diff --git a/KREngine/kraken/KRQuaternion.cpp b/KREngine/kraken/KRQuaternion.cpp
index 7daa677..bb6fad6 100644
--- a/KREngine/kraken/KRQuaternion.cpp
+++ b/KREngine/kraken/KRQuaternion.cpp
@@ -168,7 +168,8 @@ KRQuaternion KRQuaternion::operator *(float v) const {
 }
 
 KRQuaternion KRQuaternion::operator /(float num) const {
-    return KRQuaternion(m_val[0] / num, m_val[1] / num, m_val[2] / num, m_val[3] / num);
+    float inv_num = 1.0f / num;
+    return KRQuaternion(m_val[0] * inv_num, m_val[1] * inv_num, m_val[2] * inv_num, m_val[3] * inv_num);
 }
 
 KRQuaternion KRQuaternion::operator +(const KRQuaternion &v) const {
@@ -224,10 +225,11 @@ KRQuaternion& KRQuaternion::operator *=(const float& v) {
 }
 
 KRQuaternion& KRQuaternion::operator /=(const float& v) {
-    m_val[0] /= v;
-    m_val[1] /= v;
-    m_val[2] /= v;
-    m_val[3] /= v;
+    float inv_v = 1.0f / v;
+    m_val[0] *= inv_v;
+    m_val[1] *= inv_v;
+    m_val[2] *= inv_v;
+    m_val[3] *= inv_v;
     return *this;
 }
 
@@ -240,21 +242,21 @@ KRQuaternion KRQuaternion::operator -() const {
 }
 
 KRQuaternion Normalize(const KRQuaternion &v1) {
-    float magnitude = sqrtf(v1[0] * v1[0] + v1[1] * v1[1] + v1[2] * v1[2] + v1[3] * v1[3]);
+    float inv_magnitude = 1.0f / sqrtf(v1[0] * v1[0] + v1[1] * v1[1] + v1[2] * v1[2] + v1[3] * v1[3]);
     return KRQuaternion(
-        v1[0] / magnitude,
-        v1[1] / magnitude,
-        v1[2] / magnitude,
-        v1[3] / magnitude
+        v1[0] * inv_magnitude,
+        v1[1] * inv_magnitude,
+        v1[2] * inv_magnitude,
+        v1[3] * inv_magnitude
     );
 }
 
 void KRQuaternion::normalize() {
-    float magnitude = sqrtf(m_val[0] * m_val[0] + m_val[1] * m_val[1] + m_val[2] * m_val[2] + m_val[3] * m_val[3]);
-    m_val[0] /= magnitude;
-    m_val[1] /= magnitude;
-    m_val[2] /= magnitude;
-    m_val[3] /= magnitude;
+    float inv_magnitude = 1.0f / sqrtf(m_val[0] * m_val[0] + m_val[1] * m_val[1] + m_val[2] * m_val[2] + m_val[3] * m_val[3]);
+    m_val[0] *= inv_magnitude;
+    m_val[1] *= inv_magnitude;
+    m_val[2] *= inv_magnitude;
+    m_val[3] *= inv_magnitude;
 }
 
 KRQuaternion Conjugate(const KRQuaternion &v1) {
@@ -285,3 +287,10 @@ KRMat4 KRQuaternion::rotationMatrix() const {
     return matRotate;
 }
 
+
+KRQuaternion KRQuaternion::FromAngleAxis(const KRVector3 &axis, float angle)
+{
+    float ha = angle * 0.5f;
+    float sha = sin(ha);
+    return KRQuaternion(cos(ha), axis.x * sha, axis.y * sha, axis.z * sha);
+}
diff --git a/KREngine/kraken/KRQuaternion.h b/KREngine/kraken/KRQuaternion.h
index c1d508b..90baa68 100644
--- a/KREngine/kraken/KRQuaternion.h
+++ b/KREngine/kraken/KRQuaternion.h
@@ -62,8 +62,8 @@ public:
     KRQuaternion& operator *=(const float& v);
     KRQuaternion& operator /=(const float& v);
 
-    friend bool operator ==(KRVector3 &v1, KRVector3 &v2);
-    friend bool operator !=(KRVector3 &v1, KRVector3 &v2);
+    friend bool operator ==(KRQuaternion &v1, KRQuaternion &v2);
+    friend bool operator !=(KRQuaternion &v1, KRQuaternion &v2);
     float& operator [](unsigned i);
     float operator [](unsigned i) const;
     
@@ -77,6 +77,8 @@ public:
     
     void conjugate();
     static KRQuaternion Conjugate(const KRQuaternion &v1);
+    
+    static KRQuaternion FromAngleAxis(const KRVector3 &axis, float angle);
 private:
     float m_val[4];
 };
diff --git a/KREngine/kraken/KRVector2.cpp b/KREngine/kraken/KRVector2.cpp
index 6097db0..27f675e 100644
--- a/KREngine/kraken/KRVector2.cpp
+++ b/KREngine/kraken/KRVector2.cpp
@@ -82,7 +82,8 @@ KRVector2 KRVector2::operator *(const float v) const {
 }
 
 KRVector2 KRVector2::operator /(const float v) const {
-    return KRVector2(x / v, y / v);
+    float inv_v = 1.0f / v;
+    return KRVector2(x * inv_v, y * inv_v);
 }
 
 KRVector2& KRVector2::operator +=(const KRVector2& b) {
@@ -106,8 +107,9 @@ KRVector2& KRVector2::operator *=(const float v) {
 }
 
