diff --git a/packages/redgeometry/src/core/path.ts b/packages/redgeometry/src/core/path.ts
index e872c8e..5787087 100644
--- a/packages/redgeometry/src/core/path.ts
+++ b/packages/redgeometry/src/core/path.ts
@@ -189,7 +189,7 @@ export class Path2 implements PathSink2 {
         let sin = Math.sin(startAngle);
         let cos = Math.cos(startAngle);
 
-        const mat = Matrix3x2.fromRotation(sin, cos);
+        const mat = Matrix3x2.fromRotation(cos, sin);
 
         mat.scalePre(rx, ry);
         mat.translatePre(pc.x, pc.y);
@@ -572,7 +572,7 @@ export class Path2 implements PathSink2 {
         let cos = Math.cos(xAxisRotation);
 
         // Inverse rotation to align the ellipse
-        const mat = Matrix3x2.fromRotation(-sin, cos);
+        const mat = Matrix3x2.fromRotation(cos, -sin);
 
         // Vector from center (transformed midpoint)
         let v = p0.sub(p1).mul(0.5);
@@ -626,10 +626,10 @@ export class Path2 implements PathSink2 {
         let v2 = pp1.sub(pc);
 
         // Set up the final transformation matrix
-        mat.rotateSet(v1.y, v1.x);
+        mat.rotateSet(v1.x, v1.y);
         mat.translatePre(pc.x, pc.y);
         mat.scalePre(sx, sy);
-        mat.rotatePre(sin, cos);
+        mat.rotatePre(cos, sin);
 
         // We have `sin = v1.cross(v2) / (v1.length * v2.length)`
         // with the length of `v1` and `v2` both 1 (unit vectors)
diff --git a/packages/redgeometry/src/primitives/quaternion.ts b/packages/redgeometry/src/primitives/quaternion.ts
index b7b86ab..4aab550 100644
--- a/packages/redgeometry/src/primitives/quaternion.ts
+++ b/packages/redgeometry/src/primitives/quaternion.ts
@@ -87,19 +87,19 @@ export class Quaternion {
         }
     }
 
-    public static fromRotationXAngle(angle: number): Quaternion {
+    public static fromRotationAngleX(angle: number): Quaternion {
         const sin = Math.sin(0.5 * angle);
         const cos = Math.cos(0.5 * angle);
         return new Quaternion(cos, sin, 0, 0);
     }
 
-    public static fromRotationYAngle(angle: number): Quaternion {
+    public static fromRotationAngleY(angle: number): Quaternion {
         const sin = Math.sin(0.5 * angle);
         const cos = Math.cos(0.5 * angle);
         return new Quaternion(cos, 0, sin, 0);
     }
 
-    public static fromRotationZAngle(angle: number): Quaternion {
+    public static fromRotationAngleZ(angle: number): Quaternion {
         const sin = Math.sin(0.5 * angle);
         const cos = Math.cos(0.5 * angle);
         return new Quaternion(cos, 0, 0, sin);
diff --git a/packages/redgeometry/tests/primitives/matrix.spec.ts b/packages/redgeometry/tests/primitives/matrix.spec.ts
index 569cf48..3be4f5b 100644
--- a/packages/redgeometry/tests/primitives/matrix.spec.ts
+++ b/packages/redgeometry/tests/primitives/matrix.spec.ts
@@ -166,7 +166,7 @@ test("Matrix4x3 - mapVector", () => {
 });
 
 test("Matrix4x3 - rotate (x)", () => {
-    const q = Quaternion.fromRotationXAngle(1);
+    const q = Quaternion.fromRotationAngleX(1);
     const mat1 = Matrix4x3.fromRotation(q.a, q.b, q.c, q.d);
     const mat2 = Matrix4x3.createIdentity();
     const mat3 = Matrix4x3.createIdentity();
@@ -182,7 +182,7 @@ test("Matrix4x3 - rotate (x)", () => {
 });
 
 test("Matrix4x3 - rotate (y)", () => {
-    const q = Quaternion.fromRotationYAngle(1);
+    const q = Quaternion.fromRotationAngleY(1);
     const mat1 = Matrix4x3.fromRotation(q.a, q.b, q.c, q.d);
     const mat2 = Matrix4x3.createIdentity();
     const mat3 = Matrix4x3.createIdentity();
@@ -198,7 +198,7 @@ test("Matrix4x3 - rotate (y)", () => {
 });
 
 test("Matrix4x3 - rotate (z)", () => {
-    const q = Quaternion.fromRotationZAngle(1);
+    const q = Quaternion.fromRotationAngleZ(1);
     const mat1 = Matrix4x3.fromRotation(q.a, q.b, q.c, q.d);
     const mat2 = Matrix4x3.createIdentity();
     const mat3 = Matrix4x3.createIdentity();
@@ -262,7 +262,7 @@ test("Matrix4x4 - mapVector", () => {
 });
 
