diff --git a/CMakeLists.txt b/CMakeLists.txt
index 392920e8..8e5b846a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -478,12 +478,17 @@ if(LOVR_ENABLE_MATH)
   target_sources(lovr PRIVATE
     src/math/math.c
     src/math/curve.c
+    src/math/pool.c
     src/math/randomGenerator.c
     src/math/transform.c
     src/api/math.c
     src/api/types/curve.c
+    src/api/types/pool.c
     src/api/types/randomGenerator.c
     src/api/types/transform.c
+    src/api/types/vec3.c
+    src/api/types/quat.c
+    src/api/types/mat4.c
     src/lib/noise1234/noise1234.c
   )
 
diff --git a/src/api.h b/src/api.h
index 73f66f84..22fee4bd 100644
--- a/src/api.h
+++ b/src/api.h
@@ -37,11 +37,14 @@ extern const luaL_Reg lovrDistanceJoint[];
 extern const luaL_Reg lovrFont[];
 extern const luaL_Reg lovrHingeJoint[];
 extern const luaL_Reg lovrJoint[];
+extern const luaL_Reg lovrMat4[];
 extern const luaL_Reg lovrMaterial[];
 extern const luaL_Reg lovrMesh[];
 extern const luaL_Reg lovrMicrophone[];
 extern const luaL_Reg lovrModel[];
 extern const luaL_Reg lovrModelData[];
+extern const luaL_Reg lovrPool[];
+extern const luaL_Reg lovrQuat[];
 extern const luaL_Reg lovrRandomGenerator[];
 extern const luaL_Reg lovrRasterizer[];
 extern const luaL_Reg lovrShader[];
@@ -55,9 +58,12 @@ extern const luaL_Reg lovrTexture[];
 extern const luaL_Reg lovrTextureData[];
 extern const luaL_Reg lovrThread[];
 extern const luaL_Reg lovrTransform[];
+extern const luaL_Reg lovrVec3[];
 extern const luaL_Reg lovrVertexData[];
 extern const luaL_Reg lovrWorld[];
 
+extern const luaL_Reg lovrLightUserdata[];
+
 // Enums
 extern const char* ArcModes[];
 extern const char* AttributeTypes[];
diff --git a/src/api/math.c b/src/api/math.c
index 45d6ff0e..46a6258b 100644
--- a/src/api/math.c
+++ b/src/api/math.c
@@ -1,10 +1,65 @@
 #include "api.h"
 #include "api/math.h"
+#include "api/math.lua.h"
 #include "math/math.h"
 #include "math/curve.h"
+#include "math/pool.h"
 #include "math/randomGenerator.h"
 #include "math/transform.h"
 
+static const char* lovrMathTypeNames[] = {
+  [MATH_VEC3] = "vec3",
+  [MATH_QUAT] = "quat",
+  [MATH_MAT4] = "mat4"
+};
+
+static const luaL_Reg* lovrMathTypes[] = {
+  [MATH_VEC3] = lovrVec3,
+  [MATH_QUAT] = lovrQuat,
+  [MATH_MAT4] = lovrMat4
+};
+
+static int lovrMathTypeRefs[MAX_MATH_TYPES];
+
+float* luax_tolightmathtype(lua_State* L, int index, MathType* type) {
+  uintptr_t p = (uintptr_t) lua_touserdata(L, index), aligned = ALIGN(p, POOL_ALIGN);
+  return *type = p - aligned, p ? (float*) aligned : NULL;
+}
+
+void luax_pushlightmathtype(lua_State* L, float* p, MathType type) {
+  lua_pushlightuserdata(L, (uint8_t*) p + type);
+}
+
+float* luax_tomathtype(lua_State* L, int index, MathType* type) {
+  int luaType = lua_type(L, index);
+  if (luaType == LUA_TLIGHTUSERDATA) {
+    return luax_tolightmathtype(L, index, type);
+  } else if (luaType == LUA_TUSERDATA && lua_getmetatable(L, index)) {
+    lua_pushliteral(L, "_type");
+    lua_rawget(L, -2);
+    *type = lua_tointeger(L, -1);
+    lua_pop(L, 2);
+    return lua_touserdata(L, index);
+  } else if (luaType > LUA_TTHREAD) { // cdata
+    lua_getfield(L, index, "_type");
+    *type = lua_tonumber(L, -1);
+    lua_pop(L, 1);
+
+    lua_getfield(L, index, "_p");
+    float* p = *(float**) lua_topointer(L, index);
+    lua_pop(L, 1);
+    return p;
+  }
+  return NULL;
+}
+
+float* luax_checkmathtype(lua_State* L, int index, MathType type, const char* expected) {
+  MathType t;
+  float* p = luax_tomathtype(L, index, &t);
+  if (!p || t != type) luaL_typerror(L, index, expected ? expected : lovrMathTypeNames[type]);
+  return p;
+}
+
 static int l_lovrMathNewCurve(lua_State* L) {
   int top = lua_gettop(L);
   bool table = lua_type(L, 1) == LUA_TTABLE;
@@ -43,6 +98,14 @@ static int l_lovrMathNewCurve(lua_State* L) {
   return 1;
 }
 
+static int l_lovrMathNewPool(lua_State* L) {
+  size_t size = luaL_optinteger(L, 1, DEFAULT_POOL_SIZE);
+  Pool* pool = lovrPoolCreate(size);
+  luax_pushobject(L, pool);
+  lovrRelease(pool);
+  return 1;
+}
+
 static int l_lovrMathNewRandomGenerator(lua_State* L) {
   RandomGenerator* generator = lovrRandomGeneratorCreate();
   if (lua_gettop(L) > 0){
@@ -162,8 +225,33 @@ static int l_lovrMathLinearToGamma(lua_State* L) {
   }
 }
 
+static int l_lovrMathVec3(lua_State* L) {
+  luax_pushobject(L, lovrMathGetPool());
+  lua_insert(L, 1);
+  return l_lovrPoolVec3(L);
+}
+
+static int l_lovrMathQuat(lua_State* L) {
+  luax_pushobject(L, lovrMathGetPool());
+  lua_insert(L, 1);
+  return l_lovrPoolQuat(L);
+}
+
+static int l_lovrMathMat4(lua_State* L) {
+  luax_pushobject(L, lovrMathGetPool());
+  lua_insert(L, 1);
+  return l_lovrPoolMat4(L);
+}
+
+static int l_lovrMathDrain(lua_State* L) {
+  luax_pushobject(L, lovrMathGetPool());
+  lua_insert(L, 1);
+  return l_lovrPoolDrain(L);
+}
+
 static const luaL_Reg lovrMath[] = {
   { "newCurve", l_lovrMathNewCurve },
+  { "newPool", l_lovrMathNewPool },
   { "newRandomGenerator", l_lovrMathNewRandomGenerator },
   { "newTransform", l_lovrMathNewTransform },
   { "orientationToDirection", l_lovrMathOrientationToDirection },
@@ -175,17 +263,101 @@ static const luaL_Reg lovrMath[] = {
   { "setRandomSeed", l_lovrMathSetRandomSeed },
   { "gammaToLinear", l_lovrMathGammaToLinear },
   { "linearToGamma", l_lovrMathLinearToGamma },
+  { "vec3", l_lovrMathVec3 },
+  { "quat", l_lovrMathQuat },
+  { "mat4", l_lovrMathMat4 },
+  { "drain", l_lovrMathDrain },
   { NULL, NULL }
 };
 
