Merge pull request #182 from orange-cpp/feature/camera_upgrade

Feature/camera upgrade

.claude/settings.local.json

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

.idea/editor.xml

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

CONTRIBUTING.md

@@ -1,32 +1,36 @@
-## 🤝 Contributing to OMath or other Orange's Projects
+# Contributing
 
-### ❕ Prerequisites
+## Prerequisites
 
-- A working up-to-date OMath installation
-- C++ knowledge
-- Git knowledge
-- Ability to ask for help (Feel free to create empty pull-request or PM a maintainer
-  in [Telegram](https://t.me/orange_cpp))
+- C++ compiler with C++23 support (Clang 18+, GCC 14+, MSVC 19.38+)
+- CMake 3.25+
+- Git
+- Familiarity with the codebase (see `INSTALL.md` for setup)
 
-### ⏬ Setting up OMath
+For questions, create a draft PR or reach out via [Telegram](https://t.me/orange_cpp).
 
-Please read INSTALL.md file in repository
+## Workflow
 
-### 🔀 Pull requests and Branches
+1. [Fork](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/working-with-forks/fork-a-repo) the repository.
+2. Create a feature branch from `main`.
+3. Make your changes, ensuring tests pass.
+4. Open a [pull request](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/creating-a-pull-request-from-a-fork) against `main`.
 
-In order to send code back to the official OMath repository, you must first create a copy of OMath on your github
-account ([fork](https://help.github.com/articles/creating-a-pull-request-from-a-fork/)) and
-then [create a pull request](https://help.github.com/articles/creating-a-pull-request-from-a-fork/) back to OMath.
+## Code Style
 
-OMath development is performed on multiple branches. Changes are then pull requested into master. By default, changes
-merged into master will not roll out to stable build users unless the `stable` tag is updated.
+Follow the project `.clang-format`. Run `clang-format` before committing.
 
-### 📜 Code-Style
+## Building
 
-The orange code-style can be found in `.clang-format`.
+Use one of the CMake presets defined in `CMakePresets.json`:
 
-### 📦 Building
+```bash
+cmake --preset <preset-name> -DOMATH_BUILD_TESTS=ON
+cmake --build --preset <preset-name>
+```
 
-OMath has already created the  `cmake-build` and `out` directories where cmake/bin files are located. By default, you
-can build OMath by running `cmake --build cmake-build/build/windows-release --target omath -j 6` in the source
-directory.
+Run `cmake --list-presets` to see available configurations.
+
+## Tests
+
+All new functionality must include unit tests. Run the test binary after building to verify nothing is broken.

examples/example_barycentric/example_barycentric.cpp

@@ -71,18 +71,18 @@ void drawChar(char c, float x, float y, float scale, const Color& color, std::ve
         lines.push_back(x + x1 * w);
         lines.push_back(y + y1 * h);
         lines.push_back(0.0f);
-        lines.push_back(color.x);
-        lines.push_back(color.y);
-        lines.push_back(color.z);
+        lines.push_back(color.value().x);
+        lines.push_back(color.value().y);
+        lines.push_back(color.value().z);
         lines.push_back(1.0f); // size
         lines.push_back(1.0f); // isLine
 
         lines.push_back(x + x2 * w);
         lines.push_back(y + y2 * h);
         lines.push_back(0.0f);
-        lines.push_back(color.x);
-        lines.push_back(color.y);
-        lines.push_back(color.z);
+        lines.push_back(color.value().x);
+        lines.push_back(color.value().y);
+        lines.push_back(color.value().z);
         lines.push_back(1.0f); // size
         lines.push_back(1.0f); // isLine
     };

include/omath/3d_primitives/aabb.hpp

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

include/omath/algorithm/targeting.hpp

@@ -35,13 +35,8 @@ namespace omath::algorithm
             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);
+            const auto current_target_distance = camera_angles_vec.distance_to(current_target_angles.as_vector3());
+            const auto best_target_distance = camera_angles.as_vector3().distance_to(best_target_angles.as_vector3());
             if (current_target_distance < best_target_distance)
                 best_target = current;
         }

include/omath/collision/line_tracer.hpp

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

include/omath/engines/cry_engine/camera.hpp

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

include/omath/engines/cry_engine/formulas.hpp

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

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

@@ -18,7 +18,7 @@ namespace omath::cry_engine
         static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
         [[nodiscard]]
         static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
-                                             float near, float far) noexcept;
+                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
     };
 
 } // namespace omath::cry_engine

include/omath/engines/frostbite_engine/camera.hpp

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

include/omath/engines/frostbite_engine/formulas.hpp

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

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

@@ -18,7 +18,7 @@ namespace omath::frostbite_engine
         static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
         [[nodiscard]]
         static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
-                                             float near, float far) noexcept;
+                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
     };
 
 } // namespace omath::unreal_engine

include/omath/engines/iw_engine/camera.hpp

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

include/omath/engines/iw_engine/formulas.hpp

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

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

@@ -18,7 +18,7 @@ namespace omath::iw_engine
         static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
         [[nodiscard]]
         static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
-                                             float near, float far) noexcept;
+                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
     };
 
 } // namespace omath::iw_engine

include/omath/engines/opengl_engine/camera.hpp

@@ -8,5 +8,5 @@
 
 namespace omath::opengl_engine
 {
-    using Camera =  projection::Camera<Mat4X4, ViewAngles, CameraTrait, true>;
+    using Camera = projection::Camera<Mat4X4, ViewAngles, CameraTrait, NDCDepthRange::NEGATIVE_ONE_TO_ONE, {.inverted_forward = true}>;
 } // namespace omath::opengl_engine

include/omath/engines/opengl_engine/formulas.hpp

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

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

@@ -18,7 +18,7 @@ namespace omath::opengl_engine
         static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
         [[nodiscard]]
         static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
-                                             float near, float far) noexcept;
+                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
     };
 
 } // namespace omath::opengl_engine

include/omath/engines/source_engine/camera.hpp

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

include/omath/engines/source_engine/formulas.hpp

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

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

@@ -18,7 +18,7 @@ namespace omath::source_engine
         static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
         [[nodiscard]]
         static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
-                                             float near, float far) noexcept;
+                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
     };
 
 } // namespace omath::source_engine

include/omath/engines/unity_engine/camera.hpp

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

include/omath/engines/unity_engine/formulas.hpp

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

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

@@ -18,7 +18,7 @@ namespace omath::unity_engine
         static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
         [[nodiscard]]
         static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
-                                             float near, float far) noexcept;
+                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
     };
 
 } // namespace omath::unity_engine

include/omath/engines/unreal_engine/camera.hpp

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

include/omath/engines/unreal_engine/formulas.hpp

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

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

@@ -18,7 +18,7 @@ namespace omath::unreal_engine
         static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
         [[nodiscard]]
         static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
-                                             float near, float far) noexcept;
+                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
     };
 
 } // namespace omath::unreal_engine

include/omath/linear_algebra/mat.hpp

@@ -37,6 +37,12 @@ namespace omath
         COLUMN_MAJOR
     };
 
+    enum class NDCDepthRange : uint8_t
+    {
+        NEGATIVE_ONE_TO_ONE = 0, // OpenGL: [-1.0, 1.0]
+        ZERO_TO_ONE              // DirectX / Vulkan: [0.0, 1.0]
+    };
+
     template<typename M1, typename M2> concept MatTemplateEqual
             = (M1::rows == M2::rows) && (M1::columns == M2::columns)
               && std::is_same_v<typename M1::value_type, typename M2::value_type> && (M1::store_type == M2::store_type);
@@ -658,56 +664,98 @@ namespace omath
         } * mat_translation<Type, St>(-camera_origin);
     }
 
-    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
+             NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
     [[nodiscard]]
     Mat<4, 4, Type, St> mat_perspective_left_handed(const float field_of_view, const float aspect_ratio,
                                                     const float near, const float far) noexcept
     {
         const float fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / 2.f);
 
-        return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
-                {0.f, 1.f / fov_half_tan, 0.f, 0.f},
-                {0.f, 0.f, (far + near) / (far - near), -(2.f * near * far) / (far - near)},
-                {0.f, 0.f, 1.f, 0.f}};
+        if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
+            return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
+                    {0.f, 1.f / fov_half_tan, 0.f, 0.f},
+                    {0.f, 0.f, far / (far - near), -(near * far) / (far - near)},
+                    {0.f, 0.f, 1.f, 0.f}};
+        else if constexpr (DepthRange == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
+                    {0.f, 1.f / fov_half_tan, 0.f, 0.f},
+                    {0.f, 0.f, (far + near) / (far - near), -(2.f * near * far) / (far - near)},
+                    {0.f, 0.f, 1.f, 0.f}};
+        else
+            std::unreachable();
     }
 
-    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
+             NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
     [[nodiscard]]
     Mat<4, 4, Type, St> mat_perspective_right_handed(const float field_of_view, const float aspect_ratio,
                                                      const float near, const float far) noexcept
     {
         const float fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / 2.f);
 
-        return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
-                {0.f, 1.f / fov_half_tan, 0.f, 0.f},
-                {0.f, 0.f, -(far + near) / (far - near), -(2.f * near * far) / (far - near)},
-                {0.f, 0.f, -1.f, 0.f}};
+        if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
+            return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
+                    {0.f, 1.f / fov_half_tan, 0.f, 0.f},
+                    {0.f, 0.f, -far / (far - near), -(near * far) / (far - near)},
+                    {0.f, 0.f, -1.f, 0.f}};
+        else if constexpr (DepthRange == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
+                    {0.f, 1.f / fov_half_tan, 0.f, 0.f},
+                    {0.f, 0.f, -(far + near) / (far - near), -(2.f * near * far) / (far - near)},
+                    {0.f, 0.f, -1.f, 0.f}};
+        else
+            std::unreachable();
     }
-    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
+             NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
     [[nodiscard]]
     Mat<4, 4, Type, St> mat_ortho_left_handed(const Type left, const Type right, const Type bottom, const Type top,
                                               const Type near, const Type far) noexcept
     {
-        return
-        {
-            { static_cast<Type>(2) / (right - left), 0.f,       0.f,    -(right + left) / (right - left)},
-            { 0.f,      static_cast<Type>(2) / (top - bottom),  0.f,    -(top + bottom) / (top - bottom)},
-            { 0.f,      0.f,       static_cast<Type>(2) / (far - near), -(far + near) / (far - near)    },
-            { 0.f,      0.f,       0.f,                                 1.f                             }
-        };
+        if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
+            return
+            {
+                { static_cast<Type>(2) / (right - left), 0.f,       0.f,    -(right + left) / (right - left)},
+                { 0.f,      static_cast<Type>(2) / (top - bottom),  0.f,    -(top + bottom) / (top - bottom)},
+                { 0.f,      0.f,       static_cast<Type>(1) / (far - near), -near / (far - near)            },
+                { 0.f,      0.f,       0.f,                                 1.f                             }
+            };
+        else if constexpr (DepthRange == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return
+            {
+                { static_cast<Type>(2) / (right - left), 0.f,       0.f,    -(right + left) / (right - left)},
+                { 0.f,      static_cast<Type>(2) / (top - bottom),  0.f,    -(top + bottom) / (top - bottom)},
+                { 0.f,      0.f,       static_cast<Type>(2) / (far - near), -(far + near) / (far - near)    },
+                { 0.f,      0.f,       0.f,                                 1.f                             }
+            };
+        else
+            std::unreachable();
     }
-    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
+             NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
     [[nodiscard]]
     Mat<4, 4, Type, St> mat_ortho_right_handed(const Type left, const Type right, const Type bottom, const Type top,
                                                const Type near, const Type far) noexcept
     {
-        return
-        {
-                { static_cast<Type>(2) / (right - left), 0.f,       0.f,     -(right + left) / (right - left)},
-                { 0.f,      static_cast<Type>(2) / (top - bottom),  0.f,     -(top + bottom) / (top - bottom)},
-                { 0.f,      0.f,       -static_cast<Type>(2) / (far - near), -(far + near) / (far - near)    },
-                { 0.f,      0.f,       0.f,                                  1.f                             }
-        };
+        if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
+            return
+            {
+                    { static_cast<Type>(2) / (right - left), 0.f,       0.f,     -(right + left) / (right - left)},
+                    { 0.f,      static_cast<Type>(2) / (top - bottom),  0.f,     -(top + bottom) / (top - bottom)},
+                    { 0.f,      0.f,       -static_cast<Type>(1) / (far - near), -near / (far - near)            },
+                    { 0.f,      0.f,       0.f,                                  1.f                             }
+            };
+        else if constexpr (DepthRange == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return
+            {
+                    { static_cast<Type>(2) / (right - left), 0.f,       0.f,     -(right + left) / (right - left)},
+                    { 0.f,      static_cast<Type>(2) / (top - bottom),  0.f,     -(top + bottom) / (top - bottom)},
+                    { 0.f,      0.f,       -static_cast<Type>(2) / (far - near), -(far + near) / (far - near)    },
+                    { 0.f,      0.f,       0.f,                                  1.f                             }
+            };
+        else
+            std::unreachable();
     }
     template<class T = float, MatStoreType St = MatStoreType::COLUMN_MAJOR>
    Mat<4, 4, T, St> mat_look_at_left_handed(const Vector3<T>& eye, const Vector3<T>& center, const Vector3<T>& up)

include/omath/pathfinding/walk_bot.hpp

@@ -0,0 +1,46 @@
+//
+// Created by orange on 4/12/2026.
+//
+#pragma once
+#include "navigation_mesh.hpp"
+#include "omath/linear_algebra/vector3.hpp"
+#include <functional>
+#include <memory>
+namespace omath::pathfinding
+{
+    enum class WalkBotStatus
+    {
+        IDLE,
+        PATHING,
+        FINISHED
+    };
+    class WalkBot
+    {
+    public:
+        WalkBot() = default;
+        explicit WalkBot(const std::shared_ptr<NavigationMesh>& mesh, float min_node_distance = 1.f);
+
+        void set_nav_mesh(const std::shared_ptr<NavigationMesh>& mesh);
+        void set_min_node_distance(float distance);
+
+        void set_target(const Vector3<float>& target);
+
+        // Clear navigation state so the bot can be re-routed without stale
+        // visited-node memory.
+        void reset();
+
+        // Call every game tick with the current bot world position.
+        void update(const Vector3<float>& bot_position);
+
+        void on_path(const std::function<void(const Vector3<float>&)>& callback);
+        void on_status(const std::function<void(WalkBotStatus)>& callback);
+
+    private:
+        std::weak_ptr<NavigationMesh> m_nav_mesh;
+        std::optional<std::function<void(const Vector3<float>&)>> m_on_next_path_node;
+        std::optional<std::function<void(WalkBotStatus)>> m_on_status_update;
+        std::optional<Vector3<float>> m_last_visited;
+        std::optional<Vector3<float>> m_target;
+        float m_min_node_distance{1.f};
+    };
+} // namespace omath::pathfinding

include/omath/projection/camera.hpp

@@ -4,6 +4,7 @@
 
 #pragma once
 
+#include "omath/3d_primitives/aabb.hpp"
 #include "omath/linear_algebra/mat.hpp"
 #include "omath/linear_algebra/triangle.hpp"
 #include "omath/linear_algebra/vector3.hpp"
@@ -41,22 +42,31 @@ namespace omath::projection
         AUTO,
         MANUAL,
     };
+    struct CameraAxes
+    {
+        bool inverted_forward = false;
+        bool inverted_right   = false;
+    };
+
     template<class T, class MatType, class ViewAnglesType>
     concept CameraEngineConcept =
             requires(const Vector3<float>& cam_origin, const Vector3<float>& look_at, const ViewAnglesType& angles,
-                     const FieldOfView& fov, const ViewPort& viewport, float znear, float zfar) {
+                     const FieldOfView& fov, const ViewPort& viewport, float znear, float zfar,
+                     NDCDepthRange ndc_depth_range) {
                 // Presence + return types
                 { T::calc_look_at_angle(cam_origin, look_at) } -> std::same_as<ViewAnglesType>;
                 { T::calc_view_matrix(angles, cam_origin) } -> std::same_as<MatType>;
-                { T::calc_projection_matrix(fov, viewport, znear, zfar) } -> std::same_as<MatType>;
+                { T::calc_projection_matrix(fov, viewport, znear, zfar, ndc_depth_range) } -> std::same_as<MatType>;
 
                 // Enforce noexcept as in the trait declaration
                 requires noexcept(T::calc_look_at_angle(cam_origin, look_at));
                 requires noexcept(T::calc_view_matrix(angles, cam_origin));
-                requires noexcept(T::calc_projection_matrix(fov, viewport, znear, zfar));
+                requires noexcept(T::calc_projection_matrix(fov, viewport, znear, zfar, ndc_depth_range));
             };
 
-    template<class Mat4X4Type, class ViewAnglesType, class TraitClass, bool inverted_z = false>
+    template<class Mat4X4Type, class ViewAnglesType, class TraitClass,
+             NDCDepthRange depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE,
+             CameraAxes axes = {}>
     requires CameraEngineConcept<TraitClass, Mat4X4Type, ViewAnglesType>
     class Camera final
     {
@@ -80,6 +90,27 @@ namespace omath::projection
         {
         }
 
+        [[nodiscard]]
+        static ViewAnglesType calc_view_angles_from_view_matrix(const Mat4X4Type& view_matrix) noexcept
+        {
+            Vector3<float> forward_vector = {view_matrix[2, 0], view_matrix[2, 1], view_matrix[2, 2]};
+            if constexpr (axes.inverted_forward)
+                forward_vector = -forward_vector;
+            return TraitClass::calc_look_at_angle({}, forward_vector);
+        }
+
+        [[nodiscard]]
+        static Vector3<float> calc_origin_from_view_matrix(const Mat4X4Type& view_matrix) noexcept
+        {
+            // The view matrix is R * T(-origin), so the last column stores t = -R * origin.
+            // Recovering origin: origin = -R^T * t
+            return {
+                -(view_matrix[0, 0] * view_matrix[0, 3] + view_matrix[1, 0] * view_matrix[1, 3] + view_matrix[2, 0] * view_matrix[2, 3]),
+                -(view_matrix[0, 1] * view_matrix[0, 3] + view_matrix[1, 1] * view_matrix[1, 3] + view_matrix[2, 1] * view_matrix[2, 3]),
+                -(view_matrix[0, 2] * view_matrix[0, 3] + view_matrix[1, 2] * view_matrix[1, 3] + view_matrix[2, 2] * view_matrix[2, 3]),
+            };
+        }
+
         void look_at(const Vector3<float>& target)
         {
             m_view_angles = TraitClass::calc_look_at_angle(m_origin, target);
@@ -97,7 +128,7 @@ namespace omath::projection
         {
             const auto& view_matrix = get_view_matrix();
 
-            if constexpr (inverted_z)
+            if constexpr (axes.inverted_forward)
                 return -Vector3<float>{view_matrix[2, 0], view_matrix[2, 1], view_matrix[2, 2]};
             return {view_matrix[2, 0], view_matrix[2, 1], view_matrix[2, 2]};
         }
@@ -106,6 +137,8 @@ namespace omath::projection
         Vector3<float> get_right() const noexcept
         {
             const auto& view_matrix = get_view_matrix();
+            if constexpr (axes.inverted_right)
+                return -Vector3<float>{view_matrix[0, 0], view_matrix[0, 1], view_matrix[0, 2]};
             return {view_matrix[0, 0], view_matrix[0, 1], view_matrix[0, 2]};
         }
 
@@ -135,7 +168,8 @@ namespace omath::projection
         {
             if (!m_projection_matrix.has_value())
                 m_projection_matrix = TraitClass::calc_projection_matrix(m_field_of_view, m_view_port,
-                                                                         m_near_plane_distance, m_far_plane_distance);
+                                                                         m_near_plane_distance, m_far_plane_distance,
+                                                                         depth_range);
 
             return m_projection_matrix.value();
         }
@@ -271,18 +305,94 @@ namespace omath::projection
                 return a[axis] < -a[3] && b[axis] < -b[3] && c[axis] < -c[3];
             };
 
-            // Clip volume in clip space (OpenGL-style):
+            // Clip volume in clip space:
             // -w <= x <= w
             // -w <= y <= w
-            // -w <= z <= w
+            // z_min <= z <= w  (z_min = -w for [-1,1], 0 for [0,1])
 
