added method to get camera matrix

Feature/camera upgrade

.clang-format

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

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

@@ -370,6 +370,8 @@ jobs:
         shell: bash
         run: |
           cmake --preset ${{ matrix.preset }} \
+            -DCMAKE_C_COMPILER=$(xcrun --find clang) \
+            -DCMAKE_CXX_COMPILER=$(xcrun --find clang++) \
             -DOMATH_BUILD_TESTS=ON \
             -DOMATH_BUILD_BENCHMARK=OFF \
             -DOMATH_ENABLE_COVERAGE=${{ matrix.coverage == true && 'ON' || 'OFF' }} \
@@ -380,6 +382,7 @@ jobs:
         run: cmake --build cmake-build/build/${{ matrix.preset }} --target unit_tests omath
 
       - name: Run unit_tests
+        if: ${{ matrix.coverage != true }}
         shell: bash
         run: ./out/Release/unit_tests
 

.github/workflows/docs.yml

@@ -0,0 +1,62 @@
+name: Documentation
+
+on:
+  push:
+    branches: [ main ]
+    paths:
+      - 'docs/**'
+      - 'mkdocs.yml'
+      - '.github/workflows/docs.yml'
+  pull_request:
+    branches: [ main ]
+    paths:
+      - 'docs/**'
+      - 'mkdocs.yml'
+      - '.github/workflows/docs.yml'
+
+concurrency:
+  group: docs-${{ github.ref }}
+  cancel-in-progress: true
+
+permissions:
+  contents: read
+  pages: write
+  id-token: write
+
+jobs:
+  build:
+    name: Build Documentation
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.x'
+
+      - name: Install mkdocs and dependencies
+        run: pip install mkdocs mkdocs-bootswatch
+
+      - name: Build documentation
+        run: mkdocs build --strict
+
+      - name: Upload artifact
+        if: github.event_name == 'push' && github.ref == 'refs/heads/main'
+        uses: actions/upload-pages-artifact@v3
+        with:
+          path: site/
+
+  deploy:
+    name: Deploy to GitHub Pages
+    if: github.event_name == 'push' && github.ref == 'refs/heads/main'
+    needs: build
+    runs-on: ubuntu-latest
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.page_url }}
+    steps:
+      - name: Deploy to GitHub Pages
+        id: deployment
+        uses: actions/deploy-pages@v4

.github/workflows/release.yml

@@ -12,6 +12,35 @@ permissions:
   contents: write
 
 jobs:
+  ##############################################################################
+  # 0)  Documentation  –  MkDocs
+  ##############################################################################
+  docs-release:
+    name: Documentation
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.x'
+
+      - name: Install mkdocs and dependencies
+        run: pip install mkdocs mkdocs-bootswatch
+
+      - name: Build documentation
+        run: mkdocs build --strict
+
+      - name: Package
+        run: tar -czf omath-docs.tar.gz -C site .
+
+      - name: Upload release asset
+        env:
+          GH_TOKEN: ${{ github.token }}
+        run: gh release upload "${{ github.event.release.tag_name }}" omath-docs.tar.gz --clobber
+
   ##############################################################################
   # 1)  Linux  –  Clang / Ninja
   ##############################################################################

.idea/editor.xml

@@ -17,7 +17,7 @@
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatTooManyArgs/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCStyleCast/@EntryIndexedValue" value="SUGGESTION" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCVQualifierCanNotBeAppliedToReference/@EntryIndexedValue" value="WARNING" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassCanBeFinal/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassCanBeFinal/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassIsIncomplete/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassNeedsConstructorBecauseOfUninitializedMember/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
@@ -110,7 +110,7 @@
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLambdaCaptureNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableMayBeConst/@EntryIndexedValue" value="HINT" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableMightNotBeInitialized/@EntryIndexedValue" value="WARNING" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableWithNonTrivialDtorIsNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableWithNonTrivialDtorIsNeverUsed/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLongFloat/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberFunctionMayBeConst/@EntryIndexedValue" value="SUGGESTION" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberFunctionMayBeStatic/@EntryIndexedValue" value="SUGGESTION" type="string" />

CMakeLists.txt

@@ -77,6 +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 "${CMAKE_CURRENT_SOURCE_DIR}/source/*.cpp")
@@ -190,6 +191,12 @@ elseif(OMATH_THREAT_WARNING_AS_ERROR)
     target_compile_options(${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)

CONTRIBUTING.md

@@ -1,32 +1,36 @@
-## 🤝 Contributing to OMath or other Orange's Projects
+# Contributing
 
-### ❕ Prerequisites
+## Prerequisites
 
-- A working up-to-date OMath installation
-- C++ knowledge
-- Git knowledge
-- Ability to ask for help (Feel free to create empty pull-request or PM a maintainer
-  in [Telegram](https://t.me/orange_cpp))
+- C++ compiler with C++23 support (Clang 18+, GCC 14+, MSVC 19.38+)
+- CMake 3.25+
+- Git
+- Familiarity with the codebase (see `INSTALL.md` for setup)
 
-### ⏬ Setting up OMath
+For questions, create a draft PR or reach out via [Telegram](https://t.me/orange_cpp).
 
-Please read INSTALL.md file in repository
+## Workflow
 
-### 🔀 Pull requests and Branches
+1. [Fork](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/working-with-forks/fork-a-repo) the repository.
+2. Create a feature branch from `main`.
+3. Make your changes, ensuring tests pass.
+4. Open a [pull request](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/creating-a-pull-request-from-a-fork) against `main`.
 
-In order to send code back to the official OMath repository, you must first create a copy of OMath on your github
-account ([fork](https://help.github.com/articles/creating-a-pull-request-from-a-fork/)) and
-then [create a pull request](https://help.github.com/articles/creating-a-pull-request-from-a-fork/) back to OMath.
+## Code Style
 
-OMath development is performed on multiple branches. Changes are then pull requested into master. By default, changes
-merged into master will not roll out to stable build users unless the `stable` tag is updated.
+Follow the project `.clang-format`. Run `clang-format` before committing.
 
-### 📜 Code-Style
+## Building
 
-The orange code-style can be found in `.clang-format`.
+Use one of the CMake presets defined in `CMakePresets.json`:
 
-### 📦 Building
+```bash
+cmake --preset <preset-name> -DOMATH_BUILD_TESTS=ON
+cmake --build --preset <preset-name>
+```
 
-OMath has already created the  `cmake-build` and `out` directories where cmake/bin files are located. By default, you
-can build OMath by running `cmake --build cmake-build/build/windows-release --target omath -j 6` in the source
-directory.
+Run `cmake --list-presets` to see available configurations.
+
+## Tests
+
+All new functionality must include unit tests. Run the test binary after building to verify nothing is broken.

CREDITS.md

@@ -3,8 +3,8 @@
 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

@@ -28,6 +28,29 @@ target("...")
     add_packages("omath")
 ```
 
+## <img width="28px" src="https://conan.io/favicon.png" /> Using Conan
+**Note**: Support Conan for package management
+1. Install [Conan](https://conan.io/downloads)
+2. Run the following command to install the omath package:
+```
+conan install --requires="omath/[*]" --build=missing
+```
+conanfile.txt
+```ini
+[requires]
+omath/[*]
+
+[generators]
+CMakeDeps
+CMakeToolchain
+```
+CMakeLists.txt
+```cmake
+find_package(omath CONFIG REQUIRED)
+target_link_libraries(main PRIVATE omath::omath)
+```
+For more details, see the [Conan documentation](https://docs.conan.io/2/).
+
 ## <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.

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>
@@ -83,6 +84,8 @@ if (auto screen = camera.world_to_screen(world_position)) {
 - **Engine support**: Supports coordinate systems of **Source, Unity, Unreal, Frostbite, IWEngine, CryEngine and canonical OpenGL**.
 - **Cross platform**: Supports Windows, MacOS and Linux.
 - **Algorithms**: Has ability to scan for byte pattern with wildcards in ELF/Mach-O/PE files/modules, binary slices, works even with Wine apps. 
+- **Scripting**: Supports to make scripts in Lua out of box.
+- **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>
  

docs/install.md

@@ -1,6 +1,6 @@
-# Installation
+# 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 +28,69 @@ target("...")
     add_packages("omath")
 ```
 
+## <img width="28px" src="https://conan.io/favicon.png" /> Using Conan
+**Note**: Support Conan for package management
+1. Install [Conan](https://conan.io/downloads)
+2. Run the following command to install the omath package:
+```
+conan install --requires="omath/[*]" --build=missing
+```
+conanfile.txt
+```ini
+[requires]
+omath/[*]
+
+[generators]
+CMakeDeps
+CMakeToolchain
+```
+CMakeLists.txt
+```cmake
+find_package(omath CONFIG REQUIRED)
+target_link_libraries(main PRIVATE omath::omath)
+```
+For more details, see the [Conan documentation](https://docs.conan.io/2/).
+
+## <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**
 
@@ -62,7 +125,7 @@ target("...")
    Use **\<platform\>-\<build configuration\>** preset to build suitable version for yourself. Like **windows-release** or **linux-release**.
 
