fixed include

U/engine rotation mats

.gitignore

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

CMakeLists.txt

@@ -11,23 +11,47 @@ 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)
+
 
 if (OMATH_BUILD_AS_SHARED_LIBRARY)
-    add_library(omath SHARED source/Matrix.cpp)
+    add_library(omath SHARED source/matrix.cpp)
 else()
-    add_library(omath STATIC source/Matrix.cpp)
+    add_library(omath STATIC source/matrix.cpp
+            source/matrix.cpp)
 endif()
 
+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()
+
 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}"
@@ -36,6 +60,12 @@ set_target_properties(omath PROPERTIES
         CXX_STANDARD 23
         CXX_STANDARD_REQUIRED ON)
 
+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()

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"
+      }
     }
   ]
 }

README.md

@@ -20,6 +20,23 @@ 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
 - **Ready for meta-programming**: Omath use templates for common types like Vectors, Matrixes etc, to handle all types!
+
+## 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
@@ -65,9 +82,9 @@ 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/).
 

include/omath/angle.hpp

@@ -3,8 +3,10 @@
 //
 
 #pragma once
-#include "omath/angles.hpp"
 #include <algorithm>
+#include <utility>
+#include "omath/angles.hpp"
+
 
 namespace omath
 {
@@ -15,7 +17,7 @@ namespace omath
     };
 
     template<class Type = float, Type min = Type(0), Type max = Type(360), AngleFlags flags = AngleFlags::Normalized>
-    requires std::is_arithmetic_v<Type>
+        requires std::is_arithmetic_v<Type>
     class Angle
     {
         Type m_angle;
@@ -32,6 +34,7 @@ namespace omath
                 std::unreachable();
             }
         }
+
     public:
         [[nodiscard]]
         constexpr static Angle FromDegrees(const Type& degrees)
@@ -40,7 +43,6 @@ namespace omath
         }
         constexpr Angle() : m_angle(0)
         {
-
         }
         [[nodiscard]]
         constexpr static Angle FromRadians(const Type& degrees)
@@ -147,4 +149,4 @@ namespace omath
             return Angle{-m_angle};
         }
     };
-}
+} // namespace omath

include/omath/color.hpp

@@ -8,115 +8,166 @@
 #include "omath/vector3.hpp"
 #include "omath/vector4.hpp"
 
+#ifdef max
+#undef max
+#endif
+
+
+#ifdef min
+#undef min
+#endif
+
 namespace omath
 {
     struct HSV
     {
-        float m_hue{};
+        float hue{};
-        float m_saturation{};
+        float saturation{};
-        float m_value{};
+        float value{};
     };
 
 
     class Color final : public Vector4<float>
     {
-        public:
+    public:
-            constexpr Color(const float r, const float g, const float b, const float a) : Vector4(r,g,b,a)
+        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)
             {
-                Clamp(0.f, 1.f);
+                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};
             }
 
-            constexpr explicit Color() : Vector4()
+            return {r, g, b, 1.f};
-            {
+        }
 
-            }
+        [[nodiscard]]
-            [[nodiscard]]
+        constexpr static Color FromHSV(const HSV& hsv)
-            constexpr static Color FromRGBA(uint8_t r, uint8_t g, uint8_t b, uint8_t a)
+        {
-            {
+            return FromHSV(hsv.hue, hsv.saturation, hsv.value);
-                return Color{Vector4(r, g, b, a) / 255.f};
+        }
-            }
 
-            [[nodiscard]]
+        [[nodiscard]]
-            constexpr static Color FromHSV(float hue, float saturation, float value)
+        constexpr HSV ToHSV() const
-            {
+        {
-                float r{}, g{}, b{};
+            HSV hsvData;
 
-                hue = std::clamp(hue, 0.f, 1.f);
+            const float& red = x;
+            const float& green = y;
+            const float& blue = z;
 
-                const int i = static_cast<int>(hue * 6.f);
+            const float max = std::max({red, green, blue});
-                const float f = hue * 6 - i;
+            const float min = std::min({red, green, blue});
-                const float p = value * (1 - saturation);
+            const float delta = max - min;
-                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)
+            if (delta == 0.f)
-                    hsvData.m_hue = 0.f;
+                hsvData.hue = 0.f;
 
