Merge pull request #198 from orange-cpp/feature/gcem

Feature/gcem

CMakeLists.txt

@@ -33,6 +33,7 @@ option(OMATH_ENABLE_FORCE_INLINE
 option(OMATH_ENABLE_LUA
         "omath bindings for lua" OFF)
 option(OMATH_ENABLE_HOOKING "omath will HooksManager that can hook DirectX/OpenGL automatically" OFF)
+option(OMATH_ENABLE_MODULES "Build omath C++ module interface" OFF)
 
 if(VCPKG_MANIFEST_FEATURES)
     foreach(omath_feature IN LISTS VCPKG_MANIFEST_FEATURES)
@@ -80,6 +81,7 @@ if(${PROJECT_IS_TOP_LEVEL})
     message(STATUS "[${PROJECT_NAME}]: Coverage feature status ${OMATH_ENABLE_COVERAGE}")
     message(STATUS "[${PROJECT_NAME}]: Valgrind feature status ${OMATH_ENABLE_VALGRIND}")
     message(STATUS "[${PROJECT_NAME}]: Lua feature status ${OMATH_ENABLE_LUA}")
+    message(STATUS "[${PROJECT_NAME}]: Modules feature status ${OMATH_ENABLE_MODULES}")
 endif()
 
 if(OMATH_STATIC_MSVC_RUNTIME_LIBRARY)
@@ -95,6 +97,20 @@ else()
     add_library(${PROJECT_NAME} STATIC ${OMATH_SOURCES} ${OMATH_HEADERS})
 endif()
 
+if(OMATH_ENABLE_MODULES)
+    if(CMAKE_VERSION VERSION_LESS 3.28)
+        message(FATAL_ERROR "OMATH_ENABLE_MODULES requires CMake 3.28 or newer")
+    endif()
+    set_target_properties(${PROJECT_NAME} PROPERTIES CXX_SCAN_FOR_MODULES ON)
+    if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
+        target_compile_options(${PROJECT_NAME} PRIVATE /wd5244)
+    endif()
+    target_sources(
+        ${PROJECT_NAME}
+        PUBLIC FILE_SET omath_modules TYPE CXX_MODULES BASE_DIRS "${CMAKE_CURRENT_SOURCE_DIR}/modules"
+               FILES "${CMAKE_CURRENT_SOURCE_DIR}/modules/omath.cppm")
+endif()
+
 if (OMATH_ENABLE_LUA)
     target_compile_definitions(${PROJECT_NAME} PUBLIC OMATH_ENABLE_LUA)
 
@@ -120,6 +136,7 @@ if (OMATH_ENABLE_HOOKING)
     endif ()
 endif ()
 
+
 add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
 
 target_compile_definitions(${PROJECT_NAME} PUBLIC OMATH_VERSION="${PROJECT_VERSION}")
@@ -229,6 +246,10 @@ target_include_directories(
 
 # Installation rules
 
+if(OMATH_ENABLE_MODULES)
+    set(OMATH_MODULE_FILE_SET FILE_SET omath_modules DESTINATION modules)
+endif()
+
 # Install the library
 install(
     TARGETS ${PROJECT_NAME}
@@ -237,6 +258,7 @@ install(
     LIBRARY DESTINATION lib COMPONENT ${PROJECT_NAME} # For shared libraries
     RUNTIME DESTINATION bin COMPONENT ${PROJECT_NAME} # For executables (on
                                                       # Windows)
+    ${OMATH_MODULE_FILE_SET}
     )
 
 # Install headers as part of omath_component

CREDITS.md

@@ -4,8 +4,8 @@ Thanks to everyone who made this possible, including:
 
 - Saikari aka luadebug for VCPKG port and awesome new initial logo design.
 - Billy O'Neal aka BillyONeal for fixing compilation issues due to C math library compatibility.
-- Alex2772 for reference of AUI declarative interface design for omath::hud
+- Alex2772 for reference of AUI declarative interface design for omath::hud.
-
+- Keith O'Hara aka kthohr for a C++ generalized constant expression-based math library that was used as reference.
 And a big hand to everyone else who has contributed over the past!
 
 THANKS! <3

include/omath/engines/cry_engine/formulas.hpp

@@ -8,31 +8,82 @@
 namespace omath::cry_engine
 {
     [[nodiscard]]
-    Vector3<float> forward_vector(const ViewAngles& angles) noexcept;
+    inline constexpr Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept
+    {
+        return mat_rotation_axis_z<float, MatStoreType::ROW_MAJOR>(angles.yaw)
+               * mat_rotation_axis_y<float, MatStoreType::ROW_MAJOR>(angles.roll)
+               * mat_rotation_axis_x<float, MatStoreType::ROW_MAJOR>(angles.pitch);
+    }
 
     [[nodiscard]]
-    Vector3<float> right_vector(const ViewAngles& angles) noexcept;
+    inline constexpr Vector3<float> forward_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_forward);
+
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
 
     [[nodiscard]]
-    Vector3<float> up_vector(const ViewAngles& angles) noexcept;
+    inline constexpr Vector3<float> right_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_right);
 
-    [[nodiscard]] Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
 
     [[nodiscard]]
-    Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
+    inline constexpr Vector3<float> up_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_up);
+
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
 
     [[nodiscard]]
-    Vector3<float> extract_origin(const Mat4X4& mat) noexcept;
+    inline constexpr Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
+    {
+        return mat_camera_view<float, MatStoreType::ROW_MAJOR>(forward_vector(angles), right_vector(angles),
+                                                               up_vector(angles), cam_origin);
+    }
 
     [[nodiscard]]
-    Vector3<float> extract_scale(const Mat4X4& mat) noexcept;
+    inline constexpr Vector3<float> extract_origin(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_origin(mat);
+    }
 
     [[nodiscard]]
-    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept;
+    inline constexpr Vector3<float> extract_scale(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_scale(mat);
+    }
 
     [[nodiscard]]
-    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
+    inline constexpr ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept
-                                             NDCDepthRange ndc_depth_range = NDCDepthRange::ZERO_TO_ONE) noexcept;
+    {
+        const auto angles = mat_extract_rotation_zyx(mat);
+        return {
+                PitchAngle::from_degrees(angles.x),
+                YawAngle::from_degrees(angles.z),
+                RollAngle::from_degrees(angles.y),
+        };
+    }
+    [[nodiscard]]
+    inline constexpr Mat4X4
+    calc_perspective_projection_matrix(const float field_of_view, const float aspect_ratio, const float near_plane,
+                                       const float far_plane,
+                                       const NDCDepthRange ndc_depth_range = NDCDepthRange::ZERO_TO_ONE) noexcept
+    {
+        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
+            return mat_perspective_left_handed_vertical_fov<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+                    field_of_view, aspect_ratio, near_plane, far_plane);
+
+        if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return mat_perspective_left_handed_vertical_fov<float, MatStoreType::ROW_MAJOR,
+                                                            NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
+                    field_of_view, aspect_ratio, near_plane, far_plane);
+        std::unreachable();
+    }
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>

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

@@ -4,21 +4,36 @@
 
 #pragma once
 #include "omath/engines/cry_engine/formulas.hpp"
+#include "omath/internal/constexpr_math.hpp"
 #include "omath/projection/camera.hpp"
-
 namespace omath::cry_engine
 {
     class CameraTrait final
     {
     public:
         [[nodiscard]]
-        static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept;
+        constexpr static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin,
+                                                       const Vector3<float>& look_at) noexcept
+        {
+            const auto direction = (look_at - cam_origin).normalized();
+            return {PitchAngle::from_radians(internal::asin(direction.z)),
+                    YawAngle::from_radians(-internal::atan2(direction.x, direction.y)), RollAngle::from_radians(0.f)};
+        }
 
         [[nodiscard]]
-        static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+        constexpr static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
+        {
+            return cry_engine::calc_view_matrix(angles, cam_origin);
+        }
         [[nodiscard]]
-        static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
+        constexpr static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov,
-                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
+                                                       const projection::ViewPort& view_port, const float near_plane,
+                                                       const float far_plane,
+                                                       const NDCDepthRange ndc_depth_range) noexcept
+        {
+            return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near_plane, far_plane,
+                                                      ndc_depth_range);
+        }
     };
 
 } // namespace omath::cry_engine

include/omath/engines/frostbite_engine/formulas.hpp

@@ -8,31 +8,86 @@
 namespace omath::frostbite_engine
 {
     [[nodiscard]]
-    Vector3<float> forward_vector(const ViewAngles& angles) noexcept;
+    inline constexpr Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
 
     [[nodiscard]]
-    Vector3<float> right_vector(const ViewAngles& angles) noexcept;
+    inline constexpr Vector3<float> forward_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_forward);
+
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
 
     [[nodiscard]]
-    Vector3<float> up_vector(const ViewAngles& angles) noexcept;
+    inline constexpr Vector3<float> right_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_right);
 
-    [[nodiscard]] Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
 
     [[nodiscard]]
-    Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
+    inline constexpr Vector3<float> up_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_up);
+
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
 
     [[nodiscard]]
-    Vector3<float> extract_origin(const Mat4X4& mat) noexcept;
+    inline constexpr Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
+    {
+        return mat_camera_view<float, MatStoreType::ROW_MAJOR>(forward_vector(angles), right_vector(angles),
+                                                               up_vector(angles), cam_origin);
+    }
 
     [[nodiscard]]
-    Vector3<float> extract_scale(const Mat4X4& mat) noexcept;
+    inline constexpr Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept
+    {
+        return mat_rotation_axis_z<float, MatStoreType::ROW_MAJOR>(angles.roll)
+               * mat_rotation_axis_y<float, MatStoreType::ROW_MAJOR>(angles.yaw)
+               * mat_rotation_axis_x<float, MatStoreType::ROW_MAJOR>(angles.pitch);
+    }
 
     [[nodiscard]]
-    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept;
+    inline constexpr Vector3<float> extract_origin(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_origin(mat);
+    }
 
     [[nodiscard]]
-    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
+    inline constexpr Vector3<float> extract_scale(const Mat4X4& mat) noexcept
-                                             NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;
+    {
+        return mat_extract_scale(mat);
+    }
+
+    [[nodiscard]]
+    inline constexpr ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept
+    {
+        const auto angles = mat_extract_rotation_zyx(mat);
+        return {
+                PitchAngle::from_degrees(angles.x),
+                YawAngle::from_degrees(angles.y),
+                RollAngle::from_degrees(angles.z),
+        };
+    }
+
+    [[nodiscard]]
+    inline constexpr Mat4X4 calc_perspective_projection_matrix(
+            const float field_of_view, const float aspect_ratio, const float near_plane, const float far_plane,
+            const NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept
+    {
+        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
+            return mat_perspective_left_handed_vertical_fov<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+                    field_of_view, aspect_ratio, near_plane, far_plane);
+
+        if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return mat_perspective_left_handed_vertical_fov<float, MatStoreType::ROW_MAJOR,
+                                                            NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
+                    field_of_view, aspect_ratio, near_plane, far_plane);
+
+        std::unreachable();
+    }
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>

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

@@ -4,6 +4,7 @@
 
 #pragma once
 #include "omath/engines/frostbite_engine/formulas.hpp"
+#include "omath/internal/constexpr_math.hpp"
 #include "omath/projection/camera.hpp"
 
 namespace omath::frostbite_engine
@@ -12,13 +13,29 @@ namespace omath::frostbite_engine
     {
     public:
         [[nodiscard]]
-        static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept;
+        constexpr static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin,
+                                                       const Vector3<float>& look_at) noexcept
+        {
+            const auto direction = (look_at - cam_origin).normalized();
+
+            return {PitchAngle::from_radians(-internal::asin(direction.y)),
+                    YawAngle::from_radians(internal::atan2(direction.x, direction.z)), RollAngle::from_radians(0.f)};
+        }
 
         [[nodiscard]]
-        static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+        constexpr static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
+        {
+            return frostbite_engine::calc_view_matrix(angles, cam_origin);
+        }
         [[nodiscard]]
-        static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
+        constexpr static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov,
-                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
+                                                       const projection::ViewPort& view_port, const float near_plane,
+                                                       const float far_plane,
+                                                       const NDCDepthRange ndc_depth_range) noexcept
+        {
+            return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near_plane, far_plane,
+                                                      ndc_depth_range);
+        }
     };
 
-} // namespace omath::unreal_engine
+} // namespace omath::frostbite_engine

include/omath/engines/iw_engine/formulas.hpp

@@ -8,31 +8,84 @@
 namespace omath::iw_engine
 {
     [[nodiscard]]
-    Vector3<float> forward_vector(const ViewAngles& angles) noexcept;
+    inline constexpr Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
 
     [[nodiscard]]
-    Vector3<float> right_vector(const ViewAngles& angles) noexcept;
+    inline constexpr Vector3<float> forward_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_forward);
+
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
 
     [[nodiscard]]
-    Vector3<float> up_vector(const ViewAngles& angles) noexcept;
+    inline constexpr Vector3<float> right_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_right);
+
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
 
     [[nodiscard]]
-    Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
+    inline constexpr Vector3<float> up_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_up);
+
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
 
     [[nodiscard]]
-    Vector3<float> extract_origin(const Mat4X4& mat) noexcept;
+    inline constexpr Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept
+    {
+        return mat_rotation_axis_z(angles.yaw) * mat_rotation_axis_y(angles.pitch) * mat_rotation_axis_x(angles.roll);
+    }
 
     [[nodiscard]]
-    Vector3<float> extract_scale(const Mat4X4& mat) noexcept;
+    inline constexpr Vector3<float> extract_origin(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_origin(mat);
+    }
 
     [[nodiscard]]
-    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept;
+    inline constexpr Vector3<float> extract_scale(const Mat4X4& mat) noexcept
-
+    {
-    [[nodiscard]] Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+        return mat_extract_scale(mat);
+    }
 
     [[nodiscard]]
-    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
+    inline constexpr ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept
-                                             NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;
+    {
+        const auto angles = mat_extract_rotation_zyx(mat);
+        return {
+                PitchAngle::from_degrees(angles.y),
+                YawAngle::from_degrees(angles.z),
+                RollAngle::from_degrees(angles.x),
+        };
+    }
+
+    [[nodiscard]]
+    inline constexpr Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
+    {
+        return mat_camera_view(forward_vector(angles), right_vector(angles), up_vector(angles), cam_origin);
+    }
+
+    [[nodiscard]]
+    inline constexpr Mat4X4 calc_perspective_projection_matrix(
+            const float field_of_view, const float aspect_ratio, const float near_plane, const float far_plane,
+            const NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept
+    {
+        constexpr float k_source_reference_aspect = 4.f / 3.f;
+        const auto vertical_fov = angles::horizontal_fov_to_vertical(field_of_view, k_source_reference_aspect);
+
+        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
+            return mat_perspective_left_handed_vertical_fov<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+                    vertical_fov, aspect_ratio, near_plane, far_plane);
+        if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return mat_perspective_left_handed_vertical_fov<float, MatStoreType::ROW_MAJOR,
+                                                            NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
+                    vertical_fov, aspect_ratio, near_plane, far_plane);
+        std::unreachable();
+    }
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>

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

@@ -3,7 +3,8 @@
 //
 
 #pragma once
-#include "omath/engines/iw_engine/constants.hpp"
+#include "omath/engines/iw_engine/formulas.hpp"
+#include "omath/internal/constexpr_math.hpp"
 #include "omath/projection/camera.hpp"
 
 namespace omath::iw_engine
@@ -12,13 +13,29 @@ namespace omath::iw_engine
     {
     public:
         [[nodiscard]]
-        static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept;
+        constexpr static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin,
+                                                       const Vector3<float>& look_at) noexcept
+        {
+            const auto direction = (look_at - cam_origin).normalized();
+
+            return {PitchAngle::from_radians(-internal::asin(direction.z)),
+                    YawAngle::from_radians(internal::atan2(direction.y, direction.x)), RollAngle::from_radians(0.f)};
+        }
 
         [[nodiscard]]
-        static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+        constexpr static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
+        {
+            return iw_engine::calc_view_matrix(angles, cam_origin);
+        }
         [[nodiscard]]
-        static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
+        constexpr static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov,
-                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
+                                                       const projection::ViewPort& view_port, const float near_plane,
+                                                       const float far_plane,
+                                                       const NDCDepthRange ndc_depth_range) noexcept
+        {
+            return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near_plane, far_plane,
+                                                      ndc_depth_range);
+        }
     };
 
 } // namespace omath::iw_engine

include/omath/engines/opengl_engine/formulas.hpp

@@ -7,31 +7,88 @@
 namespace omath::opengl_engine
 {
     [[nodiscard]]
-    Vector3<float> forward_vector(const ViewAngles& angles) noexcept;
+    inline constexpr Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
 
     [[nodiscard]]
-    Vector3<float> right_vector(const ViewAngles& angles) noexcept;
+    inline constexpr 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);
+
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
 
     [[nodiscard]]
-    Vector3<float> up_vector(const ViewAngles& angles) noexcept;
+    inline constexpr 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);
 
-    [[nodiscard]] Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
 
     [[nodiscard]]
-    Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
+    inline constexpr Vector3<float> up_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector<float, MatStoreType::COLUMN_MAJOR>(k_abs_up);
+
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
 
     [[nodiscard]]
-    Vector3<float> extract_origin(const Mat4X4& mat) noexcept;
+    inline constexpr 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));
+    }
 
     [[nodiscard]]
-    Vector3<float> extract_scale(const Mat4X4& mat) noexcept;
+    inline constexpr Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept
+    {
+        return mat_rotation_axis_z<float, MatStoreType::COLUMN_MAJOR>(angles.roll)
+               * mat_rotation_axis_y<float, MatStoreType::COLUMN_MAJOR>(angles.yaw)
+               * mat_rotation_axis_x<float, MatStoreType::COLUMN_MAJOR>(angles.pitch);
+    }
 
     [[nodiscard]]
-    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept;
+    inline constexpr Vector3<float> extract_origin(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_origin(mat);
+    }
 
     [[nodiscard]]
-    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
+    inline constexpr Vector3<float> extract_scale(const Mat4X4& mat) noexcept
-                                             NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;
+    {
+        return mat_extract_scale(mat);
+    }
+
+    [[nodiscard]]
+    inline constexpr ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept
+    {
+        const auto angles = mat_extract_rotation_zyx(mat);
+        return {
+                PitchAngle::from_degrees(angles.x),
+                YawAngle::from_degrees(angles.y),
+                RollAngle::from_degrees(angles.z),
+        };
+    }
+
+    [[nodiscard]]
+    inline constexpr Mat4X4 calc_perspective_projection_matrix(
+            const float field_of_view, const float aspect_ratio, const float near_plane, const float far_plane,
+            const NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept
+    {
+        if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return mat_perspective_right_handed_vertical_fov<float, MatStoreType::COLUMN_MAJOR,
+                                                             NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
+                    field_of_view, aspect_ratio, near_plane, far_plane);
+
+        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
+            return mat_perspective_right_handed_vertical_fov<float, MatStoreType::COLUMN_MAJOR,
+                                                             NDCDepthRange::ZERO_TO_ONE>(field_of_view, aspect_ratio,
+                                                                                         near_plane, far_plane);
+
+        std::unreachable();
+    }
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>

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

@@ -3,7 +3,8 @@
 //
 
 #pragma once
-#include "omath/engines/opengl_engine/constants.hpp"
+#include "omath/engines/opengl_engine/formulas.hpp"
+#include "omath/internal/constexpr_math.hpp"
 #include "omath/projection/camera.hpp"
 
 namespace omath::opengl_engine
@@ -12,13 +13,29 @@ namespace omath::opengl_engine
     {
     public:
         [[nodiscard]]
-        static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept;
+        constexpr static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin,
+                                                       const Vector3<float>& look_at) noexcept
+        {
+            const auto direction = (look_at - cam_origin).normalized();
+
+            return {PitchAngle::from_radians(internal::asin(direction.y)),
+                    YawAngle::from_radians(-internal::atan2(direction.x, -direction.z)), RollAngle::from_radians(0.f)};
+        }
 
         [[nodiscard]]
-        static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+        constexpr static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
+        {
+            return opengl_engine::calc_view_matrix(angles, cam_origin);
+        }
         [[nodiscard]]
-        static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
+        constexpr static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov,
-                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
+                                                       const projection::ViewPort& view_port, const float near_plane,
+                                                       const float far_plane,
+                                                       const NDCDepthRange ndc_depth_range) noexcept
+        {
+            return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near_plane, far_plane,
+                                                      ndc_depth_range);
+        }
     };
 
 } // namespace omath::opengl_engine

include/omath/engines/rage_engine/formulas.hpp

@@ -9,31 +9,86 @@
 namespace omath::rage_engine
 {
     [[nodiscard]]
-    Vector3<float> forward_vector(const ViewAngles& angles) noexcept;
+    inline constexpr Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
 
     [[nodiscard]]
-    Vector3<float> right_vector(const ViewAngles& angles) noexcept;
+    inline constexpr Vector3<float> forward_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_forward);
+
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
 
     [[nodiscard]]
-    Vector3<float> up_vector(const ViewAngles& angles) noexcept;
+    inline constexpr Vector3<float> right_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_right);
 
-    [[nodiscard]] Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
 
     [[nodiscard]]
-    Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
+    inline constexpr Vector3<float> up_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_up);
+
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
 
     [[nodiscard]]
-    Vector3<float> extract_origin(const Mat4X4& mat) noexcept;
+    inline constexpr Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
+    {
+        return mat_camera_view<float, MatStoreType::ROW_MAJOR>(forward_vector(angles), right_vector(angles),
+                                                               up_vector(angles), cam_origin);
+    }
 
     [[nodiscard]]
-    Vector3<float> extract_scale(const Mat4X4& mat) noexcept;
+    inline constexpr Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept
+    {
+        return mat_rotation_axis_z<float, MatStoreType::ROW_MAJOR>(angles.yaw)
+               * mat_rotation_axis_y<float, MatStoreType::ROW_MAJOR>(angles.roll)
+               * mat_rotation_axis_x<float, MatStoreType::ROW_MAJOR>(angles.pitch);
+    }
 
     [[nodiscard]]
-    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept;
+    inline constexpr Vector3<float> extract_origin(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_origin(mat);
+    }
 
     [[nodiscard]]
-    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
+    inline constexpr Vector3<float> extract_scale(const Mat4X4& mat) noexcept
-                                              NDCDepthRange ndc_depth_range = NDCDepthRange::ZERO_TO_ONE) noexcept;
+    {
+        return mat_extract_scale(mat);
+    }
+
+    [[nodiscard]]
+    inline constexpr ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept
+    {
+        const auto angles = mat_extract_rotation_zyx(mat);
+        return {
+                PitchAngle::from_degrees(angles.x),
+                YawAngle::from_degrees(angles.z),
+                RollAngle::from_degrees(angles.y),
+        };
+    }
+
+    [[nodiscard]]
+    inline constexpr Mat4X4
+    calc_perspective_projection_matrix(const float field_of_view, const float aspect_ratio, const float near_plane,
+                                       const float far_plane,
+                                       const NDCDepthRange ndc_depth_range = NDCDepthRange::ZERO_TO_ONE) noexcept
+    {
+        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
+            return mat_perspective_left_handed_vertical_fov<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+                    field_of_view, aspect_ratio, near_plane, far_plane);
+
+        if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return mat_perspective_left_handed_vertical_fov<float, MatStoreType::ROW_MAJOR,
+                                                            NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
+                    field_of_view, aspect_ratio, near_plane, far_plane);
+        std::unreachable();
+    }
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>

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

@@ -4,6 +4,7 @@
 
 #pragma once
 #include "omath/engines/rage_engine/formulas.hpp"
+#include "omath/internal/constexpr_math.hpp"
 #include "omath/projection/camera.hpp"
 
 namespace omath::rage_engine
@@ -12,13 +13,29 @@ namespace omath::rage_engine
     {
     public:
         [[nodiscard]]
-        static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept;
+        constexpr static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin,
+                                                       const Vector3<float>& look_at) noexcept
+        {
+            const auto direction = (look_at - cam_origin).normalized();
+
+            return {PitchAngle::from_radians(internal::asin(direction.z)),
+                    YawAngle::from_radians(-internal::atan2(direction.x, direction.y)), RollAngle::from_radians(0.f)};
+        }
 
         [[nodiscard]]
-        static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+        constexpr static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
+        {
+            return rage_engine::calc_view_matrix(angles, cam_origin);
+        }
         [[nodiscard]]
-        static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
+        constexpr static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov,
-                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
+                                                       const projection::ViewPort& view_port, const float near_plane,
+                                                       const float far_plane,
+                                                       const NDCDepthRange ndc_depth_range) noexcept
+        {
+            return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near_plane, far_plane,
+                                                      ndc_depth_range);
+        }
     };
 
