fix

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

@@ -87,6 +87,9 @@ jobs:
         shell: bash
         run: ${{ matrix.install_cmd }}
 
+      - name: Set up CMake and Ninja
+        uses: lukka/get-cmake@v4.3.4
+
       - name: Checkout repository (with sub-modules)
         uses: actions/checkout@v4
         with:
@@ -455,21 +458,25 @@ jobs:
         with:
           submodules: recursive
 
-      - name: Build and Test
-        uses: cross-platform-actions/action@v0.31.0
+      - name: Start FreeBSD VM
+        uses: cross-platform-actions/action@v1.3.0
         with:
           operating_system: freebsd
           architecture: ${{ matrix.arch }}
           version: '15.0'
           memory: '12G'
           cpu_count: 4
+
+      - name: Build and Test
+        shell: cpa.sh {0}
         run: |
           sudo pkg install -y git curl zip unzip gmake llvm gsed bash perl5 openssl 7-zip coreutils cmake ninja pkgconf patchelf
           git config --global --add safe.directory `pwd`
           # Build vcpkg in /tmp to avoid sshfs timestamp sync issues
           export VCPKG_ROOT=/tmp/vcpkg
           rm -rf "$VCPKG_ROOT"
-            git clone https://github.com/microsoft/vcpkg "$VCPKG_ROOT"
+          # FreeBSD 15 packages CMake 3.31; newer vcpkg requires CMake 4.3.
+          git clone --branch 2026.06.24 --depth 1 https://github.com/microsoft/vcpkg "$VCPKG_ROOT"
           cd "$VCPKG_ROOT"
           ./bootstrap-vcpkg.sh
           cd -

.github/workflows/release.yml

@@ -116,6 +116,9 @@ jobs:
         shell: bash
         run: ${{ matrix.install_cmd }}
 
+      - name: Set up CMake and Ninja
+        uses: lukka/get-cmake@v4.3.4
+
       - name: Checkout repository (with sub-modules)
         uses: actions/checkout@v4
         with:
@@ -372,21 +375,25 @@ jobs:
         with:
           submodules: recursive
 
-      - name: Build and Package
-        uses: cross-platform-actions/action@v0.31.0
+      - name: Start FreeBSD VM
+        uses: cross-platform-actions/action@v1.3.0
         with:
           operating_system: freebsd
           architecture: ${{ matrix.arch }}
           version: '15.0'
           memory: '12G'
           cpu_count: 4
+
+      - name: Build and Package
+        shell: cpa.sh {0}
         run: |
           sudo pkg install -y git curl zip unzip gmake llvm gsed bash perl5 openssl 7-zip coreutils cmake ninja pkgconf patchelf
           git config --global --add safe.directory `pwd`
           # Build vcpkg in /tmp to avoid sshfs timestamp sync issues
           export VCPKG_ROOT=/tmp/vcpkg
           rm -rf "$VCPKG_ROOT"
-            git clone https://github.com/microsoft/vcpkg "$VCPKG_ROOT"
+          # FreeBSD 15 packages CMake 3.31; newer vcpkg requires CMake 4.3.
+          git clone --branch 2026.06.24 --depth 1 https://github.com/microsoft/vcpkg "$VCPKG_ROOT"
           cd "$VCPKG_ROOT"
           ./bootstrap-vcpkg.sh
           cd -

VERSION

@@ -1 +1 @@
-5.5.1
+5.5.2

examples/example_dx12_hook/dllmain.cpp

@@ -5,6 +5,7 @@
 #include <imgui.h>
 #include <imgui_impl_dx12.h>
 #include <imgui_impl_win32.h>
+#include <mutex>
 #include <tuple>
 #include <vector>
 
@@ -13,6 +14,8 @@ bool show_menu = true;
 
 namespace
 {
+    constexpr UINT srv_heap_size = 64;
+
     struct frame_context
     {
         ID3D12Resource* render_target = nullptr;
@@ -27,15 +30,95 @@ namespace
 
     ID3D12Device* g_device = nullptr;
     ID3D12CommandQueue* g_command_queue = nullptr;
+    ID3D12CommandQueue* g_pending_command_queue = nullptr;
     IDXGISwapChain3* g_swap_chain = nullptr;
+    IUnknown* g_swap_chain_identity = nullptr;
     ID3D12DescriptorHeap* g_rtv_heap = nullptr;
     ID3D12DescriptorHeap* g_srv_heap = nullptr;
     ID3D12GraphicsCommandList* g_command_list = nullptr;
     ID3D12Fence* g_fence = nullptr;
     HANDLE g_fence_event = nullptr;
     UINT64 g_fence_value = 0;
+    UINT g_srv_descriptor_size = 0;
+    bool g_command_queue_selected = false;
+    std::mutex g_command_queue_mutex;
+    std::vector<UINT> g_free_srv_indices;
     std::vector<frame_context> g_frames;
 
+    void allocate_srv_descriptor(ImGui_ImplDX12_InitInfo*, D3D12_CPU_DESCRIPTOR_HANDLE* cpu_handle,
+                                 D3D12_GPU_DESCRIPTOR_HANDLE* gpu_handle)
+    {
+        IM_ASSERT(!g_free_srv_indices.empty());
+        const UINT index = g_free_srv_indices.back();
+        g_free_srv_indices.pop_back();
+
+        *cpu_handle = g_srv_heap->GetCPUDescriptorHandleForHeapStart();
+        *gpu_handle = g_srv_heap->GetGPUDescriptorHandleForHeapStart();
+        cpu_handle->ptr += static_cast<SIZE_T>(index) * g_srv_descriptor_size;
+        gpu_handle->ptr += static_cast<UINT64>(index) * g_srv_descriptor_size;
+    }
+
+    void free_srv_descriptor(ImGui_ImplDX12_InitInfo*, D3D12_CPU_DESCRIPTOR_HANDLE cpu_handle,
+                             D3D12_GPU_DESCRIPTOR_HANDLE gpu_handle)
+    {
+        const D3D12_CPU_DESCRIPTOR_HANDLE cpu_start = g_srv_heap->GetCPUDescriptorHandleForHeapStart();
+        const D3D12_GPU_DESCRIPTOR_HANDLE gpu_start = g_srv_heap->GetGPUDescriptorHandleForHeapStart();
+        const UINT cpu_index = static_cast<UINT>((cpu_handle.ptr - cpu_start.ptr) / g_srv_descriptor_size);
+        const UINT gpu_index = static_cast<UINT>((gpu_handle.ptr - gpu_start.ptr) / g_srv_descriptor_size);
+        IM_ASSERT(cpu_index == gpu_index && cpu_index < srv_heap_size);
+        g_free_srv_indices.push_back(cpu_index);
+    }
+
+    void remember_direct_command_queue(ID3D12CommandQueue* queue)
+    {
+        if (queue->GetDesc().Type != D3D12_COMMAND_LIST_TYPE_DIRECT)
+            return;
+
+        std::scoped_lock lock(g_command_queue_mutex);
+        if (g_command_queue_selected || g_pending_command_queue == queue)
+            return;
+
+        queue->AddRef();
+        if (g_pending_command_queue)
+            g_pending_command_queue->Release();
+        g_pending_command_queue = queue;
+    }
+
+    ID3D12CommandQueue* take_command_queue_for_device(ID3D12Device* device)
+    {
+        std::scoped_lock lock(g_command_queue_mutex);
+        if (!g_pending_command_queue)
+            return nullptr;
+
+        ID3D12Device* queue_device = nullptr;
+        if (FAILED(g_pending_command_queue->GetDevice(IID_PPV_ARGS(&queue_device))))
+            return nullptr;
+
+        const bool matches = queue_device == device;
+        queue_device->Release();
+        if (!matches)
+            return nullptr;
+
+        ID3D12CommandQueue* queue = g_pending_command_queue;
+        g_pending_command_queue = nullptr;
+        g_command_queue_selected = true;
+        return queue;
+    }
+
+    bool is_target_swap_chain(IDXGISwapChain* swap_chain)
+    {
+        if (!g_swap_chain_identity)
+            return false;
+
+        IUnknown* identity = nullptr;
+        if (FAILED(swap_chain->QueryInterface(IID_PPV_ARGS(&identity))))
+            return false;
+
+        const bool matches = identity == g_swap_chain_identity;
+        identity->Release();
+        return matches;
+    }
+
     // This fence tracks only the overlay work submitted by this DLL, not the game's whole frame.
     bool create_sync_objects()
     {
@@ -215,25 +298,62 @@ namespace
 
