added more tests

Feature/serailization

CMakeLists.txt

@@ -34,6 +34,8 @@ option(OMATH_ENABLE_FORCE_INLINE
 
 option(OMATH_ENABLE_LUA
         "omath bindings for lua" OFF)
+option(OMATH_ENABLE_PHYSX
+        "PhysX-backed collider implementations" OFF)
 if(VCPKG_MANIFEST_FEATURES)
     foreach(omath_feature IN LISTS VCPKG_MANIFEST_FEATURES)
         if(omath_feature STREQUAL "imgui")
@@ -48,6 +50,8 @@ if(VCPKG_MANIFEST_FEATURES)
             set(OMATH_BUILD_EXAMPLES ON)
         elseif(omath_feature STREQUAL "lua")
             set(OMATH_ENABLE_LUA ON)
+        elseif(omath_feature STREQUAL "physx")
+            set(OMATH_ENABLE_PHYSX ON)
         endif()
 
     endforeach()
@@ -78,6 +82,7 @@ if(${PROJECT_IS_TOP_LEVEL})
     message(STATUS "[${PROJECT_NAME}]: Coverage feature status ${OMATH_ENABLE_COVERAGE}")
     message(STATUS "[${PROJECT_NAME}]: Valgrind feature status ${OMATH_ENABLE_VALGRIND}")
     message(STATUS "[${PROJECT_NAME}]: Lua feature status ${OMATH_ENABLE_LUA}")
+    message(STATUS "[${PROJECT_NAME}]: PhysX feature status ${OMATH_ENABLE_PHYSX}")
 endif()
 
 file(GLOB_RECURSE OMATH_SOURCES CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/source/*.cpp")
@@ -100,6 +105,13 @@ if (OMATH_ENABLE_LUA)
     target_include_directories(${PROJECT_NAME} PRIVATE ${SOL2_INCLUDE_DIRS})
 endif ()
 
+if (OMATH_ENABLE_PHYSX)
+    target_compile_definitions(${PROJECT_NAME} PUBLIC OMATH_ENABLE_PHYSX)
+
+    find_package(unofficial-omniverse-physx-sdk CONFIG REQUIRED)
+    target_link_libraries(${PROJECT_NAME} PUBLIC unofficial::omniverse-physx-sdk::sdk)
+endif ()
+
 add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
 
 target_compile_definitions(${PROJECT_NAME} PUBLIC OMATH_VERSION="${PROJECT_VERSION}")

CMakePresets.json

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

include/omath/collision/physx_box_collider.hpp

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

include/omath/collision/physx_rigid_body.hpp

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

include/omath/collision/physx_sphere_collider.hpp

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

include/omath/collision/physx_world.hpp

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

include/omath/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

source/lua/lua_pattern_scan.cpp

@@ -10,7 +10,6 @@
 #include <omath/utility/pe_pattern_scan.hpp>
 #include <omath/utility/section_scan_result.hpp>
 #include <sol/sol.hpp>
-#endif
 
 namespace omath::lua
 {
@@ -101,4 +100,5 @@ namespace omath::lua
             return *result;
         };
     }
-} // namespace omath::lua
+} // namespace omath::lua
+#endif

source/pathfinding/navigation_mesh.cpp

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

tests/general/unit_test_a_star.cpp

@@ -8,6 +8,29 @@
 using namespace omath;
 using namespace omath::pathfinding;
 
+// ---------------------------------------------------------------------------
+// Helpers
+// ---------------------------------------------------------------------------
+
+static NavigationMesh make_linear_chain(int length)
+{
+    // 0 -> 1 -> 2 -> ... -> length-1  (directed)
+    NavigationMesh nav;
+    for (int i = 0; i < length; ++i)
+    {
+        const Vector3<float> v{static_cast<float>(i), 0.f, 0.f};
+        if (i + 1 < length)
+            nav.m_vertex_map[v] = {Vector3<float>{static_cast<float>(i + 1), 0.f, 0.f}};
+        else
+            nav.m_vertex_map[v] = {};
+    }
+    return nav;
+}
+
+// ---------------------------------------------------------------------------
+// Basic reachability
+// ---------------------------------------------------------------------------
+
 TEST(AStarExtra, TrivialNeighbor)
 {
     NavigationMesh nav;
@@ -78,7 +101,7 @@ TEST(AStarExtra, LongerPathAvoidsBlock)
     constexpr Vector3<float> goal = idx(2, 1);
     const auto path = Astar::find_path(start, goal, nav);
     ASSERT_FALSE(path.empty());
-    EXPECT_EQ(path.front(), goal); // Astar convention: single-element or endpoint present
+    EXPECT_EQ(path.front(), goal);
 }
 
 TEST(AstarTests, TrivialDirectNeighborPath)
@@ -91,9 +114,6 @@ TEST(AstarTests, TrivialDirectNeighborPath)
     nav.m_vertex_map.emplace(v2, std::vector<Vector3<float>>{v1});
 
