Merge pull request #172 from orange-cpp/feaute/methods_calling_improvement

Feaute/methods calling improvement

.clang-format

@@ -12,6 +12,7 @@ AlignConsecutiveMacros: AcrossEmptyLinesAndComments
 AlignTrailingComments: false
 AllowShortBlocksOnASingleLine: Never
 AllowShortFunctionsOnASingleLine: None
+AllowShortLambdasOnASingleLine: None
 AllowShortIfStatementsOnASingleLine: false
 AllowShortLoopsOnASingleLine: false
 BreakTemplateDeclarations: Leave

.github/FUNDING.yml

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

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

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

.github/workflows/release.yml

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

.luarc.json

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

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}")
@@ -130,11 +147,10 @@ set_target_properties(
                CXX_STANDARD 23
                CXX_STANDARD_REQUIRED ON)
 
-if (OMATH_STATIC_MSVC_RUNTIME_LIBRARY)
+if(OMATH_STATIC_MSVC_RUNTIME_LIBRARY)
-    set_target_properties(${PROJECT_NAME} PROPERTIES
+    set_target_properties(${PROJECT_NAME} PROPERTIES MSVC_RUNTIME_LIBRARY
-            MSVC_RUNTIME_LIBRARY "MultiThreaded$<$<CONFIG:Debug>:Debug>"
+                                                     "MultiThreaded$<$<CONFIG:Debug>:Debug>")
-    )
+endif()
-endif ()
 
 if(OMATH_USE_AVX2)
     if(MSVC)
@@ -175,6 +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)

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"
       }
     },
     {

CODEOWNERS

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

CREDITS.md

@@ -5,6 +5,7 @@ Thanks to everyone who made this possible, including:
 - Saikari aka luadebug for VCPKG port and awesome new initial logo design.
 - AmbushedRaccoon for telegram post about omath to boost repository activity.
 - Billy O'Neal aka BillyONeal for fixing compilation issues due to C math library compatibility.
+- Alex2772 for reference of AUI declarative interface design for omath::hud
 
 And a big hand to everyone else who has contributed over the past!
 

INSTALL.md

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

README.md

@@ -9,11 +9,12 @@
 [![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)
 
-OMath is a 100% independent, constexpr template blazingly fast math library that doesn't have legacy C++ code.
+OMath is a 100% independent, constexpr template blazingly fast math/physics/games/mods/cheats development framework that doesn't have legacy C++ code.
 
 It provides the latest features, is highly customizable, has all for cheat development, DirectX/OpenGL/Vulkan support, premade support for different game engines, much more constexpr stuff than in other libraries and more...
 <br>
@@ -80,9 +81,12 @@ if (auto screen = camera.world_to_screen(world_position)) {
 - **Collision Detection**: Production ready code to handle collision detection by using simple interfaces.
 - **No Additional Dependencies**: No additional dependencies need to use OMath except unit test execution
 - **Ready for meta-programming**: Omath use templates for common types like Vectors, Matrixes etc, to handle all types!
-- **Engine support**: Supports coordinate systems of **Source, Unity, Unreal, Frostbite, IWEngine and canonical OpenGL**.
+- **Engine support**: Supports coordinate systems of **Source, Unity, Unreal, Frostbite, IWEngine, CryEngine and canonical OpenGL**.
 - **Cross platform**: Supports Windows, MacOS and Linux.
-- **Algorithms**: Has ability to scan for byte pattern with wildcards in PE files/modules, binary slices, works even with Wine apps. 
+- **Algorithms**: Has ability to scan for byte pattern with wildcards in ELF/Mach-O/PE files/modules, binary slices, works even with Wine apps. 
+- **Scripting**: Supports to make scripts in Lua out of box.
+- **Handy**: Allow to design wall hacks in modern jetpack compose like way.
+- **Battle tested**: It's already used by some big players on the market like wraith.su and bluedream.ltd
 <div align = center>
  
 # Gallery

VERSION

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

benchmark/benchmark_collision.cpp

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

examples/CMakeLists.txt

@@ -1,35 +1,8 @@
-project(examples)
+add_subdirectory(example_barycentric)
-
+add_subdirectory(example_glfw3)
-add_executable(example_projection_matrix_builder example_proj_mat_builder.cpp)
+add_subdirectory(example_proj_mat_builder)
-set_target_properties(
+add_subdirectory(example_signature_scan)
-    example_projection_matrix_builder
+add_subdirectory(example_hud)
-    PROPERTIES CXX_STANDARD 23
-               ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
-               LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
-               RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}")
-target_link_libraries(example_projection_matrix_builder PRIVATE omath::omath)
-
-add_executable(example_signature_scan example_signature_scan.cpp)
-set_target_properties(
-    example_signature_scan
-    PROPERTIES CXX_STANDARD 23
-               ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
-               LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
-               RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}")
-target_link_libraries(example_signature_scan PRIVATE omath::omath)
-
-add_executable(example_glfw3 example_glfw3.cpp)
-set_target_properties(
-    example_glfw3
-    PROPERTIES CXX_STANDARD 23
-               ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
-               LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
-               RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}")
-
-find_package(OpenGL)
-find_package(GLEW REQUIRED)
-find_package(glfw3 CONFIG REQUIRED)
-target_link_libraries(example_glfw3 PRIVATE omath::omath GLEW::GLEW glfw OpenGL::GL)
 
 if(OMATH_ENABLE_VALGRIND)
     omath_setup_valgrind(example_projection_matrix_builder)

examples/example_barycentric/CMakeLists.txt

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

examples/example_barycentric/example_barycentric.cpp

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

examples/example_glfw3/CMakeLists.txt

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

examples/example_glfw3/example_glfw3.cpp

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

examples/example_hud/CMakeLists.txt

@@ -0,0 +1,16 @@
+project(example_hud)
+
+
+add_executable(${PROJECT_NAME} main.cpp gui/main_window.cpp gui/main_window.hpp)
+
+set_target_properties(
+        ${PROJECT_NAME}
+        PROPERTIES CXX_STANDARD 23
+        ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+        LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+        RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}")
+
+find_package(OpenGL)
+find_package(GLEW REQUIRED)
+find_package(glfw3 CONFIG REQUIRED)
+target_link_libraries(${PROJECT_NAME} PRIVATE glfw imgui::imgui omath::omath OpenGL::GL)

examples/example_hud/gui/main_window.cpp

@@ -0,0 +1,263 @@
+//
+// Created by Orange on 11/11/2024.
+//
+#include "main_window.hpp"
+#include "omath/hud/renderer_realizations/imgui_renderer.hpp"
+#include <GLFW/glfw3.h>
+#include <imgui.h>
+#include <imgui_impl_glfw.h>
+#include <imgui_impl_opengl3.h>
+#include <omath/hud/entity_overlay.hpp>
+
+namespace imgui_desktop::gui
+{
+    bool MainWindow::m_canMoveWindow = false;
+
+    MainWindow::MainWindow(const std::string_view& caption, int width, int height)
+    {
+        if (!glfwInit())
+            std::exit(EXIT_FAILURE);
+
+        glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
+        glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 2);
+        glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
+        glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE);
+        glfwWindowHint(GLFW_TRANSPARENT_FRAMEBUFFER, true);
+        m_window = glfwCreateWindow(width, height, caption.data(), nullptr, nullptr);
+
+        glfwMakeContextCurrent(m_window);
+
+        ImGui::CreateContext();
+        ImGui::StyleColorsDark();
+        ImGui::GetStyle().Colors[ImGuiCol_WindowBg] = {0.05f, 0.05f, 0.05f, 0.92f};
+        ImGui::GetStyle().AntiAliasedLines = false;
+        ImGui::GetStyle().AntiAliasedFill = false;
+        ImGui_ImplGlfw_InitForOpenGL(m_window, true);
+        ImGui_ImplOpenGL3_Init("#version 150");
+    }
+
+    void MainWindow::Run()
+    {
+        while (!glfwWindowShouldClose(m_window) && m_opened)
+        {
+            glfwPollEvents();
+            ImGui_ImplOpenGL3_NewFrame();
+            ImGui_ImplGlfw_NewFrame();
+            ImGui::NewFrame();
+
+            const auto* vp = ImGui::GetMainViewport();
+            ImGui::GetBackgroundDrawList()->AddRectFilled({}, vp->Size, ImColor(30, 30, 30, 220));
+
+            draw_controls();
+            draw_overlay();
+
+            ImGui::Render();
+            present();
+        }
+        glfwDestroyWindow(m_window);
+    }
+
+    void MainWindow::draw_controls()
+    {
+        const auto* vp = ImGui::GetMainViewport();
+        ImGui::SetNextWindowPos({0.f, 0.f});
+        ImGui::SetNextWindowSize({280.f, vp->Size.y});
+        ImGui::Begin("Controls", &m_opened,
+                     ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoCollapse);
+        ImGui::PushItemWidth(160.f);
+
+        if (ImGui::CollapsingHeader("Entity", ImGuiTreeNodeFlags_DefaultOpen))
+        {
+            ImGui::SliderFloat("X##ent", &m_entity_x, 100.f, vp->Size.x - 100.f);
+            ImGui::SliderFloat("Top Y", &m_entity_top_y, 20.f, m_entity_bottom_y - 20.f);
+            ImGui::SliderFloat("Bottom Y", &m_entity_bottom_y, m_entity_top_y + 20.f, vp->Size.y - 20.f);
+        }
+
+        if (ImGui::CollapsingHeader("Box", ImGuiTreeNodeFlags_DefaultOpen))
+        {
+            ImGui::Checkbox("Box##chk", &m_show_box);
+            ImGui::SameLine();
+            ImGui::Checkbox("Cornered", &m_show_cornered_box);
+            ImGui::SameLine();
+            ImGui::Checkbox("Dashed", &m_show_dashed_box);
+            ImGui::ColorEdit4("Color##box", reinterpret_cast<float*>(&m_box_color), ImGuiColorEditFlags_NoInputs);
+            ImGui::ColorEdit4("Fill##box", reinterpret_cast<float*>(&m_box_fill), ImGuiColorEditFlags_NoInputs);
+            ImGui::SliderFloat("Thickness", &m_box_thickness, 0.5f, 5.f);
+            ImGui::SliderFloat("Corner ratio", &m_corner_ratio, 0.05f, 0.5f);
+            ImGui::Separator();
+            ImGui::ColorEdit4("Dash color", reinterpret_cast<float*>(&m_dash_color), ImGuiColorEditFlags_NoInputs);
+            ImGui::SliderFloat("Dash length", &m_dash_len, 2.f, 30.f);
+            ImGui::SliderFloat("Dash gap", &m_dash_gap, 1.f, 20.f);
+            ImGui::SliderFloat("Dash thick", &m_dash_thickness, 0.5f, 5.f);
+        }
+
+        if (ImGui::CollapsingHeader("Bars", ImGuiTreeNodeFlags_DefaultOpen))
+        {
+            ImGui::ColorEdit4("Color##bar", reinterpret_cast<float*>(&m_bar_color), ImGuiColorEditFlags_NoInputs);
+            ImGui::ColorEdit4("BG##bar", reinterpret_cast<float*>(&m_bar_bg_color), ImGuiColorEditFlags_NoInputs);
+            ImGui::ColorEdit4("Outline##bar", reinterpret_cast<float*>(&m_bar_outline_color),
+                              ImGuiColorEditFlags_NoInputs);
+            ImGui::SliderFloat("Width##bar", &m_bar_width, 1.f, 20.f);
+            ImGui::SliderFloat("Value##bar", &m_bar_value, 0.f, 1.f);
+            ImGui::SliderFloat("Offset##bar", &m_bar_offset, 1.f, 20.f);
+            ImGui::Checkbox("Right##bar", &m_show_right_bar);
+            ImGui::SameLine();
+            ImGui::Checkbox("Left##bar", &m_show_left_bar);
+            ImGui::Checkbox("Top##bar", &m_show_top_bar);
+            ImGui::SameLine();
+            ImGui::Checkbox("Bottom##bar", &m_show_bottom_bar);
+            ImGui::Checkbox("Right dashed##bar", &m_show_right_dashed_bar);
+            ImGui::SameLine();
+            ImGui::Checkbox("Left dashed##bar", &m_show_left_dashed_bar);
+            ImGui::Checkbox("Top dashed##bar", &m_show_top_dashed_bar);
+            ImGui::SameLine();
+            ImGui::Checkbox("Bot dashed##bar", &m_show_bottom_dashed_bar);
+            ImGui::SliderFloat("Dash len##bar", &m_bar_dash_len, 2.f, 20.f);
+            ImGui::SliderFloat("Dash gap##bar", &m_bar_dash_gap, 1.f, 15.f);
+        }
+
+        if (ImGui::CollapsingHeader("Labels", ImGuiTreeNodeFlags_DefaultOpen))
+        {
+            ImGui::Checkbox("Outlined", &m_outlined);
+            ImGui::SliderFloat("Offset##lbl", &m_label_offset, 0.f, 15.f);
+            ImGui::Checkbox("Right##lbl", &m_show_right_labels);
+            ImGui::SameLine();
+            ImGui::Checkbox("Left##lbl", &m_show_left_labels);
+            ImGui::Checkbox("Top##lbl", &m_show_top_labels);
+            ImGui::SameLine();
+            ImGui::Checkbox("Bottom##lbl", &m_show_bottom_labels);
+            ImGui::Checkbox("Ctr top##lbl", &m_show_centered_top);
+            ImGui::SameLine();
+            ImGui::Checkbox("Ctr bot##lbl", &m_show_centered_bottom);
+        }
+
+        if (ImGui::CollapsingHeader("Skeleton"))
+        {
+            ImGui::Checkbox("Show##skel", &m_show_skeleton);
+            ImGui::ColorEdit4("Color##skel", reinterpret_cast<float*>(&m_skel_color), ImGuiColorEditFlags_NoInputs);
+            ImGui::SliderFloat("Thick##skel", &m_skel_thickness, 0.5f, 5.f);
+        }
+
+        if (ImGui::CollapsingHeader("Progress Ring"))
+        {
+            ImGui::Checkbox("Show##ring", &m_show_ring);
+            ImGui::ColorEdit4("Color##ring", reinterpret_cast<float*>(&m_ring_color), ImGuiColorEditFlags_NoInputs);
+            ImGui::ColorEdit4("BG##ring", reinterpret_cast<float*>(&m_ring_bg), ImGuiColorEditFlags_NoInputs);
+            ImGui::SliderFloat("Radius##ring", &m_ring_radius, 4.f, 30.f);
+            ImGui::SliderFloat("Value##ring", &m_ring_ratio, 0.f, 1.f);
+            ImGui::SliderFloat("Thick##ring", &m_ring_thickness, 0.5f, 6.f);
+            ImGui::SliderFloat("Offset##ring", &m_ring_offset, 0.f, 15.f);
+        }
+
+        if (ImGui::CollapsingHeader("Scan Marker"))
+        {
+            ImGui::Checkbox("Show##scan", &m_show_scan);
+            ImGui::ColorEdit4("Fill##scan", reinterpret_cast<float*>(&m_scan_color), ImGuiColorEditFlags_NoInputs);
+            ImGui::ColorEdit4("Outline##scan", reinterpret_cast<float*>(&m_scan_outline), ImGuiColorEditFlags_NoInputs);
+            ImGui::SliderFloat("Thick##scan", &m_scan_outline_thickness, 0.5f, 5.f);
+        }
+
+        if (ImGui::CollapsingHeader("Aim Dot"))
+        {
+            ImGui::Checkbox("Show##aim", &m_show_aim);
+            ImGui::ColorEdit4("Color##aim", reinterpret_cast<float*>(&m_aim_color), ImGuiColorEditFlags_NoInputs);
+            ImGui::SliderFloat("Radius##aim", &m_aim_radius, 1.f, 10.f);
+        }
+
+        if (ImGui::CollapsingHeader("Projectile Aim"))
+        {
+            ImGui::Checkbox("Show##proj", &m_show_proj);
+            ImGui::ColorEdit4("Color##proj", reinterpret_cast<float*>(&m_proj_color), ImGuiColorEditFlags_NoInputs);
+            ImGui::SliderFloat("Size##proj", &m_proj_size, 1.f, 30.f);
+            ImGui::SliderFloat("Line width##proj", &m_proj_line_width, 0.5f, 5.f);
+            ImGui::SliderFloat("Pos X##proj", &m_proj_pos_x, 0.f, vp->Size.x);
+            ImGui::SliderFloat("Pos Y##proj", &m_proj_pos_y, 0.f, vp->Size.y);
+            ImGui::Combo("Figure##proj", &m_proj_figure, "Circle\0Square\0");
+        }
+
+        if (ImGui::CollapsingHeader("Snap Line"))
+        {
+            ImGui::Checkbox("Show##snap", &m_show_snap);
+            ImGui::ColorEdit4("Color##snap", reinterpret_cast<float*>(&m_snap_color), ImGuiColorEditFlags_NoInputs);
+            ImGui::SliderFloat("Width##snap", &m_snap_width, 0.5f, 5.f);
+        }
+
+        ImGui::PopItemWidth();
+        ImGui::End();
+    }
+
+    void MainWindow::draw_overlay()
+    {
+        using namespace omath::hud::widget;
+        using omath::hud::when;
+        const auto* vp = ImGui::GetMainViewport();
+        const Bar bar{m_bar_color, m_bar_outline_color, m_bar_bg_color, m_bar_width, m_bar_value, m_bar_offset};
+        const DashedBar dbar{m_bar_color, m_bar_outline_color, m_bar_bg_color, m_bar_width,
+                             m_bar_value, m_bar_dash_len,      m_bar_dash_gap, m_bar_offset};
+
+        omath::hud::EntityOverlay({m_entity_x, m_entity_top_y}, {m_entity_x, m_entity_bottom_y},
+                                  std::make_shared<omath::hud::ImguiHudRenderer>())
+                .contents(
+                        // ── Boxes ────────────────────────────────────────────────────
+                        when(m_show_box, Box{m_box_color, m_box_fill, m_box_thickness}),
+                        when(m_show_cornered_box, CorneredBox{omath::Color::from_rgba(255, 0, 255, 255), m_box_fill,
+                                                              m_corner_ratio, m_box_thickness}),
+                        when(m_show_dashed_box, DashedBox{m_dash_color, m_dash_len, m_dash_gap, m_dash_thickness}),
+                        RightSide{
+                                when(m_show_right_bar, bar),
+                                when(m_show_right_dashed_bar, dbar),
+                                when(m_show_right_labels,
+                                     Label{{0.f, 1.f, 0.f, 1.f}, m_label_offset, m_outlined, "Health: 100/100"}),
+                                when(m_show_right_labels,
+                                     Label{{1.f, 0.f, 0.f, 1.f}, m_label_offset, m_outlined, "Shield: 125/125"}),
+                                when(m_show_right_labels,
+                                     Label{{1.f, 0.f, 1.f, 1.f}, m_label_offset, m_outlined, "*LOCKED*"}),
+
+                            SpaceVertical{10},
+                                when(m_show_ring, ProgressRing{m_ring_color, m_ring_bg, m_ring_radius, m_ring_ratio,
+                                                               m_ring_thickness, m_ring_offset}),
+                        },
+                        LeftSide{
+                                when(m_show_left_bar, bar),
+                                when(m_show_left_dashed_bar, dbar),
+                                when(m_show_left_labels, Label{omath::Color::from_rgba(255, 128, 0, 255),
+                                                               m_label_offset, m_outlined, "Armor: 75"}),
+                                when(m_show_left_labels, Label{omath::Color::from_rgba(0, 200, 255, 255),
+                                                               m_label_offset, m_outlined, "Level: 42"}),
+                        },
+                        TopSide{
+                                when(m_show_top_bar, bar),
+                                when(m_show_top_dashed_bar, dbar),
+                                when(m_show_centered_top, Centered{Label{omath::Color::from_rgba(0, 255, 255, 255),
+                                                                         m_label_offset, m_outlined, "*VISIBLE*"}}),
+                                when(m_show_top_labels, Label{omath::Color::from_rgba(255, 255, 0, 255), m_label_offset,
+                                                              m_outlined, "*SCOPED*"}),
+                                when(m_show_top_labels, Label{omath::Color::from_rgba(255, 0, 0, 255), m_label_offset,
+                                                              m_outlined, "*BLEEDING*"}),
+                        },
+                        BottomSide{
+                                when(m_show_bottom_bar, bar),
+                                when(m_show_bottom_dashed_bar, dbar),
+                                when(m_show_centered_bottom, Centered{Label{omath::Color::from_rgba(255, 255, 255, 255),
+                                                                            m_label_offset, m_outlined, "PlayerName"}}),
+                                when(m_show_bottom_labels, Label{omath::Color::from_rgba(200, 200, 0, 255),
+                                                                 m_label_offset, m_outlined, "42m"}),
+                        },
+                        when(m_show_aim, AimDot{{m_entity_x, m_entity_top_y+40.f}, m_aim_color, m_aim_radius}),
+                        when(m_show_scan, ScanMarker{m_scan_color, m_scan_outline, m_scan_outline_thickness}),
+                        when(m_show_skeleton, Skeleton{m_skel_color, m_skel_thickness}),
+                        when(m_show_proj, ProjectileAim{{m_proj_pos_x, m_proj_pos_y}, m_proj_color, m_proj_size, m_proj_line_width, static_cast<ProjectileAim::Figure>(m_proj_figure)}),
+                        when(m_show_snap, SnapLine{{vp->Size.x / 2.f, vp->Size.y}, m_snap_color, m_snap_width}));
+    }
+
+    void MainWindow::present()
+    {
+        int w, h;
+        glfwGetFramebufferSize(m_window, &w, &h);
+        glViewport(0, 0, w, h);
+        glClearColor(0.f, 0.f, 0.f, 0.f);
+        glClear(GL_COLOR_BUFFER_BIT);
+        ImGui_ImplOpenGL3_RenderDrawData(ImGui::GetDrawData());
+        glfwSwapBuffers(m_window);
+    }
+} // namespace imgui_desktop::gui