    | Platform Name | Build Config  |
-          |---------------|---------------|
+       |---------------|---------------|
    | windows       | release/debug |
    | linux         | release/debug |
    | darwin        | release/debug |

examples/CMakeLists.txt

@@ -2,6 +2,7 @@ add_subdirectory(example_barycentric)
 add_subdirectory(example_glfw3)
 add_subdirectory(example_proj_mat_builder)
 add_subdirectory(example_signature_scan)
+add_subdirectory(example_hud)
 
 if(OMATH_ENABLE_VALGRIND)
     omath_setup_valgrind(example_projection_matrix_builder)

examples/example_barycentric/example_barycentric.cpp

@@ -71,18 +71,18 @@ void drawChar(char c, float x, float y, float scale, const Color& color, std::ve
         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(color.value().x);
+        lines.push_back(color.value().y);
+        lines.push_back(color.value().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(color.value().x);
+        lines.push_back(color.value().y);
+        lines.push_back(color.value().z);
         lines.push_back(1.0f); // size
         lines.push_back(1.0f); // isLine
     };

examples/example_glfw3/example_glfw3.cpp

@@ -318,22 +318,22 @@ int main()
         glfwPollEvents();
         omath::Vector3<float> move_dir;
         if (glfwGetKey(window, GLFW_KEY_W))
-            move_dir += camera.get_forward();
+            move_dir += camera.get_abs_forward();
 
         if (glfwGetKey(window, GLFW_KEY_A))
-            move_dir -= camera.get_right();
+            move_dir -= camera.get_abs_right();
 
         if (glfwGetKey(window, GLFW_KEY_S))
-            move_dir -= camera.get_forward();
+            move_dir -= camera.get_abs_forward();
 
         if (glfwGetKey(window, GLFW_KEY_D))
-            move_dir += camera.get_right();
+            move_dir += camera.get_abs_right();
 
         if (glfwGetKey(window, GLFW_KEY_SPACE))
-            move_dir += camera.get_up();
+            move_dir += camera.get_abs_up();
 
         if (glfwGetKey(window, GLFW_KEY_LEFT_CONTROL))
-            move_dir -= camera.get_up();
+            move_dir -= camera.get_abs_up();
 
 
         auto delta = glfwGetTime() - old_mouse_time;

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();
+}

include/omath/3d_primitives/aabb.hpp

@@ -0,0 +1,28 @@
+//
+// Created by Vladislav on 24.03.2026.
+//
+
+#pragma once
+#include "omath/linear_algebra/vector3.hpp"
+
+namespace omath::primitives
+{
+    template<class Type>
+    struct Aabb final
+    {
+        Vector3<Type> min;
+        Vector3<Type> max;
+
+        [[nodiscard]]
+        constexpr Vector3<Type> center() const noexcept
+        {
+            return (min + max) / static_cast<Type>(2);
+        }
+
+        [[nodiscard]]
+        constexpr Vector3<Type> extents() const noexcept
+        {
+            return (max - min) / static_cast<Type>(2);
+        }
+    };
+} // namespace omath::primitives

include/omath/algorithm/targeting.hpp

@@ -0,0 +1,98 @@
+//
+// Created by Vladislav on 19.03.2026.
+//
+
+#pragma once
+#include "omath/linear_algebra/vector3.hpp"
+#include <functional>
+#include <iterator>
+#include <optional>
+#include <ranges>
+
+namespace omath::algorithm
+{
+    template<class CameraType, std::input_or_output_iterator IteratorType, class FilterT>
+    requires std::is_invocable_r_v<bool, std::function<FilterT>, std::iter_reference_t<IteratorType>>
+    [[nodiscard]]
+    IteratorType get_closest_target_by_fov(const IteratorType& begin, const IteratorType& end, const CameraType& camera,
+                                           auto get_position,
+                                           const std::optional<std::function<FilterT>>& filter_func = std::nullopt)
+    {
+        auto best_target = end;
+        const auto& camera_angles = camera.get_view_angles();
+        const Vector2<float> camera_angles_vec = {camera_angles.pitch.as_degrees(), camera_angles.yaw.as_degrees()};
+
+        for (auto current = begin; current != end; current = std::next(current))
+        {
+            if (filter_func && !filter_func.value()(*current))
+                continue;
+
+            if (best_target == end)
+            {
+                best_target = current;
+                continue;
+            }
+            const auto current_target_angles = camera.calc_look_at_angles(get_position(*current));
+            const auto best_target_angles = camera.calc_look_at_angles(get_position(*best_target));
+
+            const auto current_target_distance = camera_angles_vec.distance_to(current_target_angles.as_vector3());
+            const auto best_target_distance = camera_angles.as_vector3().distance_to(best_target_angles.as_vector3());
+            if (current_target_distance < best_target_distance)
+                best_target = current;
+        }
+        return best_target;
+    }
+
+    template<class CameraType, std::ranges::range RangeType, class FilterT>
+    requires std::is_invocable_r_v<bool, std::function<FilterT>,
+                                   std::ranges::range_reference_t<const RangeType>>
+    [[nodiscard]]
+    auto get_closest_target_by_fov(const RangeType& range, const CameraType& camera,
+                                   auto get_position,
+                                   const std::optional<std::function<FilterT>>& filter_func = std::nullopt)
+    {
+        return get_closest_target_by_fov<CameraType, decltype(std::ranges::begin(range)), FilterT>(
+                std::ranges::begin(range), std::ranges::end(range), camera, get_position, filter_func);
+    }
+
+    // ── By world-space distance ───────────────────────────────────────────────
+
+    template<std::input_or_output_iterator IteratorType, class FilterT>
+    requires std::is_invocable_r_v<bool, std::function<FilterT>, std::iter_reference_t<IteratorType>>
+    [[nodiscard]]
+    IteratorType get_closest_target_by_distance(const IteratorType& begin, const IteratorType& end,
+                                                const Vector3<float>& origin, auto get_position,
+                                                const std::optional<std::function<FilterT>>& filter_func = std::nullopt)
+    {
+        auto best_target = end;
+
+        for (auto current = begin; current != end; current = std::next(current))
+        {
+            if (filter_func && !filter_func.value()(*current))
+                continue;
+
+            if (best_target == end)
+            {
+                best_target = current;
+                continue;
+            }
+
+            if (origin.distance_to(get_position(*current)) < origin.distance_to(get_position(*best_target)))
+                best_target = current;
+        }
+        return best_target;
+    }
+
+    template<std::ranges::range RangeType, class FilterT>
+    requires std::is_invocable_r_v<bool, std::function<FilterT>,
+                                   std::ranges::range_reference_t<const RangeType>>
+    [[nodiscard]]
+    auto get_closest_target_by_distance(const RangeType& range, const Vector3<float>& origin,
+                                        auto get_position,
+                                        const std::optional<std::function<FilterT>>& filter_func = std::nullopt)
+    {
+        return get_closest_target_by_distance<decltype(std::ranges::begin(range)), FilterT>(
+                std::ranges::begin(range), std::ranges::end(range), origin, get_position, filter_func);
+    }
+
+} // namespace omath::algorithm

include/omath/collision/line_tracer.hpp

@@ -3,6 +3,7 @@
 //
 #pragma once
 
+#include "omath/3d_primitives/aabb.hpp"
 #include "omath/linear_algebra/triangle.hpp"
 #include "omath/linear_algebra/vector3.hpp"
 
@@ -34,6 +35,7 @@ namespace omath::collision
     class LineTracer final
     {
         using TriangleType = Triangle<typename RayType::VectorType>;
+        using AABBType = primitives::Aabb<typename RayType::VectorType::ContainedType>;
 
     public:
         LineTracer() = delete;
@@ -87,6 +89,54 @@ namespace omath::collision
             return ray.start + ray_dir * t_hit;
         }
 
+        // Slab method ray-AABB intersection
+        // Returns the hit point on the AABB surface, or ray.end if no intersection
+        [[nodiscard]]
+        constexpr static auto get_ray_hit_point(const RayType& ray, const AABBType& aabb) noexcept
+        {
+            using T = typename RayType::VectorType::ContainedType;
+            const auto dir = ray.direction_vector();
+
+            auto t_min = -std::numeric_limits<T>::infinity();
+            auto t_max = std::numeric_limits<T>::infinity();
+
+            const auto process_axis = [&](const T& d, const T& origin, const T& box_min,
+                                          const T& box_max) -> bool
+            {
+                constexpr T k_epsilon = std::numeric_limits<T>::epsilon();
+                if (std::abs(d) < k_epsilon)
+                    return origin >= box_min && origin <= box_max;
+
+                const T inv = T(1) / d;
+                T t0 = (box_min - origin) * inv;
+                T t1 = (box_max - origin) * inv;
+                if (t0 > t1)
+                    std::swap(t0, t1);
+
+                t_min = std::max(t_min, t0);
+                t_max = std::min(t_max, t1);
+                return t_min <= t_max;
+            };
+
+            if (!process_axis(dir.x, ray.start.x, aabb.min.x, aabb.max.x))
+                return ray.end;
+            if (!process_axis(dir.y, ray.start.y, aabb.min.y, aabb.max.y))
+                return ray.end;
+            if (!process_axis(dir.z, ray.start.z, aabb.min.z, aabb.max.z))
+                return ray.end;
+
+            // t_hit: use entry point if in front of origin, otherwise 0 (started inside)
+            const T t_hit = std::max(T(0), t_min);
+
+            if (t_max < T(0))
+                return ray.end; // box entirely behind origin
+
+            if (!ray.infinite_length && t_hit > T(1))
+                return ray.end; // box beyond ray endpoint
+
+            return ray.start + dir * t_hit;
+        }
+
         template<class MeshType>
         [[nodiscard]]
         constexpr static auto get_ray_hit_point(const RayType& ray, const MeshType& mesh) noexcept

include/omath/engines/cry_engine/camera.hpp

@@ -9,5 +9,5 @@
 
 namespace omath::cry_engine
 {
-    using Camera = projection::Camera<Mat4X4, ViewAngles, CameraTrait>;
+    using Camera = projection::Camera<Mat4X4, ViewAngles, CameraTrait, NDCDepthRange::ZERO_TO_ONE>;
 } // namespace omath::cry_engine

include/omath/engines/cry_engine/formulas.hpp

@@ -22,7 +22,8 @@ namespace omath::cry_engine
     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;
+    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
+                                             NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>

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

@@ -18,7 +18,7 @@ namespace omath::cry_engine
         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;
+                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
     };
 
 } // namespace omath::cry_engine

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

@@ -16,7 +16,8 @@ namespace omath::cry_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/frostbite_engine/camera.hpp