     const auto path = Astar::find_path(v1, v2, nav);
-    // Current A* implementation returns the end vertex as the reconstructed
-    // path (single-element) in the simple neighbor scenario. Assert that the
-    // endpoint is present and reachable.
     ASSERT_EQ(path.size(), 1u);
     EXPECT_EQ(path.front(), v2);
 }
@@ -133,4 +153,155 @@ TEST(unit_test_a_star, finding_right_path)
     mesh.m_vertex_map[{0.f, 2.f, 0.f}] = {{0.f, 3.f, 0.f}};
     mesh.m_vertex_map[{0.f, 3.f, 0.f}] = {};
     std::ignore = omath::pathfinding::Astar::find_path({}, {0.f, 3.f, 0.f}, mesh);
-}
+}
+
+// ---------------------------------------------------------------------------
+// Directed edges
+// ---------------------------------------------------------------------------
+
+TEST(AstarTests, DirectedEdge_ForwardPathExists)
+{
+    // A -> B only; path from A to B should succeed
+    NavigationMesh nav;
+    constexpr Vector3<float> a{0.f, 0.f, 0.f};
+    constexpr Vector3<float> b{1.f, 0.f, 0.f};
+    nav.m_vertex_map[a] = {b};
+    nav.m_vertex_map[b] = {}; // no edge back
+
+    const auto path = Astar::find_path(a, b, nav);
+    ASSERT_FALSE(path.empty());
+    EXPECT_EQ(path.back(), b);
+}
+
+TEST(AstarTests, DirectedEdge_ReversePathMissing)
+{
+    // A -> B only; path from B to A should fail
+    NavigationMesh nav;
+    constexpr Vector3<float> a{0.f, 0.f, 0.f};
+    constexpr Vector3<float> b{1.f, 0.f, 0.f};
+    nav.m_vertex_map[a] = {b};
+    nav.m_vertex_map[b] = {};
+
+    const auto path = Astar::find_path(b, a, nav);
+    EXPECT_TRUE(path.empty());
+}
+
+// ---------------------------------------------------------------------------
+// Vertex snapping
+// ---------------------------------------------------------------------------
+
+TEST(AstarTests, OffMeshStart_SnapsToNearestVertex)
+{
+    NavigationMesh nav;
+    constexpr Vector3<float> v1{0.f, 0.f, 0.f};
+    constexpr Vector3<float> v2{10.f, 0.f, 0.f};
+    nav.m_vertex_map[v1] = {v2};
+    nav.m_vertex_map[v2] = {v1};
+
+    // Start is slightly off v1 but closer to it than to v2
+    constexpr Vector3<float> off_start{0.1f, 0.f, 0.f};
+    const auto path = Astar::find_path(off_start, v2, nav);
+    ASSERT_FALSE(path.empty());
+    EXPECT_EQ(path.back(), v2);
+}
+
+TEST(AstarTests, OffMeshEnd_SnapsToNearestVertex)
+{
+    NavigationMesh nav;
+    constexpr Vector3<float> v1{0.f, 0.f, 0.f};
+    constexpr Vector3<float> v2{10.f, 0.f, 0.f};
+    nav.m_vertex_map[v1] = {v2};
+    nav.m_vertex_map[v2] = {v1};
+
+    // Goal is slightly off v2 but closer to it than to v1
+    constexpr Vector3<float> off_goal{9.9f, 0.f, 0.f};
+    const auto path = Astar::find_path(v1, off_goal, nav);
+    ASSERT_FALSE(path.empty());
+    EXPECT_EQ(path.back(), v2);
+}
+
+// ---------------------------------------------------------------------------
+// Cycle handling
+// ---------------------------------------------------------------------------
+
+TEST(AstarTests, CyclicGraph_FindsPathWithoutLooping)
+{
+    // Triangle: A <-> B <-> C <-> A
+    NavigationMesh nav;
+    constexpr Vector3<float> a{0.f, 0.f, 0.f};
+    constexpr Vector3<float> b{1.f, 0.f, 0.f};
+    constexpr Vector3<float> c{0.5f, 1.f, 0.f};
+    nav.m_vertex_map[a] = {b, c};
+    nav.m_vertex_map[b] = {a, c};
+    nav.m_vertex_map[c] = {a, b};
+
+    const auto path = Astar::find_path(a, c, nav);
+    ASSERT_FALSE(path.empty());
+    EXPECT_EQ(path.back(), c);
+}
+
+TEST(AstarTests, SelfLoopVertex_DoesNotBreakSearch)
+{
+    // Vertex with itself as a neighbor
+    NavigationMesh nav;
+    constexpr Vector3<float> a{0.f, 0.f, 0.f};
+    constexpr Vector3<float> b{1.f, 0.f, 0.f};
+    nav.m_vertex_map[a] = {a, b}; // self-loop on a
+    nav.m_vertex_map[b] = {a};
+
+    const auto path = Astar::find_path(a, b, nav);
+    ASSERT_FALSE(path.empty());
+    EXPECT_EQ(path.back(), b);
+}
+
+// ---------------------------------------------------------------------------
+// Longer chains
+// ---------------------------------------------------------------------------
+
+TEST(AstarTests, LinearChain_ReachesEnd)
+{
+    constexpr int kLength = 10;
+    const NavigationMesh nav = make_linear_chain(kLength);
+
+    const Vector3<float> start{0.f, 0.f, 0.f};
+    const Vector3<float> goal{static_cast<float>(kLength - 1), 0.f, 0.f};
+
+    const auto path = Astar::find_path(start, goal, nav);
+    ASSERT_FALSE(path.empty());
+    EXPECT_EQ(path.back(), goal);
+}
+
+TEST(AstarTests, LinearChain_MidpointReachable)
+{
+    constexpr int kLength = 6;
+    const NavigationMesh nav = make_linear_chain(kLength);
+
+    const Vector3<float> start{0.f, 0.f, 0.f};
+    const Vector3<float> mid{3.f, 0.f, 0.f};
+
+    const auto path = Astar::find_path(start, mid, nav);
+    ASSERT_FALSE(path.empty());
+    EXPECT_EQ(path.back(), mid);
+}
+
+// ---------------------------------------------------------------------------
+// Serialize -> pathfind integration
+// ---------------------------------------------------------------------------
+
+TEST(AstarTests, PathfindAfterSerializeDeserialize)
+{
+    NavigationMesh nav;
+    constexpr Vector3<float> a{0.f, 0.f, 0.f};
+    constexpr Vector3<float> b{1.f, 0.f, 0.f};
+    constexpr Vector3<float> c{2.f, 0.f, 0.f};
+    nav.m_vertex_map[a] = {b};
+    nav.m_vertex_map[b] = {a, c};
+    nav.m_vertex_map[c] = {b};
+
+    NavigationMesh nav2;
+    nav2.deserialize(nav.serialize());
+
+    const auto path = Astar::find_path(a, c, nav2);
+    ASSERT_FALSE(path.empty());
+    EXPECT_EQ(path.back(), c);
+}

tests/general/unit_test_navigation_mesh.cpp

@@ -7,19 +7,18 @@ using namespace omath::pathfinding;
 TEST(NavigationMeshTests, SerializeDeserializeRoundTrip)
 {
     NavigationMesh nav;
-    Vector3<float> a{0.f,0.f,0.f};
+    Vector3<float> a{0.f, 0.f, 0.f};
-    Vector3<float> b{1.f,0.f,0.f};
+    Vector3<float> b{1.f, 0.f, 0.f};
-    Vector3<float> c{0.f,1.f,0.f};
+    Vector3<float> c{0.f, 1.f, 0.f};
 
