added files

.idea/editor.xml

@@ -103,7 +103,7 @@
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppImplicitDefaultConstructorNotAvailable/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIncompatiblePointerConversion/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIncompleteSwitchStatement/@EntryIndexedValue" value="WARNING" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppInconsistentNaming/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppInconsistentNaming/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIntegralToPointerConversion/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppInvalidLineContinuation/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppJoinDeclarationAndAssignment/@EntryIndexedValue" value="SUGGESTION" type="string" />
@@ -202,7 +202,7 @@
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticDataMemberInUnnamedStruct/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticSpecifierOnAnonymousNamespaceMember/@EntryIndexedValue" value="SUGGESTION" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStringLiteralToCharPointerConversion/@EntryIndexedValue" value="WARNING" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTabsAreDisallowed/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTabsAreDisallowed/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateArgumentsCanBeDeduced/@EntryIndexedValue" value="HINT" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateParameterNeverUsed/@EntryIndexedValue" value="HINT" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateParameterShadowing/@EntryIndexedValue" value="WARNING" type="string" />
@@ -216,7 +216,7 @@
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnmatchedPragmaEndRegionDirective/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnmatchedPragmaRegionDirective/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnnamedNamespaceInHeaderFile/@EntryIndexedValue" value="WARNING" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnnecessaryWhitespace/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnnecessaryWhitespace/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnsignedZeroComparison/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnusedIncludeDirective/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAlgorithmWithCount/@EntryIndexedValue" value="SUGGESTION" type="string" />

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_abs_forward();
+            move_dir += camera.get_forward();
 
         if (glfwGetKey(window, GLFW_KEY_A))
-            move_dir -= camera.get_abs_right();
+            move_dir -= camera.get_right();
 
         if (glfwGetKey(window, GLFW_KEY_S))
-            move_dir -= camera.get_abs_forward();
+            move_dir -= camera.get_forward();
 
         if (glfwGetKey(window, GLFW_KEY_D))
-            move_dir += camera.get_abs_right();
+            move_dir += camera.get_right();
 
         if (glfwGetKey(window, GLFW_KEY_SPACE))
-            move_dir += camera.get_abs_up();
+            move_dir += camera.get_up();
 
         if (glfwGetKey(window, GLFW_KEY_LEFT_CONTROL))
-            move_dir -= camera.get_abs_up();
+            move_dir -= camera.get_up();
 
 
         auto delta = glfwGetTime() - old_mouse_time;

include/omath/3d_primitives/aabb.hpp

@@ -7,8 +7,6 @@
 
 namespace omath::primitives
 {
-    enum class UpAxis { X, Y, Z };
-
     template<class Type>
     struct Aabb final
     {
@@ -26,42 +24,5 @@ namespace omath::primitives
         {
             return (max - min) / static_cast<Type>(2);
         }
-
-        template<UpAxis Up = UpAxis::Y>
-        [[nodiscard]]
-        constexpr Vector3<Type> top() const noexcept
-        {
-            const auto aabb_center = center();
-            if constexpr (Up == UpAxis::Z)
-                return {aabb_center.x, aabb_center.y, max.z};
-            else if constexpr (Up == UpAxis::X)
-                return {max.x, aabb_center.y, aabb_center.z};
-            else if constexpr (Up == UpAxis::Y)
-                return {aabb_center.x, max.y, aabb_center.z};
-            else
-                std::unreachable();
-        }
-
-        template<UpAxis Up = UpAxis::Y>
-        [[nodiscard]]
-        constexpr Vector3<Type> bottom() const noexcept
-        {
-            const auto aabb_center = center();
-            if constexpr (Up == UpAxis::Z)
-                return {aabb_center.x, aabb_center.y, min.z};
-            else if constexpr (Up == UpAxis::X)
-                return {min.x, aabb_center.y, aabb_center.z};
-            else if constexpr (Up == UpAxis::Y)
-                return {aabb_center.x, min.y, aabb_center.z};
-            else
-                std::unreachable();
-        }
-
-        [[nodiscard]]
-        constexpr bool is_collide(const Aabb& other) const noexcept
-        {
-            return min.x <= other.max.x && max.x >= other.min.x &&
-                min.y <= other.max.y && max.y >= other.min.y &&min.z <= other.max.z && max.z >= other.min.z;
-        }
     };
 } // namespace omath::primitives

include/omath/collision/bvh_tree.hpp

@@ -0,0 +1,412 @@
+//
+// Created by Orange on 04/08/2026.
+//
+
+#pragma once
+#include "omath/3d_primitives/aabb.hpp"
+#include "omath/collision/line_tracer.hpp"
+#include <algorithm>
+#include <cstdint>
+#include <numeric>
+#include <span>
+#include <vector>
+
+namespace omath::collision
+{
+    template<class Type = float>
+    class BvhTree final
+    {
+    public:
+        using AabbType = primitives::Aabb<Type>;
+
+        struct HitResult
+        {
+            std::size_t object_index;
+            Type distance_sqr;
+        };
+
+        BvhTree() = default;
+
+        explicit BvhTree(std::span<const AabbType> aabbs)
+            : m_aabbs(aabbs.begin(), aabbs.end())
+        {
+            if (aabbs.empty())
+                return;
+
+            m_indices.resize(aabbs.size());
+            std::iota(m_indices.begin(), m_indices.end(), std::size_t{0});
+
+            m_nodes.reserve(aabbs.size() * 2);
+
+            build(m_aabbs, 0, aabbs.size());
+        }
+
+        [[nodiscard]]
+        std::vector<std::size_t> query_overlaps(const AabbType& query_aabb) const
+        {
+            std::vector<std::size_t> results;
+
+            if (m_nodes.empty())
+                return results;
+
+            query_overlaps_impl(0, query_aabb, results);
+            return results;
+        }
+
+        template<class RayType = Ray<>>
+        [[nodiscard]]
+        std::vector<HitResult> query_ray(const RayType& ray) const
+        {
+            std::vector<HitResult> results;
+
+            if (m_nodes.empty())
+                return results;
+
+            query_ray_impl(0, ray, results);
+
+            std::ranges::sort(results, [](const HitResult& a, const HitResult& b)
+                              { return a.distance_sqr < b.distance_sqr; });
+            return results;
+        }
+
+        [[nodiscard]]
+        std::size_t node_count() const noexcept
+        {
+            return m_nodes.size();
+        }
+
+        [[nodiscard]]
+        bool empty() const noexcept
+        {
+            return m_nodes.empty();
+        }
+
+    private:
+        static constexpr std::size_t k_sah_bucket_count = 12;
+        static constexpr std::size_t k_leaf_threshold = 1;
+        static constexpr std::size_t k_null_index = std::numeric_limits<std::size_t>::max();
+
+        struct Node
+        {
+            AabbType bounds;
+            std::size_t left = k_null_index;
+            std::size_t right = k_null_index;
+
+            // For leaf nodes: index range into m_indices
+            std::size_t first_index = 0;
+            std::size_t index_count = 0;
+
+            [[nodiscard]]
+            bool is_leaf() const noexcept
+            {
+                return left == k_null_index;
+            }
+        };
+
+        struct SahBucket
+        {
+            AabbType bounds = {
+                {std::numeric_limits<Type>::max(), std::numeric_limits<Type>::max(),
+                 std::numeric_limits<Type>::max()},
+                {std::numeric_limits<Type>::lowest(), std::numeric_limits<Type>::lowest(),
+                 std::numeric_limits<Type>::lowest()}
+            };
+            std::size_t count = 0;
+        };
+
+        [[nodiscard]]
+        static constexpr Type surface_area(const AabbType& aabb) noexcept
+        {
+            const auto d = aabb.max - aabb.min;
+            return static_cast<Type>(2) * (d.x * d.y + d.y * d.z + d.z * d.x);
+        }
+
+        [[nodiscard]]
+        static constexpr AabbType merge(const AabbType& a, const AabbType& b) noexcept
+        {
+            return {
+                {std::min(a.min.x, b.min.x), std::min(a.min.y, b.min.y), std::min(a.min.z, b.min.z)},
+                {std::max(a.max.x, b.max.x), std::max(a.max.y, b.max.y), std::max(a.max.z, b.max.z)}
+            };
+        }
+
+        [[nodiscard]]
+        static constexpr bool overlaps(const AabbType& a, const AabbType& b) noexcept
+        {
+            return a.min.x <= b.max.x && a.max.x >= b.min.x
+                && a.min.y <= b.max.y && a.max.y >= b.min.y
+                && a.min.z <= b.max.z && a.max.z >= b.min.z;
+        }
+
+        std::size_t build(std::span<const AabbType> aabbs, std::size_t begin, std::size_t end)
+        {
+            const auto node_idx = m_nodes.size();
+            m_nodes.emplace_back();
+
+            auto& node = m_nodes[node_idx];
+            node.bounds = compute_bounds(aabbs, begin, end);
+
+            const auto count = end - begin;
+
+            if (count <= k_leaf_threshold)
+            {
+                node.first_index = begin;
+                node.index_count = count;
+                return node_idx;
+            }
+
+            // Find best SAH split
+            const auto centroid_bounds = compute_centroid_bounds(aabbs, begin, end);
+            const auto split = find_best_split(aabbs, begin, end, node.bounds, centroid_bounds);
+
+            // If SAH says don't split, make a leaf
+            if (!split.has_value())
+            {
+                node.first_index = begin;
+                node.index_count = count;
+                return node_idx;
+            }
+
+            const auto [axis, split_pos] = split.value();
+
+            // Partition indices around the split
+            const auto mid = partition_indices(aabbs, begin, end, axis, split_pos);
+
+            // Degenerate partition fallback: split in the middle
+            const auto actual_mid = (mid == begin || mid == end) ? begin + count / 2 : mid;
+
+            // Build children — careful: m_nodes may reallocate, so don't hold references across build calls
+            const auto left_idx = build(aabbs, begin, actual_mid);
+            const auto right_idx = build(aabbs, actual_mid, end);
+
+            m_nodes[node_idx].left = left_idx;
+            m_nodes[node_idx].right = right_idx;
+            m_nodes[node_idx].index_count = 0;
+
+            return node_idx;
+        }
+
+        [[nodiscard]]
+        AabbType compute_bounds(std::span<const AabbType> aabbs, std::size_t begin, std::size_t end) const
+        {
+            AabbType bounds = {
+                {std::numeric_limits<Type>::max(), std::numeric_limits<Type>::max(),
+                 std::numeric_limits<Type>::max()},
+                {std::numeric_limits<Type>::lowest(), std::numeric_limits<Type>::lowest(),
+                 std::numeric_limits<Type>::lowest()}
+            };
+
+            for (auto i = begin; i < end; ++i)
+                bounds = merge(bounds, aabbs[m_indices[i]]);
+
+            return bounds;
+        }
+
+        [[nodiscard]]
+        AabbType compute_centroid_bounds(std::span<const AabbType> aabbs, std::size_t begin, std::size_t end) const
+        {
+            AabbType bounds = {
+                {std::numeric_limits<Type>::max(), std::numeric_limits<Type>::max(),
+                 std::numeric_limits<Type>::max()},
+                {std::numeric_limits<Type>::lowest(), std::numeric_limits<Type>::lowest(),
+                 std::numeric_limits<Type>::lowest()}
+            };
+
+            for (auto i = begin; i < end; ++i)
+            {
+                const auto c = aabbs[m_indices[i]].center();
+                bounds.min.x = std::min(bounds.min.x, c.x);
+                bounds.min.y = std::min(bounds.min.y, c.y);
+                bounds.min.z = std::min(bounds.min.z, c.z);
+                bounds.max.x = std::max(bounds.max.x, c.x);
+                bounds.max.y = std::max(bounds.max.y, c.y);
+                bounds.max.z = std::max(bounds.max.z, c.z);
+            }
+
+            return bounds;
+        }
+
+        struct SplitResult
+        {
+            int axis;
+            Type position;
+        };
+
+        [[nodiscard]]
+        std::optional<SplitResult> find_best_split(std::span<const AabbType> aabbs, std::size_t begin,
+                                                   std::size_t end, const AabbType& node_bounds,
+                                                   const AabbType& centroid_bounds) const
+        {
+            const auto count = end - begin;
+            const auto leaf_cost = static_cast<Type>(count);
+            auto best_cost = leaf_cost;
+            std::optional<SplitResult> best_split;
+
+            for (int axis = 0; axis < 3; ++axis)
+            {
+                const auto axis_min = get_component(centroid_bounds.min, axis);
+                const auto axis_max = get_component(centroid_bounds.max, axis);
+
+                if (axis_max - axis_min < std::numeric_limits<Type>::epsilon())
+                    continue;
+
+                SahBucket buckets[k_sah_bucket_count] = {};
+
+                const auto inv_extent = static_cast<Type>(k_sah_bucket_count) / (axis_max - axis_min);
+
+                // Fill buckets
+                for (auto i = begin; i < end; ++i)
+                {
+                    const auto centroid = get_component(aabbs[m_indices[i]].center(), axis);
+                    auto bucket_idx = static_cast<std::size_t>((centroid - axis_min) * inv_extent);
+                    bucket_idx = std::min(bucket_idx, k_sah_bucket_count - 1);
+
+                    buckets[bucket_idx].count++;
+                    if (buckets[bucket_idx].count == 1)
+                        buckets[bucket_idx].bounds = aabbs[m_indices[i]];
+                    else
+                        buckets[bucket_idx].bounds = merge(buckets[bucket_idx].bounds, aabbs[m_indices[i]]);
+                }
+
+                // Evaluate split costs using prefix/suffix sweeps
+                AabbType prefix_bounds[k_sah_bucket_count - 1];
+                std::size_t prefix_count[k_sah_bucket_count - 1];
+
+                prefix_bounds[0] = buckets[0].bounds;
+                prefix_count[0] = buckets[0].count;
+                for (std::size_t i = 1; i < k_sah_bucket_count - 1; ++i)
+                {
+                    prefix_bounds[i] = (buckets[i].count > 0)
+                                           ? merge(prefix_bounds[i - 1], buckets[i].bounds)
+                                           : prefix_bounds[i - 1];
+                    prefix_count[i] = prefix_count[i - 1] + buckets[i].count;
+                }
+
+                AabbType suffix_bounds = buckets[k_sah_bucket_count - 1].bounds;
+                std::size_t suffix_count = buckets[k_sah_bucket_count - 1].count;
+
+                const auto parent_area = surface_area(node_bounds);
+                const auto inv_parent_area = static_cast<Type>(1) / parent_area;
+
+                for (auto i = static_cast<int>(k_sah_bucket_count) - 2; i >= 0; --i)
+                {
+                    const auto left_count = prefix_count[i];
+                    const auto right_count = suffix_count;
+
+                    if (left_count == 0 || right_count == 0)
+                    {
+                        if (i > 0)
+                        {
+                            suffix_bounds = (buckets[i].count > 0)
+                                                ? merge(suffix_bounds, buckets[i].bounds)
+                                                : suffix_bounds;
+                            suffix_count += buckets[i].count;
+                        }
+                        continue;
+                    }
+
+                    const auto cost = static_cast<Type>(1)
+                                      + (static_cast<Type>(left_count) * surface_area(prefix_bounds[i])
+                                         + static_cast<Type>(right_count) * surface_area(suffix_bounds))
+                                            * inv_parent_area;
+
+                    if (cost < best_cost)
+                    {
+                        best_cost = cost;
+                        best_split = SplitResult{
+                            axis,
+                            axis_min + static_cast<Type>(i + 1) * (axis_max - axis_min)
+                                           / static_cast<Type>(k_sah_bucket_count)
+                        };
+                    }
+
+                    suffix_bounds = (buckets[i].count > 0)
+                                        ? merge(suffix_bounds, buckets[i].bounds)
+                                        : suffix_bounds;
+                    suffix_count += buckets[i].count;
+                }
+            }
+
+            return best_split;
+        }
+
+        std::size_t partition_indices(std::span<const AabbType> aabbs, std::size_t begin, std::size_t end,
+                                      int axis, Type split_pos)
+        {
+            auto it = std::partition(m_indices.begin() + static_cast<std::ptrdiff_t>(begin),
+                                     m_indices.begin() + static_cast<std::ptrdiff_t>(end),
+                                     [&](std::size_t idx)
+                                     { return get_component(aabbs[idx].center(), axis) < split_pos; });
+
+            return static_cast<std::size_t>(std::distance(m_indices.begin(), it));
+        }
+
+        [[nodiscard]]
+        static constexpr Type get_component(const Vector3<Type>& v, int axis) noexcept
+        {
+            switch (axis)
+            {
+            case 0:
+                return v.x;
+            case 1:
+                return v.y;
+            default:
+                return v.z;
+            }
+        }
+
+        void query_overlaps_impl(std::size_t node_idx, const AabbType& query_aabb,
+                                 std::vector<std::size_t>& results) const
+        {
+            const auto& node = m_nodes[node_idx];
+
+            if (!overlaps(node.bounds, query_aabb))
+                return;
+
+            if (node.is_leaf())
+            {
+                for (auto i = node.first_index; i < node.first_index + node.index_count; ++i)
+                    if (overlaps(query_aabb, m_aabbs[m_indices[i]]))
+                        results.push_back(m_indices[i]);
+                return;
+            }
+
+            query_overlaps_impl(node.left, query_aabb, results);
+            query_overlaps_impl(node.right, query_aabb, results);
+        }
+
+        template<class RayType>
+        void query_ray_impl(std::size_t node_idx, const RayType& ray,
+                            std::vector<HitResult>& results) const
+        {
+            const auto& node = m_nodes[node_idx];
+
+            // Quick AABB-ray rejection using the slab method
+            const auto hit = LineTracer<RayType>::get_ray_hit_point(ray, node.bounds);
+            if (hit == ray.end)
+                return;
+
+            if (node.is_leaf())
+            {
+                for (auto i = node.first_index; i < node.first_index + node.index_count; ++i)
+                {
+                    const auto leaf_hit = LineTracer<RayType>::get_ray_hit_point(
+                        ray, m_aabbs[m_indices[i]]);
+                    if (leaf_hit != ray.end)
+                    {
+                        const auto diff = leaf_hit - ray.start;
+                        results.push_back({m_indices[i], diff.dot(diff)});
+                    }
+                }
+                return;
+            }
+
+            query_ray_impl(node.left, ray, results);
+            query_ray_impl(node.right, ray, results);
+        }
+
+        std::vector<Node> m_nodes;
+        std::vector<std::size_t> m_indices;
+        std::vector<AabbType> m_aabbs;
+    };
+} // namespace omath::collision

include/omath/engines/cry_engine/camera.hpp

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

include/omath/engines/frostbite_engine/camera.hpp

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

include/omath/engines/iw_engine/camera.hpp

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

include/omath/engines/opengl_engine/camera.hpp

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

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, NDCDepthRange::ZERO_TO_ONE>;
+    using Camera =  projection::Camera<Mat4X4, ViewAngles, CameraTrait, false, NDCDepthRange::ZERO_TO_ONE>;
 } // namespace omath::source_engine

include/omath/engines/unity_engine/camera.hpp

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

include/omath/engines/unreal_engine/camera.hpp

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

include/omath/omath.hpp

@@ -35,6 +35,7 @@
 #include "omath/collision/line_tracer.hpp"
 #include "omath/collision/gjk_algorithm.hpp"
 #include "omath/collision/epa_algorithm.hpp"
+#include "omath/collision/bvh_tree.hpp"
 // Pathfinding algorithms
 #include "omath/pathfinding/a_star.hpp"
 #include "omath/pathfinding/navigation_mesh.hpp"

include/omath/pathfinding/walk_bot.hpp

@@ -1,46 +0,0 @@
-//
-// 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/projection/camera.hpp

@@ -42,12 +42,6 @@ namespace omath::projection
         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,
@@ -64,9 +58,8 @@ namespace omath::projection
                 requires noexcept(T::calc_projection_matrix(fov, viewport, znear, zfar, ndc_depth_range));
             };
 
