added more tests

Feature/serailization

.github/FUNDING.yml

@@ -0,0 +1,4 @@
+# These are supported funding model platforms
+
+open_collective: libomathorg
+github: orange-cpp

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

@@ -107,7 +107,7 @@ jobs:
             -DOMATH_BUILD_TESTS=ON \
             -DOMATH_BUILD_BENCHMARK=OFF \
             -DOMATH_ENABLE_COVERAGE=${{ matrix.coverage == true && 'ON' || 'OFF' }} \
-            -DVCPKG_MANIFEST_FEATURES="imgui;avx2;tests"
+            -DVCPKG_MANIFEST_FEATURES="imgui;avx2;tests;lua"
 
       - name: Build
         shell: bash
@@ -193,7 +193,7 @@ jobs:
             -DOMATH_BUILD_TESTS=ON \
             -DOMATH_BUILD_BENCHMARK=OFF \
             -DOMATH_ENABLE_COVERAGE=OFF \
-            -DVCPKG_MANIFEST_FEATURES="imgui;avx2;tests"
+            -DVCPKG_MANIFEST_FEATURES="imgui;avx2;tests;lua"
 
       - name: Build
         shell: bash
@@ -234,7 +234,7 @@ jobs:
             -DOMATH_ENABLE_COVERAGE=ON \
             -DOMATH_THREAT_WARNING_AS_ERROR=OFF \
             -DCMAKE_BUILD_TYPE=Debug \
-            -DVCPKG_MANIFEST_FEATURES="imgui;avx2;tests"
+            -DVCPKG_MANIFEST_FEATURES="imgui;avx2;tests;lua"
           cmake --build cmake-build/build/${{ matrix.preset }} --config Debug --target unit_tests omath
 
       - name: Run Tests (Generates .profraw)
@@ -373,7 +373,7 @@ jobs:
             -DOMATH_BUILD_TESTS=ON \
             -DOMATH_BUILD_BENCHMARK=OFF \
             -DOMATH_ENABLE_COVERAGE=${{ matrix.coverage == true && 'ON' || 'OFF' }} \
-            -DVCPKG_MANIFEST_FEATURES="imgui;avx2;tests"
+            -DVCPKG_MANIFEST_FEATURES="imgui;avx2;tests;lua"
 
       - name: Build
         shell: bash
@@ -450,7 +450,7 @@ jobs:
             -DVCPKG_INSTALL_OPTIONS="--allow-unsupported" \
             -DOMATH_BUILD_TESTS=ON \
             -DOMATH_BUILD_BENCHMARK=OFF \
-            -DVCPKG_MANIFEST_FEATURES="imgui;tests"
+            -DVCPKG_MANIFEST_FEATURES="imgui;tests;lua"
 
       - name: Build
         shell: bash
@@ -509,7 +509,7 @@ jobs:
             cmake --preset ${{ matrix.preset }} \
               -DOMATH_BUILD_TESTS=ON \
               -DOMATH_BUILD_BENCHMARK=OFF \
-              -DVCPKG_MANIFEST_FEATURES="imgui;avx2;tests" \
+              -DVCPKG_MANIFEST_FEATURES="imgui;avx2;tests;lua" \
               -DVCPKG_INSTALL_OPTIONS="--allow-unsupported"
             cmake --build cmake-build/build/${{ matrix.preset }} --target unit_tests omath
             ./out/Release/unit_tests
@@ -581,7 +581,7 @@ jobs:
             -DVCPKG_INSTALL_OPTIONS="--allow-unsupported" \
             -DOMATH_BUILD_TESTS=ON \
             -DOMATH_BUILD_BENCHMARK=OFF \
-            -DVCPKG_MANIFEST_FEATURES="imgui;tests"
+            -DVCPKG_MANIFEST_FEATURES="imgui;tests;lua"
 
       - name: Build
         shell: bash
@@ -650,7 +650,7 @@ jobs:
             -DVCPKG_INSTALL_OPTIONS="--allow-unsupported" \
             -DOMATH_BUILD_TESTS=ON \
             -DOMATH_BUILD_BENCHMARK=OFF \
-            -DVCPKG_MANIFEST_FEATURES="imgui;tests"
+            -DVCPKG_MANIFEST_FEATURES="imgui;tests;lua"
 
       - name: Build
         shell: bash
@@ -735,7 +735,7 @@ jobs:
             -DVCPKG_INSTALL_OPTIONS="--allow-unsupported" \
             -DOMATH_BUILD_TESTS=ON \
             -DOMATH_BUILD_BENCHMARK=OFF \
-            -DVCPKG_MANIFEST_FEATURES="imgui;tests"
+            -DVCPKG_MANIFEST_FEATURES="imgui;tests;lua"
 
       - name: Build
         run: |
@@ -800,7 +800,7 @@ jobs:
             -DOMATH_BUILD_TESTS=ON \
             -DOMATH_BUILD_BENCHMARK=ON \
             -DOMATH_ENABLE_VALGRIND=ON \
-            -DVCPKG_MANIFEST_FEATURES="imgui;avx2;tests;benchmark"
+            -DVCPKG_MANIFEST_FEATURES="imgui;avx2;lua;tests;benchmark"
 
       - name: Build All Targets
         shell: bash

.github/workflows/release.yml

@@ -0,0 +1,618 @@
+name: Release
+
+on:
+  release:
+    types: [published]
+
+concurrency:
+  group: release-${{ github.ref }}
+  cancel-in-progress: true
+
+permissions:
+  contents: write
+
+jobs:
+  ##############################################################################
+  # 1)  Linux  –  Clang / Ninja
+  ##############################################################################
+  linux-release:
+    name: ${{ matrix.name }}
+    runs-on: ${{ matrix.runner }}
+    strategy:
+      matrix:
+        include:
+          - name: Linux (Clang) (x64-linux)
+            triplet: x64-linux
+            runner: ubuntu-latest
+            preset: linux-release-vcpkg
+            archive: omath-linux-x64
+            install_cmd: |
+              wget -qO- https://apt.llvm.org/llvm-snapshot.gpg.key | sudo tee /etc/apt/trusted.gpg.d/apt.llvm.org.asc
+              sudo add-apt-repository -y "deb http://apt.llvm.org/noble/ llvm-toolchain-noble-21 main"
+              sudo apt-get update
+              sudo apt-get install -y git build-essential cmake ninja-build \
+                     zip unzip curl pkg-config ca-certificates \
+                     clang-21 lld-21 libc++-21-dev libc++abi-21-dev
+              sudo update-alternatives --install /usr/bin/cc cc /usr/bin/clang-21 100
+              sudo update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++-21 100
+              sudo update-alternatives --install /usr/bin/lld lld /usr/bin/lld-21 100
+          - name: Linux (Clang) (x86-linux)
+            triplet: x86-linux
+            runner: ubuntu-latest
+            preset: linux-release-vcpkg-x86
+            archive: omath-linux-x86
+            install_cmd: |
+              # Add LLVM 21 repository
+              wget -qO- https://apt.llvm.org/llvm-snapshot.gpg.key | sudo tee /etc/apt/trusted.gpg.d/apt.llvm.org.asc
+              sudo add-apt-repository -y "deb http://apt.llvm.org/noble/ llvm-toolchain-noble-21 main"
+              # Add GCC Toolchain PPA
+              sudo add-apt-repository -y "deb http://archive.ubuntu.com/ubuntu plucky main universe"
+              # Enable i386 architecture
+              sudo dpkg --add-architecture i386
+              sudo apt-get update
+              # Install Clang 21
+              sudo apt-get install -y git build-essential cmake ninja-build \
+                     zip unzip curl pkg-config ca-certificates \
+                     clang-21 lld-21 libc++-21-dev libc++abi-21-dev
+              sudo apt-get install -y -t plucky binutils
+              # Install GCC 15 with multilib support
+              sudo apt-get install -y gcc-15-multilib g++-15-multilib
+              # Set up alternatives for Clang
+              sudo update-alternatives --install /usr/bin/cc cc /usr/bin/clang-21 100
+              sudo update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++-21 100
+              sudo update-alternatives --install /usr/bin/lld lld /usr/bin/lld-21 100
+              # Set up alternatives for GCC
+              sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-15 100
+              sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-15 100
+          - name: Linux (Clang) (arm64-linux)
+            triplet: arm64-linux
+            runner: ubuntu-24.04-arm
+            preset: linux-release-vcpkg-arm64
+            archive: omath-linux-arm64
+            install_cmd: |
+              wget -qO- https://apt.llvm.org/llvm-snapshot.gpg.key | sudo tee /etc/apt/trusted.gpg.d/apt.llvm.org.asc
+              sudo add-apt-repository -y "deb http://apt.llvm.org/noble/ llvm-toolchain-noble-21 main"
+              sudo apt-get update
+              sudo apt-get install -y git build-essential cmake ninja-build \
+                     zip unzip curl pkg-config ca-certificates \
+                     clang-21 lld-21 libc++-21-dev libc++abi-21-dev
+              sudo update-alternatives --install /usr/bin/cc cc /usr/bin/clang-21 100
+              sudo update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++-21 100
+              sudo update-alternatives --install /usr/bin/lld lld /usr/bin/lld-21 100
+      fail-fast: false
+    env:
+      VCPKG_ROOT: ${{ github.workspace }}/vcpkg
+    steps:
+      - name: Install basic tool-chain
+        shell: bash
+        run: ${{ matrix.install_cmd }}
+
+      - name: Checkout repository (with sub-modules)
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Set up vcpkg
+        shell: bash
+        run: |
+          git clone https://github.com/microsoft/vcpkg "$VCPKG_ROOT"
+          cd "$VCPKG_ROOT"
+          ./bootstrap-vcpkg.sh
+
+      - name: Configure (cmake --preset)
+        shell: bash
+        run: |
+          cmake --preset ${{ matrix.preset }} \
+            -DVCPKG_INSTALL_OPTIONS="--allow-unsupported" \
+            -DOMATH_BUILD_TESTS=OFF \
+            -DOMATH_BUILD_BENCHMARK=OFF \
+            -DVCPKG_MANIFEST_FEATURES="imgui;avx2"
+
+      - name: Build
+        shell: bash
+        run: cmake --build cmake-build/build/${{ matrix.preset }} --target omath
+
+      - name: Install
+        shell: bash
+        run: cmake --install cmake-build/build/${{ matrix.preset }} --prefix staging
+
+      - name: Package
+        shell: bash
+        run: tar -czf ${{ matrix.archive }}.tar.gz -C staging .
+
+      - name: Upload release asset
+        env:
+          GH_TOKEN: ${{ github.token }}
+        shell: bash
+        run: gh release upload "${{ github.event.release.tag_name }}" "${{ matrix.archive }}.tar.gz" --clobber
+
+  ##############################################################################
+  # 2)  Windows  –  MSVC / Ninja
+  ##############################################################################
+  windows-release:
+    name: ${{ matrix.name }}
+    runs-on: ${{ matrix.runner }}
+    strategy:
+      matrix:
+        include:
+          - name: Windows (MSVC) (x64-windows)
+            runner: windows-latest
+            arch: amd64
+            preset: windows-release-vcpkg
+            triplet: x64-windows
+            archive: omath-windows-x64
+          - name: Windows (MSVC) (x86-windows)
+            runner: windows-latest
+            arch: amd64_x86
+            preset: windows-release-vcpkg-x86
+            triplet: x86-windows
+            archive: omath-windows-x86
+          - name: Windows (MSVC) (arm64-windows)
+            runner: windows-11-arm
+            arch: arm64
+            preset: windows-release-vcpkg-arm64
+            triplet: arm64-windows
+            archive: omath-windows-arm64
+      fail-fast: false
+    env:
+      VCPKG_ROOT: ${{ github.workspace }}/vcpkg
+    steps:
+      - name: Checkout repository (with sub-modules)
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Install Ninja
+        uses: seanmiddleditch/gha-setup-ninja@v4
+
+      - name: Set up MSVC developer command-prompt
+        uses: ilammy/msvc-dev-cmd@v1
+        with:
+          arch: ${{ matrix.arch }}
+
+      - name: Configure (cmake --preset)
+        shell: bash
+        run: |
+          cmake --preset ${{ matrix.preset }} \
+            -DOMATH_BUILD_TESTS=OFF \
+            -DOMATH_BUILD_BENCHMARK=OFF \
+            -DVCPKG_MANIFEST_FEATURES="imgui;avx2"
+
+      - name: Build
+        shell: bash
+        run: cmake --build cmake-build/build/${{ matrix.preset }} --target omath
+
+      - name: Install
+        shell: bash
+        run: cmake --install cmake-build/build/${{ matrix.preset }} --prefix staging
+
+      - name: Package
+        shell: pwsh
+        run: Compress-Archive -Path staging\* -DestinationPath "${{ matrix.archive }}.zip"
+
+      - name: Upload release asset
+        env:
+          GH_TOKEN: ${{ github.token }}
+        shell: bash
+        run: gh release upload "${{ github.event.release.tag_name }}" "${{ matrix.archive }}.zip" --clobber
+
+  ##############################################################################
+  # 3)  macOS  –  AppleClang / Ninja
+  ##############################################################################
+  macos-release:
+    name: ${{ matrix.name }}
+    runs-on: ${{ matrix.runner }}
+    strategy:
+      matrix:
+        include:
+          - name: macOS (AppleClang) (arm64-osx)
+            runner: macos-latest
+            preset: darwin-release-vcpkg
+            triplet: arm64-osx
+            archive: omath-macos-arm64
+          - name: macOS (AppleClang) (x64-osx)
+            runner: macos-15-intel
+            preset: darwin-release-vcpkg-x64
+            triplet: x64-osx
+            archive: omath-macos-x64
+      fail-fast: false
+    env:
+      VCPKG_ROOT: ${{ github.workspace }}/vcpkg
+    steps:
+      - name: Install basic tool-chain with Homebrew
+        shell: bash
+        run: |
+          brew install cmake ninja
+
+      - name: Checkout repository (with sub-modules)
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Set up vcpkg
+        shell: bash
+        run: |
+          git clone https://github.com/microsoft/vcpkg "$VCPKG_ROOT"
+
+      - name: Configure (cmake --preset)
+        shell: bash
+        run: |
+          cmake --preset ${{ matrix.preset }} \
+            -DOMATH_BUILD_TESTS=OFF \
+            -DOMATH_BUILD_BENCHMARK=OFF \
+            -DVCPKG_MANIFEST_FEATURES="imgui;avx2"
+
+      - name: Build
+        shell: bash
+        run: cmake --build cmake-build/build/${{ matrix.preset }} --target omath
+
+      - name: Install
+        shell: bash
+        run: cmake --install cmake-build/build/${{ matrix.preset }} --prefix staging
+
+      - name: Package
+        shell: bash
+        run: tar -czf ${{ matrix.archive }}.tar.gz -C staging .
+
+      - name: Upload release asset
+        env:
+          GH_TOKEN: ${{ github.token }}
+        shell: bash
+        run: gh release upload "${{ github.event.release.tag_name }}" "${{ matrix.archive }}.tar.gz" --clobber
+
+  ##############################################################################
+  # 4)  iOS  –  AppleClang / Xcode / arm64-ios
+  ##############################################################################
+  ios-release:
+    name: iOS (AppleClang) (${{ matrix.triplet }})
+    runs-on: macOS-latest
+    strategy:
+      matrix:
+        include:
+          - triplet: arm64-ios
+            preset: ios-release-vcpkg
+            archive: omath-ios-arm64
+      fail-fast: false
+    env:
+      VCPKG_ROOT: ${{ github.workspace }}/vcpkg
+    steps:
+      - name: Install CMake tooling
+        shell: bash
+        run: |
+          brew install cmake ninja
+
+      - name: Checkout repository (with sub-modules)
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Set up vcpkg
+        shell: bash
+        run: |
+          git clone https://github.com/microsoft/vcpkg "$VCPKG_ROOT"
+          cd "$VCPKG_ROOT"
+          ./bootstrap-vcpkg.sh
+
+      - name: Configure (cmake --preset)
+        shell: bash
+        run: |
+          cmake --preset ${{ matrix.preset }} \
+            -DVCPKG_INSTALL_OPTIONS="--allow-unsupported" \
+            -DOMATH_BUILD_TESTS=OFF \
+            -DOMATH_BUILD_BENCHMARK=OFF \
+            -DVCPKG_MANIFEST_FEATURES="imgui"
+
+      - name: Build
+        shell: bash
+        run: |
+          cmake --build cmake-build/build/${{ matrix.preset }} --config Release --target omath
+
+      - name: Install
+        shell: bash
+        run: cmake --install cmake-build/build/${{ matrix.preset }} --prefix staging
+
+      - name: Package
+        shell: bash
+        run: tar -czf ${{ matrix.archive }}.tar.gz -C staging .
+
+      - name: Upload release asset
+        env:
+          GH_TOKEN: ${{ github.token }}
+        shell: bash
+        run: gh release upload "${{ github.event.release.tag_name }}" "${{ matrix.archive }}.tar.gz" --clobber
+
+  ##############################################################################
+  # 5)  FreeBSD  –  Clang / Ninja
+  ##############################################################################
+  freebsd-release:
+    name: FreeBSD (Clang) (${{ matrix.triplet }})
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        include:
+          - triplet: x64-freebsd
+            preset: freebsd-release-vcpkg
+            arch: x86-64
+            archive: omath-freebsd-x64
+      fail-fast: false
+    env:
+      VCPKG_ROOT: ${{ github.workspace }}/tmp/vcpkg
+    steps:
+      - name: Checkout repository (with sub-modules)
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Build and Package
+        uses: cross-platform-actions/action@v0.31.0
+        with:
+          operating_system: freebsd
+          architecture: ${{ matrix.arch }}
+          version: '15.0'
+          memory: '12G'
+          cpu_count: 4
+          run: |
+            sudo pkg install -y git curl zip unzip gmake llvm gsed bash perl5 openssl 7-zip coreutils cmake ninja pkgconf patchelf
+            git config --global --add safe.directory `pwd`
+            # Build vcpkg in /tmp to avoid sshfs timestamp sync issues
+            export VCPKG_ROOT=/tmp/vcpkg
+            rm -rf "$VCPKG_ROOT"
+            git clone https://github.com/microsoft/vcpkg "$VCPKG_ROOT"
+            cd "$VCPKG_ROOT"
+            ./bootstrap-vcpkg.sh
+            cd -
+            export VCPKG_FORCE_SYSTEM_BINARIES=0
+            cmake --preset ${{ matrix.preset }} \
+              -DOMATH_BUILD_TESTS=OFF \
+              -DOMATH_BUILD_BENCHMARK=OFF \
+              -DVCPKG_MANIFEST_FEATURES="imgui;avx2" \
+              -DVCPKG_INSTALL_OPTIONS="--allow-unsupported"
+            cmake --build cmake-build/build/${{ matrix.preset }} --target omath
+            cmake --install cmake-build/build/${{ matrix.preset }} --prefix staging
+            tar -czf ${{ matrix.archive }}.tar.gz -C staging .
+
+      - name: Upload release asset
+        env:
+          GH_TOKEN: ${{ github.token }}
+        shell: bash
+        run: gh release upload "${{ github.event.release.tag_name }}" "${{ matrix.archive }}.tar.gz" --clobber
+
+  ##############################################################################
+  # 6)  Android NDK  –  Clang / Ninja
+  ##############################################################################
+  android-release:
+    name: Android NDK (${{ matrix.triplet }})
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        include:
+          - triplet: arm-neon-android
+            preset: android-arm-neon-release-vcpkg
+            archive: omath-android-arm-neon
+          - triplet: arm64-android
+            preset: android-arm64-release-vcpkg
+            archive: omath-android-arm64
+          - triplet: x64-android
+            preset: android-x64-release-vcpkg
+            archive: omath-android-x64
+          - triplet: x86-android
+            preset: android-x86-release-vcpkg
+            archive: omath-android-x86
+      fail-fast: false
+    env:
+      VCPKG_ROOT: ${{ github.workspace }}/vcpkg
+      ANDROID_NDK_HOME: ${{ github.workspace }}/android-ndk
+    steps:
+      - name: Checkout repository (with sub-modules)
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Install Android NDK
+        shell: bash
+        run: |
+          NDK_VERSION="r28b"
+          NDK_ZIP="android-ndk-${NDK_VERSION}-linux.zip"
+          wget -q "https://dl.google.com/android/repository/${NDK_ZIP}"
+          unzip -q "${NDK_ZIP}" -d "${{ github.workspace }}"
+          mv "${{ github.workspace }}/android-ndk-${NDK_VERSION}" "$ANDROID_NDK_HOME"
+          rm "${NDK_ZIP}"
+          echo "ANDROID_NDK_HOME=${ANDROID_NDK_HOME}" >> $GITHUB_ENV
+
+      - name: Install basic tool-chain
+        shell: bash
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y ninja-build cmake
+
+      - name: Set up vcpkg
+        shell: bash
+        run: |
+          git clone https://github.com/microsoft/vcpkg "$VCPKG_ROOT"
+          cd "$VCPKG_ROOT"
+          ./bootstrap-vcpkg.sh
+
+      - name: Configure (cmake --preset)
+        shell: bash
+        run: |
+          cmake --preset ${{ matrix.preset }} \
+            -DVCPKG_INSTALL_OPTIONS="--allow-unsupported" \
+            -DOMATH_BUILD_TESTS=OFF \
+            -DOMATH_BUILD_BENCHMARK=OFF \
+            -DVCPKG_MANIFEST_FEATURES="imgui"
+
+      - name: Build
+        shell: bash
+        run: |
+          cmake --build cmake-build/build/${{ matrix.preset }} --target omath
+
+      - name: Install
+        shell: bash
+        run: cmake --install cmake-build/build/${{ matrix.preset }} --prefix staging
+
+      - name: Package
+        shell: bash
+        run: tar -czf ${{ matrix.archive }}.tar.gz -C staging .
+
+      - name: Upload release asset
+        env:
+          GH_TOKEN: ${{ github.token }}
+        shell: bash
+        run: gh release upload "${{ github.event.release.tag_name }}" "${{ matrix.archive }}.tar.gz" --clobber
+
+  ##############################################################################
+  # 7)  WebAssembly (Emscripten)  –  Clang / Ninja / wasm32-emscripten
+  ##############################################################################
+  wasm-release:
+    name: WebAssembly (Emscripten) (${{ matrix.triplet }})
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        include:
+          - triplet: wasm32-emscripten
+            preset: wasm-release-vcpkg
+            archive: omath-wasm32
+      fail-fast: false
+    env:
+      VCPKG_ROOT: ${{ github.workspace }}/vcpkg
+    steps:
+      - name: Checkout repository (with sub-modules)
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Install basic tool-chain
+        shell: bash
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y ninja-build
+
+      - name: Setup Emscripten
+        uses: mymindstorm/setup-emsdk@v14
+        with:
+          version: 'latest'
+
+      - name: Verify Emscripten
+        shell: bash
+        run: |
+          echo "EMSDK=$EMSDK"
+          emcc --version
+          ls -la "$EMSDK/upstream/emscripten/cmake/Modules/Platform/Emscripten.cmake"
+
+      - name: Set up vcpkg
+        shell: bash
+        run: |
+          git clone https://github.com/microsoft/vcpkg "$VCPKG_ROOT"
+          cd "$VCPKG_ROOT"
+          ./bootstrap-vcpkg.sh
+
+      - name: Configure (cmake --preset)
+        shell: bash
+        run: |
+          cmake --preset ${{ matrix.preset }} \
+            -DVCPKG_INSTALL_OPTIONS="--allow-unsupported" \
+            -DOMATH_BUILD_TESTS=OFF \
+            -DOMATH_BUILD_BENCHMARK=OFF \
+            -DVCPKG_MANIFEST_FEATURES="imgui"
+
+      - name: Build
+        shell: bash
+        run: |
+          cmake --build cmake-build/build/${{ matrix.preset }} --target omath
+
+      - name: Install
+        shell: bash
+        run: cmake --install cmake-build/build/${{ matrix.preset }} --prefix staging
+
+      - name: Package
+        shell: bash
+        run: tar -czf ${{ matrix.archive }}.tar.gz -C staging .
+
+      - name: Upload release asset
+        env:
+          GH_TOKEN: ${{ github.token }}
+        shell: bash
+        run: gh release upload "${{ github.event.release.tag_name }}" "${{ matrix.archive }}.tar.gz" --clobber
+
+  ##############################################################################
+  # 8)  Windows MSYS2 MinGW  –  GCC / Ninja
+  ##############################################################################
+  mingw-release:
+    name: ${{ matrix.name }}
+    runs-on: windows-latest
+    strategy:
+      matrix:
+        include:
+          - name: MINGW64 (MSYS2) (x64-mingw-dynamic)
+            msystem: MINGW64
+            pkg_prefix: mingw-w64-x86_64
+            preset: mingw-release-vcpkg
+            archive: omath-mingw64-x64
+          - name: UCRT64 (MSYS2) (x64-mingw-dynamic)
+            msystem: UCRT64
+            pkg_prefix: mingw-w64-ucrt-x86_64
+            preset: mingw-release-vcpkg
+            archive: omath-ucrt64-x64
+          - name: MINGW32 (MSYS2) (x86-mingw-dynamic)
+            msystem: MINGW32
+            pkg_prefix: mingw-w64-i686
+            preset: mingw32-release-vcpkg
+            archive: omath-mingw32-x86
+      fail-fast: false
+
+    defaults:
+      run:
+        shell: msys2 {0}
+
+    env:
+      VCPKG_ROOT: ${{ github.workspace }}/vcpkg
+
+    steps:
+      - name: Setup MSYS2
+        uses: msys2/setup-msys2@v2
+        with:
+          msystem: ${{ matrix.msystem }}
+          update: true
+          install: >-
+            ${{ matrix.pkg_prefix }}-toolchain
+            ${{ matrix.pkg_prefix }}-cmake
+            ${{ matrix.pkg_prefix }}-ninja
+            ${{ matrix.pkg_prefix }}-pkg-config
+            git
+            base-devel
+
+      - name: Checkout repository (with sub-modules)
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Set up vcpkg
+        run: |
+          git clone https://github.com/microsoft/vcpkg "$VCPKG_ROOT"
+          cd "$VCPKG_ROOT"
+          ./bootstrap-vcpkg.sh
+
+      - name: Configure (cmake --preset)
+        run: |
+          cmake --preset ${{ matrix.preset }} \
+            -DVCPKG_INSTALL_OPTIONS="--allow-unsupported" \
+            -DOMATH_BUILD_TESTS=OFF \
+            -DOMATH_BUILD_BENCHMARK=OFF \
+            -DVCPKG_MANIFEST_FEATURES="imgui"
+
+      - name: Build
+        run: |
+          cmake --build cmake-build/build/${{ matrix.preset }} --target omath
+
+      - name: Install
+        run: cmake --install cmake-build/build/${{ matrix.preset }} --prefix staging
+
+      - name: Package
+        shell: pwsh
+        run: Compress-Archive -Path staging\* -DestinationPath "${{ matrix.archive }}.zip"
+
+      - name: Upload release asset
+        env:
+          GH_TOKEN: ${{ github.token }}
+        shell: bash
+        run: gh release upload "${{ github.event.release.tag_name }}" "${{ matrix.archive }}.zip" --clobber

.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="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassCanBeFinal/@EntryIndexedValue" value="WARNING" 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" />
@@ -110,7 +110,7 @@
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLambdaCaptureNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableMayBeConst/@EntryIndexedValue" value="HINT" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableMightNotBeInitialized/@EntryIndexedValue" value="WARNING" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableWithNonTrivialDtorIsNeverUsed/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableWithNonTrivialDtorIsNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLongFloat/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberFunctionMayBeConst/@EntryIndexedValue" value="SUGGESTION" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberFunctionMayBeStatic/@EntryIndexedValue" value="SUGGESTION" type="string" />

.luarc.json

@@ -0,0 +1,5 @@
+{
+    "diagnostics.globals": [
+        "omath"
+    ]
+}

CMakeLists.txt

@@ -31,6 +31,11 @@ option(OMATH_SUPRESS_SAFETY_CHECKS
 option(OMATH_ENABLE_COVERAGE "Enable coverage" OFF)
 option(OMATH_ENABLE_FORCE_INLINE
        "Will for compiler to make some functions to be force inlined no matter what" ON)
+
+option(OMATH_ENABLE_LUA
+        "omath bindings for lua" OFF)
+option(OMATH_ENABLE_PHYSX
+        "PhysX-backed collider implementations" OFF)
 if(VCPKG_MANIFEST_FEATURES)
     foreach(omath_feature IN LISTS VCPKG_MANIFEST_FEATURES)
         if(omath_feature STREQUAL "imgui")
@@ -43,6 +48,10 @@ if(VCPKG_MANIFEST_FEATURES)
             set(OMATH_BUILD_BENCHMARK ON)
         elseif(omath_feature STREQUAL "examples")
             set(OMATH_BUILD_EXAMPLES ON)
+        elseif(omath_feature STREQUAL "lua")
+            set(OMATH_ENABLE_LUA ON)
+        elseif(omath_feature STREQUAL "physx")
+            set(OMATH_ENABLE_PHYSX ON)
         endif()
 
     endforeach()
@@ -72,6 +81,8 @@ if(${PROJECT_IS_TOP_LEVEL})
     message(STATUS "[${PROJECT_NAME}]: Building using vcpkg ${OMATH_BUILD_VIA_VCPKG}")
     message(STATUS "[${PROJECT_NAME}]: Coverage feature status ${OMATH_ENABLE_COVERAGE}")
     message(STATUS "[${PROJECT_NAME}]: Valgrind feature status ${OMATH_ENABLE_VALGRIND}")
+    message(STATUS "[${PROJECT_NAME}]: Lua feature status ${OMATH_ENABLE_LUA}")
+    message(STATUS "[${PROJECT_NAME}]: PhysX feature status ${OMATH_ENABLE_PHYSX}")
 endif()
 
 file(GLOB_RECURSE OMATH_SOURCES CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/source/*.cpp")
@@ -83,6 +94,24 @@ else()
     add_library(${PROJECT_NAME} STATIC ${OMATH_SOURCES} ${OMATH_HEADERS})
 endif()
 
+if (OMATH_ENABLE_LUA)
+    target_compile_definitions(${PROJECT_NAME} PUBLIC OMATH_ENABLE_LUA)
+
+    find_package(Lua REQUIRED)
+    target_include_directories(${PROJECT_NAME} PRIVATE ${LUA_INCLUDE_DIR})
+    target_link_libraries(${PROJECT_NAME} PRIVATE ${LUA_LIBRARIES})
+
+    find_path(SOL2_INCLUDE_DIRS "sol/abort.hpp")
+    target_include_directories(${PROJECT_NAME} PRIVATE ${SOL2_INCLUDE_DIRS})
+endif ()
+
+if (OMATH_ENABLE_PHYSX)
+    target_compile_definitions(${PROJECT_NAME} PUBLIC OMATH_ENABLE_PHYSX)
+
+    find_package(unofficial-omniverse-physx-sdk CONFIG REQUIRED)
+    target_link_libraries(${PROJECT_NAME} PUBLIC unofficial::omniverse-physx-sdk::sdk)
+endif ()
+
 add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
 
 target_compile_definitions(${PROJECT_NAME} PUBLIC OMATH_VERSION="${PROJECT_VERSION}")
@@ -130,11 +159,10 @@ set_target_properties(
                CXX_STANDARD 23
                CXX_STANDARD_REQUIRED ON)
 
-if (OMATH_STATIC_MSVC_RUNTIME_LIBRARY)
-    set_target_properties(${PROJECT_NAME} PROPERTIES
-            MSVC_RUNTIME_LIBRARY "MultiThreaded$<$<CONFIG:Debug>:Debug>"
-    )
-endif ()
+if(OMATH_STATIC_MSVC_RUNTIME_LIBRARY)
+    set_target_properties(${PROJECT_NAME} PROPERTIES MSVC_RUNTIME_LIBRARY
+                                                     "MultiThreaded$<$<CONFIG:Debug>:Debug>")
+endif()
 
 if(OMATH_USE_AVX2)
     if(MSVC)
@@ -175,6 +203,12 @@ elseif(OMATH_THREAT_WARNING_AS_ERROR)
     target_compile_options(${PROJECT_NAME} PRIVATE -Wall -Wextra -Wpedantic -Werror)
 endif()
 
+if (CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
+    target_compile_options(${PROJECT_NAME} PRIVATE /bigobj)
+endif()
+if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND CMAKE_HOST_SYSTEM_NAME EQUAL "Windows")
+    target_compile_options(${PROJECT_NAME} PRIVATE -mbig-obj)
+endif()
 # Windows SDK redefine min/max via preprocessor and break std::min and std::max
 if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
     target_compile_definitions(${PROJECT_NAME} INTERFACE NOMINMAX)

CMakePresets.json

@@ -145,7 +145,7 @@
       "hidden": true,
       "inherits": ["linux-base", "vcpkg-base"],
       "cacheVariables": {
-        "VCPKG_MANIFEST_FEATURES": "tests;imgui;avx2"
+        "VCPKG_MANIFEST_FEATURES": "tests;imgui;avx2;lua;physx"
       }
     },
     {
@@ -235,7 +235,7 @@
       "hidden": true,
       "inherits": ["darwin-base", "vcpkg-base"],
       "cacheVariables": {
-        "VCPKG_MANIFEST_FEATURES": "tests;imgui;avx2;examples"
+        "VCPKG_MANIFEST_FEATURES": "tests;imgui;avx2;examples;lua"
       }
     },
     {

CODEOWNERS

@@ -0,0 +1,37 @@
+##   List of maintainers for the omath library
+
+## This file purpose is to give newcomers to the project the responsible
+## developers when submitting a pull request on GitHub, or opening a bug
+## report in issues.
+
+## This file will notably establish who is responsible for a specific
+## area of omath. Being a maintainer means the following:
+##  - that person has good knownledge in the area
+##  - that person is able to enforce consistency in the area
+##  - that person may be available for giving help in the area
+##  - that person has push access on the repository
+## Being a maintainer does not mean the following:
+##  - that person is dedicated to the area
+##  - that person is working full-time on the area/on omath
+##  - that person is paid
+##  - that person is always available
+
+
+# omath core source code
+/source @orange-cpp
+/include @orange-cpp
+
+# Tests and becnchmarks
+/benchmark @orange-cpp
+/tests @orange-cpp @luadebug
+
+# Examples and documentation
+/examples @luadebug @orange-cpp
+/docs @orange-cpp
+
+# Misc like formating
+/scripts @luadebug
+/pixi @luadebug
+
+# CI/CD
+/.github/workflows @luadbg @orange-cpp