-    nav.m_vertex_map.emplace(a, std::vector<Vector3<float>>{b,c});
+    nav.m_vertex_map.emplace(a, std::vector<Vector3<float>>{b, c});
     nav.m_vertex_map.emplace(b, std::vector<Vector3<float>>{a});
     nav.m_vertex_map.emplace(c, std::vector<Vector3<float>>{a});
 
-    auto data = nav.serialize();
+    std::string data = nav.serialize();
     NavigationMesh nav2;
     EXPECT_NO_THROW(nav2.deserialize(data));
 
-    // verify neighbors preserved
     EXPECT_EQ(nav2.m_vertex_map.size(), nav.m_vertex_map.size());
     EXPECT_EQ(nav2.get_neighbors(a).size(), 2u);
 }
@@ -27,7 +26,223 @@ TEST(NavigationMeshTests, SerializeDeserializeRoundTrip)
 TEST(NavigationMeshTests, GetClosestVertexWhenEmpty)
 {
     const NavigationMesh nav;
-    constexpr Vector3<float> p{5.f,5.f,5.f};
+    constexpr Vector3<float> p{5.f, 5.f, 5.f};
     const auto res = nav.get_closest_vertex(p);
     EXPECT_FALSE(res.has_value());
 }
+
+TEST(NavigationMeshTests, SerializeEmptyMesh)
+{
+    const NavigationMesh nav;
+    const std::string data = nav.serialize();
+    EXPECT_TRUE(data.empty());
+}
+
+TEST(NavigationMeshTests, DeserializeEmptyString)
+{
+    NavigationMesh nav;
+    EXPECT_NO_THROW(nav.deserialize(""));
+    EXPECT_TRUE(nav.empty());
+}
+
+TEST(NavigationMeshTests, SerializeProducesHumanReadableText)
+{
+    NavigationMesh nav;
+    nav.m_vertex_map.emplace(Vector3<float>{1.f, 2.f, 3.f}, std::vector<Vector3<float>>{{4.f, 5.f, 6.f}});
+
+    const std::string data = nav.serialize();
+
+    // Must contain the vertex and neighbor coords as plain text
+    EXPECT_NE(data.find("1"), std::string::npos);
+    EXPECT_NE(data.find("2"), std::string::npos);
+    EXPECT_NE(data.find("3"), std::string::npos);
+    EXPECT_NE(data.find("4"), std::string::npos);
+    EXPECT_NE(data.find("5"), std::string::npos);
+    EXPECT_NE(data.find("6"), std::string::npos);
+}
+
+TEST(NavigationMeshTests, DeserializeRestoresNeighborValues)
+{
+    NavigationMesh nav;
+    const Vector3<float> v{1.f, 2.f, 3.f};
+    const Vector3<float> n1{4.f, 5.f, 6.f};
+    const Vector3<float> n2{7.f, 8.f, 9.f};
+    nav.m_vertex_map.emplace(v, std::vector<Vector3<float>>{n1, n2});
+
+    NavigationMesh nav2;
+    nav2.deserialize(nav.serialize());
+
+    ASSERT_EQ(nav2.m_vertex_map.count(v), 1u);
+    const auto& neighbors = nav2.get_neighbors(v);
+    ASSERT_EQ(neighbors.size(), 2u);
+    EXPECT_EQ(neighbors[0], n1);
+    EXPECT_EQ(neighbors[1], n2);
+}
+
+TEST(NavigationMeshTests, DeserializeOverwritesPreviousData)
+{
+    NavigationMesh nav;
+    const Vector3<float> v{1.f, 0.f, 0.f};
+    nav.m_vertex_map.emplace(v, std::vector<Vector3<float>>{});
+
+    // Load a different mesh into the same object
+    NavigationMesh other;
+    const Vector3<float> a{10.f, 20.f, 30.f};
+    other.m_vertex_map.emplace(a, std::vector<Vector3<float>>{});
+
+    nav.deserialize(other.serialize());
+
+    EXPECT_EQ(nav.m_vertex_map.size(), 1u);
+    EXPECT_EQ(nav.m_vertex_map.count(v), 0u);
+    EXPECT_EQ(nav.m_vertex_map.count(a), 1u);
+}
+
+TEST(NavigationMeshTests, RoundTripNegativeAndFractionalCoords)
+{
+    NavigationMesh nav;
+    const Vector3<float> v{-1.5f, 0.25f, -3.75f};
+    const Vector3<float> n{100.f, -200.f, 0.001f};
+    nav.m_vertex_map.emplace(v, std::vector<Vector3<float>>{n});
+
+    NavigationMesh nav2;
+    nav2.deserialize(nav.serialize());
+
+    ASSERT_EQ(nav2.m_vertex_map.count(v), 1u);
+    const auto& neighbors = nav2.get_neighbors(v);
+    ASSERT_EQ(neighbors.size(), 1u);
+    EXPECT_NEAR(neighbors[0].x, n.x, 1e-3f);
+    EXPECT_NEAR(neighbors[0].y, n.y, 1e-3f);
+    EXPECT_NEAR(neighbors[0].z, n.z, 1e-3f);
+}
+
+TEST(NavigationMeshTests, GetClosestVertexReturnsNearest)
+{
+    NavigationMesh nav;
+    const Vector3<float> a{0.f, 0.f, 0.f};
+    const Vector3<float> b{10.f, 0.f, 0.f};
+    nav.m_vertex_map.emplace(a, std::vector<Vector3<float>>{});
+    nav.m_vertex_map.emplace(b, std::vector<Vector3<float>>{});
+
+    const auto res = nav.get_closest_vertex({1.f, 0.f, 0.f});
+    ASSERT_TRUE(res.has_value());
+    EXPECT_EQ(res.value(), a);
+}
+
+TEST(NavigationMeshTests, VertexWithNoNeighborsRoundTrip)
+{
+    NavigationMesh nav;
+    const Vector3<float> v{5.f, 5.f, 5.f};
+    nav.m_vertex_map.emplace(v, std::vector<Vector3<float>>{});
+
+    NavigationMesh nav2;
+    nav2.deserialize(nav.serialize());
+
+    ASSERT_EQ(nav2.m_vertex_map.count(v), 1u);
+    EXPECT_TRUE(nav2.get_neighbors(v).empty());
+}
+
+// ---------------------------------------------------------------------------
+// Vertex events
+// ---------------------------------------------------------------------------
+
+TEST(NavigationMeshTests, SetEventOnNonExistentVertexThrows)
+{
+    NavigationMesh nav;
+    const Vector3<float> v{99.f, 99.f, 99.f};
+    EXPECT_THROW(nav.set_event(v, "jump"), std::invalid_argument);
+}
+
+TEST(NavigationMeshTests, EventNotSetByDefault)
+{
+    NavigationMesh nav;
+    const Vector3<float> v{0.f, 0.f, 0.f};
+    nav.m_vertex_map.emplace(v, std::vector<Vector3<float>>{});
+
+    EXPECT_FALSE(nav.get_event(v).has_value());
+}
+
+TEST(NavigationMeshTests, SetAndGetEvent)
+{
+    NavigationMesh nav;
+    const Vector3<float> v{1.f, 0.f, 0.f};
+    nav.m_vertex_map.emplace(v, std::vector<Vector3<float>>{});
+    nav.set_event(v, "jump");
+
+    const auto event = nav.get_event(v);
+    ASSERT_TRUE(event.has_value());
+    EXPECT_EQ(event.value(), "jump");
+}
+
+TEST(NavigationMeshTests, OverwriteEvent)
+{
+    NavigationMesh nav;
+    const Vector3<float> v{1.f, 0.f, 0.f};
+    nav.m_vertex_map.emplace(v, std::vector<Vector3<float>>{});
+    nav.set_event(v, "jump");
+    nav.set_event(v, "teleport");
+
+    EXPECT_EQ(nav.get_event(v).value(), "teleport");
+}
+
+TEST(NavigationMeshTests, ClearEvent)
+{
+    NavigationMesh nav;
+    const Vector3<float> v{1.f, 0.f, 0.f};
+    nav.m_vertex_map.emplace(v, std::vector<Vector3<float>>{});
+    nav.set_event(v, "jump");
+    nav.clear_event(v);
+
+    EXPECT_FALSE(nav.get_event(v).has_value());
+}
+
+TEST(NavigationMeshTests, EventRoundTripSerialization)
+{
+    NavigationMesh nav;
+    const Vector3<float> a{0.f, 0.f, 0.f};
+    const Vector3<float> b{1.f, 0.f, 0.f};
+    nav.m_vertex_map.emplace(a, std::vector<Vector3<float>>{b});
+    nav.m_vertex_map.emplace(b, std::vector<Vector3<float>>{});
+    nav.set_event(b, "jump");
+
+    NavigationMesh nav2;
+    nav2.deserialize(nav.serialize());
+
+    ASSERT_FALSE(nav2.get_event(a).has_value());
+    ASSERT_TRUE(nav2.get_event(b).has_value());
+    EXPECT_EQ(nav2.get_event(b).value(), "jump");
+}
+
+TEST(NavigationMeshTests, MultipleEventsRoundTrip)
+{
+    NavigationMesh nav;
+    const Vector3<float> a{0.f, 0.f, 0.f};
+    const Vector3<float> b{1.f, 0.f, 0.f};
+    const Vector3<float> c{2.f, 0.f, 0.f};
+    nav.m_vertex_map.emplace(a, std::vector<Vector3<float>>{});
+    nav.m_vertex_map.emplace(b, std::vector<Vector3<float>>{});
+    nav.m_vertex_map.emplace(c, std::vector<Vector3<float>>{});
+    nav.set_event(a, "spawn");
+    nav.set_event(c, "teleport");
+
+    NavigationMesh nav2;
+    nav2.deserialize(nav.serialize());
+
+    EXPECT_EQ(nav2.get_event(a).value(), "spawn");
+    EXPECT_FALSE(nav2.get_event(b).has_value());
+    EXPECT_EQ(nav2.get_event(c).value(), "teleport");
+}
+
+TEST(NavigationMeshTests, DeserializeClearsOldEvents)
+{
+    NavigationMesh nav;
+    const Vector3<float> v{0.f, 0.f, 0.f};
+    nav.m_vertex_map.emplace(v, std::vector<Vector3<float>>{});
+    nav.set_event(v, "jump");
+
+    // Deserialize a mesh that has no events
+    NavigationMesh empty_events;
+    empty_events.m_vertex_map.emplace(v, std::vector<Vector3<float>>{});
+
+    nav.deserialize(empty_events.serialize());
+    EXPECT_FALSE(nav.get_event(v).has_value());
+}

