Merge pull request #15 from orange-cpp/u/orange-cpp/misc

Global improvement

.clang-format

@@ -0,0 +1,62 @@
+# Generated from CLion C/C++ Code Style settings
+---
+Language: Cpp
+BasedOnStyle: LLVM
+AccessModifierOffset: -4
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignOperands: true
+AlignTrailingComments: false
+AllowShortBlocksOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AlwaysBreakTemplateDeclarations: Yes
+BraceWrapping: 
+  AfterCaseLabel: true
+  AfterClass: true
+  AfterControlStatement: true
+  AfterEnum: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+  AfterUnion: true
+  AfterExternBlock: true
+  BeforeCatch: false
+  BeforeElse: false
+  BeforeLambdaBody: true
+  BeforeWhile: false
+  IndentBraces: false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+BreakBeforeBraces: Custom
+BreakConstructorInitializers: AfterColon
+BreakConstructorInitializersBeforeComma: false
+ColumnLimit: 120
+ConstructorInitializerAllOnOneLineOrOnePerLine: false
+ContinuationIndentWidth: 8
+IncludeCategories: 
+  - Regex: '^<.*'
+    Priority: 1
+  - Regex: '^".*'
+    Priority: 2
+  - Regex: '.*'
+    Priority: 3
+IncludeIsMainRegex: '([-_](test|unittest))?$'
+IndentCaseLabels: true
+IndentWidth: 4
+InsertNewlineAtEOF: true
+MacroBlockBegin: ''
+MacroBlockEnd: ''
+MaxEmptyLinesToKeep: 2
+NamespaceIndentation: All
+PointerAlignment: Left
+SpaceAfterCStyleCast: true
+SpaceAfterTemplateKeyword: false
+SpaceBeforeRangeBasedForLoopColon: false
+SpaceInEmptyParentheses: false
+SpacesInAngles: false
+SpacesInConditionalStatement: false
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+TabWidth: 4
+...

.clang-tidy

@@ -0,0 +1,147 @@
+# Generated from CLion Inspection settings
+---
+Checks: '-*,
+bugprone-argument-comment,
+bugprone-assert-side-effect,
+bugprone-bad-signal-to-kill-thread,
+bugprone-branch-clone,
+bugprone-copy-constructor-init,
+bugprone-dangling-handle,
+bugprone-dynamic-static-initializers,
+bugprone-fold-init-type,
+bugprone-forward-declaration-namespace,
+bugprone-forwarding-reference-overload,
+bugprone-inaccurate-erase,
+bugprone-incorrect-roundings,
+bugprone-integer-division,
+bugprone-lambda-function-name,
+bugprone-macro-parentheses,
+bugprone-macro-repeated-side-effects,
+bugprone-misplaced-operator-in-strlen-in-alloc,
+bugprone-misplaced-pointer-arithmetic-in-alloc,
+bugprone-misplaced-widening-cast,
+bugprone-move-forwarding-reference,
+bugprone-multiple-statement-macro,
+bugprone-no-escape,
+bugprone-parent-virtual-call,
+bugprone-posix-return,
+bugprone-reserved-identifier,
+bugprone-sizeof-container,
+bugprone-sizeof-expression,
+bugprone-spuriously-wake-up-functions,
+bugprone-string-constructor,
+bugprone-string-integer-assignment,
+bugprone-string-literal-with-embedded-nul,
+bugprone-suspicious-enum-usage,
+bugprone-suspicious-include,
+bugprone-suspicious-memset-usage,
+bugprone-suspicious-missing-comma,
+bugprone-suspicious-semicolon,
+bugprone-suspicious-string-compare,
+bugprone-suspicious-memory-comparison,
+bugprone-suspicious-realloc-usage,
+bugprone-swapped-arguments,
+bugprone-terminating-continue,
+bugprone-throw-keyword-missing,
+bugprone-too-small-loop-variable,
+bugprone-undefined-memory-manipulation,
+bugprone-undelegated-constructor,
+bugprone-unhandled-self-assignment,
+bugprone-unused-raii,
+bugprone-unused-return-value,
+bugprone-use-after-move,
+bugprone-virtual-near-miss,
+cert-dcl21-cpp,
+cert-dcl58-cpp,
+cert-err34-c,
+cert-err52-cpp,
+cert-err60-cpp,
+cert-flp30-c,
+cert-msc50-cpp,
+cert-msc51-cpp,
+cert-str34-c,
+cppcoreguidelines-interfaces-global-init,
+cppcoreguidelines-narrowing-conversions,
+cppcoreguidelines-pro-type-member-init,
+cppcoreguidelines-pro-type-static-cast-downcast,
+cppcoreguidelines-slicing,
+google-default-arguments,
+google-explicit-constructor,
+google-runtime-operator,
+hicpp-exception-baseclass,
+hicpp-multiway-paths-covered,
+misc-misplaced-const,
+misc-new-delete-overloads,
+misc-no-recursion,
+misc-non-copyable-objects,
+misc-throw-by-value-catch-by-reference,
+misc-unconventional-assign-operator,
+misc-uniqueptr-reset-release,
+modernize-avoid-bind,
+modernize-concat-nested-namespaces,
+modernize-deprecated-headers,
+modernize-deprecated-ios-base-aliases,
+modernize-loop-convert,
+modernize-make-shared,
+modernize-make-unique,
+modernize-pass-by-value,
+modernize-raw-string-literal,
+modernize-redundant-void-arg,
+modernize-replace-auto-ptr,
+modernize-replace-disallow-copy-and-assign-macro,
+modernize-replace-random-shuffle,
+modernize-return-braced-init-list,
+modernize-shrink-to-fit,
+modernize-unary-static-assert,
+modernize-use-auto,
+modernize-use-bool-literals,
+modernize-use-emplace,
+modernize-use-equals-default,
+modernize-use-equals-delete,
+modernize-use-nodiscard,
+modernize-use-noexcept,
+modernize-use-nullptr,
+modernize-use-override,
+modernize-use-transparent-functors,
+modernize-use-uncaught-exceptions,
+mpi-buffer-deref,
+mpi-type-mismatch,
+openmp-use-default-none,
+performance-faster-string-find,
+performance-for-range-copy,
+performance-implicit-conversion-in-loop,
+performance-inefficient-algorithm,
+performance-inefficient-string-concatenation,
+performance-inefficient-vector-operation,
+performance-move-const-arg,
+performance-move-constructor-init,
+performance-no-automatic-move,
+performance-noexcept-move-constructor,
+performance-trivially-destructible,
+performance-type-promotion-in-math-fn,
+performance-unnecessary-copy-initialization,
+performance-unnecessary-value-param,
+portability-simd-intrinsics,
+readability-avoid-const-params-in-decls,
+readability-const-return-type,
+readability-container-size-empty,
+readability-convert-member-functions-to-static,
+readability-delete-null-pointer,
+readability-deleted-default,
+readability-inconsistent-declaration-parameter-name,
+readability-make-member-function-const,
+readability-misleading-indentation,
+readability-misplaced-array-index,
+readability-non-const-parameter,
+readability-redundant-control-flow,
+readability-redundant-declaration,
+readability-redundant-function-ptr-dereference,
+readability-redundant-smartptr-get,
+readability-redundant-string-cstr,
+readability-redundant-string-init,
+readability-simplify-subscript-expr,
+readability-static-accessed-through-instance,
+readability-static-definition-in-anonymous-namespace,
+readability-string-compare,
+readability-uniqueptr-delete-release,
+readability-use-anyofallof'

.idea/vcs.xml

@@ -2,6 +2,7 @@
 <project version="4">
   <component name="VcsDirectoryMappings">
     <mapping directory="" vcs="Git" />
+    <mapping directory="$PROJECT_DIR$/extlibs/glm" vcs="Git" />
     <mapping directory="$PROJECT_DIR$/extlibs/googletest" vcs="Git" />
   </component>
 </project>

CMakeLists.txt

@@ -6,6 +6,9 @@ project(omath VERSION 1.0.0)
 
 set(CMAKE_CXX_STANDARD 26)
 
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}")
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}")
+
 option(OMATH_BUILD_TESTS "Build unit tests" ON)
 option(OMATH_THREAT_WARNING_AS_ERROR "Set highest level of warnings and force compiler to treat them as errors" ON)
 option(OMATH_BUILD_AS_SHARED_LIBRARY "Build Omath as .so or .dll" OFF)
@@ -23,10 +26,10 @@ if(OMATH_BUILD_TESTS)
     add_subdirectory(tests)
 endif()
 
-if (WIN32 AND OMATH_THREAT_WARNING_AS_ERROR)
+if (CMAKE_CXX_COMPILER_ID STREQUAL "MSVC" AND OMATH_THREAT_WARNING_AS_ERROR)
     target_compile_options(omath PRIVATE /W4 /WX)
-elseif(UNIX AND OMATH_THREAT_WARNING_AS_ERROR)
+elseif(OMATH_THREAT_WARNING_AS_ERROR)
-    target_compile_options(omath PRIVATE -Wall -Wextra -Wpedantic)
+    target_compile_options(omath PRIVATE -Wall -Wextra -Wpedantic -Werror)
 endif()
 
 target_include_directories(omath

CODE_OF_CONDUCT.md

@@ -1,4 +1,4 @@
-## Goal
+## 🎯 Goal
 
 My goal is to provide a space where it is safe for everyone to contribute to,
 and get support for, open-source software in a respectful and cooperative
@@ -10,7 +10,7 @@ surrounding community a place for everyone.
 As members, contributors, and everyone else who may participate in the
 development, I strive to keep the entire experience civil.
 
