Merge pull request #161 from orange-cpp/feature/lua-bindings

Feature/lua bindings
updated read me
2026-04-18 23:23:28 +00:00 · 2026-03-10 19:41:34 +03:00 · 2026-03-10 19:22:39 +03:00 · 2026-03-10 19:09:29 +03:00 · 2026-03-10 19:01:54 +03:00 · 2026-03-10 19:00:36 +03:00
43 changed files with 3812 additions and 208 deletions
--- a/.github/workflows/cmake-multi-platform.yml
+++ b/.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
--- a/.luarc.json
+++ b/.luarc.json
@@ -0,0 +1,5 @@
+{
+    "diagnostics.globals": [
+        "omath"
+    ]
+}
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -31,6 +31,9 @@ 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)
 if(VCPKG_MANIFEST_FEATURES)
    foreach(omath_feature IN LISTS VCPKG_MANIFEST_FEATURES)
        if(omath_feature STREQUAL "imgui")
@@ -43,6 +46,8 @@ 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)
        endif()

    endforeach()
@@ -72,6 +77,7 @@ 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}")
 endif()

 file(GLOB_RECURSE OMATH_SOURCES CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/source/*.cpp")
@@ -83,6 +89,17 @@ else()
    add_library(${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 ${SOL2_INCLUDE_DIRS})
+endif ()
+
 add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})

 target_compile_definitions(${PROJECT_NAME} PUBLIC OMATH_VERSION="${PROJECT_VERSION}")
@@ -174,6 +191,12 @@ 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)
--- a/CMakePresets.json
+++ b/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"
      }
    },
    {
@@ -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"
      }
    },
    {
--- a/README.md
+++ b/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)
@@ -83,6 +84,7 @@ if (auto screen = camera.world_to_screen(world_position)) {
 - **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 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>
 
--- a/benchmark/benchmark_collision.cpp
+++ b/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);
--- a/include/omath/collision/epa_algorithm.hpp
+++ b/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
--- a/include/omath/collision/gjk_algorithm.hpp
+++ b/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
--- a/include/omath/collision/mesh_collider.hpp
+++ b/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;
    };
--- a/include/omath/linear_algebra/quaternion.hpp
+++ b/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);
+    }
+};
--- a/include/omath/lua/lua.hpp
+++ b/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
--- a/include/omath/omath.hpp
+++ b/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"