+static int l_lovrLightUserdata__index(lua_State* L) {
+  MathType type;
+  luax_tolightmathtype(L, 1, &type);
+  lua_rawgeti(L, LUA_REGISTRYINDEX, lovrMathTypeRefs[type]);
+  lua_pushvalue(L, 2);
+  lua_rawget(L, -2);
+  return 1;
+}
+
+static int l_lovrLightUserdataOp(lua_State* L) {
+  MathType type;
+  luax_tolightmathtype(L, 1, &type);
+  lua_rawgeti(L, LUA_REGISTRYINDEX, lovrMathTypeRefs[type]);
+  lua_pushvalue(L, lua_upvalueindex(1));
+  lua_gettable(L, -2);
+  lua_pushvalue(L, 1);
+  lua_pushvalue(L, 2);
+  lua_call(L, 2, 1);
+  return 1;
+}
+
 int luaopen_lovr_math(lua_State* L) {
   lua_newtable(L);
   luaL_register(L, NULL, lovrMath);
   luax_registertype(L, "Curve", lovrCurve);
+  luax_registertype(L, "Pool", lovrPool);
   luax_registertype(L, "RandomGenerator", lovrRandomGenerator);
   luax_registertype(L, "Transform", lovrTransform);
-  if (lovrMathInit()) {
+
+  // Store every math type metatable in the registry and register it as a type
+  for (int i = 0; i < MAX_MATH_TYPES; i++) {
+    lua_newtable(L);
+    luaL_register(L, NULL, lovrMathTypes[i]);
+    lovrMathTypeRefs[i] = luaL_ref(L, LUA_REGISTRYINDEX);
+
+    luaL_newmetatable(L, lovrMathTypeNames[i]);
+    lua_pushvalue(L, -1);
+    lua_setfield(L, -1, "__index");
+    lua_pushinteger(L, i);
+    lua_setfield(L, -2, "_type");
+    luaL_register(L, NULL, lovrMathTypes[i]);
+    lua_pop(L, 1);
+  }
+
+  // Global lightuserdata metatable
+  lua_pushlightuserdata(L, NULL);
+  lua_newtable(L);
+
+  lua_pushcfunction(L, l_lovrLightUserdata__index);
+  lua_setfield(L, -2, "__index");
+
+  const char* ops[] = { "__add", "__sub", "__mul", "__div", "__unm", "__len", "__tostring" };
+  for (size_t i = 0; i < sizeof(ops) / sizeof(ops[0]); i++) {
+    lua_pushstring(L, ops[i]);
+    lua_pushcclosure(L, l_lovrLightUserdataOp, 1);
+    lua_setfield(L, -2, ops[i]);
+  }
+
+  lua_setmetatable(L, -2);
+  lua_pop(L, 1);
+
+  // Pool size
+  luax_pushconf(L);
+  lua_getfield(L, -1, "math");
+  size_t poolSize = DEFAULT_POOL_SIZE;
+  if (lua_istable(L, -1)) {
+    lua_getfield(L, -1, "poolsize");
+    if (lua_isnumber(L, -1)) {
+      poolSize = lua_tonumber(L, -1);
+    }
+    lua_pop(L, 1);
+  }
+  lua_pop(L, 2);
+
+  // Module
+  if (lovrMathInit(poolSize)) {
     luax_atexit(L, lovrMathDestroy);
   }
+
+  // Inject LuaJIT superjuice
+  lua_pushcfunction(L, luax_getstack);
+  lovrAssert(!luaL_loadbuffer(L, (const char*) math_lua, math_lua_len, "math.lua"), "Could not load math.lua");
+  lua_pushvalue(L, -3); // lovr.math
+  luaL_getmetatable(L, "Pool");
+  if (lua_pcall(L, 2, 0, -4)) {
+    lovrThrow(lua_tostring(L, -1));
+  }
+  lua_pop(L, 1);
+
   return 1;
 }
diff --git a/src/api/math.h b/src/api/math.h
index a74e1863..a3e3c5e4 100644
--- a/src/api/math.h
+++ b/src/api/math.h
@@ -1,10 +1,21 @@
 #include "lib/math.h"
+#include "math/pool.h"
 #include "math/randomGenerator.h"
 