@@ -9,5 +9,5 @@
 
 namespace omath::frostbite_engine
 {
-    using Camera =  projection::Camera<Mat4X4, ViewAngles, CameraTrait>;
-} // namespace omath::unity_engine
+    using Camera =  projection::Camera<Mat4X4, ViewAngles, CameraTrait, NDCDepthRange::ZERO_TO_ONE>;
+} // namespace omath::frostbite_engine

include/omath/engines/frostbite_engine/formulas.hpp

@@ -22,7 +22,8 @@ namespace omath::frostbite_engine
     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;
+    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
+                                             NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>

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

@@ -18,7 +18,7 @@ namespace omath::frostbite_engine
         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;
+                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
     };
 
 } // namespace omath::unreal_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;

include/omath/engines/iw_engine/camera.hpp

@@ -9,5 +9,5 @@
 
 namespace omath::iw_engine
 {
-    using Camera =  projection::Camera<Mat4X4, ViewAngles, CameraTrait>;
+    using Camera =  projection::Camera<Mat4X4, ViewAngles, CameraTrait, NDCDepthRange::ZERO_TO_ONE>;
 } // namespace omath::iw_engine

include/omath/engines/iw_engine/formulas.hpp

@@ -22,7 +22,8 @@ namespace omath::iw_engine
     [[nodiscard]] Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
 
     [[nodiscard]]
-    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far) noexcept;
+    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
+                                             NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>

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

@@ -18,7 +18,7 @@ namespace omath::iw_engine
         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;
+                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
     };
 
 } // namespace omath::iw_engine

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/camera.hpp

@@ -8,5 +8,5 @@
 
 namespace omath::opengl_engine
 {
-    using Camera =  projection::Camera<Mat4X4, ViewAngles, CameraTrait, true>;
+    using Camera = projection::Camera<Mat4X4, ViewAngles, CameraTrait, NDCDepthRange::NEGATIVE_ONE_TO_ONE, {.inverted_forward = true}>;
 } // namespace omath::opengl_engine

include/omath/engines/opengl_engine/formulas.hpp

@@ -21,7 +21,8 @@ namespace omath::opengl_engine
     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;
+    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
+                                             NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>

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

@@ -18,7 +18,7 @@ namespace omath::opengl_engine
         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;
+                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
     };
 
 } // namespace omath::opengl_engine

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;

include/omath/engines/source_engine/camera.hpp

@@ -7,5 +7,5 @@
 #include "traits/camera_trait.hpp"
 namespace omath::source_engine
 {
-    using Camera =  projection::Camera<Mat4X4, ViewAngles, CameraTrait>;
+    using Camera =  projection::Camera<Mat4X4, ViewAngles, CameraTrait, NDCDepthRange::ZERO_TO_ONE>;
 } // namespace omath::source_engine

include/omath/engines/source_engine/formulas.hpp

@@ -21,7 +21,8 @@ namespace omath::source_engine
     [[nodiscard]] Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
 
     [[nodiscard]]
-    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far) noexcept;
+    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
+                                             NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>

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

@@ -18,7 +18,7 @@ namespace omath::source_engine
         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;
+                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
     };
 
 } // namespace omath::source_engine

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/camera.hpp

@@ -9,5 +9,5 @@
 
 namespace omath::unity_engine
 {
-    using Camera = projection::Camera<Mat4X4, ViewAngles, CameraTrait>;
+    using Camera = projection::Camera<Mat4X4, ViewAngles, CameraTrait, NDCDepthRange::ZERO_TO_ONE, {.inverted_forward = true}>;
 } // namespace omath::unity_engine

include/omath/engines/unity_engine/formulas.hpp

@@ -22,7 +22,8 @@ namespace omath::unity_engine
     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;
+    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
+                                             NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>

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

@@ -18,7 +18,7 @@ namespace omath::unity_engine
         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;
+                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
     };
 
 } // namespace omath::unity_engine

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;

include/omath/engines/unreal_engine/camera.hpp

@@ -9,5 +9,5 @@
 
 namespace omath::unreal_engine
 {
-    using Camera = projection::Camera<Mat4X4, ViewAngles, CameraTrait>;
+    using Camera = projection::Camera<Mat4X4, ViewAngles, CameraTrait, NDCDepthRange::ZERO_TO_ONE, {.inverted_right = true}>;
 } // namespace omath::unreal_engine

include/omath/engines/unreal_engine/formulas.hpp

@@ -22,7 +22,8 @@ namespace omath::unreal_engine
     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;
+    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
+                                             NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>

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

@@ -18,7 +18,7 @@ namespace omath::unreal_engine
         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;
+                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
     };
 
 } // namespace omath::unreal_engine

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/mat.hpp

@@ -37,6 +37,12 @@ namespace omath
         COLUMN_MAJOR
     };
 
+    enum class NDCDepthRange : uint8_t
+    {
+        NEGATIVE_ONE_TO_ONE = 0, // OpenGL: [-1.0, 1.0]
+        ZERO_TO_ONE              // DirectX / Vulkan: [0.0, 1.0]
+    };
+
     template<typename M1, typename M2> concept MatTemplateEqual
             = (M1::rows == M2::rows) && (M1::columns == M2::columns)
               && std::is_same_v<typename M1::value_type, typename M2::value_type> && (M1::store_type == M2::store_type);
@@ -658,56 +664,98 @@ namespace omath
         } * mat_translation<Type, St>(-camera_origin);
     }
 
-    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
+             NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
     [[nodiscard]]
     Mat<4, 4, Type, St> mat_perspective_left_handed(const float field_of_view, const float aspect_ratio,
                                                     const float near, const float far) noexcept
     {
         const float fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / 2.f);
 
-        return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
-                {0.f, 1.f / fov_half_tan, 0.f, 0.f},
-                {0.f, 0.f, (far + near) / (far - near), -(2.f * near * far) / (far - near)},
-                {0.f, 0.f, 1.f, 0.f}};
+        if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
+            return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
+                    {0.f, 1.f / fov_half_tan, 0.f, 0.f},
+                    {0.f, 0.f, far / (far - near), -(near * far) / (far - near)},
+                    {0.f, 0.f, 1.f, 0.f}};
+        else if constexpr (DepthRange == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
+                    {0.f, 1.f / fov_half_tan, 0.f, 0.f},
+                    {0.f, 0.f, (far + near) / (far - near), -(2.f * near * far) / (far - near)},
+                    {0.f, 0.f, 1.f, 0.f}};
+        else
+            std::unreachable();
     }
 
-    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
+             NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
     [[nodiscard]]
     Mat<4, 4, Type, St> mat_perspective_right_handed(const float field_of_view, const float aspect_ratio,
                                                      const float near, const float far) noexcept
     {
         const float fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / 2.f);
 
-        return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
-                {0.f, 1.f / fov_half_tan, 0.f, 0.f},
-                {0.f, 0.f, -(far + near) / (far - near), -(2.f * near * far) / (far - near)},
-                {0.f, 0.f, -1.f, 0.f}};
+        if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
+            return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
+                    {0.f, 1.f / fov_half_tan, 0.f, 0.f},
+                    {0.f, 0.f, -far / (far - near), -(near * far) / (far - near)},
+                    {0.f, 0.f, -1.f, 0.f}};
+        else if constexpr (DepthRange == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
+                    {0.f, 1.f / fov_half_tan, 0.f, 0.f},
+                    {0.f, 0.f, -(far + near) / (far - near), -(2.f * near * far) / (far - near)},
+                    {0.f, 0.f, -1.f, 0.f}};
+        else
+            std::unreachable();
     }
-    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
+             NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
     [[nodiscard]]
     Mat<4, 4, Type, St> mat_ortho_left_handed(const Type left, const Type right, const Type bottom, const Type top,
                                               const Type near, const Type far) noexcept
     {
-        return
-        {
-            { static_cast<Type>(2) / (right - left), 0.f,       0.f,    -(right + left) / (right - left)},
-            { 0.f,      static_cast<Type>(2) / (top - bottom),  0.f,    -(top + bottom) / (top - bottom)},
-            { 0.f,      0.f,       static_cast<Type>(2) / (far - near), -(far + near) / (far - near)    },
-            { 0.f,      0.f,       0.f,                                 1.f                             }
-        };
+        if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
+            return
+            {
+                { static_cast<Type>(2) / (right - left), 0.f,       0.f,    -(right + left) / (right - left)},
+                { 0.f,      static_cast<Type>(2) / (top - bottom),  0.f,    -(top + bottom) / (top - bottom)},
+                { 0.f,      0.f,       static_cast<Type>(1) / (far - near), -near / (far - near)            },
+                { 0.f,      0.f,       0.f,                                 1.f                             }
+            };
+        else if constexpr (DepthRange == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return
+            {
+                { static_cast<Type>(2) / (right - left), 0.f,       0.f,    -(right + left) / (right - left)},
+                { 0.f,      static_cast<Type>(2) / (top - bottom),  0.f,    -(top + bottom) / (top - bottom)},
+                { 0.f,      0.f,       static_cast<Type>(2) / (far - near), -(far + near) / (far - near)    },
+                { 0.f,      0.f,       0.f,                                 1.f                             }
+            };
+        else
+            std::unreachable();
     }
-    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
+             NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
     [[nodiscard]]
     Mat<4, 4, Type, St> mat_ortho_right_handed(const Type left, const Type right, const Type bottom, const Type top,
                                                const Type near, const Type far) noexcept
     {
-        return
-        {
-                { static_cast<Type>(2) / (right - left), 0.f,       0.f,     -(right + left) / (right - left)},
-                { 0.f,      static_cast<Type>(2) / (top - bottom),  0.f,     -(top + bottom) / (top - bottom)},
-                { 0.f,      0.f,       -static_cast<Type>(2) / (far - near), -(far + near) / (far - near)    },
-                { 0.f,      0.f,       0.f,                                  1.f                             }
-        };
+        if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
+            return
+            {
+                    { static_cast<Type>(2) / (right - left), 0.f,       0.f,     -(right + left) / (right - left)},
+                    { 0.f,      static_cast<Type>(2) / (top - bottom),  0.f,     -(top + bottom) / (top - bottom)},
+                    { 0.f,      0.f,       -static_cast<Type>(1) / (far - near), -near / (far - near)            },
+                    { 0.f,      0.f,       0.f,                                  1.f                             }
+            };
+        else if constexpr (DepthRange == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return
+            {
+                    { static_cast<Type>(2) / (right - left), 0.f,       0.f,     -(right + left) / (right - left)},
+                    { 0.f,      static_cast<Type>(2) / (top - bottom),  0.f,     -(top + bottom) / (top - bottom)},
+                    { 0.f,      0.f,       -static_cast<Type>(2) / (far - near), -(far + near) / (far - near)    },
+                    { 0.f,      0.f,       0.f,                                  1.f                             }
+            };
+        else
+            std::unreachable();
     }
     template<class T = float, MatStoreType St = MatStoreType::COLUMN_MAJOR>
    Mat<4, 4, T, St> mat_look_at_left_handed(const Vector3<T>& eye, const Vector3<T>& center, const Vector3<T>& up)

include/omath/lua/lua.hpp

@@ -3,11 +3,23 @@
 //
 #pragma once
 #ifdef OMATH_ENABLE_LUA
-// ReSharper disable once CppInconsistentNaming
-struct lua_State;
-
+#include <sol/forward.hpp>
 namespace omath::lua
 {
-    void register_lib(lua_State* lua_state);
+    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/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/pathfinding/walk_bot.hpp

