fixed somebugs, improved tests

CMakeLists.txt

@@ -35,6 +35,8 @@ if (VCPKG_MANIFEST_FEATURES)
             set(OMATH_BUILD_TESTS ON)
         elseif (omath_feature STREQUAL "benchmark")
             set(OMATH_BUILD_BENCHMARK ON)
+        elseif (omath_feature STREQUAL "examples")
+            set(OMATH_BUILD_EXAMPLES ON)
         endif ()
 
     endforeach ()

CMakePresets.json

@@ -144,7 +144,7 @@
         "OMATH_BUILD_VIA_VCPKG": "ON",
         "CMAKE_TOOLCHAIN_FILE": "$env{VCPKG_ROOT}/scripts/buildsystems/vcpkg.cmake",
         "VCPKG_INSTALLED_DIR": "${sourceDir}/cmake-build/vcpkg_installed",
-        "VCPKG_MANIFEST_FEATURES": "tests;imgui;avx2"
+        "VCPKG_MANIFEST_FEATURES": "tests;imgui;avx2;examples"
       }
     },
     {

examples/CMakeLists.txt

@@ -6,4 +6,12 @@ target_link_libraries(example_projection_matrix_builder PRIVATE omath::omath)
 
 add_executable(example_signature_scan example_signature_scan.cpp)
 set_target_properties(example_signature_scan PROPERTIES CXX_STANDARD 26)
-target_link_libraries(example_signature_scan PRIVATE omath::omath)
+target_link_libraries(example_signature_scan PRIVATE omath::omath)
+
+
+add_executable(example_glfw3 example_glfw3.cpp)
+set_target_properties(example_glfw3 PROPERTIES CXX_STANDARD 26)
+
+find_package(GLEW REQUIRED)
+find_package(glfw3 CONFIG REQUIRED)
+target_link_libraries(example_glfw3 PRIVATE omath::omath GLEW::GLEW glfw)