tests/general/unit_test_physx_colliders.cpp

@@ -0,0 +1,341 @@
+//
+// Created by orange-cpp
+//
+#ifdef OMATH_ENABLE_PHYSX
+
+#include <gtest/gtest.h>
+#include <omath/collision/gjk_algorithm.hpp>
+#include <omath/collision/physx_box_collider.hpp>
+#include <omath/collision/physx_rigid_body.hpp>
+#include <omath/collision/physx_sphere_collider.hpp>
+#include <omath/collision/physx_world.hpp>
+
+using namespace omath::collision;
+using omath::Vector3;
+
+// ─── PhysXBoxCollider ────────────────────────────────────────────────────────
+
+TEST(PhysXBoxCollider, DefaultOriginIsZero)
+{
+    PhysXBoxCollider box({1.f, 1.f, 1.f});
+    EXPECT_EQ(box.get_origin(), Vector3<float>(0.f, 0.f, 0.f));
+}
+
+TEST(PhysXBoxCollider, SetAndGetOrigin)
+{
+    PhysXBoxCollider box({1.f, 1.f, 1.f}, {3.f, 4.f, 5.f});
+    EXPECT_EQ(box.get_origin(), Vector3<float>(3.f, 4.f, 5.f));
+
+    box.set_origin({-1.f, 0.f, 2.f});
+    EXPECT_EQ(box.get_origin(), Vector3<float>(-1.f, 0.f, 2.f));
+}
+
+TEST(PhysXBoxCollider, FurthestPointPositiveDirection)
+{
+    // Box centred at origin with half-extents (2, 3, 4).
+    // Direction (+x, +y, +z) → furthest corner is (+2, +3, +4).
+    PhysXBoxCollider box({2.f, 3.f, 4.f});
+    const auto p = box.find_abs_furthest_vertex_position({1.f, 1.f, 1.f});
+    EXPECT_FLOAT_EQ(p.x, 2.f);
+    EXPECT_FLOAT_EQ(p.y, 3.f);
+    EXPECT_FLOAT_EQ(p.z, 4.f);
+}
+
+TEST(PhysXBoxCollider, FurthestPointNegativeDirection)
+{
+    // Direction (-x, -y, -z) → furthest corner is (-2, -3, -4).
+    PhysXBoxCollider box({2.f, 3.f, 4.f});
+    const auto p = box.find_abs_furthest_vertex_position({-1.f, -1.f, -1.f});
+    EXPECT_FLOAT_EQ(p.x, -2.f);
+    EXPECT_FLOAT_EQ(p.y, -3.f);
+    EXPECT_FLOAT_EQ(p.z, -4.f);
+}
+
+TEST(PhysXBoxCollider, FurthestPointMixedDirection)
+{
+    // Direction (+x, -y, +z) → furthest corner is (+2, -3, +4).
+    PhysXBoxCollider box({2.f, 3.f, 4.f});
+    const auto p = box.find_abs_furthest_vertex_position({1.f, -1.f, 1.f});
+    EXPECT_FLOAT_EQ(p.x,  2.f);
+    EXPECT_FLOAT_EQ(p.y, -3.f);
+    EXPECT_FLOAT_EQ(p.z,  4.f);
+}
+
+TEST(PhysXBoxCollider, FurthestPointWithNonZeroOrigin)
+{
+    // Box at (10, 0, 0), half-extents (1, 1, 1). Direction +x → (11, 1, 1).
+    PhysXBoxCollider box({1.f, 1.f, 1.f}, {10.f, 0.f, 0.f});
+    const auto p = box.find_abs_furthest_vertex_position({1.f, 1.f, 1.f});
+    EXPECT_FLOAT_EQ(p.x, 11.f);
+    EXPECT_FLOAT_EQ(p.y,  1.f);
+    EXPECT_FLOAT_EQ(p.z,  1.f);
+}
+
+TEST(PhysXBoxCollider, SetHalfExtentsUpdatesGeometry)
+{
+    PhysXBoxCollider box({1.f, 1.f, 1.f});
+    box.set_half_extents({5.f, 6.f, 7.f});
+
+    const auto& he = box.get_geometry().halfExtents;
+    EXPECT_FLOAT_EQ(he.x, 5.f);
+    EXPECT_FLOAT_EQ(he.y, 6.f);
+    EXPECT_FLOAT_EQ(he.z, 7.f);
+
+    // Furthest vertex must reflect the new extents.
+    const auto p = box.find_abs_furthest_vertex_position({1.f, 1.f, 1.f});
+    EXPECT_FLOAT_EQ(p.x, 5.f);
+    EXPECT_FLOAT_EQ(p.y, 6.f);
+    EXPECT_FLOAT_EQ(p.z, 7.f);
+}
+
+// ─── PhysXSphereCollider ─────────────────────────────────────────────────────
+
+TEST(PhysXSphereCollider, DefaultOriginIsZero)
+{
+    PhysXSphereCollider sphere(1.f);
+    EXPECT_EQ(sphere.get_origin(), Vector3<float>(0.f, 0.f, 0.f));
+}
+
+TEST(PhysXSphereCollider, SetAndGetOrigin)
+{
+    PhysXSphereCollider sphere(1.f, {1.f, 2.f, 3.f});
+    EXPECT_EQ(sphere.get_origin(), Vector3<float>(1.f, 2.f, 3.f));
+
+    sphere.set_origin({-5.f, 0.f, 0.f});
+    EXPECT_EQ(sphere.get_origin(), Vector3<float>(-5.f, 0.f, 0.f));
+}
+
+TEST(PhysXSphereCollider, FurthestPointAlongPureXAxis)
+{
+    // Direction (1,0,0), radius 3 → furthest point is (3, 0, 0).
+    PhysXSphereCollider sphere(3.f);
+    const auto p = sphere.find_abs_furthest_vertex_position({1.f, 0.f, 0.f});
+    EXPECT_FLOAT_EQ(p.x, 3.f);
+    EXPECT_FLOAT_EQ(p.y, 0.f);
+    EXPECT_FLOAT_EQ(p.z, 0.f);
+}
+
