lua: create type defs for Vec2, Vec3, Vec4, Quat, Transform, and DeltaTime

examples/lua-scripting/scripts/test.lua

@@ -1,5 +1,3 @@
---local win = require "scripts.window"
-
 local is_window_setup = false
 
 ---Return the userdata's name from its metatable.
@@ -35,17 +33,18 @@ end
 function on_first()
     if not is_window_setup then
         world:view(
-        ---@param w Window
+            ---@param w Window
-        function (w)
+            function (w)
-            if w.cursor_grab == CursorGrabMode.NONE then
+                if w.cursor_grab == CursorGrabMode.NONE then
-                w.cursor_grab = CursorGrabMode.LOCKED
+                    w.cursor_grab = CursorGrabMode.LOCKED
-                w.cursor_visible = false
+                    w.cursor_visible = false
-                return w
+                    return w
-            else
+                else
-                is_window_setup = true
+                    is_window_setup = true
-                print("Window setup")
+                    print("Window setup")
-            end
+                end
-        end, Window)
+            end, Window
+        )
     end
 end
 
@@ -70,10 +69,13 @@ function on_update()
     ---@type number
     local dt = world:resource(DeltaTime)
 
-    world:view(function (t)
+    world:view(
-        t:translate(0, 0.15 * dt, 0)
+        ---@param t Transform
-        return t
+        function (t)
-    end, Transform)
+            t:translate(0, 0.15 * dt, 0)
+            return t
+        end, Transform
+    )
 end
 
 --[[ function on_post_update()

lyra-math/src/transform.rs

@@ -28,10 +28,6 @@ impl Default for Transform {
 
 // TODO: https://www.brainvoyager.com/bv/doc/UsersGuide/CoordsAndTransforms/SpatialTransformationMatrices.html
 
-#[allow(dead_code)]
-const ZERO_V3: Vec3 = Vec3::new(0.0, 0.0, 0.0);
-const ONE_V3: Vec3 = Vec3::new(1.0, 1.0, 1.0);
-
 #[allow(dead_code)]
 impl Transform {
     pub fn new(translation: Vec3, rotation: Quat, scale: Vec3) -> Self {
@@ -43,33 +39,42 @@ impl Transform {
     }
 
     pub fn from_translation(translation: Vec3) -> Self {
-        Self::new(translation, Quat::IDENTITY, ONE_V3)
+        Self::new(translation, Quat::IDENTITY, Vec3::ONE)
     }
 
     pub fn from_xyz(x: f32, y: f32, z: f32) -> Self {
-        Self::new(Vec3::new(x, y, z), Quat::IDENTITY, ONE_V3)
+        Self::new(Vec3::new(x, y, z), Quat::IDENTITY, Vec3::ONE)
     }
 
     pub fn calculate_mat4(&self) -> Mat4 {
         Mat4::from_scale_rotation_translation(self.scale, self.rotation, self.translation)
     }
 
-    /// Get the forward vector of the Transform.
+    /// Returns a normalized vector pointing in the direction the Transform is facing.
+    /// 
+    /// This represents the front of the object can be used for movement, camera orientation, and
+    /// other directional calculations.
     pub fn forward(&self) -> Vec3 {
         (self.rotation * -Vec3::Z).normalize()
     }
 
-    /// Get the left vector of the Transform.
+    /// Returns a normalized vector pointing to the left side of the Transform.
+    /// 
+    /// The vector is in local space. This represents the direction that is
+    /// perpendicular to the object's forward direction.
     pub fn left(&self) -> Vec3 {
         (self.rotation * Vec3::X).normalize()
     }
 
-    /// Get the up vector of the Transform.
+    /// Returns a normalized vector that indicates the upward direction of the Transform.
+    /// 
+    /// This vector is commonly used to define an object's orientation and is essential for maintaining
+    /// consistent vertical alignment in 3D environments, such as for camera positioning and object alignment.
     pub fn up(&self) -> Vec3 {
         (self.rotation * Vec3::Y).normalize()
     }
 
-    /// Rotate this transform using a Quaternion
+    /// Rotate this transform using a Quaternion.
     pub fn rotate(&mut self, rotation: Quat) {
         self.rotation = (rotation * self.rotation).normalize();
     }
@@ -110,7 +115,7 @@ impl Transform {
             let mut res = *self;
             res.translation = self.translation.lerp(rhs.translation, alpha);
             // normalize rotation here to avoid panics
-            res.rotation = self.rotation.lerp(rhs.rotation.normalize(), alpha);
+            res.rotation = self.rotation.normalize().lerp(rhs.rotation.normalize(), alpha);
             res.scale = self.scale.lerp(rhs.scale, alpha);
             res
         } else {

