diff --git a/resources/ball.obj b/resources/ball.obj
index b339a3e..cec50fd 100644
--- a/resources/ball.obj
+++ b/resources/ball.obj
@@ -1,494 +1,489 @@
 # Blender v2.79 (sub 0) OBJ File: ''
 # www.blender.org
 mtllib ball.mtl
-o Sphere
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-vn -0.7400 -0.2890 0.6073
-vn -0.3658 0.8810 0.3002
+vn -0.4036 -0.7715 0.4918
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+vn -0.3002 -0.8810 0.3658
 vn -0.6825 -0.4696 0.5601
 vn -0.4918 0.7715 0.4036
 vn -0.5987 -0.6326 0.4913
@@ -815,15 +812,15 @@ vn -0.4918 -0.7715 0.4036
 vn -0.6825 0.4696 0.5601
 vn -0.3658 -0.8810 0.3002
 vn -0.7400 0.2890 0.6073
-vn -0.2254 -0.9566 0.1850
+vn -0.2254 -0.9565 0.1850
 vn -0.7693 0.0976 0.6314
 vn -0.0761 0.9951 0.0625
 vn -0.0761 -0.9951 0.0625
 vn -0.7693 -0.0976 0.6314
-vn -0.7786 0.4696 0.4162
-vn -0.4173 -0.8810 0.2230
-vn -0.8443 0.2890 0.4513
-vn -0.2571 -0.9566 0.1374
+vn -0.2254 0.9565 0.1850
+vn -0.7400 -0.2890 0.6073
+vn -0.3658 0.8810 0.3002
+vn -0.2571 -0.9565 0.1374
 vn -0.8777 0.0976 0.4691
 vn -0.0869 0.9951 0.0464
 vn -0.0869 -0.9951 0.0464
@@ -836,10 +833,9 @@ vn -0.5611 0.7715 0.2999
 vn -0.6831 -0.6326 0.3651
 vn -0.6831 0.6326 0.3651
 vn -0.5611 -0.7715 0.2999
-vn -0.9161 -0.2890 0.2779
-vn -0.4528 0.8810 0.1374
-vn -0.8448 -0.4696 0.2563
-vn -0.6088 0.7715 0.1847
+vn -0.7786 0.4696 0.4162
+vn -0.4173 -0.8810 0.2231
+vn -0.8443 0.2890 0.4513
 vn -0.7412 -0.6326 0.2248
 vn -0.7412 0.6326 0.2248
 vn -0.6088 -0.7715 0.1847
@@ -852,12 +848,12 @@ vn -0.0942 0.9951 0.0286
 vn -0.0942 -0.9951 0.0286
 vn -0.9524 -0.0976 0.2889
 vn -0.2790 0.9565 0.0846
-vn -0.4709 -0.8810 0.0464
-vn -0.9527 0.2890 0.0938
-vn -0.2902 -0.9565 0.0286
-vn -0.9904 0.0976 0.0975
+vn -0.9161 -0.2890 0.2779
+vn -0.4528 0.8810 0.1374
+vn -0.8448 -0.4696 0.2563
+vn -0.6088 0.7715 0.1847
 vn -0.0980 0.9951 0.0097
-vn -0.0980 -0.9951 0.0096
+vn -0.0980 -0.9951 0.0097
 vn -0.9904 -0.0976 0.0975
 vn -0.2902 0.9565 0.0286
 vn -0.9527 -0.2890 0.0938
@@ -868,10 +864,10 @@ vn -0.7708 -0.6326 0.0759
 vn -0.7708 0.6326 0.0759
 vn -0.6332 -0.7715 0.0624
 vn -0.8786 0.4696 0.0865
-vn -0.4709 0.8810 -0.0464
-vn -0.8786 -0.4696 -0.0865
-vn -0.6332 0.7715 -0.0624
-vn -0.7708 -0.6326 -0.0759
+vn -0.4709 -0.8810 0.0464
+vn -0.9527 0.2890 0.0938
+vn -0.2902 -0.9565 0.0286
+vn -0.9904 0.0976 0.0975
 vn -0.7708 0.6326 -0.0759
 vn -0.6332 -0.7715 -0.0624
 vn -0.8786 0.4696 -0.0865
@@ -880,15 +876,14 @@ vn -0.9527 0.2890 -0.0938
 vn -0.2902 -0.9565 -0.0286
 vn -0.9904 0.0976 -0.0976
