From f273c2fc7edf97382b16c642b19a2271cc1571e3 Mon Sep 17 00:00:00 2001
From: Orange <orange-cpp@yandex.ru>
Date: Sat, 10 Jan 2026 09:58:53 +0300
Subject: [PATCH] added shit

---
 .idea/editor.xml                          |   3 +-
 examples/CMakeLists.txt                   |   3 +
 examples/example_glfw3.cpp                | 836 ++++++++++++++++++----
 include/omath/collision/epa_algorithm.hpp |   3 +-
 vcpkg.json                                |   3 +-
 5 files changed, 708 insertions(+), 140 deletions(-)

diff --git a/.idea/editor.xml b/.idea/editor.xml
index fde5348..bce786e 100644
--- a/.idea/editor.xml
+++ b/.idea/editor.xml
@@ -17,7 +17,7 @@
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatTooManyArgs/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCStyleCast/@EntryIndexedValue" value="SUGGESTION" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCVQualifierCanNotBeAppliedToReference/@EntryIndexedValue" value="WARNING" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassCanBeFinal/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassCanBeFinal/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassIsIncomplete/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassNeedsConstructorBecauseOfUninitializedMember/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
@@ -56,6 +56,7 @@
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultInitializationWithNoUserConstructor/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultIsUsedAsIdentifier/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultedSpecialMemberFunctionIsImplicitlyDeleted/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefinitionsOrder/@EntryIndexedValue" value="HINT" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeletingVoidPointer/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDependentTemplateWithoutTemplateKeyword/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDependentTypeWithoutTypenameKeyword/@EntryIndexedValue" value="WARNING" type="string" />
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index 016f3be..e93e483 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -30,6 +30,9 @@ find_package(GLEW REQUIRED)
 find_package(glfw3 CONFIG REQUIRED)
 target_link_libraries(example_glfw3 PRIVATE omath::omath GLEW::GLEW glfw)
 
+find_path(TINYGLTF_INCLUDE_DIRS "tiny_gltf.h")
+target_include_directories(example_glfw3 PRIVATE ${TINYGLTF_INCLUDE_DIRS})
+
 if(OMATH_ENABLE_VALGRIND)
         omath_setup_valgrind(example_projection_matrix_builder)
         omath_setup_valgrind(example_signature_scan)
diff --git a/examples/example_glfw3.cpp b/examples/example_glfw3.cpp
index b133e9a..587d271 100644
--- a/examples/example_glfw3.cpp
+++ b/examples/example_glfw3.cpp
@@ -1,22 +1,36 @@
 // main.cpp
+#define TINYGLTF_IMPLEMENTATION
+#define STB_IMAGE_IMPLEMENTATION
+#define STB_IMAGE_WRITE_IMPLEMENTATION
+#define TINYGLTF_NOEXCEPTION
+#define JSON_NOEXCEPTION
+
+#include <cmath>
 #include <cstdint>
 #include <iostream>
+#include <stdexcept>
 #include <vector>
 
 // --- OpenGL / windowing ---
 #include <GL/glew.h> // GLEW must come before GLFW
 #include <GLFW/glfw3.h>
+#include <tiny_gltf.h>
 
 // --- your math / engine stuff ---
 #include "omath/3d_primitives/mesh.hpp"
+#include "omath/collision/epa_algorithm.hpp"
+#include "omath/collision/gjk_algorithm.hpp"
+#include "omath/collision/line_tracer.hpp"
+#include "omath/collision/mesh_collider.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/vector2.hpp"
 #include "omath/linear_algebra/vector3.hpp"
 
 using omath::Vector3;
 
-// ---------------- TYPE ALIASES (ADAPT TO YOUR LIB) ----------------
+// ---------------- TYPE ALIASES ----------------
 
 // Your 4x4 matrix type
 using Mat4x4 = omath::opengl_engine::Mat4X4;
@@ -24,27 +38,29 @@ using Mat4x4 = omath::opengl_engine::Mat4X4;
 // Rotation angles for the Mesh
 using RotationAngles = omath::opengl_engine::ViewAngles;
 
-// For brevity, alias the templates instantiated with your types
-using VertexType = omath::primitives::Vertex<Vector3<float>>;
-using CubeMesh = omath::opengl_engine::Mesh;
+// Vertex: pos/normal = Vector3<float>, uv = Vector2<float>
+using VertexType = omath::primitives::Vertex<Vector3<float>, omath::Vector2<float>>;
+using MeshType = omath::opengl_engine::Mesh;
 using MyCamera = omath::opengl_engine::Camera;
+using Idx = Vector3<std::uint32_t>;
 