examples/example_hud/gui/main_window.hpp

@@ -0,0 +1,94 @@
+//
+// Created by Orange on 11/11/2024.
+//
+#pragma once
+#include <omath/hud/entity_overlay.hpp>
+#include <omath/utility/color.hpp>
+#include <string_view>
+
+struct GLFWwindow;
+
+namespace imgui_desktop::gui
+{
+    class MainWindow
+    {
+    public:
+        MainWindow(const std::string_view& caption, int width, int height);
+        void Run();
+
+    private:
+        void draw_controls();
+        void draw_overlay();
+        void present();
+
+        GLFWwindow* m_window = nullptr;
+        static bool m_canMoveWindow;
+        bool m_opened = true;
+
+        // Entity
+        float m_entity_x = 550.f, m_entity_top_y = 150.f, m_entity_bottom_y = 450.f;
+
+        // Box
+        omath::Color m_box_color{1.f, 1.f, 1.f, 1.f};
+        omath::Color m_box_fill{0.f, 0.f, 0.f, 0.f};
+        float m_box_thickness = 1.f, m_corner_ratio = 0.2f;
+        bool m_show_box = true, m_show_cornered_box = true, m_show_dashed_box = false;
+
+        // Dashed box
+        omath::Color m_dash_color = omath::Color::from_rgba(255, 200, 0, 255);
+        float m_dash_len = 8.f, m_dash_gap = 5.f, m_dash_thickness = 1.f;
+
+        // Bars
+        omath::Color m_bar_color{0.f, 1.f, 0.f, 1.f};
+        omath::Color m_bar_bg_color{0.f, 0.f, 0.f, 0.5f};
+        omath::Color m_bar_outline_color{0.f, 0.f, 0.f, 1.f};
+        float m_bar_width = 4.f, m_bar_value = 0.75f, m_bar_offset = 5.f;
+        bool m_show_right_bar = true,         m_show_left_bar = true;
+        bool m_show_top_bar = true,           m_show_bottom_bar = true;
+        bool m_show_right_dashed_bar = false, m_show_left_dashed_bar = false;
+        bool m_show_top_dashed_bar = false,   m_show_bottom_dashed_bar = false;
+        float m_bar_dash_len = 6.f, m_bar_dash_gap = 4.f;
+
+        // Labels
+        float m_label_offset = 3.f;
+        bool m_outlined = true;
+        bool m_show_right_labels = true, m_show_left_labels = true;
+        bool m_show_top_labels = true,   m_show_bottom_labels = true;
+        bool m_show_centered_top = true, m_show_centered_bottom = true;
+
+        // Skeleton
+        omath::Color m_skel_color = omath::Color::from_rgba(255, 255, 255, 200);
+        float m_skel_thickness = 1.f;
+        bool m_show_skeleton = false;
+
+        // Progress ring
+        omath::Color m_ring_color = omath::Color::from_rgba(0, 200, 255, 255);
+        omath::Color m_ring_bg{0.3f, 0.3f, 0.3f, 0.5f};
+        float m_ring_radius = 10.f, m_ring_ratio = 0.65f, m_ring_thickness = 2.5f, m_ring_offset = 5.f;
+        bool m_show_ring = false;
+
+        // Scan marker
+        omath::Color m_scan_color = omath::Color::from_rgba(255, 200, 0, 150);
+        omath::Color m_scan_outline = omath::Color::from_rgba(255, 200, 0, 255);
+        float m_scan_outline_thickness = 2.f;
+        bool m_show_scan = false;
+
+        // Aim dot
+        omath::Color m_aim_color = omath::Color::from_rgba(255, 0, 0, 255);
+        float m_aim_radius = 3.f;
+        bool m_show_aim = false;
+
+        // Snap line
+        omath::Color m_snap_color = omath::Color::from_rgba(255, 50, 50, 255);
+        float m_snap_width = 1.5f;
+        bool m_show_snap = true;
+
+        // Projectile aim
+        omath::Color m_proj_color = omath::Color::from_rgba(255, 50, 50, 255);
+        float m_proj_size = 10.f;
+        float m_proj_line_width = 1.5f;
+        float m_proj_pos_x = 300.f, m_proj_pos_y = 30.f;
+        int m_proj_figure = 1; // 0=circle, 1=square
+        bool m_show_proj = true;
+    };
+} // namespace imgui_desktop::gui

examples/example_hud/main.cpp

@@ -0,0 +1,8 @@
+//
+// Created by orange on 13.03.2026.
+//
+#include "gui/main_window.hpp"
+int main()
+{
+    imgui_desktop::gui::MainWindow("omath::hud", 800, 600).Run();
+}

examples/example_proj_mat_builder/CMakeLists.txt

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

examples/example_signature_scan/CMakeLists.txt

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

include/omath/collision/epa_algorithm.hpp

@@ -8,6 +8,7 @@
 #include <memory>
 #include <memory_resource>
 #include <queue>
+#include <unordered_map>
 #include <utility>
 #include <vector>
 
@@ -56,83 +57,76 @@ namespace omath::collision
                                            const Simplex<VectorType>& simplex, const Params params = {},
                                            std::pmr::memory_resource& mem_resource = *std::pmr::get_default_resource())
         {
-            // --- Build initial polytope from simplex (4 points) ---
             std::pmr::vector<VectorType> vertexes = build_initial_polytope_from_simplex(simplex, mem_resource);
-
-            // Initial tetra faces (windings corrected in make_face)
             std::pmr::vector<Face> faces = create_initial_tetra_faces(mem_resource, vertexes);
 
-            auto heap = rebuild_heap(faces, mem_resource);
+            // Build initial min-heap by distance.
+            Heap heap = rebuild_heap(faces, mem_resource);
 
             Result out{};
 
+            // Hoisted outside the loop to reuse bucket allocation across iterations.
+            // Initial bucket count 16 covers a typical horizon without rehashing.
+            BoundaryMap boundary{16, &mem_resource};
+
             for (int it = 0; it < params.max_iterations; ++it)
             {
-                // If heap might be stale after face edits, rebuild lazily.
+                // Lazily discard stale (deleted or index-mismatched) heap entries.
-                if (heap.empty())
+                discard_stale_heap_entries(faces, heap);
-                    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);
 
                 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 and push them directly onto the
-
+                // heap — no full O(n log n) rebuild needed.
-                // Stitch new faces around the horizon
+                for (const auto& [key, e] : boundary)
-                for (const auto& e : boundary)
+                {
+                    const int fi = static_cast<int>(faces.size());
                     faces.emplace_back(make_face(vertexes, e.a, e.b, new_idx));
-
+                    heap.emplace(faces.back().d, fi);
-                // Rebuild heap after topology change
+                }
-                heap = rebuild_heap(faces, mem_resource);
 
                 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)
+            out.normal = best->n;
-                                                        { return first.d < second.d; });
+            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);
+                if (!faces[i].deleted)
-
+                    h.emplace(faces[i].d, i);
-            return h; // allocator is preserved
+            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
+            // O(1) cancel: if the opposite edge (b→a) is already in the map it is an
-            auto itb = std::ranges::find_if(boundary, [&](const Edge& e) { return e.a == b && e.b == a; });
+            // internal edge shared by two visible faces and must be removed.
-            if (itb != boundary.end())
+            // Otherwise this is a horizon edge and we insert it.
-                boundary.erase(itb); // internal edge cancels out
+            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
+            const Face* best = nullptr;
-            std::pmr::vector<Face> kept{mr};
+            for (const auto& f : faces)
-            kept.reserve(faces.size());
+                if (!f.deleted && (best == nullptr || f.d < best->d))
-
+                    best = &f;
-            for (std::size_t i = 0; i < faces.size(); ++i)
+            return best;
-                if (!to_delete[i])
-                    kept.emplace_back(faces[i]);
-
-            faces.swap(kept);
         }
-        struct Horizon
+        static void tombstone_visible_faces(std::pmr::vector<Face>& faces, BoundaryMap& boundary,
+                                            const VectorType& p)
         {
-            std::pmr::vector<bool> to_delete;
+            boundary.clear();
-            std::pmr::vector<Edge> boundary;
+            for (auto& f : faces)
-        };
+            {
-
+                if (!f.deleted && visible_from(f, p))
-        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))
                 {
-                    const auto& rf = faces[i];
+                    f.deleted = true;
-                    horizon.to_delete[i] = true;
+                    add_edge_boundary(boundary, f.i0, f.i1);
-                    add_edge_boundary(horizon.boundary, rf.i0, rf.i1);
+                    add_edge_boundary(boundary, f.i1, f.i2);
-                    add_edge_boundary(horizon.boundary, rf.i1, rf.i2);
+                    add_edge_boundary(boundary, f.i2, f.i0);
-                    add_edge_boundary(horizon.boundary, rf.i2, rf.i0);
                 }
+            }
+        }
 
-            return horizon;
+        static void discard_stale_heap_entries(const std::pmr::vector<Face>& faces,
+                                               std::priority_queue<HeapItem, std::pmr::vector<HeapItem>, HeapCmp>& heap)
+        {
+            while (!heap.empty())
+            {
+                const auto& top = heap.top();
+                if (!faces[top.idx].deleted && faces[top.idx].d == top.d)
+                    break;
+                heap.pop();
+            }
         }
     };
 } // namespace omath::collision

include/omath/collision/gjk_algorithm.hpp

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

include/omath/collision/mesh_collider.hpp

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

include/omath/containers/encrypted_variable.hpp

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

include/omath/engines/cry_engine/camera.hpp

@@ -0,0 +1,13 @@
+//
+// Created by Vlad on 3/22/2025.
+//
+
+#pragma once
+#include "omath/engines/cry_engine/constants.hpp"
+#include "omath/projection/camera.hpp"
+#include "traits/camera_trait.hpp"
+
+namespace omath::cry_engine
+{
+    using Camera = projection::Camera<Mat4X4, ViewAngles, CameraTrait>;
+} // namespace omath::cry_engine

include/omath/engines/cry_engine/constants.hpp

@@ -0,0 +1,25 @@
+//
+// Created by Vlad on 10/21/2025.
+//
+
+#pragma once
+#include "omath/linear_algebra/mat.hpp"
+#include "omath/linear_algebra/vector3.hpp"
+#include <omath/trigonometry/angle.hpp>
+#include <omath/trigonometry/view_angles.hpp>
+
+namespace omath::cry_engine
+{
+    constexpr Vector3<float> k_abs_up = {0, 0, 1};
+    constexpr Vector3<float> k_abs_right = {1, 0, 0};
+    constexpr Vector3<float> k_abs_forward = {0, 1, 0};
+
+    using Mat4X4 = Mat<4, 4, float, MatStoreType::ROW_MAJOR>;
+    using Mat3X3 = Mat<4, 4, float, MatStoreType::ROW_MAJOR>;
+    using Mat1X3 = Mat<1, 3, float, MatStoreType::ROW_MAJOR>;
+    using PitchAngle = Angle<float, -90.f, 90.f, AngleFlags::Clamped>;
+    using YawAngle = Angle<float, -180.f, 180.f, AngleFlags::Normalized>;
+    using RollAngle = Angle<float, -180.f, 180.f, AngleFlags::Normalized>;
+
+    using ViewAngles = omath::ViewAngles<PitchAngle, YawAngle, RollAngle>;
+} // namespace omath::cry_engine

include/omath/engines/cry_engine/formulas.hpp

@@ -0,0 +1,74 @@
+//
+// Created by Vlad on 3/22/2025.
+//
+
+#pragma once
+#include "omath/engines/cry_engine/constants.hpp"
+
+namespace omath::cry_engine
+{
+    [[nodiscard]]
+    Vector3<float> forward_vector(const ViewAngles& angles) noexcept;
+
+    [[nodiscard]]
+    Vector3<float> right_vector(const ViewAngles& angles) noexcept;
+
+    [[nodiscard]]
+    Vector3<float> up_vector(const ViewAngles& angles) noexcept;
+
+    [[nodiscard]] Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+
+    [[nodiscard]]
+    Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
+
+    [[nodiscard]]
+    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far) noexcept;
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType units_to_centimeters(const FloatingType& units)
+    {
+        return units / static_cast<FloatingType>(100);
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType units_to_meters(const FloatingType& units)
+    {
+        return units;
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType units_to_kilometers(const FloatingType& units)
+    {
+        return units_to_meters(units) / static_cast<FloatingType>(1000);
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType centimeters_to_units(const FloatingType& centimeters)
+    {
+        return centimeters * static_cast<FloatingType>(100);
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType meters_to_units(const FloatingType& meters)
+    {
+        return meters;
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType kilometers_to_units(const FloatingType& kilometers)
+    {
+        return meters_to_units(kilometers * static_cast<FloatingType>(1000));
+    }
+} // namespace omath::cry_engine

include/omath/engines/cry_engine/mesh.hpp

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

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

@@ -0,0 +1,24 @@
+//
+// Created by Vlad on 8/10/2025.
+//
+
+#pragma once
+#include "omath/engines/cry_engine/formulas.hpp"
+#include "omath/projection/camera.hpp"
+
+namespace omath::cry_engine
+{
+    class CameraTrait final
+    {
+    public:
+        [[nodiscard]]
+        static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept;
+
+        [[nodiscard]]
+        static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+        [[nodiscard]]
+        static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
+                                             float near, float far) noexcept;
+    };
+
+} // namespace omath::cry_engine

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

@@ -0,0 +1,19 @@
+//
+// Created by Vladislav on 09.11.2025.
+//
+#pragma once
+#include <omath/engines/cry_engine/constants.hpp>
+#include <omath/engines/cry_engine/formulas.hpp>
+
+namespace omath::cry_engine
+{
+    class MeshTrait final
+    {
+    public:
+        [[nodiscard]]
+        static Mat4X4 rotation_matrix(const ViewAngles& rotation)
+        {
+            return cry_engine::rotation_matrix(rotation);
+        }
+    };
+} // namespace omath::cry_engine

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

@@ -0,0 +1,77 @@
+//
+// Created by Vlad on 8/6/2025.
+//
+#pragma once
+#include "omath/engines/cry_engine/formulas.hpp"
+#include "omath/projectile_prediction/projectile.hpp"
+#include "omath/projectile_prediction/target.hpp"
+#include <optional>
+
+namespace omath::cry_engine
+{
+    class PredEngineTrait final
+    {
+    public:
+        constexpr static Vector3<float> predict_projectile_position(const projectile_prediction::Projectile& projectile,
+                                                                    const float pitch, const float yaw,
+                                                                    const float time, const float gravity) noexcept
+        {
+            const auto launch_pos = projectile.m_origin + projectile.m_launch_offset;
+            auto current_pos = launch_pos
+                               + forward_vector({PitchAngle::from_degrees(-pitch), YawAngle::from_degrees(yaw),
+                                                 RollAngle::from_degrees(0)})
+                                         * projectile.m_launch_speed * time;
+            current_pos.z -= (gravity * projectile.m_gravity_scale) * (time * time) * 0.5f;
+
+            return current_pos;
+        }
+        [[nodiscard]]
+        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target& target,
+                                                                const float time, const float gravity) noexcept
+        {
+            auto predicted = target.m_origin + target.m_velocity * time;
+
+            if (target.m_is_airborne)
+                predicted.z -= gravity * (time * time) * 0.5f;
+
+            return predicted;
+        }
+        [[nodiscard]]
+        static float calc_vector_2d_distance(const Vector3<float>& delta) noexcept
+        {
+            return std::sqrt(delta.x * delta.x + delta.y * delta.y);
+        }
+
+        [[nodiscard]]
+        constexpr static float get_vector_height_coordinate(const Vector3<float>& vec) noexcept
+        {
+            return vec.z;
+        }
+
+        [[nodiscard]]
+        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile& projectile,
+                                                         Vector3<float> predicted_target_position,
+                                                         const std::optional<float> projectile_pitch) noexcept
+        {
+            const auto delta2d = calc_vector_2d_distance(predicted_target_position - projectile.m_origin);
+            const auto height = delta2d * std::tan(angles::degrees_to_radians(projectile_pitch.value()));
+
+            return {predicted_target_position.x, predicted_target_position.y, projectile.m_origin.z + height};
+        }
+        // Due to specification of maybe_calculate_projectile_launch_pitch_angle, pitch angle must be:
+        // 89 look up, -89 look down
+        [[nodiscard]]
+        static float calc_direct_pitch_angle(const Vector3<float>& origin, const Vector3<float>& view_to) noexcept
+        {
+            const auto direction = (view_to - origin).normalized();
+            return angles::radians_to_degrees(std::asin(direction.z));
+        }
+        [[nodiscard]]
+        static float calc_direct_yaw_angle(const Vector3<float>& origin, const Vector3<float>& view_to) noexcept
+        {
+            const auto direction = (view_to - origin).normalized();
+
+            return angles::radians_to_degrees(-std::atan2(direction.x, direction.y));
+        };
+    };
+} // namespace omath::cry_engine

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

@@ -16,7 +16,8 @@ namespace omath::frostbite_engine
                                                                     const float pitch, const float yaw,
                                                                     const float time, const float gravity) noexcept
         {
-            auto current_pos = projectile.m_origin
+            const auto launch_pos = projectile.m_origin + projectile.m_launch_offset;
+            auto current_pos = launch_pos
                                + forward_vector({PitchAngle::from_degrees(-pitch), YawAngle::from_degrees(yaw),
                                                  RollAngle::from_degrees(0)})
                                          * projectile.m_launch_speed * time;
@@ -55,7 +56,7 @@ namespace omath::frostbite_engine
             const auto delta2d = calc_vector_2d_distance(predicted_target_position - projectile.m_origin);
             const auto height = delta2d * std::tan(angles::degrees_to_radians(projectile_pitch.value()));
 
-            return {predicted_target_position.x, predicted_target_position.y + height, projectile.m_origin.z};
+            return {predicted_target_position.x, projectile.m_origin.y + height, predicted_target_position.z};
         }
         // Due to specification of maybe_calculate_projectile_launch_pitch_angle, pitch angle must be:
         // 89 look up, -89 look down

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

@@ -17,7 +17,8 @@ namespace omath::iw_engine
                                                                     const float pitch, const float yaw,
                                                                     const float time, const float gravity) noexcept
         {
-            auto current_pos = projectile.m_origin
+            const auto launch_pos = projectile.m_origin + projectile.m_launch_offset;
+            auto current_pos = launch_pos
                                + forward_vector({PitchAngle::from_degrees(-pitch), YawAngle::from_degrees(yaw),
                                                  RollAngle::from_degrees(0)})
                                          * projectile.m_launch_speed * time;

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

@@ -16,7 +16,8 @@ namespace omath::opengl_engine
                                                                     const float pitch, const float yaw,
                                                                     const float time, const float gravity) noexcept
         {
-            auto current_pos = projectile.m_origin
+            const auto launch_pos = projectile.m_origin + projectile.m_launch_offset;
+            auto current_pos = launch_pos
                                + forward_vector({PitchAngle::from_degrees(-pitch), YawAngle::from_degrees(yaw),
                                                  RollAngle::from_degrees(0)})
                                          * projectile.m_launch_speed * time;
@@ -55,7 +56,7 @@ namespace omath::opengl_engine
             const auto delta2d = calc_vector_2d_distance(predicted_target_position - projectile.m_origin);
             const auto height = delta2d * std::tan(angles::degrees_to_radians(projectile_pitch.value()));
 
-            return {predicted_target_position.x, predicted_target_position.y + height, projectile.m_origin.z};
+            return {predicted_target_position.x, projectile.m_origin.y + height, predicted_target_position.z};
         }
         // Due to specification of maybe_calculate_projectile_launch_pitch_angle, pitch angle must be:
         // 89 look up, -89 look down

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

@@ -17,7 +17,8 @@ namespace omath::source_engine
                                                                     const float pitch, const float yaw,
                                                                     const float time, const float gravity) noexcept
         {
-            auto current_pos = projectile.m_origin
+            const auto launch_pos = projectile.m_origin + projectile.m_launch_offset;
+            auto current_pos = launch_pos
                                + forward_vector({PitchAngle::from_degrees(-pitch), YawAngle::from_degrees(yaw),
                                                  RollAngle::from_degrees(0)})
                                          * projectile.m_launch_speed * time;

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

@@ -16,7 +16,8 @@ namespace omath::unity_engine
                                                                     const float pitch, const float yaw,
                                                                     const float time, const float gravity) noexcept
         {
-            auto current_pos = projectile.m_origin
+            const auto launch_pos = projectile.m_origin + projectile.m_launch_offset;
+            auto current_pos = launch_pos
                                + forward_vector({PitchAngle::from_degrees(-pitch), YawAngle::from_degrees(yaw),
                                                  RollAngle::from_degrees(0)})
                                          * projectile.m_launch_speed * time;
@@ -55,7 +56,7 @@ namespace omath::unity_engine
             const auto delta2d = calc_vector_2d_distance(predicted_target_position - projectile.m_origin);
             const auto height = delta2d * std::tan(angles::degrees_to_radians(projectile_pitch.value()));
 
-            return {predicted_target_position.x, predicted_target_position.y + height, projectile.m_origin.z};
+            return {predicted_target_position.x, projectile.m_origin.y + height, predicted_target_position.z};
         }
         // Due to specification of maybe_calculate_projectile_launch_pitch_angle, pitch angle must be:
         // 89 look up, -89 look down