 KRVector2& KRVector2::operator /=(const float v) {
-    x /= v;
-    y /= v;
+    float inv_v = 1.0f / v;
+    x *= inv_v;
+    y *= inv_v;
     return *this;
 }
 
@@ -169,9 +171,9 @@ float KRVector2::operator[](unsigned i) const {
 }
 
 void KRVector2::normalize() {
-    float magnitude = sqrtf(x * x + y * y);
-    x /= magnitude;
-    y /= magnitude;
+    float inv_magnitude = 1.0f / sqrtf(x * x + y * y);
+    x *= inv_magnitude;
+    y *= inv_magnitude;
 }
 
 float KRVector2::sqrMagnitude() const {
@@ -184,8 +186,8 @@ float KRVector2::magnitude() const {
 
 
 KRVector2 KRVector2::Normalize(const KRVector2 &v) {
-    float magnitude = sqrtf(v.x * v.x + v.y * v.y);
-    return KRVector2(v.x / magnitude, v.y / magnitude);
+    float inv_magnitude = 1.0f / sqrtf(v.x * v.x + v.y * v.y);
+    return KRVector2(v.x * inv_magnitude, v.y * inv_magnitude);
 }
 
 float KRVector2::Cross(const KRVector2 &v1, const KRVector2 &v2) {
diff --git a/KREngine/kraken/KRVector3.cpp b/KREngine/kraken/KRVector3.cpp
index 60e2e6a..a40111e 100644
--- a/KREngine/kraken/KRVector3.cpp
+++ b/KREngine/kraken/KRVector3.cpp
@@ -176,7 +176,8 @@ KRVector3 KRVector3::operator *(const float v) const {
 }
 
 KRVector3 KRVector3::operator /(const float v) const {
-    return KRVector3(x / v, y / v, z / v);
+    float inv_v = 1.0f / v;
+    return KRVector3(x * inv_v, y * inv_v, z * inv_v);
 }
 
 KRVector3& KRVector3::operator +=(const KRVector3& b) {
@@ -204,9 +205,10 @@ KRVector3& KRVector3::operator *=(const float v) {
 }
 
 KRVector3& KRVector3::operator /=(const float v) {
-    x /= v;
-    y /= v;
-    z /= v;
+    float inv_v = 1.0f / v;
+    x *= inv_v;
+    y *= inv_v;
+    z *= inv_v;
     
     return *this;
 }
@@ -253,14 +255,14 @@ float KRVector3::magnitude() const {
 }
 
 void KRVector3::normalize() {
-    float magnitude = sqrtf(x * x + y * y + z * z);
-    x /= magnitude;
-    y /= magnitude;
-    z /= magnitude;
+    float inv_magnitude = 1.0f / sqrtf(x * x + y * y + z * z);
+    x *= inv_magnitude;
+    y *= inv_magnitude;
+    z *= inv_magnitude;
 }
 KRVector3 KRVector3::Normalize(const KRVector3 &v) {
-    float magnitude = sqrtf(v.x * v.x + v.y * v.y + v.z * v.z);
-    return KRVector3(v.x / magnitude, v.y / magnitude, v.z / magnitude);
+    float inv_magnitude = 1.0f / sqrtf(v.x * v.x + v.y * v.y + v.z * v.z);
+    return KRVector3(v.x * inv_magnitude, v.y * inv_magnitude, v.z * inv_magnitude);
 }
 
 KRVector3 KRVector3::Cross(const KRVector3 &v1, const KRVector3 &v2) {
diff --git a/KREngine/kraken/KRVector4.cpp b/KREngine/kraken/KRVector4.cpp
index a9c9531..99555e4 100644
--- a/KREngine/kraken/KRVector4.cpp
+++ b/KREngine/kraken/KRVector4.cpp
@@ -206,10 +206,11 @@ KRVector4& KRVector4::operator *=(const float v) {
 }
 
 KRVector4& KRVector4::operator /=(const float v) {
-    x /= v;
-    y /= v;
-    z /= v;
-    w /= v;
+    float inv_v = 1.0f / v;
+    x *= inv_v;
+    y *= inv_v;
+    z *= inv_v;
+    w *= inv_v;
     
     return *this;
 }
@@ -260,15 +261,15 @@ float KRVector4::magnitude() const {
 }
 
 void KRVector4::normalize() {
-    float magnitude = sqrtf(x * x + y * y + z * z + w * w);
-    x /= magnitude;
-    y /= magnitude;
-    z /= magnitude;
-    w /= magnitude;
+    float inv_magnitude = 1.0f / sqrtf(x * x + y * y + z * z + w * w);
+    x *= inv_magnitude;
+    y *= inv_magnitude;
+    z *= inv_magnitude;
+    w *= inv_magnitude;
 }
 KRVector4 KRVector4::Normalize(const KRVector4 &v) {
-    float magnitude = sqrtf(v.x * v.x + v.y * v.y + v.z * v.z + v.w * v.w);
-    return KRVector4(v.x / magnitude, v.y / magnitude, v.z / magnitude, v.w / magnitude);
+    float inv_magnitude = 1.0f / sqrtf(v.x * v.x + v.y * v.y + v.z * v.z + v.w * v.w);
+    return KRVector4(v.x * inv_magnitude, v.y * inv_magnitude, v.z * inv_magnitude, v.w * inv_magnitude);
 }