-                else if (max == red)
+            else if (max == red)
-                    hsvData.m_hue = 60.f * (std::fmodf(((green - blue) / delta), 6.f));
+                hsvData.hue = 60.f * (std::fmodf(((green - blue) / delta), 6.f));
-                else if (max == green)
+            else if (max == green)
-                    hsvData.m_hue = 60.f * (((blue - red) / delta) + 2.f);
+                hsvData.hue = 60.f * (((blue - red) / delta) + 2.f);
-                else if (max == blue)
+            else if (max == blue)
-                    hsvData.m_hue = 60.f * (((red - green) / delta) + 4.f);
+                hsvData.hue = 60.f * (((red - green) / delta) + 4.f);
 
-                if (hsvData.m_hue < 0.f)
+            if (hsvData.hue < 0.f)
-                    hsvData.m_hue += 360.f;
+                hsvData.hue += 360.f;
 
-                hsvData.m_hue /= 360.f;
+            hsvData.hue /= 360.f;
-                hsvData.m_saturation = max == 0.f ? 0.f : delta / max;
+            hsvData.saturation = max == 0.f ? 0.f : delta / max;
-                hsvData.m_value = max;
+            hsvData.value = max;
 
-                return hsvData;
+            return hsvData;
-            }
+        }
 
-            constexpr explicit Color(const Vector4& vec) : Vector4(vec)
+        constexpr explicit Color(const Vector4& vec) : Vector4(vec)
-            {
+        {
-                Clamp(0.f, 1.f);
+            Clamp(0.f, 1.f);
-            }
+        }
+        constexpr void SetHue(const float hue)
+        {
+            auto hsv = ToHSV();
+            hsv.hue = hue;
 
-            [[nodiscard]]
+            *this = FromHSV(hsv);
-            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};}
+        constexpr void SetSaturation(const float saturation)
-        [[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};}
+            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
-    [[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/engines/iw_engine/formulas.hpp

@@ -16,8 +16,10 @@ namespace omath::iw_engine
     [[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 CalcViewMatrix(const ViewAngles& angles, const Vector3<float>& cam_origin);
 
     [[nodiscard]]
     Mat4x4 CalcPerspectiveProjectionMatrix(float fieldOfView, float aspectRatio, float near, float far);

include/omath/engines/opengl_engine/constants.hpp

@@ -17,9 +17,10 @@ namespace omath::opengl_engine
     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, 0.f, 180.f, AngleFlags::Clamped>;
+    using PitchAngle = Angle<float, -90.f, 90.f, AngleFlags::Clamped>;
-    using YawAngle = Angle<float, 0.f, 360.f, AngleFlags::Normalized>;
+    using YawAngle = Angle<float, -180.f, 180.f, AngleFlags::Normalized>;
-    using RollAngle = Angle<float, 0.f, 360.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

@@ -18,6 +18,8 @@ namespace omath::opengl_engine
 
     [[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);

include/omath/engines/source_engine/formulas.hpp

@@ -9,6 +9,9 @@ namespace omath::source_engine
     [[nodiscard]]
     Vector3<float> ForwardVector(const ViewAngles& angles);
 
+    [[nodiscard]]
+    Mat4x4 RotationMatrix(const ViewAngles& angles);
+
     [[nodiscard]]
     Vector3<float> RightVector(const ViewAngles& angles);
 
@@ -17,7 +20,6 @@ namespace omath::source_engine
 
     [[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/constants.hpp

@@ -18,7 +18,7 @@ namespace omath::unity_engine
     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 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>;
 

include/omath/engines/unity_engine/formulas.hpp

@@ -18,6 +18,8 @@ namespace omath::unity_engine
 
     [[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);

include/omath/mat.hpp

@@ -9,6 +9,17 @@
 #include <stdexcept>
 #include <utility>
 #include "omath/vector3.hpp"
+#include <numeric>
+
+
+#ifdef near
+#undef near
+#endif
+
+
+#ifdef far
+#undef far
+#endif
 
 namespace omath
 {
@@ -81,6 +92,12 @@ namespace omath
             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);
@@ -107,9 +124,10 @@ namespace omath
         [[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];
 
