diff --git a/include/blitz/misc/Maths.h b/include/blitz/misc/Maths.h
index 36dbf09..4e78b6d 100644
--- a/include/blitz/misc/Maths.h
+++ b/include/blitz/misc/Maths.h
@@ -131,5 +131,7 @@ Mat4f RotateZ(float angle);
 
 Mat4f Rotate(const Vec3f& angles);
 
+Mat4f Rotate(float angle, Vec3f axis);
+
 }  // namespace maths
 }  // namespace blitz
diff --git a/src/blitz/misc/Maths.cpp b/src/blitz/misc/Maths.cpp
index ddc4f34..7b4c9d1 100644
--- a/src/blitz/misc/Maths.cpp
+++ b/src/blitz/misc/Maths.cpp
@@ -133,5 +133,31 @@ Mat4f Rotate(const Vec3f& angle) {
 	return maths::Dot(maths::Dot(RotateX(angle.x), RotateY(angle.y)), RotateZ(angle.z));
 }
 
+Mat4f Rotate(float angle, Vec3f axis) {
+	Mat4f mat{};
+	axis = Normalize(axis);
+
+	float cosine = std::cos(angle);
+	float sine = std::sin(angle);
+
+	float oneminuscos = (1.0f - cosine);
+
+	mat.at(0, 0) = cosine + axis.x * axis.x * oneminuscos;
+	mat.at(0, 1) = axis.x * axis.y * oneminuscos - axis.z * sine;
+	mat.at(0, 2) = axis.x * axis.z * oneminuscos + axis.y * sine;
+
+	mat.at(1, 0) = axis.x * axis.y * oneminuscos + axis.z * sine;
+	mat.at(1, 1) = cosine + axis.y * axis.y * oneminuscos;
+	mat.at(1, 2) = axis.y * axis.z * oneminuscos - axis.x * sine;
+
+	mat.at(2, 0) = axis.x * axis.z * oneminuscos - axis.y * sine;
+	mat.at(2, 1) = axis.y * axis.z * oneminuscos + axis.x * sine;
+	mat.at(2, 2) = cosine + axis.z * axis.z * oneminuscos;
+
+	mat.at(3, 3) = 1.0f;
+
+	return mat;
+}
+
 }  // namespace maths
 }  // namespace blitz