updated baseline

.github/FUNDING.yml

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

CODEOWNERS

@@ -1,37 +0,0 @@
-##   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

include/omath/collision/gjk_algorithm.hpp

@@ -14,15 +14,11 @@ 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,
@@ -40,8 +36,7 @@ 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});
 
@@ -50,11 +45,11 @@ namespace omath::collision
 
             auto direction = -support;
 
-            for (std::size_t iteration = 0; iteration < settings.max_iterations; ++iteration)
+            while (true)
             {
                 support = find_support_vertex(collider_a, collider_b, direction);
 
-                if (support.dot(direction) <= settings.epsilon)
+                if (support.dot(direction) <= 0.f)
                     return {false, simplex};
 
                 simplex.push_front(support);
@@ -62,7 +57,6 @@ namespace omath::collision
                 if (simplex.handle(direction))
                     return {true, simplex};
             }
-            return {false, simplex};
         }
     };
 } // namespace omath::collision

include/omath/collision/mesh_collider.hpp

@@ -46,26 +46,9 @@ namespace omath::collision
         [[nodiscard]]
         const VertexType& find_furthest_vertex(const VectorType& direction) const
         {
-            // The support query arrives in world space, but vertex positions are stored
+            return *std::ranges::max_element(
-            // in local space.  We need argmax_v { world(v) · d }.
+                    m_mesh.m_vertex_buffer, [&direction](const auto& first, const auto& second)
-            //
+                    { 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/linear_algebra/quaternion.hpp

@@ -1,219 +0,0 @@
-//
-// 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/omath.hpp

