diff --git a/.gitignore b/.gitignore
index e19fc7bf..eb8f32df 100644
--- a/.gitignore
+++ b/.gitignore
@@ -5,6 +5,7 @@ deps
 data
 src/obj
 src/Tupfile
+/watch.sh
 *.lua
 *.glsl
 .DS_Store
diff --git a/src/audio/audio.c b/src/audio/audio.c
index eb2e80cd..f999be4b 100644
--- a/src/audio/audio.c
+++ b/src/audio/audio.c
@@ -1,5 +1,7 @@
 #include "audio/audio.h"
 #include "loaders/source.h"
+#include "math/vec3.h"
+#include "math/quat.h"
 #include "util.h"
 #include <stdlib.h>
 #include <math.h>
@@ -8,12 +10,6 @@ static AudioState state;
 
 static LPALCRESETDEVICESOFT alcResetDeviceSOFT;
 
-static void cross(float ux, float uy, float uz, float vx, float vy, float vz, float* x, float* y, float* z) {
-  *x = uy * vz - uz * vy;
-  *y = ux * vz - uz * vx;
-  *z = ux * vy - uy * vx;
-}
-
 void lovrAudioInit() {
   ALCdevice* device = alcOpenDevice(NULL);
   if (!device) {
@@ -35,6 +31,9 @@ void lovrAudioInit() {
   state.device = device;
   state.context = context;
   vec_init(&state.sources);
+
+  vec3_set(state.position, 0, 0, 0);
+  quat_set(state.orientation, 0, 0, 0, -1);
 }
 
 void lovrAudioDestroy() {
@@ -73,33 +72,13 @@ void lovrAudioAdd(Source* source) {
 }
 
 void lovrAudioGetOrientation(float* angle, float* ax, float* ay, float* az) {
-  float v[6];
-  alGetListenerfv(AL_ORIENTATION, v);
-  float cx, cy, cz;
-  cross(v[0], v[1], v[2], v[3], v[4], v[5], &cx, &cy, &cz);
-  float w = 1 + v[0] * v[3] + v[1] * v[4] + v[2] * v[5];
-  float len = sqrt(cx * cx + cy * cy + cz * cz + w * w);
-  if (len != 1) {
-    cx /= len;
-    cy /= len;
-    cz /= len;
-    w /= len;
-  }
-  *angle = 2 * acos(w);
-  float s = sqrt(1 - w * w);
-  if (s < .001) {
-    *ax = cx;
-    *ay = cy;
-    *az = cz;
-  } else {
-    *ax = cx / s;
-    *ay = cy / s;
-    *az = cz / s;
-  }
+  quat_getAngleAxis(state.orientation, angle, ax, ay, az);
 }
 
 void lovrAudioGetPosition(float* x, float* y, float* z) {
-  alGetListener3f(AL_POSITION, x, y, z);
+  *x = state.position[0];
+  *y = state.position[1];
+  *z = state.position[2];
 }
 
 float lovrAudioGetVolume() {
@@ -135,52 +114,23 @@ void lovrAudioRewind() {
   }
 }
 
-// Help
 void lovrAudioSetOrientation(float angle, float ax, float ay, float az) {
 
-  // Quaternion
-  float cos2 = cos(angle / 2.f);
-  float sin2 = sin(angle / 2.f);
-  float qx = sin2 * ax;
-  float qy = sin2 * ay;
-  float qz = sin2 * az;
-  float s = cos2;
+  // Rotate the unit forward/up vectors by the quaternion derived from the specified angle/axis
+  float f[3] = { 0, 0, -1 };
+  float u[3] = { 0, 1, 0 };
+  float axis[3] = { ax, ay, az };
+  quat_fromAngleAxis(state.orientation, angle, axis);
+  quat_rotate(state.orientation, f);
+  quat_rotate(state.orientation, u);
 
-  float vx, vy, vz, qdotv, qdotq, a, b, c, cx, cy, cz;
-
-  // Forward
-  vx = 0;
-  vy = 0;
-  vz = -1;
-  qdotv = qx * vx + qy * vy + qz * vz;
-  qdotq = qx * qx + qy * qy + qz * qz;
-  a = 2 * qdotv;
-  b = s * s - qdotq;
-  c = 2 * s;
-  cross(qx, qy, qz, vx, vy, vz, &cx, &cy, &cz);
-  float fx = a * qx + b * vx + c * cx;
-  float fy = a * qy + b * vy + c * cy;
-  float fz = a * qz + b * vz + c * cz;
-
-  // Up
-  vx = 0;
-  vy = 1;
-  vz = 0;
-  qdotv = qx * vx + qy * vy + qz * vz;
-  qdotq = qx * qx + qy * qy + qz * qz;
-  a = 2 * qdotv;
-  b = s * s - qdotq;
-  c = 2 * s;
-  cross(qx, qy, qz, vx, vy, vz, &cx, &cy, &cz);
-  float ux = a * qx + b * vx + c * cx;
-  float uy = a * qy + b * vy + c * cy;
-  float uz = a * qz + b * vz + c * cz;
-
-  ALfloat orientation[6] = { fx, fy, fz, ux, uy, uz };
+  // Pass the rotated orientation vectors to OpenAL
+  ALfloat orientation[6] = { f[0], f[1], f[2], u[0], u[1], u[2] };
   alListenerfv(AL_ORIENTATION, orientation);
 }
 
 void lovrAudioSetPosition(float x, float y, float z) {
+  vec3_set(state.position, x, y, z);
   alListener3f(AL_POSITION, x, y, z);
 }
 
diff --git a/src/audio/audio.h b/src/audio/audio.h
index d7a43b9b..9b98dc7d 100644
--- a/src/audio/audio.h
+++ b/src/audio/audio.h
@@ -11,6 +11,8 @@ typedef struct {
   ALCdevice* device;
   ALCcontext* context;
   vec_void_t sources;
+  float position[3];
+  float orientation[4];
 } AudioState;
 
 #endif
diff --git a/src/graphics/graphics.c b/src/graphics/graphics.c
index 7f005a03..8152b058 100644
--- a/src/graphics/graphics.c
+++ b/src/graphics/graphics.c
@@ -1,5 +1,7 @@
 #include "graphics/graphics.h"
 #include "loaders/texture.h"
+#include "math/mat4.h"
+#include "math/vec3.h"
 #include "util.h"
 #include "glfw.h"
 #define _USE_MATH_DEFINES
@@ -14,9 +16,6 @@ static GraphicsState state;
 // Base
 
 void lovrGraphicsInit() {
-  for (int i = 0; i < MAX_TRANSFORMS; i++) {
-    state.transforms[i] = mat4_init();
-  }
   for (int i = 0; i < MAX_CANVASES; i++) {
     state.canvases[i] = malloc(sizeof(CanvasState));
   }
@@ -38,9 +37,6 @@ void lovrGraphicsInit() {
 void lovrGraphicsDestroy() {
   lovrGraphicsSetShader(NULL);
   glUseProgram(0);
-  for (int i = 0; i < MAX_TRANSFORMS; i++) {
-    mat4_deinit(state.transforms[i]);
-  }
   for (int i = 0; i < MAX_CANVASES; i++) {
     free(state.canvases[i]);
   }
@@ -203,7 +199,7 @@ mat4 lovrGraphicsGetProjection() {
 void lovrGraphicsSetProjection(float near, float far, float fov) {
   int width, height;
   glfwGetWindowSize(window, &width, &height);
-  mat4_setPerspective(state.canvases[state.canvas]->projection, near, far, fov, (float) width / height);
+  mat4_perspective(state.canvases[state.canvas]->projection, near, far, fov, (float) width / height);
 }
 
 void lovrGraphicsSetProjectionRaw(mat4 projection) {
@@ -333,7 +329,7 @@ int lovrGraphicsPop() {
 }
 
 void lovrGraphicsOrigin() {
-  mat4_setIdentity(state.transforms[state.transform]);
+  mat4_identity(state.transforms[state.transform]);
 }
 
 void lovrGraphicsTranslate(float x, float y, float z) {
@@ -348,16 +344,6 @@ void lovrGraphicsScale(float x, float y, float z) {
   mat4_scale(state.transforms[state.transform], x, y, z);
 }
 
-void lovrGraphicsTransform(float tx, float ty, float tz, float sx, float sy, float sz, float angle, float ax, float ay, float az) {
-
-  // M *= T * S * R
-  float transform[16];
-  mat4_setTranslation(transform, tx, ty, tz);
-  mat4_scale(transform, sx, sy, sz);
-  mat4_rotate(transform, angle, ax, ay, az);
-  lovrGraphicsMatrixTransform(transform);
-}
-
 void lovrGraphicsMatrixTransform(mat4 transform) {
   mat4_multiply(state.transforms[state.transform], transform);
 }
@@ -420,16 +406,13 @@ void lovrGraphicsTriangle(DrawMode mode, float* points) {
     vec_pusharr(&state.shapeData, points, 9);
     lovrGraphicsDrawPrimitive(GL_LINE_LOOP, NULL, 0, 0, 0);
   } else {
-    float n[3] = {
-      points[1] * points[5] - points[2] * points[4],
-      points[2] * points[3] - points[0] * points[5],
-      points[0] * points[4] - points[1] * points[3]
-    };
+    float normal[3];
+    vec3_cross(vec3_init(normal, &points[0]), &points[3]);
 
     float data[18] = {
-      points[0], points[1], points[2], n[0], n[1], n[2],
-      points[3], points[4], points[5], n[0], n[1], n[2],
-      points[6], points[7], points[8], n[0], n[1], n[2]
+      points[0], points[1], points[2], normal[0], normal[1], normal[2],
+      points[3], points[4], points[5], normal[0], normal[1], normal[2],
+      points[6], points[7], points[8], normal[0], normal[1], normal[2]
     };
 
     vec_clear(&state.shapeData);
@@ -442,7 +425,7 @@ void lovrGraphicsPlane(DrawMode mode, Texture* texture, float x, float y, float
 
   // Normalize the normal vector
   float len = sqrt(nx * nx + ny * ny + nz + nz);
-  if (len != 1) {
+  if (len != 0) {
     len = 1 / len;
     nx *= len;
     ny *= len;
@@ -457,8 +440,11 @@ void lovrGraphicsPlane(DrawMode mode, Texture* texture, float x, float y, float
   // Angle between normal vector and the normal vector of the default geometry (dot product)
   float theta = acos(nz);
 
+  float transform[16];
+  mat4_setTransform(transform, x, y, z, size, theta, cx, cy, cz);
+
   lovrGraphicsPush();
-  lovrGraphicsTransform(x, y, z, size, size, size, theta, cx, cy, cz);
+  lovrGraphicsMatrixTransform(transform);
 
   if (mode == DRAW_MODE_LINE) {
     float points[] = {
@@ -507,9 +493,9 @@ void lovrGraphicsPlaneFullscreen(Texture* texture) {
   lovrRelease(&lastShader->ref);
 }
 
