diff --git a/src/main.cpp b/src/main.cpp
index 6e94f6f..ed3ca5c 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -1,7 +1,10 @@
 #include <GL/glew.h>
 #include <GL/gl.h>
 #include <GLFW/glfw3.h>
+#include <glm/ext/matrix_transform.hpp>
+#include <glm/ext/quaternion_trigonometric.hpp>
 #include <glm/ext/vector_float3.hpp>
+#include <glm/gtc/quaternion.hpp>
 #include <stdio.h>
 #include <vector>
 
@@ -107,15 +110,15 @@ void processInput(GLFWwindow* window) {
         float shiftFactor = (glfwGetKey(window, GLFW_KEY_LEFT_SHIFT) == GLFW_PRESS) ? -0.5 : 0.5;
         shiftFactor *= deltaTime;
         if (glfwGetKey(window, GLFW_KEY_X) == GLFW_PRESS) {
-            parts.back().rotation.x += shiftFactor;
+            parts.back().rotation *= glm::angleAxis(shiftFactor, glm::vec3(1, 0, 0));
             syncPartPhysics(parts.back());
         }
         if (glfwGetKey(window, GLFW_KEY_Y) == GLFW_PRESS) {
-            parts.back().rotation.y += shiftFactor;
+            parts.back().rotation *= glm::angleAxis(shiftFactor, glm::vec3(0, 1, 0));
             syncPartPhysics(parts.back());
         }
         if (glfwGetKey(window, GLFW_KEY_Z) == GLFW_PRESS) {
-            parts.back().rotation.z += shiftFactor;
+            parts.back().rotation *= glm::angleAxis(shiftFactor, glm::vec3(0, 0, 1));
             syncPartPhysics(parts.back());
         }
     }
diff --git a/src/part.h b/src/part.h
index f812f01..b1a349e 100644
--- a/src/part.h
+++ b/src/part.h
@@ -1,5 +1,7 @@
 #pragma once
-#include <glm/glm.hpp>
+#include <glm/ext/matrix_transform.hpp>
+#include <glm/fwd.hpp>
+#include <glm/gtc/quaternion.hpp>
 #include <reactphysics3d/body/RigidBody.h>
 #include "rendering/material.h"
 
@@ -7,7 +9,7 @@ namespace rp = reactphysics3d;
 
 struct Part {
     glm::vec3 position;
-    glm::vec3 rotation;
+    glm::quat rotation = glm::identity<glm::quat>();
     glm::vec3 scale;
     Material material;
     
diff --git a/src/physics/simulation.cpp b/src/physics/simulation.cpp
index c0f92e9..36ab8fe 100644
--- a/src/physics/simulation.cpp
+++ b/src/physics/simulation.cpp
@@ -34,12 +34,8 @@ void simulationInit() {
 
 void syncPartPhysics(Part& part) {
     glm::mat4 rotMat = glm::mat4(1.0f);
-    rotMat = glm::rotate(rotMat, part.rotation.x, glm::vec3(1., 0., 0.));
-    rotMat = glm::rotate(rotMat, part.rotation.y, glm::vec3(0., 1., 0.));
-    rotMat = glm::rotate(rotMat, part.rotation.z, glm::vec3(0., 0., 1.));
-    glm::quat quat(rotMat);
 