+float* luax_tolightmathtype(lua_State* L, int index, MathType* type);
+void luax_pushlightmathtype(lua_State* L, float* p, MathType type);
+float* luax_tomathtype(lua_State* L, int index, MathType* type);
+float* luax_checkmathtype(lua_State* L, int index, MathType type, const char* message);
 int luax_readtransform(lua_State* L, int index, mat4 transform, int scaleComponents);
 Seed luax_checkrandomseed(lua_State* L, int index);
 int l_lovrRandomGeneratorRandom(lua_State* L);
 int l_lovrRandomGeneratorRandomNormal(lua_State* L);
 int l_lovrRandomGeneratorGetSeed(lua_State* L);
 int l_lovrRandomGeneratorSetSeed(lua_State* L);
-
+int l_lovrPoolVec3(lua_State* L);
+int l_lovrPoolQuat(lua_State* L);
+int l_lovrPoolMat4(lua_State* L);
+int l_lovrPoolDrain(lua_State* L);
+int l_lovrVec3Set(lua_State* L);
+int l_lovrQuatSet(lua_State* L);
+int l_lovrMat4Set(lua_State* L);
diff --git a/src/api/math.lua b/src/api/math.lua
new file mode 100644
index 00000000..61f80cc7
--- /dev/null
+++ b/src/api/math.lua
@@ -0,0 +1,377 @@
+local _Gmath = math
+local math, Pool = ...
+local ffi = type(jit) == 'table' and jit.status() and require 'ffi'
+if not ffi then return end
+
+local C, new, cast, typeof, istype = ffi.C, ffi.new, ffi.cast, ffi.typeof, ffi.istype
+
+ffi.cdef [[
+  typedef union { struct { float x; float y; float z; }; float _p[4]; } vec3;
+  typedef union { struct { float x; float y; float z; float w; }; float _p[4]; } quat;
+  typedef union { struct { float m[16]; }; float _p[16]; } mat4;
+
+  // From math/pool.h
+  typedef struct Pool Pool;
+  enum { MATH_VEC3, MATH_QUAT, MATH_MAT4 };
+
+  Pool* lovrPoolCreate(size_t count);
+  vec3* lovrPoolAllocateVec3(Pool* pool);
+  quat* lovrPoolAllocateQuat(Pool* pool);
+  mat4* lovrPoolAllocateMat4(Pool* pool);
+
+  Pool* lovrMathGetPool();
+
+  // From lib/math.h
+  // Careful, the declarations below are using as the structs above, not the usual C types
+
+  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);
+  vec3* vec3_lerp(vec3* v, vec3* u, float t);
+
+  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, float ax, float ay, float az);
+  quat* quat_fromMat4(quat* q, mat4* m);
+  quat* quat_mul(quat* q, quat* r);
+  quat* quat_normalize(quat* q);
+  float quat_length(quat* q);
+  quat* quat_slerp(quat* q, quat* r, float t);
+  void quat_rotate(quat* q, vec3* v);
+  void quat_getAngleAxis(quat* q, float* angle, float* x, float* y, float* z);
+  quat* quat_between(quat* q, vec3* u, vec3* v);
+
+  mat4* mat4_set(mat4* m, mat4* n);
+  mat4* mat4_identity(mat4* m);
+  mat4* mat4_invert(mat4* m);
+  mat4* mat4_transpose(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);
+  void mat4_getPose(mat4* m, float* x, float* y, float* z, float* angle, float* ax, float* ay, float* az);
+  void mat4_getTransform(mat4* m, float* x, float* y, float* z, float* sx, float* sy, float* sz, float* angle, float* ax, float* ay, float* az);
+  mat4* mat4_setTransform(mat4* m, float x, float y, float z, float sx, float sy, float sz, 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);
+  mat4* mat4_lookAt(mat4* m, vec3* from, vec3* to, vec3* up);
+  void mat4_transform(mat4* m, float* x, float* y, float* z);
+  void mat4_transformDirection(mat4* m, float* x, float* y, float* z);
+]]
+
+function Pool:vec3(...) return C.lovrPoolAllocateVec3(cast('Pool**', self)[0]):set(...) end
+function Pool:quat(...) return C.lovrPoolAllocateQuat(cast('Pool**', self)[0]):set(...) end
+function Pool:mat4(...) return C.lovrPoolAllocateMat4(cast('Pool**', self)[0]):set(...) end
+
+local pool = C.lovrMathGetPool()
+function math.vec3(...) return C.lovrPoolAllocateVec3(pool):set(...) end
+function math.quat(...) return C.lovrPoolAllocateQuat(pool):set(...) end
+function math.mat4(...) return C.lovrPoolAllocateMat4(pool):set(...) end
+
+local vec3 = ffi.typeof('vec3')
+local quat = ffi.typeof('quat')
+local mat4 = ffi.typeof('mat4')
+
+local function checktype(t, name)
+  return function(x, i, exp)
+    if not istype(t, x) then
+      local fn, arg, exp = debug.getinfo(2, 'n').name, i and ('argument #' .. i) or 'self', exp or name
+      error(string.format('Bad %s to %s (%s expected, got %s)', arg, fn, exp, type(x)), 3)
+    end
+  end
+end
+
+local checkvec3 = checktype(vec3, 'vec3')
+local checkquat = checktype(quat, 'quat')
+local checkmat4 = checktype(mat4, 'mat4')
+
+ffi.metatype(vec3, {
+  __index = {
+    _type = C.MATH_VEC3,
+
+    unpack = function(v)
+      checkvec3(v)
+      return v.x, v.y, v.z
+    end,
+
+    set = function(v, x, y, z)
+      checkvec3(v)
+      if type(x) == 'number' then
+        C.vec3_set(v, x, y, z)
+      else
+        checkvec3(x, 1)
+        C.vec3_init(v, x)
+      end
+      return v
+    end,
+
+    copy = function(v, u)
+      checkvec3(v)
+      if istype(vec3, u) then
+        return u:set(v)
+      else
+        return math.vec3(v)
+      end
+    end,
+
+    save = function(v)
+      checkvec3(v)
+      return vec3(v:unpack())
+    end,
+
+    normalize = function(v)
+      checkvec3(v)
+      C.vec3_normalize(v)
+      return v
+    end,
+
+    dot = function(v, u)
+      checkvec3(v)
+      checkvec3(u)
+      --return C.vec3_dot(v, u)
+      return v.x * u.x + v.y * u.y + v.z * u.z
+    end,
+
+    cross = function(v, u)
+      checkvec3(v)
+      checkvec3(u)
+      C.vec3_cross(v, u)
+      return v
+    end,
+
+    lerp = function(v, u, t)
+      checkvec3(v)
+      checkvec3(u)
+      C.vec3_lerp(v, u, t)
+      return v
+    end
+  },
+
+  __add = function(v, u) return math.vec3(v.x + u.x, v.y + u.y, v.z + u.z) end,
+  __sub = function(v, u) return math.vec3(v.x - u.x, v.y - u.y, v.z - u.z) end,
+  __mul = function(v, u) return math.vec3(v.x * u.x, v.y * u.y, v.z * u.z) end,
+  __div = function(v, u) return math.vec3(v.x / u.x, v.y / u.y, v.z / u.z) end,
+  __unm = function(v) return math.vec3(-v.x, -v.y, -v.z) end,
+  __len = function(v) return C.vec3_length(v) end,
+  __tostring = function(v) return string.format('(%f, %f, %f)', v.x, v.y, v.z) end
+})
+
+ffi.metatype(quat, {
+  __index = {
+    unpack = function(q, raw)
+      checkquat(q)
+      if raw then
+        return q.x, q.y, q.z, q.w
+      else
+        local f = new('float[4]')
+        C.quat_getAngleAxis(q, f + 0, f + 1, f + 2, f + 3)
+        return f[0], f[1], f[2], f[3]
+      end
+    end,
+
+    set = function(q, x, y, z, w, raw)
+      checkquat(q)
+      if type(x) == 'number' then
+        if type(y) == 'number' then
+          if raw then
+            C.quat_set(q, x, y, z, w)
+          else
+            local axis = new('vec3[1]')
+            axis[0] = vec3(y, z, w)
+            C.quat_fromAngleAxis(q, x, axis)
+          end
+        else
+          local axis = checkvec3(y)
+          --
+        end
+      elseif istype(vec3, x) then
+        if istype(vec3, y) then
+          --
+        else
+          --
+        end
+      elseif istype(quat, x) then
+        C.quat_init(q, x)
+      elseif istype(mat4, x) then
+        C.quat_fromMat4(q, x)
+      else
+        error('Expected a vec3, quat, mat4, or number')
+      end
+      return q
+    end,
+
+    copy = function(q, r)
+      if istype(quat, r) then
+        return r:set(q)
+      else
+        return math.quat(q)
+      end
+    end,
+
+    save = function(q)
+      checkquat(q)
+      return quat(quat, q:unpack())
+    end,
+
+    normalize = function(q)
+      checkquat(q)
+      C.quat_normalize(q)
+    end,
+
+    slerp = function(q, r, t)
+      checkquat(q)
+      checkquat(r)
+      C.quat_slerp(q, r, t)
+    end
+  },
+
+  __mul = function(q, r)
+    checkquat(q)
+    if istype(vec3, r) then
+      local v = math.vec3(r)
+      C.quat_rotate(q, v)
+      return v
+    else
+      checkquat(r, 'Expected a vec3 or quat')
+      local out = math.quat()
+      C.quat_mul(C.quat_init(out, q), r)
+      return out
+    end
+  end,
+
+  __len = function(q)
+    checkquat(q)
+    return C.quat_length(q)
+  end,
+
+  __tostring = function(q) return string.format('(%f, %f, %f, %f)', q.x, q.y, q.z, q.w) end
+})
+
+ffi.metatype(mat4, {
+  __index = {
+    unpack = function(m)
+      checkmat4(m)
+      return -- yum
+        m.m[0], m.m[1], m.m[2], m.m[3],
+        m.m[4], m.m[5], m.m[6], m.m[7],
+        m.m[8], m.m[9], m.m[10], m.m[11],
+        m.m[12], m.m[13], m.m[14], m.m[15]
+    end,
+
+    set = function(m, ...)
+      checkmat4(m)
+      if ... then
+        m.m[0], m.m[1], m.m[2], m.m[3],
+        m.m[4], m.m[5], m.m[6], m.m[7],
+        m.m[8], m.m[9], m.m[10], m.m[11],
+        m.m[12], m.m[13], m.m[14], m.m[15] = ...
+      else
+        m:identity()
+      end
+      return m
+    end,
+
+    copy = function(m)
+      checkmat4(m)
+      return math.mat4(m:unpack())
+    end,
+
+    save = function(m)
+      checkmat4(m)
+      return mat4(m:unpack())
+    end,
+
+    identity = function(m)
+      checkmat4(m)
+      C.mat4_identity(m)
+    end,
+
+    inverse = function(m)
+      checkmat4(m)
+      local out = math.mat4()
+      C.mat4_invert(C.mat4_set(out, m))
+      return out
+    end,
+
+    transpose = function(m)
+      checkmat4(m)
+      local out = math.mat4()
+      C.mat4_transpose(C.mat4_set(out, m))
+      return out
+    end,
+
+    translate = function(m, x, y, z)
+      checkmat4(m)
+      if type(x) == 'number' then
+        C.mat4_translate(m, x, y, z)
+      else
+        checkvec3(x, 1, 'vec3 or number')
+        C.mat4_translate(m, x.x, x.y, x.z)
+      end
+    end,
+
+    rotate = function(m, angle, ax, ay, az)
+      checkmat4(m)
+      if type(angle) == 'number' then
+        C.mat4_rotate(m, angle, ax, ay, az)
+      else
