diff --git a/legacy/ephysics/src/bin/ephysics_sandbox.c b/legacy/ephysics/src/bin/ephysics_sandbox.c
index 4d1a4e64b7..5d29238568 100644
--- a/legacy/ephysics/src/bin/ephysics_sandbox.c
+++ b/legacy/ephysics/src/bin/ephysics_sandbox.c
@@ -115,16 +115,17 @@ _world_restitution_cb(void *data, Evas_Object *obj, void *event_info __UNUSED__)
 static void
 _type_set_cb(void *data, Evas_Object *obj, void *event_info __UNUSED__)
 {
-   double mass, rotation, friction, restitution, lin_damping, ang_damping;
+   double mass, friction, restitution, lin_damping, ang_damping;
    double lin_sleeping, ang_sleeping;
    EPhysics_Body_Material material;
+   EPhysics_Quaternion *rotation;
    Evas_Object *body_image;
    EPhysics_World *world;
    Body_Data *bd = data;
    EPhysics_Body *body = bd->body;
 
    mass = ephysics_body_mass_get(body);
-   ephysics_body_rotation_get(body, 0, 0, &rotation);
+   rotation = ephysics_body_rotation_get(body);
    friction = ephysics_body_friction_get(body);
    restitution = ephysics_body_restitution_get(body);
    ephysics_body_damping_get(body, &lin_damping, &ang_damping);
@@ -151,7 +152,7 @@ _type_set_cb(void *data, Evas_Object *obj, void *event_info __UNUSED__)
 
    ephysics_body_evas_object_set(body, body_image, EINA_TRUE);
    ephysics_body_mass_set(body, mass);
-   ephysics_body_rotation_set(body, 0, 0, rotation);
+   ephysics_body_rotation_set(body, rotation);
    ephysics_body_friction_set(body, friction);
    ephysics_body_restitution_set(body, restitution);
    ephysics_body_damping_set(body, lin_damping, ang_damping);
@@ -167,6 +168,7 @@ _type_set_cb(void *data, Evas_Object *obj, void *event_info __UNUSED__)
                              elm_slider_value_get(bd->controls.force.torque));
 
    bd->body = body;
+   free(rotation);
 }
 
 static void
@@ -227,8 +229,13 @@ _density_set_cb(void *data, Evas_Object *obj, void *event_info __UNUSED__)
 static void
 _rotation_set_cb(void *data, Evas_Object *obj, void *event_info __UNUSED__)
 {
+   EPhysics_Quaternion *quat;
    Body_Data *bd = data;
-   ephysics_body_rotation_set(bd->body, 0, 0, elm_slider_value_get(obj));
+
+   quat = ephysics_quaternion_new(0, 0, 0, 0);
+   ephysics_quaternion_euler_set(quat, 0, 0, elm_slider_value_get(obj));
+   ephysics_body_rotation_set(bd->body, quat);
+   free(quat);
 }
 
 static void
@@ -713,7 +720,7 @@ _menu_body_page_add(World_Data *wd, Body_Data *bd, const char *pg_label)
    evas_object_data_set(widget, "mass", aux_widget);
    evas_object_smart_callback_add(widget, "delay,changed", _density_set_cb,
                                   bd);
-   widget = _slider_add(bx, "Rotation (º)", "%1.0f", 0, 360, 0);
+   widget = _slider_add(bx, "Rotation (rad)", "%1.3f", -3.1415, 3.1415, 0);
    evas_object_smart_callback_add(widget, "delay,changed", _rotation_set_cb,
                                   bd);
    widget = _slider_add(bx, "Friction", "%1.3f", 0, 1, 0.5);
diff --git a/legacy/ephysics/src/bin/test_bouncing_3d.c b/legacy/ephysics/src/bin/test_bouncing_3d.c
index 2012b70cb8..e239ab699f 100644
--- a/legacy/ephysics/src/bin/test_bouncing_3d.c
+++ b/legacy/ephysics/src/bin/test_bouncing_3d.c
@@ -7,14 +7,18 @@
 static void
 _pos_print_cb(void *data __UNUSED__, EPhysics_Body *body, void *event_info __UNUSED__)
 {
+   EPhysics_Quaternion *quat;
+   double rx, ry, rz, rw;
    Evas_Coord x, y, z;
-   double rx, ry, rz;
 
    ephysics_body_geometry_get(body, &x, &y, &z, NULL, NULL, NULL);
-   ephysics_body_rotation_get(body, &rx, &ry, &rz);
+
+   quat = ephysics_body_rotation_get(body);
+   ephysics_quaternion_get(quat, &rx, &ry, &rz, &rw);
+   free(quat);
 
    printf("Position X:%i Y:%i Z:%i\n", x, y, z);
-   printf("Rotation X:%lf Y:%lf Z:%lf\n", rx, ry, rz);
+   printf("Rotation X:%lf Y:%lf Z:%lf W:%lf\n", rx, ry, rz, rw);
 }
 
