Merge pull request #148 from orange-cpp/feature/engine-units-to-metric

Feature/engine units to metric

.cmake-format

@@ -0,0 +1,25 @@
+format:
+  line_width: 100
+  tab_size: 4
+  use_tabchars: false
+  max_subgroups_hwrap: 3
+  max_pargs_hwrap: 5
+  separate_ctrl_name_with_space: false
+  separate_fn_name_with_space: false
+  dangle_parens: false
+  dangle_align: child
+  line_ending: unix
+  command_case: canonical
+  keyword_case: upper
+  enable_sort: true
+  autosort: true
+markup:
+  bullet_char: "*"
+  enum_char: .
+  enable_markup: false
+additional_commands:
+  target_link_libraries:
+    kwargs:
+      PUBLIC: "*"
+      SHARED: "*"
+      PRIVATE: "*"

.gitattributes

@@ -0,0 +1,2 @@
+# SCM syntax highlighting & preventing 3-way merges
+pixi.lock merge=binary linguist-language=YAML linguist-generated=true -diff

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

@@ -145,9 +145,9 @@ jobs:
             cmake-build/build/${{ matrix.preset }}/**/*.log
             ${{ env.VCPKG_ROOT }}/buildtrees/**/*.log
 
-  ##############################################################################
-  # 2)  Windows  –  MSVC / Ninja
-  ##############################################################################
+##############################################################################
+# 2)  Windows  –  MSVC / Ninja
+##############################################################################
   windows-build-and-test:
     name: ${{ matrix.name }}
     runs-on: ${{ matrix.runner }}
@@ -188,7 +188,12 @@ jobs:
 
       - name: Configure (cmake --preset)
         shell: bash
-        run: cmake --preset ${{ matrix.preset }} -DOMATH_BUILD_TESTS=ON -DOMATH_BUILD_BENCHMARK=OFF -DOMATH_ENABLE_COVERAGE=OFF -DVCPKG_MANIFEST_FEATURES="imgui;avx2;tests"
+        run: |
+          cmake --preset ${{ matrix.preset }} \
+            -DOMATH_BUILD_TESTS=ON \
+            -DOMATH_BUILD_BENCHMARK=OFF \
+            -DOMATH_ENABLE_COVERAGE=OFF \
+            -DVCPKG_MANIFEST_FEATURES="imgui;avx2;tests"
 
       - name: Build
         shell: bash
@@ -198,35 +203,121 @@ jobs:
         shell: bash
         run: ./out/Release/unit_tests.exe
 
-      - name: Install OpenCppCoverage with Chocolatey
+      ##########################################################################
+      # Coverage (x64-windows only)
+      ##########################################################################
+      - name: Install LLVM
         if: ${{ matrix.triplet == 'x64-windows' }}
-        run: choco install opencppcoverage -y
+        run: |
+          choco install llvm -y
+
+      - name: Clean Build Directory for Coverage
+        if: ${{ matrix.triplet == 'x64-windows' }}
+        shell: pwsh
+        run: |
+          $buildDir = "cmake-build/build/${{ matrix.preset }}"
+          if (Test-Path $buildDir) {
+            Write-Host "Cleaning build directory to prevent compiler conflict: $buildDir"
+            Remove-Item -Path $buildDir -Recurse -Force
+          }
 
       - name: Build Debug for Coverage
         if: ${{ matrix.triplet == 'x64-windows' }}
         shell: bash
         run: |
           cmake --preset ${{ matrix.preset }} \
+            -DCMAKE_C_COMPILER="C:/Program Files/LLVM/bin/clang-cl.exe" \
+            -DCMAKE_CXX_COMPILER="C:/Program Files/LLVM/bin/clang-cl.exe" \
+            -DCMAKE_LINKER="C:/Program Files/LLVM/bin/lld-link.exe" \
             -DOMATH_BUILD_TESTS=ON \
             -DOMATH_BUILD_BENCHMARK=OFF \
             -DOMATH_ENABLE_COVERAGE=ON \
+            -DOMATH_THREAT_WARNING_AS_ERROR=OFF \
             -DCMAKE_BUILD_TYPE=Debug \
             -DVCPKG_MANIFEST_FEATURES="imgui;avx2;tests"
           cmake --build cmake-build/build/${{ matrix.preset }} --config Debug --target unit_tests omath
 
-      - name: Run Coverage
+      - name: Run Tests (Generates .profraw)
+        if: ${{ matrix.triplet == 'x64-windows' }}
+        shell: pwsh
+        env:
+          LLVM_PROFILE_FILE: "cmake-build/build/${{ matrix.preset }}/unit_tests.profraw"
+        run: |
+          ./out/Debug/unit_tests.exe
+
+      - name: Process Coverage (llvm-profdata & llvm-cov)
         if: ${{ matrix.triplet == 'x64-windows' }}
         shell: pwsh
         run: |
-          $env:Path = "C:\Program Files\OpenCppCoverage;$env:Path"
-          cmake --build cmake-build/build/${{ matrix.preset }} --target coverage --config Debug
-        
-      - name: Upload Coverage
+          $BUILD_DIR = "cmake-build/build/${{ matrix.preset }}"
+          $EXE_PATH = "./out/Debug/unit_tests.exe"
+          
+          # 1. Merge raw profile data (essential step)
+          & "C:/Program Files/LLVM/bin/llvm-profdata.exe" merge `
+            -sparse "$BUILD_DIR/unit_tests.profraw" `
+            -o "$BUILD_DIR/unit_tests.profdata"
+
+          # 2. Export to LCOV format
+          #    NOTE: We explicitly ignore vcpkg_installed and system headers
+          & "C:/Program Files/LLVM/bin/llvm-cov.exe" export "$EXE_PATH" `
+            -instr-profile="$BUILD_DIR/unit_tests.profdata" `
+            -format=lcov `
+            -ignore-filename-regex="vcpkg_installed|external|tests" `
+            > "$BUILD_DIR/lcov.info"
+
+          if (Test-Path "$BUILD_DIR/lcov.info") {
+            Write-Host "✅ LCOV info created at $BUILD_DIR/lcov.info"
+          } else {
+            Write-Error "Failed to create LCOV info"
+            exit 1
+          }
+
+      - name: Install LCOV (for genhtml)
+        if: ${{ matrix.triplet == 'x64-windows' }}
+        run: choco install lcov -y
+
+      - name: Generate HTML Report
+        if: ${{ matrix.triplet == 'x64-windows' }}
+        shell: bash
+        run: |
+          BUILD_DIR="cmake-build/build/${{ matrix.preset }}"
+          LCOV_INFO="${BUILD_DIR}/lcov.info"
+          HTML_DIR="${BUILD_DIR}/coverage-html"
+
+          # Fix paths for genhtml (Perl hates backslashes)
+          sed -i 's|\\|/|g' "${LCOV_INFO}"
+          
+          # Locate genhtml provided by 'choco install lcov'
+          # It is typically in ProgramData/chocolatey/lib/lcov/tools/bin
+          GENHTML=$(find /c/ProgramData/chocolatey -name genhtml -print -quit)
+          
+          if [ -z "$GENHTML" ]; then
+            echo "Error: genhtml executable not found"
+            exit 1
+          fi
+          
+          echo "Using genhtml: $GENHTML"
+          mkdir -p "$HTML_DIR"
+          
+          # Run genhtml
+          # Added --demangle-cpp if your version supports it, otherwise remove it
+          perl "$GENHTML" \
+            "${LCOV_INFO}" \
+            --output-directory "$HTML_DIR" \
+            --title "OMath Coverage Report" \
+            --legend \
+            --show-details \
+            --branch-coverage \
+            --ignore-errors source
+            
+          echo "✅ LCOV HTML report generated at $HTML_DIR"
+
+      - name: Upload Coverage (HTML Report)
         if: ${{ matrix.triplet == 'x64-windows' }}
         uses: actions/upload-artifact@v4
         with:
-          name: coverage-report-windows
-          path: cmake-build/build/${{ matrix.preset }}/coverage/
+          name: coverage-html-windows
+          path: cmake-build/build/${{ matrix.preset }}/coverage-html/
 
       - name: Upload logs on failure
         if: ${{ failure() }}
@@ -662,3 +753,61 @@ jobs:
           path: |
             cmake-build/build/${{ matrix.preset }}/**/*.log
             ${{ env.VCPKG_ROOT }}/buildtrees/**/*.log
+
+
+  ##############################################################################
+  # 9)  Valgrind Memory Check
+  ##############################################################################
+  valgrind-memory-check:
+    name: Valgrind Analysis (All Targets)
+    runs-on: ubuntu-latest
+    needs: [linux-build-and-test]
+    env:
+      VCPKG_ROOT: ${{ github.workspace }}/vcpkg
+    steps:
+      - name: Install toolchain
+        shell: bash
+        run: |
+          wget -qO- https://apt.llvm.org/llvm-snapshot.gpg.key | sudo tee /etc/apt/trusted.gpg.d/apt.llvm.org.asc
+          sudo add-apt-repository -y "deb http://apt.llvm.org/noble/ llvm-toolchain-noble-21 main"
+          sudo apt-get update
+          sudo apt-get install -y git build-essential cmake ninja-build \
+            zip unzip curl pkg-config ca-certificates \
+            clang-21 lld-21 libc++-21-dev libc++abi-21-dev \
+            llvm-21 valgrind libxmu-dev libxi-dev libgl-dev libxinerama-dev libxcursor-dev xorg-dev libglu1-mesa-dev
+          sudo update-alternatives --install /usr/bin/cc cc /usr/bin/clang-21 100
+          sudo update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++-21 100
+          sudo update-alternatives --install /usr/bin/lld lld /usr/bin/lld-21 100
+
+      - name: Checkout repository (with sub-modules)
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Set up vcpkg
+        shell: bash
+        run: |
+          git clone https://github.com/microsoft/vcpkg "$VCPKG_ROOT"
+          cd "$VCPKG_ROOT"
+          ./bootstrap-vcpkg.sh
+
+      - name: Configure (cmake --preset)
+        shell: bash
+        run: |
+          cmake --preset linux-release-vcpkg \
+            -DCMAKE_BUILD_TYPE=Debug \
+            -DOMATH_BUILD_EXAMPLES=OFF \
+            -DOMATH_BUILD_TESTS=ON \
+            -DOMATH_BUILD_BENCHMARK=ON \
+            -DOMATH_ENABLE_VALGRIND=ON \
+            -DVCPKG_MANIFEST_FEATURES="imgui;avx2;tests;benchmark"
+
+      - name: Build All Targets
+        shell: bash
+        run: cmake --build cmake-build/build/linux-release-vcpkg
+
+      - name: Run Valgrind (All Registered Targets)
+        shell: bash
+        working-directory: cmake-build/build/linux-release-vcpkg
+        run: |
+          cmake --build . --target valgrind_all

.gitignore

@@ -5,4 +5,10 @@
 .idea/workspace.xml
 /build/
 /clang-coverage/
-*.gcov
+*.gcov
+*.bin
+# pixi lock
+pixi.lock
+# pixi environments
+.pixi/*
+!.pixi/config.toml

CMakeLists.txt

@@ -5,51 +5,60 @@ project(omath VERSION ${OMATH_VERSION} LANGUAGES CXX)
 
 include(CMakePackageConfigHelpers)
 include(CheckCXXCompilerFlag)
-include(cmake/Coverage.cmake)
 
-if (MSVC)
+include(cmake/Coverage.cmake)
+include(cmake/Valgrind.cmake)
+
+if(MSVC)
     check_cxx_compiler_flag("/arch:AVX2" COMPILER_SUPPORTS_AVX2)
-else ()
+else()
     check_cxx_compiler_flag("-mavx2" COMPILER_SUPPORTS_AVX2)
-endif ()
+endif()
 
 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_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" ${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" OFF)
-option(OMATH_ENABLE_LEGACY "Will enable legacy classes that MUST be used ONLY for backward compatibility" ON)
+option(OMATH_ENABLE_LEGACY
+       "Will enable legacy classes that MUST be used ONLY for backward compatibility" ON)
+option(OMATH_SUPRESS_SAFETY_CHECKS
+       "Supress some safety checks in release build to improve general performance" ON)
 option(OMATH_ENABLE_COVERAGE "Enable coverage" OFF)
-
-if (VCPKG_MANIFEST_FEATURES)
-    foreach (omath_feature IN LISTS VCPKG_MANIFEST_FEATURES)
-        if (omath_feature STREQUAL "imgui")
+option(OMATH_ENABLE_FORCE_INLINE
+       "Will for compiler to make some functions to be force inlined no matter what" ON)
+if(VCPKG_MANIFEST_FEATURES)
+    foreach(omath_feature IN LISTS VCPKG_MANIFEST_FEATURES)
+        if(omath_feature STREQUAL "imgui")
             set(OMATH_IMGUI_INTEGRATION ON)
-        elseif (omath_feature STREQUAL "avx2")
+        elseif(omath_feature STREQUAL "avx2")
             set(OMATH_USE_AVX2 ${COMPILER_SUPPORTS_AVX2})
-        elseif (omath_feature STREQUAL "tests")
+        elseif(omath_feature STREQUAL "tests")
             set(OMATH_BUILD_TESTS ON)
-        elseif (omath_feature STREQUAL "benchmark")
+        elseif(omath_feature STREQUAL "benchmark")
             set(OMATH_BUILD_BENCHMARK ON)
-        elseif (omath_feature STREQUAL "examples")
+        elseif(omath_feature STREQUAL "examples")
             set(OMATH_BUILD_EXAMPLES ON)
-        endif ()
+        endif()
 
-    endforeach ()
-endif ()
+    endforeach()
+endif()
 
-if (OMATH_USE_AVX2 AND NOT COMPILER_SUPPORTS_AVX2)
-    message(WARNING "OMATH_USE_AVX2 requested, but compiler/target does not support AVX2. Disabling.")
+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 ()
+endif()
 
-if (${PROJECT_IS_TOP_LEVEL})
-    message(STATUS "[${PROJECT_NAME}]: Building on ${CMAKE_HOST_SYSTEM_NAME}, compiler ${CMAKE_CXX_COMPILER_ID}")
+if(${PROJECT_IS_TOP_LEVEL})
+    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 ${OMATH_BUILD_BENCHMARK}")
@@ -61,64 +70,65 @@ if (${PROJECT_IS_TOP_LEVEL})
     message(STATUS "[${PROJECT_NAME}]: ImGUI integration feature status ${OMATH_IMGUI_INTEGRATION}")
     message(STATUS "[${PROJECT_NAME}]: Legacy features support ${OMATH_ENABLE_LEGACY}")
     message(STATUS "[${PROJECT_NAME}]: Building using vcpkg ${OMATH_BUILD_VIA_VCPKG}")
-endif ()
+    message(STATUS "[${PROJECT_NAME}]: Coverage feature status ${OMATH_ENABLE_COVERAGE}")
+    message(STATUS "[${PROJECT_NAME}]: Valgrind feature status ${OMATH_ENABLE_VALGRIND}")
+endif()
 
 file(GLOB_RECURSE OMATH_SOURCES CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/source/*.cpp")
 file(GLOB_RECURSE OMATH_HEADERS CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/include/*.hpp")
 
-if (OMATH_BUILD_AS_SHARED_LIBRARY)
+if(OMATH_BUILD_AS_SHARED_LIBRARY)
     add_library(${PROJECT_NAME} SHARED ${OMATH_SOURCES} ${OMATH_HEADERS})
-else ()
+else()
     add_library(${PROJECT_NAME} STATIC ${OMATH_SOURCES} ${OMATH_HEADERS})
-endif ()
-
+endif()
 
 add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
 
 target_compile_definitions(${PROJECT_NAME} PUBLIC OMATH_VERSION="${PROJECT_VERSION}")
 
-if (OMATH_IMGUI_INTEGRATION)
+if(OMATH_IMGUI_INTEGRATION)
     target_compile_definitions(${PROJECT_NAME} PUBLIC OMATH_IMGUI_INTEGRATION)
 
     # IMGUI is being linked as submodule
-    if (TARGET imgui)
+    if(TARGET imgui)
         target_link_libraries(${PROJECT_NAME} PUBLIC imgui)
-        install(TARGETS imgui
-                EXPORT omathTargets
-                ARCHIVE DESTINATION lib
-                LIBRARY DESTINATION lib
-                RUNTIME DESTINATION bin)
-    else ()
+        install(
+            TARGETS imgui
+            EXPORT omathTargets
+            ARCHIVE DESTINATION lib
+            LIBRARY DESTINATION lib
+            RUNTIME DESTINATION bin)
+    else()
         # Assume that IMGUI linked via VCPKG.
         find_package(imgui CONFIG REQUIRED)
         target_link_libraries(${PROJECT_NAME} PUBLIC imgui::imgui)
-    endif ()
+    endif()
 
-endif ()
+endif()
 
-if (OMATH_USE_AVX2)
+if(OMATH_USE_AVX2)
     target_compile_definitions(${PROJECT_NAME} PUBLIC OMATH_USE_AVX2)
-endif ()
+endif()
 
-if (OMATH_SUPRESS_SAFETY_CHECKS)
+if(OMATH_SUPRESS_SAFETY_CHECKS)
     target_compile_definitions(${PROJECT_NAME} PUBLIC OMATH_SUPRESS_SAFETY_CHECKS)
-endif ()
+endif()
 
-if (OMATH_ENABLE_LEGACY)
+if(OMATH_ENABLE_LEGACY)
     target_compile_definitions(${PROJECT_NAME} PUBLIC OMATH_ENABLE_LEGACY)
-endif ()
+endif()
 
-set_target_properties(${PROJECT_NAME} PROPERTIES
-        ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
-        LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
-        CXX_STANDARD 23
-        CXX_STANDARD_REQUIRED ON)
+if(OMATH_ENABLE_FORCE_INLINE)
+    target_compile_definitions(${PROJECT_NAME} PUBLIC OMATH_ENABLE_FORCE_INLINE)
+endif()
 
-if (OMATH_USE_UNITY_BUILD)
-    set_target_properties(${PROJECT_NAME} PROPERTIES
-            UNITY_BUILD ON
-            UNITY_BUILD_BATCH_SIZE 20)
-endif ()
+set_target_properties(
+    ${PROJECT_NAME}
+    PROPERTIES ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+               LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+               CXX_STANDARD 23
+               CXX_STANDARD_REQUIRED ON)
 
 if (OMATH_STATIC_MSVC_RUNTIME_LIBRARY)
     set_target_properties(${PROJECT_NAME} PROPERTIES
@@ -126,15 +136,15 @@ if (OMATH_STATIC_MSVC_RUNTIME_LIBRARY)
     )
 endif ()
 
-if (OMATH_USE_AVX2)
-    if (MSVC)
+if(OMATH_USE_AVX2)
+    if(MSVC)
         target_compile_options(${PROJECT_NAME} PUBLIC /arch:AVX2)
-    elseif (EMSCRIPTEN)
+    elseif(EMSCRIPTEN)
         target_compile_options(${PROJECT_NAME} PUBLIC -msimd128 -mavx2)
-    elseif (CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang|AppleClang")
+    elseif(CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang|AppleClang")
         target_compile_options(${PROJECT_NAME} PUBLIC -mfma -mavx2)
-    endif ()
-endif ()
+    endif()
+endif()
 
 if(EMSCRIPTEN)
     target_compile_options(${PROJECT_NAME} PUBLIC -fexceptions)
@@ -143,78 +153,79 @@ endif()
 
 target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_23)
 
-if (OMATH_BUILD_TESTS)
+if(OMATH_BUILD_TESTS)
     add_subdirectory(tests)
     target_compile_definitions(${PROJECT_NAME} PUBLIC OMATH_BUILD_TESTS)
     if(OMATH_ENABLE_COVERAGE)
         omath_setup_coverage(${PROJECT_NAME})
     endif()
-endif ()
+endif()
 
-if (OMATH_BUILD_BENCHMARK)
+if(OMATH_BUILD_BENCHMARK)
     add_subdirectory(benchmark)
-endif ()
+endif()
 
-if (OMATH_BUILD_EXAMPLES)
+if(OMATH_BUILD_EXAMPLES)
     add_subdirectory(examples)
-endif ()
+endif()
 
-
-if (CMAKE_CXX_COMPILER_ID STREQUAL "MSVC" AND OMATH_THREAT_WARNING_AS_ERROR)
+if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC" AND OMATH_THREAT_WARNING_AS_ERROR)
     target_compile_options(${PROJECT_NAME} PRIVATE /W4 /WX)
-elseif (OMATH_THREAT_WARNING_AS_ERROR)
+elseif(OMATH_THREAT_WARNING_AS_ERROR)
     target_compile_options(${PROJECT_NAME} PRIVATE -Wall -Wextra -Wpedantic -Werror)
-endif ()
+endif()
 
 # Windows SDK redefine min/max via preprocessor and break std::min and std::max
-if (CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
+if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
     target_compile_definitions(${PROJECT_NAME} INTERFACE NOMINMAX)
-endif ()
-
-target_include_directories(${PROJECT_NAME}
-        PUBLIC
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>   # Use this path when building the project
-        $<INSTALL_INTERFACE:include>                             # Use this path when the project is installed
-)
+endif()
 
+target_include_directories(
+    ${PROJECT_NAME}
+    PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> # Use this path
+                                                                  # when building
+                                                                  # the project
+           $<INSTALL_INTERFACE:include> # Use this path when the project is
+                                        # installed
+    )
 
 # Installation rules
 
 # Install the library
-install(TARGETS ${PROJECT_NAME}
-        EXPORT ${PROJECT_NAME}Targets
-        ARCHIVE DESTINATION lib COMPONENT ${PROJECT_NAME}   # For static libraries
-        LIBRARY DESTINATION lib COMPONENT ${PROJECT_NAME}   # For shared libraries
-        RUNTIME DESTINATION bin COMPONENT ${PROJECT_NAME}   # For executables (on Windows)
-)
+install(
+    TARGETS ${PROJECT_NAME}
+    EXPORT ${PROJECT_NAME}Targets
+    ARCHIVE DESTINATION lib COMPONENT ${PROJECT_NAME} # For static libraries
+    LIBRARY DESTINATION lib COMPONENT ${PROJECT_NAME} # For shared libraries
+    RUNTIME DESTINATION bin COMPONENT ${PROJECT_NAME} # For executables (on
+                                                      # Windows)
+    )
 
 # Install headers as part of omath_component
 install(DIRECTORY include/ DESTINATION include COMPONENT ${PROJECT_NAME})
 
 # Export omath target for CMake find_package support, also under omath_component
-install(EXPORT ${PROJECT_NAME}Targets
-        FILE ${PROJECT_NAME}Targets.cmake
-        NAMESPACE ${PROJECT_NAME}::
-        DESTINATION lib/cmake/${PROJECT_NAME} COMPONENT ${PROJECT_NAME}
-)
+install(
+    EXPORT ${PROJECT_NAME}Targets
+    FILE ${PROJECT_NAME}Targets.cmake
+    NAMESPACE ${PROJECT_NAME}::
+    DESTINATION lib/cmake/${PROJECT_NAME}
+    COMPONENT ${PROJECT_NAME})
 
 # Generate the omathConfigVersion.cmake file
-write_basic_package_version_file(
-        "${CMAKE_CURRENT_BINARY_DIR}/omathConfigVersion.cmake"
-        VERSION ${PROJECT_VERSION}
-        COMPATIBILITY AnyNewerVersion
-)
+write_basic_package_version_file("${CMAKE_CURRENT_BINARY_DIR}/omathConfigVersion.cmake"
+                                 VERSION ${PROJECT_VERSION} COMPATIBILITY AnyNewerVersion)
 
-# Generate the omathConfig.cmake file from the template (which is in the cmake/ folder)
+# Generate the omathConfig.cmake file from the template (which is in the cmake/
+# folder)
 configure_package_config_file(
-        "${CMAKE_CURRENT_SOURCE_DIR}/cmake/omathConfig.cmake.in"  # Path to the .in file
-        "${CMAKE_CURRENT_BINARY_DIR}/omathConfig.cmake"           # Output path for the generated file
-        INSTALL_DESTINATION lib/cmake/${PROJECT_NAME}
-)
+    "${CMAKE_CURRENT_SOURCE_DIR}/cmake/omathConfig.cmake.in" # Path to the .in
+                                                             # file
+    "${CMAKE_CURRENT_BINARY_DIR}/omathConfig.cmake" # Output path for the
+                                                    # generated file
+    INSTALL_DESTINATION lib/cmake/${PROJECT_NAME})
 
 # Install the generated config files
-install(FILES
-        "${CMAKE_CURRENT_BINARY_DIR}/omathConfig.cmake"
-        "${CMAKE_CURRENT_BINARY_DIR}/omathConfigVersion.cmake"
-        DESTINATION lib/cmake/${PROJECT_NAME}
-)
+install(FILES "${CMAKE_CURRENT_BINARY_DIR}/omathConfig.cmake"
+              "${CMAKE_CURRENT_BINARY_DIR}/omathConfigVersion.cmake"
+        DESTINATION lib/cmake/${PROJECT_NAME})

LICENSE

@@ -1,4 +1,4 @@
-Copyright (C) 2024-2025 Orange++ <orange_github@proton.me>
+Copyright (C) 2023-2026 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
@@ -15,45 +15,3 @@ freely, subject to the following restrictions:
 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.
-4. If you are an employee, contractor, volunteer, representative, 
-   or have any other affiliation (past or present)
-   with any of the following entities:
-     * "Advertising Placement Services" LLC
-     * "NEW SOLUTIONS VERTICALS" LLC
-     * "Autoexpert" LLC
-     * "Creditit" LLC
-     * "Yandex.Taxi" LLC
-     * "Yandex.Eda" LLC
-     * "Yandex.Lavka" LLC
-     * "Yandex.Telecom" LLC
-     * "Yandex.Cloud" LLC
-     * "Micromobility" LLC
-     * "MM-Tech" LLC
-     * "Carsharing" LLC
-     * "Yandex.Drive" LLC
-     * "EDADIL PROMO" LLC
-     * "Kinopoisk" LLC
-     * "Yandex.Music" LLC
-     * "Refueling (Yandex.Zapravki)" LLC
-     * "Yandex.Pay" LLC
-     * "Financial and Payment Technologies" LLC
-     * "Yandex.Delivery" LLC
-     * "Delivery Club" LLC
-     * "Yandex.Check" LLC
-     * "SMB-Service" LLC
-     * "ADV-TECH" LLC
-     * "Yandex Fantech" LLC
-     * "Yandex Smena" LLC
-     * "Market.Operations" LLC
-     * "Yandex.Market" LLC
-     * "ID Tech" LLC
-     * "Yandex.Crowd" LLC
-     * "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

@@ -2,7 +2,7 @@
 
 ![banner](docs/images/logos/omath_logo_macro.png)
 
-![Static Badge](https://img.shields.io/badge/license-libomath-orange)
+![GitHub License](https://img.shields.io/github/license/orange-cpp/omath)
 ![GitHub contributors](https://img.shields.io/github/contributors/orange-cpp/omath)
 ![GitHub top language](https://img.shields.io/github/languages/top/orange-cpp/omath)
 ![GitHub repo size](https://img.shields.io/github/repo-size/orange-cpp/omath)
@@ -44,7 +44,7 @@ It provides the latest features, is highly customizable, has all for cheat devel
  </a>
 </div>
 
-## 🚀 Quick Example
+## Quick Example
 
 ```cpp
 #include <omath/omath.hpp>
@@ -69,20 +69,20 @@ if (auto screen = camera.world_to_screen(world_position)) {
 }
 ```
 
-**[➡️ See more examples and tutorials][TUTORIALS]**
+**[See more examples and tutorials][TUTORIALS]**
 
-# ✨ 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.
-- **🎮 Projectile Prediction**: Projectile prediction engine with O(N) algo complexity, that can power you projectile aim-bot.
-- **📐 3D Projection**: No need to find view-projection matrix anymore you can make your own projection pipeline.
-- **💥 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, Frostbite, IWEngine and canonical OpenGL**.
-- **🌍 Cross platform**: Supports Windows, MacOS and Linux.
-- **🔍 Algorithms**: Has ability to scan for byte pattern with wildcards in PE files/modules, binary slices, works even with Wine apps. 
+# 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.
+- **Projectile Prediction**: Projectile prediction engine with O(N) algo complexity, that can power you projectile aim-bot.
+- **3D Projection**: No need to find view-projection matrix anymore you can make your own projection pipeline.
+- **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, Frostbite, IWEngine and canonical OpenGL**.
+- **Cross platform**: Supports Windows, MacOS and Linux.
+- **Algorithms**: Has ability to scan for byte pattern with wildcards in PE files/modules, binary slices, works even with Wine apps. 
 <div align = center>
  
 # Gallery
@@ -116,7 +116,7 @@ if (auto screen = camera.world_to_screen(world_position)) {
 
 </div>
 
-## 📚 Documentation
+## Documentation
 
 - **[Getting Started Guide](http://libomath.org/getting_started/)** - Installation and first steps
 - **[API Overview](http://libomath.org/api_overview/)** - Complete API reference
@@ -125,14 +125,14 @@ if (auto screen = camera.world_to_screen(world_position)) {
 - **[Troubleshooting](http://libomath.org/troubleshooting/)** - Solutions to common issues
 - **[Best Practices](http://libomath.org/best_practices/)** - Guidelines for effective usage
 
-## 🤝 Community & Support
+## Community & Support
 
 - **Discord**: [Join our community](https://discord.gg/eDgdaWbqwZ)
 - **Telegram**: [@orangennotes](https://t.me/orangennotes)
 - **Issues**: [Report bugs or request features](https://github.com/orange-cpp/omath/issues)
 - **Contributing**: See [CONTRIBUTING.md](CONTRIBUTING.md) for guidelines
 
-# 💘 Acknowledgments
+# Acknowledgments
 -  [All contributors](https://github.com/orange-cpp/omath/graphs/contributors)
 
 <!----------------------------------{ Images }--------------------------------->

VERSION

@@ -1 +1 @@
-4.6.0
+4.7.1

benchmark/CMakeLists.txt

@@ -1,19 +1,24 @@
 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)
+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)
 
-if (TARGET benchmark::benchmark) # Benchmark is being linked as submodule
+if(TARGET benchmark::benchmark) # Benchmark is being linked as submodule
     target_link_libraries(${PROJECT_NAME} PRIVATE benchmark::benchmark omath)
 else()
-    find_package(benchmark CONFIG REQUIRED) # Benchmark is being linked as vcpkg package
+    find_package(benchmark CONFIG REQUIRED) # Benchmark is being linked as vcpkg
+                                            # package
     target_link_libraries(${PROJECT_NAME} PRIVATE benchmark::benchmark omath)
-endif ()
+endif()
+
+if(OMATH_ENABLE_VALGRIND)
+    omath_setup_valgrind(${PROJECT_NAME})
+endif()

cmake/Coverage.cmake

@@ -6,117 +6,62 @@ function(omath_setup_coverage TARGET_NAME)
         return()
     endif()
 