-## Standards
+## 📜 Standards
 
 Our community standards exist in order to make sure everyone feels comfortable
 contributing to the project(s) together.
@@ -27,14 +27,14 @@ Examples of breaking each rule respectively include:
 - Posting distasteful imagery, trolling, or posting things unrelated to the topic at hand.
 - Treating someone as worse because of their lack of understanding of an issue.
 
-## Enforcement
+## ⚡ Enforcement
 
 Enforcement of this CoC is done by Orange++ and/or other core contributors.
 
 I, as the core developer, will strive my best to keep this community civil and
 following the standards outlined above.
 
-### Reporting incidents
+### 🚩 Reporting incidents
 
 If you believe an incident of breaking these standards has occurred, but nobody has
 taken appropriate action, you can privately contact the people responsible for dealing
@@ -47,10 +47,11 @@ with such incidents in multiple ways:
 - `@orange_cpp`
 
 ***Telegram***
-- `@orange-cpp`
+- `@orange_cpp`
+
 I guarantee your privacy and will not share those reports with anyone.
 
-## Enforcement Strategy
+## ⚖️ Enforcement Strategy
 
 Depending on the severity of the infraction, any action from the list below may be applied.
 Please keep in mind cases are reviewed on a per-case basis and members are the ultimate
@@ -63,27 +64,27 @@ to be taken is still up to the member.
 For example, if the matter at hand regards a representative of a marginalized group or minority,
 the member might ask for a first-hand opinion from another representative of such group.
 
-### Correction/Edit
+### ✏️ Correction/Edit
 
 If your message is found to be misleading or poorly worded, a member might
 edit your message.
 
-### Warning/Deletion
+### ⚠️ Warning/Deletion
 
 If your message is found inappropriate, a member might give you a public or private warning,
 and/or delete your message.
 
-### Mute
+### 🔇 Mute
 
 If your message is disruptive, or you have been repeatedly violating the standards,
 a member might mute (or temporarily ban) you.
 
-### Ban
+### ⛔ Ban
 
 If your message is hateful, very disruptive, or other, less serious infractions are repeated
 ignoring previous punishments, a member might ban you permanently.
 
-## Scope
+## 🔎 Scope
 
 This CoC shall apply to all projects ran under the Orange++ lead and all _official_ communities
 outside of GitHub.

SECURITY.md

@@ -2,4 +2,4 @@
 
 ## Reporting a Vulnerability
 
-Please report security issues to `orange-cpp@yandex.com`
+Please report security issues to `orange-cpp@yandex.ru`

include/omath/Angle.hpp

@@ -0,0 +1,154 @@
+//
+// Created by Orange on 11/30/2024.
+//
+
+#pragma once
+#include "omath/Angles.hpp"
+
+#include <algorithm>
+
+
+namespace omath
+{
+    enum class AngleFlags
+    {
+        Normalized = 0,
+        Clamped = 1,
+    };
+
+    template<class Type = float, Type min = Type(0), Type max = Type(360), AngleFlags flags = AngleFlags::Normalized>
+    requires std::is_arithmetic_v<Type>
+    class Angle
+    {
+        Type m_angle;
+        constexpr Angle(const Type& degrees)
+        {
+            if constexpr (flags == AngleFlags::Normalized)
+                m_angle = angles::WrapAngle(degrees, min, max);
+
+            else if constexpr (flags == AngleFlags::Clamped)
+                m_angle = std::clamp(degrees, min, max);
+            else
+            {
+                static_assert(false);
+                std::unreachable();
+            }
+        }
+    public:
+        [[nodiscard]]
+        constexpr static Angle FromDegrees(const Type& degrees)
+        {
+            return {degrees};
+        }
+        constexpr Angle() : m_angle(0)
+        {
+
+        }
+        [[nodiscard]]
+        constexpr static Angle FromRadians(const Type& degrees)
+        {
+            return {angles::RadiansToDegrees<Type>(degrees)};
+        }
+
+        [[nodiscard]]
+        constexpr const Type& operator*() const
+        {
+            return m_angle;
+        }
+
+        [[nodiscard]]
+        constexpr Type AsDegrees() const
+        {
+            return m_angle;
+        }
+
+        [[nodiscard]]
+        constexpr Type AsRadians() const
+        {
+            return angles::DegreesToRadians(m_angle);
+        }
+
+        [[nodiscard]]
+        Type Sin() const
+        {
+            return std::sin(AsRadians());
+        }
+
+        [[nodiscard]]
+        Type Cos() const
+        {
+            return std::cos(AsRadians());
+        }
+
+        [[nodiscard]]
+        Type Tan() const
+        {
+            return std::tan(AsRadians());
+        }
+
+        [[nodiscard]]
+        Type Atan() const
+        {
+            return std::atan(AsRadians());
+        }
+
+        [[nodiscard]]
+        Type Cot() const
+        {
+            return Cos() / Sin();
+        }
+
+        [[nodiscard]]
+        constexpr Angle& operator+=(const Angle& other)
+        {
+            if constexpr (flags == AngleFlags::Normalized)
+                m_angle = angles::WrapAngle(m_angle + other.m_angle, min, max);
+
+            else if constexpr (flags == AngleFlags::Clamped)
+                m_angle = std::clamp(m_angle + other.m_angle, min, max);
+            else
+            {
+                static_assert(false);
+                std::unreachable();
+            }
+
+            return *this;
+        }
+
+        [[nodiscard]]
+        constexpr std::partial_ordering operator<=>(const Angle& other) const = default;
+
+        [[nodiscard]]
+        constexpr Angle& operator-=(const Angle& other)
+        {
+            return operator+=(-other);
+        }
+
+        [[nodiscard]]
+        constexpr Angle& operator+(const Angle& other)
+        {
+            if constexpr (flags == AngleFlags::Normalized)
+                return {angles::WrapAngle(m_angle + other.m_angle, min, max)};
+
+            else if constexpr (flags == AngleFlags::Clamped)
+                return {std::clamp(m_angle + other.m_angle, min, max)};
+
+            else
+                static_assert(false);
+
+            std::unreachable();
+        }
+
+        [[nodiscard]]
+        constexpr Angle& operator-(const Angle& other)
+        {
+            return operator+(-other);
+        }
+
+        [[nodiscard]]
+        constexpr Angle operator-() const
+        {
+            return {-m_angle};
+        }
+    };
+}

include/omath/Angles.hpp

@@ -4,15 +4,61 @@
 
 #pragma once
 #include <numbers>
+#include <cmath>
+
 
 namespace omath::angles
 {
-    [[nodiscard]] constexpr float RadiansToDegrees(const float radiands)
+    template<class Type>
+    requires std::is_floating_point_v<Type>
+    [[nodiscard]] constexpr Type RadiansToDegrees(const Type& radians)
     {
-        return radiands * (180.f / std::numbers::pi_v<float>);
+        return radians * (Type(180) / std::numbers::pi_v<Type>);
     }
-    [[nodiscard]] constexpr float DegreesToRadians(const float degrees)
+
+    template<class Type>
+    requires std::is_floating_point_v<Type>
+    [[nodiscard]] constexpr Type DegreesToRadians(const Type& degrees)
     {
-        return degrees * (std::numbers::pi_v<float> / 180.f);
+        return degrees * (std::numbers::pi_v<Type> / Type(180));
+    }
+
+    template<class type>
+    requires std::is_floating_point_v<type>
+    [[nodiscard]] type HorizontalFovToVertical(const type& horFov, const type& aspect)
+    {
+        const auto fovRad = DegreesToRadians(horFov);
+
+        const auto vertFov = type(2) * std::atan(std::tan(fovRad / type(2)) / aspect);
+
+        return RadiansToDegrees(vertFov);
+    }
+
+    template<class Type>
+    requires std::is_floating_point_v<Type>
+    [[nodiscard]] Type VerticalFovToHorizontal(const Type& vertFov, const Type& aspect)
+    {
+        const auto fovRad = DegreesToRadians(vertFov);
+
+        const auto horFov = Type(2) * std::atan(std::tan(fovRad / Type(2)) * aspect);
+
+        return RadiansToDegrees(horFov);
+    }
+
+    template<class Type>
+    requires std::is_arithmetic_v<Type>
+    [[nodiscard]] Type WrapAngle(const Type& angle, const Type& min, const Type& max)
+    {
+        if (angle <= max && angle >= min)
+            return angle;
+
+        const Type range = max - min;
+
+        Type wrappedAngle = std::fmod(angle - min, range);
+
+        if (wrappedAngle < 0)
+            wrappedAngle += range;
+
+        return wrappedAngle + min;
     }
 }

