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diff --git a/gfx/vr/osvr/Util/QuatlibInteropC.h b/gfx/vr/osvr/Util/QuatlibInteropC.h
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+/** @file
+ @brief Header
+
+ Must be c-safe!
+
+ @date 2014
+
+ @author
+ Sensics, Inc.
+ <http://sensics.com/osvr>
+*/
+
+/*
+// Copyright 2014 Sensics, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+*/
+
+#ifndef INCLUDED_QuatlibInteropC_h_GUID_85D92019_F0CC_419C_5F6D_F5A3134AA5D4
+#define INCLUDED_QuatlibInteropC_h_GUID_85D92019_F0CC_419C_5F6D_F5A3134AA5D4
+
+/* Internal Includes */
+#include <osvr/Util/APIBaseC.h>
+#include <osvr/Util/Pose3C.h>
+
+/* Library/third-party includes */
+#include <quat.h>
+
+/* Standard includes */
+#include <string.h>
+
+OSVR_EXTERN_C_BEGIN
+
+/** @addtogroup UtilMath
+ @{
+*/
+OSVR_INLINE void osvrQuatToQuatlib(q_type dest, OSVR_Quaternion const *src) {
+ dest[Q_W] = osvrQuatGetW(src);
+ dest[Q_X] = osvrQuatGetX(src);
+ dest[Q_Y] = osvrQuatGetY(src);
+ dest[Q_Z] = osvrQuatGetZ(src);
+}
+
+OSVR_INLINE void osvrQuatFromQuatlib(OSVR_Quaternion *dest, q_type const src) {
+ osvrQuatSetW(dest, src[Q_W]);
+ osvrQuatSetX(dest, src[Q_X]);
+ osvrQuatSetY(dest, src[Q_Y]);
+ osvrQuatSetZ(dest, src[Q_Z]);
+}
+
+OSVR_INLINE void osvrVec3ToQuatlib(q_vec_type dest, OSVR_Vec3 const *src) {
+ memcpy((void *)(dest), (void const *)(src->data), sizeof(double) * 3);
+}
+
+OSVR_INLINE void osvrVec3FromQuatlib(OSVR_Vec3 *dest, q_vec_type const src) {
+ memcpy((void *)(dest->data), (void const *)(src), sizeof(double) * 3);
+}
+
+OSVR_INLINE void osvrPose3ToQuatlib(q_xyz_quat_type *dest,
+ OSVR_Pose3 const *src) {
+ osvrVec3ToQuatlib(dest->xyz, &(src->translation));
+ osvrQuatToQuatlib(dest->quat, &(src->rotation));
+}
+
+OSVR_INLINE void osvrPose3FromQuatlib(OSVR_Pose3 *dest,
+ q_xyz_quat_type const *src) {
+ osvrVec3FromQuatlib(&(dest->translation), src->xyz);
+ osvrQuatFromQuatlib(&(dest->rotation), src->quat);
+}
+
+/** @} */
+
+OSVR_EXTERN_C_END
+#endif