examples/example_glfw3.cpp

@@ -0,0 +1,333 @@
+// main.cpp
+#include <cstdint>
+#include <iostream>
+#include <vector>
+
+// --- OpenGL / windowing ---
+#include <GL/glew.h> // GLEW must come before GLFW
+#include <GLFW/glfw3.h>
+
+// --- your math / engine stuff ---
+#include "omath/3d_primitives/mesh.hpp"
+#include "omath/engines/opengl_engine/camera.hpp"
+#include "omath/engines/opengl_engine/constants.hpp"
+#include "omath/engines/opengl_engine/mesh.hpp"
+#include "omath/linear_algebra/vector3.hpp"
+
+using omath::Vector3;
+
+// ---------------- TYPE ALIASES (ADAPT TO YOUR LIB) ----------------
+
+// Your 4x4 matrix type
+using Mat4x4 = omath::opengl_engine::Mat4X4;
+
+// Rotation angles for the Mesh (whatever you use for rotation)
+using RotationAngles =
+        omath::opengl_engine::ViewAngles; // TODO: if you have a dedicated angle type for mesh rotation, use it
+
+// View angles type for camera trait
+using ViewAngles = RotationAngles; // TODO: if your camera uses a different view-angle type, change this
+
+// Your trait types (that satisfy the concepts declared in your headers)
+using CameraTrait = /* TODO: your camera engine trait type here */ void;
+using MeshTrait = /* TODO: your mesh rotation trait type here */ void;
+
+// For brevity, alias the templates instantiated with your types
+using VertexType = omath::primitives::Vertex<Vector3<float>>;
+using CubeMesh = omath::opengl_engine::Mesh;
+using MyCamera = omath::opengl_engine::Camera;
+
+// ---------------- SHADERS ----------------
+
+static const char* vertexShaderSource = R"(
+#version 330 core
+layout (location = 0) in vec3 aPos;
+layout (location = 1) in vec3 aNormal;
+layout (location = 2) in vec3 aUv;
+
+uniform mat4 uMVP;
+uniform mat4 uModel;
+out vec3 vNormal;
+out vec3 vUv;
+
+void main() {
+    vNormal = aNormal;
+    vUv = aUv;
+    gl_Position = uMVP * uModel * vec4(aPos, 1.0);
+}
+)";
+
+static const char* fragmentShaderSource = R"(
+#version 330 core
+in vec3 vNormal;
+in vec3 vUv;
+
+out vec4 FragColor;
+
+void main() {
+    vec3 baseColor = normalize(abs(vNormal));
+    FragColor = vec4(baseColor, 1.0);
+}
+)";
+
+GLuint compileShader(GLenum type, const char* src)
+{
+    GLuint shader = glCreateShader(type);
+    glShaderSource(shader, 1, &src, nullptr);
+    glCompileShader(shader);
+
+    GLint ok = GL_FALSE;
+    glGetShaderiv(shader, GL_COMPILE_STATUS, &ok);
+    if (!ok)
+    {
+        char log[1024];
+        glGetShaderInfoLog(shader, sizeof(log), nullptr, log);
+        std::cerr << "Shader compile error: " << log << std::endl;
+    }
+    return shader;
+}
+
+GLuint createShaderProgram()
+{
+    GLuint vs = compileShader(GL_VERTEX_SHADER, vertexShaderSource);
+    GLuint fs = compileShader(GL_FRAGMENT_SHADER, fragmentShaderSource);
+
+    GLuint prog = glCreateProgram();
+    glAttachShader(prog, vs);
+    glAttachShader(prog, fs);
+    glLinkProgram(prog);
+
+    GLint ok = GL_FALSE;
+    glGetProgramiv(prog, GL_LINK_STATUS, &ok);
+    if (!ok)
+    {
+        char log[1024];
+        glGetProgramInfoLog(prog, sizeof(log), nullptr, log);
+        std::cerr << "Program link error: " << log << std::endl;
+    }
+
+    glDeleteShader(vs);
+    glDeleteShader(fs);
+    return prog;
+}
+
+void framebuffer_size_callback(GLFWwindow* /*window*/, int w, int h)
+{
+    glViewport(0, 0, w, h);
+}
+
+// ---------------- MAIN ----------------
+
+int main()
+{
+    // ---------- GLFW init ----------
+    if (!glfwInit())
+    {
+        std::cerr << "Failed to init GLFW\n";
+        return -1;
+    }
+
+    glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
+    glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 3);
+    glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
+#ifdef __APPLE__
+    glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE);
+#endif
+
+    const int SCR_WIDTH = 800;
+    const int SCR_HEIGHT = 600;
+
+    GLFWwindow* window = glfwCreateWindow(SCR_WIDTH, SCR_HEIGHT, "omath cube + camera (GLEW)", nullptr, nullptr);
+    if (!window)
+    {
+        std::cerr << "Failed to create GLFW window\n";
+        glfwTerminate();
+        return -1;
+    }
+
+    glfwMakeContextCurrent(window);
+    glfwSetFramebufferSizeCallback(window, framebuffer_size_callback);
+
+    // ---------- GLEW init ----------
+    glewExperimental = GL_TRUE;
+    GLenum glewErr = glewInit();
+    if (glewErr != GLEW_OK)
+    {
+        std::cerr << "Failed to initialize GLEW: " << reinterpret_cast<const char*>(glewGetErrorString(glewErr))
+                  << "\n";
+        glfwTerminate();
+        return -1;
+    }
+
+    glEnable(GL_DEPTH_TEST);
+
+    // ---------- Build Cube Mesh (CPU side) ----------
+    std::vector<omath::primitives::Vertex<>> vbo;
+    vbo.reserve(8);
+
+    Vector3<float> p000{-0.5f, -0.5f, -0.5f};
+    Vector3<float> p001{-0.5f, -0.5f, 0.5f};
+    Vector3<float> p010{-0.5f, 0.5f, -0.5f};
+    Vector3<float> p011{-0.5f, 0.5f, 0.5f};
+    Vector3<float> p100{0.5f, -0.5f, -0.5f};
+    Vector3<float> p101{0.5f, -0.5f, 0.5f};
+    Vector3<float> p110{0.5f, 0.5f, -0.5f};
+    Vector3<float> p111{0.5f, 0.5f, 0.5f};
+
+    VertexType v0{p000, Vector3<float>{-1, -1, -1}, Vector3<float>{0, 0, 0}};
+    VertexType v1{p001, Vector3<float>{-1, -1, 1}, Vector3<float>{0, 1, 0}};
+    VertexType v2{p010, Vector3<float>{-1, 1, -1}, Vector3<float>{1, 0, 0}};
+    VertexType v3{p011, Vector3<float>{-1, 1, 1}, Vector3<float>{1, 1, 0}};
+    VertexType v4{p100, Vector3<float>{1, -1, -1}, Vector3<float>{0, 0, 1}};