include/omath/Mat.hpp

@@ -5,10 +5,9 @@
 #include <algorithm>
 #include <array>
 #include <sstream>
+#include <stdexcept>
 #include <utility>
 #include "Vector3.hpp"
-#include <stdexcept>
-#include "Angles.hpp"
 
 
 namespace omath
@@ -25,7 +24,7 @@ namespace omath
     };
 
     template<size_t Rows = 0, size_t Columns = 0, class Type = float, MatStoreType StoreType = MatStoreType::ROW_MAJOR>
-    requires (std::is_floating_point_v<Type> || std::is_integral_v<Type>)
+        requires std::is_arithmetic_v<Type>
     class Mat final
     {
     public:
@@ -33,7 +32,10 @@ namespace omath
         {
             Clear();
         }
-
+        constexpr static MatStoreType GetStoreOrdering()
+        {
+            return StoreType;
+        }
         constexpr Mat(const std::initializer_list<std::initializer_list<Type>>& rows)
         {
             if (rows.size() != Rows)
@@ -59,24 +61,24 @@ namespace omath
             std::copy_n(rawData, Rows * Columns, m_data.begin());
         }
 
-        constexpr Mat(const Mat &other) noexcept
+        constexpr Mat(const Mat& other) noexcept
         {
             m_data = other.m_data;
         }
 
-        constexpr Mat(Mat &&other) noexcept
+        constexpr Mat(Mat&& other) noexcept
         {
             m_data = std::move(other.m_data);
         }
 
         [[nodiscard]]
-        static consteval size_t RowCount() noexcept
+        static constexpr size_t RowCount() noexcept
         {
             return Rows;
         }
 
         [[nodiscard]]
-        static consteval size_t ColumnsCount() noexcept
+        static constexpr size_t ColumnsCount() noexcept
         {
             return Columns;
         }
@@ -87,7 +89,7 @@ namespace omath
             return {Rows, Columns};
         }
 
-        [[nodiscard]] constexpr const Type &At(const size_t rowIndex, const size_t columnIndex) const
+        [[nodiscard]] constexpr const Type& At(const size_t rowIndex, const size_t columnIndex) const
         {
             if (rowIndex >= Rows || columnIndex >= Columns)
                 throw std::out_of_range("Index out of range");
@@ -105,9 +107,9 @@ namespace omath
             }
         }
 
-        [[nodiscard]] constexpr Type &At(const size_t rowIndex, const size_t columnIndex)
+        [[nodiscard]] constexpr Type& At(const size_t rowIndex, const size_t columnIndex)
         {
-            return const_cast<Type &>(std::as_const(*this).At(rowIndex, columnIndex));
+            return const_cast<Type&>(std::as_const(*this).At(rowIndex, columnIndex));
         }
 
         [[nodiscard]]
@@ -126,16 +128,17 @@ namespace omath
             Set(0);
         }
 
-        constexpr void Set(const Type &value) noexcept
+        constexpr void Set(const Type& value) noexcept
         {
             std::ranges::fill(m_data, value);
         }
 
         // Operator overloading for multiplication with another Mat
         template<size_t OtherColumns>
-        constexpr Mat<Rows, OtherColumns> operator*(const Mat<Columns, OtherColumns> &other) const
+        constexpr Mat<Rows, OtherColumns, Type, StoreType>
+        operator*(const Mat<Columns, OtherColumns, Type, StoreType>& other) const
         {
-            Mat<Rows, OtherColumns> result;
+            Mat<Rows, OtherColumns, Type, StoreType> result;
 
             for (size_t i = 0; i < Rows; ++i)
                 for (size_t j = 0; j < OtherColumns; ++j)
@@ -148,7 +151,7 @@ namespace omath
             return result;
         }
 
-        constexpr Mat &operator*=(const Type &f) noexcept
+        constexpr Mat& operator*=(const Type& f) noexcept
         {
             for (size_t i = 0; i < Rows; ++i)
                 for (size_t j = 0; j < Columns; ++j)
@@ -157,19 +160,20 @@ namespace omath
         }
 
         template<size_t OtherColumns>
-        constexpr Mat<Rows, OtherColumns> operator*=(const Mat<Columns, OtherColumns> &other)
+        constexpr Mat<Rows, OtherColumns, Type, StoreType>
+        operator*=(const Mat<Columns, OtherColumns, Type, StoreType>& other)
         {
             return *this = *this * other;
         }
 
-        constexpr Mat operator*(const Type &f) const noexcept
+        constexpr Mat operator*(const Type& f) const noexcept
         {
             Mat result(*this);
             result *= f;
             return result;
         }
 
-        constexpr Mat &operator/=(const Type &f) noexcept
+        constexpr Mat& operator/=(const Type& f) noexcept
         {
             for (size_t i = 0; i < Rows; ++i)
                 for (size_t j = 0; j < Columns; ++j)
@@ -177,14 +181,14 @@ namespace omath
             return *this;
         }
 
-        constexpr Mat operator/(const Type &f) const noexcept
+        constexpr Mat operator/(const Type& f) const noexcept
         {
             Mat result(*this);
             result /= f;
             return result;
         }
 
-        constexpr Mat &operator=(const Mat &other) noexcept
+        constexpr Mat& operator=(const Mat& other) noexcept
         {
             if (this == &other)
                 return *this;
@@ -194,7 +198,7 @@ namespace omath
             return *this;
         }
 
-        constexpr Mat &operator=(Mat &&other) noexcept
+        constexpr Mat& operator=(Mat&& other) noexcept
         {
             if (this == &other)
                 return *this;
@@ -207,9 +211,9 @@ namespace omath
         }
 
         [[nodiscard]]
-        constexpr Mat<Columns, Rows> Transposed() const noexcept
+        constexpr Mat<Columns, Rows, Type, StoreType> Transposed() const noexcept
         {
-            Mat<Columns, Rows> transposed;
+            Mat<Columns, Rows, Type, StoreType> transposed;
             for (size_t i = 0; i < Rows; ++i)
                 for (size_t j = 0; j < Columns; ++j)
                     transposed.At(j, i) = At(i, j);
@@ -240,9 +244,9 @@ namespace omath
         }
 
         [[nodiscard]]
-        constexpr Mat<Rows - 1, Columns - 1> Minor(const size_t row, const size_t column) const
+        constexpr Mat<Rows - 1, Columns - 1, Type, StoreType> Minor(const size_t row, const size_t column) const
         {
-            Mat<Rows - 1, Columns - 1> result;
+            Mat<Rows - 1, Columns - 1, Type, StoreType> result;
             for (size_t i = 0, m = 0; i < Rows; ++i)
             {
                 if (i == row)
@@ -260,15 +264,15 @@ namespace omath
         }
 
         [[nodiscard]]
-        constexpr const std::array<Type, Rows*Columns>& RawArray() const
+        constexpr const std::array<Type, Rows * Columns>& RawArray() const
         {
             return m_data;
         }
 
         [[nodiscard]]
-        constexpr std::array<Type, Rows*Columns>& RawArray()
+        constexpr std::array<Type, Rows * Columns>& RawArray()
         {
-            return const_cast<std::array<Type, Rows*Columns>>(std::as_const(*this).RawArray());
+            return const_cast<std::array<Type, Rows * Columns>>(std::as_const(*this).RawArray());
         }
 
         [[nodiscard]]
@@ -288,12 +292,23 @@ namespace omath
             return oss.str();
         }
 
+        [[nodiscard]]
+        bool operator==(const Mat& mat) const
+        {
+            return m_data == mat.m_data;
+        }
+
+        [[nodiscard]]
+        bool operator!=(const Mat& mat) const
+        {
+            return !operator==(mat);
+        }
+
         // Static methods that return fixed-size matrices
         [[nodiscard]]
-        constexpr static Mat<4, 4> ToScreenMat(const Type &screenWidth, const Type &screenHeight) noexcept
+        constexpr static Mat<4, 4> ToScreenMat(const Type& screenWidth, const Type& screenHeight) noexcept
-        {
-            return
         {
+            return {
                     {screenWidth / 2, 0, 0, 0},
                     {0, -screenHeight / 2, 0, 0},
                     {0, 0, 1, 0},
@@ -301,68 +316,95 @@ namespace omath
             };
         }
 
-        [[nodiscard]]
+    private:
-        constexpr static Mat<4, 4> TranslationMat(const Vector3 &diff) noexcept
+        std::array<Type, Rows * Columns> m_data;
-        {
-            return
-            {
-                {1, 0, 0, 0},
-                {0, 1, 0, 0},
-                {0, 0, 1, 0},
-                {diff.x, diff.y, diff.z, 1},
     };
-        }
 