INSTALL.md

@@ -1,6 +1,6 @@
 # 📥Installation Guide
 
-## <img width="28px" src="https://vcpkg.io/assets/mark/mark.svg" /> Using vcpkg
+## <img width="28px" src="https://vcpkg.io/assets/mark/mark.svg" /> Using vcpkg (recomended)
 **Note**: Support vcpkg for package management
 1. Install [vcpkg](https://github.com/microsoft/vcpkg)
 2. Run the following command to install the orange-math package:
@@ -28,6 +28,46 @@ target("...")
     add_packages("omath")
 ```
 
+## <img width="28px" src="https://github.githubassets.com/favicons/favicon.svg" /> Using prebuilt binaries (GitHub Releases)
+
+**Note**: This is the fastest option if you don’t want to build from source.
+
+1. **Go to the Releases page**
+   - Open the project’s GitHub **Releases** page and choose the latest version.
+
+2. **Download the correct asset for your platform**
+   - Pick the archive that matches your OS and architecture (for example: Windows x64 / Linux x64 / macOS arm64).
+
+3. **Extract the archive**
+   - You should end up with something like:
+     - `include/` (headers)
+     - `lib/` or `bin/` (library files / DLLs)
+     - sometimes `cmake/` (CMake package config)
+
+4. **Use it in your project**
+
+   ### Option A: CMake package (recommended if the release includes CMake config files)
+   If the extracted folder contains something like `lib/cmake/omath` or `cmake/omath`, you can point CMake to it:
+
+   ```cmake
+   # Example: set this to the extracted prebuilt folder
+   list(APPEND CMAKE_PREFIX_PATH "path/to/omath-prebuilt")
+
+   find_package(omath CONFIG REQUIRED)
+   target_link_libraries(main PRIVATE omath::omath)
+   ```
+   ### Option B: Manual include + link (works with any layout)
+   If there’s no CMake package config, link it manually:
+   ```cmake
+   target_include_directories(main PRIVATE "path/to/omath-prebuilt/include")
+
+    # Choose ONE depending on what you downloaded:
+    # - Static library: .lib / .a
+    # - Shared library: .dll + .lib import (Windows), .so (Linux), .dylib (macOS)
+    
+    target_link_directories(main PRIVATE "path/to/omath-prebuilt/lib")
+    target_link_libraries(main PRIVATE omath)  # or the actual library filename
+    ```
 ## <img width="28px" src="https://upload.wikimedia.org/wikipedia/commons/e/ef/CMake_logo.svg?" /> Build from source using CMake 
 1. **Preparation**
    

README.md

@@ -9,6 +9,7 @@
 [![CodeFactor](https://www.codefactor.io/repository/github/orange-cpp/omath/badge)](https://www.codefactor.io/repository/github/orange-cpp/omath)
 ![GitHub Actions Workflow Status](https://img.shields.io/github/actions/workflow/status/orange-cpp/omath/cmake-multi-platform.yml)
 [![Vcpkg package](https://repology.org/badge/version-for-repo/vcpkg/orange-math.svg)](https://repology.org/project/orange-math/versions)
+![Conan Center](https://img.shields.io/conan/v/omath)
 ![GitHub forks](https://img.shields.io/github/forks/orange-cpp/omath)
 [![discord badge](https://dcbadge.limes.pink/api/server/https://discord.gg/eDgdaWbqwZ?style=flat)](https://discord.gg/eDgdaWbqwZ)
 [![telegram badge](https://img.shields.io/badge/Telegram-2CA5E0?style=flat-squeare&logo=telegram&logoColor=white)](https://t.me/orangennotes)
@@ -80,9 +81,11 @@ if (auto screen = camera.world_to_screen(world_position)) {
 - **Collision Detection**: Production ready code to handle collision detection by using simple interfaces.
 - **No Additional Dependencies**: No additional dependencies need to use OMath except unit test execution
 - **Ready for meta-programming**: Omath use templates for common types like Vectors, Matrixes etc, to handle all types!
-- **Engine support**: Supports coordinate systems of **Source, Unity, Unreal, Frostbite, IWEngine and canonical OpenGL**.
+- **Engine support**: Supports coordinate systems of **Source, Unity, Unreal, Frostbite, IWEngine, CryEngine and canonical OpenGL**.
 - **Cross platform**: Supports Windows, MacOS and Linux.
-- **Algorithms**: Has ability to scan for byte pattern with wildcards in PE files/modules, binary slices, works even with Wine apps. 
+- **Algorithms**: Has ability to scan for byte pattern with wildcards in ELF/Mach-O/PE files/modules, binary slices, works even with Wine apps. 
+- **Scripting**: Supports to make scripts in Lua out of box
+- **Battle tested**: It's already used by some big players on the market like wraith.su and bluedream.ltd
 <div align = center>
  
 # Gallery

VERSION

@@ -1 +1 @@
-4.7.1
+5.0.0

benchmark/benchmark_collision.cpp

@@ -0,0 +1,161 @@
+//
+// Created by Vlad on 3/2/2026.
+//
+#include <benchmark/benchmark.h>
+#include <memory_resource>
+#include <omath/collision/epa_algorithm.hpp>
+#include <omath/collision/gjk_algorithm.hpp>
+#include <omath/engines/source_engine/collider.hpp>
+#include <omath/engines/source_engine/mesh.hpp>
+
+using Mesh = omath::source_engine::Mesh;
+using Collider = omath::source_engine::MeshCollider;
+using Gjk = omath::collision::GjkAlgorithm<Collider>;
+using Epa = omath::collision::Epa<Collider>;
+
+namespace
+{
+    // Unit cube with half-extent 1 — 8 vertices in [-1,1]^3.
+    const std::vector<omath::primitives::Vertex<>> k_cube_vbo = {
+        { { -1.f, -1.f, -1.f }, {}, {} },
+        { { -1.f, -1.f,  1.f }, {}, {} },
+        { { -1.f,  1.f, -1.f }, {}, {} },
+        { { -1.f,  1.f,  1.f }, {}, {} },
+        { {  1.f,  1.f,  1.f }, {}, {} },
+        { {  1.f,  1.f, -1.f }, {}, {} },
+        { {  1.f, -1.f,  1.f }, {}, {} },
+        { {  1.f, -1.f, -1.f }, {}, {} },
+    };
+    const std::vector<omath::Vector3<std::uint32_t>> k_empty_vao{};
+} // namespace
+
+// ---------------------------------------------------------------------------
+// GJK benchmarks
+// ---------------------------------------------------------------------------
+
+// Separated cubes — origin distance 2.1, no overlap.
+// Exercises the early-exit path and the centroid-based initial direction.
+static void BM_Gjk_Separated(benchmark::State& state)
+{
+    const Collider a{Mesh{k_cube_vbo, k_empty_vao}};
+
+    Mesh mesh_b{k_cube_vbo, k_empty_vao};
+    mesh_b.set_origin({0.f, 2.1f, 0.f});
+    const Collider b{mesh_b};
+
+    for ([[maybe_unused]] auto _ : state)
+        benchmark::DoNotOptimize(Gjk::is_collide(a, b));
+}
+
+// Overlapping cubes — B offset by 0.5 along X, ~1.5 units penetration depth.
+static void BM_Gjk_Overlapping(benchmark::State& state)
+{
+    const Collider a{Mesh{k_cube_vbo, k_empty_vao}};
+
+    Mesh mesh_b{k_cube_vbo, k_empty_vao};
+    mesh_b.set_origin({0.5f, 0.f, 0.f});
+    const Collider b{mesh_b};
+
+    for ([[maybe_unused]] auto _ : state)
+        benchmark::DoNotOptimize(Gjk::is_collide(a, b));
+}
+
+// Identical cubes at the same origin — deep overlap / worst case for GJK.
+static void BM_Gjk_SameOrigin(benchmark::State& state)
+{
+    const Collider a{Mesh{k_cube_vbo, k_empty_vao}};
+    const Collider b{Mesh{k_cube_vbo, k_empty_vao}};
+
+    for ([[maybe_unused]] auto _ : state)
+        benchmark::DoNotOptimize(Gjk::is_collide(a, b));
+}
+
+// ---------------------------------------------------------------------------
+// EPA benchmarks
+// ---------------------------------------------------------------------------
+
+// EPA with a pre-allocated monotonic buffer (reset each iteration).
+// Isolates algorithmic cost from allocator overhead.
+static void BM_Epa_MonotonicBuffer(benchmark::State& state)
+{
+    const Collider a{Mesh{k_cube_vbo, k_empty_vao}};
+
+    Mesh mesh_b{k_cube_vbo, k_empty_vao};
+    mesh_b.set_origin({0.5f, 0.f, 0.f});
+    const Collider b{mesh_b};
+
+    const auto [hit, simplex] = Gjk::is_collide_with_simplex_info(a, b);
+    if (!hit)
+        return; // shouldn't happen, but guard for safety
+
+    constexpr Epa::Params params{.max_iterations = 64, .tolerance = 1e-4f};
+
+    // Pre-allocate a 32 KiB stack buffer — enough for typical polytope growth.
+    constexpr std::size_t k_buf_size = 32768;
+    alignas(std::max_align_t) char buf[k_buf_size];
+    std::pmr::monotonic_buffer_resource mr{buf, k_buf_size, std::pmr::null_memory_resource()};
+
+    for ([[maybe_unused]] auto _ : state)
+    {
+        mr.release(); // reset the buffer without touching the upstream resource
+        benchmark::DoNotOptimize(Epa::solve(a, b, simplex, params, mr));
+    }
+}
+
+// EPA with the default (malloc-backed) memory resource.
+// Shows total cost including allocator pressure.
+static void BM_Epa_DefaultResource(benchmark::State& state)
+{
+    const Collider a{Mesh{k_cube_vbo, k_empty_vao}};
+
+    Mesh mesh_b{k_cube_vbo, k_empty_vao};
+    mesh_b.set_origin({0.5f, 0.f, 0.f});
+    const Collider b{mesh_b};
+
+    const auto [hit, simplex] = Gjk::is_collide_with_simplex_info(a, b);
+    if (!hit)
+        return;
+
+    constexpr Epa::Params params{.max_iterations = 64, .tolerance = 1e-4f};
+
+    for ([[maybe_unused]] auto _ : state)
+        benchmark::DoNotOptimize(Epa::solve(a, b, simplex, params));
+}
+
+// ---------------------------------------------------------------------------
+// Combined GJK + EPA pipeline
+// ---------------------------------------------------------------------------
+
+// Full collision pipeline: GJK detects contact, EPA resolves penetration.
+// This is the hot path in a physics engine tick.
+static void BM_GjkEpa_Pipeline(benchmark::State& state)
+{
+    const Collider a{Mesh{k_cube_vbo, k_empty_vao}};
+
+    Mesh mesh_b{k_cube_vbo, k_empty_vao};
+    mesh_b.set_origin({0.5f, 0.f, 0.f});
+    const Collider b{mesh_b};
+
+    constexpr Epa::Params params{.max_iterations = 64, .tolerance = 1e-4f};
+
+    constexpr std::size_t k_buf_size = 32768;
+    alignas(std::max_align_t) char buf[k_buf_size];
+    std::pmr::monotonic_buffer_resource mr{buf, k_buf_size, std::pmr::null_memory_resource()};
+
+    for ([[maybe_unused]] auto _ : state)
+    {
+        mr.release();
+        const auto [hit, simplex] = Gjk::is_collide_with_simplex_info(a, b);
+        if (hit)
+            benchmark::DoNotOptimize(Epa::solve(a, b, simplex, params, mr));
+    }
+}
+
+BENCHMARK(BM_Gjk_Separated)->Iterations(100'000);
+BENCHMARK(BM_Gjk_Overlapping)->Iterations(100'000);
+BENCHMARK(BM_Gjk_SameOrigin)->Iterations(100'000);
+
+BENCHMARK(BM_Epa_MonotonicBuffer)->Iterations(100'000);
+BENCHMARK(BM_Epa_DefaultResource)->Iterations(100'000);
+
+BENCHMARK(BM_GjkEpa_Pipeline)->Iterations(100'000);

examples/CMakeLists.txt

@@ -1,35 +1,7 @@
-project(examples)
-
-add_executable(example_projection_matrix_builder example_proj_mat_builder.cpp)
-set_target_properties(
-    example_projection_matrix_builder
-    PROPERTIES CXX_STANDARD 23
-               ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
-               LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
-               RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}")
-target_link_libraries(example_projection_matrix_builder PRIVATE omath::omath)
-
-add_executable(example_signature_scan example_signature_scan.cpp)
-set_target_properties(
-    example_signature_scan
-    PROPERTIES CXX_STANDARD 23
-               ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
-               LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
-               RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}")
-target_link_libraries(example_signature_scan PRIVATE omath::omath)
-
-add_executable(example_glfw3 example_glfw3.cpp)
-set_target_properties(
-    example_glfw3
-    PROPERTIES CXX_STANDARD 23
-               ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
-               LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
-               RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}")
-
-find_package(OpenGL)
-find_package(GLEW REQUIRED)
-find_package(glfw3 CONFIG REQUIRED)
-target_link_libraries(example_glfw3 PRIVATE omath::omath GLEW::GLEW glfw OpenGL::GL)
+add_subdirectory(example_barycentric)
+add_subdirectory(example_glfw3)
+add_subdirectory(example_proj_mat_builder)
+add_subdirectory(example_signature_scan)
 
 if(OMATH_ENABLE_VALGRIND)
     omath_setup_valgrind(example_projection_matrix_builder)

examples/example_barycentric/CMakeLists.txt

@@ -0,0 +1,14 @@
+project(example_barycentric)
+
+add_executable(${PROJECT_NAME} example_barycentric.cpp)
+set_target_properties(
+    ${PROJECT_NAME}
+    PROPERTIES CXX_STANDARD 23
+               ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+               LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+               RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}")
+
+find_package(OpenGL)
+find_package(GLEW REQUIRED)
+find_package(glfw3 CONFIG REQUIRED)
+target_link_libraries(${PROJECT_NAME} PRIVATE omath::omath GLEW::GLEW glfw OpenGL::GL)

examples/example_barycentric/example_barycentric.cpp

@@ -0,0 +1,427 @@
+#include <GL/glew.h>
+#include <GLFW/glfw3.h>
+#include <cmath>
+#include <iostream>
+#include <omath/omath.hpp>
+#include <vector>
+
+using omath::Color;
+using omath::Triangle;
+using omath::Vector3;
+
+static const char* vertexShaderSource = R"(
+#version 330 core
+layout (location = 0) in vec3 aPos;
+layout (location = 1) in vec3 aColor;
+layout (location = 2) in float aPointSize;
+layout (location = 3) in float aIsLine;
+
+out vec3 vColor;
+out float vIsLine;
+
+void main() {
+    gl_Position = vec4(aPos, 1.0);
+    vColor = aColor;
+    gl_PointSize = aPointSize;
+    vIsLine = aIsLine;
+}
+)";
+
+static const char* fragmentShaderSource = R"(
+#version 330 core
+in vec3 vColor;
+in float vIsLine;
+out vec4 FragColor;
+
+void main() {
+    if (vIsLine < 0.5) {
+        // Calculate distance from center of the point
+        vec2 coord = gl_PointCoord - vec2(0.5);
+        if(length(coord) > 0.5)
+            discard;
+    }
+
+    FragColor = vec4(vColor, 1.0);
+}
+)";
+
+GLuint compileShader(GLenum type, const char* src)
+{
+    GLuint shader = glCreateShader(type);
+    glShaderSource(shader, 1, &src, nullptr);
+    glCompileShader(shader);
+    GLint ok;
+    glGetShaderiv(shader, GL_COMPILE_STATUS, &ok);
+    if (!ok)
+    {
+        char log[1024];
+        glGetShaderInfoLog(shader, sizeof(log), nullptr, log);
+        std::cerr << "Shader error: " << log << std::endl;
+    }
+    return shader;
+}
+
+void drawChar(char c, float x, float y, float scale, const Color& color, std::vector<float>& lines)
+{
+    float w = 0.5f * scale;
+    float h = 1.0f * scale;
+
+    auto add = [&](float x1, float y1, float x2, float y2)
+    {
+        lines.push_back(x + x1 * w);
+        lines.push_back(y + y1 * h);
+        lines.push_back(0.0f);
+        lines.push_back(color.x);
+        lines.push_back(color.y);
+        lines.push_back(color.z);
+        lines.push_back(1.0f); // size
+        lines.push_back(1.0f); // isLine
+
+        lines.push_back(x + x2 * w);
+        lines.push_back(y + y2 * h);
+        lines.push_back(0.0f);
+        lines.push_back(color.x);
+        lines.push_back(color.y);
+        lines.push_back(color.z);
+        lines.push_back(1.0f); // size
+        lines.push_back(1.0f); // isLine
+    };
+
+    switch (c)
+    {
+    case '0':
+        add(0, 0, 1, 0);
+        add(1, 0, 1, 1);
+        add(1, 1, 0, 1);
+        add(0, 1, 0, 0);
+        break;
+    case '1':
+        add(0.5f, 0, 0.5f, 1);
+        add(0.25f, 0.75f, 0.5f, 1);
+        add(0.25f, 0, 0.75f, 0);
+        break;
+    case '2':
+        add(0, 1, 1, 1);
+        add(1, 1, 1, 0.5f);
+        add(1, 0.5f, 0, 0.5f);
+        add(0, 0.5f, 0, 0);
+        add(0, 0, 1, 0);
+        break;
+    case '3':
+        add(0, 1, 1, 1);
+        add(1, 1, 1, 0);
+        add(1, 0, 0, 0);
+        add(0, 0.5f, 1, 0.5f);
+        break;
+    case '4':
+        add(0, 1, 0, 0.5f);
+        add(0, 0.5f, 1, 0.5f);
+        add(1, 1, 1, 0);
+        break;
+    case '5':
+        add(1, 1, 0, 1);
+        add(0, 1, 0, 0.5f);
+        add(0, 0.5f, 1, 0.5f);
+        add(1, 0.5f, 1, 0);
+        add(1, 0, 0, 0);
+        break;
+    case '6':
+        add(1, 1, 0, 1);
+        add(0, 1, 0, 0);
+        add(0, 0, 1, 0);
+        add(1, 0, 1, 0.5f);
+        add(1, 0.5f, 0, 0.5f);
+        break;
+    case '7':
+        add(0, 1, 1, 1);
+        add(1, 1, 0.5f, 0);
+        break;
+    case '8':
+        add(0, 0, 1, 0);
+        add(1, 0, 1, 1);
+        add(1, 1, 0, 1);
+        add(0, 1, 0, 0);
+        add(0, 0.5f, 1, 0.5f);
+        break;
+    case '9':
+        add(1, 0.5f, 0, 0.5f);
+        add(0, 0.5f, 0, 1);
+        add(0, 1, 1, 1);
+        add(1, 1, 1, 0);
+        add(1, 0, 0, 0);
+        break;
+    case '.':
+        add(0.4f, 0, 0.6f, 0);
+        add(0.6f, 0, 0.6f, 0.2f);
+        add(0.6f, 0.2f, 0.4f, 0.2f);
+        add(0.4f, 0.2f, 0.4f, 0);
+        break;
+    }
+}
+
+void drawText(const std::string& text, float x, float y, float scale, const Color& color, std::vector<float>& lines)
+{
+    float cursor = x;
+    for (char c : text)
+    {
+        drawChar(c, cursor, y, scale, color, lines);
+        cursor += (c == '.' ? 0.3f : 0.7f) * scale;
+    }
+}
+
+GLFWwindow* initWindow(int width, int height, const char* title)
+{
+    if (!glfwInit())
+    {
+        std::cerr << "Failed to initialize GLFW\n";
+        return nullptr;
+    }
+
+    glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
+    glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 3);
+    glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
+
+    GLFWwindow* window = glfwCreateWindow(width, height, title, NULL, NULL);
+    if (!window)
+    {
+        std::cerr << "Failed to create GLFW window\n";
+        glfwTerminate();
+        return nullptr;
+    }
+    glfwMakeContextCurrent(window);
+
+    // Check if context is valid using standard GL
+    const GLubyte* renderer = glGetString(GL_RENDERER);
+    const GLubyte* version = glGetString(GL_VERSION);
+    if (renderer && version)
+    {
+        std::cout << "Renderer: " << renderer << "\n";
+        std::cout << "OpenGL version supported: " << version << "\n";
+    }
+    else
+    {
+        std::cerr << "Failed to get GL_RENDERER or GL_VERSION. Context might be invalid.\n";
+    }
+
+    glewExperimental = GL_TRUE;
+    GLenum glewErr = glewInit();
+    if (glewErr != GLEW_OK)
+    {
+        // Ignore GLEW_ERROR_NO_GLX_DISPLAY if we have a valid context (e.g. Wayland)
+        if (glewErr == GLEW_ERROR_NO_GLX_DISPLAY && renderer)
+        {
+            std::cerr << "GLEW warning: " << glewGetErrorString(glewErr) << " (Ignored because context seems valid)\n";
+        }
+        else
+        {
+            std::cerr << "Failed to initialize GLEW: " << glewGetErrorString(glewErr) << "\n";
+            glfwTerminate();
+            return nullptr;
+        }
+    }
+    return window;
+}
+
+GLuint createShaderProgram()
+{
+    GLuint vs = compileShader(GL_VERTEX_SHADER, vertexShaderSource);
+    GLuint fs = compileShader(GL_FRAGMENT_SHADER, fragmentShaderSource);
+    GLuint shaderProgram = glCreateProgram();
+    glAttachShader(shaderProgram, vs);
+    glAttachShader(shaderProgram, fs);
+    glLinkProgram(shaderProgram);
+    return shaderProgram;
+}
+
+void generatePointCloud(std::vector<float>& pointCloud, const Triangle<Vector3<float>>& triangle)
+{
+    const auto& A = triangle.m_vertex1;
+    const auto& B = triangle.m_vertex2;
+    const auto& C = triangle.m_vertex3;
+    // Iterating over barycentric coordinates (u, v, w) from 0.0 to 1.0
+    for (float u = 0.0f; u <= 1.0f; u += 0.015f)
+    {
+        for (float v = 0.0f; v <= 1.0f - u; v += 0.015f)
+        {
+            float w = 1.0f - u - v;
+            if (w >= 0.0f && w <= 1.0f)
+            {
+                Vector3<float> P = A * u + B * v + C * w;
+                pointCloud.push_back(P.x);
+                pointCloud.push_back(P.y);
+                pointCloud.push_back(P.z);
+                pointCloud.push_back(u);
+                pointCloud.push_back(v);
+                pointCloud.push_back(w);
+                pointCloud.push_back(2.0f); // size
+                pointCloud.push_back(0.0f); // isLine
+            }
+        }
+    }
+}
+
+void setupBuffers(GLuint& VAO_cloud, GLuint& VBO_cloud, const std::vector<float>& pointCloud, GLuint& VAO_dyn,
+                  GLuint& VBO_dyn)
+{
+    glGenVertexArrays(1, &VAO_cloud);
+    glGenBuffers(1, &VBO_cloud);
+    glBindVertexArray(VAO_cloud);
+    glBindBuffer(GL_ARRAY_BUFFER, VBO_cloud);
+    glBufferData(GL_ARRAY_BUFFER, pointCloud.size() * sizeof(float), pointCloud.data(), GL_STATIC_DRAW);
+    glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 8 * sizeof(float), (void*)0);
+    glEnableVertexAttribArray(0);
+    glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, 8 * sizeof(float), (void*)(3 * sizeof(float)));
+    glEnableVertexAttribArray(1);
+    glVertexAttribPointer(2, 1, GL_FLOAT, GL_FALSE, 8 * sizeof(float), (void*)(6 * sizeof(float)));
+    glEnableVertexAttribArray(2);
+    glVertexAttribPointer(3, 1, GL_FLOAT, GL_FALSE, 8 * sizeof(float), (void*)(7 * sizeof(float)));
+    glEnableVertexAttribArray(3);
+
+    glGenVertexArrays(1, &VAO_dyn);
+    glGenBuffers(1, &VBO_dyn);
+    glBindVertexArray(VAO_dyn);
+    glBindBuffer(GL_ARRAY_BUFFER, VBO_dyn);
+    glBufferData(GL_ARRAY_BUFFER, 1000 * 8 * sizeof(float), NULL, GL_DYNAMIC_DRAW);
+    glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 8 * sizeof(float), (void*)0);
+    glEnableVertexAttribArray(0);
+    glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, 8 * sizeof(float), (void*)(3 * sizeof(float)));
+    glEnableVertexAttribArray(1);
+    glVertexAttribPointer(2, 1, GL_FLOAT, GL_FALSE, 8 * sizeof(float), (void*)(6 * sizeof(float)));
+    glEnableVertexAttribArray(2);
+    glVertexAttribPointer(3, 1, GL_FLOAT, GL_FALSE, 8 * sizeof(float), (void*)(7 * sizeof(float)));
+    glEnableVertexAttribArray(3);
+}
+
+void updateDynamicData(std::vector<float>& dynData, float u, float v, float w, const Vector3<float>& P,
+                       const Triangle<Vector3<float>>& triangle)
+{
+    const auto& A = triangle.m_vertex1;
+    const auto& B = triangle.m_vertex2;
+    const auto& C = triangle.m_vertex3;
+
+    float sizeA = 10.0f + u * 30.0f;
+    float sizeB = 10.0f + v * 30.0f;
+    float sizeC = 10.0f + w * 30.0f;
+    float sizeP = 12.0f;
+
+    dynData = {// Lines from P to A, B, C
+               P.x, P.y, P.z, u, v, w, 1.0f, 1.0f, A.x, A.y, A.z, 1.0f, 0.0f, 0.0f, 1.0f, 1.0f,
+
+               P.x, P.y, P.z, u, v, w, 1.0f, 1.0f, B.x, B.y, B.z, 0.0f, 1.0f, 0.0f, 1.0f, 1.0f,
+
+               P.x, P.y, P.z, u, v, w, 1.0f, 1.0f, C.x, C.y, C.z, 0.0f, 0.0f, 1.0f, 1.0f, 1.0f,
+
+               // The animated dot itself (White)
+               P.x, P.y, P.z, 1.0f, 1.0f, 1.0f, sizeP, 0.0f,
+
+               // The 3 corner dots
+               A.x, A.y, A.z, 1.0f, 0.0f, 0.0f, sizeA, 0.0f, B.x, B.y, B.z, 0.0f, 1.0f, 0.0f, sizeB, 0.0f, C.x, C.y,
+               C.z, 0.0f, 0.0f, 1.0f, sizeC, 0.0f};
+
+    char bufA[16], bufB[16], bufC[16];
+    snprintf(bufA, sizeof(bufA), "%.2f", u);
+    snprintf(bufB, sizeof(bufB), "%.2f", v);
+    snprintf(bufC, sizeof(bufC), "%.2f", w);
+
+    // Keep text at a fixed distance from the dots
+    float distA = 0.13f;
+    float distB = 0.13f;
+    float distC = 0.13f;
+
+    drawText(bufA, A.x - 0.05f, A.y + distA, 0.1f, Color(1, 0, 0, 1), dynData);
+    drawText(bufB, B.x - 0.15f - distB, B.y - 0.05f - distB, 0.1f, Color(0, 1, 0, 1), dynData);
+    drawText(bufC, C.x + 0.05f + distC, C.y - 0.05f - distC, 0.1f, Color(0, 0, 1, 1), dynData);
+}
+
+int main()
+{
+    GLFWwindow* window = initWindow(800, 800, "Barycentric Coordinates");
+    if (!window)
+        return -1;
+
+    GLuint shaderProgram = createShaderProgram();
+
+    // Triangle vertices as shown in the picture (Red, Green, Blue)
+    // Scaled down slightly to leave room for text
+    Triangle<Vector3<float>> triangle(Vector3<float>(0.0f, 0.6f, 0.0f), // Red dot (top)
+                                      Vector3<float>(-0.6f, -0.6f, 0.0f), // Green dot (bottom left)
+                                      Vector3<float>(0.6f, -0.6f, 0.0f) // Blue dot (bottom right)
+    );
+
+    std::vector<float> pointCloud;
+    generatePointCloud(pointCloud, triangle);
+
+    GLuint VAO_cloud, VBO_cloud, VAO_dyn, VBO_dyn;
+    setupBuffers(VAO_cloud, VBO_cloud, pointCloud, VAO_dyn, VBO_dyn);
+
+    glEnable(GL_PROGRAM_POINT_SIZE);
+    glEnable(GL_BLEND);
+    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+
+    while (!glfwWindowShouldClose(window))
+    {
+        glClearColor(0.02f, 0.02f, 0.02f, 1.0f);
+        glClear(GL_COLOR_BUFFER_BIT);
+
+        glUseProgram(shaderProgram);
+
+        // Draw the point cloud (the iterated points)
+        glBindVertexArray(VAO_cloud);
+        glDrawArrays(GL_POINTS, 0, pointCloud.size() / 8);
+
+        // Animate the white dot to simulate dragging
+        float t = glfwGetTime();
+        float u = (std::sin(t * 1.5f) * 0.5f + 0.5f);
+        float v = (std::cos(t * 1.1f) * 0.5f + 0.5f);
+
+        if (u + v > 1.0f)
+        {
+            u = 1.0f - u;
+            v = 1.0f - v;
+        }
+        float w = 1.0f - u - v;
+
+        if (w > 1.0f)
+        {
+            float diff = w - 1.0f;
+            w = 1.0f;
+            u += diff / 2.0f;
+            v += diff / 2.0f;
+        }
+        else if (w < 0.0f)
+        {
+            float diff = -w;
+            w = 0.0f;
+            u -= diff / 2.0f;
+            v -= diff / 2.0f;
+        }
+
+        Vector3<float> P = triangle.m_vertex1 * u + triangle.m_vertex2 * v + triangle.m_vertex3 * w;
+
+        std::vector<float> dynData;
+        updateDynamicData(dynData, u, v, w, P, triangle);
+
+        glBindVertexArray(VAO_dyn);
+        glBindBuffer(GL_ARRAY_BUFFER, VBO_dyn);
+        glBufferSubData(GL_ARRAY_BUFFER, 0, dynData.size() * sizeof(float), dynData.data());
+
+        // Draw lines
+        glDrawArrays(GL_LINES, 0, 6);
+
+        // Draw text lines
+        int numTextVertices = (dynData.size() / 8) - 10;
+        if (numTextVertices > 0)
+        {
+            glDrawArrays(GL_LINES, 10, numTextVertices);
+        }
+
+        // Draw dots
+        glDrawArrays(GL_POINTS, 6, 4);
+
+        glfwSwapBuffers(window);
+        glfwPollEvents();
+    }
+
+    glfwTerminate();
+    return 0;
+}

examples/example_glfw3/CMakeLists.txt

@@ -0,0 +1,14 @@
+project(example_glfw3)
+
+add_executable(${PROJECT_NAME} example_glfw3.cpp)
+set_target_properties(
+    ${PROJECT_NAME}
+    PROPERTIES CXX_STANDARD 23
+               ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+               LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+               RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}")
+
+find_package(OpenGL)
+find_package(GLEW REQUIRED)
+find_package(glfw3 CONFIG REQUIRED)
+target_link_libraries(${PROJECT_NAME} PRIVATE omath::omath GLEW::GLEW glfw OpenGL::GL)

examples/example_glfw3/example_glfw3.cpp

@@ -342,7 +342,7 @@ int main()
             old_mouse_time = glfwGetTime();
             mouse_capture = !mouse_capture;
 
-            glfwSetInputMode(window, GLFW_CURSOR, mouse_capture ? GLFW_CURSOR_CAPTURED : GLFW_CURSOR_NORMAL);
+            glfwSetInputMode(window, GLFW_CURSOR, mouse_capture ? GLFW_CURSOR_HIDDEN : GLFW_CURSOR_NORMAL);
         }
         if (mouse_capture)
         {

examples/example_proj_mat_builder/CMakeLists.txt

@@ -0,0 +1,10 @@
+project(example_projection_matrix_builder)
+
+add_executable(${PROJECT_NAME} example_proj_mat_builder.cpp)
+set_target_properties(
+    ${PROJECT_NAME}
+    PROPERTIES CXX_STANDARD 23
+               ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+               LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+               RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}")
+target_link_libraries(${PROJECT_NAME} PRIVATE omath::omath)

examples/example_signature_scan/CMakeLists.txt

@@ -0,0 +1,10 @@
+project(example_signature_scan)
+
+add_executable(${PROJECT_NAME} example_signature_scan.cpp)
+set_target_properties(
+    ${PROJECT_NAME}
+    PROPERTIES CXX_STANDARD 23
+               ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+               LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+               RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}")
+target_link_libraries(${PROJECT_NAME} PRIVATE omath::omath)

include/omath/collision/epa_algorithm.hpp

@@ -8,6 +8,7 @@
 #include <memory>
 #include <memory_resource>
 #include <queue>
+#include <unordered_map>
 #include <utility>
 #include <vector>
 
@@ -56,83 +57,76 @@ namespace omath::collision
                                            const Simplex<VectorType>& simplex, const Params params = {},
                                            std::pmr::memory_resource& mem_resource = *std::pmr::get_default_resource())
         {
-            // --- Build initial polytope from simplex (4 points) ---
             std::pmr::vector<VectorType> vertexes = build_initial_polytope_from_simplex(simplex, mem_resource);
-
-            // Initial tetra faces (windings corrected in make_face)
             std::pmr::vector<Face> faces = create_initial_tetra_faces(mem_resource, vertexes);
 
-            auto heap = rebuild_heap(faces, mem_resource);
+            // Build initial min-heap by distance.
+            Heap heap = rebuild_heap(faces, mem_resource);
 
             Result out{};
 
+            // Hoisted outside the loop to reuse bucket allocation across iterations.
+            // Initial bucket count 16 covers a typical horizon without rehashing.
+            BoundaryMap boundary{16, &mem_resource};
+
             for (int it = 0; it < params.max_iterations; ++it)
             {
-                // If heap might be stale after face edits, rebuild lazily.
-                if (heap.empty())
-                    break;
-                // Rebuild when the "closest" face changed (simple cheap guard)
-                // (We could keep face handles; this is fine for small Ns.)
-
-                if (const auto top = heap.top(); faces[top.idx].d != top.d)
-                    heap = rebuild_heap(faces, mem_resource);
+                // Lazily discard stale (deleted or index-mismatched) heap entries.
+                discard_stale_heap_entries(faces, heap);
 
                 if (heap.empty())
                     break;
 
-                // FIXME: STORE REF VALUE, DO NOT USE
-                //  AFTER IF STATEMENT BLOCK
                 const Face& face = faces[heap.top().idx];
 
-                // Get the furthest point in face normal direction
                 const VectorType p = support_point(a, b, face.n);
                 const auto p_dist = face.n.dot(p);
 
-                // Converged if we can’t push the face closer than tolerance
+                // Converged: new support can't push the face closer than tolerance.
                 if (p_dist - face.d <= params.tolerance)
                 {
                     out.normal = face.n;
-                    out.depth = face.d; // along unit normal
+                    out.depth = face.d;
                     out.iterations = it + 1;
                     out.num_vertices = static_cast<int>(vertexes.size());
                     out.num_faces = static_cast<int>(faces.size());
-
                     out.penetration_vector = out.normal * out.depth;
                     return out;
                 }
 
-                // Add new vertex
                 const int new_idx = static_cast<int>(vertexes.size());
                 vertexes.emplace_back(p);
 
-                const auto [to_delete, boundary] = mark_visible_and_collect_horizon(faces, p);
+                // Tombstone visible faces and collect the horizon boundary.
+                // This avoids copying the faces array (O(n)) each iteration.
+                tombstone_visible_faces(faces, boundary, p);
 
-                erase_marked(faces, to_delete);
-
-                // Stitch new faces around the horizon
-                for (const auto& e : boundary)
+                // Stitch new faces around the horizon and push them directly onto the
+                // heap — no full O(n log n) rebuild needed.
+                for (const auto& [key, e] : boundary)
+                {
+                    const int fi = static_cast<int>(faces.size());
                     faces.emplace_back(make_face(vertexes, e.a, e.b, new_idx));
-
-                // Rebuild heap after topology change
-                heap = rebuild_heap(faces, mem_resource);
+                    heap.emplace(faces.back().d, fi);
+                }
 
                 if (!std::isfinite(vertexes.back().dot(vertexes.back())))
                     break; // safety
+
                 out.iterations = it + 1;
             }
 
-            if (faces.empty())
+            // Find the best surviving (non-deleted) face.
+            const Face* best = find_best_surviving_face(faces);
+
+            if (!best)
                 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;
-            out.depth = best.d;
+            out.normal = best->n;
+            out.depth = best->d;
             out.num_vertices = static_cast<int>(vertexes.size());
             out.num_faces = static_cast<int>(faces.size());
-
             out.penetration_vector = out.normal * out.depth;
-
             return out;
         }
 
@@ -141,7 +135,8 @@ namespace omath::collision
         {
             int i0, i1, i2;
             VectorType n; // unit outward normal
-            FloatingType d; // n · v0  (>=0 ideally because origin is inside)
+            FloatingType d; // n · v0  (>= 0 ideally because origin is inside)
+            bool deleted{false}; // tombstone flag — avoids O(n) compaction per iteration
         };
 
         struct Edge final
@@ -154,6 +149,7 @@ namespace omath::collision
             FloatingType d;
             int idx;
         };
+
         struct HeapCmp final
         {
             [[nodiscard]]
@@ -165,35 +161,44 @@ namespace omath::collision
 
         using Heap = std::priority_queue<HeapItem, std::pmr::vector<HeapItem>, HeapCmp>;
 
+        // Horizon boundary: maps packed(a,b) → Edge.
+        // Opposite edges cancel in O(1) via hash lookup instead of O(h) linear scan.
+        using BoundaryMap = std::pmr::unordered_map<std::int64_t, Edge>;
+
+        [[nodiscard]]
+        static constexpr std::int64_t pack_edge(const int a, const int b) noexcept
+        {
+            return (static_cast<std::int64_t>(a) << 32) | static_cast<std::uint32_t>(b);
+        }
+
         [[nodiscard]]
         static Heap rebuild_heap(const std::pmr::vector<Face>& faces, auto& memory_resource)
         {
             std::pmr::vector<HeapItem> storage{&memory_resource};
-            storage.reserve(faces.size()); // optional but recommended
-
+            storage.reserve(faces.size());
             Heap h{HeapCmp{}, std::move(storage)};
-
             for (int i = 0; i < static_cast<int>(faces.size()); ++i)
-                h.emplace(faces[i].d, i);
-
-            return h; // allocator is preserved
+                if (!faces[i].deleted)
+                    h.emplace(faces[i].d, i);
+            return h;
         }
 
         [[nodiscard]]
         static bool visible_from(const Face& f, const VectorType& p)
         {
-            // positive if p is in front of the face
             return f.n.dot(p) - f.d > static_cast<FloatingType>(1e-7);
         }
 
-        static void add_edge_boundary(std::pmr::vector<Edge>& boundary, int a, int b)
+        static void add_edge_boundary(BoundaryMap& boundary, int a, int b)
         {
-            // Keep edges that appear only once; erase if opposite already present
-            auto itb = std::ranges::find_if(boundary, [&](const Edge& e) { return e.a == b && e.b == a; });
-            if (itb != boundary.end())
-                boundary.erase(itb); // internal edge cancels out
+            // O(1) cancel: if the opposite edge (b→a) is already in the map it is an
+            // internal edge shared by two visible faces and must be removed.
+            // Otherwise this is a horizon edge and we insert it.
+            const std::int64_t rev = pack_edge(b, a);
+            if (const auto it = boundary.find(rev); it != boundary.end())
+                boundary.erase(it);
             else
-                boundary.emplace_back(a, b); // horizon edge (directed)
+                boundary.emplace(pack_edge(a, b), Edge{a, b});
         }
 
         [[nodiscard]]
@@ -204,9 +209,7 @@ namespace omath::collision
             const VectorType& a2 = vertexes[i2];
             VectorType n = (a1 - a0).cross(a2 - a0);
             if (n.dot(n) <= static_cast<FloatingType>(1e-30))
-            {
                 n = any_perp_vec(a1 - a0); // degenerate guard
-            }
             // Ensure normal points outward (away from origin): require n·a0 >= 0
             if (n.dot(a0) < static_cast<FloatingType>(0.0))
             {
@@ -243,6 +246,7 @@ namespace omath::collision
                     return d;
             return V{1, 0, 0};
         }
+
         [[nodiscard]]
         static std::pmr::vector<Face> create_initial_tetra_faces(std::pmr::memory_resource& mem_resource,
                                                                  const std::pmr::vector<VectorType>& vertexes)
@@ -262,48 +266,45 @@ namespace omath::collision
         {
             std::pmr::vector<VectorType> vertexes{&mem_resource};
             vertexes.reserve(simplex.size());
-
             for (std::size_t i = 0; i < simplex.size(); ++i)
                 vertexes.emplace_back(simplex[i]);
-
             return vertexes;
         }
-        static void erase_marked(std::pmr::vector<Face>& faces, const std::pmr::vector<bool>& to_delete)
+
+        static const Face* find_best_surviving_face(const std::pmr::vector<Face>& faces)
         {
-            auto* mr = faces.get_allocator().resource(); // keep same resource
-            std::pmr::vector<Face> kept{mr};
-            kept.reserve(faces.size());
-
-            for (std::size_t i = 0; i < faces.size(); ++i)
-                if (!to_delete[i])
-                    kept.emplace_back(faces[i]);
-
-            faces.swap(kept);
+            const Face* best = nullptr;
+            for (const auto& f : faces)
+                if (!f.deleted && (best == nullptr || f.d < best->d))
+                    best = &f;
+            return best;
         }
-        struct Horizon
+        static void tombstone_visible_faces(std::pmr::vector<Face>& faces, BoundaryMap& boundary,
+                                            const VectorType& p)
         {
-            std::pmr::vector<bool> to_delete;
-            std::pmr::vector<Edge> boundary;
-        };
-
-        static Horizon mark_visible_and_collect_horizon(const std::pmr::vector<Face>& faces, const VectorType& p)
-        {
-            auto* mr = faces.get_allocator().resource();
-
-            Horizon horizon{std::pmr::vector<bool>(faces.size(), false, mr), std::pmr::vector<Edge>(mr)};
-            horizon.boundary.reserve(faces.size());
-
-            for (std::size_t i = 0; i < faces.size(); ++i)
-                if (visible_from(faces[i], p))
+            boundary.clear();
+            for (auto& f : faces)
+            {
+                if (!f.deleted && visible_from(f, p))
                 {
-                    const auto& rf = faces[i];
-                    horizon.to_delete[i] = true;
-                    add_edge_boundary(horizon.boundary, rf.i0, rf.i1);
-                    add_edge_boundary(horizon.boundary, rf.i1, rf.i2);
-                    add_edge_boundary(horizon.boundary, rf.i2, rf.i0);
+                    f.deleted = true;
+                    add_edge_boundary(boundary, f.i0, f.i1);
+                    add_edge_boundary(boundary, f.i1, f.i2);
+                    add_edge_boundary(boundary, f.i2, f.i0);
                 }
+            }
+        }
 
-            return horizon;
+        static void discard_stale_heap_entries(const std::pmr::vector<Face>& faces,
