diff --git a/VpSharp/src/Entities/VirtualParadiseAvatar.cs b/VpSharp/src/Entities/VirtualParadiseAvatar.cs
index 66852b9..f5cb4f0 100644
--- a/VpSharp/src/Entities/VirtualParadiseAvatar.cs
+++ b/VpSharp/src/Entities/VirtualParadiseAvatar.cs
@@ -384,7 +384,7 @@ public sealed class VirtualParadiseAvatar : IEquatable<VirtualParadiseAvatar>
             lock (_client.Lock)
             {
                 (double x, double y, double z) = position;
-                (double pitch, double yaw, double _) = rotation.ToEulerAngles(false);
+                (double pitch, double yaw, double _) = rotation.ToEulerAngles();
 
                 _ = vp_double_set(handle, FloatAttribute.MyX, x);
                 _ = vp_double_set(handle, FloatAttribute.MyY, y);
@@ -404,7 +404,7 @@ public sealed class VirtualParadiseAvatar : IEquatable<VirtualParadiseAvatar>
             lock (_client.Lock)
             {
                 (float x, float y, float z) = (Vector3)position;
-                (float pitch, float yaw, float _) = (Vector3)rotation.ToEulerAngles(false);
+                (float pitch, float yaw, float _) = (Vector3)rotation.ToEulerAngles();
 
                 var reason = (ReasonCode)vp_teleport_avatar(handle, Session, world, x, y, z, yaw, pitch);
                 if (reason == ReasonCode.NotInWorld)
diff --git a/VpSharp/src/Extensions/QuaternionExtensions.cs b/VpSharp/src/Extensions/QuaternionExtensions.cs
index d7bc39b..63fd1fd 100644
--- a/VpSharp/src/Extensions/QuaternionExtensions.cs
+++ b/VpSharp/src/Extensions/QuaternionExtensions.cs
@@ -11,70 +11,31 @@ public static class QuaternionExtensions
     ///     Converts this quaternion to a <see cref="Vector3d" /> containing an Euler representation of the rotation. 
     /// </summary>
     /// <param name="value">The quaternion to convert.</param>
-    /// <param name="radians">
-    ///     <see langword="true" /> if the resulting vector should be in radians; or <see langword="false" /> if the resulting
-    ///     vector should be in degrees.
-    /// </param>
     /// <returns>The Euler representation of <paramref name="value" />.</returns>
     /// <see href="https://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/" />
-    public static Vector3d ToEulerAngles(this Quaternion value, bool radians = true)
+    public static Vector3d ToEulerAngles(this Quaternion value)
     {
-        double a = (2.0 * value.Y * value.W) - (2.0 * value.X * value.Z);
-        double b = 1.0 - (2.0 * value.Y * value.Y) - (2.0 * value.Z * value.Z);
-        double y = -Math.Atan2(a, b);
-
-        a = 2.0 * value.X * value.Y;
-        b = 2.0 * value.Z * value.W;
-        double z = Math.Asin(a + b);
-
-        a = (2.0 * value.X * value.W) - (2.0 * value.Y * value.Z);
-        b = 1.0 - (2.0 * value.X * value.X) - (2.0 * value.Z * value.Z);
-        double x = Math.Atan2(a, b);
-
-        if (!radians)
-        {
-            x = 180.0 / Math.PI * x;
-            y = 180.0 / Math.PI * y;
-            z = 180.0 / Math.PI * z;
-        }
-
-        return new Vector3d(x, y, z);
+        value = Quaternion.Normalize(value);
+        double x = Math.Atan2(2 * (value.X * value.W - value.Y * value.Z), 1 - 2 * (value.X * value.X + value.Z * value.Z));
+        double y = Math.Asin(2 * (value.X * value.Z + value.Y * value.W));
+        double z = Math.Atan2(2 * (value.Z * value.W - value.X * value.Y), 1 - 2 * (value.Y * value.Y + value.Z * value.Z));
+        return new Vector3d(x, y, z) * (180 / Math.PI);
     }
 