@@ -131,12 +149,7 @@ namespace omath
         [[nodiscard]]
         constexpr Type Sum() const noexcept
         {
-            Type sum = 0;
+            return std::accumulate(m_data.begin(), m_data.end(), Type(0));
-            for (size_t i = 0; i < Rows; ++i)
-                for (size_t j = 0; j < Columns; ++j)
-                    sum += At(i, j);
-
-            return sum;
         }
 
         constexpr void Clear() noexcept
@@ -151,6 +164,7 @@ namespace omath
 
         // Operator overloading for multiplication with another Mat
         template<size_t OtherColumns>
+        [[nodiscard]]
         constexpr Mat<Rows, OtherColumns, Type, StoreType>
         operator*(const Mat<Columns, OtherColumns, Type, StoreType>& other) const
         {
@@ -169,9 +183,7 @@ namespace omath
 
         constexpr Mat& operator*=(const Type& f) noexcept
         {
-            for (size_t i = 0; i < Rows; ++i)
+            std::ranges::for_each(m_data, [&f](auto& val) {val *= f;});
-                for (size_t j = 0; j < Columns; ++j)
-                    At(i, j) *= f;
             return *this;
         }
 
@@ -183,47 +195,39 @@ namespace omath
         }
 
         [[nodiscard]]
-        constexpr Mat operator*(const Type& f) const noexcept
+        constexpr Mat operator*(const Type& value) const noexcept
         {
             Mat result(*this);
-            result *= f;
+            result *= value;
             return result;
         }
 
-        constexpr Mat& operator/=(const Type& f) noexcept
+        constexpr Mat& operator/=(const Type& value) noexcept
         {
-            for (size_t i = 0; i < Rows; ++i)
+            std::ranges::for_each(m_data, [&value](auto& val) {val /= value;});
-                for (size_t j = 0; j < Columns; ++j)
-                    At(i, j) /= f;
             return *this;
         }
 
         [[nodiscard]]
-        constexpr Mat operator/(const Type& f) const noexcept
+        constexpr Mat operator/(const Type& value) const noexcept
         {
             Mat result(*this);
-            result /= f;
+            result /= value;
             return result;
         }
 
         constexpr Mat& operator=(const Mat& other) noexcept
         {
-            if (this == &other)
+            if (this != &other)
-                return *this;
+                m_data = other.m_data;
-            for (size_t i = 0; i < Rows; ++i)
+
-                for (size_t j = 0; j < Columns; ++j)
-                    At(i, j) = other.At(i, j);
             return *this;
         }
 
         constexpr Mat& operator=(Mat&& other) noexcept
         {
-            if (this == &other)
+            if (this != &other)
-                return *this;
+                m_data = std::move(other.m_data);
-
-            for (size_t i = 0; i < Rows; ++i)
-                for (size_t j = 0; j < Columns; ++j)
-                    At(i, j) = other.At(i, j);
 
             return *this;
         }
@@ -247,7 +251,7 @@ namespace omath
             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
             {
@@ -424,13 +428,6 @@ namespace omath
         } * MatTranslation<Type, St>(-cameraOrigin);
     }
 
-    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class ViewAngles>
-    [[nodiscard]]
-    Mat<4, 4, Type, St> MatRotation(const ViewAngles& angles) noexcept
-    {
-        return MatRotationAxisZ(angles.yaw) * MatRotationAxisY(angles.pitch) * MatRotationAxisX(angles.roll);
-    }
-
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
     [[nodiscard]]
     Mat<4, 4, Type, St> MatPerspectiveLeftHanded(const float fieldOfView, const float aspectRatio, const float near,

include/omath/vector2.hpp

@@ -124,9 +124,9 @@ namespace omath
         }
 
 #ifndef _MSC_VER
-        [[nodiscard]] constexpr Type& Length() const
+        [[nodiscard]] constexpr Type Length() const
         {
-            return std::hypot(x, y);
+            return std::hypot(this->x, this->y);
         }
 
         [[nodiscard]] constexpr Vector2 Normalized() const

include/omath/vector3.hpp

@@ -121,12 +121,12 @@ namespace omath
 #ifndef _MSC_VER
         [[nodiscard]] constexpr Type Length() const
         {
-            return std::hypot(x, y, z);
+            return std::hypot(this->x, this->y, z);
         }
 