 } // namespace omath::rage_engine

include/omath/engines/source_engine/formulas.hpp

@@ -7,31 +7,84 @@
 namespace omath::source_engine
 {
     [[nodiscard]]
-    Vector3<float> forward_vector(const ViewAngles& angles) noexcept;
+    inline constexpr Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
 
     [[nodiscard]]
-    Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
+    inline constexpr Vector3<float> forward_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_forward);
+
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
 
     [[nodiscard]]
-    Vector3<float> extract_origin(const Mat4X4& mat) noexcept;
+    inline constexpr Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept
+    {
+        return mat_rotation_axis_z(angles.yaw) * mat_rotation_axis_y(angles.pitch) * mat_rotation_axis_x(angles.roll);
+    }
 
     [[nodiscard]]
-    Vector3<float> extract_scale(const Mat4X4& mat) noexcept;
+    inline constexpr Vector3<float> extract_origin(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_origin(mat);
+    }
 
     [[nodiscard]]
-    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept;
+    inline constexpr Vector3<float> extract_scale(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_scale(mat);
+    }
 
     [[nodiscard]]
-    Vector3<float> right_vector(const ViewAngles& angles) noexcept;
+    inline constexpr ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept
+    {
+        const auto angles = mat_extract_rotation_zyx(mat);
+        return {
+                PitchAngle::from_degrees(angles.y),
+                YawAngle::from_degrees(angles.z),
+                RollAngle::from_degrees(angles.x),
+        };
+    }
 
     [[nodiscard]]
-    Vector3<float> up_vector(const ViewAngles& angles) noexcept;
+    inline constexpr Vector3<float> right_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_right);
 
-    [[nodiscard]] Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
 
     [[nodiscard]]
-    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
+    inline constexpr Vector3<float> up_vector(const ViewAngles& angles) noexcept
-                                             NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_up);
+
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
+
+    [[nodiscard]]
+    inline constexpr Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
+    {
+        return mat_camera_view(forward_vector(angles), right_vector(angles), up_vector(angles), cam_origin);
+    }
+
+    [[nodiscard]]
+    inline constexpr Mat4X4 calc_perspective_projection_matrix(
+            const float field_of_view, const float aspect_ratio, const float near_plane, const float far_plane,
+            const NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept
+    {
+        constexpr float k_source_reference_aspect = 4.f / 3.f;
+        const auto vertical_fov = angles::horizontal_fov_to_vertical(field_of_view, k_source_reference_aspect);
+
+        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
+            return mat_perspective_left_handed_vertical_fov<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+                    vertical_fov, aspect_ratio, near_plane, far_plane);
+        if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return mat_perspective_left_handed_vertical_fov<float, MatStoreType::ROW_MAJOR,
+                                                            NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
+                    vertical_fov, aspect_ratio, near_plane, far_plane);
+        std::unreachable();
+    }
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>

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

@@ -3,7 +3,8 @@
 //
 
 #pragma once
-#include "omath/engines/source_engine/constants.hpp"
+#include "omath/engines/source_engine/formulas.hpp"
+#include "omath/internal/constexpr_math.hpp"
 #include "omath/projection/camera.hpp"
 
 namespace omath::source_engine
@@ -12,13 +13,29 @@ namespace omath::source_engine
     {
     public:
         [[nodiscard]]
-        static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept;
+        constexpr static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin,
+                                                       const Vector3<float>& look_at) noexcept
+        {
+            const auto direction = (look_at - cam_origin).normalized();
+
+            return {PitchAngle::from_radians(-internal::asin(direction.z)),
+                    YawAngle::from_radians(internal::atan2(direction.y, direction.x)), RollAngle::from_radians(0.f)};
+        }
 
         [[nodiscard]]
-        static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+        constexpr static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
+        {
+            return source_engine::calc_view_matrix(angles, cam_origin);
+        }
         [[nodiscard]]
-        static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
+        constexpr static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov,
-                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
+                                                       const projection::ViewPort& view_port, const float near_plane,
+                                                       const float far_plane,
+                                                       const NDCDepthRange ndc_depth_range) noexcept
+        {
+            return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near_plane, far_plane,
+                                                      ndc_depth_range);
+        }
     };
 
 } // namespace omath::source_engine

include/omath/engines/unity_engine/formulas.hpp

@@ -8,31 +8,85 @@
 namespace omath::unity_engine
 {
     [[nodiscard]]
-    Vector3<float> forward_vector(const ViewAngles& angles) noexcept;
+    inline constexpr Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
 
     [[nodiscard]]
-    Vector3<float> right_vector(const ViewAngles& angles) noexcept;
+    inline constexpr Vector3<float> forward_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_forward);
+
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
 
     [[nodiscard]]
-    Vector3<float> up_vector(const ViewAngles& angles) noexcept;
+    inline constexpr Vector3<float> right_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_right);
 
-    [[nodiscard]] Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
 
     [[nodiscard]]
-    Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
+    inline constexpr Vector3<float> up_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_up);
+
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
 
     [[nodiscard]]
-    Vector3<float> extract_origin(const Mat4X4& mat) noexcept;
+    inline constexpr Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
+    {
+        return mat_camera_view<float, MatStoreType::ROW_MAJOR>(-forward_vector(angles), right_vector(angles),
+                                                               up_vector(angles), cam_origin);
+    }
 
     [[nodiscard]]
-    Vector3<float> extract_scale(const Mat4X4& mat) noexcept;
+    inline constexpr Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept
+    {
+        return mat_rotation_axis_z<float, MatStoreType::ROW_MAJOR>(angles.roll)
+               * mat_rotation_axis_y<float, MatStoreType::ROW_MAJOR>(angles.yaw)
+               * mat_rotation_axis_x<float, MatStoreType::ROW_MAJOR>(angles.pitch);
+    }
 
     [[nodiscard]]
-    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept;
+    inline constexpr Vector3<float> extract_origin(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_origin(mat);
+    }
 
     [[nodiscard]]
-    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
+    inline constexpr Vector3<float> extract_scale(const Mat4X4& mat) noexcept
-                                             NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;
+    {
+        return mat_extract_scale(mat);
+    }
+
+    [[nodiscard]]
+    inline constexpr ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept
+    {
+        const auto angles = mat_extract_rotation_zyx(mat);
+        return {
+                PitchAngle::from_degrees(angles.x),
+                YawAngle::from_degrees(angles.y),
+                RollAngle::from_degrees(angles.z),
+        };
+    }
+
+    [[nodiscard]]
+    inline constexpr Mat4X4 calc_perspective_projection_matrix(
+            const float field_of_view, const float aspect_ratio, const float near_plane, const float far_plane,
+            const NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept
+    {
+        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
+            return omath::mat_perspective_right_handed_vertical_fov<float, MatStoreType::ROW_MAJOR,
+                                                                    NDCDepthRange::ZERO_TO_ONE>(
+                    field_of_view, aspect_ratio, near_plane, far_plane);
+        if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return omath::mat_perspective_right_handed_vertical_fov<float, MatStoreType::ROW_MAJOR,
+                                                                    NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
+                    field_of_view, aspect_ratio, near_plane, far_plane);
+        std::unreachable();
+    }
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>

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

@@ -4,6 +4,7 @@
 
 #pragma once
 #include "omath/engines/unity_engine/formulas.hpp"
+#include "omath/internal/constexpr_math.hpp"
 #include "omath/projection/camera.hpp"
 
 namespace omath::unity_engine
@@ -12,13 +13,29 @@ namespace omath::unity_engine
     {
     public:
         [[nodiscard]]
-        static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept;
+        constexpr static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin,
+                                                       const Vector3<float>& look_at) noexcept
+        {
+            const auto direction = (look_at - cam_origin).normalized();
+
+            return {PitchAngle::from_radians(-internal::asin(direction.y)),
+                    YawAngle::from_radians(internal::atan2(direction.x, direction.z)), RollAngle::from_radians(0.f)};
+        }
 
         [[nodiscard]]
-        static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+        constexpr static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
+        {
+            return unity_engine::calc_view_matrix(angles, cam_origin);
+        }
         [[nodiscard]]
-        static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
+        constexpr static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov,
-                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
+                                                       const projection::ViewPort& view_port, const float near_plane,
+                                                       const float far_plane,
+                                                       const NDCDepthRange ndc_depth_range) noexcept
+        {
+            return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near_plane, far_plane,
+                                                      ndc_depth_range);
+        }
     };
 
 } // namespace omath::unity_engine

include/omath/engines/unreal_engine/formulas.hpp

@@ -8,31 +8,85 @@
 namespace omath::unreal_engine
 {
     [[nodiscard]]
-    Vector3<double> forward_vector(const ViewAngles& angles) noexcept;
+    inline constexpr Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
 
     [[nodiscard]]
-    Vector3<double> right_vector(const ViewAngles& angles) noexcept;
+    inline constexpr Vector3<double> forward_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_forward);
+
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
 
     [[nodiscard]]
-    Vector3<double> up_vector(const ViewAngles& angles) noexcept;
+    inline constexpr Vector3<double> right_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_right);
 
-    [[nodiscard]] Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<double>& cam_origin) noexcept;
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
 
     [[nodiscard]]
-    Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
+    inline constexpr Vector3<double> up_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_up);
+
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
 
     [[nodiscard]]
-    Vector3<double> extract_origin(const Mat4X4& mat) noexcept;
+    inline constexpr Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<double>& cam_origin) noexcept
+    {
+        return mat_camera_view<double, MatStoreType::ROW_MAJOR>(forward_vector(angles), right_vector(angles),
+                                                                up_vector(angles), cam_origin);
+    }
 
     [[nodiscard]]
-    Vector3<double> extract_scale(const Mat4X4& mat) noexcept;
+    inline constexpr Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept
+    {
+        return mat_rotation_axis_z<double, MatStoreType::ROW_MAJOR>(angles.yaw)
+               * mat_rotation_axis_y<double, MatStoreType::ROW_MAJOR>(-angles.pitch)
+               * mat_rotation_axis_x<double, MatStoreType::ROW_MAJOR>(-angles.roll);
+    }
 
     [[nodiscard]]
-    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept;
+    inline constexpr Vector3<double> extract_origin(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_origin(mat);
+    }
 
     [[nodiscard]]
-    Mat4X4 calc_perspective_projection_matrix(double field_of_view, double aspect_ratio, double near, double far,
+    inline constexpr Vector3<double> extract_scale(const Mat4X4& mat) noexcept
-                                             NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;
+    {
+        return mat_extract_scale(mat);
+    }
+
+    [[nodiscard]]
+    inline constexpr ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept
+    {
+        const auto angles = mat_extract_rotation_zyx(mat);
+        return {
+                PitchAngle::from_degrees(-angles.y),
+                YawAngle::from_degrees(angles.z),
+                RollAngle::from_degrees(-angles.x),
+        };
+    }
+
+    [[nodiscard]]
+    inline constexpr Mat4X4 calc_perspective_projection_matrix(
+            const double field_of_view, const double aspect_ratio, const double near_plane, const double far_plane,
+            const NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept
+    {
+        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
+            return mat_perspective_left_handed_horizontal_fov<double, MatStoreType::ROW_MAJOR,
+                                                              NDCDepthRange::ZERO_TO_ONE>(field_of_view, aspect_ratio,
+                                                                                          near_plane, far_plane);
+        if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return mat_perspective_left_handed_horizontal_fov<double, MatStoreType::ROW_MAJOR,
+                                                              NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
+                    field_of_view, aspect_ratio, near_plane, far_plane);
+        std::unreachable();
+    }
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>

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

@@ -4,6 +4,7 @@
 
 #pragma once
 #include "omath/engines/unreal_engine/formulas.hpp"
+#include "omath/internal/constexpr_math.hpp"
 #include "omath/projection/camera.hpp"
 
 namespace omath::unreal_engine
@@ -12,13 +13,29 @@ namespace omath::unreal_engine
     {
     public:
         [[nodiscard]]
-        static ViewAngles calc_look_at_angle(const Vector3<double>& cam_origin, const Vector3<double>& look_at) noexcept;
+        constexpr static ViewAngles calc_look_at_angle(const Vector3<double>& cam_origin,
+                                                       const Vector3<double>& look_at) noexcept
+        {
+            const auto direction = (look_at - cam_origin).normalized();
+
+            return {PitchAngle::from_radians(internal::asin(direction.z)),
+                    YawAngle::from_radians(internal::atan2(direction.y, direction.x)), RollAngle::from_radians(0.f)};
+        }
 
         [[nodiscard]]
-        static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<double>& cam_origin) noexcept;
+        constexpr static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<double>& cam_origin) noexcept
+        {
+            return unreal_engine::calc_view_matrix(angles, cam_origin);
+        }
         [[nodiscard]]
-        static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
+        constexpr static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov,
-                                             double near, double far, NDCDepthRange ndc_depth_range) noexcept;
+                                                       const projection::ViewPort& view_port, const double near_plane,
+                                                       const double far_plane,
+                                                       const NDCDepthRange ndc_depth_range) noexcept
+        {
+            return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near_plane, far_plane,
+                                                      ndc_depth_range);
+        }
     };
 
 } // namespace omath::unreal_engine

include/omath/internal/constexpr_math.hpp

@@ -0,0 +1,707 @@
+//
+// Created by orange on 6/11/2026.
+//
+#pragma once
+
+#include <bit>
+#include <cmath>
+#include <cstdint>
+#include <limits>
+#include <numbers>
+#include <type_traits>
+
+namespace omath::internal
+{
+    // Embedded subset of GCE-Math 1.18.0.
+    //
+    // Original project:
+    //   GCE-Math: A C++ generalized constant expression-based math library
+    //   Copyright 2016-2024 Keith O'Hara
+    //   Licensed under the Apache License, Version 2.0.
+    namespace math_detail
+    {
+        using uint_t = unsigned int;
+        using llint_t = long long int;
+        using ullint_t = unsigned long long int;
+
+        template<class Type>
+        using limits = std::numeric_limits<Type>;
+
+        template<class Type>
+        constexpr Type pi = std::numbers::pi_v<Type>;
+
+        template<class Type>
+        constexpr Type half_pi = std::numbers::pi_v<Type> / static_cast<Type>(2);
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type abs(const Type value) noexcept
+        {
+            return value == Type{0} ? Type{0} : value < Type{0} ? -value : value;
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr int sgn(const Type value) noexcept
+        {
+            return value > Type{0} ? 1 : value < Type{0} ? -1 : 0;
+        }
+
+        [[nodiscard]]
+        constexpr bool is_odd(const llint_t value) noexcept
+        {
+            return (value & 1U) != 0;
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr bool is_nan(const Type value) noexcept
+        {
+            return value != value;
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr bool is_neginf(const Type value) noexcept
+        {
+            return value == -limits<Type>::infinity();
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr bool is_posinf(const Type value) noexcept
+        {
+            return value == limits<Type>::infinity();
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr bool is_inf(const Type value) noexcept
+        {
+            return is_neginf(value) || is_posinf(value);
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr bool is_finite(const Type value) noexcept
+        {
+            return !is_nan(value) && !is_inf(value);
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr bool any_nan(const Type x, const Type y) noexcept
+        {
+            return is_nan(x) || is_nan(y);
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr bool any_inf(const Type x, const Type y) noexcept
+        {
+            return is_inf(x) || is_inf(y);
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr bool all_finite(const Type x, const Type y) noexcept
+        {
+            return is_finite(x) && is_finite(y);
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr bool signbit(const Type value) noexcept
+        {
+            if constexpr (std::is_same_v<Type, float>)
+                return (std::bit_cast<std::uint32_t>(value) & 0x80000000U) != 0;
+            else if constexpr (std::is_same_v<Type, double>)
+                return (std::bit_cast<std::uint64_t>(value) & 0x8000000000000000ULL) != 0;
+            else
+                return value < Type{0};
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr bool neg_zero(const Type value) noexcept
+        {
+            return value == Type{0} && signbit(value);
+        }
+
+        template<class Type, class ExpType>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type pow_integral_compute(const Type base, const ExpType exp_term) noexcept;
+
+        template<class Type, class ExpType>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type pow_integral_compute_recur(const Type base, const Type value, const ExpType exp_term) noexcept
+        {
+            return exp_term > ExpType{1}
+                           ? is_odd(static_cast<llint_t>(exp_term))
+                                     ? pow_integral_compute_recur(base * base, value * base, exp_term / ExpType{2})
+                                     : pow_integral_compute_recur(base * base, value, exp_term / ExpType{2})
+                   : exp_term == ExpType{1} ? value * base
+                                            : value;
+        }
+
+        template<class Type, class ExpType>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type pow_integral_sgn_check(const Type base, const ExpType exp_term) noexcept
+        {
+            if constexpr (std::is_signed_v<ExpType>)
+                return exp_term < ExpType{0} ? Type{1} / pow_integral_compute(base, -exp_term)
+                                             : pow_integral_compute_recur(base, Type{1}, exp_term);
+            else
+                return pow_integral_compute_recur(base, Type{1}, exp_term);
+        }
+
+        template<class Type, class ExpType>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type pow_integral_compute(const Type base, const ExpType exp_term) noexcept
+        {
+            return exp_term == ExpType{3}               ? base * base * base
+                   : exp_term == ExpType{2}             ? base * base
+                   : exp_term == ExpType{1}             ? base
+                   : exp_term == ExpType{0}             ? Type{1}
+                   : exp_term == limits<ExpType>::min() ? Type{0}
+                   : exp_term == limits<ExpType>::max() ? limits<Type>::infinity()
+                                                        : pow_integral_sgn_check(base, exp_term);
+        }
+
+        template<class Type, class ExpType>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type pow_integral(const Type base, const ExpType exp_term) noexcept
+        {
+            return pow_integral_compute(base, exp_term);
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type sqrt_recur(const Type x, const Type xn, const int count) noexcept
+        {
+            return abs(xn - x / xn) / (Type{1} + xn) < limits<Type>::min() ? xn
+                   : count < 100 ? sqrt_recur(x, Type{0.5} * (xn + x / xn), count + 1)
+                                 : xn;
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type sqrt_simplify(const Type x, const Type m_val) noexcept
+        {
+            return x > Type{1e+08}   ? sqrt_simplify(x / Type{1e+08}, Type{1e+04} * m_val)
+                   : x > Type{1e+06} ? sqrt_simplify(x / Type{1e+06}, Type{1e+03} * m_val)
+                   : x > Type{1e+04} ? sqrt_simplify(x / Type{1e+04}, Type{1e+02} * m_val)
+                   : x > Type{100}   ? sqrt_simplify(x / Type{100}, Type{10} * m_val)
+                   : x > Type{4}     ? sqrt_simplify(x / Type{4}, Type{2} * m_val)
+                                     : m_val * sqrt_recur(x, x / Type{2}, 0);
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type sqrt(const Type x) noexcept
+        {
+            return is_nan(x)                                ? limits<Type>::quiet_NaN()
+                   : x < Type{0}                            ? limits<Type>::quiet_NaN()
+                   : is_posinf(x)                           ? x
+                   : limits<Type>::min() > abs(x)           ? Type{0}
+                   : limits<Type>::min() > abs(Type{1} - x) ? x
+                                                            : sqrt_simplify(x, Type{1});
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type floor_int(const Type x, const Type x_whole) noexcept
+        {
+            return x_whole - static_cast<Type>((x < Type{0}) && (x < x_whole));
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type floor_check_internal(const Type x) noexcept
+        {
+            if constexpr (std::is_same_v<Type, float>)
+                return abs(x) >= 8388608.f ? x : floor_int(x, static_cast<float>(static_cast<int>(x)));
+            else if constexpr (std::is_same_v<Type, double>)
+                return abs(x) >= 4503599627370496. ? x : floor_int(x, static_cast<double>(static_cast<llint_t>(x)));
+            else
+                return abs(x) >= 9223372036854775808.l
+                               ? x
+                               : static_cast<long double>(static_cast<ullint_t>(abs(x))) * sgn(x);
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type floor(const Type x) noexcept
+        {
+            return is_nan(x)                      ? limits<Type>::quiet_NaN()
+                   : !is_finite(x)                ? x
+                   : limits<Type>::min() > abs(x) ? x
+                                                  : floor_check_internal(x);
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type trunc_int(const Type x) noexcept
+        {
+            return static_cast<Type>(static_cast<llint_t>(x));
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type trunc_check_internal(const Type x) noexcept
+        {
+            if constexpr (std::is_same_v<Type, float>)
+                return abs(x) >= 8388608.f ? x : trunc_int(x);
+            else if constexpr (std::is_same_v<Type, double>)
+                return abs(x) >= 4503599627370496. ? x : trunc_int(x);
+            else
+                return abs(x) >= 9223372036854775808.l
+                               ? x
+                               : static_cast<long double>(static_cast<ullint_t>(abs(x))) * sgn(x);
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type trunc(const Type x) noexcept
+        {
+            return is_nan(x)                      ? limits<Type>::quiet_NaN()
+                   : !is_finite(x)                ? x
+                   : limits<Type>::min() > abs(x) ? x
+                                                  : trunc_check_internal(x);
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type fmod(const Type x, const Type y) noexcept
+        {
+            return any_nan(x, y) || !all_finite(x, y) || limits<Type>::min() > abs(y) ? limits<Type>::quiet_NaN()
+                                                                                      : x - trunc(x / y) * y;
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type tan_series_exp_long(const Type z) noexcept
+        {
+            return -Type{1} / z
+                   + (z / Type{3}
+                      + (pow_integral(z, 3) / Type{45}
+                         + (Type{2} * pow_integral(z, 5) / Type{945} + pow_integral(z, 7) / Type{4725})));
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type tan_series_exp(const Type x) noexcept
+        {
+            return limits<Type>::min() > abs(x - half_pi<Type>) ? Type{1.633124e+16}
+                                                                : tan_series_exp_long(x - half_pi<Type>);
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type tan_cf_recur(const Type xx, const int max_depth) noexcept
+        {
+            Type result = static_cast<Type>(2 * max_depth - 1);
+            for (int depth = max_depth - 1; depth >= 1; --depth)
+                result = static_cast<Type>(2 * depth - 1) - xx / result;
+
+            return result;
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type tan_cf_main(const Type x) noexcept
+        {
+            return x > Type{1.55} && x < Type{1.60} ? tan_series_exp(x)
+                   : x > Type{1.4}                  ? x / tan_cf_recur(x * x, 45)
+                   : x > Type{1}                    ? x / tan_cf_recur(x * x, 35)
+                                                    : x / tan_cf_recur(x * x, 25);
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type tan_begin(const Type x, const int count = 0) noexcept
+        {
+            return x > pi<Type> ? count > 1 ? limits<Type>::quiet_NaN()
+                                            : tan_begin(x - pi<Type> * floor(x / pi<Type>), count + 1)
+                                : tan_cf_main(x);
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type tan(const Type x) noexcept
+        {
+            return is_nan(x)                      ? limits<Type>::quiet_NaN()
+                   : limits<Type>::min() > abs(x) ? Type{0}
+                   : x < Type{0}                  ? -tan_begin(-x)
+                                                  : tan_begin(x);
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type sin(const Type x) noexcept
+        {
+            return is_nan(x)                                      ? limits<Type>::quiet_NaN()
+                   : limits<Type>::min() > abs(x)                 ? Type{0}
+                   : limits<Type>::min() > abs(x - half_pi<Type>) ? Type{1}
+                   : limits<Type>::min() > abs(x + half_pi<Type>) ? -Type{1}
+                   : limits<Type>::min() > abs(x - pi<Type>)      ? Type{0}
+                   : limits<Type>::min() > abs(x + pi<Type>)
+                           ? -Type{0}
+                           : (Type{2} * tan(x / Type{2})) / (Type{1} + tan(x / Type{2}) * tan(x / Type{2}));
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type cos(const Type x) noexcept
+        {
+            return is_nan(x)                                      ? limits<Type>::quiet_NaN()
+                   : limits<Type>::min() > abs(x)                 ? Type{1}
+                   : limits<Type>::min() > abs(x - half_pi<Type>) ? Type{0}
+                   : limits<Type>::min() > abs(x + half_pi<Type>) ? Type{0}
+                   : limits<Type>::min() > abs(x - pi<Type>)      ? -Type{1}
+                   : limits<Type>::min() > abs(x + pi<Type>)
+                           ? -Type{1}
+                           : (Type{1} - tan(x / Type{2}) * tan(x / Type{2}))
+                                     / (Type{1} + tan(x / Type{2}) * tan(x / Type{2}));
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type atan_series_order_calc(const Type xx, const Type x_pow, const uint_t order) noexcept
+        {
+            return Type{1} / (static_cast<Type>((order - 1) * 4 - 1) * x_pow)
+                   - Type{1} / (static_cast<Type>((order - 1) * 4 + 1) * x_pow * xx);
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type atan_series_order(const Type x, const uint_t order_begin, const uint_t max_order) noexcept
+        {
+            if (max_order == 1)
+                return half_pi<Type> - Type{1} / x;
+
+            const Type xx = x * x;
+            Type result = atan_series_order_calc(xx, pow_integral(x, 4 * max_order - 5), max_order);
+            auto depth = max_order - 1;
+
+            while (depth > order_begin)
+            {
+                result += atan_series_order_calc(xx, pow_integral(x, 4 * depth - 5), depth);
+                --depth;
+            }
+
+            return result + half_pi<Type> - Type{1} / x;
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type atan_series_main(const Type x) noexcept
+        {
+            return x < Type{3}      ? atan_series_order(x, 1U, 10U)
+                   : x < Type{4}    ? atan_series_order(x, 1U, 9U)
+                   : x < Type{5}    ? atan_series_order(x, 1U, 8U)
+                   : x < Type{7}    ? atan_series_order(x, 1U, 7U)
+                   : x < Type{11}   ? atan_series_order(x, 1U, 6U)
+                   : x < Type{25}   ? atan_series_order(x, 1U, 5U)
+                   : x < Type{100}  ? atan_series_order(x, 1U, 4U)
+                   : x < Type{1000} ? atan_series_order(x, 1U, 3U)
+                                    : atan_series_order(x, 1U, 2U);
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type atan_cf_recur(const Type xx, const uint_t depth_begin, const uint_t max_depth) noexcept
+        {
+            auto depth = max_depth - 1;
+            Type result = static_cast<Type>(2 * (depth + 1) - 1);
+
+            while (depth > depth_begin - 1)
+            {
+                result = static_cast<Type>(2 * depth - 1) + static_cast<Type>(depth * depth) * xx / result;
+                --depth;
+            }
+
+            return result;
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type atan_cf_main(const Type x) noexcept
+        {
+            return x < Type{0.5}   ? x / atan_cf_recur(x * x, 1U, 15U)
+                   : x < Type{1}   ? x / atan_cf_recur(x * x, 1U, 25U)
+                   : x < Type{1.5} ? x / atan_cf_recur(x * x, 1U, 35U)
+                   : x < Type{2}   ? x / atan_cf_recur(x * x, 1U, 45U)
+                                   : x / atan_cf_recur(x * x, 1U, 52U);
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type atan_begin(const Type x) noexcept
+        {
+            return x > Type{2.5} ? atan_series_main(x) : atan_cf_main(x);
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type atan(const Type x) noexcept
+        {
+            return is_nan(x)                      ? limits<Type>::quiet_NaN()
+                   : limits<Type>::min() > abs(x) ? Type{0}
+                   : x < Type{0}                  ? -atan_begin(-x)
+                                                  : atan_begin(x);
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type atan2(const Type y, const Type x) noexcept
+        {
+            return any_nan(y, x)                  ? limits<Type>::quiet_NaN()
+                   : limits<Type>::min() > abs(x) ? limits<Type>::min() > abs(y)
+                                                            ? neg_zero(y)   ? neg_zero(x) ? -pi<Type> : -Type{0}
+                                                                : neg_zero(x) ? pi<Type>
+                                                                            : Type{0}
+                                                    : y > Type{0} ? half_pi<Type>
+                                                                  : -half_pi<Type>
+                   : x < Type{0} ? y < Type{0} ? atan(y / x) - pi<Type> : atan(y / x) + pi<Type>
+                                 : atan(y / x);
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type asin_compute(const Type x) noexcept
+        {
+            return x > Type{1}                              ? limits<Type>::quiet_NaN()
+                   : limits<Type>::min() > abs(x - Type{1}) ? half_pi<Type>
+                   : limits<Type>::min() > abs(x)           ? Type{0}
+                                                            : atan(x / sqrt(Type{1} - x * x));
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type asin(const Type x) noexcept
+        {
+            return is_nan(x) ? limits<Type>::quiet_NaN() : x < Type{0} ? -asin_compute(-x) : asin_compute(x);
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type acos_compute(const Type x) noexcept
+        {
+            return abs(x) > Type{1}                         ? limits<Type>::quiet_NaN()
+                   : limits<Type>::min() > abs(x - Type{1}) ? Type{0}
+                   : limits<Type>::min() > abs(x)           ? half_pi<Type>
+                                                            : atan(sqrt(Type{1} - x * x) / x);
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type acos(const Type x) noexcept
+        {
+            return is_nan(x) ? limits<Type>::quiet_NaN() : x > Type{0} ? acos_compute(x) : pi<Type> - acos_compute(-x);
+        }
+
+        template<class Type>
+        requires std::is_floating_point_v<Type>
+        [[nodiscard]]
+        constexpr Type hypot(const Type x, const Type y) noexcept
+        {
+            return any_nan(x, y)                  ? limits<Type>::quiet_NaN()
+                   : any_inf(x, y)                ? limits<Type>::infinity()
+                   : limits<Type>::min() > abs(x) ? abs(y)
+                   : limits<Type>::min() > abs(y) ? abs(x)
+                                                  : abs(x) * sqrt(Type{1} + (y / x) * (y / x));
+        }
+    } // namespace math_detail
+
+    template<class Type>
+    requires std::is_floating_point_v<Type>
+    [[nodiscard]]
+    constexpr Type sin(const Type& value) noexcept
+    {
+        if consteval
+        {
+            return math_detail::sin(value);
+        }
+        return std::sin(value);
+    }
+
+    template<class Type>
+    requires std::is_floating_point_v<Type>
+    [[nodiscard]]
+    constexpr Type cos(const Type& value) noexcept
+    {
+        if consteval
+        {
+            return math_detail::cos(value);
+        }
+        return std::cos(value);
+    }
+
+    template<class Type>
+    requires std::is_floating_point_v<Type>
+    [[nodiscard]]
+    constexpr Type tan(const Type& value) noexcept
+    {
+        if consteval
+        {
+            return math_detail::tan(value);
+        }
+        return std::tan(value);
+    }
+
+    template<class Type>
+    requires std::is_floating_point_v<Type>
+    [[nodiscard]]
+    constexpr Type atan(const Type& value) noexcept
+    {
+        if consteval
+        {
+            return math_detail::atan(value);
+        }
+        return std::atan(value);
+    }
+
+    template<class Type>
+    requires std::is_floating_point_v<Type>
+    [[nodiscard]]
+    constexpr Type atan2(const Type& y, const Type& x) noexcept
+    {
+        if consteval
+        {
+            return math_detail::atan2(y, x);
+        }
+        return std::atan2(y, x);
+    }
+
+    template<class Type>
+    requires std::is_floating_point_v<Type>
+    [[nodiscard]]
+    constexpr Type asin(const Type& value) noexcept
+    {
+        if consteval
+        {
+            return math_detail::asin(value);
+        }
+        return std::asin(value);
+    }
+
+    template<class Type>
+    requires std::is_floating_point_v<Type>
+    [[nodiscard]]
+    constexpr Type acos(const Type& value) noexcept
+    {
+        if consteval
+        {
+            return math_detail::acos(value);
+        }
+        return std::acos(value);
+    }
+
+    template<class Type>
+    requires std::is_floating_point_v<Type>
+    [[nodiscard]]
+    constexpr Type sqrt(const Type& value) noexcept
+    {
+        if consteval
+        {
+            return math_detail::sqrt(value);
+        }
+        return std::sqrt(value);
+    }
+
+    template<class Type>
+    requires std::is_floating_point_v<Type>
+    [[nodiscard]]
+    constexpr Type hypot(const Type& x, const Type& y) noexcept
+    {
+        if consteval
+        {
+            return math_detail::hypot(x, y);
+        }
+        return std::hypot(x, y);
+    }
+
+    template<class Type>
+    requires std::is_floating_point_v<Type>
+    [[nodiscard]]
+    constexpr Type hypot(const Type& x, const Type& y, const Type& z) noexcept
+    {
+        if consteval
+        {
+            return math_detail::sqrt(x * x + y * y + z * z);
+        }
+        return std::hypot(x, y, z);
+    }
+
+    template<class Type>
+    requires std::is_floating_point_v<Type>
+    [[nodiscard]]
+    constexpr Type abs(const Type& value) noexcept
+    {
+        if consteval
+        {
+            return math_detail::abs(value);
+        }
+        return std::abs(value);
+    }
+
+    template<class Type>
+    requires std::is_floating_point_v<Type>
+    [[nodiscard]]
+    constexpr Type fmod(const Type& dividend, const Type& divisor) noexcept
+    {
+        if consteval
+        {
+            return math_detail::fmod(dividend, divisor);
+        }
+        return std::fmod(dividend, divisor);
+    }
+} // namespace omath::internal