-            for (int i = 0; i < 3; i++)
+            // x and y planes
+            for (int i = 0; i < 2; i++)
             {
                 if (all_outside_plane(i, c0, c1, c2, false))
-                    return true; // x < -w (left)
+                    return true;
                 if (all_outside_plane(i, c0, c1, c2, true))
-                    return true; // x >  w (right)
+                    return true;
             }
+
+            // z far plane: z > w
+            if (all_outside_plane(2, c0, c1, c2, true))
+                return true;
+
+            // z near plane
+            if constexpr (depth_range == NDCDepthRange::ZERO_TO_ONE)
+            {
+                // 0 <= z, so reject if z < 0 for all vertices
+                if (c0[2] < 0.f && c1[2] < 0.f && c2[2] < 0.f)
+                    return true;
+            }
+            else
+            {
+                // -w <= z
+                if (all_outside_plane(2, c0, c1, c2, false))
+                    return true;
+            }
+            return false;
+        }
+
+        [[nodiscard]] bool is_aabb_culled_by_frustum(const primitives::Aabb<float>& aabb) const noexcept
+        {
+            const auto& m = get_view_projection_matrix();
+
+            // Gribb-Hartmann: extract 6 frustum planes from the view-projection matrix.
+            // Each plane is (a, b, c, d) such that ax + by + cz + d >= 0 means inside.
+            // For a 4x4 matrix with rows r0..r3:
+            //   Left   = r3 + r0
+            //   Right  = r3 - r0
+            //   Bottom = r3 + r1
+            //   Top    = r3 - r1
+            //   Near   = r3 + r2  ([-1,1]) or r2 ([0,1])
+            //   Far    = r3 - r2
+            struct Plane final
+            {
+                float a, b, c, d;
+            };
+
+            const auto extract_plane = [&m](const int sign, const int row) -> Plane
+            {
+                return {
+                        m.at(3, 0) + static_cast<float>(sign) * m.at(row, 0),
+                        m.at(3, 1) + static_cast<float>(sign) * m.at(row, 1),
+                        m.at(3, 2) + static_cast<float>(sign) * m.at(row, 2),
+                        m.at(3, 3) + static_cast<float>(sign) * m.at(row, 3),
+                };
+            };
+
+            std::array<Plane, 6> planes = {
+                    extract_plane(1, 0), // left
+                    extract_plane(-1, 0), // right
+                    extract_plane(1, 1), // bottom
+                    extract_plane(-1, 1), // top
+                    extract_plane(-1, 2), // far
+            };
+
+            // Near plane depends on NDC depth range
+            if constexpr (depth_range == NDCDepthRange::ZERO_TO_ONE)
+                planes[5] = {m.at(2, 0), m.at(2, 1), m.at(2, 2), m.at(2, 3)};
+            else
+                planes[5] = extract_plane(1, 2);
+
+            // For each plane, find the AABB corner most in the direction of the plane normal
+            // (the "positive vertex"). If it's outside, the entire AABB is outside.
+            for (const auto& [a, b, c, d] : planes)
+            {
+                const float px = a >= 0.f ? aabb.max.x : aabb.min.x;
+                const float py = b >= 0.f ? aabb.max.y : aabb.min.y;
+                const float pz = c >= 0.f ? aabb.max.z : aabb.min.z;
+
+                if (a * px + b * py + c * pz + d < 0.f)
+                    return true;
+            }
+
             return false;
         }
 
@@ -306,7 +416,8 @@ namespace omath::projection
                 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
+            constexpr auto z_min = depth_range == NDCDepthRange::ZERO_TO_ONE ? 0.0f : -1.0f;
+            const auto clipped_manually = clipping == ViewPortClipping::MANUAL && (projected.at(2, 0) < z_min - eps
                                           || projected.at(2, 0) > 1.0f + eps);
             if (clipped_manually)
                 return std::unexpected(Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS);
@@ -368,8 +479,26 @@ namespace omath::projection
         [[nodiscard]] constexpr static bool is_ndc_out_of_bounds(const Type& ndc) noexcept
         {
             constexpr auto eps = std::numeric_limits<float>::epsilon();
-            return std::ranges::any_of(ndc.raw_array(),
-                                       [](const auto& val) { return val < -1.0f - eps || val > 1.0f + eps; });
+
+            const auto& data = ndc.raw_array();
+            // x and y are always in [-1, 1]
+            if (data[0] < -1.0f - eps || data[0] > 1.0f + eps)
+                return true;
+            if (data[1] < -1.0f - eps || data[1] > 1.0f + eps)
+                return true;
+            return is_ndc_z_value_out_of_bounds(data[2]);
+        }
+        template<class ZType>
+         [[nodiscard]]
+        constexpr static bool is_ndc_z_value_out_of_bounds(const ZType& z_ndc) noexcept
+        {
+            constexpr auto eps = std::numeric_limits<float>::epsilon();
+            if constexpr (depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+                return z_ndc < -1.0f - eps || z_ndc > 1.0f + eps;
+            if constexpr (depth_range == NDCDepthRange::ZERO_TO_ONE)
+                return z_ndc < 0.0f - eps || z_ndc > 1.0f + eps;
+
+            std::unreachable();
         }
 
         // NDC REPRESENTATION:

include/omath/rev_eng/internal_rev_object.hpp

@@ -116,6 +116,33 @@ namespace omath::rev_eng
             return call_method<ReturnType>(vtable[Id], arg_list...);
         }
 
+        template<std::ptrdiff_t TableOffset, std::size_t Id, class ReturnType>
+        ReturnType call_virtual_method(auto... arg_list)
+        {
+            auto sub_this = reinterpret_cast<void*>(
+                reinterpret_cast<std::uintptr_t>(this) + TableOffset);
+            const auto vtable = *reinterpret_cast<void***>(sub_this);
+#ifdef _MSC_VER
+            using Fn = ReturnType(__thiscall*)(void*, decltype(arg_list)...);
+#else
+            using Fn = ReturnType(*)(void*, decltype(arg_list)...);
+#endif
+            return reinterpret_cast<Fn>(vtable[Id])(sub_this, arg_list...);
+        }
+        template<std::ptrdiff_t TableOffset, std::size_t Id, class ReturnType>
+        ReturnType call_virtual_method(auto... arg_list) const
+        {
+            auto sub_this = reinterpret_cast<const void*>(
+                reinterpret_cast<std::uintptr_t>(this) + TableOffset);
+            const auto vtable = *reinterpret_cast<void* const* const*>(sub_this);
+#ifdef _MSC_VER
+            using Fn = ReturnType(__thiscall*)(const void*, decltype(arg_list)...);
+#else
+            using Fn = ReturnType(*)(const void*, decltype(arg_list)...);
+#endif
+            return reinterpret_cast<Fn>(vtable[Id])(sub_this, arg_list...);
+        }
+
     private:
         [[nodiscard]]
         static const void* resolve_pattern(const std::string_view module_name, const std::string_view pattern)

include/omath/trigonometry/angle.hpp

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

include/omath/trigonometry/view_angles.hpp

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

source/engines/cry_engine/formulas.cpp

@@ -35,8 +35,15 @@ namespace omath::cry_engine
                * mat_rotation_axis_x<float, MatStoreType::ROW_MAJOR>(angles.pitch);
     }
     Mat4X4 calc_perspective_projection_matrix(const float field_of_view, const float aspect_ratio, const float near,
-                                              const float far) noexcept
+                                              const float far, const NDCDepthRange ndc_depth_range) noexcept
     {
-        return mat_perspective_left_handed(field_of_view, aspect_ratio, near, far);
+        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
+            return mat_perspective_left_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+                    field_of_view, aspect_ratio, near, far);
+
+        if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return mat_perspective_left_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
+                    field_of_view, aspect_ratio, near, far);
+        std::unreachable();
     }
 } // namespace omath::unity_engine

source/engines/cry_engine/traits/camera_trait.cpp

@@ -19,8 +19,9 @@ namespace omath::cry_engine
     }
     Mat4X4 CameraTrait::calc_projection_matrix(const projection::FieldOfView& fov,
                                                const projection::ViewPort& view_port, const float near,
-                                               const float far) noexcept
+                                               const float far, const NDCDepthRange ndc_depth_range) noexcept
     {
-        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far);
+        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far,
+                                                  ndc_depth_range);
     }
 } // namespace omath::unity_engine

source/engines/frostbite_engine/formulas.cpp

@@ -35,8 +35,16 @@ namespace omath::frostbite_engine
                * mat_rotation_axis_x<float, MatStoreType::ROW_MAJOR>(angles.pitch);
     }
     Mat4X4 calc_perspective_projection_matrix(const float field_of_view, const float aspect_ratio, const float near,
-                                              const float far) noexcept
+                                              const float far, const NDCDepthRange ndc_depth_range) noexcept
     {
-        return mat_perspective_left_handed(field_of_view, aspect_ratio, near, far);
+        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
+            return mat_perspective_left_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+                    field_of_view, aspect_ratio, near, far);
+
+        if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return mat_perspective_left_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
+                    field_of_view, aspect_ratio, near, far);
+
+        std::unreachable();
     }
 } // namespace omath::unity_engine

source/engines/frostbite_engine/traits/camera_trait.cpp

@@ -19,8 +19,9 @@ namespace omath::frostbite_engine
     }
     Mat4X4 CameraTrait::calc_projection_matrix(const projection::FieldOfView& fov,
                                                const projection::ViewPort& view_port, const float near,
-                                               const float far) noexcept
+                                               const float far, const NDCDepthRange ndc_depth_range) noexcept
     {
-        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far);
+        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far,
+                                                  ndc_depth_range);
     }
 } // namespace omath::unity_engine

source/engines/iw_engine/formulas.cpp

@@ -36,18 +36,27 @@ namespace omath::iw_engine
     }
 
     Mat4X4 calc_perspective_projection_matrix(const float field_of_view, const float aspect_ratio, const float near,
-                                              const float far) noexcept
+                                              const float far, const NDCDepthRange ndc_depth_range) noexcept
     {
         // NOTE: Need magic number to fix fov calculation, since IW engine inherit Quake proj matrix calculation
         constexpr auto k_multiply_factor = 0.75f;
 
         const float fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / 2.f) * k_multiply_factor;
 
-        return {
-                {1.f / (aspect_ratio * fov_half_tan), 0, 0, 0},
-                {0, 1.f / (fov_half_tan), 0, 0},
-                {0, 0, (far + near) / (far - near), -(2.f * far * near) / (far - near)},
-                {0, 0, 1, 0},
-        };
+        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
+            return {
+                    {1.f / (aspect_ratio * fov_half_tan), 0, 0, 0},
+                    {0, 1.f / (fov_half_tan), 0, 0},
+                    {0, 0, far / (far - near), -(near * far) / (far - near)},
+                    {0, 0, 1, 0},
+            };
+        if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return {
+                    {1.f / (aspect_ratio * fov_half_tan), 0, 0, 0},
+                    {0, 1.f / (fov_half_tan), 0, 0},
+                    {0, 0, (far + near) / (far - near), -(2.f * far * near) / (far - near)},
+                    {0, 0, 1, 0},
+            };
+        std::unreachable();
     };
 } // namespace omath::iw_engine

source/engines/iw_engine/traits/camera_trait.cpp

@@ -19,8 +19,9 @@ namespace omath::iw_engine
     }
     Mat4X4 CameraTrait::calc_projection_matrix(const projection::FieldOfView& fov,
                                                const projection::ViewPort& view_port, const float near,
-                                               const float far) noexcept
+                                               const float far, const NDCDepthRange ndc_depth_range) noexcept
     {
-        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far);
+        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far,
+                                                  ndc_depth_range);
     }
 } // namespace omath::iw_engine

source/engines/opengl_engine/formulas.cpp

@@ -8,15 +8,15 @@ namespace omath::opengl_engine
 
     Vector3<float> forward_vector(const ViewAngles& angles) noexcept
     {
-        const auto vec
-                = rotation_matrix(angles) * mat_column_from_vector<float, MatStoreType::COLUMN_MAJOR>(k_abs_forward);
+        const auto vec =
+                rotation_matrix(angles) * mat_column_from_vector<float, MatStoreType::COLUMN_MAJOR>(k_abs_forward);
 
         return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
     }
     Vector3<float> right_vector(const ViewAngles& angles) noexcept
     {
-        const auto vec
-                = rotation_matrix(angles) * mat_column_from_vector<float, MatStoreType::COLUMN_MAJOR>(k_abs_right);
+        const auto vec =
+                rotation_matrix(angles) * mat_column_from_vector<float, MatStoreType::COLUMN_MAJOR>(k_abs_right);
 
         return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
     }
@@ -28,7 +28,7 @@ namespace omath::opengl_engine
     }
     Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
     {
-        return mat_look_at_right_handed(cam_origin, cam_origin+forward_vector(angles), up_vector(angles));
+        return mat_look_at_right_handed(cam_origin, cam_origin + forward_vector(angles), up_vector(angles));
     }
     Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept
     {
@@ -37,15 +37,16 @@ namespace omath::opengl_engine
                * mat_rotation_axis_x<float, MatStoreType::COLUMN_MAJOR>(angles.pitch);
     }
     Mat4X4 calc_perspective_projection_matrix(const float field_of_view, const float aspect_ratio, const float near,
-                                              const float far) noexcept
+                                              const float far, const NDCDepthRange ndc_depth_range) noexcept
     {
-        const float fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / 2.f);
+        if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return mat_perspective_right_handed<float, MatStoreType::COLUMN_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
+                    field_of_view, aspect_ratio, near, far);
 
-        return {
-                {1.f / (aspect_ratio * fov_half_tan), 0, 0, 0},
-                {0, 1.f / (fov_half_tan), 0, 0},
-                {0, 0, -(far + near) / (far - near), -(2.f * far * near) / (far - near)},
-                {0, 0, -1, 0},
-        };
+        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
+            return mat_perspective_right_handed<float, MatStoreType::COLUMN_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+                        field_of_view, aspect_ratio, near, far);
+
+        std::unreachable();
     }
 } // namespace omath::opengl_engine

source/engines/opengl_engine/traits/camera_trait.cpp

@@ -20,8 +20,9 @@ namespace omath::opengl_engine
     }
     Mat4X4 CameraTrait::calc_projection_matrix(const projection::FieldOfView& fov,
                                                const projection::ViewPort& view_port, const float near,
-                                               const float far) noexcept
+                                               const float far, const NDCDepthRange ndc_depth_range) noexcept
     {
-        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far);
+        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far,
+                                                  ndc_depth_range);
     }
 } // namespace omath::opengl_engine

source/engines/source_engine/formulas.cpp

@@ -36,18 +36,27 @@ namespace omath::source_engine
     }
 
     Mat4X4 calc_perspective_projection_matrix(const float field_of_view, const float aspect_ratio, const float near,
-                                              const float far) noexcept
+                                              const float far, const NDCDepthRange ndc_depth_range) noexcept
     {
         // NOTE: Need magic number to fix fov calculation, since source inherit Quake proj matrix calculation
         constexpr auto k_multiply_factor = 0.75f;
 
         const float fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / 2.f) * k_multiply_factor;
 
-        return {
-                {1.f / (aspect_ratio * fov_half_tan), 0, 0, 0},
-                {0, 1.f / (fov_half_tan), 0, 0},
-                {0, 0, (far + near) / (far - near), -(2.f * far * near) / (far - near)},
-                {0, 0, 1, 0},
-        };
+        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
+            return {
+                    {1.f / (aspect_ratio * fov_half_tan), 0, 0, 0},
+                    {0, 1.f / (fov_half_tan), 0, 0},
+                    {0, 0, far / (far - near), -(near * far) / (far - near)},
+                    {0, 0, 1, 0},
+            };
+        if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return {
+                    {1.f / (aspect_ratio * fov_half_tan), 0, 0, 0},
+                    {0, 1.f / (fov_half_tan), 0, 0},
+                    {0, 0, (far + near) / (far - near), -(2.f * far * near) / (far - near)},
+                    {0, 0, 1, 0},
+            };
+        std::unreachable();
     }
 } // namespace omath::source_engine

source/engines/source_engine/traits/camera_trait.cpp

@@ -20,8 +20,9 @@ namespace omath::source_engine
     }
     Mat4X4 CameraTrait::calc_projection_matrix(const projection::FieldOfView& fov,
                                                const projection::ViewPort& view_port, const float near,
-                                               const float far) noexcept
+                                               const float far, const NDCDepthRange ndc_depth_range) noexcept
     {
-        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far);
+        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far,
+                                                  ndc_depth_range);
     }
 } // namespace omath::source_engine

source/engines/unity_engine/formulas.cpp

@@ -35,8 +35,15 @@ namespace omath::unity_engine
                * mat_rotation_axis_x<float, MatStoreType::ROW_MAJOR>(angles.pitch);
     }
     Mat4X4 calc_perspective_projection_matrix(const float field_of_view, const float aspect_ratio, const float near,
-                                              const float far) noexcept
+                                              const float far, const NDCDepthRange ndc_depth_range) noexcept
     {
-        return omath::mat_perspective_right_handed(field_of_view, aspect_ratio, near, far);
+        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
+            return omath::mat_perspective_right_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+                    field_of_view, aspect_ratio, near, far);
+        if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return omath::mat_perspective_right_handed<float, MatStoreType::ROW_MAJOR,
+                                                       NDCDepthRange::NEGATIVE_ONE_TO_ONE>(field_of_view, aspect_ratio,
+                                                                                           near, far);
+        std::unreachable();
     }
 } // namespace omath::unity_engine

source/engines/unity_engine/traits/camera_trait.cpp

@@ -19,8 +19,9 @@ namespace omath::unity_engine
     }
     Mat4X4 CameraTrait::calc_projection_matrix(const projection::FieldOfView& fov,
                                                const projection::ViewPort& view_port, const float near,
-                                               const float far) noexcept
+                                               const float far, const NDCDepthRange ndc_depth_range) noexcept
     {
-        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far);
+        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far,
+                                                  ndc_depth_range);
     }
 } // namespace omath::unity_engine

source/engines/unreal_engine/formulas.cpp

@@ -35,8 +35,12 @@ namespace omath::unreal_engine
                * mat_rotation_axis_y<float, MatStoreType::ROW_MAJOR>(angles.pitch);
     }
     Mat4X4 calc_perspective_projection_matrix(const float field_of_view, const float aspect_ratio, const float near,
-                                              const float far) noexcept
+                                              const float far, const NDCDepthRange ndc_depth_range) noexcept
     {
+        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
+            return mat_perspective_left_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+                    field_of_view, aspect_ratio, near, far);
+
         return mat_perspective_left_handed(field_of_view, aspect_ratio, near, far);
     }
 } // namespace omath::unreal_engine

source/engines/unreal_engine/traits/camera_trait.cpp

@@ -19,8 +19,9 @@ namespace omath::unreal_engine
     }
     Mat4X4 CameraTrait::calc_projection_matrix(const projection::FieldOfView& fov,
                                                const projection::ViewPort& view_port, const float near,
-                                               const float far) noexcept
+                                               const float far, const NDCDepthRange ndc_depth_range) noexcept
     {
-        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far);
+        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far,
+                                                  ndc_depth_range);
     }
 } // namespace omath::unreal_engine

source/pathfinding/a_star.cpp

@@ -87,11 +87,11 @@ namespace omath::pathfinding
 
             const auto current_node = current_node_it->second;
 
+            closed_list.emplace(current, current_node);
+
             if (current == end_vertex)
                 return reconstruct_final_path(closed_list, current);
 