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

tests/general/unit_test_quaternion.cpp

@@ -1,402 +0,0 @@
-//
-// Created by vlad on 3/1/2026.
-//
-#include <omath/linear_algebra/quaternion.hpp>
-#include <cmath>
-#include <gtest/gtest.h>
-#include <numbers>
-
-using namespace omath;
-
-static constexpr float kEps = 1e-5f;
-
-// ── Helpers ──────────────────────────────────────────────────────────────────
-
-static void expect_quat_near(const Quaternion<float>& a, const Quaternion<float>& b, float eps = kEps)
-{
-    EXPECT_NEAR(a.x, b.x, eps);
-    EXPECT_NEAR(a.y, b.y, eps);
-    EXPECT_NEAR(a.z, b.z, eps);
-    EXPECT_NEAR(a.w, b.w, eps);
-}
-
-static void expect_vec3_near(const Vector3<float>& a, const Vector3<float>& b, float eps = kEps)
-{
-    EXPECT_NEAR(a.x, b.x, eps);
-    EXPECT_NEAR(a.y, b.y, eps);
-    EXPECT_NEAR(a.z, b.z, eps);
-}
-
-// ── Constructors ─────────────────────────────────────────────────────────────
-
-TEST(Quaternion, DefaultConstructorIsIdentity)
-{
-    constexpr Quaternion<float> q;
-    EXPECT_FLOAT_EQ(q.x, 0.f);
-    EXPECT_FLOAT_EQ(q.y, 0.f);
-    EXPECT_FLOAT_EQ(q.z, 0.f);
-    EXPECT_FLOAT_EQ(q.w, 1.f);
-}
-
-TEST(Quaternion, ValueConstructor)
-{
-    constexpr Quaternion<float> q{1.f, 2.f, 3.f, 4.f};
-    EXPECT_FLOAT_EQ(q.x, 1.f);
-    EXPECT_FLOAT_EQ(q.y, 2.f);
-    EXPECT_FLOAT_EQ(q.z, 3.f);
-    EXPECT_FLOAT_EQ(q.w, 4.f);
-}
-
-TEST(Quaternion, DoubleInstantiation)
-{
-    constexpr Quaternion<double> q{0.0, 0.0, 0.0, 1.0};
-    EXPECT_DOUBLE_EQ(q.w, 1.0);
-}
-
-// ── Equality ─────────────────────────────────────────────────────────────────
-
-TEST(Quaternion, EqualityOperators)
-{
-    constexpr Quaternion<float> a{1.f, 2.f, 3.f, 4.f};
-    constexpr Quaternion<float> b{1.f, 2.f, 3.f, 4.f};
-    constexpr Quaternion<float> c{1.f, 2.f, 3.f, 5.f};
-
-    EXPECT_TRUE(a == b);
-    EXPECT_FALSE(a == c);
-    EXPECT_FALSE(a != b);
-    EXPECT_TRUE(a != c);
-}
-
-// ── Arithmetic ───────────────────────────────────────────────────────────────
-
-TEST(Quaternion, ScalarMultiply)
-{
-    constexpr Quaternion<float> q{1.f, 2.f, 3.f, 4.f};
-    constexpr auto r = q * 2.f;
-    EXPECT_FLOAT_EQ(r.x, 2.f);
-    EXPECT_FLOAT_EQ(r.y, 4.f);
-    EXPECT_FLOAT_EQ(r.z, 6.f);
-    EXPECT_FLOAT_EQ(r.w, 8.f);
-}
-
-TEST(Quaternion, ScalarMultiplyAssign)
-{
-    Quaternion<float> q{1.f, 2.f, 3.f, 4.f};
-    q *= 3.f;
-    EXPECT_FLOAT_EQ(q.x, 3.f);
-    EXPECT_FLOAT_EQ(q.y, 6.f);
-    EXPECT_FLOAT_EQ(q.z, 9.f);
-    EXPECT_FLOAT_EQ(q.w, 12.f);
-}
-
-TEST(Quaternion, Addition)
-{
-    constexpr Quaternion<float> a{1.f, 2.f, 3.f, 4.f};
-    constexpr Quaternion<float> b{4.f, 3.f, 2.f, 1.f};
-    constexpr auto r = a + b;
-    EXPECT_FLOAT_EQ(r.x, 5.f);
-    EXPECT_FLOAT_EQ(r.y, 5.f);
-    EXPECT_FLOAT_EQ(r.z, 5.f);
-    EXPECT_FLOAT_EQ(r.w, 5.f);
-}
-
-TEST(Quaternion, AdditionAssign)
-{
-    Quaternion<float> a{1.f, 0.f, 0.f, 0.f};
-    const Quaternion<float> b{0.f, 1.f, 0.f, 0.f};
-    a += b;
-    EXPECT_FLOAT_EQ(a.x, 1.f);
-    EXPECT_FLOAT_EQ(a.y, 1.f);
-}
-
-TEST(Quaternion, UnaryNegation)
-{
-    constexpr Quaternion<float> q{1.f, -2.f, 3.f, -4.f};
-    constexpr auto r = -q;
-    EXPECT_FLOAT_EQ(r.x, -1.f);
-    EXPECT_FLOAT_EQ(r.y,  2.f);
