added more tests

Feature/serailization

.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

@@ -1,5 +1,98 @@
+# SCM syntax highlighting & preventing 3-way merges
+pixi.lock merge=binary linguist-language=YAML linguist-generated=true -diff
+
+# Images
 *.png  filter=lfs diff=lfs merge=lfs -text
 *.jpg  filter=lfs diff=lfs merge=lfs -text
-*.zip filter=lfs diff=lfs merge=lfs -text
 *.jpeg filter=lfs diff=lfs merge=lfs -text
+*.gif  filter=lfs diff=lfs merge=lfs -text
+*.webp filter=lfs diff=lfs merge=lfs -text
+*.tif  filter=lfs diff=lfs merge=lfs -text
+*.tiff filter=lfs diff=lfs merge=lfs -text
+*.bmp  filter=lfs diff=lfs merge=lfs -text
+*.heic filter=lfs diff=lfs merge=lfs -text
+*.heif filter=lfs diff=lfs merge=lfs -text
+*.avif filter=lfs diff=lfs merge=lfs -text
+*.ico  filter=lfs diff=lfs merge=lfs -text
+*.psd  filter=lfs diff=lfs merge=lfs -text
+*.ai   filter=lfs diff=lfs merge=lfs -text
+*.xcf  filter=lfs diff=lfs merge=lfs -text
+*.kra  filter=lfs diff=lfs merge=lfs -text
+*.sketch filter=lfs diff=lfs merge=lfs -text
+# Video
+*.mp4  filter=lfs diff=lfs merge=lfs -text
+*.mov  filter=lfs diff=lfs merge=lfs -text
+*.m4v  filter=lfs diff=lfs merge=lfs -text
+*.mkv  filter=lfs diff=lfs merge=lfs -text
+*.avi  filter=lfs diff=lfs merge=lfs -text
+*.wmv  filter=lfs diff=lfs merge=lfs -text
+*.flv  filter=lfs diff=lfs merge=lfs -text
+*.webm filter=lfs diff=lfs merge=lfs -text
+*.mpeg filter=lfs diff=lfs merge=lfs -text
+*.mpg  filter=lfs diff=lfs merge=lfs -text
+# Audio
+*.mp3  filter=lfs diff=lfs merge=lfs -text
+*.wav  filter=lfs diff=lfs merge=lfs -text
+*.flac filter=lfs diff=lfs merge=lfs -text
+*.aac  filter=lfs diff=lfs merge=lfs -text
+*.ogg  filter=lfs diff=lfs merge=lfs -text
+*.m4a  filter=lfs diff=lfs merge=lfs -text
+# 3D / CAD / DCC
+*.blend filter=lfs diff=lfs merge=lfs -text
+*.fbx   filter=lfs diff=lfs merge=lfs -text
+*.obj   filter=lfs diff=lfs merge=lfs -text
+*.stl   filter=lfs diff=lfs merge=lfs -text
+*.glb   filter=lfs diff=lfs merge=lfs -text
+*.gltf  filter=lfs diff=lfs merge=lfs -text
+*.usd   filter=lfs diff=lfs merge=lfs -text
+*.usdz  filter=lfs diff=lfs merge=lfs -text
+*.max   filter=lfs diff=lfs merge=lfs -text
+*.c4d   filter=lfs diff=lfs merge=lfs -text
+*.dwg   filter=lfs diff=lfs merge=lfs -text
+*.dxf   filter=lfs diff=lfs merge=lfs -text
+*.step  filter=lfs diff=lfs merge=lfs -text
+*.stp   filter=lfs diff=lfs merge=lfs -text
+*.iges  filter=lfs diff=lfs merge=lfs -text
+*.igs   filter=lfs diff=lfs merge=lfs -text
+# Documents / publishing binaries
+*.pdf  filter=lfs diff=lfs merge=lfs -text
+*.indd filter=lfs diff=lfs merge=lfs -text
+*.idml filter=lfs diff=lfs merge=lfs -text
+*.ppt  filter=lfs diff=lfs merge=lfs -text
+*.pptx filter=lfs diff=lfs merge=lfs -text
+*.key  filter=lfs diff=lfs merge=lfs -text
+*.doc  filter=lfs diff=lfs merge=lfs -text
+*.docx filter=lfs diff=lfs merge=lfs -text
+# Archives / packaged artifacts
+*.zip filter=lfs diff=lfs merge=lfs -text
+*.7z  filter=lfs diff=lfs merge=lfs -text
+*.rar filter=lfs diff=lfs merge=lfs -text
+*.tar filter=lfs diff=lfs merge=lfs -text
+*.gz  filter=lfs diff=lfs merge=lfs -text
+*.tgz filter=lfs diff=lfs merge=lfs -text
+*.bz2 filter=lfs diff=lfs merge=lfs -text
+*.xz  filter=lfs diff=lfs merge=lfs -text
+# Fonts
+*.ttf  filter=lfs diff=lfs merge=lfs -text
+*.otf  filter=lfs diff=lfs merge=lfs -text
+*.woff filter=lfs diff=lfs merge=lfs -text
+*.woff2 filter=lfs diff=lfs merge=lfs -text
+# ML / data artifacts
+*.onnx      filter=lfs diff=lfs merge=lfs -text
+*.pt        filter=lfs diff=lfs merge=lfs -text
+*.pth       filter=lfs diff=lfs merge=lfs -text
+*.ckpt      filter=lfs diff=lfs merge=lfs -text
+*.pb        filter=lfs diff=lfs merge=lfs -text
+*.tflite    filter=lfs diff=lfs merge=lfs -text
+*.h5        filter=lfs diff=lfs merge=lfs -text
+*.hdf5      filter=lfs diff=lfs merge=lfs -text
+*.parquet   filter=lfs diff=lfs merge=lfs -text
+*.feather   filter=lfs diff=lfs merge=lfs -text
+*.arrow     filter=lfs diff=lfs merge=lfs -text
+*.npy       filter=lfs diff=lfs merge=lfs -text
+*.npz       filter=lfs diff=lfs merge=lfs -text
+*.pickle    filter=lfs diff=lfs merge=lfs -text
+*.pkl       filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.jpg filter=lfs diff=lfs merge=lfs -text
 *.psd filter=lfs diff=lfs merge=lfs -text

.github/FUNDING.yml

@@ -0,0 +1,4 @@
+# These are supported funding model platforms
+
+open_collective: libomathorg
+github: orange-cpp

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

@@ -107,7 +107,7 @@ jobs:
             -DOMATH_BUILD_TESTS=ON \
             -DOMATH_BUILD_BENCHMARK=OFF \
             -DOMATH_ENABLE_COVERAGE=${{ matrix.coverage == true && 'ON' || 'OFF' }} \
-            -DVCPKG_MANIFEST_FEATURES="imgui;avx2;tests"
+            -DVCPKG_MANIFEST_FEATURES="imgui;avx2;tests;lua"
 
       - name: Build
         shell: bash
@@ -193,7 +193,7 @@ jobs:
             -DOMATH_BUILD_TESTS=ON \
             -DOMATH_BUILD_BENCHMARK=OFF \
             -DOMATH_ENABLE_COVERAGE=OFF \
-            -DVCPKG_MANIFEST_FEATURES="imgui;avx2;tests"
+            -DVCPKG_MANIFEST_FEATURES="imgui;avx2;tests;lua"
 
       - name: Build
         shell: bash
@@ -234,7 +234,7 @@ jobs:
             -DOMATH_ENABLE_COVERAGE=ON \
             -DOMATH_THREAT_WARNING_AS_ERROR=OFF \
             -DCMAKE_BUILD_TYPE=Debug \
-            -DVCPKG_MANIFEST_FEATURES="imgui;avx2;tests"
+            -DVCPKG_MANIFEST_FEATURES="imgui;avx2;tests;lua"
           cmake --build cmake-build/build/${{ matrix.preset }} --config Debug --target unit_tests omath
 
       - name: Run Tests (Generates .profraw)
@@ -373,7 +373,7 @@ jobs:
             -DOMATH_BUILD_TESTS=ON \
             -DOMATH_BUILD_BENCHMARK=OFF \
             -DOMATH_ENABLE_COVERAGE=${{ matrix.coverage == true && 'ON' || 'OFF' }} \
-            -DVCPKG_MANIFEST_FEATURES="imgui;avx2;tests"
+            -DVCPKG_MANIFEST_FEATURES="imgui;avx2;tests;lua"
 
       - name: Build
         shell: bash
@@ -450,7 +450,7 @@ jobs:
             -DVCPKG_INSTALL_OPTIONS="--allow-unsupported" \
             -DOMATH_BUILD_TESTS=ON \
             -DOMATH_BUILD_BENCHMARK=OFF \
-            -DVCPKG_MANIFEST_FEATURES="imgui;tests"
+            -DVCPKG_MANIFEST_FEATURES="imgui;tests;lua"
 
       - name: Build
         shell: bash
@@ -509,7 +509,7 @@ jobs:
             cmake --preset ${{ matrix.preset }} \
               -DOMATH_BUILD_TESTS=ON \
               -DOMATH_BUILD_BENCHMARK=OFF \
-              -DVCPKG_MANIFEST_FEATURES="imgui;avx2;tests" \
+              -DVCPKG_MANIFEST_FEATURES="imgui;avx2;tests;lua" \
               -DVCPKG_INSTALL_OPTIONS="--allow-unsupported"
             cmake --build cmake-build/build/${{ matrix.preset }} --target unit_tests omath
             ./out/Release/unit_tests
@@ -581,7 +581,7 @@ jobs:
             -DVCPKG_INSTALL_OPTIONS="--allow-unsupported" \
             -DOMATH_BUILD_TESTS=ON \
             -DOMATH_BUILD_BENCHMARK=OFF \
-            -DVCPKG_MANIFEST_FEATURES="imgui;tests"
+            -DVCPKG_MANIFEST_FEATURES="imgui;tests;lua"
 
       - name: Build
         shell: bash
@@ -650,7 +650,7 @@ jobs:
             -DVCPKG_INSTALL_OPTIONS="--allow-unsupported" \
             -DOMATH_BUILD_TESTS=ON \
             -DOMATH_BUILD_BENCHMARK=OFF \
-            -DVCPKG_MANIFEST_FEATURES="imgui;tests"
+            -DVCPKG_MANIFEST_FEATURES="imgui;tests;lua"
 
       - name: Build
         shell: bash
@@ -735,7 +735,7 @@ jobs:
             -DVCPKG_INSTALL_OPTIONS="--allow-unsupported" \
             -DOMATH_BUILD_TESTS=ON \
             -DOMATH_BUILD_BENCHMARK=OFF \
-            -DVCPKG_MANIFEST_FEATURES="imgui;tests"
+            -DVCPKG_MANIFEST_FEATURES="imgui;tests;lua"
 
       - name: Build
         run: |
@@ -800,7 +800,7 @@ jobs:
             -DOMATH_BUILD_TESTS=ON \
             -DOMATH_BUILD_BENCHMARK=ON \
             -DOMATH_ENABLE_VALGRIND=ON \
-            -DVCPKG_MANIFEST_FEATURES="imgui;avx2;tests;benchmark"
+            -DVCPKG_MANIFEST_FEATURES="imgui;avx2;lua;tests;benchmark"
 
       - name: Build All Targets
         shell: bash

.github/workflows/release.yml

@@ -0,0 +1,618 @@
+name: Release
+
+on:
+  release:
+    types: [published]
+
+concurrency:
+  group: release-${{ github.ref }}
+  cancel-in-progress: true
+
+permissions:
+  contents: write
+
+jobs:
+  ##############################################################################
+  # 1)  Linux  –  Clang / Ninja
+  ##############################################################################
+  linux-release:
+    name: ${{ matrix.name }}
+    runs-on: ${{ matrix.runner }}
+    strategy:
+      matrix:
+        include:
+          - name: Linux (Clang) (x64-linux)
+            triplet: x64-linux
+            runner: ubuntu-latest
+            preset: linux-release-vcpkg
+            archive: omath-linux-x64
+            install_cmd: |
+              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
+              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: Linux (Clang) (x86-linux)
+            triplet: x86-linux
+            runner: ubuntu-latest
+            preset: linux-release-vcpkg-x86
+            archive: omath-linux-x86
+            install_cmd: |
+              # Add LLVM 21 repository
+              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"
+              # Add GCC Toolchain PPA
+              sudo add-apt-repository -y "deb http://archive.ubuntu.com/ubuntu plucky main universe"
+              # Enable i386 architecture
+              sudo dpkg --add-architecture i386
+              sudo apt-get update
+              # Install Clang 21
+              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
+              sudo apt-get install -y -t plucky binutils
+              # Install GCC 15 with multilib support
+              sudo apt-get install -y gcc-15-multilib g++-15-multilib
+              # Set up alternatives for Clang
+              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
+              # Set up alternatives for GCC
+              sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-15 100
+              sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-15 100
+          - name: Linux (Clang) (arm64-linux)
+            triplet: arm64-linux
+            runner: ubuntu-24.04-arm
+            preset: linux-release-vcpkg-arm64
+            archive: omath-linux-arm64
+            install_cmd: |
+              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
+              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
+      fail-fast: false
+    env:
+      VCPKG_ROOT: ${{ github.workspace }}/vcpkg
+    steps:
+      - name: Install basic tool-chain
+        shell: bash
+        run: ${{ matrix.install_cmd }}
+
+      - name: Checkout repository (with sub-modules)
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Set up vcpkg
+        shell: bash
+        run: |
+          git clone https://github.com/microsoft/vcpkg "$VCPKG_ROOT"
+          cd "$VCPKG_ROOT"
+          ./bootstrap-vcpkg.sh
+
+      - name: Configure (cmake --preset)
+        shell: bash
+        run: |
+          cmake --preset ${{ matrix.preset }} \
+            -DVCPKG_INSTALL_OPTIONS="--allow-unsupported" \
+            -DOMATH_BUILD_TESTS=OFF \
+            -DOMATH_BUILD_BENCHMARK=OFF \
+            -DVCPKG_MANIFEST_FEATURES="imgui;avx2"
+
+      - name: Build
+        shell: bash
+        run: cmake --build cmake-build/build/${{ matrix.preset }} --target omath
+
+      - name: Install
+        shell: bash
+        run: cmake --install cmake-build/build/${{ matrix.preset }} --prefix staging
+
+      - name: Package
+        shell: bash
+        run: tar -czf ${{ matrix.archive }}.tar.gz -C staging .
+
+      - name: Upload release asset
+        env:
+          GH_TOKEN: ${{ github.token }}
+        shell: bash
+        run: gh release upload "${{ github.event.release.tag_name }}" "${{ matrix.archive }}.tar.gz" --clobber
+
+  ##############################################################################
+  # 2)  Windows  –  MSVC / Ninja
+  ##############################################################################
+  windows-release:
+    name: ${{ matrix.name }}
+    runs-on: ${{ matrix.runner }}
+    strategy:
+      matrix:
+        include:
+          - name: Windows (MSVC) (x64-windows)
+            runner: windows-latest
+            arch: amd64
+            preset: windows-release-vcpkg
+            triplet: x64-windows
+            archive: omath-windows-x64
+          - name: Windows (MSVC) (x86-windows)
+            runner: windows-latest
+            arch: amd64_x86
+            preset: windows-release-vcpkg-x86
+            triplet: x86-windows
+            archive: omath-windows-x86
+          - name: Windows (MSVC) (arm64-windows)
+            runner: windows-11-arm
+            arch: arm64
+            preset: windows-release-vcpkg-arm64
+            triplet: arm64-windows
+            archive: omath-windows-arm64
+      fail-fast: false
+    env:
+      VCPKG_ROOT: ${{ github.workspace }}/vcpkg
+    steps:
+      - name: Checkout repository (with sub-modules)
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Install Ninja
+        uses: seanmiddleditch/gha-setup-ninja@v4
+
+      - name: Set up MSVC developer command-prompt
+        uses: ilammy/msvc-dev-cmd@v1
+        with:
+          arch: ${{ matrix.arch }}
+
+      - name: Configure (cmake --preset)
+        shell: bash
+        run: |
+          cmake --preset ${{ matrix.preset }} \
+            -DOMATH_BUILD_TESTS=OFF \
+            -DOMATH_BUILD_BENCHMARK=OFF \
+            -DVCPKG_MANIFEST_FEATURES="imgui;avx2"
+
+      - name: Build
+        shell: bash
+        run: cmake --build cmake-build/build/${{ matrix.preset }} --target omath
+
+      - name: Install
+        shell: bash
+        run: cmake --install cmake-build/build/${{ matrix.preset }} --prefix staging
+
+      - name: Package
+        shell: pwsh
+        run: Compress-Archive -Path staging\* -DestinationPath "${{ matrix.archive }}.zip"
+
+      - name: Upload release asset
+        env:
+          GH_TOKEN: ${{ github.token }}
+        shell: bash
+        run: gh release upload "${{ github.event.release.tag_name }}" "${{ matrix.archive }}.zip" --clobber
+
+  ##############################################################################
+  # 3)  macOS  –  AppleClang / Ninja
+  ##############################################################################
+  macos-release:
+    name: ${{ matrix.name }}
+    runs-on: ${{ matrix.runner }}
+    strategy:
+      matrix:
+        include:
+          - name: macOS (AppleClang) (arm64-osx)
+            runner: macos-latest
+            preset: darwin-release-vcpkg
+            triplet: arm64-osx
+            archive: omath-macos-arm64
+          - name: macOS (AppleClang) (x64-osx)
+            runner: macos-15-intel
+            preset: darwin-release-vcpkg-x64
+            triplet: x64-osx
+            archive: omath-macos-x64
+      fail-fast: false
+    env:
+      VCPKG_ROOT: ${{ github.workspace }}/vcpkg
+    steps:
+      - name: Install basic tool-chain with Homebrew
+        shell: bash
+        run: |
+          brew install cmake ninja
+
+      - name: Checkout repository (with sub-modules)
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Set up vcpkg
+        shell: bash
+        run: |
+          git clone https://github.com/microsoft/vcpkg "$VCPKG_ROOT"
+
+      - name: Configure (cmake --preset)
+        shell: bash
+        run: |
+          cmake --preset ${{ matrix.preset }} \
+            -DOMATH_BUILD_TESTS=OFF \
+            -DOMATH_BUILD_BENCHMARK=OFF \
+            -DVCPKG_MANIFEST_FEATURES="imgui;avx2"
+
+      - name: Build
+        shell: bash
+        run: cmake --build cmake-build/build/${{ matrix.preset }} --target omath
+
+      - name: Install
+        shell: bash
+        run: cmake --install cmake-build/build/${{ matrix.preset }} --prefix staging
+
+      - name: Package
+        shell: bash
+        run: tar -czf ${{ matrix.archive }}.tar.gz -C staging .
+
+      - name: Upload release asset
+        env:
+          GH_TOKEN: ${{ github.token }}
+        shell: bash
+        run: gh release upload "${{ github.event.release.tag_name }}" "${{ matrix.archive }}.tar.gz" --clobber
+
+  ##############################################################################
+  # 4)  iOS  –  AppleClang / Xcode / arm64-ios
+  ##############################################################################
+  ios-release:
+    name: iOS (AppleClang) (${{ matrix.triplet }})
+    runs-on: macOS-latest
+    strategy:
+      matrix:
+        include:
+          - triplet: arm64-ios
+            preset: ios-release-vcpkg
+            archive: omath-ios-arm64
+      fail-fast: false
+    env:
+      VCPKG_ROOT: ${{ github.workspace }}/vcpkg
+    steps:
+      - name: Install CMake tooling
+        shell: bash
+        run: |
+          brew install cmake ninja
+
+      - name: Checkout repository (with sub-modules)
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Set up vcpkg
+        shell: bash
+        run: |
+          git clone https://github.com/microsoft/vcpkg "$VCPKG_ROOT"
+          cd "$VCPKG_ROOT"
+          ./bootstrap-vcpkg.sh
+
+      - name: Configure (cmake --preset)
+        shell: bash
+        run: |
+          cmake --preset ${{ matrix.preset }} \
+            -DVCPKG_INSTALL_OPTIONS="--allow-unsupported" \
+            -DOMATH_BUILD_TESTS=OFF \
+            -DOMATH_BUILD_BENCHMARK=OFF \
+            -DVCPKG_MANIFEST_FEATURES="imgui"
+
+      - name: Build
+        shell: bash
+        run: |
+          cmake --build cmake-build/build/${{ matrix.preset }} --config Release --target omath
+
+      - name: Install
+        shell: bash
+        run: cmake --install cmake-build/build/${{ matrix.preset }} --prefix staging
+
+      - name: Package
+        shell: bash
+        run: tar -czf ${{ matrix.archive }}.tar.gz -C staging .
+
+      - name: Upload release asset
+        env:
+          GH_TOKEN: ${{ github.token }}
+        shell: bash
+        run: gh release upload "${{ github.event.release.tag_name }}" "${{ matrix.archive }}.tar.gz" --clobber
+
+  ##############################################################################
+  # 5)  FreeBSD  –  Clang / Ninja
+  ##############################################################################
+  freebsd-release:
+    name: FreeBSD (Clang) (${{ matrix.triplet }})
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        include:
+          - triplet: x64-freebsd
+            preset: freebsd-release-vcpkg
+            arch: x86-64
+            archive: omath-freebsd-x64
+      fail-fast: false
+    env:
+      VCPKG_ROOT: ${{ github.workspace }}/tmp/vcpkg
+    steps:
+      - name: Checkout repository (with sub-modules)
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Build and Package
+        uses: cross-platform-actions/action@v0.31.0
+        with:
+          operating_system: freebsd
+          architecture: ${{ matrix.arch }}
+          version: '15.0'
+          memory: '12G'
+          cpu_count: 4
+          run: |
+            sudo pkg install -y git curl zip unzip gmake llvm gsed bash perl5 openssl 7-zip coreutils cmake ninja pkgconf patchelf
+            git config --global --add safe.directory `pwd`
+            # Build vcpkg in /tmp to avoid sshfs timestamp sync issues
+            export VCPKG_ROOT=/tmp/vcpkg
+            rm -rf "$VCPKG_ROOT"
+            git clone https://github.com/microsoft/vcpkg "$VCPKG_ROOT"
+            cd "$VCPKG_ROOT"
+            ./bootstrap-vcpkg.sh
+            cd -
+            export VCPKG_FORCE_SYSTEM_BINARIES=0
+            cmake --preset ${{ matrix.preset }} \
+              -DOMATH_BUILD_TESTS=OFF \
+              -DOMATH_BUILD_BENCHMARK=OFF \
+              -DVCPKG_MANIFEST_FEATURES="imgui;avx2" \
+              -DVCPKG_INSTALL_OPTIONS="--allow-unsupported"
+            cmake --build cmake-build/build/${{ matrix.preset }} --target omath
+            cmake --install cmake-build/build/${{ matrix.preset }} --prefix staging
+            tar -czf ${{ matrix.archive }}.tar.gz -C staging .
+
+      - name: Upload release asset
+        env:
+          GH_TOKEN: ${{ github.token }}
+        shell: bash
+        run: gh release upload "${{ github.event.release.tag_name }}" "${{ matrix.archive }}.tar.gz" --clobber
+
+  ##############################################################################
+  # 6)  Android NDK  –  Clang / Ninja
+  ##############################################################################
+  android-release:
+    name: Android NDK (${{ matrix.triplet }})
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        include:
+          - triplet: arm-neon-android
+            preset: android-arm-neon-release-vcpkg
+            archive: omath-android-arm-neon
+          - triplet: arm64-android
+            preset: android-arm64-release-vcpkg
+            archive: omath-android-arm64
+          - triplet: x64-android
+            preset: android-x64-release-vcpkg
+            archive: omath-android-x64
+          - triplet: x86-android
+            preset: android-x86-release-vcpkg
+            archive: omath-android-x86
+      fail-fast: false
+    env:
+      VCPKG_ROOT: ${{ github.workspace }}/vcpkg
+      ANDROID_NDK_HOME: ${{ github.workspace }}/android-ndk
+    steps:
+      - name: Checkout repository (with sub-modules)
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Install Android NDK
+        shell: bash
+        run: |
+          NDK_VERSION="r28b"
+          NDK_ZIP="android-ndk-${NDK_VERSION}-linux.zip"
+          wget -q "https://dl.google.com/android/repository/${NDK_ZIP}"
+          unzip -q "${NDK_ZIP}" -d "${{ github.workspace }}"
+          mv "${{ github.workspace }}/android-ndk-${NDK_VERSION}" "$ANDROID_NDK_HOME"
+          rm "${NDK_ZIP}"
+          echo "ANDROID_NDK_HOME=${ANDROID_NDK_HOME}" >> $GITHUB_ENV
+
+      - name: Install basic tool-chain
+        shell: bash
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y ninja-build cmake
+
+      - name: Set up vcpkg
+        shell: bash
+        run: |
+          git clone https://github.com/microsoft/vcpkg "$VCPKG_ROOT"
+          cd "$VCPKG_ROOT"
+          ./bootstrap-vcpkg.sh
+
+      - name: Configure (cmake --preset)
+        shell: bash
+        run: |
+          cmake --preset ${{ matrix.preset }} \
+            -DVCPKG_INSTALL_OPTIONS="--allow-unsupported" \
+            -DOMATH_BUILD_TESTS=OFF \
+            -DOMATH_BUILD_BENCHMARK=OFF \
+            -DVCPKG_MANIFEST_FEATURES="imgui"
+
+      - name: Build
+        shell: bash
+        run: |
+          cmake --build cmake-build/build/${{ matrix.preset }} --target omath
+
+      - name: Install
+        shell: bash
+        run: cmake --install cmake-build/build/${{ matrix.preset }} --prefix staging
+
+      - name: Package
+        shell: bash
+        run: tar -czf ${{ matrix.archive }}.tar.gz -C staging .
+
+      - name: Upload release asset
+        env:
+          GH_TOKEN: ${{ github.token }}
+        shell: bash
+        run: gh release upload "${{ github.event.release.tag_name }}" "${{ matrix.archive }}.tar.gz" --clobber
+
+  ##############################################################################
+  # 7)  WebAssembly (Emscripten)  –  Clang / Ninja / wasm32-emscripten
+  ##############################################################################
+  wasm-release:
+    name: WebAssembly (Emscripten) (${{ matrix.triplet }})
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        include:
+          - triplet: wasm32-emscripten
+            preset: wasm-release-vcpkg
+            archive: omath-wasm32
+      fail-fast: false
+    env:
+      VCPKG_ROOT: ${{ github.workspace }}/vcpkg
+    steps:
+      - name: Checkout repository (with sub-modules)
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Install basic tool-chain
+        shell: bash
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y ninja-build
+
+      - name: Setup Emscripten
+        uses: mymindstorm/setup-emsdk@v14
+        with:
+          version: 'latest'
+
+      - name: Verify Emscripten
+        shell: bash
+        run: |
+          echo "EMSDK=$EMSDK"
+          emcc --version
+          ls -la "$EMSDK/upstream/emscripten/cmake/Modules/Platform/Emscripten.cmake"
+
+      - name: Set up vcpkg
+        shell: bash
+        run: |
+          git clone https://github.com/microsoft/vcpkg "$VCPKG_ROOT"
+          cd "$VCPKG_ROOT"
+          ./bootstrap-vcpkg.sh
+
+      - name: Configure (cmake --preset)
+        shell: bash
+        run: |
+          cmake --preset ${{ matrix.preset }} \
+            -DVCPKG_INSTALL_OPTIONS="--allow-unsupported" \
+            -DOMATH_BUILD_TESTS=OFF \
+            -DOMATH_BUILD_BENCHMARK=OFF \
+            -DVCPKG_MANIFEST_FEATURES="imgui"
+
+      - name: Build
+        shell: bash
+        run: |
+          cmake --build cmake-build/build/${{ matrix.preset }} --target omath
+
+      - name: Install
+        shell: bash
+        run: cmake --install cmake-build/build/${{ matrix.preset }} --prefix staging
+
+      - name: Package
+        shell: bash
+        run: tar -czf ${{ matrix.archive }}.tar.gz -C staging .
+
+      - name: Upload release asset
+        env:
+          GH_TOKEN: ${{ github.token }}
+        shell: bash
+        run: gh release upload "${{ github.event.release.tag_name }}" "${{ matrix.archive }}.tar.gz" --clobber
+
+  ##############################################################################
+  # 8)  Windows MSYS2 MinGW  –  GCC / Ninja
+  ##############################################################################
+  mingw-release:
+    name: ${{ matrix.name }}
+    runs-on: windows-latest
+    strategy:
+      matrix:
+        include:
+          - name: MINGW64 (MSYS2) (x64-mingw-dynamic)
+            msystem: MINGW64
+            pkg_prefix: mingw-w64-x86_64
+            preset: mingw-release-vcpkg
+            archive: omath-mingw64-x64
+          - name: UCRT64 (MSYS2) (x64-mingw-dynamic)
+            msystem: UCRT64
+            pkg_prefix: mingw-w64-ucrt-x86_64
+            preset: mingw-release-vcpkg
+            archive: omath-ucrt64-x64
+          - name: MINGW32 (MSYS2) (x86-mingw-dynamic)
+            msystem: MINGW32
+            pkg_prefix: mingw-w64-i686
+            preset: mingw32-release-vcpkg
+            archive: omath-mingw32-x86
+      fail-fast: false
+
+    defaults:
+      run:
+        shell: msys2 {0}
+
+    env:
+      VCPKG_ROOT: ${{ github.workspace }}/vcpkg
+
+    steps:
+      - name: Setup MSYS2
+        uses: msys2/setup-msys2@v2
+        with:
+          msystem: ${{ matrix.msystem }}
+          update: true
+          install: >-
+            ${{ matrix.pkg_prefix }}-toolchain
+            ${{ matrix.pkg_prefix }}-cmake
+            ${{ matrix.pkg_prefix }}-ninja
+            ${{ matrix.pkg_prefix }}-pkg-config
+            git
+            base-devel
+
+      - name: Checkout repository (with sub-modules)
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Set up vcpkg
+        run: |
+          git clone https://github.com/microsoft/vcpkg "$VCPKG_ROOT"
+          cd "$VCPKG_ROOT"
+          ./bootstrap-vcpkg.sh
+
+      - name: Configure (cmake --preset)
+        run: |
+          cmake --preset ${{ matrix.preset }} \
+            -DVCPKG_INSTALL_OPTIONS="--allow-unsupported" \
+            -DOMATH_BUILD_TESTS=OFF \
+            -DOMATH_BUILD_BENCHMARK=OFF \
+            -DVCPKG_MANIFEST_FEATURES="imgui"
+
+      - name: Build
+        run: |
+          cmake --build cmake-build/build/${{ matrix.preset }} --target omath
+
+      - name: Install
+        run: cmake --install cmake-build/build/${{ matrix.preset }} --prefix staging
+
+      - name: Package
+        shell: pwsh
+        run: Compress-Archive -Path staging\* -DestinationPath "${{ matrix.archive }}.zip"
+
+      - name: Upload release asset
+        env:
+          GH_TOKEN: ${{ github.token }}
+        shell: bash
+        run: gh release upload "${{ github.event.release.tag_name }}" "${{ matrix.archive }}.zip" --clobber

