fixed gimba lock for unity

U/orange cpp/3d primitives

.gitignore

@@ -1,3 +1,4 @@
 /cmake-build/
 /.idea
 /out
+*.DS_Store

.idea/modules.xml

@@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ProjectModuleManager">
-    <modules>
-      <module fileurl="file://$PROJECT_DIR$/.idea/uml.iml" filepath="$PROJECT_DIR$/.idea/uml.iml" />
-    </modules>
-  </component>
-</project>

.idea/uml.iml

@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<module classpath="CMake" type="CPP_MODULE" version="4" />

.idea/vcs.xml

@@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="VcsDirectoryMappings">
-    <mapping directory="" vcs="Git" />
-    <mapping directory="$PROJECT_DIR$/extlibs/glm" vcs="Git" />
-    <mapping directory="$PROJECT_DIR$/extlibs/googletest" vcs="Git" />
-  </component>
-</project>

CMakeLists.txt

@@ -1,30 +1,81 @@
 cmake_minimum_required(VERSION 3.26)
 
-project(omath VERSION 1.0.0)
+project(omath VERSION 1.0.1 LANGUAGES CXX)
 
 include(CMakePackageConfigHelpers)
 
-set(CMAKE_CXX_STANDARD 26)
 
-set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}")
-set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}")
-
-option(OMATH_BUILD_TESTS "Build unit tests" ON)
+option(OMATH_BUILD_TESTS "Build unit tests" OFF)
 option(OMATH_THREAT_WARNING_AS_ERROR "Set highest level of warnings and force compiler to treat them as errors" ON)
 option(OMATH_BUILD_AS_SHARED_LIBRARY "Build Omath as .so or .dll" OFF)
+option(OMATH_USE_AVX2 "Omath will use AVX2 to boost performance" ON)
+option(OMATH_IMGUI_INTEGRATION "Omath will define method to convert omath types to imgui types" OFF)
+option(OMATH_BUILD_EXAMPLES "Build example projects with you can learn & play" OFF)
+option(OMATH_STATIC_MSVC_RUNTIME_LIBRARY  "Force Omath to link static runtime" OFF)
+option(OMATH_SUPRESS_SAFETY_CHECKS "Supress some safety checks in release build to improve general performance" ON)
+option(OMATH_USE_UNITY_BUILD "Will enable unity build to speed up compilation" ON)
 
 if (OMATH_BUILD_AS_SHARED_LIBRARY)
-    add_library(omath SHARED source/Vector3.cpp)
+    add_library(omath SHARED source/matrix.cpp)
 else()
-    add_library(omath STATIC source/Vector3.cpp)
+    add_library(omath STATIC source/matrix.cpp)
 endif()
 
-target_compile_definitions(omath PUBLIC OMATH_EXPORT)
+message(STATUS "Building on ${CMAKE_HOST_SYSTEM_NAME}")
+add_library(omath::omath ALIAS omath)
+
+if (OMATH_IMGUI_INTEGRATION)
+    target_compile_definitions(omath PUBLIC OMATH_IMGUI_INTEGRATION)
+
+    # IMGUI is being linked as submodule
+    if(TARGET imgui)
+        target_link_libraries(omath PUBLIC imgui)
+        install(TARGETS imgui
+                EXPORT omathTargets
+                ARCHIVE DESTINATION lib
+                LIBRARY DESTINATION lib
+                RUNTIME DESTINATION bin)
+    else()
+        # Assume that IMGUI linked via VCPKG.
+        find_package(imgui CONFIG REQUIRED)
+        target_link_libraries(omath PUBLIC imgui::imgui)
+    endif()
 
-if (CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
-    target_compile_options(omath PRIVATE /Zc:static_assert-)
 endif()
 
+if (OMATH_USE_AVX2)
+    target_compile_definitions(omath PUBLIC OMATH_USE_AVX2)
+endif()
+
+if (OMATH_SUPRESS_SAFETY_CHECKS)
+    target_compile_definitions(omath PUBLIC OMATH_SUPRESS_SAFETY_CHECKS)
+endif()
+
+set_target_properties(omath PROPERTIES
+        ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+        LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+        CXX_STANDARD 23
+        CXX_STANDARD_REQUIRED ON)
+
+if (OMATH_USE_UNITY_BUILD)
+    set_target_properties(omath PROPERTIES
+            UNITY_BUILD ON
+            UNITY_BUILD_BATCH_SIZE 20)
+endif()
+
+if (OMATH_STATIC_MSVC_RUNTIME_LIBRARY)
+    set_target_properties(omath PROPERTIES
+            MSVC_RUNTIME_LIBRARY "MultiThreaded$<$<CONFIG:Debug>:Debug>"
+    )
+endif()
+
+if (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+    target_compile_options(omath PRIVATE -mavx2 -mfma)
+endif()
+
+target_compile_features(omath PUBLIC cxx_std_23)
+
+
 add_subdirectory(source)
 
 if(OMATH_BUILD_TESTS)
@@ -32,6 +83,10 @@ if(OMATH_BUILD_TESTS)
     add_subdirectory(tests)
 endif()
 
+if (OMATH_BUILD_EXAMPLES)
+    add_subdirectory(examples)
+endif()
+
 if (CMAKE_CXX_COMPILER_ID STREQUAL "MSVC" AND OMATH_THREAT_WARNING_AS_ERROR)
     target_compile_options(omath PRIVATE /W4 /WX)
 elseif(OMATH_THREAT_WARNING_AS_ERROR)

CMakePresets.json

@@ -64,6 +64,38 @@
       "cacheVariables": {
         "CMAKE_BUILD_TYPE": "Release"
       }
+    },
+    {
+      "name": "darwin-base",
+      "hidden": true,
+      "generator": "Ninja",
+      "binaryDir": "${sourceDir}/cmake-build/build/${presetName}",
+      "installDir": "${sourceDir}/cmake-build/install/${presetName}",
+      "cacheVariables": {
+        "CMAKE_C_COMPILER": "clang",
+        "CMAKE_CXX_COMPILER": "clang++"
+      },
+      "condition": {
+        "type": "equals",
+        "lhs": "${hostSystemName}",
+        "rhs": "Darwin"
+      }
+    },
+    {
+      "name": "darwin-debug",
+      "displayName": "Darwin Debug",
+      "inherits": "darwin-base",
+      "cacheVariables": {
+        "CMAKE_BUILD_TYPE": "Debug"
+      }
+    },
+    {
+      "name": "darwin-release",
+      "displayName": "Darwin Release",
+      "inherits": "darwin-debug",
+      "cacheVariables": {
+        "CMAKE_BUILD_TYPE": "Release"
+      }
     }
   ]
 }

CREDITS.md

@@ -0,0 +1,11 @@
+# OMATH CREDITS
+
+Thanks to everyone who made this possible, including:
+
+- Saikari aka luadebug for VCPKG port.
+
+And a big hand to everyone else who has contributed over the past!
+
+THANKS! <3
+
+    -- Orange++ <orange-cpp@yandex.ru>

README.md

@@ -1,6 +1,6 @@
 <div align = center>
 
-![banner](https://i.imgur.com/sjtpKi8.png)
+![banner](https://i.imgur.com/SM9ccP6.png)
 
 ![GitHub License](https://img.shields.io/github/license/orange-cpp/omath)
 ![GitHub contributors](https://img.shields.io/github/contributors/orange-cpp/omath)
@@ -11,21 +11,52 @@
 
 Oranges's Math Library (omath) is a comprehensive, open-source library aimed at providing efficient, reliable, and versatile mathematical functions and algorithms. Developed primarily in C++, this library is designed to cater to a wide range of mathematical operations essential in scientific computing, engineering, and academic research.
 
-## Features
-- **Efficiency**: Optimized for performance, ensuring quick computations.
+## 👁‍🗨 Features
+- **Efficiency**: Optimized for performance, ensuring quick computations using AVX2.
 - **Versatility**: Includes a wide array of mathematical functions and algorithms.
 - **Ease of Use**: Simplified interface for convenient integration into various projects.
 - **Projectile Prediction**: Projectile prediction engine with O(N) algo complexity, that can power you projectile aim-bot.
 - **3D Projection**: No need to find view-projection matrix anymore you can make your own projection pipeline.
 - **Collision Detection**: Production ready code to handle collision detection by using simple interfaces.
 - **No Additional Dependencies**: No additional dependencies need to use OMath except unit test execution
+- **Ready for meta-programming**: Omath use templates for common types like Vectors, Matrixes etc, to handle all types!
 
-## Getting Started
+## Supported Render Pipelines
+| ENGINE   | SUPPORT |
+|----------|---------|
+| Source   | ✅YES    |
+| Unity    | ✅YES    |
+| IWEngine | ✅YES    |
+| Unreal   | ❌NO     |
+
+## Supported Operating Systems
+
+| OS             | SUPPORT |
+|----------------|---------|
+| Windows 10/11  | ✅YES    |
+| Linux          | ✅YES    |
+| Darwin (MacOS) | ✅YES    |
+
+## ⏬ Getting Started
 ### Prerequisites
 - C++ Compiler
 - CMake (for building the project)
 
 ### Installation
+### vcpkg
+**Note**: Support vcpkg for package management
+1. Install vcpkg (https://github.com/microsoft/vcpkg)
+2. Run the following command to install the orange-math package:
+```
+vcpkg install orange-math
+```
+CMakeLists.txt
+```cmake
+find_package(omath CONFIG REQUIRED)
+target_link_libraries(main PRIVATE omath::omath)
+```
+For detailed commands on installing different versions and more information, please refer to Microsoft's official instructions (https://learn.microsoft.com/en-us/vcpkg/get_started/overview)
+### Build from source
 1. Clone the repository:
    ```
    git clone https://github.com/orange-cpp/omath.git
@@ -37,10 +68,10 @@ Oranges's Math Library (omath) is a comprehensive, open-source library aimed at
 3. Build the project using CMake:
    ```
    cmake --preset windows-release -S .
-   cmake --build cmake-build/build/windows-release --target server -j 6
+   cmake --build cmake-build/build/windows-release --target omath -j 6
    ```
    Use **\<platform\>-\<build configuration\>** preset to build siutable version for yourself. Like **windows-release** or **linux-release**.
-## Usage
+## ❔ Usage
 Simple world to screen function
 ```c++
 TEST(UnitTestProjection, IsPointOnScreen)
@@ -51,22 +82,26 @@ TEST(UnitTestProjection, IsPointOnScreen)
     EXPECT_TRUE(proj.has_value());
 }
 ```
-
+## Showcase
 <details>
-  <summary>OMATH for making cheats</summary>
+  <summary>OMATH for making cheats (click to open)</summary>
 
 With `omath/projection` module you can achieve simple ESP hack for powered by Source/Unreal/Unity engine games, like [Apex Legends](https://store.steampowered.com/app/1172470/Apex_Legends/).
 
 ![banner](https://i.imgur.com/lcJrfcZ.png)
-![Watch Video](https://youtu.be/lM_NJ1yCunw?si=5E87OrQMeypxSJ3E)
-
+Or for InfinityWard Engine based games. Like Call of Duty Black Ops 2!
+![banner](https://i.imgur.com/F8dmdoo.png)
+Or create simple trigger bot with embeded traceline from omath::collision::LineTrace
+![banner](https://i.imgur.com/fxMjRKo.jpeg)
+Or even advanced projectile aimbot
+[Watch Video](https://youtu.be/lM_NJ1yCunw?si=5E87OrQMeypxSJ3E)
 </details>
 
-## Contributing
+## 🫵🏻 Contributing
 Contributions to `omath` are welcome! Please read `CONTRIBUTING.md` for details on our code of conduct and the process for submitting pull requests.
 
-## License
+## 📜 License
 This project is licensed under the MIT - see the `LICENSE` file for details.
 
-## Acknowledgments
-- Orange | [Telegram](https://t.me/orange_cpp)
+## 💘 Acknowledgments
+-  [All contributors](https://github.com/orange-cpp/omath/graphs/contributors)

cmake/omathConfig.cmake.in

@@ -4,3 +4,4 @@ include(CMakeFindDependencyMacro)
 
 # Load the targets for the omath library
 include("${CMAKE_CURRENT_LIST_DIR}/omathTargets.cmake")
+check_required_components(omath)

examples/CMakeLists.txt

@@ -0,0 +1,4 @@
+project(examples)
+
+add_executable(ExampleProjectionMatrixBuilder example_proj_mat_builder.cpp)
+target_link_libraries(ExampleProjectionMatrixBuilder PRIVATE omath::omath)

examples/example_proj_mat_builder.cpp

@@ -0,0 +1,40 @@
+//
+// Created by Vlad on 3/19/2025.
+//
+
+
+#include <iostream>
+#include <print>
+#include <omath/engines/opengl_engine/formulas.hpp>
+
+
+int main()
+{
+    std::println("OMATH Projection Matrix Builder");
+
+    float fov = 0;
+    float near = 0;
+    float far = 0;
+    float viewPortWidth = 0;
+    float viewPortHeight = 0;
+
+    std::print("Enter camera fov: ");
+    std::cin >> fov;
+
+    std::print("Enter camera z near: ");
+    std::cin >> near;
+
+    std::print("Enter camera z far: ");
+    std::cin >> far;
+
+    std::print("Enter camera screen width: ");
+    std::cin >> viewPortWidth;
+
+    std::print("Enter camera screen height: ");
+    std::cin >> viewPortHeight;
+
+    const auto mat =
+            omath::opengl_engine::CalcPerspectiveProjectionMatrix(fov, viewPortWidth / viewPortHeight, near, far);
+
+    std::print("{}", mat.ToString());
+};

include/omath/3d_primitives/box.hpp

@@ -0,0 +1,17 @@
+//
+// Created by Vlad on 4/18/2025.
+//
+
+#pragma once
+#include <array>
+#include "omath/triangle.hpp"
+#include "omath/vector3.hpp"
+
+
+namespace omath::primitives
+{
+    [[nodiscard]]
+    std::array<Triangle<Vector3<float>>, 12> CreateBox(const Vector3<float>& top, const Vector3<float>& bottom,
+                                             const Vector3<float>& dirForward, const Vector3<float>& dirRight,
+                                             float ratio = 4.f);
+}

include/omath/Color.hpp

@@ -1,123 +0,0 @@
-//
-// Created by vlad on 2/4/24.
-//
-
-#pragma once
-
-#include "omath/Vector3.hpp"
-#include <cstdint>
-#include "omath/Vector4.hpp"
-#include "omath/omath_export.hpp"
-
-namespace omath
-{
-    struct OMATH_API HSV
-    {
-        float m_hue{};
-        float m_saturation{};
-        float m_value{};
-    };
-
-
-    class OMATH_API Color final : public Vector4
-    {
-        public:
-            constexpr Color(float r, float g, float b, float a) : Vector4(r,g,b,a)
-            {
-                Clamp(0.f, 1.f);
-            }
-
-            constexpr explicit Color() : Vector4()
-            {
-
-            }
-            [[nodiscard]]
-            constexpr static Color FromRGBA(uint8_t r, uint8_t g, uint8_t b, uint8_t a)
-            {
-                return Color{Vector4(r, g, b, a) / 255.f};
-            }
-
-            [[nodiscard]]
-            constexpr static Color FromHSV(float hue, float saturation, float value)
-            {
-                float r{}, g{}, b{};
-
-                hue = std::clamp(hue, 0.f, 1.f);
-
-                const int i = static_cast<int>(hue * 6.f);
-                const float f = hue * 6 - i;
-                const float p = value * (1 - saturation);
-                const float q = value * (1 - f * saturation);
-                const float t = value * (1 - (1 - f) * saturation);
-
-                switch (i % 6)
-                {
-                    case 0: r = value, g = t, b = p; break;
-                    case 1: r = q, g = value, b = p; break;
-                    case 2: r = p, g = value, b = t; break;
-                    case 3: r = p, g = q, b = value; break;
-                    case 4: r = t, g = p, b = value; break;
-                    case 5: r = value, g = p, b = q; break;
-
-                    default: return {0.f, 0.f, 0.f, 0.f};
-                }
-
-                return {r, g, b, 1.f};
-            }
-
-            [[nodiscard]]
-            constexpr HSV ToHSV() const
-            {
-                HSV hsvData;
-
-                const float& red = x;
-                const float& green = y;
-                const float& blue = z;
-
-                const float max = std::max({red, green, blue});
-                const float min = std::min({red, green, blue});
-                const float delta = max - min;
-
-
-                if (delta == 0.f)
-                    hsvData.m_hue = 0.f;
-
-                else if (max == red)
-                    hsvData.m_hue = 60.f * (std::fmodf(((green - blue) / delta), 6.f));
-                else if (max == green)
-                    hsvData.m_hue = 60.f * (((blue - red) / delta) + 2.f);
-                else if (max == blue)
-                    hsvData.m_hue = 60.f * (((red - green) / delta) + 4.f);
-
-                if (hsvData.m_hue < 0.f)
-                    hsvData.m_hue += 360.f;
-
-                hsvData.m_hue /= 360.f;
-                hsvData.m_saturation = max == 0.f ? 0.f : delta / max;
-                hsvData.m_value = max;
-
-                return hsvData;
-            }
-
-            constexpr explicit Color(const Vector4& vec) : Vector4(vec)
-            {
-                Clamp(0.f, 1.f);
-            }
-
-            [[nodiscard]]
-            constexpr Color Blend(const Color& other, float ratio) const
-            {
-                return Color( (*this * (1.f - ratio)) + (other * ratio) );
-            }
-
-        [[nodiscard]] static constexpr Color Red() {return {1.f, 0.f, 0.f, 1.f};}
-        [[nodiscard]] static constexpr Color Green() {return {0.f, 1.f, 0.f, 1.f};}
-        [[nodiscard]] static constexpr Color Blue() {return {0.f, 0.f, 1.f, 1.f};}
-    };
-
-    [[nodiscard]]
-    constexpr Color Blend(const Color& first, const Color& second, float ratio)
-    {
-        return Color{first * (1.f - std::clamp(ratio, 0.f, 1.f)) + second * ratio};
-    }
-}

include/omath/Matrix.hpp

@@ -1,105 +0,0 @@
-#pragma once
-#include <initializer_list>
-#include <memory>
-#include <string>
-#include "omath/omath_export.hpp"
-
-namespace omath
-{
-    class Vector3;
-
-    class Matrix final
-    {
-    public:
-        OMATH_API Matrix();
-        OMATH_API Matrix(size_t rows, size_t columns);
-
-        OMATH_API Matrix(const std::initializer_list<std::initializer_list<float>>& rows);
-
-        [[nodiscard]]
-        OMATH_API static Matrix ToScreenMatrix(float screenWidth, float screenHeight);
-
-        [[nodiscard]]
-        OMATH_API static Matrix TranslationMatrix(const Vector3& diff);
-
-        [[nodiscard]]
-        OMATH_API static Matrix OrientationMatrix(const Vector3& forward, const Vector3& right, const Vector3& up);
-
-        [[nodiscard]]
-        OMATH_API static Matrix ProjectionMatrix(float fieldOfView, float aspectRatio, float near, float far);
-
-        OMATH_API Matrix(const Matrix& other);
-
-        OMATH_API Matrix(size_t rows, size_t columns, const float* pRaw);
-
-        OMATH_API Matrix(Matrix&& other) noexcept;
-
-        [[nodiscard]]
-        OMATH_API size_t RowCount() const noexcept;
-
-        [[nodiscard]]
-        OMATH_API size_t ColumnsCount() const noexcept;
-
-        [[nodiscard]]
-        OMATH_API std::pair<size_t, size_t> Size() const noexcept;
-
-        [[nodiscard]]
-        OMATH_API float& At(size_t iRow, size_t iCol);
-
-        [[nodiscard]]
-        OMATH_API float Sum();
-
-        OMATH_API void SetDataFromRaw(const float* pRawMatrix);
-
-        [[nodiscard]]
-        OMATH_API Matrix Transpose() const;
-
-        OMATH_API void Set(float val);
-
-        [[nodiscard]]
-        OMATH_API const float& At(size_t iRow, size_t iCol) const;
-
-        OMATH_API Matrix operator*(const Matrix& other) const;
-
-        OMATH_API Matrix& operator*=(const Matrix& other);
-
-        OMATH_API Matrix operator*(float f) const;
-
-        OMATH_API Matrix& operator*=(float f);
-
-        OMATH_API Matrix& operator/=(float f);
-
-        OMATH_API void Clear();
-
-        [[nodiscard]]
-        OMATH_API Matrix Strip(size_t row, size_t column) const;
-
-        [[nodiscard]]
-        OMATH_API float Minor(size_t i, size_t j) const;
-
-        [[nodiscard]]
-        OMATH_API float AlgComplement(size_t i, size_t j) const;
-
-        [[nodiscard]]
-        OMATH_API float Determinant() const;
-
-        [[nodiscard]]
-        OMATH_API const float* Raw() const;
-
-        OMATH_API Matrix& operator=(const Matrix& other);
-
-        OMATH_API Matrix& operator=(Matrix&& other) noexcept;
-
-        OMATH_API Matrix operator/(float f) const;
-
-        [[nodiscard]]
-        OMATH_API std::string ToString() const;
-
-        OMATH_API ~Matrix();
-
-    private:
-        size_t m_rows;
-        size_t m_columns;
-        std::unique_ptr<float[]> m_data;
-    };
-} // namespace omath