 vn -0.0980 0.9951 -0.0097
-vn -0.0980 -0.9951 -0.0096
+vn -0.0980 -0.9951 -0.0097
 vn -0.9904 -0.0976 -0.0976
 vn -0.2902 0.9565 -0.0286
 vn -0.9527 -0.2890 -0.0938
-vn -0.9161 0.2890 -0.2779
-vn -0.2790 -0.9565 -0.0846
-vn -0.9524 0.0976 -0.2889
-vn -0.0942 0.9951 -0.0286
-vn -0.0942 -0.9951 -0.0286
+vn -0.4709 0.8810 -0.0464
+vn -0.8786 -0.4696 -0.0865
+vn -0.6332 0.7715 -0.0624
+vn -0.7708 -0.6326 -0.0759
 vn -0.9524 -0.0976 -0.2889
 vn -0.2790 0.9565 -0.0846
 vn -0.9161 -0.2890 -0.2779
@@ -900,13 +895,14 @@ vn -0.7412 0.6326 -0.2248
 vn -0.6088 -0.7715 -0.1847
 vn -0.8448 0.4696 -0.2563
 vn -0.4528 -0.8810 -0.1374
-vn -0.7786 -0.4696 -0.4162
-vn -0.5611 0.7715 -0.2999
-vn -0.6831 -0.6326 -0.3651
-vn -0.6831 0.6326 -0.3651
+vn -0.9161 0.2890 -0.2779
+vn -0.2790 -0.9565 -0.0846
+vn -0.9524 0.0976 -0.2889
+vn -0.0942 0.9951 -0.0286
+vn -0.0942 -0.9951 -0.0286
 vn -0.5611 -0.7715 -0.2999
 vn -0.7786 0.4696 -0.4162
-vn -0.4173 -0.8810 -0.2230
+vn -0.4173 -0.8810 -0.2231
 vn -0.8443 0.2890 -0.4513
 vn -0.2571 -0.9565 -0.1374
 vn -0.8777 0.0976 -0.4691
@@ -916,11 +912,10 @@ vn -0.8777 -0.0976 -0.4691
 vn -0.2571 0.9565 -0.1374
 vn -0.8443 -0.2890 -0.4513
 vn -0.4173 0.8810 -0.2231
-vn -0.2254 -0.9565 -0.1850
-vn -0.7693 0.0976 -0.6314
-vn -0.0761 0.9951 -0.0625
-vn -0.0761 -0.9951 -0.0625
-vn -0.7693 -0.0976 -0.6314
+vn -0.7786 -0.4696 -0.4162
+vn -0.5611 0.7715 -0.2999
+vn -0.6831 -0.6326 -0.3651
+vn -0.6831 0.6326 -0.3651
 vn -0.2254 0.9565 -0.1850
 vn -0.7400 -0.2890 -0.6073
 vn -0.3658 0.8810 -0.3002
@@ -932,13 +927,15 @@ vn -0.4918 -0.7715 -0.4036
 vn -0.6825 0.4696 -0.5601
 vn -0.3658 -0.8810 -0.3002
 vn -0.7400 0.2890 -0.6073
-vn -0.4913 -0.6326 -0.5987
-vn -0.4913 0.6326 -0.5987
-vn -0.4036 -0.7715 -0.4918
+vn -0.2254 -0.9565 -0.1850
+vn -0.7693 0.0976 -0.6314
+vn -0.0761 0.9951 -0.0625
+vn -0.0761 -0.9951 -0.0625
+vn -0.7693 -0.0976 -0.6314
 vn -0.5601 0.4696 -0.6825
 vn -0.3002 -0.8810 -0.3658
 vn -0.6073 0.2890 -0.7400
-vn -0.1850 -0.9566 -0.2254
+vn -0.1850 -0.9565 -0.2254
 vn -0.6314 0.0976 -0.7693
 vn -0.0625 0.9951 -0.0761
 vn -0.0625 -0.9951 -0.0761
@@ -948,10 +945,9 @@ vn -0.6073 -0.2890 -0.7400
 vn -0.3002 0.8810 -0.3658
 vn -0.5601 -0.4696 -0.6825
 vn -0.4036 0.7715 -0.4918
-vn -0.0464 0.9951 -0.0869
-vn -0.0464 -0.9951 -0.0869
-vn -0.4691 -0.0976 -0.8777
-vn -0.1374 0.9565 -0.2571
+vn -0.4913 -0.6326 -0.5987
+vn -0.4913 0.6326 -0.5987
+vn -0.4036 -0.7715 -0.4918
 vn -0.4513 -0.2890 -0.8443
 vn -0.2230 0.8810 -0.4173
 vn -0.4162 -0.4696 -0.7786
