Merge pull request #82 from orange-cpp/feature/pe_scanner

Updates PE header structure for x64

.github/workflows/cmake-multi-platform.yml

@@ -35,11 +35,11 @@ jobs:
 
       - name: Configure (cmake --preset)
         shell: bash
-        run: cmake --preset linux-release -DOMATH_BUILD_TESTS=ON
+        run: cmake --preset linux-release -DOMATH_BUILD_TESTS=ON -DOMATH_BUILD_BENCHMARK=OFF
 
       - name: Build
         shell: bash
-        run: cmake --build cmake-build/build/linux-release --target all
+        run: cmake --build cmake-build/build/linux-release --target unit_tests omath
 
       - name: Run unit_tests
         shell: bash
@@ -68,11 +68,11 @@ jobs:
 
       - name: Configure (cmake --preset)
         shell: bash
-        run: cmake --preset windows-release -DOMATH_BUILD_TESTS=ON
+        run: cmake --preset windows-release -DOMATH_BUILD_TESTS=ON -DOMATH_BUILD_BENCHMARK=OFF
 
       - name: Build
         shell: bash
-        run: cmake --build cmake-build/build/windows-release --target all
+        run: cmake --build cmake-build/build/windows-release --target unit_tests omath
 
       - name: Run unit_tests.exe
         shell: bash

.gitmodules

@@ -1,3 +1,6 @@
 [submodule "extlibs/googletest"]
 	path = extlibs/googletest
-	url = https://github.com/google/googletest.git
+	url = https://github.com/google/googletest.git
+[submodule "extlibs/benchmark"]
+	path = extlibs/benchmark
+	url = https://github.com/google/benchmark.git

.idea/editor.xml

@@ -201,7 +201,7 @@
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticDataMemberInUnnamedStruct/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticSpecifierOnAnonymousNamespaceMember/@EntryIndexedValue" value="SUGGESTION" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStringLiteralToCharPointerConversion/@EntryIndexedValue" value="WARNING" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTabsAreDisallowed/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTabsAreDisallowed/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateArgumentsCanBeDeduced/@EntryIndexedValue" value="HINT" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateParameterNeverUsed/@EntryIndexedValue" value="HINT" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateParameterShadowing/@EntryIndexedValue" value="WARNING" type="string" />
@@ -215,7 +215,7 @@
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnmatchedPragmaEndRegionDirective/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnmatchedPragmaRegionDirective/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnnamedNamespaceInHeaderFile/@EntryIndexedValue" value="WARNING" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnnecessaryWhitespace/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnnecessaryWhitespace/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnsignedZeroComparison/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnusedIncludeDirective/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAlgorithmWithCount/@EntryIndexedValue" value="SUGGESTION" type="string" />

.idea/vcs.xml

@@ -2,6 +2,7 @@
 <project version="4">
   <component name="VcsDirectoryMappings">
     <mapping directory="" vcs="Git" />
+    <mapping directory="$PROJECT_DIR$/extlibs/benchmark" vcs="Git" />
     <mapping directory="$PROJECT_DIR$/extlibs/googletest" vcs="Git" />
   </component>
 </project>

CMakeLists.txt

@@ -1,24 +1,37 @@
 cmake_minimum_required(VERSION 3.26)
 
-project(omath VERSION 3.3.0 LANGUAGES CXX)
+project(omath VERSION 3.8.2 LANGUAGES CXX)
 
 include(CMakePackageConfigHelpers)
+include(CheckCXXCompilerFlag)
 
+if (MSVC)
+    check_cxx_compiler_flag("/arch:AVX2" COMPILER_SUPPORTS_AVX2)
+else ()
+    check_cxx_compiler_flag("-mavx2" COMPILER_SUPPORTS_AVX2)
+endif ()
 
 option(OMATH_BUILD_TESTS "Build unit tests" ${PROJECT_IS_TOP_LEVEL})
+option(OMATH_BUILD_BENCHMARK "Build benchmarks" ${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)
+option(OMATH_USE_AVX2 "Omath will use AVX2 to boost performance" ${COMPILER_SUPPORTS_AVX2})
 option(OMATH_IMGUI_INTEGRATION "Omath will define method to convert omath types to imgui types" OFF)
 option(OMATH_BUILD_EXAMPLES "Build example projects with you can learn & play" OFF)
 option(OMATH_STATIC_MSVC_RUNTIME_LIBRARY "Force Omath to link static runtime" OFF)
 option(OMATH_SUPRESS_SAFETY_CHECKS "Supress some safety checks in release build to improve general performance" ON)
-option(OMATH_USE_UNITY_BUILD "Will enable unity build to speed up compilation" ON)
+option(OMATH_USE_UNITY_BUILD "Will enable unity build to speed up compilation" OFF)
 option(OMATH_ENABLE_LEGACY "Will enable legacy classes that MUST be used ONLY for backward compatibility" OFF)
 
-message(STATUS "[${PROJECT_NAME}]: Building on ${CMAKE_HOST_SYSTEM_NAME}")
+if (OMATH_USE_AVX2 AND NOT COMPILER_SUPPORTS_AVX2)
+    message(WARNING "OMATH_USE_AVX2 requested, but compiler/target does not support AVX2. Disabling.")
+    set(OMATH_USE_AVX2 OFF CACHE BOOL "Omath will use AVX2 to boost performance" FORCE)
+endif ()
+
+message(STATUS "[${PROJECT_NAME}]: Building on ${CMAKE_HOST_SYSTEM_NAME}, compiler ${CMAKE_CXX_COMPILER_ID}")
 message(STATUS "[${PROJECT_NAME}]: Warnings as errors ${OMATH_THREAT_WARNING_AS_ERROR}")
 message(STATUS "[${PROJECT_NAME}]: Build unit tests ${OMATH_BUILD_TESTS}")
+message(STATUS "[${PROJECT_NAME}]: Build benchmark ${OMATH_BUILD_BENCHMARK}")
 message(STATUS "[${PROJECT_NAME}]: As dynamic library ${OMATH_BUILD_AS_SHARED_LIBRARY}")
 message(STATUS "[${PROJECT_NAME}]: Static C++ runtime ${OMATH_STATIC_MSVC_RUNTIME_LIBRARY}")
 message(STATUS "[${PROJECT_NAME}]: CMake unity build ${OMATH_USE_UNITY_BUILD}")
@@ -37,8 +50,11 @@ else ()
     add_library(${PROJECT_NAME} STATIC ${OMATH_SOURCES} ${OMATH_HEADERS})
 endif ()
 
+
 add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
 
+target_compile_definitions(${PROJECT_NAME} PUBLIC OMATH_VERSION="${PROJECT_VERSION}")
+
 if (OMATH_IMGUI_INTEGRATION)
     target_compile_definitions(${PROJECT_NAME} PUBLIC OMATH_IMGUI_INTEGRATION)
 
@@ -88,16 +104,28 @@ if (OMATH_STATIC_MSVC_RUNTIME_LIBRARY)
     )
 endif ()
 
-if (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
-    target_compile_options(${PROJECT_NAME} PRIVATE -mavx2 -mfma)
-endif ()
+if (OMATH_USE_AVX2)
+    if (MSVC)
+        target_compile_options(${PROJECT_NAME} PUBLIC /arch:AVX2)
+    elseif (EMSCRIPTEN)
+        target_compile_options(${PROJECT_NAME} PUBLIC -msimd128 -mavx2)
+    elseif (CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang|AppleClang")
+        target_compile_options(${PROJECT_NAME} PUBLIC -mfma -mavx2)
+    endif()
+endif()
 
 target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_23)
 
+add_subdirectory(extlibs)
+
 
 if (OMATH_BUILD_TESTS)
-    add_subdirectory(extlibs)
     add_subdirectory(tests)
+    target_compile_definitions(${PROJECT_NAME} PUBLIC OMATH_BUILD_TESTS)
+endif ()
+
+if (OMATH_BUILD_BENCHMARK)
+    add_subdirectory(benchmark)
 endif ()
 
 if (OMATH_BUILD_EXAMPLES)

CMakePresets.json

@@ -8,7 +8,6 @@
       "binaryDir": "${sourceDir}/cmake-build/build/${presetName}",
       "installDir": "${sourceDir}/cmake-build/install/${presetName}",
       "cacheVariables": {
-        "CMAKE_C_COMPILER": "cl.exe",
         "CMAKE_CXX_COMPILER": "cl.exe"
       },
       "condition": {
@@ -40,7 +39,6 @@
       "binaryDir": "${sourceDir}/cmake-build/build/${presetName}",
       "installDir": "${sourceDir}/cmake-build/install/${presetName}",
       "cacheVariables": {
-        "CMAKE_C_COMPILER": "clang",
         "CMAKE_CXX_COMPILER": "clang++"
       },
       "condition": {
@@ -72,7 +70,6 @@
       "binaryDir": "${sourceDir}/cmake-build/build/${presetName}",
       "installDir": "${sourceDir}/cmake-build/install/${presetName}",
       "cacheVariables": {
-        "CMAKE_C_COMPILER": "clang",
         "CMAKE_CXX_COMPILER": "clang++"
       },
       "condition": {

CREDITS.md

@@ -2,10 +2,12 @@
 
 Thanks to everyone who made this possible, including:
 
-- Saikari aka luadebug for VCPKG port.
+- Saikari aka luadebug for VCPKG port and awesome new initial logo design.
+- AmbushedRaccoon for telegram post about omath to boost repository activity.
+- Billy O'Neal aka BillyONeal for fixing compilation issues due to C math library compatibility.
 
 And a big hand to everyone else who has contributed over the past!
 
 THANKS! <3
 
-    -- Orange++ <orange-cpp@yandex.ru>
+    -- Orange++ <orange_github@proton.me>

INSTALL.md

@@ -59,7 +59,7 @@ target("...")
    cmake --preset windows-release -S .
    cmake --build cmake-build/build/windows-release --target omath -j 6
    ```
-   Use **\<platform\>-\<build configuration\>** preset to build siutable version for yourself. Like **windows-release** or **linux-release**.
+   Use **\<platform\>-\<build configuration\>** preset to build suitable version for yourself. Like **windows-release** or **linux-release**.
 
     | Platform Name | Build Config  |
     |---------------|---------------|

LICENSE

@@ -1,4 +1,4 @@
-Copyright (C) 2024-2025 Orange++ <orange-cpp@yandex.ru>
+Copyright (C) 2024-2025 Orange++ <orange_github@proton.me>
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -14,4 +14,16 @@ freely, subject to the following restrictions:
    appreciated but is not required.
 2. Altered source versions must be plainly marked as such, and must not be
    misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
+3. This notice may not be removed or altered from any source distribution.
+4. If you are an employee, contractor, volunteer, representative, 
+   or have any other affiliation (past, present, or future)
+   with any of the following entities:
+     * "Yandex" LLC
+     * "Rutube" LLC
+     * "Kaspersky" LLC
+   Or if you represent or are associated with any legal, organizational, or 
+   professional entity providing services to or on behalf of the aforementioned entities:
+   You are expressly forbidden from accessing, using, modifying, distributing, or
+   interacting with the Software  and its source code in any form. You must immediately 
+   delete or destroy any physical or digital copies of the Software  and/or
+   its source code, including any derivative works, tools, or information obtained from the Software.

README.md

@@ -1,8 +1,8 @@
 <div align = center>
 
-![banner](https://github.com/orange-cpp/omath/blob/main/.github/images/banner.png?raw=true)
+![banner](.github/images/logos/omath_logo_macro.png)
 
-![GitHub License](https://img.shields.io/github/license/orange-cpp/omath)
+![Static Badge](https://img.shields.io/badge/license-libomath-orange)
 ![GitHub contributors](https://img.shields.io/github/contributors/orange-cpp/omath)
 ![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)
@@ -12,9 +12,26 @@
 [![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)
 
+OMath is a 100% independent, constexpr template blazingly fast math library that doesn't have legacy C++ code.
+
+It provides the latest features, is highly customizable, has all for cheat development, DirectX/OpenGL/Vulkan support, premade support for different game engines, much more constexpr stuff than in other libraries and more...
+<br>
+<br>
+
+---
+
+**[<kbd> <br> Install <br> </kbd>][INSTALL]** 
+**[<kbd> <br> Examples <br> </kbd>][EXAMPLES]** 
+**[<kbd> <br> Documentation <br> </kbd>][DOCUMENTATION]** 
+**[<kbd> <br> Contribute <br> </kbd>][CONTRIBUTING]** 
+**[<kbd> <br> Donate <br> </kbd>][SPONSOR]** 
+
+---
+
+<br>
+
 </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">
@@ -26,7 +43,7 @@ Oranges's Math Library (omath) is a comprehensive, open-source library aimed at
  </a>
 </div>
 
-## 👁‍🗨 Features
+# Features
 - **Efficiency**: Optimized for performance, ensuring quick computations using AVX2.
 - **Versatility**: Includes a wide array of mathematical functions and algorithms.
 - **Ease of Use**: Simplified interface for convenient integration into various projects.
@@ -35,68 +52,44 @@ Oranges's Math Library (omath) is a comprehensive, open-source library aimed at
 - **Collision Detection**: Production ready code to handle collision detection by using simple interfaces.
 - **No Additional Dependencies**: No additional dependencies need to use OMath except unit test execution
 - **Ready for meta-programming**: Omath use templates for common types like Vectors, Matrixes etc, to handle all types!
+- **Engine support**: Supports coordinate systems of Source, Unity, Unreal, IWEngine and canonical OpenGL.
+- **Cross platform**: Supports Windows, MacOS and Linux.
+<div align = center>
+ 
+# Gallery
 
-## Supported Render Pipelines
-| ENGINE   | SUPPORT |
-|----------|---------|
-| Source   | ✅YES    |
-| Unity    | ✅YES    |
-| IWEngine | ✅YES    |
-| OpenGL   | ✅YES    |
-| Unreal   | ✅YES    |
+<br>
 
-## Supported Operating Systems
+[![Youtube Video](.github/images/yt_previews/img.png)](https://youtu.be/lM_NJ1yCunw?si=-Qf5yzDcWbaxAXGQ)
 
-| OS             | SUPPORT |
-|----------------|---------|
-| Windows 10/11  | ✅YES    |
-| Linux          | ✅YES    |
-| Darwin (MacOS) | ✅YES    |
+<br>
 
-## ⏬ Installation
-Please read our [installation guide](https://github.com/orange-cpp/omath/blob/main/INSTALL.md). If this link doesn't work check out INSTALL.md file.
+![APEX Preview]
 
-## ❔ Usage
-ESP example
-```c++
-omath::source_engine::Camera cam{localPlayer.GetCameraOrigin(),
-                                 localPlayer.GetAimPunch(),
-                                 {1920.f, 1080.f},
-                                 localPlayer.GetFieldOfView(),
-                                 0.01.f, 30000.f};
+<br>
 
-for (auto ent: apex_sdk::EntityList::GetAllEntities())
-{
-    const auto bottom = cam.world_to_screen(ent.GetOrigin());
-    const auto top = cam.world_to_screen(ent.GetBonePosition(8) + omath::Vector3<float>{0, 0, 10});
+![BO2 Preview]
 
-    const auto ent_health = ent.GetHealth();
+<br>
 
-    if (!top || !bottom || ent_health <= 0)
-        continue;
-    // esp rendering...
-}
-```
-## Showcase
-<details>
-  <summary>OMATH for making cheats (click to open)</summary>
+![CS2 Preview]
 
-With `omath/projection` module you can achieve simple ESP hack for powered by Source/Unreal/Unity engine games, like [Apex Legends](https://store.steampowered.com/app/1172470/Apex_Legends/).
+<br>
+<br>
 
-![banner](https://i.imgur.com/lcJrfcZ.png)
-Or for InfinityWard Engine based games. Like Call of Duty Black Ops 2!
-![banner](https://i.imgur.com/F8dmdoo.png)
-Or create simple trigger bot with embeded traceline from omath::collision::LineTrace
-![banner](https://i.imgur.com/fxMjRKo.jpeg)
-Or even advanced projectile aimbot
-[Watch Video](https://youtu.be/lM_NJ1yCunw?si=5E87OrQMeypxSJ3E)
-</details>
+</div>
 
-## 🫵🏻 Contributing
-Contributions to `omath` are welcome! Please read `CONTRIBUTING.md` for details on our code of conduct and the process for submitting pull requests.
-
-## 📜 License
-This project is licensed under the ZLIB - see the `LICENSE` file for details.
-
-## 💘 Acknowledgments
+# 💘 Acknowledgments
 -  [All contributors](https://github.com/orange-cpp/omath/graphs/contributors)
+
+<!----------------------------------{ Images }--------------------------------->
+[APEX Preview]: .github/images/showcase/apex.png
+[BO2 Preview]: .github/images/showcase/cod_bo2.png
+[CS2 Preview]: .github/images/showcase/cs2.jpeg
+
+<!----------------------------------{ Buttons }--------------------------------->
+[INSTALL]: INSTALL.md
+[DOCUMENTATION]: http://libomath.org
+[CONTRIBUTING]: CONTRIBUTING.md
+[EXAMPLES]: examples
+[SPONSOR]: https://boosty.to/orangecpp/purchase/3568644?ssource=DIRECT&share=subscription_link

SECURITY.md

@@ -2,4 +2,4 @@
 
 ## Reporting a Vulnerability
 
-Please report security issues to `orange-cpp@yandex.ru`
+Please report security issues to `orange_github@proton.me`

VERSION

@@ -0,0 +1 @@
+3.8.2

benchmark/CMakeLists.txt

@@ -0,0 +1,15 @@
+project(omath_benchmark)
+
+
+file(GLOB_RECURSE OMATH_BENCHMARK_SOURCES CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/*.cpp")
+add_executable(${PROJECT_NAME} ${OMATH_BENCHMARK_SOURCES})
+
+set_target_properties(${PROJECT_NAME} PROPERTIES
+        ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+        LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+        RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+        CXX_STANDARD 23
+        CXX_STANDARD_REQUIRED ON)
+
+
+target_link_libraries(${PROJECT_NAME} PRIVATE benchmark::benchmark omath)

benchmark/benchmark_mat.cpp

@@ -0,0 +1,65 @@
+//
+// Created by Vlad on 9/17/2025.
+//
+#include <benchmark/benchmark.h>
+
+#include <omath/omath.hpp>
+using namespace omath;
+
+
+void mat_float_multiplication_col_major(benchmark::State& state)
+{
+    using MatType = Mat<128, 128, float, MatStoreType::COLUMN_MAJOR>;
+    MatType a;
+    MatType b;
+    a.set(3.f);
+    b.set(7.f);
+
+
+    for ([[maybe_unused]] const auto _ : state)
+        std::ignore = a * b;
+}
+void mat_float_multiplication_row_major(benchmark::State& state)
+{
+    using MatType = Mat<128, 128, float, MatStoreType::ROW_MAJOR>;
+    MatType a;
+    MatType b;
+    a.set(3.f);
+    b.set(7.f);
+
+
+    for ([[maybe_unused]] const auto _ : state)
+        std::ignore = a * b;
+}
+
+void mat_double_multiplication_row_major(benchmark::State& state)
+{
+    using MatType = Mat<128, 128, double, MatStoreType::ROW_MAJOR>;
+    MatType a;
+    MatType b;
+    a.set(3.f);
+    b.set(7.f);
+
+
+    for ([[maybe_unused]] const auto _ : state)
+        std::ignore = a * b;
+}
+
+void mat_double_multiplication_col_major(benchmark::State& state)
+{
+    using MatType = Mat<128, 128, double, MatStoreType::COLUMN_MAJOR>;
+    MatType a;
+    MatType b;
+    a.set(3.f);
+    b.set(7.f);
+
+
+    for ([[maybe_unused]] const auto _ : state)
+        std::ignore = a * b;
+}
+
+BENCHMARK(mat_float_multiplication_col_major)->Iterations(5000);
+BENCHMARK(mat_float_multiplication_row_major)->Iterations(5000);
+
+BENCHMARK(mat_double_multiplication_col_major)->Iterations(5000);
+BENCHMARK(mat_double_multiplication_row_major)->Iterations(5000);

benchmark/benchmark_projectile_pred.cpp

@@ -0,0 +1,23 @@
+//
+// Created by Vlad on 9/18/2025.
+//
+#include <benchmark/benchmark.h>
+#include <omath/omath.hpp>
+using namespace omath;
+
+using namespace omath::projectile_prediction;
+
+constexpr float simulation_time_step = 1.f / 1000.f;
+constexpr float hit_distance_tolerance = 5.f;
+
+void source_engine_projectile_prediction(benchmark::State& state)
+{
+    constexpr Target target{.m_origin = {100, 0, 90}, .m_velocity = {0, 0, 0}, .m_is_airborne = false};
+    constexpr Projectile projectile = {.m_origin = {3, 2, 1}, .m_launch_speed = 5000, .m_gravity_scale = 0.4};
+
+    for ([[maybe_unused]] const auto _: state)
+        std::ignore = ProjPredEngineLegacy(400, simulation_time_step, 50, hit_distance_tolerance)
+                              .maybe_calculate_aim_point(projectile, target);
+}
+
+BENCHMARK(source_engine_projectile_prediction)->Iterations(10'000);

benchmark/main.cpp

@@ -0,0 +1,5 @@
+//
+// Created by Vlad on 9/17/2025.
+//
+#include <benchmark/benchmark.h>
+BENCHMARK_MAIN();

docs/index.md

@@ -0,0 +1,17 @@
+# Welcome to MkDocs
+
+For full documentation visit [mkdocs.org](https://www.mkdocs.org).
+
+## Commands
+
+* `mkdocs new [dir-name]` - Create a new project.
+* `mkdocs serve` - Start the live-reloading docs server.
+* `mkdocs build` - Build the documentation site.
+* `mkdocs -h` - Print help message and exit.
+
+## Project layout
+
+    mkdocs.yml    # The configuration file.
+    docs/
+        index.md  # The documentation homepage.
+        ...       # Other markdown pages, images and other files.