include/omath/Triangle3d.hpp

@@ -1,34 +0,0 @@
-//
-// Created by Orange on 11/13/2024.
-//
-#pragma once
-#include "omath/Vector3.hpp"
-#include "omath/omath_export.hpp"
-
-namespace omath
-{
-    class OMATH_API Triangle3d final
-    {
-    public:
-        Triangle3d(const Vector3& vertex1, const Vector3& vertex2, const Vector3& vertex3);
-
-        Vector3 m_vertex1;
-        Vector3 m_vertex2;
-        Vector3 m_vertex3;
-
-        [[nodiscard]]
-        Vector3 CalculateNormal() const;
-
-        [[nodiscard]]
-        float SideALength() const;
-
-        [[nodiscard]]
-        float SideBLength() const;
-
-        [[nodiscard]]
-        Vector3 SideAVector() const;
-
-        [[nodiscard]]
-        Vector3 SideBVector() const;
-    };
-}

include/omath/Vector3.hpp

@@ -1,243 +0,0 @@
-//
-// Created by vlad on 10/28/23.
-//
-
-#pragma once
-
-#include <cstdint>
-#include <functional>
-#include "omath/Vector2.hpp"
-#include "omath/omath_export.hpp"
-
-namespace omath
-{
-    class OMATH_API Vector3 : public Vector2
-    {
-    public:
-        float z = 0.f;
-        constexpr Vector3(const float x, const float y, const float z) : Vector2(x, y), z(z) { }
-        constexpr Vector3() : Vector2() {};
-
-        [[nodiscard]] constexpr bool operator==(const Vector3& src) const
-        {
-            return Vector2::operator==(src) && (src.z == z);
-        }
-
-        [[nodiscard]] constexpr bool operator!=(const Vector3& src) const
-        {
-            return !(*this == src);
-        }
-
-        constexpr Vector3& operator+=(const Vector3& v)
-        {
-            Vector2::operator+=(v);
-            z += v.z;
-
-            return *this;
-        }
-
-        constexpr Vector3& operator-=(const Vector3& v)
-        {
-            Vector2::operator-=(v);
-            z -= v.z;
-
-            return *this;
-        }
-
-        constexpr Vector3& operator*=(const float fl)
-        {
-            Vector2::operator*=(fl);
-            z *= fl;
-
-            return *this;
-        }
-
-        constexpr Vector3& operator*=(const Vector3& v)
-        {
-            Vector2::operator*=(v);
-            z *= v.z;
-
-            return *this;
-        }
-
-        constexpr Vector3& operator/=(const Vector3& v)
-        {
-            Vector2::operator/=(v);
-            z /= v.z;
-
-            return *this;
-        }
-
-        constexpr Vector3& operator+=(const float fl)
-        {
-            Vector2::operator+=(fl);
-            z += fl;
-
-            return *this;
-        }
-
-        constexpr Vector3& operator/=(const float fl)
-        {
-            Vector2::operator/=(fl);
-            z /= fl;
-
-            return *this;
-        }
-
-        constexpr Vector3& operator-=(const float fl)
-        {
-            Vector2::operator-=(fl);
-            z -= fl;
-
-            return *this;
-        }
-
-        constexpr Vector3& Abs()
-        {
-            Vector2::Abs();
-            z = z < 0.f ? -z : z;
-
-            return *this;
-        }
-
-        [[nodiscard]] constexpr float DistToSqr(const Vector3& vOther) const
-        {
-            return (*this - vOther).LengthSqr();
-        }
-
-        [[nodiscard]] constexpr float Dot(const Vector3& vOther) const
-        {
-            return Vector2::Dot(vOther) + z * vOther.z;
-        }
-
-#ifndef _MSC_VER
-        [[nodiscard]] constexpr float Length() const
-        {
-            return std::hypot(x, y, z);
-        }
-
-        [[nodiscard]] constexpr float Length2D() const
-        {
-            return Vector2::Length();
-        }
-        [[nodiscard]] float DistTo(const Vector3& vOther) const
-        {
-            return (*this - vOther).Length();
-        }
-        [[nodiscard]] constexpr Vector3 Normalized() const
-        {
-            const float length = this->Length();
-
-            return length != 0 ? *this / length : *this;
-        }
-#else
-        [[nodiscard]] float Length() const
-        {
-            return std::hypot(x, y, z);
-        }
-
-        [[nodiscard]] Vector3 Normalized() const
-        {
-            const float length = this->Length();
-
-            return length != 0 ? *this / length : *this;
-        }
-
-        [[nodiscard]] float Length2D() const
-        {
-            return Vector2::Length();
-        }
-
-        [[nodiscard]] float DistTo(const Vector3& vOther) const
-        {
-            return (*this - vOther).Length();
-        }
-#endif
-
-
-        [[nodiscard]] constexpr float LengthSqr() const
-        {
-            return Vector2::LengthSqr() + z * z;
-        }
-
-        [[nodiscard]] constexpr Vector3 operator-() const
-        {
-            return {-x, -y, -z};
-        }
-
-        [[nodiscard]] constexpr Vector3 operator+(const Vector3& v) const
-        {
-            return {x + v.x, y + v.y, z + v.z};
-        }
-
-        [[nodiscard]] constexpr Vector3 operator-(const Vector3& v) const
-        {
-            return {x - v.x, y - v.y, z - v.z};
-        }
-
-        [[nodiscard]] constexpr Vector3 operator*(const float fl) const
-        {
-            return {x * fl, y * fl, z * fl};
-        }
-
-        [[nodiscard]] constexpr Vector3 operator*(const Vector3& v) const
-        {
-            return {x * v.x, y * v.y, z * v.z};
-        }
-
-        [[nodiscard]] constexpr Vector3 operator/(const float fl) const
-        {
-            return {x / fl, y / fl, z / fl};
-        }
-
-        [[nodiscard]] constexpr Vector3 operator/(const Vector3& v) const
-        {
-            return {x / v.x, y / v.y, z / v.z};
-        }
-
-        [[nodiscard]] constexpr Vector3 Cross(const Vector3 &v) const
-        {
-            return
-            {
-                y * v.z - z * v.y,
-                z * v.x - x * v.z,
-                x * v.y - y * v.x
-            };
-        }
-        [[nodiscard]] constexpr float Sum() const
-        {
-            return Sum2D() + z;
-        }
-
-        [[nodiscard]] constexpr float Sum2D() const
-        {
-            return Vector2::Sum();
-        }
-
-        [[nodiscard]] Vector3 ViewAngleTo(const Vector3& other) const;
-
-        [[nodiscard]] std::tuple<float, float, float> AsTuple() const
-        {
-            return std::make_tuple(x, y, z);
-        }
-    };
-}
-// ReSharper disable once CppRedundantNamespaceDefinition
-namespace std
-{
-    template<>
-    struct hash<omath::Vector3>
-    {
-        std::size_t operator()(const omath::Vector3& vec) const noexcept
-        {
-            std::size_t hash = 0;
-            constexpr std::hash<float> hasher;
-
-            hash ^= hasher(vec.x) + 0x9e3779b9 + (hash<<6) + (hash>>2);
-            hash ^= hasher(vec.y) + 0x9e3779b9 + (hash<<6) + (hash>>2);
-            hash ^= hasher(vec.z) + 0x9e3779b9 + (hash<<6) + (hash>>2);
-
-            return hash;
-        }
-    };
-}

include/omath/Vector4.hpp

@@ -1,155 +0,0 @@
-//
-// Vector4.h
-//
-#pragma once
-
-#include <omath/Vector3.hpp>
-#include <algorithm>
-#include "omath/omath_export.hpp"
-
-namespace omath
-{
-    class OMATH_API Vector4 : public Vector3
-    {
-    public:
-        float w;
-
-        constexpr Vector4(const float x, const float y, const float z, const float w) : Vector3(x, y, z), w(w) {}
-        constexpr Vector4() : Vector3(), w(0.f) {};
-
-        [[nodiscard]]
-        constexpr bool operator==(const Vector4& src) const
-        {
-            return Vector3::operator==(src) && w == src.w;
-        }
-
-        [[nodiscard]]
-        constexpr bool operator!=(const Vector4& src) const
-        {
-            return !(*this == src);
-        }
-
-        constexpr Vector4& operator+=(const Vector4& v)
-        {
-            Vector3::operator+=(v);
-            w += v.w;
-
-            return *this;
-        }
-
-        constexpr Vector4& operator-=(const Vector4& v)
-        {
-            Vector3::operator-=(v);
-            w -= v.w;
-
-            return *this;
-        }
-
-        constexpr Vector4& operator*=(const float scalar)
-        {
-            Vector3::operator*=(scalar);
-            w *= scalar;
-
-            return *this;
-        }
-
-        constexpr Vector4& operator*=(const Vector4& v)
-        {
-            Vector3::operator*=(v);
-            w *= v.w;
-
-            return *this;
-        }
-
-        constexpr Vector4& operator/=(const float scalar)
-        {
-            Vector3::operator/=(scalar);
-            w /= scalar;
-
-            return *this;
-        }
-
-        constexpr Vector4& operator/=(const Vector4& v)
-        {
-            Vector3::operator/=(v);
-            w /= v.w;
-            return *this;
-        }
-
-        [[nodiscard]] constexpr float LengthSqr() const
-        {
-            return Vector3::LengthSqr() + w * w;
-        }
-
-        [[nodiscard]] constexpr float Dot(const Vector4& vOther) const
-        {
-            return Vector3::Dot(vOther) + w * vOther.w;
-        }
-
-        [[nodiscard]] float Length() const;
-
-        constexpr Vector4& Abs()
-        {
-            Vector3::Abs();
-            w = w < 0.f ? -w : w;
-
-            return *this;
-        }
-        constexpr Vector4& Clamp(const float min, const float max)
-        {
-            x = std::clamp(x, min, max);
-            y = std::clamp(y, min, max);
-            z = std::clamp(z, min, max);
-
-            return *this;
-        }
-
-        [[nodiscard]]
-        constexpr Vector4 operator-() const
-        {
-            return {-x, -y, -z, -w};
-        }
-
-        [[nodiscard]]
-        constexpr Vector4 operator+(const Vector4& v) const
-        {
-            return {x + v.x, y + v.y, z + v.z, w + v.w};
-        }
-
-        [[nodiscard]]
-        constexpr Vector4 operator-(const Vector4& v) const
-        {
-            return {x - v.x, y - v.y, z - v.z, w - v.w};
-        }
-
-        [[nodiscard]]
-        constexpr Vector4 operator*(const float scalar) const
-        {
-            return {x * scalar, y * scalar, z * scalar, w * scalar};
-        }
-
-        [[nodiscard]]
-        constexpr Vector4 operator*(const Vector4& v) const
-        {
-            return {x * v.x, y * v.y, z * v.z, w * v.w};
-        }
-
-        [[nodiscard]]
-        constexpr Vector4 operator/(const float scalar) const
-        {
-            return {x / scalar, y / scalar, z / scalar, w / scalar};
-        }
-
-        [[nodiscard]]
-        constexpr Vector4 operator/(const Vector4& v) const
-        {
-            return {x / v.x, y / v.y, z / v.z, w / v.w};
-        }
-
-        [[nodiscard]]
-        constexpr float Sum() const
-        {
-            return Vector3::Sum() + w;
-        }
-    };
-}

include/omath/angle.hpp

@@ -3,10 +3,10 @@
 //
 
 #pragma once
-#include "omath/Angles.hpp"
-
 #include <algorithm>
-#include "omath/omath_export.hpp"
+#include <utility>
+#include "omath/angles.hpp"
+
 
 namespace omath
 {
@@ -17,11 +17,11 @@ namespace omath
     };
 
     template<class Type = float, Type min = Type(0), Type max = Type(360), AngleFlags flags = AngleFlags::Normalized>
-    requires std::is_arithmetic_v<Type>
-    class OMATH_API Angle
+        requires std::is_arithmetic_v<Type>
+    class Angle
     {
         Type m_angle;
-        constexpr Angle(const Type& degrees)
+        constexpr explicit Angle(const Type& degrees)
         {
             if constexpr (flags == AngleFlags::Normalized)
                 m_angle = angles::WrapAngle(degrees, min, max);
@@ -34,20 +34,20 @@ namespace omath
                 std::unreachable();
             }
         }
+
     public:
         [[nodiscard]]
         constexpr static Angle FromDegrees(const Type& degrees)
         {
-            return {degrees};
+            return Angle{degrees};
         }
         constexpr Angle() : m_angle(0)
         {
-
         }
         [[nodiscard]]
         constexpr static Angle FromRadians(const Type& degrees)
         {
-            return {angles::RadiansToDegrees<Type>(degrees)};
+            return Angle{angles::RadiansToDegrees<Type>(degrees)};
         }
 
         [[nodiscard]]
@@ -98,7 +98,6 @@ namespace omath
             return Cos() / Sin();
         }
 
-        [[nodiscard]]
         constexpr Angle& operator+=(const Angle& other)
         {
             if constexpr (flags == AngleFlags::Normalized)
@@ -118,7 +117,6 @@ namespace omath
         [[nodiscard]]
         constexpr std::partial_ordering operator<=>(const Angle& other) const = default;
 
-        [[nodiscard]]
         constexpr Angle& operator-=(const Angle& other)
         {
             return operator+=(-other);
@@ -148,7 +146,7 @@ namespace omath
         [[nodiscard]]
         constexpr Angle operator-() const
         {
-            return {-m_angle};
+            return Angle{-m_angle};
         }
     };
-}
+} // namespace omath

include/omath/angles.hpp

@@ -3,8 +3,8 @@
 //
 
 #pragma once
-#include <numbers>
 #include <cmath>
+#include <numbers>
 
 namespace omath::angles
 {

include/omath/collision/LineTracer.hpp

@@ -1,39 +0,0 @@
-//
-// Created by Orange on 11/13/2024.
-//
-#pragma once
-
-#include "omath/Vector3.hpp"
-#include "omath/Triangle3d.hpp"
-#include "omath/omath_export.hpp"
-
-namespace omath::collision
-{
-    class OMATH_API Ray
-    {
-    public:
-        Vector3 start;
-        Vector3 end;
-
-        [[nodiscard]]
-        Vector3 DirectionVector() const;
-
-        [[nodiscard]]
-        Vector3 DirectionVectorNormalized() const;
-    };
-    class OMATH_API LineTracer
-    {
-    public:
-        LineTracer() = delete;
-
-
-        [[nodiscard]]
-        static bool CanTraceLine(const Ray& ray, const Triangle3d& triangle);
-
-
-        // Realization of Möller–Trumbore intersection algorithm
-        // https://en.wikipedia.org/wiki/M%C3%B6ller%E2%80%93Trumbore_intersection_algorithm
-        [[nodiscard]]
-        static Vector3 GetRayHitPoint(const Ray& ray, const Triangle3d& triangle);
-    };
-}

include/omath/collision/line_tracer.hpp

@@ -0,0 +1,38 @@
+//
+// Created by Orange on 11/13/2024.
+//
+#pragma once
+
+#include "omath/triangle.hpp"
+#include "omath/vector3.hpp"
+
+namespace omath::collision
+{
+    class Ray
+    {
+    public:
+        Vector3<float> start;
+        Vector3<float> end;
+        bool infinite_length = false;
+        [[nodiscard]]
+        Vector3<float> DirectionVector() const;
+
+        [[nodiscard]]
+        Vector3<float> DirectionVectorNormalized() const;
+    };
+    class LineTracer
+    {
+    public:
+        LineTracer() = delete;
+
+
+        [[nodiscard]]
+        static bool CanTraceLine(const Ray& ray, const Triangle<Vector3<float>>& triangle);
+
+
+        // Realization of Möller–Trumbore intersection algorithm
+        // https://en.wikipedia.org/wiki/M%C3%B6ller%E2%80%93Trumbore_intersection_algorithm
+        [[nodiscard]]
+        static Vector3<float> GetRayHitPoint(const Ray& ray, const Triangle<Vector3<float>>& triangle);
+    };
+}

include/omath/color.hpp

@@ -0,0 +1,173 @@
+//
+// Created by vlad on 2/4/24.
+//
+
+#pragma once
+
+#include <cstdint>
+#include "omath/vector3.hpp"
+#include "omath/vector4.hpp"
+
+#ifdef max
+#undef max
+#endif
+
+
+#ifdef min
+#undef min
+#endif
+
+namespace omath
+{
+    struct HSV
+    {
+        float hue{};
+        float saturation{};
+        float value{};
+    };
+
+
+    class Color final : public Vector4<float>
+    {
+    public:
+        constexpr Color(const float r, const float g, const float b, const float a) : Vector4(r, g, b, a)
+        {
+            Clamp(0.f, 1.f);
+        }
+
+        constexpr explicit Color() = default;
+        [[nodiscard]]
+        constexpr static Color FromRGBA(const uint8_t r, const uint8_t g, const uint8_t b, const uint8_t a)
+        {
+            return Color{Vector4(r, g, b, a) / 255.f};
+        }
+
+        [[nodiscard]]
+        constexpr static Color FromHSV(float hue, const float saturation, const float value)
+        {
+            float r{}, g{}, b{};
+
+            hue = std::clamp(hue, 0.f, 1.f);
+
+            const int i = static_cast<int>(hue * 6.f);
+            const float f = hue * 6 - i;
+            const float p = value * (1 - saturation);
+            const float q = value * (1 - f * saturation);
+            const float t = value * (1 - (1 - f) * saturation);
+
+            switch (i % 6)
+            {
+                case 0:
+                    r = value, g = t, b = p;
+                    break;
+                case 1:
+                    r = q, g = value, b = p;
+                    break;
+                case 2:
+                    r = p, g = value, b = t;
+                    break;
+                case 3:
+                    r = p, g = q, b = value;
+                    break;
+                case 4:
+                    r = t, g = p, b = value;
+                    break;
+                case 5:
+                    r = value, g = p, b = q;
+                    break;
+
+                default:
+                    return {0.f, 0.f, 0.f, 0.f};
+            }
+
+            return {r, g, b, 1.f};
+        }
+
+        [[nodiscard]]
+        constexpr static Color FromHSV(const HSV& hsv)
+        {
+            return FromHSV(hsv.hue, hsv.saturation, hsv.value);
+        }
+
+        [[nodiscard]]
+        constexpr HSV ToHSV() const
+        {
+            HSV hsvData;
+
+            const float& red = x;
+            const float& green = y;
+            const float& blue = z;
+
+            const float max = std::max({red, green, blue});
+            const float min = std::min({red, green, blue});
+            const float delta = max - min;
+
+
+            if (delta == 0.f)
+                hsvData.hue = 0.f;
+
+            else if (max == red)
+                hsvData.hue = 60.f * (std::fmodf(((green - blue) / delta), 6.f));
+            else if (max == green)
+                hsvData.hue = 60.f * (((blue - red) / delta) + 2.f);
+            else if (max == blue)
+                hsvData.hue = 60.f * (((red - green) / delta) + 4.f);
+
+            if (hsvData.hue < 0.f)
+                hsvData.hue += 360.f;
+
+            hsvData.hue /= 360.f;
+            hsvData.saturation = max == 0.f ? 0.f : delta / max;
+            hsvData.value = max;
+
+            return hsvData;
+        }
+
+        constexpr explicit Color(const Vector4& vec) : Vector4(vec)
+        {
+            Clamp(0.f, 1.f);
+        }
+        constexpr void SetHue(const float hue)
+        {
+            auto hsv = ToHSV();
+            hsv.hue = hue;
+
+            *this = FromHSV(hsv);
+        }
+
+        constexpr void SetSaturation(const float saturation)
+        {
+            auto hsv = ToHSV();
+            hsv.saturation = saturation;
+
+            *this = FromHSV(hsv);
+        }
+
+        constexpr void SetValue(const float value)
+        {
+            auto hsv = ToHSV();
+            hsv.value = value;
+
+            *this = FromHSV(hsv);
+        }
+        [[nodiscard]]
+        constexpr Color Blend(const Color& other, float ratio) const
+        {
+            ratio = std::clamp(ratio, 0.f, 1.f);
+            return Color(*this * (1.f - ratio) + other * ratio);
+        }
+
+        [[nodiscard]] static constexpr Color Red()
+        {
+            return {1.f, 0.f, 0.f, 1.f};
+        }
+        [[nodiscard]] static constexpr Color Green()
+        {
+            return {0.f, 1.f, 0.f, 1.f};
+        }
+        [[nodiscard]] static constexpr Color Blue()
+        {
+            return {0.f, 0.f, 1.f, 1.f};
+        }
+    };
+} // namespace omath

include/omath/engines/Source/Camera.hpp

@@ -1,20 +0,0 @@
-//
-// Created by Orange on 12/4/2024.
-//
-#pragma once
-#include "Constants.h"
-#include "omath/projection/Camera.hpp"
-#include "omath/omath_export.hpp"
-
-namespace omath::source
-{
-    class OMATH_API Camera final : public projection::Camera<Mat4x4, ViewAngles>
-    {
-    public:
-        Camera(const Vector3& position, const ViewAngles& viewAngles, const projection::ViewPort& viewPort,
-               const Angle<float, 0.f, 180.f, AngleFlags::Clamped>& fov, float near, float far);
-        void LookAt(const Vector3& target) override;
-        [[nodiscard]] Mat4x4 GetViewMatrix() const override;
-        [[nodiscard]] Mat4x4 GetProjectionMatrix() const override;
-    };
-}