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

@@ -16,7 +16,8 @@ namespace omath::unreal_engine
                                                                     const float pitch, const float yaw,
                                                                     const float time, const float gravity) noexcept
         {
-            auto current_pos = projectile.m_origin
+            const auto launch_pos = projectile.m_origin + projectile.m_launch_offset;
+            auto current_pos = launch_pos
                                + forward_vector({PitchAngle::from_degrees(-pitch), YawAngle::from_degrees(yaw),
                                                  RollAngle::from_degrees(0)})
                                          * projectile.m_launch_speed * time;

include/omath/hud/canvas_box.hpp

@@ -0,0 +1,23 @@
+//
+// Created by orange on 13.03.2026.
+//
+#pragma once
+#include "omath/linear_algebra/vector2.hpp"
+#include <array>
+namespace omath::hud
+{
+    class CanvasBox final
+    {
+    public:
+        CanvasBox(Vector2<float> top, Vector2<float> bottom, float ratio = 4.f);
+
+        [[nodiscard]]
+        std::array<Vector2<float>, 4> as_array() const;
+
+        Vector2<float> top_left_corner;
+        Vector2<float> top_right_corner;
+
+        Vector2<float> bottom_left_corner;
+        Vector2<float> bottom_right_corner;
+    };
+} // namespace omath::hud

include/omath/hud/entity_overlay.hpp

@@ -0,0 +1,202 @@
+//
+// Created by orange on 13.03.2026.
+//
+#pragma once
+#include "canvas_box.hpp"
+#include "entity_overlay_widgets.hpp"
+#include "hud_renderer_interface.hpp"
+#include "omath/linear_algebra/vector2.hpp"
+#include "omath/utility/color.hpp"
+#include <memory>
+#include <string_view>
+
+namespace omath::hud
+{
+    class EntityOverlay final
+    {
+    public:
+        EntityOverlay(const Vector2<float>& top, const Vector2<float>& bottom,
+                      const std::shared_ptr<HudRendererInterface>& renderer);
+
+        // ── Boxes ────────────────────────────────────────────────────────
+        EntityOverlay& add_2d_box(const Color& box_color, const Color& fill_color = Color{0.f, 0.f, 0.f, 0.f},
+                                  float thickness = 1.f);
+
+        EntityOverlay& add_cornered_2d_box(const Color& box_color, const Color& fill_color = Color{0.f, 0.f, 0.f, 0.f},
+                                           float corner_ratio_len = 0.2f, float thickness = 1.f);
+
+        EntityOverlay& add_dashed_box(const Color& color, float dash_len = 8.f, float gap_len = 5.f,
+                                      float thickness = 1.f);
+
+        // ── Bars ─────────────────────────────────────────────────────────
+        EntityOverlay& add_right_bar(const Color& color, const Color& outline_color, const Color& bg_color, float width,
+                                     float ratio, float offset = 5.f);
+
+        EntityOverlay& add_left_bar(const Color& color, const Color& outline_color, const Color& bg_color, float width,
+                                    float ratio, float offset = 5.f);
+
+        EntityOverlay& add_top_bar(const Color& color, const Color& outline_color, const Color& bg_color, float height,
+                                   float ratio, float offset = 5.f);
+
+        EntityOverlay& add_bottom_bar(const Color& color, const Color& outline_color, const Color& bg_color,
+                                      float height, float ratio, float offset = 5.f);
+
+        EntityOverlay& add_right_dashed_bar(const Color& color, const Color& outline_color, const Color& bg_color,
+                                            float width, float ratio, float dash_len, float gap_len,
+                                            float offset = 5.f);
+
+        EntityOverlay& add_left_dashed_bar(const Color& color, const Color& outline_color, const Color& bg_color,
+                                           float width, float ratio, float dash_len, float gap_len, float offset = 5.f);
+
+        EntityOverlay& add_top_dashed_bar(const Color& color, const Color& outline_color, const Color& bg_color,
+                                          float height, float ratio, float dash_len, float gap_len, float offset = 5.f);
+
+        EntityOverlay& add_bottom_dashed_bar(const Color& color, const Color& outline_color, const Color& bg_color,
+                                             float height, float ratio, float dash_len, float gap_len,
+                                             float offset = 5.f);
+
+        // ── Labels ───────────────────────────────────────────────────────
+        EntityOverlay& add_right_label(const Color& color, float offset, bool outlined, const std::string_view& text);
+
+        EntityOverlay& add_left_label(const Color& color, float offset, bool outlined, const std::string_view& text);
+
+        EntityOverlay& add_top_label(const Color& color, float offset, bool outlined, std::string_view text);
+
+        EntityOverlay& add_bottom_label(const Color& color, float offset, bool outlined, std::string_view text);
+
+        EntityOverlay& add_centered_top_label(const Color& color, float offset, bool outlined,
+                                              const std::string_view& text);
+
+        EntityOverlay& add_centered_bottom_label(const Color& color, float offset, bool outlined,
+                                                 const std::string_view& text);
+
+        template<typename... Args>
+        EntityOverlay& add_right_label(const Color& color, const float offset, const bool outlined, std::format_string<Args...> fmt,
+                                       Args&&... args)
+        {
+            return add_right_label(color, offset, outlined,
+                                   std::string_view{std::vformat(fmt.get(), std::make_format_args(args...))});
+        }
+
+        template<typename... Args>
+        EntityOverlay& add_left_label(const Color& color, const float offset, const bool outlined, std::format_string<Args...> fmt,
+                                      Args&&... args)
+        {
+            return add_left_label(color, offset, outlined,
+                                  std::string_view{std::vformat(fmt.get(), std::make_format_args(args...))});
+        }
+
+        template<typename... Args>
+        EntityOverlay& add_top_label(const Color& color, const float offset, const bool outlined, std::format_string<Args...> fmt,
+                                     Args&&... args)
+        {
+            return add_top_label(color, offset, outlined,
+                                 std::string_view{std::vformat(fmt.get(), std::make_format_args(args...))});
+        }
+
+        template<typename... Args>
+        EntityOverlay& add_bottom_label(const Color& color, const float offset, const bool outlined,
+                                        std::format_string<Args...> fmt, Args&&... args)
+        {
+            return add_bottom_label(color, offset, outlined,
+                                    std::string_view{std::vformat(fmt.get(), std::make_format_args(args...))});
+        }
+
+        template<typename... Args>
+        EntityOverlay& add_centered_top_label(const Color& color, const float offset, const bool outlined,
+                                              std::format_string<Args...> fmt, Args&&... args)
+        {
+            return add_centered_top_label(color, offset, outlined,
+                                          std::string_view{std::vformat(fmt.get(), std::make_format_args(args...))});
+        }
+
+        template<typename... Args>
+        EntityOverlay& add_centered_bottom_label(const Color& color, const float offset, const bool outlined,
+                                                 std::format_string<Args...> fmt, Args&&... args)
+        {
+            return add_centered_bottom_label(color, offset, outlined,
+                                             std::string_view{std::vformat(fmt.get(), std::make_format_args(args...))});
+        }
+
+        // ── Spacers ─────────────────────────────────────────────────────
+        EntityOverlay& add_right_space_vertical(float size);
+        EntityOverlay& add_right_space_horizontal(float size);
+        EntityOverlay& add_left_space_vertical(float size);
+        EntityOverlay& add_left_space_horizontal(float size);
+        EntityOverlay& add_top_space_vertical(float size);
+        EntityOverlay& add_top_space_horizontal(float size);
+        EntityOverlay& add_bottom_space_vertical(float size);
+        EntityOverlay& add_bottom_space_horizontal(float size);
+
+        // ── Progress rings ──────────────────────────────────────────────
+        EntityOverlay& add_right_progress_ring(const Color& color, const Color& bg, float radius, float ratio,
+                                               float thickness = 2.f, float offset = 5.f, int segments = 0);
+        EntityOverlay& add_left_progress_ring(const Color& color, const Color& bg, float radius, float ratio,
+                                              float thickness = 2.f, float offset = 5.f, int segments = 0);
+        EntityOverlay& add_top_progress_ring(const Color& color, const Color& bg, float radius, float ratio,
+                                             float thickness = 2.f, float offset = 5.f, int segments = 0);
+        EntityOverlay& add_bottom_progress_ring(const Color& color, const Color& bg, float radius, float ratio,
+                                                float thickness = 2.f, float offset = 5.f, int segments = 0);
+
+        // ── Icons ────────────────────────────────────────────────────────
+        EntityOverlay& add_right_icon(const std::any& texture_id, float width, float height,
+                                      const Color& tint = Color{1.f, 1.f, 1.f, 1.f}, float offset = 5.f);
+        EntityOverlay& add_left_icon(const std::any& texture_id, float width, float height,
+                                     const Color& tint = Color{1.f, 1.f, 1.f, 1.f}, float offset = 5.f);
+        EntityOverlay& add_top_icon(const std::any& texture_id, float width, float height,
+                                    const Color& tint = Color{1.f, 1.f, 1.f, 1.f}, float offset = 5.f);
+        EntityOverlay& add_bottom_icon(const std::any& texture_id, float width, float height,
+                                       const Color& tint = Color{1.f, 1.f, 1.f, 1.f}, float offset = 5.f);
+
+        // ── Misc ─────────────────────────────────────────────────────────
+        EntityOverlay& add_snap_line(const Vector2<float>& start_pos, const Color& color, float width);
+
+        EntityOverlay& add_skeleton(const Color& color, float thickness = 1.f);
+
+        // ── Declarative interface ─────────────────────────────────────────
+        /// Pass any combination of widget:: descriptor structs (and std::optional<W>
+        /// from when()) to render them all in declaration order.
+        template<typename... Widgets>
+        EntityOverlay& contents(Widgets&&... widgets)
+        {
+            (dispatch(std::forward<Widgets>(widgets)), ...);
+            return *this;
+        }
+
+    private:
+        // optional<W> dispatch — enables when() conditional widgets
+        template<typename W>
+        void dispatch(const std::optional<W>& w)
+        {
+            if (w)
+                dispatch(*w);
+        }
+
+        void dispatch(const widget::Box& box);
+        void dispatch(const widget::CorneredBox& cornered_box);
+        void dispatch(const widget::DashedBox& dashed_box);
+        void dispatch(const widget::RightSide& right_side);
+        void dispatch(const widget::LeftSide& left_side);
+        void dispatch(const widget::TopSide& top_side);
+        void dispatch(const widget::BottomSide& bottom_side);
+        void dispatch(const widget::Skeleton& skeleton);
+        void dispatch(const widget::SnapLine& snap_line);
+        void dispatch(const widget::ScanMarker& scan_marker);
+        void dispatch(const widget::AimDot& aim_dot);
+        void dispatch(const widget::ProjectileAim& proj_widget);
+        void draw_progress_ring(const Vector2<float>& center, const widget::ProgressRing& ring);
+        void draw_outlined_text(const Vector2<float>& position, const Color& color, const std::string_view& text);
+        void draw_dashed_line(const Vector2<float>& from, const Vector2<float>& to, const Color& color, float dash_len,
+                              float gap_len, float thickness) const;
+        void draw_dashed_fill(const Vector2<float>& origin, const Vector2<float>& step_dir,
+                              const Vector2<float>& perp_dir, float full_len, float filled_len, const Color& fill_color,
+                              const Color& split_color, float dash_len, float gap_len) const;
+
+        CanvasBox m_canvas;
+        Vector2<float> m_text_cursor_right;
+        Vector2<float> m_text_cursor_top;
+        Vector2<float> m_text_cursor_bottom;
+        Vector2<float> m_text_cursor_left;
+        std::shared_ptr<HudRendererInterface> m_renderer;
+    };
+} // namespace omath::hud

include/omath/hud/entity_overlay_widgets.hpp

@@ -0,0 +1,233 @@
+//
+// Created by orange on 15.03.2026.
+//
+#pragma once
+#include "omath/linear_algebra/vector2.hpp"
+#include "omath/utility/color.hpp"
+#include <any>
+#include <initializer_list>
+#include <optional>
+#include <string_view>
+#include <variant>
+
+namespace omath::hud::widget
+{
+    // ── Overloaded helper for std::visit ──────────────────────────────────────
+    template<typename... Ts>
+    struct Overloaded : Ts...
+    {
+        using Ts::operator()...;
+    };
+    template<typename... Ts>
+    Overloaded(Ts...) -> Overloaded<Ts...>;
+
+    // ── Standalone widgets ────────────────────────────────────────────────────
+    struct Box
+    {
+        Color color;
+        Color fill{0.f, 0.f, 0.f, 0.f};
+        float thickness = 1.f;
+    };
+
+    struct CorneredBox
+    {
+        Color color;
+        Color fill{0.f, 0.f, 0.f, 0.f};
+        float corner_ratio = 0.2f;
+        float thickness = 1.f;
+    };
+
+    struct DashedBox
+    {
+        Color color;
+        float dash_len = 8.f;
+        float gap_len = 5.f;
+        float thickness = 1.f;
+    };
+
+    struct Skeleton
+    {
+        Color color;
+        float thickness = 1.f;
+    };
+    struct SnapLine
+    {
+        Vector2<float> start;
+        Color color;
+        float width;
+    };
+
+    struct ScanMarker
+    {
+        Color color;
+        Color outline{0.f, 0.f, 0.f, 0.f};
+        float outline_thickness = 1.f;
+    };
+
+    /// Dot at an absolute screen position.
+    struct AimDot
+    {
+        Vector2<float> position;
+        Color color;
+        float radius = 3.f;
+    };
+    struct ProjectileAim
+    {
+        enum class Figure
+        {
+            CIRCLE,
+            SQUARE,
+        };
+        Vector2<float> position;
+        Color color;
+        float size = 3.f;
+        float line_size = 1.f;
+        Figure figure = Figure::SQUARE;
+    };
+
+
+    // ── Side-agnostic widgets (used inside XxxSide containers) ────────────────
+
+    /// A filled bar. `size` is width for left/right sides, height for top/bottom.
+    struct Bar
+    {
+        Color color;
+        Color outline;
+        Color bg;
+        float size;
+        float ratio;
+        float offset = 5.f;
+    };
+
+    /// A dashed bar. Same field semantics as Bar plus dash parameters.
+    struct DashedBar
+    {
+        Color color;
+        Color outline;
+        Color bg;
+        float size;
+        float ratio;
+        float dash_len;
+        float gap_len;
+        float offset = 5.f;
+    };
+
+    struct Label
+    {
+        Color color;
+        float offset;
+        bool outlined;
+        std::string_view text;
+    };
+
+    /// Wraps a Label to request horizontal centering (only applied in TopSide / BottomSide).
+    template<typename W>
+    struct Centered
+    {
+        W child;
+    };
+    template<typename W>
+    Centered(W) -> Centered<W>;
+
+    /// Empty vertical gap that advances the Y cursor without drawing.
+    struct SpaceVertical
+    {
+        float size;
+    };
+
+    /// Empty horizontal gap that advances the X cursor without drawing.
+    struct SpaceHorizontal
+    {
+        float size;
+    };
+
+    struct ProgressRing
+    {
+        Color color;
+        Color bg{0.3f, 0.3f, 0.3f, 0.5f};
+        float radius = 12.f;
+        float ratio;
+        float thickness = 2.f;
+        float offset = 5.f;
+        int segments = 32;
+    };
+
+    struct Icon
+    {
+        std::any texture_id;
+        float width;
+        float height;
+        Color tint{1.f, 1.f, 1.f, 1.f};
+        float offset = 5.f;
+    };
+
+    // ── Side widget variant ───────────────────────────────────────────────────
+    struct None
+    {
+    }; ///< No-op placeholder — used by widget::when for disabled elements.
+    using SideWidget =
+            std::variant<None, Bar, DashedBar, Label, Centered<Label>, SpaceVertical, SpaceHorizontal, ProgressRing, Icon>;
+
+    // ── Side containers ───────────────────────────────────────────────────────
+    // Storing std::initializer_list<SideWidget> is safe here: the backing array
+    // is a const SideWidget[] on the caller's stack whose lifetime matches the
+    // temporary side-container object, which is consumed within the same
+    // full-expression by EntityOverlay::dispatch. No heap allocation occurs.
+
+    struct RightSide
+    {
+        std::initializer_list<SideWidget> children;
+        RightSide(const std::initializer_list<SideWidget> c): children(c)
+        {
+        }
+    };
+    struct LeftSide
+    {
+        std::initializer_list<SideWidget> children;
+        LeftSide(const std::initializer_list<SideWidget> c): children(c)
+        {
+        }
+    };
+    struct TopSide
+    {
+        std::initializer_list<SideWidget> children;
+        TopSide(const std::initializer_list<SideWidget> c): children(c)
+        {
+        }
+    };
+    struct BottomSide
+    {
+        std::initializer_list<SideWidget> children;
+        BottomSide(const std::initializer_list<SideWidget> c): children(c)
+        {
+        }
+    };
+
+} // namespace omath::hud::widget
+
+namespace omath::hud::widget
+{
+    /// Inside XxxSide containers: returns the widget as a SideWidget when condition is true,
+    /// or None{} otherwise. Preferred over hud::when for types inside the SideWidget variant.
+    template<typename W>
+    requires std::constructible_from<SideWidget, W>
+    SideWidget when(const bool condition, W widget)
+    {
+        if (condition)
+            return SideWidget{std::move(widget)};
+        return None{};
+    }
+} // namespace omath::hud::widget
+
+namespace omath::hud
+{
+    /// Top-level: returns an engaged optional<W> when condition is true, std::nullopt otherwise.
+    /// Designed for use with EntityOverlay::contents() for top-level widget types.
+    template<typename W>
+    std::optional<W> when(const bool condition, W widget)
+    {
+        if (condition)
+            return std::move(widget);
+        return std::nullopt;
+    }
+} // namespace omath::hud

include/omath/hud/hud_renderer_interface.hpp

@@ -0,0 +1,47 @@
+//
+// Created by orange on 13.03.2026.
+//
+#pragma once
+#include "omath/linear_algebra/vector2.hpp"
+#include "omath/utility/color.hpp"
+#include <any>
+#include <span>
+
+namespace omath::hud
+{
+    class HudRendererInterface
+    {
+    public:
+        virtual ~HudRendererInterface() = default;
+        virtual void add_line(const Vector2<float>& line_start, const Vector2<float>& line_end, const Color& color,
+                              float thickness) = 0;
+
+        virtual void add_polyline(const std::span<const Vector2<float>>& vertexes, const Color& color,
+                                  float thickness) = 0;
+
+        virtual void add_filled_polyline(const std::span<const Vector2<float>>& vertexes, const Color& color) = 0;
+
+        virtual void add_rectangle(const Vector2<float>& min, const Vector2<float>& max, const Color& color) = 0;
+
+        virtual void add_filled_rectangle(const Vector2<float>& min, const Vector2<float>& max, const Color& color) = 0;
+
+        virtual void add_circle(const Vector2<float>& center, float radius, const Color& color, float thickness,
+                                int segments = 0) = 0;
+
+        virtual void add_filled_circle(const Vector2<float>& center, float radius, const Color& color,
+                                       int segments = 0) = 0;
+
+        /// Draw an arc (partial circle outline). Angles in radians, 0 = right (+X), counter-clockwise.
+        virtual void add_arc(const Vector2<float>& center, float radius, float a_min, float a_max, const Color& color,
+                             float thickness, int segments = 0) = 0;
+
+        /// Draw a textured quad. texture_id is renderer-specific (e.g. ImTextureID for ImGui).
+        virtual void add_image(const std::any& texture_id, const Vector2<float>& min, const Vector2<float>& max,
+                               const Color& tint = Color{1.f, 1.f, 1.f, 1.f}) = 0;
+
+        virtual void add_text(const Vector2<float>& position, const Color& color, const std::string_view& text) = 0;
+
+        [[nodiscard]]
+        virtual Vector2<float> calc_text_size(const std::string_view& text) = 0;
+    };
+} // namespace omath::hud

include/omath/hud/renderer_realizations/imgui_renderer.hpp

@@ -0,0 +1,33 @@
+//
+// Created by orange on 13.03.2026.
+//
+#pragma once
+#include <omath/hud/hud_renderer_interface.hpp>
+
+#ifdef OMATH_IMGUI_INTEGRATION
+namespace omath::hud
+{
+    class ImguiHudRenderer final : public HudRendererInterface
+    {
+    public:
+        ~ImguiHudRenderer() override;
+        void add_line(const Vector2<float>& line_start, const Vector2<float>& line_end, const Color& color,
+                      float thickness) override;
+        void add_polyline(const std::span<const Vector2<float>>& vertexes, const Color& color, float thickness) override;
+        void add_filled_polyline(const std::span<const Vector2<float>>& vertexes, const Color& color) override;
+        void add_rectangle(const Vector2<float>& min, const Vector2<float>& max, const Color& color) override;
+        void add_filled_rectangle(const Vector2<float>& min, const Vector2<float>& max, const Color& color) override;
+        void add_circle(const Vector2<float>& center, float radius, const Color& color, float thickness,
+                        int segments = 0) override;
+        void add_filled_circle(const Vector2<float>& center, float radius, const Color& color,
+                               int segments = 0) override;
+        void add_arc(const Vector2<float>& center, float radius, float a_min, float a_max, const Color& color,
+                     float thickness, int segments = 0) override;
+        void add_image(const std::any& texture_id, const Vector2<float>& min, const Vector2<float>& max,
+                       const Color& tint = Color{1.f, 1.f, 1.f, 1.f}) override;
+        void add_text(const Vector2<float>& position, const Color& color, const std::string_view& text) override;
+        [[nodiscard]]
+        virtual Vector2<float> calc_text_size(const std::string_view& text) override;
+    };
+} // namespace omath::hud
+#endif // OMATH_IMGUI_INTEGRATION

include/omath/linear_algebra/quaternion.hpp

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

include/omath/linear_algebra/vector2.hpp

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

include/omath/linear_algebra/vector3.hpp

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

include/omath/linear_algebra/vector4.hpp

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

include/omath/lua/lua.hpp

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

include/omath/omath.hpp

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

include/omath/pathfinding/navigation_mesh.hpp

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

include/omath/projectile_prediction/proj_pred_engine.hpp

@@ -8,12 +8,23 @@
 
 namespace omath::projectile_prediction
 {
+    struct AimAngles
+    {
+        float pitch{};
+        float yaw{};
+    };
+
     class ProjPredEngineInterface
     {
     public:
         [[nodiscard]]
         virtual std::optional<Vector3<float>> maybe_calculate_aim_point(const Projectile& projectile,
                                                                         const Target& target) const = 0;
+
+        [[nodiscard]]
+        virtual std::optional<AimAngles> maybe_calculate_aim_angles(const Projectile& projectile,
+                                                                     const Target& target) const = 0;
+
         virtual ~ProjPredEngineInterface() = default;
     };
 } // namespace omath::projectile_prediction

include/omath/projectile_prediction/proj_pred_engine_avx2.hpp

@@ -12,6 +12,9 @@ namespace omath::projectile_prediction
         [[nodiscard]] std::optional<Vector3<float>>
         maybe_calculate_aim_point(const Projectile& projectile, const Target& target) const override;
 
+        [[nodiscard]] std::optional<AimAngles>
+        maybe_calculate_aim_angles(const Projectile& projectile, const Target& target) const override;
+
         ProjPredEngineAvx2(float gravity_constant, float simulation_time_step, float maximum_simulation_time);
         ~ProjPredEngineAvx2() override = default;
 

include/omath/projectile_prediction/proj_pred_engine_legacy.hpp

@@ -54,6 +54,36 @@ namespace omath::projectile_prediction
         [[nodiscard]]
         std::optional<Vector3<float>> maybe_calculate_aim_point(const Projectile& projectile,
                                                                 const Target& target) const override
+        {
+            const auto solution = find_solution(projectile, target);
+            if (!solution)
+                return std::nullopt;
+
+            return EngineTrait::calc_viewpoint_from_angles(projectile, solution->predicted_target_position,
+                                                           solution->pitch);
+        }
+
+        [[nodiscard]]
+        std::optional<AimAngles> maybe_calculate_aim_angles(const Projectile& projectile,
+                                                             const Target& target) const override
+        {
+            const auto solution = find_solution(projectile, target);
+            if (!solution)
+                return std::nullopt;
+
+            const auto yaw = EngineTrait::calc_direct_yaw_angle(projectile.m_origin + projectile.m_launch_offset, solution->predicted_target_position);
+            return AimAngles{solution->pitch, yaw};
+        }
+
+    private:
+        struct Solution
+        {
+            Vector3<float> predicted_target_position;
+            float pitch;
+        };
+
+        [[nodiscard]]
+        std::optional<Solution> find_solution(const Projectile& projectile, const Target& target) const
         {
             for (float time = 0.f; time < m_maximum_simulation_time; time += m_simulation_time_step)
             {
@@ -70,12 +100,11 @@ namespace omath::projectile_prediction
                                                   time))
                     continue;
 
-                return EngineTrait::calc_viewpoint_from_angles(projectile, predicted_target_position, projectile_pitch);
+                return Solution{predicted_target_position, projectile_pitch.value()};
             }
             return std::nullopt;
         }
 
-    private:
         const float m_gravity_constant;
         const float m_simulation_time_step;
         const float m_maximum_simulation_time;
@@ -100,10 +129,12 @@ namespace omath::projectile_prediction
         {
             const auto bullet_gravity = m_gravity_constant * projectile.m_gravity_scale;
 
-            if (bullet_gravity == 0.f)
+            const auto launch_origin = projectile.m_origin + projectile.m_launch_offset;
-                return EngineTrait::calc_direct_pitch_angle(projectile.m_origin, target_position);
 