extlibs/CMakeLists.txt

@@ -1 +1,9 @@
-add_subdirectory(googletest)
+
+if (OMATH_BUILD_TESTS)
+    add_subdirectory(googletest)
+endif ()
+
+if (OMATH_BUILD_BENCHMARK)
+    set(BENCHMARK_ENABLE_TESTING OFF)
+    add_subdirectory(benchmark)
+endif ()

include/omath/3d_primitives/box.hpp

@@ -3,10 +3,9 @@
 //
 
 #pragma once
+#include "omath/linear_algebra/triangle.hpp"
+#include "omath/linear_algebra/vector3.hpp"
 #include <array>
-#include "omath/triangle.hpp"
-#include "omath/vector3.hpp"
-
 
 namespace omath::primitives
 {

include/omath/3d_primitives/plane.hpp

@@ -0,0 +1,16 @@
+//
+// Created by Vlad on 8/28/2025.
+//
+
+#pragma once
+#include "omath/linear_algebra/triangle.hpp"
+#include "omath/linear_algebra/vector3.hpp"
+#include <array>
+
+namespace omath::primitives
+{
+    [[nodiscard]]
+    std::array<Triangle<Vector3<float>>, 2> create_plane(const Vector3<float>& vertex_a,
+                                                          const Vector3<float>& vertex_b,
+                                                          const Vector3<float>& direction, float size) noexcept;
+}

include/omath/collision/line_tracer.hpp

@@ -3,8 +3,8 @@
 //
 #pragma once
 
-#include "omath/triangle.hpp"
-#include "omath/vector3.hpp"
+#include "omath/linear_algebra/triangle.hpp"
+#include "omath/linear_algebra/vector3.hpp"
 
 namespace omath::collision
 {

include/omath/engines/iw_engine/constants.hpp

@@ -3,10 +3,10 @@
 //
 
 #pragma once
-#include <omath/angle.hpp>
-#include <omath/mat.hpp>
-#include <omath/vector3.hpp>
-#include <omath/view_angles.hpp>
+#include "omath/linear_algebra/mat.hpp"
+#include "omath/linear_algebra/vector3.hpp"
+#include <omath/trigonometry/angle.hpp>
+#include <omath/trigonometry/view_angles.hpp>
 
 namespace omath::iw_engine
 {

include/omath/engines/opengl_engine/constants.hpp

@@ -3,10 +3,10 @@
 //
 #pragma once
 
-#include <omath/angle.hpp>
-#include <omath/mat.hpp>
-#include <omath/vector3.hpp>
-#include <omath/view_angles.hpp>
+#include "omath/linear_algebra/mat.hpp"
+#include "omath/linear_algebra/vector3.hpp"
+#include <omath/trigonometry/angle.hpp>
+#include <omath/trigonometry/view_angles.hpp>
 
 namespace omath::opengl_engine
 {

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

@@ -62,17 +62,15 @@ namespace omath::opengl_engine
         [[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));
+            const auto direction = (view_to - origin).normalized();
+            return angles::radians_to_degrees(std::asin(direction.y));
         }
         [[nodiscard]]
         static float calc_direct_yaw_angle(const Vector3<float>& origin, const Vector3<float>& view_to) noexcept
         {
-            const auto delta = view_to - origin;
+            const auto direction = (view_to - origin).normalized();
 
-            return angles::radians_to_degrees(std::atan2(delta.z, delta.x));
+            return angles::radians_to_degrees(-std::atan2(direction.x, -direction.z));
         };
     };
 } // namespace omath::opengl_engine

include/omath/engines/source_engine/constants.hpp

@@ -3,10 +3,10 @@
 //
 #pragma once
 
-#include <omath/angle.hpp>
-#include <omath/mat.hpp>
-#include <omath/vector3.hpp>
-#include <omath/view_angles.hpp>
+#include "omath/linear_algebra/mat.hpp"
+#include "omath/linear_algebra/vector3.hpp"
+#include <omath/trigonometry/angle.hpp>
+#include <omath/trigonometry/view_angles.hpp>
 
 namespace omath::source_engine
 {

include/omath/engines/unity_engine/constants.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <omath/angle.hpp>
-#include <omath/mat.hpp>
-#include <omath/vector3.hpp>
-#include <omath/view_angles.hpp>
+#include "omath/linear_algebra/mat.hpp"
+#include "omath/linear_algebra/vector3.hpp"
+#include <omath/trigonometry/angle.hpp>
+#include <omath/trigonometry/view_angles.hpp>
 
 namespace omath::unity_engine
 {

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

@@ -62,17 +62,15 @@ namespace omath::unity_engine
         [[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));
+            const auto direction = (view_to - origin).normalized();
+            return angles::radians_to_degrees(std::asin(direction.y));
         }
         [[nodiscard]]
         static float calc_direct_yaw_angle(const Vector3<float>& origin, const Vector3<float>& view_to) noexcept
         {
-            const auto delta = view_to - origin;
+            const auto direction = (view_to - origin).normalized();
 
-            return angles::radians_to_degrees(std::atan2(delta.z, delta.x));
+            return angles::radians_to_degrees(std::atan2(direction.x, direction.z));
         };
     };
 } // namespace omath::unity_engine

include/omath/engines/unreal_engine/constants.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <omath/angle.hpp>
-#include <omath/mat.hpp>
-#include <omath/vector3.hpp>
-#include <omath/view_angles.hpp>
+#include "omath/linear_algebra/mat.hpp"
+#include "omath/linear_algebra/vector3.hpp"
+#include <omath/trigonometry/angle.hpp>
+#include <omath/trigonometry/view_angles.hpp>
 
 namespace omath::unreal_engine
 {

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

@@ -62,17 +62,16 @@ namespace omath::unreal_engine
         [[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;
+            const auto direction = (view_to - origin).normalized();
 
-            return angles::radians_to_degrees(std::asin(delta.z / distance));
+            return angles::radians_to_degrees(std::asin(direction.z));
         }
         [[nodiscard]]
         static float calc_direct_yaw_angle(const Vector3<float>& origin, const Vector3<float>& view_to) noexcept
         {
-            const auto delta = view_to - origin;
+            const auto direction = (view_to - origin).normalized();
 
-            return angles::radians_to_degrees(std::atan2(delta.y, delta.x));
+            return angles::radians_to_degrees(std::atan2(direction.y, direction.x));
         };
     };
 } // namespace omath::unreal_engine

include/omath/linear_algebra/mat.hpp

@@ -2,7 +2,7 @@
 // Created by vlad on 9/29/2024.
 //
 #pragma once
-#include "omath/vector3.hpp"
+#include "vector3.hpp"
 #include <algorithm>
 #include <array>
 #include <iomanip>
@@ -11,14 +11,12 @@
 #include <stdexcept>
 #include <utility>
 
-#ifdef near
+#ifdef OMATH_USE_AVX2
+#include <immintrin.h>
+#endif
+
 #undef near
-#endif
-
-#ifdef far
 #undef far
-#endif
-
 namespace omath
 {
     struct MatSize
@@ -88,7 +86,7 @@ namespace omath
         }
 
         [[nodiscard]]
-        constexpr Type& operator[](const size_t row, const size_t col) const
+        constexpr const Type& operator[](const size_t row, const size_t col) const
         {
             return at(row, col);
         }
@@ -162,17 +160,19 @@ namespace omath
         constexpr Mat<Rows, OtherColumns, Type, StoreType>
         operator*(const Mat<Columns, OtherColumns, Type, StoreType>& other) const
         {
-            Mat<Rows, OtherColumns, Type, StoreType> result;
-
-            for (size_t i = 0; i < Rows; ++i)
-                for (size_t j = 0; j < OtherColumns; ++j)
-                {
-                    Type sum = 0;
-                    for (size_t k = 0; k < Columns; ++k)
-                        sum += at(i, k) * other.at(k, j);
-                    result.at(i, j) = sum;
-                }
-            return result;
+#ifdef OMATH_USE_AVX2
+            if constexpr (StoreType == MatStoreType::ROW_MAJOR)
+                return avx_multiply_row_major(other);
+            else if constexpr (StoreType == MatStoreType::COLUMN_MAJOR)
+                return avx_multiply_col_major(other);
+#else
+            if constexpr (StoreType == MatStoreType::ROW_MAJOR)
+                return cache_friendly_multiply_row_major(other);
+            else if constexpr (StoreType == MatStoreType::COLUMN_MAJOR)
+                return cache_friendly_multiply_col_major(other);
+#endif
+            else
+                std::unreachable();
         }
 
         constexpr Mat& operator*=(const Type& f) noexcept
@@ -328,6 +328,21 @@ namespace omath
             return oss.str();
         }
 
+        [[nodiscard]]
+        std::wstring to_wstring() const noexcept
+        {
+            const auto ascii_string = to_string();
+            return {ascii_string.cbegin(), ascii_string.cend()};
+        }
+
+        [[nodiscard]]
+        // ReSharper disable once CppInconsistentNaming
+        std::u8string to_u8string() const noexcept
+        {
+            const auto ascii_string = to_string();
+            return {ascii_string.cbegin(), ascii_string.cend()};
+        }
+
         [[nodiscard]]
         bool operator==(const Mat& mat) const
         {
@@ -374,6 +389,176 @@ namespace omath
 
     private:
         std::array<Type, Rows * Columns> m_data;
+
+        template<size_t OtherColumns> [[nodiscard]]
+        constexpr Mat<Rows, OtherColumns, Type, MatStoreType::ROW_MAJOR>
+        cache_friendly_multiply_row_major(const Mat<Columns, OtherColumns, Type, MatStoreType::ROW_MAJOR>& other) const
+        {
+            Mat<Rows, OtherColumns, Type, MatStoreType::ROW_MAJOR> result;
+            for (std::size_t row_index = 0; row_index < Rows; ++row_index)
+                for (std::size_t column_index = 0; column_index < Columns; ++column_index)
+                {
+                    const Type& current_number = at(row_index, column_index);
+                    for (std::size_t other_column = 0; other_column < OtherColumns; ++other_column)
+                        result.at(row_index, other_column) += current_number * other.at(column_index, other_column);
+                }
+            return result;
+        }
+
+        template<size_t OtherColumns> [[nodiscard]]
+        constexpr Mat<Rows, OtherColumns, Type, MatStoreType::COLUMN_MAJOR> cache_friendly_multiply_col_major(
+                const Mat<Columns, OtherColumns, Type, MatStoreType::COLUMN_MAJOR>& other) const
+        {
+            Mat<Rows, OtherColumns, Type, MatStoreType::COLUMN_MAJOR> result;
+            for (std::size_t other_column = 0; other_column < OtherColumns; ++other_column)
+                for (std::size_t column_index = 0; column_index < Columns; ++column_index)
+                {
+                    const Type& current_number = other.at(column_index, other_column);
+                    for (std::size_t row_index = 0; row_index < Rows; ++row_index)
+                        result.at(row_index, other_column) += at(row_index, column_index) * current_number;
+                }
+            return result;
+        }
+#ifdef OMATH_USE_AVX2
+        template<size_t OtherColumns> [[nodiscard]]
+        constexpr Mat<Rows, OtherColumns, Type, MatStoreType::COLUMN_MAJOR>
+        avx_multiply_col_major(const Mat<Columns, OtherColumns, Type, MatStoreType::COLUMN_MAJOR>& other) const
+        {
+            Mat<Rows, OtherColumns, Type, MatStoreType::COLUMN_MAJOR> result;
+
+            const Type* this_mat_data = this->raw_array().data();
+            const Type* other_mat_data = other.raw_array().data();
+            Type* result_mat_data = result.raw_array().data();
+
+            if constexpr (std::is_same_v<Type, float>)
+            {
+                // ReSharper disable once CppTooWideScopeInitStatement
+                constexpr std::size_t vector_size = 8;
+                for (std::size_t j = 0; j < OtherColumns; ++j)
+                {
+                    auto* c_col = reinterpret_cast<float*>(result_mat_data + j * Rows);
+                    for (std::size_t k = 0; k < Columns; ++k)
+                    {
+                        const float bkj = reinterpret_cast<const float*>(other_mat_data)[k + j * Columns];
+                        const __m256 bkj_vec = _mm256_set1_ps(bkj);
+
+                        const auto* a_col_k = reinterpret_cast<const float*>(this_mat_data + k * Rows);
+
+                        std::size_t i = 0;
+                        for (; i + vector_size <= Rows; i += vector_size)
+                        {
+                            __m256 cvec = _mm256_loadu_ps(c_col + i);
+                            const __m256 a_vec = _mm256_loadu_ps(a_col_k + i);
+                            cvec = _mm256_fmadd_ps(a_vec, bkj_vec, cvec);
+                            _mm256_storeu_ps(c_col + i, cvec);
+                        }
+                        for (; i < Rows; ++i)
+                            c_col[i] += a_col_k[i] * bkj;
+                    }
+                }
+            }
+            else if (std::is_same_v<Type, double>)
+            { // double
+                // ReSharper disable once CppTooWideScopeInitStatement
+                constexpr std::size_t vector_size = 4;
+                for (std::size_t j = 0; j < OtherColumns; ++j)
+                {
+                    auto* c_col = reinterpret_cast<double*>(result_mat_data + j * Rows);
+                    for (std::size_t k = 0; k < Columns; ++k)
+                    {
+                        const double bkj = reinterpret_cast<const double*>(other_mat_data)[k + j * Columns];
+                        const __m256d bkj_vec = _mm256_set1_pd(bkj);
+
+                        const auto* a_col_k = reinterpret_cast<const double*>(this_mat_data + k * Rows);
+
+                        std::size_t i = 0;
+                        for (; i + vector_size <= Rows; i += vector_size)
+                        {
+                            __m256d cvec = _mm256_loadu_pd(c_col + i);
+                            const __m256d a_vec = _mm256_loadu_pd(a_col_k + i);
+                            cvec = _mm256_fmadd_pd(a_vec, bkj_vec, cvec);
+                            _mm256_storeu_pd(c_col + i, cvec);
+                        }
+                        for (; i < Rows; ++i)
+                            c_col[i] += a_col_k[i] * bkj;
+                    }
+                }
+            }
+            else
+                std::unreachable();
+
+            return result;
+        }
+
+        template<size_t OtherColumns> [[nodiscard]]
+        constexpr Mat<Rows, OtherColumns, Type, MatStoreType::ROW_MAJOR>
+        avx_multiply_row_major(const Mat<Columns, OtherColumns, Type, MatStoreType::ROW_MAJOR>& other) const
+        {
+            Mat<Rows, OtherColumns, Type, MatStoreType::ROW_MAJOR> result;
+
+            const Type* this_mat_data = this->raw_array().data();
+            const Type* other_mat_data = other.raw_array().data();
+            Type* result_mat_data = result.raw_array().data();
+
+            if constexpr (std::is_same_v<Type, float>)
+            {
+                // ReSharper disable once CppTooWideScopeInitStatement
+                constexpr std::size_t vector_size = 8;
+                for (std::size_t i = 0; i < Rows; ++i)
+                {
+                    Type* c_row = result_mat_data + i * OtherColumns;
+                    for (std::size_t k = 0; k < Columns; ++k)
+                    {
+                        const auto aik = static_cast<float>(this_mat_data[i * Columns + k]);
+                        const __m256 aik_vec = _mm256_set1_ps(aik);
+                        const auto* b_row = reinterpret_cast<const float*>(other_mat_data + k * OtherColumns);
+
+                        std::size_t j = 0;
+                        for (; j + vector_size <= OtherColumns; j += vector_size)
+                        {
+                            __m256 cvec = _mm256_loadu_ps(c_row + j);
+                            const __m256 b_vec = _mm256_loadu_ps(b_row + j);
+                            cvec = _mm256_fmadd_ps(b_vec, aik_vec, cvec);
+
+                            _mm256_storeu_ps(c_row + j, cvec);
+                        }
+                        for (; j < OtherColumns; ++j)
+                            c_row[j] += aik * b_row[j];
+                    }
+                }
+            }
+            else if (std::is_same_v<Type, double>)
+            { // double
+                // ReSharper disable once CppTooWideScopeInitStatement
+                constexpr std::size_t vector_size = 4;
+                for (std::size_t i = 0; i < Rows; ++i)
+                {
+                    Type* c_row = result_mat_data + i * OtherColumns;
+                    for (std::size_t k = 0; k < Columns; ++k)
+                    {
+                        const auto aik = static_cast<double>(this_mat_data[i * Columns + k]);
+                        const __m256d aik_vec = _mm256_set1_pd(aik);
+                        const auto* b_row = reinterpret_cast<const double*>(other_mat_data + k * OtherColumns);
+
+                        std::size_t j = 0;
+                        for (; j + vector_size <= OtherColumns; j += vector_size)
+                        {
+                            __m256d cvec = _mm256_loadu_pd(c_row + j);
+                            const __m256d b_vec = _mm256_loadu_pd(b_row + j);
+                            cvec = _mm256_fmadd_pd(b_vec, aik_vec, cvec);
+
+                            _mm256_storeu_pd(c_row + j, cvec);
+                        }
+                        for (; j < OtherColumns; ++j)
+                            c_row[j] += aik * b_row[j];
+                    }
+                }
+            }
+            else
+                std::unreachable();
+            return result;
+        }
+#endif
     };
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR> [[nodiscard]]
@@ -479,4 +664,75 @@ namespace omath
                 {0.f, 0.f, -(far + near) / (far - near), -(2.f * near * far) / (far - near)},
                 {0.f, 0.f, -1.f, 0.f}};
     }
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
+    [[nodiscard]]
+    Mat<4, 4, Type, St> mat_ortho_left_handed(const Type left, const Type right,
+                                              const Type bottom, const Type top,
+                                              const Type near, const Type far) noexcept
+    {
+        return
+        {
+            { static_cast<Type>(2) / (right - left), 0.f,       0.f,    -(right + left) / (right - left)},
+            { 0.f,      static_cast<Type>(2) / (top - bottom),  0.f,    -(top + bottom) / (top - bottom)},
+            { 0.f,      0.f,       static_cast<Type>(2) / (far - near), -(far + near) / (far - near)    },
+            { 0.f,      0.f,       0.f,                                 1.f                             }
+        };
+    }
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
+    [[nodiscard]]
+    Mat<4, 4, Type, St> mat_ortho_right_handed(const Type left, const Type right,
+                                              const Type bottom, const Type top,
+                                              const Type near, const Type far) noexcept
+    {
+        return
+        {
+                { static_cast<Type>(2) / (right - left), 0.f,       0.f,     -(right + left) / (right - left)},
+                { 0.f,      static_cast<Type>(2) / (top - bottom),  0.f,     -(top + bottom) / (top - bottom)},
+                { 0.f,      0.f,       -static_cast<Type>(2) / (far - near), -(far + near) / (far - near)    },
+                { 0.f,      0.f,       0.f,                                  1.f                             }
+        };
+    }
+    template<class T = float, MatStoreType St = MatStoreType::COLUMN_MAJOR>
+   Mat<4, 4, T, St> mat_look_at_left_handed(const Vector3<T>& eye, const Vector3<T>& center, const Vector3<T>& up)
+    {
+        const Vector3<T> f = (center - eye).normalized();
+        const Vector3<T> s = f.cross(up).normalized();
+        const Vector3<T> u = s.cross(f);
+        return mat_camera_view<T, St>(f, s, u, eye);
+    }
+
+    template<class T = float, MatStoreType St = MatStoreType::COLUMN_MAJOR>
+    Mat<4, 4, T, St>mat_look_at_right_handed(const Vector3<T>& eye, const Vector3<T>& center, const Vector3<T>& up)
+    {
+        const Vector3<T> f = (center - eye).normalized();
+        const Vector3<T> s = f.cross(up).normalized();
+        const Vector3<T> u = s.cross(f);
+        return mat_camera_view<T, St>(-f, s, u, eye);
+    }
+
 } // namespace omath
+
+template<size_t Rows, size_t Columns, class Type, omath::MatStoreType StoreType>
+struct std::formatter<omath::Mat<Rows, Columns, Type, StoreType>> // NOLINT(*-dcl58-cpp)
+{
+    using MatType = omath::Mat<Rows, Columns, Type, StoreType>;
+    [[nodiscard]]
+    static constexpr auto parse(std::format_parse_context& ctx)
+    {
+        return ctx.begin();
+    }
+
+    template<class FormatContext>
+    [[nodiscard]]
+    static auto format(const MatType& mat, FormatContext& ctx)
+    {
+        if constexpr (std::is_same_v<typename FormatContext::char_type, char>)
+            return std::format_to(ctx.out(), "{}", mat.to_string());
+
+        if constexpr (std::is_same_v<typename FormatContext::char_type, wchar_t>)
+            return std::format_to(ctx.out(), L"{}", mat.to_wstring());
+
+        if constexpr (std::is_same_v<typename FormatContext::char_type, char8_t>)
+            return std::format_to(ctx.out(), u8"{}", mat.to_u8string());
+    }
+};