include/omath/engines/Source/Formulas.hpp

@@ -1,57 +0,0 @@
-//
-// Created by Orange on 12/4/2024.
-//
-#pragma once
-#include "Constants.h"
-
-namespace omath::source
-{
-    [[nodiscard]]
-    inline Vector3 ForwardVector(const ViewAngles& angles)
-    {
-        const auto vec = MatRotation(angles) * MatColumnFromVector(kAbsForward);
-
-        return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
-    }
-
-    [[nodiscard]]
-    inline Vector3 RightVector(const ViewAngles& angles)
-    {
-        const auto vec = MatRotation(angles) * MatColumnFromVector(kAbsRight);
-
-        return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
-    }
-
-    [[nodiscard]]
-    inline Vector3 UpVector(const ViewAngles& angles)
-    {
-        const auto vec = MatRotation(angles) * MatColumnFromVector(kAbsUp);
-
-        return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
-    }
-
-    [[nodiscard]] inline Mat4x4 CalcViewMatrix(const ViewAngles& angles, const Vector3& cam_origin)
-    {
-        return MatCameraView(ForwardVector(angles), RightVector(angles), UpVector(angles), cam_origin);
-    }
-
-
-    [[nodiscard]]
-    inline Mat4x4 CalcPerspectiveProjectionMatrix(const float fieldOfView, const float aspectRatio, const float near,
-                                                  const float far)
-    {
-        // NOTE: Needed tp make thing draw normal, since source is wierd
-        // and use tricky projection matrix formula.
-        constexpr auto kMultiplyFactor = 0.75f;
-
-        const float fovHalfTan = std::tan(angles::DegreesToRadians(fieldOfView) / 2.f) * kMultiplyFactor;
-
-        return {
-                {1.f / (aspectRatio * fovHalfTan), 0, 0, 0},
-                {0, 1.f / (fovHalfTan), 0, 0},
-                {0, 0, (far + near) / (far - near), -(2.f * far * near) / (far - near)},
-                {0, 0, 1, 0},
-
-        };
-    }
-} // namespace omath::source

include/omath/engines/iw_engine/camera.hpp

@@ -0,0 +1,21 @@
+//
+// Created by Vlad on 3/17/2025.
+//
+
+#pragma once
+#include "omath/engines/iw_engine/constants.hpp"
+#include "omath/projection/camera.hpp"
+
+namespace omath::iw_engine
+{
+    class Camera final : public projection::Camera<Mat4x4, ViewAngles>
+    {
+    public:
+        Camera(const Vector3<float>& position, const ViewAngles& viewAngles, const projection::ViewPort& viewPort,
+               const Angle<float, 0.f, 180.f, AngleFlags::Clamped>& fov, float near, float far);
+        void LookAt(const Vector3<float>& target) override;
+    protected:
+        [[nodiscard]] Mat4x4 CalcViewMatrix() const override;
+        [[nodiscard]] Mat4x4 CalcProjectionMatrix() const override;
+    };
+}

include/omath/engines/iw_engine/constants.hpp

@@ -0,0 +1,25 @@
+//
+// Created by Vlad on 3/17/2025.
+//
+
+#pragma once
+#include <omath/vector3.hpp>
+#include <omath/mat.hpp>
+#include <omath/angle.hpp>
+#include <omath/view_angles.hpp>
+
+namespace omath::iw_engine
+{
+    constexpr Vector3<float> kAbsUp = {0, 0, 1};
+    constexpr Vector3<float> kAbsRight = {0, -1, 0};
+    constexpr Vector3<float> kAbsForward = {1, 0, 0};
+
+    using Mat4x4 = Mat<4, 4, float, MatStoreType::ROW_MAJOR>;
+    using Mat3x3 = Mat<4, 4, float, MatStoreType::ROW_MAJOR>;
+    using Mat1x3 = Mat<1, 3, float, MatStoreType::ROW_MAJOR>;
+    using PitchAngle = Angle<float, -89.f, 89.f, AngleFlags::Clamped>;
+    using YawAngle = Angle<float, -180.f, 180.f, AngleFlags::Normalized>;
+    using RollAngle = Angle<float, -180.f, 180.f, AngleFlags::Normalized>;
+
+    using ViewAngles = omath::ViewAngles<PitchAngle, YawAngle, RollAngle>;
+}

include/omath/engines/iw_engine/formulas.hpp

@@ -0,0 +1,26 @@
+//
+// Created by Vlad on 3/17/2025.
+//
+
+#pragma once
+#include "omath/engines/iw_engine/constants.hpp"
+
+namespace omath::iw_engine
+{
+    [[nodiscard]]
+    Vector3<float> ForwardVector(const ViewAngles& angles);
+
+    [[nodiscard]]
+    Vector3<float> RightVector(const ViewAngles& angles);
+
+    [[nodiscard]]
+    Vector3<float> UpVector(const ViewAngles& angles);
+
+    [[nodiscard]]
+    Mat4x4 RotationMatrix(const ViewAngles& angles);
+
+    [[nodiscard]] Mat4x4 CalcViewMatrix(const ViewAngles& angles, const Vector3<float>& cam_origin);
+
+    [[nodiscard]]
+    Mat4x4 CalcPerspectiveProjectionMatrix(float fieldOfView, float aspectRatio, float near, float far);
+} // namespace omath::iw_engine

include/omath/engines/opengl_engine/camera.hpp

@@ -0,0 +1,19 @@
+//
+// Created by Orange on 12/23/2024.
+//
+#pragma once
+#include "omath/engines/opengl_engine/constants.hpp"
+#include "omath/projection/camera.hpp"
+
+namespace omath::opengl_engine
+{
+    class Camera final : public projection::Camera<Mat4x4, ViewAngles>
+    {
+    public:
+        Camera(const Vector3<float>& position, const ViewAngles& viewAngles, const projection::ViewPort& viewPort,
+               const Angle<float, 0.f, 180.f, AngleFlags::Clamped>& fov, float near, float far);
+        void LookAt(const Vector3<float>& target) override;
+        [[nodiscard]] Mat4x4 CalcViewMatrix() const override;
+        [[nodiscard]] Mat4x4 CalcProjectionMatrix() const override;
+    };
+}

include/omath/engines/opengl_engine/constants.hpp

@@ -0,0 +1,26 @@
+//
+// Created by Orange on 12/23/2024.
+//
+#pragma once
+
+#include <omath/angle.hpp>
+#include <omath/mat.hpp>
+#include <omath/vector3.hpp>
+#include <omath/view_angles.hpp>
+
+namespace omath::opengl_engine
+{
+    constexpr Vector3<float> kAbsUp = {0, 1, 0};
+    constexpr Vector3<float> kAbsRight = {1, 0, 0};
+    constexpr Vector3<float> kAbsForward = {0, 0, -1};
+
+    using Mat4x4 = Mat<4, 4, float, MatStoreType::COLUMN_MAJOR>;
+    using Mat3x3 = Mat<4, 4, float, MatStoreType::COLUMN_MAJOR>;
+    using Mat1x3 = Mat<1, 3, float, MatStoreType::COLUMN_MAJOR>;
+    using PitchAngle = Angle<float, -90.f, 90.f, AngleFlags::Clamped>;
+    using YawAngle = Angle<float, -180.f, 180.f, AngleFlags::Normalized>;
+    using RollAngle = Angle<float, -180.f, 180.f, AngleFlags::Normalized>;
+
+
+    using ViewAngles = omath::ViewAngles<PitchAngle, YawAngle, RollAngle>;
+}

include/omath/engines/opengl_engine/formulas.hpp

@@ -0,0 +1,26 @@
+//
+// Created by Orange on 12/23/2024.
+//
+#pragma once
+#include "omath/engines/opengl_engine/constants.hpp"
+
+
+namespace omath::opengl_engine
+{
+    [[nodiscard]]
+    Vector3<float> ForwardVector(const ViewAngles& angles);
+
+    [[nodiscard]]
+    Vector3<float> RightVector(const ViewAngles& angles);
+
+    [[nodiscard]]
+    Vector3<float> UpVector(const ViewAngles& angles);
+
+    [[nodiscard]] Mat4x4 CalcViewMatrix(const ViewAngles& angles, const Vector3<float>& cam_origin);
+
+    [[nodiscard]]
+    Mat4x4 RotationMatrix(const ViewAngles& angles);
+
+    [[nodiscard]]
+    Mat4x4 CalcPerspectiveProjectionMatrix(float fieldOfView, float aspectRatio, float near, float far);
+} // namespace omath::opengl_engine

include/omath/engines/source_engine/camera.hpp

@@ -0,0 +1,20 @@
+//
+// Created by Orange on 12/4/2024.
+//
+#pragma once
+#include "omath/engines/source_engine/constants.hpp"
+#include "omath/projection/camera.hpp"
+
+namespace omath::source_engine
+{
+    class Camera final : public projection::Camera<Mat4x4, ViewAngles>
+    {
+    public:
+        Camera(const Vector3<float>& position, const ViewAngles& viewAngles, const projection::ViewPort& viewPort,
+               const Angle<float, 0.f, 180.f, AngleFlags::Clamped>& fov, float near, float far);
+        void LookAt(const Vector3<float>& target) override;
+    protected:
+        [[nodiscard]] Mat4x4 CalcViewMatrix() const override;
+        [[nodiscard]] Mat4x4 CalcProjectionMatrix() const override;
+    };
+}

include/omath/engines/source_engine/constants.hpp

@@ -3,15 +3,16 @@
 //
 #pragma once
 
-#include <omath/Vector3.hpp>
-#include <omath/Mat.hpp>
-#include <omath/Angle.hpp>
-#include <omath/ViewAngles.hpp>
-namespace omath::source
+#include <omath/vector3.hpp>
+#include <omath/mat.hpp>
+#include <omath/angle.hpp>
+#include <omath/view_angles.hpp>
+
+namespace omath::source_engine
 {
-    constexpr Vector3 kAbsUp = {0, 0, 1};
-    constexpr Vector3 kAbsRight = {0, -1, 0};
-    constexpr Vector3 kAbsForward = {1, 0, 0};
+    constexpr Vector3<float> kAbsUp = {0, 0, 1};
+    constexpr Vector3<float> kAbsRight = {0, -1, 0};
+    constexpr Vector3<float> kAbsForward = {1, 0, 0};
 
     using Mat4x4 = Mat<4, 4, float, MatStoreType::ROW_MAJOR>;
     using Mat3x3 = Mat<4, 4, float, MatStoreType::ROW_MAJOR>;

include/omath/engines/source_engine/formulas.hpp

@@ -0,0 +1,25 @@
+//
+// Created by Orange on 12/4/2024.
+//
+#pragma once
+#include "omath/engines/source_engine/constants.hpp"
+
+namespace omath::source_engine
+{
+    [[nodiscard]]
+    Vector3<float> ForwardVector(const ViewAngles& angles);
+
+    [[nodiscard]]
+    Mat4x4 RotationMatrix(const ViewAngles& angles);
+
+    [[nodiscard]]
+    Vector3<float> RightVector(const ViewAngles& angles);
+
+    [[nodiscard]]
+    Vector3<float> UpVector(const ViewAngles& angles);
+
+    [[nodiscard]] Mat4x4 CalcViewMatrix(const ViewAngles& angles, const Vector3<float>& cam_origin);
+
+    [[nodiscard]]
+    Mat4x4 CalcPerspectiveProjectionMatrix(float fieldOfView, float aspectRatio, float near, float far);
+} // namespace omath::source

include/omath/engines/unity_engine/camera.hpp

@@ -0,0 +1,21 @@
+//
+// Created by Vlad on 3/22/2025.
+//
+
+#pragma once
+#include "omath/engines/unity_engine/constants.hpp"
+#include "omath/projection/camera.hpp"
+
+namespace omath::unity_engine
+{
+    class Camera final : public projection::Camera<Mat4x4, ViewAngles>
+    {
+    public:
+        Camera(const Vector3<float>& position, const ViewAngles& viewAngles, const projection::ViewPort& viewPort,
+               const Angle<float, 0.f, 180.f, AngleFlags::Clamped>& fov, float near, float far);
+        void LookAt(const Vector3<float>& target) override;
+    protected:
+        [[nodiscard]] Mat4x4 CalcViewMatrix() const override;
+        [[nodiscard]] Mat4x4 CalcProjectionMatrix() const override;
+    };
+}

include/omath/engines/unity_engine/constants.hpp

@@ -0,0 +1,26 @@
+//
+// Created by Vlad on 3/22/2025.
+//
+
+#pragma once
+
+#include <omath/vector3.hpp>
+#include <omath/mat.hpp>
+#include <omath/angle.hpp>
+#include <omath/view_angles.hpp>
+
+namespace omath::unity_engine
+{
+    constexpr Vector3<float> kAbsUp = {0, 1, 0};
+    constexpr Vector3<float> kAbsRight = {1, 0, 0};
+    constexpr Vector3<float> kAbsForward = {0, 0, 1};
+
+    using Mat4x4 = Mat<4, 4, float, MatStoreType::ROW_MAJOR>;
+    using Mat3x3 = Mat<4, 4, float, MatStoreType::ROW_MAJOR>;
+    using Mat1x3 = Mat<1, 3, float, MatStoreType::ROW_MAJOR>;
+    using PitchAngle = Angle<float, -90.f, 90.f, AngleFlags::Clamped>;
+    using YawAngle = Angle<float, -180.f, 180.f, AngleFlags::Normalized>;
+    using RollAngle = Angle<float, -180.f, 180.f, AngleFlags::Normalized>;
+
+    using ViewAngles = omath::ViewAngles<PitchAngle, YawAngle, RollAngle>;
+} // namespace omath::source

include/omath/engines/unity_engine/formulas.hpp

@@ -0,0 +1,26 @@
+//
+// Created by Vlad on 3/22/2025.
+//
+
+#pragma once
+#include "omath/engines/unity_engine/constants.hpp"
+
+namespace omath::unity_engine
+{
+    [[nodiscard]]
+    Vector3<float> ForwardVector(const ViewAngles& angles);
+
+    [[nodiscard]]
+    Vector3<float> RightVector(const ViewAngles& angles);
+
+    [[nodiscard]]
+    Vector3<float> UpVector(const ViewAngles& angles);
+
+    [[nodiscard]] Mat4x4 CalcViewMatrix(const ViewAngles& angles, const Vector3<float>& cam_origin);
+
+    [[nodiscard]]
+    Mat4x4 RotationMatrix(const ViewAngles& angles);
+
+    [[nodiscard]]
+    Mat4x4 CalcPerspectiveProjectionMatrix(float fieldOfView, float aspectRatio, float near, float far);
+} // namespace omath::source

include/omath/mat.hpp

@@ -4,15 +4,26 @@
 #pragma once
 #include <algorithm>
 #include <array>
+#include <iomanip>
 #include <sstream>
 #include <stdexcept>
 #include <utility>
-#include "Vector3.hpp"
-#include "omath/omath_export.hpp"
+#include "omath/vector3.hpp"
+#include <numeric>
+
+
+#ifdef near
+#undef near
+#endif
+
+
+#ifdef far
+#undef far
+#endif
 
 namespace omath
 {
-    struct OMATH_API MatSize
+    struct MatSize
     {
         size_t rows, columns;
     };
@@ -23,20 +34,29 @@ namespace omath
         COLUMN_MAJOR
     };
 
+
+    template<typename M1, typename M2>
+    concept MatTemplateEqual =
+            (M1::rows == M2::rows) && (M1::columns == M2::columns) &&
+            std::is_same_v<typename M1::value_type, typename M2::value_type> &&
+            (M1::store_type == M2::store_type);
+
     template<size_t Rows = 0, size_t Columns = 0, class Type = float, MatStoreType StoreType = MatStoreType::ROW_MAJOR>
         requires std::is_arithmetic_v<Type>
     class Mat final
     {
     public:
-        OMATH_API constexpr Mat()
+        constexpr Mat() noexcept
         {
             Clear();
         }
-        OMATH_API constexpr static MatStoreType GetStoreOrdering()
+
+        [[nodiscard]]
+        constexpr static MatStoreType GetStoreOrdering() noexcept
         {
             return StoreType;
         }
-        OMATH_API constexpr Mat(const std::initializer_list<std::initializer_list<Type>>& rows)
+        constexpr Mat(const std::initializer_list<std::initializer_list<Type>>& rows)
         {
             if (rows.size() != Rows)
                 throw std::invalid_argument("Initializer list rows size does not match template parameter Rows");
@@ -56,44 +76,58 @@ namespace omath
             }
         }
 
-        OMATH_API constexpr explicit Mat(const Type* rawData)
+        constexpr explicit Mat(const Type* rawData)
         {
             std::copy_n(rawData, Rows * Columns, m_data.begin());
         }
 
-        OMATH_API constexpr Mat(const Mat& other) noexcept
+        constexpr Mat(const Mat& other) noexcept
         {
             m_data = other.m_data;
         }
 
-        OMATH_API constexpr Mat(Mat&& other) noexcept
+        [[nodiscard]]
+        constexpr Type& operator[](const size_t row, const size_t col)
+        {
+            return At(row, col);
+        }
+
+        [[nodiscard]]
+        constexpr Type& operator[](const size_t row, const size_t col) const
+        {
+            return At(row, col);
+        }
+
+        constexpr Mat(Mat&& other) noexcept
         {
             m_data = std::move(other.m_data);
         }
 
         [[nodiscard]]
-        OMATH_API static constexpr size_t RowCount() noexcept
+        static constexpr size_t RowCount() noexcept
         {
             return Rows;
         }
 
         [[nodiscard]]
-        OMATH_API static constexpr size_t ColumnsCount() noexcept
+        static constexpr size_t ColumnsCount() noexcept
         {
             return Columns;
         }
 
         [[nodiscard]]
-        OMATH_API static consteval MatSize Size() noexcept
+        static consteval MatSize Size() noexcept
         {
             return {Rows, Columns};
         }
 
-        [[nodiscard]] OMATH_API constexpr const Type& At(const size_t rowIndex, const size_t columnIndex) const
+        [[nodiscard]]
+        constexpr const Type& At(const size_t rowIndex, const size_t columnIndex) const
         {
+#if !defined(NDEBUG) && defined(OMATH_SUPRESS_SAFETY_CHECKS)
             if (rowIndex >= Rows || columnIndex >= Columns)
                 throw std::out_of_range("Index out of range");
-
+#endif
             if constexpr (StoreType == MatStoreType::ROW_MAJOR)
                 return m_data[rowIndex * Columns + columnIndex];
 
@@ -107,36 +141,32 @@ namespace omath
             }
         }
 
-        [[nodiscard]] OMATH_API constexpr Type& At(const size_t rowIndex, const size_t columnIndex)
+        [[nodiscard]] constexpr Type& At(const size_t rowIndex, const size_t columnIndex)
         {
             return const_cast<Type&>(std::as_const(*this).At(rowIndex, columnIndex));
         }
 
         [[nodiscard]]
-        OMATH_API constexpr Type Sum() const noexcept
+        constexpr Type Sum() const noexcept
         {
-            Type sum = 0;
-            for (size_t i = 0; i < Rows; ++i)
-                for (size_t j = 0; j < Columns; ++j)
-                    sum += At(i, j);
-
-            return sum;
+            return std::accumulate(m_data.begin(), m_data.end(), Type(0));
         }
 
-        OMATH_API constexpr void Clear() noexcept
+        constexpr void Clear() noexcept
         {
             Set(0);
         }
 
-        OMATH_API constexpr void Set(const Type& value) noexcept
+        constexpr void Set(const Type& value) noexcept
         {
             std::ranges::fill(m_data, value);
         }
 
         // Operator overloading for multiplication with another Mat
         template<size_t OtherColumns>
+        [[nodiscard]]
         constexpr Mat<Rows, OtherColumns, Type, StoreType>
-        OMATH_API operator*(const Mat<Columns, OtherColumns, Type, StoreType>& other) const
+        operator*(const Mat<Columns, OtherColumns, Type, StoreType>& other) const
         {
             Mat<Rows, OtherColumns, Type, StoreType> result;
 
@@ -151,67 +181,59 @@ namespace omath
             return result;
         }
 
-        OMATH_API constexpr Mat& operator*=(const Type& f) noexcept
+        constexpr Mat& operator*=(const Type& f) noexcept
         {
-            for (size_t i = 0; i < Rows; ++i)
-                for (size_t j = 0; j < Columns; ++j)
-                    At(i, j) *= f;
+            std::ranges::for_each(m_data, [&f](auto& val) {val *= f;});
             return *this;
         }
 
         template<size_t OtherColumns>
         constexpr Mat<Rows, OtherColumns, Type, StoreType>
-        OMATH_API operator*=(const Mat<Columns, OtherColumns, Type, StoreType>& other)
+        operator*=(const Mat<Columns, OtherColumns, Type, StoreType>& other)
         {
             return *this = *this * other;
         }
 