+        checkquat(angle, 1, 'quat or number')
+        C.mat4_rotateQuat(m, angle)
+      end
+    end,
+
+    scale = function(m, sx, sy, sz)
+      checkmat4(m)
+      if type(sx) == 'number' then
+        C.mat4_scale(m, sx, sy, sz)
+      else
+        checkvec3(sx, 1, 'vec3 or number')
+        C.mat4_scale(m, sx.x, sx.y, sx.z)
+      end
+    end,
+
+    getTransform = function(m)
+      checkmat4(m)
+      --
+    end,
+
+    setTransform = function(m)
+      checkmat4(m)
+      --
+    end,
+
+    perspective = function(m)
+      checkmat4(m)
+      --
+    end,
+
+    orthographic = function(m)
+      checkmat4(m)
+      --
+    end,
+
+    lookAt = function(m)
+      --
+    end
+  },
+
+  __mul = function(m, n)
+    checkmat4(m)
+    if istype(mat4, n) then
+      local out = math.mat4(m)
+      C.mat4_multiply(out, n)
+      return out
+    else
+      checkvec3(n, 1, 'mat4 or vec3')
+      local f = new('float[3]', n.x, n.y, n.z)
+      C.mat4_transform(m, f + 0, f + 1, f + 2)
+      return math.vec3(f[0], f[1], f[2])
+    end
+  end
+})
diff --git a/src/api/math.lua.h b/src/api/math.lua.h
new file mode 100644
index 00000000..253d5814
--- /dev/null
+++ b/src/api/math.lua.h
@@ -0,0 +1,842 @@
+unsigned char math_lua[] = {
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+};
+unsigned int math_lua_len = 10065;
diff --git a/src/api/types/mat4.c b/src/api/types/mat4.c
new file mode 100644
index 00000000..c2ed2871
--- /dev/null
+++ b/src/api/types/mat4.c
@@ -0,0 +1,195 @@
+#include "api.h"
+#include "api/math.h"
+#include "math/math.h"
+#include "lib/math.h"
+
+static int l_lovrMat4Unpack(lua_State* L) {
+  mat4 m = luax_checkmathtype(L, 1, MATH_MAT4, NULL);
+  for (int i = 0; i < 16; i++) {
+    lua_pushnumber(L, m[i]);
+  }
+  return 16;
+}
+
+int l_lovrMat4Set(lua_State* L) {
+  mat4 m = luax_checkmathtype(L, 1, MATH_MAT4, NULL);
+  for (int i = 0; i < 16; i++) {
+    m[i] = luaL_checknumber(L, i);
+  }
+  lua_settop(L, 1);
+  return 1;
+}
+
+static int l_lovrMat4Copy(lua_State* L) {
+  mat4 m = luax_checkmathtype(L, 1, MATH_MAT4, NULL);
+  mat4 n = lovrPoolAllocate(lovrMathGetPool(), MATH_MAT4);
+  mat4_init(n, m);
+  luax_pushlightmathtype(L, n, MATH_MAT4);
+  return 1;
+}
+
+static int l_lovrMat4Save(lua_State* L) {
+  mat4 m = luax_checkmathtype(L, 1, MATH_MAT4, NULL);
+  mat4 copy = lua_newuserdata(L, 16 * sizeof(float));
+  mat4_init(copy, m);
+  luaL_getmetatable(L, "mat4");
+  lua_setmetatable(L, -2);
+  return 1;
+}
+
+static int l_lovrMat4Identity(lua_State* L) {
+  mat4 m = luax_checkmathtype(L, 1, MATH_MAT4, NULL);
+  mat4_identity(m);
+  lua_settop(L, 1);
+  return 1;
+}
+
+static int l_lovrMat4Inverse(lua_State* L) {
+  mat4 m = luax_checkmathtype(L, 1, MATH_MAT4, NULL);
+  mat4 n = lovrPoolAllocate(lovrMathGetPool(), MATH_MAT4);
+  mat4_invert(mat4_init(n, m));
+  luax_pushlightmathtype(L, n, MATH_MAT4);
+  return 1;
+}
+
+static int l_lovrMat4Transpose(lua_State* L) {
+  mat4 m = luax_checkmathtype(L, 1, MATH_MAT4, NULL);
+  mat4 n = lovrPoolAllocate(lovrMathGetPool(), MATH_MAT4);
+  mat4_transpose(mat4_init(n, m));
+  luax_pushlightmathtype(L, n, MATH_MAT4);
+  return 1;
+}
+
+static int l_lovrMat4Translate(lua_State* L) {
+  mat4 m = luax_checkmathtype(L, 1, MATH_MAT4, NULL);
+  if (lua_type(L, 2) == LUA_TNUMBER) {
+    mat4_translate(m, luaL_checknumber(L, 2), luaL_checknumber(L, 3), luaL_checknumber(L, 4));
+  } else {
+    float* v = luax_checkmathtype(L, 2, MATH_VEC3, "vec3 or number");
+    mat4_translate(m, v[0], v[1], v[2]);
+  }
+  lua_settop(L, 1);
+  return 1;
+}
+
+static int l_lovrMat4Rotate(lua_State* L) {
+  mat4 m = luax_checkmathtype(L, 1, MATH_MAT4, NULL);
+  if (lua_type(L, 2) == LUA_TNUMBER) {
+    mat4_rotate(m, luaL_checknumber(L, 2), luaL_checknumber(L, 3), luaL_checknumber(L, 4), luaL_checknumber(L, 5));
+  } else {
+    float* q = luax_checkmathtype(L, 2, MATH_QUAT, "quat or number");
+    mat4_rotateQuat(m, q);
+  }
+  lua_settop(L, 1);
+  return 1;
+}
+
+static int l_lovrMat4Scale(lua_State* L) {
+  mat4 m = luax_checkmathtype(L, 1, MATH_MAT4, NULL);
+  if (lua_type(L, 2) == LUA_TNUMBER) {
+    float x = luaL_checknumber(L, 2);
+    mat4_scale(m, x, luaL_optnumber(L, 3, x), luaL_optnumber(L, 4, x));
+  } else {
+    float* s = luax_checkmathtype(L, 2, MATH_VEC3, "vec3 or number");
+    mat4_scale(m, s[0], s[1], s[2]);
+  }
+  lua_settop(L, 1);
+  return 1;
+}
+
+static int l_lovrMat4GetTransform(lua_State* L) {
+  mat4 m = luax_checkmathtype(L, 1, MATH_MAT4, NULL);
+  float x, y, z, sx, sy, sz, angle, ax, ay, az;
+  mat4_getTransform(m, &x, &y, &z, &sx, &sy, &sz, &angle, &ax, &ay, &az);
+  lua_pushnumber(L, x);
+  lua_pushnumber(L, y);
+  lua_pushnumber(L, z);
+  lua_pushnumber(L, sx);
+  lua_pushnumber(L, sy);
+  lua_pushnumber(L, sz);
+  lua_pushnumber(L, angle);
+  lua_pushnumber(L, ax);
+  lua_pushnumber(L, ay);
+  lua_pushnumber(L, az);
+  return 10;
+}
+
+static int l_lovrMat4SetTransform(lua_State* L) {
+  mat4 m = luax_checkmathtype(L, 1, MATH_MAT4, NULL);
+  float x = luaL_optnumber(L, 2, 0.);
+  float y = luaL_optnumber(L, 3, 0.);
+  float z = luaL_optnumber(L, 4, 0.);
+  float sx = luaL_optnumber(L, 5, 1.);
+  float sy = luaL_optnumber(L, 6, sx);
+  float sz = luaL_optnumber(L, 7, sx);
+  float angle = luaL_optnumber(L, 8, 0.);
+  float ax = luaL_optnumber(L, 9, 0.);
+  float ay = luaL_optnumber(L, 10, 1.);
+  float az = luaL_optnumber(L, 11, 0.);
+  mat4_setTransform(m, x, y, z, sx, sy, sz, angle, ax, ay, az);
+  lua_settop(L, 1);
+  return 1;
+}
+
+static int l_lovrMat4Perspective(lua_State* L) {
+  mat4 m = luax_checkmathtype(L, 1, MATH_MAT4, NULL);
+  float clipNear = luaL_checknumber(L, 2);
+  float clipFar = luaL_checknumber(L, 3);
+  float fov = luaL_checknumber(L, 4);
+  float aspect = luaL_checknumber(L, 5);
+  mat4_perspective(m, clipNear, clipFar, fov, aspect);
+  lua_settop(L, 1);
+  return 1;
+}
+
+static int l_lovrMat4Orthographic(lua_State* L) {
+  mat4 m = luax_checkmathtype(L, 1, MATH_MAT4, NULL);
+  float left = luaL_checknumber(L, 2);
+  float right = luaL_checknumber(L, 3);
+  float top = luaL_checknumber(L, 4);
+  float bottom = luaL_checknumber(L, 5);
+  float clipNear = luaL_checknumber(L, 6);
+  float clipFar = luaL_checknumber(L, 7);
+  mat4_orthographic(m, left, right, top, bottom, clipNear, clipFar);
+  lua_settop(L, 1);
+  return 1;
+}
+
+static int l_lovrMat4LookAt(lua_State* L) {
+  mat4 m = luax_checkmathtype(L, 1, MATH_MAT4, NULL);
+  float from[3] = { luaL_checknumber(L, 2), luaL_checknumber(L, 3), luaL_checknumber(L, 4) };
+  float to[3] = { luaL_checknumber(L, 5), luaL_checknumber(L, 6), luaL_checknumber(L, 7) };
+  float up[3] = { luaL_optnumber(L, 8, 0), luaL_optnumber(L, 9, 1), luaL_optnumber(L, 10, 0) };
+  mat4_lookAt(m, from, to, up);
+  lua_settop(L, 1);
+  return 1;
+}
+
+static int l_lovrMat4__mul(lua_State* L) {
+  mat4 m = luax_checkmathtype(L, 1, MATH_MAT4, NULL);
+  mat4 n = luax_checkmathtype(L, 2, MATH_MAT4, NULL);
+  mat4 out = lovrPoolAllocate(lovrMathGetPool(), MATH_MAT4);
+  mat4_multiply(mat4_init(out, m), n);
+  luax_pushlightmathtype(L, out, MATH_MAT4);
+  return 1;
+}
+
+const luaL_Reg lovrMat4[] = {
+  { "unpack", l_lovrMat4Unpack },
+  { "set", l_lovrMat4Set },
+  { "copy", l_lovrMat4Copy },
+  { "save", l_lovrMat4Save },
+  { "identity", l_lovrMat4Identity },
+  { "inverse", l_lovrMat4Inverse },
+  { "transpose", l_lovrMat4Transpose },
+  { "translate", l_lovrMat4Translate },
+  { "rotate", l_lovrMat4Rotate },
+  { "scale", l_lovrMat4Scale },
+  { "getTransform", l_lovrMat4GetTransform },
+  { "setTransform", l_lovrMat4SetTransform },
+  { "perspective", l_lovrMat4Perspective },
+  { "orthographic", l_lovrMat4Orthographic },
+  { "lookAt", l_lovrMat4LookAt },
+  { "__mul", l_lovrMat4__mul },
+  { NULL, NULL }
+};
diff --git a/src/api/types/pool.c b/src/api/types/pool.c
new file mode 100644
index 00000000..8e31c03e
--- /dev/null
+++ b/src/api/types/pool.c
@@ -0,0 +1,71 @@
+#include "api.h"
+#include "api/math.h"
+#include "math/pool.h"
+#include "lib/math.h"
+
+int l_lovrPoolVec3(lua_State* L) {
+  Pool* pool = luax_checktype(L, 1, Pool);
+  vec3 v = lovrPoolAllocate(pool, MATH_VEC3);
+  if (v) {
+    luax_pushlightmathtype(L, v, MATH_VEC3);
+    lua_replace(L, 1);
+    return l_lovrVec3Set(L);
+  } else {
+    lua_pushnil(L);
+  }
+  return 1;
+}
+
+int l_lovrPoolQuat(lua_State* L) {
+  Pool* pool = luax_checktype(L, 1, Pool);
+  quat q = lovrPoolAllocate(pool, MATH_QUAT);
+  if (q) {
+    luax_pushlightmathtype(L, q, MATH_QUAT);
+    lua_replace(L, 1);
+    return l_lovrQuatSet(L);
+  } else {
+    lua_pushnil(L);
+  }
+  return 1;
+}
+
+int l_lovrPoolMat4(lua_State* L) {
+  Pool* pool = luax_checktype(L, 1, Pool);
+  mat4 m = lovrPoolAllocate(pool, MATH_MAT4);
+  if (m) {
+    luax_pushlightmathtype(L, m, MATH_MAT4);
+    lua_replace(L, 1);
+    return l_lovrMat4Set(L);
+  } else {
+    lua_pushnil(L);
+  }
+  return 1;
+}
+
+int l_lovrPoolDrain(lua_State* L) {
+  Pool* pool = luax_checktype(L, 1, Pool);
+  lovrPoolDrain(pool);
+  return 0;
+}
+
+int l_lovrPoolGetSize(lua_State* L) {
+  Pool* pool = luax_checktype(L, 1, Pool);
+  lua_pushinteger(L, lovrPoolGetSize(pool));
+  return 1;
+}
+
+int l_lovrPoolGetUsage(lua_State* L) {
+  Pool* pool = luax_checktype(L, 1, Pool);
+  lua_pushinteger(L, lovrPoolGetUsage(pool));
+  return 1;
+}
+
+const luaL_Reg lovrPool[] = {
+  { "vec3", l_lovrPoolVec3 },
+  { "quat", l_lovrPoolQuat },
+  { "mat4", l_lovrPoolMat4 },
+  { "drain", l_lovrPoolDrain },
+  { "getSize", l_lovrPoolGetSize },
+  { "getUsage", l_lovrPoolGetUsage },
+  { NULL, NULL }
+};
diff --git a/src/api/types/quat.c b/src/api/types/quat.c
new file mode 100644
