diff --git a/etk/math/Matrix4.cpp b/etk/math/Matrix4.cpp
index f248b6e..5d29ea5 100644
--- a/etk/math/Matrix4.cpp
+++ b/etk/math/Matrix4.cpp
@@ -75,6 +75,51 @@ etk::Matrix4 etk::matrix::rotate(float x, float y, float z, float angleRad)
 }
 
 
+etk::Matrix4 etk::matrix::Translate(etk::Vector3D<float> vect)
+{
+	etk::Matrix4 tmp;
+	// set translation :
+	tmp.m_mat[3] = vect.x;
+	tmp.m_mat[7] = vect.y;
+	tmp.m_mat[11] = vect.z;
+	//TK_INFO("Translate :");
+	//etk::matrix::Display(tmp);
+	return tmp;
+}
+
+etk::Matrix4 etk::matrix::Scale(etk::Vector3D<float> vect)
+{
+	etk::Matrix4 tmp;
+	// set scale :
+	tmp.m_mat[0] = vect.x;
+	tmp.m_mat[5] = vect.y;
+	tmp.m_mat[10] = vect.z;
+	//TK_INFO("Scale :");
+	//etk::matrix::Display(tmp);
+	return tmp;
+}
+
+etk::Matrix4 etk::matrix::Rotate(etk::Vector3D<float> vect, float angleRad)
+{
+	etk::Matrix4 tmp;
+	float cosVal = cos(angleRad);
+	float sinVal = sin(angleRad);
+	float invVal = 1.0-cosVal;
+	// set rotation : 
+	tmp.m_mat[0]  = vect.x * vect.x * invVal + cosVal;
+	tmp.m_mat[1]  = vect.x * vect.y * invVal - vect.z * cosVal;
+	tmp.m_mat[2]  = vect.x * vect.z * invVal + vect.y * sinVal;
+	
+	tmp.m_mat[4]  = vect.y * vect.x * invVal + vect.z * sinVal;
+	tmp.m_mat[5]  = vect.y * vect.y * invVal + cosVal;
+	tmp.m_mat[6]  = vect.y * vect.z * invVal - vect.x * sinVal;
+	
+	tmp.m_mat[8]  = vect.z * vect.x * invVal - vect.y * sinVal;
+	tmp.m_mat[9]  = vect.z * vect.y * invVal + vect.x * sinVal;
+	tmp.m_mat[10] = vect.z * vect.z * invVal + cosVal;
+	return tmp;
+}
+
 void etk::matrix::Display(etk::Matrix4& tmp)
 {
 	TK_INFO("matrix : (" << tmp.m_mat[0] << " , " << tmp.m_mat[1] << " , " << tmp.m_mat[2] << " , " << tmp.m_mat[3] << " , ");
diff --git a/etk/math/Matrix4.h b/etk/math/Matrix4.h
index 7b1dfd7..47f5be8 100644
--- a/etk/math/Matrix4.h
+++ b/etk/math/Matrix4.h
@@ -203,9 +203,16 @@ namespace etk {
 	};
 	namespace matrix {
 		Matrix4 Perspective(float left, float right, float bottom, float top, float nearVal, float farVal);
+		// TODO : DEPRECATED
 		Matrix4 Translate(float x=0.0, float y=0.0, float z=0.0);
+		// TODO : DEPRECATED
 		Matrix4 Scale(float x=1.0, float y=1.0, float z=1.0);
+		// TODO : DEPRECATED
 		Matrix4 rotate(float x, float y, float z, float angleRad=0.0);
+		
+		Matrix4 Translate(etk::Vector3D<float> vect);
+		Matrix4 Scale(etk::Vector3D<float> vect);
+		Matrix4 Rotate(etk::Vector3D<float> vect, float angleRad=0.0);
 		void Display(Matrix4& tmp);
 	};
 };