Includes missing formula headers

Includes the necessary formula headers in the camera trait files for different rendering engines. This ensures that the required mathematical functions and definitions are available when using camera traits.
Fixes Vector3 conversion from ImVec2
2026-02-13 15:03:27 +00:00 · 2025-08-12 19:08:30 +03:00 · 2025-08-12 09:38:43 +03:00 · 2025-08-12 09:29:14 +03:00 · 2025-08-12 09:25:40 +03:00 · 2025-08-12 09:21:34 +03:00
57 changed files with 1093 additions and 416 deletions
--- a/.github/ISSUE_TEMPLATE/bug_report.md
+++ b/.github/ISSUE_TEMPLATE/bug_report.md
@@ -0,0 +1,38 @@
+---
+name: Bug report
+about: Create a report to help us improve
+title: ''
+labels: ''
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**To Reproduce**
+Steps to reproduce the behavior:
+1. Go to '...'
+2. Click on '....'
+3. Scroll down to '....'
+4. See error
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Screenshots**
+If applicable, add screenshots to help explain your problem.
+
+**Desktop (please complete the following information):**
+ - OS: [e.g. iOS]
+ - Browser [e.g. chrome, safari]
+ - Version [e.g. 22]
+
+**Smartphone (please complete the following information):**
+ - Device: [e.g. iPhone6]
+ - OS: [e.g. iOS8.1]
+ - Browser [e.g. stock browser, safari]
+ - Version [e.g. 22]
+
+**Additional context**
+Add any other context about the problem here.
--- a/.github/ISSUE_TEMPLATE/custom.md
+++ b/.github/ISSUE_TEMPLATE/custom.md
@@ -0,0 +1,10 @@
+---
+name: Custom issue template
+about: Describe this issue template's purpose here.
+title: ''
+labels: ''
+assignees: ''
+
+---
+
+
--- a/.github/ISSUE_TEMPLATE/feature_request.md
+++ b/.github/ISSUE_TEMPLATE/feature_request.md
@@ -0,0 +1,20 @@
+---
+name: Feature request
+about: Suggest an idea for this project
+title: ''
+labels: ''
+assignees: ''
+
+---
+
+**Is your feature request related to a problem? Please describe.**
+A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
+
+**Describe the solution you'd like**
+A clear and concise description of what you want to happen.
+
+**Describe alternatives you've considered**
+A clear and concise description of any alternative solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots about the feature request here.
--- a/.gitignore
+++ b/.gitignore
@@ -1,4 +1,5 @@
 /cmake-build/
 /.idea
 /out
-*.DS_Store
+*.DS_Store
+/extlibs/vcpkg
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,11 +1,11 @@
 cmake_minimum_required(VERSION 3.26)

-project(omath VERSION 3.0.2 LANGUAGES CXX)
+project(omath VERSION 3.2.1 LANGUAGES CXX)

 include(CMakePackageConfigHelpers)


-option(OMATH_BUILD_TESTS "Build unit tests" OFF)
+option(OMATH_BUILD_TESTS "Build unit tests" ${PROJECT_IS_TOP_LEVEL})
 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)
@@ -14,26 +14,29 @@ option(OMATH_BUILD_EXAMPLES "Build example projects with you can learn & play" O
 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)
+option(OMATH_ENABLE_LEGACY "Will enable legacy classes that MUST be used ONLY for backward compatibility" OFF)
+

 file(GLOB_RECURSE OMATH_SOURCES CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/source/*.cpp")
 file(GLOB_RECURSE OMATH_HEADERS CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/include/*.hpp")


 if (OMATH_BUILD_AS_SHARED_LIBRARY)
-    add_library(omath SHARED ${OMATH_SOURCES} ${OMATH_HEADERS})
+    add_library(${PROJECT_NAME} SHARED ${OMATH_SOURCES} ${OMATH_HEADERS})
 else ()
-    add_library(omath STATIC ${OMATH_SOURCES} ${OMATH_HEADERS})
+    add_library(${PROJECT_NAME} STATIC ${OMATH_SOURCES} ${OMATH_HEADERS})
 endif ()

-message(STATUS "Building on ${CMAKE_HOST_SYSTEM_NAME}")
-add_library(omath::omath ALIAS omath)
+message(STATUS "[OMATH]: Building on ${CMAKE_HOST_SYSTEM_NAME}")
+
+add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})

 if (OMATH_IMGUI_INTEGRATION)
-    target_compile_definitions(omath PUBLIC OMATH_IMGUI_INTEGRATION)
+    target_compile_definitions(${PROJECT_NAME} PUBLIC OMATH_IMGUI_INTEGRATION)

    # IMGUI is being linked as submodule
    if (TARGET imgui)
-        target_link_libraries(omath PUBLIC imgui)
+        target_link_libraries(${PROJECT_NAME} PUBLIC imgui)
        install(TARGETS imgui
                EXPORT omathTargets
                ARCHIVE DESTINATION lib
@@ -42,42 +45,46 @@ if (OMATH_IMGUI_INTEGRATION)
    else ()
        # Assume that IMGUI linked via VCPKG.
        find_package(imgui CONFIG REQUIRED)
-        target_link_libraries(omath PUBLIC imgui::imgui)
+        target_link_libraries(${PROJECT_NAME} PUBLIC imgui::imgui)
    endif ()

 endif ()

 if (OMATH_USE_AVX2)
-    target_compile_definitions(omath PUBLIC OMATH_USE_AVX2)
+    target_compile_definitions(${PROJECT_NAME} PUBLIC OMATH_USE_AVX2)
 endif ()

 if (OMATH_SUPRESS_SAFETY_CHECKS)
-    target_compile_definitions(omath PUBLIC OMATH_SUPRESS_SAFETY_CHECKS)
+    target_compile_definitions(${PROJECT_NAME} PUBLIC OMATH_SUPRESS_SAFETY_CHECKS)
 endif ()

-set_target_properties(omath PROPERTIES
+if (OMATH_ENABLE_LEGACY)
+    target_compile_options(${PROJECT_NAME} PUBLIC OMATH_ENABLE_LEGACY)
+endif ()
+
+set_target_properties(${PROJECT_NAME} 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
+    set_target_properties(${PROJECT_NAME} PROPERTIES
            UNITY_BUILD ON
            UNITY_BUILD_BATCH_SIZE 20)
 endif ()

 if (OMATH_STATIC_MSVC_RUNTIME_LIBRARY)
-    set_target_properties(omath PROPERTIES
+    set_target_properties(${PROJECT_NAME} PROPERTIES
            MSVC_RUNTIME_LIBRARY "MultiThreaded$<$<CONFIG:Debug>:Debug>"
    )
 endif ()

 if (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
-    target_compile_options(omath PRIVATE -mavx2 -mfma)
+    target_compile_options(${PROJECT_NAME} PRIVATE -mavx2 -mfma)
 endif ()

-target_compile_features(omath PUBLIC cxx_std_23)
+target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_23)


 if (OMATH_BUILD_TESTS)
@@ -90,12 +97,12 @@ if (OMATH_BUILD_EXAMPLES)
 endif ()

 if (CMAKE_CXX_COMPILER_ID STREQUAL "MSVC" AND OMATH_THREAT_WARNING_AS_ERROR)
-    target_compile_options(omath PRIVATE /W4 /WX)
+    target_compile_options(${PROJECT_NAME} PRIVATE /W4 /WX)
 elseif (OMATH_THREAT_WARNING_AS_ERROR)
-    target_compile_options(omath PRIVATE -Wall -Wextra -Wpedantic -Werror)
+    target_compile_options(${PROJECT_NAME} PRIVATE -Wall -Wextra -Wpedantic -Werror)
 endif ()

-target_include_directories(omath
+target_include_directories(${PROJECT_NAME}
        PUBLIC
        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>   # Use this path when building the project
        $<INSTALL_INTERFACE:include>                             # Use this path when the project is installed
@@ -105,21 +112,21 @@ target_include_directories(omath
 # Installation rules

 # Install the library
-install(TARGETS omath
-        EXPORT omathTargets
-        ARCHIVE DESTINATION lib COMPONENT omath   # For static libraries
-        LIBRARY DESTINATION lib COMPONENT omath   # For shared libraries
-        RUNTIME DESTINATION bin COMPONENT omath   # For executables (on Windows)
+install(TARGETS ${PROJECT_NAME}
+        EXPORT ${PROJECT_NAME}Targets
+        ARCHIVE DESTINATION lib COMPONENT ${PROJECT_NAME}   # For static libraries
+        LIBRARY DESTINATION lib COMPONENT ${PROJECT_NAME}   # For shared libraries
+        RUNTIME DESTINATION bin COMPONENT ${PROJECT_NAME}   # For executables (on Windows)
 )

 # Install headers as part of omath_component
-install(DIRECTORY include/ DESTINATION include COMPONENT omath)
+install(DIRECTORY include/ DESTINATION include COMPONENT ${PROJECT_NAME})

 # Export omath target for CMake find_package support, also under omath_component
-install(EXPORT omathTargets
-        FILE omathTargets.cmake
-        NAMESPACE omath::
-        DESTINATION lib/cmake/omath COMPONENT omath
+install(EXPORT ${PROJECT_NAME}Targets
+        FILE ${PROJECT_NAME}Targets.cmake
+        NAMESPACE ${PROJECT_NAME}::
+        DESTINATION lib/cmake/${PROJECT_NAME} COMPONENT ${PROJECT_NAME}
 )


@@ -134,12 +141,12 @@ write_basic_package_version_file(
 configure_package_config_file(
        "${CMAKE_CURRENT_SOURCE_DIR}/cmake/omathConfig.cmake.in"  # Path to the .in file
        "${CMAKE_CURRENT_BINARY_DIR}/omathConfig.cmake"           # Output path for the generated file
-        INSTALL_DESTINATION lib/cmake/omath
+        INSTALL_DESTINATION lib/cmake/${PROJECT_NAME}
 )

 # Install the generated config files
 install(FILES
        "${CMAKE_CURRENT_BINARY_DIR}/omathConfig.cmake"
        "${CMAKE_CURRENT_BINARY_DIR}/omathConfigVersion.cmake"
-        DESTINATION lib/cmake/omath
+        DESTINATION lib/cmake/${PROJECT_NAME}
 )
--- a/CONTRIBUTING.md
+++ b/CONTRIBUTING.md
@@ -0,0 +1,32 @@
+## 🤝 Contributing to OMath or other Orange's Projects
+
+### ❕ Prerequisites
+
+- A working up-to-date OMath installation
+- C++ knowledge
+- Git knowledge
+- Ability to ask for help (Feel free to create empty pull-request or PM a maintainer
+  in [Telegram](https://t.me/orange_cpp))
+
+### ⏬ Setting up OMath
+
+Please read INSTALL.md file in repository
+
+### 🔀 Pull requests and Branches
+
+In order to send code back to the official OMath repository, you must first create a copy of OMath on your github
+account ([fork](https://help.github.com/articles/creating-a-pull-request-from-a-fork/)) and
+then [create a pull request](https://help.github.com/articles/creating-a-pull-request-from-a-fork/) back to OMath.
+
+OMath developement is performed on multiple branches. Changes are then pull requested into master. By default, changes
+merged into master will not roll out to stable build users unless the `stable` tag is updated.
+
+### 📜 Code-Style
+
+The orange code-style can be found in `.clang-format`.
+
+### 📦 Building
+
+OMath has already created the  `cmake-build` and `out` directories where cmake/bin files are located. By default, you
+can build OMath by running `cmake --build cmake-build/build/windows-release --target omath -j 6` in the source
+directory.
--- a/INSTALL.md
+++ b/INSTALL.md
@@ -14,6 +14,20 @@ 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).

+## <img width="28px" src="https://xmake.io/assets/img/logo.svg" /> Using xrepo
+**Note**: Support xrepo for package management
+1. Install [xmake](https://xmake.io/)
+2. Run the following command to install the omath package:
+```
+xrepo install omath
+```
+xmake.lua
+```xmake
+add_requires("omath")
+target("...")
+    add_packages("omath")
+```
+
 ## <img width="28px" src="https://upload.wikimedia.org/wikipedia/commons/e/ef/CMake_logo.svg?" /> Build from source using CMake 
 1. **Preparation**
   
--- a/README.md
+++ b/README.md
@@ -7,11 +7,25 @@
 ![GitHub top language](https://img.shields.io/github/languages/top/orange-cpp/omath)
 [![CodeFactor](https://www.codefactor.io/repository/github/orange-cpp/omath/badge)](https://www.codefactor.io/repository/github/orange-cpp/omath)
 ![GitHub Actions Workflow Status](https://img.shields.io/github/actions/workflow/status/orange-cpp/omath/cmake-multi-platform.yml)
+[![Vcpkg package](https://repology.org/badge/version-for-repo/vcpkg/orange-math.svg)](https://repology.org/project/orange-math/versions)
 ![GitHub forks](https://img.shields.io/github/forks/orange-cpp/omath)
+[![discord badge](https://dcbadge.limes.pink/api/server/https://discord.gg/eDgdaWbqwZ?style=flat)](https://discord.gg/eDgdaWbqwZ)
+[![telegram badge](https://img.shields.io/badge/Telegram-2CA5E0?style=flat-squeare&logo=telegram&logoColor=white)](https://t.me/orangennotes)
+
 </div>

 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.

+<div align = center>
+ <a href="https://www.star-history.com/#orange-cpp/omath&Date">
+  <picture>
+    <source media="(prefers-color-scheme: dark)" srcset="https://api.star-history.com/svg?repos=orange-cpp/omath&type=Date&theme=dark" />
+    <source media="(prefers-color-scheme: light)" srcset="https://api.star-history.com/svg?repos=orange-cpp/omath&type=Date" />
+    <img alt="Star History Chart" src="https://api.star-history.com/svg?repos=orange-cpp/omath&type=Date" />
+  </picture>
+ </a>
+</div>
+
 ## 👁‍🗨 Features
 - **Efficiency**: Optimized for performance, ensuring quick computations using AVX2.
 - **Versatility**: Includes a wide array of mathematical functions and algorithms.
@@ -71,7 +85,7 @@ Or even advanced projectile aimbot
 Contributions to `omath` are welcome! Please read `CONTRIBUTING.md` for details on our code of conduct and the process for submitting pull requests.