@@ -964,9 +960,10 @@ vn -0.2231 -0.8810 -0.4173
 vn -0.4513 0.2890 -0.8443
 vn -0.1374 -0.9565 -0.2571
 vn -0.4691 0.0976 -0.8777
-vn -0.2248 0.6326 -0.7412
-vn -0.1847 -0.7715 -0.6088
-vn -0.2563 0.4696 -0.8448
+vn -0.0464 0.9951 -0.0869
+vn -0.0464 -0.9951 -0.0869
+vn -0.4691 -0.0976 -0.8777
+vn -0.1374 0.9565 -0.2571
 vn -0.1374 -0.8810 -0.4528
 vn -0.2779 0.2890 -0.9161
 vn -0.0846 -0.9565 -0.2790
@@ -980,10 +977,9 @@ vn -0.1374 0.8810 -0.4528
 vn -0.2563 -0.4696 -0.8448
 vn -0.1847 0.7715 -0.6088
 vn -0.2248 -0.6326 -0.7412
-vn -0.0976 -0.0976 -0.9904
-vn -0.0286 0.9565 -0.2902
-vn -0.0938 -0.2890 -0.9527
-vn -0.0464 0.8810 -0.4709
+vn -0.2248 0.6326 -0.7412
+vn -0.1847 -0.7715 -0.6088
+vn -0.2563 0.4696 -0.8448
 vn -0.0865 -0.4696 -0.8786
 vn -0.0624 0.7715 -0.6332
 vn -0.0759 -0.6326 -0.7708
@@ -996,996 +992,990 @@ vn -0.0286 -0.9565 -0.2902
 vn -0.0976 0.0975 -0.9904
 vn -0.0097 0.9951 -0.0980
 vn -0.0097 -0.9951 -0.0980
-vn 0.0975 -0.0975 -0.9904
-vn 0.0286 -0.9565 -0.2902
-vn 0.0846 -0.9565 -0.2790
-vn 0.2889 0.0975 -0.9524
-vn 0.2889 -0.0976 -0.9524
-vn 0.2231 -0.8810 -0.4173
+vn -0.0976 -0.0976 -0.9904
+vn -0.0286 0.9565 -0.2902
+vn -0.0938 -0.2890 -0.9527
+vn -0.0464 0.8810 -0.4709
+vn 0.0976 0.0975 -0.9904
+vn 0.0976 -0.0975 -0.9904
+vn 0.0846 0.9566 -0.2790
 vn 0.2231 0.8810 -0.4173
-vn 0.6314 0.0975 -0.7693
-vn 0.7693 0.0976 -0.6314
-vn 0.7693 -0.0975 -0.6314
+vn 0.7693 0.0975 -0.6314
+vn 0.7693 -0.0976 -0.6314
 vn 0.4173 -0.8810 -0.2231
-vn 0.8777 0.0976 -0.4691
-vn 0.9904 -0.0976 -0.0975
-vn 0.9524 -0.0975 0.2889
+vn 0.9524 -0.0975 -0.2889
 vn 0.4173 -0.8810 0.2231
-vn 0.8777 0.0975 0.4691
-vn 0.8777 -0.0976 0.4691
-vn 0.4173 0.8810 0.2231
-vn 0.1850 -0.9565 0.2254
-vn 0.2231 -0.8810 0.4173
-vn -0.2230 0.8810 0.4173
+vn 0.2571 -0.9565 0.1374
+vn 0.2254 -0.9565 0.1850
+vn 0.2230 -0.8810 0.4173
+vn 0.1374 -0.9565 0.2571
+vn -0.0846 0.9566 0.2790
 vn -0.2231 -0.8810 0.4173
-vn -0.2254 -0.9565 0.1850
-vn -0.4173 -0.8810 0.2231
-vn -0.2571 -0.9565 0.1374
-vn -0.4173 -0.8810 -0.2231
-vn -0.4173 0.8810 -0.2230
-vn -0.1850 -0.9565 -0.2254
+vn -0.1374 0.9566 0.2571
+vn -0.4173 0.8810 0.2231
+vn -0.4173 -0.8810 -0.2230
 vn -0.2230 -0.8810 -0.4173
-vn -0.0976 -0.0975 -0.9904
 vn -0.0976 0.0976 -0.9904
+vn -0.0976 -0.0975 -0.9904
 usemtl None
 s off
-f 1//1 297//1 11//1
-f 206//2 482//2 25//2
-f 8//3 19//3 9//3
-f 1//4 12//4 2//4
-f 9//5 20//5 478//5
-f 3//6 12//6 13//6
-f 478//7 21//7 479//7
-f 3//8 14//8 4//8
-f 479//9 22//9 480//9
-f 4//10 15//10 5//10
-f 480//11 23//11 10//11