include/omath/linear_algebra/triangle.hpp

@@ -2,7 +2,7 @@
 // Created by Orange on 11/13/2024.
 //
 #pragma once
-#include "omath/vector3.hpp"
+#include "vector3.hpp"
 
 namespace omath
 {

include/omath/linear_algebra/vector2.hpp

@@ -4,6 +4,7 @@
 
 #pragma once
 #include <cmath>
+#include <format>
 #include <tuple>
 
 #ifdef OMATH_IMGUI_INTEGRATION
@@ -218,7 +219,6 @@ namespace omath
         {
             return std::make_tuple(x, y);
         }
-
 #ifdef OMATH_IMGUI_INTEGRATION
         [[nodiscard]]
         ImVec2 to_im_vec2() const noexcept
@@ -233,3 +233,27 @@ namespace omath
 #endif
     };
 } // namespace omath
+
+template<class Type>
+struct std::formatter<omath::Vector2<Type>> // NOLINT(*-dcl58-cpp)
+{
+    [[nodiscard]]
+    static constexpr auto parse(std::format_parse_context& ctx)
+    {
+        return ctx.begin();
+    }
+
+    template<class FormatContext>
+    [[nodiscard]]
+    static auto format(const omath::Vector2<Type>& vec, FormatContext& ctx)
+    {
+        if constexpr (std::is_same_v<typename FormatContext::char_type, char>)
+            return std::format_to(ctx.out(), "[{}, {}]", vec.x, vec.y);
+
+        if constexpr (std::is_same_v<typename FormatContext::char_type, wchar_t>)
+            return std::format_to(ctx.out(), L"[{}, {}]", vec.x, vec.y);
+
+        if constexpr (std::is_same_v<typename FormatContext::char_type, char8_t>)
+            return std::format_to(ctx.out(), u8"[{}, {}]", vec.x, vec.y);
+    }
+};

include/omath/linear_algebra/vector3.hpp

@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include "omath/angle.hpp"
-#include "omath/vector2.hpp"
+#include "omath/trigonometry/angle.hpp"
+#include "omath/linear_algebra/vector2.hpp"
 #include <cstdint>
 #include <expected>
 #include <functional>
@@ -159,9 +159,9 @@ namespace omath
             return Vector2<Type>::length();
         }
 
-        [[nodiscard]] Type distance_to(const Vector3& vOther) const noexcept
+        [[nodiscard]] Type distance_to(const Vector3& v_other) const noexcept
         {
-            return (*this - vOther).length();
+            return (*this - v_other).length();
         }
 #endif
 
@@ -279,21 +279,42 @@ namespace omath
         }
     };
 } // namespace omath
-// ReSharper disable once CppRedundantNamespaceDefinition
-namespace std
+
+template<> struct std::hash<omath::Vector3<float>>
 {
-    template<> struct hash<omath::Vector3<float>>
+    std::size_t operator()(const omath::Vector3<float>& vec) const noexcept
     {
-        std::size_t operator()(const omath::Vector3<float>& vec) const noexcept
-        {
-            std::size_t hash = 0;
-            constexpr std::hash<float> hasher;
+        std::size_t hash = 0;
+        constexpr std::hash<float> hasher;
 
-            hash ^= hasher(vec.x) + 0x9e3779b9 + (hash << 6) + (hash >> 2);
-            hash ^= hasher(vec.y) + 0x9e3779b9 + (hash << 6) + (hash >> 2);
-            hash ^= hasher(vec.z) + 0x9e3779b9 + (hash << 6) + (hash >> 2);
+        hash ^= hasher(vec.x) + 0x9e3779b9 + (hash << 6) + (hash >> 2);
+        hash ^= hasher(vec.y) + 0x9e3779b9 + (hash << 6) + (hash >> 2);
+        hash ^= hasher(vec.z) + 0x9e3779b9 + (hash << 6) + (hash >> 2);
 
-            return hash;
-        }
-    };
-} // namespace std
+        return hash;
+    }
+};
+
+template<class Type>
+struct std::formatter<omath::Vector3<Type>> // NOLINT(*-dcl58-cpp)
+{
+    [[nodiscard]]
+    static constexpr auto parse(std::format_parse_context& ctx)
+    {
+        return ctx.begin();
+    }
+
+    template<class FormatContext>
+    [[nodiscard]]
+    static auto format(const omath::Vector3<Type>& vec, FormatContext& ctx)
+    {
+        if constexpr (std::is_same_v<typename FormatContext::char_type, char>)
+            return std::format_to(ctx.out(), "[{}, {}, {}]", vec.x, vec.y, vec.z);
+
+        if constexpr (std::is_same_v<typename FormatContext::char_type, wchar_t>)
+            return std::format_to(ctx.out(), L"[{}, {}, {}]", vec.x, vec.y, vec.z);
+
+        if constexpr (std::is_same_v<typename FormatContext::char_type, char8_t>)
+            return std::format_to(ctx.out(), u8"[{}, {}, {}]", vec.x, vec.y, vec.z);
+    }
+};

include/omath/linear_algebra/vector4.hpp

@@ -4,7 +4,7 @@
 #pragma once
 
 #include <algorithm>
-#include <omath/vector3.hpp>
+#include "omath/linear_algebra/vector3.hpp"
 
 namespace omath
 {
@@ -201,3 +201,26 @@ namespace omath
 #endif
 };
 } // namespace omath
+
+template<class Type>
+struct std::formatter<omath::Vector4<Type>> // NOLINT(*-dcl58-cpp)
+{
+    [[nodiscard]]
+    static constexpr auto parse(std::format_parse_context& ctx)
+    {
+        return ctx.begin();
+    }
+    template<class FormatContext>
+    [[nodiscard]]
+    static auto format(const omath::Vector4<Type>& vec, FormatContext& ctx)
+    {
+        if constexpr (std::is_same_v<typename FormatContext::char_type, char>)
+            return std::format_to(ctx.out(), "[{}, {}, {}, {}]", vec.x, vec.y, vec.z, vec.w);
+
+        if constexpr (std::is_same_v<typename FormatContext::char_type, wchar_t>)
+            return std::format_to(ctx.out(), L"[{}, {}, {}, {}]", vec.x, vec.y, vec.z, vec.w);
+
+        if constexpr (std::is_same_v<typename FormatContext::char_type, char8_t>)
+            return std::format_to(ctx.out(), u8"[{}, {}, {}, {}]", vec.x, vec.y, vec.z, vec.w);
+    }
+};

include/omath/matrix.hpp

@@ -1,112 +0,0 @@
-#pragma once
-
-#ifdef OMATH_ENABLE_LEGACY
-
-#include "omath/vector3.hpp"
-#include <initializer_list>
-#include <memory>
-#include <string>
-
-namespace omath
-{
-
-    class Matrix final
-    {
-    public:
-        Matrix();
-        Matrix(size_t rows, size_t columns);
-
-        Matrix(const std::initializer_list<std::initializer_list<float>>& rows);
-
-        [[nodiscard]]
-        static Matrix to_screen_matrix(float screen_width, float screen_height);
-
-        [[nodiscard]]
-        static Matrix translation_matrix(const Vector3<float>& diff);
-
-        [[nodiscard]]
-        static Matrix orientation_matrix(const Vector3<float>& forward, const Vector3<float>& right,
-                                         const Vector3<float>& up);
-
-        [[nodiscard]]
-        static Matrix projection_matrix(float field_of_view, float aspect_ratio, float near, float far);
-
-        Matrix(const Matrix& other);
-
-        Matrix(size_t rows, size_t columns, const float* raw_data);
-
-        Matrix(Matrix&& other) noexcept;
-
-        [[nodiscard]]
-        size_t row_count() const noexcept;
-
-        [[nodiscard]]
-        float& operator[](size_t row, size_t column);
-
-        [[nodiscard]]
-        size_t columns_count() const noexcept;
-
-        [[nodiscard]]
-        std::pair<size_t, size_t> size() const noexcept;
-
-        [[nodiscard]]
-        float& at(size_t row, size_t col);
-
-        [[nodiscard]]
-        float sum();
-
-        void set_data_from_raw(const float* raw_matrix);
-
-        [[nodiscard]]
-        Matrix transpose() const;
-
-        void set(float val);
-
-        [[nodiscard]]
-        const float& at(size_t row, size_t col) const;
-
-        Matrix operator*(const Matrix& other) const;
-
-        Matrix& operator*=(const Matrix& other);
-
-        Matrix operator*(float f) const;
-
-        Matrix& operator*=(float f);
-
-        Matrix& operator/=(float f);
-
-        void clear();
-
-        [[nodiscard]]
-        Matrix strip(size_t row, size_t column) const;
-
-        [[nodiscard]]
-        float minor(size_t i, size_t j) const;
-
-        [[nodiscard]]
-        float alg_complement(size_t i, size_t j) const;
-
-        [[nodiscard]]
-        float determinant() const;
-
-        [[nodiscard]]
-        const float* raw() const;
-
-        Matrix& operator=(const Matrix& other);
-
-        Matrix& operator=(Matrix&& other) noexcept;
-
-        Matrix operator/(float f) const;
-
-        [[nodiscard]]
-        std::string to_string() const;
-
-        ~Matrix();
-
-    private:
-        size_t m_rows;
-        size_t m_columns;
-        std::unique_ptr<float[]> m_data;
-    };
-} // namespace omath
-#endif

include/omath/omath.hpp

@@ -6,27 +6,27 @@
 #pragma once
 
 // Basic math utilities
-#include "omath/angles.hpp"
-#include "omath/angle.hpp"
+#include "omath/trigonometry/angles.hpp"
+#include "omath/trigonometry/angle.hpp"
 
 // Vector classes (in dependency order)
-#include "omath/vector2.hpp"
-#include "omath/vector3.hpp"
-#include "omath/vector4.hpp"
+#include "omath/linear_algebra/vector2.hpp"
+#include "omath/linear_algebra/vector4.hpp"
+#include "omath/linear_algebra/vector3.hpp"
 
 // Matrix classes
-#include "omath/mat.hpp"
-#include "omath/matrix.hpp"
+#include "omath/linear_algebra/mat.hpp"
 
 // Color functionality
-#include "omath/color.hpp"
+#include "omath/utility/color.hpp"
 
 // Geometric primitives
-#include "omath/triangle.hpp"
-#include "omath/view_angles.hpp"
+#include "omath/linear_algebra/triangle.hpp"
+#include "omath/trigonometry/view_angles.hpp"
 
 // 3D primitives
 #include "omath/3d_primitives/box.hpp"
+#include "omath/3d_primitives/plane.hpp"
 
 // Collision detection
 #include "omath/collision/line_tracer.hpp"
@@ -81,4 +81,11 @@
 #include "omath/engines/unreal_engine/formulas.hpp"
 #include "omath/engines/unreal_engine/camera.hpp"
 #include "omath/engines/unreal_engine/traits/camera_trait.hpp"
-#include "omath/engines/unreal_engine/traits/pred_engine_trait.hpp"
+#include "omath/engines/unreal_engine/traits/pred_engine_trait.hpp"
+
+// Reverse Engineering
+#include "omath/rev_eng/external_rev_object.hpp"
+#include "omath/rev_eng/internal_rev_object.hpp"
+
+// Utility
+#include "omath/utility/pattern_scan.hpp"

include/omath/pathfinding/a_star.hpp

@@ -3,8 +3,8 @@
 //
 
 #pragma once
+#include "omath/linear_algebra/vector3.hpp"
 #include "omath/pathfinding/navigation_mesh.hpp"
-#include "omath/vector3.hpp"
 #include <vector>
 
 namespace omath::pathfinding

include/omath/pathfinding/navigation_mesh.hpp

@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include "omath/vector3.hpp"
+#include "omath/linear_algebra/vector3.hpp"
 #include <expected>
 #include <string>
 #include <vector>

include/omath/projectile_prediction/proj_pred_engine.hpp

@@ -2,9 +2,9 @@
 // Created by Vlad on 2/23/2025.
 //
 #pragma once
+#include "omath/linear_algebra/vector3.hpp"
 #include "omath/projectile_prediction/projectile.hpp"
 #include "omath/projectile_prediction/target.hpp"
-#include "omath/vector3.hpp"
 
 namespace omath::projectile_prediction
 {

include/omath/projectile_prediction/proj_pred_engine_legacy.hpp

@@ -5,10 +5,10 @@
 #pragma once
 
 #include "omath/engines/source_engine/traits/pred_engine_trait.hpp"
+#include "omath/linear_algebra/vector3.hpp"
 #include "omath/projectile_prediction/proj_pred_engine.hpp"
 #include "omath/projectile_prediction/projectile.hpp"
 #include "omath/projectile_prediction/target.hpp"
-#include "omath/vector3.hpp"
 #include <optional>
 
 namespace omath::projectile_prediction
@@ -20,7 +20,9 @@ namespace omath::projectile_prediction
                      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<Vector3<float>>;
+                {
+                    T::predict_projectile_position(projectile, pitch, yaw, time, gravity)
+                } -> std::same_as<Vector3<float>>;
                 { T::predict_target_position(target, time, gravity) } -> std::same_as<Vector3<float>>;
                 { T::calc_vector_2d_distance(vec_a) } -> std::same_as<float>;
                 { T::get_vector_height_coordinate(vec_b) } -> std::same_as<float>;

include/omath/projectile_prediction/projectile.hpp

@@ -3,7 +3,7 @@
 //
 
 #pragma once
-#include "omath/vector3.hpp"
+#include "omath/linear_algebra/vector3.hpp"
 
 namespace omath::projectile_prediction
 {

include/omath/projectile_prediction/target.hpp

@@ -3,7 +3,7 @@
 //
 
 #pragma once
-#include "omath/vector3.hpp"
+#include "omath/linear_algebra/vector3.hpp"
 
 namespace omath::projectile_prediction
 {

include/omath/projection/camera.hpp

@@ -4,13 +4,18 @@
 
 #pragma once
 
+#include "omath/linear_algebra/mat.hpp"
+#include "omath/linear_algebra/vector3.hpp"
 #include "omath/projection/error_codes.hpp"
+#include <omath/trigonometry/angle.hpp>
 #include <expected>
-#include <omath/angle.hpp>
-#include <omath/mat.hpp>
-#include <omath/vector3.hpp>
 #include <type_traits>
 
+#ifdef OMATH_BUILD_TESTS
+// ReSharper disable once CppInconsistentNaming
+class UnitTestProjection_Projection_Test;
+#endif
+
 namespace omath::projection
 {
     class ViewPort final
@@ -45,6 +50,9 @@ namespace omath::projection
     requires CameraEngineConcept<TraitClass, Mat4X4Type, ViewAnglesType>
     class Camera final
     {
+#ifdef OMATH_BUILD_TESTS
+        friend UnitTestProjection_Projection_Test;
+#endif
     public:
         ~Camera() = default;
         Camera(const Vector3<float>& position, const ViewAnglesType& view_angles, const ViewPort& view_port,
@@ -54,12 +62,13 @@ namespace omath::projection
         {
         }
 
-    protected:
         void look_at(const Vector3<float>& target)
         {
             m_view_angles = TraitClass::calc_look_at_angle(m_origin, target);
+            m_view_projection_matrix = std::nullopt;
         }
 
+    protected:
         [[nodiscard]] Mat4X4Type calc_view_projection_matrix() const noexcept
         {
             return TraitClass::calc_projection_matrix(m_field_of_view, m_view_port, m_near_plane_distance,
@@ -164,6 +173,38 @@ namespace omath::projection
 
             return Vector3<float>{projected.at(0, 0), projected.at(1, 0), projected.at(2, 0)};
         }
+        [[nodiscard]]
+        std::expected<Vector3<float>, Error> view_port_to_screen(const Vector3<float>& ndc) const noexcept
+        {
+            const auto inv_view_proj = get_view_projection_matrix().inverted();
+
+            if (!inv_view_proj)
+                return std::unexpected(Error::INV_VIEW_PROJ_MAT_DET_EQ_ZERO);
+
+            auto inverted_projection =
+                    inv_view_proj.value() * mat_column_from_vector<float, Mat4X4Type::get_store_ordering()>(ndc);
+
+            if (!inverted_projection.at(3, 0))
+                return std::unexpected(Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS);
+
+            inverted_projection /= inverted_projection.at(3, 0);
+
+            return Vector3<float>{inverted_projection.at(0, 0), inverted_projection.at(1, 0),
+                                  inverted_projection.at(2, 0)};
+        }
+
+        [[nodiscard]]
+        std::expected<Vector3<float>, Error> screen_to_world(const Vector3<float>& screen_pos) const noexcept
+        {
+            return view_port_to_screen(screen_to_ndc(screen_pos));
+        }
+
+        [[nodiscard]]
+        std::expected<Vector3<float>, Error> screen_to_world(const Vector2<float>& screen_pos) const noexcept
+        {
+            const auto& [x, y] = screen_pos;
+            return screen_to_world({x, y, 1.f});
+        }
 
     protected:
         ViewPort m_view_port{};
@@ -186,19 +227,25 @@ namespace omath::projection
 
