diff --git a/src/plugins/spatial_query/mod.rs b/src/plugins/spatial_query/mod.rs
index a0c8db79..c70f5ef3 100644
--- a/src/plugins/spatial_query/mod.rs
+++ b/src/plugins/spatial_query/mod.rs
@@ -42,7 +42,7 @@
 //! # #[cfg(all(feature = "3d", feature = "f32"))]
 //! fn setup(mut commands: Commands) {
 //!     // Spawn a ray caster at the center with the rays travelling right
-//!     commands.spawn(RayCaster::new(Vec3::ZERO, Vec3::X));
+//!     commands.spawn(RayCaster::new(Vec3::ZERO, Direction3d::X));
 //!     // ...spawn colliders and other things
 //! }
 //!
@@ -53,7 +53,7 @@
 //!             println!(
 //!                 "Hit entity {:?} at {} with normal {}",
 //!                 hit.entity,
-//!                 ray.origin + ray.direction * hit.time_of_impact,
+//!                 ray.origin + *ray.direction * hit.time_of_impact,
 //!                 hit.normal,
 //!             );
 //!         }
@@ -101,7 +101,7 @@
 //!         Collider::sphere(0.5), // Shape
 //!         Vec3::ZERO,            // Origin
 //!         Quat::default(),       // Shape rotation
-//!         Vec3::X                // Direction
+//!         Direction3d::X         // Direction
 //!     ));
 //!     // ...spawn colliders and other things
 //! }
@@ -278,16 +278,14 @@ fn update_ray_caster_positions(
         let global_rotation = rotation.copied().or(transform.map(Rotation::from));
 
         if let Some(global_position) = global_position {
-            ray.set_global_origin(
-                global_position.0 + rotation.map_or(origin, |rot| rot.rotate(origin)),
-            );
+            ray.set_global_origin(global_position.0 + rotation.map_or(origin, |rot| rot * origin));
         } else if parent.is_none() {
             ray.set_global_origin(origin);
         }
 
         if let Some(global_rotation) = global_rotation {
-            let global_direction = global_rotation.rotate(*ray.direction);
-            ray.set_global_direction(Dir::new_unchecked(global_direction));
+            let global_direction = global_rotation * ray.direction;
+            ray.set_global_direction(global_direction);
         } else if parent.is_none() {
             ray.set_global_direction(direction);
         }
@@ -306,13 +304,13 @@ fn update_ray_caster_positions(
             if global_position.is_none() {
                 if let Some(position) = parent_position {
                     let rotation = global_rotation.unwrap_or(parent_rotation.unwrap_or_default());
-                    ray.set_global_origin(position.0 + rotation.rotate(origin));
+                    ray.set_global_origin(position.0 + rotation * origin);
                 }
             }
             if global_rotation.is_none() {
                 if let Some(rotation) = parent_rotation {
-                    let global_direction = rotation.rotate(*ray.direction);
-                    ray.set_global_direction(Dir::new_unchecked(global_direction));
+                    let global_direction = rotation * ray.direction;
+                    ray.set_global_direction(global_direction);
                 }
             }
         }
@@ -350,16 +348,15 @@ fn update_shape_caster_positions(
         let global_rotation = rotation.copied().or(transform.map(Rotation::from));
 
         if let Some(global_position) = global_position {
-            shape_caster.set_global_origin(
-                global_position.0 + rotation.map_or(origin, |rot| rot.rotate(origin)),
-            );
+            shape_caster
+                .set_global_origin(global_position.0 + rotation.map_or(origin, |rot| rot * origin));
         } else if parent.is_none() {
             shape_caster.set_global_origin(origin);
         }
 
         if let Some(global_rotation) = global_rotation {
-            let global_direction = global_rotation.rotate(*shape_caster.direction);
-            shape_caster.set_global_direction(Dir::new_unchecked(global_direction));
+            let global_direction = global_rotation * shape_caster.direction;
+            shape_caster.set_global_direction(global_direction);
