removed define

U/orange cpp/avx2 prediction

CMakeLists.txt

@@ -1,18 +1,15 @@
 cmake_minimum_required(VERSION 3.26)
 
-project(omath VERSION 1.0.1)
+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_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)
 
+
 if (OMATH_BUILD_AS_SHARED_LIBRARY)
     add_library(omath SHARED source/Vector3.cpp)
 else()
@@ -22,7 +19,17 @@ else()
             include/omath/engines/OpenGL/Camera.hpp)
 endif()
 
-target_compile_definitions(omath PUBLIC OMATH_EXPORT)
+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}"
+        UNITY_BUILD ON
+        UNITY_BUILD_BATCH_SIZE 20
+        CXX_STANDARD 23
+        CXX_STANDARD_REQUIRED ON)
+
+
+target_compile_features(omath PUBLIC cxx_std_23)
+
 
 add_subdirectory(source)
 

README.md

@@ -11,7 +11,7 @@
 
 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
+## 👁‍🗨 Features
 - **Efficiency**: Optimized for performance, ensuring quick computations.
 - **Versatility**: Includes a wide array of mathematical functions and algorithms.
 - **Ease of Use**: Simplified interface for convenient integration into various projects.
@@ -20,7 +20,7 @@ Oranges's Math Library (omath) is a comprehensive, open-source library aimed at
 - **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
 
-## Getting Started
+## ⏬ Getting Started
 ### Prerequisites
 - C++ Compiler
 - CMake (for building the project)
@@ -51,10 +51,10 @@ For detailed commands on installing different versions and more information, ple
 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)
@@ -76,11 +76,11 @@ With `omath/projection` module you can achieve simple ESP hack for powered by So
 
 </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
+## 💘 Acknowledgments
 -  [All contributors](https://github.com/orange-cpp/omath/graphs/contributors)

include/omath/Mat.hpp

@@ -22,6 +22,13 @@ 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

include/omath/Matrix.hpp

@@ -38,10 +38,7 @@ namespace omath
 
 
         [[nodiscard]]
-        float& operator[](size_t row, size_t column)
-        {
-            return At(row, column);
-        }
+        float& operator[](size_t row, size_t column);
 
         [[nodiscard]]
         size_t ColumnsCount() const noexcept;

include/omath/Triangle.hpp

@@ -0,0 +1,74 @@
+//
+// Created by Orange on 11/13/2024.
+//
+#pragma once
+#include "omath/Vector3.hpp"
+
+namespace omath
+{
+    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 m_vertex1;
+        Vector3 m_vertex2;
+        Vector3 m_vertex3;
+
+        [[nodiscard]]
+        constexpr Vector3 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 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 SideBVector() const
+        {
+            return m_vertex3 - m_vertex2;
+        }
+        [[nodiscard]]
+        constexpr Vector3 MidPoint() const
+        {
+            return (m_vertex1 + m_vertex2 + m_vertex3) / 3;
+        }
+    };
+} // namespace omath

include/omath/Triangle3d.hpp

@@ -1,33 +0,0 @@
-//
-// Created by Orange on 11/13/2024.
-//
-#pragma once
-#include "omath/Vector3.hpp"
-
-namespace omath
-{
-    class 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

@@ -7,9 +7,19 @@
 #include <cstdint>
 #include <functional>
 #include "omath/Vector2.hpp"
+#include "omath/Angle.hpp"
+#include <expected>
+#include <immintrin.h>
+
 
 namespace omath
 {
+
+    enum class Vector3Error
+    {
+        IMPOSSIBLE_BETWEEN_ANGLE,
+    };
+
     class Vector3 : public Vector2
     {
     public:
@@ -208,6 +218,25 @@ namespace omath
             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 float Sum2D() const
         {
             return Vector2::Sum();
@@ -215,7 +244,7 @@ namespace omath
 
         [[nodiscard]] Vector3 ViewAngleTo(const Vector3& other) const;
 