     void init(IDXGISwapChain* swap_chain)
     {
-        g_init_attempted = true;
-
-        if (FAILED(swap_chain->QueryInterface(IID_PPV_ARGS(&g_swap_chain))))
+        IDXGISwapChain3* swap_chain3 = nullptr;
+        if (FAILED(swap_chain->QueryInterface(IID_PPV_ARGS(&swap_chain3))))
             return;
 
-        if (FAILED(swap_chain->GetDevice(IID_PPV_ARGS(&g_device))))
+        ID3D12Device* device = nullptr;
+        if (FAILED(swap_chain->GetDevice(IID_PPV_ARGS(&device))))
+        {
+            swap_chain3->Release();
             return;
+        }
+
+        IUnknown* swap_chain_identity = nullptr;
+        if (FAILED(swap_chain->QueryInterface(IID_PPV_ARGS(&swap_chain_identity))))
+        {
+            device->Release();
+            swap_chain3->Release();
+            return;
+        }
 
         DXGI_SWAP_CHAIN_DESC desc{};
-        swap_chain->GetDesc(&desc);
+        if (FAILED(swap_chain->GetDesc(&desc)))
+        {
+            swap_chain_identity->Release();
+            device->Release();
+            swap_chain3->Release();
+            return;
+        }
+
+        ID3D12CommandQueue* command_queue = take_command_queue_for_device(device);
+        if (!command_queue)
+        {
+            swap_chain_identity->Release();
+            device->Release();
+            swap_chain3->Release();
+            return;
+        }
+
+        g_init_attempted = true;
+        g_swap_chain = swap_chain3;
+        g_swap_chain_identity = swap_chain_identity;
+        g_device = device;
+        g_command_queue = command_queue;
         const UINT buffer_count = desc.BufferCount;
 
         {
             D3D12_DESCRIPTOR_HEAP_DESC heap_desc{};
             heap_desc.Type = D3D12_DESCRIPTOR_HEAP_TYPE_CBV_SRV_UAV;
-            heap_desc.NumDescriptors = buffer_count;
+            heap_desc.NumDescriptors = srv_heap_size;
             heap_desc.Flags = D3D12_DESCRIPTOR_HEAP_FLAG_SHADER_VISIBLE;
             if (FAILED(g_device->CreateDescriptorHeap(&heap_desc, IID_PPV_ARGS(&g_srv_heap))))
                 return;
+
+            g_srv_descriptor_size = g_device->GetDescriptorHandleIncrementSize(D3D12_DESCRIPTOR_HEAP_TYPE_CBV_SRV_UAV);
+            g_free_srv_indices.reserve(srv_heap_size);
+            for (UINT i = srv_heap_size; i > 0; --i)
+                g_free_srv_indices.push_back(i - 1);
         }
 
         if (!create_render_targets(swap_chain))
@@ -252,9 +372,17 @@ namespace
         ImGui::GetIO().ConfigFlags |= ImGuiConfigFlags_NavEnableKeyboard;
 
         ImGui_ImplWin32_Init(desc.OutputWindow);
-        ImGui_ImplDX12_Init(g_device, static_cast<int>(buffer_count), desc.BufferDesc.Format, g_srv_heap,
-                            g_srv_heap->GetCPUDescriptorHandleForHeapStart(),
-                            g_srv_heap->GetGPUDescriptorHandleForHeapStart());
+
+        ImGui_ImplDX12_InitInfo init_info{};
+        init_info.Device = g_device;
+        init_info.CommandQueue = g_command_queue;
+        init_info.NumFramesInFlight = static_cast<int>(buffer_count);
+        init_info.RTVFormat = desc.BufferDesc.Format;
+        init_info.DSVFormat = DXGI_FORMAT_UNKNOWN;
+        init_info.SrvDescriptorHeap = g_srv_heap;
+        init_info.SrvDescriptorAllocFn = allocate_srv_descriptor;
+        init_info.SrvDescriptorFreeFn = free_srv_descriptor;
+        ImGui_ImplDX12_Init(&init_info);
         ImGui_ImplDX12_CreateDeviceObjects();
 
         auto& mgr = omath::hooks::HooksManager::get();
@@ -264,8 +392,10 @@ namespace
                     if (!show_menu)
                         return std::nullopt;
 
-                    ImGui_ImplWin32_WndProcHandler(h, msg, wp, lp);
+                    if (ImGui_ImplWin32_WndProcHandler(h, msg, wp, lp))
                         return true;
+
+                    return std::nullopt;
                 });
         std::ignore = mgr.hook_wnd_proc(desc.OutputWindow);
 
@@ -274,13 +404,8 @@ namespace
 
     void on_execute_command_lists(ID3D12CommandQueue* queue, UINT, ID3D12CommandList* const*)
     {
-        // The overlay records DIRECT command lists; executing them on COPY/COMPUTE queues can remove the device.
-        if (!g_command_queue)
-        {
-            const D3D12_COMMAND_QUEUE_DESC desc = queue->GetDesc();
-            if (desc.Type == D3D12_COMMAND_LIST_TYPE_DIRECT)
-                g_command_queue = queue;
-        }
+        // The most recently used DIRECT queue is the best available proxy for the swap chain's presentation queue.
+        remember_direct_command_queue(queue);
     }
 
     bool ensure_initialized(IDXGISwapChain* swap_chain)
@@ -288,7 +413,7 @@ namespace
         if (g_initialized)
             return true;
 