-f 5//12 16//12 6//12
-f 10//13 24//13 481//13
-f 6//14 17//14 7//14
-f 481//15 25//15 482//15
-f 7//16 18//16 8//16
-f 24//17 40//17 25//17
-f 17//18 33//18 18//18
-f 11//19 297//19 26//19
-f 206//20 25//20 40//20
-f 19//21 33//21 34//21
-f 11//22 27//22 12//22
-f 20//23 34//23 35//23
-f 12//24 28//24 13//24
-f 20//25 36//25 21//25
-f 13//26 29//26 14//26
-f 22//27 36//27 37//27
-f 14//28 30//28 15//28
-f 22//29 38//29 23//29
-f 15//30 31//30 16//30
-f 23//31 39//31 24//31
-f 16//32 32//32 17//32
-f 28//33 44//33 29//33
-f 37//34 51//34 52//34
-f 29//35 45//35 30//35
-f 37//36 53//36 38//36
-f 30//37 46//37 31//37
-f 38//38 54//38 39//38
-f 32//39 46//39 47//39
-f 39//40 55//40 40//40
-f 32//41 48//41 33//41
-f 26//42 297//42 41//42
-f 206//43 40//43 55//43
-f 33//44 49//44 34//44
-f 26//45 42//45 27//45
-f 34//46 50//46 35//46
-f 27//47 43//47 28//47
-f 36//48 50//48 51//48
-f 48//49 62//49 63//49
-f 41//50 297//50 56//50
-f 206//51 55//51 70//51
-f 48//52 64//52 49//52
-f 41//53 57//53 42//53
-f 49//54 65//54 50//54
-f 42//55 58//55 43//55
-f 51//56 65//56 66//56
-f 43//57 59//57 44//57
-f 51//58 67//58 52//58
-f 44//59 60//59 45//59
-f 52//60 68//60 53//60
-f 45//61 61//61 46//61
-f 53//62 69//62 54//62
-f 46//63 62//63 47//63
-f 54//64 70//64 55//64
-f 66//65 82//65 67//65
-f 60//66 74//66 75//66
-f 68//67 82//67 83//67
-f 60//68 76//68 61//68
-f 69//69 83//69 84//69
-f 61//70 77//70 62//70
-f 69//71 85//71 70//71
-f 63//72 77//72 78//72
-f 56//73 297//73 71//73
-f 206//74 70//74 85//74
-f 63//75 79//75 64//75
-f 56//76 72//76 57//76
-f 64//77 80//77 65//77
-f 57//78 73//78 58//78
-f 66//79 80//79 81//79
-f 58//80 74//80 59//80
-f 71//81 297//81 86//81
-f 206//82 85//82 100//82
-f 78//83 94//83 79//83
-f 71//84 87//84 72//84
-f 79//85 95//85 80//85
-f 72//86 88//86 73//86
-f 81//87 95//87 96//87
-f 73//88 89//88 74//88
-f 82//89 96//89 97//89
-f 75//90 89//90 90//90
-f 82//91 98//91 83//91
-f 75//92 91//92 76//92
-f 84//93 98//93 99//93
-f 77//94 91//94 92//94
-f 84//95 100//95 85//95
-f 77//96 93//96 78//96
-f 89//97 105//97 90//97
-f 97//98 113//98 98//98
-f 90//99 106//99 91//99
-f 98//100 114//100 99//100
-f 92//101 106//101 107//101
-f 100//102 114//102 115//102
-f 92//103 108//103 93//103
-f 86//104 297//104 101//104
-f 206//105 100//105 115//105
-f 93//106 109//106 94//106
-f 86//107 102//107 87//107
-f 94//108 110//108 95//108
-f 87//109 103//109 88//109
-f 96//110 110//110 111//110
-f 89//111 103//111 104//111
-f 97//112 111//112 112//112
-f 109//113 123//113 124//113
