keeping 1 AABB type

added aabb line trace

.clang-format

@@ -12,6 +12,7 @@ AlignConsecutiveMacros: AcrossEmptyLinesAndComments
 AlignTrailingComments: false
 AllowShortBlocksOnASingleLine: Never
 AllowShortFunctionsOnASingleLine: None
+AllowShortLambdasOnASingleLine: None
 AllowShortIfStatementsOnASingleLine: false
 AllowShortLoopsOnASingleLine: false
 BreakTemplateDeclarations: Leave

.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)
@@ -370,16 +370,19 @@ jobs:
         shell: bash
         run: |
           cmake --preset ${{ matrix.preset }} \
+            -DCMAKE_C_COMPILER=$(xcrun --find clang) \
+            -DCMAKE_CXX_COMPILER=$(xcrun --find clang++) \
             -DOMATH_BUILD_TESTS=ON \
             -DOMATH_BUILD_BENCHMARK=OFF \
             -DOMATH_ENABLE_COVERAGE=${{ matrix.coverage == true && 'ON' || 'OFF' }} \
-            -DVCPKG_MANIFEST_FEATURES="imgui;avx2;tests"
+            -DVCPKG_MANIFEST_FEATURES="imgui;avx2;tests;lua"
 
       - name: Build
         shell: bash
         run: cmake --build cmake-build/build/${{ matrix.preset }} --target unit_tests omath
 
       - name: Run unit_tests
+        if: ${{ matrix.coverage != true }}
         shell: bash
         run: ./out/Release/unit_tests
 
@@ -450,7 +453,7 @@ 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 +512,7 @@ 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 +584,7 @@ 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 +653,7 @@ 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 +738,7 @@ 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 +803,7 @@ 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/docs.yml

@@ -0,0 +1,62 @@
+name: Documentation
+
+on:
+  push:
+    branches: [ main ]
+    paths:
+      - 'docs/**'
+      - 'mkdocs.yml'
+      - '.github/workflows/docs.yml'
+  pull_request:
+    branches: [ main ]
+    paths:
+      - 'docs/**'
+      - 'mkdocs.yml'
+      - '.github/workflows/docs.yml'
+
+concurrency:
+  group: docs-${{ github.ref }}
+  cancel-in-progress: true
+
+permissions:
+  contents: read
+  pages: write
+  id-token: write
+
+jobs:
+  build:
+    name: Build Documentation
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.x'
+
+      - name: Install mkdocs and dependencies
+        run: pip install mkdocs mkdocs-bootswatch
+
+      - name: Build documentation
+        run: mkdocs build --strict
+
+      - name: Upload artifact
+        if: github.event_name == 'push' && github.ref == 'refs/heads/main'
+        uses: actions/upload-pages-artifact@v3
+        with:
+          path: site/
+
+  deploy:
+    name: Deploy to GitHub Pages
+    if: github.event_name == 'push' && github.ref == 'refs/heads/main'
+    needs: build
+    runs-on: ubuntu-latest
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.page_url }}
+    steps:
+      - name: Deploy to GitHub Pages
+        id: deployment
+        uses: actions/deploy-pages@v4

.github/workflows/release.yml

@@ -0,0 +1,647 @@
+name: Release
+
+on:
+  release:
+    types: [published]
+
+concurrency:
+  group: release-${{ github.ref }}
+  cancel-in-progress: true
+
+permissions:
+  contents: write
+
+jobs:
+  ##############################################################################
+  # 0)  Documentation  –  MkDocs
+  ##############################################################################
+  docs-release:
+    name: Documentation
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.x'
+
+      - name: Install mkdocs and dependencies
+        run: pip install mkdocs mkdocs-bootswatch
+
+      - name: Build documentation
+        run: mkdocs build --strict
+
+      - name: Package
+        run: tar -czf omath-docs.tar.gz -C site .
+
+      - name: Upload release asset
+        env:
+          GH_TOKEN: ${{ github.token }}
+        run: gh release upload "${{ github.event.release.tag_name }}" omath-docs.tar.gz --clobber
+
+  ##############################################################################
+  # 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

.idea/editor.xml

@@ -103,7 +103,7 @@
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppImplicitDefaultConstructorNotAvailable/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIncompatiblePointerConversion/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIncompleteSwitchStatement/@EntryIndexedValue" value="WARNING" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppInconsistentNaming/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppInconsistentNaming/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIntegralToPointerConversion/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppInvalidLineContinuation/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppJoinDeclarationAndAssignment/@EntryIndexedValue" value="SUGGESTION" type="string" />
@@ -202,7 +202,7 @@
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticDataMemberInUnnamedStruct/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticSpecifierOnAnonymousNamespaceMember/@EntryIndexedValue" value="SUGGESTION" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStringLiteralToCharPointerConversion/@EntryIndexedValue" value="WARNING" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTabsAreDisallowed/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTabsAreDisallowed/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateArgumentsCanBeDeduced/@EntryIndexedValue" value="HINT" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateParameterNeverUsed/@EntryIndexedValue" value="HINT" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateParameterShadowing/@EntryIndexedValue" value="WARNING" type="string" />
@@ -216,7 +216,7 @@
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnmatchedPragmaEndRegionDirective/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnmatchedPragmaRegionDirective/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnnamedNamespaceInHeaderFile/@EntryIndexedValue" value="WARNING" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnnecessaryWhitespace/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnnecessaryWhitespace/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnsignedZeroComparison/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnusedIncludeDirective/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAlgorithmWithCount/@EntryIndexedValue" value="SUGGESTION" type="string" />

.luarc.json

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

CMakeLists.txt

@@ -31,6 +31,9 @@ option(OMATH_SUPRESS_SAFETY_CHECKS
 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)
 if(VCPKG_MANIFEST_FEATURES)
     foreach(omath_feature IN LISTS VCPKG_MANIFEST_FEATURES)
         if(omath_feature STREQUAL "imgui")
@@ -43,6 +46,8 @@ 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)
         endif()
 
     endforeach()
@@ -72,6 +77,7 @@ 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}")
 endif()
 
 file(GLOB_RECURSE OMATH_SOURCES CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/source/*.cpp")
@@ -83,6 +89,17 @@ else()
     add_library(${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 ${SOL2_INCLUDE_DIRS})
+endif ()
+
 add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
 
 target_compile_definitions(${PROJECT_NAME} PUBLIC OMATH_VERSION="${PROJECT_VERSION}")
@@ -130,11 +147,10 @@ set_target_properties(
                CXX_STANDARD 23
                CXX_STANDARD_REQUIRED ON)
 
-if (OMATH_STATIC_MSVC_RUNTIME_LIBRARY)
+if(OMATH_STATIC_MSVC_RUNTIME_LIBRARY)
-    set_target_properties(${PROJECT_NAME} PROPERTIES
+    set_target_properties(${PROJECT_NAME} PROPERTIES MSVC_RUNTIME_LIBRARY
-            MSVC_RUNTIME_LIBRARY "MultiThreaded$<$<CONFIG:Debug>:Debug>"
+                                                     "MultiThreaded$<$<CONFIG:Debug>:Debug>")
-    )
+endif()
-endif ()
 
 if(OMATH_USE_AVX2)
     if(MSVC)
@@ -175,6 +191,12 @@ 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)

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"
       }
     },
     {
@@ -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

CREDITS.md

@@ -3,8 +3,8 @@
 Thanks to everyone who made this possible, including:
 
 - Saikari aka luadebug for VCPKG port and awesome new initial logo design.
-- AmbushedRaccoon for telegram post about omath to boost repository activity.
 - Billy O'Neal aka BillyONeal for fixing compilation issues due to C math library compatibility.
+- Alex2772 for reference of AUI declarative interface design for omath::hud
 
 And a big hand to everyone else who has contributed over the past!
 

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 +28,69 @@ target("...")
     add_packages("omath")
 ```
 
+## <img width="28px" src="https://conan.io/favicon.png" /> Using Conan
+**Note**: Support Conan for package management
+1. Install [Conan](https://conan.io/downloads)
+2. Run the following command to install the omath package:
+```
+conan install --requires="omath/[*]" --build=missing
+```
+conanfile.txt
+```ini
+[requires]
+omath/[*]
+
+[generators]
+CMakeDeps
+CMakeToolchain
+```
+CMakeLists.txt
+```cmake
+find_package(omath CONFIG REQUIRED)
+target_link_libraries(main PRIVATE omath::omath)
+```
+For more details, see the [Conan documentation](https://docs.conan.io/2/).
+
+## <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**
    

README.md

@@ -9,11 +9,12 @@
 [![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)
 
-OMath is a 100% independent, constexpr template blazingly fast math library that doesn't have legacy C++ code.
+OMath is a 100% independent, constexpr template blazingly fast math/physics/games/mods/cheats development framework that doesn't have legacy C++ code.
 
 It provides the latest features, is highly customizable, has all for cheat development, DirectX/OpenGL/Vulkan support, premade support for different game engines, much more constexpr stuff than in other libraries and more...
 <br>
@@ -80,9 +81,12 @@ 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.
+- **Handy**: Allow to design wall hacks in modern jetpack compose like way.
+- **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 @@
-4.7.1
+5.0.0

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);

docs/install.md

@@ -1,6 +1,6 @@
-# Installation
+# 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 +28,69 @@ target("...")
     add_packages("omath")
 ```
 
+## <img width="28px" src="https://conan.io/favicon.png" /> Using Conan
+**Note**: Support Conan for package management
+1. Install [Conan](https://conan.io/downloads)
+2. Run the following command to install the omath package:
+```
+conan install --requires="omath/[*]" --build=missing
+```
+conanfile.txt
+```ini
+[requires]
+omath/[*]
+
+[generators]
+CMakeDeps
+CMakeToolchain
+```
+CMakeLists.txt
+```cmake
+find_package(omath CONFIG REQUIRED)
+target_link_libraries(main PRIVATE omath::omath)
+```
+For more details, see the [Conan documentation](https://docs.conan.io/2/).
+
+## <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**
 

examples/CMakeLists.txt

@@ -1,35 +1,8 @@
-project(examples)
+add_subdirectory(example_barycentric)
-
+add_subdirectory(example_glfw3)
-add_executable(example_projection_matrix_builder example_proj_mat_builder.cpp)
+add_subdirectory(example_proj_mat_builder)
-set_target_properties(
+add_subdirectory(example_signature_scan)
-    example_projection_matrix_builder
+add_subdirectory(example_hud)
-    PROPERTIES CXX_STANDARD 23
-               ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
-               LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
-               RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}")
-target_link_libraries(example_projection_matrix_builder PRIVATE omath::omath)
-
-add_executable(example_signature_scan example_signature_scan.cpp)
-set_target_properties(
-    example_signature_scan
-    PROPERTIES CXX_STANDARD 23
-               ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
-               LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
-               RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}")
-target_link_libraries(example_signature_scan PRIVATE omath::omath)
-
-add_executable(example_glfw3 example_glfw3.cpp)
-set_target_properties(
-    example_glfw3
-    PROPERTIES CXX_STANDARD 23
-               ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
-               LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
-               RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}")
-
-find_package(OpenGL)
-find_package(GLEW REQUIRED)
-find_package(glfw3 CONFIG REQUIRED)
-target_link_libraries(example_glfw3 PRIVATE omath::omath GLEW::GLEW glfw OpenGL::GL)
 
 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

@@ -149,10 +149,13 @@ int main()
     // Check if context is valid using standard GL
     const GLubyte* renderer = glGetString(GL_RENDERER);
     const GLubyte* version = glGetString(GL_VERSION);
-    if (renderer && version) {
+    if (renderer && version)
+    {
         std::cout << "Renderer: " << renderer << "\n";
         std::cout << "OpenGL version supported: " << version << "\n";
-    } else {
+    }
+    else
+    {
         std::cerr << "Failed to get GL_RENDERER or GL_VERSION. Context might be invalid.\n";
     }
 
@@ -162,9 +165,12 @@ int main()
     if (glewErr != GLEW_OK)
     {
         // Ignore NO_GLX_DISPLAY if we have a valid context
-        if (glewErr == GLEW_ERROR_NO_GLX_DISPLAY && renderer) {
+        if (glewErr == GLEW_ERROR_NO_GLX_DISPLAY && renderer)
+        {
             std::cerr << "GLEW warning: " << glewGetErrorString(glewErr) << " (Ignored because context seems valid)\n";
-        } else {
+        }
+        else
+        {
             std::cerr << "Failed to initialize GLEW: " << reinterpret_cast<const char*>(glewGetErrorString(glewErr))
                       << "\n";
             glfwTerminate();
@@ -300,11 +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_hud/CMakeLists.txt

