feat(omath): Add NDC to screen position coordinate diagram

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.

.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.

.github/ISSUE_TEMPLATE/custom.md

@@ -0,0 +1,10 @@
+---
+name: Custom issue template
+about: Describe this issue template's purpose here.
+title: ''
+labels: ''
+assignees: ''
+
+---
+
+

.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.

CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.26)
 
-project(omath VERSION 3.0.4.1 LANGUAGES CXX)
+project(omath VERSION 3.2.1 LANGUAGES CXX)
 
 include(CMakePackageConfigHelpers)
 

README.md

@@ -9,6 +9,9 @@
 ![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.

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

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

include/omath/engines/iw_engine/traits/pred_engine_trait.hpp

@@ -8,27 +8,26 @@
 #include "omath/projectile_prediction/target.hpp"
 #include <optional>
 
-namespace omath::projectile_prediction::traits
+namespace omath::iw_engine
 {
-    class IwEngineTrait final
+    class PredEngineTrait final
     {
     public:
-        constexpr static Vector3<float> predict_projectile_position(const Projectile& projectile, const float pitch,
-                                                                    const float yaw, const float time,
-                                                                    const float gravity) noexcept
+        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
-                               + iw_engine::forward_vector({iw_engine::PitchAngle::from_degrees(-pitch),
-                                                            iw_engine::YawAngle::from_degrees(yaw),
-                                                            iw_engine::RollAngle::from_degrees(0)})
+                               + 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 Target& target, const float time,
-                                                                const float gravity) noexcept
+        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;
 
@@ -50,7 +49,7 @@ namespace omath::projectile_prediction::traits
         }
 
         [[nodiscard]]
-        static Vector3<float> calc_viewpoint_from_angles(const Projectile& projectile,
+        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile& projectile,
                                                          Vector3<float> predicted_target_position,
                                                          const std::optional<float> projectile_pitch) noexcept
         {
@@ -77,4 +76,4 @@ namespace omath::projectile_prediction::traits
             return angles::radians_to_degrees(std::atan2(delta.y, delta.x));
         };
     };
-} // namespace omath::projectile_prediction::traits
+} // namespace omath::iw_engine

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

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

include/omath/engines/opengl_engine/traits/pred_engine_trait.hpp

@@ -7,27 +7,26 @@
 #include "omath/projectile_prediction/target.hpp"
 #include <optional>
 
-namespace omath::projectile_prediction::traits
+namespace omath::opengl_engine
 {
-    class OpenGlEngineTrait final
+    class PredEngineTrait final
     {
     public:
-        constexpr static Vector3<float> predict_projectile_position(const Projectile& projectile, const float pitch,
-                                                                    const float yaw, const float time,
-                                                                    const float gravity) noexcept
+        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
-                               + opengl_engine::forward_vector({opengl_engine::PitchAngle::from_degrees(-pitch),
-                                                                opengl_engine::YawAngle::from_degrees(yaw),
-                                                                opengl_engine::RollAngle::from_degrees(0)})
+                               + 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 Target& target, const float time,
-                                                                const float gravity) noexcept
+        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;
 
@@ -49,7 +48,7 @@ namespace omath::projectile_prediction::traits
         }
 
         [[nodiscard]]
-        static Vector3<float> calc_viewpoint_from_angles(const Projectile& projectile,
+        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile& projectile,
                                                          Vector3<float> predicted_target_position,
                                                          const std::optional<float> projectile_pitch) noexcept
         {
@@ -76,4 +75,4 @@ namespace omath::projectile_prediction::traits
             return angles::radians_to_degrees(std::atan2(delta.z, delta.x));
         };
     };
-} // namespace omath::projectile_prediction::traits
+} // namespace omath::opengl_engine

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

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

include/omath/engines/source_engine/traits/pred_engine_trait.hpp

@@ -8,27 +8,26 @@
 #include "omath/projectile_prediction/target.hpp"
 #include <optional>
 
-namespace omath::projectile_prediction::traits
+namespace omath::source_engine
 {
-    class SourceEngineTrait final
+    class PredEngineTrait final
     {
     public:
-        constexpr static Vector3<float> predict_projectile_position(const Projectile& projectile, const float pitch,
-                                                                    const float yaw, const float time,
-                                                                    const float gravity) noexcept
+        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
-                               + source_engine::forward_vector({source_engine::PitchAngle::from_degrees(-pitch),
-                                                                source_engine::YawAngle::from_degrees(yaw),
-                                                                source_engine::RollAngle::from_degrees(0)})
+                               + 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 Target& target, const float time,
-                                                                const float gravity) noexcept
+        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;
 
@@ -50,7 +49,7 @@ namespace omath::projectile_prediction::traits
         }
 
         [[nodiscard]]
-        static Vector3<float> calc_viewpoint_from_angles(const Projectile& projectile,
+        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile& projectile,
                                                          Vector3<float> predicted_target_position,
                                                          const std::optional<float> projectile_pitch) noexcept
         {
@@ -77,4 +76,4 @@ namespace omath::projectile_prediction::traits
             return angles::radians_to_degrees(std::atan2(delta.y, delta.x));
         };
     };
-} // namespace omath::projectile_prediction::traits
+} // namespace omath::source_engine

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

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

include/omath/engines/unity_engine/traits/pred_engine_trait.hpp

@@ -7,27 +7,26 @@
 #include "omath/projectile_prediction/target.hpp"
 #include <optional>
 
-namespace omath::projectile_prediction::traits
+namespace omath::unity_engine
 {
-    class UnityEngineTrait final
+    class PredEngineTrait final
     {
     public:
-        constexpr static Vector3<float> predict_projectile_position(const Projectile& projectile, const float pitch,
-                                                                    const float yaw, const float time,
-                                                                    const float gravity) noexcept
+        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
-                               + unity_engine::forward_vector({unity_engine::PitchAngle::from_degrees(-pitch),
-                                                               unity_engine::YawAngle::from_degrees(yaw),
-                                                               unity_engine::RollAngle::from_degrees(0)})
+                               + 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 Target& target, const float time,
-                                                                const float gravity) noexcept
+        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;
 
@@ -49,7 +48,7 @@ namespace omath::projectile_prediction::traits
         }
 
         [[nodiscard]]
-        static Vector3<float> calc_viewpoint_from_angles(const Projectile& projectile,
+        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile& projectile,
                                                          Vector3<float> predicted_target_position,
                                                          const std::optional<float> projectile_pitch) noexcept
         {
@@ -76,4 +75,4 @@ namespace omath::projectile_prediction::traits
             return angles::radians_to_degrees(std::atan2(delta.z, delta.x));
         };
     };
-} // namespace omath::projectile_prediction::traits
+} // namespace omath::unity_engine

include/omath/projectile_prediction/proj_pred_engine_legacy.hpp

@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include "engine_traits/source_engine_trait.hpp"
+#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"
@@ -13,7 +13,32 @@
 
 namespace omath::projectile_prediction
 {
-    template<class EngineTrait = traits::SourceEngineTrait>
+    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:

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};
         }
     };

include/omath/vector2.hpp

@@ -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
         {

include/omath/vector3.hpp

@@ -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

include/omath/vector4.hpp

@@ -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

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

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"
+
+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

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

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"
+
+
+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

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

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"
+
+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

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

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

source/projectile_prediction/projectile.cpp

@@ -1,10 +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
-{
-} // namespace omath::projectile_prediction

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");

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");

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>{});
+}