Merge pull request #95 from orange-cpp/pathfinding_improvement

removed brackets

.clang-format

@@ -56,7 +56,7 @@ SpaceBeforeParensOptions:
   AfterIfMacros: true
   AfterOverloadedOperator: false
   BeforeNonEmptyParentheses: false
-SpaceBeforeRangeBasedForLoopColon: false
+SpaceBeforeRangeBasedForLoopColon: true
 SpaceInEmptyParentheses: false
 SpacesInCStyleCastParentheses: false
 SpacesInConditionalStatement: false

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

@@ -40,11 +40,11 @@ jobs:
           git clone https://github.com/microsoft/vcpkg "$VCPKG_ROOT"
       - name: Configure (cmake --preset)
         shell: bash
-        run: cmake --preset linux-release -DOMATH_BUILD_TESTS=ON -DOMATH_BUILD_BENCHMARK=OFF -DOMATH_BUILD_VIA_VCPKG=ON -DVCPKG_MANIFEST_FEATURES="imgui;avx2;tests"
+        run: cmake --preset linux-release-vcpkg -DOMATH_BUILD_TESTS=ON -DOMATH_BUILD_BENCHMARK=OFF -DVCPKG_MANIFEST_FEATURES="imgui;avx2;tests"
 
       - name: Build
         shell: bash
-        run: cmake --build cmake-build/build/linux-release --target unit_tests omath
+        run: cmake --build cmake-build/build/linux-release-vcpkg --target unit_tests omath
 
       - name: Run unit_tests
         shell: bash
@@ -75,11 +75,11 @@ jobs:
 
       - name: Configure (cmake --preset)
         shell: bash
-        run: cmake --preset windows-release -DOMATH_BUILD_TESTS=ON -DOMATH_BUILD_BENCHMARK=OFF -DOMATH_BUILD_VIA_VCPKG=ON -DVCPKG_MANIFEST_FEATURES="imgui;avx2;tests"
+        run: cmake --preset windows-release-vcpkg -DOMATH_BUILD_TESTS=ON -DOMATH_BUILD_BENCHMARK=OFF -DVCPKG_MANIFEST_FEATURES="imgui;avx2;tests"
 
       - name: Build
         shell: bash
-        run: cmake --build cmake-build/build/windows-release --target unit_tests omath
+        run: cmake --build cmake-build/build/windows-release-vcpkg --target unit_tests omath
 
       - name: Run unit_tests.exe
         shell: bash

.idea/vcs.xml

@@ -2,7 +2,5 @@
 <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

@@ -11,7 +11,7 @@ else ()
     check_cxx_compiler_flag("-mavx2" COMPILER_SUPPORTS_AVX2)
 endif ()
 
-option(OMATH_BUILD_TESTS "Build unit tests" ${PROJECT_IS_TOP_LEVEL})
+option(OMATH_BUILD_TESTS "Build unit tests" OFF)
 option(OMATH_BUILD_BENCHMARK "Build benchmarks" OFF)
 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)
@@ -23,13 +23,8 @@ 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" ON)
 
-option(OMATH_BUILD_VIA_VCPKG "Will enable building using vcpkg, vcpkg will override some options that were set in vcpkg.json file, and search for dependencies using vcpkg" OFF)
 
-if (OMATH_BUILD_VIA_VCPKG AND NOT CMAKE_TOOLCHAIN_FILE)
-    message(FATAL_ERROR "[${PROJECT_NAME}] CMAKE_TOOLCHAIN_FILE IS EMPTY! Please set env variable called 'VCPKG_ROOT' to vcpkg root folder here is an example: 'C:/vcpkg' or '/home/user/vcpkg' ")
-endif ()
-
-if (OMATH_BUILD_VIA_VCPKG AND VCPKG_MANIFEST_FEATURES)
+if (VCPKG_MANIFEST_FEATURES)
     foreach (omath_feature IN LISTS VCPKG_MANIFEST_FEATURES)
         if (omath_feature STREQUAL "imgui")
             set(OMATH_IMGUI_INTEGRATION ON)