+TEST(PhysXSphereCollider, FurthestPointAlongDiagonal)
+{
+    // Direction (1,1,0), radius 1 → furthest point at distance 1 from origin.
+    PhysXSphereCollider sphere(1.f);
+    const auto p = sphere.find_abs_furthest_vertex_position({1.f, 1.f, 0.f});
+    const float dist = std::sqrt(p.x * p.x + p.y * p.y + p.z * p.z);
+    EXPECT_NEAR(dist, 1.f, 1e-5f);
+}
+
+TEST(PhysXSphereCollider, FurthestPointWithNonZeroOrigin)
+{
+    // Sphere at (5, 0, 0), radius 2. Direction +x → (7, 0, 0).
+    PhysXSphereCollider sphere(2.f, {5.f, 0.f, 0.f});
+    const auto p = sphere.find_abs_furthest_vertex_position({1.f, 0.f, 0.f});
+    EXPECT_FLOAT_EQ(p.x, 7.f);
+    EXPECT_FLOAT_EQ(p.y, 0.f);
+    EXPECT_FLOAT_EQ(p.z, 0.f);
+}
+
+TEST(PhysXSphereCollider, ZeroDirectionReturnsOrigin)
+{
+    PhysXSphereCollider sphere(5.f, {1.f, 2.f, 3.f});
+    const auto p = sphere.find_abs_furthest_vertex_position({0.f, 0.f, 0.f});
+    EXPECT_EQ(p, sphere.get_origin());
+}
+
+TEST(PhysXSphereCollider, SetRadiusUpdatesGeometry)
+{
+    PhysXSphereCollider sphere(1.f);
+    sphere.set_radius(10.f);
+    EXPECT_FLOAT_EQ(sphere.get_radius(), 10.f);
+
+    // Furthest point along +x should now be at x = 10.
+    const auto p = sphere.find_abs_furthest_vertex_position({1.f, 0.f, 0.f});
+    EXPECT_FLOAT_EQ(p.x, 10.f);
+}
+
+// ─── GJK: Box vs Box ─────────────────────────────────────────────────────────
+
+using GjkBox    = omath::collision::GjkAlgorithm<PhysXBoxCollider>;
+using GjkSphere = omath::collision::GjkAlgorithm<PhysXSphereCollider>;
+
+TEST(PhysXBoxGjk, CollidingOverlap)
+{
+    // Two unit boxes: A at origin, B shifted by 0.5 — clearly overlapping.
+    const PhysXBoxCollider a({1.f, 1.f, 1.f});
+    const PhysXBoxCollider b({1.f, 1.f, 1.f}, {0.5f, 0.f, 0.f});
+    EXPECT_TRUE(GjkBox::is_collide(a, b));
+}
+
+TEST(PhysXBoxGjk, NotCollidingTouching)
+{
+    // Boxes exactly touching on the +X face: A[-1,1] and B[1,3] along X.
+    // GJK treats boundary contact (Minkowski difference passes through origin) as non-collision.
+    const PhysXBoxCollider a({1.f, 1.f, 1.f});
+    const PhysXBoxCollider b({1.f, 1.f, 1.f}, {2.f, 0.f, 0.f});
+    EXPECT_FALSE(GjkBox::is_collide(a, b));
+}
+
+TEST(PhysXBoxGjk, CollidingSlightOverlap)
+{
+    // Boxes overlapping by 0.1 along X: A[-1,1] and B[0.9,2.9].
+    const PhysXBoxCollider a({1.f, 1.f, 1.f});
+    const PhysXBoxCollider b({1.f, 1.f, 1.f}, {1.9f, 0.f, 0.f});
+    EXPECT_TRUE(GjkBox::is_collide(a, b));
+}
+
+TEST(PhysXBoxGjk, NotCollidingSeparated)
+{
+    // Boxes separated by a gap: A[-1,1] and B[3,5] along X.
+    const PhysXBoxCollider a({1.f, 1.f, 1.f});
+    const PhysXBoxCollider b({1.f, 1.f, 1.f}, {4.f, 0.f, 0.f});
+    EXPECT_FALSE(GjkBox::is_collide(a, b));
+}
+
+TEST(PhysXBoxGjk, CollidingSameOrigin)
+{
+    // Same position — fully overlapping.
+    const PhysXBoxCollider a({1.f, 1.f, 1.f});
+    const PhysXBoxCollider b({1.f, 1.f, 1.f});
+    EXPECT_TRUE(GjkBox::is_collide(a, b));
+}
+
+TEST(PhysXBoxGjk, NotCollidingDiagonalSeparation)
+{
+    // Boxes separated along a diagonal so no axis-aligned faces overlap.
+    const PhysXBoxCollider a({1.f, 1.f, 1.f});
+    const PhysXBoxCollider b({1.f, 1.f, 1.f}, {3.f, 3.f, 3.f});
+    EXPECT_FALSE(GjkBox::is_collide(a, b));
+}
+
+TEST(PhysXBoxGjk, DifferentSizesColliding)
+{
+    // Large box vs small box inside it.
+    const PhysXBoxCollider large({5.f, 5.f, 5.f});
+    const PhysXBoxCollider small_box({1.f, 1.f, 1.f}, {2.f, 0.f, 0.f});
+    EXPECT_TRUE(GjkBox::is_collide(large, small_box));
+}
+
+// ─── GJK: Sphere vs Sphere ───────────────────────────────────────────────────
+
+TEST(PhysXSphereGjk, CollidingOverlap)
+{
+    // Radii 1 each, centres 1 apart — overlapping.
+    const PhysXSphereCollider a(1.f);
+    const PhysXSphereCollider b(1.f, {1.f, 0.f, 0.f});
+    EXPECT_TRUE(GjkSphere::is_collide(a, b));
+}
+
+TEST(PhysXSphereGjk, CollidingSameOrigin)
+{
