diff --git a/src/xrt/auxiliary/math/m_api.h b/src/xrt/auxiliary/math/m_api.h
index d91f5a473..702683445 100644
--- a/src/xrt/auxiliary/math/m_api.h
+++ b/src/xrt/auxiliary/math/m_api.h
@@ -95,6 +95,17 @@ math_vec3_validate(const struct xrt_vec3 *vec3);
 void
 math_vec3_accum(const struct xrt_vec3 *additional, struct xrt_vec3 *inAndOut);
 
+/*!
+ * Cross product of a vector.
+ *
+ * @relates xrt_vec3
+ * @ingroup aux_math
+ */
+void
+math_vec3_cross(const struct xrt_vec3 *l,
+                const struct xrt_vec3 *r,
+                struct xrt_vec3 *result);
+
 
 /*
  *
@@ -113,6 +124,19 @@ void
 math_quat_from_matrix_3x3(const struct xrt_matrix_3x3 *mat,
                           struct xrt_quat *result);
 
+/*!
+ * Create a rotation from two vectors plus x and z, by creating a rotation
+ * matrix by crossing z and x to get the y axis.
+ *
+ * @relates xrt_quat
+ * @relates xrt_vec3
+ * @ingroup aux_math
+ */
+void
+math_quat_from_plus_x_z(const struct xrt_vec3 *plus_x,
+                        const struct xrt_vec3 *plus_z,
+                        struct xrt_quat *result);
+
 /*!
  * Check if this quat can be used in transformation operations.
  *
@@ -230,6 +254,18 @@ math_pose_transform(const struct xrt_pose *transform,
                     const struct xrt_pose *pose,
                     struct xrt_pose *outPose);
 
+/*!
+ * Apply a rigid-body transformation to a point.
+ *
+ * @relates xrt_pose
+ * @relates xrt_vec3
+ * @ingroup aux_math
+ */
+void
+math_pose_transform_point(const struct xrt_pose *transform,
+                          const struct xrt_vec3 *point,
+                          struct xrt_vec3 *out_point);
+
 /*!
  * Combine the poses of the target and base space with the relative pose of
  * those spaces. In a way that OpenXR specifies in the function xrLocateSpace.
diff --git a/src/xrt/auxiliary/math/m_base.cpp b/src/xrt/auxiliary/math/m_base.cpp
index c9c23e016..a98c8c61e 100644
--- a/src/xrt/auxiliary/math/m_base.cpp
+++ b/src/xrt/auxiliary/math/m_base.cpp
@@ -74,6 +74,14 @@ math_vec3_accum(const struct xrt_vec3 *additional, struct xrt_vec3 *inAndOut)
 	map_vec3(*inAndOut) += map_vec3(*additional);
 }
 
+extern "C" void
+math_vec3_cross(const struct xrt_vec3 *l,
+                const struct xrt_vec3 *r,
+                struct xrt_vec3 *result)
+{
+	map_vec3(*result) = map_vec3(*l).cross(map_vec3(*r));
+}
+
 
 /*
  *
@@ -81,7 +89,6 @@ math_vec3_accum(const struct xrt_vec3 *additional, struct xrt_vec3 *inAndOut)
  *
  */
 
-
 extern "C" void
 math_quat_from_matrix_3x3(const struct xrt_matrix_3x3 *mat,
                           struct xrt_quat *result)
@@ -94,6 +101,29 @@ math_quat_from_matrix_3x3(const struct xrt_matrix_3x3 *mat,
 	map_quat(*result) = q;
 }
 
+extern "C" void
+math_quat_from_plus_x_z(const struct xrt_vec3 *plus_x,
+                        const struct xrt_vec3 *plus_z,
+                        struct xrt_quat *result)
+{
+	xrt_vec3 plus_y;
+	math_vec3_cross(plus_z, plus_x, &plus_y);
+
+	xrt_matrix_3x3 m = {{
+	    plus_x->x,
+	    plus_y.x,
+	    plus_z->x,
+	    plus_x->y,
+	    plus_y.y,
+	    plus_z->y,
+	    plus_x->z,
+	    plus_y.z,
+	    plus_z->z,
+	}};
+
+	math_quat_from_matrix_3x3(&m, result);
+}
+
 extern "C" bool
 math_quat_validate(const struct xrt_quat *quat)
 {
@@ -227,6 +257,18 @@ math_pose_transform(const struct xrt_pose *transform,
 	memcpy(outPose, &newPose, sizeof(xrt_pose));
 }
 
+extern "C" void
+math_pose_transform_point(const struct xrt_pose *transform,
+                          const struct xrt_vec3 *point,
+                          struct xrt_vec3 *out_point)
+{
+	assert(transform != NULL);
+	assert(point != NULL);
+	assert(out_point != NULL);
+
+	map_vec3(*out_point) = transform_point(*transform, *point);
+}
+
 extern "C" void
 math_pose_openxr_locate(const struct xrt_pose *space_pose,
                         const struct xrt_pose *relative_pose,