 static Eina_Bool
diff --git a/legacy/ephysics/src/bin/test_cube_3d.c b/legacy/ephysics/src/bin/test_cube_3d.c
index 01bcf7f8bb..cf107299b7 100644
--- a/legacy/ephysics/src/bin/test_cube_3d.c
+++ b/legacy/ephysics/src/bin/test_cube_3d.c
@@ -9,16 +9,25 @@
 static void
 _mouse_move_cb(void *data, Evas *e __UNUSED__, Evas_Object *obj __UNUSED__, void *event_info)
 {
+   EPhysics_Quaternion *quat_prev, *quat_delta, *quat;
    Evas_Event_Mouse_Move *mmove = event_info;
    EPhysics_Body *body = data;
-   double rx, ry, rz;
+   double rx, ry;
 
    if (mmove->buttons != 1) return;
 
-   ephysics_body_rotation_get(body, &rx, &ry, &rz);
-   rx += mmove->cur.output.y - mmove->prev.output.y;
-   ry += mmove->cur.output.x - mmove->prev.output.x;
-   ephysics_body_rotation_set(body, rx, ry, rz);
+   rx = mmove->cur.output.y - mmove->prev.output.y;
+   ry = mmove->cur.output.x - mmove->prev.output.x;
+
+   quat_prev = ephysics_body_rotation_get(body);
+   quat_delta = ephysics_quaternion_new(0, 0, 0, 0);
+   ephysics_quaternion_euler_set(quat_delta, -ry * 0.06, - rx * 0.04, 0);
+   quat = ephysics_quaternion_multiply(quat_prev, quat_delta);
+   ephysics_body_rotation_set(body, quat);
+
+   free(quat_prev);
+   free(quat_delta);
+   free(quat);
 }
 
 static void
diff --git a/legacy/ephysics/src/bin/test_rotating_forever.c b/legacy/ephysics/src/bin/test_rotating_forever.c
index 6afc68339e..d0be41f939 100644
--- a/legacy/ephysics/src/bin/test_rotating_forever.c
+++ b/legacy/ephysics/src/bin/test_rotating_forever.c
@@ -7,11 +7,19 @@
 static Eina_Bool
 _rotate_cb(void *data)
 {
+   EPhysics_Quaternion *quat_prev, *quat_delta, *quat;
    EPhysics_Body *body = data;
-   double rotation;
 
-   ephysics_body_rotation_get(body, NULL, NULL, &rotation);
-   ephysics_body_rotation_set(body, 0, 0, ((int) round(rotation) + 5) % 360);
+   quat_prev = ephysics_body_rotation_get(body);
+   quat_delta = ephysics_quaternion_new(0, 0, -0.15, 0.98);
+   ephysics_quaternion_normalize(quat_delta);
+   quat = ephysics_quaternion_multiply(quat_delta, quat_prev);
+
+   ephysics_body_rotation_set(body, quat);
+
+   free(quat_prev);
+   free(quat_delta);
+   free(quat);
 
    return EINA_TRUE;
 }
@@ -65,15 +73,20 @@ _del_torque_cb(void *data __UNUSED__, Evas *e __UNUSED__, Evas_Object *obj, void
 static void
 _update_object_cb(void *data __UNUSED__, EPhysics_Body *body, void *event_info __UNUSED__)
 {
-   double rot, vrot, torque;
+   double rx, ry, rz, rw, vrot, torque;
+   EPhysics_Quaternion *quat;
 
-   ephysics_body_rotation_get(body, NULL, NULL, &rot);
    ephysics_body_angular_velocity_get(body, NULL, NULL, &vrot);
    ephysics_body_torques_get(body, NULL, NULL, &torque);
 
+   quat = ephysics_body_rotation_get(body);
+   ephysics_quaternion_get(quat, &rx, &ry, &rz, &rw);
+   free(quat);
+
    ephysics_body_evas_object_update(body);
 
-   DBG("body: %p, rot: %lf, vrot: %lf, torque: %lf", body, rot, vrot, torque);
+   DBG("body: %p, rot: (%lf, %lf, %lf, %lf), vrot: %lf, torque: %lf", body,
+       rx, ry, rz, rw, vrot, torque);
 }
 
 static void
diff --git a/legacy/ephysics/src/lib/EPhysics.h b/legacy/ephysics/src/lib/EPhysics.h
index a4409a34d1..df2b3da0da 100644
--- a/legacy/ephysics/src/lib/EPhysics.h
+++ b/legacy/ephysics/src/lib/EPhysics.h
@@ -115,6 +115,319 @@ EAPI int ephysics_init(void);
  */
 EAPI int ephysics_shutdown(void);
 