-f 101//114 117//114 102//114
-f 109//115 125//115 110//115
-f 102//116 118//116 103//116
-f 111//117 125//117 126//117
-f 103//118 119//118 104//118
-f 111//119 127//119 112//119
-f 104//120 120//120 105//120
-f 113//121 127//121 128//121
-f 105//122 121//122 106//122
-f 114//123 128//123 129//123
-f 107//124 121//124 122//124
-f 115//125 129//125 130//125
-f 107//126 123//126 108//126
-f 101//127 297//127 116//127
-f 206//128 115//128 130//128
-f 128//129 142//129 143//129
-f 120//130 136//130 121//130
-f 128//131 144//131 129//131
-f 122//132 136//132 137//132
-f 130//133 144//133 145//133
-f 122//134 138//134 123//134
-f 116//135 297//135 131//135
-f 206//136 130//136 145//136
-f 123//137 139//137 124//137
-f 117//138 131//138 132//138
-f 124//139 140//139 125//139
-f 117//140 133//140 118//140
-f 126//141 140//141 141//141
-f 118//142 134//142 119//142
-f 126//143 142//143 127//143
-f 120//144 134//144 135//144
-f 139//145 155//145 140//145
-f 133//146 147//146 148//146
-f 141//147 155//147 156//147
-f 133//148 149//148 134//148
-f 141//149 157//149 142//149
-f 134//150 150//150 135//150
-f 142//151 158//151 143//151
-f 135//152 151//152 136//152
-f 144//153 158//153 159//153
-f 137//154 151//154 152//154
-f 144//155 160//155 145//155
-f 137//156 153//156 138//156
-f 131//157 297//157 146//157
-f 206//158 145//158 160//158
-f 138//159 154//159 139//159
-f 131//160 147//160 132//160
-f 158//161 174//161 159//161
-f 152//162 166//162 167//162
-f 159//163 175//163 160//163
-f 152//164 168//164 153//164
-f 146//165 297//165 161//165
-f 206//166 160//166 175//166
-f 154//167 168//167 169//167
-f 146//168 162//168 147//168
-f 154//169 170//169 155//169
-f 147//170 163//170 148//170
-f 156//171 170//171 171//171
-f 148//172 164//172 149//172
-f 156//173 172//173 157//173
-f 150//174 164//174 165//174
-f 158//175 172//175 173//175
-f 150//176 166//176 151//176
-f 162//177 178//177 163//177
-f 170//178 186//178 171//178
-f 163//179 179//179 164//179
-f 171//180 187//180 172//180
-f 164//181 180//181 165//181
-f 173//182 187//182 188//182
-f 165//183 181//183 166//183
-f 173//184 189//184 174//184
-f 167//185 181//185 182//185
-f 175//186 189//186 190//186
-f 167//187 183//187 168//187
-f 161//188 297//188 176//188
-f 206//189 175//189 190//189
-f 168//190 184//190 169//190
-f 161//191 177//191 162//191
-f 169//192 185//192 170//192
-f 182//193 196//193 197//193
-f 190//194 204//194 205//194
-f 182//195 198//195 183//195
-f 176//196 297//196 191//196
-f 206//197 190//197 205//197
