Update CREDITS.md to include Billy O'Neal

Added acknowledgment for Billy O'Neal's contributions.

.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/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

@@ -6,6 +6,7 @@ include(CMakePackageConfigHelpers)
 
 
 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)
@@ -16,9 +17,10 @@ option(OMATH_SUPRESS_SAFETY_CHECKS "Supress some safety checks in release build
 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 ${CMAKE_HOST_SYSTEM_NAME}")
+message(STATUS "[${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}")
@@ -90,16 +92,23 @@ if (OMATH_STATIC_MSVC_RUNTIME_LIBRARY)
     )
 endif ()
 
-if (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
-    target_compile_options(${PROJECT_NAME} PRIVATE -mavx2 -mfma)
+if (OMATH_USE_AVX2 AND CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+    target_compile_options(${PROJECT_NAME} PUBLIC -mavx2 -mavx -mfma)
 endif ()
 
 target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_23)
 
+if (OMATH_BUILD_TESTS OR OMATH_BUILD_BENCHMARK)
+    add_subdirectory(extlibs)
+endif ()
 
 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)

CREDITS.md

@@ -3,6 +3,8 @@
 Thanks to everyone who made this possible, including:
 
 - 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!
 

README.md

@@ -12,9 +12,24 @@
 [![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> Contribute <br> </kbd>][CONTRIBUTING]**
+
+---
+
+<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">
@@ -36,6 +51,29 @@ Oranges's Math Library (omath) is a comprehensive, open-source library aimed at
 - **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!
 
+# Gallery
+
+<br>
+
+[![Youtube Video](.github/images/yt_previews/img.png)](https://youtu.be/lM_NJ1yCunw?si=-Qf5yzDcWbaxAXGQ)
+
+<br>
+
+![APEX Preview]
+
+<br>
+
+![BO2 Preview]
+
+<br>
+
+![CS2 Preview]
+
+<br>
+<br>
+
+
+
 ## Supported Render Pipelines
 | ENGINE   | SUPPORT |
 |----------|---------|
@@ -53,9 +91,6 @@ Oranges's Math Library (omath) is a comprehensive, open-source library aimed at
 | Linux          | ✅YES    |
 | Darwin (MacOS) | ✅YES    |
 
-## ⏬ 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.
-
 ## ❔ Usage
 ESP example
 ```c++
@@ -77,26 +112,16 @@ for (auto ent: apex_sdk::EntityList::GetAllEntities())
     // esp rendering...
 }
 ```
-## Showcase
-<details>
-  <summary>OMATH for making cheats (click to open)</summary>
-
-With `omath/projection` module you can achieve simple ESP hack for powered by Source/Unreal/Unity engine games, like [Apex Legends](https://store.steampowered.com/app/1172470/Apex_Legends/).
-
-![banner](.github/images/showcase/apex.png)
-Or for InfinityWard Engine based games. Like Call of Duty Black Ops 2!
-![banner](.github/images/showcase/cod_bo2.png)
-Or create simple trigger bot with embeded traceline from omath::collision::LineTrace
-![banner](.github/images/showcase/cs2.jpeg)
-Or even advanced projectile aimbot
-[Watch Video](https://youtu.be/lM_NJ1yCunw?si=5E87OrQMeypxSJ3E)
-</details>
-
-## 🫵🏻 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
 -  [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
+[CONTRIBUTING]: CONTRIBUTING.md
+[EXAMPLES]: examples

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 +1,66 @@
+//
+// Created by Vlad on 9/17/2025.
+//
+#include <benchmark/benchmark.h>
+
+#include <omath/omath.hpp>
+#include <chrono>
+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 (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 (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 (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 (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/main.cpp