         [[nodiscard]] Vector3<float> ndc_to_screen_position(const Vector3<float>& ndc) const noexcept
         {
-/*
-                    ^
-                    |        y
-                1   |
-                    |
-                    |
-        -1 ---------0--------- 1  --> x
-                    |
-                    |
-               -1   |
-                    v
-*/
+            /*
+                                ^
+                                |        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};
         }
+
+        [[nodiscard]] Vector3<float> screen_to_ndc(const Vector3<float>& screen_pos) const noexcept
+        {
+            return {screen_pos.x / m_view_port.m_width * 2.f - 1.f, 1.f - screen_pos.y / m_view_port.m_height * 2.f,
+                    screen_pos.z};
+        }
     };
 } // namespace omath::projection

include/omath/projection/error_codes.hpp

@@ -10,5 +10,6 @@ namespace omath::projection
     enum class Error : uint16_t
     {
         WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS,
+        INV_VIEW_PROJ_MAT_DET_EQ_ZERO,
     };
 }

include/omath/rev_eng/external_rev_object.hpp

@@ -0,0 +1,35 @@
+//
+// Created by Vlad on 10/4/2025.
+//
+
+#pragma once
+#include <cstddef>
+#include <cstdint>
+
+namespace omath::rev_eng
+{
+    template<class ExternalMemoryManagementTrait>
+    class ExternalReverseEngineeredObject
+    {
+    public:
+        explicit ExternalReverseEngineeredObject(const std::uintptr_t addr): m_object_address(addr)
+        {
+        }
+    private:
+        std::uintptr_t m_object_address{};
+
+    protected:
+        template<class Type>
+        [[nodiscard]]
+        Type get_by_offset(const std::ptrdiff_t offset) const
+        {
+            return ExternalMemoryManagementTrait::read_memory(m_object_address+offset);
+        }
+
+        template<class Type>
+        void set_by_offset(const std::ptrdiff_t offset, const Type& value) const
+        {
+            return ExternalMemoryManagementTrait::write_memory(m_object_address+offset, value);
+        }
+    };
+} // namespace omath::rev_eng

include/omath/rev_eng/internal_rev_object.hpp

@@ -0,0 +1,37 @@
+//
+// Created by Vlad on 8/8/2025.
+//
+
+#pragma once
+#include <cstddef>
+#include <cstdint>
+
+namespace omath::rev_eng
+{
+    class InternalReverseEngineeredObject
+    {
+    protected:
+        template<class Type>
+        [[nodiscard]] Type& get_by_offset(const std::ptrdiff_t offset)
+        {
+            return *reinterpret_cast<Type*>(reinterpret_cast<std::uintptr_t>(this) + offset);
+        }
+
+        template<class Type>
+        [[nodiscard]] const Type& get_by_offset(const std::ptrdiff_t offset) const
+        {
+            return *reinterpret_cast<Type*>(reinterpret_cast<std::uintptr_t>(this) + offset);
+        }
+
+        template<std::size_t id, class ReturnType>
+        ReturnType call_virtual_method(auto... arg_list)
+        {
+#ifdef _MSC_VER
+            using VirtualMethodType = ReturnType(__thiscall*)(void*, decltype(arg_list)...);
+#else
+            using VirtualMethodType = ReturnType(__fastcall*)(void*, decltype(arg_list)...);
+#endif
+            return (*reinterpret_cast<VirtualMethodType**>(this))[id](this, arg_list...);
+        }
+    };
+} // namespace omath::rev_eng

include/omath/system/pe/data_directory.hpp

@@ -0,0 +1,5 @@
+//
+// Created by Vlad on 10/8/2025.
+//
+
+#pragma once

include/omath/system/pe/dos_header.hpp

@@ -0,0 +1,32 @@
+//
+// Created by Vlad on 10/7/2025.
+//
+
+#pragma once
+#include <cstdint>
+
+namespace omath::system::pe
+{
+    struct DosHeader final
+    {
+        std::uint16_t e_magic;
+        std::uint16_t e_cblp;
+        std::uint16_t e_cp;
+        std::uint16_t e_crlc;
+        std::uint16_t e_cparhdr;
+        std::uint16_t e_minalloc;
+        std::uint16_t e_maxalloc;
+        std::uint16_t e_ss;
+        std::uint16_t e_sp;
+        std::uint16_t e_csum;
+        std::uint16_t e_ip;
+        std::uint16_t e_cs;
+        std::uint16_t e_lfarlc;
+        std::uint16_t e_ovno;
+        std::uint16_t e_res[4];
+        std::uint16_t e_oemid;
+        std::uint16_t e_oeminfo;
+        std::uint16_t e_res2[10];
+        std::uint32_t e_lfanew;
+    };
+}

include/omath/system/pe/file_header.hpp

@@ -0,0 +1,56 @@
+//
+// Created by Vlad on 10/7/2025.
+//
+
+#pragma once
+#include <cstdint>
+
+namespace omath::system::pe
+{
+    enum class MachineId : std::uint16_t
+    {
+        UNKNOWN = 0x0000,
+        TARGET_HOST = 0x0001, // Useful for indicating we want to interact with the host and not a WoW guest.
+        I386 = 0x014C, // Intel 386.
+        R3000 = 0x0162, // MIPS little-endian, 0x160 big-endian
+        R4000 = 0x0166, // MIPS little-endian
+        R10000 = 0x0168, // MIPS little-endian
+        WCEMIPSV2 = 0x0169, // MIPS little-endian WCE v2
+        ALPHA = 0x0184, // Alpha_AXP
+        SH3 = 0x01A2, // SH3 little-endian
+        SH3DSP = 0x01A3,
+        SH3E = 0x01A4, // SH3E little-endian
+        SH4 = 0x01A6, // SH4 little-endian
+        SH5 = 0x01A8, // SH5
+        ARM = 0x01C0, // ARM Little-Endian
+        THUMB = 0x01C2, // ARM Thumb/Thumb-2 Little-Endian
+        ARMNT = 0x01C4, // ARM Thumb-2 Little-Endian
+        AM33 = 0x01D3,
+        POWERPC = 0x01F0, // IBM PowerPC Little-Endian
+        POWERPCP = 0x01F1,
+        IA64 = 0x0200, // Intel 64
+        MIPS16 = 0x0266, // MIPS
+        ALPHA64 = 0x0284, // ALPHA64
+        MIPSFPU = 0x0366, // MIPS
+        MIPSFPU16 = 0x0466, // MIPS
+        AXP64 = 0x0284,
+        TRICORE = 0x0520, // Infineon
+        CEF = 0x0CEF,
+        EBC = 0x0EBC, // EFI Byte Code
+        AMD64 = 0x8664, // AMD64 (K8)
+        M32R = 0x9041, // M32R little-endian
+        ARM64 = 0xAA64, // ARM64 Little-Endian
+        CEE = 0xC0EE,
+    };
+
+    struct FileHeader final
+    {
+        MachineId machine;
+        uint16_t num_sections;
+        uint32_t timedate_stamp;
+        uint32_t ptr_symbols;
+        uint32_t num_symbols;
+        uint16_t size_optional_header;
+        std::uint16_t characteristics;
+    };
+}

include/omath/system/pe/image_nt_headers.hpp

@@ -0,0 +1,23 @@
+//
+// Created by Vlad on 10/9/2025.
+//
+
+#pragma once
+#include "file_header.hpp"
+#include "optional_header.hpp"
+
+namespace omath::system::pe
+{
+    enum class NtArchitecture
+    {
+        x32_bit,
+        x64_bit,
+    };
+    template<NtArchitecture architecture>
+    struct ImageNtHeaders final
+    {
+        std::uint32_t signature;
+        FileHeader file_header;
+        OptionalHeader<architecture == NtArchitecture::x64_bit> optional_header;
+    };
+} // namespace omath::system::pe

include/omath/system/pe/optional_header.hpp

@@ -0,0 +1,118 @@
+//
+// Created by Vlad on 10/8/2025.
+//
+#pragma once
+#include <cstdint>
+
+namespace omath::system::pe
+{
+    static constexpr std::uint16_t opt_hdr32_magic = 0x010B;
+    static constexpr std::uint16_t opt_hdr64_magic = 0x020B;
+    enum class SubsystemId : std::uint16_t
+    {
+        unknown = 0x0000,
+        native = 0x0001,
+        windows_gui = 0x0002,
+        windows_cui = 0x0003,
+        os2_cui = 0x0005,
+        posix_cui = 0x0007,
+        native_windows = 0x0008,
+        windows_ce_gui = 0x0009,
+        efi_application = 0x000A,
+        efi_boot_service_driver = 0x000B,
+        efi_runtime_driver = 0x000C,
+        efi_rom = 0x000D,
+        xbox = 0x000E,
+        windows_boot_application = 0x0010,
+        xbox_code_catalog = 0x0011,
+    };
+
+    struct DataDirectory final
+    {
+        std::uint32_t rva;
+        std::uint32_t size;
+    };
+    struct OptionalHeaderX64 final
+    {
+        // Standard fields.
+        std::uint16_t magic;
+        std::uint16_t linker_version;
+
+        std::uint32_t size_code;
+        std::uint32_t size_init_data;
+        std::uint32_t size_uninit_data;
+
+        std::uint32_t entry_point;
+        std::uint32_t base_of_code;
+
+        // NT additional fields.
+        std::uint64_t image_base;
+        std::uint32_t section_alignment;
+        std::uint32_t file_alignment;
+
+        std::uint32_t os_version;
+        std::uint32_t img_version;
+        std::uint32_t subsystem_version;
+        std::uint32_t win32_version_value;
+
+        std::uint32_t size_image;
+        std::uint32_t size_headers;
+
+        std::uint32_t checksum;
+        SubsystemId subsystem;
+        std::uint16_t characteristics;
+
+        std::uint64_t size_stack_reserve;
+        std::uint64_t size_stack_commit;
+        std::uint64_t size_heap_reserve;
+        std::uint64_t size_heap_commit;
+
+        std::uint32_t ldr_flags;
+
+        std::uint32_t num_data_directories;
+        DataDirectory data_directories[16];
+    };
+    struct OptionalHeaderX86 final
+    {
+        // Standard fields.
+        uint16_t magic;
+        uint16_t linker_version;
+
+        uint32_t size_code;
+        uint32_t size_init_data;
+        uint32_t size_uninit_data;
+
+        uint32_t entry_point;
+        uint32_t base_of_code;
+        uint32_t base_of_data;
+
+        // NT additional fields.
+        uint32_t image_base;
+        uint32_t section_alignment;
+        uint32_t file_alignment;
+
+        std::uint32_t os_version;
+        std::uint32_t img_version;
+        std::uint32_t subsystem_version;
+        uint32_t win32_version_value;
+
+        uint32_t size_image;
+        uint32_t size_headers;
+
+        uint32_t checksum;
+        SubsystemId subsystem;
+        std::uint16_t characteristics;
+
+        uint32_t size_stack_reserve;
+        uint32_t size_stack_commit;
+        uint32_t size_heap_reserve;
+        uint32_t size_heap_commit;
+
+        uint32_t ldr_flags;
+
+        uint32_t num_data_directories;
+        DataDirectory data_directories[16];
+    };
+    template<bool x64 = true>
+    using OptionalHeader = std::conditional_t<x64, OptionalHeaderX64, OptionalHeaderX86>;
+} // namespace omath::system::pe

include/omath/system/pe/section_header.hpp

@@ -0,0 +1,32 @@
+//
+// Created by Vlad on 10/8/2025.
+//
+
+#pragma once
+#include <cstdint>
+
+// Section header
+//
+namespace omath::system::pe
+{
+    struct SectionHeader final
+    {
+        char name[8];
+        union
+        {
+            std::uint32_t physical_address;
+            std::uint32_t virtual_size;
+        };
+        std::uint32_t virtual_address;
+
+        std::uint32_t size_raw_data;
+        std::uint32_t ptr_raw_data;
+
+        std::uint32_t ptr_relocs;
+        std::uint32_t ptr_line_numbers;
+        std::uint32_t  num_relocs;
+        std::uint32_t  num_line_numbers;
+
+        std::uint32_t characteristics;
+    };
+}

include/omath/trigonometry/angle.hpp

@@ -3,8 +3,9 @@
 //
 
 #pragma once
-#include "omath/angles.hpp"
+#include "omath/trigonometry/angles.hpp"
 #include <algorithm>
+#include <format>
 #include <utility>
 
 namespace omath
@@ -122,13 +123,13 @@ namespace omath
         }
 
         [[nodiscard]]
-        constexpr Angle& operator+(const Angle& other) noexcept
+        constexpr Angle operator+(const Angle& other) noexcept
         {
             if constexpr (flags == AngleFlags::Normalized)
-                return {angles::wrap_angle(m_angle + other.m_angle, min, max)};
+                return Angle{angles::wrap_angle(m_angle + other.m_angle, min, max)};
 
             else if constexpr (flags == AngleFlags::Clamped)
-                return {std::clamp(m_angle + other.m_angle, min, max)};
+                return Angle{std::clamp(m_angle + other.m_angle, min, max)};
 
             else
                 static_assert(false);
@@ -137,7 +138,7 @@ namespace omath
         }
 
         [[nodiscard]]
-        constexpr Angle& operator-(const Angle& other) noexcept
+        constexpr Angle operator-(const Angle& other) noexcept
         {
             return operator+(-other);
         }
@@ -149,3 +150,62 @@ namespace omath
         }
     };
 } // namespace omath
+
+template<class T, T MinV, T MaxV, omath::AngleFlags F>
+struct std::formatter<omath::Angle<T, MinV, MaxV, F>, char> // NOLINT(*-dcl58-cpp)
+{
+    using AngleT = omath::Angle<T, MinV, MaxV, F>;
+
+    static constexpr auto parse(std::format_parse_context& ctx)
+    {
+        return ctx.begin();
+    }
+
+    template<class FormatContext>
+    [[nodiscard]]
+    auto format(const AngleT& a, FormatContext& ctx) const
+    {
+        static_assert(std::is_same_v<typename FormatContext::char_type, char>);
+        return std::format_to(ctx.out(), "{}deg", a.as_degrees());
+    }
+};
+
+// wchar_t formatter
+template<class T, T MinV, T MaxV, omath::AngleFlags F>
+struct std::formatter<omath::Angle<T, MinV, MaxV, F>, wchar_t> // NOLINT(*-dcl58-cpp)
+{
+    using AngleT = omath::Angle<T, MinV, MaxV, F>;
+
+    static constexpr auto parse(std::wformat_parse_context& ctx)
+    {
+        return ctx.begin();
+    }
+
+    template<class FormatContext>
+    [[nodiscard]]
+    auto format(const AngleT& a, FormatContext& ctx) const
+    {
+        static_assert(std::is_same_v<typename FormatContext::char_type, wchar_t>);
+        return std::format_to(ctx.out(), L"{}deg", a.as_degrees());
+    }
+};
+
+// wchar_t formatter
+template<class T, T MinV, T MaxV, omath::AngleFlags F>
+struct std::formatter<omath::Angle<T, MinV, MaxV, F>, char8_t> // NOLINT(*-dcl58-cpp)
+{
+    using AngleT = omath::Angle<T, MinV, MaxV, F>;
+
+    static constexpr auto parse(std::wformat_parse_context& ctx)
+    {
+        return ctx.begin();
+    }
+
+    template<class FormatContext>
+    [[nodiscard]]
+    auto format(const AngleT& a, FormatContext& ctx) const
+    {
+        static_assert(std::is_same_v<typename FormatContext::char_type, char8_t>);
+        return std::format_to(ctx.out(), u8"{}deg", a.as_degrees());
+    }
+};

include/omath/utility/color.hpp

@@ -4,8 +4,7 @@
 
 #pragma once
 
-#include "omath/vector3.hpp"
-#include "omath/vector4.hpp"
+#include "omath/linear_algebra/vector4.hpp"
 #include <cstdint>
 
 namespace omath
@@ -96,7 +95,7 @@ namespace omath
                 hsv_data.hue = 0.f;
 
             else if (max == red)
-                hsv_data.hue = 60.f * (std::fmodf(((green - blue) / delta), 6.f));
+                hsv_data.hue = 60.f * (std::fmod(static_cast<float>((green - blue) / delta), 6.f));
             else if (max == green)
                 hsv_data.hue = 60.f * (((blue - red) / delta) + 2.f);
             else if (max == blue)
@@ -165,5 +164,49 @@ namespace omath
             return {to_im_vec4()};
         }
 #endif
+        [[nodiscard]] std::string to_string() const noexcept
+        {
+            return std::format("[r:{}, g:{}, b:{}, a:{}]",
+                            static_cast<int>(x * 255.f),
+                            static_cast<int>(y * 255.f),
+                            static_cast<int>(z * 255.f),
+                            static_cast<int>(w * 255.f));
+        }
+        [[nodiscard]] std::wstring to_wstring() const noexcept
+        {
+            const auto ascii_string = to_string();
+            return {ascii_string.cbegin(), ascii_string.cend()};
+        }
+
+        // ReSharper disable once CppInconsistentNaming
+        [[nodiscard]] std::u8string to_u8string() const noexcept
+        {
+            const auto ascii_string = to_string();
+            return {ascii_string.cbegin(), ascii_string.cend()};
+        }
     };
 } // namespace omath
+template<>
+struct std::formatter<omath::Color> // NOLINT(*-dcl58-cpp)
+{
+    [[nodiscard]]
+    static constexpr auto parse(std::format_parse_context& ctx)
+    {
+        return ctx.begin();
+    }
+
+    template<class FormatContext>
+    [[nodiscard]]
+    static auto format(const omath::Color& col, FormatContext& ctx)
+    {
+        if constexpr (std::is_same_v<typename FormatContext::char_type, char>)
+            return std::format_to(ctx.out(), "{}", col.to_string());
+        if constexpr (std::is_same_v<typename FormatContext::char_type, wchar_t>)
+            return std::format_to(ctx.out(), L"{}", col.to_wstring());
+
+        if constexpr (std::is_same_v<typename FormatContext::char_type, char8_t>)
+            return std::format_to(ctx.out(), u8"{}", col.to_u8string());
+
+        return std::unreachable();
+    }
+};

include/omath/utility/pattern_scan.hpp

@@ -0,0 +1,82 @@
+//
+// Created by Vlad on 10/4/2025.
+//
+
+#pragma once
+#include <expected>
+#include <optional>
+#include <span>
+#include <string_view>
+#include <vector>
+
+// ReSharper disable once CppInconsistentNaming
+class unit_test_pattern_scan_read_test_Test;
+// ReSharper disable once CppInconsistentNaming
+class unit_test_pattern_scan_corner_case_1_Test;
+// ReSharper disable once CppInconsistentNaming
+class unit_test_pattern_scan_corner_case_2_Test;
+// ReSharper disable once CppInconsistentNaming
+class unit_test_pattern_scan_corner_case_3_Test;
+// ReSharper disable once CppInconsistentNaming
+class unit_test_pattern_scan_corner_case_4_Test;
+
+namespace omath
+{
+    enum class PatternScanError
+    {
+        INVALID_PATTERN_STRING
+    };
+    class PatternScanner final
+    {
+        friend unit_test_pattern_scan_read_test_Test;
+        friend unit_test_pattern_scan_corner_case_1_Test;
+        friend unit_test_pattern_scan_corner_case_2_Test;
+        friend unit_test_pattern_scan_corner_case_3_Test;
+        friend unit_test_pattern_scan_corner_case_4_Test;
+
+    public:
+        [[nodiscard]]
+        static std::span<std::byte>::iterator scan_for_pattern(const std::span<std::byte>& range,
+                                                                     const std::string_view& pattern);
+
+        [[nodiscard]]
+        static std::span<std::byte>::iterator scan_for_pattern(std::span<std::byte>&& range,
+                                                                     const std::string_view& pattern) = delete;
+
+        template<class IteratorType>
+        requires std::input_or_output_iterator<std::remove_cvref_t<IteratorType>>
+        static IteratorType scan_for_pattern(const IteratorType& begin, const IteratorType& end,
+                                             const std::string_view& pattern)
+        {
+            const auto parsed_pattern = parse_pattern(pattern);
+
+            if (!parsed_pattern) [[unlikely]]
+                return end;
+
+            const auto whole_range_size = static_cast<std::ptrdiff_t>(std::distance(begin, end));
+
+            const std::ptrdiff_t scan_size = whole_range_size - static_cast<std::ptrdiff_t>(pattern.size());
+
+            for (std::ptrdiff_t i = 0; i < scan_size; i++)
+            {
+                bool found = true;
+
+                for (std::ptrdiff_t j = 0; j < static_cast<std::ptrdiff_t>(parsed_pattern->size()); j++)
+                {
+                    found = parsed_pattern->at(j) == std::nullopt || parsed_pattern->at(j) == *(begin + i + j);
+
+                    if (!found)
+                        break;
+                }
+                if (found)
+                    return begin + i;
+            }
+            return end;
+        }
+
+    private:
+        [[nodiscard]]
+        static std::expected<std::vector<std::optional<std::byte>>, PatternScanError>
+        parse_pattern(const std::string_view& pattern_string);
+    };
+} // namespace omath