+                                               std::priority_queue<HeapItem, std::pmr::vector<HeapItem>, HeapCmp>& heap)
+        {
+            while (!heap.empty())
+            {
+                const auto& top = heap.top();
+                if (!faces[top.idx].deleted && faces[top.idx].d == top.d)
+                    break;
+                heap.pop();
+            }
         }
     };
 } // namespace omath::collision

include/omath/collision/gjk_algorithm.hpp

@@ -14,11 +14,15 @@ namespace omath::collision
         Simplex<VertexType> simplex; // valid only if hit == true and size==4
     };
 
+    struct GjkSettings final
+    {
+        float epsilon = 1e-6f;
+        std::size_t max_iterations = 64;
+    };
     template<class ColliderInterfaceType>
     class GjkAlgorithm final
     {
         using VectorType = ColliderInterfaceType::VectorType;
-
     public:
         [[nodiscard]]
         static VectorType find_support_vertex(const ColliderInterfaceType& collider_a,
@@ -36,20 +40,34 @@ namespace omath::collision
 
         [[nodiscard]]
         static GjkHitInfo<VectorType> is_collide_with_simplex_info(const ColliderInterfaceType& collider_a,
-                                                                   const ColliderInterfaceType& collider_b)
+                                                                   const ColliderInterfaceType& collider_b,
+                                                                   const GjkSettings& settings = {})
         {
-            auto support = find_support_vertex(collider_a, collider_b, VectorType{1, 0, 0});
+            // Use centroid difference as initial direction — greatly reduces iterations for separated shapes.
+            VectorType initial_dir;
+            if constexpr (requires { collider_b.get_origin() - collider_a.get_origin(); })
+            {
+                initial_dir = collider_b.get_origin() - collider_a.get_origin();
+                if (initial_dir.dot(initial_dir) < settings.epsilon * settings.epsilon)
+                    initial_dir = VectorType{1, 0, 0};
+            }
+            else
+            {
+                initial_dir = VectorType{1, 0, 0};
+            }
+
+            auto support = find_support_vertex(collider_a, collider_b, initial_dir);
 
             Simplex<VectorType> simplex;
             simplex.push_front(support);
 
             auto direction = -support;
 
-            while (true)
+            for (std::size_t iteration = 0; iteration < settings.max_iterations; ++iteration)
             {
                 support = find_support_vertex(collider_a, collider_b, direction);
 
-                if (support.dot(direction) <= 0.f)
+                if (support.dot(direction) <= settings.epsilon)
                     return {false, simplex};
 
                 simplex.push_front(support);
@@ -57,6 +75,7 @@ namespace omath::collision
                 if (simplex.handle(direction))
                     return {true, simplex};
             }
+            return {false, simplex};
         }
     };
 } // namespace omath::collision

include/omath/collision/mesh_collider.hpp

@@ -42,13 +42,40 @@ namespace omath::collision
             m_mesh.set_origin(new_origin);
         }
 
+        [[nodiscard]]
+        const MeshType& get_mesh() const
+        {
+            return m_mesh;
+        }
+        [[nodiscard]]
+        MeshType& get_mesh()
+        {
+            return m_mesh;
+        }
     private:
         [[nodiscard]]
         const VertexType& find_furthest_vertex(const VectorType& direction) const
         {
-            return *std::ranges::max_element(
-                    m_mesh.m_vertex_buffer, [&direction](const auto& first, const auto& second)
-                    { return first.position.dot(direction) < second.position.dot(direction); });
+            // The support query arrives in world space, but vertex positions are stored
+            // in local space.  We need argmax_v { world(v) · d }.
+            //
+            // world(v) = M·v  (ignoring translation, which is constant across vertices)
+            // world(v) · d = v · Mᵀ·d
+            //
+            // So we transform the direction to local space once — O(1) — then compare
+            // raw local positions, which is far cheaper than calling
+            // vertex_position_to_world_space (full 4×4 multiply) for every vertex.
+            //
+            // d_local = upper-left 3×3 of M, transposed, times d_world:
+            //   d_local[j] = sum_i  M.at(i,j) * d[i]   (i.e. column j of M dotted with d)
+            const auto& m = m_mesh.get_to_world_matrix();
+            const VectorType d_local = {
+                    m[0, 0] * direction.x + m[1, 0] * direction.y + m[2, 0] * direction.z,
+                    m[0, 1] * direction.x + m[1, 1] * direction.y + m[2, 1] * direction.z,
+                    m[0, 2] * direction.x + m[1, 2] * direction.y + m[2, 2] * direction.z,
+            };
+            return *std::ranges::max_element(m_mesh.m_vertex_buffer, [&d_local](const auto& first, const auto& second)
+                                             { return first.position.dot(d_local) < second.position.dot(d_local); });
         }
         MeshType m_mesh;
     };

include/omath/collision/physx_box_collider.hpp

@@ -0,0 +1,59 @@
+//
+// Created by orange-cpp
+//
+#pragma once
+
+#ifdef OMATH_ENABLE_PHYSX
+
+#include "collider_interface.hpp"
+#include <PxPhysicsAPI.h>
+
+namespace omath::collision
+{
+    /// Axis-aligned box collider backed by PhysX PxBoxGeometry.
+    /// Half-extents are stored in PhysX convention (positive values along each axis).
+    class PhysXBoxCollider final : public ColliderInterface<Vector3<float>>
+    {
+    public:
+        /// @param half_extents  Half-widths along X, Y and Z axes (all must be > 0).
+        /// @param origin        World-space centre of the box.
+        explicit PhysXBoxCollider(const VectorType& half_extents, const VectorType& origin = {})
+            : m_geometry(physx::PxVec3(half_extents.x, half_extents.y, half_extents.z))
+            , m_origin(origin)
+        {
+        }
+
+        /// Support function: returns the world-space point on the box furthest in @p direction.
+        /// For a box, the furthest point along d is origin + (sign(d.x)*hx, sign(d.y)*hy, sign(d.z)*hz).
+        [[nodiscard]]
+        VectorType find_abs_furthest_vertex_position(const VectorType& direction) const override
+        {
+            const auto& he = m_geometry.halfExtents;
+            return {
+                m_origin.x + (direction.x >= 0.f ? he.x : -he.x),
+                m_origin.y + (direction.y >= 0.f ? he.y : -he.y),
+                m_origin.z + (direction.z >= 0.f ? he.z : -he.z),
+            };
+        }
+
+        [[nodiscard]]
+        const VectorType& get_origin() const override { return m_origin; }
+
+        void set_origin(const VectorType& new_origin) override { m_origin = new_origin; }
+
+        [[nodiscard]]
+        const physx::PxBoxGeometry& get_geometry() const { return m_geometry; }
+
+        /// Update half-extents at runtime.
+        void set_half_extents(const VectorType& half_extents)
+        {
+            m_geometry = physx::PxBoxGeometry(physx::PxVec3(half_extents.x, half_extents.y, half_extents.z));
+        }
+
+    private:
+        physx::PxBoxGeometry m_geometry;
+        VectorType m_origin;
+    };
+} // namespace omath::collision
+
+#endif // OMATH_ENABLE_PHYSX

include/omath/collision/physx_rigid_body.hpp

@@ -0,0 +1,137 @@
+//
+// Created by orange-cpp
+//
+#pragma once
+
+#ifdef OMATH_ENABLE_PHYSX
+
+#include "collider_interface.hpp"
+#include "physx_world.hpp"
+#include <PxPhysicsAPI.h>
+#include <extensions/PxRigidBodyExt.h>
+#include <cmath>
+
+namespace omath::collision
+{
+    /// Dynamic rigid body backed by a PhysX PxRigidDynamic actor.
+    /// Implements ColliderInterface so it can participate in both omath GJK
+    /// and PhysX simulation-based collision resolution.
+    ///
+    /// Ownership: the actor is added to the world's scene on construction
+    /// and removed + released on destruction.
+    class PhysXRigidBody final : public ColliderInterface<Vector3<float>>
+    {
+    public:
+        /// @param world     PhysXWorld that owns the scene.
+        /// @param geometry  Shape geometry (PxBoxGeometry, PxSphereGeometry, …).
+        /// @param origin    Initial world-space position.
+        /// @param density   Mass density used to compute mass and inertia.
+        PhysXRigidBody(PhysXWorld& world, const physx::PxGeometry& geometry,
+                       const VectorType& origin = {}, float density = 1.f)
+            : m_world(world)
+            , m_geometry(geometry)
+        {
+            const physx::PxTransform pose(physx::PxVec3(origin.x, origin.y, origin.z));
+            m_actor = world.get_physics().createRigidDynamic(pose);
+
+            physx::PxShape* shape = world.get_physics().createShape(
+                geometry, world.get_default_material(), true);
+            m_actor->attachShape(*shape);
+            shape->release();
+
+            physx::PxRigidBodyExt::updateMassAndInertia(*m_actor, density);
+            world.get_scene().addActor(*m_actor);
+        }
+
+        ~PhysXRigidBody() override
+        {
+            m_world.get_scene().removeActor(*m_actor);
+            m_actor->release();
+        }
+
+        PhysXRigidBody(const PhysXRigidBody&)            = delete;
+        PhysXRigidBody& operator=(const PhysXRigidBody&) = delete;
+
+        // ── ColliderInterface ────────────────────────────────────────────────
+
+        /// Support function — delegates to the stored geometry type so the body
+        /// can be used with omath GJK alongside the non-simulated colliders.
+        [[nodiscard]]
+        VectorType find_abs_furthest_vertex_position(const VectorType& direction) const override
+        {
+            const VectorType o = get_origin();
+            switch (m_geometry.getType())
+            {
+                case physx::PxGeometryType::eBOX:
+                {
+                    const auto& he = m_geometry.box().halfExtents;
+                    return {
+                        o.x + (direction.x >= 0.f ? he.x : -he.x),
+                        o.y + (direction.y >= 0.f ? he.y : -he.y),
+                        o.z + (direction.z >= 0.f ? he.z : -he.z),
+                    };
+                }
+                case physx::PxGeometryType::eSPHERE:
+                {
+                    const float r   = m_geometry.sphere().radius;
+                    const float len = std::sqrt(direction.x * direction.x +
+                                               direction.y * direction.y +
+                                               direction.z * direction.z);
+                    if (len == 0.f)
+                        return o;
+                    const float inv = r / len;
+                    return { o.x + direction.x * inv,
+                             o.y + direction.y * inv,
+                             o.z + direction.z * inv };
+                }
+                default:
+                    return o; // unsupported geometry — return centre
+            }
+        }
+
+        [[nodiscard]]
+        const VectorType& get_origin() const override
+        {
+            const auto& p = m_actor->getGlobalPose().p;
+            m_cached_origin = { p.x, p.y, p.z };
+            return m_cached_origin;
+        }
+
+        void set_origin(const VectorType& new_origin) override
+        {
+            physx::PxTransform pose = m_actor->getGlobalPose();
+            pose.p = physx::PxVec3(new_origin.x, new_origin.y, new_origin.z);
+            m_actor->setGlobalPose(pose);
+        }
+
+        // ── PhysX-specific API ───────────────────────────────────────────────
+
+        [[nodiscard]] physx::PxRigidDynamic& get_actor() { return *m_actor; }
+        [[nodiscard]] const physx::PxRigidDynamic& get_actor() const { return *m_actor; }
+
+        void set_linear_velocity(const VectorType& v)
+        {
+            m_actor->setLinearVelocity(physx::PxVec3(v.x, v.y, v.z));
+        }
+
+        [[nodiscard]]
+        VectorType get_linear_velocity() const
+        {
+            const auto& v = m_actor->getLinearVelocity();
+            return { v.x, v.y, v.z };
+        }
+
+        void set_kinematic(bool enabled)
+        {
+            m_actor->setRigidBodyFlag(physx::PxRigidBodyFlag::eKINEMATIC, enabled);
+        }
+
+    private:
+        PhysXWorld&                    m_world;
+        physx::PxGeometryHolder        m_geometry;
+        physx::PxRigidDynamic*         m_actor{nullptr};
+        mutable VectorType             m_cached_origin{};
+    };
+} // namespace omath::collision
+
+#endif // OMATH_ENABLE_PHYSX

include/omath/collision/physx_sphere_collider.hpp

@@ -0,0 +1,64 @@
+//
+// Created by orange-cpp
+//
+#pragma once
+
+#ifdef OMATH_ENABLE_PHYSX
+
+#include "collider_interface.hpp"
+#include <PxPhysicsAPI.h>
+#include <cmath>
+
+namespace omath::collision
+{
+    /// Sphere collider backed by PhysX PxSphereGeometry.
+    class PhysXSphereCollider final : public ColliderInterface<Vector3<float>>
+    {
+    public:
+        /// @param radius  Sphere radius (must be > 0).
+        /// @param origin  World-space centre of the sphere.
+        explicit PhysXSphereCollider(float radius, const VectorType& origin = {})
+            : m_geometry(radius)
+            , m_origin(origin)
+        {
+        }
+
+        /// Support function: returns the world-space point on the sphere furthest in @p direction.
+        /// For a sphere that is simply origin + normalize(direction) * radius.
+        [[nodiscard]]
+        VectorType find_abs_furthest_vertex_position(const VectorType& direction) const override
+        {
+            const float len = std::sqrt(direction.x * direction.x +
+                                        direction.y * direction.y +
+                                        direction.z * direction.z);
+            if (len == 0.f)
+                return m_origin;
+
+            const float inv = m_geometry.radius / len;
+            return {
+                m_origin.x + direction.x * inv,
+                m_origin.y + direction.y * inv,
+                m_origin.z + direction.z * inv,
+            };
+        }
+
+        [[nodiscard]]
+        const VectorType& get_origin() const override { return m_origin; }
+
+        void set_origin(const VectorType& new_origin) override { m_origin = new_origin; }
+
+        [[nodiscard]]
+        const physx::PxSphereGeometry& get_geometry() const { return m_geometry; }
+
+        [[nodiscard]]
+        float get_radius() const { return m_geometry.radius; }
+
+        void set_radius(float radius) { m_geometry = physx::PxSphereGeometry(radius); }
+
+    private:
+        physx::PxSphereGeometry m_geometry;
+        VectorType m_origin;
+    };
+} // namespace omath::collision
+
+#endif // OMATH_ENABLE_PHYSX

include/omath/collision/physx_world.hpp

@@ -0,0 +1,82 @@
+//
+// Created by orange-cpp
+//
+#pragma once
+
+#ifdef OMATH_ENABLE_PHYSX
+
+#include <PxPhysicsAPI.h>
+
+namespace omath::collision
+{
+    /// RAII owner of a PhysX Foundation + Physics + Scene.
+    /// One world per simulation context; not copyable or movable.
+    class PhysXWorld final
+    {
+    public:
+        explicit PhysXWorld(physx::PxVec3 gravity = {0.f, -9.81f, 0.f},
+                            physx::PxU32 cpu_threads = 2)
+        {
+            m_foundation = PxCreateFoundation(PX_PHYSICS_VERSION, m_allocator, m_error_callback);
+
+            m_physics = PxCreatePhysics(PX_PHYSICS_VERSION, *m_foundation,
+                                        physx::PxTolerancesScale{});
+
+            physx::PxSceneDesc desc(m_physics->getTolerancesScale());
+            desc.gravity       = gravity;
+            desc.cpuDispatcher = physx::PxDefaultCpuDispatcherCreate(cpu_threads);
+            m_dispatcher       = static_cast<physx::PxDefaultCpuDispatcher*>(desc.cpuDispatcher);
+            desc.filterShader  = physx::PxDefaultSimulationFilterShader;
+
+            m_scene = m_physics->createScene(desc);
+
+            // Default material: static friction 0.5, dynamic friction 0.5, restitution 0.
+            m_default_material = m_physics->createMaterial(0.5f, 0.5f, 0.f);
+        }
+
+        ~PhysXWorld()
+        {
+            m_scene->release();
+            m_dispatcher->release();
+            m_default_material->release();
+            m_physics->release();
+            m_foundation->release();
+        }
+
+        PhysXWorld(const PhysXWorld&)            = delete;
+        PhysXWorld& operator=(const PhysXWorld&) = delete;
+
+        /// Advance the simulation by @p dt seconds and block until results are ready.
+        void step(float dt)
+        {
+            m_scene->simulate(dt);
+            m_scene->fetchResults(true);
+        }
+
+        [[nodiscard]] physx::PxPhysics&  get_physics()          { return *m_physics;          }
+        [[nodiscard]] physx::PxScene&    get_scene()             { return *m_scene;             }
+        [[nodiscard]] physx::PxMaterial& get_default_material()  { return *m_default_material;  }
+
+        /// Add an infinite static ground plane at y = @p y_level facing +Y.
+        physx::PxRigidStatic* add_ground_plane(float y_level = 0.f)
+        {
+            physx::PxRigidStatic* plane = PxCreatePlane(
+                *m_physics,
+                physx::PxPlane(0.f, 1.f, 0.f, -y_level),
+                *m_default_material);
+            m_scene->addActor(*plane);
+            return plane;
+        }
+
+    private:
+        physx::PxDefaultAllocator      m_allocator{};
+        physx::PxDefaultErrorCallback  m_error_callback{};
+        physx::PxFoundation*           m_foundation{nullptr};
+        physx::PxPhysics*              m_physics{nullptr};
+        physx::PxDefaultCpuDispatcher* m_dispatcher{nullptr};
+        physx::PxScene*                m_scene{nullptr};
+        physx::PxMaterial*             m_default_material{nullptr};
+    };
+} // namespace omath::collision
+
+#endif // OMATH_ENABLE_PHYSX

include/omath/containers/encrypted_variable.hpp

@@ -62,20 +62,13 @@ namespace omath::detail
         return splitmix64(base_seed() + 0xD1B54A32D192ED03ull * (Stream + 1));
     }
 
-    [[nodiscard]]
-    consteval std::uint64_t bounded_u64(const std::uint64_t x, const std::uint64_t bound)
-    {
-        return (x * bound) >> 64;
-    }
-
     template<std::int64_t Lo, std::int64_t Hi, std::uint64_t Stream>
     [[nodiscard]]
     consteval std::int64_t rand_uint8_t()
     {
         static_assert(Lo <= Hi);
-        const std::uint64_t span = static_cast<std::uint64_t>(Hi - Lo) + 1ull;
         const std::uint64_t r = rand_u64<Stream>();
-        return static_cast<std::int64_t>(bounded_u64(r, span)) + Lo;
+        return static_cast<std::int64_t>(r) + Lo;
     }
     [[nodiscard]]
     consteval std::uint64_t rand_u64(const std::uint64_t seed, const std::uint64_t i)

include/omath/engines/cry_engine/constants.hpp

@@ -22,4 +22,4 @@ namespace omath::cry_engine
     using RollAngle = Angle<float, -180.f, 180.f, AngleFlags::Normalized>;
 
     using ViewAngles = omath::ViewAngles<PitchAngle, YawAngle, RollAngle>;
-} // namespace omath::frostbite_engine
+} // namespace omath::cry_engine

include/omath/engines/cry_engine/formulas.hpp

@@ -71,4 +71,4 @@ namespace omath::cry_engine
     {
         return meters_to_units(kilometers * static_cast<FloatingType>(1000));
     }
-} // namespace omath::frostbite_engine
+} // namespace omath::cry_engine

include/omath/engines/cry_engine/mesh.hpp

@@ -0,0 +1,12 @@
+//
+// Created by Vladislav on 09.11.2025.
+//
+#pragma once
+#include "constants.hpp"
+#include "omath/3d_primitives/mesh.hpp"
+#include "traits/mesh_trait.hpp"
+
+namespace omath::cry_engine
+{
+    using Mesh = primitives::Mesh<Mat4X4, ViewAngles, MeshTrait>;
+}

include/omath/engines/cry_engine/traits/camera_trait.hpp

@@ -21,4 +21,4 @@ namespace omath::cry_engine
                                              float near, float far) noexcept;
     };
 
-} // namespace omath::unreal_engine
+} // namespace omath::cry_engine

include/omath/engines/cry_engine/traits/pred_engine_trait.hpp

@@ -70,7 +70,7 @@ namespace omath::cry_engine
         {
             const auto direction = (view_to - origin).normalized();
 
-            return angles::radians_to_degrees(std::atan2(direction.y, direction.z));
+            return angles::radians_to_degrees(-std::atan2(direction.x, direction.y));
         };
     };
-} // namespace omath::unity_engine
+} // namespace omath::cry_engine

include/omath/linear_algebra/quaternion.hpp

@@ -0,0 +1,219 @@
+//
+// Created by vlad on 3/1/2026.
+//
+#pragma once
+
+#include "omath/linear_algebra/mat.hpp"
+#include "omath/linear_algebra/vector3.hpp"
+#include <array>
+#include <cmath>
+#include <format>
+
+namespace omath
+{
+    template<class Type>
+    requires std::is_arithmetic_v<Type>
+    class Quaternion
+    {
+    public:
+        using ContainedType = Type;
+
+        Type x = static_cast<Type>(0);
+        Type y = static_cast<Type>(0);
+        Type z = static_cast<Type>(0);
+        Type w = static_cast<Type>(1);  // identity quaternion
+
+        constexpr Quaternion() noexcept = default;
+
+        constexpr Quaternion(const Type& x, const Type& y, const Type& z, const Type& w) noexcept
+            : x(x), y(y), z(z), w(w)
+        {
+        }
+
+        // Factory: build from a normalized axis and an angle in radians
+        [[nodiscard]]
+        static Quaternion from_axis_angle(const Vector3<Type>& axis, const Type& angle_rad) noexcept
+        {
+            const Type half = angle_rad / static_cast<Type>(2);
+            const Type s = std::sin(half);
+            return {axis.x * s, axis.y * s, axis.z * s, std::cos(half)};
+        }
+
+        [[nodiscard]] constexpr bool operator==(const Quaternion& other) const noexcept
+        {
+            return x == other.x && y == other.y && z == other.z && w == other.w;
+        }
+
+        [[nodiscard]] constexpr bool operator!=(const Quaternion& other) const noexcept
+        {
+            return !(*this == other);
+        }
+
+        // Hamilton product: this * other
+        [[nodiscard]] constexpr Quaternion operator*(const Quaternion& other) const noexcept
+        {
+            return {
+                w * other.x + x * other.w + y * other.z - z * other.y,
+                w * other.y - x * other.z + y * other.w + z * other.x,
+                w * other.z + x * other.y - y * other.x + z * other.w,
+                w * other.w - x * other.x - y * other.y - z * other.z,
+            };
+        }
+
+        constexpr Quaternion& operator*=(const Quaternion& other) noexcept
+        {
+            return *this = *this * other;
+        }
+
+        [[nodiscard]] constexpr Quaternion operator*(const Type& scalar) const noexcept
+        {
+            return {x * scalar, y * scalar, z * scalar, w * scalar};
+        }
+
+        constexpr Quaternion& operator*=(const Type& scalar) noexcept
+        {
+            x *= scalar;
+            y *= scalar;
+            z *= scalar;
+            w *= scalar;
+            return *this;
+        }
+
+        [[nodiscard]] constexpr Quaternion operator+(const Quaternion& other) const noexcept
+        {
+            return {x + other.x, y + other.y, z + other.z, w + other.w};
+        }
+
+        constexpr Quaternion& operator+=(const Quaternion& other) noexcept
+        {
+            x += other.x;
+            y += other.y;
+            z += other.z;
+            w += other.w;
+            return *this;
+        }
+
+        [[nodiscard]] constexpr Quaternion operator-() const noexcept
+        {
+            return {-x, -y, -z, -w};
+        }
+
+        // Conjugate: negates the vector part (x, y, z)
+        [[nodiscard]] constexpr Quaternion conjugate() const noexcept
+        {
+            return {-x, -y, -z, w};
+        }
+
+        [[nodiscard]] constexpr Type dot(const Quaternion& other) const noexcept
+        {
+            return x * other.x + y * other.y + z * other.z + w * other.w;
+        }
+
+        [[nodiscard]] constexpr Type length_sqr() const noexcept
+        {
+            return x * x + y * y + z * z + w * w;
+        }
+
+#ifndef _MSC_VER
+        [[nodiscard]] constexpr Type length() const noexcept
+        {
+            return std::sqrt(length_sqr());
+        }
+
+        [[nodiscard]] constexpr Quaternion normalized() const noexcept
+        {
+            const Type len = length();
+            return len != static_cast<Type>(0) ? *this * (static_cast<Type>(1) / len) : *this;
+        }
+#else
+        [[nodiscard]] Type length() const noexcept
+        {
+            return std::sqrt(length_sqr());
+        }
+
+        [[nodiscard]] Quaternion normalized() const noexcept
+        {
+            const Type len = length();
+            return len != static_cast<Type>(0) ? *this * (static_cast<Type>(1) / len) : *this;
+        }
+#endif
+
+        // Inverse: q* / |q|^2  (for unit quaternions inverse == conjugate)
+        [[nodiscard]] constexpr Quaternion inverse() const noexcept
+        {
+            return conjugate() * (static_cast<Type>(1) / length_sqr());
+        }
+
+        // Rotate a 3D vector: v' = q * pure(v) * q^-1
+        // Computed via Rodrigues' formula to avoid full quaternion product overhead
+        [[nodiscard]] constexpr Vector3<Type> rotate(const Vector3<Type>& v) const noexcept
+        {
+            const Vector3<Type> q_vec{x, y, z};
+            const Vector3<Type> cross = q_vec.cross(v);
+            return v + cross * (static_cast<Type>(2) * w) + q_vec.cross(cross) * static_cast<Type>(2);
+        }
+
+        // 3x3 rotation matrix from this (unit) quaternion
+        [[nodiscard]] constexpr Mat<3, 3, Type> to_rotation_matrix3() const noexcept
+        {
+            const Type xx = x * x, yy = y * y, zz = z * z;
+            const Type xy = x * y, xz = x * z, yz = y * z;
+            const Type wx = w * x, wy = w * y, wz = w * z;
+            const Type one = static_cast<Type>(1);
+            const Type two = static_cast<Type>(2);
+
+            return {
+                {one - two * (yy + zz), two * (xy - wz),       two * (xz + wy)      },
+                {two * (xy + wz),       one - two * (xx + zz), two * (yz - wx)      },
+                {two * (xz - wy),       two * (yz + wx),       one - two * (xx + yy)},
+            };
+        }
+
+        // 4x4 rotation matrix (with homogeneous row/column)
+        [[nodiscard]] constexpr Mat<4, 4, Type> to_rotation_matrix4() const noexcept
+        {
+            const Type xx = x * x, yy = y * y, zz = z * z;
+            const Type xy = x * y, xz = x * z, yz = y * z;
+            const Type wx = w * x, wy = w * y, wz = w * z;
+            const Type one = static_cast<Type>(1);
+            const Type two = static_cast<Type>(2);
+            const Type zero = static_cast<Type>(0);
+
+            return {
+                {one - two * (yy + zz), two * (xy - wz),       two * (xz + wy),       zero},
+                {two * (xy + wz),       one - two * (xx + zz), two * (yz - wx),       zero},
+                {two * (xz - wy),       two * (yz + wx),       one - two * (xx + yy), zero},
+                {zero,                  zero,                   zero,                  one },
+            };
+        }
+
+        [[nodiscard]] constexpr std::array<Type, 4> as_array() const noexcept
+        {
+            return {x, y, z, w};
+        }
+    };
+} // namespace omath
+
+template<class Type>
+struct std::formatter<omath::Quaternion<Type>> // NOLINT(*-dcl58-cpp)
+{
+    [[nodiscard]]
+    static constexpr auto parse(std::format_parse_context& ctx)
+    {
+        return ctx.begin();
+    }
+
+    template<class FormatContext>
+    [[nodiscard]]
+    static auto format(const omath::Quaternion<Type>& q, FormatContext& ctx)
+    {
+        if constexpr (std::is_same_v<typename FormatContext::char_type, char>)
+            return std::format_to(ctx.out(), "[{}, {}, {}, {}]", q.x, q.y, q.z, q.w);
+
+        if constexpr (std::is_same_v<typename FormatContext::char_type, wchar_t>)
+            return std::format_to(ctx.out(), L"[{}, {}, {}, {}]", q.x, q.y, q.z, q.w);
+
+        if constexpr (std::is_same_v<typename FormatContext::char_type, char8_t>)
+            return std::format_to(ctx.out(), u8"[{}, {}, {}, {}]", q.x, q.y, q.z, q.w);
+    }
+};

include/omath/linear_algebra/vector2.hpp

@@ -220,6 +220,12 @@ namespace omath
         {
             return std::make_tuple(x, y);
         }
+
+        [[nodiscard]]
+        constexpr std::array<Type, 2> as_array() const noexcept
+        {
+            return {x, y};
+        }
 #ifdef OMATH_IMGUI_INTEGRATION
         [[nodiscard]]
         constexpr ImVec2 to_im_vec2() const noexcept

include/omath/linear_algebra/vector3.hpp

@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include "omath/trigonometry/angle.hpp"
 #include "omath/linear_algebra/vector2.hpp"
+#include "omath/trigonometry/angle.hpp"
 #include <cstdint>
 #include <expected>
 #include <functional>
@@ -233,7 +233,8 @@ namespace omath
             return Angle<float, 0.f, 180.f, AngleFlags::Clamped>::from_radians(std::acos(dot(other) / bottom));
         }
 
-        [[nodiscard]] bool is_perpendicular(const Vector3& other, Type epsilon = static_cast<Type>(0.0001)) const noexcept
+        [[nodiscard]] bool is_perpendicular(const Vector3& other,
+                                            Type epsilon = static_cast<Type>(0.0001)) const noexcept
         {
             if (const auto angle = angle_between(other))
                 return std::abs(angle->as_degrees() - static_cast<Type>(90)) <= epsilon;
@@ -274,6 +275,12 @@ namespace omath
         {
             return length() >= other.length();
         }
+
+        [[nodiscard]]
+        constexpr std::array<Type, 3> as_array() const noexcept
+        {
+            return {this->x, this->y, z};
+        }
     };
 } // namespace omath
 

include/omath/linear_algebra/vector4.hpp

@@ -3,8 +3,8 @@
 //
 #pragma once
 
-#include <algorithm>
 #include "omath/linear_algebra/vector3.hpp"
+#include <algorithm>
 
 namespace omath
 {
@@ -183,6 +183,12 @@ namespace omath
             return length() >= other.length();
         }
 
+        [[nodiscard]]
+        constexpr std::array<Type, 4> as_array() const noexcept
+        {
+            return {this->x, this->y, this->z, w};
+        }
+
 #ifdef OMATH_IMGUI_INTEGRATION
         [[nodiscard]]
         constexpr ImVec4 to_im_vec4() const noexcept
@@ -200,7 +206,7 @@ namespace omath
             return {static_cast<Type>(other.x), static_cast<Type>(other.y), static_cast<Type>(other.z)};
         }
 #endif
-};
+    };
 } // namespace omath
 
 template<> struct std::hash<omath::Vector4<float>>

include/omath/lua/lua.hpp

@@ -0,0 +1,25 @@
+//
+// Created by orange on 07.03.2026.
+//
+#pragma once
+#ifdef OMATH_ENABLE_LUA
+#include <sol/forward.hpp>
+namespace omath::lua
+{
+    class LuaInterpreter final
+    {
+    public:
+        static void register_lib(lua_State* lua_state);
+
+    private:
+        static void register_vec2(sol::table& omath_table);
+        static void register_vec3(sol::table& omath_table);
+        static void register_vec4(sol::table& omath_table);
+        static void register_color(sol::table& omath_table);
+        static void register_triangle(sol::table& omath_table);
+        static void register_shared_types(sol::table& omath_table);
+        static void register_engines(sol::table& omath_table);
+        static void register_pattern_scan(sol::table& omath_table);
+    };
+}
+#endif

include/omath/omath.hpp

@@ -17,6 +17,9 @@
 // Matrix classes
 #include "omath/linear_algebra/mat.hpp"
 
+// Quaternion
+#include "omath/linear_algebra/quaternion.hpp"
+
 // Color functionality
 #include "omath/utility/color.hpp"
 

include/omath/pathfinding/navigation_mesh.hpp

@@ -6,7 +6,9 @@
 
 #include "omath/linear_algebra/vector3.hpp"
 #include <expected>
+#include <optional>
 #include <string>
+#include <unordered_map>
 #include <vector>
 
 namespace omath::pathfinding
@@ -28,10 +30,20 @@ namespace omath::pathfinding
         [[nodiscard]]
         bool empty() const;
 
-        [[nodiscard]] std::vector<uint8_t> serialize() const noexcept;
+        // Events -- per-vertex optional tag (e.g. "jump", "teleport")
+        void set_event(const Vector3<float>& vertex, const std::string_view& event_id);
+        void clear_event(const Vector3<float>& vertex);
 
-        void deserialize(const std::vector<uint8_t>& raw) noexcept;
+        [[nodiscard]]
+        std::optional<std::string> get_event(const Vector3<float>& vertex) const noexcept;
+
+        [[nodiscard]] std::string serialize() const noexcept;
+
+        void deserialize(const std::string& raw);
 
         std::unordered_map<Vector3<float>, std::vector<Vector3<float>>> m_vertex_map;
+
+    private:
+        std::unordered_map<Vector3<float>, std::string> m_vertex_events;
     };
 } // namespace omath::pathfinding

include/omath/utility/color.hpp

@@ -16,19 +16,28 @@ namespace omath
         float value{};
     };
 
-    class Color final : public Vector4<float>
+    class Color final
     {
+        Vector4<float> m_value;
     public:
-        constexpr Color(const float r, const float g, const float b, const float a) noexcept: Vector4(r, g, b, a)
+        constexpr const Vector4<float>& value() const
         {
-            clamp(0.f, 1.f);
+            return m_value;
+        }
+        constexpr Color(const float r, const float g, const float b, const float a) noexcept: m_value(r, g, b, a)
+        {
+            m_value.clamp(0.f, 1.f);
         }
 
+        constexpr explicit Color(const Vector4<float>& value) : m_value(value)
+        {
+            m_value.clamp(0.f, 1.f);
+        }
         constexpr explicit Color() noexcept = default;
         [[nodiscard]]
         constexpr static Color from_rgba(const uint8_t r, const uint8_t g, const uint8_t b, const uint8_t a) noexcept
         {
-            return Color{Vector4(r, g, b, a) / 255.f};
+            return Color(Vector4<float>(r, g, b, a) / 255.f);
         }
 
         [[nodiscard]]
@@ -82,9 +91,9 @@ namespace omath
         {
             Hsv hsv_data;
 
-            const float& red = x;
-            const float& green = y;
-            const float& blue = z;
+            const float& red = m_value.x;
+            const float& green = m_value.y;
+            const float& blue = m_value.z;
 
             const float max = std::max({red, green, blue});
             const float min = std::min({red, green, blue});
@@ -109,11 +118,6 @@ namespace omath
 
             return hsv_data;
         }
-
-        constexpr explicit Color(const Vector4& vec) noexcept: Vector4(vec)
-        {
-            clamp(0.f, 1.f);
-        }
         constexpr void set_hue(const float hue) noexcept
         {
             auto hsv = to_hsv();
@@ -141,7 +145,7 @@ namespace omath
         constexpr Color blend(const Color& other, float ratio) const noexcept
         {
             ratio = std::clamp(ratio, 0.f, 1.f);
-            return Color(*this * (1.f - ratio) + other * ratio);
+            return Color(this->m_value * (1.f - ratio) + other.m_value * ratio);
         }
 
         [[nodiscard]] static constexpr Color red()
@@ -160,16 +164,26 @@ namespace omath
         [[nodiscard]]
         ImColor to_im_color() const noexcept
         {
-            return {to_im_vec4()};
+            return {m_value.to_im_vec4()};
         }
 #endif
         [[nodiscard]] std::string to_string() const noexcept
         {
             return std::format("[r:{}, g:{}, b:{}, a:{}]",
-                            static_cast<int>(x * 255.f),
-                            static_cast<int>(y * 255.f),
-                            static_cast<int>(z * 255.f),
-                            static_cast<int>(w * 255.f));
+                            static_cast<int>(m_value.x * 255.f),
+                            static_cast<int>(m_value.y * 255.f),
+                            static_cast<int>(m_value.z * 255.f),
+                            static_cast<int>(m_value.w * 255.f));
+        }
+        [[nodiscard]] std::string to_rgbf_string() const noexcept
+        {
+            return std::format("[r:{}, g:{}, b:{}, a:{}]",
+                            m_value.x, m_value.y, m_value.z, m_value.w);
+        }
+        [[nodiscard]] std::string to_hsv_string() const noexcept
+        {
+            const auto [hue, saturation, value] = to_hsv();
+            return std::format("[h:{}, s:{}, v:{}]", hue, saturation, value);
         }
         [[nodiscard]] std::wstring to_wstring() const noexcept
         {
@@ -188,23 +202,55 @@ namespace omath
 template<>
 struct std::formatter<omath::Color> // NOLINT(*-dcl58-cpp)
 {
-    [[nodiscard]]
-    static constexpr auto parse(const std::format_parse_context& ctx)
+    enum class ColorFormat { rgb, rgbf, hsv };
+    ColorFormat color_format = ColorFormat::rgb;
+
+    constexpr auto parse(std::format_parse_context& ctx)
     {
-        return ctx.begin();
+        const auto it = ctx.begin();
+        const auto end = ctx.end();
+
+        if (it == end || *it == '}')
+            return it;
+
+        const std::string_view spec(it, end);
+
+        if (spec.starts_with("rgbf"))
+        {
+            color_format = ColorFormat::rgbf;
+            return it + 4;
+        }
+        if (spec.starts_with("rgb"))
+        {
+            color_format = ColorFormat::rgb;
+            return it + 3;
+        }
+        if (spec.starts_with("hsv"))
+        {
+            color_format = ColorFormat::hsv;
+            return it + 3;
+        }
+
+        throw std::format_error("Invalid format specifier for omath::Color. Use rgb, rgbf, or hsv.");
     }
 
     template<class FormatContext>
-    [[nodiscard]]
-    static auto format(const omath::Color& col, FormatContext& ctx)
+    auto format(const omath::Color& col, FormatContext& ctx) const
     {
-        if constexpr (std::is_same_v<typename FormatContext::char_type, char>)
-            return std::format_to(ctx.out(), "{}", col.to_string());
-        if constexpr (std::is_same_v<typename FormatContext::char_type, wchar_t>)
-            return std::format_to(ctx.out(), L"{}", col.to_wstring());
+        std::string str;
+        switch (color_format)
+        {
+            case ColorFormat::rgb:  str = col.to_string();      break;
+            case ColorFormat::rgbf: str = col.to_rgbf_string(); break;
+            case ColorFormat::hsv:  str = col.to_hsv_string();  break;
+        }
 
+        if constexpr (std::is_same_v<typename FormatContext::char_type, char>)
+            return std::format_to(ctx.out(), "{}", str);
+        if constexpr (std::is_same_v<typename FormatContext::char_type, wchar_t>)
+            return std::format_to(ctx.out(), L"{}", std::wstring(str.cbegin(), str.cend()));
         if constexpr (std::is_same_v<typename FormatContext::char_type, char8_t>)
-            return std::format_to(ctx.out(), u8"{}", col.to_u8string());
+            return std::format_to(ctx.out(), u8"{}", std::u8string(str.cbegin(), str.cend()));
 
         std::unreachable();
     }

pixi/run.benchmark.cmake

@@ -15,7 +15,10 @@ endif()
 set(EXAMPLES_BIN_DIR "${PROJECT_ROOT}/out/${CMAKE_BUILD_TYPE}")
 
 if(NOT EXISTS "${EXAMPLES_BIN_DIR}")
-    message(FATAL_ERROR "Examples binary directory not found: ${EXAMPLES_BIN_DIR}. Please build the project first.")
+    message(
+        FATAL_ERROR
+            "Examples binary directory not found: ${EXAMPLES_BIN_DIR}. Please build the project first."
+        )
 endif()
 
 message(STATUS "Looking for benchmark executables in: ${EXAMPLES_BIN_DIR}")
@@ -43,16 +46,13 @@ foreach(EXAMPLE_PATH ${EXAMPLE_FILES})
     endif()
 
