diff --git a/sources/reactphysics3d/mathematics/Matrix.cpp b/sources/reactphysics3d/mathematics/Matrix.cpp
index 69f982f0..31eaf512 100644
--- a/sources/reactphysics3d/mathematics/Matrix.cpp
+++ b/sources/reactphysics3d/mathematics/Matrix.cpp
@@ -79,6 +79,27 @@ Matrix::Matrix(const Matrix& matrix)
     }
 }
 
+// Conversion from Matrix3x3
+Matrix::Matrix(const Matrix3x3& matrix)
+    :nbRow(3), nbColumn(3) {
+
+    // Create the two dimensional dynamic array
+    array = new double*[nbRow];
+
+    assert(array != 0);     // Array pointer musn't be null
+
+    for(int i=0; i<nbRow; ++i) {
+        array[i] = new double[nbColumn];
+    }
+
+    // Copy the matrix
+    for (int i=0; i<nbRow; ++i) {
+        for(int j=0; j<nbColumn; ++j) {
+            setValue(i,j, matrix.getValue(i,j));
+        }
+    }
+}
+
 // Destructor of the class Matrix
 Matrix::~Matrix() {
     // Destruction of the dynamic array
diff --git a/sources/reactphysics3d/mathematics/Matrix.h b/sources/reactphysics3d/mathematics/Matrix.h
index 65245373..54e360d6 100644
--- a/sources/reactphysics3d/mathematics/Matrix.h
+++ b/sources/reactphysics3d/mathematics/Matrix.h
@@ -22,6 +22,7 @@
 
 // Libraries
 #include "exceptions.h"
+#include "Matrix3x3.h"
 #include <stdexcept>
 #include <iostream>
 
@@ -45,6 +46,7 @@ class Matrix {
         Matrix();                                                                       // Constructor without argument
         Matrix(int nbRow, int nbColum) throw(std::invalid_argument);                    // Constructor of the class Matrix
         Matrix(const Matrix& matrix);                                                   // Copy constructor of the class Matrix
+        Matrix(const Matrix3x3& matrix);                                                // Conversion from Matrix3x3
         virtual ~Matrix();                                                              // Destructor of the class Matrix
         double getValue(int i, int j) const throw(std::invalid_argument);               // Return a value in the matrix
         void setValue(int i, int j, double value) throw(std::invalid_argument);         // Set a value in the matrix