diff --git a/Vec-Transform.cabal b/Vec-Transform.cabal
--- a/Vec-Transform.cabal
+++ b/Vec-Transform.cabal
@@ -1,5 +1,5 @@
 name: Vec-Transform
-version: 1.0.0
+version: 1.0.1
 cabal-version: >=1.2.3
 build-type: Simple
 license: BSD3
diff --git a/src/Data/Vec/LinAlg/Transform3D.hs b/src/Data/Vec/LinAlg/Transform3D.hs
--- a/src/Data/Vec/LinAlg/Transform3D.hs
+++ b/src/Data/Vec/LinAlg/Transform3D.hs
@@ -11,6 +11,8 @@
 -- |
 -- Some 4x4 transformation matrices, using a right handed coordinate system.
 -- These matrices are used by multiplying vectors from the right.
+--
+-- The projection matrices will produce vectors in a left handed coordinate system, i.e. where z goes into the screen.
 -----------------------------------------------------------------------------
 
 module Data.Vec.LinAlg.Transform3D (
@@ -21,6 +23,7 @@
     rotationVec,
     rotationEuler,
     rotationQuat,
+    rotationLookAt,
     scaling,
     perspective,
     orthogonal,
@@ -88,14 +91,26 @@
                  2*(x*z-y*w), 2*(x*w+y*z), 1-2*x^2-2*y^2, 0,
                  0, 0, 0, 1]
 
+-- | A 4x4 rotation matrix for turning toward a point. Useful for targeting a camera to a specific point.
+rotationLookAt :: Floating a
+               => Vec3 a -- ^ The up direction, not necessary unit length or perpendicular to the view vector
+               -> Vec3 a -- ^ The viewers position
+               -> Vec3 a -- ^ The point to look at
+               -> Mat44 a
+rotationLookAt up' pos target = transpose $ homVec left :. homVec up :. homVec forward :. homPoint 0 :. ()
+    where
+        forward = normalize $ pos - target
+        left = normalize $ up' `cross` forward
+        up = forward `cross`left
+
 -- | A 4x4 scaling matrix
 scaling :: Num a => Vec3 a -> Mat44 a
 scaling = diagonal . homPoint
 
--- | A perspective projection matrix for a right handed coordinate system looking down negative z
+-- | A perspective projection matrix for a right handed coordinate system looking down negative z. This will project far plane to @z = +1@ and near plane to @z = -1@, i.e. into a left handed system.
 perspective :: Floating a
-            => a -- ^ Near plane clipping distance
-            -> a -- ^ Far plane clipping distance
+            => a -- ^ Near plane clipping distance (always positive)
+            -> a -- ^ Far plane clipping distance (always positive)
             -> a -- ^ Field of view of the y axis, in radians
             -> a -- ^ Aspect ratio, i.e. screen's width\/height
             -> Mat44 a
@@ -109,7 +124,7 @@
         r = aspect*t
         l = -r
 
--- | An orthogonal projection matrix for a right handed coordinate system looking down negative z
+-- | An orthogonal projection matrix for a right handed coordinate system looking down negative z. This will project far plane to @z = +1@ and near plane to @z = -1@, i.e. into a left handed system.
 orthogonal :: Fractional a
            => a -- ^ Near plane clipping distance
            -> a -- ^ Far plane clipping distance