.gitignore

@@ -6,3 +6,10 @@
 /build/
 /clang-coverage/
 *.gcov
+*.bin
+# pixi lock
+pixi.lock
+# pixi environments
+.pixi/*
+!.pixi/config.toml
+/site/

.idea/editor.xml

@@ -17,7 +17,7 @@
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatTooManyArgs/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCStyleCast/@EntryIndexedValue" value="SUGGESTION" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCVQualifierCanNotBeAppliedToReference/@EntryIndexedValue" value="WARNING" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassCanBeFinal/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassCanBeFinal/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassIsIncomplete/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassNeedsConstructorBecauseOfUninitializedMember/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
@@ -56,6 +56,7 @@
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultInitializationWithNoUserConstructor/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultIsUsedAsIdentifier/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultedSpecialMemberFunctionIsImplicitlyDeleted/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefinitionsOrder/@EntryIndexedValue" value="HINT" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeletingVoidPointer/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDependentTemplateWithoutTemplateKeyword/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDependentTypeWithoutTypenameKeyword/@EntryIndexedValue" value="WARNING" type="string" />
@@ -109,7 +110,7 @@
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLambdaCaptureNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableMayBeConst/@EntryIndexedValue" value="HINT" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableMightNotBeInitialized/@EntryIndexedValue" value="WARNING" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableWithNonTrivialDtorIsNeverUsed/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableWithNonTrivialDtorIsNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLongFloat/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberFunctionMayBeConst/@EntryIndexedValue" value="SUGGESTION" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberFunctionMayBeStatic/@EntryIndexedValue" value="SUGGESTION" type="string" />

.luarc.json

@@ -0,0 +1,5 @@
+{
+    "diagnostics.globals": [
+        "omath"
+    ]
+}

.vscode/launch.json

@@ -0,0 +1,24 @@
+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": " Unit Tests (Debug)",
+            "type": "lldb",
+            "request": "launch",
+            "program": "${workspaceRoot}/out/Debug/unit_tests",
+            "args": [],
+            "cwd": "${workspaceRoot}"
+        },
+        {
+            "name": " Unit Tests (Release)",
+            "type": "lldb",
+            "request": "launch",
+            "program": "${workspaceRoot}/out/Release/unit_tests",
+            "args": [],
+            "cwd": "${workspaceRoot}"
+        }
+    ]
+}

CMakeLists.txt

@@ -17,17 +17,25 @@ 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)
+option(OMATH_ENABLE_FORCE_INLINE
+       "Will for compiler to make some functions to be force inlined no matter what" ON)
 
+option(OMATH_ENABLE_LUA
+        "omath bindings for lua" OFF)
+option(OMATH_ENABLE_PHYSX
+        "PhysX-backed collider implementations" OFF)
 if(VCPKG_MANIFEST_FEATURES)
     foreach(omath_feature IN LISTS VCPKG_MANIFEST_FEATURES)
         if(omath_feature STREQUAL "imgui")
@@ -40,18 +48,26 @@ if (VCPKG_MANIFEST_FEATURES)
             set(OMATH_BUILD_BENCHMARK ON)
         elseif(omath_feature STREQUAL "examples")
             set(OMATH_BUILD_EXAMPLES ON)
+        elseif(omath_feature STREQUAL "lua")
+            set(OMATH_ENABLE_LUA ON)
+        elseif(omath_feature STREQUAL "physx")
+            set(OMATH_ENABLE_PHYSX ON)
         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.")
+    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()
 
 if(${PROJECT_IS_TOP_LEVEL})
-    message(STATUS "[${PROJECT_NAME}]: Building on ${CMAKE_HOST_SYSTEM_NAME}, compiler ${CMAKE_CXX_COMPILER_ID}")
+    message(
+        STATUS
+            "[${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 ${OMATH_BUILD_BENCHMARK}")
@@ -65,6 +81,8 @@ if (${PROJECT_IS_TOP_LEVEL})
     message(STATUS "[${PROJECT_NAME}]: Building using vcpkg ${OMATH_BUILD_VIA_VCPKG}")
     message(STATUS "[${PROJECT_NAME}]: Coverage feature status ${OMATH_ENABLE_COVERAGE}")
     message(STATUS "[${PROJECT_NAME}]: Valgrind feature status ${OMATH_ENABLE_VALGRIND}")
+    message(STATUS "[${PROJECT_NAME}]: Lua feature status ${OMATH_ENABLE_LUA}")
+    message(STATUS "[${PROJECT_NAME}]: PhysX feature status ${OMATH_ENABLE_PHYSX}")
 endif()
 
 file(GLOB_RECURSE OMATH_SOURCES CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/source/*.cpp")
@@ -76,6 +94,23 @@ else ()
     add_library(${PROJECT_NAME} STATIC ${OMATH_SOURCES} ${OMATH_HEADERS})
 endif()
 
+if (OMATH_ENABLE_LUA)
+    target_compile_definitions(${PROJECT_NAME} PUBLIC OMATH_ENABLE_LUA)
+
+    find_package(Lua REQUIRED)
+    target_include_directories(${PROJECT_NAME} PRIVATE ${LUA_INCLUDE_DIR})
+    target_link_libraries(${PROJECT_NAME} PRIVATE ${LUA_LIBRARIES})
+
+    find_path(SOL2_INCLUDE_DIRS "sol/abort.hpp")
+    target_include_directories(${PROJECT_NAME} PRIVATE ${SOL2_INCLUDE_DIRS})
+endif ()
+
+if (OMATH_ENABLE_PHYSX)
+    target_compile_definitions(${PROJECT_NAME} PUBLIC OMATH_ENABLE_PHYSX)
+
+    find_package(unofficial-omniverse-physx-sdk CONFIG REQUIRED)
+    target_link_libraries(${PROJECT_NAME} PUBLIC unofficial::omniverse-physx-sdk::sdk)
+endif ()
 
 add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
 
@@ -87,7 +122,8 @@ if (OMATH_IMGUI_INTEGRATION)
     # IMGUI is being linked as submodule
     if(TARGET imgui)
         target_link_libraries(${PROJECT_NAME} PUBLIC imgui)
-        install(TARGETS imgui
+        install(
+            TARGETS imgui
             EXPORT omathTargets
             ARCHIVE DESTINATION lib
             LIBRARY DESTINATION lib
@@ -112,22 +148,20 @@ if (OMATH_ENABLE_LEGACY)
     target_compile_definitions(${PROJECT_NAME} PUBLIC OMATH_ENABLE_LEGACY)
 endif()
 
-set_target_properties(${PROJECT_NAME} PROPERTIES
-        ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+if(OMATH_ENABLE_FORCE_INLINE)
+    target_compile_definitions(${PROJECT_NAME} PUBLIC OMATH_ENABLE_FORCE_INLINE)
+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_USE_UNITY_BUILD)
-    set_target_properties(${PROJECT_NAME} PROPERTIES
-            UNITY_BUILD ON
-            UNITY_BUILD_BATCH_SIZE 20)
-endif ()
-
 if(OMATH_STATIC_MSVC_RUNTIME_LIBRARY)
-    set_target_properties(${PROJECT_NAME} PROPERTIES
-            MSVC_RUNTIME_LIBRARY "MultiThreaded$<$<CONFIG:Debug>:Debug>"
-    )
+    set_target_properties(${PROJECT_NAME} PROPERTIES MSVC_RUNTIME_LIBRARY
+                                                     "MultiThreaded$<$<CONFIG:Debug>:Debug>")
 endif()
 
 if(OMATH_USE_AVX2)
@@ -147,7 +181,6 @@ endif()
 
 target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_23)
 
-
 if(OMATH_BUILD_TESTS)
     add_subdirectory(tests)
     target_compile_definitions(${PROJECT_NAME} PUBLIC OMATH_BUILD_TESTS)
@@ -164,62 +197,69 @@ if (OMATH_BUILD_EXAMPLES)
     add_subdirectory(examples)
 endif()
 
-
 if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC" AND OMATH_THREAT_WARNING_AS_ERROR)
     target_compile_options(${PROJECT_NAME} PRIVATE /W4 /WX)
 elseif(OMATH_THREAT_WARNING_AS_ERROR)
     target_compile_options(${PROJECT_NAME} PRIVATE -Wall -Wextra -Wpedantic -Werror)
 endif()
 
+if (CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
+    target_compile_options(${PROJECT_NAME} PRIVATE /bigobj)
+endif()
+if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND CMAKE_HOST_SYSTEM_NAME EQUAL "Windows")
+    target_compile_options(${PROJECT_NAME} PRIVATE -mbig-obj)
+endif()
 # Windows SDK redefine min/max via preprocessor and break std::min and std::max
 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
+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}
+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)
+    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
+install(
+    EXPORT ${PROJECT_NAME}Targets
     FILE ${PROJECT_NAME}Targets.cmake
     NAMESPACE ${PROJECT_NAME}::
-        DESTINATION lib/cmake/${PROJECT_NAME} COMPONENT ${PROJECT_NAME}
-)
+    DESTINATION lib/cmake/${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
-        "${CMAKE_CURRENT_BINARY_DIR}/omathConfig.cmake"
+install(FILES "${CMAKE_CURRENT_BINARY_DIR}/omathConfig.cmake"
               "${CMAKE_CURRENT_BINARY_DIR}/omathConfigVersion.cmake"
-        DESTINATION lib/cmake/${PROJECT_NAME}
-)
+        DESTINATION lib/cmake/${PROJECT_NAME})

CMakePresets.json

@@ -145,7 +145,7 @@
       "hidden": true,
       "inherits": ["linux-base", "vcpkg-base"],
       "cacheVariables": {
-        "VCPKG_MANIFEST_FEATURES": "tests;imgui;avx2"
+        "VCPKG_MANIFEST_FEATURES": "tests;imgui;avx2;lua;physx"
       }
     },
     {
@@ -235,7 +235,7 @@
       "hidden": true,
       "inherits": ["darwin-base", "vcpkg-base"],
       "cacheVariables": {
-        "VCPKG_MANIFEST_FEATURES": "tests;imgui;avx2;examples"
+        "VCPKG_MANIFEST_FEATURES": "tests;imgui;avx2;examples;lua"
       }
     },
     {

CODEOWNERS

@@ -0,0 +1,37 @@
+##   List of maintainers for the omath library
+
+## This file purpose is to give newcomers to the project the responsible
+## developers when submitting a pull request on GitHub, or opening a bug
+## report in issues.
+
+## This file will notably establish who is responsible for a specific
+## area of omath. Being a maintainer means the following:
+##  - that person has good knownledge in the area
+##  - that person is able to enforce consistency in the area
+##  - that person may be available for giving help in the area
+##  - that person has push access on the repository
+## Being a maintainer does not mean the following:
+##  - that person is dedicated to the area
+##  - that person is working full-time on the area/on omath
+##  - that person is paid
+##  - that person is always available
+
+
+# omath core source code
+/source @orange-cpp
+/include @orange-cpp
+
+# Tests and becnchmarks
+/benchmark @orange-cpp
+/tests @orange-cpp @luadebug
+
+# Examples and documentation
+/examples @luadebug @orange-cpp
+/docs @orange-cpp
+
+# Misc like formating
+/scripts @luadebug
+/pixi @luadebug
+
+# CI/CD
+/.github/workflows @luadbg @orange-cpp