-void lovrGraphicsCube(DrawMode mode, Texture* texture, float x, float y, float z, float size, float angle, float axisX, float axisY, float axisZ) {
+void lovrGraphicsCube(DrawMode mode, Texture* texture, mat4 transform) {
   lovrGraphicsPush();
-  lovrGraphicsTransform(x, y, z, size, size, size, angle, axisX, axisY, axisZ);
+  lovrGraphicsMatrixTransform(transform);
 
   if (mode == DRAW_MODE_LINE) {
     float points[] = {
diff --git a/src/graphics/graphics.h b/src/graphics/graphics.h
index 2af33d15..b491ee26 100644
--- a/src/graphics/graphics.h
+++ b/src/graphics/graphics.h
@@ -3,7 +3,7 @@
 #include "graphics/shader.h"
 #include "graphics/skybox.h"
 #include "graphics/texture.h"
-#include "matrix.h"
+#include "math/math.h"
 
 #ifndef LOVR_GRAPHICS_TYPES
 #define LOVR_GRAPHICS_TYPES
@@ -50,10 +50,10 @@ typedef struct {
   Shader* skyboxShader;
   Shader* fullscreenShader;
   Texture* defaultTexture;
-  int transform;
-  mat4 transforms[MAX_TRANSFORMS];
-  int canvas;
+  float transforms[MAX_TRANSFORMS][16];
   CanvasState* canvases[MAX_CANVASES];
+  int transform;
+  int canvas;
   unsigned int color;
   char colorMask;
   int isScissorEnabled;
@@ -124,7 +124,6 @@ void lovrGraphicsOrigin();
 void lovrGraphicsTranslate(float x, float y, float z);
 void lovrGraphicsRotate(float angle, float ax, float ay, float az);
 void lovrGraphicsScale(float x, float y, float z);
-void lovrGraphicsTransform(float tx, float ty, float tz, float sx, float sy, float sz, float angle, float ax, float ay, float az);
 void lovrGraphicsMatrixTransform(mat4 transform);
 
 // Primitives
@@ -134,5 +133,5 @@ void lovrGraphicsLine(float* points, int count);
 void lovrGraphicsTriangle(DrawMode mode, float* points);
 void lovrGraphicsPlane(DrawMode mode, Texture* texture, float x, float y, float z, float size, float nx, float ny, float nz);
 void lovrGraphicsPlaneFullscreen(Texture* texture);
-void lovrGraphicsCube(DrawMode mode, Texture* texture, float x, float y, float z, float size, float angle, float axisX, float axisY, float axisZ);
+void lovrGraphicsCube(DrawMode mode, Texture* texture, mat4 transform);
 void lovrGraphicsSkybox(Skybox* skybox, float angle, float ax, float ay, float az);
diff --git a/src/graphics/model.c b/src/graphics/model.c
index 91a8532e..3bfc0271 100644
--- a/src/graphics/model.c
+++ b/src/graphics/model.c
@@ -1,14 +1,16 @@
 #include "graphics/model.h"
 #include "graphics/graphics.h"
+#include "math/mat4.h"
+#include "math/vec3.h"
 #include <stdlib.h>
 
 static void visitNode(ModelData* modelData, ModelNode* node, mat4 transform, vec_float_t* vertices, vec_uint_t* indices) {
-  mat4 newTransform;
+  float newTransform[16];
 
-  if (!transform) {
-    newTransform = mat4_init();
+  if (transform) {
+    mat4_set(newTransform, transform);
   } else {
-    newTransform = mat4_copy(transform);
+    mat4_identity(newTransform);
   }
 
   mat4_multiply(newTransform, node->transform);
@@ -23,15 +25,9 @@ static void visitNode(ModelData* modelData, ModelNode* node, mat4 transform, vec
     for (int v = 0; v < mesh->vertices.length; v++) {
       ModelVertex vertex = mesh->vertices.data[v];
 
-      float transformedVertex[4] = {
-        vertex.x,
-        vertex.y,
-        vertex.z,
-        1.f
-      };
-
-      mat4_multiplyVector(newTransform, transformedVertex);
-      vec_pusharr(vertices, transformedVertex, 3);
+      float vec[3] = { vertex.x, vertex.y, vertex.z };
+      mat4_transform(newTransform, vec);
+      vec_pusharr(vertices, vec, 3);
 
       if (modelData->hasNormals) {
         ModelVertex normal = mesh->normals.data[v];
@@ -59,8 +55,6 @@ static void visitNode(ModelData* modelData, ModelNode* node, mat4 transform, vec
   for (int c = 0; c < node->children.length; c++) {
     visitNode(modelData, node->children.data[c], newTransform, vertices, indices);
   }
-
-  mat4_deinit(newTransform);
 }
 
 Model* lovrModelCreate(ModelData* modelData) {
@@ -136,7 +130,6 @@ void lovrModelDataDestroy(ModelData* modelData) {
   while (nodes.length > 0) {
     ModelNode* node = vec_first(&nodes);
     vec_extend(&nodes, &node->children);
-    mat4_deinit(node->transform);
     vec_deinit(&node->meshes);
     vec_deinit(&node->children);
     vec_splice(&nodes, 0, 1);
@@ -148,9 +141,9 @@ void lovrModelDataDestroy(ModelData* modelData) {
   free(modelData);
 }
 
-void lovrModelDraw(Model* model, float x, float y, float z, float scale, float angle, float ax, float ay, float az) {
+void lovrModelDraw(Model* model, mat4 transform) {
   lovrGraphicsPush();
-  lovrGraphicsTransform(x, y, z, scale, scale, scale, angle, ax, ay, az);
+  lovrGraphicsMatrixTransform(transform);
   lovrBufferDraw(model->buffer);
   lovrGraphicsPop();
 }
diff --git a/src/graphics/model.h b/src/graphics/model.h
index a8894827..9ac59575 100644
--- a/src/graphics/model.h
+++ b/src/graphics/model.h
@@ -1,6 +1,6 @@
 #include "graphics/buffer.h"
 #include "graphics/texture.h"
-#include "matrix.h"
+#include "math/math.h"
 #include "glfw.h"
 #include "util.h"
 #include "vendor/vec/vec.h"
@@ -32,7 +32,7 @@ typedef struct {
 typedef vec_t(ModelMesh*) vec_model_mesh_t;
 
 typedef struct ModelNode {
-  mat4 transform;
+  float transform[16];
   vec_uint_t meshes;
   vec_void_t children;
 } ModelNode;
@@ -57,6 +57,6 @@ typedef struct {
 Model* lovrModelCreate(ModelData* modelData);
 void lovrModelDestroy(const Ref* ref);
 void lovrModelDataDestroy(ModelData* modelData);
-void lovrModelDraw(Model* model, float x, float y, float z, float scale, float angle, float ax, float ay, float az);
+void lovrModelDraw(Model* model, mat4 transform);
 Texture* lovrModelGetTexture(Model* model);
 void lovrModelSetTexture(Model* model, Texture* texture);
diff --git a/src/graphics/shader.c b/src/graphics/shader.c
index 37d0f84f..39d37297 100644
--- a/src/graphics/shader.c
+++ b/src/graphics/shader.c
@@ -1,4 +1,5 @@
 #include "graphics/shader.h"
+#include "math/mat4.h"
 #include "util.h"
 #include <stdlib.h>
 
@@ -162,8 +163,8 @@ Shader* lovrShaderCreate(const char* vertexSource, const char* fragmentSource) {
 
   // Initial state
   shader->id = id;
-  shader->transform = mat4_init();
-  shader->projection = mat4_init();
+  mat4_identity(shader->transform);
+  mat4_identity(shader->projection);
   shader->color = 0;
 
   // Send initial uniform values to shader
@@ -175,8 +176,6 @@ Shader* lovrShaderCreate(const char* vertexSource, const char* fragmentSource) {
 void lovrShaderDestroy(const Ref* ref) {
   Shader* shader = containerof(ref, Shader);
   glDeleteProgram(shader->id);
-  mat4_deinit(shader->transform);
-  mat4_deinit(shader->projection);
   map_deinit(&shader->uniforms);
   free(shader);
 }
diff --git a/src/graphics/shader.h b/src/graphics/shader.h
index 30dd02ab..bb22cbea 100644
--- a/src/graphics/shader.h
+++ b/src/graphics/shader.h
@@ -1,5 +1,5 @@
 #include "glfw.h"
-#include "matrix.h"
+#include "math/math.h"
 #include "vendor/map/map.h"
 #include "util.h"
 
@@ -26,8 +26,8 @@ typedef struct {
   Ref ref;
   int id;
   map_uniform_t uniforms;
-  mat4 transform;
-  mat4 projection;
+  float transform[16];
+  float projection[16];
   unsigned int color;
 } Shader;
 #endif
diff --git a/src/graphics/texture.c b/src/graphics/texture.c
index 4e93e5f0..f9228928 100644
--- a/src/graphics/texture.c
+++ b/src/graphics/texture.c
@@ -1,5 +1,6 @@
 #include "graphics/texture.h"
 #include "graphics/graphics.h"
+#include "math/mat4.h"
 #include "util.h"
 #include <math.h>
 #include <stdlib.h>
@@ -109,7 +110,7 @@ void lovrTextureBindFramebuffer(Texture* texture) {
 
   if (texture->projection == PROJECTION_ORTHOGRAPHIC) {
     float projection[16];
-    mat4_setOrthographic(projection, 0, w, 0, h, -1, 1);
+    mat4_orthographic(projection, 0, w, 0, h, -1, 1);
     lovrGraphicsSetProjectionRaw(projection);
   } else if (texture->projection == PROJECTION_PERSPECTIVE) {
     mat4 projection = lovrGraphicsGetProjection();
@@ -122,7 +123,7 @@ void lovrTextureBindFramebuffer(Texture* texture) {
     float far = k * near;
     float fov = 2.f * atan(1.f / b);
     float newProjection[16];
-    mat4_setPerspective(newProjection, near, far, fov, aspect);
+    mat4_perspective(newProjection, near, far, fov, aspect);
     lovrGraphicsSetProjectionRaw(newProjection);
   }
 }
diff --git a/src/headset/headset.c b/src/headset/headset.c
index d113d63b..e8d7d301 100644
--- a/src/headset/headset.c
+++ b/src/headset/headset.c
@@ -108,13 +108,13 @@ void lovrHeadsetGetPosition(float* x, float* y, float* z) {
   headset->getPosition(headset, x, y, z);
 }
 
-void lovrHeadsetGetOrientation(float* w, float* x, float* y, float* z) {
+void lovrHeadsetGetOrientation(float* angle, float* x, float* y, float* z) {
   if (!headset) {
-    *w = *x = *y = *z = 0.f;
+    *angle = *x = *y = *z = 0.f;
     return;
   }
 
-  headset->getOrientation(headset, w, x, y, z);
+  headset->getOrientation(headset, angle, x, y, z);
 }
 
 void lovrHeadsetGetVelocity(float* x, float* y, float* z) {
@@ -160,13 +160,13 @@ void lovrHeadsetControllerGetPosition(Controller* controller, float* x, float* y
   headset->controllerGetPosition(headset, controller, x, y, z);
 }
 
