diff --git a/packages/react-three-rapier/src/hooks/joints.ts b/packages/react-three-rapier/src/hooks/joints.ts
index afa097e6..657502bb 100644
--- a/packages/react-three-rapier/src/hooks/joints.ts
+++ b/packages/react-three-rapier/src/hooks/joints.ts
@@ -6,8 +6,6 @@ import {
   RopeImpulseJoint,
   SphericalImpulseJoint,
   SpringImpulseJoint,
-  JointType as ImpulseJointType,
-  Vector
 } from "@dimforge/rapier3d-compat";
 import { RefObject, useRef } from "react";
 import {
@@ -20,17 +18,14 @@ import {
   SpringJointParams,
   UseImpulseJoint,
   useRapier,
-  vec3
 } from "..";
 import {
-  tupleToObject,
-  vectorArrayToVector3,
-  vector3ToRapierVector
+  vector3ToRapierVector,
+  quaternionToRapierQuaternion
 } from "../utils/utils";
 
 import type Rapier from "@dimforge/rapier3d-compat";
 import { useImperativeInstance } from "./use-imperative-instance";
-import { Vector3 } from "@react-three/fiber";
 
 /**
  * @internal
@@ -93,10 +88,10 @@ export const useFixedJoint: UseImpulseJoint<
     body1,
     body2,
     rapier.JointData.fixed(
-      vectorArrayToVector3(body1Anchor),
-      tupleToObject(body1LocalFrame, ["x", "y", "z", "w"] as const),
-      vectorArrayToVector3(body2Anchor),
-      tupleToObject(body2LocalFrame, ["x", "y", "z", "w"] as const)
+      vector3ToRapierVector(body1Anchor),
+      quaternionToRapierQuaternion(body1LocalFrame),
+      vector3ToRapierVector(body2Anchor),
+      quaternionToRapierQuaternion(body2LocalFrame)
     )
   );
 };
@@ -119,8 +114,8 @@ export const useSphericalJoint: UseImpulseJoint<
     body1,
     body2,
     rapier.JointData.spherical(
-      vectorArrayToVector3(body1Anchor),
-      vectorArrayToVector3(body2Anchor)
+      vector3ToRapierVector(body1Anchor),
+      vector3ToRapierVector(body2Anchor)
     )
   );
 };
@@ -139,9 +134,9 @@ export const useRevoluteJoint: UseImpulseJoint<
   const { rapier } = useRapier();
 
   const params = rapier.JointData.revolute(
-    vectorArrayToVector3(body1Anchor),
-    vectorArrayToVector3(body2Anchor),
-    vectorArrayToVector3(axis)
+    vector3ToRapierVector(body1Anchor),
+    vector3ToRapierVector(body2Anchor),
+    vector3ToRapierVector(axis)
   );
 
   if (limits) {
@@ -166,9 +161,9 @@ export const usePrismaticJoint: UseImpulseJoint<
   const { rapier } = useRapier();
 
   const params = rapier.JointData.prismatic(
-    vectorArrayToVector3(body1Anchor),
-    vectorArrayToVector3(body2Anchor),
-    vectorArrayToVector3(axis)
+    vector3ToRapierVector(body1Anchor),
+    vector3ToRapierVector(body2Anchor),
+    vector3ToRapierVector(axis)
   );
 
   if (limits) {
diff --git a/packages/react-three-rapier/src/types.ts b/packages/react-three-rapier/src/types.ts
index debf6118..7581dce3 100644
--- a/packages/react-three-rapier/src/types.ts
+++ b/packages/react-three-rapier/src/types.ts
@@ -9,7 +9,7 @@ import {
   TempContactManifold
 } from "@dimforge/rapier3d-compat";
 import { Rotation, Vector } from "@dimforge/rapier3d-compat/math";
-import { Object3DProps, Vector3 } from "@react-three/fiber";
+import { Object3DProps, Vector3, Quaternion } from "@react-three/fiber";
 import { Object3D } from "three";
 import { ColliderProps } from ".";
 import { RigidBodyState } from "./components/Physics";
@@ -461,28 +461,28 @@ export interface RigidBodyOptions extends ColliderProps {
 