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
     [[nodiscard]]
-        constexpr static Mat<4, 4> OrientationMat(const Vector3 &forward, const Vector3 &right,
+    constexpr static Mat<1, 4, Type, St> MatRowFromVector(const Vector3& vector) noexcept
-                                                  const Vector3 &up) noexcept
-        {
-            return
-            {
-                {right.x, up.x, forward.x, 0},
-                {right.y, up.y, forward.y, 0},
-                {right.z, up.z, forward.z, 0},
-                {0, 0, 0, 1},
-            };
-        }
-
-        [[nodiscard]]
-        constexpr static Mat<4, 4> ProjectionMat(const Type &fieldOfView, const Type &aspectRatio,
-                                                 const Type &near, const Type &far, const Type &lensZoom) noexcept
-        {
-            const Type &fovHalfTan = std::tan(angles::DegreesToRadians(fieldOfView) / 2);
-            const Type &frustumHeight = far - near;
-
-            return
-            {
-                {-1 / (aspectRatio * fovHalfTan) * lensZoom, 0, 0, 0},
-                {0, -1 / fovHalfTan * lensZoom, 0, 0},
-                {0, 0, -far / frustumHeight, -1},
-                {0, 0, near * far / frustumHeight, 0}
-            };
-        }
-
-        [[nodiscard]]
-        constexpr static Mat<4, 1> MatRowFromVector(const Vector3 &vector) noexcept
     {
         return {{vector.x, vector.y, vector.z, 1}};
     }
 
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
     [[nodiscard]]
-        constexpr static Mat<1, 4> MatColumnFromVector(const Vector3 &vector) noexcept
+    constexpr static Mat<4, 1, Type, St> MatColumnFromVector(const Vector3& vector) noexcept
+    {
+        return {{vector.x}, {vector.y}, {vector.z}, {1}};
+    }
+
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
+    [[nodiscard]]
+    constexpr Mat<4, 4, Type, St> MatTranslation(const Vector3& diff) noexcept
     {
         return
         {
-                {
+                {1, 0, 0, diff.x},
-                    {vector.x},
+                {0, 1, 0, diff.y},
-                    {vector.y},
+                {0, 0, 1, diff.z},
-                    {vector.z},
+                {0, 0, 0, 1},
-                    {1}
-                }
         };
     }
 
-    private:
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
-        std::array<Type, Rows * Columns> m_data;
+    [[nodiscard]]
+    Mat<4, 4, Type, St> MatRotationAxisX(const Angle& angle) noexcept
+    {
+        return
+        {
+            {1, 0,           0,            0},
+            {0, angle.Cos(), -angle.Sin(), 0},
+            {0, angle.Sin(), angle.Cos(),  0},
+            {0, 0,           0,            1}
         };
-}
+    }
+
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
+    [[nodiscard]]
+    Mat<4, 4, Type, St> MatRotationAxisY(const Angle& angle) noexcept
+    {
+        return
+        {
+            {angle.Cos(),  0, angle.Sin(), 0},
+            {0           , 1,           0, 0},
+            {-angle.Sin(), 0, angle.Cos(), 0},
+            {0           , 0,           0, 1}
+        };
+    }
+
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
+    [[nodiscard]]
+    Mat<4, 4, Type, St> MatRotationAxisZ(const Angle& angle) noexcept
+    {
+        return
+        {
+            {angle.Cos(), -angle.Sin(), 0, 0},
+            {angle.Sin(),  angle.Cos(), 0, 0},
+            {          0,        0,     1, 0},
+            {          0,        0,     0, 1},
+        };
+    }
+
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
+    [[nodiscard]]
+    static Mat<4, 4, Type, St> MatCameraView(const Vector3& forward, const Vector3& right, const Vector3& up,
+                                             const Vector3& cameraOrigin) noexcept
+    {
+        return  Mat<4, 4, Type, St>
+        {
+            {right.x,   right.y,   right.z,   0},
+            {up.x,      up.y,      up.z,      0},
+            {forward.x, forward.y, forward.z, 0},
+            {0,         0,         0,         1},
+
+        } * MatTranslation<Type, St>(-cameraOrigin);
+    }
+
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class ViewAngles>
+    [[nodiscard]]
+    Mat<4, 4, Type, St> MatRotation(const ViewAngles& angles) noexcept
+    {
+        return MatRotationAxisZ(angles.yaw) * MatRotationAxisY(angles.pitch) * MatRotationAxisX(angles.roll);
+    }
+} // namespace omath

include/omath/Matrix.hpp

@@ -1,7 +1,7 @@
 #pragma once
+#include <initializer_list>
 #include <memory>
 #include <string>
-#include <initializer_list>
 
 namespace omath
 {
@@ -27,11 +27,11 @@ namespace omath
         [[nodiscard]]
         static Matrix ProjectionMatrix(float fieldOfView, float aspectRatio, float near, float far);
 
-        Matrix(const Matrix &other);
+        Matrix(const Matrix& other);
 
-        Matrix(size_t rows, size_t columns, const float *pRaw);
+        Matrix(size_t rows, size_t columns, const float* pRaw);
 
-        Matrix(Matrix &&other) noexcept;
+        Matrix(Matrix&& other) noexcept;
 
         [[nodiscard]]
         size_t RowCount() const noexcept;
@@ -43,7 +43,7 @@ namespace omath
         std::pair<size_t, size_t> Size() const noexcept;
 
         [[nodiscard]]
-        float &At(size_t iRow, size_t iCol);
+        float& At(size_t iRow, size_t iCol);
 
         [[nodiscard]]
         float Sum();
@@ -56,17 +56,17 @@ namespace omath
         void Set(float val);
 
         [[nodiscard]]
-        const float &At(size_t iRow, size_t iCol) const;
+        const float& At(size_t iRow, size_t iCol) const;
 
-        Matrix operator*(const Matrix &other) const;
+        Matrix operator*(const Matrix& other) const;
 
-        Matrix& operator*=(const Matrix &other);
+        Matrix& operator*=(const Matrix& other);
 
         Matrix operator*(float f) const;
 
-        Matrix &operator*=(float f);
+        Matrix& operator*=(float f);
 
-        Matrix &operator/=(float f);
+        Matrix& operator/=(float f);
 
         void Clear();
 
@@ -85,9 +85,9 @@ namespace omath
         [[nodiscard]]
         const float* Raw() const;
 
-        Matrix &operator=(const Matrix &other);
+        Matrix& operator=(const Matrix& other);
 
-        Matrix &operator=(Matrix &&other) noexcept;
+        Matrix& operator=(Matrix&& other) noexcept;
 
         Matrix operator/(float f) const;
 
@@ -101,4 +101,4 @@ namespace omath
         size_t m_columns;
         std::unique_ptr<float[]> m_data;
     };
-}
+} // namespace omath

include/omath/Triangle3d.hpp

@@ -10,6 +10,7 @@ namespace omath
     {
     public:
         Triangle3d(const Vector3& vertex1, const Vector3& vertex2, const Vector3& vertex3);
+
         Vector3 m_vertex1;
         Vector3 m_vertex2;
         Vector3 m_vertex3;

include/omath/Vector3.hpp

@@ -216,10 +216,6 @@ namespace omath
 
         [[nodiscard]] Vector3 ViewAngleTo(const Vector3& other) const;
 
-        [[nodiscard]] static Vector3 ForwardVector(float pitch, float yaw);
-        [[nodiscard]] static Vector3 RightVector(float pitch, float yaw, float roll);
-        [[nodiscard]] static Vector3 UpVector(float pitch, float yaw, float roll);
-
         [[nodiscard]] std::tuple<float, float, float> AsTuple() const
         {
             return std::make_tuple(x, y, z);

include/omath/ViewAngles.hpp

@@ -0,0 +1,15 @@
+//
+// Created by Orange on 11/30/2024.
+//
+#pragma once
+
+namespace omath
+{
+    template<class PitchType, class YawType, class RollType>
+    struct ViewAngles
+    {
+        PitchType pitch;
+        YawType yaw;
+        RollType roll;
+    };
+}

include/omath/collision/LineTracer.hpp

@@ -26,6 +26,7 @@ namespace omath::collision
     public:
         LineTracer() = delete;
 