-        OMATH_API constexpr Mat operator*(const Type& f) const noexcept
+        [[nodiscard]]
+        constexpr Mat operator*(const Type& value) const noexcept
         {
             Mat result(*this);
-            result *= f;
+            result *= value;
             return result;
         }
 
-        OMATH_API constexpr Mat& operator/=(const Type& f) noexcept
+        constexpr Mat& operator/=(const Type& value) noexcept
         {
-            for (size_t i = 0; i < Rows; ++i)
-                for (size_t j = 0; j < Columns; ++j)
-                    At(i, j) /= f;
+            std::ranges::for_each(m_data, [&value](auto& val) {val /= value;});
             return *this;
         }
 
-        OMATH_API constexpr Mat operator/(const Type& f) const noexcept
+        [[nodiscard]]
+        constexpr Mat operator/(const Type& value) const noexcept
         {
             Mat result(*this);
-            result /= f;
+            result /= value;
             return result;
         }
 
-        OMATH_API constexpr Mat& operator=(const Mat& other) noexcept
+        constexpr Mat& operator=(const Mat& other) noexcept
         {
-            if (this == &other)
-                return *this;
-            for (size_t i = 0; i < Rows; ++i)
-                for (size_t j = 0; j < Columns; ++j)
-                    At(i, j) = other.At(i, j);
+            if (this != &other)
+                m_data = other.m_data;
+
             return *this;
         }
 
-        OMATH_API constexpr Mat& operator=(Mat&& other) noexcept
+        constexpr Mat& operator=(Mat&& other) noexcept
         {
-            if (this == &other)
-                return *this;
-
-            for (size_t i = 0; i < Rows; ++i)
-                for (size_t j = 0; j < Columns; ++j)
-                    At(i, j) = other.At(i, j);
+            if (this != &other)
+                m_data = std::move(other.m_data);
 
             return *this;
         }
 
         [[nodiscard]]
-        OMATH_API constexpr Mat<Columns, Rows, Type, StoreType> Transposed() const noexcept
+        constexpr Mat<Columns, Rows, Type, StoreType> Transposed() const noexcept
         {
             Mat<Columns, Rows, Type, StoreType> transposed;
             for (size_t i = 0; i < Rows; ++i)
@@ -222,14 +244,14 @@ namespace omath
         }
 
         [[nodiscard]]
-        OMATH_API constexpr Type Determinant() const
+        constexpr Type Determinant() const
         {
             static_assert(Rows == Columns, "Determinant is only defined for square matrices.");
 
             if constexpr (Rows == 1)
                 return At(0, 0);
 
-            else if constexpr (Rows == 2)
+            if constexpr (Rows == 2)
                 return At(0, 0) * At(1, 1) - At(0, 1) * At(1, 0);
             else
             {
@@ -244,7 +266,7 @@ namespace omath
         }
 
         [[nodiscard]]
-        OMATH_API constexpr Mat<Rows - 1, Columns - 1, Type, StoreType> Minor(const size_t row, const size_t column) const
+        constexpr Mat<Rows - 1, Columns - 1, Type, StoreType> Minor(const size_t row, const size_t column) const
         {
             Mat<Rows - 1, Columns - 1, Type, StoreType> result;
             for (size_t i = 0, m = 0; i < Rows; ++i)
@@ -264,49 +286,54 @@ namespace omath
         }
 
         [[nodiscard]]
-        OMATH_API constexpr const std::array<Type, Rows * Columns>& RawArray() const
+        constexpr const std::array<Type, Rows * Columns>& RawArray() const
         {
             return m_data;
         }
 
         [[nodiscard]]
-        OMATH_API constexpr std::array<Type, Rows * Columns>& RawArray()
+        constexpr std::array<Type, Rows * Columns>& RawArray()
         {
-            return const_cast<std::array<Type, Rows * Columns>>(std::as_const(*this).RawArray());
+            return m_data;
         }
 
         [[nodiscard]]
-        OMATH_API std::string ToString() const noexcept
+        std::string ToString() const noexcept
         {
             std::ostringstream oss;
+            oss << "[[";
+
             for (size_t i = 0; i < Rows; ++i)
             {
+                if (i > 0)
+                    oss << " [";
+
                 for (size_t j = 0; j < Columns; ++j)
                 {
-                    oss << At(i, j);
+                    oss << std::setw(9) << std::fixed << std::setprecision(3) << At(i, j);
                     if (j != Columns - 1)
-                        oss << ' ';
+                        oss << ", ";
                 }
-                oss << '\n';
+                oss << (i == Rows - 1 ? "]]" : "]\n");
             }
             return oss.str();
         }
 
         [[nodiscard]]
-        OMATH_API bool operator==(const Mat& mat) const
+        bool operator==(const Mat& mat) const
         {
             return m_data == mat.m_data;
         }
 
         [[nodiscard]]
-        OMATH_API bool operator!=(const Mat& mat) const
+        bool operator!=(const Mat& mat) const
         {
             return !operator==(mat);
         }
 
         // Static methods that return fixed-size matrices
         [[nodiscard]]
-        OMATH_API constexpr static Mat<4, 4> ToScreenMat(const Type& screenWidth, const Type& screenHeight) noexcept
+        constexpr static Mat<4, 4> ToScreenMat(const Type& screenWidth, const Type& screenHeight) noexcept
         {
             return {
                     {screenWidth / 2, 0, 0, 0},
@@ -322,21 +349,21 @@ namespace omath
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
     [[nodiscard]]
-    constexpr static Mat<1, 4, Type, St> MatRowFromVector(const Vector3& vector) noexcept
+    constexpr static Mat<1, 4, Type, St> MatRowFromVector(const Vector3<Type>& vector) noexcept
     {
         return {{vector.x, vector.y, vector.z, 1}};
     }
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
     [[nodiscard]]
-    constexpr static Mat<4, 1, Type, St> MatColumnFromVector(const Vector3& vector) noexcept
+    constexpr static Mat<4, 1, Type, St> MatColumnFromVector(const Vector3<Type>& vector) noexcept
     {
         return {{vector.x}, {vector.y}, {vector.z}, {1}};
     }
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
     [[nodiscard]]
-    OMATH_API constexpr Mat<4, 4, Type, St> MatTranslation(const Vector3& diff) noexcept
+    constexpr Mat<4, 4, Type, St> MatTranslation(const Vector3<Type>& diff) noexcept
     {
         return
         {
@@ -349,7 +376,7 @@ namespace omath
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
     [[nodiscard]]
-    OMATH_API Mat<4, 4, Type, St> MatRotationAxisX(const Angle& angle) noexcept
+    Mat<4, 4, Type, St> MatRotationAxisX(const Angle& angle) noexcept
     {
         return
         {
@@ -362,7 +389,7 @@ namespace omath
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
     [[nodiscard]]
-    OMATH_API Mat<4, 4, Type, St> MatRotationAxisY(const Angle& angle) noexcept
+    Mat<4, 4, Type, St> MatRotationAxisY(const Angle& angle) noexcept
     {
         return
         {
@@ -375,7 +402,7 @@ namespace omath
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
     [[nodiscard]]
-    OMATH_API Mat<4, 4, Type, St> MatRotationAxisZ(const Angle& angle) noexcept
+    Mat<4, 4, Type, St> MatRotationAxisZ(const Angle& angle) noexcept
     {
         return
         {
@@ -388,8 +415,8 @@ namespace omath
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
     [[nodiscard]]
-    static Mat<4, 4, Type, St> MatCameraView(const Vector3& forward, const Vector3& right, const Vector3& up,
-                                             const Vector3& cameraOrigin) noexcept
+    static Mat<4, 4, Type, St> MatCameraView(const Vector3<Type>& forward, const Vector3<Type>& right,
+                                             const Vector3<Type>& up, const Vector3<Type>& cameraOrigin) noexcept
     {
         return  Mat<4, 4, Type, St>
         {
@@ -401,10 +428,29 @@ namespace omath
         } * MatTranslation<Type, St>(-cameraOrigin);
     }
 
-    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class ViewAngles>
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
     [[nodiscard]]
-    OMATH_API Mat<4, 4, Type, St> MatRotation(const ViewAngles& angles) noexcept
+    Mat<4, 4, Type, St> MatPerspectiveLeftHanded(const float fieldOfView, const float aspectRatio, const float near,
+                                                 const float far) noexcept
     {
-        return MatRotationAxisZ(angles.yaw) * MatRotationAxisY(angles.pitch) * MatRotationAxisX(angles.roll);
+        const float fovHalfTan = std::tan(angles::DegreesToRadians(fieldOfView) / 2.f);
+
+        return {{1.f / (aspectRatio * fovHalfTan), 0.f, 0.f, 0.f},
+                {0.f, 1.f / fovHalfTan, 0.f, 0.f},
+                {0.f, 0.f, (far + near) / (far - near), -(2.f * near * far) / (far - near)},
+                {0.f, 0.f, 1.f, 0.f}};
+    }
+
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
+    [[nodiscard]]
+    Mat<4, 4, Type, St> MatPerspectiveRightHanded(const float fieldOfView, const float aspectRatio, const float near,
+                                                  const float far) noexcept
+    {
+        const float fovHalfTan = std::tan(angles::DegreesToRadians(fieldOfView) / 2.f);
+
+        return {{1.f / (aspectRatio * fovHalfTan), 0.f, 0.f, 0.f},
+                {0.f, 1.f / fovHalfTan, 0.f, 0.f},
+                {0.f, 0.f, -(far + near) / (far - near), -(2.f * near * far) / (far - near)},
+                {0.f, 0.f, -1.f, 0.f}};
     }
 } // namespace omath

include/omath/matrix.hpp

@@ -0,0 +1,108 @@
+#pragma once
+#include <initializer_list>
+#include <memory>
+#include <string>
+#include "omath/vector3.hpp"
+
+namespace omath
+{
+
+    class Matrix final
+    {
+    public:
+        Matrix();
+        Matrix(size_t rows, size_t columns);
+
+        Matrix(const std::initializer_list<std::initializer_list<float>>& rows);
+
+        [[nodiscard]]
+        static Matrix ToScreenMatrix(float screenWidth, float screenHeight);
+
+        [[nodiscard]]
+        static Matrix TranslationMatrix(const Vector3<float>& diff);
+
+        [[nodiscard]]
+        static Matrix OrientationMatrix(const Vector3<float>& forward, const Vector3<float>& right, const Vector3<float>& up);
+
+        [[nodiscard]]
+        static Matrix ProjectionMatrix(float fieldOfView, float aspectRatio, float near, float far);
+
+        Matrix(const Matrix& other);
+
+        Matrix(size_t rows, size_t columns, const float* pRaw);
+
+        Matrix(Matrix&& other) noexcept;
+
+        [[nodiscard]]
+        size_t RowCount() const noexcept;
+
+
+        [[nodiscard]]
+        float& operator[](size_t row, size_t column);
+
+        [[nodiscard]]
+        size_t ColumnsCount() const noexcept;
+
+        [[nodiscard]]
+        std::pair<size_t, size_t> Size() const noexcept;
+
+        [[nodiscard]]
+        float& At(size_t iRow, size_t iCol);
+
+        [[nodiscard]]
+        float Sum();
+
+        void SetDataFromRaw(const float* pRawMatrix);
+
+        [[nodiscard]]
+        Matrix Transpose() const;
+
+        void Set(float val);
+
+        [[nodiscard]]
+        const float& At(size_t iRow, size_t iCol) const;
+
+        Matrix operator*(const Matrix& other) const;
+
+        Matrix& operator*=(const Matrix& other);
+
+        Matrix operator*(float f) const;
+
+        Matrix& operator*=(float f);
+
+        Matrix& operator/=(float f);
+
+        void Clear();
+
+        [[nodiscard]]
+        Matrix Strip(size_t row, size_t column) const;
+
+        [[nodiscard]]
+        float Minor(size_t i, size_t j) const;
+
+        [[nodiscard]]
+        float AlgComplement(size_t i, size_t j) const;
+
+        [[nodiscard]]
+        float Determinant() const;
+
+        [[nodiscard]]
+        const float* Raw() const;
+
+        Matrix& operator=(const Matrix& other);
+
+        Matrix& operator=(Matrix&& other) noexcept;
+
+        Matrix operator/(float f) const;
+
+        [[nodiscard]]
+        std::string ToString() const;
+
+        ~Matrix();
+
+    private:
+        size_t m_rows;
+        size_t m_columns;
+        std::unique_ptr<float[]> m_data;
+    };
+} // namespace omath

include/omath/omath_export.hpp

@@ -1,24 +0,0 @@
-#pragma once
-
-/* Export prefix for functions */
-#ifdef _MSC_VER
-	/* MSVC */
-#	define OMATH_API_EXPORT __declspec(dllexport)
-#else
-	/* GCC/Clang */
-#	define OMATH_API_EXPORT __attribute__((visibility("default")))
-#endif
-
-/* Import prefix for functions */
-#ifdef _MSC_VER
-#	define OMATH_API_IMPORT __declspec(dllimport)
-#else
-#	define OMATH_API_IMPORT extern
-#endif
-
-/* Resolve import/export */
-#ifdef OMATH_EXPORT
-#	define OMATH_API OMATH_API_EXPORT
-#else
-#	define OMATH_API OMATH_API_IMPORT
-#endif

include/omath/pathfinding/Astar.hpp

@@ -1,20 +0,0 @@
-//
-// Created by Vlad on 28.07.2024.
-//
-
-#pragma once
-#include <vector>
-#include "NavigationMesh.hpp"
-#include "omath/Vector3.hpp"
-#include "omath/omath_export.hpp"
-
-namespace omath::pathfinding
-{
-    class OMATH_API Astar final
-    {
-    public:
-        [[nodiscard]]
-        static std::vector<Vector3> FindPath(const Vector3& start, const Vector3& end, const NavigationMesh& navMesh);
-
-    };
-}

include/omath/pathfinding/NavigationMesh.hpp

@@ -1,39 +0,0 @@
-//
-// Created by Vlad on 28.07.2024.
-//
-
-#pragma once
-
-#include "omath/Vector3.hpp"
-#include <expected>
-#include <vector>
-#include <string>
-#include "omath/omath_export.hpp"
-
-namespace omath::pathfinding
-{
-
-    enum Error
-    {
-        
-    };
-
-    class NavigationMesh final
-    {
-    public:
-
-        [[nodiscard]]
-        OMATH_API std::expected<Vector3, std::string> GetClosestVertex(const Vector3& point) const;
-
-
-        [[nodiscard]]
-        OMATH_API const std::vector<Vector3>& GetNeighbors(const Vector3& vertex) const;
-
-        [[nodiscard]]
-        OMATH_API bool Empty() const;
-        [[nodiscard]] std::vector<uint8_t> Serialize() const;
-        OMATH_API void Deserialize(const std::vector<uint8_t>& raw);
-
-        std::unordered_map<Vector3, std::vector<Vector3>> m_verTextMap;
-    };
-}

include/omath/pathfinding/a_star.hpp

@@ -0,0 +1,30 @@
+//
+// Created by Vlad on 28.07.2024.
+//
+
+#pragma once
+#include <vector>
+#include "omath/pathfinding/navigation_mesh.hpp"
+#include "omath/vector3.hpp"
+
+namespace omath::pathfinding
+{
+    struct PathNode;
+    class Astar final
+    {
+    public:
+        [[nodiscard]]
+        static std::vector<Vector3<float>> FindPath(const Vector3<float>& start, const Vector3<float>& end,
+                                                    const NavigationMesh& navMesh);
+
+    private:
+        [[nodiscard]]
+        static std::vector<Vector3<float>>
+        ReconstructFinalPath(const std::unordered_map<Vector3<float>, PathNode>& closedList,
+                             const Vector3<float>& current);
+
+        [[nodiscard]]
+        static auto GetPerfectNode(const std::unordered_map<Vector3<float>, PathNode>& openList,
+                                   const Vector3<float>& endVertex);
+    };
+} // namespace omath::pathfinding

include/omath/pathfinding/navigation_mesh.hpp

@@ -0,0 +1,38 @@
+//
+// Created by Vlad on 28.07.2024.
+//
+
+#pragma once
+
+#include <expected>
+#include <string>
+#include <vector>
+#include "omath/vector3.hpp"
+
+namespace omath::pathfinding
+{
+
+    enum Error
+    {
+
+    };
+
+    class NavigationMesh final
+    {
+    public:
+        [[nodiscard]]
+        std::expected<Vector3<float>, std::string> GetClosestVertex(const Vector3<float>& point) const;
+
+        [[nodiscard]]
+        const std::vector<Vector3<float>>& GetNeighbors(const Vector3<float>& vertex) const;
+
+        [[nodiscard]]
+        bool Empty() const;
+
+        [[nodiscard]] std::vector<uint8_t> Serialize() const;
+
+        void Deserialize(const std::vector<uint8_t>& raw);
+
+        std::unordered_map<Vector3<float>, std::vector<Vector3<float>>> m_verTextMap;
+    };
+} // namespace omath::pathfinding

include/omath/prediction/Engine.hpp

@@ -1,39 +0,0 @@
-//
-// Created by Vlad on 6/9/2024.
-//
-
-#pragma once
-
-#include <optional>
-#include "omath/Vector3.hpp"
-#include "omath/prediction/Projectile.hpp"
-#include "omath/prediction/Target.hpp"
-#include "omath/omath_export.hpp"
-
-namespace omath::prediction
-{
-    class OMATH_API Engine final
-    {
-    public:
-        explicit Engine(float gravityConstant, float simulationTimeStep,
-                        float maximumSimulationTime, float distanceTolerance);
-
-        [[nodiscard]]
-        std::optional<Vector3> MaybeCalculateAimPoint(const Projectile& projectile, const Target& target) const;
-
-    private:
-        const float m_gravityConstant;
-        const float m_simulationTimeStep;
-        const float m_maximumSimulationTime;
-        const float m_distanceTolerance;
-
-        [[nodiscard]]
-        std::optional<float> MaybeCalculateProjectileLaunchPitchAngle(const Projectile& projectile,
-                                                                      const Vector3& targetPosition) const;
-
-
-        [[nodiscard]]
-        bool IsProjectileReachedTarget(const Vector3& targetPosition, const Projectile& projectile, float pitch, float time) const;
-
-    };
-}

include/omath/prediction/Projectile.hpp

@@ -1,22 +0,0 @@
-//
-// Created by Vlad on 6/9/2024.
-//
-
-#pragma once
-#include "omath/Vector3.hpp"
-#include "omath/omath_export.hpp"
-
-namespace omath::prediction
-{
-    class OMATH_API Projectile final
-    {
-    public:
-
-        [[nodiscard]]
-        Vector3 PredictPosition(float pitch, float yaw, float time, float gravity) const;
-
-        Vector3 m_origin;
-        float m_launchSpeed{};
-        float m_gravityScale{};
-    };
-}

include/omath/projectile_prediction/proj_pred_engine.hpp

@@ -0,0 +1,20 @@
+//
+// Created by Vlad on 2/23/2025.
+//
+#pragma once
+#include "omath/projectile_prediction/projectile.hpp"
+#include "omath/projectile_prediction/target.hpp"
+#include "omath/vector3.hpp"
+
+
+namespace omath::projectile_prediction
+{
+    class ProjPredEngine
+    {
+    public:
+        [[nodiscard]]
+        virtual std::optional<Vector3<float>> MaybeCalculateAimPoint(const Projectile& projectile,
+                                                              const Target& target) const = 0;
+        virtual ~ProjPredEngine() = default;
+    };
+} // namespace omath::projectile_prediction

include/omath/projectile_prediction/proj_pred_engine_avx2.hpp

@@ -0,0 +1,26 @@
+//
+// Created by Vlad on 2/23/2025.
+//
+#pragma once
+#include "omath/projectile_prediction/proj_pred_engine.hpp"
+
+namespace omath::projectile_prediction
+{
+    class ProjPredEngineAVX2 final : public ProjPredEngine
+    {
+    public:
+        [[nodiscard]] std::optional<Vector3<float>> MaybeCalculateAimPoint(const Projectile& projectile,
+                                                                    const Target& target) const override;
+
+
+        ProjPredEngineAVX2(float gravityConstant, float simulationTimeStep, float maximumSimulationTime);
+        ~ProjPredEngineAVX2() override = default;
+
+    private:
+        [[nodiscard]] static std::optional<float> CalculatePitch(const Vector3<float>& projOrigin, const Vector3<float>& targetPos,
+                                                                 float bulletGravity, float v0, float time);
+        const float m_gravityConstant;
+        const float m_simulationTimeStep;
+        const float m_maximumSimulationTime;
+    };
+} // namespace omath::projectile_prediction

include/omath/projectile_prediction/proj_pred_engine_legacy.hpp

@@ -0,0 +1,41 @@
+//
+// Created by Vlad on 6/9/2024.
+//
+
+#pragma once
+
+#include <optional>
+#include "omath/projectile_prediction/proj_pred_engine.hpp"
+#include "omath/projectile_prediction/projectile.hpp"
+#include "omath/projectile_prediction/target.hpp"
+#include "omath/vector3.hpp"
+
+
+namespace omath::projectile_prediction
+{
+    class ProjPredEngineLegacy final : public ProjPredEngine
+    {
+    public:
+        explicit ProjPredEngineLegacy(float gravityConstant, float simulationTimeStep, float maximumSimulationTime,
+                                      float distanceTolerance);
+
+        [[nodiscard]]
+        std::optional<Vector3<float>> MaybeCalculateAimPoint(const Projectile& projectile,
+                                                      const Target& target) const override;
+
+    private:
+        const float m_gravityConstant;
+        const float m_simulationTimeStep;
+        const float m_maximumSimulationTime;
+        const float m_distanceTolerance;
+
+        [[nodiscard]]
+        std::optional<float> MaybeCalculateProjectileLaunchPitchAngle(const Projectile& projectile,
+                                                                      const Vector3<float>& targetPosition) const;
+
+
+        [[nodiscard]]
+        bool IsProjectileReachedTarget(const Vector3<float>& targetPosition, const Projectile& projectile, float pitch,
+                                       float time) const;
+    };
+} // namespace omath::projectile_prediction

include/omath/projectile_prediction/projectile.hpp

@@ -0,0 +1,21 @@
+//
+// Created by Vlad on 6/9/2024.
+//
+
+#pragma once
+#include "omath/vector3.hpp"
+
+namespace omath::projectile_prediction
+{
+    class Projectile final
+    {
+    public:
+
+        [[nodiscard]]
+        Vector3<float> PredictPosition(float pitch, float yaw, float time, float gravity) const;
+
+        Vector3<float> m_origin;
+        float m_launchSpeed{};
+        float m_gravityScale{};
+    };
+}

include/omath/projectile_prediction/target.hpp

@@ -3,17 +3,16 @@
 //
 
 #pragma once
-#include "omath/Vector3.hpp"
-#include "omath/omath_export.hpp"
+#include "omath/vector3.hpp"
 
