diff --git a/src/libslic3r/Geometry.cpp b/src/libslic3r/Geometry.cpp
index 87b4e223d..5d7b93679 100644
--- a/src/libslic3r/Geometry.cpp
+++ b/src/libslic3r/Geometry.cpp
@@ -1166,4 +1166,21 @@ MedialAxis::retrieve_endpoint(const VD::cell_type* cell) const
     }
 }
 
+void assemble_transform(Transform3d& transform, const Vec3d& translation, const Vec3d& rotation, const Vec3d& scale)
+{
+    transform = Transform3d::Identity();
+    transform.translate(translation);
+    transform.rotate(Eigen::AngleAxisd(rotation(2), Vec3d::UnitZ()));
+    transform.rotate(Eigen::AngleAxisd(rotation(1), Vec3d::UnitY()));
+    transform.rotate(Eigen::AngleAxisd(rotation(0), Vec3d::UnitX()));
+    transform.scale(scale);
+}
+
+Transform3d assemble_transform(const Vec3d& translation, const Vec3d& rotation, const Vec3d& scale)
+{
+    Transform3d transform;
+    assemble_transform(transform, translation, rotation, scale);
+    return transform;
+}
+
 } }
diff --git a/src/libslic3r/Geometry.hpp b/src/libslic3r/Geometry.hpp
index 3698b996f..57b9cad02 100644
--- a/src/libslic3r/Geometry.hpp
+++ b/src/libslic3r/Geometry.hpp
@@ -157,6 +157,21 @@ class MedialAxis {
     const Point& retrieve_endpoint(const VD::cell_type* cell) const;
 };
 
+// Sets the given transform by assembling the given transformations in the following order:
+// 1) scale
+// 2) rotate X
+// 3) rotate Y
+// 4) rotate Z
+// 5) translate
+void assemble_transform(Transform3d& transform, const Vec3d& translation = Vec3d::Zero(), const Vec3d& rotation = Vec3d::Zero(), const Vec3d& scale = Vec3d::Ones());
+
+// Returns the transform obtained by assembling the given transformations in the following order:
+// 1) scale
+// 2) rotate X
+// 3) rotate Y
+// 4) rotate Z
+// 5) translate
+Transform3d assemble_transform(const Vec3d& translation = Vec3d::Zero(), const Vec3d& rotation = Vec3d::Zero(), const Vec3d& scale = Vec3d::Ones());
 } }
 
 #endif
diff --git a/src/libslic3r/Model.cpp b/src/libslic3r/Model.cpp
index e0cf14a57..8ced1018d 100644
--- a/src/libslic3r/Model.cpp
+++ b/src/libslic3r/Model.cpp
@@ -1185,22 +1185,14 @@ void ModelInstance::transform_polygon(Polygon* polygon) const
 
 Transform3d ModelInstance::world_matrix(bool dont_translate, bool dont_rotate, bool dont_scale) const
 {
+#if ENABLE_MODELINSTANCE_3D_FULL_TRANSFORM
+    Vec3d translation = dont_translate ? Vec3d::Zero() : m_offset;
+    Vec3d rotation = dont_rotate ? Vec3d::Zero() : m_rotation;
+    Vec3d scale = dont_scale ? Vec3d::Ones() : m_scaling_factor;
+    return Geometry::assemble_transform(translation, rotation, scale);
+#else
     Transform3d m = Transform3d::Identity();
 
-#if ENABLE_MODELINSTANCE_3D_FULL_TRANSFORM
-    if (!dont_translate)
-        m.translate(m_offset);
-
-    if (!dont_rotate)
-    {
-        m.rotate(Eigen::AngleAxisd(m_rotation(2), Vec3d::UnitZ()));
-        m.rotate(Eigen::AngleAxisd(m_rotation(1), Vec3d::UnitY()));
-        m.rotate(Eigen::AngleAxisd(m_rotation(0), Vec3d::UnitX()));
-    }
-
-    if (!dont_scale)
-        m.scale(m_scaling_factor);
-#else
     if (!dont_translate)
         m.translate(Vec3d(offset(0), offset(1), 0.0));
 
