diff --git a/visionforge-gdml/src/commonMain/kotlin/space/kscience/visionforge/gdml/gdmlLoader.kt b/visionforge-gdml/src/commonMain/kotlin/space/kscience/visionforge/gdml/gdmlLoader.kt
index e17248ad..230af4b0 100644
--- a/visionforge-gdml/src/commonMain/kotlin/space/kscience/visionforge/gdml/gdmlLoader.kt
+++ b/visionforge-gdml/src/commonMain/kotlin/space/kscience/visionforge/gdml/gdmlLoader.kt
@@ -6,6 +6,7 @@ import space.kscience.dataforge.names.asName
 import space.kscience.dataforge.names.plus
 
 import space.kscience.gdml.*
+import space.kscience.kmath.geometry.RotationOrder
 import space.kscience.visionforge.*
 import space.kscience.visionforge.html.VisionOutput
 import space.kscience.visionforge.solid.*
diff --git a/visionforge-solid/src/commonMain/kotlin/space/kscience/visionforge/solid/Solid.kt b/visionforge-solid/src/commonMain/kotlin/space/kscience/visionforge/solid/Solid.kt
index 8bd64336..e0140fe4 100644
--- a/visionforge-solid/src/commonMain/kotlin/space/kscience/visionforge/solid/Solid.kt
+++ b/visionforge-solid/src/commonMain/kotlin/space/kscience/visionforge/solid/Solid.kt
@@ -8,6 +8,10 @@ import space.kscience.dataforge.meta.descriptors.value
 import space.kscience.dataforge.names.Name
 import space.kscience.dataforge.names.asName
 import space.kscience.dataforge.names.plus
+import space.kscience.kmath.complex.Quaternion
+import space.kscience.kmath.geometry.RotationOrder
+import space.kscience.kmath.geometry.fromEuler
+import space.kscience.kmath.geometry.radians
 import space.kscience.visionforge.*
 import space.kscience.visionforge.Vision.Companion.VISIBLE_KEY
 import space.kscience.visionforge.solid.Solid.Companion.DETAIL_KEY
@@ -122,15 +126,6 @@ public var Solid.layer: Int
 
 // Common properties
 
-public enum class RotationOrder {
-    XYZ,
-    YZX,
-    ZXY,
-    XZY,
-    YXZ,
-    ZYX
-}
-
 /**
  * Rotation order
  */
@@ -211,25 +206,42 @@ public var Solid.rotationX: Number by float(X_ROTATION_KEY, 0f)
 public var Solid.rotationY: Number by float(Y_ROTATION_KEY, 0f)
 public var Solid.rotationZ: Number by float(Z_ROTATION_KEY, 0f)
 
-public var Solid.quaternion: Pair<Float, Float32Vector3D>?
+/**
+ * Raw quaternion value defined in properties
+ */
+public var Solid.quaternionValue: Quaternion?
     get() = properties.getValue(Solid.QUATERNION_KEY)?.list?.let {
         require(it.size == 4) { "Quaternion must be a number array of 4 elements" }
-        it[0].float to Float32Vector3D(it[1].float, it[2].float, it[3].float)
+        Quaternion(it[0].float, it[1].float, it[2].float, it[3].float)
     }
     set(value) {
         properties.setValue(
             Solid.QUATERNION_KEY,
             value?.let {
                 ListValue(
-                    value.first,
-                    value.second.x,
-                    value.second.y,
-                    value.second.z
+                    value.w,
+                    value.x,
+                    value.y,
+                    value.z
                 )
             }
         )
     }
 
+/**
+ * Quaternion value including information from euler angles
+ */
+public var Solid.quaternion: Quaternion
+    get() = quaternionValue ?: Quaternion.fromEuler(
+        rotationX.radians,
+        rotationY.radians,
+        rotationZ.radians,
+        rotationOrder
+    )
+    set(value) {
+        quaternionValue = value
+    }
+
 
 //public var Solid.quaternion: Quaternion?
 //    get() = meta[Solid::quaternion.name]?.value?.doubleArray?.let { Quaternion(it) }
diff --git a/visionforge-solid/src/commonMain/kotlin/space/kscience/visionforge/solid/transform/RemoveSingleChild.kt b/visionforge-solid/src/commonMain/kotlin/space/kscience/visionforge/solid/transform/RemoveSingleChild.kt
index 6a309d94..d2667e76 100644
--- a/visionforge-solid/src/commonMain/kotlin/space/kscience/visionforge/solid/transform/RemoveSingleChild.kt
+++ b/visionforge-solid/src/commonMain/kotlin/space/kscience/visionforge/solid/transform/RemoveSingleChild.kt
@@ -3,6 +3,7 @@ package space.kscience.visionforge.solid.transform
 import space.kscience.dataforge.misc.DFExperimental
 import space.kscience.dataforge.names.Name
 import space.kscience.dataforge.names.asName
+import space.kscience.kmath.complex.QuaternionField
 import space.kscience.visionforge.root
 import space.kscience.visionforge.solid.*
 
@@ -14,10 +15,7 @@ internal fun Solid.updateFrom(other: Solid): Solid {
     x += other.x
     y += other.y
     z += other.y
-    if(quaternion != null || other.quaternion != null) TODO("Quaternion support not implemented")
-    rotationX += other.rotationX
-    rotationY += other.rotationY
-    rotationZ += other.rotationZ
+    quaternion = with(QuaternionField) { other.quaternion * quaternion }
     scaleX *= other.scaleX
     scaleY *= other.scaleY
     scaleZ *= other.scaleZ
diff --git a/visionforge-threejs/src/main/kotlin/space/kscience/visionforge/solid/three/ThreeFactory.kt b/visionforge-threejs/src/main/kotlin/space/kscience/visionforge/solid/three/ThreeFactory.kt
index a0852c72..ec42a3c7 100644
--- a/visionforge-threejs/src/main/kotlin/space/kscience/visionforge/solid/three/ThreeFactory.kt
+++ b/visionforge-threejs/src/main/kotlin/space/kscience/visionforge/solid/three/ThreeFactory.kt
@@ -49,15 +49,15 @@ public fun Object3D.updatePosition(vision: Vision) {
 //        } else {
 //            setRotationFromEuler( Euler(obj.rotationX, obj.rotationY, obj.rotationZ, obj.rotationOrder.name))
 //        }
-        val quaternion = vision.quaternion
+        val quaternion = vision.quaternionValue
 
         if (quaternion != null) {
             setRotationFromQuaternion(
                 Quaternion(
-                    quaternion.second.x,
-                    quaternion.second.y,
-                    quaternion.second.z,
-                    quaternion.first
+                    quaternion.x,
+                    quaternion.y,
+                    quaternion.z,
+                    quaternion.w
                 )
             )
         } else {