],
     ].into()
+}
 
+/// Creates a look at matrix from the center, the target pointed by the camera and the up vector.
+pub fn look_at(position: Vector3<f32>, target: Vector3<f32>, up: Vector3<f32>) -> Matrix4<f32> {
+    pose(position, target, up).try_inverse().unwrap()
 }
 
 /// Creates a perspective matrix of a camera.
-pub fn perspective_matrix(aspect_ratio: f32, z_near: f32, z_far: f32) -> Matrix4<f32> {
-    let fov = 3.141592 / 3.0;
+pub fn perspective(fov: f32, aspect_ratio: f32, z_near: f32, z_far: f32) -> Matrix4<f32> {
 
-    use num::Float;
-    let f = 1.0 / (fov / 2.0).tan();
+    let top = z_near * (fov / 2.0).tan();
+    let height = 2.0 * top;
+    let width = aspect_ratio * height;
+
+    let x =  2.0 * z_near / width;
+    let y =  2.0 * z_near / height;
+
+    let c = - (z_far + z_near) / (z_far - z_near);
+    let d = - 2.0 * z_far * z_near / (z_far - z_near);
+
+    Matrix4::new(
+          x, 0.0,   0.0,  0.0,
+        0.0,   y,   0.0,  0.0,
+        0.0, 0.0,     c,    d,
+        0.0, 0.0,  -1.0,  0.0,
+    )
+
+}
+
+/// Returns the inverse of the perspective matrix.
+pub fn perspective_inverse(fov: f32, aspect_ratio: f32, z_near: f32, z_far: f32) -> Matrix4<f32> {
+
+    let top = z_near * (fov / 2.0).tan();
+    let height = 2.0 * top;
+    let width = aspect_ratio * height;
+
+    let x =  2.0 * z_near / width;
+    let y =  2.0 * z_near / height;
+
+    let c = - (z_far + z_near) / (z_far - z_near);
+    let d = - 2.0 * z_far * z_near / (z_far - z_near);
+
+    Matrix4::new(
+        1.0 / x,      0.0,      0.0,    0.0,
+            0.0,  1.0 / y,      0.0,    0.0,
+            0.0,      0.0,      0.0,   -1.0,
+            0.0,      0.0,  1.0 / d,  c / d,
+    )
 
-    [
-        [f /   aspect_ratio   ,    0.0,              0.0              ,   0.0],
-        [         0.0         ,     f ,              0.0              ,   0.0],
-        [         0.0         ,    0.0,  (z_far+z_near)/(z_far-z_near)    ,   1.0],
-        [         0.0         ,    0.0, -(2.0*z_far*z_near)/(z_far-z_near),   0.0],
-    ].into()
 }
 
 /// A simple camera with its position, target and up vector.
@@ -95,6 +107,9 @@ pub struct Camera {
     /// The up vector of the camera.
     pub up: Vector3<f32>,
 
+    /// The field of view of the camera.
+    pub fov: f32,
+
     /// The minimum depth for visible things.
     pub z_near: f32,
 
@@ -109,29 +124,62 @@ pub struct Camera {
 impl Camera {
     /// Creates a new camera from its attributes.
     pub fn new(position: Vector3<f32>, target: Vector3<f32>, up: Vector3<f32>) -> Camera {
+        use std::f32::consts::PI;
+
         Camera {
             position: position,
             target: target,
             up: up,
             z_near: 0.0001,
             z_far: 1000.0,
-            aspect_ratio: 16.0 / 9.0
+            aspect_ratio: 16.0 / 9.0,
+            fov: PI / 3.0,
         }
     }
 
+    /// Returns the pose matrix of the camera.
+    pub fn pose(&self) -> Matrix4<f32> {
+        pose(self.position, self.target, self.up)
+    }
+
+    /// Returns the view matrix of the camera, inverse of the pose.
+    pub fn view(&self) -> Matrix4<f32> {
+        look_at(self.position, self.target, self.up)
+    }
+
+    /// Returns the perspective matrix of the camera.
+    pub fn perspective(&self) -> Matrix4<f32> {
+        perspective(self.fov, self.aspect_ratio, self.z_near, self.z_far)
+    }
+
+    /// Returns the inverse of the perspective matrix of the camera.
+    pub fn perspective_inverse(&self) -> Matrix4<f32> {
+        perspective_inverse(self.fov, self.aspect_ratio, self.z_near, self.z_far)
+    }
+
     /// Returns the frustum of the camera.
     pub fn frustum(&self) -> Frustum {
-        RenderCamera::frustum(self)
+        Frustum::from_matrix(&(self.perspective() * self.view()))
+    }
+
+    /// Unprojects a 2D point (x, y) in the 3D world.
+    ///
+    /// The coordinates must be in [-1.0, 1.0]
+    pub fn unproject(&self, point: Vector2<f32>) -> Vector3<f32> {
+
+        let point = Vector4::new(point[0], point[1], 0.5, 1.0);
+        let v = self.pose() * self.perspective_inverse() * point;
+        Vector3::new(v[0] / v[3], v[1] / v[3], v[2] / v[3])
     }
 }
 
 impl RenderCamera for Camera {
-    fn get_view_matrix(&self) -> Matrix4<f32> {
-        look_at_matrix(self.position.into(), self.target.into(), self.up.into())
+    fn view(&self) -> Matrix4<f32> {
+        self.view()
     }
 