-        [[nodiscard]] std::tuple<float, float, float> AsTuple() const
+        [[nodiscard]] constexpr std::tuple<float, float, float> AsTuple() const
         {
             return std::make_tuple(x, y, z);
         }

include/omath/collision/LineTracer.hpp

@@ -4,7 +4,7 @@
 #pragma once
 
 #include "omath/Vector3.hpp"
-#include "omath/Triangle3d.hpp"
+#include "omath/Triangle.hpp"
 
 namespace omath::collision
 {
@@ -27,12 +27,12 @@ namespace omath::collision
 
 
         [[nodiscard]]
-        static bool CanTraceLine(const Ray& ray, const Triangle3d& triangle);
+        static bool CanTraceLine(const Ray& ray, const Triangle<Vector3>& 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);
+        static Vector3 GetRayHitPoint(const Ray& ray, const Triangle<Vector3>& triangle);
     };
 }

include/omath/pathfinding/Astar.hpp

@@ -9,11 +9,17 @@
 
 namespace omath::pathfinding
 {
+    struct PathNode;
     class Astar final
     {
     public:
         [[nodiscard]]
         static std::vector<Vector3> FindPath(const Vector3& start, const Vector3& end, const NavigationMesh& navMesh);
+    private:
+        [[nodiscard]]
+        static std::vector<Vector3> ReconstructFinalPath(const std::unordered_map<Vector3, PathNode>& closedList, const Vector3& current);
 
+        [[nodiscard]]
+        static auto GetPerfectNode(const std::unordered_map<Vector3, PathNode>& openList, const Vector3& endVertex);
     };
 }

include/omath/projectile_prediction/ProjPredEngine.hpp

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

include/omath/projectile_prediction/ProjPredEngineAVX2.hpp

@@ -0,0 +1,26 @@
+//
+// Created by Vlad on 2/23/2025.
+//
+#pragma once
+#include "ProjPredEngine.hpp"
+
+namespace omath::projectile_prediction
+{
+    class ProjPredEngineAVX2 final : public ProjPredEngine
+    {
+    public:
+        [[nodiscard]] std::optional<Vector3> 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& projOrigin, const Vector3& 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/ProjPredEngineLegacy.hpp

@@ -6,19 +6,22 @@
 
 #include <optional>
 #include "omath/Vector3.hpp"
-#include "omath/prediction/Projectile.hpp"
-#include "omath/prediction/Target.hpp"
+#include "omath/projectile_prediction/ProjPredEngine.hpp"
+#include "omath/projectile_prediction/Projectile.hpp"
+#include "omath/projectile_prediction/Target.hpp"
 
-namespace omath::prediction
+
+namespace omath::projectile_prediction
 {
-    class Engine final
+    class ProjPredEngineLegacy final : public ProjPredEngine
     {
     public:
-        explicit Engine(float gravityConstant, float simulationTimeStep,
-                        float maximumSimulationTime, float distanceTolerance);
+        explicit ProjPredEngineLegacy(float gravityConstant, float simulationTimeStep, float maximumSimulationTime,
+                                      float distanceTolerance);
 
         [[nodiscard]]
-        std::optional<Vector3> MaybeCalculateAimPoint(const Projectile& projectile, const Target& target) const;
+        std::optional<Vector3> MaybeCalculateAimPoint(const Projectile& projectile,
+                                                      const Target& target) const override;
 
     private:
         const float m_gravityConstant;
@@ -32,7 +35,7 @@ namespace omath::prediction
 
 
         [[nodiscard]]
-        bool IsProjectileReachedTarget(const Vector3& targetPosition, const Projectile& projectile, float pitch, float time) const;
-
+        bool IsProjectileReachedTarget(const Vector3& targetPosition, const Projectile& projectile, float pitch,
+                                       float time) const;
     };
-}
+} // namespace omath::projectile_prediction

include/omath/projectile_prediction/Projectile.hpp

@@ -5,7 +5,7 @@
 #pragma once
 #include "omath/Vector3.hpp"
 