lyra-scripting/scripts/lua/math/quat.lua

@@ -1,182 +0,0 @@
----@class Quat
----@field x number
----@field y number
----@field z number
----@field w number
-Quat = { x = 0.0, y = 0.0, z = 0.0, w = 0.0 }
-Quat.__index = Quat
-Quat.__name = "Quat"
-
---- Constructs a new Quaternion from x, y, z, and w.
----@param x number
----@param y number
----@param z number
----@param w number
----@return Quat
-function Quat:new(x, y, z, w)
-    local q = {}
-    setmetatable(q, Quat)
-    
-    q.x = x
-    q.y = y
-    q.z = z
-    q.w = w
-    
-    return q
-end
-
-Quat.IDENTITY = Quat:new(0, 0, 0, 1)
-
-function Quat:clone()
-    return Quat:new(self.x, self.y, self.z, self.w)
-end
-
---- Creates a quaternion from the angle, in radians, around the x axis.
---- @param rad number
---- @return Quat
-function Quat:from_rotation_x(rad)
-    local sin = math.sin(rad * 0.5)
-    local cos = math.cos(rad * 0.5)
-    return Quat:new(sin, 0, 0, cos)
-end
-
---- Creates a quaternion from the angle, in radians, around the y axis.
---- @param rad number
---- @return Quat
-function Quat:from_rotation_y(rad)
-    local sin = math.sin(rad * 0.5)
-    local cos = math.cos(rad * 0.5)
-    return Quat:new(0, sin, 0, cos)
-end
-
---- Creates a quaternion from the angle, in radians, around the z axis.
---- @param rad number
---- @return Quat
-function Quat:from_rotation_z(rad)
-    local sin = math.sin(rad * 0.5)
-    local cos = math.cos(rad * 0.5)
-    return Quat:new(0, 0, sin, cos)
-end
-
---- Computes the dot product of `self`.
----@param rhs Quat
----@return number
-function Quat:dot(rhs)
-    return (self.x * rhs.x) + (self.y * rhs.y) + (self.z * rhs.z) + (self.w * rhs.w)
-end
-
---- Computes the length of `self`.
----@return number
-function Quat:length()
-    return math.sqrt(self:dot(self))
-end
-
---- Compute the length of `self` squared.
----@return number
-function Quat:length_squared()
-    return self:length() ^ 2
-end
-
---- Normalizes `self` and returns the new Quat
----@return unknown
-function Quat:normalize()
-    local length = self:length()
-    return self / length
-end
-
---- Multiplies two Quaternions together. Keep in mind that Quaternion multiplication is NOT
---- commutative so the order in which you multiply the quaternions matters.
----@param rhs Quat
----@return Quat
-function Quat:mult_quat(rhs)
-    local x1, y1, z1, w1 = self.x, self.y, self.z, self.w
-    local x2, y2, z2, w2 = rhs.x, rhs.y, rhs.z, rhs.w
-
-    local x = w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2
-    local y = w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2
-    local z = w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2
-    local w = w1 * w2 - x1 * x2 - y1 * y2 - z1 * x2
-    
-    return Quat:new(x, y, z, w)
-end
-
---- Multiplies `self` by a Vec3, returning the rotated Vec3
----@param vec Vec3
----@return Vec3
-function Quat:mult_vec3(vec)
-    local vec_quat = Quat:new(vec.x, vec.y, vec.z, 0)
-    local quat = self:mult_quat(vec_quat)
-    return Vec3:new(quat.x, quat.y, quat.z)
-end
-
---- Calculates the linear iterpolation between `self` and `rhs` based on the `alpha`.
---- When `alpha` is `0`, the result will be equal to `self`. When `s` is `1`, the result
---- will be equal to `rhs`
---- @param rhs Quat
---- @param alpha number
---- @return Quat
-function Quat:lerp(rhs, alpha)
-    -- ensure alpha is [0, 1]
-    local alpha = math.max(0, math.min(1, alpha))
-
-    local x1, y1, z1, w1 = self.x, self.y, self.z, self.w
-    local x2, y2, z2, w2 = rhs.x, rhs.y, rhs.z, rhs.w
-
-    local x = (1 - alpha) * x1 + alpha * x2
-    local y = (1 - alpha) * y1 + alpha * y2
-    local z = (1 - alpha) * z1 + alpha * z2
-    local w = (1 - alpha) * w1 + alpha * w2
-
-    return Quat:new(x, y, z, w):normalize()
-end
-
-function Quat:__add(rhs)
-    return Quat:new(self.x + rhs.x, self.y + rhs.y, self.z + rhs.z, self.w + rhs.w)
-end
-
-function Quat:__sub(rhs)
-    return Quat:new(self.x - rhs.x, self.y - rhs.y, self.z - rhs.z, self.w - rhs.w)
-end
-
-function Quat:__mul(rhs)
-    if type(rhs) == "number" then
-        return Quat:new(self.x * rhs, self.y * rhs, self.z * rhs, self.w * rhs)
-    elseif type(rhs) == "table" then
-        local name = rhs.__name
-
-        if name == "Vec3" then
-            return self:mult_vec3(rhs)
-        elseif name == "Quat" then
-            return self:mult_quat(rhs)
-        else
-            assert(false, "Unknown usertype of rhs" .. name)
-        end
-    else
-        assert(false, "Unknown type of rhs" .. type(rhs))
-    end
-end
-
-function Quat:__div(rhs)
-    if type(rhs) == "number" then
-        return Quat:new(self.x / rhs, self.y / rhs, self.z / rhs, self.w / rhs)
-    else
-        assert(rhs.__name == "Quat", "Attempted to divide Quat by unknown type " .. rhs.__name)
-        return Quat:new(self.x / rhs.x, self.y / rhs.y, self.z / rhs.z, self.w / rhs.w)
-    end
-end
-
-function Quat:__eq(rhs)
-    return self.x == rhs.x and self.y == rhs.y and self.z == rhs.z and self.w == rhs.w
-end
-
-function Quat:__lt(rhs)
-    return self.x < rhs.x and self.y < rhs.y and self.z < rhs.z and self.w < rhs.w
-end
-
-function Quat:__le(rhs)
-    return self.x <= rhs.x and self.y <= rhs.y and self.z <= rhs.z and self.w <= rhs.w
-end
-
-function Quat:__tostring()
-    return "Quat(" .. self.x .. ", " .. self.y .. ", " .. self.z .. ", " .. self.w .. ")"
-end

lyra-scripting/scripts/lua/math/transform.lua

@@ -1,95 +0,0 @@
----@class Transform
----@field translation Vec3
----@field rotation Quat
----@field Scale Vec3
-Transform = { translation = Vec3.ZERO, rotation = Quat.IDENTITY, scale = Vec3.ONE }
-Transform.__index = Transform
-Transform.__name = "Transform"
-
-function Transform:new(translation, rotation, scale)
-    local t = {}
-    setmetatable(t, Transform)
-    
-    t.translation = translation
-    t.rotation = rotation
-    t.scale = scale
-    
-    return t
-end
-
-function Transform:clone()
-    return Transform:new(self.translation:clone(), self.rotation:clone(), self.scale:clone())
-end
-
---- Creates a new Transform with the translation at the vec3
---- @param pos Vec3
-function Transform:from_vec3(pos)
-    local t = Transform:clone() -- copy of default transform
-    t.translation = pos
-    return t
-end
-
-function Transform:from_xyz(x, y, z)
-    Transform:from_vec3(Vec3:new(x, y, z))
-end
-
---- Calculates the forward vector of the Transform.
---- @return Vec3
-function Transform:forward()
-    return (self.rotation * Vec3.NEG_Z):normalize()
-end
-
---- Calculates the left vector of the Transform.
---- @return Vec3
-function Transform:left()
-    return (self.rotation * Vec3.X):normalize()
-end
-
---- Calculates the up vector of the Transform.
---- @return Vec3
-function Transform:up()
-    return (self.rotation * Vec3.Y):normalize()
-end
-
---- Rotates `self` using a Quaternion
---- @param quat Quat
-function Transform:rotate(quat)
-    self.rotation = (quat * self.rotation):normalize()
-end
-
---- Rotates `self` around the x-axis
---- @param rad number
-function Transform:rotate_x(rad)
-    self:rotate(Quat:from_rotation_x(rad))
-end
-
---- Rotates `self` around the y-axis
---- @param rad number
-function Transform:rotate_y(rad)
-    self:rotate(Quat:from_rotation_y(rad))
-end
-
---- Rotates `self` around the z-axis
---- @param rad number
-function Transform:rotate_z(rad)
-    self:rotate(Quat:from_rotation_z(rad))
-end
-
---- Calculates the linear iterpolation between `self` and `rhs` based on the `alpha`.
---- When `alpha` is `0`, the result will be equal to `self`. When `s` is `1`, the result
---- will be equal to `rhs`
---- @param rhs Transform
---- @param alpha number
---- @return Transform
-function Transform:lerp(rhs, alpha)
-    local res = self:clone()
-    res.translation = self.translation:lerp(rhs.translation, alpha)
-    res.rotation = self.rotation:lerp(rhs.rotation, alpha)
-    res.scale = self.scale:lerp(rhs.scale, alpha)
-    return res
-end
-
-function Transform:__tostring()
-    return "Transform(pos=" .. tostring(self.translation) .. ", rot="
-        .. tostring(self.rotation) .. ", scale=" .. tostring(self.scale) .. ")"
-end