-    if(CMAKE_CXX_COMPILER_ID MATCHES "Clang|AppleClang")
-        # Apply to ALL configs when coverage is enabled (not just Debug)
-        target_compile_options(${TARGET_NAME} PRIVATE
+    if(CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND MSVC)
+        target_compile_options(${TARGET_NAME} PRIVATE -fprofile-instr-generate -fcoverage-mapping
+                                                      /Zi)
+        target_link_options(
+            ${TARGET_NAME}
+            PRIVATE
             -fprofile-instr-generate
             -fcoverage-mapping
-            -g
-            -O0
-        )
-        target_link_options(${TARGET_NAME} PRIVATE
-            -fprofile-instr-generate
-            -fcoverage-mapping
-        )
-
-    elseif(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-        target_compile_options(${TARGET_NAME} PRIVATE
-            --coverage
-            -g
-            -O0
-        )
-        target_link_options(${TARGET_NAME} PRIVATE
-            --coverage
-        )
-
-    elseif(MSVC)
-        target_compile_options(${TARGET_NAME} PRIVATE
-            /Zi
-            /Od
-            /Ob0
-        )
-        target_link_options(${TARGET_NAME} PRIVATE
             /DEBUG:FULL
             /INCREMENTAL:NO
-        )
+            /PROFILE)
+    elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang|AppleClang")
+        target_compile_options(${TARGET_NAME} PRIVATE -fprofile-instr-generate -fcoverage-mapping
+                                                      -g -O0)
+        target_link_options(${TARGET_NAME} PRIVATE -fprofile-instr-generate -fcoverage-mapping)
+    elseif(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+        target_compile_options(${TARGET_NAME} PRIVATE --coverage -g -O0)
+        target_link_options(${TARGET_NAME} PRIVATE --coverage)
     endif()
 
-    # Create coverage target only once
     if(TARGET coverage)
         return()
     endif()
 
-    if(MSVC OR MINGW)
-        # Windows: OpenCppCoverage
-        find_program(OPENCPPCOVERAGE_EXECUTABLE 
-            NAMES OpenCppCoverage OpenCppCoverage.exe
-            PATHS
-                "$ENV{ProgramFiles}/OpenCppCoverage"
-                "$ENV{ProgramW6432}/OpenCppCoverage"
-                "C:/Program Files/OpenCppCoverage"
-            DOC "Path to OpenCppCoverage executable"
-        )
-
-        if(NOT OPENCPPCOVERAGE_EXECUTABLE)
-            message(WARNING "OpenCppCoverage not found. Install with: choco install opencppcoverage")
-            set(OPENCPPCOVERAGE_EXECUTABLE "C:/Program Files/OpenCppCoverage/OpenCppCoverage.exe")
-        else()
-            message(STATUS "Found OpenCppCoverage: ${OPENCPPCOVERAGE_EXECUTABLE}")
-        endif()
-
-        file(TO_NATIVE_PATH "${CMAKE_SOURCE_DIR}" COVERAGE_ROOT_PATH)
-        file(TO_NATIVE_PATH "${CMAKE_BINARY_DIR}/coverage" COVERAGE_OUTPUT_PATH)
-        file(TO_NATIVE_PATH "${CMAKE_BINARY_DIR}/coverage.xml" COVERAGE_XML_PATH)
-        file(TO_NATIVE_PATH "${OPENCPPCOVERAGE_EXECUTABLE}" OPENCPPCOVERAGE_NATIVE)
-
-        add_custom_target(coverage
+    if(CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND MSVC)
+        message(STATUS "MSVC detected: Use VS Code Coverage from CI workflow")
+        add_custom_target(
+            coverage
             DEPENDS unit_tests
-            COMMAND "${OPENCPPCOVERAGE_NATIVE}"
-                --verbose
-                --sources "${COVERAGE_ROOT_PATH}"
-                --modules "${COVERAGE_ROOT_PATH}"
-                --excluded_sources "*\\tests\\*"
-                --excluded_sources "*\\gtest\\*"
-                --excluded_sources "*\\googletest\\*"
-                --excluded_sources "*\\_deps\\*"
-                --excluded_sources "*\\vcpkg_installed\\*"
-                --export_type "html:${COVERAGE_OUTPUT_PATH}"
-                --export_type "cobertura:${COVERAGE_XML_PATH}"
-                --cover_children
-                -- "$<TARGET_FILE:unit_tests>"
+            COMMAND $<TARGET_FILE:unit_tests>
             WORKING_DIRECTORY "${CMAKE_SOURCE_DIR}"
-            COMMENT "Running OpenCppCoverage"
-        )
+            COMMENT "Running tests for coverage (use VS Code Coverage from CI)")
 
     elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang|AppleClang")
-        # Linux/macOS: LLVM coverage via script
-        add_custom_target(coverage
+        add_custom_target(
+            coverage
             DEPENDS unit_tests
-            COMMAND bash "${CMAKE_SOURCE_DIR}/scripts/coverage-llvm.sh"
-                "${CMAKE_SOURCE_DIR}"
-                "${CMAKE_BINARY_DIR}"
-                "$<TARGET_FILE:unit_tests>"
-                "${CMAKE_BINARY_DIR}/coverage"
+            COMMAND bash "${CMAKE_SOURCE_DIR}/scripts/coverage-llvm.sh" "${CMAKE_SOURCE_DIR}"
+                    "${CMAKE_BINARY_DIR}" "$<TARGET_FILE:unit_tests>" "${CMAKE_BINARY_DIR}/coverage"
             WORKING_DIRECTORY "${CMAKE_SOURCE_DIR}"
-            COMMENT "Running LLVM coverage"
-        )
+            COMMENT "Running LLVM coverage")
 
     elseif(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-        # GCC: lcov/gcov
-        add_custom_target(coverage
+        add_custom_target(
+            coverage
             DEPENDS unit_tests
             COMMAND $<TARGET_FILE:unit_tests> || true
-            COMMAND lcov --capture --directory "${CMAKE_BINARY_DIR}"
-                --output-file "${CMAKE_BINARY_DIR}/coverage.info"
-                --ignore-errors mismatch,gcov
-            COMMAND lcov --remove "${CMAKE_BINARY_DIR}/coverage.info"
-                "*/tests/*" "*/gtest/*" "*/googletest/*" "*/_deps/*" "/usr/*"
-                --output-file "${CMAKE_BINARY_DIR}/coverage.info"
-                --ignore-errors unused
-            COMMAND genhtml "${CMAKE_BINARY_DIR}/coverage.info"
-                --output-directory "${CMAKE_BINARY_DIR}/coverage"
+            COMMAND lcov --capture --directory "${CMAKE_BINARY_DIR}" --output-file
+                    "${CMAKE_BINARY_DIR}/coverage.info" --ignore-errors mismatch,gcov
+            COMMAND
+                lcov --remove "${CMAKE_BINARY_DIR}/coverage.info" "*/tests/*" "*/gtest/*"
+                "*/googletest/*" "*/_deps/*" "/usr/*" --output-file
+                "${CMAKE_BINARY_DIR}/coverage.info" --ignore-errors unused
+            COMMAND genhtml "${CMAKE_BINARY_DIR}/coverage.info" --output-directory
+                    "${CMAKE_BINARY_DIR}/coverage"
             WORKING_DIRECTORY "${CMAKE_BINARY_DIR}"
-            COMMENT "Running lcov/genhtml"
-        )
+            COMMENT "Running lcov/genhtml")
     endif()
 endfunction()

cmake/Valgrind.cmake

@@ -0,0 +1,41 @@
+# cmake/Valgrind.cmake
+
+if(DEFINED __OMATH_VALGRIND_INCLUDED)
+    return()
+endif()
+set(__OMATH_VALGRIND_INCLUDED TRUE)
+
+find_program(VALGRIND_EXECUTABLE valgrind)
+option(OMATH_ENABLE_VALGRIND "Enable Valgrind target for memory checking" ON)
+
+if(OMATH_ENABLE_VALGRIND AND NOT TARGET valgrind_all)
+    add_custom_target(valgrind_all)
+endif()
+
+function(omath_setup_valgrind TARGET_NAME)
+    if(NOT OMATH_ENABLE_VALGRIND)
+        return()
+    endif()
+
+    if(NOT VALGRIND_EXECUTABLE)
+        message(WARNING "OMATH_ENABLE_VALGRIND is ON, but 'valgrind' executable was not found.")
+        return()
+    endif()
+
+    set(VALGRIND_FLAGS --leak-check=full --show-leak-kinds=all --track-origins=yes
+                       --error-exitcode=99)
+
+    set(VALGRIND_TARGET "valgrind_${TARGET_NAME}")
+
+    if(NOT TARGET ${VALGRIND_TARGET})
+        add_custom_target(
+            ${VALGRIND_TARGET}
+            DEPENDS ${TARGET_NAME}
+            COMMAND ${VALGRIND_EXECUTABLE} ${VALGRIND_FLAGS} $<TARGET_FILE:${TARGET_NAME}>
+            WORKING_DIRECTORY $<TARGET_FILE_DIR:${TARGET_NAME}>
+            COMMENT "Running Valgrind memory check on ${TARGET_NAME}..."
+            USES_TERMINAL)
+
+        add_dependencies(valgrind_all ${VALGRIND_TARGET})
+    endif()
+endfunction()

examples/CMakeLists.txt

@@ -1,32 +1,38 @@
 project(examples)
 
 add_executable(example_projection_matrix_builder example_proj_mat_builder.cpp)
-set_target_properties(example_projection_matrix_builder PROPERTIES
-        CXX_STANDARD 26
-        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}"
-)
+set_target_properties(
+    example_projection_matrix_builder
+    PROPERTIES CXX_STANDARD 23
+               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}")
 target_link_libraries(example_projection_matrix_builder PRIVATE omath::omath)
 
 add_executable(example_signature_scan example_signature_scan.cpp)
-set_target_properties(example_signature_scan PROPERTIES
-        CXX_STANDARD 26
-        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}"
-)
+set_target_properties(
+    example_signature_scan
+    PROPERTIES CXX_STANDARD 23
+               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}")
 target_link_libraries(example_signature_scan PRIVATE omath::omath)
 
-
 add_executable(example_glfw3 example_glfw3.cpp)
-set_target_properties(example_glfw3 PROPERTIES CXX_STANDARD 26
-        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}"
-)
+set_target_properties(
+    example_glfw3
+    PROPERTIES CXX_STANDARD 23
+               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}")
 
+find_package(OpenGL)
 find_package(GLEW REQUIRED)
 find_package(glfw3 CONFIG REQUIRED)
-target_link_libraries(example_glfw3 PRIVATE omath::omath GLEW::GLEW glfw)
+target_link_libraries(example_glfw3 PRIVATE omath::omath GLEW::GLEW glfw OpenGL::OpenGL)
+
+if(OMATH_ENABLE_VALGRIND)
+    omath_setup_valgrind(example_projection_matrix_builder)
+    omath_setup_valgrind(example_signature_scan)
+    omath_setup_valgrind(example_glfw3)
+endif()

examples/example_glfw3.cpp

@@ -120,9 +120,14 @@ int main()
         return -1;
     }
 
+    std::cout << "GLFW Version: " << glfwGetVersionString() << "\n";
+
     glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
     glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 3);
     glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
+    // Force GLX context creation API to ensure compatibility with GLEW
+    glfwWindowHint(GLFW_CONTEXT_CREATION_API, GLFW_NATIVE_CONTEXT_API);
+
 #ifdef __APPLE__
     glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE);
 #endif
@@ -141,15 +146,30 @@ int main()
     glfwMakeContextCurrent(window);
     glfwSetFramebufferSizeCallback(window, framebuffer_size_callback);
 
+    // Check if context is valid using standard GL
+    const GLubyte* renderer = glGetString(GL_RENDERER);
+    const GLubyte* version = glGetString(GL_VERSION);
+    if (renderer && version) {
+        std::cout << "Renderer: " << renderer << "\n";
+        std::cout << "OpenGL version supported: " << version << "\n";
+    } else {
+        std::cerr << "Failed to get GL_RENDERER or GL_VERSION. Context might be invalid.\n";
+    }
+
     // ---------- GLEW init ----------
     glewExperimental = GL_TRUE;
     GLenum glewErr = glewInit();
     if (glewErr != GLEW_OK)
     {
-        std::cerr << "Failed to initialize GLEW: " << reinterpret_cast<const char*>(glewGetErrorString(glewErr))
-                  << "\n";
-        glfwTerminate();
-        return -1;
+        // Ignore NO_GLX_DISPLAY if we have a valid context
+        if (glewErr == GLEW_ERROR_NO_GLX_DISPLAY && renderer) {
+             std::cerr << "GLEW warning: " << glewGetErrorString(glewErr) << " (Ignored because context seems valid)\n";
+        } else {
+            std::cerr << "Failed to initialize GLEW: " << reinterpret_cast<const char*>(glewGetErrorString(glewErr))
+                    << "\n";
+            glfwTerminate();
+            return -1;
+        }
     }
 
     // ---------- GL state ----------
@@ -239,8 +259,8 @@ int main()
 
     // flatten EBO to GL indices
     std::vector<GLuint> flatIndices;
-    flatIndices.reserve(cube.m_vertex_array_object.size() * 3);
-    for (const auto& tri : cube.m_vertex_array_object)
+    flatIndices.reserve(cube.m_element_buffer_object.size() * 3);
+    for (const auto& tri : cube.m_element_buffer_object)
     {
         flatIndices.push_back(tri.x);
         flatIndices.push_back(tri.y);

include/omath/3d_primitives/box.hpp

@@ -3,14 +3,60 @@
 //
 
 #pragma once
+#include "mesh.hpp"
+#include "omath/engines/opengl_engine/camera.hpp"
+#include "omath/engines/opengl_engine/traits/mesh_trait.hpp"
 #include "omath/linear_algebra/triangle.hpp"
 #include "omath/linear_algebra/vector3.hpp"
 #include <array>
 
 namespace omath::primitives
 {
+    template<class BoxMeshType>
     [[nodiscard]]
-    std::array<Triangle<Vector3<float>>, 12> create_box(const Vector3<float>& top, const Vector3<float>& bottom,
-                                             const Vector3<float>& dir_forward, const Vector3<float>& dir_right,
-                                             float ratio = 4.f) noexcept;
-}
+    BoxMeshType create_box(const Vector3<float>& top, const Vector3<float>& bottom, const Vector3<float>& dir_forward,
+                           const Vector3<float>& dir_right, const float ratio = 4.f) noexcept
+    {
+        const auto height = top.distance_to(bottom);
+        const auto side_size = height / ratio;
+
+        // corner layout (0‑3 bottom, 4‑7 top)
+        std::array<Vector3<float>, 8> p;
+        p[0] = bottom + (dir_forward + dir_right) * side_size; // front‑right‑bottom
+        p[1] = bottom + (dir_forward - dir_right) * side_size; // front‑left‑bottom
+        p[2] = bottom + (-dir_forward + dir_right) * side_size; // back‑right‑bottom
+        p[3] = bottom + (-dir_forward - dir_right) * side_size; // back‑left‑bottom
+        p[4] = top + (dir_forward + dir_right) * side_size; // front‑right‑top
+        p[5] = top + (dir_forward - dir_right) * side_size; // front‑left‑top
+        p[6] = top + (-dir_forward + dir_right) * side_size; // back‑right‑top
+        p[7] = top + (-dir_forward - dir_right) * side_size; // back‑left‑top
+
+        std::array<Vector3<std::uint32_t>, 12> poly;
+
+        // bottom face (+Y up ⇒ wind CW when viewed from above)
+        poly[0] = {0, 2, 3};
+        poly[1] = {0, 3, 1};
+
+        // top face
+        poly[2] = {4, 7, 6};
+        poly[3] = {4, 5, 7};
+
+        // front face
+        poly[4] = {0, 5, 1};
+        poly[5] = {0, 4, 5};
+
+        // right face
+        poly[6] = {0, 6, 2};
+        poly[7] = {0, 4, 6};
+
+        // back face
+        poly[8] = {2, 7, 3};
+        poly[9] = {2, 6, 7};
+
+        // left face
+        poly[10] = {1, 7, 5};
+        poly[11] = {1, 3, 7};
+
+        return BoxMeshType{std::move(p), std::move(poly)};
+    }
+} // namespace omath::primitives

include/omath/3d_primitives/mesh.hpp

@@ -25,16 +25,17 @@ namespace omath::primitives
     template<typename T> concept HasNormal = requires(T vertex) { vertex.normal; };
     template<typename T> concept HasUv = requires(T vertex) { vertex.uv; };
 
-    template<class Mat4X4, class RotationAngles, class MeshTypeTrait, class VertType = Vertex<>>
+    template<class Mat4X4, class RotationAngles, class MeshTypeTrait, class VertType = Vertex<>,
+             class VboType = std::vector<VertType>, class EboType = std::vector<Vector3<std::uint32_t>>>
     class Mesh final
     {
     public:
         using VectorType = VertType::VectorType;
-        using VertexType = VertType;
+        using VertexType = VboType::value_type;
 
     private:
-        using Vbo = std::vector<VertexType>;
-        using Ebo = std::vector<Vector3<std::uint32_t>>;
+        using Vbo = VboType;
+        using Ebo = EboType;
 
     public:
         Vbo m_vertex_buffer;
@@ -100,20 +101,26 @@ namespace omath::primitives
 
         [[nodiscard]]
         VectorType vertex_position_to_world_space(const Vector3<float>& vertex_position) const
-        requires HasPosition<VertexType>
         {
-            auto abs_vec = get_to_world_matrix() * mat_column_from_vector<typename Mat4X4::ContainedType, Mat4X4::get_store_ordering()>(vertex_position);
+            auto abs_vec = get_to_world_matrix()
+                           * mat_column_from_vector<typename Mat4X4::ContainedType, Mat4X4::get_store_ordering()>(
+                                   vertex_position);
 
             return {abs_vec.at(0, 0), abs_vec.at(1, 0), abs_vec.at(2, 0)};
         }
 
         [[nodiscard]]
         Triangle<VectorType> make_face_in_world_space(const Ebo::const_iterator vao_iterator) const
-        requires HasPosition<VertexType>
         {
-            return {vertex_position_to_world_space(m_vertex_buffer.at(vao_iterator->x).position),
-                    vertex_position_to_world_space(m_vertex_buffer.at(vao_iterator->y).position),
-                    vertex_position_to_world_space(m_vertex_buffer.at(vao_iterator->z).position)};
+            if constexpr (HasPosition<VertexType>)
+            {
+                return {vertex_position_to_world_space(m_vertex_buffer.at(vao_iterator->x).position),
+                        vertex_position_to_world_space(m_vertex_buffer.at(vao_iterator->y).position),
+                        vertex_position_to_world_space(m_vertex_buffer.at(vao_iterator->z).position)};
+            }
+            return {vertex_position_to_world_space(m_vertex_buffer.at(vao_iterator->x)),
+                    vertex_position_to_world_space(m_vertex_buffer.at(vao_iterator->y)),
+                    vertex_position_to_world_space(m_vertex_buffer.at(vao_iterator->z))};
         }
 
     private:

include/omath/3d_primitives/plane.hpp

@@ -3,14 +3,30 @@
 //
 
 #pragma once
+#include "mesh.hpp"
+#include "omath/engines/opengl_engine/camera.hpp"
+#include "omath/engines/opengl_engine/mesh.hpp"
+#include "omath/engines/opengl_engine/traits/mesh_trait.hpp"
 #include "omath/linear_algebra/triangle.hpp"
 #include "omath/linear_algebra/vector3.hpp"
 #include <array>
 
 namespace omath::primitives
 {
+    template<class PlaneMeshType>
     [[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;
-}
+    PlaneMeshType 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;
+        const auto second_vertex_b = vertex_b + direction * size;
+
+        std::array<Vector3<float>, 4> grid = {vertex_a, vertex_b, second_vertex_a, second_vertex_b};
+
+        std::array<Vector3<std::uint32_t>, 2> poly;
+        poly[0] = {1, 1, 2};
+        poly[1] = {0, 1, 3};
+
+        return PlaneMeshType(std::move(grid), std::move(poly));
+    }
+} // namespace omath::primitives

include/omath/collision/line_tracer.hpp

@@ -8,30 +8,103 @@
 
 namespace omath::collision
 {
-    class Ray
+    template<class T = Vector3<float>>
+    class Ray final
     {
     public:
-        Vector3<float> start;
-        Vector3<float> end;
+        using VectorType = T;
+        VectorType start;
+        VectorType end;
         bool infinite_length = false;
 
         [[nodiscard]]
-        Vector3<float> direction_vector() const noexcept;
+        constexpr VectorType direction_vector() const noexcept
+        {
+            return end - start;
+        }
 
         [[nodiscard]]
-        Vector3<float> direction_vector_normalized() const noexcept;
+        constexpr VectorType direction_vector_normalized() const noexcept
+        {
+            return direction_vector().normalized();
+        }
     };
-    class LineTracer
+
+    template<class RayType = Ray<>>
+    class LineTracer final
     {
+        using TriangleType = Triangle<typename RayType::VectorType>;
+
     public:
         LineTracer() = delete;
 
         [[nodiscard]]
-        static bool can_trace_line(const Ray& ray, const Triangle<Vector3<float>>& triangle) noexcept;
+        constexpr static bool can_trace_line(const RayType& ray, const TriangleType& triangle) noexcept
+        {
+            return get_ray_hit_point(ray, triangle) == ray.end;
+        }
 
         // Realization of Möller–Trumbore intersection algorithm
         // https://en.wikipedia.org/wiki/M%C3%B6ller%E2%80%93Trumbore_intersection_algorithm
         [[nodiscard]]
-        static Vector3<float> get_ray_hit_point(const Ray& ray, const Triangle<Vector3<float>>& triangle) noexcept;
+        constexpr static auto get_ray_hit_point(const RayType& ray, const TriangleType& triangle) noexcept
+        {
+            constexpr float k_epsilon = std::numeric_limits<float>::epsilon();
+
+            const auto side_a = triangle.side_a_vector();
+            const auto side_b = triangle.side_b_vector();
+
+            const auto ray_dir = ray.direction_vector();
+
+            const auto p = ray_dir.cross(side_b);
+            const auto det = side_a.dot(p);
+
+            if (std::abs(det) < k_epsilon)
+                return ray.end;
+
+            const auto inv_det = 1 / det;
+            const auto t = ray.start - triangle.m_vertex2;
+            const auto u = t.dot(p) * inv_det;
+
+            if ((u < 0 && std::abs(u) > k_epsilon) || (u > 1 && std::abs(u - 1) > k_epsilon))
+                return ray.end;
+
+            const auto q = t.cross(side_a);
+            // ReSharper disable once CppTooWideScopeInitStatement
+            const auto v = ray_dir.dot(q) * inv_det;
+
+            if ((v < 0 && std::abs(v) > k_epsilon) || (u + v > 1 && std::abs(u + v - 1) > k_epsilon))
+                return ray.end;
+
+            const auto t_hit = side_b.dot(q) * inv_det;
+
+            if (ray.infinite_length && t_hit <= k_epsilon)
+                return ray.end;
+
+            if (t_hit <= k_epsilon || t_hit > 1 - k_epsilon)
+                return ray.end;
+
+            return ray.start + ray_dir * t_hit;
+        }
+
+        template<class MeshType>
+        [[nodiscard]]
+        constexpr static auto get_ray_hit_point(const RayType& ray, const MeshType& mesh) noexcept
+        {
+            auto mesh_hit = ray.end;
+
+            const auto begin = mesh.m_element_buffer_object.cbegin();
+            const auto end = mesh.m_element_buffer_object.cend();
+            for (auto current = begin; current < end; current = std::next(current))
+            {
+                const auto face = mesh.make_face_in_world_space(current);
+
+                auto ray_stop_point = get_ray_hit_point(ray, face);
+                if (ray_stop_point.distance_to(ray.start) < mesh_hit.distance_to(ray.start))
+                    mesh_hit = ray_stop_point;
+            }
+
+            return mesh_hit;
+        }
     };
 } // namespace omath::collision

include/omath/collision/simplex.hpp

@@ -130,7 +130,7 @@ namespace omath::collision
 
         template<class V>
         [[nodiscard]]
-        static constexpr bool near_zero(const V& v, const float eps = 1e-7f)
+        static constexpr bool near_zero(const V& v, const float eps = 1e-7f) noexcept
         {
             return v.dot(v) <= eps * eps;
         }
@@ -146,7 +146,7 @@ namespace omath::collision
         }
 
         [[nodiscard]]
-        constexpr bool handle_line(VectorType& direction)
+        constexpr bool handle_line(VectorType& direction) noexcept
         {
             const auto& a = m_points[0];
             const auto& b = m_points[1];
@@ -158,21 +158,11 @@ namespace omath::collision
             {
                 // ReSharper disable once CppTooWideScopeInitStatement
                 auto n = ab.cross(ao); // Needed to valid handle collision if colliders placed at same origin pos
-                if (near_zero(n))
-                {
-                    // collinear: origin lies on ray AB (often on segment), pick any perp to escape
-                    direction = any_perp(ab);
-                }
-                else
-                {
-                    direction = n.cross(ab);
-                }
-            }
-            else
-            {
-                *this = {a};
-                direction = ao;
+                direction = near_zero(n) ? any_perp(ab) : n.cross(ab);
+                return false;
             }
+            *this = {a};
+            direction = ao;
             return false;
         }
 

include/omath/containers/encrypted_variable.hpp

@@ -0,0 +1,201 @@
+//
+// Created by Vladislav on 04.01.2026.
+//
+#pragma once
+#include <array>
+#include <cstddef>
+#include <cstdint>
+#include <span>
+#ifdef OMATH_ENABLE_FORCE_INLINE
+#ifdef _MSC_VER
+#define OMATH_FORCE_INLINE __forceinline
+#else
+#define OMATH_FORCE_INLINE __attribute__((always_inline)) inline
+#endif
+#else
+#define OMATH_FORCE_INLINE
+#endif
+
+namespace omath::detail
+{
+    [[nodiscard]]
+    consteval std::uint64_t fnv1a_64(const char* s)
+    {
+        std::uint64_t h = 14695981039346656037ull;
+        while (*s)
+        {
+            h ^= static_cast<unsigned char>(*s++);
+            h *= 1099511628211ull;
+        }
+        return h;
+    }
+
+    // SplitMix64 mixer (good quality for seeding / scrambling)
+    [[nodiscard]]
+    consteval std::uint64_t splitmix64(std::uint64_t x)
+    {
+        x += 0x9E3779B97F4A7C15ull;
+        x = (x ^ (x >> 30)) * 0xBF58476D1CE4E5B9ull;
+        x = (x ^ (x >> 27)) * 0x94D049BB133111EBull;
+        return x ^ (x >> 31);
+    }
+
+    // Choose your policy:
+    // - If you want reproducible builds, REMOVE __DATE__/__TIME__.
+    // - If you want "different each build", keep them.
+    [[nodiscard]]
+    consteval std::uint64_t base_seed()
+    {
+        std::uint64_t h = 0;
+        h ^= fnv1a_64(__FILE__);
+        h ^= splitmix64(fnv1a_64(__DATE__));
+        h ^= splitmix64(fnv1a_64(__TIME__));
+        return splitmix64(h);
+    }
+
+    // Produce a "random" 64-bit value for a given stream index (compile-time)
+    template<std::uint64_t Stream>
+    [[nodiscard]]
+    consteval std::uint64_t rand_u64()
+    {
+        // Stream is usually __COUNTER__ so each call site differs
+        return splitmix64(base_seed() + 0xD1B54A32D192ED03ull * (Stream + 1));
+    }
+
+    [[nodiscard]]
+    consteval std::uint64_t bounded_u64(const std::uint64_t x, const std::uint64_t bound)
+    {
+        return (x * bound) >> 64;
+    }
+
+    template<std::int64_t Lo, std::int64_t Hi, std::uint64_t Stream>
+    [[nodiscard]]
+    consteval std::int64_t rand_uint8_t()
+    {
+        static_assert(Lo <= Hi);
+        const std::uint64_t span = static_cast<std::uint64_t>(Hi - Lo) + 1ull;
+        const std::uint64_t r = rand_u64<Stream>();
+        return static_cast<std::int64_t>(bounded_u64(r, span)) + Lo;
+    }
+    [[nodiscard]]
+    consteval std::uint64_t rand_u64(const std::uint64_t seed, const std::uint64_t i)
+    {
+        return splitmix64(seed + 0xD1B54A32D192ED03ull * (i + 1ull));
+    }
+
+    // Convert to int (uses low 32 bits; you can also use high bits if you prefer)
+    [[nodiscard]]
+    consteval std::uint8_t rand_uint8t(const std::uint64_t seed, const std::uint64_t i)
+    {
+        return static_cast<std::uint8_t>(rand_u64(seed, i)); // narrowing is fine/deterministic
+    }
+    template<std::size_t N, std::uint64_t Seed, std::size_t... I>
+    [[nodiscard]]
+    consteval std::array<std::uint8_t, N> make_array_impl(std::index_sequence<I...>)
+    {
+        return {rand_uint8t(Seed, static_cast<std::uint64_t>(I))...};
+    }
+
+    template<std::size_t N, std::uint64_t Seed>
+    [[nodiscard]]
+    consteval std::array<std::uint8_t, N> make_array()
+    {
+        return make_array_impl<N, Seed>(std::make_index_sequence<N>{});
+    }
+} // namespace omath::detail
+
+namespace omath
+{
+    template<class T>
+    class VarAnchor;
+
+    template<class T, std::size_t key_size, std::array<std::uint8_t, key_size> key>
+    class EncryptedVariable final
+    {
+        using value_type = std::remove_cvref_t<T>;
+
+        bool m_is_encrypted{};
+        value_type m_data{};
+
+        OMATH_FORCE_INLINE constexpr void xor_contained_var_by_key()
+        {
+            // Safe, keeps const-correctness, and avoids reinterpret_cast issues
+            auto bytes = std::as_writable_bytes(std::span<value_type, 1>{&m_data, 1});
+
+            for (std::size_t i = 0; i < bytes.size(); ++i)
+            {
+                const std::uint8_t k = static_cast<std::uint8_t>(key[i % key_size] + (i * key_size));
+                bytes[i] ^= static_cast<std::byte>(k);
+            }
+        }
+
+    public:
+        OMATH_FORCE_INLINE constexpr explicit EncryptedVariable(const value_type& data)
+            : m_is_encrypted(false), m_data(data)
+        {
+            encrypt();
+        }
+
+        [[nodiscard]] constexpr bool is_encrypted() const
+        {
+            return m_is_encrypted;
+        }
+
+        OMATH_FORCE_INLINE constexpr void decrypt()
+        {
+            if (!m_is_encrypted)
+                return;
+            xor_contained_var_by_key();
+            m_is_encrypted = false;
+        }
+
+        OMATH_FORCE_INLINE constexpr void encrypt()
+        {
+            if (m_is_encrypted)
+                return;
+            xor_contained_var_by_key();
+            m_is_encrypted = true;
+        }
+
+        [[nodiscard]] OMATH_FORCE_INLINE constexpr value_type& value()
+        {
+            return m_data;
+        }
+        [[nodiscard]] OMATH_FORCE_INLINE constexpr const value_type& value() const
+        {
+            return m_data;
+        }
+
+        constexpr OMATH_FORCE_INLINE ~EncryptedVariable()
+        {
+            decrypt();
+        }
+
+        [[nodiscard]] constexpr OMATH_FORCE_INLINE auto drop_anchor()
+        {
+            return VarAnchor{*this};
+        }
+    };
+
+    template<class EncryptedVarType>
+    class VarAnchor final
+    {
+    public:
+        // ReSharper disable once CppNonExplicitConvertingConstructor
+        OMATH_FORCE_INLINE constexpr VarAnchor(EncryptedVarType& var): m_var(var)
+        {
+            m_var.decrypt();
+        }
+        OMATH_FORCE_INLINE constexpr ~VarAnchor()
+        {
+            m_var.encrypt();
+        }
+
+    private:
+        EncryptedVarType& m_var;
+    };
+} // namespace omath
+
+#define OMATH_CT_RAND_ARRAY_BYTE(N)                                                                                    \
+    (::omath::detail::make_array<(N), (::omath::detail::base_seed() ^ static_cast<std::uint64_t>(__COUNTER__))>())
+#define OMATH_DEF_CRYPT_VAR(TYPE, KEY_SIZE) omath::EncryptedVariable<TYPE, KEY_SIZE, OMATH_CT_RAND_ARRAY_BYTE(KEY_SIZE)>