-namespace omath::prediction
+namespace omath::projectile_prediction
 {
-    class OMATH_API Target final
+    class Target final
     {
     public:
 
         [[nodiscard]]
-        constexpr Vector3 PredictPosition(const float time, const float gravity) const
+        constexpr Vector3<float> PredictPosition(const float time, const float gravity) const
         {
             auto predicted = m_origin + m_velocity * time;
 
@@ -23,8 +22,8 @@ namespace omath::prediction
             return predicted;
         }
 
-        Vector3 m_origin;
-        Vector3 m_velocity;
+        Vector3<float> m_origin;
+        Vector3<float> m_velocity;
         bool m_isAirborne{};
     };
 }

include/omath/projection/Camera.hpp

@@ -1,89 +0,0 @@
-//
-// Created by Vlad on 27.08.2024.
-//
-
-#pragma once
-
-#include <expected>
-#include <omath/Mat.hpp>
-#include <omath/Vector3.hpp>
-#include "ErrorCodes.hpp"
-#include <omath/Angle.hpp>
-#include <type_traits>
-#include "omath/omath_export.hpp"
-
-namespace omath::projection
-{
-    class OMATH_API ViewPort final
-    {
-    public:
-        float m_width;
-        float m_height;
-
-        [[nodiscard]] constexpr float AspectRatio() const
-        {
-            return m_width / m_height;
-        }
-    };
-    using FieldOfView = const Angle<float, 0.f, 180.f, AngleFlags::Clamped>;
-
-    template<class Mat4x4Type, class ViewAnglesType>
-    class OMATH_API Camera
-    {
-
-    public:
-        virtual ~Camera() = default;
-        Camera(const Vector3& position, const ViewAnglesType& viewAngles, const ViewPort& viewPort,
-               const FieldOfView& fov, const float near, const float far) :
-            m_viewPort(viewPort), m_fieldOfView(fov), m_farPlaneDistance(far), m_nearPlaneDistance(near),
-            m_viewAngles(viewAngles), m_origin(position)
-        {
-
-        }
-
-        virtual void LookAt(const Vector3& target) = 0;
-
-        [[nodiscard]] virtual Mat4x4Type GetViewMatrix() const = 0;
-
-        [[nodiscard]] virtual Mat4x4Type GetProjectionMatrix() const = 0;
-
-        [[nodiscard]] Mat4x4Type GetViewProjectionMatrix()
-        {
-            return GetProjectionMatrix() * GetViewMatrix();
-        }
-
-        [[nodiscard]] std::expected<Vector3, Error> WorldToScreen(const Mat4x4Type& viewProj, const Vector3& worldPosition) const
-        {
-            auto projected = viewProj * MatColumnFromVector<float, Mat4x4Type::GetStoreOrdering()>(worldPosition);
-
-            if (projected.At(3, 0) == 0.0f)
-                return std::unexpected(Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS);
-
-            projected /= projected.At(3, 0);
-
-            if (IsNdcOutOfBounds(projected))
-                return std::unexpected(Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS);
-
-            return Vector3{(projected.At(0,0)+1) / 2 * m_viewPort.m_width , (-projected.At(1,0)+1) / 2 * m_viewPort.m_height, projected.At(2,0)};
-        }
-
-    protected:
-        ViewPort m_viewPort{};
-        Angle<float, 0.f, 180.f, AngleFlags::Clamped> m_fieldOfView;
-
-        float m_farPlaneDistance;
-        float m_nearPlaneDistance;
-
-
-        ViewAnglesType m_viewAngles;
-        Vector3 m_origin;
-
-    private:
-        template<class Type>
-        [[nodiscard]]
-        constexpr static bool IsNdcOutOfBounds(const Type& ndc)
-        {
-            return std::ranges::any_of( ndc.RawArray(), [](const auto& val) { return val < -1 || val > 1; });
-        }
-    };
-} // namespace omath::projection

include/omath/projection/camera.hpp

@@ -0,0 +1,181 @@
+//
+// Created by Vlad on 27.08.2024.
+//
+
+#pragma once
+
+#include <expected>
+#include <omath/angle.hpp>
+#include <omath/mat.hpp>
+#include <omath/vector3.hpp>
+#include <type_traits>
+#include "omath/projection/error_codes.hpp"
+
+namespace omath::projection
+{
+    class ViewPort final
+    {
+    public:
+        float m_width;
+        float m_height;
+
+        [[nodiscard]] constexpr float AspectRatio() const
+        {
+            return m_width / m_height;
+        }
+    };
+    using FieldOfView = Angle<float, 0.f, 180.f, AngleFlags::Clamped>;
+
+    template<class Mat4x4Type, class ViewAnglesType>
+    class Camera
+    {
+    public:
+        virtual ~Camera() = default;
+        Camera(const Vector3<float>& position, const ViewAnglesType& viewAngles, const ViewPort& viewPort,
+               const FieldOfView& fov, const float near, const float far) :
+            m_viewPort(viewPort), m_fieldOfView(fov), m_farPlaneDistance(far), m_nearPlaneDistance(near),
+            m_viewAngles(viewAngles), m_origin(position)
+        {
+        }
+
+    protected:
+        virtual void LookAt(const Vector3<float>& target) = 0;
+
+        [[nodiscard]] virtual Mat4x4Type CalcViewMatrix() const = 0;
+
+        [[nodiscard]] virtual Mat4x4Type CalcProjectionMatrix() const = 0;
+
+        [[nodiscard]] Mat4x4Type CalcViewProjectionMatrix() const
+        {
+            return CalcProjectionMatrix() * CalcViewMatrix();
+        }
+
+    public:
+        [[nodiscard]] const Mat4x4Type& GetViewProjectionMatrix() const
+        {
+            if (!m_viewProjectionMatrix.has_value())
+                m_viewProjectionMatrix = CalcViewProjectionMatrix();
+
+            return m_viewProjectionMatrix.value();
+        }
+
+        void SetFieldOfView(const FieldOfView& fov)
+        {
+            m_fieldOfView = fov;
+            m_viewProjectionMatrix = std::nullopt;
+        }
+
+        void SetNearPlane(const float near)
+        {
+            m_nearPlaneDistance = near;
+            m_viewProjectionMatrix = std::nullopt;
+        }
+
+        void SetFarPlane(const float far)
+        {
+            m_farPlaneDistance = far;
+            m_viewProjectionMatrix = std::nullopt;
+        }
+
+        void SetViewAngles(const ViewAnglesType& viewAngles)
+        {
+            m_viewAngles = viewAngles;
+            m_viewProjectionMatrix = std::nullopt;
+        }
+
+        void SetOrigin(const Vector3<float>& origin)
+        {
+            m_origin = origin;
+            m_viewProjectionMatrix = std::nullopt;
+        }
+
+        void SetViewPort(const ViewPort& viewPort)
+        {
+            m_viewPort = viewPort;
+            m_viewProjectionMatrix = std::nullopt;
+        }
+
+        [[nodiscard]] const FieldOfView& GetFieldOfView() const
+        {
+            return m_fieldOfView;
+        }
+
+        [[nodiscard]] const float& GetNearPlane() const
+        {
+            return m_nearPlaneDistance;
+        }
+
+        [[nodiscard]] const float& GetFarPlane() const
+        {
+            return m_farPlaneDistance;
+        }
+
+        [[nodiscard]] const ViewAnglesType& GetViewAngles() const
+        {
+            return m_viewAngles;
+        }
+
+        [[nodiscard]] const Vector3<float>& GetOrigin() const
+        {
+            return m_origin;
+        }
+
+        [[nodiscard]] std::expected<Vector3<float>, Error> WorldToScreen(const Vector3<float>& worldPosition) const
+        {
+            auto normalizedCords = WorldToViewPort(worldPosition);
+
+            if (!normalizedCords.has_value())
+                return std::unexpected{normalizedCords.error()};
+
+
+            return NdcToScreenPosition(*normalizedCords);
+        }
+
+        [[nodiscard]] std::expected<Vector3<float>, Error> WorldToViewPort(const Vector3<float>& worldPosition) const
+        {
+            auto projected = GetViewProjectionMatrix() *
+                                   MatColumnFromVector<float, Mat4x4Type::GetStoreOrdering()>(worldPosition);
+
+            if (projected.At(3, 0) == 0.0f)
+                return std::unexpected(Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS);
+
+            projected /= projected.At(3, 0);
+
+            if (IsNdcOutOfBounds(projected))
+                return std::unexpected(Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS);
+
+            return Vector3<float>{projected.At(0, 0), projected.At(1, 0), projected.At(2, 0)};
+        }
+
+    protected:
+        ViewPort m_viewPort{};
+        Angle<float, 0.f, 180.f, AngleFlags::Clamped> m_fieldOfView;
+
+        mutable std::optional<Mat4x4Type> m_viewProjectionMatrix;
+
+        float m_farPlaneDistance;
+        float m_nearPlaneDistance;
+
+
+        ViewAnglesType m_viewAngles;
+        Vector3<float> m_origin;
+
+    private:
+        template<class Type>
+        [[nodiscard]]
+        constexpr static bool IsNdcOutOfBounds(const Type& ndc)
+        {
+            return std::ranges::any_of(ndc.RawArray(), [](const auto& val) { return val < -1 || val > 1; });
+        }
+
+        [[nodiscard]] Vector3<float> NdcToScreenPosition(const Vector3<float>& ndc) const
+        {
+            return
+            {
+                (ndc.x + 1.f) / 2.f * m_viewPort.m_width,
+                (1.f - ndc.y) / 2.f * m_viewPort.m_height,
+                ndc.z
+            };
+        }
+    };
+} // namespace omath::projection

include/omath/triangle.hpp

@@ -0,0 +1,84 @@
+//
+// Created by Orange on 11/13/2024.
+//
+#pragma once
+#include "omath/vector3.hpp"
+
+namespace omath
+{
+        /*
+        |\
+        | \
+      a |  \ hypot
+        |   \
+        -----
+          b
+        */
+
+
+    template<class Vector>
+    class Triangle final
+    {
+    public:
+        constexpr Triangle() = default;
+        constexpr Triangle(const Vector& vertex1, const Vector& vertex2, const Vector& vertex3)
+            : m_vertex1(vertex1), m_vertex2(vertex2), m_vertex3(vertex3)
+        {
+        }
+
+        Vector3<float> m_vertex1;
+        Vector3<float> m_vertex2;
+        Vector3<float> m_vertex3;
+
+        [[nodiscard]]
+        constexpr Vector3<float> CalculateNormal() const
+        {
+            const auto b = SideBVector();
+            const auto a = SideAVector();
+            return b.Cross(a).Normalized();
+        }
+
+        [[nodiscard]]
+        float SideALength() const
+        {
+            return m_vertex1.DistTo(m_vertex2);
+        }
+
+        [[nodiscard]]
+        float SideBLength() const
+        {
+            return m_vertex3.DistTo(m_vertex2);
+        }
+
+        [[nodiscard]]
+        constexpr Vector3<float> SideAVector() const
+        {
+            return m_vertex1 - m_vertex2;
+        }
+
+        [[nodiscard]]
+        constexpr float Hypot() const
+        {
+            return m_vertex1.DistTo(m_vertex3);
+        }
+        [[nodiscard]]
+        constexpr bool IsRectangular() const
+        {
+            const auto sideA = SideALength();
+            const auto sideB = SideBLength();
+            const auto hypot = Hypot();
+
+            return std::abs(sideA*sideA + sideB*sideB - hypot*hypot) <= 0.0001f;
+        }
+        [[nodiscard]]
+        constexpr Vector3<float> SideBVector() const
+        {
+            return m_vertex3 - m_vertex2;
+        }
+        [[nodiscard]]
+        constexpr Vector3<float> MidPoint() const
+        {
+            return (m_vertex1 + m_vertex2 + m_vertex3) / 3;
+        }
+    };
+} // namespace omath

include/omath/vector2.hpp

@@ -3,22 +3,31 @@
 //
 
 #pragma once
-#include <tuple>
 #include <cmath>
-#include "omath/omath_export.hpp"
+#include <tuple>
+
+#ifdef OMATH_IMGUI_INTEGRATION
+#include <imgui.h>
+#endif
+
 
 namespace omath
 {
-    class OMATH_API Vector2
+
+    template<class Type>
+        requires std::is_arithmetic_v<Type>
+    class Vector2
     {
     public:
-        float x = 0.f;
-        float y = 0.f;
+        Type x = static_cast<Type>(0);
+        Type y = static_cast<Type>(0);
 
         // Constructors
         constexpr Vector2() = default;
 
-        constexpr Vector2(const float x, const float y) : x(x), y(y) {}
+        constexpr Vector2(const Type& x, const Type& y) : x(x), y(y)
+        {
+        }
 
         // Equality operators
         [[nodiscard]]
@@ -66,7 +75,7 @@ namespace omath
             return *this;
         }
 
-        constexpr Vector2& operator*=(const float fl)
+        constexpr Vector2& operator*=(const Type& fl)
         {
             x *= fl;
             y *= fl;
@@ -74,7 +83,7 @@ namespace omath
             return *this;
         }
 
-        constexpr Vector2& operator/=(const float fl)
+        constexpr Vector2& operator/=(const Type& fl)
         {
             x /= fl;
             y /= fl;
@@ -82,7 +91,7 @@ namespace omath
             return *this;
         }
 
-        constexpr Vector2& operator+=(const float fl)
+        constexpr Vector2& operator+=(const Type& fl)
         {
             x += fl;
             y += fl;
@@ -90,7 +99,7 @@ namespace omath
             return *this;
         }
 
-        constexpr Vector2& operator-=(const float fl)
+        constexpr Vector2& operator-=(const Type& fl)
         {
             x -= fl;
             y -= fl;
@@ -99,68 +108,57 @@ namespace omath
         }
 
         // Basic vector operations
-        [[nodiscard]] float DistTo(const Vector2& vOther) const
+        [[nodiscard]] Type DistTo(const Vector2& vOther) const
         {
             return std::sqrt(DistToSqr(vOther));
         }
 
-        [[nodiscard]] constexpr float DistToSqr(const Vector2& vOther) const
+        [[nodiscard]] constexpr Type DistToSqr(const Vector2& vOther) const
         {
             return (x - vOther.x) * (x - vOther.x) + (y - vOther.y) * (y - vOther.y);
         }
 
-        [[nodiscard]] constexpr float Dot(const Vector2& vOther) const
+        [[nodiscard]] constexpr Type Dot(const Vector2& vOther) const
         {
             return x * vOther.x + y * vOther.y;
         }
 
 #ifndef _MSC_VER
-        [[nodiscard]] constexpr float Length() const
+        [[nodiscard]] constexpr Type Length() const
         {
-            return std::hypot(x, y);
+            return std::hypot(this->x, this->y);
         }
 
         [[nodiscard]] constexpr Vector2 Normalized() const
         {
-            const float len = Length();
+            const Type len = Length();
             return len > 0.f ? *this / len : *this;
         }
 #else
-        [[nodiscard]] float Length() const
+        [[nodiscard]] Type Length() const
         {
             return std::hypot(x, y);
         }
 
         [[nodiscard]] Vector2 Normalized() const
         {
-            const float len = Length();
+            const Type len = Length();
             return len > 0.f ? *this / len : *this;
         }
 #endif
-        [[nodiscard]] constexpr float LengthSqr() const
+        [[nodiscard]] constexpr Type LengthSqr() const
         {
             return x * x + y * y;
         }
 
         constexpr Vector2& Abs()
         {
-            //FIXME: Replace with std::abs, if it will become constexprable
+            // FIXME: Replace with std::abs, if it will become constexprable
             x = x < 0 ? -x : x;
             y = y < 0 ? -y : y;
             return *this;
         }
 
-        template<class type>
-        [[nodiscard]] constexpr const type& As() const
-        {
-            return *reinterpret_cast<const type*>(this);
-        }
-        template<class type>
-        [[nodiscard]] constexpr type& As()
-        {
-            return *reinterpret_cast<type*>(this);
-        }
-
         [[nodiscard]] constexpr Vector2 operator-() const
         {
             return {-x, -y};
@@ -187,16 +185,24 @@ namespace omath
             return {x / fl, y / fl};
         }
 
-         // Sum of elements
-        [[nodiscard]] constexpr float Sum() const
+        // Sum of elements
+        [[nodiscard]] constexpr Type Sum() const
         {
             return x + y;
         }
 
         [[nodiscard]]
-        constexpr std::tuple<float, float> AsTuple() const
+        constexpr std::tuple<Type, Type> AsTuple() const
         {
             return std::make_tuple(x, y);
         }
+
+#ifdef OMATH_IMGUI_INTEGRATION
+        [[nodiscard]]
+        ImVec2 ToImVec2() const
+        {
+            return {static_cast<float>(this->x), static_cast<float>(this->y)};
+        }
+#endif
     };
-}
+} // namespace omath