include/omath/utility/pe_pattern_scan.hpp

@@ -0,0 +1,43 @@
+//
+// Created by Vlad on 10/7/2025.
+//
+
+#pragma once
+#include <cstdint>
+#include <filesystem>
+#include <optional>
+#include <string_view>
+#include <vector>
+namespace omath
+{
+    struct PeSectionScanResult
+    {
+        std::uint64_t virtual_base_addr;
+        std::uint64_t raw_base_addr;
+        std::ptrdiff_t target_offset;
+    };
+    class PePatternScanner final
+    {
+    private:
+        struct Section
+        {
+            std::uint64_t virtual_base_addr;
+            std::uint64_t raw_base_addr;
+            std::vector<std::byte> data;
+        };
+
+    public:
+        [[nodiscard]]
+        static std::optional<std::uintptr_t> scan_for_pattern_in_loaded_module(const std::string_view& module_name,
+                                                                               const std::string_view& pattern);
+
+        [[nodiscard]]
+        static std::optional<PeSectionScanResult>
+        scan_for_pattern_in_file(const std::filesystem::path& path_to_file, const std::string_view& pattern,
+                                 const std::string_view& target_section_name = ".text");
+
+        [[nodiscard]]
+        static std::optional<Section> extract_section_from_pe_file(const std::filesystem::path& path_to_file,
+                                                                   const std::string_view& section_name);
+    };
+} // namespace omath

mkdocs.yml

@@ -0,0 +1 @@
+site_name: My Docs

source/3d_primitives/plane.cpp

@@ -0,0 +1,19 @@
+//
+// Created by Vlad on 8/28/2025.
+//
+#include "omath/3d_primitives/plane.hpp"
+
+namespace omath::primitives
+{
+    std::array<Triangle<Vector3<float>>, 2> create_plane(const Vector3<float>& vertex_a,
+                                                          const Vector3<float>& vertex_b,
+                                                          const Vector3<float>& direction, const float size) noexcept
+    {
+        const auto second_vertex_a = vertex_a + direction * size;
+        return std::array
+        {
+            Triangle{second_vertex_a, vertex_a, vertex_b},
+            Triangle{second_vertex_a, vertex_b + direction * size, vertex_b}
+        };
+    }
+} // namespace omath::primitives

source/collision/line_tracer.cpp

@@ -50,12 +50,10 @@ namespace omath::collision
 
         const auto t_hit = side_b.dot(q) * inv_det;
 
-        if (ray.infinite_length)
-        {
-            if (t_hit <= k_epsilon)
-                return ray.end;
-        }
-        else if (t_hit <= k_epsilon || t_hit > 1.0f - k_epsilon)
+        if (ray.infinite_length && t_hit <= k_epsilon)
+            return ray.end;
+
+        if (t_hit <= k_epsilon || t_hit > 1.0f - k_epsilon)
             return ray.end;
 
         return ray.start + ray_dir * t_hit;

source/engines/iw_engine/traits/camera_trait.cpp

@@ -8,11 +8,10 @@ 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;
+        const auto direction = (look_at - cam_origin).normalized();
 
-        return {PitchAngle::from_radians(-std::asin(delta.z / distance)),
-                YawAngle::from_radians(std::atan2(delta.y, delta.x)), RollAngle::from_radians(0.f)};
+        return {PitchAngle::from_radians(-std::asin(direction.z)),
+                YawAngle::from_radians(std::atan2(direction.y, direction.x)), RollAngle::from_radians(0.f)};
     }
     Mat4X4 CameraTrait::calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
     {

source/engines/opengl_engine/formulas.cpp

@@ -28,14 +28,13 @@ namespace omath::opengl_engine
     }
     Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
     {
-        return mat_camera_view<float, MatStoreType::COLUMN_MAJOR>(-forward_vector(angles), right_vector(angles),
-                                                                  up_vector(angles), cam_origin);
+        return mat_look_at_right_handed(cam_origin, cam_origin+forward_vector(angles), up_vector(angles));
     }
     Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept
     {
-        return mat_rotation_axis_x<float, MatStoreType::COLUMN_MAJOR>(-angles.pitch)
-               * mat_rotation_axis_y<float, MatStoreType::COLUMN_MAJOR>(-angles.yaw)
-               * mat_rotation_axis_z<float, MatStoreType::COLUMN_MAJOR>(angles.roll);
+        return mat_rotation_axis_z<float, MatStoreType::COLUMN_MAJOR>(angles.roll)
+               * mat_rotation_axis_y<float, MatStoreType::COLUMN_MAJOR>(angles.yaw)
+               * mat_rotation_axis_x<float, MatStoreType::COLUMN_MAJOR>(angles.pitch);
     }
     Mat4X4 calc_perspective_projection_matrix(const float field_of_view, const float aspect_ratio, const float near,
                                               const float far) noexcept

source/engines/opengl_engine/traits/camera_trait.cpp

@@ -9,11 +9,10 @@ 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;
+        const auto direction = (look_at - cam_origin).normalized();
 
-        return {PitchAngle::from_radians(-std::asin(delta.y / distance)),
-                YawAngle::from_radians(std::atan2(delta.z, delta.x)), RollAngle::from_radians(0.f)};
+        return {PitchAngle::from_radians(std::asin(direction.y)),
+                YawAngle::from_radians(-std::atan2(direction.x, -direction.z)), RollAngle::from_radians(0.f)};
     }
     Mat4X4 CameraTrait::calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
     {

source/engines/source_engine/traits/camera_trait.cpp

@@ -8,11 +8,11 @@ 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;
+        const auto direction = (look_at - cam_origin).normalized();
 
-        return {PitchAngle::from_radians(-std::asin(delta.z / distance)),
-                YawAngle::from_radians(std::atan2(delta.y, delta.x)), RollAngle::from_radians(0.f)};
+
+        return {PitchAngle::from_radians(-std::asin(direction.z)),
+                YawAngle::from_radians(std::atan2(direction.y, direction.x)), RollAngle::from_radians(0.f)};
     }
     Mat4X4 CameraTrait::calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
     {

source/engines/unity_engine/formulas.cpp

@@ -30,9 +30,9 @@ namespace omath::unity_engine
     }
     Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept
     {
-        return mat_rotation_axis_x<float, MatStoreType::ROW_MAJOR>(angles.pitch)
+        return mat_rotation_axis_z<float, MatStoreType::ROW_MAJOR>(angles.roll)
                * mat_rotation_axis_y<float, MatStoreType::ROW_MAJOR>(angles.yaw)
-               * mat_rotation_axis_z<float, MatStoreType::ROW_MAJOR>(angles.roll);
+               * mat_rotation_axis_x<float, MatStoreType::ROW_MAJOR>(angles.pitch);
     }
     Mat4X4 calc_perspective_projection_matrix(const float field_of_view, const float aspect_ratio, const float near,
                                               const float far) noexcept

source/engines/unity_engine/traits/camera_trait.cpp

@@ -8,11 +8,10 @@ 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;
+        const auto direction = (look_at - cam_origin).normalized();
 
-        return {PitchAngle::from_radians(-std::asin(delta.y / distance)),
-                YawAngle::from_radians(std::atan2(delta.z, delta.x)), RollAngle::from_radians(0.f)};
+        return {PitchAngle::from_radians(-std::asin(direction.y)),
+                YawAngle::from_radians(std::atan2(direction.x, direction.z)), RollAngle::from_radians(0.f)};
     }
     Mat4X4 CameraTrait::calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
     {

source/engines/unreal_engine/formulas.cpp

@@ -31,8 +31,8 @@ namespace omath::unreal_engine
     Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept
     {
         return mat_rotation_axis_x<float, MatStoreType::ROW_MAJOR>(angles.roll)
-               * mat_rotation_axis_y<float, MatStoreType::ROW_MAJOR>(angles.pitch)
-               * mat_rotation_axis_z<float, MatStoreType::ROW_MAJOR>(angles.yaw);
+               * mat_rotation_axis_z<float, MatStoreType::ROW_MAJOR>(angles.yaw)
+               * mat_rotation_axis_y<float, MatStoreType::ROW_MAJOR>(angles.pitch);
     }
     Mat4X4 calc_perspective_projection_matrix(const float field_of_view, const float aspect_ratio, const float near,
                                               const float far) noexcept

source/engines/unreal_engine/traits/camera_trait.cpp

@@ -8,11 +8,10 @@ namespace omath::unreal_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;
+        const auto direction = (look_at - cam_origin).normalized();
 
-        return {PitchAngle::from_radians(-std::asin(delta.z / distance)),
-                YawAngle::from_radians(std::atan2(delta.x, delta.y)), RollAngle::from_radians(0.f)};
+        return {PitchAngle::from_radians(-std::asin(direction.z)),
+                YawAngle::from_radians(std::atan2(direction.y, direction.x)), RollAngle::from_radians(0.f)};
     }
     Mat4X4 CameraTrait::calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
     {

source/matrix.cpp

@@ -1,364 +0,0 @@
-#ifdef OMATH_ENABLE_LEGACY
-
-#include "omath/matrix.hpp"
-#include "omath/angles.hpp"
-#include "omath/vector3.hpp"
-#include <complex>
-#include <format>
-#include <stdexcept>
-#include <utility>
-
-namespace omath
-{
-    Matrix::Matrix(const size_t rows, const size_t columns)
-    {
-        if (rows == 0 and columns == 0)
-            throw std::runtime_error("Matrix cannot be 0x0");
-
-        m_rows = rows;
-        m_columns = columns;
-
-        m_data = std::make_unique<float[]>(m_rows * m_columns);
-
-        set(0.f);
-    }
-
-    Matrix::Matrix(const std::initializer_list<std::initializer_list<float>>& rows)
-    {
-        m_rows = rows.size();
-        m_columns = rows.begin()->size();
-
-        for (const auto& row: rows)
-            if (row.size() != m_columns)
-                throw std::invalid_argument("All rows must have the same number of columns.");
-
-        m_data = std::make_unique<float[]>(m_rows * m_columns);
-
-        size_t i = 0;
-        for (const auto& row: rows)
-        {
-            size_t j = 0;
-            for (const auto& value: row)
-                at(i, j++) = value;
-            ++i;
-        }
-    }
-
-    Matrix::Matrix(const Matrix& other)
-    {
-        m_rows = other.m_rows;
-        m_columns = other.m_columns;
-
-        m_data = std::make_unique<float[]>(m_rows * m_columns);
-
-        for (size_t i = 0; i < m_rows; ++i)
-            for (size_t j = 0; j < m_columns; ++j)
-                at(i, j) = other.at(i, j);
-    }
-
-    Matrix::Matrix(const size_t rows, const size_t columns, const float* raw_data)
-    {
-        m_rows = rows;
-        m_columns = columns;
-
-        m_data = std::make_unique<float[]>(m_rows * m_columns);
-
-        for (size_t i = 0; i < rows * columns; ++i)
-            at(i / rows, i % columns) = raw_data[i];
-    }
-
-    size_t Matrix::row_count() const noexcept
-    {
-        return m_rows;
-    }
-
-    float& Matrix::operator[](const size_t row, const size_t column)
-    {
-        return at(row, column);
-    }
-
-    Matrix::Matrix(Matrix&& other) noexcept
-    {
-        m_rows = other.m_rows;
-        m_columns = other.m_columns;
-        m_data = std::move(other.m_data);
-
-        other.m_rows = 0;
-        other.m_columns = 0;
-
-        other.m_data = nullptr;
-    }
-
-    size_t Matrix::columns_count() const noexcept
-    {
-        return m_columns;
-    }
-
-    std::pair<size_t, size_t> Matrix::size() const noexcept
-    {
-        return {row_count(), columns_count()};
-    }
-
-    float& Matrix::at(const size_t row, const size_t col)
-    {
-        return const_cast<float&>(std::as_const(*this).at(row, col));
-    }
-
-    float Matrix::sum()
-    {
-        float sum = 0;
-
-        for (size_t i = 0; i < row_count(); i++)
-            for (size_t j = 0; j < columns_count(); j++)
-                sum += at(i, j);
-
-        return sum;
-    }
-
-    const float& Matrix::at(const size_t row, const size_t col) const
-    {
-        return m_data[row * m_columns + col];
-    }
-
-    Matrix Matrix::operator*(const Matrix& other) const
-    {
-        if (m_columns != other.m_rows)
-            throw std::runtime_error("n != m");
-
-        auto out_mat = Matrix(m_rows, other.m_columns);
-
-        for (size_t d = 0; d < m_rows; ++d)
-            for (size_t i = 0; i < other.m_columns; ++i)
-                for (size_t j = 0; j < other.m_rows; ++j)
-                    out_mat.at(d, i) += at(d, j) * other.at(j, i);
-
-        return out_mat;
-    }
-
-    Matrix& Matrix::operator*=(const Matrix& other)
-    {
-        *this = *this * other;
-        return *this;
-    }
-
-    Matrix Matrix::operator*(const float f) const
-    {
-        auto out = *this;
-        for (size_t i = 0; i < m_rows; ++i)
-            for (size_t j = 0; j < m_columns; ++j)
-                out.at(i, j) *= f;
-
-        return out;
-    }
-
-    Matrix& Matrix::operator*=(const float f)
-    {
-        for (size_t i = 0; i < row_count(); i++)
-            for (size_t j = 0; j < columns_count(); j++)
-                at(i, j) *= f;
-        return *this;
-    }
-
-    void Matrix::clear()
-    {
-        set(0.f);
-    }
-
-    Matrix& Matrix::operator=(const Matrix& other)
-    {
-        if (this == &other)
-            return *this;
-
-        for (size_t i = 0; i < m_rows; ++i)
-            for (size_t j = 0; j < m_columns; ++j)
-                at(i, j) = other.at(i, j);
-
-        return *this;
-    }
-
-    Matrix& Matrix::operator=(Matrix&& other) noexcept
-    {
-        if (this == &other)
-            return *this;
-
-        m_rows = other.m_rows;
-        m_columns = other.m_columns;
-        m_data = std::move(other.m_data);
-
-        other.m_rows = 0;
-        other.m_columns = 0;
-
-        return *this;
-    }
-
-    Matrix& Matrix::operator/=(const float f)
-    {
-        for (size_t i = 0; i < m_rows; ++i)
-            for (size_t j = 0; j < m_columns; ++j)
-                at(i, j) /= f;
-
-        return *this;
-    }
-
-    Matrix Matrix::operator/(const float f) const
-    {
-        auto out = *this;
-        for (size_t i = 0; i < m_rows; ++i)
-            for (size_t j = 0; j < m_columns; ++j)
-                out.at(i, j) /= f;
-
-        return out;
-    }
-
-    std::string Matrix::to_string() const
-    {
-        std::string str;
-
-        for (size_t i = 0; i < m_rows; i++)
-        {
-            for (size_t j = 0; j < m_columns; ++j)
-            {
-                str += std::format("{:.1f}", at(i, j));
-
-                if (j == m_columns - 1)
-                    str += '\n';
-                else
-                    str += ' ';
-            }
-        }
-        return str;
-    }
-
-    float Matrix::determinant() const // NOLINT(*-no-recursion)
-    {
-        if (m_rows + m_columns == 2)
-            return at(0, 0);
-
-        if (m_rows == 2 and m_columns == 2)
-            return at(0, 0) * at(1, 1) - at(0, 1) * at(1, 0);
-
-        float det = 0;
-        for (size_t i = 0; i < m_columns; i++)
-            det += alg_complement(0, i) * at(0, i);
-
-        return det;
-    }
-
-    float Matrix::alg_complement(const size_t i, const size_t j) const // NOLINT(*-no-recursion)
-    {
-        const auto tmp = minor(i, j);
-        return ((i + j + 2) % 2 == 0) ? tmp : -tmp;
-    }
-
-    Matrix Matrix::transpose() const
-    {
-        Matrix transposed = {m_columns, m_rows};
-
-        for (size_t i = 0; i < m_rows; ++i)
-            for (size_t j = 0; j < m_columns; ++j)
-                transposed.at(j, i) = at(i, j);
-
-        return transposed;
-    }
-
-    Matrix::~Matrix() = default;
-
-    void Matrix::set(const float val)
-    {
-        for (size_t i = 0; i < m_rows; ++i)
-            for (size_t j = 0; j < m_columns; ++j)
-                at(i, j) = val;
-    }
-
-    Matrix Matrix::strip(const size_t row, const size_t column) const
-    {
-        Matrix stripped = {m_rows - 1, m_columns - 1};
-        size_t strip_row_index = 0;
-
-        for (size_t i = 0; i < m_rows; i++)
-        {
-            if (i == row)
-                continue;
-
-            size_t strip_column_index = 0;
-            for (size_t j = 0; j < m_columns; ++j)
-            {
-                if (j == column)
-                    continue;
-
-                stripped.at(strip_row_index, strip_column_index) = at(i, j);
-                strip_column_index++;
-            }
-
-            strip_row_index++;
-        }
-
-        return stripped;
-    }
-
-    float Matrix::minor(const size_t i, const size_t j) const // NOLINT(*-no-recursion)
-    {
-        return strip(i, j).determinant();
-    }
-
-    Matrix Matrix::to_screen_matrix(const float screen_width, const float screen_height)
-    {
-        return {
-                {screen_width / 2.f, 0.f, 0.f, 0.f},
-                {0.f, -screen_height / 2.f, 0.f, 0.f},
-                {0.f, 0.f, 1.f, 0.f},
-                {screen_width / 2.f, screen_height / 2.f, 0.f, 1.f},
-        };
-    }
-
-    Matrix Matrix::translation_matrix(const Vector3<float>& diff)
-    {
-        return {
-                {1.f, 0.f, 0.f, 0.f},
-                {0.f, 1.f, 0.f, 0.f},
-                {0.f, 0.f, 1.f, 0.f},
-                {diff.x, diff.y, diff.z, 1.f},
-        };
-    }
-
-    Matrix Matrix::orientation_matrix(const Vector3<float>& forward, const Vector3<float>& right,
-                                      const Vector3<float>& up)
-    {
-        return {
-                {right.x, up.x, forward.x, 0.f},
-                {right.y, up.y, forward.y, 0.f},
-                {right.z, up.z, forward.z, 0.f},
-                {0.f, 0.f, 0.f, 1.f},
-        };
-    }
-
-    Matrix Matrix::projection_matrix(const float field_of_view, const float aspect_ratio, const float near,
-                                     const float far)
-    {
-        const float fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / 2.f);
-
-        return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
-                {0.f, 1.f / fov_half_tan, 0.f, 0.f},
-                {0.f, 0.f, (far + near) / (far - near), 2.f * near * far / (far - near)},
-                {0.f, 0.f, -1.f, 0.f}};
-    }
-
-    const float* Matrix::raw() const
-    {
-        return m_data.get();
-    }
-
-    void Matrix::set_data_from_raw(const float* raw_matrix)
-    {
-        for (size_t i = 0; i < m_columns * m_rows; ++i)
-            at(i / m_rows, i % m_columns) = raw_matrix[i];
-    }
-
-    Matrix::Matrix()
-    {
-        m_columns = 0;
-        m_rows = 0;
-        m_data = nullptr;
-    }
-} // namespace omath
-#endif

