diff --git a/examples/grass.cpp b/examples/grass.cpp
index 2293d322..a66fc304 100644
--- a/examples/grass.cpp
+++ b/examples/grass.cpp
@@ -205,8 +205,7 @@ struct grass_app
 		camera.near_clip = 0.1f;
 		camera.far_clip = 1000.f;
 		camera.pos = {0.5f, 0.5f, 1.5f};
-		camera.elevation_angle = geom::rad(15.f);
-		camera.azimuthal_angle = geom::rad(-90.f);
+		camera.rotateYZ(geom::rad(-90.f));
 
 		init_ground();
 		init_grass();
@@ -474,8 +473,8 @@ struct grass_app
 
 		if (is_middle_button_down())
 		{
-			camera.azimuthal_angle -= dx * 0.01f;
-			camera.elevation_angle += dy * 0.01f;
+			camera.rotateZX(0.01f * dx);
+			camera.rotateYZ(0.01f * dy);
 		}
 	}
 
diff --git a/libs/geom/include/psemek/geom/camera.hpp b/libs/geom/include/psemek/geom/camera.hpp
index 3fc5142e..8651a4ec 100644
--- a/libs/geom/include/psemek/geom/camera.hpp
+++ b/libs/geom/include/psemek/geom/camera.hpp
@@ -128,22 +128,28 @@ namespace psemek::geom
 	struct free_camera
 		: perspective_camera
 	{
-		// assumes up is +Z
-		// azimuthal angle is in XY plane
-		// both angles zero gives X right, Y forward, and Z up
-
-		float azimuthal_angle;
-		float elevation_angle;
 		point<float, 3> pos;
+		vector<float, 3> axes[3];
 
-		free_camera() = default;
+		free_camera()
+		{
+			axes[0] = {1.f, 0.f, 0.f};
+			axes[1] = {0.f, 1.f, 0.f};
+			axes[2] = {0.f, 0.f, 1.f};
+		}
 
-		free_camera(float fov_x, float fov_y, float near_clip, float far_clip, float azimuthal_angle, float elevation_angle, point<float, 3> const & pos)
+		free_camera(float fov_x, float fov_y, float near_clip, float far_clip, point<float, 3> const & pos)
 			: perspective_camera(fov_x, fov_y, near_clip, far_clip)
-			, azimuthal_angle{azimuthal_angle}
-			, elevation_angle{elevation_angle}
 			, pos{pos}
-		{}
+		{
+			axes[0] = {1.f, 0.f, 0.f};
+			axes[1] = {0.f, 1.f, 0.f};
+			axes[2] = {0.f, 0.f, 1.f};
+		}
+
+		void rotateXY(float angle);
+		void rotateYZ(float angle);
+		void rotateZX(float angle);
 
 		matrix<float, 4, 4> view() const override;
 	};
diff --git a/libs/geom/source/camera.cpp b/libs/geom/source/camera.cpp
index f3311cce..5bb3710c 100644
--- a/libs/geom/source/camera.cpp
+++ b/libs/geom/source/camera.cpp
@@ -120,17 +120,35 @@ namespace psemek::geom
 		return tr.homogeneous_matrix();
 	}
 
+	static void rotate(geom::vector<float, 3> & a, geom::vector<float, 3> & b, float angle)
+	{
+		auto s = std::sin(angle);
+		auto c = std::cos(angle);
+
+		auto aa = a * c - b * s;
+		auto bb = a * s + b * c;
+		a = aa;
+		b = bb;
+	}
+
+	void free_camera::rotateXY(float angle)
+	{
+		rotate(axes[0], axes[1], angle);
+	}
+
+	void free_camera::rotateYZ(float angle)
+	{
+		rotate(axes[1], axes[2], angle);
+	}
+
+	void free_camera::rotateZX(float angle)
+	{
+		rotate(axes[2], axes[0], angle);
+	}
+
 	matrix<float, 4, 4> free_camera::view() const
 	{
-		auto tr =
-			  swap<float, 3>(1, 2).transform()
-			* scale<float, 3>({1.f, -1.f, 1.f}).transform()
-			* plane_rotation<float, 3>(1, 2, elevation_angle).transform()
-			* plane_rotation<float, 3>(1, 0, azimuthal_angle).transform()
-			* translation<float, 3>({ -pos[0], -pos[1], -pos[2] }).transform()
-			;
-
-		return tr.homogeneous_matrix();
+		return homogeneous(by_rows(axes[0], axes[1], axes[2])) * translation{geom::point<float, 3>::zero() - pos}.homogeneous_matrix();
 	}
 
 }