include/omath/linear_algebra/mat.hpp

@@ -2,6 +2,7 @@
 // Created by vlad on 9/29/2024.
 //
 #pragma once
+#include "omath/internal/constexpr_math.hpp"
 #include "vector3.hpp"
 #include <algorithm>
 #include <array>
@@ -10,6 +11,7 @@
 #include <numeric>
 #include <sstream>
 #include <stdexcept>
+#include <type_traits>
 #include <utility>
 
 #ifdef OMATH_USE_AVX2
@@ -44,8 +46,8 @@ namespace omath
         ZERO_TO_ONE // DirectX / Vulkan: [0.0, 1.0]
     };
 
-    template<typename M1, typename M2> concept MatTemplateEqual
+    template<typename M1, typename M2> concept MatTemplateEqual =
-            = (M1::rows == M2::rows) && (M1::columns == M2::columns)
+            (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);
 
     template<size_t Rows = 0, size_t Columns = 0, class Type = float, MatStoreType StoreType = MatStoreType::ROW_MAJOR>
@@ -149,7 +151,8 @@ namespace omath
             }
         }
 
-        [[nodiscard("You must use element reference")]] constexpr Type& at(const size_t row_index, const size_t column_index)
+        [[nodiscard("You must use element reference")]] constexpr Type& at(const size_t row_index,
+                                                                           const size_t column_index)
         {
             return const_cast<Type&>(std::as_const(*this).at(row_index, column_index));
         }
@@ -176,6 +179,13 @@ namespace omath
         operator*(const Mat<Columns, OtherColumns, Type, StoreType>& other) const
         {
 #ifdef OMATH_USE_AVX2
+            if (std::is_constant_evaluated())
+            {
+                if constexpr (StoreType == MatStoreType::ROW_MAJOR)
+                    return cache_friendly_multiply_row_major(other);
+                else if constexpr (StoreType == MatStoreType::COLUMN_MAJOR)
+                    return cache_friendly_multiply_col_major(other);
+            }
             if constexpr (StoreType == MatStoreType::ROW_MAJOR)
                 return avx_multiply_row_major(other);
             else if constexpr (StoreType == MatStoreType::COLUMN_MAJOR)
@@ -192,7 +202,11 @@ namespace omath
 
         constexpr Mat& operator*=(const Type& f) noexcept
         {
-            std::ranges::for_each(m_data, [&f](auto& val) { val *= f; });
+            std::ranges::for_each(m_data,
+                                  [&f](auto& val)
+                                  {
+                                      val *= f;
+                                  });
             return *this;
         }
 
@@ -212,7 +226,11 @@ namespace omath
 
         constexpr Mat& operator/=(const Type& value) noexcept
         {
-            std::ranges::for_each(m_data, [&value](auto& val) { val /= value; });
+            std::ranges::for_each(m_data,
+                                  [&value](auto& val)
+                                  {
+                                      val /= value;
+                                  });
             return *this;
         }
 
@@ -388,7 +406,7 @@ namespace omath
         {
             const auto det = determinant();
 
-            if (std::abs(det) < std::numeric_limits<Type>::epsilon())
+            if (internal::abs(det) < std::numeric_limits<Type>::epsilon())
                 return std::nullopt;
 
             const auto transposed_mat = transposed();
@@ -578,13 +596,13 @@ namespace omath
     };
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR> [[nodiscard("You must use row matrix")]]
-    constexpr static Mat<1, 4, Type, St> mat_row_from_vector(const Vector3<Type>& vector) noexcept
+    constexpr Mat<1, 4, Type, St> mat_row_from_vector(const Vector3<Type>& vector) noexcept
     {
         return {{vector.x, vector.y, vector.z, 1}};
     }
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR> [[nodiscard("You must use column matrix")]]
-    constexpr static Mat<4, 1, Type, St> mat_column_from_vector(const Vector3<Type>& vector) noexcept
+    constexpr Mat<4, 1, Type, St> mat_column_from_vector(const Vector3<Type>& vector) noexcept
     {
         return {{vector.x}, {vector.y}, {vector.z}, {1}};
     }
@@ -593,8 +611,7 @@ namespace omath
     [[nodiscard("You must use translation matrix")]]
     constexpr Mat<4, 4, Type, St> mat_translation(const Vector3<Type>& diff) noexcept
     {
-        return
+        return {
-        {
                 {1, 0, 0, diff.x},
                 {0, 1, 0, diff.y},
                 {0, 0, 1, diff.z},
@@ -622,10 +639,11 @@ namespace omath
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
     [[nodiscard("You must use extracted scale")]]
-    Vector3<Type> mat_extract_scale(const Mat<4, 4, Type, St>& mat) noexcept
+    constexpr Vector3<Type> mat_extract_scale(const Mat<4, 4, Type, St>& mat) noexcept
     {
-        auto column_length = [](const Type x, const Type y, const Type z) {
+        auto column_length = [](const Type x, const Type y, const Type z)
-            return static_cast<Type>(std::sqrt(x * x + y * y + z * z));
+        {
+            return static_cast<Type>(internal::sqrt(x * x + y * y + z * z));
         };
 
         const auto scale_x = column_length(mat.at(0, 0), mat.at(1, 0), mat.at(2, 0));
@@ -635,16 +653,16 @@ namespace omath
         constexpr auto epsilon = std::numeric_limits<Type>::epsilon();
 
         return {
-                std::abs(scale_x) < epsilon ? Type{1} : scale_x,
+                internal::abs(scale_x) < epsilon ? Type{1} : scale_x,
-                std::abs(scale_y) < epsilon ? Type{1} : scale_y,
+                internal::abs(scale_y) < epsilon ? Type{1} : scale_y,
-                std::abs(scale_z) < epsilon ? Type{1} : scale_z,
+                internal::abs(scale_z) < epsilon ? Type{1} : scale_z,
         };
     }
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
     requires std::is_floating_point_v<Type>
     [[nodiscard("You must use extracted rotation")]]
-    Vector3<Type> mat_extract_rotation_zyx(const Mat<4, 4, Type, St>& mat) noexcept
+    constexpr Vector3<Type> mat_extract_rotation_zyx(const Mat<4, 4, Type, St>& mat) noexcept
     {
         const auto scale = mat_extract_scale(mat);
         const auto m00 = mat.at(0, 0) / scale.x;
@@ -654,73 +672,59 @@ namespace omath
         const auto m22 = mat.at(2, 2) / scale.z;
 
         return {
-                angles::radians_to_degrees(std::atan2(m21, m22)),
+                angles::radians_to_degrees(internal::atan2(m21, m22)),
-                angles::radians_to_degrees(std::asin(std::clamp(-m20, Type{-1}, Type{1}))),
+                angles::radians_to_degrees(internal::asin(std::clamp(-m20, Type{-1}, Type{1}))),
-                angles::radians_to_degrees(std::atan2(m10, m00)),
+                angles::radians_to_degrees(internal::atan2(m10, m00)),
         };
     }
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
     [[nodiscard("You must use rotation matrix")]]
-    Mat<4, 4, Type, St> mat_rotation_axis_x(const Angle& angle) noexcept
+    constexpr Mat<4, 4, Type, St> mat_rotation_axis_x(const Angle& angle) noexcept
     {
-        return
+        return {{1, 0, 0, 0}, {0, angle.cos(), -angle.sin(), 0}, {0, angle.sin(), angle.cos(), 0}, {0, 0, 0, 1}};
-        {
-            {1, 0,           0,            0},
-            {0, angle.cos(), -angle.sin(), 0},
-            {0, angle.sin(), angle.cos(),  0},
-            {0, 0,           0,            1}
-        };
     }
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
     [[nodiscard("You must use rotation matrix")]]
-    Mat<4, 4, Type, St> mat_rotation_axis_y(const Angle& angle) noexcept
+    constexpr Mat<4, 4, Type, St> mat_rotation_axis_y(const Angle& angle) noexcept
     {
-        return
+        return {{angle.cos(), 0, angle.sin(), 0}, {0, 1, 0, 0}, {-angle.sin(), 0, angle.cos(), 0}, {0, 0, 0, 1}};
-        {
-            {angle.cos(),  0, angle.sin(), 0},
-            {0           , 1,           0, 0},
-            {-angle.sin(), 0, angle.cos(), 0},
-            {0           , 0,           0, 1}
-        };
     }
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
     [[nodiscard("You must use rotation matrix")]]
-    Mat<4, 4, Type, St> mat_rotation_axis_z(const Angle& angle) noexcept
+    constexpr Mat<4, 4, Type, St> mat_rotation_axis_z(const Angle& angle) noexcept
-    {
-        return
     {
+        return {
                 {angle.cos(), -angle.sin(), 0, 0},
                 {angle.sin(), angle.cos(), 0, 0},
-            {          0,        0,     1, 0},
+                {0, 0, 1, 0},
-            {          0,        0,     0, 1},
+                {0, 0, 0, 1},
         };
     }
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
     [[nodiscard("You must use camera view matrix")]]
-    static Mat<4, 4, Type, St> mat_camera_view(const Vector3<Type>& forward, const Vector3<Type>& right,
+    constexpr Mat<4, 4, Type, St> mat_camera_view(const Vector3<Type>& forward, const Vector3<Type>& right,
                                                   const Vector3<Type>& up, const Vector3<Type>& camera_origin) noexcept
     {
-        return  Mat<4, 4, Type, St>
+        return Mat<4, 4, Type, St>{
-        {
                        {right.x, right.y, right.z, 0},
                        {up.x, up.y, up.z, 0},
                        {forward.x, forward.y, forward.z, 0},
                        {0, 0, 0, 1},
-        } * mat_translation<Type, St>(-camera_origin);
+               }
+               * mat_translation<Type, St>(-camera_origin);
     }
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
              NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
-    [[nodiscard("You must use perspective matrix")]]
+    [[nodiscard("You must use perspective matrix")]] constexpr Mat<4, 4, Type, St>
-    Mat<4, 4, Type, St> mat_perspective_left_handed_vertical_fov(const Type field_of_view, const Type aspect_ratio,
+    mat_perspective_left_handed_vertical_fov(const Type field_of_view, const Type aspect_ratio, const Type near,
-                                                    const Type near, const Type far) noexcept
+                                             const Type far) noexcept
     {
-        const auto fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / Type{2});
+        const auto fov_half_tan = internal::tan(angles::degrees_to_radians(field_of_view) / Type{2});
-
         if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
             return {{Type{1} / (aspect_ratio * fov_half_tan), Type{0}, Type{0}, Type{0}},
                     {Type{0}, Type{1} / fov_half_tan, Type{0}, Type{0}},
@@ -737,11 +741,11 @@ namespace omath
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
              NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
-    [[nodiscard("You must use perspective matrix")]]
+    [[nodiscard("You must use perspective matrix")]] constexpr Mat<4, 4, Type, St>
-    Mat<4, 4, Type, St> mat_perspective_right_handed_vertical_fov(const Type field_of_view, const Type aspect_ratio,
+    mat_perspective_right_handed_vertical_fov(const Type field_of_view, const Type aspect_ratio, const Type near,
-                                                     const Type near, const Type far) noexcept
+                                              const Type far) noexcept
     {
-        const auto fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / Type{2});
+        const auto fov_half_tan = internal::tan(angles::degrees_to_radians(field_of_view) / Type{2});
 
         if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
             return {{Type{1} / (aspect_ratio * fov_half_tan), Type{0}, Type{0}, Type{0}},
@@ -762,12 +766,11 @@ namespace omath
     // X and Y scales derived as: X = 1 / tan(hfov/2), Y = aspect / tan(hfov/2).
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
              NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
-    [[nodiscard("You must use perspective matrix")]]
+    [[nodiscard("You must use perspective matrix")]] constexpr Mat<4, 4, Type, St>
-    Mat<4, 4, Type, St> mat_perspective_left_handed_horizontal_fov(const Type horizontal_fov,
+    mat_perspective_left_handed_horizontal_fov(const Type horizontal_fov, const Type aspect_ratio, const Type near,
-                                                                   const Type aspect_ratio, const Type near,
                                                const Type far) noexcept
     {
-        const auto inv_tan_half_hfov = Type{1} / std::tan(angles::degrees_to_radians(horizontal_fov) / Type{2});
+        const auto inv_tan_half_hfov = Type{1} / internal::tan(angles::degrees_to_radians(horizontal_fov) / Type{2});
         const auto x_axis = inv_tan_half_hfov;
         const auto y_axis = inv_tan_half_hfov * aspect_ratio;
 
@@ -787,12 +790,12 @@ namespace omath
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
              NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
-    [[nodiscard("You must use perspective matrix")]]
+    [[nodiscard("You must use perspective matrix")]] constexpr Mat<4, 4, Type, St>
-    Mat<4, 4, Type, St> mat_perspective_right_handed_horizontal_fov(const Type horizontal_fov,
+    mat_perspective_right_handed_horizontal_fov(const Type horizontal_fov, const Type aspect_ratio, const Type near,
-                                                                    const Type aspect_ratio, const Type near,
                                                 const Type far) noexcept
     {
-        const auto inv_tan_half_hfov = Type{1} / std::tan(angles::degrees_to_radians(horizontal_fov) / Type{2});
+        const auto inv_tan_half_hfov = Type{1} / internal::tan(angles::degrees_to_radians(horizontal_fov) / Type{2});
+
         const auto x_axis = inv_tan_half_hfov;
         const auto y_axis = inv_tan_half_hfov * aspect_ratio;
 
@@ -811,56 +814,45 @@ namespace omath
     }
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
              NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
-    [[nodiscard("You must use ortho matrix")]]
+    [[nodiscard("You must use ortho matrix")]] constexpr Mat<4, 4, Type, St>
-    Mat<4, 4, Type, St> mat_ortho_left_handed(const Type left, const Type right, const Type bottom, const Type top,
+    mat_ortho_left_handed(const Type left, const Type right, const Type bottom, const Type top, const Type near,
-                                              const Type near, const Type far) noexcept
+                          const Type far) noexcept
     {
         if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
-            return
+            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)},
-                { static_cast<Type>(2) / (right - left), 0.f,       0.f,    -(right + left) / (right - left)},
+                    {0.f, 0.f, static_cast<Type>(1) / (far - near), -near / (far - near)},
-                { 0.f,      static_cast<Type>(2) / (top - bottom),  0.f,    -(top + bottom) / (top - bottom)},
+                    {0.f, 0.f, 0.f, 1.f}};
-                { 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
+            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)},
-                { static_cast<Type>(2) / (right - left), 0.f,       0.f,    -(right + left) / (right - left)},
+                    {0.f, 0.f, static_cast<Type>(2) / (far - near), -(far + near) / (far - near)},
-                { 0.f,      static_cast<Type>(2) / (top - bottom),  0.f,    -(top + bottom) / (top - bottom)},
+                    {0.f, 0.f, 0.f, 1.f}};
-                { 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,
              NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
-    [[nodiscard("You must use ortho matrix")]]
+    [[nodiscard("You must use ortho matrix")]] constexpr Mat<4, 4, Type, St>
-    Mat<4, 4, Type, St> mat_ortho_right_handed(const Type left, const Type right, const Type bottom, const Type top,
+    mat_ortho_right_handed(const Type left, const Type right, const Type bottom, const Type top, const Type near,
-                                               const Type near, const Type far) noexcept
+                           const Type far) noexcept
     {
         if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
-            return
+            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)},
-                    { static_cast<Type>(2) / (right - left), 0.f,       0.f,     -(right + left) / (right - left)},
+                    {0.f, 0.f, -static_cast<Type>(1) / (far - near), -near / (far - near)},
-                    { 0.f,      static_cast<Type>(2) / (top - bottom),  0.f,     -(top + bottom) / (top - bottom)},
+                    {0.f, 0.f, 0.f, 1.f}};
-                    { 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
+            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)},
-                    { static_cast<Type>(2) / (right - left), 0.f,       0.f,     -(right + left) / (right - left)},
+                    {0.f, 0.f, -static_cast<Type>(2) / (far - near), -(far + near) / (far - near)},
-                    { 0.f,      static_cast<Type>(2) / (top - bottom),  0.f,     -(top + bottom) / (top - bottom)},
+                    {0.f, 0.f, 0.f, 1.f}};
-                    { 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)
+    constexpr Mat<4, 4, T, St> mat_look_at_left_handed(const Vector3<T>& eye, const Vector3<T>& center,
+                                                       const Vector3<T>& up)
     {
         const Vector3<T> f = (center - eye).normalized();
         const Vector3<T> s = f.cross(up).normalized();
@@ -869,7 +861,8 @@ namespace omath
     }
 
     template<class T = float, MatStoreType St = MatStoreType::COLUMN_MAJOR>
-    Mat<4, 4, T, St>mat_look_at_right_handed(const Vector3<T>& eye, const Vector3<T>& center, const Vector3<T>& up)
+    constexpr Mat<4, 4, T, St> mat_look_at_right_handed(const Vector3<T>& eye, const Vector3<T>& center,
+                                                        const Vector3<T>& up)
     {
         const Vector3<T> f = (center - eye).normalized();
         const Vector3<T> s = f.cross(up).normalized();

include/omath/linear_algebra/triangle.hpp

@@ -2,8 +2,8 @@
 // Created by Orange on 11/13/2024.
 //
 #pragma once
+#include "omath/internal/constexpr_math.hpp"
 #include "vector3.hpp"
-
 namespace omath
 {
     /*
@@ -40,13 +40,13 @@ namespace omath
         }
 