     # On Linux/macOS, check permissions or just try to run it.
-    
+
     message(STATUS "-------------------------------------------------")
     message(STATUS "Running benchmark: ${FILENAME}")
     message(STATUS "-------------------------------------------------")
 
-    execute_process(
-        COMMAND "${EXAMPLE_PATH}"
-        WORKING_DIRECTORY "${PROJECT_ROOT}"
-        RESULT_VARIABLE EXIT_CODE
-    )
+    execute_process(COMMAND "${EXAMPLE_PATH}" WORKING_DIRECTORY "${PROJECT_ROOT}"
+                    RESULT_VARIABLE EXIT_CODE)
 
     if(NOT EXIT_CODE EQUAL 0)
         message(WARNING "Benchmark ${FILENAME} exited with error code: ${EXIT_CODE}")

pixi/run.examples.cmake

@@ -15,7 +15,10 @@ endif()
 set(EXAMPLES_BIN_DIR "${PROJECT_ROOT}/out/${CMAKE_BUILD_TYPE}")
 
 if(NOT EXISTS "${EXAMPLES_BIN_DIR}")
-    message(FATAL_ERROR "Examples binary directory not found: ${EXAMPLES_BIN_DIR}. Please build the project first.")
+    message(
+        FATAL_ERROR
+            "Examples binary directory not found: ${EXAMPLES_BIN_DIR}. Please build the project first."
+        )
 endif()
 
 message(STATUS "Looking for example executables in: ${EXAMPLES_BIN_DIR}")
@@ -43,16 +46,13 @@ foreach(EXAMPLE_PATH ${EXAMPLE_FILES})
     endif()
 
     # On Linux/macOS, check permissions or just try to run it.
-    
+
     message(STATUS "-------------------------------------------------")
     message(STATUS "Running example: ${FILENAME}")
     message(STATUS "-------------------------------------------------")
 
-    execute_process(
-        COMMAND "${EXAMPLE_PATH}"
-        WORKING_DIRECTORY "${PROJECT_ROOT}"
-        RESULT_VARIABLE EXIT_CODE
-    )
+    execute_process(COMMAND "${EXAMPLE_PATH}" WORKING_DIRECTORY "${PROJECT_ROOT}"
+                    RESULT_VARIABLE EXIT_CODE)
 
     if(NOT EXIT_CODE EQUAL 0)
         message(WARNING "Example ${FILENAME} exited with error code: ${EXIT_CODE}")

pixi/run.unit.tests.cmake

@@ -15,7 +15,10 @@ endif()
 set(EXAMPLES_BIN_DIR "${PROJECT_ROOT}/out/${CMAKE_BUILD_TYPE}")
 
 if(NOT EXISTS "${EXAMPLES_BIN_DIR}")
-    message(FATAL_ERROR "Examples binary directory not found: ${EXAMPLES_BIN_DIR}. Please build the project first.")
+    message(
+        FATAL_ERROR
+            "Examples binary directory not found: ${EXAMPLES_BIN_DIR}. Please build the project first."
+        )
 endif()
 
 message(STATUS "Looking for unit test executables in: ${EXAMPLES_BIN_DIR}")
@@ -43,16 +46,13 @@ foreach(EXAMPLE_PATH ${EXAMPLE_FILES})
     endif()
 
     # On Linux/macOS, check permissions or just try to run it.
-    
+
     message(STATUS "-------------------------------------------------")
     message(STATUS "Running unit_tests: ${FILENAME}")
     message(STATUS "-------------------------------------------------")
 
-    execute_process(
-        COMMAND "${EXAMPLE_PATH}"
-        WORKING_DIRECTORY "${PROJECT_ROOT}"
-        RESULT_VARIABLE EXIT_CODE
-    )
+    execute_process(COMMAND "${EXAMPLE_PATH}" WORKING_DIRECTORY "${PROJECT_ROOT}"
+                    RESULT_VARIABLE EXIT_CODE)
 
     if(NOT EXIT_CODE EQUAL 0)
         message(WARNING "Example ${FILENAME} exited with error code: ${EXIT_CODE}")

scripts/cmake-format.sh

@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+# Format all CMakeLists.txt and *.cmake files in the repo (excluding common build dirs)
+REPO_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+
+cd "$REPO_ROOT"
+
+find . \
+  -path "./build" -prune -o \
+  -path "./cmake-build*" -prune -o \
+  -path "./out" -prune -o \
+  -path "./.git" -prune -o \
+  \( -name "CMakeLists.txt" -o -name "*.cmake" \) -print0 \
+| xargs -0 cmake-format -i

source/engines/cry_engine/formulas.cpp

@@ -30,8 +30,8 @@ namespace omath::cry_engine
     }
     Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept
     {
-        return mat_rotation_axis_z<float, MatStoreType::ROW_MAJOR>(angles.roll)
-               * mat_rotation_axis_y<float, MatStoreType::ROW_MAJOR>(angles.yaw)
+        return mat_rotation_axis_z<float, MatStoreType::ROW_MAJOR>(angles.yaw)
+               * mat_rotation_axis_y<float, MatStoreType::ROW_MAJOR>(angles.roll)
                * mat_rotation_axis_x<float, MatStoreType::ROW_MAJOR>(angles.pitch);
     }
     Mat4X4 calc_perspective_projection_matrix(const float field_of_view, const float aspect_ratio, const float near,

source/engines/cry_engine/traits/camera_trait.cpp

@@ -10,8 +10,8 @@ namespace omath::cry_engine
     {
         const auto direction = (look_at - cam_origin).normalized();
 
-        return {PitchAngle::from_radians(-std::asin(direction.z)),
-                YawAngle::from_radians(std::atan2(direction.y, direction.x)), RollAngle::from_radians(0.f)};
+        return {PitchAngle::from_radians(std::asin(direction.z)),
+                YawAngle::from_radians(-std::atan2(direction.x, direction.y)), RollAngle::from_radians(0.f)};
     }
     Mat4X4 CameraTrait::calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
     {

source/lua/lua.cpp

@@ -0,0 +1,27 @@
+//
+// Created by orange on 07.03.2026.
+//
+#ifdef OMATH_ENABLE_LUA
+#include "lua.hpp"
+#include <sol/sol.hpp>
+#include "omath/lua/lua.hpp"
+
+namespace omath::lua
+{
+    void LuaInterpreter::register_lib(lua_State* lua_state)
+    {
+        sol::state_view lua(lua_state);
+
+        auto omath_table = lua["omath"].get_or_create<sol::table>();
+
+        register_vec2(omath_table);
+        register_vec3(omath_table);
+        register_vec4(omath_table);
+        register_color(omath_table);
+        register_triangle(omath_table);
+        register_shared_types(omath_table);
+        register_engines(omath_table);
+        register_pattern_scan(omath_table);
+    }
+} // namespace omath::lua
+#endif

source/lua/lua_color.cpp

@@ -0,0 +1,46 @@
+//
+// Created by orange on 07.03.2026.
+//
+#ifdef OMATH_ENABLE_LUA
+#include "omath/lua/lua.hpp"
+#include <sol/sol.hpp>
+#include <omath/utility/color.hpp>
+
+namespace omath::lua
+{
+    void LuaInterpreter::register_color(sol::table& omath_table)
+    {
+        omath_table.new_usertype<omath::Color>(
+                "Color",
+                sol::factories([](float r, float g, float b, float a) { return omath::Color(r, g, b, a); },
+                               []() { return omath::Color(); }),
+
+                "from_rgba", [](uint8_t r, uint8_t g, uint8_t b, uint8_t a)
+                { return omath::Color::from_rgba(r, g, b, a); }, "from_hsv",
+                sol::overload([](float h, float s, float v) { return omath::Color::from_hsv(h, s, v); },
+                              [](const omath::Hsv& hsv) { return omath::Color::from_hsv(hsv); }),
+                "red", []() { return omath::Color::red(); }, "green", []() { return omath::Color::green(); }, "blue",
+                []() { return omath::Color::blue(); },
+
+                "r", sol::property([](const omath::Color& c) { return c.value().x; }), "g",
+                sol::property([](const omath::Color& c) { return c.value().y; }), "b",
+                sol::property([](const omath::Color& c) { return c.value().z; }), "a",
+                sol::property([](const omath::Color& c) { return c.value().w; }),
+
+                "to_hsv", &omath::Color::to_hsv, "set_hue", &omath::Color::set_hue, "set_saturation",
+                &omath::Color::set_saturation, "set_value", &omath::Color::set_value, "blend", &omath::Color::blend,
+
+                sol::meta_function::to_string, &omath::Color::to_string);
+
+        omath_table.new_usertype<omath::Hsv>(
+                "Hsv", sol::constructors<omath::Hsv()>(), "hue",
+                sol::property([](const omath::Hsv& h) { return h.hue; }, [](omath::Hsv& h, float val) { h.hue = val; }),
+                "saturation",
+                sol::property([](const omath::Hsv& h) { return h.saturation; },
+                              [](omath::Hsv& h, float val) { h.saturation = val; }),
+                "value",
+                sol::property([](const omath::Hsv& h) { return h.value; },
+                              [](omath::Hsv& h, float val) { h.value = val; }));
+    }
+} // namespace omath::lua::detail
+#endif

source/lua/lua_engines.cpp

@@ -0,0 +1,227 @@
+//
+// Created by orange on 07.03.2026.
+//
+#ifdef OMATH_ENABLE_LUA
+#include "omath/lua/lua.hpp"
+#include <omath/engines/cry_engine/camera.hpp>
+#include <omath/engines/frostbite_engine/camera.hpp>
+#include <omath/engines/iw_engine/camera.hpp>
+#include <omath/engines/opengl_engine/camera.hpp>
+#include <omath/engines/source_engine/camera.hpp>
+#include <omath/engines/unity_engine/camera.hpp>
+#include <omath/engines/unreal_engine/camera.hpp>
+#include <sol/sol.hpp>
+#include <string_view>
+
+namespace
+{
+    // ---- Canonical shared C++ type aliases ----------------------------------
+    // Each unique template instantiation must be registered exactly once.
+
+    using PitchAngle90 = omath::Angle<float, -90.f, 90.f, omath::AngleFlags::Clamped>;
+    using PitchAngle89 = omath::Angle<float, -89.f, 89.f, omath::AngleFlags::Clamped>;
+    using SharedYawRoll = omath::Angle<float, -180.f, 180.f, omath::AngleFlags::Normalized>;
+    using SharedFoV = omath::Angle<float, 0.f, 180.f, omath::AngleFlags::Clamped>;
+    using ViewAngles90 = omath::ViewAngles<PitchAngle90, SharedYawRoll, SharedYawRoll>;
+    using ViewAngles89 = omath::ViewAngles<PitchAngle89, SharedYawRoll, SharedYawRoll>;
+
+    std::string projection_error_to_string(omath::projection::Error e)
+    {
+        switch (e)
+        {
+        case omath::projection::Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS:
+            return "world position is out of screen bounds";
+        case omath::projection::Error::INV_VIEW_PROJ_MAT_DET_EQ_ZERO:
+            return "inverse view-projection matrix determinant is zero";
+        }
+        return "unknown error";
+    }
+
+    template<class AngleType>
+    void register_angle(sol::table& table, const char* name)
+    {
+        table.new_usertype<AngleType>(
+                name, sol::no_constructor, "from_degrees", &AngleType::from_degrees, "from_radians",
+                &AngleType::from_radians, "as_degrees", &AngleType::as_degrees, "as_radians", &AngleType::as_radians,
+                "sin", &AngleType::sin, "cos", &AngleType::cos, "tan", &AngleType::tan, "cot", &AngleType::cot,
+                sol::meta_function::addition, [](const AngleType& a, const AngleType& b)
+                { return AngleType::from_degrees(a.as_degrees() + b.as_degrees()); }, sol::meta_function::subtraction,
+                [](const AngleType& a, const AngleType& b)
+                { return AngleType::from_degrees(a.as_degrees() - b.as_degrees()); }, sol::meta_function::unary_minus,
+                [](const AngleType& a) { return AngleType::from_degrees(-a.as_degrees()); },
+                sol::meta_function::equal_to, [](const AngleType& a, const AngleType& b) { return a == b; },
+                sol::meta_function::to_string, [](const AngleType& a) { return std::format("{}deg", a.as_degrees()); });
+    }
+
+    // Set aliases in an engine subtable pointing to the already-registered shared types
+    template<class PitchAngleType, class ViewAnglesType>
+    void set_engine_aliases(sol::table& engine_table, sol::table& types)
+    {
+        if constexpr (std::is_same_v<PitchAngleType, PitchAngle90>)
+            engine_table["PitchAngle"] = types["PitchAngle90"];
+        else
+            engine_table["PitchAngle"] = types["PitchAngle89"];
+
+        engine_table["YawAngle"] = types["YawRoll"];
+        engine_table["RollAngle"] = types["YawRoll"];
+        engine_table["FieldOfView"] = types["FieldOfView"];
+        engine_table["ViewPort"] = types["ViewPort"];
+
+        if constexpr (std::is_same_v<ViewAnglesType, ViewAngles90>)
+            engine_table["ViewAngles"] = types["ViewAngles90"];
+        else
+            engine_table["ViewAngles"] = types["ViewAngles89"];
+    }
+
+    // Register an engine: alias shared types, register unique Camera
+    template<class EngineTraits>
+    void register_engine(sol::table& omath_table, const char* subtable_name)
+    {
+        using PitchAngle = typename EngineTraits::PitchAngle;
+        using ViewAngles = typename EngineTraits::ViewAngles;
+        using Camera = typename EngineTraits::Camera;
+
+        auto engine_table = omath_table[subtable_name].get_or_create<sol::table>();
+        auto types = omath_table["_types"].get<sol::table>();
+
+        set_engine_aliases<PitchAngle, ViewAngles>(engine_table, types);
+
+        engine_table.new_usertype<Camera>(
+                "Camera",
+                sol::constructors<Camera(const omath::Vector3<float>&, const ViewAngles&,
+                                         const omath::projection::ViewPort&, const omath::projection::FieldOfView&,
+                                         float, float)>(),
+                "look_at", &Camera::look_at, "get_forward", &Camera::get_forward, "get_right", &Camera::get_right,
+                "get_up", &Camera::get_up, "get_origin", &Camera::get_origin, "get_view_angles",
+                &Camera::get_view_angles, "get_near_plane", &Camera::get_near_plane, "get_far_plane",
+                &Camera::get_far_plane, "get_field_of_view", &Camera::get_field_of_view, "set_origin",
+                &Camera::set_origin, "set_view_angles", &Camera::set_view_angles, "set_view_port",
+                &Camera::set_view_port, "set_field_of_view", &Camera::set_field_of_view, "set_near_plane",
+                &Camera::set_near_plane, "set_far_plane", &Camera::set_far_plane,
+
+                "world_to_screen",
+                [](const Camera& cam, const omath::Vector3<float>& pos)
+                        -> std::tuple<sol::optional<omath::Vector3<float>>, sol::optional<std::string>>
+                {
+                    auto result = cam.world_to_screen(pos);
+                    if (result)
+                        return {*result, sol::nullopt};
+                    return {sol::nullopt, projection_error_to_string(result.error())};
+                },
+
+                "screen_to_world",
+                [](const Camera& cam, const omath::Vector3<float>& pos)
+                        -> std::tuple<sol::optional<omath::Vector3<float>>, sol::optional<std::string>>
+                {
+                    auto result = cam.screen_to_world(pos);
+                    if (result)
+                        return {*result, sol::nullopt};
+                    return {sol::nullopt, projection_error_to_string(result.error())};
+                });
+    }
+
+    // ---- Engine trait structs -----------------------------------------------
+
+    struct OpenGLEngineTraits
+    {
+        using PitchAngle = omath::opengl_engine::PitchAngle;
+        using ViewAngles = omath::opengl_engine::ViewAngles;
+        using Camera = omath::opengl_engine::Camera;
+    };
+    struct FrostbiteEngineTraits
+    {
+        using PitchAngle = omath::frostbite_engine::PitchAngle;
+        using ViewAngles = omath::frostbite_engine::ViewAngles;
+        using Camera = omath::frostbite_engine::Camera;
+    };
+    struct IWEngineTraits
+    {
+        using PitchAngle = omath::iw_engine::PitchAngle;
+        using ViewAngles = omath::iw_engine::ViewAngles;
+        using Camera = omath::iw_engine::Camera;
+    };
+    struct SourceEngineTraits
+    {
+        using PitchAngle = omath::source_engine::PitchAngle;
+        using ViewAngles = omath::source_engine::ViewAngles;
+        using Camera = omath::source_engine::Camera;
+    };
+    struct UnityEngineTraits
+    {
+        using PitchAngle = omath::unity_engine::PitchAngle;
+        using ViewAngles = omath::unity_engine::ViewAngles;
+        using Camera = omath::unity_engine::Camera;
+    };
+    struct UnrealEngineTraits
+    {
+        using PitchAngle = omath::unreal_engine::PitchAngle;
+        using ViewAngles = omath::unreal_engine::ViewAngles;
+        using Camera = omath::unreal_engine::Camera;
+    };
+    struct CryEngineTraits
+    {
+        using PitchAngle = omath::cry_engine::PitchAngle;
+        using ViewAngles = omath::cry_engine::ViewAngles;
+        using Camera = omath::cry_engine::Camera;
+    };
+} // namespace
+
+namespace omath::lua
+{
+    void LuaInterpreter::register_shared_types(sol::table& omath_table)
+    {
+        auto t = omath_table["_types"].get_or_create<sol::table>();
+
+        register_angle<PitchAngle90>(t, "PitchAngle90");
+        register_angle<PitchAngle89>(t, "PitchAngle89");
+        register_angle<SharedYawRoll>(t, "YawRoll");
+        register_angle<SharedFoV>(t, "FieldOfView");
+
+        t.new_usertype<omath::projection::ViewPort>(
+                "ViewPort", sol::factories([](float w, float h) { return omath::projection::ViewPort{w, h}; }), "width",
+                sol::property([](const omath::projection::ViewPort& vp) { return vp.m_width; },
+                              [](omath::projection::ViewPort& vp, float val) { vp.m_width = val; }),
+                "height",
+                sol::property([](const omath::projection::ViewPort& vp) { return vp.m_height; },
+                              [](omath::projection::ViewPort& vp, float val) { vp.m_height = val; }),
+                "aspect_ratio", &omath::projection::ViewPort::aspect_ratio);
+
+        t.new_usertype<ViewAngles90>(
+                "ViewAngles90",
+                sol::factories([](PitchAngle90 p, SharedYawRoll y, SharedYawRoll r) { return ViewAngles90{p, y, r}; }),
+                "pitch",
+                sol::property([](const ViewAngles90& va) { return va.pitch; },
+                              [](ViewAngles90& va, const PitchAngle90& val) { va.pitch = val; }),
+                "yaw",
+                sol::property([](const ViewAngles90& va) { return va.yaw; },
+                              [](ViewAngles90& va, const SharedYawRoll& val) { va.yaw = val; }),
+                "roll",
+                sol::property([](const ViewAngles90& va) { return va.roll; },
+                              [](ViewAngles90& va, const SharedYawRoll& val) { va.roll = val; }));
+
+        t.new_usertype<ViewAngles89>(
+                "ViewAngles89",
+                sol::factories([](PitchAngle89 p, SharedYawRoll y, SharedYawRoll r) { return ViewAngles89{p, y, r}; }),
+                "pitch",
+                sol::property([](const ViewAngles89& va) { return va.pitch; },
+                              [](ViewAngles89& va, const PitchAngle89& val) { va.pitch = val; }),
+                "yaw",
+                sol::property([](const ViewAngles89& va) { return va.yaw; },
+                              [](ViewAngles89& va, const SharedYawRoll& val) { va.yaw = val; }),
+                "roll",
+                sol::property([](const ViewAngles89& va) { return va.roll; },
+                              [](ViewAngles89& va, const SharedYawRoll& val) { va.roll = val; }));
+    }
+
+    void LuaInterpreter::register_engines(sol::table& omath_table)
+    {
+        register_engine<OpenGLEngineTraits>(omath_table, "opengl");
+        register_engine<FrostbiteEngineTraits>(omath_table, "frostbite");
+        register_engine<IWEngineTraits>(omath_table, "iw");
+        register_engine<SourceEngineTraits>(omath_table, "source");
+        register_engine<UnityEngineTraits>(omath_table, "unity");
+        register_engine<UnrealEngineTraits>(omath_table, "unreal");
+        register_engine<CryEngineTraits>(omath_table, "cry");
+    }
+} // namespace omath::lua::detail
+#endif

source/lua/lua_pattern_scan.cpp

@@ -0,0 +1,104 @@
+//
+// Created by orange on 10.03.2026.
+//
+#ifdef OMATH_ENABLE_LUA
+#include "omath/lua/lua.hpp"
+#include <format>
+#include <omath/utility/elf_pattern_scan.hpp>
+#include <omath/utility/macho_pattern_scan.hpp>
+#include <omath/utility/pattern_scan.hpp>
+#include <omath/utility/pe_pattern_scan.hpp>
+#include <omath/utility/section_scan_result.hpp>
+#include <sol/sol.hpp>
+
+namespace omath::lua
+{
+    void LuaInterpreter::register_pattern_scan(sol::table& omath_table)
+    {
+        omath_table.new_usertype<SectionScanResult>(
+                "SectionScanResult", sol::no_constructor,
+                "virtual_base_addr",
+                sol::property([](const SectionScanResult& r) { return r.virtual_base_addr; }),
+                "raw_base_addr",
+                sol::property([](const SectionScanResult& r) { return r.raw_base_addr; }),
+                "target_offset",
+                sol::property([](const SectionScanResult& r) { return r.target_offset; }),
+                sol::meta_function::to_string,
+                [](const SectionScanResult& r)
+                {
+                    return std::format("SectionScanResult(vbase=0x{:X}, raw_base=0x{:X}, offset={})",
+                                       r.virtual_base_addr, r.raw_base_addr, r.target_offset);
+                });
+
+        // Generic scanner: accepts a Lua string as a byte buffer
+        auto ps_table = omath_table["PatternScanner"].get_or_create<sol::table>();
+        ps_table["scan"] = [](const std::string& data, const std::string& pattern) -> sol::optional<std::ptrdiff_t>
+        {
+            const auto* begin = reinterpret_cast<const std::byte*>(data.data());
+            const auto* end = begin + data.size();
+            const auto* result = PatternScanner::scan_for_pattern(begin, end, pattern);
+            if (result == end)
+                return sol::nullopt;
+            return std::distance(begin, result);
+        };
+
+        auto pe_table = omath_table["PePatternScanner"].get_or_create<sol::table>();
+        pe_table["scan_in_module"] = [](std::uintptr_t base_addr, const std::string& pattern,
+                                        sol::optional<std::string> section) -> sol::optional<std::uintptr_t>
+        {
+            auto result = PePatternScanner::scan_for_pattern_in_loaded_module(reinterpret_cast<const void*>(base_addr),
+                                                                              pattern, section.value_or(".text"));
+            if (!result)
+                return sol::nullopt;
+            return *result;
+        };
+        pe_table["scan_in_file"] = [](const std::string& path, const std::string& pattern,
+                                      sol::optional<std::string> section) -> sol::optional<SectionScanResult>
+        {
+            auto result = PePatternScanner::scan_for_pattern_in_file(std::filesystem::path(path), pattern,
+                                                                     section.value_or(".text"));
+            if (!result)
+                return sol::nullopt;
+            return *result;
+        };
+        auto elf_table = omath_table["ElfPatternScanner"].get_or_create<sol::table>();
+        elf_table["scan_in_module"] = [](std::uintptr_t base_addr, const std::string& pattern,
+                                         sol::optional<std::string> section) -> sol::optional<std::uintptr_t>
+        {
+            auto result = ElfPatternScanner::scan_for_pattern_in_loaded_module(reinterpret_cast<const void*>(base_addr),
+                                                                               pattern, section.value_or(".text"));
+            if (!result)
+                return sol::nullopt;
+            return *result;
+        };
+        elf_table["scan_in_file"] = [](const std::string& path, const std::string& pattern,
+                                       sol::optional<std::string> section) -> sol::optional<SectionScanResult>
+        {
+            auto result = ElfPatternScanner::scan_for_pattern_in_file(std::filesystem::path(path), pattern,
+                                                                      section.value_or(".text"));
+            if (!result)
+                return sol::nullopt;
+            return *result;
+        };
+        auto macho_table = omath_table["MachOPatternScanner"].get_or_create<sol::table>();
+        macho_table["scan_in_module"] = [](std::uintptr_t base_addr, const std::string& pattern,
+                                           sol::optional<std::string> section) -> sol::optional<std::uintptr_t>
+        {
+            auto result = MachOPatternScanner::scan_for_pattern_in_loaded_module(
+                    reinterpret_cast<const void*>(base_addr), pattern, section.value_or("__text"));
+            if (!result)
+                return sol::nullopt;
+            return *result;
+        };
+        macho_table["scan_in_file"] = [](const std::string& path, const std::string& pattern,
+                                         sol::optional<std::string> section) -> sol::optional<SectionScanResult>
+        {
+            auto result = MachOPatternScanner::scan_for_pattern_in_file(std::filesystem::path(path), pattern,
+                                                                        section.value_or("__text"));
+            if (!result)
+                return sol::nullopt;
+            return *result;
+        };
+    }
+} // namespace omath::lua
+#endif

source/lua/lua_triangle.cpp

@@ -0,0 +1,48 @@
+//
+// Created by orange on 10.03.2026.
+//
+#ifdef OMATH_ENABLE_LUA
+#include "omath/lua/lua.hpp"
+#include <sol/sol.hpp>
+#include <omath/linear_algebra/triangle.hpp>
+
+namespace omath::lua
+{
+    void LuaInterpreter::register_triangle(sol::table& omath_table)
+    {
+        using Vec3f = omath::Vector3<float>;
+        using Tri3f = omath::Triangle<Vec3f>;
+
+        omath_table.new_usertype<Tri3f>(
+                "Triangle", sol::constructors<Tri3f(), Tri3f(const Vec3f&, const Vec3f&, const Vec3f&)>(),
+
+                "vertex1",
+                sol::property([](const Tri3f& t) { return t.m_vertex1; },
+                              [](Tri3f& t, const Vec3f& v) { t.m_vertex1 = v; }),
+                "vertex2",
+                sol::property([](const Tri3f& t) { return t.m_vertex2; },
+                              [](Tri3f& t, const Vec3f& v) { t.m_vertex2 = v; }),
+                "vertex3",
+                sol::property([](const Tri3f& t) { return t.m_vertex3; },
+                              [](Tri3f& t, const Vec3f& v) { t.m_vertex3 = v; }),
+
+                "calculate_normal", &Tri3f::calculate_normal,
+                "side_a_length", &Tri3f::side_a_length,
+                "side_b_length", &Tri3f::side_b_length,
+                "side_a_vector", &Tri3f::side_a_vector,
+                "side_b_vector", &Tri3f::side_b_vector,
+                "hypot", &Tri3f::hypot,
+                "is_rectangular", &Tri3f::is_rectangular,
+                "mid_point", &Tri3f::mid_point,
+
+                sol::meta_function::to_string,
+                [](const Tri3f& t)
+                {
+                    return std::format("Triangle(({}, {}, {}), ({}, {}, {}), ({}, {}, {}))",
+                                       t.m_vertex1.x, t.m_vertex1.y, t.m_vertex1.z,
+                                       t.m_vertex2.x, t.m_vertex2.y, t.m_vertex2.z,
+                                       t.m_vertex3.x, t.m_vertex3.y, t.m_vertex3.z);
+                });
+    }
+} // namespace omath::lua
+#endif

source/lua/lua_vec2.cpp

@@ -0,0 +1,54 @@
+//
+// Created by orange on 07.03.2026.
+//
+#ifdef OMATH_ENABLE_LUA
+#include "omath/lua/lua.hpp"
+#include <omath/linear_algebra/vector2.hpp>
+#include <sol/sol.hpp>
+
+namespace omath::lua
+{
+    void LuaInterpreter::register_vec2(sol::table& omath_table)
+    {
+        using Vec2f = omath::Vector2<float>;
+
+        omath_table.new_usertype<Vec2f>(
+                "Vec2", sol::constructors<Vec2f(), Vec2f(float, float)>(),
+
+                "x", sol::property([](const Vec2f& v) { return v.x; }, [](Vec2f& v, const float val) { v.x = val; }),
+                "y", sol::property([](const Vec2f& v) { return v.y; }, [](Vec2f& v, const float val) { v.y = val; }),
+
+                sol::meta_function::addition, sol::resolve<Vec2f(const Vec2f&) const>(&Vec2f::operator+),
+                sol::meta_function::subtraction, sol::resolve<Vec2f(const Vec2f&) const>(&Vec2f::operator-),
+                sol::meta_function::unary_minus, sol::resolve<Vec2f() const>(&Vec2f::operator-),
+                sol::meta_function::equal_to, &Vec2f::operator==,
+                sol::meta_function::less_than, sol::resolve<bool(const Vec2f&) const>(&Vec2f::operator<),
+                sol::meta_function::less_than_or_equal_to, sol::resolve<bool(const Vec2f&) const>(&Vec2f::operator<=),
+                sol::meta_function::to_string,
+                [](const Vec2f& v) { return std::format("Vec2({}, {})", v.x, v.y); },
+
+                sol::meta_function::multiplication,
+                sol::overload(sol::resolve<Vec2f(const float&) const>(&Vec2f::operator*),
+                              [](const float s, const Vec2f& v) { return v * s; }),
+
+                sol::meta_function::division,
+                sol::resolve<Vec2f(const float&) const>(&Vec2f::operator/),
+
+                "length", &Vec2f::length,
+                "length_sqr", &Vec2f::length_sqr,
+                "normalized", &Vec2f::normalized,
+                "dot", &Vec2f::dot,
+                "distance_to", &Vec2f::distance_to,
+                "distance_to_sqr", &Vec2f::distance_to_sqr,
+                "sum", &Vec2f::sum,
+
+                "abs",
+                [](const Vec2f& v)
+                {
+                    Vec2f copy = v;
+                    copy.abs();
+                    return copy;
+                });
+    }
+} // namespace omath::lua::detail
+#endif

source/lua/lua_vec3.cpp

@@ -0,0 +1,81 @@
+//
+// Created by orange on 07.03.2026.
+//
+#ifdef OMATH_ENABLE_LUA
+#include "omath/lua/lua.hpp"
+#include <sol/sol.hpp>
+#include <omath/linear_algebra/vector3.hpp>
+
+namespace omath::lua
+{
+    void LuaInterpreter::register_vec3(sol::table& omath_table)
+    {
+        using Vec3f = omath::Vector3<float>;
+
+        omath_table.new_usertype<Vec3f>(
+                "Vec3", sol::constructors<Vec3f(), Vec3f(float, float, float)>(),
+
+                "x", sol::property([](const Vec3f& v) { return v.x; }, [](Vec3f& v, float val) { v.x = val; }),
+                "y", sol::property([](const Vec3f& v) { return v.y; }, [](Vec3f& v, float val) { v.y = val; }),
+                "z", sol::property([](const Vec3f& v) { return v.z; }, [](Vec3f& v, float val) { v.z = val; }),
+
+                sol::meta_function::addition, sol::resolve<Vec3f(const Vec3f&) const>(&Vec3f::operator+),
+                sol::meta_function::subtraction, sol::resolve<Vec3f(const Vec3f&) const>(&Vec3f::operator-),
+                sol::meta_function::unary_minus, sol::resolve<Vec3f() const>(&Vec3f::operator-),
+                sol::meta_function::equal_to, &Vec3f::operator==, sol::meta_function::less_than,
+                sol::resolve<bool(const Vec3f&) const>(&Vec3f::operator<), sol::meta_function::less_than_or_equal_to,
+                sol::resolve<bool(const Vec3f&) const>(&Vec3f::operator<=), sol::meta_function::to_string,
+                [](const Vec3f& v) { return std::format("Vec3({}, {}, {})", v.x, v.y, v.z); },
+
+                sol::meta_function::multiplication,
+                sol::overload(sol::resolve<Vec3f(const float&) const>(&Vec3f::operator*),
+                              sol::resolve<Vec3f(const Vec3f&) const>(&Vec3f::operator*),
+                              [](const float s, const Vec3f& v) { return v * s; }),
+
+                sol::meta_function::division,
+                sol::overload(sol::resolve<Vec3f(const float&) const>(&Vec3f::operator/),
+                              sol::resolve<Vec3f(const Vec3f&) const>(&Vec3f::operator/)),
+
+                "length", &Vec3f::length, "length_2d", &Vec3f::length_2d, "length_sqr", &Vec3f::length_sqr,
+                "normalized", &Vec3f::normalized, "dot", &Vec3f::dot, "cross", &Vec3f::cross, "distance_to",
+                &Vec3f::distance_to, "distance_to_sqr", &Vec3f::distance_to_sqr, "sum",
+                sol::resolve<float() const>(&Vec3f::sum), "sum_2d", &Vec3f::sum_2d, "point_to_same_direction",
+                &Vec3f::point_to_same_direction, "as_array", &Vec3f::as_array,
+
+                "abs",
+                [](const Vec3f& v)
+                {
+                    Vec3f copy = v;
+                    copy.abs();
+                    return copy;
+                },
+
+                "angle_between",
+                [](const Vec3f& self,
+                   const Vec3f& other) -> std::tuple<sol::optional<float>, sol::optional<std::string>>
+                {
+                    auto result = self.angle_between(other);
+                    if (result)
+                        return std::make_tuple(sol::optional<float>(result->as_degrees()),
+                                               sol::optional<std::string>(sol::nullopt));
+                    return std::make_tuple(sol::optional<float>(sol::nullopt),
+                                           sol::optional<std::string>("impossible angle (zero-length vector)"));
+                },
+
+                "is_perpendicular",
+                [](const Vec3f& self, const Vec3f& other, sol::optional<float> eps)
+                { return self.is_perpendicular(other, eps.value_or(0.0001f)); },
+
+                "as_table",
+                [](const Vec3f& v, sol::this_state s) -> sol::table
+                {
+                    sol::state_view lua(s);
+                    sol::table t = lua.create_table();
+                    t["x"] = v.x;
+                    t["y"] = v.y;
+                    t["z"] = v.z;
+                    return t;
+                });
+    }
+} // namespace omath::lua::detail
+#endif

source/lua/lua_vec4.cpp

@@ -0,0 +1,62 @@
+//
+// Created by orange on 07.03.2026.
+//
+#ifdef OMATH_ENABLE_LUA
+#include "omath/lua/lua.hpp"
+#include <sol/sol.hpp>
+#include <omath/linear_algebra/vector4.hpp>
+
+namespace omath::lua
+{
+    void LuaInterpreter::register_vec4(sol::table& omath_table)
+    {
+        using Vec4f = omath::Vector4<float>;
+
+        omath_table.new_usertype<Vec4f>(
+                "Vec4", sol::constructors<Vec4f(), Vec4f(float, float, float, float)>(),
+
+                "x", sol::property([](const Vec4f& v) { return v.x; }, [](Vec4f& v, float val) { v.x = val; }),
+                "y", sol::property([](const Vec4f& v) { return v.y; }, [](Vec4f& v, float val) { v.y = val; }),
+                "z", sol::property([](const Vec4f& v) { return v.z; }, [](Vec4f& v, float val) { v.z = val; }),
+                "w", sol::property([](const Vec4f& v) { return v.w; }, [](Vec4f& v, float val) { v.w = val; }),
+
+                sol::meta_function::addition, sol::resolve<Vec4f(const Vec4f&) const>(&Vec4f::operator+),
+                sol::meta_function::subtraction, sol::resolve<Vec4f(const Vec4f&) const>(&Vec4f::operator-),
+                sol::meta_function::unary_minus, sol::resolve<Vec4f() const>(&Vec4f::operator-),
+                sol::meta_function::equal_to, &Vec4f::operator==,
+                sol::meta_function::less_than, sol::resolve<bool(const Vec4f&) const>(&Vec4f::operator<),
+                sol::meta_function::less_than_or_equal_to, sol::resolve<bool(const Vec4f&) const>(&Vec4f::operator<=),
+                sol::meta_function::to_string,
+                [](const Vec4f& v) { return std::format("Vec4({}, {}, {}, {})", v.x, v.y, v.z, v.w); },
+
+                sol::meta_function::multiplication,
+                sol::overload(sol::resolve<Vec4f(const float&) const>(&Vec4f::operator*),
+                              sol::resolve<Vec4f(const Vec4f&) const>(&Vec4f::operator*),
+                              [](const float s, const Vec4f& v) { return v * s; }),
+
+                sol::meta_function::division,
+                sol::overload(sol::resolve<Vec4f(const float&) const>(&Vec4f::operator/),
+                              sol::resolve<Vec4f(const Vec4f&) const>(&Vec4f::operator/)),
+
+                "length", &Vec4f::length,
+                "length_sqr", &Vec4f::length_sqr,
+                "dot", &Vec4f::dot,
+                "sum", &Vec4f::sum,
+
+                "abs",
+                [](const Vec4f& v)
+                {
+                    Vec4f copy = v;
+                    copy.abs();
+                    return copy;
+                },
+
+                "clamp",
+                [](Vec4f& v, float mn, float mx)
+                {
+                    v.clamp(mn, mx);
+                    return v;
+                });
+    }
+} // namespace omath::lua::detail
+#endif

source/pathfinding/navigation_mesh.cpp

@@ -3,9 +3,9 @@
 //
 #include "omath/pathfinding/navigation_mesh.hpp"
 #include <algorithm>
-#include <cstring>
-#include <limits>
+#include <sstream>
 #include <stdexcept>
+
 namespace omath::pathfinding
 {
     std::expected<Vector3<float>, std::string>
@@ -30,77 +30,72 @@ namespace omath::pathfinding
         return m_vertex_map.empty();
     }
 
-    std::vector<uint8_t> NavigationMesh::serialize() const noexcept
+    void NavigationMesh::set_event(const Vector3<float>& vertex, const std::string_view&  event_id)
     {
-        std::vector<std::uint8_t> raw;
+        if (!m_vertex_map.contains(vertex))
+            throw std::invalid_argument(std::format("Vertex '{}' not found", vertex));
 
-        // Pre-calculate total size for better performance
-        std::size_t total_size = 0;
-        for (const auto& [vertex, neighbors] : m_vertex_map)
-        {
-            total_size += sizeof(vertex) + sizeof(std::uint16_t) + sizeof(Vector3<float>) * neighbors.size();
-        }
-        raw.reserve(total_size);
-
-        auto dump_to_vector = [&raw]<typename T>(const T& t)
-        {
-            const auto* byte_ptr = reinterpret_cast<const std::uint8_t*>(&t);
-            raw.insert(raw.end(), byte_ptr, byte_ptr + sizeof(T));
-        };
-
-        for (const auto& [vertex, neighbors] : m_vertex_map)
-        {
-            // Clamp neighbors count to fit in uint16_t (prevents silent data corruption)
-            // NOTE: If neighbors.size() > 65535, only the first 65535 neighbors will be serialized.
-            // This is a limitation of the current serialization format using uint16_t for count.
-            const auto clamped_count =
-                    std::min<std::size_t>(neighbors.size(), std::numeric_limits<std::uint16_t>::max());
-            const auto neighbors_count = static_cast<std::uint16_t>(clamped_count);
-
-            dump_to_vector(vertex);
-            dump_to_vector(neighbors_count);
-
-            // Only serialize up to the clamped count
-            for (std::size_t i = 0; i < clamped_count; ++i)
-                dump_to_vector(neighbors[i]);
-        }
-        return raw;
+        m_vertex_events[vertex] = event_id;
     }
 
-    void NavigationMesh::deserialize(const std::vector<uint8_t>& raw) noexcept
+    void NavigationMesh::clear_event(const Vector3<float>& vertex)
     {
-        auto load_from_vector = [](const std::vector<uint8_t>& vec, std::size_t& offset, auto& value)
+        m_vertex_events.erase(vertex);
+    }
+
+    std::optional<std::string> NavigationMesh::get_event(const Vector3<float>& vertex) const noexcept
+    {
+        const auto it = m_vertex_events.find(vertex);
+        if (it == m_vertex_events.end())
+            return std::nullopt;
+        return it->second;
+    }
+
+    // Serialization format per vertex line:
+    //   x y z neighbor_count event_id
+    // where event_id is "-" when no event is set.
+    // Neighbor lines follow: nx ny nz
+
+    std::string NavigationMesh::serialize() const noexcept
+    {
+        std::ostringstream oss;
+        for (const auto& [vertex, neighbors] : m_vertex_map)
         {
-            if (offset + sizeof(value) > vec.size())
-                throw std::runtime_error("Deserialize: Invalid input data size.");
+            const auto event_it = m_vertex_events.find(vertex);
+            const std::string& event = (event_it != m_vertex_events.end()) ? event_it->second : "-";
 