+/**
+ * @}
+ */
+
+/**
+ * @defgroup EPhysics_Quaternion EPhysics Quaternion
+ * @ingroup EPhysics
+ *
+ * @{
+ *
+ * Quaternions are used to perform linear algebra rotations.
+ *
+ * Functions regarding rotation, like @ref ephysics_body_rotation_set()
+ * and @ref ephysics_body_rotation_get() would need that. Quaternions
+ * can be used to rotate evas maps as well, with evas_map_util_quat_rotate(),
+ * but in this case quaternion values need to be get with
+ * @ref ephysics_quaternion_get(), since evas don't accept
+ * EPhysics_Quaternion type.
+ *
+ * A quaternion can be created with ephysics_quaternion_new(), and many
+ * operations can be performed with that, as:
+ * @li Sum: @ref ephysics_quaternion_sum()
+ * @li Difference: @ref ephysics_quaternion_diff()
+ * @li Multiple by another quaternion: @ref ephysics_quaternion_multiply()
+ * @li Multiply by scalar: @ref ephysics_quaternion_scale()
+ * @li Divide by scalar: @ref ephysics_quaternion_inverse_scale()
+ * @li Calculate length: @ref ephysics_quaternion_length_get()
+ * @li Calculate angle between quaternions: @ref ephysics_quaternion_angle_get()
+ */
+
+/**
+ * @typedef EPhysics_Quaternion
+ *
+ * Quaternion handle, represents a quaternion to be used to rotate bodies.
+ *
+ * Created with @ref ephysics_quaternion_new() and deleted with free().
+ *
+ * @ingroup EPhysics_Quaternion
+ */
+typedef struct _EPhysics_Quaternion EPhysics_Quaternion;
+
+/**
+ * @brief
+ * Create a new quaternion.
+ *
+ * @note It should be deleted with free() after usage is concluded.
+ *
+ * This values can be modified later by quaternion operations or set directly.
+ *
+ * @param x The x coordinate.
+ * @param y The y coordinate.
+ * @param z The z coordinate.
+ * @param w The rotation.
+ * @return The created quaternion or @c NULL on error.
+ *
+ * @see ephysics_quaternion_set();
+ * @see ephysics_quaternion_axis_angle_set();
+ * @see ephysics_quaternion_euler_set();
+ * @see ephysics_quaternion_scale();
+ * @see ephysics_quaternion_sum();
+ *
+ * @ingroup EPhysics_Quaternion
+ */
+EAPI EPhysics_Quaternion *ephysics_quaternion_new(double x, double y, double z, double w);
+
+/**
+ * @brief
+ * Get quaternion values.
+ *
+ * @param quat Quaternion to get values from.
+ * @param x The x coordinate.
+ * @param y The y coordinate.
+ * @param z The z coordinate.
+ * @param w The rotation.
+ *
+ * @see ephysics_quaternion_set();
+ *
+ * @ingroup EPhysics_Quaternion
+ */
+EAPI void ephysics_quaternion_get(const EPhysics_Quaternion *quat, double *x, double *y, double *z, double *w);
+
+/**
+ * @brief
+ * Get quaternion axis and angle.
+ *
+ * @param quat Quaternion to get values from.
+ * @param nx The x component of the axis of rotation.
+ * @param ny The y component of the axis of rotation.
+ * @param nz The z component of the axis of rotation.
+ * @param a The angle of rotation.
+ *
+ * @see ephysics_quaternion_axis_angle_set();
+ * @see ephysics_quaternion_get();
+ * @see ephysics_quaternion_set();
+ *
+ * @ingroup EPhysics_Quaternion
+ */
+EAPI void ephysics_quaternion_axis_angle_get(const EPhysics_Quaternion *quat, double *nx, double *ny, double *nz, double *a);
+
+/**
+ * @brief
+ * Set quaternion values.
+ *
+ * @param quat Quaternion to be set.
+ * @param x The x coordinate.
+ * @param y The y coordinate.
+ * @param z The z coordinate.
+ * @param w The rotation.
+ *
+ * @see ephysics_quaternion_get();
+ * @see ephysics_quaternion_euler_set();
+ *
+ * @ingroup EPhysics_Quaternion
+ */
+EAPI void ephysics_quaternion_set(EPhysics_Quaternion *quat, double x, double y, double z, double w);
+
+/**
+ * @brief
+ * Set quaternion using axis angle notation.
+ *
+ * [w, x, y, z] = [cos(a/2), sin(a/2) * nx, sin(a/2)* ny, sin(a/2) * nz]
+ *
+ * @param quat Quaternion to be set.
+ * @param nx The x component of the axis of rotation.
+ * @param ny The y component of the axis of rotation.
+ * @param nz The z component of the axis of rotation.
+ * @param a The angle of rotation.
+ *
+ * @see ephysics_quaternion_axis_angle_get();
+ * @see ephysics_quaternion_set();
+ * @see ephysics_quaternion_euler_set();
+ *
+ * @ingroup EPhysics_Quaternion
+ */
+EAPI void ephysics_quaternion_axis_angle_set(EPhysics_Quaternion *quat, double nx, double ny, double nz, double a);
+
+/**
+ * @brief
+ * Set quaternion using Euler angles.
+ *
+ * It's an alternative to @ref ephysics_quaternion_set() usage. Euler angles
+ * will be converted.
+ *
+ * @param quat Quaternion to be set.
+ * @param yaw The angle around Y axis.
+ * @param pitch The angle around X axis.
+ * @param roll The angle around Z axis.
+ *
+ * @see ephysics_quaternion_get();
+ * @see ephysics_quaternion_set();
