diff --git a/math/Frame3f.cs b/math/Frame3f.cs
index 114d96b6..1f2f1569 100644
--- a/math/Frame3f.cs
+++ b/math/Frame3f.cs
@@ -3,6 +3,7 @@
 using System.Text;
 using System.Diagnostics;
 using g3;
+using System.Globalization;
 
 namespace g3
 {
@@ -68,6 +69,12 @@ public Frame3f(Vector3f origin, Vector3f x, Vector3f y, Vector3f z)
             this.rotation = m.ToQuaternion();
         }
 
+        public Frame3f(double x, double y, double z, double rx, double ry, double rz, double rw)
+        {
+            this.origin = new Vector3f((float)x, (float)y, (float)z);
+            this.rotation = new Quaternionf((float)rx, (float)ry, (float)rz, (float)rw);
+        }
+
 
         public Quaternionf Rotation
         {
@@ -448,10 +455,17 @@ public readonly bool EpsilonEqual(Frame3f f2, float epsilon) {
                 rotation.EpsilonEqual(f2.rotation, epsilon);
         }
 
-
-        public override readonly string ToString() {
-            return ToString("F4");
+        public readonly string ToShortString() {
+            string xString = origin.x.ToString("F4", CultureInfo.InvariantCulture);
+            string yString = origin.y.ToString("F4", CultureInfo.InvariantCulture);
+            string zString = origin.z.ToString("F4", CultureInfo.InvariantCulture);
+            string rxString = rotation.x.ToString("F4", CultureInfo.InvariantCulture);
+            string ryString = rotation.y.ToString("F4", CultureInfo.InvariantCulture);
+            string rzString = rotation.z.ToString("F4", CultureInfo.InvariantCulture);
+            string rwString = rotation.w.ToString("F4", CultureInfo.InvariantCulture);
+            return string.Join(", ", xString, yString, zString, rxString, ryString, rzString, rwString);
         }
+
         public readonly string ToString(string fmt) {
             return string.Format("[Frame3f: Origin={0}, X={1}, Y={2}, Z={3}]", Origin.ToString(fmt), X.ToString(fmt), Y.ToString(fmt), Z.ToString(fmt));
         }