 test("Matrix4x4 - rotate (x)", () => {
-    const q = Quaternion.fromRotationXAngle(1);
+    const q = Quaternion.fromRotationAngleX(1);
     const mat1 = Matrix4x4.fromRotation(q.a, q.b, q.c, q.d);
     const mat2 = Matrix4x4.createIdentity();
     const mat3 = Matrix4x4.createIdentity();
@@ -278,7 +278,7 @@ test("Matrix4x4 - rotate (x)", () => {
 });
 
 test("Matrix4x4 - rotate (y)", () => {
-    const q = Quaternion.fromRotationYAngle(1);
+    const q = Quaternion.fromRotationAngleY(1);
     const mat1 = Matrix4x4.fromRotation(q.a, q.b, q.c, q.d);
     const mat2 = Matrix4x4.createIdentity();
     const mat3 = Matrix4x4.createIdentity();
@@ -294,7 +294,7 @@ test("Matrix4x4 - rotate (y)", () => {
 });
 
 test("Matrix4x4 - rotate (z)", () => {
-    const q = Quaternion.fromRotationZAngle(1);
+    const q = Quaternion.fromRotationAngleZ(1);
     const mat1 = Matrix4x4.fromRotation(q.a, q.b, q.c, q.d);
     const mat2 = Matrix4x4.createIdentity();
     const mat3 = Matrix4x4.createIdentity();
diff --git a/packages/redgeometry/tests/primitives/quaternion.spec.ts b/packages/redgeometry/tests/primitives/quaternion.spec.ts
index eb5697e..d5e6093 100644
--- a/packages/redgeometry/tests/primitives/quaternion.spec.ts
+++ b/packages/redgeometry/tests/primitives/quaternion.spec.ts
@@ -2,7 +2,7 @@ import { expect, test } from "vitest";
 import { Quaternion, RotationOrder } from "../../src/primitives/quaternion.js";
 
 test("Quaternion - fromXAngle", () => {
-    const q = Quaternion.fromRotationXAngle(1);
+    const q = Quaternion.fromRotationAngleX(1);
 
     const q1 = Quaternion.fromRotationEuler(1, 0, 0, RotationOrder.XYZ);
     const q2 = Quaternion.fromRotationEuler(1, 0, 0, RotationOrder.XZY);
@@ -20,7 +20,7 @@ test("Quaternion - fromXAngle", () => {
 });
 
 test("Quaternion - fromYAngle", () => {
-    const q = Quaternion.fromRotationYAngle(1);
+    const q = Quaternion.fromRotationAngleY(1);
 
     const q1 = Quaternion.fromRotationEuler(0, 1, 0, RotationOrder.XYZ);
     const q2 = Quaternion.fromRotationEuler(0, 1, 0, RotationOrder.XZY);
@@ -39,7 +39,7 @@ test("Quaternion - fromYAngle", () => {
 });
 
 test("Quaternion - fromZAngle", () => {
-    const q = Quaternion.fromRotationZAngle(1);
+    const q = Quaternion.fromRotationAngleZ(1);
 
     const q1 = Quaternion.fromRotationEuler(0, 0, 1, RotationOrder.XYZ);
     const q2 = Quaternion.fromRotationEuler(0, 0, 1, RotationOrder.XZY);
@@ -68,12 +68,12 @@ test("Quaternion - fromEulerAngles", () => {
     const qe1 = Quaternion.fromRotationEuler(ax, ay, az, RotationOrder.ZXY);
     const qf1 = Quaternion.fromRotationEuler(ax, ay, az, RotationOrder.ZYX);
 
-    const qa2 = Quaternion.fromRotationXAngle(ax).rotateY(ay).rotateZ(az);
-    const qb2 = Quaternion.fromRotationXAngle(ax).rotateZ(az).rotateY(ay);
-    const qc2 = Quaternion.fromRotationYAngle(ay).rotateX(ax).rotateZ(az);
-    const qd2 = Quaternion.fromRotationYAngle(ay).rotateZ(az).rotateX(ax);
-    const qe2 = Quaternion.fromRotationZAngle(az).rotateX(ax).rotateY(ay);
-    const qf2 = Quaternion.fromRotationZAngle(az).rotateY(ay).rotateX(ax);
+    const qa2 = Quaternion.fromRotationAngleX(ax).rotateY(ay).rotateZ(az);
+    const qb2 = Quaternion.fromRotationAngleX(ax).rotateZ(az).rotateY(ay);
+    const qc2 = Quaternion.fromRotationAngleY(ay).rotateX(ax).rotateZ(az);
+    const qd2 = Quaternion.fromRotationAngleY(ay).rotateZ(az).rotateX(ax);
+    const qe2 = Quaternion.fromRotationAngleZ(az).rotateX(ax).rotateY(ay);
+    const qf2 = Quaternion.fromRotationAngleZ(az).rotateY(ay).rotateX(ax);
 
     expectToBeCloseToQuaternion(qa1, qa2);
     expectToBeCloseToQuaternion(qb1, qb2);