-    template<class Mat4X4Type, class ViewAnglesType, class TraitClass,
+    template<class Mat4X4Type, class ViewAnglesType, class TraitClass, bool inverted_z = false,
-             NDCDepthRange depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE,
+             NDCDepthRange depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
-             CameraAxes axes = {}>
     requires CameraEngineConcept<TraitClass, Mat4X4Type, ViewAnglesType>
     class Camera final
     {
@@ -90,46 +83,6 @@ 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);
@@ -146,6 +99,9 @@ namespace omath::projection
         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]};
         }
 
@@ -162,27 +118,6 @@ 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
         {

scripts/gource-timelapse.sh

@@ -1,61 +0,0 @@
-#!/bin/bash
-
-# =============================================================================
-# Gource Timelapse — renders the repository history as a video
-# Requires: gource, ffmpeg
-# =============================================================================
-
-set -euo pipefail
-
-# --- Config (override via env vars) ---
-OUTPUT="${OUTPUT:-gource-timelapse.mp4}"
-SECONDS_PER_DAY="${SECONDS_PER_DAY:-0.1}"
-RESOLUTION="${RESOLUTION:-1920x1080}"
-FPS="${FPS:-60}"
-TITLE="${TITLE:-omath}"
-
-# --- Dependency checks ---
-for cmd in gource ffmpeg; do
-    if ! command -v "$cmd" &>/dev/null; then
-        echo "Error: '$cmd' is not installed."
-        echo "  macOS:  brew install $cmd"
-        echo "  Linux:  sudo apt install $cmd"
-        exit 1
-    fi
-done
-
-echo "----------------------------------------------------"
-echo "Rendering gource timelapse → $OUTPUT"
-echo "  Resolution : $RESOLUTION"
-echo "  FPS        : $FPS"
-echo "  Speed      : ${SECONDS_PER_DAY}s per day"
-echo "----------------------------------------------------"
-
-gource \
-    --title "$TITLE" \
-    --seconds-per-day "$SECONDS_PER_DAY" \
-    --auto-skip-seconds 0.1 \
-    --time-scale 3 \
-    --max-files 0 \
-    --hide filenames \
-    --date-format "%Y-%m-%d" \
-    --multi-sampling \
-    --bloom-multiplier 0.5 \
-    --elasticity 0.05 \
-    --${RESOLUTION%x*}x${RESOLUTION#*x} \
-    --output-framerate "$FPS" \
-    --output-ppm-stream - \
-    | ffmpeg -y \
-        -r "$FPS" \
-        -f image2pipe \
-        -vcodec ppm \
-        -i - \
-        -vcodec libx264 \
-        -preset fast \
-        -pix_fmt yuv420p \
-        -crf 18 \
-        "$OUTPUT"
-
-echo "----------------------------------------------------"
-echo "Done: $OUTPUT"
-echo "----------------------------------------------------"

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/walk_bot.cpp

@@ -1,92 +0,0 @@
-//
-// 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

tests/engines/unit_test_frostbite_engine.cpp

@@ -453,184 +453,3 @@ TEST(unit_test_frostbite_engine, ViewAnglesAsVector3NormalizedYaw)
 
     EXPECT_NEAR(vec.y, -90.f, 0.01f);
 }
-
-// ---------------------------------------------------------------------------
-// extract_projection_params
-// ---------------------------------------------------------------------------
-
-// Tolerance: tan/atan round-trip in single precision introduces ~1e-5 rad
-// error, which is ~5.7e-4 degrees.
-static constexpr float k_fov_tolerance_deg  = 0.001f;
-static constexpr float k_aspect_tolerance   = 1e-5f;
-
-TEST(unit_test_frostbite_engine, ExtractProjectionParams_BasicRoundTrip)
-{
-    // Build a matrix with known inputs and verify both outputs are recovered.
-    constexpr float fov_deg    = 60.f;
-    constexpr float aspect     = 16.f / 9.f;
-    const auto mat = omath::frostbite_engine::calc_perspective_projection_matrix(
-        fov_deg, aspect, 0.1f, 1000.f, omath::NDCDepthRange::ZERO_TO_ONE);
-
-    const auto [fov, ar] = omath::frostbite_engine::Camera::extract_projection_params(mat);
-
-    EXPECT_NEAR(fov.as_degrees(), fov_deg, k_fov_tolerance_deg);
-    EXPECT_NEAR(ar, aspect, k_aspect_tolerance);
-}
-
-TEST(unit_test_frostbite_engine, ExtractProjectionParams_NegOneToOneDepthRange)
-{
-    // The FOV/aspect encoding in rows 0 and 1 is identical for both NDC
-    // depth ranges, so extraction must work the same way.
-    constexpr float fov_deg = 75.f;
-    constexpr float aspect  = 4.f / 3.f;
-    const auto mat = omath::frostbite_engine::calc_perspective_projection_matrix(
-        fov_deg, aspect, 0.1f, 500.f, omath::NDCDepthRange::NEGATIVE_ONE_TO_ONE);
-
-    const auto [fov, ar] = omath::frostbite_engine::Camera::extract_projection_params(mat);
-
-    EXPECT_NEAR(fov.as_degrees(), fov_deg, k_fov_tolerance_deg);
-    EXPECT_NEAR(ar, aspect, k_aspect_tolerance);
-}
-
-TEST(unit_test_frostbite_engine, ExtractProjectionParams_Fov45)
-{
-    constexpr float fov_deg = 45.f;
-    constexpr float aspect  = 16.f / 9.f;
-    const auto mat = omath::frostbite_engine::calc_perspective_projection_matrix(
-        fov_deg, aspect, 0.01f, 1000.f);
-
-    const auto [fov, ar] = omath::frostbite_engine::Camera::extract_projection_params(mat);
-
-    EXPECT_NEAR(fov.as_degrees(), fov_deg, k_fov_tolerance_deg);
-    EXPECT_NEAR(ar, aspect, k_aspect_tolerance);
-}
-
-TEST(unit_test_frostbite_engine, ExtractProjectionParams_Fov90)
-{
-    constexpr float fov_deg = 90.f;
-    constexpr float aspect  = 16.f / 9.f;
-    const auto mat = omath::frostbite_engine::calc_perspective_projection_matrix(
-        fov_deg, aspect, 0.01f, 1000.f);
-
-    const auto [fov, ar] = omath::frostbite_engine::Camera::extract_projection_params(mat);
-
-    EXPECT_NEAR(fov.as_degrees(), fov_deg, k_fov_tolerance_deg);
-    EXPECT_NEAR(ar, aspect, k_aspect_tolerance);
-}
-
-TEST(unit_test_frostbite_engine, ExtractProjectionParams_Fov120)
-{
-    constexpr float fov_deg = 120.f;
-    constexpr float aspect  = 16.f / 9.f;
-    const auto mat = omath::frostbite_engine::calc_perspective_projection_matrix(
-        fov_deg, aspect, 0.01f, 1000.f);
-
-    const auto [fov, ar] = omath::frostbite_engine::Camera::extract_projection_params(mat);
-
-    EXPECT_NEAR(fov.as_degrees(), fov_deg, k_fov_tolerance_deg);
-    EXPECT_NEAR(ar, aspect, k_aspect_tolerance);
-}
-
-TEST(unit_test_frostbite_engine, ExtractProjectionParams_AspectRatio_4by3)
-{
-    constexpr float fov_deg = 60.f;
-    constexpr float aspect  = 4.f / 3.f;
-    const auto mat = omath::frostbite_engine::calc_perspective_projection_matrix(
-        fov_deg, aspect, 0.1f, 500.f);
-
-    const auto [fov, ar] = omath::frostbite_engine::Camera::extract_projection_params(mat);
-
-    EXPECT_NEAR(fov.as_degrees(), fov_deg, k_fov_tolerance_deg);
-    EXPECT_NEAR(ar, aspect, k_aspect_tolerance);
-}
-
-TEST(unit_test_frostbite_engine, ExtractProjectionParams_AspectRatio_Ultrawide)
-{
-    constexpr float fov_deg = 90.f;
-    constexpr float aspect  = 21.f / 9.f;
-    const auto mat = omath::frostbite_engine::calc_perspective_projection_matrix(
-        fov_deg, aspect, 0.1f, 500.f);
-
-    const auto [fov, ar] = omath::frostbite_engine::Camera::extract_projection_params(mat);
-
-    EXPECT_NEAR(fov.as_degrees(), fov_deg, k_fov_tolerance_deg);
-    EXPECT_NEAR(ar, aspect, k_aspect_tolerance);
-}
-
-TEST(unit_test_frostbite_engine, ExtractProjectionParams_AspectRatio_Square)
-{
-    constexpr float fov_deg = 90.f;
-    constexpr float aspect  = 1.f;
-    const auto mat = omath::frostbite_engine::calc_perspective_projection_matrix(
-        fov_deg, aspect, 0.1f, 500.f);
-
-    const auto [fov, ar] = omath::frostbite_engine::Camera::extract_projection_params(mat);
-
-    EXPECT_NEAR(fov.as_degrees(), fov_deg, k_fov_tolerance_deg);
-    EXPECT_NEAR(ar, aspect, k_aspect_tolerance);
-}
-
-TEST(unit_test_frostbite_engine, ExtractProjectionParams_FovAndAspectAreIndependent)
-{
-    // Changing only FOV must not affect recovered aspect ratio, and vice versa.
-    constexpr float aspect = 16.f / 9.f;
-
-    for (const float fov_deg : {45.f, 60.f, 90.f, 110.f})
-    {
-        const auto mat = omath::frostbite_engine::calc_perspective_projection_matrix(
-            fov_deg, aspect, 0.1f, 1000.f);
-        const auto [fov, ar] = omath::frostbite_engine::Camera::extract_projection_params(mat);
-
-        EXPECT_NEAR(fov.as_degrees(), fov_deg, k_fov_tolerance_deg);
-        EXPECT_NEAR(ar, aspect, k_aspect_tolerance);
-    }
-}
-
-TEST(unit_test_frostbite_engine, ExtractProjectionParams_ViaCamera_RoundTrip)
-{
-    // End-to-end: construct a Camera, retrieve its projection matrix, then
-    // recover the FOV and aspect ratio and compare against the original inputs.
-    constexpr auto fov_in  = omath::projection::FieldOfView::from_degrees(90.f);
-    constexpr float aspect = 1920.f / 1080.f;
-
-    const auto cam = omath::frostbite_engine::Camera(
-        {0.f, 0.f, 0.f}, {}, {1920.f, 1080.f}, fov_in, 0.01f, 1000.f);
-
-    const auto [fov_out, ar_out] =
-        omath::frostbite_engine::Camera::extract_projection_params(cam.get_projection_matrix());
-
-    EXPECT_NEAR(fov_out.as_degrees(), fov_in.as_degrees(), k_fov_tolerance_deg);
-    EXPECT_NEAR(ar_out, aspect, k_aspect_tolerance);
-}
-
-TEST(unit_test_frostbite_engine, ExtractProjectionParams_ViaCamera_AfterFovChange)
-{
-    // Verify that the extracted FOV tracks the camera's FOV after set_field_of_view().
-    auto cam = omath::frostbite_engine::Camera(
-        {0.f, 0.f, 0.f}, {}, {1920.f, 1080.f},
-        omath::projection::FieldOfView::from_degrees(60.f), 0.01f, 1000.f);
-
-    cam.set_field_of_view(omath::projection::FieldOfView::from_degrees(110.f));
-
-    const auto [fov, ar] =
-        omath::frostbite_engine::Camera::extract_projection_params(cam.get_projection_matrix());
-
-    EXPECT_NEAR(fov.as_degrees(), 110.f, k_fov_tolerance_deg);
-    EXPECT_NEAR(ar, 1920.f / 1080.f, k_aspect_tolerance);
-}
-
-TEST(unit_test_frostbite_engine, ExtractProjectionParams_ViaCamera_AfterViewportChange)
-{
-    // Verify that the extracted aspect ratio tracks the viewport after set_view_port().
-    auto cam = omath::frostbite_engine::Camera(
-        {0.f, 0.f, 0.f}, {}, {1920.f, 1080.f},
-        omath::projection::FieldOfView::from_degrees(90.f), 0.01f, 1000.f);
-
-    cam.set_view_port({1280.f, 720.f});
-
-    const auto [fov, ar] =
-        omath::frostbite_engine::Camera::extract_projection_params(cam.get_projection_matrix());
-
-    EXPECT_NEAR(fov.as_degrees(), 90.f, k_fov_tolerance_deg);
-    EXPECT_NEAR(ar, 1280.f / 720.f, k_aspect_tolerance);
-}

tests/general/mem_fd_helper.hpp

@@ -20,19 +20,19 @@
 #include <vector>
 
 #if defined(__linux__)
-#include <fcntl.h>
+#  include <unistd.h>
-#include <unistd.h>
+#  include <fcntl.h>
-#if defined(__ANDROID__)
+#  if defined(__ANDROID__)
-#if __ANDROID_API__ >= 30
+#    if __ANDROID_API__ >= 30
-#include <sys/mman.h>
+#      include <sys/mman.h>
-#define OMATH_TEST_USE_MEMFD 1
+#      define OMATH_TEST_USE_MEMFD 1
-#endif
+#    endif
 // Android < 30: fall through to tmpfile() path below
-#else
+#  else
 // Desktop Linux: memfd_create available since glibc 2.27 / kernel 3.17
-#include <sys/mman.h>
+#    include <sys/mman.h>
-#define OMATH_TEST_USE_MEMFD 1
+#    define OMATH_TEST_USE_MEMFD 1
-#endif
+#  endif
 #endif
 
 class MemFdFile
@@ -57,11 +57,9 @@ public:
     MemFdFile(MemFdFile&& o) noexcept
         : m_path(std::move(o.m_path))
 #if defined(OMATH_TEST_USE_MEMFD)
-          ,
+        , m_fd(o.m_fd)
-          m_fd(o.m_fd)
 #else
-          ,
+        , m_temp_path(std::move(o.m_temp_path))
-          m_temp_path(std::move(o.m_temp_path))
 #endif
     {
 #if defined(OMATH_TEST_USE_MEMFD)
@@ -71,15 +69,9 @@ public:
 #endif
     }
 
-    [[nodiscard]] bool valid() const
+    [[nodiscard]] bool valid() const { return !m_path.empty(); }
-    {
-        return !m_path.empty();
-    }
 
-    [[nodiscard]] const std::filesystem::path& path() const
+    [[nodiscard]] const std::filesystem::path& path() const { return m_path; }
-    {
-        return m_path;
-    }
 
     static MemFdFile create(const std::vector<std::uint8_t>& data)
     {
@@ -171,27 +163,25 @@ inline std::vector<std::uint8_t> build_minimal_pe(const std::vector<std::uint8_t
 
     std::vector<std::uint8_t> buf(data_off + section_bytes.size(), 0u);
 
-    buf[0] = 'M';
+    buf[0] = 'M'; buf[1] = 'Z';
-    buf[1] = 'Z';
     std::memcpy(buf.data() + 0x3Cu, &e_lfanew, 4);
 
-    buf[nt_off] = 'P';
+    buf[nt_off] = 'P'; buf[nt_off + 1] = 'E';
-    buf[nt_off + 1] = 'E';
 
-    constexpr std::uint16_t machine = 0x8664u, num_sections = 1u;
+    const std::uint16_t machine = 0x8664u, num_sections = 1u;
     std::memcpy(buf.data() + fh_off,      &machine,      2);
     std::memcpy(buf.data() + fh_off + 2,  &num_sections, 2);
     std::memcpy(buf.data() + fh_off + 16, &size_opt,     2);
 
-    constexpr std::uint16_t magic = 0x20Bu;
+    const std::uint16_t magic = 0x20Bu;
     std::memcpy(buf.data() + oh_off, &magic, 2);
 
-    constexpr char name[8] = {'.', 't', 'e', 'x', 't', 0, 0, 0};
+    const char name[8] = {'.','t','e','x','t',0,0,0};
     std::memcpy(buf.data() + sh_off, name, 8);
 
     const auto vsize   = static_cast<std::uint32_t>(section_bytes.size());
-    constexpr std::uint32_t vaddr = 0x1000u;
+    const std::uint32_t vaddr   = 0x1000u;
-    constexpr auto ptr_raw = static_cast<std::uint32_t>(data_off);
+    const auto ptr_raw = static_cast<std::uint32_t>(data_off);
     std::memcpy(buf.data() + sh_off + 8,  &vsize,   4);
     std::memcpy(buf.data() + sh_off + 12, &vaddr,   4);
     std::memcpy(buf.data() + sh_off + 16, &vsize,   4);

tests/general/unit_test_a_star.cpp

@@ -40,9 +40,8 @@ TEST(AStarExtra, TrivialNeighbor)
     nav.m_vertex_map[v2] = {v1};
 
     const auto path = Astar::find_path(v1, v2, nav);
-    ASSERT_EQ(path.size(), 2u);
+    ASSERT_EQ(path.size(), 1u);
-    EXPECT_EQ(path.front(), v1);
+    EXPECT_EQ(path.front(), v2);
-    EXPECT_EQ(path.back(), v2);
 }
 
 TEST(AStarExtra, StartEqualsGoal)
@@ -102,7 +101,7 @@ TEST(AStarExtra, LongerPathAvoidsBlock)
     constexpr Vector3<float> goal = idx(2, 1);
     const auto path = Astar::find_path(start, goal, nav);
     ASSERT_FALSE(path.empty());
-    EXPECT_EQ(path.back(), goal);
+    EXPECT_EQ(path.front(), goal);
 }
 
 TEST(AstarTests, TrivialDirectNeighborPath)
@@ -115,9 +114,8 @@ TEST(AstarTests, TrivialDirectNeighborPath)
     nav.m_vertex_map.emplace(v2, std::vector<Vector3<float>>{v1});
 
     const auto path = Astar::find_path(v1, v2, nav);
-    ASSERT_EQ(path.size(), 2u);
+    ASSERT_EQ(path.size(), 1u);
-    EXPECT_EQ(path.front(), v1);
+    EXPECT_EQ(path.front(), v2);
-    EXPECT_EQ(path.back(), v2);
 }
 