include/omath/vector3.hpp

@@ -0,0 +1,281 @@
+//
+// Created by vlad on 10/28/23.
+//
+
+#pragma once
+
+#include <cstdint>
+#include <expected>
+#include <functional>
+#include "omath/angle.hpp"
+#include "omath/vector2.hpp"
+
+namespace omath
+{
+
+    enum class Vector3Error
+    {
+        IMPOSSIBLE_BETWEEN_ANGLE,
+    };
+
+    template<class Type> requires std::is_arithmetic_v<Type>
+    class Vector3 : public Vector2<Type>
+    {
+    public:
+        Type z = static_cast<Type>(0);
+        constexpr Vector3(const Type& x, const Type& y, const Type& z) : Vector2<Type>(x, y), z(z) { }
+        constexpr Vector3() : Vector2<Type>() {};
+
+        [[nodiscard]] constexpr bool operator==(const Vector3& src) const
+        {
+            return Vector2<Type>::operator==(src) && (src.z == z);
+        }
+
+        [[nodiscard]] constexpr bool operator!=(const Vector3& src) const
+        {
+            return !(*this == src);
+        }
+
+        constexpr Vector3& operator+=(const Vector3& v)
+        {
+            Vector2<Type>::operator+=(v);
+            z += v.z;
+
+            return *this;
+        }
+
+        constexpr Vector3& operator-=(const Vector3& v)
+        {
+            Vector2<Type>::operator-=(v);
+            z -= v.z;
+
+            return *this;
+        }
+
+        constexpr Vector3& operator*=(const float fl)
+        {
+            Vector2<Type>::operator*=(fl);
+            z *= fl;
+
+            return *this;
+        }
+
+        constexpr Vector3& operator*=(const Vector3& v)
+        {
+            Vector2<Type>::operator*=(v);
+            z *= v.z;
+
+            return *this;
+        }
+
+        constexpr Vector3& operator/=(const Vector3& v)
+        {
+            Vector2<Type>::operator/=(v);
+            z /= v.z;
+
+            return *this;
+        }
+
+        constexpr Vector3& operator+=(const float fl)
+        {
+            Vector2<Type>::operator+=(fl);
+            z += fl;
+
+            return *this;
+        }
+
+        constexpr Vector3& operator/=(const float fl)
+        {
+            Vector2<Type>::operator/=(fl);
+            z /= fl;
+
+            return *this;
+        }
+
+        constexpr Vector3& operator-=(const float fl)
+        {
+            Vector2<Type>::operator-=(fl);
+            z -= fl;
+
+            return *this;
+        }
+
+        constexpr Vector3& Abs()
+        {
+            Vector2<Type>::Abs();
+            z = z < 0.f ? -z : z;
+
+            return *this;
+        }
+
+        [[nodiscard]] constexpr Type DistToSqr(const Vector3& vOther) const
+        {
+            return (*this - vOther).LengthSqr();
+        }
+
+        [[nodiscard]] constexpr Type Dot(const Vector3& vOther) const
+        {
+            return Vector2<Type>::Dot(vOther) + z * vOther.z;
+        }
+
+#ifndef _MSC_VER
+        [[nodiscard]] constexpr Type Length() const
+        {
+            return std::hypot(this->x, this->y, z);
+        }
+
+        [[nodiscard]] constexpr Type Length2D() const
+        {
+            return Vector2<Type>::Length();
+        }
+        [[nodiscard]] Type DistTo(const Vector3& vOther) const
+        {
+            return (*this - vOther).Length();
+        }
+        [[nodiscard]] constexpr Vector3 Normalized() const
+        {
+            const Type length = this->Length();
+
+            return length != 0 ? *this / length : *this;
+        }
+#else
+        [[nodiscard]] Type Length() const
+        {
+            return std::hypot(this->x, this->y, z);
+        }
+
+        [[nodiscard]] Vector3 Normalized() const
+        {
+            const Type length = this->Length();
+
+            return length != 0 ? *this / length : *this;
+        }
+
+        [[nodiscard]] Type Length2D() const
+        {
+            return Vector2<Type>::Length();
+        }
+
+        [[nodiscard]] Type DistTo(const Vector3& vOther) const
+        {
+            return (*this - vOther).Length();
+        }
+#endif
+
+
+        [[nodiscard]] constexpr Type LengthSqr() const
+        {
+            return Vector2<Type>::LengthSqr() + z * z;
+        }
+
+        [[nodiscard]] constexpr Vector3 operator-() const
+        {
+            return {-this->x, -this->y, -z};
+        }
+
+        [[nodiscard]] constexpr Vector3 operator+(const Vector3& v) const
+        {
+            return {this->x + v.x, this->y + v.y, z + v.z};
+        }
+
+        [[nodiscard]] constexpr Vector3 operator-(const Vector3& v) const
+        {
+            return {this->x - v.x, this->y - v.y, z - v.z};
+        }
+
+        [[nodiscard]] constexpr Vector3 operator*(const float fl) const
+        {
+            return {this->x * fl, this->y * fl, z * fl};
+        }
+
+        [[nodiscard]] constexpr Vector3 operator*(const Vector3& v) const
+        {
+            return {this->x * v.x, this->y * v.y, z * v.z};
+        }
+
+        [[nodiscard]] constexpr Vector3 operator/(const float fl) const
+        {
+            return {this->x / fl, this->y / fl, z / fl};
+        }
+
+        [[nodiscard]] constexpr Vector3 operator/(const Vector3& v) const
+        {
+            return {this->x / v.x, this->y / v.y, z / v.z};
+        }
+
+        [[nodiscard]] constexpr Vector3 Cross(const Vector3 &v) const
+        {
+            return
+            {
+                this->y * v.z - z * v.y,
+                z * v.x - this->x * v.z,
+                this->x * v.y - this->y * v.x
+            };
+        }
+        [[nodiscard]] constexpr Type Sum() const
+        {
+            return Sum2D() + z;
+        }
+
+        [[nodiscard]] std::expected<Angle<float, 0.f, 180.f, AngleFlags::Clamped>, Vector3Error>
+        AngleBetween(const Vector3& other) const
+        {
+            const auto bottom = Length() * other.Length();
+
+            if (bottom == 0.f)
+                return std::unexpected(Vector3Error::IMPOSSIBLE_BETWEEN_ANGLE);
+
+            return Angle<float, 0.f, 180.f, AngleFlags::Clamped>::FromRadians(std::acos(Dot(other) / bottom));
+        }
+
+        [[nodiscard]] bool IsPerpendicular(const Vector3& other) const
+        {
+            if (const auto angle = AngleBetween(other))
+                return angle->AsDegrees() == 90.f;
+
+            return false;
+        }
+
+        [[nodiscard]] constexpr Type Sum2D() const
+        {
+            return Vector2<Type>::Sum();
+        }
+
+        [[nodiscard]] constexpr std::tuple<Type, Type, Type> AsTuple() const
+        {
+            return std::make_tuple(this->x, this->y, z);
+        }
+
+        [[nodiscard]] Vector3 ViewAngleTo(const Vector3 &other) const
+        {
+            const float distance = DistTo(other);
+            const auto delta = other - *this;
+
+            return
+            {
+                angles::RadiansToDegrees(std::asin(delta.z / distance)),
+                angles::RadiansToDegrees(std::atan2(delta.y, delta.x)),
+                0
+            };
+        }
+    };
+}
+// ReSharper disable once CppRedundantNamespaceDefinition
+namespace std
+{
+    template<>
+    struct hash<omath::Vector3<float>>
+    {
+        std::size_t operator()(const omath::Vector3<float>& vec) const noexcept
+        {
+            std::size_t hash = 0;
+            constexpr std::hash<float> hasher;
+
+            hash ^= hasher(vec.x) + 0x9e3779b9 + (hash<<6) + (hash>>2);
+            hash ^= hasher(vec.y) + 0x9e3779b9 + (hash<<6) + (hash>>2);
+            hash ^= hasher(vec.z) + 0x9e3779b9 + (hash<<6) + (hash>>2);
+
+            return hash;
+        }
+    };
+}

include/omath/vector4.hpp

@@ -0,0 +1,173 @@
+//
+// Vector4.h
+//
+#pragma once
+
+#include <algorithm>
+#include <omath/vector3.hpp>
+
+
+namespace omath
+{
+    template <class Type>
+    class Vector4 : public Vector3<Type>
+    {
+    public:
+        Type w;
+
+        constexpr Vector4(const Type& x, const Type& y, const Type& z, const Type& w) : Vector3<Type>(x, y, z), w(w) {}
+        constexpr Vector4() : Vector3<Type>(), w(0) {};
+
+        [[nodiscard]]
+        constexpr bool operator==(const Vector4& src) const
+        {
+            return Vector3<Type>::operator==(src) && w == src.w;
+        }
+
+        [[nodiscard]]
+        constexpr bool operator!=(const Vector4& src) const
+        {
+            return !(*this == src);
+        }
+
+        constexpr Vector4& operator+=(const Vector4& v)
+        {
+            Vector3<Type>::operator+=(v);
+            w += v.w;
+
+            return *this;
+        }
+
+        constexpr Vector4& operator-=(const Vector4& v)
+        {
+            Vector3<Type>::operator-=(v);
+            w -= v.w;
+
+            return *this;
+        }
+
+        constexpr Vector4& operator*=(const float scalar)
+        {
+            Vector3<Type>::operator*=(scalar);
+            w *= scalar;
+
+            return *this;
+        }
+
+        constexpr Vector4& operator*=(const Vector4& v)
+        {
+            Vector3<Type>::operator*=(v);
+            w *= v.w;
+
+            return *this;
+        }
+
+        constexpr Vector4& operator/=(const float scalar)
+        {
+            Vector3<Type>::operator/=(scalar);
+            w /= scalar;
+
+            return *this;
+        }
+
+        constexpr Vector4& operator/=(const Vector4& v)
+        {
+            Vector3<Type>::operator/=(v);
+            w /= v.w;
+            return *this;
+        }
+
+        [[nodiscard]] constexpr Type LengthSqr() const
+        {
+            return Vector3<Type>::LengthSqr() + w * w;
+        }
+
+        [[nodiscard]] constexpr Type Dot(const Vector4& vOther) const
+        {
+            return Vector3<Type>::Dot(vOther) + w * vOther.w;
+        }
+
+        [[nodiscard]] Vector3<Type> Length() const
+        {
+            return std::sqrt(LengthSqr());
+        }
+
+        constexpr Vector4& Abs()
+        {
+            Vector3<Type>::Abs();
+            w = w < 0.f ? -w : w;
+
+            return *this;
+        }
+        constexpr Vector4& Clamp(const Type& min, const Type& max)
+        {
+            this->x = std::clamp(this->x, min, max);
+            this->y = std::clamp(this->y, min, max);
+            this->z = std::clamp(this->z, min, max);
+
+            return *this;
+        }
+
+        [[nodiscard]]
+        constexpr Vector4 operator-() const
+        {
+            return {-this->x, -this->y, -this->z, -w};
+        }
+
+        [[nodiscard]]
+        constexpr Vector4 operator+(const Vector4& v) const
+        {
+            return {this->x + v.x, this->y + v.y, this->z + v.z, w + v.w};
+        }
+
+        [[nodiscard]]
+        constexpr Vector4 operator-(const Vector4& v) const
+        {
+            return {this->x - v.x, this->y - v.y, this->z - v.z, w - v.w};
+        }
+
+        [[nodiscard]]
+        constexpr Vector4 operator*(const Type& scalar) const
+        {
+            return {this->x * scalar, this->y * scalar, this->z * scalar, w * scalar};
+        }
+
+        [[nodiscard]]
+        constexpr Vector4 operator*(const Vector4& v) const
+        {
+            return {this->x * v.x, this->y * v.y, this->z * v.z, w * v.w};
+        }
+
+        [[nodiscard]]
+        constexpr Vector4 operator/(const Type& scalar) const
+        {
+            return {this->x / scalar, this->y / scalar, this->z / scalar, w / scalar};
+        }
+
+        [[nodiscard]]
+        constexpr Vector4 operator/(const Vector4& v) const
+        {
+            return {this->x / v.x, this->y / v.y, this->z / v.z, w / v.w};
+        }
+
+        [[nodiscard]]
+        constexpr Type Sum() const
+        {
+            return Vector3<Type>::Sum() + w;
+        }
+
+#ifdef OMATH_IMGUI_INTEGRATION
+        [[nodiscard]]
+        ImVec4 ToImVec4() const
+        {
+            return
+            {
+                static_cast<float>(this->x),
+                static_cast<float>(this->y),
+                static_cast<float>(this->z),
+                static_cast<float>(w),
+            };
+        }
+#endif
+    };
+}

include/omath/view_angles.hpp

@@ -3,12 +3,10 @@
 //
 #pragma once
 
-#include "omath/omath_export.hpp"
-
 namespace omath
 {
     template<class PitchType, class YawType, class RollType>
-    struct OMATH_API ViewAngles
+    struct ViewAngles
     {
         PitchType pitch;
         YawType yaw;

source/3d_primitives/CMakeLists.txt

@@ -0,0 +1 @@
+target_sources(omath PRIVATE box.cpp)

source/3d_primitives/box.cpp

@@ -0,0 +1,56 @@
+//
+// Created by Vlad on 4/18/2025.
+//
+#include "omath/3d_primitives/box.hpp"
+
+
+namespace omath::primitives
+{
+    std::array<Triangle<Vector3<float>>, 12> CreateBox(const Vector3<float>& top, const Vector3<float>& bottom,
+                                                       const Vector3<float>& dirForward,
+                                                       const Vector3<float>& dirRight,
+                                                       const float ratio)
+    {
+        const auto height = top.DistTo(bottom);
+        const auto sideSize = height / ratio;
+
+        // corner layout (0‑3 bottom, 4‑7 top)
+        std::array<Vector3<float>, 8> p;
+        p[0] = bottom + (dirForward + dirRight) * sideSize; // front‑right‑bottom
+        p[1] = bottom + (dirForward - dirRight) * sideSize; // front‑left‑bottom
+        p[2] = bottom + (-dirForward + dirRight) * sideSize; // back‑right‑bottom
+        p[3] = bottom + (-dirForward - dirRight) * sideSize; // back‑left‑bottom
+        p[4] = top + (dirForward + dirRight) * sideSize; // front‑right‑top
+        p[5] = top + (dirForward - dirRight) * sideSize; // front‑left‑top
+        p[6] = top + (-dirForward + dirRight) * sideSize; // back‑right‑top
+        p[7] = top + (-dirForward - dirRight) * sideSize; // back‑left‑top
+
+        std::array<Triangle<Vector3<float>>, 12> poly;
+
+        // bottom face (+Y up ⇒ wind CW when viewed from above)
+        poly[0] = {p[0], p[2], p[3]};
+        poly[1] = {p[0], p[3], p[1]};
+
+        // top face
+        poly[2] = {p[4], p[7], p[6]};
+        poly[3] = {p[4], p[5], p[7]};
+
+        // front face
+        poly[4] = {p[0], p[5], p[1]};
+        poly[5] = {p[0], p[4], p[5]};
+
+        // right face
+        poly[6] = {p[0], p[6], p[2]};
+        poly[7] = {p[0], p[4], p[6]};
+
+        // back face
+        poly[8] = {p[2], p[7], p[3]};
+        poly[9] = {p[2], p[6], p[7]};
+
+        // left face
+        poly[10] = {p[1], p[7], p[5]};
+        poly[11] = {p[1], p[3], p[7]};
+
+        return poly;
+    }
+}

source/CMakeLists.txt

@@ -1,14 +1,11 @@
 target_sources(omath PRIVATE
-        Vector3.cpp
-        Matrix.cpp
+        matrix.cpp
         color.cpp
-        Vector4.cpp
-        Vector2.cpp
-        Triangle3d.cpp
 )
 
-add_subdirectory(prediction)
+add_subdirectory(projectile_prediction)
 add_subdirectory(pathfinding)
 add_subdirectory(projection)
 add_subdirectory(collision)
-add_subdirectory(engines)
+add_subdirectory(engines)
+add_subdirectory(3d_primitives)

source/Triangle3d.cpp

@@ -1,36 +0,0 @@
-#include "omath/Triangle3d.hpp"
-
-
-namespace omath
-{
-    Triangle3d::Triangle3d(const Vector3 &vertex1, const Vector3 &vertex2, const Vector3 &vertex3)
-        : m_vertex1(vertex1), m_vertex2(vertex2), m_vertex3(vertex3)
-    {
-
-    }
-
-    Vector3 Triangle3d::CalculateNormal() const
-    {
-        return (m_vertex1 - m_vertex2).Cross(m_vertex3 - m_vertex1).Normalized();
-    }
-
-    float Triangle3d::SideALength() const
-    {
-        return m_vertex1.DistTo(m_vertex2);
-    }
-
-    float Triangle3d::SideBLength() const
-    {
-        return m_vertex3.DistTo(m_vertex2);
-    }
-
-    Vector3 Triangle3d::SideAVector() const
-    {
-        return m_vertex1 - m_vertex2;
-    }
-
-    Vector3 Triangle3d::SideBVector() const
-    {
-        return m_vertex3 - m_vertex2;
-    }
-}

source/Vector2.cpp

@@ -1,11 +0,0 @@
-//
-// Created by Vlad on 02.09.2024.
-//
-#include "omath/Vector2.hpp"
-#include <cmath>
-
-
-namespace omath
-{
-
-}

source/Vector3.cpp

@@ -1,23 +0,0 @@
-//
-// Created by vlad on 10/28/23.
-//
-
-#include <omath/Vector3.hpp>
-#include <cmath>
-#include <omath/Angles.hpp>
-
-namespace omath
-{
-    Vector3 Vector3::ViewAngleTo(const Vector3 &other) const
-    {
-        const float distance = DistTo(other);
-        const auto delta = other - *this;
-
-        return
-        {
-            angles::RadiansToDegrees(std::asin(delta.z / distance)),
-            angles::RadiansToDegrees(std::atan2(delta.y, delta.x)),
-            0.f
-        };
-    }
-}

source/Vector4.cpp

@@ -1,16 +0,0 @@
-//
-// Vector4.cpp
-//
-
-#include "omath/Vector4.hpp"
-#include <cmath>
-
-
-namespace omath
-{
-
-    float Vector4::Length() const
-    {
-        return std::sqrt(LengthSqr());
-    }
-}

source/collision/CMakeLists.txt

@@ -1,3 +1,3 @@
 target_sources(omath PRIVATE
-        LineTracer.cpp
+        line_tracer.cpp
 )

source/collision/line_tracer.cpp

@@ -1,25 +1,25 @@
 //
 // Created by Orange on 11/13/2024.
 //
-#include "omath/collision/LineTracer.hpp"
+#include "omath/collision/line_tracer.hpp"
 
 namespace omath::collision
 {
-    bool LineTracer::CanTraceLine(const Ray &ray, const Triangle3d &triangle)
+    bool LineTracer::CanTraceLine(const Ray& ray, const Triangle<Vector3<float>>& triangle)
     {
         return GetRayHitPoint(ray, triangle) == ray.end;
     }
-    Vector3 Ray::DirectionVector() const
+    Vector3<float> Ray::DirectionVector() const
     {
         return end - start;
     }
 
-    Vector3 Ray::DirectionVectorNormalized() const
+    Vector3<float> Ray::DirectionVectorNormalized() const
     {
         return DirectionVector().Normalized();
     }
 
-    Vector3 LineTracer::GetRayHitPoint(const Ray &ray, const Triangle3d &triangle)
+    Vector3<float> LineTracer::GetRayHitPoint(const Ray& ray, const Triangle<Vector3<float>>& triangle)
     {
         constexpr float kEpsilon = std::numeric_limits<float>::epsilon();
 
@@ -41,7 +41,7 @@ namespace omath::collision
         const auto u = t.Dot(p) * invDet;
 
 
-        if ((u < 0 && std::abs(u) > kEpsilon) || (u > 1 && std::abs(u-1) > kEpsilon))
+        if ((u < 0 && std::abs(u) > kEpsilon) || (u > 1 && std::abs(u - 1) > kEpsilon))
             return ray.end;
 
         const auto q = t.Cross(sideA);
@@ -54,9 +54,14 @@ namespace omath::collision
         const auto tHit = sideB.Dot(q) * invDet;
 
 
-        if (tHit <= kEpsilon)
+        if (ray.infinite_length)
+        {
+            if (tHit <= kEpsilon)
+                return ray.end;
+        }
+        else if (tHit <= kEpsilon || tHit > 1.0f - kEpsilon)
             return ray.end;
 
         return ray.start + rayDir * tHit;
     }
-}
+} // namespace omath::collision

source/color.cpp

@@ -2,7 +2,7 @@
 // Created by vlad on 2/4/24.
 //
 
-#include "omath/Color.hpp"
+#include "omath/color.hpp"
 #include <algorithm>
 #include <cmath>
 

source/engines/CMakeLists.txt

@@ -1 +1,4 @@
-add_subdirectory(Source)
+add_subdirectory(source_engine)
+add_subdirectory(opengl_engine)
+add_subdirectory(iw_engine)
+add_subdirectory(unity_engine)

source/engines/Source/CMakeLists.txt

@@ -1 +0,0 @@
-target_sources(omath PRIVATE Camera.cpp)

source/engines/iw_engine/CMakeLists.txt

@@ -0,0 +1 @@
+target_sources(omath PRIVATE camera.cpp formulas.cpp)

source/engines/iw_engine/camera.cpp

@@ -0,0 +1,34 @@
+//
+// Created by Vlad on 3/17/2025.
+//
+#include "omath/engines/iw_engine/camera.hpp"
+#include "omath/engines/iw_engine/formulas.hpp"
+
+namespace omath::iw_engine
+{
+
+    Camera::Camera(const Vector3<float>& position, const ViewAngles& viewAngles, const projection::ViewPort& viewPort,
+                   const Angle<float, 0.f, 180.f, AngleFlags::Clamped>& fov, const float near, const float far) :
+        projection::Camera<Mat4x4, ViewAngles>(position, viewAngles, viewPort, fov, near, far)
+    {
+    }
+    void Camera::LookAt([[maybe_unused]] const Vector3<float>& target)
+    {
+        const float distance = m_origin.DistTo(target);
+        const auto delta = target - m_origin;
+
+
+        m_viewAngles.pitch = PitchAngle::FromRadians(std::asin(delta.z / distance));
+        m_viewAngles.yaw = -YawAngle::FromRadians(std::atan2(delta.y, delta.x));
+        m_viewAngles.roll = RollAngle::FromRadians(0.f);
+    }
+    Mat4x4 Camera::CalcViewMatrix() const
+    {
+        return iw_engine::CalcViewMatrix(m_viewAngles, m_origin);
+    }
+    Mat4x4 Camera::CalcProjectionMatrix() const
+    {
+        return CalcPerspectiveProjectionMatrix(m_fieldOfView.AsDegrees(), m_viewPort.AspectRatio(), m_nearPlaneDistance,
+                                               m_farPlaneDistance);
+    }
+} // namespace omath::openg

