diff --git a/src/lib.rs b/src/lib.rs
index 5cfbd2e..61a831f 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -544,6 +544,11 @@ impl GizmoConfig {
         self.view_matrix.row(2).xyz()
     }
 
+    /// Up vector of the view camera
+    pub(crate) fn view_up(&self) -> DVec3 {
+        self.view_matrix.row(1).xyz()
+    }
+
     /// Right vector of the view camera
     pub(crate) fn view_right(&self) -> DVec3 {
         self.view_matrix.row(0).xyz()
diff --git a/src/math.rs b/src/math.rs
index 2f4a7c1..3a61989 100644
--- a/src/math.rs
+++ b/src/math.rs
@@ -159,7 +159,7 @@ pub fn round_to_interval(val: f64, interval: f64) -> f64 {
 pub fn world_to_screen(viewport: Rect, mvp: DMat4, pos: DVec3) -> Option<Pos2> {
     let mut pos = mvp * DVec4::from((pos, 1.0));
 
-    if pos.w < 0.0 {
+    if pos.w < 1e-10 {
         return None;
     }
 
diff --git a/src/painter.rs b/src/painter.rs
index 580dd4a..d40f2ab 100644
--- a/src/painter.rs
+++ b/src/painter.rs
@@ -30,12 +30,26 @@ impl Painter3d {
         end_angle: f64,
         stroke: impl Into<Stroke>,
     ) -> ShapeIdx {
-        let angle = end_angle - start_angle;
-        let step_count = steps(angle);
+        let mut closed = false;
+        let mut angle = end_angle - start_angle;
+
+        if angle <= -TAU {
+            angle = -TAU;
+            closed = true;
+        } else if angle >= TAU {
+            angle = TAU;
+            closed = true;
+        }
+
+        let mut step_count = steps(angle);
         let mut points = Vec::with_capacity(step_count);
 
         let step_size = angle / (step_count - 1) as f64;
 
+        if closed {
+            step_count -= 1;
+        }
+
         for step in (0..step_count).map(|i| step_size * i as f64) {
             let x = f64::cos(start_angle + step) * radius;
             let z = f64::sin(start_angle + step) * radius;
@@ -48,7 +62,11 @@ impl Painter3d {
             .filter_map(|point| self.vec3_to_pos2(point))
             .collect::<Vec<_>>();
 
-        self.painter.add(Shape::line(points, stroke))
+        self.painter.add(if closed {
+            Shape::closed_line(points, stroke)
+        } else {
+            Shape::line(points, stroke)
+        })
     }
 
     pub fn circle(&self, radius: f64, stroke: impl Into<Stroke>) -> ShapeIdx {
diff --git a/src/subgizmo/rotation.rs b/src/subgizmo/rotation.rs
index b2ff9be..051d5e6 100644
--- a/src/subgizmo/rotation.rs
+++ b/src/subgizmo/rotation.rs
@@ -1,7 +1,7 @@
 use std::f64::consts::{FRAC_PI_2, PI, TAU};
 
 use egui::Ui;
-use glam::{DMat4, DQuat, DVec2, DVec3};
+use glam::{DMat3, DMat4, DQuat, DVec2, DVec3};
 
 use crate::math::{ray_to_plane_origin, rotation_align, round_to_interval, world_to_screen};
 use crate::painter::Painter3d;
@@ -154,38 +154,46 @@ fn arc_angle(subgizmo: &SubGizmoConfig<RotationState>) -> f64 {
     let min_dot = 0.990;
     let max_dot = 0.995;
 
-    f64::min(1.0, f64::max(0.0, dot - min_dot) / (max_dot - min_dot)) * FRAC_PI_2 + FRAC_PI_2
+    let mut angle =
+        f64::min(1.0, f64::max(0.0, dot - min_dot) / (max_dot - min_dot)) * FRAC_PI_2 + FRAC_PI_2;
+    if (angle - PI).abs() < 1e-2 {
+        angle = PI;
+    }
+    angle
 }
 
 /// Calculates a matrix used when rendering the rotation axis.
 fn rotation_matrix(subgizmo: &SubGizmoConfig<RotationState>) -> DMat4 {
+    if subgizmo.direction == GizmoDirection::Screen {
+        let forward = subgizmo.config.view_forward();
+        let right = subgizmo.config.view_right();
+        let up = subgizmo.config.view_up();
+
+        let rotation = DQuat::from_mat3(&DMat3::from_cols(up, -forward, -right));
+
+        return DMat4::from_rotation_translation(rotation, subgizmo.config.translation);
+    }
+
     // First rotate towards the gizmo normal
     let local_normal = subgizmo.local_normal();
     let rotation = rotation_align(DVec3::Y, local_normal);
     let mut rotation = DQuat::from_mat3(&rotation);
     let config = subgizmo.config;
 
-    // TODO optimize this. Use same code for all axes if possible.
-
-    if subgizmo.direction != GizmoDirection::Screen {
-        if config.local_space() {
-            rotation = config.rotation * rotation;
-        }
-
-        let tangent = tangent(subgizmo);
-        let normal = subgizmo.normal();
-        let mut forward = config.view_forward();
-        if config.left_handed {
-            forward *= -1.0;
-        }
-        let angle = f64::atan2(tangent.cross(forward).dot(normal), tangent.dot(forward));
+    if config.local_space() {
+        rotation = config.rotation * rotation;
+    }
 
-        // Rotate towards the camera, along the rotation axis.
-        rotation = DQuat::from_axis_angle(normal, angle) * rotation;
-    } else {
-        let angle = f64::atan2(local_normal.x, local_normal.z) + FRAC_PI_2;
-        rotation = DQuat::from_axis_angle(local_normal, angle) * rotation;
+    let tangent = tangent(subgizmo);
+    let normal = subgizmo.normal();
+    let mut forward = config.view_forward();
+    if config.left_handed {
+        forward *= -1.0;
     }
+    let angle = f64::atan2(tangent.cross(forward).dot(normal), tangent.dot(forward));
+
+    // Rotate towards the camera, along the rotation axis.
+    rotation = DQuat::from_axis_angle(normal, angle) * rotation;
 
     DMat4::from_rotation_translation(rotation, config.translation)
 }