             #[cfg(feature = "2d")]
             {
                 shape_caster
@@ -395,13 +392,13 @@ fn update_shape_caster_positions(
             if global_position.is_none() {
                 if let Some(position) = parent_position {
                     let rotation = global_rotation.unwrap_or(parent_rotation.unwrap_or_default());
-                    shape_caster.set_global_origin(position.0 + rotation.rotate(origin));
+                    shape_caster.set_global_origin(position.0 + rotation * origin);
                 }
             }
             if global_rotation.is_none() {
                 if let Some(rotation) = parent_rotation {
-                    let global_direction = rotation.rotate(*shape_caster.direction);
-                    shape_caster.set_global_direction(Dir::new_unchecked(global_direction));
+                    let global_direction = rotation * shape_caster.direction;
+                    shape_caster.set_global_direction(global_direction);
                     #[cfg(feature = "2d")]
                     {
                         shape_caster
diff --git a/src/plugins/spatial_query/ray_caster.rs b/src/plugins/spatial_query/ray_caster.rs
index b362d3ab..c2248261 100644
--- a/src/plugins/spatial_query/ray_caster.rs
+++ b/src/plugins/spatial_query/ray_caster.rs
@@ -45,7 +45,7 @@ use parry::query::{
 /// # #[cfg(all(feature = "3d", feature = "f32"))]
 /// fn setup(mut commands: Commands) {
 ///     // Spawn a ray at the center going right
-///     commands.spawn(RayCaster::new(Vec3::ZERO, Vec3::X));
+///     commands.spawn(RayCaster::new(Vec3::ZERO, Direction3d::X));
 ///     // ...spawn colliders and other things
 /// }
 ///
@@ -56,7 +56,7 @@ use parry::query::{
 ///             println!(
 ///                 "Hit entity {:?} at {} with normal {}",
 ///                 hit.entity,
-///                 ray.origin + ray.direction * hit.time_of_impact,
+///                 ray.origin + *ray.direction * hit.time_of_impact,
 ///                 hit.normal,
 ///             );
 ///         }
diff --git a/src/plugins/spatial_query/shape_caster.rs b/src/plugins/spatial_query/shape_caster.rs
index cc70a591..6938adcb 100644
--- a/src/plugins/spatial_query/shape_caster.rs
+++ b/src/plugins/spatial_query/shape_caster.rs
@@ -38,7 +38,7 @@ use parry::query::details::TOICompositeShapeShapeBestFirstVisitor;
 #[cfg_attr(feature = "3d", doc = "        Collider::sphere(0.5),")]
 ///         Vec3::ZERO,
 ///         Quat::default(),
-///         Vec3::X
+///         Direction3d::X,
 ///     ));
 /// }
 ///
diff --git a/src/plugins/spatial_query/system_param.rs b/src/plugins/spatial_query/system_param.rs
index c708ceb0..179a467b 100644
--- a/src/plugins/spatial_query/system_param.rs
+++ b/src/plugins/spatial_query/system_param.rs
@@ -35,7 +35,7 @@ use bevy::{ecs::system::SystemParam, prelude::*};
 ///     // Cast ray and print first hit
 ///     if let Some(first_hit) = spatial_query.cast_ray(
 ///         Vec3::ZERO,                    // Origin
-///         Vec3::X,                       // Direction
+///         Direction3d::X,                // Direction
 ///         100.0,                         // Maximum time of impact (travel distance)
 ///         true,                          // Does the ray treat colliders as "solid"
 ///         SpatialQueryFilter::default(), // Query filter
@@ -46,7 +46,7 @@ use bevy::{ecs::system::SystemParam, prelude::*};
 ///     // Cast ray and get up to 20 hits
 ///     let hits = spatial_query.ray_hits(
 ///         Vec3::ZERO,                    // Origin
-///         Vec3::X,                       // Direction
+///         Direction3d::X,                // Direction
 ///         100.0,                         // Maximum time of impact (travel distance)
 ///         20,                            // Maximum number of hits
 ///         true,                          // Does the ray treat colliders as "solid"
@@ -112,7 +112,7 @@ impl<'w, 's> SpatialQuery<'w, 's> {
     ///     // Cast ray and print first hit
     ///     if let Some(first_hit) = spatial_query.cast_ray(