lyra-scripting/scripts/lua/math/vec3.lua

@@ -1,187 +0,0 @@
----@class Vec3
----@field x number
----@field y number
----@field z number
-Vec3 = { x = 0.0, y = 0.0, z = 0.0 }
-Vec3.__index = Vec3
-Vec3.__name = "Vec3"
-
---- Constructs a new vector
----@param x number
----@param y number
----@param z number
----@return Vec3
-function Vec3:new(x, y, z)
-    local v = {}
-    setmetatable(v, Vec3)
-    
-    v.x = x
-    v.y = y
-    v.z = z
-
-    return v
-end
-
----Creates a copy of self
----@return Vec3
-function Vec3:clone()
-    return Vec3:new(self.x, self.y, self.z)
-end
-
---- Constructs a vector with all elements as parameter `x`.
----@param x number
----@return Vec3
-function Vec3:all(x)
-    return Vec3:new(x, x, x)
-end
-
---- A unit-length vector pointing alongside the positive X axis.
-Vec3.X = Vec3:new(1, 0, 0)
---- A unit-length vector pointing alongside the positive Y axis.
-Vec3.Y = Vec3:new(0, 1, 0)
---- A unit-length vector pointing alongside the positive Z axis.
-Vec3.Z = Vec3:new(0, 0, 1)
-
---- A unit-length vector pointing alongside the negative X axis.
-Vec3.NEG_X = Vec3:new(-1, 0, 0)
---- A unit-length vector pointing alongside the negative Y axis.
-Vec3.NEG_Y = Vec3:new(0, -1, 0)
---- A unit-length vector pointing alongside the negative Z axis.
-Vec3.NEG_Z = Vec3:new(0, 0, -1)
-
---- A vector of all zeros
-Vec3.ZERO = Vec3:new(0, 0, 0)
---- A vector of all ones
-Vec3.ONE = Vec3:new(1, 1, 1)
-
---- Computes the absolute value of `self`.
-function Vec3:abs()
-    self.x = math.abs(self.x)
-    self.y = math.abs(self.y)
-    self.z = math.abs(self.z)
-end
-
---- Computes the length of `self`.
----@return number
-function Vec3:length()
-    return math.sqrt(self:dot(self))
-end
-
----Moves `self` by the provided coordinates
----@param x number
----@param y number
----@param z number
-function Vec3:move_by(x, y, z)
-    self.x = self.x + x
-    self.y = self.y + y
-    self.z = self.z + z
-end
-
---- Computes the dot product of `self` and `rhs`.
----@param rhs Vec3
----@return number
-function Vec3:dot(rhs)
-    assert(rhs.__name == "Vec3")
-
-    return (self.x * rhs.x) + (self.y * rhs.y) + (self.z * rhs.z)
-end
-
---- Returns a vector that has the minimum value of each element of `self` and `rhs`
----@param rhs Vec3
----@return Vec3
-function Vec3:min(rhs)
-    local x = math.min(self.x, rhs.x)
-    local y = math.min(self.y, rhs.y)
-    local z = math.min(self.z, rhs.z)
-
-    return Vec3:new(x, y, z)
-end
-
---- Modifies `self` to be normalized to a length 1.
-function Vec3:normalize()
-    local len_recip = 1.0 / self:length()
-    self.x = self.x * len_recip
-    self.y = self.y * len_recip
-    self.z = self.z * len_recip
-end
-
---- Calculates the linear iterpolation between `self` and `rhs` based on the `alpha`.
---- When `alpha` is `0`, the result will be equal to `self`. When `s` is `1`, the result
---- will be equal to `rhs`
---- @param rhs Vec3
---- @param alpha number
---- @return Vec3
-function Vec3:lerp(rhs, alpha)
-    -- ensure alpha is [0, 1]
-    local alpha = math.max(0, math.min(1, alpha))
-
-    local res = self:clone()
-    res = res + ((rhs - res) * alpha)
-    return res
-end
-
-function Vec3:__add(rhs)
-    if type(rhs) == "Vec3" then
-        return Vec3:new(self.x + rhs.x, self.y + rhs.y, self.z + rhs.z)
-    else
-        return Vec3:new(self.x + rhs, self.y + rhs, self.z + rhs)
-    end
-end
-
-function Vec3:__sub(rhs)
-    if type(rhs) == "Vec3" then
-        return Vec3:new(self.x - rhs.x, self.y - rhs.y, self.z - rhs.z)
-    else
-        return Vec3:new(self.x - rhs, self.y - rhs, self.z - rhs)
-    end
-end
-
-function Vec3:__mul(rhs)
-    if type(rhs) == "Vec3" then
-        return Vec3:new(self.x * rhs.x, self.y * rhs.y, self.z * rhs.z)
-    else
-        return Vec3:new(self.x * rhs, self.y * rhs, self.z * rhs)
-    end
-end
-
-function Vec3:__div(rhs)
-    if type(rhs) == "Vec3" then
-        return Vec3:new(self.x / rhs.x, self.y / rhs.y, self.z / rhs.z)
-    else
-        return Vec3:new(self.x / rhs, self.y / rhs, self.z / rhs)
-    end
-end
-
-function Vec3:__idiv(rhs)
-    if type(rhs) == "Vec3" then
-        return Vec3:new(self.x // rhs.x, self.y // rhs.y, self.z // rhs.z)
-    else
-        return Vec3:new(self.x // rhs, self.y // rhs, self.z // rhs)
-    end
-end
-
-function Vec3:__unm()
-    return Vec3:new(-self.x, -self.y, -self.z)
-end
-
-function Vec3:__pow(rhs)
-    if type(rhs) == "number" then
-        return Vec3:new(self.x ^ rhs, self.y ^ rhs, self.z ^ rhs)
-    end
-end
-
-function Vec3:__eq(rhs)
-    return self.x == rhs.x and self.y == rhs.y and self.z == rhs.z
-end
-
-function Vec3:__lt(rhs)
-    return self.x < rhs.x and self.y < rhs.y and self.z < rhs.z
-end
-
-function Vec3:__le(rhs)
-    return self.x <= rhs.x and self.y <= rhs.y and self.z <= rhs.z
-end
-
-function Vec3:__tostring()
-    return "Vec3(" .. self.x .. ", " .. self.y .. ", " .. self.z .. ")"
-end