-            const auto delta = target_position - projectile.m_origin;
+            if (bullet_gravity == 0.f)
+                return EngineTrait::calc_direct_pitch_angle(launch_origin, target_position);
+
+            const auto delta = target_position - launch_origin;
 
             const auto distance2d = EngineTrait::calc_vector_2d_distance(delta);
             const auto distance2d_sqr = distance2d * distance2d;
@@ -126,7 +157,7 @@ namespace omath::projectile_prediction
         bool is_projectile_reached_target(const Vector3<float>& target_position, const Projectile& projectile,
                                           const float pitch, const float time) const noexcept
         {
-            const auto yaw = EngineTrait::calc_direct_yaw_angle(projectile.m_origin, target_position);
+            const auto yaw = EngineTrait::calc_direct_yaw_angle(projectile.m_origin + projectile.m_launch_offset, target_position);
             const auto projectile_position =
                     EngineTrait::predict_projectile_position(projectile, pitch, yaw, time, m_gravity_constant);
 

include/omath/projectile_prediction/projectile.hpp

@@ -11,6 +11,7 @@ namespace omath::projectile_prediction
     {
     public:
         Vector3<float> m_origin;
+        Vector3<float> m_launch_offset{0.f, 0.f, 0.f};
         float m_launch_speed{};
         float m_gravity_scale{};
     };

include/omath/rev_eng/internal_rev_object.hpp

@@ -3,11 +3,43 @@
 //
 
 #pragma once
+#include <cassert>
 #include <cstddef>
 #include <cstdint>
+#include <string_view>
+
+#ifdef _WIN32
+#include "omath/utility/pe_pattern_scan.hpp"
+#include <windows.h>
+#elif defined(__APPLE__)
+#include "omath/utility/macho_pattern_scan.hpp"
+#include <mach-o/dyld.h>
+#else
+#include "omath/utility/elf_pattern_scan.hpp"
+#include <link.h>
+#endif
 
 namespace omath::rev_eng
 {
+    template<std::size_t N>
+    struct FixedString final
+    {
+        char data[N]{};
+        // ReSharper disable once CppNonExplicitConvertingConstructor
+        constexpr FixedString(const char (&str)[N]) noexcept // NOLINT(*-explicit-constructor)
+        {
+            for (std::size_t i = 0; i < N; ++i)
+                data[i] = str[i];
+        }
+        // ReSharper disable once CppNonExplicitConversionOperator
+        constexpr operator std::string_view() const noexcept // NOLINT(*-explicit-constructor)
+        {
+            return {data, N - 1};
+        }
+    };
+    template<std::size_t N>
+    FixedString(const char (&)[N]) -> FixedString<N>;
+
     class InternalReverseEngineeredObject
     {
     protected:
@@ -23,26 +55,123 @@ namespace omath::rev_eng
             return *reinterpret_cast<Type*>(reinterpret_cast<std::uintptr_t>(this) + offset);
         }
 
-        template<std::size_t id, class ReturnType>
+        template<class ReturnType>
+        ReturnType call_method(const void* ptr, auto... arg_list)
+        {
+#ifdef _MSC_VER
+            using MethodType = ReturnType(__thiscall*)(void*, decltype(arg_list)...);
+#else
+            using MethodType = ReturnType (*)(void*, decltype(arg_list)...);
+#endif
+            return reinterpret_cast<MethodType>(const_cast<void*>(ptr))(this, arg_list...);
+        }
+        template<class ReturnType>
+        ReturnType call_method(const void* ptr, auto... arg_list) const
+        {
+#ifdef _MSC_VER
+            using MethodType = ReturnType(__thiscall*)(const void*, decltype(arg_list)...);
+#else
+            using MethodType = ReturnType (*)(const void*, decltype(arg_list)...);
+#endif
+            return reinterpret_cast<MethodType>(const_cast<void*>(ptr))(this, arg_list...);
+        }
+
+        template<FixedString ModuleName, FixedString Pattern, class ReturnType>
+        ReturnType call_method(auto... arg_list)
+        {
+            static const auto* address = resolve_pattern(ModuleName, Pattern);
+            return call_method<ReturnType>(address, arg_list...);
+        }
+
+        template<FixedString ModuleName, FixedString Pattern, class ReturnType>
+        ReturnType call_method(auto... arg_list) const
+        {
+            static const auto* address = resolve_pattern(ModuleName, Pattern);
+            return call_method<ReturnType>(address, arg_list...);
+        }
+
+        template<class ReturnType>
+        ReturnType call_method(const std::string_view& module_name,const std::string_view& pattern, auto... arg_list)
+        {
+            static const auto* address = resolve_pattern(module_name, pattern);
+            return call_method<ReturnType>(address, arg_list...);
+        }
+
+        template<class ReturnType>
+        ReturnType call_method(const std::string_view& module_name,const std::string_view& pattern, auto... arg_list) const
+        {
+            static const auto* address = resolve_pattern(module_name, pattern);
+            return call_method<ReturnType>(address, arg_list...);
+        }
+        template<std::size_t Id, class ReturnType>
         ReturnType call_virtual_method(auto... arg_list)
         {
-#ifdef _MSC_VER
+            const auto vtable = *reinterpret_cast<void***>(this);
-            using VirtualMethodType = ReturnType(__thiscall*)(void*, decltype(arg_list)...);
+            return call_method<ReturnType>(vtable[Id], arg_list...);
-#else
-            using VirtualMethodType = ReturnType (*)(void*, decltype(arg_list)...);
-#endif
-            return (*reinterpret_cast<VirtualMethodType**>(this))[id](this, arg_list...);
         }
-        template<std::size_t id, class ReturnType>
+        template<std::size_t Id, class ReturnType>
         ReturnType call_virtual_method(auto... arg_list) const
         {
-#ifdef _MSC_VER
+            const auto vtable = *reinterpret_cast<void* const* const*>(this);
-            using VirtualMethodType = ReturnType(__thiscall*)(void*, decltype(arg_list)...);
+            return call_method<ReturnType>(vtable[Id], arg_list...);
+        }
+
+    private:
+        [[nodiscard]]
+        static const void* resolve_pattern(const std::string_view module_name, const std::string_view pattern)
+        {
+            const auto* base = get_module_base(module_name);
+            assert(base && "Failed to find module");
+
+#ifdef _WIN32
+            const auto result = PePatternScanner::scan_for_pattern_in_loaded_module(base, pattern);
+#elif defined(__APPLE__)
+            const auto result = MachOPatternScanner::scan_for_pattern_in_loaded_module(base, pattern);
 #else
-            using VirtualMethodType = ReturnType (*)(void*, decltype(arg_list)...);
+            const auto result = ElfPatternScanner::scan_for_pattern_in_loaded_module(base, pattern);
+#endif
+            assert(result.has_value() && "Pattern scan failed");
+            return reinterpret_cast<const void*>(*result);
+        }
+
+        [[nodiscard]]
+        static const void* get_module_base(const std::string_view module_name)
+        {
+#ifdef _WIN32
+            return GetModuleHandleA(module_name.data());
+#elif defined(__APPLE__)
+            // On macOS, iterate loaded images to find the module by name
+            const auto count = _dyld_image_count();
+            for (std::uint32_t i = 0; i < count; ++i)
+            {
+                const auto* name = _dyld_get_image_name(i);
+                if (name && std::string_view{name}.find(module_name) != std::string_view::npos)
+                    return static_cast<const void*>(_dyld_get_image_header(i));
+            }
+            return nullptr;
+#else
+            // On Linux, use dl_iterate_phdr to find loaded module by name
+            struct CallbackData
+            {
+                std::string_view name;
+                const void* base;
+            } cb_data{module_name, nullptr};
+
+            dl_iterate_phdr(
+                    [](dl_phdr_info* info, std::size_t, void* data) -> int
+                    {
+                        auto* cb = static_cast<CallbackData*>(data);
+                        if (info->dlpi_name
+                            && std::string_view{info->dlpi_name}.find(cb->name) != std::string_view::npos)
+                        {
+                            cb->base = reinterpret_cast<const void*>(info->dlpi_addr);
+                            return 1;
+                        }
+                        return 0;
+                    },
+                    &cb_data);
+            return cb_data.base;
 #endif
-            return (*static_cast<VirtualMethodType**>((void*)(this)))[id](
-                    const_cast<void*>(static_cast<const void*>(this)), arg_list...);
         }
     };
 } // namespace omath::rev_eng

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& red = m_value.x;
-            const float& green = y;
+            const float& green = m_value.y;
-            const float& blue = z;
+            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>(m_value.x * 255.f),
-                            static_cast<int>(y * 255.f),
+                            static_cast<int>(m_value.y * 255.f),
-                            static_cast<int>(z * 255.f),
+                            static_cast<int>(m_value.z * 255.f),
-                            static_cast<int>(w * 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]]
+    enum class ColorFormat { rgb, rgbf, hsv };
-    static constexpr auto parse(const std::format_parse_context& ctx)
+    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]]
+    auto format(const omath::Color& col, FormatContext& ctx) const
-    static auto format(const omath::Color& col, FormatContext& ctx)
     {
-        if constexpr (std::is_same_v<typename FormatContext::char_type, char>)
+        std::string str;
-            return std::format_to(ctx.out(), "{}", col.to_string());
+        switch (color_format)
-        if constexpr (std::is_same_v<typename FormatContext::char_type, wchar_t>)
+        {
-            return std::format_to(ctx.out(), L"{}", col.to_wstring());
+            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();
     }

include/omath/utility/elf_pattern_scan.hpp

@@ -5,6 +5,7 @@
 #include <cstdint>
 #include <filesystem>
 #include <optional>
+#include <span>
 #include <string_view>
 #include "section_scan_result.hpp"
 namespace omath
@@ -21,5 +22,10 @@ namespace omath
         static std::optional<SectionScanResult>
         scan_for_pattern_in_file(const std::filesystem::path& path_to_file, const std::string_view& pattern,
                                  const std::string_view& target_section_name = ".text");
+
+        [[nodiscard]]
+        static std::optional<SectionScanResult>
+        scan_for_pattern_in_memory_file(std::span<const std::byte> file_data, const std::string_view& pattern,
+                                        const std::string_view& target_section_name = ".text");
     };
 } // namespace omath

include/omath/utility/macho_pattern_scan.hpp

@@ -5,6 +5,7 @@
 #include <cstdint>
 #include <filesystem>
 #include <optional>
+#include <span>
 #include <string_view>
 #include "section_scan_result.hpp"
 namespace omath
@@ -21,5 +22,10 @@ namespace omath
         static std::optional<SectionScanResult>
         scan_for_pattern_in_file(const std::filesystem::path& path_to_file, const std::string_view& pattern,
                                  const std::string_view& target_section_name = "__text");
+
+        [[nodiscard]]
+        static std::optional<SectionScanResult>
+        scan_for_pattern_in_memory_file(std::span<const std::byte> file_data, const std::string_view& pattern,
+                                        const std::string_view& target_section_name = "__text");
     };
 } // namespace omath

include/omath/utility/pe_pattern_scan.hpp

@@ -6,6 +6,7 @@
 #include <cstdint>
 #include <filesystem>
 #include <optional>
+#include <span>
 #include <string_view>
 #include "section_scan_result.hpp"
 namespace omath
@@ -23,5 +24,10 @@ namespace omath
         static std::optional<SectionScanResult>
         scan_for_pattern_in_file(const std::filesystem::path& path_to_file, const std::string_view& pattern,
                                  const std::string_view& target_section_name = ".text");
+
+        [[nodiscard]]
+        static std::optional<SectionScanResult>
+        scan_for_pattern_in_memory_file(std::span<const std::byte> file_data, const std::string_view& pattern,
+                                        const std::string_view& target_section_name = ".text");
     };
 } // namespace omath

pixi/run.benchmark.cmake

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

pixi/run.examples.cmake

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

pixi/run.unit.tests.cmake

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

scripts/cmake-format.sh

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

source/engines/cry_engine/formulas.cpp

@@ -0,0 +1,42 @@
+//
+// Created by Vlad on 3/22/2025.
+//
+#include "omath/engines/cry_engine/formulas.hpp"
+
+namespace omath::cry_engine
+{
+    Vector3<float> forward_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_forward);
+
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
+    Vector3<float> right_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_right);
+
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
+    Vector3<float> up_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_up);
+
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
+    Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
+    {
+        return mat_camera_view<float, MatStoreType::ROW_MAJOR>(forward_vector(angles), right_vector(angles),
+                                                               up_vector(angles), cam_origin);
+    }
+    Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept
+    {
+        return mat_rotation_axis_z<float, MatStoreType::ROW_MAJOR>(angles.yaw)
+               * mat_rotation_axis_y<float, MatStoreType::ROW_MAJOR>(angles.roll)
+               * mat_rotation_axis_x<float, MatStoreType::ROW_MAJOR>(angles.pitch);
+    }
+    Mat4X4 calc_perspective_projection_matrix(const float field_of_view, const float aspect_ratio, const float near,
+                                              const float far) noexcept
+    {
+        return mat_perspective_left_handed(field_of_view, aspect_ratio, near, far);
+    }
+} // namespace omath::unity_engine

source/engines/cry_engine/traits/camera_trait.cpp

@@ -0,0 +1,26 @@
+//
+// Created by Vlad on 8/11/2025.
+//
+#include "omath/engines/cry_engine/traits/camera_trait.hpp"
+
+namespace omath::cry_engine
+{
+
+    ViewAngles CameraTrait::calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept
+    {
+        const auto direction = (look_at - cam_origin).normalized();
+
+        return {PitchAngle::from_radians(std::asin(direction.z)),
+                YawAngle::from_radians(-std::atan2(direction.x, direction.y)), RollAngle::from_radians(0.f)};
+    }
+    Mat4X4 CameraTrait::calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
+    {
+        return cry_engine::calc_view_matrix(angles, cam_origin);
+    }
+    Mat4X4 CameraTrait::calc_projection_matrix(const projection::FieldOfView& fov,
+                                               const projection::ViewPort& view_port, const float near,
+                                               const float far) noexcept
+    {
+        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far);
+    }
+} // namespace omath::unity_engine

source/hud/canvas_box.cpp

@@ -0,0 +1,27 @@
+//
+// Created by orange on 13.03.2026.
+//
+//
+// Created by Vlad on 6/17/2025.
+//
+#include "omath/hud/canvas_box.hpp"
+
+namespace omath::hud
+{
+
+    CanvasBox::CanvasBox(const Vector2<float> top, Vector2<float> bottom, const float ratio)
+    {
+        bottom.x = top.x;
+        const auto height = std::abs(top.y - bottom.y);
+
+        top_left_corner = top - Vector2<float>{height / ratio, 0};
+        top_right_corner = top + Vector2<float>{height / ratio, 0};
+
+        bottom_left_corner = bottom - Vector2<float>{height / ratio, 0};
+        bottom_right_corner = bottom + Vector2<float>{height / ratio, 0};
+    }
+    std::array<Vector2<float>, 4> CanvasBox::as_array() const
+    {
+        return {top_left_corner, top_right_corner, bottom_right_corner, bottom_left_corner};
+    }
+} // namespace ohud

