Car won't crank

1996 toyota camry, 178,500, 4cylinder

I cranked my toyota camry after work and drove for about 15 minutes to pick something up. When I attempted to crank it would not crank. When I opened the door the dome light was on and when I initially turned to key to crank, the radio and other dash lights appeared, however, when I continued to crank there was one little click and then everything went dead. No dome lights or nothing. My battery connection was tight and without corrosion, however, I could turn the connection with pressure. When I did this, I obtained dome lights and stuff again, however, when attempted to crank, the same thing would happened. Attempted to have another vehicle jump-start me, no luck. Looked at fuses, especially the alternator/starter fuse, was fine. Any help would be greatly appreciated.