improvement

docs/trigonometry/angle.md

@@ -3,8 +3,8 @@
 > Header: `omath/trigonometry/angle.hpp`
 > Namespace: `omath`
 > Template: `Angle<Type = float, min = 0, max = 360, flags = AngleFlags::Normalized>`
-> Requires: `std::is_arithmetic_v<Type>`
-> Formatters: `std::formatter` for `char`, `wchar_t`, `char8_t` → `"{}deg"`
+> Requires: `std::is_floating_point_v<Type>`
+> Formatters: `std::formatter` for `char` and `wchar_t` → `"{}deg"`
 
 ---
 
@@ -14,7 +14,7 @@
 
 Two behaviors via `AngleFlags`:
 
-* `AngleFlags::Normalized` (default): values are wrapped into `[min, max]` using `angles::wrap_angle`.
+* `AngleFlags::Normalized` (default): values are wrapped into `[min, max)` using `angles::wrap_angle`.
 * `AngleFlags::Clamped`: values are clamped to `[min, max]` using `std::clamp`.
 
 ---
@@ -28,12 +28,16 @@ enum class AngleFlags { Normalized = 0, Clamped = 1 };
 
 template<class Type = float, Type min = Type(0), Type max = Type(360),
          AngleFlags flags = AngleFlags::Normalized>
-requires std::is_arithmetic_v<Type>
+requires std::is_floating_point_v<Type>
 class Angle {
 public:
   // Construction
   static constexpr Angle from_degrees(const Type& deg) noexcept;
   static constexpr Angle from_radians(const Type& rad) noexcept;
+  static constexpr Angle from_asin(const Type& value) noexcept;
+  static constexpr Angle from_acos(const Type& value) noexcept;
+  static constexpr Angle from_atan(const Type& value) noexcept;
+  static constexpr Angle from_atan2(const Type& y, const Type& x) noexcept;
   constexpr Angle() noexcept;                  // 0 deg, adjusted by flags/range
 
   // Accessors / conversions (degrees stored internally)
@@ -45,10 +49,9 @@ public:
   Type sin() const noexcept;
   Type cos() const noexcept;
   Type tan() const noexcept;
-  Type atan() const noexcept;  // atan(as_radians())  (rarely used)
   Type cot() const noexcept;   // cos()/sin()  (watch sin≈0)
 
-  // Arithmetic (wraps or clamps per flags and [min,max])
+  // Arithmetic (wraps or clamps per flags and configured range)
   constexpr Angle& operator+=(const Angle&) noexcept;
   constexpr Angle& operator-=(const Angle&) noexcept;
   constexpr Angle  operator+(const Angle&) noexcept;
@@ -68,7 +71,7 @@ public:
 std::format("{}", Angle<float>::from_degrees(45)); // "45deg"
 ```
 
-Formatters exist for `char`, `wchar_t`, and `char8_t`.
+Formatters exist for `char` and `wchar_t`.
 
 ---
 
@@ -116,10 +119,9 @@ float deg = *yaw;                                // same as yaw.as_degrees()
 ## Semantics & notes
 
 * **Storage & units:** Internally stores **degrees** (`Type m_angle`). `as_radians()`/`from_radians()` use the project helpers in `omath::angles`.
-* **Arithmetic honors policy:** `operator+=`/`-=` and the binary `+`/`-` apply **wrap** or **clamp** in `[min,max]`, mirroring construction behavior.
-* **`atan()`**: returns `std::atan(as_radians())` (the arctangent of the *radian value*). This is mathematically unusual for an angle type and is rarely useful; prefer `tan()`/`atan2` in client code when solving geometry problems.
+* **Arithmetic honors policy:** `operator+=`/`-=` and the binary `+`/`-` apply **wrap** or **clamp**, mirroring construction behavior.
 * **`cot()` / `tan()` singularities:** Near multiples where `sin() ≈ 0` or `cos() ≈ 0`, results blow up. Guard in your usage if inputs can approach these points.
-* **Comparison:** `operator<=>` is defaulted. With normalization, distinct representatives can compare as expected (e.g., `-180` vs `180` in signed ranges are distinct endpoints).
+* **Comparison:** `operator<=>` is defaulted. Normalization canonicalizes the maximum endpoint to the minimum endpoint.
 * **No implicit numeric conversion:** There’s **no `operator Type()`**. Use `as_degrees()`/`as_radians()` (or `*angle`) explicitly—this intentional friction avoids unit mistakes.
 
 ---

docs/trigonometry/angles.md

@@ -4,7 +4,7 @@
 > Namespace: `omath::angles`
 > All functions are `[[nodiscard]]` and `noexcept` where applicable.
 
-A small set of constexpr-friendly utilities for converting between degrees/radians, converting horizontal/vertical field of view, and wrapping angles into a closed interval.
+A small set of constexpr-friendly utilities for converting between degrees/radians, converting horizontal/vertical field of view, and wrapping angles into a half-open interval.
 
 ---
 
@@ -29,9 +29,9 @@ template<class Type>
 requires std::is_floating_point_v<Type>
 Type vertical_fov_to_horizontal(const Type& vertical_fov, const Type& aspect) noexcept;
 
-// Wrap angle into [min, max] (any arithmetic type)
+// Wrap angle into [min, max) (floating-point types)
 template<class Type>
-requires std::is_arithmetic_v<Type>
+requires std::is_floating_point_v<Type>
 Type wrap_angle(const Type& angle, const Type& min, const Type& max) noexcept;
 ```
 
