diff --git a/src/xrt/auxiliary/math/m_api.h b/src/xrt/auxiliary/math/m_api.h
index cf0f47b23..fea003ecc 100644
--- a/src/xrt/auxiliary/math/m_api.h
+++ b/src/xrt/auxiliary/math/m_api.h
@@ -113,6 +113,18 @@ math_vec3_cross(const struct xrt_vec3 *l,
  *
  */
 
+/*!
+ * Create a rotation from a angle in radians and a vector.
+ *
+ * @relates xrt_quat
+ * @relates xrt_vec3
+ * @ingroup aux_math
+ */
+void
+math_quat_from_angle_vector(float angle_rads,
+                            const struct xrt_vec3 *vector,
+                            struct xrt_quat *result);
+
 /*!
  * Create a rotation from a 3x3 rotation matrix.
  *
diff --git a/src/xrt/auxiliary/math/m_base.cpp b/src/xrt/auxiliary/math/m_base.cpp
index a98c8c61e..0d8878450 100644
--- a/src/xrt/auxiliary/math/m_base.cpp
+++ b/src/xrt/auxiliary/math/m_base.cpp
@@ -89,6 +89,14 @@ math_vec3_cross(const struct xrt_vec3 *l,
  *
  */
 
+extern "C" void
+math_quat_from_angle_vector(float angle_rads,
+                            const struct xrt_vec3 *vector,
+                            struct xrt_quat *result)
+{
+	map_quat(*result) = Eigen::AngleAxisf(angle_rads, copy(vector));
+}
+
 extern "C" void
 math_quat_from_matrix_3x3(const struct xrt_matrix_3x3 *mat,
                           struct xrt_quat *result)