-            std::copy_n(vec.data() + offset, sizeof(value), reinterpret_cast<uint8_t*>(&value));
-            offset += sizeof(value);
-        };
+            oss << vertex.x << ' ' << vertex.y << ' ' << vertex.z << ' ' << neighbors.size() << ' ' << event << '\n';
 
+            for (const auto& n : neighbors)
+                oss << n.x << ' ' << n.y << ' ' << n.z << '\n';
+        }
+        return oss.str();
+    }
+
+    void NavigationMesh::deserialize(const std::string& raw)
+    {
         m_vertex_map.clear();
+        m_vertex_events.clear();
+        std::istringstream iss(raw);
 
-        std::size_t offset = 0;
-
-        while (offset < raw.size())
+        Vector3<float> vertex;
+        std::size_t neighbors_count;
+        std::string event;
+        while (iss >> vertex.x >> vertex.y >> vertex.z >> neighbors_count >> event)
         {
-            Vector3<float> vertex;
-            load_from_vector(raw, offset, vertex);
-
-            std::uint16_t neighbors_count;
-            load_from_vector(raw, offset, neighbors_count);
-
             std::vector<Vector3<float>> neighbors;
             neighbors.reserve(neighbors_count);
-
             for (std::size_t i = 0; i < neighbors_count; ++i)
             {
-                Vector3<float> neighbor;
-                load_from_vector(raw, offset, neighbor);
-                neighbors.push_back(neighbor);
+                Vector3<float> n;
+                if (!(iss >> n.x >> n.y >> n.z))
+                    throw std::runtime_error("Deserialize: Unexpected end of data.");
+                neighbors.push_back(n);
             }
-
             m_vertex_map.emplace(vertex, std::move(neighbors));
+
+            if (event != "-")
+                m_vertex_events.emplace(vertex, std::move(event));
         }
     }
 } // namespace omath::pathfinding

tests/CMakeLists.txt

@@ -4,8 +4,8 @@ project(unit_tests)
 
 include(GoogleTest)
 
-file(GLOB_RECURSE UNIT_TESTS_SOURCES CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/*.cpp")
-add_executable(${PROJECT_NAME} ${UNIT_TESTS_SOURCES})
+file(GLOB_RECURSE UNIT_TESTS_SOURCES CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/general/*.cpp" "${CMAKE_CURRENT_SOURCE_DIR}/engines/*.cpp")
+add_executable(${PROJECT_NAME} ${UNIT_TESTS_SOURCES} main.cpp)
 
 set_target_properties(
     ${PROJECT_NAME}
@@ -22,6 +22,16 @@ else() # GTest is being linked as vcpkg package
     target_link_libraries(${PROJECT_NAME} PRIVATE GTest::gtest GTest::gtest_main omath::omath)
 endif()
 
+if (OMATH_ENABLE_LUA)
+    file(GLOB_RECURSE UNIT_TESTS_SOURCES_LUA CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/lua/*.cpp")
+    target_compile_definitions(${PROJECT_NAME} PRIVATE LUA_SCRIPTS_DIR="${CMAKE_CURRENT_SOURCE_DIR}/lua")
+    target_sources(${PROJECT_NAME} PRIVATE ${UNIT_TESTS_SOURCES_LUA})
+    if (EMSCRIPTEN)
+        target_link_options(${PROJECT_NAME} PRIVATE
+            "SHELL:--embed-file ${CMAKE_CURRENT_SOURCE_DIR}/lua@${CMAKE_CURRENT_SOURCE_DIR}/lua")
+    endif()
+endif()
+
 if(OMATH_ENABLE_COVERAGE)
     include(${CMAKE_SOURCE_DIR}/cmake/Coverage.cmake)
     omath_setup_coverage(${PROJECT_NAME})
@@ -36,3 +46,4 @@ endif()
 if(NOT (ANDROID OR IOS OR EMSCRIPTEN))
     gtest_discover_tests(${PROJECT_NAME})
 endif()
+

tests/engines/unit_test_cry_engine.cpp

@@ -0,0 +1,240 @@
+//
+// Created by Vladislav on 19.02.2026.
+//
+#include <gtest/gtest.h>
+#include <omath/engines/cry_engine/camera.hpp>
+#include <omath/engines/cry_engine/constants.hpp>
+#include <omath/engines/cry_engine/formulas.hpp>
+#include <random>
+#include <ranges>
+
+using namespace omath;
+TEST(unit_test_cry_engine, look_at_forward)
+{
+    const auto angles = cry_engine::CameraTrait::calc_look_at_angle({}, cry_engine::k_abs_forward);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = cry_engine::forward_vector(angles);
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), cry_engine::k_abs_forward.as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+TEST(unit_test_cry_engine, look_at_right)
+{
+    const auto angles = cry_engine::CameraTrait::calc_look_at_angle({}, cry_engine::k_abs_right);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = cry_engine::forward_vector(angles);
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), cry_engine::k_abs_right.as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+TEST(unit_test_cry_engine, look_at_up)
+{
+    const auto angles = cry_engine::CameraTrait::calc_look_at_angle({}, cry_engine::k_abs_right);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = cry_engine::forward_vector(angles);
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), cry_engine::k_abs_right.as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+
+TEST(unit_test_cry_engine, look_at_back)
+{
+    const auto angles = cry_engine::CameraTrait::calc_look_at_angle({}, -cry_engine::k_abs_forward);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = cry_engine::forward_vector(angles);
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), (-cry_engine::k_abs_forward).as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+TEST(unit_test_cry_engine, look_at_left)
+{
+    const auto angles = cry_engine::CameraTrait::calc_look_at_angle({}, -cry_engine::k_abs_right);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = cry_engine::forward_vector(angles);
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), (-cry_engine::k_abs_right).as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+TEST(unit_test_cry_engine, look_at_down)
+{
+    const auto angles = cry_engine::CameraTrait::calc_look_at_angle({}, -cry_engine::k_abs_up);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = cry_engine::forward_vector(angles);
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), (-cry_engine::k_abs_up).as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+
+TEST(unit_test_cry_engine, RightVector)
+{
+    const auto right = omath::cry_engine::right_vector({});
+
+    EXPECT_EQ(right, omath::cry_engine::k_abs_right);
+}
+
+TEST(unit_test_cry_engine, UpVector)
+{
+    const auto up = omath::cry_engine::up_vector({});
+    EXPECT_EQ(up, omath::cry_engine::k_abs_up);
+}
+
+TEST(unit_test_cry_engine, ProjectTargetMovedFromCamera)
+{
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(60.f);
+    const auto cam = omath::cry_engine::Camera({0, 0, 0}, {}, {1280.f, 720.f}, fov, 0.01f, 1000.f);
+
+    for (float distance = 0.02f; distance < 100.f; distance += 0.01f)
+    {
+        const auto projected = cam.world_to_screen({0, distance, 0});
+
+        EXPECT_TRUE(projected.has_value());
+
+        if (!projected.has_value())
+            continue;
+
+        EXPECT_NEAR(projected->x, 640, 0.00001f);
+        EXPECT_NEAR(projected->y, 360, 0.00001f);
+    }
+}
+
+TEST(unit_test_cry_engine, CameraSetAndGetFov)
+{
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    auto cam = omath::cry_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
+
+    EXPECT_EQ(cam.get_field_of_view().as_degrees(), 90.f);
+    cam.set_field_of_view(omath::projection::FieldOfView::from_degrees(50.f));
+
+    EXPECT_EQ(cam.get_field_of_view().as_degrees(), 50.f);
+}
+
+TEST(unit_test_cry_engine, CameraSetAndGetOrigin)
+{
+    auto cam = omath::cry_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, {}, 0.01f, 1000.f);
+
+    EXPECT_EQ(cam.get_origin(), omath::Vector3<float>{});
+    cam.set_field_of_view(omath::projection::FieldOfView::from_degrees(50.f));
+
+    EXPECT_EQ(cam.get_field_of_view().as_degrees(), 50.f);
+}
+TEST(unit_test_cry_engine, loook_at_random_all_axis)
+{
+    std::mt19937 gen(std::random_device{}()); // Seed with a non-deterministic source
+    std::uniform_real_distribution<float> dist(-1000.f, 1000.f);
+
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    auto cam = omath::cry_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.001f, 10000.f);
+
+    std::size_t failed_points = 0;
+
+    for (int i = 0; i < 1000; i++)
+    {
+        const auto position_to_look = omath::Vector3<float>{dist(gen), dist(gen), dist(gen)};
+
+        if (cam.get_origin().distance_to(position_to_look) < 10)
+            continue;
+
+        cam.look_at(position_to_look);
+
+        auto projected_pos = cam.world_to_view_port(position_to_look);
+
+        EXPECT_TRUE(projected_pos.has_value());
+
+        if (!projected_pos)
+            continue;
+
+        if (std::abs(projected_pos->x - 0.f) >= 0.0001f || std::abs(projected_pos->y - 0.f) >= 0.0001f)
+            failed_points++;
+    }
+    EXPECT_LE(failed_points, 100);
+}
+
+TEST(unit_test_cry_engine, loook_at_random_x_axis)
+{
+    std::mt19937 gen(std::random_device{}()); // Seed with a non-deterministic source
+    std::uniform_real_distribution<float> dist(-1000.f, 1000.f);
+
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    auto cam = omath::cry_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.001f, 10000.f);
+
+    std::size_t failed_points = 0;
+    for (int i = 0; i < 1000; i++)
+    {
+        const auto position_to_look = omath::Vector3<float>{dist(gen), 0.f, 0.f};
+        if (cam.get_origin().distance_to(position_to_look) < 10)
+            continue;
+
+        cam.look_at(position_to_look);
+
+        auto projected_pos = cam.world_to_view_port(position_to_look);
+
+        EXPECT_TRUE(projected_pos.has_value());
+
+        if (!projected_pos)
+            continue;
+
+        if (std::abs(projected_pos->x - 0.f) >= 0.001f || std::abs(projected_pos->y - 0.f) >= 0.001f)
+            failed_points++;
+    }
+    EXPECT_LE(failed_points, 100);
+}
+
+TEST(unit_test_cry_engine, loook_at_random_y_axis)
+{
+    std::mt19937 gen(std::random_device{}()); // Seed with a non-deterministic source
+    std::uniform_real_distribution<float> dist(-1000.f, 1000.f);
+
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    auto cam = omath::cry_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.001f, 10000.f);
+
+    std::size_t failed_points = 0;
+    for (int i = 0; i < 1000; i++)
+    {
+        const auto position_to_look = omath::Vector3<float>{0.f, dist(gen), 0.f};
+        if (cam.get_origin().distance_to(position_to_look) < 10)
+            continue;
+
+        cam.look_at(position_to_look);
+
+        auto projected_pos = cam.world_to_view_port(position_to_look);
+
+        EXPECT_TRUE(projected_pos.has_value());
+
+        if (!projected_pos)
+            continue;
+
+        if (std::abs(projected_pos->x - 0.f) >= 0.01f || std::abs(projected_pos->y - 0.f) >= 0.01f)
+            failed_points++;
+    }
+    EXPECT_LE(failed_points, 100);
+}
+
+TEST(unit_test_cry_engine, loook_at_random_z_axis)
+{
+    std::mt19937 gen(std::random_device{}()); // Seed with a non-deterministic source
+    std::uniform_real_distribution<float> dist(-1000.f, 1000.f);
+
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    auto cam = omath::cry_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.001f, 10000.f);
+
+    std::size_t failed_points = 0;
+    for (int i = 0; i < 1000; i++)
+    {
+        const auto position_to_look = omath::Vector3<float>{0.f, 0.f, dist(gen)};
+        if (cam.get_origin().distance_to(position_to_look) < 10)
+            continue;
+
+        cam.look_at(position_to_look);
+
+        auto projected_pos = cam.world_to_view_port(position_to_look);
+
+        EXPECT_TRUE(projected_pos.has_value());
+
+        if (!projected_pos)
+            continue;
+
+        if (std::abs(projected_pos->x - 0.f) >= 0.01f || std::abs(projected_pos->y - 0.f) >= 0.01f)
+            failed_points++;
+    }
+    EXPECT_LE(failed_points, 100);
+}

tests/engines/unit_test_frostbite_engine.cpp

@@ -7,6 +7,7 @@
 #include <omath/engines/frostbite_engine/formulas.hpp>
 #include <print>
 #include <random>
+#include <ranges>
 
 TEST(unit_test_frostbite_engine, UnitsToCentimeters_BasicValues)
 {
@@ -352,4 +353,55 @@ TEST(unit_test_frostbite_engine, loook_at_random_z_axis)
             failed_points++;
     }
     EXPECT_LE(failed_points, 100);
-}
+}
+TEST(unit_test_frostbite_engine, look_at_right)
+{
+    const auto angles = omath::frostbite_engine::CameraTrait::calc_look_at_angle({}, omath::frostbite_engine::k_abs_right);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::frostbite_engine::forward_vector(angles);
+    for (const auto& [result, etalon] :
+         std::views::zip(dir_vector.as_array(), omath::frostbite_engine::k_abs_right.as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+TEST(unit_test_frostbite_engine, look_at_up)
+{
+    const auto angles = omath::frostbite_engine::CameraTrait::calc_look_at_angle({}, omath::frostbite_engine::k_abs_right);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::frostbite_engine::forward_vector(angles);
+    for (const auto& [result, etalon] :
+         std::views::zip(dir_vector.as_array(), omath::frostbite_engine::k_abs_right.as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+
+TEST(unit_test_frostbite_engine, look_at_back)
+{
+    const auto angles = omath::frostbite_engine::CameraTrait::calc_look_at_angle({}, -omath::frostbite_engine::k_abs_forward);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::frostbite_engine::forward_vector(angles);
+    for (const auto& [result, etalon] :
+         std::views::zip(dir_vector.as_array(), (-omath::frostbite_engine::k_abs_forward).as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+TEST(unit_test_frostbite_engine, look_at_left)
+{
+    const auto angles = omath::frostbite_engine::CameraTrait::calc_look_at_angle({}, -omath::frostbite_engine::k_abs_right);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::frostbite_engine::forward_vector(angles);
+    for (const auto& [result, etalon] :
+         std::views::zip(dir_vector.as_array(), (-omath::frostbite_engine::k_abs_right).as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+TEST(unit_test_frostbite_engine, look_at_down)
+{
+    const auto angles = omath::frostbite_engine::CameraTrait::calc_look_at_angle({}, -omath::frostbite_engine::k_abs_up);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::frostbite_engine::forward_vector(angles);
+    for (const auto& [result, etalon] :
+         std::views::zip(dir_vector.as_array(), (-omath::frostbite_engine::k_abs_up).as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}

tests/engines/unit_test_iw_engine.cpp

@@ -6,6 +6,7 @@
 #include <omath/engines/iw_engine/constants.hpp>
 #include <omath/engines/iw_engine/formulas.hpp>
 #include <random>
+#include <ranges>
 
 TEST(unit_test_iw_engine, ForwardVector)
 {
@@ -223,4 +224,60 @@ TEST(unit_test_iw_engine, loook_at_random_z_axis)
             failed_points++;
     }
     EXPECT_LE(failed_points, 100);
+}
+TEST(unit_test_iw_engine, look_at_forward)
+{
+    const auto angles = omath::iw_engine::CameraTrait::calc_look_at_angle({}, omath::iw_engine::k_abs_forward);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::iw_engine::forward_vector(angles);
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), omath::iw_engine::k_abs_forward.as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+TEST(unit_test_iw_engine, look_at_right)
+{
+    const auto angles = omath::iw_engine::CameraTrait::calc_look_at_angle({}, omath::iw_engine::k_abs_right);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::iw_engine::forward_vector(angles);
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), omath::iw_engine::k_abs_right.as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+TEST(unit_test_iw_engine, look_at_up)
+{
+    const auto angles = omath::iw_engine::CameraTrait::calc_look_at_angle({}, omath::iw_engine::k_abs_right);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::iw_engine::forward_vector(angles);
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), omath::iw_engine::k_abs_right.as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+
+TEST(unit_test_iw_engine, look_at_back)
+{
+    const auto angles = omath::iw_engine::CameraTrait::calc_look_at_angle({}, -omath::iw_engine::k_abs_forward);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::iw_engine::forward_vector(angles);
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), (-omath::iw_engine::k_abs_forward).as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+TEST(unit_test_iw_engine, look_at_left)
+{
+    const auto angles = omath::iw_engine::CameraTrait::calc_look_at_angle({}, -omath::iw_engine::k_abs_right);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::iw_engine::forward_vector(angles);
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), (-omath::iw_engine::k_abs_right).as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+TEST(unit_test_iw_engine, look_at_down)
+{
+    const auto angles = omath::iw_engine::CameraTrait::calc_look_at_angle({}, -omath::iw_engine::k_abs_up);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::iw_engine::forward_vector(angles);
+    EXPECT_NEAR(dir_vector.z, -0.99984f, 0.0001f);
+    EXPECT_NEAR(dir_vector.x,- 0.017f, 0.01f);
+    EXPECT_NEAR(dir_vector.y, 0.f, 0.001f);
 }

tests/engines/unit_test_open_gl.cpp

@@ -6,6 +6,7 @@
 #include <omath/engines/opengl_engine/constants.hpp>
 #include <omath/engines/opengl_engine/formulas.hpp>
 #include <random>
+#include <ranges>
 
 TEST(unit_test_opengl, UnitsToCentimeters_BasicValues)
 {
@@ -337,4 +338,60 @@ TEST(unit_test_opengl_engine, loook_at_random_z_axis)
             failed_points++;
     }
     EXPECT_LE(failed_points, 100);
+}
+
+TEST(unit_test_opengl_engine, look_at_forward)
+{
+    const auto angles = omath::opengl_engine::CameraTrait::calc_look_at_angle({}, omath::opengl_engine::k_abs_forward);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::opengl_engine::forward_vector(angles);
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), omath::opengl_engine::k_abs_forward.as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+TEST(unit_test_opengl_engine, look_at_right)
+{
+    const auto angles = omath::opengl_engine::CameraTrait::calc_look_at_angle({}, omath::opengl_engine::k_abs_right);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::opengl_engine::forward_vector(angles);
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), omath::opengl_engine::k_abs_right.as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+TEST(unit_test_opengl_engine, look_at_up)
+{
+    const auto angles = omath::opengl_engine::CameraTrait::calc_look_at_angle({}, omath::opengl_engine::k_abs_right);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::opengl_engine::forward_vector(angles);
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), omath::opengl_engine::k_abs_right.as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+
+TEST(unit_test_opengl_engine, look_at_back)
+{
+    const auto angles = omath::opengl_engine::CameraTrait::calc_look_at_angle({}, -omath::opengl_engine::k_abs_forward);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::opengl_engine::forward_vector(angles);
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), (-omath::opengl_engine::k_abs_forward).as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+TEST(unit_test_opengl_engine, look_at_left)
+{
+    const auto angles = omath::opengl_engine::CameraTrait::calc_look_at_angle({}, -omath::opengl_engine::k_abs_right);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::opengl_engine::forward_vector(angles);
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), (-omath::opengl_engine::k_abs_right).as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+TEST(unit_test_opengl_engine, look_at_down)
+{
+    const auto angles = omath::opengl_engine::CameraTrait::calc_look_at_angle({}, -omath::opengl_engine::k_abs_up);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::opengl_engine::forward_vector(angles);
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), (-omath::opengl_engine::k_abs_up).as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
 }

tests/engines/unit_test_source_engine.cpp

@@ -6,6 +6,7 @@
 #include <omath/engines/source_engine/constants.hpp>
 #include <omath/engines/source_engine/formulas.hpp>
 #include <random>
+#include <ranges>
 
 TEST(unit_test_source_engine_units, HammerUnitsToCentimeters_BasicValues)
 {
@@ -365,4 +366,60 @@ TEST(unit_test_source_engine, loook_at_random_z_axis)
             failed_points++;
     }
     EXPECT_LE(failed_points, 100);
+}
+TEST(unit_test_source_engine, look_at_forward)
+{
+    const auto angles = omath::source_engine::CameraTrait::calc_look_at_angle({}, omath::source_engine::k_abs_forward);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::source_engine::forward_vector(angles);
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), omath::source_engine::k_abs_forward.as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+TEST(unit_test_source_engine, look_at_right)
+{
+    const auto angles = omath::source_engine::CameraTrait::calc_look_at_angle({}, omath::source_engine::k_abs_right);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::source_engine::forward_vector(angles);
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), omath::source_engine::k_abs_right.as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+TEST(unit_test_source_engine, look_at_up)
+{
+    const auto angles = omath::source_engine::CameraTrait::calc_look_at_angle({}, omath::source_engine::k_abs_right);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::source_engine::forward_vector(angles);
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), omath::source_engine::k_abs_right.as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+
+TEST(unit_test_source_engine, look_at_back)
+{
+    const auto angles = omath::source_engine::CameraTrait::calc_look_at_angle({}, -omath::source_engine::k_abs_forward);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::source_engine::forward_vector(angles);
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), (-omath::source_engine::k_abs_forward).as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+TEST(unit_test_source_engine, look_at_left)
+{
+    const auto angles = omath::source_engine::CameraTrait::calc_look_at_angle({}, -omath::source_engine::k_abs_right);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::source_engine::forward_vector(angles);
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), (-omath::source_engine::k_abs_right).as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+TEST(unit_test_source_engine, look_at_down)
+{
+    const auto angles = omath::source_engine::CameraTrait::calc_look_at_angle({}, -omath::source_engine::k_abs_up);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::source_engine::forward_vector(angles);
+    EXPECT_NEAR(dir_vector.z, -0.99984f, 0.0001f);
+    EXPECT_NEAR(dir_vector.x,- 0.017f, 0.01f);
+    EXPECT_NEAR(dir_vector.y, 0.f, 0.001f);
 }

tests/engines/unit_test_unity_engine.cpp

@@ -7,6 +7,7 @@
 #include <omath/engines/unity_engine/formulas.hpp>
 #include <print>
 #include <random>
+#include <ranges>
 
 TEST(unit_test_unity_engine, UnitsToCentimeters_BasicValues)
 {
@@ -207,7 +208,8 @@ TEST(unit_test_unity_engine, Project)
     constexpr auto fov = omath::projection::FieldOfView::from_degrees(60.f);
 
     const auto cam = omath::unity_engine::Camera({0, 0, 0}, {}, {1280.f, 720.f}, fov, 0.03f, 1000.f);
-    const auto proj = cam.world_to_screen<omath::unity_engine::Camera::ScreenStart::BOTTOM_LEFT_CORNER>({10.f, 3, 10.f});
+    const auto proj =
+            cam.world_to_screen<omath::unity_engine::Camera::ScreenStart::BOTTOM_LEFT_CORNER>({10.f, 3, 10.f});
 
     EXPECT_NEAR(proj->x, 1263.538, 0.001f);
     EXPECT_NEAR(proj->y, 547.061f, 0.001f);
@@ -353,4 +355,65 @@ TEST(unit_test_unity_engine, loook_at_random_z_axis)
             failed_points++;
     }
     EXPECT_LE(failed_points, 100);
-}
+}
+TEST(unit_test_unity_engine, look_at_forward)
+{
+    const auto angles = omath::unity_engine::CameraTrait::calc_look_at_angle({}, omath::unity_engine::k_abs_forward);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::unity_engine::forward_vector(angles);
+    for (const auto& [result, etalon] :
+         std::views::zip(dir_vector.as_array(), omath::unity_engine::k_abs_forward.as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+TEST(unit_test_unity_engine, look_at_right)
+{
+    const auto angles = omath::unity_engine::CameraTrait::calc_look_at_angle({}, omath::unity_engine::k_abs_right);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::unity_engine::forward_vector(angles);
+    for (const auto& [result, etalon] :
+         std::views::zip(dir_vector.as_array(), omath::unity_engine::k_abs_right.as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+TEST(unit_test_unity_engine, look_at_up)
+{
+    const auto angles = omath::unity_engine::CameraTrait::calc_look_at_angle({}, omath::unity_engine::k_abs_right);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::unity_engine::forward_vector(angles);
+    for (const auto& [result, etalon] :
+         std::views::zip(dir_vector.as_array(), omath::unity_engine::k_abs_right.as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+
+TEST(unit_test_unity_engine, look_at_back)
+{
+    const auto angles = omath::unity_engine::CameraTrait::calc_look_at_angle({}, -omath::unity_engine::k_abs_forward);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::unity_engine::forward_vector(angles);
+    for (const auto& [result, etalon] :
+         std::views::zip(dir_vector.as_array(), (-omath::unity_engine::k_abs_forward).as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+TEST(unit_test_unity_engine, look_at_left)
+{
+    const auto angles = omath::unity_engine::CameraTrait::calc_look_at_angle({}, -omath::unity_engine::k_abs_right);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::unity_engine::forward_vector(angles);
+    for (const auto& [result, etalon] :
+         std::views::zip(dir_vector.as_array(), (-omath::unity_engine::k_abs_right).as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+TEST(unit_test_unity_engine, look_at_down)
+{
+    const auto angles = omath::unity_engine::CameraTrait::calc_look_at_angle({}, -omath::unity_engine::k_abs_up);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::unity_engine::forward_vector(angles);
+    for (const auto& [result, etalon] :
+         std::views::zip(dir_vector.as_array(), (-omath::unity_engine::k_abs_up).as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}

tests/engines/unit_test_unreal_engine.cpp

@@ -7,6 +7,7 @@
 #include <omath/engines/unreal_engine/formulas.hpp>
 #include <print>
 #include <random>
+#include <ranges>
 
 TEST(unit_test_unreal_engine, ForwardVector)
 {
@@ -361,4 +362,59 @@ TEST(unit_test_unreal_engine, ConstexprConversions)
     static_assert(cm == 100000.0, "units_to_centimeters constexpr failed");
     static_assert(m == 1000.0, "units_to_meters constexpr failed");
     static_assert(km == 1.0, "units_to_kilometers constexpr failed");
+}
+TEST(unit_test_unreal_engine, look_at_forward)
+{
+    const auto angles = omath::unreal_engine::CameraTrait::calc_look_at_angle({}, omath::unreal_engine::k_abs_forward);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::unreal_engine::forward_vector(angles);
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), omath::unreal_engine::k_abs_forward.as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+TEST(unit_test_unreal_engine, look_at_right)
+{
+    const auto angles = omath::unreal_engine::CameraTrait::calc_look_at_angle({}, omath::unreal_engine::k_abs_right);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::unreal_engine::forward_vector(angles);
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), omath::unreal_engine::k_abs_right.as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+TEST(unit_test_unreal_engine, look_at_up)
+{
+    const auto angles = omath::unreal_engine::CameraTrait::calc_look_at_angle({}, omath::unreal_engine::k_abs_right);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::unreal_engine::forward_vector(angles);
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), omath::unreal_engine::k_abs_right.as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+
+TEST(unit_test_unreal_engine, look_at_back)
+{
+    const auto angles = omath::unreal_engine::CameraTrait::calc_look_at_angle({}, -omath::unreal_engine::k_abs_forward);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::unreal_engine::forward_vector(angles);
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), (-omath::unreal_engine::k_abs_forward).as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+TEST(unit_test_unreal_engine, look_at_left)
+{
+    const auto angles = omath::unreal_engine::CameraTrait::calc_look_at_angle({}, -omath::unreal_engine::k_abs_right);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::unreal_engine::forward_vector(angles);
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), (-omath::unreal_engine::k_abs_right).as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+TEST(unit_test_unreal_engine, look_at_down)
+{
+    const auto angles = omath::unreal_engine::CameraTrait::calc_look_at_angle({}, -omath::unreal_engine::k_abs_up);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = omath::unreal_engine::forward_vector(angles);
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), (-omath::unreal_engine::k_abs_up).as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
 }

tests/general/unit_test_a_star.cpp

@@ -8,6 +8,29 @@
 using namespace omath;
 using namespace omath::pathfinding;
 
+// ---------------------------------------------------------------------------
+// Helpers
+// ---------------------------------------------------------------------------
+
+static NavigationMesh make_linear_chain(int length)
+{
+    // 0 -> 1 -> 2 -> ... -> length-1  (directed)
+    NavigationMesh nav;
+    for (int i = 0; i < length; ++i)
+    {
+        const Vector3<float> v{static_cast<float>(i), 0.f, 0.f};
+        if (i + 1 < length)
+            nav.m_vertex_map[v] = {Vector3<float>{static_cast<float>(i + 1), 0.f, 0.f}};
+        else
+            nav.m_vertex_map[v] = {};
+    }
+    return nav;
+}
+
+// ---------------------------------------------------------------------------
+// Basic reachability
+// ---------------------------------------------------------------------------
+
 TEST(AStarExtra, TrivialNeighbor)
 {
     NavigationMesh nav;
@@ -78,7 +101,7 @@ TEST(AStarExtra, LongerPathAvoidsBlock)
     constexpr Vector3<float> goal = idx(2, 1);
     const auto path = Astar::find_path(start, goal, nav);
     ASSERT_FALSE(path.empty());
-    EXPECT_EQ(path.front(), goal); // Astar convention: single-element or endpoint present
+    EXPECT_EQ(path.front(), goal);
 }
 
 TEST(AstarTests, TrivialDirectNeighborPath)
@@ -91,9 +114,6 @@ TEST(AstarTests, TrivialDirectNeighborPath)
     nav.m_vertex_map.emplace(v2, std::vector<Vector3<float>>{v1});
 
     const auto path = Astar::find_path(v1, v2, nav);
-    // Current A* implementation returns the end vertex as the reconstructed
-    // path (single-element) in the simple neighbor scenario. Assert that the
-    // endpoint is present and reachable.
     ASSERT_EQ(path.size(), 1u);
     EXPECT_EQ(path.front(), v2);
 }
@@ -133,4 +153,155 @@ TEST(unit_test_a_star, finding_right_path)
     mesh.m_vertex_map[{0.f, 2.f, 0.f}] = {{0.f, 3.f, 0.f}};
     mesh.m_vertex_map[{0.f, 3.f, 0.f}] = {};
     std::ignore = omath::pathfinding::Astar::find_path({}, {0.f, 3.f, 0.f}, mesh);
-}
+}
+
+// ---------------------------------------------------------------------------
+// Directed edges
+// ---------------------------------------------------------------------------
+
+TEST(AstarTests, DirectedEdge_ForwardPathExists)
+{
+    // A -> B only; path from A to B should succeed
+    NavigationMesh nav;
+    constexpr Vector3<float> a{0.f, 0.f, 0.f};
+    constexpr Vector3<float> b{1.f, 0.f, 0.f};
+    nav.m_vertex_map[a] = {b};
+    nav.m_vertex_map[b] = {}; // no edge back
+
+    const auto path = Astar::find_path(a, b, nav);
+    ASSERT_FALSE(path.empty());
+    EXPECT_EQ(path.back(), b);
+}
+
+TEST(AstarTests, DirectedEdge_ReversePathMissing)
+{
+    // A -> B only; path from B to A should fail
+    NavigationMesh nav;
+    constexpr Vector3<float> a{0.f, 0.f, 0.f};
+    constexpr Vector3<float> b{1.f, 0.f, 0.f};
+    nav.m_vertex_map[a] = {b};
+    nav.m_vertex_map[b] = {};
+
+    const auto path = Astar::find_path(b, a, nav);
+    EXPECT_TRUE(path.empty());
+}
+
+// ---------------------------------------------------------------------------
+// Vertex snapping
+// ---------------------------------------------------------------------------
+
+TEST(AstarTests, OffMeshStart_SnapsToNearestVertex)
+{
+    NavigationMesh nav;
+    constexpr Vector3<float> v1{0.f, 0.f, 0.f};
+    constexpr Vector3<float> v2{10.f, 0.f, 0.f};
+    nav.m_vertex_map[v1] = {v2};
+    nav.m_vertex_map[v2] = {v1};
+
+    // Start is slightly off v1 but closer to it than to v2
+    constexpr Vector3<float> off_start{0.1f, 0.f, 0.f};
+    const auto path = Astar::find_path(off_start, v2, nav);
+    ASSERT_FALSE(path.empty());
+    EXPECT_EQ(path.back(), v2);
+}
+
+TEST(AstarTests, OffMeshEnd_SnapsToNearestVertex)
+{
+    NavigationMesh nav;
+    constexpr Vector3<float> v1{0.f, 0.f, 0.f};
+    constexpr Vector3<float> v2{10.f, 0.f, 0.f};
+    nav.m_vertex_map[v1] = {v2};
+    nav.m_vertex_map[v2] = {v1};
+
+    // Goal is slightly off v2 but closer to it than to v1
+    constexpr Vector3<float> off_goal{9.9f, 0.f, 0.f};
+    const auto path = Astar::find_path(v1, off_goal, nav);
+    ASSERT_FALSE(path.empty());
+    EXPECT_EQ(path.back(), v2);
+}
+
+// ---------------------------------------------------------------------------
+// Cycle handling
+// ---------------------------------------------------------------------------
+
+TEST(AstarTests, CyclicGraph_FindsPathWithoutLooping)
+{
+    // Triangle: A <-> B <-> C <-> A
+    NavigationMesh nav;
+    constexpr Vector3<float> a{0.f, 0.f, 0.f};
+    constexpr Vector3<float> b{1.f, 0.f, 0.f};
+    constexpr Vector3<float> c{0.5f, 1.f, 0.f};
+    nav.m_vertex_map[a] = {b, c};
+    nav.m_vertex_map[b] = {a, c};
+    nav.m_vertex_map[c] = {a, b};
+
+    const auto path = Astar::find_path(a, c, nav);
+    ASSERT_FALSE(path.empty());
+    EXPECT_EQ(path.back(), c);
+}
+
+TEST(AstarTests, SelfLoopVertex_DoesNotBreakSearch)
+{
+    // Vertex with itself as a neighbor
+    NavigationMesh nav;
+    constexpr Vector3<float> a{0.f, 0.f, 0.f};
+    constexpr Vector3<float> b{1.f, 0.f, 0.f};
+    nav.m_vertex_map[a] = {a, b}; // self-loop on a
+    nav.m_vertex_map[b] = {a};
+
+    const auto path = Astar::find_path(a, b, nav);
+    ASSERT_FALSE(path.empty());
+    EXPECT_EQ(path.back(), b);
+}
+
+// ---------------------------------------------------------------------------
+// Longer chains
+// ---------------------------------------------------------------------------
+
+TEST(AstarTests, LinearChain_ReachesEnd)
+{
+    constexpr int kLength = 10;
+    const NavigationMesh nav = make_linear_chain(kLength);
+
+    const Vector3<float> start{0.f, 0.f, 0.f};
+    const Vector3<float> goal{static_cast<float>(kLength - 1), 0.f, 0.f};
+
+    const auto path = Astar::find_path(start, goal, nav);
+    ASSERT_FALSE(path.empty());
+    EXPECT_EQ(path.back(), goal);
+}
+
+TEST(AstarTests, LinearChain_MidpointReachable)
+{
+    constexpr int kLength = 6;
+    const NavigationMesh nav = make_linear_chain(kLength);
+
+    const Vector3<float> start{0.f, 0.f, 0.f};
+    const Vector3<float> mid{3.f, 0.f, 0.f};
+
+    const auto path = Astar::find_path(start, mid, nav);
+    ASSERT_FALSE(path.empty());
+    EXPECT_EQ(path.back(), mid);
+}
+
+// ---------------------------------------------------------------------------
+// Serialize -> pathfind integration
+// ---------------------------------------------------------------------------
+
+TEST(AstarTests, PathfindAfterSerializeDeserialize)
+{
+    NavigationMesh nav;
+    constexpr Vector3<float> a{0.f, 0.f, 0.f};
+    constexpr Vector3<float> b{1.f, 0.f, 0.f};
+    constexpr Vector3<float> c{2.f, 0.f, 0.f};
+    nav.m_vertex_map[a] = {b};
+    nav.m_vertex_map[b] = {a, c};
+    nav.m_vertex_map[c] = {b};
+
+    NavigationMesh nav2;
+    nav2.deserialize(nav.serialize());
+
+    const auto path = Astar::find_path(a, c, nav2);
+    ASSERT_FALSE(path.empty());
+    EXPECT_EQ(path.back(), c);
+}

tests/general/unit_test_color_grouped.cpp

@@ -26,38 +26,38 @@ protected:
 TEST_F(UnitTestColorGrouped, Constructor_Float)
 {
     constexpr Color color(0.5f, 0.5f, 0.5f, 1.0f);
-    EXPECT_FLOAT_EQ(color.x, 0.5f);
-    EXPECT_FLOAT_EQ(color.y, 0.5f);
-    EXPECT_FLOAT_EQ(color.z, 0.5f);
-    EXPECT_FLOAT_EQ(color.w, 1.0f);
+    EXPECT_FLOAT_EQ(color.value().x, 0.5f);
+    EXPECT_FLOAT_EQ(color.value().y, 0.5f);
+    EXPECT_FLOAT_EQ(color.value().z, 0.5f);
+    EXPECT_FLOAT_EQ(color.value().w, 1.0f);
 }
 
 TEST_F(UnitTestColorGrouped, Constructor_Vector4)
 {
     constexpr omath::Vector4 vec(0.2f, 0.4f, 0.6f, 0.8f);
     constexpr Color color(vec);
-    EXPECT_FLOAT_EQ(color.x, 0.2f);
-    EXPECT_FLOAT_EQ(color.y, 0.4f);
-    EXPECT_FLOAT_EQ(color.z, 0.6f);
-    EXPECT_FLOAT_EQ(color.w, 0.8f);
+    EXPECT_FLOAT_EQ(color.value().x, 0.2f);
+    EXPECT_FLOAT_EQ(color.value().y, 0.4f);
+    EXPECT_FLOAT_EQ(color.value().z, 0.6f);
+    EXPECT_FLOAT_EQ(color.value().w, 0.8f);
 }
 
 TEST_F(UnitTestColorGrouped, FromRGBA)
 {
     constexpr Color color = Color::from_rgba(128, 64, 32, 255);
-    EXPECT_FLOAT_EQ(color.x, 128.0f / 255.0f);
-    EXPECT_FLOAT_EQ(color.y, 64.0f / 255.0f);
-    EXPECT_FLOAT_EQ(color.z, 32.0f / 255.0f);
-    EXPECT_FLOAT_EQ(color.w, 1.0f);
+    EXPECT_FLOAT_EQ(color.value().x, 128.0f / 255.0f);
+    EXPECT_FLOAT_EQ(color.value().y, 64.0f / 255.0f);
+    EXPECT_FLOAT_EQ(color.value().z, 32.0f / 255.0f);
+    EXPECT_FLOAT_EQ(color.value().w, 1.0f);
 }
 
 TEST_F(UnitTestColorGrouped, FromHSV)
 {
     constexpr Color color = Color::from_hsv(0.0f, 1.0f, 1.0f); // Red in HSV
-    EXPECT_FLOAT_EQ(color.x, 1.0f);
-    EXPECT_FLOAT_EQ(color.y, 0.0f);
-    EXPECT_FLOAT_EQ(color.z, 0.0f);
-    EXPECT_FLOAT_EQ(color.w, 1.0f);
+    EXPECT_FLOAT_EQ(color.value().x, 1.0f);
+    EXPECT_FLOAT_EQ(color.value().y, 0.0f);
+    EXPECT_FLOAT_EQ(color.value().z, 0.0f);
+    EXPECT_FLOAT_EQ(color.value().w, 1.0f);
 }
 
 TEST_F(UnitTestColorGrouped, ToHSV)
@@ -71,10 +71,10 @@ TEST_F(UnitTestColorGrouped, ToHSV)
 TEST_F(UnitTestColorGrouped, Blend)
 {
     const Color blended = color1.blend(color2, 0.5f);
-    EXPECT_FLOAT_EQ(blended.x, 0.5f);
-    EXPECT_FLOAT_EQ(blended.y, 0.5f);
-    EXPECT_FLOAT_EQ(blended.z, 0.0f);
-    EXPECT_FLOAT_EQ(blended.w, 1.0f);
+    EXPECT_FLOAT_EQ(blended.value().x, 0.5f);
+    EXPECT_FLOAT_EQ(blended.value().y, 0.5f);
+    EXPECT_FLOAT_EQ(blended.value().z, 0.0f);
+    EXPECT_FLOAT_EQ(blended.value().w, 1.0f);
 }
 
 TEST_F(UnitTestColorGrouped, PredefinedColors)
@@ -83,20 +83,20 @@ TEST_F(UnitTestColorGrouped, PredefinedColors)
     constexpr Color green = Color::green();
     constexpr Color blue = Color::blue();
 
-    EXPECT_FLOAT_EQ(red.x, 1.0f);
-    EXPECT_FLOAT_EQ(red.y, 0.0f);
-    EXPECT_FLOAT_EQ(red.z, 0.0f);
-    EXPECT_FLOAT_EQ(red.w, 1.0f);
+    EXPECT_FLOAT_EQ(red.value().x, 1.0f);
+    EXPECT_FLOAT_EQ(red.value().y, 0.0f);
+    EXPECT_FLOAT_EQ(red.value().z, 0.0f);
+    EXPECT_FLOAT_EQ(red.value().w, 1.0f);
 
-    EXPECT_FLOAT_EQ(green.x, 0.0f);
-    EXPECT_FLOAT_EQ(green.y, 1.0f);
-    EXPECT_FLOAT_EQ(green.z, 0.0f);
-    EXPECT_FLOAT_EQ(green.w, 1.0f);
+    EXPECT_FLOAT_EQ(green.value().x, 0.0f);
+    EXPECT_FLOAT_EQ(green.value().y, 1.0f);
+    EXPECT_FLOAT_EQ(green.value().z, 0.0f);
+    EXPECT_FLOAT_EQ(green.value().w, 1.0f);
 
-    EXPECT_FLOAT_EQ(blue.x, 0.0f);
-    EXPECT_FLOAT_EQ(blue.y, 0.0f);
-    EXPECT_FLOAT_EQ(blue.z, 1.0f);
-    EXPECT_FLOAT_EQ(blue.w, 1.0f);
+    EXPECT_FLOAT_EQ(blue.value().x, 0.0f);
+    EXPECT_FLOAT_EQ(blue.value().y, 0.0f);
+    EXPECT_FLOAT_EQ(blue.value().z, 1.0f);
+    EXPECT_FLOAT_EQ(blue.value().w, 1.0f);
 }
 
 TEST_F(UnitTestColorGrouped, BlendVector3)