INSTALL.md

@@ -1,6 +1,6 @@
 # 📥Installation Guide
 
-## <img width="28px" src="https://vcpkg.io/assets/mark/mark.svg" /> Using vcpkg
+## <img width="28px" src="https://vcpkg.io/assets/mark/mark.svg" /> Using vcpkg (recomended)
 **Note**: Support vcpkg for package management
 1. Install [vcpkg](https://github.com/microsoft/vcpkg)
 2. Run the following command to install the orange-math package:
@@ -28,6 +28,46 @@ target("...")
     add_packages("omath")
 ```
 
+## <img width="28px" src="https://github.githubassets.com/favicons/favicon.svg" /> Using prebuilt binaries (GitHub Releases)
+
+**Note**: This is the fastest option if you don’t want to build from source.
+
+1. **Go to the Releases page**
+   - Open the project’s GitHub **Releases** page and choose the latest version.
+
+2. **Download the correct asset for your platform**
+   - Pick the archive that matches your OS and architecture (for example: Windows x64 / Linux x64 / macOS arm64).
+
+3. **Extract the archive**
+   - You should end up with something like:
+     - `include/` (headers)
+     - `lib/` or `bin/` (library files / DLLs)
+     - sometimes `cmake/` (CMake package config)
+
+4. **Use it in your project**
+
+   ### Option A: CMake package (recommended if the release includes CMake config files)
+   If the extracted folder contains something like `lib/cmake/omath` or `cmake/omath`, you can point CMake to it:
+
+   ```cmake
+   # Example: set this to the extracted prebuilt folder
+   list(APPEND CMAKE_PREFIX_PATH "path/to/omath-prebuilt")
+
+   find_package(omath CONFIG REQUIRED)
+   target_link_libraries(main PRIVATE omath::omath)
+   ```
+   ### Option B: Manual include + link (works with any layout)
+   If there’s no CMake package config, link it manually:
+   ```cmake
+   target_include_directories(main PRIVATE "path/to/omath-prebuilt/include")
+
+    # Choose ONE depending on what you downloaded:
+    # - Static library: .lib / .a
+    # - Shared library: .dll + .lib import (Windows), .so (Linux), .dylib (macOS)
+    
+    target_link_directories(main PRIVATE "path/to/omath-prebuilt/lib")
+    target_link_libraries(main PRIVATE omath)  # or the actual library filename
+    ```
 ## <img width="28px" src="https://upload.wikimedia.org/wikipedia/commons/e/ef/CMake_logo.svg?" /> Build from source using CMake 
 1. **Preparation**
    

LICENSE

@@ -1,4 +1,4 @@
-Copyright (C) 2023-2025 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

README.md

@@ -9,6 +9,7 @@
 [![CodeFactor](https://www.codefactor.io/repository/github/orange-cpp/omath/badge)](https://www.codefactor.io/repository/github/orange-cpp/omath)
 ![GitHub Actions Workflow Status](https://img.shields.io/github/actions/workflow/status/orange-cpp/omath/cmake-multi-platform.yml)
 [![Vcpkg package](https://repology.org/badge/version-for-repo/vcpkg/orange-math.svg)](https://repology.org/project/orange-math/versions)
+![Conan Center](https://img.shields.io/conan/v/omath)
 ![GitHub forks](https://img.shields.io/github/forks/orange-cpp/omath)
 [![discord badge](https://dcbadge.limes.pink/api/server/https://discord.gg/eDgdaWbqwZ?style=flat)](https://discord.gg/eDgdaWbqwZ)
 [![telegram badge](https://img.shields.io/badge/Telegram-2CA5E0?style=flat-squeare&logo=telegram&logoColor=white)](https://t.me/orangennotes)
@@ -80,9 +81,11 @@ if (auto screen = camera.world_to_screen(world_position)) {
 - **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**.
+- **Engine support**: Supports coordinate systems of **Source, Unity, Unreal, Frostbite, IWEngine, CryEngine 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. 
+- **Algorithms**: Has ability to scan for byte pattern with wildcards in ELF/Mach-O/PE files/modules, binary slices, works even with Wine apps. 
+- **Scripting**: Supports to make scripts in Lua out of box
+- **Battle tested**: It's already used by some big players on the market like wraith.su and bluedream.ltd
 <div align = center>
  
 # Gallery

VERSION

@@ -1 +1 @@
-4.6.0
+5.0.0

benchmark/CMakeLists.txt

@@ -1,11 +1,11 @@
 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}"
+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/${CMAKE_BUILD_TYPE}"
                CXX_STANDARD 23
@@ -14,7 +14,8 @@ set_target_properties(${PROJECT_NAME} PROPERTIES
 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()
 

benchmark/benchmark_collision.cpp

@@ -0,0 +1,161 @@
+//
+// Created by Vlad on 3/2/2026.
+//
+#include <benchmark/benchmark.h>
+#include <memory_resource>
+#include <omath/collision/epa_algorithm.hpp>
+#include <omath/collision/gjk_algorithm.hpp>
+#include <omath/engines/source_engine/collider.hpp>
+#include <omath/engines/source_engine/mesh.hpp>
+
+using Mesh = omath::source_engine::Mesh;
+using Collider = omath::source_engine::MeshCollider;
+using Gjk = omath::collision::GjkAlgorithm<Collider>;
+using Epa = omath::collision::Epa<Collider>;
+
+namespace
+{
+    // Unit cube with half-extent 1 — 8 vertices in [-1,1]^3.
+    const std::vector<omath::primitives::Vertex<>> k_cube_vbo = {
+        { { -1.f, -1.f, -1.f }, {}, {} },
+        { { -1.f, -1.f,  1.f }, {}, {} },
+        { { -1.f,  1.f, -1.f }, {}, {} },
+        { { -1.f,  1.f,  1.f }, {}, {} },
+        { {  1.f,  1.f,  1.f }, {}, {} },
+        { {  1.f,  1.f, -1.f }, {}, {} },
+        { {  1.f, -1.f,  1.f }, {}, {} },
+        { {  1.f, -1.f, -1.f }, {}, {} },
+    };
+    const std::vector<omath::Vector3<std::uint32_t>> k_empty_vao{};
+} // namespace
+
+// ---------------------------------------------------------------------------
+// GJK benchmarks
+// ---------------------------------------------------------------------------
+
+// Separated cubes — origin distance 2.1, no overlap.
+// Exercises the early-exit path and the centroid-based initial direction.
+static void BM_Gjk_Separated(benchmark::State& state)
+{
+    const Collider a{Mesh{k_cube_vbo, k_empty_vao}};
+
+    Mesh mesh_b{k_cube_vbo, k_empty_vao};
+    mesh_b.set_origin({0.f, 2.1f, 0.f});
+    const Collider b{mesh_b};
+
+    for ([[maybe_unused]] auto _ : state)
+        benchmark::DoNotOptimize(Gjk::is_collide(a, b));
+}
+
+// Overlapping cubes — B offset by 0.5 along X, ~1.5 units penetration depth.
+static void BM_Gjk_Overlapping(benchmark::State& state)
+{
+    const Collider a{Mesh{k_cube_vbo, k_empty_vao}};
+
+    Mesh mesh_b{k_cube_vbo, k_empty_vao};
+    mesh_b.set_origin({0.5f, 0.f, 0.f});
+    const Collider b{mesh_b};
+
+    for ([[maybe_unused]] auto _ : state)
+        benchmark::DoNotOptimize(Gjk::is_collide(a, b));
+}
+
+// Identical cubes at the same origin — deep overlap / worst case for GJK.
+static void BM_Gjk_SameOrigin(benchmark::State& state)
+{
+    const Collider a{Mesh{k_cube_vbo, k_empty_vao}};
+    const Collider b{Mesh{k_cube_vbo, k_empty_vao}};
+
+    for ([[maybe_unused]] auto _ : state)
+        benchmark::DoNotOptimize(Gjk::is_collide(a, b));
+}
+
+// ---------------------------------------------------------------------------
+// EPA benchmarks
+// ---------------------------------------------------------------------------
+
+// EPA with a pre-allocated monotonic buffer (reset each iteration).
+// Isolates algorithmic cost from allocator overhead.
+static void BM_Epa_MonotonicBuffer(benchmark::State& state)
+{
+    const Collider a{Mesh{k_cube_vbo, k_empty_vao}};
+
+    Mesh mesh_b{k_cube_vbo, k_empty_vao};
+    mesh_b.set_origin({0.5f, 0.f, 0.f});
+    const Collider b{mesh_b};
+
+    const auto [hit, simplex] = Gjk::is_collide_with_simplex_info(a, b);
+    if (!hit)
+        return; // shouldn't happen, but guard for safety
+
+    constexpr Epa::Params params{.max_iterations = 64, .tolerance = 1e-4f};
+
+    // Pre-allocate a 32 KiB stack buffer — enough for typical polytope growth.
+    constexpr std::size_t k_buf_size = 32768;
+    alignas(std::max_align_t) char buf[k_buf_size];
+    std::pmr::monotonic_buffer_resource mr{buf, k_buf_size, std::pmr::null_memory_resource()};
+
+    for ([[maybe_unused]] auto _ : state)
+    {
+        mr.release(); // reset the buffer without touching the upstream resource
+        benchmark::DoNotOptimize(Epa::solve(a, b, simplex, params, mr));
+    }
+}
+
+// EPA with the default (malloc-backed) memory resource.
+// Shows total cost including allocator pressure.
+static void BM_Epa_DefaultResource(benchmark::State& state)
+{
+    const Collider a{Mesh{k_cube_vbo, k_empty_vao}};
+
+    Mesh mesh_b{k_cube_vbo, k_empty_vao};
+    mesh_b.set_origin({0.5f, 0.f, 0.f});
+    const Collider b{mesh_b};
+
+    const auto [hit, simplex] = Gjk::is_collide_with_simplex_info(a, b);
+    if (!hit)
+        return;
+
+    constexpr Epa::Params params{.max_iterations = 64, .tolerance = 1e-4f};
+
+    for ([[maybe_unused]] auto _ : state)
+        benchmark::DoNotOptimize(Epa::solve(a, b, simplex, params));
+}
+
+// ---------------------------------------------------------------------------
+// Combined GJK + EPA pipeline
+// ---------------------------------------------------------------------------
+
+// Full collision pipeline: GJK detects contact, EPA resolves penetration.
+// This is the hot path in a physics engine tick.
+static void BM_GjkEpa_Pipeline(benchmark::State& state)
+{
+    const Collider a{Mesh{k_cube_vbo, k_empty_vao}};
+
+    Mesh mesh_b{k_cube_vbo, k_empty_vao};
+    mesh_b.set_origin({0.5f, 0.f, 0.f});
+    const Collider b{mesh_b};
+
+    constexpr Epa::Params params{.max_iterations = 64, .tolerance = 1e-4f};
+
+    constexpr std::size_t k_buf_size = 32768;
+    alignas(std::max_align_t) char buf[k_buf_size];
+    std::pmr::monotonic_buffer_resource mr{buf, k_buf_size, std::pmr::null_memory_resource()};
+
+    for ([[maybe_unused]] auto _ : state)
+    {
+        mr.release();
+        const auto [hit, simplex] = Gjk::is_collide_with_simplex_info(a, b);
+        if (hit)
+            benchmark::DoNotOptimize(Epa::solve(a, b, simplex, params, mr));
+    }
+}
+
+BENCHMARK(BM_Gjk_Separated)->Iterations(100'000);
+BENCHMARK(BM_Gjk_Overlapping)->Iterations(100'000);
+BENCHMARK(BM_Gjk_SameOrigin)->Iterations(100'000);
+
+BENCHMARK(BM_Epa_MonotonicBuffer)->Iterations(100'000);
+BENCHMARK(BM_Epa_DefaultResource)->Iterations(100'000);
+
+BENCHMARK(BM_GjkEpa_Pipeline)->Iterations(100'000);

cmake/Coverage.cmake

@@ -7,38 +7,23 @@ function(omath_setup_coverage TARGET_NAME)
     endif()
 
     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
+        target_compile_options(${TARGET_NAME} PRIVATE -fprofile-instr-generate -fcoverage-mapping
+                                                      /Zi)
+        target_link_options(
+            ${TARGET_NAME}
+            PRIVATE
             -fprofile-instr-generate
             -fcoverage-mapping
             /DEBUG:FULL
             /INCREMENTAL:NO
-            /PROFILE
-        )
+            /PROFILE)
     elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang|AppleClang")
-        target_compile_options(${TARGET_NAME} PRIVATE
-            -fprofile-instr-generate
-            -fcoverage-mapping
-            -g
-            -O0
-        )
-        target_link_options(${TARGET_NAME} PRIVATE
-            -fprofile-instr-generate
-            -fcoverage-mapping
-        )
+        target_compile_options(${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(${TARGET_NAME} PRIVATE
-            --coverage
-        )
+        target_compile_options(${TARGET_NAME} PRIVATE --coverage -g -O0)
+        target_link_options(${TARGET_NAME} PRIVATE --coverage)
     endif()
 
     if(TARGET coverage)
@@ -47,40 +32,36 @@ function(omath_setup_coverage TARGET_NAME)
 
     if(CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND MSVC)
         message(STATUS "MSVC detected: Use VS Code Coverage from CI workflow")
-        add_custom_target(coverage
+        add_custom_target(
+            coverage
             DEPENDS unit_tests
             COMMAND $<TARGET_FILE:unit_tests>
             WORKING_DIRECTORY "${CMAKE_SOURCE_DIR}"
-            COMMENT "Running tests for coverage (use VS Code Coverage from CI)"
-        )
+            COMMENT "Running tests for coverage (use VS Code Coverage from CI)")
 
     elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang|AppleClang")
-        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")
-        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

@@ -22,23 +22,19 @@ function(omath_setup_valgrind TARGET_NAME)
         return()
     endif()
 
-    set(VALGRIND_FLAGS 
-        --leak-check=full 
-        --show-leak-kinds=all
-        --track-origins=yes 
-        --error-exitcode=99
-    )
+    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}
+        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
-        )
+            USES_TERMINAL)
 
         add_dependencies(valgrind_all ${VALGRIND_TARGET})
     endif()

examples/CMakeLists.txt

@@ -1,34 +1,7 @@
-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}"
-)
-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}"
-)
-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}"
-)
-
-find_package(GLEW REQUIRED)
-find_package(glfw3 CONFIG REQUIRED)
-target_link_libraries(example_glfw3 PRIVATE omath::omath GLEW::GLEW glfw)
+add_subdirectory(example_barycentric)
+add_subdirectory(example_glfw3)
+add_subdirectory(example_proj_mat_builder)
+add_subdirectory(example_signature_scan)
 
 if(OMATH_ENABLE_VALGRIND)
     omath_setup_valgrind(example_projection_matrix_builder)

examples/example_barycentric/CMakeLists.txt

@@ -0,0 +1,14 @@
+project(example_barycentric)
+
+add_executable(${PROJECT_NAME} example_barycentric.cpp)
+set_target_properties(
+    ${PROJECT_NAME}
+    PROPERTIES CXX_STANDARD 23
+               ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+               LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+               RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}")
+
+find_package(OpenGL)
+find_package(GLEW REQUIRED)
+find_package(glfw3 CONFIG REQUIRED)
+target_link_libraries(${PROJECT_NAME} PRIVATE omath::omath GLEW::GLEW glfw OpenGL::GL)

examples/example_barycentric/example_barycentric.cpp

@@ -0,0 +1,427 @@
+#include <GL/glew.h>
+#include <GLFW/glfw3.h>
+#include <cmath>
+#include <iostream>
+#include <omath/omath.hpp>
+#include <vector>
+
+using omath::Color;
+using omath::Triangle;
+using omath::Vector3;
+
+static const char* vertexShaderSource = R"(
+#version 330 core
+layout (location = 0) in vec3 aPos;
+layout (location = 1) in vec3 aColor;
+layout (location = 2) in float aPointSize;
+layout (location = 3) in float aIsLine;
+
+out vec3 vColor;
+out float vIsLine;
+
+void main() {
+    gl_Position = vec4(aPos, 1.0);
+    vColor = aColor;
+    gl_PointSize = aPointSize;
+    vIsLine = aIsLine;
+}
+)";
+
+static const char* fragmentShaderSource = R"(
+#version 330 core
+in vec3 vColor;
+in float vIsLine;
+out vec4 FragColor;
+
+void main() {
+    if (vIsLine < 0.5) {
+        // Calculate distance from center of the point
+        vec2 coord = gl_PointCoord - vec2(0.5);
+        if(length(coord) > 0.5)
+            discard;
+    }
+
+    FragColor = vec4(vColor, 1.0);
+}
+)";
+
+GLuint compileShader(GLenum type, const char* src)
+{
+    GLuint shader = glCreateShader(type);
+    glShaderSource(shader, 1, &src, nullptr);
+    glCompileShader(shader);
+    GLint ok;
+    glGetShaderiv(shader, GL_COMPILE_STATUS, &ok);
+    if (!ok)
+    {
+        char log[1024];
+        glGetShaderInfoLog(shader, sizeof(log), nullptr, log);
+        std::cerr << "Shader error: " << log << std::endl;
+    }
+    return shader;
+}
+
+void drawChar(char c, float x, float y, float scale, const Color& color, std::vector<float>& lines)
+{
+    float w = 0.5f * scale;
+    float h = 1.0f * scale;
+
+    auto add = [&](float x1, float y1, float x2, float y2)
+    {
+        lines.push_back(x + x1 * w);
+        lines.push_back(y + y1 * h);
+        lines.push_back(0.0f);
+        lines.push_back(color.x);
+        lines.push_back(color.y);
+        lines.push_back(color.z);
+        lines.push_back(1.0f); // size
+        lines.push_back(1.0f); // isLine
+
+        lines.push_back(x + x2 * w);
+        lines.push_back(y + y2 * h);
+        lines.push_back(0.0f);
+        lines.push_back(color.x);
+        lines.push_back(color.y);
+        lines.push_back(color.z);
+        lines.push_back(1.0f); // size
+        lines.push_back(1.0f); // isLine
+    };
+
+    switch (c)
+    {
+    case '0':
+        add(0, 0, 1, 0);
+        add(1, 0, 1, 1);
+        add(1, 1, 0, 1);
+        add(0, 1, 0, 0);
+        break;
+    case '1':
+        add(0.5f, 0, 0.5f, 1);
+        add(0.25f, 0.75f, 0.5f, 1);
+        add(0.25f, 0, 0.75f, 0);
+        break;
+    case '2':
+        add(0, 1, 1, 1);
+        add(1, 1, 1, 0.5f);
+        add(1, 0.5f, 0, 0.5f);
+        add(0, 0.5f, 0, 0);
+        add(0, 0, 1, 0);
+        break;
+    case '3':
+        add(0, 1, 1, 1);
+        add(1, 1, 1, 0);
+        add(1, 0, 0, 0);
+        add(0, 0.5f, 1, 0.5f);
+        break;
+    case '4':
+        add(0, 1, 0, 0.5f);
+        add(0, 0.5f, 1, 0.5f);
+        add(1, 1, 1, 0);
+        break;
+    case '5':
+        add(1, 1, 0, 1);
+        add(0, 1, 0, 0.5f);
+        add(0, 0.5f, 1, 0.5f);
+        add(1, 0.5f, 1, 0);
+        add(1, 0, 0, 0);
+        break;
+    case '6':
+        add(1, 1, 0, 1);
+        add(0, 1, 0, 0);
+        add(0, 0, 1, 0);
+        add(1, 0, 1, 0.5f);
+        add(1, 0.5f, 0, 0.5f);
+        break;
+    case '7':
+        add(0, 1, 1, 1);
+        add(1, 1, 0.5f, 0);
+        break;
+    case '8':
+        add(0, 0, 1, 0);
+        add(1, 0, 1, 1);
+        add(1, 1, 0, 1);
+        add(0, 1, 0, 0);
+        add(0, 0.5f, 1, 0.5f);
+        break;
+    case '9':
+        add(1, 0.5f, 0, 0.5f);
+        add(0, 0.5f, 0, 1);
+        add(0, 1, 1, 1);
+        add(1, 1, 1, 0);
+        add(1, 0, 0, 0);
+        break;
+    case '.':
+        add(0.4f, 0, 0.6f, 0);
+        add(0.6f, 0, 0.6f, 0.2f);
+        add(0.6f, 0.2f, 0.4f, 0.2f);
+        add(0.4f, 0.2f, 0.4f, 0);
+        break;
+    }
+}
+
+void drawText(const std::string& text, float x, float y, float scale, const Color& color, std::vector<float>& lines)
+{
+    float cursor = x;
+    for (char c : text)
+    {
+        drawChar(c, cursor, y, scale, color, lines);
+        cursor += (c == '.' ? 0.3f : 0.7f) * scale;
+    }
+}
+
+GLFWwindow* initWindow(int width, int height, const char* title)
+{
+    if (!glfwInit())
+    {
+        std::cerr << "Failed to initialize GLFW\n";
+        return nullptr;
+    }
+
+    glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
+    glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 3);
+    glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
+
+    GLFWwindow* window = glfwCreateWindow(width, height, title, NULL, NULL);
+    if (!window)
+    {
+        std::cerr << "Failed to create GLFW window\n";
+        glfwTerminate();
+        return nullptr;
+    }
+    glfwMakeContextCurrent(window);
+
+    // 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";
+    }
+
+    glewExperimental = GL_TRUE;
+    GLenum glewErr = glewInit();
+    if (glewErr != GLEW_OK)
+    {
+        // Ignore GLEW_ERROR_NO_GLX_DISPLAY if we have a valid context (e.g. Wayland)
+        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: " << glewGetErrorString(glewErr) << "\n";
+            glfwTerminate();
+            return nullptr;
+        }
+    }
+    return window;
+}
+
+GLuint createShaderProgram()
+{
+    GLuint vs = compileShader(GL_VERTEX_SHADER, vertexShaderSource);
+    GLuint fs = compileShader(GL_FRAGMENT_SHADER, fragmentShaderSource);
+    GLuint shaderProgram = glCreateProgram();
+    glAttachShader(shaderProgram, vs);
+    glAttachShader(shaderProgram, fs);
+    glLinkProgram(shaderProgram);
+    return shaderProgram;
+}
+
+void generatePointCloud(std::vector<float>& pointCloud, const Triangle<Vector3<float>>& triangle)
+{
+    const auto& A = triangle.m_vertex1;
+    const auto& B = triangle.m_vertex2;
+    const auto& C = triangle.m_vertex3;
+    // Iterating over barycentric coordinates (u, v, w) from 0.0 to 1.0
+    for (float u = 0.0f; u <= 1.0f; u += 0.015f)
+    {
+        for (float v = 0.0f; v <= 1.0f - u; v += 0.015f)
+        {
+            float w = 1.0f - u - v;
+            if (w >= 0.0f && w <= 1.0f)
+            {
+                Vector3<float> P = A * u + B * v + C * w;
+                pointCloud.push_back(P.x);
+                pointCloud.push_back(P.y);
+                pointCloud.push_back(P.z);
+                pointCloud.push_back(u);
+                pointCloud.push_back(v);
+                pointCloud.push_back(w);
+                pointCloud.push_back(2.0f); // size
+                pointCloud.push_back(0.0f); // isLine
+            }
+        }
+    }
+}
+
+void setupBuffers(GLuint& VAO_cloud, GLuint& VBO_cloud, const std::vector<float>& pointCloud, GLuint& VAO_dyn,
+                  GLuint& VBO_dyn)
+{
+    glGenVertexArrays(1, &VAO_cloud);
+    glGenBuffers(1, &VBO_cloud);
+    glBindVertexArray(VAO_cloud);
+    glBindBuffer(GL_ARRAY_BUFFER, VBO_cloud);
+    glBufferData(GL_ARRAY_BUFFER, pointCloud.size() * sizeof(float), pointCloud.data(), GL_STATIC_DRAW);
+    glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 8 * sizeof(float), (void*)0);
+    glEnableVertexAttribArray(0);
+    glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, 8 * sizeof(float), (void*)(3 * sizeof(float)));
+    glEnableVertexAttribArray(1);
+    glVertexAttribPointer(2, 1, GL_FLOAT, GL_FALSE, 8 * sizeof(float), (void*)(6 * sizeof(float)));
+    glEnableVertexAttribArray(2);
+    glVertexAttribPointer(3, 1, GL_FLOAT, GL_FALSE, 8 * sizeof(float), (void*)(7 * sizeof(float)));
+    glEnableVertexAttribArray(3);
+
+    glGenVertexArrays(1, &VAO_dyn);
+    glGenBuffers(1, &VBO_dyn);
+    glBindVertexArray(VAO_dyn);
+    glBindBuffer(GL_ARRAY_BUFFER, VBO_dyn);
+    glBufferData(GL_ARRAY_BUFFER, 1000 * 8 * sizeof(float), NULL, GL_DYNAMIC_DRAW);
+    glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 8 * sizeof(float), (void*)0);
+    glEnableVertexAttribArray(0);
+    glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, 8 * sizeof(float), (void*)(3 * sizeof(float)));
+    glEnableVertexAttribArray(1);
+    glVertexAttribPointer(2, 1, GL_FLOAT, GL_FALSE, 8 * sizeof(float), (void*)(6 * sizeof(float)));
+    glEnableVertexAttribArray(2);
+    glVertexAttribPointer(3, 1, GL_FLOAT, GL_FALSE, 8 * sizeof(float), (void*)(7 * sizeof(float)));
+    glEnableVertexAttribArray(3);
+}
+
+void updateDynamicData(std::vector<float>& dynData, float u, float v, float w, const Vector3<float>& P,
+                       const Triangle<Vector3<float>>& triangle)
+{
+    const auto& A = triangle.m_vertex1;
+    const auto& B = triangle.m_vertex2;
+    const auto& C = triangle.m_vertex3;
+
+    float sizeA = 10.0f + u * 30.0f;
+    float sizeB = 10.0f + v * 30.0f;
+    float sizeC = 10.0f + w * 30.0f;
+    float sizeP = 12.0f;
+
+    dynData = {// Lines from P to A, B, C
+               P.x, P.y, P.z, u, v, w, 1.0f, 1.0f, A.x, A.y, A.z, 1.0f, 0.0f, 0.0f, 1.0f, 1.0f,
+
+               P.x, P.y, P.z, u, v, w, 1.0f, 1.0f, B.x, B.y, B.z, 0.0f, 1.0f, 0.0f, 1.0f, 1.0f,
+
+               P.x, P.y, P.z, u, v, w, 1.0f, 1.0f, C.x, C.y, C.z, 0.0f, 0.0f, 1.0f, 1.0f, 1.0f,
+
+               // The animated dot itself (White)
+               P.x, P.y, P.z, 1.0f, 1.0f, 1.0f, sizeP, 0.0f,
+
+               // The 3 corner dots
+               A.x, A.y, A.z, 1.0f, 0.0f, 0.0f, sizeA, 0.0f, B.x, B.y, B.z, 0.0f, 1.0f, 0.0f, sizeB, 0.0f, C.x, C.y,
+               C.z, 0.0f, 0.0f, 1.0f, sizeC, 0.0f};
+
+    char bufA[16], bufB[16], bufC[16];
+    snprintf(bufA, sizeof(bufA), "%.2f", u);
+    snprintf(bufB, sizeof(bufB), "%.2f", v);
+    snprintf(bufC, sizeof(bufC), "%.2f", w);
+
+    // Keep text at a fixed distance from the dots
+    float distA = 0.13f;
+    float distB = 0.13f;
+    float distC = 0.13f;
+
+    drawText(bufA, A.x - 0.05f, A.y + distA, 0.1f, Color(1, 0, 0, 1), dynData);
+    drawText(bufB, B.x - 0.15f - distB, B.y - 0.05f - distB, 0.1f, Color(0, 1, 0, 1), dynData);
+    drawText(bufC, C.x + 0.05f + distC, C.y - 0.05f - distC, 0.1f, Color(0, 0, 1, 1), dynData);
+}
+
+int main()
+{
+    GLFWwindow* window = initWindow(800, 800, "Barycentric Coordinates");
+    if (!window)
+        return -1;
+
+    GLuint shaderProgram = createShaderProgram();
+
+    // Triangle vertices as shown in the picture (Red, Green, Blue)
+    // Scaled down slightly to leave room for text
+    Triangle<Vector3<float>> triangle(Vector3<float>(0.0f, 0.6f, 0.0f), // Red dot (top)
+                                      Vector3<float>(-0.6f, -0.6f, 0.0f), // Green dot (bottom left)
+                                      Vector3<float>(0.6f, -0.6f, 0.0f) // Blue dot (bottom right)
+    );