         [[nodiscard]]
-        Vector::ContainedType side_a_length() const
+        constexpr Vector::ContainedType side_a_length() const
         {
             return m_vertex1.distance_to(m_vertex2);
         }
 
         [[nodiscard]]
-        Vector::ContainedType side_b_length() const
+        constexpr Vector::ContainedType side_b_length() const
         {
             return m_vertex3.distance_to(m_vertex2);
         }
@@ -69,7 +69,7 @@ namespace omath
             const auto side_b = side_b_length();
             const auto hypot_value = hypot();
 
-            return std::abs(side_a * side_a + side_b * side_b - hypot_value * hypot_value) <= 0.0001f;
+            return internal::abs(side_a * side_a + side_b * side_b - hypot_value * hypot_value) <= 0.0001f;
         }
         [[nodiscard]]
         constexpr Vector side_b_vector() const

include/omath/linear_algebra/vector2.hpp

@@ -3,6 +3,7 @@
 //
 
 #pragma once
+#include "omath/internal/constexpr_math.hpp"
 #include <cmath>
 #include <format>
 #include <tuple>
@@ -116,9 +117,9 @@ namespace omath
 
         // Basic vector operations
         [[nodiscard("You must use distance")]]
-        Type distance_to(const Vector2& other) const noexcept
+        constexpr Type distance_to(const Vector2& other) const noexcept
         {
-            return std::sqrt(distance_to_sqr(other));
+            return internal::sqrt(distance_to_sqr(other));
         }
 
         [[nodiscard("You must use squared distance")]]
@@ -136,7 +137,7 @@ namespace omath
 #ifndef _MSC_VER
         [[nodiscard("You must use length")]] constexpr Type length() const noexcept
         {
-            return std::hypot(this->x, this->y);
+            return internal::hypot(this->x, this->y);
         }
 
         [[nodiscard("You must use normalized vector")]] constexpr Vector2 normalized() const noexcept
@@ -146,13 +147,13 @@ namespace omath
         }
 #else
         [[nodiscard("You must use length")]]
-        Type length() const noexcept
+        constexpr Type length() const noexcept
         {
-            return std::hypot(x, y);
+            return internal::hypot(x, y);
         }
 
         [[nodiscard("You must use normalized vector")]]
-        Vector2 normalized() const noexcept
+        constexpr Vector2 normalized() const noexcept
         {
             const Type len = length();
             return len > static_cast<Type>(0) ? *this / len : *this;
@@ -216,24 +217,24 @@ namespace omath
         }
 
         [[nodiscard("You must use comparison result")]]
-        bool operator<(const Vector2& other) const noexcept
+        constexpr bool operator<(const Vector2& other) const noexcept
         {
             return length() < other.length();
         }
         [[nodiscard("You must use comparison result")]]
-        bool operator>(const Vector2& other) const noexcept
+        constexpr bool operator>(const Vector2& other) const noexcept
         {
             return length() > other.length();
         }
 
         [[nodiscard("You must use comparison result")]]
-        bool operator<=(const Vector2& other) const noexcept
+        constexpr bool operator<=(const Vector2& other) const noexcept
         {
             return length() <= other.length();
         }
 
         [[nodiscard("You must use comparison result")]]
-        bool operator>=(const Vector2& other) const noexcept
+        constexpr bool operator>=(const Vector2& other) const noexcept
         {
             return length() >= other.length();
         }

include/omath/linear_algebra/vector3.hpp

@@ -4,6 +4,7 @@
 
 #pragma once
 
+#include "omath/internal/constexpr_math.hpp"
 #include "omath/linear_algebra/vector2.hpp"
 #include "omath/trigonometry/angle.hpp"
 #include <cstdint>
@@ -140,20 +141,20 @@ namespace omath
         }
 
 #ifndef _MSC_VER
-        [[nodiscard("You must use length")]] constexpr Type length() const
+        [[nodiscard("You must use length")]] constexpr Type length() const noexcept
         {
-            return std::hypot(this->x, this->y, z);
+            return internal::hypot(this->x, this->y, z);
         }
 
-        [[nodiscard("You must use 2D length")]] constexpr Type length_2d() const
+        [[nodiscard("You must use 2D length")]] constexpr Type length_2d() const noexcept
         {
             return Vector2<Type>::length();
         }
-        [[nodiscard("You must use distance")]] Type distance_to(const Vector3& other) const
+        [[nodiscard("You must use distance")]] constexpr Type distance_to(const Vector3& other) const noexcept
         {
             return (*this - other).length();
         }
-        [[nodiscard("You must use normalized vector")]] constexpr Vector3 normalized() const
+        [[nodiscard("You must use normalized vector")]] constexpr Vector3 normalized() const noexcept
         {
             const Type length_value = this->length();
 
@@ -161,13 +162,13 @@ namespace omath
         }
 #else
         [[nodiscard("You must use length")]]
-        Type length() const noexcept
+        constexpr Type length() const noexcept
         {
-            return std::hypot(this->x, this->y, z);
+            return internal::hypot(this->x, this->y, this->z);
         }
 
         [[nodiscard("You must use normalized vector")]]
-        Vector3 normalized() const noexcept
+        constexpr Vector3 normalized() const noexcept
         {
             const Type len = this->length();
 
@@ -175,13 +176,13 @@ namespace omath
         }
 
         [[nodiscard("You must use 2D length")]]
-        Type length_2d() const noexcept
+        constexpr Type length_2d() const noexcept
         {
             return Vector2<Type>::length();
         }
 
         [[nodiscard("You must use distance")]]
-        Type distance_to(const Vector3& v_other) const noexcept
+        constexpr Type distance_to(const Vector3& v_other) const noexcept
         {
             return (*this - v_other).length();
         }
@@ -249,24 +250,23 @@ namespace omath
         }
 
         [[nodiscard("You must use direction check result")]]
-        bool point_to_same_direction(const Vector3& other) const
+        constexpr bool point_to_same_direction(const Vector3& other) const
         {
             return dot(other) > static_cast<Type>(0);
         }
         [[nodiscard("You must use angle between vectors")]]
-        std::expected<Angle<float, 0.f, 180.f, AngleFlags::Clamped>, Vector3Error>
+        constexpr std::expected<Angle<float, 0.f, 180.f, AngleFlags::Clamped>, Vector3Error>
         angle_between(const Vector3& other) const noexcept
         {
             const auto bottom = length() * other.length();
 
             if (bottom == static_cast<Type>(0))
                 return std::unexpected(Vector3Error::IMPOSSIBLE_BETWEEN_ANGLE);
-
+            return Angle<float, 0.f, 180.f, AngleFlags::Clamped>::from_radians(internal::acos(dot(other) / bottom));
-            return Angle<float, 0.f, 180.f, AngleFlags::Clamped>::from_radians(std::acos(dot(other) / bottom));
         }
 
         [[nodiscard("You must use perpendicularity check result")]]
-        bool is_perpendicular(const Vector3& other, Type epsilon = static_cast<Type>(0.0001)) const noexcept
+        constexpr bool is_perpendicular(const Vector3& other, Type epsilon = static_cast<Type>(0.0001)) const noexcept
         {
             if (const auto angle = angle_between(other))
                 return std::abs(angle->as_degrees() - static_cast<Type>(90)) <= epsilon;
@@ -287,25 +287,25 @@ namespace omath
         }
 
         [[nodiscard("You must use comparison result")]]
-        bool operator<(const Vector3& other) const noexcept
+        constexpr bool operator<(const Vector3& other) const noexcept
         {
             return length() < other.length();
         }
 
         [[nodiscard("You must use comparison result")]]
-        bool operator>(const Vector3& other) const noexcept
+        constexpr bool operator>(const Vector3& other) const noexcept
         {
             return length() > other.length();
         }
 
         [[nodiscard("You must use comparison result")]]
-        bool operator<=(const Vector3& other) const noexcept
+        constexpr bool operator<=(const Vector3& other) const noexcept
         {
             return length() <= other.length();
         }
 
         [[nodiscard("You must use comparison result")]]
-        bool operator>=(const Vector3& other) const noexcept
+        constexpr bool operator>=(const Vector3& other) const noexcept
         {
             return length() >= other.length();
         }
@@ -320,6 +320,7 @@ namespace omath
 
 template<> struct std::hash<omath::Vector3<float>>
 {
+    // NOTE: Cannot be constexpr because of MSVC
     [[nodiscard("You must use hash value")]]
     std::size_t operator()(const omath::Vector3<float>& vec) const noexcept
     {

include/omath/projection/camera.hpp

@@ -6,6 +6,7 @@
 
 #include "omath/3d_primitives/aabb.hpp"
 #include "omath/3d_primitives/obb.hpp"
+#include "omath/internal/constexpr_math.hpp"
 #include "omath/linear_algebra/mat.hpp"
 #include "omath/linear_algebra/triangle.hpp"
 #include "omath/linear_algebra/vector3.hpp"
@@ -84,8 +85,9 @@ namespace omath::projection
         };
 
         ~Camera() = default;
-        Camera(const Vector3<NumericType>& position, const ViewAnglesType& view_angles, const ViewPort& view_port,
+        constexpr Camera(const Vector3<NumericType>& position, const ViewAnglesType& view_angles,
-               const FieldOfView& fov, const NumericType near, const NumericType far) noexcept
+                         const ViewPort& view_port, const FieldOfView& fov, const NumericType near,
+                         const NumericType far) noexcept
             : m_view_port(view_port), m_field_of_view(fov), m_far_plane_distance(far), m_near_plane_distance(near),
               m_view_angles(view_angles), m_origin(position)
         {
@@ -102,18 +104,18 @@ namespace omath::projection
         // NEGATIVE_ONE_TO_ONE) share the same m[0,0]/m[1,1] layout, so this works
         // regardless of the NDC depth range.
         [[nodiscard("You must use extracted projection params")]]
-        static ProjectionParams extract_projection_params(const Mat4X4Type& proj_matrix) noexcept
+        constexpr static ProjectionParams extract_projection_params(const Mat4X4Type& proj_matrix) noexcept
         {
             // m[1,1] == 1 / tan(fov/2)  =>  fov = 2 * atan(1 / m[1,1])
             const auto f = proj_matrix.at(1, 1);
             // m[0,0] == m[1,1] / aspect_ratio  =>  aspect = m[1,1] / m[0,0]
-            const auto fov_radians = NumericType{2} * std::atan(NumericType{1} / f);
+            const auto fov_radians = NumericType{2} * internal::atan(NumericType{1} / f);
             return {FieldOfView::from_radians(static_cast<typename FieldOfView::ArithmeticType>(fov_radians)),
                     f / proj_matrix.at(0, 0)};
         }
 
         [[nodiscard("You must use calculated view angles")]]
-        static ViewAnglesType calc_view_angles_from_view_matrix(const Mat4X4Type& view_matrix) noexcept
+        constexpr static ViewAnglesType calc_view_angles_from_view_matrix(const Mat4X4Type& view_matrix) noexcept
         {
             Vector3<NumericType> forward_vector = {view_matrix[2, 0], view_matrix[2, 1], view_matrix[2, 2]};
             if constexpr (axes.inverted_forward)
@@ -122,7 +124,7 @@ namespace omath::projection
         }
 
         [[nodiscard("You must use calculated origin")]]
-        static Vector3<NumericType> calc_origin_from_view_matrix(const Mat4X4Type& view_matrix) noexcept
+        constexpr static Vector3<NumericType> 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
@@ -136,40 +138,58 @@ namespace omath::projection
             };
         }
 
-        void look_at(const Vector3<NumericType>& target)
+        constexpr void look_at(const Vector3<NumericType>& target)
         {
             m_view_angles = TraitClass::calc_look_at_angle(m_origin, target);
             m_view_projection_matrix = std::nullopt;
             m_view_matrix = std::nullopt;
         }
         [[nodiscard("You must use calculated look-at angles")]]
-        ViewAnglesType calc_look_at_angles(const Vector3<NumericType>& look_to) const
+        constexpr ViewAnglesType calc_look_at_angles(const Vector3<NumericType>& look_to) const
         {
             return TraitClass::calc_look_at_angle(m_origin, look_to);
         }
 
         [[nodiscard("You must use forward vector")]]
-        Vector3<NumericType> get_forward() const noexcept
+        constexpr Vector3<NumericType> get_forward() const noexcept
         {
+            if consteval
+            {
+                const auto view_matrix = calc_view_matrix();
+                return {view_matrix[2, 0], view_matrix[2, 1], view_matrix[2, 2]};
+            }
+
             const auto& view_matrix = get_view_matrix();
             return {view_matrix[2, 0], view_matrix[2, 1], view_matrix[2, 2]};
         }
 
         [[nodiscard("You must use right vector")]]
-        Vector3<NumericType> get_right() const noexcept
+        constexpr Vector3<NumericType> get_right() const noexcept
         {
+            if consteval
+            {
+                const auto view_matrix = calc_view_matrix();
+                return {view_matrix[0, 0], view_matrix[0, 1], view_matrix[0, 2]};
+            }
+
             const auto& view_matrix = get_view_matrix();
             return {view_matrix[0, 0], view_matrix[0, 1], view_matrix[0, 2]};
         }
 
         [[nodiscard("You must use up vector")]]
-        Vector3<NumericType> get_up() const noexcept
+        constexpr Vector3<NumericType> get_up() const noexcept
         {
+            if consteval
+            {
+                const auto view_matrix = calc_view_matrix();
+                return {view_matrix[1, 0], view_matrix[1, 1], view_matrix[1, 2]};
+            }
+
             const auto& view_matrix = get_view_matrix();
             return {view_matrix[1, 0], view_matrix[1, 1], view_matrix[1, 2]};
         }
         [[nodiscard("You must use absolute forward vector")]]
-        Vector3<NumericType> get_abs_forward() const noexcept
+        constexpr Vector3<NumericType> get_abs_forward() const noexcept
         {
             if constexpr (axes.inverted_forward)
                 return -get_forward();
@@ -177,7 +197,7 @@ namespace omath::projection
         }
 
         [[nodiscard("You must use absolute right vector")]]
-        Vector3<NumericType> get_abs_right() const noexcept
+        constexpr Vector3<NumericType> get_abs_right() const noexcept
         {
             if constexpr (axes.inverted_right)
                 return -get_right();
@@ -185,13 +205,32 @@ namespace omath::projection
         }
 
         [[nodiscard("You must use absolute up vector")]]
-        Vector3<NumericType> get_abs_up() const noexcept
+        constexpr Vector3<NumericType> get_abs_up() const noexcept
         {
             return get_up();
         }
 
+        [[nodiscard("You must use calculated view-projection matrix")]]
+        constexpr Mat4X4Type calc_view_projection_matrix() const noexcept
+        {
+            return calc_projection_matrix() * calc_view_matrix();
+        }
+
+        [[nodiscard("You must use calculated view matrix")]]
+        constexpr Mat4X4Type calc_view_matrix() const noexcept
+        {
+            return TraitClass::calc_view_matrix(m_view_angles, m_origin);
+        }
+
+        [[nodiscard("You must use calculated projection matrix")]]
+        constexpr Mat4X4Type calc_projection_matrix() const noexcept
+        {
+            return TraitClass::calc_projection_matrix(m_field_of_view, m_view_port, m_near_plane_distance,
+                                                      m_far_plane_distance, depth_range);
+        }
+
         [[nodiscard("You must use view-projection matrix")]]
-        const Mat4X4Type& get_view_projection_matrix() const noexcept
+        constexpr const Mat4X4Type& get_view_projection_matrix() const noexcept
         {
             if (!m_view_projection_matrix.has_value())
                 m_view_projection_matrix = get_projection_matrix() * get_view_matrix();
@@ -199,90 +238,90 @@ namespace omath::projection
             return m_view_projection_matrix.value();
         }
 
-        [[nodiscard("You must use view matrix")]] const Mat4X4Type& get_view_matrix() const noexcept
+        [[nodiscard("You must use view matrix")]] constexpr const Mat4X4Type& get_view_matrix() const noexcept
         {
             if (!m_view_matrix.has_value())
-                m_view_matrix = TraitClass::calc_view_matrix(m_view_angles, m_origin);
+                m_view_matrix = calc_view_matrix();
 
             return m_view_matrix.value();
         }
-        [[nodiscard("You must use projection matrix")]] const Mat4X4Type& get_projection_matrix() const noexcept
+        [[nodiscard("You must use projection matrix")]] constexpr const Mat4X4Type&
+        get_projection_matrix() const noexcept
         {
             if (!m_projection_matrix.has_value())
-                m_projection_matrix = TraitClass::calc_projection_matrix(
+                m_projection_matrix = calc_projection_matrix();
-                        m_field_of_view, m_view_port, m_near_plane_distance, m_far_plane_distance, depth_range);
 
             return m_projection_matrix.value();
         }
 
-        void set_field_of_view(const FieldOfView& fov) noexcept
+        constexpr void set_field_of_view(const FieldOfView& fov) noexcept
         {
             m_field_of_view = fov;
             m_view_projection_matrix = std::nullopt;
             m_projection_matrix = std::nullopt;
         }
 
-        void set_near_plane(const NumericType near_plane) noexcept
+        constexpr void set_near_plane(const NumericType near_plane) noexcept
         {
             m_near_plane_distance = near_plane;
             m_view_projection_matrix = std::nullopt;
             m_projection_matrix = std::nullopt;
         }
 
-        void set_far_plane(const NumericType far_plane) noexcept
+        constexpr void set_far_plane(const NumericType far_plane) noexcept
         {
             m_far_plane_distance = far_plane;
             m_view_projection_matrix = std::nullopt;
             m_projection_matrix = std::nullopt;
         }
 
-        void set_view_angles(const ViewAnglesType& view_angles) noexcept
+        constexpr void set_view_angles(const ViewAnglesType& view_angles) noexcept
         {
             m_view_angles = view_angles;
             m_view_projection_matrix = std::nullopt;
             m_view_matrix = std::nullopt;
         }
 
-        void set_origin(const Vector3<NumericType>& origin) noexcept
+        constexpr void set_origin(const Vector3<NumericType>& origin) noexcept
         {
             m_origin = origin;
             m_view_projection_matrix = std::nullopt;
             m_view_matrix = std::nullopt;
         }
-        void set_view_port(const ViewPort& view_port) noexcept
+        constexpr void set_view_port(const ViewPort& view_port) noexcept
         {
             m_view_port = view_port;
             m_view_projection_matrix = std::nullopt;
             m_projection_matrix = std::nullopt;
         }
 
-        [[nodiscard("You must use field of view")]] const FieldOfView& get_field_of_view() const noexcept
+        [[nodiscard("You must use field of view")]] constexpr const FieldOfView& get_field_of_view() const noexcept
         {
             return m_field_of_view;
         }
 
-        [[nodiscard("You must use near plane")]] const NumericType& get_near_plane() const noexcept
+        [[nodiscard("You must use near plane")]] constexpr const NumericType& get_near_plane() const noexcept
         {
             return m_near_plane_distance;
         }
 
-        [[nodiscard("You must use far plane")]] const NumericType& get_far_plane() const noexcept
+        [[nodiscard("You must use far plane")]] constexpr const NumericType& get_far_plane() const noexcept
         {
             return m_far_plane_distance;
         }
 
-        [[nodiscard("You must use view angles")]] const ViewAnglesType& get_view_angles() const noexcept
+        [[nodiscard("You must use view angles")]] constexpr const ViewAnglesType& get_view_angles() const noexcept
         {
             return m_view_angles;
         }
 
-        [[nodiscard("You must use origin")]] const Vector3<NumericType>& get_origin() const noexcept
+        [[nodiscard("You must use origin")]] constexpr const Vector3<NumericType>& get_origin() const noexcept
         {
             return m_origin;
         }
 
         template<ScreenStart screen_start = ScreenStart::TOP_LEFT_CORNER>
-        [[nodiscard("You must use screen position")]] std::expected<Vector3<NumericType>, Error>
+        [[nodiscard("You must use screen position")]] constexpr std::expected<Vector3<NumericType>, Error>
         world_to_screen(const Vector3<NumericType>& world_position) const noexcept
         {
             const auto normalized_cords = world_to_view_port(world_position);
@@ -298,7 +337,7 @@ namespace omath::projection
                 std::unreachable();
         }
         template<ScreenStart screen_start = ScreenStart::TOP_LEFT_CORNER>
-        [[nodiscard("You must use unclipped screen position")]] std::expected<Vector3<NumericType>, Error>
+        [[nodiscard("You must use unclipped screen position")]] constexpr std::expected<Vector3<NumericType>, Error>
         world_to_screen_unclipped(const Vector3<NumericType>& world_position) const noexcept
         {
             const auto normalized_cords = world_to_view_port(world_position, ViewPortClipping::MANUAL);
@@ -314,7 +353,7 @@ namespace omath::projection
                 std::unreachable();
         }
 
-        [[nodiscard("You must use frustum culling result")]] bool
+        [[nodiscard("You must use frustum culling result")]] constexpr bool
         is_culled_by_frustum(const Triangle<Vector3<NumericType>>& triangle) const noexcept
         {
             // Transform to clip space (before perspective divide)
@@ -382,7 +421,7 @@ namespace omath::projection
             return false;
         }
 
-        [[nodiscard("You must use AABB frustum culling result")]] bool
+        [[nodiscard("You must use AABB frustum culling result")]] constexpr bool
         is_aabb_culled_by_frustum(const primitives::Aabb<NumericType>& aabb) const noexcept
         {
             // For each plane, find the AABB corner most in the direction of the plane normal
@@ -400,7 +439,7 @@ namespace omath::projection
             return false;
         }
 
-        [[nodiscard("You must use OBB frustum culling result")]] bool
+        [[nodiscard("You must use OBB frustum culling result")]] constexpr bool
         is_obb_culled_by_frustum(const primitives::Obb<NumericType>& obb) const noexcept
         {
             // For each plane, project the OBB extents onto the plane normal to get the
@@ -410,9 +449,9 @@ namespace omath::projection
                 const Vector3<NumericType> normal{a, b, c};
 
                 const auto center_distance = normal.dot(obb.center) + d;
-                const auto radius = obb.half_extents.x * std::abs(normal.dot(obb.axis_x))
+                const auto radius = obb.half_extents.x * internal::abs(normal.dot(obb.axis_x))
-                                    + obb.half_extents.y * std::abs(normal.dot(obb.axis_y))
+                                    + obb.half_extents.y * internal::abs(normal.dot(obb.axis_y))
-                                    + obb.half_extents.z * std::abs(normal.dot(obb.axis_z));
+                                    + obb.half_extents.z * internal::abs(normal.dot(obb.axis_z));
 
                 if (center_distance + radius < NumericType{0})
                     return true;
@@ -421,13 +460,12 @@ namespace omath::projection
             return false;
         }
 
-        [[nodiscard("You must use view port position")]] std::expected<Vector3<NumericType>, Error>
+        [[nodiscard("You must use view port position")]] constexpr std::expected<Vector3<NumericType>, Error>
         world_to_view_port(const Vector3<NumericType>& world_position,
                            const ViewPortClipping& clipping = ViewPortClipping::AUTO) const noexcept
         {
-            auto projected = get_view_projection_matrix()
+            auto project_to_view_port = [&clipping](auto projected) -> std::expected<Vector3<NumericType>, Error>
-                             * mat_column_from_vector<NumericType, Mat4X4Type::get_store_ordering()>(world_position);
+            {
-
                 const auto& w = projected.at(3, 0);
                 constexpr auto eps = std::numeric_limits<NumericType>::epsilon();
                 if (w <= eps)
@@ -436,7 +474,8 @@ namespace omath::projection
                 projected /= w;
 
