forgot return

added clip option

.claude/settings.local.json

@@ -0,0 +1,7 @@
+{
+  "permissions": {
+    "allow": [
+      "Bash(ls:*)"
+    ]
+  }
+}

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

@@ -370,6 +370,8 @@ 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' }} \
@@ -380,6 +382,7 @@ jobs:
         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
 

.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

@@ -12,6 +12,35 @@ 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
   ##############################################################################

CREDITS.md

@@ -3,7 +3,6 @@
 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
 

INSTALL.md

@@ -28,6 +28,29 @@ 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.

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**
 

include/omath/algorithm/targeting.hpp

@@ -0,0 +1,103 @@
+//
+// 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 Vector2<float> current_angles_vec = {current_target_angles.pitch.as_degrees(),
+                                                       current_target_angles.yaw.as_degrees()};
+            const Vector2<float> best_angles_vec = {best_target_angles.pitch.as_degrees(),
+                                                    best_target_angles.yaw.as_degrees()};
+
+            const auto current_target_distance = camera_angles_vec.distance_to(current_angles_vec);
+            const auto best_target_distance = camera_angles_vec.distance_to(best_angles_vec);
+            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/projection/camera.hpp

@@ -36,7 +36,11 @@ 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,
@@ -82,6 +86,11 @@ namespace omath::projection
             m_view_projection_matrix = std::nullopt;
             m_view_matrix = std::nullopt;
         }
+        [[nodiscard]]
+        ViewAnglesType calc_look_at_angles(const Vector3<float>& look_to) const
+        {
+            return TraitClass::calc_look_at_angle(m_origin, look_to);
+        }
 
         [[nodiscard]]
         Vector3<float> get_forward() const noexcept
@@ -138,16 +147,16 @@ namespace omath::projection
             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;
         }
@@ -213,6 +222,22 @@ 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
         {
@@ -262,24 +287,34 @@ namespace omath::projection
         }
 
         [[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
+            const auto clipped_manually = clipping == ViewPortClipping::MANUAL && (projected.at(2, 0) < 0.0f - 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();
 
@@ -304,7 +339,7 @@ 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>

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,
     };
 }

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/lua/lua_engines.cpp

@@ -3,6 +3,8 @@
 //
 #ifdef OMATH_ENABLE_LUA
 #include "omath/lua/lua.hpp"
+#include "omath/omath.hpp"
+#include "omath/projection/error_codes.hpp"
 #include <omath/engines/cry_engine/camera.hpp>
 #include <omath/engines/frostbite_engine/camera.hpp>
 #include <omath/engines/iw_engine/camera.hpp>
@@ -33,6 +35,8 @@ namespace
             return "world position is out of screen bounds";
         case omath::projection::Error::INV_VIEW_PROJ_MAT_DET_EQ_ZERO:
             return "inverse view-projection matrix determinant is zero";
+        case omath::projection::Error::PERSPECTIVE_DIVIDER_LESS_EQ_ZERO:
+            return "perspective divider is less or equal to zero";
         }
         return "unknown error";
     }

tests/general/unit_test_projection.cpp

@@ -50,6 +50,126 @@ TEST(UnitTestProjection, ScreenToNdcBottomLeft)
     EXPECT_NEAR(ndc_bottom_left.y, 0.519615293f, 0.0001f);
 }
 