+
+    std::vector<float> pointCloud;
+    generatePointCloud(pointCloud, triangle);
+
+    GLuint VAO_cloud, VBO_cloud, VAO_dyn, VBO_dyn;
+    setupBuffers(VAO_cloud, VBO_cloud, pointCloud, VAO_dyn, VBO_dyn);
+
+    glEnable(GL_PROGRAM_POINT_SIZE);
+    glEnable(GL_BLEND);
+    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+
+    while (!glfwWindowShouldClose(window))
+    {
+        glClearColor(0.02f, 0.02f, 0.02f, 1.0f);
+        glClear(GL_COLOR_BUFFER_BIT);
+
+        glUseProgram(shaderProgram);
+
+        // Draw the point cloud (the iterated points)
+        glBindVertexArray(VAO_cloud);
+        glDrawArrays(GL_POINTS, 0, pointCloud.size() / 8);
+
+        // Animate the white dot to simulate dragging
+        float t = glfwGetTime();
+        float u = (std::sin(t * 1.5f) * 0.5f + 0.5f);
+        float v = (std::cos(t * 1.1f) * 0.5f + 0.5f);
+
+        if (u + v > 1.0f)
+        {
+            u = 1.0f - u;
+            v = 1.0f - v;
+        }
+        float w = 1.0f - u - v;
+
+        if (w > 1.0f)
+        {
+            float diff = w - 1.0f;
+            w = 1.0f;
+            u += diff / 2.0f;
+            v += diff / 2.0f;
+        }
+        else if (w < 0.0f)
+        {
+            float diff = -w;
+            w = 0.0f;
+            u -= diff / 2.0f;
+            v -= diff / 2.0f;
+        }
+
+        Vector3<float> P = triangle.m_vertex1 * u + triangle.m_vertex2 * v + triangle.m_vertex3 * w;
+
+        std::vector<float> dynData;
+        updateDynamicData(dynData, u, v, w, P, triangle);
+
+        glBindVertexArray(VAO_dyn);
+        glBindBuffer(GL_ARRAY_BUFFER, VBO_dyn);
+        glBufferSubData(GL_ARRAY_BUFFER, 0, dynData.size() * sizeof(float), dynData.data());
+
+        // Draw lines
+        glDrawArrays(GL_LINES, 0, 6);
+
+        // Draw text lines
+        int numTextVertices = (dynData.size() / 8) - 10;
+        if (numTextVertices > 0)
+        {
+            glDrawArrays(GL_LINES, 10, numTextVertices);
+        }
+
+        // Draw dots
+        glDrawArrays(GL_POINTS, 6, 4);
+
+        glfwSwapBuffers(window);
+        glfwPollEvents();
+    }
+
+    glfwTerminate();
+    return 0;
+}

examples/example_glfw3/CMakeLists.txt

@@ -0,0 +1,14 @@
+project(example_glfw3)
+
+add_executable(${PROJECT_NAME} example_glfw3.cpp)
+set_target_properties(
+    ${PROJECT_NAME}
+    PROPERTIES CXX_STANDARD 23
+               ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+               LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+               RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}")
+
+find_package(OpenGL)
+find_package(GLEW REQUIRED)
+find_package(glfw3 CONFIG REQUIRED)
+target_link_libraries(${PROJECT_NAME} PRIVATE omath::omath GLEW::GLEW glfw OpenGL::GL)

examples/example_glfw3/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
@@ -141,16 +146,37 @@ 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)
+    {
+        // 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 ----------
     glEnable(GL_DEPTH_TEST);
@@ -280,11 +306,65 @@ int main()
 
     static float old_frame_time = glfwGetTime();
 
+    float lastX = 640.0f / 2.0f;
+    float lastY = 480.0f / 2.0f;
+    bool firstMouse = true;
+    bool mouse_capture = false;
+    float mouseSensitivity = 0.1f;
     // ---------- Main loop ----------
+    static double old_mouse_time = glfwGetTime();
     while (!glfwWindowShouldClose(window))
     {
         glfwPollEvents();
+        omath::Vector3<float> move_dir;
+        if (glfwGetKey(window, GLFW_KEY_W))
+            move_dir += camera.get_forward();
 
+        if (glfwGetKey(window, GLFW_KEY_A))
+            move_dir -= camera.get_right();
+
+        if (glfwGetKey(window, GLFW_KEY_S))
+            move_dir -= camera.get_forward();
+
+        if (glfwGetKey(window, GLFW_KEY_D))
+            move_dir += camera.get_right();
+
+        if (glfwGetKey(window, GLFW_KEY_SPACE))
+            move_dir += camera.get_up();
+
+        if (glfwGetKey(window, GLFW_KEY_LEFT_CONTROL))
+            move_dir -= camera.get_up();
+
+
+        auto delta = glfwGetTime() - old_mouse_time;
+        if (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_LEFT) && delta > 0.4)
+        {
+            old_mouse_time = glfwGetTime();
+            mouse_capture = !mouse_capture;
+
+            glfwSetInputMode(window, GLFW_CURSOR, mouse_capture ? GLFW_CURSOR_HIDDEN : GLFW_CURSOR_NORMAL);
+        }
+        if (mouse_capture)
+        {
+            int x, y;
+            glfwGetWindowSize(window, &x, &y);
+
+            camera.set_origin(camera.get_origin() + (move_dir.normalized() * 0.4f));
+
+            double xpos, ypos;
+            glfwGetCursorPos(window, &xpos, &ypos);
+            float xoffset = (float)xpos - x / 2.f;
+            float yoffset = y / 2.f - ypos ; // reversed: y-coordinates go bottom->top for pitch
+
+            xoffset *= mouseSensitivity;
+            yoffset *= mouseSensitivity;
+
+            auto new_angles = camera.get_view_angles();
+            new_angles.pitch += decltype(new_angles.pitch)::from_degrees(yoffset);
+            new_angles.yaw -= decltype(new_angles.yaw)::from_degrees(xoffset);
+            camera.set_view_angles(new_angles);
+            glfwSetCursorPos(window, x / 2., y / 2);
+        }
         float currentTime = glfwGetTime();
         float deltaTime = currentTime - old_frame_time;
         old_frame_time = currentTime;

examples/example_proj_mat_builder/CMakeLists.txt

@@ -0,0 +1,10 @@
+project(example_projection_matrix_builder)
+
+add_executable(${PROJECT_NAME} example_proj_mat_builder.cpp)
+set_target_properties(
+    ${PROJECT_NAME}
+    PROPERTIES CXX_STANDARD 23
+               ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+               LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+               RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}")
+target_link_libraries(${PROJECT_NAME} PRIVATE omath::omath)

examples/example_signature_scan/CMakeLists.txt

@@ -0,0 +1,10 @@
+project(example_signature_scan)
+
+add_executable(${PROJECT_NAME} example_signature_scan.cpp)
+set_target_properties(
+    ${PROJECT_NAME}
+    PROPERTIES CXX_STANDARD 23
+               ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+               LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+               RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}")
+target_link_libraries(${PROJECT_NAME} PRIVATE omath::omath)

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;
@@ -100,21 +101,27 @@ 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>
+        {
+            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:
         VectorType m_origin;

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/epa_algorithm.hpp

@@ -8,16 +8,17 @@
 #include <memory>
 #include <memory_resource>
 #include <queue>
+#include <unordered_map>
 #include <utility>
 #include <vector>
 
 namespace omath::collision
 {
-    template<class V>
-    concept EpaVector = requires(const V& a, const V& b, float s) {
+    template<class V, class FloatingType>
+    concept EpaVector = requires(const V& a, const V& b, FloatingType s) {
         { a - b } -> std::same_as<V>;
         { a.cross(b) } -> std::same_as<V>;
-        { a.dot(b) } -> std::same_as<float>;
+        { a.dot(b) } -> std::same_as<FloatingType>;
         { -a } -> std::same_as<V>;
         { a * s } -> std::same_as<V>;
         { a / s } -> std::same_as<V>;
@@ -28,13 +29,18 @@ namespace omath::collision
     {
     public:
         using VectorType = ColliderInterfaceType::VectorType;
-        static_assert(EpaVector<VectorType>, "VertexType must satisfy EpaVector concept");
+        static_assert(EpaVector<VectorType, typename VectorType::ContainedType>,
+                      "VertexType must satisfy EpaVector concept");
 
+    private:
+        using FloatingType = VectorType::ContainedType;
+
+    public:
         struct Result final
         {
             VectorType normal{}; // from A to B
             VectorType penetration_vector;
-            float depth{0.0f};
+            FloatingType depth{0.0};
             int iterations{0};
             int num_vertices{0};
             int num_faces{0};
@@ -43,7 +49,7 @@ namespace omath::collision
         struct Params final
         {
             int max_iterations{64};
-            float tolerance{1e-4f}; // absolute tolerance on distance growth
+            FloatingType tolerance{1e-4}; // absolute tolerance on distance growth
         };
         // Precondition: simplex.size()==4 and contains the origin.
         [[nodiscard]]
@@ -51,83 +57,76 @@ namespace omath::collision
                                            const Simplex<VectorType>& simplex, const Params params = {},
                                            std::pmr::memory_resource& mem_resource = *std::pmr::get_default_resource())
         {
-            // --- Build initial polytope from simplex (4 points) ---
             std::pmr::vector<VectorType> vertexes = build_initial_polytope_from_simplex(simplex, mem_resource);
-
-            // Initial tetra faces (windings corrected in make_face)
             std::pmr::vector<Face> faces = create_initial_tetra_faces(mem_resource, vertexes);
 
-            auto heap = rebuild_heap(faces, mem_resource);
+            // Build initial min-heap by distance.
+            Heap heap = rebuild_heap(faces, mem_resource);
 
             Result out{};
 
+            // Hoisted outside the loop to reuse bucket allocation across iterations.
+            // Initial bucket count 16 covers a typical horizon without rehashing.
+            BoundaryMap boundary{16, &mem_resource};
+
             for (int it = 0; it < params.max_iterations; ++it)
             {
-                // If heap might be stale after face edits, rebuild lazily.
-                if (heap.empty())
-                    break;
-                // Rebuild when the "closest" face changed (simple cheap guard)
-                // (We could keep face handles; this is fine for small Ns.)
-
-                if (const auto top = heap.top(); faces[top.idx].d != top.d)
-                    heap = rebuild_heap(faces, mem_resource);
+                // Lazily discard stale (deleted or index-mismatched) heap entries.
+                discard_stale_heap_entries(faces, heap);
 
                 if (heap.empty())
                     break;
 
-                //FIXME: STORE REF VALUE, DO NOT USE
-                // AFTER IF STATEMENT BLOCK
                 const Face& face = faces[heap.top().idx];
 
-                // Get the furthest point in face normal direction
                 const VectorType p = support_point(a, b, face.n);
-                const float p_dist = face.n.dot(p);
+                const auto p_dist = face.n.dot(p);
 
-                // Converged if we can’t push the face closer than tolerance
+                // Converged: new support can't push the face closer than tolerance.
                 if (p_dist - face.d <= params.tolerance)
                 {
                     out.normal = face.n;
-                    out.depth = face.d; // along unit normal
+                    out.depth = face.d;
                     out.iterations = it + 1;
                     out.num_vertices = static_cast<int>(vertexes.size());
                     out.num_faces = static_cast<int>(faces.size());
-
                     out.penetration_vector = out.normal * out.depth;
                     return out;
                 }
 
-                // Add new vertex
                 const int new_idx = static_cast<int>(vertexes.size());
                 vertexes.emplace_back(p);
 
-                const auto [to_delete, boundary] = mark_visible_and_collect_horizon(faces, p);
+                // Tombstone visible faces and collect the horizon boundary.
+                // This avoids copying the faces array (O(n)) each iteration.
+                tombstone_visible_faces(faces, boundary, p);
 
-                erase_marked(faces, to_delete);
-
-                // Stitch new faces around the horizon
-                for (const auto& e : boundary)
+                // Stitch new faces around the horizon and push them directly onto the
+                // heap — no full O(n log n) rebuild needed.
+                for (const auto& [key, e] : boundary)
+                {
+                    const int fi = static_cast<int>(faces.size());
                     faces.emplace_back(make_face(vertexes, e.a, e.b, new_idx));
-
-                // Rebuild heap after topology change
-                heap = rebuild_heap(faces, mem_resource);
+                    heap.emplace(faces.back().d, fi);
+                }
 
                 if (!std::isfinite(vertexes.back().dot(vertexes.back())))
                     break; // safety
+
                 out.iterations = it + 1;
             }
 
-            if (faces.empty())
+            // Find the best surviving (non-deleted) face.
+            const Face* best = find_best_surviving_face(faces);
+
+            if (!best)
                 return std::nullopt;
 
-            const auto best = *std::ranges::min_element(faces, [](const auto& first, const auto& second)
-                                                        { return first.d < second.d; });
-            out.normal = best.n;
-            out.depth = best.d;
+            out.normal = best->n;
+            out.depth = best->d;
             out.num_vertices = static_cast<int>(vertexes.size());
             out.num_faces = static_cast<int>(faces.size());
-
             out.penetration_vector = out.normal * out.depth;
-
             return out;
         }
 
@@ -136,7 +135,8 @@ namespace omath::collision
         {
             int i0, i1, i2;
             VectorType n; // unit outward normal
-            float d; // n · v0  (>=0 ideally because origin is inside)
+            FloatingType d; // n · v0  (>= 0 ideally because origin is inside)
+            bool deleted{false}; // tombstone flag — avoids O(n) compaction per iteration
         };
 
         struct Edge final
@@ -146,9 +146,10 @@ namespace omath::collision
 
         struct HeapItem final
         {
-            float d;
+            FloatingType d;
             int idx;
         };
+
         struct HeapCmp final
         {
             [[nodiscard]]
@@ -160,35 +161,44 @@ namespace omath::collision
 
         using Heap = std::priority_queue<HeapItem, std::pmr::vector<HeapItem>, HeapCmp>;
 
+        // Horizon boundary: maps packed(a,b) → Edge.
+        // Opposite edges cancel in O(1) via hash lookup instead of O(h) linear scan.
+        using BoundaryMap = std::pmr::unordered_map<std::int64_t, Edge>;
+
+        [[nodiscard]]
+        static constexpr std::int64_t pack_edge(const int a, const int b) noexcept
+        {
+            return (static_cast<std::int64_t>(a) << 32) | static_cast<std::uint32_t>(b);
+        }
+
         [[nodiscard]]
         static Heap rebuild_heap(const std::pmr::vector<Face>& faces, auto& memory_resource)
         {
             std::pmr::vector<HeapItem> storage{&memory_resource};
-            storage.reserve(faces.size()); // optional but recommended
-
+            storage.reserve(faces.size());
             Heap h{HeapCmp{}, std::move(storage)};
-
             for (int i = 0; i < static_cast<int>(faces.size()); ++i)
+                if (!faces[i].deleted)
                     h.emplace(faces[i].d, i);
-
-            return h; // allocator is preserved
+            return h;
         }
 
         [[nodiscard]]
         static bool visible_from(const Face& f, const VectorType& p)
         {
-            // positive if p is in front of the face
-            return f.n.dot(p) - f.d > 1e-7f;
+            return f.n.dot(p) - f.d > static_cast<FloatingType>(1e-7);
         }
 
-        static void add_edge_boundary(std::pmr::vector<Edge>& boundary, int a, int b)
+        static void add_edge_boundary(BoundaryMap& boundary, int a, int b)
         {
-            // Keep edges that appear only once; erase if opposite already present
-            auto itb = std::ranges::find_if(boundary, [&](const Edge& e) { return e.a == b && e.b == a; });
-            if (itb != boundary.end())
-                boundary.erase(itb); // internal edge cancels out
+            // O(1) cancel: if the opposite edge (b→a) is already in the map it is an
+            // internal edge shared by two visible faces and must be removed.
+            // Otherwise this is a horizon edge and we insert it.
+            const std::int64_t rev = pack_edge(b, a);
+            if (const auto it = boundary.find(rev); it != boundary.end())
+                boundary.erase(it);
             else
-                boundary.emplace_back(a, b); // horizon edge (directed)
+                boundary.emplace(pack_edge(a, b), Edge{a, b});
         }
 
         [[nodiscard]]
@@ -198,19 +208,18 @@ namespace omath::collision
             const VectorType& a1 = vertexes[i1];
             const VectorType& a2 = vertexes[i2];
             VectorType n = (a1 - a0).cross(a2 - a0);
-            if (n.dot(n) <= 1e-30f)
-            {
+            if (n.dot(n) <= static_cast<FloatingType>(1e-30))
                 n = any_perp_vec(a1 - a0); // degenerate guard
-            }
             // Ensure normal points outward (away from origin): require n·a0 >= 0
-            if (n.dot(a0) < 0.0f)
+            if (n.dot(a0) < static_cast<FloatingType>(0.0))
             {
                 std::swap(i1, i2);
                 n = -n;
             }
-            const float inv_len = 1.0f / std::sqrt(std::max(n.dot(n), 1e-30f));
+            const auto inv_len =
+                    static_cast<FloatingType>(1.0) / std::sqrt(std::max(n.dot(n), static_cast<FloatingType>(1e-30)));
             n = n * inv_len;
-            const float d = n.dot(a0);
+            const auto d = n.dot(a0);
             return {i0, i1, i2, n, d};
         }
 
@@ -223,7 +232,7 @@ namespace omath::collision
 
         template<class V>
         [[nodiscard]]
-        static constexpr bool near_zero_vec(const V& v, const float eps = 1e-7f)
+        static constexpr bool near_zero_vec(const V& v, const FloatingType eps = 1e-7f)
         {
             return v.dot(v) <= eps * eps;
         }
@@ -237,6 +246,7 @@ namespace omath::collision
                     return d;
             return V{1, 0, 0};
         }
+
         [[nodiscard]]
         static std::pmr::vector<Face> create_initial_tetra_faces(std::pmr::memory_resource& mem_resource,
                                                                  const std::pmr::vector<VectorType>& vertexes)
@@ -256,48 +266,45 @@ namespace omath::collision
         {
             std::pmr::vector<VectorType> vertexes{&mem_resource};
             vertexes.reserve(simplex.size());
-
             for (std::size_t i = 0; i < simplex.size(); ++i)
                 vertexes.emplace_back(simplex[i]);
-
             return vertexes;
         }
-        static void erase_marked(std::pmr::vector<Face>& faces, const std::pmr::vector<bool>& to_delete)
+
+        static const Face* find_best_surviving_face(const std::pmr::vector<Face>& faces)
         {
-            auto* mr = faces.get_allocator().resource(); // keep same resource
-            std::pmr::vector<Face> kept{mr};
-            kept.reserve(faces.size());
-
-            for (std::size_t i = 0; i < faces.size(); ++i)
-                if (!to_delete[i])
-                    kept.emplace_back(faces[i]);
-
-            faces.swap(kept);
+            const Face* best = nullptr;
+            for (const auto& f : faces)
+                if (!f.deleted && (best == nullptr || f.d < best->d))
+                    best = &f;
+            return best;
         }
-        struct Horizon
+        static void tombstone_visible_faces(std::pmr::vector<Face>& faces, BoundaryMap& boundary,
+                                            const VectorType& p)
         {
-            std::pmr::vector<bool> to_delete;
-            std::pmr::vector<Edge> boundary;
-        };
-
-        static Horizon mark_visible_and_collect_horizon(const std::pmr::vector<Face>& faces, const VectorType& p)
+            boundary.clear();
+            for (auto& f : faces)
             {
-            auto* mr = faces.get_allocator().resource();
-
-            Horizon horizon{std::pmr::vector<bool>(faces.size(), false, mr), std::pmr::vector<Edge>(mr)};
-            horizon.boundary.reserve(faces.size());
-
-            for (std::size_t i = 0; i < faces.size(); ++i)
-                if (visible_from(faces[i], p))
+                if (!f.deleted && visible_from(f, p))
                 {
-                    const auto& rf = faces[i];
-                    horizon.to_delete[i] = true;
-                    add_edge_boundary(horizon.boundary, rf.i0, rf.i1);
-                    add_edge_boundary(horizon.boundary, rf.i1, rf.i2);
-                    add_edge_boundary(horizon.boundary, rf.i2, rf.i0);
+                    f.deleted = true;
+                    add_edge_boundary(boundary, f.i0, f.i1);
+                    add_edge_boundary(boundary, f.i1, f.i2);
+                    add_edge_boundary(boundary, f.i2, f.i0);
+                }
+            }
         }
 
-            return horizon;
+        static void discard_stale_heap_entries(const std::pmr::vector<Face>& faces,
+                                               std::priority_queue<HeapItem, std::pmr::vector<HeapItem>, HeapCmp>& heap)
+        {
+            while (!heap.empty())
+            {
+                const auto& top = heap.top();
+                if (!faces[top.idx].deleted && faces[top.idx].d == top.d)
+                    break;
+                heap.pop();
+            }
         }
     };
 } // namespace omath::collision

include/omath/collision/gjk_algorithm.hpp

@@ -14,11 +14,15 @@ namespace omath::collision
         Simplex<VertexType> simplex; // valid only if hit == true and size==4
     };
 
+    struct GjkSettings final
+    {
+        float epsilon = 1e-6f;
+        std::size_t max_iterations = 64;
+    };
     template<class ColliderInterfaceType>
     class GjkAlgorithm final
     {
         using VectorType = ColliderInterfaceType::VectorType;
-
     public:
         [[nodiscard]]
         static VectorType find_support_vertex(const ColliderInterfaceType& collider_a,
@@ -36,20 +40,34 @@ namespace omath::collision
 
         [[nodiscard]]
         static GjkHitInfo<VectorType> is_collide_with_simplex_info(const ColliderInterfaceType& collider_a,
-                                                                   const ColliderInterfaceType& collider_b)
+                                                                   const ColliderInterfaceType& collider_b,
+                                                                   const GjkSettings& settings = {})
         {
-            auto support = find_support_vertex(collider_a, collider_b, VectorType{1, 0, 0});
+            // Use centroid difference as initial direction — greatly reduces iterations for separated shapes.
+            VectorType initial_dir;
+            if constexpr (requires { collider_b.get_origin() - collider_a.get_origin(); })
+            {
+                initial_dir = collider_b.get_origin() - collider_a.get_origin();
+                if (initial_dir.dot(initial_dir) < settings.epsilon * settings.epsilon)
+                    initial_dir = VectorType{1, 0, 0};
+            }
+            else
+            {
+                initial_dir = VectorType{1, 0, 0};
+            }
+
+            auto support = find_support_vertex(collider_a, collider_b, initial_dir);
 
             Simplex<VectorType> simplex;
             simplex.push_front(support);
 
             auto direction = -support;
 
-            while (true)
+            for (std::size_t iteration = 0; iteration < settings.max_iterations; ++iteration)
             {
                 support = find_support_vertex(collider_a, collider_b, direction);
 
-                if (support.dot(direction) <= 0.f)
+                if (support.dot(direction) <= settings.epsilon)
                     return {false, simplex};
 
                 simplex.push_front(support);
@@ -57,6 +75,7 @@ namespace omath::collision
                 if (simplex.handle(direction))
                     return {true, simplex};
             }
+            return {false, simplex};
         }
     };
 } // namespace omath::collision

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;
-    };
-    class LineTracer
+        constexpr VectorType direction_vector_normalized() const noexcept
         {
+            return direction_vector().normalized();
+        }
+    };
+
+    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/mesh_collider.hpp

@@ -42,13 +42,40 @@ namespace omath::collision