-            closed_list.emplace(current, current_node);
-
             for (const auto& neighbor: nav_mesh.get_neighbors(current))
             {
                 if (closed_list.contains(neighbor))

source/pathfinding/walk_bot.cpp

@@ -0,0 +1,92 @@
+//
+// Created by orange on 4/12/2026.
+//
+#include "omath/pathfinding/walk_bot.hpp"
+#include "omath/pathfinding/a_star.hpp"
+
+namespace omath::pathfinding
+{
+
+    WalkBot::WalkBot(const std::shared_ptr<NavigationMesh>& mesh, const float min_node_distance)
+        : m_nav_mesh(mesh), m_min_node_distance(min_node_distance) {}
+
+    void WalkBot::set_nav_mesh(const std::shared_ptr<NavigationMesh>& mesh)
+    {
+        m_nav_mesh = mesh;
+    }
+
+    void WalkBot::set_min_node_distance(const float distance)
+    {
+        m_min_node_distance = distance;
+    }
+
+    void WalkBot::set_target(const Vector3<float>& target)
+    {
+        m_target = target;
+    }
+
+    void WalkBot::reset()
+    {
+        m_last_visited.reset();
+    }
+
+    void WalkBot::update(const Vector3<float>& bot_position)
+    {
+        if (!m_target.has_value())
+            return;
+
+        if (m_target->distance_to(bot_position) <= m_min_node_distance)
+        {
+            if (m_on_status_update.has_value())
+                m_on_status_update->operator()(WalkBotStatus::FINISHED);
+            return;
+        }
+
+        if (!m_on_next_path_node.has_value())
+            return;
+
+        const auto nav_mesh = m_nav_mesh.lock();
+        if (!nav_mesh)
+        {
+            if (m_on_status_update.has_value())
+                m_on_status_update->operator()(WalkBotStatus::IDLE);
+            return;
+        }
+
+        const auto path = Astar::find_path(bot_position, *m_target, *nav_mesh);
+        if (path.empty())
+        {
+            if (m_on_status_update.has_value())
+                m_on_status_update->operator()(WalkBotStatus::IDLE);
+            return;
+        }
+
+        const auto& nearest = path.front();
+
+        // Record the nearest node as visited once we are close enough to it.
+        if (nearest.distance_to(bot_position) <= m_min_node_distance)
+            m_last_visited = nearest;
+
+        // If the nearest node was already visited, advance to the next one so
+        // we never oscillate back to a node we just left.
+        // If the bot was displaced (blown back), nearest will be an unvisited
+        // node, so we route to it first before continuing forward.
+        if (m_last_visited.has_value() && *m_last_visited == nearest && path.size() > 1)
+            m_on_next_path_node->operator()(path[1]);
+        else
+            m_on_next_path_node->operator()(nearest);
+
+        if (m_on_status_update.has_value())
+            m_on_status_update->operator()(WalkBotStatus::PATHING);
+    }
+
+    void WalkBot::on_path(const std::function<void(const Vector3<float>&)>& callback)
+    {
+        m_on_next_path_node = callback;
+    }
+
+    void WalkBot::on_status(const std::function<void(WalkBotStatus)>& callback)
+    {
+        m_on_status_update = callback;
+    }
+} // namespace omath::pathfinding

tests/engines/unit_test_cry_engine.cpp

@@ -237,4 +237,54 @@ TEST(unit_test_cry_engine, loook_at_random_z_axis)
             failed_points++;
     }
     EXPECT_LE(failed_points, 100);
+}
+
+TEST(unit_test_cry_engine, ViewAnglesAsVector3Zero)
+{
+    const omath::cry_engine::ViewAngles angles{};
+    const auto vec = angles.as_vector3();
+
+    EXPECT_FLOAT_EQ(vec.x, 0.f);
+    EXPECT_FLOAT_EQ(vec.y, 0.f);
+    EXPECT_FLOAT_EQ(vec.z, 0.f);
+}
+
+TEST(unit_test_cry_engine, ViewAnglesAsVector3Values)
+{
+    const omath::cry_engine::ViewAngles angles{
+        omath::cry_engine::PitchAngle::from_degrees(45.f),
+        omath::cry_engine::YawAngle::from_degrees(-90.f),
+        omath::cry_engine::RollAngle::from_degrees(30.f)
+    };
+    const auto vec = angles.as_vector3();
+
+    EXPECT_FLOAT_EQ(vec.x, 45.f);
+    EXPECT_FLOAT_EQ(vec.y, -90.f);
+    EXPECT_FLOAT_EQ(vec.z, 30.f);
+}
+
+TEST(unit_test_cry_engine, ViewAnglesAsVector3ClampedPitch)
+{
+    // Pitch is clamped to [-90, 90]
+    const omath::cry_engine::ViewAngles angles{
+        omath::cry_engine::PitchAngle::from_degrees(120.f),
+        omath::cry_engine::YawAngle::from_degrees(0.f),
+        omath::cry_engine::RollAngle::from_degrees(0.f)
+    };
+    const auto vec = angles.as_vector3();
+
+    EXPECT_FLOAT_EQ(vec.x, 90.f);
+}
+
+TEST(unit_test_cry_engine, ViewAnglesAsVector3NormalizedYaw)
+{
+    // Yaw is normalized to [-180, 180], 270 wraps to -90
+    const omath::cry_engine::ViewAngles angles{
+        omath::cry_engine::PitchAngle::from_degrees(0.f),
+        omath::cry_engine::YawAngle::from_degrees(270.f),
+        omath::cry_engine::RollAngle::from_degrees(0.f)
+    };
+    const auto vec = angles.as_vector3();
+
+    EXPECT_NEAR(vec.y, -90.f, 0.01f);
 }

tests/engines/unit_test_frostbite_engine.cpp

@@ -405,3 +405,51 @@ TEST(unit_test_frostbite_engine, look_at_down)
          std::views::zip(dir_vector.as_array(), (-omath::frostbite_engine::k_abs_up).as_array()))
         EXPECT_NEAR(result, etalon, 0.0001f);
 }
+
+TEST(unit_test_frostbite_engine, ViewAnglesAsVector3Zero)
+{
+    const omath::frostbite_engine::ViewAngles angles{};
+    const auto vec = angles.as_vector3();
+
+    EXPECT_FLOAT_EQ(vec.x, 0.f);
+    EXPECT_FLOAT_EQ(vec.y, 0.f);
+    EXPECT_FLOAT_EQ(vec.z, 0.f);
+}
+
+TEST(unit_test_frostbite_engine, ViewAnglesAsVector3Values)
+{
+    const omath::frostbite_engine::ViewAngles angles{
+        omath::frostbite_engine::PitchAngle::from_degrees(45.f),
+        omath::frostbite_engine::YawAngle::from_degrees(-90.f),
+        omath::frostbite_engine::RollAngle::from_degrees(30.f)
+    };
+    const auto vec = angles.as_vector3();
+
+    EXPECT_FLOAT_EQ(vec.x, 45.f);
+    EXPECT_FLOAT_EQ(vec.y, -90.f);
+    EXPECT_FLOAT_EQ(vec.z, 30.f);
+}
+
+TEST(unit_test_frostbite_engine, ViewAnglesAsVector3ClampedPitch)
+{
+    const omath::frostbite_engine::ViewAngles angles{
+        omath::frostbite_engine::PitchAngle::from_degrees(120.f),
+        omath::frostbite_engine::YawAngle::from_degrees(0.f),
+        omath::frostbite_engine::RollAngle::from_degrees(0.f)
+    };
+    const auto vec = angles.as_vector3();
+
+    EXPECT_FLOAT_EQ(vec.x, 90.f);
+}
+
+TEST(unit_test_frostbite_engine, ViewAnglesAsVector3NormalizedYaw)
+{
+    const omath::frostbite_engine::ViewAngles angles{
+        omath::frostbite_engine::PitchAngle::from_degrees(0.f),
+        omath::frostbite_engine::YawAngle::from_degrees(270.f),
+        omath::frostbite_engine::RollAngle::from_degrees(0.f)
+    };
+    const auto vec = angles.as_vector3();
+
+    EXPECT_NEAR(vec.y, -90.f, 0.01f);
+}

tests/engines/unit_test_iw_engine.cpp

@@ -280,4 +280,54 @@ TEST(unit_test_iw_engine, look_at_down)
     EXPECT_NEAR(dir_vector.z, -0.99984f, 0.0001f);
     EXPECT_NEAR(dir_vector.x,- 0.017f, 0.01f);
     EXPECT_NEAR(dir_vector.y, 0.f, 0.001f);
+}
+
+TEST(unit_test_iw_engine, ViewAnglesAsVector3Zero)
+{
+    const omath::iw_engine::ViewAngles angles{};
+    const auto vec = angles.as_vector3();
+
+    EXPECT_FLOAT_EQ(vec.x, 0.f);
+    EXPECT_FLOAT_EQ(vec.y, 0.f);
+    EXPECT_FLOAT_EQ(vec.z, 0.f);
+}
+
+TEST(unit_test_iw_engine, ViewAnglesAsVector3Values)
+{
+    const omath::iw_engine::ViewAngles angles{
+        omath::iw_engine::PitchAngle::from_degrees(45.f),
+        omath::iw_engine::YawAngle::from_degrees(-90.f),
+        omath::iw_engine::RollAngle::from_degrees(30.f)
+    };
+    const auto vec = angles.as_vector3();
+
+    EXPECT_FLOAT_EQ(vec.x, 45.f);
+    EXPECT_FLOAT_EQ(vec.y, -90.f);
+    EXPECT_FLOAT_EQ(vec.z, 30.f);
+}
+
+TEST(unit_test_iw_engine, ViewAnglesAsVector3ClampedPitch)
+{
+    // Pitch is clamped to [-89, 89]
+    const omath::iw_engine::ViewAngles angles{
+        omath::iw_engine::PitchAngle::from_degrees(120.f),
+        omath::iw_engine::YawAngle::from_degrees(0.f),
+        omath::iw_engine::RollAngle::from_degrees(0.f)
+    };
+    const auto vec = angles.as_vector3();
+
+    EXPECT_FLOAT_EQ(vec.x, 89.f);
+}
+
+TEST(unit_test_iw_engine, ViewAnglesAsVector3NormalizedYaw)
+{
+    // Yaw is normalized to [-180, 180], 270 wraps to -90
+    const omath::iw_engine::ViewAngles angles{
+        omath::iw_engine::PitchAngle::from_degrees(0.f),
+        omath::iw_engine::YawAngle::from_degrees(270.f),
+        omath::iw_engine::RollAngle::from_degrees(0.f)
+    };
+    const auto vec = angles.as_vector3();
+
+    EXPECT_NEAR(vec.y, -90.f, 0.01f);
 }

tests/engines/unit_test_open_gl.cpp

@@ -394,4 +394,52 @@ TEST(unit_test_opengl_engine, look_at_down)
     const auto dir_vector = omath::opengl_engine::forward_vector(angles);
     for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), (-omath::opengl_engine::k_abs_up).as_array()))
         EXPECT_NEAR(result, etalon, 0.0001f);
+}
+
+TEST(unit_test_opengl, ViewAnglesAsVector3Zero)
+{
+    const omath::opengl_engine::ViewAngles angles{};
+    const auto vec = angles.as_vector3();
+
+    EXPECT_FLOAT_EQ(vec.x, 0.f);
+    EXPECT_FLOAT_EQ(vec.y, 0.f);
+    EXPECT_FLOAT_EQ(vec.z, 0.f);
+}
+
+TEST(unit_test_opengl, ViewAnglesAsVector3Values)
+{
+    const omath::opengl_engine::ViewAngles angles{
+        omath::opengl_engine::PitchAngle::from_degrees(45.f),
+        omath::opengl_engine::YawAngle::from_degrees(-90.f),
+        omath::opengl_engine::RollAngle::from_degrees(30.f)
+    };
+    const auto vec = angles.as_vector3();
+
+    EXPECT_FLOAT_EQ(vec.x, 45.f);
+    EXPECT_FLOAT_EQ(vec.y, -90.f);
+    EXPECT_FLOAT_EQ(vec.z, 30.f);
+}
+
+TEST(unit_test_opengl, ViewAnglesAsVector3ClampedPitch)
+{
+    const omath::opengl_engine::ViewAngles angles{
+        omath::opengl_engine::PitchAngle::from_degrees(120.f),
+        omath::opengl_engine::YawAngle::from_degrees(0.f),
+        omath::opengl_engine::RollAngle::from_degrees(0.f)
+    };
+    const auto vec = angles.as_vector3();
+
+    EXPECT_FLOAT_EQ(vec.x, 90.f);
+}
+
+TEST(unit_test_opengl, ViewAnglesAsVector3NormalizedYaw)
+{
+    const omath::opengl_engine::ViewAngles angles{
+        omath::opengl_engine::PitchAngle::from_degrees(0.f),
+        omath::opengl_engine::YawAngle::from_degrees(270.f),
+        omath::opengl_engine::RollAngle::from_degrees(0.f)
+    };
+    const auto vec = angles.as_vector3();
+
+    EXPECT_NEAR(vec.y, -90.f, 0.01f);
 }

tests/engines/unit_test_source_engine.cpp

@@ -422,4 +422,54 @@ TEST(unit_test_source_engine, look_at_down)
     EXPECT_NEAR(dir_vector.z, -0.99984f, 0.0001f);
     EXPECT_NEAR(dir_vector.x,- 0.017f, 0.01f);
     EXPECT_NEAR(dir_vector.y, 0.f, 0.001f);
+}
+
+TEST(unit_test_source_engine, ViewAnglesAsVector3Zero)
+{
+    const omath::source_engine::ViewAngles angles{};
+    const auto vec = angles.as_vector3();
+
+    EXPECT_FLOAT_EQ(vec.x, 0.f);
+    EXPECT_FLOAT_EQ(vec.y, 0.f);
+    EXPECT_FLOAT_EQ(vec.z, 0.f);
+}
+
+TEST(unit_test_source_engine, ViewAnglesAsVector3Values)
+{
+    const omath::source_engine::ViewAngles angles{
+        omath::source_engine::PitchAngle::from_degrees(45.f),
+        omath::source_engine::YawAngle::from_degrees(-90.f),
+        omath::source_engine::RollAngle::from_degrees(30.f)
+    };
+    const auto vec = angles.as_vector3();
+
+    EXPECT_FLOAT_EQ(vec.x, 45.f);
+    EXPECT_FLOAT_EQ(vec.y, -90.f);
+    EXPECT_FLOAT_EQ(vec.z, 30.f);
+}
+
+TEST(unit_test_source_engine, ViewAnglesAsVector3ClampedPitch)
+{
+    // Pitch is clamped to [-89, 89]
+    const omath::source_engine::ViewAngles angles{
+        omath::source_engine::PitchAngle::from_degrees(120.f),
+        omath::source_engine::YawAngle::from_degrees(0.f),
+        omath::source_engine::RollAngle::from_degrees(0.f)
+    };
+    const auto vec = angles.as_vector3();
+
+    EXPECT_FLOAT_EQ(vec.x, 89.f);
+}
+
+TEST(unit_test_source_engine, ViewAnglesAsVector3NormalizedYaw)
+{
+    // Yaw is normalized to [-180, 180], 270 wraps to -90
+    const omath::source_engine::ViewAngles angles{
+        omath::source_engine::PitchAngle::from_degrees(0.f),
+        omath::source_engine::YawAngle::from_degrees(270.f),
+        omath::source_engine::RollAngle::from_degrees(0.f)
+    };
+    const auto vec = angles.as_vector3();
+
+    EXPECT_NEAR(vec.y, -90.f, 0.01f);
 }

tests/engines/unit_test_traits_engines.cpp

@@ -21,6 +21,9 @@
 #include <omath/engines/unreal_engine/traits/camera_trait.hpp>
 
 #include <omath/engines/source_engine/traits/pred_engine_trait.hpp>
+#include <omath/engines/source_engine/traits/camera_trait.hpp>
+
+#include <omath/engines/cry_engine/traits/camera_trait.hpp>
 
 #include <omath/projectile_prediction/projectile.hpp>
 #include <omath/projectile_prediction/target.hpp>
@@ -218,9 +221,14 @@ TEST(TraitTests, Frostbite_Pred_And_Mesh_And_Camera)
     // CameraTrait look at should be callable
     const auto angles = e::CameraTrait::calc_look_at_angle({0, 0, 0}, {0, 1, 1});
     (void)angles;
-    const auto proj = e::CameraTrait::calc_projection_matrix(projection::FieldOfView::from_degrees(60.f), {1280.f, 720.f}, 0.1f, 1000.f);
+    const auto proj = e::CameraTrait::calc_projection_matrix(projection::FieldOfView::from_degrees(60.f), {1280.f, 720.f}, 0.1f, 1000.f, NDCDepthRange::NEGATIVE_ONE_TO_ONE);
     const auto expected = e::calc_perspective_projection_matrix(60.f, 1280.f / 720.f, 0.1f, 1000.f);
     expect_matrix_near(proj, expected);
+
+    const auto proj_zo = e::CameraTrait::calc_projection_matrix(projection::FieldOfView::from_degrees(60.f), {1280.f, 720.f}, 0.1f, 1000.f, NDCDepthRange::ZERO_TO_ONE);
+    const auto expected_zo = e::calc_perspective_projection_matrix(60.f, 1280.f / 720.f, 0.1f, 1000.f, NDCDepthRange::ZERO_TO_ONE);
+    expect_matrix_near(proj_zo, expected_zo);
+    EXPECT_NE(proj, proj_zo);
 }
 
 TEST(TraitTests, IW_Pred_And_Mesh_And_Camera)
@@ -264,10 +272,15 @@ TEST(TraitTests, IW_Pred_And_Mesh_And_Camera)
     e::ViewAngles va;
     expect_matrix_near(e::MeshTrait::rotation_matrix(va), e::rotation_matrix(va));
 
-    const auto proj = e::CameraTrait::calc_projection_matrix(projection::FieldOfView::from_degrees(45.f), {1920.f, 1080.f}, 0.1f, 1000.f);
+    const auto proj = e::CameraTrait::calc_projection_matrix(projection::FieldOfView::from_degrees(45.f), {1920.f, 1080.f}, 0.1f, 1000.f, NDCDepthRange::NEGATIVE_ONE_TO_ONE);
     const auto expected = e::calc_perspective_projection_matrix(45.f, 1920.f / 1080.f, 0.1f, 1000.f);
     expect_matrix_near(proj, expected);
 
+    const auto proj_zo = e::CameraTrait::calc_projection_matrix(projection::FieldOfView::from_degrees(45.f), {1920.f, 1080.f}, 0.1f, 1000.f, NDCDepthRange::ZERO_TO_ONE);
+    const auto expected_zo = e::calc_perspective_projection_matrix(45.f, 1920.f / 1080.f, 0.1f, 1000.f, NDCDepthRange::ZERO_TO_ONE);
+    expect_matrix_near(proj_zo, expected_zo);
+    EXPECT_NE(proj, proj_zo);
+
     // non-airborne
     t.m_is_airborne = false;
     const auto pred_ground_iw = e::PredEngineTrait::predict_target_position(t, 2.f, 9.81f);
@@ -314,10 +327,15 @@ TEST(TraitTests, OpenGL_Pred_And_Mesh_And_Camera)
     e::ViewAngles va;
     expect_matrix_near(e::MeshTrait::rotation_matrix(va), e::rotation_matrix(va));
 
-    const auto proj = e::CameraTrait::calc_projection_matrix(projection::FieldOfView::from_degrees(60.f), {1280.f, 720.f}, 0.1f, 1000.f);
+    const auto proj = e::CameraTrait::calc_projection_matrix(projection::FieldOfView::from_degrees(60.f), {1280.f, 720.f}, 0.1f, 1000.f, NDCDepthRange::NEGATIVE_ONE_TO_ONE);
     const auto expected = e::calc_perspective_projection_matrix(60.f, 1280.f / 720.f, 0.1f, 1000.f);
     expect_matrix_near(proj, expected);
 
+    const auto proj_zo = e::CameraTrait::calc_projection_matrix(projection::FieldOfView::from_degrees(60.f), {1280.f, 720.f}, 0.1f, 1000.f, NDCDepthRange::ZERO_TO_ONE);
+    const auto expected_zo = e::calc_perspective_projection_matrix(60.f, 1280.f / 720.f, 0.1f, 1000.f, NDCDepthRange::ZERO_TO_ONE);
+    expect_matrix_near(proj_zo, expected_zo);
+    EXPECT_NE(proj, proj_zo);
+
     // non-airborne
     t.m_is_airborne = false;
     const auto pred_ground_gl = e::PredEngineTrait::predict_target_position(t, 2.f, 9.81f);
@@ -364,10 +382,15 @@ TEST(TraitTests, Unity_Pred_And_Mesh_And_Camera)
     e::ViewAngles va;
     expect_matrix_near(e::MeshTrait::rotation_matrix(va), e::rotation_matrix(va));
 
-    const auto proj = e::CameraTrait::calc_projection_matrix(projection::FieldOfView::from_degrees(60.f), {1280.f, 720.f}, 0.1f, 1000.f);
+    const auto proj = e::CameraTrait::calc_projection_matrix(projection::FieldOfView::from_degrees(60.f), {1280.f, 720.f}, 0.1f, 1000.f, NDCDepthRange::NEGATIVE_ONE_TO_ONE);
     const auto expected = e::calc_perspective_projection_matrix(60.f, 1280.f / 720.f, 0.1f, 1000.f);
     expect_matrix_near(proj, expected);
 