-void lovrHeadsetControllerGetOrientation(Controller* controller, float* w, float* x, float* y, float* z) {
+void lovrHeadsetControllerGetOrientation(Controller* controller, float* angle, float* x, float* y, float* z) {
   if (!headset || !controller) {
-    *w = *x = *y = *z = 0.f;
+    *angle = *x = *y = *z = 0.f;
     return;
   }
 
-  headset->controllerGetOrientation(headset, controller, w, x, y, z);
+  headset->controllerGetOrientation(headset, controller, angle, x, y, z);
 }
 
 float lovrHeadsetControllerGetAxis(Controller* controller, ControllerAxis axis) {
diff --git a/src/headset/headset.h b/src/headset/headset.h
index 707fdd25..f5fdd5c8 100644
--- a/src/headset/headset.h
+++ b/src/headset/headset.h
@@ -44,13 +44,13 @@ typedef struct {
   char (*isBoundsVisible)(void* headset);
   void (*setBoundsVisible)(void* headset, char visible);
   void (*getPosition)(void* headset, float* x, float* y, float* z);
-  void (*getOrientation)(void* headset, float* w, float* x, float* y, float* z);
+  void (*getOrientation)(void* headset, float* angle, float* x, float* y, float* z);
   void (*getVelocity)(void* headset, float* x, float* y, float* z);
   void (*getAngularVelocity)(void* headset, float* x, float* y, float* z);
   vec_controller_t* (*getControllers)(void* headset);
   char (*controllerIsPresent)(void* headset, Controller* controller);
   void (*controllerGetPosition)(void* headset, Controller* controller, float* x, float* y, float* z);
-  void (*controllerGetOrientation)(void* headset, Controller* controller, float* w, float* x, float* y, float* z);
+  void (*controllerGetOrientation)(void* headset, Controller* controller, float* angle, float* x, float* y, float* z);
   float (*controllerGetAxis)(void* headset, Controller* controller, ControllerAxis axis);
   int (*controllerIsDown)(void* headset, Controller* controller, ControllerButton button);
   void (*controllerVibrate)(void* headset, Controller* controller, float duration);
@@ -73,13 +73,13 @@ void lovrHeadsetGetBoundsGeometry(float* geometry);
 char lovrHeadsetIsBoundsVisible();
 void lovrHeadsetSetBoundsVisible(char visible);
 void lovrHeadsetGetPosition(float* x, float* y, float* z);
-void lovrHeadsetGetOrientation(float* w, float* x, float* y, float* z);
+void lovrHeadsetGetOrientation(float* angle, float* x, float* y, float* z);
 void lovrHeadsetGetVelocity(float* x, float* y, float* z);
 void lovrHeadsetGetAngularVelocity(float* x, float* y, float* z);
 vec_controller_t* lovrHeadsetGetControllers();
 char lovrHeadsetControllerIsPresent(Controller* controller);
 void lovrHeadsetControllerGetPosition(Controller* controller, float* x, float* y, float* z);
-void lovrHeadsetControllerGetOrientation(Controller* controller, float* w, float* x, float* y, float* z);
+void lovrHeadsetControllerGetOrientation(Controller* controller, float* angle, float* x, float* y, float* z);
 float lovrHeadsetControllerGetAxis(Controller* controller, ControllerAxis axis);
 int lovrHeadsetControllerIsDown(Controller* controller, ControllerButton button);
 void lovrHeadsetControllerVibrate(Controller* controller, float duration);
diff --git a/src/headset/vive.c b/src/headset/vive.c
index 322deb10..1f9b43ac 100644
--- a/src/headset/vive.c
+++ b/src/headset/vive.c
@@ -2,6 +2,8 @@
 #include "event/event.h"
 #include "graphics/graphics.h"
 #include "loaders/texture.h"
+#include "math/mat4.h"
+#include "math/quat.h"
 #include "util.h"
 #include <stdlib.h>
 #include <stdint.h>
@@ -255,17 +257,19 @@ void viveGetPosition(void* headset, float* x, float* y, float* z) {
   *z = pose.mDeviceToAbsoluteTracking.m[2][3];
 }
 
-void viveGetOrientation(void* headset, float* w, float* x, float* y, float *z) {
+void viveGetOrientation(void* headset, float* angle, float* x, float* y, float *z) {
   Vive* vive = (Vive*) headset;
   TrackedDevicePose_t pose = viveGetPose(vive, vive->headsetIndex);
 
   if (!pose.bPoseIsValid || !pose.bDeviceIsConnected) {
-    *w = *x = *y = *z = 0.f;
+    *angle = *x = *y = *z = 0.f;
     return;
   }
 
   float matrix[16];
-  mat4_getRotation(mat4_fromMat44(matrix, pose.mDeviceToAbsoluteTracking.m), w, x, y, z);
+  float rotation[4];
+  quat_fromMat4(rotation, mat4_fromMat44(matrix, pose.mDeviceToAbsoluteTracking.m));
+  quat_getAngleAxis(rotation, angle, x, y, z);
 }
 
 void viveGetVelocity(void* headset, float* x, float* y, float* z) {
@@ -339,17 +343,19 @@ void viveControllerGetPosition(void* headset, Controller* controller, float* x,
   *z = pose.mDeviceToAbsoluteTracking.m[2][3];
 }
 
-void viveControllerGetOrientation(void* headset, Controller* controller, float* w, float* x, float* y, float* z) {
+void viveControllerGetOrientation(void* headset, Controller* controller, float* angle, float* x, float* y, float* z) {
   Vive* vive = (Vive*) headset;
   TrackedDevicePose_t pose = viveGetPose(vive, controller->id);
 
   if (!pose.bPoseIsValid || !pose.bDeviceIsConnected) {
-    *w = *x = *y = *z = 0.f;
+    *angle = *x = *y = *z = 0.f;
     return;
   }
 
   float matrix[16];
-  mat4_getRotation(mat4_fromMat44(matrix, pose.mDeviceToAbsoluteTracking.m), w, x, y, z);
+  float rotation[4];
+  quat_fromMat4(rotation, mat4_fromMat44(matrix, pose.mDeviceToAbsoluteTracking.m));
+  quat_getAngleAxis(rotation, angle, x, y, z);
 }
 
 float viveControllerGetAxis(void* headset, Controller* controller, ControllerAxis axis) {
@@ -449,7 +455,7 @@ void* viveControllerGetModel(void* headset, Controller* controller, ControllerMo
 
 void viveRenderTo(void* headset, headsetRenderCallback callback, void* userdata) {
   Vive* vive = (Vive*) headset;
-  float headMatrix[16], eyeMatrix[16], projectionMatrix[16];
+  float head[16], transform[16], projection[16];
   float (*matrix)[4];
 
   lovrGraphicsPushCanvas();
@@ -458,28 +464,27 @@ void viveRenderTo(void* headset, headsetRenderCallback callback, void* userdata)
 
   // Head transform
   matrix = vive->renderPoses[vive->headsetIndex].mDeviceToAbsoluteTracking.m;
-  mat4_invert(mat4_fromMat34(headMatrix, matrix));
+  mat4_invert(mat4_fromMat34(head, matrix));
 
-  for (int i = 0; i < 2; i++) {
-    EVREye eye = (i == 0) ? EVREye_Eye_Left : EVREye_Eye_Right;
+  for (EVREye eye = EYE_LEFT; eye <= EYE_RIGHT; eye++) {
 
     // Eye transform
     matrix = vive->system->GetEyeToHeadTransform(eye).m;
-    mat4_invert(mat4_fromMat34(eyeMatrix, matrix));
-    mat4 transformMatrix = mat4_multiply(eyeMatrix, headMatrix);
+    mat4_invert(mat4_fromMat34(transform, matrix));
+    mat4_multiply(transform, head);
 
     // Projection
     matrix = vive->system->GetProjectionMatrix(eye, vive->clipNear, vive->clipFar).m;
-    mat4_fromMat44(projectionMatrix, matrix);
+    mat4_fromMat44(projection, matrix);
 
     // Render
     lovrTextureBindFramebuffer(vive->texture);
     lovrGraphicsPush();
     lovrGraphicsOrigin();
-    lovrGraphicsMatrixTransform(transformMatrix);
-    lovrGraphicsSetProjectionRaw(projectionMatrix);
+    lovrGraphicsMatrixTransform(transform);
+    lovrGraphicsSetProjectionRaw(projection);
     lovrGraphicsClear(1, 1);
-    callback(i, userdata);
+    callback(eye - EYE_LEFT, userdata);
     lovrGraphicsPop();
     lovrTextureResolveMSAA(vive->texture);
 
@@ -493,6 +498,5 @@ void viveRenderTo(void* headset, headsetRenderCallback callback, void* userdata)
 
   vive->isRendering = 0;
   lovrGraphicsPopCanvas();
-
   lovrGraphicsPlaneFullscreen(vive->texture);
 }
diff --git a/src/headset/vive.h b/src/headset/vive.h
index b0794ce5..e6d6cad9 100644
--- a/src/headset/vive.h
+++ b/src/headset/vive.h
@@ -6,6 +6,9 @@
 #ifndef LOVR_VIVE_TYPES
 #define LOVR_VIVE_TYPES
 
+#define EYE_LEFT EVREye_Eye_Left
+#define EYE_RIGHT EVREye_Eye_Right
+
 typedef struct {
   Headset headset;
 
@@ -47,14 +50,14 @@ void viveGetBoundsGeometry(void* headset, float* geometry);
 char viveIsBoundsVisible(void* headset);
 void viveSetBoundsVisible(void* headset, char visible);
 void viveGetPosition(void* headset, float* x, float* y, float* z);
-void viveGetOrientation(void* headset, float* w, float* x, float* y, float* z);
+void viveGetOrientation(void* headset, float* angle, float* x, float* y, float* z);
 void viveGetVelocity(void* headset, float* x, float* y, float* z);
 void viveGetAngularVelocity(void* headset, float* x, float* y, float* z);
 Controller* viveAddController(void* headset, unsigned int deviceIndex);
 vec_controller_t* viveGetControllers(void* headset);
 char viveControllerIsPresent(void* headset, Controller* controller);
 void viveControllerGetPosition(void* headset, Controller* controller, float* x, float* y, float* z);
-void viveControllerGetOrientation(void* headset, Controller* controller, float* w, float* x, float* y, float* z);
+void viveControllerGetOrientation(void* headset, Controller* controller, float* angle, float* x, float* y, float* z);
 float viveControllerGetAxis(void* headset, Controller* controller, ControllerAxis axis);
 int viveControllerIsDown(void* headset, Controller* controller, ControllerButton button);
 void viveControllerVibrate(void* headset, Controller* controller, float duration);
diff --git a/src/loaders/model.c b/src/loaders/model.c
index a0e3751f..c142d137 100644
--- a/src/loaders/model.c
+++ b/src/loaders/model.c
@@ -1,4 +1,5 @@
 #include "loaders/model.h"
+#include "math/mat4.h"
 #include <stdlib.h>
 #include <assimp/scene.h>
 #include <assimp/cimport.h>
@@ -9,7 +10,7 @@ static void assimpNodeTraversal(ModelNode* node, struct aiNode* assimpNode) {
   // Transform
   struct aiMatrix4x4 m = assimpNode->mTransformation;
   aiTransposeMatrix4(&m);
-  node->transform = mat4_copy((float*) &m);
+  mat4_set(node->transform, (float*) &m);
 