                 // ReSharper disable once CppTooWideScope
-            const auto clipped_automatically = clipping == ViewPortClipping::AUTO && is_ndc_out_of_bounds(projected);
+                const auto clipped_automatically =
+                        clipping == ViewPortClipping::AUTO && is_ndc_out_of_bounds(projected);
                 if (clipped_automatically)
                     return std::unexpected(Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS);
 
@@ -449,32 +488,57 @@ namespace omath::projection
                     return std::unexpected(Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS);
 
                 return Vector3<NumericType>{projected.at(0, 0), projected.at(1, 0), projected.at(2, 0)};
+            };
+
+            if consteval
+            {
+                auto projected =
+                        calc_view_projection_matrix()
+                        * mat_column_from_vector<NumericType, Mat4X4Type::get_store_ordering()>(world_position);
+                return project_to_view_port(projected);
+            }
+
+            auto projected = get_view_projection_matrix()
+                             * mat_column_from_vector<NumericType, Mat4X4Type::get_store_ordering()>(world_position);
+            return project_to_view_port(projected);
         }
         [[nodiscard("You must use world position")]]
-        std::expected<Vector3<NumericType>, Error> view_port_to_world(const Vector3<NumericType>& ndc) const noexcept
+        constexpr std::expected<Vector3<NumericType>, Error>
+        view_port_to_world(const Vector3<NumericType>& ndc) const noexcept
         {
-            const auto inv_view_proj = get_view_projection_matrix().inverted();
+            auto view_port_to_world =
+                    [&ndc](const Mat4X4Type& view_projection) -> std::expected<Vector3<NumericType>, Error>
+            {
+                const auto inv_view_proj = view_projection.inverted();
 
                 if (!inv_view_proj)
                     return std::unexpected(Error::INV_VIEW_PROJ_MAT_DET_EQ_ZERO);
 
-            auto inverted_projection =
+                auto inverted_projection = inv_view_proj.value()
-                    inv_view_proj.value() * mat_column_from_vector<NumericType, Mat4X4Type::get_store_ordering()>(ndc);
+                                           * mat_column_from_vector<NumericType, Mat4X4Type::get_store_ordering()>(ndc);
 
                 const auto& w = inverted_projection.at(3, 0);
 
-            if (std::abs(w) < std::numeric_limits<NumericType>::epsilon())
+                if (internal::abs(w) < std::numeric_limits<NumericType>::epsilon())
                     return std::unexpected(Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS);
 
                 inverted_projection /= w;
 
                 return Vector3<NumericType>{inverted_projection.at(0, 0), inverted_projection.at(1, 0),
                                             inverted_projection.at(2, 0)};
+            };
+
+            if consteval
+            {
+                return view_port_to_world(calc_view_projection_matrix());
+            }
+
+            return view_port_to_world(get_view_projection_matrix());
         }
 
         template<ScreenStart screen_start = ScreenStart::TOP_LEFT_CORNER>
         [[nodiscard("You must use world position")]]
-        std::expected<Vector3<NumericType>, Error>
+        constexpr std::expected<Vector3<NumericType>, Error>
         screen_to_world(const Vector3<NumericType>& screen_pos) const noexcept
         {
             return view_port_to_world(screen_to_ndc<screen_start>(screen_pos));
@@ -482,7 +546,7 @@ namespace omath::projection
 
         template<ScreenStart screen_start = ScreenStart::TOP_LEFT_CORNER>
         [[nodiscard("You must use world position")]]
-        std::expected<Vector3<NumericType>, Error>
+        constexpr std::expected<Vector3<NumericType>, Error>
         screen_to_world(const Vector2<NumericType>& screen_pos) const noexcept
         {
             const auto& [x, y] = screen_pos;
@@ -517,7 +581,8 @@ namespace omath::projection
         //   Top    = r3 - r1
         //   Near   = r3 + r2  ([-1,1]) or r2 ([0,1])
         //   Far    = r3 - r2
-        [[nodiscard("You must use frustum planes")]] std::array<FrustumPlane, 6> extract_frustum_planes() const noexcept
+        [[nodiscard("You must use frustum planes")]] constexpr std::array<FrustumPlane, 6>
+        extract_frustum_planes() const noexcept
         {
             const auto& m = get_view_projection_matrix();
 
@@ -589,7 +654,7 @@ namespace omath::projection
                                 v
             */
 
-        [[nodiscard("You must use screen position")]] Vector3<NumericType>
+        [[nodiscard("You must use screen position")]] constexpr Vector3<NumericType>
         ndc_to_screen_position_from_top_left_corner(const Vector3<NumericType>& ndc) const noexcept
         {
             /*
@@ -607,7 +672,7 @@ namespace omath::projection
                     (ndc.y / -NumericType{2} + NumericType{0.5}) * m_view_port.m_height, ndc.z};
         }
 
-        [[nodiscard("You must use screen position")]] Vector3<NumericType>
+        [[nodiscard("You must use screen position")]] constexpr Vector3<NumericType>
         ndc_to_screen_position_from_bottom_left_corner(const Vector3<NumericType>& ndc) const noexcept
         {
             /*
@@ -626,7 +691,7 @@ namespace omath::projection
         }
 
         template<ScreenStart screen_start = ScreenStart::TOP_LEFT_CORNER>
-        [[nodiscard("You must use NDC position")]] Vector3<NumericType>
+        [[nodiscard("You must use NDC position")]] constexpr Vector3<NumericType>
         screen_to_ndc(const Vector3<NumericType>& screen_pos) const noexcept
         {
             if constexpr (screen_start == ScreenStart::TOP_LEFT_CORNER)

include/omath/trigonometry/angle.hpp

@@ -3,6 +3,7 @@
 //
 
 #pragma once
+#include "omath/internal/constexpr_math.hpp"
 #include "omath/trigonometry/angles.hpp"
 #include <algorithm>
 #include <format>
@@ -70,31 +71,31 @@ namespace omath
         }
 
         [[nodiscard]]
-        Type sin() const noexcept
+        constexpr Type sin() const noexcept
         {
-            return std::sin(as_radians());
+            return internal::sin(as_radians());
         }
 
         [[nodiscard]]
-        Type cos() const noexcept
+        constexpr Type cos() const noexcept
         {
-            return std::cos(as_radians());
+            return internal::cos(as_radians());
         }
 
         [[nodiscard]]
-        Type tan() const noexcept
+        constexpr Type tan() const noexcept
         {
-            return std::tan(as_radians());
+            return internal::tan(as_radians());
         }
 
         [[nodiscard]]
-        Type atan() const noexcept
+        constexpr Type atan() const noexcept
         {
-            return std::atan(as_radians());
+            return internal::atan(as_radians());
         }
 
         [[nodiscard]]
-        Type cot() const noexcept
+        constexpr Type cot() const noexcept
         {
             return cos() / sin();
         }

include/omath/trigonometry/angles.hpp

@@ -3,6 +3,7 @@
 //
 
 #pragma once
+#include "omath/internal/constexpr_math.hpp"
 #include <cmath>
 #include <numbers>
 
@@ -24,37 +25,38 @@ namespace omath::angles
 
     template<class Type>
     requires std::is_floating_point_v<Type>
-    [[nodiscard]] Type horizontal_fov_to_vertical(const Type& horizontal_fov, const Type& aspect) noexcept
+    [[nodiscard]] constexpr Type horizontal_fov_to_vertical(const Type& horizontal_fov, const Type& aspect) noexcept
     {
         const auto fov_rad = degrees_to_radians(horizontal_fov);
 
-        const auto vert_fov = static_cast<Type>(2) * std::atan(std::tan(fov_rad / static_cast<Type>(2)) / aspect);
+        const auto vert_fov =
+                static_cast<Type>(2) * internal::atan(internal::tan(fov_rad / static_cast<Type>(2)) / aspect);
 
         return radians_to_degrees(vert_fov);
     }
 
     template<class Type>
     requires std::is_floating_point_v<Type>
-    [[nodiscard]] Type vertical_fov_to_horizontal(const Type& vertical_fov, const Type& aspect) noexcept
+    [[nodiscard]] constexpr Type vertical_fov_to_horizontal(const Type& vertical_fov, const Type& aspect) noexcept
     {
         const auto fov_as_radians = degrees_to_radians(vertical_fov);
 
         const auto horizontal_fov =
-                static_cast<Type>(2) * std::atan(std::tan(fov_as_radians / static_cast<Type>(2)) * aspect);
+                static_cast<Type>(2) * internal::atan(internal::tan(fov_as_radians / static_cast<Type>(2)) * aspect);
 
         return radians_to_degrees(horizontal_fov);
     }
 
     template<class Type>
     requires std::is_arithmetic_v<Type>
-    [[nodiscard]] Type wrap_angle(const Type& angle, const Type& min, const Type& max) noexcept
+    [[nodiscard]] constexpr Type wrap_angle(const Type& angle, const Type& min, const Type& max) noexcept
     {
         if (angle <= max && angle >= min)
             return angle;
 
         const Type range = max - min;
 
-        Type wrapped_angle = std::fmod(angle - min, range);
+        Type wrapped_angle = internal::fmod(angle - min, range);
 
         if (wrapped_angle < 0)
             wrapped_angle += range;

include/omath/trigonometry/view_angles.hpp

@@ -18,7 +18,7 @@ namespace omath
         RollType roll;
 
         [[nodiscard]]
-        Vector3<ArithmeticType> as_vector3() const
+        constexpr Vector3<ArithmeticType> as_vector3() const
         {
             return {pitch.as_degrees(), yaw.as_degrees(), roll.as_degrees()};
         }

modules/omath.cppm

@@ -0,0 +1,59 @@
+module;
+
+#include <algorithm>
+#include <array>
+#include <cassert>
+#include <cmath>
+#include <cstddef>
+#include <cstdint>
+#include <expected>
+#include <filesystem>
+#include <format>
+#include <functional>
+#include <initializer_list>
+#include <iomanip>
+#include <iterator>
+#include <limits>
+#include <memory>
+#include <memory_resource>
+#include <numbers>
+#include <numeric>
+#include <optional>
+#include <queue>
+#include <ranges>
+#include <span>
+#include <sstream>
+#include <stdexcept>
+#include <string>
+#include <string_view>
+#include <tuple>
+#include <type_traits>
+#include <unordered_map>
+#include <utility>
+#include <variant>
+#include <vector>
+
+#if defined(OMATH_USE_AVX2)
+#include <immintrin.h>
+#endif
+
+#if defined(OMATH_IMGUI_INTEGRATION)
+#include <imgui.h>
+#endif
+
+#if defined(_WIN32)
+#ifndef NOMINMAX
+#define NOMINMAX
+#endif
+#include <windows.h>
+#elif defined(__APPLE__)
+#include <mach-o/dyld.h>
+#elif defined(__linux__) || defined(__unix__)
+#include <link.h>
+#endif
+
+export module omath;
+
+export {
+#include "omath/omath.hpp"
+}

source/engines/cry_engine/formulas.cpp

@@ -1,70 +0,0 @@
-//
-// Created by Vlad on 3/22/2025.
-//
-#include "omath/engines/cry_engine/formulas.hpp"
-
-namespace omath::cry_engine
-{
-    Vector3<float> forward_vector(const ViewAngles& angles) noexcept
-    {
-        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_forward);
-
-        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    }
-    Vector3<float> right_vector(const ViewAngles& angles) noexcept
-    {
-        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_right);
-
-        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    }
-    Vector3<float> up_vector(const ViewAngles& angles) noexcept
-    {
-        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_up);
-
-        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    }
-    Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
-    {
-        return mat_camera_view<float, MatStoreType::ROW_MAJOR>(forward_vector(angles), right_vector(angles),
-                                                               up_vector(angles), cam_origin);
-    }
-    Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept
-    {
-        return mat_rotation_axis_z<float, MatStoreType::ROW_MAJOR>(angles.yaw)
-               * mat_rotation_axis_y<float, MatStoreType::ROW_MAJOR>(angles.roll)
-               * mat_rotation_axis_x<float, MatStoreType::ROW_MAJOR>(angles.pitch);
-    }
-
-    Vector3<float> extract_origin(const Mat4X4& mat) noexcept
-    {
-        return mat_extract_origin(mat);
-    }
-
-    Vector3<float> extract_scale(const Mat4X4& mat) noexcept
-    {
-        return mat_extract_scale(mat);
-    }
-
-    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept
-    {
-        const auto angles = mat_extract_rotation_zyx(mat);
-        return {
-                PitchAngle::from_degrees(angles.x),
-                YawAngle::from_degrees(angles.z),
-                RollAngle::from_degrees(angles.y),
-        };
-    }
-
-    Mat4X4 calc_perspective_projection_matrix(const float field_of_view, const float aspect_ratio, const float near,
-                                              const float far, const NDCDepthRange ndc_depth_range) noexcept
-    {
-        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
-            return mat_perspective_left_handed_vertical_fov<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_vertical_fov<float, MatStoreType::ROW_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
-                    field_of_view, aspect_ratio, near, far);
-        std::unreachable();
-    }
-} // namespace omath::cry_engine

source/engines/cry_engine/traits/camera_trait.cpp

@@ -1,27 +0,0 @@
-//
-// Created by Vlad on 8/11/2025.
-//
-#include "omath/engines/cry_engine/traits/camera_trait.hpp"
-
-namespace omath::cry_engine
-{
-
-    ViewAngles CameraTrait::calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept
-    {
-        const auto direction = (look_at - cam_origin).normalized();
-
-        return {PitchAngle::from_radians(std::asin(direction.z)),
-                YawAngle::from_radians(-std::atan2(direction.x, direction.y)), RollAngle::from_radians(0.f)};
-    }
-    Mat4X4 CameraTrait::calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
-    {
-        return cry_engine::calc_view_matrix(angles, cam_origin);
-    }
-    Mat4X4 CameraTrait::calc_projection_matrix(const projection::FieldOfView& fov,
-                                               const projection::ViewPort& view_port, const float near,
-                                               const float far, const NDCDepthRange ndc_depth_range) noexcept
-    {
-        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far,
-                                                  ndc_depth_range);
-    }
-} // namespace omath::cry_engine

source/engines/frostbite_engine/formulas.cpp

@@ -1,71 +0,0 @@
-//
-// Created by Vlad on 3/22/2025.
-//
-#include "omath/engines/frostbite_engine/formulas.hpp"
-
-namespace omath::frostbite_engine
-{
-    Vector3<float> forward_vector(const ViewAngles& angles) noexcept
-    {
-        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_forward);
-
-        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    }
-    Vector3<float> right_vector(const ViewAngles& angles) noexcept
-    {
-        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_right);
-
-        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    }
-    Vector3<float> up_vector(const ViewAngles& angles) noexcept
-    {
-        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_up);
-
-        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    }
-    Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
-    {
-        return mat_camera_view<float, MatStoreType::ROW_MAJOR>(forward_vector(angles), right_vector(angles),
-                                                               up_vector(angles), cam_origin);
-    }
-    Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept
-    {
-        return mat_rotation_axis_z<float, MatStoreType::ROW_MAJOR>(angles.roll)
-               * mat_rotation_axis_y<float, MatStoreType::ROW_MAJOR>(angles.yaw)
-               * mat_rotation_axis_x<float, MatStoreType::ROW_MAJOR>(angles.pitch);
-    }
-
-    Vector3<float> extract_origin(const Mat4X4& mat) noexcept
-    {
-        return mat_extract_origin(mat);
-    }
-
-    Vector3<float> extract_scale(const Mat4X4& mat) noexcept
-    {
-        return mat_extract_scale(mat);
-    }
-
-    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept
-    {
-        const auto angles = mat_extract_rotation_zyx(mat);
-        return {
-                PitchAngle::from_degrees(angles.x),
-                YawAngle::from_degrees(angles.y),
-                RollAngle::from_degrees(angles.z),
-        };
-    }
-
-    Mat4X4 calc_perspective_projection_matrix(const float field_of_view, const float aspect_ratio, const float near,
-                                              const float far, const NDCDepthRange ndc_depth_range) noexcept
-    {
-        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
-            return mat_perspective_left_handed_vertical_fov<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_vertical_fov<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

@@ -1,27 +0,0 @@
-//
-// Created by Vlad on 8/11/2025.
-//
-#include "omath/engines/frostbite_engine/traits/camera_trait.hpp"
-
-namespace omath::frostbite_engine
-{
-
-    ViewAngles CameraTrait::calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept
-    {
-        const auto direction = (look_at - cam_origin).normalized();
-
-        return {PitchAngle::from_radians(-std::asin(direction.y)),
-                YawAngle::from_radians(std::atan2(direction.x, direction.z)), RollAngle::from_radians(0.f)};
-    }
-    Mat4X4 CameraTrait::calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
-    {
-        return frostbite_engine::calc_view_matrix(angles, cam_origin);
-    }
-    Mat4X4 CameraTrait::calc_projection_matrix(const projection::FieldOfView& fov,
-                                               const projection::ViewPort& view_port, const float near,
-                                               const float far, const NDCDepthRange ndc_depth_range) noexcept
-    {
-        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far,
-                                                  ndc_depth_range);
-    }
-} // namespace omath::unity_engine

source/engines/iw_engine/formulas.cpp

@@ -1,79 +0,0 @@
-//
-// Created by Vlad on 3/19/2025.
-//
-#include "omath/engines/iw_engine/formulas.hpp"
-
-namespace omath::iw_engine
-{
-
-    Vector3<float> forward_vector(const ViewAngles& angles) noexcept
-    {
-        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_forward);
-
-        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    }
-
-    Vector3<float> right_vector(const ViewAngles& angles) noexcept
-    {
-        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_right);
-
-        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    }
-    Vector3<float> up_vector(const ViewAngles& angles) noexcept
-    {
-        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_up);
-
-        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    }
-    Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept
-    {
-        return mat_rotation_axis_z(angles.yaw) * mat_rotation_axis_y(angles.pitch) * mat_rotation_axis_x(angles.roll);
-    }
-
-    Vector3<float> extract_origin(const Mat4X4& mat) noexcept
-    {
-        return mat_extract_origin(mat);
-    }
-
-    Vector3<float> extract_scale(const Mat4X4& mat) noexcept
-    {
-        return mat_extract_scale(mat);
-    }
-
-    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept
-    {
-        const auto angles = mat_extract_rotation_zyx(mat);
-        return {
-                PitchAngle::from_degrees(angles.y),
-                YawAngle::from_degrees(angles.z),
-                RollAngle::from_degrees(angles.x),
-        };
-    }
-
-    Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
-    {
-        return mat_camera_view(forward_vector(angles), right_vector(angles), up_vector(angles), cam_origin);
-    }
-
-    Mat4X4 calc_perspective_projection_matrix(const float field_of_view, const float aspect_ratio, const float near,
-                                              const float far, const NDCDepthRange ndc_depth_range) noexcept
-    {
-        // InfinityWard Engine (inherited from Quake) stores FOV as horizontal FOV at a 4:3
-        // reference aspect. Convert to true vertical FOV, then delegate to the
-        // standard vertical-FOV left-handed builder with the caller's actual
-        // aspect ratio.
-        //   vfov = 2 · atan( tan(hfov_4:3 / 2) / (4/3) )
-        constexpr float k_source_reference_aspect = 4.f / 3.f;
-        const auto vertical_fov = angles::horizontal_fov_to_vertical(field_of_view, k_source_reference_aspect);
-
-        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
-            return mat_perspective_left_handed_vertical_fov<
-                    float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
-                    vertical_fov, aspect_ratio, near, far);
-        if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
-            return mat_perspective_left_handed_vertical_fov<
-                    float, MatStoreType::ROW_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
-                    vertical_fov, aspect_ratio, near, far);
-        std::unreachable();
-    };
-} // namespace omath::iw_engine

source/engines/iw_engine/traits/camera_trait.cpp

@@ -1,27 +0,0 @@
-//
-// Created by Vlad on 8/11/2025.
-//
-#include "omath/engines/iw_engine/traits/camera_trait.hpp"
-#include "omath/engines/iw_engine/formulas.hpp"
-namespace omath::iw_engine
-{
-
-    ViewAngles CameraTrait::calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept
-    {
-        const auto direction = (look_at - cam_origin).normalized();
-
-        return {PitchAngle::from_radians(-std::asin(direction.z)),
-                YawAngle::from_radians(std::atan2(direction.y, direction.x)), RollAngle::from_radians(0.f)};
-    }
-    Mat4X4 CameraTrait::calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
-    {
-        return iw_engine::calc_view_matrix(angles, cam_origin);
-    }
-    Mat4X4 CameraTrait::calc_projection_matrix(const projection::FieldOfView& fov,
-                                               const projection::ViewPort& view_port, const float near,
-                                               const float far, const NDCDepthRange ndc_depth_range) noexcept
-    {
-        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far,
-                                                  ndc_depth_range);
-    }
-} // namespace omath::iw_engine

source/engines/opengl_engine/formulas.cpp

@@ -1,73 +0,0 @@
-//
-// Created by Vlad on 3/19/2025.
-//
-#include "omath/engines/opengl_engine/formulas.hpp"
-
-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);
-
-        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);
-
-        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    }
-    Vector3<float> up_vector(const ViewAngles& angles) noexcept
-    {
-        const auto vec = rotation_matrix(angles) * mat_column_from_vector<float, MatStoreType::COLUMN_MAJOR>(k_abs_up);
-
-        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    }
-    Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
-    {
-        return mat_look_at_right_handed(cam_origin, cam_origin + forward_vector(angles), up_vector(angles));
-    }
-    Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept
-    {
-        return mat_rotation_axis_z<float, MatStoreType::COLUMN_MAJOR>(angles.roll)
-               * mat_rotation_axis_y<float, MatStoreType::COLUMN_MAJOR>(angles.yaw)
-               * mat_rotation_axis_x<float, MatStoreType::COLUMN_MAJOR>(angles.pitch);
-    }
-
-    Vector3<float> extract_origin(const Mat4X4& mat) noexcept
-    {
-        return mat_extract_origin(mat);
-    }
-
-    Vector3<float> extract_scale(const Mat4X4& mat) noexcept
-    {
-        return mat_extract_scale(mat);
-    }
-
-    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept
-    {
-        const auto angles = mat_extract_rotation_zyx(mat);
-        return {
-                PitchAngle::from_degrees(angles.x),
-                YawAngle::from_degrees(angles.y),
-                RollAngle::from_degrees(angles.z),
-        };
-    }
-
-    Mat4X4 calc_perspective_projection_matrix(const float field_of_view, const float aspect_ratio, const float near,
-                                              const float far, const NDCDepthRange ndc_depth_range) noexcept
-    {
-        if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
-            return mat_perspective_right_handed_vertical_fov<float, MatStoreType::COLUMN_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
-                    field_of_view, aspect_ratio, near, far);
-
-        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
-            return mat_perspective_right_handed_vertical_fov<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