@@ -0,0 +1,16 @@
+project(example_hud)
+
+
+add_executable(${PROJECT_NAME} main.cpp gui/main_window.cpp gui/main_window.hpp)
+
+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 glfw imgui::imgui omath::omath OpenGL::GL)

examples/example_hud/gui/main_window.cpp

@@ -0,0 +1,263 @@
+//
+// Created by Orange on 11/11/2024.
+//
+#include "main_window.hpp"
+#include "omath/hud/renderer_realizations/imgui_renderer.hpp"
+#include <GLFW/glfw3.h>
+#include <imgui.h>
+#include <imgui_impl_glfw.h>
+#include <imgui_impl_opengl3.h>
+#include <omath/hud/entity_overlay.hpp>
+
+namespace imgui_desktop::gui
+{
+    bool MainWindow::m_canMoveWindow = false;
+
+    MainWindow::MainWindow(const std::string_view& caption, int width, int height)
+    {
+        if (!glfwInit())
+            std::exit(EXIT_FAILURE);
+
+        glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
+        glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 2);
+        glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
+        glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE);
+        glfwWindowHint(GLFW_TRANSPARENT_FRAMEBUFFER, true);
+        m_window = glfwCreateWindow(width, height, caption.data(), nullptr, nullptr);
+
+        glfwMakeContextCurrent(m_window);
+
+        ImGui::CreateContext();
+        ImGui::StyleColorsDark();
+        ImGui::GetStyle().Colors[ImGuiCol_WindowBg] = {0.05f, 0.05f, 0.05f, 0.92f};
+        ImGui::GetStyle().AntiAliasedLines = false;
+        ImGui::GetStyle().AntiAliasedFill = false;
+        ImGui_ImplGlfw_InitForOpenGL(m_window, true);
+        ImGui_ImplOpenGL3_Init("#version 150");
+    }
+
+    void MainWindow::Run()
+    {
+        while (!glfwWindowShouldClose(m_window) && m_opened)
+        {
+            glfwPollEvents();
+            ImGui_ImplOpenGL3_NewFrame();
+            ImGui_ImplGlfw_NewFrame();
+            ImGui::NewFrame();
+
+            const auto* vp = ImGui::GetMainViewport();
+            ImGui::GetBackgroundDrawList()->AddRectFilled({}, vp->Size, ImColor(30, 30, 30, 220));
+
+            draw_controls();
+            draw_overlay();
+
+            ImGui::Render();
+            present();
+        }
+        glfwDestroyWindow(m_window);
+    }
+
+    void MainWindow::draw_controls()
+    {
+        const auto* vp = ImGui::GetMainViewport();
+        ImGui::SetNextWindowPos({0.f, 0.f});
+        ImGui::SetNextWindowSize({280.f, vp->Size.y});
+        ImGui::Begin("Controls", &m_opened,
+                     ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoCollapse);
+        ImGui::PushItemWidth(160.f);
+
+        if (ImGui::CollapsingHeader("Entity", ImGuiTreeNodeFlags_DefaultOpen))
+        {
+            ImGui::SliderFloat("X##ent", &m_entity_x, 100.f, vp->Size.x - 100.f);
+            ImGui::SliderFloat("Top Y", &m_entity_top_y, 20.f, m_entity_bottom_y - 20.f);
+            ImGui::SliderFloat("Bottom Y", &m_entity_bottom_y, m_entity_top_y + 20.f, vp->Size.y - 20.f);
+        }
+
+        if (ImGui::CollapsingHeader("Box", ImGuiTreeNodeFlags_DefaultOpen))
+        {
+            ImGui::Checkbox("Box##chk", &m_show_box);
+            ImGui::SameLine();
+            ImGui::Checkbox("Cornered", &m_show_cornered_box);
+            ImGui::SameLine();
+            ImGui::Checkbox("Dashed", &m_show_dashed_box);
+            ImGui::ColorEdit4("Color##box", reinterpret_cast<float*>(&m_box_color), ImGuiColorEditFlags_NoInputs);
+            ImGui::ColorEdit4("Fill##box", reinterpret_cast<float*>(&m_box_fill), ImGuiColorEditFlags_NoInputs);
+            ImGui::SliderFloat("Thickness", &m_box_thickness, 0.5f, 5.f);
+            ImGui::SliderFloat("Corner ratio", &m_corner_ratio, 0.05f, 0.5f);
+            ImGui::Separator();
+            ImGui::ColorEdit4("Dash color", reinterpret_cast<float*>(&m_dash_color), ImGuiColorEditFlags_NoInputs);
+            ImGui::SliderFloat("Dash length", &m_dash_len, 2.f, 30.f);
+            ImGui::SliderFloat("Dash gap", &m_dash_gap, 1.f, 20.f);
+            ImGui::SliderFloat("Dash thick", &m_dash_thickness, 0.5f, 5.f);
+        }
+
+        if (ImGui::CollapsingHeader("Bars", ImGuiTreeNodeFlags_DefaultOpen))
+        {
+            ImGui::ColorEdit4("Color##bar", reinterpret_cast<float*>(&m_bar_color), ImGuiColorEditFlags_NoInputs);
+            ImGui::ColorEdit4("BG##bar", reinterpret_cast<float*>(&m_bar_bg_color), ImGuiColorEditFlags_NoInputs);
+            ImGui::ColorEdit4("Outline##bar", reinterpret_cast<float*>(&m_bar_outline_color),
+                              ImGuiColorEditFlags_NoInputs);
+            ImGui::SliderFloat("Width##bar", &m_bar_width, 1.f, 20.f);
+            ImGui::SliderFloat("Value##bar", &m_bar_value, 0.f, 1.f);
+            ImGui::SliderFloat("Offset##bar", &m_bar_offset, 1.f, 20.f);
+            ImGui::Checkbox("Right##bar", &m_show_right_bar);
+            ImGui::SameLine();
+            ImGui::Checkbox("Left##bar", &m_show_left_bar);
+            ImGui::Checkbox("Top##bar", &m_show_top_bar);
+            ImGui::SameLine();
+            ImGui::Checkbox("Bottom##bar", &m_show_bottom_bar);
+            ImGui::Checkbox("Right dashed##bar", &m_show_right_dashed_bar);
+            ImGui::SameLine();
+            ImGui::Checkbox("Left dashed##bar", &m_show_left_dashed_bar);
+            ImGui::Checkbox("Top dashed##bar", &m_show_top_dashed_bar);
+            ImGui::SameLine();
+            ImGui::Checkbox("Bot dashed##bar", &m_show_bottom_dashed_bar);
+            ImGui::SliderFloat("Dash len##bar", &m_bar_dash_len, 2.f, 20.f);
+            ImGui::SliderFloat("Dash gap##bar", &m_bar_dash_gap, 1.f, 15.f);
+        }
+
+        if (ImGui::CollapsingHeader("Labels", ImGuiTreeNodeFlags_DefaultOpen))
+        {
+            ImGui::Checkbox("Outlined", &m_outlined);
+            ImGui::SliderFloat("Offset##lbl", &m_label_offset, 0.f, 15.f);
+            ImGui::Checkbox("Right##lbl", &m_show_right_labels);
+            ImGui::SameLine();
+            ImGui::Checkbox("Left##lbl", &m_show_left_labels);
+            ImGui::Checkbox("Top##lbl", &m_show_top_labels);
+            ImGui::SameLine();
+            ImGui::Checkbox("Bottom##lbl", &m_show_bottom_labels);
+            ImGui::Checkbox("Ctr top##lbl", &m_show_centered_top);
+            ImGui::SameLine();
+            ImGui::Checkbox("Ctr bot##lbl", &m_show_centered_bottom);
+        }
+
+        if (ImGui::CollapsingHeader("Skeleton"))
+        {
+            ImGui::Checkbox("Show##skel", &m_show_skeleton);
+            ImGui::ColorEdit4("Color##skel", reinterpret_cast<float*>(&m_skel_color), ImGuiColorEditFlags_NoInputs);
+            ImGui::SliderFloat("Thick##skel", &m_skel_thickness, 0.5f, 5.f);
+        }
+
+        if (ImGui::CollapsingHeader("Progress Ring"))
+        {
+            ImGui::Checkbox("Show##ring", &m_show_ring);
+            ImGui::ColorEdit4("Color##ring", reinterpret_cast<float*>(&m_ring_color), ImGuiColorEditFlags_NoInputs);
+            ImGui::ColorEdit4("BG##ring", reinterpret_cast<float*>(&m_ring_bg), ImGuiColorEditFlags_NoInputs);
+            ImGui::SliderFloat("Radius##ring", &m_ring_radius, 4.f, 30.f);
+            ImGui::SliderFloat("Value##ring", &m_ring_ratio, 0.f, 1.f);
+            ImGui::SliderFloat("Thick##ring", &m_ring_thickness, 0.5f, 6.f);
+            ImGui::SliderFloat("Offset##ring", &m_ring_offset, 0.f, 15.f);
+        }
+
+        if (ImGui::CollapsingHeader("Scan Marker"))
+        {
+            ImGui::Checkbox("Show##scan", &m_show_scan);
+            ImGui::ColorEdit4("Fill##scan", reinterpret_cast<float*>(&m_scan_color), ImGuiColorEditFlags_NoInputs);
+            ImGui::ColorEdit4("Outline##scan", reinterpret_cast<float*>(&m_scan_outline), ImGuiColorEditFlags_NoInputs);
+            ImGui::SliderFloat("Thick##scan", &m_scan_outline_thickness, 0.5f, 5.f);
+        }
+
+        if (ImGui::CollapsingHeader("Aim Dot"))
+        {
+            ImGui::Checkbox("Show##aim", &m_show_aim);
+            ImGui::ColorEdit4("Color##aim", reinterpret_cast<float*>(&m_aim_color), ImGuiColorEditFlags_NoInputs);
+            ImGui::SliderFloat("Radius##aim", &m_aim_radius, 1.f, 10.f);
+        }
+
+        if (ImGui::CollapsingHeader("Projectile Aim"))
+        {
+            ImGui::Checkbox("Show##proj", &m_show_proj);
+            ImGui::ColorEdit4("Color##proj", reinterpret_cast<float*>(&m_proj_color), ImGuiColorEditFlags_NoInputs);
+            ImGui::SliderFloat("Size##proj", &m_proj_size, 1.f, 30.f);
+            ImGui::SliderFloat("Line width##proj", &m_proj_line_width, 0.5f, 5.f);
+            ImGui::SliderFloat("Pos X##proj", &m_proj_pos_x, 0.f, vp->Size.x);
+            ImGui::SliderFloat("Pos Y##proj", &m_proj_pos_y, 0.f, vp->Size.y);
+            ImGui::Combo("Figure##proj", &m_proj_figure, "Circle\0Square\0");
+        }
+
+        if (ImGui::CollapsingHeader("Snap Line"))
+        {
+            ImGui::Checkbox("Show##snap", &m_show_snap);
+            ImGui::ColorEdit4("Color##snap", reinterpret_cast<float*>(&m_snap_color), ImGuiColorEditFlags_NoInputs);
+            ImGui::SliderFloat("Width##snap", &m_snap_width, 0.5f, 5.f);
+        }
+
+        ImGui::PopItemWidth();
+        ImGui::End();
+    }
+
+    void MainWindow::draw_overlay()
+    {
+        using namespace omath::hud::widget;
+        using omath::hud::when;
+        const auto* vp = ImGui::GetMainViewport();
+        const Bar bar{m_bar_color, m_bar_outline_color, m_bar_bg_color, m_bar_width, m_bar_value, m_bar_offset};
+        const DashedBar dbar{m_bar_color, m_bar_outline_color, m_bar_bg_color, m_bar_width,
+                             m_bar_value, m_bar_dash_len,      m_bar_dash_gap, m_bar_offset};
+
+        omath::hud::EntityOverlay({m_entity_x, m_entity_top_y}, {m_entity_x, m_entity_bottom_y},
+                                  std::make_shared<omath::hud::ImguiHudRenderer>())
+                .contents(
+                        // ── Boxes ────────────────────────────────────────────────────
+                        when(m_show_box, Box{m_box_color, m_box_fill, m_box_thickness}),
+                        when(m_show_cornered_box, CorneredBox{omath::Color::from_rgba(255, 0, 255, 255), m_box_fill,
+                                                              m_corner_ratio, m_box_thickness}),
+                        when(m_show_dashed_box, DashedBox{m_dash_color, m_dash_len, m_dash_gap, m_dash_thickness}),
+                        RightSide{
+                                when(m_show_right_bar, bar),
+                                when(m_show_right_dashed_bar, dbar),
+                                when(m_show_right_labels,
+                                     Label{{0.f, 1.f, 0.f, 1.f}, m_label_offset, m_outlined, "Health: 100/100"}),
+                                when(m_show_right_labels,
+                                     Label{{1.f, 0.f, 0.f, 1.f}, m_label_offset, m_outlined, "Shield: 125/125"}),
+                                when(m_show_right_labels,
+                                     Label{{1.f, 0.f, 1.f, 1.f}, m_label_offset, m_outlined, "*LOCKED*"}),
+
+                            SpaceVertical{10},
+                                when(m_show_ring, ProgressRing{m_ring_color, m_ring_bg, m_ring_radius, m_ring_ratio,
+                                                               m_ring_thickness, m_ring_offset}),
+                        },
+                        LeftSide{
+                                when(m_show_left_bar, bar),
+                                when(m_show_left_dashed_bar, dbar),
+                                when(m_show_left_labels, Label{omath::Color::from_rgba(255, 128, 0, 255),
+                                                               m_label_offset, m_outlined, "Armor: 75"}),
+                                when(m_show_left_labels, Label{omath::Color::from_rgba(0, 200, 255, 255),
+                                                               m_label_offset, m_outlined, "Level: 42"}),
+                        },
+                        TopSide{
+                                when(m_show_top_bar, bar),
+                                when(m_show_top_dashed_bar, dbar),
+                                when(m_show_centered_top, Centered{Label{omath::Color::from_rgba(0, 255, 255, 255),
+                                                                         m_label_offset, m_outlined, "*VISIBLE*"}}),
+                                when(m_show_top_labels, Label{omath::Color::from_rgba(255, 255, 0, 255), m_label_offset,
+                                                              m_outlined, "*SCOPED*"}),
+                                when(m_show_top_labels, Label{omath::Color::from_rgba(255, 0, 0, 255), m_label_offset,
+                                                              m_outlined, "*BLEEDING*"}),
+                        },
+                        BottomSide{
+                                when(m_show_bottom_bar, bar),
+                                when(m_show_bottom_dashed_bar, dbar),
+                                when(m_show_centered_bottom, Centered{Label{omath::Color::from_rgba(255, 255, 255, 255),
+                                                                            m_label_offset, m_outlined, "PlayerName"}}),
+                                when(m_show_bottom_labels, Label{omath::Color::from_rgba(200, 200, 0, 255),
+                                                                 m_label_offset, m_outlined, "42m"}),
+                        },
+                        when(m_show_aim, AimDot{{m_entity_x, m_entity_top_y+40.f}, m_aim_color, m_aim_radius}),
+                        when(m_show_scan, ScanMarker{m_scan_color, m_scan_outline, m_scan_outline_thickness}),
+                        when(m_show_skeleton, Skeleton{m_skel_color, m_skel_thickness}),
+                        when(m_show_proj, ProjectileAim{{m_proj_pos_x, m_proj_pos_y}, m_proj_color, m_proj_size, m_proj_line_width, static_cast<ProjectileAim::Figure>(m_proj_figure)}),
+                        when(m_show_snap, SnapLine{{vp->Size.x / 2.f, vp->Size.y}, m_snap_color, m_snap_width}));
+    }
+
+    void MainWindow::present()
+    {
+        int w, h;
+        glfwGetFramebufferSize(m_window, &w, &h);
+        glViewport(0, 0, w, h);
+        glClearColor(0.f, 0.f, 0.f, 0.f);
+        glClear(GL_COLOR_BUFFER_BIT);
+        ImGui_ImplOpenGL3_RenderDrawData(ImGui::GetDrawData());
+        glfwSwapBuffers(m_window);
+    }
+} // namespace imgui_desktop::gui