index 00000000..dd18ed7d
--- /dev/null
+++ b/src/api/types/quat.c
@@ -0,0 +1,142 @@
+#include "api.h"
+#include "api/math.h"
+#include "math/math.h"
+
+static int l_lovrQuatUnpack(lua_State* L) {
+  quat q = luax_checkmathtype(L, 1, MATH_QUAT, NULL);
+  bool raw = lua_toboolean(L, 2);
+  if (raw) {
+    lua_pushnumber(L, q[0]);
+    lua_pushnumber(L, q[1]);
+    lua_pushnumber(L, q[2]);
+    lua_pushnumber(L, q[3]);
+  } else {
+    float angle, ax, ay, az;
+    quat_getAngleAxis(q, &angle, &ax, &ay, &az);
+    lua_pushnumber(L, angle);
+    lua_pushnumber(L, ax);
+    lua_pushnumber(L, ay);
+    lua_pushnumber(L, az);
+  }
+  return 4;
+}
+
+int l_lovrQuatSet(lua_State* L) {
+  quat q = luax_checkmathtype(L, 1, MATH_QUAT, NULL);
+  if (lua_type(L, 2) == LUA_TNUMBER) {
+    float x = lua_tonumber(L, 2);
+    if (lua_type(L, 3) == LUA_TNUMBER) {
+      float y = luaL_checknumber(L, 3);
+      float z = luaL_checknumber(L, 4);
+      float w = luaL_checknumber(L, 5);
+      bool raw = lua_toboolean(L, 6);
+      if (raw) {
+        quat_set(q, x, y, z, w);
+      } else {
+        quat_fromAngleAxis(q, x, y, z, w);
+      }
+    } else {
+      vec3 axis = luax_checkmathtype(L, 3, MATH_VEC3, "vec3 or number");
+      quat_fromAngleAxis(q, x, axis[0], axis[1], axis[2]);
+    }
+  } else {
+    MathType type;
+    float* p = luax_tomathtype(L, 2, &type);
+    if (!p) return luaL_typerror(L, 2, "vec3, quat, or number");
+
+    if (type == MATH_VEC3) {
+      if (lua_gettop(L) > 2) {
+        vec3 u = luax_checkmathtype(L, 3, MATH_VEC3, "vec3");
+        quat_between(q, p, u);
+      } else {
+        quat_between(q, (float[3]) { 0.f, 0.f, -1.f }, p);
+      }
+    } else if (type == MATH_QUAT) {
+      quat_init(q, p);
+    } else if (type == MATH_MAT4) {
+      quat_fromMat4(q, p);
+    } else {
+      return luaL_typerror(L, 2, "vec3, quat, mat4, or number");
+    }
+  }
+  lua_settop(L, 1);
+  return 1;
+}
+
+static int l_lovrQuatCopy(lua_State* L) {
+  quat q = luax_checkmathtype(L, 1, MATH_QUAT, NULL);
+  quat r = lovrPoolAllocate(lovrMathGetPool(), MATH_QUAT);
+  if (r) {
+    quat_init(r, q);
+    luax_pushlightmathtype(L, r, MATH_QUAT);
+  } else {
+    lua_pushnil(L);
+  }
+  return 1;
+}
+
+static int l_lovrQuatSave(lua_State* L) {
+  quat q = luax_checkmathtype(L, 1, MATH_QUAT, NULL);
+  quat copy = lua_newuserdata(L, 4 * sizeof(float));
+  quat_init(copy, q);
+  luaL_getmetatable(L, "quat");
+  lua_setmetatable(L, -2);
+  return 1;
+}
+
+static int l_lovrQuatNormalize(lua_State* L) {
+  quat q = luax_checkmathtype(L, 1, MATH_QUAT, NULL);
+  quat_normalize(q);
+  lua_settop(L, 1);
+  return 1;
+}
+
+static int l_lovrQuatSlerp(lua_State* L) {
+  quat q = luax_checkmathtype(L, 1, MATH_QUAT, NULL);
+  quat r = luax_checkmathtype(L, 2, MATH_QUAT, NULL);
+  float t = luaL_checknumber(L, 3);
+  quat_slerp(q, r, t);
+  lua_settop(L, 1);
+  return 1;
+}
+
+static int l_lovrQuat__mul(lua_State* L) {
+  quat q = luax_checkmathtype(L, 1, MATH_QUAT, NULL);
+  MathType type;
+  float* r = luax_tomathtype(L, 2, &type);
+  if (type == MATH_VEC3) {
+    vec3 out = lovrPoolAllocate(lovrMathGetPool(), MATH_VEC3);
+    quat_rotate(q, vec3_init(out, r));
+    luax_pushlightmathtype(L, out, MATH_VEC3);
+  } else {
+    quat out = lovrPoolAllocate(lovrMathGetPool(), MATH_QUAT);
+    quat_mul(quat_init(out, q), r);
+    luax_pushlightmathtype(L, out, MATH_QUAT);
+  }
+  return 1;
+}
+
+static int l_lovrQuat__len(lua_State* L) {
+  quat q = luax_checkmathtype(L, 1, MATH_QUAT, NULL);
+  lua_pushnumber(L, quat_length(q));
+  return 1;
+}
+
+static int l_lovrQuat__tostring(lua_State* L) {
+  quat q = luax_checkmathtype(L, 1, MATH_QUAT, NULL);
+  lua_pushfstring(L, "(%f, %f, %f, %f)", q[0], q[1], q[2], q[3]);
+  return 1;
+}
+
+const luaL_Reg lovrQuat[] = {
+  { "unpack", l_lovrQuatUnpack },
+  { "set", l_lovrQuatSet },
+  { "copy", l_lovrQuatCopy },
+  { "save", l_lovrQuatSave },
+  { "normalize", l_lovrQuatNormalize },
+  { "slerp", l_lovrQuatSlerp },
+  { "__mul", l_lovrQuat__mul },
+  { "__len", l_lovrQuat__len },
+  { "__tostring", l_lovrQuat__tostring },
+  { NULL, NULL }
+};
diff --git a/src/api/types/vec3.c b/src/api/types/vec3.c
new file mode 100644
index 00000000..8d5342df
--- /dev/null
+++ b/src/api/types/vec3.c
@@ -0,0 +1,159 @@
+#include "api.h"
+#include "api/math.h"
+#include "math/math.h"
+#include "lib/math.h"
+
+static int l_lovrVec3Unpack(lua_State* L) {
+  vec3 v = luax_checkmathtype(L, 1, MATH_VEC3, NULL);
+  lua_pushnumber(L, v[0]);
+  lua_pushnumber(L, v[1]);
+  lua_pushnumber(L, v[2]);
+  return 3;
+}
+
+int l_lovrVec3Set(lua_State* L) {
+  vec3 v = luax_checkmathtype(L, 1, MATH_VEC3, NULL);
+  if (lua_type(L, 2) == LUA_TNUMBER) {
+    vec3_set(v, luaL_checknumber(L, 2), luaL_checknumber(L, 3), luaL_checknumber(L, 4));
+  } else {
+    vec3 u = luax_checkmathtype(L, 2, MATH_VEC3, "vec3 or number");
+    vec3_init(v, u);
+  }
+  lua_settop(L, 1);
+  return 1;
+}
+
+static int l_lovrVec3Copy(lua_State* L) {
+  vec3 v = luax_checkmathtype(L, 1, MATH_VEC3, NULL);
+  vec3 out = lovrPoolAllocate(lovrMathGetPool(), MATH_VEC3);
+  if (out) {
+    vec3_init(out, v);
+    luax_pushlightmathtype(L, out, MATH_VEC3);
+  } else {
+    lua_pushnil(L);
+  }
+  return 1;
+}
+
+static int l_lovrVec3Save(lua_State* L) {
+  vec3 v = luax_checkmathtype(L, 1, MATH_VEC3, NULL);
+  vec3 copy = lua_newuserdata(L, 4 * sizeof(float));
+  vec3_init(copy, v);
+  luaL_getmetatable(L, "vec3");
+  lua_setmetatable(L, -2);
+  return 1;
+}
+
+static int l_lovrVec3Normalize(lua_State* L) {
+  vec3 v = luax_checkmathtype(L, 1, MATH_VEC3, NULL);
+  vec3_normalize(v);
+  lua_settop(L, 1);
+  return 1;
+}
+
+static int l_lovrVec3Dot(lua_State* L) {
+  vec3 v = luax_checkmathtype(L, 1, MATH_VEC3, NULL);
+  vec3 u = luax_checkmathtype(L, 2, MATH_VEC3, NULL);
+  lua_pushnumber(L, vec3_dot(v, u));
+  return 1;
+}
+
+static int l_lovrVec3Cross(lua_State* L) {
+  vec3 v = luax_checkmathtype(L, 1, MATH_VEC3, NULL);
+  vec3 u = luax_checkmathtype(L, 2, MATH_VEC3, NULL);
+  vec3_cross(v, u);
+  lua_settop(L, 1);
+  return 1;
+}
+
+static int l_lovrVec3Lerp(lua_State* L) {
+  vec3 v = luax_checkmathtype(L, 1, MATH_VEC3, NULL);
+  vec3 u = luax_checkmathtype(L, 2, MATH_VEC3, NULL);
+  float t = luaL_checknumber(L, 3);
+  vec3_lerp(v, u, t);
+  lua_settop(L, 1);
+  return 1;
+}
+
+static int l_lovrVec3__add(lua_State* L) {
+  vec3 v = luax_checkmathtype(L, 1, MATH_VEC3, NULL);
+  vec3 u = luax_checkmathtype(L, 2, MATH_VEC3, NULL);
+  vec3 out = lovrPoolAllocate(lovrMathGetPool(), MATH_VEC3);
+  out[0] = v[0] + u[0], out[1] = v[1] + u[1], out[2] = v[2] + u[2];
+  luax_pushlightmathtype(L, out, MATH_VEC3);
+  return 1;
+}
+
+static int l_lovrVec3__sub(lua_State* L) {
+  vec3 v = luax_checkmathtype(L, 1, MATH_VEC3, NULL);
+  vec3 u = luax_checkmathtype(L, 2, MATH_VEC3, NULL);
+  vec3 out = lovrPoolAllocate(lovrMathGetPool(), MATH_VEC3);
+  out[0] = v[0] - u[0], out[1] = v[1] - u[1], out[2] = v[2] - u[2];
+  luax_pushlightmathtype(L, out, MATH_VEC3);
+  return 1;
+}
+
+static int l_lovrVec3__mul(lua_State* L) {
+  vec3 v = luax_checkmathtype(L, 1, MATH_VEC3, NULL);
+  vec3 out = lovrPoolAllocate(lovrMathGetPool(), MATH_VEC3);
+  if (lua_type(L, 2) == LUA_TNUMBER) {
+    vec3_scale(vec3_init(out, v), lua_tonumber(L, 2));
+  } else {
+    vec3 u = luax_checkmathtype(L, 2, MATH_VEC3, "vec3 or number");
+    out[0] = v[0] * u[0], out[1] = v[1] * u[1], out[2] = v[2] * u[2];
+  }
+  luax_pushlightmathtype(L, out, MATH_VEC3);
+  return 1;
+}
+
+static int l_lovrVec3__div(lua_State* L) {
+  vec3 v = luax_checkmathtype(L, 1, MATH_VEC3, NULL);
+  vec3 out = lovrPoolAllocate(lovrMathGetPool(), MATH_VEC3);
+  if (lua_type(L, 2) == LUA_TNUMBER) {
+    vec3_scale(vec3_init(out, v), 1 / lua_tonumber(L, 2));
+  } else {
+    vec3 u = luax_checkmathtype(L, 2, MATH_VEC3, "vec3 or number");
+    out[0] = v[0] / u[0], out[1] = v[1] / u[1], out[2] = v[2] / u[2];
+  }
+  luax_pushlightmathtype(L, out, MATH_VEC3);
+  return 1;
+}
+
+static int l_lovrVec3__unm(lua_State* L) {
+  vec3 v = luax_checkmathtype(L, 1, MATH_VEC3, NULL);
+  vec3 out = lovrPoolAllocate(lovrMathGetPool(), MATH_VEC3);
+  vec3_scale(vec3_init(out, v), -1.f);
+  luax_pushlightmathtype(L, out, MATH_VEC3);
+  return 1;
+}
+
+static int l_lovrVec3__len(lua_State* L) {
+  vec3 v = luax_checkmathtype(L, 1, MATH_VEC3, NULL);
+  lua_pushnumber(L, vec3_length(v));
+  return 1;
+}
+
+static int l_lovrVec3__tostring(lua_State* L) {
+  vec3 v = luax_checkmathtype(L, 1, MATH_VEC3, NULL);
+  lua_pushfstring(L, "(%f, %f, %f)", v[0], v[1], v[2]);
+  return 1;
+}
+
+const luaL_Reg lovrVec3[] = {
+  { "unpack", l_lovrVec3Unpack },
+  { "set", l_lovrVec3Set },
+  { "copy", l_lovrVec3Copy },
+  { "save", l_lovrVec3Save },
+  { "normalize", l_lovrVec3Normalize },
+  { "dot", l_lovrVec3Dot },
+  { "cross", l_lovrVec3Cross },
+  { "lerp", l_lovrVec3Lerp },
+  { "__add", l_lovrVec3__add },
+  { "__sub", l_lovrVec3__sub },
+  { "__mul", l_lovrVec3__mul },
+  { "__div", l_lovrVec3__div },
+  { "__unm", l_lovrVec3__unm },
+  { "__len", l_lovrVec3__len },
+  { "__tostring", l_lovrVec3__tostring },
+  { NULL, NULL }
+};
diff --git a/src/audio/audio.c b/src/audio/audio.c
index 8f2120c0..f2c884bc 100644
--- a/src/audio/audio.c
+++ b/src/audio/audio.c
@@ -171,7 +171,7 @@ void lovrAudioSetOrientation(float angle, float ax, float ay, float az) {
   // 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 };
-  quat_fromAngleAxis(state.orientation, angle, (float[3]) { ax, ay, az });
+  quat_fromAngleAxis(state.orientation, angle, ax, ay, az);
   quat_rotate(state.orientation, f);
   quat_rotate(state.orientation, u);
 