lyra-scripting/scripts/lua/types/ecs/delta_time.lua

@@ -0,0 +1,15 @@
+---@meta
+
+---@class DeltaTime
+---
+---DeltaTime is an ECS world resource. When its requested from the world, a `number`
+---is returned.
+---
+---Example:
+---```lua
+------@type number
+---local dt = world:resource(DeltaTime)
+---
+---print(type(dt)) --> number
+---```
+DeltaTime = {}

lyra-scripting/scripts/lua/types/init.lua

@@ -1,3 +1,8 @@
 require "math.vec2"
+require "math.vec3"
+require "math.vec4"
+require "math.quat"
+require "math.transform"
 
-require "ecs.window"
+require "ecs.window"
+require "ecs.delat_time"

lyra-scripting/scripts/lua/types/math/quat.lua

@@ -0,0 +1,188 @@
+---@meta
+
+---@class Quat
+---This is a Lua export of [`glam::Quat`](https://docs.rs/glam/latest/glam/f32/struct.Quat.html)
+---
+---@operator add(self): self
+---@operator sub(self): self
+---@operator div(number): self
+---@operator mul(self|Vec3|number): self
+---@diagnostic disable-next-line: unknown-operator
+---@operator eq: self
+Quat = {
+    ---The x coordinate
+    ---@type number
+    x = nil,
+    
+    ---The y coordinate
+    ---@type number
+    y = nil,
+
+    ---The z coordinate
+    ---@type number
+    z = nil,
+
+    ---The w coordinate
+    ---@type number
+    w = nil,
+}
+
+---Create a new `Quat`
+---@param x number
+---@param y number
+---@param z number
+---@param w number
+---@return self
+function Quat.new(x, y, z, w) end
+
+---Creates a quaternion from the angle (in radians) around the x axis.
+---@param rad number
+---@return self
+function Quat.from_rotation_x(rad) end
+
+---Creates a quaternion from the angle (in radians) around the y axis.
+---@param rad number
+---@return self
+function Quat.from_rotation_y(rad) end
+
+---Creates a quaternion from the angle (in radians) around the z axis.
+---@param rad number
+---@return self
+function Quat.from_rotation_z(rad) end
+
+---Creates a quaternion from a `Vec4`.
+---@param vec4 Vec4
+---@return self
+function Quat.from_vec4(vec4) end
+
+---Create a quaternion for a normalized rotation axis and angle (in radians).
+---
+---The axis must be a unit vector.
+---
+---@param axis Vec3
+---@param rad number
+---@return self
+function Quat.from_axis_angle(axis, rad) end
+
+---Computes the dot product of self and rhs.
+---
+---The dot product is equal to the cosine of the angle between two
+---quaternion rotations.
+---
+---@param rhs Quat
+---@return number
+function Quat:dot(rhs) end
+
+---Computes the length of self.
+---
+---@return number
+function Quat:length() end
+
+---Computes the squared length of self.
+---
+---This is generally faster than length() as it avoids a square root operation.
+---
+---@return number
+function Quat:length_squared() end
+
+---Computes 1.0 / length().
+---
+---For valid results, self must not be of length zero.
+---@return number
+function length_recip() end
+
+---Returns `self` normalized to length `1.0`.
+---
+---For valid results, `self` must not be of length zero.
+---
+---@return self
+function Quat:normalize() end
+
+---Multipies `self` with a `Quat`
+---@param rhs Quat
+function Quat:mult_quat(rhs) end
+
+---Multiplies `self` with a `Vec3`
+---@param rhs Vec3
+function Quat:mult_vec3(rhs) end
+
+---Performs a linear interpolation between `self` and `rhs` based on `alpha`.
+---
+---Both `Quat`s must be normalized.
+---
+---When `alpha` is `0.0`, the result will be equal to `self`. When `alpha` is `1.0`,
+---the result will be equal to `rhs`.
+---
+---@param rhs Quat
+---@param alpha number
+function Quat:lerp(rhs, alpha) end
+
+---Performs a spherical linear interpolation between `self` and `rhs` based on `alpha`.
+---
+---Both `Quat`s must be normalized.
+---
+---When `alpha` is `0.0`, the result will be equal to `self`. When `alpha` is `1.0`,
+---the result will be equal to `rhs`.
+---
+---@param rhs Quat
+---@param alpha number
+function Quat:slerp(rhs, alpha) end
+
+
+---Returns the inverse of a normalized quaternion.
+---
+---Typically quaternion inverse returns the conjugate of a normalized quaternion.
+---Because `self` is assumed to already be unit length this method does not
+---normalize before returning the conjugate.
+---@return self
+function Quat:inverse() end
+
+---Returns `true` if, and only if, all elements are finite. If any element is either
+---`NaN`, positive or negative infinity, this will return `false`.
+---
+---@return boolean
+function Quat:is_finite() end
+
+---@return boolean
+function Quat:is_nan() end
+
+---Returns whether `self` is of length `1.0` or not.
+---
+---Uses a precision threshold of `1e-6`.
+---@return boolean
+function Quat:is_normalized() end
+
+---@return boolean
+function Quat:is_near_identity() end
+
+---Returns the angle (in radians) for the minimal rotation for transforming
+---this quaternion into another.
+---
+---Both quaternions must be normalized.
+---@return number
+function Quat:angle_between(rhs) end
+
+---Rotates towards `rhs` up to `max_angle` (in radians).
+---
+---When `max_angle` is `0.0`, the result will be equal to `self`. When `max_angle`
+---is equal to `self.angle_between(rhs)`, the result will be equal to `rhs`.
+---If `max_angle` is negative, rotates towards the exact opposite of `rhs`.
+---Will not go past the target.
+---
+---Both quaternions must be normalized.
+---@return self
+function Quat:rotate_towards(rhs, max_angle) end
+
+---Returns true if the absolute difference of all elements between `self` and `rhs` is less
+---than or equal to `max_abs_diff`.
+---
+---This can be used to compare if two quaternions contain similar elements. It works best when
+---comparing with a known value. The `max_abs_diff` that should be used used depends on the
+---values being compared against.
+---
+---For more see [comparing floating point numbers](https://randomascii.wordpress.com/2012/02/25/comparing-floating-point-numbers-2012-edition/).
+---
+---@param rhs Quat
+---@param max_abs_diff number
+---@return boolean
+function Quat:abs_diff_eq(rhs, max_abs_diff) end