-namespace omath::prediction
+namespace omath::projectile_prediction
 {
     class Projectile final
     {

include/omath/projectile_prediction/Target.hpp

@@ -5,7 +5,7 @@
 #pragma once
 #include "omath/Vector3.hpp"
 
-namespace omath::prediction
+namespace omath::projectile_prediction
 {
     class Target final
     {

include/omath/projection/Camera.hpp

@@ -24,7 +24,7 @@ namespace omath::projection
             return m_width / m_height;
         }
     };
-    using FieldOfView = const Angle<float, 0.f, 180.f, AngleFlags::Clamped>;
+    using FieldOfView = Angle<float, 0.f, 180.f, AngleFlags::Clamped>;
 
     template<class Mat4x4Type, class ViewAnglesType>
     class Camera

source/CMakeLists.txt

@@ -4,10 +4,9 @@ target_sources(omath PRIVATE
         color.cpp
         Vector4.cpp
         Vector2.cpp
-        Triangle3d.cpp
 )
 
-add_subdirectory(prediction)
+add_subdirectory(projectile_prediction)
 add_subdirectory(pathfinding)
 add_subdirectory(projection)
 add_subdirectory(collision)

source/Matrix.cpp

@@ -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
     {

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/collision/LineTracer.cpp

@@ -5,7 +5,7 @@
 
 namespace omath::collision
 {
-    bool LineTracer::CanTraceLine(const Ray &ray, const Triangle3d &triangle)
+    bool LineTracer::CanTraceLine(const Ray& ray, const Triangle<Vector3>& triangle)
     {
         return GetRayHitPoint(ray, triangle) == ray.end;
     }
@@ -19,7 +19,7 @@ namespace omath::collision
         return DirectionVector().Normalized();
     }
 
-    Vector3 LineTracer::GetRayHitPoint(const Ray &ray, const Triangle3d &triangle)
+    Vector3 LineTracer::GetRayHitPoint(const Ray& ray, const Triangle<Vector3>& 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);
@@ -59,4 +59,4 @@ namespace omath::collision
 
         return ray.start + rayDir * tHit;
     }
-}
+} // namespace omath::collision

source/engines/OpenGL/Camera.cpp

@@ -9,7 +9,7 @@ namespace omath::opengl
 {
 
     Camera::Camera(const Vector3& position, const ViewAngles& viewAngles, const projection::ViewPort& viewPort,
-                   const Angle<float, 0, 180, AngleFlags::Clamped>& fov, const float near, const float far) :
+                   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)
     {
     }

source/pathfinding/Astar.cpp

@@ -3,10 +3,10 @@
 //
 #include "omath/pathfinding/Astar.hpp"
 
+#include <algorithm>
 #include <optional>
 #include <unordered_map>
 #include <unordered_set>
-#include <algorithm>
 
 
 namespace omath::pathfinding
@@ -18,45 +18,83 @@ namespace omath::pathfinding
     };
 
 
-    std::vector<Vector3> Astar::FindPath(const Vector3 &start, const Vector3 &end, const NavigationMesh &navMesh)
+    std::vector<Vector3> Astar::ReconstructFinalPath(const std::unordered_map<Vector3, PathNode>& closedList,
+                                                     const Vector3& current)
+    {
+        std::vector<Vector3> 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, PathNode>& openList, const Vector3& 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> 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();
+        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())
         {
-            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;
-                });
+            auto currentIt = GetPerfectNode(openList, endVertex);
 
-            closedList.emplace(perfectVertex);
-            openList.erase(perfectVertex.first);
+            const auto current = currentIt->first;
+            const auto currentNode = currentIt->second;
 
-            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 (current == endVertex)
+                return ReconstructFinalPath(closedList, current);
 
 
-            if (perfectVertex.first != endVertex)
-                continue;
+            closedList.emplace(current, currentNode);
+            openList.erase(currentIt);
 