 TEST(AstarTests, NoPathWhenDisconnected)

tests/general/unit_test_aabb.cpp

@@ -1,240 +0,0 @@
-//
-// Created by Vladislav on 19.04.2026.
-//
-#include <gtest/gtest.h>
-#include "omath/3d_primitives/aabb.hpp"
-
-using AABB = omath::primitives::Aabb<float>;
-using Vec3 = omath::Vector3<float>;
-
-// --- center() ---
-
-TEST(AabbTests, CenterOfSymmetricBox)
-{
-    constexpr AABB box{{-1.f, -1.f, -1.f}, {1.f, 1.f, 1.f}};
-    constexpr auto c = box.center();
-    EXPECT_FLOAT_EQ(c.x, 0.f);
-    EXPECT_FLOAT_EQ(c.y, 0.f);
-    EXPECT_FLOAT_EQ(c.z, 0.f);
-}
-
-TEST(AabbTests, CenterOfOffsetBox)
-{
-    constexpr AABB box{{1.f, 2.f, 3.f}, {3.f, 6.f, 7.f}};
-    constexpr auto c = box.center();
-    EXPECT_FLOAT_EQ(c.x, 2.f);
-    EXPECT_FLOAT_EQ(c.y, 4.f);
-    EXPECT_FLOAT_EQ(c.z, 5.f);
-}
-
-TEST(AabbTests, CenterOfDegenerateBox)
-{
-    constexpr AABB box{{5.f, 5.f, 5.f}, {5.f, 5.f, 5.f}};
-    constexpr auto c = box.center();
-    EXPECT_FLOAT_EQ(c.x, 5.f);
-    EXPECT_FLOAT_EQ(c.y, 5.f);
-    EXPECT_FLOAT_EQ(c.z, 5.f);
-}
-
-// --- extents() ---
-
-TEST(AabbTests, ExtentsOfSymmetricBox)
-{
-    constexpr AABB box{{-2.f, -3.f, -4.f}, {2.f, 3.f, 4.f}};
-    constexpr auto e = box.extents();
-    EXPECT_FLOAT_EQ(e.x, 2.f);
-    EXPECT_FLOAT_EQ(e.y, 3.f);
-    EXPECT_FLOAT_EQ(e.z, 4.f);
-}
-
-TEST(AabbTests, ExtentsOfUnitBox)
-{
-    constexpr AABB box{{0.f, 0.f, 0.f}, {2.f, 2.f, 2.f}};
-    constexpr auto e = box.extents();
-    EXPECT_FLOAT_EQ(e.x, 1.f);
-    EXPECT_FLOAT_EQ(e.y, 1.f);
-    EXPECT_FLOAT_EQ(e.z, 1.f);
-}
-
-TEST(AabbTests, ExtentsOfDegenerateBox)
-{
-    constexpr AABB box{{3.f, 3.f, 3.f}, {3.f, 3.f, 3.f}};
-    constexpr auto e = box.extents();
-    EXPECT_FLOAT_EQ(e.x, 0.f);
-    EXPECT_FLOAT_EQ(e.y, 0.f);
-    EXPECT_FLOAT_EQ(e.z, 0.f);
-}
-
-using UpAxis = omath::primitives::UpAxis;
-
-// --- top() ---
-
-TEST(AabbTests, TopYUpSymmetricBox)
-{
-    constexpr AABB box{{-1.f, -2.f, -3.f}, {1.f, 2.f, 3.f}};
-    constexpr auto t = box.top<UpAxis::Y>();
-    EXPECT_FLOAT_EQ(t.x, 0.f);
-    EXPECT_FLOAT_EQ(t.y, 2.f);
-    EXPECT_FLOAT_EQ(t.z, 0.f);
-}
-
-TEST(AabbTests, TopYUpOffsetBox)
-{
-    constexpr AABB box{{1.f, 4.f, 2.f}, {3.f, 10.f, 6.f}};
-    constexpr auto t = box.top<UpAxis::Y>();
-    EXPECT_FLOAT_EQ(t.x, 2.f);
-    EXPECT_FLOAT_EQ(t.y, 10.f);
-    EXPECT_FLOAT_EQ(t.z, 4.f);
-}
-
-TEST(AabbTests, TopZUpSymmetricBox)
-{
-    constexpr AABB box{{-1.f, -2.f, -3.f}, {1.f, 2.f, 3.f}};
-    constexpr auto t = box.top<UpAxis::Z>();
-    EXPECT_FLOAT_EQ(t.x, 0.f);
-    EXPECT_FLOAT_EQ(t.y, 0.f);
-    EXPECT_FLOAT_EQ(t.z, 3.f);
-}
-
-TEST(AabbTests, TopZUpOffsetBox)
-{
-    constexpr AABB box{{1.f, 4.f, 2.f}, {3.f, 10.f, 6.f}};
-    constexpr auto t = box.top<UpAxis::Z>();
-    EXPECT_FLOAT_EQ(t.x, 2.f);
-    EXPECT_FLOAT_EQ(t.y, 7.f);
-    EXPECT_FLOAT_EQ(t.z, 6.f);
-}
-
-TEST(AabbTests, TopDefaultIsYUp)
-{
-    constexpr AABB box{{0.f, 0.f, 0.f}, {2.f, 4.f, 6.f}};
-    EXPECT_EQ(box.top(), box.top<UpAxis::Y>());
-}
-
-// --- bottom() ---
-
-TEST(AabbTests, BottomYUpSymmetricBox)
-{
-    constexpr AABB box{{-1.f, -2.f, -3.f}, {1.f, 2.f, 3.f}};
-    constexpr auto b = box.bottom<UpAxis::Y>();
-    EXPECT_FLOAT_EQ(b.x, 0.f);
-    EXPECT_FLOAT_EQ(b.y, -2.f);
-    EXPECT_FLOAT_EQ(b.z, 0.f);
-}
-
-TEST(AabbTests, BottomYUpOffsetBox)
-{
-    constexpr AABB box{{1.f, 4.f, 2.f}, {3.f, 10.f, 6.f}};
-    constexpr auto b = box.bottom<UpAxis::Y>();
-    EXPECT_FLOAT_EQ(b.x, 2.f);
-    EXPECT_FLOAT_EQ(b.y, 4.f);
-    EXPECT_FLOAT_EQ(b.z, 4.f);
-}
-
-TEST(AabbTests, BottomZUpSymmetricBox)
-{
-    constexpr AABB box{{-1.f, -2.f, -3.f}, {1.f, 2.f, 3.f}};
-    constexpr auto b = box.bottom<UpAxis::Z>();
-    EXPECT_FLOAT_EQ(b.x, 0.f);
-    EXPECT_FLOAT_EQ(b.y, 0.f);
-    EXPECT_FLOAT_EQ(b.z, -3.f);
-}
-
-TEST(AabbTests, BottomZUpOffsetBox)
-{
-    constexpr AABB box{{1.f, 4.f, 2.f}, {3.f, 10.f, 6.f}};
-    constexpr auto b = box.bottom<UpAxis::Z>();
-    EXPECT_FLOAT_EQ(b.x, 2.f);
-    EXPECT_FLOAT_EQ(b.y, 7.f);
-    EXPECT_FLOAT_EQ(b.z, 2.f);
-}
-
-TEST(AabbTests, BottomDefaultIsYUp)
-{
-    constexpr AABB box{{0.f, 0.f, 0.f}, {2.f, 4.f, 6.f}};
-    EXPECT_EQ(box.bottom(), box.bottom<UpAxis::Y>());
-}
-
-TEST(AabbTests, TopAndBottomAreSymmetric)
-{
-    constexpr AABB box{{-1.f, -2.f, -3.f}, {1.f, 2.f, 3.f}};
-    EXPECT_FLOAT_EQ(box.top<UpAxis::Y>().y, -box.bottom<UpAxis::Y>().y);
-    EXPECT_FLOAT_EQ(box.top<UpAxis::Z>().z, -box.bottom<UpAxis::Z>().z);
-}
-
-// --- is_collide() ---
-
-TEST(AabbTests, OverlappingBoxesCollide)
-{
-    constexpr AABB a{{-1.f, -1.f, -1.f}, {1.f, 1.f, 1.f}};
-    constexpr AABB b{{0.f, 0.f, 0.f}, {2.f, 2.f, 2.f}};
-    EXPECT_TRUE(a.is_collide(b));
-    EXPECT_TRUE(b.is_collide(a));
-}
-
-TEST(AabbTests, SeparatedBoxesDoNotCollide)
-{
-    constexpr AABB a{{-1.f, -1.f, -1.f}, {1.f, 1.f, 1.f}};
-    constexpr AABB b{{2.f, 2.f, 2.f}, {4.f, 4.f, 4.f}};
-    EXPECT_FALSE(a.is_collide(b));
-    EXPECT_FALSE(b.is_collide(a));
-}
-
-TEST(AabbTests, TouchingFacesCollide)
-{
-    constexpr AABB a{{-1.f, -1.f, -1.f}, {1.f, 1.f, 1.f}};
-    constexpr AABB b{{1.f, -1.f, -1.f}, {3.f, 1.f, 1.f}};
-    EXPECT_TRUE(a.is_collide(b));
-    EXPECT_TRUE(b.is_collide(a));
-}
-
-TEST(AabbTests, ContainedBoxCollides)
-{
-    constexpr AABB outer{{-3.f, -3.f, -3.f}, {3.f, 3.f, 3.f}};
-    constexpr AABB inner{{-1.f, -1.f, -1.f}, {1.f, 1.f, 1.f}};
-    EXPECT_TRUE(outer.is_collide(inner));
-    EXPECT_TRUE(inner.is_collide(outer));
-}
-
-TEST(AabbTests, SeparatedOnXAxisDoNotCollide)
-{
-    constexpr AABB a{{0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}};
-    constexpr AABB b{{2.f, 0.f, 0.f}, {3.f, 1.f, 1.f}};
-    EXPECT_FALSE(a.is_collide(b));
-}
-
-TEST(AabbTests, SeparatedOnYAxisDoNotCollide)
-{
-    constexpr AABB a{{0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}};
-    constexpr AABB b{{0.f, 2.f, 0.f}, {1.f, 3.f, 1.f}};
-    EXPECT_FALSE(a.is_collide(b));
-}
-
-TEST(AabbTests, SeparatedOnZAxisDoNotCollide)
-{
-    constexpr AABB a{{0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}};
-    constexpr AABB b{{0.f, 0.f, 2.f}, {1.f, 1.f, 3.f}};
-    EXPECT_FALSE(a.is_collide(b));
-}
-
-TEST(AabbTests, IdenticalBoxesCollide)
-{
-    constexpr AABB a{{-1.f, -1.f, -1.f}, {1.f, 1.f, 1.f}};
-    EXPECT_TRUE(a.is_collide(a));
-}
-
-TEST(AabbTests, DegeneratePointBoxCollidesWhenInsideOther)
-{
-    constexpr AABB box{{-1.f, -1.f, -1.f}, {1.f, 1.f, 1.f}};
-    constexpr AABB point{{0.f, 0.f, 0.f}, {0.f, 0.f, 0.f}};
-    EXPECT_TRUE(box.is_collide(point));
-    EXPECT_TRUE(point.is_collide(box));
-}
-
-TEST(AabbTests, DegeneratePointBoxDoesNotCollideWhenOutside)
-{
-    constexpr AABB box{{-1.f, -1.f, -1.f}, {1.f, 1.f, 1.f}};
-    constexpr AABB point{{5.f, 0.f, 0.f}, {5.f, 0.f, 0.f}};
-    EXPECT_FALSE(box.is_collide(point));
-    EXPECT_FALSE(point.is_collide(box));
-}