             m_mesh.set_origin(new_origin);
         }
 
+        [[nodiscard]]
+        const MeshType& get_mesh() const
+        {
+            return m_mesh;
+        }
+        [[nodiscard]]
+        MeshType& get_mesh()
+        {
+            return m_mesh;
+        }
     private:
         [[nodiscard]]
         const VertexType& find_furthest_vertex(const VectorType& direction) const
         {
-            return *std::ranges::max_element(
-                    m_mesh.m_vertex_buffer, [&direction](const auto& first, const auto& second)
-                    { return first.position.dot(direction) < second.position.dot(direction); });
+            // The support query arrives in world space, but vertex positions are stored
+            // in local space.  We need argmax_v { world(v) · d }.
+            //
+            // world(v) = M·v  (ignoring translation, which is constant across vertices)
+            // world(v) · d = v · Mᵀ·d
+            //
+            // So we transform the direction to local space once — O(1) — then compare
+            // raw local positions, which is far cheaper than calling
+            // vertex_position_to_world_space (full 4×4 multiply) for every vertex.
+            //
+            // d_local = upper-left 3×3 of M, transposed, times d_world:
+            //   d_local[j] = sum_i  M.at(i,j) * d[i]   (i.e. column j of M dotted with d)
+            const auto& m = m_mesh.get_to_world_matrix();
+            const VectorType d_local = {
+                    m[0, 0] * direction.x + m[1, 0] * direction.y + m[2, 0] * direction.z,
+                    m[0, 1] * direction.x + m[1, 1] * direction.y + m[2, 1] * direction.z,
+                    m[0, 2] * direction.x + m[1, 2] * direction.y + m[2, 2] * direction.z,
+            };
+            return *std::ranges::max_element(m_mesh.m_vertex_buffer, [&d_local](const auto& first, const auto& second)
+                                             { return first.position.dot(d_local) < second.position.dot(d_local); });
         }
         MeshType m_mesh;
     };

include/omath/collision/physx_box_collider.hpp

@@ -0,0 +1,59 @@
+//
+// Created by orange-cpp
+//
+#pragma once
+
+#ifdef OMATH_ENABLE_PHYSX
+
+#include "collider_interface.hpp"
+#include <PxPhysicsAPI.h>
+
+namespace omath::collision
+{
+    /// Axis-aligned box collider backed by PhysX PxBoxGeometry.
+    /// Half-extents are stored in PhysX convention (positive values along each axis).
+    class PhysXBoxCollider final : public ColliderInterface<Vector3<float>>
+    {
+    public:
+        /// @param half_extents  Half-widths along X, Y and Z axes (all must be > 0).
+        /// @param origin        World-space centre of the box.
+        explicit PhysXBoxCollider(const VectorType& half_extents, const VectorType& origin = {})
+            : m_geometry(physx::PxVec3(half_extents.x, half_extents.y, half_extents.z))
+            , m_origin(origin)
+        {
+        }
+
+        /// Support function: returns the world-space point on the box furthest in @p direction.
+        /// For a box, the furthest point along d is origin + (sign(d.x)*hx, sign(d.y)*hy, sign(d.z)*hz).
+        [[nodiscard]]
+        VectorType find_abs_furthest_vertex_position(const VectorType& direction) const override
+        {
+            const auto& he = m_geometry.halfExtents;
+            return {
+                m_origin.x + (direction.x >= 0.f ? he.x : -he.x),
+                m_origin.y + (direction.y >= 0.f ? he.y : -he.y),
+                m_origin.z + (direction.z >= 0.f ? he.z : -he.z),
+            };
+        }
+
+        [[nodiscard]]
+        const VectorType& get_origin() const override { return m_origin; }
+
+        void set_origin(const VectorType& new_origin) override { m_origin = new_origin; }
+
+        [[nodiscard]]
+        const physx::PxBoxGeometry& get_geometry() const { return m_geometry; }
+
+        /// Update half-extents at runtime.
+        void set_half_extents(const VectorType& half_extents)
+        {
+            m_geometry = physx::PxBoxGeometry(physx::PxVec3(half_extents.x, half_extents.y, half_extents.z));
+        }
+
+    private:
+        physx::PxBoxGeometry m_geometry;
+        VectorType m_origin;
+    };
+} // namespace omath::collision
+
+#endif // OMATH_ENABLE_PHYSX

include/omath/collision/physx_rigid_body.hpp

@@ -0,0 +1,137 @@
+//
+// Created by orange-cpp
+//
+#pragma once
+
+#ifdef OMATH_ENABLE_PHYSX
+
+#include "collider_interface.hpp"
+#include "physx_world.hpp"
+#include <PxPhysicsAPI.h>
+#include <extensions/PxRigidBodyExt.h>
+#include <cmath>
+
+namespace omath::collision
+{
+    /// Dynamic rigid body backed by a PhysX PxRigidDynamic actor.
+    /// Implements ColliderInterface so it can participate in both omath GJK
+    /// and PhysX simulation-based collision resolution.
+    ///
+    /// Ownership: the actor is added to the world's scene on construction
+    /// and removed + released on destruction.
+    class PhysXRigidBody final : public ColliderInterface<Vector3<float>>
+    {
+    public:
+        /// @param world     PhysXWorld that owns the scene.
+        /// @param geometry  Shape geometry (PxBoxGeometry, PxSphereGeometry, …).
+        /// @param origin    Initial world-space position.
+        /// @param density   Mass density used to compute mass and inertia.
+        PhysXRigidBody(PhysXWorld& world, const physx::PxGeometry& geometry,
+                       const VectorType& origin = {}, float density = 1.f)
+            : m_world(world)
+            , m_geometry(geometry)
+        {
+            const physx::PxTransform pose(physx::PxVec3(origin.x, origin.y, origin.z));
+            m_actor = world.get_physics().createRigidDynamic(pose);
+
+            physx::PxShape* shape = world.get_physics().createShape(
+                geometry, world.get_default_material(), true);
+            m_actor->attachShape(*shape);
+            shape->release();
+
+            physx::PxRigidBodyExt::updateMassAndInertia(*m_actor, density);
+            world.get_scene().addActor(*m_actor);
+        }
+
+        ~PhysXRigidBody() override
+        {
+            m_world.get_scene().removeActor(*m_actor);
+            m_actor->release();
+        }
+
+        PhysXRigidBody(const PhysXRigidBody&)            = delete;
+        PhysXRigidBody& operator=(const PhysXRigidBody&) = delete;
+
+        // ── ColliderInterface ────────────────────────────────────────────────
+
+        /// Support function — delegates to the stored geometry type so the body
+        /// can be used with omath GJK alongside the non-simulated colliders.
+        [[nodiscard]]
+        VectorType find_abs_furthest_vertex_position(const VectorType& direction) const override
+        {
+            const VectorType o = get_origin();
+            switch (m_geometry.getType())
+            {
+                case physx::PxGeometryType::eBOX:
+                {
+                    const auto& he = m_geometry.box().halfExtents;
+                    return {
+                        o.x + (direction.x >= 0.f ? he.x : -he.x),
+                        o.y + (direction.y >= 0.f ? he.y : -he.y),
+                        o.z + (direction.z >= 0.f ? he.z : -he.z),
+                    };
+                }
+                case physx::PxGeometryType::eSPHERE:
+                {
+                    const float r   = m_geometry.sphere().radius;
+                    const float len = std::sqrt(direction.x * direction.x +
+                                               direction.y * direction.y +
+                                               direction.z * direction.z);
+                    if (len == 0.f)
+                        return o;
+                    const float inv = r / len;
+                    return { o.x + direction.x * inv,
+                             o.y + direction.y * inv,
+                             o.z + direction.z * inv };
+                }
+                default:
+                    return o; // unsupported geometry — return centre
+            }
+        }
+
+        [[nodiscard]]
+        const VectorType& get_origin() const override
+        {
+            const auto& p = m_actor->getGlobalPose().p;
+            m_cached_origin = { p.x, p.y, p.z };
+            return m_cached_origin;
+        }
+
+        void set_origin(const VectorType& new_origin) override
+        {
+            physx::PxTransform pose = m_actor->getGlobalPose();
+            pose.p = physx::PxVec3(new_origin.x, new_origin.y, new_origin.z);
+            m_actor->setGlobalPose(pose);
+        }
+
+        // ── PhysX-specific API ───────────────────────────────────────────────
+
+        [[nodiscard]] physx::PxRigidDynamic& get_actor() { return *m_actor; }
+        [[nodiscard]] const physx::PxRigidDynamic& get_actor() const { return *m_actor; }
+
+        void set_linear_velocity(const VectorType& v)
+        {
+            m_actor->setLinearVelocity(physx::PxVec3(v.x, v.y, v.z));
+        }
+
+        [[nodiscard]]
+        VectorType get_linear_velocity() const
+        {
+            const auto& v = m_actor->getLinearVelocity();
+            return { v.x, v.y, v.z };
+        }
+
+        void set_kinematic(bool enabled)
+        {
+            m_actor->setRigidBodyFlag(physx::PxRigidBodyFlag::eKINEMATIC, enabled);
+        }
+
+    private:
+        PhysXWorld&                    m_world;
+        physx::PxGeometryHolder        m_geometry;
+        physx::PxRigidDynamic*         m_actor{nullptr};
+        mutable VectorType             m_cached_origin{};
+    };
+} // namespace omath::collision
+
+#endif // OMATH_ENABLE_PHYSX

include/omath/collision/physx_sphere_collider.hpp

@@ -0,0 +1,64 @@
+//
+// Created by orange-cpp
+//
+#pragma once
+
+#ifdef OMATH_ENABLE_PHYSX
+
+#include "collider_interface.hpp"
+#include <PxPhysicsAPI.h>
+#include <cmath>
+
+namespace omath::collision
+{
+    /// Sphere collider backed by PhysX PxSphereGeometry.
+    class PhysXSphereCollider final : public ColliderInterface<Vector3<float>>
+    {
+    public:
+        /// @param radius  Sphere radius (must be > 0).
+        /// @param origin  World-space centre of the sphere.
+        explicit PhysXSphereCollider(float radius, const VectorType& origin = {})
+            : m_geometry(radius)
+            , m_origin(origin)
+        {
+        }
+
+        /// Support function: returns the world-space point on the sphere furthest in @p direction.
+        /// For a sphere that is simply origin + normalize(direction) * radius.
+        [[nodiscard]]
+        VectorType find_abs_furthest_vertex_position(const VectorType& direction) const override
+        {
+            const float len = std::sqrt(direction.x * direction.x +
+                                        direction.y * direction.y +
+                                        direction.z * direction.z);
+            if (len == 0.f)
+                return m_origin;
+
+            const float inv = m_geometry.radius / len;
+            return {
+                m_origin.x + direction.x * inv,
+                m_origin.y + direction.y * inv,
+                m_origin.z + direction.z * inv,
+            };
+        }
+
+        [[nodiscard]]
+        const VectorType& get_origin() const override { return m_origin; }
+
+        void set_origin(const VectorType& new_origin) override { m_origin = new_origin; }
+
+        [[nodiscard]]
+        const physx::PxSphereGeometry& get_geometry() const { return m_geometry; }
+
+        [[nodiscard]]
+        float get_radius() const { return m_geometry.radius; }
+
+        void set_radius(float radius) { m_geometry = physx::PxSphereGeometry(radius); }
+
+    private:
+        physx::PxSphereGeometry m_geometry;
+        VectorType m_origin;
+    };
+} // namespace omath::collision
+
+#endif // OMATH_ENABLE_PHYSX

include/omath/collision/physx_world.hpp

@@ -0,0 +1,82 @@
+//
+// Created by orange-cpp
+//
+#pragma once
+
+#ifdef OMATH_ENABLE_PHYSX
+
+#include <PxPhysicsAPI.h>
+
+namespace omath::collision
+{
+    /// RAII owner of a PhysX Foundation + Physics + Scene.
+    /// One world per simulation context; not copyable or movable.
+    class PhysXWorld final
+    {
+    public:
+        explicit PhysXWorld(physx::PxVec3 gravity = {0.f, -9.81f, 0.f},
+                            physx::PxU32 cpu_threads = 2)
+        {
+            m_foundation = PxCreateFoundation(PX_PHYSICS_VERSION, m_allocator, m_error_callback);
+
+            m_physics = PxCreatePhysics(PX_PHYSICS_VERSION, *m_foundation,
+                                        physx::PxTolerancesScale{});
+
+            physx::PxSceneDesc desc(m_physics->getTolerancesScale());
+            desc.gravity       = gravity;
+            desc.cpuDispatcher = physx::PxDefaultCpuDispatcherCreate(cpu_threads);
+            m_dispatcher       = static_cast<physx::PxDefaultCpuDispatcher*>(desc.cpuDispatcher);
+            desc.filterShader  = physx::PxDefaultSimulationFilterShader;
+
+            m_scene = m_physics->createScene(desc);
+
+            // Default material: static friction 0.5, dynamic friction 0.5, restitution 0.
+            m_default_material = m_physics->createMaterial(0.5f, 0.5f, 0.f);
+        }
+
+        ~PhysXWorld()
+        {
+            m_scene->release();
+            m_dispatcher->release();
+            m_default_material->release();
+            m_physics->release();
+            m_foundation->release();
+        }
+
+        PhysXWorld(const PhysXWorld&)            = delete;
+        PhysXWorld& operator=(const PhysXWorld&) = delete;
+
+        /// Advance the simulation by @p dt seconds and block until results are ready.
+        void step(float dt)
+        {
+            m_scene->simulate(dt);
+            m_scene->fetchResults(true);
+        }
+
+        [[nodiscard]] physx::PxPhysics&  get_physics()          { return *m_physics;          }
+        [[nodiscard]] physx::PxScene&    get_scene()             { return *m_scene;             }
+        [[nodiscard]] physx::PxMaterial& get_default_material()  { return *m_default_material;  }
+
+        /// Add an infinite static ground plane at y = @p y_level facing +Y.
+        physx::PxRigidStatic* add_ground_plane(float y_level = 0.f)
+        {
+            physx::PxRigidStatic* plane = PxCreatePlane(
+                *m_physics,
+                physx::PxPlane(0.f, 1.f, 0.f, -y_level),
+                *m_default_material);
+            m_scene->addActor(*plane);
+            return plane;
+        }
+
+    private:
+        physx::PxDefaultAllocator      m_allocator{};
+        physx::PxDefaultErrorCallback  m_error_callback{};
+        physx::PxFoundation*           m_foundation{nullptr};
+        physx::PxPhysics*              m_physics{nullptr};
+        physx::PxDefaultCpuDispatcher* m_dispatcher{nullptr};
+        physx::PxScene*                m_scene{nullptr};
+        physx::PxMaterial*             m_default_material{nullptr};
+    };
+} // namespace omath::collision
+
+#endif // OMATH_ENABLE_PHYSX

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);
+                direction = near_zero(n) ? any_perp(ab) : n.cross(ab);
+                return false;
             }
-                else
-                {
-                    direction = n.cross(ab);
-                }
-            }
-            else
-            {
             *this = {a};
             direction = ao;
-            }
             return false;
         }
 

include/omath/containers/encrypted_variable.hpp

@@ -0,0 +1,194 @@
+//
+// 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));
+    }
+
+    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 r = rand_u64<Stream>();
+        return static_cast<std::int64_t>(r) + 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/cry_engine/camera.hpp

@@ -0,0 +1,13 @@
+//
+// Created by Vlad on 3/22/2025.
+//
+
+#pragma once
+#include "omath/engines/cry_engine/constants.hpp"
+#include "omath/projection/camera.hpp"
+#include "traits/camera_trait.hpp"
+
+namespace omath::cry_engine
+{
+    using Camera = projection::Camera<Mat4X4, ViewAngles, CameraTrait>;
+} // namespace omath::cry_engine

include/omath/engines/cry_engine/constants.hpp

@@ -0,0 +1,25 @@
+//
+// Created by Vlad on 10/21/2025.
+//
+
+#pragma once
+#include "omath/linear_algebra/mat.hpp"
+#include "omath/linear_algebra/vector3.hpp"
+#include <omath/trigonometry/angle.hpp>
+#include <omath/trigonometry/view_angles.hpp>
+
+namespace omath::cry_engine
+{
+    constexpr Vector3<float> k_abs_up = {0, 0, 1};
+    constexpr Vector3<float> k_abs_right = {1, 0, 0};
+    constexpr Vector3<float> k_abs_forward = {0, 1, 0};
+
+    using Mat4X4 = Mat<4, 4, float, MatStoreType::ROW_MAJOR>;
+    using Mat3X3 = Mat<4, 4, float, MatStoreType::ROW_MAJOR>;
+    using Mat1X3 = Mat<1, 3, float, MatStoreType::ROW_MAJOR>;
+    using PitchAngle = Angle<float, -90.f, 90.f, AngleFlags::Clamped>;
+    using YawAngle = Angle<float, -180.f, 180.f, AngleFlags::Normalized>;
+    using RollAngle = Angle<float, -180.f, 180.f, AngleFlags::Normalized>;
+
+    using ViewAngles = omath::ViewAngles<PitchAngle, YawAngle, RollAngle>;
+} // namespace omath::cry_engine

include/omath/engines/cry_engine/formulas.hpp

@@ -0,0 +1,74 @@
+//
+// Created by Vlad on 3/22/2025.
+//
+
+#pragma once
+#include "omath/engines/cry_engine/constants.hpp"
+
+namespace omath::cry_engine
+{
+    [[nodiscard]]
+    Vector3<float> forward_vector(const ViewAngles& angles) noexcept;
+
+    [[nodiscard]]
+    Vector3<float> right_vector(const ViewAngles& angles) noexcept;
+
+    [[nodiscard]]
+    Vector3<float> up_vector(const ViewAngles& angles) noexcept;
+
+    [[nodiscard]] Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+
+    [[nodiscard]]
+    Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
+
+    [[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::cry_engine

include/omath/engines/cry_engine/mesh.hpp

@@ -0,0 +1,12 @@
+//
+// Created by Vladislav on 09.11.2025.
+//
+#pragma once
+#include "constants.hpp"
+#include "omath/3d_primitives/mesh.hpp"
+#include "traits/mesh_trait.hpp"
+
+namespace omath::cry_engine
+{
+    using Mesh = primitives::Mesh<Mat4X4, ViewAngles, MeshTrait>;
+}

include/omath/engines/cry_engine/traits/camera_trait.hpp

@@ -0,0 +1,24 @@
+//
+// Created by Vlad on 8/10/2025.
+//
+
+#pragma once
+#include "omath/engines/cry_engine/formulas.hpp"
+#include "omath/projection/camera.hpp"
+
+namespace omath::cry_engine
+{
+    class CameraTrait final
+    {
+    public:
+        [[nodiscard]]
+        static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept;
+
+        [[nodiscard]]
+        static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+        [[nodiscard]]
+        static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
+                                             float near, float far) noexcept;
+    };
+
+} // namespace omath::cry_engine

include/omath/engines/cry_engine/traits/mesh_trait.hpp

@@ -0,0 +1,19 @@
+//
+// Created by Vladislav on 09.11.2025.
+//
+#pragma once
+#include <omath/engines/cry_engine/constants.hpp>
+#include <omath/engines/cry_engine/formulas.hpp>
+
+namespace omath::cry_engine
+{
+    class MeshTrait final
+    {
+    public:
+        [[nodiscard]]
+        static Mat4X4 rotation_matrix(const ViewAngles& rotation)
+        {
+            return cry_engine::rotation_matrix(rotation);
+        }
+    };
+} // namespace omath::cry_engine

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

@@ -0,0 +1,76 @@
+//
+// Created by Vlad on 8/6/2025.
+//
+#pragma once
+#include "omath/engines/cry_engine/formulas.hpp"
+#include "omath/projectile_prediction/projectile.hpp"
+#include "omath/projectile_prediction/target.hpp"
+#include <optional>
+
+namespace omath::cry_engine
+{
+    class PredEngineTrait final
+    {
+    public:
+        constexpr static Vector3<float> predict_projectile_position(const projectile_prediction::Projectile& projectile,
+                                                                    const float pitch, const float yaw,
+                                                                    const float time, const float gravity) noexcept
+        {
+            auto current_pos = projectile.m_origin
+                               + forward_vector({PitchAngle::from_degrees(-pitch), YawAngle::from_degrees(yaw),
+                                                 RollAngle::from_degrees(0)})
+                                         * projectile.m_launch_speed * time;
+            current_pos.z -= (gravity * projectile.m_gravity_scale) * (time * time) * 0.5f;
+
+            return current_pos;
+        }
+        [[nodiscard]]
+        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target& target,
+                                                                const float time, const float gravity) noexcept
+        {
+            auto predicted = target.m_origin + target.m_velocity * time;
+
+            if (target.m_is_airborne)
+                predicted.z -= gravity * (time * time) * 0.5f;
+
+            return predicted;
+        }
+        [[nodiscard]]
+        static float calc_vector_2d_distance(const Vector3<float>& delta) noexcept
+        {
+            return std::sqrt(delta.x * delta.x + delta.y * delta.y);
+        }
+
+        [[nodiscard]]
+        constexpr static float get_vector_height_coordinate(const Vector3<float>& vec) noexcept
+        {
+            return vec.z;
+        }
+
+        [[nodiscard]]
+        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile& projectile,
+                                                         Vector3<float> predicted_target_position,
+                                                         const std::optional<float> projectile_pitch) noexcept
+        {
+            const auto delta2d = calc_vector_2d_distance(predicted_target_position - projectile.m_origin);
+            const auto height = delta2d * std::tan(angles::degrees_to_radians(projectile_pitch.value()));
+
+            return {predicted_target_position.x, predicted_target_position.y, projectile.m_origin.z + height};
+        }
+        // Due to specification of maybe_calculate_projectile_launch_pitch_angle, pitch angle must be:
+        // 89 look up, -89 look down
+        [[nodiscard]]
+        static float calc_direct_pitch_angle(const Vector3<float>& origin, const Vector3<float>& view_to) noexcept
+        {
+            const auto direction = (view_to - origin).normalized();
+            return angles::radians_to_degrees(std::asin(direction.z));
+        }
+        [[nodiscard]]
+        static float calc_direct_yaw_angle(const Vector3<float>& origin, const Vector3<float>& view_to) noexcept
+        {
+            const auto direction = (view_to - origin).normalized();
+
+            return angles::radians_to_degrees(-std::atan2(direction.x, direction.y));
+        };
+    };
+} // namespace omath::cry_engine

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/frostbite_engine/traits/pred_engine_trait.hpp

@@ -55,7 +55,7 @@ namespace omath::frostbite_engine
             const auto delta2d = calc_vector_2d_distance(predicted_target_position - projectile.m_origin);
             const auto height = delta2d * std::tan(angles::degrees_to_radians(projectile_pitch.value()));
 
-            return {predicted_target_position.x, predicted_target_position.y + height, projectile.m_origin.z};
+            return {predicted_target_position.x, projectile.m_origin.y + height, predicted_target_position.z};
         }
         // Due to specification of maybe_calculate_projectile_launch_pitch_angle, pitch angle must be:
         // 89 look up, -89 look down

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/camera.hpp

@@ -8,5 +8,5 @@
 
 namespace omath::opengl_engine
 {
-    using Camera =  projection::Camera<Mat4X4, ViewAngles, CameraTrait>;
+    using Camera =  projection::Camera<Mat4X4, ViewAngles, CameraTrait, true>;
 } // namespace omath::opengl_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/opengl_engine/traits/pred_engine_trait.hpp

@@ -55,7 +55,7 @@ namespace omath::opengl_engine
             const auto delta2d = calc_vector_2d_distance(predicted_target_position - projectile.m_origin);
             const auto height = delta2d * std::tan(angles::degrees_to_radians(projectile_pitch.value()));
 
-            return {predicted_target_position.x, predicted_target_position.y + height, projectile.m_origin.z};
+            return {predicted_target_position.x, projectile.m_origin.y + height, predicted_target_position.z};
         }
         // Due to specification of maybe_calculate_projectile_launch_pitch_angle, pitch angle must be:
         // 89 look up, -89 look down