source/hud/entity_overlay.cpp

@@ -0,0 +1,870 @@
+//
+// Created by orange on 13.03.2026.
+//
+#include "omath/hud/entity_overlay.hpp"
+
+namespace omath::hud
+{
+    EntityOverlay& EntityOverlay::add_2d_box(const Color& box_color, const Color& fill_color, const float thickness)
+    {
+        const auto points = m_canvas.as_array();
+
+        m_renderer->add_polyline({points.data(), points.size()}, box_color, thickness);
+
+        if (fill_color.value().w > 0.f)
+            m_renderer->add_filled_polyline({points.data(), points.size()}, fill_color);
+
+        return *this;
+    }
+    EntityOverlay& EntityOverlay::add_cornered_2d_box(const Color& box_color, const Color& fill_color,
+                                                      const float corner_ratio_len, const float thickness)
+    {
+        const auto corner_line_length =
+                std::abs((m_canvas.top_left_corner - m_canvas.top_right_corner).x * corner_ratio_len);
+
+        if (fill_color.value().w > 0.f)
+            add_2d_box(fill_color, fill_color);
+        // Left Side
+        m_renderer->add_line(m_canvas.top_left_corner,
+                             m_canvas.top_left_corner + Vector2<float>{corner_line_length, 0.f}, box_color, thickness);
+
+        m_renderer->add_line(m_canvas.top_left_corner,
+                             m_canvas.top_left_corner + Vector2<float>{0.f, corner_line_length}, box_color, thickness);
+
+        m_renderer->add_line(m_canvas.bottom_left_corner,
+                             m_canvas.bottom_left_corner - Vector2<float>{0.f, corner_line_length}, box_color,
+                             thickness);
+
+        m_renderer->add_line(m_canvas.bottom_left_corner,
+                             m_canvas.bottom_left_corner + Vector2<float>{corner_line_length, 0.f}, box_color,
+                             thickness);
+        // Right Side
+        m_renderer->add_line(m_canvas.top_right_corner,
+                             m_canvas.top_right_corner - Vector2<float>{corner_line_length, 0.f}, box_color, thickness);
+
+        m_renderer->add_line(m_canvas.top_right_corner,
+                             m_canvas.top_right_corner + Vector2<float>{0.f, corner_line_length}, box_color, thickness);
+
+        m_renderer->add_line(m_canvas.bottom_right_corner,
+                             m_canvas.bottom_right_corner - Vector2<float>{0.f, corner_line_length}, box_color,
+                             thickness);
+
+        m_renderer->add_line(m_canvas.bottom_right_corner,
+                             m_canvas.bottom_right_corner - Vector2<float>{corner_line_length, 0.f}, box_color,
+                             thickness);
+
+        return *this;
+    }
+    EntityOverlay& EntityOverlay::add_right_bar(const Color& color, const Color& outline_color, const Color& bg_color,
+                                                const float width, float ratio, const float offset)
+    {
+        ratio = std::clamp(ratio, 0.f, 1.f);
+        const auto max_bar_height = std::abs(m_canvas.top_right_corner.y - m_canvas.bottom_right_corner.y);
+
+        const auto bar_start = Vector2<float>{m_text_cursor_right.x + offset, m_canvas.bottom_right_corner.y};
+        m_renderer->add_filled_rectangle(bar_start, bar_start + Vector2<float>(width, -max_bar_height), bg_color);
+
+        m_renderer->add_filled_rectangle(bar_start, bar_start + Vector2<float>(width, -max_bar_height * ratio), color);
+        m_renderer->add_rectangle(bar_start - Vector2<float>(1.f, 0.f),
+                                  bar_start + Vector2<float>(width, -max_bar_height), outline_color);
+
+        m_text_cursor_right.x += offset + width;
+
+        return *this;
+    }
+    EntityOverlay& EntityOverlay::add_left_bar(const Color& color, const Color& outline_color, const Color& bg_color,
+                                               const float width, float ratio, const float offset)
+    {
+        ratio = std::clamp(ratio, 0.f, 1.f);
+        const auto max_bar_height = std::abs(m_canvas.top_left_corner.y - m_canvas.bottom_right_corner.y);
+
+        const auto bar_start = Vector2<float>{m_text_cursor_left.x - (offset + width), m_canvas.bottom_left_corner.y};
+        m_renderer->add_filled_rectangle(bar_start, bar_start + Vector2<float>(width, -max_bar_height), bg_color);
+
+        m_renderer->add_filled_rectangle(bar_start, bar_start + Vector2<float>(width, -max_bar_height * ratio), color);
+        m_renderer->add_rectangle(bar_start - Vector2<float>(1.f, 0.f),
+                                  bar_start + Vector2<float>(width, -max_bar_height), outline_color);
+
+        m_text_cursor_left.x -= offset + width;
+
+        return *this;
+    }
+    EntityOverlay& EntityOverlay::add_right_label(const Color& color, const float offset, const bool outlined,
+                                                  const std::string_view& text)
+    {
+        if (outlined)
+            draw_outlined_text(m_text_cursor_right + Vector2<float>{offset, 0.f}, color, text);
+        else
+            m_renderer->add_text(m_text_cursor_right + Vector2<float>{offset, 0.f}, color, text.data());
+
+        m_text_cursor_right.y += m_renderer->calc_text_size(text.data()).y;
+
+        return *this;
+    }
+    EntityOverlay& EntityOverlay::add_top_label(const Color& color, const float offset, const bool outlined,
+                                                const std::string_view text)
+    {
+        m_text_cursor_top.y -= m_renderer->calc_text_size(text.data()).y;
+
+        if (outlined)
+            draw_outlined_text(m_text_cursor_top + Vector2<float>{0.f, -offset}, color, text);
+        else
+            m_renderer->add_text(m_text_cursor_top + Vector2<float>{0.f, -offset}, color, text.data());
+
+        return *this;
+    }
+    EntityOverlay& EntityOverlay::add_top_bar(const Color& color, const Color& outline_color, const Color& bg_color,
+                                              const float height, float ratio, const float offset)
+    {
+        ratio = std::clamp(ratio, 0.f, 1.f);
+        const auto max_bar_width = std::abs(m_canvas.top_left_corner.x - m_canvas.bottom_right_corner.x);
+
+        const auto bar_start = Vector2<float>{m_canvas.top_left_corner.x, m_text_cursor_top.y - offset};
+        m_renderer->add_filled_rectangle(bar_start, bar_start + Vector2<float>(max_bar_width, -height), bg_color);
+
+        m_renderer->add_filled_rectangle(bar_start, bar_start + Vector2<float>(max_bar_width * ratio, -height), color);
+        m_renderer->add_rectangle(bar_start, bar_start + Vector2<float>(max_bar_width, -height), outline_color);
+
+        m_text_cursor_top.y -= offset + height;
+
+        return *this;
+    }
+    EntityOverlay& EntityOverlay::add_snap_line(const Vector2<float>& start_pos, const Color& color, const float width)
+    {
+        const Vector2<float> line_end =
+                m_canvas.bottom_left_corner
+                + Vector2<float>{m_canvas.bottom_right_corner.x - m_canvas.bottom_left_corner.x, 0.f} / 2;
+        m_renderer->add_line(start_pos, line_end, color, width);
+
+        return *this;
+    }
+    void EntityOverlay::draw_dashed_fill(const Vector2<float>& origin, const Vector2<float>& step_dir,
+                                         const Vector2<float>& perp_dir, const float full_len, const float filled_len,
+                                         const Color& fill_color, const Color& split_color, const float dash_len,
+                                         const float gap_len) const
+    {
+        if (full_len <= 0.f)
+            return;
+
+        const float step = dash_len + gap_len;
+        const float n = std::floor((full_len + gap_len) / step);
+        if (n < 1.f)
+            return;
+
+        const float used = n * dash_len + (n - 1.f) * gap_len;
+        const float offset = (full_len - used) / 2.f;
+
+        const auto fill_rect = [&](const Vector2<float>& a, const Vector2<float>& b, const Color& c)
+        {
+            m_renderer->add_filled_rectangle({std::min(a.x, b.x), std::min(a.y, b.y)},
+                                             {std::max(a.x, b.x), std::max(a.y, b.y)}, c);
+        };
+
+        // Draw split lines (gaps) across the full bar first
+        // Leading gap
+        if (offset > 0.f)
+            fill_rect(origin, origin + step_dir * offset + perp_dir, split_color);
+
+        for (float i = 0.f; i < n; ++i)
+        {
+            const float dash_start = offset + i * step;
+            const float dash_end = dash_start + dash_len;
+            const float gap_start = dash_end;
+            const float gap_end = dash_start + step;
+
+            // Fill dash only up to filled_len
+            if (dash_start < filled_len)
+            {
+                const auto a = origin + step_dir * dash_start;
+                const auto b = a + step_dir * std::min(dash_len, filled_len - dash_start) + perp_dir;
+                fill_rect(a, b, fill_color);
+            }
+
+            // Split line (gap) — always drawn across full bar
+            if (i < n - 1.f && gap_start < full_len)
+            {
+                const auto a = origin + step_dir * gap_start;
+                const auto b = origin + step_dir * std::min(gap_end, full_len) + perp_dir;
+                fill_rect(a, b, split_color);
+            }
+        }
+
+        // Trailing gap
+        const float trail_start = offset + n * dash_len + (n - 1.f) * gap_len;
+        if (trail_start < full_len)
+            fill_rect(origin + step_dir * trail_start, origin + step_dir * full_len + perp_dir, split_color);
+    }
+
+    EntityOverlay& EntityOverlay::add_right_dashed_bar(const Color& color, const Color& outline_color,
+                                                       const Color& bg_color, const float width, float ratio,
+                                                       const float dash_len, const float gap_len, const float offset)
+    {
+        ratio = std::clamp(ratio, 0.f, 1.f);
+        const float height = std::abs(m_canvas.top_right_corner.y - m_canvas.bottom_right_corner.y);
+        const auto bar_start = Vector2<float>{m_text_cursor_right.x + offset, m_canvas.bottom_right_corner.y};
+
+        m_renderer->add_filled_rectangle(bar_start, bar_start + Vector2<float>{width, -height}, bg_color);
+        draw_dashed_fill(bar_start, {0.f, -1.f}, {width, 0.f}, height, height * ratio, color, outline_color, dash_len,
+                         gap_len);
+        m_renderer->add_rectangle(bar_start - Vector2<float>{1.f, 0.f}, bar_start + Vector2<float>{width, -height},
+                                  outline_color);
+        m_text_cursor_right.x += offset + width;
+
+        return *this;
+    }
+
+    EntityOverlay& EntityOverlay::add_left_dashed_bar(const Color& color, const Color& outline_color,
+                                                      const Color& bg_color, const float width, float ratio,
+                                                      const float dash_len, const float gap_len, const float offset)
+    {
+        ratio = std::clamp(ratio, 0.f, 1.f);
+        const float height = std::abs(m_canvas.top_left_corner.y - m_canvas.bottom_left_corner.y);
+        const auto bar_start = Vector2<float>{m_text_cursor_left.x - (offset + width), m_canvas.bottom_left_corner.y};
+
+        m_renderer->add_filled_rectangle(bar_start, bar_start + Vector2<float>{width, -height}, bg_color);
+        draw_dashed_fill(bar_start, {0.f, -1.f}, {width, 0.f}, height, height * ratio, color, outline_color, dash_len,
+                         gap_len);
+        m_renderer->add_rectangle(bar_start - Vector2<float>{1.f, 0.f}, bar_start + Vector2<float>{width, -height},
+                                  outline_color);
+        m_text_cursor_left.x -= offset + width;
+
+        return *this;
+    }
+
+    EntityOverlay& EntityOverlay::add_top_dashed_bar(const Color& color, const Color& outline_color,
+                                                     const Color& bg_color, const float height, float ratio,
+                                                     const float dash_len, const float gap_len, const float offset)
+    {
+        ratio = std::clamp(ratio, 0.f, 1.f);
+        const float bar_w = std::abs(m_canvas.top_left_corner.x - m_canvas.top_right_corner.x);
+        const auto bar_start = Vector2<float>{m_canvas.top_left_corner.x, m_text_cursor_top.y - offset};
+
+        m_renderer->add_filled_rectangle(bar_start, bar_start + Vector2<float>{bar_w, -height}, bg_color);
+        draw_dashed_fill(bar_start, {1.f, 0.f}, {0.f, -height}, bar_w, bar_w * ratio, color, outline_color, dash_len,
+                         gap_len);
+        m_renderer->add_rectangle(bar_start, bar_start + Vector2<float>{bar_w, -height}, outline_color);
+        m_text_cursor_top.y -= offset + height;
+
+        return *this;
+    }
+
+    EntityOverlay& EntityOverlay::add_bottom_dashed_bar(const Color& color, const Color& outline_color,
+                                                        const Color& bg_color, const float height, float ratio,
+                                                        const float dash_len, const float gap_len, const float offset)
+    {
+        ratio = std::clamp(ratio, 0.f, 1.f);
+        const float bar_w = std::abs(m_canvas.bottom_left_corner.x - m_canvas.bottom_right_corner.x);
+        const auto bar_start = Vector2<float>{m_canvas.bottom_left_corner.x, m_text_cursor_bottom.y + offset};
+
+        m_renderer->add_filled_rectangle(bar_start, bar_start + Vector2<float>{bar_w, height}, bg_color);
+        draw_dashed_fill(bar_start, {1.f, 0.f}, {0.f, height}, bar_w, bar_w * ratio, color, outline_color, dash_len,
+                         gap_len);
+        m_renderer->add_rectangle(bar_start, bar_start + Vector2<float>{bar_w, height}, outline_color);
+        m_text_cursor_bottom.y += offset + height;
+
+        return *this;
+    }
+
+    EntityOverlay& EntityOverlay::add_skeleton(const Color& color, const float thickness)
+    {
+        // Maps normalized (rx in [0,1], ry in [0,1]) to canvas screen position
+        const auto joint = [&](const float rx, const float ry) -> Vector2<float>
+        {
+            const auto top = m_canvas.top_left_corner + (m_canvas.top_right_corner - m_canvas.top_left_corner) * rx;
+            const auto bot =
+                    m_canvas.bottom_left_corner + (m_canvas.bottom_right_corner - m_canvas.bottom_left_corner) * rx;
+            return top + (bot - top) * ry;
+        };
+
+        using B = std::pair<std::pair<float, float>, std::pair<float, float>>;
+        static constexpr std::array<B, 15> k_bones{{
+                // Spine
+                {{0.50f, 0.13f}, {0.50f, 0.22f}}, // head       → neck
+                {{0.50f, 0.22f}, {0.50f, 0.38f}}, // neck       → chest
+                {{0.50f, 0.38f}, {0.50f, 0.55f}}, // chest      → pelvis
+                // Left arm
+                {{0.50f, 0.22f}, {0.25f, 0.25f}}, // neck       → L shoulder
+                {{0.25f, 0.25f}, {0.13f, 0.42f}}, // L shoulder → L elbow
+                {{0.13f, 0.42f}, {0.08f, 0.56f}}, // L elbow    → L hand
+                // Right arm
+                {{0.50f, 0.22f}, {0.75f, 0.25f}}, // neck       → R shoulder
+                {{0.75f, 0.25f}, {0.87f, 0.42f}}, // R shoulder → R elbow
+                {{0.87f, 0.42f}, {0.92f, 0.56f}}, // R elbow    → R hand
+                // Left leg
+                {{0.50f, 0.55f}, {0.36f, 0.58f}}, // pelvis     → L hip
+                {{0.36f, 0.58f}, {0.32f, 0.77f}}, // L hip      → L knee
+                {{0.32f, 0.77f}, {0.27f, 0.97f}}, // L knee     → L foot
+                // Right leg
+                {{0.50f, 0.55f}, {0.64f, 0.58f}}, // pelvis     → R hip
+                {{0.64f, 0.58f}, {0.68f, 0.77f}}, // R hip      → R knee
+                {{0.68f, 0.77f}, {0.73f, 0.97f}}, // R knee     → R foot
+        }};
+
+        for (const auto& [a, b] : k_bones)
+            m_renderer->add_line(joint(a.first, a.second), joint(b.first, b.second), color, thickness);
+
+        return *this;
+    }
+
+    void EntityOverlay::draw_dashed_line(const Vector2<float>& from, const Vector2<float>& to, const Color& color,
+                                         const float dash_len, const float gap_len, const float thickness) const
+    {
+        const auto total = (to - from).length();
+        if (total <= 0.f)
+            return;
+
+        const auto dir = (to - from).normalized();
+        const float step = dash_len + gap_len;
+
+        const float n_dashes = std::floor((total + gap_len) / step);
+        if (n_dashes < 1.f)
+            return;
+
+        const float used = n_dashes * dash_len + (n_dashes - 1.f) * gap_len;
+        const float offset = (total - used) / 2.f;
+
+        for (float i = 0.f; i < n_dashes; ++i)
+        {
+            const float pos = offset + i * step;
+            const auto dash_start = from + dir * pos;
+            const auto dash_end = from + dir * std::min(pos + dash_len, total);
+            m_renderer->add_line(dash_start, dash_end, color, thickness);
+        }
+    }
+
+    EntityOverlay& EntityOverlay::add_dashed_box(const Color& color, const float dash_len, const float gap_len,
+                                                 const float thickness)
+    {
+        const float min_edge = std::min((m_canvas.top_right_corner - m_canvas.top_left_corner).length(),
+                                        (m_canvas.bottom_right_corner - m_canvas.top_right_corner).length());
+        const float corner_len = std::min(dash_len, min_edge / 2.f);
+
+        const auto draw_edge = [&](const Vector2<float>& from, const Vector2<float>& to)
+        {
+            const auto dir = (to - from).normalized();
+
+            m_renderer->add_line(from, from + dir * corner_len, color, thickness);
+            draw_dashed_line(from + dir * corner_len, to - dir * corner_len, color, dash_len, gap_len, thickness);
+            m_renderer->add_line(to - dir * corner_len, to, color, thickness);
+        };
+
+        draw_edge(m_canvas.top_left_corner, m_canvas.top_right_corner);
+        draw_edge(m_canvas.top_right_corner, m_canvas.bottom_right_corner);
+        draw_edge(m_canvas.bottom_right_corner, m_canvas.bottom_left_corner);
+        draw_edge(m_canvas.bottom_left_corner, m_canvas.top_left_corner);
+
+        return *this;
+    }
+
+    void EntityOverlay::draw_outlined_text(const Vector2<float>& position, const Color& color,
+                                           const std::string_view& text)
+    {
+        static constexpr std::array outline_offsets = {
+                Vector2<float>{-1, -1}, Vector2<float>{-1, 0}, Vector2<float>{-1, 1}, Vector2<float>{0, -1},
+                Vector2<float>{0, 1},   Vector2<float>{1, -1}, Vector2<float>{1, 0},  Vector2<float>{1, 1}};
+
+        for (const auto& outline_offset : outline_offsets)
+            m_renderer->add_text(position + outline_offset, Color{0.f, 0.f, 0.f, 1.f}, text.data());
+        m_renderer->add_text(position, color, text.data());
+    }
+    EntityOverlay& EntityOverlay::add_bottom_bar(const Color& color, const Color& outline_color, const Color& bg_color,
+                                                 const float height, float ratio, const float offset)
+    {
+        ratio = std::clamp(ratio, 0.f, 1.f);
+        const auto max_bar_width = std::abs(m_canvas.bottom_right_corner.x - m_canvas.bottom_left_corner.x);
+
+        const auto bar_start = Vector2<float>{m_canvas.bottom_left_corner.x, m_text_cursor_bottom.y + offset};
+        m_renderer->add_filled_rectangle(bar_start, bar_start + Vector2<float>(max_bar_width, height), bg_color);
+        m_renderer->add_filled_rectangle(bar_start, bar_start + Vector2<float>(max_bar_width * ratio, height), color);
+        m_renderer->add_rectangle(bar_start, bar_start + Vector2<float>(max_bar_width, height), outline_color);
+
+        m_text_cursor_bottom.y += offset + height;
+
+        return *this;
+    }
+
+    EntityOverlay& EntityOverlay::add_bottom_label(const Color& color, const float offset, const bool outlined,
+                                                   const std::string_view text)
+    {
+        const auto text_size = m_renderer->calc_text_size(text);
+
+        if (outlined)
+            draw_outlined_text(m_text_cursor_bottom + Vector2<float>{0.f, offset}, color, text);
+        else
+            m_renderer->add_text(m_text_cursor_bottom + Vector2<float>{0.f, offset}, color, text);
+
+        m_text_cursor_bottom.y += text_size.y;
+
+        return *this;
+    }
+
+    EntityOverlay& EntityOverlay::add_left_label(const Color& color, const float offset, const bool outlined,
+                                                 const std::string_view& text)
+    {
+        const auto text_size = m_renderer->calc_text_size(text);
+        const auto pos = m_text_cursor_left + Vector2<float>{-(offset + text_size.x), 0.f};
+
+        if (outlined)
+            draw_outlined_text(pos, color, text);
+        else
+            m_renderer->add_text(pos, color, text);
+
+        m_text_cursor_left.y += text_size.y;
+
+        return *this;
+    }
+
+    EntityOverlay& EntityOverlay::add_centered_bottom_label(const Color& color, const float offset, const bool outlined,
+                                                            const std::string_view& text)
+    {
+        const auto text_size = m_renderer->calc_text_size(text);
+        const auto box_center_x =
+                m_canvas.bottom_left_corner.x + (m_canvas.bottom_right_corner.x - m_canvas.bottom_left_corner.x) / 2.f;
+        const auto pos = Vector2<float>{box_center_x - text_size.x / 2.f, m_text_cursor_bottom.y + offset};
+
+        if (outlined)
+            draw_outlined_text(pos, color, text);
+        else
+            m_renderer->add_text(pos, color, text);
+
+        m_text_cursor_bottom.y += text_size.y;
+
+        return *this;
+    }
+
+    EntityOverlay& EntityOverlay::add_centered_top_label(const Color& color, const float offset, const bool outlined,
+                                                         const std::string_view& text)
+    {
+        const auto text_size = m_renderer->calc_text_size(text);
+        const auto box_center_x =
+                m_canvas.top_left_corner.x + (m_canvas.top_right_corner.x - m_canvas.top_left_corner.x) / 2.f;
+
+        m_text_cursor_top.y -= text_size.y;
+        const auto pos = Vector2<float>{box_center_x - text_size.x / 2.f, m_text_cursor_top.y - offset};
+
+        if (outlined)
+            draw_outlined_text(pos, color, text);
+        else
+            m_renderer->add_text(pos, color, text);
+
+        return *this;
+    }
+
+    EntityOverlay::EntityOverlay(const Vector2<float>& top, const Vector2<float>& bottom,
+                                 const std::shared_ptr<HudRendererInterface>& renderer)
+        : m_canvas(top, bottom), m_text_cursor_right(m_canvas.top_right_corner),
+          m_text_cursor_top(m_canvas.top_left_corner), m_text_cursor_bottom(m_canvas.bottom_left_corner),
+          m_text_cursor_left(m_canvas.top_left_corner), m_renderer(renderer)
+    {
+    }
+    // ── Spacers ─────────────────────────────────────────────────────────────────
+    EntityOverlay& EntityOverlay::add_right_space_vertical(const float size)
+    {
+        m_text_cursor_right.y += size;
+        return *this;
+    }
+
+    EntityOverlay& EntityOverlay::add_right_space_horizontal(const float size)
+    {
+        m_text_cursor_right.x += size;
+        return *this;
+    }
+
+    EntityOverlay& EntityOverlay::add_left_space_vertical(const float size)
+    {
+        m_text_cursor_left.y += size;
+        return *this;
+    }
+
+    EntityOverlay& EntityOverlay::add_left_space_horizontal(const float size)
+    {
+        m_text_cursor_left.x -= size;
+        return *this;
+    }
+
+    EntityOverlay& EntityOverlay::add_top_space_vertical(const float size)
+    {
+        m_text_cursor_top.y -= size;
+        return *this;
+    }
+
+    EntityOverlay& EntityOverlay::add_top_space_horizontal(const float size)
+    {
+        m_text_cursor_top.x += size;
+        return *this;
+    }
+
+    EntityOverlay& EntityOverlay::add_bottom_space_vertical(const float size)
+    {
+        m_text_cursor_bottom.y += size;
+        return *this;
+    }
+
+    EntityOverlay& EntityOverlay::add_bottom_space_horizontal(const float size)
+    {
+        m_text_cursor_bottom.x += size;
+        return *this;
+    }
+
+    // ── Progress rings ──────────────────────────────────────────────────────────
+    EntityOverlay& EntityOverlay::add_right_progress_ring(const Color& color, const Color& bg, const float radius,
+                                                          const float ratio, const float thickness, const float offset,
+                                                          const int segments)
+    {
+        const auto cx = m_text_cursor_right.x + offset + radius;
+        const auto cy = m_text_cursor_right.y + radius;
+        draw_progress_ring({cx, cy}, widget::ProgressRing{color, bg, radius, ratio, thickness, offset, segments});
+        m_text_cursor_right.y += radius * 2.f;
+        return *this;
+    }
+
+    EntityOverlay& EntityOverlay::add_left_progress_ring(const Color& color, const Color& bg, const float radius,
+                                                         const float ratio, const float thickness, const float offset,
+                                                         const int segments)
+    {
+        const auto cx = m_text_cursor_left.x - offset - radius;
+        const auto cy = m_text_cursor_left.y + radius;
+        draw_progress_ring({cx, cy}, widget::ProgressRing{color, bg, radius, ratio, thickness, offset, segments});
+        m_text_cursor_left.y += radius * 2.f;
+        return *this;
+    }
+
+    EntityOverlay& EntityOverlay::add_top_progress_ring(const Color& color, const Color& bg, const float radius,
+                                                        const float ratio, const float thickness, const float offset,
+                                                        const int segments)
+    {
+        m_text_cursor_top.y -= radius * 2.f;
+        const auto cx = m_text_cursor_top.x + radius;
+        const auto cy = m_text_cursor_top.y - offset + radius;
+        draw_progress_ring({cx, cy}, widget::ProgressRing{color, bg, radius, ratio, thickness, offset, segments});
+        return *this;
+    }
+
+    EntityOverlay& EntityOverlay::add_bottom_progress_ring(const Color& color, const Color& bg, const float radius,
+                                                           const float ratio, const float thickness, const float offset,
+                                                           const int segments)
+    {
+        const auto cx = m_text_cursor_bottom.x + radius;
+        const auto cy = m_text_cursor_bottom.y + offset + radius;
+        draw_progress_ring({cx, cy}, widget::ProgressRing{color, bg, radius, ratio, thickness, offset, segments});
+        m_text_cursor_bottom.y += radius * 2.f;
+        return *this;
+    }
+
+    // ── Icons ────────────────────────────────────────────────────────────────────
+    EntityOverlay& EntityOverlay::add_right_icon(const std::any& texture_id, const float width, const float height,
+                                                 const Color& tint, const float offset)
+    {
+        const auto pos = m_text_cursor_right + Vector2<float>{offset, 0.f};
+        m_renderer->add_image(texture_id, pos, pos + Vector2<float>{width, height}, tint);
+        m_text_cursor_right.y += height;
+        return *this;
+    }
+
+    EntityOverlay& EntityOverlay::add_left_icon(const std::any& texture_id, const float width, const float height,
+                                                const Color& tint, const float offset)
+    {
+        const auto pos = m_text_cursor_left + Vector2<float>{-(offset + width), 0.f};
+        m_renderer->add_image(texture_id, pos, pos + Vector2<float>{width, height}, tint);
+        m_text_cursor_left.y += height;
+        return *this;
+    }
+
+    EntityOverlay& EntityOverlay::add_top_icon(const std::any& texture_id, const float width, const float height,
+                                               const Color& tint, const float offset)
+    {
+        m_text_cursor_top.y -= height;
+        const auto pos = m_text_cursor_top + Vector2<float>{0.f, -offset};
+        m_renderer->add_image(texture_id, pos, pos + Vector2<float>{width, height}, tint);
+        return *this;
+    }
+
+    EntityOverlay& EntityOverlay::add_bottom_icon(const std::any& texture_id, const float width, const float height,
+                                                  const Color& tint, const float offset)
+    {
+        const auto pos = m_text_cursor_bottom + Vector2<float>{0.f, offset};
+        m_renderer->add_image(texture_id, pos, pos + Vector2<float>{width, height}, tint);
+        m_text_cursor_bottom.y += height;
+        return *this;
+    }
+
+    // ── widget dispatch ───────────────────────────────────────────────────────
+    void EntityOverlay::dispatch(const widget::Box& box)
+    {
+        add_2d_box(box.color, box.fill, box.thickness);
+    }
+
+    void EntityOverlay::dispatch(const widget::CorneredBox& cornered_box)
+    {
+        add_cornered_2d_box(cornered_box.color, cornered_box.fill, cornered_box.corner_ratio, cornered_box.thickness);
+    }
+
+    void EntityOverlay::dispatch(const widget::DashedBox& dashed_box)
+    {
+        add_dashed_box(dashed_box.color, dashed_box.dash_len, dashed_box.gap_len, dashed_box.thickness);
+    }
+
+    void EntityOverlay::dispatch(const widget::Skeleton& skeleton)
+    {
+        add_skeleton(skeleton.color, skeleton.thickness);
+    }
+
+    void EntityOverlay::dispatch(const widget::SnapLine& snap_line)
+    {
+        add_snap_line(snap_line.start, snap_line.color, snap_line.width);
+    }
+
+    void EntityOverlay::dispatch(const widget::ScanMarker& scan_marker)
+    {
+        const auto box_width = std::abs(m_canvas.top_right_corner.x - m_canvas.top_left_corner.x);
+        const auto box_height = std::abs(m_canvas.bottom_left_corner.y - m_canvas.top_left_corner.y);
+
+        const auto center_x = (m_canvas.top_left_corner.x + m_canvas.top_right_corner.x) / 2.f;
+        const auto center_y = m_canvas.top_left_corner.y + box_height * 0.44f;
+
+        const auto side = std::min(box_width, box_height) * 0.5f;
+        const auto h = side * std::sqrt(3.f) / 2.f;
+
+        const std::array<Vector2<float>, 3> tri = {
+                Vector2<float>{center_x, center_y - h * 2.f / 3.f},
+                Vector2<float>{center_x - side / 2.f, center_y + h / 3.f},
+                Vector2<float>{center_x + side / 2.f, center_y + h / 3.f},
+        };
+
+        m_renderer->add_filled_polyline({tri.data(), tri.size()}, scan_marker.color);
+
+        if (scan_marker.outline.value().w > 0.f)
+            m_renderer->add_polyline({tri.data(), tri.size()}, scan_marker.outline, scan_marker.outline_thickness);
+    }
+
+    void EntityOverlay::dispatch(const widget::AimDot& aim_dot)
+    {
+        m_renderer->add_filled_circle(aim_dot.position, aim_dot.radius, aim_dot.color);
+    }
+    void EntityOverlay::dispatch(const widget::ProjectileAim& proj_widget)
+    {
+        const auto box_width = std::abs(m_canvas.top_right_corner.x - m_canvas.top_left_corner.x);
+        const auto box_height = std::abs(m_canvas.bottom_left_corner.y - m_canvas.top_left_corner.y);
+
+        const auto box_center = m_canvas.top_left_corner + Vector2{box_width, box_height} / 2.f;
+
+        m_renderer->add_line(box_center, proj_widget.position, proj_widget.color, proj_widget.line_size);
+
+        if (proj_widget.figure == widget::ProjectileAim::Figure::CIRCLE)
+        {
+            m_renderer->add_filled_circle(proj_widget.position, proj_widget.size, proj_widget.color);
+            return;
+        }
+
+        if (proj_widget.figure == widget::ProjectileAim::Figure::SQUARE)
+        {
+            const auto box_min = proj_widget.position - Vector2{proj_widget.size, proj_widget.size} / 2.f;
+            const auto box_max = proj_widget.position + Vector2{proj_widget.size, proj_widget.size} / 2.f;
+            m_renderer->add_filled_rectangle(box_min, box_max, proj_widget.color);
+            return;
+        }
+
+        std::unreachable();
+    }
+
+    void EntityOverlay::draw_progress_ring(const Vector2<float>& center, const widget::ProgressRing& ring)
+    {
+        constexpr auto pi = std::numbers::pi_v<float>;
+        const float ratio = std::clamp(ring.ratio, 0.f, 1.f);
+
+        m_renderer->add_circle(center, ring.radius, ring.bg, ring.thickness, ring.segments);
+
+        if (ratio > 0.f)
+        {
+            const float a_min = -pi / 2.f;
+            const float a_max = a_min + ratio * 2.f * pi;
+            m_renderer->add_arc(center, ring.radius, a_min, a_max, ring.color, ring.thickness, ring.segments);
+        }
+    }
+
+    // ── Side container dispatch ───────────────────────────────────────────────
+    void EntityOverlay::dispatch(const widget::RightSide& right_side)
+    {
+        for (const auto& child : right_side.children)
+            std::visit(
+                    widget::Overloaded{
+                            [](const widget::None&)
+                            {
+                            },
+                            [this](const widget::Bar& w)
+                            {
+                                add_right_bar(w.color, w.outline, w.bg, w.size, w.ratio, w.offset);
+                            },
+                            [this](const widget::DashedBar& w)
+                            {
+                                add_right_dashed_bar(w.color, w.outline, w.bg, w.size, w.ratio, w.dash_len, w.gap_len,
+                                                     w.offset);
+                            },
+                            [this](const widget::Label& w)
+                            {
+                                add_right_label(w.color, w.offset, w.outlined, w.text);
+                            },
+                            [this](const widget::Centered<widget::Label>& w)
+                            {
+                                add_right_label(w.child.color, w.child.offset, w.child.outlined, w.child.text);
+                            },
+                            [this](const widget::SpaceVertical& w)
+                            {
+                                add_right_space_vertical(w.size);
+                            },
+                            [this](const widget::SpaceHorizontal& w)
+                            {
+                                add_right_space_horizontal(w.size);
+                            },
+                            [this](const widget::ProgressRing& w)
+                            {
+                                add_right_progress_ring(w.color, w.bg, w.radius, w.ratio, w.thickness, w.offset,
+                                                        w.segments);
+                            },
+                            [this](const widget::Icon& w)
+                            {
+                                add_right_icon(w.texture_id, w.width, w.height, w.tint, w.offset);
+                            },
+                    },
+                    child);
+    }
+
+    void EntityOverlay::dispatch(const widget::LeftSide& left_side)
+    {
+        for (const auto& child : left_side.children)
+            std::visit(
+                    widget::Overloaded{
+                            [](const widget::None&)
+                            {
+                            },
+                            [this](const widget::Bar& w)
+                            {
+                                add_left_bar(w.color, w.outline, w.bg, w.size, w.ratio, w.offset);
+                            },
+                            [this](const widget::DashedBar& w)
+                            {
+                                add_left_dashed_bar(w.color, w.outline, w.bg, w.size, w.ratio, w.dash_len, w.gap_len,
+                                                    w.offset);
+                            },
+                            [this](const widget::Label& w)
+                            {
+                                add_left_label(w.color, w.offset, w.outlined, w.text);
+                            },
+                            [this](const widget::Centered<widget::Label>& w)
+                            {
+                                add_left_label(w.child.color, w.child.offset, w.child.outlined, w.child.text);
+                            },
+                            [this](const widget::SpaceVertical& w)
+                            {
+                                add_left_space_vertical(w.size);
+                            },
+                            [this](const widget::SpaceHorizontal& w)
+                            {
+                                add_left_space_horizontal(w.size);
+                            },
+                            [this](const widget::ProgressRing& w)
+                            {
+                                add_left_progress_ring(w.color, w.bg, w.radius, w.ratio, w.thickness, w.offset,
+                                                       w.segments);
+                            },
+                            [this](const widget::Icon& w)
+                            {
+                                add_left_icon(w.texture_id, w.width, w.height, w.tint, w.offset);
+                            },
+                    },
+                    child);
+    }
+
+    void EntityOverlay::dispatch(const widget::TopSide& top_side)
+    {
+        for (const auto& child : top_side.children)
+            std::visit(
+                    widget::Overloaded{
+                            [](const widget::None&)
+                            {
+                            },
+                            [this](const widget::Bar& w)
+                            {
+                                add_top_bar(w.color, w.outline, w.bg, w.size, w.ratio, w.offset);
+                            },
+                            [this](const widget::DashedBar& w)
+                            {
+                                add_top_dashed_bar(w.color, w.outline, w.bg, w.size, w.ratio, w.dash_len, w.gap_len,
+                                                   w.offset);
+                            },
+                            [this](const widget::Label& w)
+                            {
+                                add_top_label(w.color, w.offset, w.outlined, w.text);
+                            },
+                            [this](const widget::Centered<widget::Label>& w)
+                            {
+                                add_centered_top_label(w.child.color, w.child.offset, w.child.outlined, w.child.text);
+                            },
+                            [this](const widget::SpaceVertical& w)
+                            {
+                                add_top_space_vertical(w.size);
+                            },
+                            [this](const widget::SpaceHorizontal& w)
+                            {
+                                add_top_space_horizontal(w.size);
+                            },
+                            [this](const widget::ProgressRing& w)
+                            {
+                                add_top_progress_ring(w.color, w.bg, w.radius, w.ratio, w.thickness, w.offset,
+                                                      w.segments);
+                            },
+                            [this](const widget::Icon& w)
+                            {
+                                add_top_icon(w.texture_id, w.width, w.height, w.tint, w.offset);
+                            },
+                    },
+                    child);
+    }
+    void EntityOverlay::dispatch(const widget::BottomSide& bottom_side)
+    {
+        for (const auto& child : bottom_side.children)
+            std::visit(
+                    widget::Overloaded{
+                            [](const widget::None&)
+                            {
+                            },
+                            [this](const widget::Bar& w)
+                            {
+                                add_bottom_bar(w.color, w.outline, w.bg, w.size, w.ratio, w.offset);
+                            },
+                            [this](const widget::DashedBar& w)
+                            {
+                                add_bottom_dashed_bar(w.color, w.outline, w.bg, w.size, w.ratio, w.dash_len, w.gap_len,
+                                                      w.offset);
+                            },
+                            [this](const widget::Label& w)
+                            {
+                                add_bottom_label(w.color, w.offset, w.outlined, w.text);
+                            },
+                            [this](const widget::Centered<widget::Label>& w)
+                            {
+                                add_centered_bottom_label(w.child.color, w.child.offset, w.child.outlined,
+                                                          w.child.text);
+                            },
+                            [this](const widget::SpaceVertical& w)
+                            {
+                                add_bottom_space_vertical(w.size);
+                            },
+                            [this](const widget::SpaceHorizontal& w)
+                            {
+                                add_bottom_space_horizontal(w.size);
+                            },
+                            [this](const widget::ProgressRing& w)
+                            {
+                                add_bottom_progress_ring(w.color, w.bg, w.radius, w.ratio, w.thickness, w.offset,
+                                                         w.segments);
+                            },
+                            [this](const widget::Icon& w)
+                            {
+                                add_bottom_icon(w.texture_id, w.width, w.height, w.tint, w.offset);
+                            },
+                    },
+                    child);
+    }
+
+} // namespace omath::hud