-    EXPECT_FLOAT_EQ(r.z, -3.f);
-    EXPECT_FLOAT_EQ(r.w,  4.f);
-}
-
-// ── Hamilton product ──────────────────────────────────────────────────────────
-
-TEST(Quaternion, MultiplyByIdentityIsNoop)
-{
-    constexpr Quaternion<float> identity;
-    constexpr Quaternion<float> q{0.5f, 0.5f, 0.5f, 0.5f};
-    expect_quat_near(q * identity, q);
-    expect_quat_near(identity * q, q);
-}
-
-TEST(Quaternion, MultiplyAssign)
-{
-    constexpr Quaternion<float> identity;
-    Quaternion<float> q{0.5f, 0.5f, 0.5f, 0.5f};
-    q *= identity;
-    expect_quat_near(q, {0.5f, 0.5f, 0.5f, 0.5f});
-}
-
-TEST(Quaternion, MultiplyKnownResult)
-{
-    // i * j = k  →  (1,0,0,0) * (0,1,0,0) = (0,0,1,0)
-    constexpr Quaternion<float> i{1.f, 0.f, 0.f, 0.f};
-    constexpr Quaternion<float> j{0.f, 1.f, 0.f, 0.f};
-    constexpr auto k = i * j;
-    EXPECT_FLOAT_EQ(k.x, 0.f);
-    EXPECT_FLOAT_EQ(k.y, 0.f);
-    EXPECT_FLOAT_EQ(k.z, 1.f);
-    EXPECT_FLOAT_EQ(k.w, 0.f);
-}
-
-TEST(Quaternion, MultiplyByInverseGivesIdentity)
-{
-    const Quaternion<float> q = Quaternion<float>::from_axis_angle({0.f, 0.f, 1.f},
-                                                                     std::numbers::pi_v<float> / 3.f);
-    const auto result = q * q.inverse();
-    expect_quat_near(result, Quaternion<float>{});
-}
-
-// ── Conjugate ────────────────────────────────────────────────────────────────
-
-TEST(Quaternion, Conjugate)
-{
-    constexpr Quaternion<float> q{1.f, 2.f, 3.f, 4.f};
-    constexpr auto c = q.conjugate();
-    EXPECT_FLOAT_EQ(c.x, -1.f);
-    EXPECT_FLOAT_EQ(c.y, -2.f);
-    EXPECT_FLOAT_EQ(c.z, -3.f);
-    EXPECT_FLOAT_EQ(c.w,  4.f);
-}
-
-TEST(Quaternion, ConjugateOfIdentityIsIdentity)
-{
-    constexpr Quaternion<float> id;
-    constexpr auto c = id.conjugate();
-    EXPECT_FLOAT_EQ(c.x, 0.f);
-    EXPECT_FLOAT_EQ(c.y, 0.f);
-    EXPECT_FLOAT_EQ(c.z, 0.f);
-    EXPECT_FLOAT_EQ(c.w, 1.f);
-}
-
-// ── Dot / length ─────────────────────────────────────────────────────────────
-
-TEST(Quaternion, Dot)
-{
-    constexpr Quaternion<float> a{1.f, 0.f, 0.f, 0.f};
-    constexpr Quaternion<float> b{0.f, 1.f, 0.f, 0.f};
-    EXPECT_FLOAT_EQ(a.dot(b), 0.f);
-    EXPECT_FLOAT_EQ(a.dot(a), 1.f);
-}
-
-TEST(Quaternion, LengthSqrIdentity)
-{
-    constexpr Quaternion<float> id;
-    EXPECT_FLOAT_EQ(id.length_sqr(), 1.f);
-}
-
-TEST(Quaternion, LengthSqrGeneral)
-{
-    constexpr Quaternion<float> q{1.f, 2.f, 3.f, 4.f};
-    EXPECT_FLOAT_EQ(q.length_sqr(), 30.f);
-}
-
-TEST(Quaternion, LengthIdentity)
-{
-    const Quaternion<float> id;
-    EXPECT_NEAR(id.length(), 1.f, kEps);
-}
-
-TEST(Quaternion, Normalized)
-{
-    const Quaternion<float> q{1.f, 1.f, 1.f, 1.f};
-    const auto n = q.normalized();
-    EXPECT_NEAR(n.length(), 1.f, kEps);
-    EXPECT_NEAR(n.x, 0.5f, kEps);
-    EXPECT_NEAR(n.y, 0.5f, kEps);
-    EXPECT_NEAR(n.z, 0.5f, kEps);
-    EXPECT_NEAR(n.w, 0.5f, kEps);
-}
-
-TEST(Quaternion, NormalizedOfZeroLengthReturnsSelf)
-{
-    // length_sqr = 0 would be UB, but zero-vector part + zero w is degenerate;
-    // we just verify the guard branch (divides by zero) doesn't crash by
-    // keeping length > 0 via the default constructor path.
-    const Quaternion<float> unit;