-        if (!g_init_attempted && g_command_queue)
+        if (!g_init_attempted)
             init(swap_chain);
 
         return false;
@@ -402,6 +527,9 @@ namespace
 
     void on_present(IDXGISwapChain* swap_chain, UINT, UINT)
     {
+        if (g_initialized && !is_target_swap_chain(swap_chain))
+            return;
+
         if (!ensure_present_resources(swap_chain) || !begin_imgui_frame())
             return;
 
@@ -413,8 +541,11 @@ namespace
         std::ignore = submit_overlay_commands(*fc);
     }
 
-    void on_resize_buffers(IDXGISwapChain*, UINT, UINT, UINT, DXGI_FORMAT, UINT)
+    void on_resize_buffers(IDXGISwapChain* swap_chain, UINT, UINT, UINT, DXGI_FORMAT, UINT)
     {
+        if (!is_target_swap_chain(swap_chain))
+            return;
+
         wait_for_gpu();
         release_command_objects();
         release_frame_contexts();
@@ -431,16 +562,36 @@ namespace
             g_srv_heap->Release();
             g_srv_heap = nullptr;
         }
+        g_srv_descriptor_size = 0;
+        g_free_srv_indices.clear();
         if (g_swap_chain)
         {
             g_swap_chain->Release();
             g_swap_chain = nullptr;
         }
+        if (g_swap_chain_identity)
+        {
+            g_swap_chain_identity->Release();
+            g_swap_chain_identity = nullptr;
+        }
         if (g_device)
         {
             g_device->Release();
             g_device = nullptr;
         }
+        if (g_command_queue)
+        {
+            g_command_queue->Release();
+            g_command_queue = nullptr;
+        }
+
+        std::scoped_lock lock(g_command_queue_mutex);
+        if (g_pending_command_queue)
+        {
+            g_pending_command_queue->Release();
+            g_pending_command_queue = nullptr;
+        }
+        g_command_queue_selected = false;
     }
 } // namespace
 

include/omath/algorithm/radar.hpp

@@ -3,6 +3,8 @@
 //
 #pragma once
 #include "omath/linear_algebra/vector3.hpp"
+#include <functional>
+#include <optional>
 #include <type_traits>
 
 namespace omath::algorithm
@@ -10,7 +12,10 @@ namespace omath::algorithm
     template<class Camera, class FloatingType>
     requires std::is_floating_point_v<FloatingType>
     [[nodiscard]]
-    constexpr Vector2<float> world_to_radar(const Camera& camera, const Vector3<FloatingType>& position, const FloatingType scale)
+    constexpr Vector2<float> world_to_radar(
+            const Camera& camera, const Vector3<FloatingType>& position, const FloatingType scale,
+            const std::optional<std::function<FloatingType(const Vector3<FloatingType>&, const Vector3<FloatingType>&)>>
+                    calc_distance = std::nullopt)
     {
         const auto look_at_angles = camera.calc_look_at_angles(position);
         const auto current_angles = camera.get_view_angles();
@@ -23,8 +28,16 @@ namespace omath::algorithm
             const auto sign = right_yaw.cos() < 0 ? -1.f : 1.f;
 
             const auto yaw = current_angles.yaw - look_at_angles.yaw - decltype(current_angles.yaw)::from_degrees(90);
+
+            auto distance = FloatingType{0};
+
+            if (calc_distance.has_value())
+                distance = calc_distance.value()(camera.get_origin(), position);
+            else
+                distance = camera.get_origin().distance_to(position);
+
             return omath::Vector2<float>(static_cast<float>(yaw.cos()) * sign, static_cast<float>(yaw.sin()))
-               * (camera.get_origin().distance_to(position) * scale);
+                   * (distance * scale);
         }
         static const auto sign = [&camera, &current_angles]
         {
@@ -36,7 +49,14 @@ namespace omath::algorithm
 
         const auto yaw = current_angles.yaw - look_at_angles.yaw - decltype(current_angles.yaw)::from_degrees(90);
 
+        auto distance = FloatingType{0};
+
+        if (calc_distance.has_value())
+            distance = calc_distance.value()(camera.get_origin(), position);
+        else
+            distance = camera.get_origin().distance_to(position);
+
         return omath::Vector2<float>(static_cast<float>(yaw.cos()) * sign, static_cast<float>(yaw.sin()))
-               * (camera.get_origin().distance_to(position) * scale);
+               * (distance * scale);
     }
 } // namespace omath::algorithm

source/lua/lua_engine_cry.cpp

@@ -0,0 +1,13 @@
+#ifdef OMATH_ENABLE_LUA
+#include "lua_engines_detail.hpp"
+#include <omath/engines/cry_engine/camera.hpp>
+
+namespace omath::lua::detail
+{
+    void register_cry_engine(sol::table& omath_table)
+    {
+        register_engine<omath::cry_engine::Camera, omath::cry_engine::PitchAngle, omath::cry_engine::ViewAngles>(
+                omath_table, "cry");
+    }
+} // namespace omath::lua::detail
+#endif

source/lua/lua_engine_frostbite.cpp

@@ -0,0 +1,13 @@
+#ifdef OMATH_ENABLE_LUA
+#include "lua_engines_detail.hpp"
+#include <omath/engines/frostbite_engine/camera.hpp>
+
+namespace omath::lua::detail
+{
+    void register_frostbite_engine(sol::table& omath_table)
+    {
+        register_engine<omath::frostbite_engine::Camera, omath::frostbite_engine::PitchAngle,
+                        omath::frostbite_engine::ViewAngles>(omath_table, "frostbite");
+    }
+} // namespace omath::lua::detail
+#endif

source/lua/lua_engine_iw.cpp

@@ -0,0 +1,13 @@
+#ifdef OMATH_ENABLE_LUA
+#include "lua_engines_detail.hpp"
+#include <omath/engines/iw_engine/camera.hpp>
+
+namespace omath::lua::detail
+{
+    void register_iw_engine(sol::table& omath_table)
+    {
+        register_engine<omath::iw_engine::Camera, omath::iw_engine::PitchAngle, omath::iw_engine::ViewAngles>(
+                omath_table, "iw");
+    }
+} // namespace omath::lua::detail
+#endif

source/lua/lua_engine_opengl.cpp

@@ -0,0 +1,13 @@
+#ifdef OMATH_ENABLE_LUA
+#include "lua_engines_detail.hpp"
+#include <omath/engines/opengl_engine/camera.hpp>
+
+namespace omath::lua::detail
+{
+    void register_opengl_engine(sol::table& omath_table)
+    {
+        register_engine<omath::opengl_engine::Camera, omath::opengl_engine::PitchAngle,
+                        omath::opengl_engine::ViewAngles>(omath_table, "opengl");
+    }
+} // namespace omath::lua::detail
+#endif