+
         [[nodiscard]]
         static bool CanTraceLine(const Ray& ray, const Triangle3d& triangle);
 

include/omath/engines/Source/Camera.hpp

@@ -0,0 +1,19 @@
+//
+// Created by Orange on 12/4/2024.
+//
+#pragma once
+#include "Constants.h"
+#include "omath/projection/Camera.hpp"
+
+namespace omath::source
+{
+    class Camera final : public projection::Camera<Mat4x4, ViewAngles>
+    {
+    public:
+        Camera(const Vector3& position, const ViewAngles& viewAngles, const projection::ViewPort& viewPort,
+               const Angle<float, 0, 180, AngleFlags::Clamped>& fov, float near, float far);
+        void LookAt(const Vector3& target) override;
+        [[nodiscard]] Mat4x4 GetViewMatrix() const override;
+        [[nodiscard]] Mat4x4 GetProjectionMatrix() const override;
+    };
+}

include/omath/engines/Source/Constants.h

@@ -0,0 +1,24 @@
+//
+// Created by Orange on 12/4/2024.
+//
+#pragma once
+
+#include <omath/Vector3.hpp>
+#include <omath/Mat.hpp>
+#include <omath/Angle.hpp>
+#include <omath/ViewAngles.hpp>
+namespace omath::source
+{
+    constexpr Vector3 kAbsUp = {0, 0, 1};
+    constexpr Vector3 kAbsRight = {0, -1, 0};
+    constexpr Vector3 kAbsForward = {1, 0, 0};
+
+    using Mat4x4 = Mat<4, 4, float, MatStoreType::ROW_MAJOR>;
+    using Mat3x3 = Mat<4, 4, float, MatStoreType::ROW_MAJOR>;
+    using Mat1x3 = Mat<1, 3, float, MatStoreType::ROW_MAJOR>;
+    using PitchAngle = Angle<float, -89.f, 89.f, AngleFlags::Clamped>;
+    using YawAngle = Angle<float, -180.f, 180.f, AngleFlags::Normalized>;
+    using RollAngle = Angle<float, -180.f, 180.f, AngleFlags::Normalized>;
+
+    using ViewAngles = omath::ViewAngles<PitchAngle, YawAngle, RollAngle>;
+} // namespace omath::source

include/omath/engines/Source/Formulas.hpp

@@ -0,0 +1,57 @@
+//
+// Created by Orange on 12/4/2024.
+//
+#pragma once
+#include "Constants.h"
+
+namespace omath::source
+{
+    [[nodiscard]]
+    inline Vector3 ForwardVector(const ViewAngles& angles)
+    {
+        const auto vec = MatRotation(angles) * MatColumnFromVector(kAbsForward);
+
+        return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
+    }
+
+    [[nodiscard]]
+    inline Vector3 RightVector(const ViewAngles& angles)
+    {
+        const auto vec = MatRotation(angles) * MatColumnFromVector(kAbsRight);
+
+        return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
+    }
+
+    [[nodiscard]]
+    inline Vector3 UpVector(const ViewAngles& angles)
+    {
+        const auto vec = MatRotation(angles) * MatColumnFromVector(kAbsUp);
+
+        return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
+    }
+
+    [[nodiscard]] inline Mat4x4 CalcViewMatrix(const ViewAngles& angles, const Vector3& cam_origin)
+    {
+        return MatCameraView(ForwardVector(angles), RightVector(angles), UpVector(angles), cam_origin);
+    }
+
+
+    [[nodiscard]]
+    inline Mat4x4 CalcPerspectiveProjectionMatrix(const float fieldOfView, const float aspectRatio, const float near,
+                                                  const float far)
+    {
+        // NOTE: Needed tp make thing draw normal, since source is wierd
+        // and use tricky projection matrix formula.
+        constexpr auto kMultiplyFactor = 0.75f;
+
+        const float fovHalfTan = std::tan(angles::DegreesToRadians(fieldOfView) / 2.f) * kMultiplyFactor;
+
+        return {
+                {1.f / (aspectRatio * fovHalfTan), 0, 0, 0},
+                {0, 1.f / (fovHalfTan), 0, 0},
+                {0, 0, (far + near) / (far - near), -(2.f * far * near) / (far - near)},
+                {0, 0, 1, 0},
+
+        };
+    }
+} // namespace omath::source

include/omath/pathfinding/NavigationMesh.hpp

@@ -12,6 +12,12 @@
 
 namespace omath::pathfinding
 {
+
+    enum Error
+    {
+        
+    };
+
     class NavigationMesh final
     {
     public:

include/omath/prediction/Target.hpp

@@ -13,7 +13,7 @@ namespace omath::prediction
     public:
 
         [[nodiscard]]
-        constexpr Vector3 PredictPosition(float time, float gravity) const
+        constexpr Vector3 PredictPosition(const float time, const float gravity) const
         {
             auto predicted = m_origin + m_velocity * time;
 

include/omath/projection/Camera.hpp

@@ -5,10 +5,11 @@
 #pragma once
 
 #include <expected>
-#include <omath/Vector3.hpp>
 #include <omath/Mat.hpp>
-#include <string_view>
+#include <omath/Vector3.hpp>
 #include "ErrorCodes.hpp"
+#include <omath/Angle.hpp>
+#include <type_traits>
 
 
 namespace omath::projection
@@ -19,29 +20,70 @@ namespace omath::projection
         float m_width;
         float m_height;
 
-        [[nodiscard]] constexpr float AspectRatio() const {return  m_width / m_height;}
+        [[nodiscard]] constexpr float AspectRatio() const
+        {
+            return m_width / m_height;
+        }
     };
+    using FieldOfView = const Angle<float, 0.f, 180.f, AngleFlags::Clamped>;
 
+    template<class Mat4x4Type, class ViewAnglesType>
     class Camera
     {
+
     public:
-        Camera(const Vector3& position, const Vector3& viewAngles, const ViewPort& viewPort,
+        virtual ~Camera() = default;
-               float fov, float near, float far, float lensZoom);
+        Camera(const Vector3& position, const ViewAnglesType& viewAngles, const ViewPort& viewPort,
-        void SetViewAngles(const Vector3& viewAngles);
+               const FieldOfView& fov, const float near, const float far) :
+            m_viewPort(viewPort), m_fieldOfView(fov), m_farPlaneDistance(far), m_nearPlaneDistance(near),
+            m_viewAngles(viewAngles), m_origin(position)
+        {
 
-        [[nodiscard]] Mat<4, 4> GetViewMatrix() const;
+        }
 
-        [[nodiscard]] std::expected<Vector3, Error> WorldToScreen(const Vector3& worldPosition) const;
+        virtual void LookAt(const Vector3& target) = 0;
 
+        [[nodiscard]] virtual Mat4x4Type GetViewMatrix() const = 0;
+
+        [[nodiscard]] virtual Mat4x4Type GetProjectionMatrix() const = 0;
+
+        [[nodiscard]] Mat4x4Type GetViewProjectionMatrix()
+        {
+            return GetProjectionMatrix() * GetViewMatrix();
+        }
+
+        [[nodiscard]] std::expected<Vector3, Error> WorldToScreen(const Mat4x4Type& viewProj, const Vector3& worldPosition) const
+        {
+            auto projected = viewProj * MatColumnFromVector<float, Mat4x4Type::GetStoreOrdering()>(worldPosition);
+
+            if (projected.At(3, 0) == 0.0f)
+                return std::unexpected(Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS);
+
+            projected /= projected.At(3, 0);
+
+            if (IsNdcOutOfBounds(projected))
+                return std::unexpected(Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS);
+
+            return Vector3{(projected.At(0,0)+1) / 2 * m_viewPort.m_width , (-projected.At(1,0)+1) / 2 * m_viewPort.m_height, projected.At(2,0)};
+        }
+
+    protected:
         ViewPort m_viewPort{};
-        float m_fieldOfView;
+        Angle<float, 0.f, 180.f, AngleFlags::Clamped> m_fieldOfView;
 
         float m_farPlaneDistance;
         float m_nearPlaneDistance;
-        float m_lensZoom;
+
+
+        ViewAnglesType m_viewAngles;
+        Vector3 m_origin;
 
     private:
-        Vector3 m_viewAngles;
+        template<class Type>
-        Vector3 m_origin;
+        [[nodiscard]]
+        constexpr static bool IsNdcOutOfBounds(const Type& ndc)
+        {
+            return std::ranges::any_of( ndc.RawArray(), [](const auto& val) { return val < -1 || val > 1; });
+        }
     };
-}
+} // namespace omath::projection

source/CMakeLists.txt

@@ -11,3 +11,4 @@ add_subdirectory(prediction)
 add_subdirectory(pathfinding)
 add_subdirectory(projection)
 add_subdirectory(collision)
+add_subdirectory(engines)

source/Matrix.cpp

@@ -1,13 +1,12 @@
 #include "omath/Matrix.hpp"
-#include "omath/Vector3.hpp"
 #include "omath/Angles.hpp"
+#include "omath/Vector3.hpp"
 
 
+#include <complex>
 #include <format>
-#include <utility>
 #include <stdexcept>
 #include <utility>
-#include <complex>
 
 
 namespace omath
@@ -31,23 +30,23 @@ namespace omath
         m_columns = rows.begin()->size();
 
 
-        for (const auto& row : rows)
+        for (const auto& row: rows)
             if (row.size() != m_columns)
                 throw std::invalid_argument("All rows must have the same number of columns.");
 
         m_data = std::make_unique<float[]>(m_rows * m_columns);
 
         size_t i = 0;
-        for (const auto& row : rows)
+        for (const auto& row: rows)
         {
             size_t j = 0;
-            for (const auto& value : row)
+            for (const auto& value: row)
                 At(i, j++) = value;
             ++i;
         }
     }
 