 ## 📜 License
-This project is licensed under the MIT - see the `LICENSE` file for details.
+This project is licensed under the ZLIB - see the `LICENSE` file for details.

 ## 💘 Acknowledgments
 -  [All contributors](https://github.com/orange-cpp/omath/graphs/contributors)
--- a/cmake/omathConfig.cmake.in
+++ b/cmake/omathConfig.cmake.in
@@ -2,6 +2,10 @@

 include(CMakeFindDependencyMacro)

+if (@OMATH_IMGUI_INTEGRATION@)
+    find_dependency(imgui CONFIG)
+endif()
+
 # Load the targets for the omath library
 include("${CMAKE_CURRENT_LIST_DIR}/omathTargets.cmake")
 check_required_components(omath)
--- a/extlibs/googletest
+++ b/extlibs/googletest
--- a/include/omath/color.hpp
+++ b/include/omath/color.hpp
@@ -166,5 +166,12 @@ namespace omath
        {
            return {0.f, 0.f, 1.f, 1.f};
        }
+#ifdef OMATH_IMGUI_INTEGRATION
+        [[nodiscard]]
+        ImColor to_im_color() const noexcept
+        {
+            return {to_im_vec4()};
+        }
+#endif
    };
 } // namespace omath
--- a/include/omath/engines/iw_engine/camera.hpp
+++ b/include/omath/engines/iw_engine/camera.hpp
@@ -5,18 +5,9 @@
 #pragma once
 #include "omath/engines/iw_engine/constants.hpp"
 #include "omath/projection/camera.hpp"
+#include "traits/camera_trait.hpp"

 namespace omath::iw_engine
 {
-    class Camera final : public projection::Camera<Mat4X4, ViewAngles>
-    {
-    public:
-        Camera(const Vector3<float>& position, const ViewAngles& view_angles, const projection::ViewPort& view_port,
-               const Angle<float, 0.f, 180.f, AngleFlags::Clamped>& fov, float near, float far);
-        void look_at(const Vector3<float>& target) override;
-
-    protected:
-        [[nodiscard]] Mat4X4 calc_view_matrix() const noexcept override;
-        [[nodiscard]] Mat4X4 calc_projection_matrix() const noexcept override;
-    };
+    using Camera =  projection::Camera<Mat4X4, ViewAngles, CameraTrait>;
 } // namespace omath::iw_engine
--- a/include/omath/engines/iw_engine/traits/camera_trait.hpp
+++ b/include/omath/engines/iw_engine/traits/camera_trait.hpp
@@ -0,0 +1,24 @@
+//
+// Created by Vlad on 8/10/2025.
+//
+
+#pragma once
+#include "omath/engines/iw_engine/constants.hpp"
+#include "omath/projection/camera.hpp"
+
+namespace omath::iw_engine
+{
+    class CameraTrait final
+    {
+    public:
+        [[nodiscard]]
+        static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept;
+
+        [[nodiscard]]
+        static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+        [[nodiscard]]
+        static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
+                                             float near, float far) noexcept;
+    };
+
+} // namespace omath::iw_engine
--- a/include/omath/engines/iw_engine/traits/pred_engine_trait.hpp
+++ b/include/omath/engines/iw_engine/traits/pred_engine_trait.hpp
@@ -0,0 +1,79 @@
+//
+// Created by Vlad on 8/6/2025.
+//
+#pragma once
+
+#include "omath/engines/iw_engine/formulas.hpp"
+#include "omath/projectile_prediction/projectile.hpp"
+#include "omath/projectile_prediction/target.hpp"
+#include <optional>
+
+namespace omath::iw_engine
+{
+    class PredEngineTrait final
+    {
+    public:
+        constexpr static Vector3<float> predict_projectile_position(const projectile_prediction::Projectile& projectile,
+                                                                    const float pitch, const float yaw,
+                                                                    const float time, const float gravity) noexcept
+        {
+            auto current_pos = projectile.m_origin
+                               + forward_vector({PitchAngle::from_degrees(-pitch), YawAngle::from_degrees(yaw),
+                                                 RollAngle::from_degrees(0)})
+                                         * projectile.m_launch_speed * time;
+            current_pos.z -= (gravity * projectile.m_gravity_scale) * (time * time) * 0.5f;
+
+            return current_pos;
+        }
+        [[nodiscard]]
+        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target& target,
+                                                                const float time, const float gravity) noexcept
+        {
+            auto predicted = target.m_origin + target.m_velocity * time;
+
+            if (target.m_is_airborne)
+                predicted.z -= gravity * (time * time) * 0.5f;
+
+            return predicted;
+        }
+        [[nodiscard]]
+        static float calc_vector_2d_distance(const Vector3<float>& delta) noexcept
+        {
+            return std::sqrt(delta.x * delta.x + delta.y * delta.y);
+        }
+
+        [[nodiscard]]
+        constexpr static float get_vector_height_coordinate(const Vector3<float>& vec) noexcept
+        {
+            return vec.z;
+        }
+
+        [[nodiscard]]
+        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile& projectile,
+                                                         Vector3<float> predicted_target_position,
+                                                         const std::optional<float> projectile_pitch) noexcept
+        {
+            const auto delta2d = calc_vector_2d_distance(predicted_target_position - projectile.m_origin);
+            const auto height = delta2d * std::tan(angles::degrees_to_radians(projectile_pitch.value()));
+
+            return {predicted_target_position.x, predicted_target_position.y, projectile.m_origin.z + height};
+        }
+        // Due to specification of maybe_calculate_projectile_launch_pitch_angle, pitch angle must be:
+        // 89 look up, -89 look down
+        [[nodiscard]]
+        static float calc_direct_pitch_angle(const Vector3<float>& origin, const Vector3<float>& view_to) noexcept
+        {
+            const auto distance = origin.distance_to(view_to);
+            const auto delta = view_to - origin;
+
+            return angles::radians_to_degrees(std::asin(delta.z / distance));
+        }
+        [[nodiscard]]
+        static float calc_direct_yaw_angle(const Vector3<float>& origin, const Vector3<float>& view_to) noexcept
+        {
+            const auto delta = view_to - origin;
+
+            return angles::radians_to_degrees(std::atan2(delta.y, delta.x));
+        };
+    };
+} // namespace omath::iw_engine
--- a/include/omath/engines/opengl_engine/camera.hpp
+++ b/include/omath/engines/opengl_engine/camera.hpp
@@ -4,16 +4,9 @@
 #pragma once
 #include "omath/engines/opengl_engine/constants.hpp"
 #include "omath/projection/camera.hpp"
+#include "traits/camera_trait.hpp"

 namespace omath::opengl_engine
 {
-    class Camera final : public projection::Camera<Mat4X4, ViewAngles>
-    {
-    public:
-        Camera(const Vector3<float>& position, const ViewAngles& view_angles, const projection::ViewPort& view_port,
-               const Angle<float, 0.f, 180.f, AngleFlags::Clamped>& fov, float near, float far);
-        void look_at(const Vector3<float>& target) override;
-        [[nodiscard]] Mat4X4 calc_view_matrix() const noexcept override;
-        [[nodiscard]] Mat4X4 calc_projection_matrix() const noexcept override;
-    };
+    using Camera =  projection::Camera<Mat4X4, ViewAngles, CameraTrait>;
 } // namespace omath::opengl_engine
--- a/include/omath/engines/opengl_engine/traits/camera_trait.hpp
+++ b/include/omath/engines/opengl_engine/traits/camera_trait.hpp
@@ -0,0 +1,24 @@
+//
+// Created by Vlad on 8/10/2025.
+//
+
+#pragma once
+#include "omath/engines/opengl_engine/constants.hpp"
+#include "omath/projection/camera.hpp"
+
+namespace omath::opengl_engine
+{
+    class CameraTrait final
+    {
+    public:
+        [[nodiscard]]
+        static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept;
+
+        [[nodiscard]]
+        static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+        [[nodiscard]]
+        static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
+                                             float near, float far) noexcept;
+    };
+
+} // namespace omath::opengl_engine
--- a/include/omath/engines/opengl_engine/traits/pred_engine_trait.hpp
+++ b/include/omath/engines/opengl_engine/traits/pred_engine_trait.hpp
@@ -0,0 +1,78 @@
+//
+// Created by Vlad on 8/6/2025.
+//
+#pragma once
+#include "omath/engines/opengl_engine/formulas.hpp"
+#include "omath/projectile_prediction/projectile.hpp"
+#include "omath/projectile_prediction/target.hpp"
+#include <optional>
+
+namespace omath::opengl_engine
+{
+    class PredEngineTrait final
+    {
+    public:
+        constexpr static Vector3<float> predict_projectile_position(const projectile_prediction::Projectile& projectile,
+                                                                    const float pitch, const float yaw,
+                                                                    const float time, const float gravity) noexcept
+        {
+            auto current_pos = projectile.m_origin
+                               + forward_vector({PitchAngle::from_degrees(-pitch), YawAngle::from_degrees(yaw),
+                                                 RollAngle::from_degrees(0)})
+                                         * projectile.m_launch_speed * time;
+            current_pos.y -= (gravity * projectile.m_gravity_scale) * (time * time) * 0.5f;
+
+            return current_pos;
+        }
+        [[nodiscard]]
+        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target& target,
+                                                                const float time, const float gravity) noexcept
+        {
+            auto predicted = target.m_origin + target.m_velocity * time;
+
+            if (target.m_is_airborne)
+                predicted.y -= gravity * (time * time) * 0.5f;
+
+            return predicted;
+        }
+        [[nodiscard]]
+        static float calc_vector_2d_distance(const Vector3<float>& delta) noexcept
+        {
+            return std::sqrt(delta.x * delta.x + delta.z * delta.z);
+        }
+
+        [[nodiscard]]
+        constexpr static float get_vector_height_coordinate(const Vector3<float>& vec) noexcept
+        {
+            return vec.y;
+        }
+
+        [[nodiscard]]
+        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile& projectile,
+                                                         Vector3<float> predicted_target_position,
+                                                         const std::optional<float> projectile_pitch) noexcept
+        {
+            const auto delta2d = calc_vector_2d_distance(predicted_target_position - projectile.m_origin);
+            const auto height = delta2d * std::tan(angles::degrees_to_radians(projectile_pitch.value()));
+
+            return {predicted_target_position.x, predicted_target_position.y + height, projectile.m_origin.z};
+        }
+        // Due to specification of maybe_calculate_projectile_launch_pitch_angle, pitch angle must be:
+        // 89 look up, -89 look down
+        [[nodiscard]]
+        static float calc_direct_pitch_angle(const Vector3<float>& origin, const Vector3<float>& view_to) noexcept
+        {
+            const auto distance = origin.distance_to(view_to);
+            const auto delta = view_to - origin;
+
+            return angles::radians_to_degrees(std::asin(delta.y / distance));
+        }
+        [[nodiscard]]
+        static float calc_direct_yaw_angle(const Vector3<float>& origin, const Vector3<float>& view_to) noexcept
+        {
+            const auto delta = view_to - origin;
+
+            return angles::radians_to_degrees(std::atan2(delta.z, delta.x));
+        };
+    };
+} // namespace omath::opengl_engine
--- a/include/omath/engines/source_engine/camera.hpp
+++ b/include/omath/engines/source_engine/camera.hpp
@@ -4,18 +4,8 @@
 #pragma once
 #include "omath/engines/source_engine/constants.hpp"
 #include "omath/projection/camera.hpp"
-
+#include "traits/camera_trait.hpp"
 namespace omath::source_engine
 {
-    class Camera final : public projection::Camera<Mat4X4, ViewAngles>
-    {
-    public:
-        Camera(const Vector3<float>& position, const ViewAngles& view_angles, const projection::ViewPort& view_port,
-               const Angle<float, 0.f, 180.f, AngleFlags::Clamped>& fov, float near, float far);
-        void look_at(const Vector3<float>& target) override;
-
-    protected:
-        [[nodiscard]] Mat4X4 calc_view_matrix() const noexcept override;
-        [[nodiscard]] Mat4X4 calc_projection_matrix() const noexcept override;
-    };
+    using Camera =  projection::Camera<Mat4X4, ViewAngles, CameraTrait>;
 } // namespace omath::source_engine
--- a/include/omath/engines/source_engine/traits/camera_trait.hpp
+++ b/include/omath/engines/source_engine/traits/camera_trait.hpp
@@ -0,0 +1,24 @@
+//
+// Created by Vlad on 8/10/2025.
+//
+
+#pragma once
+#include "omath/engines/source_engine/constants.hpp"
+#include "omath/projection/camera.hpp"
+
+namespace omath::source_engine
+{
+    class CameraTrait final
+    {
+    public:
+        [[nodiscard]]
+        static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept;
+
+        [[nodiscard]]
+        static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+        [[nodiscard]]
+        static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
+                                             float near, float far) noexcept;
+    };
+
+} // namespace omath::source_engine
--- a/include/omath/engines/source_engine/traits/pred_engine_trait.hpp
+++ b/include/omath/engines/source_engine/traits/pred_engine_trait.hpp
@@ -0,0 +1,79 @@
+//
+// Created by Vlad on 8/3/2025.
+//
+
+#pragma once
+#include "omath/engines/source_engine/formulas.hpp"
+#include "omath/projectile_prediction/projectile.hpp"
+#include "omath/projectile_prediction/target.hpp"
+#include <optional>
+
+namespace omath::source_engine
+{
+    class PredEngineTrait final
+    {
+    public:
+        constexpr static Vector3<float> predict_projectile_position(const projectile_prediction::Projectile& projectile,
+                                                                    const float pitch, const float yaw,
+                                                                    const float time, const float gravity) noexcept
+        {
+            auto current_pos = projectile.m_origin
+                               + forward_vector({PitchAngle::from_degrees(-pitch), YawAngle::from_degrees(yaw),
+                                                 RollAngle::from_degrees(0)})
+                                         * projectile.m_launch_speed * time;
+            current_pos.z -= (gravity * projectile.m_gravity_scale) * (time * time) * 0.5f;
+
+            return current_pos;
+        }
+        [[nodiscard]]
+        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target& target,
+                                                                const float time, const float gravity) noexcept
+        {
+            auto predicted = target.m_origin + target.m_velocity * time;
+
+            if (target.m_is_airborne)
+                predicted.z -= gravity * (time * time) * 0.5f;
+
+            return predicted;
+        }
+        [[nodiscard]]
+        static float calc_vector_2d_distance(const Vector3<float>& delta) noexcept
+        {
+            return std::sqrt(delta.x * delta.x + delta.y * delta.y);
+        }
+
+        [[nodiscard]]
+        constexpr static float get_vector_height_coordinate(const Vector3<float>& vec) noexcept
+        {
+            return vec.z;
+        }
+
+        [[nodiscard]]
+        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile& projectile,
+                                                         Vector3<float> predicted_target_position,
+                                                         const std::optional<float> projectile_pitch) noexcept
+        {
+            const auto delta2d = calc_vector_2d_distance(predicted_target_position - projectile.m_origin);
+            const auto height = delta2d * std::tan(angles::degrees_to_radians(projectile_pitch.value()));
+
+            return {predicted_target_position.x, predicted_target_position.y, projectile.m_origin.z + height};
+        }
+        // Due to specification of maybe_calculate_projectile_launch_pitch_angle, pitch angle must be:
+        // 89 look up, -89 look down
+        [[nodiscard]]
+        static float calc_direct_pitch_angle(const Vector3<float>& origin, const Vector3<float>& view_to) noexcept
+        {
+            const auto distance = origin.distance_to(view_to);
+            const auto delta = view_to - origin;
+
+            return angles::radians_to_degrees(std::asin(delta.z / distance));
+        }
+        [[nodiscard]]
+        static float calc_direct_yaw_angle(const Vector3<float>& origin, const Vector3<float>& view_to) noexcept
+        {
+            const auto delta = view_to - origin;
+
+            return angles::radians_to_degrees(std::atan2(delta.y, delta.x));
+        };
+    };
+} // namespace omath::source_engine
--- a/include/omath/engines/unity_engine/camera.hpp
+++ b/include/omath/engines/unity_engine/camera.hpp
@@ -5,18 +5,9 @@
 #pragma once
 #include "omath/engines/unity_engine/constants.hpp"
 #include "omath/projection/camera.hpp"
+#include "traits/camera_trait.hpp"