+    VertexType v5{p101, Vector3<float>{1, -1, 1}, Vector3<float>{0, 1, 1}};
+    VertexType v6{p110, Vector3<float>{1, 1, -1}, Vector3<float>{1, 0, 1}};
+    VertexType v7{p111, Vector3<float>{1, 1, 1}, Vector3<float>{1, 1, 1}};
+
+    vbo.push_back(v0); // 0
+    vbo.push_back(v1); // 1
+    vbo.push_back(v2); // 2
+    vbo.push_back(v3); // 3
+    vbo.push_back(v4); // 4
+    vbo.push_back(v5); // 5
+    vbo.push_back(v6); // 6
+    vbo.push_back(v7); // 7
+
+    std::vector<Vector3<std::uint32_t>> ebo;
+    ebo.reserve(12);
+    using Idx = Vector3<std::uint32_t>;
+
+    // front (z+)
+    ebo.emplace_back(Idx{1, 5, 7});
+    ebo.emplace_back(Idx{1, 7, 3});
+
+    // back (z-)
+    ebo.emplace_back(Idx{0, 2, 6});
+    ebo.emplace_back(Idx{0, 6, 4});
+
+    // left (x-)
+    ebo.emplace_back(Idx{0, 1, 3});
+    ebo.emplace_back(Idx{0, 3, 2});
+
+    // right (x+)
+    ebo.emplace_back(Idx{4, 6, 7});
+    ebo.emplace_back(Idx{4, 7, 5});
+
+    // bottom (y-)
+    ebo.emplace_back(Idx{0, 4, 5});
+    ebo.emplace_back(Idx{0, 5, 1});
+
+    // top (y+)
+    ebo.emplace_back(Idx{2, 3, 7});
+    ebo.emplace_back(Idx{2, 7, 6});
+
+    CubeMesh cube{std::move(vbo), std::move(ebo)};
+    cube.set_origin(Vector3<float>{0.f, 0.f, 0.f});
+    cube.set_scale(Vector3<float>{1.f, 2.f, 1.f});
+    cube.set_rotation(RotationAngles{});
+
+    // ---------- OpenGL buffers ----------
+    GLuint VAO = 0, VBO = 0, EBO_GL = 0;
+    glGenVertexArrays(1, &VAO);
+    glGenBuffers(1, &VBO);
+    glGenBuffers(1, &EBO_GL);
+
+    glBindVertexArray(VAO);
+
+    // upload vertex buffer
+    glBindBuffer(GL_ARRAY_BUFFER, VBO);
+    glBufferData(GL_ARRAY_BUFFER, cube.m_vertex_buffer.size() * sizeof(VertexType), cube.m_vertex_buffer.data(),
+                 GL_STATIC_DRAW);
+
+    // flatten Ebo to GL indices
+    std::vector<GLuint> flatIndices;
+    flatIndices.reserve(cube.m_vertex_array_object.size() * 3);
+    for (const auto& tri : cube.m_vertex_array_object)
+    {
+        flatIndices.push_back(tri.x);
+        flatIndices.push_back(tri.y);
+        flatIndices.push_back(tri.z);
+    }
+
+    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, EBO_GL);
+    glBufferData(GL_ELEMENT_ARRAY_BUFFER, flatIndices.size() * sizeof(GLuint), flatIndices.data(), GL_STATIC_DRAW);
+
+    // vertex layout: position / normal / uv (each Vector3<float>)
+    glEnableVertexAttribArray(0);
+    glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, sizeof(VertexType), (void*)offsetof(VertexType, position));
+
+    glEnableVertexAttribArray(1);
+    glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, sizeof(VertexType), (void*)offsetof(VertexType, normal));
+
+    glEnableVertexAttribArray(2);
+    glVertexAttribPointer(2, 3, GL_FLOAT, GL_FALSE, sizeof(VertexType), (void*)offsetof(VertexType, uv));
+
+    glBindVertexArray(0);
+
+    // ---------- Camera setup ----------
+    omath::projection::ViewPort viewPort{static_cast<float>(SCR_WIDTH), static_cast<float>(SCR_HEIGHT)};
+    
+    Vector3<float> camPos{0.f, 0.f, 3.f};
+
+    float nearPlane = 0.1f;
+    float farPlane = 100.f;
+    auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    // NOTE: you must replace CameraTrait alias above with your real type
+    MyCamera camera{camPos, {}, viewPort, fov, nearPlane, farPlane};
+
+    // ---------- Shader ----------
+    GLuint shaderProgram = createShaderProgram();
+    GLint uMvpLoc = glGetUniformLocation(shaderProgram, "uMVP");
+    GLint uModel = glGetUniformLocation(shaderProgram, "uModel");
+    static float old_frame_time = glfwGetTime();
+
+    // ---------- Main loop ----------
+    while (!glfwWindowShouldClose(window))
+    {
+        glfwPollEvents();
+
+        float currentTime = glfwGetTime();
+        float deltaTime = currentTime - old_frame_time;
+        old_frame_time = currentTime;
+        int fbW, fbH;
+        glfwGetFramebufferSize(window, &fbW, &fbH);
+        glViewport(0, 0, fbW, fbH);
+
+        viewPort.m_width = static_cast<float>(fbW);
+        viewPort.m_height = static_cast<float>(fbH);
+        camera.set_view_port(viewPort);
+
+        glClearColor(0.1f, 0.15f, 0.2f, 1.0f);
+        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+        RotationAngles rot = cube.get_rotation_angles();
+        rot.yaw += omath::opengl_engine::YawAngle::from_degrees(40.f * deltaTime);
+        rot.roll += omath::opengl_engine::YawAngle::from_degrees(40.f * deltaTime);
+        cube.set_rotation(rot);
+
+        const Mat4x4& viewProj = camera.get_view_projection_matrix();
+        const auto& model = cube.get_to_world_matrix();
+        glUseProgram(shaderProgram);
+
+        // Send matrix to GPU
+        // TODO: replace mvp.data() with whatever your Mat4x4 uses to expose float*
+        const float* mvpPtr = viewProj.raw_array().data(); // assumes column-major float[16]
+
+        glUniformMatrix4fv(uMvpLoc, 1, GL_FALSE, mvpPtr);
+        const float* modelPtr = model.raw_array().data(); // assumes column-major float[16]
+        glBindVertexArray(VAO);
+        glUniformMatrix4fv(uModel, 1, GL_FALSE, modelPtr);
+        glDrawElements(GL_TRIANGLES, static_cast<GLsizei>(flatIndices.size()), GL_UNSIGNED_INT, nullptr);
+
+        glfwSwapBuffers(window);
+    }
+
+    // ---------- Cleanup ----------
+    glDeleteVertexArrays(1, &VAO);
+    glDeleteBuffers(1, &VBO);
+    glDeleteBuffers(1, &EBO_GL);
+    glDeleteProgram(shaderProgram);
+
+    glfwDestroyWindow(window);
+    glfwTerminate();
+    return 0;
+}