--- a/include/omath/utility/color.hpp
+++ b/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();
    }
--- a/source/engines/cry_engine/traits/camera_trait.cpp
+++ b/source/engines/cry_engine/traits/camera_trait.cpp
--- a/source/lua/lua.cpp
+++ b/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
--- a/source/lua/lua_color.cpp
+++ b/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
--- a/source/lua/lua_engines.cpp
+++ b/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
--- a/source/lua/lua_pattern_scan.cpp
+++ b/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>
+#endif
+
+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
--- a/source/lua/lua_triangle.cpp
+++ b/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
--- a/source/lua/lua_vec2.cpp
+++ b/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
--- a/source/lua/lua_vec3.cpp
+++ b/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
--- a/source/lua/lua_vec4.cpp
+++ b/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
--- a/tests/CMakeLists.txt
+++ b/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()
+
--- a/tests/general/unit_test_color_grouped.cpp
+++ b/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);
+}
--- a/tests/general/unit_test_epa_comprehensive.cpp
+++ b/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);
+    }
+}
--- a/tests/general/unit_test_gjk_comprehensive.cpp
+++ b/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);
+}
--- a/tests/general/unit_test_quaternion.cpp
+++ b/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]");
+}
--- a/tests/lua/color_tests.lua
+++ b/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
--- a/tests/lua/source_engine_tests.lua
+++ b/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
--- a/tests/lua/triangle_tests.lua
+++ b/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
--- a/tests/lua/unit_test_lua_color.cpp
+++ b/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"); }
--- a/tests/lua/unit_test_lua_source_engine.cpp
+++ b/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"); }
--- a/tests/lua/unit_test_lua_triangle.cpp
+++ b/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"); }
--- a/tests/lua/unit_test_lua_vector2.cpp
+++ b/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"); }
--- a/tests/lua/unit_test_lua_vector3.cpp
+++ b/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"); }
--- a/tests/lua/unit_test_lua_vector4.cpp
+++ b/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"); }
--- a/tests/lua/vec2_tests.lua
+++ b/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
--- a/tests/lua/vec3_tests.lua
+++ b/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
--- a/tests/lua/vec4_tests.lua
+++ b/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
--- a/tests/lua/vector2_test.lua
+++ b/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()))
--- a/tests/lua/vector3_test.lua
+++ b/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)
--- a/tests/lua/vector4_test.lua
+++ b/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)
--- a/vcpkg.json
+++ b/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 +45,13 @@
      "dependencies": [
        "gtest"
      ]
+    },
+    "lua": {
+      "description": "lua support for omath",
+      "dependencies": [
+        "lua",
+        "sol2"
+      ]
    }
  }
 }
Author	SHA1	Message	Date
Orange++	3ccbb0b25b	Merge pull request #161 from orange-cpp/feature/lua-bindings Feature/lua bindings	2026-03-10 19:41:34 +03:00
Orange	68993db48a	updated read me	2026-03-10 19:22:39 +03:00
Orange	337204b3bf	fixed missing source	2026-03-10 19:09:29 +03:00
Orange	1e601d2d8f	android fix	2026-03-10 19:01:54 +03:00
Orange	2b4a75d011	added lua status to build logs	2026-03-10 19:00:36 +03:00
Orange	99a30e8fdf	added pattern scan to lua	2026-03-10 18:55:55 +03:00
Orange	0cdd1d021f	added triangle to lua	2026-03-10 18:39:20 +03:00
Orange	a79ac9743a	added badge, added triangle	2026-03-10 18:39:10 +03:00
Orange	f26afb703b	added bigobj for msvc and mingw	2026-03-10 18:29:13 +03:00
Orange	f237ee5f6a	removed useless headers	2026-03-10 18:15:54 +03:00
Orange	9058ea9b39	refactored to class	2026-03-10 18:14:29 +03:00
Orange	f707ac1adb	fixed forward decl	2026-03-10 18:04:31 +03:00
Orange	cbdabd3fc2	removed useless header	2026-03-10 17:57:11 +03:00
Orange	30e3feb4f8	fix	2026-03-10 16:38:00 +03:00
Orange	0726fdef32	webasm fix	2026-03-10 16:31:49 +03:00
Orange	0ffe0c2bdc	potential fix	2026-03-10 16:24:21 +03:00
Orange	e9600ad42b	splited lua into multiple sources	2026-03-10 16:15:02 +03:00
Orange	673835618c	restructurized stuff	2026-03-10 15:57:22 +03:00
orange	afb2a13dd6	added color	2026-03-08 23:08:23 +03:00
orange	943472cf64	migrated to sol2 decomposed method added vector2, vector4 refactored tests added opengl engine to lua added other engines added source tests removed tons of lua files	2026-03-08 12:55:35 +03:00
Orange++	9752accb14	Merge pull request #160 from orange-cpp/feaure/gjk-epa-improvement Feaure/gjk epa improvement	2026-03-03 18:25:37 +03:00
orange	7373e6d3df	added std namspace to int64_t type	2026-03-03 10:00:46 +03:00
orange	68f4c8cc72	added nodiscard	2026-03-03 09:38:05 +03:00
orange	2dafc8a49d	added additional method	2026-03-03 09:22:11 +03:00
orange	11fe49e801	added const	2026-03-03 08:51:13 +03:00
orange	dee705a391	improvement	2026-03-03 08:43:30 +03:00
orange	bfe147ef80	Merge remote-tracking branch 'orange-cpp/feaure/gjk-epa-improvement' into feaure/gjk-epa-improvement	2026-03-03 08:27:50 +03:00
orange	2c70288a8f	added epa tests	2026-03-03 08:27:26 +03:00
Orange	529322fe34	decomposed method	2026-03-03 08:14:12 +03:00
orange	414b2af289	added gjk tests	2026-03-02 19:58:31 +03:00
orange	a79ad6948c	optimized	2026-03-02 19:40:45 +03:00
orange	ea2c7c3d7f	added benchmark	2026-03-02 19:40:37 +03:00
Orange++	91c2e0d74b	Merge pull request #159 from orange-cpp/feature/color_update Feature/color update	2026-03-01 13:53:18 +03:00
Orange	52e9b906ff	added const	2026-03-01 13:32:13 +03:00
Orange	cc6d625c2d	added more formaters	2026-03-01 13:30:32 +03:00
Orange	5eaec70846	fixed tests	2026-03-01 13:22:15 +03:00
Orange	2063c4d33a	updated color	2026-03-01 13:15:09 +03:00
Orange	60bf8ca30f	moved file	2026-03-01 13:00:24 +03:00
Orange++	6fca106edc	Merge pull request #158 from orange-cpp/feature/quaternions added files	2026-03-01 09:04:18 +03:00
orange	78cb644920	added files	2026-03-01 08:23:26 +03:00
orange	646a920e4c	fixed potential deadlock	2026-02-27 08:47:46 +03:00
Orange	52687a70c7	fixed formating	2026-02-27 07:41:05 +03:00
Orange++	a9eff7d320	Merge pull request #157 from orange-cpp/feature/mesh_improvement Feature/mesh improvement	2026-02-26 16:39:21 +03:00
orange	211e4c3d9b	optimization	2026-02-26 16:19:54 +03:00
orange	74dc2234f7	fixed collider when rotated	2026-02-26 16:17:41 +03:00