diff --git a/headers/vmath.hpp/vmath_ext.hpp b/headers/vmath.hpp/vmath_ext.hpp
index aeae410..dce10f1 100644
--- a/headers/vmath.hpp/vmath_ext.hpp
+++ b/headers/vmath.hpp/vmath_ext.hpp
@@ -646,13 +646,23 @@ namespace vmath_hpp
     }
 
     template < typename T >
-    [[nodiscard]] vec<T, 3> rotate(const vec<T, 3>& v, T angle, const vec<T, 3>& normal) {
-        return v * mat<T, 3>(rotate(angle, normal));
+    [[nodiscard]] vec<T, 3> rotate(const vec<T, 3>& v, const qua<T>& q) {
+        return v * q;
     }
 
     template < typename T >
-    [[nodiscard]] vec<T, 4> rotate(const vec<T, 4>& v, T angle, const vec<T, 3>& normal) {
-        return v * rotate(angle, normal);
+    [[nodiscard]] vec<T, 3> rotate(const vec<T, 3>& v, T angle, const vec<T, 3>& axis) {
+        return v * qrotate(angle, axis);
+    }
+
+    template < typename T >
+    [[nodiscard]] vec<T, 4> rotate(const vec<T, 4>& v, const qua<T>& q) {
+        return v * q;
+    }
+
+    template < typename T >
+    [[nodiscard]] vec<T, 4> rotate(const vec<T, 4>& v, T angle, const vec<T, 3>& axis) {
+        return v * qrotate(angle, axis);
     }
 
     // project
diff --git a/headers/vmath.hpp/vmath_qua_fun.hpp b/headers/vmath.hpp/vmath_qua_fun.hpp
index cc679f3..f57650d 100644
--- a/headers/vmath.hpp/vmath_qua_fun.hpp
+++ b/headers/vmath.hpp/vmath_qua_fun.hpp
@@ -80,6 +80,11 @@ namespace vmath_hpp
         return xs + qv2 * ys.s + cross(ys.v, qv2);
     }
 
+    template < typename T >
+    [[nodiscard]] constexpr vec<T, 4> operator*(const vec<T, 4>& xs, const qua<T>& ys) {
+        return {vec<T, 3>{xs} * ys, xs.w};
+    }
+
     template < typename T >
     [[nodiscard]] constexpr qua<T> operator*(const qua<T>& xs, const qua<T>& ys) {
         return {
@@ -99,6 +104,11 @@ namespace vmath_hpp
         return (xs = (xs * ys));
     }
 
+    template < typename T >
+    constexpr vec<T, 4>& operator*=(vec<T, 4>& xs, const qua<T>& ys) {
+        return (xs = (xs * ys));
+    }
+
     template < typename T >
     constexpr qua<T>& operator*=(qua<T>& xs, const qua<T>& ys) {
         return (xs = (xs * ys));
diff --git a/untests/vmath_ext_tests.cpp b/untests/vmath_ext_tests.cpp
index 8a98209..974b538 100644
--- a/untests/vmath_ext_tests.cpp
+++ b/untests/vmath_ext_tests.cpp
@@ -285,7 +285,10 @@ TEST_CASE("vmath/ext") {
         REQUIRE(rotate(float2(2.f,0.f), radians(90.f)) == uapprox2(0.f,2.f));
         REQUIRE(rotate(float2(1.5f,0.f), radians(-90.f)) == uapprox2(0.f,-1.5f));
 
+        REQUIRE(rotate(float3(1.5f,0.f,0.f), qrotate_z(radians(90.f))) == uapprox3(0.f,1.5f,0.f));
         REQUIRE(rotate(float3(1.5f,0.f,0.f), radians(90.f), float3(0,0,1)) == uapprox3(0.f,1.5f,0.f));
+
+        REQUIRE(rotate(float4(1.5f,0.f,0.f,1.f), qrotate_z(radians(90.f))) == uapprox4(0.f,1.5f,0.f,1.f));
         REQUIRE(rotate(float4(1.5f,0.f,0.f,1.f), radians(90.f), float3(0,0,1)) == uapprox4(0.f,1.5f,0.f,1.f));
     }
 
diff --git a/untests/vmath_qua_fun_tests.cpp b/untests/vmath_qua_fun_tests.cpp
index 4036ee2..c0b83f3 100644
--- a/untests/vmath_qua_fun_tests.cpp
+++ b/untests/vmath_qua_fun_tests.cpp
@@ -59,9 +59,17 @@ TEST_CASE("vmath/qua_fun") {
             REQUIRE(v == uapprox3(0.f,1.f,0.f));
         }
 
+        {
+            float4 v{1,0,0,2};
+            REQUIRE(&v == &(v *= fqua{0,0,0.7071067812f,0.7071067812f}));
+            REQUIRE(v == uapprox4(0.f,1.f,0.f,2.f));
+        }
+
         STATIC_REQUIRE(fqua{} * fqua{} == fqua{});
         STATIC_REQUIRE(float3{1,2,3} * fqua{} == uapprox3(1.f,2.f,3.f));
+        STATIC_REQUIRE(float4{1,2,3,4} * fqua{} == uapprox4(1.f,2.f,3.f,4.f));
         STATIC_REQUIRE(float3{1,0,0} * fqua{0,0,0.7071067812f,0.7071067812f} == uapprox3(0.f,1.f,0.f));
+        STATIC_REQUIRE(float4{1,0,0,2} * fqua{0,0,0.7071067812f,0.7071067812f} == uapprox4(0.f,1.f,0.f,2.f));
     }
 
     SUBCASE("Common Functions") {