+TEST(UnitTestProjection, UnclippedWorldToScreenInBounds)
+{
+    constexpr auto fov = omath::Angle<float, 0.f, 180.f, omath::AngleFlags::Clamped>::from_degrees(90.f);
+    const auto cam = omath::source_engine::Camera({0, 0, 0}, omath::source_engine::ViewAngles{}, {1920.f, 1080.f}, fov,
+                                                  0.01f, 1000.f);
+
+    const auto projected = cam.world_to_screen_unclipped({1000.f, 0, 50.f});
+    ASSERT_TRUE(projected.has_value());
+    EXPECT_NEAR(projected->x, 960.f, 0.001f);
+    EXPECT_NEAR(projected->y, 504.f, 0.001f);
+}
+
+TEST(UnitTestProjection, UnclippedWorldToScreenMatchesWorldToScreenWhenInBounds)
+{
+    constexpr auto fov = omath::Angle<float, 0.f, 180.f, omath::AngleFlags::Clamped>::from_degrees(90.f);
+    const auto cam = omath::source_engine::Camera({0, 0, 0}, omath::source_engine::ViewAngles{}, {1920.f, 1080.f}, fov,
+                                                  0.01f, 1000.f);
+
+    const auto w2s = cam.world_to_screen({1000.f, 0, 50.f});
+    const auto no_clip = cam.world_to_screen_unclipped({1000.f, 0, 50.f});
+
+    ASSERT_TRUE(w2s.has_value());
+    ASSERT_TRUE(no_clip.has_value());
+    EXPECT_NEAR(w2s->x, no_clip->x, 0.001f);
+    EXPECT_NEAR(w2s->y, no_clip->y, 0.001f);
+    EXPECT_NEAR(w2s->z, no_clip->z, 0.001f);
+}
+
+TEST(UnitTestProjection, UnclippedWorldToScreenRejectsBehindCamera)
+{
+    constexpr auto fov = omath::Angle<float, 0.f, 180.f, omath::AngleFlags::Clamped>::from_degrees(90.f);
+    const auto cam = omath::source_engine::Camera({0, 0, 0}, omath::source_engine::ViewAngles{}, {1920.f, 1080.f}, fov,
+                                                  0.01f, 1000.f);
+
+    const auto projected = cam.world_to_screen_unclipped({-1000.f, 0, 0});
+    EXPECT_FALSE(projected.has_value());
+    EXPECT_EQ(projected.error(), omath::projection::Error::PERSPECTIVE_DIVIDER_LESS_EQ_ZERO);
+}
+
+TEST(UnitTestProjection, UnclippedWorldToScreenAllowsOutOfBoundsNdc)
+{
+    constexpr auto fov = omath::Angle<float, 0.f, 180.f, omath::AngleFlags::Clamped>::from_degrees(90.f);
+    const auto cam = omath::source_engine::Camera({0, 0, 0}, omath::source_engine::ViewAngles{}, {1920.f, 1080.f}, fov,
+                                                  0.01f, 1000.f);
+
+    // Point far to the side exceeds NDC [-1,1] bounds but unclipped returns it anyway
+    const auto projected = cam.world_to_screen_unclipped({100.f, 5000.f, 0});
+    EXPECT_TRUE(projected.has_value());
+}
+
+TEST(UnitTestProjection, WorldToScreenRejectsOutOfBoundsNdc)
+{
+    constexpr auto fov = omath::Angle<float, 0.f, 180.f, omath::AngleFlags::Clamped>::from_degrees(90.f);
+    const auto cam = omath::source_engine::Camera({0, 0, 0}, omath::source_engine::ViewAngles{}, {1920.f, 1080.f}, fov,
+                                                  0.01f, 1000.f);
+
+    // Same point that unclipped allows — clipped world_to_screen rejects it
+    const auto projected = cam.world_to_screen({100.f, 5000.f, 0});
