Add MinGW support

.github/workflows/cmake-multi-platform.yml

@@ -53,7 +53,7 @@ jobs:
 
 
   ##############################################################################
-  # 2)  Windows  –  MSVC / Ninja
+  # 2)  Windows x64  –  MSVC (x64-windows)
   ##############################################################################
   windows-build-and-test:
     name: Windows (MSVC) (x64-windows)
@@ -85,6 +85,43 @@ jobs:
         shell: bash
         run: ./out/Release/unit_tests.exe
 
+
+
+  ##############################################################################
+  # 3)  Windows x86  –  MSVC (x86-windows)
+  ##############################################################################
+  windows-x86-build-and-test:
+    name: Windows (MSVC) (x86-windows)
+    runs-on: windows-latest
+    env:
+      OMATH_BUILD_VIA_VCPKG: ON
+
+    steps:
+      - name: Checkout repository (with sub-modules)
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Install Ninja
+        uses: seanmiddleditch/gha-setup-ninja@v4
+
+      - name: Set up MSVC developer command-prompt
+        uses: ilammy/msvc-dev-cmd@v1
+        with:
+          arch: amd64_x86
+
+      - name: Configure (cmake --preset)
+        shell: bash
+        run: cmake --preset windows-release-vcpkg-x86 -DOMATH_BUILD_TESTS=ON -DOMATH_BUILD_BENCHMARK=OFF -DVCPKG_MANIFEST_FEATURES="imgui;avx2;tests"
+
+      - name: Build
+        shell: bash
+        run: cmake --build cmake-build/build/windows-release-vcpkg-x86 --target unit_tests omath
+
+      - name: Run unit_tests.exe
+        shell: bash
+        run: ./out/Release/unit_tests.exe
+
   ##############################################################################
   # 3)  macOS  –  AppleClang / Ninja
   ##############################################################################
@@ -307,3 +344,168 @@ jobs:
         shell: bash
         run: |
           cmake --build cmake-build/build/wasm-release-vcpkg --target unit_tests omath
+
+  ##############################################################################
+  # 7)  Windows MSYS2 MinGW  –  GCC / Ninja / x64-mingw-dynamic
+  ##############################################################################
+  mingw-build-and-test:
+    name: MINGW64 (MSYS2) (x64-mingw-dynamic)
+    runs-on: windows-latest
+    
+    defaults:
+      run:
+        shell: msys2 {0}
+    
+    env:
+      VCPKG_ROOT: ${{ github.workspace }}/vcpkg
+    
+    steps:
+      - name: Setup MSYS2
+        uses: msys2/setup-msys2@v2
+        with:
+          msystem: MINGW64
+          update: true
+          install: >-
+            mingw-w64-x86_64-toolchain
+            mingw-w64-x86_64-cmake
+            mingw-w64-x86_64-ninja
+            mingw-w64-x86_64-pkg-config
+            git
+            base-devel
+
+      - name: Checkout repository (with sub-modules)
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Set up vcpkg
+        run: |
+          git clone https://github.com/microsoft/vcpkg "$VCPKG_ROOT"
+          cd "$VCPKG_ROOT"
+          ./bootstrap-vcpkg.sh
+
+      - name: Configure (cmake --preset)
+        run: |
+          cmake --preset mingw-release-vcpkg \
+            -DVCPKG_INSTALL_OPTIONS="--allow-unsupported" \
+            -DOMATH_BUILD_TESTS=ON \
+            -DOMATH_BUILD_BENCHMARK=OFF \
+            -DVCPKG_MANIFEST_FEATURES="imgui;tests"
+
+      - name: Build
+        run: |