include/omath/engines/frostbite_engine/formulas.hpp

@@ -23,4 +23,52 @@ namespace omath::frostbite_engine
 
     [[nodiscard]]
     Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far) noexcept;
-} // namespace omath::unity_engine
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType units_to_centimeters(const FloatingType& units)
+    {
+        return units / static_cast<FloatingType>(100);
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType units_to_meters(const FloatingType& units)
+    {
+        return units;
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType units_to_kilometers(const FloatingType& units)
+    {
+        return units_to_meters(units) / static_cast<FloatingType>(1000);
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType centimeters_to_units(const FloatingType& centimeters)
+    {
+        return centimeters * static_cast<FloatingType>(100);
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType meters_to_units(const FloatingType& meters)
+    {
+        return meters;
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType kilometers_to_units(const FloatingType& kilometers)
+    {
+        return meters_to_units(kilometers * static_cast<FloatingType>(1000));
+    }
+} // namespace omath::frostbite_engine

include/omath/engines/frostbite_engine/primitives.hpp

@@ -0,0 +1,17 @@
+//
+// Created by Vladislav on 27.01.2026.
+//
+
+#pragma once
+#include "mesh.hpp"
+#include "omath/engines/frostbite_engine/traits/mesh_trait.hpp"
+#include "omath/linear_algebra/vector3.hpp"
+#include <array>
+namespace omath::frostbite_engine
+{
+    using BoxMesh = primitives::Mesh<Mat4X4, ViewAngles, MeshTrait, primitives::Vertex<>, std::array<Vector3<float>, 8>,
+                                     std::array<Vector3<std::uint32_t>, 12>>;
+
+    using PlaneMesh = primitives::Mesh<Mat4X4, ViewAngles, MeshTrait, primitives::Vertex<>,
+                                       std::array<Vector3<float>, 4>, std::array<Vector3<std::uint32_t>, 2>>;
+} // namespace omath::frostbite_engine

include/omath/engines/iw_engine/formulas.hpp

@@ -23,4 +23,54 @@ namespace omath::iw_engine
 
     [[nodiscard]]
     Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far) noexcept;
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType units_to_centimeters(const FloatingType& units)
+    {
+        constexpr auto centimeter_in_unit = static_cast<FloatingType>(2.54);
+        return units * centimeter_in_unit;
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType units_to_meters(const FloatingType& units)
+    {
+        return units_to_centimeters(units) / static_cast<FloatingType>(100);
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType units_to_kilometers(const FloatingType& units)
+    {
+        return units_to_meters(units) / static_cast<FloatingType>(1000);
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType centimeters_to_units(const FloatingType& centimeters)
+    {
+        constexpr auto centimeter_in_unit = static_cast<FloatingType>(2.54);
+        return centimeters / centimeter_in_unit;
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType meters_to_units(const FloatingType& meters)
+    {
+        return centimeters_to_units(meters * static_cast<FloatingType>(100));
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType kilometers_to_units(const FloatingType& kilometers)
+    {
+        return meters_to_units(kilometers * static_cast<FloatingType>(1000));
+    }
 } // namespace omath::iw_engine

include/omath/engines/iw_engine/primitives.hpp

@@ -0,0 +1,17 @@
+//
+// Created by Vladislav on 27.01.2026.
+//
+
+#pragma once
+#include "mesh.hpp"
+#include "omath/engines/iw_engine/traits/mesh_trait.hpp"
+#include "omath/linear_algebra/vector3.hpp"
+#include <array>
+namespace omath::iw_engine
+{
+    using BoxMesh = primitives::Mesh<Mat4X4, ViewAngles, MeshTrait, primitives::Vertex<>, std::array<Vector3<float>, 8>,
+                                     std::array<Vector3<std::uint32_t>, 12>>;
+
+    using PlaneMesh = primitives::Mesh<Mat4X4, ViewAngles, MeshTrait, primitives::Vertex<>,
+                           std::array<Vector3<float>, 4>, std::array<Vector3<std::uint32_t>, 2>>;
+} // namespace omath::iw_engine

include/omath/engines/opengl_engine/formulas.hpp

@@ -4,7 +4,6 @@
 #pragma once
 #include "omath/engines/opengl_engine/constants.hpp"
 
-
 namespace omath::opengl_engine
 {
     [[nodiscard]]
@@ -23,4 +22,52 @@ namespace omath::opengl_engine
 
     [[nodiscard]]
     Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far) noexcept;
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType units_to_centimeters(const FloatingType& units)
+    {
+        return units / static_cast<FloatingType>(100);
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType units_to_meters(const FloatingType& units)
+    {
+        return units;
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType units_to_kilometers(const FloatingType& units)
+    {
+        return units_to_meters(units) / static_cast<FloatingType>(1000);
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType centimeters_to_units(const FloatingType& centimeters)
+    {
+        return centimeters * static_cast<FloatingType>(100);
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType meters_to_units(const FloatingType& meters)
+    {
+        return meters;
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType kilometers_to_units(const FloatingType& kilometers)
+    {
+        return meters_to_units(kilometers * static_cast<FloatingType>(1000));
+    }
 } // namespace omath::opengl_engine

include/omath/engines/opengl_engine/primitives.hpp

@@ -0,0 +1,17 @@
+//
+// Created by Vladislav on 27.01.2026.
+//
+
+#pragma once
+#include "mesh.hpp"
+#include "omath/engines/opengl_engine/traits/mesh_trait.hpp"
+#include "omath/linear_algebra/vector3.hpp"
+#include <array>
+namespace omath::opengl_engine
+{
+    using BoxMesh = primitives::Mesh<Mat4X4, ViewAngles, MeshTrait, primitives::Vertex<>, std::array<Vector3<float>, 8>,
+                                     std::array<Vector3<std::uint32_t>, 12>>;
+
+    using PlaneMesh = primitives::Mesh<Mat4X4, ViewAngles, MeshTrait, primitives::Vertex<>,
+                           std::array<Vector3<float>, 4>, std::array<Vector3<std::uint32_t>, 2>>;
+} // namespace omath::opengl_engine

include/omath/engines/source_engine/formulas.hpp

@@ -22,4 +22,54 @@ namespace omath::source_engine
 
     [[nodiscard]]
     Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far) noexcept;
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType units_to_centimeters(const FloatingType& units)
+    {
+        constexpr auto centimeter_in_unit = static_cast<FloatingType>(2.54);
+        return units * centimeter_in_unit;
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType units_to_meters(const FloatingType& units)
+    {
+        return units_to_centimeters(units) / static_cast<FloatingType>(100);
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType units_to_kilometers(const FloatingType& units)
+    {
+        return units_to_meters(units) / static_cast<FloatingType>(1000);
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType centimeters_to_units(const FloatingType& centimeters)
+    {
+        constexpr auto centimeter_in_unit = static_cast<FloatingType>(2.54);
+        return centimeters / centimeter_in_unit;
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType meters_to_units(const FloatingType& meters)
+    {
+        return centimeters_to_units(meters * static_cast<FloatingType>(100));
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType kilometers_to_units(const FloatingType& kilometers)
+    {
+        return meters_to_units(kilometers * static_cast<FloatingType>(1000));
+    }
 } // namespace omath::source_engine

include/omath/engines/source_engine/primitives.hpp

@@ -0,0 +1,17 @@
+//
+// Created by Vladislav on 27.01.2026.
+//
+
+#pragma once
+#include "mesh.hpp"
+#include "omath/engines/source_engine/traits/mesh_trait.hpp"
+#include "omath/linear_algebra/vector3.hpp"
+#include <array>
+namespace omath::source_engine
+{
+    using BoxMesh = primitives::Mesh<Mat4X4, ViewAngles, MeshTrait, primitives::Vertex<>, std::array<Vector3<float>, 8>,
+                                     std::array<Vector3<std::uint32_t>, 12>>;
+
+    using PlaneMesh = primitives::Mesh<Mat4X4, ViewAngles, MeshTrait, primitives::Vertex<>,
+                           std::array<Vector3<float>, 4>, std::array<Vector3<std::uint32_t>, 2>>;
+} // namespace omath::source_engine

include/omath/engines/unity_engine/camera.hpp

@@ -9,5 +9,5 @@
 
 namespace omath::unity_engine
 {
-    using Camera =  projection::Camera<Mat4X4, ViewAngles, CameraTrait>;
+    using Camera = projection::Camera<Mat4X4, ViewAngles, CameraTrait>;
 } // namespace omath::unity_engine

include/omath/engines/unity_engine/formulas.hpp

@@ -23,4 +23,52 @@ namespace omath::unity_engine
 
     [[nodiscard]]
     Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far) noexcept;
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType units_to_centimeters(const FloatingType& units)
+    {
+        return units / static_cast<FloatingType>(100);
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType units_to_meters(const FloatingType& units)
+    {
+        return units;
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType units_to_kilometers(const FloatingType& units)
+    {
+        return units_to_meters(units) / static_cast<FloatingType>(1000);
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType centimeters_to_units(const FloatingType& centimeters)
+    {
+        return centimeters * static_cast<FloatingType>(100);
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType meters_to_units(const FloatingType& meters)
+    {
+        return meters;
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType kilometers_to_units(const FloatingType& kilometers)
+    {
+        return meters_to_units(kilometers * static_cast<FloatingType>(1000));
+    }
 } // namespace omath::unity_engine

include/omath/engines/unity_engine/primitives.hpp

@@ -0,0 +1,17 @@
+//
+// Created by Vladislav on 27.01.2026.
+//
+
+#pragma once
+#include "mesh.hpp"
+#include "omath/engines/unity_engine/traits/mesh_trait.hpp"
+#include "omath/linear_algebra/vector3.hpp"
+#include <array>
+namespace omath::unity_engine
+{
+    using BoxMesh = primitives::Mesh<Mat4X4, ViewAngles, MeshTrait, primitives::Vertex<>, std::array<Vector3<float>, 8>,
+                                     std::array<Vector3<std::uint32_t>, 12>>;
+
+    using PlaneMesh = primitives::Mesh<Mat4X4, ViewAngles, MeshTrait, primitives::Vertex<>,
+                           std::array<Vector3<float>, 4>, std::array<Vector3<std::uint32_t>, 2>>;
+} // namespace omath::unity_engine

include/omath/engines/unreal_engine/formulas.hpp

@@ -23,4 +23,52 @@ namespace omath::unreal_engine
 
     [[nodiscard]]
     Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far) noexcept;
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType units_to_centimeters(const FloatingType& units)
+    {
+        return units;
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType units_to_meters(const FloatingType& units)
+    {
+        return units / static_cast<FloatingType>(100);
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType units_to_kilometers(const FloatingType& units)
+    {
+        return units_to_meters(units) / static_cast<FloatingType>(1000);
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType centimeters_to_units(const FloatingType& centimeters)
+    {
+        return centimeters;
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType meters_to_units(const FloatingType& meters)
+    {
+        return meters * static_cast<FloatingType>(100);
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr FloatingType kilometers_to_units(const FloatingType& kilometers)
+    {
+        return meters_to_units(kilometers * static_cast<FloatingType>(1000));
+    }
 } // namespace omath::unreal_engine

include/omath/engines/unreal_engine/primitives.hpp

@@ -0,0 +1,17 @@
+//
+// Created by Vladislav on 27.01.2026.
+//
+
+#pragma once
+#include "mesh.hpp"
+#include "omath/engines/unreal_engine/traits/mesh_trait.hpp"
+#include "omath/linear_algebra/vector3.hpp"
+#include <array>
+namespace omath::unreal_engine
+{
+    using BoxMesh = primitives::Mesh<Mat4X4, ViewAngles, MeshTrait, primitives::Vertex<>, std::array<Vector3<float>, 8>,
+                                     std::array<Vector3<std::uint32_t>, 12>>;
+
+    using PlaneMesh = primitives::Mesh<Mat4X4, ViewAngles, MeshTrait, primitives::Vertex<>,
+                           std::array<Vector3<float>, 4>, std::array<Vector3<std::uint32_t>, 2>>;
+} // namespace omath::unreal_engine

include/omath/utility/elf_pattern_scan.hpp

@@ -0,0 +1,25 @@
+//
+// Created by Vladislav on 30.12.2025.
+//
+#pragma once
+#include <cstdint>
+#include <filesystem>
+#include <optional>
+#include <string_view>
+#include "section_scan_result.hpp"
+namespace omath
+{
+    class ElfPatternScanner final
+    {
+    public:
+        [[nodiscard]]
+        static std::optional<std::uintptr_t>
+        scan_for_pattern_in_loaded_module(const void* module_base_address, const std::string_view& pattern,
+                                          const std::string_view& target_section_name = ".text");
+
+        [[nodiscard]]
+        static std::optional<SectionScanResult>
+        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");
+    };
+} // namespace omath

include/omath/utility/macho_pattern_scan.hpp

@@ -0,0 +1,25 @@
+//
+// Created by Copilot on 04.02.2026.
+//
+#pragma once
+#include <cstdint>
+#include <filesystem>
+#include <optional>
+#include <string_view>
+#include "section_scan_result.hpp"
+namespace omath
+{
+    class MachOPatternScanner final
+    {
+    public:
+        [[nodiscard]]
+        static std::optional<std::uintptr_t>
+        scan_for_pattern_in_loaded_module(const void* module_base_address, const std::string_view& pattern,
+                                          const std::string_view& target_section_name = "__text");
+
+        [[nodiscard]]
+        static std::optional<SectionScanResult>
+        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");
+    };
+} // namespace omath

include/omath/utility/pe_pattern_scan.hpp

@@ -7,23 +7,20 @@
 #include <filesystem>
 #include <optional>
 #include <string_view>
+#include "section_scan_result.hpp"
 namespace omath
 {
-    struct PeSectionScanResult
-    {
-        std::uint64_t virtual_base_addr;
-        std::uint64_t raw_base_addr;
-        std::ptrdiff_t target_offset;
-    };
+
     class PePatternScanner final
     {
     public:
         [[nodiscard]]
-        static std::optional<std::uintptr_t> scan_for_pattern_in_loaded_module(const void* module_base_address,
-                                                                               const std::string_view& pattern);
+        static std::optional<std::uintptr_t>
+        scan_for_pattern_in_loaded_module(const void* module_base_address, const std::string_view& pattern,
+                                          const std::string_view& target_section_name = ".text");
 
         [[nodiscard]]
-        static std::optional<PeSectionScanResult>
+        static std::optional<SectionScanResult>
         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");
     };

include/omath/utility/section_scan_result.hpp

@@ -0,0 +1,16 @@
+//
+// Created by Vladislav on 01.01.2026.
+//
+
+#pragma once
+#include <cstddef>
+#include <cstdint>
+namespace omath
+{
+    struct SectionScanResult final
+    {
+        std::uintptr_t virtual_base_addr;
+        std::uintptr_t raw_base_addr;
+        std::ptrdiff_t target_offset;
+    };
+}

pixi.toml

@@ -0,0 +1,69 @@
+[workspace]
+name = "omath"
+version = "5.7.0"
+description = "Cross-platform modern general purpose math library written in C++23 that suitable for cheat/game development."
+authors = [
+    "orange-cpp <orange_github@proton.me>"
+]
+
+license = "Zlib"
+license-file = "LICENSE"
+readme = "README.md"
+documentation = "http://libomath.org"
+repository = "https://github.com/orange-cpp/omath"
+
+channels = ["conda-forge"]
+platforms = ["win-64", "linux-64", "linux-aarch64", "osx-64", "osx-arm64"]
+
+[tasks]
+format = { cwd = "pixi", cmd = "cmake -P fmt.cmake" }
+configure = { cmd = "cmake -G Ninja -B build -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DOMATH_USE_AVX2=OFF -DOMATH_IMGUI_INTEGRATION=ON -DOMATH_BUILD_TESTS=ON -DOMATH_BUILD_BENCHMARK=ON -DOMATH_BUILD_EXAMPLES=ON .", depends-on = ["format"] }
+build = { cmd = "cmake --build build --config Debug -j", depends-on = ["configure"] }
+examples = { cwd = "pixi", cmd = "cmake -DCMAKE_BUILD_TYPE=Debug -P run.examples.cmake", depends-on = ["build"] }
+tests = { cwd = "pixi", cmd = "cmake -DCMAKE_BUILD_TYPE=Debug -P run.unit.tests.cmake", depends-on = ["build"] }
+benchmark = { cwd = "pixi", cmd = "cmake -DCMAKE_BUILD_TYPE=Debug -P run.benchmark.cmake", depends-on = ["build"] }
+
+[dependencies]
+benchmark = ">=1.9.5,<2"
+ccache = ">=4.12.2,<5"
+cmake = ">=4.2.3,<5"
+cmake-format = ">=0.6.13,<0.7"
+cxx-compiler = ">=1.11.0,<2"
+imgui = ">=1.92.3,<2"
+gtest = ">=1.17.0,<2"
+glew = ">=2.3.0,<3"
+glfw = ">=3.4,<4"
+ninja = ">=1.13.2,<2"
+
+[target.linux-64.dependencies]
+mesa-libgl-devel-cos7-x86_64 = ">=18.3.4,<19"
+xorg-x11-server-xvfb-cos7-x86_64 = ">=1.20.4,<2"
+
+[target.linux-64.activation.env]
+__GLX_VENDOR_LIBRARY_NAME = "mesa"
+EGL_PLATFORM = "x11"
+GLFW_PLATFORM = "x11"
+
+[target.linux-64.tasks]
+examples = { cwd = "pixi", cmd = "xvfb-run -a -s '-screen 0 1024x768x24 +extension GLX +render' cmake -DCMAKE_BUILD_TYPE=Debug -P run.examples.cmake", depends-on = ["build"] }
+
+[target.win-64.dependencies]
+mesa-libgl-devel-cos7-x86_64 = ">=18.3.4,<19"
+
+[target.osx-64.dependencies]
+mesa-libgl-devel-cos7-x86_64 = ">=18.3.4,<19"
+
+[target.osx-arm64.dependencies]
+mesa-libgl-devel-cos7-aarch64 = ">=18.3.4,<19"
+
+[target.linux-aarch64.dependencies]
+mesa-libgl-devel-cos7-aarch64 = ">=18.3.4,<19"
+xorg-x11-server-xvfb-cos7-aarch64 = ">=1.20.4,<2"
+
+[target.linux-aarch64.activation.env]
+__GLX_VENDOR_LIBRARY_NAME = "mesa"
+EGL_PLATFORM = "x11"
+GLFW_PLATFORM = "x11"
+
+[target.linux-aarch64.tasks]
+examples = { cwd = "pixi", cmd = "xvfb-run -a -s '-screen 0 1024x768x24 +extension GLX +render' cmake -DCMAKE_BUILD_TYPE=Debug -P run.examples.cmake", depends-on = ["build"] }

pixi/fmt.cmake

@@ -0,0 +1,36 @@
+# cmake/Format.cmake
+
+# Find cmake-format executable
+find_program(CMAKE_FORMAT_EXECUTABLE NAMES cmake-format)
+
+if(NOT CMAKE_FORMAT_EXECUTABLE)
+    message(FATAL_ERROR "cmake-format not found. Please install it first.")
+endif()
+
+# Get the project root directory (assuming this script is in cmake/
+# subdirectory)
+get_filename_component(PROJECT_ROOT "../${CMAKE_CURRENT_LIST_DIR}" ABSOLUTE)
+
+# Iterate over all files in the project root
+file(GLOB_RECURSE ALL_FILES "${PROJECT_ROOT}/*")
+
+foreach(FILE ${ALL_FILES})
+    # Basic ignores for common directories to avoid formatting external/build
+    # files Note: We check for substrings in the full path
+    if("${FILE}" MATCHES "/\\.git/"
+       OR "${FILE}" MATCHES "/build/"
+       OR "${FILE}" MATCHES "/cmake-build/"
+       OR "${FILE}" MATCHES "/\\.pixi/"
+       OR "${FILE}" MATCHES "/vcpkg_installed/")
+        continue()
+    endif()
+
+    get_filename_component(FILENAME "${FILE}" NAME)
+
+    # Check if file ends with .cmake or matches exactly to CMakeLists.txt
+    if("${FILENAME}" STREQUAL "CMakeLists.txt" OR "${FILENAME}" MATCHES "\\.cmake$")
+        message(STATUS "Formatting ${FILE}")
+        execute_process(COMMAND ${CMAKE_FORMAT_EXECUTABLE} --config-files
+                                "${PROJECT_ROOT}/.cmake-format" -i "${FILE}")
+    endif()
+endforeach()

pixi/run.benchmark.cmake

@@ -0,0 +1,63 @@
+# cmake/run.examples.cmake
+
+# Get the project root directory (assuming this script is in cmake/ subdirectory)
+get_filename_component(PROJECT_ROOT "${CMAKE_CURRENT_LIST_DIR}/.." ABSOLUTE)
+
+# Default to Debug if CMAKE_BUILD_TYPE is not specified
+if(NOT CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE "Debug")
+else()
+    message(STATUS "CMAKE_BUILD_TYPE is set to: ${CMAKE_BUILD_TYPE}")
+endif()
+
+# Define the directory where executables are located
+# Based on CMakeLists.txt: "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+set(EXAMPLES_BIN_DIR "${PROJECT_ROOT}/out/${CMAKE_BUILD_TYPE}")
+
+if(NOT EXISTS "${EXAMPLES_BIN_DIR}")
+    message(FATAL_ERROR "Examples binary directory not found: ${EXAMPLES_BIN_DIR}. Please build the project first.")
+endif()
+
+message(STATUS "Looking for benchmark executables in: ${EXAMPLES_BIN_DIR}")
+
+# Find all files starting with "omath_benchmark"
+file(GLOB EXAMPLE_FILES "${EXAMPLES_BIN_DIR}/omath_benchmark*")
+
+foreach(EXAMPLE_PATH ${EXAMPLE_FILES})
+    # Skip directories
+    if(IS_DIRECTORY "${EXAMPLE_PATH}")
+        continue()
+    endif()
+
+    get_filename_component(FILENAME "${EXAMPLE_PATH}" NAME)
+    get_filename_component(EXTENSION "${EXAMPLE_PATH}" EXT)
+
+    # Filter out potential debug symbols or non-executable artifacts
+    if(EXTENSION STREQUAL ".pdb" OR EXTENSION STREQUAL ".ilk" OR EXTENSION STREQUAL ".obj")
+        continue()
+    endif()
+
+    # On Windows, we expect .exe
+    if(MSVC AND NOT EXTENSION STREQUAL ".exe")
+        continue()
+    endif()
+
+    # On Linux/macOS, check permissions or just try to run it.
+    
+    message(STATUS "-------------------------------------------------")
+    message(STATUS "Running benchmark: ${FILENAME}")
+    message(STATUS "-------------------------------------------------")
+
+    execute_process(
+        COMMAND "${EXAMPLE_PATH}"
+        WORKING_DIRECTORY "${PROJECT_ROOT}"
+        RESULT_VARIABLE EXIT_CODE
+    )
+
+    if(NOT EXIT_CODE EQUAL 0)
+        message(WARNING "Benchmark ${FILENAME} exited with error code: ${EXIT_CODE}")
+    else()
+        message(STATUS "Benchmark ${FILENAME} completed successfully.")
+    endif()
+
+endforeach()

pixi/run.examples.cmake

@@ -0,0 +1,63 @@
+# cmake/run.examples.cmake
+
+# Get the project root directory (assuming this script is in cmake/ subdirectory)
+get_filename_component(PROJECT_ROOT "${CMAKE_CURRENT_LIST_DIR}/.." ABSOLUTE)
+
+# Default to Debug if CMAKE_BUILD_TYPE is not specified
+if(NOT CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE "Debug")
+else()
+    message(STATUS "CMAKE_BUILD_TYPE is set to: ${CMAKE_BUILD_TYPE}")
+endif()
+
+# Define the directory where executables are located
+# Based on CMakeLists.txt: "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+set(EXAMPLES_BIN_DIR "${PROJECT_ROOT}/out/${CMAKE_BUILD_TYPE}")
+
+if(NOT EXISTS "${EXAMPLES_BIN_DIR}")
+    message(FATAL_ERROR "Examples binary directory not found: ${EXAMPLES_BIN_DIR}. Please build the project first.")
+endif()
+
+message(STATUS "Looking for example executables in: ${EXAMPLES_BIN_DIR}")
+
+# Find all files starting with "example_"
+file(GLOB EXAMPLE_FILES "${EXAMPLES_BIN_DIR}/example_*")
+
+foreach(EXAMPLE_PATH ${EXAMPLE_FILES})
+    # Skip directories
+    if(IS_DIRECTORY "${EXAMPLE_PATH}")
+        continue()
+    endif()
+
+    get_filename_component(FILENAME "${EXAMPLE_PATH}" NAME)
+    get_filename_component(EXTENSION "${EXAMPLE_PATH}" EXT)
+
+    # Filter out potential debug symbols or non-executable artifacts
+    if(EXTENSION STREQUAL ".pdb" OR EXTENSION STREQUAL ".ilk" OR EXTENSION STREQUAL ".obj")
+        continue()
+    endif()
+
+    # On Windows, we expect .exe
+    if(MSVC AND NOT EXTENSION STREQUAL ".exe")
+        continue()
+    endif()
+
+    # On Linux/macOS, check permissions or just try to run it.
+    
+    message(STATUS "-------------------------------------------------")
+    message(STATUS "Running example: ${FILENAME}")
+    message(STATUS "-------------------------------------------------")
+
+    execute_process(
+        COMMAND "${EXAMPLE_PATH}"
+        WORKING_DIRECTORY "${PROJECT_ROOT}"
+        RESULT_VARIABLE EXIT_CODE
+    )
+
+    if(NOT EXIT_CODE EQUAL 0)
+        message(WARNING "Example ${FILENAME} exited with error code: ${EXIT_CODE}")
+    else()
+        message(STATUS "Example ${FILENAME} completed successfully.")
+    endif()
+
+endforeach()

pixi/run.unit.tests.cmake

@@ -0,0 +1,63 @@
+# cmake/run.examples.cmake
+
+# Get the project root directory (assuming this script is in cmake/ subdirectory)
+get_filename_component(PROJECT_ROOT "${CMAKE_CURRENT_LIST_DIR}/.." ABSOLUTE)
+
+# Default to Debug if CMAKE_BUILD_TYPE is not specified
+if(NOT CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE "Debug")
+else()
+    message(STATUS "CMAKE_BUILD_TYPE is set to: ${CMAKE_BUILD_TYPE}")
+endif()
+
+# Define the directory where executables are located
+# Based on CMakeLists.txt: "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+set(EXAMPLES_BIN_DIR "${PROJECT_ROOT}/out/${CMAKE_BUILD_TYPE}")
+
+if(NOT EXISTS "${EXAMPLES_BIN_DIR}")
+    message(FATAL_ERROR "Examples binary directory not found: ${EXAMPLES_BIN_DIR}. Please build the project first.")
+endif()
+
+message(STATUS "Looking for unit test executables in: ${EXAMPLES_BIN_DIR}")
+
+# Find all files starting with "unit_tests"
+file(GLOB EXAMPLE_FILES "${EXAMPLES_BIN_DIR}/unit_tests*")
+
+foreach(EXAMPLE_PATH ${EXAMPLE_FILES})
+    # Skip directories
+    if(IS_DIRECTORY "${EXAMPLE_PATH}")
+        continue()
+    endif()
+
+    get_filename_component(FILENAME "${EXAMPLE_PATH}" NAME)
+    get_filename_component(EXTENSION "${EXAMPLE_PATH}" EXT)
+
+    # Filter out potential debug symbols or non-executable artifacts
+    if(EXTENSION STREQUAL ".pdb" OR EXTENSION STREQUAL ".ilk" OR EXTENSION STREQUAL ".obj")
+        continue()
+    endif()
+
+    # On Windows, we expect .exe
+    if(MSVC AND NOT EXTENSION STREQUAL ".exe")
+        continue()
+    endif()
+
+    # On Linux/macOS, check permissions or just try to run it.
+    
+    message(STATUS "-------------------------------------------------")
+    message(STATUS "Running unit_tests: ${FILENAME}")
+    message(STATUS "-------------------------------------------------")
+
+    execute_process(
+        COMMAND "${EXAMPLE_PATH}"
+        WORKING_DIRECTORY "${PROJECT_ROOT}"
+        RESULT_VARIABLE EXIT_CODE
+    )
+
+    if(NOT EXIT_CODE EQUAL 0)
+        message(WARNING "Example ${FILENAME} exited with error code: ${EXIT_CODE}")
+    else()
+        message(STATUS "Example ${FILENAME} completed successfully.")
+    endif()
+
+endforeach()

scripts/valgrind.sh

@@ -0,0 +1,77 @@
+#!/bin/bash
+
+# =============================================================================
+# Local Reproduction of "Valgrind Analysis" GitHub Action
+# =============================================================================
+
+# Stop on error, undefined variables, or pipe failures
+set -euo pipefail
+
+# --- 1. Environment Setup ---
+
+# Determine VCPKG_ROOT
+# If VCPKG_ROOT is not set in your shell, we check if a local folder exists.
+if [[ -z "${VCPKG_ROOT:-}" ]]; then
+    if [[ -d "./vcpkg" ]]; then
+        export VCPKG_ROOT="$(pwd)/vcpkg"
+        echo "Found local vcpkg at: $VCPKG_ROOT"
+        
+        # Bootstrap vcpkg if the executable doesn't exist
+        if [[ ! -f "$VCPKG_ROOT/vcpkg" ]]; then
+            echo "Bootstrapping vcpkg..."
+            "$VCPKG_ROOT/bootstrap-vcpkg.sh"
+        fi
+    else
+        echo "Error: VCPKG_ROOT is not set and ./vcpkg directory not found."
+        echo "Please install vcpkg or set the VCPKG_ROOT environment variable."
+        exit 1
+    fi
+else
+    echo "Using existing VCPKG_ROOT: $VCPKG_ROOT"
+fi
+
+# Set the build directory matching the YAML's preset expectation
+# Assuming the preset writes to: cmake-build/build/linux-release-vcpkg
+BUILD_DIR="cmake-build/build/linux-release-vcpkg"
+
+# Check if Valgrind is installed
+if ! command -v valgrind &> /dev/null; then
+    echo "Error: valgrind is not installed. Please install it (e.g., sudo apt install valgrind)."
+    exit 1
+fi
+
+echo "----------------------------------------------------"
+echo "Starting Configuration (Debug Build with Valgrind)..."
+echo "----------------------------------------------------"
+
+# --- 2. Configure (CMake) ---
+# We force CMAKE_BUILD_TYPE=Debug even though the preset says 'release'
+# to ensure Valgrind has access to debug symbols (line numbers).
+
+cmake --preset linux-release-vcpkg \
+    -DCMAKE_BUILD_TYPE=Debug \
+    -DOMATH_BUILD_EXAMPLES=OFF \
+    -DOMATH_BUILD_TESTS=ON \
+    -DOMATH_BUILD_BENCHMARK=ON \
+    -DOMATH_ENABLE_VALGRIND=ON \
+    -DVCPKG_MANIFEST_FEATURES="imgui;avx2;tests;benchmark"
+
+echo "----------------------------------------------------"
+echo "Building Targets..."
+echo "----------------------------------------------------"
+
+# --- 3. Build ---
+# Using the specific build directory defined by the preset structure
+cmake --build "$BUILD_DIR"
+
+echo "----------------------------------------------------"
+echo "Running Valgrind Analysis..."
+echo "----------------------------------------------------"
+
+# --- 4. Run Valgrind ---
+# Runs the specific custom target defined in your CMakeLists.txt
+cmake --build "$BUILD_DIR" --target valgrind_all
+
+echo "----------------------------------------------------"
+echo "Valgrind Analysis Complete."
+echo "----------------------------------------------------"