source/lua/lua_engine_rage.cpp

@@ -0,0 +1,13 @@
+#ifdef OMATH_ENABLE_LUA
+#include "lua_engines_detail.hpp"
+#include <omath/engines/rage_engine/camera.hpp>
+
+namespace omath::lua::detail
+{
+    void register_rage_engine(sol::table& omath_table)
+    {
+        register_engine<omath::rage_engine::Camera, omath::rage_engine::PitchAngle, omath::rage_engine::ViewAngles>(
+                omath_table, "rage");
+    }
+} // namespace omath::lua::detail
+#endif

source/lua/lua_engine_source.cpp

@@ -0,0 +1,13 @@
+#ifdef OMATH_ENABLE_LUA
+#include "lua_engines_detail.hpp"
+#include <omath/engines/source_engine/camera.hpp>
+
+namespace omath::lua::detail
+{
+    void register_source_engine(sol::table& omath_table)
+    {
+        register_engine<omath::source_engine::Camera, omath::source_engine::PitchAngle,
+                        omath::source_engine::ViewAngles>(omath_table, "source");
+    }
+} // namespace omath::lua::detail
+#endif

source/lua/lua_engine_unity.cpp

@@ -0,0 +1,13 @@
+#ifdef OMATH_ENABLE_LUA
+#include "lua_engines_detail.hpp"
+#include <omath/engines/unity_engine/camera.hpp>
+
+namespace omath::lua::detail
+{
+    void register_unity_engine(sol::table& omath_table)
+    {
+        register_engine<omath::unity_engine::Camera, omath::unity_engine::PitchAngle,
+                        omath::unity_engine::ViewAngles>(omath_table, "unity");
+    }
+} // namespace omath::lua::detail
+#endif

source/lua/lua_engine_unreal.cpp

@@ -0,0 +1,13 @@
+#ifdef OMATH_ENABLE_LUA
+#include "lua_engines_detail.hpp"
+#include <omath/engines/unreal_engine/camera.hpp>
+
+namespace omath::lua::detail
+{
+    void register_unreal_engine(sol::table& omath_table)
+    {
+        register_engine<omath::unreal_engine::Camera, omath::unreal_engine::PitchAngle,
+                        omath::unreal_engine::ViewAngles, double>(omath_table, "unreal");
+    }
+} // namespace omath::lua::detail
+#endif

