diff --git a/AngleAxis.cpp b/AngleAxis.cpp
new file mode 100644
index 0000000..9cc1f1e
--- /dev/null
+++ b/AngleAxis.cpp
@@ -0,0 +1,15 @@
+// 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 "AngleAxis.h"
+
+AngleAxis::AngleAxis() {
+  angle = Angle();
+  axis = Axis();
+}
+
+AngleAxis::AngleAxis(Angle angle, Axis axis) {
+  this->angle = angle;
+  this->axis = axis;
+}
\ No newline at end of file
diff --git a/AngleAxis.h b/AngleAxis.h
new file mode 100644
index 0000000..68eda55
--- /dev/null
+++ b/AngleAxis.h
@@ -0,0 +1,20 @@
+// 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 ANGLEAXIS_H
+#define ANGLEAXIS_H
+
+#include "Angle.h"
+#include "Axis.h"
+
+class AngleAxis {
+public:
+  Angle angle;
+  Axis axis;
+
+  AngleAxis();
+  AngleAxis(Angle angle, Axis axis);
+};
+
+#endif
\ No newline at end of file
diff --git a/Axis.cpp b/Axis.cpp
new file mode 100644
index 0000000..0b21ac0
--- /dev/null
+++ b/Axis.cpp
@@ -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/.
+
+#include "Axis.h"
+
+#include "Quaternion.h"
+#include "Vector3.h"
+
+#include <math.h>
+
+Axis::Axis() {
+  horizontalAngle = 0;
+  verticalAngle = 0;
+}
+
+Axis::Axis(Angle horizontal, Angle vertical) {
+  this->horizontalAngle = horizontal;
+  this->verticalAngle = vertical;
+};
+
+Axis::Axis(Vector3 v) {
+  this->horizontalAngle = atan2f(v.x, v.z) * Angle::Rad2Deg;
+  this->verticalAngle = 90 - acosf(v.y) * Angle::Rad2Deg;
+}
+
+const Axis Axis::forward = Axis(0, 0);
+const Axis Axis::back = Axis(180, 0);
+const Axis Axis::up = Axis(0, 90);
+const Axis Axis::down = Axis(0, -90);
+const Axis Axis::left = Axis(-90, 0);
+const Axis Axis::right = Axis(90, 0);
+
+Vector3 Axis::ToVector3() {
+  Vector3 v =
+      Quaternion::Euler(-this->verticalAngle, this->horizontalAngle, 0) *
+      Vector3::forward;
+  return v;
+}
\ No newline at end of file
diff --git a/Axis.h b/Axis.h
new file mode 100644
index 0000000..992ab58
--- /dev/null
+++ b/Axis.h
@@ -0,0 +1,31 @@
+// 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 AXIS_H
+#define AXIS_H
+
+#include "Angle.h"
+
+class Vector3;
+
+class Axis {
+public:
+  Angle horizontalAngle;
+  Angle verticalAngle;
+
+  Axis();
+  Axis(Angle horizontal, Angle vertical);
+  Axis(Vector3 v);
+
+  const static Axis forward;
+  const static Axis back;
+  const static Axis up;
+  const static Axis down;
+  const static Axis left;
+  const static Axis right;
+
+  Vector3 ToVector3();
+};
+
+#endif
\ No newline at end of file