-    fn get_perspective_matrix(&self) -> Matrix4<f32> {
-        perspective_matrix(self.aspect_ratio, self.z_near, self.z_far)
+    fn perspective(&self) -> Matrix4<f32> {
+        self.perspective()
     }
 }
 
diff --git a/src/math/bounding_box.rs b/src/math/bounding_box.rs
index d89b332..83a2e64 100644
--- a/src/math/bounding_box.rs
+++ b/src/math/bounding_box.rs
@@ -95,6 +95,16 @@ macro_rules! make_bounding_box {
                 ret
             }
 
+            /// Returns true if the point is inside the bounding box.
+            pub fn contains_point(&self, point: $vector<T>) -> bool {
+                for i in 0 .. $size {
+                    if self.min()[i] > point[i] || point[i] > self.max()[i] {
+                        return false;
+                    }
+                }
+                true
+            }
+
         }
 
     }
@@ -183,4 +193,21 @@ mod tests {
         let bb2 = b2.intersection(&b1);
         assert_eq!(bb1, bb2);
     }
+
+    #[test]
+    fn contains_point() {
+        let b1 = BoundingBox3::new(
+            Vector3::new(0.0, 0.0, 0.0),
+            Vector3::new(2.0, 2.0, 2.0),
+        );
+
+        assert_eq!(b1.contains_point(Vector3::new(1.0, 1.0, 1.0)), true);
+        assert_eq!(b1.contains_point(Vector3::new(1.5, 0.5, 1.0)), true);
+        assert_eq!(b1.contains_point(Vector3::new(1.5, -0.5, 1.0)), false);
+        assert_eq!(b1.contains_point(Vector3::new(1.5, 0.5, -1.0)), false);
+        assert_eq!(b1.contains_point(Vector3::new(-0.5, 0.5, 1.0)), false);
+        assert_eq!(b1.contains_point(Vector3::new(2.5, 0.5, 1.0)), false);
+        assert_eq!(b1.contains_point(Vector3::new(0.5, 2.5, 1.0)), false);
+
+    }
 }
diff --git a/src/math/frustum.rs b/src/math/frustum.rs
index be2a872..228d16d 100644
--- a/src/math/frustum.rs
+++ b/src/math/frustum.rs
@@ -17,15 +17,27 @@ pub struct Frustum {
 }
 
 impl Frustum {
-    /// Creates a frustum from the matrix of a camera.
-    ///
-    /// This is *ahem...* slightly inspired from THREE.js Frustum
+
+    /// Creates a frustum from its four planes.
+    pub fn new(planes: [Plane; 6]) -> Frustum {
+        Frustum {
+            planes: planes,
+        }
+    }
+
+    /// Creates a frustum for a camera matrix.
     pub fn from_matrix(m: &Matrix4<f32>) -> Frustum {
 
-        let m0  = m[(0, 0)]; let m1  = m[(0, 1)]; let m2  = m[(0, 2)]; let m3  = m[(0, 3)];
-        let m4  = m[(1, 0)]; let m5  = m[(1, 1)]; let m6  = m[(1, 2)]; let m7  = m[(1, 3)];
-        let m8  = m[(2, 0)]; let m9  = m[(2, 1)]; let m10 = m[(2, 2)]; let m11 = m[(2, 3)];
-        let m12 = m[(3, 0)]; let m13 = m[(3, 1)]; let m14 = m[(3, 2)]; let m15 = m[(3, 3)];
+        // let m0  = m[(0, 0)]; let m1  = m[(0, 1)]; let m2  = m[(0, 2)]; let m3  = m[(0, 3)];
+        // let m4  = m[(1, 0)]; let m5  = m[(1, 1)]; let m6  = m[(1, 2)]; let m7  = m[(1, 3)];
+        // let m8  = m[(2, 0)]; let m9  = m[(2, 1)]; let m10 = m[(2, 2)]; let m11 = m[(2, 3)];
+        // let m12 = m[(3, 0)]; let m13 = m[(3, 1)]; let m14 = m[(3, 2)]; let m15 = m[(3, 3)];
+
+        // Swapped version...
+        let m0  = m[(0, 0)]; let m1  = m[(1, 0)]; let m2  = m[(2, 0)]; let m3  = m[(3, 0)];
+        let m4  = m[(0, 1)]; let m5  = m[(1, 1)]; let m6  = m[(2, 1)]; let m7  = m[(3, 1)];
+        let m8  = m[(0, 2)]; let m9  = m[(1, 2)]; let m10 = m[(2, 2)]; let m11 = m[(3, 2)];
+        let m12 = m[(0, 3)]; let m13 = m[(1, 3)]; let m14 = m[(2, 3)]; let m15 = m[(3, 3)];
 
         Frustum {
             planes: [
@@ -44,22 +56,15 @@ impl Frustum {
 
         use num::Zero;
 