@@ -1,28 +0,0 @@
-//
-// Created by Vlad on 8/11/2025.
-//
-#include "omath/engines/opengl_engine/traits/camera_trait.hpp"
-#include "omath/engines/opengl_engine/formulas.hpp"
-
-namespace omath::opengl_engine
-{
-
-    ViewAngles CameraTrait::calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept
-    {
-        const auto direction = (look_at - cam_origin).normalized();
-
-        return {PitchAngle::from_radians(std::asin(direction.y)),
-                YawAngle::from_radians(-std::atan2(direction.x, -direction.z)), RollAngle::from_radians(0.f)};
-    }
-    Mat4X4 CameraTrait::calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
-    {
-        return opengl_engine::calc_view_matrix(angles, cam_origin);
-    }
-    Mat4X4 CameraTrait::calc_projection_matrix(const projection::FieldOfView& fov,
-                                               const projection::ViewPort& view_port, const float near,
-                                               const float far, const NDCDepthRange ndc_depth_range) noexcept
-    {
-        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far,
-                                                  ndc_depth_range);
-    }
-} // namespace omath::opengl_engine

source/engines/rage_engine/formulas.cpp

@@ -1,71 +0,0 @@
-//
-// Created by Orange on 6/3/2026.
-//
-#include "omath/engines/rage_engine/formulas.hpp"
-
-namespace omath::rage_engine
-{
-    Vector3<float> forward_vector(const ViewAngles& angles) noexcept
-    {
-        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_forward);
-
-        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    }
-    Vector3<float> right_vector(const ViewAngles& angles) noexcept
-    {
-        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_right);
-
-        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    }
-    Vector3<float> up_vector(const ViewAngles& angles) noexcept
-    {
-        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_up);
-
-        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    }
-    Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
-    {
-        return mat_camera_view<float, MatStoreType::ROW_MAJOR>(forward_vector(angles), right_vector(angles),
-                                                               up_vector(angles), cam_origin);
-    }
-    Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept
-    {
-        return mat_rotation_axis_z<float, MatStoreType::ROW_MAJOR>(angles.yaw)
-               * mat_rotation_axis_y<float, MatStoreType::ROW_MAJOR>(angles.roll)
-               * mat_rotation_axis_x<float, MatStoreType::ROW_MAJOR>(angles.pitch);
-    }
-
-    Vector3<float> extract_origin(const Mat4X4& mat) noexcept
-    {
-        return mat_extract_origin(mat);
-    }
-
-    Vector3<float> extract_scale(const Mat4X4& mat) noexcept
-    {
-        return mat_extract_scale(mat);
-    }
-
-    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept
-    {
-        const auto angles = mat_extract_rotation_zyx(mat);
-        return {
-                PitchAngle::from_degrees(angles.x),
-                YawAngle::from_degrees(angles.z),
-                RollAngle::from_degrees(angles.y),
-        };
-    }
-
-    Mat4X4 calc_perspective_projection_matrix(const float field_of_view, const float aspect_ratio, const float near,
-                                              const float far, const NDCDepthRange ndc_depth_range) noexcept
-    {
-        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
-            return mat_perspective_left_handed_vertical_fov<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_vertical_fov<float, MatStoreType::ROW_MAJOR,
-                                                            NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
-                    field_of_view, aspect_ratio, near, far);
-        std::unreachable();
-    }
-} // namespace omath::rage_engine

source/engines/rage_engine/traits/camera_trait.cpp

@@ -1,27 +0,0 @@
-//
-// Created by Orange on 6/3/2026.
-//
-#include "omath/engines/rage_engine/traits/camera_trait.hpp"
-
-namespace omath::rage_engine
-{
-
-    ViewAngles CameraTrait::calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept
-    {
-        const auto direction = (look_at - cam_origin).normalized();
-
-        return {PitchAngle::from_radians(std::asin(direction.z)),
-                YawAngle::from_radians(-std::atan2(direction.x, direction.y)), RollAngle::from_radians(0.f)};
-    }
-    Mat4X4 CameraTrait::calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
-    {
-        return rage_engine::calc_view_matrix(angles, cam_origin);
-    }
-    Mat4X4 CameraTrait::calc_projection_matrix(const projection::FieldOfView& fov,
-                                               const projection::ViewPort& view_port, const float near, const float far,
-                                               const NDCDepthRange ndc_depth_range) noexcept
-    {
-        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far,
-                                                  ndc_depth_range);
-    }
-} // namespace omath::rage_engine

source/engines/source_engine/formulas.cpp

@@ -1,79 +0,0 @@
-//
-// Created by Vlad on 3/19/2025.
-//
-#include <omath/engines/source_engine/formulas.hpp>
-
-namespace omath::source_engine
-{
-    Vector3<float> forward_vector(const ViewAngles& angles) noexcept
-    {
-        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_forward);
-
-        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    }
-
-    Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept
-    {
-        return mat_rotation_axis_z(angles.yaw) * mat_rotation_axis_y(angles.pitch) * mat_rotation_axis_x(angles.roll);
-    }
-
-    Vector3<float> extract_origin(const Mat4X4& mat) noexcept
-    {
-        return mat_extract_origin(mat);
-    }
-
-    Vector3<float> extract_scale(const Mat4X4& mat) noexcept
-    {
-        return mat_extract_scale(mat);
-    }
-
-    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept
-    {
-        const auto angles = mat_extract_rotation_zyx(mat);
-        return {
-                PitchAngle::from_degrees(angles.y),
-                YawAngle::from_degrees(angles.z),
-                RollAngle::from_degrees(angles.x),
-        };
-    }
-
-    Vector3<float> right_vector(const ViewAngles& angles) noexcept
-    {
-        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_right);
-
-        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    }
-    Vector3<float> up_vector(const ViewAngles& angles) noexcept
-    {
-        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_up);
-
-        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    }
-
-    Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
-    {
-        return mat_camera_view(forward_vector(angles), right_vector(angles), up_vector(angles), cam_origin);
-    }
-
-    Mat4X4 calc_perspective_projection_matrix(const float field_of_view, const float aspect_ratio, const float near,
-                                              const float far, const NDCDepthRange ndc_depth_range) noexcept
-    {
-        // Source (inherited from Quake) stores FOV as horizontal FOV at a 4:3
-        // reference aspect. Convert to true vertical FOV, then delegate to the
-        // standard vertical-FOV left-handed builder with the caller's actual
-        // aspect ratio.
-        //   vfov = 2 · atan( tan(hfov_4:3 / 2) / (4/3) )
-        constexpr float k_source_reference_aspect = 4.f / 3.f;
-        const auto vertical_fov = angles::horizontal_fov_to_vertical(field_of_view, k_source_reference_aspect);
-
-        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
-            return mat_perspective_left_handed_vertical_fov<
-                    float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
-                    vertical_fov, aspect_ratio, near, far);
-        if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
-            return mat_perspective_left_handed_vertical_fov<
-                    float, MatStoreType::ROW_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
-                    vertical_fov, aspect_ratio, near, far);
-        std::unreachable();
-    }
-} // namespace omath::source_engine

source/engines/source_engine/traits/camera_trait.cpp

@@ -1,28 +0,0 @@
-//
-// Created by Vlad on 8/11/2025.
-//
-#include "omath/engines/source_engine/traits/camera_trait.hpp"
-#include "omath/engines/source_engine/formulas.hpp"
-namespace omath::source_engine
-{
-
-    ViewAngles CameraTrait::calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept
-    {
-        const auto direction = (look_at - cam_origin).normalized();
-
-
-        return {PitchAngle::from_radians(-std::asin(direction.z)),
-                YawAngle::from_radians(std::atan2(direction.y, direction.x)), RollAngle::from_radians(0.f)};
-    }
-    Mat4X4 CameraTrait::calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
-    {
-        return source_engine::calc_view_matrix(angles, cam_origin);
-    }
-    Mat4X4 CameraTrait::calc_projection_matrix(const projection::FieldOfView& fov,
-                                               const projection::ViewPort& view_port, const float near,
-                                               const float far, const NDCDepthRange ndc_depth_range) noexcept
-    {
-        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far,
-                                                  ndc_depth_range);
-    }
-} // namespace omath::source_engine

source/engines/unity_engine/formulas.cpp

@@ -1,70 +0,0 @@
-//
-// Created by Vlad on 3/22/2025.
-//
-#include "omath/engines/unity_engine/formulas.hpp"
-
-namespace omath::unity_engine
-{
-    Vector3<float> forward_vector(const ViewAngles& angles) noexcept
-    {
-        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_forward);
-
-        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    }
-    Vector3<float> right_vector(const ViewAngles& angles) noexcept
-    {
-        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_right);
-
-        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    }
-    Vector3<float> up_vector(const ViewAngles& angles) noexcept
-    {
-        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_up);
-
-        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    }
-    Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
-    {
-        return mat_camera_view<float, MatStoreType::ROW_MAJOR>(-forward_vector(angles), right_vector(angles),
-                                                               up_vector(angles), cam_origin);
-    }
-    Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept
-    {
-        return mat_rotation_axis_z<float, MatStoreType::ROW_MAJOR>(angles.roll)
-               * mat_rotation_axis_y<float, MatStoreType::ROW_MAJOR>(angles.yaw)
-               * mat_rotation_axis_x<float, MatStoreType::ROW_MAJOR>(angles.pitch);
-    }
-
-    Vector3<float> extract_origin(const Mat4X4& mat) noexcept
-    {
-        return mat_extract_origin(mat);
-    }
-
-    Vector3<float> extract_scale(const Mat4X4& mat) noexcept
-    {
-        return mat_extract_scale(mat);
-    }
-
-    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept
-    {
-        const auto angles = mat_extract_rotation_zyx(mat);
-        return {
-                PitchAngle::from_degrees(angles.x),
-                YawAngle::from_degrees(angles.y),
-                RollAngle::from_degrees(angles.z),
-        };
-    }
-
-    Mat4X4 calc_perspective_projection_matrix(const float field_of_view, const float aspect_ratio, const float near,
-                                              const float far, const NDCDepthRange ndc_depth_range) noexcept
-    {
-        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
-            return omath::mat_perspective_right_handed_vertical_fov<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_vertical_fov<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

@@ -1,27 +0,0 @@
-//
-// Created by Vlad on 8/11/2025.
-//
-#include "omath/engines/unity_engine/traits/camera_trait.hpp"
-
-namespace omath::unity_engine
-{
-
-    ViewAngles CameraTrait::calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept
-    {
-        const auto direction = (look_at - cam_origin).normalized();
-
-        return {PitchAngle::from_radians(-std::asin(direction.y)),
-                YawAngle::from_radians(std::atan2(direction.x, direction.z)), RollAngle::from_radians(0.f)};
-    }
-    Mat4X4 CameraTrait::calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
-    {
-        return unity_engine::calc_view_matrix(angles, cam_origin);
-    }
-    Mat4X4 CameraTrait::calc_projection_matrix(const projection::FieldOfView& fov,
-                                               const projection::ViewPort& view_port, const float near,
-                                               const float far, const NDCDepthRange ndc_depth_range) noexcept
-    {
-        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far,
-                                                  ndc_depth_range);
-    }
-} // namespace omath::unity_engine

source/engines/unreal_engine/formulas.cpp

@@ -1,77 +0,0 @@
-//
-// Created by Vlad on 3/22/2025.
-//
-#include "omath/engines/unreal_engine/formulas.hpp"
-namespace omath::unreal_engine
-{
-    Vector3<double> forward_vector(const ViewAngles& angles) noexcept
-    {
-        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_forward);
-
-        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    }
-    Vector3<double> right_vector(const ViewAngles& angles) noexcept
-    {
-        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_right);
-
-        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    }
-    Vector3<double> up_vector(const ViewAngles& angles) noexcept
-    {
-        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_up);
-
-        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    }
-    Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<double>& cam_origin) noexcept
-    {
-        return mat_camera_view<double, MatStoreType::ROW_MAJOR>(forward_vector(angles), right_vector(angles),
-                                                               up_vector(angles), cam_origin);
-    }
-    Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept
-    {
-        // UE FRotator is intrinsic Z-Y-X (Yaw → Pitch → Roll applied in local
-        // frame), which for column-vector composition is Rz·Ry·Rx.
-        // Pitch and roll axes in omath spin opposite to UE's convention, so
-        // both carry a sign flip.
-        return mat_rotation_axis_z<double, MatStoreType::ROW_MAJOR>(angles.yaw)
-               * mat_rotation_axis_y<double, MatStoreType::ROW_MAJOR>(-angles.pitch)
-               * mat_rotation_axis_x<double, MatStoreType::ROW_MAJOR>(-angles.roll);
-    }
-
-
-    Vector3<double> extract_origin(const Mat4X4& mat) noexcept
-    {
-        return mat_extract_origin(mat);
-    }
-
-    Vector3<double> extract_scale(const Mat4X4& mat) noexcept
-    {
-        return mat_extract_scale(mat);
-    }
-
-    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept
-    {
-        const auto angles = mat_extract_rotation_zyx(mat);
-        return {
-                PitchAngle::from_degrees(-angles.y),
-                YawAngle::from_degrees(angles.z),
-                RollAngle::from_degrees(-angles.x),
-        };
-    }
-
-    Mat4X4 calc_perspective_projection_matrix(const double field_of_view, const double aspect_ratio, const double near,
-                                              const double far, const NDCDepthRange ndc_depth_range) noexcept
-    {
-        // UE stores horizontal FOV in FMinimalViewInfo — use the left-handed
-        // horizontal-FOV builder directly.
-        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
-            return mat_perspective_left_handed_horizontal_fov<
-                    double, 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_horizontal_fov<
-                    double, MatStoreType::ROW_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
-                    field_of_view, aspect_ratio, near, far);
-        std::unreachable();
-    }
-} // namespace omath::unreal_engine

source/engines/unreal_engine/traits/camera_trait.cpp

@@ -1,27 +0,0 @@
-//
-// Created by Vlad on 8/11/2025.
-//
-#include "omath/engines/unreal_engine/traits/camera_trait.hpp"
-
-namespace omath::unreal_engine
-{
-
-    ViewAngles CameraTrait::calc_look_at_angle(const Vector3<double>& cam_origin, const Vector3<double>& look_at) noexcept
-    {
-        const auto direction = (look_at - cam_origin).normalized();
-
-        return {PitchAngle::from_radians(std::asin(direction.z)),
-                YawAngle::from_radians(std::atan2(direction.y, direction.x)), RollAngle::from_radians(0.f)};
-    }
-    Mat4X4 CameraTrait::calc_view_matrix(const ViewAngles& angles, const Vector3<double>& cam_origin) noexcept
-    {
-        return unreal_engine::calc_view_matrix(angles, cam_origin);
-    }
-    Mat4X4 CameraTrait::calc_projection_matrix(const projection::FieldOfView& fov,
-                                               const projection::ViewPort& view_port, const double near,
-                                               const double far, const NDCDepthRange ndc_depth_range) noexcept
-    {
-        return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far,
-                                                  ndc_depth_range);
-    }
-} // namespace omath::unreal_engine

tests/CMakeLists.txt

@@ -7,6 +7,11 @@ include(GoogleTest)
 file(GLOB_RECURSE UNIT_TESTS_SOURCES CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/general/*.cpp" "${CMAKE_CURRENT_SOURCE_DIR}/engines/*.cpp" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
 add_executable(${PROJECT_NAME} ${UNIT_TESTS_SOURCES} main.cpp)
 
+if(OMATH_ENABLE_MODULES)
+    set_target_properties(${PROJECT_NAME} PROPERTIES CXX_SCAN_FOR_MODULES ON)
+    target_sources(${PROJECT_NAME} PRIVATE modules/unit_test_module.cpp)
+endif()
+
 set_target_properties(
     ${PROJECT_NAME}
     PROPERTIES ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"

tests/engines/unit_test_cry_engine.cpp

@@ -9,6 +9,96 @@
 #include <ranges>
 
 using namespace omath;
+
+namespace
+{
+    constexpr bool close_to(const float actual, const float expected, const float epsilon)
+    {
+        const float diff = actual - expected;
+        return (diff < 0.0f ? -diff : diff) <= epsilon;
+    }
+
+    constexpr bool vec_close_to(const Vector3<float>& actual, const Vector3<float>& expected, const float epsilon)
+    {
+        return close_to(actual.x, expected.x, epsilon) && close_to(actual.y, expected.y, epsilon)
+               && close_to(actual.z, expected.z, epsilon);
+    }
+} // namespace
+
+static_assert(
+        []
+        {
+            constexpr omath::cry_engine::ViewAngles angles{};
+            constexpr auto forward = omath::cry_engine::forward_vector(angles);
+            constexpr auto right = omath::cry_engine::right_vector(angles);
+            constexpr auto up = omath::cry_engine::up_vector(angles);
+            constexpr auto rotation = omath::cry_engine::rotation_matrix(angles);
+
+            return vec_close_to(forward, omath::cry_engine::k_abs_forward, 1e-5f)
+                   && vec_close_to(right, omath::cry_engine::k_abs_right, 1e-5f)
+                   && vec_close_to(up, omath::cry_engine::k_abs_up, 1e-5f) && close_to(rotation.at(0, 0), 1.0f, 1e-5f)
+                   && close_to(rotation.at(1, 1), 1.0f, 1e-5f) && close_to(rotation.at(2, 2), 1.0f, 1e-5f)
+                   && close_to(rotation.at(3, 3), 1.0f, 1e-5f);
+        }(),
+        "CryEngine basis vectors should be constexpr with embedded constexpr math");
+
+static_assert(
+        []
+        {
+            constexpr auto view = omath::cry_engine::calc_view_matrix({}, {});
+            return close_to(view.at(0, 0), 1.0f, 1e-5f) && close_to(view.at(1, 2), 1.0f, 1e-5f)
+                   && close_to(view.at(2, 1), 1.0f, 1e-5f) && close_to(view.at(3, 3), 1.0f, 1e-5f);
+        }(),
+        "CryEngine view matrix should be constexpr with embedded constexpr math");
+
+static_assert(
+        []
+        {
+            constexpr auto transform = mat_translation<float, MatStoreType::ROW_MAJOR>({1.0f, 2.0f, 3.0f})
+                                       * mat_scale<float, MatStoreType::ROW_MAJOR>({2.0f, 3.0f, 4.0f});
+            constexpr auto origin = omath::cry_engine::extract_origin(transform);
+            constexpr auto scale = omath::cry_engine::extract_scale(transform);
+
+            return vec_close_to(origin, {1.0f, 2.0f, 3.0f}, 1e-5f) && vec_close_to(scale, {2.0f, 3.0f, 4.0f}, 1e-5f);
+        }(),
+        "CryEngine transform extraction should be constexpr with embedded constexpr math");
+
+static_assert(
+        []
+        {
+            constexpr auto projection = omath::cry_engine::calc_perspective_projection_matrix(
+                    90.0f, 1.0f, 1.0f, 11.0f, NDCDepthRange::ZERO_TO_ONE);
+            return close_to(projection.at(0, 0), 1.0f, 1e-5f) && close_to(projection.at(1, 1), 1.0f, 1e-5f)
+                   && close_to(projection.at(2, 2), 1.1f, 1e-5f) && close_to(projection.at(2, 3), -1.1f, 1e-5f)
+                   && close_to(projection.at(3, 2), 1.0f, 1e-5f);
+        }(),
+        "CryEngine projection matrix should be constexpr with embedded constexpr math");
+
+static_assert(
+        []
+        {
+            constexpr auto angles =
+                    omath::cry_engine::CameraTrait::calc_look_at_angle({}, omath::cry_engine::k_abs_forward);
+            constexpr auto view = omath::cry_engine::CameraTrait::calc_view_matrix(angles, {});
+            constexpr auto projection = omath::cry_engine::CameraTrait::calc_projection_matrix(
+                    projection::FieldOfView::from_degrees(90.0f), {1.0f, 1.0f}, 1.0f, 11.0f,
+                    NDCDepthRange::ZERO_TO_ONE);
+
+            return close_to(angles.pitch.as_degrees(), 0.0f, 1e-5f) && close_to(angles.yaw.as_degrees(), 0.0f, 1e-5f)
+                   && close_to(angles.roll.as_degrees(), 0.0f, 1e-5f) && close_to(view.at(0, 0), 1.0f, 1e-5f)
+                   && close_to(view.at(2, 1), 1.0f, 1e-5f) && close_to(projection.at(0, 0), 1.0f, 1e-5f)
+                   && close_to(projection.at(1, 1), 1.0f, 1e-5f) && close_to(projection.at(2, 2), 1.1f, 1e-5f)
+                   && close_to(projection.at(2, 3), -1.1f, 1e-5f) && close_to(projection.at(3, 2), 1.0f, 1e-5f);
+        }(),
+        "CryEngine CameraTrait should be constexpr with embedded constexpr math");
+
+static_assert(omath::cry_engine::units_to_centimeters(100.0f) == 1.0f);
+static_assert(omath::cry_engine::units_to_meters(2.0f) == 2.0f);
+static_assert(omath::cry_engine::units_to_kilometers(2000.0f) == 2.0f);
+static_assert(omath::cry_engine::centimeters_to_units(1.0f) == 100.0f);
+static_assert(omath::cry_engine::meters_to_units(2.0f) == 2.0f);
+static_assert(omath::cry_engine::kilometers_to_units(2.0f) == 2000.0f);
+
 TEST(unit_test_cry_engine, look_at_forward)
 {
     const auto angles = cry_engine::CameraTrait::calc_look_at_angle({}, cry_engine::k_abs_forward);
@@ -251,11 +341,9 @@ TEST(unit_test_cry_engine, ViewAnglesAsVector3Zero)
 
 TEST(unit_test_cry_engine, ViewAnglesAsVector3Values)
 {
-    const omath::cry_engine::ViewAngles angles{
+    const omath::cry_engine::ViewAngles angles{omath::cry_engine::PitchAngle::from_degrees(45.f),
-        omath::cry_engine::PitchAngle::from_degrees(45.f),
                                                omath::cry_engine::YawAngle::from_degrees(-90.f),
-        omath::cry_engine::RollAngle::from_degrees(30.f)
+                                               omath::cry_engine::RollAngle::from_degrees(30.f)};
-    };
     const auto vec = angles.as_vector3();
 
     EXPECT_FLOAT_EQ(vec.x, 45.f);
@@ -266,11 +354,9 @@ TEST(unit_test_cry_engine, ViewAnglesAsVector3Values)
 TEST(unit_test_cry_engine, ViewAnglesAsVector3ClampedPitch)
 {
     // Pitch is clamped to [-90, 90]
-    const omath::cry_engine::ViewAngles angles{
+    const omath::cry_engine::ViewAngles angles{omath::cry_engine::PitchAngle::from_degrees(120.f),
-        omath::cry_engine::PitchAngle::from_degrees(120.f),
                                                omath::cry_engine::YawAngle::from_degrees(0.f),
-        omath::cry_engine::RollAngle::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);
@@ -279,11 +365,9 @@ TEST(unit_test_cry_engine, ViewAnglesAsVector3ClampedPitch)
 TEST(unit_test_cry_engine, ViewAnglesAsVector3NormalizedYaw)
 {
     // Yaw is normalized to [-180, 180], 270 wraps to -90
-    const omath::cry_engine::ViewAngles angles{
+    const omath::cry_engine::ViewAngles angles{omath::cry_engine::PitchAngle::from_degrees(0.f),
-        omath::cry_engine::PitchAngle::from_degrees(0.f),
                                                omath::cry_engine::YawAngle::from_degrees(270.f),
-        omath::cry_engine::RollAngle::from_degrees(0.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_traits_engines.cpp

@@ -1,30 +1,32 @@
 // Tests for engine trait headers to improve header coverage
 #include <gtest/gtest.h>
-#include <omath/engines/frostbite_engine/traits/pred_engine_trait.hpp>
+#include <omath/engines/cry_engine/camera.hpp>
-#include <omath/engines/frostbite_engine/traits/mesh_trait.hpp>
-#include <omath/engines/frostbite_engine/traits/camera_trait.hpp>
-
-#include <omath/engines/iw_engine/traits/pred_engine_trait.hpp>
-#include <omath/engines/iw_engine/traits/mesh_trait.hpp>
-#include <omath/engines/iw_engine/traits/camera_trait.hpp>
-
-#include <omath/engines/opengl_engine/traits/pred_engine_trait.hpp>
-#include <omath/engines/opengl_engine/traits/mesh_trait.hpp>
-#include <omath/engines/opengl_engine/traits/camera_trait.hpp>
-
-#include <omath/engines/unity_engine/traits/pred_engine_trait.hpp>
-#include <omath/engines/unity_engine/traits/mesh_trait.hpp>
-#include <omath/engines/unity_engine/traits/camera_trait.hpp>
-
-#include <omath/engines/unreal_engine/traits/pred_engine_trait.hpp>
-#include <omath/engines/unreal_engine/traits/mesh_trait.hpp>
-#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/engines/frostbite_engine/camera.hpp>
+#include <omath/engines/frostbite_engine/traits/camera_trait.hpp>
+#include <omath/engines/frostbite_engine/traits/mesh_trait.hpp>
+#include <omath/engines/frostbite_engine/traits/pred_engine_trait.hpp>
+#include <omath/engines/iw_engine/camera.hpp>
+#include <omath/engines/iw_engine/traits/camera_trait.hpp>
+#include <omath/engines/iw_engine/traits/mesh_trait.hpp>
+#include <omath/engines/iw_engine/traits/pred_engine_trait.hpp>
+#include <omath/engines/opengl_engine/camera.hpp>
+#include <omath/engines/opengl_engine/traits/camera_trait.hpp>
+#include <omath/engines/opengl_engine/traits/mesh_trait.hpp>
+#include <omath/engines/opengl_engine/traits/pred_engine_trait.hpp>
+#include <omath/engines/rage_engine/camera.hpp>
+#include <omath/engines/rage_engine/traits/camera_trait.hpp>
+#include <omath/engines/source_engine/camera.hpp>
+#include <omath/engines/source_engine/traits/camera_trait.hpp>
+#include <omath/engines/source_engine/traits/pred_engine_trait.hpp>
+#include <omath/engines/unity_engine/camera.hpp>
+#include <omath/engines/unity_engine/traits/camera_trait.hpp>
+#include <omath/engines/unity_engine/traits/mesh_trait.hpp>
+#include <omath/engines/unity_engine/traits/pred_engine_trait.hpp>
+#include <omath/engines/unreal_engine/camera.hpp>
+#include <omath/engines/unreal_engine/traits/camera_trait.hpp>
+#include <omath/engines/unreal_engine/traits/mesh_trait.hpp>
+#include <omath/engines/unreal_engine/traits/pred_engine_trait.hpp>
 #include <omath/projectile_prediction/projectile.hpp>
 #include <omath/projectile_prediction/target.hpp>
 #include <optional>
@@ -41,6 +43,41 @@ static void expect_matrix_near(const MatT& a, const MatT& b, float eps = 1e-5f)
 }
 
