diff --git a/.gitignore b/.gitignore
index 1961137..5ba9d92 100644
--- a/.gitignore
+++ b/.gitignore
@@ -45,3 +45,7 @@ compile_commands.json
 Makefile
 cmake_install.cmake
 Testing/
+
+# runtime files
+imgui.ini
+opensim.log
diff --git a/src/OpenSimLoader.cpp b/src/OpenSimLoader.cpp
index 10a8a76..7853f9e 100644
--- a/src/OpenSimLoader.cpp
+++ b/src/OpenSimLoader.cpp
@@ -44,9 +44,8 @@ Color4 toColor(const OpenSim::Appearance& appearance) {
 }
 
 Range3D scaledBounds(const Range3D& bounds, const Vector3& scale) {
+    bool hasBounds = false;
     Range3D out;
-    out.min() = Vector3{std::numeric_limits<Float>::max()};
-    out.max() = Vector3{-std::numeric_limits<Float>::max()};
     for(const Vector3& corner: {
             Vector3{bounds.min().x(), bounds.min().y(), bounds.min().z()},
             Vector3{bounds.min().x(), bounds.min().y(), bounds.max().z()},
@@ -57,15 +56,17 @@ Range3D scaledBounds(const Range3D& bounds, const Vector3& scale) {
             Vector3{bounds.max().x(), bounds.max().y(), bounds.min().z()},
             Vector3{bounds.max().x(), bounds.max().y(), bounds.max().z()},
         }) {
-        out = Math::join(out, Range3D::fromSize(corner*scale, {}));
+        const Range3D point = Range3D::fromSize(corner*scale, {});
+        if(hasBounds) out = Math::join(out, point);
+        else out = point;
+        hasBounds = true;
     }
     return out;
 }
 
 Range3D transformBounds(const Range3D& bounds, const Matrix4& transform) {
+    bool hasBounds = false;
     Range3D out;
-    out.min() = Vector3{std::numeric_limits<Float>::max()};
-    out.max() = Vector3{-std::numeric_limits<Float>::max()};
     for(const Vector3& corner: {
             Vector3{bounds.min().x(), bounds.min().y(), bounds.min().z()},
             Vector3{bounds.min().x(), bounds.min().y(), bounds.max().z()},
@@ -76,7 +77,10 @@ Range3D transformBounds(const Range3D& bounds, const Matrix4& transform) {
             Vector3{bounds.max().x(), bounds.max().y(), bounds.min().z()},
             Vector3{bounds.max().x(), bounds.max().y(), bounds.max().z()},
         }) {
-        out = Math::join(out, Range3D::fromSize(transform.transformPoint(corner), {}));
+        const Range3D point = Range3D::fromSize(transform.transformPoint(corner), {});
+        if(hasBounds) out = Math::join(out, point);
+        else out = point;
+        hasBounds = true;
     }
     return out;
 }
@@ -114,15 +118,17 @@ std::shared_ptr<CpuMesh> buildCpuMesh(const SimTK::PolygonalMesh& mesh) {
         }
     }
 
+    bool hasBounds = false;
     Range3D bounds;
-    bounds.min() = Vector3{std::numeric_limits<Float>::max()};
-    bounds.max() = Vector3{-std::numeric_limits<Float>::max()};
 
     cpu->vertices.reserve(positions.size());
     for(std::size_t i = 0; i != positions.size(); ++i) {
         const Vector3 normal = normals[i].isZero() ? Vector3::yAxis() : normals[i].normalized();
         cpu->vertices.push_back({positions[i], normal});
-        bounds = Math::join(bounds, Range3D::fromSize(positions[i], {}));
+        const Range3D point = Range3D::fromSize(positions[i], {});
+        if(hasBounds) bounds = Math::join(bounds, point);
+        else bounds = point;
+        hasBounds = true;
     }
     cpu->bounds = bounds;
     return cpu;
@@ -302,8 +308,7 @@ LoadedScene loadScene(const std::string& modelPath,
     }
     for(MarkerTrack& marker: scene.markers) marker.positions.reserve(trajectory.getSize());
 
-    scene.initialBounds.min() = Vector3{std::numeric_limits<Float>::max()};
-    scene.initialBounds.max() = Vector3{-std::numeric_limits<Float>::max()};
+    bool hasSceneBounds = false;
 
     for(std::size_t sample = 0; sample != trajectory.getSize(); ++sample) {
         const SimTK::State& state = trajectory[sample];
@@ -317,19 +322,23 @@ LoadedScene loadScene(const std::string& modelPath,
             scene.frames[i].translations.push_back(translation);
             scene.frames[i].rotations.push_back(rotation);
 
-            if(sample == 0) {
-                const Matrix4 world = frameMatrix(translation, rotation);
-                for(const GeometrySpec& geometry: scene.frames[i].geometries) {
-                    const Range3D scaled = scaledBounds(geometry.mesh->bounds, geometry.scale);
-                    scene.initialBounds = Math::join(scene.initialBounds, transformBounds(scaled, world));
-                }
+            const Matrix4 world = frameMatrix(translation, rotation);
+            for(const GeometrySpec& geometry: scene.frames[i].geometries) {
+                const Range3D scaled = scaledBounds(geometry.mesh->bounds, geometry.scale);
+                const Range3D worldBounds = transformBounds(scaled, world);
+                if(hasSceneBounds) scene.initialBounds = Math::join(scene.initialBounds, worldBounds);
+                else scene.initialBounds = worldBounds;
+                hasSceneBounds = true;
             }
         }
 
         for(std::size_t i = 0; i != markerPtrs.size(); ++i) {
             const Vector3 position = toVector3(markerPtrs[i]->getLocationInGround(state));
             scene.markers[i].positions.push_back(position);
-            if(sample == 0) scene.initialBounds = Math::join(scene.initialBounds, Range3D::fromSize(position, {}));
+            const Range3D point = Range3D::fromSize(position, {});
+            if(hasSceneBounds) scene.initialBounds = Math::join(scene.initialBounds, point);
+            else scene.initialBounds = point;
+            hasSceneBounds = true;
         }
     }