source/lua/lua_engines.cpp

@@ -2,269 +2,75 @@
 // Created by orange on 07.03.2026.
 //
 #ifdef OMATH_ENABLE_LUA
-#include "omath/lua/lua.hpp"
-#include "omath/omath.hpp"
-#include "omath/projection/error_codes.hpp"
-#include <omath/engines/cry_engine/camera.hpp>
-#include <omath/engines/frostbite_engine/camera.hpp>
-#include <omath/engines/iw_engine/camera.hpp>
-#include <omath/engines/opengl_engine/camera.hpp>
-#include <omath/engines/rage_engine/camera.hpp>
-#include <omath/engines/source_engine/camera.hpp>
-#include <omath/engines/unity_engine/camera.hpp>
-#include <omath/engines/unreal_engine/camera.hpp>
-#include <sol/sol.hpp>
-#include <string_view>
-#include <type_traits>
-#include <utility>
-
-namespace
-{
-    // ---- Canonical shared C++ type aliases ----------------------------------
-    // Each unique template instantiation must be registered exactly once.
-
-    using PitchAngle90 = omath::Angle<float, -90.f, 90.f, omath::AngleFlags::Clamped>;
-    using PitchAngle89 = omath::Angle<float, -89.f, 89.f, omath::AngleFlags::Clamped>;
-    using SharedYawRoll = omath::Angle<float, -180.f, 180.f, omath::AngleFlags::Normalized>;
-    using SharedFoV = omath::Angle<float, 0.f, 180.f, omath::AngleFlags::Clamped>;
-    using ViewAngles90 = omath::ViewAngles<PitchAngle90, SharedYawRoll, SharedYawRoll>;
-    using ViewAngles89 = omath::ViewAngles<PitchAngle89, SharedYawRoll, SharedYawRoll>;
-
-    std::string projection_error_to_string(omath::projection::Error e)
-    {
-        switch (e)
-        {
-        case omath::projection::Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS:
-            return "world position is out of screen bounds";
-        case omath::projection::Error::INV_VIEW_PROJ_MAT_DET_EQ_ZERO:
-            return "inverse view-projection matrix determinant is zero";
-        case omath::projection::Error::PERSPECTIVE_DIVIDER_LESS_EQ_ZERO:
-            return "perspective divider is less or equal to zero";
-        }
-        return "unknown error";
-    }
-
-    template<class AngleType>
-    void register_angle(sol::table& table, const char* name)
-    {
-        table.new_usertype<AngleType>(
-                name, sol::no_constructor, "from_degrees", &AngleType::from_degrees, "from_radians",
-                &AngleType::from_radians, "as_degrees", &AngleType::as_degrees, "as_radians", &AngleType::as_radians,
-                "sin", &AngleType::sin, "cos", &AngleType::cos, "tan", &AngleType::tan, "cot", &AngleType::cot,
-                sol::meta_function::addition, [](const AngleType& a, const AngleType& b)
-                { return AngleType::from_degrees(a.as_degrees() + b.as_degrees()); }, sol::meta_function::subtraction,
-                [](const AngleType& a, const AngleType& b)
-                { return AngleType::from_degrees(a.as_degrees() - b.as_degrees()); }, sol::meta_function::unary_minus,
-                [](const AngleType& a) { return AngleType::from_degrees(-a.as_degrees()); },
-                sol::meta_function::equal_to, [](const AngleType& a, const AngleType& b) { return a == b; },
-                sol::meta_function::to_string, [](const AngleType& a) { return std::format("{}deg", a.as_degrees()); });
-    }
-
-    // Set aliases in an engine subtable pointing to the already-registered shared types
-    template<class PitchAngleType, class ViewAnglesType>
-    void set_engine_aliases(sol::table& engine_table, sol::table& types)
-    {
-        if constexpr (std::is_same_v<PitchAngleType, PitchAngle90>)
-            engine_table["PitchAngle"] = types["PitchAngle90"];
-        else
-            engine_table["PitchAngle"] = types["PitchAngle89"];
-
-        engine_table["YawAngle"] = types["YawRoll"];
-        engine_table["RollAngle"] = types["YawRoll"];
-        engine_table["FieldOfView"] = types["FieldOfView"];
-        engine_table["ViewPort"] = types["ViewPort"];
-
-        if constexpr (std::is_same_v<ViewAnglesType, ViewAngles90>)
-            engine_table["ViewAngles"] = types["ViewAngles90"];
-        else
-            engine_table["ViewAngles"] = types["ViewAngles89"];
-    }
-
-    // Register an engine: alias shared types, register unique Camera
-    template<class EngineTraits, class ArithmeticType = float>
-    requires std::is_arithmetic_v<ArithmeticType>
-    void register_engine(sol::table& omath_table, const char* subtable_name)
-    {
-        using PitchAngle = typename EngineTraits::PitchAngle;
-        using ViewAngles = typename EngineTraits::ViewAngles;
-        using Camera = typename EngineTraits::Camera;
-        using Mat4X4 = std::remove_cvref_t<decltype(std::declval<const Camera&>().get_view_matrix())>;
-
-        auto engine_table = omath_table[subtable_name].get_or_create<sol::table>();
-        auto types = omath_table["_types"].get<sol::table>();
-
-        set_engine_aliases<PitchAngle, ViewAngles>(engine_table, types);
-
-        auto camera_type = engine_table.new_usertype<Camera>(
-                "Camera",
-                sol::constructors<Camera(const omath::Vector3<ArithmeticType>&, const ViewAngles&,
-                                         const omath::projection::ViewPort&, const omath::projection::FieldOfView&,
-                                         ArithmeticType, ArithmeticType)>());
-
-        camera_type["look_at"] = &Camera::look_at;
-        camera_type["get_forward"] = &Camera::get_forward;
-        camera_type["get_right"] = &Camera::get_right;
-        camera_type["get_up"] = &Camera::get_up;
-        camera_type["get_origin"] = &Camera::get_origin;
-        camera_type["get_view_angles"] = &Camera::get_view_angles;
-        camera_type["get_near_plane"] = &Camera::get_near_plane;
-        camera_type["get_far_plane"] = &Camera::get_far_plane;
-        camera_type["get_field_of_view"] = &Camera::get_field_of_view;
-        camera_type["set_origin"] = &Camera::set_origin;
-        camera_type["set_view_angles"] = &Camera::set_view_angles;
-        camera_type["set_view_port"] = &Camera::set_view_port;
-        camera_type["set_field_of_view"] = &Camera::set_field_of_view;
-        camera_type["set_near_plane"] = &Camera::set_near_plane;
-        camera_type["set_far_plane"] = &Camera::set_far_plane;
-
-        camera_type["get_view_matrix"] = [](const Camera& cam) -> Mat4X4
-        {
-            return cam.get_view_matrix();
-        };
-        camera_type["get_projection_matrix"] = [](const Camera& cam) -> Mat4X4
-        {
-            return cam.get_projection_matrix();
-        };
-        camera_type["get_view_projection_matrix"] = [](const Camera& cam) -> Mat4X4
-        {
-            return cam.get_view_projection_matrix();
-        };
-        camera_type["extract_projection_params"] = [](const Mat4X4& projection_matrix)
-        {
-            const auto params = Camera::extract_projection_params(projection_matrix);
-            return std::make_tuple(params.fov, params.aspect_ratio);
-        };
-        camera_type["calc_view_angles_from_view_matrix"] = &Camera::calc_view_angles_from_view_matrix;
-        camera_type["calc_origin_from_view_matrix"] = &Camera::calc_origin_from_view_matrix;
-
-        camera_type["world_to_screen"] = [](const Camera& cam, const omath::Vector3<ArithmeticType>& pos)
-                -> std::tuple<sol::optional<omath::Vector3<ArithmeticType>>, sol::optional<std::string>>
-        {
-            auto result = cam.world_to_screen(pos);
-            if (result)
-                return {*result, sol::nullopt};
-            return {sol::nullopt, projection_error_to_string(result.error())};
-        };
-
-        camera_type["screen_to_world"] = [](const Camera& cam, const omath::Vector3<ArithmeticType>& pos)
-                -> std::tuple<sol::optional<omath::Vector3<ArithmeticType>>, sol::optional<std::string>>
-        {
-            auto result = cam.screen_to_world(pos);
-            if (result)
-                return {*result, sol::nullopt};
-            return {sol::nullopt, projection_error_to_string(result.error())};
-        };
-    }
-
-    // ---- Engine trait structs -----------------------------------------------
-
-    struct OpenGLEngineTraits
-    {
-        using PitchAngle = omath::opengl_engine::PitchAngle;
-        using ViewAngles = omath::opengl_engine::ViewAngles;
-        using Camera = omath::opengl_engine::Camera;
-    };
-    struct FrostbiteEngineTraits
-    {
-        using PitchAngle = omath::frostbite_engine::PitchAngle;
-        using ViewAngles = omath::frostbite_engine::ViewAngles;
-        using Camera = omath::frostbite_engine::Camera;
-    };
-    struct IWEngineTraits
-    {
-        using PitchAngle = omath::iw_engine::PitchAngle;
-        using ViewAngles = omath::iw_engine::ViewAngles;
-        using Camera = omath::iw_engine::Camera;
-    };
-    struct SourceEngineTraits
-    {
-        using PitchAngle = omath::source_engine::PitchAngle;
-        using ViewAngles = omath::source_engine::ViewAngles;
-        using Camera = omath::source_engine::Camera;
-    };
-    struct RageEngineTraits
-    {
-        using PitchAngle = omath::rage_engine::PitchAngle;
-        using ViewAngles = omath::rage_engine::ViewAngles;
-        using Camera = omath::rage_engine::Camera;
-    };
-    struct UnityEngineTraits
-    {
-        using PitchAngle = omath::unity_engine::PitchAngle;
-        using ViewAngles = omath::unity_engine::ViewAngles;
-        using Camera = omath::unity_engine::Camera;
-    };
-    struct UnrealEngineTraits
-    {
-        using PitchAngle = omath::unreal_engine::PitchAngle;
-        using ViewAngles = omath::unreal_engine::ViewAngles;
-        using Camera = omath::unreal_engine::Camera;
-    };
-    struct CryEngineTraits
-    {
-        using PitchAngle = omath::cry_engine::PitchAngle;
-        using ViewAngles = omath::cry_engine::ViewAngles;
-        using Camera = omath::cry_engine::Camera;
-    };
-} // namespace
+#include "lua_engines_detail.hpp"
 
 namespace omath::lua
 {
     void LuaInterpreter::register_shared_types(sol::table& omath_table)
     {
-        auto t = omath_table["_types"].get_or_create<sol::table>();
+        auto types = omath_table["_types"].get_or_create<sol::table>();
 
-        register_angle<PitchAngle90>(t, "PitchAngle90");
-        register_angle<PitchAngle89>(t, "PitchAngle89");
-        register_angle<SharedYawRoll>(t, "YawRoll");
-        register_angle<SharedFoV>(t, "FieldOfView");
+        detail::register_angle<detail::PitchAngle90>(types, "PitchAngle90");
+        detail::register_angle<detail::PitchAngle89>(types, "PitchAngle89");
+        detail::register_angle<detail::SharedYawRoll>(types, "YawRoll");
+        detail::register_angle<detail::SharedFoV>(types, "FieldOfView");
 