 namespace omath::unity_engine
 {
-    class Camera final : public projection::Camera<Mat4X4, ViewAngles>
-    {
-    public:
-        Camera(const Vector3<float>& position, const ViewAngles& view_angles, const projection::ViewPort& view_port,
-               const Angle<float, 0.f, 180.f, AngleFlags::Clamped>& fov, float near, float far);
-        void look_at(const Vector3<float>& target) override;
-
-    protected:
-        [[nodiscard]] Mat4X4 calc_view_matrix() const noexcept override;
-        [[nodiscard]] Mat4X4 calc_projection_matrix() const noexcept override;
-    };
+    using Camera =  projection::Camera<Mat4X4, ViewAngles, CameraTrait>;
 } // namespace omath::unity_engine
--- a/include/omath/engines/unity_engine/traits/camera_trait.hpp
+++ b/include/omath/engines/unity_engine/traits/camera_trait.hpp
@@ -0,0 +1,24 @@
+//
+// Created by Vlad on 8/10/2025.
+//
+
+#pragma once
+#include "omath/engines/unity_engine/formulas.hpp"
+#include "omath/projection/camera.hpp"
+
+namespace omath::unity_engine
+{
+    class CameraTrait final
+    {
+    public:
+        [[nodiscard]]
+        static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept;
+
+        [[nodiscard]]
+        static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+        [[nodiscard]]
+        static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
+                                             float near, float far) noexcept;
+    };
+
+} // namespace omath::unity_engine
--- a/include/omath/engines/unity_engine/traits/pred_engine_trait.hpp
+++ b/include/omath/engines/unity_engine/traits/pred_engine_trait.hpp
@@ -0,0 +1,78 @@
+//
+// Created by Vlad on 8/6/2025.
+//
+#pragma once
+#include "omath/engines/unity_engine/formulas.hpp"
+#include "omath/projectile_prediction/projectile.hpp"
+#include "omath/projectile_prediction/target.hpp"
+#include <optional>
+
+namespace omath::unity_engine
+{
+    class PredEngineTrait final
+    {
+    public:
+        constexpr static Vector3<float> predict_projectile_position(const projectile_prediction::Projectile& projectile,
+                                                                    const float pitch, const float yaw,
+                                                                    const float time, const float gravity) noexcept
+        {
+            auto current_pos = projectile.m_origin
+                               + forward_vector({PitchAngle::from_degrees(-pitch), YawAngle::from_degrees(yaw),
+                                                 RollAngle::from_degrees(0)})
+                                         * projectile.m_launch_speed * time;
+            current_pos.y -= (gravity * projectile.m_gravity_scale) * (time * time) * 0.5f;
+
+            return current_pos;
+        }
+        [[nodiscard]]
+        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target& target,
+                                                                const float time, const float gravity) noexcept
+        {
+            auto predicted = target.m_origin + target.m_velocity * time;
+
+            if (target.m_is_airborne)
+                predicted.y -= gravity * (time * time) * 0.5f;
+
+            return predicted;
+        }
+        [[nodiscard]]
+        static float calc_vector_2d_distance(const Vector3<float>& delta) noexcept
+        {
+            return std::sqrt(delta.x * delta.x + delta.z * delta.z);
+        }
+
+        [[nodiscard]]
+        constexpr static float get_vector_height_coordinate(const Vector3<float>& vec) noexcept
+        {
+            return vec.y;
+        }
+
+        [[nodiscard]]
+        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile& projectile,
+                                                         Vector3<float> predicted_target_position,
+                                                         const std::optional<float> projectile_pitch) noexcept
+        {
+            const auto delta2d = calc_vector_2d_distance(predicted_target_position - projectile.m_origin);
+            const auto height = delta2d * std::tan(angles::degrees_to_radians(projectile_pitch.value()));
+
+            return {predicted_target_position.x, predicted_target_position.y + height, projectile.m_origin.z};
+        }
+        // Due to specification of maybe_calculate_projectile_launch_pitch_angle, pitch angle must be:
+        // 89 look up, -89 look down
+        [[nodiscard]]
+        static float calc_direct_pitch_angle(const Vector3<float>& origin, const Vector3<float>& view_to) noexcept
+        {
+            const auto distance = origin.distance_to(view_to);
+            const auto delta = view_to - origin;
+
+            return angles::radians_to_degrees(std::asin(delta.y / distance));
+        }
+        [[nodiscard]]
+        static float calc_direct_yaw_angle(const Vector3<float>& origin, const Vector3<float>& view_to) noexcept
+        {
+            const auto delta = view_to - origin;
+
+            return angles::radians_to_degrees(std::atan2(delta.z, delta.x));
+        };
+    };
+} // namespace omath::unity_engine
--- a/include/omath/matrix.hpp
+++ b/include/omath/matrix.hpp
@@ -1,4 +1,7 @@
 #pragma once
+
+#ifdef OMATH_ENABLE_LEGACY
+
 #include "omath/vector3.hpp"
 #include <initializer_list>
 #include <memory>
@@ -106,3 +109,4 @@ namespace omath
        std::unique_ptr<float[]> m_data;
    };
 } // namespace omath
+#endif
--- a/include/omath/projectile_prediction/proj_pred_engine.hpp
+++ b/include/omath/projectile_prediction/proj_pred_engine.hpp
@@ -8,12 +8,12 @@

 namespace omath::projectile_prediction
 {
-    class ProjPredEngine
+    class ProjPredEngineInterface
    {
    public:
        [[nodiscard]]
        virtual std::optional<Vector3<float>> maybe_calculate_aim_point(const Projectile& projectile,
                                                                        const Target& target) const = 0;
-        virtual ~ProjPredEngine() = default;
+        virtual ~ProjPredEngineInterface() = default;
    };
 } // namespace omath::projectile_prediction
--- a/include/omath/projectile_prediction/proj_pred_engine_avx2.hpp
+++ b/include/omath/projectile_prediction/proj_pred_engine_avx2.hpp
@@ -6,7 +6,7 @@

 namespace omath::projectile_prediction
 {
-    class ProjPredEngineAvx2 final : public ProjPredEngine
+    class ProjPredEngineAvx2 final : public ProjPredEngineInterface
    {
    public:
        [[nodiscard]] std::optional<Vector3<float>>
--- a/include/omath/projectile_prediction/proj_pred_engine_legacy.hpp
+++ b/include/omath/projectile_prediction/proj_pred_engine_legacy.hpp
@@ -4,6 +4,7 @@

 #pragma once

+#include "omath/engines/source_engine/traits/pred_engine_trait.hpp"
 #include "omath/projectile_prediction/proj_pred_engine.hpp"
 #include "omath/projectile_prediction/projectile.hpp"
 #include "omath/projectile_prediction/target.hpp"
@@ -12,15 +13,65 @@

 namespace omath::projectile_prediction
 {
-    class ProjPredEngineLegacy final : public ProjPredEngine
+    template<class T>
+    concept PredEngineConcept =
+            requires(const Projectile& projectile, const Target& target, const Vector3<float>& vec_a,
+                     const Vector3<float>& vec_b,
+                     Vector3<float> v3, // by-value for calc_viewpoint_from_angles
+                     float pitch, float yaw, float time, float gravity, std::optional<float> maybe_pitch) {
+                // Presence + return types
+                { T::predict_projectile_position(projectile, pitch, yaw, time, gravity) } -> std::same_as<Vec3>;
+                { T::predict_target_position(target, time, gravity) } -> std::same_as<Vec3>;
+                { T::calc_vector_2d_distance(vec_a) } -> std::same_as<float>;
+                { T::get_vector_height_coordinate(vec_b) } -> std::same_as<float>;
+                { T::calc_viewpoint_from_angles(projectile, v3, maybe_pitch) } -> std::same_as<Vec3>;
+                { T::calc_direct_pitch_angle(vec_a, vec_b) } -> std::same_as<float>;
+                { T::calc_direct_yaw_angle(vec_a, vec_b) } -> std::same_as<float>;
+
+                // Enforce noexcept as in PredEngineTrait
+                requires noexcept(T::predict_projectile_position(projectile, pitch, yaw, time, gravity));
+                requires noexcept(T::predict_target_position(target, time, gravity));
+                requires noexcept(T::calc_vector_2d_distance(vec_a));
+                requires noexcept(T::get_vector_height_coordinate(vec_b));
+                requires noexcept(T::calc_viewpoint_from_angles(projectile, v3, maybe_pitch));
+                requires noexcept(T::calc_direct_pitch_angle(vec_a, vec_b));
+                requires noexcept(T::calc_direct_yaw_angle(vec_a, vec_b));
+            };
+    template<class EngineTrait = source_engine::PredEngineTrait>
+    requires PredEngineConcept<EngineTrait>
+    class ProjPredEngineLegacy final : public ProjPredEngineInterface
    {
    public:
-        explicit ProjPredEngineLegacy(float gravity_constant, float simulation_time_step, float maximum_simulation_time,
-                                      float distance_tolerance);
+        explicit ProjPredEngineLegacy(const float gravity_constant, const float simulation_time_step,
+                                      const float maximum_simulation_time, const float distance_tolerance)
+            : m_gravity_constant(gravity_constant), m_simulation_time_step(simulation_time_step),
+              m_maximum_simulation_time(maximum_simulation_time), m_distance_tolerance(distance_tolerance)
+        {
+        }

        [[nodiscard]]
        std::optional<Vector3<float>> maybe_calculate_aim_point(const Projectile& projectile,
-                                                                const Target& target) const override;
+                                                                const Target& target) const override
+        {
+            for (float time = 0.f; time < m_maximum_simulation_time; time += m_simulation_time_step)
+            {
+                const auto predicted_target_position =
+                        EngineTrait::predict_target_position(target, time, m_gravity_constant);
+
+                const auto projectile_pitch =
+                        maybe_calculate_projectile_launch_pitch_angle(projectile, predicted_target_position);
+
+                if (!projectile_pitch.has_value()) [[unlikely]]
+                    continue;
+
+                if (!is_projectile_reached_target(predicted_target_position, projectile, projectile_pitch.value(),
+                                                  time))
+                    continue;
+
+                return EngineTrait::calc_viewpoint_from_angles(projectile, predicted_target_position, projectile_pitch);
+            }
+            return std::nullopt;
+        }

    private:
        const float m_gravity_constant;
@@ -28,13 +79,56 @@ namespace omath::projectile_prediction
        const float m_maximum_simulation_time;
        const float m_distance_tolerance;

+        // Realization of this formula:
+        // https://stackoverflow.com/questions/54917375/how-to-calculate-the-angle-to-shoot-a-bullet-in-order-to-hit-a-moving-target
+        /*
+        \[
+        \theta \;=\; \arctan\!\Biggl(
+        \frac{%
+        v^{2}\;\pm\;\sqrt{\,v^{4}-g\!\left(gx^{2}+2yv^{2}\right)\,}
+        }{%
+        gx
+       }\Biggr)
+       \]
+        */
        [[nodiscard]]
        std::optional<float>
        maybe_calculate_projectile_launch_pitch_angle(const Projectile& projectile,
-                                                      const Vector3<float>& target_position) const noexcept;
+                                                      const Vector3<float>& target_position) const noexcept
+        {
+            const auto bullet_gravity = m_gravity_constant * projectile.m_gravity_scale;