+ *
+ * @ingroup EPhysics_Quaternion
+ */
+EAPI void ephysics_quaternion_euler_set(EPhysics_Quaternion *quat, double yaw, double pitch, double roll);
+
+/**
+ * @brief
+ * Normalize the quaternion.
+ *
+ * A normalized quaternion is such that x^2 + y^2 + z^2 + w^2 = 1.
+ *
+ * @param quat Quaternion to be normalized.
+ *
+ * @ingroup EPhysics_Quaternion
+ */
+EAPI void ephysics_quaternion_normalize(EPhysics_Quaternion *quat);
+
+/**
+ * @brief
+ * Invert the quaternion.
+ *
+ * @param quat Quaternion to be inverted.
+ *
+ * @ingroup EPhysics_Quaternion
+ */
+EAPI void ephysics_quaternion_invert(EPhysics_Quaternion *quat);
+
+/**
+ * @brief
+ * Scale the quaternion.
+ *
+ * @param quat Quaternion to be scaled.
+ * @param scale The scale factor.
+ *
+ * @see ephysics_quaternion_inverse_scale()
+ *
+ * @ingroup EPhysics_Quaternion
+ */
+EAPI void ephysics_quaternion_scale(EPhysics_Quaternion *quat, double scale);
+
+/**
+ * @brief
+ * Inversely scale the quaternion.
+ *
+ * @param quat Quaternion to be scaled.
+ * @param scale The scale factor.
+ *
+ * @see ephysics_quaternion_scale()
+ *
+ * @ingroup EPhysics_Quaternion
+ */
+EAPI void ephysics_quaternion_inverse_scale(EPhysics_Quaternion *quat, double scale);
+
+/**
+ * @brief
+ * Returns a sum of two quaternions.
+ *
+ * @param quat1 First quaternion to sum.
+ * @param quat2 Second quaternion to sum.
+ * @return The sum quaternion or @c NULL on error.
+ *
+ * @note It should be freed after usage.
+ *
+ * @ingroup EPhysics_Quaternion
+ */
+EAPI EPhysics_Quaternion *ephysics_quaternion_sum(const EPhysics_Quaternion *quat1, const EPhysics_Quaternion *quat2);
+
+/**
+ * @brief
+ * Returns a difference between two quaternions.
+ *
+ * @param quat1 First quaternion.
+ * @param quat2 Second quaternion.
+ * @return The difference between @p quat1 and @p quat2, or @c NULL on error.
+ *
+ * @note It should be freed after usage.
+ *
+ * @ingroup EPhysics_Quaternion
+ */
+EAPI EPhysics_Quaternion *ephysics_quaternion_diff(const EPhysics_Quaternion *quat1, const EPhysics_Quaternion *quat2);
+
+/**
+ * @brief
+ * Multiply two quaternions.
+ *
+ * @param quat1 First quaternion.
+ * @param quat2 Second quaternion.
+ * @return The @p quat1 multiplied by @p quat2 on the right, or @c NULL
+ * on error.
+ *
+ * @note It should be freed after usage.
+ *
+ * @ingroup EPhysics_Quaternion
+ */
+EAPI EPhysics_Quaternion *ephysics_quaternion_multiply(const EPhysics_Quaternion *quat1, const EPhysics_Quaternion *quat2);
+
+/**
+ * @brief
+ * Return the quaternion which is the result of Spherical Linear Interpolation
+ * between two quaternions.
+ *
+ * Slerp interpolates assuming constant velocity.
+ *
+ * @param quat1 First quaternion.
+ * @param quat2 Second quaternion.
+ * @param ratio The ratio between @p quat1 and @p quat2 to interpolate. If
+ * @p ratio = 0, the result is @p quat1, if @p ratio = 1, the result is
+ * @p quat2.
+ * @return The result of slerp between @p quat1 and @p quat2, or @c NULL
+ * on error.
+ *
+ * @note It should be freed after usage.
+ *
+ * @ingroup EPhysics_Quaternion
+ */
+EAPI EPhysics_Quaternion *ephysics_quaternion_slerp(const EPhysics_Quaternion *quat1, const EPhysics_Quaternion *quat2, double ratio);
+
+/**
+ * @brief
+ * Return the dot product between two quaternions.
+ *
+ * @param quat1 First quaternion.
+ * @param quat2 Second quaternion.
+ * @return The dot product between @p quat1 and @p quat2 or @c 0 on error.
+ *
+ * @ingroup EPhysics_Quaternion
+ */
+EAPI double ephysics_quaternion_dot(const EPhysics_Quaternion *quat1, const EPhysics_Quaternion *quat2);
+
+/**
+ * @brief
+ * Return the angle between two quaternions.
+ *
+ * @param quat1 First quaternion.
+ * @param quat2 Second quaternion.
+ * @return The angle between @p quat1 and @p quat2 or @c 0 on error.
+ *
+ * @ingroup EPhysics_Quaternion
+ */
+EAPI double ephysics_quaternion_angle_get(const EPhysics_Quaternion *quat1, const EPhysics_Quaternion *quat2);
+
+/**
+ * @brief
+ * Return the length of the quaternion.
+ *
+ * @param quat Quaternion to get length of.
+ * @return The lenght of @p quat or @c 0 on error.
+ *
+ * @ingroup EPhysics_Quaternion
+ */
+EAPI double ephysics_quaternion_length_get(const EPhysics_Quaternion *quat);
+
+/**
+ * @brief
+ * Return the length squared of the quaternion.
+ *
+ * @param quat Quaternion to get length of.
+ * @return The lenght of @p quat or @c 0 on error.
+ *
+ * @ingroup EPhysics_Quaternion
+ */
+EAPI double ephysics_quaternion_length2_get(const EPhysics_Quaternion *quat);
+
 /**
  * @}
  */
@@ -3422,61 +3735,36 @@ EAPI void ephysics_body_linear_movement_enable_get(const EPhysics_Body *body, Ei
 
