diff --git a/Engine.Core/Primitives/Quaternion.cs b/Engine.Core/Primitives/Quaternion.cs
index 23e9ed7..c18ab6d 100644
--- a/Engine.Core/Primitives/Quaternion.cs
+++ b/Engine.Core/Primitives/Quaternion.cs
@@ -187,8 +187,12 @@ public readonly struct Quaternion(float x, float y, float z, float w) : IEquatab
     /// <returns>The rotated <see cref="Vector3D"/>.</returns>
     public static Vector3D RotateVector(Vector3D vector, Quaternion quaternion)
     {
-        Quaternion rotation = quaternion * new Quaternion(vector.X, vector.Y, vector.Z, 0) * Invert(quaternion);
-        return new(rotation.X, rotation.Y, rotation.Z);
+        // https://blog.molecular-matters.com/2013/05/24/a-faster-quaternion-vector-multiplication/
+        // t = 2 * cross(q.xyz, v)
+        // v' = v + q.w * t + cross(q.xyz, t)
+        Vector3D quaternionVector = new(quaternion.X, quaternion.Y, quaternion.Z);
+        Vector3D t = 2f * quaternionVector.Cross(vector);
+        return vector + quaternion.W * t + quaternionVector.Cross(t);
     }
 
     /// <summary>