+            if (bullet_gravity == 0.f)
+                return EngineTrait::calc_direct_pitch_angle(projectile.m_origin, target_position);
+
+            const auto delta = target_position - projectile.m_origin;
+
+            const auto distance2d = EngineTrait::calc_vector_2d_distance(delta);
+            const auto distance2d_sqr = distance2d * distance2d;
+            const auto launch_speed_sqr = projectile.m_launch_speed * projectile.m_launch_speed;
+
+            float root = launch_speed_sqr * launch_speed_sqr
+                         - bullet_gravity
+                                   * (bullet_gravity * distance2d_sqr
+                                      + 2.0f * EngineTrait::get_vector_height_coordinate(delta) * launch_speed_sqr);
+
+            if (root < 0.0f) [[unlikely]]
+                return std::nullopt;
+
+            root = std::sqrt(root);
+            const float angle = std::atan((launch_speed_sqr - root) / (bullet_gravity * distance2d));
+
+            return angles::radians_to_degrees(angle);
+        }
        [[nodiscard]]
        bool is_projectile_reached_target(const Vector3<float>& target_position, const Projectile& projectile,
-                                          float pitch, float time) const noexcept;
+                                          const float pitch, const float time) const noexcept
+        {
+            const auto yaw = EngineTrait::calc_direct_yaw_angle(projectile.m_origin, target_position);
+            const auto projectile_position =
+                    EngineTrait::predict_projectile_position(projectile, pitch, yaw, time, m_gravity_constant);
+
+            return projectile_position.distance_to(target_position) <= m_distance_tolerance;
+        }
    };
 } // namespace omath::projectile_prediction
--- a/include/omath/projectile_prediction/projectile.hpp
+++ b/include/omath/projectile_prediction/projectile.hpp
@@ -10,9 +10,6 @@ namespace omath::projectile_prediction
    class Projectile final
    {
    public:
-        [[nodiscard]]
-        Vector3<float> predict_position(float pitch, float yaw, float time, float gravity) const noexcept;
-
        Vector3<float> m_origin;
        float m_launch_speed{};
        float m_gravity_scale{};
--- a/include/omath/projectile_prediction/target.hpp
+++ b/include/omath/projectile_prediction/target.hpp
@@ -10,17 +10,6 @@ namespace omath::projectile_prediction
    class Target final
    {
    public:
-        [[nodiscard]]
-        constexpr Vector3<float> predict_position(const float time, const float gravity) const noexcept
-        {
-            auto predicted = m_origin + m_velocity * time;
-
-            if (m_is_airborne)
-                predicted.z -= gravity * (time*time) * 0.5f;
-
-            return predicted;
-        }
-
        Vector3<float> m_origin;
        Vector3<float> m_velocity;
        bool m_is_airborne{};
--- a/include/omath/projection/camera.hpp
+++ b/include/omath/projection/camera.hpp
@@ -26,11 +26,27 @@ namespace omath::projection
    };
    using FieldOfView = Angle<float, 0.f, 180.f, AngleFlags::Clamped>;

-    template<class Mat4X4Type, class ViewAnglesType>
-    class Camera
+    template<class T, class MatType, class ViewAnglesType>
+    concept CameraEngineConcept =
+            requires(const Vector3<float>& cam_origin, const Vector3<float>& look_at, const ViewAnglesType& angles,
+                     const FieldOfView& fov, const ViewPort& viewport, float znear, float zfar) {
+                // Presence + return types
+                { T::calc_look_at_angle(cam_origin, look_at) } -> std::same_as<ViewAnglesType>;
+                { T::calc_view_matrix(angles, cam_origin) } -> std::same_as<MatType>;
+                { T::calc_projection_matrix(fov, viewport, znear, zfar) } -> std::same_as<MatType>;
+
+                // Enforce noexcept as in the trait declaration
+                requires noexcept(T::calc_look_at_angle(cam_origin, look_at));
+                requires noexcept(T::calc_view_matrix(angles, cam_origin));
+                requires noexcept(T::calc_projection_matrix(fov, viewport, znear, zfar));
+            };
+
+    template<class Mat4X4Type, class ViewAnglesType, class TraitClass>
+    requires CameraEngineConcept<TraitClass, Mat4X4Type, ViewAnglesType>
+    class Camera final
    {
    public:
-        virtual ~Camera() = default;
+        ~Camera() = default;
        Camera(const Vector3<float>& position, const ViewAnglesType& view_angles, const ViewPort& view_port,
               const FieldOfView& fov, const float near, const float far) noexcept
            : m_view_port(view_port), m_field_of_view(fov), m_far_plane_distance(far), m_near_plane_distance(near),
@@ -39,15 +55,16 @@ namespace omath::projection
        }

    protected:
-        virtual void look_at(const Vector3<float>& target) = 0;
-
-        [[nodiscard]] virtual Mat4X4Type calc_view_matrix() const noexcept = 0;
-
-        [[nodiscard]] virtual Mat4X4Type calc_projection_matrix() const noexcept = 0;
+        void look_at(const Vector3<float>& target)
+        {
+            m_view_angles = TraitClass::calc_look_at_angle(m_origin, target);
+        }

        [[nodiscard]] Mat4X4Type calc_view_projection_matrix() const noexcept
        {
-            return calc_projection_matrix() * calc_view_matrix();
+            return TraitClass::calc_projection_matrix(m_field_of_view, m_view_port, m_near_plane_distance,
+                                                      m_far_plane_distance)
+                   * TraitClass::calc_view_matrix(m_view_angles, m_origin);
        }

    public:
@@ -169,6 +186,18 @@ namespace omath::projection

        [[nodiscard]] Vector3<float> ndc_to_screen_position(const Vector3<float>& ndc) const noexcept
        {
+/*
+                    ^
+                    |        y
+                1   |
+                    |
+                    |
+        -1 ---------0--------- 1  --> x
+                    |
+                    |
+               -1   |
+                    v
+*/
            return {(ndc.x + 1.f) / 2.f * m_view_port.m_width, (1.f - ndc.y) / 2.f * m_view_port.m_height, ndc.z};
        }
    };
--- a/include/omath/triangle.hpp
+++ b/include/omath/triangle.hpp
@@ -7,11 +7,12 @@
 namespace omath
 {
    /*
+    v1
    |\
    | \
  a |  \ hypot
    |   \
-    -----
+ v2 ----- v3
      b
    */

--- a/include/omath/vector2.hpp
+++ b/include/omath/vector2.hpp
@@ -142,7 +142,7 @@ namespace omath
        [[nodiscard]] Vector2 normalized() const noexcept
        {
            const Type len = length();
-            return len > 0.f ? *this / len : *this;
+            return len > static_cast<Type>(0) ? *this / len : *this;
        }
 #endif
        [[nodiscard]] constexpr Type length_sqr() const noexcept
@@ -153,8 +153,8 @@ namespace omath
        constexpr Vector2& abs() noexcept
        {
            // FIXME: Replace with std::abs, if it will become constexprable
-            x = x < 0 ? -x : x;
-            y = y < 0 ? -y : y;
+            x = x < static_cast<Type>(0) ? -x : x;
+            y = y < static_cast<Type>(0) ? -y : y;
            return *this;
        }

@@ -190,6 +190,29 @@ namespace omath
            return x + y;
        }

+        [[nodiscard]]
+        bool operator<(const Vector2& other) const noexcept
+        {
+            return length() < other.length();
+        }
+        [[nodiscard]]
+        bool operator>(const Vector2& other) const noexcept
+        {
+            return length() > other.length();
+        }
+
+        [[nodiscard]]
+        bool operator<=(const Vector2& other) const noexcept
+        {
+            return length() <= other.length();
+        }
+
+        [[nodiscard]]
+        bool operator>=(const Vector2& other) const noexcept
+        {
+            return length() >= other.length();
+        }
+
        [[nodiscard]]
        constexpr std::tuple<Type, Type> as_tuple() const noexcept
        {
@@ -202,6 +225,11 @@ namespace omath
        {
            return {static_cast<float>(this->x), static_cast<float>(this->y)};
        }
+        [[nodiscard]]
+        static Vector2 from_im_vec2(const ImVec2& other) noexcept
+        {
+            return {static_cast<Type>(other.x), static_cast<Type>(other.y)};
+        }
 #endif
    };
 } // namespace omath
--- a/include/omath/vector3.hpp
+++ b/include/omath/vector3.hpp
@@ -151,7 +151,7 @@ namespace omath
        {
            const Type len = this->length();

-            return len != 0 ? *this / len : *this;
+            return len != static_cast<Type>(0) ? *this / len : *this;
        }

        [[nodiscard]] Type length_2d() const noexcept
@@ -221,7 +221,7 @@ namespace omath
        {
            const auto bottom = length() * other.length();

-            if (bottom == 0.f)
+            if (bottom == static_cast<Type>(0))
                return std::unexpected(Vector3Error::IMPOSSIBLE_BETWEEN_ANGLE);

            return Angle<float, 0.f, 180.f, AngleFlags::Clamped>::from_radians(std::acos(dot(other) / bottom));
@@ -230,7 +230,7 @@ namespace omath
        [[nodiscard]] bool is_perpendicular(const Vector3& other) const noexcept
        {
            if (const auto angle = angle_between(other))
-                return angle->as_degrees() == 90.f;
+                return angle->as_degrees() == static_cast<Type>(90);

            return false;
        }
@@ -253,6 +253,30 @@ namespace omath
            return {angles::radians_to_degrees(std::asin(delta.z / distance)),
                    angles::radians_to_degrees(std::atan2(delta.y, delta.x)), 0};
        }
+
+        [[nodiscard]]
+        bool operator<(const Vector3& other) const noexcept
+        {
+            return length() < other.length();
+        }
+
+        [[nodiscard]]
+        bool operator>(const Vector3& other) const noexcept
+        {
+            return length() > other.length();
+        }
+
+        [[nodiscard]]
+        bool operator<=(const Vector3& other) const noexcept
+        {
+            return length() <= other.length();
+        }
+
+        [[nodiscard]]
+        bool operator>=(const Vector3& other) const noexcept
+        {
+            return length() >= other.length();
+        }
    };
 } // namespace omath
 // ReSharper disable once CppRedundantNamespaceDefinition
--- a/include/omath/vector4.hpp
+++ b/include/omath/vector4.hpp
@@ -18,7 +18,7 @@ namespace omath
        constexpr Vector4(const Type& x, const Type& y, const Type& z, const Type& w): Vector3<Type>(x, y, z), w(w)
        {
        }
-        constexpr Vector4() noexcept : Vector3<Type>(), w(0) {};
+        constexpr Vector4() noexcept: Vector3<Type>(), w(static_cast<Type>(0)) {};

        [[nodiscard]]
        constexpr bool operator==(const Vector4& other) const noexcept
@@ -89,7 +89,7 @@ namespace omath
            return Vector3<Type>::dot(other) + w * other.w;
        }

-        [[nodiscard]] Vector3<Type> length() const noexcept
+        [[nodiscard]] Type length() const noexcept
        {
            return std::sqrt(length_sqr());
        }
@@ -158,6 +158,30 @@ namespace omath
            return Vector3<Type>::sum() + w;
        }