tests/general/unit_test_bvh_tree.cpp

@@ -0,0 +1,876 @@
+//
+// Created by Orange on 04/08/2026.
+//
+#include <gtest/gtest.h>
+#include <omath/collision/bvh_tree.hpp>
+#include <algorithm>
+#include <random>
+#include <set>
+
+using Aabb = omath::primitives::Aabb<float>;
+using BvhTree = omath::collision::BvhTree<float>;
+using Ray = omath::collision::Ray<>;
+using HitResult = BvhTree::HitResult;
+
+using AabbD = omath::primitives::Aabb<double>;
+using BvhTreeD = omath::collision::BvhTree<double>;
+
+// ============================================================================
+// Helper: brute-force overlap query for verification
+// ============================================================================
+static std::set<std::size_t> brute_force_overlaps(const std::vector<Aabb>& aabbs, const Aabb& query)
+{
+    std::set<std::size_t> result;
+    for (std::size_t i = 0; i < aabbs.size(); ++i)
+    {
+        if (query.min.x <= aabbs[i].max.x && query.max.x >= aabbs[i].min.x
+            && query.min.y <= aabbs[i].max.y && query.max.y >= aabbs[i].min.y
+            && query.min.z <= aabbs[i].max.z && query.max.z >= aabbs[i].min.z)
+            result.insert(i);
+    }
+    return result;
+}
+
+// ============================================================================
+// Construction tests
+// ============================================================================
+
+TEST(UnitTestBvhTree, EmptyTree)
+{
+    const BvhTree tree;
+    EXPECT_TRUE(tree.empty());
+    EXPECT_EQ(tree.node_count(), 0);
+    EXPECT_TRUE(tree.query_overlaps({}).empty());
+}
+
+TEST(UnitTestBvhTree, EmptySpan)
+{
+    const std::vector<Aabb> empty;
+    const BvhTree tree(empty);
+    EXPECT_TRUE(tree.empty());
+    EXPECT_EQ(tree.node_count(), 0);
+}
+
+TEST(UnitTestBvhTree, SingleElement)
+{
+    const std::vector<Aabb> aabbs = {
+        {{0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}}
+    };
+
+    const BvhTree tree(aabbs);
+    EXPECT_FALSE(tree.empty());
+    EXPECT_EQ(tree.node_count(), 1);
+
+    const auto results = tree.query_overlaps({{0.5f, 0.5f, 0.5f}, {1.5f, 1.5f, 1.5f}});
+    ASSERT_EQ(results.size(), 1);
+    EXPECT_EQ(results[0], 0);
+
+    const auto miss = tree.query_overlaps({{5.f, 5.f, 5.f}, {6.f, 6.f, 6.f}});
+    EXPECT_TRUE(miss.empty());
+}
+
+TEST(UnitTestBvhTree, TwoElements)
+{
+    const std::vector<Aabb> aabbs = {
+        {{0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}},
+        {{5.f, 5.f, 5.f}, {6.f, 6.f, 6.f}},
+    };
+
+    const BvhTree tree(aabbs);
+    EXPECT_FALSE(tree.empty());
+
+    // Hit first only
+    auto r = tree.query_overlaps({{-0.5f, -0.5f, -0.5f}, {0.5f, 0.5f, 0.5f}});
+    ASSERT_EQ(r.size(), 1);
+    EXPECT_EQ(r[0], 0);
+
+    // Hit second only
+    r = tree.query_overlaps({{5.5f, 5.5f, 5.5f}, {7.f, 7.f, 7.f}});
+    ASSERT_EQ(r.size(), 1);
+    EXPECT_EQ(r[0], 1);
+
+    // Hit both
+    r = tree.query_overlaps({{-1.f, -1.f, -1.f}, {10.f, 10.f, 10.f}});
+    EXPECT_EQ(r.size(), 2);
+}
+
+TEST(UnitTestBvhTree, ThreeElements)
+{
+    const std::vector<Aabb> aabbs = {
+        {{0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}},
+        {{2.f, 2.f, 2.f}, {3.f, 3.f, 3.f}},
+        {{10.f, 10.f, 10.f}, {11.f, 11.f, 11.f}},
+    };
+
+    const BvhTree tree(aabbs);
+
+    const auto results = tree.query_overlaps({{0.5f, 0.5f, 0.5f}, {2.5f, 2.5f, 2.5f}});
+    EXPECT_EQ(results.size(), 2);
+
+    const auto far = tree.query_overlaps({{9.5f, 9.5f, 9.5f}, {10.5f, 10.5f, 10.5f}});
+    ASSERT_EQ(far.size(), 1);
+    EXPECT_EQ(far[0], 2);
+}
+
+TEST(UnitTestBvhTree, NodeCountGrowsSublinearly)
+{
+    // For N objects, node count should be at most 2N-1
+    std::vector<Aabb> aabbs;
+    for (int i = 0; i < 100; ++i)
+    {
+        const auto f = static_cast<float>(i) * 3.f;
+        aabbs.push_back({{f, 0.f, 0.f}, {f + 1.f, 1.f, 1.f}});
+    }
+    const BvhTree tree(aabbs);
+    EXPECT_LE(tree.node_count(), 2 * aabbs.size());
+}
+
+// ============================================================================
+// Overlap query tests
+// ============================================================================
+
+TEST(UnitTestBvhTree, OverlapExactTouch)
+{
+    // Two boxes share exactly one face
+    const std::vector<Aabb> aabbs = {
+        {{0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}},
+        {{1.f, 0.f, 0.f}, {2.f, 1.f, 1.f}},
+    };
+
+    const BvhTree tree(aabbs);
+
+    // Query exactly at the shared face — should overlap both
+    const auto r = tree.query_overlaps({{0.5f, 0.f, 0.f}, {1.5f, 1.f, 1.f}});
+    EXPECT_EQ(r.size(), 2);
+}
+
+TEST(UnitTestBvhTree, OverlapEdgeTouch)
+{
+    // Query AABB edge-touches an object AABB
+    const std::vector<Aabb> aabbs = {
+        {{0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}},
+    };
+
+    const BvhTree tree(aabbs);
+
+    // Touching at corner point (1,1,1)
+    const auto r = tree.query_overlaps({{1.f, 1.f, 1.f}, {2.f, 2.f, 2.f}});
+    EXPECT_EQ(r.size(), 1);
+}
+
+TEST(UnitTestBvhTree, OverlapQueryInsideObject)
+{
+    // Query is fully inside an object
+    const std::vector<Aabb> aabbs = {
+        {{-10.f, -10.f, -10.f}, {10.f, 10.f, 10.f}},
+    };
+
+    const BvhTree tree(aabbs);
+    const auto r = tree.query_overlaps({{-1.f, -1.f, -1.f}, {1.f, 1.f, 1.f}});
+    ASSERT_EQ(r.size(), 1);
+    EXPECT_EQ(r[0], 0);
+}
+
+TEST(UnitTestBvhTree, OverlapObjectInsideQuery)
+{
+    // Object is fully inside the query
+    const std::vector<Aabb> aabbs = {
+        {{4.f, 4.f, 4.f}, {5.f, 5.f, 5.f}},
+    };
+
+    const BvhTree tree(aabbs);
+    const auto r = tree.query_overlaps({{0.f, 0.f, 0.f}, {10.f, 10.f, 10.f}});
+    ASSERT_EQ(r.size(), 1);
+    EXPECT_EQ(r[0], 0);
+}
+
+TEST(UnitTestBvhTree, OverlapMissOnSingleAxis)
+{
+    // Overlap on X and Y but not Z
+    const std::vector<Aabb> aabbs = {
+        {{0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}},
+    };
+
+    const BvhTree tree(aabbs);
+
+    const auto r = tree.query_overlaps({{0.f, 0.f, 5.f}, {1.f, 1.f, 6.f}});
+    EXPECT_TRUE(r.empty());
+}
+
+TEST(UnitTestBvhTree, OverlapNegativeCoordinates)
+{
+    const std::vector<Aabb> aabbs = {
+        {{-5.f, -5.f, -5.f}, {-3.f, -3.f, -3.f}},
+        {{-2.f, -2.f, -2.f}, {0.f, 0.f, 0.f}},
+        {{1.f, 1.f, 1.f}, {3.f, 3.f, 3.f}},
+    };
+
+    const BvhTree tree(aabbs);
+
+    const auto r = tree.query_overlaps({{-6.f, -6.f, -6.f}, {-4.f, -4.f, -4.f}});
+    ASSERT_EQ(r.size(), 1);
+    EXPECT_EQ(r[0], 0);
+}
+
+TEST(UnitTestBvhTree, OverlapMixedNegativePositive)
+{
+    const std::vector<Aabb> aabbs = {
+        {{-1.f, -1.f, -1.f}, {1.f, 1.f, 1.f}},
+    };
+
+    const BvhTree tree(aabbs);
+
+    // Query spans negative and positive
+    const auto r = tree.query_overlaps({{-0.5f, -0.5f, -0.5f}, {0.5f, 0.5f, 0.5f}});
+    ASSERT_EQ(r.size(), 1);
+}
+
+TEST(UnitTestBvhTree, OverlapNoHitsAmongMany)
+{
+    std::vector<Aabb> aabbs;
+    for (int i = 0; i < 50; ++i)
+    {
+        const auto f = static_cast<float>(i) * 5.f;
+        aabbs.push_back({{f, 0.f, 0.f}, {f + 1.f, 1.f, 1.f}});
+    }
+
+    const BvhTree tree(aabbs);
+
+    // Query far from all objects
+    const auto r = tree.query_overlaps({{-100.f, -100.f, -100.f}, {-90.f, -90.f, -90.f}});
+    EXPECT_TRUE(r.empty());
+}
+
+TEST(UnitTestBvhTree, OverlapAllObjects)
+{
+    std::vector<Aabb> aabbs;
+    for (int i = 0; i < 64; ++i)
+    {
+        const auto f = static_cast<float>(i);
+        aabbs.push_back({{f, f, f}, {f + 0.5f, f + 0.5f, f + 0.5f}});
+    }
+
+    const BvhTree tree(aabbs);
+
+    const auto r = tree.query_overlaps({{-1.f, -1.f, -1.f}, {100.f, 100.f, 100.f}});
+    EXPECT_EQ(r.size(), 64);
+}
+
+TEST(UnitTestBvhTree, OverlapReturnsCorrectIndices)
+{
+    // Specific index verification
+    const std::vector<Aabb> aabbs = {
+        {{0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}},     // 0
+        {{10.f, 0.f, 0.f}, {11.f, 1.f, 1.f}},    // 1
+        {{20.f, 0.f, 0.f}, {21.f, 1.f, 1.f}},    // 2
+        {{30.f, 0.f, 0.f}, {31.f, 1.f, 1.f}},    // 3
+        {{40.f, 0.f, 0.f}, {41.f, 1.f, 1.f}},    // 4
+    };
+
+    const BvhTree tree(aabbs);
+
+    // Hit only index 2
+    auto r = tree.query_overlaps({{19.5f, -1.f, -1.f}, {20.5f, 2.f, 2.f}});
+    ASSERT_EQ(r.size(), 1);
+    EXPECT_EQ(r[0], 2);
+
+    // Hit only index 4
+    r = tree.query_overlaps({{39.5f, -1.f, -1.f}, {40.5f, 2.f, 2.f}});
+    ASSERT_EQ(r.size(), 1);
+    EXPECT_EQ(r[0], 4);
+}
+
+// ============================================================================
+// Spatial distribution tests
+// ============================================================================
+
+TEST(UnitTestBvhTree, ObjectsAlongXAxis)
+{
+    // All objects on a line along X
+    std::vector<Aabb> aabbs;
+    for (int i = 0; i < 20; ++i)
+    {
+        const auto f = static_cast<float>(i) * 4.f;
+        aabbs.push_back({{f, 0.f, 0.f}, {f + 1.f, 1.f, 1.f}});
+    }
+
+    const BvhTree tree(aabbs);
+
+    const auto r = tree.query_overlaps({{0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}});
+    EXPECT_EQ(r.size(), 1);
+
+    const auto mid = tree.query_overlaps({{7.5f, -1.f, -1.f}, {8.5f, 2.f, 2.f}});
+    EXPECT_EQ(mid.size(), 1);
+}
+
+TEST(UnitTestBvhTree, ObjectsAlongYAxis)
+{
+    std::vector<Aabb> aabbs;
+    for (int i = 0; i < 20; ++i)
+    {
+        const auto f = static_cast<float>(i) * 4.f;
+        aabbs.push_back({{0.f, f, 0.f}, {1.f, f + 1.f, 1.f}});
+    }
+
+    const BvhTree tree(aabbs);
+
+    const auto r = tree.query_overlaps({{-1.f, 38.f, -1.f}, {2.f, 40.f, 2.f}});
+    EXPECT_EQ(r.size(), 1);
+}
+
+TEST(UnitTestBvhTree, ObjectsAlongZAxis)
+{
+    std::vector<Aabb> aabbs;
+    for (int i = 0; i < 20; ++i)
+    {
+        const auto f = static_cast<float>(i) * 4.f;
+        aabbs.push_back({{0.f, 0.f, f}, {1.f, 1.f, f + 1.f}});
+    }
+
+    const BvhTree tree(aabbs);
+
+    const auto r = tree.query_overlaps({{-1.f, -1.f, 38.f}, {2.f, 2.f, 40.f}});
+    EXPECT_EQ(r.size(), 1);
+}
+
+TEST(UnitTestBvhTree, ObjectsInPlaneXY)
+{
+    // Grid in the XY plane
+    std::vector<Aabb> aabbs;
+    for (int x = 0; x < 10; ++x)
+        for (int y = 0; y < 10; ++y)
+        {
+            const auto fx = static_cast<float>(x) * 3.f;
+            const auto fy = static_cast<float>(y) * 3.f;
+            aabbs.push_back({{fx, fy, 0.f}, {fx + 1.f, fy + 1.f, 1.f}});
+        }
+
+    const BvhTree tree(aabbs);
+    EXPECT_EQ(tree.query_overlaps({{-1.f, -1.f, -1.f}, {100.f, 100.f, 2.f}}).size(), 100);
+
+    // Single cell query
+    const auto r = tree.query_overlaps({{0.f, 0.f, 0.f}, {0.5f, 0.5f, 0.5f}});
+    EXPECT_EQ(r.size(), 1);
+}
+
+TEST(UnitTestBvhTree, ClusteredObjects)
+{
+    // Two clusters far apart
+    std::vector<Aabb> aabbs;
+    for (int i = 0; i < 25; ++i)
+    {
+        const auto f = static_cast<float>(i) * 0.5f;
+        aabbs.push_back({{f, f, f}, {f + 0.4f, f + 0.4f, f + 0.4f}});
+    }
+    for (int i = 0; i < 25; ++i)
+    {
+        const auto f = 100.f + static_cast<float>(i) * 0.5f;
+        aabbs.push_back({{f, f, f}, {f + 0.4f, f + 0.4f, f + 0.4f}});
+    }
+
+    const BvhTree tree(aabbs);
+
+    // Query near first cluster
+    const auto r1 = tree.query_overlaps({{-1.f, -1.f, -1.f}, {15.f, 15.f, 15.f}});
+    EXPECT_EQ(r1.size(), 25);
+
+    // Query near second cluster
+    const auto r2 = tree.query_overlaps({{99.f, 99.f, 99.f}, {115.f, 115.f, 115.f}});
+    EXPECT_EQ(r2.size(), 25);
+
+    // Query between clusters — should find nothing
+    const auto gap = tree.query_overlaps({{50.f, 50.f, 50.f}, {60.f, 60.f, 60.f}});
+    EXPECT_TRUE(gap.empty());
+}
+
+TEST(UnitTestBvhTree, OverlappingObjects)
+{
+    // Objects that overlap each other
+    const std::vector<Aabb> aabbs = {
+        {{0.f, 0.f, 0.f}, {2.f, 2.f, 2.f}},
+        {{1.f, 1.f, 1.f}, {3.f, 3.f, 3.f}},
+        {{1.5f, 1.5f, 1.5f}, {4.f, 4.f, 4.f}},
+    };
+
+    const BvhTree tree(aabbs);
+
+    // Query at the overlap region of all three
+    const auto r = tree.query_overlaps({{1.5f, 1.5f, 1.5f}, {2.f, 2.f, 2.f}});
+    EXPECT_EQ(r.size(), 3);
+}
+
+TEST(UnitTestBvhTree, IdenticalObjects)
+{
+    // All objects at the same position
+    std::vector<Aabb> aabbs;
+    for (int i = 0; i < 10; ++i)
+        aabbs.push_back({{0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}});
+
+    const BvhTree tree(aabbs);
+
+    const auto r = tree.query_overlaps({{0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}});
+    EXPECT_EQ(r.size(), 10);
+}
+
+TEST(UnitTestBvhTree, DegenerateThickPlanes)
+{
+    // Very flat AABBs (thickness ~0 in one axis)
+    const std::vector<Aabb> aabbs = {
+        {{0.f, 0.f, 0.f}, {10.f, 10.f, 0.001f}},
+        {{0.f, 0.f, 5.f}, {10.f, 10.f, 5.001f}},
+    };
+
+    const BvhTree tree(aabbs);
+
+    const auto r = tree.query_overlaps({{0.f, 0.f, -0.01f}, {10.f, 10.f, 0.01f}});
+    ASSERT_EQ(r.size(), 1);
+}
+
+TEST(UnitTestBvhTree, VaryingSizes)
+{
+    // Objects of wildly different sizes
+    const std::vector<Aabb> aabbs = {
+        {{0.f, 0.f, 0.f}, {0.01f, 0.01f, 0.01f}},         // tiny
+        {{-500.f, -500.f, -500.f}, {500.f, 500.f, 500.f}}, // huge
+        {{10.f, 10.f, 10.f}, {11.f, 11.f, 11.f}},          // normal
+    };
+
+    const BvhTree tree(aabbs);
+
+    // The huge box should overlap almost any query
+    auto r = tree.query_overlaps({{200.f, 200.f, 200.f}, {201.f, 201.f, 201.f}});
+    ASSERT_EQ(r.size(), 1);
+    EXPECT_EQ(r[0], 1);
+
+    // Query at origin hits the tiny and the huge
+    r = tree.query_overlaps({{-0.1f, -0.1f, -0.1f}, {0.1f, 0.1f, 0.1f}});
+    EXPECT_EQ(r.size(), 2);
+}
+
+// ============================================================================
+// Ray query tests
+// ============================================================================
+
+TEST(UnitTestBvhTree, RayQueryBasic)
+{
+    const std::vector<Aabb> aabbs = {
+        {{0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}},
+        {{5.f, 0.f, 0.f}, {6.f, 1.f, 1.f}},
+        {{0.f, 5.f, 0.f}, {1.f, 6.f, 1.f}},
+    };
+
+    const BvhTree tree(aabbs);
+
+    Ray ray;
+    ray.start = {-1.f, 0.5f, 0.5f};
+    ray.end = {10.f, 0.5f, 0.5f};
+    ray.infinite_length = true;
+
+    const auto hits = tree.query_ray(ray);
+    EXPECT_GE(hits.size(), 2);
+
+    if (hits.size() >= 2)
+        EXPECT_LE(hits[0].distance_sqr, hits[1].distance_sqr);
+}
+
+TEST(UnitTestBvhTree, RayQueryMissesAll)
+{
+    const std::vector<Aabb> aabbs = {
+        {{0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}},
+        {{5.f, 0.f, 0.f}, {6.f, 1.f, 1.f}},
+    };
+
+    const BvhTree tree(aabbs);
+
+    // Ray above everything
+    Ray ray;
+    ray.start = {-1.f, 100.f, 0.5f};
+    ray.end = {10.f, 100.f, 0.5f};
+    ray.infinite_length = true;
+
+    const auto hits = tree.query_ray(ray);
+    EXPECT_TRUE(hits.empty());
+}
+
+TEST(UnitTestBvhTree, RayQueryAlongY)
+{
+    const std::vector<Aabb> aabbs = {
+        {{0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}},
+        {{0.f, 5.f, 0.f}, {1.f, 6.f, 1.f}},
+        {{0.f, 10.f, 0.f}, {1.f, 11.f, 1.f}},
+    };
+
+    const BvhTree tree(aabbs);
+
+    Ray ray;
+    ray.start = {0.5f, -1.f, 0.5f};
+    ray.end = {0.5f, 20.f, 0.5f};
+    ray.infinite_length = true;
+
+    const auto hits = tree.query_ray(ray);
+    EXPECT_EQ(hits.size(), 3);
+
+    // Verify sorted by distance
+    for (std::size_t i = 1; i < hits.size(); ++i)
+        EXPECT_LE(hits[i - 1].distance_sqr, hits[i].distance_sqr);
+}
+
+TEST(UnitTestBvhTree, RayQueryAlongZ)
+{
+    const std::vector<Aabb> aabbs = {
+        {{0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}},
+        {{0.f, 0.f, 10.f}, {1.f, 1.f, 11.f}},
+    };
+
+    const BvhTree tree(aabbs);
+
+    Ray ray;
+    ray.start = {0.5f, 0.5f, -5.f};
+    ray.end = {0.5f, 0.5f, 20.f};
+    ray.infinite_length = true;
+
+    const auto hits = tree.query_ray(ray);
+    EXPECT_EQ(hits.size(), 2);
+}
+
+TEST(UnitTestBvhTree, RayQueryDiagonal)
+{
+    const std::vector<Aabb> aabbs = {
+        {{0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}},
+        {{5.f, 5.f, 5.f}, {6.f, 6.f, 6.f}},
+        {{10.f, 10.f, 10.f}, {11.f, 11.f, 11.f}},
+    };
+
+    const BvhTree tree(aabbs);
+
+    // Diagonal ray through all three
+    Ray ray;
+    ray.start = {-1.f, -1.f, -1.f};
+    ray.end = {15.f, 15.f, 15.f};
+    ray.infinite_length = true;
+
+    const auto hits = tree.query_ray(ray);
+    EXPECT_EQ(hits.size(), 3);
+}
+
+TEST(UnitTestBvhTree, RayQueryOnEmptyTree)
+{
+    const BvhTree tree;
+
+    Ray ray;
+    ray.start = {0.f, 0.f, 0.f};
+    ray.end = {10.f, 0.f, 0.f};
+    ray.infinite_length = true;
+
+    const auto hits = tree.query_ray(ray);
+    EXPECT_TRUE(hits.empty());
+}
+
+TEST(UnitTestBvhTree, RayQuerySortedByDistance)
+{
+    // Many boxes along a line
+    std::vector<Aabb> aabbs;
+    for (int i = 0; i < 20; ++i)
+    {
+        const auto f = static_cast<float>(i) * 3.f;
+        aabbs.push_back({{f, 0.f, 0.f}, {f + 1.f, 1.f, 1.f}});
+    }
+
+    const BvhTree tree(aabbs);
+
+    Ray ray;
+    ray.start = {-1.f, 0.5f, 0.5f};
+    ray.end = {100.f, 0.5f, 0.5f};
+    ray.infinite_length = true;
+
+    const auto hits = tree.query_ray(ray);
+    EXPECT_EQ(hits.size(), 20);
+
+    for (std::size_t i = 1; i < hits.size(); ++i)
+        EXPECT_LE(hits[i - 1].distance_sqr, hits[i].distance_sqr);
+}
+
+// ============================================================================
+// Brute-force verification tests
+// ============================================================================
+
+TEST(UnitTestBvhTree, BruteForceVerificationGrid)
+{
+    std::vector<Aabb> aabbs;
+    for (int x = 0; x < 10; ++x)
+        for (int y = 0; y < 10; ++y)
+            for (int z = 0; z < 10; ++z)
+            {
+                const auto fx = static_cast<float>(x) * 3.f;
+                const auto fy = static_cast<float>(y) * 3.f;
+                const auto fz = static_cast<float>(z) * 3.f;
+                aabbs.push_back({{fx, fy, fz}, {fx + 1.f, fy + 1.f, fz + 1.f}});
+            }
+
+    const BvhTree tree(aabbs);
+
+    // Test several queries and compare to brute force
+    const std::vector<Aabb> queries = {
+        {{0.f, 0.f, 0.f}, {1.5f, 1.5f, 1.5f}},
+        {{-1.f, -1.f, -1.f}, {100.f, 100.f, 100.f}},
+        {{13.f, 13.f, 13.f}, {14.f, 14.f, 14.f}},
+        {{-50.f, -50.f, -50.f}, {-40.f, -40.f, -40.f}},
+        {{5.5f, 5.5f, 5.5f}, {7.5f, 7.5f, 7.5f}},
+    };
+
+    for (const auto& q : queries)
+    {
+        const auto bvh_results = tree.query_overlaps(q);
+        const auto brute_results = brute_force_overlaps(aabbs, q);
+
+        const std::set<std::size_t> bvh_set(bvh_results.begin(), bvh_results.end());
+        EXPECT_EQ(bvh_set, brute_results)
+            << "Mismatch for query [(" << q.min.x << "," << q.min.y << "," << q.min.z
+            << ") -> (" << q.max.x << "," << q.max.y << "," << q.max.z << ")]";
+    }
+}
+
+TEST(UnitTestBvhTree, BruteForceVerificationRandom)
+{
+    std::mt19937 rng(42);
+    std::uniform_real_distribution<float> pos_dist(-50.f, 50.f);
+    std::uniform_real_distribution<float> size_dist(0.5f, 3.f);
+
+    std::vector<Aabb> aabbs;
+    for (int i = 0; i < 200; ++i)
+    {
+        const auto x = pos_dist(rng);
+        const auto y = pos_dist(rng);
+        const auto z = pos_dist(rng);
+        const auto sx = size_dist(rng);
+        const auto sy = size_dist(rng);
+        const auto sz = size_dist(rng);
+        aabbs.push_back({{x, y, z}, {x + sx, y + sy, z + sz}});
+    }
+
+    const BvhTree tree(aabbs);
+
+    // Run 50 random queries
+    for (int i = 0; i < 50; ++i)
+    {
+        const auto qx = pos_dist(rng);
+        const auto qy = pos_dist(rng);
+        const auto qz = pos_dist(rng);
+        const auto qsx = size_dist(rng);
+        const auto qsy = size_dist(rng);
+        const auto qsz = size_dist(rng);
+        const Aabb query = {{qx, qy, qz}, {qx + qsx, qy + qsy, qz + qsz}};
+
+        const auto bvh_results = tree.query_overlaps(query);
+        const auto brute_results = brute_force_overlaps(aabbs, query);
+
+        const std::set<std::size_t> bvh_set(bvh_results.begin(), bvh_results.end());
+        EXPECT_EQ(bvh_set, brute_results) << "Mismatch on random query iteration " << i;
+    }
+}
+
+// ============================================================================
+// Large dataset tests
+// ============================================================================
+
+TEST(UnitTestBvhTree, LargeGridDataset)
+{
+    std::vector<Aabb> aabbs;
+    for (int x = 0; x < 10; ++x)
+        for (int y = 0; y < 10; ++y)
+            for (int z = 0; z < 10; ++z)
+            {
+                const auto fx = static_cast<float>(x) * 3.f;
+                const auto fy = static_cast<float>(y) * 3.f;
+                const auto fz = static_cast<float>(z) * 3.f;
+                aabbs.push_back({{fx, fy, fz}, {fx + 1.f, fy + 1.f, fz + 1.f}});
+            }
+
+    const BvhTree tree(aabbs);
+    EXPECT_FALSE(tree.empty());
+
+    const auto results = tree.query_overlaps({{0.f, 0.f, 0.f}, {1.5f, 1.5f, 1.5f}});
+    EXPECT_EQ(results.size(), 1);
+
+    const auto all_results = tree.query_overlaps({{-1.f, -1.f, -1.f}, {100.f, 100.f, 100.f}});
+    EXPECT_EQ(all_results.size(), 1000);
+}
+
+TEST(UnitTestBvhTree, FiveThousandObjects)
+{
+    std::vector<Aabb> aabbs;
+    for (int i = 0; i < 5000; ++i)
+    {
+        const auto f = static_cast<float>(i) * 2.f;
+        aabbs.push_back({{f, 0.f, 0.f}, {f + 1.f, 1.f, 1.f}});
+    }
+
+    const BvhTree tree(aabbs);
+    EXPECT_FALSE(tree.empty());
+
+    // Query that should hit exactly 1
+    const auto r = tree.query_overlaps({{0.f, 0.f, 0.f}, {0.5f, 0.5f, 0.5f}});
+    EXPECT_EQ(r.size(), 1);
+
+    // Query that misses
+    const auto miss = tree.query_overlaps({{-100.f, -100.f, -100.f}, {-90.f, -90.f, -90.f}});
+    EXPECT_TRUE(miss.empty());
+}
+
+// ============================================================================
+// Double precision tests
+// ============================================================================
+
+TEST(UnitTestBvhTree, DoublePrecision)
+{
+    const std::vector<AabbD> aabbs = {
+        {{0.0, 0.0, 0.0}, {1.0, 1.0, 1.0}},
+        {{5.0, 5.0, 5.0}, {6.0, 6.0, 6.0}},
+        {{10.0, 10.0, 10.0}, {11.0, 11.0, 11.0}},
+    };
+
+    const BvhTreeD tree(aabbs);
+    EXPECT_FALSE(tree.empty());
+
+    const auto r = tree.query_overlaps({{0.5, 0.5, 0.5}, {1.5, 1.5, 1.5}});
+    ASSERT_EQ(r.size(), 1);
+    EXPECT_EQ(r[0], 0);
+
+    const auto r2 = tree.query_overlaps({{4.5, 4.5, 4.5}, {5.5, 5.5, 5.5}});
+    ASSERT_EQ(r2.size(), 1);
+    EXPECT_EQ(r2[0], 1);
+}
+
+TEST(UnitTestBvhTree, DoublePrecisionLargeCoordinates)
+{
+    const std::vector<AabbD> aabbs = {
+        {{1e10, 1e10, 1e10}, {1e10 + 1.0, 1e10 + 1.0, 1e10 + 1.0}},
+        {{-1e10, -1e10, -1e10}, {-1e10 + 1.0, -1e10 + 1.0, -1e10 + 1.0}},
+    };
+
+    const BvhTreeD tree(aabbs);
+
+    const auto r = tree.query_overlaps({{1e10 - 0.5, 1e10 - 0.5, 1e10 - 0.5},
+                                         {1e10 + 0.5, 1e10 + 0.5, 1e10 + 0.5}});
+    ASSERT_EQ(r.size(), 1);
+    EXPECT_EQ(r[0], 0);
+}
+
+// ============================================================================
+// Edge case tests
+// ============================================================================
+
+TEST(UnitTestBvhTree, ZeroSizeQuery)
+{
+    const std::vector<Aabb> aabbs = {
+        {{0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}},
+    };
+
+    const BvhTree tree(aabbs);
+
+    // Point query inside the box
+    const auto r = tree.query_overlaps({{0.5f, 0.5f, 0.5f}, {0.5f, 0.5f, 0.5f}});
+    EXPECT_EQ(r.size(), 1);
+
+    // Point query outside the box
+    const auto miss = tree.query_overlaps({{5.f, 5.f, 5.f}, {5.f, 5.f, 5.f}});
+    EXPECT_TRUE(miss.empty());
+}
+
+TEST(UnitTestBvhTree, ZeroSizeObjects)
+{
+    // Point-like AABBs
+    const std::vector<Aabb> aabbs = {
+        {{1.f, 1.f, 1.f}, {1.f, 1.f, 1.f}},
+        {{5.f, 5.f, 5.f}, {5.f, 5.f, 5.f}},
+    };
+
+    const BvhTree tree(aabbs);
+
+    const auto r = tree.query_overlaps({{0.f, 0.f, 0.f}, {2.f, 2.f, 2.f}});
+    ASSERT_EQ(r.size(), 1);
+    EXPECT_EQ(r[0], 0);
+}
+
+TEST(UnitTestBvhTree, NoDuplicateResults)
+{
+    std::vector<Aabb> aabbs;
+    for (int i = 0; i < 50; ++i)
+    {
+        const auto f = static_cast<float>(i) * 2.f;
+        aabbs.push_back({{f, 0.f, 0.f}, {f + 1.f, 1.f, 1.f}});
+    }
+
+    const BvhTree tree(aabbs);
+
+    const auto r = tree.query_overlaps({{-1.f, -1.f, -1.f}, {200.f, 2.f, 2.f}});
+
+    // Check for duplicates
+    const std::set<std::size_t> unique_results(r.begin(), r.end());
+    EXPECT_EQ(unique_results.size(), r.size());
+    EXPECT_EQ(r.size(), 50);
+}
+
+TEST(UnitTestBvhTree, LargeSpread)
+{
+    // Objects with huge gaps between them
+    const std::vector<Aabb> aabbs = {
+        {{0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}},
+        {{1000.f, 0.f, 0.f}, {1001.f, 1.f, 1.f}},
+        {{-1000.f, 0.f, 0.f}, {-999.f, 1.f, 1.f}},
+        {{0.f, 1000.f, 0.f}, {1.f, 1001.f, 1.f}},
+        {{0.f, -1000.f, 0.f}, {1.f, -999.f, 1.f}},
+    };
+
+    const BvhTree tree(aabbs);
+
+    auto r = tree.query_overlaps({{999.f, -1.f, -1.f}, {1002.f, 2.f, 2.f}});
+    ASSERT_EQ(r.size(), 1);
+    EXPECT_EQ(r[0], 1);
+
+    r = tree.query_overlaps({{-1001.f, -1.f, -1.f}, {-998.f, 2.f, 2.f}});
+    ASSERT_EQ(r.size(), 1);
+    EXPECT_EQ(r[0], 2);
+}
+
+TEST(UnitTestBvhTree, AllObjectsSameCenter)
+{
+    // All AABBs centered at origin but different sizes
+    std::vector<Aabb> aabbs;
+    for (int i = 1; i <= 10; ++i)
+    {
+        const auto s = static_cast<float>(i);
+        aabbs.push_back({{-s, -s, -s}, {s, s, s}});
+    }
+
+    const BvhTree tree(aabbs);
+
+    // Small query at origin should hit all
+    const auto r = tree.query_overlaps({{-0.1f, -0.1f, -0.1f}, {0.1f, 0.1f, 0.1f}});
+    EXPECT_EQ(r.size(), 10);
+
+    // Query touching only the largest box
+    const auto r2 = tree.query_overlaps({{9.5f, 9.5f, 9.5f}, {10.5f, 10.5f, 10.5f}});
+    ASSERT_EQ(r2.size(), 1);
+    EXPECT_EQ(r2[0], 9);
+}
+
+TEST(UnitTestBvhTree, MultipleQueriesSameTree)
+{
+    std::vector<Aabb> aabbs;
+    for (int i = 0; i < 100; ++i)
+    {
+        const auto f = static_cast<float>(i) * 2.f;
+        aabbs.push_back({{f, 0.f, 0.f}, {f + 1.f, 1.f, 1.f}});
+    }
+
+    const BvhTree tree(aabbs);
+
+    // Run many queries on the same tree
+    for (int i = 0; i < 100; ++i)
+    {
+        const auto f = static_cast<float>(i) * 2.f;
+        const auto r = tree.query_overlaps({{f, 0.f, 0.f}, {f + 1.f, 1.f, 1.f}});
+        ASSERT_GE(r.size(), 1) << "Query for object " << i << " should find at least itself";
+    }
+}

