diff --git a/src/xrt/auxiliary/math/m_api.h b/src/xrt/auxiliary/math/m_api.h
index aafbd373a..c78664d79 100644
--- a/src/xrt/auxiliary/math/m_api.h
+++ b/src/xrt/auxiliary/math/m_api.h
@@ -1,4 +1,4 @@
-// Copyright 2019, Collabora, Ltd.
+// Copyright 2019-2021, Collabora, Ltd.
 // SPDX-License-Identifier: BSL-1.0
 /*!
  * @file
@@ -379,6 +379,16 @@ math_matrix_4x4_inverse_view_projection(const struct xrt_matrix_4x4 *view,
  *
  */
 
+
+/*!
+ * Somewhat laboriously make an xrt_pose identity.
+ *
+ * @relates xrt_pose
+ * @ingroup aux_math
+ */
+void
+math_pose_identity(struct xrt_pose *pose);
+
 /*!
  * Check if this pose can be used in transformation operations.
  *
diff --git a/src/xrt/auxiliary/math/m_base.cpp b/src/xrt/auxiliary/math/m_base.cpp
index f6040ccce..e75fc35ff 100644
--- a/src/xrt/auxiliary/math/m_base.cpp
+++ b/src/xrt/auxiliary/math/m_base.cpp
@@ -317,8 +317,8 @@ math_matrix_3x3_transform_vec3(const struct xrt_matrix_3x3 *left, const struct x
 
 extern "C" void
 math_matrix_3x3_multiply(const struct xrt_matrix_3x3 *left,
-												 const struct xrt_matrix_3x3 *right,
-												 struct xrt_matrix_3x3 *result)
+                         const struct xrt_matrix_3x3 *right,
+                         struct xrt_matrix_3x3 *result)
 {
 	result->v[0] = left->v[0] * right->v[0] + left->v[1] * right->v[3] + left->v[2] * right->v[6];
 	result->v[1] = left->v[0] * right->v[1] + left->v[1] * right->v[4] + left->v[2] * right->v[7];
@@ -419,6 +419,18 @@ math_pose_invert(const struct xrt_pose *pose, struct xrt_pose *outPose)
 	orientation(*outPose) = newOrientation;
 }
 
+extern "C" void
+math_pose_identity(struct xrt_pose *pose)
+{
+	pose->position.x = 0.0;
+	pose->position.y = 0.0;
+	pose->position.z = 0.0;
+	pose->orientation.x = 0.0;
+	pose->orientation.y = 0.0;
+	pose->orientation.z = 0.0;
+	pose->orientation.w = 1.0;
+}
+
 /*!
  * Return the result of transforming a point by a pose/transform.
  */