examples/example_hud/gui/main_window.hpp

@@ -0,0 +1,94 @@
+//
+// Created by Orange on 11/11/2024.
+//
+#pragma once
+#include <omath/hud/entity_overlay.hpp>
+#include <omath/utility/color.hpp>
+#include <string_view>
+
+struct GLFWwindow;
+
+namespace imgui_desktop::gui
+{
+    class MainWindow
+    {
+    public:
+        MainWindow(const std::string_view& caption, int width, int height);
+        void Run();
+
+    private:
+        void draw_controls();
+        void draw_overlay();
+        void present();
+
+        GLFWwindow* m_window = nullptr;
+        static bool m_canMoveWindow;
+        bool m_opened = true;
+
+        // Entity
+        float m_entity_x = 550.f, m_entity_top_y = 150.f, m_entity_bottom_y = 450.f;
+
+        // Box
+        omath::Color m_box_color{1.f, 1.f, 1.f, 1.f};
+        omath::Color m_box_fill{0.f, 0.f, 0.f, 0.f};
+        float m_box_thickness = 1.f, m_corner_ratio = 0.2f;
+        bool m_show_box = true, m_show_cornered_box = true, m_show_dashed_box = false;
+
+        // Dashed box
+        omath::Color m_dash_color = omath::Color::from_rgba(255, 200, 0, 255);
+        float m_dash_len = 8.f, m_dash_gap = 5.f, m_dash_thickness = 1.f;
+
+        // Bars
+        omath::Color m_bar_color{0.f, 1.f, 0.f, 1.f};
+        omath::Color m_bar_bg_color{0.f, 0.f, 0.f, 0.5f};
+        omath::Color m_bar_outline_color{0.f, 0.f, 0.f, 1.f};
+        float m_bar_width = 4.f, m_bar_value = 0.75f, m_bar_offset = 5.f;
+        bool m_show_right_bar = true,         m_show_left_bar = true;
+        bool m_show_top_bar = true,           m_show_bottom_bar = true;
+        bool m_show_right_dashed_bar = false, m_show_left_dashed_bar = false;
+        bool m_show_top_dashed_bar = false,   m_show_bottom_dashed_bar = false;
+        float m_bar_dash_len = 6.f, m_bar_dash_gap = 4.f;
+
+        // Labels
+        float m_label_offset = 3.f;
+        bool m_outlined = true;
+        bool m_show_right_labels = true, m_show_left_labels = true;
+        bool m_show_top_labels = true,   m_show_bottom_labels = true;
+        bool m_show_centered_top = true, m_show_centered_bottom = true;
+
+        // Skeleton
+        omath::Color m_skel_color = omath::Color::from_rgba(255, 255, 255, 200);
+        float m_skel_thickness = 1.f;
+        bool m_show_skeleton = false;
+
+        // Progress ring
+        omath::Color m_ring_color = omath::Color::from_rgba(0, 200, 255, 255);
+        omath::Color m_ring_bg{0.3f, 0.3f, 0.3f, 0.5f};
+        float m_ring_radius = 10.f, m_ring_ratio = 0.65f, m_ring_thickness = 2.5f, m_ring_offset = 5.f;
+        bool m_show_ring = false;
+
+        // Scan marker
+        omath::Color m_scan_color = omath::Color::from_rgba(255, 200, 0, 150);
+        omath::Color m_scan_outline = omath::Color::from_rgba(255, 200, 0, 255);
+        float m_scan_outline_thickness = 2.f;
+        bool m_show_scan = false;
+
+        // Aim dot
+        omath::Color m_aim_color = omath::Color::from_rgba(255, 0, 0, 255);
+        float m_aim_radius = 3.f;
+        bool m_show_aim = false;
+
+        // Snap line
+        omath::Color m_snap_color = omath::Color::from_rgba(255, 50, 50, 255);
+        float m_snap_width = 1.5f;
+        bool m_show_snap = true;
+
+        // Projectile aim
+        omath::Color m_proj_color = omath::Color::from_rgba(255, 50, 50, 255);
+        float m_proj_size = 10.f;
+        float m_proj_line_width = 1.5f;
+        float m_proj_pos_x = 300.f, m_proj_pos_y = 30.f;
+        int m_proj_figure = 1; // 0=circle, 1=square
+        bool m_show_proj = true;
+    };
+} // namespace imgui_desktop::gui

examples/example_hud/main.cpp

@@ -0,0 +1,8 @@
+//
+// Created by orange on 13.03.2026.
+//
+#include "gui/main_window.hpp"
+int main()
+{
+    imgui_desktop::gui::MainWindow("omath::hud", 800, 600).Run();
+}

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/aabb.hpp

@@ -0,0 +1,28 @@
+//
+// Created by Vladislav on 24.03.2026.
+//
+
+#pragma once
+#include "omath/linear_algebra/vector3.hpp"
+
+namespace omath::primitives
+{
+    template<class Type>
+    struct Aabb final
+    {
+        Vector3<Type> min;
+        Vector3<Type> max;
+
+        [[nodiscard]]
+        constexpr Vector3<Type> center() const noexcept
+        {
+            return (min + max) / static_cast<Type>(2);
+        }
+
+        [[nodiscard]]
+        constexpr Vector3<Type> extents() const noexcept
+        {
+            return (max - min) / static_cast<Type>(2);
+        }
+    };
+} // namespace omath::primitives

include/omath/algorithm/targeting.hpp

@@ -0,0 +1,98 @@
+//
+// Created by Vladislav on 19.03.2026.
+//
+
+#pragma once
+#include "omath/linear_algebra/vector3.hpp"
+#include <functional>
+#include <iterator>
+#include <optional>
+#include <ranges>
+
+namespace omath::algorithm
+{
+    template<class CameraType, std::input_or_output_iterator IteratorType, class FilterT>
+    requires std::is_invocable_r_v<bool, std::function<FilterT>, std::iter_reference_t<IteratorType>>
+    [[nodiscard]]
+    IteratorType get_closest_target_by_fov(const IteratorType& begin, const IteratorType& end, const CameraType& camera,
+                                           auto get_position,
+                                           const std::optional<std::function<FilterT>>& filter_func = std::nullopt)
+    {
+        auto best_target = end;
+        const auto& camera_angles = camera.get_view_angles();
+        const Vector2<float> camera_angles_vec = {camera_angles.pitch.as_degrees(), camera_angles.yaw.as_degrees()};
+
+        for (auto current = begin; current != end; current = std::next(current))
+        {
+            if (filter_func && !filter_func.value()(*current))
+                continue;
+
+            if (best_target == end)
+            {
+                best_target = current;
+                continue;
+            }
+            const auto current_target_angles = camera.calc_look_at_angles(get_position(*current));
+            const auto best_target_angles = camera.calc_look_at_angles(get_position(*best_target));
+
+            const auto current_target_distance = camera_angles_vec.distance_to(current_target_angles.as_vector3());
+            const auto best_target_distance = camera_angles.as_vector3().distance_to(best_target_angles.as_vector3());
+            if (current_target_distance < best_target_distance)
+                best_target = current;
+        }
+        return best_target;
+    }
+
+    template<class CameraType, std::ranges::range RangeType, class FilterT>
+    requires std::is_invocable_r_v<bool, std::function<FilterT>,
+                                   std::ranges::range_reference_t<const RangeType>>
+    [[nodiscard]]
+    auto get_closest_target_by_fov(const RangeType& range, const CameraType& camera,
+                                   auto get_position,
+                                   const std::optional<std::function<FilterT>>& filter_func = std::nullopt)
+    {
+        return get_closest_target_by_fov<CameraType, decltype(std::ranges::begin(range)), FilterT>(
+                std::ranges::begin(range), std::ranges::end(range), camera, get_position, filter_func);
+    }
+
+    // ── By world-space distance ───────────────────────────────────────────────
+
+    template<std::input_or_output_iterator IteratorType, class FilterT>
+    requires std::is_invocable_r_v<bool, std::function<FilterT>, std::iter_reference_t<IteratorType>>
+    [[nodiscard]]
+    IteratorType get_closest_target_by_distance(const IteratorType& begin, const IteratorType& end,
+                                                const Vector3<float>& origin, auto get_position,
+                                                const std::optional<std::function<FilterT>>& filter_func = std::nullopt)
+    {
+        auto best_target = end;
+
+        for (auto current = begin; current != end; current = std::next(current))
+        {
+            if (filter_func && !filter_func.value()(*current))
+                continue;
+
+            if (best_target == end)
+            {
+                best_target = current;
+                continue;
+            }
+
+            if (origin.distance_to(get_position(*current)) < origin.distance_to(get_position(*best_target)))
+                best_target = current;
+        }
+        return best_target;
+    }
+
+    template<std::ranges::range RangeType, class FilterT>
+    requires std::is_invocable_r_v<bool, std::function<FilterT>,
+                                   std::ranges::range_reference_t<const RangeType>>
+    [[nodiscard]]
+    auto get_closest_target_by_distance(const RangeType& range, const Vector3<float>& origin,
+                                        auto get_position,
+                                        const std::optional<std::function<FilterT>>& filter_func = std::nullopt)
+    {
+        return get_closest_target_by_distance<decltype(std::ranges::begin(range)), FilterT>(
+                std::ranges::begin(range), std::ranges::end(range), origin, get_position, filter_func);
+    }
+
+} // namespace omath::algorithm

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>
+    template<class V, class FloatingType>
-    concept EpaVector = requires(const V& a, const V& b, float s) {
+    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.
+                // Lazily discard stale (deleted or index-mismatched) heap entries.
-                if (heap.empty())
+                discard_stale_heap_entries(faces, heap);
-                    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);
 
                 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 and push them directly onto the
-
+                // heap — no full O(n log n) rebuild needed.
-                // Stitch new faces around the horizon
+                for (const auto& [key, e] : boundary)
-                for (const auto& e : boundary)
+                {
+                    const int fi = static_cast<int>(faces.size());
                     faces.emplace_back(make_face(vertexes, e.a, e.b, new_idx));
-
+                    heap.emplace(faces.back().d, fi);
-                // Rebuild heap after topology change
+                }
-                heap = rebuild_heap(faces, mem_resource);
 
                 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)
+            out.normal = best->n;
-                                                        { return first.d < second.d; });
+            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;
-            return h; // allocator is preserved
         }
 
         [[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 > static_cast<FloatingType>(1e-7);
-            return f.n.dot(p) - f.d > 1e-7f;
         }
 
-        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
+            // O(1) cancel: if the opposite edge (b→a) is already in the map it is an
-            auto itb = std::ranges::find_if(boundary, [&](const Edge& e) { return e.a == b && e.b == a; });
+            // internal edge shared by two visible faces and must be removed.
-            if (itb != boundary.end())
+            // Otherwise this is a horizon edge and we insert it.
-                boundary.erase(itb); // internal edge cancels out
+            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
+            const Face* best = nullptr;
-            std::pmr::vector<Face> kept{mr};
+            for (const auto& f : faces)
-            kept.reserve(faces.size());
+                if (!f.deleted && (best == nullptr || f.d < best->d))
-
+                    best = &f;
-            for (std::size_t i = 0; i < faces.size(); ++i)
+            return best;
-                if (!to_delete[i])
-                    kept.emplace_back(faces[i]);
-
-            faces.swap(kept);
         }
-        struct Horizon
+        static void tombstone_visible_faces(std::pmr::vector<Face>& faces, BoundaryMap& boundary,
+                                            const VectorType& p)
         {
-            std::pmr::vector<bool> to_delete;
+            boundary.clear();
-            std::pmr::vector<Edge> boundary;
+            for (auto& f : faces)
-        };
-
-        static Horizon mark_visible_and_collect_horizon(const std::pmr::vector<Face>& faces, const VectorType& p)
             {
-            auto* mr = faces.get_allocator().resource();
+                if (!f.deleted && visible_from(f, p))
-
-            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))
                 {
-                    const auto& rf = faces[i];
+                    f.deleted = true;
-                    horizon.to_delete[i] = true;
+                    add_edge_boundary(boundary, f.i0, f.i1);
-                    add_edge_boundary(horizon.boundary, rf.i0, rf.i1);
+                    add_edge_boundary(boundary, f.i1, f.i2);
-                    add_edge_boundary(horizon.boundary, rf.i1, rf.i2);
+                    add_edge_boundary(boundary, f.i2, f.i0);
-                    add_edge_boundary(horizon.boundary, rf.i2, rf.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

@@ -3,6 +3,7 @@
 //
 #pragma once
 
+#include "omath/3d_primitives/aabb.hpp"
 #include "omath/linear_algebra/triangle.hpp"
 #include "omath/linear_algebra/vector3.hpp"
 
@@ -34,6 +35,7 @@ namespace omath::collision
     class LineTracer final
     {
         using TriangleType = Triangle<typename RayType::VectorType>;
+        using AABBType = primitives::Aabb<typename RayType::VectorType::ContainedType>;
 
     public:
         LineTracer() = delete;
@@ -87,6 +89,54 @@ namespace omath::collision
             return ray.start + ray_dir * t_hit;
         }
 