+          cmake --build cmake-build/build/mingw-release-vcpkg --target unit_tests omath
+
+      - name: Run unit_tests.exe
+        run: |
+          ./out/Release/unit_tests.exe
+
+  ##############################################################################
+  # 8)  Windows UCRT64 MSYS2 MinGW  –  GCC / Ninja / x64-mingw-dynamic
+  ##############################################################################
+  mingw-ucrt-build-and-test:
+    name: UCRT64 (MSYS2) (x64-mingw-dynamic)
+    runs-on: windows-latest
+    
+    defaults:
+      run:
+        shell: msys2 {0}
+    
+    env:
+      VCPKG_ROOT: ${{ github.workspace }}/vcpkg
+    
+    steps:
+      - name: Setup MSYS2
+        uses: msys2/setup-msys2@v2
+        with:
+          msystem: UCRT64
+          update: true
+          install: >-
+            mingw-w64-ucrt-x86_64-toolchain
+            mingw-w64-ucrt-x86_64-cmake
+            mingw-w64-ucrt-x86_64-ninja
+            mingw-w64-ucrt-x86_64-pkg-config
+            git
+            base-devel
+
+      - name: Checkout repository (with sub-modules)
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Set up vcpkg
+        run: |
+          git clone https://github.com/microsoft/vcpkg "$VCPKG_ROOT"
+          cd "$VCPKG_ROOT"
+          ./bootstrap-vcpkg.sh
+
+      - name: Configure (cmake --preset)
+        run: |
+          cmake --preset mingw-release-vcpkg \
+            -DVCPKG_INSTALL_OPTIONS="--allow-unsupported" \
+            -DOMATH_BUILD_TESTS=ON \
+            -DOMATH_BUILD_BENCHMARK=OFF \
+            -DVCPKG_MANIFEST_FEATURES="imgui;tests"
+
+      - name: Build
+        run: |
+          cmake --build cmake-build/build/mingw-release-vcpkg --target unit_tests omath
+
+      - name: Run unit_tests.exe
+        run: |
+          ./out/Release/unit_tests.exe
+
+  ##############################################################################
+  # 9)  Windows MSYS2 MinGW32  –  GCC / Ninja / x86-mingw-dynamic
+  ##############################################################################
+  mingw32-build-and-test:
+    name: MINGW32 (MSYS2) (x86-mingw-dynamic)
+    runs-on: windows-latest
+    
+    defaults:
+      run:
+        shell: msys2 {0}
+    
+    env:
+      VCPKG_ROOT: ${{ github.workspace }}/vcpkg
+    
+    steps:
+      - name: Setup MSYS2
+        uses: msys2/setup-msys2@v2
+        with:
+          msystem: MINGW32
+          update: true
+          install: >-
+            mingw-w64-i686-toolchain
+            mingw-w64-i686-cmake
+            mingw-w64-i686-ninja
+            mingw-w64-i686-pkg-config
+            git
+            base-devel
+
+      - name: Checkout repository (with sub-modules)
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Set up vcpkg
+        run: |
+          git clone https://github.com/microsoft/vcpkg "$VCPKG_ROOT"
+          cd "$VCPKG_ROOT"
+          ./bootstrap-vcpkg.sh
+
+      - name: Configure (cmake --preset)
+        run: |
+          cmake --preset mingw32-release-vcpkg \
+            -DVCPKG_INSTALL_OPTIONS="--allow-unsupported" \
+            -DOMATH_BUILD_TESTS=ON \
+            -DOMATH_BUILD_BENCHMARK=OFF \
+            -DVCPKG_MANIFEST_FEATURES="imgui;tests"
+
+      - name: Build
+        run: |
+          cmake --build cmake-build/build/mingw32-release-vcpkg --target unit_tests omath
+
+      - name: Run unit_tests.exe
+        run: |
+          ./out/Release/unit_tests.exe