-f 184//198 198//198 199//198
-f 176//199 192//199 177//199
-f 184//200 200//200 185//200
-f 177//201 193//201 178//201
-f 186//202 200//202 201//202
-f 179//203 193//203 194//203
-f 186//204 202//204 187//204
-f 180//205 194//205 195//205
-f 188//206 202//206 203//206
-f 180//207 196//207 181//207
-f 188//208 204//208 189//208
-f 201//209 216//209 217//209
-f 193//210 210//210 194//210
-f 201//211 218//211 202//211
-f 194//212 211//212 195//212
-f 203//213 218//213 219//213
-f 195//214 212//214 196//214
-f 203//215 220//215 204//215
-f 197//216 212//216 213//216
-f 204//217 221//217 205//217
-f 197//218 214//218 198//218
-f 191//219 297//219 207//219
-f 206//220 205//220 221//220
-f 198//221 215//221 199//221
-f 191//222 208//222 192//222
-f 199//223 216//223 200//223
-f 193//224 208//224 209//224
-f 221//225 235//225 236//225
-f 213//226 229//226 214//226
-f 207//227 297//227 222//227
-f 206//228 221//228 236//228
-f 214//229 230//229 215//229
-f 207//230 223//230 208//230
-f 215//231 231//231 216//231
-f 208//232 224//232 209//232
-f 217//233 231//233 232//233
-f 209//234 225//234 210//234
-f 217//235 233//235 218//235
-f 210//236 226//236 211//236
-f 218//237 234//237 219//237
-f 211//238 227//238 212//238
-f 219//239 235//239 220//239
-f 213//240 227//240 228//240
-f 225//241 239//241 240//241
-f 232//242 248//242 233//242
-f 225//243 241//243 226//243
-f 234//244 248//244 249//244
-f 226//245 242//245 227//245
-f 234//246 250//246 235//246
-f 228//247 242//247 243//247
-f 236//248 250//248 251//248
-f 228//249 244//249 229//249
-f 222//250 297//250 237//250
-f 206//251 236//251 251//251
-f 229//252 245//252 230//252
-f 222//253 238//253 223//253
-f 230//254 246//254 231//254
-f 224//255 238//255 239//255
-f 232//256 246//256 247//256
-f 243//257 259//257 244//257
-f 237//258 297//258 252//258
-f 206//259 251//259 266//259
-f 244//260 260//260 245//260
-f 237//261 253//261 238//261
-f 245//262 261//262 246//262
-f 238//263 254//263 239//263
-f 247//264 261//264 262//264
-f 240//265 254//265 255//265
-f 247//266 263//266 248//266
-f 241//267 255//267 256//267
-f 248//268 264//268 249//268
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diff --git a/src/components.rs b/src/components.rs
index f1d2101..bfbb436 100644
--- a/src/components.rs
+++ b/src/components.rs
@@ -4,6 +4,7 @@ use rapier3d::dynamics::{RigidBody, RigidBodyHandle};
 use rapier3d::geometry::ColliderHandle;
 use rapier3d::geometry::Collider as r3dCollider;
 use std::time::{Duration, Instant};
+use cgmath::Deg;
 