+        // Slab method ray-AABB intersection
+        // Returns the hit point on the AABB surface, or ray.end if no intersection
+        [[nodiscard]]
+        constexpr static auto get_ray_hit_point(const RayType& ray, const AABBType& aabb) noexcept
+        {
+            using T = typename RayType::VectorType::ContainedType;
+            const auto dir = ray.direction_vector();
+
+            auto t_min = -std::numeric_limits<T>::infinity();
+            auto t_max = std::numeric_limits<T>::infinity();
+
+            const auto process_axis = [&](const T& d, const T& origin, const T& box_min,
+                                          const T& box_max) -> bool
+            {
+                constexpr T k_epsilon = std::numeric_limits<T>::epsilon();
+                if (std::abs(d) < k_epsilon)
+                    return origin >= box_min && origin <= box_max;
+
+                const T inv = T(1) / d;
+                T t0 = (box_min - origin) * inv;
+                T t1 = (box_max - origin) * inv;
+                if (t0 > t1)
+                    std::swap(t0, t1);
+
+                t_min = std::max(t_min, t0);
+                t_max = std::min(t_max, t1);
+                return t_min <= t_max;
+            };
+
+            if (!process_axis(dir.x, ray.start.x, aabb.min.x, aabb.max.x))
+                return ray.end;
+            if (!process_axis(dir.y, ray.start.y, aabb.min.y, aabb.max.y))
+                return ray.end;
+            if (!process_axis(dir.z, ray.start.z, aabb.min.z, aabb.max.z))
+                return ray.end;
+
+            // t_hit: use entry point if in front of origin, otherwise 0 (started inside)
+            const T t_hit = std::max(T(0), t_min);
+
+            if (t_max < T(0))
+                return ray.end; // box entirely behind origin
+
+            if (!ray.infinite_length && t_hit > T(1))
+                return ray.end; // box beyond ray endpoint
+
+            return ray.start + dir * t_hit;
+        }
+
         template<class MeshType>
         [[nodiscard]]
         constexpr static auto get_ray_hit_point(const RayType& ray, const MeshType& mesh) noexcept

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(
+            // The support query arrives in world space, but vertex positions are stored
-                    m_mesh.m_vertex_buffer, [&direction](const auto& first, const auto& second)
+            // in local space.  We need argmax_v { world(v) · d }.
-                    { return first.position.dot(direction) < second.position.dot(direction); });
+            //
+            // 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/containers/encrypted_variable.hpp

@@ -62,20 +62,13 @@ namespace omath::detail
         return splitmix64(base_seed() + 0xD1B54A32D192ED03ull * (Stream + 1));
     }
 
-    [[nodiscard]]
-    consteval std::uint64_t bounded_u64(const std::uint64_t x, const std::uint64_t bound)
-    {
-        return (x * bound) >> 64;
-    }
-
     template<std::int64_t Lo, std::int64_t Hi, std::uint64_t Stream>
     [[nodiscard]]
     consteval std::int64_t rand_uint8_t()
     {
         static_assert(Lo <= Hi);
-        const std::uint64_t span = static_cast<std::uint64_t>(Hi - Lo) + 1ull;
         const std::uint64_t r = rand_u64<Stream>();
-        return static_cast<std::int64_t>(bounded_u64(r, span)) + Lo;
+        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)

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, false, NDCDepthRange::ZERO_TO_ONE>;
+} // 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 +1,75 @@
+//
+// 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,
+                                             NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) 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, NDCDepthRange ndc_depth_range) 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 +1,77 @@
+//
+// 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
+        {
+            const auto launch_pos = projectile.m_origin + projectile.m_launch_offset;
+            auto current_pos = launch_pos
+                               + 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/camera.hpp

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

include/omath/engines/frostbite_engine/formulas.hpp

@@ -22,7 +22,8 @@ namespace omath::frostbite_engine
     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;
+    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
+                                             NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>

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

@@ -18,7 +18,7 @@ namespace omath::frostbite_engine
         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;
+                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
     };
 
 } // namespace omath::unreal_engine

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

@@ -16,7 +16,8 @@ namespace omath::frostbite_engine
                                                                     const float pitch, const float yaw,
                                                                     const float time, const float gravity) noexcept
         {
-            auto current_pos = projectile.m_origin
+            const auto launch_pos = projectile.m_origin + projectile.m_launch_offset;
+            auto current_pos = launch_pos
                                + forward_vector({PitchAngle::from_degrees(-pitch), YawAngle::from_degrees(yaw),
                                                  RollAngle::from_degrees(0)})
                                          * projectile.m_launch_speed * time;
@@ -55,7 +56,7 @@ 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/camera.hpp

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

include/omath/engines/iw_engine/formulas.hpp

@@ -22,7 +22,8 @@ namespace omath::iw_engine
     [[nodiscard]] Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
 
     [[nodiscard]]
-    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far) noexcept;
+    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
+                                             NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>

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

@@ -18,7 +18,7 @@ namespace omath::iw_engine
         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;
+                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
     };
 
 } // namespace omath::iw_engine

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

@@ -17,7 +17,8 @@ namespace omath::iw_engine
                                                                     const float pitch, const float yaw,
                                                                     const float time, const float gravity) noexcept
         {
-            auto current_pos = projectile.m_origin
+            const auto launch_pos = projectile.m_origin + projectile.m_launch_offset;
+            auto current_pos = launch_pos
                                + forward_vector({PitchAngle::from_degrees(-pitch), YawAngle::from_degrees(yaw),
                                                  RollAngle::from_degrees(0)})
                                          * projectile.m_launch_speed * time;

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, NDCDepthRange::NEGATIVE_ONE_TO_ONE>;
 } // namespace omath::opengl_engine

include/omath/engines/opengl_engine/formulas.hpp

@@ -21,7 +21,8 @@ namespace omath::opengl_engine
     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;
+    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
+                                             NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>

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

@@ -18,7 +18,7 @@ namespace omath::opengl_engine
         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;
+                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
     };
 
 } // namespace omath::opengl_engine

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

@@ -16,7 +16,8 @@ namespace omath::opengl_engine
                                                                     const float pitch, const float yaw,
                                                                     const float time, const float gravity) noexcept
         {
-            auto current_pos = projectile.m_origin
+            const auto launch_pos = projectile.m_origin + projectile.m_launch_offset;
+            auto current_pos = launch_pos
                                + forward_vector({PitchAngle::from_degrees(-pitch), YawAngle::from_degrees(yaw),
                                                  RollAngle::from_degrees(0)})
                                          * projectile.m_launch_speed * time;
@@ -55,7 +56,7 @@ 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/camera.hpp

@@ -7,5 +7,5 @@
 #include "traits/camera_trait.hpp"
 namespace omath::source_engine
 {
-    using Camera =  projection::Camera<Mat4X4, ViewAngles, CameraTrait>;
+    using Camera =  projection::Camera<Mat4X4, ViewAngles, CameraTrait, false, NDCDepthRange::ZERO_TO_ONE>;
 } // namespace omath::source_engine

include/omath/engines/source_engine/formulas.hpp

@@ -21,7 +21,8 @@ namespace omath::source_engine
     [[nodiscard]] Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
 
     [[nodiscard]]
-    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far) noexcept;
+    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
+                                             NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>

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

@@ -18,7 +18,7 @@ namespace omath::source_engine
         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;
+                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
     };
 
 } // namespace omath::source_engine

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

@@ -17,7 +17,8 @@ namespace omath::source_engine
                                                                     const float pitch, const float yaw,
                                                                     const float time, const float gravity) noexcept
         {
-            auto current_pos = projectile.m_origin
+            const auto launch_pos = projectile.m_origin + projectile.m_launch_offset;
+            auto current_pos = launch_pos
                                + forward_vector({PitchAngle::from_degrees(-pitch), YawAngle::from_degrees(yaw),
                                                  RollAngle::from_degrees(0)})
                                          * projectile.m_launch_speed * time;

include/omath/engines/unity_engine/camera.hpp

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

include/omath/engines/unity_engine/formulas.hpp

@@ -22,7 +22,8 @@ namespace omath::unity_engine
     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;
+    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
+                                             NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>

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

@@ -18,7 +18,7 @@ namespace omath::unity_engine
         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;
+                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
     };
 
 } // namespace omath::unity_engine

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

@@ -16,7 +16,8 @@ namespace omath::unity_engine
                                                                     const float pitch, const float yaw,
                                                                     const float time, const float gravity) noexcept
         {
-            auto current_pos = projectile.m_origin
+            const auto launch_pos = projectile.m_origin + projectile.m_launch_offset;
+            auto current_pos = launch_pos
                                + forward_vector({PitchAngle::from_degrees(-pitch), YawAngle::from_degrees(yaw),
                                                  RollAngle::from_degrees(0)})
                                          * projectile.m_launch_speed * time;
@@ -55,7 +56,7 @@ 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/camera.hpp

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

include/omath/engines/unreal_engine/formulas.hpp

@@ -22,7 +22,8 @@ namespace omath::unreal_engine
     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;
+    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
+                                             NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>

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

@@ -18,7 +18,7 @@ namespace omath::unreal_engine
         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;
+                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
     };
 
 } // namespace omath::unreal_engine

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

@@ -16,7 +16,8 @@ namespace omath::unreal_engine
                                                                     const float pitch, const float yaw,
                                                                     const float time, const float gravity) noexcept
         {
-            auto current_pos = projectile.m_origin
+            const auto launch_pos = projectile.m_origin + projectile.m_launch_offset;
+            auto current_pos = launch_pos
                                + forward_vector({PitchAngle::from_degrees(-pitch), YawAngle::from_degrees(yaw),
                                                  RollAngle::from_degrees(0)})
                                          * projectile.m_launch_speed * time;

include/omath/hud/canvas_box.hpp

@@ -0,0 +1,23 @@
+//
+// Created by orange on 13.03.2026.
+//
+#pragma once
+#include "omath/linear_algebra/vector2.hpp"
+#include <array>
+namespace omath::hud
+{
+    class CanvasBox final
+    {
+    public:
+        CanvasBox(Vector2<float> top, Vector2<float> bottom, float ratio = 4.f);
+
+        [[nodiscard]]
+        std::array<Vector2<float>, 4> as_array() const;
+
+        Vector2<float> top_left_corner;
+        Vector2<float> top_right_corner;
+
+        Vector2<float> bottom_left_corner;
+        Vector2<float> bottom_right_corner;
+    };
+} // namespace omath::hud