+        [[nodiscard]]
+        bool operator<(const Vector4& other) const noexcept
+        {
+            return length() < other.length();
+        }
+
+        [[nodiscard]]
+        bool operator>(const Vector4& other) const noexcept
+        {
+            return length() > other.length();
+        }
+
+        [[nodiscard]]
+        bool operator<=(const Vector4& other) const noexcept
+        {
+            return length() <= other.length();
+        }
+
+        [[nodiscard]]
+        bool operator>=(const Vector4& other) const noexcept
+        {
+            return length() >= other.length();
+        }
+
 #ifdef OMATH_IMGUI_INTEGRATION
        [[nodiscard]]
        ImVec4 to_im_vec4() const noexcept
@@ -169,6 +193,11 @@ namespace omath
                    static_cast<float>(w),
            };
        }
+        [[nodiscard]]
+        static Vector4<float> from_im_vec4(const ImVec4& other) noexcept
+        {
+            return {static_cast<Type>(other.x), static_cast<Type>(other.y), static_cast<Type>(other.z)};
+        }
 #endif
-    };
+};
 } // namespace omath
--- a/source/engines/iw_engine/camera.cpp
+++ b/source/engines/iw_engine/camera.cpp
@@ -1,33 +0,0 @@
-//
-// 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& view_angles, const projection::ViewPort& view_port,
-                   const Angle<float, 0.f, 180.f, AngleFlags::Clamped>& fov, const float near, const float far)
-        : projection::Camera<Mat4X4, ViewAngles>(position, view_angles, view_port, fov, near, far)
-    {
-    }
-    void Camera::look_at([[maybe_unused]] const Vector3<float>& target)
-    {
-        const float distance = m_origin.distance_to(target);
-        const auto delta = target - m_origin;
-
-        m_view_angles.pitch = PitchAngle::from_radians(std::asin(delta.z / distance));
-        m_view_angles.yaw = -YawAngle::from_radians(std::atan2(delta.y, delta.x));
-        m_view_angles.roll = RollAngle::from_radians(0.f);
-    }
-    Mat4X4 Camera::calc_view_matrix() const noexcept
-    {
-        return iw_engine::calc_view_matrix(m_view_angles, m_origin);
-    }
-    Mat4X4 Camera::calc_projection_matrix() const noexcept
-    {
-        return calc_perspective_projection_matrix(m_field_of_view.as_degrees(), m_view_port.aspect_ratio(),
-                                                  m_near_plane_distance, m_far_plane_distance);
-    }
-} // namespace omath::iw_engine
--- a/source/engines/iw_engine/traits/camera_trait.cpp
+++ b/source/engines/iw_engine/traits/camera_trait.cpp
@@ -0,0 +1,27 @@
+//
+// Created by Vlad on 8/11/2025.
+//
+#include "omath/engines/iw_engine/traits/camera_trait.hpp"
+#include "omath/engines/iw_engine/formulas.hpp"
+namespace omath::iw_engine
+{
+
+    ViewAngles CameraTrait::calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept
+    {
+        const auto distance = cam_origin.distance_to(look_at);
+        const auto delta = cam_origin - look_at;
+
+        return {PitchAngle::from_radians(-std::asin(delta.z / distance)),
+                YawAngle::from_radians(std::atan2(delta.y, delta.x)), RollAngle::from_radians(0.f)};
+    }
+    Mat4X4 CameraTrait::calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
+    {
+        return iw_engine::calc_view_matrix(angles, cam_origin);
+    }
+    Mat4X4 CameraTrait::calc_projection_matrix(const projection::FieldOfView& fov,
+                                               const projection::ViewPort& view_port, const float near,
+                                               const float far) noexcept
+    {
+        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far);
+    }
+} // namespace omath::iw_engine
--- a/source/engines/opengl_engine/camera.cpp
+++ b/source/engines/opengl_engine/camera.cpp
@@ -1,33 +0,0 @@
-//
-// 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& view_angles, const projection::ViewPort& view_port,
-                   const Angle<float, 0.f, 180.f, AngleFlags::Clamped>& fov, const float near, const float far)
-        : projection::Camera<Mat4X4, ViewAngles>(position, view_angles, view_port, fov, near, far)
-    {
-    }
-    void Camera::look_at([[maybe_unused]] const Vector3<float>& target)
-    {
-        const float distance = m_origin.distance_to(target);
-        const auto delta = target - m_origin;
-
-        m_view_angles.pitch = PitchAngle::from_radians(std::asin(delta.z / distance));
-        m_view_angles.yaw = -YawAngle::from_radians(std::atan2(delta.y, delta.x));
-        m_view_angles.roll = RollAngle::from_radians(0.f);
-    }
-    Mat4X4 Camera::calc_view_matrix() const noexcept
-    {
-        return opengl_engine::calc_view_matrix(m_view_angles, m_origin);
-    }
-    Mat4X4 Camera::calc_projection_matrix() const noexcept
-    {
-        return calc_perspective_projection_matrix(m_field_of_view.as_degrees(), m_view_port.aspect_ratio(),
-                                                  m_near_plane_distance, m_far_plane_distance);
-    }
-} // namespace omath::opengl_engine
--- a/source/engines/opengl_engine/traits/camera_trait.cpp
+++ b/source/engines/opengl_engine/traits/camera_trait.cpp
@@ -0,0 +1,28 @@
+//
+// Created by Vlad on 8/11/2025.
+//
+#include "omath/engines/opengl_engine/traits/camera_trait.hpp"
+#include "omath/engines/opengl_engine/formulas.hpp"
+
+namespace omath::opengl_engine
+{
+
+    ViewAngles CameraTrait::calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept
+    {
+        const auto distance = cam_origin.distance_to(look_at);
+        const auto delta = cam_origin - look_at;
+
+        return {PitchAngle::from_radians(-std::asin(delta.y / distance)),
+                YawAngle::from_radians(std::atan2(delta.z, delta.x)), RollAngle::from_radians(0.f)};
+    }
+    Mat4X4 CameraTrait::calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
+    {
+        return opengl_engine::calc_view_matrix(angles, cam_origin);
+    }
+    Mat4X4 CameraTrait::calc_projection_matrix(const projection::FieldOfView& fov,
+                                               const projection::ViewPort& view_port, const float near,
+                                               const float far) noexcept
+    {
+        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far);
+    }
+} // namespace omath::opengl_engine
--- a/source/engines/source_engine/camera.cpp
+++ b/source/engines/source_engine/camera.cpp
@@ -1,35 +0,0 @@
-//
-// Created by Orange on 12/4/2024.
-//
-#include "omath/engines/source_engine/camera.hpp"
-#include "omath/engines/source_engine/formulas.hpp"
-
-namespace omath::source_engine
-{
-
-    Camera::Camera(const Vector3<float>& position, const ViewAngles& view_angles, const projection::ViewPort& view_port,
-                   const projection::FieldOfView& fov, const float near, const float far)
-        : projection::Camera<Mat4X4, ViewAngles>(position, view_angles, view_port, fov, near, far)
-    {
-    }
-    void Camera::look_at(const Vector3<float>& target)
-    {
-        const float distance = m_origin.distance_to(target);
-        const auto delta = target - m_origin;
-
-        m_view_angles.pitch = PitchAngle::from_radians(std::asin(delta.z / distance));
-        m_view_angles.yaw = -YawAngle::from_radians(std::atan2(delta.y, delta.x));
-        m_view_angles.roll = RollAngle::from_radians(0.f);
-    }
-
-    Mat4X4 Camera::calc_view_matrix() const noexcept
-    {
-        return source_engine::calc_view_matrix(m_view_angles, m_origin);
-    }
-
-    Mat4X4 Camera::calc_projection_matrix() const noexcept
-    {
-        return calc_perspective_projection_matrix(m_field_of_view.as_degrees(), m_view_port.aspect_ratio(),
-                                                  m_near_plane_distance, m_far_plane_distance);
-    }
-} // namespace omath::source_engine
--- a/source/engines/source_engine/traits/camera_trait.cpp
+++ b/source/engines/source_engine/traits/camera_trait.cpp
@@ -0,0 +1,27 @@
+//
+// Created by Vlad on 8/11/2025.
+//
+#include "omath/engines/source_engine/traits/camera_trait.hpp"
+#include "omath/engines/source_engine/formulas.hpp"
+namespace omath::source_engine
+{
+
+    ViewAngles CameraTrait::calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept
+    {
+        const auto distance = cam_origin.distance_to(look_at);
+        const auto delta = cam_origin - look_at;
+
+        return {PitchAngle::from_radians(-std::asin(delta.z / distance)),
+                YawAngle::from_radians(std::atan2(delta.y, delta.x)), RollAngle::from_radians(0.f)};
+    }
+    Mat4X4 CameraTrait::calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
+    {
+        return source_engine::calc_view_matrix(angles, cam_origin);
+    }
+    Mat4X4 CameraTrait::calc_projection_matrix(const projection::FieldOfView& fov,
+                                               const projection::ViewPort& view_port, const float near,
+                                               const float far) noexcept
+    {
+        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far);
+    }
+} // namespace omath::source_engine
--- a/source/engines/unity_engine/camera.cpp
+++ b/source/engines/unity_engine/camera.cpp
@@ -1,27 +0,0 @@
-//
-// 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& view_angles, const projection::ViewPort& view_port,
-                   const projection::FieldOfView& fov, const float near, const float far)
-        : projection::Camera<Mat4X4, ViewAngles>(position, view_angles, view_port, fov, near, far)
-    {
-    }
-    void Camera::look_at([[maybe_unused]] const Vector3<float>& target)
-    {
-        throw std::runtime_error("Not implemented");
-    }
-    Mat4X4 Camera::calc_view_matrix() const noexcept
-    {
-        return unity_engine::calc_view_matrix(m_view_angles, m_origin);
-    }
-    Mat4X4 Camera::calc_projection_matrix() const noexcept
-    {
-        return calc_perspective_projection_matrix(m_field_of_view.as_degrees(), m_view_port.aspect_ratio(),
-                                                  m_near_plane_distance, m_far_plane_distance);
-    }
-} // namespace omath::unity_engine
--- a/source/engines/unity_engine/traits/camera_trait.cpp
+++ b/source/engines/unity_engine/traits/camera_trait.cpp
@@ -0,0 +1,27 @@
+//
+// Created by Vlad on 8/11/2025.
+//
+#include "omath/engines/unity_engine/traits/camera_trait.hpp"
+
+namespace omath::unity_engine
+{
+
+    ViewAngles CameraTrait::calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept
+    {
+        const auto distance = cam_origin.distance_to(look_at);
+        const auto delta = cam_origin - look_at;
+
+        return {PitchAngle::from_radians(-std::asin(delta.y / distance)),
+                YawAngle::from_radians(std::atan2(delta.z, delta.x)), RollAngle::from_radians(0.f)};
+    }
+    Mat4X4 CameraTrait::calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
+    {
+        return unity_engine::calc_view_matrix(angles, cam_origin);
+    }
+    Mat4X4 CameraTrait::calc_projection_matrix(const projection::FieldOfView& fov,
+                                               const projection::ViewPort& view_port, const float near,
+                                               const float far) noexcept
+    {
+        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far);
+    }
+} // namespace omath::unity_engine
--- a/source/matrix.cpp
+++ b/source/matrix.cpp
@@ -1,3 +1,5 @@
+#ifdef OMATH_ENABLE_LEGACY
+
 #include "omath/matrix.hpp"
 #include "omath/angles.hpp"
 #include "omath/vector3.hpp"
@@ -359,3 +361,4 @@ namespace omath
        m_data = nullptr;
    }
 } // namespace omath
+#endif
--- a/source/projectile_prediction/proj_pred_engine_legacy.cpp
+++ b/source/projectile_prediction/proj_pred_engine_legacy.cpp
@@ -1,69 +0,0 @@
-#include "omath/projectile_prediction/proj_pred_engine_legacy.hpp"
-#include <cmath>
-#include <omath/angles.hpp>
-
-namespace omath::projectile_prediction
-{
-    ProjPredEngineLegacy::ProjPredEngineLegacy(const float gravity_constant, const float simulation_time_step,
-                                               const float maximum_simulation_time, const float distance_tolerance)
-        : m_gravity_constant(gravity_constant), m_simulation_time_step(simulation_time_step),
-          m_maximum_simulation_time(maximum_simulation_time), m_distance_tolerance(distance_tolerance)
-    {
-    }
-
-    std::optional<Vector3<float>> ProjPredEngineLegacy::maybe_calculate_aim_point(const Projectile& projectile,
-                                                                                  const Target& target) const
-    {
-        for (float time = 0.f; time < m_maximum_simulation_time; time += m_simulation_time_step)
-        {
-            const auto predicted_target_position = target.predict_position(time, m_gravity_constant);
-
-            const auto projectile_pitch =
-                    maybe_calculate_projectile_launch_pitch_angle(projectile, predicted_target_position);
-
-            if (!projectile_pitch.has_value()) [[unlikely]]
-                continue;
-
-            if (!is_projectile_reached_target(predicted_target_position, projectile, projectile_pitch.value(), time))
-                continue;
-
-            const auto delta2d = (predicted_target_position - projectile.m_origin).length_2d();
-            const auto height = delta2d * std::tan(angles::degrees_to_radians(projectile_pitch.value()));
-
-            return Vector3(predicted_target_position.x, predicted_target_position.y, projectile.m_origin.z + height);
-        }
-        return std::nullopt;
-    }
-
-    std::optional<float> ProjPredEngineLegacy::maybe_calculate_projectile_launch_pitch_angle(
-            const Projectile& projectile, const Vector3<float>& target_position) const noexcept
-    {
-        const auto bullet_gravity = m_gravity_constant * projectile.m_gravity_scale;
-        const auto delta = target_position - projectile.m_origin;
-
-        const auto distance2d = delta.length_2d();
-        const auto distance2d_sqr = distance2d * distance2d;
-        const auto launch_speed_sqr = projectile.m_launch_speed * projectile.m_launch_speed;
-
-        float root = launch_speed_sqr * launch_speed_sqr
-                     - bullet_gravity * (bullet_gravity * distance2d_sqr + 2.0f * delta.z * launch_speed_sqr);
-
-        if (root < 0.0f) [[unlikely]]
-            return std::nullopt;
-
-        root = std::sqrt(root);
-        const float angle = std::atan((launch_speed_sqr - root) / (bullet_gravity * distance2d));
-
-        return angles::radians_to_degrees(angle);
-    }
-
-    bool ProjPredEngineLegacy::is_projectile_reached_target(const Vector3<float>& target_position,
-                                                            const Projectile& projectile, const float pitch,
-                                                            const float time) const noexcept
-    {
-        const auto yaw = projectile.m_origin.view_angle_to(target_position).y;
-        const auto projectile_position = projectile.predict_position(pitch, yaw, time, m_gravity_constant);
-
-        return projectile_position.distance_to(target_position) <= m_distance_tolerance;
-    }
-} // namespace omath::projectile_prediction
--- a/source/projectile_prediction/projectile.cpp
+++ b/source/projectile_prediction/projectile.cpp
@@ -1,22 +0,0 @@
-//
-// 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::predict_position(const float pitch, const float yaw, const float time,
-                                                const float gravity) const noexcept
-    {
-        auto current_pos = m_origin
-                           + source_engine::forward_vector({source_engine::PitchAngle::from_degrees(-pitch),
-                                                            source_engine::YawAngle::from_degrees(yaw),
-                                                            source_engine::RollAngle::from_degrees(0)})
-                                     * m_launch_speed * time;
-        current_pos.z -= (gravity * m_gravity_scale) * (time * time) * 0.5f;
-
-        return current_pos;
-    }
-} // namespace omath::projectile_prediction
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -5,7 +5,7 @@ project(unit_tests)
 include(GoogleTest)

 file(GLOB_RECURSE UNIT_TESTS_SOURCES CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/*.cpp")
-add_executable(unit_tests ${UNIT_TESTS_SOURCES})
+add_executable(${PROJECT_NAME} ${UNIT_TESTS_SOURCES})

 set_target_properties(unit_tests PROPERTIES
        ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
@@ -17,6 +17,6 @@ set_target_properties(unit_tests PROPERTIES
        CXX_STANDARD_REQUIRED ON)


-target_link_libraries(unit_tests PRIVATE gtest gtest_main omath::omath)
+target_link_libraries(${PROJECT_NAME} PRIVATE gtest gtest_main omath::omath)

-gtest_discover_tests(unit_tests)
+gtest_discover_tests(${PROJECT_NAME})
--- a/tests/engines/unit_test_iw_engine.cpp
+++ b/tests/engines/unit_test_iw_engine.cpp
@@ -7,27 +7,27 @@
 #include <omath/engines/iw_engine/formulas.hpp>