-            std::vector<Vector3> path = {};
+            for (const auto& neighbor: navMesh.GetNeighbors(current))
+            {
+                if (closedList.contains(neighbor))
+                    continue;
 
-            for (std::optional current = perfectVertex.first; current; current = closedList.at(*current).cameFrom )
-                path.push_back(current.value());
+                const float tentativeGCost = currentNode.gCost + neighbor.DistTo(current);
 
-            return path;
+                const auto openIt = openList.find(neighbor);
+
+                if (openIt == openList.end() || tentativeGCost < openIt->second.gCost)
+                    openList[neighbor] = PathNode{current, tentativeGCost};
+            }
         }
 
         return {};
     }
-}
+} // namespace omath::pathfinding

source/prediction/CMakeLists.txt

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

source/projectile_prediction/CMakeLists.txt

@@ -0,0 +1 @@
+target_sources(omath PRIVATE ProjPredEngineLegacy.cpp Projectile.cpp Target.cpp ProjPredEngineAVX2.cpp ProjPredEngine.cpp)

source/projectile_prediction/ProjPredEngine.cpp

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

source/projectile_prediction/ProjPredEngineAVX2.cpp

@@ -0,0 +1,138 @@
+//
+// Created by Vlad on 2/23/2025.
+//
+#include "omath/projectile_prediction/ProjPredEngineAVX2.hpp"
+
+
+namespace omath::projectile_prediction
+{
+    std::optional<Vector3> ProjPredEngineAVX2::MaybeCalculateAimPoint(const Projectile& projectile,
+                                                                      const Target& target) const
+    {
+        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(maximumSimulationTime),
+        m_maximumSimulationTime(simulationTimeStep)
+    {
+    }
+    std::optional<float> ProjPredEngineAVX2::CalculatePitch(const Vector3& projOrigin, const Vector3& 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));
+    }
+} // namespace omath::projectile_prediction

source/projectile_prediction/ProjPredEngineLegacy.cpp

@@ -1,25 +1,18 @@
-//
-// Created by Vlad on 6/9/2024.
-//
-
-
-#include "omath/prediction/Engine.hpp"
+#include "omath/projectile_prediction/ProjPredEngineLegacy.hpp"
 #include <cmath>
 #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> 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& 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& 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

@@ -2,11 +2,11 @@
 // Created by Vlad on 6/9/2024.
 //
 
-#include "omath/prediction/Projectile.hpp"
-#include <cmath>
+#include "omath/projectile_prediction/Projectile.hpp"
+
 #include <omath/engines/Source/Formulas.hpp>
 
-namespace omath::prediction
+namespace omath::projectile_prediction
 {
     Vector3 Projectile::PredictPosition(const float pitch, const float yaw, const float time, const float gravity) const
     {

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

tests/CMakeLists.txt

@@ -1,7 +1,6 @@
 enable_testing()
 
 project(unit-tests)
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}")
 
 include(GoogleTest)
 add_executable(unit-tests
@@ -18,6 +17,7 @@ add_executable(unit-tests
         general/UnitTestAngles.cpp
         general/UnitTestViewAngles.cpp
         general/UnitTestAngle.cpp
+        general/UnitTestTriangle.cpp
 
         engines/UnitTestOpenGL.cpp
         engines/UnitTestUnityEngine.cpp
@@ -25,6 +25,15 @@ add_executable(unit-tests
 
 )
 
+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)
 
 gtest_discover_tests(unit-tests)

tests/general/UnitTestLineTrace.cpp

@@ -1,6 +1,6 @@
 #include "gtest/gtest.h"
 #include "omath/collision/LineTracer.hpp"
-#include "omath/Triangle3d.hpp"
+#include "omath/Triangle.hpp"
 #include "omath/Vector3.hpp"
 
 using namespace omath;
@@ -13,7 +13,7 @@ protected:
     Vector3 vertex1{0.0f, 0.0f, 0.0f};
     Vector3 vertex2{1.0f, 0.0f, 0.0f};
     Vector3 vertex3{0.0f, 1.0f, 0.0f};
-    Triangle3d triangle{vertex1, vertex2, vertex3};
+    Triangle<Vector3> triangle{vertex1, vertex2, vertex3};
 };
 