CMakePresets.json

@@ -9,8 +9,6 @@
       "installDir": "${sourceDir}/cmake-build/install/${presetName}",
       "cacheVariables": {
         "CMAKE_CXX_COMPILER": "cl.exe",
-        "CMAKE_TOOLCHAIN_FILE": "$env{VCPKG_ROOT}/scripts/buildsystems/vcpkg.cmake",
-        "VCPKG_INSTALLED_DIR": "${sourceDir}/cmake-build/vcpkg_installed",
         "CMAKE_MAKE_PROGRAM": "Ninja"
       },
       "condition": {
@@ -19,6 +17,17 @@
         "rhs": "Windows"
       }
     },
+    {
+      "name": "windows-base-vcpkg",
+      "hidden": true,
+      "inherits": "windows-base",
+      "cacheVariables": {
+        "OMATH_BUILD_VIA_VCPKG": "ON",
+        "CMAKE_TOOLCHAIN_FILE": "$env{VCPKG_ROOT}/scripts/buildsystems/vcpkg.cmake",
+        "VCPKG_INSTALLED_DIR": "${sourceDir}/cmake-build/vcpkg_installed",
+        "VCPKG_MANIFEST_FEATURES": "tests;imgui;avx2"
+      }
+    },
     {
       "name": "windows-debug",
       "displayName": "Debug",
@@ -30,17 +39,15 @@
     {
       "name": "windows-debug-vcpkg",
       "displayName": "Debug",
-      "inherits": "windows-base",
+      "inherits": "windows-base-vcpkg",
       "cacheVariables": {
-        "CMAKE_BUILD_TYPE": "Debug",
-        "OMATH_BUILD_VIA_VCPKG": "ON",
-        "VCPKG_MANIFEST_FEATURES": "tests;imgui;avx2"
+        "CMAKE_BUILD_TYPE": "Debug"
       }
     },
     {
       "name": "windows-release-vcpkg",
       "displayName": "Release",
-      "inherits": "windows-base",
+      "inherits": "windows-base-vcpkg",
       "cacheVariables": {
         "CMAKE_BUILD_TYPE": "Release",
         "OMATH_BUILD_VIA_VCPKG": "ON"
@@ -62,8 +69,6 @@
       "installDir": "${sourceDir}/cmake-build/install/${presetName}",
       "cacheVariables": {
         "CMAKE_CXX_COMPILER": "clang++",
-        "CMAKE_TOOLCHAIN_FILE": "$env{VCPKG_ROOT}/scripts/buildsystems/vcpkg.cmake",
-        "VCPKG_INSTALLED_DIR": "${sourceDir}/cmake-build/vcpkg_installed",
         "CMAKE_MAKE_PROGRAM": "ninja"
       },
       "condition": {
@@ -72,6 +77,17 @@
         "rhs": "Linux"
       }
     },
+    {
+      "name": "linux-base-vcpkg",
+      "hidden": true,
+      "inherits": "linux-base",
+      "cacheVariables": {
+        "OMATH_BUILD_VIA_VCPKG": "ON",
+        "CMAKE_TOOLCHAIN_FILE": "$env{VCPKG_ROOT}/scripts/buildsystems/vcpkg.cmake",
+        "VCPKG_INSTALLED_DIR": "${sourceDir}/cmake-build/vcpkg_installed",
+        "VCPKG_MANIFEST_FEATURES": "tests;imgui;avx2"
+      }
+    },
     {
       "name": "linux-debug",
       "displayName": "Linux Debug",
@@ -83,10 +99,9 @@
     {
       "name": "linux-debug-vcpkg",
       "displayName": "Linux Debug",
-      "inherits": "linux-base",
+      "inherits": "linux-base-vcpkg",
       "cacheVariables": {
-        "CMAKE_BUILD_TYPE": "Debug",
-        "OMATH_BUILD_VIA_VCPKG": "ON"
+        "CMAKE_BUILD_TYPE": "Debug"
       }
     },
     {
@@ -100,10 +115,9 @@
     {
       "name": "linux-release-vcpkg",
       "displayName": "Linux Release",
-      "inherits": "linux-debug",
+      "inherits": "linux-base-vcpkg",
       "cacheVariables": {
-        "CMAKE_BUILD_TYPE": "Release",
-        "OMATH_BUILD_VIA_VCPKG": "ON"
+        "CMAKE_BUILD_TYPE": "Release"
       }
     },
     {
@@ -134,8 +148,7 @@
       "displayName": "Darwin Debug",
       "inherits": "darwin-base",
       "cacheVariables": {
-        "CMAKE_BUILD_TYPE": "Debug",
-        "OMATH_BUILD_VIA_VCPKG": "ON"
+        "CMAKE_BUILD_TYPE": "Debug"
       }
     },
     {
@@ -151,8 +164,7 @@
       "displayName": "Darwin Release",
       "inherits": "darwin-debug",
       "cacheVariables": {
-        "CMAKE_BUILD_TYPE": "Release",
-        "OMATH_BUILD_VIA_VCPKG": "ON"
+        "CMAKE_BUILD_TYPE": "Release"
       }
     }
   ]