source/engines/iw_engine/formulas.cpp

@@ -0,0 +1,54 @@
+//
+// Created by Vlad on 3/19/2025.
+//
+#include "omath/engines/iw_engine/formulas.hpp"
+
+
+namespace omath::iw_engine
+{
+
+    Vector3<float> ForwardVector(const ViewAngles& angles)
+    {
+        const auto vec = RotationMatrix(angles) * MatColumnFromVector(kAbsForward);
+
+        return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
+    }
+
+    Vector3<float> RightVector(const ViewAngles& angles)
+    {
+        const auto vec = RotationMatrix(angles) * MatColumnFromVector(kAbsRight);
+
+        return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
+    }
+    Vector3<float> UpVector(const ViewAngles& angles)
+    {
+        const auto vec = RotationMatrix(angles) * MatColumnFromVector(kAbsUp);
+
+        return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
+    }
+    Mat4x4 RotationMatrix(const ViewAngles& angles)
+    {
+        return MatRotationAxisZ(angles.yaw) * MatRotationAxisY(angles.pitch) * MatRotationAxisX(angles.roll);
+    }
+
+    Mat4x4 CalcViewMatrix(const ViewAngles& angles, const Vector3<float>& cam_origin)
+    {
+        return MatCameraView(ForwardVector(angles), RightVector(angles), UpVector(angles), cam_origin);
+    }
+
+    Mat4x4 CalcPerspectiveProjectionMatrix(const float fieldOfView, const float aspectRatio, const float near,
+                                           const float far)
+    {
+        // NOTE: Need magic number to fix fov calculation, since IW engine inherit Quake proj matrix calculation
+        constexpr auto kMultiplyFactor = 0.75f;
+
+        const float fovHalfTan = std::tan(angles::DegreesToRadians(fieldOfView) / 2.f) * kMultiplyFactor;
+
+        return {
+                {1.f / (aspectRatio * fovHalfTan), 0, 0, 0},
+                {0, 1.f / (fovHalfTan), 0, 0},
+                {0, 0, (far + near) / (far - near), -(2.f * far * near) / (far - near)},
+                {0, 0, 1, 0},
+        };
+    };
+} // namespace omath::iw_engine

source/engines/opengl_engine/CMakeLists.txt

@@ -0,0 +1 @@
+target_sources(omath PRIVATE camera.cpp formulas.cpp)

source/engines/opengl_engine/camera.cpp

@@ -0,0 +1,35 @@
+//
+// Created by Orange on 12/23/2024.
+//
+#include "omath/engines/opengl_engine/camera.hpp"
+#include "omath/engines/opengl_engine/formulas.hpp"
+
+
+namespace omath::opengl_engine
+{
+
+    Camera::Camera(const Vector3<float>& position, const ViewAngles& viewAngles, const projection::ViewPort& viewPort,
+                   const Angle<float, 0.f, 180.f, AngleFlags::Clamped>& fov, const float near, const float far) :
+        projection::Camera<Mat4x4, ViewAngles>(position, viewAngles, viewPort, fov, near, far)
+    {
+    }
+    void Camera::LookAt([[maybe_unused]] const Vector3<float>& target)
+    {
+        const float distance = m_origin.DistTo(target);
+        const auto delta = target - m_origin;
+
+
+        m_viewAngles.pitch = PitchAngle::FromRadians(std::asin(delta.z / distance));
+        m_viewAngles.yaw = -YawAngle::FromRadians(std::atan2(delta.y, delta.x));
+        m_viewAngles.roll = RollAngle::FromRadians(0.f);
+    }
+    Mat4x4 Camera::CalcViewMatrix() const
+    {
+        return opengl_engine::CalcViewMatrix(m_viewAngles, m_origin);
+    }
+    Mat4x4 Camera::CalcProjectionMatrix() const
+    {
+        return CalcPerspectiveProjectionMatrix(m_fieldOfView.AsDegrees(), m_viewPort.AspectRatio(), m_nearPlaneDistance,
+                                               m_farPlaneDistance);
+    }
+} // namespace omath::opengl

source/engines/opengl_engine/formulas.cpp

@@ -0,0 +1,51 @@
+//
+// Created by Vlad on 3/19/2025.
+//
+#include "omath/engines/opengl_engine/formulas.hpp"
+
+
+namespace omath::opengl_engine
+{
+
+    Vector3<float> ForwardVector(const ViewAngles& angles)
+    {
+        const auto vec = RotationMatrix(angles) * MatColumnFromVector<float, MatStoreType::COLUMN_MAJOR>(kAbsForward);
+
+        return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
+    }
+    Vector3<float> RightVector(const ViewAngles& angles)
+    {
+        const auto vec = RotationMatrix(angles) * MatColumnFromVector<float, MatStoreType::COLUMN_MAJOR>(kAbsRight);
+
+        return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
+    }
+    Vector3<float> UpVector(const ViewAngles& angles)
+    {
+        const auto vec = RotationMatrix(angles) * MatColumnFromVector<float, MatStoreType::COLUMN_MAJOR>(kAbsUp);
+
+        return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
+    }
+    Mat4x4 CalcViewMatrix(const ViewAngles& angles, const Vector3<float>& cam_origin)
+    {
+        return MatCameraView<float, MatStoreType::COLUMN_MAJOR>(-ForwardVector(angles), RightVector(angles),
+                                                                UpVector(angles), cam_origin);
+    }
+    Mat4x4 RotationMatrix(const ViewAngles& angles)
+    {
+        return MatRotationAxisX<float, MatStoreType::COLUMN_MAJOR>(-angles.pitch) *
+               MatRotationAxisY<float, MatStoreType::COLUMN_MAJOR>(-angles.yaw) *
+               MatRotationAxisZ<float, MatStoreType::COLUMN_MAJOR>(angles.roll);
+    }
+    Mat4x4 CalcPerspectiveProjectionMatrix(const float fieldOfView, const float aspectRatio, const float near,
+                                           const float far)
+    {
+        const float fovHalfTan = std::tan(angles::DegreesToRadians(fieldOfView) / 2.f);
+
+        return {
+                {1.f / (aspectRatio * fovHalfTan), 0, 0, 0},
+                {0, 1.f / (fovHalfTan), 0, 0},
+                {0, 0, -(far + near) / (far - near), -(2.f * far * near) / (far - near)},
+                {0, 0, -1, 0},
+        };
+    }
+} // namespace omath::opengl_engine

source/engines/source_engine/CMakeLists.txt

@@ -0,0 +1 @@
+target_sources(omath PRIVATE camera.cpp formulas.cpp)

source/engines/source_engine/camera.cpp

@@ -1,19 +1,19 @@
 //
 // Created by Orange on 12/4/2024.
 //
-#include "omath/engines/Source/Camera.hpp"
-#include "omath/engines/Source/Formulas.hpp"
+#include "omath/engines/source_engine/camera.hpp"
+#include "omath/engines/source_engine/formulas.hpp"
 
 
-namespace omath::source
+namespace omath::source_engine
 {
 
-    Camera::Camera(const Vector3& position, const ViewAngles& viewAngles, const projection::ViewPort& viewPort,
+    Camera::Camera(const Vector3<float>& position, const ViewAngles& viewAngles, const projection::ViewPort& viewPort,
                    const projection::FieldOfView& fov, const float near, const float far) :
         projection::Camera<Mat4x4, ViewAngles>(position, viewAngles, viewPort, fov, near, far)
     {
     }
-    void Camera::LookAt(const Vector3& target)
+    void Camera::LookAt(const Vector3<float>& target)
     {
         const float distance = m_origin.DistTo(target);
         const auto delta = target - m_origin;
@@ -24,13 +24,14 @@ namespace omath::source
         m_viewAngles.roll = RollAngle::FromRadians(0.f);
     }
 
-    Mat4x4 Camera::GetViewMatrix() const
+    Mat4x4 Camera::CalcViewMatrix() const
     {
-        return CalcViewMatrix(m_viewAngles, m_origin);
+        return source_engine::CalcViewMatrix(m_viewAngles, m_origin);
     }
 
-    Mat4x4 Camera::GetProjectionMatrix() const
+    Mat4x4 Camera::CalcProjectionMatrix() const
     {
-        return CalcPerspectiveProjectionMatrix(m_fieldOfView.AsDegrees(), m_viewPort.AspectRatio(), m_nearPlaneDistance, m_farPlaneDistance);
+        return CalcPerspectiveProjectionMatrix(m_fieldOfView.AsDegrees(), m_viewPort.AspectRatio(), m_nearPlaneDistance,
+                                               m_farPlaneDistance);
     }
 } // namespace omath::source

source/engines/source_engine/formulas.cpp

@@ -0,0 +1,54 @@
+//
+// Created by Vlad on 3/19/2025.
+//
+#include <omath/engines/source_engine/formulas.hpp>
+
+
+namespace omath::source_engine
+{
+    Vector3<float> ForwardVector(const ViewAngles& angles)
+    {
+        const auto vec = RotationMatrix(angles) * MatColumnFromVector(kAbsForward);
+
+        return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
+    }
+
+    Mat4x4 RotationMatrix(const ViewAngles& angles)
+    {
+        return MatRotationAxisZ(angles.yaw) * MatRotationAxisY(angles.pitch) * MatRotationAxisX(angles.roll);
+    }
+
+    Vector3<float> RightVector(const ViewAngles& angles)
+    {
+        const auto vec = RotationMatrix(angles) * MatColumnFromVector(kAbsRight);
+
+        return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
+    }
+    Vector3<float> UpVector(const ViewAngles& angles)
+    {
+        const auto vec = RotationMatrix(angles) * MatColumnFromVector(kAbsUp);
+
+        return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
+    }
+
+    Mat4x4 CalcViewMatrix(const ViewAngles& angles, const Vector3<float>& cam_origin)
+    {
+        return MatCameraView(ForwardVector(angles), RightVector(angles), UpVector(angles), cam_origin);
+    }
+
+    Mat4x4 CalcPerspectiveProjectionMatrix(const float fieldOfView, const float aspectRatio, const float near,
+                                           const float far)
+    {
+        // NOTE: Need magic number to fix fov calculation, since source inherit Quake proj matrix calculation
+        constexpr auto kMultiplyFactor = 0.75f;
+
+        const float fovHalfTan = std::tan(angles::DegreesToRadians(fieldOfView) / 2.f) * kMultiplyFactor;
+
+        return {
+                {1.f / (aspectRatio * fovHalfTan), 0, 0, 0},
+                {0, 1.f / (fovHalfTan), 0, 0},
+                {0, 0, (far + near) / (far - near), -(2.f * far * near) / (far - near)},
+                {0, 0, 1, 0},
+        };
+    }
+} // namespace omath::source_engine

source/engines/unity_engine/CMakeLists.txt

@@ -0,0 +1 @@
+target_sources(omath PRIVATE formulas.cpp camera.cpp)

source/engines/unity_engine/camera.cpp

@@ -0,0 +1,28 @@
+//
+// Created by Vlad on 3/22/2025.
+//
+#include <omath/engines/unity_engine/camera.hpp>
+#include <omath/engines/unity_engine/formulas.hpp>
+
+
+namespace omath::unity_engine
+{
+    Camera::Camera(const Vector3<float>& position, const ViewAngles& viewAngles, const projection::ViewPort& viewPort,
+                   const projection::FieldOfView& fov, const float near, const float far) :
+        projection::Camera<Mat4x4, ViewAngles>(position, viewAngles, viewPort, fov, near, far)
+    {
+    }
+    void Camera::LookAt([[maybe_unused]] const Vector3<float>& target)
+    {
+        throw std::runtime_error("Not implemented");
+    }
+    Mat4x4 Camera::CalcViewMatrix() const
+    {
+        return unity_engine::CalcViewMatrix(m_viewAngles, m_origin);
+    }
+    Mat4x4 Camera::CalcProjectionMatrix() const
+    {
+        return CalcPerspectiveProjectionMatrix(m_fieldOfView.AsDegrees(), m_viewPort.AspectRatio(), m_nearPlaneDistance,
+                                               m_farPlaneDistance);
+    }
+} // namespace omath::unity_engine

source/engines/unity_engine/formulas.cpp

@@ -0,0 +1,51 @@
+//
+// Created by Vlad on 3/22/2025.
+//
+#include "omath/engines/unity_engine/formulas.hpp"
+
+
+
+namespace omath::unity_engine
+{
+    Vector3<float> ForwardVector(const ViewAngles& angles)
+    {
+        const auto vec = RotationMatrix(angles) * MatColumnFromVector(kAbsForward);
+
+        return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
+    }
+    Vector3<float> RightVector(const ViewAngles& angles)
+    {
+        const auto vec = RotationMatrix(angles) * MatColumnFromVector(kAbsRight);
+
+        return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
+    }
+    Vector3<float> UpVector(const ViewAngles& angles)
+    {
+        const auto vec = RotationMatrix(angles) * MatColumnFromVector(kAbsUp);
+
+        return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
+    }
+    Mat4x4 CalcViewMatrix(const ViewAngles& angles, const Vector3<float>& cam_origin)
+    {
+        return MatCameraView<float, MatStoreType::ROW_MAJOR>(ForwardVector(angles), -RightVector(angles),
+                                                             UpVector(angles), cam_origin);
+    }
+    Mat4x4 RotationMatrix(const ViewAngles& angles)
+    {
+        return MatRotationAxisX<float, MatStoreType::ROW_MAJOR>(angles.pitch) *
+               MatRotationAxisY<float, MatStoreType::ROW_MAJOR>(angles.yaw) *
+               MatRotationAxisZ<float, MatStoreType::ROW_MAJOR>(angles.roll);
+    }
+    Mat4x4 CalcPerspectiveProjectionMatrix(const float fieldOfView, const float aspectRatio, const float near,
+                                           const float far)
+    {
+        const float fovHalfTan = std::tan(angles::DegreesToRadians(fieldOfView) / 2.f);
+
+        return {
+                {1.f / (aspectRatio * fovHalfTan), 0, 0, 0},
+                {0, 1.f / (fovHalfTan), 0, 0},
+                {0, 0, (far + near) / (far - near), -(2.f * far * near) / (far - near)},
+                {0, 0, -1.f, 0},
+        };
+    }
+} // namespace omath::unity_engine

source/matrix.cpp

@@ -1,6 +1,6 @@
-#include "omath/Matrix.hpp"
-#include "omath/Angles.hpp"
-#include "omath/Vector3.hpp"
+#include "omath/matrix.hpp"
+#include "omath/angles.hpp"
+#include "omath/vector3.hpp"
 
 
 #include <complex>
@@ -74,6 +74,11 @@ namespace omath
     {
         return m_rows;
     }
+    
+    float& Matrix::operator[](const size_t row, const size_t column)
+    {
+        return At(row, column);
+    }
 
     Matrix::Matrix(Matrix&& other) noexcept
     {
@@ -310,7 +315,7 @@ namespace omath
         };
     }
 
-    Matrix Matrix::TranslationMatrix(const Vector3& diff)
+    Matrix Matrix::TranslationMatrix(const Vector3<float>& diff)
     {
         return {
                 {1.f, 0.f, 0.f, 0.f},
@@ -320,7 +325,7 @@ namespace omath
         };
     }
 
-    Matrix Matrix::OrientationMatrix(const Vector3& forward, const Vector3& right, const Vector3& up)
+    Matrix Matrix::OrientationMatrix(const Vector3<float>& forward, const Vector3<float>& right, const Vector3<float>& up)
     {
         return {
                 {right.x, up.x, forward.x, 0.f},

source/pathfinding/Astar.cpp

@@ -1,62 +0,0 @@
-//
-// Created by Vlad on 28.07.2024.
-//
-#include "omath/pathfinding/Astar.hpp"
-
-#include <optional>
-#include <unordered_map>
-#include <unordered_set>
-#include <algorithm>
-
-
-namespace omath::pathfinding
-{
-    struct PathNode final
-    {
-        std::optional<Vector3> cameFrom;
-        float gCost = 0.f;
-    };
-
-
-    std::vector<Vector3> Astar::FindPath(const Vector3 &start, const Vector3 &end, const NavigationMesh &navMesh)
-    {
-        std::unordered_map<Vector3, PathNode> closedList;
-        std::unordered_map<Vector3, PathNode> openList;
-
-        const auto startVertex = navMesh.GetClosestVertex(start).value();
-        const auto endVertex = navMesh.GetClosestVertex(end).value();
-
-        openList.emplace(startVertex, PathNode{std::nullopt, 0.f});
-
-        while (!openList.empty())
-        {
-            const auto perfectVertex = *std::ranges::min_element(openList,
-                [&endVertex](const auto& a, const auto& b) -> bool
-                {
-                    const auto aCost = a.second.gCost + a.first.DistTo(endVertex);
-                    const auto bCost = b.second.gCost + b.first.DistTo(endVertex);
-                    return aCost < bCost;
-                });
-
-            closedList.emplace(perfectVertex);
-            openList.erase(perfectVertex.first);
-
-            for (const auto& neighbor : navMesh.GetNeighbors(perfectVertex.first))
-                if (!closedList.contains(neighbor))
-                    openList.emplace(neighbor, PathNode{perfectVertex.first, neighbor.DistTo(perfectVertex.first) + perfectVertex.second.gCost});
-
-
-            if (perfectVertex.first != endVertex)
-                continue;
-
-            std::vector<Vector3> path = {};
-
-            for (std::optional current = perfectVertex.first; current; current = closedList.at(*current).cameFrom )
-                path.push_back(current.value());
-
-            return path;
-        }
-
-        return {};
-    }
-}

source/pathfinding/CMakeLists.txt

@@ -1 +1 @@
-target_sources(omath PRIVATE NavigationMesh.cpp Astar.cpp)
+target_sources(omath PRIVATE navigation_mesh.cpp a_star.cpp)

source/pathfinding/a_star.cpp

@@ -0,0 +1,100 @@
+//
+// Created by Vlad on 28.07.2024.
+//
+#include "omath/pathfinding/a_star.hpp"
+
+#include <algorithm>
+#include <optional>
+#include <unordered_map>
+#include <unordered_set>
+
+
+namespace omath::pathfinding
+{
+    struct PathNode final
+    {
+        std::optional<Vector3<float>> cameFrom;
+        float gCost = 0.f;
+    };
+
+
+    std::vector<Vector3<float>> Astar::ReconstructFinalPath(const std::unordered_map<Vector3<float>, PathNode>& closedList,
+                                                     const Vector3<float>& current)
+    {
+        std::vector<Vector3<float>> path;
+        std::optional currentOpt = current;
+
+        while (currentOpt)
+        {
+            path.push_back(*currentOpt);
+
+            auto it = closedList.find(*currentOpt);
+
+            if (it == closedList.end())
+                break;
+
+            currentOpt = it->second.cameFrom;
+        }
+
+        std::ranges::reverse(path);
+        return path;
+    }
+    auto Astar::GetPerfectNode(const std::unordered_map<Vector3<float>, PathNode>& openList, const Vector3<float>& endVertex)
+    {
+        return std::ranges::min_element(openList,
+                                        [&endVertex](const auto& a, const auto& b)
+                                        {
+                                            const float fA = a.second.gCost + a.first.DistTo(endVertex);
+                                            const float fB = b.second.gCost + b.first.DistTo(endVertex);
+                                            return fA < fB;
+                                        });
+    }
+
+    std::vector<Vector3<float>> Astar::FindPath(const Vector3<float>& start, const Vector3<float>& end, const NavigationMesh& navMesh)
+    {
+        std::unordered_map<Vector3<float>, PathNode> closedList;
+        std::unordered_map<Vector3<float>, PathNode> openList;
+
+        auto maybeStartVertex = navMesh.GetClosestVertex(start);
+        auto maybeEndVertex = navMesh.GetClosestVertex(end);
+
+        if (!maybeStartVertex || !maybeEndVertex)
+            return {};
+
+        const auto startVertex = maybeStartVertex.value();
+        const auto endVertex = maybeEndVertex.value();
+
+
+        openList.emplace(startVertex, PathNode{std::nullopt, 0.f});
+
+        while (!openList.empty())
+        {
+            auto currentIt = GetPerfectNode(openList, endVertex);
+
+            const auto current = currentIt->first;
+            const auto currentNode = currentIt->second;
+
+            if (current == endVertex)
+                return ReconstructFinalPath(closedList, current);
+
+
+            closedList.emplace(current, currentNode);
+            openList.erase(currentIt);
+
+            for (const auto& neighbor: navMesh.GetNeighbors(current))
+            {
+                if (closedList.contains(neighbor))
+                    continue;
+
+                const float tentativeGCost = currentNode.gCost + neighbor.DistTo(current);
+
+                const auto openIt = openList.find(neighbor);
+
+                if (openIt == openList.end() || tentativeGCost < openIt->second.gCost)
+                    openList[neighbor] = PathNode{current, tentativeGCost};
+            }
+        }
+
+        return {};
+    }
+} // namespace omath::pathfinding

source/pathfinding/navigation_mesh.cpp

@@ -1,13 +1,13 @@
 //
 // Created by Vlad on 28.07.2024.
 //
-#include "omath/pathfinding/NavigationMesh.hpp"
+#include "omath/pathfinding/navigation_mesh.hpp"
 
-#include <stdexcept>
 #include <algorithm>
+#include <stdexcept>
 namespace omath::pathfinding
 {
-    std::expected<Vector3, std::string> NavigationMesh::GetClosestVertex(const Vector3 &point) const
+    std::expected<Vector3<float>, std::string> NavigationMesh::GetClosestVertex(const Vector3<float> &point) const
     {
         const auto res = std::ranges::min_element(m_verTextMap,
             [&point](const auto& a, const auto& b)
@@ -21,7 +21,7 @@ namespace omath::pathfinding
         return res->first;
     }
 
-    const std::vector<Vector3>& NavigationMesh::GetNeighbors(const Vector3 &vertex) const
+    const std::vector<Vector3<float>>& NavigationMesh::GetNeighbors(const Vector3<float> &vertex) const
     {
         return m_verTextMap.at(vertex);
     }
@@ -73,18 +73,18 @@ namespace omath::pathfinding
 
         while (offset < raw.size())
         {
-            Vector3 vertex;
+            Vector3<float> vertex;
             loadFromVector(raw, offset, vertex);
 
             uint16_t neighborsCount;
             loadFromVector(raw, offset, neighborsCount);
 