+    EXPECT_FALSE(projected.has_value());
+}
+
+TEST(UnitTestProjection, UnclippedWorldToScreenBottomLeftCorner)
+{
+    constexpr auto fov = omath::Angle<float, 0.f, 180.f, omath::AngleFlags::Clamped>::from_degrees(90.f);
+    const auto cam = omath::source_engine::Camera({0, 0, 0}, omath::source_engine::ViewAngles{}, {1920.f, 1080.f}, fov,
+                                                  0.01f, 1000.f);
+    using ScreenStart = omath::source_engine::Camera::ScreenStart;
+
+    const auto top_left = cam.world_to_screen_unclipped<ScreenStart::TOP_LEFT_CORNER>({1000.f, 0, 50.f});
+    const auto bottom_left = cam.world_to_screen_unclipped<ScreenStart::BOTTOM_LEFT_CORNER>({1000.f, 0, 50.f});
+
+    ASSERT_TRUE(top_left.has_value());
+    ASSERT_TRUE(bottom_left.has_value());
+    // X should be identical, Y should differ (mirrored around center)
+    EXPECT_NEAR(top_left->x, bottom_left->x, 0.001f);
+    EXPECT_NEAR(top_left->y + bottom_left->y, 1080.f, 0.001f);
+}
+
+TEST(UnitTestProjection, UnclippedWorldToScreenRoundTrip)
+{
+    std::mt19937 gen(42);
+    std::uniform_real_distribution dist_fwd(100.f, 900.f);
+    std::uniform_real_distribution dist_side(-400.f, 400.f);
+    std::uniform_real_distribution dist_up(-200.f, 200.f);
+
+    constexpr auto fov = omath::Angle<float, 0.f, 180.f, omath::AngleFlags::Clamped>::from_degrees(90.f);
+    const auto cam = omath::source_engine::Camera({0, 0, 0}, omath::source_engine::ViewAngles{}, {1920.f, 1080.f}, fov,
+                                                  0.01f, 1000.f);
+
+    for (int i = 0; i < 100; i++)
+    {
+        const omath::Vector3<float> world_pos{dist_fwd(gen), dist_side(gen), dist_up(gen)};
+        const auto screen = cam.world_to_screen_unclipped(world_pos);
+        if (!screen.has_value())
+            continue;
+
+        const auto back_to_world = cam.screen_to_world(screen.value());
+        ASSERT_TRUE(back_to_world.has_value());
+
+        const auto back_to_screen = cam.world_to_screen_unclipped(back_to_world.value());
+        ASSERT_TRUE(back_to_screen.has_value());
+
+        EXPECT_NEAR(screen->x, back_to_screen->x, 0.01f);
+        EXPECT_NEAR(screen->y, back_to_screen->y, 0.01f);
+    }
+}
+
+TEST(UnitTestProjection, UnclippedWorldToScreenUnityEngine)
+{
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(60.f);
+    const auto cam = omath::unity_engine::Camera({0, 0, 0}, {}, {1280.f, 720.f}, fov, 0.03f, 1000.f);
+    using ScreenStart = omath::unity_engine::Camera::ScreenStart;
+
+    // Point directly in front
+    const auto projected = cam.world_to_screen_unclipped<ScreenStart::BOTTOM_LEFT_CORNER>({0, 0, 500.f});
+    ASSERT_TRUE(projected.has_value());
+    EXPECT_NEAR(projected->x, 640.f, 0.5f);
+    EXPECT_NEAR(projected->y, 360.f, 0.5f);
+}
+
 TEST(UnitTestProjection, ScreenToWorldTopLeftCorner)
 {
     std::mt19937 gen(std::random_device{}()); // Seed with a non-deterministic source