CONTRIBUTING.md

@@ -18,7 +18,7 @@ In order to send code back to the official OMath repository, you must first crea
 account ([fork](https://help.github.com/articles/creating-a-pull-request-from-a-fork/)) and
 then [create a pull request](https://help.github.com/articles/creating-a-pull-request-from-a-fork/) back to OMath.
 
-OMath developement is performed on multiple branches. Changes are then pull requested into master. By default, changes
+OMath development is performed on multiple branches. Changes are then pull requested into master. By default, changes
 merged into master will not roll out to stable build users unless the `stable` tag is updated.
 
 ### 📜 Code-Style

benchmark/CMakeLists.txt

@@ -11,9 +11,9 @@ set_target_properties(${PROJECT_NAME} PROPERTIES
         CXX_STANDARD 23
         CXX_STANDARD_REQUIRED ON)
 
-if (TARGET benchmark::benchmark)
+if (TARGET benchmark::benchmark) # Benchmark is being linked as submodule
     target_link_libraries(${PROJECT_NAME} PRIVATE benchmark::benchmark omath)
 else()
-    find_package(benchmark CONFIG REQUIRED)
+    find_package(benchmark CONFIG REQUIRED) # Benchmark is being linked as vcpkg package
     target_link_libraries(${PROJECT_NAME} PRIVATE benchmark::benchmark omath)
 endif ()

include/omath/pathfinding/a_star.hpp

@@ -22,9 +22,5 @@ namespace omath::pathfinding
         static std::vector<Vector3<float>>
         reconstruct_final_path(const std::unordered_map<Vector3<float>, PathNode>& closed_list,
                                const Vector3<float>& current) noexcept;
-
-        [[nodiscard]]
-        static auto get_perfect_node(const std::unordered_map<Vector3<float>, PathNode>& open_list,
-                                     const Vector3<float>& end_vertex) noexcept;
     };
 } // namespace omath::pathfinding

source/pathfinding/a_star.cpp

@@ -4,9 +4,25 @@
 #include "omath/pathfinding/a_star.hpp"
 #include <algorithm>
 #include <optional>
+#include <queue>
 #include <unordered_map>
 #include <unordered_set>
 