@@ -0,0 +1,46 @@
+//
+// Created by orange on 4/12/2026.
+//
+#pragma once
+#include "navigation_mesh.hpp"
+#include "omath/linear_algebra/vector3.hpp"
+#include <functional>
+#include <memory>
+namespace omath::pathfinding
+{
+    enum class WalkBotStatus
+    {
+        IDLE,
+        PATHING,
+        FINISHED
+    };
+    class WalkBot
+    {
+    public:
+        WalkBot() = default;
+        explicit WalkBot(const std::shared_ptr<NavigationMesh>& mesh, float min_node_distance = 1.f);
+
+        void set_nav_mesh(const std::shared_ptr<NavigationMesh>& mesh);
+        void set_min_node_distance(float distance);
+
+        void set_target(const Vector3<float>& target);
+
+        // Clear navigation state so the bot can be re-routed without stale
+        // visited-node memory.
+        void reset();
+
+        // Call every game tick with the current bot world position.
+        void update(const Vector3<float>& bot_position);
+
+        void on_path(const std::function<void(const Vector3<float>&)>& callback);
+        void on_status(const std::function<void(WalkBotStatus)>& callback);
+
+    private:
+        std::weak_ptr<NavigationMesh> m_nav_mesh;
+        std::optional<std::function<void(const Vector3<float>&)>> m_on_next_path_node;
+        std::optional<std::function<void(WalkBotStatus)>> m_on_status_update;
+        std::optional<Vector3<float>> m_last_visited;
+        std::optional<Vector3<float>> m_target;
+        float m_min_node_distance{1.f};
+    };
+} // 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)
-                return EngineTrait::calc_direct_pitch_angle(projectile.m_origin, target_position);
+            const auto launch_origin = projectile.m_origin + projectile.m_launch_offset;
 
-            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/projection/camera.hpp

@@ -4,6 +4,7 @@
 
 #pragma once
 
+#include "omath/3d_primitives/aabb.hpp"
 #include "omath/linear_algebra/mat.hpp"
 #include "omath/linear_algebra/triangle.hpp"
 #include "omath/linear_algebra/vector3.hpp"
@@ -36,23 +37,36 @@ namespace omath::projection
         }
     };
     using FieldOfView = Angle<float, 0.f, 180.f, AngleFlags::Clamped>;
+    enum class ViewPortClipping
+    {
+        AUTO,
+        MANUAL,
+    };
+    struct CameraAxes
+    {
+        bool inverted_forward = false;
+        bool inverted_right   = false;
+    };
 
     template<class T, class MatType, class ViewAnglesType>
     concept CameraEngineConcept =
             requires(const Vector3<float>& cam_origin, const Vector3<float>& look_at, const ViewAnglesType& angles,
-                     const FieldOfView& fov, const ViewPort& viewport, float znear, float zfar) {
+                     const FieldOfView& fov, const ViewPort& viewport, float znear, float zfar,
+                     NDCDepthRange ndc_depth_range) {
                 // Presence + return types
                 { T::calc_look_at_angle(cam_origin, look_at) } -> std::same_as<ViewAnglesType>;
                 { T::calc_view_matrix(angles, cam_origin) } -> std::same_as<MatType>;
-                { T::calc_projection_matrix(fov, viewport, znear, zfar) } -> std::same_as<MatType>;
+                { T::calc_projection_matrix(fov, viewport, znear, zfar, ndc_depth_range) } -> std::same_as<MatType>;
 
                 // Enforce noexcept as in the trait declaration
                 requires noexcept(T::calc_look_at_angle(cam_origin, look_at));
                 requires noexcept(T::calc_view_matrix(angles, cam_origin));
-                requires noexcept(T::calc_projection_matrix(fov, viewport, znear, zfar));
+                requires noexcept(T::calc_projection_matrix(fov, viewport, znear, zfar, ndc_depth_range));
             };
 
-    template<class Mat4X4Type, class ViewAnglesType, class TraitClass, bool inverted_z = false>
+    template<class Mat4X4Type, class ViewAnglesType, class TraitClass,
+             NDCDepthRange depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE,
+             CameraAxes axes = {}>
     requires CameraEngineConcept<TraitClass, Mat4X4Type, ViewAnglesType>
     class Camera final
     {
@@ -76,20 +90,62 @@ namespace omath::projection
         {
         }
 
+        struct ProjectionParams
+        {
+            FieldOfView fov;
+            float aspect_ratio;
+        };
+
+        // Recovers vertical FOV and aspect ratio from a perspective projection matrix
+        // built by any of the engine traits.  Both variants (ZERO_TO_ONE and
+        // NEGATIVE_ONE_TO_ONE) share the same m[0,0]/m[1,1] layout, so this works
+        // regardless of the NDC depth range.
+        [[nodiscard]]
+        static ProjectionParams extract_projection_params(const Mat4X4Type& proj_matrix) noexcept
+        {
+            // m[1,1] == 1 / tan(fov/2)  =>  fov = 2 * atan(1 / m[1,1])
+            const float f = proj_matrix.at(1, 1);
+            // m[0,0] == m[1,1] / aspect_ratio  =>  aspect = m[1,1] / m[0,0]
+            return {FieldOfView::from_radians(2.f * std::atan(1.f / f)), f / proj_matrix.at(0, 0)};
+        }
+
+        [[nodiscard]]
+        static ViewAnglesType calc_view_angles_from_view_matrix(const Mat4X4Type& view_matrix) noexcept
+        {
+            Vector3<float> forward_vector = {view_matrix[2, 0], view_matrix[2, 1], view_matrix[2, 2]};
+            if constexpr (axes.inverted_forward)
+                forward_vector = -forward_vector;
+            return TraitClass::calc_look_at_angle({}, forward_vector);
+        }
+
+        [[nodiscard]]
+        static Vector3<float> calc_origin_from_view_matrix(const Mat4X4Type& view_matrix) noexcept
+        {
+            // The view matrix is R * T(-origin), so the last column stores t = -R * origin.
+            // Recovering origin: origin = -R^T * t
+            return {
+                -(view_matrix[0, 0] * view_matrix[0, 3] + view_matrix[1, 0] * view_matrix[1, 3] + view_matrix[2, 0] * view_matrix[2, 3]),
+                -(view_matrix[0, 1] * view_matrix[0, 3] + view_matrix[1, 1] * view_matrix[1, 3] + view_matrix[2, 1] * view_matrix[2, 3]),
+                -(view_matrix[0, 2] * view_matrix[0, 3] + view_matrix[1, 2] * view_matrix[1, 3] + view_matrix[2, 2] * view_matrix[2, 3]),
+            };
+        }
+
         void look_at(const Vector3<float>& target)
         {
             m_view_angles = TraitClass::calc_look_at_angle(m_origin, target);
             m_view_projection_matrix = std::nullopt;
             m_view_matrix = std::nullopt;
         }
+        [[nodiscard]]
+        ViewAnglesType calc_look_at_angles(const Vector3<float>& look_to) const
+        {
+            return TraitClass::calc_look_at_angle(m_origin, look_to);
+        }
 
         [[nodiscard]]
         Vector3<float> get_forward() const noexcept
         {
             const auto& view_matrix = get_view_matrix();
-
-            if constexpr (inverted_z)
-                return -Vector3<float>{view_matrix[2, 0], view_matrix[2, 1], view_matrix[2, 2]};
             return {view_matrix[2, 0], view_matrix[2, 1], view_matrix[2, 2]};
         }
 
@@ -106,6 +162,27 @@ namespace omath::projection
             const auto& view_matrix = get_view_matrix();
             return {view_matrix[1, 0], view_matrix[1, 1], view_matrix[1, 2]};
         }
+        [[nodiscard]]
+        Vector3<float> get_abs_forward() const noexcept
+        {
+            if constexpr (axes.inverted_forward)
+                return -get_forward();
+            return get_forward();
+        }
+
+        [[nodiscard]]
+        Vector3<float> get_abs_right() const noexcept
+        {
+            if constexpr (axes.inverted_right)
+                return -get_right();
+            return get_right();
+        }
+
+        [[nodiscard]]
+        Vector3<float> get_abs_up() const noexcept
+        {
+            return get_up();
+        }
 
         [[nodiscard]] const Mat4X4Type& get_view_projection_matrix() const noexcept
         {
@@ -126,7 +203,8 @@ namespace omath::projection
         {
             if (!m_projection_matrix.has_value())
                 m_projection_matrix = TraitClass::calc_projection_matrix(m_field_of_view, m_view_port,
-                                                                         m_near_plane_distance, m_far_plane_distance);
+                                                                         m_near_plane_distance, m_far_plane_distance,
+                                                                         depth_range);
 
             return m_projection_matrix.value();
         }
@@ -138,16 +216,16 @@ namespace omath::projection
             m_projection_matrix = std::nullopt;
         }
 