   // Meshes
   vec_init(&node->meshes);
@@ -148,7 +149,6 @@ ModelData* lovrModelDataFromOpenVRModel(OpenVRModel* vrModel) {
   }
 
   ModelNode* root = malloc(sizeof(ModelNode));
-  root->transform = mat4_init();
   vec_init(&root->meshes);
   vec_push(&root->meshes, 0);
   vec_init(&root->children);
diff --git a/src/lovr.c b/src/lovr.c
index e343e9cd..65801890 100644
--- a/src/lovr.c
+++ b/src/lovr.c
@@ -4,6 +4,7 @@
 #include "lovr/filesystem.h"
 #include "lovr/graphics.h"
 #include "lovr/headset.h"
+#include "lovr/math.h"
 #include "lovr/timer.h"
 #include "glfw.h"
 #include "util.h"
@@ -62,6 +63,7 @@ void lovrInit(lua_State* L, int argc, char** argv) {
   luax_preloadmodule(L, "lovr.filesystem", l_lovrFilesystemInit);
   luax_preloadmodule(L, "lovr.graphics", l_lovrGraphicsInit);
   luax_preloadmodule(L, "lovr.headset", l_lovrHeadsetInit);
+  luax_preloadmodule(L, "lovr.math", l_lovrMathInit);
   luax_preloadmodule(L, "lovr.timer", l_lovrTimerInit);
 
   // Bootstrap
@@ -73,6 +75,7 @@ void lovrInit(lua_State* L, int argc, char** argv) {
     "    event = true, "
     "    graphics = true, "
     "    headset = true, "
+    "    math = true, "
     "    timer = true "
     "  } "
     "} "
@@ -88,7 +91,7 @@ void lovrInit(lua_State* L, int argc, char** argv) {
     "  success, err = pcall(lovr.conf, conf) "
     "end "
 
-    "local modules = { 'audio', 'event', 'graphics', 'headset', 'timer' } "
+    "local modules = { 'audio', 'event', 'graphics', 'headset', 'math', 'timer' } "
     "for _, module in ipairs(modules) do "
     "  if conf.modules[module] then "
     "    lovr[module] = require('lovr.' .. module) "
diff --git a/src/lovr/event.c b/src/lovr/event.c
index a5371020..be03fcf6 100644
--- a/src/lovr/event.c
+++ b/src/lovr/event.c
@@ -2,6 +2,8 @@
 #include "event/event.h"
 #include "util.h"
 
+static int pollRef;
+
 static int nextEvent(lua_State* L) {
   Event* event = lovrEventPoll();
 
@@ -44,6 +46,11 @@ const luaL_Reg lovrEvent[] = {
 int l_lovrEventInit(lua_State* L) {
   lua_newtable(L);
   luaL_register(L, NULL, lovrEvent);
+
+  // Store nextEvent in the registry to avoid creating a closure every time we poll for events.
+  lua_pushcfunction(L, nextEvent);
+  pollRef = luaL_ref(L, LUA_REGISTRYINDEX);
+
   map_init(&EventTypes);
   map_set(&EventTypes, "quit", EVENT_QUIT);
   lovrEventInit();
@@ -56,7 +63,7 @@ int l_lovrEventClear(lua_State* L) {
 }
 
 int l_lovrEventPoll(lua_State* L) {
-  lua_pushcclosure(L, nextEvent, 0);
+  lua_rawgeti(L, LUA_REGISTRYINDEX, pollRef);
   return 1;
 }
 
diff --git a/src/lovr/graphics.c b/src/lovr/graphics.c
index fc7d99bc..b4946578 100644
--- a/src/lovr/graphics.c
+++ b/src/lovr/graphics.c
@@ -4,6 +4,7 @@
 #include "lovr/types/shader.h"
 #include "lovr/types/skybox.h"
 #include "lovr/types/texture.h"
+#include "lovr/types/transform.h"
 #include "graphics/graphics.h"
 #include "loaders/model.h"
 #include "loaders/texture.h"
@@ -74,6 +75,7 @@ const luaL_Reg lovrGraphics[] = {
   { "translate", l_lovrGraphicsTranslate },
   { "rotate", l_lovrGraphicsRotate },
   { "scale", l_lovrGraphicsScale },
+  { "transform", l_lovrGraphicsTransform },
   { "points", l_lovrGraphicsPoints },
   { "line", l_lovrGraphicsLine },
   { "triangle", l_lovrGraphicsTriangle },
@@ -442,6 +444,13 @@ int l_lovrGraphicsScale(lua_State* L) {
   return 0;
 }
 
+int l_lovrGraphicsTransform(lua_State* L) {
+  float transform[16];
+  luax_readtransform(L, 1, transform);
+  lovrGraphicsMatrixTransform(transform);
+  return 0;
+}
+
 // Primitives
 
 int l_lovrGraphicsPoints(lua_State* L) {
@@ -509,15 +518,9 @@ int l_lovrGraphicsCube(lua_State* L) {
     drawMode = DRAW_MODE_FILL;
     texture = luax_checktype(L, 1, Texture);
   }
-  float x = luaL_optnumber(L, 2, 0.f);
-  float y = luaL_optnumber(L, 3, 0.f);
-  float z = luaL_optnumber(L, 4, 0.f);
-  float s = luaL_optnumber(L, 5, 1.f);
-  float angle = luaL_optnumber(L, 6, 0.f);
-  float axisX = luaL_optnumber(L, 7, 0.f);
-  float axisY = luaL_optnumber(L, 8, 1.f);
-  float axisZ = luaL_optnumber(L, 9, 0.f);
-  lovrGraphicsCube(drawMode, texture, x, y, z, s, angle, axisX, axisY, axisZ);
+  float transform[16];
+  luax_readtransform(L, 2, transform);
+  lovrGraphicsCube(drawMode, texture, transform);
   return 0;
 }
 
diff --git a/src/lovr/graphics.h b/src/lovr/graphics.h
index b73fb2d8..94651820 100644
--- a/src/lovr/graphics.h
+++ b/src/lovr/graphics.h
@@ -56,6 +56,7 @@ int l_lovrGraphicsOrigin(lua_State* L);
 int l_lovrGraphicsTranslate(lua_State* L);
 int l_lovrGraphicsRotate(lua_State* L);
 int l_lovrGraphicsScale(lua_State* L);
+int l_lovrGraphicsTransform(lua_State* L);
 
 // Primitives
 int l_lovrGraphicsPoints(lua_State* L);
diff --git a/src/lovr/headset.c b/src/lovr/headset.c
index 3d24d9a1..0aef999d 100644
--- a/src/lovr/headset.c
+++ b/src/lovr/headset.c
@@ -155,9 +155,9 @@ int l_lovrHeadsetGetPosition(lua_State* L) {
 }
 
 int l_lovrHeadsetGetOrientation(lua_State* L) {
-  float w, x, y, z;
-  lovrHeadsetGetOrientation(&w, &x, &y, &z);
-  lua_pushnumber(L, w);
+  float angle, x, y, z;
+  lovrHeadsetGetOrientation(&angle, &x, &y, &z);
+  lua_pushnumber(L, angle);
   lua_pushnumber(L, x);
   lua_pushnumber(L, y);
   lua_pushnumber(L, z);
diff --git a/src/lovr/math.c b/src/lovr/math.c
new file mode 100644
index 00000000..5370f9a0
--- /dev/null
+++ b/src/lovr/math.c
@@ -0,0 +1,23 @@
+#include "lovr/math.h"
+#include "lovr/types/transform.h"
+#include "math/mat4.h"
+#include "util.h"
+
+const luaL_Reg lovrMath[] = {
+  { "newTransform", l_lovrMathNewTransform },
+  { NULL, NULL }
+};
+
+int l_lovrMathInit(lua_State* L) {
+  lua_newtable(L);
+  luaL_register(L, NULL, lovrMath);
+  luax_registertype(L, "Transform", lovrTransform);
+  return 1;
+}
+
+int l_lovrMathNewTransform(lua_State* L) {
+  float transfrom[16];
+  luax_readtransform(L, 1, transfrom);
+  luax_pushtype(L, Transform, lovrTransformCreate(transfrom));
+  return 1;
+}
diff --git a/src/lovr/math.h b/src/lovr/math.h
new file mode 100644
index 00000000..f6348e60
--- /dev/null
+++ b/src/lovr/math.h
@@ -0,0 +1,7 @@
+#include <lua.h>
+#include <lauxlib.h>
+#include <lualib.h>
+
+extern const luaL_Reg lovrMath[];
+int l_lovrMathInit(lua_State* L);
+int l_lovrMathNewTransform(lua_State* L);
diff --git a/src/lovr/types/controller.c b/src/lovr/types/controller.c
index c3bfecd4..56630276 100644
--- a/src/lovr/types/controller.c
+++ b/src/lovr/types/controller.c
@@ -34,9 +34,9 @@ int l_lovrControllerGetPosition(lua_State* L) {
 
 int l_lovrControllerGetOrientation(lua_State* L) {
   Controller* controller = luax_checktype(L, 1, Controller);
-  float w, x, y, z;
-  lovrHeadsetControllerGetOrientation(controller, &w, &x, &y, &z);
-  lua_pushnumber(L, w);
+  float angle, x, y, z;
+  lovrHeadsetControllerGetOrientation(controller, &angle, &x, &y, &z);
+  lua_pushnumber(L, angle);
   lua_pushnumber(L, x);
   lua_pushnumber(L, y);
   lua_pushnumber(L, z);
diff --git a/src/lovr/types/model.c b/src/lovr/types/model.c
index 9df00115..733cb06e 100644
--- a/src/lovr/types/model.c
+++ b/src/lovr/types/model.c
@@ -1,5 +1,6 @@
 #include "lovr/types/model.h"
 #include "lovr/types/texture.h"
+#include "lovr/types/transform.h"
 
 const luaL_Reg lovrModel[] = {
   { "draw", l_lovrModelDraw },
@@ -10,15 +11,9 @@ const luaL_Reg lovrModel[] = {
 
 int l_lovrModelDraw(lua_State* L) {
   Model* model = luax_checktype(L, 1, Model);
-  float x = luaL_optnumber(L, 2, 0.f);
-  float y = luaL_optnumber(L, 3, 0.f);
-  float z = luaL_optnumber(L, 4, 0.f);
-  float scale = luaL_optnumber(L, 5, 1.f);
-  float angle = luaL_optnumber(L, 6, 0.f);
-  float ax = luaL_optnumber(L, 7, 0.f);
-  float ay = luaL_optnumber(L, 8, 1.f);
-  float az = luaL_optnumber(L, 9, 0.f);
-  lovrModelDraw(model, x, y, z, scale, angle, ax, ay, az);
+  float transform[16];
+  luax_readtransform(L, 2, transform);
+  lovrModelDraw(model, transform);
   return 0;
 }
 