+namespace
+{
+    struct OpenListNode final
+    {
+        omath::Vector3<float> position;
+        float f_cost;
+
+        [[nodiscard]]
+        bool operator>(const OpenListNode& other) const noexcept
+        {
+            return f_cost > other.f_cost;
+        }
+    };
+}
+
 namespace omath::pathfinding
 {
     struct PathNode final
@@ -37,23 +53,13 @@ namespace omath::pathfinding
         std::ranges::reverse(path);
         return path;
     }
-    auto Astar::get_perfect_node(const std::unordered_map<Vector3<float>, PathNode>& open_list,
-                                 const Vector3<float>& end_vertex) noexcept
-    {
-        return std::ranges::min_element(open_list,
-                                        [&end_vertex](const auto& a, const auto& b)
-                                        {
-                                            const float fa = a.second.g_cost + a.first.distance_to(end_vertex);
-                                            const float fb = b.second.g_cost + b.first.distance_to(end_vertex);
-                                            return fa < fb;
-                                        });
-    }
 
     std::vector<Vector3<float>> Astar::find_path(const Vector3<float>& start, const Vector3<float>& end,
                                                  const NavigationMesh& nav_mesh) noexcept
     {
         std::unordered_map<Vector3<float>, PathNode> closed_list;
-        std::unordered_map<Vector3<float>, PathNode> open_list;
+        std::unordered_map<Vector3<float>, PathNode> node_data;
+        std::priority_queue<OpenListNode, std::vector<OpenListNode>, std::greater<>> open_list;
 
         auto maybe_start_vertex = nav_mesh.get_closest_vertex(start);
         auto maybe_end_vertex = nav_mesh.get_closest_vertex(end);
@@ -64,20 +70,27 @@ namespace omath::pathfinding
         const auto start_vertex = maybe_start_vertex.value();
         const auto end_vertex = maybe_end_vertex.value();
 
-        open_list.emplace(start_vertex, PathNode{std::nullopt, 0.f});
+        node_data.emplace(start_vertex, PathNode{std::nullopt, 0.f});
+        open_list.push({start_vertex, start_vertex.distance_to(end_vertex)});
 
         while (!open_list.empty())
         {
-            auto current_it = get_perfect_node(open_list, end_vertex);
+            auto current = open_list.top().position;
+            open_list.pop();
 
-            const auto current = current_it->first;
-            const auto current_node = current_it->second;
+            if (closed_list.contains(current))
+                continue;
+
+            auto current_node_it = node_data.find(current);
+            if (current_node_it == node_data.end())
+                continue;
+
+            const auto current_node = current_node_it->second;
 
             if (current == end_vertex)
                 return reconstruct_final_path(closed_list, current);
 
             closed_list.emplace(current, current_node);
-            open_list.erase(current_it);
 
             for (const auto& neighbor: nav_mesh.get_neighbors(current))
             {
@@ -86,11 +99,14 @@ namespace omath::pathfinding
 
                 const float tentative_g_cost = current_node.g_cost + neighbor.distance_to(current);
 
-                // ReSharper disable once CppTooWideScopeInitStatement
-                const auto open_it = open_list.find(neighbor);
+                auto node_it = node_data.find(neighbor);
 
-                if (open_it == open_list.end() || tentative_g_cost < open_it->second.g_cost)
-                    open_list[neighbor] = PathNode{current, tentative_g_cost};
+                if (node_it == node_data.end() || tentative_g_cost < node_it->second.g_cost)
+                {
+                    node_data[neighbor] = PathNode{current, tentative_g_cost};
+                    const float f_cost = tentative_g_cost + neighbor.distance_to(end_vertex);
+                    open_list.push({neighbor, f_cost});
+                }
             }
         }
 

source/pathfinding/navigation_mesh.cpp

@@ -3,6 +3,8 @@
 //
 #include "omath/pathfinding/navigation_mesh.hpp"
 #include <algorithm>
+#include <cstring>
+#include <limits>
 #include <stdexcept>
 namespace omath::pathfinding
 {
@@ -13,7 +15,7 @@ namespace omath::pathfinding
                                                   { return a.first.distance_to(point) < b.first.distance_to(point); });
 
         if (res == m_vertex_map.cend())
-            return std::unexpected("Failed to get clossest point");
+            return std::unexpected("Failed to get closest point");
 