tests/general/unit_test_cry_pred_engine_trait.cpp

@@ -1,275 +0,0 @@
-//
-// Created by Vladislav on 20.04.2026.
-//
-#include <gtest/gtest.h>
-#include <omath/engines/cry_engine/traits/pred_engine_trait.hpp>
-#include <omath/projectile_prediction/projectile.hpp>
-#include <omath/projectile_prediction/target.hpp>
-
-using namespace omath;
-using namespace omath::cry_engine;
-
-// ---- predict_projectile_position ----
-
-TEST(CryPredEngineTrait, PredictProjectilePositionAtTimeZero)
-{
-    projectile_prediction::Projectile p;
-    p.m_origin       = {1.f, 2.f, 3.f};
-    p.m_launch_offset = {4.f, 5.f, 6.f};
-    p.m_launch_speed  = 100.f;
-    p.m_gravity_scale = 1.f;
-
-    const auto pos = PredEngineTrait::predict_projectile_position(p, 0.f, 0.f, 0.f, 9.81f);
-
-    // At t=0 no velocity is applied, just origin+offset
-    EXPECT_NEAR(pos.x, 5.f, 1e-4f);
-    EXPECT_NEAR(pos.y, 7.f, 1e-4f);
-    EXPECT_NEAR(pos.z, 9.f, 1e-4f);
-}
-
-TEST(CryPredEngineTrait, PredictProjectilePositionZeroAnglesForwardIsY)
-{
-    // Cry engine forward = +Y. At pitch=0, yaw=0 the projectile travels along +Y.
-    projectile_prediction::Projectile p;
-    p.m_origin       = {0.f, 0.f, 0.f};
-    p.m_launch_speed  = 10.f;
-    p.m_gravity_scale = 0.f; // no gravity so we isolate direction
-
-    const auto pos = PredEngineTrait::predict_projectile_position(p, 0.f, 0.f, 1.f, 9.81f);
-
-    EXPECT_NEAR(pos.x, 0.f, 1e-4f);
-    EXPECT_NEAR(pos.y, 10.f, 1e-4f);
-    EXPECT_NEAR(pos.z, 0.f, 1e-4f);
-}
-
-TEST(CryPredEngineTrait, PredictProjectilePositionGravityDropsZ)
-{
-    projectile_prediction::Projectile p;
-    p.m_origin       = {0.f, 0.f, 0.f};
-    p.m_launch_speed  = 10.f;
-    p.m_gravity_scale = 1.f;
-
-    const auto pos = PredEngineTrait::predict_projectile_position(p, 0.f, 0.f, 2.f, 9.81f);
-
-    // z = 0 - (9.81 * 1) * (4) * 0.5 = -19.62
-    EXPECT_NEAR(pos.z, -9.81f * 4.f * 0.5f, 1e-3f);
-}
-
-TEST(CryPredEngineTrait, PredictProjectilePositionGravityScaleZeroNoZDrop)
-{
-    projectile_prediction::Projectile p;
-    p.m_origin       = {0.f, 0.f, 0.f};
-    p.m_launch_speed  = 10.f;
-    p.m_gravity_scale = 0.f;
-
-    const auto pos = PredEngineTrait::predict_projectile_position(p, 0.f, 0.f, 3.f, 9.81f);
-
-    EXPECT_NEAR(pos.z, 0.f, 1e-4f);
-}
-
-TEST(CryPredEngineTrait, PredictProjectilePositionWithLaunchOffset)
-{
-    projectile_prediction::Projectile p;
-    p.m_origin        = {5.f, 0.f, 0.f};
-    p.m_launch_offset = {0.f, 0.f, 2.f};
-    p.m_launch_speed  = 10.f;
-    p.m_gravity_scale = 0.f;
-
-    const auto pos = PredEngineTrait::predict_projectile_position(p, 0.f, 0.f, 1.f, 0.f);
-
-    // launch position = {5, 0, 2}, travels along +Y by 10
-    EXPECT_NEAR(pos.x, 5.f,  1e-4f);
-    EXPECT_NEAR(pos.y, 10.f, 1e-4f);
-    EXPECT_NEAR(pos.z, 2.f,  1e-4f);
-}
-
-// ---- predict_target_position ----
-
-TEST(CryPredEngineTrait, PredictTargetPositionGroundedStationary)
-{
-    projectile_prediction::Target t;
-    t.m_origin     = {10.f, 20.f, 5.f};
-    t.m_velocity   = {0.f, 0.f, 0.f};
-    t.m_is_airborne = false;
-
-    const auto pred = PredEngineTrait::predict_target_position(t, 5.f, 9.81f);
-
-    EXPECT_NEAR(pred.x, 10.f, 1e-6f);
-    EXPECT_NEAR(pred.y, 20.f, 1e-6f);
-    EXPECT_NEAR(pred.z,  5.f, 1e-6f);
-}
-
-TEST(CryPredEngineTrait, PredictTargetPositionGroundedMoving)
-{
-    projectile_prediction::Target t;
-    t.m_origin     = {0.f, 0.f, 0.f};
-    t.m_velocity   = {3.f, 4.f, 0.f};
-    t.m_is_airborne = false;
-
-    const auto pred = PredEngineTrait::predict_target_position(t, 2.f, 9.81f);
-
-    EXPECT_NEAR(pred.x, 6.f,  1e-6f);
-    EXPECT_NEAR(pred.y, 8.f,  1e-6f);
-    EXPECT_NEAR(pred.z, 0.f,  1e-6f); // grounded — no gravity
-}
-
-TEST(CryPredEngineTrait, PredictTargetPositionAirborneGravityDropsZ)
-{
-    projectile_prediction::Target t;
-    t.m_origin     = {0.f, 0.f, 20.f};
-    t.m_velocity   = {0.f, 0.f, 0.f};
-    t.m_is_airborne = true;
-
-    const auto pred = PredEngineTrait::predict_target_position(t, 2.f, 9.81f);
-
-    // z = 20 - 9.81 * 4 * 0.5 = 20 - 19.62 = 0.38
-    EXPECT_NEAR(pred.z, 20.f - 9.81f * 4.f * 0.5f, 1e-4f);
-}
-
-TEST(CryPredEngineTrait, PredictTargetPositionAirborneMovingWithGravity)
-{
-    projectile_prediction::Target t;
-    t.m_origin     = {0.f, 0.f, 50.f};
-    t.m_velocity   = {10.f, 5.f, 0.f};
-    t.m_is_airborne = true;
-
-    const auto pred = PredEngineTrait::predict_target_position(t, 3.f, 9.81f);
-
-    EXPECT_NEAR(pred.x, 30.f, 1e-4f);
-    EXPECT_NEAR(pred.y, 15.f, 1e-4f);
-    EXPECT_NEAR(pred.z, 50.f - 9.81f * 9.f * 0.5f, 1e-4f);
-}
-
-// ---- calc_vector_2d_distance ----
-
-TEST(CryPredEngineTrait, CalcVector2dDistance_3_4_5)
-{
-    EXPECT_NEAR(PredEngineTrait::calc_vector_2d_distance({3.f, 4.f, 999.f}), 5.f, 1e-5f);
-}
-
-TEST(CryPredEngineTrait, CalcVector2dDistance_ZeroVector)
-{
-    EXPECT_NEAR(PredEngineTrait::calc_vector_2d_distance({0.f, 0.f, 0.f}), 0.f, 1e-6f);
-}
-
-TEST(CryPredEngineTrait, CalcVector2dDistance_ZIgnored)
-{
-    // Z does not affect the 2D distance
-    EXPECT_NEAR(PredEngineTrait::calc_vector_2d_distance({0.f, 5.f, 100.f}),
-                PredEngineTrait::calc_vector_2d_distance({0.f, 5.f, 0.f}), 1e-6f);
-}
-
-// ---- get_vector_height_coordinate ----
-
-TEST(CryPredEngineTrait, GetVectorHeightCoordinate_ReturnsZ)
-{
-    // Cry engine up = +Z
-    EXPECT_FLOAT_EQ(PredEngineTrait::get_vector_height_coordinate({1.f, 2.f, 7.f}), 7.f);
-}
-
-// ---- calc_direct_pitch_angle ----
-
-TEST(CryPredEngineTrait, CalcDirectPitchAngle_Flat)
-{
-    // Target at same height → pitch = 0
-    EXPECT_NEAR(PredEngineTrait::calc_direct_pitch_angle({0.f, 0.f, 0.f}, {0.f, 100.f, 0.f}), 0.f, 1e-4f);
-}
-
-TEST(CryPredEngineTrait, CalcDirectPitchAngle_LookingUp)
-{
-    // Target at 45° above (equal XY distance and Z height)
-    // direction to {0, 1, 1} normalized = {0, 0.707, 0.707}, asin(0.707) = 45°
-    EXPECT_NEAR(PredEngineTrait::calc_direct_pitch_angle({0.f, 0.f, 0.f}, {0.f, 1.f, 1.f}), 45.f, 1e-3f);
-}
-
-TEST(CryPredEngineTrait, CalcDirectPitchAngle_LookingDown)
-{
-    // Target directly below
-    EXPECT_NEAR(PredEngineTrait::calc_direct_pitch_angle({0.f, 0.f, 10.f}, {0.f, 0.f, 0.f}), -90.f, 1e-3f);
-}
-
-TEST(CryPredEngineTrait, CalcDirectPitchAngle_LookingDirectlyUp)
-{
-    EXPECT_NEAR(PredEngineTrait::calc_direct_pitch_angle({0.f, 0.f, 0.f}, {0.f, 0.f, 100.f}), 90.f, 1e-3f);
-}
-
-// ---- calc_direct_yaw_angle ----
-
-TEST(CryPredEngineTrait, CalcDirectYawAngle_ForwardAlongY)
-{
-    // Cry engine forward = +Y → yaw = 0
-    EXPECT_NEAR(PredEngineTrait::calc_direct_yaw_angle({0.f, 0.f, 0.f}, {0.f, 100.f, 0.f}), 0.f, 1e-4f);
-}
-
-TEST(CryPredEngineTrait, CalcDirectYawAngle_AlongPositiveX)
-{
-    // direction = {1, 0, 0}, yaw = -atan2(1, 0) = -90°
-    EXPECT_NEAR(PredEngineTrait::calc_direct_yaw_angle({0.f, 0.f, 0.f}, {100.f, 0.f, 0.f}), -90.f, 1e-3f);
-}
-
-TEST(CryPredEngineTrait, CalcDirectYawAngle_AlongNegativeX)
-{
-    // direction = {-1, 0, 0}, yaw = -atan2(-1, 0) = 90°
-    EXPECT_NEAR(PredEngineTrait::calc_direct_yaw_angle({0.f, 0.f, 0.f}, {-100.f, 0.f, 0.f}), 90.f, 1e-3f);
-}
-
-TEST(CryPredEngineTrait, CalcDirectYawAngle_BackwardAlongNegY)
-{
-    // direction = {0, -1, 0}, yaw = -atan2(0, -1) = ±180°
-    const float yaw = PredEngineTrait::calc_direct_yaw_angle({0.f, 0.f, 0.f}, {0.f, -100.f, 0.f});
-    EXPECT_NEAR(std::abs(yaw), 180.f, 1e-3f);
-}
-
-TEST(CryPredEngineTrait, CalcDirectYawAngle_OffOriginCamera)
-{
-    // Same relative direction regardless of camera position
-    const float yaw_a = PredEngineTrait::calc_direct_yaw_angle({0.f, 0.f, 0.f}, {0.f, 100.f, 0.f});
-    const float yaw_b = PredEngineTrait::calc_direct_yaw_angle({50.f, 50.f, 0.f}, {50.f, 150.f, 0.f});
-    EXPECT_NEAR(yaw_a, yaw_b, 1e-4f);
-}
-
-// ---- calc_viewpoint_from_angles ----
-
-TEST(CryPredEngineTrait, CalcViewpointFromAngles_45Degrees)
-{
-    projectile_prediction::Projectile p;
-    p.m_origin      = {0.f, 0.f, 0.f};
-    p.m_launch_speed = 10.f;
-
-    // Target along +Y at distance 10; pitch=45° → height = 10 * tan(45°) = 10
-    const Vector3<float> target{0.f, 10.f, 0.f};
-    const auto vp = PredEngineTrait::calc_viewpoint_from_angles(p, target, 45.f);
-
-    EXPECT_NEAR(vp.x, 0.f,  1e-4f);
-    EXPECT_NEAR(vp.y, 10.f, 1e-4f);
-    EXPECT_NEAR(vp.z, 10.f, 1e-3f);
-}
-
-TEST(CryPredEngineTrait, CalcViewpointFromAngles_ZeroPitch)
-{
-    projectile_prediction::Projectile p;
-    p.m_origin      = {0.f, 0.f, 5.f};
-    p.m_launch_speed = 1.f;
-
-    const Vector3<float> target{3.f, 4.f, 0.f};
-    const auto vp = PredEngineTrait::calc_viewpoint_from_angles(p, target, 0.f);
-
-    // tan(0) = 0 → viewpoint Z = origin.z + 0 = 5
-    EXPECT_NEAR(vp.x, 3.f, 1e-4f);
-    EXPECT_NEAR(vp.y, 4.f, 1e-4f);
-    EXPECT_NEAR(vp.z, 5.f, 1e-4f);
-}
-
-TEST(CryPredEngineTrait, CalcViewpointXYMatchesPredictedTargetXY)
-{
-    projectile_prediction::Projectile p;
-    p.m_origin      = {1.f, 2.f, 3.f};
-    p.m_launch_speed = 50.f;
-
-    const Vector3<float> target{10.f, 20.f, 5.f};
-    const auto vp = PredEngineTrait::calc_viewpoint_from_angles(p, target, 30.f);
-
-    // X and Y always match the predicted target position
-    EXPECT_NEAR(vp.x, target.x, 1e-4f);
-    EXPECT_NEAR(vp.y, target.y, 1e-4f);
-}