-// ---------------- SHADERS ----------------
+// ---------------- SHADERS (TEXTURED) ----------------
 
 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;
+layout (location = 2) in vec2 aUv;
 
 uniform mat4 uMVP;
 uniform mat4 uModel;
 
 out vec3 vNormal;
-out vec3 vUv;
+out vec2 vUv;
 
 void main() {
-    vNormal = aNormal;
+    // world-space normal (assuming no non-uniform scale)
+    vNormal = mat3(uModel) * aNormal;
     vUv = aUv;
     gl_Position = uMVP * uModel * vec4(aPos, 1.0);
 }
@@ -53,16 +69,26 @@ void main() {
 static const char* fragmentShaderSource = R"(
 #version 330 core
 in vec3 vNormal;
-in vec3 vUv;
+in vec2 vUv;
+
+uniform sampler2D uTexture;
 
 out vec4 FragColor;
 
 void main() {
-    vec3 baseColor = normalize(abs(vNormal));
-    FragColor = vec4(baseColor, 1.0);
+    vec3 baseColor = texture(uTexture, vUv).rgb;
+
+    // simple directional light
+    vec3 N = normalize(vNormal);
+    vec3 L = normalize(vec3(0.3, 0.6, 0.7));
+    float diff = max(dot(N, L), 0.2); // some ambient floor
+
+    FragColor = vec4(baseColor * diff, 1.0);
 }
 )";
 
+// ---------------- GL helpers ----------------
+
 GLuint compileShader(GLenum type, const char* src)
 {
     GLuint shader = glCreateShader(type);
@@ -109,10 +135,460 @@ void framebuffer_size_callback(GLFWwindow* /*window*/, int w, int h)
     glViewport(0, 0, w, h);
 }
 
