diff --git a/src/dynamics/solver/joints/revolute.rs b/src/dynamics/solver/joints/revolute.rs
index 7a8ed698..78a2b47b 100644
--- a/src/dynamics/solver/joints/revolute.rs
+++ b/src/dynamics/solver/joints/revolute.rs
@@ -25,6 +25,12 @@ pub struct RevoluteJoint {
     pub local_anchor1: Vector,
     /// Attachment point on the second body.
     pub local_anchor2: Vector,
+    /// Rotation applied on the first body. This allows to orient the body relative to the `aligned_axis`.
+    #[cfg(feature = "3d")]
+    pub local_rotation1: Rotation,
+    /// Rotation applied on the second body.
+    #[cfg(feature = "3d")]
+    pub local_rotation2: Rotation,
     /// A unit vector that controls which axis should be aligned for both entities.
     ///
     /// In 2D this should always be the Z axis.
@@ -105,6 +111,10 @@ impl Joint for RevoluteJoint {
             entity2,
             local_anchor1: Vector::ZERO,
             local_anchor2: Vector::ZERO,
+            #[cfg(feature = "3d")]
+            local_rotation1: Rotation::default(),
+            #[cfg(feature = "3d")]
+            local_rotation2: Rotation::default(),
             aligned_axis: Vector3::Z,
             angle_limit: None,
             damping_linear: 1.0,
@@ -194,8 +204,8 @@ impl RevoluteJoint {
 
     #[cfg(feature = "3d")]
     fn get_rotation_difference(&self, rot1: &Rotation, rot2: &Rotation) -> Vector3 {
-        let a1 = rot1 * self.aligned_axis;
-        let a2 = rot2 * self.aligned_axis;
+        let a1 = *rot1 * self.local_rotation1 * self.aligned_axis;
+        let a2 = *rot2 * self.local_rotation2 * self.aligned_axis;
         a1.cross(a2)
     }
 
@@ -215,9 +225,13 @@ impl RevoluteJoint {
             #[cfg(feature = "3d")]
             {
                 // [n, n1, n2] = [a1, b1, b2], where [a, b, c] are perpendicular unit axes on the bodies.
-                let a1 = *body1.rotation * self.aligned_axis;
-                let b1 = *body1.rotation * self.aligned_axis.any_orthonormal_vector();
-                let b2 = *body2.rotation * self.aligned_axis.any_orthonormal_vector();
+                let a1 = *body1.rotation * self.local_rotation1 * self.aligned_axis;
+                let b1 = *body1.rotation
+                    * self.local_rotation1
+                    * self.aligned_axis.any_orthonormal_vector();
+                let b2 = *body2.rotation
+                    * self.local_rotation2
+                    * self.aligned_axis.any_orthonormal_vector();
                 angle_limit.compute_correction(a1, b1, b2, dt)
             }
         }) else {
diff --git a/src/dynamics/solver/joints/spherical.rs b/src/dynamics/solver/joints/spherical.rs
index c30f1d4f..41b47667 100644
--- a/src/dynamics/solver/joints/spherical.rs
+++ b/src/dynamics/solver/joints/spherical.rs
@@ -25,6 +25,10 @@ pub struct SphericalJoint {
     pub local_anchor1: Vector,
     /// Attachment point on the second body.
     pub local_anchor2: Vector,
+    /// Rotation applied on the first body. This allows to orient the body relative to the `swing_axis`.
+    pub local_rotation1: Rotation,
+    /// Rotation applied on the second body.
+    pub local_rotation2: Rotation,
     /// An axis that the attached bodies can swing around. This is normally the x-axis.
     pub swing_axis: Vector3,
     /// An axis that the attached bodies can twist around. This is normally the y-axis.
@@ -96,6 +100,8 @@ impl Joint for SphericalJoint {
             entity2,
             local_anchor1: Vector::ZERO,
             local_anchor2: Vector::ZERO,
+            local_rotation1: Rotation::default(),
+            local_rotation2: Rotation::default(),
             swing_axis: Vector3::X,
             twist_axis: Vector3::Y,
             swing_limit: None,
@@ -193,8 +199,8 @@ impl SphericalJoint {
         dt: Scalar,
     ) -> Torque {
         if let Some(joint_limit) = self.swing_limit {
-            let a1 = *body1.rotation * self.swing_axis;
-            let a2 = *body2.rotation * self.swing_axis;
+            let a1 = *body1.rotation * self.local_rotation1 * self.swing_axis;
+            let a2 = *body2.rotation * self.local_rotation2 * self.swing_axis;
 
             let n = a1.cross(a2);
             let n_magnitude = n.length();
@@ -230,11 +236,11 @@ impl SphericalJoint {
         dt: Scalar,
     ) -> Torque {
         if let Some(joint_limit) = self.twist_limit {
-            let a1 = *body1.rotation * self.swing_axis;
-            let a2 = *body2.rotation * self.swing_axis;
+            let a1 = *body1.rotation * self.local_rotation1 * self.swing_axis;
+            let a2 = *body2.rotation * self.local_rotation2 * self.swing_axis;
 
-            let b1 = *body1.rotation * self.twist_axis;
-            let b2 = *body2.rotation * self.twist_axis;
+            let b1 = *body1.rotation * self.local_rotation1 * self.twist_axis;
+            let b2 = *body2.rotation * self.local_rotation2 * self.twist_axis;
 
             let n = a1 + a2;
             let n_magnitude = n.length();
diff --git a/src/position.rs b/src/position.rs
index 8d519f04..95a2e601 100644
--- a/src/position.rs
+++ b/src/position.rs
@@ -712,6 +712,22 @@ impl Rotation {
     }
 }
 
+#[cfg(feature = "3d")]
+impl std::ops::Mul for Rotation {
+    type Output = Self;
+
+    fn mul(self, rhs: Self) -> Self::Output {
+        Self(self.0 * rhs.0)
+    }
+}
+
+#[cfg(feature = "3d")]
+impl std::ops::MulAssign for Rotation {
+    fn mul_assign(&mut self, rhs: Self) {
+        *self = *self * rhs;
+    }
+}
+
 #[cfg(feature = "3d")]
 impl core::ops::Mul<Vector> for Rotation {
     type Output = Vector;