tests/general/unit_test_projection.cpp

@@ -5,13 +5,8 @@
 #include <complex>
 #include <gtest/gtest.h>
 #include <omath/3d_primitives/aabb.hpp>
-#include <omath/engines/cry_engine/camera.hpp>
-#include <omath/engines/frostbite_engine/camera.hpp>
-#include <omath/engines/iw_engine/camera.hpp>
 #include <omath/engines/opengl_engine/camera.hpp>
 #include <omath/engines/source_engine/camera.hpp>
-#include <omath/engines/unreal_engine/camera.hpp>
-#include <omath/linear_algebra/triangle.hpp>
 #include <omath/projection/camera.hpp>
 #include <print>
 #include <random>
@@ -516,673 +511,3 @@ TEST(UnitTestProjection, AabbUnityEngineStraddlesNearNotCulled)
     const omath::primitives::Aabb<float> aabb{{-1.f, -1.f, -5.f}, {1.f, 1.f, 5.f}};
     EXPECT_FALSE(cam.is_aabb_culled_by_frustum(aabb));
 }
-
-TEST(UnitTestProjection, CalcViewAnglesFromViewMatrix_LookingForward)
-{
-    constexpr float k_eps = 1e-4f;
-    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
-    const omath::source_engine::ViewAngles angles{
-        omath::source_engine::PitchAngle::from_degrees(0.f),
-        omath::source_engine::YawAngle::from_degrees(0.f),
-        omath::source_engine::RollAngle::from_degrees(0.f)
-    };
-    const auto cam = omath::source_engine::Camera({0, 0, 0}, angles, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
-
-    const auto result = omath::source_engine::Camera::calc_view_angles_from_view_matrix(cam.get_view_matrix());
-
-    EXPECT_NEAR(result.pitch.as_degrees(), 0.f, k_eps);
-    EXPECT_NEAR(result.yaw.as_degrees(), 0.f, k_eps);
-}
-
-TEST(UnitTestProjection, CalcViewAnglesFromViewMatrix_PositivePitchAndYaw)
-{
-    constexpr float k_eps = 1e-4f;
-    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
-    const omath::source_engine::ViewAngles angles{
-        omath::source_engine::PitchAngle::from_degrees(30.f),
-        omath::source_engine::YawAngle::from_degrees(45.f),
-        omath::source_engine::RollAngle::from_degrees(0.f)
-    };
-    const auto cam = omath::source_engine::Camera({0, 0, 0}, angles, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
-
-    const auto result = omath::source_engine::Camera::calc_view_angles_from_view_matrix(cam.get_view_matrix());
-
-    EXPECT_NEAR(result.pitch.as_degrees(), 30.f, k_eps);
-    EXPECT_NEAR(result.yaw.as_degrees(), 45.f, k_eps);
-}
-
-TEST(UnitTestProjection, CalcViewAnglesFromViewMatrix_NegativePitchAndYaw)
-{
-    constexpr float k_eps = 1e-4f;
-    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
-    const omath::source_engine::ViewAngles angles{
-        omath::source_engine::PitchAngle::from_degrees(-45.f),
-        omath::source_engine::YawAngle::from_degrees(-90.f),
-        omath::source_engine::RollAngle::from_degrees(0.f)
-    };
-    const auto cam = omath::source_engine::Camera({0, 0, 0}, angles, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
-
-    const auto result = omath::source_engine::Camera::calc_view_angles_from_view_matrix(cam.get_view_matrix());
-
-    EXPECT_NEAR(result.pitch.as_degrees(), -45.f, k_eps);
-    EXPECT_NEAR(result.yaw.as_degrees(), -90.f, k_eps);
-}
-
-TEST(UnitTestProjection, CalcViewAnglesFromViewMatrix_OffOriginCameraIgnored)
-{
-    // The forward vector from the view matrix does not depend on camera origin,
-    // so the same angles should be recovered regardless of position.
-    constexpr float k_eps = 1e-4f;
-    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
-    const omath::source_engine::ViewAngles angles{
-        omath::source_engine::PitchAngle::from_degrees(20.f),
-        omath::source_engine::YawAngle::from_degrees(60.f),
-        omath::source_engine::RollAngle::from_degrees(0.f)
-    };
-    const auto cam = omath::source_engine::Camera({100.f, 200.f, -50.f}, angles, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
-
-    const auto result = omath::source_engine::Camera::calc_view_angles_from_view_matrix(cam.get_view_matrix());
-
-    EXPECT_NEAR(result.pitch.as_degrees(), 20.f, k_eps);
-    EXPECT_NEAR(result.yaw.as_degrees(), 60.f, k_eps);
-}
-
-TEST(UnitTestProjection, CalcViewAnglesFromViewMatrix_RollAlwaysZero)
-{
-    // Roll cannot be encoded in the forward vector, so it is always 0 in the result.
-    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
-    const omath::source_engine::ViewAngles angles{
-        omath::source_engine::PitchAngle::from_degrees(10.f),
-        omath::source_engine::YawAngle::from_degrees(30.f),
-        omath::source_engine::RollAngle::from_degrees(15.f)
-    };
-    const auto cam = omath::source_engine::Camera({0, 0, 0}, angles, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
-
-    const auto result = omath::source_engine::Camera::calc_view_angles_from_view_matrix(cam.get_view_matrix());
-
-    EXPECT_FLOAT_EQ(result.roll.as_degrees(), 0.f);
-}
-
-TEST(UnitTestProjection, CalcOriginFromViewMatrix_AtOrigin)
-{
-    constexpr float k_eps = 1e-4f;
-    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
-    const auto cam = omath::source_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
-
-    const auto origin = omath::source_engine::Camera::calc_origin_from_view_matrix(cam.get_view_matrix());
-
-    EXPECT_NEAR(origin.x, 0.f, k_eps);
-    EXPECT_NEAR(origin.y, 0.f, k_eps);
-    EXPECT_NEAR(origin.z, 0.f, k_eps);
-}
-
-TEST(UnitTestProjection, CalcOriginFromViewMatrix_ArbitraryPosition)
-{
-    constexpr float k_eps = 1e-3f;
-    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
-    const omath::source_engine::ViewAngles angles{
-        omath::source_engine::PitchAngle::from_degrees(0.f),
-        omath::source_engine::YawAngle::from_degrees(0.f),
-        omath::source_engine::RollAngle::from_degrees(0.f)
-    };
-    const auto cam = omath::source_engine::Camera({100.f, 200.f, -50.f}, angles, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
-
-    const auto origin = omath::source_engine::Camera::calc_origin_from_view_matrix(cam.get_view_matrix());
-
-    EXPECT_NEAR(origin.x, 100.f, k_eps);
-    EXPECT_NEAR(origin.y, 200.f, k_eps);
-    EXPECT_NEAR(origin.z, -50.f, k_eps);
-}
-
-TEST(UnitTestProjection, CalcOriginFromViewMatrix_WithRotation)
-{
-    // Origin recovery must work even when the camera is rotated.
-    constexpr float k_eps = 1e-3f;
-    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
-    const omath::source_engine::ViewAngles angles{
-        omath::source_engine::PitchAngle::from_degrees(30.f),
-        omath::source_engine::YawAngle::from_degrees(45.f),
-        omath::source_engine::RollAngle::from_degrees(0.f)
-    };
-    const auto cam = omath::source_engine::Camera({300.f, -100.f, 75.f}, angles, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
-
-    const auto origin = omath::source_engine::Camera::calc_origin_from_view_matrix(cam.get_view_matrix());
-
-    EXPECT_NEAR(origin.x, 300.f, k_eps);
-    EXPECT_NEAR(origin.y, -100.f, k_eps);
-    EXPECT_NEAR(origin.z, 75.f, k_eps);
-}
-
-TEST(UnitTestProjection, CalcOriginFromViewMatrix_IndependentOfAngles)
-{
-    // Same position, different orientations — should always recover the same origin.
-    constexpr float k_eps = 1e-3f;
-    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
-    constexpr omath::Vector3<float> expected_origin{50.f, 50.f, 50.f};
-
-    const omath::source_engine::ViewAngles angles_a{
-        omath::source_engine::PitchAngle::from_degrees(0.f),
-        omath::source_engine::YawAngle::from_degrees(0.f),
-        omath::source_engine::RollAngle::from_degrees(0.f)
-    };
-    const omath::source_engine::ViewAngles angles_b{
-        omath::source_engine::PitchAngle::from_degrees(-60.f),
-        omath::source_engine::YawAngle::from_degrees(135.f),
-        omath::source_engine::RollAngle::from_degrees(0.f)
-    };
-
-    const auto cam_a = omath::source_engine::Camera(expected_origin, angles_a, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
-    const auto cam_b = omath::source_engine::Camera(expected_origin, angles_b, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
-
-    const auto origin_a = omath::source_engine::Camera::calc_origin_from_view_matrix(cam_a.get_view_matrix());
-    const auto origin_b = omath::source_engine::Camera::calc_origin_from_view_matrix(cam_b.get_view_matrix());
-
-    EXPECT_NEAR(origin_a.x, expected_origin.x, k_eps);
-    EXPECT_NEAR(origin_a.y, expected_origin.y, k_eps);
-    EXPECT_NEAR(origin_a.z, expected_origin.z, k_eps);
-
-    EXPECT_NEAR(origin_b.x, expected_origin.x, k_eps);
-    EXPECT_NEAR(origin_b.y, expected_origin.y, k_eps);
-    EXPECT_NEAR(origin_b.z, expected_origin.z, k_eps);
-}
-
-// ---- Unity engine camera tests ----
-
-TEST(UnitTestProjection, Unity_CalcViewAnglesFromViewMatrix_LookingForward)
-{
-    constexpr float k_eps = 1e-4f;
-    constexpr auto fov = omath::projection::FieldOfView::from_degrees(60.f);
-    const omath::unity_engine::ViewAngles angles{
-        omath::unity_engine::PitchAngle::from_degrees(0.f),
-        omath::unity_engine::YawAngle::from_degrees(0.f),
-        omath::unity_engine::RollAngle::from_degrees(0.f)
-    };
-    const auto cam = omath::unity_engine::Camera({0, 0, 0}, angles, {1280.f, 720.f}, fov, 0.03f, 1000.f);
-
-    const auto result = omath::unity_engine::Camera::calc_view_angles_from_view_matrix(cam.get_view_matrix());
-
-    EXPECT_NEAR(result.pitch.as_degrees(), 0.f, k_eps);
-    EXPECT_NEAR(result.yaw.as_degrees(), 0.f, k_eps);
-}
-
-TEST(UnitTestProjection, Unity_CalcViewAnglesFromViewMatrix_PositivePitchAndYaw)
-{
-    constexpr float k_eps = 1e-4f;
-    constexpr auto fov = omath::projection::FieldOfView::from_degrees(60.f);
-    const omath::unity_engine::ViewAngles angles{
-        omath::unity_engine::PitchAngle::from_degrees(30.f),
-        omath::unity_engine::YawAngle::from_degrees(45.f),
-        omath::unity_engine::RollAngle::from_degrees(0.f)
-    };
-    const auto cam = omath::unity_engine::Camera({0, 0, 0}, angles, {1280.f, 720.f}, fov, 0.03f, 1000.f);
-
-    const auto result = omath::unity_engine::Camera::calc_view_angles_from_view_matrix(cam.get_view_matrix());
-
-    EXPECT_NEAR(result.pitch.as_degrees(), 30.f, k_eps);
-    EXPECT_NEAR(result.yaw.as_degrees(), 45.f, k_eps);
-}
-
-TEST(UnitTestProjection, Unity_CalcViewAnglesFromViewMatrix_NegativePitchAndYaw)
-{
-    constexpr float k_eps = 1e-4f;
-    constexpr auto fov = omath::projection::FieldOfView::from_degrees(60.f);
-    const omath::unity_engine::ViewAngles angles{
-        omath::unity_engine::PitchAngle::from_degrees(-45.f),
-        omath::unity_engine::YawAngle::from_degrees(-90.f),
-        omath::unity_engine::RollAngle::from_degrees(0.f)
-    };
-    const auto cam = omath::unity_engine::Camera({0, 0, 0}, angles, {1280.f, 720.f}, fov, 0.03f, 1000.f);
-
-    const auto result = omath::unity_engine::Camera::calc_view_angles_from_view_matrix(cam.get_view_matrix());
-
-    EXPECT_NEAR(result.pitch.as_degrees(), -45.f, k_eps);
-    EXPECT_NEAR(result.yaw.as_degrees(), -90.f, k_eps);
-}
-
-TEST(UnitTestProjection, Unity_CalcOriginFromViewMatrix_AtOrigin)
-{
-    constexpr float k_eps = 1e-4f;
-    constexpr auto fov = omath::projection::FieldOfView::from_degrees(60.f);
-    const auto cam = omath::unity_engine::Camera({0, 0, 0}, {}, {1280.f, 720.f}, fov, 0.03f, 1000.f);
-
-    const auto origin = omath::unity_engine::Camera::calc_origin_from_view_matrix(cam.get_view_matrix());
-
-    EXPECT_NEAR(origin.x, 0.f, k_eps);
-    EXPECT_NEAR(origin.y, 0.f, k_eps);
-    EXPECT_NEAR(origin.z, 0.f, k_eps);
-}
-
-TEST(UnitTestProjection, Unity_CalcOriginFromViewMatrix_ArbitraryPosition)
-{
-    constexpr float k_eps = 1e-3f;
-    constexpr auto fov = omath::projection::FieldOfView::from_degrees(60.f);
-    const omath::unity_engine::ViewAngles angles{
-        omath::unity_engine::PitchAngle::from_degrees(0.f),
-        omath::unity_engine::YawAngle::from_degrees(0.f),
-        omath::unity_engine::RollAngle::from_degrees(0.f)
-    };
-    const auto cam = omath::unity_engine::Camera({100.f, 200.f, -50.f}, angles, {1280.f, 720.f}, fov, 0.03f, 1000.f);
-
-    const auto origin = omath::unity_engine::Camera::calc_origin_from_view_matrix(cam.get_view_matrix());
-
-    EXPECT_NEAR(origin.x, 100.f, k_eps);
-    EXPECT_NEAR(origin.y, 200.f, k_eps);
-    EXPECT_NEAR(origin.z, -50.f, k_eps);
-}
-
-TEST(UnitTestProjection, Unity_CalcOriginFromViewMatrix_WithRotation)
-{
-    constexpr float k_eps = 1e-3f;
-    constexpr auto fov = omath::projection::FieldOfView::from_degrees(60.f);
-    const omath::unity_engine::ViewAngles angles{
-        omath::unity_engine::PitchAngle::from_degrees(30.f),
-        omath::unity_engine::YawAngle::from_degrees(45.f),
-        omath::unity_engine::RollAngle::from_degrees(0.f)
-    };
-    const auto cam = omath::unity_engine::Camera({300.f, -100.f, 75.f}, angles, {1280.f, 720.f}, fov, 0.03f, 1000.f);
-
-    const auto origin = omath::unity_engine::Camera::calc_origin_from_view_matrix(cam.get_view_matrix());
-
-    EXPECT_NEAR(origin.x, 300.f, k_eps);
-    EXPECT_NEAR(origin.y, -100.f, k_eps);
-    EXPECT_NEAR(origin.z, 75.f, k_eps);
-}
-// ---- Camera basis vectors at zero angles ----
-
-TEST(UnitTestProjection, SourceEngine_ZeroAngles_BasisVectors)
-{
-    constexpr float k_eps = 1e-5f;
-    const auto cam = omath::source_engine::Camera({}, {}, {1920.f, 1080.f},
-                                                  omath::projection::FieldOfView::from_degrees(90.f), 0.01f, 1000.f);
-    const auto fwd   = cam.get_abs_forward();
-    const auto right = cam.get_abs_right();
-    const auto up    = cam.get_abs_up();
-
-    EXPECT_NEAR(fwd.x,   omath::source_engine::k_abs_forward.x, k_eps);
-    EXPECT_NEAR(fwd.y,   omath::source_engine::k_abs_forward.y, k_eps);
-    EXPECT_NEAR(fwd.z,   omath::source_engine::k_abs_forward.z, k_eps);
-
-    EXPECT_NEAR(right.x, omath::source_engine::k_abs_right.x, k_eps);
-    EXPECT_NEAR(right.y, omath::source_engine::k_abs_right.y, k_eps);
-    EXPECT_NEAR(right.z, omath::source_engine::k_abs_right.z, k_eps);
-
-    EXPECT_NEAR(up.x,    omath::source_engine::k_abs_up.x, k_eps);
-    EXPECT_NEAR(up.y,    omath::source_engine::k_abs_up.y, k_eps);
-    EXPECT_NEAR(up.z,    omath::source_engine::k_abs_up.z, k_eps);
-}
-
-TEST(UnitTestProjection, UnityEngine_ZeroAngles_BasisVectors)
-{
-    constexpr float k_eps = 1e-5f;
-    const auto cam = omath::unity_engine::Camera({}, {}, {1280.f, 720.f},
-                                                 omath::projection::FieldOfView::from_degrees(60.f), 0.03f, 1000.f);
-    const auto fwd   = cam.get_abs_forward();
-    const auto right = cam.get_abs_right();
-    const auto up    = cam.get_abs_up();
-
-    EXPECT_NEAR(fwd.x,   omath::unity_engine::k_abs_forward.x, k_eps);
-    EXPECT_NEAR(fwd.y,   omath::unity_engine::k_abs_forward.y, k_eps);
-    EXPECT_NEAR(fwd.z,   omath::unity_engine::k_abs_forward.z, k_eps);
-
-    EXPECT_NEAR(right.x, omath::unity_engine::k_abs_right.x, k_eps);
-    EXPECT_NEAR(right.y, omath::unity_engine::k_abs_right.y, k_eps);
-    EXPECT_NEAR(right.z, omath::unity_engine::k_abs_right.z, k_eps);
-
