diff --git a/app/src/main/java/org/hitlabnz/sensor_fusion_demo/CubeRenderer.java b/app/src/main/java/org/hitlabnz/sensor_fusion_demo/CubeRenderer.java
index c8b03fc..f705877 100644
--- a/app/src/main/java/org/hitlabnz/sensor_fusion_demo/CubeRenderer.java
+++ b/app/src/main/java/org/hitlabnz/sensor_fusion_demo/CubeRenderer.java
@@ -25,6 +25,7 @@ public class CubeRenderer implements GLSurfaceView.Renderer {
      * The current provider of the device orientation.
      */
     private OrientationProvider orientationProvider = null;
+    private Quaternion quaternion = new Quaternion();
 
     /**
      * Initialises a new CubeRenderer
@@ -69,8 +70,8 @@ public class CubeRenderer implements GLSurfaceView.Renderer {
                 //gl.glMultMatrixf(orientationProvider.getRotationMatrix().getMatrix(), 0);
 
                 // Get the rotation from the current orientationProvider as quaternion
-                Quaternion q = orientationProvider.getQuaternion();
-                gl.glRotatef((float) (2.0f * Math.acos(q.getW()) * 180.0f / Math.PI), q.getX(), q.getY(), q.getZ());
+                orientationProvider.getQuaternion(quaternion);
+                gl.glRotatef((float) (2.0f * Math.acos(quaternion.getW()) * 180.0f / Math.PI), quaternion.getX(), quaternion.getY(), quaternion.getZ());
             }
 
             // draw our object
@@ -88,8 +89,8 @@ public class CubeRenderer implements GLSurfaceView.Renderer {
                 //gl.glMultMatrixf(orientationProvider.getRotationMatrix().getMatrix(), 0);
 
                 // Get the rotation from the current orientationProvider as quaternion
-                Quaternion q = orientationProvider.getQuaternion();
-                gl.glRotatef((float) (2.0f * Math.acos(q.getW()) * 180.0f / Math.PI), q.getX(), q.getY(), q.getZ());
+                orientationProvider.getQuaternion(quaternion);
+                gl.glRotatef((float) (2.0f * Math.acos(quaternion.getW()) * 180.0f / Math.PI), quaternion.getX(), quaternion.getY(), quaternion.getZ());
             }
 
             float dist = 3;
diff --git a/app/src/main/java/org/hitlabnz/sensor_fusion_demo/orientationProvider/OrientationProvider.java b/app/src/main/java/org/hitlabnz/sensor_fusion_demo/orientationProvider/OrientationProvider.java
index 9459eef..69249a6 100644
--- a/app/src/main/java/org/hitlabnz/sensor_fusion_demo/orientationProvider/OrientationProvider.java
+++ b/app/src/main/java/org/hitlabnz/sensor_fusion_demo/orientationProvider/OrientationProvider.java
@@ -96,12 +96,11 @@ public abstract class OrientationProvider implements SensorEventListener {
     }
 
     /**
-     * @return Returns the current rotation of the device in the rotation matrix
-     *         format (4x4 matrix)
+     * Get the current rotation of the device in the rotation matrix format (4x4 matrix)
      */
-    public Matrixf4x4 getRotationMatrix() {
+    public void getRotationMatrix(Matrixf4x4 matrix) {
         synchronized (syncToken) {
-            return currentOrientationRotationMatrix;
+            matrix.set(currentOrientationRotationMatrix);
         }
     }
 
diff --git a/app/src/main/java/org/hitlabnz/sensor_fusion_demo/representation/Matrixf4x4.java b/app/src/main/java/org/hitlabnz/sensor_fusion_demo/representation/Matrixf4x4.java
index c928d23..99186fb 100644
--- a/app/src/main/java/org/hitlabnz/sensor_fusion_demo/representation/Matrixf4x4.java
+++ b/app/src/main/java/org/hitlabnz/sensor_fusion_demo/representation/Matrixf4x4.java
@@ -74,15 +74,8 @@ public class Matrixf4x4 {
         }
     }
 
-    public void setMatrixValues(float[] otherMatrix) {
-        if (this.matrix.length != otherMatrix.length) {
-            Log.e("matrix", "Matrix set is invalid, size is " + otherMatrix.length + " expected 9 or 16");
-
-        }
-
-        for (int i = 0; i < otherMatrix.length; i++) {
-            this.matrix[i] = otherMatrix[i];
-        }
+    public void set(Matrixf4x4 source) {
+        System.arraycopy(source.matrix, 0, matrix, 0, matrix.length);
     }
 
     /**