diff --git a/src/lovr/types/transform.c b/src/lovr/types/transform.c
new file mode 100644
index 00000000..a48dd127
--- /dev/null
+++ b/src/lovr/types/transform.c
@@ -0,0 +1,129 @@
+#include "lovr/types/transform.h"
+#include "util.h"
+
+void luax_readtransform(lua_State* L, int i, mat4 m) {
+  if (lua_isnumber(L, i)) {
+    float x = luaL_optnumber(L, i++, 0);
+    float y = luaL_optnumber(L, i++, 0);
+    float z = luaL_optnumber(L, i++, 0);
+    float s = luaL_optnumber(L, i++, 1);
+    float angle = luaL_optnumber(L, i++, 0);
+    float ax = luaL_optnumber(L, i++, 0);
+    float ay = luaL_optnumber(L, i++, 1);
+    float az = luaL_optnumber(L, i++, 0);
+    mat4_setTransform(m, x, y, z, s, angle, ax, ay, az);
+  } else if (lua_isnoneornil(L, i)) {
+    mat4_identity(m);
+  } else {
+    Transform* transform = luax_checktype(L, i, Transform);
+    mat4_init(m, transform->matrix);
+  }
+}
+
+const luaL_Reg lovrTransform[] = {
+  { "clone", l_lovrTransformClone },
+  { "inverse", l_lovrTransformInverse },
+  { "apply", l_lovrTransformApply },
+  { "origin", l_lovrTransformOrigin },
+  { "translate", l_lovrTransformTranslate },
+  { "rotate", l_lovrTransformRotate },
+  { "scale", l_lovrTransformScale },
+  { "setTransformation", l_lovrTransformSetTransformation },
+  { "transformPoint", l_lovrTransformTransformPoint },
+  { "inverseTransformPoint", l_lovrTransformInverseTransformPoint },
+  { NULL, NULL }
+};
+
+int l_lovrTransformClone(lua_State* L) {
+  Transform* transform = luax_checktype(L, 1, Transform);
+  luax_pushtype(L, Transform, lovrTransformCreate(transform->matrix));
+  return 1;
+}
+
+int l_lovrTransformInverse(lua_State* L) {
+  Transform* transform = luax_checktype(L, 1, Transform);
+  Transform* inverse = lovrTransformCreate(lovrTransformInverse(transform));
+  luax_pushtype(L, Transform, inverse);
+  return 1;
+}
+
+int l_lovrTransformApply(lua_State* L) {
+  Transform* transform = luax_checktype(L, 1, Transform);
+  Transform* other = luax_checktype(L, 2, Transform);
+  lovrTransformApply(transform, other);
+  lua_pushvalue(L, 1);
+  return 1;
+}
+
+int l_lovrTransformOrigin(lua_State* L) {
+  lovrTransformOrigin(luax_checktype(L, 1, Transform));
+  lua_pushvalue(L, 1);
+  return 1;
+}
+
+int l_lovrTransformTranslate(lua_State* L) {
+  Transform* transform = luax_checktype(L, 1, Transform);
+  float x = luaL_checknumber(L, 2);
+  float y = luaL_checknumber(L, 3);
+  float z = luaL_checknumber(L, 4);
+  lovrTransformTranslate(transform, x, y, z);
+  lua_pushvalue(L, 1);
+  return 1;
+}
+
+int l_lovrTransformRotate(lua_State* L) {
+  Transform* transform = luax_checktype(L, 1, Transform);
+  float angle = luaL_checknumber(L, 2);
+  float x = luaL_checknumber(L, 3);
+  float y = luaL_checknumber(L, 4);
+  float z = luaL_checknumber(L, 5);
+  lovrTransformRotate(transform, angle, x, y, z);
+  lua_pushvalue(L, 1);
+  return 1;
+}
+
+int l_lovrTransformScale(lua_State* L) {
+  Transform* transform = luax_checktype(L, 1, Transform);
+  float x = luaL_checknumber(L, 2);
+  float y = lua_gettop(L) > 2 ? luaL_checknumber(L, 3) : x;
+  float z = lua_gettop(L) > 2 ? luaL_checknumber(L, 4) : x;
+  lovrTransformScale(transform, x, y, z);
+  lua_pushvalue(L, 1);
+  return 1;
+}
+
+int l_lovrTransformSetTransformation(lua_State* L) {
+  Transform* transform = luax_checktype(L, 1, Transform);
+  lovrTransformOrigin(transform); // Dirty the Transform
+  luax_readtransform(L, 2, transform->matrix);
+  lua_pushvalue(L, 1);
+  return 1;
+}
+
+int l_lovrTransformTransformPoint(lua_State* L) {
+  Transform* transform = luax_checktype(L, 1, Transform);
+  float point[3] = {
+    luaL_checknumber(L, 2),
+    luaL_checknumber(L, 3),
+    luaL_checknumber(L, 4)
+  };
+  lovrTransformTransformPoint(transform, point);
+  lua_pushnumber(L, point[0]);
+  lua_pushnumber(L, point[1]);
+  lua_pushnumber(L, point[2]);
+  return 3;
+}
+
+int l_lovrTransformInverseTransformPoint(lua_State* L) {
+  Transform* transform = luax_checktype(L, 1, Transform);
+  float point[3] = {
+    luaL_checknumber(L, 2),
+    luaL_checknumber(L, 3),
+    luaL_checknumber(L, 4)
+  };
+  lovrTransformInverseTransformPoint(transform, point);
+  lua_pushnumber(L, point[0]);
+  lua_pushnumber(L, point[1]);
+  lua_pushnumber(L, point[2]);
+  return 3;
+}
diff --git a/src/lovr/types/transform.h b/src/lovr/types/transform.h
new file mode 100644
index 00000000..958c0821
--- /dev/null
+++ b/src/lovr/types/transform.h
@@ -0,0 +1,19 @@
+#include "math/transform.h"
+#include "math/mat4.h"
+#include <lua.h>
+#include <lauxlib.h>
+#include <lualib.h>
+
+void luax_readtransform(lua_State* L, int i, mat4 transform);
+
+extern const luaL_Reg lovrTransform[];
+int l_lovrTransformClone(lua_State* L);
+int l_lovrTransformInverse(lua_State* L);
+int l_lovrTransformApply(lua_State* L);
+int l_lovrTransformOrigin(lua_State* L);
+int l_lovrTransformTranslate(lua_State* L);
+int l_lovrTransformRotate(lua_State* L);
+int l_lovrTransformScale(lua_State* L);
+int l_lovrTransformSetTransformation(lua_State* L);
+int l_lovrTransformTransformPoint(lua_State* L);
+int l_lovrTransformInverseTransformPoint(lua_State* L);
diff --git a/src/math/mat4.c b/src/math/mat4.c
new file mode 100644
index 00000000..50903fea
--- /dev/null
+++ b/src/math/mat4.c
@@ -0,0 +1,235 @@
+#include "math/mat4.h"
+#include "math/quat.h"
+#include "math/vec3.h"
+#include <math.h>
+#include <stdlib.h>
+#include <string.h>
+
+// m0 m4 m8  m12
+// m1 m5 m9  m13
+// m2 m6 m10 m14
+// m3 m7 m11 m15
+
+mat4 mat4_set(mat4 m, mat4 n) {
+  return memcpy(m, n, 16 * sizeof(float));
+}
+
+mat4 mat4_fromMat34(mat4 m, float (*n)[4]) {
+  m[0] = n[0][0];
+  m[1] = n[1][0];
+  m[2] = n[2][0];
+  m[3] = 0.f;
+  m[4] = n[0][1];
+  m[5] = n[1][1];
+  m[6] = n[2][1];
+  m[7] = 0.f;
+  m[8] = n[0][2];
+  m[9] = n[1][2];
+  m[10] = n[2][2];
+  m[11] = 0.f;
+  m[12] = n[0][3];
+  m[13] = n[1][3];
+  m[14] = n[2][3];
+  m[15] = 1.f;
+  return m;
+}
+
+mat4 mat4_fromMat44(mat4 m, float (*n)[4]) {
+  m[0] = n[0][0];
+  m[1] = n[1][0];
+  m[2] = n[2][0];
+  m[3] = n[3][0];
+  m[4] = n[0][1];
+  m[5] = n[1][1];
+  m[6] = n[2][1];
+  m[7] = n[3][1];
+  m[8] = n[0][2];
+  m[9] = n[1][2];
+  m[10] = n[2][2];
+  m[11] = n[3][2];
+  m[12] = n[0][3];
+  m[13] = n[1][3];
+  m[14] = n[2][3];
+  m[15] = n[3][3];
+  return m;
+}
+
+mat4 mat4_identity(mat4 m) {
+  memset(m, 0, 16 * sizeof(float));
+  m[0] = m[5] = m[10] = m[15] = 1.f;
+  return m;
+}
+
+// Modified from gl-matrix.c
+mat4 mat4_invert(mat4 m) {
+  float a00 = m[0], a01 = m[1], a02 = m[2], a03 = m[3],
+        a10 = m[4], a11 = m[5], a12 = m[6], a13 = m[7],
+        a20 = m[8], a21 = m[9], a22 = m[10], a23 = m[11],
+        a30 = m[12], a31 = m[13], a32 = m[14], a33 = m[15],
+
+        b00 = a00 * a11 - a01 * a10,
+        b01 = a00 * a12 - a02 * a10,
+        b02 = a00 * a13 - a03 * a10,
+        b03 = a01 * a12 - a02 * a11,
+        b04 = a01 * a13 - a03 * a11,
+        b05 = a02 * a13 - a03 * a12,
+        b06 = a20 * a31 - a21 * a30,
+        b07 = a20 * a32 - a22 * a30,
+        b08 = a20 * a33 - a23 * a30,
+        b09 = a21 * a32 - a22 * a31,
+        b10 = a21 * a33 - a23 * a31,
+        b11 = a22 * a33 - a23 * a32,
+
+        d = (b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 - b04 * b07 + b05 * b06),
+        invDet;
+
+  if (!d) { return NULL; }
+  invDet = 1 / d;
+
+  m[0] = (a11 * b11 - a12 * b10 + a13 * b09) * invDet;
+  m[1] = (-a01 * b11 + a02 * b10 - a03 * b09) * invDet;
+  m[2] = (a31 * b05 - a32 * b04 + a33 * b03) * invDet;
+  m[3] = (-a21 * b05 + a22 * b04 - a23 * b03) * invDet;
+  m[4] = (-a10 * b11 + a12 * b08 - a13 * b07) * invDet;
+  m[5] = (a00 * b11 - a02 * b08 + a03 * b07) * invDet;
+  m[6] = (-a30 * b05 + a32 * b02 - a33 * b01) * invDet;
+  m[7] = (a20 * b05 - a22 * b02 + a23 * b01) * invDet;