-    EXPECT_NEAR(up.x,    omath::unity_engine::k_abs_up.x, k_eps);
-    EXPECT_NEAR(up.y,    omath::unity_engine::k_abs_up.y, k_eps);
-    EXPECT_NEAR(up.z,    omath::unity_engine::k_abs_up.z, k_eps);
-}
-
-TEST(UnitTestProjection, OpenGLEngine_ZeroAngles_BasisVectors)
-{
-    constexpr float k_eps = 1e-5f;
-    const auto cam = omath::opengl_engine::Camera({}, {}, {1920.f, 1080.f},
-                                                  omath::projection::FieldOfView::from_degrees(90.f), 0.01f, 1000.f);
-    const auto fwd   = cam.get_abs_forward();
-    const auto right = cam.get_abs_right();
-    const auto up    = cam.get_abs_up();
-
-    EXPECT_NEAR(fwd.x,   omath::opengl_engine::k_abs_forward.x, k_eps);
-    EXPECT_NEAR(fwd.y,   omath::opengl_engine::k_abs_forward.y, k_eps);
-    EXPECT_NEAR(fwd.z,   omath::opengl_engine::k_abs_forward.z, k_eps);
-
-    EXPECT_NEAR(right.x, omath::opengl_engine::k_abs_right.x, k_eps);
-    EXPECT_NEAR(right.y, omath::opengl_engine::k_abs_right.y, k_eps);
-    EXPECT_NEAR(right.z, omath::opengl_engine::k_abs_right.z, k_eps);
-
-    EXPECT_NEAR(up.x,    omath::opengl_engine::k_abs_up.x, k_eps);
-    EXPECT_NEAR(up.y,    omath::opengl_engine::k_abs_up.y, k_eps);
-    EXPECT_NEAR(up.z,    omath::opengl_engine::k_abs_up.z, k_eps);
-}
-
-TEST(UnitTestProjection, UnrealEngine_ZeroAngles_BasisVectors)
-{
-    constexpr float k_eps = 1e-5f;
-    const auto cam = omath::unreal_engine::Camera({}, {}, {1920.f, 1080.f},
-                                                  omath::projection::FieldOfView::from_degrees(90.f), 0.01f, 1000.f);
-    const auto fwd   = cam.get_abs_forward();
-    const auto right = cam.get_abs_right();
-    const auto up    = cam.get_abs_up();
-
-    EXPECT_NEAR(fwd.x,   omath::unreal_engine::k_abs_forward.x, k_eps);
-    EXPECT_NEAR(fwd.y,   omath::unreal_engine::k_abs_forward.y, k_eps);
-    EXPECT_NEAR(fwd.z,   omath::unreal_engine::k_abs_forward.z, k_eps);
-
-    EXPECT_NEAR(right.x, omath::unreal_engine::k_abs_right.x, k_eps);
-    EXPECT_NEAR(right.y, omath::unreal_engine::k_abs_right.y, k_eps);
-    EXPECT_NEAR(right.z, omath::unreal_engine::k_abs_right.z, k_eps);
-
-    EXPECT_NEAR(up.x,    omath::unreal_engine::k_abs_up.x, k_eps);
-    EXPECT_NEAR(up.y,    omath::unreal_engine::k_abs_up.y, k_eps);
-    EXPECT_NEAR(up.z,    omath::unreal_engine::k_abs_up.z, k_eps);
-}
-
-TEST(UnitTestProjection, FrostbiteEngine_ZeroAngles_BasisVectors)
-{
-    constexpr float k_eps = 1e-5f;
-    const auto cam = omath::frostbite_engine::Camera({}, {}, {1920.f, 1080.f},
-                                                     omath::projection::FieldOfView::from_degrees(90.f), 0.01f, 1000.f);
-    const auto fwd   = cam.get_abs_forward();
-    const auto right = cam.get_abs_right();
-    const auto up    = cam.get_abs_up();
-
-    EXPECT_NEAR(fwd.x,   omath::frostbite_engine::k_abs_forward.x, k_eps);
-    EXPECT_NEAR(fwd.y,   omath::frostbite_engine::k_abs_forward.y, k_eps);
-    EXPECT_NEAR(fwd.z,   omath::frostbite_engine::k_abs_forward.z, k_eps);
-
-    EXPECT_NEAR(right.x, omath::frostbite_engine::k_abs_right.x, k_eps);
-    EXPECT_NEAR(right.y, omath::frostbite_engine::k_abs_right.y, k_eps);
-    EXPECT_NEAR(right.z, omath::frostbite_engine::k_abs_right.z, k_eps);
-
-    EXPECT_NEAR(up.x,    omath::frostbite_engine::k_abs_up.x, k_eps);
-    EXPECT_NEAR(up.y,    omath::frostbite_engine::k_abs_up.y, k_eps);
-    EXPECT_NEAR(up.z,    omath::frostbite_engine::k_abs_up.z, k_eps);
-}
-
-TEST(UnitTestProjection, CryEngine_ZeroAngles_BasisVectors)
-{
-    constexpr float k_eps = 1e-5f;
-    const auto cam = omath::cry_engine::Camera({}, {}, {1920.f, 1080.f},
-                                               omath::projection::FieldOfView::from_degrees(90.f), 0.01f, 1000.f);
-    const auto fwd   = cam.get_abs_forward();
-    const auto right = cam.get_abs_right();
-    const auto up    = cam.get_abs_up();
-
-    EXPECT_NEAR(fwd.x,   omath::cry_engine::k_abs_forward.x, k_eps);
-    EXPECT_NEAR(fwd.y,   omath::cry_engine::k_abs_forward.y, k_eps);
-    EXPECT_NEAR(fwd.z,   omath::cry_engine::k_abs_forward.z, k_eps);
-
-    EXPECT_NEAR(right.x, omath::cry_engine::k_abs_right.x, k_eps);
-    EXPECT_NEAR(right.y, omath::cry_engine::k_abs_right.y, k_eps);
-    EXPECT_NEAR(right.z, omath::cry_engine::k_abs_right.z, k_eps);
-
-    EXPECT_NEAR(up.x,    omath::cry_engine::k_abs_up.x, k_eps);
-    EXPECT_NEAR(up.y,    omath::cry_engine::k_abs_up.y, k_eps);
-    EXPECT_NEAR(up.z,    omath::cry_engine::k_abs_up.z, k_eps);
-}
-
-TEST(UnitTestProjection, IWEngine_ZeroAngles_BasisVectors)
-{
-    constexpr float k_eps = 1e-5f;
-    const auto cam = omath::iw_engine::Camera({}, {}, {1920.f, 1080.f},
-                                              omath::projection::FieldOfView::from_degrees(90.f), 0.01f, 1000.f);
-    const auto fwd   = cam.get_abs_forward();
-    const auto right = cam.get_abs_right();
-    const auto up    = cam.get_abs_up();
-
-    EXPECT_NEAR(fwd.x,   omath::iw_engine::k_abs_forward.x, k_eps);
-    EXPECT_NEAR(fwd.y,   omath::iw_engine::k_abs_forward.y, k_eps);
-    EXPECT_NEAR(fwd.z,   omath::iw_engine::k_abs_forward.z, k_eps);
-
-    EXPECT_NEAR(right.x, omath::iw_engine::k_abs_right.x, k_eps);
-    EXPECT_NEAR(right.y, omath::iw_engine::k_abs_right.y, k_eps);
-    EXPECT_NEAR(right.z, omath::iw_engine::k_abs_right.z, k_eps);
-
-    EXPECT_NEAR(up.x,    omath::iw_engine::k_abs_up.x, k_eps);
-    EXPECT_NEAR(up.y,    omath::iw_engine::k_abs_up.y, k_eps);
-    EXPECT_NEAR(up.z,    omath::iw_engine::k_abs_up.z, k_eps);
-}
-
-// ---- extract_projection_params ----
-
-TEST(UnitTestProjection, ExtractProjectionParams_FovRoundTrip)
-{
-    // Source engine applies a 0.75 scale factor to its projection matrix, so
-    // extract_projection_params (standard formula) does not round-trip with it.
-    // Use Unity engine, which uses a standard projection matrix.
-    constexpr float k_eps = 1e-4f;
-    constexpr auto fov = omath::projection::FieldOfView::from_degrees(75.f);
-    const auto cam = omath::unity_engine::Camera({}, {}, {1280.f, 720.f}, fov, 0.03f, 1000.f);
-
-    const auto params = omath::unity_engine::Camera::extract_projection_params(cam.get_projection_matrix());
-
-    EXPECT_NEAR(params.fov.as_degrees(), 75.f, k_eps);
-}
-
-TEST(UnitTestProjection, ExtractProjectionParams_AspectRatioRoundTrip)
-{
-    constexpr float k_eps = 1e-4f;
-    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
-    const auto cam = omath::source_engine::Camera({}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
-
-    const auto params = omath::source_engine::Camera::extract_projection_params(cam.get_projection_matrix());
-
-    EXPECT_NEAR(params.aspect_ratio, 1920.f / 1080.f, k_eps);
-}
-
-TEST(UnitTestProjection, ExtractProjectionParams_UnityEngine)
-{
-    constexpr float k_eps = 1e-4f;
-    constexpr auto fov = omath::projection::FieldOfView::from_degrees(60.f);
-    const auto cam = omath::unity_engine::Camera({}, {}, {1280.f, 720.f}, fov, 0.03f, 1000.f);
-
-    const auto params = omath::unity_engine::Camera::extract_projection_params(cam.get_projection_matrix());
-
-    EXPECT_NEAR(params.fov.as_degrees(), 60.f, k_eps);
-    EXPECT_NEAR(params.aspect_ratio, 1280.f / 720.f, k_eps);
-}
-
-// ---- Accessors ----
-
-TEST(UnitTestProjection, Accessors_GetFovNearFarOrigin)
-{
-    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
-    const omath::Vector3<float> origin{10.f, 20.f, 30.f};
-    const auto cam = omath::source_engine::Camera(origin, {}, {1920.f, 1080.f}, fov, 0.1f, 500.f);
-
-    EXPECT_NEAR(cam.get_field_of_view().as_degrees(), 90.f, 1e-4f);
-    EXPECT_FLOAT_EQ(cam.get_near_plane(), 0.1f);
-    EXPECT_FLOAT_EQ(cam.get_far_plane(), 500.f);
-    EXPECT_FLOAT_EQ(cam.get_origin().x, 10.f);
-    EXPECT_FLOAT_EQ(cam.get_origin().y, 20.f);
-    EXPECT_FLOAT_EQ(cam.get_origin().z, 30.f);
-}
-
-// ---- Setters + cache invalidation ----
-
-TEST(UnitTestProjection, SetFieldOfView_InvalidatesProjection)
-{
-    constexpr auto fov_a = omath::projection::FieldOfView::from_degrees(90.f);
-    constexpr auto fov_b = omath::projection::FieldOfView::from_degrees(45.f);
-    auto cam = omath::source_engine::Camera({}, {}, {1920.f, 1080.f}, fov_a, 0.01f, 1000.f);
-
-    const auto proj_before = cam.get_projection_matrix();
-    cam.set_field_of_view(fov_b);
-    const auto proj_after = cam.get_projection_matrix();
-
-    EXPECT_NE(proj_before.at(0, 0), proj_after.at(0, 0));
-    EXPECT_NEAR(cam.get_field_of_view().as_degrees(), 45.f, 1e-4f);
-}
-
-TEST(UnitTestProjection, SetNearPlane_InvalidatesProjection)
-{
-    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
-    auto cam = omath::source_engine::Camera({}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
-
-    const auto proj_before = cam.get_projection_matrix();
-    cam.set_near_plane(1.f);
-    const auto proj_after = cam.get_projection_matrix();
-
-    EXPECT_FLOAT_EQ(cam.get_near_plane(), 1.f);
-    EXPECT_NE(proj_before.at(2, 2), proj_after.at(2, 2));
-}
-
-TEST(UnitTestProjection, SetFarPlane_InvalidatesProjection)
-{
-    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
-    auto cam = omath::source_engine::Camera({}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
-
-    const auto proj_before = cam.get_projection_matrix();
-    cam.set_far_plane(100.f);
-    const auto proj_after = cam.get_projection_matrix();
-
-    EXPECT_FLOAT_EQ(cam.get_far_plane(), 100.f);
-    EXPECT_NE(proj_before.at(2, 2), proj_after.at(2, 2));
-}
-
-TEST(UnitTestProjection, SetOrigin_InvalidatesViewMatrix)
-{
-    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
-    auto cam = omath::source_engine::Camera({0.f, 0.f, 0.f}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
-
-    // Target is off to the side — stays at the same world position while camera
-    // moves laterally, so the projected X must change.
-    const auto screen_before = cam.world_to_screen({500.f, 100.f, 0.f});
-    cam.set_origin({0.f, 100.f, 0.f}); // lateral shift
-    const auto screen_after = cam.world_to_screen({500.f, 100.f, 0.f});
-
-    ASSERT_TRUE(screen_before.has_value());
-    ASSERT_TRUE(screen_after.has_value());
-    EXPECT_NE(screen_before->x, screen_after->x);
-    EXPECT_FLOAT_EQ(cam.get_origin().y, 100.f);
-}
-
-TEST(UnitTestProjection, SetViewPort_InvalidatesProjection)
-{
-    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
-    auto cam = omath::source_engine::Camera({}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
-
-    const auto proj_before = cam.get_projection_matrix();
-    // 1280x800 is 8:5, different aspect ratio from 1920x1080 (16:9)
-    cam.set_view_port({1280.f, 800.f});
-    const auto proj_after = cam.get_projection_matrix();
-
-    EXPECT_NE(proj_before.at(0, 0), proj_after.at(0, 0));
-}
-
-TEST(UnitTestProjection, SetViewAngles_InvalidatesViewMatrix)
-{
-    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
-    auto cam = omath::source_engine::Camera({}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
-
-    const auto view_before = cam.get_view_matrix();
-    const omath::source_engine::ViewAngles rotated{
-        omath::source_engine::PitchAngle::from_degrees(30.f),
-        omath::source_engine::YawAngle::from_degrees(45.f),
-        omath::source_engine::RollAngle::from_degrees(0.f)
-    };
-    cam.set_view_angles(rotated);
-    const auto view_after = cam.get_view_matrix();
-
-    EXPECT_NE(view_before.at(0, 0), view_after.at(0, 0));
-}
-
-// ---- calc_look_at_angles / look_at ----
-
-TEST(UnitTestProjection, CalcLookAtAngles_ForwardTarget)
-{
-    // Source engine: +X is forward. Camera at origin, target on +X axis.
-    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
-    const auto cam = omath::source_engine::Camera({0.f, 0.f, 0.f}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
-
-    const auto angles = cam.calc_look_at_angles({100.f, 0.f, 0.f});
-
-    EXPECT_NEAR(angles.pitch.as_degrees(), 0.f, 1e-4f);
-    EXPECT_NEAR(angles.yaw.as_degrees(),   0.f, 1e-4f);
-}
-
-TEST(UnitTestProjection, LookAt_ForwardVectorPointsAtTarget)
-{
-    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
-    auto cam = omath::source_engine::Camera({0.f, 0.f, 0.f}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
-
-    cam.look_at({200.f, 0.f, 0.f});
-    const auto fwd = cam.get_abs_forward();
-
-    // After pointing at +X target the forward vector should be ~(1,0,0)
-    EXPECT_NEAR(fwd.x, 1.f, 1e-4f);
-    EXPECT_NEAR(fwd.y, 0.f, 1e-4f);
-    EXPECT_NEAR(fwd.z, 0.f, 1e-4f);
-}
-
-// ---- is_culled_by_frustum (triangle) ----
-
-TEST(UnitTestProjection, TriangleInsideFrustumNotCulled)
-{
-    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
-    const auto cam = omath::source_engine::Camera({0.f, 0.f, 0.f}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
-
-    // Small triangle directly in front (Source: +X forward)
-    const omath::Triangle<omath::Vector3<float>> tri{
-        {100.f,  0.f,  1.f},
-        {100.f,  1.f, -1.f},
-        {100.f, -1.f, -1.f}
-    };
-    EXPECT_FALSE(cam.is_culled_by_frustum(tri));
-}
-
-TEST(UnitTestProjection, TriangleBehindCameraCulled)
-{
-    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
-    const auto cam = omath::source_engine::Camera({0.f, 0.f, 0.f}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
-
-    // Triangle entirely behind the camera (-X)
-    const omath::Triangle<omath::Vector3<float>> tri{
-        {-100.f,  0.f,  1.f},
-        {-100.f,  1.f, -1.f},
-        {-100.f, -1.f, -1.f}
-    };
-    EXPECT_TRUE(cam.is_culled_by_frustum(tri));
-}
-
-TEST(UnitTestProjection, TriangleBeyondFarPlaneCulled)
-{
-    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
-    const auto cam = omath::source_engine::Camera({0.f, 0.f, 0.f}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
-
-    // Triangle beyond the 1000-unit far plane
-    const omath::Triangle<omath::Vector3<float>> tri{
-        {2000.f,  0.f,  1.f},
-        {2000.f,  1.f, -1.f},
-        {2000.f, -1.f, -1.f}
-    };
-    EXPECT_TRUE(cam.is_culled_by_frustum(tri));
-}
-
-TEST(UnitTestProjection, TriangleFarToSideCulled)
-{
-    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
-    const auto cam = omath::source_engine::Camera({0.f, 0.f, 0.f}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
-
-    // Triangle far outside the side frustum planes
-    const omath::Triangle<omath::Vector3<float>> tri{
-        {100.f, 5000.f,  0.f},
-        {100.f, 5001.f,  1.f},
-        {100.f, 5001.f, -1.f}
-    };
-    EXPECT_TRUE(cam.is_culled_by_frustum(tri));
-}
-
-TEST(UnitTestProjection, TriangleStraddlingFrustumNotCulled)
-{
-    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
-    const auto cam = omath::source_engine::Camera({0.f, 0.f, 0.f}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
-
-    // Large triangle with vertices on both sides of the frustum — should not be culled
-    const omath::Triangle<omath::Vector3<float>> tri{
-        { 100.f,    0.f,   0.f},
-        { 100.f, 5000.f,   0.f},
-        { 100.f,    0.f, 5000.f}
-    };
-    EXPECT_FALSE(cam.is_culled_by_frustum(tri));
-}