+    const PhysXSphereCollider a(1.f);
+    const PhysXSphereCollider b(1.f);
+    EXPECT_TRUE(GjkSphere::is_collide(a, b));
+}
+
+TEST(PhysXSphereGjk, NotCollidingSeparated)
+{
+    // Radii 1 each, centres 3 apart — gap of 1.
+    const PhysXSphereCollider a(1.f);
+    const PhysXSphereCollider b(1.f, {3.f, 0.f, 0.f});
+    EXPECT_FALSE(GjkSphere::is_collide(a, b));
+}
+
+TEST(PhysXSphereGjk, DifferentRadiiColliding)
+{
+    // r=2 and r=1, centres 2.5 apart — still overlapping.
+    const PhysXSphereCollider a(2.f);
+    const PhysXSphereCollider b(1.f, {2.5f, 0.f, 0.f});
+    EXPECT_TRUE(GjkSphere::is_collide(a, b));
+}
+
+TEST(PhysXSphereGjk, DifferentRadiiNotColliding)
+{
+    // r=1 and r=1, centres 5 apart — separated.
+    const PhysXSphereCollider a(1.f);
+    const PhysXSphereCollider b(1.f, {5.f, 0.f, 0.f});
+    EXPECT_FALSE(GjkSphere::is_collide(a, b));
+}
+
+// ─── PhysX simulation-based collision resolution ─────────────────────────────
+
+// Helper: step the world N times with a fixed dt.
+static void step_n(omath::collision::PhysXWorld& world, int n, float dt = 1.f / 60.f)
+{
+    for (int i = 0; i < n; ++i)
+        world.step(dt);
+}
+
+TEST(PhysXSimulation, BoxFallsAndStopsOnGround)
+{
+    // A box dropped from y=5 should come to rest at y≈0.5 (half-extent) above the ground plane.
+    omath::collision::PhysXWorld world;
+    world.add_ground_plane(0.f);
+
+    omath::collision::PhysXRigidBody box(world, physx::PxBoxGeometry(0.5f, 0.5f, 0.5f),
+                                         {0.f, 5.f, 0.f});
+
+    step_n(world, 300); // ~5 simulated seconds
+
+    EXPECT_NEAR(box.get_origin().y, 0.5f, 0.05f);
+}
+
+TEST(PhysXSimulation, SphereFallsAndStopsOnGround)
+{
+    // A sphere of radius 1 dropped from y=5 should rest at y≈1.
+    omath::collision::PhysXWorld world;
+    world.add_ground_plane(0.f);
+
+    omath::collision::PhysXRigidBody sphere(world, physx::PxSphereGeometry(1.f),
+                                            {0.f, 5.f, 0.f});
+
+    step_n(world, 300);
+
+    EXPECT_NEAR(sphere.get_origin().y, 1.f, 0.05f);
+}
+
+TEST(PhysXSimulation, TwoBoxesCollideSeparate)
+{
+    // Two boxes launched toward each other — after collision they must be
+    // further apart than their combined half-extents (no overlap).
+    omath::collision::PhysXWorld world({0.f, 0.f, 0.f}); // no gravity
+
+    omath::collision::PhysXRigidBody left (world, physx::PxBoxGeometry(0.5f, 0.5f, 0.5f), {-3.f, 0.f, 0.f});
+    omath::collision::PhysXRigidBody right(world, physx::PxBoxGeometry(0.5f, 0.5f, 0.5f), { 3.f, 0.f, 0.f});
+
+    left.set_linear_velocity({ 5.f, 0.f, 0.f});
+    right.set_linear_velocity({-5.f, 0.f, 0.f});
+
+    step_n(world, 120); // 2 simulated seconds
+
+    const float distance = right.get_origin().x - left.get_origin().x;
+    // Boxes must not be overlapping (combined extents = 1.0).
+    EXPECT_GE(distance, 1.0f);
+}
+
+TEST(PhysXSimulation, BoxGetOriginMatchesSetOrigin)
+{
+    // Kinematic teleport — set_origin must immediately reflect in get_origin.
+    omath::collision::PhysXWorld world;
+    omath::collision::PhysXRigidBody box(world, physx::PxBoxGeometry(1.f, 1.f, 1.f));
+    box.set_kinematic(true);
+
+    box.set_origin({7.f, 3.f, -2.f});
+
+    EXPECT_NEAR(box.get_origin().x,  7.f, 1e-4f);
+    EXPECT_NEAR(box.get_origin().y,  3.f, 1e-4f);
+    EXPECT_NEAR(box.get_origin().z, -2.f, 1e-4f);
+}
+
+TEST(PhysXSimulation, BoxFallsUnderGravity)
+{
+    // Without a floor, a box should be lower after simulation than its start.
+    omath::collision::PhysXWorld world; // default gravity -9.81 Y
+    omath::collision::PhysXRigidBody box(world, physx::PxBoxGeometry(0.5f, 0.5f, 0.5f),
+                                         {0.f, 10.f, 0.f});
+
+    const float y_start = box.get_origin().y;
+    step_n(world, 60); // 1 simulated second
+
+    EXPECT_LT(box.get_origin().y, y_start);
+}
+
+#endif // OMATH_ENABLE_PHYSX