lyra-scripting/scripts/lua/types/math/transform.lua

@@ -0,0 +1,134 @@
+---@meta
+
+---@class Transform
+---
+---A Transform represents a transformation of an object. A transform includes the position
+---(called translation here), rotation, and scale. Rotation is represented using a Quaternion
+---(or Quat for short).
+---
+---Although Quats can be scary, they are much more robust than euler angles for games
+---since they do not suffer from things like
+---[gimbal-lock](https://en.wikipedia.org/wiki/Gimbal_lock).
+---
+---This is a Lua export of [`lyra_math::Transform`].
+---
+---@operator add(Quat): self
+---@operator mul(Vec3): self
+---@diagnostic disable-next-line: unknown-operator
+---@operator eq: self
+Transform = {
+    ---The translation/position of the transform.
+    ---@type Vec3
+    translation = nil,
+    ---The rotation of the transform.
+    ---@type Quat
+    rotation = nil,
+    ---The scale of the transform.
+    ---@type Vec3
+    scale = nil,
+}
+
+function Transform:__tostring() end
+
+---@return self
+function Transform.default() end
+
+---Create a new transform with its components.
+---
+---@param translation Vec3
+---@param rotation Quat
+---@param scale Vec3
+---@return self
+function Transform.new(translation, rotation, scale) end
+
+---Create a new transform with a `Vec3` translation.
+---@param translation Vec3
+---@return self
+function Transform.from_translation(translation) end
+
+---Create a new transform with a translation of `x`, `y`, and `z`.
+---
+---@param x number
+---@param y number
+---@param z number
+---@return self
+function Transform.from_translation(x, y, z) end
+
+---Create a clone of `self`
+---@return self
+function Transform:clone() end
+
+---Returns a normalized vector pointing in the direction the Transform is facing.
+---
+---This represents the front of the object can be used for movement, camera orientation, and
+---other directional calculations.
+---
+---@return Vec3
+function Transform:forward() end
+
+---Returns a normalized vector pointing to the left side of the Transform.
+---
+---The vector is in local space. This represents the direction that is
+---perpendicular to the object's forward direction.
+---
+---@return Vec3
+function Transform:left() end
+
+---Returns a normalized vector that indicates the upward direction of the Transform.
+---
+---This vector is commonly used to define an object's orientation and is essential for maintaining
+---consistent vertical alignment in 3D environments, such as for camera positioning and object alignment.
+---@return Vec3
+function Transform:up() end
+
+---Rotate `self` using a quaternion
+---@param quat Quat
+function Transform:rotate(quat) end
+
+---Rotate `self` around the x axis by **degrees**.
+---
+---@param deg number The amount of **degrees** to rotate by.
+function Transform:rotate_x(deg) end
+
+---Rotate `self` around the y axis by **degrees**.
+---
+---@param deg number The amount of **degrees** to rotate by.
+function Transform:rotate_y(deg) end
+
+---Rotate `self` around the z axis by **degrees**.
+---
+---@param deg number The amount of **degrees** to rotate by.
+function Transform:rotate_z(deg) end
+
+---Rotate `self` around the x axis by **radians** .
+---
+---@param rad number The amount of **radians** to rotate by.
+function Transform:rotate_x_rad(rad) end
+
+---Rotate `self` around the y axis by **radians** .
+---
+---@param rad number The amount of **radians** to rotate by.
+function Transform:rotate_y_rad(rad) end
+
+---Rotate `self` around the z axis by **radians** .
+---
+---@param rad number The amount of **radians** to rotate by.
+function Transform:rotate_z_rad(rad) end
+
+---Move `self` by `x`, `y`, and `z`.
+---
+---@param x number
+---@param y number
+---@param z number
+function Transform:translate(x, y, z) end
+
+---Performs a linear interpolation between `self` and `rhs` based on `alpha`.
+---
+---This will normalize the rotation `Quat`.
+---
+---When `alpha` is `0.0`, the result will be equal to `self`. When `alpha` is `1.0`,
+---the result will be equal to `rhs`.
+---
+---@param rhs Transform
+---@param alpha number
+function Transform:lerp(rhs, alpha) end

lyra-scripting/scripts/lua/types/math/vec2.lua

@@ -1,14 +1,125 @@
+---@meta
+
 ---@class Vec2
+---This is a Lua export of [`glam::Vec2`](https://docs.rs/glam/latest/glam/f32/struct.Vec2.html)
+---
+---@operator add(self|number): self
+---@operator sub(self|number): self
+---@operator div(self|number): self
+---@operator mul(self|number): self
+---@operator mod(self|number): self
+---@operator unm: self
+---@diagnostic disable-next-line: unknown-operator
+---@operator eq: self
 Vec2 = {
     ---The x coordinate
     ---@type number
     x = nil,
+    
     ---The y coordinate
     ---@type number
     y = nil,
 