+    const auto proj_zo = e::CameraTrait::calc_projection_matrix(projection::FieldOfView::from_degrees(60.f), {1280.f, 720.f}, 0.1f, 1000.f, NDCDepthRange::ZERO_TO_ONE);
+    const auto expected_zo = e::calc_perspective_projection_matrix(60.f, 1280.f / 720.f, 0.1f, 1000.f, NDCDepthRange::ZERO_TO_ONE);
+    expect_matrix_near(proj_zo, expected_zo);
+    EXPECT_NE(proj, proj_zo);
+
     // non-airborne
     t.m_is_airborne = false;
     const auto pred_ground_unity = e::PredEngineTrait::predict_target_position(t, 2.f, 9.81f);
@@ -414,12 +437,237 @@ TEST(TraitTests, Unreal_Pred_And_Mesh_And_Camera)
     e::ViewAngles va;
     expect_matrix_near(e::MeshTrait::rotation_matrix(va), e::rotation_matrix(va));
 
-    const auto proj = e::CameraTrait::calc_projection_matrix(projection::FieldOfView::from_degrees(60.f), {1280.f, 720.f}, 0.1f, 1000.f);
+    const auto proj = e::CameraTrait::calc_projection_matrix(projection::FieldOfView::from_degrees(60.f), {1280.f, 720.f}, 0.1f, 1000.f, NDCDepthRange::NEGATIVE_ONE_TO_ONE);
     const auto expected = e::calc_perspective_projection_matrix(60.f, 1280.f / 720.f, 0.1f, 1000.f);
     expect_matrix_near(proj, expected);
 
+    const auto proj_zo = e::CameraTrait::calc_projection_matrix(projection::FieldOfView::from_degrees(60.f), {1280.f, 720.f}, 0.1f, 1000.f, NDCDepthRange::ZERO_TO_ONE);
+    const auto expected_zo = e::calc_perspective_projection_matrix(60.f, 1280.f / 720.f, 0.1f, 1000.f, NDCDepthRange::ZERO_TO_ONE);
+    expect_matrix_near(proj_zo, expected_zo);
+    EXPECT_NE(proj, proj_zo);
+
     // non-airborne
     t.m_is_airborne = false;
     const auto pred_ground_unreal = e::PredEngineTrait::predict_target_position(t, 2.f, 9.81f);
     EXPECT_NEAR(pred_ground_unreal.x, 4.f, 1e-6f);
 }
+
+// ── NDC Depth Range tests for Source and CryEngine camera traits ────────────
+
+TEST(NDCDepthRangeTests, Source_BothDepthRanges)
+{
+    namespace e = omath::source_engine;
+
+    const auto proj_no = e::CameraTrait::calc_projection_matrix(
+            projection::FieldOfView::from_degrees(90.f), {1920.f, 1080.f}, 0.1f, 1000.f,
+            NDCDepthRange::NEGATIVE_ONE_TO_ONE);
+    const auto expected_no = e::calc_perspective_projection_matrix(
+            90.f, 1920.f / 1080.f, 0.1f, 1000.f, NDCDepthRange::NEGATIVE_ONE_TO_ONE);
+    expect_matrix_near(proj_no, expected_no);
+
+    const auto proj_zo = e::CameraTrait::calc_projection_matrix(
+            projection::FieldOfView::from_degrees(90.f), {1920.f, 1080.f}, 0.1f, 1000.f,
+            NDCDepthRange::ZERO_TO_ONE);
+    const auto expected_zo = e::calc_perspective_projection_matrix(
+            90.f, 1920.f / 1080.f, 0.1f, 1000.f, NDCDepthRange::ZERO_TO_ONE);
+    expect_matrix_near(proj_zo, expected_zo);
+
+    EXPECT_NE(proj_no, proj_zo);
+}
+
+TEST(NDCDepthRangeTests, CryEngine_BothDepthRanges)
+{
+    namespace e = omath::cry_engine;
+
+    const auto proj_no = e::CameraTrait::calc_projection_matrix(
+            projection::FieldOfView::from_degrees(90.f), {1920.f, 1080.f}, 0.1f, 1000.f,
+            NDCDepthRange::NEGATIVE_ONE_TO_ONE);
+    const auto expected_no = e::calc_perspective_projection_matrix(
+            90.f, 1920.f / 1080.f, 0.1f, 1000.f, NDCDepthRange::NEGATIVE_ONE_TO_ONE);
+    expect_matrix_near(proj_no, expected_no);
+
+    const auto proj_zo = e::CameraTrait::calc_projection_matrix(
+            projection::FieldOfView::from_degrees(90.f), {1920.f, 1080.f}, 0.1f, 1000.f,
+            NDCDepthRange::ZERO_TO_ONE);
+    const auto expected_zo = e::calc_perspective_projection_matrix(
+            90.f, 1920.f / 1080.f, 0.1f, 1000.f, NDCDepthRange::ZERO_TO_ONE);
+    expect_matrix_near(proj_zo, expected_zo);
+
+    EXPECT_NE(proj_no, proj_zo);
+}
+
+// ── Verify Z mapping for ZERO_TO_ONE across all engines ─────────────────────
+
+// Helper: projects a point at given z through a left-handed projection matrix and returns NDC z
+static float project_z_lh(const Mat<4, 4>& proj, float z)
+{
+    auto clip = proj * mat_column_from_vector<float>({0, 0, z});
+    return clip.at(2, 0) / clip.at(3, 0);
+}
+
+TEST(NDCDepthRangeTests, Source_ZeroToOne_ZRange)
+{
+    namespace e = omath::source_engine;
+    // Source is left-handed
+    const auto proj = e::calc_perspective_projection_matrix(90.f, 16.f / 9.f, 0.1f, 1000.f, NDCDepthRange::ZERO_TO_ONE);
+
+    EXPECT_NEAR(project_z_lh(proj, 0.1f), 0.0f, 1e-4f);
+    EXPECT_NEAR(project_z_lh(proj, 1000.f), 1.0f, 1e-4f);
+    EXPECT_GT(project_z_lh(proj, 500.f), 0.0f);
+    EXPECT_LT(project_z_lh(proj, 500.f), 1.0f);
+}
+
+TEST(NDCDepthRangeTests, IW_ZeroToOne_ZRange)
+{
+    namespace e = omath::iw_engine;
+    // IW is left-handed
+    const auto proj = e::calc_perspective_projection_matrix(90.f, 16.f / 9.f, 0.1f, 1000.f, NDCDepthRange::ZERO_TO_ONE);
+
+    EXPECT_NEAR(project_z_lh(proj, 0.1f), 0.0f, 1e-4f);
+    EXPECT_NEAR(project_z_lh(proj, 1000.f), 1.0f, 1e-4f);
+    EXPECT_GT(project_z_lh(proj, 500.f), 0.0f);
+    EXPECT_LT(project_z_lh(proj, 500.f), 1.0f);
+}
+
+TEST(NDCDepthRangeTests, OpenGL_ZeroToOne_ZRange)
+{
+    namespace e = omath::opengl_engine;
+    // OpenGL is right-handed (negative z forward), column-major
+    const auto proj = e::calc_perspective_projection_matrix(90.f, 16.f / 9.f, 0.1f, 1000.f, NDCDepthRange::ZERO_TO_ONE);
+
+    // OpenGL engine uses column-major matrices, project manually
+    auto proj_z = [&](float z) {
+        auto clip = proj * mat_column_from_vector<float, MatStoreType::COLUMN_MAJOR>({0, 0, z});
+        return clip.at(2, 0) / clip.at(3, 0);
+    };
+
+    EXPECT_NEAR(proj_z(-0.1f), 0.0f, 1e-4f);
+    EXPECT_NEAR(proj_z(-1000.f), 1.0f, 1e-4f);
+    EXPECT_GT(proj_z(-500.f), 0.0f);
+    EXPECT_LT(proj_z(-500.f), 1.0f);
+}
+
+TEST(NDCDepthRangeTests, Frostbite_ZeroToOne_ZRange)
+{
+    namespace e = omath::frostbite_engine;
+    const auto proj = e::calc_perspective_projection_matrix(90.f, 16.f / 9.f, 0.1f, 1000.f, NDCDepthRange::ZERO_TO_ONE);
+
+    EXPECT_NEAR(project_z_lh(proj, 0.1f), 0.0f, 1e-4f);
+    EXPECT_NEAR(project_z_lh(proj, 1000.f), 1.0f, 1e-4f);
+    EXPECT_GT(project_z_lh(proj, 500.f), 0.0f);
+    EXPECT_LT(project_z_lh(proj, 500.f), 1.0f);
+}
+
+TEST(NDCDepthRangeTests, Unity_ZeroToOne_ZRange)
+{
+    namespace e = omath::unity_engine;
+    // Unity is right-handed, row-major
+    const auto proj = e::calc_perspective_projection_matrix(90.f, 16.f / 9.f, 0.1f, 1000.f, NDCDepthRange::ZERO_TO_ONE);
+
+    auto proj_z = [&](float z) {
+        auto clip = proj * mat_column_from_vector<float>({0, 0, z});
+        return clip.at(2, 0) / clip.at(3, 0);
+    };
+
+    EXPECT_NEAR(proj_z(-0.1f), 0.0f, 1e-4f);
+    EXPECT_NEAR(proj_z(-1000.f), 1.0f, 1e-4f);
+    EXPECT_GT(proj_z(-500.f), 0.0f);
+    EXPECT_LT(proj_z(-500.f), 1.0f);
+}
+
+TEST(NDCDepthRangeTests, Unreal_ZeroToOne_ZRange)
+{
+    namespace e = omath::unreal_engine;
+    const auto proj = e::calc_perspective_projection_matrix(90.f, 16.f / 9.f, 0.1f, 1000.f, NDCDepthRange::ZERO_TO_ONE);
+
+    EXPECT_NEAR(project_z_lh(proj, 0.1f), 0.0f, 1e-4f);
+    EXPECT_NEAR(project_z_lh(proj, 1000.f), 1.0f, 1e-4f);
+    EXPECT_GT(project_z_lh(proj, 500.f), 0.0f);
+    EXPECT_LT(project_z_lh(proj, 500.f), 1.0f);
+}
+
+TEST(NDCDepthRangeTests, CryEngine_ZeroToOne_ZRange)
+{
+    namespace e = omath::cry_engine;
+    const auto proj = e::calc_perspective_projection_matrix(90.f, 16.f / 9.f, 0.1f, 1000.f, NDCDepthRange::ZERO_TO_ONE);
+
+    EXPECT_NEAR(project_z_lh(proj, 0.1f), 0.0f, 1e-4f);
+    EXPECT_NEAR(project_z_lh(proj, 1000.f), 1.0f, 1e-4f);
+    EXPECT_GT(project_z_lh(proj, 500.f), 0.0f);
+    EXPECT_LT(project_z_lh(proj, 500.f), 1.0f);
+}
+
+// ── Verify Z mapping for NEGATIVE_ONE_TO_ONE across all engines ─────────────
+
+TEST(NDCDepthRangeTests, Source_NegativeOneToOne_ZRange)
+{
+    namespace e = omath::source_engine;
+    const auto proj = e::calc_perspective_projection_matrix(90.f, 16.f / 9.f, 0.1f, 1000.f, NDCDepthRange::NEGATIVE_ONE_TO_ONE);
+
+    EXPECT_NEAR(project_z_lh(proj, 0.1f), -1.0f, 1e-3f);
+    EXPECT_NEAR(project_z_lh(proj, 1000.f), 1.0f, 1e-3f);
+}
+
+TEST(NDCDepthRangeTests, IW_NegativeOneToOne_ZRange)
+{
+    namespace e = omath::iw_engine;
+    const auto proj = e::calc_perspective_projection_matrix(90.f, 16.f / 9.f, 0.1f, 1000.f, NDCDepthRange::NEGATIVE_ONE_TO_ONE);
+
+    EXPECT_NEAR(project_z_lh(proj, 0.1f), -1.0f, 1e-3f);
+    EXPECT_NEAR(project_z_lh(proj, 1000.f), 1.0f, 1e-3f);
+}
+
+TEST(NDCDepthRangeTests, Frostbite_NegativeOneToOne_ZRange)
+{
+    namespace e = omath::frostbite_engine;
+    const auto proj = e::calc_perspective_projection_matrix(90.f, 16.f / 9.f, 0.1f, 1000.f, NDCDepthRange::NEGATIVE_ONE_TO_ONE);
+
+    EXPECT_NEAR(project_z_lh(proj, 0.1f), -1.0f, 1e-3f);
+    EXPECT_NEAR(project_z_lh(proj, 1000.f), 1.0f, 1e-3f);
+}
+
+TEST(NDCDepthRangeTests, Unreal_NegativeOneToOne_ZRange)
+{
+    namespace e = omath::unreal_engine;
+    const auto proj = e::calc_perspective_projection_matrix(90.f, 16.f / 9.f, 0.1f, 1000.f, NDCDepthRange::NEGATIVE_ONE_TO_ONE);
+
+    EXPECT_NEAR(project_z_lh(proj, 0.1f), -1.0f, 1e-3f);
+    EXPECT_NEAR(project_z_lh(proj, 1000.f), 1.0f, 1e-3f);
+}
+
+TEST(NDCDepthRangeTests, CryEngine_NegativeOneToOne_ZRange)
+{
+    namespace e = omath::cry_engine;
+    const auto proj = e::calc_perspective_projection_matrix(90.f, 16.f / 9.f, 0.1f, 1000.f, NDCDepthRange::NEGATIVE_ONE_TO_ONE);
+
+    EXPECT_NEAR(project_z_lh(proj, 0.1f), -1.0f, 1e-3f);
+    EXPECT_NEAR(project_z_lh(proj, 1000.f), 1.0f, 1e-3f);
+}
+
+TEST(NDCDepthRangeTests, OpenGL_NegativeOneToOne_ZRange)
+{
+    namespace e = omath::opengl_engine;
+    const auto proj = e::calc_perspective_projection_matrix(90.f, 16.f / 9.f, 0.1f, 1000.f, NDCDepthRange::NEGATIVE_ONE_TO_ONE);
+
+    auto proj_z = [&](float z) {
+        auto clip = proj * mat_column_from_vector<float, MatStoreType::COLUMN_MAJOR>({0, 0, z});
+        return clip.at(2, 0) / clip.at(3, 0);
+    };
+
+    EXPECT_NEAR(proj_z(-0.1f), -1.0f, 1e-3f);
+    EXPECT_NEAR(proj_z(-1000.f), 1.0f, 1e-3f);
+}
+
+TEST(NDCDepthRangeTests, Unity_NegativeOneToOne_ZRange)
+{
+    namespace e = omath::unity_engine;
+    const auto proj = e::calc_perspective_projection_matrix(90.f, 16.f / 9.f, 0.1f, 1000.f, NDCDepthRange::NEGATIVE_ONE_TO_ONE);
+
+    auto proj_z = [&](float z) {
+        auto clip = proj * mat_column_from_vector<float>({0, 0, z});
+        return clip.at(2, 0) / clip.at(3, 0);
+    };
+
+    EXPECT_NEAR(proj_z(-0.1f), -1.0f, 1e-3f);
+    EXPECT_NEAR(proj_z(-1000.f), 1.0f, 1e-3f);
+}

tests/engines/unit_test_unity_engine.cpp

@@ -417,3 +417,51 @@ TEST(unit_test_unity_engine, look_at_down)
          std::views::zip(dir_vector.as_array(), (-omath::unity_engine::k_abs_up).as_array()))
         EXPECT_NEAR(result, etalon, 0.0001f);
 }
+
+TEST(unit_test_unity_engine, ViewAnglesAsVector3Zero)
+{
+    const omath::unity_engine::ViewAngles angles{};
+    const auto vec = angles.as_vector3();
+
+    EXPECT_FLOAT_EQ(vec.x, 0.f);
+    EXPECT_FLOAT_EQ(vec.y, 0.f);
+    EXPECT_FLOAT_EQ(vec.z, 0.f);
+}
+
+TEST(unit_test_unity_engine, ViewAnglesAsVector3Values)
+{
+    const omath::unity_engine::ViewAngles angles{
+        omath::unity_engine::PitchAngle::from_degrees(45.f),
+        omath::unity_engine::YawAngle::from_degrees(-90.f),
+        omath::unity_engine::RollAngle::from_degrees(30.f)
+    };
+    const auto vec = angles.as_vector3();
+
+    EXPECT_FLOAT_EQ(vec.x, 45.f);
+    EXPECT_FLOAT_EQ(vec.y, -90.f);
+    EXPECT_FLOAT_EQ(vec.z, 30.f);
+}
+
+TEST(unit_test_unity_engine, ViewAnglesAsVector3ClampedPitch)
+{
+    const omath::unity_engine::ViewAngles angles{
+        omath::unity_engine::PitchAngle::from_degrees(120.f),
+        omath::unity_engine::YawAngle::from_degrees(0.f),
+        omath::unity_engine::RollAngle::from_degrees(0.f)
+    };
+    const auto vec = angles.as_vector3();
+
+    EXPECT_FLOAT_EQ(vec.x, 90.f);
+}
+
+TEST(unit_test_unity_engine, ViewAnglesAsVector3NormalizedYaw)
+{
+    const omath::unity_engine::ViewAngles angles{
+        omath::unity_engine::PitchAngle::from_degrees(0.f),
+        omath::unity_engine::YawAngle::from_degrees(270.f),
+        omath::unity_engine::RollAngle::from_degrees(0.f)
+    };
+    const auto vec = angles.as_vector3();
+
+    EXPECT_NEAR(vec.y, -90.f, 0.01f);
+}

tests/engines/unit_test_unreal_engine.cpp

@@ -417,4 +417,52 @@ TEST(unit_test_unreal_engine, look_at_down)
     const auto dir_vector = omath::unreal_engine::forward_vector(angles);
     for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), (-omath::unreal_engine::k_abs_up).as_array()))
         EXPECT_NEAR(result, etalon, 0.0001f);
+}
+
+TEST(unit_test_unreal_engine, ViewAnglesAsVector3Zero)
+{
+    const omath::unreal_engine::ViewAngles angles{};
+    const auto vec = angles.as_vector3();
+
+    EXPECT_FLOAT_EQ(vec.x, 0.f);
+    EXPECT_FLOAT_EQ(vec.y, 0.f);
+    EXPECT_FLOAT_EQ(vec.z, 0.f);
+}
+
+TEST(unit_test_unreal_engine, ViewAnglesAsVector3Values)
+{
+    const omath::unreal_engine::ViewAngles angles{
+        omath::unreal_engine::PitchAngle::from_degrees(45.f),
+        omath::unreal_engine::YawAngle::from_degrees(-90.f),
+        omath::unreal_engine::RollAngle::from_degrees(30.f)
+    };
+    const auto vec = angles.as_vector3();
+
+    EXPECT_FLOAT_EQ(vec.x, 45.f);
+    EXPECT_FLOAT_EQ(vec.y, -90.f);
+    EXPECT_FLOAT_EQ(vec.z, 30.f);
+}
+
+TEST(unit_test_unreal_engine, ViewAnglesAsVector3ClampedPitch)
+{
+    const omath::unreal_engine::ViewAngles angles{
+        omath::unreal_engine::PitchAngle::from_degrees(120.f),
+        omath::unreal_engine::YawAngle::from_degrees(0.f),
+        omath::unreal_engine::RollAngle::from_degrees(0.f)
+    };
+    const auto vec = angles.as_vector3();
+
+    EXPECT_FLOAT_EQ(vec.x, 90.f);
+}
+
+TEST(unit_test_unreal_engine, ViewAnglesAsVector3NormalizedYaw)
+{
+    const omath::unreal_engine::ViewAngles angles{
+        omath::unreal_engine::PitchAngle::from_degrees(0.f),
+        omath::unreal_engine::YawAngle::from_degrees(270.f),
+        omath::unreal_engine::RollAngle::from_degrees(0.f)
+    };
+    const auto vec = angles.as_vector3();
+
+    EXPECT_NEAR(vec.y, -90.f, 0.01f);
 }

tests/general/unit_test_a_star.cpp

@@ -40,8 +40,9 @@ TEST(AStarExtra, TrivialNeighbor)
     nav.m_vertex_map[v2] = {v1};
 
     const auto path = Astar::find_path(v1, v2, nav);
-    ASSERT_EQ(path.size(), 1u);
-    EXPECT_EQ(path.front(), v2);
+    ASSERT_EQ(path.size(), 2u);
+    EXPECT_EQ(path.front(), v1);
+    EXPECT_EQ(path.back(), v2);
 }
 
