diff --git a/src/main.cpp b/src/main.cpp
index 51564f2..ebb6572 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -4,6 +4,7 @@
 #include <glm/ext/matrix_clip_space.hpp>
 #include <glm/ext/matrix_transform.hpp>
 #include <glm/ext/vector_float3.hpp>
+#include <glm/matrix.hpp>
 #include <iostream>
 #include <stdio.h>
 #include <stdlib.h>
@@ -82,27 +83,27 @@ static bool scroll_pressed = false;
 static double prev_cursor_x, prev_cursor_y;
 
 static double theta = 0.0; // angle of camera trans vect wrt x-z plane
-static double phi = 0.0; // angle of camera trans vect wrt x-axis
+static double phi = glm::radians(270.0); // angle of camera trans vect wrt x-axis
 
-static glm::vec3 camera_loc = glm::vec3(0, 0, 2);
 static glm::vec3 focal_point = glm::vec3(0, 0, 0);
+static glm::vec3 camera_loc = glm::vec3(0, 0, -1);
 static glm::vec3 up = glm::vec3(0, 1, 0);
-static glm::mat4 camera_t = glm::lookAt(camera_loc, focal_point, up);
+static glm::mat4 world_to_camera = glm::lookAt(camera_loc, focal_point, up);
 
-static glm::vec4 strafe_x = camera_t[0];
-static glm::vec4 strafe_y = camera_t[1];
 
 static void cursor_position_callback(GLFWwindow* window, double xpos, double ypos) {
     float dx = (xpos - prev_cursor_x);
     float dy = (ypos - prev_cursor_y);
-    strafe_x = camera_t[0];
-    strafe_y = camera_t[1];
+
+    glm::mat4 camera_to_world = glm::inverse(world_to_camera);
+    glm::vec4 strafe_x = camera_to_world[0];
+    glm::vec4 strafe_y = camera_to_world[1];
     prev_cursor_x = xpos;
     prev_cursor_y = ypos;
 
     if (mouse_pressed) {
-        phi += dx / width * glm::radians(360.0);
-        theta += dy / height * glm::radians(360.0);
+        phi += glm::radians(dx * (360/width));// * glm::radians(360.0);
+        theta += glm::radians(dy * (360/height));// * glm::radians(360.0);
         double len = glm::length(camera_loc - focal_point);
         camera_loc.x = focal_point.x + (len * glm::cos(theta) * glm::cos(-phi));
         camera_loc.y = focal_point.y + (len * glm::sin(theta));
@@ -115,7 +116,7 @@ static void cursor_position_callback(GLFWwindow* window, double xpos, double ypo
         camera_loc += move_vec;
     }
 
-    camera_t = glm::lookAt(camera_loc, focal_point, up);
+    world_to_camera = glm::lookAt(camera_loc, focal_point, up);
 }
 
 void mouse_button_callback(GLFWwindow* window, int button, int action, int mods) {
@@ -125,20 +126,15 @@ void mouse_button_callback(GLFWwindow* window, int button, int action, int mods)
 
     if (button == GLFW_MOUSE_BUTTON_MIDDLE) {
         scroll_pressed = action == GLFW_PRESS;
-        strafe_x = camera_t[0];
-        strafe_y = camera_t[1];
     }
 
     glfwGetCursorPos(window, &prev_cursor_x, &prev_cursor_y);
 }
 
 void scroll_callback(GLFWwindow* window, double xoffset, double yoffset) {
-    glm::vec4 k = camera_t[2];
-    float d = yoffset;
-
-    camera_loc += k * (d / 10 * glm::max(glm::length(camera_loc), 1.0f));
-
-    camera_t = glm::lookAt(camera_loc, focal_point, up);
+    glm::vec3 k = camera_loc - focal_point;
+    camera_loc -= k * (float)yoffset / 10.0f;
+    world_to_camera = glm::lookAt(camera_loc, focal_point, up);
 }
 
 bool glfw_setup() {
@@ -187,7 +183,7 @@ int main() {
     glfwSwapBuffers(window); // front buffer is now back
     glClear(GL_COLOR_BUFFER_BIT); // Write to back buffer again (former front buf)
 
-   /* body b;
+    body b;
     assert(load_body(&b, "Icosphere.obj"));
     b.shader = shader;
     b.pose = glm::translate(b.pose, glm::vec3(5, 5, 5));
@@ -195,7 +191,7 @@ int main() {
 
     body b2;
     create_new_sphere(&b2);
-    b2.color = glm::vec4(0, 0.5, 0, 1);*/
+    b2.color = glm::vec4(0, 0.5, 0, 1);
 
     // glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
     // set_uniform(shader, "color", glm::vec4 { sin(time), sin(time + glm::radians(45.0f)), sin(time +
@@ -213,11 +209,11 @@ int main() {
     while (!glfwWindowShouldClose(window)) {
         process_input();
         glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
-        set_uniform(shader, "camera_t", camera_t);
+        set_uniform(shader, "camera_t", world_to_camera);
         set_uniform(shader, "projection_t", projection_t);
 
-        /*draw_body(b);
-        draw_body(b2);*/
+        draw_body(b);
+        draw_body(b2);
 
         pthread_mutex_lock(&lock);