 /**
  * @brief
- * Get body's rotation on x, y and z axes.
+ * Get body's rotation quaternion.
  *
  * By default rotation is 0 degree on all axes.
  *
- * @note The unit used for rotation is degrees.
- *
  * @param body The physics body.
- * @param rot_x The amount of degrees @p body is rotated on x axis.
- * @param rot_y The amount of degrees @p body is rotated on y axis.
- * @param rot_z The amount of degrees @p body is rotated on z axis.
+ * @return A quaternion or @c NULL on error. It should be freed with free()
+ * after usage.
  *
  * @see ephysics_body_rotation_set()
- * @see ephysics_body_rotation_quaternion_get()
+ * @see ephysics_quaternion_get()
  *
  * @ingroup EPhysics_Body
  */
-EAPI void ephysics_body_rotation_get(const EPhysics_Body *body, double *rot_x, double *rot_y, double *rot_z);
+EAPI EPhysics_Quaternion *ephysics_body_rotation_get(const EPhysics_Body *body);
 
 /**
  * @brief
- * Set body's rotation on z axis.
+ * Set body's rotation.
  *
  * By default rotation is 0 degrees on all axes.
- * Negative values indicates rotation on counter clockwise direction.
- *
- * @note The unit used for rotation is degrees.
  *
  * @param body The physics body.
- * @param rot_x The amount of degrees @p body should be rotated on x axis.
- * @param rot_y The amount of degrees @p body should be rotated on y axis.
- * @param rot_z The amount of degrees @p body should be rotated on z axis.
+ * @param quat Quaternion representing the rotation.
  *
  * @see ephysics_body_rotation_get()
+ * @see ephysics_quaternion_new()
  *
  * @ingroup EPhysics_Body
  */
-EAPI void ephysics_body_rotation_set(EPhysics_Body *body, double rot_x, double rot_y, double rot_z);
-
-/**
- * @brief
- * Get body's normalized rotation quaternion (x, y, z and w).
- *
- * @param body The physics body.
- * @param x the x component of the imaginary part of the quaternion.
- * @param y the y component of the imaginary part of the quaternion.
- * @param z the z component of the imaginary part of the quaternion.
- * @param w the w component of the real part of the quaternion.
- *
- * @see ephysics_body_rotation_set()
- * @see ephysics_body_rotation_get()
- *
- * @ingroup EPhysics_Body
- */
-EAPI void
-ephysics_body_rotation_quaternion_get(const EPhysics_Body *body, double *x, double *y, double *z, double *w);
+EAPI void ephysics_body_rotation_set(EPhysics_Body *body, EPhysics_Quaternion *quat);
 
 /**
  * @brief
diff --git a/legacy/ephysics/src/lib/Makefile.am b/legacy/ephysics/src/lib/Makefile.am
index c91e5fb786..071b6fbc91 100644
--- a/legacy/ephysics/src/lib/Makefile.am
+++ b/legacy/ephysics/src/lib/Makefile.am
@@ -18,6 +18,7 @@ base_sources = \
     ephysics_camera.cpp \
     ephysics_constraints.cpp \
     ephysics_main.cpp \
+    ephysics_quaternion.cpp \
     ephysics_shape.cpp \
     ephysics_world.cpp
 
diff --git a/legacy/ephysics/src/lib/ephysics_body.cpp b/legacy/ephysics/src/lib/ephysics_body.cpp
index 472ce80099..2054e49528 100644
--- a/legacy/ephysics/src/lib/ephysics_body.cpp
+++ b/legacy/ephysics/src/lib/ephysics_body.cpp
@@ -21,6 +21,7 @@ typedef struct _EPhysics_Body_Callback EPhysics_Body_Callback;
 typedef struct _EPhysics_Body_Evas_Stacking EPhysics_Body_Evas_Stacking;
 typedef struct _EPhysics_Body_Soft_Body_Slice EPhysics_Body_Soft_Body_Slice;
 typedef struct _EPhysics_Body_Face_Obj EPhysics_Body_Face_Obj;
+typedef struct _EPhysics_Quaternion EPhysics_Quaternion;
 
 struct _EPhysics_Body_Callback {
      EINA_INLIST;
@@ -3266,31 +3267,32 @@ ephysics_body_angular_movement_enable_get(const EPhysics_Body *body, Eina_Bool *
    if (enable_z) *enable_z = !!body->rigid_body->getAngularFactor().z();
 }
 