+  m[8] = (a10 * b10 - a11 * b08 + a13 * b06) * invDet;
+  m[9] = (-a00 * b10 + a01 * b08 - a03 * b06) * invDet;
+  m[10] = (a30 * b04 - a31 * b02 + a33 * b00) * invDet;
+  m[11] = (-a20 * b04 + a21 * b02 - a23 * b00) * invDet;
+  m[12] = (-a10 * b09 + a11 * b07 - a12 * b06) * invDet;
+  m[13] = (a00 * b09 - a01 * b07 + a02 * b06) * invDet;
+  m[14] = (-a30 * b03 + a31 * b01 - a32 * b00) * invDet;
+  m[15] = (a20 * b03 - a21 * b01 + a22 * b00) * invDet;
+
+  return m;
+}
+
+// Modified from gl-matrix.c
+mat4 mat4_multiply(mat4 m, mat4 n) {
+  float m00 = m[0], m01 = m[1], m02 = m[2], m03 = m[3],
+        m10 = m[4], m11 = m[5], m12 = m[6], m13 = m[7],
+        m20 = m[8], m21 = m[9], m22 = m[10], m23 = m[11],
+        m30 = m[12], m31 = m[13], m32 = m[14], m33 = m[15],
+
+        n00 = n[0], n01 = n[1], n02 = n[2], n03 = n[3],
+        n10 = n[4], n11 = n[5], n12 = n[6], n13 = n[7],
+        n20 = n[8], n21 = n[9], n22 = n[10], n23 = n[11],
+        n30 = n[12], n31 = n[13], n32 = n[14], n33 = n[15];
+
+  m[0] = n00 * m00 + n01 * m10 + n02 * m20 + n03 * m30;
+  m[1] = n00 * m01 + n01 * m11 + n02 * m21 + n03 * m31;
+  m[2] = n00 * m02 + n01 * m12 + n02 * m22 + n03 * m32;
+  m[3] = n00 * m03 + n01 * m13 + n02 * m23 + n03 * m33;
+  m[4] = n10 * m00 + n11 * m10 + n12 * m20 + n13 * m30;
+  m[5] = n10 * m01 + n11 * m11 + n12 * m21 + n13 * m31;
+  m[6] = n10 * m02 + n11 * m12 + n12 * m22 + n13 * m32;
+  m[7] = n10 * m03 + n11 * m13 + n12 * m23 + n13 * m33;
+  m[8] = n20 * m00 + n21 * m10 + n22 * m20 + n23 * m30;
+  m[9] = n20 * m01 + n21 * m11 + n22 * m21 + n23 * m31;
+  m[10] = n20 * m02 + n21 * m12 + n22 * m22 + n23 * m32;
+  m[11] = n20 * m03 + n21 * m13 + n22 * m23 + n23 * m33;
+  m[12] = n30 * m00 + n31 * m10 + n32 * m20 + n33 * m30;
+  m[13] = n30 * m01 + n31 * m11 + n32 * m21 + n33 * m31;
+  m[14] = n30 * m02 + n31 * m12 + n32 * m22 + n33 * m32;
+  m[15] = n30 * m03 + n31 * m13 + n32 * m23 + n33 * m33;
+
+  return m;
+}
+
+mat4 mat4_translate(mat4 m, float x, float y, float z) {
+  m[12] = m[0] * x + m[4] * y + m[8] * z + m[12];
+  m[13] = m[1] * x + m[5] * y + m[9] * z + m[13];
+  m[14] = m[2] * x + m[6] * y + m[10] * z + m[14];
+  m[15] = m[3] * x + m[7] * y + m[11] * z + m[15];
+  return m;
+}
+
+mat4 mat4_rotate(mat4 m, float angle, float x, float y, float z) {
+  float q[4];
+  float v[3];
+  quat_fromAngleAxis(q, angle, vec3_set(v, x, y, z));
+  return mat4_rotateQuat(m, q);
+}
+
+mat4 mat4_rotateQuat(mat4 m, quat q) {
+  float x = q[0];
+  float y = q[1];
+  float z = q[2];
+  float w = q[3];
+  float rotation[16];
+  mat4_identity(rotation);
+  rotation[0] = 1 - 2 * y * y - 2 * z * z;
+  rotation[1] = 2 * x * y + 2 * w * z;
+  rotation[2] = 2 * x * z - 2 * w * y;
+  rotation[4] = 2 * x * y - 2 * w * z;
+  rotation[5] = 1 - 2 * x * x - 2 * z * z;
+  rotation[6] = 2 * y * z + 2 * w * x;
+  rotation[8] = 2 * x * z + 2 * w * y;
+  rotation[9] = 2 * y * z - 2 * w * x;
+  rotation[10] = 1 - 2 * x * x - 2 * y * y;
+  return mat4_multiply(m, rotation);
+}
+
+mat4 mat4_scale(mat4 m, float x, float y, float z) {
+  m[0] *= x;
+  m[1] *= x;
+  m[2] *= x;
+  m[3] *= x;
+  m[4] *= y;
+  m[5] *= y;
+  m[6] *= y;
+  m[7] *= y;
+  m[8] *= z;
+  m[9] *= z;
+  m[10] *= z;
+  m[11] *= z;
+  return m;
+}
+
+mat4 mat4_setTransform(mat4 m, float x, float y, float z, float s, float angle, float ax, float ay, float az) {
+  mat4_identity(m);
+  mat4_translate(m, x, y, z);
+  mat4_scale(m, s, s, s);
+  return mat4_rotate(m, angle, ax, ay, az);
+}
+
+mat4 mat4_orthographic(mat4 m, float left, float right, float top, float bottom, float near, float far) {
+  float rl = right - left;
+  float tb = top - bottom;
+  float fn = far - near;
+  mat4_identity(m);
+  m[0] = 2 / rl;
+  m[5] = 2 / tb;
+  m[10] = -2 / fn;
+  m[12] = -(left + right) / rl;
+  m[13] = -(top + bottom) / tb;
+  m[14] = -(far + near) / fn;
+  m[15] = 1;
+  return m;
+}
+
+mat4 mat4_perspective(mat4 m, float near, float far, float fovy, float aspect) {
+  float range = tan(fovy * .5f) * near;
+  float sx = (2.0f * near) / (range * aspect + range * aspect);
+  float sy = near / range;
+  float sz = -(far + near) / (far - near);
+  float pz = (-2.0f * far * near) / (far - near);
+  mat4_identity(m);
+  m[0] = sx;
+  m[5] = sy;
+  m[10] = sz;
+  m[11] = -1.0f;
+  m[14] = pz;
+  m[15] = 0.0f;
+  return m;
+}
+
+void mat4_transform(mat4 m, vec3 v) {
+  vec3_set(v,
+    v[0] * m[0] + v[1] * m[4] + v[2] * m[8] + m[12],
+    v[0] * m[1] + v[1] * m[5] + v[2] * m[9] + m[13],
+    v[0] * m[2] + v[1] * m[6] + v[2] * m[10] + m[14]
+  );
+}
diff --git a/src/math/mat4.h b/src/math/mat4.h
new file mode 100644
index 00000000..c8fc2817
--- /dev/null
+++ b/src/math/mat4.h
@@ -0,0 +1,17 @@
+#include "math/math.h"
+
+#define mat4_init mat4_set
+mat4 mat4_set(mat4 m, mat4 n);
+mat4 mat4_fromMat34(mat4 m, float (*n)[4]);
+mat4 mat4_fromMat44(mat4 m, float (*n)[4]);
+mat4 mat4_identity(mat4 m);
+mat4 mat4_invert(mat4 m);
+mat4 mat4_multiply(mat4 m, mat4 n);
+mat4 mat4_translate(mat4 m, float x, float y, float z);
+mat4 mat4_rotate(mat4 m, float angle, float x, float y, float z);
+mat4 mat4_rotateQuat(mat4 m, quat q);
+mat4 mat4_scale(mat4 m, float x, float y, float z);
+mat4 mat4_setTransform(mat4 m, float x, float y, float z, float s, float angle, float ax, float ay, float az);
+mat4 mat4_orthographic(mat4 m, float left, float right, float top, float bottom, float near, float far);
+mat4 mat4_perspective(mat4 m, float near, float far, float fov, float aspect);
+void mat4_transform(mat4 m, vec3 v);
diff --git a/src/math/math.h b/src/math/math.h
new file mode 100644
index 00000000..f530080e
--- /dev/null
+++ b/src/math/math.h
@@ -0,0 +1,9 @@
+#include "vendor/vec/vec.h"
+
+#ifndef LOVR_MATH_TYPES
+#define LOVR_MATH_TYPES
+typedef float* vec3;
+typedef float* quat;
+typedef float* mat4;
+typedef vec_t(mat4) vec_mat4_t;
+#endif
diff --git a/src/math/quat.c b/src/math/quat.c
new file mode 100644
index 00000000..44c9b990
--- /dev/null
+++ b/src/math/quat.c
@@ -0,0 +1,98 @@
+#include "math/quat.h"
+#include "math/vec3.h"
+#include "util.h"
+#include <math.h>
+#include <stdlib.h>
+
+quat quat_init(quat q, quat r) {
+  return quat_set(q, r[0], r[1], r[2], r[3]);
+}
+
+quat quat_set(quat q, float x, float y, float z, float w) {
+  q[0] = x;
+  q[1] = y;
+  q[2] = z;
+  q[3] = w;
+  return q;
+}
+
+quat quat_fromAngleAxis(quat q, float angle, vec3 axis) {
+  vec3_normalize(axis);
+  float s = sin(angle * .5f);
+  float c = cos(angle * .5f);
+  q[0] = s * axis[0];
+  q[1] = s * axis[1];
+  q[2] = s * axis[2];
+  q[3] = c;
+  return q;
+}
+
+quat quat_fromDirection(quat q, vec3 forward, vec3 up) {
+  vec3 qq = (vec3) q;
+  vec3_init(qq, forward);
+  vec3_normalize(qq);
+  q[3] = 1 + vec3_dot(qq, up);
+  vec3_cross(qq, up);
+  return q;
+}
+
+quat quat_fromMat4(quat q, mat4 m) {
+  float x = sqrt(MAX(0, 1 + m[0] - m[5] - m[10])) / 2;
+  float y = sqrt(MAX(0, 1 - m[0] + m[5] - m[10])) / 2;
+  float z = sqrt(MAX(0, 1 - m[0] - m[5] + m[10])) / 2;
+  float w = sqrt(MAX(0, 1 + m[0] + m[5] + m[10])) / 2;
+  x = (m[9] - m[6]) > 0 ? -x : x;
+  y = (m[2] - m[8]) > 0 ? -y : y;
+  z = (m[4] - m[1]) > 0 ? -z : z;
+  q[0] = x;
+  q[1] = y;
+  q[2] = z;
+  q[3] = w;
+  return q;
+}
+
+quat quat_normalize(quat q) {
+  float len = quat_length(q);
+  if (len == 0) {
+    return q;
+  }
+
+  len = 1 / len;
+  q[0] *= len;
+  q[1] *= len;
+  q[2] *= len;
+  q[3] *= len;
+  return q;
+}
+
+float quat_length(quat q) {
+  return sqrt(q[0] * q[0] + q[1] * q[1] + q[2] * q[2] + q[3] * q[3]);
+}
+
+void quat_rotate(quat q, vec3 v) {
+  float s = q[3];
+  float u[3];
+  float c[3];
+  vec3_init(u, q);
+  vec3_cross(vec3_init(c, u), v);
+  float uu = vec3_dot(u, u);
+  float uv = vec3_dot(u, v);
+  vec3_scale(u, 2 * uv);
