diff --git a/Engine.Core/Primitives/Quaternion.cs b/Engine.Core/Primitives/Quaternion.cs
index 47c02f6..5ecb722 100644
--- a/Engine.Core/Primitives/Quaternion.cs
+++ b/Engine.Core/Primitives/Quaternion.cs
@@ -156,6 +156,27 @@ public readonly struct Quaternion(float x, float y, float z, float w) : IEquatab
     /// <returns>The normalized <see cref="Quaternion"/>.</returns>
     public static Quaternion Normalize(Quaternion quaternion) => quaternion / Length(quaternion);
 
+    public static Quaternion LookAt(Vector3D origin, Vector3D target, Vector3D up) => LookAt(target - origin, up);
+    public static Quaternion LookAt(Vector3D target, Vector3D up)
+    {
+        Vector3D forward = target.Normalized;
+
+        if (forward.LengthSquared() < 1e-6f)
+            return Identity;
+
+        Vector3D right = up.Cross(forward).Normalized;
+        Vector3D newUp = forward.Cross(right);
+
+        System.Numerics.Matrix4x4 rot = new(
+            right.X, right.Y, right.Z, 0f,
+            newUp.X, newUp.Y, newUp.Z, 0f,
+            forward.X, forward.Y, forward.Z, 0f,
+            0f, 0f, 0f, 1f
+        );
+
+        return FromRotationMatrix4x4(rot);
+    }
+
     /// <summary>
     /// Rotates a <see cref="Quaternion"/> around a axis by the specified angle (in radians).
     /// </summary>
@@ -212,8 +233,8 @@ public readonly struct Quaternion(float x, float y, float z, float w) : IEquatab
             dot = -dot;
         }
 
-        if (dot > 0.9995f)
-            return Lerp(from, to, t);
+        if (dot > 0.999999f)
+            return to;
 
         float angle = Math.Acos(dot);
         float sinAngle = Math.Sin(angle);
@@ -278,8 +299,7 @@ public readonly struct Quaternion(float x, float y, float z, float w) : IEquatab
     /// <summary>
     /// Calculates the <see cref="System.Numerics.Matrix4x4"/> from given <see cref="Quaternion"/>.
     /// </summary>
-    /// <param name="axis">The axis of the rotation in <see cref="Vector3D"/>.</param>
-    /// <param name="angle">The angle in radians.</param>
+    /// <param name="quaternion">The rotation <see cref="Quaternion"/>.</param>
     /// <returns>The rotation <see cref="System.Numerics.Matrix4x4"/> calculated by the given <see cref="Quaternion"/>.</returns>
     public static System.Numerics.Matrix4x4 ToRotationMatrix4x4(Quaternion quaternion)
     {
@@ -311,6 +331,52 @@ public readonly struct Quaternion(float x, float y, float z, float w) : IEquatab
         );
     }
 
+    /// <summary>
+    /// Calculates the <see cref="Quaternion"/> from given <see cref="System.Numerics.Matrix4x4"/>.
+    /// </summary>
+    /// <param name="martix">The rotation <see cref="System.Numerics.Matrix4x4"/>.</param>
+    /// <returns>The rotation <see cref="Quaternion"/> calculated by the given <see cref="System.Numerics.Matrix4x4"/>.</returns>
+    public static Quaternion FromRotationMatrix4x4(System.Numerics.Matrix4x4 martix)
+    {
+        float trace = martix.M11 + martix.M22 + martix.M33;
+        float w, x, y, z;
+
+        if (trace > 0)
+        {
+            float s = Math.Sqrt(trace + 1.0f) * 2f;
+            w = .25f * s;
+            x = (martix.M23 - martix.M32) / s;
+            y = (martix.M31 - martix.M13) / s;
+            z = (martix.M12 - martix.M21) / s;
+        }
+        else if ((martix.M11 > martix.M22) && (martix.M11 > martix.M33))
+        {
+            float s = Math.Sqrt(1.0f + martix.M11 - martix.M22 - martix.M33) * 2f;
+            w = (martix.M23 - martix.M32) / s;
+            x = .25f * s;
+            y = (martix.M12 + martix.M21) / s;
+            z = (martix.M31 + martix.M13) / s;
+        }
+        else if (martix.M22 > martix.M33)
+        {
+            float s = Math.Sqrt(1.0f + martix.M22 - martix.M11 - martix.M33) * 2f;
+            w = (martix.M31 - martix.M13) / s;
+            x = (martix.M12 + martix.M21) / s;
+            y = .25f * s;
+            z = (martix.M23 + martix.M32) / s;
+        }
+        else
+        {
+            float s = Math.Sqrt(1.0f + martix.M33 - martix.M11 - martix.M22) * 2f;
+            w = (martix.M12 - martix.M21) / s;
+            x = (martix.M31 + martix.M13) / s;
+            y = (martix.M23 + martix.M32) / s;
+            z = .25f * s;
+        }
+
+        return new(x, y, z, w);
+    }
+
     /// <summary>
     /// Checks if two <see cref="Quaternion"/>s are approximately equal within a specified epsilon range.
     /// </summary>