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/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/unity_engine/traits/pred_engine_trait.hpp

@@ -55,7 +55,7 @@ namespace omath::unity_engine
             const auto delta2d = calc_vector_2d_distance(predicted_target_position - projectile.m_origin);
             const auto height = delta2d * std::tan(angles::degrees_to_radians(projectile_pitch.value()));
 
-            return {predicted_target_position.x, predicted_target_position.y + height, projectile.m_origin.z};
+            return {predicted_target_position.x, projectile.m_origin.y + height, predicted_target_position.z};
         }
         // Due to specification of maybe_calculate_projectile_launch_pitch_angle, pitch angle must be:
         // 89 look up, -89 look down

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/linear_algebra/quaternion.hpp

@@ -0,0 +1,219 @@
+//
+// Created by vlad on 3/1/2026.
+//
+#pragma once
+
+#include "omath/linear_algebra/mat.hpp"
+#include "omath/linear_algebra/vector3.hpp"
+#include <array>
+#include <cmath>
+#include <format>
+
+namespace omath
+{
+    template<class Type>
+    requires std::is_arithmetic_v<Type>
+    class Quaternion
+    {
+    public:
+        using ContainedType = Type;
+
+        Type x = static_cast<Type>(0);
+        Type y = static_cast<Type>(0);
+        Type z = static_cast<Type>(0);
+        Type w = static_cast<Type>(1);  // identity quaternion
+
+        constexpr Quaternion() noexcept = default;
+
+        constexpr Quaternion(const Type& x, const Type& y, const Type& z, const Type& w) noexcept
+            : x(x), y(y), z(z), w(w)
+        {
+        }
+
+        // Factory: build from a normalized axis and an angle in radians
+        [[nodiscard]]
+        static Quaternion from_axis_angle(const Vector3<Type>& axis, const Type& angle_rad) noexcept
+        {
+            const Type half = angle_rad / static_cast<Type>(2);
+            const Type s = std::sin(half);
+            return {axis.x * s, axis.y * s, axis.z * s, std::cos(half)};
+        }
+
+        [[nodiscard]] constexpr bool operator==(const Quaternion& other) const noexcept
+        {
+            return x == other.x && y == other.y && z == other.z && w == other.w;
+        }
+
+        [[nodiscard]] constexpr bool operator!=(const Quaternion& other) const noexcept
+        {
+            return !(*this == other);
+        }
+
+        // Hamilton product: this * other
+        [[nodiscard]] constexpr Quaternion operator*(const Quaternion& other) const noexcept
+        {
+            return {
+                w * other.x + x * other.w + y * other.z - z * other.y,
+                w * other.y - x * other.z + y * other.w + z * other.x,
+                w * other.z + x * other.y - y * other.x + z * other.w,
+                w * other.w - x * other.x - y * other.y - z * other.z,
+            };
+        }
+
+        constexpr Quaternion& operator*=(const Quaternion& other) noexcept
+        {
+            return *this = *this * other;
+        }
+
+        [[nodiscard]] constexpr Quaternion operator*(const Type& scalar) const noexcept
+        {
+            return {x * scalar, y * scalar, z * scalar, w * scalar};
+        }
+
+        constexpr Quaternion& operator*=(const Type& scalar) noexcept
+        {
+            x *= scalar;
+            y *= scalar;
+            z *= scalar;
+            w *= scalar;
+            return *this;
+        }
+
+        [[nodiscard]] constexpr Quaternion operator+(const Quaternion& other) const noexcept
+        {
+            return {x + other.x, y + other.y, z + other.z, w + other.w};
+        }
+
+        constexpr Quaternion& operator+=(const Quaternion& other) noexcept
+        {
+            x += other.x;
+            y += other.y;
+            z += other.z;
+            w += other.w;
+            return *this;
+        }
+
+        [[nodiscard]] constexpr Quaternion operator-() const noexcept
+        {
+            return {-x, -y, -z, -w};
+        }
+
+        // Conjugate: negates the vector part (x, y, z)
+        [[nodiscard]] constexpr Quaternion conjugate() const noexcept
+        {
+            return {-x, -y, -z, w};
+        }
+
+        [[nodiscard]] constexpr Type dot(const Quaternion& other) const noexcept
+        {
+            return x * other.x + y * other.y + z * other.z + w * other.w;
+        }
+
+        [[nodiscard]] constexpr Type length_sqr() const noexcept
+        {
+            return x * x + y * y + z * z + w * w;
+        }
+
+#ifndef _MSC_VER
+        [[nodiscard]] constexpr Type length() const noexcept
+        {
+            return std::sqrt(length_sqr());
+        }
+
+        [[nodiscard]] constexpr Quaternion normalized() const noexcept
+        {
+            const Type len = length();
+            return len != static_cast<Type>(0) ? *this * (static_cast<Type>(1) / len) : *this;
+        }
+#else
+        [[nodiscard]] Type length() const noexcept
+        {
+            return std::sqrt(length_sqr());
+        }
+
+        [[nodiscard]] Quaternion normalized() const noexcept
+        {
+            const Type len = length();
+            return len != static_cast<Type>(0) ? *this * (static_cast<Type>(1) / len) : *this;
+        }
+#endif
+
+        // Inverse: q* / |q|^2  (for unit quaternions inverse == conjugate)
+        [[nodiscard]] constexpr Quaternion inverse() const noexcept
+        {
+            return conjugate() * (static_cast<Type>(1) / length_sqr());
+        }
+
+        // Rotate a 3D vector: v' = q * pure(v) * q^-1
+        // Computed via Rodrigues' formula to avoid full quaternion product overhead
+        [[nodiscard]] constexpr Vector3<Type> rotate(const Vector3<Type>& v) const noexcept
+        {
+            const Vector3<Type> q_vec{x, y, z};
+            const Vector3<Type> cross = q_vec.cross(v);
+            return v + cross * (static_cast<Type>(2) * w) + q_vec.cross(cross) * static_cast<Type>(2);
+        }
+
+        // 3x3 rotation matrix from this (unit) quaternion
+        [[nodiscard]] constexpr Mat<3, 3, Type> to_rotation_matrix3() const noexcept
+        {
+            const Type xx = x * x, yy = y * y, zz = z * z;
+            const Type xy = x * y, xz = x * z, yz = y * z;
+            const Type wx = w * x, wy = w * y, wz = w * z;
+            const Type one = static_cast<Type>(1);
+            const Type two = static_cast<Type>(2);
+
+            return {
+                {one - two * (yy + zz), two * (xy - wz),       two * (xz + wy)      },
+                {two * (xy + wz),       one - two * (xx + zz), two * (yz - wx)      },
+                {two * (xz - wy),       two * (yz + wx),       one - two * (xx + yy)},
+            };
+        }
+
+        // 4x4 rotation matrix (with homogeneous row/column)
+        [[nodiscard]] constexpr Mat<4, 4, Type> to_rotation_matrix4() const noexcept
+        {
+            const Type xx = x * x, yy = y * y, zz = z * z;
+            const Type xy = x * y, xz = x * z, yz = y * z;
+            const Type wx = w * x, wy = w * y, wz = w * z;
+            const Type one = static_cast<Type>(1);
+            const Type two = static_cast<Type>(2);
+            const Type zero = static_cast<Type>(0);
+
+            return {
+                {one - two * (yy + zz), two * (xy - wz),       two * (xz + wy),       zero},
+                {two * (xy + wz),       one - two * (xx + zz), two * (yz - wx),       zero},
+                {two * (xz - wy),       two * (yz + wx),       one - two * (xx + yy), zero},
+                {zero,                  zero,                   zero,                  one },
+            };
+        }
+
+        [[nodiscard]] constexpr std::array<Type, 4> as_array() const noexcept
+        {
+            return {x, y, z, w};
+        }
+    };
+} // namespace omath
+
+template<class Type>
+struct std::formatter<omath::Quaternion<Type>> // NOLINT(*-dcl58-cpp)
+{
+    [[nodiscard]]
+    static constexpr auto parse(std::format_parse_context& ctx)
+    {
+        return ctx.begin();
+    }
+
+    template<class FormatContext>
+    [[nodiscard]]
+    static auto format(const omath::Quaternion<Type>& q, FormatContext& ctx)
+    {
+        if constexpr (std::is_same_v<typename FormatContext::char_type, char>)
+            return std::format_to(ctx.out(), "[{}, {}, {}, {}]", q.x, q.y, q.z, q.w);
+
+        if constexpr (std::is_same_v<typename FormatContext::char_type, wchar_t>)
+            return std::format_to(ctx.out(), L"[{}, {}, {}, {}]", q.x, q.y, q.z, q.w);
+
+        if constexpr (std::is_same_v<typename FormatContext::char_type, char8_t>)
+            return std::format_to(ctx.out(), u8"[{}, {}, {}, {}]", q.x, q.y, q.z, q.w);
+    }
+};

include/omath/linear_algebra/vector2.hpp

@@ -220,6 +220,12 @@ namespace omath
         {
             return std::make_tuple(x, y);
         }
+
+        [[nodiscard]]
+        constexpr std::array<Type, 2> as_array() const noexcept
+        {
+            return {x, y};
+        }
 #ifdef OMATH_IMGUI_INTEGRATION
         [[nodiscard]]
         constexpr ImVec2 to_im_vec2() const noexcept

include/omath/linear_algebra/vector3.hpp

@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include "omath/trigonometry/angle.hpp"
 #include "omath/linear_algebra/vector2.hpp"
+#include "omath/trigonometry/angle.hpp"
 #include <cstdint>
 #include <expected>
 #include <functional>
@@ -233,7 +233,8 @@ namespace omath
             return Angle<float, 0.f, 180.f, AngleFlags::Clamped>::from_radians(std::acos(dot(other) / bottom));
         }
 
-        [[nodiscard]] bool is_perpendicular(const Vector3& other, Type epsilon = static_cast<Type>(0.0001)) const noexcept
+        [[nodiscard]] bool is_perpendicular(const Vector3& other,
+                                            Type epsilon = static_cast<Type>(0.0001)) const noexcept
         {
             if (const auto angle = angle_between(other))
                 return std::abs(angle->as_degrees() - static_cast<Type>(90)) <= epsilon;
@@ -274,6 +275,12 @@ namespace omath
         {
             return length() >= other.length();
         }
+
+        [[nodiscard]]
+        constexpr std::array<Type, 3> as_array() const noexcept
+        {
+            return {this->x, this->y, z};
+        }
     };
 } // namespace omath
 

include/omath/linear_algebra/vector4.hpp

@@ -3,8 +3,8 @@
 //
 #pragma once
 
-#include <algorithm>
 #include "omath/linear_algebra/vector3.hpp"
+#include <algorithm>
 
 namespace omath
 {
@@ -183,6 +183,12 @@ namespace omath
             return length() >= other.length();
         }
 
+        [[nodiscard]]
+        constexpr std::array<Type, 4> as_array() const noexcept
+        {
+            return {this->x, this->y, this->z, w};
+        }
+
 #ifdef OMATH_IMGUI_INTEGRATION
         [[nodiscard]]
         constexpr ImVec4 to_im_vec4() const noexcept

include/omath/lua/lua.hpp

@@ -0,0 +1,25 @@
+//
+// Created by orange on 07.03.2026.
+//
+#pragma once
+#ifdef OMATH_ENABLE_LUA
+#include <sol/forward.hpp>
+namespace omath::lua
+{
+    class LuaInterpreter final
+    {
+    public:
+        static void register_lib(lua_State* lua_state);
+
+    private:
+        static void register_vec2(sol::table& omath_table);
+        static void register_vec3(sol::table& omath_table);
+        static void register_vec4(sol::table& omath_table);
+        static void register_color(sol::table& omath_table);
+        static void register_triangle(sol::table& omath_table);
+        static void register_shared_types(sol::table& omath_table);
+        static void register_engines(sol::table& omath_table);
+        static void register_pattern_scan(sol::table& omath_table);
+    };
+}
+#endif

include/omath/omath.hpp

@@ -17,6 +17,9 @@
 // Matrix classes
 #include "omath/linear_algebra/mat.hpp"
 
+// Quaternion
+#include "omath/linear_algebra/quaternion.hpp"
+
 // Color functionality
 #include "omath/utility/color.hpp"
 

include/omath/pathfinding/navigation_mesh.hpp

@@ -6,7 +6,9 @@
 
 #include "omath/linear_algebra/vector3.hpp"
 #include <expected>
+#include <optional>
 #include <string>
+#include <unordered_map>
 #include <vector>
 
 namespace omath::pathfinding
@@ -28,10 +30,20 @@ namespace omath::pathfinding
         [[nodiscard]]
         bool empty() const;
 
-        [[nodiscard]] std::vector<uint8_t> serialize() const noexcept;
+        // Events -- per-vertex optional tag (e.g. "jump", "teleport")
+        void set_event(const Vector3<float>& vertex, const std::string_view& event_id);
+        void clear_event(const Vector3<float>& vertex);
 
-        void deserialize(const std::vector<uint8_t>& raw) noexcept;
+        [[nodiscard]]
+        std::optional<std::string> get_event(const Vector3<float>& vertex) const noexcept;
+
+        [[nodiscard]] std::string serialize() const noexcept;
+
+        void deserialize(const std::string& raw);
 
         std::unordered_map<Vector3<float>, std::vector<Vector3<float>>> m_vertex_map;
+
+    private:
+        std::unordered_map<Vector3<float>, std::string> m_vertex_events;
     };
 } // namespace omath::pathfinding

include/omath/projection/camera.hpp

@@ -52,7 +52,7 @@ namespace omath::projection
                 requires noexcept(T::calc_projection_matrix(fov, viewport, znear, zfar));
             };
 
-    template<class Mat4X4Type, class ViewAnglesType, class TraitClass>
+    template<class Mat4X4Type, class ViewAnglesType, class TraitClass, bool inverted_z = false>
     requires CameraEngineConcept<TraitClass, Mat4X4Type, ViewAnglesType>
     class Camera final
     {
@@ -80,59 +80,96 @@ namespace omath::projection
         {
             m_view_angles = TraitClass::calc_look_at_angle(m_origin, target);
             m_view_projection_matrix = std::nullopt;
+            m_view_matrix = std::nullopt;
         }
 
-    protected:
-        [[nodiscard]] Mat4X4Type calc_view_projection_matrix() const noexcept
+        [[nodiscard]]
+        Vector3<float> get_forward() const noexcept
         {
-            return TraitClass::calc_projection_matrix(m_field_of_view, m_view_port, m_near_plane_distance,
-                                                      m_far_plane_distance)
-                   * TraitClass::calc_view_matrix(m_view_angles, m_origin);
+            const auto& view_matrix = get_view_matrix();
+
+            if constexpr (inverted_z)
+                return -Vector3<float>{view_matrix[2, 0], view_matrix[2, 1], view_matrix[2, 2]};
+            return {view_matrix[2, 0], view_matrix[2, 1], view_matrix[2, 2]};
+        }
+
+        [[nodiscard]]
+        Vector3<float> get_right() const noexcept
+        {
+            const auto& view_matrix = get_view_matrix();
+            return {view_matrix[0, 0], view_matrix[0, 1], view_matrix[0, 2]};
+        }
+
+        [[nodiscard]]
+        Vector3<float> get_up() const noexcept
+        {
+            const auto& view_matrix = get_view_matrix();
+            return {view_matrix[1, 0], view_matrix[1, 1], view_matrix[1, 2]};
         }
 
-    public:
         [[nodiscard]] const Mat4X4Type& get_view_projection_matrix() const noexcept
         {
             if (!m_view_projection_matrix.has_value())
-                m_view_projection_matrix = calc_view_projection_matrix();
+                m_view_projection_matrix = get_projection_matrix() * get_view_matrix();
 
             return m_view_projection_matrix.value();
         }
 
+        [[nodiscard]] const Mat4X4Type& get_view_matrix() const noexcept
+        {
+            if (!m_view_matrix.has_value())
+                m_view_matrix = TraitClass::calc_view_matrix(m_view_angles, m_origin);
+
+            return m_view_matrix.value();
+        }
+        [[nodiscard]] const Mat4X4Type& get_projection_matrix() const noexcept
+        {
+            if (!m_projection_matrix.has_value())
+                m_projection_matrix = TraitClass::calc_projection_matrix(m_field_of_view, m_view_port,
+                                                                         m_near_plane_distance, m_far_plane_distance);
+
+            return m_projection_matrix.value();
+        }
+
         void set_field_of_view(const FieldOfView& fov) noexcept
         {
             m_field_of_view = fov;
             m_view_projection_matrix = std::nullopt;
+            m_projection_matrix = std::nullopt;
         }
 
         void set_near_plane(const float near) noexcept
         {
             m_near_plane_distance = near;
             m_view_projection_matrix = std::nullopt;
+            m_projection_matrix = std::nullopt;
         }
 
         void set_far_plane(const float far) noexcept
         {
             m_far_plane_distance = far;
             m_view_projection_matrix = std::nullopt;
+            m_projection_matrix = std::nullopt;
         }
 
         void set_view_angles(const ViewAnglesType& view_angles) noexcept
         {
             m_view_angles = view_angles;
             m_view_projection_matrix = std::nullopt;
+            m_view_matrix = std::nullopt;
         }
 
         void set_origin(const Vector3<float>& origin) noexcept
         {
             m_origin = origin;
             m_view_projection_matrix = std::nullopt;
+            m_view_matrix = std::nullopt;
         }
-
         void set_view_port(const ViewPort& view_port) noexcept
         {
             m_view_port = view_port;
             m_view_projection_matrix = std::nullopt;
+            m_projection_matrix = std::nullopt;
         }
 
         [[nodiscard]] const FieldOfView& get_field_of_view() const noexcept
@@ -283,7 +320,8 @@ namespace omath::projection
         Angle<float, 0.f, 180.f, AngleFlags::Clamped> m_field_of_view;
 
         mutable std::optional<Mat4X4Type> m_view_projection_matrix;
-
+        mutable std::optional<Mat4X4Type> m_projection_matrix;
+        mutable std::optional<Mat4X4Type> m_view_matrix;
         float m_far_plane_distance;
         float m_near_plane_distance;
 

include/omath/utility/color.hpp

@@ -16,19 +16,28 @@ namespace omath
         float value{};
     };
 
-    class Color final : public Vector4<float>
+    class Color final
     {
+        Vector4<float> m_value;
     public:
-        constexpr Color(const float r, const float g, const float b, const float a) noexcept: Vector4(r, g, b, a)
+        constexpr const Vector4<float>& value() const
         {
-            clamp(0.f, 1.f);
+            return m_value;
+        }
+        constexpr Color(const float r, const float g, const float b, const float a) noexcept: m_value(r, g, b, a)
+        {
+            m_value.clamp(0.f, 1.f);
         }
 
+        constexpr explicit Color(const Vector4<float>& value) : m_value(value)
+        {
+            m_value.clamp(0.f, 1.f);
+        }
         constexpr explicit Color() noexcept = default;
         [[nodiscard]]
         constexpr static Color from_rgba(const uint8_t r, const uint8_t g, const uint8_t b, const uint8_t a) noexcept
         {
-            return Color{Vector4(r, g, b, a) / 255.f};
+            return Color(Vector4<float>(r, g, b, a) / 255.f);
         }
 
         [[nodiscard]]
@@ -82,9 +91,9 @@ namespace omath
         {
             Hsv hsv_data;
 
-            const float& red = x;
-            const float& green = y;
-            const float& blue = z;
+            const float& red = m_value.x;
+            const float& green = m_value.y;
+            const float& blue = m_value.z;
 
             const float max = std::max({red, green, blue});
             const float min = std::min({red, green, blue});
@@ -109,11 +118,6 @@ namespace omath
 
             return hsv_data;
         }
-
-        constexpr explicit Color(const Vector4& vec) noexcept: Vector4(vec)
-        {
-            clamp(0.f, 1.f);
-        }
         constexpr void set_hue(const float hue) noexcept
         {
             auto hsv = to_hsv();
@@ -141,7 +145,7 @@ namespace omath
         constexpr Color blend(const Color& other, float ratio) const noexcept
         {
             ratio = std::clamp(ratio, 0.f, 1.f);
-            return Color(*this * (1.f - ratio) + other * ratio);
+            return Color(this->m_value * (1.f - ratio) + other.m_value * ratio);
         }
 
         [[nodiscard]] static constexpr Color red()
@@ -160,16 +164,26 @@ namespace omath
         [[nodiscard]]
         ImColor to_im_color() const noexcept
         {
-            return {to_im_vec4()};
+            return {m_value.to_im_vec4()};
         }
 #endif
         [[nodiscard]] std::string to_string() const noexcept
         {
             return std::format("[r:{}, g:{}, b:{}, a:{}]",
-                            static_cast<int>(x * 255.f),
-                            static_cast<int>(y * 255.f),
-                            static_cast<int>(z * 255.f),
-                            static_cast<int>(w * 255.f));
+                            static_cast<int>(m_value.x * 255.f),
+                            static_cast<int>(m_value.y * 255.f),
+                            static_cast<int>(m_value.z * 255.f),
+                            static_cast<int>(m_value.w * 255.f));
+        }
+        [[nodiscard]] std::string to_rgbf_string() const noexcept
+        {
+            return std::format("[r:{}, g:{}, b:{}, a:{}]",
+                            m_value.x, m_value.y, m_value.z, m_value.w);
+        }
+        [[nodiscard]] std::string to_hsv_string() const noexcept
+        {
+            const auto [hue, saturation, value] = to_hsv();
+            return std::format("[h:{}, s:{}, v:{}]", hue, saturation, value);
         }
         [[nodiscard]] std::wstring to_wstring() const noexcept
         {
@@ -188,23 +202,55 @@ namespace omath
 template<>
 struct std::formatter<omath::Color> // NOLINT(*-dcl58-cpp)
 {
-    [[nodiscard]]
-    static constexpr auto parse(const std::format_parse_context& ctx)
+    enum class ColorFormat { rgb, rgbf, hsv };
+    ColorFormat color_format = ColorFormat::rgb;
+
+    constexpr auto parse(std::format_parse_context& ctx)
     {
-        return ctx.begin();
+        const auto it = ctx.begin();
+        const auto end = ctx.end();
+
+        if (it == end || *it == '}')
+            return it;
+
+        const std::string_view spec(it, end);
+
+        if (spec.starts_with("rgbf"))
+        {
+            color_format = ColorFormat::rgbf;
+            return it + 4;
+        }
+        if (spec.starts_with("rgb"))
+        {
+            color_format = ColorFormat::rgb;
+            return it + 3;
+        }
+        if (spec.starts_with("hsv"))
+        {
+            color_format = ColorFormat::hsv;
+            return it + 3;
+        }
+
+        throw std::format_error("Invalid format specifier for omath::Color. Use rgb, rgbf, or hsv.");
     }
 
     template<class FormatContext>
-    [[nodiscard]]
-    static auto format(const omath::Color& col, FormatContext& ctx)
+    auto format(const omath::Color& col, FormatContext& ctx) const
     {
-        if constexpr (std::is_same_v<typename FormatContext::char_type, char>)
-            return std::format_to(ctx.out(), "{}", col.to_string());
-        if constexpr (std::is_same_v<typename FormatContext::char_type, wchar_t>)
-            return std::format_to(ctx.out(), L"{}", col.to_wstring());
+        std::string str;
+        switch (color_format)
+        {
+            case ColorFormat::rgb:  str = col.to_string();      break;
+            case ColorFormat::rgbf: str = col.to_rgbf_string(); break;
+            case ColorFormat::hsv:  str = col.to_hsv_string();  break;
+        }
 
+        if constexpr (std::is_same_v<typename FormatContext::char_type, char>)
+            return std::format_to(ctx.out(), "{}", str);
+        if constexpr (std::is_same_v<typename FormatContext::char_type, wchar_t>)
+            return std::format_to(ctx.out(), L"{}", std::wstring(str.cbegin(), str.cend()));
         if constexpr (std::is_same_v<typename FormatContext::char_type, char8_t>)
-            return std::format_to(ctx.out(), u8"{}", col.to_u8string());
+            return std::format_to(ctx.out(), u8"{}", std::u8string(str.cbegin(), str.cend()));
 
         std::unreachable();
     }

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

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/cmake-format.sh

@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+# Format all CMakeLists.txt and *.cmake files in the repo (excluding common build dirs)
+REPO_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+
+cd "$REPO_ROOT"
+
+find . \
+  -path "./build" -prune -o \
+  -path "./cmake-build*" -prune -o \
+  -path "./out" -prune -o \
+  -path "./.git" -prune -o \
+  \( -name "CMakeLists.txt" -o -name "*.cmake" \) -print0 \
+| xargs -0 cmake-format -i

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/engines/cry_engine/formulas.cpp

@@ -0,0 +1,42 @@
+//
+// Created by Vlad on 3/22/2025.
+//