@@ -66,10 +66,10 @@ Formulas (in radians):
 
 ### Wrapping angles (or any periodic value)
 
-Wrap any numeric `angle` into `[min, max]`:
+Wrap any floating-point `angle` into `[min, max)`:
 
 ```cpp
-// Wrap degrees into [0, 360]
+// Wrap degrees into [0, 360)
 float a = omath::angles::wrap_angle(   370.0f, 0.0f, 360.0f); // 10
 float b = omath::angles::wrap_angle(   -15.0f, 0.0f, 360.0f); // 345
 // Signed range [-180,180]
@@ -83,10 +83,10 @@ float c = omath::angles::wrap_angle(  200.0f, -180.0f, 180.0f); // -160
 * **Type requirements**
 
     * Converters & FOV helpers require **floating-point** `Type`.
-    * `wrap_angle` accepts any arithmetic `Type` (floats or integers).
+    * `wrap_angle` accepts floating-point types.
 * **Aspect ratio** must be **positive** and finite. For `aspect == 0` the FOV helpers are undefined.
 * **Units**: FOV functions accept/return **degrees** but compute internally in radians.
-* **Wrapping interval**: Behavior assumes `max > min`. The result lies in the **closed interval** `[min, max]` with modulo arithmetic; if you need half-open behavior (e.g., `[min,max)`), adjust your range or post-process endpoint cases.
+* **Wrapping interval**: Behavior assumes `max > min`. The result lies in the half-open interval `[min, max)`.
 * **constexpr**: Converters are `constexpr`; FOV helpers are runtime constexpr-compatible except for `std::atan/std::tan` constraints on some standard libraries.
 
 ---
@@ -103,5 +103,5 @@ float v = horizontal_fov_to_vertical(90.0f, 16.0f/9.0f);
 float h = vertical_fov_to_horizontal(v, 16.0f/9.0f);
 assert(std::abs(h - 90.0f) < 1e-5f);
 
-assert(wrap_angle(360.0f, 0.0f, 360.0f) == 0.0f || wrap_angle(360.0f, 0.0f, 360.0f) == 360.0f);
+assert(wrap_angle(360.0f, 0.0f, 360.0f) == 0.0f);
 ```

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

@@ -4,7 +4,6 @@
 
 #pragma once
 #include "omath/engines/cry_engine/formulas.hpp"
-#include "omath/internal/constexpr_math.hpp"
 #include "omath/projection/camera.hpp"
 namespace omath::cry_engine
 {
@@ -16,8 +15,8 @@ namespace omath::cry_engine
                                                        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)};
+            return {PitchAngle::from_asin(direction.z), -YawAngle::from_atan2(direction.x, direction.y),
+                    RollAngle::from_radians(0.f)};
         }
 
         [[nodiscard("view matrix result should not be discarded")]]

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

@@ -4,7 +4,6 @@
 
 #pragma once
 #include "omath/engines/frostbite_engine/formulas.hpp"
-#include "omath/internal/constexpr_math.hpp"
 #include "omath/projection/camera.hpp"
 
 namespace omath::frostbite_engine
@@ -18,8 +17,8 @@ namespace omath::frostbite_engine
         {
             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)};
+            return {-PitchAngle::from_asin(direction.y), YawAngle::from_atan2(direction.x, direction.z),
+                    RollAngle::from_radians(0.f)};
         }
 
         [[nodiscard("view matrix result should not be discarded")]]