-    const auto n = unit.normalized();
-    expect_quat_near(n, unit);
-}
-
-// ── Inverse ───────────────────────────────────────────────────────────────────
-
-TEST(Quaternion, InverseOfUnitIsConjugate)
-{
-    const Quaternion<float> q = Quaternion<float>::from_axis_angle({1.f, 0.f, 0.f},
-                                                                     std::numbers::pi_v<float> / 4.f);
-    const auto inv = q.inverse();
-    const auto conj = q.conjugate();
-    expect_quat_near(inv, conj);
-}
-
-// ── from_axis_angle ──────────────────────────────────────────────────────────
-
-TEST(Quaternion, FromAxisAngleZeroAngleIsIdentity)
-{
-    const auto q = Quaternion<float>::from_axis_angle({1.f, 0.f, 0.f}, 0.f);
-    EXPECT_NEAR(q.x, 0.f, kEps);
-    EXPECT_NEAR(q.y, 0.f, kEps);
-    EXPECT_NEAR(q.z, 0.f, kEps);
-    EXPECT_NEAR(q.w, 1.f, kEps);
-}
-
-TEST(Quaternion, FromAxisAngle90DegZ)
-{
-    const float half_pi = std::numbers::pi_v<float> / 2.f;
-    const auto q = Quaternion<float>::from_axis_angle({0.f, 0.f, 1.f}, half_pi);
-    const float s = std::sin(half_pi / 2.f);
-    const float c = std::cos(half_pi / 2.f);
-    EXPECT_NEAR(q.x, 0.f, kEps);
-    EXPECT_NEAR(q.y, 0.f, kEps);
-    EXPECT_NEAR(q.z, s,   kEps);
-    EXPECT_NEAR(q.w, c,   kEps);
-}
-
-// ── rotate ───────────────────────────────────────────────────────────────────
-
-TEST(Quaternion, RotateByIdentityIsNoop)
-{
-    constexpr Quaternion<float> id;
-    constexpr Vector3<float> v{1.f, 2.f, 3.f};
-    const auto r = id.rotate(v);
-    expect_vec3_near(r, v);
-}
-
-TEST(Quaternion, Rotate90DegAroundZ)
-{
-    // Rotating (1,0,0) by 90° around Z should give (0,1,0)
-    const auto q = Quaternion<float>::from_axis_angle({0.f, 0.f, 1.f}, std::numbers::pi_v<float> / 2.f);
-    const auto r = q.rotate({1.f, 0.f, 0.f});
-    expect_vec3_near(r, {0.f, 1.f, 0.f});
-}
-
-TEST(Quaternion, Rotate180DegAroundY)
-{
-    // Rotating (1,0,0) by 180° around Y should give (-1,0,0)
-    const auto q = Quaternion<float>::from_axis_angle({0.f, 1.f, 0.f}, std::numbers::pi_v<float>);
-    const auto r = q.rotate({1.f, 0.f, 0.f});
-    expect_vec3_near(r, {-1.f, 0.f, 0.f});
-}
-
-TEST(Quaternion, Rotate90DegAroundX)
-{
-    // Rotating (0,1,0) by 90° around X should give (0,0,1)
-    const auto q = Quaternion<float>::from_axis_angle({1.f, 0.f, 0.f}, std::numbers::pi_v<float> / 2.f);
-    const auto r = q.rotate({0.f, 1.f, 0.f});
-    expect_vec3_near(r, {0.f, 0.f, 1.f});
-}
-
-// ── to_rotation_matrix3 ───────────────────────────────────────────────────────
-
-TEST(Quaternion, RotationMatrix3FromIdentityIsIdentityMatrix)
-{
-    constexpr Quaternion<float> id;
-    constexpr auto m = id.to_rotation_matrix3();
-    for (size_t i = 0; i < 3; ++i)
-        for (size_t j = 0; j < 3; ++j)
-            EXPECT_NEAR(m.at(i, j), i == j ? 1.f : 0.f, kEps);
-}
-
-TEST(Quaternion, RotationMatrix3From90DegZ)
-{
-    //  Expected:  | 0 -1  0 |
-    //             | 1  0  0 |
-    //             | 0  0  1 |
-    const auto q = Quaternion<float>::from_axis_angle({0.f, 0.f, 1.f}, std::numbers::pi_v<float> / 2.f);
-    const auto m = q.to_rotation_matrix3();
-    EXPECT_NEAR(m.at(0, 0),  0.f, kEps);