         [[nodiscard]] constexpr Type Length2D() const
         {
-            return Vector2::Length();
+            return Vector2<Type>::Length();
         }
         [[nodiscard]] Type DistTo(const Vector3& vOther) const
         {

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/iw_engine/formulas.cpp

@@ -9,23 +9,27 @@ namespace omath::iw_engine
 
     Vector3<float> ForwardVector(const ViewAngles& angles)
     {
-        const auto vec = MatRotation(angles) * MatColumnFromVector(kAbsForward);
+        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 = MatRotation(angles) * MatColumnFromVector(kAbsRight);
+        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 = MatRotation(angles) * MatColumnFromVector(kAbsUp);
+        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)
     {

source/engines/opengl_engine/formulas.cpp

@@ -9,19 +9,19 @@ namespace omath::opengl_engine
 
     Vector3<float> ForwardVector(const ViewAngles& angles)
     {
-        const auto vec = MatRotation(angles) * MatColumnFromVector(kAbsForward);
+        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 = MatRotation(angles) * MatColumnFromVector(kAbsRight);
+        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 = MatRotation(angles) * MatColumnFromVector(kAbsUp);
+        const auto vec = RotationMatrix(angles) * MatColumnFromVector<float, MatStoreType::COLUMN_MAJOR>(kAbsUp);
 
         return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
     }
@@ -30,6 +30,12 @@ namespace omath::opengl_engine
         return MatCameraView<float, MatStoreType::COLUMN_MAJOR>(-ForwardVector(angles), RightVector(angles),
                                                                 UpVector(angles), cam_origin);
     }
+    Mat4x4 RotationMatrix(const ViewAngles& angles)
+    {
+        return MatRotationAxisZ<float, MatStoreType::COLUMN_MAJOR>(angles.roll) *
+               MatRotationAxisY<float, MatStoreType::COLUMN_MAJOR>(-angles.yaw) *
+               MatRotationAxisX<float, MatStoreType::COLUMN_MAJOR>(-angles.pitch);
+    }
     Mat4x4 CalcPerspectiveProjectionMatrix(const float fieldOfView, const float aspectRatio, const float near,
                                            const float far)
     {

source/engines/source_engine/formulas.cpp

@@ -8,20 +8,25 @@ namespace omath::source_engine
 {
     Vector3<float> ForwardVector(const ViewAngles& angles)
     {
-        const auto vec = MatRotation(angles) * MatColumnFromVector(kAbsForward);
+        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 = MatRotation(angles) * MatColumnFromVector(kAbsRight);
+        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 = MatRotation(angles) * MatColumnFromVector(kAbsUp);
+        const auto vec = RotationMatrix(angles) * MatColumnFromVector(kAbsUp);
 
         return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
     }

source/engines/unity_engine/formulas.cpp

@@ -7,21 +7,21 @@
 
 namespace omath::unity_engine
 {
-    Vector3<float> unity_engine::ForwardVector(const ViewAngles& angles)
+    Vector3<float> ForwardVector(const ViewAngles& angles)
     {
-        const auto vec = MatRotation(angles) * MatColumnFromVector(kAbsForward);
+        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 = MatRotation(angles) * MatColumnFromVector(kAbsRight);
+        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 = MatRotation(angles) * MatColumnFromVector(kAbsUp);
+        const auto vec = RotationMatrix(angles) * MatColumnFromVector(kAbsUp);
 
         return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
     }
@@ -30,6 +30,12 @@ namespace omath::unity_engine
         return MatCameraView<float, MatStoreType::ROW_MAJOR>(ForwardVector(angles), -RightVector(angles),
                                                              UpVector(angles), cam_origin);
     }
+    Mat4x4 RotationMatrix(const ViewAngles& angles)
+    {
+        return MatRotationAxisZ(angles.roll) *
+               MatRotationAxisY(angles.yaw) *
+               MatRotationAxisX(angles.pitch);
+    }
     Mat4x4 CalcPerspectiveProjectionMatrix(const float fieldOfView, const float aspectRatio, const float near,
                                            const float far)
     {

source/matrix.cpp

@@ -1,6 +1,6 @@
-#include "omath/Matrix.hpp"
+#include "omath/matrix.hpp"
-#include "omath/Angles.hpp"
+#include "omath/angles.hpp"
-#include "omath/Vector3.hpp"
+#include "omath/vector3.hpp"
 