tests/general/unit_test_targeting.cpp

@@ -0,0 +1,260 @@
+//
+// Created by claude on 19.03.2026.
+//
+#include <gtest/gtest.h>
+#include <omath/algorithm/targeting.hpp>
+#include <omath/engines/source_engine/camera.hpp>
+#include <vector>
+
+namespace
+{
+    using Camera = omath::source_engine::Camera;
+    using ViewAngles = omath::source_engine::ViewAngles;
+    using Targets = std::vector<omath::Vector3<float>>;
+    using Iter = Targets::const_iterator;
+    using FilterSig = bool(const omath::Vector3<float>&);
+
+    constexpr auto k_fov = omath::Angle<float, 0.f, 180.f, omath::AngleFlags::Clamped>::from_degrees(90.f);
+
+    Camera make_camera(const omath::Vector3<float>& origin, float pitch_deg, float yaw_deg)
+    {
+        ViewAngles angles{
+                omath::source_engine::PitchAngle::from_degrees(pitch_deg),
+                omath::source_engine::YawAngle::from_degrees(yaw_deg),
+                omath::source_engine::RollAngle::from_degrees(0.f),
+        };
+        return Camera{origin, angles, {1920.f, 1080.f}, k_fov, 0.01f, 1000.f};
+    }
+
+    auto get_pos = [](const omath::Vector3<float>& v) -> const omath::Vector3<float>& { return v; };
+
+    Iter find_closest(const Iter begin, const Iter end, const Camera& camera)
+    {
+        return omath::algorithm::get_closest_target_by_fov<Camera, Iter, FilterSig>(
+                begin, end, camera, get_pos);
+    }
+
+    Iter find_nearest(const Iter begin, const Iter end, const omath::Vector3<float>& origin)
+    {
+        return omath::algorithm::get_closest_target_by_distance<Iter, FilterSig>(
+                begin, end, origin, get_pos);
+    }
+}
+
+TEST(unit_test_targeting, returns_end_for_empty_range)
+{
+    const auto camera = make_camera({0, 0, 0}, 0.f, 0.f);
+    Targets targets;
+
+    EXPECT_EQ(find_closest(targets.cbegin(), targets.cend(), camera), targets.cend());
+}
+
+TEST(unit_test_targeting, single_target_returns_that_target)
+{
+    const auto camera = make_camera({0, 0, 0}, 0.f, 0.f);
+    Targets targets = {{100.f, 0.f, 0.f}};
+
+    EXPECT_EQ(find_closest(targets.cbegin(), targets.cend(), camera), targets.cbegin());
+}
+
+TEST(unit_test_targeting, picks_closest_to_crosshair)
+{
+    // Camera looking forward along +X (yaw=0, pitch=0 in source engine)
+    const auto camera = make_camera({0, 0, 0}, 0.f, 0.f);
+
+    Targets targets = {
+            {100.f, 50.f, 0.f},  // off to the side
+            {100.f, 1.f, 0.f},   // nearly on crosshair
+            {100.f, -30.f, 0.f}, // off to the other side
+    };
+
+    const auto result = find_closest(targets.cbegin(), targets.cend(), camera);
+
+    ASSERT_NE(result, targets.cend());
+    EXPECT_EQ(result, targets.cbegin() + 1);
+}
+
+TEST(unit_test_targeting, picks_closest_with_vertical_offset)
+{
+    const auto camera = make_camera({0, 0, 0}, 0.f, 0.f);
+
+    Targets targets = {
+            {100.f, 0.f, 50.f}, // high above
+            {100.f, 0.f, 2.f},  // slightly above
+            {100.f, 0.f, 30.f}, // moderately above
+    };
+
+    const auto result = find_closest(targets.cbegin(), targets.cend(), camera);
+
+    ASSERT_NE(result, targets.cend());
+    EXPECT_EQ(result, targets.cbegin() + 1);
+}
+
+TEST(unit_test_targeting, respects_camera_direction)
+{
+    // Camera looking along +Y (yaw=90)
+    const auto camera = make_camera({0, 0, 0}, 0.f, 90.f);
+
+    Targets targets = {
+            {100.f, 0.f, 0.f}, // to the side relative to camera facing +Y
+            {0.f, 100.f, 0.f}, // directly in front
+    };
+
+    const auto result = find_closest(targets.cbegin(), targets.cend(), camera);
+
+    ASSERT_NE(result, targets.cend());
+    EXPECT_EQ(result, targets.cbegin() + 1);
+}
+
+TEST(unit_test_targeting, equidistant_targets_returns_first)
+{
+    const auto camera = make_camera({0, 0, 0}, 0.f, 0.f);
+
+    // Two targets symmetric about the forward axis — same angular distance
+    Targets targets = {
+            {100.f, 10.f, 0.f},
+            {100.f, -10.f, 0.f},
+    };
+
+    const auto result = find_closest(targets.cbegin(), targets.cend(), camera);
+
+    ASSERT_NE(result, targets.cend());
+    // First target should be selected (strict < means first wins on tie)