tests/lua/pe_scanner_tests.lua

@@ -0,0 +1,66 @@
+-- PatternScanner tests: generic scan over a Lua string buffer
+
+function PatternScanner_FindsExactPattern()
+    local buf = "\x90\x01\x02\x03\x04"
+    local offset = omath.PatternScanner.scan(buf, "90 01 02")
+    assert(offset ~= nil, "expected pattern to be found")
+    assert(offset == 0, "expected offset 0, got " .. tostring(offset))
+end
+
+function PatternScanner_FindsPatternAtNonZeroOffset()
+    local buf = "\x00\x00\xAB\xCD\xEF"
+    local offset = omath.PatternScanner.scan(buf, "AB CD EF")
+    assert(offset ~= nil, "expected pattern to be found")
+    assert(offset == 2, "expected offset 2, got " .. tostring(offset))
+end
+
+function PatternScanner_WildcardMatches()
+    local buf = "\xDE\xAD\xBE\xEF"
+    local offset = omath.PatternScanner.scan(buf, "DE ?? BE")
+    assert(offset ~= nil, "expected wildcard match")
+    assert(offset == 0)
+end
+
+function PatternScanner_ReturnsNilWhenNotFound()
+    local buf = "\x01\x02\x03"
+    local offset = omath.PatternScanner.scan(buf, "AA BB CC")
+    assert(offset == nil, "expected nil for not-found pattern")
+end
+
+function PatternScanner_ReturnsNilForEmptyBuffer()
+    local offset = omath.PatternScanner.scan("", "90 01")
+    assert(offset == nil)
+end
+
+-- PePatternScanner tests: scan_in_module uses FAKE_MODULE_BASE injected from C++
+-- The fake module contains {0x90, 0x01, 0x02, 0x03, 0x04} placed at raw offset 0x200
+
+function PeScanner_FindsExactPattern()
+    local addr = omath.PePatternScanner.scan_in_module(FAKE_MODULE_BASE, "90 01 02")
+    assert(addr ~= nil, "expected pattern to be found in module")
+    local offset = addr - FAKE_MODULE_BASE
+    assert(offset == 0x200, string.format("expected offset 0x200, got 0x%X", offset))
+end
+
+function PeScanner_WildcardMatches()
+    local addr = omath.PePatternScanner.scan_in_module(FAKE_MODULE_BASE, "90 ?? 02")
+    assert(addr ~= nil, "expected wildcard match in module")
+    local offset = addr - FAKE_MODULE_BASE
+    assert(offset == 0x200, string.format("expected offset 0x200, got 0x%X", offset))
+end
+
+function PeScanner_ReturnsNilWhenNotFound()
+    local addr = omath.PePatternScanner.scan_in_module(FAKE_MODULE_BASE, "AA BB CC DD")
+    assert(addr == nil, "expected nil for not-found pattern")
+end
+
+function PeScanner_CustomSectionFallsBackToNil()
+    -- Request a section that doesn't exist in our fake module
+    local addr = omath.PePatternScanner.scan_in_module(FAKE_MODULE_BASE, "90 01 02", ".rdata")
+    assert(addr == nil, "expected nil for wrong section name")
+end
+
+-- SectionScanResult: verify the type is registered and tostring works on a C++-returned value
+function SectionScanResult_TypeIsRegistered()
+    assert(omath.SectionScanResult ~= nil, "SectionScanResult type should be registered")
+end