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

@@ -4,7 +4,6 @@
 
 #pragma once
 #include "omath/engines/iw_engine/formulas.hpp"
-#include "omath/internal/constexpr_math.hpp"
 #include "omath/projection/camera.hpp"
 
 namespace omath::iw_engine
@@ -18,8 +17,8 @@ namespace omath::iw_engine
         {
             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)};
+            return {-PitchAngle::from_asin(direction.z), YawAngle::from_atan2(direction.y, direction.x),
+                    RollAngle::from_radians(0.f)};
         }
 
         [[nodiscard("view matrix result should not be discarded")]]

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

@@ -4,7 +4,6 @@
 
 #pragma once
 #include "omath/engines/opengl_engine/formulas.hpp"
-#include "omath/internal/constexpr_math.hpp"
 #include "omath/projection/camera.hpp"
 
 namespace omath::opengl_engine
@@ -18,8 +17,8 @@ namespace omath::opengl_engine
         {
             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)};
+            return {PitchAngle::from_asin(direction.y), -YawAngle::from_atan2(direction.x, -direction.z),
+                    RollAngle::from_radians(0.f)};
         }
 
         [[nodiscard("view matrix result should not be discarded")]]

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

@@ -4,7 +4,6 @@
 
 #pragma once
 #include "omath/engines/rage_engine/formulas.hpp"
-#include "omath/internal/constexpr_math.hpp"
 #include "omath/projection/camera.hpp"
 
 namespace omath::rage_engine
@@ -18,8 +17,8 @@ namespace omath::rage_engine
         {
             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)};
+            return {PitchAngle::from_asin(direction.z), -YawAngle::from_atan2(direction.x, direction.y),
+                    RollAngle::from_radians(0.f)};
         }
 
         [[nodiscard("view matrix result should not be discarded")]]

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

@@ -4,7 +4,6 @@
 
 #pragma once
 #include "omath/engines/source_engine/formulas.hpp"
-#include "omath/internal/constexpr_math.hpp"
 #include "omath/projection/camera.hpp"
 
 namespace omath::source_engine
@@ -18,8 +17,8 @@ namespace omath::source_engine
         {
             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)};
+            return {-PitchAngle::from_asin(direction.z),
+                    YawAngle::from_atan2(direction.y, direction.x), RollAngle::from_radians(0.f)};
         }
 
         [[nodiscard("view matrix result should not be discarded")]]

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

@@ -4,7 +4,6 @@
 
 #pragma once
 #include "omath/engines/unity_engine/formulas.hpp"
-#include "omath/internal/constexpr_math.hpp"
 #include "omath/projection/camera.hpp"
 
 namespace omath::unity_engine
@@ -18,8 +17,8 @@ namespace omath::unity_engine
         {
             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)};
+            return {-PitchAngle::from_asin(direction.y), YawAngle::from_atan2(direction.x, direction.z),
+                    RollAngle::from_radians(0.f)};
         }
 
         [[nodiscard("view matrix result should not be discarded")]]

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

@@ -4,7 +4,6 @@
 
 #pragma once
 #include "omath/engines/unreal_engine/formulas.hpp"
-#include "omath/internal/constexpr_math.hpp"
 #include "omath/projection/camera.hpp"
 
 namespace omath::unreal_engine
@@ -18,8 +17,8 @@ namespace omath::unreal_engine
         {
             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)};
+            return {PitchAngle::from_asin(direction.z), YawAngle::from_atan2(direction.y, direction.x),
+                    RollAngle::from_radians(0.f)};
         }
 
         [[nodiscard("view matrix result should not be discarded")]]

include/omath/trigonometry/angle.hpp

@@ -6,7 +6,9 @@
 #include "omath/internal/constexpr_math.hpp"
 #include "omath/trigonometry/angles.hpp"
 #include <algorithm>
+#include <compare>
 #include <format>
+#include <type_traits>
 #include <utility>
 
 namespace omath
@@ -18,7 +20,7 @@ namespace omath
     };
 
     template<class Type = float, Type min = Type(0), Type max = Type(360), AngleFlags flags = AngleFlags::Normalized>
-    requires std::is_arithmetic_v<Type>
+    requires std::is_floating_point_v<Type>
     class Angle
     {
         Type m_angle;
@@ -43,7 +45,7 @@ namespace omath
         {
             return Angle{degrees};
         }
-        constexpr Angle() noexcept: m_angle(0)
+        constexpr Angle() noexcept: Angle(Type{0})
         {
         }
         [[nodiscard]]
@@ -52,6 +54,30 @@ namespace omath
             return Angle{angles::radians_to_degrees<Type>(degrees)};
         }
 