source/3d_primitives/box.cpp

@@ -1,54 +0,0 @@
-//
-// Created by Vlad on 4/18/2025.
-//
-#include "omath/3d_primitives/box.hpp"
-
-namespace omath::primitives
-{
-    std::array<Triangle<Vector3<float>>, 12> create_box(const Vector3<float>& top, const Vector3<float>& bottom,
-                                                        const Vector3<float>& dir_forward,
-                                                        const Vector3<float>& dir_right, const float ratio) noexcept
-    {
-        const auto height = top.distance_to(bottom);
-        const auto side_size = height / ratio;
-
-        // corner layout (0‑3 bottom, 4‑7 top)
-        std::array<Vector3<float>, 8> p;
-        p[0] = bottom + (dir_forward + dir_right) * side_size; // front‑right‑bottom
-        p[1] = bottom + (dir_forward - dir_right) * side_size; // front‑left‑bottom
-        p[2] = bottom + (-dir_forward + dir_right) * side_size; // back‑right‑bottom
-        p[3] = bottom + (-dir_forward - dir_right) * side_size; // back‑left‑bottom
-        p[4] = top + (dir_forward + dir_right) * side_size; // front‑right‑top
-        p[5] = top + (dir_forward - dir_right) * side_size; // front‑left‑top
-        p[6] = top + (-dir_forward + dir_right) * side_size; // back‑right‑top
-        p[7] = top + (-dir_forward - dir_right) * side_size; // back‑left‑top
-
-        std::array<Triangle<Vector3<float>>, 12> poly;
-
-        // bottom face (+Y up ⇒ wind CW when viewed from above)
-        poly[0] = {p[0], p[2], p[3]};
-        poly[1] = {p[0], p[3], p[1]};
-
-        // top face
-        poly[2] = {p[4], p[7], p[6]};
-        poly[3] = {p[4], p[5], p[7]};
-
-        // front face
-        poly[4] = {p[0], p[5], p[1]};
-        poly[5] = {p[0], p[4], p[5]};
-
-        // right face
-        poly[6] = {p[0], p[6], p[2]};
-        poly[7] = {p[0], p[4], p[6]};
-
-        // back face
-        poly[8] = {p[2], p[7], p[3]};
-        poly[9] = {p[2], p[6], p[7]};
-
-        // left face
-        poly[10] = {p[1], p[7], p[5]};
-        poly[11] = {p[1], p[3], p[7]};
-
-        return poly;
-    }
-} // namespace omath::primitives

source/3d_primitives/plane.cpp

@@ -1,19 +0,0 @@
-//
-// 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

@@ -1,61 +0,0 @@
-//
-// Created by Orange on 11/13/2024.
-//
-#include "omath/collision/line_tracer.hpp"
-
-namespace omath::collision
-{
-    bool LineTracer::can_trace_line(const Ray& ray, const Triangle<Vector3<float>>& triangle) noexcept
-    {
-        return get_ray_hit_point(ray, triangle) == ray.end;
-    }
-    Vector3<float> Ray::direction_vector() const noexcept
-    {
-        return end - start;
-    }
-
-    Vector3<float> Ray::direction_vector_normalized() const noexcept
-    {
-        return direction_vector().normalized();
-    }
-
-    Vector3<float> LineTracer::get_ray_hit_point(const Ray& ray, const Triangle<Vector3<float>>& triangle) noexcept
-    {
-        constexpr float k_epsilon = std::numeric_limits<float>::epsilon();
-
-        const auto side_a = triangle.side_a_vector();
-        const auto side_b = triangle.side_b_vector();
-
-        const auto ray_dir = ray.direction_vector();
-
-        const auto p = ray_dir.cross(side_b);
-        const auto det = side_a.dot(p);
-
-        if (std::abs(det) < k_epsilon)
-            return ray.end;
-
-        const auto inv_det = 1.0f / det;
-        const auto t = ray.start - triangle.m_vertex2;
-        const auto u = t.dot(p) * inv_det;
-
-        if ((u < 0 && std::abs(u) > k_epsilon) || (u > 1 && std::abs(u - 1) > k_epsilon))
-            return ray.end;
-
-        const auto q = t.cross(side_a);
-        // ReSharper disable once CppTooWideScopeInitStatement
-        const auto v = ray_dir.dot(q) * inv_det;
-
-        if ((v < 0 && std::abs(v) > k_epsilon) || (u + v > 1 && std::abs(u + v - 1) > k_epsilon))
-            return ray.end;
-
-        const auto t_hit = side_b.dot(q) * inv_det;
-
-        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;
-    }
-} // namespace omath::collision

source/utility/elf_pattern_scan.cpp

@@ -0,0 +1,325 @@
+//
+// Created by Vladislav on 30.12.2025.
+//
+#include "omath/utility/pattern_scan.hpp"
+#include <array>
+#include <fstream>
+#include <omath/utility/elf_pattern_scan.hpp>
+#include <utility>
+#include <variant>
+#include <vector>
+
+#pragma pack(push, 1)
+
+namespace
+{
+    // Common
+    constexpr uint8_t ei_nident = 16;
+    constexpr uint8_t ei_class = 4;
+
+    constexpr uint8_t elfclass32 = 1;
+    constexpr uint8_t elfclass64 = 2;
+    // ReSharper disable CppDeclaratorNeverUsed
+    struct Elf32Ehdr final
+    {
+        unsigned char e_ident[ei_nident];
+        uint16_t e_type;
+        uint16_t e_machine;
+        uint32_t e_version;
+        uint32_t e_entry;
+        uint32_t e_phoff;
+        uint32_t e_shoff;
+        uint32_t e_flags;
+        uint16_t e_ehsize;
+        uint16_t e_phentsize;
+        uint16_t e_phnum;
+        uint16_t e_shentsize;
+        uint16_t e_shnum;
+        uint16_t e_shstrndx;
+    };
+
+    struct Elf64Ehdr final
+    {
+        unsigned char e_ident[ei_nident];
+        uint16_t e_type;
+        uint16_t e_machine;
+        uint32_t e_version;
+        uint64_t e_entry;
+        uint64_t e_phoff;
+        uint64_t e_shoff;
+        uint32_t e_flags;
+        uint16_t e_ehsize;
+        uint16_t e_phentsize;
+        uint16_t e_phnum;
+        uint16_t e_shentsize;
+        uint16_t e_shnum;
+        uint16_t e_shstrndx;
+    };
+
+    struct Elf32Shdr final
+    {
+        uint32_t sh_name;
+        uint32_t sh_type;
+        uint32_t sh_flags;
+        uint32_t sh_addr;
+        uint32_t sh_offset;
+        uint32_t sh_size;
+        uint32_t sh_link;
+        uint32_t sh_info;
+        uint32_t sh_addralign;
+        uint32_t sh_entsize;
+    };
+
+    struct Elf64Shdr final
+    {
+        uint32_t sh_name;
+        uint32_t sh_type;
+        uint64_t sh_flags;
+        uint64_t sh_addr;
+        uint64_t sh_offset;
+        uint64_t sh_size;
+        uint32_t sh_link;
+        uint32_t sh_info;
+        uint64_t sh_addralign;
+        uint64_t sh_entsize;
+    };
+    // ReSharper restore CppDeclaratorNeverUsed
+#pragma pack(pop)
+} // namespace
+
+namespace
+{
+    enum class FileArch : std::int8_t
+    {
+        x32,
+        x64,
+    };
+    template<FileArch arch>
+    struct ElfHeaders
+    {
+        using FileHeader = std::conditional_t<arch == FileArch::x64, Elf64Ehdr, Elf32Ehdr>;
+        using SectionHeader = std::conditional_t<arch == FileArch::x64, Elf64Shdr, Elf32Shdr>;
+        FileHeader file_header;
+        SectionHeader section_header;
+    };
+    [[nodiscard]]
+    bool not_elf_file(std::fstream& file)
+    {
+        constexpr std::string_view valid_elf_signature = "\x7F"
+                                                         "ELF";
+        std::array<char, valid_elf_signature.size() + 1> elf_signature{};
+        const std::streampos back_up_pose = file.tellg();
+
+        file.seekg(0, std::ios_base::beg);
+        file.read(elf_signature.data(), 4);
+        file.seekg(back_up_pose, std::ios_base::beg);
+
+        return std::string_view{elf_signature.data(), 4} != valid_elf_signature;
+    }
+    [[nodiscard]]
+    std::optional<FileArch> get_file_arch(std::fstream& file)
+    {
+        std::array<char, ei_nident> e_ident{};
+        const std::streampos back_up_pose = file.tellg();
+
+        file.seekg(0, std::ios_base::beg);
+        file.read(e_ident.data(), e_ident.size());
+        file.seekg(back_up_pose, std::ios_base::beg);
+
+        if (e_ident[ei_class] == elfclass64)
+            return FileArch::x64;
+
+        if (e_ident[ei_class] == elfclass32)
+            return FileArch::x32;
+
+        return std::nullopt;
+    }
+    struct ExtractedSection final
+    {
+        std::uintptr_t virtual_base_addr{};
+        std::uintptr_t raw_base_addr{};
+        std::vector<std::byte> data;
+    };
+    [[maybe_unused]]
+    std::optional<ExtractedSection> get_elf_section_by_name(const std::filesystem::path& path,
+                                                            const std::string_view& section_name)
+    {
+        std::fstream file(path, std::ios::binary | std::ios::in);
+
+        if (!file.is_open()) [[unlikely]]
+            return std::nullopt;
+
+        if (not_elf_file(file)) [[unlikely]]
+            return std::nullopt;
+
+        const auto architecture = get_file_arch(file);
+
+        if (!architecture.has_value()) [[unlikely]]
+            return std::nullopt;
+
+        std::variant<ElfHeaders<FileArch::x64>, ElfHeaders<FileArch::x32>> elf_headers;
+        if (architecture.value() == FileArch::x64)
+            elf_headers = ElfHeaders<FileArch::x64>{};
+        else if (architecture.value() == FileArch::x32)
+            elf_headers = ElfHeaders<FileArch::x32>{};
+
+        return std::visit(
+                [&](auto& header) -> std::optional<ExtractedSection>
+                {
+                    auto& [file_header, section_header] = header;
+                    file.seekg(0, std::ios_base::beg);
+                    if (!file.read(reinterpret_cast<char*>(&file_header), sizeof(file_header))) [[unlikely]]
+                        return std::nullopt;
+
+                    const std::streamoff shstr_off =
+                            static_cast<std::streamoff>(file_header.e_shoff)
+                            + static_cast<std::streamoff>(file_header.e_shstrndx) * sizeof(section_header);
+                    file.seekg(shstr_off, std::ios_base::beg);
+
+                    if (!file.read(reinterpret_cast<char*>(&section_header), sizeof(section_header))) [[unlikely]]
+                        return std::nullopt;
+
+                    std::vector<char> shstrtab(static_cast<std::size_t>(section_header.sh_size));
+
+                    file.seekg(section_header.sh_offset, std::ios_base::beg);
+
+                    if (!file.read(shstrtab.data(), static_cast<std::streamsize>(shstrtab.size()))) [[unlikely]]
+                        return std::nullopt;
+
+                    for (std::uint16_t i = 0; i < file_header.e_shnum; ++i)
+                    {
+                        decltype(section_header) current_section{};
+                        const std::streamoff off = static_cast<std::streamoff>(file_header.e_shoff)
+                                                   + static_cast<std::streamoff>(i) * sizeof(current_section);
+
+                        file.seekg(off, std::ios_base::beg);
+                        if (!file.read(reinterpret_cast<char*>(&current_section), sizeof(current_section))) [[unlikely]]
+                            return std::nullopt;
+
+                        if (current_section.sh_name >= shstrtab.size()) [[unlikely]]
+                            continue;
+
+                        // ReSharper disable once CppTooWideScopeInitStatement
+                        const std::string_view name = &shstrtab[current_section.sh_name];
+                        if (section_name != name)
+                            continue;
+
+                        ExtractedSection out;
+
+                        out.virtual_base_addr = static_cast<std::uintptr_t>(current_section.sh_addr);
+                        out.raw_base_addr = static_cast<std::uintptr_t>(current_section.sh_offset);
+                        out.data.resize(static_cast<std::size_t>(current_section.sh_size));
+
+                        file.seekg(static_cast<std::streamoff>(out.raw_base_addr), std::ios_base::beg);
+                        if (!file.read(reinterpret_cast<char*>(out.data.data()),
+                                       static_cast<std::streamsize>(out.data.size()))) [[unlikely]]
+                            return std::nullopt;
+
+                        return out;
+                    }
+                    return std::nullopt;
+                },
+                elf_headers);
+    }
+
+    template<class FileHeader, class SectionHeader>
+    std::optional<std::uintptr_t> scan_in_module_impl(const std::byte* base, const std::string_view pattern,
+                                                      const std::string_view target_section_name)
+    {
+        const auto* file_header = reinterpret_cast<const FileHeader*>(base);
+
+        const auto shoff = static_cast<std::size_t>(file_header->e_shoff);
+        const auto shnum = static_cast<std::size_t>(file_header->e_shnum);
+        const auto shstrnd = static_cast<std::size_t>(file_header->e_shstrndx);
+
+        const auto shstrtab_off = shoff + shstrnd * sizeof(SectionHeader);
+        const auto* shstrtab_hdr = reinterpret_cast<const SectionHeader*>(base + shstrtab_off);
+
+        const auto shstrtab = reinterpret_cast<const char*>(base + static_cast<std::size_t>(shstrtab_hdr->sh_offset));
+
+        const auto shstrtab_size = static_cast<std::size_t>(shstrtab_hdr->sh_size);
+
+        for (std::size_t i = 0; i < shnum; ++i)
+        {
+            const auto section_off = shoff + i * sizeof(SectionHeader);
+            const auto* section = reinterpret_cast<const SectionHeader*>(base + section_off);
+
+            if (section->sh_size == 0)
+                continue;
+
+            if (std::cmp_greater_equal(section->sh_name, shstrtab_size))
+                continue;
+
+            if (std::string_view{shstrtab + section->sh_name} != target_section_name)
+                continue;
+
+            const auto* section_begin = base + static_cast<std::size_t>(section->sh_addr);
+            const auto* section_end = section_begin + static_cast<std::size_t>(section->sh_size);
+
+            const auto scan_result = omath::PatternScanner::scan_for_pattern(section_begin, section_end, pattern);
+            if (scan_result == section_end)
+                return std::nullopt;
+
+            return reinterpret_cast<std::uintptr_t>(scan_result);
+        }
+
+        return std::nullopt;
+    }
+} // namespace
+namespace omath
+{
+    std::optional<std::uintptr_t>
+    ElfPatternScanner::scan_for_pattern_in_loaded_module(const void* module_base_address,
+                                                         const std::string_view& pattern,
+                                                         const std::string_view& target_section_name)
+    {
+        if (module_base_address == nullptr) [[unlikely]]
+            return std::nullopt;
+
+        const auto* base = static_cast<const std::byte*>(module_base_address);
+
+        // Validate ELF signature.
+        constexpr std::string_view valid_elf_signature = "\x7F"
+                                                         "ELF";
+        if (std::string_view{reinterpret_cast<const char*>(base), valid_elf_signature.size()} != valid_elf_signature)
+            return std::nullopt;
+
+        // Detect architecture.
+        const auto ei_class_value = static_cast<uint8_t>(base[ei_class]);
+        const auto arch = ei_class_value == elfclass64   ? FileArch::x64
+                          : ei_class_value == elfclass32 ? FileArch::x32
+                                                         : std::optional<FileArch>{};
+        if (!arch.has_value()) [[unlikely]]
+            return std::nullopt;
+
+        if (arch == FileArch::x64)
+            return scan_in_module_impl<Elf64Ehdr, Elf64Shdr>(static_cast<const std::byte*>(module_base_address),
+                                                             pattern, target_section_name);
+        if (arch == FileArch::x32)
+            return scan_in_module_impl<Elf32Ehdr, Elf32Shdr>(static_cast<const std::byte*>(module_base_address),
+                                                             pattern, target_section_name);
+
+        std::unreachable();
+    }
+    std::optional<SectionScanResult>
+    ElfPatternScanner::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 = get_elf_section_by_name(path_to_file, target_section_name);
+
+        if (!pe_section.has_value()) [[unlikely]]
+            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 SectionScanResult{.virtual_base_addr = pe_section->virtual_base_addr,
+                                 .raw_base_addr = pe_section->raw_base_addr,
+                                 .target_offset = offset};
+    }
+} // namespace omath

source/utility/macho_pattern_scan.cpp

@@ -0,0 +1,349 @@
+//
+// Created by Copilot on 04.02.2026.
+//
+#include "omath/utility/macho_pattern_scan.hpp"
+#include "omath/utility/pattern_scan.hpp"
+#include <cstring>
+#include <fstream>
+#include <variant>
+#include <vector>
+
+#pragma pack(push, 1)
+
+namespace
+{
+    // Mach-O magic numbers
+    constexpr std::uint32_t mh_magic_32 = 0xFEEDFACE;
+    constexpr std::uint32_t mh_magic_64 = 0xFEEDFACF;
+    constexpr std::uint32_t mh_cigam_32 = 0xCEFAEDFE; // Byte-swapped 32-bit
+    constexpr std::uint32_t mh_cigam_64 = 0xCFFAEDFE; // Byte-swapped 64-bit
+
+    // Load command types
+    constexpr std::uint32_t lc_segment = 0x1;
+    constexpr std::uint32_t lc_segment_64 = 0x19;
+
+    // ReSharper disable CppDeclaratorNeverUsed
+    // Mach-O header for 32-bit
+    struct MachHeader32 final
+    {
+        std::uint32_t magic;
+        std::uint32_t cputype;
+        std::uint32_t cpusubtype;
+        std::uint32_t filetype;
+        std::uint32_t ncmds;
+        std::uint32_t sizeofcmds;
+        std::uint32_t flags;
+    };
+
+    // Mach-O header for 64-bit
+    struct MachHeader64 final
+    {
+        std::uint32_t magic;
+        std::uint32_t cputype;
+        std::uint32_t cpusubtype;
+        std::uint32_t filetype;
+        std::uint32_t ncmds;
+        std::uint32_t sizeofcmds;
+        std::uint32_t flags;
+        std::uint32_t reserved;
+    };
+
+    // Load command header
+    struct LoadCommand final
+    {
+        std::uint32_t cmd;
+        std::uint32_t cmdsize;
+    };
+
+    // Segment command for 32-bit
+    struct SegmentCommand32 final
+    {
+        std::uint32_t cmd;
+        std::uint32_t cmdsize;
+        char segname[16];
+        std::uint32_t vmaddr;
+        std::uint32_t vmsize;
+        std::uint32_t fileoff;
+        std::uint32_t filesize;
+        std::uint32_t maxprot;
+        std::uint32_t initprot;
+        std::uint32_t nsects;
+        std::uint32_t flags;
+    };
+
+    // Segment command for 64-bit
+    struct SegmentCommand64 final
+    {
+        std::uint32_t cmd;
+        std::uint32_t cmdsize;
+        char segname[16];
+        std::uint64_t vmaddr;
+        std::uint64_t vmsize;
+        std::uint64_t fileoff;
+        std::uint64_t filesize;
+        std::uint32_t maxprot;
+        std::uint32_t initprot;
+        std::uint32_t nsects;
+        std::uint32_t flags;
+    };
+
+    // Section for 32-bit
+    struct Section32 final
+    {
+        char sectname[16];
+        char segname[16];
+        std::uint32_t addr;
+        std::uint32_t size;
+        std::uint32_t offset;
+        std::uint32_t align;
+        std::uint32_t reloff;
+        std::uint32_t nreloc;
+        std::uint32_t flags;
+        std::uint32_t reserved1;
+        std::uint32_t reserved2;
+    };
+
+    // Section for 64-bit
+    struct Section64 final
+    {
+        char sectname[16];
+        char segname[16];
+        std::uint64_t addr;
+        std::uint64_t size;
+        std::uint32_t offset;
+        std::uint32_t align;
+        std::uint32_t reloff;
+        std::uint32_t nreloc;
+        std::uint32_t flags;
+        std::uint32_t reserved1;
+        std::uint32_t reserved2;
+        std::uint32_t reserved3;
+    };
+    // ReSharper enable CppDeclaratorNeverUsed
+#pragma pack(pop)
+
+    enum class MachOArch : std::int8_t
+    {
+        x32,
+        x64,
+    };
+
+    struct ExtractedSection final
+    {
+        std::uintptr_t virtual_base_addr{};
+        std::uintptr_t raw_base_addr{};
+        std::vector<std::byte> data;
+    };
+
+    [[nodiscard]]
+    std::optional<MachOArch> get_macho_arch(std::fstream& file)
+    {
+        std::uint32_t magic{};
+        const std::streampos backup_pos = file.tellg();
+
+        file.seekg(0, std::ios_base::beg);
+        file.read(reinterpret_cast<char*>(&magic), sizeof(magic));
+        file.seekg(backup_pos, std::ios_base::beg);
+
+        if (magic == mh_magic_64 || magic == mh_cigam_64)
+            return MachOArch::x64;
+
+        if (magic == mh_magic_32 || magic == mh_cigam_32)
+            return MachOArch::x32;
+
+        return std::nullopt;
+    }
+
+    [[nodiscard]]
+    bool is_macho_file(std::fstream& file)
+    {
+        return get_macho_arch(file).has_value();
+    }
+
+    [[nodiscard]]
+    std::string_view get_section_name(const char* sectname)
+    {
+        // Mach-O section names are fixed 16-byte arrays, not necessarily null-terminated
+        return std::string_view(sectname, std::min(std::strlen(sectname), std::size_t{16}));
+    }
+
+    template<typename HeaderType, typename SegmentType, typename SectionType, std::uint32_t segment_cmd>
+    std::optional<ExtractedSection> extract_section_impl(std::fstream& file, const std::string_view& section_name)
+    {
+        HeaderType header{};
+        file.seekg(0, std::ios_base::beg);
+        if (!file.read(reinterpret_cast<char*>(&header), sizeof(header))) [[unlikely]]
+            return std::nullopt;
+
+        std::streamoff cmd_offset = sizeof(header);
+
+        for (std::uint32_t i = 0; i < header.ncmds; ++i)
+        {
+            LoadCommand lc{};
+            file.seekg(cmd_offset, std::ios_base::beg);
+            if (!file.read(reinterpret_cast<char*>(&lc), sizeof(lc))) [[unlikely]]
+                return std::nullopt;
+
+            if (lc.cmd != segment_cmd)
+            {
+                cmd_offset += static_cast<std::streamoff>(lc.cmdsize);
+                continue;
+            }
+            SegmentType segment{};
+            file.seekg(cmd_offset, std::ios_base::beg);
+            if (!file.read(reinterpret_cast<char*>(&segment), sizeof(segment))) [[unlikely]]
+                return std::nullopt;
+
+            if (!segment.nsects)
+            {
+                cmd_offset += static_cast<std::streamoff>(lc.cmdsize);
+                continue;
+            }
+            std::streamoff sect_offset = cmd_offset + static_cast<std::streamoff>(sizeof(segment));
+
+            for (std::uint32_t j = 0; j < segment.nsects; ++j)
+            {
+                SectionType section{};
+                file.seekg(sect_offset, std::ios_base::beg);
+                if (!file.read(reinterpret_cast<char*>(&section), sizeof(section))) [[unlikely]]
+                    return std::nullopt;
+
+                if (get_section_name(section.sectname) != section_name)
+                {
+                    sect_offset += static_cast<std::streamoff>(sizeof(section));
+                    continue;
+                }
+
+                ExtractedSection out;
+                out.virtual_base_addr = static_cast<std::uintptr_t>(section.addr);
+                out.raw_base_addr = static_cast<std::uintptr_t>(section.offset);
+                out.data.resize(static_cast<std::size_t>(section.size));
+
+                file.seekg(static_cast<std::streamoff>(section.offset), std::ios_base::beg);
+                if (!file.read(reinterpret_cast<char*>(out.data.data()), static_cast<std::streamsize>(out.data.size())))
+                        [[unlikely]]
+                    return std::nullopt;
+
+                return out;
+            }
+        }
+
+        return std::nullopt;
+    }
+
+    [[nodiscard]]
+    std::optional<ExtractedSection> get_macho_section_by_name(const std::filesystem::path& path,
+                                                              const std::string_view& section_name)
+    {
+        std::fstream file(path, std::ios::binary | std::ios::in);
+
+        if (!file.is_open()) [[unlikely]]
+            return std::nullopt;
+
+        if (!is_macho_file(file)) [[unlikely]]
+            return std::nullopt;
+
+        const auto arch = get_macho_arch(file);
+
+        if (!arch.has_value()) [[unlikely]]
+            return std::nullopt;
+
+        if (arch.value() == MachOArch::x64)
+            return extract_section_impl<MachHeader64, SegmentCommand64, Section64, lc_segment_64>(file, section_name);
+        return extract_section_impl<MachHeader32, SegmentCommand32, Section32, lc_segment>(file, section_name);
+    }
+
+    template<typename HeaderType, typename SegmentType, typename SectionType, std::uint32_t segment_cmd>
+    std::optional<std::uintptr_t> scan_in_module_impl(const std::byte* base, const std::string_view pattern,
+                                                      const std::string_view target_section_name)
+    {
+        const auto* header = reinterpret_cast<const HeaderType*>(base);
+
+        std::size_t cmd_offset = sizeof(HeaderType);
+
+        for (std::uint32_t i = 0; i < header->ncmds; ++i)
+        {
+            const auto* lc = reinterpret_cast<const LoadCommand*>(base + cmd_offset);
+
+            if (lc->cmd != segment_cmd)
+            {
+                cmd_offset += lc->cmdsize;
+                continue;
+            }
+            const auto* segment = reinterpret_cast<const SegmentType*>(base + cmd_offset);
+            std::size_t sect_offset = cmd_offset + sizeof(SegmentType);
+
+            for (std::uint32_t j = 0; j < segment->nsects; ++j)
+            {
+                const auto* section = reinterpret_cast<const SectionType*>(base + sect_offset);
+
+                if (get_section_name(section->sectname) != target_section_name && section->size > 0)
+                {
+                    sect_offset += sizeof(SectionType);
+                    continue;
+                }
+                const auto* section_begin = base + static_cast<std::size_t>(section->addr);
+                const auto* section_end = section_begin + static_cast<std::size_t>(section->size);
+
+                const auto scan_result = omath::PatternScanner::scan_for_pattern(section_begin, section_end, pattern);
+
+                if (scan_result != section_end)
+                    return reinterpret_cast<std::uintptr_t>(scan_result);
+            }
+        }
+
+        return std::nullopt;
+    }
+
+} // namespace
+
+namespace omath
+{
+    std::optional<std::uintptr_t>
+    MachOPatternScanner::scan_for_pattern_in_loaded_module(const void* module_base_address,
+                                                           const std::string_view& pattern,
+                                                           const std::string_view& target_section_name)
+    {
+        if (module_base_address == nullptr) [[unlikely]]
+            return std::nullopt;
+
+        const auto* base = static_cast<const std::byte*>(module_base_address);
+
+        // Read magic to determine architecture
+        std::uint32_t magic{};
+        std::memcpy(&magic, base, sizeof(magic));
+
+        if (magic == mh_magic_64 || magic == mh_cigam_64)
+            return scan_in_module_impl<MachHeader64, SegmentCommand64, Section64, lc_segment_64>(base, pattern,
+                                                                                                 target_section_name);
+
+        if (magic == mh_magic_32 || magic == mh_cigam_32)
+            return scan_in_module_impl<MachHeader32, SegmentCommand32, Section32, lc_segment>(base, pattern,
+                                                                                              target_section_name);
+
+        return std::nullopt;
+    }
+
+    std::optional<SectionScanResult>
+    MachOPatternScanner::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 macho_section = get_macho_section_by_name(path_to_file, target_section_name);
+
+        if (!macho_section.has_value()) [[unlikely]]
+            return std::nullopt;
+
+        const auto scan_result =
+                PatternScanner::scan_for_pattern(macho_section->data.cbegin(), macho_section->data.cend(), pattern);
+
+        if (scan_result == macho_section->data.cend())
+            return std::nullopt;
+
+        const auto offset = std::distance(macho_section->data.begin(), scan_result);
+
+        return SectionScanResult{.virtual_base_addr = macho_section->virtual_base_addr,
+                                 .raw_base_addr = macho_section->raw_base_addr,
+                                 .target_offset = offset};
+    }
+} // namespace omath

source/utility/pe_pattern_scan.cpp

@@ -237,10 +237,10 @@ namespace
                           variant);
     }
 
-    struct ExtractedSection
+    struct ExtractedSection final
     {
-        std::uint64_t virtual_base_addr;
-        std::uint64_t raw_base_addr;
+        std::uintptr_t virtual_base_addr;
+        std::uintptr_t raw_base_addr;
         std::vector<std::byte> data;
     };
 
@@ -261,7 +261,7 @@ namespace
 
         const auto nt_headers = get_nt_header_from_file(file, dos_header);
 
-        if (!nt_headers)
+        if (!nt_headers) [[unlikely]]
             return std::nullopt;
 
         if (invalid_nt_header_file(nt_headers.value())) [[unlikely]]
@@ -290,10 +290,11 @@ namespace
                         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 ExtractedSection{.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 ExtractedSection{
+                                .virtual_base_addr = static_cast<std::uintptr_t>(
+                                        current_section.virtual_address + concrete_headers.optional_header.image_base),
+                                .raw_base_addr = static_cast<std::uintptr_t>(current_section.ptr_raw_data),
+                                .data = std::move(section_data)};
                     }
                     return std::nullopt;
                 },
@@ -304,46 +305,71 @@ namespace
 namespace omath
 {
 
-    std::optional<std::uintptr_t> PePatternScanner::scan_for_pattern_in_loaded_module(const void* module_base_address,
-                                                                                      const std::string_view& pattern)
+    std::optional<std::uintptr_t>
+    PePatternScanner::scan_for_pattern_in_loaded_module(const void* module_base_address,
+                                                        const std::string_view& pattern,
+                                                        const std::string_view& target_section_name)
     {
         const auto base_address = reinterpret_cast<std::uintptr_t>(module_base_address);
+        const auto* base_bytes = static_cast<const std::byte*>(module_base_address);
 
         if (!base_address)
             return std::nullopt;
 
