diff --git a/.gitignore b/.gitignore
index 7327629..ff2a733 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,4 @@
 *.user
 *.user.*
 compile_commands.json
+*.autosave
diff --git a/src/core/include/pw/core/axisangle.hpp b/src/core/include/pw/core/axisangle.hpp
index 77744ee..fcc5fdb 100644
--- a/src/core/include/pw/core/axisangle.hpp
+++ b/src/core/include/pw/core/axisangle.hpp
@@ -47,51 +47,57 @@ struct axisangle_ {
     {
     }
 
+	static const axisangle_ from_matrix(const matrix_<4,4,T>& m)
+	{
+		using std::acos;
+		using std::sqrt;
+
+		axisangle_ aa_res;
+		aa_res.angle = acos((m(0,0) + m(1,1) + m(2,2) - 1) / T(2));
+		const T m2112 = m(2,1) - m(1,2);
+		const T m0220 = m(0,2) - m(2,0);
+		const T m1001 = m(1,0) - m(0,1);
+		// no singularity check here ...
+		const T mrot_denom = sqrt( m2112 * m2112 + m0220 * m0220 + m1001 * m1001 );
+
+		aa_res.axis.x() = m2112 / mrot_denom;
+		aa_res.axis.y() = m0220 / mrot_denom;
+		aa_res.axis.z() = m1001 / mrot_denom;
+
+		return aa_res;
+	}
+
     matrix_<4,4,T> to_matrix() const
     {
-
-        // TODO ... Somehow buggy!
         using std::cos;
         using std::sin;
 
         // result
         matrix_<4,4,T> rot_mat; rot_mat.set_identity();
+		axis_type axis_n = axis.normalized(); // always normalize
 
-        // return as identity
-        if (axis.norm() < std::numeric_limits<T>::epsilon()) return rot_mat;
+		const T cos_a = cos(angle);
+		const T sin_a = sin(angle);
+		const T cos_1_a = T(1) - cos_a;
 
-        const T f_cos = cos(angle);
+		rot_mat(0,0) = cos_a + axis_n.x() * axis_n.x() * cos_1_a;
+		rot_mat(1,1) = cos_a + axis_n.y() * axis_n.y() * cos_1_a;
+		rot_mat(2,2) = cos_a + axis_n.z() * axis_n.z() * cos_1_a;
 
-        const vector3_<T> cos_axis = axis * (T(1) - f_cos);
-        const vector3_<T> sin_axis = axis * sin(angle);
+		T v1 = axis_n.x() * axis_n.y() * cos_1_a;
+		T v2 = axis_n.z() * sin_a;
+		rot_mat(1,0) = v1 + v2;
+		rot_mat(0,1) = v1 - v2;
 
-        T val = cos_axis.x() * axis.y();
-        rot_mat(0,1) = val - sin_axis.z();
-        rot_mat(1,0) = val + sin_axis.z();
+		v1 = axis_n.x() * axis_n.z() * cos_1_a;
+		v2 = axis_n.y() * sin_a;
+		rot_mat(2,0) = v1 - v2;
+		rot_mat(0,2) = v1 + v2;
 
-        val = cos_axis.x() * axis.z();
-        rot_mat(0,2) = val + sin_axis.z();
-        rot_mat(2,0) = val - sin_axis.z();
-
-        val = cos_axis.y() * axis.z();
-        rot_mat(1,2) = val - sin_axis.x();
-        rot_mat(2,1) = val + sin_axis.x();
-
-        rot_mat(0,0) = cos_axis[0] * axis[0] + f_cos;
-        rot_mat(1,1) = cos_axis[1] * axis[1] + f_cos;
-        rot_mat(2,2) = cos_axis[2] * axis[2] + f_cos;
-
-//        R.at(0) = axis[0] * _vCos(0,0)) + f_cos;
-//        R.at(4) = axis[0] * _vCos(1,0)) - _vSin(2,0));
-//        R.at(8) = axis[0] * _vCos(2,0)) + _vSin(1,0));
-
-//        R.at(1) = (T) ((vec(1,0) * _vCos(0,0)) + _vSin(2,0));
-//        R.at(5) = (T) ((vec(1,0) * _vCos(1,0)) + f_cos);
-//        R.at(9) = (T) ((vec(1,0) * _vCos(2,0)) - _vSin(0,0));
-
-//        R.at(2) = (T)  ((vec(2,0) * _vCos(0,0)) - _vSin(1,0));
-//        R.at(6) = (T)  ((vec(2,0) * _vCos(1,0)) + _vSin(0,0));
-//        R.at(10)= (T)  ((vec(2,0) * _vCos(2,0)) + f_cos);
+		v1 = axis_n.y() * axis_n.z() * cos_1_a;
+		v2 = axis_n.x() * sin_a;
+		rot_mat(2,1) = v1 + v2;
+		rot_mat(1,2) = v1 - v2;
 
         return rot_mat;
     }
diff --git a/src/core/include/pw/core/mesh.hpp b/src/core/include/pw/core/mesh.hpp
index 8843179..56345db 100644
--- a/src/core/include/pw/core/mesh.hpp
+++ b/src/core/include/pw/core/mesh.hpp
@@ -56,6 +56,8 @@ public:
 
 	void apply(const matrix4x4& m);
 
+	void bounds() const;
+
 	void reset();
 
 protected:
diff --git a/src/core/src/mesh.cpp b/src/core/src/mesh.cpp
index 030d37c..07892c4 100644
--- a/src/core/src/mesh.cpp
+++ b/src/core/src/mesh.cpp
@@ -6,7 +6,21 @@ namespace pw {
 void mesh::apply(const matrix4x4 &m)
 {
     for (auto &v : _vertices)
-        v = vector4(m * v.homogenous()).project();
+		v = vector4(m * v.homogenous()).project();
+}
+
+void mesh::bounds() const
+{
+	vector3 max_vec = _vertices.front(),min_vec = _vertices.front();
+	// compute the AABB
+	for (auto const & v : _vertices) {
+		max_vec.x() = std::max(v.x(),max_vec.x());
+		max_vec.y() = std::max(v.y(),max_vec.y());
+		max_vec.z() = std::max(v.z(),max_vec.z());
+		min_vec.x() = std::min(v.x(),min_vec.x());
+		min_vec.y() = std::min(v.y(),min_vec.y());
+		min_vec.z() = std::min(v.z(),min_vec.z());
+	}
 }
 
 
diff --git a/src/core/tests/pwcore_test_axisangle.cpp b/src/core/tests/pwcore_test_axisangle.cpp
index 21f95b2..34b32c0 100644
--- a/src/core/tests/pwcore_test_axisangle.cpp
+++ b/src/core/tests/pwcore_test_axisangle.cpp
@@ -28,6 +28,26 @@ int main(int argc,char **argv) {
 
 
 
+	std::cout << "z-axis" << std::endl;
+
+	aa.axis = pw::vector3::z_axis();
+	aa.angle = pw::deg_to_rad(45.f);
+
+	std::cout << "aa.matrix() = " << std::endl << pw::serialize::matrix(aa.to_matrix()) << std::endl;
+
+
+	std::cout << "from matrix" << std::endl;
+
+	pw::matrix4x4f mrot; mrot.zero();
+	mrot(0,0) = 1;
+	mrot(2,1) = 1;
+	mrot(1,2) = -1;
+
+	pw::axisanglef aa_fm = pw::axisangle::from_matrix(mrot);
+
+	std::cout << pw::serialize::matrix(aa_fm.axis.transposed()) << " " << pw::rad_to_deg(aa_fm.angle) << "deg" << std::endl;
+
+
 
     return 0;
 }