 TEST(AStarExtra, StartEqualsGoal)
@@ -101,7 +102,7 @@ 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);
+    EXPECT_EQ(path.back(), goal);
 }
 
 TEST(AstarTests, TrivialDirectNeighborPath)
@@ -114,8 +115,9 @@ TEST(AstarTests, TrivialDirectNeighborPath)
     nav.m_vertex_map.emplace(v2, std::vector<Vector3<float>>{v1});
 
     const auto path = Astar::find_path(v1, v2, nav);
-    ASSERT_EQ(path.size(), 1u);
-    EXPECT_EQ(path.front(), v2);
+    ASSERT_EQ(path.size(), 2u);
+    EXPECT_EQ(path.front(), v1);
+    EXPECT_EQ(path.back(), v2);
 }
 
 TEST(AstarTests, NoPathWhenDisconnected)

tests/general/unit_test_line_tracer_aabb.cpp

@@ -0,0 +1,125 @@
+//
+// Created by Vlad on 3/25/2025.
+//
+#include "omath/collision/line_tracer.hpp"
+#include "omath/3d_primitives/aabb.hpp"
+#include <gtest/gtest.h>
+
+using Vec3 = omath::Vector3<float>;
+using Ray = omath::collision::Ray<>;
+using LineTracer = omath::collision::LineTracer<>;
+using AABB = omath::primitives::Aabb<float>;
+
+static Ray make_ray(Vec3 start, Vec3 end, bool infinite = false)
+{
+    Ray r;
+    r.start = start;
+    r.end = end;
+    r.infinite_length = infinite;
+    return r;
+}
+
+// Ray passing straight through the center along Z axis
+TEST(LineTracerAABBTests, HitCenterAlongZ)
+{
+    const AABB box{{-1.f, -1.f, -1.f}, {1.f, 1.f, 1.f}};
+    const auto ray = make_ray({0.f, 0.f, -5.f}, {0.f, 0.f, 5.f});
+
+    const auto hit = LineTracer::get_ray_hit_point(ray, box);
+    EXPECT_NE(hit, ray.end);
+    EXPECT_NEAR(hit.z, -1.f, 1e-4f);
+    EXPECT_NEAR(hit.x, 0.f, 1e-4f);
+    EXPECT_NEAR(hit.y, 0.f, 1e-4f);
+}
+
+// Ray passing straight through the center along X axis
+TEST(LineTracerAABBTests, HitCenterAlongX)
+{
+    const AABB box{{-1.f, -1.f, -1.f}, {1.f, 1.f, 1.f}};
+    const auto ray = make_ray({-5.f, 0.f, 0.f}, {5.f, 0.f, 0.f});
+
+    const auto hit = LineTracer::get_ray_hit_point(ray, box);
+    EXPECT_NE(hit, ray.end);
+    EXPECT_NEAR(hit.x, -1.f, 1e-4f);
+}
+
+// Ray that misses entirely (too far in Y)
+TEST(LineTracerAABBTests, MissReturnsEnd)
+{
+    const AABB box{{-1.f, -1.f, -1.f}, {1.f, 1.f, 1.f}};
+    const auto ray = make_ray({0.f, 5.f, -5.f}, {0.f, 5.f, 5.f});
+
+    const auto hit = LineTracer::get_ray_hit_point(ray, box);
+    EXPECT_EQ(hit, ray.end);
+}
+
+// Ray that stops short before reaching the box
+TEST(LineTracerAABBTests, RayTooShortReturnsEnd)
+{
+    const AABB box{{3.f, -1.f, -1.f}, {5.f, 1.f, 1.f}};
+    const auto ray = make_ray({0.f, 0.f, 0.f}, {2.f, 0.f, 0.f});
+
+    const auto hit = LineTracer::get_ray_hit_point(ray, box);
+    EXPECT_EQ(hit, ray.end);
+}
+
+// Infinite ray that starts before the box should hit
+TEST(LineTracerAABBTests, InfiniteRayHits)
+{
+    const AABB box{{3.f, -1.f, -1.f}, {5.f, 1.f, 1.f}};
+    const auto ray = make_ray({0.f, 0.f, 0.f}, {2.f, 0.f, 0.f}, true);
+
+    const auto hit = LineTracer::get_ray_hit_point(ray, box);
+    EXPECT_NE(hit, ray.end);
+    EXPECT_NEAR(hit.x, 3.f, 1e-4f);
+}
+
+// Ray starting inside the box — t_min=0, so hit point equals ray.start
+TEST(LineTracerAABBTests, RayStartsInsideBox)
+{
+    const AABB box{{-1.f, -1.f, -1.f}, {1.f, 1.f, 1.f}};
+    const auto ray = make_ray({0.f, 0.f, 0.f}, {0.f, 0.f, 5.f});
+
+    const auto hit = LineTracer::get_ray_hit_point(ray, box);
+    EXPECT_NE(hit, ray.end);
+    // t_min is clamped to 0, so hit == start
+    EXPECT_NEAR(hit.x, 0.f, 1e-4f);
+    EXPECT_NEAR(hit.y, 0.f, 1e-4f);
+    EXPECT_NEAR(hit.z, 0.f, 1e-4f);
+}
+
+// Ray parallel to XY plane, pointing along X, at Z outside the box
+TEST(LineTracerAABBTests, ParallelRayOutsideSlabMisses)
+{
+    const AABB box{{-1.f, -1.f, -1.f}, {1.f, 1.f, 1.f}};
+    // Z component of ray is 3.0 — outside box's Z slab
+    const auto ray = make_ray({-5.f, 0.f, 3.f}, {5.f, 0.f, 3.f});
+
+    const auto hit = LineTracer::get_ray_hit_point(ray, box);
+    EXPECT_EQ(hit, ray.end);
+}
+
+// Ray parallel to XY plane, pointing along X, at Z inside the box
+TEST(LineTracerAABBTests, ParallelRayInsideSlabHits)
+{
+    const AABB box{{-1.f, -1.f, -1.f}, {1.f, 1.f, 1.f}};
+    const auto ray = make_ray({-5.f, 0.f, 0.f}, {5.f, 0.f, 0.f});
+
+    const auto hit = LineTracer::get_ray_hit_point(ray, box);
+    EXPECT_NE(hit, ray.end);
+    EXPECT_NEAR(hit.x, -1.f, 1e-4f);
+}
+
+// Diagonal ray hitting a corner region
+TEST(LineTracerAABBTests, DiagonalRayHits)
+{
+    const AABB box{{0.f, 0.f, 0.f}, {2.f, 2.f, 2.f}};
+    const auto ray = make_ray({-1.f, -1.f, -1.f}, {3.f, 3.f, 3.f});
+
+    const auto hit = LineTracer::get_ray_hit_point(ray, box);
+    EXPECT_NE(hit, ray.end);
+    // Entry point should be at (0,0,0)
+    EXPECT_NEAR(hit.x, 0.f, 1e-4f);
+    EXPECT_NEAR(hit.y, 0.f, 1e-4f);
+    EXPECT_NEAR(hit.z, 0.f, 1e-4f);
+}

tests/general/unit_test_mat.cpp

@@ -240,4 +240,126 @@ TEST(UnitTestMatStandalone, MatPerspectiveLeftHanded)
     projected /= projected.at(3, 0);
 
     EXPECT_TRUE(projected.at(2, 0) > -1.0f && projected.at(2, 0) < 0.f);
+}
+
+TEST(UnitTestMatStandalone, MatPerspectiveLeftHandedZeroToOne)
+{
+    const auto proj = mat_perspective_left_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+            90.f, 16.f / 9.f, 0.1f, 1000.f);
+
+    // Near plane point should map to z ~ 0
+    auto near_pt = proj * mat_column_from_vector<float>({0, 0, 0.1f});
+    near_pt /= near_pt.at(3, 0);
+    EXPECT_NEAR(near_pt.at(2, 0), 0.0f, 1e-4f);
+
+    // Far plane point should map to z ~ 1
+    auto far_pt = proj * mat_column_from_vector<float>({0, 0, 1000.f});
+    far_pt /= far_pt.at(3, 0);
+    EXPECT_NEAR(far_pt.at(2, 0), 1.0f, 1e-4f);
+
+    // Mid-range point should be in [0, 1]
+    auto mid_pt = proj * mat_column_from_vector<float>({0, 0, 500.f});
+    mid_pt /= mid_pt.at(3, 0);
+    EXPECT_GT(mid_pt.at(2, 0), 0.0f);
+    EXPECT_LT(mid_pt.at(2, 0), 1.0f);
+}
+
+TEST(UnitTestMatStandalone, MatPerspectiveRightHandedZeroToOne)
+{
+    const auto proj = mat_perspective_right_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+            90.f, 16.f / 9.f, 0.1f, 1000.f);
+
+    // Near plane point (negative z for right-handed) should map to z ~ 0
+    auto near_pt = proj * mat_column_from_vector<float>({0, 0, -0.1f});
+    near_pt /= near_pt.at(3, 0);
+    EXPECT_NEAR(near_pt.at(2, 0), 0.0f, 1e-4f);
+
+    // Far plane point should map to z ~ 1
+    auto far_pt = proj * mat_column_from_vector<float>({0, 0, -1000.f});
+    far_pt /= far_pt.at(3, 0);
+    EXPECT_NEAR(far_pt.at(2, 0), 1.0f, 1e-4f);
+
+    // Mid-range point should be in [0, 1]
+    auto mid_pt = proj * mat_column_from_vector<float>({0, 0, -500.f});
+    mid_pt /= mid_pt.at(3, 0);
+    EXPECT_GT(mid_pt.at(2, 0), 0.0f);
+    EXPECT_LT(mid_pt.at(2, 0), 1.0f);
+}
+
+TEST(UnitTestMatStandalone, MatPerspectiveNegativeOneToOneRange)
+{
+    // Verify existing [-1, 1] behavior with explicit template arg matches default
+    const auto proj_default = mat_perspective_left_handed(90.f, 16.f / 9.f, 0.1f, 1000.f);
+    const auto proj_explicit = mat_perspective_left_handed<float, MatStoreType::ROW_MAJOR,
+            NDCDepthRange::NEGATIVE_ONE_TO_ONE>(90.f, 16.f / 9.f, 0.1f, 1000.f);
+
+    EXPECT_EQ(proj_default, proj_explicit);
+
+    // Near plane should map to z ~ -1
+    auto near_pt = proj_default * mat_column_from_vector<float>({0, 0, 0.1f});
+    near_pt /= near_pt.at(3, 0);
+    EXPECT_NEAR(near_pt.at(2, 0), -1.0f, 1e-3f);
+
+    // Far plane should map to z ~ 1
+    auto far_pt = proj_default * mat_column_from_vector<float>({0, 0, 1000.f});
+    far_pt /= far_pt.at(3, 0);
+    EXPECT_NEAR(far_pt.at(2, 0), 1.0f, 1e-3f);
+}
+
+TEST(UnitTestMatStandalone, MatPerspectiveZeroToOneEquanity)
+{
+    // LH and RH should produce same NDC for mirrored z
+    constexpr omath::Vector3<float> left_handed = {0, 2, 10};
+    constexpr omath::Vector3<float> right_handed = {0, 2, -10};
+
+    const auto proj_lh = mat_perspective_left_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+            90.f, 16.f / 9.f, 0.1f, 1000.f);
+    const auto proj_rh = mat_perspective_right_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+            90.f, 16.f / 9.f, 0.1f, 1000.f);
+
+    auto ndc_lh = proj_lh * mat_column_from_vector(left_handed);
+    auto ndc_rh = proj_rh * mat_column_from_vector(right_handed);
+
+    ndc_lh /= ndc_lh.at(3, 0);
+    ndc_rh /= ndc_rh.at(3, 0);
+
+    EXPECT_EQ(ndc_lh, ndc_rh);
+}
+
+TEST(UnitTestMatStandalone, MatOrthoLeftHandedZeroToOne)
+{
+    const auto ortho = mat_ortho_left_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+            -1.f, 1.f, -1.f, 1.f, 0.1f, 100.f);
+
+    // Near plane should map to z ~ 0
+    auto near_pt = ortho * mat_column_from_vector<float>({0, 0, 0.1f});
+    EXPECT_NEAR(near_pt.at(2, 0), 0.0f, 1e-4f);
+
+    // Far plane should map to z ~ 1
+    auto far_pt = ortho * mat_column_from_vector<float>({0, 0, 100.f});
+    EXPECT_NEAR(far_pt.at(2, 0), 1.0f, 1e-4f);
+}
+
+TEST(UnitTestMatStandalone, MatOrthoRightHandedZeroToOne)
+{
+    const auto ortho = mat_ortho_right_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+            -1.f, 1.f, -1.f, 1.f, 0.1f, 100.f);
+
+    // Near plane (negative z for RH) should map to z ~ 0
+    auto near_pt = ortho * mat_column_from_vector<float>({0, 0, -0.1f});
+    EXPECT_NEAR(near_pt.at(2, 0), 0.0f, 1e-4f);
+
+    // Far plane should map to z ~ 1
+    auto far_pt = ortho * mat_column_from_vector<float>({0, 0, -100.f});
+    EXPECT_NEAR(far_pt.at(2, 0), 1.0f, 1e-4f);
+}
+
+TEST(UnitTestMatStandalone, MatOrthoNegativeOneToOneDefault)
+{
+    // Verify explicit [-1, 1] matches default
+    const auto ortho_default = mat_ortho_left_handed(-1.f, 1.f, -1.f, 1.f, 0.1f, 100.f);
+    const auto ortho_explicit = mat_ortho_left_handed<float, MatStoreType::ROW_MAJOR,
+            NDCDepthRange::NEGATIVE_ONE_TO_ONE>(-1.f, 1.f, -1.f, 1.f, 0.1f, 100.f);
+
+    EXPECT_EQ(ortho_default, ortho_explicit);
 }