+        [[nodiscard]]
+        constexpr static Angle from_asin(const Type& value) noexcept
+        {
+            return from_radians(internal::asin(value));
+        }
+
+        [[nodiscard]]
+        constexpr static Angle from_acos(const Type& value) noexcept
+        {
+            return from_radians(internal::acos(value));
+        }
+
+        [[nodiscard]]
+        constexpr static Angle from_atan(const Type& value) noexcept
+        {
+            return from_radians(internal::atan(value));
+        }
+
+        [[nodiscard]]
+        constexpr static Angle from_atan2(const Type& y, const Type& x) noexcept
+        {
+            return from_radians(internal::atan2(y, x));
+        }
+
         [[nodiscard]]
         constexpr const Type& operator*() const noexcept
         {
@@ -88,12 +114,6 @@ namespace omath
             return internal::tan(as_radians());
         }
 
-        [[nodiscard]]
-        constexpr Type atan() const noexcept
-        {
-            return internal::atan(as_radians());
-        }
-
         [[nodiscard]]
         constexpr Type cot() const noexcept
         {
@@ -121,7 +141,8 @@ namespace omath
 
         constexpr Angle& operator-=(const Angle& other) noexcept
         {
-            return operator+=(-other);
+            *this = Angle{m_angle - other.m_angle};
+            return *this;
         }
 
         [[nodiscard]]
@@ -142,7 +163,7 @@ namespace omath
         [[nodiscard]]
         constexpr Angle operator-(const Angle& other) const noexcept
         {
-            return operator+(-other);
+            return Angle{m_angle - other.m_angle};
         }
 
         [[nodiscard]]
@@ -172,7 +193,6 @@ struct std::formatter<omath::Angle<T, MinV, MaxV, F>, char> final // NOLINT(*-dc
         return std::format_to(ctx.out(), "{}deg", a.as_degrees());
     }
 };
-
 // wchar_t formatter
 template<class T, T MinV, T MaxV, omath::AngleFlags F>
 struct std::formatter<omath::Angle<T, MinV, MaxV, F>, wchar_t> final // NOLINT(*-dcl58-cpp)
@@ -193,24 +213,3 @@ struct std::formatter<omath::Angle<T, MinV, MaxV, F>, wchar_t> final // NOLINT(*
         return std::format_to(ctx.out(), L"{}deg", a.as_degrees());
     }
 };
-
-// wchar_t formatter
-template<class T, T MinV, T MaxV, omath::AngleFlags F>
-struct std::formatter<omath::Angle<T, MinV, MaxV, F>, char8_t> final // NOLINT(*-dcl58-cpp)
-{
-    using AngleT = omath::Angle<T, MinV, MaxV, F>;
-
-    [[nodiscard]]
-    static constexpr auto parse(std::wformat_parse_context& ctx)
-    {
-        return ctx.begin();
-    }
-
-    template<class FormatContext>
-    [[nodiscard]]
-    auto format(const AngleT& a, FormatContext& ctx) const
-    {
-        static_assert(std::is_same_v<typename FormatContext::char_type, char8_t>);
-        return std::format_to(ctx.out(), u8"{}deg", a.as_degrees());
-    }
-};

include/omath/trigonometry/angles.hpp

@@ -48,10 +48,10 @@ namespace omath::angles
     }
 
     template<class Type>
-    requires std::is_arithmetic_v<Type>
+    requires std::is_floating_point_v<Type>
     [[nodiscard]] constexpr Type wrap_angle(const Type& angle, const Type& min, const Type& max) noexcept
     {
-        if (angle <= max && angle >= min)
+        if (angle < max && angle >= min)
             return angle;
 
         const Type range = max - min;

tests/general/unit_test_angle.cpp

@@ -14,9 +14,14 @@ namespace
 
     // Handy aliases (defaults: Type=float, [0,360], Normalized)
     using Deg = Angle<float, static_cast<float>(0), static_cast<float>(360), AngleFlags::Normalized>;
+    using Fov = Angle<float, static_cast<float>(0), static_cast<float>(180), AngleFlags::Clamped>;
+    using Offset = Angle<float, static_cast<float>(10), static_cast<float>(20), AngleFlags::Clamped>;
     using Pitch = Angle<float, static_cast<float>(-90), static_cast<float>(90), AngleFlags::Clamped>;
     using Turn = Angle<float, static_cast<float>(-180), static_cast<float>(180), AngleFlags::Normalized>;
 
+    template<class Type>
+    concept SupportedAngleType = requires { typename Angle<Type>; };
+
     constexpr float k_eps = 1e-5f;
 
     constexpr bool close_to(const float actual, const float expected, const float epsilon)
@@ -36,6 +41,12 @@ TEST(UnitTestAngle, DefaultConstructor_IsZeroDegrees)
     EXPECT_FLOAT_EQ(a.as_degrees(), 0.0f);
 }
 