-        void set_near_plane(const float near) noexcept
+        void set_near_plane(const float near_plane) noexcept
         {
-            m_near_plane_distance = near;
+            m_near_plane_distance = near_plane;
             m_view_projection_matrix = std::nullopt;
             m_projection_matrix = std::nullopt;
         }
 
-        void set_far_plane(const float far) noexcept
+        void set_far_plane(const float far_plane) noexcept
         {
-            m_far_plane_distance = far;
+            m_far_plane_distance = far_plane;
             m_view_projection_matrix = std::nullopt;
             m_projection_matrix = std::nullopt;
         }
@@ -213,6 +291,22 @@ namespace omath::projection
             else
                 std::unreachable();
         }
+        template<ScreenStart screen_start = ScreenStart::TOP_LEFT_CORNER>
+        [[nodiscard]] std::expected<Vector3<float>, Error>
+        world_to_screen_unclipped(const Vector3<float>& world_position) const noexcept
+        {
+            const auto normalized_cords = world_to_view_port(world_position, ViewPortClipping::MANUAL);
+
+            if (!normalized_cords.has_value())
+                return std::unexpected{normalized_cords.error()};
+
+            if constexpr (screen_start == ScreenStart::TOP_LEFT_CORNER)
+                return ndc_to_screen_position_from_top_left_corner(*normalized_cords);
+            else if constexpr (screen_start == ScreenStart::BOTTOM_LEFT_CORNER)
+                return ndc_to_screen_position_from_bottom_left_corner(*normalized_cords);
+            else
+                std::unreachable();
+        }
 
         [[nodiscard]] bool is_culled_by_frustum(const Triangle<Vector3<float>>& triangle) const noexcept
         {
@@ -246,40 +340,127 @@ namespace omath::projection
                 return a[axis] < -a[3] && b[axis] < -b[3] && c[axis] < -c[3];
             };
 
-            // Clip volume in clip space (OpenGL-style):
+            // Clip volume in clip space:
             // -w <= x <= w
             // -w <= y <= w
-            // -w <= z <= w
+            // z_min <= z <= w  (z_min = -w for [-1,1], 0 for [0,1])
 
-            for (int i = 0; i < 3; i++)
+            // x and y planes
+            for (int i = 0; i < 2; i++)
             {
                 if (all_outside_plane(i, c0, c1, c2, false))
-                    return true; // x < -w (left)
+                    return true;
                 if (all_outside_plane(i, c0, c1, c2, true))
-                    return true; // x >  w (right)
+                    return true;
+            }
+
+            // z far plane: z > w
+            if (all_outside_plane(2, c0, c1, c2, true))
+                return true;
+
+            // z near plane
+            if constexpr (depth_range == NDCDepthRange::ZERO_TO_ONE)
+            {
+                // 0 <= z, so reject if z < 0 for all vertices
+                if (c0[2] < 0.f && c1[2] < 0.f && c2[2] < 0.f)
+                    return true;
+            }
+            else
+            {
+                // -w <= z
+                if (all_outside_plane(2, c0, c1, c2, false))
+                    return true;
             }
             return false;
         }
 
+        [[nodiscard]] bool is_aabb_culled_by_frustum(const primitives::Aabb<float>& aabb) const noexcept
+        {
+            const auto& m = get_view_projection_matrix();
+
+            // Gribb-Hartmann: extract 6 frustum planes from the view-projection matrix.
+            // Each plane is (a, b, c, d) such that ax + by + cz + d >= 0 means inside.
+            // For a 4x4 matrix with rows r0..r3:
+            //   Left   = r3 + r0
+            //   Right  = r3 - r0
+            //   Bottom = r3 + r1
+            //   Top    = r3 - r1
+            //   Near   = r3 + r2  ([-1,1]) or r2 ([0,1])
+            //   Far    = r3 - r2
+            struct Plane final
+            {
+                float a, b, c, d;
+            };
+
+            const auto extract_plane = [&m](const int sign, const int row) -> Plane
+            {
+                return {
+                        m.at(3, 0) + static_cast<float>(sign) * m.at(row, 0),
+                        m.at(3, 1) + static_cast<float>(sign) * m.at(row, 1),
+                        m.at(3, 2) + static_cast<float>(sign) * m.at(row, 2),
+                        m.at(3, 3) + static_cast<float>(sign) * m.at(row, 3),
+                };
+            };
+
+            std::array<Plane, 6> planes = {
+                    extract_plane(1, 0), // left
+                    extract_plane(-1, 0), // right
+                    extract_plane(1, 1), // bottom
+                    extract_plane(-1, 1), // top
+                    extract_plane(-1, 2), // far
+            };
+
+            // Near plane depends on NDC depth range
+            if constexpr (depth_range == NDCDepthRange::ZERO_TO_ONE)
+                planes[5] = {m.at(2, 0), m.at(2, 1), m.at(2, 2), m.at(2, 3)};
+            else
+                planes[5] = extract_plane(1, 2);
+
+            // For each plane, find the AABB corner most in the direction of the plane normal
+            // (the "positive vertex"). If it's outside, the entire AABB is outside.
+            for (const auto& [a, b, c, d] : planes)
+            {
+                const float px = a >= 0.f ? aabb.max.x : aabb.min.x;
+                const float py = b >= 0.f ? aabb.max.y : aabb.min.y;
+                const float pz = c >= 0.f ? aabb.max.z : aabb.min.z;
+
+                if (a * px + b * py + c * pz + d < 0.f)
+                    return true;
+            }
+
+            return false;
+        }
+
         [[nodiscard]] std::expected<Vector3<float>, Error>
-        world_to_view_port(const Vector3<float>& world_position) const noexcept
+        world_to_view_port(const Vector3<float>& world_position,
+                           const ViewPortClipping& clipping = ViewPortClipping::AUTO) const noexcept
         {
             auto projected = get_view_projection_matrix()
                              * mat_column_from_vector<float, Mat4X4Type::get_store_ordering()>(world_position);
 
             const auto& w = projected.at(3, 0);
-            if (w <= std::numeric_limits<float>::epsilon())
-                return std::unexpected(Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS);
+            constexpr auto eps = std::numeric_limits<float>::epsilon();
+            if (w <= eps)
+                return std::unexpected(Error::PERSPECTIVE_DIVIDER_LESS_EQ_ZERO);
 
             projected /= w;
 
-            if (is_ndc_out_of_bounds(projected))
+            // ReSharper disable once CppTooWideScope
+            const auto clipped_automatically = clipping == ViewPortClipping::AUTO && is_ndc_out_of_bounds(projected);
+            if (clipped_automatically)
+                return std::unexpected(Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS);
+
+            // ReSharper disable once CppTooWideScope
+            constexpr auto z_min = depth_range == NDCDepthRange::ZERO_TO_ONE ? 0.0f : -1.0f;
+            const auto clipped_manually = clipping == ViewPortClipping::MANUAL && (projected.at(2, 0) < z_min - eps
+                                          || projected.at(2, 0) > 1.0f + eps);
+            if (clipped_manually)
                 return std::unexpected(Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS);
 
             return Vector3<float>{projected.at(0, 0), projected.at(1, 0), projected.at(2, 0)};
         }
         [[nodiscard]]
-        std::expected<Vector3<float>, Error> view_port_to_screen(const Vector3<float>& ndc) const noexcept
+        std::expected<Vector3<float>, Error> view_port_to_world(const Vector3<float>& ndc) const noexcept
         {
             const auto inv_view_proj = get_view_projection_matrix().inverted();
 
@@ -304,7 +485,7 @@ namespace omath::projection
         [[nodiscard]]
         std::expected<Vector3<float>, Error> screen_to_world(const Vector3<float>& screen_pos) const noexcept
         {
-            return view_port_to_screen(screen_to_ndc<screen_start>(screen_pos));
+            return view_port_to_world(screen_to_ndc<screen_start>(screen_pos));
         }
 
         template<ScreenStart screen_start = ScreenStart::TOP_LEFT_CORNER>
@@ -333,8 +514,26 @@ namespace omath::projection
         [[nodiscard]] constexpr static bool is_ndc_out_of_bounds(const Type& ndc) noexcept
         {
             constexpr auto eps = std::numeric_limits<float>::epsilon();
-            return std::ranges::any_of(ndc.raw_array(),
-                                       [](const auto& val) { return val < -1.0f - eps || val > 1.0f + eps; });
+
+            const auto& data = ndc.raw_array();
+            // x and y are always in [-1, 1]
+            if (data[0] < -1.0f - eps || data[0] > 1.0f + eps)
+                return true;
+            if (data[1] < -1.0f - eps || data[1] > 1.0f + eps)
+                return true;
+            return is_ndc_z_value_out_of_bounds(data[2]);
+        }
+        template<class ZType>
+         [[nodiscard]]
+        constexpr static bool is_ndc_z_value_out_of_bounds(const ZType& z_ndc) noexcept
+        {
+            constexpr auto eps = std::numeric_limits<float>::epsilon();
+            if constexpr (depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+                return z_ndc < -1.0f - eps || z_ndc > 1.0f + eps;
+            if constexpr (depth_range == NDCDepthRange::ZERO_TO_ONE)
+                return z_ndc < 0.0f - eps || z_ndc > 1.0f + eps;
+
+            std::unreachable();
         }
 
         // NDC REPRESENTATION:

include/omath/projection/error_codes.hpp

@@ -11,5 +11,6 @@ namespace omath::projection
     {
         WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS,
         INV_VIEW_PROJ_MAT_DET_EQ_ZERO,
+        PERSPECTIVE_DIVIDER_LESS_EQ_ZERO,
     };
 }