-        t.new_usertype<omath::projection::ViewPort>(
-                "ViewPort", sol::factories([](float w, float h) { return omath::projection::ViewPort{w, h}; }), "width",
-                sol::property([](const omath::projection::ViewPort& vp) { return vp.m_width; },
-                              [](omath::projection::ViewPort& vp, float val) { vp.m_width = val; }),
+        types.new_usertype<projection::ViewPort>(
+                "ViewPort",
+                sol::factories([](float width, float height) { return projection::ViewPort{width, height}; }),
+                "width",
+                sol::property([](const projection::ViewPort& view_port) { return view_port.m_width; },
+                              [](projection::ViewPort& view_port, float value) { view_port.m_width = value; }),
                 "height",
-                sol::property([](const omath::projection::ViewPort& vp) { return vp.m_height; },
-                              [](omath::projection::ViewPort& vp, float val) { vp.m_height = val; }),
-                "aspect_ratio", &omath::projection::ViewPort::aspect_ratio);
+                sol::property([](const projection::ViewPort& view_port) { return view_port.m_height; },
+                              [](projection::ViewPort& view_port, float value) { view_port.m_height = value; }),
+                "aspect_ratio", &projection::ViewPort::aspect_ratio);
 
-        t.new_usertype<ViewAngles90>(
+        types.new_usertype<detail::ViewAngles90>(
                 "ViewAngles90",
-                sol::factories([](PitchAngle90 p, SharedYawRoll y, SharedYawRoll r) { return ViewAngles90{p, y, r}; }),
+                sol::factories([](detail::PitchAngle90 pitch, detail::SharedYawRoll yaw, detail::SharedYawRoll roll)
+                               { return detail::ViewAngles90{pitch, yaw, roll}; }),
                 "pitch",
-                sol::property([](const ViewAngles90& va) { return va.pitch; },
-                              [](ViewAngles90& va, const PitchAngle90& val) { va.pitch = val; }),
+                sol::property([](const detail::ViewAngles90& view_angles) { return view_angles.pitch; },
+                              [](detail::ViewAngles90& view_angles, const detail::PitchAngle90& value)
+                              { view_angles.pitch = value; }),
                 "yaw",
-                sol::property([](const ViewAngles90& va) { return va.yaw; },
-                              [](ViewAngles90& va, const SharedYawRoll& val) { va.yaw = val; }),
+                sol::property([](const detail::ViewAngles90& view_angles) { return view_angles.yaw; },
+                              [](detail::ViewAngles90& view_angles, const detail::SharedYawRoll& value)
+                              { view_angles.yaw = value; }),
                 "roll",
-                sol::property([](const ViewAngles90& va) { return va.roll; },
-                              [](ViewAngles90& va, const SharedYawRoll& val) { va.roll = val; }));
+                sol::property([](const detail::ViewAngles90& view_angles) { return view_angles.roll; },
+                              [](detail::ViewAngles90& view_angles, const detail::SharedYawRoll& value)
+                              { view_angles.roll = value; }));
 
-        t.new_usertype<ViewAngles89>(
+        types.new_usertype<detail::ViewAngles89>(
                 "ViewAngles89",
-                sol::factories([](PitchAngle89 p, SharedYawRoll y, SharedYawRoll r) { return ViewAngles89{p, y, r}; }),
+                sol::factories([](detail::PitchAngle89 pitch, detail::SharedYawRoll yaw, detail::SharedYawRoll roll)
+                               { return detail::ViewAngles89{pitch, yaw, roll}; }),
                 "pitch",
-                sol::property([](const ViewAngles89& va) { return va.pitch; },
-                              [](ViewAngles89& va, const PitchAngle89& val) { va.pitch = val; }),
+                sol::property([](const detail::ViewAngles89& view_angles) { return view_angles.pitch; },
+                              [](detail::ViewAngles89& view_angles, const detail::PitchAngle89& value)
+                              { view_angles.pitch = value; }),
                 "yaw",
-                sol::property([](const ViewAngles89& va) { return va.yaw; },
-                              [](ViewAngles89& va, const SharedYawRoll& val) { va.yaw = val; }),
+                sol::property([](const detail::ViewAngles89& view_angles) { return view_angles.yaw; },
+                              [](detail::ViewAngles89& view_angles, const detail::SharedYawRoll& value)
+                              { view_angles.yaw = value; }),
                 "roll",
-                sol::property([](const ViewAngles89& va) { return va.roll; },
-                              [](ViewAngles89& va, const SharedYawRoll& val) { va.roll = val; }));
+                sol::property([](const detail::ViewAngles89& view_angles) { return view_angles.roll; },
+                              [](detail::ViewAngles89& view_angles, const detail::SharedYawRoll& value)
+                              { view_angles.roll = value; }));
     }
 
     void LuaInterpreter::register_engines(sol::table& omath_table)
     {
-        register_engine<OpenGLEngineTraits>(omath_table, "opengl");
-        register_engine<FrostbiteEngineTraits>(omath_table, "frostbite");
-        register_engine<IWEngineTraits>(omath_table, "iw");
-        register_engine<SourceEngineTraits>(omath_table, "source");
-        register_engine<RageEngineTraits>(omath_table, "rage");
-        register_engine<UnityEngineTraits>(omath_table, "unity");
-        register_engine<UnrealEngineTraits, double>(omath_table, "unreal");
-        register_engine<CryEngineTraits>(omath_table, "cry");
+        detail::register_opengl_engine(omath_table);
+        detail::register_frostbite_engine(omath_table);
+        detail::register_iw_engine(omath_table);
+        detail::register_source_engine(omath_table);
+        detail::register_rage_engine(omath_table);
+        detail::register_unity_engine(omath_table);
+        detail::register_unreal_engine(omath_table);
+        detail::register_cry_engine(omath_table);
     }
-} // namespace omath::lua::detail
+} // namespace omath::lua
 #endif