+#include "omath/engines/cry_engine/formulas.hpp"
+
+namespace omath::cry_engine
+{
+    Vector3<float> forward_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_forward);
+
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
+    Vector3<float> right_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_right);
+
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
+    Vector3<float> up_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_up);
+
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
+    Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
+    {
+        return mat_camera_view<float, MatStoreType::ROW_MAJOR>(forward_vector(angles), right_vector(angles),
+                                                               up_vector(angles), cam_origin);
+    }
+    Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept
+    {
+        return mat_rotation_axis_z<float, MatStoreType::ROW_MAJOR>(angles.yaw)
+               * mat_rotation_axis_y<float, MatStoreType::ROW_MAJOR>(angles.roll)
+               * mat_rotation_axis_x<float, MatStoreType::ROW_MAJOR>(angles.pitch);
+    }
+    Mat4X4 calc_perspective_projection_matrix(const float field_of_view, const float aspect_ratio, const float near,
+                                              const float far) noexcept
+    {
+        return mat_perspective_left_handed(field_of_view, aspect_ratio, near, far);
+    }
+} // namespace omath::unity_engine

source/engines/cry_engine/traits/camera_trait.cpp

@@ -0,0 +1,26 @@
+//
+// Created by Vlad on 8/11/2025.
+//
+#include "omath/engines/cry_engine/traits/camera_trait.hpp"
+
+namespace omath::cry_engine
+{
+
+    ViewAngles CameraTrait::calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept
+    {
+        const auto direction = (look_at - cam_origin).normalized();
+
+        return {PitchAngle::from_radians(std::asin(direction.z)),
+                YawAngle::from_radians(-std::atan2(direction.x, direction.y)), RollAngle::from_radians(0.f)};
+    }
+    Mat4X4 CameraTrait::calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
+    {
+        return cry_engine::calc_view_matrix(angles, cam_origin);
+    }
+    Mat4X4 CameraTrait::calc_projection_matrix(const projection::FieldOfView& fov,
+                                               const projection::ViewPort& view_port, const float near,
+                                               const float far) noexcept
+    {
+        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far);
+    }
+} // namespace omath::unity_engine

source/lua/lua.cpp

@@ -0,0 +1,27 @@
+//
+// Created by orange on 07.03.2026.
+//
+#ifdef OMATH_ENABLE_LUA
+#include "lua.hpp"
+#include <sol/sol.hpp>
+#include "omath/lua/lua.hpp"
+
+namespace omath::lua
+{
+    void LuaInterpreter::register_lib(lua_State* lua_state)
+    {
+        sol::state_view lua(lua_state);
+
+        auto omath_table = lua["omath"].get_or_create<sol::table>();
+
+        register_vec2(omath_table);
+        register_vec3(omath_table);
+        register_vec4(omath_table);
+        register_color(omath_table);
+        register_triangle(omath_table);
+        register_shared_types(omath_table);
+        register_engines(omath_table);
+        register_pattern_scan(omath_table);
+    }
+} // namespace omath::lua
+#endif

source/lua/lua_color.cpp

@@ -0,0 +1,46 @@
+//
+// Created by orange on 07.03.2026.
+//
+#ifdef OMATH_ENABLE_LUA
+#include "omath/lua/lua.hpp"
+#include <sol/sol.hpp>
+#include <omath/utility/color.hpp>
+
+namespace omath::lua
+{
+    void LuaInterpreter::register_color(sol::table& omath_table)
+    {
+        omath_table.new_usertype<omath::Color>(
+                "Color",
+                sol::factories([](float r, float g, float b, float a) { return omath::Color(r, g, b, a); },
+                               []() { return omath::Color(); }),
+
+                "from_rgba", [](uint8_t r, uint8_t g, uint8_t b, uint8_t a)
+                { return omath::Color::from_rgba(r, g, b, a); }, "from_hsv",
+                sol::overload([](float h, float s, float v) { return omath::Color::from_hsv(h, s, v); },
+                              [](const omath::Hsv& hsv) { return omath::Color::from_hsv(hsv); }),
+                "red", []() { return omath::Color::red(); }, "green", []() { return omath::Color::green(); }, "blue",
+                []() { return omath::Color::blue(); },
+
+                "r", sol::property([](const omath::Color& c) { return c.value().x; }), "g",
+                sol::property([](const omath::Color& c) { return c.value().y; }), "b",
+                sol::property([](const omath::Color& c) { return c.value().z; }), "a",
+                sol::property([](const omath::Color& c) { return c.value().w; }),
+
+                "to_hsv", &omath::Color::to_hsv, "set_hue", &omath::Color::set_hue, "set_saturation",
+                &omath::Color::set_saturation, "set_value", &omath::Color::set_value, "blend", &omath::Color::blend,
+
+                sol::meta_function::to_string, &omath::Color::to_string);
+
+        omath_table.new_usertype<omath::Hsv>(
+                "Hsv", sol::constructors<omath::Hsv()>(), "hue",
+                sol::property([](const omath::Hsv& h) { return h.hue; }, [](omath::Hsv& h, float val) { h.hue = val; }),
+                "saturation",
+                sol::property([](const omath::Hsv& h) { return h.saturation; },
+                              [](omath::Hsv& h, float val) { h.saturation = val; }),
+                "value",
+                sol::property([](const omath::Hsv& h) { return h.value; },
+                              [](omath::Hsv& h, float val) { h.value = val; }));
+    }
+} // namespace omath::lua::detail
+#endif

source/lua/lua_engines.cpp

@@ -0,0 +1,227 @@
+//
+// Created by orange on 07.03.2026.
+//
+#ifdef OMATH_ENABLE_LUA
+#include "omath/lua/lua.hpp"
+#include <omath/engines/cry_engine/camera.hpp>
+#include <omath/engines/frostbite_engine/camera.hpp>
+#include <omath/engines/iw_engine/camera.hpp>
+#include <omath/engines/opengl_engine/camera.hpp>
+#include <omath/engines/source_engine/camera.hpp>
+#include <omath/engines/unity_engine/camera.hpp>
+#include <omath/engines/unreal_engine/camera.hpp>
+#include <sol/sol.hpp>
+#include <string_view>
+
+namespace
+{
+    // ---- Canonical shared C++ type aliases ----------------------------------
+    // Each unique template instantiation must be registered exactly once.
+
+    using PitchAngle90 = omath::Angle<float, -90.f, 90.f, omath::AngleFlags::Clamped>;
+    using PitchAngle89 = omath::Angle<float, -89.f, 89.f, omath::AngleFlags::Clamped>;
+    using SharedYawRoll = omath::Angle<float, -180.f, 180.f, omath::AngleFlags::Normalized>;
+    using SharedFoV = omath::Angle<float, 0.f, 180.f, omath::AngleFlags::Clamped>;
+    using ViewAngles90 = omath::ViewAngles<PitchAngle90, SharedYawRoll, SharedYawRoll>;
+    using ViewAngles89 = omath::ViewAngles<PitchAngle89, SharedYawRoll, SharedYawRoll>;
+
+    std::string projection_error_to_string(omath::projection::Error e)
+    {
+        switch (e)
+        {
+        case omath::projection::Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS:
+            return "world position is out of screen bounds";
+        case omath::projection::Error::INV_VIEW_PROJ_MAT_DET_EQ_ZERO:
+            return "inverse view-projection matrix determinant is zero";
+        }
+        return "unknown error";
+    }
+
+    template<class AngleType>
+    void register_angle(sol::table& table, const char* name)
+    {
+        table.new_usertype<AngleType>(
+                name, sol::no_constructor, "from_degrees", &AngleType::from_degrees, "from_radians",
+                &AngleType::from_radians, "as_degrees", &AngleType::as_degrees, "as_radians", &AngleType::as_radians,
+                "sin", &AngleType::sin, "cos", &AngleType::cos, "tan", &AngleType::tan, "cot", &AngleType::cot,
+                sol::meta_function::addition, [](const AngleType& a, const AngleType& b)
+                { return AngleType::from_degrees(a.as_degrees() + b.as_degrees()); }, sol::meta_function::subtraction,
+                [](const AngleType& a, const AngleType& b)
+                { return AngleType::from_degrees(a.as_degrees() - b.as_degrees()); }, sol::meta_function::unary_minus,
+                [](const AngleType& a) { return AngleType::from_degrees(-a.as_degrees()); },
+                sol::meta_function::equal_to, [](const AngleType& a, const AngleType& b) { return a == b; },
+                sol::meta_function::to_string, [](const AngleType& a) { return std::format("{}deg", a.as_degrees()); });
+    }
+
+    // Set aliases in an engine subtable pointing to the already-registered shared types
+    template<class PitchAngleType, class ViewAnglesType>
+    void set_engine_aliases(sol::table& engine_table, sol::table& types)
+    {
+        if constexpr (std::is_same_v<PitchAngleType, PitchAngle90>)
+            engine_table["PitchAngle"] = types["PitchAngle90"];
+        else
+            engine_table["PitchAngle"] = types["PitchAngle89"];
+
+        engine_table["YawAngle"] = types["YawRoll"];
+        engine_table["RollAngle"] = types["YawRoll"];
+        engine_table["FieldOfView"] = types["FieldOfView"];
+        engine_table["ViewPort"] = types["ViewPort"];
+
+        if constexpr (std::is_same_v<ViewAnglesType, ViewAngles90>)
+            engine_table["ViewAngles"] = types["ViewAngles90"];
+        else
+            engine_table["ViewAngles"] = types["ViewAngles89"];
+    }
+
+    // Register an engine: alias shared types, register unique Camera
+    template<class EngineTraits>
+    void register_engine(sol::table& omath_table, const char* subtable_name)
+    {
+        using PitchAngle = typename EngineTraits::PitchAngle;
+        using ViewAngles = typename EngineTraits::ViewAngles;
+        using Camera = typename EngineTraits::Camera;
+
+        auto engine_table = omath_table[subtable_name].get_or_create<sol::table>();
+        auto types = omath_table["_types"].get<sol::table>();
+
+        set_engine_aliases<PitchAngle, ViewAngles>(engine_table, types);
+
+        engine_table.new_usertype<Camera>(
+                "Camera",
+                sol::constructors<Camera(const omath::Vector3<float>&, const ViewAngles&,
+                                         const omath::projection::ViewPort&, const omath::projection::FieldOfView&,
+                                         float, float)>(),
+                "look_at", &Camera::look_at, "get_forward", &Camera::get_forward, "get_right", &Camera::get_right,
+                "get_up", &Camera::get_up, "get_origin", &Camera::get_origin, "get_view_angles",
+                &Camera::get_view_angles, "get_near_plane", &Camera::get_near_plane, "get_far_plane",
+                &Camera::get_far_plane, "get_field_of_view", &Camera::get_field_of_view, "set_origin",
+                &Camera::set_origin, "set_view_angles", &Camera::set_view_angles, "set_view_port",
+                &Camera::set_view_port, "set_field_of_view", &Camera::set_field_of_view, "set_near_plane",
+                &Camera::set_near_plane, "set_far_plane", &Camera::set_far_plane,
+
+                "world_to_screen",
+                [](const Camera& cam, const omath::Vector3<float>& pos)
+                        -> std::tuple<sol::optional<omath::Vector3<float>>, sol::optional<std::string>>
+                {
+                    auto result = cam.world_to_screen(pos);
+                    if (result)
+                        return {*result, sol::nullopt};
+                    return {sol::nullopt, projection_error_to_string(result.error())};
+                },
+
+                "screen_to_world",
+                [](const Camera& cam, const omath::Vector3<float>& pos)
+                        -> std::tuple<sol::optional<omath::Vector3<float>>, sol::optional<std::string>>
+                {
+                    auto result = cam.screen_to_world(pos);
+                    if (result)
+                        return {*result, sol::nullopt};
+                    return {sol::nullopt, projection_error_to_string(result.error())};
+                });
+    }
+
+    // ---- Engine trait structs -----------------------------------------------
+
+    struct OpenGLEngineTraits
+    {
+        using PitchAngle = omath::opengl_engine::PitchAngle;
+        using ViewAngles = omath::opengl_engine::ViewAngles;
+        using Camera = omath::opengl_engine::Camera;
+    };
+    struct FrostbiteEngineTraits
+    {
+        using PitchAngle = omath::frostbite_engine::PitchAngle;
+        using ViewAngles = omath::frostbite_engine::ViewAngles;
+        using Camera = omath::frostbite_engine::Camera;
+    };
+    struct IWEngineTraits
+    {
+        using PitchAngle = omath::iw_engine::PitchAngle;
+        using ViewAngles = omath::iw_engine::ViewAngles;
+        using Camera = omath::iw_engine::Camera;
+    };
+    struct SourceEngineTraits
+    {
+        using PitchAngle = omath::source_engine::PitchAngle;
+        using ViewAngles = omath::source_engine::ViewAngles;
+        using Camera = omath::source_engine::Camera;
+    };
+    struct UnityEngineTraits
+    {
+        using PitchAngle = omath::unity_engine::PitchAngle;
+        using ViewAngles = omath::unity_engine::ViewAngles;
+        using Camera = omath::unity_engine::Camera;
+    };
+    struct UnrealEngineTraits
+    {
+        using PitchAngle = omath::unreal_engine::PitchAngle;
+        using ViewAngles = omath::unreal_engine::ViewAngles;
+        using Camera = omath::unreal_engine::Camera;
+    };
+    struct CryEngineTraits
+    {
+        using PitchAngle = omath::cry_engine::PitchAngle;
+        using ViewAngles = omath::cry_engine::ViewAngles;
+        using Camera = omath::cry_engine::Camera;
+    };
+} // namespace
+
+namespace omath::lua
+{
+    void LuaInterpreter::register_shared_types(sol::table& omath_table)
+    {
+        auto t = omath_table["_types"].get_or_create<sol::table>();
+
+        register_angle<PitchAngle90>(t, "PitchAngle90");
+        register_angle<PitchAngle89>(t, "PitchAngle89");
+        register_angle<SharedYawRoll>(t, "YawRoll");
+        register_angle<SharedFoV>(t, "FieldOfView");
+
+        t.new_usertype<omath::projection::ViewPort>(
+                "ViewPort", sol::factories([](float w, float h) { return omath::projection::ViewPort{w, h}; }), "width",
+                sol::property([](const omath::projection::ViewPort& vp) { return vp.m_width; },
+                              [](omath::projection::ViewPort& vp, float val) { vp.m_width = val; }),
+                "height",
+                sol::property([](const omath::projection::ViewPort& vp) { return vp.m_height; },
+                              [](omath::projection::ViewPort& vp, float val) { vp.m_height = val; }),
+                "aspect_ratio", &omath::projection::ViewPort::aspect_ratio);
+
+        t.new_usertype<ViewAngles90>(
+                "ViewAngles90",
+                sol::factories([](PitchAngle90 p, SharedYawRoll y, SharedYawRoll r) { return ViewAngles90{p, y, r}; }),
+                "pitch",
+                sol::property([](const ViewAngles90& va) { return va.pitch; },
+                              [](ViewAngles90& va, const PitchAngle90& val) { va.pitch = val; }),
+                "yaw",
+                sol::property([](const ViewAngles90& va) { return va.yaw; },
+                              [](ViewAngles90& va, const SharedYawRoll& val) { va.yaw = val; }),
+                "roll",
+                sol::property([](const ViewAngles90& va) { return va.roll; },
+                              [](ViewAngles90& va, const SharedYawRoll& val) { va.roll = val; }));
+
+        t.new_usertype<ViewAngles89>(
+                "ViewAngles89",
+                sol::factories([](PitchAngle89 p, SharedYawRoll y, SharedYawRoll r) { return ViewAngles89{p, y, r}; }),
+                "pitch",
+                sol::property([](const ViewAngles89& va) { return va.pitch; },
+                              [](ViewAngles89& va, const PitchAngle89& val) { va.pitch = val; }),
+                "yaw",
+                sol::property([](const ViewAngles89& va) { return va.yaw; },
+                              [](ViewAngles89& va, const SharedYawRoll& val) { va.yaw = val; }),
+                "roll",
+                sol::property([](const ViewAngles89& va) { return va.roll; },
+                              [](ViewAngles89& va, const SharedYawRoll& val) { va.roll = val; }));
+    }
+
+    void LuaInterpreter::register_engines(sol::table& omath_table)
+    {
+        register_engine<OpenGLEngineTraits>(omath_table, "opengl");
+        register_engine<FrostbiteEngineTraits>(omath_table, "frostbite");
+        register_engine<IWEngineTraits>(omath_table, "iw");
+        register_engine<SourceEngineTraits>(omath_table, "source");
+        register_engine<UnityEngineTraits>(omath_table, "unity");
+        register_engine<UnrealEngineTraits>(omath_table, "unreal");
+        register_engine<CryEngineTraits>(omath_table, "cry");
+    }
+} // namespace omath::lua::detail
+#endif

source/lua/lua_pattern_scan.cpp

@@ -0,0 +1,104 @@
+//
+// Created by orange on 10.03.2026.
+//
+#ifdef OMATH_ENABLE_LUA
+#include "omath/lua/lua.hpp"
+#include <format>
+#include <omath/utility/elf_pattern_scan.hpp>
+#include <omath/utility/macho_pattern_scan.hpp>
+#include <omath/utility/pattern_scan.hpp>
+#include <omath/utility/pe_pattern_scan.hpp>
+#include <omath/utility/section_scan_result.hpp>
+#include <sol/sol.hpp>
+
+namespace omath::lua
+{
+    void LuaInterpreter::register_pattern_scan(sol::table& omath_table)
+    {
+        omath_table.new_usertype<SectionScanResult>(
+                "SectionScanResult", sol::no_constructor,
+                "virtual_base_addr",
+                sol::property([](const SectionScanResult& r) { return r.virtual_base_addr; }),
+                "raw_base_addr",
+                sol::property([](const SectionScanResult& r) { return r.raw_base_addr; }),
+                "target_offset",
+                sol::property([](const SectionScanResult& r) { return r.target_offset; }),
+                sol::meta_function::to_string,
+                [](const SectionScanResult& r)
+                {
+                    return std::format("SectionScanResult(vbase=0x{:X}, raw_base=0x{:X}, offset={})",
+                                       r.virtual_base_addr, r.raw_base_addr, r.target_offset);
+                });
+
+        // Generic scanner: accepts a Lua string as a byte buffer
+        auto ps_table = omath_table["PatternScanner"].get_or_create<sol::table>();
+        ps_table["scan"] = [](const std::string& data, const std::string& pattern) -> sol::optional<std::ptrdiff_t>
+        {
+            const auto* begin = reinterpret_cast<const std::byte*>(data.data());
+            const auto* end = begin + data.size();
+            const auto* result = PatternScanner::scan_for_pattern(begin, end, pattern);
+            if (result == end)
+                return sol::nullopt;
+            return std::distance(begin, result);
+        };
+
+        auto pe_table = omath_table["PePatternScanner"].get_or_create<sol::table>();
+        pe_table["scan_in_module"] = [](std::uintptr_t base_addr, const std::string& pattern,
+                                        sol::optional<std::string> section) -> sol::optional<std::uintptr_t>
+        {
+            auto result = PePatternScanner::scan_for_pattern_in_loaded_module(reinterpret_cast<const void*>(base_addr),
+                                                                              pattern, section.value_or(".text"));
+            if (!result)
+                return sol::nullopt;
+            return *result;
+        };
+        pe_table["scan_in_file"] = [](const std::string& path, const std::string& pattern,
+                                      sol::optional<std::string> section) -> sol::optional<SectionScanResult>
+        {
+            auto result = PePatternScanner::scan_for_pattern_in_file(std::filesystem::path(path), pattern,
+                                                                     section.value_or(".text"));
+            if (!result)
+                return sol::nullopt;
+            return *result;
+        };
+        auto elf_table = omath_table["ElfPatternScanner"].get_or_create<sol::table>();
+        elf_table["scan_in_module"] = [](std::uintptr_t base_addr, const std::string& pattern,
+                                         sol::optional<std::string> section) -> sol::optional<std::uintptr_t>
+        {
+            auto result = ElfPatternScanner::scan_for_pattern_in_loaded_module(reinterpret_cast<const void*>(base_addr),
+                                                                               pattern, section.value_or(".text"));
+            if (!result)
+                return sol::nullopt;
+            return *result;
+        };
+        elf_table["scan_in_file"] = [](const std::string& path, const std::string& pattern,
+                                       sol::optional<std::string> section) -> sol::optional<SectionScanResult>
+        {
+            auto result = ElfPatternScanner::scan_for_pattern_in_file(std::filesystem::path(path), pattern,
+                                                                      section.value_or(".text"));
+            if (!result)
+                return sol::nullopt;
+            return *result;
+        };
+        auto macho_table = omath_table["MachOPatternScanner"].get_or_create<sol::table>();
+        macho_table["scan_in_module"] = [](std::uintptr_t base_addr, const std::string& pattern,
+                                           sol::optional<std::string> section) -> sol::optional<std::uintptr_t>
+        {
+            auto result = MachOPatternScanner::scan_for_pattern_in_loaded_module(
+                    reinterpret_cast<const void*>(base_addr), pattern, section.value_or("__text"));
+            if (!result)
+                return sol::nullopt;
+            return *result;
+        };
+        macho_table["scan_in_file"] = [](const std::string& path, const std::string& pattern,
+                                         sol::optional<std::string> section) -> sol::optional<SectionScanResult>
+        {
+            auto result = MachOPatternScanner::scan_for_pattern_in_file(std::filesystem::path(path), pattern,
+                                                                        section.value_or("__text"));
+            if (!result)
+                return sol::nullopt;
+            return *result;
+        };
+    }
+} // namespace omath::lua
+#endif

source/lua/lua_triangle.cpp

@@ -0,0 +1,48 @@
+//
+// Created by orange on 10.03.2026.
+//
+#ifdef OMATH_ENABLE_LUA
+#include "omath/lua/lua.hpp"
+#include <sol/sol.hpp>
+#include <omath/linear_algebra/triangle.hpp>
+
+namespace omath::lua
+{
+    void LuaInterpreter::register_triangle(sol::table& omath_table)
+    {
+        using Vec3f = omath::Vector3<float>;
+        using Tri3f = omath::Triangle<Vec3f>;
+
+        omath_table.new_usertype<Tri3f>(
+                "Triangle", sol::constructors<Tri3f(), Tri3f(const Vec3f&, const Vec3f&, const Vec3f&)>(),
+
+                "vertex1",
+                sol::property([](const Tri3f& t) { return t.m_vertex1; },
+                              [](Tri3f& t, const Vec3f& v) { t.m_vertex1 = v; }),
+                "vertex2",
+                sol::property([](const Tri3f& t) { return t.m_vertex2; },
+                              [](Tri3f& t, const Vec3f& v) { t.m_vertex2 = v; }),
+                "vertex3",
+                sol::property([](const Tri3f& t) { return t.m_vertex3; },
+                              [](Tri3f& t, const Vec3f& v) { t.m_vertex3 = v; }),
+
+                "calculate_normal", &Tri3f::calculate_normal,
+                "side_a_length", &Tri3f::side_a_length,
+                "side_b_length", &Tri3f::side_b_length,
+                "side_a_vector", &Tri3f::side_a_vector,
+                "side_b_vector", &Tri3f::side_b_vector,
+                "hypot", &Tri3f::hypot,
+                "is_rectangular", &Tri3f::is_rectangular,
+                "mid_point", &Tri3f::mid_point,
+
+                sol::meta_function::to_string,
+                [](const Tri3f& t)
+                {
+                    return std::format("Triangle(({}, {}, {}), ({}, {}, {}), ({}, {}, {}))",
+                                       t.m_vertex1.x, t.m_vertex1.y, t.m_vertex1.z,
+                                       t.m_vertex2.x, t.m_vertex2.y, t.m_vertex2.z,
+                                       t.m_vertex3.x, t.m_vertex3.y, t.m_vertex3.z);
+                });
+    }
+} // namespace omath::lua
+#endif

source/lua/lua_vec2.cpp

@@ -0,0 +1,54 @@
+//
+// Created by orange on 07.03.2026.
+//