-        let mut p1 = Vector3::<f32>::zero();
-        let mut p2 = Vector3::<f32>::zero();
+        let mut p = Vector3::<f32>::zero();
 
         for plane in &self.planes {
 
-            p1[0] = if plane.normal().x() > 0.0 { bbox.min().x() } else { bbox.max().x() };
-            p2[0] = if plane.normal().x() > 0.0 { bbox.max().x() } else { bbox.min().x() };
-            p1[1] = if plane.normal().y() > 0.0 { bbox.min().y() } else { bbox.max().y() };
-            p2[1] = if plane.normal().y() > 0.0 { bbox.max().y() } else { bbox.min().y() };
-            p1[2] = if plane.normal().z() > 0.0 { bbox.min().z() } else { bbox.max().z() };
-            p2[2] = if plane.normal().z() > 0.0 { bbox.max().z() } else { bbox.min().z() };
+            p[0] = if plane.normal().x() > 0.0 { bbox.max().x() } else { bbox.min().x() };
+            p[1] = if plane.normal().y() > 0.0 { bbox.max().y() } else { bbox.min().y() };
+            p[2] = if plane.normal().z() > 0.0 { bbox.max().z() } else { bbox.min().z() };
 
-            let d1 = plane.distance_to_point(p1);
-            let d2 = plane.distance_to_point(p2);
-
-            if d1 < 0.0 && d2 < 2.0 {
+            if plane.distance_to_point(p) < 0.0 {
                 return false;
             }
         }
diff --git a/src/math/vector.rs b/src/math/vector.rs
index 7fdc9fe..f181429 100644
--- a/src/math/vector.rs
+++ b/src/math/vector.rs
@@ -39,6 +39,14 @@ macro_rules! make_vector {
             }
         }
 
+        impl<T> From<[T; $number]> for $name<T> {
+            fn from(data: [T; $number]) -> $name<T> {
+                $name {
+                    data: data,
+                }
+            }
+        }
+
         impl<T: Copy + Clone> Into<($( $t ) ,* )> for $name<T> {
             fn into(self) -> ($( $t ) ,* ) {
                 ( $( self.data[$y] ), *)
diff --git a/src/programs/viewer.rs b/src/programs/viewer.rs
index c9843f7..5f49443 100644
--- a/src/programs/viewer.rs
+++ b/src/programs/viewer.rs
@@ -3,6 +3,7 @@ extern crate glium;
 #[macro_use]
 extern crate verbose_log;
 extern crate model_converter;
+extern crate nalgebra as na;
 
 use std::process::exit;
 use std::time::{Instant, Duration};
@@ -97,7 +98,7 @@ fn main() {
 
     for (name, mut model) in models {
         log!("Scaling model {}...", name);
-        model.center_and_scale_from_box(&bbox);
+        // model.center_and_scale_from_box(&bbox);
 
         log!("\nBuilding textures for model {}...", name);
 
@@ -119,19 +120,21 @@ fn main() {
     let mut closed = false;
 
     let mut camera = Camera::new(
-        Vector3::new( 0.0, 0.0, 0.0),
-        Vector3::new( 0.0, 0.0, 0.0),
-        Vector3::new( 0.0, 1.0, 0.0),
+        Vector3::new(1.0, 0.0, 0.0),
+        Vector3::new(0.0, 0.0, 0.0),
+        Vector3::new(0.0, 1.0, 0.0),
     );
 
     camera.z_near = 0.0001;
 
+    use model_converter::camera::RenderCamera;
+
     let mut controls: Box<Controls> = if matches.is_present("first person") {
         Box::new(FirstPersonControls::new())
     } else {
         Box::new(OrbitControls::new(
             Vector3::new(0.0, 0.0, 0.0),
-            1.0,
+            2.0,
             &mut camera
         ))
     };
@@ -175,11 +178,11 @@ fn main() {
                 } => {
 
                     // Go back in world coordinates
-                    let position = camera.position * size as f32;
-                    let position = position + center;
+                    let position = camera.position;
+                    // let position = position + center;
 
-                    let target = camera.target * size as f32;
-                    let target = target + center;
+                    let target = camera.target;
+                    // let target = target + center;
 
                     let up = camera.up;
 
@@ -191,12 +194,15 @@ fn main() {
                         target.x(), target.y(), target.z());
                     println!("\tUp:       ({}, {}, {})",
                         up.x(), up.y(), up.z());
+
                 }
 
                 _ => (),
             }
         });
 
+
+
         controls.update(&mut camera, &renderer);
         renderer.render(&scene, &camera);
         let elapsed = as_millis(Instant::now().duration_since(before));
diff --git a/src/renderer.rs b/src/renderer.rs
index 5659d74..1a01cc7 100644
--- a/src/renderer.rs
+++ b/src/renderer.rs
@@ -124,8 +124,8 @@ impl Renderer {
         let mut target = self.draw();
         target.clear_color_srgb_and_depth(self.clear_color, 1.0);
 
-        let perspective = camera.get_perspective_matrix();
-        let view = camera.get_view_matrix();
+        let perspective = camera.perspective();
+        let view = camera.view();
 
         let params = DrawParameters {
             depth: Depth {