@@ -104,9 +104,9 @@ TEST_F(UnitTestColorGrouped, BlendVector3)
     constexpr Color v1(1.0f, 0.0f, 0.0f, 1.f); // Red
     constexpr Color v2(0.0f, 1.0f, 0.0f, 1.f); // Green
     constexpr Color blended = v1.blend(v2, 0.5f);
-    EXPECT_FLOAT_EQ(blended.x, 0.5f);
-    EXPECT_FLOAT_EQ(blended.y, 0.5f);
-    EXPECT_FLOAT_EQ(blended.z, 0.0f);
+    EXPECT_FLOAT_EQ(blended.value().x, 0.5f);
+    EXPECT_FLOAT_EQ(blended.value().y, 0.5f);
+    EXPECT_FLOAT_EQ(blended.value().z, 0.0f);
 }
 
 // From unit_test_color_extra.cpp
@@ -148,37 +148,37 @@ TEST(UnitTestColorGrouped_Extra, BlendEdgeCases)
     constexpr Color a = Color::red();
     constexpr Color b = Color::blue();
     constexpr auto r0 = a.blend(b, 0.f);
-    EXPECT_FLOAT_EQ(r0.x, a.x);
+    EXPECT_FLOAT_EQ(r0.value().x, a.value().x);
     constexpr auto r1 = a.blend(b, 1.f);
-    EXPECT_FLOAT_EQ(r1.x, b.x);
+    EXPECT_FLOAT_EQ(r1.value().x, b.value().x);
 }
 
 // From unit_test_color_more.cpp
 TEST(UnitTestColorGrouped_More, DefaultCtorIsZero)
 {
     constexpr Color c;
-    EXPECT_FLOAT_EQ(c.x, 0.0f);
-    EXPECT_FLOAT_EQ(c.y, 0.0f);
-    EXPECT_FLOAT_EQ(c.z, 0.0f);
-    EXPECT_FLOAT_EQ(c.w, 0.0f);
+    EXPECT_FLOAT_EQ(c.value().x, 0.0f);
+    EXPECT_FLOAT_EQ(c.value().y, 0.0f);
+    EXPECT_FLOAT_EQ(c.value().z, 0.0f);
+    EXPECT_FLOAT_EQ(c.value().w, 0.0f);
 }
 
 TEST(UnitTestColorGrouped_More, FloatCtorAndClampForRGB)
 {
     constexpr Color c(1.2f, -0.5f, 0.5f, 2.0f);
-    EXPECT_FLOAT_EQ(c.x, 1.0f);
-    EXPECT_FLOAT_EQ(c.y, 0.0f);
-    EXPECT_FLOAT_EQ(c.z, 0.5f);
-    EXPECT_FLOAT_EQ(c.w, 2.0f);
+    EXPECT_FLOAT_EQ(c.value().x, 1.0f);
+    EXPECT_FLOAT_EQ(c.value().y, 0.0f);
+    EXPECT_FLOAT_EQ(c.value().z, 0.5f);
+    EXPECT_FLOAT_EQ(c.value().w, 2.0f);
 }
 
 TEST(UnitTestColorGrouped_More, FromRgbaProducesScaledComponents)
 {
     constexpr Color c = Color::from_rgba(25u, 128u, 230u, 64u);
-    EXPECT_NEAR(c.x, 25.0f/255.0f, 1e-6f);
-    EXPECT_NEAR(c.y, 128.0f/255.0f, 1e-6f);
-    EXPECT_NEAR(c.z, 230.0f/255.0f, 1e-6f);
-    EXPECT_NEAR(c.w, 64.0f/255.0f, 1e-6f);
+    EXPECT_NEAR(c.value().x, 25.0f/255.0f, 1e-6f);
+    EXPECT_NEAR(c.value().y, 128.0f/255.0f, 1e-6f);
+    EXPECT_NEAR(c.value().z, 230.0f/255.0f, 1e-6f);
+    EXPECT_NEAR(c.value().w, 64.0f/255.0f, 1e-6f);
 }
 
 TEST(UnitTestColorGrouped_More, BlendProducesIntermediate)
@@ -186,10 +186,10 @@ TEST(UnitTestColorGrouped_More, BlendProducesIntermediate)
     constexpr Color c0(0.0f, 0.0f, 0.0f, 1.0f);
     constexpr Color c1(1.0f, 1.0f, 1.0f, 0.0f);
     constexpr Color mid = c0.blend(c1, 0.5f);
-    EXPECT_FLOAT_EQ(mid.x, 0.5f);
-    EXPECT_FLOAT_EQ(mid.y, 0.5f);
-    EXPECT_FLOAT_EQ(mid.z, 0.5f);
-    EXPECT_FLOAT_EQ(mid.w, 0.5f);
+    EXPECT_FLOAT_EQ(mid.value().x, 0.5f);
+    EXPECT_FLOAT_EQ(mid.value().y, 0.5f);
+    EXPECT_FLOAT_EQ(mid.value().z, 0.5f);
+    EXPECT_FLOAT_EQ(mid.value().w, 0.5f);
 }
 
 TEST(UnitTestColorGrouped_More, HsvRoundTrip)
@@ -197,9 +197,9 @@ TEST(UnitTestColorGrouped_More, HsvRoundTrip)
     constexpr Color red = Color::red();
     const auto hsv = red.to_hsv();
     const Color back = Color::from_hsv(hsv);
-    EXPECT_NEAR(back.x, 1.0f, 1e-6f);
-    EXPECT_NEAR(back.y, 0.0f, 1e-6f);
-    EXPECT_NEAR(back.z, 0.0f, 1e-6f);
+    EXPECT_NEAR(back.value().x, 1.0f, 1e-6f);
+    EXPECT_NEAR(back.value().y, 0.0f, 1e-6f);
+    EXPECT_NEAR(back.value().z, 0.0f, 1e-6f);
 }
 
 TEST(UnitTestColorGrouped_More, ToStringContainsComponents)
@@ -230,18 +230,18 @@ TEST(UnitTestColorGrouped_More2, FromHsvCases)
     auto check_hue = [&](float h) {
         SCOPED_TRACE(::testing::Message() << "h=" << h);
         Color c = Color::from_hsv(h, 1.f, 1.f);
-        EXPECT_TRUE(std::isfinite(c.x));
-        EXPECT_TRUE(std::isfinite(c.y));
-        EXPECT_TRUE(std::isfinite(c.z));
-        EXPECT_GE(c.x, -eps);
-        EXPECT_LE(c.x, 1.f + eps);
-        EXPECT_GE(c.y, -eps);
-        EXPECT_LE(c.y, 1.f + eps);
-        EXPECT_GE(c.z, -eps);
-        EXPECT_LE(c.z, 1.f + eps);
+        EXPECT_TRUE(std::isfinite(c.value().x));
+        EXPECT_TRUE(std::isfinite(c.value().y));
+        EXPECT_TRUE(std::isfinite(c.value().z));
+        EXPECT_GE(c.value().x, -eps);
+        EXPECT_LE(c.value().x, 1.f + eps);
+        EXPECT_GE(c.value().y, -eps);
+        EXPECT_LE(c.value().y, 1.f + eps);
+        EXPECT_GE(c.value().z, -eps);
+        EXPECT_LE(c.value().z, 1.f + eps);
 
-        float mx = std::max({c.x, c.y, c.z});
-        float mn = std::min({c.x, c.y, c.z});
+        float mx = std::max({c.value().x, c.value().y, c.value().z});
+        float mn = std::min({c.value().x, c.value().y, c.value().z});
         EXPECT_GE(mx, 0.999f);
         EXPECT_LE(mn, 1e-3f + 1e-4f);
     };
@@ -261,13 +261,13 @@ TEST(UnitTestColorGrouped_More2, ToHsvAndSetters)
     EXPECT_NEAR(hsv.value, 0.6f, 1e-6f);
 
     c.set_hue(0.0f);
-    EXPECT_TRUE(std::isfinite(c.x));
+    EXPECT_TRUE(std::isfinite(c.value().x));
 
     c.set_saturation(0.0f);
-    EXPECT_TRUE(std::isfinite(c.y));
+    EXPECT_TRUE(std::isfinite(c.value().y));
 
     c.set_value(0.5f);
-    EXPECT_TRUE(std::isfinite(c.z));
+    EXPECT_TRUE(std::isfinite(c.value().z));
 }
 
 TEST(UnitTestColorGrouped_More2, BlendAndStaticColors)
@@ -275,14 +275,14 @@ TEST(UnitTestColorGrouped_More2, BlendAndStaticColors)
     constexpr Color a = Color::red();
     constexpr Color b = Color::blue();
     constexpr auto mid = a.blend(b, 0.5f);
-    EXPECT_GT(mid.x, 0.f);
-    EXPECT_GT(mid.z, 0.f);
+    EXPECT_GT(mid.value().x, 0.f);
+    EXPECT_GT(mid.value().z, 0.f);
 
     constexpr auto all_a = a.blend(b, -1.f);
-    EXPECT_NEAR(all_a.x, a.x, 1e-6f);
+    EXPECT_NEAR(all_a.value().x, a.value().x, 1e-6f);
 
     constexpr auto all_b = a.blend(b, 2.f);
-    EXPECT_NEAR(all_b.z, b.z, 1e-6f);
+    EXPECT_NEAR(all_b.value().z, b.value().z, 1e-6f);
 }
 
 TEST(UnitTestColorGrouped_More2, FormatterUsesToString)
@@ -291,3 +291,35 @@ TEST(UnitTestColorGrouped_More2, FormatterUsesToString)
     const auto formatted = std::format("{}", c);
     EXPECT_NE(formatted.find("r:10"), std::string::npos);
 }
+
+TEST(UnitTestColorGrouped_More2, FormatterRgb)
+{
+    constexpr Color c = Color::from_rgba(255, 128, 0, 64);
+    const auto s = std::format("{:rgb}", c);
+    EXPECT_NE(s.find("r:255"), std::string::npos);
+    EXPECT_NE(s.find("g:128"), std::string::npos);
+    EXPECT_NE(s.find("b:0"), std::string::npos);
+    EXPECT_NE(s.find("a:64"), std::string::npos);
+}
+
+TEST(UnitTestColorGrouped_More2, FormatterRgbf)
+{
+    constexpr Color c(0.5f, 0.25f, 1.0f, 0.75f);
+    const auto s = std::format("{:rgbf}", c);
+    EXPECT_NE(s.find("r:"), std::string::npos);
+    EXPECT_NE(s.find("g:"), std::string::npos);
+    EXPECT_NE(s.find("b:"), std::string::npos);
+    EXPECT_NE(s.find("a:"), std::string::npos);
+    // Values should be in [0,1] float range, not 0-255
+    EXPECT_EQ(s.find("r:127"), std::string::npos);
+    EXPECT_EQ(s.find("r:255"), std::string::npos);
+}
+
+TEST(UnitTestColorGrouped_More2, FormatterHsv)
+{
+    const Color c = Color::red();
+    const auto s = std::format("{:hsv}", c);
+    EXPECT_NE(s.find("h:"), std::string::npos);
+    EXPECT_NE(s.find("s:"), std::string::npos);
+    EXPECT_NE(s.find("v:"), std::string::npos);
+}

tests/general/unit_test_epa_comprehensive.cpp

@@ -0,0 +1,471 @@
+//
+// Comprehensive EPA tests.
+// Covers: all 3 axis directions, multiple depth levels, penetration-vector
+// round-trips, depth monotonicity, symmetry, asymmetric sizes, memory
+// resource variants, tolerance sensitivity, and iteration bookkeeping.
+//
+#include <cmath>
+#include <gtest/gtest.h>
+#include <memory_resource>
+#include <omath/collision/epa_algorithm.hpp>
+#include <omath/collision/gjk_algorithm.hpp>
+#include <omath/engines/source_engine/collider.hpp>
+#include <omath/engines/source_engine/mesh.hpp>
+
+using Mesh     = omath::source_engine::Mesh;
+using Collider = omath::source_engine::MeshCollider;
+using Gjk      = omath::collision::GjkAlgorithm<Collider>;
+using Epa      = omath::collision::Epa<Collider>;
+using Vec3     = omath::Vector3<float>;
+
+namespace
+{
+    const std::vector<omath::primitives::Vertex<>> k_cube_vbo = {
+        { { -1.f, -1.f, -1.f }, {}, {} },
+        { { -1.f, -1.f,  1.f }, {}, {} },
+        { { -1.f,  1.f, -1.f }, {}, {} },
+        { { -1.f,  1.f,  1.f }, {}, {} },
+        { {  1.f,  1.f,  1.f }, {}, {} },
+        { {  1.f,  1.f, -1.f }, {}, {} },
+        { {  1.f, -1.f,  1.f }, {}, {} },
+        { {  1.f, -1.f, -1.f }, {}, {} },
+    };
+    const std::vector<omath::Vector3<std::uint32_t>> k_empty_ebo{};
+
+    constexpr Epa::Params k_default_params{ .max_iterations = 64, .tolerance = 1e-4f };
+
+    Collider make_cube(const Vec3& origin = {}, const Vec3& scale = { 1, 1, 1 })
+    {
+        Mesh m{ k_cube_vbo, k_empty_ebo, scale };
+        m.set_origin(origin);
+        return Collider{ m };
+    }
+
+    // Run GJK then EPA; asserts GJK hit and EPA converged.
+    Epa::Result solve(const Collider& a, const Collider& b,
+                      const Epa::Params& params = k_default_params)
+    {
+        const auto [hit, simplex] = Gjk::is_collide_with_simplex_info(a, b);
+        EXPECT_TRUE(hit) << "GJK must detect collision before EPA can run";
+        auto result = Epa::solve(a, b, simplex, params);
+        EXPECT_TRUE(result.has_value()) << "EPA must converge";
+        return *result;
+    }
+} // namespace
+
+// ---------------------------------------------------------------------------
+// Normal direction per axis
+// ---------------------------------------------------------------------------
+
+// For two unit cubes (half-extent 1) with B offset by d along an axis:
+//   depth = 2 - d   (distance from origin to nearest face of Minkowski diff)
+//   normal component along that axis ≈ ±1
+
+TEST(EpaComprehensive, NormalAlongX_Positive)
+{
+    const auto r = solve(make_cube({ 0, 0, 0 }), make_cube({ 0.5f, 0, 0 }));
+    EXPECT_NEAR(std::abs(r.normal.x), 1.f, 1e-3f);
+    EXPECT_NEAR(r.normal.y, 0.f, 1e-3f);
+    EXPECT_NEAR(r.normal.z, 0.f, 1e-3f);
+}
+
+TEST(EpaComprehensive, NormalAlongX_Negative)
+{
+    const auto r = solve(make_cube({ 0, 0, 0 }), make_cube({ -0.5f, 0, 0 }));
+    EXPECT_NEAR(std::abs(r.normal.x), 1.f, 1e-3f);
+    EXPECT_NEAR(r.normal.y, 0.f, 1e-3f);
+    EXPECT_NEAR(r.normal.z, 0.f, 1e-3f);
+}
+
+TEST(EpaComprehensive, NormalAlongY_Positive)
+{
+    const auto r = solve(make_cube({ 0, 0, 0 }), make_cube({ 0, 0.5f, 0 }));
+    EXPECT_NEAR(r.normal.x, 0.f, 1e-3f);
+    EXPECT_NEAR(std::abs(r.normal.y), 1.f, 1e-3f);
+    EXPECT_NEAR(r.normal.z, 0.f, 1e-3f);
+}
+
+TEST(EpaComprehensive, NormalAlongY_Negative)
+{
+    const auto r = solve(make_cube({ 0, 0, 0 }), make_cube({ 0, -0.5f, 0 }));
+    EXPECT_NEAR(r.normal.x, 0.f, 1e-3f);
+    EXPECT_NEAR(std::abs(r.normal.y), 1.f, 1e-3f);
+    EXPECT_NEAR(r.normal.z, 0.f, 1e-3f);
+}
+
+TEST(EpaComprehensive, NormalAlongZ_Positive)
+{
+    const auto r = solve(make_cube({ 0, 0, 0 }), make_cube({ 0, 0, 0.5f }));
+    EXPECT_NEAR(r.normal.x, 0.f, 1e-3f);
+    EXPECT_NEAR(r.normal.y, 0.f, 1e-3f);
+    EXPECT_NEAR(std::abs(r.normal.z), 1.f, 1e-3f);
+}
+
+TEST(EpaComprehensive, NormalAlongZ_Negative)
+{
+    const auto r = solve(make_cube({ 0, 0, 0 }), make_cube({ 0, 0, -0.5f }));
+    EXPECT_NEAR(r.normal.x, 0.f, 1e-3f);
+    EXPECT_NEAR(r.normal.y, 0.f, 1e-3f);
+    EXPECT_NEAR(std::abs(r.normal.z), 1.f, 1e-3f);
+}
+
+// ---------------------------------------------------------------------------
+// Depth correctness  (depth = 2 - offset for unit cubes)
+// ---------------------------------------------------------------------------
+
+TEST(EpaComprehensive, Depth_ShallowOverlap)
+{
+    // offset 1.9 → depth 0.1
+    const auto r = solve(make_cube({ 0, 0, 0 }), make_cube({ 1.9f, 0, 0 }));
+    EXPECT_NEAR(r.depth, 0.1f, 1e-2f);
+}
+
+TEST(EpaComprehensive, Depth_QuarterOverlap)
+{
+    // offset 1.5 → depth 0.5
+    const auto r = solve(make_cube({ 0, 0, 0 }), make_cube({ 1.5f, 0, 0 }));
+    EXPECT_NEAR(r.depth, 0.5f, 1e-2f);
+}
+
+TEST(EpaComprehensive, Depth_HalfOverlap)
+{
+    // offset 1.0 → depth 1.0
+    const auto r = solve(make_cube({ 0, 0, 0 }), make_cube({ 1.0f, 0, 0 }));
+    EXPECT_NEAR(r.depth, 1.0f, 1e-2f);
+}
+
+TEST(EpaComprehensive, Depth_ThreeQuarterOverlap)
+{
+    // offset 0.5 → depth 1.5
+    const auto r = solve(make_cube({ 0, 0, 0 }), make_cube({ 0.5f, 0, 0 }));
+    EXPECT_NEAR(r.depth, 1.5f, 1e-2f);
+}
+
+TEST(EpaComprehensive, Depth_AlongY_HalfOverlap)
+{
+    const auto r = solve(make_cube({ 0, 0, 0 }), make_cube({ 0, 1.0f, 0 }));
+    EXPECT_NEAR(r.depth, 1.0f, 1e-2f);
+}
+
+TEST(EpaComprehensive, Depth_AlongZ_HalfOverlap)
+{
+    const auto r = solve(make_cube({ 0, 0, 0 }), make_cube({ 0, 0, 1.0f }));
+    EXPECT_NEAR(r.depth, 1.0f, 1e-2f);
+}
+
+// ---------------------------------------------------------------------------
+// Depth monotonicity — deeper overlap → larger depth
+// ---------------------------------------------------------------------------
+
+TEST(EpaComprehensive, DepthMonotonic_AlongX)
+{
+    const float d1 = solve(make_cube({ 0, 0, 0 }), make_cube({ 1.9f, 0, 0 })).depth; // ~0.1
+    const float d2 = solve(make_cube({ 0, 0, 0 }), make_cube({ 1.5f, 0, 0 })).depth; // ~0.5
+    const float d3 = solve(make_cube({ 0, 0, 0 }), make_cube({ 1.0f, 0, 0 })).depth; // ~1.0
+    const float d4 = solve(make_cube({ 0, 0, 0 }), make_cube({ 0.5f, 0, 0 })).depth; // ~1.5
+
+    EXPECT_LT(d1, d2);
+    EXPECT_LT(d2, d3);
+    EXPECT_LT(d3, d4);
+}
+
+// ---------------------------------------------------------------------------
+// Normal is a unit vector
+// ---------------------------------------------------------------------------
+
+TEST(EpaComprehensive, NormalIsUnit_AlongX)
+{
+    const auto r = solve(make_cube({ 0, 0, 0 }), make_cube({ 0.5f, 0, 0 }));
+    EXPECT_NEAR(r.normal.dot(r.normal), 1.f, 1e-5f);
+}
+
+TEST(EpaComprehensive, NormalIsUnit_AlongY)
+{
+    const auto r = solve(make_cube({ 0, 0, 0 }), make_cube({ 0, 1.2f, 0 }));
+    EXPECT_NEAR(r.normal.dot(r.normal), 1.f, 1e-5f);
+}
+
+TEST(EpaComprehensive, NormalIsUnit_AlongZ)
+{
+    const auto r = solve(make_cube({ 0, 0, 0 }), make_cube({ 0, 0, 0.8f }));
+    EXPECT_NEAR(r.normal.dot(r.normal), 1.f, 1e-5f);
+}
+
+// ---------------------------------------------------------------------------
+// Penetration vector = normal * depth
+// ---------------------------------------------------------------------------
+
+TEST(EpaComprehensive, PenetrationVectorLength_EqualsDepth)
+{
+    const auto r = solve(make_cube({ 0, 0, 0 }), make_cube({ 0.5f, 0, 0 }));
+    const float pen_len = std::sqrt(r.penetration_vector.dot(r.penetration_vector));
+    EXPECT_NEAR(pen_len, r.depth, 1e-5f);
+}
+
+TEST(EpaComprehensive, PenetrationVectorDirection_ParallelToNormal)
+{
+    const auto r = solve(make_cube({ 0, 0, 0 }), make_cube({ 0, 1.0f, 0 }));
+    // penetration_vector = normal * depth → cross product must be ~zero
+    const auto cross = r.penetration_vector.cross(r.normal);
+    EXPECT_NEAR(cross.dot(cross), 0.f, 1e-8f);
+}
+
+// ---------------------------------------------------------------------------
+// Round-trip: applying penetration_vector separates the shapes
+// ---------------------------------------------------------------------------
+
+TEST(EpaComprehensive, RoundTrip_AlongX)
+{
+    const auto a = make_cube({ 0, 0, 0 });
+    Mesh mesh_b{ k_cube_vbo, k_empty_ebo };
+    mesh_b.set_origin({ 0.5f, 0, 0 });
+    const auto b = Collider{ mesh_b };
+
+    const auto r = solve(a, b);
+    constexpr float margin = 1.f + 1e-3f;
+
+    // Move B along the penetration vector; it should separate from A
+    Mesh mesh_sep{ k_cube_vbo, k_empty_ebo };
+    mesh_sep.set_origin(mesh_b.get_origin() + r.penetration_vector * margin);
+    EXPECT_FALSE(Gjk::is_collide(a, Collider{ mesh_sep })) << "Applying pen vector must separate";
+
+    // Moving the wrong way must still collide
+    Mesh mesh_wrong{ k_cube_vbo, k_empty_ebo };
+    mesh_wrong.set_origin(mesh_b.get_origin() - r.penetration_vector * margin);
+    EXPECT_TRUE(Gjk::is_collide(a, Collider{ mesh_wrong })) << "Opposite direction must still collide";
+}
+
+TEST(EpaComprehensive, RoundTrip_AlongY)
+{
+    const auto a = make_cube({ 0, 0, 0 });
+    Mesh mesh_b{ k_cube_vbo, k_empty_ebo };
+    mesh_b.set_origin({ 0, 0.8f, 0 });
+    const auto b = Collider{ mesh_b };
+
+    const auto r = solve(a, b);
+    constexpr float margin = 1.f + 1e-3f;
+
+    Mesh mesh_sep{ k_cube_vbo, k_empty_ebo };
+    mesh_sep.set_origin(mesh_b.get_origin() + r.penetration_vector * margin);
+    EXPECT_FALSE(Gjk::is_collide(a, Collider{ mesh_sep }));
+
+    Mesh mesh_wrong{ k_cube_vbo, k_empty_ebo };
+    mesh_wrong.set_origin(mesh_b.get_origin() - r.penetration_vector * margin);
+    EXPECT_TRUE(Gjk::is_collide(a, Collider{ mesh_wrong }));
+}
+
+TEST(EpaComprehensive, RoundTrip_AlongZ)
+{
+    const auto a = make_cube({ 0, 0, 0 });
+    Mesh mesh_b{ k_cube_vbo, k_empty_ebo };
+    mesh_b.set_origin({ 0, 0, 1.2f });
+    const auto b = Collider{ mesh_b };
+
+    const auto r = solve(a, b);
+    constexpr float margin = 1.f + 1e-3f;
+
+    Mesh mesh_sep{ k_cube_vbo, k_empty_ebo };
+    mesh_sep.set_origin(mesh_b.get_origin() + r.penetration_vector * margin);
+    EXPECT_FALSE(Gjk::is_collide(a, Collider{ mesh_sep }));
+}
+
+// ---------------------------------------------------------------------------
+// Symmetry — swapping A and B preserves depth
+// ---------------------------------------------------------------------------
+
+TEST(EpaComprehensive, Symmetry_DepthIsIndependentOfOrder)
+{
+    const auto a = make_cube({ 0, 0, 0 });
+    const auto b = make_cube({ 0.5f, 0, 0 });
+
+    const float depth_ab = solve(a, b).depth;
+    const float depth_ba = solve(b, a).depth;
+
+    EXPECT_NEAR(depth_ab, depth_ba, 1e-2f);
+}
+
+TEST(EpaComprehensive, Symmetry_NormalsAreOpposite)
+{
+    const auto a = make_cube({ 0, 0, 0 });
+    const auto b = make_cube({ 0.5f, 0, 0 });
+
+    const Vec3 n_ab = solve(a, b).normal;
+    const Vec3 n_ba = solve(b, a).normal;
+
+    // The normals should be anti-parallel: n_ab · n_ba ≈ -1
+    EXPECT_NEAR(n_ab.dot(n_ba), -1.f, 1e-3f);
+}
+
+// ---------------------------------------------------------------------------
+// Asymmetric sizes
+// ---------------------------------------------------------------------------
+
+TEST(EpaComprehensive, LargeVsSmall_DepthCorrect)
+{
+    // Big (half-ext 2) at origin, small (half-ext 0.5) at (2.0, 0, 0)
+    // Minkowski diff closest face in X at distance 0.5
+    const auto r = solve(make_cube({ 0, 0, 0 }, { 2, 2, 2 }), make_cube({ 2.0f, 0, 0 }, { 0.5f, 0.5f, 0.5f }));
+    EXPECT_NEAR(r.depth, 0.5f, 1e-2f);
+    EXPECT_NEAR(std::abs(r.normal.x), 1.f, 1e-3f);
+}
+
+TEST(EpaComprehensive, LargeVsSmall_RoundTrip)
+{
+    const auto a = make_cube({ 0, 0, 0 }, { 2, 2, 2 });
+
+    Mesh mesh_b{ k_cube_vbo, k_empty_ebo, { 0.5f, 0.5f, 0.5f } };
+    mesh_b.set_origin({ 2.0f, 0, 0 });
+    const auto b = Collider{ mesh_b };
+
+    const auto r = solve(a, b);
+    constexpr float margin = 1.f + 1e-3f;
+
+    Mesh mesh_sep{ k_cube_vbo, k_empty_ebo, { 0.5f, 0.5f, 0.5f } };
+    mesh_sep.set_origin(mesh_b.get_origin() + r.penetration_vector * margin);
+    EXPECT_FALSE(Gjk::is_collide(a, Collider{ mesh_sep }));
+}
+
+// ---------------------------------------------------------------------------
+// Memory resource variants
+// ---------------------------------------------------------------------------
+
+TEST(EpaComprehensive, MonotonicBuffer_ConvergesCorrectly)
+{
+    const auto a = make_cube({ 0, 0, 0 });
+    const auto b = make_cube({ 0.5f, 0, 0 });
+    const auto [hit, simplex] = Gjk::is_collide_with_simplex_info(a, b);
+    ASSERT_TRUE(hit);
+
+    constexpr std::size_t k_buf = 32768;
+    alignas(std::max_align_t) char buf[k_buf];
+    std::pmr::monotonic_buffer_resource mr{ buf, k_buf, std::pmr::null_memory_resource() };
+
+    const auto r = Epa::solve(a, b, simplex, k_default_params, mr);
+    ASSERT_TRUE(r.has_value());
+    EXPECT_NEAR(r->depth, 1.5f, 1e-2f);
+}
+
+TEST(EpaComprehensive, MonotonicBuffer_MultipleReleaseCycles)
+{
+    // Verify mr.release() correctly resets the buffer across multiple calls
+    const auto a = make_cube({ 0, 0, 0 });
+    const auto b = make_cube({ 0.5f, 0, 0 });
+    const auto [hit, simplex] = Gjk::is_collide_with_simplex_info(a, b);
+    ASSERT_TRUE(hit);
+
+    constexpr std::size_t k_buf = 32768;
+    alignas(std::max_align_t) char buf[k_buf];
+    std::pmr::monotonic_buffer_resource mr{ buf, k_buf, std::pmr::null_memory_resource() };
+
+    float first_depth = 0.f;
+    for (int i = 0; i < 5; ++i)
+    {
+        mr.release();
+        const auto r = Epa::solve(a, b, simplex, k_default_params, mr);
+        ASSERT_TRUE(r.has_value()) << "solve must converge on iteration " << i;
+        if (i == 0)
+            first_depth = r->depth;
+        else
+            EXPECT_NEAR(r->depth, first_depth, 1e-6f) << "depth must be deterministic";
+    }
+}
+
+TEST(EpaComprehensive, DefaultResource_ConvergesCorrectly)
+{
+    const auto a = make_cube({ 0, 0, 0 });
+    const auto b = make_cube({ 1.0f, 0, 0 });
+    const auto [hit, simplex] = Gjk::is_collide_with_simplex_info(a, b);
+    ASSERT_TRUE(hit);
+
+    const auto r = Epa::solve(a, b, simplex);
+    ASSERT_TRUE(r.has_value());
+    EXPECT_NEAR(r->depth, 1.0f, 1e-2f);
+}
+
+// ---------------------------------------------------------------------------
+// Tolerance sensitivity
+// ---------------------------------------------------------------------------
+
+TEST(EpaComprehensive, TighterTolerance_MoreAccurateDepth)
+{
+    const auto a = make_cube({ 0, 0, 0 });
+    const auto b = make_cube({ 1.0f, 0, 0 });
+    const auto [hit, simplex] = Gjk::is_collide_with_simplex_info(a, b);
+    ASSERT_TRUE(hit);
+
+    const Epa::Params loose{ .max_iterations = 64, .tolerance = 1e-2f };
+    const Epa::Params tight{ .max_iterations = 64, .tolerance = 1e-5f };
+
+    const auto r_loose = Epa::solve(a, b, simplex, loose);
+    const auto r_tight = Epa::solve(a, b, simplex, tight);
+    ASSERT_TRUE(r_loose.has_value());
+    ASSERT_TRUE(r_tight.has_value());
+
+    // Tighter tolerance must yield a result at least as accurate
+    EXPECT_LE(std::abs(r_tight->depth - 1.0f), std::abs(r_loose->depth - 1.0f) + 1e-4f);
+}
+
+// ---------------------------------------------------------------------------
+// Bookkeeping fields
+// ---------------------------------------------------------------------------
+
+TEST(EpaComprehensive, Bookkeeping_IterationsInBounds)
+{
+    const auto a = make_cube({ 0, 0, 0 });
+    const auto b = make_cube({ 0.5f, 0, 0 });
+    const auto r = solve(a, b);
+
+    EXPECT_GT(r.iterations, 0);
+    EXPECT_LE(r.iterations, k_default_params.max_iterations);
+}
+
+TEST(EpaComprehensive, Bookkeeping_FacesAndVerticesGrow)
+{
+    const auto a = make_cube({ 0, 0, 0 });
+    const auto b = make_cube({ 0.5f, 0, 0 });
+    const auto r = solve(a, b);
+
+    // Started with a tetrahedron (4 faces, 4 vertices); EPA must have expanded it
+    EXPECT_GE(r.num_faces, 4);
+    EXPECT_GE(r.num_vertices, 4);
+}
+
+TEST(EpaComprehensive, Bookkeeping_MaxIterationsRespected)
+{
+    const auto a = make_cube({ 0, 0, 0 });
+    const auto b = make_cube({ 0.5f, 0, 0 });
+    const auto [hit, simplex] = Gjk::is_collide_with_simplex_info(a, b);
+    ASSERT_TRUE(hit);
+
+    constexpr Epa::Params tight{ .max_iterations = 3, .tolerance = 1e-10f };
+    const auto r = Epa::solve(a, b, simplex, tight);
+
+    // Must return something (fallback best-face path) and respect the cap
+    if (r.has_value())
+        EXPECT_LE(r->iterations, tight.max_iterations);
+}
+
+// ---------------------------------------------------------------------------
+// Determinism
+// ---------------------------------------------------------------------------
+
+TEST(EpaComprehensive, Deterministic_SameResultOnRepeatedCalls)
+{
+    const auto a = make_cube({ 0, 0, 0 });
+    const auto b = make_cube({ 0.7f, 0, 0 });
+    const auto [hit, simplex] = Gjk::is_collide_with_simplex_info(a, b);
+    ASSERT_TRUE(hit);
+
+    const auto first = Epa::solve(a, b, simplex);
+    ASSERT_TRUE(first.has_value());
+
+    for (int i = 0; i < 5; ++i)
+    {
+        const auto r = Epa::solve(a, b, simplex);
+        ASSERT_TRUE(r.has_value());
+        EXPECT_NEAR(r->depth, first->depth, 1e-6f);
+        EXPECT_NEAR(r->normal.x, first->normal.x, 1e-6f);
+        EXPECT_NEAR(r->normal.y, first->normal.y, 1e-6f);
+        EXPECT_NEAR(r->normal.z, first->normal.z, 1e-6f);
+    }
+}

tests/general/unit_test_gjk_comprehensive.cpp

@@ -0,0 +1,277 @@
+//
+// Comprehensive GJK tests.
+// Covers: all 6 axis directions, diagonal cases, boundary touching,
+// asymmetric sizes, nesting, symmetry, simplex info, far separation.
+//
+#include <gtest/gtest.h>
+#include <omath/collision/gjk_algorithm.hpp>
+#include <omath/engines/source_engine/collider.hpp>
+#include <omath/engines/source_engine/mesh.hpp>
+
+using Mesh     = omath::source_engine::Mesh;
+using Collider = omath::source_engine::MeshCollider;
+using Gjk      = omath::collision::GjkAlgorithm<Collider>;
+using Vec3     = omath::Vector3<float>;
+
+namespace
+{
+    // Unit cube [-1, 1]^3 in local space.
+    const std::vector<omath::primitives::Vertex<>> k_cube_vbo = {
+        { { -1.f, -1.f, -1.f }, {}, {} },
+        { { -1.f, -1.f,  1.f }, {}, {} },
+        { { -1.f,  1.f, -1.f }, {}, {} },
+        { { -1.f,  1.f,  1.f }, {}, {} },
+        { {  1.f,  1.f,  1.f }, {}, {} },
+        { {  1.f,  1.f, -1.f }, {}, {} },
+        { {  1.f, -1.f,  1.f }, {}, {} },
+        { {  1.f, -1.f, -1.f }, {}, {} },
+    };
+    const std::vector<omath::Vector3<std::uint32_t>> k_empty_ebo{};
+
+    Collider make_cube(const Vec3& origin = {}, const Vec3& scale = { 1, 1, 1 })
+    {
+        Mesh m{ k_cube_vbo, k_empty_ebo, scale };
+        m.set_origin(origin);
+        return Collider{ m };
+    }
+} // namespace
+
+// ---------------------------------------------------------------------------
+// Separation — expect false
+// ---------------------------------------------------------------------------
+
+TEST(GjkComprehensive, Separated_AlongPosX)
+{
+    // A extends to x=1, B starts at x=1.1 → clear gap
+    EXPECT_FALSE(Gjk::is_collide(make_cube({ 0, 0, 0 }), make_cube({ 2.1f, 0, 0 })));
+}
+
+TEST(GjkComprehensive, Separated_AlongNegX)
+{
+    // B to the left of A
+    EXPECT_FALSE(Gjk::is_collide(make_cube({ 0, 0, 0 }), make_cube({ -2.1f, 0, 0 })));
+}
+
+TEST(GjkComprehensive, Separated_AlongPosY)
+{
+    EXPECT_FALSE(Gjk::is_collide(make_cube({ 0, 0, 0 }), make_cube({ 0, 2.1f, 0 })));
+}
+
+TEST(GjkComprehensive, Separated_AlongNegY)
+{
+    EXPECT_FALSE(Gjk::is_collide(make_cube({ 0, 0, 0 }), make_cube({ 0, -2.1f, 0 })));
+}
+
+TEST(GjkComprehensive, Separated_AlongPosZ)
+{
+    EXPECT_FALSE(Gjk::is_collide(make_cube({ 0, 0, 0 }), make_cube({ 0, 0, 2.1f })));
+}
+
+TEST(GjkComprehensive, Separated_AlongNegZ)
+{
+    EXPECT_FALSE(Gjk::is_collide(make_cube({ 0, 0, 0 }), make_cube({ 0, 0, -2.1f })));
+}
+
+TEST(GjkComprehensive, Separated_AlongDiagonal)
+{
+    // All components exceed 2.0 — no overlap on any axis
+    EXPECT_FALSE(Gjk::is_collide(make_cube({ 0, 0, 0 }), make_cube({ 2.1f, 2.1f, 2.1f })));
+}
+
+TEST(GjkComprehensive, Separated_LargeDistance)
+{
+    EXPECT_FALSE(Gjk::is_collide(make_cube({ 0, 0, 0 }), make_cube({ 100.f, 0, 0 })));
+}
+
+TEST(GjkComprehensive, Separated_AsymmetricSizes)
+{
+    // Big (scale 2, half-ext 2), small (scale 0.5, half-ext 0.5) at 2.6 → gap of 0.1
+    EXPECT_FALSE(Gjk::is_collide(make_cube({ 0, 0, 0 }, { 2, 2, 2 }), make_cube({ 2.6f, 0, 0 }, { 0.5f, 0.5f, 0.5f })));
+}
+
+// ---------------------------------------------------------------------------
+// Overlap — expect true
+// ---------------------------------------------------------------------------
+
+TEST(GjkComprehensive, Overlapping_AlongPosX)
+{
+    // B offset 1.5 → overlap depth 0.5 in X
+    EXPECT_TRUE(Gjk::is_collide(make_cube({ 0, 0, 0 }), make_cube({ 1.5f, 0, 0 })));
+}
+
+TEST(GjkComprehensive, Overlapping_AlongNegX)
+{
+    EXPECT_TRUE(Gjk::is_collide(make_cube({ 0, 0, 0 }), make_cube({ -1.5f, 0, 0 })));
+}
+
+TEST(GjkComprehensive, Overlapping_AlongPosZ)
+{
+    EXPECT_TRUE(Gjk::is_collide(make_cube({ 0, 0, 0 }), make_cube({ 0, 0, 1.5f })));
+}
+
+TEST(GjkComprehensive, Overlapping_AlongNegZ)
+{
+    EXPECT_TRUE(Gjk::is_collide(make_cube({ 0, 0, 0 }), make_cube({ 0, 0, -1.5f })));
+}
+
+TEST(GjkComprehensive, Overlapping_AlongDiagonalXY)
+{
+    // Minkowski sum extends ±2 on each axis; offset (1,1,0) is inside
+    EXPECT_TRUE(Gjk::is_collide(make_cube({ 0, 0, 0 }), make_cube({ 1.f, 1.f, 0.f })));
+}
+
+TEST(GjkComprehensive, Overlapping_AlongDiagonalXYZ)
+{
+    // All three axes overlap: (1,1,1) is inside the Minkowski sum
+    EXPECT_TRUE(Gjk::is_collide(make_cube({ 0, 0, 0 }), make_cube({ 1.f, 1.f, 1.f })));
+}
+
+TEST(GjkComprehensive, FullyNested_SmallInsideBig)
+{
+    // Small cube (half-ext 0.5) fully inside big cube (half-ext 2)
+    EXPECT_TRUE(Gjk::is_collide(make_cube({ 0, 0, 0 }, { 2, 2, 2 }), make_cube({ 0, 0, 0 }, { 0.5f, 0.5f, 0.5f })));
+}
+
+TEST(GjkComprehensive, FullyNested_OffCenter)
+{
+    // Small at (0.5, 0, 0) still fully inside big (half-ext 2)
+    EXPECT_TRUE(Gjk::is_collide(make_cube({ 0, 0, 0 }, { 2, 2, 2 }), make_cube({ 0.5f, 0, 0 }, { 0.5f, 0.5f, 0.5f })));
+}
+
+TEST(GjkComprehensive, Overlapping_AsymmetricSizes)
+{
+    // Big (scale 2, half-ext 2) and small (scale 0.5, half-ext 0.5) at 2.0 → overlap 0.5 in X
+    EXPECT_TRUE(Gjk::is_collide(make_cube({ 0, 0, 0 }, { 2, 2, 2 }), make_cube({ 2.0f, 0, 0 }, { 0.5f, 0.5f, 0.5f })));
+}
+
+// ---------------------------------------------------------------------------
+// Boundary cases
+// ---------------------------------------------------------------------------
+
+TEST(GjkComprehensive, BoundaryCase_JustColliding)
+{
+    // B at 1.999 — 0.001 overlap in X
+    EXPECT_TRUE(Gjk::is_collide(make_cube({ 0, 0, 0 }), make_cube({ 1.999f, 0, 0 })));
+}
+
+TEST(GjkComprehensive, BoundaryCase_JustSeparated)
+{
+    // B at 2.001 — 0.001 gap in X
+    EXPECT_FALSE(Gjk::is_collide(make_cube({ 0, 0, 0 }), make_cube({ 2.001f, 0, 0 })));
+}
+
+// ---------------------------------------------------------------------------
+// Symmetry
+// ---------------------------------------------------------------------------
+
+TEST(GjkComprehensive, Symmetry_WhenColliding)
+{
+    const auto a = make_cube({ 0, 0, 0 });
+    const auto b = make_cube({ 1.5f, 0, 0 });
+    EXPECT_EQ(Gjk::is_collide(a, b), Gjk::is_collide(b, a));
+}
+
+TEST(GjkComprehensive, Symmetry_WhenSeparated)
+{
+    const auto a = make_cube({ 0, 0, 0 });
+    const auto b = make_cube({ 2.1f, 0.5f, 0 });
+    EXPECT_EQ(Gjk::is_collide(a, b), Gjk::is_collide(b, a));
+}
+
+TEST(GjkComprehensive, Symmetry_DiagonalSeparation)
+{
+    const auto a = make_cube({ 0, 0, 0 });
+    const auto b = make_cube({ 1.5f, 1.5f, 1.5f });
+    EXPECT_EQ(Gjk::is_collide(a, b), Gjk::is_collide(b, a));
+}
+
+// ---------------------------------------------------------------------------
+// Simplex info
+// ---------------------------------------------------------------------------
+
+TEST(GjkComprehensive, SimplexInfo_HitProducesSimplex4)
+{
+    // On collision the simplex must be a full tetrahedron (4 points)
+    const auto [hit, simplex] = Gjk::is_collide_with_simplex_info(make_cube({ 0, 0, 0 }), make_cube({ 0.5f, 0, 0 }));
+    EXPECT_TRUE(hit);
+    EXPECT_EQ(simplex.size(), 4u);
+}
+
+TEST(GjkComprehensive, SimplexInfo_MissProducesLessThan4)
+{
+    // On non-collision the simplex can never be a full tetrahedron
+    const auto [hit, simplex] = Gjk::is_collide_with_simplex_info(make_cube({ 0, 0, 0 }), make_cube({ 2.1f, 0, 0 }));
+    EXPECT_FALSE(hit);
+    EXPECT_LT(simplex.size(), 4u);
+}
+
+TEST(GjkComprehensive, SimplexInfo_HitAlongY)
+{
+    const auto [hit, simplex] = Gjk::is_collide_with_simplex_info(make_cube({ 0, 0, 0 }), make_cube({ 0, 1.5f, 0 }));
+    EXPECT_TRUE(hit);
+    EXPECT_EQ(simplex.size(), 4u);
+}
+
+TEST(GjkComprehensive, SimplexInfo_HitAlongZ)
+{
+    const auto [hit, simplex] = Gjk::is_collide_with_simplex_info(make_cube({ 0, 0, 0 }), make_cube({ 0, 0, 1.5f }));
+    EXPECT_TRUE(hit);
+    EXPECT_EQ(simplex.size(), 4u);
+}
+
+TEST(GjkComprehensive, SimplexInfo_MissAlongDiagonal)
+{
+    const auto [hit, simplex] = Gjk::is_collide_with_simplex_info(make_cube({ 0, 0, 0 }), make_cube({ 2.1f, 2.1f, 2.1f }));
+    EXPECT_FALSE(hit);
+    EXPECT_LT(simplex.size(), 4u);
+}
+
+// ---------------------------------------------------------------------------
+// Non-trivial geometry — tetrahedron shaped colliders
+// ---------------------------------------------------------------------------
+
+TEST(GjkComprehensive, TetrahedronShapes_Overlapping)
+{
+    // A rough tetrahedron mesh; two of them close enough to overlap
+    const std::vector<omath::primitives::Vertex<>> tet_vbo = {
+        { {  0.f,  1.f,  0.f }, {}, {} },
+        { { -1.f, -1.f,  1.f }, {}, {} },
+        { {  1.f, -1.f,  1.f }, {}, {} },
+        { {  0.f, -1.f, -1.f }, {}, {} },
+    };
+
+    Mesh m_a{ tet_vbo, k_empty_ebo };
+    Mesh m_b{ tet_vbo, k_empty_ebo };
+    m_b.set_origin({ 0.5f, 0.f, 0.f });
+
+    EXPECT_TRUE(Gjk::is_collide(Collider{ m_a }, Collider{ m_b }));
+}
+
+TEST(GjkComprehensive, TetrahedronShapes_Separated)
+{
+    const std::vector<omath::primitives::Vertex<>> tet_vbo = {
+        { {  0.f,  1.f,  0.f }, {}, {} },
+        { { -1.f, -1.f,  1.f }, {}, {} },
+        { {  1.f, -1.f,  1.f }, {}, {} },
+        { {  0.f, -1.f, -1.f }, {}, {} },
+    };
+
+    Mesh m_a{ tet_vbo, k_empty_ebo };
+    Mesh m_b{ tet_vbo, k_empty_ebo };
+    m_b.set_origin({ 3.f, 0.f, 0.f });
+
+    EXPECT_FALSE(Gjk::is_collide(Collider{ m_a }, Collider{ m_b }));
+}
+
+// ---------------------------------------------------------------------------
+// Determinism
+// ---------------------------------------------------------------------------
+
+TEST(GjkComprehensive, Deterministic_SameResultOnRepeatedCalls)
+{
+    const auto a = make_cube({ 0, 0, 0 });
+    const auto b = make_cube({ 1.2f, 0.3f, 0.1f });
+    const bool first = Gjk::is_collide(a, b);
+    for (int i = 0; i < 10; ++i)
+        EXPECT_EQ(Gjk::is_collide(a, b), first);
+}

tests/general/unit_test_navigation_mesh.cpp

@@ -7,19 +7,18 @@ using namespace omath::pathfinding;
 TEST(NavigationMeshTests, SerializeDeserializeRoundTrip)
 {
     NavigationMesh nav;
-    Vector3<float> a{0.f,0.f,0.f};
-    Vector3<float> b{1.f,0.f,0.f};
-    Vector3<float> c{0.f,1.f,0.f};
+    Vector3<float> a{0.f, 0.f, 0.f};
+    Vector3<float> b{1.f, 0.f, 0.f};
+    Vector3<float> c{0.f, 1.f, 0.f};
 
-    nav.m_vertex_map.emplace(a, std::vector<Vector3<float>>{b,c});
+    nav.m_vertex_map.emplace(a, std::vector<Vector3<float>>{b, c});
     nav.m_vertex_map.emplace(b, std::vector<Vector3<float>>{a});
     nav.m_vertex_map.emplace(c, std::vector<Vector3<float>>{a});
 
-    auto data = nav.serialize();
+    std::string data = nav.serialize();
     NavigationMesh nav2;
     EXPECT_NO_THROW(nav2.deserialize(data));
 
-    // verify neighbors preserved
     EXPECT_EQ(nav2.m_vertex_map.size(), nav.m_vertex_map.size());
     EXPECT_EQ(nav2.get_neighbors(a).size(), 2u);
 }
@@ -27,7 +26,223 @@ TEST(NavigationMeshTests, SerializeDeserializeRoundTrip)
 TEST(NavigationMeshTests, GetClosestVertexWhenEmpty)
 {
     const NavigationMesh nav;
-    constexpr Vector3<float> p{5.f,5.f,5.f};
+    constexpr Vector3<float> p{5.f, 5.f, 5.f};
     const auto res = nav.get_closest_vertex(p);
     EXPECT_FALSE(res.has_value());
 }
+
+TEST(NavigationMeshTests, SerializeEmptyMesh)
+{
+    const NavigationMesh nav;
+    const std::string data = nav.serialize();
+    EXPECT_TRUE(data.empty());
+}
+
+TEST(NavigationMeshTests, DeserializeEmptyString)
+{
+    NavigationMesh nav;
+    EXPECT_NO_THROW(nav.deserialize(""));
+    EXPECT_TRUE(nav.empty());
+}
+
+TEST(NavigationMeshTests, SerializeProducesHumanReadableText)
+{
+    NavigationMesh nav;
+    nav.m_vertex_map.emplace(Vector3<float>{1.f, 2.f, 3.f}, std::vector<Vector3<float>>{{4.f, 5.f, 6.f}});
+
+    const std::string data = nav.serialize();
+
+    // Must contain the vertex and neighbor coords as plain text
+    EXPECT_NE(data.find("1"), std::string::npos);
+    EXPECT_NE(data.find("2"), std::string::npos);
+    EXPECT_NE(data.find("3"), std::string::npos);
+    EXPECT_NE(data.find("4"), std::string::npos);
+    EXPECT_NE(data.find("5"), std::string::npos);
+    EXPECT_NE(data.find("6"), std::string::npos);
+}
+
+TEST(NavigationMeshTests, DeserializeRestoresNeighborValues)
+{
+    NavigationMesh nav;
+    const Vector3<float> v{1.f, 2.f, 3.f};
+    const Vector3<float> n1{4.f, 5.f, 6.f};
+    const Vector3<float> n2{7.f, 8.f, 9.f};
+    nav.m_vertex_map.emplace(v, std::vector<Vector3<float>>{n1, n2});
+
+    NavigationMesh nav2;
+    nav2.deserialize(nav.serialize());
+
+    ASSERT_EQ(nav2.m_vertex_map.count(v), 1u);
+    const auto& neighbors = nav2.get_neighbors(v);
+    ASSERT_EQ(neighbors.size(), 2u);
+    EXPECT_EQ(neighbors[0], n1);
+    EXPECT_EQ(neighbors[1], n2);
+}
+
+TEST(NavigationMeshTests, DeserializeOverwritesPreviousData)
+{
+    NavigationMesh nav;
+    const Vector3<float> v{1.f, 0.f, 0.f};
+    nav.m_vertex_map.emplace(v, std::vector<Vector3<float>>{});
+
+    // Load a different mesh into the same object
+    NavigationMesh other;
+    const Vector3<float> a{10.f, 20.f, 30.f};
+    other.m_vertex_map.emplace(a, std::vector<Vector3<float>>{});
+
+    nav.deserialize(other.serialize());
+
+    EXPECT_EQ(nav.m_vertex_map.size(), 1u);
+    EXPECT_EQ(nav.m_vertex_map.count(v), 0u);
+    EXPECT_EQ(nav.m_vertex_map.count(a), 1u);
+}
+
+TEST(NavigationMeshTests, RoundTripNegativeAndFractionalCoords)
+{
+    NavigationMesh nav;
+    const Vector3<float> v{-1.5f, 0.25f, -3.75f};
+    const Vector3<float> n{100.f, -200.f, 0.001f};
+    nav.m_vertex_map.emplace(v, std::vector<Vector3<float>>{n});
+
+    NavigationMesh nav2;
+    nav2.deserialize(nav.serialize());
+
+    ASSERT_EQ(nav2.m_vertex_map.count(v), 1u);
+    const auto& neighbors = nav2.get_neighbors(v);
+    ASSERT_EQ(neighbors.size(), 1u);
+    EXPECT_NEAR(neighbors[0].x, n.x, 1e-3f);
+    EXPECT_NEAR(neighbors[0].y, n.y, 1e-3f);
+    EXPECT_NEAR(neighbors[0].z, n.z, 1e-3f);
+}
+
+TEST(NavigationMeshTests, GetClosestVertexReturnsNearest)
+{
+    NavigationMesh nav;
+    const Vector3<float> a{0.f, 0.f, 0.f};
+    const Vector3<float> b{10.f, 0.f, 0.f};
+    nav.m_vertex_map.emplace(a, std::vector<Vector3<float>>{});
+    nav.m_vertex_map.emplace(b, std::vector<Vector3<float>>{});
+
+    const auto res = nav.get_closest_vertex({1.f, 0.f, 0.f});
+    ASSERT_TRUE(res.has_value());
+    EXPECT_EQ(res.value(), a);
+}
+
+TEST(NavigationMeshTests, VertexWithNoNeighborsRoundTrip)
+{
+    NavigationMesh nav;
+    const Vector3<float> v{5.f, 5.f, 5.f};
+    nav.m_vertex_map.emplace(v, std::vector<Vector3<float>>{});
+
+    NavigationMesh nav2;
+    nav2.deserialize(nav.serialize());
+
+    ASSERT_EQ(nav2.m_vertex_map.count(v), 1u);
+    EXPECT_TRUE(nav2.get_neighbors(v).empty());
+}
+
+// ---------------------------------------------------------------------------
+// Vertex events
+// ---------------------------------------------------------------------------
+
+TEST(NavigationMeshTests, SetEventOnNonExistentVertexThrows)
+{
+    NavigationMesh nav;
+    const Vector3<float> v{99.f, 99.f, 99.f};
+    EXPECT_THROW(nav.set_event(v, "jump"), std::invalid_argument);
+}
+
+TEST(NavigationMeshTests, EventNotSetByDefault)
+{
+    NavigationMesh nav;
+    const Vector3<float> v{0.f, 0.f, 0.f};
+    nav.m_vertex_map.emplace(v, std::vector<Vector3<float>>{});
+
+    EXPECT_FALSE(nav.get_event(v).has_value());
+}
+
+TEST(NavigationMeshTests, SetAndGetEvent)
+{
+    NavigationMesh nav;
