diff --git a/vcg/math/matrix44.h b/vcg/math/matrix44.h
index 22de4a4e..bed79d4e 100644
--- a/vcg/math/matrix44.h
+++ b/vcg/math/matrix44.h
@@ -111,11 +111,11 @@ public:
 	void SetZero();
   void SetIdentity();
   void SetDiagonal(const T k);
-  void SetScale(const T sx, const T sy, const T sz);	
-	void SetTranslate(const Point3<T> &t);
-	void SetTranslate(const T sx, const T sy, const T sz);
+  Matrix44 &SetScale(const T sx, const T sy, const T sz);	
+	Matrix44 &SetTranslate(const Point3<T> &t);
+	Matrix44 &SetTranslate(const T sx, const T sy, const T sz);
   ///use radiants for angle.
-  void SetRotate(T angle, const Point3<T> & axis); 
+  Matrix44 &SetRotate(T angle, const Point3<T> & axis); 
 
   T Determinant() const;
 };
@@ -142,10 +142,10 @@ protected:
 /*** Postmultiply (old Apply in the old interface). 
   * SetTranslate, SetScale, SetRotate prepare the matrix for this.
   */
-template <class T> Point4<T> operator*(const Point4<T> &p, const Matrix44<T> &m);
+template <class T> Point3<T> operator*(const Point3<T> &p, const Matrix44<T> &m);
 
 ///Premultiply  (old Project in the old interface)
-template <class T> Point4<T> operator*(const Matrix44<T> &m, const Point4<T> &p);
+template <class T> Point3<T> operator*(const Matrix44<T> &m, const Point3<T> &p);
 
 template <class T> Matrix44<T> &Transpose(Matrix44<T> &m);
 template <class T> Matrix44<T> &Invert(Matrix44<T> &m);
@@ -201,8 +201,8 @@ template <class T> Matrix44<T> Matrix44<T>::operator*(const Matrix44 &m) const {
     for(int j = 0; j < 4; j++) {
       T t = 0.0;
       for(int k = 0; k < 4; k++)
-        t += element[i][k] * m.element[k][j];
-      ret.element[i][j] = t;
+        t += element(i, k) * m.element(k, j);
+      ret.element(i, j) = t;
     }
   return ret;
 }
@@ -212,7 +212,7 @@ template <class T> Point4<T> Matrix44<T>::operator*(const Point4<T> &v) const {
   for(int i = 0; i < 4; i++){
     T t = 0.0;
     for(int k = 0; k < 4; k++)
-      t += element[i][k] * v[k];
+      t += element(i,k) * v[k];
     ret[i] = t;
    }
    return ret;
@@ -255,7 +255,9 @@ template <class T> void Matrix44<T>::operator-=(const Matrix44 &m) {
     operator[](i) -= m[i];
 }
 template <class T> void Matrix44<T>::operator*=( const Matrix44 & m ) {
-  for(int i = 0; i < 4; i++) {
+  *this = *this *m;
+  
+  /*for(int i = 0; i < 4; i++) { //sbagliato
     Point4<T> t(0, 0, 0, 0);
     for(int k = 0; k < 4; k++) {
       for(int j = 0; j < 4; j++) {
@@ -264,7 +266,7 @@ template <class T> void Matrix44<T>::operator*=( const Matrix44 & m ) {
     }
     for(int l = 0; l < 4; l++)
       element(i, l) = t[l];
-  }
+  } */
 }
 
 template <class T> void Matrix44<T>::operator*=( const T k ) {
@@ -289,27 +291,30 @@ template <class T> void Matrix44<T>::SetDiagonal(const T k) {
   element(3, 3) = 1;    
 }
 
-template <class T> void Matrix44<T>::SetScale(const T sx, const T sy, const T sz) {
+template <class T> Matrix44<T> &Matrix44<T>::SetScale(const T sx, const T sy, const T sz) {
   SetZero();
   element(0, 0) = sx;
   element(1, 1) = sy;
   element(2, 2) = sz;
   element(3, 3) = 1;
+  return *this;
 }
 
-template <class T> void Matrix44<T>::SetTranslate(const Point3<T> &t) {
+template <class T> Matrix44<T> &Matrix44<T>::SetTranslate(const Point3<T> &t) {
   SetTranslate(t[0], t[1], t[2]);
+  return *this;
 }
-template <class T> void Matrix44<T>::SetTranslate(const T sx, const T sy, const T sz) {
+template <class T> Matrix44<T> &Matrix44<T>::SetTranslate(const T sx, const T sy, const T sz) {
   SetIdentity();
 	element(3, 0) = sx;
   element(3, 1) = sy;
   element(3, 2) = sz;
+  return *this;
 }
-template <class T> void Matrix44<T>::SetRotate(T angle, const Point3<T> & axis) {  
+template <class T> Matrix44<T> &Matrix44<T>::SetRotate(T angle, const Point3<T> & axis) {  
   //angle = angle*(T)3.14159265358979323846/180; e' in radianti!
-  T c = Math<T>::Cos(angle);
-  T s = Math<T>::Sin(angle);
+  T c = math::Cos(angle);
+  T s = math::Sin(angle);
 	T q = 1-c;  
 	Point3<T> t = axis;
 	t.Normalize();
@@ -329,6 +334,7 @@ template <class T> void Matrix44<T>::SetRotate(T angle, const Point3<T> & axis)
 	element(1,3) = 0;									
 	element(2,3) = 0;
 	element(3,3) = 1;	
+  return *this;
 }
 