-    Matrix::Matrix(const Matrix &other)
+    Matrix::Matrix(const Matrix& other)
     {
         m_rows = other.m_rows;
         m_columns = other.m_columns;
@@ -59,7 +58,7 @@ namespace omath
                 At(i, j) = other.At(i, j);
     }
 
-    Matrix::Matrix(const size_t rows, const size_t columns, const float *pRaw)
+    Matrix::Matrix(const size_t rows, const size_t columns, const float* pRaw)
     {
         m_rows = rows;
         m_columns = columns;
@@ -67,9 +66,8 @@ namespace omath
 
         m_data = std::make_unique<float[]>(m_rows * m_columns);
 
-        for (size_t i = 0; i < rows*columns; ++i)
+        for (size_t i = 0; i < rows * columns; ++i)
             At(i / rows, i % columns) = pRaw[i];
-
     }
 
     size_t Matrix::RowCount() const noexcept
@@ -77,7 +75,7 @@ namespace omath
         return m_rows;
     }
 
-    Matrix::Matrix(Matrix &&other) noexcept
+    Matrix::Matrix(Matrix&& other) noexcept
     {
         m_rows = other.m_rows;
         m_columns = other.m_columns;
@@ -99,7 +97,7 @@ namespace omath
         return {RowCount(), ColumnsCount()};
     }
 
-    float &Matrix::At(const size_t iRow, const size_t iCol)
+    float& Matrix::At(const size_t iRow, const size_t iCol)
     {
         return const_cast<float&>(std::as_const(*this).At(iRow, iCol));
     }
@@ -115,12 +113,12 @@ namespace omath
         return sum;
     }
 
-    const float &Matrix::At(const size_t iRow, const size_t iCol) const
+    const float& Matrix::At(const size_t iRow, const size_t iCol) const
     {
         return m_data[iRow * m_columns + iCol];
     }
 
-    Matrix Matrix::operator*(const Matrix &other) const
+    Matrix Matrix::operator*(const Matrix& other) const
     {
         if (m_columns != other.m_rows)
             throw std::runtime_error("n != m");
@@ -136,7 +134,7 @@ namespace omath
         return outMat;
     }
 
-    Matrix & Matrix::operator*=(const Matrix &other)
+    Matrix& Matrix::operator*=(const Matrix& other)
     {
         *this = *this * other;
         return *this;
@@ -152,7 +150,7 @@ namespace omath
         return out;
     }
 
-    Matrix &Matrix::operator*=(const float f)
+    Matrix& Matrix::operator*=(const float f)
     {
         for (size_t i = 0; i < RowCount(); i++)
             for (size_t j = 0; j < ColumnsCount(); j++)
@@ -165,7 +163,7 @@ namespace omath
         Set(0.f);
     }
 
-    Matrix &Matrix::operator=(const Matrix &other)
+    Matrix& Matrix::operator=(const Matrix& other)
     {
         if (this == &other)
             return *this;
@@ -175,10 +173,9 @@ namespace omath
                 At(i, j) = other.At(i, j);
 
         return *this;
-
     }
 
-    Matrix &Matrix::operator=(Matrix &&other) noexcept
+    Matrix& Matrix::operator=(Matrix&& other) noexcept
     {
         if (this == &other)
             return *this;
@@ -191,10 +188,9 @@ namespace omath
         other.m_columns = 0;
 
         return *this;
-
     }
 
-    Matrix &Matrix::operator/=(const float f)
+    Matrix& Matrix::operator/=(const float f)
     {
         for (size_t i = 0; i < m_rows; ++i)
             for (size_t j = 0; j < m_columns; ++j)
@@ -221,9 +217,9 @@ namespace omath
         {
             for (size_t j = 0; j < m_columns; ++j)
             {
-                str += std::format("{:.1f}",At(i, j));
+                str += std::format("{:.1f}", At(i, j));
 
-                if (j == m_columns-1)
+                if (j == m_columns - 1)
                     str += '\n';
                 else
                     str += ' ';
@@ -306,8 +302,7 @@ namespace omath
 
     Matrix Matrix::ToScreenMatrix(const float screenWidth, const float screenHeight)
     {
-        return
+        return {
-        {
                 {screenWidth / 2.f, 0.f, 0.f, 0.f},
                 {0.f, -screenHeight / 2.f, 0.f, 0.f},
                 {0.f, 0.f, 1.f, 0.f},
@@ -315,10 +310,9 @@ namespace omath
         };
     }
 
-    Matrix Matrix::TranslationMatrix(const Vector3 &diff)
+    Matrix Matrix::TranslationMatrix(const Vector3& diff)
-    {
-        return
     {
+        return {
                 {1.f, 0.f, 0.f, 0.f},
                 {0.f, 1.f, 0.f, 0.f},
                 {0.f, 0.f, 1.f, 0.f},
@@ -326,10 +320,9 @@ namespace omath
         };
     }
 
-    Matrix Matrix::OrientationMatrix(const Vector3 &forward, const Vector3 &right, const Vector3 &up)
+    Matrix Matrix::OrientationMatrix(const Vector3& forward, const Vector3& right, const Vector3& up)
-    {
-        return
     {
+        return {
                 {right.x, up.x, forward.x, 0.f},
                 {right.y, up.y, forward.y, 0.f},
                 {right.z, up.z, forward.z, 0.f},
@@ -337,18 +330,14 @@ namespace omath
         };
     }
 
-    Matrix Matrix::ProjectionMatrix(const float fieldOfView, const float aspectRatio, const float near,
+    Matrix Matrix::ProjectionMatrix(const float fieldOfView, const float aspectRatio, const float near, const float far)
-                                    const float far)
     {
         const float fovHalfTan = std::tan(angles::DegreesToRadians(fieldOfView) / 2.f);
 
-        return
+        return {{1.f / (aspectRatio * fovHalfTan), 0.f, 0.f, 0.f},
-        {
-            {1.f / (aspectRatio*fovHalfTan), 0.f, 0.f, 0.f},
                 {0.f, 1.f / fovHalfTan, 0.f, 0.f},
                 {0.f, 0.f, (far + near) / (far - near), 2.f * near * far / (far - near)},
-            {0.f, 0.f, -1.f, 0.f}
+                {0.f, 0.f, -1.f, 0.f}};
-        };
     }
 
     const float* Matrix::Raw() const
@@ -356,9 +345,9 @@ namespace omath
         return m_data.get();
     }
 
-    void Matrix::SetDataFromRaw(const float *pRawMatrix)
+    void Matrix::SetDataFromRaw(const float* pRawMatrix)
     {
-        for (size_t i = 0; i < m_columns*m_rows; ++i)
+        for (size_t i = 0; i < m_columns * m_rows; ++i)
             At(i / m_rows, i % m_columns) = pRawMatrix[i];
     }
 
@@ -368,4 +357,4 @@ namespace omath
         m_rows = 0;
         m_data = nullptr;
     }
-}
+} // namespace omath

source/Vector3.cpp

@@ -20,50 +20,4 @@ namespace omath
             0.f
         };
     }
-
-    Vector3 Vector3::ForwardVector(const float pitch, const float yaw)
-    {
-        const auto cosPitch = std::cos(angles::DegreesToRadians(pitch));
-        const auto sinPitch = std::sin(angles::DegreesToRadians(pitch));
-
-        const auto cosYaw = std::cos(angles::DegreesToRadians(yaw));
-        const auto sinYaw = std::sin(angles::DegreesToRadians(yaw));
-
-
-        return
-        {
-            cosPitch*cosYaw,
-            cosPitch*sinYaw,
-            sinPitch
-        };
-    }
-
-    Vector3 Vector3::RightVector(const float pitch, const float yaw, const float roll)
-    {
-        const auto radPitch = angles::DegreesToRadians(pitch);
-        const auto radYaw = angles::DegreesToRadians(yaw);
-        const auto radRoll = angles::DegreesToRadians(roll);
-
-        const auto cosPitch = std::cos(radPitch);
-        const auto sinPitch = std::sin(radPitch);
-
-        const auto cosYaw = std::cos(radYaw);
-        const auto sinYaw = std::sin(radYaw);
-
-        const auto cosRoll = std::cos(radRoll);
-        const auto sinRoll = std::sin(radRoll);
-
-
-        return
-        {
-            sinRoll*sinPitch*cosYaw + cosRoll*sinYaw,
-            sinRoll*sinPitch*sinYaw - cosRoll*cosYaw,
-            -sinRoll*cosPitch
-        };
-    }
-
-    Vector3 Vector3::UpVector(float pitch, float yaw, float roll)
-    {
-        return RightVector(pitch, yaw, roll).Cross(ForwardVector(pitch, yaw));
-    }
 }

source/collision/LineTracer.cpp

@@ -1,7 +1,6 @@
 //
 // Created by Orange on 11/13/2024.
 //
-#pragma once
 #include "omath/collision/LineTracer.hpp"
 
 namespace omath::collision

source/engines/CMakeLists.txt

@@ -0,0 +1 @@
+add_subdirectory(Source)