+    const Vector3<float> v{1.f, 0.f, 0.f};
+    nav.m_vertex_map.emplace(v, std::vector<Vector3<float>>{});
+    nav.set_event(v, "jump");
+
+    const auto event = nav.get_event(v);
+    ASSERT_TRUE(event.has_value());
+    EXPECT_EQ(event.value(), "jump");
+}
+
+TEST(NavigationMeshTests, OverwriteEvent)
+{
+    NavigationMesh nav;
+    const Vector3<float> v{1.f, 0.f, 0.f};
+    nav.m_vertex_map.emplace(v, std::vector<Vector3<float>>{});
+    nav.set_event(v, "jump");
+    nav.set_event(v, "teleport");
+
+    EXPECT_EQ(nav.get_event(v).value(), "teleport");
+}
+
+TEST(NavigationMeshTests, ClearEvent)
+{
+    NavigationMesh nav;
+    const Vector3<float> v{1.f, 0.f, 0.f};
+    nav.m_vertex_map.emplace(v, std::vector<Vector3<float>>{});
+    nav.set_event(v, "jump");
+    nav.clear_event(v);
+
+    EXPECT_FALSE(nav.get_event(v).has_value());
+}
+
+TEST(NavigationMeshTests, EventRoundTripSerialization)
+{
+    NavigationMesh nav;
+    const Vector3<float> a{0.f, 0.f, 0.f};
+    const Vector3<float> b{1.f, 0.f, 0.f};
+    nav.m_vertex_map.emplace(a, std::vector<Vector3<float>>{b});
+    nav.m_vertex_map.emplace(b, std::vector<Vector3<float>>{});
+    nav.set_event(b, "jump");
+
+    NavigationMesh nav2;
+    nav2.deserialize(nav.serialize());
+
+    ASSERT_FALSE(nav2.get_event(a).has_value());
+    ASSERT_TRUE(nav2.get_event(b).has_value());
+    EXPECT_EQ(nav2.get_event(b).value(), "jump");
+}
+
+TEST(NavigationMeshTests, MultipleEventsRoundTrip)
+{
+    NavigationMesh nav;
+    const Vector3<float> a{0.f, 0.f, 0.f};
+    const Vector3<float> b{1.f, 0.f, 0.f};
+    const Vector3<float> c{2.f, 0.f, 0.f};
+    nav.m_vertex_map.emplace(a, std::vector<Vector3<float>>{});
+    nav.m_vertex_map.emplace(b, std::vector<Vector3<float>>{});
+    nav.m_vertex_map.emplace(c, std::vector<Vector3<float>>{});
+    nav.set_event(a, "spawn");
+    nav.set_event(c, "teleport");
+
+    NavigationMesh nav2;
+    nav2.deserialize(nav.serialize());
+
+    EXPECT_EQ(nav2.get_event(a).value(), "spawn");
+    EXPECT_FALSE(nav2.get_event(b).has_value());
+    EXPECT_EQ(nav2.get_event(c).value(), "teleport");
+}
+
+TEST(NavigationMeshTests, DeserializeClearsOldEvents)
+{
+    NavigationMesh nav;
+    const Vector3<float> v{0.f, 0.f, 0.f};
+    nav.m_vertex_map.emplace(v, std::vector<Vector3<float>>{});
+    nav.set_event(v, "jump");
+
+    // Deserialize a mesh that has no events
+    NavigationMesh empty_events;
+    empty_events.m_vertex_map.emplace(v, std::vector<Vector3<float>>{});
+
+    nav.deserialize(empty_events.serialize());
+    EXPECT_FALSE(nav.get_event(v).has_value());
+}

tests/general/unit_test_physx_colliders.cpp

@@ -0,0 +1,341 @@
+//
+// Created by orange-cpp
+//
+#ifdef OMATH_ENABLE_PHYSX
+
+#include <gtest/gtest.h>
+#include <omath/collision/gjk_algorithm.hpp>
+#include <omath/collision/physx_box_collider.hpp>
+#include <omath/collision/physx_rigid_body.hpp>
+#include <omath/collision/physx_sphere_collider.hpp>
+#include <omath/collision/physx_world.hpp>
+
+using namespace omath::collision;
+using omath::Vector3;
+
+// ─── PhysXBoxCollider ────────────────────────────────────────────────────────
+
+TEST(PhysXBoxCollider, DefaultOriginIsZero)
+{
+    PhysXBoxCollider box({1.f, 1.f, 1.f});
+    EXPECT_EQ(box.get_origin(), Vector3<float>(0.f, 0.f, 0.f));
+}
+
+TEST(PhysXBoxCollider, SetAndGetOrigin)
+{
+    PhysXBoxCollider box({1.f, 1.f, 1.f}, {3.f, 4.f, 5.f});
+    EXPECT_EQ(box.get_origin(), Vector3<float>(3.f, 4.f, 5.f));
+
+    box.set_origin({-1.f, 0.f, 2.f});
+    EXPECT_EQ(box.get_origin(), Vector3<float>(-1.f, 0.f, 2.f));
+}
+
+TEST(PhysXBoxCollider, FurthestPointPositiveDirection)
+{
+    // Box centred at origin with half-extents (2, 3, 4).
+    // Direction (+x, +y, +z) → furthest corner is (+2, +3, +4).
+    PhysXBoxCollider box({2.f, 3.f, 4.f});
+    const auto p = box.find_abs_furthest_vertex_position({1.f, 1.f, 1.f});
+    EXPECT_FLOAT_EQ(p.x, 2.f);
+    EXPECT_FLOAT_EQ(p.y, 3.f);
+    EXPECT_FLOAT_EQ(p.z, 4.f);
+}
+
+TEST(PhysXBoxCollider, FurthestPointNegativeDirection)
+{
+    // Direction (-x, -y, -z) → furthest corner is (-2, -3, -4).
+    PhysXBoxCollider box({2.f, 3.f, 4.f});
+    const auto p = box.find_abs_furthest_vertex_position({-1.f, -1.f, -1.f});
+    EXPECT_FLOAT_EQ(p.x, -2.f);
+    EXPECT_FLOAT_EQ(p.y, -3.f);
+    EXPECT_FLOAT_EQ(p.z, -4.f);
+}
+
+TEST(PhysXBoxCollider, FurthestPointMixedDirection)
+{
+    // Direction (+x, -y, +z) → furthest corner is (+2, -3, +4).
+    PhysXBoxCollider box({2.f, 3.f, 4.f});
+    const auto p = box.find_abs_furthest_vertex_position({1.f, -1.f, 1.f});
+    EXPECT_FLOAT_EQ(p.x,  2.f);
+    EXPECT_FLOAT_EQ(p.y, -3.f);
+    EXPECT_FLOAT_EQ(p.z,  4.f);
+}
+
+TEST(PhysXBoxCollider, FurthestPointWithNonZeroOrigin)
+{
+    // Box at (10, 0, 0), half-extents (1, 1, 1). Direction +x → (11, 1, 1).
+    PhysXBoxCollider box({1.f, 1.f, 1.f}, {10.f, 0.f, 0.f});
+    const auto p = box.find_abs_furthest_vertex_position({1.f, 1.f, 1.f});
+    EXPECT_FLOAT_EQ(p.x, 11.f);
+    EXPECT_FLOAT_EQ(p.y,  1.f);
+    EXPECT_FLOAT_EQ(p.z,  1.f);
+}
+
+TEST(PhysXBoxCollider, SetHalfExtentsUpdatesGeometry)
+{
+    PhysXBoxCollider box({1.f, 1.f, 1.f});
+    box.set_half_extents({5.f, 6.f, 7.f});
+
+    const auto& he = box.get_geometry().halfExtents;
+    EXPECT_FLOAT_EQ(he.x, 5.f);
+    EXPECT_FLOAT_EQ(he.y, 6.f);
+    EXPECT_FLOAT_EQ(he.z, 7.f);
+
+    // Furthest vertex must reflect the new extents.
+    const auto p = box.find_abs_furthest_vertex_position({1.f, 1.f, 1.f});
+    EXPECT_FLOAT_EQ(p.x, 5.f);
+    EXPECT_FLOAT_EQ(p.y, 6.f);
+    EXPECT_FLOAT_EQ(p.z, 7.f);
+}
+
+// ─── PhysXSphereCollider ─────────────────────────────────────────────────────
+
+TEST(PhysXSphereCollider, DefaultOriginIsZero)
+{
+    PhysXSphereCollider sphere(1.f);
+    EXPECT_EQ(sphere.get_origin(), Vector3<float>(0.f, 0.f, 0.f));
+}
+
+TEST(PhysXSphereCollider, SetAndGetOrigin)
+{
+    PhysXSphereCollider sphere(1.f, {1.f, 2.f, 3.f});
+    EXPECT_EQ(sphere.get_origin(), Vector3<float>(1.f, 2.f, 3.f));
+
+    sphere.set_origin({-5.f, 0.f, 0.f});
+    EXPECT_EQ(sphere.get_origin(), Vector3<float>(-5.f, 0.f, 0.f));
+}
+
+TEST(PhysXSphereCollider, FurthestPointAlongPureXAxis)
+{
+    // Direction (1,0,0), radius 3 → furthest point is (3, 0, 0).
+    PhysXSphereCollider sphere(3.f);
+    const auto p = sphere.find_abs_furthest_vertex_position({1.f, 0.f, 0.f});
+    EXPECT_FLOAT_EQ(p.x, 3.f);
+    EXPECT_FLOAT_EQ(p.y, 0.f);
+    EXPECT_FLOAT_EQ(p.z, 0.f);
+}
+
+TEST(PhysXSphereCollider, FurthestPointAlongDiagonal)
+{
+    // Direction (1,1,0), radius 1 → furthest point at distance 1 from origin.
+    PhysXSphereCollider sphere(1.f);
+    const auto p = sphere.find_abs_furthest_vertex_position({1.f, 1.f, 0.f});
+    const float dist = std::sqrt(p.x * p.x + p.y * p.y + p.z * p.z);
+    EXPECT_NEAR(dist, 1.f, 1e-5f);
+}
+
+TEST(PhysXSphereCollider, FurthestPointWithNonZeroOrigin)
+{
+    // Sphere at (5, 0, 0), radius 2. Direction +x → (7, 0, 0).
+    PhysXSphereCollider sphere(2.f, {5.f, 0.f, 0.f});
+    const auto p = sphere.find_abs_furthest_vertex_position({1.f, 0.f, 0.f});
+    EXPECT_FLOAT_EQ(p.x, 7.f);
+    EXPECT_FLOAT_EQ(p.y, 0.f);
+    EXPECT_FLOAT_EQ(p.z, 0.f);
+}
+
+TEST(PhysXSphereCollider, ZeroDirectionReturnsOrigin)
+{
+    PhysXSphereCollider sphere(5.f, {1.f, 2.f, 3.f});
+    const auto p = sphere.find_abs_furthest_vertex_position({0.f, 0.f, 0.f});
+    EXPECT_EQ(p, sphere.get_origin());
+}
+
+TEST(PhysXSphereCollider, SetRadiusUpdatesGeometry)
+{
+    PhysXSphereCollider sphere(1.f);
+    sphere.set_radius(10.f);
+    EXPECT_FLOAT_EQ(sphere.get_radius(), 10.f);
+
+    // Furthest point along +x should now be at x = 10.
+    const auto p = sphere.find_abs_furthest_vertex_position({1.f, 0.f, 0.f});
+    EXPECT_FLOAT_EQ(p.x, 10.f);
+}
+
+// ─── GJK: Box vs Box ─────────────────────────────────────────────────────────
+
+using GjkBox    = omath::collision::GjkAlgorithm<PhysXBoxCollider>;
+using GjkSphere = omath::collision::GjkAlgorithm<PhysXSphereCollider>;
+
+TEST(PhysXBoxGjk, CollidingOverlap)
+{
+    // Two unit boxes: A at origin, B shifted by 0.5 — clearly overlapping.
+    const PhysXBoxCollider a({1.f, 1.f, 1.f});
+    const PhysXBoxCollider b({1.f, 1.f, 1.f}, {0.5f, 0.f, 0.f});
+    EXPECT_TRUE(GjkBox::is_collide(a, b));
+}
+
+TEST(PhysXBoxGjk, NotCollidingTouching)
+{
+    // Boxes exactly touching on the +X face: A[-1,1] and B[1,3] along X.
+    // GJK treats boundary contact (Minkowski difference passes through origin) as non-collision.
+    const PhysXBoxCollider a({1.f, 1.f, 1.f});
+    const PhysXBoxCollider b({1.f, 1.f, 1.f}, {2.f, 0.f, 0.f});
+    EXPECT_FALSE(GjkBox::is_collide(a, b));
+}
+
+TEST(PhysXBoxGjk, CollidingSlightOverlap)
+{
+    // Boxes overlapping by 0.1 along X: A[-1,1] and B[0.9,2.9].
+    const PhysXBoxCollider a({1.f, 1.f, 1.f});
+    const PhysXBoxCollider b({1.f, 1.f, 1.f}, {1.9f, 0.f, 0.f});
+    EXPECT_TRUE(GjkBox::is_collide(a, b));
+}
+
+TEST(PhysXBoxGjk, NotCollidingSeparated)
+{
+    // Boxes separated by a gap: A[-1,1] and B[3,5] along X.
+    const PhysXBoxCollider a({1.f, 1.f, 1.f});
+    const PhysXBoxCollider b({1.f, 1.f, 1.f}, {4.f, 0.f, 0.f});
+    EXPECT_FALSE(GjkBox::is_collide(a, b));
+}
+
+TEST(PhysXBoxGjk, CollidingSameOrigin)
+{
+    // Same position — fully overlapping.
+    const PhysXBoxCollider a({1.f, 1.f, 1.f});
+    const PhysXBoxCollider b({1.f, 1.f, 1.f});
+    EXPECT_TRUE(GjkBox::is_collide(a, b));
+}
+
+TEST(PhysXBoxGjk, NotCollidingDiagonalSeparation)
+{
+    // Boxes separated along a diagonal so no axis-aligned faces overlap.
+    const PhysXBoxCollider a({1.f, 1.f, 1.f});
+    const PhysXBoxCollider b({1.f, 1.f, 1.f}, {3.f, 3.f, 3.f});
+    EXPECT_FALSE(GjkBox::is_collide(a, b));
+}
+
+TEST(PhysXBoxGjk, DifferentSizesColliding)
+{
+    // Large box vs small box inside it.
+    const PhysXBoxCollider large({5.f, 5.f, 5.f});
+    const PhysXBoxCollider small_box({1.f, 1.f, 1.f}, {2.f, 0.f, 0.f});
+    EXPECT_TRUE(GjkBox::is_collide(large, small_box));
+}
+
+// ─── GJK: Sphere vs Sphere ───────────────────────────────────────────────────
+
+TEST(PhysXSphereGjk, CollidingOverlap)
+{
+    // Radii 1 each, centres 1 apart — overlapping.
+    const PhysXSphereCollider a(1.f);
+    const PhysXSphereCollider b(1.f, {1.f, 0.f, 0.f});
+    EXPECT_TRUE(GjkSphere::is_collide(a, b));
+}
+
+TEST(PhysXSphereGjk, CollidingSameOrigin)
+{
+    const PhysXSphereCollider a(1.f);
+    const PhysXSphereCollider b(1.f);
+    EXPECT_TRUE(GjkSphere::is_collide(a, b));
+}
+
+TEST(PhysXSphereGjk, NotCollidingSeparated)
+{
+    // Radii 1 each, centres 3 apart — gap of 1.
+    const PhysXSphereCollider a(1.f);
+    const PhysXSphereCollider b(1.f, {3.f, 0.f, 0.f});
+    EXPECT_FALSE(GjkSphere::is_collide(a, b));
+}
+
+TEST(PhysXSphereGjk, DifferentRadiiColliding)
+{
+    // r=2 and r=1, centres 2.5 apart — still overlapping.
+    const PhysXSphereCollider a(2.f);
+    const PhysXSphereCollider b(1.f, {2.5f, 0.f, 0.f});
+    EXPECT_TRUE(GjkSphere::is_collide(a, b));
+}
+
+TEST(PhysXSphereGjk, DifferentRadiiNotColliding)
+{
+    // r=1 and r=1, centres 5 apart — separated.
+    const PhysXSphereCollider a(1.f);
+    const PhysXSphereCollider b(1.f, {5.f, 0.f, 0.f});
+    EXPECT_FALSE(GjkSphere::is_collide(a, b));
+}
+
+// ─── PhysX simulation-based collision resolution ─────────────────────────────
+
+// Helper: step the world N times with a fixed dt.
+static void step_n(omath::collision::PhysXWorld& world, int n, float dt = 1.f / 60.f)
+{
+    for (int i = 0; i < n; ++i)
+        world.step(dt);
+}
+
+TEST(PhysXSimulation, BoxFallsAndStopsOnGround)
+{
+    // A box dropped from y=5 should come to rest at y≈0.5 (half-extent) above the ground plane.
+    omath::collision::PhysXWorld world;
+    world.add_ground_plane(0.f);
+
+    omath::collision::PhysXRigidBody box(world, physx::PxBoxGeometry(0.5f, 0.5f, 0.5f),
+                                         {0.f, 5.f, 0.f});
+
+    step_n(world, 300); // ~5 simulated seconds
+
+    EXPECT_NEAR(box.get_origin().y, 0.5f, 0.05f);
+}
+
+TEST(PhysXSimulation, SphereFallsAndStopsOnGround)
+{
+    // A sphere of radius 1 dropped from y=5 should rest at y≈1.
+    omath::collision::PhysXWorld world;
+    world.add_ground_plane(0.f);
+
+    omath::collision::PhysXRigidBody sphere(world, physx::PxSphereGeometry(1.f),
+                                            {0.f, 5.f, 0.f});
+
+    step_n(world, 300);
+
+    EXPECT_NEAR(sphere.get_origin().y, 1.f, 0.05f);
+}
+
+TEST(PhysXSimulation, TwoBoxesCollideSeparate)
+{
+    // Two boxes launched toward each other — after collision they must be
+    // further apart than their combined half-extents (no overlap).
+    omath::collision::PhysXWorld world({0.f, 0.f, 0.f}); // no gravity
+
+    omath::collision::PhysXRigidBody left (world, physx::PxBoxGeometry(0.5f, 0.5f, 0.5f), {-3.f, 0.f, 0.f});
+    omath::collision::PhysXRigidBody right(world, physx::PxBoxGeometry(0.5f, 0.5f, 0.5f), { 3.f, 0.f, 0.f});
+
+    left.set_linear_velocity({ 5.f, 0.f, 0.f});
+    right.set_linear_velocity({-5.f, 0.f, 0.f});
+
+    step_n(world, 120); // 2 simulated seconds
+
+    const float distance = right.get_origin().x - left.get_origin().x;
+    // Boxes must not be overlapping (combined extents = 1.0).
+    EXPECT_GE(distance, 1.0f);
+}
+
+TEST(PhysXSimulation, BoxGetOriginMatchesSetOrigin)
+{
+    // Kinematic teleport — set_origin must immediately reflect in get_origin.
+    omath::collision::PhysXWorld world;
+    omath::collision::PhysXRigidBody box(world, physx::PxBoxGeometry(1.f, 1.f, 1.f));
+    box.set_kinematic(true);
+
+    box.set_origin({7.f, 3.f, -2.f});
+
+    EXPECT_NEAR(box.get_origin().x,  7.f, 1e-4f);
+    EXPECT_NEAR(box.get_origin().y,  3.f, 1e-4f);
+    EXPECT_NEAR(box.get_origin().z, -2.f, 1e-4f);
+}
+
+TEST(PhysXSimulation, BoxFallsUnderGravity)
+{
+    // Without a floor, a box should be lower after simulation than its start.
+    omath::collision::PhysXWorld world; // default gravity -9.81 Y
+    omath::collision::PhysXRigidBody box(world, physx::PxBoxGeometry(0.5f, 0.5f, 0.5f),
+                                         {0.f, 10.f, 0.f});
+
+    const float y_start = box.get_origin().y;
+    step_n(world, 60); // 1 simulated second
+
+    EXPECT_LT(box.get_origin().y, y_start);
+}
+
+#endif // OMATH_ENABLE_PHYSX

tests/general/unit_test_quaternion.cpp

@@ -0,0 +1,402 @@
+//
+// Created by vlad on 3/1/2026.
+//
+#include <omath/linear_algebra/quaternion.hpp>
+#include <cmath>
+#include <gtest/gtest.h>
+#include <numbers>
+
+using namespace omath;
+
+static constexpr float kEps = 1e-5f;
+
+// ── Helpers ──────────────────────────────────────────────────────────────────
+
+static void expect_quat_near(const Quaternion<float>& a, const Quaternion<float>& b, float eps = kEps)
+{
+    EXPECT_NEAR(a.x, b.x, eps);
+    EXPECT_NEAR(a.y, b.y, eps);
+    EXPECT_NEAR(a.z, b.z, eps);
+    EXPECT_NEAR(a.w, b.w, eps);
+}
+
+static void expect_vec3_near(const Vector3<float>& a, const Vector3<float>& b, float eps = kEps)
+{
+    EXPECT_NEAR(a.x, b.x, eps);
+    EXPECT_NEAR(a.y, b.y, eps);
+    EXPECT_NEAR(a.z, b.z, eps);
+}
+
+// ── Constructors ─────────────────────────────────────────────────────────────
+
+TEST(Quaternion, DefaultConstructorIsIdentity)
+{
+    constexpr Quaternion<float> q;
+    EXPECT_FLOAT_EQ(q.x, 0.f);
+    EXPECT_FLOAT_EQ(q.y, 0.f);
+    EXPECT_FLOAT_EQ(q.z, 0.f);
+    EXPECT_FLOAT_EQ(q.w, 1.f);
+}
+
+TEST(Quaternion, ValueConstructor)
+{
+    constexpr Quaternion<float> q{1.f, 2.f, 3.f, 4.f};
+    EXPECT_FLOAT_EQ(q.x, 1.f);
+    EXPECT_FLOAT_EQ(q.y, 2.f);
+    EXPECT_FLOAT_EQ(q.z, 3.f);
+    EXPECT_FLOAT_EQ(q.w, 4.f);
+}
+
+TEST(Quaternion, DoubleInstantiation)
+{
+    constexpr Quaternion<double> q{0.0, 0.0, 0.0, 1.0};
+    EXPECT_DOUBLE_EQ(q.w, 1.0);
+}
+
+// ── Equality ─────────────────────────────────────────────────────────────────
+
+TEST(Quaternion, EqualityOperators)
+{
+    constexpr Quaternion<float> a{1.f, 2.f, 3.f, 4.f};
+    constexpr Quaternion<float> b{1.f, 2.f, 3.f, 4.f};
+    constexpr Quaternion<float> c{1.f, 2.f, 3.f, 5.f};
+
+    EXPECT_TRUE(a == b);
+    EXPECT_FALSE(a == c);
+    EXPECT_FALSE(a != b);
+    EXPECT_TRUE(a != c);
+}
+
+// ── Arithmetic ───────────────────────────────────────────────────────────────
+
+TEST(Quaternion, ScalarMultiply)
+{
+    constexpr Quaternion<float> q{1.f, 2.f, 3.f, 4.f};
+    constexpr auto r = q * 2.f;
+    EXPECT_FLOAT_EQ(r.x, 2.f);
+    EXPECT_FLOAT_EQ(r.y, 4.f);
+    EXPECT_FLOAT_EQ(r.z, 6.f);
+    EXPECT_FLOAT_EQ(r.w, 8.f);
+}
+
+TEST(Quaternion, ScalarMultiplyAssign)
+{
+    Quaternion<float> q{1.f, 2.f, 3.f, 4.f};
+    q *= 3.f;
+    EXPECT_FLOAT_EQ(q.x, 3.f);
+    EXPECT_FLOAT_EQ(q.y, 6.f);
+    EXPECT_FLOAT_EQ(q.z, 9.f);
+    EXPECT_FLOAT_EQ(q.w, 12.f);
+}
+
+TEST(Quaternion, Addition)
+{
+    constexpr Quaternion<float> a{1.f, 2.f, 3.f, 4.f};
+    constexpr Quaternion<float> b{4.f, 3.f, 2.f, 1.f};
+    constexpr auto r = a + b;
+    EXPECT_FLOAT_EQ(r.x, 5.f);
+    EXPECT_FLOAT_EQ(r.y, 5.f);
+    EXPECT_FLOAT_EQ(r.z, 5.f);
+    EXPECT_FLOAT_EQ(r.w, 5.f);
+}
+
+TEST(Quaternion, AdditionAssign)
+{
+    Quaternion<float> a{1.f, 0.f, 0.f, 0.f};
+    const Quaternion<float> b{0.f, 1.f, 0.f, 0.f};
+    a += b;
+    EXPECT_FLOAT_EQ(a.x, 1.f);
+    EXPECT_FLOAT_EQ(a.y, 1.f);
+}
+
+TEST(Quaternion, UnaryNegation)
+{
+    constexpr Quaternion<float> q{1.f, -2.f, 3.f, -4.f};
+    constexpr auto r = -q;
+    EXPECT_FLOAT_EQ(r.x, -1.f);
+    EXPECT_FLOAT_EQ(r.y,  2.f);
+    EXPECT_FLOAT_EQ(r.z, -3.f);
+    EXPECT_FLOAT_EQ(r.w,  4.f);
+}
+
+// ── Hamilton product ──────────────────────────────────────────────────────────
+
+TEST(Quaternion, MultiplyByIdentityIsNoop)
+{
+    constexpr Quaternion<float> identity;
+    constexpr Quaternion<float> q{0.5f, 0.5f, 0.5f, 0.5f};
+    expect_quat_near(q * identity, q);
+    expect_quat_near(identity * q, q);
+}
+
+TEST(Quaternion, MultiplyAssign)
+{
+    constexpr Quaternion<float> identity;
+    Quaternion<float> q{0.5f, 0.5f, 0.5f, 0.5f};
+    q *= identity;
+    expect_quat_near(q, {0.5f, 0.5f, 0.5f, 0.5f});
+}
+
+TEST(Quaternion, MultiplyKnownResult)
+{
+    // i * j = k  →  (1,0,0,0) * (0,1,0,0) = (0,0,1,0)
+    constexpr Quaternion<float> i{1.f, 0.f, 0.f, 0.f};
+    constexpr Quaternion<float> j{0.f, 1.f, 0.f, 0.f};
+    constexpr auto k = i * j;
+    EXPECT_FLOAT_EQ(k.x, 0.f);
+    EXPECT_FLOAT_EQ(k.y, 0.f);
+    EXPECT_FLOAT_EQ(k.z, 1.f);
+    EXPECT_FLOAT_EQ(k.w, 0.f);
+}
+
+TEST(Quaternion, MultiplyByInverseGivesIdentity)
+{
+    const Quaternion<float> q = Quaternion<float>::from_axis_angle({0.f, 0.f, 1.f},
+                                                                     std::numbers::pi_v<float> / 3.f);
+    const auto result = q * q.inverse();
+    expect_quat_near(result, Quaternion<float>{});
+}
+
+// ── Conjugate ────────────────────────────────────────────────────────────────
+
+TEST(Quaternion, Conjugate)
+{
+    constexpr Quaternion<float> q{1.f, 2.f, 3.f, 4.f};
+    constexpr auto c = q.conjugate();
+    EXPECT_FLOAT_EQ(c.x, -1.f);
+    EXPECT_FLOAT_EQ(c.y, -2.f);
+    EXPECT_FLOAT_EQ(c.z, -3.f);
+    EXPECT_FLOAT_EQ(c.w,  4.f);
+}
+
+TEST(Quaternion, ConjugateOfIdentityIsIdentity)
+{
+    constexpr Quaternion<float> id;
+    constexpr auto c = id.conjugate();
+    EXPECT_FLOAT_EQ(c.x, 0.f);
+    EXPECT_FLOAT_EQ(c.y, 0.f);
+    EXPECT_FLOAT_EQ(c.z, 0.f);
+    EXPECT_FLOAT_EQ(c.w, 1.f);
+}
+
+// ── Dot / length ─────────────────────────────────────────────────────────────
+
+TEST(Quaternion, Dot)
+{
+    constexpr Quaternion<float> a{1.f, 0.f, 0.f, 0.f};
+    constexpr Quaternion<float> b{0.f, 1.f, 0.f, 0.f};
+    EXPECT_FLOAT_EQ(a.dot(b), 0.f);
+    EXPECT_FLOAT_EQ(a.dot(a), 1.f);
+}
+
+TEST(Quaternion, LengthSqrIdentity)
+{
+    constexpr Quaternion<float> id;
+    EXPECT_FLOAT_EQ(id.length_sqr(), 1.f);
+}
+
+TEST(Quaternion, LengthSqrGeneral)
+{
+    constexpr Quaternion<float> q{1.f, 2.f, 3.f, 4.f};
+    EXPECT_FLOAT_EQ(q.length_sqr(), 30.f);
+}
+
+TEST(Quaternion, LengthIdentity)
+{
+    const Quaternion<float> id;
+    EXPECT_NEAR(id.length(), 1.f, kEps);
+}
+
+TEST(Quaternion, Normalized)
+{
+    const Quaternion<float> q{1.f, 1.f, 1.f, 1.f};
+    const auto n = q.normalized();
+    EXPECT_NEAR(n.length(), 1.f, kEps);
+    EXPECT_NEAR(n.x, 0.5f, kEps);
+    EXPECT_NEAR(n.y, 0.5f, kEps);
+    EXPECT_NEAR(n.z, 0.5f, kEps);
+    EXPECT_NEAR(n.w, 0.5f, kEps);
+}
+
+TEST(Quaternion, NormalizedOfZeroLengthReturnsSelf)
+{
+    // length_sqr = 0 would be UB, but zero-vector part + zero w is degenerate;
+    // we just verify the guard branch (divides by zero) doesn't crash by
+    // keeping length > 0 via the default constructor path.
+    const Quaternion<float> unit;
+    const auto n = unit.normalized();
+    expect_quat_near(n, unit);
+}
+
+// ── Inverse ───────────────────────────────────────────────────────────────────
+
+TEST(Quaternion, InverseOfUnitIsConjugate)
+{
+    const Quaternion<float> q = Quaternion<float>::from_axis_angle({1.f, 0.f, 0.f},
+                                                                     std::numbers::pi_v<float> / 4.f);
+    const auto inv = q.inverse();
+    const auto conj = q.conjugate();
+    expect_quat_near(inv, conj);
+}
+
+// ── from_axis_angle ──────────────────────────────────────────────────────────
+
+TEST(Quaternion, FromAxisAngleZeroAngleIsIdentity)
+{
+    const auto q = Quaternion<float>::from_axis_angle({1.f, 0.f, 0.f}, 0.f);
+    EXPECT_NEAR(q.x, 0.f, kEps);
+    EXPECT_NEAR(q.y, 0.f, kEps);
+    EXPECT_NEAR(q.z, 0.f, kEps);
+    EXPECT_NEAR(q.w, 1.f, kEps);
+}
+
+TEST(Quaternion, FromAxisAngle90DegZ)
+{
+    const float half_pi = std::numbers::pi_v<float> / 2.f;
+    const auto q = Quaternion<float>::from_axis_angle({0.f, 0.f, 1.f}, half_pi);
+    const float s = std::sin(half_pi / 2.f);
+    const float c = std::cos(half_pi / 2.f);
+    EXPECT_NEAR(q.x, 0.f, kEps);
+    EXPECT_NEAR(q.y, 0.f, kEps);
+    EXPECT_NEAR(q.z, s,   kEps);
+    EXPECT_NEAR(q.w, c,   kEps);
+}
+
+// ── rotate ───────────────────────────────────────────────────────────────────
+
+TEST(Quaternion, RotateByIdentityIsNoop)
+{
+    constexpr Quaternion<float> id;
+    constexpr Vector3<float> v{1.f, 2.f, 3.f};
+    const auto r = id.rotate(v);
+    expect_vec3_near(r, v);
+}
+
+TEST(Quaternion, Rotate90DegAroundZ)
+{
+    // Rotating (1,0,0) by 90° around Z should give (0,1,0)
+    const auto q = Quaternion<float>::from_axis_angle({0.f, 0.f, 1.f}, std::numbers::pi_v<float> / 2.f);
+    const auto r = q.rotate({1.f, 0.f, 0.f});
+    expect_vec3_near(r, {0.f, 1.f, 0.f});
+}
+
+TEST(Quaternion, Rotate180DegAroundY)
+{
+    // Rotating (1,0,0) by 180° around Y should give (-1,0,0)
+    const auto q = Quaternion<float>::from_axis_angle({0.f, 1.f, 0.f}, std::numbers::pi_v<float>);
+    const auto r = q.rotate({1.f, 0.f, 0.f});
+    expect_vec3_near(r, {-1.f, 0.f, 0.f});
+}
+
+TEST(Quaternion, Rotate90DegAroundX)
+{
+    // Rotating (0,1,0) by 90° around X should give (0,0,1)
+    const auto q = Quaternion<float>::from_axis_angle({1.f, 0.f, 0.f}, std::numbers::pi_v<float> / 2.f);
+    const auto r = q.rotate({0.f, 1.f, 0.f});
+    expect_vec3_near(r, {0.f, 0.f, 1.f});
+}
+
+// ── to_rotation_matrix3 ───────────────────────────────────────────────────────
+
+TEST(Quaternion, RotationMatrix3FromIdentityIsIdentityMatrix)
+{
+    constexpr Quaternion<float> id;
+    constexpr auto m = id.to_rotation_matrix3();
+    for (size_t i = 0; i < 3; ++i)
+        for (size_t j = 0; j < 3; ++j)
+            EXPECT_NEAR(m.at(i, j), i == j ? 1.f : 0.f, kEps);
+}
+
+TEST(Quaternion, RotationMatrix3From90DegZ)
+{
+    //  Expected:  | 0 -1  0 |
+    //             | 1  0  0 |
+    //             | 0  0  1 |
+    const auto q = Quaternion<float>::from_axis_angle({0.f, 0.f, 1.f}, std::numbers::pi_v<float> / 2.f);
+    const auto m = q.to_rotation_matrix3();
+    EXPECT_NEAR(m.at(0, 0),  0.f, kEps);
+    EXPECT_NEAR(m.at(0, 1), -1.f, kEps);
+    EXPECT_NEAR(m.at(0, 2),  0.f, kEps);
+    EXPECT_NEAR(m.at(1, 0),  1.f, kEps);
+    EXPECT_NEAR(m.at(1, 1),  0.f, kEps);
+    EXPECT_NEAR(m.at(1, 2),  0.f, kEps);
+    EXPECT_NEAR(m.at(2, 0),  0.f, kEps);
+    EXPECT_NEAR(m.at(2, 1),  0.f, kEps);
+    EXPECT_NEAR(m.at(2, 2),  1.f, kEps);
+}
+
+TEST(Quaternion, RotationMatrix3ConsistentWithRotate)
+{
+    // Matrix-vector multiply must agree with the rotate() method
+    const auto q = Quaternion<float>::from_axis_angle({1.f, 1.f, 0.f}, std::numbers::pi_v<float> / 3.f);
+    const Vector3<float> v{2.f, -1.f, 0.5f};
+
+    const auto rotated = q.rotate(v);
+    const auto m = q.to_rotation_matrix3();
+
+    // manual mat-vec multiply (row-major)
+    const float rx = m.at(0, 0) * v.x + m.at(0, 1) * v.y + m.at(0, 2) * v.z;
+    const float ry = m.at(1, 0) * v.x + m.at(1, 1) * v.y + m.at(1, 2) * v.z;
+    const float rz = m.at(2, 0) * v.x + m.at(2, 1) * v.y + m.at(2, 2) * v.z;
+
+    EXPECT_NEAR(rotated.x, rx, kEps);
+    EXPECT_NEAR(rotated.y, ry, kEps);
+    EXPECT_NEAR(rotated.z, rz, kEps);
+}
+
+// ── to_rotation_matrix4 ───────────────────────────────────────────────────────
+
+TEST(Quaternion, RotationMatrix4FromIdentityIsIdentityMatrix)
+{
+    constexpr Quaternion<float> id;
+    constexpr auto m = id.to_rotation_matrix4();
+    for (size_t i = 0; i < 4; ++i)
+        for (size_t j = 0; j < 4; ++j)
+            EXPECT_NEAR(m.at(i, j), i == j ? 1.f : 0.f, kEps);
+}
+
+TEST(Quaternion, RotationMatrix4HomogeneousRowAndColumn)
+{
+    const auto q = Quaternion<float>::from_axis_angle({1.f, 0.f, 0.f}, std::numbers::pi_v<float> / 5.f);
+    const auto m = q.to_rotation_matrix4();
+
+    // Last row and last column must be (0,0,0,1)
+    for (size_t i = 0; i < 3; ++i)
+    {
+        EXPECT_NEAR(m.at(3, i), 0.f, kEps);
+        EXPECT_NEAR(m.at(i, 3), 0.f, kEps);
+    }
+    EXPECT_NEAR(m.at(3, 3), 1.f, kEps);
+}
+
+TEST(Quaternion, RotationMatrix4Upper3x3MatchesMatrix3)
+{
+    const auto q = Quaternion<float>::from_axis_angle({0.f, 1.f, 0.f}, std::numbers::pi_v<float> / 7.f);
+    const auto m3 = q.to_rotation_matrix3();
+    const auto m4 = q.to_rotation_matrix4();
+
+    for (size_t i = 0; i < 3; ++i)
+        for (size_t j = 0; j < 3; ++j)
+            EXPECT_NEAR(m4.at(i, j), m3.at(i, j), kEps);
+}
+
+// ── as_array ──────────────────────────────────────────────────────────────────
+
+TEST(Quaternion, AsArray)
+{
+    constexpr Quaternion<float> q{1.f, 2.f, 3.f, 4.f};
+    constexpr auto arr = q.as_array();
+    EXPECT_FLOAT_EQ(arr[0], 1.f);
+    EXPECT_FLOAT_EQ(arr[1], 2.f);
+    EXPECT_FLOAT_EQ(arr[2], 3.f);
+    EXPECT_FLOAT_EQ(arr[3], 4.f);
+}
+
+// ── std::formatter ────────────────────────────────────────────────────────────
+
+TEST(Quaternion, Formatter)
+{
+    const Quaternion<float> q{1.f, 2.f, 3.f, 4.f};
+    const auto s = std::format("{}", q);
+    EXPECT_EQ(s, "[1, 2, 3, 4]");
+}

tests/lua/color_tests.lua

@@ -0,0 +1,96 @@
+local function approx(a, b, eps) return math.abs(a - b) < (eps or 1e-4) end
+
+function Color_Constructor_float()
+    local c = omath.Color.new(1, 0.5, 0.25, 1)
+    assert(approx(c.r, 1) and approx(c.g, 0.5) and approx(c.b, 0.25) and approx(c.a, 1))
+end
+
+function Color_Constructor_default()
+    local c = omath.Color.new()
+    assert(c ~= nil)
+end
+
+function Color_Constructor_clamping()
+    local c = omath.Color.new(2, -1, 0.5, 1)
+    assert(approx(c.r, 1) and approx(c.g, 0) and approx(c.b, 0.5))
+end
+
+function Color_from_rgba()
+    local c = omath.Color.from_rgba(255, 128, 0, 255)
+    assert(approx(c.r, 1) and approx(c.g, 128/255) and approx(c.b, 0) and approx(c.a, 1))
+end
+
+function Color_from_hsv_components()
+    local c = omath.Color.from_hsv(0, 1, 1)
+    assert(approx(c.r, 1) and approx(c.g, 0) and approx(c.b, 0))
+end
+
+function Color_from_hsv_struct()
+    local hsv = omath.Hsv.new()
+    hsv.hue = 0
+    hsv.saturation = 1
+    hsv.value = 1
+    local c = omath.Color.from_hsv(hsv)
+    assert(approx(c.r, 1) and approx(c.g, 0) and approx(c.b, 0))
+end
+
+function Color_red()
+    local c = omath.Color.red()
+    assert(approx(c.r, 1) and approx(c.g, 0) and approx(c.b, 0) and approx(c.a, 1))
+end
+
+function Color_green()
+    local c = omath.Color.green()
+    assert(approx(c.r, 0) and approx(c.g, 1) and approx(c.b, 0) and approx(c.a, 1))
+end
+
+function Color_blue()
+    local c = omath.Color.blue()
+    assert(approx(c.r, 0) and approx(c.g, 0) and approx(c.b, 1) and approx(c.a, 1))
+end
+
+function Color_to_hsv()
+    local hsv = omath.Color.red():to_hsv()
+    assert(approx(hsv.hue, 0) and approx(hsv.saturation, 1) and approx(hsv.value, 1))
+end
+
+function Color_set_hue()
+    local c = omath.Color.red()
+    c:set_hue(1/3)
+    assert(approx(c.g, 1, 1e-3))
+end
+
+function Color_set_saturation()
+    local c = omath.Color.red()
+    c:set_saturation(0)
+    assert(approx(c.r, c.g) and approx(c.g, c.b))
+end
+
+function Color_set_value()
+    local c = omath.Color.red()
+    c:set_value(0)
+    assert(approx(c.r, 0) and approx(c.g, 0) and approx(c.b, 0))
+end
+
+function Color_blend()
+    local c = omath.Color.red():blend(omath.Color.blue(), 0.5)
+    assert(approx(c.r, 0.5) and approx(c.b, 0.5))
+end
+
+function Color_blend_clamped_ratio()
+    local c = omath.Color.red():blend(omath.Color.blue(), 2.0)
+    assert(approx(c.r, 0) and approx(c.b, 1))
+end
+
+function Color_to_string()
+    local s = tostring(omath.Color.red())
+    assert(s == "[r:255, g:0, b:0, a:255]")
+end
+
+function Hsv_fields()
+    local hsv = omath.Hsv.new()
+    hsv.hue = 0.5
+    hsv.saturation = 0.8
+    hsv.value = 0.9
+    assert(approx(hsv.hue, 0.5) and approx(hsv.saturation, 0.8) and approx(hsv.value, 0.9))
+end

tests/lua/pe_scanner_tests.lua

@@ -0,0 +1,66 @@
+-- PatternScanner tests: generic scan over a Lua string buffer
+
+function PatternScanner_FindsExactPattern()
+    local buf = "\x90\x01\x02\x03\x04"
+    local offset = omath.PatternScanner.scan(buf, "90 01 02")
+    assert(offset ~= nil, "expected pattern to be found")
+    assert(offset == 0, "expected offset 0, got " .. tostring(offset))
+end
+
+function PatternScanner_FindsPatternAtNonZeroOffset()
+    local buf = "\x00\x00\xAB\xCD\xEF"
+    local offset = omath.PatternScanner.scan(buf, "AB CD EF")
+    assert(offset ~= nil, "expected pattern to be found")
+    assert(offset == 2, "expected offset 2, got " .. tostring(offset))
+end
+
+function PatternScanner_WildcardMatches()
+    local buf = "\xDE\xAD\xBE\xEF"
+    local offset = omath.PatternScanner.scan(buf, "DE ?? BE")
+    assert(offset ~= nil, "expected wildcard match")
+    assert(offset == 0)
+end
+
+function PatternScanner_ReturnsNilWhenNotFound()
+    local buf = "\x01\x02\x03"
+    local offset = omath.PatternScanner.scan(buf, "AA BB CC")
+    assert(offset == nil, "expected nil for not-found pattern")
+end
+
+function PatternScanner_ReturnsNilForEmptyBuffer()
+    local offset = omath.PatternScanner.scan("", "90 01")
+    assert(offset == nil)
+end
+
+-- PePatternScanner tests: scan_in_module uses FAKE_MODULE_BASE injected from C++
+-- The fake module contains {0x90, 0x01, 0x02, 0x03, 0x04} placed at raw offset 0x200
+
+function PeScanner_FindsExactPattern()
+    local addr = omath.PePatternScanner.scan_in_module(FAKE_MODULE_BASE, "90 01 02")
+    assert(addr ~= nil, "expected pattern to be found in module")
+    local offset = addr - FAKE_MODULE_BASE
+    assert(offset == 0x200, string.format("expected offset 0x200, got 0x%X", offset))
+end
+
+function PeScanner_WildcardMatches()
+    local addr = omath.PePatternScanner.scan_in_module(FAKE_MODULE_BASE, "90 ?? 02")
+    assert(addr ~= nil, "expected wildcard match in module")
+    local offset = addr - FAKE_MODULE_BASE
+    assert(offset == 0x200, string.format("expected offset 0x200, got 0x%X", offset))
+end
+
+function PeScanner_ReturnsNilWhenNotFound()
+    local addr = omath.PePatternScanner.scan_in_module(FAKE_MODULE_BASE, "AA BB CC DD")
+    assert(addr == nil, "expected nil for not-found pattern")
+end
+
+function PeScanner_CustomSectionFallsBackToNil()
+    -- Request a section that doesn't exist in our fake module
+    local addr = omath.PePatternScanner.scan_in_module(FAKE_MODULE_BASE, "90 01 02", ".rdata")
+    assert(addr == nil, "expected nil for wrong section name")
+end
+
+-- SectionScanResult: verify the type is registered and tostring works on a C++-returned value
+function SectionScanResult_TypeIsRegistered()
+    assert(omath.SectionScanResult ~= nil, "SectionScanResult type should be registered")
+end

tests/lua/source_engine_tests.lua

@@ -0,0 +1,197 @@
+local function approx(a, b, eps) return math.abs(a - b) < (eps or 1e-4) end
+
+local function make_camera()
+    local pos    = omath.Vec3.new(0, 0, 0)
+    local pitch  = omath.source.PitchAngle.from_degrees(0)
+    local yaw    = omath.source.YawAngle.from_degrees(0)
+    local roll   = omath.source.RollAngle.from_degrees(0)
+    local angles = omath.source.ViewAngles.new(pitch, yaw, roll)
+    local vp     = omath.opengl.ViewPort.new(1920, 1080)
+    local fov    = omath.source.FieldOfView.from_degrees(90)
+    return omath.source.Camera.new(pos, angles, vp, fov, 0.1, 1000)
+end
+
+-- PitchAngle
+function Source_PitchAngle_from_degrees()
+    assert(omath.source.PitchAngle.from_degrees(45):as_degrees() == 45)
+end
+
+function Source_PitchAngle_clamping_max()
+    assert(omath.source.PitchAngle.from_degrees(100):as_degrees() == 89)
+end
+
+function Source_PitchAngle_clamping_min()
+    assert(omath.source.PitchAngle.from_degrees(-100):as_degrees() == -89)
+end
+
+function Source_PitchAngle_from_radians()
+    assert(approx(omath.source.PitchAngle.from_radians(math.pi / 4):as_degrees(), 45))
+end
+
+function Source_PitchAngle_as_radians()
+    assert(approx(omath.source.PitchAngle.from_degrees(0):as_radians(), 0))
+end
+
+function Source_PitchAngle_sin()
+    assert(approx(omath.source.PitchAngle.from_degrees(30):sin(), 0.5))
+end
+
+function Source_PitchAngle_cos()
+    assert(approx(omath.source.PitchAngle.from_degrees(60):cos(), 0.5))
+end
+
+function Source_PitchAngle_tan()
+    assert(approx(omath.source.PitchAngle.from_degrees(45):tan(), 1.0))
+end
+
+function Source_PitchAngle_addition()
+    local c = omath.source.PitchAngle.from_degrees(20) + omath.source.PitchAngle.from_degrees(15)
+    assert(c:as_degrees() == 35)
+end
+
+function Source_PitchAngle_addition_clamped()
+    local c = omath.source.PitchAngle.from_degrees(80) + omath.source.PitchAngle.from_degrees(20)
+    assert(c:as_degrees() == 89)
+end
+
+function Source_PitchAngle_subtraction()
+    local c = omath.source.PitchAngle.from_degrees(50) - omath.source.PitchAngle.from_degrees(20)
+    assert(c:as_degrees() == 30)
+end
+
+function Source_PitchAngle_unary_minus()
+    assert((-omath.source.PitchAngle.from_degrees(45)):as_degrees() == -45)
+end
+
+function Source_PitchAngle_equal_to()
+    local a = omath.source.PitchAngle.from_degrees(45)
+    assert(a == omath.source.PitchAngle.from_degrees(45))
+    assert(not (a == omath.source.PitchAngle.from_degrees(30)))
+end
+
+function Source_PitchAngle_to_string()
+    assert(tostring(omath.source.PitchAngle.from_degrees(45)) == "45deg")
+end
+
+-- YawAngle
+function Source_YawAngle_from_degrees()
+    assert(omath.source.YawAngle.from_degrees(90):as_degrees() == 90)
+end
+
+function Source_YawAngle_normalization()
+    assert(approx(omath.source.YawAngle.from_degrees(200):as_degrees(), -160))
+end
+
+-- RollAngle
+function Source_RollAngle_from_degrees()
+    assert(omath.source.RollAngle.from_degrees(45):as_degrees() == 45)
+end
+
+-- FieldOfView
+function Source_FieldOfView_from_degrees()
+    assert(omath.source.FieldOfView.from_degrees(90):as_degrees() == 90)
+end
+
+function Source_FieldOfView_clamping()
+    assert(omath.source.FieldOfView.from_degrees(200):as_degrees() == 180)
+end
+
+-- ViewAngles
+function Source_ViewAngles_new()
+    local angles = omath.source.ViewAngles.new(
+        omath.source.PitchAngle.from_degrees(30),
+        omath.source.YawAngle.from_degrees(90),
+        omath.source.RollAngle.from_degrees(0))
+    assert(angles.pitch:as_degrees() == 30)
+    assert(angles.yaw:as_degrees() == 90)
+    assert(angles.roll:as_degrees() == 0)
+end
+
+function Source_ViewAngles_field_mutation()
+    local angles = omath.source.ViewAngles.new(
+        omath.source.PitchAngle.from_degrees(0),
+        omath.source.YawAngle.from_degrees(0),
+        omath.source.RollAngle.from_degrees(0))
+    angles.pitch = omath.source.PitchAngle.from_degrees(45)
+    assert(angles.pitch:as_degrees() == 45)
+end
+
+-- Camera
+function Source_Camera_constructor()
+    assert(make_camera() ~= nil)
+end
+
+function Source_Camera_get_set_origin()
+    local cam = make_camera()
+    cam:set_origin(omath.Vec3.new(1, 2, 3))
+    local o = cam:get_origin()
+    assert(approx(o.x, 1) and approx(o.y, 2) and approx(o.z, 3))
+end
+
+function Source_Camera_get_set_near_plane()
+    local cam = make_camera()
+    cam:set_near_plane(0.5)
+    assert(approx(cam:get_near_plane(), 0.5))
+end
+
+function Source_Camera_get_set_far_plane()
+    local cam = make_camera()
+    cam:set_far_plane(500)
+    assert(approx(cam:get_far_plane(), 500))
+end
+
+function Source_Camera_get_set_fov()
+    local cam = make_camera()
+    cam:set_field_of_view(omath.source.FieldOfView.from_degrees(60))
+    assert(approx(cam:get_field_of_view():as_degrees(), 60))
+end
+
+function Source_Camera_get_set_view_angles()
+    local cam = make_camera()
+    cam:set_view_angles(omath.source.ViewAngles.new(
+        omath.source.PitchAngle.from_degrees(30),
+        omath.source.YawAngle.from_degrees(90),
+        omath.source.RollAngle.from_degrees(0)))
+    assert(approx(cam:get_view_angles().pitch:as_degrees(), 30))
+    assert(approx(cam:get_view_angles().yaw:as_degrees(), 90))
+end
+
+function Source_Camera_look_at()
+    local cam = make_camera()
+    cam:look_at(omath.Vec3.new(10, 0, 0))
+    assert(cam:get_view_angles() ~= nil)
+end
+
+function Source_Camera_get_forward()
+    local fwd = make_camera():get_forward()
+    assert(approx(fwd:length(), 1.0))
+end
+
+function Source_Camera_get_right()
+    assert(approx(make_camera():get_right():length(), 1.0))
+end
+
+function Source_Camera_get_up()
+    assert(approx(make_camera():get_up():length(), 1.0))
+end
+
+function Source_Camera_world_to_screen_success()
+    local cam = make_camera()
+    cam:look_at(omath.Vec3.new(1, 0, 0))
+    local screen, err = cam:world_to_screen(omath.Vec3.new(5, 0, 0))
+    assert(screen ~= nil, "expected screen pos, got: " .. tostring(err))
+end
+
+function Source_Camera_world_to_screen_error()
+    local cam = make_camera()
+    cam:look_at(omath.Vec3.new(1, 0, 0))
+    local screen, err = cam:world_to_screen(omath.Vec3.new(-100, 0, 0))
+    assert(screen == nil and err ~= nil)
+end
+
+function Source_Camera_screen_to_world()
+    local cam = make_camera()
+    cam:look_at(omath.Vec3.new(1, 0, 0))
+    local world, err = cam:screen_to_world(omath.Vec3.new(960, 540, 1))
+    assert(world ~= nil, "expected world pos, got: " .. tostring(err))
+end

tests/lua/triangle_tests.lua

@@ -0,0 +1,82 @@
+local function approx(a, b, eps) return math.abs(a - b) < (eps or 1e-5) end
+
+function Triangle_Constructor_default()
+    local t = omath.Triangle.new()
+    assert(t.vertex1.x == 0 and t.vertex1.y == 0 and t.vertex1.z == 0)
+    assert(t.vertex2.x == 0 and t.vertex2.y == 0 and t.vertex2.z == 0)
+    assert(t.vertex3.x == 0 and t.vertex3.y == 0 and t.vertex3.z == 0)
+end
+
+function Triangle_Constructor_vertices()
+    local v1 = omath.Vec3.new(1, 0, 0)
+    local v2 = omath.Vec3.new(0, 1, 0)
+    local v3 = omath.Vec3.new(0, 0, 1)
+    local t = omath.Triangle.new(v1, v2, v3)
+    assert(t.vertex1.x == 1 and t.vertex1.y == 0 and t.vertex1.z == 0)
+    assert(t.vertex2.x == 0 and t.vertex2.y == 1 and t.vertex2.z == 0)
+    assert(t.vertex3.x == 0 and t.vertex3.y == 0 and t.vertex3.z == 1)
+end
+
+function Triangle_Vertex_mutation()
+    local t = omath.Triangle.new()
+    t.vertex1 = omath.Vec3.new(5, 6, 7)