+  vec3_scale(v, s * s - uu);
+  vec3_scale(c, 2 * s);
+  vec3_add(v, vec3_add(u, c));
+}
+
+void quat_getAngleAxis(quat q, float* angle, float* x, float* y, float* z) {
+  if (q[3] > 1 || q[3] < -1) {
+    quat_normalize(q);
+  }
+
+  float qw = q[3];
+  float s = sqrt(1 - qw * qw);
+  s = s < .0001 ? 1 : 1 / s;
+  *angle = 2 * acos(qw);
+  *x = q[0] * s;
+  *y = q[1] * s;
+  *z = q[2] * s;
+}
diff --git a/src/math/quat.h b/src/math/quat.h
new file mode 100644
index 00000000..04a8afa4
--- /dev/null
+++ b/src/math/quat.h
@@ -0,0 +1,10 @@
+#include "math/math.h"
+
+quat quat_init(quat q, quat r);
+quat quat_set(quat q, float x, float y, float z, float w);
+quat quat_fromAngleAxis(quat q, float angle, vec3 axis);
+quat quat_fromMat4(quat q, mat4 m);
+quat quat_normalize(quat q);
+float quat_length(quat q);
+void quat_rotate(quat q, vec3 v);
+void quat_getAngleAxis(quat q, float* angle, float* x, float* y, float* z);
diff --git a/src/math/transform.c b/src/math/transform.c
new file mode 100644
index 00000000..2c7effb0
--- /dev/null
+++ b/src/math/transform.c
@@ -0,0 +1,64 @@
+#include "transform.h"
+#include "math/mat4.h"
+
+Transform* lovrTransformCreate(mat4 transfrom) {
+  Transform* transform = lovrAlloc(sizeof(Transform), lovrTransformDestroy);
+  if (!transform) return NULL;
+
+  transform->isDirty = 1;
+
+  if (transfrom) {
+    mat4_set(transform->matrix, transfrom);
+  } else {
+    mat4_identity(transform->matrix);
+  }
+
+  return transform;
+}
+
+void lovrTransformDestroy(const Ref* ref) {
+  Transform* transform = containerof(ref, Transform);
+  free(transform);
+}
+
+mat4 lovrTransformInverse(Transform* transform) {
+  if (transform->isDirty) {
+    transform->isDirty = 0;
+    mat4_invert(mat4_set(transform->inverse, transform->matrix));
+  }
+
+  return transform->inverse;
+}
+
+void lovrTransformApply(Transform* transform, Transform* other) {
+  transform->isDirty = 1;
+  mat4_multiply(transform->matrix, other->matrix);
+}
+
+void lovrTransformOrigin(Transform* transform) {
+  transform->isDirty = 1;
+  mat4_identity(transform->matrix);
+}
+
+void lovrTransformTranslate(Transform* transform, float x, float y, float z) {
+  transform->isDirty = 1;
+  mat4_translate(transform->matrix, x, y, z);
+}
+
+void lovrTransformRotate(Transform* transform, float angle, float x, float y, float z) {
+  transform->isDirty = 1;
+  mat4_rotate(transform->matrix, angle, x, y, z);
+}
+
+void lovrTransformScale(Transform* transform, float x, float y, float z) {
+  transform->isDirty = 1;
+  mat4_scale(transform->matrix, x, y, z);
+}
+
+void lovrTransformTransformPoint(Transform* transform, vec3 point) {
+  mat4_transform(transform->matrix, point);
+}
+
+void lovrTransformInverseTransformPoint(Transform* transform, vec3 point) {
+  mat4_transform(lovrTransformInverse(transform), point);
+}
diff --git a/src/math/transform.h b/src/math/transform.h
new file mode 100644
index 00000000..9f921318
--- /dev/null
+++ b/src/math/transform.h
@@ -0,0 +1,23 @@
+#include "util.h"
+#include "math/math.h"
+
+#ifndef LOVR_TRANSFORM_TYPES
+#define LOVR_TRANSFORM_TYPES
+typedef struct Transform {
+  Ref ref;
+  float matrix[16];
+  float inverse[16];
+  int isDirty;
+} Transform;
+#endif
+
+Transform* lovrTransformCreate(mat4 transfrom);
+void lovrTransformDestroy(const Ref* ref);
+void lovrTransformApply(Transform* transform, Transform* other);
+mat4 lovrTransformInverse(Transform* transform);
+void lovrTransformOrigin(Transform* transform);
+void lovrTransformTranslate(Transform* transform, float x, float y, float z);
+void lovrTransformRotate(Transform* transform, float angle, float x, float y, float z);
+void lovrTransformScale(Transform* transform, float x, float y, float z);
+void lovrTransformTransformPoint(Transform* transform, vec3 point);
+void lovrTransformInverseTransformPoint(Transform* transform, vec3 point);
diff --git a/src/math/vec3.c b/src/math/vec3.c
new file mode 100644
index 00000000..45665a29
--- /dev/null
+++ b/src/math/vec3.c
@@ -0,0 +1,49 @@
+#include "math/vec3.h"
+#include <math.h>
+#include <stdlib.h>
+
+vec3 vec3_init(vec3 v, vec3 u) {
+  return vec3_set(v, u[0], u[1], u[2]);
+}
+
+vec3 vec3_set(vec3 v, float x, float y, float z) {
+  v[0] = x;
+  v[1] = y;
+  v[2] = z;
+  return v;
+}
+
+vec3 vec3_add(vec3 v, vec3 u) {
+  v[0] += u[0];
+  v[1] += u[1];
+  v[2] += u[2];
+  return v;
+}
+
+vec3 vec3_scale(vec3 v, float s) {
+  v[0] *= s;
+  v[1] *= s;
+  v[2] *= s;
+  return v;
+}
+
+vec3 vec3_normalize(vec3 v) {
+  float len = vec3_length(v);
+  return len == 0 ? v : vec3_scale(v, 1 / len);
+}
+
+float vec3_length(vec3 v) {
+  return sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]);
+}
+
+float vec3_dot(vec3 v, vec3 u) {
+  return v[0] * u[0] + v[1] * u[1] + v[2] * u[2];
+}
+
+vec3 vec3_cross(vec3 v, vec3 u) {
+  return vec3_set(v,
+    v[1] * u[2] - v[2] * u[1],
+    v[2] * u[0] - v[0] * u[2],
+    v[0] * u[1] - v[1] * u[0]
+  );
+}
diff --git a/src/math/vec3.h b/src/math/vec3.h
new file mode 100644
index 00000000..1a143d7f
--- /dev/null
+++ b/src/math/vec3.h
@@ -0,0 +1,10 @@
+#include "math/math.h"
+
+vec3 vec3_init(vec3 v, vec3 u);
+vec3 vec3_set(vec3 v, float x, float y, float z);
+vec3 vec3_add(vec3 v, vec3 u);
+vec3 vec3_scale(vec3 v, float s);
+vec3 vec3_normalize(vec3 v);
+float vec3_length(vec3 v);
+float vec3_dot(vec3 v, vec3 u);
+vec3 vec3_cross(vec3 v, vec3 u);
diff --git a/src/matrix.c b/src/matrix.c
deleted file mode 100644
index 5521d33d..00000000
--- a/src/matrix.c
+++ /dev/null
@@ -1,276 +0,0 @@
-#include "matrix.h"
-#include "util.h"
-#include <math.h>
-#include <stdlib.h>
-#include <string.h>
-
-/*
-   m0 m4 m8  m12
-   m1 m5 m9  m13
-   m2 m6 m10 m14
-   m3 m7 m11 m15
-*/
-
-mat4 mat4_init() {
-  mat4 matrix = malloc(16 * sizeof(float));
-  return mat4_setIdentity(matrix);
-}
-
-void mat4_deinit(mat4 matrix) {
-  free(matrix);
-}
-
-mat4 mat4_copy(mat4 source) {
-  mat4 matrix = mat4_init();
-  memcpy(matrix, source, 16 * sizeof(float));
-  return matrix;
-}
-
-mat4 mat4_fromMat34(mat4 matrix, float (*source)[4]) {
-  matrix[0] = source[0][0];
-  matrix[1] = source[1][0];
-  matrix[2] = source[2][0];
-  matrix[3] = 0.f;
-  matrix[4] = source[0][1];
-  matrix[5] = source[1][1];
-  matrix[6] = source[2][1];
-  matrix[7] = 0.f;
-  matrix[8] = source[0][2];
-  matrix[9] = source[1][2];
-  matrix[10] = source[2][2];
-  matrix[11] = 0.f;
-  matrix[12] = source[0][3];
-  matrix[13] = source[1][3];
-  matrix[14] = source[2][3];
-  matrix[15] = 1.f;
-  return matrix;
-}
-
-mat4 mat4_fromMat44(mat4 matrix, float (*source)[4]) {
-  matrix[0] = source[0][0];
-  matrix[1] = source[1][0];
-  matrix[2] = source[2][0];
-  matrix[3] = source[3][0];
-  matrix[4] = source[0][1];
-  matrix[5] = source[1][1];
-  matrix[6] = source[2][1];
-  matrix[7] = source[3][1];
-  matrix[8] = source[0][2];
-  matrix[9] = source[1][2];
-  matrix[10] = source[2][2];
-  matrix[11] = source[3][2];
-  matrix[12] = source[0][3];
-  matrix[13] = source[1][3];
-  matrix[14] = source[2][3];
-  matrix[15] = source[3][3];
-  return matrix;
-}
-
-mat4 mat4_setIdentity(mat4 matrix) {
-  memset(matrix, 0, 16 * sizeof(float));
-  matrix[0] = matrix[5] = matrix[10] = matrix[15] = 1.f;
-  return matrix;
-}
-
-mat4 mat4_setTranslation(mat4 matrix, float x, float y, float z) {
-  mat4_setIdentity(matrix);
-  matrix[12] = x;
-  matrix[13] = y;
-  matrix[14] = z;
-  return matrix;
-}
-
-mat4 mat4_setRotation(mat4 matrix, float angle, float ax, float ay, float az) {
-
-  // Normalize rotation vector
-  float len = sqrtf(ax * ax + ay * ay + az * az);
-  if (len != 1 && len != 0) {
-    len = 1 / len;
-    ax *= len;
-    ay *= len;
-    az *= len;
-  }
-
-  // Convert angle-axis to quaternion
-  float cos2 = cos(angle / 2.f);
-  float sin2 = sin(angle / 2.f);