+// ---------------- tinygltf helpers ----------------
+
+static const unsigned char* get_accessor_data_ptr(const tinygltf::Model& model, const tinygltf::Accessor& accessor)
+{
+    const tinygltf::BufferView& bufferView = model.bufferViews[accessor.bufferView];
+    const tinygltf::Buffer& buffer = model.buffers[bufferView.buffer];
+
+    return buffer.data.data() + bufferView.byteOffset + accessor.byteOffset;
+}
+
+static size_t get_accessor_stride(const tinygltf::Model& model, const tinygltf::Accessor& accessor)
+{
+    const tinygltf::BufferView& bufferView = model.bufferViews[accessor.bufferView];
+    size_t stride = accessor.ByteStride(bufferView);
+    if (stride == 0)
+    {
+        stride = tinygltf::GetComponentSizeInBytes(accessor.componentType)
+                 * tinygltf::GetNumComponentsInType(accessor.type);
+    }
+    return stride;
+}
+
+static uint32_t read_index(const unsigned char* data, int componentType)
+{
+    switch (componentType)
+    {
+    case TINYGLTF_COMPONENT_TYPE_UNSIGNED_BYTE:
+        return static_cast<uint32_t>(*reinterpret_cast<const uint8_t*>(data));
+    case TINYGLTF_COMPONENT_TYPE_UNSIGNED_SHORT:
+        return static_cast<uint32_t>(*reinterpret_cast<const uint16_t*>(data));
+    case TINYGLTF_COMPONENT_TYPE_UNSIGNED_INT:
+        return *reinterpret_cast<const uint32_t*>(data);
+    default:
+        throw std::runtime_error("Unsupported index component type");
+    }
+}
+
+// ---------------- Node world transform (translation + scale) ----------------
+
+static float vec3_length(float x, float y, float z)
+{
+    return std::sqrt(x * x + y * y + z * z);
+}
+
+struct NodeWorldTransform
+{
+    Vector3<float> translation;
+    Vector3<float> scale;
+};
+
+static void compute_node_world_transform_recursive(const tinygltf::Model& model, int nodeIndex,
+                                                   const Vector3<float>& parentTrans, const Vector3<float>& parentScale,
+                                                   std::vector<NodeWorldTransform>& outWorld)
+{
+    const tinygltf::Node& node = model.nodes[nodeIndex];
+
+    // ----- local translation -----
+    Vector3<float> localTrans{0.f, 0.f, 0.f};
+
+    // ----- local scale -----
+    Vector3<float> localScale{1.f, 1.f, 1.f};
+
+    if (node.matrix.size() == 16)
+    {
+        // glTF matrix is column-major
+        const auto& m = node.matrix;
+
+        // translation from last column
+        localTrans.x = static_cast<float>(m[12]);
+        localTrans.y = static_cast<float>(m[13]);
+        localTrans.z = static_cast<float>(m[14]);
+
+        // approximate scale = length of basis vectors
+        float sx = vec3_length(static_cast<float>(m[0]), static_cast<float>(m[1]), static_cast<float>(m[2]));
+        float sy = vec3_length(static_cast<float>(m[4]), static_cast<float>(m[5]), static_cast<float>(m[6]));
+        float sz = vec3_length(static_cast<float>(m[8]), static_cast<float>(m[9]), static_cast<float>(m[10]));
+
+        if (sx > 0.f)
+            localScale.x = sx;
+        if (sy > 0.f)
+            localScale.y = sy;
+        if (sz > 0.f)
+            localScale.z = sz;
+    }
+
+    // node.translation overrides matrix translation if present
+    if (node.translation.size() == 3)
+    {
+        localTrans.x = static_cast<float>(node.translation[0]);
+        localTrans.y = static_cast<float>(node.translation[1]);
+        localTrans.z = static_cast<float>(node.translation[2]);
+    }
+
+    // node.scale overrides matrix scale if present
+    if (node.scale.size() == 3)
+    {
+        localScale.x = static_cast<float>(node.scale[0]);
+        localScale.y = static_cast<float>(node.scale[1]);
+        localScale.z = static_cast<float>(node.scale[2]);
+    }
+
+    // ----- accumulate to world -----
+    Vector3<float> worldScale{parentScale.x * localScale.x, parentScale.y * localScale.y, parentScale.z * localScale.z};
+
+    // (ignoring scale influence on translation; good enough for simple setups)
+    Vector3<float> worldTrans{parentTrans.x + localTrans.x, parentTrans.y + localTrans.y, parentTrans.z + localTrans.z};
+
+    outWorld[nodeIndex] = NodeWorldTransform{worldTrans, worldScale};
+
+    for (int childIdx : node.children)
+    {
+        compute_node_world_transform_recursive(model, childIdx, worldTrans, worldScale, outWorld);
+    }
+}
+
+static std::vector<NodeWorldTransform> compute_all_node_world_transforms(const tinygltf::Model& model)
+{
+    std::vector<NodeWorldTransform> world(
+            model.nodes.size(), NodeWorldTransform{Vector3<float>{0.f, 0.f, 0.f}, Vector3<float>{1.f, 1.f, 1.f}});
+
+    if (model.nodes.empty())
+        return world;
+
+    int sceneIndex = 0;
+    if (!model.scenes.empty())
+    {
+        if (model.defaultScene >= 0 && model.defaultScene < static_cast<int>(model.scenes.size()))
+            sceneIndex = model.defaultScene;
+        else
+            sceneIndex = 0;
+    }
+
+    if (!model.scenes.empty())
+    {
+        const tinygltf::Scene& scene = model.scenes[sceneIndex];
+        for (int rootNodeIdx : scene.nodes)
+        {
+            compute_node_world_transform_recursive(model, rootNodeIdx,
+                                                   Vector3<float>{0.f, 0.f, 0.f}, // parent translation
+                                                   Vector3<float>{1.f, 1.f, 1.f}, // parent scale
+                                                   world);
+        }
+    }
+    else
+    {
+        // No scenes defined: treat all nodes as roots
+        for (size_t i = 0; i < model.nodes.size(); ++i)
+        {
+            compute_node_world_transform_recursive(model, static_cast<int>(i), Vector3<float>{0.f, 0.f, 0.f},
+                                                   Vector3<float>{1.f, 1.f, 1.f}, world);
+        }
+    }
+
+    return world;
+}
+
+// ---------------- Load meshes/primitives per node (origin + scale) ----------------
+
+static void load_glb_meshes(const std::string& filename, tinygltf::Model& outModel, std::vector<MeshType>& outMeshes,
+                            std::vector<int>& outTextureIndices)
+{
+    tinygltf::TinyGLTF loader;
+    tinygltf::Model model;
+    std::string err, warn;
+
+    bool ok = loader.LoadBinaryFromFile(&model, &err, &warn, filename);
+    if (!warn.empty())
+        std::cerr << "tinygltf warning: " << warn << std::endl;
+    if (!ok)
+        throw std::runtime_error("Failed to load GLB \"" + filename + "\": " + err);
+
+    if (model.meshes.empty())
+        throw std::runtime_error("GLB has no meshes: " + filename);
+
+    outMeshes.clear();
+    outTextureIndices.clear();
+
+    // Precompute world translation + scale for all nodes
+    std::vector<NodeWorldTransform> nodeWorld = compute_all_node_world_transforms(model);
+
+    int primitiveIndexGlobal = 0;
+
+    // Iterate over ALL nodes that reference a mesh
+    for (size_t nodeIndex = 0; nodeIndex < model.nodes.size(); ++nodeIndex)
+    {
+        const tinygltf::Node& node = model.nodes[nodeIndex];
+        std::println("{}", node.name);
+        if (node.mesh < 0 || node.mesh >= static_cast<int>(model.meshes.size()))
+            continue;
+
+        const tinygltf::Mesh& gltfMesh = model.meshes[node.mesh];
+        const NodeWorldTransform& nodeTf = nodeWorld[nodeIndex];
+        const Vector3<float>& nodeOrigin = nodeTf.translation;
+        const Vector3<float>& nodeScale = nodeTf.scale;
+        for (const tinygltf::Primitive& prim : gltfMesh.primitives)
+        {
+            if (prim.mode != TINYGLTF_MODE_TRIANGLES)
+            {
+                std::cerr << "Skipping non-triangle primitive\n";
+                continue;
+            }
+
+            // POSITION (required)
+            auto posIt = prim.attributes.find("POSITION");
+            if (posIt == prim.attributes.end())
+            {
+                std::cerr << "Primitive has no POSITION attribute, skipping\n";
+                continue;
+            }
+
+            const tinygltf::Accessor& posAccessor = model.accessors[posIt->second];
+            if (posAccessor.type != TINYGLTF_TYPE_VEC3 || posAccessor.componentType != TINYGLTF_COMPONENT_TYPE_FLOAT)
+            {
+                std::cerr << "POSITION must be VEC3 float, skipping primitive\n";
+                continue;
+            }
+