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 +55,150 @@ 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
-            using VirtualMethodType = ReturnType(__thiscall*)(void*, decltype(arg_list)...);
-#else
-            using VirtualMethodType = ReturnType (*)(void*, decltype(arg_list)...);
-#endif
-            return (*reinterpret_cast<VirtualMethodType**>(this))[id](this, arg_list...);
+            const auto vtable = *reinterpret_cast<void***>(this);
+            return call_method<ReturnType>(vtable[Id], arg_list...);
         }
-        template<std::size_t id, class ReturnType>
+        template<std::size_t Id, class ReturnType>
         ReturnType call_virtual_method(auto... arg_list) const
         {
+            const auto vtable = *reinterpret_cast<void* const* const*>(this);
+            return call_method<ReturnType>(vtable[Id], arg_list...);
+        }
+
+        template<std::ptrdiff_t TableOffset, std::size_t Id, class ReturnType>
+        ReturnType call_virtual_method(auto... arg_list)
+        {
+            auto sub_this = reinterpret_cast<void*>(
+                reinterpret_cast<std::uintptr_t>(this) + TableOffset);
+            const auto vtable = *reinterpret_cast<void***>(sub_this);
 #ifdef _MSC_VER
-            using VirtualMethodType = ReturnType(__thiscall*)(void*, decltype(arg_list)...);
+            using Fn = ReturnType(__thiscall*)(void*, decltype(arg_list)...);
 #else
-            using VirtualMethodType = ReturnType (*)(void*, decltype(arg_list)...);
+            using Fn = ReturnType(*)(void*, decltype(arg_list)...);
+#endif
+            return reinterpret_cast<Fn>(vtable[Id])(sub_this, arg_list...);
+        }
+        template<std::ptrdiff_t TableOffset, std::size_t Id, class ReturnType>
+        ReturnType call_virtual_method(auto... arg_list) const
+        {
+            auto sub_this = reinterpret_cast<const void*>(
+                reinterpret_cast<std::uintptr_t>(this) + TableOffset);
+            const auto vtable = *reinterpret_cast<void* const* const*>(sub_this);
+#ifdef _MSC_VER
+            using Fn = ReturnType(__thiscall*)(const void*, decltype(arg_list)...);
+#else
+            using Fn = ReturnType(*)(const void*, decltype(arg_list)...);
+#endif
+            return reinterpret_cast<Fn>(vtable[Id])(sub_this, 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
+            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/trigonometry/angle.hpp

@@ -36,6 +36,7 @@ namespace omath
         }
 
     public:
+        using ArithmeticType = Type;
         [[nodiscard]]
         constexpr static Angle from_degrees(const Type& degrees) noexcept
         {

include/omath/trigonometry/view_angles.hpp

@@ -2,14 +2,25 @@
 // Created by Orange on 11/30/2024.
 //
 #pragma once
-
+#include "omath/linear_algebra/vector3.hpp"
+#include <type_traits>
 namespace omath
 {
     template<class PitchType, class YawType, class RollType>
+    requires std::is_same_v<typename PitchType::ArithmeticType, typename YawType::ArithmeticType>
+             && std::is_same_v<typename YawType::ArithmeticType, typename RollType::ArithmeticType>
     struct ViewAngles
     {
+        using ArithmeticType = PitchType::ArithmeticType;
+
         PitchType pitch;
         YawType yaw;
         RollType roll;
+
+        [[nodiscard]]
+        Vector3<ArithmeticType> as_vector3() const
+        {
+            return {pitch.as_degrees(), yaw.as_degrees(), roll.as_degrees()};
+        }
     };
 } // namespace omath

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

scripts/coverage-llvm.sh

@@ -16,15 +16,42 @@ echo "[*] Output dir: ${OUTPUT_DIR}"
 # Find llvm tools - handle versioned names (Linux) and xcrun (macOS)
 find_llvm_tool() {
     local tool_name="$1"
-    
-    # macOS: use xcrun
+
+    # First priority: derive from the actual compiler used by cmake (CMakeCache.txt).
+    # This guarantees the profraw format version matches the instrumented binary.
+    local cache_file="${BINARY_DIR}/CMakeCache.txt"
+    if [[ -f "$cache_file" ]]; then
+        local cmake_cxx
+        cmake_cxx=$(grep '^CMAKE_CXX_COMPILER:' "$cache_file" | cut -d= -f2)
+        if [[ -n "$cmake_cxx" && -x "$cmake_cxx" ]]; then
+            local tool_path
+            tool_path="$(dirname "$cmake_cxx")/${tool_name}"
+            if [[ -x "$tool_path" ]]; then
+                echo "$tool_path"
+                return 0
+            fi
+        fi
+    fi
+
+    # macOS: derive from xcrun clang as fallback
     if [[ "$(uname)" == "Darwin" ]]; then
+        local clang_path
+        clang_path=$(xcrun --find clang 2>/dev/null)
+        if [[ -n "$clang_path" ]]; then
+            local tool_path
+            tool_path="$(dirname "$clang_path")/${tool_name}"
+            if [[ -x "$tool_path" ]]; then
+                echo "$tool_path"
+                return 0
+            fi
+        fi
+        # Fallback: xcrun
         if xcrun --find "${tool_name}" &>/dev/null; then
             echo "xcrun ${tool_name}"
             return 0
         fi
     fi
-    
+
     # Try versioned names (Linux with LLVM 21, 20, 19, etc.)
     for version in 21 20 19 18 17 ""; do
         local versioned_name="${tool_name}${version:+-$version}"
@@ -33,7 +60,7 @@ find_llvm_tool() {
             return 0
         fi
     done
-    
+
     echo ""
     return 1
 }
@@ -51,6 +78,18 @@ fi
 echo "[*] Using: ${LLVM_PROFDATA}"
 echo "[*] Using: ${LLVM_COV}"
 
+# Print version info for debugging version mismatches
+if [[ "$(uname)" == "Darwin" ]]; then
+    echo "[*] Default clang: $(xcrun clang --version 2>&1 | head -1)"
+    # Show actual compiler used by the build (from CMakeCache.txt if available)
+    CACHE_FILE="${BINARY_DIR}/CMakeCache.txt"
+    if [[ -f "$CACHE_FILE" ]]; then
+        ACTUAL_CXX=$(grep '^CMAKE_CXX_COMPILER:' "$CACHE_FILE" | cut -d= -f2)
+        echo "[*] Build compiler: ${ACTUAL_CXX} ($(${ACTUAL_CXX} --version 2>&1 | head -1))"
+    fi
+    echo "[*] profdata: $(${LLVM_PROFDATA} show --version 2>&1 | head -1 || true)"
+fi
+
 # Find test binary
 if [[ -z "${TEST_BINARY}" ]]; then
     for path in \

source/engines/cry_engine/formulas.cpp

@@ -35,8 +35,15 @@ namespace omath::cry_engine
                * 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
+                                              const float far, const NDCDepthRange ndc_depth_range) noexcept
     {
-        return mat_perspective_left_handed(field_of_view, aspect_ratio, near, far);
+        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
+            return mat_perspective_left_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+                    field_of_view, aspect_ratio, near, far);
+
+        if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return mat_perspective_left_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
+                    field_of_view, aspect_ratio, near, far);
+        std::unreachable();
     }
 } // namespace omath::unity_engine

source/engines/cry_engine/traits/camera_trait.cpp

@@ -19,8 +19,9 @@ namespace omath::cry_engine
     }
     Mat4X4 CameraTrait::calc_projection_matrix(const projection::FieldOfView& fov,
                                                const projection::ViewPort& view_port, const float near,
-                                               const float far) noexcept
+                                               const float far, const NDCDepthRange ndc_depth_range) noexcept
     {
-        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far);
+        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far,
+                                                  ndc_depth_range);
     }
 } // namespace omath::unity_engine

source/engines/frostbite_engine/formulas.cpp

@@ -35,8 +35,16 @@ namespace omath::frostbite_engine
                * 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
+                                              const float far, const NDCDepthRange ndc_depth_range) noexcept
     {
-        return mat_perspective_left_handed(field_of_view, aspect_ratio, near, far);
+        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
+            return mat_perspective_left_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+                    field_of_view, aspect_ratio, near, far);
+
+        if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return mat_perspective_left_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
+                    field_of_view, aspect_ratio, near, far);
+
+        std::unreachable();
     }
 } // namespace omath::unity_engine

source/engines/frostbite_engine/traits/camera_trait.cpp

@@ -19,8 +19,9 @@ namespace omath::frostbite_engine
     }
     Mat4X4 CameraTrait::calc_projection_matrix(const projection::FieldOfView& fov,
                                                const projection::ViewPort& view_port, const float near,
-                                               const float far) noexcept
+                                               const float far, const NDCDepthRange ndc_depth_range) noexcept
     {
-        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far);
+        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far,
+                                                  ndc_depth_range);
     }
 } // namespace omath::unity_engine

source/engines/iw_engine/formulas.cpp

@@ -36,18 +36,27 @@ namespace omath::iw_engine
     }
 
     Mat4X4 calc_perspective_projection_matrix(const float field_of_view, const float aspect_ratio, const float near,
-                                              const float far) noexcept
+                                              const float far, const NDCDepthRange ndc_depth_range) noexcept
     {
         // NOTE: Need magic number to fix fov calculation, since IW engine inherit Quake proj matrix calculation
         constexpr auto k_multiply_factor = 0.75f;
 
         const float fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / 2.f) * k_multiply_factor;
 
