diff --git a/include/c3d/maths.h b/include/c3d/maths.h
index 4b442b1..e7986fa 100644
--- a/include/c3d/maths.h
+++ b/include/c3d/maths.h
@@ -676,8 +676,5 @@ static inline C3D_FVec FVec3_CrossQuat(C3D_FVec v, C3D_FQuat q)
  * @param[in] roll       The roll angle in radians.
  * @return    C3D_FQuat  The Quaternion equivalent with the pitch, yaw, and roll orientations applied.
  */
-static inline C3D_FQuat Quat_FromPitchYawRoll(float pitch, float yaw, float roll)
-{
-	return Quat_RotateZ(Quat_RotateY(Quat_RotateX(Quat_Identity(), pitch, false), yaw, false), roll, false);
-}
+C3D_FQuat Quat_FromPitchYawRoll(float pitch, float yaw, float roll, bool bRightSide);
 ///@}
diff --git a/source/maths/quat_frompitchyawroll.c b/source/maths/quat_frompitchyawroll.c
new file mode 100644
index 0000000..e433542
--- /dev/null
+++ b/source/maths/quat_frompitchyawroll.c
@@ -0,0 +1,28 @@
+#include <c3d/maths.h>
+
+C3D_FQuat Quat_FromPitchYawRoll(float pitch, float yaw, float roll, bool bRightSide)
+{
+	float pitch_c = cosf(pitch / 2.0f);
+	float pitch_s = sinf(pitch / 2.0f);
+	float yaw_c = cosf(yaw / 2.0f);
+	float yaw_s = sinf(yaw / 2.0f);
+	float roll_c = cosf(roll / 2.0f);
+	float roll_s = sinf(roll / 2.0f);
+
+	if (bRightSide)
+	{
+		return Quat_New(
+			pitch_s * yaw_c * roll_c - pitch_c * yaw_s * roll_s,
+			pitch_c * yaw_s * roll_c + pitch_s * yaw_c * roll_s,
+			pitch_c * yaw_c * roll_s - pitch_s * yaw_s * roll_c,
+			pitch_c * yaw_c * roll_c + pitch_s * yaw_s * roll_s);
+	}
+	else
+	{
+		return Quat_New(
+			pitch_s * yaw_c * roll_c + pitch_c * yaw_s * roll_s,
+			pitch_c * yaw_s * roll_c - pitch_s * yaw_c * roll_s,
+			pitch_c * yaw_c * roll_s + pitch_s * yaw_s * roll_c,
+			pitch_c * yaw_c * roll_c - pitch_s * yaw_s * roll_s);
+	}
+}