source/utility/pattern_scan.cpp

@@ -0,0 +1,75 @@
+//
+// Created by Vlad on 10/4/2025.
+//
+#include "omath/utility/pattern_scan.hpp"
+#include <charconv>
+#include <cstdint>
+#include <algorithm>
+
+namespace
+{
+    [[nodiscard]]
+    constexpr bool is_wildcard(const std::string_view& byte_str)
+    {
+        return byte_str == "?" || byte_str == "??";
+    }
+
+    [[nodiscard]]
+    constexpr bool invalid_byte_str_size(const std::string_view& byte_str)
+    {
+        return byte_str.empty() || byte_str.size() >= 3;
+    }
+}
+
+namespace omath
+{
+
+    std::span<std::byte>::iterator
+    PatternScanner::scan_for_pattern(const std::span<std::byte>& range, const std::string_view& pattern)
+    {
+        return scan_for_pattern(range.begin(), range.end(), pattern);
+    }
+    std::expected<std::vector<std::optional<std::byte>>, PatternScanError>
+    PatternScanner::parse_pattern(const std::string_view& pattern_string)
+    {
+        std::vector<std::optional<std::byte>> pattern;
+
+        auto start = pattern_string.cbegin();
+
+        while (start != pattern_string.cend())
+        {
+            const auto end = std::ranges::find(start, pattern_string.cend(), ' ');
+
+            const auto sting_view_start = std::distance(pattern_string.cbegin(), start);
+            const auto sting_view_end = std::distance(start, end);
+
+            const std::string_view byte_str = pattern_string.substr(sting_view_start, sting_view_end);
+
+            if (invalid_byte_str_size(byte_str)) [[unlikely]]
+            {
+                start = end != pattern_string.end() ? std::next(end) : end;
+                continue;
+            }
+
+            if (is_wildcard(byte_str))
+            {
+                pattern.emplace_back(std::nullopt);
+
+                start = end != pattern_string.end() ? std::next(end) : end;
+                continue;
+            }
+
+            std::uint8_t value = 0;
+            // ReSharper disable once CppTooWideScopeInitStatement
+            const auto [_, error_code] = std::from_chars(byte_str.data(), byte_str.data() + byte_str.size(), value, 16);
+
+            if (error_code != std::errc{}) [[unlikely]]
+                return std::unexpected(PatternScanError::INVALID_PATTERN_STRING);
+
+            pattern.emplace_back(static_cast<std::byte>(value));
+
+            start = end != pattern_string.end() ? std::next(end) : end;
+        }
+        return pattern;
+    }
+} // namespace omath

source/utility/pe_pattern_scan.cpp

@@ -0,0 +1,158 @@
+//
+// Created by Vlad on 10/7/2025.
+//
+#include "omath/utility/pe_pattern_scan.hpp"
+#include "omath/system/pe/image_nt_headers.hpp"
+#include "omath/system/pe/section_header.hpp"
+#include "omath/utility/pattern_scan.hpp"
+#include <fstream>
+#include <omath/system/pe/dos_header.hpp>
+#include <span>
+#include <stdexcept>
+#include <variant>
+#ifdef _WIN32
+#include <Windows.h>
+#endif
+
+using namespace omath::system::pe;
+using NtHeaderVariant = std::variant<ImageNtHeaders<NtArchitecture::x64_bit>, ImageNtHeaders<NtArchitecture::x32_bit>>;
+
+namespace
+{
+    [[nodiscard]]
+    NtHeaderVariant get_nt_header_from_file(std::fstream& file, const DosHeader& dos_header)
+    {
+        ImageNtHeaders<NtArchitecture::x32_bit> x86_headers;
+        file.seekg(dos_header.e_lfanew, std::ios::beg);
+        file.read(reinterpret_cast<char*>(&x86_headers), sizeof(x86_headers));
+
+        if (x86_headers.optional_header.magic == opt_hdr32_magic)
+            return x86_headers;
+
+        ImageNtHeaders<NtArchitecture::x64_bit> x64_headers;
+        file.seekg(dos_header.e_lfanew, std::ios::beg);
+        file.read(reinterpret_cast<char*>(&x64_headers), sizeof(x64_headers));
+
+        return x64_headers;
+    }
+
+    [[nodiscard]]
+    constexpr bool invalid_dos_header_file(const DosHeader& dos_header)
+    {
+        constexpr std::uint16_t dos_hdr_magic = 0x5A4D;
+        return dos_header.e_magic != dos_hdr_magic;
+    }
+    [[nodiscard]]
+    constexpr bool invalid_nt_header_file(const NtHeaderVariant& variant)
+    {
+        constexpr std::uint32_t nt_hdr_magic = 0x4550;
+        return std::visit([](const auto& header) -> bool { return header.signature != nt_hdr_magic; }, variant);
+    }
+} // namespace
+
+namespace omath
+{
+
+    std::optional<std::uintptr_t>
+    PePatternScanner::scan_for_pattern_in_loaded_module([[maybe_unused]] const std::string_view& module_name,
+                                                        [[maybe_unused]] const std::string_view& pattern)
+    {
+#ifdef _WIN32
+        const auto base_address = reinterpret_cast<std::uintptr_t>(GetModuleHandleA(module_name.data()));
+
+        if (!base_address)
+            return std::nullopt;
+
+        const auto dos_headers = reinterpret_cast<PIMAGE_DOS_HEADER>(base_address);
+        const auto image_nt_headers = reinterpret_cast<PIMAGE_NT_HEADERS>(base_address + dos_headers->e_lfanew);
+
+        // Define .code segment as scan area
+        const auto start = image_nt_headers->OptionalHeader.BaseOfCode;
+        const auto scan_size = image_nt_headers->OptionalHeader.SizeOfCode;
+
+        const auto scan_range = std::span{reinterpret_cast<std::byte*>(base_address) + start, scan_size};
+
+        const auto result = PatternScanner::scan_for_pattern(scan_range, pattern);
+
+        if (result != scan_range.cend())
+            return reinterpret_cast<std::uintptr_t>(&*result);
+
+        return std::nullopt;
+#else
+        throw std::runtime_error("Pattern scan for loaded modules is only for windows platform");
+#endif
+    }
+    std::optional<PeSectionScanResult>
+    PePatternScanner::scan_for_pattern_in_file(const std::filesystem::path& path_to_file,
+                                               const std::string_view& pattern,
+                                               const std::string_view& target_section_name)
+    {
+        const auto pe_section = extract_section_from_pe_file(path_to_file, target_section_name);
+
+        if (!pe_section.has_value())
+            return std::nullopt;
+
+        const auto scan_result =
+                PatternScanner::scan_for_pattern(pe_section->data.cbegin(), pe_section->data.cend(), pattern);
+
+        if (scan_result == pe_section->data.cend())
+            return std::nullopt;
+        const auto offset = std::distance(pe_section->data.begin(), scan_result);
+
+        return PeSectionScanResult{.virtual_base_addr = pe_section->virtual_base_addr,
+                                   .raw_base_addr = pe_section->raw_base_addr,
+                                   .target_offset = offset};
+    }
+    std::optional<PePatternScanner::Section>
+    PePatternScanner::extract_section_from_pe_file(const std::filesystem::path& path_to_file,
+                                                   const std::string_view& section_name)
+    {
+        std::fstream file(path_to_file, std::ios::binary | std::ios::in);
+
+        if (!file.is_open()) [[unlikely]]
+            return std::nullopt;
+
+        DosHeader dos_header{};
+        file.read(reinterpret_cast<char*>(&dos_header), sizeof(dos_header));
+
+        if (invalid_dos_header_file(dos_header)) [[unlikely]]
+            return std::nullopt;
+
+        const auto nt_headers = get_nt_header_from_file(file, dos_header);
+
+        if (invalid_nt_header_file(nt_headers)) [[unlikely]]
+            return std::nullopt;
+
+        return std::visit(
+                [&file, &dos_header, &section_name](auto& concrete_headers) -> std::optional<Section>
+                {
+                    constexpr std::size_t size_of_signature = sizeof(concrete_headers.signature);
+                    const auto offset_to_segment_table = dos_header.e_lfanew
+                                                         + concrete_headers.file_header.size_optional_header
+                                                         + sizeof(FileHeader) + size_of_signature;
+
+                    file.seekg(static_cast<std::fstream::off_type>(offset_to_segment_table), std::ios::beg);
+
+                    for (std::size_t i = 0; i < concrete_headers.file_header.num_sections; i++)
+                    {
+                        SectionHeader current_section{};
+                        file.read(reinterpret_cast<char*>(&current_section), sizeof(current_section));
+
+                        if (std::string_view(current_section.name) != section_name)
+                            continue;
+
+                        std::vector<std::byte> section_data(current_section.size_raw_data);
+
+                        file.seekg(current_section.ptr_raw_data, std::ios::beg);
+                        file.read(reinterpret_cast<char*>(section_data.data()),
+                                  static_cast<std::streamsize>(section_data.size()));
+                        return Section{.virtual_base_addr = current_section.virtual_address
+                                                            + concrete_headers.optional_header.image_base,
+                                       .raw_base_addr = current_section.ptr_raw_data,
+                                       .data = std::move(section_data)};
+                    }
+                    return std::nullopt;
+                },
+                nt_headers);
+    }
+} // namespace omath

tests/CMakeLists.txt

@@ -7,12 +7,10 @@ include(GoogleTest)
 file(GLOB_RECURSE UNIT_TESTS_SOURCES CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/*.cpp")
 add_executable(${PROJECT_NAME} ${UNIT_TESTS_SOURCES})
 
-set_target_properties(unit_tests PROPERTIES
+set_target_properties(${PROJECT_NAME} PROPERTIES
         ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
         LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
         RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
-        UNITY_BUILD ON
-        UNITY_BUILD_BATCH_SIZE 20
         CXX_STANDARD 23
         CXX_STANDARD_REQUIRED ON)
 

tests/engines/unit_test_iw_engine.cpp

@@ -5,7 +5,7 @@
 #include <omath/engines/iw_engine/camera.hpp>
 #include <omath/engines/iw_engine/constants.hpp>
 #include <omath/engines/iw_engine/formulas.hpp>
-
+#include <random>
 
 TEST(unit_test_iw_engine, ForwardVector)
 {
@@ -68,7 +68,6 @@ 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);
 
-
     for (float distance = 0.02f; distance < 1000.f; distance += 0.01f)
     {
         const auto projected = cam.world_to_screen({distance, 0, 0});
@@ -102,4 +101,126 @@ TEST(unit_test_iw_engine, CameraSetAndGetOrigin)
     cam.set_field_of_view(omath::projection::FieldOfView::from_degrees(50.f));
 
     EXPECT_EQ(cam.get_field_of_view().as_degrees(), 50.f);
+}
+
+TEST(unit_test_iw_engine, loook_at_random_all_axis)
+{
+    std::mt19937 gen(std::random_device{}()); // Seed with a non-deterministic source
+    std::uniform_real_distribution<float> dist(-1000.f, 1000.f);
+
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    auto cam = omath::iw_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.001f, 10000.f);
+
+    std::size_t failed_points = 0;
+    for (int i = 0; i < 1000; i++)
+    {
+        const auto position_to_look = omath::Vector3<float>{dist(gen), dist(gen), dist(gen)};
+
+        if (cam.get_origin().distance_to(position_to_look) < 10)
+            continue;
+
+        cam.look_at(position_to_look);
+
+        auto projected_pos = cam.world_to_view_port(position_to_look);
+
+        EXPECT_TRUE(projected_pos.has_value());
+
+        if (!projected_pos)
+            continue;
+
+        if (std::abs(projected_pos->x - 0.f) >= 0.001f || std::abs(projected_pos->y - 0.f) >= 0.001f)
+            failed_points++;
+    }
+    EXPECT_LE(failed_points, 100);
+}
+
+TEST(unit_test_iw_engine, loook_at_random_x_axis)
+{
+    std::mt19937 gen(std::random_device{}()); // Seed with a non-deterministic source
+    std::uniform_real_distribution<float> dist(-1000.f, 1000.f);
+
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    auto cam = omath::iw_engine::Camera({dist(gen), dist(gen), dist(gen)}, {}, {1920.f, 1080.f}, fov, 0.001f, 10000.f);
+
+    std::size_t failed_points = 0;
+    for (int i = 0; i < 1000; i++)
+    {
+        const auto position_to_look = omath::Vector3<float>{dist(gen), 0.f, 0.f};
+
+        if (cam.get_origin().distance_to(position_to_look) < 10)
+            continue;
+
+        cam.look_at(position_to_look);
+
+        auto projected_pos = cam.world_to_view_port(position_to_look);
+
+        EXPECT_TRUE(projected_pos.has_value());
+
+        if (!projected_pos)
+            continue;
+
+        if (std::abs(projected_pos->x - 0.f) >= 0.01f || std::abs(projected_pos->y - 0.f) >= 0.01f)
+            failed_points++;
+    }
+    EXPECT_LE(failed_points, 100);
+}
+
+TEST(unit_test_iw_engine, loook_at_random_y_axis)
+{
+    std::mt19937 gen(std::random_device{}()); // Seed with a non-deterministic source
+    std::uniform_real_distribution<float> dist(-1000.f, 1000.f);
+
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    auto cam = omath::iw_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.001f, 10000.f);
+
+    std::size_t failed_points = 0;
+    for (int i = 0; i < 1000; i++)
+    {
+        const auto position_to_look = omath::Vector3<float>{0.f, dist(gen), 0.f};
+        if (cam.get_origin().distance_to(position_to_look) < 10)
+            continue;
+
+        cam.look_at(position_to_look);
+
+        auto projected_pos = cam.world_to_view_port(position_to_look);
+
+        EXPECT_TRUE(projected_pos.has_value());
+
+        if (!projected_pos)
+            continue;
+
+        if (std::abs(projected_pos->x - 0.f) >= 0.01f || std::abs(projected_pos->y - 0.f) >= 0.01f)
+            failed_points++;
+    }
+    EXPECT_LE(failed_points, 100);
+}
+
+TEST(unit_test_iw_engine, loook_at_random_z_axis)
+{
+    std::mt19937 gen(std::random_device{}()); // Seed with a non-deterministic source
+    std::uniform_real_distribution<float> dist(-1000.f, 1000.f);
+
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    auto cam = omath::iw_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.001f, 10000.f);
+
+    std::size_t failed_points = 0;
+    for (int i = 0; i < 1000; i++)
+    {
+        const auto position_to_look = omath::Vector3<float>{0.f, 0.f, dist(gen)};
+        if (cam.get_origin().distance_to(position_to_look) < 10)
+            continue;
+
+        cam.look_at(position_to_look);
+
+        auto projected_pos = cam.world_to_view_port(position_to_look);
+
+        EXPECT_TRUE(projected_pos.has_value());
+
+        if (!projected_pos)
+            continue;
+
+        if (std::abs(projected_pos->x - 0.f) >= 0.01f || std::abs(projected_pos->y - 0.f) >= 0.025f)
+            failed_points++;
+    }
+    EXPECT_LE(failed_points, 100);
 }

tests/engines/unit_test_open_gl.cpp

@@ -5,7 +5,7 @@
 #include <omath/engines/opengl_engine/camera.hpp>
 #include <omath/engines/opengl_engine/constants.hpp>
 #include <omath/engines/opengl_engine/formulas.hpp>
-
+#include <random>
 
 TEST(unit_test_opengl, ForwardVector)
 {
@@ -29,7 +29,7 @@ TEST(unit_test_opengl, ForwardVectorRotationYaw)
 {
     omath::opengl_engine::ViewAngles angles;
 
-    angles.yaw = omath::opengl_engine::YawAngle::from_degrees(90.f);
+    angles.yaw = omath::opengl_engine::YawAngle::from_degrees(-90.f);
 
     const auto forward = omath::opengl_engine::forward_vector(angles);
     EXPECT_NEAR(forward.x, omath::opengl_engine::k_abs_right.x, 0.00001f);
@@ -37,13 +37,11 @@ TEST(unit_test_opengl, ForwardVectorRotationYaw)
     EXPECT_NEAR(forward.z, omath::opengl_engine::k_abs_right.z, 0.00001f);
 }
 
-
-
 TEST(unit_test_opengl, ForwardVectorRotationPitch)
 {
     omath::opengl_engine::ViewAngles angles;
 
-    angles.pitch = omath::opengl_engine::PitchAngle::from_degrees(-90.f);
+    angles.pitch = omath::opengl_engine::PitchAngle::from_degrees(90.f);
 
     const auto forward = omath::opengl_engine::forward_vector(angles);
     EXPECT_NEAR(forward.x, omath::opengl_engine::k_abs_up.x, 0.00001f);
@@ -68,7 +66,6 @@ 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);
 
-
     for (float distance = -10.f; distance > -1000.f; distance -= 0.01f)
     {
         const auto projected = cam.world_to_screen({0, 0, distance});
@@ -102,4 +99,123 @@ TEST(unit_test_opengl, CameraSetAndGetOrigin)
     cam.set_field_of_view(omath::projection::FieldOfView::from_degrees(50.f));
 
     EXPECT_EQ(cam.get_field_of_view().as_degrees(), 50.f);
+}
+TEST(unit_test_opengl_engine, loook_at_random_all_axis)
+{
+    std::mt19937 gen(std::random_device{}()); // Seed with a non-deterministic source
+    std::uniform_real_distribution<float> dist(-1000.f, 1000.f);
+
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    auto cam = omath::opengl_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.001f, 10000.f);
+
+    std::size_t failed_points = 0;
+    for (int i = 0; i < 1000; i++)
+    {
+        const auto position_to_look = omath::Vector3<float>{dist(gen), dist(gen), dist(gen)};
+
+        if (cam.get_origin().distance_to(position_to_look) < 10)
+            continue;
+
+        cam.look_at(position_to_look);
+
+        auto projected_pos = cam.world_to_view_port(position_to_look);
+
+        EXPECT_TRUE(projected_pos.has_value());
+
+        if (!projected_pos)
+            continue;
+
+        if (std::abs(projected_pos->x - 0.f) >= 0.0001f || std::abs(projected_pos->y - 0.f) >= 0.0001f)
+            failed_points++;
+    }
+    EXPECT_LE(failed_points, 100);
+}
+
+TEST(unit_test_opengl_engine, loook_at_random_x_axis)
+{
+    std::mt19937 gen(std::random_device{}()); // Seed with a non-deterministic source
+    std::uniform_real_distribution<float> dist(-1000.f, 1000.f);
+
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    auto cam = omath::opengl_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.001f, 10000.f);
+    std::size_t failed_points = 0;
+    for (int i = 0; i < 1000; i++)
+    {
+        const auto position_to_look = omath::Vector3<float>{dist(gen), 0.f, 0.f};
+
+        if (cam.get_origin().distance_to(position_to_look) < 10)
+            continue;
+
+        cam.look_at(position_to_look);
+
+        auto projected_pos = cam.world_to_view_port(position_to_look);
+
+        EXPECT_TRUE(projected_pos.has_value());
+
+        if (!projected_pos)
+            continue;
+
+        if (std::abs(projected_pos->x - 0.f) >= 0.01f || std::abs(projected_pos->y - 0.f) >= 0.01f)
+            failed_points++;
+    }
+    EXPECT_LE(failed_points, 100);
+}
+
+TEST(unit_test_opengl_engine, loook_at_random_y_axis)
+{
+    std::mt19937 gen(std::random_device{}()); // Seed with a non-deterministic source
+    std::uniform_real_distribution<float> dist(-1000.f, 1000.f);
+
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    auto cam = omath::opengl_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.001f, 10000.f);
+    std::size_t failed_points = 0;
+    for (int i = 0; i < 1000; i++)
+    {
+        const auto position_to_look = omath::Vector3<float>{0.f, dist(gen), 0.f};
+
+        if (cam.get_origin().distance_to(position_to_look) < 10)
+            continue;
+
+        cam.look_at(position_to_look);
+
+        auto projected_pos = cam.world_to_view_port(position_to_look);
+
+        EXPECT_TRUE(projected_pos.has_value());
+
+        if (!projected_pos)
+            continue;
+
+        if (std::abs(projected_pos->x - 0.f) >= 0.01f || std::abs(projected_pos->y - 0.f) >= 0.01f)
+            failed_points++;
+    }
+    EXPECT_LE(failed_points, 100);
+}
+
+TEST(unit_test_opengl_engine, loook_at_random_z_axis)
+{
+    std::mt19937 gen(std::random_device{}()); // Seed with a non-deterministic source
+    std::uniform_real_distribution<float> dist(-1000.f, 1000.f);
+
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    auto cam = omath::opengl_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.001f, 10000.f);
+    std::size_t failed_points = 0;
+    for (int i = 0; i < 1000; i++)
+    {
+        const auto position_to_look = omath::Vector3<float>{0.f, 0.f, dist(gen)};
+
+        if (cam.get_origin().distance_to(position_to_look) < 10)
+            continue;
+        cam.look_at(position_to_look);
+
+        auto projected_pos = cam.world_to_view_port(position_to_look);
+
+        EXPECT_TRUE(projected_pos.has_value());
+
+        if (!projected_pos)
+            continue;
+
+        if (std::abs(projected_pos->x - 0.f) >= 0.01f || std::abs(projected_pos->y - 0.f) >= 0.01f)
+            failed_points++;
+    }
+    EXPECT_LE(failed_points, 100);
 }

tests/engines/unit_test_source_engine.cpp

@@ -5,7 +5,7 @@
 #include <omath/engines/source_engine/camera.hpp>
 #include <omath/engines/source_engine/constants.hpp>
 #include <omath/engines/source_engine/formulas.hpp>
-
+#include <random>
 