-        return {
-                {1.f / (aspect_ratio * fov_half_tan), 0, 0, 0},
-                {0, 1.f / (fov_half_tan), 0, 0},
-                {0, 0, (far + near) / (far - near), -(2.f * far * near) / (far - near)},
-                {0, 0, 1, 0},
-        };
+        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
+            return {
+                    {1.f / (aspect_ratio * fov_half_tan), 0, 0, 0},
+                    {0, 1.f / (fov_half_tan), 0, 0},
+                    {0, 0, far / (far - near), -(near * far) / (far - near)},
+                    {0, 0, 1, 0},
+            };
+        if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return {
+                    {1.f / (aspect_ratio * fov_half_tan), 0, 0, 0},
+                    {0, 1.f / (fov_half_tan), 0, 0},
+                    {0, 0, (far + near) / (far - near), -(2.f * far * near) / (far - near)},
+                    {0, 0, 1, 0},
+            };
+        std::unreachable();
     };
 } // namespace omath::iw_engine

source/engines/iw_engine/traits/camera_trait.cpp

@@ -19,8 +19,9 @@ namespace omath::iw_engine
     }
     Mat4X4 CameraTrait::calc_projection_matrix(const projection::FieldOfView& fov,
                                                const projection::ViewPort& view_port, const float near,
-                                               const float far) noexcept
+                                               const float far, const NDCDepthRange ndc_depth_range) noexcept
     {
-        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far);
+        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far,
+                                                  ndc_depth_range);
     }
 } // namespace omath::iw_engine

source/engines/opengl_engine/formulas.cpp

@@ -8,15 +8,15 @@ namespace omath::opengl_engine
 
     Vector3<float> forward_vector(const ViewAngles& angles) noexcept
     {
-        const auto vec
-                = rotation_matrix(angles) * mat_column_from_vector<float, MatStoreType::COLUMN_MAJOR>(k_abs_forward);
+        const auto vec =
+                rotation_matrix(angles) * mat_column_from_vector<float, MatStoreType::COLUMN_MAJOR>(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<float, MatStoreType::COLUMN_MAJOR>(k_abs_right);
+        const auto vec =
+                rotation_matrix(angles) * mat_column_from_vector<float, MatStoreType::COLUMN_MAJOR>(k_abs_right);
 
         return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
     }
@@ -28,7 +28,7 @@ namespace omath::opengl_engine
     }
     Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
     {
-        return mat_look_at_right_handed(cam_origin, cam_origin+forward_vector(angles), up_vector(angles));
+        return mat_look_at_right_handed(cam_origin, cam_origin + forward_vector(angles), up_vector(angles));
     }
     Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept
     {
@@ -37,15 +37,16 @@ namespace omath::opengl_engine
                * mat_rotation_axis_x<float, MatStoreType::COLUMN_MAJOR>(angles.pitch);
     }
     Mat4X4 calc_perspective_projection_matrix(const float field_of_view, const float aspect_ratio, const float near,
-                                              const float far) noexcept
+                                              const float far, const NDCDepthRange ndc_depth_range) noexcept
     {
-        const float fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / 2.f);
+        if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return mat_perspective_right_handed<float, MatStoreType::COLUMN_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
+                    field_of_view, aspect_ratio, near, far);
 
-        return {
-                {1.f / (aspect_ratio * fov_half_tan), 0, 0, 0},
-                {0, 1.f / (fov_half_tan), 0, 0},
-                {0, 0, -(far + near) / (far - near), -(2.f * far * near) / (far - near)},
-                {0, 0, -1, 0},
-        };
+        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
+            return mat_perspective_right_handed<float, MatStoreType::COLUMN_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+                        field_of_view, aspect_ratio, near, far);
+
+        std::unreachable();
     }
 } // namespace omath::opengl_engine

source/engines/opengl_engine/traits/camera_trait.cpp

@@ -20,8 +20,9 @@ namespace omath::opengl_engine
     }
     Mat4X4 CameraTrait::calc_projection_matrix(const projection::FieldOfView& fov,
                                                const projection::ViewPort& view_port, const float near,
-                                               const float far) noexcept
+                                               const float far, const NDCDepthRange ndc_depth_range) noexcept
     {
-        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far);
+        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far,
+                                                  ndc_depth_range);
     }
 } // namespace omath::opengl_engine

source/engines/source_engine/formulas.cpp

@@ -36,18 +36,27 @@ namespace omath::source_engine
     }
 
     Mat4X4 calc_perspective_projection_matrix(const float field_of_view, const float aspect_ratio, const float near,
-                                              const float far) noexcept
+                                              const float far, const NDCDepthRange ndc_depth_range) noexcept
     {
         // NOTE: Need magic number to fix fov calculation, since source inherit Quake proj matrix calculation
         constexpr auto k_multiply_factor = 0.75f;
 
         const float fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / 2.f) * k_multiply_factor;
 
-        return {
-                {1.f / (aspect_ratio * fov_half_tan), 0, 0, 0},
-                {0, 1.f / (fov_half_tan), 0, 0},
-                {0, 0, (far + near) / (far - near), -(2.f * far * near) / (far - near)},
-                {0, 0, 1, 0},
-        };
+        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
+            return {
+                    {1.f / (aspect_ratio * fov_half_tan), 0, 0, 0},
+                    {0, 1.f / (fov_half_tan), 0, 0},
+                    {0, 0, far / (far - near), -(near * far) / (far - near)},
+                    {0, 0, 1, 0},
+            };
+        if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return {
+                    {1.f / (aspect_ratio * fov_half_tan), 0, 0, 0},
+                    {0, 1.f / (fov_half_tan), 0, 0},
+                    {0, 0, (far + near) / (far - near), -(2.f * far * near) / (far - near)},
+                    {0, 0, 1, 0},
+            };
+        std::unreachable();
     }
 } // namespace omath::source_engine

source/engines/source_engine/traits/camera_trait.cpp

@@ -20,8 +20,9 @@ namespace omath::source_engine
     }
     Mat4X4 CameraTrait::calc_projection_matrix(const projection::FieldOfView& fov,
                                                const projection::ViewPort& view_port, const float near,
-                                               const float far) noexcept
+                                               const float far, const NDCDepthRange ndc_depth_range) noexcept
     {
-        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far);
+        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far,
+                                                  ndc_depth_range);
     }
 } // namespace omath::source_engine

source/engines/unity_engine/formulas.cpp

@@ -35,8 +35,15 @@ namespace omath::unity_engine
                * 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
+                                              const float far, const NDCDepthRange ndc_depth_range) noexcept
     {
-        return omath::mat_perspective_right_handed(field_of_view, aspect_ratio, near, far);
+        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
+            return omath::mat_perspective_right_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+                    field_of_view, aspect_ratio, near, far);
+        if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return omath::mat_perspective_right_handed<float, MatStoreType::ROW_MAJOR,
+                                                       NDCDepthRange::NEGATIVE_ONE_TO_ONE>(field_of_view, aspect_ratio,
+                                                                                           near, far);
+        std::unreachable();
     }
 } // namespace omath::unity_engine

source/engines/unity_engine/traits/camera_trait.cpp

@@ -19,8 +19,9 @@ namespace omath::unity_engine
     }
     Mat4X4 CameraTrait::calc_projection_matrix(const projection::FieldOfView& fov,
                                                const projection::ViewPort& view_port, const float near,
-                                               const float far) noexcept
+                                               const float far, const NDCDepthRange ndc_depth_range) noexcept
     {
-        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far);
+        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far,
+                                                  ndc_depth_range);
     }
 } // namespace omath::unity_engine

source/engines/unreal_engine/formulas.cpp

@@ -35,8 +35,12 @@ namespace omath::unreal_engine
                * mat_rotation_axis_y<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
+                                              const float far, const NDCDepthRange ndc_depth_range) noexcept
     {
+        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
+            return mat_perspective_left_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+                    field_of_view, aspect_ratio, near, far);
+
         return mat_perspective_left_handed(field_of_view, aspect_ratio, near, far);
     }
 } // namespace omath::unreal_engine

source/engines/unreal_engine/traits/camera_trait.cpp

@@ -19,8 +19,9 @@ namespace omath::unreal_engine
     }
     Mat4X4 CameraTrait::calc_projection_matrix(const projection::FieldOfView& fov,
                                                const projection::ViewPort& view_port, const float near,
-                                               const float far) noexcept
+                                               const float far, const NDCDepthRange ndc_depth_range) noexcept
     {
-        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far);
+        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far,
+                                                  ndc_depth_range);
     }
 } // namespace omath::unreal_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/internal.hpp

@@ -1,17 +0,0 @@
-//
-// Created by orange on 07.03.2026.
-//
-#pragma once
-#ifdef OMATH_ENABLE_LUA
-#include <sol/sol.hpp>
-
-namespace omath::lua::detail
-{
-    void register_vec2(sol::table& omath_table);
-    void register_vec3(sol::table& omath_table);
-    void register_vec4(sol::table& omath_table);
-    void register_color(sol::table& omath_table);
-    void register_shared_types(sol::table& omath_table);
-    void register_engines(sol::table& omath_table);
-}
-#endif

source/lua/lua.cpp

@@ -3,23 +3,25 @@
 //
 #ifdef OMATH_ENABLE_LUA
 #include "lua.hpp"
-#include "internal.hpp"
+#include <sol/sol.hpp>
 #include "omath/lua/lua.hpp"
 
 namespace omath::lua
 {
-    void register_lib(lua_State* lua_state)
+    void LuaInterpreter::register_lib(lua_State* lua_state)
     {
         sol::state_view lua(lua_state);
 
         auto omath_table = lua["omath"].get_or_create<sol::table>();
 
-        detail::register_vec2(omath_table);
-        detail::register_vec3(omath_table);
-        detail::register_vec4(omath_table);
-        detail::register_color(omath_table);
-        detail::register_shared_types(omath_table);
-        detail::register_engines(omath_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

@@ -2,47 +2,45 @@
 // Created by orange on 07.03.2026.
 //
 #ifdef OMATH_ENABLE_LUA
-#include "internal.hpp"
+#include "omath/lua/lua.hpp"
+#include <sol/sol.hpp>
 #include <omath/utility/color.hpp>
 
-namespace omath::lua::detail
+namespace omath::lua
 {
-    void register_color(sol::table& omath_table)
+    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(); }),
+                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(); },
+                "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; }),
+                "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,
+                "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; }));
+                "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