+            const unsigned char* posBase = get_accessor_data_ptr(model, posAccessor);
+            size_t posStride = get_accessor_stride(model, posAccessor);
+            size_t vertexCount = posAccessor.count;
+
+            std::vector<VertexType> vbo(vertexCount);
+
+            // NORMAL (optional)
+            const unsigned char* nrmBase = nullptr;
+            size_t nrmStride = 0;
+            auto nrmIt = prim.attributes.find("NORMAL");
+            if (nrmIt != prim.attributes.end())
+            {
+                const tinygltf::Accessor& nrmAccessor = model.accessors[nrmIt->second];
+                if (nrmAccessor.type == TINYGLTF_TYPE_VEC3
+                    && nrmAccessor.componentType == TINYGLTF_COMPONENT_TYPE_FLOAT)
+                {
+                    nrmBase = get_accessor_data_ptr(model, nrmAccessor);
+                    nrmStride = get_accessor_stride(model, nrmAccessor);
+                }
+            }
+
+            // TEXCOORD_0 (optional, vec2)
+            const unsigned char* uvBase = nullptr;
+            size_t uvStride = 0;
+            auto uvIt = prim.attributes.find("TEXCOORD_0");
+            if (uvIt != prim.attributes.end())
+            {
+                const tinygltf::Accessor& uvAccessor = model.accessors[uvIt->second];
+                if (uvAccessor.type == TINYGLTF_TYPE_VEC2 && uvAccessor.componentType == TINYGLTF_COMPONENT_TYPE_FLOAT)
+                {
+                    uvBase = get_accessor_data_ptr(model, uvAccessor);
+                    uvStride = get_accessor_stride(model, uvAccessor);
+                }
+            }
+
+            // Fill VBO
+            for (size_t i = 0; i < vertexCount; ++i)
+            {
+                VertexType v{};
+
+                const float* pos = reinterpret_cast<const float*>(posBase + i * posStride);
+                v.position = Vector3<float>{pos[0], pos[1], pos[2]};
+
+                if (nrmBase)
+                {
+                    const float* nrm = reinterpret_cast<const float*>(nrmBase + i * nrmStride);
+                    v.normal = Vector3<float>{nrm[0], nrm[1], nrm[2]};
+                }
+                else
+                {
+                    v.normal = Vector3<float>{0.f, 0.f, 1.f};
+                }
+
+                if (uvBase)
+                {
+                    const float* uv = reinterpret_cast<const float*>(uvBase + i * uvStride);
+                    v.uv = omath::Vector2<float>{uv[0], uv[1]};
+                }
+                else
+                {
+                    v.uv = omath::Vector2<float>{0.f, 0.f};
+                }
+
+                vbo[i] = v;
+            }
+
+            // Build triangle EBO (Vector3<uint32_t>)
+            std::vector<Idx> ebo;
+
+            if (prim.indices >= 0)
+            {
+                const tinygltf::Accessor& idxAccessor = model.accessors[prim.indices];
+                const unsigned char* idxBase = get_accessor_data_ptr(model, idxAccessor);
+                size_t idxStride = get_accessor_stride(model, idxAccessor);
+                size_t indexCount = idxAccessor.count;
+
+                if (indexCount < 3)
+                    continue;
+
+                ebo.reserve(indexCount / 3);
+                for (size_t i = 0; i + 2 < indexCount; i += 3)
+                {
+                    const unsigned char* p0 = idxBase + (i + 0) * idxStride;
+                    const unsigned char* p1 = idxBase + (i + 1) * idxStride;
+                    const unsigned char* p2 = idxBase + (i + 2) * idxStride;
+
+                    uint32_t i0 = read_index(p0, idxAccessor.componentType);
+                    uint32_t i1 = read_index(p1, idxAccessor.componentType);
+                    uint32_t i2 = read_index(p2, idxAccessor.componentType);
+
+                    ebo.emplace_back(Idx{i0, i1, i2});
+                }
+            }
+            else
+            {
+                if (vertexCount >= 3)
+                {
+                    ebo.reserve(vertexCount / 3);
+                    for (uint32_t i = 0; i + 2 < vertexCount; i += 3)
+                    {
+                        ebo.emplace_back(Idx{i, i + 1, i + 2});
+                    }
+                }
+            }
+
+            if (vbo.empty() || ebo.empty())
+            {
+                std::cerr << "Primitive produced empty vbo/ebo, skipping\n";
+                continue;
+            }
+
+            // ---- Decide which texture index to use for this primitive ----
+            int textureIndex = -1;
+
+            // 1) Try material → baseColorTexture.index
+            if (prim.material >= 0 && prim.material < static_cast<int>(model.materials.size()))
+            {
+                const tinygltf::Material& mat = model.materials[prim.material];
+                if (mat.pbrMetallicRoughness.baseColorTexture.index >= 0)
+                {
+                    textureIndex = mat.pbrMetallicRoughness.baseColorTexture.index;
+                }
+            }
+
+            // 2) If that failed but there are textures, map primitive index to textures round-robin
+            if (textureIndex < 0 && !model.textures.empty())
+            {
+                textureIndex = primitiveIndexGlobal % static_cast<int>(model.textures.size());
+            }
+
+            outTextureIndices.push_back(textureIndex);
+
+            // Create MeshType and store it, with origin & scale from node transform
+            MeshType mesh{std::move(vbo), std::move(ebo)};
+            mesh.set_origin(nodeOrigin); // origin from glTF node
+            mesh.set_scale(nodeScale); // scale from glTF node
+            mesh.set_rotation(RotationAngles{}); // keep your rotation system
+
+            outMeshes.emplace_back(std::move(mesh));
+
+            ++primitiveIndexGlobal;
+        }
+    }
+
+    if (outMeshes.empty())
+        throw std::runtime_error("No primitives with triangles were loaded from GLB: " + filename);
+
+    outModel = std::move(model);
+}
+
+// ---------------- Texture creation from glTF ----------------
+
+static GLuint create_default_white_texture()
+{
+    GLuint tex = 0;
+    glGenTextures(1, &tex);
+    glBindTexture(GL_TEXTURE_2D, tex);
+
+    unsigned char white[4] = {(std::uint8_t)(rand() % 255), (std::uint8_t)(rand() % 255), (std::uint8_t)(rand() % 255),
+                              255};
+    glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, 1, 1, 0, GL_RGBA, GL_UNSIGNED_BYTE, white);
+
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
+
+    return tex;
+}
+
+static GLuint create_texture_from_image(const tinygltf::Image& image)
+{
+    if (image.image.empty() || image.width <= 0 || image.height <= 0)
+    {
+        std::cerr << "Image is empty or invalid, using white texture\n";
+        return create_default_white_texture();
+    }
+
+    GLenum format = GL_RGBA;
+    if (image.component == 3)
+        format = GL_RGB;
+    else if (image.component == 4)
+        format = GL_RGBA;
+    else if (image.component == 1)
+        format = GL_RED;
+
+    GLuint glTex = 0;
+    glGenTextures(1, &glTex);
+    glBindTexture(GL_TEXTURE_2D, glTex);
+
+    glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
+    glTexImage2D(GL_TEXTURE_2D, 0, format, image.width, image.height, 0, format, GL_UNSIGNED_BYTE, image.image.data());
+
+    glGenerateMipmap(GL_TEXTURE_2D);
+
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+
+    return glTex;
+}
+
+// textureIndex is an index into model.textures
+static GLuint create_texture_from_gltf(const tinygltf::Model& model, int textureIndex)
+{
+    const tinygltf::Image* image = nullptr;
+
+    if (textureIndex >= 0 && textureIndex < static_cast<int>(model.textures.size()))
+    {
+        const tinygltf::Texture& tex = model.textures[textureIndex];
+        int imageIndex = tex.source;
+        if (imageIndex >= 0 && imageIndex < static_cast<int>(model.images.size()))
+        {
+            image = &model.images[imageIndex];
+        }
+    }
+
+    // Fallback: if textureIndex invalid or texture had no image, use first image if available
+    if (!image && !model.images.empty())
+    {
+        image = &model.images[0];
+    }
+
+    if (!image)
+        return create_default_white_texture();
+
+    return create_texture_from_image(*image);
+}
+
 // ---------------- MAIN ----------------
 