-    ---Create a new `Vec2`
+    ---A constant `Vec2` with coordinates as `f32::NAN`.
-    ---@param x number
+    ---@type Vec2
-    ---@param y number
+    NAN = nil,
-    new = function (x, y) end
+
-}
+    ---A constant `Vec2` with `x` as `-1.0`.
+    ---@type Vec2
+    NEG_X = nil,
+
+    ---A constant `Vec2` with `y` as `-1.0`.
+    ---@type Vec2
+    NEG_Y = nil,
+
+    ---A constant `Vec2` with both components as `-1.0`.
+    ---@type Vec2
+    NEG_ONE = nil,
+
+    ---A constant `Vec2` with `x` as `1.0`.
+    ---@type Vec2
+    POS_X = nil,
+
+    ---A constant `Vec2` with `y` as `1.0`.
+    ---@type Vec2
+    POS_Y = nil,
+
+    ---A constant `Vec2` with both components as `1.0`.
+    ---@type Vec2
+    ONE = nil,
+
+    ---A constant `Vec2` with both components as `0.0`.
+    ---@type Vec2
+    ZERO = nil,
+}
+
+function Vec2:__tostring() end
+
+---Create a new `Vec2`
+---@param x number
+---@param y number
+---@return self
+function Vec2.new(x, y) end
+
+---Returns a vector with a length no less than min and no more than max.
+---@param min number the minimum value to clamp the length to
+---@param max number the maximum value to clamp the length to
+---@return self
+function Vec2:clamp_length(min, max) end
+
+---Returns true if the absolute difference of all elements between `self` and `rhs` is less
+---than or equal to `max_abs_diff`.
+---
+---This can be used to compare if two vectors contain similar elements. It works best when
+---comparing with a known value. The `max_abs_diff` that should be used used depends on the
+---values being compared against.
+---
+---For more see [comparing floating point numbers](https://randomascii.wordpress.com/2012/02/25/comparing-floating-point-numbers-2012-edition/).
+---
+---@param rhs Vec2 The other `Vec2` to compare to.
+---@param max_abs_diff number Maximum absolute difference between `self` and `rhs`.
+---@return boolean
+function Vec2:abs_diff_eq(rhs, max_abs_diff) end
+
+---Returns a vector containing the smallest integer greater than or equal to a number for each
+---element of self.
+---@return self
+function Vec2:ceil() end
+
+---Returns the angle of rotation (in radians) from `self` to `rhs` in the range [-π, +π].
+---
+---The inputs do not need to be unit vectors however they must be non-zero.
+---
+---@param rhs Vec2 The other `Vec2` to get the angle to.
+---@return number
+function Vec2:angle_to(rhs) end
+
+---Returns a vector containing the absolute value of each element of `self`.
+---
+---@return self
+function Vec2:abs() end
+
+---Component-wise clamping of values.
+---
+---Each element in `min` must be less-or-equal to the corresponding element in `max`.
+---
+---@param min self The minimum `Vec2` components to clamp the components of `self` to.
+---@param max self The maximum `Vec2` components to clamp the components of `self` to.
+---@return self
+function Vec2:clamp(min, max) end
+
+---Converts `self` to an array `[x, y]`
+---
+---@return number[]
+function Vec2:to_array() end
+
+---Move `self` by `x` and `y` values.
+---
+---@param x number
+---@param y number
+function Vec2:move_by(x, y) end
+
+---Move `self` by a `Vec2`.
+---
+---@param rhs Vec2
+function Vec2:move_by(rhs) end

lyra-scripting/scripts/lua/types/math/vec3.lua

@@ -0,0 +1,139 @@
+---@meta
+
+---@class Vec3
+---This is a Lua export of [`glam::Vec3`](https://docs.rs/glam/latest/glam/f32/struct.Vec3.html)
+---
+---@operator add(self|number): self
+---@operator sub(self|number): self
+---@operator div(self|number): self
+---@operator mul(self|number): self
+---@operator mod(self|number): self
+---@operator unm: self
+---@diagnostic disable-next-line: unknown-operator
+---@operator eq: self
+Vec3 = {
+    ---The x coordinate
+    ---@type number
+    x = nil,
+    
+    ---The y coordinate
+    ---@type number
+    y = nil,
+
+    ---The z coordinate
+    ---@type number
+    z = nil,
+
+    ---A constant `Vec3` with coordinates as `f32::NAN`.
+    ---@type Vec3
+    NAN = nil,
+
+    ---A constant `Vec3` with `x` as `-1.0`.
+    ---@type Vec3
+    NEG_X = nil,
+
+    ---A constant `Vec3` with `y` as `-1.0`.
+    ---@type Vec3
+    NEG_Y = nil,
+
+    ---A constant `Vec3` with `z` as `-1.0`.
+    ---@type Vec3
+    NEG_Z = nil,
+
+    ---A constant `Vec3` with all components as `-1.0`.
+    ---@type Vec3
+    NEG_ONE = nil,
+
+    ---A constant `Vec3` with `x` as `1.0`.
+    ---@type Vec3
+    POS_X = nil,
+
+    ---A constant `Vec3` with `y` as `1.0`.
+    ---@type Vec3
+    POS_Y = nil,
+
+    ---A constant `Vec3` with `z` as `1.0`.
+    ---@type Vec3
+    POS_Z = nil,
+
+    ---A constant `Vec3` with all components as `1.0`.
+    ---@type Vec3
+    ONE = nil,
+
+    ---A constant `Vec3` with all components as `0.0`.
+    ---@type Vec3
+    ZERO = nil,
+}
+
+function Vec3:__tostring() end
+
+---Create a new `Vec3`
+---@param x number
+---@param y number
+---@param z number
+---@return self
+function Vec3.new(x, y, z) end
+
+---Returns a vector with a length no less than min and no more than max.
+---@param min number the minimum value to clamp the length to
+---@param max number the maximum value to clamp the length to
+---@return self
+function Vec3:clamp_length(min, max) end
+
+---Returns true if the absolute difference of all elements between `self` and `rhs` is less
+---than or equal to `max_abs_diff`.
+---
+---This can be used to compare if two vectors contain similar elements. It works best when
+---comparing with a known value. The `max_abs_diff` that should be used used depends on the
+---values being compared against.
+---
+---For more see [comparing floating point numbers](https://randomascii.wordpress.com/2012/02/25/comparing-floating-point-numbers-2012-edition/).
+---
+---@param rhs Vec3 The other `Vec3` to compare to.
+---@param max_abs_diff number Maximum absolute difference between `self` and `rhs`.
+---@return boolean
+function Vec3:abs_diff_eq(rhs, max_abs_diff) end
+
+---Returns a vector containing the smallest integer greater than or equal to a number for each
+---element of self.
+---@return self
+function Vec3:ceil() end
+
+---Returns the angle (in radians) between two vectors in the range [-π, +π].
+---
+---The inputs do not need to be unit vectors however they must be non-zero.
+---
+---@param rhs Vec3 The other `Vec3` to get the angle to.
+---@return number
+function Vec3:angle_between(rhs) end
+
+---Returns a vector containing the absolute value of each element of `self`.
+---
+---@return self
+function Vec3:abs() end
+
+---Component-wise clamping of values.
+---
+---Each element in `min` must be less-or-equal to the corresponding element in `max`.
+---
+---@param min self The minimum `Vec3` components to clamp the components of `self` to.
+---@param max self The maximum `Vec3` components to clamp the components of `self` to.
+---@return self
+function Vec3:clamp(min, max) end
+
+---Converts `self` to an array `[x, y, z]`
+---
+---@return number[]
+function Vec3:to_array() end
+
+---Move `self` by `x`, `y`, and `z` values.
+---
+---@param x number
+---@param y number
+---@param z number
+function Vec3:move_by(x, y, z) end
+
+---Move `self` by a `Vec3`.
+---
+---@param rhs Vec3
+function Vec3:move_by(rhs) end