CMakePresets.json

@@ -53,6 +53,40 @@
         "OMATH_BUILD_VIA_VCPKG": "ON"
       }
     },
+    {
+      "name": "windows-base-vcpkg-x86",
+      "hidden": true,
+      "inherits": "windows-base",
+      "architecture": {
+        "value": "x86",
+        "strategy": "external"
+      },
+      "cacheVariables": {
+        "OMATH_BUILD_VIA_VCPKG": "ON",
+        "CMAKE_TOOLCHAIN_FILE": "$env{VCPKG_ROOT}/scripts/buildsystems/vcpkg.cmake",
+        "VCPKG_INSTALLED_DIR": "${sourceDir}/cmake-build/vcpkg_installed",
+        "VCPKG_TARGET_TRIPLET": "x86-windows",
+        "VCPKG_HOST_TRIPLET": "x64-windows",
+        "VCPKG_MANIFEST_FEATURES": "tests;imgui;avx2;examples"
+      }
+    },
+    {
+      "name": "windows-debug-vcpkg-x86",
+      "displayName": "Windows Debug Vcpkg (x86)",
+      "inherits": "windows-base-vcpkg-x86",
+      "cacheVariables": {
+        "CMAKE_BUILD_TYPE": "Debug"
+      }
+    },
+    {
+      "name": "windows-release-vcpkg-x86",
+      "displayName": "Windows Release Vcpkg (x86)",
+      "inherits": "windows-base-vcpkg-x86",
+      "cacheVariables": {
+        "CMAKE_BUILD_TYPE": "Release",
+        "OMATH_BUILD_VIA_VCPKG": "ON"
+      }
+    },
     {
       "name": "windows-release",
       "displayName": "Release",
@@ -365,6 +399,160 @@
       "cacheVariables": {
         "CMAKE_BUILD_TYPE": "Release"
       }
+    },
+    {
+      "name": "mingw-base",
+      "hidden": true,
+      "generator": "Ninja",
+      "binaryDir": "${sourceDir}/cmake-build/build/${presetName}",
+      "installDir": "${sourceDir}/cmake-build/install/${presetName}",
+      "cacheVariables": {
+        "CMAKE_CXX_COMPILER": "g++",
+        "CMAKE_C_COMPILER": "gcc",
+        "CMAKE_MAKE_PROGRAM": "ninja"
+      },
+      "condition": {
+        "type": "equals",
+        "lhs": "${hostSystemName}",
+        "rhs": "Windows"
+      }
+    },
+    {
+      "name": "mingw-ucrt-base-vcpkg",
+      "hidden": true,
+      "inherits": "mingw-base",
+      "environment": {
+        "VCPKG_DEFAULT_HOST_TRIPLET": "x64-mingw-dynamic"
+      },
+      "cacheVariables": {
+        "OMATH_BUILD_VIA_VCPKG": "ON",
+        "CMAKE_TOOLCHAIN_FILE": "$env{VCPKG_ROOT}/scripts/buildsystems/vcpkg.cmake",
+        "VCPKG_INSTALLED_DIR": "${sourceDir}/cmake-build/vcpkg_installed",
+        "VCPKG_TARGET_TRIPLET": "x64-mingw-dynamic",
+        "VCPKG_HOST_TRIPLET": "x64-mingw-dynamic",
+        "VCPKG_MANIFEST_FEATURES": "tests;imgui"
+      }
+    },
+    {
+      "name": "mingw-ucrt-release-vcpkg",
+      "displayName": "MinGW UCRT64 Release Vcpkg",
+      "inherits": "mingw-ucrt-base-vcpkg",
+      "cacheVariables": {
+        "CMAKE_BUILD_TYPE": "Release"
+      }
+    },
+    {
+      "name": "mingw-base-vcpkg",
+      "hidden": true,
+      "inherits": "mingw-base",
+      "environment": {
+        "VCPKG_DEFAULT_HOST_TRIPLET": "x64-mingw-dynamic"
+      },
+      "cacheVariables": {
+        "OMATH_BUILD_VIA_VCPKG": "ON",
+        "CMAKE_TOOLCHAIN_FILE": "$env{VCPKG_ROOT}/scripts/buildsystems/vcpkg.cmake",