-int main()
+int main(int argc, char** argv)
 {
+    // filename from CLI or default
+    std::string glbFile = (argc > 1) ? argv[1] : "untitled.glb";
+
     // ---------- GLFW init ----------
     if (!glfwInit())
     {
@@ -130,7 +606,7 @@ int main()
     constexpr int SCR_WIDTH = 800;
     constexpr int SCR_HEIGHT = 600;
 
-    GLFWwindow* window = glfwCreateWindow(SCR_WIDTH, SCR_HEIGHT, "omath cube + camera (GLEW)", nullptr, nullptr);
+    GLFWwindow* window = glfwCreateWindow(SCR_WIDTH, SCR_HEIGHT, "omath glTF multi-mesh (textured)", nullptr, nullptr);
     if (!window)
     {
         std::cerr << "Failed to create GLFW window\n";
@@ -140,7 +616,7 @@ int main()
 
     glfwMakeContextCurrent(window);
     glfwSetFramebufferSizeCallback(window, framebuffer_size_callback);
-
+    //glfwSwapInterval(0);
     // ---------- GLEW init ----------
     glewExperimental = GL_TRUE;
     GLenum glewErr = glewInit();
@@ -154,141 +630,219 @@ int main()
 
     // ---------- GL state ----------
     glEnable(GL_DEPTH_TEST);
-
-    // Face culling
     glEnable(GL_CULL_FACE);
-    glCullFace(GL_BACK); // cull back faces
-    glFrontFace(GL_CCW); // counter-clockwise is front
+    glCullFace(GL_BACK);
+    glFrontFace(GL_CCW);
 
-    // ---------- Build Cube Mesh (CPU side) ----------
-    std::vector<VertexType> vbo;
-    vbo.reserve(8);
+    // ---------- Load GLB meshes (CPU side) ----------
+    std::vector<MeshType> meshes;
+    std::vector<int> textureIndices; // per-primitive texture index
+    tinygltf::Model gltfModel;
 