diff --git a/src/lib/math.c b/src/lib/math.c
index fb57ab8b..0078a2e1 100644
--- a/src/lib/math.c
+++ b/src/lib/math.c
@@ -1,4 +1,5 @@
 #include "math.h"
+#define _USE_MATH_DEFINES
 #include <math.h>
 #include <string.h>
 #ifdef LOVR_USE_SSE
@@ -74,13 +75,14 @@ quat quat_set(quat q, float x, float y, float z, float w) {
   return q;
 }
 
-quat quat_fromAngleAxis(quat q, float angle, vec3 axis) {
-  vec3_normalize(axis);
+quat quat_fromAngleAxis(quat q, float angle, float ax, float ay, float az) {
+  float length = sqrt(ax * ax + ay * ay + az * az);
+  length = length == 0. ? 1. : length;
   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[0] = s * ax / length;
+  q[1] = s * ay / length;
+  q[2] = s * az / length;
   q[3] = c;
   return q;
 }
@@ -103,6 +105,15 @@ quat quat_fromMat4(quat q, mat4 m) {
   return q;
 }
 
+quat quat_mul(quat q, quat r) {
+  return quat_set(q,
+    q[0] * r[3] + q[3] * r[0] - q[1] * r[2] - q[2] * r[1],
+    q[1] * r[3] + q[3] * r[1] - q[2] * r[0] - q[0] * r[2],
+    q[2] * r[3] + q[3] * r[2] - q[0] * r[1] - q[1] * r[0],
+    q[3] * r[3] - q[0] * r[0] - q[1] * r[1] - q[2] * r[2]
+  );
+}
+
 quat quat_normalize(quat q) {
   float len = quat_length(q);
   if (len == 0) {
@@ -185,6 +196,27 @@ void quat_getAngleAxis(quat q, float* angle, float* x, float* y, float* z) {
   *z = q[2] * s;
 }
 