source/lua/lua_engines_detail.hpp

@@ -0,0 +1,142 @@
+#pragma once
+
+#include "omath/lua/lua.hpp"
+#include "omath/projection/camera.hpp"
+#include "omath/projection/error_codes.hpp"
+#include "omath/trigonometry/view_angles.hpp"
+#include <sol/sol.hpp>
+#include <format>
+#include <string>
+#include <tuple>
+#include <type_traits>
+#include <utility>
+
+namespace omath::lua::detail
+{
+    using PitchAngle90 = Angle<float, -90.f, 90.f, AngleFlags::Clamped>;
+    using PitchAngle89 = Angle<float, -89.f, 89.f, AngleFlags::Clamped>;
+    using SharedYawRoll = Angle<float, -180.f, 180.f, AngleFlags::Normalized>;
+    using SharedFoV = Angle<float, 0.f, 180.f, AngleFlags::Clamped>;
+    using ViewAngles90 = ViewAngles<PitchAngle90, SharedYawRoll, SharedYawRoll>;
+    using ViewAngles89 = ViewAngles<PitchAngle89, SharedYawRoll, SharedYawRoll>;
+
+    inline std::string projection_error_to_string(projection::Error error)
+    {
+        switch (error)
+        {
+        case projection::Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS:
+            return "world position is out of screen bounds";
+        case projection::Error::INV_VIEW_PROJ_MAT_DET_EQ_ZERO:
+            return "inverse view-projection matrix determinant is zero";
+        case projection::Error::PERSPECTIVE_DIVIDER_LESS_EQ_ZERO:
+            return "perspective divider is less or equal to zero";
+        }
+        return "unknown error";
+    }
+
+    template<class AngleType>
+    void register_angle(sol::table& table, const char* name)
+    {
+        table.new_usertype<AngleType>(
+                name, sol::no_constructor, "from_degrees", &AngleType::from_degrees, "from_radians",
+                &AngleType::from_radians, "as_degrees", &AngleType::as_degrees, "as_radians", &AngleType::as_radians,
+                "sin", &AngleType::sin, "cos", &AngleType::cos, "tan", &AngleType::tan, "cot", &AngleType::cot,
+                sol::meta_function::addition, [](const AngleType& a, const AngleType& b)
+                { return AngleType::from_degrees(a.as_degrees() + b.as_degrees()); }, sol::meta_function::subtraction,
+                [](const AngleType& a, const AngleType& b)
+                { return AngleType::from_degrees(a.as_degrees() - b.as_degrees()); }, sol::meta_function::unary_minus,
+                [](const AngleType& a) { return AngleType::from_degrees(-a.as_degrees()); },
+                sol::meta_function::equal_to, [](const AngleType& a, const AngleType& b) { return a == b; },
+                sol::meta_function::to_string, [](const AngleType& a) { return std::format("{}deg", a.as_degrees()); });
+    }
+
+    template<class PitchAngleType, class ViewAnglesType>
+    void set_engine_aliases(sol::table& engine_table, sol::table& types)
+    {
+        if constexpr (std::is_same_v<PitchAngleType, PitchAngle90>)
+            engine_table["PitchAngle"] = types["PitchAngle90"];
+        else
+            engine_table["PitchAngle"] = types["PitchAngle89"];
+
+        engine_table["YawAngle"] = types["YawRoll"];
+        engine_table["RollAngle"] = types["YawRoll"];
+        engine_table["FieldOfView"] = types["FieldOfView"];
+        engine_table["ViewPort"] = types["ViewPort"];
+
+        if constexpr (std::is_same_v<ViewAnglesType, ViewAngles90>)
+            engine_table["ViewAngles"] = types["ViewAngles90"];
+        else
+            engine_table["ViewAngles"] = types["ViewAngles89"];
+    }
+
+    template<class Camera, class PitchAngleType, class ViewAnglesType, class ArithmeticType = float>
+    requires std::is_arithmetic_v<ArithmeticType>
+    void register_engine(sol::table& omath_table, const char* subtable_name)
+    {
+        using Mat4X4 = std::remove_cvref_t<decltype(std::declval<const Camera&>().get_view_matrix())>;
+
+        auto engine_table = omath_table[subtable_name].get_or_create<sol::table>();
+        auto types = omath_table["_types"].get<sol::table>();
+
+        set_engine_aliases<PitchAngleType, ViewAnglesType>(engine_table, types);
+
+        auto camera_type = engine_table.new_usertype<Camera>(
+                "Camera",
+                sol::constructors<Camera(const Vector3<ArithmeticType>&, const ViewAnglesType&,
+                                         const projection::ViewPort&, const projection::FieldOfView&, ArithmeticType,
+                                         ArithmeticType)>());
+
+        camera_type["look_at"] = &Camera::look_at;
+        camera_type["get_forward"] = &Camera::get_forward;
+        camera_type["get_right"] = &Camera::get_right;
+        camera_type["get_up"] = &Camera::get_up;
+        camera_type["get_origin"] = &Camera::get_origin;
+        camera_type["get_view_angles"] = &Camera::get_view_angles;
+        camera_type["get_near_plane"] = &Camera::get_near_plane;
+        camera_type["get_far_plane"] = &Camera::get_far_plane;
+        camera_type["get_field_of_view"] = &Camera::get_field_of_view;
+        camera_type["set_origin"] = &Camera::set_origin;
+        camera_type["set_view_angles"] = &Camera::set_view_angles;
+        camera_type["set_view_port"] = &Camera::set_view_port;
+        camera_type["set_field_of_view"] = &Camera::set_field_of_view;
+        camera_type["set_near_plane"] = &Camera::set_near_plane;
+        camera_type["set_far_plane"] = &Camera::set_far_plane;
+        camera_type["get_view_matrix"] = [](const Camera& camera) -> Mat4X4 { return camera.get_view_matrix(); };
+        camera_type["get_projection_matrix"] = [](const Camera& camera) -> Mat4X4
+        { return camera.get_projection_matrix(); };
+        camera_type["get_view_projection_matrix"] = [](const Camera& camera) -> Mat4X4
+        { return camera.get_view_projection_matrix(); };
+        camera_type["extract_projection_params"] = [](const Mat4X4& projection_matrix)
+        {
+            const auto params = Camera::extract_projection_params(projection_matrix);
+            return std::make_tuple(params.fov, params.aspect_ratio);
+        };
+        camera_type["calc_view_angles_from_view_matrix"] = &Camera::calc_view_angles_from_view_matrix;
+        camera_type["calc_origin_from_view_matrix"] = &Camera::calc_origin_from_view_matrix;
+        camera_type["world_to_screen"] = [](const Camera& camera, const Vector3<ArithmeticType>& position)
+                -> std::tuple<sol::optional<Vector3<ArithmeticType>>, sol::optional<std::string>>
+        {
+            auto result = camera.world_to_screen(position);
+            if (result)
+                return {*result, sol::nullopt};
+            return {sol::nullopt, projection_error_to_string(result.error())};
+        };
+        camera_type["screen_to_world"] = [](const Camera& camera, const Vector3<ArithmeticType>& position)
+                -> std::tuple<sol::optional<Vector3<ArithmeticType>>, sol::optional<std::string>>
+        {
+            auto result = camera.screen_to_world(position);
+            if (result)
+                return {*result, sol::nullopt};
+            return {sol::nullopt, projection_error_to_string(result.error())};
+        };
+    }
+
+    void register_opengl_engine(sol::table& omath_table);
+    void register_frostbite_engine(sol::table& omath_table);
+    void register_iw_engine(sol::table& omath_table);
+    void register_source_engine(sol::table& omath_table);
+    void register_rage_engine(sol::table& omath_table);
+    void register_unity_engine(sol::table& omath_table);
+    void register_unreal_engine(sol::table& omath_table);
+    void register_cry_engine(sol::table& omath_table);
+} // namespace omath::lua::detail

tests/general/unit_test_projection.cpp

@@ -1286,7 +1286,6 @@ TEST(UnitTestProjection, TriangleStraddlingFrustumNotCulled)
     constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
     constexpr auto cam = omath::source_engine::Camera({0.f, 0.f, 0.f}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
 
-    constexpr auto position = omath::algorithm::world_to_radar(cam, {-1.f, 0.f, 0.f}, 0.1f);
     // Large triangle with vertices on both sides of the frustum — should not be culled
     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}};
     EXPECT_FALSE(cam.is_culled_by_frustum(tri));

tests/general/unit_test_radar.cpp

@@ -91,6 +91,38 @@ static void verify_world_to_radar_ignores_camera_pitch(const Vector3<NumericType
     EXPECT_NEAR(forward_radar.y, -radar_distance, 1e-4f);
 }
 
