diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 3812a7f6a..662512d07 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -27,6 +27,7 @@ set(tests
     tests_vector
     tests_worker
     tests_pose
+    tests_vec3_angle
 	)
 if(XRT_HAVE_D3D11)
 	list(APPEND tests tests_aux_d3d_d3d11 tests_comp_client_d3d11)
@@ -68,6 +69,7 @@ target_link_libraries(tests_rational PRIVATE aux_math)
 target_link_libraries(tests_pose PRIVATE aux_math)
 target_link_libraries(tests_quat_change_of_basis PRIVATE aux_math)
 target_link_libraries(tests_quat_swing_twist PRIVATE aux_math)
+target_link_libraries(tests_vec3_angle PRIVATE aux_math)
 
 target_include_directories(tests_quat_change_of_basis SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIR})
 target_include_directories(tests_quat_swing_twist SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIR})
diff --git a/tests/tests_vec3_angle.cpp b/tests/tests_vec3_angle.cpp
new file mode 100644
index 000000000..32c248887
--- /dev/null
+++ b/tests/tests_vec3_angle.cpp
@@ -0,0 +1,20 @@
+// Copyright 2022, Collabora, Inc.
+// SPDX-License-Identifier: BSL-1.0
+/*!
+ * @file
+ * @brief Test for m_vec3_angle.
+ * @author Moses Turner <moses@collabora.com>
+ */
+#include "xrt/xrt_defines.h"
+#include <math/m_vec3.h>
+
+
+#include "catch/catch.hpp"
+
+TEST_CASE("Vec3Angle")
+{
+	float sqrt2_2 = sqrtf(2) / 2;
+	CHECK(m_vec3_angle({1, 0, 0}, {-1, 0, 0}) == Approx(M_PI));
+	CHECK(m_vec3_angle({1, 0, 0}, {0, 1, 0}) == Approx(M_PI / 2));
+	CHECK(m_vec3_angle({1, 0, 0}, {sqrt2_2, sqrt2_2, 0}) == Approx(M_PI / 4));
+}