diff --git a/README.md b/README.md
index 93e2f5b..ce2a91b 100644
--- a/README.md
+++ b/README.md
@@ -17,8 +17,8 @@ While `rgl` is a powerful package, it has some limitations when it comes to hand
 
 ### Drawbacks:
 
-* Blocks the R session: while the viewer window is open, you cannot use R for other tasks. You must close the viewer window to resume normal R usage.
 * Limited functionality: only displays point clouds and does not offer additional features. It is not intended to replace `rgl` for other visualization needs and custom rendering.
+* Limited to only one windows and thus one rendering.
 
 ## Installation
 
diff --git a/src/lidRviewer.cpp b/src/lidRviewer.cpp
index 95d9056..39f1b69 100644
--- a/src/lidRviewer.cpp
+++ b/src/lidRviewer.cpp
@@ -1,11 +1,194 @@
+#include <Rcpp.h>
+
+#include <SDL2/SDL.h>
+
+#include <GL/gl.h>
+#include <GL/glu.h>
+
+#include <thread>
+#include <atomic>
+
 #include "drawer.h"
 
 const float zNear = 1;
 const float zFar = 100000;
 const Uint32 time_per_frame = 1000 / 30;
+bool running = false;
+
+std::thread sdl_thread;
+
+void sdl_loop(DataFrame df)
+{
+  SDL_Event event;
+
+  unsigned int width = 600;
+  unsigned int height = 600;
+  bool run = true;
+
+  Uint32 last_time, current_time, elapsed_time;
+
+  if (SDL_Init(SDL_INIT_VIDEO) != 0)
+  {
+    Rcpp::stop("Unable to initialize SDL: %s", SDL_GetError());
+  }
+
+  SDL_GL_SetAttribute(SDL_GL_DOUBLEBUFFER, 1);
+  SDL_Window *window = SDL_CreateWindow("lidRviewer", SDL_WINDOWPOS_CENTERED, SDL_WINDOWPOS_CENTERED, width, height, SDL_WINDOW_OPENGL | SDL_WINDOW_RESIZABLE);
+
+  if (window == nullptr)
+  {
+    SDL_Quit();
+    Rcpp::stop("Unable to create SDL window: %s", SDL_GetError());
+  }
+
+  SDL_GLContext glContext = SDL_GL_CreateContext(window);
+  SDL_GL_SetSwapInterval(1); // Enable VSync
+
+  glMatrixMode(GL_PROJECTION);
+  glLoadIdentity();
+  gluPerspective(70, (double)width / height, zNear, zFar);
+
+  glEnable(GL_DEPTH_TEST);
+  glDepthFunc(GL_LEQUAL);
+  glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST);
+
+  glEnable(GL_POINT_SMOOTH);
+  glEnable(GL_LINE_SMOOTH);
+  glHint(GL_LINE_SMOOTH_HINT, GL_NICEST);
+
+  Drawer *drawer = new Drawer(window, df);
+  drawer->camera.setRotateSensivity(0.1);
+  drawer->camera.setZoomSensivity(10);
+  drawer->camera.setPanSensivity(1);
+  drawer->setPointSize(4);
+
+  last_time = SDL_GetTicks();
+
+  while (run)
+  {
+    while (SDL_PollEvent(&event))
+    {
+      switch (event.type)
+      {
+      case SDL_QUIT:
+        run = false;
+        break;
+
+      case SDL_KEYDOWN:
+        switch (event.key.keysym.sym)
+        {
+        case SDLK_ESCAPE:
+          run = false;
+          break;
+        case SDLK_z:
+          drawer->setAttribute(Attribute::Z);
+          break;
+        case SDLK_i:
+          drawer->setAttribute(Attribute::I);
+          break;
+        case SDLK_c:
+          drawer->setAttribute(Attribute::CLASS);
+          break;
+        case SDLK_r:
+        case SDLK_g:
+        case SDLK_b:
+          drawer->setAttribute(Attribute::RGB);
+          break;
+        case SDLK_q:
+          drawer->display_hide_spatial_index();
+          break;
+        case SDLK_l:
+          drawer->display_hide_edl();
+          break;
+        case SDLK_PLUS:
+        case SDLK_KP_PLUS:
+          drawer->point_size_plus();
+          break;
+        case SDLK_MINUS:
+        case SDLK_KP_MINUS:
+          drawer->point_size_minus();
+          break;
+        default:
+          drawer->camera.OnKeyboard(event.key);
+        break;
+        }
+        break;
+
+      case SDL_MOUSEMOTION:
+        drawer->camera.OnMouseMotion(event.motion);
+        break;
+
+      case SDL_MOUSEBUTTONUP:
+      case SDL_MOUSEBUTTONDOWN:
+        drawer->camera.OnMouseEvent(event.button, SDL_MouseWheelEvent{}); // Pass an empty SDL_MouseWheelEvent
+        break;
+
+      case SDL_MOUSEWHEEL:
+        drawer->camera.OnMouseEvent(SDL_MouseButtonEvent{}, event.wheel); // Pass an empty SDL_MouseButtonEvent
+        break;
+
+      case SDL_WINDOWEVENT:
+        if (event.window.event == SDL_WINDOWEVENT_RESIZED)
+        {
+          width = event.window.data1;
+          height = event.window.data2;
+          glViewport(0, 0, width, height);
+          glMatrixMode(GL_PROJECTION);
+          glLoadIdentity();
+          gluPerspective(70, (double)width / height, zNear, zFar);
+          drawer->camera.changed = true;
+        }
+        break;
+      }
+    }
+
+    current_time = SDL_GetTicks();
+    elapsed_time = current_time - last_time;
+
+    if (elapsed_time > time_per_frame)
+    {
+      drawer->draw();
+      last_time = current_time;
+    }
+    else
+    {
+      SDL_Delay(time_per_frame - elapsed_time);
+    }
+  }
+
+  current_time = SDL_GetTicks();
+  elapsed_time = current_time - last_time;
+
+  if (elapsed_time > time_per_frame)
+  {
+    drawer->draw();
+    last_time = current_time;
+  }
+  else
+  {
+    SDL_Delay(time_per_frame - elapsed_time);
+  }
+
+  delete drawer;
+  SDL_GL_DeleteContext(glContext);
+  SDL_DestroyWindow(window);
+  SDL_Quit();
+  running = false;
+}
 
 // [[Rcpp::export]]
 void viewer(DataFrame df)
+{
+  if (running) Rcpp::stop("lidRviewer is limited to one rendering point cloud");
+
+  sdl_thread = std::thread(sdl_loop, df);
+  sdl_thread.detach();  // Detach the thread to allow it to run independently
+
+  running = true;
+}
+
+
+/*void viewer(DataFrame df)
 {
   bool run = true;
 
@@ -148,4 +331,4 @@ void viewer(DataFrame df)
   SDL_DestroyWindow(window); // Correctly destroy window
   SDL_Quit();
   return;
-}
+}*/