diff --git a/include/cglm-euler.h b/include/cglm-euler.h
index 741b902..4dc4b82 100644
--- a/include/cglm-euler.h
+++ b/include/cglm-euler.h
@@ -137,6 +137,40 @@ glm_euler(float pitch,
   dest[3][3] = 1.0f;
 }
 
+/*!
+ * @brief build rotation matrix from euler angles(xyz)
+ *
+ * @param[in]  angles angles as vector [x, y, z]
+ * @param[out] dest   rotation matrix
+ */
+CGLM_INLINE
+void
+glm_eulerv(vec3 angles, mat4 dest) {
+  float cx, cy, cz,
+        sx, sy, sz;
+
+  sx = sinf(angles[0]); cx = cosf(angles[0]);
+  sy = sinf(angles[1]); cy = cosf(angles[1]);
+  sz = sinf(angles[2]); cz = cosf(angles[2]);
+
+  dest[0][0] = cy * cz;
+  dest[0][1] = cz * sx * sy + cx * sz;
+  dest[0][2] =-cx * cz * sy + sx * sz;
+  dest[1][0] =-cy * sz;
+  dest[1][1] = cx * cz - sx * sy * sz;
+  dest[1][2] = cz * sx + cx * sy * sz;
+  dest[2][0] = sy;
+  dest[2][1] =-cy * sx;
+  dest[2][2] = cx * cy;
+  dest[0][3] = 0.0f;
+  dest[1][3] = 0.0f;
+  dest[2][3] = 0.0f;
+  dest[3][0] = 0.0f;
+  dest[3][1] = 0.0f;
+  dest[3][2] = 0.0f;
+  dest[3][3] = 1.0f;
+}
+
 /*!
  * @brief build rotation matrix from euler angles (zyx)
  */