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

extlibs/CMakeLists.txt

@@ -1 +1,2 @@
-add_subdirectory(googletest)
+add_subdirectory(googletest)
+add_subdirectory(benchmark)

include/omath/angle.hpp

@@ -5,8 +5,8 @@
 #pragma once
 #include "omath/angles.hpp"
 #include <algorithm>
-#include <utility>
 #include <format>
+#include <utility>
 
 namespace omath
 {
@@ -150,17 +150,22 @@ namespace omath
         }
     };
 } // namespace omath
-template<class Type, Type min, Type max, omath::AngleFlags flags>
-struct std::formatter<omath::Angle<Type, min, max, flags>> // NOLINT(*-dcl58-cpp)
+
+template<class T, T MinV, T MaxV, omath::AngleFlags F, class CharT>
+struct std::formatter<omath::Angle<T, MinV, MaxV, F>, CharT>
 {
+    using AngleT = omath::Angle<T, MinV, MaxV, F>;
     [[nodiscard]]
-    static constexpr auto parse(std::format_parse_context& ctx)
+    static constexpr auto parse(std::basic_format_parse_context<CharT>& ctx)
+            -> std::basic_format_parse_context<CharT>::iterator
     {
         return ctx.begin();
     }
-    [[nodiscard]]
-    static auto format(const omath::Angle<Type, min, max, flags>& deg, std::format_context& ctx)
+    template<class FormatContext>
+    auto format(const AngleT& deg, FormatContext& ctx) const
     {
-        return std::format_to(ctx.out(), "{}deg", deg.as_degrees());
+        if constexpr (std::is_same_v<typename FormatContext::char_type, char>)
+            return std::format_to(ctx.out(), "{}deg", deg.as_degrees());
+        return std::format_to(ctx.out(), L"{}deg", deg.as_degrees());
     }
 };

include/omath/color.hpp

@@ -95,7 +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)

include/omath/linear_algebra/mat.hpp

@@ -11,6 +11,9 @@
 #include <stdexcept>
 #include <utility>
 
+#ifdef OMATH_USE_AVX2
+#include <immintrin.h>
+#endif
 
 namespace omath
 {
@@ -155,17 +158,18 @@ 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);
+            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);
+            if constexpr (StoreType == MatStoreType::COLUMN_MAJOR)
+                return cache_friendly_multiply_col_major(other);
+#endif
+            std::unreachable();
         }
 
         constexpr Mat& operator*=(const Type& f) noexcept
@@ -367,6 +371,176 @@ 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 i = 0; i < Rows; ++i)
+                for (std::size_t k = 0; k < Columns; ++k)
+                {
+                    const Type aik = at(i, k);
+                    for (std::size_t j = 0; j < OtherColumns; ++j)
+                        result.at(i, j) += aik * other.at(k, j);
+                }
+            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 j = 0; j < OtherColumns; ++j)
+                for (std::size_t k = 0; k < Columns; ++k)
+                {
+                    const Type bkj = other.at(k, j);
+                    for (std::size_t i = 0; i < Rows; ++i)
+                        result.at(i, j) += at(i, k) * bkj;
+                }
+            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];
+                        __m256 bkjv = _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);
+                            __m256 avec = _mm256_loadu_ps(a_col_k + i);
+                            cvec = _mm256_fmadd_ps(avec, bkjv, 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];
+                        __m256d bkjv = _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);
+                            __m256d avec = _mm256_loadu_pd(a_col_k + i);
+                            cvec = _mm256_fmadd_pd(avec, bkjv, 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]);
+                        __m256 aikv = _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);
+                            __m256 bvec = _mm256_loadu_ps(b_row + j);
+                            cvec = _mm256_fmadd_ps(bvec, aikv, 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]);
+                        __m256d aikv = _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);
+                            __m256d bvec = _mm256_loadu_pd(b_row + j);
+                            cvec = _mm256_fmadd_pd(bvec, aikv, 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]]

include/omath/omath.hpp

@@ -15,7 +15,6 @@
 #include "omath/linear_algebra/vector3.hpp"
 
 // Matrix classes
-#include "linear_algebra/matrix.hpp"
 #include "omath/linear_algebra/mat.hpp"
 
 // Color functionality
@@ -81,4 +80,4 @@
 #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"

include/omath/projection/camera.hpp

@@ -4,13 +4,18 @@
 
 #pragma once
 
-#include "omath/projection/error_codes.hpp"
 #include "omath/linear_algebra/mat.hpp"
 #include "omath/linear_algebra/vector3.hpp"
+#include "omath/projection/error_codes.hpp"
 #include <expected>
 #include <omath/angle.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,
@@ -164,6 +172,38 @@ 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 +226,25 @@ 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,
     };
 }

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;

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);