diff --git a/etk/math/Quaternion.hpp b/etk/math/Quaternion.hpp
index 3c3c6db..87007ff 100644
--- a/etk/math/Quaternion.hpp
+++ b/etk/math/Quaternion.hpp
@@ -534,7 +534,7 @@ namespace etk {
 			 * @param[in] _obj2 Second quaternion
 			 * @param[in] _ttt linar coefficient interpolation to be such that [0..1]
 			 */
-			Quaternion slerp(const Quaternion& _obj1, const Quaternion& _obj2, float _ttt);
+			static Quaternion slerp(const Quaternion& _obj1, const Quaternion& _obj2, float _ttt);
 			/**
 			 * @brief Configure the quaternion with euler angles.
 			 * @param[out] _angles Eular angle of the quaternion.
diff --git a/etk/math/Transform3D.cpp b/etk/math/Transform3D.cpp
index e69de29..a36f3a6 100644
--- a/etk/math/Transform3D.cpp
+++ b/etk/math/Transform3D.cpp
@@ -0,0 +1,36 @@
+/** @file
+ * @author Edouard DUPIN
+ * @copyright 2011, Edouard DUPIN, all right reserved
+ * @license MPL v2.0 (see license file)
+ */
+#include <etk/types.hpp>
+#include <etk/math/Transform3D.hpp>
+
+
+
+etk::Transform3D::Transform3D():
+  m_position(vec3(0.0, 0.0, 0.0)),
+  m_orientation(Quaternion::identity()) {
+	
+}
+etk::Transform3D::Transform3D(const vec3& _position, const Matrix3x3& _orientation):
+  m_position(_position),
+  m_orientation(Quaternion(_orientation)) {
+	
+}
+etk::Transform3D::Transform3D(const vec3& _position, const Quaternion& _orientation):
+  m_position(_position),
+  m_orientation(_orientation) {
+	
+}
+etk::Transform3D::Transform3D(const Transform3D& _other):
+  m_position(_other.m_position),
+  m_orientation(_other.m_orientation) {
+	
+}
+
+etk::Transform3D etk::Transform3D::identity() {
+	return etk::Transform3D(vec3(0.0, 0.0, 0.0), Quaternion::identity());
+}
+
+
diff --git a/etk/math/Transform3D.hpp b/etk/math/Transform3D.hpp
index 20bc88a..72f7e66 100644
--- a/etk/math/Transform3D.hpp
+++ b/etk/math/Transform3D.hpp
@@ -17,26 +17,14 @@ namespace etk {
 	 */
 	class Transform3D {
 		public:
-			Transform3D():
-			  m_position(vec3(0.0, 0.0, 0.0)),
-			  m_orientation(Quaternion::identity()) {
-				
-			}
-			Transform3D(const vec3& _position, const Matrix3x3& _orientation):
-			  m_position(_position),
-			  m_orientation(Quaternion(_orientation)) {
-				
-			}
-			Transform3D(const vec3& _position, const Quaternion& _orientation):
-			  m_position(_position),
-			  m_orientation(_orientation) {
-				
-			}
-			Transform3D(const Transform3D& _other):
-			  m_position(_other.m_position),
-			  m_orientation(_other.m_orientation) {
-				
-			}
+			Transform3D();
+			Transform3D(const vec3& _position, const Matrix3x3& _orientation);
+			Transform3D(const vec3& _position, const Quaternion& _orientation);
+			Transform3D(const Transform3D& _other);
+			/**
+			 * @brief Get the identity of the transformation
+			 */
+			static Transform3D identity();
 		protected:
 			vec3 m_position; //! Position
 		public:
@@ -76,17 +64,17 @@ namespace etk {
 			/// Get the OpenGL matrix of the transform
 			void getOpenGLMatrix(float* _matrix) const {
 				const Matrix3x3& matrix = m_orientation.getMatrix();
-				_matrix[0] = matrix[0][0];
-				_matrix[1] = matrix[1][0];
-				_matrix[2] = matrix[2][0];
+				_matrix[0] = matrix.m_mat[0];
+				_matrix[1] = matrix.m_mat[3];
+				_matrix[2] = matrix.m_mat[6];
 				_matrix[3] = 0.0;
-				_matrix[4] = matrix[0][1];
-				_matrix[5] = matrix[1][1];
-				_matrix[6] = matrix[2][1];
+				_matrix[4] = matrix.m_mat[1];
+				_matrix[5] = matrix.m_mat[4];
+				_matrix[6] = matrix.m_mat[7];
 				_matrix[7] = 0.0;
-				_matrix[8] = matrix[0][2];
-				_matrix[9] = matrix[1][2];
-				_matrix[10] = matrix[2][2];
+				_matrix[8] = matrix.m_mat[2];
+				_matrix[9] = matrix.m_mat[5];
+				_matrix[10] = matrix.m_mat[8];
 				_matrix[11] = 0.0;
 				_matrix[12] = m_position.x();
 				_matrix[13] = m_position.y();
@@ -103,17 +91,13 @@ namespace etk {
 			Transform3D interpolateTransforms(const Transform3D& _old,
 			                                const Transform3D& _new,
 			                                float _interpolationFactor) {
-				vec3 interPosition = _old.m_position * (decimal(1.0) - _interpolationFactor) +
+				vec3 interPosition = _old.m_position * (1.0f - _interpolationFactor) +
 				                     _new.m_position * _interpolationFactor;
 				Quaternion interOrientation = Quaternion::slerp(_old.m_orientation,
-				                                                _naw.m_orientation,
+				                                                _new.m_orientation,
 				                                                _interpolationFactor);
 				return Transform3D(interPosition, interOrientation);
 			}
-			/// Return the identity transform
-			Transform3D identity() {
-				return Transform3D(vec3(0, 0, 0), Quaternion::identity());
-			}
 			/// Return the transformed vector
 			vec3 operator*(const vec3& _vector) const {
 				return (m_orientation.getMatrix() * _vector) + m_position;