source/hud/renderer_realizations/imgui_renderer.cpp

@@ -0,0 +1,82 @@
+//
+// Created by orange on 13.03.2026.
+//
+#include "omath/hud/renderer_realizations/imgui_renderer.hpp"
+
+#ifdef OMATH_IMGUI_INTEGRATION
+#include <imgui.h>
+
+namespace omath::hud
+{
+    ImguiHudRenderer::~ImguiHudRenderer() = default;
+
+    void ImguiHudRenderer::add_line(const Vector2<float>& line_start, const Vector2<float>& line_end,
+                                    const Color& color, const float thickness)
+    {
+        ImGui::GetBackgroundDrawList()->AddLine(line_start.to_im_vec2(), line_end.to_im_vec2(), color.to_im_color(),
+                                                thickness);
+    }
+
+    void ImguiHudRenderer::add_polyline(const std::span<const Vector2<float>>& vertexes, const Color& color,
+                                        const float thickness)
+    {
+        ImGui::GetBackgroundDrawList()->AddPolyline(reinterpret_cast<const ImVec2*>(vertexes.data()),
+                                                    static_cast<int>(vertexes.size()), color.to_im_color(),
+                                                    ImDrawFlags_Closed, thickness);
+    }
+
+    void ImguiHudRenderer::add_filled_polyline(const std::span<const Vector2<float>>& vertexes, const Color& color)
+    {
+        ImGui::GetBackgroundDrawList()->AddConvexPolyFilled(reinterpret_cast<const ImVec2*>(vertexes.data()),
+                                                    static_cast<int>(vertexes.size()), color.to_im_color());
+    }
+
+    void ImguiHudRenderer::add_rectangle(const Vector2<float>& min, const Vector2<float>& max, const Color& color)
+    {
+        ImGui::GetBackgroundDrawList()->AddRect(min.to_im_vec2(), max.to_im_vec2(), color.to_im_color());
+    }
+
+    void ImguiHudRenderer::add_filled_rectangle(const Vector2<float>& min, const Vector2<float>& max,
+                                                const Color& color)
+    {
+        ImGui::GetBackgroundDrawList()->AddRectFilled(min.to_im_vec2(), max.to_im_vec2(), color.to_im_color());
+    }
+
+    void ImguiHudRenderer::add_circle(const Vector2<float>& center, const float radius, const Color& color,
+                                       const float thickness, const int segments)
+    {
+        ImGui::GetBackgroundDrawList()->AddCircle(center.to_im_vec2(), radius, color.to_im_color(), segments, thickness);
+    }
+
+    void ImguiHudRenderer::add_filled_circle(const Vector2<float>& center, const float radius, const Color& color,
+                                              const int segments)
+    {
+        ImGui::GetBackgroundDrawList()->AddCircleFilled(center.to_im_vec2(), radius, color.to_im_color(), segments);
+    }
+
+    void ImguiHudRenderer::add_arc(const Vector2<float>& center, const float radius, const float a_min, const float a_max,
+                                    const Color& color, const float thickness, const int segments)
+    {
+        ImGui::GetBackgroundDrawList()->PathArcTo(center.to_im_vec2(), radius, a_min, a_max, segments);
+        ImGui::GetBackgroundDrawList()->PathStroke(color.to_im_color(), ImDrawFlags_None, thickness);
+    }
+
+    void ImguiHudRenderer::add_image(const std::any& texture_id, const Vector2<float>& min, const Vector2<float>& max,
+                                      const Color& tint)
+    {
+        ImGui::GetBackgroundDrawList()->AddImage(std::any_cast<ImTextureID>(texture_id), min.to_im_vec2(),
+                                                  max.to_im_vec2(), {0, 0}, {1, 1}, tint.to_im_color());
+    }
+
+    void ImguiHudRenderer::add_text(const Vector2<float>& position, const Color& color, const std::string_view& text)
+    {
+        ImGui::GetBackgroundDrawList()->AddText(position.to_im_vec2(), color.to_im_color(), text.data(),
+                                                text.data() + text.size());
+    }
+    [[nodiscard]]
+    Vector2<float> ImguiHudRenderer::calc_text_size(const std::string_view& text)
+    {
+        return Vector2<float>::from_im_vec2(ImGui::CalcTextSize(text.data()));
+    }
+} // namespace omath::hud
+#endif // OMATH_IMGUI_INTEGRATION

source/lua/lua.cpp

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

source/lua/lua_color.cpp

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

source/lua/lua_engines.cpp

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

source/lua/lua_pattern_scan.cpp

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

source/lua/lua_triangle.cpp

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

source/lua/lua_vec2.cpp

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

source/lua/lua_vec3.cpp

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

source/lua/lua_vec4.cpp

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

source/pathfinding/navigation_mesh.cpp

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

source/projectile_prediction/proj_pred_engine_avx2.cpp

@@ -21,7 +21,7 @@ namespace omath::projectile_prediction
         const float bullet_gravity = m_gravity_constant * projectile.m_gravity_scale;
         const float v0 = projectile.m_launch_speed;
         const float v0_sqr = v0 * v0;
-        const Vector3 proj_origin = projectile.m_origin;
+        const Vector3 proj_origin = projectile.m_origin + projectile.m_launch_offset;
 
         constexpr int SIMD_FACTOR = 8;
         float current_time = m_simulation_time_step;
@@ -124,6 +124,110 @@ namespace omath::projectile_prediction
                 std::format("{} AVX2 feature is not enabled!", std::source_location::current().function_name()));
 #endif
     }
+    std::optional<AimAngles>
+    ProjPredEngineAvx2::maybe_calculate_aim_angles([[maybe_unused]] const Projectile& projectile,
+                                                    [[maybe_unused]] const Target& target) const
+    {
+#if defined(OMATH_USE_AVX2) && defined(__i386__) && defined(__x86_64__)
+        const float bullet_gravity = m_gravity_constant * projectile.m_gravity_scale;
+        const float v0 = projectile.m_launch_speed;
+        const Vector3 proj_origin = projectile.m_origin + projectile.m_launch_offset;
+
+        constexpr int SIMD_FACTOR = 8;
+        float current_time = m_simulation_time_step;
+
+        for (; current_time <= m_maximum_simulation_time; current_time += m_simulation_time_step * SIMD_FACTOR)
+        {
+            const __m256 times
+                    = _mm256_setr_ps(current_time, current_time + m_simulation_time_step,
+                                     current_time + m_simulation_time_step * 2, current_time + m_simulation_time_step * 3,
+                                     current_time + m_simulation_time_step * 4, current_time + m_simulation_time_step * 5,
+                                     current_time + m_simulation_time_step * 6, current_time + m_simulation_time_step * 7);
+
+            const __m256 target_x
+                    = _mm256_fmadd_ps(_mm256_set1_ps(target.m_velocity.x), times, _mm256_set1_ps(target.m_origin.x));
+            const __m256 target_y
+                    = _mm256_fmadd_ps(_mm256_set1_ps(target.m_velocity.y), times, _mm256_set1_ps(target.m_origin.y));
+            const __m256 times_sq = _mm256_mul_ps(times, times);
+            const __m256 target_z = _mm256_fmadd_ps(_mm256_set1_ps(target.m_velocity.z), times,
+                                                   _mm256_fnmadd_ps(_mm256_set1_ps(0.5f * m_gravity_constant), times_sq,
+                                                                    _mm256_set1_ps(target.m_origin.z)));
+
+            const __m256 delta_x = _mm256_sub_ps(target_x, _mm256_set1_ps(proj_origin.x));
+            const __m256 delta_y = _mm256_sub_ps(target_y, _mm256_set1_ps(proj_origin.y));
+
+            const __m256 d_sqr = _mm256_add_ps(_mm256_mul_ps(delta_x, delta_x), _mm256_mul_ps(delta_y, delta_y));
+            const __m256 delta_z = _mm256_sub_ps(target_z, _mm256_set1_ps(proj_origin.z));
+
+            const __m256 bg_times_sq = _mm256_mul_ps(_mm256_set1_ps(bullet_gravity), times_sq);
+            const __m256 term = _mm256_add_ps(delta_z, _mm256_mul_ps(_mm256_set1_ps(0.5f), bg_times_sq));
+            const __m256 term_sq = _mm256_mul_ps(term, term);
+            const __m256 numerator = _mm256_add_ps(d_sqr, term_sq);
+            const __m256 denominator = _mm256_add_ps(times_sq, _mm256_set1_ps(1e-8f));
+            const __m256 required_v0_sqr = _mm256_div_ps(numerator, denominator);
+
+            const __m256 v0_sqr_vec = _mm256_set1_ps(v0 * v0 + 1e-3f);
+            const __m256 mask = _mm256_cmp_ps(required_v0_sqr, v0_sqr_vec, _CMP_LE_OQ);
+
+            const unsigned valid_mask = _mm256_movemask_ps(mask);
+            if (!valid_mask)
+                continue;
+
+            alignas(32) float valid_times[SIMD_FACTOR];
+            _mm256_store_ps(valid_times, times);
+
+            for (int i = 0; i < SIMD_FACTOR; ++i)
+            {
+                if (!(valid_mask & (1 << i)))
+                    continue;
+
+                const float candidate_time = valid_times[i];
+                if (candidate_time > m_maximum_simulation_time)
+                    continue;
+
+                for (float fine_time = candidate_time - m_simulation_time_step * 2;
+                     fine_time <= candidate_time + m_simulation_time_step * 2; fine_time += m_simulation_time_step)
+                {
+                    if (fine_time < 0)
+                        continue;
+
+                    Vector3 target_pos = target.m_origin + target.m_velocity * fine_time;
+                    if (target.m_is_airborne)
+                        target_pos.z -= 0.5f * m_gravity_constant * fine_time * fine_time;
+
+                    const auto pitch = calculate_pitch(proj_origin, target_pos, bullet_gravity, v0, fine_time);
+                    if (!pitch)
+                        continue;
+
+                    const Vector3 delta = target_pos - projectile.m_origin;
+                    const float yaw = angles::radians_to_degrees(std::atan2(delta.y, delta.x));
+                    return AimAngles{*pitch, yaw};
+                }
+            }
+        }
+
+        for (; current_time <= m_maximum_simulation_time; current_time += m_simulation_time_step)
+        {
+            Vector3 target_pos = target.m_origin + target.m_velocity * current_time;
+            if (target.m_is_airborne)
+                target_pos.z -= 0.5f * m_gravity_constant * current_time * current_time;
+
+            const auto pitch = calculate_pitch(proj_origin, target_pos, bullet_gravity, v0, current_time);
+            if (!pitch)
+                continue;
+
+            const Vector3 delta = target_pos - projectile.m_origin;
+            const float yaw = angles::radians_to_degrees(std::atan2(delta.y, delta.x));
+            return AimAngles{*pitch, yaw};
+        }
+
+        return std::nullopt;
+#else
+        throw std::runtime_error(
+                std::format("{} AVX2 feature is not enabled!", std::source_location::current().function_name()));
+#endif
+    }
+
     ProjPredEngineAvx2::ProjPredEngineAvx2(const float gravity_constant, const float simulation_time_step,
                                            const float maximum_simulation_time)
         : m_gravity_constant(gravity_constant), m_simulation_time_step(simulation_time_step),

source/utility/elf_pattern_scan.cpp

@@ -5,6 +5,7 @@
 #include <array>
 #include <fstream>
 #include <omath/utility/elf_pattern_scan.hpp>
+#include <span>
 #include <utility>
 #include <variant>
 #include <vector>
@@ -140,6 +141,87 @@ namespace
         std::uintptr_t raw_base_addr{};
         std::vector<std::byte> data;
     };
+    template<FileArch arch>
+    std::optional<ExtractedSection> get_elf_section_from_memory_impl(const std::span<const std::byte> data,
+                                                                     const std::string_view& section_name)
+    {
+        using FH = typename ElfHeaders<arch>::FileHeader;
+        using SH = typename ElfHeaders<arch>::SectionHeader;
+
+        if (data.size() < sizeof(FH))
+            return std::nullopt;
+
+        const auto* file_header = reinterpret_cast<const FH*>(data.data());
+
+        const auto shoff = static_cast<std::size_t>(file_header->e_shoff);
+        const auto shnum = static_cast<std::size_t>(file_header->e_shnum);
+        const auto shstrndx = static_cast<std::size_t>(file_header->e_shstrndx);
+
+        const auto shstrtab_hdr_off = shoff + shstrndx * sizeof(SH);
+        if (shstrtab_hdr_off + sizeof(SH) > data.size())
+            return std::nullopt;
+
+        const auto* shstrtab_hdr = reinterpret_cast<const SH*>(data.data() + shstrtab_hdr_off);
+        const auto shstrtab_off = static_cast<std::size_t>(shstrtab_hdr->sh_offset);
+        const auto shstrtab_size = static_cast<std::size_t>(shstrtab_hdr->sh_size);
+
+        if (shstrtab_off + shstrtab_size > data.size())
+            return std::nullopt;
+
+        const auto* shstrtab = reinterpret_cast<const char*>(data.data() + shstrtab_off);
+
+        for (std::size_t i = 0; i < shnum; ++i)
+        {
+            const auto sect_hdr_off = shoff + i * sizeof(SH);
+            if (sect_hdr_off + sizeof(SH) > data.size())
+                continue;
+
+            const auto* section = reinterpret_cast<const SH*>(data.data() + sect_hdr_off);
+
+            if (std::cmp_greater_equal(section->sh_name, shstrtab_size))
+                continue;
+
+            if (std::string_view{shstrtab + section->sh_name} != section_name)
+                continue;
+
+            const auto raw_off = static_cast<std::size_t>(section->sh_offset);
+            const auto sec_size = static_cast<std::size_t>(section->sh_size);
+
+            if (raw_off + sec_size > data.size())
+                return std::nullopt;
+
+            ExtractedSection out;
+            out.virtual_base_addr = static_cast<std::uintptr_t>(section->sh_addr);
+            out.raw_base_addr = raw_off;
+            out.data.assign(data.data() + raw_off, data.data() + raw_off + sec_size);
+            return out;
+        }
+        return std::nullopt;
+    }
+
+    std::optional<ExtractedSection> get_elf_section_by_name_from_memory(const std::span<const std::byte> data,
+                                                                        const std::string_view& section_name)
+    {
+        constexpr std::string_view valid_elf_signature = "\x7F"
+                                                         "ELF";
+        if (data.size() < ei_nident)
+            return std::nullopt;
+
+        if (std::string_view{reinterpret_cast<const char*>(data.data()), valid_elf_signature.size()}
+            != valid_elf_signature)
+            return std::nullopt;
+
+        const auto class_byte = static_cast<uint8_t>(data[ei_class]);
+
+        if (class_byte == elfclass64)
+            return get_elf_section_from_memory_impl<FileArch::x64>(data, section_name);
+
+        if (class_byte == elfclass32)
+            return get_elf_section_from_memory_impl<FileArch::x32>(data, section_name);
+
+        return std::nullopt;
+    }
+
     [[maybe_unused]]
     std::optional<ExtractedSection> get_elf_section_by_name(const std::filesystem::path& path,
                                                             const std::string_view& section_name)
@@ -322,4 +404,27 @@ namespace omath
                                  .raw_base_addr = pe_section->raw_base_addr,
                                  .target_offset = offset};
     }
+
+    std::optional<SectionScanResult>
+    ElfPatternScanner::scan_for_pattern_in_memory_file(const std::span<const std::byte> file_data,
+                                                       const std::string_view& pattern,
+                                                       const std::string_view& target_section_name)
+    {
+        const auto section = get_elf_section_by_name_from_memory(file_data, target_section_name);
+
+        if (!section.has_value()) [[unlikely]]
+            return std::nullopt;
+
+        const auto scan_result =
+                PatternScanner::scan_for_pattern(section->data.cbegin(), section->data.cend(), pattern);
+
+        if (scan_result == section->data.cend())
+            return std::nullopt;
+
+        const auto offset = std::distance(section->data.begin(), scan_result);
+
+        return SectionScanResult{.virtual_base_addr = section->virtual_base_addr,
+                                 .raw_base_addr = section->raw_base_addr,
+                                 .target_offset = offset};
+    }
 } // namespace omath

source/utility/macho_pattern_scan.cpp

@@ -5,6 +5,7 @@
 #include "omath/utility/pattern_scan.hpp"
 #include <cstring>
 #include <fstream>
+#include <span>
 #include <variant>
 #include <vector>
 
