diff --git a/AngleAxis.cpp b/AngleAxis.cpp
index 9cc1f1e..8dad1b1 100644
--- a/AngleAxis.cpp
+++ b/AngleAxis.cpp
@@ -4,12 +4,14 @@
 
 #include "AngleAxis.h"
 
-AngleAxis::AngleAxis() {
+template <typename T>
+AngleAxis<T>::AngleAxis() {
   angle = Angle();
   axis = Axis();
 }
 
-AngleAxis::AngleAxis(Angle angle, Axis axis) {
+template <typename T>
+AngleAxis<T>::AngleAxis(AngleOf<T> angle, Direction<T> axis) {
   this->angle = angle;
   this->axis = axis;
 }
\ No newline at end of file
diff --git a/AngleAxis.h b/AngleAxis.h
index 7dd47ab..c9e1fd5 100644
--- a/AngleAxis.h
+++ b/AngleAxis.h
@@ -6,22 +6,24 @@
 #define ANGLEAXIS_H
 
 #include "Angle.h"
-#include "Axis.h"
+// #include "Axis.h"
+#include "Direction.h"
 
 namespace Passer {
 namespace LinearAlgebra {
 
+template <typename T>
 class AngleAxis {
-public:
-  Angle angle;
-  Axis axis;
+ public:
+  AngleOf<T> angle;
+  Direction<T> axis;
 
   AngleAxis();
-  AngleAxis(Angle angle, Axis axis);
+  AngleAxis(AngleOf<T> angle, Direction<T> axis);
 };
 
-} // namespace LinearAlgebra
-} // namespace Passer
+}  // namespace LinearAlgebra
+}  // namespace Passer
 using namespace Passer::LinearAlgebra;
 
 #endif
\ No newline at end of file
diff --git a/Direction.cpp b/Direction.cpp
new file mode 100644
index 0000000..925bee3
--- /dev/null
+++ b/Direction.cpp
@@ -0,0 +1,50 @@
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v. 2.0.If a copy of the MPL was not distributed with this
+// file, You can obtain one at https ://mozilla.org/MPL/2.0/.
+
+#include "Direction.h"
+
+#include "Quaternion.h"
+#include "Vector3.h"
+
+#include <math.h>
+
+template <typename T>
+Direction<T>::Direction() {
+  this->horizontalAngle = AngleOf(0.0f);
+  this->verticalAngle = AngleOf(0.0f);
+}
+
+template <typename T>
+Direction<T>::Direction(AngleOf<T> horizontal, AngleOf<T> vertical) {
+  this->horizontalAngle = horizontal;
+  this->verticalAngle = vertical;
+};
+
+template <typename T>
+Direction<T>::Direction(Vector3 v) {
+  this->horizontalAngle =
+      atan2f(v.Right(), v.Forward()) * Passer::LinearAlgebra::Rad2Deg;
+  this->verticalAngle = 90 - acosf(v.Up()) * Passer::LinearAlgebra::Rad2Deg;
+}
+
+template <typename T>
+const Direction<T> Direction<T>::forward = Direction<T>(0.0f, 0.0f);
+template <typename T>
+const Direction<T> Direction<T>::back = Direction<T>(180.0f, 0.0f);
+template <typename T>
+const Direction<T> Direction<T>::up = Direction<T>(0.0f, 90.0f);
+template <typename T>
+const Direction<T> Direction<T>::down = Direction<T>(0.0f, -90.0f);
+template <typename T>
+const Direction<T> Direction<T>::left = Direction<T>(-90.0f, 0.0f);
+template <typename T>
+const Direction<T> Direction<T>::right = Direction<T>(90.0f, 0.0f);
+
+template <typename T>
+Vector3 Direction<T>::ToVector3() {
+  Vector3 v = Quaternion::Euler(-(this->verticalAngle.ToFloat()),
+                                this->horizontalAngle.ToFloat(), 0) *
+              Vector3::forward;
+  return v;
+}
\ No newline at end of file
diff --git a/Direction.h b/Direction.h
new file mode 100644
index 0000000..6978b0a
--- /dev/null
+++ b/Direction.h
@@ -0,0 +1,39 @@
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v. 2.0.If a copy of the MPL was not distributed with this
+// file, You can obtain one at https ://mozilla.org/MPL/2.0/.
+
+#ifndef DIRECTION_H
+#define DIRECTION_H
+
+#include "Angle.h"
+
+namespace Passer {
+namespace LinearAlgebra {
+
+struct Vector3;
+
+template <typename T>
+class Direction {
+ public:
+  AngleOf<T> horizontalAngle;
+  AngleOf<T> verticalAngle;
+
+  Direction();
+  Direction(AngleOf<T> horizontal, AngleOf<T> vertical);
+  Direction(Vector3 v);
+
+  const static Direction forward;
+  const static Direction back;
+  const static Direction up;
+  const static Direction down;
+  const static Direction left;
+  const static Direction right;
+
+  Vector3 ToVector3();
+};
+
+}  // namespace LinearAlgebra
+}  // namespace Passer
+using namespace Passer::LinearAlgebra;
+
+#endif
\ No newline at end of file