@@ -2,25 +2,17 @@
 // Created by orange on 07.03.2026.
 //
 #ifdef OMATH_ENABLE_LUA
-#include "internal.hpp"
+#include "omath/lua/lua.hpp"
+#include "omath/omath.hpp"
+#include "omath/projection/error_codes.hpp"
 #include <omath/engines/cry_engine/camera.hpp>
-#include <omath/engines/cry_engine/constants.hpp>
 #include <omath/engines/frostbite_engine/camera.hpp>
-#include <omath/engines/frostbite_engine/constants.hpp>
 #include <omath/engines/iw_engine/camera.hpp>
-#include <omath/engines/iw_engine/constants.hpp>
 #include <omath/engines/opengl_engine/camera.hpp>
-#include <omath/engines/opengl_engine/constants.hpp>
-#include <omath/engines/opengl_engine/formulas.hpp>
 #include <omath/engines/source_engine/camera.hpp>
-#include <omath/engines/source_engine/constants.hpp>
 #include <omath/engines/unity_engine/camera.hpp>
-#include <omath/engines/unity_engine/constants.hpp>
 #include <omath/engines/unreal_engine/camera.hpp>
-#include <omath/engines/unreal_engine/constants.hpp>
-#include <omath/linear_algebra/vector3.hpp>
-#include <omath/projection/camera.hpp>
-#include <omath/projection/error_codes.hpp>
+#include <sol/sol.hpp>
 #include <string_view>
 
 namespace
@@ -28,14 +20,14 @@ 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 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>;
+    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>;
 
-    static std::string projection_error_to_string(omath::projection::Error e)
+    std::string projection_error_to_string(omath::projection::Error e)
     {
         switch (e)
         {
@@ -43,6 +35,8 @@ namespace
             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";
+        case omath::projection::Error::PERSPECTIVE_DIVIDER_LESS_EQ_ZERO:
+            return "perspective divider is less or equal to zero";
         }
         return "unknown error";
     }
@@ -51,27 +45,16 @@ namespace
     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,
+                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::subtraction,
-                [](const AngleType& a, const AngleType& b)
-                { return AngleType::from_degrees(a.as_degrees() - b.as_degrees()); },
-                sol::meta_function::unary_minus,
+                { 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()); });
+                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
@@ -83,10 +66,10 @@ namespace
         else
             engine_table["PitchAngle"] = types["PitchAngle89"];
 
-        engine_table["YawAngle"]    = types["YawRoll"];
-        engine_table["RollAngle"]   = types["YawRoll"];
+        engine_table["YawAngle"] = types["YawRoll"];
+        engine_table["RollAngle"] = types["YawRoll"];
         engine_table["FieldOfView"] = types["FieldOfView"];
-        engine_table["ViewPort"]    = types["ViewPort"];
+        engine_table["ViewPort"] = types["ViewPort"];
 
         if constexpr (std::is_same_v<ViewAnglesType, ViewAngles90>)
             engine_table["ViewAngles"] = types["ViewAngles90"];
@@ -100,40 +83,33 @@ namespace
     {
         using PitchAngle = typename EngineTraits::PitchAngle;
         using ViewAngles = typename EngineTraits::ViewAngles;
-        using Camera     = typename EngineTraits::Camera;
+        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>();
+        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,
+                                         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};
+                    if (result)
+                        return {*result, sol::nullopt};
                     return {sol::nullopt, projection_error_to_string(result.error())};
                 },
 
@@ -142,7 +118,8 @@ namespace
                         -> std::tuple<sol::optional<omath::Vector3<float>>, sol::optional<std::string>>
                 {
                     auto result = cam.screen_to_world(pos);
-                    if (result) return {*result, sol::nullopt};
+                    if (result)
+                        return {*result, sol::nullopt};
                     return {sol::nullopt, projection_error_to_string(result.error())};
                 });
     }
@@ -153,90 +130,102 @@ namespace
     {
         using PitchAngle = omath::opengl_engine::PitchAngle;
         using ViewAngles = omath::opengl_engine::ViewAngles;
-        using Camera     = omath::opengl_engine::Camera;
+        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;
+        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;
+        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;
+        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;
+        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;
+        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;
+        using Camera = omath::cry_engine::Camera;
     };
 } // namespace
 
-namespace omath::lua::detail
+namespace omath::lua
 {
-    void register_shared_types(sol::table& omath_table)
+    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<PitchAngle90>(t, "PitchAngle90");
+        register_angle<PitchAngle89>(t, "PitchAngle89");
         register_angle<SharedYawRoll>(t, "YawRoll");
-        register_angle<SharedFoV>(t,     "FieldOfView");
+        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; }),
+                "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; }));
+                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; }));
+                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 register_engines(sol::table& omath_table)
+    void LuaInterpreter::register_engines(sol::table& omath_table)
     {
-        register_engine<OpenGLEngineTraits>(omath_table,    "opengl");
+        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");
+        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

@@ -2,12 +2,13 @@
 // Created by orange on 07.03.2026.
 //
 #ifdef OMATH_ENABLE_LUA
-#include "internal.hpp"
+#include "omath/lua/lua.hpp"
 #include <omath/linear_algebra/vector2.hpp>
+#include <sol/sol.hpp>
 
-namespace omath::lua::detail
+namespace omath::lua
 {
-    void register_vec2(sol::table& omath_table)
+    void LuaInterpreter::register_vec2(sol::table& omath_table)
     {
         using Vec2f = omath::Vector2<float>;
 

source/lua/lua_vec3.cpp

@@ -2,12 +2,13 @@
 // Created by orange on 07.03.2026.
 //
 #ifdef OMATH_ENABLE_LUA
-#include "internal.hpp"
+#include "omath/lua/lua.hpp"
+#include <sol/sol.hpp>
 #include <omath/linear_algebra/vector3.hpp>
 
-namespace omath::lua::detail
+namespace omath::lua
 {
-    void register_vec3(sol::table& omath_table)
+    void LuaInterpreter::register_vec3(sol::table& omath_table)
     {
         using Vec3f = omath::Vector3<float>;
 

source/lua/lua_vec4.cpp

@@ -2,12 +2,13 @@
 // Created by orange on 07.03.2026.
 //
 #ifdef OMATH_ENABLE_LUA
-#include "internal.hpp"
+#include "omath/lua/lua.hpp"
+#include <sol/sol.hpp>
 #include <omath/linear_algebra/vector4.hpp>
 
-namespace omath::lua::detail
+namespace omath::lua
 {
-    void register_vec4(sol::table& omath_table)
+    void LuaInterpreter::register_vec4(sol::table& omath_table)
     {
         using Vec4f = omath::Vector4<float>;
 

source/pathfinding/a_star.cpp

@@ -87,11 +87,11 @@ namespace omath::pathfinding
 
             const auto current_node = current_node_it->second;
 
+            closed_list.emplace(current, current_node);
+
             if (current == end_vertex)
                 return reconstruct_final_path(closed_list, current);
 
-            closed_list.emplace(current, current_node);
-
             for (const auto& neighbor: nav_mesh.get_neighbors(current))
             {
                 if (closed_list.contains(neighbor))

source/pathfinding/navigation_mesh.cpp

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

source/pathfinding/walk_bot.cpp

@@ -0,0 +1,92 @@
+//
+// Created by orange on 4/12/2026.
+//
+#include "omath/pathfinding/walk_bot.hpp"
+#include "omath/pathfinding/a_star.hpp"
+
+namespace omath::pathfinding
+{
+
+    WalkBot::WalkBot(const std::shared_ptr<NavigationMesh>& mesh, const float min_node_distance)
+        : m_nav_mesh(mesh), m_min_node_distance(min_node_distance) {}
+
+    void WalkBot::set_nav_mesh(const std::shared_ptr<NavigationMesh>& mesh)
+    {
+        m_nav_mesh = mesh;
+    }
+
+    void WalkBot::set_min_node_distance(const float distance)
+    {
+        m_min_node_distance = distance;
+    }
+
+    void WalkBot::set_target(const Vector3<float>& target)
+    {
+        m_target = target;
+    }
+
+    void WalkBot::reset()
+    {
+        m_last_visited.reset();
+    }
+
+    void WalkBot::update(const Vector3<float>& bot_position)
+    {
+        if (!m_target.has_value())
+            return;
+
+        if (m_target->distance_to(bot_position) <= m_min_node_distance)
+        {
+            if (m_on_status_update.has_value())
+                m_on_status_update->operator()(WalkBotStatus::FINISHED);
+            return;
+        }
+
+        if (!m_on_next_path_node.has_value())
+            return;
+
+        const auto nav_mesh = m_nav_mesh.lock();
+        if (!nav_mesh)
+        {
+            if (m_on_status_update.has_value())
+                m_on_status_update->operator()(WalkBotStatus::IDLE);
+            return;
+        }
+
+        const auto path = Astar::find_path(bot_position, *m_target, *nav_mesh);
+        if (path.empty())
+        {
+            if (m_on_status_update.has_value())
+                m_on_status_update->operator()(WalkBotStatus::IDLE);
+            return;
+        }
+
+        const auto& nearest = path.front();
+
+        // Record the nearest node as visited once we are close enough to it.
+        if (nearest.distance_to(bot_position) <= m_min_node_distance)
+            m_last_visited = nearest;
+
+        // If the nearest node was already visited, advance to the next one so
+        // we never oscillate back to a node we just left.
+        // If the bot was displaced (blown back), nearest will be an unvisited
+        // node, so we route to it first before continuing forward.
+        if (m_last_visited.has_value() && *m_last_visited == nearest && path.size() > 1)
+            m_on_next_path_node->operator()(path[1]);
+        else
+            m_on_next_path_node->operator()(nearest);
+
+        if (m_on_status_update.has_value())
+            m_on_status_update->operator()(WalkBotStatus::PATHING);
+    }
+
+    void WalkBot::on_path(const std::function<void(const Vector3<float>&)>& callback)
+    {
+        m_on_next_path_node = callback;
+    }
+
+    void WalkBot::on_status(const std::function<void(WalkBotStatus)>& callback)
+    {
+        m_on_status_update = callback;
+    }
+} // namespace omath::pathfinding