diff --git a/small3dlib.h b/small3dlib.h
index 49d0784..3f2cb91 100644
--- a/small3dlib.h
+++ b/small3dlib.h
@@ -1096,16 +1096,22 @@ void S3L_lookAt(S3L_Vec4 pointFrom, S3L_Vec4 pointTo, S3L_Transform3D *t)
   v.x = pointTo.x - pointFrom.x;
   v.y = pointTo.z - pointFrom.z;
 
+  S3L_Unit dx = v.x;
   S3L_Unit l = S3L_vec2Length(v);
-  
-  v.x = (v.x * S3L_FRACTIONS_PER_UNIT) / l;
 
-  t->rotation.y = S3L_asin(v.x);
+  dx = (v.x * S3L_FRACTIONS_PER_UNIT) / l; // normalize
+
+  t->rotation.y = S3L_asin(dx);
 
   if (v.y < 0)
     t->rotation.y = S3L_FRACTIONS_PER_UNIT / 2 - t->rotation.y;
 
-  // TODO
+  v.x = pointTo.y - pointFrom.y;
+  v.y = l;
+  
+  dx = (v.x * S3L_FRACTIONS_PER_UNIT) / S3L_vec2Length(v);
+
+  t->rotation.x = S3L_asin(dx);
 }
 
 void S3L_setTransform3D(