-    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}, omath::Vector2<float>{0, 0}};
-    VertexType v1{p001, Vector3<float>{-1, -1, 1}, omath::Vector2<float>{0, 1}};
-    VertexType v2{p010, Vector3<float>{-1, 1, -1}, omath::Vector2<float>{1, 0}};
-    VertexType v3{p011, Vector3<float>{-1, 1, 1}, omath::Vector2<float>{1, 1}};
-    VertexType v4{p100, Vector3<float>{1, -1, -1}, omath::Vector2<float>{0, 0}};
-    VertexType v5{p101, Vector3<float>{1, -1, 1}, omath::Vector2<float>{0, 1}};
-    VertexType v6{p110, Vector3<float>{1, 1, -1}, omath::Vector2<float>{1, 0}};
-    VertexType v7{p111, Vector3<float>{1, 1, 1}, omath::Vector2<float>{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
-
-    using Idx = Vector3<std::uint32_t>;
-    std::vector<Idx> ebo;
-    ebo.reserve(12);
-
-    // front (z+)
-    ebo.emplace_back(1, 5, 7);
-    ebo.emplace_back(1, 7, 3);
-
-    // back (z-)
-    ebo.emplace_back(0, 2, 6);
-    ebo.emplace_back(0, 6, 4);
-
-    // left (x-)
-    ebo.emplace_back(0, 1, 3);
-    ebo.emplace_back(0, 3, 2);
-
-    // right (x+)
-    ebo.emplace_back(4, 6, 7);
-    ebo.emplace_back(4, 7, 5);
-
-    // bottom (y-)
-    ebo.emplace_back(0, 4, 5);
-    ebo.emplace_back(0, 5, 1);
-
-    // top (y+)
-    ebo.emplace_back(2, 3, 7);
-    ebo.emplace_back(2, 7, 6);
-
-    CubeMesh cube{std::move(vbo), std::move(ebo)};
-    cube.set_origin({0.f, 0.f, 0.f});
-    cube.set_scale({2.f, 2.f, 2.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_element_buffer_object.size() * 3);
-    for (const auto& tri : cube.m_element_buffer_object)
+    try
     {
-        flatIndices.push_back(tri.x);
-        flatIndices.push_back(tri.y);
-        flatIndices.push_back(tri.z);
+        load_glb_meshes(glbFile, gltfModel, meshes, textureIndices);
+        std::cerr << "Loaded " << meshes.size() << " mesh primitives from GLB\n";
+    }
+    catch (const std::exception& e)
+    {
+        std::cerr << "Error loading GLB: " << e.what() << std::endl;
+        glfwTerminate();
+        return -1;
     }
 
-    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, EBO_GL);
-    glBufferData(GL_ELEMENT_ARRAY_BUFFER, flatIndices.size() * sizeof(GLuint), flatIndices.data(), GL_STATIC_DRAW);
+    const size_t meshCount = meshes.size();
 
-    // vertex layout: position / normal / uv (each Vector3<float>)
-    glEnableVertexAttribArray(0);
-    glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, sizeof(VertexType), (void*)offsetof(VertexType, position));
+    // ---------- Create GL buffers per mesh ----------
+    std::vector<GLuint> vaos(meshCount);
+    std::vector<GLuint> vbos(meshCount);
+    std::vector<GLuint> ebos(meshCount);
+    std::vector<GLuint> textures(meshCount);
+    std::vector<std::vector<GLuint>> flatIndices(meshCount);
 
-    glEnableVertexAttribArray(1);
-    glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, sizeof(VertexType), (void*)offsetof(VertexType, normal));
+    glGenVertexArrays(static_cast<GLsizei>(meshCount), vaos.data());
+    glGenBuffers(static_cast<GLsizei>(meshCount), vbos.data());
+    glGenBuffers(static_cast<GLsizei>(meshCount), ebos.data());
 
-    glEnableVertexAttribArray(2);
-    glVertexAttribPointer(2, 3, GL_FLOAT, GL_FALSE, sizeof(VertexType), (void*)offsetof(VertexType, uv));
+    using Collider = omath::collision::MeshCollider<MeshType>;
 
-    glBindVertexArray(0);
+    std::vector<Collider> colliders;
+
+    for (const auto& mesh : meshes)
+    {
+        colliders.emplace_back(mesh);
+    }
+    using ColliderInterface = omath::collision::ColliderInterface<omath::Vector3<float>>;
+
+    for (size_t i = 0; i < meshCount; ++i)
+    {
+        MeshType& mesh = meshes[i];
+
+        glBindVertexArray(vaos[i]);
+
+        // VBO
+        glBindBuffer(GL_ARRAY_BUFFER, vbos[i]);
+        glBufferData(GL_ARRAY_BUFFER, mesh.m_vertex_buffer.size() * sizeof(VertexType), mesh.m_vertex_buffer.data(),
+                     GL_STATIC_DRAW);
+
+        // Flatten triangle EBO (Vector3<uint32_t>) to scalar index buffer
+        flatIndices[i].reserve(mesh.m_element_buffer_object.size() * 3);
+        for (const auto& tri : mesh.m_element_buffer_object)
+        {
+            flatIndices[i].push_back(tri.x);
+            flatIndices[i].push_back(tri.y);
+            flatIndices[i].push_back(tri.z);
+        }
+
+        // EBO
+        glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, ebos[i]);
+        glBufferData(GL_ELEMENT_ARRAY_BUFFER, flatIndices[i].size() * sizeof(GLuint), flatIndices[i].data(),
+                     GL_STATIC_DRAW);
+
+        // vertex layout: position / normal / uv
+        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, 2, GL_FLOAT, GL_FALSE, sizeof(VertexType), (void*)offsetof(VertexType, uv));
+
+        glBindVertexArray(0);
+
+        // Texture for this mesh (based on its texture index)
+        textures[i] = create_texture_from_gltf(gltfModel, textureIndices[i]);
+    }
 