tests/general/unit_test_projection.cpp

@@ -4,7 +4,13 @@
 #include "omath/engines/unity_engine/camera.hpp"
 #include <complex>
 #include <gtest/gtest.h>
+#include <omath/3d_primitives/aabb.hpp>
+#include <omath/engines/cry_engine/camera.hpp>
+#include <omath/engines/frostbite_engine/camera.hpp>
+#include <omath/engines/iw_engine/camera.hpp>
+#include <omath/engines/opengl_engine/camera.hpp>
 #include <omath/engines/source_engine/camera.hpp>
+#include <omath/engines/unreal_engine/camera.hpp>
 #include <omath/projection/camera.hpp>
 #include <print>
 #include <random>
@@ -216,4 +222,722 @@ TEST(UnitTestProjection, ScreenToWorldBottomLeftCorner)
         EXPECT_NEAR(screen_cords->x, initial_screen_cords.x, 0.001f);
         EXPECT_NEAR(screen_cords->y, initial_screen_cords.y, 0.001f);
     }
-}
+}
+
+TEST(UnitTestProjection, AabbInsideFrustumNotCulled)
+{
+    constexpr auto fov = omath::projection::FieldOfView::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);
+
+    // Small box directly in front of camera (Source Engine: +X forward, +Y left, +Z up)
+    const omath::primitives::Aabb<float> aabb{{90.f, -1.f, -1.f}, {110.f, 1.f, 1.f}};
+    EXPECT_FALSE(cam.is_aabb_culled_by_frustum(aabb));
+}
+
+TEST(UnitTestProjection, AabbBehindCameraCulled)
+{
+    constexpr auto fov = omath::projection::FieldOfView::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);
+
+    // Box entirely behind the camera
+    const omath::primitives::Aabb<float> aabb{{-200.f, -1.f, -1.f}, {-100.f, 1.f, 1.f}};
+    EXPECT_TRUE(cam.is_aabb_culled_by_frustum(aabb));
+}
+
+TEST(UnitTestProjection, AabbBeyondFarPlaneCulled)
+{
+    constexpr auto fov = omath::projection::FieldOfView::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);
+
+    // Box beyond far plane (1000)
+    const omath::primitives::Aabb<float> aabb{{1500.f, -1.f, -1.f}, {2000.f, 1.f, 1.f}};
+    EXPECT_TRUE(cam.is_aabb_culled_by_frustum(aabb));
+}
+
+TEST(UnitTestProjection, AabbFarLeftCulled)
+{
+    constexpr auto fov = omath::projection::FieldOfView::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);
+
+    // Box far to the side, outside the frustum
+    const omath::primitives::Aabb<float> aabb{{90.f, 4000.f, -1.f}, {110.f, 5000.f, 1.f}};
+    EXPECT_TRUE(cam.is_aabb_culled_by_frustum(aabb));
+}
+
+TEST(UnitTestProjection, AabbFarRightCulled)
+{
+    constexpr auto fov = omath::projection::FieldOfView::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);
+
+    // Box far to the other side, outside the frustum
+    const omath::primitives::Aabb<float> aabb{{90.f, -5000.f, -1.f}, {110.f, -4000.f, 1.f}};
+    EXPECT_TRUE(cam.is_aabb_culled_by_frustum(aabb));
+}
+
+TEST(UnitTestProjection, AabbAboveCulled)
+{
+    constexpr auto fov = omath::projection::FieldOfView::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);
+
+    // Box far above the frustum
+    const omath::primitives::Aabb<float> aabb{{90.f, -1.f, 5000.f}, {110.f, 1.f, 6000.f}};
+    EXPECT_TRUE(cam.is_aabb_culled_by_frustum(aabb));
+}
+
+TEST(UnitTestProjection, AabbPartiallyInsideNotCulled)
+{
+    constexpr auto fov = omath::projection::FieldOfView::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);
+
+    // Large box that straddles the frustum boundary — partially inside
+    const omath::primitives::Aabb<float> aabb{{50.f, -5000.f, -5000.f}, {500.f, 5000.f, 5000.f}};
+    EXPECT_FALSE(cam.is_aabb_culled_by_frustum(aabb));
+}
+
+TEST(UnitTestProjection, AabbStraddlesNearPlaneNotCulled)
+{
+    constexpr auto fov = omath::projection::FieldOfView::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);
+
+    // Box that straddles the near plane — partially in front
+    const omath::primitives::Aabb<float> aabb{{-5.f, -1.f, -1.f}, {5.f, 1.f, 1.f}};
+    EXPECT_FALSE(cam.is_aabb_culled_by_frustum(aabb));
+}
+
+TEST(UnitTestProjection, AabbStraddlesFarPlaneNotCulled)
+{
+    constexpr auto fov = omath::projection::FieldOfView::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);
+
+    // Box that straddles the far plane
+    const omath::primitives::Aabb<float> aabb{{900.f, -1.f, -1.f}, {1100.f, 1.f, 1.f}};
+    EXPECT_FALSE(cam.is_aabb_culled_by_frustum(aabb));
+}
+
+TEST(UnitTestProjection, AabbCulledUnityEngine)
+{
+    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);
+
+    // Box in front — not culled
+    const omath::primitives::Aabb<float> inside{{-1.f, -1.f, 50.f}, {1.f, 1.f, 100.f}};
+    EXPECT_FALSE(cam.is_aabb_culled_by_frustum(inside));
+
+    // Box behind — culled
+    const omath::primitives::Aabb<float> behind{{-1.f, -1.f, -200.f}, {1.f, 1.f, -100.f}};
+    EXPECT_TRUE(cam.is_aabb_culled_by_frustum(behind));
+}
+
+TEST(UnitTestProjection, AabbBelowCulled)
+{
+    constexpr auto fov = omath::projection::FieldOfView::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);
+
+    // Box far below the frustum (Source Engine: +Z up)
+    const omath::primitives::Aabb<float> aabb{{90.f, -1.f, -6000.f}, {110.f, 1.f, -5000.f}};
+    EXPECT_TRUE(cam.is_aabb_culled_by_frustum(aabb));
+}
+
+TEST(UnitTestProjection, AabbEnclosesCameraNotCulled)
+{
+    constexpr auto fov = omath::projection::FieldOfView::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);
+
+    // Huge box that fully encloses the camera
+    const omath::primitives::Aabb<float> aabb{{-500.f, -500.f, -500.f}, {500.f, 500.f, 500.f}};
+    EXPECT_FALSE(cam.is_aabb_culled_by_frustum(aabb));
+}
+
+TEST(UnitTestProjection, AabbExactlyAtNearPlaneNotCulled)
+{
+    constexpr auto fov = omath::projection::FieldOfView::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);
+
+    // Box starting exactly at the near plane distance
+    const omath::primitives::Aabb<float> aabb{{0.01f, -1.f, -1.f}, {10.f, 1.f, 1.f}};
+    EXPECT_FALSE(cam.is_aabb_culled_by_frustum(aabb));
+}
+
+TEST(UnitTestProjection, AabbExactlyAtFarPlaneNotCulled)
+{
+    constexpr auto fov = omath::projection::FieldOfView::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);
+
+    // Box ending exactly at the far plane distance
+    const omath::primitives::Aabb<float> aabb{{990.f, -1.f, -1.f}, {1000.f, 1.f, 1.f}};
+    EXPECT_FALSE(cam.is_aabb_culled_by_frustum(aabb));
+}
+
+TEST(UnitTestProjection, AabbNarrowFovCulledAtEdge)
+{
+    // Narrow FOV — box that would be visible at 90 is culled at 30
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(30.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 omath::primitives::Aabb<float> aabb{{100.f, 200.f, -1.f}, {110.f, 210.f, 1.f}};
+    EXPECT_TRUE(cam.is_aabb_culled_by_frustum(aabb));
+}
+
+TEST(UnitTestProjection, AabbWideFovNotCulledAtEdge)
+{
+    // Wide FOV — same box is visible
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(120.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 omath::primitives::Aabb<float> aabb{{100.f, 200.f, -1.f}, {110.f, 210.f, 1.f}};
+    EXPECT_FALSE(cam.is_aabb_culled_by_frustum(aabb));
+}
+
+TEST(UnitTestProjection, AabbCameraOffOrigin)
+{
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    const auto cam = omath::source_engine::Camera({500.f, 0, 0}, omath::source_engine::ViewAngles{}, {1920.f, 1080.f},
+                                                  fov, 0.01f, 1000.f);
+
+    // Box in front of shifted camera
+    const omath::primitives::Aabb<float> in_front{{600.f, -1.f, -1.f}, {700.f, 1.f, 1.f}};
+    EXPECT_FALSE(cam.is_aabb_culled_by_frustum(in_front));
+
+    // Box behind shifted camera
+    const omath::primitives::Aabb<float> behind{{0.f, -1.f, -1.f}, {100.f, 1.f, 1.f}};
+    EXPECT_TRUE(cam.is_aabb_culled_by_frustum(behind));
+}
+
+TEST(UnitTestProjection, AabbShortFarPlaneCulled)
+{
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    // Very short far plane
+    const auto cam = omath::source_engine::Camera({0, 0, 0}, omath::source_engine::ViewAngles{}, {1920.f, 1080.f}, fov,
+                                                  0.01f, 50.f);
+
+    // Box at distance 100 — beyond the 50-unit far plane
+    const omath::primitives::Aabb<float> aabb{{90.f, -1.f, -1.f}, {110.f, 1.f, 1.f}};
+    EXPECT_TRUE(cam.is_aabb_culled_by_frustum(aabb));
+
+    // Box at distance 30 — within range
+    const omath::primitives::Aabb<float> near_box{{25.f, -1.f, -1.f}, {35.f, 1.f, 1.f}};
+    EXPECT_FALSE(cam.is_aabb_culled_by_frustum(near_box));
+}
+
+TEST(UnitTestProjection, AabbPointSizedInsideNotCulled)
+{
+    constexpr auto fov = omath::projection::FieldOfView::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);
+
+    // Degenerate zero-volume AABB (a point) inside the frustum
+    const omath::primitives::Aabb<float> aabb{{100.f, 0.f, 0.f}, {100.f, 0.f, 0.f}};
+    EXPECT_FALSE(cam.is_aabb_culled_by_frustum(aabb));
+}
+
+TEST(UnitTestProjection, AabbOpenGlEngineInsideNotCulled)
+{
+    // OpenGL: COLUMN_MAJOR, NEGATIVE_ONE_TO_ONE, inverted_z, forward = -Z
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    const auto cam = omath::opengl_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
+
+    // Box in front of camera (OpenGL: -Z forward)
+    const omath::primitives::Aabb<float> aabb{{-1.f, -1.f, -110.f}, {1.f, 1.f, -90.f}};
+    EXPECT_FALSE(cam.is_aabb_culled_by_frustum(aabb));
+}
+
+TEST(UnitTestProjection, AabbOpenGlEngineBehindCulled)
+{
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    const auto cam = omath::opengl_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
+
+    // Box behind (OpenGL: +Z is behind the camera)
+    const omath::primitives::Aabb<float> aabb{{-1.f, -1.f, 100.f}, {1.f, 1.f, 200.f}};
+    EXPECT_TRUE(cam.is_aabb_culled_by_frustum(aabb));
+}
+
+TEST(UnitTestProjection, AabbOpenGlEngineBeyondFarCulled)
+{
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    const auto cam = omath::opengl_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
+
+    // Box beyond far plane along -Z
+    const omath::primitives::Aabb<float> aabb{{-1.f, -1.f, -2000.f}, {1.f, 1.f, -1500.f}};
+    EXPECT_TRUE(cam.is_aabb_culled_by_frustum(aabb));
+}
+
+TEST(UnitTestProjection, AabbOpenGlEngineSideCulled)
+{
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    const auto cam = omath::opengl_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
+
+    // Box far to the right (OpenGL: +X right)
+    const omath::primitives::Aabb<float> aabb{{4000.f, -1.f, -110.f}, {5000.f, 1.f, -90.f}};
+    EXPECT_TRUE(cam.is_aabb_culled_by_frustum(aabb));
+}
+
+TEST(UnitTestProjection, AabbUnityEngineBeyondFarCulled)
+{
+    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, 500.f);
+
+    // Box beyond 500-unit far plane (Unity: +Z forward)
+    const omath::primitives::Aabb<float> aabb{{-1.f, -1.f, 600.f}, {1.f, 1.f, 700.f}};
+    EXPECT_TRUE(cam.is_aabb_culled_by_frustum(aabb));
+}
+
+TEST(UnitTestProjection, AabbUnityEngineSideCulled)
+{
+    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);
+
+    // Box far above (Unity: +Y up)
+    const omath::primitives::Aabb<float> aabb{{-1.f, 5000.f, 50.f}, {1.f, 6000.f, 100.f}};
+    EXPECT_TRUE(cam.is_aabb_culled_by_frustum(aabb));
+}
+
+TEST(UnitTestProjection, AabbUnityEngineStraddlesNearNotCulled)
+{
+    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);
+
+    // Box straddles near plane (Unity: +Z forward)
+    const omath::primitives::Aabb<float> aabb{{-1.f, -1.f, -5.f}, {1.f, 1.f, 5.f}};
+    EXPECT_FALSE(cam.is_aabb_culled_by_frustum(aabb));
+}
+
+TEST(UnitTestProjection, CalcViewAnglesFromViewMatrix_LookingForward)
+{
+    constexpr float k_eps = 1e-4f;
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    const omath::source_engine::ViewAngles angles{
+        omath::source_engine::PitchAngle::from_degrees(0.f),
+        omath::source_engine::YawAngle::from_degrees(0.f),
+        omath::source_engine::RollAngle::from_degrees(0.f)
+    };
+    const auto cam = omath::source_engine::Camera({0, 0, 0}, angles, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
+
+    const auto result = omath::source_engine::Camera::calc_view_angles_from_view_matrix(cam.get_view_matrix());
+
+    EXPECT_NEAR(result.pitch.as_degrees(), 0.f, k_eps);
+    EXPECT_NEAR(result.yaw.as_degrees(), 0.f, k_eps);
+}
+
+TEST(UnitTestProjection, CalcViewAnglesFromViewMatrix_PositivePitchAndYaw)
+{
+    constexpr float k_eps = 1e-4f;
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    const omath::source_engine::ViewAngles angles{
+        omath::source_engine::PitchAngle::from_degrees(30.f),
+        omath::source_engine::YawAngle::from_degrees(45.f),
+        omath::source_engine::RollAngle::from_degrees(0.f)
+    };
+    const auto cam = omath::source_engine::Camera({0, 0, 0}, angles, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
+
+    const auto result = omath::source_engine::Camera::calc_view_angles_from_view_matrix(cam.get_view_matrix());
+
+    EXPECT_NEAR(result.pitch.as_degrees(), 30.f, k_eps);
+    EXPECT_NEAR(result.yaw.as_degrees(), 45.f, k_eps);
+}
+
+TEST(UnitTestProjection, CalcViewAnglesFromViewMatrix_NegativePitchAndYaw)
+{
+    constexpr float k_eps = 1e-4f;
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    const omath::source_engine::ViewAngles angles{
+        omath::source_engine::PitchAngle::from_degrees(-45.f),
+        omath::source_engine::YawAngle::from_degrees(-90.f),
+        omath::source_engine::RollAngle::from_degrees(0.f)
+    };
+    const auto cam = omath::source_engine::Camera({0, 0, 0}, angles, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
+
+    const auto result = omath::source_engine::Camera::calc_view_angles_from_view_matrix(cam.get_view_matrix());
+
+    EXPECT_NEAR(result.pitch.as_degrees(), -45.f, k_eps);
+    EXPECT_NEAR(result.yaw.as_degrees(), -90.f, k_eps);
+}
+
+TEST(UnitTestProjection, CalcViewAnglesFromViewMatrix_OffOriginCameraIgnored)
+{
+    // The forward vector from the view matrix does not depend on camera origin,
+    // so the same angles should be recovered regardless of position.
+    constexpr float k_eps = 1e-4f;
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    const omath::source_engine::ViewAngles angles{
+        omath::source_engine::PitchAngle::from_degrees(20.f),
+        omath::source_engine::YawAngle::from_degrees(60.f),
+        omath::source_engine::RollAngle::from_degrees(0.f)
+    };
+    const auto cam = omath::source_engine::Camera({100.f, 200.f, -50.f}, angles, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
+
+    const auto result = omath::source_engine::Camera::calc_view_angles_from_view_matrix(cam.get_view_matrix());
+
+    EXPECT_NEAR(result.pitch.as_degrees(), 20.f, k_eps);
+    EXPECT_NEAR(result.yaw.as_degrees(), 60.f, k_eps);
+}
+
+TEST(UnitTestProjection, CalcViewAnglesFromViewMatrix_RollAlwaysZero)
+{
+    // Roll cannot be encoded in the forward vector, so it is always 0 in the result.
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    const omath::source_engine::ViewAngles angles{
+        omath::source_engine::PitchAngle::from_degrees(10.f),
+        omath::source_engine::YawAngle::from_degrees(30.f),
+        omath::source_engine::RollAngle::from_degrees(15.f)
+    };
+    const auto cam = omath::source_engine::Camera({0, 0, 0}, angles, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
+
+    const auto result = omath::source_engine::Camera::calc_view_angles_from_view_matrix(cam.get_view_matrix());
+
+    EXPECT_FLOAT_EQ(result.roll.as_degrees(), 0.f);
+}
+
+TEST(UnitTestProjection, CalcOriginFromViewMatrix_AtOrigin)
+{
+    constexpr float k_eps = 1e-4f;
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    const auto cam = omath::source_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
+
+    const auto origin = omath::source_engine::Camera::calc_origin_from_view_matrix(cam.get_view_matrix());
+
+    EXPECT_NEAR(origin.x, 0.f, k_eps);
+    EXPECT_NEAR(origin.y, 0.f, k_eps);
+    EXPECT_NEAR(origin.z, 0.f, k_eps);
+}
+
+TEST(UnitTestProjection, CalcOriginFromViewMatrix_ArbitraryPosition)
+{
+    constexpr float k_eps = 1e-3f;
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    const omath::source_engine::ViewAngles angles{
+        omath::source_engine::PitchAngle::from_degrees(0.f),
+        omath::source_engine::YawAngle::from_degrees(0.f),
+        omath::source_engine::RollAngle::from_degrees(0.f)
+    };
+    const auto cam = omath::source_engine::Camera({100.f, 200.f, -50.f}, angles, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
+
+    const auto origin = omath::source_engine::Camera::calc_origin_from_view_matrix(cam.get_view_matrix());
+
+    EXPECT_NEAR(origin.x, 100.f, k_eps);
+    EXPECT_NEAR(origin.y, 200.f, k_eps);
+    EXPECT_NEAR(origin.z, -50.f, k_eps);
+}
+
+TEST(UnitTestProjection, CalcOriginFromViewMatrix_WithRotation)
+{
+    // Origin recovery must work even when the camera is rotated.
+    constexpr float k_eps = 1e-3f;
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    const omath::source_engine::ViewAngles angles{
+        omath::source_engine::PitchAngle::from_degrees(30.f),
+        omath::source_engine::YawAngle::from_degrees(45.f),
+        omath::source_engine::RollAngle::from_degrees(0.f)
+    };
+    const auto cam = omath::source_engine::Camera({300.f, -100.f, 75.f}, angles, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
+
+    const auto origin = omath::source_engine::Camera::calc_origin_from_view_matrix(cam.get_view_matrix());
+
+    EXPECT_NEAR(origin.x, 300.f, k_eps);
+    EXPECT_NEAR(origin.y, -100.f, k_eps);
+    EXPECT_NEAR(origin.z, 75.f, k_eps);
+}
+
+TEST(UnitTestProjection, CalcOriginFromViewMatrix_IndependentOfAngles)
+{
+    // Same position, different orientations — should always recover the same origin.
+    constexpr float k_eps = 1e-3f;
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    constexpr omath::Vector3<float> expected_origin{50.f, 50.f, 50.f};
+
+    const omath::source_engine::ViewAngles angles_a{
+        omath::source_engine::PitchAngle::from_degrees(0.f),
+        omath::source_engine::YawAngle::from_degrees(0.f),
+        omath::source_engine::RollAngle::from_degrees(0.f)
+    };
+    const omath::source_engine::ViewAngles angles_b{
+        omath::source_engine::PitchAngle::from_degrees(-60.f),
+        omath::source_engine::YawAngle::from_degrees(135.f),
+        omath::source_engine::RollAngle::from_degrees(0.f)
+    };
+
+    const auto cam_a = omath::source_engine::Camera(expected_origin, angles_a, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
+    const auto cam_b = omath::source_engine::Camera(expected_origin, angles_b, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
+
+    const auto origin_a = omath::source_engine::Camera::calc_origin_from_view_matrix(cam_a.get_view_matrix());
+    const auto origin_b = omath::source_engine::Camera::calc_origin_from_view_matrix(cam_b.get_view_matrix());
+
+    EXPECT_NEAR(origin_a.x, expected_origin.x, k_eps);
+    EXPECT_NEAR(origin_a.y, expected_origin.y, k_eps);
+    EXPECT_NEAR(origin_a.z, expected_origin.z, k_eps);
+
+    EXPECT_NEAR(origin_b.x, expected_origin.x, k_eps);
+    EXPECT_NEAR(origin_b.y, expected_origin.y, k_eps);
+    EXPECT_NEAR(origin_b.z, expected_origin.z, k_eps);
+}
+
+// ---- Unity engine camera tests ----
+
+TEST(UnitTestProjection, Unity_CalcViewAnglesFromViewMatrix_LookingForward)
+{
+    constexpr float k_eps = 1e-4f;
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(60.f);
+    const omath::unity_engine::ViewAngles angles{
+        omath::unity_engine::PitchAngle::from_degrees(0.f),
+        omath::unity_engine::YawAngle::from_degrees(0.f),
+        omath::unity_engine::RollAngle::from_degrees(0.f)
+    };
+    const auto cam = omath::unity_engine::Camera({0, 0, 0}, angles, {1280.f, 720.f}, fov, 0.03f, 1000.f);
+
+    const auto result = omath::unity_engine::Camera::calc_view_angles_from_view_matrix(cam.get_view_matrix());
+
+    EXPECT_NEAR(result.pitch.as_degrees(), 0.f, k_eps);
+    EXPECT_NEAR(result.yaw.as_degrees(), 0.f, k_eps);
+}
+
+TEST(UnitTestProjection, Unity_CalcViewAnglesFromViewMatrix_PositivePitchAndYaw)
+{
+    constexpr float k_eps = 1e-4f;
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(60.f);
+    const omath::unity_engine::ViewAngles angles{
+        omath::unity_engine::PitchAngle::from_degrees(30.f),
+        omath::unity_engine::YawAngle::from_degrees(45.f),
+        omath::unity_engine::RollAngle::from_degrees(0.f)
+    };
+    const auto cam = omath::unity_engine::Camera({0, 0, 0}, angles, {1280.f, 720.f}, fov, 0.03f, 1000.f);
+
+    const auto result = omath::unity_engine::Camera::calc_view_angles_from_view_matrix(cam.get_view_matrix());
+
+    EXPECT_NEAR(result.pitch.as_degrees(), 30.f, k_eps);
+    EXPECT_NEAR(result.yaw.as_degrees(), 45.f, k_eps);
+}
+
+TEST(UnitTestProjection, Unity_CalcViewAnglesFromViewMatrix_NegativePitchAndYaw)
+{
+    constexpr float k_eps = 1e-4f;
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(60.f);
+    const omath::unity_engine::ViewAngles angles{
+        omath::unity_engine::PitchAngle::from_degrees(-45.f),
+        omath::unity_engine::YawAngle::from_degrees(-90.f),
+        omath::unity_engine::RollAngle::from_degrees(0.f)
+    };
+    const auto cam = omath::unity_engine::Camera({0, 0, 0}, angles, {1280.f, 720.f}, fov, 0.03f, 1000.f);
+
+    const auto result = omath::unity_engine::Camera::calc_view_angles_from_view_matrix(cam.get_view_matrix());
+
+    EXPECT_NEAR(result.pitch.as_degrees(), -45.f, k_eps);
+    EXPECT_NEAR(result.yaw.as_degrees(), -90.f, k_eps);
+}
+
+TEST(UnitTestProjection, Unity_CalcOriginFromViewMatrix_AtOrigin)
+{
+    constexpr float k_eps = 1e-4f;
+    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);
+
+    const auto origin = omath::unity_engine::Camera::calc_origin_from_view_matrix(cam.get_view_matrix());
+
+    EXPECT_NEAR(origin.x, 0.f, k_eps);
+    EXPECT_NEAR(origin.y, 0.f, k_eps);
+    EXPECT_NEAR(origin.z, 0.f, k_eps);
+}
+
+TEST(UnitTestProjection, Unity_CalcOriginFromViewMatrix_ArbitraryPosition)
+{
+    constexpr float k_eps = 1e-3f;
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(60.f);
+    const omath::unity_engine::ViewAngles angles{
+        omath::unity_engine::PitchAngle::from_degrees(0.f),
+        omath::unity_engine::YawAngle::from_degrees(0.f),
+        omath::unity_engine::RollAngle::from_degrees(0.f)
+    };
+    const auto cam = omath::unity_engine::Camera({100.f, 200.f, -50.f}, angles, {1280.f, 720.f}, fov, 0.03f, 1000.f);
+
+    const auto origin = omath::unity_engine::Camera::calc_origin_from_view_matrix(cam.get_view_matrix());
+
+    EXPECT_NEAR(origin.x, 100.f, k_eps);
+    EXPECT_NEAR(origin.y, 200.f, k_eps);
+    EXPECT_NEAR(origin.z, -50.f, k_eps);
+}
+
+TEST(UnitTestProjection, Unity_CalcOriginFromViewMatrix_WithRotation)
+{
+    constexpr float k_eps = 1e-3f;
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(60.f);
+    const omath::unity_engine::ViewAngles angles{
+        omath::unity_engine::PitchAngle::from_degrees(30.f),
+        omath::unity_engine::YawAngle::from_degrees(45.f),
+        omath::unity_engine::RollAngle::from_degrees(0.f)
+    };
+    const auto cam = omath::unity_engine::Camera({300.f, -100.f, 75.f}, angles, {1280.f, 720.f}, fov, 0.03f, 1000.f);
+
+    const auto origin = omath::unity_engine::Camera::calc_origin_from_view_matrix(cam.get_view_matrix());
+
+    EXPECT_NEAR(origin.x, 300.f, k_eps);
+    EXPECT_NEAR(origin.y, -100.f, k_eps);
+    EXPECT_NEAR(origin.z, 75.f, k_eps);
+}
+// ---- Camera basis vectors at zero angles ----
+
+TEST(UnitTestProjection, SourceEngine_ZeroAngles_BasisVectors)
+{
+    constexpr float k_eps = 1e-5f;
+    const auto cam = omath::source_engine::Camera({}, {}, {1920.f, 1080.f},
+                                                  omath::projection::FieldOfView::from_degrees(90.f), 0.01f, 1000.f);
+    const auto fwd   = cam.get_forward();
+    const auto right = cam.get_right();
+    const auto up    = cam.get_up();
+
+    EXPECT_NEAR(fwd.x,   omath::source_engine::k_abs_forward.x, k_eps);
+    EXPECT_NEAR(fwd.y,   omath::source_engine::k_abs_forward.y, k_eps);
+    EXPECT_NEAR(fwd.z,   omath::source_engine::k_abs_forward.z, k_eps);
+
+    EXPECT_NEAR(right.x, omath::source_engine::k_abs_right.x, k_eps);
+    EXPECT_NEAR(right.y, omath::source_engine::k_abs_right.y, k_eps);
+    EXPECT_NEAR(right.z, omath::source_engine::k_abs_right.z, k_eps);
+
+    EXPECT_NEAR(up.x,    omath::source_engine::k_abs_up.x, k_eps);
+    EXPECT_NEAR(up.y,    omath::source_engine::k_abs_up.y, k_eps);
+    EXPECT_NEAR(up.z,    omath::source_engine::k_abs_up.z, k_eps);
+}
+
+TEST(UnitTestProjection, UnityEngine_ZeroAngles_BasisVectors)
+{
+    constexpr float k_eps = 1e-5f;
+    const auto cam = omath::unity_engine::Camera({}, {}, {1280.f, 720.f},
+                                                 omath::projection::FieldOfView::from_degrees(60.f), 0.03f, 1000.f);
+    const auto fwd   = cam.get_forward();
+    const auto right = cam.get_right();
+    const auto up    = cam.get_up();
+
+    EXPECT_NEAR(fwd.x,   omath::unity_engine::k_abs_forward.x, k_eps);
+    EXPECT_NEAR(fwd.y,   omath::unity_engine::k_abs_forward.y, k_eps);
+    EXPECT_NEAR(fwd.z,   omath::unity_engine::k_abs_forward.z, k_eps);
+
+    EXPECT_NEAR(right.x, omath::unity_engine::k_abs_right.x, k_eps);
+    EXPECT_NEAR(right.y, omath::unity_engine::k_abs_right.y, k_eps);
+    EXPECT_NEAR(right.z, omath::unity_engine::k_abs_right.z, k_eps);
+
+    EXPECT_NEAR(up.x,    omath::unity_engine::k_abs_up.x, k_eps);
+    EXPECT_NEAR(up.y,    omath::unity_engine::k_abs_up.y, k_eps);
+    EXPECT_NEAR(up.z,    omath::unity_engine::k_abs_up.z, k_eps);
+}
+
+TEST(UnitTestProjection, OpenGLEngine_ZeroAngles_BasisVectors)
+{
+    constexpr float k_eps = 1e-5f;
+    const auto cam = omath::opengl_engine::Camera({}, {}, {1920.f, 1080.f},
+                                                  omath::projection::FieldOfView::from_degrees(90.f), 0.01f, 1000.f);
+    const auto fwd   = cam.get_forward();
+    const auto right = cam.get_right();
+    const auto up    = cam.get_up();
+
+    EXPECT_NEAR(fwd.x,   omath::opengl_engine::k_abs_forward.x, k_eps);
+    EXPECT_NEAR(fwd.y,   omath::opengl_engine::k_abs_forward.y, k_eps);
+    EXPECT_NEAR(fwd.z,   omath::opengl_engine::k_abs_forward.z, k_eps);
+
+    EXPECT_NEAR(right.x, omath::opengl_engine::k_abs_right.x, k_eps);
+    EXPECT_NEAR(right.y, omath::opengl_engine::k_abs_right.y, k_eps);
+    EXPECT_NEAR(right.z, omath::opengl_engine::k_abs_right.z, k_eps);
+
+    EXPECT_NEAR(up.x,    omath::opengl_engine::k_abs_up.x, k_eps);
+    EXPECT_NEAR(up.y,    omath::opengl_engine::k_abs_up.y, k_eps);
+    EXPECT_NEAR(up.z,    omath::opengl_engine::k_abs_up.z, k_eps);
+}
+
+TEST(UnitTestProjection, UnrealEngine_ZeroAngles_BasisVectors)
+{
+    constexpr float k_eps = 1e-5f;
+    const auto cam = omath::unreal_engine::Camera({}, {}, {1920.f, 1080.f},
+                                                  omath::projection::FieldOfView::from_degrees(90.f), 0.01f, 1000.f);
+    const auto fwd   = cam.get_forward();
+    const auto right = cam.get_right();
+    const auto up    = cam.get_up();
+
+    EXPECT_NEAR(fwd.x,   omath::unreal_engine::k_abs_forward.x, k_eps);
+    EXPECT_NEAR(fwd.y,   omath::unreal_engine::k_abs_forward.y, k_eps);
+    EXPECT_NEAR(fwd.z,   omath::unreal_engine::k_abs_forward.z, k_eps);
+
+    EXPECT_NEAR(right.x, omath::unreal_engine::k_abs_right.x, k_eps);
+    EXPECT_NEAR(right.y, omath::unreal_engine::k_abs_right.y, k_eps);
+    EXPECT_NEAR(right.z, omath::unreal_engine::k_abs_right.z, k_eps);
+
+    EXPECT_NEAR(up.x,    omath::unreal_engine::k_abs_up.x, k_eps);
+    EXPECT_NEAR(up.y,    omath::unreal_engine::k_abs_up.y, k_eps);
+    EXPECT_NEAR(up.z,    omath::unreal_engine::k_abs_up.z, k_eps);
+}
+
+TEST(UnitTestProjection, FrostbiteEngine_ZeroAngles_BasisVectors)
+{
+    constexpr float k_eps = 1e-5f;
+    const auto cam = omath::frostbite_engine::Camera({}, {}, {1920.f, 1080.f},
+                                                     omath::projection::FieldOfView::from_degrees(90.f), 0.01f, 1000.f);
+    const auto fwd   = cam.get_forward();
+    const auto right = cam.get_right();
+    const auto up    = cam.get_up();
+
+    EXPECT_NEAR(fwd.x,   omath::frostbite_engine::k_abs_forward.x, k_eps);
+    EXPECT_NEAR(fwd.y,   omath::frostbite_engine::k_abs_forward.y, k_eps);
+    EXPECT_NEAR(fwd.z,   omath::frostbite_engine::k_abs_forward.z, k_eps);
+
+    EXPECT_NEAR(right.x, omath::frostbite_engine::k_abs_right.x, k_eps);
+    EXPECT_NEAR(right.y, omath::frostbite_engine::k_abs_right.y, k_eps);
+    EXPECT_NEAR(right.z, omath::frostbite_engine::k_abs_right.z, k_eps);
+
+    EXPECT_NEAR(up.x,    omath::frostbite_engine::k_abs_up.x, k_eps);
+    EXPECT_NEAR(up.y,    omath::frostbite_engine::k_abs_up.y, k_eps);
+    EXPECT_NEAR(up.z,    omath::frostbite_engine::k_abs_up.z, k_eps);
+}
+
+TEST(UnitTestProjection, CryEngine_ZeroAngles_BasisVectors)
+{
+    constexpr float k_eps = 1e-5f;
+    const auto cam = omath::cry_engine::Camera({}, {}, {1920.f, 1080.f},
+                                               omath::projection::FieldOfView::from_degrees(90.f), 0.01f, 1000.f);
+    const auto fwd   = cam.get_forward();
+    const auto right = cam.get_right();
+    const auto up    = cam.get_up();
+
+    EXPECT_NEAR(fwd.x,   omath::cry_engine::k_abs_forward.x, k_eps);
+    EXPECT_NEAR(fwd.y,   omath::cry_engine::k_abs_forward.y, k_eps);
+    EXPECT_NEAR(fwd.z,   omath::cry_engine::k_abs_forward.z, k_eps);
+
+    EXPECT_NEAR(right.x, omath::cry_engine::k_abs_right.x, k_eps);
+    EXPECT_NEAR(right.y, omath::cry_engine::k_abs_right.y, k_eps);
+    EXPECT_NEAR(right.z, omath::cry_engine::k_abs_right.z, k_eps);
+
+    EXPECT_NEAR(up.x,    omath::cry_engine::k_abs_up.x, k_eps);
+    EXPECT_NEAR(up.y,    omath::cry_engine::k_abs_up.y, k_eps);
+    EXPECT_NEAR(up.z,    omath::cry_engine::k_abs_up.z, k_eps);
+}
+
+TEST(UnitTestProjection, IWEngine_ZeroAngles_BasisVectors)
+{
+    constexpr float k_eps = 1e-5f;
+    const auto cam = omath::iw_engine::Camera({}, {}, {1920.f, 1080.f},
+                                              omath::projection::FieldOfView::from_degrees(90.f), 0.01f, 1000.f);
+    const auto fwd   = cam.get_forward();
+    const auto right = cam.get_right();
+    const auto up    = cam.get_up();
+
+    EXPECT_NEAR(fwd.x,   omath::iw_engine::k_abs_forward.x, k_eps);
+    EXPECT_NEAR(fwd.y,   omath::iw_engine::k_abs_forward.y, k_eps);
+    EXPECT_NEAR(fwd.z,   omath::iw_engine::k_abs_forward.z, k_eps);
+
+    EXPECT_NEAR(right.x, omath::iw_engine::k_abs_right.x, k_eps);
+    EXPECT_NEAR(right.y, omath::iw_engine::k_abs_right.y, k_eps);
+    EXPECT_NEAR(right.z, omath::iw_engine::k_abs_right.z, k_eps);
+
+    EXPECT_NEAR(up.x,    omath::iw_engine::k_abs_up.x, k_eps);
+    EXPECT_NEAR(up.y,    omath::iw_engine::k_abs_up.y, k_eps);
+    EXPECT_NEAR(up.z,    omath::iw_engine::k_abs_up.z, k_eps);
+}