include/omath/hud/entity_overlay.hpp

@@ -0,0 +1,202 @@
+//
+// Created by orange on 13.03.2026.
+//
+#pragma once
+#include "canvas_box.hpp"
+#include "entity_overlay_widgets.hpp"
+#include "hud_renderer_interface.hpp"
+#include "omath/linear_algebra/vector2.hpp"
+#include "omath/utility/color.hpp"
+#include <memory>
+#include <string_view>
+
+namespace omath::hud
+{
+    class EntityOverlay final
+    {
+    public:
+        EntityOverlay(const Vector2<float>& top, const Vector2<float>& bottom,
+                      const std::shared_ptr<HudRendererInterface>& renderer);
+
+        // ── Boxes ────────────────────────────────────────────────────────
+        EntityOverlay& add_2d_box(const Color& box_color, const Color& fill_color = Color{0.f, 0.f, 0.f, 0.f},
+                                  float thickness = 1.f);
+
+        EntityOverlay& add_cornered_2d_box(const Color& box_color, const Color& fill_color = Color{0.f, 0.f, 0.f, 0.f},
+                                           float corner_ratio_len = 0.2f, float thickness = 1.f);
+
+        EntityOverlay& add_dashed_box(const Color& color, float dash_len = 8.f, float gap_len = 5.f,
+                                      float thickness = 1.f);
+
+        // ── Bars ─────────────────────────────────────────────────────────
+        EntityOverlay& add_right_bar(const Color& color, const Color& outline_color, const Color& bg_color, float width,
+                                     float ratio, float offset = 5.f);
+
+        EntityOverlay& add_left_bar(const Color& color, const Color& outline_color, const Color& bg_color, float width,
+                                    float ratio, float offset = 5.f);
+
+        EntityOverlay& add_top_bar(const Color& color, const Color& outline_color, const Color& bg_color, float height,
+                                   float ratio, float offset = 5.f);
+
+        EntityOverlay& add_bottom_bar(const Color& color, const Color& outline_color, const Color& bg_color,
+                                      float height, float ratio, float offset = 5.f);
+
+        EntityOverlay& add_right_dashed_bar(const Color& color, const Color& outline_color, const Color& bg_color,
+                                            float width, float ratio, float dash_len, float gap_len,
+                                            float offset = 5.f);
+
+        EntityOverlay& add_left_dashed_bar(const Color& color, const Color& outline_color, const Color& bg_color,
+                                           float width, float ratio, float dash_len, float gap_len, float offset = 5.f);
+
+        EntityOverlay& add_top_dashed_bar(const Color& color, const Color& outline_color, const Color& bg_color,
+                                          float height, float ratio, float dash_len, float gap_len, float offset = 5.f);
+
+        EntityOverlay& add_bottom_dashed_bar(const Color& color, const Color& outline_color, const Color& bg_color,
+                                             float height, float ratio, float dash_len, float gap_len,
+                                             float offset = 5.f);
+
+        // ── Labels ───────────────────────────────────────────────────────
+        EntityOverlay& add_right_label(const Color& color, float offset, bool outlined, const std::string_view& text);
+
+        EntityOverlay& add_left_label(const Color& color, float offset, bool outlined, const std::string_view& text);
+
+        EntityOverlay& add_top_label(const Color& color, float offset, bool outlined, std::string_view text);
+
+        EntityOverlay& add_bottom_label(const Color& color, float offset, bool outlined, std::string_view text);
+
+        EntityOverlay& add_centered_top_label(const Color& color, float offset, bool outlined,
+                                              const std::string_view& text);
+
+        EntityOverlay& add_centered_bottom_label(const Color& color, float offset, bool outlined,
+                                                 const std::string_view& text);
+
+        template<typename... Args>
+        EntityOverlay& add_right_label(const Color& color, const float offset, const bool outlined, std::format_string<Args...> fmt,
+                                       Args&&... args)
+        {
+            return add_right_label(color, offset, outlined,
+                                   std::string_view{std::vformat(fmt.get(), std::make_format_args(args...))});
+        }
+
+        template<typename... Args>
+        EntityOverlay& add_left_label(const Color& color, const float offset, const bool outlined, std::format_string<Args...> fmt,
+                                      Args&&... args)
+        {
+            return add_left_label(color, offset, outlined,
+                                  std::string_view{std::vformat(fmt.get(), std::make_format_args(args...))});
+        }
+
+        template<typename... Args>
+        EntityOverlay& add_top_label(const Color& color, const float offset, const bool outlined, std::format_string<Args...> fmt,
+                                     Args&&... args)
+        {
+            return add_top_label(color, offset, outlined,
+                                 std::string_view{std::vformat(fmt.get(), std::make_format_args(args...))});
+        }
+
+        template<typename... Args>
+        EntityOverlay& add_bottom_label(const Color& color, const float offset, const bool outlined,
+                                        std::format_string<Args...> fmt, Args&&... args)
+        {
+            return add_bottom_label(color, offset, outlined,
+                                    std::string_view{std::vformat(fmt.get(), std::make_format_args(args...))});
+        }
+
+        template<typename... Args>
+        EntityOverlay& add_centered_top_label(const Color& color, const float offset, const bool outlined,
+                                              std::format_string<Args...> fmt, Args&&... args)
+        {
+            return add_centered_top_label(color, offset, outlined,
+                                          std::string_view{std::vformat(fmt.get(), std::make_format_args(args...))});
+        }
+
+        template<typename... Args>
+        EntityOverlay& add_centered_bottom_label(const Color& color, const float offset, const bool outlined,
+                                                 std::format_string<Args...> fmt, Args&&... args)
+        {
+            return add_centered_bottom_label(color, offset, outlined,
+                                             std::string_view{std::vformat(fmt.get(), std::make_format_args(args...))});
+        }
+
+        // ── Spacers ─────────────────────────────────────────────────────
+        EntityOverlay& add_right_space_vertical(float size);
+        EntityOverlay& add_right_space_horizontal(float size);
+        EntityOverlay& add_left_space_vertical(float size);
+        EntityOverlay& add_left_space_horizontal(float size);
+        EntityOverlay& add_top_space_vertical(float size);
+        EntityOverlay& add_top_space_horizontal(float size);
+        EntityOverlay& add_bottom_space_vertical(float size);
+        EntityOverlay& add_bottom_space_horizontal(float size);
+
+        // ── Progress rings ──────────────────────────────────────────────
+        EntityOverlay& add_right_progress_ring(const Color& color, const Color& bg, float radius, float ratio,
+                                               float thickness = 2.f, float offset = 5.f, int segments = 0);
+        EntityOverlay& add_left_progress_ring(const Color& color, const Color& bg, float radius, float ratio,
+                                              float thickness = 2.f, float offset = 5.f, int segments = 0);
+        EntityOverlay& add_top_progress_ring(const Color& color, const Color& bg, float radius, float ratio,
+                                             float thickness = 2.f, float offset = 5.f, int segments = 0);
+        EntityOverlay& add_bottom_progress_ring(const Color& color, const Color& bg, float radius, float ratio,
+                                                float thickness = 2.f, float offset = 5.f, int segments = 0);
+
+        // ── Icons ────────────────────────────────────────────────────────
+        EntityOverlay& add_right_icon(const std::any& texture_id, float width, float height,
+                                      const Color& tint = Color{1.f, 1.f, 1.f, 1.f}, float offset = 5.f);
+        EntityOverlay& add_left_icon(const std::any& texture_id, float width, float height,
+                                     const Color& tint = Color{1.f, 1.f, 1.f, 1.f}, float offset = 5.f);
+        EntityOverlay& add_top_icon(const std::any& texture_id, float width, float height,
+                                    const Color& tint = Color{1.f, 1.f, 1.f, 1.f}, float offset = 5.f);
+        EntityOverlay& add_bottom_icon(const std::any& texture_id, float width, float height,
+                                       const Color& tint = Color{1.f, 1.f, 1.f, 1.f}, float offset = 5.f);
+
+        // ── Misc ─────────────────────────────────────────────────────────
+        EntityOverlay& add_snap_line(const Vector2<float>& start_pos, const Color& color, float width);
+
+        EntityOverlay& add_skeleton(const Color& color, float thickness = 1.f);
+
+        // ── Declarative interface ─────────────────────────────────────────
+        /// Pass any combination of widget:: descriptor structs (and std::optional<W>
+        /// from when()) to render them all in declaration order.
+        template<typename... Widgets>
+        EntityOverlay& contents(Widgets&&... widgets)
+        {
+            (dispatch(std::forward<Widgets>(widgets)), ...);
+            return *this;
+        }
+
+    private:
+        // optional<W> dispatch — enables when() conditional widgets
+        template<typename W>
+        void dispatch(const std::optional<W>& w)
+        {
+            if (w)
+                dispatch(*w);
+        }
+
+        void dispatch(const widget::Box& box);
+        void dispatch(const widget::CorneredBox& cornered_box);
+        void dispatch(const widget::DashedBox& dashed_box);
+        void dispatch(const widget::RightSide& right_side);
+        void dispatch(const widget::LeftSide& left_side);
+        void dispatch(const widget::TopSide& top_side);
+        void dispatch(const widget::BottomSide& bottom_side);
+        void dispatch(const widget::Skeleton& skeleton);
+        void dispatch(const widget::SnapLine& snap_line);
+        void dispatch(const widget::ScanMarker& scan_marker);
+        void dispatch(const widget::AimDot& aim_dot);
+        void dispatch(const widget::ProjectileAim& proj_widget);
+        void draw_progress_ring(const Vector2<float>& center, const widget::ProgressRing& ring);
+        void draw_outlined_text(const Vector2<float>& position, const Color& color, const std::string_view& text);
+        void draw_dashed_line(const Vector2<float>& from, const Vector2<float>& to, const Color& color, float dash_len,
+                              float gap_len, float thickness) const;
+        void draw_dashed_fill(const Vector2<float>& origin, const Vector2<float>& step_dir,
+                              const Vector2<float>& perp_dir, float full_len, float filled_len, const Color& fill_color,
+                              const Color& split_color, float dash_len, float gap_len) const;
+
+        CanvasBox m_canvas;
+        Vector2<float> m_text_cursor_right;
+        Vector2<float> m_text_cursor_top;
+        Vector2<float> m_text_cursor_bottom;
+        Vector2<float> m_text_cursor_left;
+        std::shared_ptr<HudRendererInterface> m_renderer;
+    };
+} // namespace omath::hud

include/omath/hud/entity_overlay_widgets.hpp

@@ -0,0 +1,233 @@
+//
+// Created by orange on 15.03.2026.
+//
+#pragma once
+#include "omath/linear_algebra/vector2.hpp"
+#include "omath/utility/color.hpp"
+#include <any>
+#include <initializer_list>
+#include <optional>
+#include <string_view>
+#include <variant>
+
+namespace omath::hud::widget
+{
+    // ── Overloaded helper for std::visit ──────────────────────────────────────
+    template<typename... Ts>
+    struct Overloaded : Ts...
+    {
+        using Ts::operator()...;
+    };
+    template<typename... Ts>
+    Overloaded(Ts...) -> Overloaded<Ts...>;
+
+    // ── Standalone widgets ────────────────────────────────────────────────────
+    struct Box
+    {
+        Color color;
+        Color fill{0.f, 0.f, 0.f, 0.f};
+        float thickness = 1.f;
+    };
+
+    struct CorneredBox
+    {
+        Color color;
+        Color fill{0.f, 0.f, 0.f, 0.f};
+        float corner_ratio = 0.2f;
+        float thickness = 1.f;
+    };
+
+    struct DashedBox
+    {
+        Color color;
+        float dash_len = 8.f;
+        float gap_len = 5.f;
+        float thickness = 1.f;
+    };
+
+    struct Skeleton
+    {
+        Color color;
+        float thickness = 1.f;
+    };
+    struct SnapLine
+    {
+        Vector2<float> start;
+        Color color;
+        float width;
+    };
+
+    struct ScanMarker
+    {
+        Color color;
+        Color outline{0.f, 0.f, 0.f, 0.f};
+        float outline_thickness = 1.f;
+    };
+
+    /// Dot at an absolute screen position.
+    struct AimDot
+    {
+        Vector2<float> position;
+        Color color;
+        float radius = 3.f;
+    };
+    struct ProjectileAim
+    {
+        enum class Figure
+        {
+            CIRCLE,
+            SQUARE,
+        };
+        Vector2<float> position;
+        Color color;
+        float size = 3.f;
+        float line_size = 1.f;
+        Figure figure = Figure::SQUARE;
+    };
+
+
+    // ── Side-agnostic widgets (used inside XxxSide containers) ────────────────
+
+    /// A filled bar. `size` is width for left/right sides, height for top/bottom.
+    struct Bar
+    {
+        Color color;
+        Color outline;
+        Color bg;
+        float size;
+        float ratio;
+        float offset = 5.f;
+    };
+
+    /// A dashed bar. Same field semantics as Bar plus dash parameters.
+    struct DashedBar
+    {
+        Color color;
+        Color outline;
+        Color bg;
+        float size;
+        float ratio;
+        float dash_len;
+        float gap_len;
+        float offset = 5.f;
+    };
+
+    struct Label
+    {
+        Color color;
+        float offset;
+        bool outlined;
+        std::string_view text;
+    };
+
+    /// Wraps a Label to request horizontal centering (only applied in TopSide / BottomSide).
+    template<typename W>
+    struct Centered
+    {
+        W child;
+    };
+    template<typename W>
+    Centered(W) -> Centered<W>;
+
+    /// Empty vertical gap that advances the Y cursor without drawing.
+    struct SpaceVertical
+    {
+        float size;
+    };
+
+    /// Empty horizontal gap that advances the X cursor without drawing.
+    struct SpaceHorizontal
+    {
+        float size;
+    };
+
+    struct ProgressRing
+    {
+        Color color;
+        Color bg{0.3f, 0.3f, 0.3f, 0.5f};
+        float radius = 12.f;
+        float ratio;
+        float thickness = 2.f;
+        float offset = 5.f;
+        int segments = 32;
+    };
+
+    struct Icon
+    {
+        std::any texture_id;
+        float width;
+        float height;
+        Color tint{1.f, 1.f, 1.f, 1.f};
+        float offset = 5.f;
+    };
+
+    // ── Side widget variant ───────────────────────────────────────────────────
+    struct None
+    {
+    }; ///< No-op placeholder — used by widget::when for disabled elements.
+    using SideWidget =
+            std::variant<None, Bar, DashedBar, Label, Centered<Label>, SpaceVertical, SpaceHorizontal, ProgressRing, Icon>;
+
+    // ── Side containers ───────────────────────────────────────────────────────
+    // Storing std::initializer_list<SideWidget> is safe here: the backing array
+    // is a const SideWidget[] on the caller's stack whose lifetime matches the
+    // temporary side-container object, which is consumed within the same
+    // full-expression by EntityOverlay::dispatch. No heap allocation occurs.
+
+    struct RightSide
+    {
+        std::initializer_list<SideWidget> children;
+        RightSide(const std::initializer_list<SideWidget> c): children(c)
+        {
+        }
+    };
+    struct LeftSide
+    {
+        std::initializer_list<SideWidget> children;
+        LeftSide(const std::initializer_list<SideWidget> c): children(c)
+        {
+        }
+    };
+    struct TopSide
+    {
+        std::initializer_list<SideWidget> children;
+        TopSide(const std::initializer_list<SideWidget> c): children(c)
+        {
+        }
+    };
+    struct BottomSide
+    {
+        std::initializer_list<SideWidget> children;
+        BottomSide(const std::initializer_list<SideWidget> c): children(c)
+        {
+        }
+    };
+
+} // namespace omath::hud::widget
+
+namespace omath::hud::widget
+{
+    /// Inside XxxSide containers: returns the widget as a SideWidget when condition is true,
+    /// or None{} otherwise. Preferred over hud::when for types inside the SideWidget variant.
+    template<typename W>
+    requires std::constructible_from<SideWidget, W>
+    SideWidget when(const bool condition, W widget)
+    {
+        if (condition)
+            return SideWidget{std::move(widget)};
+        return None{};
+    }
+} // namespace omath::hud::widget
+
+namespace omath::hud
+{
+    /// Top-level: returns an engaged optional<W> when condition is true, std::nullopt otherwise.
+    /// Designed for use with EntityOverlay::contents() for top-level widget types.
+    template<typename W>
+    std::optional<W> when(const bool condition, W widget)
+    {
+        if (condition)
+            return std::move(widget);
+        return std::nullopt;
+    }
+} // namespace omath::hud

include/omath/hud/hud_renderer_interface.hpp

@@ -0,0 +1,47 @@
+//
+// Created by orange on 13.03.2026.
+//
+#pragma once
+#include "omath/linear_algebra/vector2.hpp"
+#include "omath/utility/color.hpp"
+#include <any>
+#include <span>
+
+namespace omath::hud
+{
+    class HudRendererInterface
+    {
+    public:
+        virtual ~HudRendererInterface() = default;
+        virtual void add_line(const Vector2<float>& line_start, const Vector2<float>& line_end, const Color& color,
+                              float thickness) = 0;
+
+        virtual void add_polyline(const std::span<const Vector2<float>>& vertexes, const Color& color,
+                                  float thickness) = 0;
+
+        virtual void add_filled_polyline(const std::span<const Vector2<float>>& vertexes, const Color& color) = 0;
+
+        virtual void add_rectangle(const Vector2<float>& min, const Vector2<float>& max, const Color& color) = 0;
+
+        virtual void add_filled_rectangle(const Vector2<float>& min, const Vector2<float>& max, const Color& color) = 0;
+
+        virtual void add_circle(const Vector2<float>& center, float radius, const Color& color, float thickness,
+                                int segments = 0) = 0;
+
+        virtual void add_filled_circle(const Vector2<float>& center, float radius, const Color& color,
+                                       int segments = 0) = 0;
+
+        /// Draw an arc (partial circle outline). Angles in radians, 0 = right (+X), counter-clockwise.
+        virtual void add_arc(const Vector2<float>& center, float radius, float a_min, float a_max, const Color& color,
+                             float thickness, int segments = 0) = 0;
+
+        /// Draw a textured quad. texture_id is renderer-specific (e.g. ImTextureID for ImGui).
+        virtual void add_image(const std::any& texture_id, const Vector2<float>& min, const Vector2<float>& max,
+                               const Color& tint = Color{1.f, 1.f, 1.f, 1.f}) = 0;
+
+        virtual void add_text(const Vector2<float>& position, const Color& color, const std::string_view& text) = 0;
+
+        [[nodiscard]]
+        virtual Vector2<float> calc_text_size(const std::string_view& text) = 0;
+    };
+} // namespace omath::hud

include/omath/hud/renderer_realizations/imgui_renderer.hpp

@@ -0,0 +1,33 @@
+//
+// Created by orange on 13.03.2026.
+//
+#pragma once
+#include <omath/hud/hud_renderer_interface.hpp>
+
+#ifdef OMATH_IMGUI_INTEGRATION
+namespace omath::hud
+{
+    class ImguiHudRenderer final : public HudRendererInterface
+    {
+    public:
+        ~ImguiHudRenderer() override;
+        void add_line(const Vector2<float>& line_start, const Vector2<float>& line_end, const Color& color,
+                      float thickness) override;
+        void add_polyline(const std::span<const Vector2<float>>& vertexes, const Color& color, float thickness) override;
+        void add_filled_polyline(const std::span<const Vector2<float>>& vertexes, const Color& color) override;
+        void add_rectangle(const Vector2<float>& min, const Vector2<float>& max, const Color& color) override;
+        void add_filled_rectangle(const Vector2<float>& min, const Vector2<float>& max, const Color& color) override;
+        void add_circle(const Vector2<float>& center, float radius, const Color& color, float thickness,
+                        int segments = 0) override;
+        void add_filled_circle(const Vector2<float>& center, float radius, const Color& color,
+                               int segments = 0) override;
+        void add_arc(const Vector2<float>& center, float radius, float a_min, float a_max, const Color& color,
+                     float thickness, int segments = 0) override;
+        void add_image(const std::any& texture_id, const Vector2<float>& min, const Vector2<float>& max,
+                       const Color& tint = Color{1.f, 1.f, 1.f, 1.f}) override;
+        void add_text(const Vector2<float>& position, const Color& color, const std::string_view& text) override;
+        [[nodiscard]]
+        virtual Vector2<float> calc_text_size(const std::string_view& text) override;
+    };
+} // namespace omath::hud
+#endif // OMATH_IMGUI_INTEGRATION

include/omath/linear_algebra/mat.hpp

@@ -37,6 +37,12 @@ namespace omath
         COLUMN_MAJOR
     };
 