     // ---------- 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};
+    Vector3<float> camPos{0.f, 1.0f, 6.f};
 
     float nearPlane = 0.1f;
-    float farPlane = 100.f;
-    auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    float farPlane = 1000.f;
+    auto fov = omath::projection::FieldOfView::from_degrees(110.f);
 
     MyCamera camera{camPos, {}, viewPort, fov, nearPlane, farPlane};
 
     // ---------- Shader ----------
     GLuint shaderProgram = createShaderProgram();
     GLint uMvpLoc = glGetUniformLocation(shaderProgram, "uMVP");
-    GLint uModel = glGetUniformLocation(shaderProgram, "uModel");
+    GLint uModelLoc = glGetUniformLocation(shaderProgram, "uModel");
+    GLint uTexLoc = glGetUniformLocation(shaderProgram, "uTexture");
 
     static float old_frame_time = glfwGetTime();
 
+    auto cam_collider = colliders.at(0);
     // ---------- Main loop ----------
+    // without fallback memory allocation on heap
+
+    static std::array<std::byte, 1024*8> buf;
+    std::pmr::monotonic_buffer_resource pool_stack{buf.data(), buf.size(),
+                                             std::pmr::null_memory_resource()};
+
     while (!glfwWindowShouldClose(window))
     {
-        glfwPollEvents();
-
         float currentTime = glfwGetTime();
         float deltaTime = currentTime - old_frame_time;
         old_frame_time = currentTime;
+        glfwPollEvents();
 
+        auto y = camera.get_origin().y;
+        float speed = 40.f;
+        if (glfwGetKey(window, GLFW_KEY_W) == GLFW_PRESS)
+        {
+            camera.set_origin(camera.get_origin()
+                              + omath::opengl_engine::forward_vector(camera.get_view_angles()) * speed * deltaTime);
+        }
+
+        if (glfwGetKey(window, GLFW_KEY_S) == GLFW_PRESS)
+        {
+            camera.set_origin(camera.get_origin()
+                              - omath::opengl_engine::forward_vector(camera.get_view_angles()) * speed * deltaTime);
+        }
+        if (glfwGetKey(window, GLFW_KEY_D) == GLFW_PRESS)
+        {
+            camera.set_origin(camera.get_origin()
+                              + omath::opengl_engine::right_vector(camera.get_view_angles()) * speed * deltaTime);
+        }
+        if (glfwGetKey(window, GLFW_KEY_A) == GLFW_PRESS)
+        {
+            camera.set_origin(camera.get_origin()
+                              - omath::opengl_engine::right_vector(camera.get_view_angles()) * speed * deltaTime);
+        }
+        auto new_origin = camera.get_origin();
+        new_origin.y = y;
+
+        camera.set_origin(new_origin);
+        float look_speed = 60;
+        if (glfwGetKey(window, GLFW_KEY_UP) == GLFW_PRESS)
+        {
+            auto view_angles = camera.get_view_angles();
+            view_angles.pitch += omath::opengl_engine::PitchAngle::from_degrees(look_speed * deltaTime);
+            camera.set_view_angles(view_angles);
+        }
+        if (glfwGetKey(window, GLFW_KEY_DOWN) == GLFW_PRESS)
+        {
+            auto view_angles = camera.get_view_angles();
+            view_angles.pitch -= omath::opengl_engine::PitchAngle::from_degrees(look_speed * deltaTime);
+            camera.set_view_angles(view_angles);
+        }
+
+        if (glfwGetKey(window, GLFW_KEY_LEFT) == GLFW_PRESS)
+        {
+            auto view_angles = camera.get_view_angles();
+            view_angles.yaw += omath::opengl_engine::YawAngle::from_degrees(look_speed * deltaTime);
+            camera.set_view_angles(view_angles);
+        }
+        if (glfwGetKey(window, GLFW_KEY_RIGHT) == GLFW_PRESS)
+        {
+            auto view_angles = camera.get_view_angles();
+            view_angles.yaw -= omath::opengl_engine::YawAngle::from_degrees(look_speed * deltaTime);
+            camera.set_view_angles(view_angles);
+        }
+        cam_collider.set_origin(camera.get_origin());
+
+        bool on_ground = false;
+
+        for (int b = 0; b < colliders.size(); b++)
+        {
+            auto& collider_a = cam_collider;
+            auto& collider_b = colliders.at(b);
+
+            if (&collider_a == &collider_b)
+                continue;
+            auto info = omath::collision::GjkAlgorithm<ColliderInterface>::is_collide_with_simplex_info(collider_a,
+                                                                                                        collider_b);
+            if (!info.hit)
+                continue;
+
+            pool_stack.release();
+            auto result = omath::collision::Epa<ColliderInterface>::solve(collider_a, collider_b, info.simplex, {}, pool_stack);
+
+            const auto deg = result->penetration_vector.angle_between(omath::opengl_engine::k_abs_up)->as_degrees();
+            on_ground |= deg > 150.f;
+
+            //DO NOT PUSH OBJECT AWAY, NEED TO KEEP IT INSIDE OTHER OBJECTS TO
+            //CHECK IF PLAYER STANDS ON SOMETHING
+            if (std::abs(result->penetration_vector.y) <= 0.15 && deg > 150)
+                continue;
+            collider_a.set_origin(collider_a.get_origin() - result->penetration_vector * 1.005);
+            camera.set_origin(camera.get_origin() - result->penetration_vector * 1.005);
+        }
+        if (glfwGetKey(window, GLFW_KEY_SPACE) == GLFW_PRESS && on_ground)
+        {
+            cam_collider.set_origin(cam_collider.get_origin() + omath::opengl_engine::k_abs_up * 5);
+            camera.set_origin(cam_collider.get_origin() + omath::opengl_engine::k_abs_up * 5);
+            on_ground = false;
+        }
+
+        if (!on_ground)
+        {
+            cam_collider.set_origin(cam_collider.get_origin() - omath::opengl_engine::k_abs_up * 5 * deltaTime);
+            camera.set_origin(cam_collider.get_origin() - omath::opengl_engine::k_abs_up * 5 * deltaTime);
+        }
         int fbW = 0, fbH = 0;
         glfwGetFramebufferSize(window, &fbW, &fbH);
         glViewport(0, 0, fbW, fbH);
@@ -300,37 +854,45 @@ int main()
         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::RollAngle::from_degrees(40.f * deltaTime);
-
-        if (rot.pitch.as_degrees() == 90.f)
-            rot.pitch = omath::opengl_engine::PitchAngle::from_degrees(-90.f);
-        rot.pitch += omath::opengl_engine::PitchAngle::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 matrices to GPU
         const float* mvpPtr = viewProj.raw_array().data();
-        const float* modelPtr = model.raw_array().data();
-
         glUniformMatrix4fv(uMvpLoc, 1, GL_FALSE, mvpPtr);
-        glUniformMatrix4fv(uModel, 1, GL_FALSE, modelPtr);
 