-    rp::Transform transform(glmToRp(part.position), glmToRp(quat));
+    rp::Transform transform(glmToRp(part.position), glmToRp(part.rotation));
     if (!part.rigidBody) {
         part.rigidBody = world->createRigidBody(transform);
     } else {
@@ -63,6 +59,7 @@ void physicsStep(float deltaTime) {
     for (Part& part : parts) {
         const rp::Transform& transform = part.rigidBody->getTransform();
         part.position = rpToGlm(transform.getPosition());
-        part.rotation = glm::eulerAngles(rpToGlm(transform.getOrientation()));
+        // part.rotation = glm::eulerAngles(rpToGlm(transform.getOrientation()));
+        part.rotation = rpToGlm(transform.getOrientation());
     }
 }
\ No newline at end of file
diff --git a/src/rendering/defaultmeshes.cpp b/src/rendering/defaultmeshes.cpp
index 9b85a78..e6706a8 100644
--- a/src/rendering/defaultmeshes.cpp
+++ b/src/rendering/defaultmeshes.cpp
@@ -5,12 +5,12 @@ Mesh* CUBE_MESH;
 void initMeshes() {
     static float vertices[] = {
         // positions                     // normals                  // texture coords
-        -0.5f,  -0.5f,  -0.5f,          0.0f,   0.0f,   1.0f,         0.0f,   0.0f, 
-        0.5f,   -0.5f,  -0.5f,          0.0f,   0.0f,   1.0f,         1.0f,   0.0f, 
-        0.5f,   0.5f,   -0.5f,          0.0f,   0.0f,   1.0f,         1.0f,   1.0f, 
-        0.5f,   0.5f,   -0.5f,          0.0f,   0.0f,   1.0f,         1.0f,   1.0f, 
-        -0.5f,  0.5f,   -0.5f,          0.0f,   0.0f,   1.0f,         0.0f,   1.0f, 
-        -0.5f,  -0.5f,  -0.5f,          0.0f,   0.0f,   1.0f,         0.0f,   0.0f, 
+        -0.5f,  -0.5f,  -0.5f,          0.0f,   0.0f,   -1.0f,        0.0f,   0.0f, 
+        0.5f,   -0.5f,  -0.5f,          0.0f,   0.0f,   -1.0f,        1.0f,   0.0f, 
+        0.5f,   0.5f,   -0.5f,          0.0f,   0.0f,   -1.0f,        1.0f,   1.0f, 
+        0.5f,   0.5f,   -0.5f,          0.0f,   0.0f,   -1.0f,        1.0f,   1.0f, 
+        -0.5f,  0.5f,   -0.5f,          0.0f,   0.0f,   -1.0f,        0.0f,   1.0f, 
+        -0.5f,  -0.5f,  -0.5f,          0.0f,   0.0f,   -1.0f,        0.0f,   0.0f, 
         -0.5f,  -0.5f,  0.5f,           0.0f,   0.0f,   1.0f,         0.0f,   0.0f, 
         0.5f,   -0.5f,  0.5f,           0.0f,   0.0f,   1.0f,         1.0f,   0.0f, 
         0.5f,   0.5f,   0.5f,           0.0f,   0.0f,   1.0f,         1.0f,   1.0f, 
diff --git a/src/rendering/renderer.cpp b/src/rendering/renderer.cpp
index c23abc7..6a5fba7 100644
--- a/src/rendering/renderer.cpp
+++ b/src/rendering/renderer.cpp
@@ -1,6 +1,7 @@
 #include <GL/glew.h>
 #include <GLFW/glfw3.h>
 #include <GL/gl.h>
+#include <cstdio>
 #include <glm/ext.hpp>
 #include <glm/ext/matrix_transform.hpp>
 #include <glm/glm.hpp>
@@ -75,9 +76,7 @@ void render(GLFWwindow* window) {
     for (Part part : parts) {
         glm::mat4 model = glm::mat4(1.0f);
         model = glm::translate(model, part.position);
-        model = glm::rotate(model, part.rotation.x, glm::vec3(1., 0., 0.));
-        model = glm::rotate(model, part.rotation.y, glm::vec3(0., 1., 0.));
-        model = glm::rotate(model, part.rotation.z, glm::vec3(0., 0., 1.));
+        model = model * glm::mat4_cast(part.rotation);
         model = glm::scale(model, part.scale);
         shader->set("model", model);
         glm::mat3 normalMatrix = glm::mat3(glm::transpose(glm::inverse(model)));