diff --git a/examples/models/models_yaw_pitch_roll.c b/examples/models/models_yaw_pitch_roll.c
index 0931c00e9..72529d892 100644
--- a/examples/models/models_yaw_pitch_roll.c
+++ b/examples/models/models_yaw_pitch_roll.c
@@ -92,6 +92,7 @@ int main(void)
         while (pitchOffset < -180) pitchOffset += 360;
         pitchOffset *= 10;
 
+        /* matrix transform done with multiplication to combine rotations
         Matrix transform = MatrixIdentity();
 
         transform = MatrixMultiply(transform, MatrixRotateZ(DEG2RAD*roll));
@@ -99,8 +100,11 @@ int main(void)
         transform = MatrixMultiply(transform, MatrixRotateY(DEG2RAD*yaw));
 
         model.transform = transform;
-        //----------------------------------------------------------------------------------
+        */
+        // matrix created from multiple axes at once
+        model.transform = MatrixRotateXYZ((Vector3){DEG2RAD*pitch,DEG2RAD*yaw,DEG2RAD*roll});
 
+        //----------------------------------------------------------------------------------
         // Draw
         //----------------------------------------------------------------------------------
         BeginDrawing();
diff --git a/src/raymath.h b/src/raymath.h
index d866ad826..12ea76b4e 100644
--- a/src/raymath.h
+++ b/src/raymath.h
@@ -56,7 +56,7 @@
 #if defined(RAYMATH_IMPLEMENTATION)
     #if defined(_WIN32) && defined(BUILD_LIBTYPE_SHARED)
         #define RMDEF __declspec(dllexport) extern inline // We are building raylib as a Win32 shared library (.dll).
-    #elif defined(_WIN32) && defined(USE_LIBTYPE_SHARED) 
+    #elif defined(_WIN32) && defined(USE_LIBTYPE_SHARED)
         #define RMDEF __declspec(dllimport)         // We are using raylib as a Win32 shared library (.dll)
     #else
         #define RMDEF extern inline // Provide external definition
@@ -113,7 +113,7 @@
         float y;
         float z;
     } Vector3;
-    
+
     // Quaternion type
     typedef struct Quaternion {
         float x;
@@ -794,6 +794,33 @@ RMDEF Matrix MatrixRotate(Vector3 axis, float angle)
     return result;
 }
 
+// Returns xyz-rotation matrix (angles in radians)
+RMDEF Matrix MatrixRotateXYZ(Vector3 ang)
+{
+    Matrix result = MatrixIdentity();
+
+    float cosz = cosf(-ang.z);
+    float sinz = sinf(-ang.z);
+    float cosy = cosf(-ang.y);
+    float siny = sinf(-ang.y);
+    float cosx = cosf(-ang.x);
+    float sinx = sinf(-ang.x);
+
+    result.m0 = cosz * cosy;
+    result.m4 = (cosz * siny * sinx) - (sinz * cosx);
+    result.m8 = (cosz * siny * cosx) + (sinz * sinx);
+
+    result.m1 = sinz * cosy;
+    result.m5 = (sinz * siny * sinx) + (cosz * cosx);
+    result.m9 = (sinz * siny * cosx) - (cosz * sinx);
+
+    result.m2 = -siny;
+    result.m6 = cosy * sinx;
+    result.m10= cosy * cosx;
+
+    return result;
+}
+
 // Returns x-rotation matrix (angle in radians)
 RMDEF Matrix MatrixRotateX(float angle)
 {