diff --git a/raytracing/src/matrix.cpp b/raytracing/src/matrix.cpp
index d7c56aa..dfd2b3d 100644
--- a/raytracing/src/matrix.cpp
+++ b/raytracing/src/matrix.cpp
@@ -120,7 +120,7 @@ bool Matrix::operator==(const Matrix &a_matrix) const
         {
             if (!double_equal(*the_elem1, *the_elem2))
             {
-                printf("Elem: %f != %f\n", *the_elem1, *the_elem2);
+                // printf("Elem: %f != %f\n", *the_elem1, *the_elem2);
                 return false;
             }
         }
@@ -262,7 +262,7 @@ double Matrix::cofactor(uint8_t a_row, uint8_t a_col) const
 
 bool Matrix::invertible(void) const
 {
-    if (determinant() == 0)
+    if (double_equal(determinant(), 0))
         return false;
 
     return true;
@@ -340,6 +340,48 @@ Matrix Matrix::scaling(double an_x, double an_y, double an_z)
 
 /* ------------------------------------------------------------------------- */
 
+Matrix Matrix::rotation_x(double a_radians)
+{
+    Matrix the_rotation = {
+        {1,              0,               0, 0},
+        {0, cos(a_radians), -sin(a_radians), 0},
+        {0, sin(a_radians),  cos(a_radians), 0},
+        {0,              0,               0, 1}
+    };
+
+    return the_rotation;
+}
+
+/* ------------------------------------------------------------------------- */
+
+Matrix Matrix::rotation_y(double a_radians)
+{
+    Matrix the_rotation = {
+        { cos(a_radians), 0, sin(a_radians), 0},
+        {              0, 1,              0, 0},
+        {-sin(a_radians), 0, cos(a_radians), 0},
+        {              0, 0,              0, 1}
+    };
+
+    return the_rotation;
+}
+
+/* ------------------------------------------------------------------------- */
+
+Matrix Matrix::rotation_z(double a_radians)
+{
+    Matrix the_rotation = {
+        {cos(a_radians), -sin(a_radians), 0, 0},
+        {sin(a_radians),  cos(a_radians), 0, 0},
+        {             0,               0, 1, 0},
+        {             0,               0, 0, 1}
+    };
+
+    return the_rotation;
+}
+
+/* ------------------------------------------------------------------------- */
+
 bool Matrix::validate_dimensions(const std::initializer_list<std::initializer_list<double>> &a_values) const
 {
     for (const auto &the_row : a_values)
diff --git a/raytracing/src/matrix.h b/raytracing/src/matrix.h
index da797e4..3afa4ce 100644
--- a/raytracing/src/matrix.h
+++ b/raytracing/src/matrix.h
@@ -73,6 +73,9 @@ namespace Raytracer
         static Matrix identity(void);
         static Matrix translation(double an_x, double an_y, double an_z);
         static Matrix scaling(double an_x, double an_y, double an_z);
+        static Matrix rotation_x(double a_radians);
+        static Matrix rotation_y(double a_radians);
+        static Matrix rotation_z(double a_radians);
 
     private:
         bool validate_dimensions(const std::initializer_list<std::initializer_list<double>> &a_values) const;
diff --git a/tests/04_transformations.cpp b/tests/04_transformations.cpp
index 77d0de1..7b75bd2 100644
--- a/tests/04_transformations.cpp
+++ b/tests/04_transformations.cpp
@@ -102,3 +102,52 @@ TEST_CASE("[04][TRANSFORMATION] Reflection is scaling by a negative value", "[Ma
 
     REQUIRE(transform * p == Tuple::Point(-2, 3, 4));
 }
+
+/* ------------------------------------------------------------------------- */
+
+TEST_CASE("[04][TRANSFORMATION] Rotating a point around the x axis", "[Matrix]")
+{
+    Tuple p = Tuple::Point(0, 1, 0);
+    Matrix half_quarter = Matrix::rotation_x(std::numbers::pi / 4);
+    Matrix full_quarter = Matrix::rotation_x(std::numbers::pi / 2);
+
+    REQUIRE(half_quarter * p == Tuple::Point(0, sqrt(2) / 2, sqrt(2) / 2));
+    REQUIRE(full_quarter * p == Tuple::Point(0, 0, 1));
+}
+
+/* ------------------------------------------------------------------------- */
+
+TEST_CASE("[04][TRANSFORMATION] The inverse of an x-rotation rotates in the opposite direction", "[Matrix]")
+{
+    Tuple p = Tuple::Point(0, 1, 0);
+    Matrix half_quarter = Matrix::rotation_x(std::numbers::pi / 4);
+    Matrix inv = half_quarter.inverse();
+
+    REQUIRE(inv * p == Tuple::Point(0, sqrt(2) / 2, -sqrt(2) / 2));
+}
+
+/* ------------------------------------------------------------------------- */
+
+TEST_CASE("[04][TRANSFORMATION] Rotating a point around the y axis", "[Matrix]")
+{
+    Tuple p = Tuple::Point(0, 0, 1);
+    Matrix half_quarter = Matrix::rotation_y(std::numbers::pi / 4);
+    Matrix full_quarter = Matrix::rotation_y(std::numbers::pi / 2);
+
+    REQUIRE(half_quarter * p == Tuple::Point(sqrt(2) / 2, 0, sqrt(2) / 2));
+    REQUIRE(full_quarter * p == Tuple::Point(1, 0, 0));
+}
+
+/* ------------------------------------------------------------------------- */
+
+TEST_CASE("[04][TRANSFORMATION] Rotating a point around the z axis", "[Matrix]")
+{
+    Tuple p = Tuple::Point(0, 1, 0);
+    Matrix half_quarter = Matrix::rotation_z(std::numbers::pi / 4);
+    Matrix full_quarter = Matrix::rotation_z(std::numbers::pi / 2);
+
+    Tuple z = half_quarter * p;
+
+    REQUIRE(half_quarter * p == Tuple::Point(-sqrt(2) / 2, sqrt(2) / 2, 0));
+    REQUIRE(full_quarter * p == Tuple::Point(-1, 0, 0));
+}