 // a component is any type that is 'static, sized, send and sync
 
@@ -19,7 +20,7 @@ pub struct Position {
     pub x: f32,
     pub y: f32,
     pub z: f32,
-    pub rot: cgmath::Quaternion<f32>,
+    pub rot: cgmath::Euler<Deg<f32>>,
 }
 
 #[derive(Clone, Copy, Debug, PartialEq)]
diff --git a/src/main.rs b/src/main.rs
index 73fb22e..ad1f3c8 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -124,7 +124,7 @@ fn main() {
     resources.insert(renderer);
 
     let (physics_state, physics_pipeline) =
-        PhysicsState::build(rapier3d::math::Vector::new(0.0, -9.81, 0.0));
+        PhysicsState::build(rapier3d::math::Vector::new(0.0, -9.81, 0.05));
     resources.insert(physics_state);
     resources.insert(physics_pipeline);
 
@@ -289,11 +289,11 @@ pub fn entity_loading(world: &mut World, renderer: &mut Renderer) {
             x: 1.0,
             y: 5.0,
             z: 2.0,
-            rot: Quaternion::from(Euler {
+            rot: Euler {
                 x: Deg(90.0),
                 y: Deg(45.0),
                 z: Deg(15.0),
-            }), //mx: cgmath::Matrix4::from(transform),
+            }, //mx: cgmath::Matrix4::from(transform),
         },
         monkey_mesh,
         Color {
@@ -306,15 +306,15 @@ pub fn entity_loading(world: &mut World, renderer: &mut Renderer) {
 
     let mut dynamic_ball_body = RigidBodyBuilder::new_dynamic()
         .position(Isometry3::new(
-            Vector3::new(0.0, 0.0, 5.0),
-            Vector::y() * PI,
+            Vector3::new(0.0, 0.0, 0.0),
+            Vector::y(),
         ))
         .build();
 
     let mut static_floor_body = RigidBodyBuilder::new_static()
         .position(Isometry3::new(
             Vector3::new(0.0, -8.0, 0.0),
-            Vector::y() * PI,
+            Vector::y(),
         ))
         .build();
 
@@ -328,11 +328,11 @@ pub fn entity_loading(world: &mut World, renderer: &mut Renderer) {
             x: 0.0,
             y: -8.0,
             z: 0.0,
-            rot: Quaternion::from(Euler {
+            rot: Euler {
                 x: Deg(0.0),
                 y: Deg(0.0),
                 z: Deg(0.0),
-            }),
+            },
         },
         plane_mesh,
         Color {
@@ -355,14 +355,14 @@ pub fn entity_loading(world: &mut World, renderer: &mut Renderer) {
 
     let ball_mesh: Entity = world.push((
         Position {
-            x: 2.0,
-            y: 2.0,
-            z: 3.0,
-            rot: Quaternion::from(Euler {
+            x: 0.0,
+            y: 0.0,
+            z: 0.0,
+            rot: Euler {
                 x: Deg(25.0),
                 y: Deg(45.0),
                 z: Deg(15.0),
-            }),
+            },
         },
         ball_mesh,
         Color {
diff --git a/src/physics.rs b/src/physics.rs
index b8873b4..a14954d 100644
--- a/src/physics.rs
+++ b/src/physics.rs
@@ -1,15 +1,17 @@
+use std::time::Instant;
+
+use cgmath::{Euler, Quaternion};
 use legion::world::SubWorld;
 use legion::IntoQuery;
+use legion::*;
+use nalgebra::Quaternion as naQuaternion;
 use rapier3d::dynamics::{IntegrationParameters, JointSet, RigidBodySet};
 use rapier3d::geometry::{BroadPhase, ColliderSet, NarrowPhase};
 use rapier3d::pipeline::PhysicsPipeline;
-use legion::*;
 
+use crate::camera::{Camera, CameraController};
+use crate::components::{Collider, LoopState, Mesh, Physics, Position};
 use crate::render::{EntityUniforms, Renderer};
-use cgmath::Quaternion;
-use crate::components::{Collider, Physics, Mesh, Position, LoopState};
-use crate::camera::{CameraController, Camera};
-use std::time::Instant;
 
 pub struct PhysicsState {
     gravity: rapier3d::math::Vector<f32>,
@@ -47,7 +49,6 @@ pub fn run_physics(
     #[resource] physics_state: &mut PhysicsState,
     #[resource] physics_pipeline: &mut PhysicsPipeline,
 ) {
-
     // Make sure all the entities we care about are added to the system
     let mut query = <(&mut Collider, &mut Physics, &mut Mesh)>::query();
     for (collider, physics, mesh) in query.iter_mut(world) {
@@ -56,11 +57,15 @@ pub fn run_physics(
                 let handle = physics_state.bodies.insert(physics.rigid_body.clone());
                 physics.rigid_body_handle = Some(handle);
                 physics.rigid_body_handle.unwrap()
-            },
+            }
             Some(handle) => handle,
         };
         if collider.collider_handle == None {
-            let handle = physics_state.colliders.insert(collider.collider.clone(), rigid_body_handle, &mut physics_state.bodies);
+            let handle = physics_state.colliders.insert(
+                collider.collider.clone(),
+                rigid_body_handle,
+                &mut physics_state.bodies,
+            );
             collider.collider_handle = Some(handle);
         }
     }
@@ -77,17 +82,14 @@ pub fn run_physics(
         &mut physics_state.joints,
         None,
         None,
-        &event_handler
+        &event_handler,
     );
 }
 