+quat quat_between(quat q, vec3 u, vec3 v) {
+  float dot = vec3_dot(u, v);
+  if (dot > .99999) {
+    q[0] = q[1] = q[2] = 0.f;
+    q[3] = 1.f;
+    return q;
+  } else if (dot < -.99999) {
+    float axis[3];
+    vec3_cross(vec3_set(axis, 1, 0, 0), u);
+    if (vec3_length(axis) < .00001) {
+      vec3_cross(vec3_set(axis, 0, 1, 0), u);
+    }
+    vec3_normalize(axis);
+    quat_fromAngleAxis(q, M_PI, axis[0], axis[1], axis[2]);
+    return q;
+  }
+  vec3_cross(vec3_init(q, u), v);
+  q[3] = 1 + dot;
+  return quat_normalize(q);
+}
+
 // mat4
 
 mat4 mat4_set(mat4 m, mat4 n) {
@@ -406,8 +438,7 @@ mat4 mat4_translate(mat4 m, float x, float y, float z) {
 
 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));
+  quat_fromAngleAxis(q, angle, x, y, z);
   return mat4_rotateQuat(m, q);
 }
 
diff --git a/src/lib/math.h b/src/lib/math.h
index 4f347553..6e5c9387 100644
--- a/src/lib/math.h
+++ b/src/lib/math.h
@@ -18,13 +18,15 @@ vec3 vec3_lerp(vec3 v, vec3 u, float t);
 // quat
 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_fromAngleAxis(quat q, float angle, float ax, float ay, float az);
 quat quat_fromMat4(quat q, mat4 m);
+quat quat_mul(quat q, quat r);
 quat quat_normalize(quat q);
 float quat_length(quat q);
 quat quat_slerp(quat q, quat r, float t);
 void quat_rotate(quat q, vec3 v);
 void quat_getAngleAxis(quat q, float* angle, float* x, float* y, float* z);
+quat quat_between(quat q, vec3 u, vec3 v);
 
 // mat4
 #define MAT4_IDENTITY { 1, 0, 0, 0,  0, 1, 0, 0,  0, 0, 1, 0,  0, 0, 0, 1 }
diff --git a/src/math/math.c b/src/math/math.c
index 2256ecce..02b75224 100644
--- a/src/math/math.c
+++ b/src/math/math.c
@@ -7,20 +7,26 @@
 
 static MathState state;
 
-bool lovrMathInit() {
+bool lovrMathInit(size_t poolSize) {
   if (state.initialized) return false;
+  state.pool = lovrPoolCreate(poolSize);
   state.generator = lovrRandomGeneratorCreate();
   Seed seed = { .b64 = (uint64_t) time(0) };
-	lovrRandomGeneratorSetSeed(state.generator, seed);
+  lovrRandomGeneratorSetSeed(state.generator, seed);
   return state.initialized = true;
 }
 
 void lovrMathDestroy() {
   if (!state.initialized) return;
+  lovrRelease(state.pool);
   lovrRelease(state.generator);
   memset(&state, 0, sizeof(MathState));
 }
 
+Pool* lovrMathGetPool() {
+  return state.pool;
+}
+
 RandomGenerator* lovrMathGetRandomGenerator() {
   return state.generator;
 }
diff --git a/src/math/math.h b/src/math/math.h
index 0e51fc1f..54031bcc 100644
--- a/src/math/math.h
+++ b/src/math/math.h
@@ -1,3 +1,4 @@
+#include "math/pool.h"
 #include "math/randomGenerator.h"
 #include "lib/math.h"
 #include <stdbool.h>
@@ -7,10 +8,12 @@
 typedef struct {
   bool initialized;
   RandomGenerator* generator;
+  Pool* pool;
 } MathState;
 
