diff --git a/include/cglm/quat.h b/include/cglm/quat.h
index ab0c590..d415ab7 100644
--- a/include/cglm/quat.h
+++ b/include/cglm/quat.h
@@ -139,6 +139,33 @@ glm_quat_init(versor q, float x, float y, float z, float w) {
   q[3] = w;
 }
 
+//TODO: telephone001's eulertoquat
+
+/*!
+ * @brief creates a quaternion using rotation angles and does does rotations in x y z order
+ * 
+ * @param[out]  q     quaternion
+ * @param[in]   angle angles x y z (radians)
+ */
+CGLM_INLINE
+void
+glm_euler_xyz_quat(versor q, vec3 angles) {
+  float xs = sinf(angles[0] / 2.0);
+  float xc = cosf(angles[0] / 2.0);
+
+  float ys = sinf(angles[1] / 2.0);
+  float yc = cosf(angles[1] / 2.0);
+  
+  float zs = sinf(angles[2] / 2.0);
+  float zc = cosf(angles[2] / 2.0);
+
+  glm_quat_init(q, 
+    zc * yc * xs - zs * ys * xs, 
+    zc * ys * xc - zs * yc * xs,
+    zs * yc * xc - zs * yc * xs,
+    zc * yc * xc + zs * ys * xs);
+}
+
 /*!
  * @brief creates NEW quaternion with axis vector
  *
diff --git a/test/src/test_quat.h b/test/src/test_quat.h
index da831fe..3c1b24e 100644
--- a/test/src/test_quat.h
+++ b/test/src/test_quat.h
@@ -121,6 +121,36 @@ TEST_IMPL(GLM_PREFIX, quatv) {
   TEST_SUCCESS
 }
 
+// telephone001 changes (remove comment when done) TODO
+TEST_IMPL(GLM_PREFIX, euler_xyz_quat) {
+  vec3 axis_x = {1.0f, 0.0f, 0.0f};
+  vec3 axis_y = {0.0f, 1.0f, 0.0f};
+  vec3 axis_z = {0.0f, 0.0f, 1.0f};
+
+  versor rot_x = {0.0f, 0.0f, 0.0f, 1.0f};
+  versor rot_y = {0.0f, 0.0f, 0.0f, 1.0f};
+  versor rot_z = {0.0f, 0.0f, 0.0f, 1.0f};
+
+  //random angles for testing
+  vec3 angles = {glm_rad(30.0f), glm_rad(60.0f), glm_rad(90.0f)};
+
+  glm_quatv(rot_x, angles[0], axis_x);
+  glm_quatv(rot_y, angles[1], axis_y);
+  glm_quatv(rot_z, angles[2], axis_z);
+
+  versor expected = {0.0f, 0.0f, 0.0f, 1.0f};
+  glm_quat_mul(rot_x, expected, expected);
+  glm_quat_mul(rot_y, expected, expected);
+  glm_quat_mul(rot_z, expected, expected);
+
+  versor result;
+  glm_euler_xyz_quat(angles, result);
+  ASSERTIFY(test_assert_vec3_eq(result, expected))
+
+  TEST_SUCCESS
+}
+
+
 TEST_IMPL(GLM_PREFIX, quat) {
   versor q1 = {1.0f, 2.0f, 3.0f, 4.0f};
   vec3   v1, v2;