-        auto nt_header_variant = get_nt_header_from_loaded_module(module_base_address);
+        const auto* dos_header = static_cast<const DosHeader*>(module_base_address);
 
-        if (!nt_header_variant)
+        if (invalid_dos_header_file(*dos_header)) [[unlikely]]
+            return std::nullopt;
+
+        const auto nt_header_variant = get_nt_header_from_loaded_module(module_base_address);
+
+        if (!nt_header_variant) [[unlikely]]
             return std::nullopt;
 
         return std::visit(
-                [base_address, &pattern](const auto& nt_header) -> std::optional<std::uintptr_t>
+                [base_bytes, base_address, lfanew = dos_header->e_lfanew, &target_section_name,
+                 &pattern](const auto& nt_header) -> std::optional<std::uintptr_t>
                 {
-                    // Define .text segment as scan area
-                    const auto start = nt_header.optional_header.base_of_code;
-                    const auto scan_size = nt_header.optional_header.size_code;
+                    constexpr std::size_t signature_size = sizeof(nt_header.signature);
+                    const auto section_table_off = static_cast<std::size_t>(lfanew) + signature_size
+                                                   + sizeof(FileHeader) + nt_header.file_header.size_optional_header;
 
-                    const auto scan_range = std::span{reinterpret_cast<std::byte*>(base_address) + start, scan_size};
+                    const auto* section_table = reinterpret_cast<const SectionHeader*>(base_bytes + section_table_off);
 
-                    // ReSharper disable once CppTooWideScopeInitStatement
-                    const auto result = PatternScanner::scan_for_pattern(scan_range, pattern);
+                    for (std::size_t i = 0; i < nt_header.file_header.num_sections; ++i)
+                    {
+                        const auto* section = section_table + i;
 
-                    if (result != scan_range.end())
-                        return reinterpret_cast<std::uintptr_t>(&*result);
+                        if (std::string_view{section->name} != target_section_name || section->size_raw_data == 0)
+                            continue;
+
+                        const auto section_size = section->virtual_size != 0
+                                                          ? static_cast<std::size_t>(section->virtual_size)
+                                                          : static_cast<std::size_t>(section->size_raw_data);
+
+                        const auto* section_begin =
+                                reinterpret_cast<std::byte*>(base_address + section->virtual_address);
+                        const auto scan_range = std::span{section_begin, section_size};
+
+                        const auto result =
+                                PatternScanner::scan_for_pattern(scan_range.begin(), scan_range.end(), pattern);
+
+                        if (result != scan_range.end())
+                            return reinterpret_cast<std::uintptr_t>(&*result);
+                    }
 
                     return std::nullopt;
                 },
                 nt_header_variant.value());
     }
-    std::optional<PeSectionScanResult>
+    std::optional<SectionScanResult>
     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())
+        if (!pe_section.has_value()) [[unlikely]]
             return std::nullopt;
 
         const auto scan_result =
@@ -353,8 +379,8 @@ namespace omath
             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};
+        return SectionScanResult{.virtual_base_addr = pe_section->virtual_base_addr,
+                                 .raw_base_addr = pe_section->raw_base_addr,
+                                 .target_offset = offset};
     }
 } // namespace omath

tests/CMakeLists.txt

@@ -7,14 +7,15 @@ 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(${PROJECT_NAME} PROPERTIES
-        ARCHIVE_OUTPUT_DIRECTORY "${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)
+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)
 
-if (TARGET gtest) # GTest is being linked as submodule
+if(TARGET gtest) # GTest is being linked as submodule
     target_link_libraries(${PROJECT_NAME} PRIVATE gtest gtest_main omath::omath)
 else() # GTest is being linked as vcpkg package
     find_package(GTest CONFIG REQUIRED)
@@ -26,7 +27,12 @@ if(OMATH_ENABLE_COVERAGE)
     omath_setup_coverage(${PROJECT_NAME})
 endif()
 
-# Skip test discovery for Android/iOS builds or when cross-compiling - binaries cannot run on host
-if (NOT (ANDROID OR IOS OR EMSCRIPTEN))
+if(OMATH_ENABLE_VALGRIND)
+    omath_setup_valgrind(${PROJECT_NAME})
+endif()
+
+# Skip test discovery for Android/iOS builds or when cross-compiling - binaries
+# cannot run on host
+if(NOT (ANDROID OR IOS OR EMSCRIPTEN))
     gtest_discover_tests(${PROJECT_NAME})
 endif()

tests/engines/unit_test_frostbite_engine.cpp

@@ -8,6 +8,125 @@
 #include <print>
 #include <random>
 
+TEST(unit_test_frostbite_engine, UnitsToCentimeters_BasicValues)
+{
+    EXPECT_FLOAT_EQ(omath::frostbite_engine::units_to_centimeters(0.0f), 0.0f);
+    EXPECT_FLOAT_EQ(omath::frostbite_engine::units_to_centimeters(1.0f), 0.01f);
+    EXPECT_FLOAT_EQ(omath::frostbite_engine::units_to_centimeters(100.0f), 1.0f);
+    EXPECT_FLOAT_EQ(omath::frostbite_engine::units_to_centimeters(-250.0f), -2.5f);
+}
+
+TEST(unit_test_frostbite_engine, UnitsToMeters_BasicValues)
+{
+    EXPECT_DOUBLE_EQ(omath::frostbite_engine::units_to_meters(0.0), 0.0);
+    EXPECT_DOUBLE_EQ(omath::frostbite_engine::units_to_meters(1.0), 1.0);
+    EXPECT_DOUBLE_EQ(omath::frostbite_engine::units_to_meters(123.456), 123.456);
+    EXPECT_DOUBLE_EQ(omath::frostbite_engine::units_to_meters(-42.0), -42.0);
+}
+
+TEST(unit_test_frostbite_engine, UnitsToKilometers_BasicValues)
+{
+    EXPECT_NEAR(omath::frostbite_engine::units_to_kilometers(0.0), 0.0, 1e-15);
+    EXPECT_NEAR(omath::frostbite_engine::units_to_kilometers(1.0), 0.001, 1e-15);
+    EXPECT_NEAR(omath::frostbite_engine::units_to_kilometers(1000.0), 1.0, 1e-12);
+    EXPECT_NEAR(omath::frostbite_engine::units_to_kilometers(-2500.0), -2.5, 1e-12);
+}
+
+TEST(unit_test_frostbite_engine, CentimetersToUnits_BasicValues)
+{
+    EXPECT_FLOAT_EQ(omath::frostbite_engine::centimeters_to_units(0.0f), 0.0f);
+    EXPECT_FLOAT_EQ(omath::frostbite_engine::centimeters_to_units(0.01f), 1.0f);
+    EXPECT_FLOAT_EQ(omath::frostbite_engine::centimeters_to_units(1.0f), 100.0f);
+    EXPECT_FLOAT_EQ(omath::frostbite_engine::centimeters_to_units(-2.5f), -250.0f);
+}
+
+TEST(unit_test_frostbite_engine, MetersToUnits_BasicValues)
+{
+    EXPECT_DOUBLE_EQ(omath::frostbite_engine::meters_to_units(0.0), 0.0);
+    EXPECT_DOUBLE_EQ(omath::frostbite_engine::meters_to_units(1.0), 1.0);
+    EXPECT_DOUBLE_EQ(omath::frostbite_engine::meters_to_units(123.456), 123.456);
+    EXPECT_DOUBLE_EQ(omath::frostbite_engine::meters_to_units(-42.0), -42.0);
+}
+
+TEST(unit_test_frostbite_engine, KilometersToUnits_BasicValues)
+{
+    EXPECT_NEAR(omath::frostbite_engine::kilometers_to_units(0.0), 0.0, 1e-12);
+    EXPECT_NEAR(omath::frostbite_engine::kilometers_to_units(0.001), 1.0, 1e-12);
+    EXPECT_NEAR(omath::frostbite_engine::kilometers_to_units(1.0), 1000.0, 1e-9);
+    EXPECT_NEAR(omath::frostbite_engine::kilometers_to_units(-2.5), -2500.0, 1e-9);
+}
+
+TEST(unit_test_frostbite_engine, RoundTrip_UnitsCentimeters)
+{
+    constexpr float units_f = 12345.678f;
+    const auto cm_f = omath::frostbite_engine::units_to_centimeters(units_f);
+    const auto units_f_back = omath::frostbite_engine::centimeters_to_units(cm_f);
+    EXPECT_NEAR(units_f_back, units_f, 1e-3f);
+
+    constexpr double units_d = -987654.321;
+    const auto cm_d = omath::frostbite_engine::units_to_centimeters(units_d);
+    const auto units_d_back = omath::frostbite_engine::centimeters_to_units(cm_d);
+    EXPECT_NEAR(units_d_back, units_d, 1e-9);
+}
+
+TEST(unit_test_frostbite_engine, RoundTrip_UnitsMeters)
+{
+    constexpr float units_f = 5432.125f;
+    constexpr auto m_f = omath::frostbite_engine::units_to_meters(units_f);
+    constexpr auto units_f_back = omath::frostbite_engine::meters_to_units(m_f);
+    EXPECT_FLOAT_EQ(units_f_back, units_f);
+
+    constexpr double units_d = -123456.789;
+    constexpr auto m_d = omath::frostbite_engine::units_to_meters(units_d);
+    constexpr auto units_d_back = omath::frostbite_engine::meters_to_units(m_d);
+    EXPECT_DOUBLE_EQ(units_d_back, units_d);
+}
+
+TEST(unit_test_frostbite_engine, RoundTrip_UnitsKilometers)
+{
+    constexpr float units_f = 100000.0f;
+    constexpr auto km_f = omath::frostbite_engine::units_to_kilometers(units_f);
+    constexpr auto units_f_back = omath::frostbite_engine::kilometers_to_units(km_f);
+    EXPECT_NEAR(units_f_back, units_f, 1e-2f);
+
+    constexpr double units_d = -7654321.123;
+    constexpr auto km_d = omath::frostbite_engine::units_to_kilometers(units_d);
+    constexpr auto units_d_back = omath::frostbite_engine::kilometers_to_units(km_d);
+    EXPECT_NEAR(units_d_back, units_d, 1e-6);
+}
+
+TEST(unit_test_frostbite_engine, ConversionChainConsistency)
+{
+    const double units = 424242.42;
+
+    const auto cm_direct = omath::frostbite_engine::units_to_centimeters(units);
+    const auto cm_via_units = units / 100.0;
+    EXPECT_NEAR(cm_direct, cm_via_units, 1e-12);
+
+    const auto km_direct = omath::frostbite_engine::units_to_kilometers(units);
+    const auto km_via_meters = omath::frostbite_engine::units_to_meters(units) / 1000.0;
+    EXPECT_NEAR(km_direct, km_via_meters, 1e-12);
+}
+
+TEST(unit_test_frostbite_engine, SupportsFloatAndDouble)
+{
+    static_assert(std::is_same_v<decltype(omath::frostbite_engine::units_to_centimeters(1.0f)), float>);
+    static_assert(std::is_same_v<decltype(omath::frostbite_engine::units_to_centimeters(1.0)), double>);
+    static_assert(std::is_same_v<decltype(omath::frostbite_engine::meters_to_units(1.0f)), float>);
+    static_assert(std::is_same_v<decltype(omath::frostbite_engine::kilometers_to_units(1.0)), double>);
+}
+
+TEST(unit_test_frostbite_engine, ConstexprConversions)
+{
+    constexpr double units = 1000.0;
+    constexpr double cm = omath::frostbite_engine::units_to_centimeters(units);
+    constexpr double m = omath::frostbite_engine::units_to_meters(units);
+    constexpr double km = omath::frostbite_engine::units_to_kilometers(units);
+
+    static_assert(cm == 10.0, "units_to_centimeters constexpr failed");
+    static_assert(m == 1000.0, "units_to_meters constexpr failed");
+    static_assert(km == 1.0, "units_to_kilometers constexpr failed");
+}
 TEST(unit_test_frostbite_engine, ForwardVector)
 {
     const auto forward = omath::frostbite_engine::forward_vector({});

tests/engines/unit_test_open_gl.cpp

@@ -7,6 +7,125 @@
 #include <omath/engines/opengl_engine/formulas.hpp>
 #include <random>
 
+TEST(unit_test_opengl, UnitsToCentimeters_BasicValues)
+{
+    EXPECT_FLOAT_EQ(omath::opengl_engine::units_to_centimeters(0.0f), 0.0f);
+    EXPECT_FLOAT_EQ(omath::opengl_engine::units_to_centimeters(1.0f), 0.01f);
+    EXPECT_FLOAT_EQ(omath::opengl_engine::units_to_centimeters(100.0f), 1.0f);
+    EXPECT_FLOAT_EQ(omath::opengl_engine::units_to_centimeters(-250.0f), -2.5f);
+}
+
+TEST(unit_test_opengl, UnitsToMeters_BasicValues)
+{
+    EXPECT_DOUBLE_EQ(omath::opengl_engine::units_to_meters(0.0), 0.0);
+    EXPECT_DOUBLE_EQ(omath::opengl_engine::units_to_meters(1.0), 1.0);
+    EXPECT_DOUBLE_EQ(omath::opengl_engine::units_to_meters(123.456), 123.456);
+    EXPECT_DOUBLE_EQ(omath::opengl_engine::units_to_meters(-42.0), -42.0);
+}
+
+TEST(unit_test_opengl, UnitsToKilometers_BasicValues)
+{
+    EXPECT_NEAR(omath::opengl_engine::units_to_kilometers(0.0), 0.0, 1e-15);
+    EXPECT_NEAR(omath::opengl_engine::units_to_kilometers(1.0), 0.001, 1e-15);
+    EXPECT_NEAR(omath::opengl_engine::units_to_kilometers(1000.0), 1.0, 1e-12);
+    EXPECT_NEAR(omath::opengl_engine::units_to_kilometers(-2500.0), -2.5, 1e-12);
+}
+
+TEST(unit_test_opengl, CentimetersToUnits_BasicValues)
+{
+    EXPECT_FLOAT_EQ(omath::opengl_engine::centimeters_to_units(0.0f), 0.0f);
+    EXPECT_FLOAT_EQ(omath::opengl_engine::centimeters_to_units(0.01f), 1.0f);
+    EXPECT_FLOAT_EQ(omath::opengl_engine::centimeters_to_units(1.0f), 100.0f);
+    EXPECT_FLOAT_EQ(omath::opengl_engine::centimeters_to_units(-2.5f), -250.0f);
+}
+
+TEST(unit_test_opengl, MetersToUnits_BasicValues)
+{
+    EXPECT_DOUBLE_EQ(omath::opengl_engine::meters_to_units(0.0), 0.0);
+    EXPECT_DOUBLE_EQ(omath::opengl_engine::meters_to_units(1.0), 1.0);
+    EXPECT_DOUBLE_EQ(omath::opengl_engine::meters_to_units(123.456), 123.456);
+    EXPECT_DOUBLE_EQ(omath::opengl_engine::meters_to_units(-42.0), -42.0);
+}
+
+TEST(unit_test_opengl, KilometersToUnits_BasicValues)
+{
+    EXPECT_NEAR(omath::opengl_engine::kilometers_to_units(0.0), 0.0, 1e-12);
+    EXPECT_NEAR(omath::opengl_engine::kilometers_to_units(0.001), 1.0, 1e-12);
+    EXPECT_NEAR(omath::opengl_engine::kilometers_to_units(1.0), 1000.0, 1e-9);
+    EXPECT_NEAR(omath::opengl_engine::kilometers_to_units(-2.5), -2500.0, 1e-9);
+}
+
+TEST(unit_test_opengl, RoundTrip_UnitsCentimeters)
+{
+    constexpr float units_f = 12345.678f;
+    const auto cm_f = omath::opengl_engine::units_to_centimeters(units_f);
+    const auto units_f_back = omath::opengl_engine::centimeters_to_units(cm_f);
+    EXPECT_NEAR(units_f_back, units_f, 1e-3f);
+
+    constexpr double units_d = -987654.321;
+    const auto cm_d = omath::opengl_engine::units_to_centimeters(units_d);
+    const auto units_d_back = omath::opengl_engine::centimeters_to_units(cm_d);
+    EXPECT_NEAR(units_d_back, units_d, 1e-9);
+}
+
+TEST(unit_test_opengl, RoundTrip_UnitsMeters)
+{
+    constexpr float units_f = 5432.125f;
+    const auto m_f = omath::opengl_engine::units_to_meters(units_f);
+    const auto units_f_back = omath::opengl_engine::meters_to_units(m_f);
+    EXPECT_FLOAT_EQ(units_f_back, units_f);
+
+    constexpr double units_d = -123456.789;
+    const auto m_d = omath::opengl_engine::units_to_meters(units_d);
+    const auto units_d_back = omath::opengl_engine::meters_to_units(m_d);
+    EXPECT_DOUBLE_EQ(units_d_back, units_d);
+}
+
+TEST(unit_test_opengl, RoundTrip_UnitsKilometers)
+{
+    constexpr float units_f = 100000.0f;
+    const auto km_f = omath::opengl_engine::units_to_kilometers(units_f);
+    const auto units_f_back = omath::opengl_engine::kilometers_to_units(km_f);
+    EXPECT_NEAR(units_f_back, units_f, 1e-2f);
+
+    constexpr double units_d = -7654321.123;
+    const auto km_d = omath::opengl_engine::units_to_kilometers(units_d);
+    const auto units_d_back = omath::opengl_engine::kilometers_to_units(km_d);
+    EXPECT_NEAR(units_d_back, units_d, 1e-6);
+}
+
+TEST(unit_test_opengl, ConversionChainConsistency)
+{
+    const double units = 424242.42;
+
+    const auto cm_direct = omath::opengl_engine::units_to_centimeters(units);
+    const auto cm_via_units = units / 100.0;
+    EXPECT_NEAR(cm_direct, cm_via_units, 1e-12);
+
+    const auto km_direct = omath::opengl_engine::units_to_kilometers(units);
+    const auto km_via_meters = omath::opengl_engine::units_to_meters(units) / 1000.0;
+    EXPECT_NEAR(km_direct, km_via_meters, 1e-12);
+}
+
+TEST(unit_test_opengl, SupportsFloatAndDouble)
+{
+    static_assert(std::is_same_v<decltype(omath::opengl_engine::units_to_centimeters(1.0f)), float>);
+    static_assert(std::is_same_v<decltype(omath::opengl_engine::units_to_centimeters(1.0)), double>);
+    static_assert(std::is_same_v<decltype(omath::opengl_engine::meters_to_units(1.0f)), float>);
+    static_assert(std::is_same_v<decltype(omath::opengl_engine::kilometers_to_units(1.0)), double>);
+}
+
+TEST(unit_test_opengl, ConstexprConversions)
+{
+    constexpr double units = 1000.0;
+    constexpr double cm = omath::opengl_engine::units_to_centimeters(units);
+    constexpr double m = omath::opengl_engine::units_to_meters(units);
+    constexpr double km = omath::opengl_engine::units_to_kilometers(units);
+
+    static_assert(cm == 10.0, "units_to_centimeters constexpr failed");
+    static_assert(m == 1000.0, "units_to_meters constexpr failed");
+    static_assert(km == 1.0, "units_to_kilometers constexpr failed");
+}
 TEST(unit_test_opengl, ForwardVector)
 {
     const auto forward = omath::opengl_engine::forward_vector({});

tests/engines/unit_test_source_engine.cpp

@@ -7,6 +7,129 @@
 #include <omath/engines/source_engine/formulas.hpp>
 #include <random>
 
+TEST(unit_test_source_engine_units, HammerUnitsToCentimeters_BasicValues)
+{
+    EXPECT_FLOAT_EQ(omath::source_engine::units_to_centimeters(0.0f), 0.0f);
+    EXPECT_FLOAT_EQ(omath::source_engine::units_to_centimeters(1.0f), 2.54f);
+    EXPECT_FLOAT_EQ(omath::source_engine::units_to_centimeters(10.0f), 25.4f);
+    EXPECT_FLOAT_EQ(omath::source_engine::units_to_centimeters(-2.0f), -5.08f);
+}
+
+TEST(unit_test_source_engine_units, HammerUnitsToMeters_BasicValues)
+{
+    EXPECT_NEAR(omath::source_engine::units_to_meters(0.0), 0.0, 1e-12);
+    EXPECT_NEAR(omath::source_engine::units_to_meters(1.0), 0.0254, 1e-12);
+    EXPECT_NEAR(omath::source_engine::units_to_meters(100.0), 2.54, 1e-12);
+    EXPECT_NEAR(omath::source_engine::units_to_meters(-4.0), -0.1016, 1e-12);
+}
+
+TEST(unit_test_source_engine_units, HammerUnitsToKilometers_BasicValues)
+{
+    EXPECT_NEAR(omath::source_engine::units_to_kilometers(0.0), 0.0, 1e-15);
+    EXPECT_NEAR(omath::source_engine::units_to_kilometers(1.0), 0.0000254, 1e-15);
+    EXPECT_NEAR(omath::source_engine::units_to_kilometers(1000.0), 0.0254, 1e-15);
+    EXPECT_NEAR(omath::source_engine::units_to_kilometers(-10.0), -0.000254, 1e-15);
+}
+
+TEST(unit_test_source_engine_units, CentimetersToHammerUnits_BasicValues)
+{
+    EXPECT_FLOAT_EQ(omath::source_engine::centimeters_to_units(0.0f), 0.0f);
+    EXPECT_NEAR(omath::source_engine::centimeters_to_units(2.54f), 1.0f, 1e-6f);
+    EXPECT_NEAR(omath::source_engine::centimeters_to_units(25.4f), 10.0f, 1e-5f);
+    EXPECT_NEAR(omath::source_engine::centimeters_to_units(-5.08f), -2.0f, 1e-6f);
+}
+
+TEST(unit_test_source_engine_units, MetersToHammerUnits_BasicValues)
+{
+    EXPECT_NEAR(omath::source_engine::meters_to_units(0.0), 0.0, 1e-12);
+    EXPECT_NEAR(omath::source_engine::meters_to_units(0.0254), 1.0, 1e-12);
+    EXPECT_NEAR(omath::source_engine::meters_to_units(2.54), 100.0, 1e-10);
+    EXPECT_NEAR(omath::source_engine::meters_to_units(-0.0508), -2.0, 1e-12);
+}
+
+TEST(unit_test_source_engine_units, KilometersToHammerUnits_BasicValues)
+{
+    EXPECT_NEAR(omath::source_engine::kilometers_to_units(0.0), 0.0, 1e-9);
+    EXPECT_NEAR(omath::source_engine::kilometers_to_units(0.0000254), 1.0, 1e-9);
+    EXPECT_NEAR(omath::source_engine::kilometers_to_units(0.00254), 100.0, 1e-7);
+    EXPECT_NEAR(omath::source_engine::kilometers_to_units(-0.0000508), -2.0, 1e-9);
+}
+
+TEST(unit_test_source_engine_units, RoundTrip_HammerToCentimetersToHammer)
+{
+    constexpr float hu_f = 123.456f;
+    constexpr auto cm_f = omath::source_engine::units_to_centimeters(hu_f);
+    constexpr auto hu_f_back = omath::source_engine::centimeters_to_units(cm_f);
+    EXPECT_NEAR(hu_f_back, hu_f, 1e-5f);
+
+    constexpr double hu_d = -98765.4321;
+    constexpr auto cm_d = omath::source_engine::units_to_centimeters(hu_d);
+    constexpr auto hu_d_back = omath::source_engine::centimeters_to_units(cm_d);
+    EXPECT_NEAR(hu_d_back, hu_d, 1e-10);
+}
+
+TEST(unit_test_source_engine_units, RoundTrip_HammerToMetersToHammer)
+{
+    constexpr float hu_f = 2500.25f;
+    constexpr auto m_f = omath::source_engine::units_to_meters(hu_f);
+    constexpr auto hu_f_back = omath::source_engine::meters_to_units(m_f);
+    EXPECT_NEAR(hu_f_back, hu_f, 1e-4f);
+
+    constexpr double hu_d = -42000.125;
+    constexpr auto m_d = omath::source_engine::units_to_meters(hu_d);
+    constexpr auto hu_d_back = omath::source_engine::meters_to_units(m_d);
+    EXPECT_NEAR(hu_d_back, hu_d, 1e-10);
+}
+
+TEST(unit_test_source_engine_units, RoundTrip_HammerToKilometersToHammer)
+{
+    constexpr float hu_f = 100000.0f;
+    constexpr auto km_f = omath::source_engine::units_to_kilometers(hu_f);
+    constexpr auto hu_f_back = omath::source_engine::kilometers_to_units(km_f);
+    EXPECT_NEAR(hu_f_back, hu_f, 1e-2f); // looser due to float scaling
+
+    constexpr double hu_d = -1234567.89;
+    constexpr auto km_d = omath::source_engine::units_to_kilometers(hu_d);
+    constexpr auto hu_d_back = omath::source_engine::kilometers_to_units(km_d);
+    EXPECT_NEAR(hu_d_back, hu_d, 1e-7);
+}
+
+TEST(unit_test_source_engine_units, ConversionChainConsistency)
+{
+    // hu -> cm -> m -> km should match direct helpers
+    constexpr auto hu = 54321.123;
+
+    constexpr auto cm = omath::source_engine::units_to_centimeters(hu);
+    constexpr auto m_via_cm = cm / 100.0;
+    constexpr auto km_via_cm = m_via_cm / 1000.0;
+
+    constexpr auto m_direct = omath::source_engine::units_to_meters(hu);
+    constexpr auto km_direct = omath::source_engine::units_to_kilometers(hu);
+
+    EXPECT_NEAR(m_direct, m_via_cm, 1e-12);
+    EXPECT_NEAR(km_direct, km_via_cm, 1e-15);
+}
+
+TEST(unit_test_source_engine_units, SupportsFloatAndDoubleTypes)
+{
+    static_assert(std::is_same_v<decltype(omath::source_engine::units_to_centimeters(1.0f)), float>);
+    static_assert(std::is_same_v<decltype(omath::source_engine::units_to_centimeters(1.0)), double>);
+    static_assert(std::is_same_v<decltype(omath::source_engine::meters_to_units(1.0f)), float>);
+    static_assert(std::is_same_v<decltype(omath::source_engine::kilometers_to_units(1.0)), double>);
+}
+
+TEST(unit_test_source_engine_units, ConstexprEvaluation)
+{
+    constexpr double hu = 10.0;
+    constexpr double cm = omath::source_engine::units_to_centimeters(hu);
+    constexpr double m = omath::source_engine::units_to_meters(hu);
+    constexpr double km = omath::source_engine::units_to_kilometers(hu);
+
+    static_assert(cm == 25.4, "constexpr hu->cm failed");
+    static_assert(m == 0.254, "constexpr hu->m failed");
+    static_assert(km == 0.000254, "constexpr hu->km failed");
+}
+
 TEST(unit_test_source_engine, ForwardVector)
 {
     const auto forward = omath::source_engine::forward_vector({});

tests/engines/unit_test_traits_engines.cpp

@@ -38,14 +38,14 @@ static void expect_matrix_near(const MatT& a, const MatT& b, float eps = 1e-5f)
 // Generic tests for PredEngineTrait behaviour across engines
 TEST(TraitTests, Frostbite_Pred_And_Mesh_And_Camera)
 {
-    namespace E = omath::frostbite_engine;
+    namespace e = omath::frostbite_engine;
 
     projectile_prediction::Projectile p;
     p.m_origin = {0.f, 0.f, 0.f};
     p.m_launch_speed = 10.f;
     p.m_gravity_scale = 1.f;
 
-    const auto pos = E::PredEngineTrait::predict_projectile_position(p, 0.f, 0.f, 1.f, 9.81f);
+    const auto pos = e::PredEngineTrait::predict_projectile_position(p, 0.f, 0.f, 1.f, 9.81f);
     EXPECT_NEAR(pos.x, 0.f, 1e-4f);
     EXPECT_NEAR(pos.z, 10.f, 1e-4f);
     EXPECT_NEAR(pos.y, -9.81f * 0.5f, 1e-4f);
@@ -54,57 +54,57 @@ TEST(TraitTests, Frostbite_Pred_And_Mesh_And_Camera)
     t.m_origin = {0.f, 5.f, 0.f};
     t.m_velocity = {2.f, 0.f, 0.f};
     t.m_is_airborne = true;
-    const auto pred = E::PredEngineTrait::predict_target_position(t, 2.f, 9.81f);
+    const auto pred = e::PredEngineTrait::predict_target_position(t, 2.f, 9.81f);
     EXPECT_NEAR(pred.x, 4.f, 1e-6f);
     EXPECT_NEAR(pred.y, 5.f - 9.81f * (2.f * 2.f) * 0.5f, 1e-6f);
 
     // Also test non-airborne path (no gravity applied)
     t.m_is_airborne = false;
-    const auto pred_ground = E::PredEngineTrait::predict_target_position(t, 2.f, 9.81f);
+    const auto pred_ground = e::PredEngineTrait::predict_target_position(t, 2.f, 9.81f);
     EXPECT_NEAR(pred_ground.x, 4.f, 1e-6f);
     EXPECT_NEAR(pred_ground.y, 5.f, 1e-6f);
 
-    EXPECT_NEAR(E::PredEngineTrait::calc_vector_2d_distance({3.f, 0.f, 4.f}), 5.f, 1e-6f);
-    EXPECT_NEAR(E::PredEngineTrait::get_vector_height_coordinate({1.f, 2.5f, 3.f}), 2.5f, 1e-6f);
+    EXPECT_NEAR(e::PredEngineTrait::calc_vector_2d_distance({3.f, 0.f, 4.f}), 5.f, 1e-6f);
+    EXPECT_NEAR(e::PredEngineTrait::get_vector_height_coordinate({1.f, 2.5f, 3.f}), 2.5f, 1e-6f);
 
     std::optional<float> pitch = 45.f;
-    auto vp = E::PredEngineTrait::calc_viewpoint_from_angles(p, {10.f, 0.f, 0.f}, pitch);
+    auto vp = e::PredEngineTrait::calc_viewpoint_from_angles(p, {10.f, 0.f, 0.f}, pitch);
     EXPECT_NEAR(vp.y, 0.f + 10.f * std::tan(angles::degrees_to_radians(45.f)), 1e-6f);
 
     // Direct angles
     Vector3<float> origin{0.f, 0.f, 0.f};
     Vector3<float> view_to{0.f, 1.f, 1.f};
-    const auto pitch_calc = E::PredEngineTrait::calc_direct_pitch_angle(origin, view_to);
+    const auto pitch_calc = e::PredEngineTrait::calc_direct_pitch_angle(origin, view_to);
     const auto dir = (view_to - origin).normalized();
     EXPECT_NEAR(pitch_calc, angles::radians_to_degrees(std::asin(dir.y)), 1e-3f);
 
-    const auto yaw_calc = E::PredEngineTrait::calc_direct_yaw_angle(origin, view_to);
+    const auto yaw_calc = e::PredEngineTrait::calc_direct_yaw_angle(origin, view_to);
     EXPECT_NEAR(yaw_calc, angles::radians_to_degrees(std::atan2(dir.x, dir.z)), 1e-3f);
 