+    enum class NDCDepthRange : uint8_t
+    {
+        NEGATIVE_ONE_TO_ONE = 0, // OpenGL: [-1.0, 1.0]
+        ZERO_TO_ONE              // DirectX / Vulkan: [0.0, 1.0]
+    };
+
     template<typename M1, typename M2> concept MatTemplateEqual
             = (M1::rows == M2::rows) && (M1::columns == M2::columns)
               && std::is_same_v<typename M1::value_type, typename M2::value_type> && (M1::store_type == M2::store_type);
@@ -658,36 +664,64 @@ namespace omath
         } * mat_translation<Type, St>(-camera_origin);
     }
 
-    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
+             NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
     [[nodiscard]]
     Mat<4, 4, Type, St> mat_perspective_left_handed(const float field_of_view, const float aspect_ratio,
                                                     const float near, const float far) noexcept
     {
         const float fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / 2.f);
 
+        if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
+            return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
+                    {0.f, 1.f / fov_half_tan, 0.f, 0.f},
+                    {0.f, 0.f, far / (far - near), -(near * far) / (far - near)},
+                    {0.f, 0.f, 1.f, 0.f}};
+        else if constexpr (DepthRange == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
             return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
                     {0.f, 1.f / fov_half_tan, 0.f, 0.f},
                     {0.f, 0.f, (far + near) / (far - near), -(2.f * near * far) / (far - near)},
                     {0.f, 0.f, 1.f, 0.f}};
+        else
+            std::unreachable();
     }
 
-    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
+             NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
     [[nodiscard]]
     Mat<4, 4, Type, St> mat_perspective_right_handed(const float field_of_view, const float aspect_ratio,
                                                      const float near, const float far) noexcept
     {
         const float fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / 2.f);
 
+        if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
+            return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
+                    {0.f, 1.f / fov_half_tan, 0.f, 0.f},
+                    {0.f, 0.f, -far / (far - near), -(near * far) / (far - near)},
+                    {0.f, 0.f, -1.f, 0.f}};
+        else if constexpr (DepthRange == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
             return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
                     {0.f, 1.f / fov_half_tan, 0.f, 0.f},
                     {0.f, 0.f, -(far + near) / (far - near), -(2.f * near * far) / (far - near)},
                     {0.f, 0.f, -1.f, 0.f}};
+        else
+            std::unreachable();
     }
-    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
+             NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
     [[nodiscard]]
     Mat<4, 4, Type, St> mat_ortho_left_handed(const Type left, const Type right, const Type bottom, const Type top,
                                               const Type near, const Type far) noexcept
     {
+        if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
+            return
+            {
+                { static_cast<Type>(2) / (right - left), 0.f,       0.f,    -(right + left) / (right - left)},
+                { 0.f,      static_cast<Type>(2) / (top - bottom),  0.f,    -(top + bottom) / (top - bottom)},
+                { 0.f,      0.f,       static_cast<Type>(1) / (far - near), -near / (far - near)            },
+                { 0.f,      0.f,       0.f,                                 1.f                             }
+            };
+        else if constexpr (DepthRange == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
             return
             {
                 { static_cast<Type>(2) / (right - left), 0.f,       0.f,    -(right + left) / (right - left)},
@@ -695,12 +729,24 @@ namespace omath
                 { 0.f,      0.f,       static_cast<Type>(2) / (far - near), -(far + near) / (far - near)    },
                 { 0.f,      0.f,       0.f,                                 1.f                             }
             };
+        else
+            std::unreachable();
     }
-    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
+             NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
     [[nodiscard]]
     Mat<4, 4, Type, St> mat_ortho_right_handed(const Type left, const Type right, const Type bottom, const Type top,
                                                const Type near, const Type far) noexcept
     {
+        if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
+            return
+            {
+                    { static_cast<Type>(2) / (right - left), 0.f,       0.f,     -(right + left) / (right - left)},
+                    { 0.f,      static_cast<Type>(2) / (top - bottom),  0.f,     -(top + bottom) / (top - bottom)},
+                    { 0.f,      0.f,       -static_cast<Type>(1) / (far - near), -near / (far - near)            },
+                    { 0.f,      0.f,       0.f,                                  1.f                             }
+            };
+        else if constexpr (DepthRange == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
             return
             {
                     { static_cast<Type>(2) / (right - left), 0.f,       0.f,     -(right + left) / (right - left)},
@@ -708,6 +754,8 @@ namespace omath
                     { 0.f,      0.f,       -static_cast<Type>(2) / (far - near), -(far + near) / (far - near)    },
                     { 0.f,      0.f,       0.f,                                  1.f                             }
             };
+        else
+            std::unreachable();
     }
     template<class T = float, MatStoreType St = MatStoreType::COLUMN_MAJOR>
    Mat<4, 4, T, St> mat_look_at_left_handed(const Vector3<T>& eye, const Vector3<T>& center, const Vector3<T>& up)

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
@@ -200,7 +206,7 @@ namespace omath
             return {static_cast<Type>(other.x), static_cast<Type>(other.y), static_cast<Type>(other.z)};
         }
 #endif
-};
+    };
 } // namespace omath
 
 template<> struct std::hash<omath::Vector4<float>>

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/projectile_prediction/proj_pred_engine.hpp

@@ -8,12 +8,23 @@
 
 namespace omath::projectile_prediction
 {
+    struct AimAngles
+    {
+        float pitch{};
+        float yaw{};
+    };
+
     class ProjPredEngineInterface
     {
     public:
         [[nodiscard]]
         virtual std::optional<Vector3<float>> maybe_calculate_aim_point(const Projectile& projectile,
                                                                         const Target& target) const = 0;
+
+        [[nodiscard]]
+        virtual std::optional<AimAngles> maybe_calculate_aim_angles(const Projectile& projectile,
+                                                                     const Target& target) const = 0;
+
         virtual ~ProjPredEngineInterface() = default;
     };
 } // namespace omath::projectile_prediction

include/omath/projectile_prediction/proj_pred_engine_avx2.hpp

@@ -12,6 +12,9 @@ namespace omath::projectile_prediction
         [[nodiscard]] std::optional<Vector3<float>>
         maybe_calculate_aim_point(const Projectile& projectile, const Target& target) const override;
 
+        [[nodiscard]] std::optional<AimAngles>
+        maybe_calculate_aim_angles(const Projectile& projectile, const Target& target) const override;
+
         ProjPredEngineAvx2(float gravity_constant, float simulation_time_step, float maximum_simulation_time);
         ~ProjPredEngineAvx2() override = default;
 

include/omath/projectile_prediction/proj_pred_engine_legacy.hpp

@@ -54,6 +54,36 @@ namespace omath::projectile_prediction
         [[nodiscard]]
         std::optional<Vector3<float>> maybe_calculate_aim_point(const Projectile& projectile,
                                                                 const Target& target) const override
+        {
+            const auto solution = find_solution(projectile, target);
+            if (!solution)
+                return std::nullopt;
+
+            return EngineTrait::calc_viewpoint_from_angles(projectile, solution->predicted_target_position,
+                                                           solution->pitch);
+        }
+
+        [[nodiscard]]
+        std::optional<AimAngles> maybe_calculate_aim_angles(const Projectile& projectile,
+                                                             const Target& target) const override
+        {
+            const auto solution = find_solution(projectile, target);
+            if (!solution)
+                return std::nullopt;
+
+            const auto yaw = EngineTrait::calc_direct_yaw_angle(projectile.m_origin + projectile.m_launch_offset, solution->predicted_target_position);
+            return AimAngles{solution->pitch, yaw};
+        }
+
+    private:
+        struct Solution
+        {
+            Vector3<float> predicted_target_position;
+            float pitch;
+        };
+
+        [[nodiscard]]
+        std::optional<Solution> find_solution(const Projectile& projectile, const Target& target) const
         {
             for (float time = 0.f; time < m_maximum_simulation_time; time += m_simulation_time_step)
             {
@@ -70,12 +100,11 @@ namespace omath::projectile_prediction
                                                   time))
                     continue;
 
-                return EngineTrait::calc_viewpoint_from_angles(projectile, predicted_target_position, projectile_pitch);
+                return Solution{predicted_target_position, projectile_pitch.value()};
             }
             return std::nullopt;
         }
 
-    private:
         const float m_gravity_constant;
         const float m_simulation_time_step;
         const float m_maximum_simulation_time;
@@ -100,10 +129,12 @@ namespace omath::projectile_prediction
         {
             const auto bullet_gravity = m_gravity_constant * projectile.m_gravity_scale;
 
-            if (bullet_gravity == 0.f)
+            const auto launch_origin = projectile.m_origin + projectile.m_launch_offset;
-                return EngineTrait::calc_direct_pitch_angle(projectile.m_origin, target_position);
 
-            const auto delta = target_position - projectile.m_origin;
+            if (bullet_gravity == 0.f)
+                return EngineTrait::calc_direct_pitch_angle(launch_origin, target_position);
+
+            const auto delta = target_position - launch_origin;
 
             const auto distance2d = EngineTrait::calc_vector_2d_distance(delta);
             const auto distance2d_sqr = distance2d * distance2d;
@@ -126,7 +157,7 @@ namespace omath::projectile_prediction
         bool is_projectile_reached_target(const Vector3<float>& target_position, const Projectile& projectile,
                                           const float pitch, const float time) const noexcept
         {
-            const auto yaw = EngineTrait::calc_direct_yaw_angle(projectile.m_origin, target_position);
+            const auto yaw = EngineTrait::calc_direct_yaw_angle(projectile.m_origin + projectile.m_launch_offset, target_position);
             const auto projectile_position =
                     EngineTrait::predict_projectile_position(projectile, pitch, yaw, time, m_gravity_constant);
 

include/omath/projectile_prediction/projectile.hpp

@@ -11,6 +11,7 @@ namespace omath::projectile_prediction
     {
     public:
         Vector3<float> m_origin;
+        Vector3<float> m_launch_offset{0.f, 0.f, 0.f};
         float m_launch_speed{};
         float m_gravity_scale{};
     };

include/omath/projection/camera.hpp

@@ -4,6 +4,7 @@
 
 #pragma once
 
+#include "omath/3d_primitives/aabb.hpp"
 #include "omath/linear_algebra/mat.hpp"
 #include "omath/linear_algebra/triangle.hpp"
 #include "omath/linear_algebra/vector3.hpp"
@@ -36,23 +37,29 @@ namespace omath::projection
         }
     };
     using FieldOfView = Angle<float, 0.f, 180.f, AngleFlags::Clamped>;
-
+    enum class ViewPortClipping
+    {
+        AUTO,
+        MANUAL,
+    };
     template<class T, class MatType, class ViewAnglesType>
     concept CameraEngineConcept =
             requires(const Vector3<float>& cam_origin, const Vector3<float>& look_at, const ViewAnglesType& angles,
-                     const FieldOfView& fov, const ViewPort& viewport, float znear, float zfar) {
+                     const FieldOfView& fov, const ViewPort& viewport, float znear, float zfar,
+                     NDCDepthRange ndc_depth_range) {
                 // Presence + return types
                 { T::calc_look_at_angle(cam_origin, look_at) } -> std::same_as<ViewAnglesType>;
                 { T::calc_view_matrix(angles, cam_origin) } -> std::same_as<MatType>;
-                { T::calc_projection_matrix(fov, viewport, znear, zfar) } -> std::same_as<MatType>;
+                { T::calc_projection_matrix(fov, viewport, znear, zfar, ndc_depth_range) } -> std::same_as<MatType>;
 
                 // Enforce noexcept as in the trait declaration
                 requires noexcept(T::calc_look_at_angle(cam_origin, look_at));
                 requires noexcept(T::calc_view_matrix(angles, cam_origin));
-                requires noexcept(T::calc_projection_matrix(fov, viewport, znear, zfar));
+                requires noexcept(T::calc_projection_matrix(fov, viewport, znear, zfar, ndc_depth_range));
             };
 