-bool lovrMathInit();
+bool lovrMathInit(size_t poolSize);
 void lovrMathDestroy();
+Pool* lovrMathGetPool();
 RandomGenerator* lovrMathGetRandomGenerator();
 void lovrMathOrientationToDirection(float angle, float ax, float ay, float az, vec3 v);
 float lovrMathGammaToLinear(float x);
diff --git a/src/math/pool.c b/src/math/pool.c
new file mode 100644
index 00000000..88cec3fb
--- /dev/null
+++ b/src/math/pool.c
@@ -0,0 +1,51 @@
+#include "math/pool.h"
+#include <stdlib.h>
+
+static const size_t sizeOfMathType[] = {
+  [MATH_VEC3] = 4 * sizeof(float),
+  [MATH_QUAT] = 4 * sizeof(float),
+  [MATH_MAT4] = 16 * sizeof(float)
+};
+
+Pool* lovrPoolCreate(size_t size) {
+  Pool* pool = lovrAlloc(Pool, lovrPoolDestroy);
+  if (!pool) return NULL;
+
+  pool->size = size;
+  pool->data = calloc(1, size + POOL_ALIGN - 1);
+  pool->head = (uint8_t*) ALIGN((uint8_t*) pool->data + POOL_ALIGN - 1, POOL_ALIGN);
+  lovrAssert(pool->data, "Could not allocate Pool memory");
+  pool->usage = 0;
+
+  return pool;
+}
+
+void lovrPoolDestroy(void* ref) {
+  Pool* pool = ref;
+  free(pool->data);
+  free(pool);
+}
+
+float* lovrPoolAllocate(Pool* pool, MathType type) {
+  size_t size = sizeOfMathType[type];
+  if (pool->usage + size > pool->size) return NULL;
+  float* p = (float*) (pool->head + pool->usage);
+  pool->usage += size;
+  return p;
+}
+
+void lovrPoolDrain(Pool* pool) {
+  pool->usage = 0;
+}
+
+size_t lovrPoolGetSize(Pool* pool) {
+  return pool->size;
+}
+
+size_t lovrPoolGetUsage(Pool* pool) {
+  return pool->usage;
+}
+
+float* lovrPoolAllocateVec3(Pool* pool) { return lovrPoolAllocate(pool, MATH_VEC3); }
+float* lovrPoolAllocateQuat(Pool* pool) { return lovrPoolAllocate(pool, MATH_QUAT); }
+float* lovrPoolAllocateMat4(Pool* pool) { return lovrPoolAllocate(pool, MATH_MAT4); }
diff --git a/src/math/pool.h b/src/math/pool.h
new file mode 100644
index 00000000..b9ec9596
--- /dev/null
+++ b/src/math/pool.h
@@ -0,0 +1,33 @@
+#include "util.h"
+
+#define POOL_ALIGN 16
+#define DEFAULT_POOL_SIZE (640 * 1024)
+
+#pragma once
+
+typedef enum {
+  MATH_VEC3,
+  MATH_QUAT,
+  MATH_MAT4,
+  MAX_MATH_TYPES
+} MathType;
+
+typedef struct {
+  Ref ref;
+  float* data;
+  size_t size;
+  size_t usage;
+  uint8_t* head;
+} Pool;
+
+Pool* lovrPoolCreate(size_t size);
+void lovrPoolDestroy(void* ref);
+float* lovrPoolAllocate(Pool* pool, MathType type);
+void lovrPoolDrain(Pool* pool);
+size_t lovrPoolGetSize(Pool* pool);
+size_t lovrPoolGetUsage(Pool* pool);
+
+// For you, LuaJIT
+float* lovrPoolNewVec3(Pool* pool);
+float* lovrPoolNewQuat(Pool* pool);
+float* lovrPoolNewMat4(Pool* pool);
diff --git a/src/physics/physics.c b/src/physics/physics.c
index 666ab2d2..6c6f0123 100644
--- a/src/physics/physics.c
+++ b/src/physics/physics.c
@@ -531,8 +531,7 @@ void lovrColliderGetOrientation(Collider* collider, float* angle, float* x, floa
 
 void lovrColliderSetOrientation(Collider* collider, float angle, float x, float y, float z) {
   float quaternion[4];
-  float axis[3] = { x, y, z };
-  quat_fromAngleAxis(quaternion, angle, axis);
+  quat_fromAngleAxis(quaternion, angle, x, y, z);
   float q[4] = { quaternion[3], quaternion[0], quaternion[1], quaternion[2] };
   dBodySetQuaternion(collider->body, q);
 }
@@ -730,8 +729,7 @@ void lovrShapeGetOrientation(Shape* shape, float* angle, float* x, float* y, flo
 
 void lovrShapeSetOrientation(Shape* shape, float angle, float x, float y, float z) {
   float quaternion[4];
-  float axis[3] = { x, y, z };
-  quat_fromAngleAxis(quaternion, angle, axis);
+  quat_fromAngleAxis(quaternion, angle, x, y, z);
   float q[4] = { quaternion[3], quaternion[0], quaternion[1], quaternion[2] };
   dGeomSetOffsetQuaternion(shape->id, q);
 }
diff --git a/src/resources/boot.lua b/src/resources/boot.lua
index 034025d2..d77324d7 100644
--- a/src/resources/boot.lua
+++ b/src/resources/boot.lua
@@ -67,6 +67,9 @@ function lovr.boot()
       offset = 1.7,
       msaa = 4
     },
+    math = {
+      poolsize = 640 * 1024
+    },
     window = {
       width = 1080,
       height = 600,
@@ -141,6 +144,7 @@ function lovr.run()
       end
       lovr.graphics.present()
     end
+    if lovr.math then lovr.math.drain() end
   end
 end
 
diff --git a/src/resources/boot.lua.h b/src/resources/boot.lua.h
index de65d099..b9bc2159 100644
--- a/src/resources/boot.lua.h
+++ b/src/resources/boot.lua.h
@@ -173,6 +173,10 @@ unsigned char boot_lua[] = {
   0x20, 0x20, 0x20, 0x20, 0x6f, 0x66, 0x66, 0x73, 0x65, 0x74, 0x20, 0x3d,
   0x20, 0x31, 0x2e, 0x37, 0x2c, 0x0a, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20,
   0x6d, 0x73, 0x61, 0x61, 0x20, 0x3d, 0x20, 0x34, 0x0a, 0x20, 0x20, 0x20,
+  0x20, 0x7d, 0x2c, 0x0a, 0x20, 0x20, 0x20, 0x20, 0x6d, 0x61, 0x74, 0x68,
+  0x20, 0x3d, 0x20, 0x7b, 0x0a, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x70,
+  0x6f, 0x6f, 0x6c, 0x73, 0x69, 0x7a, 0x65, 0x20, 0x3d, 0x20, 0x36, 0x34,
+  0x30, 0x20, 0x2a, 0x20, 0x31, 0x30, 0x32, 0x34, 0x0a, 0x20, 0x20, 0x20,
   0x20, 0x7d, 0x2c, 0x0a, 0x20, 0x20, 0x20, 0x20, 0x77, 0x69, 0x6e, 0x64,
   0x6f, 0x77, 0x20, 0x3d, 0x20, 0x7b, 0x0a, 0x20, 0x20, 0x20, 0x20, 0x20,
   0x20, 0x77, 0x69, 0x64, 0x74, 0x68, 0x20, 0x3d, 0x20, 0x31, 0x30, 0x38,
@@ -350,275 +354,279 @@ unsigned char boot_lua[] = {
   0x20, 0x20, 0x65, 0x6e, 0x64, 0x0a, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20,
   0x6c, 0x6f, 0x76, 0x72, 0x2e, 0x67, 0x72, 0x61, 0x70, 0x68, 0x69, 0x63,
   0x73, 0x2e, 0x70, 0x72, 0x65, 0x73, 0x65, 0x6e, 0x74, 0x28, 0x29, 0x0a,
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-  0x64, 0x0a, 0x65, 0x6e, 0x64, 0x0a, 0x0a, 0x6c, 0x6f, 0x63, 0x61, 0x6c,
-  0x20, 0x66, 0x75, 0x6e, 0x63, 0x74, 0x69, 0x6f, 0x6e, 0x20, 0x66, 0x6f,
-  0x72, 0x6d, 0x61, 0x74, 0x54, 0x72, 0x61, 0x63, 0x65, 0x62, 0x61, 0x63,
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 };
-unsigned int boot_lua_len = 7451;
+unsigned int boot_lua_len = 7543;
diff --git a/src/util.h b/src/util.h
index 9d7b896e..54276109 100644
--- a/src/util.h
+++ b/src/util.h
@@ -12,6 +12,8 @@
 #define MIN(a, b) (a < b ? a : b)
 #define CLAMP(x, min, max) MAX(min, MIN(max, x))
 
+#define ALIGN(p, n) ((uintptr_t) p & -n)
+
 typedef struct ref {
   int count;
   const char* type;