 
 #include <complex>

source/projectile_prediction/proj_pred_engine_avx2.cpp

@@ -2,7 +2,14 @@
 // Created by Vlad on 2/23/2025.
 //
 #include "omath/projectile_prediction/proj_pred_engine_avx2.hpp"
-#include "source_location"
+#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
 {
@@ -10,7 +17,7 @@ namespace omath::projectile_prediction
     ProjPredEngineAVX2::MaybeCalculateAimPoint([[maybe_unused]] const Projectile& projectile,
                                                [[maybe_unused]] const Target& target) const
     {
-#ifdef OMATH_USE_AVX2
+#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;

tests/engines/unit_test_iw_engine.cpp

@@ -27,6 +27,42 @@ TEST(UnitTestIwEngine, UpVector)
     EXPECT_EQ(up, omath::iw_engine::kAbsUp);
 }
 
+TEST(UnitTestIwEngine, ForwardVectorRotationYaw)
+{
+    omath::iw_engine::ViewAngles angles;
+
+    angles.yaw = omath::iw_engine::YawAngle::FromDegrees(-90.f);
+
+    const auto forward = omath::iw_engine::ForwardVector(angles);
+    EXPECT_NEAR(forward.x, omath::iw_engine::kAbsRight.x, 0.00001f);
+    EXPECT_NEAR(forward.y, omath::iw_engine::kAbsRight.y, 0.00001f);
+    EXPECT_NEAR(forward.z, omath::iw_engine::kAbsRight.z, 0.00001f);
+}
+
+TEST(UnitTestIwEngine, ForwardVectorRotationPitch)
+{
+    omath::iw_engine::ViewAngles angles;
+
+    angles.pitch = omath::iw_engine::PitchAngle::FromDegrees(-89.f);
+
+    const auto forward = omath::iw_engine::ForwardVector(angles);
+    EXPECT_NEAR(forward.x, omath::iw_engine::kAbsUp.x, 0.02f);
+    EXPECT_NEAR(forward.y, omath::iw_engine::kAbsUp.y, 0.01f);
+    EXPECT_NEAR(forward.z, omath::iw_engine::kAbsUp.z, 0.01f);
+}
+
+TEST(UnitTestIwEngine, ForwardVectorRotationRoll)
+{
+    omath::iw_engine::ViewAngles angles;
+
+    angles.roll = omath::iw_engine::RollAngle::FromDegrees(90.f);
+
+    const auto forward = omath::iw_engine::UpVector(angles);
+    EXPECT_NEAR(forward.x, omath::iw_engine::kAbsRight.x, 0.00001f);
+    EXPECT_NEAR(forward.y, omath::iw_engine::kAbsRight.y, 0.00001f);
+    EXPECT_NEAR(forward.z, omath::iw_engine::kAbsRight.z, 0.00001f);
+}
+
 TEST(UnitTestIwEngine, ProjectTargetMovedFromCamera)
 {
     constexpr auto fov = omath::projection::FieldOfView::FromDegrees(90.f);

tests/engines/unit_test_open_gl.cpp

@@ -10,14 +10,12 @@
 TEST(UnitTestOpenGL, ForwardVector)
 {
     const auto forward = omath::opengl_engine::ForwardVector({});
-
     EXPECT_EQ(forward, omath::opengl_engine::kAbsForward);
 }
 
 TEST(UnitTestOpenGL, RightVector)
 {
     const auto right = omath::opengl_engine::RightVector({});
-
     EXPECT_EQ(right, omath::opengl_engine::kAbsRight);
 }
 
@@ -27,6 +25,44 @@ TEST(UnitTestOpenGL, UpVector)
     EXPECT_EQ(up, omath::opengl_engine::kAbsUp);
 }
 