         return res->first;
     }
@@ -30,55 +32,68 @@ namespace omath::pathfinding
 
     std::vector<uint8_t> NavigationMesh::serialize() const noexcept
     {
-        auto dump_to_vector = []<typename T>(const T& t, std::vector<uint8_t>& vec)
+        std::vector<std::uint8_t> raw;
+
+        // Pre-calculate total size for better performance
+        std::size_t total_size = 0;
+        for (const auto& [vertex, neighbors] : m_vertex_map)
         {
-            for (size_t i = 0; i < sizeof(t); i++)
-                vec.push_back(*(reinterpret_cast<const uint8_t*>(&t) + i));
+            total_size += sizeof(vertex) + sizeof(std::uint16_t) + sizeof(Vector3<float>) * neighbors.size();
+        }
+        raw.reserve(total_size);
+
+        auto dump_to_vector = [&raw]<typename T>(const T& t)
+        {
+            const auto* byte_ptr = reinterpret_cast<const std::uint8_t*>(&t);
+            raw.insert(raw.end(), byte_ptr, byte_ptr + sizeof(T));
         };
 
-        std::vector<uint8_t> raw;
-
-        for (const auto& [vertex, neighbors]: m_vertex_map)
+        for (const auto& [vertex, neighbors] : m_vertex_map)
         {
-            const auto neighbors_count = neighbors.size();
+            // Clamp neighbors count to fit in uint16_t (prevents silent data corruption)
+            // NOTE: If neighbors.size() > 65535, only the first 65535 neighbors will be serialized.
+            // This is a limitation of the current serialization format using uint16_t for count.
+            const auto clamped_count =
+                    std::min<std::size_t>(neighbors.size(), std::numeric_limits<std::uint16_t>::max());
+            const auto neighbors_count = static_cast<std::uint16_t>(clamped_count);
 
-            dump_to_vector(vertex, raw);
-            dump_to_vector(neighbors_count, raw);
+            dump_to_vector(vertex);
+            dump_to_vector(neighbors_count);
 
-            for (const auto& neighbor: neighbors)
-                dump_to_vector(neighbor, raw);
+            // Only serialize up to the clamped count
+            for (std::size_t i = 0; i < clamped_count; ++i)
+                dump_to_vector(neighbors[i]);
         }
         return raw;
     }
 
     void NavigationMesh::deserialize(const std::vector<uint8_t>& raw) noexcept
     {
-        auto load_from_vector = [](const std::vector<uint8_t>& vec, size_t& offset, auto& value)
+        auto load_from_vector = [](const std::vector<uint8_t>& vec, std::size_t& offset, auto& value)
         {
             if (offset + sizeof(value) > vec.size())
-            {
                 throw std::runtime_error("Deserialize: Invalid input data size.");
-            }
+
             std::copy_n(vec.data() + offset, sizeof(value), reinterpret_cast<uint8_t*>(&value));
             offset += sizeof(value);
         };
 
         m_vertex_map.clear();
 
-        size_t offset = 0;
+        std::size_t offset = 0;
 
         while (offset < raw.size())
         {
             Vector3<float> vertex;
             load_from_vector(raw, offset, vertex);
 
-            uint16_t neighbors_count;
+            std::uint16_t neighbors_count;
             load_from_vector(raw, offset, neighbors_count);
 
             std::vector<Vector3<float>> neighbors;
             neighbors.reserve(neighbors_count);
 