-TEST(UnitTestIwEngine, ForwardVector)
+TEST(unit_test_iw_engine, ForwardVector)
 {
    const auto forward = omath::iw_engine::forward_vector({});

    EXPECT_EQ(forward, omath::iw_engine::k_abs_forward);
 }

-TEST(UnitTestIwEngine, RightVector)
+TEST(unit_test_iw_engine, RightVector)
 {
    const auto right = omath::iw_engine::right_vector({});

    EXPECT_EQ(right, omath::iw_engine::k_abs_right);
 }

-TEST(UnitTestIwEngine, UpVector)
+TEST(unit_test_iw_engine, UpVector)
 {
    const auto up = omath::iw_engine::up_vector({});
    EXPECT_EQ(up, omath::iw_engine::k_abs_up);
 }

-TEST(UnitTestIwEngine, ForwardVectorRotationYaw)
+TEST(unit_test_iw_engine, ForwardVectorRotationYaw)
 {
    omath::iw_engine::ViewAngles angles;

@@ -39,7 +39,7 @@ TEST(UnitTestIwEngine, ForwardVectorRotationYaw)
    EXPECT_NEAR(forward.z, omath::iw_engine::k_abs_right.z, 0.00001f);
 }

-TEST(UnitTestIwEngine, ForwardVectorRotationPitch)
+TEST(unit_test_iw_engine, ForwardVectorRotationPitch)
 {
    omath::iw_engine::ViewAngles angles;

@@ -51,7 +51,7 @@ TEST(UnitTestIwEngine, ForwardVectorRotationPitch)
    EXPECT_NEAR(forward.z, omath::iw_engine::k_abs_up.z, 0.01f);
 }

-TEST(UnitTestIwEngine, ForwardVectorRotationRoll)
+TEST(unit_test_iw_engine, ForwardVectorRotationRoll)
 {
    omath::iw_engine::ViewAngles angles;

@@ -63,7 +63,7 @@ TEST(UnitTestIwEngine, ForwardVectorRotationRoll)
    EXPECT_NEAR(forward.z, omath::iw_engine::k_abs_right.z, 0.00001f);
 }

-TEST(UnitTestIwEngine, ProjectTargetMovedFromCamera)
+TEST(unit_test_iw_engine, ProjectTargetMovedFromCamera)
 {
    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
    const auto cam = omath::iw_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
@@ -83,7 +83,7 @@ TEST(UnitTestIwEngine, ProjectTargetMovedFromCamera)
    }
 }

-TEST(UnitTestIwEngine, CameraSetAndGetFov)
+TEST(unit_test_iw_engine, CameraSetAndGetFov)
 {
    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
    auto cam = omath::iw_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
@@ -94,7 +94,7 @@ TEST(UnitTestIwEngine, CameraSetAndGetFov)
    EXPECT_EQ(cam.get_field_of_view().as_degrees(), 50.f);
 }

-TEST(UnitTestIwEngine, CameraSetAndGetOrigin)
+TEST(unit_test_iw_engine, CameraSetAndGetOrigin)
 {
    auto cam = omath::iw_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, {}, 0.01f, 1000.f);

--- a/tests/engines/unit_test_open_gl.cpp
+++ b/tests/engines/unit_test_open_gl.cpp
@@ -7,25 +7,25 @@
 #include <omath/engines/opengl_engine/formulas.hpp>


-TEST(UnitTestOpenGL, ForwardVector)
+TEST(unit_test_opengl, ForwardVector)
 {
    const auto forward = omath::opengl_engine::forward_vector({});
    EXPECT_EQ(forward, omath::opengl_engine::k_abs_forward);
 }

-TEST(UnitTestOpenGL, RightVector)
+TEST(unit_test_opengl, RightVector)
 {
    const auto right = omath::opengl_engine::right_vector({});
    EXPECT_EQ(right, omath::opengl_engine::k_abs_right);
 }

-TEST(UnitTestOpenGL, UpVector)
+TEST(unit_test_opengl, UpVector)
 {
    const auto up = omath::opengl_engine::up_vector({});
    EXPECT_EQ(up, omath::opengl_engine::k_abs_up);
 }

-TEST(UnitTestOpenGL, ForwardVectorRotationYaw)
+TEST(unit_test_opengl, ForwardVectorRotationYaw)
 {
    omath::opengl_engine::ViewAngles angles;

@@ -39,7 +39,7 @@ TEST(UnitTestOpenGL, ForwardVectorRotationYaw)



-TEST(UnitTestOpenGL, ForwardVectorRotationPitch)
+TEST(unit_test_opengl, ForwardVectorRotationPitch)
 {
    omath::opengl_engine::ViewAngles angles;

@@ -51,7 +51,7 @@ TEST(UnitTestOpenGL, ForwardVectorRotationPitch)
    EXPECT_NEAR(forward.z, omath::opengl_engine::k_abs_up.z, 0.00001f);
 }

-TEST(UnitTestOpenGL, ForwardVectorRotationRoll)
+TEST(unit_test_opengl, ForwardVectorRotationRoll)
 {
    omath::opengl_engine::ViewAngles angles;

@@ -63,7 +63,7 @@ TEST(UnitTestOpenGL, ForwardVectorRotationRoll)
    EXPECT_NEAR(forward.z, omath::opengl_engine::k_abs_right.z, 0.00001f);
 }

-TEST(UnitTestOpenGL, ProjectTargetMovedFromCamera)
+TEST(unit_test_opengl, ProjectTargetMovedFromCamera)
 {
    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
    const auto cam = omath::opengl_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
@@ -83,7 +83,7 @@ TEST(UnitTestOpenGL, ProjectTargetMovedFromCamera)
    }
 }

-TEST(UnitTestOpenGL, CameraSetAndGetFov)
+TEST(unit_test_opengl, CameraSetAndGetFov)
 {
    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
    auto cam = omath::opengl_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
@@ -94,7 +94,7 @@ TEST(UnitTestOpenGL, CameraSetAndGetFov)
    EXPECT_EQ(cam.get_field_of_view().as_degrees(), 50.f);
 }

-TEST(UnitTestOpenGL, CameraSetAndGetOrigin)
+TEST(unit_test_opengl, CameraSetAndGetOrigin)
 {
    auto cam = omath::opengl_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, {}, 0.01f, 1000.f);

--- a/tests/engines/unit_test_source_engine.cpp
+++ b/tests/engines/unit_test_source_engine.cpp
@@ -7,27 +7,27 @@
 #include <omath/engines/source_engine/formulas.hpp>


-TEST(UnitTestSourceEngine, ForwardVector)
+TEST(unit_test_source_engine, ForwardVector)
 {
    const auto forward = omath::source_engine::forward_vector({});

    EXPECT_EQ(forward, omath::source_engine::k_abs_forward);
 }

-TEST(UnitTestSourceEngine, RightVector)
+TEST(unit_test_source_engine, RightVector)
 {
    const auto right = omath::source_engine::right_vector({});

    EXPECT_EQ(right, omath::source_engine::k_abs_right);
 }

-TEST(UnitTestSourceEngine, UpVector)
+TEST(unit_test_source_engine, UpVector)
 {
    const auto up = omath::source_engine::up_vector({});
    EXPECT_EQ(up, omath::source_engine::k_abs_up);
 }

-TEST(UnitTestSourceEngine, ForwardVectorRotationYaw)
+TEST(unit_test_source_engine, ForwardVectorRotationYaw)
 {
    omath::source_engine::ViewAngles angles;

@@ -39,7 +39,7 @@ TEST(UnitTestSourceEngine, ForwardVectorRotationYaw)
    EXPECT_NEAR(forward.z, omath::source_engine::k_abs_right.z, 0.00001f);
 }

-TEST(UnitTestSourceEngine, ForwardVectorRotationPitch)
+TEST(unit_test_source_engine, ForwardVectorRotationPitch)
 {
    omath::source_engine::ViewAngles angles;

@@ -51,7 +51,7 @@ TEST(UnitTestSourceEngine, ForwardVectorRotationPitch)
    EXPECT_NEAR(forward.z, omath::source_engine::k_abs_up.z, 0.01f);
 }

-TEST(UnitTestSourceEngine, ForwardVectorRotationRoll)
+TEST(unit_test_source_engine, ForwardVectorRotationRoll)
 {
    omath::source_engine::ViewAngles angles;

@@ -63,7 +63,7 @@ TEST(UnitTestSourceEngine, ForwardVectorRotationRoll)
    EXPECT_NEAR(forward.z, omath::source_engine::k_abs_right.z, 0.00001f);
 }

-TEST(UnitTestSourceEngine, ProjectTargetMovedFromCamera)
+TEST(unit_test_source_engine, ProjectTargetMovedFromCamera)
 {
    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
    const auto cam = omath::source_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
@@ -83,7 +83,7 @@ TEST(UnitTestSourceEngine, ProjectTargetMovedFromCamera)
    }
 }

-TEST(UnitTestSourceEngine, ProjectTargetMovedUp)
+TEST(unit_test_source_engine, ProjectTargetMovedUp)
 {
    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
    const auto cam = omath::source_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
@@ -103,7 +103,7 @@ TEST(UnitTestSourceEngine, ProjectTargetMovedUp)
    }
 }

-TEST(UnitTestSourceEngine, CameraSetAndGetFov)
+TEST(unit_test_source_engine, CameraSetAndGetFov)
 {
    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
    auto cam = omath::source_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
@@ -114,7 +114,7 @@ TEST(UnitTestSourceEngine, CameraSetAndGetFov)
    EXPECT_EQ(cam.get_field_of_view().as_degrees(), 50.f);
 }

-TEST(UnitTestSourceEngine, CameraSetAndGetOrigin)
+TEST(unit_test_source_engine, CameraSetAndGetOrigin)
 {
    auto cam = omath::source_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, {}, 0.01f, 1000.f);

--- a/tests/engines/unit_test_unity_engine.cpp
+++ b/tests/engines/unit_test_unity_engine.cpp
@@ -7,14 +7,14 @@
 #include <omath/engines/unity_engine/formulas.hpp>
 #include <print>

-TEST(UnitTestUnityEngine, ForwardVector)
+TEST(unit_test_unity_engine, ForwardVector)
 {
    const auto forward = omath::unity_engine::forward_vector({});

    EXPECT_EQ(forward, omath::unity_engine::k_abs_forward);
 }

-TEST(UnitTestUnityEngine, ForwardVectorRotationYaw)
+TEST(unit_test_unity_engine, ForwardVectorRotationYaw)
 {
    omath::unity_engine::ViewAngles angles;

@@ -26,7 +26,7 @@ TEST(UnitTestUnityEngine, ForwardVectorRotationYaw)
    EXPECT_NEAR(forward.z, omath::unity_engine::k_abs_right.z, 0.00001f);
 }

-TEST(UnitTestUnityEngine, ForwardVectorRotationPitch)
+TEST(unit_test_unity_engine, ForwardVectorRotationPitch)
 {
    omath::unity_engine::ViewAngles angles;

@@ -38,7 +38,7 @@ TEST(UnitTestUnityEngine, ForwardVectorRotationPitch)
    EXPECT_NEAR(forward.z, omath::unity_engine::k_abs_up.z, 0.00001f);
 }

-TEST(UnitTestUnityEngine, ForwardVectorRotationRoll)
+TEST(unit_test_unity_engine, ForwardVectorRotationRoll)
 {
    omath::unity_engine::ViewAngles angles;

@@ -50,20 +50,20 @@ TEST(UnitTestUnityEngine, ForwardVectorRotationRoll)
    EXPECT_NEAR(forward.z, omath::unity_engine::k_abs_right.z, 0.00001f);
 }

-TEST(UnitTestUnityEngine, RightVector)
+TEST(unit_test_unity_engine, RightVector)
 {
    const auto right = omath::unity_engine::right_vector({});

    EXPECT_EQ(right, omath::unity_engine::k_abs_right);
 }

-TEST(UnitTestUnityEngine, UpVector)
+TEST(unit_test_unity_engine, UpVector)
 {
    const auto up = omath::unity_engine::up_vector({});
    EXPECT_EQ(up, omath::unity_engine::k_abs_up);
 }

-TEST(UnitTestUnityEngine, ProjectTargetMovedFromCamera)
+TEST(unit_test_unity_engine, ProjectTargetMovedFromCamera)
 {
    constexpr auto fov = omath::projection::FieldOfView::from_degrees(60.f);
    const auto cam = omath::unity_engine::Camera({0, 0, 0}, {}, {1280.f, 720.f}, fov, 0.01f, 1000.f);
@@ -82,7 +82,7 @@ TEST(UnitTestUnityEngine, ProjectTargetMovedFromCamera)
        EXPECT_NEAR(projected->y, 360, 0.00001f);
    }
 }
-TEST(UnitTestUnityEngine, Project)
+TEST(unit_test_unity_engine, Project)
 {
    constexpr auto fov = omath::projection::FieldOfView::from_degrees(60.f);

@@ -91,7 +91,7 @@ TEST(UnitTestUnityEngine, Project)
    std::println("{} {}", proj->x, proj->y);
 }

-TEST(UnitTestUnityEngine, CameraSetAndGetFov)
+TEST(unit_test_unity_engine, CameraSetAndGetFov)
 {
    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
    auto cam = omath::unity_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
@@ -102,7 +102,7 @@ TEST(UnitTestUnityEngine, CameraSetAndGetFov)
    EXPECT_EQ(cam.get_field_of_view().as_degrees(), 50.f);
 }

-TEST(UnitTestUnityEngine, CameraSetAndGetOrigin)
+TEST(unit_test_unity_engine, CameraSetAndGetOrigin)
 {
    auto cam = omath::unity_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, {}, 0.01f, 1000.f);

--- a/tests/general/unit_test_color.cpp
+++ b/tests/general/unit_test_color.cpp
@@ -7,7 +7,7 @@

 using namespace omath;