+TEST(UnitTestOpenGL, ForwardVectorRotationYaw)
+{
+    omath::opengl_engine::ViewAngles angles;
+
+    angles.yaw = omath::opengl_engine::YawAngle::FromDegrees(90.f);
+
+    const auto forward = omath::opengl_engine::ForwardVector(angles);
+    EXPECT_NEAR(forward.x, omath::opengl_engine::kAbsRight.x, 0.00001f);
+    EXPECT_NEAR(forward.y, omath::opengl_engine::kAbsRight.y, 0.00001f);
+    EXPECT_NEAR(forward.z, omath::opengl_engine::kAbsRight.z, 0.00001f);
+}
+
+
+
+TEST(UnitTestOpenGL, ForwardVectorRotationPitch)
+{
+    omath::opengl_engine::ViewAngles angles;
+
+    angles.pitch = omath::opengl_engine::PitchAngle::FromDegrees(-90.f);
+
+    const auto forward = omath::opengl_engine::ForwardVector(angles);
+    EXPECT_NEAR(forward.x, omath::opengl_engine::kAbsUp.x, 0.00001f);
+    EXPECT_NEAR(forward.y, omath::opengl_engine::kAbsUp.y, 0.00001f);
+    EXPECT_NEAR(forward.z, omath::opengl_engine::kAbsUp.z, 0.00001f);
+}
+
+TEST(UnitTestOpenGL, ForwardVectorRotationRoll)
+{
+    omath::opengl_engine::ViewAngles angles;
+
+    angles.roll = omath::opengl_engine::RollAngle::FromDegrees(-90.f);
+
+    const auto forward = omath::opengl_engine::UpVector(angles);
+    EXPECT_NEAR(forward.x, omath::opengl_engine::kAbsRight.x, 0.00001f);
+    EXPECT_NEAR(forward.y, omath::opengl_engine::kAbsRight.y, 0.00001f);
+    EXPECT_NEAR(forward.z, omath::opengl_engine::kAbsRight.z, 0.00001f);
+}
+
 TEST(UnitTestOpenGL, ProjectTargetMovedFromCamera)
 {
     constexpr auto fov = omath::projection::FieldOfView::FromDegrees(90.f);

tests/engines/unit_test_source_engine.cpp

@@ -27,6 +27,42 @@ TEST(UnitTestSourceEngine, UpVector)
     EXPECT_EQ(up, omath::source_engine::kAbsUp);
 }
 
+TEST(UnitTestSourceEngine, ForwardVectorRotationYaw)
+{
+    omath::source_engine::ViewAngles angles;
+
+    angles.yaw = omath::source_engine::YawAngle::FromDegrees(-90.f);
+
+    const auto forward = omath::source_engine::ForwardVector(angles);
+    EXPECT_NEAR(forward.x, omath::source_engine::kAbsRight.x, 0.00001f);
+    EXPECT_NEAR(forward.y, omath::source_engine::kAbsRight.y, 0.00001f);
+    EXPECT_NEAR(forward.z, omath::source_engine::kAbsRight.z, 0.00001f);
+}
+
+TEST(UnitTestSourceEngine, ForwardVectorRotationPitch)
+{
+    omath::source_engine::ViewAngles angles;
+
+    angles.pitch = omath::source_engine::PitchAngle::FromDegrees(-89.f);
+
+    const auto forward = omath::source_engine::ForwardVector(angles);
+    EXPECT_NEAR(forward.x, omath::source_engine::kAbsUp.x, 0.02f);
+    EXPECT_NEAR(forward.y, omath::source_engine::kAbsUp.y, 0.01f);
+    EXPECT_NEAR(forward.z, omath::source_engine::kAbsUp.z, 0.01f);
+}
+
+TEST(UnitTestSourceEngine, ForwardVectorRotationRoll)
+{
+    omath::source_engine::ViewAngles angles;
+
+    angles.roll = omath::source_engine::RollAngle::FromDegrees(90.f);
+
+    const auto forward = omath::source_engine::UpVector(angles);
+    EXPECT_NEAR(forward.x, omath::source_engine::kAbsRight.x, 0.00001f);
+    EXPECT_NEAR(forward.y, omath::source_engine::kAbsRight.y, 0.00001f);
+    EXPECT_NEAR(forward.z, omath::source_engine::kAbsRight.z, 0.00001f);
+}
+
 TEST(UnitTestSourceEngine, ProjectTargetMovedFromCamera)
 {
     constexpr auto fov = omath::projection::FieldOfView::FromDegrees(90.f);

tests/engines/unit_test_unity_engine.cpp

@@ -14,6 +14,42 @@ TEST(UnitTestUnityEngine, ForwardVector)
     EXPECT_EQ(forward, omath::unity_engine::kAbsForward);
 }
 