-EAPI void
-ephysics_body_rotation_get(const EPhysics_Body *body, double *rot_x, double *rot_y, double *rot_z)
+EAPI EPhysics_Quaternion *
+ephysics_body_rotation_get(const EPhysics_Body *body)
 {
-   btScalar yaw, pitch, roll;
+   EPhysics_Quaternion *quat;
    btTransform trans;
 
    if (!body)
      {
         ERR("Can't get rotation, body is null.");
-        return;
+        return NULL;
      }
 
    trans = _ephysics_body_transform_get(body);
-
-   trans.getBasis().getEulerYPR(yaw, pitch, roll);
-   if (rot_x) *rot_x = -roll * RAD_TO_DEG;
-   if (rot_y) *rot_y = -pitch * RAD_TO_DEG;
-   if (rot_z) *rot_z = -yaw * RAD_TO_DEG;
+   quat = ephysics_quaternion_new(trans.getRotation().x(),
+                                  trans.getRotation().y(),
+                                  trans.getRotation().z(),
+                                  trans.getRotation().getW());
+   return quat;
 }
 
 EAPI void
-ephysics_body_rotation_set(EPhysics_Body *body, double rot_x, double rot_y, double rot_z)
+ephysics_body_rotation_set(EPhysics_Body *body, EPhysics_Quaternion *quat)
 {
+   btQuaternion bt_quat;
    btTransform trans;
-   btQuaternion quat;
+   double x, y, z, w;
 
    if (!body)
      {
@@ -3298,47 +3300,32 @@ ephysics_body_rotation_set(EPhysics_Body *body, double rot_x, double rot_y, doub
         return;
      }
 
+   if (!quat)
+     {
+        ERR("Can't set rotation, quaternion is null.");
+        return;
+     }
+
+   ephysics_quaternion_get(quat, &x, &y, &z, &w);
+
    ephysics_world_lock_take(body->world);
    ephysics_body_activate(body, EINA_TRUE);
 
-   quat.setEuler(-rot_y / RAD_TO_DEG, -rot_x / RAD_TO_DEG, -rot_z / RAD_TO_DEG);
+   bt_quat = btQuaternion(x, y, z, w);
 
    if (body->soft_body)
-     body->soft_body->rotate(quat);
+     body->soft_body->rotate(bt_quat);
    else
      {
         trans = _ephysics_body_transform_get(body);
-        trans.setRotation(quat);
+        trans.setRotation(bt_quat);
         body->rigid_body->proceedToTransform(trans);
         body->rigid_body->getMotionState()->setWorldTransform(trans);
      }
 
-   DBG("Body %p rotation set to (%lf, %lf, %lf)", body, rot_x, rot_y, rot_z);
    ephysics_world_lock_release(body->world);
 }
 
