diff --git a/HandmadeMath.h b/HandmadeMath.h
index 5306201..3f7700c 100644
--- a/HandmadeMath.h
+++ b/HandmadeMath.h
@@ -1436,6 +1436,12 @@ HMM_EXTERN hmm_quaternion HMM_Slerp(hmm_quaternion Left, float Time, hmm_quatern
 HMM_EXTERN hmm_mat4 HMM_QuaternionToMat4(hmm_quaternion Left);
 HMM_EXTERN hmm_quaternion HMM_QuaternionFromAxisAngle(hmm_vec3 Axis, float AngleOfRotation);
 
+HMM_INLINE hmm_quaternion HMM_QuaternionFromVectors(hmm_vec3 Normal, hmm_vec3 Up)
+{
+    // TODO: zero cases
+    return HMM_QuaternionFromAxisAngle(HMM_Cross(Up, Normal), HMM_ACosF(HMM_DotVec3(Normal, Up)));
+}
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/example/Axes.blend b/example/Axes.blend
new file mode 100644
index 0000000..acadad6
Binary files /dev/null and b/example/Axes.blend differ
diff --git a/example/Axes.mtl b/example/Axes.mtl
new file mode 100644
index 0000000..c9640bc
--- /dev/null
+++ b/example/Axes.mtl
@@ -0,0 +1,10 @@
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+# Material Count: 1
+
+newmtl None
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+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
diff --git a/example/Axes.obj b/example/Axes.obj
new file mode 100644
index 0000000..61e393e
--- /dev/null
+++ b/example/Axes.obj
@@ -0,0 +1,481 @@
+# Blender v2.78 (sub 0) OBJ File: 'Axes.blend'
+# www.blender.org
+mtllib Axes.mtl
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diff --git a/example/src/Cube.h b/example/src/Cube.h
index 117800c..d0d736b 100644
--- a/example/src/Cube.h
+++ b/example/src/Cube.h
@@ -147,12 +147,12 @@ public:
     CubeRenderComponent rc = CubeRenderComponent();
 
     Cube() {
-        renderComponent = &rc;
+        // renderComponent = &rc;
     }
 
     void Tick(float deltaSeconds) override {
         x += deltaSeconds;
-        position.X = 2.0f * HMM_SINF(x);
+        // position.X = 2.0f * HMM_SINF(x);
 
         rotation *= HMM_QuaternionFromAxisAngle(HMM_Vec3(0.0f, 1.0f, 0.0f), deltaSeconds * HMM_ToRadians(45.0f));
     }
diff --git a/example/src/FollowCam.h b/example/src/FollowCam.h
index 4fb1176..5937b4d 100644
--- a/example/src/FollowCam.h
+++ b/example/src/FollowCam.h
@@ -6,6 +6,8 @@
 #include "Entity.h"
 #include "HandmadeMath.h"
 