-            std::vector<Vector3> neighbors;
+            std::vector<Vector3<float>> neighbors;
             neighbors.reserve(neighborsCount);
 
             for (size_t i = 0; i < neighborsCount; ++i)
             {
-                Vector3 neighbor;
+                Vector3<float> neighbor;
                 loadFromVector(raw, offset, neighbor);
                 neighbors.push_back(neighbor);
             }

source/prediction/CMakeLists.txt

@@ -1 +0,0 @@
-target_sources(omath PRIVATE Engine.cpp Projectile.cpp Target.cpp)

source/prediction/Projectile.cpp

@@ -1,21 +0,0 @@
-//
-// Created by Vlad on 6/9/2024.
-//
-
-#include "omath/prediction/Projectile.hpp"
-#include <cmath>
-#include <omath/engines/Source/Formulas.hpp>
-
-namespace omath::prediction
-{
-    Vector3 Projectile::PredictPosition(const float pitch, const float yaw, const float time, const float gravity) const
-    {
-        auto currentPos = m_origin + source::ForwardVector({source::PitchAngle::FromDegrees(-pitch),
-                                                            source::YawAngle::FromDegrees(yaw),
-                                                            source::RollAngle::FromDegrees(0)}) *
-                                             m_launchSpeed * time;
-        currentPos.z -= (gravity * m_gravityScale) * (time * time) * 0.5f;
-
-        return currentPos;
-    }
-} // namespace omath::prediction

source/projectile_prediction/CMakeLists.txt

@@ -0,0 +1 @@
+target_sources(omath PRIVATE proj_pred_engine_legacy.cpp projectile.cpp target.cpp proj_pred_engine_avx2.cpp proj_pred_engine.cpp)

source/projectile_prediction/proj_pred_engine.cpp

@@ -0,0 +1,10 @@
+//
+// Created by Vlad on 2/23/2025.
+//
+#include "omath/projectile_prediction/proj_pred_engine.hpp"
+
+
+namespace omath::projectile_prediction
+{
+
+} // namespace omath::projectile_prediction

source/projectile_prediction/proj_pred_engine_avx2.cpp

@@ -0,0 +1,152 @@
+//
+// Created by Vlad on 2/23/2025.
+//
+#include "omath/projectile_prediction/proj_pred_engine_avx2.hpp"
+#include <source_location>
+#include <stdexcept>
+
+#if defined(OMATH_USE_AVX2) && defined(__i386__) && defined(__x86_64__)
+#include <immintrin.h>
+#else
+#include <format>
+#endif
+
+namespace omath::projectile_prediction
+{
+    std::optional<Vector3<float>>
+    ProjPredEngineAVX2::MaybeCalculateAimPoint([[maybe_unused]] const Projectile& projectile,
+                                               [[maybe_unused]] const Target& target) const
+    {
+#if defined(OMATH_USE_AVX2) && defined(__i386__) && defined(__x86_64__)
+        const float bulletGravity = m_gravityConstant * projectile.m_gravityScale;
+        const float v0 = projectile.m_launchSpeed;
+        const float v0Sqr = v0 * v0;
+        const Vector3 projOrigin = projectile.m_origin;
+
+        constexpr int SIMD_FACTOR = 8;
+        float currentTime = m_simulationTimeStep;
+
+        for (; currentTime <= m_maximumSimulationTime; currentTime += m_simulationTimeStep * SIMD_FACTOR)
+        {
+            const __m256 times =
+                    _mm256_setr_ps(currentTime, currentTime + m_simulationTimeStep,
+                                   currentTime + m_simulationTimeStep * 2, currentTime + m_simulationTimeStep * 3,
+                                   currentTime + m_simulationTimeStep * 4, currentTime + m_simulationTimeStep * 5,
+                                   currentTime + m_simulationTimeStep * 6, currentTime + m_simulationTimeStep * 7);
+
+            const __m256 targetX =
+                    _mm256_fmadd_ps(_mm256_set1_ps(target.m_velocity.x), times, _mm256_set1_ps(target.m_origin.x));
+            const __m256 targetY =
+                    _mm256_fmadd_ps(_mm256_set1_ps(target.m_velocity.y), times, _mm256_set1_ps(target.m_origin.y));
+            const __m256 timesSq = _mm256_mul_ps(times, times);
+            const __m256 targetZ = _mm256_fmadd_ps(_mm256_set1_ps(target.m_velocity.z), times,
+                                                   _mm256_fnmadd_ps(_mm256_set1_ps(0.5f * m_gravityConstant), timesSq,
+                                                                    _mm256_set1_ps(target.m_origin.z)));
+
+            const __m256 deltaX = _mm256_sub_ps(targetX, _mm256_set1_ps(projOrigin.x));
+            const __m256 deltaY = _mm256_sub_ps(targetY, _mm256_set1_ps(projOrigin.y));
+            const __m256 deltaZ = _mm256_sub_ps(targetZ, _mm256_set1_ps(projOrigin.z));
+
+            const __m256 dSqr = _mm256_add_ps(_mm256_mul_ps(deltaX, deltaX), _mm256_mul_ps(deltaY, deltaY));
+
+            const __m256 bgTimesSq = _mm256_mul_ps(_mm256_set1_ps(bulletGravity), timesSq);
+            const __m256 term = _mm256_add_ps(deltaZ, _mm256_mul_ps(_mm256_set1_ps(0.5f), bgTimesSq));
+            const __m256 termSq = _mm256_mul_ps(term, term);
+            const __m256 numerator = _mm256_add_ps(dSqr, termSq);
+            const __m256 denominator = _mm256_add_ps(timesSq, _mm256_set1_ps(1e-8f)); // Avoid division by zero
+            const __m256 requiredV0Sqr = _mm256_div_ps(numerator, denominator);
+
+            const __m256 v0SqrVec = _mm256_set1_ps(v0Sqr + 1e-3f);
+            const __m256 mask = _mm256_cmp_ps(requiredV0Sqr, v0SqrVec, _CMP_LE_OQ);
+
+            const unsigned validMask = _mm256_movemask_ps(mask);
+
+            if (!validMask)
+                continue;
+
+            alignas(32) float validTimes[SIMD_FACTOR];
+            _mm256_store_ps(validTimes, times);
+
+            for (int i = 0; i < SIMD_FACTOR; ++i)
+            {
+                if (!(validMask & (1 << i)))
+                    continue;
+
+                const float candidateTime = validTimes[i];
+
+                if (candidateTime > m_maximumSimulationTime)
+                    continue;
+
+                // Fine search around candidate time
+                for (float fineTime = candidateTime - m_simulationTimeStep * 2;
+                     fineTime <= candidateTime + m_simulationTimeStep * 2; fineTime += m_simulationTimeStep)
+                {
+                    if (fineTime < 0)
+                        continue;
+
+                    const Vector3 targetPos = target.PredictPosition(fineTime, m_gravityConstant);
+                    const auto pitch = CalculatePitch(projOrigin, targetPos, bulletGravity, v0, fineTime);
+                    if (!pitch)
+                        continue;
+
+                    const Vector3 delta = targetPos - projOrigin;
+                    const float d = std::sqrt(delta.x * delta.x + delta.y * delta.y);
+                    const float height = d * std::tan(angles::DegreesToRadians(*pitch));
+                    return Vector3(targetPos.x, targetPos.y, projOrigin.z + height);
+                }
+            }
+        }
+
+        // Fallback scalar processing for remaining times
+        for (; currentTime <= m_maximumSimulationTime; currentTime += m_simulationTimeStep)
+        {
+            const Vector3 targetPos = target.PredictPosition(currentTime, m_gravityConstant);
+            const auto pitch = CalculatePitch(projOrigin, targetPos, bulletGravity, v0, currentTime);
+            if (!pitch)
+                continue;
+
+            const Vector3 delta = targetPos - projOrigin;
+            const float d = std::sqrt(delta.x * delta.x + delta.y * delta.y);
+            const float height = d * std::tan(angles::DegreesToRadians(*pitch));
+            return Vector3(targetPos.x, targetPos.y, projOrigin.z + height);
+        }
+
+        return std::nullopt;
+    }
+    ProjPredEngineAVX2::ProjPredEngineAVX2(const float gravityConstant, const float simulationTimeStep,
+                                           const float maximumSimulationTime) :
+        m_gravityConstant(gravityConstant), m_simulationTimeStep(simulationTimeStep),
+        m_maximumSimulationTime(maximumSimulationTime)
+    {
+    }
+    std::optional<float> ProjPredEngineAVX2::CalculatePitch(const Vector3<float>& projOrigin,
+                                                            const Vector3<float>& targetPos, const float bulletGravity,
+                                                            const float v0, const float time)
+    {
+        if (time <= 0.0f)
+            return std::nullopt;
+
+        const Vector3 delta = targetPos - projOrigin;
+        const float dSqr = delta.x * delta.x + delta.y * delta.y;
+        const float h = delta.z;
+
+        const float term = h + 0.5f * bulletGravity * time * time;
+        const float requiredV0Sqr = (dSqr + term * term) / (time * time);
+        const float v0Sqr = v0 * v0;
+
+        if (requiredV0Sqr > v0Sqr + 1e-3f)
+            return std::nullopt;
+
+        if (dSqr == 0.0f)
+            return term >= 0.0f ? 90.0f : -90.0f;
+
+
+        const float d = std::sqrt(dSqr);
+        const float tanTheta = term / d;
+        return angles::RadiansToDegrees(std::atan(tanTheta));
+#else
+        throw std::runtime_error(
+                std::format("{} AVX2 feature is not enabled!", std::source_location::current().function_name()));
+#endif
+    }
+} // namespace omath::projectile_prediction

source/projectile_prediction/proj_pred_engine_legacy.cpp

@@ -1,25 +1,18 @@
-//
-// Created by Vlad on 6/9/2024.
-//
-
-
-#include "omath/prediction/Engine.hpp"
+#include "omath/projectile_prediction/proj_pred_engine_legacy.hpp"
 #include <cmath>
-#include <omath/Angles.hpp>
+#include <omath/angles.hpp>
 
-
-namespace omath::prediction
+namespace omath::projectile_prediction
 {
-    Engine::Engine(const float gravityConstant, const float simulationTimeStep,
-                   const float maximumSimulationTime, const float distanceTolerance)
-        : m_gravityConstant(gravityConstant),
-          m_simulationTimeStep(simulationTimeStep),
-          m_maximumSimulationTime(maximumSimulationTime),
-          m_distanceTolerance(distanceTolerance)
+    ProjPredEngineLegacy::ProjPredEngineLegacy(const float gravityConstant, const float simulationTimeStep,
+                                               const float maximumSimulationTime, const float distanceTolerance) :
+        m_gravityConstant(gravityConstant), m_simulationTimeStep(simulationTimeStep),
+        m_maximumSimulationTime(maximumSimulationTime), m_distanceTolerance(distanceTolerance)
     {
     }
 
-    std::optional<Vector3> Engine::MaybeCalculateAimPoint(const Projectile &projectile, const Target &target) const
+    std::optional<Vector3<float>> ProjPredEngineLegacy::MaybeCalculateAimPoint(const Projectile& projectile,
+                                                                        const Target& target) const
     {
         for (float time = 0.f; time < m_maximumSimulationTime; time += m_simulationTimeStep)
         {
@@ -28,7 +21,7 @@ namespace omath::prediction
             const auto projectilePitch = MaybeCalculateProjectileLaunchPitchAngle(projectile, predictedTargetPosition);
 
             if (!projectilePitch.has_value()) [[unlikely]]
-                    continue;
+                continue;
 
             if (!IsProjectileReachedTarget(predictedTargetPosition, projectile, projectilePitch.value(), time))
                 continue;
@@ -41,8 +34,9 @@ namespace omath::prediction
         return std::nullopt;
     }
 
-    std::optional<float> Engine::MaybeCalculateProjectileLaunchPitchAngle(const Projectile &projectile,
-                                                                          const Vector3 &targetPosition) const
+    std::optional<float>
+    ProjPredEngineLegacy::MaybeCalculateProjectileLaunchPitchAngle(const Projectile& projectile,
+                                                                   const Vector3<float>& targetPosition) const
     {
         const auto bulletGravity = m_gravityConstant * projectile.m_gravityScale;
         const auto delta = targetPosition - projectile.m_origin;
@@ -51,11 +45,11 @@ namespace omath::prediction
         const auto distance2dSqr = distance2d * distance2d;
         const auto launchSpeedSqr = projectile.m_launchSpeed * projectile.m_launchSpeed;
 
-        float root = launchSpeedSqr * launchSpeedSqr - bulletGravity * (bulletGravity *
-                         distance2dSqr + 2.0f * delta.z * launchSpeedSqr);
+        float root = launchSpeedSqr * launchSpeedSqr -
+                     bulletGravity * (bulletGravity * distance2dSqr + 2.0f * delta.z * launchSpeedSqr);
 
         if (root < 0.0f) [[unlikely]]
-                return std::nullopt;
+            return std::nullopt;
 
         root = std::sqrt(root);
         const float angle = std::atan((launchSpeedSqr - root) / (bulletGravity * distance2d));
@@ -63,12 +57,12 @@ namespace omath::prediction
         return angles::RadiansToDegrees(angle);
     }
 
-    bool Engine::IsProjectileReachedTarget(const Vector3 &targetPosition, const Projectile &projectile,
-                                           const float pitch, const float time) const
+    bool ProjPredEngineLegacy::IsProjectileReachedTarget(const Vector3<float>& targetPosition, const Projectile& projectile,
+                                                         const float pitch, const float time) const
     {
         const auto yaw = projectile.m_origin.ViewAngleTo(targetPosition).y;
         const auto projectilePosition = projectile.PredictPosition(pitch, yaw, time, m_gravityConstant);
 
         return projectilePosition.DistTo(targetPosition) <= m_distanceTolerance;
     }
-}
+} // namespace omath::projectile_prediction

source/projectile_prediction/projectile.cpp

@@ -0,0 +1,21 @@
+//
+// Created by Vlad on 6/9/2024.
+//
+
+#include "omath/projectile_prediction/projectile.hpp"
+
+#include <omath/engines/source_engine/formulas.hpp>
+
+namespace omath::projectile_prediction
+{
+    Vector3<float> Projectile::PredictPosition(const float pitch, const float yaw, const float time, const float gravity) const
+    {
+        auto currentPos = m_origin + source_engine::ForwardVector({source_engine::PitchAngle::FromDegrees(-pitch),
+                                                            source_engine::YawAngle::FromDegrees(yaw),
+                                                            source_engine::RollAngle::FromDegrees(0)}) *
+                                             m_launchSpeed * time;
+        currentPos.z -= (gravity * m_gravityScale) * (time * time) * 0.5f;
+
+        return currentPos;
+    }
+} // namespace omath::prediction

source/projectile_prediction/target.cpp

@@ -2,7 +2,7 @@
 // Created by Vlad on 6/9/2024.
 //
 
-#include "omath/prediction/Target.hpp"
+#include "omath/projectile_prediction/projectile.hpp"
 
 
 namespace omath::prediction

source/projection/CMakeLists.txt

@@ -1 +1 @@
-target_sources(omath PRIVATE Camera.cpp)
+target_sources(omath PRIVATE camera.cpp)

source/projection/camera.cpp

@@ -1,7 +1,7 @@
 //
 // Created by Vlad on 27.08.2024.
 //
-#include "omath/projection/Camera.hpp"
+#include "omath/projection/camera.hpp"
 
 
 namespace omath::projection

tests/CMakeLists.txt

@@ -1,30 +1,41 @@
 enable_testing()
 
 project(unit-tests)
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}")
 
 include(GoogleTest)
 add_executable(unit-tests
-        general/UnitTestPrediction.cpp
-        general/UnitTestMatrix.cpp
-        general/UnitTestMat.cpp
-        general/UnitTestAstar.cpp
-        general/UnitTestProjection.cpp
-        general/UnitTestVector3.cpp
-        general/UnitTestVector2.cpp
-        general/UnitTestColor.cpp
-        general/UnitTestVector4.cpp
-        general/UnitTestLineTrace.cpp
-        general/UnitTestAngles.cpp
-        general/UnitTestViewAngles.cpp
-        general/UnitTestAngle.cpp
+        general/unit_test_prediction.cpp
+        general/unit_test_matrix.cpp
+        general/unit_test_mat.cpp
+        general/unit_test_a_star.cpp
+        general/unit_test_projection.cpp
+        general/unit_test_vector3.cpp
+        general/unit_test_vector2.cpp
+        general/unit_test_color.cpp
+        general/unit_test_vector4.cpp
+        general/unit_test_line_trace.cpp
+        general/unit_test_angles.cpp
+        general/unit_test_view_angles.cpp
+        general/unit_test_angle.cpp
+        general/unit_test_triangle.cpp
+        general/unit_test_box_primitive.cpp
 
-        engines/UnitTestOpenGL.cpp
-        engines/UnitTestUnityEngine.cpp
-        engines/UnitTestSourceEngine.cpp
+        engines/unit_test_open_gl.cpp
+        engines/unit_test_unity_engine.cpp
+        engines/unit_test_source_engine.cpp
+        engines/unit_test_iw_engine.cpp
 
 )
 
-target_link_libraries(unit-tests PRIVATE gtest gtest_main omath)
+set_target_properties(unit-tests PROPERTIES
+        ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+        LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+        UNITY_BUILD ON
+        UNITY_BUILD_BATCH_SIZE 20
+        CXX_STANDARD 23
+        CXX_STANDARD_REQUIRED ON)
+
+
+target_link_libraries(unit-tests PRIVATE gtest gtest_main omath::omath)
 
 gtest_discover_tests(unit-tests)

tests/engines/UnitTestOpenGL.cpp

@@ -1,37 +0,0 @@
-//
-// Created by Orange on 11/23/2024.
-//
-#include <complex>
-#include <gtest/gtest.h>
-#include <omath/Matrix.hpp>
-#include <print>
-
-// #include <glm/glm.hpp>
-
-// #include "glm/ext/matrix_clip_space.hpp"
-// #include "glm/ext/matrix_transform.hpp"
-
-
-TEST(UnitTestOpenGL, Projection)
-{
-
-    /*const auto proj_glm = glm::perspective(glm::radians(90.f), 16.f / 9.f, 0.1f, 1000.f);
-    // const auto proj_glm2 = glm::perspectiveLH_NO(glm::radians(90.f), 16.f / 9.f, 0.1f, 1000.f);
-    // const auto proj_omath = omath::Mat<4, 4, float, omath::MatStoreType::COLUMN_MAJOR>((const float*)&proj_glm);
-    // EXPECT_EQ(omath::opengl::PerspectiveProjectionMatrix(90, 16.f / 9.f, 0.1f, 1000.f), proj_omath);
-
-
-    glm::vec4 ndc_glm2 = proj_glm * glm::vec4(300.f, 0.f, -1000.f, 1.f);
-    ndc_glm2 /= ndc_glm2.w;
-    const omath::Mat<4, 1, float, omath::MatStoreType::COLUMN_MAJOR> cords_omath =
-    {
-        {0},
-        {0},
-        {-0.2f},
-        {1}
-    };
-
-    //auto ndc_omath = proj_omath * cords_omath;
-   // ndc_omath /= ndc_omath.At(3, 0);
-    */
-}

tests/engines/UnitTestSourceEngine.cpp

@@ -1,50 +0,0 @@
-//
-// Created by Orange on 11/23/2024.
-//
-#include <gtest/gtest.h>
-#include <omath/engines/Source/Camera.hpp>
-#include <omath/engines/Source/Constants.h>
-#include <omath/engines/Source/Formulas.hpp>
-
-
-TEST(UnitTestSourceEngine, ForwardVector)
-{
-    const auto forward = omath::source::ForwardVector({});
-
-    EXPECT_EQ(forward, omath::source::kAbsForward);
-}
-
-TEST(UnitTestSourceEngine, RightVector)
-{
-    const auto right = omath::source::RightVector({});
-
-    EXPECT_EQ(right, omath::source::kAbsRight);
-}
-
-TEST(UnitTestSourceEngine, UpVector)
-{
-    const auto up = omath::source::UpVector({});
-    EXPECT_EQ(up, omath::source::kAbsUp);
-}
-
-TEST(UnitTestSourceEngine, PerpectiveProjectionAtCenter)
-{
-    constexpr auto fov = omath::projection::FieldOfView::FromDegrees(90.f);
-    auto cam = omath::source::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
-
-
-    const auto viewProjMatrix = cam.GetViewProjectionMatrix();
-
-    for (float distance = 0.02f; distance < 1000.f; distance += 0.01f)
-    {
-        const auto projected = cam.WorldToScreen(viewProjMatrix, {distance, 0, 0});
-
-        EXPECT_TRUE(projected.has_value());
-
-        if (!projected.has_value())
-            continue;
-
-        EXPECT_NEAR(projected->x, 960, 0.00001f);
-        EXPECT_NEAR(projected->y, 540, 0.00001f);
-    }
-}