diff --git a/libs/geom/include/psemek/geom/quaternion.hpp b/libs/geom/include/psemek/geom/quaternion.hpp
index 606b72b3..f91d50e8 100644
--- a/libs/geom/include/psemek/geom/quaternion.hpp
+++ b/libs/geom/include/psemek/geom/quaternion.hpp
@@ -184,6 +184,13 @@ namespace psemek::geom
 		return {res[0], res[1], res[2]};
 	}
 
+	template <typename T>
+	vector<T, 3> rotate(quaternion<T> const & q1, vector<T, 3> const & v, quaternion<T> const & q2)
+	{
+		auto res = q1 * quaternion<T>::vector(v) * conjugate(q2);
+		return {res[0], res[1], res[2]};
+	}
+
 	template <typename T>
 	T angle(quaternion<T> const & q0, quaternion<T> const & q1)
 	{