diff --git a/src/overlaycontroller.cpp b/src/overlaycontroller.cpp
index b56eb91..96afe8f 100644
--- a/src/overlaycontroller.cpp
+++ b/src/overlaycontroller.cpp
@@ -20,6 +20,7 @@
 #include <cmath>
 #include <openvr.h>
 #include "logging.h"
+#include "utils/Matrix.h"
 
 
 
@@ -403,20 +404,11 @@ void OverlayController::RotateUniverseCenter(vr::ETrackingUniverseOrigin univers
 		} else {
 			vr::VRChaperoneSetup()->GetWorkingSeatedZeroPoseToRawTrackingPose(&curPos);
 		}
+
+		vr::HmdMatrix34_t rotMat;
 		vr::HmdMatrix34_t newPos;
-		float yRot[3][3] = {
-			{ std::cos(yAngle), 0, std::sin(yAngle) },
-			{ 0, 1, 0 },
-			{ -std::sin(yAngle), 0, std::cos(yAngle) }
-		};
-		for (unsigned i = 0; i < 3; i++) {
-			for (unsigned j = 0; j < 3; j++) {
-				newPos.m[i][j] = 0.0f;
-				for (unsigned k = 0; k < 3; k++) {
-					newPos.m[i][j] += yRot[i][k] * curPos.m[k][j];
-				}
-			}
-		}
+		utils::initRotationMatrix(rotMat, 0, yAngle);
+		utils::matMul33(newPos, rotMat, curPos);
 		newPos.m[0][3] = curPos.m[0][3];
 		newPos.m[1][3] = curPos.m[1][3];
 		newPos.m[2][3] = curPos.m[2][3];
@@ -434,6 +426,7 @@ void OverlayController::RotateUniverseCenter(vr::ETrackingUniverseOrigin univers
 	}
 }
 
+
 void OverlayController::AddOffsetToCollisionBounds(unsigned axisId, float offset, bool commit) {
 	// Apparently Valve sanity-checks the y-coordinates of the collision bounds (and only the y-coordinates)
 	// I can move the bounds on the xz-plane, I can make the "ceiling" of the chaperone cage lower/higher, but when I
@@ -469,21 +462,14 @@ void OverlayController::RotateCollisionBounds(float angle, bool commit) {
 	if (collisionBoundsCount > 0) {
 		vr::HmdQuad_t* collisionBounds = new vr::HmdQuad_t[collisionBoundsCount];
 		vr::VRChaperoneSetup()->GetWorkingCollisionBoundsInfo(collisionBounds, &collisionBoundsCount);
-		float yRot[3][3] = {
-			{ std::cos(angle), 0, std::sin(angle) },
-			{ 0, 1, 0 },
-			{ -std::sin(angle), 0, std::cos(angle) }
-		};
+
+		vr::HmdMatrix34_t rotMat;
+		utils::initRotationMatrix(rotMat, 0, angle);
 		for (unsigned b = 0; b < collisionBoundsCount; b++) {
 			for (unsigned c = 0; c < 4; c++) {
 				auto& corner = collisionBounds[b].vCorners[c];
 				vr::HmdVector3_t newVal;
-				for (unsigned i = 0; i < 3; i++) {
-					newVal.v[i] = 0.0f;
-					for (unsigned k = 0; k < 3; k++) {
-						newVal.v[i] += corner.v[k] * yRot[i][k];
-					};
-				}
+				utils::matMul33(newVal, rotMat, corner);
 				corner = newVal;
 			}
 		}
diff --git a/src/utils/Matrix.h b/src/utils/Matrix.h
new file mode 100644
index 0000000..3da60d1
--- /dev/null
+++ b/src/utils/Matrix.h
@@ -0,0 +1,97 @@
+#pragma once
+
+#include <openvr.h>
+#include <cmath>
+
+
+namespace utils {
+
+inline vr::HmdMatrix34_t& initRotationMatrix(vr::HmdMatrix34_t& matrix, unsigned axisId, float angle) {
+	switch (axisId) {
+		case 0: // x-axis
+			matrix.m[0][0] = 1.0f;
+			matrix.m[0][1] = 0.0f;
+			matrix.m[0][2] = 0.0f;
+			matrix.m[0][3] = 0.0f;
+			matrix.m[1][0] = 0.0f;
+			matrix.m[1][1] = std::cos(angle);
+			matrix.m[1][2] = -std::sin(angle);
+			matrix.m[1][3] = 0.0f;
+			matrix.m[2][0] = 0.0f;
+			matrix.m[2][1] = std::sin(angle);
+			matrix.m[2][2] = std::cos(angle);
+			matrix.m[2][3] = 0.0f;
+			break;
+		case 1: // y-axis
+			matrix.m[0][0] = std::cos(angle);
+			matrix.m[0][1] = 0.0f;
+			matrix.m[0][2] = std::sin(angle);
+			matrix.m[0][3] = 0.0f;
+			matrix.m[1][0] = 0.0f;
+			matrix.m[1][1] = 1.0f;
+			matrix.m[1][2] = 0.0f;
+			matrix.m[1][3] = 0.0f;
+			matrix.m[2][0] = -std::sin(angle);
+			matrix.m[2][1] = 0.0f;
+			matrix.m[2][2] = std::cos(angle);
+			matrix.m[2][3] = 0.0f;
+			break;
+		case 2: // z-axis
+			matrix.m[0][0] = std::cos(angle);
+			matrix.m[0][1] = -std::sin(angle);
+			matrix.m[0][2] = 0.0f;
+			matrix.m[0][3] = 0.0f;
+			matrix.m[1][0] = std::sin(angle);
+			matrix.m[1][1] = std::cos(angle);
+			matrix.m[1][2] = 0.0f;
+			matrix.m[1][3] = 0.0f;
+			matrix.m[2][0] = 0.0f;
+			matrix.m[2][1] = 0.0f;
+			matrix.m[2][2] = 1.0f;
+			matrix.m[2][3] = 0.0f;
+			break;
+		default:
+			break;
+	}
+	return matrix;
+}
+
+
+inline vr::HmdMatrix34_t& matMul33(vr::HmdMatrix34_t& result, const vr::HmdMatrix34_t& a, const vr::HmdMatrix34_t& b) {
+	for (unsigned i = 0; i < 3; i++) {
+		for (unsigned j = 0; j < 3; j++) {
+			result.m[i][j] = 0.0f;
+			for (unsigned k = 0; k < 3; k++) {
+				result.m[i][j] += a.m[i][k] * b.m[k][j];
+			}
+		}
+	}
+	return result;
+}
+
+
+inline vr::HmdVector3_t& matMul33(vr::HmdVector3_t& result, const vr::HmdMatrix34_t& a, const vr::HmdVector3_t& b) {
+	for (unsigned i = 0; i < 3; i++) {
+		result.v[i] = 0.0f;
+		for (unsigned k = 0; k < 3; k++) {
+			result.v[i] += a.m[i][k] * b.v[k];
+		};
+	}
+	return result;
+}
+
+
+inline vr::HmdVector3_t& matMul33(vr::HmdVector3_t& result, const vr::HmdVector3_t& a, const vr::HmdMatrix34_t& b) {
+	for (unsigned i = 0; i < 3; i++) {
+		result.v[i] = 0.0f;
+		for (unsigned k = 0; k < 3; k++) {
+			result.v[i] +=  a.v[k] * b.m[k][i];
+		};
+	}
+	return result;
+}
+
+
+
+} // end namespace utils
+