diff --git a/source/blender/blenkernel/intern/object.c b/source/blender/blenkernel/intern/object.c
index 526a71b477d..0c9239e3ddf 100644
--- a/source/blender/blenkernel/intern/object.c
+++ b/source/blender/blenkernel/intern/object.c
@@ -1950,9 +1950,15 @@ void BKE_object_mat3_to_rot(Object *ob, float mat[3][3], bool use_compat)
 		}
 		case ROT_MODE_AXISANGLE:
 		{
-			mat3_to_axis_angle(ob->rotAxis, &ob->rotAngle, mat);
-			sub_v3_v3(ob->rotAxis, ob->drotAxis);
-			ob->rotAngle -= ob->drotAngle;
+			float quat[4];
+			float dquat[4];
+
+			/* without drot we could apply 'mat' directly */
+			mat3_to_quat(quat, mat);
+			axis_angle_to_quat(dquat, ob->drotAxis, ob->drotAngle);
+			invert_qt(dquat);
+			mul_qt_qtqt(quat, dquat, quat);
+			quat_to_axis_angle(ob->rotAxis, &ob->rotAngle, quat);
 			break;
 		}
 		default: /* euler */