source/engines/Source/CMakeLists.txt

@@ -0,0 +1 @@
+target_sources(omath PRIVATE Camera.cpp)

source/engines/Source/Camera.cpp

@@ -0,0 +1,36 @@
+//
+// Created by Orange on 12/4/2024.
+//
+#include "omath/engines/Source/Camera.hpp"
+#include "omath/engines/Source/Formulas.hpp"
+
+
+namespace omath::source
+{
+
+    Camera::Camera(const Vector3& position, const ViewAngles& viewAngles, const projection::ViewPort& viewPort,
+                   const projection::FieldOfView& fov, const float near, const float far) :
+        projection::Camera<Mat4x4, ViewAngles>(position, viewAngles, viewPort, fov, near, far)
+    {
+    }
+    void Camera::LookAt(const Vector3& target)
+    {
+        const float distance = m_origin.DistTo(target);
+        const auto delta = target - m_origin;
+
+
+        m_viewAngles.pitch = PitchAngle::FromRadians(std::asin(delta.z / distance));
+        m_viewAngles.yaw = -YawAngle::FromRadians(std::atan2(delta.y, delta.x));
+        m_viewAngles.roll = RollAngle::FromRadians(0.f);
+    }
+
+    Mat4x4 Camera::GetViewMatrix() const
+    {
+        return CalcViewMatrix(m_viewAngles, m_origin);
+    }
+
+    Mat4x4 Camera::GetProjectionMatrix() const
+    {
+        return CalcPerspectiveProjectionMatrix(m_fieldOfView.AsDegrees(), m_viewPort.AspectRatio(), m_nearPlaneDistance, m_farPlaneDistance);
+    }
+} // namespace omath::source

source/prediction/Engine.cpp

@@ -58,7 +58,7 @@ namespace omath::prediction
                 return std::nullopt;
 
         root = std::sqrt(root);
-        const float angle = std::atan((std::pow(projectile.m_launchSpeed, 2.f) - root) / (bulletGravity * distance2d));
+        const float angle = std::atan((launchSpeedSqr - root) / (bulletGravity * distance2d));
 
         return angles::RadiansToDegrees(angle);
     }

source/prediction/Projectile.cpp

@@ -4,15 +4,18 @@
 
 #include "omath/prediction/Projectile.hpp"
 #include <cmath>
-
+#include <omath/engines/Source/Formulas.hpp>
 
 namespace omath::prediction
 {
     Vector3 Projectile::PredictPosition(const float pitch, const float yaw, const float time, const float gravity) const
     {
-        auto currentPos = m_origin + Vector3::ForwardVector(pitch, yaw) * m_launchSpeed * time;
+        auto currentPos = m_origin + source::ForwardVector({source::PitchAngle::FromDegrees(-pitch),
-        currentPos.z -= (gravity * m_gravityScale) * std::pow(time, 2.f) * 0.5f;
+                                                            source::YawAngle::FromDegrees(yaw),
+                                                            source::RollAngle::FromDegrees(0)}) *
+                                             m_launchSpeed * time;
+        currentPos.z -= (gravity * m_gravityScale) * (time * time) * 0.5f;
 
         return currentPos;
     }
-}
+} // namespace omath::prediction

source/projection/Camera.cpp

@@ -3,56 +3,7 @@
 //
 #include "omath/projection/Camera.hpp"
 
-#include <complex>
-
-#include "omath/Angles.hpp"
-
 
 namespace omath::projection
 {
-    Camera::Camera(const Vector3 &position, const Vector3 &viewAngles, const ViewPort &viewPort,
-                   const float fov, const float near, const float far, const float lensZoom)
-    {
-        m_origin = position;
-        m_viewAngles = viewAngles;
-        m_viewPort = viewPort;
-        m_fieldOfView = fov;
-        m_nearPlaneDistance = near;
-        m_farPlaneDistance = far;
-        m_lensZoom = lensZoom;
-    }
-
-    Mat<4, 4> Camera::GetViewMatrix() const
-    {
-        const auto forward = Vector3::ForwardVector(m_viewAngles.x, m_viewAngles.y);
-        const auto right = Vector3::RightVector(m_viewAngles.x, m_viewAngles.y, m_viewAngles.z);
-        const auto up = Vector3::UpVector(m_viewAngles.x, m_viewAngles.y, m_viewAngles.z);
-
-        return Mat<>::TranslationMat(-m_origin) * Mat<>::OrientationMat(forward, right, up);
-    }
-
-    std::expected<Vector3, Error> Camera::WorldToScreen(const Vector3& worldPosition) const
-    {
-        const auto posVecAsMatrix = Mat<>::MatColumnFromVector(worldPosition);
-
-
-        const auto projectionMatrix = Mat<>::ProjectionMat(m_fieldOfView, m_viewPort.AspectRatio(),
-                                                               m_nearPlaneDistance, m_farPlaneDistance, m_lensZoom);
-
-        Mat<1, 4> projected = posVecAsMatrix * (GetViewMatrix() * projectionMatrix);
-
-        if (projected.At(0, 3) == 0.f)
-            return std::unexpected(Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS);
-
-        projected /= projected.At(0, 3);
-
-        if (projected.At(0, 0) < -1.f || projected.At(0, 0) > 1.f ||
-            projected.At(0, 1) < -1.f || projected.At(0, 1) > 1.f ||
-            projected.At(0, 2) < -1.f || projected.At(0, 2) > 1.f)
-            return std::unexpected(Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS);
-
-        projected *= Mat<4, 4>::ToScreenMat(m_viewPort.m_width, m_viewPort.m_height);
-
-        return Vector3{projected.At(0, 0), projected.At(0, 1), projected.At(0, 2)};
-    }
 }

tests/CMakeLists.txt

@@ -5,16 +5,24 @@ set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
 
 include(GoogleTest)
 add_executable(unit-tests
-        UnitTestPrediction.cpp
+        general/UnitTestPrediction.cpp
-        UnitTestMatrix.cpp
+        general/UnitTestMatrix.cpp
-        UnitTestMat.cpp
+        general/UnitTestMat.cpp
-        UnitTestAstar.cpp
+        general/UnitTestAstar.cpp
-        UnitTestProjection.cpp
+        general/UnitTestProjection.cpp
-        UnitTestVector3.cpp
+        general/UnitTestVector3.cpp
-        UnitTestVector2.cpp
+        general/UnitTestVector2.cpp
-        UnitTestColor.cpp
+        general/UnitTestColor.cpp
-        UnitTestVector4.cpp
+        general/UnitTestVector4.cpp
-        UnitTestLineTrace.cpp
+        general/UnitTestLineTrace.cpp
+        general/UnitTestAngles.cpp
+        general/UnitTestViewAngles.cpp
+        general/UnitTestAngle.cpp
+
+        engines/UnitTestOpenGL.cpp
+        engines/UnitTestUnityEngine.cpp
+        engines/UnitTestSourceEngine.cpp
+
 )
 
 target_link_libraries(unit-tests PRIVATE gtest gtest_main omath)

tests/UnitTestProjection.cpp

@@ -1,19 +0,0 @@
-//
-// Created by Vlad on 27.08.2024.
-//
-#include <complex>
-#include <gtest/gtest.h>
-#include <omath/Matrix.hpp>
-#include <print>
-#include <omath/projection/Camera.hpp>
-
-TEST(UnitTestProjection, Projection)
-{
-    const omath::projection::Camera camera({0.f, 0.f, 0.f}, {0, 0.f, 0.f} , {1920.f, 1080.f}, 110.f, 0.375f, 5000.f, 1.335f);
-
-    const auto projected = camera.WorldToScreen({5000, 0, 0});
-
-
-    EXPECT_TRUE(projected.has_value());
-    EXPECT_EQ(projected->z, 1.f);
-}

tests/engines/UnitTestOpenGL.cpp

@@ -0,0 +1,37 @@
+//
+// Created by Orange on 11/23/2024.
+//
+#include <complex>
+#include <gtest/gtest.h>
+#include <omath/Matrix.hpp>
+#include <print>
+
+// #include <glm/glm.hpp>
+
+// #include "glm/ext/matrix_clip_space.hpp"
+// #include "glm/ext/matrix_transform.hpp"
+
+
+TEST(UnitTestOpenGL, Projection)
+{
+
+    /*const auto proj_glm = glm::perspective(glm::radians(90.f), 16.f / 9.f, 0.1f, 1000.f);
+    // const auto proj_glm2 = glm::perspectiveLH_NO(glm::radians(90.f), 16.f / 9.f, 0.1f, 1000.f);
+    // const auto proj_omath = omath::Mat<4, 4, float, omath::MatStoreType::COLUMN_MAJOR>((const float*)&proj_glm);
+    // EXPECT_EQ(omath::opengl::PerspectiveProjectionMatrix(90, 16.f / 9.f, 0.1f, 1000.f), proj_omath);
+
+
+    glm::vec4 ndc_glm2 = proj_glm * glm::vec4(300.f, 0.f, -1000.f, 1.f);
+    ndc_glm2 /= ndc_glm2.w;
+    const omath::Mat<4, 1, float, omath::MatStoreType::COLUMN_MAJOR> cords_omath =
+    {
+        {0},
+        {0},
+        {-0.2f},
+        {1}
+    };
+
+    //auto ndc_omath = proj_omath * cords_omath;
+   // ndc_omath /= ndc_omath.At(3, 0);
+    */
+}