-class UnitTestColor : public ::testing::Test
+class unit_test_color : public ::testing::Test
 {
 protected:
    Color color1;
@@ -21,7 +21,7 @@ protected:
 };

 // Test constructors
-TEST_F(UnitTestColor, Constructor_Float)
+TEST_F(unit_test_color, Constructor_Float)
 {
    constexpr Color color(0.5f, 0.5f, 0.5f, 1.0f);
    EXPECT_FLOAT_EQ(color.x, 0.5f);
@@ -30,7 +30,7 @@ TEST_F(UnitTestColor, Constructor_Float)
    EXPECT_FLOAT_EQ(color.w, 1.0f);
 }

-TEST_F(UnitTestColor, Constructor_Vector4)
+TEST_F(unit_test_color, Constructor_Vector4)
 {
    constexpr omath::Vector4 vec(0.2f, 0.4f, 0.6f, 0.8f);
    Color color(vec);
@@ -41,7 +41,7 @@ TEST_F(UnitTestColor, Constructor_Vector4)
 }

 // Test static methods for color creation
-TEST_F(UnitTestColor, FromRGBA)
+TEST_F(unit_test_color, FromRGBA)
 {
    constexpr Color color = Color::from_rgba(128, 64, 32, 255);
    EXPECT_FLOAT_EQ(color.x, 128.0f / 255.0f);
@@ -50,7 +50,7 @@ TEST_F(UnitTestColor, FromRGBA)
    EXPECT_FLOAT_EQ(color.w, 1.0f);
 }

-TEST_F(UnitTestColor, FromHSV)
+TEST_F(unit_test_color, FromHSV)
 {
    constexpr Color color = Color::from_hsv(0.0f, 1.0f, 1.0f); // Red in HSV
    EXPECT_FLOAT_EQ(color.x, 1.0f);
@@ -60,7 +60,7 @@ TEST_F(UnitTestColor, FromHSV)
 }

 // Test HSV conversion
-TEST_F(UnitTestColor, ToHSV)
+TEST_F(unit_test_color, ToHSV)
 {
    Hsv hsv = color1.to_hsv(); // Red color
    EXPECT_FLOAT_EQ(hsv.hue, 0.0f);
@@ -69,7 +69,7 @@ TEST_F(UnitTestColor, ToHSV)
 }

 // Test color blending
-TEST_F(UnitTestColor, Blend)
+TEST_F(unit_test_color, Blend)
 {
    Color blended = color1.blend(color2, 0.5f);
    EXPECT_FLOAT_EQ(blended.x, 0.5f);
@@ -79,7 +79,7 @@ TEST_F(UnitTestColor, Blend)
 }

 // Test predefined colors
-TEST_F(UnitTestColor, PredefinedColors)
+TEST_F(unit_test_color, PredefinedColors)
 {
    constexpr Color red = Color::red();
    constexpr Color green = Color::green();
@@ -102,7 +102,7 @@ TEST_F(UnitTestColor, PredefinedColors)
 }

 // Test non-member function: Blend for Vector3
-TEST_F(UnitTestColor, BlendVector3)
+TEST_F(unit_test_color, 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
--- a/tests/general/unit_test_line_trace.cpp
+++ b/tests/general/unit_test_line_trace.cpp
@@ -31,10 +31,10 @@ namespace
    // -----------------------------------------------------------------------------
    // Fixture with one canonical right‑angled triangle in the XY plane.
    // -----------------------------------------------------------------------------
-    class LineTracerFixture : public ::testing::Test
+    class line_tracer_fixture : public ::testing::Test
    {
    protected:
-        LineTracerFixture() :
+        line_tracer_fixture() :
            triangle({0.f, 0.f, 0.f}, {1.f, 0.f, 0.f}, {0.f, 1.f, 0.f})
        {
        }
@@ -51,7 +51,7 @@ namespace
        bool expected_clear; // true => segment does NOT hit the triangle
    };

-    class CanTraceLineParam : public LineTracerFixture,
+    class CanTraceLineParam : public line_tracer_fixture,
                              public ::testing::WithParamInterface<TraceCase>
    {
    };
@@ -79,7 +79,7 @@ namespace
    // -----------------------------------------------------------------------------
    // Validate that the reported hit point is correct for a genuine intersection.
    // -----------------------------------------------------------------------------
-    TEST_F(LineTracerFixture, HitPointCorrect)
+    TEST_F(line_tracer_fixture, HitPointCorrect)
    {
        constexpr Ray ray{{0.3f, 0.3f, -1.f}, {0.3f, 0.3f, 1.f}};
        constexpr Vec3 expected{0.3f, 0.3f, 0.f};
@@ -92,7 +92,7 @@ namespace
    // -----------------------------------------------------------------------------
    // Triangle far beyond the ray should not block.
    // -----------------------------------------------------------------------------
-    TEST_F(LineTracerFixture, DistantTriangleClear)
+    TEST_F(line_tracer_fixture, DistantTriangleClear)
    {
        constexpr Ray short_ray{{0.f, 0.f, 0.f}, {0.f, 0.f, 1.f}};
        constexpr Triangle<Vec3> distant{{1000.f, 1000.f, 1000.f},
@@ -102,7 +102,7 @@ namespace
        EXPECT_TRUE(LineTracer::can_trace_line(short_ray, distant));
    }

-    TEST(LineTracerTraceRayEdge, CantHit)
+    TEST(unit_test_unity_engine, CantHit)
    {
        constexpr omath::Triangle<Vector3<float>> triangle{{2, 0, 0}, {2, 2, 0}, {2, 2, 2}};

@@ -110,7 +110,7 @@ namespace

        EXPECT_TRUE(omath::collision::LineTracer::can_trace_line(ray, triangle));
    }
-    TEST(LineTracerTraceRayEdge, CanHit)
+    TEST(unit_test_unity_engine, CanHit)
    {
        constexpr omath::Triangle<Vector3<float>> triangle{{2, 0, 0}, {2, 2, 0}, {2, 2, 2}};

--- a/tests/general/unit_test_mat.cpp
+++ b/tests/general/unit_test_mat.cpp
@@ -5,7 +5,7 @@

 using namespace omath;

-class UnitTestMat : public ::testing::Test
+class unit_test_mat : public ::testing::Test
 {
 protected:
    Mat<2, 2> m1;
@@ -19,7 +19,7 @@ protected:
 };

 // Test constructors
-TEST_F(UnitTestMat, Constructor_Default)
+TEST_F(unit_test_mat, Constructor_Default)
 {
    Mat<3, 3> m;
    EXPECT_EQ(m.row_count(), 3);
@@ -29,7 +29,7 @@ TEST_F(UnitTestMat, Constructor_Default)
            EXPECT_FLOAT_EQ(m.at(i, j), 0.0f);
 }

-TEST_F(UnitTestMat, Constructor_InitializerList)
+TEST_F(unit_test_mat, Constructor_InitializerList)
 {
    constexpr Mat<2, 2> m{{1.0f, 2.0f}, {3.0f, 4.0f}};
    EXPECT_EQ(m.row_count(), 2);
@@ -40,7 +40,7 @@ TEST_F(UnitTestMat, Constructor_InitializerList)
    EXPECT_FLOAT_EQ(m.at(1, 1), 4.0f);
 }

-TEST_F(UnitTestMat, Operator_SquareBrackets)
+TEST_F(unit_test_mat, Operator_SquareBrackets)
 {
    EXPECT_EQ((m2[0, 0]), 1.0f);
    EXPECT_EQ((m2[0, 1]), 2.0f);
@@ -48,7 +48,7 @@ TEST_F(UnitTestMat, Operator_SquareBrackets)
    EXPECT_EQ((m2[1, 1]), 4.0f);
 }

-TEST_F(UnitTestMat, Constructor_Copy)
+TEST_F(unit_test_mat, Constructor_Copy)
 {
    Mat<2, 2> m3 = m2;
    EXPECT_EQ(m3.row_count(), m2.row_count());
@@ -57,7 +57,7 @@ TEST_F(UnitTestMat, Constructor_Copy)
    EXPECT_FLOAT_EQ(m3.at(1, 1), m2.at(1, 1));
 }

-TEST_F(UnitTestMat, Constructor_Move)
+TEST_F(unit_test_mat, Constructor_Move)
 {
    Mat<2, 2> m3 = std::move(m2);
    EXPECT_EQ(m3.row_count(), 2);
@@ -68,7 +68,7 @@ TEST_F(UnitTestMat, Constructor_Move)
 }

 // Test matrix operations
-TEST_F(UnitTestMat, Operator_Multiplication_Matrix)
+TEST_F(unit_test_mat, Operator_Multiplication_Matrix)
 {
    Mat<2, 2> m3 = m2 * m2;
    EXPECT_EQ(m3.row_count(), 2);
@@ -79,14 +79,14 @@ TEST_F(UnitTestMat, Operator_Multiplication_Matrix)
    EXPECT_FLOAT_EQ(m3.at(1, 1), 22.0f);
 }

-TEST_F(UnitTestMat, Operator_Multiplication_Scalar)
+TEST_F(unit_test_mat, Operator_Multiplication_Scalar)
 {
    Mat<2, 2> m3 = m2 * 2.0f;
    EXPECT_FLOAT_EQ(m3.at(0, 0), 2.0f);
    EXPECT_FLOAT_EQ(m3.at(1, 1), 8.0f);
 }

-TEST_F(UnitTestMat, Operator_Division_Scalar)
+TEST_F(unit_test_mat, Operator_Division_Scalar)
 {
    Mat<2, 2> m3 = m2 / 2.0f;
    EXPECT_FLOAT_EQ(m3.at(0, 0), 0.5f);
@@ -94,7 +94,7 @@ TEST_F(UnitTestMat, Operator_Division_Scalar)
 }

 // Test matrix functions
-TEST_F(UnitTestMat, Transpose)
+TEST_F(unit_test_mat, Transpose)
 {
    Mat<2, 2> m3 = m2.transposed();
    EXPECT_FLOAT_EQ(m3.at(0, 0), m2.at(0, 0));
@@ -103,19 +103,19 @@ TEST_F(UnitTestMat, Transpose)
    EXPECT_FLOAT_EQ(m3.at(1, 1), m2.at(1, 1));
 }

-TEST_F(UnitTestMat, Determinant)
+TEST_F(unit_test_mat, Determinant)
 {
    const float det = m2.determinant();
    EXPECT_FLOAT_EQ(det, -2.0f);
 }

-TEST_F(UnitTestMat, Sum)
+TEST_F(unit_test_mat, Sum)
 {
    const float sum = m2.sum();
    EXPECT_FLOAT_EQ(sum, 10.0f);
 }

-TEST_F(UnitTestMat, Clear)
+TEST_F(unit_test_mat, Clear)
 {
    m2.clear();
    for (size_t i = 0; i < m2.row_count(); ++i)
@@ -123,7 +123,7 @@ TEST_F(UnitTestMat, Clear)
            EXPECT_FLOAT_EQ(m2.at(i, j), 0.0f);
 }

-TEST_F(UnitTestMat, ToString)
+TEST_F(unit_test_mat, ToString)
 {
    const std::string str = m2.to_string();
    EXPECT_FALSE(str.empty());
@@ -131,7 +131,7 @@ TEST_F(UnitTestMat, ToString)
 }

 // Test assignment operators
-TEST_F(UnitTestMat, AssignmentOperator_Copy)
+TEST_F(unit_test_mat, AssignmentOperator_Copy)
 {
    Mat<2, 2> m3;
    m3 = m2;
@@ -140,7 +140,7 @@ TEST_F(UnitTestMat, AssignmentOperator_Copy)
    EXPECT_FLOAT_EQ(m3.at(0, 0), m2.at(0, 0));
 }

-TEST_F(UnitTestMat, AssignmentOperator_Move)
+TEST_F(unit_test_mat, AssignmentOperator_Move)
 {
    Mat<2, 2> m3;
    m3 = std::move(m2);
@@ -152,7 +152,7 @@ TEST_F(UnitTestMat, AssignmentOperator_Move)
 }

 // Test static methods
-TEST_F(UnitTestMat, StaticMethod_ToScreenMat)
+TEST_F(unit_test_mat, StaticMethod_ToScreenMat)
 {
    Mat<4, 4> screenMat = Mat<4, 4>::to_screen_mat(800.0f, 600.0f);
    EXPECT_FLOAT_EQ(screenMat.at(0, 0), 400.0f);
@@ -164,11 +164,11 @@ TEST_F(UnitTestMat, StaticMethod_ToScreenMat)


 // Test exception handling in At() method
-TEST_F(UnitTestMat, Method_At_OutOfRange)
+TEST_F(unit_test_mat, 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);
+    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
 }

--- a/tests/general/unit_test_matrix.cpp
+++ b/tests/general/unit_test_matrix.cpp
@@ -1,6 +1,9 @@
 //
 // Created by vlad on 5/18/2024.
 //
+
+#ifdef OMATH_ENABLE_LEGACY
+
 #include <gtest/gtest.h>
 #include <omath/matrix.hpp>
 #include "omath/vector3.hpp"
@@ -177,4 +180,5 @@ TEST_F(UnitTestMatrix, AssignmentOperator_Move)
    EXPECT_FLOAT_EQ(m3.at(0, 0), 1.0f);
    EXPECT_EQ(m2.row_count(), 0);  // m2 should be empty after the move
    EXPECT_EQ(m2.columns_count(), 0);
-}
+}
+#endif
--- a/tests/general/unit_test_vector2.cpp
+++ b/tests/general/unit_test_vector2.cpp
@@ -346,6 +346,28 @@ TEST_F(UnitTestVector2, NegationOperator_ZeroVector)
    EXPECT_FLOAT_EQ(result.y, -0.0f);
 }