@@ -231,6 +232,96 @@ namespace
         return std::nullopt;
     }
 
+    template<typename HeaderType, typename SegmentType, typename SectionType, std::uint32_t segment_cmd>
+    std::optional<ExtractedSection> extract_section_from_memory_impl(const std::span<const std::byte> data,
+                                                                     const std::string_view& section_name)
+    {
+        if (data.size() < sizeof(HeaderType))
+            return std::nullopt;
+
+        const auto* header = reinterpret_cast<const HeaderType*>(data.data());
+
+        std::size_t cmd_offset = sizeof(HeaderType);
+
+        for (std::uint32_t i = 0; i < header->ncmds; ++i)
+        {
+            if (cmd_offset + sizeof(LoadCommand) > data.size())
+                return std::nullopt;
+
+            const auto* lc = reinterpret_cast<const LoadCommand*>(data.data() + cmd_offset);
+
+            if (lc->cmd != segment_cmd)
+            {
+                cmd_offset += lc->cmdsize;
+                continue;
+            }
+
+            if (cmd_offset + sizeof(SegmentType) > data.size())
+                return std::nullopt;
+
+            const auto* segment = reinterpret_cast<const SegmentType*>(data.data() + cmd_offset);
+
+            if (!segment->nsects)
+            {
+                cmd_offset += lc->cmdsize;
+                continue;
+            }
+
+            std::size_t sect_offset = cmd_offset + sizeof(SegmentType);
+
+            for (std::uint32_t j = 0; j < segment->nsects; ++j)
+            {
+                if (sect_offset + sizeof(SectionType) > data.size())
+                    return std::nullopt;
+
+                const auto* section = reinterpret_cast<const SectionType*>(data.data() + sect_offset);
+
+                if (get_section_name(section->sectname) != section_name)
+                {
+                    sect_offset += sizeof(SectionType);
+                    continue;
+                }
+
+                const auto raw_off = static_cast<std::size_t>(section->offset);
+                const auto sec_size = static_cast<std::size_t>(section->size);
+
+                if (raw_off + sec_size > data.size())
+                    return std::nullopt;
+
+                ExtractedSection out;
+                out.virtual_base_addr = static_cast<std::uintptr_t>(section->addr);
+                out.raw_base_addr = raw_off;
+                out.data.assign(data.data() + raw_off, data.data() + raw_off + sec_size);
+                return out;
+            }
+
+            cmd_offset += lc->cmdsize;
+        }
+
+        return std::nullopt;
+    }
+
+    [[nodiscard]]
+    std::optional<ExtractedSection> get_macho_section_by_name_from_memory(const std::span<const std::byte> data,
+                                                                          const std::string_view& section_name)
+    {
+        if (data.size() < sizeof(std::uint32_t))
+            return std::nullopt;
+
+        std::uint32_t magic{};
+        std::memcpy(&magic, data.data(), sizeof(magic));
+
+        if (magic == mh_magic_64 || magic == mh_cigam_64)
+            return extract_section_from_memory_impl<MachHeader64, SegmentCommand64, Section64, lc_segment_64>(
+                    data, section_name);
+
+        if (magic == mh_magic_32 || magic == mh_cigam_32)
+            return extract_section_from_memory_impl<MachHeader32, SegmentCommand32, Section32, lc_segment>(data,
+                                                                                                           section_name);
+
+        return std::nullopt;
+    }
+
     [[nodiscard]]
     std::optional<ExtractedSection> get_macho_section_by_name(const std::filesystem::path& path,
                                                               const std::string_view& section_name)
@@ -346,4 +437,27 @@ namespace omath
                                  .raw_base_addr = macho_section->raw_base_addr,
                                  .target_offset = offset};
     }
+
+    std::optional<SectionScanResult>
+    MachOPatternScanner::scan_for_pattern_in_memory_file(const std::span<const std::byte> file_data,
+                                                         const std::string_view& pattern,
+                                                         const std::string_view& target_section_name)
+    {
+        const auto section = get_macho_section_by_name_from_memory(file_data, target_section_name);
+
+        if (!section.has_value()) [[unlikely]]
+            return std::nullopt;
+
+        const auto scan_result =
+                PatternScanner::scan_for_pattern(section->data.cbegin(), section->data.cend(), pattern);
+
+        if (scan_result == section->data.cend())
+            return std::nullopt;
+
+        const auto offset = std::distance(section->data.begin(), scan_result);
+
+        return SectionScanResult{.virtual_base_addr = section->virtual_base_addr,
+                                 .raw_base_addr = section->raw_base_addr,
+                                 .target_offset = offset};
+    }
 } // namespace omath

source/utility/pe_pattern_scan.cpp

@@ -7,6 +7,7 @@
 #include <span>
 #include <stdexcept>
 #include <variant>
+#include <vector>
 
 // Internal PE shit defines
 // Big thx for linuxpe sources as ref
@@ -244,6 +245,78 @@ namespace
         std::vector<std::byte> data;
     };
 
+    [[nodiscard]]
+    std::optional<ExtractedSection> extract_section_from_pe_memory(const std::span<const std::byte> data,
+                                                                   const std::string_view& section_name)
+    {
+        if (data.size() < sizeof(DosHeader))
+            return std::nullopt;
+
+        const auto* dos_header = reinterpret_cast<const DosHeader*>(data.data());
+
+        if (invalid_dos_header_file(*dos_header))
+            return std::nullopt;
+
+        const auto nt_off = static_cast<std::size_t>(dos_header->e_lfanew);
+
+        if (nt_off + sizeof(ImageNtHeaders<NtArchitecture::x32_bit>) > data.size())
+            return std::nullopt;
+
+        const auto* x86_hdrs =
+                reinterpret_cast<const ImageNtHeaders<NtArchitecture::x32_bit>*>(data.data() + nt_off);
+
+        NtHeaderVariant nt_headers;
+        if (x86_hdrs->optional_header.magic == opt_hdr32_magic)
+            nt_headers = *x86_hdrs;
+        else if (x86_hdrs->optional_header.magic == opt_hdr64_magic)
+        {
+            if (nt_off + sizeof(ImageNtHeaders<NtArchitecture::x64_bit>) > data.size())
+                return std::nullopt;
+            nt_headers = *reinterpret_cast<const ImageNtHeaders<NtArchitecture::x64_bit>*>(data.data() + nt_off);
+        }
+        else
+            return std::nullopt;
+
+        if (invalid_nt_header_file(nt_headers))
+            return std::nullopt;
+
+        return std::visit(
+                [&data, &section_name, nt_off](const auto& concrete_headers) -> std::optional<ExtractedSection>
+                {
+                    constexpr std::size_t sig_size = sizeof(concrete_headers.signature);
+                    const auto section_table_off = nt_off + sig_size + sizeof(FileHeader)
+                                                   + concrete_headers.file_header.size_optional_header;
+
+                    for (std::size_t i = 0; i < concrete_headers.file_header.num_sections; ++i)
+                    {
+                        const auto sh_off = section_table_off + i * sizeof(SectionHeader);
+                        if (sh_off + sizeof(SectionHeader) > data.size())
+                            return std::nullopt;
+
+                        const auto* section = reinterpret_cast<const SectionHeader*>(data.data() + sh_off);
+
+                        if (std::string_view(section->name) != section_name)
+                            continue;
+
+                        const auto raw_off = static_cast<std::size_t>(section->ptr_raw_data);
+                        const auto raw_size = static_cast<std::size_t>(section->size_raw_data);
+
+                        if (raw_off + raw_size > data.size())
+                            return std::nullopt;
+
+                        std::vector<std::byte> section_data(data.data() + raw_off, data.data() + raw_off + raw_size);
+
+                        return ExtractedSection{
+                                .virtual_base_addr = static_cast<std::uintptr_t>(
+                                        section->virtual_address + concrete_headers.optional_header.image_base),
+                                .raw_base_addr = raw_off,
+                                .data = std::move(section_data)};
+                    }
+                    return std::nullopt;
+                },
+                nt_headers);
+    }
+
     [[nodiscard]]
     std::optional<ExtractedSection> extract_section_from_pe_file(const std::filesystem::path& path_to_file,
                                                                  const std::string_view& section_name)
@@ -383,4 +456,27 @@ namespace omath
                                  .raw_base_addr = pe_section->raw_base_addr,
                                  .target_offset = offset};
     }
+
+    std::optional<SectionScanResult>
+    PePatternScanner::scan_for_pattern_in_memory_file(const std::span<const std::byte> file_data,
+                                                      const std::string_view& pattern,
+                                                      const std::string_view& target_section_name)
+    {
+        const auto pe_section = extract_section_from_pe_memory(file_data, target_section_name);
+
+        if (!pe_section.has_value()) [[unlikely]]
+            return std::nullopt;
+
+        const auto scan_result =
+                PatternScanner::scan_for_pattern(pe_section->data.cbegin(), pe_section->data.cend(), pattern);
+
+        if (scan_result == pe_section->data.cend())
+            return std::nullopt;
+
+        const auto offset = std::distance(pe_section->data.begin(), scan_result);
+
+        return SectionScanResult{.virtual_base_addr = pe_section->virtual_base_addr,
+                                 .raw_base_addr = pe_section->raw_base_addr,
+                                 .target_offset = offset};
+    }
 } // namespace omath

tests/CMakeLists.txt

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

tests/engines/unit_test_cry_engine.cpp

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

tests/engines/unit_test_frostbite_engine.cpp

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

tests/engines/unit_test_iw_engine.cpp

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

tests/engines/unit_test_open_gl.cpp

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

tests/engines/unit_test_source_engine.cpp

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

tests/engines/unit_test_traits_engines.cpp

@@ -20,6 +20,8 @@
 #include <omath/engines/unreal_engine/traits/mesh_trait.hpp>
 #include <omath/engines/unreal_engine/traits/camera_trait.hpp>
 
+#include <omath/engines/source_engine/traits/pred_engine_trait.hpp>
+
 #include <omath/projectile_prediction/projectile.hpp>
 #include <omath/projectile_prediction/target.hpp>
 #include <optional>
@@ -35,6 +37,132 @@ static void expect_matrix_near(const MatT& a, const MatT& b, float eps = 1e-5f)
             EXPECT_NEAR(a.at(r, c), b.at(r, c), eps);
 }
 
+// ── Launch offset tests for all engines ──────────────────────────────────────
+#include <omath/engines/cry_engine/traits/pred_engine_trait.hpp>
+
+// Helper: verify that zero offset matches default-initialized offset behavior
+template<typename Trait>
+static void verify_launch_offset_at_time_zero(const Vector3<float>& origin, const Vector3<float>& offset)
+{
+    projectile_prediction::Projectile p;
+    p.m_origin = origin;
+    p.m_launch_offset = offset;
+    p.m_launch_speed = 100.f;
+    p.m_gravity_scale = 1.f;
+
+    const auto pos = Trait::predict_projectile_position(p, 0.f, 0.f, 0.f, 9.81f);
+    const auto expected = origin + offset;
+    EXPECT_NEAR(pos.x, expected.x, 1e-4f);
+    EXPECT_NEAR(pos.y, expected.y, 1e-4f);
+    EXPECT_NEAR(pos.z, expected.z, 1e-4f);
+}
+
+template<typename Trait>
+static void verify_zero_offset_matches_default()
+{
+    projectile_prediction::Projectile p;
+    p.m_origin = {10.f, 20.f, 30.f};
+    p.m_launch_offset = {0.f, 0.f, 0.f};
+    p.m_launch_speed = 50.f;
+    p.m_gravity_scale = 1.f;
+
+    projectile_prediction::Projectile p2;
+    p2.m_origin = {10.f, 20.f, 30.f};
+    p2.m_launch_speed = 50.f;
+    p2.m_gravity_scale = 1.f;
+
+    const auto pos1 = Trait::predict_projectile_position(p, 15.f, 30.f, 1.f, 9.81f);
+    const auto pos2 = Trait::predict_projectile_position(p2, 15.f, 30.f, 1.f, 9.81f);
+#if defined(__x86_64__) || defined(_M_X64) || defined(__aarch64__) || defined(_M_ARM64)
+    constexpr float tol = 1e-6f;
+#else
+    constexpr float tol = 1e-4f;
+#endif
+    EXPECT_NEAR(pos1.x, pos2.x, tol);
+    EXPECT_NEAR(pos1.y, pos2.y, tol);
+    EXPECT_NEAR(pos1.z, pos2.z, tol);
+}
+
+TEST(LaunchOffsetTests, Source_OffsetAtTimeZero)
+{
+    verify_launch_offset_at_time_zero<source_engine::PredEngineTrait>({0, 0, 0}, {5, 3, -2});
+}
+TEST(LaunchOffsetTests, Source_ZeroOffsetMatchesDefault)
+{
+    verify_zero_offset_matches_default<source_engine::PredEngineTrait>();
+}
+TEST(LaunchOffsetTests, Frostbite_OffsetAtTimeZero)
+{
+    verify_launch_offset_at_time_zero<frostbite_engine::PredEngineTrait>({0, 0, 0}, {5, 3, -2});
+}
+TEST(LaunchOffsetTests, Frostbite_ZeroOffsetMatchesDefault)
+{
+    verify_zero_offset_matches_default<frostbite_engine::PredEngineTrait>();
+}
+TEST(LaunchOffsetTests, IW_OffsetAtTimeZero)
+{
+    verify_launch_offset_at_time_zero<iw_engine::PredEngineTrait>({0, 0, 0}, {5, 3, -2});
+}
+TEST(LaunchOffsetTests, IW_ZeroOffsetMatchesDefault)
+{
+    verify_zero_offset_matches_default<iw_engine::PredEngineTrait>();
+}
+TEST(LaunchOffsetTests, OpenGL_OffsetAtTimeZero)
+{
+    verify_launch_offset_at_time_zero<opengl_engine::PredEngineTrait>({0, 0, 0}, {5, 3, -2});
+}
+TEST(LaunchOffsetTests, OpenGL_ZeroOffsetMatchesDefault)
+{
+    verify_zero_offset_matches_default<opengl_engine::PredEngineTrait>();
+}
+TEST(LaunchOffsetTests, Unity_OffsetAtTimeZero)
+{
+    verify_launch_offset_at_time_zero<unity_engine::PredEngineTrait>({0, 0, 0}, {5, 3, -2});
+}
+TEST(LaunchOffsetTests, Unity_ZeroOffsetMatchesDefault)
+{
+    verify_zero_offset_matches_default<unity_engine::PredEngineTrait>();
+}
+TEST(LaunchOffsetTests, Unreal_OffsetAtTimeZero)
+{
+    verify_launch_offset_at_time_zero<unreal_engine::PredEngineTrait>({0, 0, 0}, {5, 3, -2});
+}
+TEST(LaunchOffsetTests, Unreal_ZeroOffsetMatchesDefault)
+{
+    verify_zero_offset_matches_default<unreal_engine::PredEngineTrait>();
+}
+TEST(LaunchOffsetTests, CryEngine_OffsetAtTimeZero)
+{
+    verify_launch_offset_at_time_zero<cry_engine::PredEngineTrait>({0, 0, 0}, {5, 3, -2});
+}
+TEST(LaunchOffsetTests, CryEngine_ZeroOffsetMatchesDefault)
+{
+    verify_zero_offset_matches_default<cry_engine::PredEngineTrait>();
+}
+
+// Test that offset shifts the projectile position at t>0 as well
+TEST(LaunchOffsetTests, OffsetShiftsTrajectory)
+{
+    projectile_prediction::Projectile p_no_offset;
+    p_no_offset.m_origin = {0.f, 0.f, 0.f};
+    p_no_offset.m_launch_speed = 100.f;
+    p_no_offset.m_gravity_scale = 1.f;
+
+    projectile_prediction::Projectile p_with_offset;
+    p_with_offset.m_origin = {0.f, 0.f, 0.f};
+    p_with_offset.m_launch_offset = {10.f, 5.f, -3.f};
+    p_with_offset.m_launch_speed = 100.f;
+    p_with_offset.m_gravity_scale = 1.f;
+
+    const auto pos1 = source_engine::PredEngineTrait::predict_projectile_position(p_no_offset, 20.f, 45.f, 2.f, 9.81f);
+    const auto pos2 = source_engine::PredEngineTrait::predict_projectile_position(p_with_offset, 20.f, 45.f, 2.f, 9.81f);
+
+    // The difference should be exactly the launch offset
+    EXPECT_NEAR(pos2.x - pos1.x, 10.f, 1e-4f);
+    EXPECT_NEAR(pos2.y - pos1.y, 5.f, 1e-4f);
+    EXPECT_NEAR(pos2.z - pos1.z, -3.f, 1e-4f);
+}
+
 // Generic tests for PredEngineTrait behaviour across engines
 TEST(TraitTests, Frostbite_Pred_And_Mesh_And_Camera)
 {

tests/engines/unit_test_unity_engine.cpp

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

tests/engines/unit_test_unreal_engine.cpp

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

tests/general/mem_fd_helper.hpp

@@ -0,0 +1,192 @@
+#pragma once
+// Cross-platform helper for creating binary test "files" without writing to disk where possible.
+//
+// Strategy:
+//   - Linux (non-Android, or Android API >= 30): memfd_create → /proc/self/fd/<N>  (no disk I/O)
+//   - All other platforms: anonymous temp file via std::tmpfile(), accessed via /proc/self/fd/<N>
+//     on Linux, or a named temp file (cleaned up on destruction) elsewhere.
+//
+// Usage:
+//   auto f = MemFdFile::create(myVector);
+//   ASSERT_TRUE(f.valid());
+//   scanner.scan_for_pattern_in_file(f.path(), ...);
+
+#include <cstdint>
+#include <cstring>
+#include <filesystem>
+#include <fstream>
+#include <random>
+#include <string>
+#include <vector>
+
+#if defined(__linux__)
+#  include <unistd.h>
+#  include <fcntl.h>
+#  if defined(__ANDROID__)
+#    if __ANDROID_API__ >= 30
+#      include <sys/mman.h>
+#      define OMATH_TEST_USE_MEMFD 1
+#    endif
+// Android < 30: fall through to tmpfile() path below
+#  else
+// Desktop Linux: memfd_create available since glibc 2.27 / kernel 3.17
+#    include <sys/mman.h>
+#    define OMATH_TEST_USE_MEMFD 1
+#  endif
+#endif
+
+class MemFdFile
+{
+public:
+    MemFdFile() = default;
+
+    ~MemFdFile()
+    {
+#if defined(OMATH_TEST_USE_MEMFD)
+        if (m_fd >= 0)
+            ::close(m_fd);
+#else
+        if (!m_temp_path.empty())
+            std::filesystem::remove(m_temp_path);
+#endif
+    }
+
+    MemFdFile(const MemFdFile&) = delete;
+    MemFdFile& operator=(const MemFdFile&) = delete;
+
+    MemFdFile(MemFdFile&& o) noexcept
+        : m_path(std::move(o.m_path))
+#if defined(OMATH_TEST_USE_MEMFD)
+        , m_fd(o.m_fd)
+#else
+        , m_temp_path(std::move(o.m_temp_path))
+#endif
+    {
+#if defined(OMATH_TEST_USE_MEMFD)
+        o.m_fd = -1;
+#else
+        o.m_temp_path.clear();
+#endif
+    }
+
+    [[nodiscard]] bool valid() const { return !m_path.empty(); }
+
+    [[nodiscard]] const std::filesystem::path& path() const { return m_path; }
+
+    static MemFdFile create(const std::vector<std::uint8_t>& data)
+    {
+        return create(data.data(), data.size());
+    }
+
+    static MemFdFile create(const std::uint8_t* data, std::size_t size)
+    {
+        MemFdFile f;
+
+#if defined(OMATH_TEST_USE_MEMFD)
+        f.m_fd = static_cast<int>(::memfd_create("test_bin", 0));
+        if (f.m_fd < 0)
+            return f;
+
+        if (!write_all(f.m_fd, data, size))
+        {
+            ::close(f.m_fd);
+            f.m_fd = -1;
+            return f;
+        }
+        f.m_path = "/proc/self/fd/" + std::to_string(f.m_fd);
+
+#else
+        // Portable fallback: write to a uniquely-named temp file and delete on destruction
+        const auto tmp_dir = std::filesystem::temp_directory_path();
+        std::mt19937_64 rng(std::random_device{}());
+        const auto unique_name = "omath_test_" + std::to_string(rng()) + ".bin";
+        f.m_temp_path = (tmp_dir / unique_name).string();
+        f.m_path      = f.m_temp_path;
+
+        std::ofstream out(f.m_temp_path, std::ios::binary | std::ios::trunc);
+        if (!out.is_open())
+        {
+            f.m_temp_path.clear();
+            f.m_path.clear();
+            return f;
+        }
+        out.write(reinterpret_cast<const char*>(data), static_cast<std::streamsize>(size));
+        if (!out)
+        {
+            out.close();
+            std::filesystem::remove(f.m_temp_path);
+            f.m_temp_path.clear();
+            f.m_path.clear();
+        }
+#endif
+        return f;
+    }
+
+private:
+    std::filesystem::path m_path;
+
+#if defined(OMATH_TEST_USE_MEMFD)
+    int m_fd = -1;
+
+    static bool write_all(int fd, const std::uint8_t* data, std::size_t size)
+    {
+        std::size_t written = 0;
+        while (written < size)
+        {
+            const auto n = ::write(fd, data + written, size - written);
+            if (n <= 0)
+                return false;
+            written += static_cast<std::size_t>(n);
+        }
+        return true;
+    }
+#else
+    std::string m_temp_path;
+#endif
+};
+
+// ---------------------------------------------------------------------------
+// Build a minimal PE binary in-memory with a single .text section.
+// Layout (all offsets compile-time):
+//   0x00: DOS header (64 B)   0x40: pad   0x80: NT sig   0x84: FileHeader (20 B)
+//   0x98: OptionalHeader (0xF0 B)   0x188: SectionHeader (44 B)   0x1B4: section data
+// ---------------------------------------------------------------------------
+inline std::vector<std::uint8_t> build_minimal_pe(const std::vector<std::uint8_t>& section_bytes)
+{
+    constexpr std::uint32_t e_lfanew  = 0x80u;
+    constexpr std::uint16_t size_opt  = 0xF0u;
+    constexpr std::size_t   nt_off    = e_lfanew;
+    constexpr std::size_t   fh_off    = nt_off + 4;
+    constexpr std::size_t   oh_off    = fh_off + 20;
+    constexpr std::size_t   sh_off    = oh_off + size_opt;
+    constexpr std::size_t   data_off  = sh_off + 44;
+
+    std::vector<std::uint8_t> buf(data_off + section_bytes.size(), 0u);
+
+    buf[0] = 'M'; buf[1] = 'Z';
+    std::memcpy(buf.data() + 0x3Cu, &e_lfanew, 4);
+
+    buf[nt_off] = 'P'; buf[nt_off + 1] = 'E';
+
+    const std::uint16_t machine = 0x8664u, num_sections = 1u;
+    std::memcpy(buf.data() + fh_off,      &machine,      2);
+    std::memcpy(buf.data() + fh_off + 2,  &num_sections, 2);
+    std::memcpy(buf.data() + fh_off + 16, &size_opt,     2);
+
+    const std::uint16_t magic = 0x20Bu;
+    std::memcpy(buf.data() + oh_off, &magic, 2);
+
+    const char name[8] = {'.','t','e','x','t',0,0,0};
+    std::memcpy(buf.data() + sh_off, name, 8);
+
+    const auto vsize   = static_cast<std::uint32_t>(section_bytes.size());
+    const std::uint32_t vaddr   = 0x1000u;
+    const auto ptr_raw = static_cast<std::uint32_t>(data_off);
+    std::memcpy(buf.data() + sh_off + 8,  &vsize,   4);
+    std::memcpy(buf.data() + sh_off + 12, &vaddr,   4);
+    std::memcpy(buf.data() + sh_off + 16, &vsize,   4);
+    std::memcpy(buf.data() + sh_off + 20, &ptr_raw, 4);
+
+    std::memcpy(buf.data() + data_off, section_bytes.data(), section_bytes.size());
+    return buf;
+}