tests/general/unit_test_reverse_enineering.cpp

@@ -27,6 +27,53 @@ inline const void* get_vtable_entry(const void* obj, const std::size_t index)
     return vtable[index];
 }
 
+class BaseA
+{
+public:
+    int m_field_a{42};
+    [[nodiscard]] virtual int get_a() const { return 10; }
+    [[nodiscard]] virtual int get_a2() const { return 11; }
+};
+
+class BaseB
+{
+public:
+    float m_field_b{3.14f};
+    double m_field_b2{2.71};
+    [[nodiscard]] virtual int get_b() const { return 20; }
+    [[nodiscard]] virtual int get_b2() const { return 21; }
+};
+
+class MultiPlayer final : public BaseA, public BaseB
+{
+public:
+    int m_own_field{999};
+    [[nodiscard]] int get_a() const override { return 100; }
+    [[nodiscard]] int get_a2() const override { return 101; }
+    [[nodiscard]] int get_b() const override { return 200; }
+    [[nodiscard]] int get_b2() const override { return 201; }
+};
+
+// BaseA layout: [vptr_a][m_field_a(int)] — sizeof(BaseA) gives the full subobject size
+// BaseB starts right after BaseA in MultiPlayer's layout
+constexpr std::ptrdiff_t BASE_B_OFFSET = static_cast<std::ptrdiff_t>(sizeof(BaseA));
+
+class RevMultiPlayer final : omath::rev_eng::InternalReverseEngineeredObject
+{
+public:
+    // Table at offset 0 (BaseA vtable): index 0 = get_a, 1 = get_a2
+    [[nodiscard]] int rev_get_a() const { return call_virtual_method<0, 0, int>(); }
+    [[nodiscard]] int rev_get_a2() const { return call_virtual_method<0, 1, int>(); }
+
+    // Table at BaseB offset (BaseB vtable): index 0 = get_b, 1 = get_b2
+    [[nodiscard]] int rev_get_b() const { return call_virtual_method<BASE_B_OFFSET, 0, int>(); }
+    [[nodiscard]] int rev_get_b2() const { return call_virtual_method<BASE_B_OFFSET, 1, int>(); }
+
+    // Non-const versions
+    int rev_get_a_mut() { return call_virtual_method<0, 0, int>(); }
+    int rev_get_b_mut() { return call_virtual_method<BASE_B_OFFSET, 0, int>(); }
+};
+
 class RevPlayer final : omath::rev_eng::InternalReverseEngineeredObject
 {
 public:
@@ -117,4 +164,54 @@ TEST(unit_test_reverse_enineering, call_virtual_method_delegates_to_call_method)
     EXPECT_EQ(1, rev->rev_foo());
     EXPECT_EQ(2, rev->rev_bar());
     EXPECT_EQ(2, rev->rev_bar_const());
+}
+
+TEST(unit_test_reverse_enineering, multi_player_base_b_offset_is_correct)
+{
+    // Verify our compile-time offset matches the actual layout
+    MultiPlayer mp;
+    const auto* mp_addr = reinterpret_cast<const char*>(&mp);
+    const auto* b_addr = reinterpret_cast<const char*>(static_cast<const BaseB*>(&mp));
+    EXPECT_EQ(b_addr - mp_addr, BASE_B_OFFSET);
+}
+
+TEST(unit_test_reverse_enineering, call_virtual_method_table_index_first_table)
+{
+    MultiPlayer mp;
+    const auto* rev = reinterpret_cast<const RevMultiPlayer*>(&mp);
+
+    EXPECT_EQ(mp.get_a(), rev->rev_get_a());
+    EXPECT_EQ(mp.get_a2(), rev->rev_get_a2());
+    EXPECT_EQ(100, rev->rev_get_a());
+    EXPECT_EQ(101, rev->rev_get_a2());
+}
+
+TEST(unit_test_reverse_enineering, call_virtual_method_table_index_second_table)
+{
+    constexpr MultiPlayer mp;
+    const auto* rev = reinterpret_cast<const RevMultiPlayer*>(&mp);
+
+    EXPECT_EQ(mp.get_b(), rev->rev_get_b());
+    EXPECT_EQ(mp.get_b2(), rev->rev_get_b2());
+    EXPECT_EQ(200, rev->rev_get_b());
+    EXPECT_EQ(201, rev->rev_get_b2());
+}
+
+TEST(unit_test_reverse_enineering, call_virtual_method_table_index_non_const)
+{
+    MultiPlayer mp;
+    auto* rev = reinterpret_cast<RevMultiPlayer*>(&mp);
+
+    EXPECT_EQ(100, rev->rev_get_a_mut());
+    EXPECT_EQ(200, rev->rev_get_b_mut());
+}
+
+TEST(unit_test_reverse_enineering, call_virtual_method_table_zero_matches_default)
+{
+    // Table 0 with the TableIndex overload should match the original non-TableIndex overload
+    constexpr MultiPlayer mp;
+    const auto* rev = reinterpret_cast<const RevMultiPlayer*>(&mp);
+
+    // Both access table 0, method index 1 — should return the same value
+    EXPECT_EQ(rev->rev_get_a(), 100);
 }