+    assert(t.vertex1.x == 5 and t.vertex1.y == 6 and t.vertex1.z == 7)
+end
+
+-- Right triangle: v1=(0,3,0), v2=(0,0,0), v3=(4,0,0) — sides 3, 4, hypot 5
+function Triangle_SideALength()
+    local t = omath.Triangle.new(omath.Vec3.new(0, 3, 0), omath.Vec3.new(0, 0, 0), omath.Vec3.new(4, 0, 0))
+    assert(approx(t:side_a_length(), 3.0))
+end
+
+function Triangle_SideBLength()
+    local t = omath.Triangle.new(omath.Vec3.new(0, 3, 0), omath.Vec3.new(0, 0, 0), omath.Vec3.new(4, 0, 0))
+    assert(approx(t:side_b_length(), 4.0))
+end
+
+function Triangle_Hypot()
+    local t = omath.Triangle.new(omath.Vec3.new(0, 3, 0), omath.Vec3.new(0, 0, 0), omath.Vec3.new(4, 0, 0))
+    assert(approx(t:hypot(), 5.0))
+end
+
+function Triangle_SideAVector()
+    local t = omath.Triangle.new(omath.Vec3.new(0, 3, 0), omath.Vec3.new(0, 0, 0), omath.Vec3.new(4, 0, 0))
+    local a = t:side_a_vector()
+    assert(approx(a.x, 0) and approx(a.y, 3) and approx(a.z, 0))
+end
+
+function Triangle_SideBVector()
+    local t = omath.Triangle.new(omath.Vec3.new(0, 3, 0), omath.Vec3.new(0, 0, 0), omath.Vec3.new(4, 0, 0))
+    local b = t:side_b_vector()
+    assert(approx(b.x, 4) and approx(b.y, 0) and approx(b.z, 0))
+end
+
+function Triangle_IsRectangular_true()
+    local t = omath.Triangle.new(omath.Vec3.new(0, 3, 0), omath.Vec3.new(0, 0, 0), omath.Vec3.new(4, 0, 0))
+    assert(t:is_rectangular() == true)
+end
+
+function Triangle_IsRectangular_false()
+    -- equilateral-ish triangle, not rectangular
+    local t = omath.Triangle.new(omath.Vec3.new(0, 1, 0), omath.Vec3.new(-1, 0, 0), omath.Vec3.new(1, 0, 0))
+    assert(t:is_rectangular() == false)
+end
+
+function Triangle_MidPoint()
+    local t = omath.Triangle.new(omath.Vec3.new(3, 0, 0), omath.Vec3.new(0, 3, 0), omath.Vec3.new(0, 0, 3))
+    local m = t:mid_point()
+    assert(approx(m.x, 1.0) and approx(m.y, 1.0) and approx(m.z, 1.0))
+end
+
+function Triangle_CalculateNormal()
+    -- flat triangle in XY plane — normal should be (0, 0, 1)
+    local t = omath.Triangle.new(omath.Vec3.new(0, 1, 0), omath.Vec3.new(0, 0, 0), omath.Vec3.new(1, 0, 0))
+    local n = t:calculate_normal()
+    assert(approx(n.x, 0) and approx(n.y, 0) and approx(n.z, 1))
+end
+
+function Triangle_ToString()
+    local t = omath.Triangle.new(omath.Vec3.new(1, 0, 0), omath.Vec3.new(0, 1, 0), omath.Vec3.new(0, 0, 1))
+    local s = tostring(t)
+    assert(s == "Triangle((1, 0, 0), (0, 1, 0), (0, 0, 1))")
+end

tests/lua/unit_test_lua_color.cpp

@@ -0,0 +1,51 @@
+//
+// Created by orange on 08.03.2026.
+//
+#include <gtest/gtest.h>
+#include <lua.hpp>
+#include <omath/lua/lua.hpp>
+
+class LuaColor : public ::testing::Test
+{
+protected:
+    lua_State* L = nullptr;
+
+    void SetUp() override
+    {
+        L = luaL_newstate();
+        luaL_openlibs(L);
+        omath::lua::LuaInterpreter::register_lib(L);
+        if (luaL_dofile(L, LUA_SCRIPTS_DIR "/color_tests.lua") != LUA_OK)
+            FAIL() << lua_tostring(L, -1);
+    }
+
+    void TearDown() override { lua_close(L); }
+
+    void check(const char* func_name)
+    {
+        lua_getglobal(L, func_name);
+        if (lua_pcall(L, 0, 0, 0) != LUA_OK)
+        {
+            FAIL() << lua_tostring(L, -1);
+            lua_pop(L, 1);
+        }
+    }
+};
+
+TEST_F(LuaColor, Constructor_float)        { check("Color_Constructor_float"); }
+TEST_F(LuaColor, Constructor_default)      { check("Color_Constructor_default"); }
+TEST_F(LuaColor, Constructor_clamping)     { check("Color_Constructor_clamping"); }
+TEST_F(LuaColor, from_rgba)                { check("Color_from_rgba"); }
+TEST_F(LuaColor, from_hsv_components)      { check("Color_from_hsv_components"); }
+TEST_F(LuaColor, from_hsv_struct)          { check("Color_from_hsv_struct"); }
+TEST_F(LuaColor, red)                      { check("Color_red"); }
+TEST_F(LuaColor, green)                    { check("Color_green"); }
+TEST_F(LuaColor, blue)                     { check("Color_blue"); }
+TEST_F(LuaColor, to_hsv)                   { check("Color_to_hsv"); }
+TEST_F(LuaColor, set_hue)                  { check("Color_set_hue"); }
+TEST_F(LuaColor, set_saturation)           { check("Color_set_saturation"); }
+TEST_F(LuaColor, set_value)                { check("Color_set_value"); }
+TEST_F(LuaColor, blend)                    { check("Color_blend"); }
+TEST_F(LuaColor, blend_clamped_ratio)      { check("Color_blend_clamped_ratio"); }
+TEST_F(LuaColor, to_string)                { check("Color_to_string"); }
+TEST_F(LuaColor, Hsv_fields)               { check("Hsv_fields"); }

tests/lua/unit_test_lua_pe_scanner.cpp

@@ -0,0 +1,113 @@
+//
+// Created by orange on 10.03.2026.
+//
+#include <gtest/gtest.h>
+#include <lua.hpp>
+#include <omath/lua/lua.hpp>
+#include <cstdint>
+#include <cstring>
+#include <vector>
+
+namespace
+{
+    std::vector<std::uint8_t> make_fake_pe_module(std::uint32_t base_of_code, std::uint32_t size_code,
+                                                  const std::vector<std::uint8_t>& code_bytes)
+    {
+        constexpr std::uint32_t e_lfanew         = 0x80;
+        constexpr std::uint32_t nt_sig           = 0x4550;
+        constexpr std::uint16_t opt_magic        = 0x020B; // PE32+
+        constexpr std::uint16_t num_sections     = 1;
+        constexpr std::uint16_t opt_hdr_size     = 0xF0;
+        constexpr std::uint32_t section_table_off = e_lfanew + 4 + 20 + opt_hdr_size;
+        constexpr std::uint32_t section_hdr_size = 40;
+        constexpr std::uint32_t text_chars       = 0x60000020;
+
+        const std::uint32_t headers_end = section_table_off + section_hdr_size;
+        const std::uint32_t code_end    = base_of_code + size_code;
+        const std::uint32_t total_size  = std::max(headers_end, code_end) + 0x100;
+        std::vector<std::uint8_t> buf(total_size, 0);
+
+        auto w16 = [&](std::size_t off, std::uint16_t v) { std::memcpy(buf.data() + off, &v, 2); };
+        auto w32 = [&](std::size_t off, std::uint32_t v) { std::memcpy(buf.data() + off, &v, 4); };
+        auto w64 = [&](std::size_t off, std::uint64_t v) { std::memcpy(buf.data() + off, &v, 8); };
+
+        w16(0x00, 0x5A4D);
+        w32(0x3C, e_lfanew);
+        w32(e_lfanew, nt_sig);
+
+        const std::size_t fh  = e_lfanew + 4;
+        w16(fh + 2,  num_sections);
+        w16(fh + 16, opt_hdr_size);
+
+        const std::size_t opt = fh + 20;
+        w16(opt + 0,   opt_magic);
+        w32(opt + 4,   size_code);
+        w32(opt + 20,  base_of_code);
+        w64(opt + 24,  0);
+        w32(opt + 32,  0x1000);
+        w32(opt + 36,  0x200);
+        w32(opt + 56,  code_end);
+        w32(opt + 60,  headers_end);
+        w32(opt + 108, 0);
+
+        const std::size_t sh = section_table_off;
+        std::memcpy(buf.data() + sh, ".text", 5);
+        w32(sh + 8,  size_code);
+        w32(sh + 12, base_of_code);
+        w32(sh + 16, size_code);
+        w32(sh + 20, base_of_code);
+        w32(sh + 36, text_chars);
+
+        if (base_of_code + code_bytes.size() <= buf.size())
+            std::memcpy(buf.data() + base_of_code, code_bytes.data(), code_bytes.size());
+
+        return buf;
+    }
+} // namespace
+
+class LuaPeScanner : public ::testing::Test
+{
+protected:
+    lua_State*                  L            = nullptr;
+    std::vector<std::uint8_t>   m_fake_module;
+
+    void SetUp() override
+    {
+        const std::vector<std::uint8_t> code = {0x90, 0x01, 0x02, 0x03, 0x04};
+        m_fake_module = make_fake_pe_module(0x200, static_cast<std::uint32_t>(code.size()), code);
+
+        L = luaL_newstate();
+        luaL_openlibs(L);
+        omath::lua::LuaInterpreter::register_lib(L);
+
+        lua_pushinteger(L, static_cast<lua_Integer>(
+                reinterpret_cast<std::uintptr_t>(m_fake_module.data())));
+        lua_setglobal(L, "FAKE_MODULE_BASE");
+
+        if (luaL_dofile(L, LUA_SCRIPTS_DIR "/pe_scanner_tests.lua") != LUA_OK)
+            FAIL() << lua_tostring(L, -1);
+    }
+
+    void TearDown() override { lua_close(L); }
+
+    void check(const char* func_name)
+    {
+        lua_getglobal(L, func_name);
+        if (lua_pcall(L, 0, 0, 0) != LUA_OK)
+        {
+            FAIL() << lua_tostring(L, -1);
+            lua_pop(L, 1);
+        }
+    }
+};
+
+TEST_F(LuaPeScanner, PatternScanner_FindsExactPattern)       { check("PatternScanner_FindsExactPattern"); }
+TEST_F(LuaPeScanner, PatternScanner_FindsPatternAtOffset)    { check("PatternScanner_FindsPatternAtNonZeroOffset"); }
+TEST_F(LuaPeScanner, PatternScanner_WildcardMatches)         { check("PatternScanner_WildcardMatches"); }
+TEST_F(LuaPeScanner, PatternScanner_ReturnsNilWhenNotFound)  { check("PatternScanner_ReturnsNilWhenNotFound"); }
+TEST_F(LuaPeScanner, PatternScanner_ReturnsNilForEmptyBuffer){ check("PatternScanner_ReturnsNilForEmptyBuffer"); }
+TEST_F(LuaPeScanner, PeScanner_FindsExactPattern)            { check("PeScanner_FindsExactPattern"); }
+TEST_F(LuaPeScanner, PeScanner_WildcardMatches)              { check("PeScanner_WildcardMatches"); }
+TEST_F(LuaPeScanner, PeScanner_ReturnsNilWhenNotFound)       { check("PeScanner_ReturnsNilWhenNotFound"); }
+TEST_F(LuaPeScanner, PeScanner_CustomSectionFallsBackToNil)  { check("PeScanner_CustomSectionFallsBackToNil"); }
+TEST_F(LuaPeScanner, SectionScanResult_TypeIsRegistered)     { check("SectionScanResult_TypeIsRegistered"); }

tests/lua/unit_test_lua_source_engine.cpp

@@ -0,0 +1,79 @@
+//
+// Created by orange on 07.03.2026.
+//
+#include <gtest/gtest.h>
+#include <lua.hpp>
+#include <omath/lua/lua.hpp>
+
+class LuaSourceEngine : public ::testing::Test
+{
+protected:
+    lua_State* L = nullptr;
+
+    void SetUp() override
+    {
+        L = luaL_newstate();
+        luaL_openlibs(L);
+        omath::lua::LuaInterpreter::register_lib(L);
+        if (luaL_dofile(L, LUA_SCRIPTS_DIR "/source_engine_tests.lua") != LUA_OK)
+            FAIL() << lua_tostring(L, -1);
+    }
+
+    void TearDown() override { lua_close(L); }
+
+    void check(const char* func_name)
+    {
+        lua_getglobal(L, func_name);
+        if (lua_pcall(L, 0, 0, 0) != LUA_OK)
+        {
+            FAIL() << lua_tostring(L, -1);
+            lua_pop(L, 1);
+        }
+    }
+};
+
+// PitchAngle
+TEST_F(LuaSourceEngine, PitchAngle_from_degrees)        { check("Source_PitchAngle_from_degrees"); }
+TEST_F(LuaSourceEngine, PitchAngle_clamping_max)        { check("Source_PitchAngle_clamping_max"); }
+TEST_F(LuaSourceEngine, PitchAngle_clamping_min)        { check("Source_PitchAngle_clamping_min"); }
+TEST_F(LuaSourceEngine, PitchAngle_from_radians)        { check("Source_PitchAngle_from_radians"); }
+TEST_F(LuaSourceEngine, PitchAngle_as_radians)          { check("Source_PitchAngle_as_radians"); }
+TEST_F(LuaSourceEngine, PitchAngle_sin)                 { check("Source_PitchAngle_sin"); }
+TEST_F(LuaSourceEngine, PitchAngle_cos)                 { check("Source_PitchAngle_cos"); }
+TEST_F(LuaSourceEngine, PitchAngle_tan)                 { check("Source_PitchAngle_tan"); }
+TEST_F(LuaSourceEngine, PitchAngle_addition)            { check("Source_PitchAngle_addition"); }
+TEST_F(LuaSourceEngine, PitchAngle_addition_clamped)    { check("Source_PitchAngle_addition_clamped"); }
+TEST_F(LuaSourceEngine, PitchAngle_subtraction)         { check("Source_PitchAngle_subtraction"); }
+TEST_F(LuaSourceEngine, PitchAngle_unary_minus)         { check("Source_PitchAngle_unary_minus"); }
+TEST_F(LuaSourceEngine, PitchAngle_equal_to)            { check("Source_PitchAngle_equal_to"); }
+TEST_F(LuaSourceEngine, PitchAngle_to_string)           { check("Source_PitchAngle_to_string"); }
+
+// YawAngle
+TEST_F(LuaSourceEngine, YawAngle_from_degrees)          { check("Source_YawAngle_from_degrees"); }
+TEST_F(LuaSourceEngine, YawAngle_normalization)         { check("Source_YawAngle_normalization"); }
+
+// RollAngle
+TEST_F(LuaSourceEngine, RollAngle_from_degrees)         { check("Source_RollAngle_from_degrees"); }
+
+// FieldOfView
+TEST_F(LuaSourceEngine, FieldOfView_from_degrees)       { check("Source_FieldOfView_from_degrees"); }
+TEST_F(LuaSourceEngine, FieldOfView_clamping)           { check("Source_FieldOfView_clamping"); }
+
+// ViewAngles
+TEST_F(LuaSourceEngine, ViewAngles_new)                 { check("Source_ViewAngles_new"); }
+TEST_F(LuaSourceEngine, ViewAngles_field_mutation)      { check("Source_ViewAngles_field_mutation"); }
+
+// Camera
+TEST_F(LuaSourceEngine, Camera_constructor)             { check("Source_Camera_constructor"); }
+TEST_F(LuaSourceEngine, Camera_get_set_origin)          { check("Source_Camera_get_set_origin"); }
+TEST_F(LuaSourceEngine, Camera_get_set_near_plane)      { check("Source_Camera_get_set_near_plane"); }
+TEST_F(LuaSourceEngine, Camera_get_set_far_plane)       { check("Source_Camera_get_set_far_plane"); }
+TEST_F(LuaSourceEngine, Camera_get_set_fov)             { check("Source_Camera_get_set_fov"); }
+TEST_F(LuaSourceEngine, Camera_get_set_view_angles)     { check("Source_Camera_get_set_view_angles"); }
+TEST_F(LuaSourceEngine, Camera_look_at)                 { check("Source_Camera_look_at"); }
+TEST_F(LuaSourceEngine, Camera_get_forward)             { check("Source_Camera_get_forward"); }
+TEST_F(LuaSourceEngine, Camera_get_right)               { check("Source_Camera_get_right"); }
+TEST_F(LuaSourceEngine, Camera_get_up)                  { check("Source_Camera_get_up"); }
+TEST_F(LuaSourceEngine, Camera_world_to_screen_success) { check("Source_Camera_world_to_screen_success"); }
+TEST_F(LuaSourceEngine, Camera_world_to_screen_error)   { check("Source_Camera_world_to_screen_error"); }
+TEST_F(LuaSourceEngine, Camera_screen_to_world)         { check("Source_Camera_screen_to_world"); }

tests/lua/unit_test_lua_triangle.cpp

@@ -0,0 +1,47 @@
+//
+// Created by orange on 10.03.2026.
+//
+#include <gtest/gtest.h>
+#include <lua.hpp>
+#include <omath/lua/lua.hpp>
+
+class LuaTriangle : public ::testing::Test
+{
+protected:
+    lua_State* L = nullptr;
+
+    void SetUp() override
+    {
+        L = luaL_newstate();
+        luaL_openlibs(L);
+        omath::lua::LuaInterpreter::register_lib(L);
+        if (luaL_dofile(L, LUA_SCRIPTS_DIR "/triangle_tests.lua") != LUA_OK)
+            FAIL() << lua_tostring(L, -1);
+    }
+
+    void TearDown() override { lua_close(L); }
+
+    void check(const char* func_name)
+    {
+        lua_getglobal(L, func_name);
+        if (lua_pcall(L, 0, 0, 0) != LUA_OK)
+        {
+            FAIL() << lua_tostring(L, -1);
+            lua_pop(L, 1);
+        }
+    }
+};
+
+TEST_F(LuaTriangle, Constructor_default)    { check("Triangle_Constructor_default"); }
+TEST_F(LuaTriangle, Constructor_vertices)   { check("Triangle_Constructor_vertices"); }
+TEST_F(LuaTriangle, Vertex_mutation)        { check("Triangle_Vertex_mutation"); }
+TEST_F(LuaTriangle, SideALength)            { check("Triangle_SideALength"); }
+TEST_F(LuaTriangle, SideBLength)            { check("Triangle_SideBLength"); }
+TEST_F(LuaTriangle, Hypot)                  { check("Triangle_Hypot"); }
+TEST_F(LuaTriangle, SideAVector)            { check("Triangle_SideAVector"); }
+TEST_F(LuaTriangle, SideBVector)            { check("Triangle_SideBVector"); }
+TEST_F(LuaTriangle, IsRectangular_true)     { check("Triangle_IsRectangular_true"); }
+TEST_F(LuaTriangle, IsRectangular_false)    { check("Triangle_IsRectangular_false"); }
+TEST_F(LuaTriangle, MidPoint)               { check("Triangle_MidPoint"); }
+TEST_F(LuaTriangle, CalculateNormal)        { check("Triangle_CalculateNormal"); }
+TEST_F(LuaTriangle, ToString)               { check("Triangle_ToString"); }

tests/lua/unit_test_lua_vector2.cpp

@@ -0,0 +1,56 @@
+//
+// Created by orange on 07.03.2026.
+//
+#include <gtest/gtest.h>
+#include <lua.hpp>
+#include <omath/lua/lua.hpp>
+
+class LuaVec2 : public ::testing::Test
+{
+protected:
+    lua_State* L = nullptr;
+
+    void SetUp() override
+    {
+        L = luaL_newstate();
+        luaL_openlibs(L);
+        omath::lua::LuaInterpreter::register_lib(L);
+        if (luaL_dofile(L, LUA_SCRIPTS_DIR "/vec2_tests.lua") != LUA_OK)
+            FAIL() << lua_tostring(L, -1);
+    }
+
+    void TearDown() override { lua_close(L); }
+
+    void check(const char* func_name)
+    {
+        lua_getglobal(L, func_name);
+        if (lua_pcall(L, 0, 0, 0) != LUA_OK)
+        {
+            FAIL() << lua_tostring(L, -1);
+            lua_pop(L, 1);
+        }
+    }
+};
+
+TEST_F(LuaVec2, Constructor_default)            { check("Vec2_Constructor_default"); }
+TEST_F(LuaVec2, Constructor_xy)                 { check("Vec2_Constructor_xy"); }
+TEST_F(LuaVec2, Field_mutation)                 { check("Vec2_Field_mutation"); }
+TEST_F(LuaVec2, Addition)                       { check("Vec2_Addition"); }
+TEST_F(LuaVec2, Subtraction)                    { check("Vec2_Subtraction"); }
+TEST_F(LuaVec2, UnaryMinus)                     { check("Vec2_UnaryMinus"); }
+TEST_F(LuaVec2, Multiplication_scalar)          { check("Vec2_Multiplication_scalar"); }
+TEST_F(LuaVec2, Multiplication_scalar_reversed) { check("Vec2_Multiplication_scalar_reversed"); }
+TEST_F(LuaVec2, Division_scalar)                { check("Vec2_Division_scalar"); }
+TEST_F(LuaVec2, EqualTo_true)                   { check("Vec2_EqualTo_true"); }
+TEST_F(LuaVec2, EqualTo_false)                  { check("Vec2_EqualTo_false"); }
+TEST_F(LuaVec2, LessThan)                       { check("Vec2_LessThan"); }
+TEST_F(LuaVec2, LessThanOrEqual)                { check("Vec2_LessThanOrEqual"); }
+TEST_F(LuaVec2, ToString)                       { check("Vec2_ToString"); }
+TEST_F(LuaVec2, Length)                         { check("Vec2_Length"); }
+TEST_F(LuaVec2, LengthSqr)                      { check("Vec2_LengthSqr"); }
+TEST_F(LuaVec2, Normalized)                     { check("Vec2_Normalized"); }
+TEST_F(LuaVec2, Dot)                            { check("Vec2_Dot"); }
+TEST_F(LuaVec2, DistanceTo)                     { check("Vec2_DistanceTo"); }
+TEST_F(LuaVec2, DistanceToSqr)                  { check("Vec2_DistanceToSqr"); }
+TEST_F(LuaVec2, Sum)                            { check("Vec2_Sum"); }
+TEST_F(LuaVec2, Abs)                            { check("Vec2_Abs"); }

tests/lua/unit_test_lua_vector3.cpp

@@ -0,0 +1,69 @@
+//
+// Created by orange on 07.03.2026.
+//
+#include <gtest/gtest.h>
+#include <lua.hpp>
+#include <omath/lua/lua.hpp>
+
+class LuaVec3 : public ::testing::Test
+{
+protected:
+    lua_State* L = nullptr;
+
+    void SetUp() override
+    {
+        L = luaL_newstate();
+        luaL_openlibs(L);
+        omath::lua::LuaInterpreter::register_lib(L);
+        if (luaL_dofile(L, LUA_SCRIPTS_DIR "/vec3_tests.lua") != LUA_OK)
+            FAIL() << lua_tostring(L, -1);
+    }
+
+    void TearDown() override { lua_close(L); }
+
+    void check(const char* func_name)
+    {
+        lua_getglobal(L, func_name);
+        if (lua_pcall(L, 0, 0, 0) != LUA_OK)
+        {
+            FAIL() << lua_tostring(L, -1);
+            lua_pop(L, 1);
+        }
+    }
+};
+
+TEST_F(LuaVec3, Constructor_default)            { check("Vec3_Constructor_default"); }
+TEST_F(LuaVec3, Constructor_xyz)                { check("Vec3_Constructor_xyz"); }
+TEST_F(LuaVec3, Field_mutation)                 { check("Vec3_Field_mutation"); }
+TEST_F(LuaVec3, Addition)                       { check("Vec3_Addition"); }
+TEST_F(LuaVec3, Subtraction)                    { check("Vec3_Subtraction"); }
+TEST_F(LuaVec3, UnaryMinus)                     { check("Vec3_UnaryMinus"); }
+TEST_F(LuaVec3, Multiplication_scalar)          { check("Vec3_Multiplication_scalar"); }
+TEST_F(LuaVec3, Multiplication_scalar_reversed) { check("Vec3_Multiplication_scalar_reversed"); }
+TEST_F(LuaVec3, Multiplication_vec)             { check("Vec3_Multiplication_vec"); }
+TEST_F(LuaVec3, Division_scalar)                { check("Vec3_Division_scalar"); }
+TEST_F(LuaVec3, Division_vec)                   { check("Vec3_Division_vec"); }
+TEST_F(LuaVec3, EqualTo_true)                   { check("Vec3_EqualTo_true"); }
+TEST_F(LuaVec3, EqualTo_false)                  { check("Vec3_EqualTo_false"); }
+TEST_F(LuaVec3, LessThan)                       { check("Vec3_LessThan"); }
+TEST_F(LuaVec3, LessThanOrEqual)                { check("Vec3_LessThanOrEqual"); }
+TEST_F(LuaVec3, ToString)                       { check("Vec3_ToString"); }
+TEST_F(LuaVec3, Length)                         { check("Vec3_Length"); }
+TEST_F(LuaVec3, Length2d)                       { check("Vec3_Length2d"); }
+TEST_F(LuaVec3, LengthSqr)                      { check("Vec3_LengthSqr"); }
+TEST_F(LuaVec3, Normalized)                     { check("Vec3_Normalized"); }
+TEST_F(LuaVec3, Dot_perpendicular)              { check("Vec3_Dot_perpendicular"); }
+TEST_F(LuaVec3, Dot_parallel)                   { check("Vec3_Dot_parallel"); }
+TEST_F(LuaVec3, Cross)                          { check("Vec3_Cross"); }
+TEST_F(LuaVec3, DistanceTo)                     { check("Vec3_DistanceTo"); }
+TEST_F(LuaVec3, DistanceToSqr)                  { check("Vec3_DistanceToSqr"); }
+TEST_F(LuaVec3, Sum)                            { check("Vec3_Sum"); }
+TEST_F(LuaVec3, Sum2d)                          { check("Vec3_Sum2d"); }
+TEST_F(LuaVec3, Abs)                            { check("Vec3_Abs"); }
+TEST_F(LuaVec3, PointToSameDirection_true)      { check("Vec3_PointToSameDirection_true"); }
+TEST_F(LuaVec3, PointToSameDirection_false)     { check("Vec3_PointToSameDirection_false"); }
+TEST_F(LuaVec3, IsPerpendicular_true)           { check("Vec3_IsPerpendicular_true"); }
+TEST_F(LuaVec3, IsPerpendicular_false)          { check("Vec3_IsPerpendicular_false"); }
+TEST_F(LuaVec3, AngleBetween_90deg)             { check("Vec3_AngleBetween_90deg"); }
+TEST_F(LuaVec3, AngleBetween_zero_vector_error) { check("Vec3_AngleBetween_zero_vector_error"); }
+TEST_F(LuaVec3, AsTable)                        { check("Vec3_AsTable"); }

tests/lua/unit_test_lua_vector4.cpp

@@ -0,0 +1,57 @@
+//
+// Created by orange on 07.03.2026.
+//
+#include <gtest/gtest.h>
+#include <lua.hpp>
+#include <omath/lua/lua.hpp>
+
+class LuaVec4 : public ::testing::Test
+{
+protected:
+    lua_State* L = nullptr;
+
+    void SetUp() override
+    {
+        L = luaL_newstate();
+        luaL_openlibs(L);
+        omath::lua::LuaInterpreter::register_lib(L);
+        if (luaL_dofile(L, LUA_SCRIPTS_DIR "/vec4_tests.lua") != LUA_OK)
+            FAIL() << lua_tostring(L, -1);
+    }
+
+    void TearDown() override { lua_close(L); }
+
+    void check(const char* func_name)
+    {
+        lua_getglobal(L, func_name);
+        if (lua_pcall(L, 0, 0, 0) != LUA_OK)
+        {
+            FAIL() << lua_tostring(L, -1);
+            lua_pop(L, 1);
+        }
+    }
+};
+
+TEST_F(LuaVec4, Constructor_default)            { check("Vec4_Constructor_default"); }
+TEST_F(LuaVec4, Constructor_xyzw)               { check("Vec4_Constructor_xyzw"); }
+TEST_F(LuaVec4, Field_mutation)                 { check("Vec4_Field_mutation"); }
+TEST_F(LuaVec4, Addition)                       { check("Vec4_Addition"); }
+TEST_F(LuaVec4, Subtraction)                    { check("Vec4_Subtraction"); }
+TEST_F(LuaVec4, UnaryMinus)                     { check("Vec4_UnaryMinus"); }
+TEST_F(LuaVec4, Multiplication_scalar)          { check("Vec4_Multiplication_scalar"); }
+TEST_F(LuaVec4, Multiplication_scalar_reversed) { check("Vec4_Multiplication_scalar_reversed"); }
+TEST_F(LuaVec4, Multiplication_vec)             { check("Vec4_Multiplication_vec"); }
+TEST_F(LuaVec4, Division_scalar)                { check("Vec4_Division_scalar"); }
+TEST_F(LuaVec4, Division_vec)                   { check("Vec4_Division_vec"); }
+TEST_F(LuaVec4, EqualTo_true)                   { check("Vec4_EqualTo_true"); }
+TEST_F(LuaVec4, EqualTo_false)                  { check("Vec4_EqualTo_false"); }
+TEST_F(LuaVec4, LessThan)                       { check("Vec4_LessThan"); }
+TEST_F(LuaVec4, LessThanOrEqual)                { check("Vec4_LessThanOrEqual"); }
+TEST_F(LuaVec4, ToString)                       { check("Vec4_ToString"); }
+TEST_F(LuaVec4, Length)                         { check("Vec4_Length"); }
+TEST_F(LuaVec4, LengthSqr)                      { check("Vec4_LengthSqr"); }
+TEST_F(LuaVec4, Dot)                            { check("Vec4_Dot"); }
+TEST_F(LuaVec4, Dot_perpendicular)              { check("Vec4_Dot_perpendicular"); }
+TEST_F(LuaVec4, Sum)                            { check("Vec4_Sum"); }
+TEST_F(LuaVec4, Abs)                            { check("Vec4_Abs"); }
+TEST_F(LuaVec4, Clamp)                          { check("Vec4_Clamp"); }

tests/lua/vec2_tests.lua

@@ -0,0 +1,102 @@
+local function approx(a, b) return math.abs(a - b) < 1e-5 end
+
+function Vec2_Constructor_default()
+    local v = omath.Vec2.new()
+    assert(v.x == 0 and v.y == 0)
+end
+
+function Vec2_Constructor_xy()
+    local v = omath.Vec2.new(3, 4)
+    assert(v.x == 3 and v.y == 4)
+end
+
+function Vec2_Field_mutation()
+    local v = omath.Vec2.new(1, 2)
+    v.x = 9; v.y = 8
+    assert(v.x == 9 and v.y == 8)
+end
+
+function Vec2_Addition()
+    local c = omath.Vec2.new(1, 2) + omath.Vec2.new(3, 4)
+    assert(c.x == 4 and c.y == 6)
+end
+
+function Vec2_Subtraction()
+    local c = omath.Vec2.new(5, 7) - omath.Vec2.new(2, 3)
+    assert(c.x == 3 and c.y == 4)
+end
+
+function Vec2_UnaryMinus()
+    local b = -omath.Vec2.new(1, 2)
+    assert(b.x == -1 and b.y == -2)
+end
+
+function Vec2_Multiplication_scalar()
+    local b = omath.Vec2.new(2, 3) * 2.0
+    assert(b.x == 4 and b.y == 6)
+end
+
+function Vec2_Multiplication_scalar_reversed()
+    local b = 2.0 * omath.Vec2.new(2, 3)
+    assert(b.x == 4 and b.y == 6)
+end
+
+function Vec2_Division_scalar()
+    local b = omath.Vec2.new(4, 6) / 2.0
+    assert(b.x == 2 and b.y == 3)
+end
+
+function Vec2_EqualTo_true()
+    assert(omath.Vec2.new(1, 2) == omath.Vec2.new(1, 2))
+end
+
+function Vec2_EqualTo_false()
+    assert(not (omath.Vec2.new(1, 2) == omath.Vec2.new(9, 9)))
+end
+
+function Vec2_LessThan()
+    assert(omath.Vec2.new(1, 0) < omath.Vec2.new(3, 4))
+end
+
+function Vec2_LessThanOrEqual()
+    -- (3,4) and (4,3) both have length 5
+    assert(omath.Vec2.new(3, 4) <= omath.Vec2.new(4, 3))
+end
+
+function Vec2_ToString()
+    assert(tostring(omath.Vec2.new(1, 2)) == "Vec2(1, 2)")
+end
+
+function Vec2_Length()
+    assert(approx(omath.Vec2.new(3, 4):length(), 5.0))
+end
+
+function Vec2_LengthSqr()
+    assert(omath.Vec2.new(3, 4):length_sqr() == 25.0)
+end
+
+function Vec2_Normalized()
+    local n = omath.Vec2.new(3, 4):normalized()
+    assert(approx(n.x, 0.6) and approx(n.y, 0.8))
+end
+
+function Vec2_Dot()
+    assert(omath.Vec2.new(1, 2):dot(omath.Vec2.new(3, 4)) == 11.0)
+end
+
+function Vec2_DistanceTo()
+    assert(approx(omath.Vec2.new(0, 0):distance_to(omath.Vec2.new(3, 4)), 5.0))
+end
+
+function Vec2_DistanceToSqr()
+    assert(omath.Vec2.new(0, 0):distance_to_sqr(omath.Vec2.new(3, 4)) == 25.0)
+end
+
+function Vec2_Sum()
+    assert(omath.Vec2.new(3, 4):sum() == 7.0)
+end
+
+function Vec2_Abs()
+    local a = omath.Vec2.new(-3, -4):abs()
+    assert(a.x == 3 and a.y == 4)
+end

tests/lua/vec3_tests.lua

@@ -0,0 +1,163 @@
+local function approx(a, b, eps) return math.abs(a - b) < (eps or 1e-5) end
+
+function Vec3_Constructor_default()
+    local v = omath.Vec3.new()
+    assert(v.x == 0 and v.y == 0 and v.z == 0)
+end
+
+function Vec3_Constructor_xyz()
+    local v = omath.Vec3.new(1, 2, 3)
+    assert(v.x == 1 and v.y == 2 and v.z == 3)
+end
+
+function Vec3_Field_mutation()
+    local v = omath.Vec3.new(1, 2, 3)
+    v.x = 9; v.y = 8; v.z = 7
+    assert(v.x == 9 and v.y == 8 and v.z == 7)
+end
+
+function Vec3_Addition()
+    local c = omath.Vec3.new(1, 2, 3) + omath.Vec3.new(4, 5, 6)
+    assert(c.x == 5 and c.y == 7 and c.z == 9)
+end
+
+function Vec3_Subtraction()
+    local c = omath.Vec3.new(4, 5, 6) - omath.Vec3.new(1, 2, 3)
+    assert(c.x == 3 and c.y == 3 and c.z == 3)
+end
+
+function Vec3_UnaryMinus()
+    local b = -omath.Vec3.new(1, 2, 3)
+    assert(b.x == -1 and b.y == -2 and b.z == -3)
+end
+
+function Vec3_Multiplication_scalar()
+    local b = omath.Vec3.new(1, 2, 3) * 2.0
+    assert(b.x == 2 and b.y == 4 and b.z == 6)
+end
+
+function Vec3_Multiplication_scalar_reversed()
+    local b = 2.0 * omath.Vec3.new(1, 2, 3)
+    assert(b.x == 2 and b.y == 4 and b.z == 6)
+end
+
+function Vec3_Multiplication_vec()
+    local c = omath.Vec3.new(2, 3, 4) * omath.Vec3.new(2, 2, 2)
+    assert(c.x == 4 and c.y == 6 and c.z == 8)
+end
+
+function Vec3_Division_scalar()
+    local b = omath.Vec3.new(2, 4, 6) / 2.0
+    assert(b.x == 1 and b.y == 2 and b.z == 3)
+end
+
+function Vec3_Division_vec()
+    local c = omath.Vec3.new(4, 6, 8) / omath.Vec3.new(2, 2, 2)
+    assert(c.x == 2 and c.y == 3 and c.z == 4)
+end
+
+function Vec3_EqualTo_true()
+    assert(omath.Vec3.new(1, 2, 3) == omath.Vec3.new(1, 2, 3))
+end
+
+function Vec3_EqualTo_false()
+    assert(not (omath.Vec3.new(1, 2, 3) == omath.Vec3.new(9, 9, 9)))
+end
+
+function Vec3_LessThan()
+    assert(omath.Vec3.new(1, 0, 0) < omath.Vec3.new(3, 4, 0))
+end
+
+function Vec3_LessThanOrEqual()
+    -- (0,3,4) and (0,4,3) both have length 5
+    assert(omath.Vec3.new(0, 3, 4) <= omath.Vec3.new(0, 4, 3))
+end
+
+function Vec3_ToString()
+    assert(tostring(omath.Vec3.new(1, 2, 3)) == "Vec3(1, 2, 3)")
+end
+
+function Vec3_Length()
+    assert(approx(omath.Vec3.new(1, 2, 2):length(), 3.0))
+end
+
+function Vec3_Length2d()
+    assert(approx(omath.Vec3.new(3, 4, 99):length_2d(), 5.0))
+end
+
+function Vec3_LengthSqr()
+    assert(omath.Vec3.new(1, 2, 2):length_sqr() == 9.0)
+end
+
+function Vec3_Normalized()
+    local n = omath.Vec3.new(3, 0, 0):normalized()
+    assert(approx(n.x, 1.0) and approx(n.y, 0.0) and approx(n.z, 0.0))
+end
+
+function Vec3_Dot_perpendicular()
+    assert(omath.Vec3.new(1, 0, 0):dot(omath.Vec3.new(0, 1, 0)) == 0.0)
+end
+
+function Vec3_Dot_parallel()
+    local a = omath.Vec3.new(1, 2, 3)
+    assert(a:dot(a) == 14.0)
+end
+
+function Vec3_Cross()
+    local c = omath.Vec3.new(1, 0, 0):cross(omath.Vec3.new(0, 1, 0))
+    assert(approx(c.x, 0) and approx(c.y, 0) and approx(c.z, 1))
+end
+
+function Vec3_DistanceTo()
+    assert(approx(omath.Vec3.new(0, 0, 0):distance_to(omath.Vec3.new(1, 2, 2)), 3.0))
+end
+
+function Vec3_DistanceToSqr()
+    assert(omath.Vec3.new(0, 0, 0):distance_to_sqr(omath.Vec3.new(1, 2, 2)) == 9.0)
+end
+
+function Vec3_Sum()
+    assert(omath.Vec3.new(1, 2, 3):sum() == 6.0)
+end
+
+function Vec3_Sum2d()
+    assert(omath.Vec3.new(1, 2, 3):sum_2d() == 3.0)
+end
+
+function Vec3_Abs()
+    local a = omath.Vec3.new(-1, -2, -3):abs()
+    assert(a.x == 1 and a.y == 2 and a.z == 3)
+end
+
+function Vec3_PointToSameDirection_true()
+    assert(omath.Vec3.new(1, 1, 0):point_to_same_direction(omath.Vec3.new(2, 2, 0)) == true)
+end
+
+function Vec3_PointToSameDirection_false()
+    assert(omath.Vec3.new(1, 0, 0):point_to_same_direction(omath.Vec3.new(-1, 0, 0)) == false)
+end
+
+function Vec3_IsPerpendicular_true()
+    assert(omath.Vec3.new(1, 0, 0):is_perpendicular(omath.Vec3.new(0, 1, 0)) == true)
+end
+
+function Vec3_IsPerpendicular_false()
+    local a = omath.Vec3.new(1, 0, 0)
+    assert(a:is_perpendicular(a) == false)
+end
+
+function Vec3_AngleBetween_90deg()
+    local angle, err = omath.Vec3.new(1, 0, 0):angle_between(omath.Vec3.new(0, 1, 0))
+    assert(angle ~= nil, err)
+    assert(math.abs(angle - 90.0) < 1e-3)
+end
+
+function Vec3_AngleBetween_zero_vector_error()
+    local angle, err = omath.Vec3.new(0, 0, 0):angle_between(omath.Vec3.new(1, 0, 0))
+    assert(angle == nil and err ~= nil)
+end
+
+function Vec3_AsTable()
+    local t = omath.Vec3.new(1, 2, 3):as_table()
+    assert(t.x == 1 and t.y == 2 and t.z == 3)
+end

tests/lua/vec4_tests.lua

@@ -0,0 +1,110 @@
+local function approx(a, b) return math.abs(a - b) < 1e-5 end
+
+function Vec4_Constructor_default()
+    local v = omath.Vec4.new()
+    assert(v.x == 0 and v.y == 0 and v.z == 0 and v.w == 0)
+end
+
+function Vec4_Constructor_xyzw()
+    local v = omath.Vec4.new(1, 2, 3, 4)
+    assert(v.x == 1 and v.y == 2 and v.z == 3 and v.w == 4)
+end
+
+function Vec4_Field_mutation()
+    local v = omath.Vec4.new(1, 2, 3, 4)
+    v.w = 99
+    assert(v.w == 99)
+end
+
+function Vec4_Addition()
+    local c = omath.Vec4.new(1, 2, 3, 4) + omath.Vec4.new(4, 3, 2, 1)
+    assert(c.x == 5 and c.y == 5 and c.z == 5 and c.w == 5)
+end
+
+function Vec4_Subtraction()
+    local c = omath.Vec4.new(5, 5, 5, 5) - omath.Vec4.new(1, 2, 3, 4)
+    assert(c.x == 4 and c.y == 3 and c.z == 2 and c.w == 1)
+end
+
+function Vec4_UnaryMinus()
+    local b = -omath.Vec4.new(1, 2, 3, 4)
+    assert(b.x == -1 and b.y == -2 and b.z == -3 and b.w == -4)
+end
+
+function Vec4_Multiplication_scalar()
+    local b = omath.Vec4.new(1, 2, 3, 4) * 2.0
+    assert(b.x == 2 and b.y == 4 and b.z == 6 and b.w == 8)
+end
+
+function Vec4_Multiplication_scalar_reversed()
+    local b = 2.0 * omath.Vec4.new(1, 2, 3, 4)
+    assert(b.x == 2 and b.y == 4 and b.z == 6 and b.w == 8)
+end
+
+function Vec4_Multiplication_vec()
+    local c = omath.Vec4.new(2, 3, 4, 5) * omath.Vec4.new(2, 2, 2, 2)
+    assert(c.x == 4 and c.y == 6 and c.z == 8 and c.w == 10)
+end
+
+function Vec4_Division_scalar()
+    local b = omath.Vec4.new(2, 4, 6, 8) / 2.0
+    assert(b.x == 1 and b.y == 2 and b.z == 3 and b.w == 4)
+end
+
+function Vec4_Division_vec()
+    local c = omath.Vec4.new(4, 6, 8, 10) / omath.Vec4.new(2, 2, 2, 2)
+    assert(c.x == 2 and c.y == 3 and c.z == 4 and c.w == 5)
+end
+
+function Vec4_EqualTo_true()
+    assert(omath.Vec4.new(1, 2, 3, 4) == omath.Vec4.new(1, 2, 3, 4))
+end
+
+function Vec4_EqualTo_false()
+    assert(not (omath.Vec4.new(1, 2, 3, 4) == omath.Vec4.new(9, 9, 9, 9)))
+end
+
+function Vec4_LessThan()
+    assert(omath.Vec4.new(1, 0, 0, 0) < omath.Vec4.new(0, 0, 3, 4))
+end
+
+function Vec4_LessThanOrEqual()
+    -- (0,0,3,4) and (0,0,4,3) both have length 5
+    assert(omath.Vec4.new(0, 0, 3, 4) <= omath.Vec4.new(0, 0, 4, 3))
+end
+
+function Vec4_ToString()
+    assert(tostring(omath.Vec4.new(1, 2, 3, 4)) == "Vec4(1, 2, 3, 4)")
+end
+
+function Vec4_Length()
+    assert(approx(omath.Vec4.new(0, 0, 3, 4):length(), 5.0))
+end
+
+function Vec4_LengthSqr()
+    assert(omath.Vec4.new(0, 0, 3, 4):length_sqr() == 25.0)
+end
+
+function Vec4_Dot()
+    local a = omath.Vec4.new(1, 2, 3, 4)
+    assert(a:dot(a) == 30.0)
+end
+
+function Vec4_Dot_perpendicular()
+    assert(omath.Vec4.new(1, 0, 0, 0):dot(omath.Vec4.new(0, 1, 0, 0)) == 0.0)
+end
+
+function Vec4_Sum()
+    assert(omath.Vec4.new(1, 2, 3, 4):sum() == 10.0)
+end
+
+function Vec4_Abs()
+    local a = omath.Vec4.new(-1, -2, -3, -4):abs()
+    assert(a.x == 1 and a.y == 2 and a.z == 3 and a.w == 4)
+end
+
+function Vec4_Clamp()
+    local v = omath.Vec4.new(5, -3, 10, 99)
+    v:clamp(0, 7)
+    assert(v.x == 5 and v.y == 0 and v.z == 7)
+end

tests/lua/vector2_test.lua

@@ -0,0 +1,29 @@
+local a = omath.Vec2.new(1, 2)
+local b = omath.Vec2.new(10, 20)
+
+-- Operators
+local c = a + b
+local d = a - b
+local e = a * 2.0
+local f = -a
+print("a + b = " .. tostring(c))
+print("a - b = " .. tostring(d))
+print("a * 2 = " .. tostring(e))
+print("-a    = " .. tostring(f))
+print("a == Vec2(1,2): " .. tostring(a == omath.Vec2.new(1, 2)))
+print("a < b: " .. tostring(a < b))
+
+-- Field access + mutation
+print("c.x = " .. c.x .. ", c.y = " .. c.y)
+c.x = 99
+print("c.x after mutation = " .. c.x)
+
+-- Methods
+print("a:length()           = " .. a:length())
+print("a:length_sqr()       = " .. a:length_sqr())
+print("a:normalized()       = " .. tostring(a:normalized()))
+print("a:dot(b)             = " .. a:dot(b))
+print("a:distance_to(b)     = " .. a:distance_to(b))
+print("a:distance_to_sqr(b) = " .. a:distance_to_sqr(b))
+print("a:sum()              = " .. a:sum())
+print("a:abs()              = " .. tostring(a:abs()))

tests/lua/vector3_test.lua

@@ -0,0 +1,55 @@
+local a = omath.Vec3.new(1, 0, 0)
+local b = omath.Vec3.new(0, 1, 0)
+
+-- Operators
+local c = a + b
+local d = a - b
+local e = a * 2.0
+local f = -a
+print("a + b = " .. tostring(c))
+print("a - b = " .. tostring(d))
+print("a * 2 = " .. tostring(e))
+print("-a    = " .. tostring(f))
+print("a == Vec3(1,2,3): " .. tostring(a == omath.Vec3.new(1, 2, 3)))
+print("a < b: " .. tostring(a < b))
+
+-- Field access + mutation
+print("c.x = " .. c.x .. ", c.y = " .. c.y .. ", c.z = " .. c.z)
+c.x = 99
+print("c.x after mutation = " .. c.x)
+
+-- Methods
+print("a:length()       = " .. a:length())
+print("a:length_2d()    = " .. a:length_2d())
+print("a:length_sqr()   = " .. a:length_sqr())
+print("a:normalized()   = " .. tostring(a:normalized()))
+print("a:dot(b)         = " .. a:dot(b))
+print("a:cross(b)       = " .. tostring(a:cross(b)))
+print("a:distance_to(b) = " .. a:distance_to(b))
+print("a:distance_to_sqr(b) = " .. a:distance_to_sqr(b))
+print("a:abs()          = " .. tostring(a:abs()))
+print("a:sum()          = " .. a:sum())
+print("a:sum_2d()       = " .. a:sum_2d())
+print("a:point_to_same_direction(b) = " .. tostring(a:point_to_same_direction(b)))
+print("a:is_perpendicular(b) = " .. tostring(a:is_perpendicular(b)))
+
+-- angle_between
+local angle, err = a:angle_between(b)
+if angle then
+    print("angle_between = " .. angle .. " degrees")
+else
+    print("angle_between error: " .. err)
+end
+
+-- Zero vector edge case
+local zero = omath.Vec3.new(0, 0, 0)
+local ang2, err2 = zero:angle_between(a)
+if ang2 then
+    print("zero angle = " .. ang2)
+else
+    print("zero angle error: " .. err2)
+end
+
+-- as_table
+local t = a:as_table()
+print("as_table: x=" .. t.x .. " y=" .. t.y .. " z=" .. t.z)

tests/lua/vector4_test.lua

@@ -0,0 +1,31 @@
+local a = omath.Vec4.new(1, 2, 3, 4)
+local b = omath.Vec4.new(10, 20, 30, 40)
+
+-- Operators
+local c = a + b
+local d = a - b
+local e = a * 2.0
+local f = -a
+print("a + b = " .. tostring(c))
+print("a - b = " .. tostring(d))
+print("a * 2 = " .. tostring(e))
+print("-a    = " .. tostring(f))
+print("a == Vec4(1,2,3,4): " .. tostring(a == omath.Vec4.new(1, 2, 3, 4)))
+print("a < b: " .. tostring(a < b))
+
+-- Field access + mutation
+print("c.x=" .. c.x .. " c.y=" .. c.y .. " c.z=" .. c.z .. " c.w=" .. c.w)
+c.w = 99
+print("c.w after mutation = " .. c.w)
+
+-- Methods
+print("a:length()     = " .. a:length())
+print("a:length_sqr() = " .. a:length_sqr())
+print("a:dot(b)       = " .. a:dot(b))
+print("a:sum()        = " .. a:sum())
+print("a:abs()        = " .. tostring(a:abs()))
+
+-- clamp
+local clamped = omath.Vec4.new(5, -3, 10, 1)
+clamped:clamp(0, 7)
+print("clamp([5,-3,10,1], 0, 7).x=" .. clamped.x .. " .y=" .. clamped.y .. " .z=" .. clamped.z)

vcpkg-configuration.json

@@ -1,7 +1,7 @@
 {
   "default-registry": {
     "kind": "git",
-    "baseline": "b1b19307e2d2ec1eefbdb7ea069de7d4bcd31f01",
+    "baseline": "efa4634bd526b87559684607d2cbbdeeec0f07d8",
     "repository": "https://github.com/microsoft/vcpkg"
   },
   "registries": [

vcpkg.json

@@ -17,7 +17,7 @@
   ],
   "features": {
     "avx2": {
-      "description": "Omath will use AVX2 to boost performance",
+      "description": "omath will use AVX2 to boost performance",
       "supports": "!arm"
     },
     "benchmark": {
@@ -35,7 +35,7 @@
       ]
     },
     "imgui": {
-      "description": "Omath will define method to convert omath types to imgui types",
+      "description": "omath will define method to convert omath types to imgui types",
       "dependencies": [
         "imgui"
       ]
@@ -45,6 +45,20 @@
       "dependencies": [
         "gtest"
       ]
+    },
+    "lua": {
+      "description": "lua support for omath",
+      "dependencies": [
+        "lua",
+        "sol2"
+      ]
+    },
+    "physx": {
+      "description": "PhysX-backed collider implementations",
+      "dependencies": [
+        "physx"
+      ],
+      "supports": "(windows & x64 & !mingw & !uwp) | (linux & x64) | (linux & arm64)"
     }
   }
 }