 
@@ -338,25 +344,25 @@ template <class T> T Matrix44<T>::Determinant() const {
 }
 
 
-template <class T> Point4<T> operator*(const Matrix44<T> &m, const Point4<T> &p) {
+template <class T> Point3<T> operator*(const Matrix44<T> &m, const Point3<T> &p) {
   T w;
-  Point4<T> s;
-  s.x() = a[0][0]*p.x() + a[0][1]*p.y() + a[0][2]*p.z() + a[0][3];
-  s.y() = a[1][0]*p.x() + a[1][1]*p.y() + a[1][2]*p.z() + a[1][3];
-  s.z() = a[2][0]*p.x() + a[2][1]*p.y() + a[2][2]*p.z() + a[2][3];
-  s.w() = a[3][0]*p.x() + a[3][1]*p.y() + a[3][2]*p.z() + a[3][3];
-	if(s.w()!= 0) s /= s.w();
+  Point3<T> s;
+  s[0] = m.element(0, 0)*p[0] + m.element(0, 1)*p[1] + m.element(0, 2)*p[2] + m.element(0, 3);
+  s[1] = m.element(1, 0)*p[0] + m.element(1, 1)*p[1] + m.element(1, 2)*p[2] + m.element(1, 3);
+  s[2] = m.element(2, 0)*p[0] + m.element(2, 1)*p[1] + m.element(2, 2)*p[2] + m.element(2, 3);
+     w = m.element(3, 0)*p[0] + m.element(3, 1)*p[1] + m.element(3, 2)*p[2] + m.element(3, 3);
+	if(w!= 0) s /= w;
   return s;
 }
 
-template <class T> Point4<T> operator*(const Point4<T> &p, const Matrix44<T> &m) {
+template <class T> Point3<T> operator*(const Point3<T> &p, const Matrix44<T> &m) {
   T w;
-  Point4<T> s;
-  s.x() = a[0][0]*p.x() + a[1][0]*p.y() + a[2][0]*p.z() + a[3][0];
-  s.y() = a[0][1]*p.x() + a[1][1]*p.y() + a[2][1]*p.z() + a[3][1];
-  s.z() = a[0][2]*p.x() + a[1][2]*p.y() + a[2][2]*p.z() + a[3][2];
-  s.w() = a[0][3]*p.x() + a[1][3]*p.y() + a[2][3]*p.z() + a[3][3];
-	if(s.w() != 0) s /= s.w();
+  Point3<T> s;
+  s[0] = m.element(0, 0)*p[0] + m.element(1, 0)*p[1] + m.element(2, 0)*p[2] + m.element(3, 0);
+  s[1] = m.element(0, 1)*p[0] + m.element(1, 1)*p[1] + m.element(2, 1)*p[2] + m.element(3, 1);
+  s[2] = m.element(0, 2)*p[0] + m.element(1, 2)*p[1] + m.element(2, 2)*p[2] + m.element(3, 2);
+  w    = m.element(0, 3)*p[0] + m.element(1, 3)*p[1] + m.element(2, 3)*p[2] + m.element(3, 3);
+	if(w != 0) s /= w;
   return s;
 }
 
diff --git a/vcg/math/quaternion.h b/vcg/math/quaternion.h
index 50631538..df2ee9a5 100644
--- a/vcg/math/quaternion.h
+++ b/vcg/math/quaternion.h
@@ -27,7 +27,7 @@ public:
   //Quaternion &operator*=(S d);
   Quaternion operator*(const Quaternion &q) const;
   Quaternion &operator*=(const Quaternion &q);
-  void Conjugate();
+  void Invert();
 
   void FromAxis(const S phi, const Point3<S> &a);
   void ToAxis(S &phi, Point3<S> &a ) const;
@@ -84,7 +84,7 @@ template <class S> Quaternion<S> &Quaternion<S>::operator*=(const Quaternion &q)
 	return *this;
 }	 
 
-template <class S> void Quaternion<S>::Conjugate() {
+template <class S> void Quaternion<S>::Invert() {
 	V(1)*=-1;
 	V(2)*=-1;
 	V(3)*=-1;
@@ -92,12 +92,14 @@ template <class S> void Quaternion<S>::Conjugate() {
 
 
 template <class S> void Quaternion<S>::FromAxis(const S phi, const Point3<S> &a) {
+  Point3<S> b = a;
+  b.Normalize();
   S s = math::Sin(phi/(S(2.0)));
 
   V(0) = math::Cos(phi/(S(2.0)));
-	V(1) = a[0]*s;
-	V(2) = a[1]*s;
-	V(3) = a[2]*s;
+	V(1) = b[0]*s;
+	V(2) = b[1]*s;
+	V(3) = b[2]*s;
 }
 
 template <class S> void Quaternion<S>::ToAxis(S &phi, Point3<S> &a) const {
@@ -116,7 +118,7 @@ template <class S> void Quaternion<S>::ToAxis(S &phi, Point3<S> &a) const {
 
 template <class S> Point3<S> Quaternion<S>::Rotate(const Point3<S> p) const {
 		Quaternion<S> co = *this;
-		co.Conjugate();
+		co.Invert();
 
     Quaternion<S> tmp(0, p.V(0), p.V(1), p.V(2));