-EAPI void
-ephysics_body_rotation_quaternion_get(const EPhysics_Body *body, double *x, double *y, double *z, double *w)
-{
-   btTransform trans;
-   btQuaternion quat;
-
-   if (!body)
-     {
-        ERR("Can't get rotation, body is null.");
-        return;
-     }
-
-   trans = _ephysics_body_transform_get(body);
-   quat = trans.getRotation();
-   quat.normalize();
-
-   if (x) *x = quat.x();
-   if (y) *y = quat.y();
-   if (z) *z = quat.z();
-   if (w) *w = -quat.w();
-}
-
 EAPI void
 ephysics_body_data_set(EPhysics_Body *body, void *data)
 {
diff --git a/legacy/ephysics/src/lib/ephysics_quaternion.cpp b/legacy/ephysics/src/lib/ephysics_quaternion.cpp
new file mode 100644
index 0000000000..f008769839
--- /dev/null
+++ b/legacy/ephysics/src/lib/ephysics_quaternion.cpp
@@ -0,0 +1,336 @@
+#ifdef HAVE_CONFIG_H
+# include <config.h>
+#endif
+
+#include "ephysics_private.h"
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+
+struct _EPhysics_Quaternion {
+     double x;
+     double y;
+     double z;
+     double w;
+};
+
+static void
+_ephysics_quaternion_update(EPhysics_Quaternion *quat, btQuaternion *bt_quat)
+{
+   quat->x = bt_quat->x();
+   quat->y = bt_quat->y();
+   quat->z = bt_quat->z();
+   quat->w = bt_quat->getW();
+}
+
+EAPI EPhysics_Quaternion *
+ephysics_quaternion_new(double x, double y, double z, double w)
+{
+   EPhysics_Quaternion *quat;
+
+   quat = (EPhysics_Quaternion *)calloc(1, sizeof(EPhysics_Quaternion));
+
+   if (!quat)
+     {
+        ERR("Could not allocate ephysics quaternion.");
+        return NULL;
+     }
+
+   quat->x = x;
+   quat->y = y;
+   quat->z = z;
+   quat->w = w;
+
+   return quat;
+}
+
+EAPI void
+ephysics_quaternion_get(const EPhysics_Quaternion *quat, double *x, double *y, double *z, double *w)
+{
+   if (!quat)
+     {
+        ERR("Can't get quaternion's values, it is null.");
+        return;
+     }
+
+   if (x) *x = quat->x;
+   if (y) *y = quat->y;
+   if (z) *z = quat->z;
+   if (w) *w = quat->w;
+}
+
+EAPI void
+ephysics_quaternion_axis_angle_get(const EPhysics_Quaternion *quat, double *nx, double *ny, double *nz, double *a)
+{
+   btQuaternion bt_quat;
+
+   if (!quat)
+     {
+        ERR("Can't get quaternion's values, it is null.");
+        return;
+     }
+
+   bt_quat = btQuaternion(quat->x, quat->y, quat->z, quat->w);
+
+   if (nx) *nx = bt_quat.getAxis().getX();
+   if (ny) *ny = bt_quat.getAxis().getY();
+   if (nz) *nz = bt_quat.getAxis().getZ();
+   if (a) *a = bt_quat.getAngle();
+}
+
+EAPI void
+ephysics_quaternion_set(EPhysics_Quaternion *quat, double x, double y, double z, double w)
+{
+   if (!quat)
+     {
+        ERR("Could not set a null quaternion.");
+        return;
+     }
+
+   quat->x = x;
+   quat->y = y;
+   quat->z = z;
+   quat->w = w;
+}
+
+EAPI void
+ephysics_quaternion_axis_angle_set(EPhysics_Quaternion *quat, double nx, double ny, double nz, double a)
+{
+   btQuaternion bt_quat;
+   btVector3 axis;
+
+   if (!quat)
+     {
+        ERR("Could not set a null quaternion.");
+        return;
+     }
+
+   axis = btVector3(nx, ny, nz);
+   bt_quat = btQuaternion(axis, a);
+   _ephysics_quaternion_update(quat, &bt_quat);
+}
+
+EAPI void
+ephysics_quaternion_euler_set(EPhysics_Quaternion *quat, double yaw, double pitch, double roll)
+{
+   btQuaternion bt_quat;
+
+   if (!quat)
+     {
+        ERR("Could not set a null quaternion.");
+        return;
+     }
+
+   bt_quat = btQuaternion();
+   bt_quat.setEuler(yaw, pitch, roll);
+   _ephysics_quaternion_update(quat, &bt_quat);
+}
+
+EAPI void
+ephysics_quaternion_normalize(EPhysics_Quaternion *quat)
+{
+   btQuaternion bt_quat;
+
+   if (!quat)
+     {
+        ERR("Can't normalize a null quaternion.");
+        return;
+     }
+
+   bt_quat = btQuaternion(quat->x, quat->y, quat->z, quat->w);
+   bt_quat.normalize();
+   _ephysics_quaternion_update(quat, &bt_quat);
+}
+
+EAPI void
+ephysics_quaternion_invert(EPhysics_Quaternion *quat)
+{
+   btQuaternion bt_quat;
+
+   if (!quat)
+     {
+        ERR("Can't normalize a null quaternion.");
+        return;
+     }
+
+   bt_quat = btQuaternion(quat->x, quat->y, quat->z, quat->w);
+   bt_quat.inverse();
+   _ephysics_quaternion_update(quat, &bt_quat);
+}
+
+EAPI void
+ephysics_quaternion_scale(EPhysics_Quaternion *quat, double scale)
+{
+   btQuaternion bt_quat;
+
+   if (!quat)
+     {
+        ERR("Can't operate over a null quaternion.");
+        return;
+     }
+
