diff --git a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
index e68c860f..99f40d56 100644
--- a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
+++ b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
@@ -184,7 +184,7 @@ void API_Impl::UpdateWorld()
 		simpleBody->GetMotionState()->getWorldTransform(trans);
 		this->customBodies[i]->SetPosition(Float3(trans.getOrigin().x(), trans.getOrigin().y(), trans.getOrigin().z()));
 		this->customBodies[i]->SetRotation(Quaternion(Float3(trans.getRotation().x(), trans.getRotation().y(), trans.getRotation().z()), trans.getRotation().w()));
-		
+		//simpleBody->SetUpAndRight(Float3(0,1,0), Float3(-1,0,0));
 		if(simpleBody->GetRigidBody()->getActivationState() == ACTIVE_TAG)
 		{
 			simpleBody->CallSubscription_Move();
diff --git a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp
index c2ae4cde..cb136aa9 100644
--- a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp
+++ b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp
@@ -141,40 +141,40 @@ void SimpleRigidBody::SetAngularFactor(Float factor)
 
 void SimpleRigidBody::SetUpAndRight(::Oyster::Math::Float3 up, ::Oyster::Math::Float3 right)
 {
+	btTransform trans;
 	btMatrix3x3 rotation;
 	btVector3 upVector(up.x, up.y, up.z);
 	btVector3 rightVector(right.x, right.y, right.z);
 	rotation[1] = upVector.normalized();
 	rotation[0] = rightVector.normalized();
-	rotation[2] = upVector.cross(rightVector).normalized();
+	rotation[2] = rightVector.cross(upVector).normalized();
+
+	this->motionState->getWorldTransform(trans);
+	trans.setBasis(rotation);
+	this->motionState->setWorldTransform(trans);
 
 	btQuaternion quaternion;
-	rotation.getRotation(quaternion);
+	quaternion = trans.getRotation();
 	this->state.quaternion = Quaternion(Float3(quaternion.x(), quaternion.y(), quaternion.z()), quaternion.w());
-	
-	btTransform trans;
-	this->motionState->getWorldTransform(trans);
-	trans.setRotation(quaternion);
-	this->motionState->setWorldTransform(trans);
 }
 
 void SimpleRigidBody::SetUpAndForward(::Oyster::Math::Float3 up, ::Oyster::Math::Float3 forward)
 {
+	btTransform trans;
 	btMatrix3x3 rotation;
 	btVector3 upVector(up.x, up.y, up.z);
 	btVector3 forwardVector(forward.x, forward.y, forward.z);
 	rotation[1] = upVector.normalized();
-	rotation[0] = forwardVector.normalized();
-	rotation[2] = upVector.cross(forwardVector).normalized();
+	rotation[2] = forwardVector.normalized();
+	rotation[0] = forwardVector.cross(upVector).normalized();
+
+	this->motionState->getWorldTransform(trans);
+	trans.setBasis(rotation);
+	this->motionState->setWorldTransform(trans);
 
 	btQuaternion quaternion;
-	rotation.getRotation(quaternion);
+	quaternion = trans.getRotation();
 	this->state.quaternion = Quaternion(Float3(quaternion.x(), quaternion.y(), quaternion.z()), quaternion.w());
-
-	btTransform trans;
-	this->motionState->getWorldTransform(trans);
-	trans.setRotation(quaternion);
-	this->motionState->setWorldTransform(trans);
 }
 
 Float4x4 SimpleRigidBody::GetRotation() const