+        "VCPKG_INSTALLED_DIR": "${sourceDir}/cmake-build/vcpkg_installed",
+        "VCPKG_TARGET_TRIPLET": "x64-mingw-dynamic",
+        "VCPKG_HOST_TRIPLET": "x64-mingw-dynamic",
+        "VCPKG_MANIFEST_FEATURES": "tests;imgui"
+      }
+    },
+    {
+      "name": "mingw-debug",
+      "displayName": "MinGW Debug",
+      "inherits": "mingw-base",
+      "cacheVariables": {
+        "CMAKE_BUILD_TYPE": "Debug"
+      }
+    },
+    {
+      "name": "mingw-debug-vcpkg",
+      "displayName": "MinGW Debug Vcpkg",
+      "inherits": "mingw-base-vcpkg",
+      "cacheVariables": {
+        "CMAKE_BUILD_TYPE": "Debug"
+      }
+    },
+    {
+      "name": "mingw-release",
+      "displayName": "MinGW Release",
+      "inherits": "mingw-base",
+      "cacheVariables": {
+        "CMAKE_BUILD_TYPE": "Release"
+      }
+    },
+    {
+      "name": "mingw-release-vcpkg",
+      "displayName": "MinGW Release Vcpkg",
+      "inherits": "mingw-base-vcpkg",
+      "cacheVariables": {
+        "CMAKE_BUILD_TYPE": "Release"
+      }
+    },
+    {
+      "name": "mingw32-base",
+      "hidden": true,
+      "generator": "Ninja",
+      "binaryDir": "${sourceDir}/cmake-build/build/${presetName}",
+      "installDir": "${sourceDir}/cmake-build/install/${presetName}",
+      "cacheVariables": {
+        "CMAKE_CXX_COMPILER": "g++",
+        "CMAKE_C_COMPILER": "gcc",
+        "CMAKE_MAKE_PROGRAM": "ninja"
+      },
+      "condition": {
+        "type": "equals",
+        "lhs": "${hostSystemName}",
+        "rhs": "Windows"
+      }
+    },
+    {
+      "name": "mingw32-base-vcpkg",
+      "hidden": true,
+      "inherits": "mingw32-base",
+      "environment": {
+        "VCPKG_DEFAULT_HOST_TRIPLET": "x86-mingw-dynamic"
+      },
+      "cacheVariables": {
+        "OMATH_BUILD_VIA_VCPKG": "ON",
+        "CMAKE_TOOLCHAIN_FILE": "$env{VCPKG_ROOT}/scripts/buildsystems/vcpkg.cmake",
+        "VCPKG_INSTALLED_DIR": "${sourceDir}/cmake-build/vcpkg_installed",
+        "VCPKG_TARGET_TRIPLET": "x86-mingw-dynamic",
+        "VCPKG_HOST_TRIPLET": "x86-mingw-dynamic",
+        "VCPKG_MANIFEST_FEATURES": "tests;imgui"
+      }
+    },
+    {
+      "name": "mingw32-debug",
+      "displayName": "MinGW32 Debug",
+      "inherits": "mingw32-base",
+      "cacheVariables": {
+        "CMAKE_BUILD_TYPE": "Debug"
+      }
+    },
+    {
+      "name": "mingw32-debug-vcpkg",
+      "displayName": "MinGW32 Debug Vcpkg",
+      "inherits": "mingw32-base-vcpkg",
+      "cacheVariables": {
+        "CMAKE_BUILD_TYPE": "Debug"
+      }
+    },
+    {
+      "name": "mingw32-release",
+      "displayName": "MinGW32 Release",
+      "inherits": "mingw32-base",
+      "cacheVariables": {
+        "CMAKE_BUILD_TYPE": "Release"
+      }
+    },
+    {
+      "name": "mingw32-release-vcpkg",
+      "displayName": "MinGW32 Release Vcpkg",
+      "inherits": "mingw32-base-vcpkg",
+      "cacheVariables": {
+        "CMAKE_BUILD_TYPE": "Release"
+      }
     }
   ]
 }