 // Test that a ray intersecting the triangle returns false for CanTraceLine
@@ -71,7 +71,7 @@ TEST_F(LineTracerTest, TriangleFarBeyondRayEndPoint)
     constexpr Ray ray{{0.0f, 0.0f, 0.0f}, {0.0f, 0.0f, 1.0f}};
 
     // Define a triangle far beyond the ray's endpoint
-    const Triangle3d distantTriangle{
+    constexpr Triangle<Vector3> distantTriangle{
         {1000.0f, 1000.0f, 1000.0f}, {1001.0f, 1000.0f, 1000.0f}, {1000.0f, 1001.0f, 1000.0f}
     };
 

tests/general/UnitTestPrediction.cpp

@@ -1,15 +1,17 @@
 #include <gtest/gtest.h>
-#include <omath/prediction/Engine.hpp>
+#include <omath/projectile_prediction/ProjPredEngineLegacy.hpp>
 
 TEST(UnitTestPrediction, PredictionTest)
 {
-    constexpr omath::prediction::Target target{
+    constexpr omath::projectile_prediction::Target target{
             .m_origin = {100, 0, 90}, .m_velocity = {0, 0, 0}, .m_isAirborne = false};
-    constexpr omath::prediction::Projectile proj = {.m_origin = {3,2,1}, .m_launchSpeed = 5000, .m_gravityScale= 0.4};
-    const auto viewPoint = omath::prediction::Engine(400, 1.f / 1000.f, 50, 5.f).MaybeCalculateAimPoint(proj, target);
+    constexpr omath::projectile_prediction::Projectile proj = {
+            .m_origin = {3, 2, 1}, .m_launchSpeed = 5000, .m_gravityScale = 0.4};
+    const auto viewPoint =
+            omath::projectile_prediction::ProjPredEngineLegacy(400, 1.f / 1000.f, 50, 5.f).MaybeCalculateAimPoint(proj, target);
 
     const auto [pitch, yaw, _] = proj.m_origin.ViewAngleTo(viewPoint.value()).AsTuple();
 
-    EXPECT_NEAR(42.547142, pitch, 0.0001f);
-    EXPECT_NEAR(-1.181189, yaw, 0.0001f);
-}
+    EXPECT_NEAR(42.547142, pitch, 0.01f);
+    EXPECT_NEAR(-1.181189, yaw, 0.01f);
+}