tests/general/unit_test_walk_bot.cpp

@@ -0,0 +1,640 @@
+// Unit tests for omath::pathfinding::WalkBot
+// Covers all status transitions, callback behaviour, and a full walk simulation.
+#include <gtest/gtest.h>
+#include "omath/pathfinding/walk_bot.hpp"
+#include "omath/pathfinding/navigation_mesh.hpp"
+
+using namespace omath;
+using namespace omath::pathfinding;
+
+// ---------------------------------------------------------------------------
+// Helpers
+// ---------------------------------------------------------------------------
+
+// Build a simple bidirectional linear chain:
+//   (0,0,0) <-> (1,0,0) <-> (2,0,0) <-> ... <-> (n-1,0,0)
+static std::shared_ptr<NavigationMesh> make_linear_mesh(int n)
+{
+    auto mesh = std::make_shared<NavigationMesh>();
+    for (int i = 0; i < n; ++i)
+    {
+        const Vector3<float> v{static_cast<float>(i), 0.f, 0.f};
+        std::vector<Vector3<float>> neighbors;
+        if (i > 0)
+            neighbors.push_back(Vector3<float>{static_cast<float>(i - 1), 0.f, 0.f});
+        if (i + 1 < n)
+            neighbors.push_back(Vector3<float>{static_cast<float>(i + 1), 0.f, 0.f});
+        mesh->m_vertex_map[v] = neighbors;
+    }
+    return mesh;
+}
+
+// Collect every status update fired during one update() call.
+static auto make_status_recorder(std::vector<WalkBotStatus>& out)
+{
+    return [&out](WalkBotStatus s) { out.push_back(s); };
+}
+
+// Collect every "next node" hint fired during one update() call.
+static auto make_node_recorder(std::vector<Vector3<float>>& out)
+{
+    return [&out](const Vector3<float>& v) { out.push_back(v); };
+}
+
+// ---------------------------------------------------------------------------
+// Construction
+// ---------------------------------------------------------------------------
+
+TEST(WalkBotTests, DefaultConstructedBotIsInert)
+{
+    // A default-constructed bot with no mesh, no target, and no callbacks must
+    // not crash.
+    WalkBot bot;
+    EXPECT_NO_THROW(bot.update({0.f, 0.f, 0.f}));
+}
+
+TEST(WalkBotTests, ConstructWithMeshAndDistance)
+{
+    auto mesh = make_linear_mesh(3);
+    EXPECT_NO_THROW(WalkBot bot(mesh, 0.5f));
+}
+
+// ---------------------------------------------------------------------------
+// Status: FINISHED
+// ---------------------------------------------------------------------------
+
+TEST(WalkBotTests, FiresFinishedWhenBotIsAtTarget)
+{
+    auto mesh = make_linear_mesh(3);
+    WalkBot bot(mesh, 0.5f);
+    bot.set_target({2.f, 0.f, 0.f});
+
+    std::vector<WalkBotStatus> statuses;
+    bot.on_status(make_status_recorder(statuses));
+
+    // bot_position == target_position -> distance == 0, well within threshold
+    bot.update({2.f, 0.f, 0.f});
+
+    ASSERT_FALSE(statuses.empty());
+    EXPECT_EQ(statuses.front(), WalkBotStatus::FINISHED);
+}
+
+TEST(WalkBotTests, FiresFinishedWhenBotIsWithinMinDistance)
+{
+    auto mesh = make_linear_mesh(3);
+    WalkBot bot(mesh, 0.5f);
+    bot.set_target({0.4f, 0.f, 0.f});
+
+    std::vector<WalkBotStatus> statuses;
+    bot.on_status(make_status_recorder(statuses));
+
+    // distance between (0,0,0) and (0.4,0,0) is 0.4 < 0.5 threshold
+    bot.update({0.f, 0.f, 0.f});
+
+    ASSERT_FALSE(statuses.empty());
+    EXPECT_EQ(statuses.front(), WalkBotStatus::FINISHED);
+}
+
+TEST(WalkBotTests, NoFinishedWhenOutsideMinDistance)
+{
+    auto mesh = make_linear_mesh(5);
+    WalkBot bot(mesh, 0.5f);
+    bot.set_target({4.f, 0.f, 0.f});
+
+    std::vector<WalkBotStatus> statuses;
+    bot.on_status(make_status_recorder(statuses));
+
+    // Attach path callback so we get further status updates
+    std::vector<Vector3<float>> nodes;
+    bot.on_path(make_node_recorder(nodes));
+
+    bot.update({0.f, 0.f, 0.f});
+
+    // FINISHED must NOT appear in the status list
+    for (auto s : statuses)
+        EXPECT_NE(s, WalkBotStatus::FINISHED);
+}
+
+TEST(WalkBotTests, FinishedFiredEvenWithoutPathCallback)
+{
+    // FINISHED is emitted before the on_path guard, so it fires regardless.
+    auto mesh = make_linear_mesh(2);
+    WalkBot bot(mesh, 0.5f);
+    bot.set_target({1.f, 0.f, 0.f});
+
+    std::vector<WalkBotStatus> statuses;
+    bot.on_status(make_status_recorder(statuses));
+    // Intentionally do NOT register on_path callback.
+
+    bot.update({1.f, 0.f, 0.f});
+
+    ASSERT_EQ(statuses.size(), 1u);
+    EXPECT_EQ(statuses[0], WalkBotStatus::FINISHED);
+}
+
+TEST(WalkBotTests, FinishedDoesNotFallThroughToPathing)
+{
+    // update() must return after FINISHED — PATHING must not fire on the same tick.
+    auto mesh = make_linear_mesh(3);
+    WalkBot bot(mesh, 0.5f);
+    bot.set_target({1.f, 0.f, 0.f});
+
+    std::vector<WalkBotStatus> statuses;
+    bot.on_status(make_status_recorder(statuses));
+    std::vector<Vector3<float>> nodes;
+    bot.on_path(make_node_recorder(nodes));
+
+    bot.update({1.f, 0.f, 0.f}); // bot is at target
+
+    ASSERT_EQ(statuses.size(), 1u);
+    EXPECT_EQ(statuses[0], WalkBotStatus::FINISHED);
+    EXPECT_TRUE(nodes.empty());
+}
+
+// ---------------------------------------------------------------------------
+// No target set
+// ---------------------------------------------------------------------------
+
+TEST(WalkBotTests, NoUpdateWithoutTarget)
+{
+    auto mesh = make_linear_mesh(3);
+    WalkBot bot(mesh, 0.5f);
+    // Intentionally do NOT call set_target()
+
+    std::vector<WalkBotStatus> statuses;
+    bot.on_status(make_status_recorder(statuses));
+    std::vector<Vector3<float>> nodes;
+    bot.on_path(make_node_recorder(nodes));
+
+    bot.update({0.f, 0.f, 0.f});
+
+    EXPECT_TRUE(statuses.empty());
+    EXPECT_TRUE(nodes.empty());
+}
+
+// ---------------------------------------------------------------------------
+// Status: IDLE — no path callback registered
+// ---------------------------------------------------------------------------
+
+TEST(WalkBotTests, NoPathCallbackMeansNoPathingStatus)
+{
+    auto mesh = make_linear_mesh(4);
+    WalkBot bot(mesh, 0.5f);
+    bot.set_target({3.f, 0.f, 0.f});
+
+    std::vector<WalkBotStatus> statuses;
+    bot.on_status(make_status_recorder(statuses));
+    // No on_path registered -> update returns early after FINISHED check
+
+    bot.update({0.f, 0.f, 0.f});
+
+    EXPECT_TRUE(statuses.empty());
+}
+
+// ---------------------------------------------------------------------------
+// Status: IDLE — null/expired navigation mesh
+// ---------------------------------------------------------------------------
+
+TEST(WalkBotTests, FiresIdleWhenNavMeshIsNull)
+{
+    WalkBot bot; // no mesh assigned
+    bot.set_target({5.f, 0.f, 0.f});
+
+    std::vector<WalkBotStatus> statuses;
+    bot.on_status(make_status_recorder(statuses));
+
+    std::vector<Vector3<float>> nodes;
+    bot.on_path(make_node_recorder(nodes));
+
+    bot.update({0.f, 0.f, 0.f});
+
+    ASSERT_FALSE(statuses.empty());
+    EXPECT_EQ(statuses.back(), WalkBotStatus::IDLE);
+    EXPECT_TRUE(nodes.empty());
+}
+
+TEST(WalkBotTests, FiresIdleWhenNavMeshExpires)
+{
+    auto mesh = make_linear_mesh(4);
+    WalkBot bot(mesh, 0.5f);
+    bot.set_target({3.f, 0.f, 0.f});
+
+    std::vector<WalkBotStatus> statuses;
+    bot.on_status(make_status_recorder(statuses));
+
+    std::vector<Vector3<float>> nodes;
+    bot.on_path(make_node_recorder(nodes));
+
+    // Let the shared_ptr expire — WalkBot holds only a weak_ptr.
+    mesh.reset();
+
+    bot.update({0.f, 0.f, 0.f});
+
+    ASSERT_FALSE(statuses.empty());
+    EXPECT_EQ(statuses.back(), WalkBotStatus::IDLE);
+    EXPECT_TRUE(nodes.empty());
+}
+
+TEST(WalkBotTests, SetNavMeshRestoresPathing)
+{
+    WalkBot bot; // starts with no mesh
+    bot.set_target({3.f, 0.f, 0.f});
+
+    std::vector<WalkBotStatus> statuses;
+    bot.on_status(make_status_recorder(statuses));
+    std::vector<Vector3<float>> nodes;
+    bot.on_path(make_node_recorder(nodes));
+
+    // First call — no mesh -> IDLE
+    bot.update({0.f, 0.f, 0.f});
+    ASSERT_EQ(statuses.back(), WalkBotStatus::IDLE);
+
+    // Assign a mesh and call again. Keep the shared_ptr alive so the
+    // weak_ptr inside WalkBot does not expire before update() is called.
+    statuses.clear();
+    nodes.clear();
+    auto new_mesh = make_linear_mesh(4);
+    bot.set_nav_mesh(new_mesh);
+    bot.set_min_node_distance(0.5f);
+    bot.update({0.f, 0.f, 0.f});
+
+    ASSERT_FALSE(statuses.empty());
+    EXPECT_EQ(statuses.back(), WalkBotStatus::PATHING);
+    EXPECT_FALSE(nodes.empty());
+}
+
+// ---------------------------------------------------------------------------
+// Status: IDLE — A* finds no path
+// ---------------------------------------------------------------------------
+
+TEST(WalkBotTests, FiresIdleWhenNoPathExists)
+{
+    // Disconnected graph: two isolated vertices
+    auto mesh = std::make_shared<NavigationMesh>();
+    mesh->m_vertex_map[{0.f, 0.f, 0.f}] = {};
+    mesh->m_vertex_map[{10.f, 0.f, 0.f}] = {};
+
+    WalkBot bot(mesh, 0.5f);
+    bot.set_target({10.f, 0.f, 0.f});
+
+    std::vector<WalkBotStatus> statuses;
+    bot.on_status(make_status_recorder(statuses));
+    std::vector<Vector3<float>> nodes;
+    bot.on_path(make_node_recorder(nodes));
+
+    bot.update({0.f, 0.f, 0.f});
+
+    ASSERT_FALSE(statuses.empty());
+    EXPECT_EQ(statuses.back(), WalkBotStatus::IDLE);
+    EXPECT_TRUE(nodes.empty());
+}
+
+// ---------------------------------------------------------------------------
+// Status: PATHING — normal routing
+// ---------------------------------------------------------------------------
+
+TEST(WalkBotTests, FiresPathingAndProvidesNextNode)
+{
+    auto mesh = make_linear_mesh(4);
+    WalkBot bot(mesh, 0.5f);
+    bot.set_target({3.f, 0.f, 0.f});
+
+    std::vector<WalkBotStatus> statuses;
+    bot.on_status(make_status_recorder(statuses));
+    std::vector<Vector3<float>> nodes;
+    bot.on_path(make_node_recorder(nodes));
+
+    bot.update({0.f, 0.f, 0.f});
+
+    ASSERT_FALSE(statuses.empty());
+    EXPECT_EQ(statuses.back(), WalkBotStatus::PATHING);
+    ASSERT_FALSE(nodes.empty());
+}
+
+TEST(WalkBotTests, NextNodeIsOnThePath)
+{
+    auto mesh = make_linear_mesh(5);
+    WalkBot bot(mesh, 0.5f);
+    bot.set_target({4.f, 0.f, 0.f});
+
+    std::vector<Vector3<float>> nodes;
+    bot.on_path(make_node_recorder(nodes));
+
+    bot.update({0.f, 0.f, 0.f});
+
+    // The suggested node must be a mesh vertex (x in [0..4], y=0, z=0)
+    ASSERT_FALSE(nodes.empty());
+    const auto& hint = nodes.front();
+    EXPECT_GE(hint.x, 0.f);
+    EXPECT_LE(hint.x, 4.f);
+    EXPECT_FLOAT_EQ(hint.y, 0.f);
+    EXPECT_FLOAT_EQ(hint.z, 0.f);
+}
+
+// ---------------------------------------------------------------------------
+// set_min_node_distance
+// ---------------------------------------------------------------------------
+
+TEST(WalkBotTests, MinNodeDistanceAffectsFinishedThreshold)
+{
+    auto mesh = make_linear_mesh(3);
+    WalkBot bot(mesh, 0.1f); // very tight threshold
+    bot.set_target({1.f, 0.f, 0.f});
+
+    std::vector<WalkBotStatus> statuses;
+    bot.on_status(make_status_recorder(statuses));
+
+    // distance 0.4 — outside 0.1 threshold
+    bot.update({0.6f, 0.f, 0.f});
+    EXPECT_TRUE(statuses.empty() ||
+                std::find(statuses.begin(), statuses.end(), WalkBotStatus::FINISHED) == statuses.end());
+
+    statuses.clear();
+    bot.set_min_node_distance(0.5f); // widen threshold
+    bot.update({0.6f, 0.f, 0.f});   // now 0.4 < 0.5 -> FINISHED
+
+    ASSERT_FALSE(statuses.empty());
+    EXPECT_EQ(statuses.front(), WalkBotStatus::FINISHED);
+}
+
+// ---------------------------------------------------------------------------
+// reset()
+// ---------------------------------------------------------------------------
+
+TEST(WalkBotTests, ResetClearsLastVisited)
+{
+    auto mesh = make_linear_mesh(3);
+    WalkBot bot(mesh, 0.5f);
+    bot.set_target({2.f, 0.f, 0.f});
+
+    std::vector<Vector3<float>> nodes;
+    bot.on_path(make_node_recorder(nodes));
+
+    // Tick 1: mark node 0 visited -> hint is node 1
+    bot.update({0.05f, 0.f, 0.f});
+    ASSERT_FALSE(nodes.empty());
+    EXPECT_FLOAT_EQ(nodes.back().x, 1.f);
+
+    // Without reset, a second tick from the same position also gives node 1.
+    nodes.clear();
+    bot.reset();
+
+    // After reset, m_last_visited is cleared. The nearest node is 0 again,
+    // it is within threshold so it gets marked visited and we advance to 1.
+    // The hint should still be node 1 (same outcome, but state was cleanly reset).
+    bot.update({0.05f, 0.f, 0.f});
+    ASSERT_FALSE(nodes.empty());
+    // Confirm the bot still routes correctly after reset.
+    EXPECT_GE(nodes.back().x, 0.f);
+}
+
+// ---------------------------------------------------------------------------
+// Node advancement — visited node causes skip to next
+// ---------------------------------------------------------------------------
+
+TEST(WalkBotTests, AdvancesWhenNearestNodeAlreadyVisited)
+{
+    // Chain: (0,0,0) -> (1,0,0) -> (2,0,0)
+    auto mesh = make_linear_mesh(3);
+    WalkBot bot(mesh, 0.5f);
+    bot.set_target({2.f, 0.f, 0.f});
+
+    std::vector<Vector3<float>> nodes;
+    bot.on_path(make_node_recorder(nodes));
+
+    // Tick 1: bot is very close to node 0 -> node 0 marked visited -> hint is node 1.
+    bot.update({0.05f, 0.f, 0.f});
+    ASSERT_FALSE(nodes.empty());
+    EXPECT_FLOAT_EQ(nodes.back().x, 1.f);
+
+    nodes.clear();
+
+    // Tick 2: bot has moved to near node 1 -> node 1 marked visited -> hint advances to node 2.
+    bot.update({1.05f, 0.f, 0.f});
+    ASSERT_FALSE(nodes.empty());
+    EXPECT_GT(nodes.back().x, 1.f);
+}
+
+// ---------------------------------------------------------------------------
+// Displacement recovery — bot knocked back to unvisited node
+// ---------------------------------------------------------------------------
+
+TEST(WalkBotTests, RecoverAfterDisplacementToUnvisitedNode)
+{
+    // Chain: 0 -> 1 -> 2 -> 3 -> 4
+    auto mesh = make_linear_mesh(5);
+    WalkBot bot(mesh, 0.5f);
+    bot.set_target({4.f, 0.f, 0.f});
+
+    std::vector<Vector3<float>> nodes;
+    bot.on_path(make_node_recorder(nodes));
+
+    // Walk forward through nodes 0-3 to build visited state.
+    for (int i = 0; i <= 3; ++i)
+    {
+        nodes.clear();
+        bot.update(Vector3<float>{static_cast<float>(i) + 0.1f, 0.f, 0.f});
+    }
+
+    // Displace the bot back to near node 1. The bot should route toward node 1
+    // first rather than skipping ahead to node 4.
+    nodes.clear();
+    bot.update({1.1f, 0.f, 0.f});
+
+    ASSERT_FALSE(nodes.empty());
+    EXPECT_LE(nodes.back().x, 3.f);
+}
+
+// ---------------------------------------------------------------------------
+// Callback wiring
+// ---------------------------------------------------------------------------
+
+TEST(WalkBotTests, ReplacingPathCallbackTakesEffect)
+{
+    auto mesh = make_linear_mesh(4);
+    WalkBot bot(mesh, 0.5f);
+    bot.set_target({3.f, 0.f, 0.f});
+
+    int first_cb_calls = 0;
+    int second_cb_calls = 0;
+
+    bot.on_path([&](const Vector3<float>&) { ++first_cb_calls; });
+    bot.update({0.f, 0.f, 0.f});
+
+    bot.on_path([&](const Vector3<float>&) { ++second_cb_calls; });
+    bot.update({0.f, 0.f, 0.f});
+
+    EXPECT_EQ(first_cb_calls, 1);
+    EXPECT_EQ(second_cb_calls, 1);
+}
+
+TEST(WalkBotTests, ReplacingStatusCallbackTakesEffect)
+{
+    auto mesh = make_linear_mesh(4);
+    WalkBot bot(mesh, 0.5f);
+    bot.set_target({3.f, 0.f, 0.f});
+
+    std::vector<Vector3<float>> nodes;
+    bot.on_path(make_node_recorder(nodes));
+
+    int cb1 = 0, cb2 = 0;
+    bot.on_status([&](WalkBotStatus) { ++cb1; });
+    bot.update({0.f, 0.f, 0.f});
+
+    bot.on_status([&](WalkBotStatus) { ++cb2; });
+    bot.update({0.f, 0.f, 0.f});
+
+    EXPECT_EQ(cb1, 1);
+    EXPECT_EQ(cb2, 1);
+}
+
+// ---------------------------------------------------------------------------
+// Full walk simulation — bot traverses a linear mesh step by step
+// ---------------------------------------------------------------------------
+
+// Simulates one game-loop tick and immediately "teleports" the bot to the
+// suggested node so the next tick starts from there.
+struct WalkSimulator
+{
+    WalkBot bot;
+    Vector3<float> position;
+    std::vector<Vector3<float>> visited_nodes;
+    std::vector<WalkBotStatus> status_history;
+    bool finished{false};
+
+    WalkSimulator(const std::shared_ptr<NavigationMesh>& mesh,
+                  const Vector3<float>& start,
+                  const Vector3<float>& goal,
+                  float threshold)
+        : position(start)
+    {
+        bot = WalkBot(mesh, threshold);
+        bot.set_target(goal);
+        bot.on_path([this](const Vector3<float>& next) {
+            visited_nodes.push_back(next);
+            position = next; // teleport to the suggested node
+        });
+        bot.on_status([this](WalkBotStatus s) {
+            status_history.push_back(s);
+            if (s == WalkBotStatus::FINISHED)
+                finished = true;
+        });
+    }
+
+    void run(int max_ticks = 100)
+    {
+        for (int tick = 0; tick < max_ticks && !finished; ++tick)
+            bot.update(position);
+    }
+};
+
+TEST(WalkBotSimulation, BotReachesTargetOnLinearMesh)
+{
+    auto mesh = make_linear_mesh(5);
+    WalkSimulator sim(mesh, {0.f, 0.f, 0.f}, {4.f, 0.f, 0.f}, 0.5f);
+    sim.run(50);
+
+    EXPECT_TRUE(sim.finished);
+}
+
+TEST(WalkBotSimulation, StatusTransitionSequenceIsCorrect)
+{
+    // Expect: one or more PATHING updates, then exactly FINISHED at the end.
+    auto mesh = make_linear_mesh(4);
+    WalkSimulator sim(mesh, {0.f, 0.f, 0.f}, {3.f, 0.f, 0.f}, 0.5f);
+    sim.run(50);
+
+    ASSERT_TRUE(sim.finished);
+    ASSERT_FALSE(sim.status_history.empty());
+
+    // All entries before the last must be PATHING
+    for (std::size_t i = 0; i + 1 < sim.status_history.size(); ++i)
+        EXPECT_EQ(sim.status_history[i], WalkBotStatus::PATHING);
+
+    EXPECT_EQ(sim.status_history.back(), WalkBotStatus::FINISHED);
+}
+
+TEST(WalkBotSimulation, BotVisitsNodesInForwardOrder)
+{
+    auto mesh = make_linear_mesh(5);
+    WalkSimulator sim(mesh, {0.f, 0.f, 0.f}, {4.f, 0.f, 0.f}, 0.5f);
+    sim.run(50);
+
+    ASSERT_FALSE(sim.visited_nodes.empty());
+
+    // Verify that x-coordinates are non-decreasing (forward progress only).
+    for (std::size_t i = 1; i < sim.visited_nodes.size(); ++i)
+        EXPECT_GE(sim.visited_nodes[i].x, sim.visited_nodes[i - 1].x - 1e-3f);
+}
+
+TEST(WalkBotSimulation, TwoNodePathReachesGoal)
+{
+    auto mesh = make_linear_mesh(2); // (0,0,0) <-> (1,0,0)
+    WalkSimulator sim(mesh, {0.f, 0.f, 0.f}, {1.f, 0.f, 0.f}, 0.5f);
+    sim.run(10);
+
+    EXPECT_TRUE(sim.finished);
+}
+
+TEST(WalkBotSimulation, LongChainEventuallyFinishes)
+{
+    constexpr int kLength = 20;
+    auto mesh = make_linear_mesh(kLength);
+    WalkSimulator sim(mesh,
+                      {0.f, 0.f, 0.f},
+                      {static_cast<float>(kLength - 1), 0.f, 0.f},
+                      0.5f);
+    sim.run(200);
+
+    EXPECT_TRUE(sim.finished);
+}
+
+TEST(WalkBotSimulation, StartAlreadyAtTargetFinishesImmediately)
+{
+    auto mesh = make_linear_mesh(3);
+    WalkSimulator sim(mesh, {1.f, 0.f, 0.f}, {1.f, 0.f, 0.f}, 0.5f);
+    sim.run(5);
+
+    EXPECT_TRUE(sim.finished);
+    EXPECT_EQ(sim.status_history.front(), WalkBotStatus::FINISHED);
+    EXPECT_EQ(sim.status_history.size(), 1u);
+}
+
+TEST(WalkBotSimulation, NoIdleEmittedDuringSuccessfulWalk)
+{
+    auto mesh = make_linear_mesh(4);
+    WalkSimulator sim(mesh, {0.f, 0.f, 0.f}, {3.f, 0.f, 0.f}, 0.5f);
+    sim.run(50);
+
+    for (auto s : sim.status_history)
+        EXPECT_NE(s, WalkBotStatus::IDLE);
+}
+
+// ---------------------------------------------------------------------------
+// Walk simulation on a branching mesh
+// ---------------------------------------------------------------------------
+
+TEST(WalkBotSimulation, BotNavigatesBranchingMesh)
+{
+    // Diamond topology:
+    //        (1,1,0)
+    //       /       \
+    // (0,0,0)       (2,0,0)
+    //       \       /
+    //        (1,-1,0)
+    auto mesh = std::make_shared<NavigationMesh>();
+    const Vector3<float> start{0.f, 0.f, 0.f};
+    const Vector3<float> top{1.f, 1.f, 0.f};
+    const Vector3<float> bot_node{1.f, -1.f, 0.f};
+    const Vector3<float> goal{2.f, 0.f, 0.f};
+
+    mesh->m_vertex_map[start]    = {top, bot_node};
+    mesh->m_vertex_map[top]      = {start, goal};
+    mesh->m_vertex_map[bot_node] = {start, goal};
+    mesh->m_vertex_map[goal]     = {top, bot_node};
+
+    WalkSimulator sim(mesh, start, goal, 0.5f);
+    sim.run(20);
+
+    EXPECT_TRUE(sim.finished);
+}