include/omath/linear_algebra/mat.hpp

@@ -380,7 +380,9 @@ namespace omath
         {
             const auto det = determinant();
 
-            if (det == 0)
+            constexpr Type det_epsilon = static_cast<Type>(1e-6);
+
+            if (std::abs(det) < det_epsilon)
                 return std::nullopt;
 
             const auto transposed_mat = transposed();

include/omath/projection/camera.hpp

@@ -8,6 +8,7 @@
 #include "omath/linear_algebra/triangle.hpp"
 #include "omath/linear_algebra/vector3.hpp"
 #include "omath/projection/error_codes.hpp"
+#include <cmath>
 #include <expected>
 #include <omath/trigonometry/angle.hpp>
 #include <type_traits>
@@ -229,13 +230,17 @@ namespace omath::projection
             auto projected = get_view_projection_matrix()
                              * mat_column_from_vector<float, Mat4X4Type::get_store_ordering()>(world_position);
 
-            if (projected.at(3, 0) == 0.0f)
+            constexpr float w_epsilon = 1e-6f;
+            const auto w = projected.at(3, 0);
+            if (w <= w_epsilon) {
                 return std::unexpected(Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS);
+            }
 
-            projected /= projected.at(3, 0);
+            projected /= w;
 
-            if (is_ndc_out_of_bounds(projected))
+            if (is_ndc_out_of_bounds(projected)) {
                 return std::unexpected(Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS);
+            }
 
             return Vector3<float>{projected.at(0, 0), projected.at(1, 0), projected.at(2, 0)};
         }
@@ -244,19 +249,33 @@ namespace omath::projection
         {
             const auto inv_view_proj = get_view_projection_matrix().inverted();
 
-            if (!inv_view_proj)
+            if (!inv_view_proj) {
                 return std::unexpected(Error::INV_VIEW_PROJ_MAT_DET_EQ_ZERO);
+            }
 
             auto inverted_projection =
                     inv_view_proj.value() * mat_column_from_vector<float, Mat4X4Type::get_store_ordering()>(ndc);
 
-            if (!inverted_projection.at(3, 0))
+            constexpr float w_epsilon = 1e-6f;
+            const auto w = inverted_projection.at(3, 0);
+            if (std::abs(w) < w_epsilon) {
                 return std::unexpected(Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS);
+            }
 
-            inverted_projection /= inverted_projection.at(3, 0);
+            inverted_projection /= w;
 
-            return Vector3<float>{inverted_projection.at(0, 0), inverted_projection.at(1, 0),
+            const Vector3<float> world_pos{inverted_projection.at(0, 0), inverted_projection.at(1, 0),
                                           inverted_projection.at(2, 0)};
+
+            // Validate that the computed world position is reasonable
+            constexpr float max_reasonable_component = 1e6f;
+            if (!std::isfinite(world_pos.x) || !std::isfinite(world_pos.y)
+                || !std::isfinite(world_pos.z) || std::abs(world_pos.x) > max_reasonable_component
+                || std::abs(world_pos.y) > max_reasonable_component || std::abs(world_pos.z) > max_reasonable_component) {
+                return std::unexpected(Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS);
+            }
+
+            return world_pos;
         }
 
         template<ScreenStart screen_start = ScreenStart::TOP_LEFT_CORNER>
@@ -290,7 +309,8 @@ namespace omath::projection
         template<class Type>
         [[nodiscard]] constexpr static bool is_ndc_out_of_bounds(const Type& ndc) noexcept
         {
-            return std::ranges::any_of(ndc.raw_array(), [](const auto& val) { return val < -1 || val > 1; });
+            constexpr float eps = 1e-5f;
+            return std::ranges::any_of(ndc.raw_array(), [](const auto& val) { return val < -1.0f - eps || val > 1.0f + eps; });
         }
 
         // NDC REPRESENTATION:
@@ -347,7 +367,7 @@ namespace omath::projection
             if constexpr (screen_start == ScreenStart::TOP_LEFT_CORNER)
                 return {screen_pos.x / m_view_port.m_width * 2.f - 1.f, 1.f - screen_pos.y / m_view_port.m_height * 2.f,
                         screen_pos.z};
-            else if (screen_start == ScreenStart::BOTTOM_LEFT_CORNER)
+            else if constexpr (screen_start == ScreenStart::BOTTOM_LEFT_CORNER)
                 return {screen_pos.x / m_view_port.m_width * 2.f - 1.f,
                         (screen_pos.y / m_view_port.m_height - 0.5f) * 2.f, screen_pos.z};
             else

tests/CMakeLists.txt

@@ -23,7 +23,7 @@ else() # GTest is being linked as vcpkg package
     target_link_libraries(${PROJECT_NAME} PRIVATE GTest::gtest GTest::gtest_main omath::omath)
 endif()
 
-# Skip test discovery for Android builds - binaries cannot run on host
+# Skip test discovery for Android/iOS builds or when cross-compiling - binaries cannot run on host
-if (NOT (CMAKE_SYSTEM_NAME STREQUAL "Android" OR CMAKE_SYSTEM_NAME STREQUAL "iOS"))
+if (NOT (ANDROID OR IOS))
     gtest_discover_tests(${PROJECT_NAME})
 endif()