tests/general/UnitTestTriangle.cpp

@@ -0,0 +1,132 @@
+//
+// Created by Orange on 1/6/2025.
+//
+#include "omath/Triangle.hpp"
+#include <gtest/gtest.h>
+#include <omath/Vector3.hpp>
+#include <cmath>  // For std::sqrt, std::isinf, std::isnan
+
+
+using namespace omath;
+
+class UnitTestTriangle : public ::testing::Test
+{
+protected:
+    // Define some Triangles to use in tests
+    Triangle<Vector3> t1;
+    Triangle<Vector3> t2;
+    Triangle<Vector3> t3;
+
+    constexpr void SetUp() override
+    {
+        // Triangle with vertices (0, 0, 0), (1, 0, 0), (0, 1, 0)
+        t1 = Triangle<Vector3>(
+            Vector3(0.0f, 0.0f, 0.0f),
+            Vector3(1.0f, 0.0f, 0.0f),
+            Vector3(0.0f, 1.0f, 0.0f)
+        );
+
+        // Triangle with vertices (1, 2, 3), (4, 5, 6), (7, 8, 9)
+        t2 = Triangle<Vector3>(
+            Vector3(1.0f, 2.0f, 3.0f),
+            Vector3(4.0f, 5.0f, 6.0f),
+            Vector3(7.0f, 8.0f, 9.0f)
+        );
+
+        // An isosceles right triangle
+        t3 = Triangle<Vector3>(
+            Vector3(0.0f, 0.0f, 0.0f),
+            Vector3(2.0f, 0.0f, 0.0f),
+            Vector3(0.0f, 2.0f, 0.0f)
+        );
+    }
+};
+
+// Test constructor and vertices
+TEST_F(UnitTestTriangle, Constructor)
+{
+    constexpr Triangle<Vector3> t(
+        Vector3(1.0f, 2.0f, 3.0f),
+        Vector3(4.0f, 5.0f, 6.0f),
+        Vector3(7.0f, 8.0f, 9.0f)
+    );
+
+    EXPECT_FLOAT_EQ(t.m_vertex1.x, 1.0f);
+    EXPECT_FLOAT_EQ(t.m_vertex1.y, 2.0f);
+    EXPECT_FLOAT_EQ(t.m_vertex1.z, 3.0f);
+
+    EXPECT_FLOAT_EQ(t.m_vertex2.x, 4.0f);
+    EXPECT_FLOAT_EQ(t.m_vertex2.y, 5.0f);
+    EXPECT_FLOAT_EQ(t.m_vertex2.z, 6.0f);
+
+    EXPECT_FLOAT_EQ(t.m_vertex3.x, 7.0f);
+    EXPECT_FLOAT_EQ(t.m_vertex3.y, 8.0f);
+    EXPECT_FLOAT_EQ(t.m_vertex3.z, 9.0f);
+}
+
+// Test CalculateNormal
+TEST_F(UnitTestTriangle, CalculateNormal)
+{
+    // For t1, the normal should point in the +Z direction (0, 0, 1) or (0, 0, -1)
+    const Vector3 normal_t1 = t1.CalculateNormal();
+    // Check if it's normalized and pointed along Z (sign can differ, so use absolute check)
+    EXPECT_NEAR(std::fabs(normal_t1.z), 1.0f, 1e-5f);
+    EXPECT_NEAR(normal_t1.Length(), 1.0f, 1e-5f);
+
+
+    // For t3, we expect the normal to be along +Z as well
+    const Vector3 normal_t3 = t3.CalculateNormal();
+    EXPECT_NEAR(std::fabs(normal_t3.z), 1.0f, 1e-5f);
+}
+
+// Test side lengths
+TEST_F(UnitTestTriangle, SideLengths)
+{
+    // For t1 side lengths
+    EXPECT_FLOAT_EQ(t1.SideALength(), std::sqrt(1.0f)); // distance between (0,0,0) and (1,0,0)
+    EXPECT_FLOAT_EQ(t1.SideBLength(), std::sqrt(1.0f + 1.0f)); // distance between (4,5,6) & (7,8,9)... but we are testing t1, so let's be accurate:
+    // Actually, for t1: vertex2=(1,0,0), vertex3=(0,1,0)
+    // Dist between (0,1,0) and (1,0,0) = sqrt((1-0)^2 + (0-1)^2) = sqrt(1 + 1) = sqrt(2)
+    EXPECT_FLOAT_EQ(t1.SideBLength(), std::sqrt(2.0f));
+
+    // For t3, side a = distance between vertex1=(0,0,0) and vertex2=(2,0,0), which is 2
+    // side b = distance between vertex3=(0,2,0) and vertex2=(2,0,0), which is sqrt(2^2 + (-2)^2)= sqrt(8)= 2.828...
+    // We'll just check side a first:
+    EXPECT_FLOAT_EQ(t3.SideALength(), 2.0f);
+    // Then side b:
+    EXPECT_FLOAT_EQ(t3.SideBLength(), std::sqrt(8.0f));
+}
+
+// Test side vectors
+TEST_F(UnitTestTriangle, SideVectors)
+{
+    const Vector3 sideA_t1 = t1.SideAVector(); // m_vertex1 - m_vertex2
+    EXPECT_FLOAT_EQ(sideA_t1.x, 0.0f - 1.0f);
+    EXPECT_FLOAT_EQ(sideA_t1.y, 0.0f - 0.0f);
+    EXPECT_FLOAT_EQ(sideA_t1.z, 0.0f - 0.0f);
+
+    const Vector3 sideB_t1 = t1.SideBVector(); // m_vertex3 - m_vertex2
+    EXPECT_FLOAT_EQ(sideB_t1.x, 0.0f - 1.0f);
+    EXPECT_FLOAT_EQ(sideB_t1.y, 1.0f - 0.0f);
+    EXPECT_FLOAT_EQ(sideB_t1.z, 0.0f - 0.0f);
+}
+
+TEST_F(UnitTestTriangle, IsRectangular)
+{
+    EXPECT_TRUE(Triangle<Vector3>({2,0,0}, {}, {0,2,0}).IsRectangular());
+}
+// Test midpoint
+TEST_F(UnitTestTriangle, MidPoint)
+{
+    // For t1, midpoint of (0,0,0), (1,0,0), (0,1,0)
+    const Vector3 mid1 = t1.MidPoint();
+    EXPECT_FLOAT_EQ(mid1.x, (0.0f + 1.0f + 0.0f) / 3.0f);
+    EXPECT_FLOAT_EQ(mid1.y, (0.0f + 0.0f + 1.0f) / 3.0f);
+    EXPECT_FLOAT_EQ(mid1.z, 0.0f);
+
+    // For t2, midpoint of (1,2,3), (4,5,6), (7,8,9)
+    const Vector3 mid2 = t2.MidPoint();
+    EXPECT_FLOAT_EQ(mid2.x, (1.0f + 4.0f + 7.0f) / 3.0f);
+    EXPECT_FLOAT_EQ(mid2.y, (2.0f + 5.0f + 8.0f) / 3.0f);
+    EXPECT_FLOAT_EQ(mid2.z, (3.0f + 6.0f + 9.0f) / 3.0f);
+}