+TEST(UnitTestAngle, DefaultConstructor_AppliesRangePolicy)
+{
+    constexpr Offset a;
+    EXPECT_FLOAT_EQ(a.as_degrees(), 10.0f);
+}
+
 TEST(UnitTestAngle, FromDegrees_Normalized_WrapsAboveMax)
 {
     const Deg a = Deg::from_degrees(370.0f);
@@ -66,6 +77,14 @@ TEST(UnitTestAngle, FromRadians_And_AsRadians)
     EXPECT_NEAR(b.as_radians(), std::numbers::pi_v<float>, 1e-6f);
 }
 
+TEST(UnitTestAngle, FromInverseTrigonometricFunctions)
+{
+    EXPECT_NEAR(Pitch::from_asin(0.5f).as_degrees(), 30.0f, k_eps);
+    EXPECT_NEAR(Pitch::from_acos(0.5f).as_degrees(), 60.0f, k_eps);
+    EXPECT_NEAR(Pitch::from_atan(1.0f).as_degrees(), 45.0f, k_eps);
+    EXPECT_NEAR(Turn::from_atan2(-1.0f, -1.0f).as_degrees(), -135.0f, k_eps);
+}
+
 // ---------- Unary minus & deref ----------
 
 TEST(UnitTestAngle, UnaryMinus_Normalized)
@@ -101,17 +120,6 @@ TEST(UnitTestAngle, SinCosTanCot_BasicCases)
     EXPECT_NEAR(a90.cos(), 0.0f, 1e-4f);
 }
 
-TEST(UnitTestAngle, Atan_IsAtanOfRadians)
-{
-    // atan(as_radians). For 0° -> atan(0)=0.
-    const Deg a0 = Deg::from_degrees(0.0f);
-    EXPECT_NEAR(a0.atan(), 0.0f, k_eps);
-
-    const Deg a45 = Deg::from_degrees(45.0f);
-    // atan(pi/4) ≈ 0.665773...
-    EXPECT_NEAR(a45.atan(), 0.66577375f, 1e-6f);
-}
-
 // ---------- Compound arithmetic ----------
 
 TEST(UnitTestAngle, PlusEquals_Normalized_Wraps)
@@ -142,6 +150,16 @@ TEST(UnitTestAngle, MinusEquals_Clamped_Clamps)
     EXPECT_FLOAT_EQ(p.as_degrees(), -90.0f);
 }
 
+TEST(UnitTestAngle, Subtraction_ClampedNonSymmetricRange)
+{
+    Fov compound = Fov::from_degrees(90.0f);
+    compound -= Fov::from_degrees(10.0f);
+    EXPECT_FLOAT_EQ(compound.as_degrees(), 80.0f);
+
+    const Fov binary = Fov::from_degrees(90.0f) - Fov::from_degrees(10.0f);
+    EXPECT_FLOAT_EQ(binary.as_degrees(), 80.0f);
+}
+
 // ---------- Alternative ranges ----------
 
 TEST(UnitTestAngle, NormalizedRange_Neg180To180)
@@ -205,5 +223,12 @@ 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");
+static_assert(close_to(Pitch::from_asin(0.5f).as_degrees(), 30.0f, k_eps),
+              "From asin should be constexpr with embedded constexpr math");
+static_assert(close_to(Pitch::from_acos(0.5f).as_degrees(), 60.0f, k_eps),
+              "From acos should be constexpr with embedded constexpr math");
+static_assert(close_to(Pitch::from_atan(1.0f).as_degrees(), 45.0f, k_eps),
+              "From atan should be constexpr with embedded constexpr math");
+static_assert(close_to(Turn::from_atan2(-1.0f, -1.0f).as_degrees(), -135.0f, k_eps),
+              "From atan2 should be constexpr with embedded constexpr math");
+static_assert(!SupportedAngleType<int>, "Angle should only accept floating-point types");

tests/general/unit_test_angles.cpp

@@ -46,4 +46,11 @@ TEST(unit_test_angles, wrap_angle_negative_range)
     const float wrapped = omath::angles::wrap_angle(-90.f, 0.f, 360.f);
 
     EXPECT_NEAR(wrapped, 270.f, 0.01f);
-}
+}
+
+TEST(unit_test_angles, wrap_angle_maximum_maps_to_minimum)
+{
+    const float wrapped = omath::angles::wrap_angle(360.f, 0.f, 360.f);
+
+    EXPECT_FLOAT_EQ(wrapped, 0.f);
+}