 TEST(unit_test_source_engine, ForwardVector)
 {
@@ -68,7 +68,6 @@ 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);
 
-
     for (float distance = 0.02f; distance < 1000.f; distance += 0.01f)
     {
         const auto projected = cam.world_to_screen({distance, 0, 0});
@@ -122,4 +121,125 @@ TEST(unit_test_source_engine, CameraSetAndGetOrigin)
     cam.set_field_of_view(omath::projection::FieldOfView::from_degrees(50.f));
 
     EXPECT_EQ(cam.get_field_of_view().as_degrees(), 50.f);
+}
+
+TEST(unit_test_source_engine, loook_at_random_all_axis)
+{
+    std::mt19937 gen(std::random_device{}()); // Seed with a non-deterministic source
+    std::uniform_real_distribution<float> dist(-1000.f, 1000.f);
+
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    auto cam = omath::source_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.001f, 10000.f);
+
+    std::size_t failed_points = 0;
+    for (int i = 0; i < 1000; i++)
+    {
+        const auto position_to_look = omath::Vector3<float>{dist(gen), dist(gen), dist(gen)};
+
+        if (cam.get_origin().distance_to(position_to_look) < 10)
+            continue;
+
+        cam.look_at(position_to_look);
+
+        auto projected_pos = cam.world_to_view_port(position_to_look);
+
+        EXPECT_TRUE(projected_pos.has_value());
+
+        if (!projected_pos)
+            continue;
+
+        if (std::abs(projected_pos->x - 0.f) >= 0.0001f || std::abs(projected_pos->y - 0.f) >= 0.0001f)
+            failed_points++;
+    }
+    EXPECT_LE(failed_points, 100);
+}
+
+TEST(unit_test_source_engine, loook_at_random_x_axis)
+{
+    std::mt19937 gen(std::random_device{}()); // Seed with a non-deterministic source
+    std::uniform_real_distribution<float> dist(-1000.f, 1000.f);
+
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    auto cam = omath::source_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.001f, 10000.f);
+
+    std::size_t failed_points = 0;
+    for (int i = 0; i < 1000; i++)
+    {
+        const auto position_to_look = omath::Vector3<float>{dist(gen), 0.f, 0.f};
+
+        if (cam.get_origin().distance_to(position_to_look) < 10)
+            continue;
+        cam.look_at(position_to_look);
+
+        auto projected_pos = cam.world_to_view_port(position_to_look);
+
+        EXPECT_TRUE(projected_pos.has_value());
+
+        if (!projected_pos)
+            continue;
+
+        if (std::abs(projected_pos->x - 0.f) >= 0.01f || std::abs(projected_pos->y - 0.f) >= 0.01f)
+            failed_points++;
+    }
+    EXPECT_LE(failed_points, 100);
+}
+
+TEST(unit_test_source_engine, loook_at_random_y_axis)
+{
+    std::mt19937 gen(std::random_device{}()); // Seed with a non-deterministic source
+    std::uniform_real_distribution<float> dist(-1000.f, 1000.f);
+
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    auto cam = omath::source_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.001f, 10000.f);
+
+    std::size_t failed_points = 0;
+    for (int i = 0; i < 1000; i++)
+    {
+        const auto position_to_look = omath::Vector3<float>{0.f, dist(gen), 0.f};
+
+        if (cam.get_origin().distance_to(position_to_look) < 10)
+            continue;
+        cam.look_at(position_to_look);
+
+        auto projected_pos = cam.world_to_view_port(position_to_look);
+
+        EXPECT_TRUE(projected_pos.has_value());
+
+        if (!projected_pos)
+            continue;
+
+        if (std::abs(projected_pos->x - 0.f) >= 0.01f || std::abs(projected_pos->y - 0.f) >= 0.01f)
+            failed_points++;
+    }
+    EXPECT_LE(failed_points, 100);
+}
+
+TEST(unit_test_source_engine, loook_at_random_z_axis)
+{
+    std::mt19937 gen(std::random_device{}()); // Seed with a non-deterministic source
+    std::uniform_real_distribution<float> dist(-1000.f, 1000.f);
+
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    auto cam = omath::source_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.001f, 10000.f);
+
+    std::size_t failed_points = 0;
+    for (int i = 0; i < 1000; i++)
+    {
+        const auto position_to_look = omath::Vector3<float>{0.f, 0.f, dist(gen)};
+
+        if (cam.get_origin().distance_to(position_to_look) < 10)
+            continue;
+        cam.look_at(position_to_look);
+
+        auto projected_pos = cam.world_to_view_port(position_to_look);
+
+        EXPECT_TRUE(projected_pos.has_value());
+
+        if (!projected_pos)
+            continue;
+
+        if (std::abs(projected_pos->x - 0.f) >= 0.01f || std::abs(projected_pos->y - 0.f) >= 0.025f)
+            failed_points++;
+    }
+    EXPECT_LE(failed_points, 100);
 }

tests/engines/unit_test_unity_engine.cpp

@@ -6,6 +6,7 @@
 #include <omath/engines/unity_engine/constants.hpp>
 #include <omath/engines/unity_engine/formulas.hpp>
 #include <print>
+#include <random>
 
 TEST(unit_test_unity_engine, ForwardVector)
 {
@@ -68,7 +69,6 @@ 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);
 
-
     for (float distance = 0.02f; distance < 100.f; distance += 0.01f)
     {
         const auto projected = cam.world_to_screen({0, 0, distance});
@@ -112,4 +112,125 @@ TEST(unit_test_unity_engine, CameraSetAndGetOrigin)
     cam.set_field_of_view(omath::projection::FieldOfView::from_degrees(50.f));
 
     EXPECT_EQ(cam.get_field_of_view().as_degrees(), 50.f);
+}
+TEST(unit_test_unity_engine, loook_at_random_all_axis)
+{
+    std::mt19937 gen(std::random_device{}()); // Seed with a non-deterministic source
+    std::uniform_real_distribution<float> dist(-1000.f, 1000.f);
+
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    auto cam = omath::unity_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.001f, 10000.f);
+
+    std::size_t failed_points = 0;
+
+    for (int i = 0; i < 1000; i++)
+    {
+        const auto position_to_look = omath::Vector3<float>{dist(gen), dist(gen), dist(gen)};
+
+        if (cam.get_origin().distance_to(position_to_look) < 10)
+            continue;
+
+        cam.look_at(position_to_look);
+
+        auto projected_pos = cam.world_to_view_port(position_to_look);
+
+        EXPECT_TRUE(projected_pos.has_value());
+
+        if (!projected_pos)
+            continue;
+
+        if (std::abs(projected_pos->x - 0.f) >= 0.0001f || std::abs(projected_pos->y - 0.f) >= 0.0001f)
+            failed_points++;
+    }
+    EXPECT_LE(failed_points, 100);
+}
+
+TEST(unit_test_unity_engine, loook_at_random_x_axis)
+{
+    std::mt19937 gen(std::random_device{}()); // Seed with a non-deterministic source
+    std::uniform_real_distribution<float> dist(-1000.f, 1000.f);
+
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    auto cam = omath::unity_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.001f, 10000.f);
+
+    std::size_t failed_points = 0;
+    for (int i = 0; i < 1000; i++)
+    {
+        const auto position_to_look = omath::Vector3<float>{dist(gen), 0.f, 0.f};
+        if (cam.get_origin().distance_to(position_to_look) < 10)
+            continue;
+
+        cam.look_at(position_to_look);
+
+        auto projected_pos = cam.world_to_view_port(position_to_look);
+
+        EXPECT_TRUE(projected_pos.has_value());
+
+        if (!projected_pos)
+            continue;
+
+        if (std::abs(projected_pos->x - 0.f) >= 0.001f || std::abs(projected_pos->y - 0.f) >= 0.001f)
+            failed_points++;
+    }
+    EXPECT_LE(failed_points, 100);
+}
+
+TEST(unit_test_unity_engine, loook_at_random_y_axis)
+{
+    std::mt19937 gen(std::random_device{}()); // Seed with a non-deterministic source
+    std::uniform_real_distribution<float> dist(-1000.f, 1000.f);
+
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    auto cam = omath::unity_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.001f, 10000.f);
+
+    std::size_t failed_points = 0;
+    for (int i = 0; i < 1000; i++)
+    {
+        const auto position_to_look = omath::Vector3<float>{0.f, dist(gen), 0.f};
+        if (cam.get_origin().distance_to(position_to_look) < 10)
+            continue;
+
+        cam.look_at(position_to_look);
+
+        auto projected_pos = cam.world_to_view_port(position_to_look);
+
+        EXPECT_TRUE(projected_pos.has_value());
+
+        if (!projected_pos)
+            continue;
+
+        if (std::abs(projected_pos->x - 0.f) >= 0.01f || std::abs(projected_pos->y - 0.f) >= 0.01f)
+            failed_points++;
+    }
+    EXPECT_LE(failed_points, 100);
+}
+
+TEST(unit_test_unity_engine, loook_at_random_z_axis)
+{
+    std::mt19937 gen(std::random_device{}()); // Seed with a non-deterministic source
+    std::uniform_real_distribution<float> dist(-1000.f, 1000.f);
+
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    auto cam = omath::unity_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.001f, 10000.f);
+
+    std::size_t failed_points = 0;
+    for (int i = 0; i < 1000; i++)
+    {
+        const auto position_to_look = omath::Vector3<float>{0.f, 0.f, dist(gen)};
+        if (cam.get_origin().distance_to(position_to_look) < 10)
+            continue;
+
+        cam.look_at(position_to_look);
+
+        auto projected_pos = cam.world_to_view_port(position_to_look);
+
+        EXPECT_TRUE(projected_pos.has_value());
+
+        if (!projected_pos)
+            continue;
+
+        if (std::abs(projected_pos->x - 0.f) >= 0.01f || std::abs(projected_pos->y - 0.f) >= 0.01f)
+            failed_points++;
+    }
+    EXPECT_LE(failed_points, 100);
 }

tests/engines/unit_test_unreal_engine.cpp

@@ -6,6 +6,7 @@
 #include <omath/engines/unreal_engine/constants.hpp>
 #include <omath/engines/unreal_engine/formulas.hpp>
 #include <print>
+#include <random>
 
 TEST(unit_test_unreal_engine, ForwardVector)
 {
@@ -68,7 +69,6 @@ TEST(unit_test_unreal_engine, ProjectTargetMovedFromCamera)
     constexpr auto fov = omath::projection::FieldOfView::from_degrees(60.f);
     const auto cam = omath::unreal_engine::Camera({0, 0, 0}, {}, {1280.f, 720.f}, fov, 0.01f, 1000.f);
 
-
     for (float distance = 0.02f; distance < 100.f; distance += 0.01f)
     {
         const auto projected = cam.world_to_screen({distance, 0, 0});
@@ -102,4 +102,128 @@ TEST(unit_test_unreal_engine, CameraSetAndGetOrigin)
     cam.set_field_of_view(omath::projection::FieldOfView::from_degrees(50.f));
 
     EXPECT_EQ(cam.get_field_of_view().as_degrees(), 50.f);
+}
+
+TEST(unit_test_unreal_engine, loook_at_random_all_axis)
+{
+    std::mt19937 gen(std::random_device{}()); // Seed with a non-deterministic source
+    std::uniform_real_distribution<float> dist(-1000.f, 1000.f);
+
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    auto cam = omath::unreal_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.001f, 10000.f);
+
+
+    std::size_t failed_points = 0;
+    for (int i = 0; i < 100; i++)
+    {
+        const auto position_to_look = omath::Vector3<float>{dist(gen), dist(gen), dist(gen)};
+
+        if (cam.get_origin().distance_to(position_to_look) < 10)
+            continue;
+        cam.look_at(position_to_look);
+
+        auto projected_pos = cam.world_to_view_port(position_to_look);
+
+        EXPECT_TRUE(projected_pos.has_value());
+
+        if (!projected_pos)
+            continue;
+
+        if (std::abs(projected_pos->x - 0.f) >= 0.0001f || std::abs(projected_pos->y - 0.f) >= 0.0001f)
+            failed_points++;
+    }
+    EXPECT_LE(failed_points, 100);
+}
+
+TEST(unit_test_unreal_engine, loook_at_random_x_axis)
+{
+    std::mt19937 gen(std::random_device{}()); // Seed with a non-deterministic source
+    std::uniform_real_distribution<float> dist(-1000.f, 1000.f);
+
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    auto cam = omath::unreal_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.001f, 10000.f);
+
+    std::size_t failed_points = 0;
+    for (int i = 0; i < 1000; i++)
+    {
+        const auto position_to_look = omath::Vector3<float>{dist(gen), dist(gen), dist(gen)};
+
+        if (cam.get_origin().distance_to(position_to_look) < 10)
+            continue;
+
+        cam.look_at(position_to_look);
+
+        auto projected_pos = cam.world_to_view_port(position_to_look);
+
+        EXPECT_TRUE(projected_pos.has_value());
+
+        if (!projected_pos)
+            continue;
+
+        if (std::abs(projected_pos->x - 0.f) >= 0.01f || std::abs(projected_pos->y - 0.f) >= 0.01f)
+            failed_points++;
+    }
+    EXPECT_LE(failed_points, 100);
+}
+
+TEST(unit_test_unreal_engine, loook_at_random_y_axis)
+{
+    std::mt19937 gen(std::random_device{}()); // Seed with a non-deterministic source
+    std::uniform_real_distribution<float> dist(-1000.f, 1000.f);
+
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    auto cam = omath::unreal_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.001f, 10000.f);
+
+    std::size_t failed_points = 0;
+    for (int i = 0; i < 1000; i++)
+    {
+        const auto position_to_look = omath::Vector3<float>{0.f, dist(gen), 0.f};
+
+        if (cam.get_origin().distance_to(position_to_look) < 10)
+            continue;
+
+        cam.look_at(position_to_look);
+
+        auto projected_pos = cam.world_to_view_port(position_to_look);
+
+        EXPECT_TRUE(projected_pos.has_value());
+
+        if (!projected_pos)
+            continue;
+
+        if (std::abs(projected_pos->x - 0.f) >= 0.01f || std::abs(projected_pos->y - 0.f) >= 0.01f)
+            failed_points++;
+    }
+    EXPECT_LE(failed_points, 100);
+}
+
+TEST(unit_test_unreal_engine, loook_at_random_z_axis)
+{
+    std::mt19937 gen(std::random_device{}()); // Seed with a non-deterministic source
+    std::uniform_real_distribution<float> dist(-1000.f, 1000.f);
+
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    auto cam = omath::unreal_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.001f, 10000.f);
+
+    std::size_t failed_points = 0;
+    for (int i = 0; i < 1000; i++)
+    {
+        const auto position_to_look = omath::Vector3<float>{0.f, 0.f, dist(gen)};
+
+        if (cam.get_origin().distance_to(position_to_look) < 10)
+            continue;
+
+        cam.look_at(position_to_look);
+
+        auto projected_pos = cam.world_to_view_port(position_to_look);
+
+        EXPECT_TRUE(projected_pos.has_value());
+
+        if (!projected_pos)
+            continue;
+
+        if (std::abs(projected_pos->x - 0.f) >= 0.01f || std::abs(projected_pos->y - 0.f) >= 0.01f)
+            failed_points++;
+    }
+    EXPECT_LE(failed_points, 100);
 }