     // MeshTrait simply forwards to rotation_matrix; ensure it compiles and returns something
-    E::ViewAngles va;
-    const auto m1 = E::MeshTrait::rotation_matrix(va);
-    const auto m2 = E::rotation_matrix(va);
+    e::ViewAngles va;
+    const auto m1 = e::MeshTrait::rotation_matrix(va);
+    const auto m2 = e::rotation_matrix(va);
     expect_matrix_near(m1, m2);
 
     // CameraTrait look at should be callable
-    const auto angles = E::CameraTrait::calc_look_at_angle({0, 0, 0}, {0, 1, 1});
+    const auto angles = e::CameraTrait::calc_look_at_angle({0, 0, 0}, {0, 1, 1});
     (void)angles;
-    const auto proj = E::CameraTrait::calc_projection_matrix(projection::FieldOfView::from_degrees(60.f), {1280.f, 720.f}, 0.1f, 1000.f);
-    const auto expected = E::calc_perspective_projection_matrix(60.f, 1280.f / 720.f, 0.1f, 1000.f);
+    const auto proj = e::CameraTrait::calc_projection_matrix(projection::FieldOfView::from_degrees(60.f), {1280.f, 720.f}, 0.1f, 1000.f);
+    const auto expected = e::calc_perspective_projection_matrix(60.f, 1280.f / 720.f, 0.1f, 1000.f);
     expect_matrix_near(proj, expected);
 }
 
 TEST(TraitTests, IW_Pred_And_Mesh_And_Camera)
 {
-    namespace E = omath::iw_engine;
+    namespace e = omath::iw_engine;
 
     projectile_prediction::Projectile p;
     p.m_origin = {0.f, 0.f, 0.f};
     p.m_launch_speed = 10.f;
     p.m_gravity_scale = 1.f;
 
-    const auto pos = E::PredEngineTrait::predict_projectile_position(p, 0.f, 0.f, 1.f, 9.81f);
+    const auto pos = e::PredEngineTrait::predict_projectile_position(p, 0.f, 0.f, 1.f, 9.81f);
     EXPECT_NEAR(pos.x, 10.f, 1e-4f);
     EXPECT_NEAR(pos.z, -9.81f * 0.5f, 1e-4f);
 
@@ -112,50 +112,50 @@ TEST(TraitTests, IW_Pred_And_Mesh_And_Camera)
     t.m_origin = {0.f, 0.f, 5.f};
     t.m_velocity = {0.f, 0.f, 2.f};
     t.m_is_airborne = true;
-    const auto pred = E::PredEngineTrait::predict_target_position(t, 2.f, 9.81f);
+    const auto pred = e::PredEngineTrait::predict_target_position(t, 2.f, 9.81f);
     // predicted = origin + velocity * t -> z = 5 + 2*2 = 9; then gravity applied
     EXPECT_NEAR(pred.z, 9.f - 9.81f * (2.f * 2.f) * 0.5f, 1e-6f);
 
-    EXPECT_NEAR(E::PredEngineTrait::calc_vector_2d_distance({3.f, 4.f, 0.f}), 5.f, 1e-6f);
-    EXPECT_NEAR(E::PredEngineTrait::get_vector_height_coordinate({1.f, 2.5f, 3.f}), 3.f, 1e-6f);
+    EXPECT_NEAR(e::PredEngineTrait::calc_vector_2d_distance({3.f, 4.f, 0.f}), 5.f, 1e-6f);
+    EXPECT_NEAR(e::PredEngineTrait::get_vector_height_coordinate({1.f, 2.5f, 3.f}), 3.f, 1e-6f);
 
     std::optional<float> pitch = 45.f;
-    auto vp = E::PredEngineTrait::calc_viewpoint_from_angles(p, {10.f, 0.f, 0.f}, pitch);
+    auto vp = e::PredEngineTrait::calc_viewpoint_from_angles(p, {10.f, 0.f, 0.f}, pitch);
     EXPECT_NEAR(vp.z, 0.f + 10.f * std::tan(angles::degrees_to_radians(45.f)), 1e-6f);
 
     Vector3<float> origin{0.f, 0.f, 0.f};
     Vector3<float> view_to{1.f, 1.f, 1.f};
-    const auto pitch_calc = E::PredEngineTrait::calc_direct_pitch_angle(origin, view_to);
+    const auto pitch_calc = e::PredEngineTrait::calc_direct_pitch_angle(origin, view_to);
     const auto dist = origin.distance_to(view_to);
     EXPECT_NEAR(pitch_calc, angles::radians_to_degrees(std::asin((view_to.z - origin.z) / dist)), 1e-3f);
 
-    const auto yaw_calc = E::PredEngineTrait::calc_direct_yaw_angle(origin, view_to);
+    const auto yaw_calc = e::PredEngineTrait::calc_direct_yaw_angle(origin, view_to);
     const auto delta = view_to - origin;
     EXPECT_NEAR(yaw_calc, angles::radians_to_degrees(std::atan2(delta.y, delta.x)), 1e-3f);
 
-    E::ViewAngles va;
-    expect_matrix_near(E::MeshTrait::rotation_matrix(va), E::rotation_matrix(va));
+    e::ViewAngles va;
+    expect_matrix_near(e::MeshTrait::rotation_matrix(va), e::rotation_matrix(va));
 
-    const auto proj = E::CameraTrait::calc_projection_matrix(projection::FieldOfView::from_degrees(45.f), {1920.f, 1080.f}, 0.1f, 1000.f);
-    const auto expected = E::calc_perspective_projection_matrix(45.f, 1920.f / 1080.f, 0.1f, 1000.f);
+    const auto proj = e::CameraTrait::calc_projection_matrix(projection::FieldOfView::from_degrees(45.f), {1920.f, 1080.f}, 0.1f, 1000.f);
+    const auto expected = e::calc_perspective_projection_matrix(45.f, 1920.f / 1080.f, 0.1f, 1000.f);
     expect_matrix_near(proj, expected);
 
     // non-airborne
     t.m_is_airborne = false;
-    const auto pred_ground_iw = E::PredEngineTrait::predict_target_position(t, 2.f, 9.81f);
+    const auto pred_ground_iw = e::PredEngineTrait::predict_target_position(t, 2.f, 9.81f);
     EXPECT_NEAR(pred_ground_iw.z, 9.f, 1e-6f);
 }
 
 TEST(TraitTests, OpenGL_Pred_And_Mesh_And_Camera)
 {
-    namespace E = omath::opengl_engine;
+    namespace e = omath::opengl_engine;
 
     projectile_prediction::Projectile p;
     p.m_origin = {0.f, 0.f, 0.f};
     p.m_launch_speed = 10.f;
     p.m_gravity_scale = 1.f;
 
-    const auto pos = E::PredEngineTrait::predict_projectile_position(p, 0.f, 0.f, 1.f, 9.81f);
+    const auto pos = e::PredEngineTrait::predict_projectile_position(p, 0.f, 0.f, 1.f, 9.81f);
     EXPECT_NEAR(pos.z, -10.f, 1e-4f);
     EXPECT_NEAR(pos.y, -9.81f * 0.5f, 1e-4f);
 
@@ -163,49 +163,49 @@ TEST(TraitTests, OpenGL_Pred_And_Mesh_And_Camera)
     t.m_origin = {0.f, 5.f, 0.f};
     t.m_velocity = {2.f, 0.f, 0.f};
     t.m_is_airborne = true;
-    const auto pred = E::PredEngineTrait::predict_target_position(t, 2.f, 9.81f);
+    const auto pred = e::PredEngineTrait::predict_target_position(t, 2.f, 9.81f);
     EXPECT_NEAR(pred.x, 4.f, 1e-6f);
     EXPECT_NEAR(pred.y, 5.f - 9.81f * (2.f * 2.f) * 0.5f, 1e-6f);
 
-    EXPECT_NEAR(E::PredEngineTrait::calc_vector_2d_distance({3.f, 0.f, 4.f}), 5.f, 1e-6f);
-    EXPECT_NEAR(E::PredEngineTrait::get_vector_height_coordinate({1.f, 2.5f, 3.f}), 2.5f, 1e-6f);
+    EXPECT_NEAR(e::PredEngineTrait::calc_vector_2d_distance({3.f, 0.f, 4.f}), 5.f, 1e-6f);
+    EXPECT_NEAR(e::PredEngineTrait::get_vector_height_coordinate({1.f, 2.5f, 3.f}), 2.5f, 1e-6f);
 
     std::optional<float> pitch = 45.f;
-    auto vp = E::PredEngineTrait::calc_viewpoint_from_angles(p, {10.f, 0.f, 0.f}, pitch);
+    auto vp = e::PredEngineTrait::calc_viewpoint_from_angles(p, {10.f, 0.f, 0.f}, pitch);
     EXPECT_NEAR(vp.y, 0.f + 10.f * std::tan(angles::degrees_to_radians(45.f)), 1e-6f);
 
     Vector3<float> origin{0.f, 0.f, 0.f};
     Vector3<float> view_to{0.f, 1.f, 1.f};
-    const auto pitch_calc = E::PredEngineTrait::calc_direct_pitch_angle(origin, view_to);
+    const auto pitch_calc = e::PredEngineTrait::calc_direct_pitch_angle(origin, view_to);
     const auto dir = (view_to - origin).normalized();
     EXPECT_NEAR(pitch_calc, angles::radians_to_degrees(std::asin(dir.y)), 1e-3f);
 
-    const auto yaw_calc = E::PredEngineTrait::calc_direct_yaw_angle(origin, view_to);
+    const auto yaw_calc = e::PredEngineTrait::calc_direct_yaw_angle(origin, view_to);
     EXPECT_NEAR(yaw_calc, angles::radians_to_degrees(-std::atan2(dir.x, -dir.z)), 1e-3f);
 
-    E::ViewAngles va;
-    expect_matrix_near(E::MeshTrait::rotation_matrix(va), E::rotation_matrix(va));
+    e::ViewAngles va;
+    expect_matrix_near(e::MeshTrait::rotation_matrix(va), e::rotation_matrix(va));
 
-    const auto proj = E::CameraTrait::calc_projection_matrix(projection::FieldOfView::from_degrees(60.f), {1280.f, 720.f}, 0.1f, 1000.f);
-    const auto expected = E::calc_perspective_projection_matrix(60.f, 1280.f / 720.f, 0.1f, 1000.f);
+    const auto proj = e::CameraTrait::calc_projection_matrix(projection::FieldOfView::from_degrees(60.f), {1280.f, 720.f}, 0.1f, 1000.f);
+    const auto expected = e::calc_perspective_projection_matrix(60.f, 1280.f / 720.f, 0.1f, 1000.f);
     expect_matrix_near(proj, expected);
 
     // non-airborne
     t.m_is_airborne = false;
-    const auto pred_ground_gl = E::PredEngineTrait::predict_target_position(t, 2.f, 9.81f);
+    const auto pred_ground_gl = e::PredEngineTrait::predict_target_position(t, 2.f, 9.81f);
     EXPECT_NEAR(pred_ground_gl.x, 4.f, 1e-6f);
 }
 
 TEST(TraitTests, Unity_Pred_And_Mesh_And_Camera)
 {
-    namespace E = omath::unity_engine;
+    namespace e = omath::unity_engine;
 
     projectile_prediction::Projectile p;
     p.m_origin = {0.f, 0.f, 0.f};
     p.m_launch_speed = 10.f;
     p.m_gravity_scale = 1.f;
 
-    const auto pos = E::PredEngineTrait::predict_projectile_position(p, 0.f, 0.f, 1.f, 9.81f);
+    const auto pos = e::PredEngineTrait::predict_projectile_position(p, 0.f, 0.f, 1.f, 9.81f);
     EXPECT_NEAR(pos.z, 10.f, 1e-4f);
     EXPECT_NEAR(pos.y, -9.81f * 0.5f, 1e-4f);
 
@@ -213,49 +213,49 @@ TEST(TraitTests, Unity_Pred_And_Mesh_And_Camera)
     t.m_origin = {0.f, 5.f, 0.f};
     t.m_velocity = {2.f, 0.f, 0.f};
     t.m_is_airborne = true;
-    const auto pred = E::PredEngineTrait::predict_target_position(t, 2.f, 9.81f);
+    const auto pred = e::PredEngineTrait::predict_target_position(t, 2.f, 9.81f);
     EXPECT_NEAR(pred.x, 4.f, 1e-6f);
     EXPECT_NEAR(pred.y, 5.f - 9.81f * (2.f * 2.f) * 0.5f, 1e-6f);
 
-    EXPECT_NEAR(E::PredEngineTrait::calc_vector_2d_distance({3.f, 0.f, 4.f}), 5.f, 1e-6f);
-    EXPECT_NEAR(E::PredEngineTrait::get_vector_height_coordinate({1.f, 2.5f, 3.f}), 2.5f, 1e-6f);
+    EXPECT_NEAR(e::PredEngineTrait::calc_vector_2d_distance({3.f, 0.f, 4.f}), 5.f, 1e-6f);
+    EXPECT_NEAR(e::PredEngineTrait::get_vector_height_coordinate({1.f, 2.5f, 3.f}), 2.5f, 1e-6f);
 
     std::optional<float> pitch = 45.f;
-    auto vp = E::PredEngineTrait::calc_viewpoint_from_angles(p, {10.f, 0.f, 0.f}, pitch);
+    auto vp = e::PredEngineTrait::calc_viewpoint_from_angles(p, {10.f, 0.f, 0.f}, pitch);
     EXPECT_NEAR(vp.y, 0.f + 10.f * std::tan(angles::degrees_to_radians(45.f)), 1e-6f);
 
     Vector3<float> origin{0.f, 0.f, 0.f};
     Vector3<float> view_to{0.f, 1.f, 1.f};
-    const auto pitch_calc = E::PredEngineTrait::calc_direct_pitch_angle(origin, view_to);
+    const auto pitch_calc = e::PredEngineTrait::calc_direct_pitch_angle(origin, view_to);
     const auto dir = (view_to - origin).normalized();
     EXPECT_NEAR(pitch_calc, angles::radians_to_degrees(std::asin(dir.y)), 1e-3f);
 
-    const auto yaw_calc = E::PredEngineTrait::calc_direct_yaw_angle(origin, view_to);
+    const auto yaw_calc = e::PredEngineTrait::calc_direct_yaw_angle(origin, view_to);
     EXPECT_NEAR(yaw_calc, angles::radians_to_degrees(std::atan2(dir.x, dir.z)), 1e-3f);
 
-    E::ViewAngles va;
-    expect_matrix_near(E::MeshTrait::rotation_matrix(va), E::rotation_matrix(va));
+    e::ViewAngles va;
+    expect_matrix_near(e::MeshTrait::rotation_matrix(va), e::rotation_matrix(va));
 
-    const auto proj = E::CameraTrait::calc_projection_matrix(projection::FieldOfView::from_degrees(60.f), {1280.f, 720.f}, 0.1f, 1000.f);
-    const auto expected = E::calc_perspective_projection_matrix(60.f, 1280.f / 720.f, 0.1f, 1000.f);
+    const auto proj = e::CameraTrait::calc_projection_matrix(projection::FieldOfView::from_degrees(60.f), {1280.f, 720.f}, 0.1f, 1000.f);
+    const auto expected = e::calc_perspective_projection_matrix(60.f, 1280.f / 720.f, 0.1f, 1000.f);
     expect_matrix_near(proj, expected);
 
     // non-airborne
     t.m_is_airborne = false;
-    const auto pred_ground_unity = E::PredEngineTrait::predict_target_position(t, 2.f, 9.81f);
+    const auto pred_ground_unity = e::PredEngineTrait::predict_target_position(t, 2.f, 9.81f);
     EXPECT_NEAR(pred_ground_unity.x, 4.f, 1e-6f);
 }
 
 TEST(TraitTests, Unreal_Pred_And_Mesh_And_Camera)
 {
-    namespace E = omath::unreal_engine;
+    namespace e = omath::unreal_engine;
 
     projectile_prediction::Projectile p;
     p.m_origin = {0.f, 0.f, 0.f};
     p.m_launch_speed = 10.f;
     p.m_gravity_scale = 1.f;
 
-    const auto pos = E::PredEngineTrait::predict_projectile_position(p, 0.f, 0.f, 1.f, 9.81f);
+    const auto pos = e::PredEngineTrait::predict_projectile_position(p, 0.f, 0.f, 1.f, 9.81f);
     EXPECT_NEAR(pos.x, 10.f, 1e-4f);
     EXPECT_NEAR(pos.y, -9.81f * 0.5f, 1e-4f);
 
@@ -263,35 +263,35 @@ TEST(TraitTests, Unreal_Pred_And_Mesh_And_Camera)
     t.m_origin = {0.f, 5.f, 0.f};
     t.m_velocity = {2.f, 0.f, 0.f};
     t.m_is_airborne = true;
-    const auto pred = E::PredEngineTrait::predict_target_position(t, 2.f, 9.81f);
+    const auto pred = e::PredEngineTrait::predict_target_position(t, 2.f, 9.81f);
     EXPECT_NEAR(pred.x, 4.f, 1e-6f);
     EXPECT_NEAR(pred.y, 5.f - 9.81f * (2.f * 2.f) * 0.5f, 1e-6f);
 
-    EXPECT_NEAR(E::PredEngineTrait::calc_vector_2d_distance({3.f, 0.f, 4.f}), 5.f, 1e-6f);
-    EXPECT_NEAR(E::PredEngineTrait::get_vector_height_coordinate({1.f, 2.5f, 3.f}), 2.5f, 1e-6f);
+    EXPECT_NEAR(e::PredEngineTrait::calc_vector_2d_distance({3.f, 0.f, 4.f}), 5.f, 1e-6f);
+    EXPECT_NEAR(e::PredEngineTrait::get_vector_height_coordinate({1.f, 2.5f, 3.f}), 2.5f, 1e-6f);
 
     std::optional<float> pitch = 45.f;
-    auto vp = E::PredEngineTrait::calc_viewpoint_from_angles(p, {10.f, 0.f, 0.f}, pitch);
+    auto vp = e::PredEngineTrait::calc_viewpoint_from_angles(p, {10.f, 0.f, 0.f}, pitch);
     EXPECT_NEAR(vp.z, 0.f + 10.f * std::tan(angles::degrees_to_radians(45.f)), 1e-6f);
 
     Vector3<float> origin{0.f, 0.f, 0.f};
     Vector3<float> view_to{1.f, 1.f, 1.f};
-    const auto pitch_calc = E::PredEngineTrait::calc_direct_pitch_angle(origin, view_to);
+    const auto pitch_calc = e::PredEngineTrait::calc_direct_pitch_angle(origin, view_to);
     const auto dir = (view_to - origin).normalized();
     EXPECT_NEAR(pitch_calc, angles::radians_to_degrees(std::asin(dir.z)), 1e-3f);
 
-    const auto yaw_calc = E::PredEngineTrait::calc_direct_yaw_angle(origin, view_to);
+    const auto yaw_calc = e::PredEngineTrait::calc_direct_yaw_angle(origin, view_to);
     EXPECT_NEAR(yaw_calc, angles::radians_to_degrees(std::atan2(dir.y, dir.x)), 1e-3f);
 
-    E::ViewAngles va;
-    expect_matrix_near(E::MeshTrait::rotation_matrix(va), E::rotation_matrix(va));
+    e::ViewAngles va;
+    expect_matrix_near(e::MeshTrait::rotation_matrix(va), e::rotation_matrix(va));
 
-    const auto proj = E::CameraTrait::calc_projection_matrix(projection::FieldOfView::from_degrees(60.f), {1280.f, 720.f}, 0.1f, 1000.f);
-    const auto expected = E::calc_perspective_projection_matrix(60.f, 1280.f / 720.f, 0.1f, 1000.f);
+    const auto proj = e::CameraTrait::calc_projection_matrix(projection::FieldOfView::from_degrees(60.f), {1280.f, 720.f}, 0.1f, 1000.f);
+    const auto expected = e::calc_perspective_projection_matrix(60.f, 1280.f / 720.f, 0.1f, 1000.f);
     expect_matrix_near(proj, expected);
 
     // non-airborne
     t.m_is_airborne = false;
-    const auto pred_ground_unreal = E::PredEngineTrait::predict_target_position(t, 2.f, 9.81f);
+    const auto pred_ground_unreal = e::PredEngineTrait::predict_target_position(t, 2.f, 9.81f);
     EXPECT_NEAR(pred_ground_unreal.x, 4.f, 1e-6f);
 }

tests/engines/unit_test_unity_engine.cpp

@@ -8,6 +8,126 @@
 #include <print>
 #include <random>
 
+TEST(unit_test_unity_engine, UnitsToCentimeters_BasicValues)
+{
+    EXPECT_FLOAT_EQ(omath::unity_engine::units_to_centimeters(0.0f), 0.0f);
+    EXPECT_FLOAT_EQ(omath::unity_engine::units_to_centimeters(1.0f), 0.01f);
+    EXPECT_FLOAT_EQ(omath::unity_engine::units_to_centimeters(100.0f), 1.0f);
+    EXPECT_FLOAT_EQ(omath::unity_engine::units_to_centimeters(-250.0f), -2.5f);
+}
+
+TEST(unit_test_unity_engine, UnitsToMeters_BasicValues)
+{
+    EXPECT_DOUBLE_EQ(omath::unity_engine::units_to_meters(0.0), 0.0);
+    EXPECT_DOUBLE_EQ(omath::unity_engine::units_to_meters(1.0), 1.0);
+    EXPECT_DOUBLE_EQ(omath::unity_engine::units_to_meters(123.456), 123.456);
+    EXPECT_DOUBLE_EQ(omath::unity_engine::units_to_meters(-42.0), -42.0);
+}
+
+TEST(unit_test_unity_engine, UnitsToKilometers_BasicValues)
+{
+    EXPECT_NEAR(omath::unity_engine::units_to_kilometers(0.0), 0.0, 1e-15);
+    EXPECT_NEAR(omath::unity_engine::units_to_kilometers(1.0), 0.001, 1e-15);
+    EXPECT_NEAR(omath::unity_engine::units_to_kilometers(1000.0), 1.0, 1e-12);
+    EXPECT_NEAR(omath::unity_engine::units_to_kilometers(-2500.0), -2.5, 1e-12);
+}
+
+TEST(unit_test_unity_engine, CentimetersToUnits_BasicValues)
+{
+    EXPECT_FLOAT_EQ(omath::unity_engine::centimeters_to_units(0.0f), 0.0f);
+    EXPECT_FLOAT_EQ(omath::unity_engine::centimeters_to_units(0.01f), 1.0f);
+    EXPECT_FLOAT_EQ(omath::unity_engine::centimeters_to_units(1.0f), 100.0f);
+    EXPECT_FLOAT_EQ(omath::unity_engine::centimeters_to_units(-2.5f), -250.0f);
+}
+
+TEST(unit_test_unity_engine, MetersToUnits_BasicValues)
+{
+    EXPECT_DOUBLE_EQ(omath::unity_engine::meters_to_units(0.0), 0.0);
+    EXPECT_DOUBLE_EQ(omath::unity_engine::meters_to_units(1.0), 1.0);
+    EXPECT_DOUBLE_EQ(omath::unity_engine::meters_to_units(123.456), 123.456);
+    EXPECT_DOUBLE_EQ(omath::unity_engine::meters_to_units(-42.0), -42.0);
+}
+
+TEST(unit_test_unity_engine, KilometersToUnits_BasicValues)
+{
+    EXPECT_NEAR(omath::unity_engine::kilometers_to_units(0.0), 0.0, 1e-12);
+    EXPECT_NEAR(omath::unity_engine::kilometers_to_units(0.001), 1.0, 1e-12);
+    EXPECT_NEAR(omath::unity_engine::kilometers_to_units(1.0), 1000.0, 1e-9);
+    EXPECT_NEAR(omath::unity_engine::kilometers_to_units(-2.5), -2500.0, 1e-9);
+}
+
+TEST(unit_test_unity_engine, RoundTrip_UnitsCentimeters)
+{
+    constexpr float units_f = 12345.678f;
+    constexpr auto cm_f = omath::unity_engine::units_to_centimeters(units_f);
+    constexpr auto units_f_back = omath::unity_engine::centimeters_to_units(cm_f);
+    EXPECT_NEAR(units_f_back, units_f, 1e-3f);
+
+    constexpr double units_d = -987654.321;
+    constexpr auto cm_d = omath::unity_engine::units_to_centimeters(units_d);
+    constexpr auto units_d_back = omath::unity_engine::centimeters_to_units(cm_d);
+    EXPECT_NEAR(units_d_back, units_d, 1e-9);
+}
+
+TEST(unit_test_unity_engine, RoundTrip_UnitsMeters)
+{
+    constexpr float units_f = 5432.125f;
+    constexpr auto m_f = omath::unity_engine::units_to_meters(units_f);
+    constexpr auto units_f_back = omath::unity_engine::meters_to_units(m_f);
+    EXPECT_FLOAT_EQ(units_f_back, units_f);
+
+    constexpr double units_d = -123456.789;
+    constexpr auto m_d = omath::unity_engine::units_to_meters(units_d);
+    constexpr auto units_d_back = omath::unity_engine::meters_to_units(m_d);
+    EXPECT_DOUBLE_EQ(units_d_back, units_d);
+}
+
+TEST(unit_test_unity_engine, RoundTrip_UnitsKilometers)
+{
+    constexpr float units_f = 100000.0f;
+    constexpr auto km_f = omath::unity_engine::units_to_kilometers(units_f);
+    constexpr auto units_f_back = omath::unity_engine::kilometers_to_units(km_f);
+    EXPECT_NEAR(units_f_back, units_f, 1e-2f);
+
+    constexpr double units_d = -7654321.123;
+    constexpr auto km_d = omath::unity_engine::units_to_kilometers(units_d);
+    constexpr auto units_d_back = omath::unity_engine::kilometers_to_units(km_d);
+    EXPECT_NEAR(units_d_back, units_d, 1e-6);
+}
+
+TEST(unit_test_unity_engine, ConversionChainConsistency)
+{
+    constexpr double units = 424242.42;
+
+    constexpr auto cm_direct = omath::unity_engine::units_to_centimeters(units);
+    constexpr auto cm_via_units = units / 100.0;
+    EXPECT_NEAR(cm_direct, cm_via_units, 1e-12);
+
+    constexpr auto km_direct = omath::unity_engine::units_to_kilometers(units);
+    constexpr auto km_via_meters = omath::unity_engine::units_to_meters(units) / 1000.0;
+    EXPECT_NEAR(km_direct, km_via_meters, 1e-12);
+}
+
+TEST(unit_test_unity_engine, SupportsFloatAndDouble)
+{
+    static_assert(std::is_same_v<decltype(omath::unity_engine::units_to_centimeters(1.0f)), float>);
+    static_assert(std::is_same_v<decltype(omath::unity_engine::units_to_centimeters(1.0)), double>);
+    static_assert(std::is_same_v<decltype(omath::unity_engine::meters_to_units(1.0f)), float>);
+    static_assert(std::is_same_v<decltype(omath::unity_engine::kilometers_to_units(1.0)), double>);
+}
+
+TEST(unit_test_unity_engine, ConstexprConversions)
+{
+    constexpr double units = 1000.0;
+    constexpr double cm = omath::unity_engine::units_to_centimeters(units);
+    constexpr double m = omath::unity_engine::units_to_meters(units);
+    constexpr double km = omath::unity_engine::units_to_kilometers(units);
+
+    static_assert(cm == 10.0, "units_to_centimeters constexpr failed");
+    static_assert(m == 1000.0, "units_to_meters constexpr failed");
+    static_assert(km == 1.0, "units_to_kilometers constexpr failed");
+}
+
 TEST(unit_test_unity_engine, ForwardVector)
 {
     const auto forward = omath::unity_engine::forward_vector({});