tests/general/unit_test_walk_bot.cpp

@@ -1,640 +0,0 @@
-// Unit tests for omath::pathfinding::WalkBot
-// Covers all status transitions, callback behaviour, and a full walk simulation.
-#include <gtest/gtest.h>
-#include "omath/pathfinding/walk_bot.hpp"
-#include "omath/pathfinding/navigation_mesh.hpp"
-
-using namespace omath;
-using namespace omath::pathfinding;
-
-// ---------------------------------------------------------------------------
-// Helpers
-// ---------------------------------------------------------------------------
-
-// Build a simple bidirectional linear chain:
-//   (0,0,0) <-> (1,0,0) <-> (2,0,0) <-> ... <-> (n-1,0,0)
-static std::shared_ptr<NavigationMesh> make_linear_mesh(int n)
-{
-    auto mesh = std::make_shared<NavigationMesh>();
-    for (int i = 0; i < n; ++i)
-    {
-        const Vector3<float> v{static_cast<float>(i), 0.f, 0.f};
-        std::vector<Vector3<float>> neighbors;
-        if (i > 0)
-            neighbors.push_back(Vector3<float>{static_cast<float>(i - 1), 0.f, 0.f});
-        if (i + 1 < n)
-            neighbors.push_back(Vector3<float>{static_cast<float>(i + 1), 0.f, 0.f});
-        mesh->m_vertex_map[v] = neighbors;
-    }
-    return mesh;
-}
-
-// Collect every status update fired during one update() call.
-static auto make_status_recorder(std::vector<WalkBotStatus>& out)
-{
-    return [&out](WalkBotStatus s) { out.push_back(s); };
-}
-
-// Collect every "next node" hint fired during one update() call.
-static auto make_node_recorder(std::vector<Vector3<float>>& out)
-{
-    return [&out](const Vector3<float>& v) { out.push_back(v); };
-}
-
-// ---------------------------------------------------------------------------
-// Construction
-// ---------------------------------------------------------------------------
-
-TEST(WalkBotTests, DefaultConstructedBotIsInert)
-{
-    // A default-constructed bot with no mesh, no target, and no callbacks must
-    // not crash.
-    WalkBot bot;
-    EXPECT_NO_THROW(bot.update({0.f, 0.f, 0.f}));
-}
-
-TEST(WalkBotTests, ConstructWithMeshAndDistance)
-{
-    auto mesh = make_linear_mesh(3);
-    EXPECT_NO_THROW(WalkBot bot(mesh, 0.5f));
-}
-
-// ---------------------------------------------------------------------------
-// Status: FINISHED
-// ---------------------------------------------------------------------------
-
-TEST(WalkBotTests, FiresFinishedWhenBotIsAtTarget)
-{
-    auto mesh = make_linear_mesh(3);
-    WalkBot bot(mesh, 0.5f);
-    bot.set_target({2.f, 0.f, 0.f});
-
-    std::vector<WalkBotStatus> statuses;
-    bot.on_status(make_status_recorder(statuses));
-
-    // bot_position == target_position -> distance == 0, well within threshold
-    bot.update({2.f, 0.f, 0.f});
-
-    ASSERT_FALSE(statuses.empty());
-    EXPECT_EQ(statuses.front(), WalkBotStatus::FINISHED);
-}
-
-TEST(WalkBotTests, FiresFinishedWhenBotIsWithinMinDistance)
-{
-    auto mesh = make_linear_mesh(3);
-    WalkBot bot(mesh, 0.5f);
-    bot.set_target({0.4f, 0.f, 0.f});
-
-    std::vector<WalkBotStatus> statuses;
-    bot.on_status(make_status_recorder(statuses));
-
-    // distance between (0,0,0) and (0.4,0,0) is 0.4 < 0.5 threshold
-    bot.update({0.f, 0.f, 0.f});
-
-    ASSERT_FALSE(statuses.empty());
-    EXPECT_EQ(statuses.front(), WalkBotStatus::FINISHED);
-}
-
-TEST(WalkBotTests, NoFinishedWhenOutsideMinDistance)
-{
-    auto mesh = make_linear_mesh(5);
-    WalkBot bot(mesh, 0.5f);
-    bot.set_target({4.f, 0.f, 0.f});
-
-    std::vector<WalkBotStatus> statuses;
-    bot.on_status(make_status_recorder(statuses));
-
-    // Attach path callback so we get further status updates
-    std::vector<Vector3<float>> nodes;
-    bot.on_path(make_node_recorder(nodes));
-
-    bot.update({0.f, 0.f, 0.f});
-
-    // FINISHED must NOT appear in the status list
-    for (auto s : statuses)
-        EXPECT_NE(s, WalkBotStatus::FINISHED);
-}
-
-TEST(WalkBotTests, FinishedFiredEvenWithoutPathCallback)
-{
-    // FINISHED is emitted before the on_path guard, so it fires regardless.
-    auto mesh = make_linear_mesh(2);
-    WalkBot bot(mesh, 0.5f);
-    bot.set_target({1.f, 0.f, 0.f});
-
-    std::vector<WalkBotStatus> statuses;
-    bot.on_status(make_status_recorder(statuses));
-    // Intentionally do NOT register on_path callback.
-
-    bot.update({1.f, 0.f, 0.f});
-
-    ASSERT_EQ(statuses.size(), 1u);
-    EXPECT_EQ(statuses[0], WalkBotStatus::FINISHED);
-}
-
-TEST(WalkBotTests, FinishedDoesNotFallThroughToPathing)
-{
-    // update() must return after FINISHED — PATHING must not fire on the same tick.
-    auto mesh = make_linear_mesh(3);
-    WalkBot bot(mesh, 0.5f);
-    bot.set_target({1.f, 0.f, 0.f});
-
-    std::vector<WalkBotStatus> statuses;
-    bot.on_status(make_status_recorder(statuses));
-    std::vector<Vector3<float>> nodes;
-    bot.on_path(make_node_recorder(nodes));
-
-    bot.update({1.f, 0.f, 0.f}); // bot is at target
-
-    ASSERT_EQ(statuses.size(), 1u);
-    EXPECT_EQ(statuses[0], WalkBotStatus::FINISHED);
-    EXPECT_TRUE(nodes.empty());
-}
-
-// ---------------------------------------------------------------------------
-// No target set
-// ---------------------------------------------------------------------------
-
-TEST(WalkBotTests, NoUpdateWithoutTarget)
-{
-    auto mesh = make_linear_mesh(3);
-    WalkBot bot(mesh, 0.5f);
-    // Intentionally do NOT call set_target()
-
-    std::vector<WalkBotStatus> statuses;
-    bot.on_status(make_status_recorder(statuses));
-    std::vector<Vector3<float>> nodes;
-    bot.on_path(make_node_recorder(nodes));
-
-    bot.update({0.f, 0.f, 0.f});
-
-    EXPECT_TRUE(statuses.empty());
-    EXPECT_TRUE(nodes.empty());
-}
-
-// ---------------------------------------------------------------------------
-// Status: IDLE — no path callback registered
-// ---------------------------------------------------------------------------
-
-TEST(WalkBotTests, NoPathCallbackMeansNoPathingStatus)
-{
-    auto mesh = make_linear_mesh(4);
-    WalkBot bot(mesh, 0.5f);
-    bot.set_target({3.f, 0.f, 0.f});
-
-    std::vector<WalkBotStatus> statuses;
-    bot.on_status(make_status_recorder(statuses));
-    // No on_path registered -> update returns early after FINISHED check
-
-    bot.update({0.f, 0.f, 0.f});
-
-    EXPECT_TRUE(statuses.empty());
-}
-
-// ---------------------------------------------------------------------------
-// Status: IDLE — null/expired navigation mesh
-// ---------------------------------------------------------------------------
-
-TEST(WalkBotTests, FiresIdleWhenNavMeshIsNull)
-{
-    WalkBot bot; // no mesh assigned
-    bot.set_target({5.f, 0.f, 0.f});
-
-    std::vector<WalkBotStatus> statuses;
-    bot.on_status(make_status_recorder(statuses));
-
-    std::vector<Vector3<float>> nodes;
-    bot.on_path(make_node_recorder(nodes));
-
-    bot.update({0.f, 0.f, 0.f});
-
-    ASSERT_FALSE(statuses.empty());
-    EXPECT_EQ(statuses.back(), WalkBotStatus::IDLE);
-    EXPECT_TRUE(nodes.empty());
-}
-
-TEST(WalkBotTests, FiresIdleWhenNavMeshExpires)
-{
-    auto mesh = make_linear_mesh(4);
-    WalkBot bot(mesh, 0.5f);
-    bot.set_target({3.f, 0.f, 0.f});
-
-    std::vector<WalkBotStatus> statuses;
-    bot.on_status(make_status_recorder(statuses));
-
-    std::vector<Vector3<float>> nodes;
-    bot.on_path(make_node_recorder(nodes));
-
-    // Let the shared_ptr expire — WalkBot holds only a weak_ptr.
-    mesh.reset();
-
-    bot.update({0.f, 0.f, 0.f});
-
-    ASSERT_FALSE(statuses.empty());
-    EXPECT_EQ(statuses.back(), WalkBotStatus::IDLE);
-    EXPECT_TRUE(nodes.empty());
-}
-
-TEST(WalkBotTests, SetNavMeshRestoresPathing)
-{
-    WalkBot bot; // starts with no mesh
-    bot.set_target({3.f, 0.f, 0.f});
-
-    std::vector<WalkBotStatus> statuses;
-    bot.on_status(make_status_recorder(statuses));
-    std::vector<Vector3<float>> nodes;
-    bot.on_path(make_node_recorder(nodes));
-
-    // First call — no mesh -> IDLE
-    bot.update({0.f, 0.f, 0.f});
-    ASSERT_EQ(statuses.back(), WalkBotStatus::IDLE);
-
-    // Assign a mesh and call again. Keep the shared_ptr alive so the
-    // weak_ptr inside WalkBot does not expire before update() is called.
-    statuses.clear();
-    nodes.clear();
-    auto new_mesh = make_linear_mesh(4);
-    bot.set_nav_mesh(new_mesh);
-    bot.set_min_node_distance(0.5f);
-    bot.update({0.f, 0.f, 0.f});
-
-    ASSERT_FALSE(statuses.empty());
-    EXPECT_EQ(statuses.back(), WalkBotStatus::PATHING);
-    EXPECT_FALSE(nodes.empty());
-}
-
-// ---------------------------------------------------------------------------
-// Status: IDLE — A* finds no path
-// ---------------------------------------------------------------------------
-
-TEST(WalkBotTests, FiresIdleWhenNoPathExists)
-{
-    // Disconnected graph: two isolated vertices
-    auto mesh = std::make_shared<NavigationMesh>();
-    mesh->m_vertex_map[{0.f, 0.f, 0.f}] = {};
-    mesh->m_vertex_map[{10.f, 0.f, 0.f}] = {};
-
-    WalkBot bot(mesh, 0.5f);
-    bot.set_target({10.f, 0.f, 0.f});
-
-    std::vector<WalkBotStatus> statuses;
-    bot.on_status(make_status_recorder(statuses));
-    std::vector<Vector3<float>> nodes;
-    bot.on_path(make_node_recorder(nodes));
-
-    bot.update({0.f, 0.f, 0.f});
-
-    ASSERT_FALSE(statuses.empty());
-    EXPECT_EQ(statuses.back(), WalkBotStatus::IDLE);
-    EXPECT_TRUE(nodes.empty());
-}
-
-// ---------------------------------------------------------------------------
-// Status: PATHING — normal routing
-// ---------------------------------------------------------------------------
-
-TEST(WalkBotTests, FiresPathingAndProvidesNextNode)
-{
-    auto mesh = make_linear_mesh(4);
-    WalkBot bot(mesh, 0.5f);
-    bot.set_target({3.f, 0.f, 0.f});
-
-    std::vector<WalkBotStatus> statuses;
-    bot.on_status(make_status_recorder(statuses));
-    std::vector<Vector3<float>> nodes;
-    bot.on_path(make_node_recorder(nodes));
-
-    bot.update({0.f, 0.f, 0.f});
-
-    ASSERT_FALSE(statuses.empty());
-    EXPECT_EQ(statuses.back(), WalkBotStatus::PATHING);
-    ASSERT_FALSE(nodes.empty());
-}
-
-TEST(WalkBotTests, NextNodeIsOnThePath)
-{
-    auto mesh = make_linear_mesh(5);
-    WalkBot bot(mesh, 0.5f);
-    bot.set_target({4.f, 0.f, 0.f});
-
-    std::vector<Vector3<float>> nodes;
-    bot.on_path(make_node_recorder(nodes));
-
-    bot.update({0.f, 0.f, 0.f});
-
-    // The suggested node must be a mesh vertex (x in [0..4], y=0, z=0)
-    ASSERT_FALSE(nodes.empty());
-    const auto& hint = nodes.front();
-    EXPECT_GE(hint.x, 0.f);
-    EXPECT_LE(hint.x, 4.f);
-    EXPECT_FLOAT_EQ(hint.y, 0.f);
-    EXPECT_FLOAT_EQ(hint.z, 0.f);
-}
-
-// ---------------------------------------------------------------------------
-// set_min_node_distance
-// ---------------------------------------------------------------------------
-
-TEST(WalkBotTests, MinNodeDistanceAffectsFinishedThreshold)
-{
-    auto mesh = make_linear_mesh(3);
-    WalkBot bot(mesh, 0.1f); // very tight threshold
-    bot.set_target({1.f, 0.f, 0.f});
-
-    std::vector<WalkBotStatus> statuses;
-    bot.on_status(make_status_recorder(statuses));
-
-    // distance 0.4 — outside 0.1 threshold
-    bot.update({0.6f, 0.f, 0.f});
-    EXPECT_TRUE(statuses.empty() ||
-                std::find(statuses.begin(), statuses.end(), WalkBotStatus::FINISHED) == statuses.end());
-
-    statuses.clear();
-    bot.set_min_node_distance(0.5f); // widen threshold
-    bot.update({0.6f, 0.f, 0.f});   // now 0.4 < 0.5 -> FINISHED
-
-    ASSERT_FALSE(statuses.empty());
-    EXPECT_EQ(statuses.front(), WalkBotStatus::FINISHED);
-}
-
-// ---------------------------------------------------------------------------
-// reset()
-// ---------------------------------------------------------------------------
-
-TEST(WalkBotTests, ResetClearsLastVisited)
-{
-    auto mesh = make_linear_mesh(3);
-    WalkBot bot(mesh, 0.5f);
-    bot.set_target({2.f, 0.f, 0.f});
-
-    std::vector<Vector3<float>> nodes;
-    bot.on_path(make_node_recorder(nodes));
-
-    // Tick 1: mark node 0 visited -> hint is node 1
-    bot.update({0.05f, 0.f, 0.f});
-    ASSERT_FALSE(nodes.empty());
-    EXPECT_FLOAT_EQ(nodes.back().x, 1.f);
-
-    // Without reset, a second tick from the same position also gives node 1.
-    nodes.clear();
-    bot.reset();
-
-    // After reset, m_last_visited is cleared. The nearest node is 0 again,
-    // it is within threshold so it gets marked visited and we advance to 1.
-    // The hint should still be node 1 (same outcome, but state was cleanly reset).
-    bot.update({0.05f, 0.f, 0.f});
-    ASSERT_FALSE(nodes.empty());
-    // Confirm the bot still routes correctly after reset.
-    EXPECT_GE(nodes.back().x, 0.f);
-}
-
-// ---------------------------------------------------------------------------
-// Node advancement — visited node causes skip to next
-// ---------------------------------------------------------------------------
-
-TEST(WalkBotTests, AdvancesWhenNearestNodeAlreadyVisited)
-{
-    // Chain: (0,0,0) -> (1,0,0) -> (2,0,0)
-    auto mesh = make_linear_mesh(3);
-    WalkBot bot(mesh, 0.5f);
-    bot.set_target({2.f, 0.f, 0.f});
-
-    std::vector<Vector3<float>> nodes;
-    bot.on_path(make_node_recorder(nodes));
-
-    // Tick 1: bot is very close to node 0 -> node 0 marked visited -> hint is node 1.
-    bot.update({0.05f, 0.f, 0.f});
-    ASSERT_FALSE(nodes.empty());
-    EXPECT_FLOAT_EQ(nodes.back().x, 1.f);
-
-    nodes.clear();
-
-    // Tick 2: bot has moved to near node 1 -> node 1 marked visited -> hint advances to node 2.
-    bot.update({1.05f, 0.f, 0.f});
-    ASSERT_FALSE(nodes.empty());
-    EXPECT_GT(nodes.back().x, 1.f);
-}
-
-// ---------------------------------------------------------------------------
-// Displacement recovery — bot knocked back to unvisited node
-// ---------------------------------------------------------------------------
-
-TEST(WalkBotTests, RecoverAfterDisplacementToUnvisitedNode)
-{
-    // Chain: 0 -> 1 -> 2 -> 3 -> 4
-    auto mesh = make_linear_mesh(5);
-    WalkBot bot(mesh, 0.5f);
-    bot.set_target({4.f, 0.f, 0.f});
-
-    std::vector<Vector3<float>> nodes;
-    bot.on_path(make_node_recorder(nodes));
-
-    // Walk forward through nodes 0-3 to build visited state.
-    for (int i = 0; i <= 3; ++i)
-    {
-        nodes.clear();
-        bot.update(Vector3<float>{static_cast<float>(i) + 0.1f, 0.f, 0.f});
-    }
-
-    // Displace the bot back to near node 1. The bot should route toward node 1
-    // first rather than skipping ahead to node 4.
-    nodes.clear();
-    bot.update({1.1f, 0.f, 0.f});
-
-    ASSERT_FALSE(nodes.empty());
-    EXPECT_LE(nodes.back().x, 3.f);
-}
-
-// ---------------------------------------------------------------------------
-// Callback wiring
-// ---------------------------------------------------------------------------
-
-TEST(WalkBotTests, ReplacingPathCallbackTakesEffect)
-{
-    auto mesh = make_linear_mesh(4);
-    WalkBot bot(mesh, 0.5f);
-    bot.set_target({3.f, 0.f, 0.f});
-
-    int first_cb_calls = 0;
-    int second_cb_calls = 0;
-
-    bot.on_path([&](const Vector3<float>&) { ++first_cb_calls; });
-    bot.update({0.f, 0.f, 0.f});
-
-    bot.on_path([&](const Vector3<float>&) { ++second_cb_calls; });
-    bot.update({0.f, 0.f, 0.f});
-
-    EXPECT_EQ(first_cb_calls, 1);
-    EXPECT_EQ(second_cb_calls, 1);
-}
-
-TEST(WalkBotTests, ReplacingStatusCallbackTakesEffect)
-{
-    auto mesh = make_linear_mesh(4);
-    WalkBot bot(mesh, 0.5f);
-    bot.set_target({3.f, 0.f, 0.f});
-
-    std::vector<Vector3<float>> nodes;
-    bot.on_path(make_node_recorder(nodes));
-
-    int cb1 = 0, cb2 = 0;
-    bot.on_status([&](WalkBotStatus) { ++cb1; });
-    bot.update({0.f, 0.f, 0.f});
-
-    bot.on_status([&](WalkBotStatus) { ++cb2; });
-    bot.update({0.f, 0.f, 0.f});
-
-    EXPECT_EQ(cb1, 1);
-    EXPECT_EQ(cb2, 1);
-}
-
-// ---------------------------------------------------------------------------
-// Full walk simulation — bot traverses a linear mesh step by step
-// ---------------------------------------------------------------------------
-
-// Simulates one game-loop tick and immediately "teleports" the bot to the
-// suggested node so the next tick starts from there.
-struct WalkSimulator
-{
-    WalkBot bot;
-    Vector3<float> position;
-    std::vector<Vector3<float>> visited_nodes;
-    std::vector<WalkBotStatus> status_history;
-    bool finished{false};
-
-    WalkSimulator(const std::shared_ptr<NavigationMesh>& mesh,
-                  const Vector3<float>& start,
-                  const Vector3<float>& goal,
-                  float threshold)
-        : position(start)
-    {
-        bot = WalkBot(mesh, threshold);
-        bot.set_target(goal);
-        bot.on_path([this](const Vector3<float>& next) {
-            visited_nodes.push_back(next);
-            position = next; // teleport to the suggested node
-        });
-        bot.on_status([this](WalkBotStatus s) {
-            status_history.push_back(s);
-            if (s == WalkBotStatus::FINISHED)
-                finished = true;
-        });
-    }
-
-    void run(int max_ticks = 100)
-    {
-        for (int tick = 0; tick < max_ticks && !finished; ++tick)
-            bot.update(position);
-    }
-};
-
-TEST(WalkBotSimulation, BotReachesTargetOnLinearMesh)
-{
-    auto mesh = make_linear_mesh(5);
-    WalkSimulator sim(mesh, {0.f, 0.f, 0.f}, {4.f, 0.f, 0.f}, 0.5f);
-    sim.run(50);
-
-    EXPECT_TRUE(sim.finished);
-}
-
-TEST(WalkBotSimulation, StatusTransitionSequenceIsCorrect)
-{
-    // Expect: one or more PATHING updates, then exactly FINISHED at the end.
-    auto mesh = make_linear_mesh(4);
-    WalkSimulator sim(mesh, {0.f, 0.f, 0.f}, {3.f, 0.f, 0.f}, 0.5f);
-    sim.run(50);
-
-    ASSERT_TRUE(sim.finished);
-    ASSERT_FALSE(sim.status_history.empty());
-
-    // All entries before the last must be PATHING
-    for (std::size_t i = 0; i + 1 < sim.status_history.size(); ++i)
-        EXPECT_EQ(sim.status_history[i], WalkBotStatus::PATHING);
-
-    EXPECT_EQ(sim.status_history.back(), WalkBotStatus::FINISHED);
-}
-
-TEST(WalkBotSimulation, BotVisitsNodesInForwardOrder)
-{
-    auto mesh = make_linear_mesh(5);
-    WalkSimulator sim(mesh, {0.f, 0.f, 0.f}, {4.f, 0.f, 0.f}, 0.5f);
-    sim.run(50);
-
-    ASSERT_FALSE(sim.visited_nodes.empty());
-
-    // Verify that x-coordinates are non-decreasing (forward progress only).
-    for (std::size_t i = 1; i < sim.visited_nodes.size(); ++i)
-        EXPECT_GE(sim.visited_nodes[i].x, sim.visited_nodes[i - 1].x - 1e-3f);
-}
-
-TEST(WalkBotSimulation, TwoNodePathReachesGoal)
-{
-    auto mesh = make_linear_mesh(2); // (0,0,0) <-> (1,0,0)
-    WalkSimulator sim(mesh, {0.f, 0.f, 0.f}, {1.f, 0.f, 0.f}, 0.5f);
-    sim.run(10);
-
-    EXPECT_TRUE(sim.finished);
-}
-
-TEST(WalkBotSimulation, LongChainEventuallyFinishes)
-{
-    constexpr int kLength = 20;
-    auto mesh = make_linear_mesh(kLength);
-    WalkSimulator sim(mesh,
-                      {0.f, 0.f, 0.f},
-                      {static_cast<float>(kLength - 1), 0.f, 0.f},
-                      0.5f);
-    sim.run(200);
-
-    EXPECT_TRUE(sim.finished);
-}
-
-TEST(WalkBotSimulation, StartAlreadyAtTargetFinishesImmediately)
-{
-    auto mesh = make_linear_mesh(3);
-    WalkSimulator sim(mesh, {1.f, 0.f, 0.f}, {1.f, 0.f, 0.f}, 0.5f);
-    sim.run(5);
-
-    EXPECT_TRUE(sim.finished);
-    EXPECT_EQ(sim.status_history.front(), WalkBotStatus::FINISHED);
-    EXPECT_EQ(sim.status_history.size(), 1u);
-}
-
-TEST(WalkBotSimulation, NoIdleEmittedDuringSuccessfulWalk)
-{
-    auto mesh = make_linear_mesh(4);
-    WalkSimulator sim(mesh, {0.f, 0.f, 0.f}, {3.f, 0.f, 0.f}, 0.5f);
-    sim.run(50);
-
-    for (auto s : sim.status_history)
-        EXPECT_NE(s, WalkBotStatus::IDLE);
-}
-
-// ---------------------------------------------------------------------------
-// Walk simulation on a branching mesh
-// ---------------------------------------------------------------------------
-
-TEST(WalkBotSimulation, BotNavigatesBranchingMesh)
-{
-    // Diamond topology:
-    //        (1,1,0)
-    //       /       \
-    // (0,0,0)       (2,0,0)
-    //       \       /
-    //        (1,-1,0)
-    auto mesh = std::make_shared<NavigationMesh>();
-    const Vector3<float> start{0.f, 0.f, 0.f};
-    const Vector3<float> top{1.f, 1.f, 0.f};
-    const Vector3<float> bot_node{1.f, -1.f, 0.f};
-    const Vector3<float> goal{2.f, 0.f, 0.f};
-
-    mesh->m_vertex_map[start]    = {top, bot_node};
-    mesh->m_vertex_map[top]      = {start, goal};
-    mesh->m_vertex_map[bot_node] = {start, goal};
-    mesh->m_vertex_map[goal]     = {top, bot_node};
-
-    WalkSimulator sim(mesh, start, goal, 0.5f);
-    sim.run(20);
-
-    EXPECT_TRUE(sim.finished);
-}