tests/engines/UnitTestSourceEngine.cpp

@@ -0,0 +1,50 @@
+//
+// Created by Orange on 11/23/2024.
+//
+#include <gtest/gtest.h>
+#include <omath/engines/Source/Camera.hpp>
+#include <omath/engines/Source/Constants.h>
+#include <omath/engines/Source/Formulas.hpp>
+
+
+TEST(UnitTestSourceEngine, ForwardVector)
+{
+    const auto forward = omath::source::ForwardVector({});
+
+    EXPECT_EQ(forward, omath::source::kAbsForward);
+}
+
+TEST(UnitTestSourceEngine, RightVector)
+{
+    const auto right = omath::source::RightVector({});
+
+    EXPECT_EQ(right, omath::source::kAbsRight);
+}
+
+TEST(UnitTestSourceEngine, UpVector)
+{
+    const auto up = omath::source::UpVector({});
+    EXPECT_EQ(up, omath::source::kAbsUp);
+}
+
+TEST(UnitTestSourceEngine, PerpectiveProjectionAtCenter)
+{
+    constexpr auto fov = omath::projection::FieldOfView::FromDegrees(90.f);
+    auto cam = omath::source::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
+
+
+    const auto viewProjMatrix = cam.GetViewProjectionMatrix();
+
+    for (float distance = 0.02f; distance < 1000.f; distance += 0.01f)
+    {
+        const auto projected = cam.WorldToScreen(viewProjMatrix, {distance, 0, 0});
+
+        EXPECT_TRUE(projected.has_value());
+
+        if (!projected.has_value())
+            continue;
+
+        EXPECT_NEAR(projected->x, 960, 0.00001f);
+        EXPECT_NEAR(projected->y, 540, 0.00001f);
+    }
+}

tests/engines/UnitTestUnityEngine.cpp

@@ -0,0 +1,3 @@
+//
+// Created by Orange on 11/27/2024.
+//

tests/general/UnitTestAngle.cpp

@@ -0,0 +1,3 @@
+//
+// Created by Orange on 11/30/2024.
+//

tests/general/UnitTestAngles.cpp

@@ -0,0 +1,50 @@
+//
+// Created by Orange on 11/30/2024.
+//
+#include <gtest/gtest.h>
+#include <omath/Angles.hpp>
+#include <omath/Angle.hpp>
+
+TEST(UnitTestAngles, RadiansToDeg)
+{
+    constexpr float rad = 67;
+
+    EXPECT_NEAR(omath::angles::RadiansToDegrees(rad), 3838.82f, 0.01f);
+}
+
+TEST(UnitTestAngles, DegreesToRadians)
+{
+    constexpr float degree = 90;
+
+    EXPECT_NEAR(omath::angles::DegreesToRadians(degree), 1.5708f, 0.01f);
+}
+
+TEST(UnitTestAngles, HorizontalFovToVerical)
+{
+    constexpr float hFov = 90;
+    constexpr float aspectRation = 16.0f / 9.0f;
+    const auto verticalFov = omath::angles::HorizontalFovToVertical(hFov, aspectRation);
+
+    EXPECT_NEAR(verticalFov, 58.71f, 0.01f);
+}
+
+TEST(UnitTestAngles, VerticalToHorizontal)
+{
+    constexpr float vFov = 58.71;
+    constexpr float aspectRation = 16.0f / 9.0f;
+    const auto horizontalFov = omath::angles::VerticalFovToHorizontal(vFov, aspectRation);
+
+    EXPECT_NEAR(horizontalFov, 89.99f, 0.01f);
+}
+TEST(UnitTestAngles, WrapAngle)
+{
+    const float wrapped = omath::angles::WrapAngle(361.f, 0.f, 360.f);
+
+    EXPECT_NEAR(wrapped, 1.f, 0.01f);
+}
+TEST(UnitTestAngles, WrapAngleNegativeRange)
+{
+    const float wrapped = omath::angles::WrapAngle(-90.f, 0.f, 360.f);
+
+    EXPECT_NEAR(wrapped, 270.f, 0.01f);
+}

tests/general/UnitTestMat.cpp

@@ -154,35 +154,6 @@ TEST_F(UnitTestMat, StaticMethod_ToScreenMat)
     EXPECT_FLOAT_EQ(screenMat.At(3, 3), 1.0f);
 }
 
-// Test static method: TranslationMat
-TEST_F(UnitTestMat, StaticMethod_TranslationMat)
-{
-    Vector3 diff{10.0f, 20.0f, 30.0f};
-    Mat<4, 4> transMat = Mat<4, 4>::TranslationMat(diff);
-    EXPECT_FLOAT_EQ(transMat.At(0, 0), 1.0f);
-    EXPECT_FLOAT_EQ(transMat.At(3, 0), diff.x);
-    EXPECT_FLOAT_EQ(transMat.At(3, 1), diff.y);
-    EXPECT_FLOAT_EQ(transMat.At(3, 2), diff.z);
-    EXPECT_FLOAT_EQ(transMat.At(3, 3), 1.0f);
-}
-
-// Test static method: OrientationMat
-TEST_F(UnitTestMat, StaticMethod_OrientationMat)
-{
-    constexpr Vector3 forward{0.0f, 0.0f, 1.0f};
-    constexpr Vector3 right{1.0f, 0.0f, 0.0f};
-    constexpr Vector3 up{0.0f, 1.0f, 0.0f};
-    constexpr Mat<4, 4> orientMat = Mat<4, 4>::OrientationMat(forward, right, up);
-    EXPECT_FLOAT_EQ(orientMat.At(0, 0), right.x);
-    EXPECT_FLOAT_EQ(orientMat.At(0, 1), up.x);
-    EXPECT_FLOAT_EQ(orientMat.At(0, 2), forward.x);
-    EXPECT_FLOAT_EQ(orientMat.At(1, 0), right.y);
-    EXPECT_FLOAT_EQ(orientMat.At(1, 1), up.y);
-    EXPECT_FLOAT_EQ(orientMat.At(1, 2), forward.y);
-    EXPECT_FLOAT_EQ(orientMat.At(2, 0), right.z);
-    EXPECT_FLOAT_EQ(orientMat.At(2, 1), up.z);
-    EXPECT_FLOAT_EQ(orientMat.At(2, 2), forward.z);
-}
 
 // Test exception handling in At() method
 TEST_F(UnitTestMat, Method_At_OutOfRange)

tests/general/UnitTestPrediction.cpp

@@ -3,8 +3,9 @@
 
 TEST(UnitTestPrediction, PredictionTest)
 {
-    const omath::prediction::Target target{.m_origin = {100, 0, 90}, .m_velocity = {0, 0, 0}, .m_isAirborne = false};
+    constexpr omath::prediction::Target target{
-    const omath::prediction::Projectile proj = {.m_origin = {3,2,1}, .m_launchSpeed = 5000, .m_gravityScale= 0.4};
+            .m_origin = {100, 0, 90}, .m_velocity = {0, 0, 0}, .m_isAirborne = false};
+    constexpr omath::prediction::Projectile proj = {.m_origin = {3,2,1}, .m_launchSpeed = 5000, .m_gravityScale= 0.4};
     const auto viewPoint = omath::prediction::Engine(400, 1.f / 1000.f, 50, 5.f).MaybeCalculateAimPoint(proj, target);
 
     const auto [pitch, yaw, _] = proj.m_origin.ViewAngleTo(viewPoint.value()).AsTuple();

tests/general/UnitTestProjection.cpp

@@ -0,0 +1,18 @@
+//
+// Created by Vlad on 27.08.2024.
+//
+#include <complex>
+#include <gtest/gtest.h>
+#include <omath/Matrix.hpp>
+#include <omath/engines/Source/Camera.hpp>
+#include <omath/projection/Camera.hpp>
+#include <print>
+
+TEST(UnitTestProjection, Projection)
+{
+    auto x = omath::Angle<float, 0.f, 180.f, omath::AngleFlags::Clamped>::FromDegrees(90.f);
+    auto cam = omath::source::Camera({0, 0, 0}, omath::source::ViewAngles{}, {1920.f, 1080.f}, x, 0.01f, 1000.f);
+
+    const auto projected = cam.WorldToScreen(cam.GetViewProjectionMatrix(), {1000, 0, 50});
+    std::print("{} {} {}", projected->x, projected->y, projected->z);
+}

tests/general/UnitTestViewAngles.cpp

@@ -0,0 +1,4 @@
+//
+// Created by Orange on 11/30/2024.
+//
+#include <omath/ViewAngles.hpp>