-            for (size_t i = 0; i < neighbors_count; ++i)
+            for (std::size_t i = 0; i < neighbors_count; ++i)
             {
                 Vector3<float> neighbor;
                 load_from_vector(raw, offset, neighbor);

source/projectile_prediction/proj_pred_engine_avx2.cpp

@@ -18,97 +18,104 @@ namespace omath::projectile_prediction
                                                   [[maybe_unused]] const Target& target) const
     {
 #if defined(OMATH_USE_AVX2) && defined(__i386__) && defined(__x86_64__)
-        const float bulletGravity = m_gravityConstant * projectile.m_gravityScale;
-        const float v0 = projectile.m_launchSpeed;
-        const float v0Sqr = v0 * v0;
-        const Vector3 projOrigin = projectile.m_origin;
+        const float bullet_gravity = m_gravity_constant * projectile.m_gravity_scale;
+        const float v0 = projectile.m_launch_speed;
+        const float v0_sqr = v0 * v0;
+        const Vector3 proj_origin = projectile.m_origin;
 
         constexpr int SIMD_FACTOR = 8;
-        float currentTime = m_simulationTimeStep;
+        float current_time = m_simulation_time_step;
 
-        for (; currentTime <= m_maximumSimulationTime; currentTime += m_simulationTimeStep * SIMD_FACTOR)
+        for (; current_time <= m_maximum_simulation_time; current_time += m_simulation_time_step * SIMD_FACTOR)
         {
             const __m256 times
-                    = _mm256_setr_ps(currentTime, currentTime + m_simulationTimeStep,
-                                     currentTime + m_simulationTimeStep * 2, currentTime + m_simulationTimeStep * 3,
-                                     currentTime + m_simulationTimeStep * 4, currentTime + m_simulationTimeStep * 5,
-                                     currentTime + m_simulationTimeStep * 6, currentTime + m_simulationTimeStep * 7);
+                    = _mm256_setr_ps(current_time, current_time + m_simulation_time_step,
+                                     current_time + m_simulation_time_step * 2, current_time + m_simulation_time_step * 3,
+                                     current_time + m_simulation_time_step * 4, current_time + m_simulation_time_step * 5,
+                                     current_time + m_simulation_time_step * 6, current_time + m_simulation_time_step * 7);
 
-            const __m256 targetX
+            const __m256 target_x
                     = _mm256_fmadd_ps(_mm256_set1_ps(target.m_velocity.x), times, _mm256_set1_ps(target.m_origin.x));
-            const __m256 targetY
+            const __m256 target_y
                     = _mm256_fmadd_ps(_mm256_set1_ps(target.m_velocity.y), times, _mm256_set1_ps(target.m_origin.y));
-            const __m256 timesSq = _mm256_mul_ps(times, times);
-            const __m256 targetZ = _mm256_fmadd_ps(_mm256_set1_ps(target.m_velocity.z), times,
-                                                   _mm256_fnmadd_ps(_mm256_set1_ps(0.5f * m_gravityConstant), timesSq,
+            const __m256 times_sq = _mm256_mul_ps(times, times);
+            const __m256 target_z = _mm256_fmadd_ps(_mm256_set1_ps(target.m_velocity.z), times,
+                                                   _mm256_fnmadd_ps(_mm256_set1_ps(0.5f * m_gravity_constant), times_sq,
                                                                     _mm256_set1_ps(target.m_origin.z)));
 
-            const __m256 deltaX = _mm256_sub_ps(targetX, _mm256_set1_ps(projOrigin.x));
-            const __m256 deltaY = _mm256_sub_ps(targetY, _mm256_set1_ps(projOrigin.y));
-            const __m256 deltaZ = _mm256_sub_ps(targetZ, _mm256_set1_ps(projOrigin.z));
+            const __m256 delta_x = _mm256_sub_ps(target_x, _mm256_set1_ps(proj_origin.x));
+            const __m256 delta_y = _mm256_sub_ps(target_y, _mm256_set1_ps(proj_origin.y));
+            const __m256 delta_z = _mm256_sub_ps(target_z, _mm256_set1_ps(proj_origin.z));
 
-            const __m256 dSqr = _mm256_add_ps(_mm256_mul_ps(deltaX, deltaX), _mm256_mul_ps(deltaY, deltaY));
+            const __m256 d_sqr = _mm256_add_ps(_mm256_mul_ps(delta_x, delta_x), _mm256_mul_ps(delta_y, delta_y));
 