     ///         Vec3::ZERO,                    // Origin
-    ///         Vec3::X,                       // Direction
+    ///         Direction3d::X,                // Direction
     ///         100.0,                         // Maximum time of impact (travel distance)
     ///         true,                          // Does the ray treat colliders as "solid"
     ///         SpatialQueryFilter::default(), // Query filter
@@ -161,7 +161,7 @@ impl<'w, 's> SpatialQuery<'w, 's> {
     ///     // Cast ray and print first hit
     ///     if let Some(first_hit) = spatial_query.cast_ray(
     ///         Vec3::ZERO,                    // Origin
-    ///         Vec3::X,                       // Direction
+    ///         Direction3d::X,                // Direction
     ///         100.0,                         // Maximum time of impact (travel distance)
     ///         true,                          // Does the ray treat colliders as "solid"
     ///         SpatialQueryFilter::default(), // Query filter
@@ -224,7 +224,7 @@ impl<'w, 's> SpatialQuery<'w, 's> {
     ///     // Cast ray and get hits
     ///     let hits = spatial_query.ray_hits(
     ///         Vec3::ZERO,                    // Origin
-    ///         Vec3::X,                       // Direction
+    ///         Direction3d::X,                // Direction
     ///         100.0,                         // Maximum time of impact (travel distance)
     ///         20,                            // Maximum number of hits
     ///         true,                          // Does the ray treat colliders as "solid"
@@ -287,7 +287,7 @@ impl<'w, 's> SpatialQuery<'w, 's> {
     ///     // Cast ray and get all hits
     ///     spatial_query.ray_hits_callback(
     ///         Vec3::ZERO,                    // Origin
-    ///         Vec3::X,                       // Direction
+    ///         Direction3d::X,                // Direction
     ///         100.0,                         // Maximum time of impact (travel distance)
     ///         true,                          // Does the ray treat colliders as "solid"
     ///         SpatialQueryFilter::default(), // Query filter
@@ -355,7 +355,7 @@ impl<'w, 's> SpatialQuery<'w, 's> {
     ///         &Collider::sphere(0.5),          // Shape
     ///         Vec3::ZERO,                      // Origin
     ///         Quat::default(),                 // Shape rotation
-    ///         Vec3::X,                         // Direction
+    ///         Direction3d::X,                  // Direction
     ///         100.0,                           // Maximum time of impact (travel distance)
     ///         true,                            // Should initial penetration at the origin be ignored
     ///         SpatialQueryFilter::default(),   // Query filter
@@ -419,7 +419,7 @@ impl<'w, 's> SpatialQuery<'w, 's> {
     ///         &Collider::sphere(0.5),          // Shape
     ///         Vec3::ZERO,                      // Origin
     ///         Quat::default(),                 // Shape rotation
-    ///         Vec3::X,                         // Direction
+    ///         Direction3d::X,                  // Direction
     ///         100.0,                           // Maximum time of impact (travel distance)
     ///         20,                              // Max hits
     ///         true,                            // Should initial penetration at the origin be ignored
@@ -491,7 +491,7 @@ impl<'w, 's> SpatialQuery<'w, 's> {
     ///         &Collider::sphere(0.5),          // Shape
     ///         Vec3::ZERO,                      // Origin
     ///         Quat::default(),                 // Shape rotation
-    ///         Vec3::X,                         // Direction
+    ///         Direction3d::X,                  // Direction
     ///         100.0,                           // Maximum time of impact (travel distance)
     ///         true,                            // Should initial penetration at the origin be ignored
     ///         SpatialQueryFilter::default(),   // Query filter