In a paper titled Investing in Volatility published in 1998 by Emanuel Derman, Michael Kamal, Iraj Kani, John McClure, Cyrus Pirasteh, and Joseph Z. Zou, I found the following assertion (on page 9) that I am trying to clarify: The quantity $(1/2)\Gamma(\Delta S)^2$ is the gain from an instantaneous index move. The key principle of options valuation is that no free lunch can be obtained by using options. Therefore, if the index actually moves with a realized volatility identical to the implied volatility $\Sigma$ at which the option was purchased, the gain from small index moves must cancel the loss in option value due to the passage of time. Figure 4c shows that this loss due to "time decay"; its magnitude in an instant $\Delta t$ is given by $(1/2)\Gamma(\Sigma^2S^2\Delta t)$.
EDIT: The gain mentioned before is that of a delta-hedged option.
Is there an exact (or approximate relationship) that can be proven (preferably as rigorous as possible) between time decay (or theta) and gamma (as discussed above), in a model-free way?
I have seen some heuristic arguments based on binomial trees but they do not look very convincing. I was looking for something rather more general, for example an argument in continuous time using stochastic calculus.
EDIT: I am interested in finding a mathematically rigorous derivation for the assertions quoted above. Actually, even an good approximation would be ok, as long as I understand its limitations.
EDIT: Any reference would be very welcome.
In view of the answer below by Soumirai, I want to reformulate the question as follows: Knowing that $\Theta = \frac{1}{2}\sigma^2S^2 \Gamma$ holds in a B-S model without rates and dividends, is there an analogous formula that holds for more general stochastic volatility models (of even model-free) ?