tests/general/unit_test_a_star.cpp

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

tests/general/unit_test_color_grouped.cpp

@@ -26,38 +26,38 @@ protected:
 TEST_F(UnitTestColorGrouped, Constructor_Float)
 {
     constexpr Color color(0.5f, 0.5f, 0.5f, 1.0f);
-    EXPECT_FLOAT_EQ(color.x, 0.5f);
+    EXPECT_FLOAT_EQ(color.value().x, 0.5f);
-    EXPECT_FLOAT_EQ(color.y, 0.5f);
+    EXPECT_FLOAT_EQ(color.value().y, 0.5f);
-    EXPECT_FLOAT_EQ(color.z, 0.5f);
+    EXPECT_FLOAT_EQ(color.value().z, 0.5f);
-    EXPECT_FLOAT_EQ(color.w, 1.0f);
+    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.value().x, 0.2f);
-    EXPECT_FLOAT_EQ(color.y, 0.4f);
+    EXPECT_FLOAT_EQ(color.value().y, 0.4f);
-    EXPECT_FLOAT_EQ(color.z, 0.6f);
+    EXPECT_FLOAT_EQ(color.value().z, 0.6f);
-    EXPECT_FLOAT_EQ(color.w, 0.8f);
+    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.value().x, 128.0f / 255.0f);
-    EXPECT_FLOAT_EQ(color.y, 64.0f / 255.0f);
+    EXPECT_FLOAT_EQ(color.value().y, 64.0f / 255.0f);
-    EXPECT_FLOAT_EQ(color.z, 32.0f / 255.0f);
+    EXPECT_FLOAT_EQ(color.value().z, 32.0f / 255.0f);
-    EXPECT_FLOAT_EQ(color.w, 1.0f);
+    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.value().x, 1.0f);
-    EXPECT_FLOAT_EQ(color.y, 0.0f);
+    EXPECT_FLOAT_EQ(color.value().y, 0.0f);
-    EXPECT_FLOAT_EQ(color.z, 0.0f);
+    EXPECT_FLOAT_EQ(color.value().z, 0.0f);
-    EXPECT_FLOAT_EQ(color.w, 1.0f);
+    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.value().x, 0.5f);
-    EXPECT_FLOAT_EQ(blended.y, 0.5f);
+    EXPECT_FLOAT_EQ(blended.value().y, 0.5f);
-    EXPECT_FLOAT_EQ(blended.z, 0.0f);
+    EXPECT_FLOAT_EQ(blended.value().z, 0.0f);
-    EXPECT_FLOAT_EQ(blended.w, 1.0f);
+    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.value().x, 1.0f);
-    EXPECT_FLOAT_EQ(red.y, 0.0f);
+    EXPECT_FLOAT_EQ(red.value().y, 0.0f);
-    EXPECT_FLOAT_EQ(red.z, 0.0f);
+    EXPECT_FLOAT_EQ(red.value().z, 0.0f);
-    EXPECT_FLOAT_EQ(red.w, 1.0f);
+    EXPECT_FLOAT_EQ(red.value().w, 1.0f);
 
-    EXPECT_FLOAT_EQ(green.x, 0.0f);
+    EXPECT_FLOAT_EQ(green.value().x, 0.0f);
-    EXPECT_FLOAT_EQ(green.y, 1.0f);
+    EXPECT_FLOAT_EQ(green.value().y, 1.0f);
-    EXPECT_FLOAT_EQ(green.z, 0.0f);
+    EXPECT_FLOAT_EQ(green.value().z, 0.0f);
-    EXPECT_FLOAT_EQ(green.w, 1.0f);
+    EXPECT_FLOAT_EQ(green.value().w, 1.0f);
 
-    EXPECT_FLOAT_EQ(blue.x, 0.0f);
+    EXPECT_FLOAT_EQ(blue.value().x, 0.0f);
-    EXPECT_FLOAT_EQ(blue.y, 0.0f);
+    EXPECT_FLOAT_EQ(blue.value().y, 0.0f);
-    EXPECT_FLOAT_EQ(blue.z, 1.0f);
+    EXPECT_FLOAT_EQ(blue.value().z, 1.0f);
-    EXPECT_FLOAT_EQ(blue.w, 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.value().x, 0.5f);
-    EXPECT_FLOAT_EQ(blended.y, 0.5f);
+    EXPECT_FLOAT_EQ(blended.value().y, 0.5f);
-    EXPECT_FLOAT_EQ(blended.z, 0.0f);
+    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.value().x, 0.0f);
-    EXPECT_FLOAT_EQ(c.y, 0.0f);
+    EXPECT_FLOAT_EQ(c.value().y, 0.0f);
-    EXPECT_FLOAT_EQ(c.z, 0.0f);
+    EXPECT_FLOAT_EQ(c.value().z, 0.0f);
-    EXPECT_FLOAT_EQ(c.w, 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.value().x, 1.0f);
-    EXPECT_FLOAT_EQ(c.y, 0.0f);
+    EXPECT_FLOAT_EQ(c.value().y, 0.0f);
-    EXPECT_FLOAT_EQ(c.z, 0.5f);
+    EXPECT_FLOAT_EQ(c.value().z, 0.5f);
-    EXPECT_FLOAT_EQ(c.w, 2.0f);
+    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.value().x, 25.0f/255.0f, 1e-6f);
-    EXPECT_NEAR(c.y, 128.0f/255.0f, 1e-6f);
+    EXPECT_NEAR(c.value().y, 128.0f/255.0f, 1e-6f);
-    EXPECT_NEAR(c.z, 230.0f/255.0f, 1e-6f);
+    EXPECT_NEAR(c.value().z, 230.0f/255.0f, 1e-6f);
-    EXPECT_NEAR(c.w, 64.0f/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.value().x, 0.5f);
-    EXPECT_FLOAT_EQ(mid.y, 0.5f);
+    EXPECT_FLOAT_EQ(mid.value().y, 0.5f);
-    EXPECT_FLOAT_EQ(mid.z, 0.5f);
+    EXPECT_FLOAT_EQ(mid.value().z, 0.5f);
-    EXPECT_FLOAT_EQ(mid.w, 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.value().x, 1.0f, 1e-6f);
-    EXPECT_NEAR(back.y, 0.0f, 1e-6f);
+    EXPECT_NEAR(back.value().y, 0.0f, 1e-6f);
-    EXPECT_NEAR(back.z, 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.value().x));
-        EXPECT_TRUE(std::isfinite(c.y));
+        EXPECT_TRUE(std::isfinite(c.value().y));
-        EXPECT_TRUE(std::isfinite(c.z));
+        EXPECT_TRUE(std::isfinite(c.value().z));
-        EXPECT_GE(c.x, -eps);
+        EXPECT_GE(c.value().x, -eps);
-        EXPECT_LE(c.x, 1.f + eps);
+        EXPECT_LE(c.value().x, 1.f + eps);
-        EXPECT_GE(c.y, -eps);
+        EXPECT_GE(c.value().y, -eps);
-        EXPECT_LE(c.y, 1.f + eps);
+        EXPECT_LE(c.value().y, 1.f + eps);
-        EXPECT_GE(c.z, -eps);
+        EXPECT_GE(c.value().z, -eps);
-        EXPECT_LE(c.z, 1.f + eps);
+        EXPECT_LE(c.value().z, 1.f + eps);
 
-        float mx = std::max({c.x, c.y, c.z});
+        float mx = std::max({c.value().x, c.value().y, c.value().z});
-        float mn = std::min({c.x, c.y, c.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.value().x, 0.f);
-    EXPECT_GT(mid.z, 0.f);
+    EXPECT_GT(mid.value().z, 0.f);
 
     constexpr auto all_a = a.blend(b, -1.f);
-    EXPECT_NEAR(all_a.x, a.x, 1e-6f);
+    EXPECT_NEAR(all_a.value().x, a.value().x, 1e-6f);
 
     constexpr auto all_b = a.blend(b, 2.f);
-    EXPECT_NEAR(all_b.z, b.z, 1e-6f);
+    EXPECT_NEAR(all_b.value().z, b.value().z, 1e-6f);
 }
 
 TEST(UnitTestColorGrouped_More2, FormatterUsesToString)
@@ -291,3 +291,35 @@ TEST(UnitTestColorGrouped_More2, FormatterUsesToString)
     const auto formatted = std::format("{}", c);
     EXPECT_NE(formatted.find("r:10"), std::string::npos);
 }
+
+TEST(UnitTestColorGrouped_More2, FormatterRgb)
+{
+    constexpr Color c = Color::from_rgba(255, 128, 0, 64);
+    const auto s = std::format("{:rgb}", c);
+    EXPECT_NE(s.find("r:255"), std::string::npos);
+    EXPECT_NE(s.find("g:128"), std::string::npos);
+    EXPECT_NE(s.find("b:0"), std::string::npos);
+    EXPECT_NE(s.find("a:64"), std::string::npos);
+}
+
+TEST(UnitTestColorGrouped_More2, FormatterRgbf)
+{
+    constexpr Color c(0.5f, 0.25f, 1.0f, 0.75f);
+    const auto s = std::format("{:rgbf}", c);
+    EXPECT_NE(s.find("r:"), std::string::npos);
+    EXPECT_NE(s.find("g:"), std::string::npos);
+    EXPECT_NE(s.find("b:"), std::string::npos);
+    EXPECT_NE(s.find("a:"), std::string::npos);
+    // Values should be in [0,1] float range, not 0-255
+    EXPECT_EQ(s.find("r:127"), std::string::npos);
+    EXPECT_EQ(s.find("r:255"), std::string::npos);
+}
+
+TEST(UnitTestColorGrouped_More2, FormatterHsv)
+{
+    const Color c = Color::red();
+    const auto s = std::format("{:hsv}", c);
+    EXPECT_NE(s.find("h:"), std::string::npos);
+    EXPECT_NE(s.find("s:"), std::string::npos);
+    EXPECT_NE(s.find("v:"), std::string::npos);
+}

tests/general/unit_test_elf_scanner.cpp

@@ -1,17 +1,214 @@
 //
 // Created by Vladislav on 30.12.2025.
 //
-// /Users/vladislav/Downloads/valencia
+#include <algorithm>
+#include <cstring>
+#include <filesystem>
+#include <fstream>
 #include <gtest/gtest.h>
 #include <omath/utility/elf_pattern_scan.hpp>
-#include <print>
+#include <span>
-TEST(unit_test_elf_pattern_scan_file, ScanMissingPattern)
+#include <vector>
+
+using namespace omath;
+
+// ---- helpers ---------------------------------------------------------------
+
+// Minimal ELF64 file with a single .text section containing known bytes.
+// Layout:
+//   0x000 : ELF64 file header  (64 bytes)
+//   0x040 : section data       (padded to 0x20 bytes)
+//   0x060 : section name table ".text\0" + "\0" (empty name for SHN_UNDEF)
+//   0x080 : section header table  (3 entries × 64 bytes = 0xC0)
+static std::vector<std::byte> make_elf64_with_text_section(const std::vector<std::uint8_t>& code_bytes)
 {
-    //FIXME: Implement normal tests :)
+    // Fixed layout constants
-    //constexpr std::string_view path = "/Users/vladislav/Downloads/crackme";
+    constexpr std::size_t text_off = 0x40;
+    constexpr std::size_t text_size = 0x20; // always 32 bytes (code padded with zeros)
+    constexpr std::size_t shstrtab_off = text_off + text_size;
+    // ".text\0" = 6 chars, prepend \0 for SHN_UNDEF → "\0.text\0"
+    constexpr std::size_t shstrtab_size = 8; // "\0.text\0\0"
+    constexpr std::size_t shdr_table_off = shstrtab_off + shstrtab_size;
+    constexpr std::size_t shdr_size = 64; // sizeof(Elf64_Shdr)
+    constexpr std::size_t num_sections = 3; // null + .text + .shstrtab
+    constexpr std::size_t total_size = shdr_table_off + num_sections * shdr_size;
 
-    //const auto res = omath::ElfPatternScanner::scan_for_pattern_in_file(path, "F3 0F 1E FA 55 48 89 E5 B8 00 00 00 00", ".text");
+    std::vector<std::byte> buf(total_size, std::byte{0});
-    //EXPECT_TRUE(res.has_value());
 
-    //std::println("In virtual mem: 0x{:x}", res->virtual_base_addr+res->target_offset);
+    auto w8 = [&](std::size_t off, std::uint8_t v) { buf[off] = std::byte{v}; };
+    auto w16 = [&](std::size_t off, std::uint16_t v)
+    { std::memcpy(buf.data() + off, &v, 2); };
+    auto w32 = [&](std::size_t off, std::uint32_t v)
+    { std::memcpy(buf.data() + off, &v, 4); };
+    auto w64 = [&](std::size_t off, std::uint64_t v)
+    { std::memcpy(buf.data() + off, &v, 8); };
+
+    // --- ELF64 file header ---
+    // e_ident
+    buf[0] = std::byte{0x7F};
+    buf[1] = std::byte{'E'};
+    buf[2] = std::byte{'L'};
+    buf[3] = std::byte{'F'};
+    w8(4, 2); // ELFCLASS64
+    w8(5, 1); // ELFDATA2LSB
+    w8(6, 1); // EV_CURRENT
+    // rest of e_ident is 0
+    w16(16, 2);  // e_type = ET_EXEC
+    w16(18, 62); // e_machine = EM_X86_64
+    w32(20, 1);  // e_version
+    w64(24, 0);  // e_entry
+    w64(32, 0);  // e_phoff
+    w64(40, static_cast<std::uint64_t>(shdr_table_off)); // e_shoff
+    w32(48, 0);  // e_flags
+    w16(52, 64); // e_ehsize
+    w16(54, 56); // e_phentsize
+    w16(56, 0);  // e_phnum
+    w16(58, static_cast<std::uint16_t>(shdr_size)); // e_shentsize
+    w16(60, static_cast<std::uint16_t>(num_sections)); // e_shnum
+    w16(62, 2);  // e_shstrndx = 2 (.shstrtab is section index 2)
+
+    // --- section data (.text) ---
+    const std::size_t copy_len = std::min(code_bytes.size(), text_size);
+    for (std::size_t i = 0; i < copy_len; ++i)
+        buf[text_off + i] = std::byte{code_bytes[i]};
+
+    // --- .shstrtab data: "\0.text\0\0" ---
+    //  index 0 → "" (SHN_UNDEF name)
+    //  index 1 → ".text"
+    //  index 7 → ".shstrtab" (we cheat and use index 1 for .shstrtab too, fine for test)
+    buf[shstrtab_off + 0] = std::byte{0};
+    buf[shstrtab_off + 1] = std::byte{'.'};
+    buf[shstrtab_off + 2] = std::byte{'t'};
+    buf[shstrtab_off + 3] = std::byte{'e'};
+    buf[shstrtab_off + 4] = std::byte{'x'};
+    buf[shstrtab_off + 5] = std::byte{'t'};
+    buf[shstrtab_off + 6] = std::byte{0};
+    buf[shstrtab_off + 7] = std::byte{0};
+
+    // --- section headers ---
+    // Elf64_Shdr fields (all offsets relative to start of a section header):
+    //  0  sh_name     (4)
+    //  4  sh_type     (4)
+    //  8  sh_flags    (8)
+    //  16 sh_addr     (8)
+    //  24 sh_offset   (8)
+    //  32 sh_size     (8)
+    //  40 sh_link     (4)
+    //  44 sh_info     (4)
+    //  48 sh_addralign(8)
+    //  56 sh_entsize  (8)
+
+    // Section 0: null
+    // (all zeros – already zeroed)
+
+    // Section 1: .text
+    {
+        const std::size_t base = shdr_table_off + 1 * shdr_size;
+        w32(base + 0, 1);  // sh_name → index 1 in shstrtab → ".text"
+        w32(base + 4, 1);  // sh_type = SHT_PROGBITS
+        w64(base + 8, 6);  // sh_flags = SHF_ALLOC|SHF_EXECINSTR
+        w64(base + 16, static_cast<std::uint64_t>(text_off)); // sh_addr (same as offset in test)
+        w64(base + 24, static_cast<std::uint64_t>(text_off)); // sh_offset
+        w64(base + 32, static_cast<std::uint64_t>(text_size)); // sh_size
+        w64(base + 48, 16); // sh_addralign
+    }
+
+    // Section 2: .shstrtab
+    {
+        const std::size_t base = shdr_table_off + 2 * shdr_size;
+        w32(base + 0, 0);  // sh_name → index 0 → "" (good enough for scanner)
+        w32(base + 4, 3);  // sh_type = SHT_STRTAB
+        w64(base + 24, static_cast<std::uint64_t>(shstrtab_off)); // sh_offset
+        w64(base + 32, static_cast<std::uint64_t>(shstrtab_size)); // sh_size
+    }
+
+    return buf;
+}
+
+// ---- tests -----------------------------------------------------------------
+
+TEST(unit_test_elf_pattern_scan_memory, finds_pattern)
+{
+    const std::vector<std::uint8_t> code = {0x55, 0x48, 0x89, 0xE5, 0xC3};
+    const auto buf = make_elf64_with_text_section(code);
+    const auto span = std::span<const std::byte>{buf};
+
+    const auto result = ElfPatternScanner::scan_for_pattern_in_memory_file(span, "55 48 89 E5", ".text");
+
+    ASSERT_TRUE(result.has_value());
+    EXPECT_EQ(result->target_offset, 0);
+}
+
+TEST(unit_test_elf_pattern_scan_memory, finds_pattern_with_wildcard)
+{
+    const std::vector<std::uint8_t> code = {0xDE, 0xAD, 0xBE, 0xEF, 0x00};
+    const auto buf = make_elf64_with_text_section(code);
+
+    const auto result =
+            ElfPatternScanner::scan_for_pattern_in_memory_file(std::span<const std::byte>{buf}, "DE ?? BE EF", ".text");
+
+    ASSERT_TRUE(result.has_value());
+    EXPECT_EQ(result->target_offset, 0);
+}
+
+TEST(unit_test_elf_pattern_scan_memory, pattern_not_found_returns_nullopt)
+{
+    const std::vector<std::uint8_t> code = {0x01, 0x02, 0x03, 0x04};
+    const auto buf = make_elf64_with_text_section(code);
+
+    const auto result =
+            ElfPatternScanner::scan_for_pattern_in_memory_file(std::span<const std::byte>{buf}, "AA BB CC", ".text");
+
+    EXPECT_FALSE(result.has_value());
+}
+
+TEST(unit_test_elf_pattern_scan_memory, invalid_data_returns_nullopt)
+{
+    const std::vector<std::byte> garbage(64, std::byte{0xFF});
+    const auto result =
+            ElfPatternScanner::scan_for_pattern_in_memory_file(std::span<const std::byte>{garbage}, "FF FF", ".text");
+
+    EXPECT_FALSE(result.has_value());
+}
+
+TEST(unit_test_elf_pattern_scan_memory, empty_data_returns_nullopt)
+{
+    const auto result = ElfPatternScanner::scan_for_pattern_in_memory_file({}, "FF", ".text");
+    EXPECT_FALSE(result.has_value());
+}
+
+TEST(unit_test_elf_pattern_scan_memory, missing_section_returns_nullopt)
+{
+    const std::vector<std::uint8_t> code = {0x90, 0x90};
+    const auto buf = make_elf64_with_text_section(code);
+
+    const auto result = ElfPatternScanner::scan_for_pattern_in_memory_file(std::span<const std::byte>{buf},
+                                                                            "90 90", ".nonexistent");
+
+    EXPECT_FALSE(result.has_value());
+}
+
+TEST(unit_test_elf_pattern_scan_memory, matches_file_scan)
+{
+    // Write our synthetic ELF to a temp file and verify memory scan == file scan
+    const std::vector<std::uint8_t> code = {0x48, 0x89, 0xE5, 0xDE, 0xAD, 0xBE, 0xEF, 0x00};
+    const auto buf = make_elf64_with_text_section(code);
+
+    const auto tmp_path = std::filesystem::temp_directory_path() / "omath_elf_test.elf";
+    {
+        std::ofstream out(tmp_path, std::ios::binary);
+        out.write(reinterpret_cast<const char*>(buf.data()), static_cast<std::streamsize>(buf.size()));
+    }
+
+    const auto file_result = ElfPatternScanner::scan_for_pattern_in_file(tmp_path, "48 89 E5 DE AD", ".text");
+    const auto mem_result =
+            ElfPatternScanner::scan_for_pattern_in_memory_file(std::span<const std::byte>{buf}, "48 89 E5 DE AD", ".text");
+
+    std::filesystem::remove(tmp_path);
+
+    ASSERT_TRUE(file_result.has_value());
+    ASSERT_TRUE(mem_result.has_value());
+    EXPECT_EQ(file_result->virtual_base_addr, mem_result->virtual_base_addr);
+    EXPECT_EQ(file_result->raw_base_addr, mem_result->raw_base_addr);
+    EXPECT_EQ(file_result->target_offset, mem_result->target_offset);
 }

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);
+    }
+}