-    template<class Mat4X4Type, class ViewAnglesType, class TraitClass>
+    template<class Mat4X4Type, class ViewAnglesType, class TraitClass, bool inverted_z = false,
+             NDCDepthRange depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
     requires CameraEngineConcept<TraitClass, Mat4X4Type, ViewAnglesType>
     class Camera final
     {
@@ -80,59 +87,102 @@ 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;
         }
-
+        [[nodiscard]]
-    protected:
+        ViewAnglesType calc_look_at_angles(const Vector3<float>& look_to) const
-        [[nodiscard]] Mat4X4Type calc_view_projection_matrix() const noexcept
         {
-            return TraitClass::calc_projection_matrix(m_field_of_view, m_view_port, m_near_plane_distance,
+            return TraitClass::calc_look_at_angle(m_origin, look_to);
-                                                      m_far_plane_distance)
+        }
-                   * TraitClass::calc_view_matrix(m_view_angles, m_origin);
+
+        [[nodiscard]]
+        Vector3<float> get_forward() const noexcept
+        {
+            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,
+                                                                         depth_range);
+
+            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
+        void set_near_plane(const float near_plane) noexcept
         {
-            m_near_plane_distance = near;
+            m_near_plane_distance = near_plane;
             m_view_projection_matrix = std::nullopt;
+            m_projection_matrix = std::nullopt;
         }
 
-        void set_far_plane(const float far) noexcept
+        void set_far_plane(const float far_plane) noexcept
         {
-            m_far_plane_distance = far;
+            m_far_plane_distance = far_plane;
             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
@@ -176,6 +226,22 @@ namespace omath::projection
             else
                 std::unreachable();
         }
+        template<ScreenStart screen_start = ScreenStart::TOP_LEFT_CORNER>
+        [[nodiscard]] std::expected<Vector3<float>, Error>
+        world_to_screen_unclipped(const Vector3<float>& world_position) const noexcept
+        {
+            const auto normalized_cords = world_to_view_port(world_position, ViewPortClipping::MANUAL);
+
+            if (!normalized_cords.has_value())
+                return std::unexpected{normalized_cords.error()};
+
+            if constexpr (screen_start == ScreenStart::TOP_LEFT_CORNER)
+                return ndc_to_screen_position_from_top_left_corner(*normalized_cords);
+            else if constexpr (screen_start == ScreenStart::BOTTOM_LEFT_CORNER)
+                return ndc_to_screen_position_from_bottom_left_corner(*normalized_cords);
+            else
+                std::unreachable();
+        }
 
         [[nodiscard]] bool is_culled_by_frustum(const Triangle<Vector3<float>>& triangle) const noexcept
         {
@@ -209,40 +275,127 @@ namespace omath::projection
                 return a[axis] < -a[3] && b[axis] < -b[3] && c[axis] < -c[3];
             };
 
-            // Clip volume in clip space (OpenGL-style):
+            // Clip volume in clip space:
             // -w <= x <= w
             // -w <= y <= w
-            // -w <= z <= w
+            // z_min <= z <= w  (z_min = -w for [-1,1], 0 for [0,1])
 
-            for (int i = 0; i < 3; i++)
+            // x and y planes
+            for (int i = 0; i < 2; i++)
             {
                 if (all_outside_plane(i, c0, c1, c2, false))
-                    return true; // x < -w (left)
+                    return true;
                 if (all_outside_plane(i, c0, c1, c2, true))
-                    return true; // x >  w (right)
+                    return true;
+            }
+
+            // z far plane: z > w
+            if (all_outside_plane(2, c0, c1, c2, true))
+                return true;
+
+            // z near plane
+            if constexpr (depth_range == NDCDepthRange::ZERO_TO_ONE)
+            {
+                // 0 <= z, so reject if z < 0 for all vertices
+                if (c0[2] < 0.f && c1[2] < 0.f && c2[2] < 0.f)
+                    return true;
+            }
+            else
+            {
+                // -w <= z
+                if (all_outside_plane(2, c0, c1, c2, false))
+                    return true;
             }
             return false;
         }
 
+        [[nodiscard]] bool is_aabb_culled_by_frustum(const primitives::Aabb<float>& aabb) const noexcept
+        {
+            const auto& m = get_view_projection_matrix();
+
+            // Gribb-Hartmann: extract 6 frustum planes from the view-projection matrix.
+            // Each plane is (a, b, c, d) such that ax + by + cz + d >= 0 means inside.
+            // For a 4x4 matrix with rows r0..r3:
+            //   Left   = r3 + r0
+            //   Right  = r3 - r0
+            //   Bottom = r3 + r1
+            //   Top    = r3 - r1
+            //   Near   = r3 + r2  ([-1,1]) or r2 ([0,1])
+            //   Far    = r3 - r2
+            struct Plane final
+            {
+                float a, b, c, d;
+            };
+
+            const auto extract_plane = [&m](const int sign, const int row) -> Plane
+            {
+                return {
+                        m.at(3, 0) + static_cast<float>(sign) * m.at(row, 0),
+                        m.at(3, 1) + static_cast<float>(sign) * m.at(row, 1),
+                        m.at(3, 2) + static_cast<float>(sign) * m.at(row, 2),
+                        m.at(3, 3) + static_cast<float>(sign) * m.at(row, 3),
+                };
+            };
+
+            std::array<Plane, 6> planes = {
+                    extract_plane(1, 0), // left
+                    extract_plane(-1, 0), // right
+                    extract_plane(1, 1), // bottom
+                    extract_plane(-1, 1), // top
+                    extract_plane(-1, 2), // far
+            };
+
+            // Near plane depends on NDC depth range
+            if constexpr (depth_range == NDCDepthRange::ZERO_TO_ONE)
+                planes[5] = {m.at(2, 0), m.at(2, 1), m.at(2, 2), m.at(2, 3)};
+            else
+                planes[5] = extract_plane(1, 2);
+
+            // For each plane, find the AABB corner most in the direction of the plane normal
+            // (the "positive vertex"). If it's outside, the entire AABB is outside.
+            for (const auto& [a, b, c, d] : planes)
+            {
+                const float px = a >= 0.f ? aabb.max.x : aabb.min.x;
+                const float py = b >= 0.f ? aabb.max.y : aabb.min.y;
+                const float pz = c >= 0.f ? aabb.max.z : aabb.min.z;
+
+                if (a * px + b * py + c * pz + d < 0.f)
+                    return true;
+            }
+
+            return false;
+        }
+
         [[nodiscard]] std::expected<Vector3<float>, Error>
-        world_to_view_port(const Vector3<float>& world_position) const noexcept
+        world_to_view_port(const Vector3<float>& world_position,
+                           const ViewPortClipping& clipping = ViewPortClipping::AUTO) const noexcept
         {
             auto projected = get_view_projection_matrix()
                              * mat_column_from_vector<float, Mat4X4Type::get_store_ordering()>(world_position);
 
             const auto& w = projected.at(3, 0);
-            if (w <= std::numeric_limits<float>::epsilon())
+            constexpr auto eps = std::numeric_limits<float>::epsilon();
-                return std::unexpected(Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS);
+            if (w <= eps)
+                return std::unexpected(Error::PERSPECTIVE_DIVIDER_LESS_EQ_ZERO);
 
             projected /= w;
 
-            if (is_ndc_out_of_bounds(projected))
+            // ReSharper disable once CppTooWideScope
+            const auto clipped_automatically = clipping == ViewPortClipping::AUTO && is_ndc_out_of_bounds(projected);
+            if (clipped_automatically)
+                return std::unexpected(Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS);
+
+            // ReSharper disable once CppTooWideScope
+            constexpr auto z_min = depth_range == NDCDepthRange::ZERO_TO_ONE ? 0.0f : -1.0f;
+            const auto clipped_manually = clipping == ViewPortClipping::MANUAL && (projected.at(2, 0) < z_min - eps
+                                          || projected.at(2, 0) > 1.0f + eps);
+            if (clipped_manually)
                 return std::unexpected(Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS);
 
             return Vector3<float>{projected.at(0, 0), projected.at(1, 0), projected.at(2, 0)};
         }
         [[nodiscard]]
-        std::expected<Vector3<float>, Error> view_port_to_screen(const Vector3<float>& ndc) const noexcept
+        std::expected<Vector3<float>, Error> view_port_to_world(const Vector3<float>& ndc) const noexcept
         {
             const auto inv_view_proj = get_view_projection_matrix().inverted();
 
@@ -267,7 +420,7 @@ namespace omath::projection
         [[nodiscard]]
         std::expected<Vector3<float>, Error> screen_to_world(const Vector3<float>& screen_pos) const noexcept
         {
-            return view_port_to_screen(screen_to_ndc<screen_start>(screen_pos));
+            return view_port_to_world(screen_to_ndc<screen_start>(screen_pos));
         }
 
         template<ScreenStart screen_start = ScreenStart::TOP_LEFT_CORNER>
@@ -283,7 +436,8 @@ 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;
 
@@ -295,8 +449,26 @@ namespace omath::projection
         [[nodiscard]] constexpr static bool is_ndc_out_of_bounds(const Type& ndc) noexcept
         {
             constexpr auto eps = std::numeric_limits<float>::epsilon();
-            return std::ranges::any_of(ndc.raw_array(),
+
-                                       [](const auto& val) { return val < -1.0f - eps || val > 1.0f + eps; });
+            const auto& data = ndc.raw_array();
+            // x and y are always in [-1, 1]
+            if (data[0] < -1.0f - eps || data[0] > 1.0f + eps)
+                return true;
+            if (data[1] < -1.0f - eps || data[1] > 1.0f + eps)
+                return true;
+            return is_ndc_z_value_out_of_bounds(data[2]);
+        }
+        template<class ZType>
+         [[nodiscard]]
+        constexpr static bool is_ndc_z_value_out_of_bounds(const ZType& z_ndc) noexcept
+        {
+            constexpr auto eps = std::numeric_limits<float>::epsilon();
+            if constexpr (depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+                return z_ndc < -1.0f - eps || z_ndc > 1.0f + eps;
+            if constexpr (depth_range == NDCDepthRange::ZERO_TO_ONE)
+                return z_ndc < 0.0f - eps || z_ndc > 1.0f + eps;
+
+            std::unreachable();
         }
 
         // NDC REPRESENTATION:

include/omath/projection/error_codes.hpp

@@ -11,5 +11,6 @@ namespace omath::projection
     {
         WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS,
         INV_VIEW_PROJ_MAT_DET_EQ_ZERO,
+        PERSPECTIVE_DIVIDER_LESS_EQ_ZERO,
     };
 }

include/omath/rev_eng/internal_rev_object.hpp

@@ -3,11 +3,43 @@
 //
 
 #pragma once
+#include <cassert>
 #include <cstddef>
 #include <cstdint>
+#include <string_view>
+
+#ifdef _WIN32
+#include "omath/utility/pe_pattern_scan.hpp"
+#include <windows.h>
+#elif defined(__APPLE__)
+#include "omath/utility/macho_pattern_scan.hpp"
+#include <mach-o/dyld.h>
+#else
+#include "omath/utility/elf_pattern_scan.hpp"
+#include <link.h>
+#endif
 
 namespace omath::rev_eng
 {
+    template<std::size_t N>
+    struct FixedString final
+    {
+        char data[N]{};
+        // ReSharper disable once CppNonExplicitConvertingConstructor
+        constexpr FixedString(const char (&str)[N]) noexcept // NOLINT(*-explicit-constructor)
+        {
+            for (std::size_t i = 0; i < N; ++i)
+                data[i] = str[i];
+        }
+        // ReSharper disable once CppNonExplicitConversionOperator
+        constexpr operator std::string_view() const noexcept // NOLINT(*-explicit-constructor)
+        {
+            return {data, N - 1};
+        }
+    };
+    template<std::size_t N>
+    FixedString(const char (&)[N]) -> FixedString<N>;
+
     class InternalReverseEngineeredObject
     {
     protected:
@@ -23,26 +55,150 @@ namespace omath::rev_eng
             return *reinterpret_cast<Type*>(reinterpret_cast<std::uintptr_t>(this) + offset);
         }
 