@@ -1209,9 +1201,9 @@ Transform3d ModelInstance::world_matrix(bool dont_translate, bool dont_rotate, b
 
     if (!dont_scale)
         m.scale(scaling_factor);
-#endif // ENABLE_MODELINSTANCE_3D_FULL_TRANSFORM
 
     return m;
+#endif // ENABLE_MODELINSTANCE_3D_FULL_TRANSFORM
 }
 
 }
diff --git a/src/slic3r/GUI/3DScene.cpp b/src/slic3r/GUI/3DScene.cpp
index 92e903911..07f9b0fda 100644
--- a/src/slic3r/GUI/3DScene.cpp
+++ b/src/slic3r/GUI/3DScene.cpp
@@ -389,14 +389,11 @@ const Transform3f& GLVolume::world_matrix() const
 {
     if (m_world_matrix_dirty)
     {
+#if ENABLE_MODELINSTANCE_3D_FULL_TRANSFORM
+        m_world_matrix = Geometry::assemble_transform(m_offset, m_rotation, m_scaling_factor).cast<float>();
+#else
         m_world_matrix = Transform3f::Identity();
         m_world_matrix.translate(m_offset.cast<float>());
-#if ENABLE_MODELINSTANCE_3D_FULL_TRANSFORM
-        m_world_matrix.rotate(Eigen::AngleAxisf((float)m_rotation(2), Vec3f::UnitZ()));
-        m_world_matrix.rotate(Eigen::AngleAxisf((float)m_rotation(1), Vec3f::UnitY()));
-        m_world_matrix.rotate(Eigen::AngleAxisf((float)m_rotation(0), Vec3f::UnitX()));
-        m_world_matrix.scale(m_scaling_factor.cast<float>());
-#else
         m_world_matrix.rotate(Eigen::AngleAxisf((float)m_rotation, Vec3f::UnitZ()));
         m_world_matrix.scale((float)m_scaling_factor);
 #endif // ENABLE_MODELINSTANCE_3D_FULL_TRANSFORM
diff --git a/src/slic3r/GUI/GLCanvas3D.cpp b/src/slic3r/GUI/GLCanvas3D.cpp
index a2067bbf3..092548870 100644
--- a/src/slic3r/GUI/GLCanvas3D.cpp
+++ b/src/slic3r/GUI/GLCanvas3D.cpp
@@ -10,6 +10,7 @@
 #include "../../libslic3r/ClipperUtils.hpp"
 #include "../../libslic3r/PrintConfig.hpp"
 #include "../../libslic3r/GCode/PreviewData.hpp"
+#include "../../libslic3r/Geometry.hpp"
 #include "GUI_App.hpp"
 #include "GUI_ObjectList.hpp"
 #include "GUI_ObjectManipulation.hpp"
@@ -1144,17 +1145,14 @@ GLCanvas3D::Selection::VolumeCache::VolumeCache(const Vec3d& position, const Vec
     , m_rotation(rotation)
     , m_scaling_factor(scaling_factor)
 {
-    m_rotation_matrix = Transform3d::Identity();
-    m_rotation_matrix.rotate(Eigen::AngleAxisd(m_rotation(2), Vec3d::UnitZ()));
-    m_rotation_matrix.rotate(Eigen::AngleAxisd(m_rotation(1), Vec3d::UnitY()));
-    m_rotation_matrix.rotate(Eigen::AngleAxisd(m_rotation(0), Vec3d::UnitX()));
+    m_rotation_matrix = Geometry::assemble_transform(Vec3d::Zero(), m_rotation);
 }
 
 GLCanvas3D::Selection::Selection()
     : m_volumes(nullptr)
     , m_model(nullptr)
     , m_mode(Instance)
-    , m_type(Invalid)
+    , m_type(Empty)
     , m_valid(false)
     , m_bounding_box_dirty(true)
 {
@@ -1409,13 +1407,7 @@ void GLCanvas3D::Selection::rotate(const Vec3d& rotation)
     if (!m_valid)
         return;
 
-    Transform3d m = Transform3d::Identity();
-    if (rotation(2) != 0.0f)
-        m.rotate(Eigen::AngleAxisd(rotation(2), Vec3d::UnitZ()));
-    else if (rotation(1) != 0.0f)
-        m.rotate(Eigen::AngleAxisd(rotation(1), Vec3d::UnitY()));
-    else if (rotation(0) != 0.0f)
-        m.rotate(Eigen::AngleAxisd(rotation(0), Vec3d::UnitX()));
+    Transform3d m = Geometry::assemble_transform(Vec3d::Zero(), rotation);
 
     bool single_full_instance = is_single_full_instance();