+TEST(UnitTestUnityEngine, ForwardVectorRotationYaw)
+{
+    omath::unity_engine::ViewAngles angles;
+
+    angles.yaw = omath::unity_engine::YawAngle::FromDegrees(90.f);
+
+    const auto forward = omath::unity_engine::ForwardVector(angles);
+    EXPECT_NEAR(forward.x, omath::unity_engine::kAbsRight.x, 0.00001f);
+    EXPECT_NEAR(forward.y, omath::unity_engine::kAbsRight.y, 0.00001f);
+    EXPECT_NEAR(forward.z, omath::unity_engine::kAbsRight.z, 0.00001f);
+}
+
+TEST(UnitTestUnityEngine, ForwardVectorRotationPitch)
+{
+    omath::unity_engine::ViewAngles angles;
+
+    angles.pitch = omath::unity_engine::PitchAngle::FromDegrees(-90.f);
+
+    const auto forward = omath::unity_engine::ForwardVector(angles);
+    EXPECT_NEAR(forward.x, omath::unity_engine::kAbsUp.x, 0.00001f);
+    EXPECT_NEAR(forward.y, omath::unity_engine::kAbsUp.y, 0.00001f);
+    EXPECT_NEAR(forward.z, omath::unity_engine::kAbsUp.z, 0.00001f);
+}
+
+TEST(UnitTestUnityEngine, ForwardVectorRotationRoll)
+{
+    omath::unity_engine::ViewAngles angles;
+
+    angles.roll = omath::unity_engine::RollAngle::FromDegrees(-90.f);
+
+    const auto forward = omath::unity_engine::UpVector(angles);
+    EXPECT_NEAR(forward.x, omath::unity_engine::kAbsRight.x, 0.00001f);
+    EXPECT_NEAR(forward.y, omath::unity_engine::kAbsRight.y, 0.00001f);
+    EXPECT_NEAR(forward.z, omath::unity_engine::kAbsRight.z, 0.00001f);
+}
+
 TEST(UnitTestUnityEngine, RightVector)
 {
     const auto right = omath::unity_engine::RightVector({});

tests/general/unit_test_color.cpp

@@ -63,9 +63,9 @@ TEST_F(UnitTestColor, FromHSV)
 TEST_F(UnitTestColor, ToHSV)
 {
     HSV hsv = color1.ToHSV(); // Red color
-    EXPECT_FLOAT_EQ(hsv.m_hue, 0.0f);
+    EXPECT_FLOAT_EQ(hsv.hue, 0.0f);
-    EXPECT_FLOAT_EQ(hsv.m_saturation, 1.0f);
+    EXPECT_FLOAT_EQ(hsv.saturation, 1.0f);
-    EXPECT_FLOAT_EQ(hsv.m_value, 1.0f);
+    EXPECT_FLOAT_EQ(hsv.value, 1.0f);
 }
 
 // Test color blending
@@ -106,7 +106,7 @@ TEST_F(UnitTestColor, BlendVector3)
 {
     constexpr Color v1(1.0f, 0.0f, 0.0f, 1.f); // Red
     constexpr Color v2(0.0f, 1.0f, 0.0f, 1.f); // Green
-    constexpr Color blended = Blend(v1, v2, 0.5f);
+    constexpr Color blended = v1.Blend(v2, 0.5f);
     EXPECT_FLOAT_EQ(blended.x, 0.5f);
     EXPECT_FLOAT_EQ(blended.y, 0.5f);
     EXPECT_FLOAT_EQ(blended.z, 0.0f);

tests/general/unit_test_mat.cpp

@@ -166,8 +166,10 @@ TEST_F(UnitTestMat, StaticMethod_ToScreenMat)
 // Test exception handling in At() method
 TEST_F(UnitTestMat, Method_At_OutOfRange)
 {
+#if !defined(NDEBUG) && defined(OMATH_SUPRESS_SAFETY_CHECKS)
     EXPECT_THROW(std::ignore = m2.At(2, 0), std::out_of_range);
     EXPECT_THROW(std::ignore = m2.At(0, 2), std::out_of_range);
+#endif
 }
 
 // Test Determinant for 3x3 matrix