tests/engines/unit_test_unreal_engine.cpp

@@ -238,4 +238,127 @@ TEST(unit_test_unreal_engine, loook_at_random_z_axis)
             failed_points++;
     }
     EXPECT_LE(failed_points, 100);
+}
+TEST(unit_test_unreal_engine, UnitsToCentimeters_BasicValues)
+{
+    EXPECT_FLOAT_EQ(omath::unreal_engine::units_to_centimeters(0.0f), 0.0f);
+    EXPECT_FLOAT_EQ(omath::unreal_engine::units_to_centimeters(1.0f), 1.0f);
+    EXPECT_FLOAT_EQ(omath::unreal_engine::units_to_centimeters(250.0f), 250.0f);
+    EXPECT_FLOAT_EQ(omath::unreal_engine::units_to_centimeters(-42.5f), -42.5f);
+}
+
+TEST(unit_test_unreal_engine, UnitsToMeters_BasicValues)
+{
+    EXPECT_NEAR(omath::unreal_engine::units_to_meters(0.0), 0.0, 1e-15);
+    EXPECT_NEAR(omath::unreal_engine::units_to_meters(1.0), 0.01, 1e-15);
+    EXPECT_NEAR(omath::unreal_engine::units_to_meters(100.0), 1.0, 1e-12);
+    EXPECT_NEAR(omath::unreal_engine::units_to_meters(-250.0), -2.5, 1e-12);
+}
+
+TEST(unit_test_unreal_engine, UnitsToKilometers_BasicValues)
+{
+    EXPECT_NEAR(omath::unreal_engine::units_to_kilometers(0.0), 0.0, 1e-18);
+    EXPECT_NEAR(omath::unreal_engine::units_to_kilometers(1.0), 0.00001, 1e-18);
+    EXPECT_NEAR(omath::unreal_engine::units_to_kilometers(100000.0), 1.0, 1e-12);
+    EXPECT_NEAR(omath::unreal_engine::units_to_kilometers(-250000.0), -2.5, 1e-12);
+}
+
+TEST(unit_test_unreal_engine, CentimetersToUnits_BasicValues)
+{
+    EXPECT_FLOAT_EQ(omath::unreal_engine::centimeters_to_units(0.0f), 0.0f);
+    EXPECT_FLOAT_EQ(omath::unreal_engine::centimeters_to_units(1.0f), 1.0f);
+    EXPECT_FLOAT_EQ(omath::unreal_engine::centimeters_to_units(250.0f), 250.0f);
+    EXPECT_FLOAT_EQ(omath::unreal_engine::centimeters_to_units(-42.5f), -42.5f);
+}
+
+TEST(unit_test_unreal_engine, MetersToUnits_BasicValues)
+{
+    EXPECT_NEAR(omath::unreal_engine::meters_to_units(0.0), 0.0, 1e-12);
+    EXPECT_NEAR(omath::unreal_engine::meters_to_units(0.01), 1.0, 1e-12);
+    EXPECT_NEAR(omath::unreal_engine::meters_to_units(1.0), 100.0, 1e-9);
+    EXPECT_NEAR(omath::unreal_engine::meters_to_units(-2.5), -250.0, 1e-9);
+}
+
+TEST(unit_test_unreal_engine, KilometersToUnits_BasicValues)
+{
+    EXPECT_NEAR(omath::unreal_engine::kilometers_to_units(0.0), 0.0, 1e-9);
+    EXPECT_NEAR(omath::unreal_engine::kilometers_to_units(0.00001), 1.0, 1e-9);
+    EXPECT_NEAR(omath::unreal_engine::kilometers_to_units(1.0), 100000.0, 1e-6);
+    EXPECT_NEAR(omath::unreal_engine::kilometers_to_units(-2.5), -250000.0, 1e-3);
+}
+
+TEST(unit_test_unreal_engine, RoundTrip_UnitsCentimeters)
+{
+    constexpr float units_f = 12345.678f;
+    constexpr auto cm_f = omath::unreal_engine::units_to_centimeters(units_f);
+    constexpr auto units_f_back = omath::unreal_engine::centimeters_to_units(cm_f);
+    EXPECT_FLOAT_EQ(units_f_back, units_f);
+
+    constexpr double units_d = -987654.321;
+    constexpr auto cm_d = omath::unreal_engine::units_to_centimeters(units_d);
+    constexpr auto units_d_back = omath::unreal_engine::centimeters_to_units(cm_d);
+    EXPECT_DOUBLE_EQ(units_d_back, units_d);
+}
+
+TEST(unit_test_unreal_engine, RoundTrip_UnitsMeters)
+{
+    constexpr float units_f = 5432.125f;
+    constexpr auto m_f = omath::unreal_engine::units_to_meters(units_f);
+    constexpr auto units_f_back = omath::unreal_engine::meters_to_units(m_f);
+    EXPECT_NEAR(units_f_back, units_f, 1e-3f);
+
+    constexpr double units_d = -123456.789;
+    constexpr auto m_d = omath::unreal_engine::units_to_meters(units_d);
+    constexpr auto units_d_back = omath::unreal_engine::meters_to_units(m_d);
+    EXPECT_NEAR(units_d_back, units_d, 1e-9);
+}
+
+TEST(unit_test_unreal_engine, RoundTrip_UnitsKilometers)
+{
+    constexpr float units_f = 100000.0f;
+    constexpr auto km_f = omath::unreal_engine::units_to_kilometers(units_f);
+    constexpr auto units_f_back = omath::unreal_engine::kilometers_to_units(km_f);
+    EXPECT_NEAR(units_f_back, units_f, 1e-2f);
+
+    constexpr double units_d = -7654321.123;
+    constexpr auto km_d = omath::unreal_engine::units_to_kilometers(units_d);
+    constexpr auto units_d_back = omath::unreal_engine::kilometers_to_units(km_d);
+    EXPECT_NEAR(units_d_back, units_d, 1e-6);
+}
+
+TEST(unit_test_unreal_engine, ConversionChainConsistency)
+{
+    constexpr double units = 424242.42;
+
+    constexpr auto cm_direct = omath::unreal_engine::units_to_centimeters(units);
+    constexpr auto cm_expected = units; // 1 uu == 1 cm
+    EXPECT_NEAR(cm_direct, cm_expected, 1e-12);
+
+    constexpr auto m_direct = omath::unreal_engine::units_to_meters(units);
+    constexpr auto m_via_cm = cm_direct / 100.0;
+    EXPECT_NEAR(m_direct, m_via_cm, 1e-12);
+
+    constexpr auto km_direct = omath::unreal_engine::units_to_kilometers(units);
+    constexpr auto km_via_m = m_direct / 1000.0;
+    EXPECT_NEAR(km_direct, km_via_m, 1e-15);
+}
+
+TEST(unit_test_unreal_engine, SupportsFloatAndDouble)
+{
+    static_assert(std::is_same_v<decltype(omath::unreal_engine::units_to_centimeters(1.0f)), float>);
+    static_assert(std::is_same_v<decltype(omath::unreal_engine::units_to_centimeters(1.0)), double>);
+    static_assert(std::is_same_v<decltype(omath::unreal_engine::meters_to_units(1.0f)), float>);
+    static_assert(std::is_same_v<decltype(omath::unreal_engine::kilometers_to_units(1.0)), double>);
+}
+
+TEST(unit_test_unreal_engine, ConstexprConversions)
+{
+    constexpr double units = 100000.0;
+    constexpr double cm = omath::unreal_engine::units_to_centimeters(units);
+    constexpr double m = omath::unreal_engine::units_to_meters(units);
+    constexpr double km = omath::unreal_engine::units_to_kilometers(units);
+
+    static_assert(cm == 100000.0, "units_to_centimeters constexpr failed");
+    static_assert(m == 1000.0, "units_to_meters constexpr failed");
+    static_assert(km == 1.0, "units_to_kilometers constexpr failed");
 }

tests/general/unit_test_collision_extra.cpp

@@ -1,8 +1,8 @@
 // Extra collision tests: Simplex, MeshCollider, EPA
 #include <gtest/gtest.h>
-#include <omath/collision/simplex.hpp>
-#include <omath/collision/mesh_collider.hpp>
 #include <omath/collision/epa_algorithm.hpp>
+#include <omath/collision/mesh_collider.hpp>
+#include <omath/collision/simplex.hpp>
 #include <omath/engines/source_engine/collider.hpp>
 
 using namespace omath;
@@ -12,7 +12,7 @@ TEST(SimplexTest, HandleEmptySimplex)
 {
     Simplex<Vector3<float>> simplex;
     Vector3<float> direction{1, 0, 0};
-    
+
     EXPECT_EQ(simplex.size(), 0);
     EXPECT_FALSE(simplex.handle(direction));
 }
@@ -21,21 +21,21 @@ TEST(SimplexTest, HandleLineCollinearWithXAxis)
 {
     using Vec3 = Vector3<float>;
     Simplex<Vec3> simplex;
-    
+
     simplex.push_front(Vec3{1, 0, 0});
     simplex.push_front(Vec3{-1, 0, 0});
-    
+
     Vec3 direction{};
     std::ignore = simplex.handle(direction);
-    
+
     EXPECT_NEAR(direction.x, 0.f, 1e-6f);
 }
 
 TEST(CollisionExtra, SimplexLineHandle)
 {
     Simplex<Vector3<float>> s;
-    s = { Vector3<float>{1.f,0.f,0.f}, Vector3<float>{2.f,0.f,0.f} };
-    Vector3<float> dir{0,0,0};
+    s = {Vector3<float>{1.f, 0.f, 0.f}, Vector3<float>{2.f, 0.f, 0.f}};
+    Vector3<float> dir{0, 0, 0};
     EXPECT_FALSE(s.handle(dir));
     // direction should not be zero
     EXPECT_GT(dir.length_sqr(), 0.0f);
@@ -44,8 +44,8 @@ TEST(CollisionExtra, SimplexLineHandle)
 TEST(CollisionExtra, SimplexTriangleHandle)
 {
     Simplex<Vector3<float>> s;
-    s = { Vector3<float>{1.f,0.f,0.f}, Vector3<float>{0.f,1.f,0.f}, Vector3<float>{0.f,0.f,1.f} };
-    Vector3<float> dir{0,0,0};
+    s = {Vector3<float>{1.f, 0.f, 0.f}, Vector3<float>{0.f, 1.f, 0.f}, Vector3<float>{0.f, 0.f, 1.f}};
+    Vector3<float> dir{0, 0, 0};
     EXPECT_FALSE(s.handle(dir));
     EXPECT_GT(dir.length_sqr(), 0.0f);
 }
@@ -54,8 +54,9 @@ TEST(CollisionExtra, SimplexTetrahedronInside)
 {
     Simplex<Vector3<float>> s;
     // tetra that surrounds origin roughly
-    s = { Vector3<float>{1.f,0.f,0.f}, Vector3<float>{0.f,1.f,0.f}, Vector3<float>{0.f,0.f,1.f}, Vector3<float>{-1.f,-1.f,-1.f} };
-    Vector3<float> dir{0,0,0};
+    s = {Vector3<float>{1.f, 0.f, 0.f}, Vector3<float>{0.f, 1.f, 0.f}, Vector3<float>{0.f, 0.f, 1.f},
+         Vector3<float>{-1.f, -1.f, -1.f}};
+    Vector3<float> dir{0, 0, 0};
     // if origin inside, handle returns true
     const bool inside = s.handle(dir);
     EXPECT_TRUE(inside);
@@ -63,44 +64,38 @@ TEST(CollisionExtra, SimplexTetrahedronInside)
 
 TEST(CollisionExtra, MeshColliderOriginAndFurthest)
 {
-    omath::source_engine::Mesh mesh = {
-        std::vector<omath::primitives::Vertex<>>{
-            { { 1.f,  1.f,  1.f }, {}, {} },
-            { {-1.f, -1.f, -1.f }, {}, {} }
-        },
-        {}
-    };
+    source_engine::Mesh mesh = {
+            std::vector<primitives::Vertex<>>{{{1.f, 1.f, 1.f}, {}, {}}, {{-1.f, -1.f, -1.f}, {}, {}}}, {}};
     mesh.set_origin({0, 2, 0});
-    omath::source_engine::MeshCollider collider(mesh);
+    source_engine::MeshCollider collider(mesh);
 
-    EXPECT_EQ(collider.get_origin(), omath::Vector3<float>(0,2,0));
-    collider.set_origin({1,2,3});
-    EXPECT_EQ(collider.get_origin(), omath::Vector3<float>(1,2,3));
+    EXPECT_EQ(collider.get_origin(), omath::Vector3<float>(0, 2, 0));
+    collider.set_origin({1, 2, 3});
+    EXPECT_EQ(collider.get_origin(), omath::Vector3<float>(1, 2, 3));
 
-    const auto v = collider.find_abs_furthest_vertex_position({1.f,0.f,0.f});
+    const auto v = collider.find_abs_furthest_vertex_position({1.f, 0.f, 0.f});
     // the original vertex at (1,1,1) translated by origin (1,2,3) becomes (2,3,4)
-    EXPECT_EQ(v, omath::Vector3<float>(2.f,3.f,4.f));
+    EXPECT_EQ(v, omath::Vector3<float>(2.f, 3.f, 4.f));
 }
 
 TEST(CollisionExtra, EPAConvergesOnSimpleCase)
 {
     // Build two simple colliders using simple meshes that overlap
-    omath::source_engine::Mesh meshA = {
-        std::vector<omath::primitives::Vertex<>>{{ {0.f,0.f,0.f}, {}, {} }, { {1.f,0.f,0.f}, {}, {} } },
-        {}
-    };
-    omath::source_engine::Mesh mesh_b = meshA;
+    source_engine::Mesh meshA = {
+            std::vector<primitives::Vertex<>>{{{0.f, 0.f, 0.f}, {}, {}}, {{1.f, 0.f, 0.f}, {}, {}}}, {}};
+    source_engine::Mesh mesh_b = meshA;
     mesh_b.set_origin({0.5f, 0.f, 0.f}); // translate to overlap
 
-    omath::source_engine::MeshCollider a(meshA);
-    omath::source_engine::MeshCollider b(mesh_b);
+    source_engine::MeshCollider a(meshA);
+    source_engine::MeshCollider b(mesh_b);
 
     // Create a simplex that approximately contains the origin in Minkowski space
-    Simplex<omath::Vector3<float>> simplex;
-    simplex = { omath::Vector3<float>{0.5f,0.f,0.f}, omath::Vector3<float>{-0.5f,0.f,0.f}, omath::Vector3<float>{0.f,0.5f,0.f}, omath::Vector3<float>{0.f,-0.5f,0.f} };
+    Simplex<Vector3<float>> simplex;
+    simplex = {omath::Vector3<float>{0.5f, 0.f, 0.f}, omath::Vector3<float>{-0.5f, 0.f, 0.f},
+               omath::Vector3<float>{0.f, 0.5f, 0.f}, omath::Vector3<float>{0.f, -0.5f, 0.f}};
 
     auto pool = std::pmr::monotonic_buffer_resource(1024);
-    auto res = Epa<omath::source_engine::MeshCollider>::solve(a, b, simplex, {}, pool);
+    auto res = Epa<source_engine::MeshCollider>::solve(a, b, simplex, {}, pool);
     // EPA may or may not converge depending on numerics; ensure it returns optionally
     // but if it does, fields should be finite
     if (res.has_value())

tests/general/unit_test_elf_scanner.cpp

@@ -0,0 +1,17 @@
+//
+// Created by Vladislav on 30.12.2025.
+//
+// /Users/vladislav/Downloads/valencia
+#include <gtest/gtest.h>
+#include <omath/utility/elf_pattern_scan.hpp>
+#include <print>
+TEST(unit_test_elf_pattern_scan_file, ScanMissingPattern)
+{
+    //FIXME: Implement normal tests :)
+    //constexpr std::string_view path = "/Users/vladislav/Downloads/crackme";
+
+    //const auto res = omath::ElfPatternScanner::scan_for_pattern_in_file(path, "F3 0F 1E FA 55 48 89 E5 B8 00 00 00 00", ".text");
+    //EXPECT_TRUE(res.has_value());
+
+    //std::println("In virtual mem: 0x{:x}", res->virtual_base_addr+res->target_offset);
+}

tests/general/unit_test_epa.cpp

@@ -9,7 +9,7 @@
 
 using Mesh = omath::source_engine::Mesh;
 using Collider = omath::source_engine::MeshCollider;
-using GJK = omath::collision::GjkAlgorithm<Collider>;
+using Gjk = omath::collision::GjkAlgorithm<Collider>;
 using EPA = omath::collision::Epa<Collider>;
 
 TEST(UnitTestEpa, TestCollisionTrue)
@@ -37,15 +37,15 @@ TEST(UnitTestEpa, TestCollisionTrue)
     Collider A(a), B(b);
 
     // GJK
-    auto gjk = GJK::is_collide_with_simplex_info(A, B);
-    ASSERT_TRUE(gjk.hit) << "GJK should report collision";
+    auto [hit, simplex] = Gjk::is_collide_with_simplex_info(A, B);
+    ASSERT_TRUE(hit) << "GJK should report collision";
 
     // EPA
     EPA::Params params;
     auto pool = std::make_shared<std::pmr::monotonic_buffer_resource>(1024);
     params.max_iterations = 64;
     params.tolerance = 1e-4f;
-    auto epa = EPA::solve(A, B, gjk.simplex, params, *pool);
+    auto epa = EPA::solve(A, B, simplex, params, *pool);
     ASSERT_TRUE(epa.has_value()) << "EPA should converge";
 
     // Normal is unit
@@ -70,8 +70,8 @@ TEST(UnitTestEpa, TestCollisionTrue)
 
     Collider B_plus(b_plus), B_minus(b_minus);
 
-    const bool sep_plus = !GJK::is_collide_with_simplex_info(A, B_plus).hit;
-    const bool sep_minus = !GJK::is_collide_with_simplex_info(A, B_minus).hit;
+    const bool sep_plus = !Gjk::is_collide_with_simplex_info(A, B_plus).hit;
+    const bool sep_minus = !Gjk::is_collide_with_simplex_info(A, B_minus).hit;
 
     // Exactly one direction should separate
     EXPECT_NE(sep_plus, sep_minus) << "Exactly one of ±penetration must separate";
@@ -81,12 +81,12 @@ TEST(UnitTestEpa, TestCollisionTrue)
 
     Mesh b_resolved = b;
     b_resolved.set_origin(b_resolved.get_origin() + resolve);
-    EXPECT_FALSE(GJK::is_collide(A, Collider(b_resolved))) << "Resolved position should be non-colliding";
+    EXPECT_FALSE(Gjk::is_collide(A, Collider(b_resolved))) << "Resolved position should be non-colliding";
 
     // Moving the other way should still collide
     Mesh b_wrong = b;
     b_wrong.set_origin(b_wrong.get_origin() - resolve);
-    EXPECT_TRUE(GJK::is_collide(A, Collider(b_wrong)));
+    EXPECT_TRUE(Gjk::is_collide(A, Collider(b_wrong)));
 }
 TEST(UnitTestEpa, TestCollisionTrue2)
 {
@@ -112,7 +112,7 @@ TEST(UnitTestEpa, TestCollisionTrue2)
     Collider A(a), B(b);
 
     // --- GJK must detect collision and provide simplex ---
-    auto gjk = GJK::is_collide_with_simplex_info(A, B);
+    auto gjk = Gjk::is_collide_with_simplex_info(A, B);
     ASSERT_TRUE(gjk.hit) << "GJK should report collision for overlapping cubes";
     // --- EPA penetration ---
     EPA::Params params;
@@ -139,11 +139,11 @@ TEST(UnitTestEpa, TestCollisionTrue2)
     // Apply once: B + pen must separate; the opposite must still collide
     Mesh b_resolved = b;
     b_resolved.set_origin(b_resolved.get_origin() + pen * margin);
-    EXPECT_FALSE(GJK::is_collide(A, Collider(b_resolved))) << "Applying penetration should separate";
+    EXPECT_FALSE(Gjk::is_collide(A, Collider(b_resolved))) << "Applying penetration should separate";
 
     Mesh b_wrong = b;
     b_wrong.set_origin(b_wrong.get_origin() - pen * margin);
-    EXPECT_TRUE(GJK::is_collide(A, Collider(b_wrong))) << "Opposite direction should still intersect";
+    EXPECT_TRUE(Gjk::is_collide(A, Collider(b_wrong))) << "Opposite direction should still intersect";
 
     // Some book-keeping sanity
     EXPECT_GT(epa->iterations, 0);

tests/general/unit_test_epa_internal.cpp

@@ -32,10 +32,8 @@ TEST(EpaInternal, SolveHandlesSmallPolytope)
     params.max_iterations = 16;
     params.tolerance = 1e-6f;
 
-    const auto result = EpaDummy::solve(a, b, s, params);
-
     // Should either return a valid result or gracefully return nullopt
-    if (result)
+    if (const auto result = EpaDummy::solve(a, b, s, params))
     {
         EXPECT_TRUE(std::isfinite(result->depth));
         EXPECT_TRUE(std::isfinite(result->normal.x));

tests/general/unit_test_epa_more.cpp

@@ -10,7 +10,8 @@ struct DegenerateCollider
 {
     using VectorType = Vector3f;
     // returns furthest point along dir
-    VectorType find_abs_furthest_vertex_position(const VectorType& dir) const noexcept
+    [[nodiscard]]
+    static VectorType find_abs_furthest_vertex_position(const VectorType& dir) noexcept
     {
         // Always return points on a small circle in XY plane so some faces become degenerate
         if (dir.x > 0.5f) return {0.01f, 0.f, 0.f};

tests/general/unit_test_line_trace.cpp

@@ -47,8 +47,15 @@ namespace
     // -----------------------------------------------------------------------------
     struct TraceCase
     {
-        Ray ray;
+        Ray<> ray;
         bool expected_clear; // true => segment does NOT hit the triangle
+        friend std::ostream& operator<<(std::ostream& os, const TraceCase& tc)
+        {
+            os << "{ RayStart: (" << tc.ray.start.x << ", " << tc.ray.start.y << ", " << tc.ray.start.z << "), "
+               << "RayEnd: (" << tc.ray.end.x << ", " << tc.ray.end.y << ", " << tc.ray.end.z << "), "
+               << "Expected: " << (tc.expected_clear ? "True" : "False") << " }";
+            return os;
+        }
     };
 
     class CanTraceLineParam : public LineTracerFixture,
@@ -59,7 +66,7 @@ namespace
     TEST_P(CanTraceLineParam, VariousRays)
     {
         const auto& [ray, expected_clear] = GetParam();
-        EXPECT_EQ(LineTracer::can_trace_line(ray, triangle), expected_clear);
+        EXPECT_EQ(LineTracer<>::can_trace_line(ray, triangle), expected_clear);
     }
 
     INSTANTIATE_TEST_SUITE_P(
@@ -84,7 +91,7 @@ namespace
         constexpr Ray ray{{0.3f, 0.3f, -1.f}, {0.3f, 0.3f, 1.f}};
         constexpr Vec3 expected{0.3f, 0.3f, 0.f};
 
-        const Vec3 hit = LineTracer::get_ray_hit_point(ray, triangle);
+        const Vec3 hit = LineTracer<>::get_ray_hit_point(ray, triangle);
         ASSERT_FALSE(vec_equal(hit, ray.end));
         EXPECT_TRUE(vec_equal(hit, expected));
     }
@@ -99,7 +106,7 @@ namespace
                                          {1001.f, 1000.f, 1000.f},
                                          {1000.f, 1001.f, 1000.f}};
 
-        EXPECT_TRUE(LineTracer::can_trace_line(short_ray, distant));
+        EXPECT_TRUE(LineTracer<>::can_trace_line(short_ray, distant));
     }
 
     TEST(unit_test_unity_engine, CantHit)
@@ -108,13 +115,13 @@ namespace
 
         constexpr Ray ray{{}, {1.0, 0, 0}, false};
 
-        EXPECT_TRUE(omath::collision::LineTracer::can_trace_line(ray, triangle));
+        EXPECT_TRUE(omath::collision::LineTracer<>::can_trace_line(ray, triangle));
     }
     TEST(unit_test_unity_engine, CanHit)
     {
         constexpr omath::Triangle<Vector3<float>> triangle{{2, 0, 0}, {2, 2, 0}, {2, 2, 2}};
 
         constexpr Ray ray{{}, {2.1, 0, 0}, false};
-        EXPECT_FALSE(omath::collision::LineTracer::can_trace_line(ray, triangle));
+        EXPECT_FALSE(omath::collision::LineTracer<>::can_trace_line(ray, triangle));
     }
 } // namespace

tests/general/unit_test_line_tracer.cpp

@@ -15,9 +15,9 @@ TEST(LineTracerTests, ParallelRayReturnsEnd)
     ray.end = Vector3<float>{1.f,1.f,1.f};
 
     // For a ray parallel to the triangle plane the algorithm should return ray.end
-    const auto hit = omath::collision::LineTracer::get_ray_hit_point(ray, tri);
+    const auto hit = omath::collision::LineTracer<>::get_ray_hit_point(ray, tri);
     EXPECT_TRUE(hit == ray.end);
-    EXPECT_TRUE(omath::collision::LineTracer::can_trace_line(ray, tri));
+    EXPECT_TRUE(omath::collision::LineTracer<>::can_trace_line(ray, tri));
 }
 
 TEST(LineTracerTests, MissesTriangleReturnsEnd)
@@ -27,7 +27,7 @@ TEST(LineTracerTests, MissesTriangleReturnsEnd)
     ray.start = Vector3<float>{2.f,2.f,-1.f};
     ray.end = Vector3<float>{2.f,2.f,1.f}; // passes above the triangle area
 
-    const auto hit = omath::collision::LineTracer::get_ray_hit_point(ray, tri);
+    const auto hit = omath::collision::LineTracer<>::get_ray_hit_point(ray, tri);
     EXPECT_TRUE(hit == ray.end);
 }
 
@@ -38,7 +38,7 @@ TEST(LineTracerTests, HitTriangleReturnsPointInsideSegment)
     ray.start = Vector3<float>{0.25f,0.25f,-1.f};
     ray.end = Vector3<float>{0.25f,0.25f,1.f};
 
-    const auto hit = omath::collision::LineTracer::get_ray_hit_point(ray, tri);
+    const auto hit = omath::collision::LineTracer<>::get_ray_hit_point(ray, tri);
     // Should return a point between start and end (z approximately 0)
     EXPECT_NE(hit, ray.end);
     EXPECT_NEAR(hit.z, 0.f, 1e-4f);
@@ -60,6 +60,6 @@ TEST(LineTracerTests, InfiniteLengthEarlyOut)
 
     // If t_hit <= epsilon the algorithm should return ray.end when infinite_length is true.
     // Using start on the triangle plane should produce t_hit <= epsilon.
-    const auto hit = omath::collision::LineTracer::get_ray_hit_point(ray, tri);
+    const auto hit = omath::collision::LineTracer<>::get_ray_hit_point(ray, tri);
     EXPECT_TRUE(hit == ray.end);
 }

tests/general/unit_test_line_tracer_extra.cpp

@@ -10,7 +10,7 @@ TEST(LineTracerExtra, MissParallel)
 {
     constexpr Triangle<Vector3<float>> tri({0,0,0},{1,0,0},{0,1,0});
     constexpr Ray ray{ {0.3f,0.3f,1.f}, {0.3f,0.3f,2.f}, false }; // parallel above triangle
-    const auto hit = LineTracer::get_ray_hit_point(ray, tri);
+    const auto hit = LineTracer<>::get_ray_hit_point(ray, tri);
     EXPECT_EQ(hit, ray.end);
 }
 
@@ -18,7 +18,7 @@ TEST(LineTracerExtra, HitCenter)
 {
     constexpr Triangle<Vector3<float>> tri({0,0,0},{1,0,0},{0,1,0});
     constexpr Ray ray{ {0.3f,0.3f,-1.f}, {0.3f,0.3f,1.f}, false };
-    const auto hit = LineTracer::get_ray_hit_point(ray, tri);
+    const auto hit = LineTracer<>::get_ray_hit_point(ray, tri);
     ASSERT_FALSE(hit == ray.end);
     EXPECT_NEAR(hit.x, 0.3f, 1e-6f);
     EXPECT_NEAR(hit.y, 0.3f, 1e-6f);
@@ -29,9 +29,8 @@ TEST(LineTracerExtra, HitOnEdge)
 {
     constexpr Triangle<Vector3<float>> tri({0,0,0},{1,0,0},{0,1,0});
     constexpr Ray ray{ {0.0f,0.0f,1.f}, {0.0f,0.0f,0.f}, false };
-    const auto hit = LineTracer::get_ray_hit_point(ray, tri);
     // hitting exact vertex/edge may be considered miss; ensure function handles without crash
-    if (hit != ray.end)
+    if (const auto hit = LineTracer<>::get_ray_hit_point(ray, tri); hit != ray.end)
     {
         EXPECT_NEAR(hit.x, 0.0f, 1e-6f);
         EXPECT_NEAR(hit.y, 0.0f, 1e-6f);
@@ -43,6 +42,6 @@ TEST(LineTracerExtra, InfiniteRayIgnoredIfBehind)
     constexpr Triangle<Vector3<float>> tri({0,0,0},{1,0,0},{0,1,0});
     // Ray pointing away but infinite_length true should be ignored
     constexpr Ray ray{ {0.5f,0.5f,-1.f}, {0.5f,0.5f,-2.f}, true };
-    const auto hit = LineTracer::get_ray_hit_point(ray, tri);
+    const auto hit = LineTracer<>::get_ray_hit_point(ray, tri);
     EXPECT_EQ(hit, ray.end);
 }

tests/general/unit_test_line_tracer_more.cpp

@@ -14,7 +14,7 @@ TEST(LineTracerMore, ParallelRayReturnsEnd)
     constexpr Triangle3 tri(Vector3<float>{0.f,0.f,0.f}, Vector3<float>{1.f,0.f,0.f}, Vector3<float>{0.f,1.f,0.f});
     Ray ray; ray.start = {0.f,0.f,1.f}; ray.end = {1.f,0.f,1.f};
 
-    const auto hit = LineTracer::get_ray_hit_point(ray, tri);
+    const auto hit = LineTracer<>::get_ray_hit_point(ray, tri);
     EXPECT_EQ(hit, ray.end);
 }
 
@@ -24,7 +24,7 @@ TEST(LineTracerMore, UOutOfRangeReturnsEnd)
     constexpr Triangle3 tri(Vector3<float>{0.f,0.f,0.f}, Vector3<float>{1.f,0.f,0.f}, Vector3<float>{0.f,1.f,0.f});
     Ray ray; ray.start = {-1.f,-1.f,-1.f}; ray.end = {-0.5f,-1.f,1.f};
 
-    const auto hit = LineTracer::get_ray_hit_point(ray, tri);
+    const auto hit = LineTracer<>::get_ray_hit_point(ray, tri);
     EXPECT_EQ(hit, ray.end);
 }
 
@@ -34,7 +34,7 @@ TEST(LineTracerMore, VOutOfRangeReturnsEnd)
     constexpr Triangle3 tri(Vector3<float>{0.f,0.f,0.f}, Vector3<float>{1.f,0.f,0.f}, Vector3<float>{0.f,1.f,0.f});
     Ray ray; ray.start = {2.f,2.f,-1.f}; ray.end = {2.f,2.f,1.f};
 
-    const auto hit = LineTracer::get_ray_hit_point(ray, tri);
+    const auto hit = LineTracer<>::get_ray_hit_point(ray, tri);
     EXPECT_EQ(hit, ray.end);
 }
 
@@ -43,7 +43,7 @@ TEST(LineTracerMore, THitTooSmallReturnsEnd)
     constexpr Triangle3 tri(Vector3<float>{0.f,0.f,0.f}, Vector3<float>{1.f,0.f,0.f}, Vector3<float>{0.f,1.f,0.f});
     Ray ray; ray.start = {0.f,0.f,0.0000000001f}; ray.end = {0.f,0.f,1.f};
 
-    const auto hit = LineTracer::get_ray_hit_point(ray, tri);
+    const auto hit = LineTracer<>::get_ray_hit_point(ray, tri);
     EXPECT_EQ(hit, ray.end);
 }
 
@@ -53,7 +53,7 @@ TEST(LineTracerMore, THitGreaterThanOneReturnsEnd)
     // Choose a ray and compute t_hit locally to assert consistency
     Ray ray; ray.start = {0.f,0.f,-1.f}; ray.end = {0.f,0.f,-0.5f};
 
-    const auto hit = LineTracer::get_ray_hit_point(ray, tri);
+    const auto hit = LineTracer<>::get_ray_hit_point(ray, tri);
 
     constexpr float k_epsilon = std::numeric_limits<float>::epsilon();
     constexpr auto side_a = tri.side_a_vector();
@@ -87,7 +87,7 @@ TEST(LineTracerMore, InfiniteLengthWithSmallTHitReturnsEnd)
     // Create triangle slightly behind so t_hit <= eps
     tri = tri2;
 
-    const auto hit = LineTracer::get_ray_hit_point(ray, tri);
+    const auto hit = LineTracer<>::get_ray_hit_point(ray, tri);
     EXPECT_EQ(hit, ray.end);
 }
 
@@ -96,7 +96,7 @@ TEST(LineTracerMore, SuccessfulHitReturnsPoint)
     constexpr Triangle3 tri(Vector3<float>{0.f,0.f,0.f}, Vector3<float>{1.f,0.f,0.f}, Vector3<float>{0.f,1.f,0.f});
     Ray ray; ray.start = {0.1f,0.1f,-1.f}; ray.end = {0.1f,0.1f,1.f};
 
-    const auto hit = LineTracer::get_ray_hit_point(ray, tri);
+    const auto hit = LineTracer<>::get_ray_hit_point(ray, tri);
     EXPECT_NE(hit, ray.end);
     // Hit should be on plane z=0 and near x=0.1,y=0.1
     EXPECT_NEAR(hit.z, 0.f, 1e-6f);

tests/general/unit_test_line_tracer_more2.cpp

@@ -14,7 +14,7 @@ TEST(LineTracerMore2, UGreaterThanOneReturnsEnd)
     // choose ray so barycentric u > 1
     Ray ray; ray.start = {2.f, -1.f, -1.f}; ray.end = {2.f, -1.f, 1.f};
 
-    const auto hit = LineTracer::get_ray_hit_point(ray, tri);
+    const auto hit = LineTracer<>::get_ray_hit_point(ray, tri);
     EXPECT_EQ(hit, ray.end);
 }
 
@@ -24,7 +24,7 @@ TEST(LineTracerMore2, VGreaterThanOneReturnsEnd)
     // choose ray so barycentric v > 1
     Ray ray; ray.start = {-1.f, 2.f, -1.f}; ray.end = {-1.f, 2.f, 1.f};
 