tests/general/unit_test_angle.cpp

@@ -1,3 +1,192 @@
 //
 // Created by Orange on 11/30/2024.
 //
+
+#include <omath/trigonometry/angle.hpp>
+#include <cmath>
+#include <gtest/gtest.h>
+#include <numbers>
+
+using namespace omath;
+
+namespace
+{
+
+    // Handy aliases (defaults: Type=float, [0,360], Normalized)
+    using Deg = Angle<float, float(0), float(360), AngleFlags::Normalized>;
+    using Pitch = Angle<float, float(-90), float(90), AngleFlags::Clamped>;
+    using Turn = Angle<float, float(-180), float(180), AngleFlags::Normalized>;
+
+    constexpr float kEps = 1e-5f;
+
+} // namespace
+
+// ---------- Construction / factories ----------
+
+TEST(UnitTestAngle, DefaultConstructor_IsZeroDegrees)
+{
+    Deg a; // default ctor
+    EXPECT_FLOAT_EQ(*a, 0.0f);
+    EXPECT_FLOAT_EQ(a.as_degrees(), 0.0f);
+}
+
+TEST(UnitTestAngle, FromDegrees_Normalized_WrapsAboveMax)
+{
+    const Deg a = Deg::from_degrees(370.0f);
+    EXPECT_FLOAT_EQ(a.as_degrees(), 10.0f);
+}
+
+TEST(UnitTestAngle, FromDegrees_Normalized_WrapsBelowMin)
+{
+    const Deg a = Deg::from_degrees(-10.0f);
+    EXPECT_FLOAT_EQ(a.as_degrees(), 350.0f);
+}
+
+TEST(UnitTestAngle, FromDegrees_Clamped_ClampsToRange)
+{
+    const Pitch hi = Pitch::from_degrees(100.0f);
+    const Pitch lo = Pitch::from_degrees(-120.0f);
+
+    EXPECT_FLOAT_EQ(hi.as_degrees(), 90.0f);
+    EXPECT_FLOAT_EQ(lo.as_degrees(), -90.0f);
+}
+
+TEST(UnitTestAngle, FromRadians_And_AsRadians)
+{
+    const Deg a = Deg::from_radians(std::numbers::pi_v<float>);
+    EXPECT_FLOAT_EQ(a.as_degrees(), 180.0f);
+
+    const Deg b = Deg::from_degrees(180.0f);
+    EXPECT_NEAR(b.as_radians(), std::numbers::pi_v<float>, 1e-6f);
+}
+
+// ---------- Unary minus & deref ----------
+
+TEST(UnitTestAngle, UnaryMinus_Normalized)
+{
+    const Deg a = Deg::from_degrees(30.0f);
+    const Deg b = -a; // wraps to 330 in [0,360)
+    EXPECT_FLOAT_EQ(b.as_degrees(), 330.0f);
+}
+
+TEST(UnitTestAngle, DereferenceReturnsDegrees)
+{
+    const Deg a = Deg::from_degrees(42.0f);
+    EXPECT_FLOAT_EQ(*a, 42.0f);
+}
+
+// ---------- Trigonometric helpers ----------
+
+TEST(UnitTestAngle, SinCosTanCot_BasicCases)
+{
+    const Deg a0 = Deg::from_degrees(0.0f);
+    EXPECT_NEAR(a0.sin(), 0.0f, kEps);
+    EXPECT_NEAR(a0.cos(), 1.0f, kEps);
+    // cot(0) -> cos/sin -> div by 0: allow inf or nan
+    const float cot0 = a0.cot();
+    EXPECT_TRUE(std::isinf(cot0) || std::isnan(cot0));
+
+    const Deg a45 = Deg::from_degrees(45.0f);
+    EXPECT_NEAR(a45.tan(), 1.0f, 1e-4f);
+    EXPECT_NEAR(a45.cot(), 1.0f, 1e-4f);
+
+    const Deg a90 = Deg::from_degrees(90.0f);
+    EXPECT_NEAR(a90.sin(), 1.0f, 1e-4f);
+    EXPECT_NEAR(a90.cos(), 0.0f, 1e-4f);
+}
+
+TEST(UnitTestAngle, Atan_IsAtanOfRadians)
+{
+    // atan(as_radians). For 0° -> atan(0)=0.
+    const Deg a0 = Deg::from_degrees(0.0f);
+    EXPECT_NEAR(a0.atan(), 0.0f, kEps);
+
+    const Deg a45 = Deg::from_degrees(45.0f);
+    // atan(pi/4) ≈ 0.665773...
+    EXPECT_NEAR(a45.atan(), 0.66577375f, 1e-6f);
+}
+
+// ---------- Compound arithmetic ----------
+
+TEST(UnitTestAngle, PlusEquals_Normalized_Wraps)
+{
+    Deg a = Deg::from_degrees(350.0f);
+    a += Deg::from_degrees(20.0f); // 370 -> 10
+    EXPECT_FLOAT_EQ(a.as_degrees(), 10.0f);
+}
+
+TEST(UnitTestAngle, MinusEquals_Normalized_Wraps)
+{
+    Deg a = Deg::from_degrees(10.0f);
+    a -= Deg::from_degrees(30.0f); // -20 -> 340
+    EXPECT_FLOAT_EQ(a.as_degrees(), 340.0f);
+}
+
+TEST(UnitTestAngle, PlusEquals_Clamped_Clamps)
+{
+    Pitch p = Pitch::from_degrees(80.0f);
+    p += Pitch::from_degrees(30.0f); // 110 -> clamp to 90
+    EXPECT_FLOAT_EQ(p.as_degrees(), 90.0f);
+}
+
+TEST(UnitTestAngle, MinusEquals_Clamped_Clamps)
+{
+    Pitch p = Pitch::from_degrees(-70.0f);
+    p -= Pitch::from_degrees(40.0f); // -110 -> clamp to -90
+    EXPECT_FLOAT_EQ(p.as_degrees(), -90.0f);
+}
+
+// ---------- Alternative ranges ----------
+
+TEST(UnitTestAngle, NormalizedRange_Neg180To180)
+{
+    const Turn a = Turn::from_degrees(190.0f); // -> -170
+    const Turn b = Turn::from_degrees(-190.0f); // -> 170
+
+    EXPECT_FLOAT_EQ(a.as_degrees(), -170.0f);
+    EXPECT_FLOAT_EQ(b.as_degrees(), 170.0f);
+}
+
+// ---------- Comparisons (via <=>) ----------
+
+TEST(UnitTestAngle, Comparisons_WorkWithPartialOrdering)
+{
+    const Deg a = Deg::from_degrees(10.0f);
+    const Deg b = Deg::from_degrees(20.0f);
+    const Deg c = Deg::from_degrees(10.0f);
+
+    EXPECT_TRUE(a < b);
+    EXPECT_TRUE(b > a);
+    EXPECT_TRUE(a <= c);
+    EXPECT_TRUE(c >= a);
+}
+
+// ---------- std::format formatter ----------
+
+TEST(UnitTestAngle, Formatter_PrintsDegreesWithSuffix)
+{
+    const Deg a = Deg::from_degrees(15.0f);
+    EXPECT_EQ(std::format("{}", a), "15deg");
+
+    const Deg b = Deg::from_degrees(10.5f);
+    EXPECT_EQ(std::format("{}", b), "10.5deg");
+
+    const Turn t = Turn::from_degrees(-170.0f);
+    EXPECT_EQ(std::format("{}", t), "-170deg");
+}
+
+TEST(UnitTestAngle, BinaryPlus_ReturnsWrappedSum)
+{
+    Angle<> a = Deg::from_degrees(350.0f);
+    const Deg b = Deg::from_degrees(20.0f);
+    const Deg c = a + b; // expect 10°
+    EXPECT_FLOAT_EQ(c.as_degrees(), 10.0f);
+}
+
+TEST(UnitTestAngle, BinaryMinus_ReturnsWrappedDiff)
+{
+    Angle<> a = Deg::from_degrees(10.0f);
+    const Deg b = Deg::from_degrees(30.0f);
+    const Deg c = a - b; // expect 340°
+    EXPECT_FLOAT_EQ(c.as_degrees(), 340.0f);
+}

tests/general/unit_test_angles.cpp

@@ -1,8 +1,8 @@
 //
 // Created by Orange on 11/30/2024.
 //
+#include <omath/trigonometry/angles.hpp>
 #include <gtest/gtest.h>
-#include <omath/angles.hpp>
 
 TEST(unit_test_angles, radians_to_deg)
 {

tests/general/unit_test_color.cpp

@@ -1,9 +1,8 @@
 //
 // Created by Vlad on 01.09.2024.
 //
+#include <omath/utility/color.hpp>
 #include <gtest/gtest.h>
-#include <omath/color.hpp>
-
 
 using namespace omath;
 

tests/general/unit_test_line_trace.cpp

@@ -2,10 +2,10 @@
 // Revised unit‑test suite for LineTracer (segment‑based Möller–Trumbore)
 // Pure ASCII: avoids non‑standard characters that MSVC rejects.
 //
-#include "gtest/gtest.h"
+#include "omath/linear_algebra/triangle.hpp"
 #include "omath/collision/line_tracer.hpp"
-#include "omath/triangle.hpp"
-#include "omath/vector3.hpp"
+#include "omath/linear_algebra/vector3.hpp"
+#include "gtest/gtest.h"
 #include <cmath>
 
 using namespace omath;

tests/general/unit_test_mat.cpp

@@ -1,7 +1,7 @@
 // UnitTestMat.cpp
+#include "omath/linear_algebra/mat.hpp"
+#include "omath/linear_algebra/vector3.hpp"
 #include <gtest/gtest.h>
-#include "omath/mat.hpp"
-#include "omath/vector3.hpp"
 
 using namespace omath;
 
@@ -125,7 +125,7 @@ TEST_F(UnitTestMat, Clear)
 
 TEST_F(UnitTestMat, ToString)
 {
-    const std::string str = m2.to_string();
+    const std::string str = std::format("{}", m2);
     EXPECT_FALSE(str.empty());
     EXPECT_EQ(str, "[[    1.000,     2.000]\n [    3.000,     4.000]]");
 }

tests/general/unit_test_matrix.cpp

@@ -1,184 +0,0 @@
-//
-// Created by vlad on 5/18/2024.
-//
-
-#ifdef OMATH_ENABLE_LEGACY
-
-#include <gtest/gtest.h>
-#include <omath/matrix.hpp>
-#include "omath/vector3.hpp"
-
-using namespace omath;
-
-
-class UnitTestMatrix : public ::testing::Test
-{
-protected:
-    Matrix m1;
-    Matrix m2;
-
-    void SetUp() override
-    {
-        m1 = Matrix(2, 2);
-        m2 = Matrix{{1.0f, 2.0f}, {3.0f, 4.0f}};
-    }
-};
-
-// Test constructors
-TEST_F(UnitTestMatrix, Constructor_Size)
-{
-    const Matrix m(3, 3);
-    EXPECT_EQ(m.row_count(), 3);
-    EXPECT_EQ(m.columns_count(), 3);
-}
-
-TEST_F(UnitTestMatrix, Operator_SquareBrackets)
-{
-    EXPECT_EQ((m2[0, 0]), 1.0f);
-    EXPECT_EQ((m2[0, 1]), 2.0f);
-    EXPECT_EQ((m2[1, 0]), 3.0f);
-    EXPECT_EQ((m2[1, 1]), 4.0f);
-}
-
-
-TEST_F(UnitTestMatrix, Constructor_InitializerList)
-{
-    Matrix m{{1.0f, 2.0f}, {3.0f, 4.0f}};
-    EXPECT_EQ(m.row_count(), 2);
-    EXPECT_EQ(m.columns_count(), 2);
-    EXPECT_FLOAT_EQ(m.at(0, 0), 1.0f);
-    EXPECT_FLOAT_EQ(m.at(1, 1), 4.0f);
-}
-
-TEST_F(UnitTestMatrix, Constructor_Copy)
-{
-    Matrix m3 = m2;
-    EXPECT_EQ(m3.row_count(), m2.row_count());
-    EXPECT_EQ(m3.columns_count(), m2.columns_count());
-    EXPECT_FLOAT_EQ(m3.at(0, 0), m2.at(0, 0));
-}
-
-TEST_F(UnitTestMatrix, Constructor_Move)
-{
-    Matrix m3 = std::move(m2);
-    EXPECT_EQ(m3.row_count(), 2);
-    EXPECT_EQ(m3.columns_count(), 2);
-    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);
-}
-
-// Test matrix operations
-TEST_F(UnitTestMatrix, Operator_Multiplication_Matrix)
-{
-    Matrix m3 = m2 * m2;
-    EXPECT_EQ(m3.row_count(), 2);
-    EXPECT_EQ(m3.columns_count(), 2);
-    EXPECT_FLOAT_EQ(m3.at(0, 0), 7.0f);
-    EXPECT_FLOAT_EQ(m3.at(1, 1), 22.0f);
-}
-
-TEST_F(UnitTestMatrix, Operator_Multiplication_Scalar)
-{
-    Matrix m3 = m2 * 2.0f;
-    EXPECT_FLOAT_EQ(m3.at(0, 0), 2.0f);
-    EXPECT_FLOAT_EQ(m3.at(1, 1), 8.0f);
-}
-
-TEST_F(UnitTestMatrix, Operator_Division_Scalar)
-{
-    Matrix m3 = m2 / 2.0f;
-    EXPECT_FLOAT_EQ(m3.at(0, 0), 0.5f);
-    EXPECT_FLOAT_EQ(m3.at(1, 1), 2.0f);
-}
-
-// Test matrix functions
-TEST_F(UnitTestMatrix, Transpose)
-{
-    Matrix m3 = m2.transpose();
-    EXPECT_FLOAT_EQ(m3.at(0, 1), 3.0f);
-    EXPECT_FLOAT_EQ(m3.at(1, 0), 2.0f);
-}
-
-TEST_F(UnitTestMatrix, Determinant)
-{
-    const float det = m2.determinant();
-    EXPECT_FLOAT_EQ(det, -2.0f);
-}
-
-TEST_F(UnitTestMatrix, Minor)
-{
-    const float minor = m2.minor(0, 0);
-    EXPECT_FLOAT_EQ(minor, 4.0f);
-}
-
-TEST_F(UnitTestMatrix, AlgComplement)
-{
-    const float algComp = m2.alg_complement(0, 0);
-    EXPECT_FLOAT_EQ(algComp, 4.0f);
-}
-
-TEST_F(UnitTestMatrix, Strip)
-{
-    Matrix m3 = m2.strip(0, 0);
-    EXPECT_EQ(m3.row_count(), 1);
-    EXPECT_EQ(m3.columns_count(), 1);
-    EXPECT_FLOAT_EQ(m3.at(0, 0), 4.0f);
-}
-
-TEST_F(UnitTestMatrix, ProjectionMatrix)
-{
-    const Matrix proj = Matrix::projection_matrix(45.0f, 1.33f, 0.1f, 100.0f);
-    EXPECT_EQ(proj.row_count(), 4);
-    EXPECT_EQ(proj.columns_count(), 4);
-    // Further checks on projection matrix elements could be added
-}
-
-// Test other member functions
-TEST_F(UnitTestMatrix, Set)
-{
-    m1.set(3.0f);
-    EXPECT_FLOAT_EQ(m1.at(0, 0), 3.0f);
-    EXPECT_FLOAT_EQ(m1.at(1, 1), 3.0f);
-}
-
-TEST_F(UnitTestMatrix, Sum)
-{
-    const float sum = m2.sum();
-    EXPECT_FLOAT_EQ(sum, 10.0f);
-}
-
-TEST_F(UnitTestMatrix, Clear)
-{
-    m2.clear();
-    EXPECT_FLOAT_EQ(m2.at(0, 0), 0.0f);
-    EXPECT_FLOAT_EQ(m2.at(1, 1), 0.0f);
-}
-
-TEST_F(UnitTestMatrix, ToString)
-{
-    const std::string str = m2.to_string();
-    EXPECT_FALSE(str.empty());
-}
-
-// Test assignment operators
-TEST_F(UnitTestMatrix, AssignmentOperator_Copy)
-{
-    Matrix m3(2, 2);
-    m3 = m2;
-    EXPECT_EQ(m3.row_count(), m2.row_count());
-    EXPECT_EQ(m3.columns_count(), m2.columns_count());
-    EXPECT_FLOAT_EQ(m3.at(0, 0), m2.at(0, 0));
-}
-
-TEST_F(UnitTestMatrix, AssignmentOperator_Move)
-{
-    Matrix m3(2, 2);
-    m3 = std::move(m2);
-    EXPECT_EQ(m3.row_count(), 2);
-    EXPECT_EQ(m3.columns_count(), 2);
-    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

tests/general/unit_test_pattern_scan.cpp

@@ -0,0 +1,53 @@
+//
+// Created by Vlad on 10/4/2025.
+//
+#include "omath/utility/pe_pattern_scan.hpp"
+#include "gtest/gtest.h"
+#include <omath/utility/pattern_scan.hpp>
+#include <source_location>
+#include <print>
+TEST(unit_test_pattern_scan, read_test)
+{
+    const auto result = omath::PatternScanner::parse_pattern("FF ? ?? E9");
+
+    EXPECT_EQ(result->at(0), static_cast<std::byte>(0xFF));
+    EXPECT_EQ(result->at(1), std::nullopt);
+    EXPECT_EQ(result->at(2), std::nullopt);
+    EXPECT_EQ(result->at(3), static_cast<std::byte>(0xE9));
+}
+
+TEST(unit_test_pattern_scan, corner_case_1)
+{
+    const auto result = omath::PatternScanner::parse_pattern("     FF ? ?? E9");
+
+    EXPECT_EQ(result->at(0), static_cast<std::byte>(0xFF));
+    EXPECT_EQ(result->at(1), std::nullopt);
+    EXPECT_EQ(result->at(2), std::nullopt);
+    EXPECT_EQ(result->at(3), static_cast<std::byte>(0xE9));
+}
+
+TEST(unit_test_pattern_scan, corner_case_2)
+{
+    const auto result = omath::PatternScanner::parse_pattern("     FF ? ?? E9       ");
+
+    EXPECT_EQ(result->at(0), static_cast<std::byte>(0xFF));
+    EXPECT_EQ(result->at(1), std::nullopt);
+    EXPECT_EQ(result->at(2), std::nullopt);
+    EXPECT_EQ(result->at(3), static_cast<std::byte>(0xE9));
+}
+
+TEST(unit_test_pattern_scan, corner_case_3)
+{
+    const auto result = omath::PatternScanner::parse_pattern("     FF ?       ??      E9       ");
+
+    EXPECT_EQ(result->at(0), static_cast<std::byte>(0xFF));
+    EXPECT_EQ(result->at(1), std::nullopt);
+    EXPECT_EQ(result->at(2), std::nullopt);
+    EXPECT_EQ(result->at(3), static_cast<std::byte>(0xE9));
+}
+
+TEST(unit_test_pattern_scan, corner_case_4)
+{
+    const auto result = omath::PatternScanner::parse_pattern("X ? ?? E9 ");
+    EXPECT_FALSE(result.has_value());
+}

tests/general/unit_test_projection.cpp

@@ -13,8 +13,12 @@ TEST(UnitTestProjection, Projection)
     const auto cam = omath::source_engine::Camera({0, 0, 0}, omath::source_engine::ViewAngles{}, {1920.f, 1080.f}, fov,
                                                   0.01f, 1000.f);
 
-    const auto projected = cam.world_to_screen({1000, 0, 50});
+    const auto projected = cam.world_to_screen({1000.f, 0, 50.f});
+    const auto result = cam.screen_to_world(projected.value());
+    const auto result2 = cam.world_to_screen(result.value());
 
+    EXPECT_EQ(static_cast<omath::Vector2<float>>(projected.value()),
+              static_cast<omath::Vector2<float>>(result2.value()));
     EXPECT_NEAR(projected->x, 960.f, 0.001f);
     EXPECT_NEAR(projected->y, 504.f, 0.001f);
     EXPECT_NEAR(projected->z, 1.f, 0.001f);

tests/general/unit_test_reverse_enineering.cpp

@@ -0,0 +1,50 @@
+//
+// Created by Vlad on 10/4/2025.
+//
+#include "omath/linear_algebra/vector3.hpp"
+#include <gtest/gtest.h>
+#include <omath/rev_eng/internal_rev_object.hpp>
+
+class Player final
+{
+public:
+    virtual int foo() {return 1;}
+    virtual int bar() {return 2;}
+    omath::Vector3<float> m_origin{1.f, 2.f, 3.f};
+    int m_health{123};
+};
+
+class RevPlayer : omath::rev_eng::InternalReverseEngineeredObject
+{
+public:
+    omath::Vector3<float> get_origin()
+    {
+        return get_by_offset<omath::Vector3<float>>(sizeof(std::uintptr_t));
+    }
+    int get_health()
+    {
+        return get_by_offset<int>(sizeof(std::uintptr_t)+sizeof(omath::Vector3<float>));
+    }
+
+    int rev_foo()
+    {
+        return call_virtual_method<0, int>();
+    }
+    int rev_bar()
+    {
+        return call_virtual_method<1, int>();
+    }
+};
+
+
+TEST(unit_test_reverse_enineering, read_test)
+{
+    Player player_original;
+    const auto player_reversed = reinterpret_cast<RevPlayer*>(&player_original);
+
+    EXPECT_EQ(player_original.m_origin, player_reversed->get_origin());
+    EXPECT_EQ(player_original.m_health, player_reversed->get_health());
+
+    EXPECT_EQ(player_original.bar(), player_reversed->rev_bar());
+    EXPECT_EQ(player_original.foo(), player_reversed->rev_foo());
+}

tests/general/unit_test_triangle.cpp

@@ -1,11 +1,10 @@
 //
 // Created by Orange on 1/6/2025.
 //
+#include "omath/linear_algebra/triangle.hpp"
+#include "omath/linear_algebra/vector3.hpp"
 #include <cmath> // For std::sqrt, std::isinf, std::isnan
 #include <gtest/gtest.h>
-#include <omath/vector3.hpp>
-#include "omath/triangle.hpp"
-
 
 using namespace omath;
 

tests/general/unit_test_vector2.cpp

@@ -2,10 +2,10 @@
 // Created by Vlad on 02.09.2024.
 //
 
+#include <omath/linear_algebra/vector2.hpp>
 #include <cfloat> // For FLT_MAX and FLT_MIN
 #include <cmath> // For std::isinf and std::isnan
 #include <gtest/gtest.h>
-#include <omath/vector2.hpp>
 
 using namespace omath;
 

tests/general/unit_test_vector3.cpp

@@ -2,11 +2,11 @@
 // Created by Vlad on 01.09.2024.
 //
 
+#include <omath/linear_algebra/vector3.hpp>
 #include <cfloat> // For FLT_MAX, FLT_MIN
 #include <cmath>
 #include <gtest/gtest.h>
 #include <limits> // For std::numeric_limits
-#include <omath/vector3.hpp>
 
 using namespace omath;