lyra-scripting/scripts/lua/types/math/vec4.lua

@@ -0,0 +1,132 @@
+---@meta
+
+---@class Vec4
+---This is a Lua export of [`glam::Vec4`](https://docs.rs/glam/latest/glam/f32/struct.Vec4.html)
+---
+---@operator add(self|number): self
+---@operator sub(self|number): self
+---@operator div(self|number): self
+---@operator mul(self|number): self
+---@operator mod(self|number): self
+---@operator unm: self
+---@diagnostic disable-next-line: unknown-operator
+---@operator eq: self
+Vec4 = {
+    ---The x coordinate
+    ---@type number
+    x = nil,
+    
+    ---The y coordinate
+    ---@type number
+    y = nil,
+
+    ---The z coordinate
+    ---@type number
+    z = nil,
+
+    ---The w coordinate
+    ---@type number
+    w = nil,
+
+    ---A constant `Vec4` with coordinates as `f32::NAN`.
+    ---@type Vec4
+    NAN = nil,
+
+    ---A constant `Vec4` with `x` as `-1.0`.
+    ---@type Vec4
+    NEG_X = nil,
+
+    ---A constant `Vec4` with `y` as `-1.0`.
+    ---@type Vec4
+    NEG_Y = nil,
+
+    ---A constant `Vec4` with `z` as `-1.0`.
+    ---@type Vec4
+    NEG_Z = nil,
+
+    ---A constant `Vec4` with `w` as `-1.0`.
+    ---@type Vec4
+    NEG_W = nil,
+
+    ---A constant `Vec4` with all components as `-1.0`.
+    ---@type Vec4
+    NEG_ONE = nil,
+
+    ---A constant `Vec4` with `x` as `1.0`.
+    ---@type Vec4
+    POS_X = nil,
+
+    ---A constant `Vec4` with `y` as `1.0`.
+    ---@type Vec4
+    POS_Y = nil,
+
+    ---A constant `Vec4` with `z` as `1.0`.
+    ---@type Vec4
+    POS_Z = nil,
+
+    ---A constant `Vec4` with `w` as `1.0`.
+    ---@type Vec4
+    POS_W = nil,
+
+    ---A constant `Vec4` with all components as `1.0`.
+    ---@type Vec4
+    ONE = nil,
+
+    ---A constant `Vec4` with all components as `0.0`.
+    ---@type Vec4
+    ZERO = nil,
+}
+
+function Vec4:__tostring() end
+
+---Create a new `Vec4`
+---@param x number
+---@param y number
+---@param z number
+---@param w number
+---@return self
+function Vec4.new(x, y, z, w) end
+
+---Returns a vector with a length no less than min and no more than max.
+---@param min number the minimum value to clamp the length to
+---@param max number the maximum value to clamp the length to
+---@return self
+function Vec4:clamp_length(min, max) end
+
+---Returns true if the absolute difference of all elements between `self` and `rhs` is less
+---than or equal to `max_abs_diff`.
+---
+---This can be used to compare if two vectors contain similar elements. It works best when
+---comparing with a known value. The `max_abs_diff` that should be used used depends on the
+---values being compared against.
+---
+---For more see [comparing floating point numbers](https://randomascii.wordpress.com/2012/02/25/comparing-floating-point-numbers-2012-edition/).
+---
+---@param rhs Vec4 The other `Vec4` to compare to.
+---@param max_abs_diff number Maximum absolute difference between `self` and `rhs`.
+---@return boolean
+function Vec4:abs_diff_eq(rhs, max_abs_diff) end
+
+---Returns a vector containing the smallest integer greater than or equal to a number for each
+---element of self.
+---@return self
+function Vec4:ceil() end
+
+---Returns a vector containing the absolute value of each element of `self`.
+---
+---@return self
+function Vec4:abs() end
+
+---Component-wise clamping of values.
+---
+---Each element in `min` must be less-or-equal to the corresponding element in `max`.
+---
+---@param min self The minimum `Vec4` components to clamp the components of `self` to.
+---@param max self The maximum `Vec4` components to clamp the components of `self` to.
+---@return self
+function Vec4:clamp(min, max) end
+
+---Converts `self` to an array `[x, y, z]`
+---
+---@return number[]
+function Vec4:to_array() end

lyra-scripting/src/lua/wrappers/math.rs

@@ -1,4 +1,6 @@
-use crate::lyra_engine;
+use std::sync::Arc;
+
+use crate::{lua::Error, lyra_engine};
 use lyra_game::math;
 use lyra_scripting_derive::{lua_vec_wrap_extension, wrap_lua_struct};
 use mlua::FromLuaMulti;
@@ -29,7 +31,14 @@ wrap_lua_struct!(
             } else if let Ok(v) = Self::from_lua_multi(vals_clone, lua) {
                 this.0 += v.0;
             } else {
-                todo!("handle invalid argument error");
+                return Err(mlua::Error::BadArgument {
+                    to: Some("Vec2:move_by".into()),
+                    pos: 2,
+                    name: None,
+                    cause: Arc::new(mlua::Error::runtime(
+                        "expected (number, number, number) or (Vec2), received neither"
+                    )),
+                });
             }
 