-    const auto hit = LineTracer::get_ray_hit_point(ray, tri);
+    const auto hit = LineTracer<>::get_ray_hit_point(ray, tri);
     EXPECT_EQ(hit, ray.end);
 }
 
@@ -34,7 +34,7 @@ TEST(LineTracerMore2, UPlusVGreaterThanOneReturnsEnd)
     // Ray aimed so u+v > 1 (outside triangle region)
     Ray ray; ray.start = {1.f, 1.f, -1.f}; ray.end = {1.f, 1.f, 1.f};
 
-    const auto hit = LineTracer::get_ray_hit_point(ray, tri);
+    const auto hit = LineTracer<>::get_ray_hit_point(ray, tri);
     EXPECT_EQ(hit, ray.end);
 }
 
@@ -52,6 +52,6 @@ TEST(LineTracerMore2, ZeroLengthRayHandled)
     Ray ray; ray.start = {0.f,0.f,0.f}; ray.end = {0.f,0.f,0.f};
 
     // Zero-length ray: direction length == 0; algorithm should handle without crash
-    const auto hit = LineTracer::get_ray_hit_point(ray, tri);
+    const auto hit = LineTracer<>::get_ray_hit_point(ray, tri);
     EXPECT_EQ(hit, ray.end);
 }

tests/general/unit_test_macho_scanner.cpp

@@ -0,0 +1,358 @@
+//
+// Created by Copilot on 04.02.2026.
+//
+// Unit tests for MachOPatternScanner
+#include <gtest/gtest.h>
+#include <omath/utility/macho_pattern_scan.hpp>
+#include <cstdint>
+#include <cstring>
+#include <fstream>
+#include <vector>
+
+using namespace omath;
+
+namespace
+{
+    // Mach-O magic numbers
+    constexpr std::uint32_t mh_magic_64 = 0xFEEDFACF;
+    constexpr std::uint32_t mh_magic_32 = 0xFEEDFACE;
+    constexpr std::uint32_t lc_segment = 0x1;
+    constexpr std::uint32_t lc_segment_64 = 0x19;
+
+    constexpr std::string_view segment_name = "__TEXT";
+    constexpr std::string_view section_name = "__text";
+#pragma pack(push, 1)
+    struct MachHeader64
+    {
+        std::uint32_t magic;
+        std::uint32_t cputype;
+        std::uint32_t cpusubtype;
+        std::uint32_t filetype;
+        std::uint32_t ncmds;
+        std::uint32_t sizeofcmds;
+        std::uint32_t flags;
+        std::uint32_t reserved;
+    };
+
+    struct MachHeader32
+    {
+        std::uint32_t magic;
+        std::uint32_t cputype;
+        std::uint32_t cpusubtype;
+        std::uint32_t filetype;
+        std::uint32_t ncmds;
+        std::uint32_t sizeofcmds;
+        std::uint32_t flags;
+    };
+
+    struct SegmentCommand64
+    {
+        std::uint32_t cmd;
+        std::uint32_t cmdsize;
+        char segname[16];
+        std::uint64_t vmaddr;
+        std::uint64_t vmsize;
+        std::uint64_t fileoff;
+        std::uint64_t filesize;
+        std::uint32_t maxprot;
+        std::uint32_t initprot;
+        std::uint32_t nsects;
+        std::uint32_t flags;
+    };
+
+    struct SegmentCommand32
+    {
+        std::uint32_t cmd;
+        std::uint32_t cmdsize;
+        char segname[16];
+        std::uint32_t vmaddr;
+        std::uint32_t vmsize;
+        std::uint32_t fileoff;
+        std::uint32_t filesize;
+        std::uint32_t maxprot;
+        std::uint32_t initprot;
+        std::uint32_t nsects;
+        std::uint32_t flags;
+    };
+
+    struct Section64
+    {
+        char sectname[16];
+        char segname[16];
+        std::uint64_t addr;
+        std::uint64_t size;
+        std::uint32_t offset;
+        std::uint32_t align;
+        std::uint32_t reloff;
+        std::uint32_t nreloc;
+        std::uint32_t flags;
+        std::uint32_t reserved1;
+        std::uint32_t reserved2;
+        std::uint32_t reserved3;
+    };
+
+    struct Section32
+    {
+        char sectname[16];
+        char segname[16];
+        std::uint32_t addr;
+        std::uint32_t size;
+        std::uint32_t offset;
+        std::uint32_t align;
+        std::uint32_t reloff;
+        std::uint32_t nreloc;
+        std::uint32_t flags;
+        std::uint32_t reserved1;
+        std::uint32_t reserved2;
+    };
+#pragma pack(pop)
+
+    // Helper function to create a minimal 64-bit Mach-O file with a __text section
+    bool write_minimal_macho64_file(const std::string& path, const std::vector<std::uint8_t>& section_bytes)
+    {
+        std::ofstream f(path, std::ios::binary);
+        if (!f.is_open())
+            return false;
+
+        // Calculate sizes
+        constexpr std::size_t header_size = sizeof(MachHeader64);
+        constexpr std::size_t segment_size = sizeof(SegmentCommand64);
+        constexpr std::size_t section_size = sizeof(Section64);
+        constexpr std::size_t load_cmd_size = segment_size + section_size;
+        // Section data will start after headers
+        const std::size_t section_offset = header_size + load_cmd_size;
+
+        // Create Mach-O header
+        MachHeader64 header{};
+        header.magic = mh_magic_64;
+        header.cputype = 0x01000007;  // CPU_TYPE_X86_64
+        header.cpusubtype = 0x3;       // CPU_SUBTYPE_X86_64_ALL
+        header.filetype = 0x2;         // MH_EXECUTE
+        header.ncmds = 1;
+        header.sizeofcmds = static_cast<std::uint32_t>(load_cmd_size);
+        header.flags = 0;
+        header.reserved = 0;
+
+        f.write(reinterpret_cast<const char*>(&header), sizeof(header));
+
+        // Create segment command
+        SegmentCommand64 segment{};
+        segment.cmd = lc_segment_64;
+        segment.cmdsize = static_cast<std::uint32_t>(load_cmd_size);
+        std::ranges::copy(segment_name, segment.segname);
+        segment.vmaddr = 0x100000000;
+        segment.vmsize = section_bytes.size();
+        segment.fileoff = section_offset;
+        segment.filesize = section_bytes.size();
+        segment.maxprot = 7;   // VM_PROT_ALL
+        segment.initprot = 5;  // VM_PROT_READ | VM_PROT_EXECUTE
+        segment.nsects = 1;
+        segment.flags = 0;
+
+        f.write(reinterpret_cast<const char*>(&segment), sizeof(segment));
+
+        // Create section
+        Section64 section{};
+        std::ranges::copy(section_name, section.sectname);
+        std::ranges::copy(segment_name, segment.segname);
+        section.addr = 0x100000000;
+        section.size = section_bytes.size();
+        section.offset = static_cast<std::uint32_t>(section_offset);
+        section.align = 0;
+        section.reloff = 0;
+        section.nreloc = 0;
+        section.flags = 0;
+        section.reserved1 = 0;
+        section.reserved2 = 0;
+        section.reserved3 = 0;
+
+        f.write(reinterpret_cast<const char*>(&section), sizeof(section));
+
+        // Write section data
+        f.write(reinterpret_cast<const char*>(section_bytes.data()), static_cast<std::streamsize>(section_bytes.size()));
+
+        f.close();
+        return true;
+    }
+
+    // Helper function to create a minimal 32-bit Mach-O file with a __text section
+    bool write_minimal_macho32_file(const std::string& path, const std::vector<std::uint8_t>& section_bytes)
+    {
+        std::ofstream f(path, std::ios::binary);
+        if (!f.is_open())
+            return false;
+
+        // Calculate sizes
+        constexpr std::size_t header_size = sizeof(MachHeader32);
+        constexpr std::size_t segment_size = sizeof(SegmentCommand32);
+        constexpr std::size_t section_size = sizeof(Section32);
+        constexpr std::size_t load_cmd_size = segment_size + section_size;
+
+        // Section data will start after headers
+        constexpr std::size_t section_offset = header_size + load_cmd_size;
+
+        // Create Mach-O header
+        MachHeader32 header{};
+        header.magic = mh_magic_32;
+        header.cputype = 0x7;          // CPU_TYPE_X86
+        header.cpusubtype = 0x3;       // CPU_SUBTYPE_X86_ALL
+        header.filetype = 0x2;         // MH_EXECUTE
+        header.ncmds = 1;
+        header.sizeofcmds = static_cast<std::uint32_t>(load_cmd_size);
+        header.flags = 0;
+
+        f.write(reinterpret_cast<const char*>(&header), sizeof(header));
+
+        // Create segment command
+        SegmentCommand32 segment{};
+        segment.cmd = lc_segment;
+        segment.cmdsize = static_cast<std::uint32_t>(load_cmd_size);
+        std::ranges::copy(segment_name, segment.segname);
+        segment.vmaddr = 0x1000;
+        segment.vmsize = static_cast<std::uint32_t>(section_bytes.size());
+        segment.fileoff = static_cast<std::uint32_t>(section_offset);
+        segment.filesize = static_cast<std::uint32_t>(section_bytes.size());
+        segment.maxprot = 7;   // VM_PROT_ALL
+        segment.initprot = 5;  // VM_PROT_READ | VM_PROT_EXECUTE
+        segment.nsects = 1;
+        segment.flags = 0;
+
+        f.write(reinterpret_cast<const char*>(&segment), sizeof(segment));
+
+        // Create section
+        Section32 section{};
+        std::ranges::copy(section_name, section.sectname);
+        std::ranges::copy(segment_name, segment.segname);
+        section.addr = 0x1000;
+        section.size = static_cast<std::uint32_t>(section_bytes.size());
+        section.offset = static_cast<std::uint32_t>(section_offset);
+        section.align = 0;
+        section.reloff = 0;
+        section.nreloc = 0;
+        section.flags = 0;
+        section.reserved1 = 0;
+        section.reserved2 = 0;
+
+        f.write(reinterpret_cast<const char*>(&section), sizeof(section));
+
+        // Write section data
+        f.write(reinterpret_cast<const char*>(section_bytes.data()), static_cast<std::streamsize>(section_bytes.size()));
+
+        f.close();
+        return true;
+    }
+
+} // namespace
+
+// Test scanning for a pattern that exists in a 64-bit Mach-O file
+TEST(unit_test_macho_pattern_scan_file, ScanFindsPattern64)
+{
+    constexpr std::string_view path = "./test_minimal_macho64.bin";
+    const std::vector<std::uint8_t> bytes = {0x55, 0x48, 0x89, 0xE5, 0x90, 0x90}; // push rbp; mov rbp, rsp; nop; nop
+    ASSERT_TRUE(write_minimal_macho64_file(path.data(), bytes));
+
+    const auto res = MachOPatternScanner::scan_for_pattern_in_file(path, "55 48 89 E5", "__text");
+    EXPECT_TRUE(res.has_value());
+    if (res.has_value())
+    {
+        EXPECT_EQ(res->target_offset, 0);
+    }
+}
+
+// Test scanning for a pattern that exists in a 32-bit Mach-O file
+TEST(unit_test_macho_pattern_scan_file, ScanFindsPattern32)
+{
+    constexpr std::string_view path = "./test_minimal_macho32.bin";
+    const std::vector<std::uint8_t> bytes = {0x55, 0x89, 0xE5, 0x90, 0x90}; // push ebp; mov ebp, esp; nop; nop
+    ASSERT_TRUE(write_minimal_macho32_file(path.data(), bytes));
+
+    const auto res = MachOPatternScanner::scan_for_pattern_in_file(path, "55 89 E5", "__text");
+    EXPECT_TRUE(res.has_value());
+    if (res.has_value())
+    {
+        EXPECT_EQ(res->target_offset, 0);
+    }
+}
+
+// Test scanning for a pattern that does not exist
+TEST(unit_test_macho_pattern_scan_file, ScanMissingPattern)
+{
+    constexpr std::string_view path = "./test_minimal_macho_missing.bin";
+    const std::vector<std::uint8_t> bytes = {0x00, 0x01, 0x02, 0x03};
+    ASSERT_TRUE(write_minimal_macho64_file(path.data(), bytes));
+
+    const auto res = MachOPatternScanner::scan_for_pattern_in_file(path, "FF EE DD", "__text");
+    EXPECT_FALSE(res.has_value());
+}
+
+// Test scanning for a pattern at a non-zero offset
+TEST(unit_test_macho_pattern_scan_file, ScanPatternAtOffset)
+{
+    constexpr std::string_view path = "./test_minimal_macho_offset.bin";
+    const std::vector<std::uint8_t> bytes = {0x90, 0x90, 0x90, 0x55, 0x48, 0x89, 0xE5}; // nops then pattern
+    ASSERT_TRUE(write_minimal_macho64_file(path.data(), bytes));
+
+    const auto res = MachOPatternScanner::scan_for_pattern_in_file(path, "55 48 89 E5", "__text");
+    EXPECT_TRUE(res.has_value());
+    if (res.has_value())
+    {
+        EXPECT_EQ(res->target_offset, 3);
+    }
+}
+
+// Test scanning with wildcards
+TEST(unit_test_macho_pattern_scan_file, ScanWithWildcard)
+{
+    constexpr std::string_view path = "./test_minimal_macho_wildcard.bin";
+    const std::vector<std::uint8_t> bytes = {0x55, 0x48, 0x89, 0xE5, 0x90};
+    ASSERT_TRUE(write_minimal_macho64_file(path.data(), bytes));
+
+    const auto res = MachOPatternScanner::scan_for_pattern_in_file(path, "55 ? 89 E5", "__text");
+    EXPECT_TRUE(res.has_value());
+}
+
+// Test scanning a non-existent file
+TEST(unit_test_macho_pattern_scan_file, ScanNonExistentFile)
+{
+    const auto res = MachOPatternScanner::scan_for_pattern_in_file("/non/existent/file.bin", "55 48", "__text");
+    EXPECT_FALSE(res.has_value());
+}
+
+// Test scanning an invalid (non-Mach-O) file
+TEST(unit_test_macho_pattern_scan_file, ScanInvalidFile)
+{
+    constexpr std::string_view path = "./test_invalid_macho.bin";
+    std::ofstream f(path.data(), std::ios::binary);
+    const std::vector<std::uint8_t> garbage = {0x00, 0x01, 0x02, 0x03, 0x04, 0x05};
+    f.write(reinterpret_cast<const char*>(garbage.data()), static_cast<std::streamsize>(garbage.size()));
+    f.close();
+
+    const auto res = MachOPatternScanner::scan_for_pattern_in_file(path, "55 48", "__text");
+    EXPECT_FALSE(res.has_value());
+}
+
+// Test scanning for a non-existent section
+TEST(unit_test_macho_pattern_scan_file, ScanNonExistentSection)
+{
+    constexpr std::string_view path = "./test_minimal_macho_nosect.bin";
+    const std::vector<std::uint8_t> bytes = {0x55, 0x48, 0x89, 0xE5};
+    ASSERT_TRUE(write_minimal_macho64_file(path.data(), bytes));
+
+    const auto res = MachOPatternScanner::scan_for_pattern_in_file(path, "55 48", "__nonexistent");
+    EXPECT_FALSE(res.has_value());
+}
+
+// Test scanning with null module base address
+TEST(unit_test_macho_pattern_scan_loaded, ScanNullModule)
+{
+    const auto res = MachOPatternScanner::scan_for_pattern_in_loaded_module(nullptr, "55 48", "__text");
+    EXPECT_FALSE(res.has_value());
+}
+
+// Test scanning in loaded module with invalid magic
+TEST(unit_test_macho_pattern_scan_loaded, ScanInvalidMagic)
+{
+    std::vector<std::uint8_t> invalid_data(256, 0x00);
+    const auto res = MachOPatternScanner::scan_for_pattern_in_loaded_module(invalid_data.data(), "55 48", "__text");
+    EXPECT_FALSE(res.has_value());
+}

tests/general/unit_test_pe_pattern_scan_loaded.cpp

@@ -11,32 +11,60 @@ static std::vector<std::uint8_t> make_fake_module(std::uint32_t base_of_code,
                                                   std::uint32_t size_code,
                                                   const std::vector<std::uint8_t>& code_bytes)
 {
+    // Constants
     constexpr std::uint32_t e_lfanew = 0x80;
-    const std::uint32_t total_size = e_lfanew + 0x200 + size_code + 0x100;
+    constexpr std::uint32_t nt_sig   = 0x4550;   // "PE\0\0"
+    constexpr std::uint16_t opt_magic = 0x020B;  // PE32+
+    constexpr std::uint16_t num_sections = 1;
+    constexpr std::uint16_t opt_hdr_size = 0xF0; // Standard PE32+ optional header size
+    constexpr std::uint32_t section_table_off = e_lfanew + 4 + 20 + opt_hdr_size; // sig(4) + FileHdr(20)
+    constexpr std::uint32_t section_header_size = 40;
+    constexpr std::uint32_t text_characteristics = 0x60000020; // code | execute | read
+
+    const std::uint32_t headers_end = section_table_off + section_header_size;
+    const std::uint32_t code_end = base_of_code + size_code;
+    const std::uint32_t total_size = std::max(headers_end, code_end) + 0x100; // leave some padding
     std::vector<std::uint8_t> buf(total_size, 0);
 
-    // DOS header: e_magic at 0, e_lfanew at offset 0x3C
-    buf[0] = 0x4D; buf[1] = 0x5A; // 'M' 'Z' (little-endian 0x5A4D)
-    constexpr std::uint32_t le = e_lfanew;
-    std::memcpy(buf.data() + 0x3C, &le, sizeof(le));
+    auto w16 = [&](std::size_t off, std::uint16_t v) { std::memcpy(buf.data() + off, &v, sizeof(v)); };
+    auto w32 = [&](std::size_t off, std::uint32_t v) { std::memcpy(buf.data() + off, &v, sizeof(v)); };
+    auto w64 = [&](std::size_t off, std::uint64_t v) { std::memcpy(buf.data() + off, &v, sizeof(v)); };
 
-    // NT signature at e_lfanew
-    constexpr std::uint32_t nt_sig = 0x4550; // 'PE\0\0'
-    std::memcpy(buf.data() + e_lfanew, &nt_sig, sizeof(nt_sig));
+    // DOS header
+    w16(0x00, 0x5A4D);          // e_magic "MZ"
+    w32(0x3C, e_lfanew);        // e_lfanew
 
-    // FileHeader is 20 bytes: we only need to ensure its size is present; leave zeros
+    // NT signature
+    w32(e_lfanew, nt_sig);
 
-    // OptionalHeader magic (optional header begins at e_lfanew + 4 + sizeof(FileHeader) == e_lfanew + 24)
-    constexpr std::uint16_t opt_magic = 0x020B; // x64
-    std::memcpy(buf.data() + e_lfanew + 24, &opt_magic, sizeof(opt_magic));
+    // FileHeader (starts at e_lfanew + 4)
+    const std::size_t fh_off = e_lfanew + 4;
+    w16(fh_off +  2, num_sections);    // NumberOfSections
+    w16(fh_off + 16, opt_hdr_size);    // SizeOfOptionalHeader
 
-    // size_code is at offset 4 inside OptionalHeader -> absolute e_lfanew + 28
-    std::memcpy(buf.data() + e_lfanew + 28, &size_code, sizeof(size_code));
+    // OptionalHeader PE32+ (starts at e_lfanew + 4 + 20)
+    const std::size_t opt_off = fh_off + 20;
+    w16(opt_off + 0, opt_magic);       // Magic
+    w32(opt_off + 4, size_code);       // SizeOfCode
+    w32(opt_off + 16, 0);              // AddressOfEntryPoint (unused in test)
+    w32(opt_off + 20, base_of_code);   // BaseOfCode
+    w64(opt_off + 24, 0);              // ImageBase
+    w32(opt_off + 32, 0x1000);         // SectionAlignment
+    w32(opt_off + 36, 0x200);          // FileAlignment
+    w32(opt_off + 56, code_end);       // SizeOfImage (simple upper bound)
+    w32(opt_off + 60, headers_end);    // SizeOfHeaders
+    w32(opt_off + 108, 0);             // NumberOfRvaAndSizes (0 directories)
 
-    // base_of_code is at offset 20 inside OptionalHeader -> absolute e_lfanew + 44
-    std::memcpy(buf.data() + e_lfanew + 44, &base_of_code, sizeof(base_of_code));
+    // Section header (.text) at section_table_off
+    const std::size_t sh_off = section_table_off;
+    std::memcpy(buf.data() + sh_off + 0, ".text", 5);          // Name[8]
+    w32(sh_off + 8,  size_code);                               // VirtualSize
+    w32(sh_off + 12, base_of_code);                            // VirtualAddress
+    w32(sh_off + 16, size_code);                               // SizeOfRawData
+    w32(sh_off + 20, base_of_code);                            // PointerToRawData
+    w32(sh_off + 36, text_characteristics);                    // Characteristics
 
-    // place code bytes at offset base_of_code
+    // Place code bytes at BaseOfCode
     if (base_of_code + code_bytes.size() <= buf.size())
         std::memcpy(buf.data() + base_of_code, code_bytes.data(), code_bytes.size());
 
@@ -59,11 +87,12 @@ TEST(PePatternScanLoaded, FindsPatternAtBase)
 TEST(PePatternScanLoaded, WildcardMatches)
 {
     const std::vector<std::uint8_t> code = {0xDE, 0xAD, 0xBE, 0xEF};
-    auto buf = make_fake_module(0x300, static_cast<std::uint32_t>(code.size()), code);
+    constexpr std::uint32_t base_of_code = 0x300;
+    auto buf = make_fake_module(base_of_code, static_cast<std::uint32_t>(code.size()), code);
 
-    const auto res = PePatternScanner::scan_for_pattern_in_loaded_module(buf.data(), "DE ?? BE");
+    const auto res = PePatternScanner::scan_for_pattern_in_loaded_module(buf.data(), "DE ?? BE", ".text");
     ASSERT_TRUE(res.has_value());
     const uintptr_t addr = res.value();
     const uintptr_t base = reinterpret_cast<uintptr_t>(buf.data());
-    EXPECT_EQ(addr - base, 0x300u);
-}
+    EXPECT_EQ(addr - base, base_of_code);
+}

tests/general/unit_test_pe_pattern_scan_more.cpp

@@ -163,6 +163,23 @@ TEST(unit_test_pe_pattern_scan_more, LoadedModuleScanFinds)
         std::uint32_t size_headers; /* keep space */
         std::uint8_t pad[200];
     };
+    struct SectionHeader
+    {
+        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;
+    };
     struct ImageNtHeadersX64
     {
         std::uint32_t signature;
@@ -176,22 +193,41 @@ TEST(unit_test_pe_pattern_scan_more, LoadedModuleScanFinds)
 
     const std::uint32_t bufsize = 0x400 + size_code;
     std::vector<std::uint8_t> buf(bufsize, 0);
+
     // DOS header
     const auto dos = reinterpret_cast<DosHeader*>(buf.data());
     dos->e_magic = 0x5A4D;
     dos->e_lfanew = 0x80;
+
     // NT headers
     const auto nt = reinterpret_cast<ImageNtHeadersX64*>(buf.data() + dos->e_lfanew);
     nt->signature = 0x4550; // 'PE\0\0'
     nt->file_header.machine = 0x8664;
     nt->file_header.num_sections = 1;
+    nt->file_header.size_optional_header = static_cast<std::uint16_t>(sizeof(OptionalHeaderX64));
+
     nt->optional_header.magic = 0x020B; // x64
     nt->optional_header.base_of_code = base_of_code;
     nt->optional_header.size_code = size_code;
 
+    // Compute section table offset: e_lfanew + 4 (sig) + FileHeader + OptionalHeader
+    const std::size_t section_table_off =
+        static_cast<std::size_t>(dos->e_lfanew) + 4 + sizeof(FileHeader) + sizeof(OptionalHeaderX64);
+    nt->optional_header.size_headers = static_cast<std::uint32_t>(section_table_off + sizeof(SectionHeader));
+
+    // Section header (.text)
+    const auto sect = reinterpret_cast<SectionHeader*>(buf.data() + section_table_off);
+    std::memset(sect, 0, sizeof(SectionHeader));
+    std::memcpy(sect->name, ".text", 5);
+    sect->virtual_size = size_code;
+    sect->virtual_address = base_of_code;
+    sect->size_raw_data = size_code;
+    sect->ptr_raw_data = base_of_code;
+    sect->characteristics = 0x60000020; // code | execute | read
+
     // place code at base_of_code
     std::memcpy(buf.data() + base_of_code, pattern_bytes.data(), pattern_bytes.size());
 
-    const auto res = PePatternScanner::scan_for_pattern_in_loaded_module(buf.data(), "DE AD BE EF");
+    const auto res = PePatternScanner::scan_for_pattern_in_loaded_module(buf.data(), "DE AD BE EF", ".text");
     EXPECT_TRUE(res.has_value());
 }

tests/general/unit_test_primitive_box.cpp

@@ -0,0 +1,16 @@
+//
+// Created by Vladislav on 11.01.2026.
+//
+#include "omath/3d_primitives/box.hpp"
+#include "omath/collision/line_tracer.hpp"
+#include "omath/engines/opengl_engine/primitives.hpp"
+#include <gtest/gtest.h>
+
+TEST(test, test)
+{
+    auto result = omath::primitives::create_box<omath::opengl_engine::BoxMesh>(
+            {0.f, 30.f, 0.f}, {}, omath::opengl_engine::k_abs_forward, omath::opengl_engine::k_abs_right);
+
+    omath::collision::Ray ray{.start = {0, 0, 0}, .end = {-100, 0, 0}};
+    std::ignore = omath::collision::LineTracer<>::get_ray_hit_point(ray, result);
+}

tests/general/unit_test_reverse_enineering.cpp

@@ -8,39 +8,51 @@
 class Player final
 {
 public:
-    virtual int foo() {return 1;}
-    virtual int bar() {return 2;}
+    [[nodiscard]] virtual int foo() const
+    {
+        return 1;
+    }
+    [[nodiscard]] virtual int bar() const
+    {
+        return 2;
+    }
     omath::Vector3<float> m_origin{1.f, 2.f, 3.f};
     int m_health{123};
 };
 
-class RevPlayer : omath::rev_eng::InternalReverseEngineeredObject
+class RevPlayer final : omath::rev_eng::InternalReverseEngineeredObject
 {
 public:
-    omath::Vector3<float> get_origin()
+    [[nodiscard]]
+    omath::Vector3<float> get_origin() const
     {
         return get_by_offset<omath::Vector3<float>>(sizeof(std::uintptr_t));
     }
-    int get_health()
+
+    [[nodiscard]]
+    int get_health() const
     {
-        return get_by_offset<int>(sizeof(std::uintptr_t)+sizeof(omath::Vector3<float>));
+        return get_by_offset<int>(sizeof(std::uintptr_t) + sizeof(omath::Vector3<float>));
     }
 
-    int rev_foo()
+    [[nodiscard]]
+    int rev_foo() const
     {
         return call_virtual_method<0, int>();
     }
-    int rev_bar()
+
+    [[nodiscard]]
+    int rev_bar() const
     {
         return call_virtual_method<1, int>();
     }
+
     [[nodiscard]] int rev_bar_const() const
     {
         return call_virtual_method<1, int>();
     }
 };
 
-
 TEST(unit_test_reverse_enineering, read_test)
 {
     Player player_original;

tests/general/unit_test_var_encryption.cpp

@@ -0,0 +1,17 @@
+//
+// Created by Vladislav on 04.01.2026.
+//
+#include "omath/linear_algebra/vector3.hpp"
+#include <gtest/gtest.h>
+#include <omath/containers/encrypted_variable.hpp>
+TEST(Enc, Test)
+{
+    constexpr omath::Vector3<float> original = {1.f, 2.f, 3.f};
+    OMATH_DEF_CRYPT_VAR(omath::Vector3<float>, 128) var{original};
+    {
+        omath::VarAnchor _ = var.drop_anchor();
+
+        EXPECT_EQ(original, var.value());
+    }
+    EXPECT_NE(original, var.value());
+}

tests/main.cpp

@@ -0,0 +1,8 @@
+#include <gtest/gtest.h>
+
+int main(int argc, char** argv)
+{
+    testing::InitGoogleTest(&argc, argv);
+
+    return RUN_ALL_TESTS();
+}

xmake.lua

@@ -0,0 +1,113 @@
+add_rules("mode.debug", "mode.release")
+
+add_rules("utils.install.cmake_importfiles")
+add_rules("utils.install.pkgconfig_importfiles")
+
+set_version("4.6.1", {soname = "4.6"})
+set_languages("cxx23")
+set_warnings("all")
+
+option("avx2")
+    set_default(true)
+    set_showmenu(true)
+
+    after_check(function (option)
+        import("core.base.cpu")
+        option:enable(cpu.has_feature("avx2"))
+    end)
+option_end()
+
+option("imgui")
+    set_default(true)
+    set_showmenu(true)
+option_end()
+
+option("examples")
+    set_default(true)
+    set_showmenu(true)
+option_end()
+
+option("tests")
+    set_default(true)
+    set_showmenu(true)
+option_end()
+
+if has_config("avx2") then
+    add_defines("OMATH_ENABLE_AVX2")
+    add_vectorexts("avx2")
+end
+
+if has_config("imgui") then
+    add_defines("OMATH_IMGUI_INTEGRATION")
+    add_requires("imgui")
+    add_packages("imgui")
+end
+
+if has_config("examples") then
+    add_requires("glew", "glfw")
+end
+
+if has_config("tests") then
+    add_requires("gtest")
+end
+
+target("omath")
+    set_kind("static")
+    add_files("source/**.cpp")
+    add_includedirs("include", {public = true})
+    add_headerfiles("include/(**.hpp)", {prefixdir = "omath"})
+    on_config(function (target)
+        if has_config("avx2") then
+            cprint("${green} ✔️ AVX2 supported")
+        else
+            cprint("${red} ❌ AVX2 not supported")
+        end
+    end)
+
+target("example_projection_matrix_builder")
+    set_languages("cxx26")
+    set_kind("binary")
+    add_files("examples/example_proj_mat_builder.cpp")
+    add_deps("omath")
+    set_enabled(has_config("examples"))
+
+target("example_signature_scan")
+    set_languages("cxx26")
+    set_kind("binary")
+    add_files("examples/example_signature_scan.cpp")
+    add_deps("omath")
+    set_enabled(has_config("examples"))
+
+target("example_glfw3")
+    set_languages("cxx26")
+    set_kind("binary")
+    add_files("examples/example_glfw3.cpp")
+    add_deps("omath")
+    add_packages("glew", "glfw")
+    set_enabled(has_config("examples"))
+
+for _, file in ipairs(os.files("tests/**.cpp")) do
+    local name = path.basename(file)
+    target(name)
+        set_languages("cxx23")
+        set_kind("binary")
+        add_files(file, "tests/main.cpp")
+        add_deps("omath")
+        add_packages("gtest")
+        add_defines("OMATH_BUILD_TESTS")
+        add_tests("default")
+        set_default(false)
+        set_enabled(has_config("tests"))
+end
+
+task("check")
+    on_run(function ()
+        import("core.project.task")
+        for _, file in ipairs(os.files("tests/**.cpp")) do
+            local name = path.basename(file)
+            task.run("run", {target = name})
+        end
+    end)
+    set_menu {
+        usage = "xmake check", description = "Run tests !", options = {}
+    }