diff --git a/src/utils/transform.hpp b/src/utils/transform.hpp
index 259e7fb..3dc16c5 100644
--- a/src/utils/transform.hpp
+++ b/src/utils/transform.hpp
@@ -11,11 +11,34 @@ struct Transform
 
 	glm::mat4 ToMatrix() const
 	{
-		// TODO: Optimize matrix construction
-		glm::mat4 translation_mat = glm::translate(glm::mat4(1.0f), position);
-		glm::mat4 rotation_mat = glm::mat4_cast(rotation);
-		glm::mat4 scaling_mat = glm::scale(glm::mat4(1.0f), glm::vec3(scale));
-		return translation_mat * rotation_mat * scaling_mat;
+        float x = rotation.x;
+        float y = rotation.y;
+        float z = rotation.z;
+        float w = rotation.w;
+
+        float x2 = x + x;
+        float y2 = y + y;
+        float z2 = z + z;
+        float xx = x * x2;
+        float xy = x * y2;
+        float xz = x * z2;
+        float yy = y * y2;
+        float yz = y * z2;
+        float zz = z * z2;
+        float wx = w * x2;
+        float wy = w * y2;
+        float wz = w * z2;
+
+        float sx = scale;
+        float sy = scale;
+        float sz = scale;
+
+        return glm::mat4(
+            (1.0f - (yy + zz)) * sx,    (xy + wz) * sx,             (xz - wy) * sx,             0.0f,
+            (xy - wz) * sy,             (1.0f - (xx + zz)) * sy,    (yz + wx) * sy,             0.0f,
+            (xz + wy) * sz,             (yz - wx) * sz,             (1.0f - (xx + yy)) * sz,    0.0f,
+            position.x,                 position.y,                 position.z,                 1.0f
+		);
 	}
 
 	void SetAngles(const glm::vec3& angles_deg)