-        glBindVertexArray(VAO);
-        glDrawElements(GL_TRIANGLES, static_cast<GLsizei>(flatIndices.size()), GL_UNSIGNED_INT, nullptr);
+        glActiveTexture(GL_TEXTURE0);
+        glUniform1i(uTexLoc, 0);
 
+        // Render all meshes
+        for (size_t i = 0; i < meshCount; ++i)
+        {
+            MeshType& mesh = meshes[i];
+
+            const Mat4x4 model = mesh.get_to_world_matrix();
+            const float* modelPtr = model.raw_array().data();
+            glUniformMatrix4fv(uModelLoc, 1, GL_FALSE, modelPtr);
+
+            glBindTexture(GL_TEXTURE_2D, textures[i]);
+            glBindVertexArray(vaos[i]);
+
+            glDrawElements(GL_TRIANGLES, static_cast<GLsizei>(flatIndices[i].size()), GL_UNSIGNED_INT, nullptr);
+        }
+
+        if (glfwGetKey(window, GLFW_KEY_F4) == GLFW_PRESS)
+        {
+            std::println("FPS: {}", (int)(1 / deltaTime));
+        }
         glfwSwapBuffers(window);
     }
 
     // ---------- Cleanup ----------
-    glDeleteVertexArrays(1, &VAO);
-    glDeleteBuffers(1, &VBO);
-    glDeleteBuffers(1, &EBO_GL);
+    for (size_t i = 0; i < meshCount; ++i)
+    {
+        glDeleteTextures(1, &textures[i]);
+        glDeleteVertexArrays(1, &vaos[i]);
+        glDeleteBuffers(1, &vbos[i]);
+        glDeleteBuffers(1, &ebos[i]);
+    }
     glDeleteProgram(shaderProgram);
 
     glfwDestroyWindow(window);
diff --git a/include/omath/collision/epa_algorithm.hpp b/include/omath/collision/epa_algorithm.hpp
index 1328dab..bdcb832 100644
--- a/include/omath/collision/epa_algorithm.hpp
+++ b/include/omath/collision/epa_algorithm.hpp
@@ -7,6 +7,7 @@
 #include <limits>
 #include <memory>
 #include <memory_resource>
+#include <ostream>
 #include <queue>
 #include <utility>
 #include <vector>
@@ -86,6 +87,7 @@ namespace omath::collision
                 // Converged if we can’t push the face closer than tolerance
                 if (p_dist - face.d <= params.tolerance)
                 {
+                    std::println("Vectex size {}, Faces size {}",vertexes.size(), faces.size());
                     out.normal = face.n;
                     out.depth = face.d; // along unit normal
                     out.iterations = it + 1;
@@ -118,7 +120,6 @@ namespace omath::collision
 
             if (faces.empty())
                 return std::nullopt;
-
             const auto best = *std::ranges::min_element(faces, [](const auto& first, const auto& second)
                                                         { return first.d < second.d; });
             out.normal = best.n;
diff --git a/vcpkg.json b/vcpkg.json
index c4c0d42..275801e 100644
--- a/vcpkg.json
+++ b/vcpkg.json
@@ -30,7 +30,8 @@
       "description": "Build benchmarks",
       "dependencies": [
         "glfw3",
-        "glew"
+        "glew",
+        "tinygltf"
       ]
     },
     "imgui": {