diff --git a/modules/core/src/classes/euler.ts b/modules/core/src/classes/euler.ts
index 80a30d5..f237fad 100644
--- a/modules/core/src/classes/euler.ts
+++ b/modules/core/src/classes/euler.ts
@@ -289,23 +289,7 @@ export class Euler extends MathArray {
 
   // TODO - move to Quaternion
   getQuaternion(): Quaternion {
-    const q = new Quaternion();
-    switch (this[3]) {
-      case RotationOrder.XYZ:
-        return q.rotateX(this[0]).rotateY(this[1]).rotateZ(this[2]);
-      case RotationOrder.YXZ:
-        return q.rotateY(this[0]).rotateX(this[1]).rotateZ(this[2]);
-      case RotationOrder.ZXY:
-        return q.rotateZ(this[0]).rotateX(this[1]).rotateY(this[2]);
-      case RotationOrder.ZYX:
-        return q.rotateZ(this[0]).rotateY(this[1]).rotateX(this[2]);
-      case RotationOrder.YZX:
-        return q.rotateY(this[0]).rotateZ(this[1]).rotateX(this[2]);
-      case RotationOrder.XZY:
-        return q.rotateX(this[0]).rotateZ(this[1]).rotateY(this[2]);
-      default:
-        throw new Error(ERR_UNKNOWN_ORDER);
-    }
+    return new Quaternion().fromEuler(this);
   }
 
   // INTERNAL METHODS
diff --git a/modules/core/src/classes/matrix4.ts b/modules/core/src/classes/matrix4.ts
index 48e0219..a4fa84a 100644
--- a/modules/core/src/classes/matrix4.ts
+++ b/modules/core/src/classes/matrix4.ts
@@ -240,6 +240,34 @@ export class Matrix4 extends Matrix {
     return this.check();
   }
 
+  /**
+   * Calculates a 4x4 matrix from the given matrix3
+   * @param matrix3 
+   * @returns self
+   */
+  fromMatrix3(matrix3: Readonly<NumericArray>): this {
+    this[0] = matrix3[0];
+    this[1] = matrix3[1];
+    this[2] = matrix3[2];
+    this[3] = 0;
+
+    this[4] = matrix3[3];
+    this[5] = matrix3[4];
+    this[6] = matrix3[5];
+    this[7] = 0;
+
+    this[8] = matrix3[6];
+    this[9] = matrix3[7];
+    this[10] = matrix3[8];
+    this[11] = 0;
+
+    this[12] = 0;
+    this[13] = 0;
+    this[14] = 0;
+    this[15] = 1;
+    return this.check();
+  }
+
   /**
    * Generates a frustum matrix with the given bounds
    * @param view.left - Left bound of the frustum
diff --git a/modules/core/src/classes/quaternion.ts b/modules/core/src/classes/quaternion.ts
index ee59e03..b82b8ce 100644
--- a/modules/core/src/classes/quaternion.ts
+++ b/modules/core/src/classes/quaternion.ts
@@ -31,6 +31,7 @@ import {
 } from '../gl-matrix/quat';
 // @ts-ignore gl-matrix types...
 import {transformQuat as vec4_transformQuat} from '../gl-matrix/vec4';
+import { Euler } from './euler';
 
 const IDENTITY_QUATERNION = [0, 0, 0, 1] as const;
 
@@ -82,6 +83,31 @@ export class Quaternion extends MathArray {
     return this.check();
   }
 
+  /**
+   * Creates a quaternion from the given Euler.
+   * @param euler
+   * @returns
+   */
+  fromEuler(euler: Euler): this {
+    this.identity();
+    switch (euler.order) {
+      case Euler.XYZ:
+        return this.rotateX(euler[0]).rotateY(euler[1]).rotateZ(euler[2]);
+      case Euler.YXZ:
+        return this.rotateY(euler[0]).rotateX(euler[1]).rotateZ(euler[2]);
+      case Euler.ZXY:
+        return this.rotateZ(euler[0]).rotateX(euler[1]).rotateY(euler[2]);
+      case Euler.ZYX:
+        return this.rotateZ(euler[0]).rotateY(euler[1]).rotateX(euler[2]);
+      case Euler.YZX:
+        return this.rotateY(euler[0]).rotateZ(euler[1]).rotateX(euler[2]);
+      case Euler.XZY:
+        return this.rotateX(euler[0]).rotateZ(euler[1]).rotateY(euler[2]);
+      default:
+        throw new Error('Unknown Euler angle order');
+    }
+  }
+
   fromAxisRotation(axis: Readonly<NumericArray>, rad: number): this {
     quat_setAxisAngle(this, axis, rad);
     return this.check();
@@ -283,10 +309,10 @@ export class Quaternion extends MathArray {
     arg0:
       | Readonly<NumericArray>
       | {
-          start: Readonly<NumericArray>;
-          target: Readonly<NumericArray>;
-          ratio: number;
-        },
+        start: Readonly<NumericArray>;
+        target: Readonly<NumericArray>;
+        ratio: number;
+      },
     arg1?: Readonly<NumericArray> | number,
     arg2?: number
   ): this {