tests/lua/unit_test_lua_pe_scanner.cpp

@@ -0,0 +1,113 @@
+//
+// Created by orange on 10.03.2026.
+//
+#include <gtest/gtest.h>
+#include <lua.hpp>
+#include <omath/lua/lua.hpp>
+#include <cstdint>
+#include <cstring>
+#include <vector>
+
+namespace
+{
+    std::vector<std::uint8_t> make_fake_pe_module(std::uint32_t base_of_code, std::uint32_t size_code,
+                                                  const std::vector<std::uint8_t>& code_bytes)
+    {
+        constexpr std::uint32_t e_lfanew         = 0x80;
+        constexpr std::uint32_t nt_sig           = 0x4550;
+        constexpr std::uint16_t opt_magic        = 0x020B; // PE32+
+        constexpr std::uint16_t num_sections     = 1;
+        constexpr std::uint16_t opt_hdr_size     = 0xF0;
+        constexpr std::uint32_t section_table_off = e_lfanew + 4 + 20 + opt_hdr_size;
+        constexpr std::uint32_t section_hdr_size = 40;
+        constexpr std::uint32_t text_chars       = 0x60000020;
+
+        const std::uint32_t headers_end = section_table_off + section_hdr_size;
+        const std::uint32_t code_end    = base_of_code + size_code;
+        const std::uint32_t total_size  = std::max(headers_end, code_end) + 0x100;
+        std::vector<std::uint8_t> buf(total_size, 0);
+
+        auto w16 = [&](std::size_t off, std::uint16_t v) { std::memcpy(buf.data() + off, &v, 2); };
+        auto w32 = [&](std::size_t off, std::uint32_t v) { std::memcpy(buf.data() + off, &v, 4); };
+        auto w64 = [&](std::size_t off, std::uint64_t v) { std::memcpy(buf.data() + off, &v, 8); };
+
+        w16(0x00, 0x5A4D);
+        w32(0x3C, e_lfanew);
+        w32(e_lfanew, nt_sig);
+
+        const std::size_t fh  = e_lfanew + 4;
+        w16(fh + 2,  num_sections);
+        w16(fh + 16, opt_hdr_size);
+
+        const std::size_t opt = fh + 20;
+        w16(opt + 0,   opt_magic);
+        w32(opt + 4,   size_code);
+        w32(opt + 20,  base_of_code);
+        w64(opt + 24,  0);
+        w32(opt + 32,  0x1000);
+        w32(opt + 36,  0x200);
+        w32(opt + 56,  code_end);
+        w32(opt + 60,  headers_end);
+        w32(opt + 108, 0);
+
+        const std::size_t sh = section_table_off;
+        std::memcpy(buf.data() + sh, ".text", 5);
+        w32(sh + 8,  size_code);
+        w32(sh + 12, base_of_code);
+        w32(sh + 16, size_code);
+        w32(sh + 20, base_of_code);
+        w32(sh + 36, text_chars);
+
+        if (base_of_code + code_bytes.size() <= buf.size())
+            std::memcpy(buf.data() + base_of_code, code_bytes.data(), code_bytes.size());
+
+        return buf;
+    }
+} // namespace
+
+class LuaPeScanner : public ::testing::Test
+{
+protected:
+    lua_State*                  L            = nullptr;
+    std::vector<std::uint8_t>   m_fake_module;
+
+    void SetUp() override
+    {
+        const std::vector<std::uint8_t> code = {0x90, 0x01, 0x02, 0x03, 0x04};
+        m_fake_module = make_fake_pe_module(0x200, static_cast<std::uint32_t>(code.size()), code);
+
+        L = luaL_newstate();
+        luaL_openlibs(L);
+        omath::lua::LuaInterpreter::register_lib(L);
+
+        lua_pushinteger(L, static_cast<lua_Integer>(
+                reinterpret_cast<std::uintptr_t>(m_fake_module.data())));
+        lua_setglobal(L, "FAKE_MODULE_BASE");
+
+        if (luaL_dofile(L, LUA_SCRIPTS_DIR "/pe_scanner_tests.lua") != LUA_OK)
+            FAIL() << lua_tostring(L, -1);
+    }
+
+    void TearDown() override { lua_close(L); }
+
+    void check(const char* func_name)
+    {
+        lua_getglobal(L, func_name);
+        if (lua_pcall(L, 0, 0, 0) != LUA_OK)
+        {
+            FAIL() << lua_tostring(L, -1);
+            lua_pop(L, 1);
+        }
+    }
+};
+
+TEST_F(LuaPeScanner, PatternScanner_FindsExactPattern)       { check("PatternScanner_FindsExactPattern"); }
+TEST_F(LuaPeScanner, PatternScanner_FindsPatternAtOffset)    { check("PatternScanner_FindsPatternAtNonZeroOffset"); }
+TEST_F(LuaPeScanner, PatternScanner_WildcardMatches)         { check("PatternScanner_WildcardMatches"); }
+TEST_F(LuaPeScanner, PatternScanner_ReturnsNilWhenNotFound)  { check("PatternScanner_ReturnsNilWhenNotFound"); }
+TEST_F(LuaPeScanner, PatternScanner_ReturnsNilForEmptyBuffer){ check("PatternScanner_ReturnsNilForEmptyBuffer"); }
+TEST_F(LuaPeScanner, PeScanner_FindsExactPattern)            { check("PeScanner_FindsExactPattern"); }
+TEST_F(LuaPeScanner, PeScanner_WildcardMatches)              { check("PeScanner_WildcardMatches"); }
+TEST_F(LuaPeScanner, PeScanner_ReturnsNilWhenNotFound)       { check("PeScanner_ReturnsNilWhenNotFound"); }
+TEST_F(LuaPeScanner, PeScanner_CustomSectionFallsBackToNil)  { check("PeScanner_CustomSectionFallsBackToNil"); }
+TEST_F(LuaPeScanner, SectionScanResult_TypeIsRegistered)     { check("SectionScanResult_TypeIsRegistered"); }

vcpkg-configuration.json

@@ -1,7 +1,7 @@
 {
   "default-registry": {
     "kind": "git",
-    "baseline": "b1b19307e2d2ec1eefbdb7ea069de7d4bcd31f01",
+    "baseline": "efa4634bd526b87559684607d2cbbdeeec0f07d8",
     "repository": "https://github.com/microsoft/vcpkg"
   },
   "registries": [

vcpkg.json

@@ -52,6 +52,13 @@
         "lua",
         "sol2"
       ]
+    },
+    "physx": {
+      "description": "PhysX-backed collider implementations",
+      "dependencies": [
+        "physx"
+      ],
+      "supports": "(windows & x64 & !mingw & !uwp) | (linux & x64) | (linux & arm64)"
     }
   }
 }