diff --git a/external/vendor/Amethyst_API_Devices.h b/external/vendor/Amethyst_API_Devices.h
index 72e9bce..9f96c67 100644
--- a/external/vendor/Amethyst_API_Devices.h
+++ b/external/vendor/Amethyst_API_Devices.h
@@ -31,7 +31,7 @@ inline std::wstring StringToWString(const std::string& str)
 {
 	const int count = MultiByteToWideChar(CP_UTF8, 0, str.c_str(), str.length(), nullptr, 0);
 	std::wstring w_str(count, 0);
-	MultiByteToWideChar(CP_UTF8, 0, str.c_str(), str.length(), &w_str[0], count);
+	MultiByteToWideChar(CP_UTF8, 0, str.c_str(), str.length(), w_str.data(), count);
 	return w_str;
 }
 
@@ -40,14 +40,14 @@ inline std::string WStringToString(const std::wstring& w_str)
 {
 	const int count = WideCharToMultiByte(CP_UTF8, 0, w_str.c_str(), w_str.length(), nullptr, 0, nullptr, nullptr);
 	std::string str(count, 0);
-	WideCharToMultiByte(CP_UTF8, 0, w_str.c_str(), -1, &str[0], count, nullptr, nullptr);
+	WideCharToMultiByte(CP_UTF8, 0, w_str.c_str(), -1, str.data(), count, nullptr, nullptr);
 	return str;
 }
 
 namespace ktvr
 {
 	// Interface Version
-	static const char* IAME_API_Devices_Version = "IAME_API_Version_018";
+	static const char* IAME_API_Devices_Version = "IAME_API_Version_020";
 
 	// Return messaging types
 	enum K2InitErrorType
@@ -135,6 +135,9 @@ namespace ktvr
 		[[nodiscard]] Eigen::Vector3d getJointPosition() const { return jointPosition; }
 		[[nodiscard]] Eigen::Quaterniond getJointOrientation() const { return jointOrientation; }
 
+		[[nodiscard]] Eigen::Vector3d getPreviousJointPosition() const { return previousJointPosition; }
+		[[nodiscard]] Eigen::Quaterniond getPreviousJointOrientation() const { return previousJointOrientation; }
+
 		[[nodiscard]] Eigen::Vector3d getJointVelocity() const { return jointVelocity; }
 		[[nodiscard]] Eigen::Vector3d getJointAcceleration() const { return jointAcceleration; }
 
@@ -151,8 +154,12 @@ namespace ktvr
 		            Eigen::Quaterniond orientation,
 		            const ITrackedJointState state)
 		{
+			previousJointPosition = jointPosition;
+			previousJointOrientation = jointOrientation;
+
 			jointPosition = std::move(position);
 			jointOrientation = std::move(orientation);
+
 			trackingState = state;
 
 			// Update pose timestamp
@@ -169,6 +176,9 @@ namespace ktvr
 					Eigen::Vector3d angularAcceleration,
 		            const ITrackedJointState state)
 		{
+			previousJointPosition = jointPosition;
+			previousJointOrientation = jointOrientation;
+
 			jointPosition = std::move(position);
 			jointOrientation = std::move(orientation);
 
@@ -187,6 +197,7 @@ namespace ktvr
 		// For servers!
 		void update_position(Eigen::Vector3d position)
 		{
+			previousJointPosition = jointPosition;
 			jointPosition = std::move(position);
 
 			// Update pose timestamp
@@ -197,6 +208,7 @@ namespace ktvr
 		// For servers!
 		void update_orientation(Eigen::Quaterniond orientation)
 		{
+			previousJointOrientation = jointOrientation;
 			jointOrientation = std::move(orientation);
 		}
 
@@ -235,6 +247,9 @@ namespace ktvr
 		Eigen::Vector3d jointPosition = Eigen::Vector3d(0., 0., 0.);
 		Eigen::Quaterniond jointOrientation = Eigen::Quaterniond(1., 0., 0., 0.);
 
+		Eigen::Vector3d previousJointPosition = Eigen::Vector3d(0., 0., 0.);
+		Eigen::Quaterniond previousJointOrientation = Eigen::Quaterniond(1., 0., 0., 0.);
+
 		Eigen::Vector3d jointVelocity = Eigen::Vector3d(0., 0., 0.);
 		Eigen::Vector3d jointAcceleration = Eigen::Vector3d(0., 0., 0.);
 
@@ -242,6 +257,7 @@ namespace ktvr
 		Eigen::Vector3d jointAngularAcceleration = Eigen::Vector3d(0., 0., 0.);
 
 		ITrackedJointState trackingState = State_NotTracked;
+
 		long long poseTimestamp = 0;
 		long long previousPoseTimestamp = 0;
 	};
diff --git a/external/vendor/Amethyst_API_Paths.h b/external/vendor/Amethyst_API_Paths.h
index 0ab3517..3cb9762 100644
--- a/external/vendor/Amethyst_API_Paths.h
+++ b/external/vendor/Amethyst_API_Paths.h
@@ -16,9 +16,11 @@ namespace ktvr
 	// Get file location in AppData
 	inline std::wstring GetK2AppDataFileDir(const std::wstring& relativeFilePath)
 	{
-		CreateDirectory(std::wstring(std::wstring(_wgetenv(L"APPDATA")) +
-			                L"\\Amethyst\\").c_str(), nullptr);
-		return std::wstring(_wgetenv(L"APPDATA")) + L"\\Amethyst\\" + relativeFilePath;
+		std::filesystem::create_directories(
+			std::wstring(_wgetenv(L"APPDATA")) + L"\\Amethyst\\");
+
+		return std::wstring(_wgetenv(L"APPDATA")) + 
+			L"\\Amethyst\\" + relativeFilePath;
 	}
 
 	// Get file location in AppData
@@ -26,9 +28,9 @@ namespace ktvr
 		const std::wstring& relativeFolderName,
 		const std::wstring& relativeFilePath)
 	{
-		CreateDirectory(
-			std::wstring(std::wstring(_wgetenv(L"APPDATA")) +
-				L"\\Amethyst\\logs\\" + relativeFolderName + L"\\").c_str(), nullptr);
+		std::filesystem::create_directories(
+			std::wstring(_wgetenv(L"APPDATA")) +
+				L"\\Amethyst\\logs\\" + relativeFolderName + L"\\");
 
 		return std::wstring(_wgetenv(L"APPDATA")) +
 			L"\\Amethyst\\logs\\" + relativeFolderName + L"\\" + relativeFilePath;