+   bt_quat = btQuaternion(quat->x, quat->y, quat->z, quat->w);
+   bt_quat *= scale;
+   _ephysics_quaternion_update(quat, &bt_quat);
+}
+
+EAPI void
+ephysics_quaternion_inverse_scale(EPhysics_Quaternion *quat, double scale)
+{
+   btQuaternion bt_quat;
+
+   if (!quat)
+     {
+        ERR("Can't operate over a null quaternion.");
+        return;
+     }
+
+   bt_quat = btQuaternion(quat->x, quat->y, quat->z, quat->w);
+   bt_quat /= scale;
+   _ephysics_quaternion_update(quat, &bt_quat);
+}
+
+EAPI EPhysics_Quaternion *
+ephysics_quaternion_sum(const EPhysics_Quaternion *quat1, const EPhysics_Quaternion *quat2)
+{
+   btQuaternion bt_quat1, bt_quat2, bt_quat;
+
+   if ((!quat1) || (!quat2))
+     {
+        ERR("Can't operate over null quaternions.");
+        return NULL;
+     }
+
+   bt_quat1 = btQuaternion(quat1->x, quat1->y, quat1->z, quat1->w);
+   bt_quat2 = btQuaternion(quat2->x, quat2->y, quat2->z, quat2->w);
+   bt_quat = bt_quat1 + bt_quat2;
+
+   return ephysics_quaternion_new(bt_quat.x(), bt_quat.y(), bt_quat.z(),
+                                  bt_quat.getW());
+}
+
+EAPI EPhysics_Quaternion *
+ephysics_quaternion_diff(const EPhysics_Quaternion *quat1, const EPhysics_Quaternion *quat2)
+{
+   btQuaternion bt_quat1, bt_quat2, bt_quat;
+
+   if ((!quat1) || (!quat2))
+     {
+        ERR("Can't operate over null quaternions.");
+        return NULL;
+     }
+
+   bt_quat1 = btQuaternion(quat1->x, quat1->y, quat1->z, quat1->w);
+   bt_quat2 = btQuaternion(quat2->x, quat2->y, quat2->z, quat2->w);
+   bt_quat = bt_quat1 - bt_quat2;
+
+   return ephysics_quaternion_new(bt_quat.x(), bt_quat.y(), bt_quat.z(),
+                                  bt_quat.getW());
+}
+
+EAPI EPhysics_Quaternion *
+ephysics_quaternion_multiply(const EPhysics_Quaternion *quat1, const EPhysics_Quaternion *quat2)
+{
+   btQuaternion bt_quat1, bt_quat2, bt_quat;
+
+   if ((!quat1) || (!quat2))
+     {
+        ERR("Can't operate over null quaternions.");
+        return NULL;
+     }
+
+   bt_quat1 = btQuaternion(quat1->x, quat1->y, quat1->z, quat1->w);
+   bt_quat2 = btQuaternion(quat2->x, quat2->y, quat2->z, quat2->w);
+   bt_quat = bt_quat1 * bt_quat2;
+
+   return ephysics_quaternion_new(bt_quat.x(), bt_quat.y(), bt_quat.z(),
+                                  bt_quat.getW());
+}
+
+EAPI EPhysics_Quaternion *
+ephysics_quaternion_slerp(const EPhysics_Quaternion *quat1, const EPhysics_Quaternion *quat2, double ratio)
+{
+   btQuaternion bt_quat1, bt_quat2;
+
+   if ((!quat1) || (!quat2))
+     {
+        ERR("Can't operate over null quaternions.");
+        return NULL;
+     }
+
+   bt_quat1 = btQuaternion(quat1->x, quat1->y, quat1->z, quat1->w);
+   bt_quat2 = btQuaternion(quat2->x, quat2->y, quat2->z, quat2->w);
+   bt_quat1.slerp(bt_quat2, ratio);
+
+   return ephysics_quaternion_new(bt_quat1.x(), bt_quat1.y(), bt_quat1.z(),
+                                  bt_quat1.getW());
+}
+
+EAPI double
+ephysics_quaternion_dot(const EPhysics_Quaternion *quat1, const EPhysics_Quaternion *quat2)
+{
+   btQuaternion bt_quat1, bt_quat2;
+
+   if ((!quat1) || (!quat2))
+     {
+        ERR("Can't operate over null quaternions.");
+        return 0;
+     }
+
+   bt_quat1 = btQuaternion(quat1->x, quat1->y, quat1->z, quat1->w);
+   bt_quat2 = btQuaternion(quat2->x, quat2->y, quat2->z, quat2->w);
+
+   return bt_quat1.dot(bt_quat2);
+}
+
+EAPI double
+ephysics_quaternion_angle_get(const EPhysics_Quaternion *quat1, const EPhysics_Quaternion *quat2)
+{
+   btQuaternion bt_quat1, bt_quat2;
+
+   if ((!quat1) || (!quat2))
+     {
+        ERR("Can't operate over null quaternions.");
+        return 0;
+     }
+
+   bt_quat1 = btQuaternion(quat1->x, quat1->y, quat1->z, quat1->w);
+   bt_quat2 = btQuaternion(quat2->x, quat2->y, quat2->z, quat2->w);
+
+   return bt_quat1.angle(bt_quat2);
+}
+
+EAPI double
+ephysics_quaternion_length_get(const EPhysics_Quaternion *quat)
+{
+   btQuaternion bt_quat;
+
+   if (!quat)
+     {
+        ERR("Can't operate over a null quaternion.");
+        return 0;
+     }
+
+   bt_quat = btQuaternion(quat->x, quat->y, quat->z, quat->w);
+   return bt_quat.length();
+}
+
+EAPI double
+ephysics_quaternion_length2_get(const EPhysics_Quaternion *quat)
+{
+   btQuaternion bt_quat;
+
+   if (!quat)
+     {
+        ERR("Can't operate over a null quaternion.");
+        return 0;
+     }
+
+   bt_quat = btQuaternion(quat->x, quat->y, quat->z, quat->w);
+   return bt_quat.length2();
+}
+
+#ifdef  __cplusplus
+}
+#endif