+    EXPECT_EQ(result, targets.cbegin());
+}
+
+TEST(unit_test_targeting, camera_pitch_affects_selection)
+{
+    // Camera looking upward (pitch < 0)
+    const auto camera = make_camera({0, 0, 0}, -40.f, 0.f);
+
+    Targets targets = {
+            {100.f, 0.f, 0.f},   // on the horizon
+            {100.f, 0.f, 40.f}, // above, closer to where camera is looking
+    };
+
+    const auto result = find_closest(targets.cbegin(), targets.cend(), camera);
+
+    ASSERT_NE(result, targets.cend());
+    EXPECT_EQ(result, targets.cbegin() + 1);
+}
+
+TEST(unit_test_targeting, many_targets_picks_best)
+{
+    const auto camera = make_camera({0, 0, 0}, 0.f, 0.f);
+
+    Targets targets = {
+            {100.f, 80.f, 80.f},
+            {100.f, 60.f, 60.f},
+            {100.f, 40.f, 40.f},
+            {100.f, 20.f, 20.f},
+            {100.f, 0.5f, 0.5f}, // closest to crosshair
+            {100.f, 10.f, 10.f},
+            {100.f, 30.f, 30.f},
+    };
+
+    const auto result = find_closest(targets.cbegin(), targets.cend(), camera);
+
+    ASSERT_NE(result, targets.cend());
+    EXPECT_EQ(result, targets.cbegin() + 4);
+}
+
+// ── get_closest_target_by_distance tests ────────────────────────────────────
+
+TEST(unit_test_targeting, distance_returns_end_for_empty_range)
+{
+    Targets targets;
+
+    EXPECT_EQ(find_nearest(targets.cbegin(), targets.cend(), {0, 0, 0}), targets.cend());
+}
+
+TEST(unit_test_targeting, distance_single_target)
+{
+    Targets targets = {{50.f, 0.f, 0.f}};
+
+    EXPECT_EQ(find_nearest(targets.cbegin(), targets.cend(), {0, 0, 0}), targets.cbegin());
+}
+
+TEST(unit_test_targeting, distance_picks_nearest)
+{
+    const omath::Vector3<float> origin{0.f, 0.f, 0.f};
+
+    Targets targets = {
+            {100.f, 0.f, 0.f},  // distance = 100
+            {10.f, 0.f, 0.f},   // distance = 10  (closest)
+            {50.f, 0.f, 0.f},   // distance = 50
+    };
+
+    const auto result = find_nearest(targets.cbegin(), targets.cend(), origin);
+
+    ASSERT_NE(result, targets.cend());
+    EXPECT_EQ(result, targets.cbegin() + 1);
+}
+
+TEST(unit_test_targeting, distance_considers_all_axes)
+{
+    const omath::Vector3<float> origin{0.f, 0.f, 0.f};
+
+    Targets targets = {
+            {30.f, 30.f, 30.f}, // distance = sqrt(2700) ~ 51.96
+            {50.f, 0.f, 0.f},   // distance = 50
+            {0.f, 0.f, 10.f},   // distance = 10  (closest)
+    };
+
+    const auto result = find_nearest(targets.cbegin(), targets.cend(), origin);
+
+    ASSERT_NE(result, targets.cend());
+    EXPECT_EQ(result, targets.cbegin() + 2);
+}
+
+TEST(unit_test_targeting, distance_from_nonzero_origin)
+{
+    const omath::Vector3<float> origin{100.f, 100.f, 100.f};
+
+    Targets targets = {
+            {0.f, 0.f, 0.f},       // distance = sqrt(30000) ~ 173
+            {105.f, 100.f, 100.f},  // distance = 5  (closest)
+            {200.f, 200.f, 200.f},  // distance = sqrt(30000) ~ 173
+    };
+
+    const auto result = find_nearest(targets.cbegin(), targets.cend(), origin);
+
+    ASSERT_NE(result, targets.cend());
+    EXPECT_EQ(result, targets.cbegin() + 1);
+}
+
+TEST(unit_test_targeting, distance_equidistant_returns_first)
+{
+    const omath::Vector3<float> origin{0.f, 0.f, 0.f};
+
+    // Both targets at distance 100, symmetric
+    Targets targets = {
+            {100.f, 0.f, 0.f},
+            {-100.f, 0.f, 0.f},
+    };
+
+    const auto result = find_nearest(targets.cbegin(), targets.cend(), origin);
+
+    ASSERT_NE(result, targets.cend());
+    EXPECT_EQ(result, targets.cbegin());
+}
+
+TEST(unit_test_targeting, distance_many_targets)
+{
+    const omath::Vector3<float> origin{0.f, 0.f, 0.f};
+
+    Targets targets = {
+            {500.f, 0.f, 0.f},
+            {200.f, 200.f, 0.f},
+            {100.f, 100.f, 100.f},
+            {50.f, 50.f, 50.f},
+            {1.f, 1.f, 1.f},    // distance = sqrt(3) ~ 1.73  (closest)
+            {10.f, 10.f, 10.f},
+            {80.f, 0.f, 0.f},
+    };
+
+    const auto result = find_nearest(targets.cbegin(), targets.cend(), origin);
+
+    ASSERT_NE(result, targets.cend());
+    EXPECT_EQ(result, targets.cbegin() + 4);
+}