+#ifdef OMATH_ENABLE_LUA
+#include "omath/lua/lua.hpp"
+#include <omath/linear_algebra/vector2.hpp>
+#include <sol/sol.hpp>
+
+namespace omath::lua
+{
+    void LuaInterpreter::register_vec2(sol::table& omath_table)
+    {
+        using Vec2f = omath::Vector2<float>;
+
+        omath_table.new_usertype<Vec2f>(
+                "Vec2", sol::constructors<Vec2f(), Vec2f(float, float)>(),
+
+                "x", sol::property([](const Vec2f& v) { return v.x; }, [](Vec2f& v, const float val) { v.x = val; }),
+                "y", sol::property([](const Vec2f& v) { return v.y; }, [](Vec2f& v, const float val) { v.y = val; }),
+
+                sol::meta_function::addition, sol::resolve<Vec2f(const Vec2f&) const>(&Vec2f::operator+),
+                sol::meta_function::subtraction, sol::resolve<Vec2f(const Vec2f&) const>(&Vec2f::operator-),
+                sol::meta_function::unary_minus, sol::resolve<Vec2f() const>(&Vec2f::operator-),
+                sol::meta_function::equal_to, &Vec2f::operator==,
+                sol::meta_function::less_than, sol::resolve<bool(const Vec2f&) const>(&Vec2f::operator<),
+                sol::meta_function::less_than_or_equal_to, sol::resolve<bool(const Vec2f&) const>(&Vec2f::operator<=),
+                sol::meta_function::to_string,
+                [](const Vec2f& v) { return std::format("Vec2({}, {})", v.x, v.y); },
+
+                sol::meta_function::multiplication,
+                sol::overload(sol::resolve<Vec2f(const float&) const>(&Vec2f::operator*),
+                              [](const float s, const Vec2f& v) { return v * s; }),
+
+                sol::meta_function::division,
+                sol::resolve<Vec2f(const float&) const>(&Vec2f::operator/),
+
+                "length", &Vec2f::length,
+                "length_sqr", &Vec2f::length_sqr,
+                "normalized", &Vec2f::normalized,
+                "dot", &Vec2f::dot,
+                "distance_to", &Vec2f::distance_to,
+                "distance_to_sqr", &Vec2f::distance_to_sqr,
+                "sum", &Vec2f::sum,
+
+                "abs",
+                [](const Vec2f& v)
+                {
+                    Vec2f copy = v;
+                    copy.abs();
+                    return copy;
+                });
+    }
+} // namespace omath::lua::detail
+#endif

source/lua/lua_vec3.cpp

@@ -0,0 +1,81 @@
+//
+// Created by orange on 07.03.2026.
+//
+#ifdef OMATH_ENABLE_LUA
+#include "omath/lua/lua.hpp"
+#include <sol/sol.hpp>
+#include <omath/linear_algebra/vector3.hpp>
+
+namespace omath::lua
+{
+    void LuaInterpreter::register_vec3(sol::table& omath_table)
+    {
+        using Vec3f = omath::Vector3<float>;
+
+        omath_table.new_usertype<Vec3f>(
+                "Vec3", sol::constructors<Vec3f(), Vec3f(float, float, float)>(),
+
+                "x", sol::property([](const Vec3f& v) { return v.x; }, [](Vec3f& v, float val) { v.x = val; }),
+                "y", sol::property([](const Vec3f& v) { return v.y; }, [](Vec3f& v, float val) { v.y = val; }),
+                "z", sol::property([](const Vec3f& v) { return v.z; }, [](Vec3f& v, float val) { v.z = val; }),
+
+                sol::meta_function::addition, sol::resolve<Vec3f(const Vec3f&) const>(&Vec3f::operator+),
+                sol::meta_function::subtraction, sol::resolve<Vec3f(const Vec3f&) const>(&Vec3f::operator-),
+                sol::meta_function::unary_minus, sol::resolve<Vec3f() const>(&Vec3f::operator-),
+                sol::meta_function::equal_to, &Vec3f::operator==, sol::meta_function::less_than,
+                sol::resolve<bool(const Vec3f&) const>(&Vec3f::operator<), sol::meta_function::less_than_or_equal_to,
+                sol::resolve<bool(const Vec3f&) const>(&Vec3f::operator<=), sol::meta_function::to_string,
+                [](const Vec3f& v) { return std::format("Vec3({}, {}, {})", v.x, v.y, v.z); },
+
+                sol::meta_function::multiplication,
+                sol::overload(sol::resolve<Vec3f(const float&) const>(&Vec3f::operator*),
+                              sol::resolve<Vec3f(const Vec3f&) const>(&Vec3f::operator*),
+                              [](const float s, const Vec3f& v) { return v * s; }),
+
+                sol::meta_function::division,
+                sol::overload(sol::resolve<Vec3f(const float&) const>(&Vec3f::operator/),
+                              sol::resolve<Vec3f(const Vec3f&) const>(&Vec3f::operator/)),
+
+                "length", &Vec3f::length, "length_2d", &Vec3f::length_2d, "length_sqr", &Vec3f::length_sqr,
+                "normalized", &Vec3f::normalized, "dot", &Vec3f::dot, "cross", &Vec3f::cross, "distance_to",
+                &Vec3f::distance_to, "distance_to_sqr", &Vec3f::distance_to_sqr, "sum",
+                sol::resolve<float() const>(&Vec3f::sum), "sum_2d", &Vec3f::sum_2d, "point_to_same_direction",
+                &Vec3f::point_to_same_direction, "as_array", &Vec3f::as_array,
+
+                "abs",
+                [](const Vec3f& v)
+                {
+                    Vec3f copy = v;
+                    copy.abs();
+                    return copy;
+                },
+
+                "angle_between",
+                [](const Vec3f& self,
+                   const Vec3f& other) -> std::tuple<sol::optional<float>, sol::optional<std::string>>
+                {
+                    auto result = self.angle_between(other);
+                    if (result)
+                        return std::make_tuple(sol::optional<float>(result->as_degrees()),
+                                               sol::optional<std::string>(sol::nullopt));
+                    return std::make_tuple(sol::optional<float>(sol::nullopt),
+                                           sol::optional<std::string>("impossible angle (zero-length vector)"));
+                },
+
+                "is_perpendicular",
+                [](const Vec3f& self, const Vec3f& other, sol::optional<float> eps)
+                { return self.is_perpendicular(other, eps.value_or(0.0001f)); },
+
+                "as_table",
+                [](const Vec3f& v, sol::this_state s) -> sol::table
+                {
+                    sol::state_view lua(s);
+                    sol::table t = lua.create_table();
+                    t["x"] = v.x;
+                    t["y"] = v.y;
+                    t["z"] = v.z;
+                    return t;
+                });
+    }
+} // namespace omath::lua::detail
+#endif

source/lua/lua_vec4.cpp

@@ -0,0 +1,62 @@
+//
+// Created by orange on 07.03.2026.
+//
+#ifdef OMATH_ENABLE_LUA
+#include "omath/lua/lua.hpp"
+#include <sol/sol.hpp>
+#include <omath/linear_algebra/vector4.hpp>
+
+namespace omath::lua
+{
+    void LuaInterpreter::register_vec4(sol::table& omath_table)
+    {
+        using Vec4f = omath::Vector4<float>;
+
+        omath_table.new_usertype<Vec4f>(
+                "Vec4", sol::constructors<Vec4f(), Vec4f(float, float, float, float)>(),
+
+                "x", sol::property([](const Vec4f& v) { return v.x; }, [](Vec4f& v, float val) { v.x = val; }),
+                "y", sol::property([](const Vec4f& v) { return v.y; }, [](Vec4f& v, float val) { v.y = val; }),
+                "z", sol::property([](const Vec4f& v) { return v.z; }, [](Vec4f& v, float val) { v.z = val; }),
+                "w", sol::property([](const Vec4f& v) { return v.w; }, [](Vec4f& v, float val) { v.w = val; }),
+
+                sol::meta_function::addition, sol::resolve<Vec4f(const Vec4f&) const>(&Vec4f::operator+),
+                sol::meta_function::subtraction, sol::resolve<Vec4f(const Vec4f&) const>(&Vec4f::operator-),
+                sol::meta_function::unary_minus, sol::resolve<Vec4f() const>(&Vec4f::operator-),
+                sol::meta_function::equal_to, &Vec4f::operator==,
+                sol::meta_function::less_than, sol::resolve<bool(const Vec4f&) const>(&Vec4f::operator<),
+                sol::meta_function::less_than_or_equal_to, sol::resolve<bool(const Vec4f&) const>(&Vec4f::operator<=),
+                sol::meta_function::to_string,
+                [](const Vec4f& v) { return std::format("Vec4({}, {}, {}, {})", v.x, v.y, v.z, v.w); },
+
+                sol::meta_function::multiplication,
+                sol::overload(sol::resolve<Vec4f(const float&) const>(&Vec4f::operator*),
+                              sol::resolve<Vec4f(const Vec4f&) const>(&Vec4f::operator*),
+                              [](const float s, const Vec4f& v) { return v * s; }),
+
+                sol::meta_function::division,
+                sol::overload(sol::resolve<Vec4f(const float&) const>(&Vec4f::operator/),
+                              sol::resolve<Vec4f(const Vec4f&) const>(&Vec4f::operator/)),
+
+                "length", &Vec4f::length,
+                "length_sqr", &Vec4f::length_sqr,
+                "dot", &Vec4f::dot,
+                "sum", &Vec4f::sum,
+
+                "abs",
+                [](const Vec4f& v)
+                {
+                    Vec4f copy = v;
+                    copy.abs();
+                    return copy;
+                },
+
+                "clamp",
+                [](Vec4f& v, float mn, float mx)
+                {
+                    v.clamp(mn, mx);
+                    return v;
+                });
+    }
+} // namespace omath::lua::detail
+#endif

source/pathfinding/navigation_mesh.cpp

@@ -3,9 +3,9 @@
 //
 #include "omath/pathfinding/navigation_mesh.hpp"
 #include <algorithm>
-#include <cstring>
-#include <limits>
+#include <sstream>
 #include <stdexcept>
+
 namespace omath::pathfinding
 {
     std::expected<Vector3<float>, std::string>
@@ -30,77 +30,72 @@ namespace omath::pathfinding
         return m_vertex_map.empty();
     }
 
-    std::vector<uint8_t> NavigationMesh::serialize() const noexcept
+    void NavigationMesh::set_event(const Vector3<float>& vertex, const std::string_view&  event_id)
     {
-        std::vector<std::uint8_t> raw;
+        if (!m_vertex_map.contains(vertex))
+            throw std::invalid_argument(std::format("Vertex '{}' not found", vertex));
 
-        // Pre-calculate total size for better performance
-        std::size_t total_size = 0;
+        m_vertex_events[vertex] = event_id;
+    }
+
+    void NavigationMesh::clear_event(const Vector3<float>& vertex)
+    {
+        m_vertex_events.erase(vertex);
+    }
+
+    std::optional<std::string> NavigationMesh::get_event(const Vector3<float>& vertex) const noexcept
+    {
+        const auto it = m_vertex_events.find(vertex);
+        if (it == m_vertex_events.end())
+            return std::nullopt;
+        return it->second;
+    }
+
+    // Serialization format per vertex line:
+    //   x y z neighbor_count event_id
+    // where event_id is "-" when no event is set.
+    // Neighbor lines follow: nx ny nz
+
+    std::string NavigationMesh::serialize() const noexcept
+    {
+        std::ostringstream oss;
         for (const auto& [vertex, neighbors] : m_vertex_map)
         {
-            total_size += sizeof(vertex) + sizeof(std::uint16_t) + sizeof(Vector3<float>) * neighbors.size();
+            const auto event_it = m_vertex_events.find(vertex);
+            const std::string& event = (event_it != m_vertex_events.end()) ? event_it->second : "-";
+
+            oss << vertex.x << ' ' << vertex.y << ' ' << vertex.z << ' ' << neighbors.size() << ' ' << event << '\n';
+
+            for (const auto& n : neighbors)
+                oss << n.x << ' ' << n.y << ' ' << n.z << '\n';
         }
-        raw.reserve(total_size);
-
-        auto dump_to_vector = [&raw]<typename T>(const T& t)
-        {
-            const auto* byte_ptr = reinterpret_cast<const std::uint8_t*>(&t);
-            raw.insert(raw.end(), byte_ptr, byte_ptr + sizeof(T));
-        };
-
-        for (const auto& [vertex, neighbors] : m_vertex_map)
-        {
-            // Clamp neighbors count to fit in uint16_t (prevents silent data corruption)
-            // NOTE: If neighbors.size() > 65535, only the first 65535 neighbors will be serialized.
-            // This is a limitation of the current serialization format using uint16_t for count.
-            const auto clamped_count =
-                    std::min<std::size_t>(neighbors.size(), std::numeric_limits<std::uint16_t>::max());
-            const auto neighbors_count = static_cast<std::uint16_t>(clamped_count);
-
-            dump_to_vector(vertex);
-            dump_to_vector(neighbors_count);
-
-            // Only serialize up to the clamped count
-            for (std::size_t i = 0; i < clamped_count; ++i)
-                dump_to_vector(neighbors[i]);
-        }
-        return raw;
+        return oss.str();
     }
 
-    void NavigationMesh::deserialize(const std::vector<uint8_t>& raw) noexcept
+    void NavigationMesh::deserialize(const std::string& raw)
     {
-        auto load_from_vector = [](const std::vector<uint8_t>& vec, std::size_t& offset, auto& value)
-        {
-            if (offset + sizeof(value) > vec.size())
-                throw std::runtime_error("Deserialize: Invalid input data size.");
-
-            std::copy_n(vec.data() + offset, sizeof(value), reinterpret_cast<uint8_t*>(&value));
-            offset += sizeof(value);
-        };
-
         m_vertex_map.clear();
+        m_vertex_events.clear();
+        std::istringstream iss(raw);
 
-        std::size_t offset = 0;
-
-        while (offset < raw.size())
-        {
         Vector3<float> vertex;
-            load_from_vector(raw, offset, vertex);
-
-            std::uint16_t neighbors_count;
-            load_from_vector(raw, offset, neighbors_count);
-
+        std::size_t neighbors_count;
+        std::string event;
+        while (iss >> vertex.x >> vertex.y >> vertex.z >> neighbors_count >> event)
+        {
             std::vector<Vector3<float>> neighbors;
             neighbors.reserve(neighbors_count);
-
             for (std::size_t i = 0; i < neighbors_count; ++i)
             {
-                Vector3<float> neighbor;
-                load_from_vector(raw, offset, neighbor);
-                neighbors.push_back(neighbor);
+                Vector3<float> n;
+                if (!(iss >> n.x >> n.y >> n.z))
+                    throw std::runtime_error("Deserialize: Unexpected end of data.");
+                neighbors.push_back(n);
             }
-
             m_vertex_map.emplace(vertex, std::move(neighbors));
+
+            if (event != "-")
+                m_vertex_events.emplace(vertex, std::move(event));
         }
     }
 } // namespace omath::pathfinding

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

@@ -237,7 +237,7 @@ namespace
                           variant);
     }
 
-    struct ExtractedSection
+    struct ExtractedSection final
     {
         std::uintptr_t virtual_base_addr;
         std::uintptr_t raw_base_addr;

tests/CMakeLists.txt

@@ -4,11 +4,12 @@ project(unit_tests)
 
 include(GoogleTest)
 
-file(GLOB_RECURSE UNIT_TESTS_SOURCES CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/*.cpp")
-add_executable(${PROJECT_NAME} ${UNIT_TESTS_SOURCES})
+file(GLOB_RECURSE UNIT_TESTS_SOURCES CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/general/*.cpp" "${CMAKE_CURRENT_SOURCE_DIR}/engines/*.cpp")
+add_executable(${PROJECT_NAME} ${UNIT_TESTS_SOURCES} main.cpp)
 
-set_target_properties(${PROJECT_NAME} PROPERTIES
-        ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+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/${CMAKE_BUILD_TYPE}"
                CXX_STANDARD 23
@@ -21,6 +22,16 @@ else() # GTest is being linked as vcpkg package
     target_link_libraries(${PROJECT_NAME} PRIVATE GTest::gtest GTest::gtest_main omath::omath)
 endif()
 
+if (OMATH_ENABLE_LUA)
+    file(GLOB_RECURSE UNIT_TESTS_SOURCES_LUA CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/lua/*.cpp")
+    target_compile_definitions(${PROJECT_NAME} PRIVATE LUA_SCRIPTS_DIR="${CMAKE_CURRENT_SOURCE_DIR}/lua")
+    target_sources(${PROJECT_NAME} PRIVATE ${UNIT_TESTS_SOURCES_LUA})
+    if (EMSCRIPTEN)
+        target_link_options(${PROJECT_NAME} PRIVATE
+            "SHELL:--embed-file ${CMAKE_CURRENT_SOURCE_DIR}/lua@${CMAKE_CURRENT_SOURCE_DIR}/lua")
+    endif()
+endif()
+
 if(OMATH_ENABLE_COVERAGE)
     include(${CMAKE_SOURCE_DIR}/cmake/Coverage.cmake)
     omath_setup_coverage(${PROJECT_NAME})
@@ -30,7 +41,9 @@ 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
+# 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_cry_engine.cpp

@@ -0,0 +1,240 @@
+//
+// Created by Vladislav on 19.02.2026.
+//
+#include <gtest/gtest.h>
+#include <omath/engines/cry_engine/camera.hpp>
+#include <omath/engines/cry_engine/constants.hpp>
+#include <omath/engines/cry_engine/formulas.hpp>
+#include <random>
+#include <ranges>
+
+using namespace omath;
+TEST(unit_test_cry_engine, look_at_forward)
+{
+    const auto angles = cry_engine::CameraTrait::calc_look_at_angle({}, cry_engine::k_abs_forward);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = cry_engine::forward_vector(angles);
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), cry_engine::k_abs_forward.as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+TEST(unit_test_cry_engine, look_at_right)
+{
+    const auto angles = cry_engine::CameraTrait::calc_look_at_angle({}, cry_engine::k_abs_right);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = cry_engine::forward_vector(angles);
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), cry_engine::k_abs_right.as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+TEST(unit_test_cry_engine, look_at_up)
+{
+    const auto angles = cry_engine::CameraTrait::calc_look_at_angle({}, cry_engine::k_abs_right);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = cry_engine::forward_vector(angles);
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), cry_engine::k_abs_right.as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+
+TEST(unit_test_cry_engine, look_at_back)
+{
+    const auto angles = cry_engine::CameraTrait::calc_look_at_angle({}, -cry_engine::k_abs_forward);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = cry_engine::forward_vector(angles);
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), (-cry_engine::k_abs_forward).as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+TEST(unit_test_cry_engine, look_at_left)
+{
+    const auto angles = cry_engine::CameraTrait::calc_look_at_angle({}, -cry_engine::k_abs_right);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = cry_engine::forward_vector(angles);
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), (-cry_engine::k_abs_right).as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+TEST(unit_test_cry_engine, look_at_down)
+{
+    const auto angles = cry_engine::CameraTrait::calc_look_at_angle({}, -cry_engine::k_abs_up);
+
+    // ReSharper disable once CppTooWideScopeInitStatement
+    const auto dir_vector = cry_engine::forward_vector(angles);
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), (-cry_engine::k_abs_up).as_array()))
+        EXPECT_NEAR(result, etalon, 0.0001f);
+}
+
+TEST(unit_test_cry_engine, RightVector)
+{
+    const auto right = omath::cry_engine::right_vector({});
+
+    EXPECT_EQ(right, omath::cry_engine::k_abs_right);
+}
+
+TEST(unit_test_cry_engine, UpVector)
+{
+    const auto up = omath::cry_engine::up_vector({});
+    EXPECT_EQ(up, omath::cry_engine::k_abs_up);
+}
+
+TEST(unit_test_cry_engine, ProjectTargetMovedFromCamera)
+{
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(60.f);
+    const auto cam = omath::cry_engine::Camera({0, 0, 0}, {}, {1280.f, 720.f}, fov, 0.01f, 1000.f);
+
+    for (float distance = 0.02f; distance < 100.f; distance += 0.01f)
+    {
+        const auto projected = cam.world_to_screen({0, distance, 0});
+
+        EXPECT_TRUE(projected.has_value());
+
+        if (!projected.has_value())
+            continue;
+
+        EXPECT_NEAR(projected->x, 640, 0.00001f);
+        EXPECT_NEAR(projected->y, 360, 0.00001f);
+    }
+}
+
+TEST(unit_test_cry_engine, CameraSetAndGetFov)
+{
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    auto cam = omath::cry_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
+
+    EXPECT_EQ(cam.get_field_of_view().as_degrees(), 90.f);
+    cam.set_field_of_view(omath::projection::FieldOfView::from_degrees(50.f));
+
+    EXPECT_EQ(cam.get_field_of_view().as_degrees(), 50.f);
+}
+
+TEST(unit_test_cry_engine, CameraSetAndGetOrigin)
+{
+    auto cam = omath::cry_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, {}, 0.01f, 1000.f);
+
+    EXPECT_EQ(cam.get_origin(), omath::Vector3<float>{});
+    cam.set_field_of_view(omath::projection::FieldOfView::from_degrees(50.f));
+
+    EXPECT_EQ(cam.get_field_of_view().as_degrees(), 50.f);
+}
+TEST(unit_test_cry_engine, loook_at_random_all_axis)
+{
+    std::mt19937 gen(std::random_device{}()); // Seed with a non-deterministic source
+    std::uniform_real_distribution<float> dist(-1000.f, 1000.f);
+
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    auto cam = omath::cry_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.001f, 10000.f);
+
+    std::size_t failed_points = 0;
+
+    for (int i = 0; i < 1000; i++)
+    {
+        const auto position_to_look = omath::Vector3<float>{dist(gen), dist(gen), dist(gen)};
+
+        if (cam.get_origin().distance_to(position_to_look) < 10)
+            continue;
+
+        cam.look_at(position_to_look);
+
+        auto projected_pos = cam.world_to_view_port(position_to_look);
+
+        EXPECT_TRUE(projected_pos.has_value());
+
+        if (!projected_pos)
+            continue;
+
+        if (std::abs(projected_pos->x - 0.f) >= 0.0001f || std::abs(projected_pos->y - 0.f) >= 0.0001f)
+            failed_points++;
+    }
+    EXPECT_LE(failed_points, 100);
+}
+
+TEST(unit_test_cry_engine, loook_at_random_x_axis)
+{
+    std::mt19937 gen(std::random_device{}()); // Seed with a non-deterministic source
+    std::uniform_real_distribution<float> dist(-1000.f, 1000.f);
+
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    auto cam = omath::cry_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.001f, 10000.f);
+
+    std::size_t failed_points = 0;
+    for (int i = 0; i < 1000; i++)
+    {
+        const auto position_to_look = omath::Vector3<float>{dist(gen), 0.f, 0.f};
+        if (cam.get_origin().distance_to(position_to_look) < 10)
+            continue;
+
+        cam.look_at(position_to_look);
+
+        auto projected_pos = cam.world_to_view_port(position_to_look);
+
+        EXPECT_TRUE(projected_pos.has_value());
+
+        if (!projected_pos)
+            continue;
+
+        if (std::abs(projected_pos->x - 0.f) >= 0.001f || std::abs(projected_pos->y - 0.f) >= 0.001f)
+            failed_points++;
+    }
+    EXPECT_LE(failed_points, 100);
+}
+
+TEST(unit_test_cry_engine, loook_at_random_y_axis)
+{
+    std::mt19937 gen(std::random_device{}()); // Seed with a non-deterministic source
+    std::uniform_real_distribution<float> dist(-1000.f, 1000.f);
+
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    auto cam = omath::cry_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.001f, 10000.f);
+
+    std::size_t failed_points = 0;
+    for (int i = 0; i < 1000; i++)
+    {
+        const auto position_to_look = omath::Vector3<float>{0.f, dist(gen), 0.f};
+        if (cam.get_origin().distance_to(position_to_look) < 10)
+            continue;
+
+        cam.look_at(position_to_look);
+
+        auto projected_pos = cam.world_to_view_port(position_to_look);
+
+        EXPECT_TRUE(projected_pos.has_value());
+
+        if (!projected_pos)
+            continue;
+
+        if (std::abs(projected_pos->x - 0.f) >= 0.01f || std::abs(projected_pos->y - 0.f) >= 0.01f)
+            failed_points++;
+    }
+    EXPECT_LE(failed_points, 100);
+}
+
+TEST(unit_test_cry_engine, loook_at_random_z_axis)
+{
+    std::mt19937 gen(std::random_device{}()); // Seed with a non-deterministic source
+    std::uniform_real_distribution<float> dist(-1000.f, 1000.f);
+
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    auto cam = omath::cry_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.001f, 10000.f);
+
+    std::size_t failed_points = 0;
+    for (int i = 0; i < 1000; i++)
+    {
+        const auto position_to_look = omath::Vector3<float>{0.f, 0.f, dist(gen)};
+        if (cam.get_origin().distance_to(position_to_look) < 10)
+            continue;
+
+        cam.look_at(position_to_look);
+
+        auto projected_pos = cam.world_to_view_port(position_to_look);
+
+        EXPECT_TRUE(projected_pos.has_value());
+
+        if (!projected_pos)
+            continue;
+
+        if (std::abs(projected_pos->x - 0.f) >= 0.01f || std::abs(projected_pos->y - 0.f) >= 0.01f)
+            failed_points++;
+    }
+    EXPECT_LE(failed_points, 100);
+}