diff --git a/imports/getRelativeCoords/shared.lua b/imports/getRelativeCoords/shared.lua
index 271ee19..238f34b 100644
--- a/imports/getRelativeCoords/shared.lua
+++ b/imports/getRelativeCoords/shared.lua
@@ -1,17 +1,35 @@
-local glm_sincos = require 'glm'.sincos
-local glm_rad = require 'glm'.rad
+local glm_sincos = require 'glm'.sincos --[[@as fun(n: number): number, number]]
+local glm_rad = require 'glm'.rad --[[@as fun(n: number): number]]
 
----Get the relative coordinates of a vector3 based on a heading and offset
+---Get the relative coordinates based on heading/rotation and offset
 ---@overload fun(coords: vector3, heading: number, offset: vector3): vector3
 ---@overload fun(coords: vector4, offset: vector3): vector4
----@param coords vector3 | vector4
----@param heading number
----@param offset vector3
----@return vector3
-function lib.getRelativeCoords(coords, heading, offset)
-    offset = offset or heading
-    local x, y, z, w = coords.x, coords.y, coords.z, type(heading) == 'number' and heading or coords.w
-    local sin, cos = glm_sincos --[[@as fun(n: number): number, number]](glm_rad(w))
+---@overload fun(coords: vector3, rotation: vector3, offset: vector3): vector3
+function lib.getRelativeCoords(coords, rotation, offset)
+    if type(rotation) == 'vector3' and offset then
+        local pitch = glm_rad(rotation.x)
+        local roll = glm_rad(rotation.y)
+        local yaw = glm_rad(rotation.z)
+
+        local sp, cp = glm_sincos(pitch)
+        local sr, cr = glm_sincos(roll)
+        local sy, cy = glm_sincos(yaw)
+
+        local rotatedX = offset.x * (cy * cr) + offset.y * (cy * sr * sp - sy * cp) + offset.z * (cy * sr * cp + sy * sp)
+        local rotatedY = offset.x * (sy * cr) + offset.y * (sy * sr * sp + cy * cp) + offset.z * (sy * sr * cp - cy * sp)
+        local rotatedZ = offset.x * (-sr) + offset.y * (cr * sp) + offset.z * (cr * cp)
+
+        return vec3(
+            coords.x + rotatedX,
+            coords.y + rotatedY,
+            coords.z + rotatedZ
+        )
+    end
+
+    offset = offset or rotation
+    local x, y, z, w = coords.x, coords.y, coords.z, type(rotation) == 'number' and rotation or coords.w
+
+    local sin, cos = glm_sincos(glm_rad(w))
     local relativeX = offset.x * cos - offset.y * sin
     local relativeY = offset.x * sin + offset.y * cos