-            const __m256 bgTimesSq = _mm256_mul_ps(_mm256_set1_ps(bulletGravity), timesSq);
-            const __m256 term = _mm256_add_ps(deltaZ, _mm256_mul_ps(_mm256_set1_ps(0.5f), bgTimesSq));
-            const __m256 termSq = _mm256_mul_ps(term, term);
-            const __m256 numerator = _mm256_add_ps(dSqr, termSq);
-            const __m256 denominator = _mm256_add_ps(timesSq, _mm256_set1_ps(1e-8f)); // Avoid division by zero
-            const __m256 requiredV0Sqr = _mm256_div_ps(numerator, denominator);
+            const __m256 bg_times_sq = _mm256_mul_ps(_mm256_set1_ps(bullet_gravity), times_sq);
+            const __m256 term = _mm256_add_ps(delta_z, _mm256_mul_ps(_mm256_set1_ps(0.5f), bg_times_sq));
+            const __m256 term_sq = _mm256_mul_ps(term, term);
+            const __m256 numerator = _mm256_add_ps(d_sqr, term_sq);
+            const __m256 denominator = _mm256_add_ps(times_sq, _mm256_set1_ps(1e-8f)); // Avoid division by zero
+            const __m256 required_v0_sqr = _mm256_div_ps(numerator, denominator);
 
-            const __m256 v0SqrVec = _mm256_set1_ps(v0Sqr + 1e-3f);
-            const __m256 mask = _mm256_cmp_ps(requiredV0Sqr, v0SqrVec, _CMP_LE_OQ);
+            const __m256 v0_sqr_vec = _mm256_set1_ps(v0_sqr + 1e-3f);
+            const __m256 mask = _mm256_cmp_ps(required_v0_sqr, v0_sqr_vec, _CMP_LE_OQ);
 
-            const unsigned validMask = _mm256_movemask_ps(mask);
+            const unsigned valid_mask = _mm256_movemask_ps(mask);
 
-            if (!validMask)
+            if (!valid_mask)
                 continue;
 
-            alignas(32) float validTimes[SIMD_FACTOR];
-            _mm256_store_ps(validTimes, times);
+            alignas(32) float valid_times[SIMD_FACTOR];
+            _mm256_store_ps(valid_times, times);
 
             for (int i = 0; i < SIMD_FACTOR; ++i)
             {
-                if (!(validMask & (1 << i)))
+                if (!(valid_mask & (1 << i)))
                     continue;
 
-                const float candidateTime = validTimes[i];
+                const float candidate_time = valid_times[i];
 
-                if (candidateTime > m_maximumSimulationTime)
+                if (candidate_time > m_maximum_simulation_time)
                     continue;
 
                 // Fine search around candidate time
-                for (float fineTime = candidateTime - m_simulationTimeStep * 2;
-                     fineTime <= candidateTime + m_simulationTimeStep * 2; fineTime += m_simulationTimeStep)
+                for (float fine_time = candidate_time - m_simulation_time_step * 2;
+                     fine_time <= candidate_time + m_simulation_time_step * 2; fine_time += m_simulation_time_step)
                 {
-                    if (fineTime < 0)
+                    if (fine_time < 0)
                         continue;
 
-                    const Vector3 targetPos = target.PredictPosition(fineTime, m_gravityConstant);
-                    const auto pitch = CalculatePitch(projOrigin, targetPos, bulletGravity, v0, fineTime);
+                    // Manually compute predicted target position to avoid adding method to Target
+                    Vector3 target_pos = target.m_origin + target.m_velocity * fine_time;
+                    if (target.m_is_airborne)
+                        target_pos.z -= 0.5f * m_gravity_constant * fine_time * fine_time;
+
+                    const auto pitch = calculate_pitch(proj_origin, target_pos, bullet_gravity, v0, fine_time);
                     if (!pitch)
                         continue;
 