 #[system]
 #[write_component(Camera)]
 #[write_component(CameraController)]
-pub fn update_camera(
-    world: &mut SubWorld,
-    #[resource] loop_state: &mut LoopState,
-) {
+pub fn update_camera(world: &mut SubWorld, #[resource] loop_state: &mut LoopState) {
     let mut query = <(&mut Camera, &mut CameraController)>::query();
     for (mut camera, controller) in query.iter_mut(world) {
         controller.update_camera(&mut camera, loop_state.step_size)
@@ -104,25 +106,32 @@ pub fn update_models(
     #[resource] physics_state: &mut PhysicsState,
     #[resource] physics_pipeline: &mut PhysicsPipeline,
 ) {
-
     // Make sure all the entities we care about are added to the system
     let mut query = <(&mut Collider, &mut Physics, &mut Mesh, &mut Position)>::query();
     for (collider, physics, mesh, position) in query.iter_mut(world) {
-        let pos = physics_state.bodies.get(physics.rigid_body_handle.unwrap()).unwrap().position();
+        let pos = physics_state
+            .bodies
+            .get(physics.rigid_body_handle.unwrap())
+            .unwrap()
+            .position();
         position.x = pos.translation.x;
         position.y = pos.translation.y;
         position.z = pos.translation.z;
 
-        position.rot.s   = pos.rotation.w;
-        position.rot.v.x = pos.rotation.i;
-        position.rot.v.y = pos.rotation.j;
-        position.rot.v.z = pos.rotation.k;
+        let q = Quaternion::new(
+            pos.rotation.w,
+            pos.rotation.i,
+            pos.rotation.j,
+            pos.rotation.k,
+        );
+        let rotation = Euler::from(q);
+        position.rot.x = rotation.x.into();
+        position.rot.y = rotation.y.into();
+        position.rot.z = rotation.z.into();
 
         // mx.x = pos.rotation.i;
         // mx.y = pos.rotation.j;
         // mx.z = pos.rotation.k;
         // mx.w = pos.rotation.w;
-
     }
-
-}
\ No newline at end of file
+}
diff --git a/src/render.rs b/src/render.rs
index 190addb..13297f2 100644
--- a/src/render.rs
+++ b/src/render.rs
@@ -87,6 +87,8 @@ pub fn render_test(world: &mut SubWorld, #[resource] renderer: &mut Renderer) {
 
     let frame = renderer.get_current_frame();
 
+    // Update the camera uniform buffers, need to make it support selection of
+    // cameras
     let mut query = <(&mut Camera)>::query();
     for (camera) in query.iter_mut(world) {
         let matrix = camera.calc_matrix(renderer.camera_projection);
@@ -104,16 +106,14 @@ pub fn render_test(world: &mut SubWorld, #[resource] renderer: &mut Renderer) {
 
     // Update the entity uniforms
     for (pos, mesh, color) in query.iter_mut(world) {
-        // let rotation = cgmath::Matrix4::from_angle_x(cgmath::Deg(2.0));
-        // pos.mx = pos.mx * rotation;
-
-        //let p = cgmath::Matrix4::from(pos.rot);
-        let q = cgmath::Matrix4::from_translation(Vector3::new(pos.x, pos.y, pos.z));
-
-        let z = q; // p + q;
-
+        let d = Decomposed {
+            scale: 1.0,
+            rot: Quaternion::from(pos.rot),
+            disp: Vector3::new(pos.x, pos.y, pos.z)
+        };
+        let m = Matrix4::from(d);
         let data = EntityUniforms {
-            model: z.into(),
+            model: m.into(),
             color: [
                 color.r as f32,
                 color.g as f32,