-  float w = cos2;
-  float x = sin2 * ax;
-  float y = sin2 * ay;
-  float z = sin2 * az;
-
-  mat4_setIdentity(matrix);
-  matrix[0] = 1 - 2 * y * y - 2 * z * z;
-  matrix[1] = 2 * x * y + 2 * w * z;
-  matrix[2] = 2 * x * z - 2 * w * y;
-  matrix[4] = 2 * x * y - 2 * w * z;
-  matrix[5] = 1 - 2 * x * x - 2 * z * z;
-  matrix[6] = 2 * y * z + 2 * w * x;
-  matrix[8] = 2 * x * z + 2 * w * y;
-  matrix[9] = 2 * y * z - 2 * w * x;
-  matrix[10] = 1 - 2 * x * x - 2 * y * y;
-  return matrix;
-}
-
-mat4 mat4_setScale(mat4 matrix, float x, float y, float z) {
-  mat4_setIdentity(matrix);
-  matrix[0] = x;
-  matrix[5] = y;
-  matrix[10] = z;
-  return matrix;
-}
-
-mat4 mat4_setOrthographic(mat4 matrix, float left, float right, float top, float bottom, float near, float far) {
-  float rl = right - left;
-  float tb = top - bottom;
-  float fn = far - near;
-  mat4_setIdentity(matrix);
-  matrix[0] = 2 / rl;
-  matrix[5] = 2 / tb;
-  matrix[10] = -2 / fn;
-  matrix[12] = -(left + right) / rl;
-  matrix[13] = -(top + bottom) / tb;
-  matrix[14] = -(far + near) / fn;
-  matrix[15] = 1;
-  return matrix;
-}
-
-mat4 mat4_setPerspective(mat4 matrix, float near, float far, float fov, float aspect) {
-  float range = tan(fov * .5f) * near;
-  float sx = (2.0f * near) / (range * aspect + range * aspect);
-  float sy = near / range;
-  float sz = -(far + near) / (far - near);
-  float pz = (-2.0f * far * near) / (far - near);
-  mat4_setIdentity(matrix);
-  matrix[0] = sx;
-  matrix[5] = sy;
-  matrix[10] = sz;
-  matrix[11] = -1.0f;
-  matrix[14] = pz;
-  matrix[15] = 0.0f;
-  return matrix;
-}
-
-void mat4_getRotation(mat4 matrix, float* w, float* x, float* y, float* z) {
-  float qw = sqrt(MAX(0, 1 + matrix[0] + matrix[5] + matrix[10])) / 2;
-  float qx = sqrt(MAX(0, 1 + matrix[0] - matrix[5] - matrix[10])) / 2;
-  float qy = sqrt(MAX(0, 1 - matrix[0] + matrix[5] - matrix[10])) / 2;
-  float qz = sqrt(MAX(0, 1 - matrix[0] - matrix[5] + matrix[10])) / 2;
-  qx = (matrix[9] - matrix[6]) > 0 ? -qx : qx;
-  qy = (matrix[2] - matrix[8]) > 0 ? -qy : qy;
-  qz = (matrix[4] - matrix[1]) > 0 ? -qz : qz;
-
-  float s = sqrt(1 - qw * qw);
-  s = s < .001 ? 1 : s;
-  *w = 2 * acos(qw);
-  *x = qx / s;
-  *y = qy / s;
-  *z = qz / s;
-}
-
-mat4 mat4_translate(mat4 matrix, float x, float y, float z) {
-  float translation[16];
-  mat4_setTranslation(translation, x, y, z);
-  return mat4_multiply(matrix, translation);
-}
-
-mat4 mat4_rotate(mat4 matrix, float angle, float ax, float ay, float az) {
-  float rotation[16];
-  mat4_setRotation(rotation, angle, ax, ay, az);
-  return mat4_multiply(matrix, rotation);
-}
-
-mat4 mat4_scale(mat4 matrix, float x, float y, float z) {
-  float scale[16];
-  mat4_setScale(scale, x, y, z);
-  return mat4_multiply(matrix, scale);
-}
-
-// Modified from gl-matrix.c
-mat4 mat4_multiply(mat4 a, mat4 b) {
-  float a00 = a[0], a01 = a[1], a02 = a[2], a03 = a[3],
-        a10 = a[4], a11 = a[5], a12 = a[6], a13 = a[7],
-        a20 = a[8], a21 = a[9], a22 = a[10], a23 = a[11],
-        a30 = a[12], a31 = a[13], a32 = a[14], a33 = a[15],
-
-        b00 = b[0], b01 = b[1], b02 = b[2], b03 = b[3],
-        b10 = b[4], b11 = b[5], b12 = b[6], b13 = b[7],
-        b20 = b[8], b21 = b[9], b22 = b[10], b23 = b[11],
-        b30 = b[12], b31 = b[13], b32 = b[14], b33 = b[15];
-
-  a[0] = b00 * a00 + b01 * a10 + b02 * a20 + b03 * a30;
-  a[1] = b00 * a01 + b01 * a11 + b02 * a21 + b03 * a31;
-  a[2] = b00 * a02 + b01 * a12 + b02 * a22 + b03 * a32;
-  a[3] = b00 * a03 + b01 * a13 + b02 * a23 + b03 * a33;
-  a[4] = b10 * a00 + b11 * a10 + b12 * a20 + b13 * a30;
-  a[5] = b10 * a01 + b11 * a11 + b12 * a21 + b13 * a31;
-  a[6] = b10 * a02 + b11 * a12 + b12 * a22 + b13 * a32;
-  a[7] = b10 * a03 + b11 * a13 + b12 * a23 + b13 * a33;
-  a[8] = b20 * a00 + b21 * a10 + b22 * a20 + b23 * a30;
-  a[9] = b20 * a01 + b21 * a11 + b22 * a21 + b23 * a31;
-  a[10] = b20 * a02 + b21 * a12 + b22 * a22 + b23 * a32;
-  a[11] = b20 * a03 + b21 * a13 + b22 * a23 + b23 * a33;
-  a[12] = b30 * a00 + b31 * a10 + b32 * a20 + b33 * a30;
-  a[13] = b30 * a01 + b31 * a11 + b32 * a21 + b33 * a31;
-  a[14] = b30 * a02 + b31 * a12 + b32 * a22 + b33 * a32;
-  a[15] = b30 * a03 + b31 * a13 + b32 * a23 + b33 * a33;
-
-  return a;
-}
-
-void mat4_multiplyVector(mat4 m, float* v) {
-  float v0 = v[0];
-  float v1 = v[1];
-  float v2 = v[2];
-  float v3 = v[3];
-  v[0] = v0 * m[0] + v1 * m[4] + v2 * m[8] + v3 * m[12];
-  v[1] = v0 * m[1] + v1 * m[5] + v2 * m[9] + v3 * m[13];
-  v[2] = v0 * m[2] + v1 * m[6] + v2 * m[10] + v3 * m[14];
-  v[3] = v0 * m[3] + v1 * m[7] + v2 * m[11] + v3 * m[15];
-}
-
-// Modified from gl-matrix.c
-mat4 mat4_invert(mat4 m) {
-  float a00 = m[0], a01 = m[1], a02 = m[2], a03 = m[3],
-        a10 = m[4], a11 = m[5], a12 = m[6], a13 = m[7],
-        a20 = m[8], a21 = m[9], a22 = m[10], a23 = m[11],
-        a30 = m[12], a31 = m[13], a32 = m[14], a33 = m[15],
-
-        b00 = a00 * a11 - a01 * a10,
-        b01 = a00 * a12 - a02 * a10,
-        b02 = a00 * a13 - a03 * a10,
-        b03 = a01 * a12 - a02 * a11,
-        b04 = a01 * a13 - a03 * a11,
-        b05 = a02 * a13 - a03 * a12,
-        b06 = a20 * a31 - a21 * a30,
-        b07 = a20 * a32 - a22 * a30,
-        b08 = a20 * a33 - a23 * a30,
-        b09 = a21 * a32 - a22 * a31,
-        b10 = a21 * a33 - a23 * a31,
-        b11 = a22 * a33 - a23 * a32,
-
-        d = (b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 - b04 * b07 + b05 * b06),
-        invDet;
-
-  if (!d) { return NULL; }
-  invDet = 1 / d;
-
-  m[0] = (a11 * b11 - a12 * b10 + a13 * b09) * invDet;
-  m[1] = (-a01 * b11 + a02 * b10 - a03 * b09) * invDet;
-  m[2] = (a31 * b05 - a32 * b04 + a33 * b03) * invDet;
-  m[3] = (-a21 * b05 + a22 * b04 - a23 * b03) * invDet;
-  m[4] = (-a10 * b11 + a12 * b08 - a13 * b07) * invDet;
-  m[5] = (a00 * b11 - a02 * b08 + a03 * b07) * invDet;
-  m[6] = (-a30 * b05 + a32 * b02 - a33 * b01) * invDet;
-  m[7] = (a20 * b05 - a22 * b02 + a23 * b01) * invDet;
-  m[8] = (a10 * b10 - a11 * b08 + a13 * b06) * invDet;
-  m[9] = (-a00 * b10 + a01 * b08 - a03 * b06) * invDet;
-  m[10] = (a30 * b04 - a31 * b02 + a33 * b00) * invDet;
-  m[11] = (-a20 * b04 + a21 * b02 - a23 * b00) * invDet;
-  m[12] = (-a10 * b09 + a11 * b07 - a12 * b06) * invDet;
-  m[13] = (a00 * b09 - a01 * b07 + a02 * b06) * invDet;
-  m[14] = (-a30 * b03 + a31 * b01 - a32 * b00) * invDet;
-  m[15] = (a20 * b03 - a21 * b01 + a22 * b00) * invDet;
-
-  return m;
-}
diff --git a/src/matrix.h b/src/matrix.h
deleted file mode 100644
index 3bd5c75c..00000000
--- a/src/matrix.h
+++ /dev/null
@@ -1,26 +0,0 @@
-#include "vendor/vec/vec.h"
-
-#ifndef LOVR_MATRIX_TYPES
-#define LOVR_MATRIX_TYPES
-typedef float* mat4;
-typedef vec_t(mat4) vec_mat4_t;
-#endif
-
-mat4 mat4_init();
-void mat4_deinit(mat4 matrix);
-mat4 mat4_copy(mat4 source);
-mat4 mat4_fromMat34(mat4 matrix, float (*source)[4]);
-mat4 mat4_fromMat44(mat4 matrix, float (*source)[4]);
-mat4 mat4_setIdentity(mat4 matrix);
-mat4 mat4_setTranslation(mat4 matrix, float x, float y, float z);
-mat4 mat4_setRotation(mat4 matrix, float angle, float ax, float ay, float az);
-mat4 mat4_setScale(mat4 matrix, float x, float y, float z);
-mat4 mat4_setOrthographic(mat4 matrix, float left, float right, float top, float bottom, float near, float far);
-mat4 mat4_setPerspective(mat4 matrix, float near, float far, float fov, float aspect);
-void mat4_getRotation(mat4 matrix, float* w, float* x, float* y, float* z);
-mat4 mat4_translate(mat4 matrix, float x, float y, float z);
-mat4 mat4_rotate(mat4 matrix, float angle, float ax, float ay, float az);
-mat4 mat4_scale(mat4 matrix, float x, float y, float z);
-mat4 mat4_multiply(mat4 a, mat4 b);
-void mat4_multiplyVector(mat4 m, float* v);
-mat4 mat4_invert(mat4 m);