-                    const Vector3 delta = targetPos - projOrigin;
+                    const Vector3 delta = target_pos - proj_origin;
                     const float d = std::sqrt(delta.x * delta.x + delta.y * delta.y);
-                    const float height = d * std::tan(angles::DegreesToRadians(*pitch));
-                    return Vector3(targetPos.x, targetPos.y, projOrigin.z + height);
+                    const float height = d * std::tan(angles::degrees_to_radians(*pitch));
+                    return Vector3(target_pos.x, target_pos.y, proj_origin.z + height);
                 }
             }
         }
 
         // Fallback scalar processing for remaining times
-        for (; currentTime <= m_maximumSimulationTime; currentTime += m_simulationTimeStep)
+        for (; current_time <= m_maximum_simulation_time; current_time += m_simulation_time_step)
         {
-            const Vector3 targetPos = target.PredictPosition(currentTime, m_gravityConstant);
-            const auto pitch = CalculatePitch(projOrigin, targetPos, bulletGravity, v0, currentTime);
+            Vector3 target_pos = target.m_origin + target.m_velocity * current_time;
+            if (target.m_is_airborne)
+                target_pos.z -= 0.5f * m_gravity_constant * current_time * current_time;
+
+            const auto pitch = calculate_pitch(proj_origin, target_pos, bullet_gravity, v0, current_time);
             if (!pitch)
                 continue;
 
-            const Vector3 delta = targetPos - projOrigin;
+            const Vector3 delta = target_pos - proj_origin;
             const float d = std::sqrt(delta.x * delta.x + delta.y * delta.y);
-            const float height = d * std::tan(angles::DegreesToRadians(*pitch));
-            return Vector3(targetPos.x, targetPos.y, projOrigin.z + height);
+            const float height = d * std::tan(angles::degrees_to_radians(*pitch));
+            return Vector3(target_pos.x, target_pos.y, proj_origin.z + height);
         }
 
         return std::nullopt;
@@ -134,22 +141,22 @@ namespace omath::projectile_prediction
             return std::nullopt;
 
         const Vector3 delta = target_pos - proj_origin;
-        const float dSqr = delta.x * delta.x + delta.y * delta.y;
+        const float d_sqr = delta.x * delta.x + delta.y * delta.y;
         const float h = delta.z;
 
         const float term = h + 0.5f * bullet_gravity * time * time;
-        const float requiredV0Sqr = (dSqr + term * term) / (time * time);
-        const float v0Sqr = v0 * v0;
+        const float required_v0_sqr = (d_sqr + term * term) / (time * time);
+        const float v0_sqr = v0 * v0;
 
-        if (requiredV0Sqr > v0Sqr + 1e-3f)
+        if (required_v0_sqr > v0_sqr + 1e-3f)
             return std::nullopt;
 
-        if (dSqr == 0.0f)
+        if (d_sqr == 0.0f)
             return term >= 0.0f ? 90.0f : -90.0f;
 
-        const float d = std::sqrt(dSqr);
-        const float tanTheta = term / d;
-        return angles::RadiansToDegrees(std::atan(tanTheta));
+        const float d = std::sqrt(d_sqr);
+        const float tan_theta = term / d;
+        return angles::radians_to_degrees(std::atan(tan_theta));
 #else
         throw std::runtime_error(
                 std::format("{} AVX2 feature is not enabled!", std::source_location::current().function_name()));

tests/CMakeLists.txt

@@ -16,9 +16,9 @@ set_target_properties(${PROJECT_NAME} PROPERTIES
 
 
 
-if (TARGET gtest)
+if (TARGET gtest) # GTest is being linked as submodule
     target_link_libraries(${PROJECT_NAME} PRIVATE gtest gtest_main omath::omath)
-else()
+else() # GTest is being linked as vcpkg package
     find_package(GTest CONFIG REQUIRED)
     target_link_libraries(${PROJECT_NAME} PRIVATE GTest::gtest GTest::gtest_main omath::omath)
 endif()