 // ── Launch offset tests for all engines ──────────────────────────────────────
+template<class MatType, class NumericType>
+constexpr bool matrix_has_non_zero_element(const MatType& mat)
+{
+    for (std::size_t r = 0; r < 4; ++r)
+        for (std::size_t c = 0; c < 4; ++c)
+            if (mat.at(r, c) != NumericType{0})
+                return true;
+
+    return false;
+}
+
+template<class CameraType, class NumericType>
+constexpr bool camera_can_calculate_matrices_at_compile_time()
+{
+    using FieldOfView = projection::FieldOfView;
+
+    CameraType camera{{}, {}, {1280.f, 720.f}, FieldOfView::from_degrees(90.f), NumericType{0.01}, NumericType{1000}};
+    const auto view = camera.get_view_matrix();
+    const auto projection = camera.get_projection_matrix();
+    const auto view_projection = camera.get_view_projection_matrix();
+
+    return matrix_has_non_zero_element<decltype(view), NumericType>(view)
+           && matrix_has_non_zero_element<decltype(projection), NumericType>(projection)
+           && matrix_has_non_zero_element<decltype(view_projection), NumericType>(view_projection);
+}
+
+static_assert(camera_can_calculate_matrices_at_compile_time<source_engine::Camera, float>());
+static_assert(camera_can_calculate_matrices_at_compile_time<iw_engine::Camera, float>());
+static_assert(camera_can_calculate_matrices_at_compile_time<frostbite_engine::Camera, float>());
+static_assert(camera_can_calculate_matrices_at_compile_time<opengl_engine::Camera, float>());
+static_assert(camera_can_calculate_matrices_at_compile_time<unity_engine::Camera, float>());
+static_assert(camera_can_calculate_matrices_at_compile_time<cry_engine::Camera, float>());
+static_assert(camera_can_calculate_matrices_at_compile_time<rage_engine::Camera, float>());
+static_assert(camera_can_calculate_matrices_at_compile_time<unreal_engine::Camera, double>());
+
 #include <omath/engines/cry_engine/traits/pred_engine_trait.hpp>
 
 // Helper: verify that zero offset matches default-initialized offset behavior
@@ -74,8 +111,10 @@ static void verify_zero_offset_matches_default()
     p2.m_launch_speed = static_cast<AT>(50);
     p2.m_gravity_scale = static_cast<AT>(1);
 
-    const auto pos1 = Trait::predict_projectile_position(p, static_cast<AT>(15), static_cast<AT>(30), static_cast<AT>(1), static_cast<AT>(9.81));
+    const auto pos1 = Trait::predict_projectile_position(p, static_cast<AT>(15), static_cast<AT>(30),
-    const auto pos2 = Trait::predict_projectile_position(p2, static_cast<AT>(15), static_cast<AT>(30), static_cast<AT>(1), static_cast<AT>(9.81));
+                                                         static_cast<AT>(1), static_cast<AT>(9.81));
+    const auto pos2 = Trait::predict_projectile_position(p2, static_cast<AT>(15), static_cast<AT>(30),
+                                                         static_cast<AT>(1), static_cast<AT>(9.81));
 #if defined(__x86_64__) || defined(_M_X64) || defined(__aarch64__) || defined(_M_ARM64)
     constexpr double tol = 1e-6;
 #else
@@ -158,7 +197,8 @@ TEST(LaunchOffsetTests, OffsetShiftsTrajectory)
     p_with_offset.m_gravity_scale = 1.f;
 
     const auto pos1 = source_engine::PredEngineTrait::predict_projectile_position(p_no_offset, 20.f, 45.f, 2.f, 9.81f);
-    const auto pos2 = source_engine::PredEngineTrait::predict_projectile_position(p_with_offset, 20.f, 45.f, 2.f, 9.81f);
+    const auto pos2 =
+            source_engine::PredEngineTrait::predict_projectile_position(p_with_offset, 20.f, 45.f, 2.f, 9.81f);
 
     // The difference should be exactly the launch offset
     EXPECT_NEAR(pos2.x - pos1.x, 10.f, 1e-4f);
@@ -221,12 +261,16 @@ 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, NDCDepthRange::NEGATIVE_ONE_TO_ONE);
+    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 proj_zo = e::CameraTrait::calc_projection_matrix(
-    const auto expected_zo = e::calc_perspective_projection_matrix(60.f, 1280.f / 720.f, 0.1f, 1000.f, NDCDepthRange::ZERO_TO_ONE);
+            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);
 }
@@ -272,12 +316,16 @@ 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, NDCDepthRange::NEGATIVE_ONE_TO_ONE);
+    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 proj_zo = e::CameraTrait::calc_projection_matrix(
-    const auto expected_zo = e::calc_perspective_projection_matrix(45.f, 1920.f / 1080.f, 0.1f, 1000.f, NDCDepthRange::ZERO_TO_ONE);
+            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);
 
@@ -327,12 +375,16 @@ 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, NDCDepthRange::NEGATIVE_ONE_TO_ONE);
+    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 proj_zo = e::CameraTrait::calc_projection_matrix(
-    const auto expected_zo = e::calc_perspective_projection_matrix(60.f, 1280.f / 720.f, 0.1f, 1000.f, NDCDepthRange::ZERO_TO_ONE);
+            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);
 
@@ -382,12 +434,16 @@ 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, NDCDepthRange::NEGATIVE_ONE_TO_ONE);
+    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 proj_zo = e::CameraTrait::calc_projection_matrix(
-    const auto expected_zo = e::calc_perspective_projection_matrix(60.f, 1280.f / 720.f, 0.1f, 1000.f, NDCDepthRange::ZERO_TO_ONE);
+            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);
 
@@ -437,12 +493,16 @@ 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, NDCDepthRange::NEGATIVE_ONE_TO_ONE);
+    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 proj_zo = e::CameraTrait::calc_projection_matrix(
-    const auto expected_zo = e::calc_perspective_projection_matrix(60.f, 1280.f / 720.f, 0.1f, 1000.f, NDCDepthRange::ZERO_TO_ONE);
+            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);
 
@@ -458,18 +518,17 @@ TEST(NDCDepthRangeTests, Source_BothDepthRanges)
 {
     namespace e = omath::source_engine;
 
-    const auto proj_no = e::CameraTrait::calc_projection_matrix(
+    const auto proj_no =
-            projection::FieldOfView::from_degrees(90.f), {1920.f, 1080.f}, 0.1f, 1000.f,
+            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);
-    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,
+            projection::FieldOfView::from_degrees(90.f), {1920.f, 1080.f}, 0.1f, 1000.f, NDCDepthRange::ZERO_TO_ONE);
-            NDCDepthRange::ZERO_TO_ONE);
+    const auto expected_zo =
-    const auto expected_zo = e::calc_perspective_projection_matrix(
+            e::calc_perspective_projection_matrix(90.f, 1920.f / 1080.f, 0.1f, 1000.f, NDCDepthRange::ZERO_TO_ONE);
-            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);
@@ -479,18 +538,17 @@ TEST(NDCDepthRangeTests, CryEngine_BothDepthRanges)
 {
     namespace e = omath::cry_engine;
 
-    const auto proj_no = e::CameraTrait::calc_projection_matrix(
+    const auto proj_no =
-            projection::FieldOfView::from_degrees(90.f), {1920.f, 1080.f}, 0.1f, 1000.f,
+            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);
-    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,
+            projection::FieldOfView::from_degrees(90.f), {1920.f, 1080.f}, 0.1f, 1000.f, NDCDepthRange::ZERO_TO_ONE);
-            NDCDepthRange::ZERO_TO_ONE);
+    const auto expected_zo =
-    const auto expected_zo = e::calc_perspective_projection_matrix(
+            e::calc_perspective_projection_matrix(90.f, 1920.f / 1080.f, 0.1f, 1000.f, NDCDepthRange::ZERO_TO_ONE);
-            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);
@@ -537,7 +595,8 @@ TEST(NDCDepthRangeTests, OpenGL_ZeroToOne_ZRange)
     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 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);
     };
@@ -565,7 +624,8 @@ TEST(NDCDepthRangeTests, Unity_ZeroToOne_ZRange)
     // 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 proj_z = [&](float z)
+    {
         auto clip = proj * mat_column_from_vector<float>({0, 0, z});
         return clip.at(2, 0) / clip.at(3, 0);
     };
@@ -603,7 +663,8 @@ TEST(NDCDepthRangeTests, CryEngine_ZeroToOne_ZRange)
 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);
+    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);
@@ -612,7 +673,8 @@ TEST(NDCDepthRangeTests, Source_NegativeOneToOne_ZRange)
 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);
+    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);
@@ -621,7 +683,8 @@ TEST(NDCDepthRangeTests, IW_NegativeOneToOne_ZRange)
 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);
+    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);
@@ -630,7 +693,8 @@ TEST(NDCDepthRangeTests, Frostbite_NegativeOneToOne_ZRange)
 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);
+    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);
@@ -639,7 +703,8 @@ TEST(NDCDepthRangeTests, Unreal_NegativeOneToOne_ZRange)
 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);
+    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);
@@ -648,9 +713,11 @@ TEST(NDCDepthRangeTests, CryEngine_NegativeOneToOne_ZRange)
 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);
+    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 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);
     };
@@ -662,9 +729,11 @@ TEST(NDCDepthRangeTests, OpenGL_NegativeOneToOne_ZRange)
 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);
+    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 proj_z = [&](float z)
+    {
         auto clip = proj * mat_column_from_vector<float>({0, 0, z});
         return clip.at(2, 0) / clip.at(3, 0);
     };

tests/general/unit_test_angle.cpp

@@ -2,10 +2,10 @@
 // Created by Orange on 11/30/2024.
 //
 
-#include <omath/trigonometry/angle.hpp>
 #include <cmath>
 #include <gtest/gtest.h>
 #include <numbers>
+#include <omath/trigonometry/angle.hpp>
 
 using namespace omath;
 
@@ -19,6 +19,12 @@ namespace
 
     constexpr float k_eps = 1e-5f;
 
+    constexpr bool close_to(const float actual, const float expected, const float epsilon)
+    {
+        const float diff = actual - expected;
+        return (diff < 0.0f ? -diff : diff) <= epsilon;
+    }
+
 } // namespace
 
 // ---------- Construction / factories ----------
@@ -190,3 +196,14 @@ TEST(UnitTestAngle, BinaryMinus_ReturnsWrappedDiff)
     const Deg c = a - b; // expect 340°
     EXPECT_FLOAT_EQ(c.as_degrees(), 340.0f);
 }
+
+static_assert(close_to(Pitch::from_degrees(0.0f).sin(), 0.0f, k_eps),
+              "Sin should be constexpr with embedded constexpr math");
+static_assert(close_to(Pitch::from_degrees(0.0f).cos(), 1.0f, k_eps),
+              "Cos should be constexpr with embedded constexpr math");
+static_assert(close_to(Pitch::from_degrees(45.0f).tan(), 1.0f, 1e-4f),
+              "Tan should be constexpr with embedded constexpr math");
+static_assert(close_to(Pitch::from_degrees(45.0f).cot(), 1.0f, 1e-4f),
+              "Cot should be constexpr with embedded constexpr math");
+static_assert(close_to(Pitch::from_degrees(45.0f).atan(), 0.66577375f, 1e-6f),
+              "Atan should be constexpr with embedded constexpr math");

tests/general/unit_test_mat.cpp

@@ -1,11 +1,23 @@
 // UnitTestMat.cpp
 #include "omath/linear_algebra/mat.hpp"
 #include "omath/linear_algebra/vector3.hpp"
+#include "omath/trigonometry/angle.hpp"
 #include "omath/trigonometry/angles.hpp"
 #include <gtest/gtest.h>
 
 using namespace omath;
 
+namespace
+{
+    using Pitch = Angle<float, static_cast<float>(-90), static_cast<float>(90), AngleFlags::Clamped>;
+
+    constexpr bool close_to(const float actual, const float expected, const float epsilon)
+    {
+        const float diff = actual - expected;
+        return (diff < 0.0f ? -diff : diff) <= epsilon;
+    }
+} // namespace
+
 class UnitTestMat : public ::testing::Test
 {
 protected:
@@ -163,7 +175,6 @@ TEST_F(UnitTestMat, StaticMethod_ToScreenMat)
     EXPECT_FLOAT_EQ(screen_mat.at(3, 3), 1.0f);
 }
 
-
 // Test exception handling in At() method
 TEST_F(UnitTestMat, Method_At_OutOfRange)
 {
@@ -211,7 +222,7 @@ TEST(UnitTestMatStandalone, Transpose_NonSquare)
 TEST(UnitTestMatStandalone, Enverse)
 {
     constexpr Mat<2, 2> m{{1.0f, 3.0f}, {2.0f, 5.0f}};
-    constexpr Mat<2,2> mv{{-5.0f, 3.0f}, {2.0f, -1.0f}};
+    constexpr Mat<2, 2> mv{{-5.0f, 3.0f}, {2.0f, -1.0f}};
 
     EXPECT_EQ(mv, m.inverted());
 }
@@ -234,9 +245,8 @@ TEST(UnitTestMatStandalone, Equanity)
 }
 TEST(UnitTestMatStandalone, MatPerspectiveLeftHanded)
 {
-    const auto perspective_proj = mat_perspective_left_handed_vertical_fov(90.f, 16.f/9.f, 0.1f, 1000.f);
+    const auto perspective_proj = mat_perspective_left_handed_vertical_fov(90.f, 16.f / 9.f, 0.1f, 1000.f);
-    auto projected = perspective_proj
+    auto projected = perspective_proj * mat_column_from_vector<float>({0, 0, 0.1001});
-                             * mat_column_from_vector<float>({0, 0, 0.1001});
 
     projected /= projected.at(3, 0);
 
@@ -245,7 +255,8 @@ TEST(UnitTestMatStandalone, MatPerspectiveLeftHanded)
 
 TEST(UnitTestMatStandalone, MatPerspectiveLeftHandedZeroToOne)
 {
-    const auto proj = mat_perspective_left_handed_vertical_fov<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+    const auto proj =
+            mat_perspective_left_handed_vertical_fov<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
@@ -267,7 +278,8 @@ TEST(UnitTestMatStandalone, MatPerspectiveLeftHandedZeroToOne)
 
 TEST(UnitTestMatStandalone, MatPerspectiveRightHandedZeroToOne)
 {
-    const auto proj = mat_perspective_right_handed_vertical_fov<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+    const auto proj =
+            mat_perspective_right_handed_vertical_fov<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
@@ -292,7 +304,8 @@ TEST(UnitTestMatStandalone, MatPerspectiveNegativeOneToOneRange)
     // Verify existing [-1, 1] behavior with explicit template arg matches default
     const auto proj_default = mat_perspective_left_handed_vertical_fov(90.f, 16.f / 9.f, 0.1f, 1000.f);
     const auto proj_explicit = mat_perspective_left_handed_vertical_fov<float, MatStoreType::ROW_MAJOR,
-            NDCDepthRange::NEGATIVE_ONE_TO_ONE>(90.f, 16.f / 9.f, 0.1f, 1000.f);
+                                                                        NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
+            90.f, 16.f / 9.f, 0.1f, 1000.f);
 
     EXPECT_EQ(proj_default, proj_explicit);
 
@@ -310,7 +323,8 @@ TEST(UnitTestMatStandalone, MatPerspectiveNegativeOneToOneRange)
 TEST(UnitTestMatStandalone, MatPerspectiveRightHandedNegOneToOne)
 {
     const auto proj = mat_perspective_right_handed_vertical_fov<float, MatStoreType::ROW_MAJOR,
-            NDCDepthRange::NEGATIVE_ONE_TO_ONE>(90.f, 16.f / 9.f, 0.1f, 1000.f);
+                                                                NDCDepthRange::NEGATIVE_ONE_TO_ONE>(90.f, 16.f / 9.f,
+                                                                                                    0.1f, 1000.f);
 
     // Near plane (negative z for RH) should map to z ~ -1
     auto near_pt = proj * mat_column_from_vector<float>({0, 0, -0.1f});
@@ -332,8 +346,9 @@ TEST(UnitTestMatStandalone, MatPerspectiveRightHandedNegOneToOne)
 TEST(UnitTestMatStandalone, MatPerspectiveLeftHandedHorizontalFovZeroToOne)
 {
     // hfov=90 deg, aspect=16/9 => tan(hfov/2)=1, so x_axis=1 and y_axis=aspect
-    const auto proj = mat_perspective_left_handed_horizontal_fov<float, MatStoreType::ROW_MAJOR,
+    const auto proj =
-            NDCDepthRange::ZERO_TO_ONE>(90.f, 16.f / 9.f, 0.1f, 1000.f);
+            mat_perspective_left_handed_horizontal_fov<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+                    90.f, 16.f / 9.f, 0.1f, 1000.f);
 
     // Near plane should map to z ~ 0
     auto near_pt = proj * mat_column_from_vector<float>({0, 0, 0.1f});
@@ -354,7 +369,8 @@ TEST(UnitTestMatStandalone, MatPerspectiveLeftHandedHorizontalFovZeroToOne)
 TEST(UnitTestMatStandalone, MatPerspectiveLeftHandedHorizontalFovNegOneToOne)
 {
     const auto proj = mat_perspective_left_handed_horizontal_fov<float, MatStoreType::ROW_MAJOR,
-            NDCDepthRange::NEGATIVE_ONE_TO_ONE>(90.f, 16.f / 9.f, 0.1f, 1000.f);
+                                                                 NDCDepthRange::NEGATIVE_ONE_TO_ONE>(90.f, 16.f / 9.f,
+                                                                                                     0.1f, 1000.f);
 
     auto near_pt = proj * mat_column_from_vector<float>({0, 0, 0.1f});
     near_pt /= near_pt.at(3, 0);
@@ -371,8 +387,9 @@ TEST(UnitTestMatStandalone, MatPerspectiveLeftHandedHorizontalFovNegOneToOne)
 
 TEST(UnitTestMatStandalone, MatPerspectiveRightHandedHorizontalFovZeroToOne)
 {
-    const auto proj = mat_perspective_right_handed_horizontal_fov<float, MatStoreType::ROW_MAJOR,
+    const auto proj =
-            NDCDepthRange::ZERO_TO_ONE>(90.f, 16.f / 9.f, 0.1f, 1000.f);
+            mat_perspective_right_handed_horizontal_fov<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+                    90.f, 16.f / 9.f, 0.1f, 1000.f);
 
     auto near_pt = proj * mat_column_from_vector<float>({0, 0, -0.1f});
     near_pt /= near_pt.at(3, 0);
@@ -390,7 +407,8 @@ TEST(UnitTestMatStandalone, MatPerspectiveRightHandedHorizontalFovZeroToOne)
 TEST(UnitTestMatStandalone, MatPerspectiveRightHandedHorizontalFovNegOneToOne)
 {
     const auto proj = mat_perspective_right_handed_horizontal_fov<float, MatStoreType::ROW_MAJOR,
-            NDCDepthRange::NEGATIVE_ONE_TO_ONE>(90.f, 16.f / 9.f, 0.1f, 1000.f);
+                                                                  NDCDepthRange::NEGATIVE_ONE_TO_ONE>(90.f, 16.f / 9.f,
+                                                                                                      0.1f, 1000.f);
 
     auto near_pt = proj * mat_column_from_vector<float>({0, 0, -0.1f});
     near_pt /= near_pt.at(3, 0);
@@ -472,9 +490,11 @@ TEST(UnitTestMatStandalone, MatPerspectiveZeroToOneEquanity)
     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_vertical_fov<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+    const auto proj_lh =
+            mat_perspective_left_handed_vertical_fov<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_vertical_fov<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+    const auto proj_rh =
+            mat_perspective_right_handed_vertical_fov<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);
@@ -518,8 +538,51 @@ 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,
+    const auto ortho_explicit =
-            NDCDepthRange::NEGATIVE_ONE_TO_ONE>(-1.f, 1.f, -1.f, 1.f, 0.1f, 100.f);
+            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);
 }
+
+static_assert(
+        []
+        {
+            constexpr auto scale = mat_extract_scale(mat_scale(Vector3{2.0f, 3.0f, 4.0f}));
+            return close_to(scale.x, 2.0f, 1e-5f) && close_to(scale.y, 3.0f, 1e-5f) && close_to(scale.z, 4.0f, 1e-5f);
+        }(),
+        "Mat scale extraction should be constexpr with embedded constexpr math");
+
+static_assert(
+        []
+        {
+            constexpr auto rotation = mat_rotation_axis_z<float>(Pitch::from_degrees(90.0f));
+            return close_to(rotation.at(0, 0), 0.0f, 1e-5f) && close_to(rotation.at(0, 1), -1.0f, 1e-5f)
+                   && close_to(rotation.at(1, 0), 1.0f, 1e-5f) && close_to(rotation.at(1, 1), 0.0f, 1e-5f)
+                   && close_to(rotation.at(2, 2), 1.0f, 1e-5f) && close_to(rotation.at(3, 3), 1.0f, 1e-5f);
+        }(),
+        "Mat rotation should be constexpr with embedded constexpr math");
+
+static_assert(
+        []
+        {
+            constexpr auto projection =
+                    mat_perspective_left_handed_vertical_fov<float, MatStoreType::ROW_MAJOR,
+                                                             NDCDepthRange::ZERO_TO_ONE>(90.0f, 1.0f, 1.0f, 11.0f);
+            return close_to(projection.at(0, 0), 1.0f, 1e-5f) && close_to(projection.at(1, 1), 1.0f, 1e-5f)
+                   && close_to(projection.at(2, 2), 1.1f, 1e-5f) && close_to(projection.at(2, 3), -1.1f, 1e-5f)
+                   && close_to(projection.at(3, 2), 1.0f, 1e-5f);
+        }(),
+        "Mat vertical-FOV perspective should be constexpr with embedded constexpr math");
+
+static_assert(
+        []
+        {
+            constexpr auto projection =
+                    mat_perspective_right_handed_horizontal_fov<float, MatStoreType::ROW_MAJOR,
+                                                                NDCDepthRange::ZERO_TO_ONE>(90.0f, 2.0f, 1.0f, 11.0f);
+            return close_to(projection.at(0, 0), 1.0f, 1e-5f) && close_to(projection.at(1, 1), 2.0f, 1e-5f)
+                   && close_to(projection.at(2, 2), -1.1f, 1e-5f) && close_to(projection.at(2, 3), -1.1f, 1e-5f)
+                   && close_to(projection.at(3, 2), -1.0f, 1e-5f);
+        }(),
+        "Mat horizontal-FOV perspective should be constexpr with embedded constexpr math");

tests/general/unit_test_projection.cpp

@@ -60,15 +60,34 @@ static void verify_random_look_at_targets_project_to_screen_center(const omath::
     }
 }
 
+constexpr bool source_camera_constexpr_projection_round_trip()
+{
+    constexpr auto fov = omath::Angle<float, 0.f, 180.f, omath::AngleFlags::Clamped>::from_degrees(90.f);
+    constexpr auto cam = omath::source_engine::Camera({0, 0, 0}, omath::source_engine::ViewAngles{}, {1920.f, 1080.f},
+                                                      fov, 0.01f, 1000.f);
+
+    constexpr auto projected = cam.world_to_screen({1000.f, 0, 50.f});
+    constexpr auto result = cam.screen_to_world(projected.value());
+    constexpr auto result2 = cam.world_to_screen(result.value());
+
+    return projected.has_value() && result.has_value() && result2.has_value()
+           && static_cast<omath::Vector2<float>>(projected.value())
+                      == static_cast<omath::Vector2<float>>(result2.value())
+           && omath::internal::abs(projected->x - 960.f) < 0.001f && omath::internal::abs(projected->y - 504.f) < 0.001f
+           && omath::internal::abs(projected->z - 1.f) < 0.001f;
+}
+
+static_assert(source_camera_constexpr_projection_round_trip());
+
 TEST(UnitTestProjection, Projection)
 {
     constexpr auto fov = omath::Angle<float, 0.f, 180.f, omath::AngleFlags::Clamped>::from_degrees(90.f);
-    const auto cam = omath::source_engine::Camera({0, 0, 0}, omath::source_engine::ViewAngles{}, {1920.f, 1080.f}, fov,
+    constexpr auto cam = omath::source_engine::Camera({0, 0, 0}, omath::source_engine::ViewAngles{}, {1920.f, 1080.f},
-                                                  0.01f, 1000.f);
+                                                      fov, 0.01f, 1000.f);
 
-    const auto projected = cam.world_to_screen({1000.f, 0, 50.f});
+    constexpr auto projected = cam.world_to_screen({1000.f, 0, 50.f});
-    const auto result = cam.screen_to_world(projected.value());
+    constexpr auto result = cam.screen_to_world(projected.value());
-    const auto result2 = cam.world_to_screen(result.value());
+    constexpr auto result2 = cam.world_to_screen(result.value());
 