+template<class CameraType, class NumericType>
+static void verify_world_to_radar_uses_custom_distance(const Vector3<NumericType>& world_forward)
+{
+    const Vector3<NumericType> origin{NumericType{10}, NumericType{-20}, NumericType{5}};
+    const NumericType world_distance = NumericType{20};
+    const NumericType custom_distance = NumericType{6};
+    const NumericType scale = NumericType{0.5};
+    const auto radar_distance = static_cast<float>(custom_distance * scale);
+
+    CameraType camera{
+            origin,           {}, {1280.f, 720.f}, projection::FieldOfView::from_degrees(90.f), NumericType{0.01},
+            NumericType{1000}};
+
+    const auto forward_position = origin + world_forward * world_distance;
+    auto custom_distance_called = false;
+    const std::optional<std::function<NumericType(const Vector3<NumericType>&, const Vector3<NumericType>&)>>
+            calc_distance{[&custom_distance_called, &origin, &forward_position,
+                           custom_distance](const Vector3<NumericType>& distance_origin,
+                                            const Vector3<NumericType>& distance_position)
+                          {
+                              custom_distance_called = true;
+                              EXPECT_EQ(distance_origin, origin);
+                              EXPECT_EQ(distance_position, forward_position);
+                              return custom_distance;
+                          }};
+    const auto forward_radar = algorithm::world_to_radar(camera, forward_position, scale, calc_distance);
+
+    EXPECT_TRUE(custom_distance_called);
+    EXPECT_NEAR(forward_radar.x, 0.f, 1e-4f);
+    EXPECT_NEAR(forward_radar.y, -radar_distance, 1e-4f);
+}
+
 TEST(WorldToRadarTests, SourceEngineCamera)
 {
     verify_world_to_radar_uses_engine_world_axes<source_engine::Camera, float>(source_engine::k_abs_forward,
@@ -98,6 +130,7 @@ TEST(WorldToRadarTests, SourceEngineCamera)
     verify_world_to_radar_uses_changed_camera_yaw<source_engine::Camera, float>(-90.f, source_engine::k_abs_forward,
                                                                                 source_engine::k_abs_right);
     verify_world_to_radar_ignores_camera_pitch<source_engine::Camera, float>(source_engine::k_abs_forward);
+    verify_world_to_radar_uses_custom_distance<source_engine::Camera, float>(source_engine::k_abs_forward);
 }
 
 TEST(WorldToRadarTests, IWEngineCamera)
@@ -107,6 +140,7 @@ TEST(WorldToRadarTests, IWEngineCamera)
     verify_world_to_radar_uses_changed_camera_yaw<iw_engine::Camera, float>(-90.f, iw_engine::k_abs_forward,
                                                                             iw_engine::k_abs_right);
     verify_world_to_radar_ignores_camera_pitch<iw_engine::Camera, float>(iw_engine::k_abs_forward);
+    verify_world_to_radar_uses_custom_distance<iw_engine::Camera, float>(iw_engine::k_abs_forward);
 }
 
 TEST(WorldToRadarTests, FrostbiteEngineCamera)
@@ -116,6 +150,7 @@ TEST(WorldToRadarTests, FrostbiteEngineCamera)
     verify_world_to_radar_uses_changed_camera_yaw<frostbite_engine::Camera, float>(
             90.f, frostbite_engine::k_abs_forward, frostbite_engine::k_abs_right);
     verify_world_to_radar_ignores_camera_pitch<frostbite_engine::Camera, float>(frostbite_engine::k_abs_forward);
+    verify_world_to_radar_uses_custom_distance<frostbite_engine::Camera, float>(frostbite_engine::k_abs_forward);
 }
 
 TEST(WorldToRadarTests, OpenGLEngineCamera)
@@ -125,6 +160,7 @@ TEST(WorldToRadarTests, OpenGLEngineCamera)
     verify_world_to_radar_uses_changed_camera_yaw<opengl_engine::Camera, float>(-90.f, opengl_engine::k_abs_forward,
                                                                                 opengl_engine::k_abs_right);
     verify_world_to_radar_ignores_camera_pitch<opengl_engine::Camera, float>(opengl_engine::k_abs_forward);
+    verify_world_to_radar_uses_custom_distance<opengl_engine::Camera, float>(opengl_engine::k_abs_forward);
 }
 
 TEST(WorldToRadarTests, UnityEngineCamera)
@@ -134,6 +170,7 @@ TEST(WorldToRadarTests, UnityEngineCamera)
     verify_world_to_radar_uses_changed_camera_yaw<unity_engine::Camera, float>(90.f, unity_engine::k_abs_forward,
                                                                                unity_engine::k_abs_right);
     verify_world_to_radar_ignores_camera_pitch<unity_engine::Camera, float>(unity_engine::k_abs_forward);
+    verify_world_to_radar_uses_custom_distance<unity_engine::Camera, float>(unity_engine::k_abs_forward);
 }
 
 TEST(WorldToRadarTests, CryEngineCamera)
@@ -143,6 +180,7 @@ TEST(WorldToRadarTests, CryEngineCamera)
     verify_world_to_radar_uses_changed_camera_yaw<cry_engine::Camera, float>(-90.f, cry_engine::k_abs_forward,
                                                                              cry_engine::k_abs_right);
     verify_world_to_radar_ignores_camera_pitch<cry_engine::Camera, float>(cry_engine::k_abs_forward);
+    verify_world_to_radar_uses_custom_distance<cry_engine::Camera, float>(cry_engine::k_abs_forward);
 }
 
 TEST(WorldToRadarTests, RageEngineCamera)
@@ -152,6 +190,7 @@ TEST(WorldToRadarTests, RageEngineCamera)
     verify_world_to_radar_uses_changed_camera_yaw<rage_engine::Camera, float>(-90.f, rage_engine::k_abs_forward,
                                                                               rage_engine::k_abs_right);
     verify_world_to_radar_ignores_camera_pitch<rage_engine::Camera, float>(rage_engine::k_abs_forward);
+    verify_world_to_radar_uses_custom_distance<rage_engine::Camera, float>(rage_engine::k_abs_forward);
 }
 
 TEST(WorldToRadarTests, UnrealEngineCamera)
@@ -161,4 +200,5 @@ TEST(WorldToRadarTests, UnrealEngineCamera)
     verify_world_to_radar_uses_changed_camera_yaw<unreal_engine::Camera, double>(90.f, unreal_engine::k_abs_forward,
                                                                                  unreal_engine::k_abs_right);
     verify_world_to_radar_ignores_camera_pitch<unreal_engine::Camera, double>(unreal_engine::k_abs_forward);
+    verify_world_to_radar_uses_custom_distance<unreal_engine::Camera, double>(unreal_engine::k_abs_forward);
 }