diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1a76aaa5..31eea801 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -637,6 +637,12 @@ elseif(ANDROID)
   target_compile_definitions(lovr PRIVATE -DLOVR_GLES)
   target_include_directories(lovr PRIVATE "${ANDROID_NDK}/sources/android/native_app_glue")
 
+  # Dynamically linked targets output libraries in lib/<ABI> for easy including in apk with aapt
+  set_target_properties(
+    lovr ${LOVR_ODE} ${LOVR_OPENAL}
+    PROPERTIES LIBRARY_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/lib/${ANDROID_ABI}"
+  )
+
   if(LOVR_BUILD_EXE)
     get_filename_component(ANDROID_SDK "${ANDROID_NDK}" DIRECTORY) # SDK root is parent of NDK dir
     set(ANDROID_JAR "${ANDROID_SDK}/platforms/${ANDROID_PLATFORM}/android.jar")
@@ -647,12 +653,6 @@ elseif(ANDROID)
       set(ANDROID_ASSETS -A ${ANDROID_ASSETS})
     endif()
 
-    # Dynamically linked targets output libraries in lib/<ABI> and are copied to the apk with aapt
-    set_target_properties(
-      lovr ${LOVR_ODE} ${LOVR_OPENAL}
-      PROPERTIES LIBRARY_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/lib/${ANDROID_ABI}"
-    )
-
     # Flavor-specific config:
     # - Imported targets need to have their libraries manually copied to lib/<ABI>
     # - Figure out which Java class (Activity) and AndroidManifest.xml to use
diff --git a/Tupfile b/Tupfile
index f9b31891..fa936b25 100644
--- a/Tupfile
+++ b/Tupfile
@@ -1,12 +1,16 @@
 include_rules
 
 # core
+ifneq (@(PICO),y)
 SRC += src/main.c
+endif
 SRC += src/core/arr.c
 SRC += src/core/fs.c
 SRC += src/core/maf.c
 SRC += src/core/map.c
+ifneq (@(PICO),y)
 SRC += src/core/os_$(PLATFORM).c
+endif
 SRC += src/core/png.c
 SRC += src/core/ref.c
 SRC += src/core/utf.c
@@ -25,6 +29,7 @@ SRC_@(HEADSET)@(OPENVR) += src/modules/headset/headset_openvr.c
 SRC_@(HEADSET)@(OPENXR) += src/modules/headset/headset_openxr.c
 SRC_@(HEADSET)@(OCULUS) += src/modules/headset/headset_oculus.c
 SRC_@(HEADSET)@(VRAPI) += src/modules/headset/headset_vrapi.c
+SRC_@(HEADSET)@(PICO) += src/modules/headset/headset_pico.c
 SRC_@(HEADSET)@(WEBVR) += src/modules/headset/headset_webvr.c
 SRC_@(HEADSET)@(WEBXR) += src/modules/headset/headset_webxr.c
 SRC_@(HEADSET)@(LEAP) += src/modules/headset/headset_leap.c
@@ -77,12 +82,14 @@ ifeq ($(PLATFORM),android)
   # There needs to be a Java class for the activity with 2 lines of code to load native libraries.
   # It gets compiled to a class file with javac and then into bytecode using dx
   CLASS = org/lovr/app/Activity.class
-  : src/resources/Activity.java |> ^ JAVAC %b^ javac -classpath $(ANDROID_JAR) -d . %f |> $(CLASS)
-  : $(CLASS) |> !dx |> classes.dex
+  : src/resources/$(ACTIVITY_y).java |> !cp |> src/resources/Activity.java
+  : src/resources/Activity.java |> ^ JAVAC %b^ javac -classpath $(CLASSPATH) -d . %f |> $(CLASS)
+  : $(CLASS) $(EXTRA_JARS) |> !dx |> classes.dex
 
   # Create an apk from the Android manifest.  The zip command is used afterwards to add raw files
   # because it is way faster than calling aapt again and apks are just zips (TODO windows).
-  : @(ANDROID_MANIFEST) | $(LIB)/*.so classes.dex |> ^ AAPT %b^ aapt package -F %o -M %f -I $(ANDROID_JAR) $(ANDROID_ASSETS) && zip -qu0 %o $(LIB)/*.so classes.dex |> tmp/lovr.unaligned.apk
+  : $(ANDROID_MANIFEST_y) |> !cp |> src/resources/AndroidManifest.xml
+  : src/resources/AndroidManifest.xml | $(LIB)/*.so classes.dex |> ^ AAPT %b^ aapt package -F %o -M %f -I $(ANDROID_JAR) $(ANDROID_ASSETS) && zip -qu0 %o $(LIB)/*.so classes.dex |> tmp/lovr.unaligned.apk
 