-        template<std::size_t id, class ReturnType>
+        template<class ReturnType>
+        ReturnType call_method(const void* ptr, auto... arg_list)
+        {
+#ifdef _MSC_VER
+            using MethodType = ReturnType(__thiscall*)(void*, decltype(arg_list)...);
+#else
+            using MethodType = ReturnType (*)(void*, decltype(arg_list)...);
+#endif
+            return reinterpret_cast<MethodType>(const_cast<void*>(ptr))(this, arg_list...);
+        }
+        template<class ReturnType>
+        ReturnType call_method(const void* ptr, auto... arg_list) const
+        {
+#ifdef _MSC_VER
+            using MethodType = ReturnType(__thiscall*)(const void*, decltype(arg_list)...);
+#else
+            using MethodType = ReturnType (*)(const void*, decltype(arg_list)...);
+#endif
+            return reinterpret_cast<MethodType>(const_cast<void*>(ptr))(this, arg_list...);
+        }
+
+        template<FixedString ModuleName, FixedString Pattern, class ReturnType>
+        ReturnType call_method(auto... arg_list)
+        {
+            static const auto* address = resolve_pattern(ModuleName, Pattern);
+            return call_method<ReturnType>(address, arg_list...);
+        }
+
+        template<FixedString ModuleName, FixedString Pattern, class ReturnType>
+        ReturnType call_method(auto... arg_list) const
+        {
+            static const auto* address = resolve_pattern(ModuleName, Pattern);
+            return call_method<ReturnType>(address, arg_list...);
+        }
+
+        template<class ReturnType>
+        ReturnType call_method(const std::string_view& module_name,const std::string_view& pattern, auto... arg_list)
+        {
+            static const auto* address = resolve_pattern(module_name, pattern);
+            return call_method<ReturnType>(address, arg_list...);
+        }
+
+        template<class ReturnType>
+        ReturnType call_method(const std::string_view& module_name,const std::string_view& pattern, auto... arg_list) const
+        {
+            static const auto* address = resolve_pattern(module_name, pattern);
+            return call_method<ReturnType>(address, arg_list...);
+        }
+        template<std::size_t Id, class ReturnType>
         ReturnType call_virtual_method(auto... arg_list)
         {
-#ifdef _MSC_VER
+            const auto vtable = *reinterpret_cast<void***>(this);
-            using VirtualMethodType = ReturnType(__thiscall*)(void*, decltype(arg_list)...);
+            return call_method<ReturnType>(vtable[Id], arg_list...);
-#else
-            using VirtualMethodType = ReturnType (*)(void*, decltype(arg_list)...);
-#endif
-            return (*reinterpret_cast<VirtualMethodType**>(this))[id](this, arg_list...);
         }
-        template<std::size_t id, class ReturnType>
+        template<std::size_t Id, class ReturnType>
         ReturnType call_virtual_method(auto... arg_list) const
         {
+            const auto vtable = *reinterpret_cast<void* const* const*>(this);
+            return call_method<ReturnType>(vtable[Id], arg_list...);
+        }
+
+        template<std::ptrdiff_t TableOffset, std::size_t Id, class ReturnType>
+        ReturnType call_virtual_method(auto... arg_list)
+        {
+            auto sub_this = reinterpret_cast<void*>(
+                reinterpret_cast<std::uintptr_t>(this) + TableOffset);
+            const auto vtable = *reinterpret_cast<void***>(sub_this);
 #ifdef _MSC_VER
-            using VirtualMethodType = ReturnType(__thiscall*)(void*, decltype(arg_list)...);
+            using Fn = ReturnType(__thiscall*)(void*, decltype(arg_list)...);
 #else
-            using VirtualMethodType = ReturnType (*)(void*, decltype(arg_list)...);
+            using Fn = ReturnType(*)(void*, decltype(arg_list)...);
+#endif
+            return reinterpret_cast<Fn>(vtable[Id])(sub_this, arg_list...);
+        }
+        template<std::ptrdiff_t TableOffset, std::size_t Id, class ReturnType>
+        ReturnType call_virtual_method(auto... arg_list) const
+        {
+            auto sub_this = reinterpret_cast<const void*>(
+                reinterpret_cast<std::uintptr_t>(this) + TableOffset);
+            const auto vtable = *reinterpret_cast<void* const* const*>(sub_this);
+#ifdef _MSC_VER
+            using Fn = ReturnType(__thiscall*)(const void*, decltype(arg_list)...);
+#else
+            using Fn = ReturnType(*)(const void*, decltype(arg_list)...);
+#endif
+            return reinterpret_cast<Fn>(vtable[Id])(sub_this, arg_list...);
+        }
+
+    private:
+        [[nodiscard]]
+        static const void* resolve_pattern(const std::string_view module_name, const std::string_view pattern)
+        {
+            const auto* base = get_module_base(module_name);
+            assert(base && "Failed to find module");
+
+#ifdef _WIN32
+            const auto result = PePatternScanner::scan_for_pattern_in_loaded_module(base, pattern);
+#elif defined(__APPLE__)
+            const auto result = MachOPatternScanner::scan_for_pattern_in_loaded_module(base, pattern);
+#else
+            const auto result = ElfPatternScanner::scan_for_pattern_in_loaded_module(base, pattern);
+#endif
+            assert(result.has_value() && "Pattern scan failed");
+            return reinterpret_cast<const void*>(*result);
+        }
+
+        [[nodiscard]]
+        static const void* get_module_base(const std::string_view module_name)
+        {
+#ifdef _WIN32
+            return GetModuleHandleA(module_name.data());
+#elif defined(__APPLE__)
+            // On macOS, iterate loaded images to find the module by name
+            const auto count = _dyld_image_count();
+            for (std::uint32_t i = 0; i < count; ++i)
+            {
+                const auto* name = _dyld_get_image_name(i);
+                if (name && std::string_view{name}.find(module_name) != std::string_view::npos)
+                    return static_cast<const void*>(_dyld_get_image_header(i));
+            }
+            return nullptr;
+#else
+            // On Linux, use dl_iterate_phdr to find loaded module by name
+            struct CallbackData
+            {
+                std::string_view name;
+                const void* base;
+            } cb_data{module_name, nullptr};
+
+            dl_iterate_phdr(
+                    [](dl_phdr_info* info, std::size_t, void* data) -> int
+                    {
+                        auto* cb = static_cast<CallbackData*>(data);
+                        if (info->dlpi_name
+                            && std::string_view{info->dlpi_name}.find(cb->name) != std::string_view::npos)
+                        {
+                            cb->base = reinterpret_cast<const void*>(info->dlpi_addr);
+                            return 1;
+                        }
+                        return 0;
+                    },
+                    &cb_data);
+            return cb_data.base;
 #endif
-            return (*static_cast<VirtualMethodType**>((void*)(this)))[id](
-                    const_cast<void*>(static_cast<const void*>(this)), arg_list...);
         }
     };
 } // namespace omath::rev_eng

include/omath/trigonometry/angle.hpp

@@ -36,6 +36,7 @@ namespace omath
         }
 
     public:
+        using ArithmeticType = Type;
         [[nodiscard]]
         constexpr static Angle from_degrees(const Type& degrees) noexcept
         {

include/omath/trigonometry/view_angles.hpp

@@ -2,14 +2,25 @@
 // Created by Orange on 11/30/2024.
 //
 #pragma once
-
+#include "omath/linear_algebra/vector3.hpp"
+#include <type_traits>
 namespace omath
 {
     template<class PitchType, class YawType, class RollType>
+    requires std::is_same_v<typename PitchType::ArithmeticType, typename YawType::ArithmeticType>
+             && std::is_same_v<typename YawType::ArithmeticType, typename RollType::ArithmeticType>
     struct ViewAngles
     {
+        using ArithmeticType = PitchType::ArithmeticType;
+
         PitchType pitch;
         YawType yaw;
         RollType roll;
+
+        [[nodiscard]]
+        Vector3<ArithmeticType> as_vector3() const
+        {
+            return {pitch.as_degrees(), yaw.as_degrees(), roll.as_degrees()};
+        }
     };
 } // namespace omath

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& red = m_value.x;
-            const float& green = y;
+            const float& green = m_value.y;
-            const float& blue = z;
+            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>(m_value.x * 255.f),
-                            static_cast<int>(y * 255.f),
+                            static_cast<int>(m_value.y * 255.f),
-                            static_cast<int>(z * 255.f),
+                            static_cast<int>(m_value.z * 255.f),
-                            static_cast<int>(w * 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]]
+    enum class ColorFormat { rgb, rgbf, hsv };
-    static constexpr auto parse(const std::format_parse_context& ctx)
+    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]]
+    auto format(const omath::Color& col, FormatContext& ctx) const
-    static auto format(const omath::Color& col, FormatContext& ctx)
     {
-        if constexpr (std::is_same_v<typename FormatContext::char_type, char>)
+        std::string str;
-            return std::format_to(ctx.out(), "{}", col.to_string());
+        switch (color_format)
-        if constexpr (std::is_same_v<typename FormatContext::char_type, wchar_t>)
+        {
-            return std::format_to(ctx.out(), L"{}", col.to_wstring());
+            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/elf_pattern_scan.hpp

@@ -5,6 +5,7 @@
 #include <cstdint>
 #include <filesystem>
 #include <optional>
+#include <span>
 #include <string_view>
 #include "section_scan_result.hpp"
 namespace omath
@@ -21,5 +22,10 @@ namespace omath
         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");
+
+        [[nodiscard]]
+        static std::optional<SectionScanResult>
+        scan_for_pattern_in_memory_file(std::span<const std::byte> file_data, const std::string_view& pattern,
+                                        const std::string_view& target_section_name = ".text");
     };
 } // namespace omath

include/omath/utility/macho_pattern_scan.hpp

@@ -5,6 +5,7 @@
 #include <cstdint>
 #include <filesystem>
 #include <optional>
+#include <span>
 #include <string_view>
 #include "section_scan_result.hpp"
 namespace omath
@@ -21,5 +22,10 @@ namespace omath
         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");
+
+        [[nodiscard]]
+        static std::optional<SectionScanResult>
+        scan_for_pattern_in_memory_file(std::span<const std::byte> file_data, const std::string_view& pattern,
+                                        const std::string_view& target_section_name = "__text");
     };
 } // namespace omath

include/omath/utility/pe_pattern_scan.hpp

@@ -6,6 +6,7 @@
 #include <cstdint>
 #include <filesystem>
 #include <optional>
+#include <span>
 #include <string_view>
 #include "section_scan_result.hpp"
 namespace omath
@@ -23,5 +24,10 @@ namespace omath
         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");
+
+        [[nodiscard]]
+        static std::optional<SectionScanResult>
+        scan_for_pattern_in_memory_file(std::span<const std::byte> file_data, const std::string_view& pattern,
+                                        const std::string_view& target_section_name = ".text");
     };
 } // namespace omath

pixi/run.benchmark.cmake

@@ -15,7 +15,10 @@ endif()
 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.")
+    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}")
@@ -48,11 +51,8 @@ foreach(EXAMPLE_PATH ${EXAMPLE_FILES})
     message(STATUS "Running benchmark: ${FILENAME}")
     message(STATUS "-------------------------------------------------")
 
-    execute_process(
+    execute_process(COMMAND "${EXAMPLE_PATH}" WORKING_DIRECTORY "${PROJECT_ROOT}"
-        COMMAND "${EXAMPLE_PATH}"
+                    RESULT_VARIABLE EXIT_CODE)
-        WORKING_DIRECTORY "${PROJECT_ROOT}"
-        RESULT_VARIABLE EXIT_CODE
-    )
 
     if(NOT EXIT_CODE EQUAL 0)
         message(WARNING "Benchmark ${FILENAME} exited with error code: ${EXIT_CODE}")

pixi/run.examples.cmake

@@ -15,7 +15,10 @@ endif()
 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.")
+    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}")
@@ -48,11 +51,8 @@ foreach(EXAMPLE_PATH ${EXAMPLE_FILES})
     message(STATUS "Running example: ${FILENAME}")
     message(STATUS "-------------------------------------------------")
 
-    execute_process(
+    execute_process(COMMAND "${EXAMPLE_PATH}" WORKING_DIRECTORY "${PROJECT_ROOT}"
-        COMMAND "${EXAMPLE_PATH}"
+                    RESULT_VARIABLE EXIT_CODE)
-        WORKING_DIRECTORY "${PROJECT_ROOT}"
-        RESULT_VARIABLE EXIT_CODE
-    )
 
     if(NOT EXIT_CODE EQUAL 0)
         message(WARNING "Example ${FILENAME} exited with error code: ${EXIT_CODE}")

pixi/run.unit.tests.cmake

@@ -15,7 +15,10 @@ endif()
 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.")
+    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}")
@@ -48,11 +51,8 @@ foreach(EXAMPLE_PATH ${EXAMPLE_FILES})
     message(STATUS "Running unit_tests: ${FILENAME}")
     message(STATUS "-------------------------------------------------")
 
-    execute_process(
+    execute_process(COMMAND "${EXAMPLE_PATH}" WORKING_DIRECTORY "${PROJECT_ROOT}"
-        COMMAND "${EXAMPLE_PATH}"
+                    RESULT_VARIABLE EXIT_CODE)
-        WORKING_DIRECTORY "${PROJECT_ROOT}"
-        RESULT_VARIABLE EXIT_CODE
-    )
 
     if(NOT EXIT_CODE EQUAL 0)
         message(WARNING "Example ${FILENAME} exited with error code: ${EXIT_CODE}")

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

scripts/coverage-llvm.sh

@@ -17,8 +17,35 @@ echo "[*] Output dir: ${OUTPUT_DIR}"
 find_llvm_tool() {
     local tool_name="$1"
 
-    # macOS: use xcrun
+    # First priority: derive from the actual compiler used by cmake (CMakeCache.txt).
+    # This guarantees the profraw format version matches the instrumented binary.
+    local cache_file="${BINARY_DIR}/CMakeCache.txt"
+    if [[ -f "$cache_file" ]]; then
+        local cmake_cxx
+        cmake_cxx=$(grep '^CMAKE_CXX_COMPILER:' "$cache_file" | cut -d= -f2)
+        if [[ -n "$cmake_cxx" && -x "$cmake_cxx" ]]; then
+            local tool_path
+            tool_path="$(dirname "$cmake_cxx")/${tool_name}"
+            if [[ -x "$tool_path" ]]; then
+                echo "$tool_path"
+                return 0
+            fi
+        fi
+    fi
+
+    # macOS: derive from xcrun clang as fallback
     if [[ "$(uname)" == "Darwin" ]]; then
+        local clang_path
+        clang_path=$(xcrun --find clang 2>/dev/null)
+        if [[ -n "$clang_path" ]]; then
+            local tool_path
+            tool_path="$(dirname "$clang_path")/${tool_name}"
+            if [[ -x "$tool_path" ]]; then
+                echo "$tool_path"
+                return 0
+            fi
+        fi
+        # Fallback: xcrun
         if xcrun --find "${tool_name}" &>/dev/null; then
             echo "xcrun ${tool_name}"
             return 0
@@ -51,6 +78,18 @@ fi
 echo "[*] Using: ${LLVM_PROFDATA}"
 echo "[*] Using: ${LLVM_COV}"
 
+# Print version info for debugging version mismatches
+if [[ "$(uname)" == "Darwin" ]]; then
+    echo "[*] Default clang: $(xcrun clang --version 2>&1 | head -1)"
+    # Show actual compiler used by the build (from CMakeCache.txt if available)
+    CACHE_FILE="${BINARY_DIR}/CMakeCache.txt"
+    if [[ -f "$CACHE_FILE" ]]; then
+        ACTUAL_CXX=$(grep '^CMAKE_CXX_COMPILER:' "$CACHE_FILE" | cut -d= -f2)
+        echo "[*] Build compiler: ${ACTUAL_CXX} ($(${ACTUAL_CXX} --version 2>&1 | head -1))"
+    fi
+    echo "[*] profdata: $(${LLVM_PROFDATA} show --version 2>&1 | head -1 || true)"
+fi
+
 # Find test binary
 if [[ -z "${TEST_BINARY}" ]]; then
     for path in \

source/engines/cry_engine/formulas.cpp

@@ -0,0 +1,49 @@
+//
+// 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, const NDCDepthRange ndc_depth_range) noexcept
+    {
+        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
+            return mat_perspective_left_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+                    field_of_view, aspect_ratio, near, far);
+
+        if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return mat_perspective_left_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
+                    field_of_view, aspect_ratio, near, far);
+        std::unreachable();
+    }
+} // namespace omath::unity_engine

source/engines/cry_engine/traits/camera_trait.cpp

@@ -0,0 +1,27 @@
+//
+// 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, const NDCDepthRange ndc_depth_range) noexcept
+    {
+        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far,
+                                                  ndc_depth_range);
+    }
+} // namespace omath::unity_engine