include/omath/3d_primitives/mesh.hpp

@@ -90,8 +90,9 @@ namespace omath::primitives
         {
             if (m_to_world_matrix)
                 return m_to_world_matrix.value();
-            m_to_world_matrix =
+            m_to_world_matrix = mat_translation<float, Mat4X4::get_store_ordering()>(m_origin)
-                    mat_translation(m_origin) * mat_scale(m_scale) * MeshTypeTrait::rotation_matrix(m_rotation_angles);
+                                * MeshTypeTrait::rotation_matrix(m_rotation_angles)
+                                * mat_scale<float, Mat4X4::get_store_ordering()>(m_scale);
 
             return m_to_world_matrix.value();
         }

include/omath/engines/frostbite_engine/mesh.hpp

@@ -8,5 +8,5 @@
 
 namespace omath::frostbite_engine
 {
-    using Mesh = primitives::Mesh<Mat4X4, ViewAngles, MeshTrait, float>;
+    using Mesh = primitives::Mesh<Mat4X4, ViewAngles, MeshTrait>;
 }

include/omath/engines/iw_engine/mesh.hpp

@@ -8,5 +8,5 @@
 
 namespace omath::iw_engine
 {
-    using Mesh = primitives::Mesh<Mat4X4, ViewAngles, MeshTrait, float>;
+    using Mesh = primitives::Mesh<Mat4X4, ViewAngles, MeshTrait>;
 }

include/omath/engines/opengl_engine/mesh.hpp

@@ -8,5 +8,5 @@
 
 namespace omath::opengl_engine
 {
-    using Mesh = primitives::Mesh<Mat4X4, ViewAngles, MeshTrait, float>;
+    using Mesh = primitives::Mesh<Mat4X4, ViewAngles, MeshTrait>;
 }

vcpkg.json

@@ -4,7 +4,7 @@
   "description": "General purpose math library",
   "homepage": "https://github.com/orange-cpp/omath",
   "license": "Zlib",
-  "supports": "windows | linux",
+  "supports": "windows | linux | macos",
   "dependencies": [
     {
       "name": "vcpkg-cmake",
@@ -26,6 +26,13 @@
         "benchmark"
       ]
     },
+    "examples": {
+      "description": "Build benchmarks",
+      "dependencies": [
+        "glfw3",
+        "glew"
+      ]
+    },
     "imgui": {
       "description": "Omath will define method to convert omath types to imgui types",
       "dependencies": [