   # Even though we have an apk, it isn't actually valid yet.  It has to be aligned using the special
   # zipalign tool, and then signed using apksigner.
diff --git a/Tuprules.tup b/Tuprules.tup
index 1f3a3257..998c100d 100644
--- a/Tuprules.tup
+++ b/Tuprules.tup
@@ -37,6 +37,7 @@ CFLAGS_@(OPENXR) += -DLOVR_USE_OPENXR
 CFLAGS_@(OCULUS) += -DLOVR_USE_OCULUS
 CFLAGS_@(OCULUS) += -I@(OCULUS_PATH)/LibOVR/Include
 CFLAGS_@(VRAPI) += -DLOVR_USE_VRAPI
+CFLAGS_@(PICO) += -DLOVR_USE_PICO
 CFLAGS_@(WEBXR) += -DLOVR_USE_WEBXR
 CFLAGS_@(LEAP) += -DLOVR_USE_LEAP
 
@@ -182,6 +183,7 @@ ifeq ($(PLATFORM),android)
   ANDROID_JAR = @(ANDROID_SDK)/sdk/platforms/android-@(ANDROID_VERSION)/android.jar
   GLUE = @(ANDROID_SDK)/sdk/ndk-bundle/sources/android/native_app_glue
   VRAPI_LIB_PATH = $(DEPS)/VrApi/Libs/Android/arm64-v8a/Release
+  PICO_LIB_PATH = $(DEPS)/pico/jni/arm64-v8a
   CFLAGS += --target=aarch64-linux-android@(ANDROID_VERSION)
   CFLAGS += -I$(GLUE)
   LDFLAGS += --target=aarch64-linux-android@(ANDROID_VERSION)
@@ -193,11 +195,30 @@ ifeq ($(PLATFORM),android)
   PREFIX = $(LIB)/lib
   SUFFIX = .so
   CFLAGS_@(GRAPHICS) += -DLOVR_GLES
+  ACTIVITY_@(VRAPI) = Activity_vrapi
+  ACTIVITY_@(PICO) = Activity_pico
+
+  ifeq (@(ANDROID_MANIFEST),)
+    ANDROID_MANIFEST_@(VRAPI) = src/resources/AndroidManifest_vrapi.xml
+    ANDROID_MANIFEST_@(PICO) = src/resources/AndroidManifest_pico.xml
+  else
+    ANDROID_MANIFEST_y = @(ANDROID_MANIFEST)
+  endif
 
   ifneq (@(ANDROID_ASSETS),)
     ANDROID_ASSETS = -A @(ANDROID_ASSETS)
   endif
 
+  CLASSPATH = $(ANDROID_JAR)
+  ifeq (@(PICO),y)
+    EXTRA_JARS = $(DEPS)/pico/classes.jar
+    ifeq (@(TUP_PLATFORM),win32)
+      CLASSPATH = "$(CLASSPATH);$(EXTRA_JARS)"
+    else
+      CLASSPATH = "$(CLASSPATH):$(EXTRA_JARS)"
+    endif
+  endif
+
   # Macros
   !dx = |> ^ DX %b^ dx --dex --output=%o %f |>
   !zipalign = |> ^ ZIPALIGN %f^ $(TOOLS)/zipalign -f 4 %f %o |>
@@ -219,15 +240,17 @@ ifeq ($(PLATFORM),android)
     CFLAGS_@(ENET) += -I$(DEPS)/enet/include
     CFLAGS_@(VRAPI) += -I$(DEPS)/VrApi/Include
 
-    LDFLAGS_@(AUDIO) += -L$(BUILD)/openal -lopenal
+    LDFLAGS_@(AUDIO) += -L$(BUILD)/$(LIB) -lopenal
     LDFLAGS_@(DATA) += -L$(BUILD)/lib_msdfgen -lmsdfgen
-    LDFLAGS_@(PHYSICS) += -L$(BUILD)/ode -lode
+    LDFLAGS_@(PHYSICS) += -L$(BUILD)/$(LIB) -lode
     LDFLAGS_@(ENET) += -L$(BUILD)/enet -lenet
     LDFLAGS_@(VRAPI) += -L$(VRAPI_LIB_PATH) -lvrapi
+    LDFLAGS_@(PICO) += -L$(PICO_LIB_PATH) -lPvr_NativeSDK
 
-    LIBS_@(AUDIO) += $(BUILD)/openal/libopenal.*so*
-    LIBS_@(PHYSICS) += $(BUILD)/ode/libode.so
+    LIBS_@(AUDIO) += $(BUILD)/$(LIB)/libopenal.*so*
+    LIBS_@(PHYSICS) += $(BUILD)/$(LIB)/libode.so
     LIBS_@(VRAPI) += $(VRAPI_LIB_PATH)/libvrapi.so
+    LIBS_@(PICO) += $(PICO_LIB_PATH)/libPvr_NativeSDK.so
   endif
 endif