+#include "debug.h"
+
 class FollowCam : public Entity {
 public:
     Entity *target;
@@ -52,6 +54,58 @@ public:
                 -HMM_ACOSF(HMM_DotVec3(cross, up))
             );
         }
+
+        printf("Sort of working:\n");
+        printQuaternion(rotation);
+        printVec4(HMM_QuaternionToMat4(rotation) * HMM_Vec4(1.0f, 0.0f, 0.0f, 0.0f));
+        printMat4(HMM_QuaternionToMat4(rotation));
+        // return;
+
+        hmm_mat4 look = HMM_LookAt(HMM_Vec3(0.0f, 0.0f, 0.0f), HMM_Normalize(target->worldPosition() - worldPosition()), HMM_Vec3(0.0f, 1.0f, 0.0f));
+        rotation = HMM_Mat4ToQuaternion(look);
+        printf("New stuff:\n");
+        printQuaternion(rotation);
+        printVec4(HMM_QuaternionToMat4(rotation) * HMM_Vec4(1.0f, 0.0f, 0.0f, 0.0f));
+        printMat4(HMM_QuaternionToMat4(rotation));
+        // return;
+
+        rotation = HMM_QuaternionFromVectors(HMM_Vec3(0.001462f, -0.449079f, -0.893491f), HMM_Vec3(0.0f, 1.0f, 0.0f));
+        printf("Newer stuff:\n");
+        printQuaternion(rotation);
+        printVec4(HMM_QuaternionToMat4(rotation) * HMM_Vec4(1.0f, 0.0f, 0.0f, 0.0f));
+        printMat4(HMM_QuaternionToMat4(rotation));
+        // return;
+        
+        printf("nighttime genius:\n");
+        hmm_vec3 right = HMM_Cross(to, up);
+        hmm_quaternion tiltUp = HMM_QuaternionFromAxisAngle(
+            right,
+            HMM_PI / 2 - HMM_ACosF(HMM_Dot(HMM_Normalize(to), HMM_Normalize(up)))
+        );
+        hmm_vec3 tiltedFwd = (HMM_QuaternionToMat4(tiltUp) * HMM_Vec4v(fwd, 0.0f)).XYZ;
+        hmm_quaternion pointAt = HMM_QuaternionFromAxisAngle(
+            HMM_Cross(right, to),
+            HMM_ACosF(HMM_Dot(HMM_Normalize(tiltedFwd), HMM_Normalize(to)))
+        );
+        rotation = tiltUp * pointAt;
+        printQuaternion(rotation);
+        printVec4(HMM_QuaternionToMat4(rotation) * HMM_Vec4(1.0f, 0.0f, 0.0f, 0.0f));
+        printMat4(HMM_QuaternionToMat4(rotation));
+        // dot products make this bad :(
+        
+        // rotate around up vector first?
+        
+        // just look, forget the up direction for a bit
+        hmm_quaternion justPointAt = HMM_QuaternionFromAxisAngle(
+            HMM_Cross(fwd, to),
+            HMM_ACosF(HMM_Dot(HMM_Normalize(fwd), HMM_Normalize(to)))
+        );
+        hmm_vec3 newUp = (HMM_QuaternionToMat4(justPointAt) * HMM_Vec4v(up, 0.0f)).XYZ;
+        hmm_quaternion backUpright = HMM_QuaternionFromAxisAngle(
+            to,
+            -HMM_ACosF(HMM_Dot(HMM_Normalize(newUp), HMM_Vec3(0.0f, 1.0f, 0.0f)))
+        );
+        rotation = backUpright * justPointAt;
     }
 };
 
diff --git a/example/src/debug.h b/example/src/debug.h
new file mode 100644
index 0000000..18e6ed4
--- /dev/null
+++ b/example/src/debug.h
@@ -0,0 +1,26 @@
+#include <stdio.h>
+
+#ifndef DEBUG_H
+#define DEBUG_H
+
+#include "HandmadeMath.h"
+
+void printVec3(hmm_vec3 v) {
+    printf("%f\t%f\t%f\n", v.X, v.Y, v.Z);
+}
+
+void printVec4(hmm_vec4 v) {
+    printf("%f\t%f\t%f\t%f\n", v.X, v.Y, v.Z, v.W);
+}
+
+void printQuaternion(hmm_quaternion q) {
+    printf("%f\t%f\t%f\t%f\n", q.X, q.Y, q.Z, q.W);
+}
+
+void printMat4(hmm_mat4 m) {
+    for (int r = 0; r < 4; r++) {
+        printf("| %f\t%f\t%f\t%f |\n", m[0][r], m[1][r], m[2][r], m[3][r]);
+    }
+}
+
+#endif
diff --git a/example/src/main.cpp b/example/src/main.cpp
index 5e7a054..339366f 100644
--- a/example/src/main.cpp
+++ b/example/src/main.cpp
@@ -75,7 +75,7 @@ int main()
     monkey.renderComponent = new MeshRenderComponent("MonkeySmooth.obj");
 
     FollowCam cam = FollowCam(&monkey);
-    // cam.position = HMM_Vec3(3.0f, 3.0f, 4.0f);
+    // cam.position = HMM_Vec3(-3.0f, -1.0f, 0.0f);
     cam.position = HMM_Vec3(3.0f, 3.0f, 5.0f);
     // cam.rotation = HMM_QuaternionFromAxisAngle(HMM_Vec3(0.0f, 1.0f, 0.0f), HMM_ToRadians(90.0f));
 
@@ -90,6 +90,10 @@ int main()
     root.AddChild(&c1);
     root.AddChild(&cam);
 
+    Entity axes = Entity();
+    axes.renderComponent = new MeshRenderComponent("Axes.obj");
+    root.AddChild(&axes);
+
     bool hasTicked = false;
     high_resolution_clock::time_point lastTickTime;