+TEST_F(UnitTestVector2, LessOperator)
+{
+    EXPECT_TRUE(v1 < v2);
+}
+
+TEST_F(UnitTestVector2, GreaterOperator)
+{
+    EXPECT_TRUE(v2 > v1);
+}
+TEST_F(UnitTestVector2, LessEqualOperator)
+{
+    EXPECT_TRUE(omath::Vector2<float>{} <= omath::Vector2<float>{});
+    EXPECT_TRUE(omath::Vector2<float>{} <= omath::Vector2(1.f, 1.f));
+}
+
+TEST_F(UnitTestVector2, GreaterEqualOperator)
+{
+    EXPECT_TRUE(omath::Vector2<float>{} >= omath::Vector2<float>{});
+    EXPECT_TRUE(omath::Vector2(1.f, 1.f) >= omath::Vector2<float>{});
+}
+
+
 // Static assertions (compile-time checks)
 static_assert(Vector2(1.0f, 2.0f).length_sqr() == 5.0f, "LengthSqr should be 5");
 static_assert(Vector2(1.0f, 2.0f).dot(Vector2(4.0f, 5.0f)) == 14.0f, "Dot product should be 14");
--- a/tests/general/unit_test_vector3.cpp
+++ b/tests/general/unit_test_vector3.cpp
@@ -402,6 +402,27 @@ TEST_F(UnitTestVector3, IsPerpendicular)
    EXPECT_FALSE(Vector3(0.0f, 0.0f, 0.0f).is_perpendicular({0.0f, 0.0f, 1.0f}));
 }

+TEST_F(UnitTestVector3, LessOperator)
+{
+    EXPECT_TRUE(v1 < v2);
+}
+
+TEST_F(UnitTestVector3, GreaterOperator)
+{
+    EXPECT_TRUE(v2 > v1);
+}
+TEST_F(UnitTestVector3, LessEqualOperator)
+{
+    EXPECT_TRUE(omath::Vector3<float>{} <= omath::Vector3<float>{});
+    EXPECT_TRUE(omath::Vector3<float>{} <= omath::Vector3(1.f, 1.f, 1.f));
+}
+
+TEST_F(UnitTestVector3, GreaterEqualOperator)
+{
+    EXPECT_TRUE(omath::Vector3<float>{} >= omath::Vector3<float>{});
+    EXPECT_TRUE(omath::Vector3(1.f, 1.f, 1.f) >= omath::Vector3<float>{});
+}
+
 // Static assertions (compile-time checks)
 static_assert(Vector3(1.0f, 2.0f, 3.0f).length_sqr() == 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");
--- a/tests/general/unit_test_vector4.cpp
+++ b/tests/general/unit_test_vector4.cpp
@@ -215,3 +215,23 @@ TEST_F(UnitTestVector4, Clamp)
    EXPECT_FLOAT_EQ(v3.z, 2.5f);
    EXPECT_FLOAT_EQ(v3.w, 4.0f); // w is not clamped in this method
 }
+TEST_F(UnitTestVector4, LessOperator)
+{
+    EXPECT_TRUE(v1 < v2);
+}
+
+TEST_F(UnitTestVector4, GreaterOperator)
+{
+    EXPECT_TRUE(v2 > v1);
+}
+TEST_F(UnitTestVector4, LessEqualOperator)
+{
+    EXPECT_TRUE(omath::Vector4<float>{} <= omath::Vector4<float>{});
+    EXPECT_TRUE(omath::Vector4<float>{} <= omath::Vector4(1.f, 1.f, 1.f, 1.f));
+}
+
+TEST_F(UnitTestVector4, GreaterEqualOperator)
+{
+    EXPECT_TRUE(omath::Vector4<float>{} >= omath::Vector4<float>{});
+    EXPECT_TRUE(omath::Vector4(1.f, 1.f, 1.f, 1.f) >= omath::Vector4<float>{});
+}
Author	SHA1	Message	Date
Orange	29795e9906	Includes missing formula headers Includes the necessary formula headers in the camera trait files for different rendering engines. This ensures that the required mathematical functions and definitions are available when using camera traits.	2025-08-12 19:08:30 +03:00
Orange	0328fef4f7	Fixes Vector3 conversion from ImVec2 Corrects the static function signature for creating a Vector3 from an ImVec2. It was mistakenly returning a Vector3 instead of Vector3. patch	2025-08-12 09:38:43 +03:00
Orange	687772f073	feat(omath): Add NDC to screen position coordinate diagram	2025-08-12 09:29:14 +03:00
Orange	c66df11754	Updates project version to 3.2.1 Increments the project version number in CMakeLists.txt from 3.0.4.1 to 3.2.1, indicating a release or significant changes in the project.	2025-08-12 09:25:40 +03:00
Orange	0450dc3547	Adds concept for prediction engine traits Introduces a concept `PredEngineConcept` to ensure that classes used as projectile prediction engine traits conform to a specific interface. This enforces the presence and return types of required methods and ensures that these methods are `noexcept`, improving type safety and predictability.	2025-08-12 09:21:34 +03:00
Orange	0bd9eda48f	Introduces CameraEngine concept Adds a concept `CameraEngineConcept` to ensure that camera engine implementations provide the necessary functions with the correct signatures and `noexcept` specifications. This enables compile-time checks for valid camera engine implementations, improving code reliability and preventing runtime errors.	2025-08-12 09:13:02 +03:00
Orange++	858314fa0a	Merge pull request #54 from orange-cpp/feature/vec_fix_improvement Adds comparison operators to Vector types	2025-08-12 08:57:31 +03:00
Orange	f277b1038c	Adds comparison operators to Vector types Adds less than, greater than, less than or equal, and greater than or equal operators to the Vector2, Vector3 and Vector4 classes. The comparison is based on the lengths of the vectors. Adds corresponding unit tests.	2025-08-12 08:54:33 +03:00
Orange	15c055beb7	Removes virtual destructor from Camera Removes the virtual destructor from the Camera class as it is not required, as the class does not act as a base class. This simplifies the class definition and avoids potential vtable overhead.	2025-08-11 01:43:22 +03:00
Orange++	4d24815f3e	Update issue templates	2025-08-11 01:30:26 +03:00
Orange	d96b0cd2f7	Marks Camera class as final Prevents inheritance from the Camera class.	2025-08-11 01:18:39 +03:00
Orange++	d238bd137f	Merge pull request #53 from orange-cpp/u/camera_type_traits Refactors camera and prediction using traits	2025-08-11 00:47:25 +03:00
Orange	17b150499d	Refactors camera and prediction engine traits. Moves camera and prediction engine implementations into traits for each engine, decoupling the engine-specific logic from the core classes, promoting code reuse and maintainability. This change allows for easier addition of new engines and customization of existing ones.	2025-08-11 00:32:09 +03:00
Orange	c7228c9674	Updates googletest submodule Updates the googletest submodule to the latest commit. This brings in the latest fixes and improvements from the googletest project.	2025-08-07 23:33:30 +03:00
Orange	7a9f5d4966	Removes projectile.cpp Removes the projectile.cpp file. The removal indicates that the associated projectile prediction functionality is no longer needed or has been moved elsewhere.	2025-08-06 18:37:28 +03:00
Orange	a16050242a	Adds community badges to README Enhances the README by adding Discord and Telegram badges, providing users with direct access to community channels for support and discussions.	2025-08-06 06:39:57 +03:00
Orange	ea8f3d8d51	Adds contributing guidelines Introduces a CONTRIBUTING.MD file to provide guidelines for contributing to the project, including prerequisites, setup instructions, pull request workflow, code style, and building instructions. xd returned back patch	2025-08-06 06:23:06 +03:00
Orange	08d2ccc03a	Refactors Vector operations for type safety Ensures type safety in Vector2, Vector3, and Vector4 operations by using static_cast(0) instead of relying on implicit conversions. This prevents potential issues with different numeric types. Adds from_im_vec2 and from_im_vec4 methods for creating vectors from ImVec2/ImVec4 types.	2025-08-06 06:06:42 +03:00
Orange	21ec23d77b	patch	2025-08-06 05:56:09 +03:00
Orange++	2c4ff37062	Merge pull request #52 from orange-cpp/feature/more_traits Adds engine traits for projectile prediction	2025-08-06 05:49:25 +03:00
Orange	695a8035b5	Adds engine traits for projectile prediction Implements engine-specific traits for projectile and target position prediction. Each trait encapsulates logic tailored to a specific game engine (IW, OpenGL, Unity), accounting for engine-specific coordinate systems and calculations. This allows for accurate projectile prediction across different game environments.	2025-08-06 05:45:37 +03:00
Orange	d12b236e56	Refactors target position prediction Moves target prediction logic into engine traits, improving modularity. This change consolidates target position prediction within the engine traits, allowing for a more flexible and maintainable design. This eliminates redundant code and simplifies the core prediction engine by delegating target movement calculations to the appropriate trait.	2025-08-04 03:16:04 +03:00
Orange	7a5090d9f6	Marks legacy engine class as final Prevents further inheritance from the legacy projectile prediction engine class.	2025-08-04 01:12:22 +03:00
Orange	ec76a7239c	Adds direct pitch angle calculation Implements a direct pitch angle calculation for scenarios with zero gravity, ensuring accurate projectile trajectory predictions in such conditions. Also marks several methods as noexcept for better performance and exception safety.	2025-08-04 01:11:11 +03:00
Orange	2758f549a3	Updates project version and removes legacy code Updates the project version to prepare for a new release. Removes the legacy projectile prediction engine, which is no longer needed.	2025-08-03 18:35:52 +03:00
Orange	493931ef0f	Ignores vcpkg directory Excludes the vcpkg directory from being tracked by Git. This prevents accidental commits of external library files managed by vcpkg, keeping the repository cleaner.	2025-08-03 18:31:02 +03:00
Orange	9e1990942b	Refactors projectile prediction engine Migrates projectile prediction logic to leverage engine traits for improved flexibility and testability. This change decouples core prediction algorithms from specific engine implementations, allowing for easier adaptation to different game engines or simulation environments.	2025-08-03 18:28:47 +03:00
Orange++	f1984fbe46	Merge pull request #51 from orange-cpp/feature/projectile_pred_custom Refactors projectile prediction engine	2025-08-03 17:38:08 +03:00
Orange	f1fbea21a7	Refactors projectile prediction engine Refactors the projectile prediction engine by introducing an interface and making the legacy implementation more flexible. The legacy engine is updated to allow for coordinate system customization through virtual methods, enabling usage in different game environments. Also introduces vcpkg support for easier dependency management and adds boost-asio as a dependency.	2025-08-03 17:33:22 +03:00
Orange	4b44ce0667	Documents projectile launch angle formula Adds a comment documenting the formula used for calculating the projectile launch pitch angle. The comment includes a link to the Stack Overflow discussion where the formula was found and the LaTeX representation of the formula for clarity.	2025-07-31 21:52:16 +03:00
Orange++	231ef35a0a	Merge pull request #49 from orange-cpp/feature/legacy_option Adds option to enable legacy classes	2025-07-15 11:52:36 +03:00
Orange	1aa62cb396	Enables legacy code compilation The changes encapsulate the matrix tests within an `#ifdef` block, allowing conditional compilation based on whether `OMATH_ENABLE_LEGACY` is defined. This enables the legacy code to be compiled only when needed.	2025-07-15 11:51:14 +03:00
Orange	8e411771c2	Adds option to enable legacy classes Introduces a CMake option to enable legacy classes, allowing for backward compatibility with older code. This ensures that older codebases can still function while new development can utilize updated classes.	2025-07-15 11:48:33 +03:00
Orange++	d65852d1a4	Update README.md	2025-07-14 23:11:46 +03:00
Orange++	21f5e82a20	Merge pull request #48 from luadebug/patch-1 Update INSTALL.md	2025-07-14 23:10:39 +03:00
Saikari	851ec37350	Update INSTALL.md	2025-07-14 18:53:41 +03:00
Orange++	f1cd9dbeb3	Update README.md fixed ordering	2025-07-14 17:39:16 +03:00
Orange++	7a1c7d6cc4	Update README.md made badge in read me smaller	2025-07-14 17:38:50 +03:00
Orange++	cb704b3621	Merge pull request #47 from luadebug/patch-1 Update README.md Thx for vcpkg port update <3 u r already in CREDITS.md	2025-07-14 17:37:12 +03:00
Saikari	646d295876	Update README.md	2025-07-14 16:25:16 +03:00
Orange++	8e09556c25	Update README.md	2025-07-08 17:14:52 +03:00
Orange++	7dbebc996d	Update README.md	2025-07-08 17:13:24 +03:00
Orange++	278ffba0ff	Update README.md	2025-07-08 17:01:56 +03:00
Orange	647cf02a38	Renames test fixture for clarity. Updates the name of the test fixture from "lline_tracer_fixture" to "line_tracer_fixture" for improved readability and consistency in the test code.	2025-07-07 08:28:29 +03:00
Orange	4be2986681	Fixes potential compile error Corrects the usage of `At` method within the unit tests to `at` to resolve a potential compile error due to incorrect case sensitivity.	2025-07-07 08:18:00 +03:00
Orange	06d9b4c910	fixed naming in tests	2025-07-07 08:02:35 +03:00
Orange++	a074fdcb92	Merge pull request #45 from luadebug/patch-1 Check for ImGUI dependency in omathConfig.cmake.in	2025-07-07 05:30:19 +03:00
Saikari	8241d9c355	Update omathConfig.cmake.in	2025-07-07 04:53:56 +03:00
Orange	66258f0f6d	Updates CMake export target and namespace. Updates the CMake export target and namespace to use the project name, improving consistency and avoiding naming conflicts. Adds a simple diagram to the triangle header file.	2025-07-06 11:14:46 +03:00
Orange	65541fa2c7	Renames library target to project name Updates the CMakeLists.txt to use the project name as the library target name instead of hardcoding "omath". This change ensures consistency and avoids potential conflicts when integrating the library into other projects. It also aligns the target naming with CMake best practices.	2025-07-06 11:07:15 +03:00
Orange	7e4a6134bf	added new method	2025-06-23 06:14:17 +03:00