 // Joints
 export type SphericalJointParams = [
-  body1Anchor: Vector3Tuple,
-  body2Anchor: Vector3Tuple
+  body1Anchor: Vector3,
+  body2Anchor: Vector3
 ];
 
 export type FixedJointParams = [
-  body1Anchor: Vector3Tuple,
-  body1LocalFrame: Vector4Tuple,
-  body2Anchor: Vector3Tuple,
-  body2LocalFrame: Vector4Tuple
+  body1Anchor: Vector3,
+  body1LocalFrame: Quaternion,
+  body2Anchor: Vector3,
+  body2LocalFrame: Quaternion
 ];
 
 export type PrismaticJointParams = [
-  body1Anchor: Vector3Tuple,
-  body2Anchor: Vector3Tuple,
-  axis: Vector3Tuple,
+  body1Anchor: Vector3,
+  body2Anchor: Vector3,
+  axis: Vector3,
   limits?: [min: number, max: number]
 ];
 
 export type RevoluteJointParams = [
-  body1Anchor: Vector3Tuple,
-  body2Anchor: Vector3Tuple,
-  axis: Vector3Tuple,
+  body1Anchor: Vector3,
+  body2Anchor: Vector3,
+  axis: Vector3,
   limits?: [min: number, max: number]
 ];
 
diff --git a/packages/react-three-rapier/src/utils/utils.ts b/packages/react-three-rapier/src/utils/utils.ts
index c7166a47..3ffce46e 100644
--- a/packages/react-three-rapier/src/utils/utils.ts
+++ b/packages/react-three-rapier/src/utils/utils.ts
@@ -1,37 +1,18 @@
 import { useRef } from "react";
 import {
   Quaternion as RapierQuaternion,
-  Vector3 as RapierVector3
+  Vector3 as RapierVector3,
 } from "@dimforge/rapier3d-compat";
-
-import { Euler, Quaternion, Shape, Vector3 } from "three";
+import { Euler, Quaternion, Vector3 } from "three";
 import { _euler, _quaternion, _vector3 } from "./shared-objects";
 import { RigidBodyTypeString, Vector3Tuple } from "../types";
-import { Vector3 as Vector3ish } from "@react-three/fiber";
+import { Vector3 as Vector3Like, Quaternion as QuaternionLike } from "@react-three/fiber";
 
 export const vectorArrayToVector3 = (arr: Vector3Tuple) => {
   const [x, y, z] = arr;
   return new Vector3(x, y, z);
 };
 
-export const tupleToObject = <
-  T extends readonly any[],
-  K extends readonly string[]
->(
-  tuple: T,
-  keys: K
-) => {
-  return keys.reduce(
-    (obj, key, i) => {
-      obj[key as K[number]] = tuple[i];
-      return obj;
-    },
-    {} as {
-      [Key in K[number]]: T[number];
-    }
-  );
-};
-
 export const vector3ToQuaternion = (v: Vector3) => {
   return _quaternion.setFromEuler(_euler.setFromVector3(v));
 };
@@ -46,6 +27,25 @@ export const rapierQuaternionToQuaternion = ({
   w
 }: RapierQuaternion) => _quaternion.set(x, y, z, w);
 
+export const vector3ToRapierVector = (v: Vector3Like) => {
+  if (Array.isArray(v)) {
+    return new RapierVector3(v[0], v[1], v[2]);
+  } else if (typeof v === "number") {
+    return new RapierVector3(v, v, v);
+  } else {
+    const threeVector3 = v as THREE.Vector3;
+    return new RapierVector3(threeVector3.x, threeVector3.y, threeVector3.z);
+  }
+};
+
+export const quaternionToRapierQuaternion = (v: QuaternionLike) => {
+  if (Array.isArray(v)) {
+    return new RapierQuaternion(v[0], v[1], v[2], v[3]);
+  } else {
+    return new RapierQuaternion(v.x, v.y, v.z, v.w);
+  }
+};
+
 const rigidBodyTypeMap = {
   fixed: 1,
   dynamic: 0,
@@ -100,13 +100,3 @@ export function useConst<T>(initialValue: T | (() => T)): T {
   }
   return ref.current.value;
 }
-
-export const vector3ToRapierVector = (v: Vector3ish) => {
-  if (Array.isArray(v)) {
-    return new RapierVector3(v[0], v[1], v[2]);
-  } else if (typeof v === "number") {
-    return new RapierVector3(v, v, v);
-  } else {
-    return v as THREE.Vector3;
-  }
-};