     /// <summary>
     ///     Converts this quaternion to a <see cref="Vector3d" /> containing an Euler representation of the rotation. 
     /// </summary>
     /// <param name="value">The quaternion to convert.</param>
-    /// <param name="radians">
-    ///     <see langword="true" /> if the resulting vector should be in radians; or <see langword="false" /> if the resulting
-    ///     vector should be in degrees.
-    /// </param>
     /// <returns>The Euler representation of <paramref name="value" />.</returns>
-    public static Vector3d ToEulerAnglesF(this Quaternion value, bool radians = true)
+    public static Vector3 ToEulerAnglesF(this Quaternion value)
     {
-        float a = (2.0f * value.Y * value.W) - (2.0f * value.X * value.Z);
-        float b = 1.0f - (2.0f * value.Y * value.Y) - (2.0f * value.Z * value.Z);
-        float y = -MathF.Atan2(a, b);
-
-        a = 2.0f * value.X * value.Y;
-        b = 2.0f * value.Z * value.W;
-        float z = MathF.Asin(a + b);
-
-        a = (2.0f * value.X * value.W) - (2.0f * value.Y * value.Z);
-        b = 1.0f - (2.0f * value.X * value.X) - (2.0f * value.Z * value.Z);
-        float x = MathF.Atan2(a, b);
-
-        if (!radians)
-        {
-            x = 180.0f / MathF.PI * x;
-            y = 180.0f / MathF.PI * y;
-            z = 180.0f / MathF.PI * z;
-        }
-
-        return new Vector3d(x, y, z);
+        value = Quaternion.Normalize(value);
+        float x = MathF.Atan2(2 * (value.X * value.W - value.Y * value.Z), 1 - 2 * (value.X * value.X + value.Z * value.Z));
+        float y = MathF.Asin(2 * (value.X * value.Z + value.Y * value.W));
+        float z = MathF.Atan2(2 * (value.Z * value.W - value.X * value.Y), 1 - 2 * (value.Y * value.Y + value.Z * value.Z));
+        return new Vector3(x, y, z) * (180 / MathF.PI);
     }
 
-    // 
 #pragma warning disable CA1021
     /// <summary>
     ///     Converts this quaternion to an axis/angle pair.
@@ -85,13 +46,8 @@ public static class QuaternionExtensions
     /// <see href="https://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToAngle/index.htm"/>
     public static void ToAxisAngle(this Quaternion value, out Vector3 axis, out float angle)
     {
-        angle = 2.0f * MathF.Acos(value.W);
-
-        float x = value.X / MathF.Sqrt(1.0f - (value.W * value.W));
-        float y = value.Y / MathF.Sqrt(1.0f - (value.W * value.W));
-        float z = value.Z / MathF.Sqrt(1.0f - (value.W * value.W));
-
-        axis = new Vector3(x, y, z);
+        angle = 2 * MathF.Acos(value.W);
+        axis = Vector3.Normalize(new Vector3(value.X, value.Y, value.Z));
     }
 
     /// <summary>
@@ -102,13 +58,8 @@ public static class QuaternionExtensions
     /// <param name="angle">The angle value.</param>
     public static void ToAxisAngle(this Quaternion value, out Vector3d axis, out double angle)
     {
-        angle = 2.0 * Math.Acos(value.W);
-
-        double x = value.X / Math.Sqrt(1.0 - (value.W * value.W));
-        double y = value.Y / Math.Sqrt(1.0 - (value.W * value.W));
-        double z = value.Z / Math.Sqrt(1.0 - (value.W * value.W));
-
-        axis = new Vector3d(x, y, z);
+        angle = 2 * Math.Acos(value.W);
+        axis = Vector3d.Normalize(new Vector3d(value.X, value.Y, value.Z));
     }
 #pragma warning restore CA1021
 }