I'm not sure I understand how to make zero allocations? Does this mean you create your variables outside of a requestAnimationFrame (rAF) and update their values inside the rAF?
That's what it means, yep. Making object pools, etc. This can be harder than it sounds, to put it mildly.
In other words, completely subverting the GC altogether.
Object pools for vectors are damned useful...both Xith3D and Ardor3D in Java had free pools for their vector classes, and using those significantly impacted memory usage and frame delays.