     EXPECT_EQ(static_cast<omath::Vector2<float>>(projected.value()),
               static_cast<omath::Vector2<float>>(result2.value()));
@@ -565,11 +584,9 @@ 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{
+    const omath::source_engine::ViewAngles angles{omath::source_engine::PitchAngle::from_degrees(0.f),
-        omath::source_engine::PitchAngle::from_degrees(0.f),
                                                   omath::source_engine::YawAngle::from_degrees(0.f),
-        omath::source_engine::RollAngle::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());
@@ -582,11 +599,9 @@ 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{
+    const omath::source_engine::ViewAngles angles{omath::source_engine::PitchAngle::from_degrees(30.f),
-        omath::source_engine::PitchAngle::from_degrees(30.f),
                                                   omath::source_engine::YawAngle::from_degrees(45.f),
-        omath::source_engine::RollAngle::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());
@@ -599,11 +614,9 @@ 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{
+    const omath::source_engine::ViewAngles angles{omath::source_engine::PitchAngle::from_degrees(-45.f),
-        omath::source_engine::PitchAngle::from_degrees(-45.f),
                                                   omath::source_engine::YawAngle::from_degrees(-90.f),
-        omath::source_engine::RollAngle::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());
@@ -618,11 +631,9 @@ TEST(UnitTestProjection, CalcViewAnglesFromViewMatrix_OffOriginCameraIgnored)
     // 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{
+    const omath::source_engine::ViewAngles angles{omath::source_engine::PitchAngle::from_degrees(20.f),
-        omath::source_engine::PitchAngle::from_degrees(20.f),
                                                   omath::source_engine::YawAngle::from_degrees(60.f),
-        omath::source_engine::RollAngle::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 result = omath::source_engine::Camera::calc_view_angles_from_view_matrix(cam.get_view_matrix());
@@ -635,11 +646,9 @@ 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{
+    const omath::source_engine::ViewAngles angles{omath::source_engine::PitchAngle::from_degrees(10.f),
-        omath::source_engine::PitchAngle::from_degrees(10.f),
                                                   omath::source_engine::YawAngle::from_degrees(30.f),
-        omath::source_engine::RollAngle::from_degrees(15.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());
@@ -664,11 +673,9 @@ 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{
+    const omath::source_engine::ViewAngles angles{omath::source_engine::PitchAngle::from_degrees(0.f),
-        omath::source_engine::PitchAngle::from_degrees(0.f),
                                                   omath::source_engine::YawAngle::from_degrees(0.f),
-        omath::source_engine::RollAngle::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());
@@ -683,11 +690,9 @@ 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{
+    const omath::source_engine::ViewAngles angles{omath::source_engine::PitchAngle::from_degrees(30.f),
-        omath::source_engine::PitchAngle::from_degrees(30.f),
                                                   omath::source_engine::YawAngle::from_degrees(45.f),
-        omath::source_engine::RollAngle::from_degrees(0.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());
@@ -704,16 +709,12 @@ TEST(UnitTestProjection, CalcOriginFromViewMatrix_IndependentOfAngles)
     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{
+    const omath::source_engine::ViewAngles angles_a{omath::source_engine::PitchAngle::from_degrees(0.f),
-        omath::source_engine::PitchAngle::from_degrees(0.f),
                                                     omath::source_engine::YawAngle::from_degrees(0.f),
-        omath::source_engine::RollAngle::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),
-    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)
+                                                    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);
@@ -736,11 +737,9 @@ 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{
+    const omath::unity_engine::ViewAngles angles{omath::unity_engine::PitchAngle::from_degrees(0.f),
-        omath::unity_engine::PitchAngle::from_degrees(0.f),
                                                  omath::unity_engine::YawAngle::from_degrees(0.f),
-        omath::unity_engine::RollAngle::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());
@@ -753,11 +752,9 @@ 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{
+    const omath::unity_engine::ViewAngles angles{omath::unity_engine::PitchAngle::from_degrees(30.f),
-        omath::unity_engine::PitchAngle::from_degrees(30.f),
                                                  omath::unity_engine::YawAngle::from_degrees(45.f),
-        omath::unity_engine::RollAngle::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());
@@ -770,11 +767,9 @@ 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{
+    const omath::unity_engine::ViewAngles angles{omath::unity_engine::PitchAngle::from_degrees(-45.f),
-        omath::unity_engine::PitchAngle::from_degrees(-45.f),
                                                  omath::unity_engine::YawAngle::from_degrees(-90.f),
-        omath::unity_engine::RollAngle::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());
@@ -800,11 +795,9 @@ 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{
+    const omath::unity_engine::ViewAngles angles{omath::unity_engine::PitchAngle::from_degrees(0.f),
-        omath::unity_engine::PitchAngle::from_degrees(0.f),
                                                  omath::unity_engine::YawAngle::from_degrees(0.f),
-        omath::unity_engine::RollAngle::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());
@@ -818,11 +811,9 @@ 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{
+    const omath::unity_engine::ViewAngles angles{omath::unity_engine::PitchAngle::from_degrees(30.f),
-        omath::unity_engine::PitchAngle::from_degrees(30.f),
                                                  omath::unity_engine::YawAngle::from_degrees(45.f),
-        omath::unity_engine::RollAngle::from_degrees(0.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());
@@ -1120,11 +1111,9 @@ TEST(UnitTestProjection, SetViewAngles_InvalidatesViewMatrix)
     auto cam = omath::source_engine::Camera({}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
 
     const auto view_before = cam.get_view_matrix();
-    const omath::source_engine::ViewAngles rotated{
+    const omath::source_engine::ViewAngles rotated{omath::source_engine::PitchAngle::from_degrees(30.f),
-        omath::source_engine::PitchAngle::from_degrees(30.f),
                                                    omath::source_engine::YawAngle::from_degrees(45.f),
-        omath::source_engine::RollAngle::from_degrees(0.f)
+                                                   omath::source_engine::RollAngle::from_degrees(0.f)};
-    };
     cam.set_view_angles(rotated);
     const auto view_after = cam.get_view_matrix();
 
@@ -1215,11 +1204,7 @@ TEST(UnitTestProjection, TriangleInsideFrustumNotCulled)
     const auto cam = omath::source_engine::Camera({0.f, 0.f, 0.f}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
 
     // Small triangle directly in front (Source: +X forward)
-    const omath::Triangle<omath::Vector3<float>> tri{
+    const omath::Triangle<omath::Vector3<float>> tri{{100.f, 0.f, 1.f}, {100.f, 1.f, -1.f}, {100.f, -1.f, -1.f}};
-        {100.f,  0.f,  1.f},
-        {100.f,  1.f, -1.f},
-        {100.f, -1.f, -1.f}
-    };
     EXPECT_FALSE(cam.is_culled_by_frustum(tri));
 }
 
@@ -1229,11 +1214,7 @@ TEST(UnitTestProjection, TriangleBehindCameraCulled)
     const auto cam = omath::source_engine::Camera({0.f, 0.f, 0.f}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
 
     // Triangle entirely behind the camera (-X)
-    const omath::Triangle<omath::Vector3<float>> tri{
+    const omath::Triangle<omath::Vector3<float>> tri{{-100.f, 0.f, 1.f}, {-100.f, 1.f, -1.f}, {-100.f, -1.f, -1.f}};
-        {-100.f,  0.f,  1.f},
-        {-100.f,  1.f, -1.f},
-        {-100.f, -1.f, -1.f}
-    };
     EXPECT_TRUE(cam.is_culled_by_frustum(tri));
 }
 
@@ -1243,11 +1224,7 @@ TEST(UnitTestProjection, TriangleBeyondFarPlaneCulled)
     const auto cam = omath::source_engine::Camera({0.f, 0.f, 0.f}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
 
     // Triangle beyond the 1000-unit far plane
-    const omath::Triangle<omath::Vector3<float>> tri{
+    const omath::Triangle<omath::Vector3<float>> tri{{2000.f, 0.f, 1.f}, {2000.f, 1.f, -1.f}, {2000.f, -1.f, -1.f}};
-        {2000.f,  0.f,  1.f},
-        {2000.f,  1.f, -1.f},
-        {2000.f, -1.f, -1.f}
-    };
     EXPECT_TRUE(cam.is_culled_by_frustum(tri));
 }
 
@@ -1257,11 +1234,7 @@ TEST(UnitTestProjection, TriangleFarToSideCulled)
     const auto cam = omath::source_engine::Camera({0.f, 0.f, 0.f}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
 
     // Triangle far outside the side frustum planes
-    const omath::Triangle<omath::Vector3<float>> tri{
+    const omath::Triangle<omath::Vector3<float>> tri{{100.f, 5000.f, 0.f}, {100.f, 5001.f, 1.f}, {100.f, 5001.f, -1.f}};
-        {100.f, 5000.f,  0.f},
-        {100.f, 5001.f,  1.f},
-        {100.f, 5001.f, -1.f}
-    };
     EXPECT_TRUE(cam.is_culled_by_frustum(tri));
 }
 
@@ -1271,10 +1244,6 @@ TEST(UnitTestProjection, TriangleStraddlingFrustumNotCulled)
     const auto cam = omath::source_engine::Camera({0.f, 0.f, 0.f}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
 
     // Large triangle with vertices on both sides of the frustum — should not be culled
-    const omath::Triangle<omath::Vector3<float>> tri{
+    const omath::Triangle<omath::Vector3<float>> tri{{100.f, 0.f, 0.f}, {100.f, 5000.f, 0.f}, {100.f, 0.f, 5000.f}};
-        { 100.f,    0.f,   0.f},
-        { 100.f, 5000.f,   0.f},
-        { 100.f,    0.f, 5000.f}
-    };
     EXPECT_FALSE(cam.is_culled_by_frustum(tri));
 }

tests/general/unit_test_triangle.cpp

@@ -8,6 +8,15 @@
 
 using namespace omath;
 
+namespace
+{
+    constexpr bool close_to(const float actual, const float expected, const float epsilon)
+    {
+        const float diff = actual - expected;
+        return (diff < 0.0f ? -diff : diff) <= epsilon;
+    }
+} // namespace
+
 class UnitTestTriangle : public ::testing::Test
 {
 protected:
@@ -19,36 +28,21 @@ protected:
     constexpr void SetUp() override
     {
         // Triangle with vertices (0, 0, 0), (1, 0, 0), (0, 1, 0)
-        t1 = Triangle<Vector3<float>>(
+        t1 = Triangle<Vector3<float>>(Vector3(0.0f, 0.0f, 0.0f), Vector3(1.0f, 0.0f, 0.0f), Vector3(0.0f, 1.0f, 0.0f));
-            Vector3(0.0f, 0.0f, 0.0f),
-            Vector3(1.0f, 0.0f, 0.0f),
-            Vector3(0.0f, 1.0f, 0.0f)
-        );
 
         // Triangle with vertices (1, 2, 3), (4, 5, 6), (7, 8, 9)
-        t2 = Triangle<Vector3<float>>(
+        t2 = Triangle<Vector3<float>>(Vector3(1.0f, 2.0f, 3.0f), Vector3(4.0f, 5.0f, 6.0f), Vector3(7.0f, 8.0f, 9.0f));
-            Vector3(1.0f, 2.0f, 3.0f),
-            Vector3(4.0f, 5.0f, 6.0f),
-            Vector3(7.0f, 8.0f, 9.0f)
-        );
 
         // An isosceles right triangle
-        t3 = Triangle<Vector3<float>>(
+        t3 = Triangle<Vector3<float>>(Vector3(0.0f, 0.0f, 0.0f), Vector3(2.0f, 0.0f, 0.0f), Vector3(0.0f, 2.0f, 0.0f));
-            Vector3(0.0f, 0.0f, 0.0f),
-            Vector3(2.0f, 0.0f, 0.0f),
-            Vector3(0.0f, 2.0f, 0.0f)
-        );
     }
 };
 
 // Test constructor and vertices
 TEST_F(UnitTestTriangle, Constructor)
 {
-    constexpr Triangle<Vector3<float>> t(
+    constexpr Triangle<Vector3<float>> t(Vector3(1.0f, 2.0f, 3.0f), Vector3(4.0f, 5.0f, 6.0f),
-        Vector3(1.0f, 2.0f, 3.0f),
+                                         Vector3(7.0f, 8.0f, 9.0f));
-        Vector3(4.0f, 5.0f, 6.0f),
-        Vector3(7.0f, 8.0f, 9.0f)
-    );
 
     EXPECT_FLOAT_EQ(t.m_vertex1.x, 1.0f);
     EXPECT_FLOAT_EQ(t.m_vertex1.y, 2.0f);
@@ -72,7 +66,6 @@ TEST_F(UnitTestTriangle, CalculateNormal)
     EXPECT_NEAR(std::fabs(normal_t1.z), 1.0f, 1e-5f);
     EXPECT_NEAR(normal_t1.length(), 1.0f, 1e-5f);
 
-
     // For t3, we expect the normal to be along +Z as well
     const Vector3 normal_t3 = t3.calculate_normal();
     EXPECT_NEAR(std::fabs(normal_t3.z), 1.0f, 1e-5f);
@@ -83,7 +76,10 @@ TEST_F(UnitTestTriangle, SideLengths)
 {
     // For t1 side lengths
     EXPECT_FLOAT_EQ(t1.side_a_length(), std::sqrt(1.0f)); // distance between (0,0,0) and (1,0,0)
-    EXPECT_FLOAT_EQ(t1.side_b_length(), std::sqrt(1.0f + 1.0f)); // distance between (4,5,6) & (7,8,9)... but we are testing t1, so let's be accurate:
+    EXPECT_FLOAT_EQ(
+            t1.side_b_length(),
+            std::sqrt(1.0f
+                      + 1.0f)); // distance between (4,5,6) & (7,8,9)... but we are testing t1, so let's be accurate:
     // Actually, for t1: vertex2=(1,0,0), vertex3=(0,1,0)
     // Dist between (0,1,0) and (1,0,0) = sqrt((1-0)^2 + (0-1)^2) = sqrt(1 + 1) = sqrt(2)
     EXPECT_FLOAT_EQ(t1.side_b_length(), std::sqrt(2.0f));
@@ -112,7 +108,7 @@ TEST_F(UnitTestTriangle, SideVectors)
 
 TEST_F(UnitTestTriangle, IsRectangular)
 {
-    EXPECT_TRUE(Triangle<Vector3<float>>({2,0,0}, {}, {0,2,0}).is_rectangular());
+    EXPECT_TRUE(Triangle<Vector3<float>>({2, 0, 0}, {}, {0, 2, 0}).is_rectangular());
 }
 // Test midpoint
 TEST_F(UnitTestTriangle, MidPoint)
@@ -129,3 +125,18 @@ TEST_F(UnitTestTriangle, MidPoint)
     EXPECT_FLOAT_EQ(mid2.y, (2.0f + 5.0f + 8.0f) / 3.0f);
     EXPECT_FLOAT_EQ(mid2.z, (3.0f + 6.0f + 9.0f) / 3.0f);
 }
+
+static_assert(
+        []
+        {
+            constexpr Triangle<Vector3<float>> triangle{{3.0f, 0.0f, 0.0f}, {0.0f, 0.0f, 0.0f}, {0.0f, 4.0f, 0.0f}};
+            constexpr auto normal = triangle.calculate_normal();
+            constexpr auto mid_point = triangle.mid_point();
+
+            return close_to(triangle.side_a_length(), 3.0f, 1e-5f) && close_to(triangle.side_b_length(), 4.0f, 1e-5f)
+                   && close_to(triangle.hypot(), 5.0f, 1e-5f) && triangle.is_rectangular()
+                   && close_to(normal.length(), 1.0f, 1e-5f) && close_to(normal.z, -1.0f, 1e-5f)
+                   && close_to(mid_point.x, 1.0f, 1e-5f) && close_to(mid_point.y, 4.0f / 3.0f, 1e-5f)
+                   && close_to(mid_point.z, 0.0f, 1e-5f);
+        }(),
+        "Triangle helpers should be constexpr with embedded constexpr math");

tests/general/unit_test_vector2.cpp

@@ -2,10 +2,10 @@
 // Created by Vlad on 02.09.2024.
 //
 
-#include <omath/linear_algebra/vector2.hpp>
 #include <cfloat> // For FLT_MAX and FLT_MIN
 #include <cmath> // For std::isinf and std::isnan
 #include <gtest/gtest.h>
+#include <omath/linear_algebra/vector2.hpp>
 
 using namespace omath;
 
@@ -399,7 +399,6 @@ TEST_F(UnitTestVector2, GreaterEqualOperator)
     EXPECT_TRUE(omath::Vector2(1.f, 1.f) >= omath::Vector2<float>{});
 }
 
-
 // ── Cast operator tests ──────────────────────────────────────────────────────
 
 TEST(Vector2Cast, FloatToDouble)
@@ -463,3 +462,8 @@ static_assert(Vector2(1.0f, 2.0f).length_sqr() == 5.0f, "LengthSqr should be 5")
 static_assert(Vector2(1.0f, 2.0f).dot(Vector2(4.0f, 5.0f)) == 14.0f, "Dot product should be 14");
 static_assert(Vector2(4.0f, 5.0f).distance_to_sqr(Vector2(1.0f, 2.0f)) == 18.0f, "DistToSqr should be 18");
 static_assert(Vector2(-1.0f, -2.0f).abs() == Vector2(1.0f, 2.0f), "Abs should convert negative values to positive");
+
+static_assert(Vector2(3.0f, 4.0f).length() == 5.0f, "Length should be constexpr with embedded constexpr math");
+static_assert(Vector2(0.0f, 0.0f).distance_to(Vector2(3.0f, 4.0f)) == 5.0f,
+              "Distance should be constexpr with embedded constexpr math");
+static_assert(Vector2(1.0f, 1.0f) < Vector2(3.0f, 4.0f), "Comparison should be constexpr with embedded constexpr math");

tests/general/unit_test_vector3.cpp

@@ -2,11 +2,11 @@
 // Created by Vlad on 01.09.2024.
 //
 
-#include <omath/linear_algebra/vector3.hpp>
 #include <cfloat> // For FLT_MAX, FLT_MIN
 #include <cmath>
 #include <gtest/gtest.h>
 #include <limits> // For std::numeric_limits
+#include <omath/linear_algebra/vector3.hpp>
 
 using namespace omath;
 
@@ -31,35 +31,33 @@ TEST(Vector3More, ArithmeticAndDotCross)
     constexpr Vector3<float> a{1.f, 0.f, 0.f};
     constexpr Vector3<float> b{0.f, 1.f, 0.f};
     const auto c = a + b;
-    constexpr Vector3<float> expect_c{1.f,1.f,0.f};
+    constexpr Vector3<float> expect_c{1.f, 1.f, 0.f};
     EXPECT_EQ(c, expect_c);
 
     const auto d = a - b;
-    constexpr Vector3<float> expect_d{1.f,-1.f,0.f};
+    constexpr Vector3<float> expect_d{1.f, -1.f, 0.f};
     EXPECT_EQ(d, expect_d);
 
     const auto e = a * 2.f;
-    constexpr Vector3<float> expect_e{2.f,0.f,0.f};
+    constexpr Vector3<float> expect_e{2.f, 0.f, 0.f};
     EXPECT_EQ(e, expect_e);
 
     EXPECT_FLOAT_EQ(a.dot(b), 0.f);
     // manual cross product check
-    const auto cr = Vector3<float>{ a.y * b.z - a.z * b.y,
+    const auto cr = Vector3<float>{a.y * b.z - a.z * b.y, a.z * b.x - a.x * b.z, a.x * b.y - a.y * b.x};
-                              a.z * b.x - a.x * b.z,
+    constexpr Vector3<float> expect_cr{0.f, 0.f, 1.f};
-                              a.x * b.y - a.y * b.x };
-    constexpr Vector3<float> expect_cr{0.f,0.f,1.f};
     EXPECT_EQ(cr, expect_cr);
 }
 
 TEST(Vector3More, NormalizationEdgeCases)
 {
-    constexpr Vector3<double> z{0.0,0.0,0.0};
+    constexpr Vector3<double> z{0.0, 0.0, 0.0};
     const auto zn = z.normalized();
     EXPECT_DOUBLE_EQ(zn.x, 0.0);
     EXPECT_DOUBLE_EQ(zn.y, 0.0);
     EXPECT_DOUBLE_EQ(zn.z, 0.0);
 
-    constexpr Vector3<double> v{3.0,4.0,0.0};
+    constexpr Vector3<double> v{3.0, 4.0, 0.0};
     const auto vn = v.normalized();
     EXPECT_NEAR(vn.x, 0.6, 1e-12);
     EXPECT_NEAR(vn.y, 0.8, 1e-12);
@@ -481,16 +479,14 @@ TEST_F(UnitTestVector3, AsTuple)
 // Test AsTuple method
 TEST_F(UnitTestVector3, AngleBeatween)
 {
-    EXPECT_NEAR(Vector3(0.0f, 0.0f, 1.0f).angle_between({1, 0, 0}).value().as_degrees(),
+    EXPECT_NEAR(Vector3(0.0f, 0.0f, 1.0f).angle_between({1, 0, 0}).value().as_degrees(), 90.0f, 0.001f);
-                90.0f, 0.001f);
+    EXPECT_NEAR(Vector3(0.0f, 0.0f, 1.0f).angle_between({0.0f, 0.0f, 1.0f}).value().as_degrees(), 0.0f, 0.001f);
-    EXPECT_NEAR(Vector3(0.0f, 0.0f, 1.0f).angle_between({0.0f, 0.0f, 1.0f}).value().as_degrees(),
-                0.0f, 0.001f);
     EXPECT_FALSE(Vector3(0.0f, 0.0f, 0.0f).angle_between({0.0f, 0.0f, 1.0f}).has_value());
 }
 
 TEST_F(UnitTestVector3, IsPerpendicular)
 {
-    EXPECT_EQ(Vector3(0.0f, 0.0f, 1.0f).is_perpendicular({1, 0 ,0}), true);
+    EXPECT_EQ(Vector3(0.0f, 0.0f, 1.0f).is_perpendicular({1, 0, 0}), true);
     EXPECT_EQ(Vector3(0.0f, 0.0f, 1.0f).is_perpendicular({0.0f, 0.0f, 1.0f}), false);
     EXPECT_FALSE(Vector3(0.0f, 0.0f, 0.0f).is_perpendicular({0.0f, 0.0f, 1.0f}));
 }
@@ -585,4 +581,18 @@ TEST(Vector3Cast, SameTypeRoundtrip)
 static_assert(Vector3(1.0f, 2.0f, 3.0f).length_sqr() == 14.0f, "LengthSqr should be 14");
 static_assert(Vector3(1.0f, 2.0f, 3.0f).dot(Vector3(4.0f, 5.0f, 6.0f)) == 32.0f, "Dot product should be 32");
 static_assert(Vector3(4.0f, 5.0f, 6.0f).distance_to_sqr(Vector3(1.0f, 2.0f, 3.0f)) == 27.0f, "DistToSqr should be 27");
-static_assert(Vector3(-1.0f, -2.0f, -3.0f).abs() == Vector3(1.0f, 2.0f, 3.0f), "Abs should convert negative values to positive");
+static_assert(Vector3(-1.0f, -2.0f, -3.0f).abs() == Vector3(1.0f, 2.0f, 3.0f),
+              "Abs should convert negative values to positive");
+
+static_assert(Vector3(1.0f, 2.0f, 2.0f).length() == 3.0f, "Length should be constexpr with embedded constexpr math");
+static_assert(Vector3(0.0f, 0.0f, 0.0f).distance_to(Vector3(1.0f, 2.0f, 2.0f)) == 3.0f,
+              "Distance should be constexpr with embedded constexpr math");
+static_assert(Vector3(1.0f, 1.0f, 1.0f) < Vector3(3.0f, 4.0f, 5.0f),
+              "Comparison should be constexpr with embedded constexpr math");
+static_assert(
+        []
+        {
+            constexpr auto angle = Vector3(1.0f, 0.0f, 0.0f).angle_between(Vector3(0.0f, 1.0f, 0.0f));
+            return angle.has_value() && angle->as_degrees() > 89.999f && angle->as_degrees() < 90.001f;
+        }(),
+        "Angle between should be constexpr with embedded constexpr math");

tests/modules/unit_test_module.cpp

@@ -0,0 +1,11 @@
+#include <gtest/gtest.h>
+
+import omath;
+
+TEST(UnitTestModule, ImportOmath)
+{
+    const omath::Vector2<float> vec{1.f, 2.f};
+
+    EXPECT_FLOAT_EQ(vec.x, 1.f);
+    EXPECT_FLOAT_EQ(vec.y, 2.f);
+}