diff --git a/include/irrDynamics.h b/include/irrDynamics.h
index b47784c..68602a6 100644
--- a/include/irrDynamics.h
+++ b/include/irrDynamics.h
@@ -1,21 +1,21 @@
     /*
     irrDynamics - Light-weight Bullet Physics wrapper for the irrlicht graphics engine
-    Copyright (C) 2014  Otto Naderer - otto.naderer@aec.at
-
-    This software is provided 'as-is', without any express or implied
-    warranty.  In no event will the authors be held liable for any damages
-    arising from the use of this software.
-
-    Permission is granted to anyone to use this software for any purpose,
-    including commercial applications, and to alter it and redistribute it
-    freely, subject to the following restrictions:
-
-    1. The origin of this software must not be misrepresented; you must not
-     claim that you wrote the original software. If you use this software
-     in a product, an acknowledgment in the product documentation would be
-     appreciated but is not required.
-    2. Altered source versions must be plainly marked as such, and must not be
-     misrepresented as being the original software.
+    Copyright (C) 2014  Otto Naderer - otto.naderer@aec.at
+
+    This software is provided 'as-is', without any express or implied
+    warranty.  In no event will the authors be held liable for any damages
+    arising from the use of this software.
+
+    Permission is granted to anyone to use this software for any purpose,
+    including commercial applications, and to alter it and redistribute it
+    freely, subject to the following restrictions:
+
+    1. The origin of this software must not be misrepresented; you must not
+     claim that you wrote the original software. If you use this software
+     in a product, an acknowledgment in the product documentation would be
+     appreciated but is not required.
+    2. Altered source versions must be plainly marked as such, and must not be
+     misrepresented as being the original software.
     3. This notice may not be removed or altered from any source distribution.
     */
 
@@ -110,7 +110,8 @@ class irrDynamics
     static void applyTorque(irr::scene::ISceneNode* node, const irr::core::vector3df& torque);
     static void setDamping(irr::scene::ISceneNode* node, irr::f32 linearDamping, irr::f32 angularDamping);
     static void setPosition(irr::scene::ISceneNode* node, const irr::core::vector3df& newPos);
-    static void setRotation(irr::scene::ISceneNode* node, const irr::core::vector3df& newRotation);
+    static void setRotation(irr::scene::ISceneNode* node, const irr::core::quaternion& newRotation);
+    static bool getRotation(irr::scene::ISceneNode* node, irr::core::quaternion&);
     //! Change default gravity
     /** Per default, irrDynamics is set to an earth-like gravitational force. Modify that for other planets
       * or your space sim game.
diff --git a/src/irrDynamics.cpp b/src/irrDynamics.cpp
index 67f443a..5f561e8 100644
--- a/src/irrDynamics.cpp
+++ b/src/irrDynamics.cpp
@@ -456,7 +456,7 @@ void irrDynamics::setPosition(scene::ISceneNode* node, const core::vector3df& ne
     iter->second->setWorldTransform(transform);
 }
 
-void irrDynamics::setRotation(scene::ISceneNode* node, const core::vector3df& newRotation)
+void irrDynamics::setRotation(scene::ISceneNode* node, const core::quaternion& r)
 {
     irrDynamics* inst = getInstance();
     //find the corresponding rigid body:
@@ -466,15 +466,29 @@ void irrDynamics::setRotation(scene::ISceneNode* node, const core::vector3df& ne
         cout << "irrdynamics: Unable to find node in list. Rotation update aborted." << endl;
         return;
     }
-    btTransform transform; // = iter->second->getWorldTransform();
-    transform.setIdentity();
+    auto transform= iter->second->getWorldTransform();
     btQuaternion quat;
-    quat.setEuler(core::degToRad(newRotation.Y), core::degToRad(newRotation.X), core::degToRad(newRotation.Z));
+    quat.setValue(r.X, r.Y, r.Z, r.W);
     transform.setRotation(quat);
     transform.setOrigin(iter->second->getCenterOfMassPosition());
     iter->second->setCenterOfMassTransform(transform);
 }
 
+bool irrDynamics::getRotation(irr::scene::ISceneNode *node, core::quaternion& rotationOut)
+{
+    irrDynamics* inst = getInstance();
+    //find the corresponding rigid body:
+    auto iter = inst->objects.find(node);
+    if (iter == inst->objects.end())
+    {
+        cout << "irrdynamics: Unable to find node in list. getrotation aborted." << endl;
+        return false;
+    }
+    auto rot = iter->second->getWorldTransform().getRotation();
+    rotationOut.set(rot.x(), rot.y(), rot.z(), rot.w());
+    return true;
+}
+
 void irrDynamics::removeConstraints(btRigidBody* rigidBody)
 {
     const int len = rigidBody->getNumConstraintRefs();