             Ok(())
@@ -62,7 +71,14 @@ wrap_lua_struct!(
             } else if let Ok(v) = Self::from_lua_multi(vals_clone, lua) {
                 this.0 += v.0;
             } else {
-                todo!("handle invalid argument error");
+                return Err(mlua::Error::BadArgument {
+                    to: Some("Vec3:move_by".into()),
+                    pos: 2,
+                    name: None,
+                    cause: Arc::new(mlua::Error::runtime(
+                        "expected (number, number, number) or (Vec3), received neither"
+                    )),
+                });
             }
 
             Ok(())
@@ -122,10 +138,27 @@ wrap_lua_struct!(
             Ok(Self(q))
         });
 
+        methods.add_function("from_vec4", |_, v: LuaVec4| {
+            Ok(Self(math::Quat::from_vec4(*v)))
+        });
+
+        methods.add_function("from_axis_angle", |_, (axis, angle): (LuaVec3, f32)| {
+            let q = math::Quat::from_axis_angle(*axis, angle);
+            Ok(Self(q))
+        });
+
         methods.add_method("dot", |_, this, (rhs,): (Self,)| {
             Ok(this.dot(rhs.0))
         });
 
+        methods.add_method("conjugate", |_, this, ()| {
+            Ok(Self(this.conjugate()))
+        });
+
+        methods.add_method("inverse", |_, this, ()| {
+            Ok(Self(this.inverse()))
+        });
+
         methods.add_method("length", |_, this, ()| {
             Ok(this.length())
         });
@@ -134,20 +167,50 @@ wrap_lua_struct!(
             Ok(this.length_squared())
         });
 
-        methods.add_method_mut("normalize", |_, this, ()| {
+        methods.add_method("length_recip", |_, this, ()| {
-            this.0 = this.normalize();
+            Ok(this.length_recip())
-            Ok(())
         });
 
-        methods.add_method_mut("mult_quat", |_, this, (rhs,): (Self,)| {
+        methods.add_method("normalize", |_, this, ()| {
-            this.0 *= rhs.0;
+            Ok(Self(this.normalize()))
-            Ok(())
+        });
+
+        methods.add_method("mult_quat", |_, this, (rhs,): (Self,)| {
+            Ok(Self(this.0 * rhs.0))
         });
 
         methods.add_method("mult_vec3", |_, this, (rhs,): (LuaVec3,)| {
             Ok(LuaVec3(this.0 * rhs.0))
         });
 
+        methods.add_method("is_finite", |_, this, ()| {
+            Ok(this.is_finite())
+        });
+
+        methods.add_method("is_nan", |_, this, ()| {
+            Ok(this.is_nan())
+        });
+
+        methods.add_method("is_normalized", |_, this, ()| {
+            Ok(this.is_normalized())
+        });
+
+        methods.add_method("is_near_identity", |_, this, ()| {
+            Ok(this.is_near_identity())
+        });
+
+        methods.add_method("angle_between", |_, this, rhs: LuaQuat| {
+            Ok(this.angle_between(*rhs))
+        });
+
+        methods.add_method("rotate_towards", |_, this, (rhs, max_angle): (LuaQuat, f32)| {
+            Ok(Self(this.rotate_towards(*rhs, max_angle)))
+        });
+
+        methods.add_method("abs_diff_eq", |_, this, (rhs, max_abs_diff): (LuaQuat, f32)| {
+            Ok(this.abs_diff_eq(*rhs, max_abs_diff))
+        });
+
         // manually implemented here since multiplying may not return `Self`.
         methods.add_meta_method(mlua::MetaMethod::Mul, |lua, this, (val,): (mlua::Value,)| {
             use mlua::IntoLua;
@@ -169,7 +232,15 @@ wrap_lua_struct!(
                         .into_lua(lua)
                 },
                 _ => {
-                    todo!()
+                    let t = val.type_name();
+                    Err(mlua::Error::BadArgument {
+                        to: Some("Quat:__mul".into()),
+                        pos: 2,
+                        name: None,
+                        cause: Arc::new(mlua::Error::external(
+                            Error::type_mismatch("Vec3, Quat, or Number", t)
+                        )),
+                    })
                 }
             }
         });
@@ -177,6 +248,10 @@ wrap_lua_struct!(
         methods.add_method("lerp", |_, this, (rhs, alpha): (Self, f32)| {
             Ok(Self(this.lerp(*rhs, alpha)))
         });
+
+        methods.add_method("slerp", |_, this, (rhs, alpha): (Self, f32)| {
+            Ok(Self(this.slerp(*rhs, alpha)))
+        });
     }
 );
 
@@ -193,12 +268,22 @@ wrap_lua_struct!(
             Ok(Self(math::Transform::new(*pos, *rot, *scale)))
         });
 
-        methods.add_function("from_translation", |_, (pos,): (LuaVec3,)| {
+        methods.add_function("from_translation", |lua, vals: mlua::MultiValue| {
-            Ok(Self(math::Transform::from_translation(*pos)))
+            let vals_clone = vals.clone();
-        });
+            if let Ok((x, y, z)) = <(f32, f32, f32) as FromLuaMulti>::from_lua_multi(vals, lua) {
-
+                Ok(Self(math::Transform::from_xyz(x, y, z)))
-        methods.add_function("from_xyz", |_, (x, y, z)| {
+            } else if let Ok(v) = LuaVec3::from_lua_multi(vals_clone, lua) {
-            Ok(Self(math::Transform::from_xyz(x, y, z)))
+                Ok(Self(math::Transform::from_translation(*v)))
+            } else {
+                Err(mlua::Error::BadArgument {
+                    to: Some("Transform:from_translation".into()),
+                    pos: 2,
+                    name: None,
+                    cause: Arc::new(mlua::Error::runtime(
+                        "expected (number, number, number) or (Vec3), received neither"
+                    )),
+                })
+            }
         });
 
         methods.add_method("clone", |_, this, ()| {