-    EXPECT_NEAR(m.at(0, 1), -1.f, kEps);
-    EXPECT_NEAR(m.at(0, 2),  0.f, kEps);
-    EXPECT_NEAR(m.at(1, 0),  1.f, kEps);
-    EXPECT_NEAR(m.at(1, 1),  0.f, kEps);
-    EXPECT_NEAR(m.at(1, 2),  0.f, kEps);
-    EXPECT_NEAR(m.at(2, 0),  0.f, kEps);
-    EXPECT_NEAR(m.at(2, 1),  0.f, kEps);
-    EXPECT_NEAR(m.at(2, 2),  1.f, kEps);
-}
-
-TEST(Quaternion, RotationMatrix3ConsistentWithRotate)
-{
-    // Matrix-vector multiply must agree with the rotate() method
-    const auto q = Quaternion<float>::from_axis_angle({1.f, 1.f, 0.f}, std::numbers::pi_v<float> / 3.f);
-    const Vector3<float> v{2.f, -1.f, 0.5f};
-
-    const auto rotated = q.rotate(v);
-    const auto m = q.to_rotation_matrix3();
-
-    // manual mat-vec multiply (row-major)
-    const float rx = m.at(0, 0) * v.x + m.at(0, 1) * v.y + m.at(0, 2) * v.z;
-    const float ry = m.at(1, 0) * v.x + m.at(1, 1) * v.y + m.at(1, 2) * v.z;
-    const float rz = m.at(2, 0) * v.x + m.at(2, 1) * v.y + m.at(2, 2) * v.z;
-
-    EXPECT_NEAR(rotated.x, rx, kEps);
-    EXPECT_NEAR(rotated.y, ry, kEps);
-    EXPECT_NEAR(rotated.z, rz, kEps);
-}
-
-// ── to_rotation_matrix4 ───────────────────────────────────────────────────────
-
-TEST(Quaternion, RotationMatrix4FromIdentityIsIdentityMatrix)
-{
-    constexpr Quaternion<float> id;
-    constexpr auto m = id.to_rotation_matrix4();
-    for (size_t i = 0; i < 4; ++i)
-        for (size_t j = 0; j < 4; ++j)
-            EXPECT_NEAR(m.at(i, j), i == j ? 1.f : 0.f, kEps);
-}
-
-TEST(Quaternion, RotationMatrix4HomogeneousRowAndColumn)
-{
-    const auto q = Quaternion<float>::from_axis_angle({1.f, 0.f, 0.f}, std::numbers::pi_v<float> / 5.f);
-    const auto m = q.to_rotation_matrix4();
-
-    // Last row and last column must be (0,0,0,1)
-    for (size_t i = 0; i < 3; ++i)
-    {
-        EXPECT_NEAR(m.at(3, i), 0.f, kEps);
-        EXPECT_NEAR(m.at(i, 3), 0.f, kEps);
-    }
-    EXPECT_NEAR(m.at(3, 3), 1.f, kEps);
-}
-
-TEST(Quaternion, RotationMatrix4Upper3x3MatchesMatrix3)
-{
-    const auto q = Quaternion<float>::from_axis_angle({0.f, 1.f, 0.f}, std::numbers::pi_v<float> / 7.f);
-    const auto m3 = q.to_rotation_matrix3();
-    const auto m4 = q.to_rotation_matrix4();
-
-    for (size_t i = 0; i < 3; ++i)
-        for (size_t j = 0; j < 3; ++j)
-            EXPECT_NEAR(m4.at(i, j), m3.at(i, j), kEps);
-}
-
-// ── as_array ──────────────────────────────────────────────────────────────────
-
-TEST(Quaternion, AsArray)
-{
-    constexpr Quaternion<float> q{1.f, 2.f, 3.f, 4.f};
-    constexpr auto arr = q.as_array();
-    EXPECT_FLOAT_EQ(arr[0], 1.f);
-    EXPECT_FLOAT_EQ(arr[1], 2.f);
-    EXPECT_FLOAT_EQ(arr[2], 3.f);
-    EXPECT_FLOAT_EQ(arr[3], 4.f);
-}
-
-// ── std::formatter ────────────────────────────────────────────────────────────
-
-TEST(Quaternion, Formatter)
-{
-    const Quaternion<float> q{1.f, 2.f, 3.f, 4.f};
-    const auto s = std::format("{}", q);
-    EXPECT_EQ(s, "[1, 2, 3, 4]");
-}

vcpkg-configuration.json

@@ -1,7 +1,7 @@
 {
   "default-registry": {
     "kind": "git",
-    "baseline": "b1b19307e2d2ec1eefbdb7ea069de7d4bcd31f01",
+    "baseline": "05442024c3fda64320bd25d2251cc9807b84fb6f",
     "repository": "https://github.com/microsoft/vcpkg"
   },
   "registries": [