tests/general/UnitTestVector3.cpp

@@ -387,6 +387,21 @@ TEST_F(UnitTestVector3, AsTuple)
     EXPECT_FLOAT_EQ(std::get<2>(tuple), v1.z);
 }
 
+// Test AsTuple method
+TEST_F(UnitTestVector3, AngleBeatween)
+{
+    EXPECT_EQ(Vector3(0.0f, 0.0f, 1.0f).AngleBetween({1, 0 ,0}).value().AsDegrees(), 90.0f);
+    EXPECT_EQ(Vector3(0.0f, 0.0f, 1.0f).AngleBetween({0.0f, 0.0f, 1.0f}).value().AsDegrees(), 0.0f);
+    EXPECT_FALSE(Vector3(0.0f, 0.0f, 0.0f).AngleBetween({0.0f, 0.0f, 1.0f}).has_value());
+}
+
+TEST_F(UnitTestVector3, IsPerpendicular)
+{
+    EXPECT_EQ(Vector3(0.0f, 0.0f, 1.0f).IsPerpendicular({1, 0 ,0}), true);
+    EXPECT_EQ(Vector3(0.0f, 0.0f, 1.0f).IsPerpendicular({0.0f, 0.0f, 1.0f}), false);
+    EXPECT_FALSE(Vector3(0.0f, 0.0f, 0.0f).IsPerpendicular({0.0f, 0.0f, 1.0f}));
+}
+
 // Static assertions (compile-time checks)
 static_assert(Vector3(1.0f, 2.0f, 3.0f).LengthSqr() == 14.0f, "LengthSqr should be 14");
 static_assert(Vector3(1.0f, 2.0f, 3.0f).Dot(Vector3(4.0f, 5.0f, 6.0f)) == 32.0f, "Dot product should be 32");